+ python -m lidar_slam --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.13 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad 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 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters Centerline goodness [0,1] 0.9471904546531412 Centerline is valid? [0, False] SLAMing on 0.033617865 meters Centerline goodness [0,1] 0.9396795883510258 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999443e-01 -7.79766259e-04 -7.11068006e-04 2.48219029e-03] [ 7.78817320e-04 9.99998807e-01 -1.33382780e-03 4.57337379e-03] [ 7.12107232e-04 1.33327327e-03 9.99998858e-01 -1.33048734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.063617865 meters Centerline goodness [0,1] 0.9404422561976332 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 0.99999758 -0.00169761 -0.00140016 0.00471594] [ 0.00169439 0.99999593 -0.00229373 0.0075403 ] [ 0.00140405 0.00229135 0.99999639 -0.00201984] [ 0. 0. 0. 1. ]] SLAMing on 0.09361786499999998 meters Centerline goodness [0,1] 0.9371550996559112 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99999447 -0.0026695 -0.00198365 0.00666813] [ 0.00266352 0.99999191 -0.00301472 0.00960666] [ 0.00199168 0.00300941 0.99999349 -0.00241077] [ 0. 0. 0. 1. ]] SLAMing on 0.12361786499999998 meters Centerline goodness [0,1] 0.9277951146023888 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99999299 -0.00316562 -0.00200134 0.03205621] [ 0.0031591 0.99998973 -0.00325111 0.00887069] [ 0.00201161 0.00324476 0.99999271 -0.0010557 ] [ 0. 0. 0. 1. ]] SLAMing on 0.15361786499999996 meters Centerline goodness [0,1] 0.9228573282294167 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99998742 -0.004298 -0.00258609 0.03397122] [ 0.00428853 0.99998412 -0.00365547 0.01016444] [ 0.00260176 0.00364434 0.99998997 -0.00102125] [ 0. 0. 0. 1. ]] SLAMing on 0.18361786499999996 meters Centerline goodness [0,1] 0.9223745282609639 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99997768 -0.00579711 -0.0033231 0.03670208] [ 0.00578288 0.99997414 -0.0042763 0.0116548 ] [ 0.0033478 0.00425698 0.99998534 -0.00140903] [ 0. 0. 0. 1. ]] SLAMing on 0.21361786499999996 meters Centerline goodness [0,1] 0.9183647010523132 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.00 [[ 0.99996283 -0.00754411 -0.00417544 0.04006121] [ 0.0075225 0.99995836 -0.00516632 0.01383393] [ 0.00421424 0.00513472 0.99997794 -0.0022019 ] [ 0. 0. 0. 1. ]] SLAMing on 0.24361786499999996 meters Centerline goodness [0,1] 0.911610421402343 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 9.99892901e-01 -1.26462203e-02 -7.36606276e-03 5.00169719e-02] [ 1.26044569e-02 9.99904378e-01 -5.68880174e-03 1.86396092e-02] [ 7.43730024e-03 5.59534726e-03 9.99956688e-01 -7.71344755e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27361786499999996 meters Centerline goodness [0,1] 0.9051778872468528 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.00 [[ 0.99986673 -0.01422832 -0.00800528 0.05271972] [ 0.01417654 0.99987846 -0.00648776 0.0212422 ] [ 0.00809661 0.00637341 0.99994691 -0.00112893] [ 0. 0. 0. 1. ]] SLAMing on 0.30361786499999993 meters Centerline goodness [0,1] 0.9005909852694717 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:0.00 [[ 0.99976085 -0.0197745 -0.00933878 0.06746553] [ 0.01976413 0.99980395 -0.0012015 0.0242703 ] [ 0.00936071 0.00101664 0.99995567 0.00257645] [ 0. 0. 0. 1. ]] SLAMing on 0.33361786499999996 meters Centerline goodness [0,1] 0.8771608345291975 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:0.00 [[ 0.99981107 -0.01855968 -0.00577563 0.08575708] [ 0.01852725 0.99981257 -0.005618 0.02655461] [ 0.00587881 0.00550993 0.99996754 0.00128112] [ 0. 0. 0. 1. ]] SLAMing on 0.36361786499999993 meters Centerline goodness [0,1] 0.8884941604867002 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:0.00 [[ 0.99984569 -0.01643042 -0.00621622 0.08792792] [ 0.0164181 0.99986316 -0.00202862 0.02717412] [ 0.0062487 0.00192624 0.99997862 0.00169448] [ 0. 0. 0. 1. ]] SLAMing on 0.39361786499999996 meters Centerline goodness [0,1] 0.8784230511503239 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.00 [[ 9.99869182e-01 -1.59612117e-02 -2.61884129e-03 1.10583730e-01] [ 1.59466529e-02 9.99857777e-01 -5.48901120e-03 3.46299892e-02] [ 2.70608010e-03 5.44653138e-03 9.99981506e-01 -2.16271851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4236178649999999 meters Centerline goodness [0,1] 0.8719262524332669 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.00 [[ 9.99899830e-01 -1.37859249e-02 -3.20582721e-03 1.13337492e-01] [ 1.37790440e-02 9.99902734e-01 -2.15863291e-03 3.68394598e-02] [ 3.23527414e-03 2.11424345e-03 9.99992531e-01 -1.11096677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45361786499999995 meters Centerline goodness [0,1] 0.8261839434294764 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.00 [[ 9.99921774e-01 -1.18579288e-02 -3.97939144e-03 1.16954011e-01] [ 1.18615224e-02 9.99929262e-01 8.80659051e-04 3.98134426e-02] [ 3.96866716e-03 -9.27791801e-04 9.99991694e-01 -3.78958829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4836178649999999 meters Centerline goodness [0,1] 0.8578643901130827 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.00 [[ 9.99918148e-01 -1.15865482e-02 -5.42672482e-03 1.23641699e-01] [ 1.15999198e-02 9.99929744e-01 2.43905302e-03 4.99706802e-02] [ 5.39808336e-03 -2.50180295e-03 9.99982301e-01 -5.65652215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.513617865 meters Centerline goodness [0,1] 0.8570822257466437 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.00 [[ 0.99993695 -0.00950753 -0.00597547 0.12686507] [ 0.00953881 0.99994083 0.00522927 0.05338594] [ 0.0059254 -0.00528593 0.99996847 -0.00102163] [ 0. 0. 0. 1. ]] SLAMing on 0.543617865 meters Centerline goodness [0,1] 0.8545568458973842 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.00 [[ 0.99992868 -0.01005147 -0.00644935 0.129439 ] [ 0.01008 0.99993948 0.00440681 0.0598141 ] [ 0.00640466 -0.00447151 0.99996949 -0.00147278] [ 0. 0. 0. 1. ]] SLAMing on 0.573617865 meters Centerline goodness [0,1] 0.8474432704738977 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:-0.00 [[ 9.99962873e-01 -8.11865147e-03 -2.88795393e-03 1.48276782e-01] [ 8.11742615e-03 9.99966958e-01 -4.35754127e-04 6.61559854e-02] [ 2.89139625e-03 4.12295195e-04 9.99995735e-01 -4.27842494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6036178649999999 meters Centerline goodness [0,1] 0.8546502570493846 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.00 [[ 0.99997062 -0.0060185 -0.00474778 0.15648123] [ 0.00603592 0.99997507 0.00366308 0.07689771] [ 0.00472562 -0.00369163 0.99998202 -0.00354432] [ 0. 0. 0. 1. ]] SLAMing on 0.633617865 meters Centerline goodness [0,1] 0.8477799867461895 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:-0.00 [[ 0.99997807 -0.00436203 -0.00498235 0.15980769] [ 0.00439019 0.99997437 0.00565563 0.08252167] [ 0.00495756 -0.00567738 0.99997159 -0.00448773] [ 0. 0. 0. 1. ]] SLAMing on 0.663617865 meters Centerline goodness [0,1] 0.8563205716302047 Centerline is valid? [False, False] Translation: X:0.17, Y:0.09, Z:-0.00 [[ 0.9999773 -0.00245321 -0.00627527 0.16841656] [ 0.00251356 0.99995051 0.00962614 0.09469981] [ 0.00625134 -0.00964169 0.99993398 -0.00449943] [ 0. 0. 0. 1. ]] SLAMing on 0.693617865 meters Centerline goodness [0,1] 0.858735649912963 Centerline is valid? [False, False] Translation: X:0.17, Y:0.10, Z:-0.01 [[ 0.99997896 -0.00102673 -0.00640485 0.17188285] [ 0.00109944 0.99993488 0.01135893 0.10058753] [ 0.00639277 -0.01136573 0.99991497 -0.00566025] [ 0. 0. 0. 1. ]] SLAMing on 0.7236178649999999 meters Centerline goodness [0,1] 0.8574456462362067 Centerline is valid? [False, False] Translation: X:0.17, Y:0.11, Z:-0.01 [[ 0.99997631 -0.00209047 -0.00655778 0.17487371] [ 0.0021555 0.99994843 0.00992448 0.10824713] [ 0.00653669 -0.00993838 0.99992925 -0.00659773] [ 0. 0. 0. 1. ]] SLAMing on 0.7536178649999999 meters Centerline goodness [0,1] 0.8575573151844338 Centerline is valid? [False, False] Translation: X:0.18, Y:0.12, Z:-0.01 [[ 0.99997284 -0.00321136 -0.00663378 0.17756462] [ 0.0032656 0.9999612 0.00818078 0.11589442] [ 0.00660725 -0.00820222 0.99994453 -0.00767499] [ 0. 0. 0. 1. ]] SLAMing on 0.783617865 meters Centerline goodness [0,1] 0.8598210018681844 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.01 [[ 0.99995945 -0.00446493 -0.00782076 0.18744625] [ 0.00454407 0.99993835 0.0101317 0.12766556] [ 0.00777504 -0.01016683 0.99991809 -0.00825449] [ 0. 0. 0. 1. ]] SLAMing on 0.8136178649999999 meters Centerline goodness [0,1] 0.8605304077401521 Centerline is valid? [False, False] Translation: X:0.19, Y:0.13, Z:-0.01 [[ 0.99995228 -0.00609745 -0.00763261 0.18997326] [ 0.00616091 0.99994642 0.00831894 0.13415755] [ 0.00758147 -0.00836556 0.99993627 -0.00929221] [ 0. 0. 0. 1. ]] SLAMing on 0.8436178649999999 meters Centerline goodness [0,1] 0.8617922807920877 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-0.01 [[ 0.9999406 -0.00782756 -0.00758506 0.19286507] [ 0.00787782 0.99994707 0.00661827 0.14012725] [ 0.00753285 -0.00667764 0.99994933 -0.01043443] [ 0. 0. 0. 1. ]] SLAMing on 0.8736178649999999 meters Centerline goodness [0,1] 0.8674891673248095 Centerline is valid? [False, False] Translation: X:0.21, Y:0.15, Z:-0.01 [[ 0.99988895 -0.01179439 -0.00910973 0.20531937] [ 0.01186496 0.99989972 0.00773184 0.14805655] [ 0.00901763 -0.00783906 0.99992861 -0.01192291] [ 0. 0. 0. 1. ]] SLAMing on 0.903617865 meters Centerline goodness [0,1] 0.8709120736306113 Centerline is valid? [False, False] Translation: X:0.22, Y:0.15, Z:-0.01 [[ 0.99990491 -0.01259467 -0.00561613 0.22488549] [ 0.01260488 0.99991896 0.0017859 0.15271499] [ 0.00559318 -0.00185653 0.99998263 -0.01418875] [ 0. 0. 0. 1. ]] SLAMing on 0.9336178649999999 meters Centerline goodness [0,1] 0.8747969217614365 Centerline is valid? [False, False] Translation: X:0.23, Y:0.16, Z:-0.02 [[ 9.99882424e-01 -1.42740061e-02 -5.60272564e-03 2.27994278e-01] [ 1.42794893e-02 9.99897601e-01 9.39881084e-04 1.55086329e-01] [ 5.58873606e-03 -1.01977464e-03 9.99983863e-01 -1.54324048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9636178649999999 meters Centerline goodness [0,1] 0.8804984556395782 Centerline is valid? [False, False] Translation: X:0.24, Y:0.16, Z:-0.02 [[ 0.99975197 -0.02115479 -0.00696258 0.24332622] [ 0.02116528 0.99977496 0.0014357 0.15826305] [ 0.00693064 -0.0015827 0.99997473 -0.01834096] [ 0. 0. 0. 1. ]] SLAMing on 0.9936178649999999 meters Centerline goodness [0,1] 0.8811712631937351 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.02 [[ 9.99702313e-01 -2.33030747e-02 -7.22856223e-03 2.47881188e-01] [ 2.33066765e-02 9.99728277e-01 4.14418666e-04 1.59217014e-01] [ 7.21694084e-03 -5.82769060e-04 9.99973788e-01 -2.07036157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0236178649999998 meters Centerline goodness [0,1] 0.8853821304089093 Centerline is valid? [False, False] Translation: X:0.25, Y:0.16, Z:-0.02 [[ 9.99654129e-01 -2.52458910e-02 -7.36666473e-03 2.52146241e-01] [ 2.52435283e-02 9.99681246e-01 -4.13554820e-04 1.59930142e-01] [ 7.37475713e-03 2.27451174e-04 9.99972780e-01 -2.30718151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0536178649999999 meters Centerline goodness [0,1] 0.8881605464689535 Centerline is valid? [False, False] Translation: X:0.27, Y:0.16, Z:-0.03 [[ 9.99455579e-01 -3.17847222e-02 -8.84741171e-03 2.68069472e-01] [ 3.17894621e-02 9.99494509e-01 3.95584464e-04 1.61828914e-01] [ 8.83036588e-03 -6.76623559e-04 9.99960783e-01 -2.66967383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.083617865 meters Centerline goodness [0,1] 0.8881605464689535 Centerline is valid? [False, False] Translation: X:0.27, Y:0.16, Z:-0.03 [[ 9.99455579e-01 -3.17847222e-02 -8.84741171e-03 2.68069472e-01] [ 3.17894621e-02 9.99494509e-01 3.95584464e-04 1.61828914e-01] [ 8.83036588e-03 -6.76623559e-04 9.99960783e-01 -2.66967383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.113617865 meters Centerline goodness [0,1] 0.8912476959257611 Centerline is valid? [False, False] Translation: X:0.27, Y:0.16, Z:-0.03 [[ 9.99437236e-01 -3.22860652e-02 -9.10063771e-03 2.73188313e-01] [ 3.22958066e-02 9.99477926e-01 9.25448197e-04 1.61909786e-01] [ 9.06600743e-03 -1.21883982e-03 9.99958160e-01 -3.00579590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.143617865 meters Centerline goodness [0,1] 0.892914551607445 Centerline is valid? [False, False] Translation: X:0.28, Y:0.16, Z:-0.03 [[ 0.99942314 -0.03262208 -0.00944433 0.27853899] [ 0.03263541 0.99946653 0.00126125 0.16272188] [ 0.00939815 -0.00156874 0.99995461 -0.03376697] [ 0. 0. 0. 1. ]] SLAMing on 1.173617865 meters Centerline goodness [0,1] 0.896548092921379 Centerline is valid? [False, False] Translation: X:0.31, Y:0.16, Z:-0.04 [[ 0.99948606 -0.02991316 -0.0115249 0.30595444] [ 0.02993211 0.99955085 0.00147482 0.16452222] [ 0.0114756 -0.00181903 0.9999325 -0.03783049] [ 0. 0. 0. 1. ]] SLAMing on 1.2036178649999998 meters Centerline goodness [0,1] 0.897889778416172 Centerline is valid? [False, False] Translation: X:0.31, Y:0.17, Z:-0.04 [[ 0.99953098 -0.02796887 -0.01247245 0.3112362 ] [ 0.02801813 0.99960022 0.00379292 0.16555182] [ 0.01236138 -0.00414059 0.99991502 -0.04084411] [ 0. 0. 0. 1. ]] SLAMing on 1.2336178649999998 meters Centerline goodness [0,1] 0.8999789562289562 Centerline is valid? [False, False] Translation: X:0.33, Y:0.17, Z:-0.04 [[ 0.99967577 -0.02235849 -0.01218403 0.32575451] [ 0.02234392 0.99974946 -0.00133068 0.16789796] [ 0.01221073 0.00105801 0.99992489 -0.04412539] [ 0. 0. 0. 1. ]] SLAMing on 1.2636178649999998 meters Centerline goodness [0,1] 0.9018847240376101 Centerline is valid? [False, False] Translation: X:0.33, Y:0.17, Z:-0.05 [[ 0.99972313 -0.0197416 -0.01280389 0.32982921] [ 0.01976609 0.99980303 0.00178913 0.16809208] [ 0.01276604 -0.00204172 0.99991643 -0.04656055] [ 0. 0. 0. 1. ]] SLAMing on 1.2936178649999999 meters Centerline goodness [0,1] 0.9051090277046244 Centerline is valid? [False, False] Translation: X:0.34, Y:0.17, Z:-0.05 [[ 0.99977592 -0.0144873 -0.01543488 0.34472419] [ 0.01444348 0.99989135 -0.00294678 0.16981029] [ 0.0154759 0.00272319 0.99987653 -0.04863402] [ 0. 0. 0. 1. ]] SLAMing on 1.323617865 meters Centerline goodness [0,1] 0.9105921952245714 Centerline is valid? [False, False] Translation: X:0.35, Y:0.17, Z:-0.05 [[ 9.99800269e-01 -1.24490532e-02 -1.56347052e-02 3.52388247e-01] [ 1.24566143e-02 9.99922339e-01 3.86316181e-04 1.71363777e-01] [ 1.56286817e-02 -5.80994515e-04 9.99877696e-01 -5.39256459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.353617865 meters Centerline goodness [0,1] 0.9130041065599663 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:-0.06 [[ 0.99979998 -0.01189407 -0.0160787 0.35662766] [ 0.01191989 0.99992781 0.00151084 0.17187776] [ 0.01605957 -0.0017022 0.99986959 -0.0567701 ] [ 0. 0. 0. 1. ]] SLAMing on 1.383617865 meters Centerline goodness [0,1] 0.916332728729911 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:-0.06 [[ 0.99978609 -0.01253881 -0.01644825 0.35907 ] [ 0.01255867 0.99992053 0.0011043 0.17332935] [ 0.01643309 -0.00131063 0.99986411 -0.0578348 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4136178649999998 meters Centerline goodness [0,1] 0.9207012214416809 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:-0.06 [[ 0.99976889 -0.01385072 -0.0164415 0.36492524] [ 0.01387138 0.99990313 0.00114293 0.17497942] [ 0.01642407 -0.00137073 0.99986418 -0.06175077] [ 0. 0. 0. 1. ]] SLAMing on 1.4436178649999998 meters Centerline goodness [0,1] 0.923067200337055 Centerline is valid? [False, False] Translation: X:0.37, Y:0.18, Z:-0.06 [[ 9.99737097e-01 -1.51873793e-02 -1.71778989e-02 3.68593206e-01] [ 1.51916021e-02 9.99884594e-01 1.15358374e-04 1.76093263e-01] [ 1.71741645e-02 -3.76287851e-04 9.99852442e-01 -6.36557716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4736178649999998 meters Centerline goodness [0,1] 0.9259751212312882 Centerline is valid? [False, False] Translation: X:0.37, Y:0.18, Z:-0.07 [[ 9.99705712e-01 -1.63862549e-02 -1.78879912e-02 3.71944828e-01] [ 1.63798676e-02 9.99865714e-01 -5.03539015e-04 1.76416184e-01] [ 1.78938402e-02 2.10387902e-04 9.99839870e-01 -6.52353596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5036178649999998 meters Centerline goodness [0,1] 0.9307546374367622 Centerline is valid? [False, False] Translation: X:0.39, Y:0.17, Z:-0.07 [[ 0.99957109 -0.02319233 -0.01788146 0.38649177] [ 0.02324135 0.99972666 0.00253891 0.17408403] [ 0.01781769 -0.00295341 0.99983689 -0.0672021 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5336178649999999 meters Centerline goodness [0,1] 0.9335079418722542 Centerline is valid? [False, False] Translation: X:0.39, Y:0.17, Z:-0.07 [[ 0.99951641 -0.02487939 -0.01865382 0.39037576] [ 0.02491651 0.99968799 0.00175971 0.17262572] [ 0.01860422 -0.00222365 0.99982445 -0.06912105] [ 0. 0. 0. 1. ]] SLAMing on 1.5636178649999999 meters Centerline goodness [0,1] 0.9355444833847063 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:-0.07 [[ 9.99452686e-01 -2.66800294e-02 -1.95577459e-02 3.95001658e-01] [ 2.67017579e-02 9.99643083e-01 8.50649720e-04 1.70894807e-01] [ 1.95280701e-02 -1.37241034e-03 9.99808367e-01 -7.16869186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.593617865 meters Centerline goodness [0,1] 0.9387057283971464 Centerline is valid? [False, False] Translation: X:0.40, Y:0.17, Z:-0.08 [[ 0.99929955 -0.03184694 -0.01965143 0.40153854] [ 0.03180931 0.99949148 -0.00222459 0.1683812 ] [ 0.01971228 0.00159793 0.99980442 -0.07609814] [ 0. 0. 0. 1. ]] SLAMing on 1.6236178649999997 meters Centerline goodness [0,1] 0.9417299194452079 Centerline is valid? [False, False] Translation: X:0.41, Y:0.17, Z:-0.08 [[ 0.99923832 -0.03321463 -0.02048353 0.40545613] [ 0.03316749 0.99944633 -0.00263681 0.16645196] [ 0.02055977 0.00195542 0.99978671 -0.07793058] [ 0. 0. 0. 1. ]] SLAMing on 1.6536178649999997 meters Centerline goodness [0,1] 0.9418265573493365 Centerline is valid? [False, False] Translation: X:0.41, Y:0.16, Z:-0.08 [[ 0.99919331 -0.03413196 -0.02115984 0.40882102] [ 0.03408826 0.99941589 -0.00242251 0.16387014] [ 0.02123016 0.00169925 0.99977317 -0.07929038] [ 0. 0. 0. 1. ]] SLAMing on 1.6836178649999998 meters Centerline goodness [0,1] 0.9465616620568799 Centerline is valid? [False, False] Translation: X:0.42, Y:0.15, Z:-0.08 [[ 0.99919759 -0.036779 -0.01585786 0.42330289] [ 0.03685728 0.99930962 0.00467226 0.15442866] [ 0.01567507 -0.00525299 0.99986334 -0.08352708] [ 0. 0. 0. 1. ]] SLAMing on 1.7136178649999998 meters Centerline goodness [0,1] 0.9465979598275318 Centerline is valid? [False, False] Translation: X:0.44, Y:0.16, Z:-0.09 [[ 0.99932063 -0.03463912 -0.01258616 0.43737368] [ 0.03459253 0.99939389 -0.00390104 0.15526563] [ 0.01271366 0.003463 0.99991318 -0.08836803] [ 0. 0. 0. 1. ]] SLAMing on 1.7436178649999998 meters Centerline goodness [0,1] 0.9500528652992176 Centerline is valid? [False, True] Translation: X:0.44, Y:0.15, Z:-0.09 [[ 0.99930168 -0.0348078 -0.0135855 0.44046894] [ 0.03476039 0.99938879 -0.0037105 0.15428476] [ 0.01370635 0.00323567 0.99990083 -0.089495 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7736178649999998 meters Centerline goodness [0,1] 0.9525956514410922 Centerline is valid? [True, True] Translation: X:0.47, Y:0.15, Z:-0.09 [[ 9.99399860e-01 -3.11778675e-02 -1.50950259e-02 4.70110698e-01] [ 3.11922203e-02 9.99513148e-01 7.16273295e-04 1.48699646e-01] [ 1.50653449e-02 -1.18669080e-03 9.99885807e-01 -8.85242814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8036178649999999 meters Centerline goodness [0,1] 0.9527516102637266 Centerline is valid? [True, True] Translation: X:0.50, Y:0.15, Z:-0.09 [[ 9.99457387e-01 -2.90236395e-02 -1.55743409e-02 5.00226873e-01] [ 2.90386567e-02 9.99578016e-01 7.38903220e-04 1.49504135e-01] [ 1.55463231e-02 -1.19076022e-03 9.99878440e-01 -8.79498178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8336178649999997 meters Centerline goodness [0,1] 0.954836805262714 Centerline is valid? [True, True] Translation: X:0.53, Y:0.15, Z:-0.09 [[ 9.99512840e-01 -2.64882019e-02 -1.65062911e-02 5.30073015e-01] [ 2.65047219e-02 9.99648382e-01 7.82837901e-04 1.51084330e-01] [ 1.64797512e-02 -1.21995119e-03 9.99863455e-01 -8.74515114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8636178649999997 meters Centerline goodness [0,1] 0.9570414250903285 Centerline is valid? [True, True] Translation: X:0.56, Y:0.15, Z:-0.09 [[ 9.99647586e-01 -2.01602178e-02 -1.72704498e-02 5.59279184e-01] [ 2.01773580e-02 9.99796081e-01 8.18768780e-04 1.52658176e-01] [ 1.72504215e-02 -1.16695228e-03 9.99850519e-01 -8.65915431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8936178649999997 meters Centerline goodness [0,1] 0.957147031810971 Centerline is valid? [True, True] Translation: X:0.59, Y:0.15, Z:-0.09 [[ 9.99704244e-01 -1.66449127e-02 -1.77305336e-02 5.89374672e-01] [ 1.66624237e-02 9.99860819e-01 8.40336527e-04 1.53382404e-01] [ 1.77140786e-02 -1.13552166e-03 9.99842449e-01 -8.64278130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9236178649999998 meters Centerline goodness [0,1] 0.9581123407809563 Centerline is valid? [True, True] Translation: X:0.62, Y:0.16, Z:-0.09 [[ 9.99729886e-01 -1.35742295e-02 -1.88651755e-02 6.19351350e-01] [ 1.35935059e-02 9.99907204e-01 8.93932113e-04 1.56506381e-01] [ 1.88512904e-02 -1.15013452e-03 9.99821637e-01 -8.63514503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9536178649999998 meters Centerline goodness [0,1] 0.9611325880263295 Centerline is valid? [True, True] Translation: X:0.65, Y:0.15, Z:-0.09 [[ 9.99739070e-01 -1.06824685e-02 -2.01910166e-02 6.47707758e-01] [ 1.07039545e-02 9.99942254e-01 9.56359903e-04 1.48602560e-01] [ 2.01796344e-02 -1.17223408e-03 9.99795683e-01 -8.89148853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9836178649999998 meters Centerline goodness [0,1] 0.9621493959787653 Centerline is valid? [True, True] Translation: X:0.68, Y:0.16, Z:-0.09 [[ 0.99971312 -0.00700199 -0.02290539 0.67874966] [ 0.00702867 0.99997471 0.00108446 0.16355831] [ 0.02289722 -0.00124514 0.99973705 -0.08887534] [ 0. 0. 0. 1. ]] SLAMing on 2.0136178649999996 meters Centerline goodness [0,1] 0.964572864321608 Centerline is valid? [True, True] Translation: X:0.71, Y:0.16, Z:-0.09 [[ 0.99967662 -0.00630456 -0.02463539 0.70690788] [ 0.00633518 0.99997925 0.00116509 0.16419934] [ 0.02462753 -0.00132078 0.99969582 -0.08973864] [ 0. 0. 0. 1. ]] SLAMing on 2.0436178649999994 meters Centerline goodness [0,1] 0.9671404875385811 Centerline is valid? [True, True] Translation: X:0.73, Y:0.16, Z:-0.09 [[ 0.99964455 -0.00687721 -0.02575823 0.73470353] [ 0.00691083 0.99997538 0.00121612 0.1631589 ] [ 0.02574923 -0.0013937 0.99966746 -0.09004028] [ 0. 0. 0. 1. ]] SLAMing on 2.0736178649999997 meters Centerline goodness [0,1] 0.9702333234884604 Centerline is valid? [True, True] Translation: X:0.76, Y:0.17, Z:-0.09 [[ 0.99962152 -0.00921258 -0.02592173 0.764655 ] [ 0.00924736 0.9999565 0.00122221 0.17478183] [ 0.02590934 -0.00146145 0.99966323 -0.08653106] [ 0. 0. 0. 1. ]] SLAMing on 2.1036178649999995 meters Centerline goodness [0,1] 0.971352572357449 Centerline is valid? [True, True] Translation: X:0.79, Y:0.18, Z:-0.09 [[ 0.99959626 -0.0105113 -0.02639748 0.79336698] [ 0.01054771 0.9999436 0.00124036 0.175732 ] [ 0.02638296 -0.00151829 0.99965076 -0.08569735] [ 0. 0. 0. 1. ]] SLAMing on 2.1336178649999997 meters Centerline goodness [0,1] 0.9709655071064178 Centerline is valid? [True, True] Translation: X:0.82, Y:0.18, Z:-0.09 [[ 0.99951173 -0.01112994 -0.02919621 0.82082324] [ 0.01117461 0.99993663 0.00136716 0.17535328] [ 0.02917914 -0.00169275 0.99957276 -0.08596214] [ 0. 0. 0. 1. ]] SLAMing on 2.1636178649999995 meters Centerline goodness [0,1] 0.9739643722989354 Centerline is valid? [True, True] Translation: X:0.85, Y:0.17, Z:-0.09 [[ 0.99946272 -0.01256484 -0.03027196 0.84930271] [ 0.01261345 0.99991945 0.00141543 0.1744439 ] [ 0.03025174 -0.0017965 0.9995407 -0.08638313] [ 0. 0. 0. 1. ]] SLAMing on 2.1936178649999993 meters Centerline goodness [0,1] 0.9765006439625868 Centerline is valid? [True, True] Translation: X:0.88, Y:0.18, Z:-0.08 [[ 0.99938548 -0.01366063 -0.03228093 0.87915042] [ 0.01371644 0.99990479 0.00150806 0.17855043] [ 0.03225726 -0.00194991 0.9994777 -0.08446822] [ 0. 0. 0. 1. ]] SLAMing on 2.2236178649999996 meters Centerline goodness [0,1] 0.97707223614123 Centerline is valid? [True, True] Translation: X:0.91, Y:0.18, Z:-0.08 [[ 0.99936686 -0.01357289 -0.03288856 0.90599606] [ 0.01363063 0.99990593 0.001532 0.17521104] [ 0.03286468 -0.00197932 0.99945785 -0.08483295] [ 0. 0. 0. 1. ]] SLAMing on 2.2536178649999994 meters Centerline goodness [0,1] 0.97718551447923 Centerline is valid? [True, True] Translation: X:0.93, Y:0.18, Z:-0.08 [[ 0.99934174 -0.01354398 -0.03365474 0.93423447] [ 0.01360416 0.99990624 0.00155959 0.17608643] [ 0.03363046 -0.00201641 0.9994323 -0.08330936] [ 0. 0. 0. 1. ]] SLAMing on 2.2836178649999996 meters Centerline goodness [0,1] 0.9798556320295451 Centerline is valid? [True, True] Translation: X:0.96, Y:0.18, Z:-0.08 [[ 0.99935452 -0.01415355 -0.03301863 0.96307595] [ 0.01421153 0.99989785 0.00152203 0.17990912] [ 0.03299371 -0.0019903 0.99945358 -0.07970393] [ 0. 0. 0. 1. ]] SLAMing on 2.3136178649999994 meters Centerline goodness [0,1] 0.9803306130989746 Centerline is valid? [True, True] Translation: X:0.99, Y:0.18, Z:-0.08 [[ 0.99933954 -0.01399316 -0.0335361 0.99018953] [ 0.01405271 0.99990007 0.00154061 0.17707705] [ 0.03351119 -0.00201087 0.99943632 -0.07854321] [ 0. 0. 0. 1. ]] SLAMing on 2.3436178649999997 meters Centerline goodness [0,1] 0.9822143081596313 Centerline is valid? [True, True] Translation: X:1.02, Y:0.17, Z:-0.08 [[ 0.99936386 -0.01465016 -0.03251523 1.01764834] [ 0.01470635 0.99989075 0.0014898 0.17356192] [ 0.03248985 -0.00196703 0.99947013 -0.07721402] [ 0. 0. 0. 1. ]] SLAMing on 2.3736178649999995 meters Centerline goodness [0,1] 0.9821358011854009 Centerline is valid? [True, True] Translation: X:1.05, Y:0.17, Z:-0.07 [[ 0.99936101 -0.01428995 -0.03276216 1.04577082] [ 0.0143466 0.99989596 0.00149475 0.16916084] [ 0.03273739 -0.00196382 0.99946206 -0.07344513] [ 0. 0. 0. 1. ]] SLAMing on 2.4036178649999993 meters Centerline goodness [0,1] 0.9854338453811059 Centerline is valid? [True, True] Translation: X:1.07, Y:0.17, Z:-0.07 [[ 0.99942219 -0.01578918 -0.03009975 1.07469045] [ 0.01583747 0.99987365 0.0013665 0.17142602] [ 0.03007438 -0.00184242 0.99954597 -0.06889127] [ 0. 0. 0. 1. ]] SLAMing on 2.4336178649999995 meters Centerline goodness [0,1] 0.9854890907192818 Centerline is valid? [True, True] Translation: X:1.10, Y:0.17, Z:-0.07 [[ 0.99943459 -0.01635186 -0.02937898 1.10224847] [ 0.01639789 0.99986467 0.00132635 0.1697321 ] [ 0.02935331 -0.00180736 0.99956746 -0.06615622] [ 0. 0. 0. 1. ]] SLAMing on 2.4636178649999994 meters Centerline goodness [0,1] 0.9867911162965124 Centerline is valid? [True, True] Translation: X:1.13, Y:0.17, Z:-0.06 [[ 0.99942795 -0.01745091 -0.0289695 1.12948571] [ 0.01749597 0.99984609 0.00130238 0.16751154] [ 0.02894232 -0.00180848 0.99957945 -0.06180809] [ 0. 0. 0. 1. ]] SLAMing on 2.4936178649999996 meters Centerline goodness [0,1] 0.9875345972155745 Centerline is valid? [True, True] Translation: X:1.16, Y:0.17, Z:-0.06 [[ 0.99941563 -0.01822313 -0.02891922 1.15869123] [ 0.01826818 0.99983229 0.00129436 0.16588241] [ 0.02889078 -0.00182191 0.99958091 -0.05991682] [ 0. 0. 0. 1. ]] SLAMing on 2.5236178649999994 meters Centerline goodness [0,1] 0.9888678499344555 Centerline is valid? [True, True] Translation: X:1.19, Y:0.16, Z:-0.06 [[ 0.99933892 -0.02027367 -0.03017796 1.18796279] [ 0.02032357 0.99979255 0.00134777 0.16161859] [ 0.03014437 -0.0019602 0.99954363 -0.05801516] [ 0. 0. 0. 1. ]] SLAMing on 2.5536178649999997 meters Centerline goodness [0,1] 0.9895972037283621 Centerline is valid? [True, True] Translation: X:1.22, Y:0.16, Z:-0.06 [[ 0.99926508 -0.02176395 -0.03155375 1.21687949] [ 0.02181921 0.99976094 0.00140802 0.15791633] [ 0.03151556 -0.00209546 0.99950106 -0.05711028] [ 0. 0. 0. 1. ]] SLAMing on 2.5836178649999995 meters Centerline goodness [0,1] 0.9900708335929873 Centerline is valid? [True, True] Translation: X:1.25, Y:0.15, Z:-0.06 [[ 0.99918766 -0.02405454 -0.03233261 1.24639276] [ 0.02411372 0.99970818 0.00144183 0.15276347] [ 0.0322885 -0.00222032 0.99947612 -0.05616248] [ 0. 0. 0. 1. ]] SLAMing on 2.6136178649999993 meters Centerline goodness [0,1] 0.9905104032559492 Centerline is valid? [True, True] Translation: X:1.28, Y:0.15, Z:-0.05 [[ 0.99912995 -0.02608136 -0.032544 1.27695774] [ 0.02614239 0.99965718 0.00145105 0.14816462] [ 0.032495 -0.00230057 0.99946925 -0.05475556] [ 0. 0. 0. 1. ]] SLAMing on 2.6436178649999995 meters Centerline goodness [0,1] 0.9917910137578453 Centerline is valid? [True, True] Translation: X:1.31, Y:0.14, Z:-0.05 [[ 0.99905069 -0.02829291 -0.03312446 1.3066549 ] [ 0.02835734 0.99959676 0.00147658 0.14381809] [ 0.03306933 -0.0024145 0.99945014 -0.05388626] [ 0. 0. 0. 1. ]] SLAMing on 2.6736178649999993 meters Centerline goodness [0,1] 0.992415136568989 Centerline is valid? [True, True] Translation: X:1.34, Y:0.14, Z:-0.05 [[ 0.99895103 -0.0307386 -0.0339408 1.33540201] [ 0.03080762 0.99952419 0.00151242 0.13867057] [ 0.03387816 -0.00255646 0.9994227 -0.05226707] [ 0. 0. 0. 1. ]] SLAMing on 2.7036178649999996 meters Centerline goodness [0,1] 0.9937059886583162 Centerline is valid? [True, True] Translation: X:1.36, Y:0.13, Z:-0.05 [[ 0.99891745 -0.03211689 -0.03365151 1.36444436] [ 0.03218548 0.99948079 0.00149827 0.13390806] [ 0.03358592 -0.00257974 0.9994325 -0.05057044] [ 0. 0. 0. 1. ]] SLAMing on 2.7336178649999994 meters Centerline goodness [0,1] 0.9940206784868995 Centerline is valid? [True, True] Translation: X:1.39, Y:0.13, Z:-0.05 [[ 0.99891549 -0.03273529 -0.03310971 1.39257918] [ 0.03280192 0.99946079 0.00147105 0.12900312] [ 0.0330437 -0.00255551 0.99945064 -0.04901123] [ 0. 0. 0. 1. ]] SLAMing on 2.7636178649999996 meters Centerline goodness [0,1] 0.995282038491915 Centerline is valid? [True, True] Translation: X:1.42, Y:0.12, Z:-0.05 [[ 0.99892201 -0.03311461 -0.03253059 1.42085498] [ 0.03317891 0.99944839 0.00143866 0.1230526 ] [ 0.03246501 -0.00251644 0.9994697 -0.04752661] [ 0. 0. 0. 1. ]] SLAMing on 2.7936178649999994 meters Centerline goodness [0,1] 0.9958025974025974 Centerline is valid? [True, True] Translation: X:1.45, Y:0.12, Z:-0.05 [[ 9.98956446e-01 -3.20521077e-02 -3.25373926e-02 1.44933437e+00] [ 3.21157440e-02 9.99483126e-01 1.43492083e-03 1.18346513e-01] [ 3.24745826e-02 -2.47838599e-03 9.99469489e-01 -4.66924568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8236178649999992 meters Centerline goodness [0,1] 0.9959331880900508 Centerline is valid? [True, True] Translation: X:1.48, Y:0.11, Z:-0.04 [[ 9.99049703e-01 -2.88798263e-02 -3.26442485e-02 1.47874243e+00] [ 2.89421616e-02 9.99580053e-01 1.43852606e-03 1.10881379e-01] [ 3.25889952e-02 -2.38195414e-03 9.99465999e-01 -4.44154284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8536178649999995 meters Centerline goodness [0,1] 0.9957600827300931 Centerline is valid? [True, True] Translation: X:1.51, Y:0.11, Z:-0.04 [[ 9.99129875e-01 -2.66696345e-02 -3.20659187e-02 1.50889732e+00] [ 2.67286188e-02 9.99641729e-01 1.41215489e-03 1.07603083e-01] [ 3.20167688e-02 -2.26800386e-03 9.99484759e-01 -4.39236188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8836178649999993 meters Centerline goodness [0,1] 0.9966990533134031 Centerline is valid? [True, True] Translation: X:1.54, Y:0.10, Z:-0.04 [[ 9.99195322e-01 -2.48898677e-02 -3.14515918e-02 1.53861681e+00] [ 2.49457147e-02 9.99687849e-01 1.38445082e-03 1.04440308e-01] [ 3.14073153e-02 -2.16791922e-03 9.99504317e-01 -4.31822135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9136178649999995 meters Centerline goodness [0,1] 0.996407630687918 Centerline is valid? [True, True] Translation: X:1.57, Y:0.10, Z:-0.04 [[ 9.99293023e-01 -2.04440395e-02 -3.15514788e-02 1.56751303e+00] [ 2.04980066e-02 9.99788930e-01 1.38791035e-03 9.70521320e-02] [ 3.15164448e-02 -2.03367155e-03 9.99501165e-01 -4.19326141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9436178649999993 meters Centerline goodness [0,1] 0.9970075327623569 Centerline is valid? [True, True] Translation: X:1.60, Y:0.09, Z:-0.04 [[ 9.99332154e-01 -1.90034188e-02 -3.12108328e-02 1.59687089e+00] [ 1.90554951e-02 9.99817486e-01 1.37191448e-03 9.16083212e-02] [ 3.11790653e-02 -1.96573612e-03 9.99511882e-01 -4.11569659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9736178649999996 meters Centerline goodness [0,1] 0.9959209609314148 Centerline is valid? [True, True] Translation: X:1.63, Y:0.09, Z:-0.04 [[ 9.99338146e-01 -1.69717232e-02 -3.21750008e-02 1.62698010e+00] [ 1.70259988e-02 9.99854048e-01 1.41364188e-03 8.67996811e-02] [ 3.21463128e-02 -1.96051778e-03 9.99481251e-01 -4.10797547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0036178649999994 meters Centerline goodness [0,1] 0.9959209609314148 Centerline is valid? [True, True] Translation: X:1.65, Y:0.09, Z:-0.04 [[ 9.99334049e-01 -1.72108117e-02 -3.21752314e-02 1.65455855e+00] [ 1.72650419e-02 9.99849956e-01 1.40837800e-03 8.56924560e-02] [ 3.21461644e-02 -1.96294681e-03 9.99481251e-01 -4.07802354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.033617864999999 meters Centerline goodness [0,1] 0.9972528039989259 Centerline is valid? [True, True] Translation: X:1.68, Y:0.08, Z:-0.04 [[ 9.99368851e-01 -1.60019788e-02 -3.17149199e-02 1.68186523e+00] [ 1.60539107e-02 9.99870171e-01 1.38348123e-03 7.80499723e-02] [ 3.16886639e-02 -1.89175654e-03 9.99495998e-01 -4.08553161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0636178649999994 meters Centerline goodness [0,1] 0.9976455037382792 Centerline is valid? [True, True] Translation: X:1.71, Y:0.07, Z:-0.04 [[ 9.99361120e-01 -1.54026917e-02 -3.22507202e-02 1.71049887e+00] [ 1.54559030e-02 9.99879569e-01 1.40126630e-03 7.32722776e-02] [ 3.22252530e-02 -1.89883507e-03 9.99478828e-01 -4.12884979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0936178649999992 meters Centerline goodness [0,1] 0.9976685648262771 Centerline is valid? [True, True] Translation: X:1.74, Y:0.07, Z:-0.04 [[ 9.99359830e-01 -1.48039493e-02 -3.25695207e-02 1.73887465e+00] [ 1.48576820e-02 9.99888627e-01 1.40837082e-03 6.83542225e-02] [ 3.25450438e-02 -1.89137680e-03 9.99468480e-01 -4.17887698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1236178649999995 meters Centerline goodness [0,1] 0.9979577101598762 Centerline is valid? [True, True] Translation: X:1.77, Y:0.06, Z:-0.04 [[ 9.99332123e-01 -1.43777100e-02 -3.35944888e-02 1.76722850e+00] [ 1.44344056e-02 9.99894773e-01 1.44571750e-03 6.27469483e-02] [ 3.35701677e-02 -1.92966842e-03 9.99434500e-01 -4.24596516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1536178649999993 meters Centerline goodness [0,1] 0.9979983904583066 Centerline is valid? [True, True] Translation: X:1.80, Y:0.05, Z:-0.04 [[ 9.99298596e-01 -1.53961811e-02 -3.41360981e-02 1.79511959e+00] [ 1.54551780e-02 9.99879488e-01 1.46507589e-03 5.19831783e-02] [ 3.41094277e-02 -1.99162776e-03 9.99416120e-01 -4.26431475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1836178649999995 meters Centerline goodness [0,1] 0.9981408415790453 Centerline is valid? [True, True] Translation: X:1.82, Y:0.04, Z:-0.04 [[ 9.99283396e-01 -1.63091659e-02 -3.41570850e-02 1.82388696e+00] [ 1.63685780e-02 9.99864959e-01 1.46045140e-03 4.49002060e-02] [ 3.41286536e-02 -2.01850774e-03 9.99415409e-01 -4.20424662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2136178649999994 meters Centerline goodness [0,1] 0.9981027407147718 Centerline is valid? [True, True] Translation: X:1.85, Y:0.04, Z:-0.04 [[ 9.99282348e-01 -1.72507152e-02 -3.37224161e-02 1.85207338e+00] [ 1.73089290e-02 9.99849159e-01 1.43507256e-03 3.78158319e-02] [ 3.36925734e-02 -2.01774158e-03 9.99430207e-01 -4.11790897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.243617864999999 meters Centerline goodness [0,1] 0.998512888301388 Centerline is valid? [True, True] Translation: X:1.88, Y:0.03, Z:-0.04 [[ 9.99292979e-01 -1.90937689e-02 -3.23878047e-02 1.88037145e+00] [ 1.91482200e-02 9.99815715e-01 1.37186197e-03 2.58046397e-02] [ 3.23556421e-02 -1.99106085e-03 9.99474436e-01 -3.93868057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2736178649999994 meters Centerline goodness [0,1] 0.9985298685164096 Centerline is valid? [True, True] Translation: X:1.91, Y:0.02, Z:-0.04 [[ 9.99288985e-01 -1.99931689e-02 -3.19655595e-02 1.90929926e+00] [ 2.00464634e-02 9.99798141e-01 1.34760406e-03 1.96631414e-02] [ 3.19321641e-02 -1.98744231e-03 9.99488062e-01 -3.86145826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.303617864999999 meters Centerline goodness [0,1] 0.9985712510870915 Centerline is valid? [True, True] Translation: X:1.94, Y:0.01, Z:-0.04 [[ 9.99260656e-01 -2.12121115e-02 -3.20653615e-02 1.93773454e+00] [ 2.12661592e-02 9.99772944e-01 1.34540938e-03 1.29850225e-02] [ 3.20295419e-02 -2.02632174e-03 9.99484869e-01 -3.84863555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3336178649999995 meters Centerline goodness [0,1] 0.9981318498837596 Centerline is valid? [True, True] Translation: X:1.97, Y:0.00, Z:-0.04 [[ 9.99173549e-01 -2.26964127e-02 -3.37207904e-02 1.96630664e+00] [ 2.27569505e-02 9.99740029e-01 1.41250204e-03 1.87279117e-03] [ 3.36799653e-02 -2.17871704e-03 9.99430294e-01 -4.07745677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3636178649999993 meters Centerline goodness [0,1] 0.9979193974575037 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.00, Z:-0.04 [[ 9.99123623e-01 -2.35289094e-02 -3.46175595e-02 1.99558867e+00] [ 2.35931847e-02 9.99720591e-01 1.44934948e-03 -4.09674777e-03] [ 3.45737855e-02 -2.26481777e-03 9.99399582e-01 -4.18616521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3936178649999995 meters Centerline goodness [0,1] 0.9982923781757601 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.01, Z:-0.04 [[ 9.99077565e-01 -2.43745740e-02 -3.53539113e-02 2.02396907e+00] [ 2.44419608e-02 9.99700162e-01 1.47505681e-03 -1.05247647e-02] [ 3.53073570e-02 -2.33781508e-03 9.99373766e-01 -4.27290226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4236178649999993 meters Centerline goodness [0,1] 0.9982873135887046 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.02, Z:-0.04 [[ 9.99070662e-01 -2.45401692e-02 -3.54343533e-02 2.05090629e+00] [ 2.46078186e-02 9.99696095e-01 1.47422628e-03 -2.13262332e-02] [ 3.53874069e-02 -2.34481836e-03 9.99370919e-01 -4.26706551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.453617864999999 meters Centerline goodness [0,1] 0.9980252930549136 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.03, Z:-0.04 [[ 9.99097125e-01 -2.45500066e-02 -3.46732136e-02 2.07958219e+00] [ 2.46145937e-02 9.99695982e-01 1.43703883e-03 -2.65972050e-02] [ 3.46273931e-02 -2.28920843e-03 9.99397670e-01 -4.14922399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4836178649999994 meters Centerline goodness [0,1] 0.9978812670442626 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.03, Z:-0.04 [[ 9.99124549e-01 -2.46452571e-02 -3.38045473e-02 2.10802190e+00] [ 2.47064814e-02 9.99693776e-01 1.39454444e-03 -3.26260735e-02] [ 3.37598266e-02 -2.22851500e-03 9.99427490e-01 -4.05225157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.513617864999999 meters Centerline goodness [0,1] 0.9991113932085053 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.03, Z:-0.03 [[ 9.99139359e-01 -2.58406351e-02 -3.24469218e-02 2.13751498e+00] [ 2.58974479e-02 9.99663718e-01 1.33183967e-03 -2.55976255e-02] [ 3.24015949e-02 -2.17098590e-03 9.99472573e-01 -3.25706479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5436178649999994 meters Centerline goodness [0,1] 0.9991119568664764 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.04, Z:-0.03 [[ 9.99116444e-01 -2.70939742e-02 -3.21286012e-02 2.16590052e+00] [ 2.71502156e-02 9.99630499e-01 1.31546289e-03 -3.89975768e-02] [ 3.20810885e-02 -2.18659905e-03 9.99482878e-01 -3.44379042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5736178649999992 meters Centerline goodness [0,1] 0.9992771494174675 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.04, Z:-0.03 [[ 9.99099041e-01 -2.81719097e-02 -3.17403515e-02 2.19469784e+00] [ 2.82271829e-02 9.99600695e-01 1.29459383e-03 -3.94686919e-02] [ 3.16912062e-02 -2.18936816e-03 9.99495310e-01 -3.16716162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6036178649999995 meters Centerline goodness [0,1] 0.999250069636391 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.05, Z:-0.03 [[ 9.99076774e-01 -3.09559348e-02 -2.97880723e-02 2.22323013e+00] [ 3.10057757e-02 9.99518470e-01 1.21262654e-03 -5.23645119e-02] [ 2.97361905e-02 -2.13510930e-03 9.99555501e-01 -2.97057431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6336178649999993 meters Centerline goodness [0,1] 0.9991640408976915 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.06, Z:-0.03 [[ 9.99061734e-01 -3.27740918e-02 -2.83109655e-02 2.25138858e+00] [ 3.28198114e-02 9.99460621e-01 1.15162132e-03 -5.98283368e-02] [ 2.82579518e-02 -2.07970134e-03 9.99598501e-01 -2.81780330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.663617864999999 meters Centerline goodness [0,1] 0.9989718545174142 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.07, Z:-0.03 [[ 9.99047510e-01 -3.43526155e-02 -2.69067174e-02 2.28070875e+00] [ 3.43944540e-02 9.99407737e-01 1.09355326e-03 -6.56084874e-02] [ 2.68532151e-02 -2.01795352e-03 9.99637351e-01 -2.65870980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6936178649999993 meters Centerline goodness [0,1] 0.9970880069025022 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.08, Z:-0.02 [[ 9.98999997e-01 -3.68164196e-02 -2.53684435e-02 2.30969894e+00] [ 3.68543856e-02 9.99320115e-01 1.03051157e-03 -7.71506782e-02] [ 2.53132561e-02 -1.96441946e-03 9.99677638e-01 -2.47671023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.723617864999999 meters Centerline goodness [0,1] 0.9935454623953026 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.08, Z:-0.02 [[ 9.98965747e-01 -3.80548543e-02 -2.48850304e-02 2.33863683e+00] [ 3.80917492e-02 9.99273735e-01 1.01009605e-03 -8.31478689e-02] [ 2.48285182e-02 -1.95696569e-03 9.99689809e-01 -2.44183784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7536178649999994 meters Centerline goodness [0,1] 0.9712108749296506 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.09, Z:-0.02 [[ 9.98808738e-01 -4.21818679e-02 -2.45314908e-02 2.36763616e+00] [ 4.22189434e-02 9.99107887e-01 9.95156982e-04 -9.45250272e-02] [ 2.44676284e-02 -2.02966511e-03 9.99698562e-01 -2.48709421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.783617864999999 meters Centerline goodness [0,1] 0.9509859277275886 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.10, Z:-0.02 [[ 9.98736207e-01 -4.38403167e-02 -2.45767345e-02 2.39790045e+00] [ 4.38780254e-02 9.99036398e-01 9.96899877e-04 -1.00159787e-01] [ 2.45093479e-02 -2.07401858e-03 9.99697449e-01 -2.45697853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8136178649999994 meters Centerline goodness [0,1] 0.9170380078636959 Centerline is valid? [True, False] Translation: X:2.40, Y:-0.10, Z:-0.02 [[ 9.98743830e-01 -4.36854078e-02 -2.45427623e-02 2.39775200e+00] [ 4.37459819e-02 9.99040810e-01 1.93638506e-03 -1.02948058e-01] [ 2.44346293e-02 -3.00759987e-03 9.99696906e-01 -2.41502032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999992 meters Centerline goodness [0,1] 0.859932144029769 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.02 [[ 0.99874969 -0.04370294 -0.02427163 2.39720094] [ 0.04379477 0.99903521 0.00326462 -0.10750116] [ 0.02410554 -0.00432351 0.99970007 -0.02342519] [ 0. 0. 0. 1. ]] SLAMing on 3.873617864999999 meters Centerline goodness [0,1] 0.8311815977455927 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.02 [[ 0.99873563 -0.04383828 -0.02460378 2.39806382] [ 0.04394237 0.99902719 0.00370576 -0.10960764] [ 0.02441739 -0.00478222 0.99969041 -0.0234605 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9036178649999993 meters Centerline goodness [0,1] 0.8225841954655514 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.02 [[ 0.9987494 -0.04346961 -0.02469882 2.39807863] [ 0.0435948 0.99903892 0.00455286 -0.11171533] [ 0.02447717 -0.0056239 0.99968457 -0.02308781] [ 0. 0. 0. 1. ]] SLAMing on 3.933617864999999 meters Centerline goodness [0,1] 0.8135589490824275 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.02 [[ 0.99873375 -0.04355826 -0.02517109 2.39937542] [ 0.04368725 0.99903468 0.00459726 -0.11261068] [ 0.02494654 -0.0056911 0.99967259 -0.02360706] [ 0. 0. 0. 1. ]] SLAMing on 3.9636178649999994 meters Centerline goodness [0,1] 0.8048451625737716 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.11, Z:-0.02 [[ 0.99875469 -0.043022 -0.02526217 2.39941174] [ 0.04316654 0.99905434 0.00520403 -0.1134978 ] [ 0.02501439 -0.00628803 0.99966732 -0.02352739] [ 0. 0. 0. 1. ]] SLAMing on 3.993617864999999 meters Centerline goodness [0,1] 0.8325335574180137 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.11, Z:-0.02 [[ 9.98924376e-01 -3.67926778e-02 -2.82203777e-02 2.41004686e+00] [ 3.67666031e-02 9.99322839e-01 -1.44247199e-03 -1.12483166e-01] [ 2.82543403e-02 4.03353011e-04 9.99600685e-01 -2.33362104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters Centerline goodness [0,1] 0.8582198767129363 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.12, Z:-0.02 [[ 0.99907329 -0.03224292 -0.0285124 2.41009147] [ 0.03236916 0.99946807 0.00397688 -0.11606746] [ 0.02836901 -0.00489612 0.99958553 -0.02262894] [ 0. 0. 0. 1. ]] SLAMing on 4.053617865 meters Centerline goodness [0,1] 0.9072443843271171 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.12, Z:-0.02 [[ 9.99261093e-01 -2.56398050e-02 -2.86333289e-02 2.41885395e+00] [ 2.55623387e-02 9.99668521e-01 -3.06829240e-03 -1.16396165e-01] [ 2.87025080e-02 2.33409036e-03 9.99585273e-01 -2.28142410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617864999999 meters Centerline goodness [0,1] 0.9392239570680859 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.12, Z:-0.02 [[ 0.99945757 -0.02203109 -0.02447843 2.43516911] [ 0.02190973 0.99974635 -0.00521493 -0.11801951] [ 0.02458711 0.00467578 0.99968676 -0.02360547] [ 0. 0. 0. 1. ]] SLAMing on 4.113617864999999 meters Centerline goodness [0,1] 0.9705601350900971 Centerline is valid? [False, True] Translation: X:2.43, Y:-0.12, Z:-0.02 [[ 9.99551625e-01 -1.72873697e-02 -2.44478023e-02 2.43393264e+00] [ 1.73137265e-02 9.99849730e-01 8.66806998e-04 -1.23018141e-01] [ 2.44291437e-02 -1.28970091e-03 9.99700732e-01 -2.14665091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters Centerline goodness [0,1] 0.9988429788843647 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.12, Z:-0.02 [[ 9.99700781e-01 -1.29826586e-02 -2.07315984e-02 2.46380367e+00] [ 1.30077096e-02 9.99914819e-01 1.07395152e-03 -1.16432548e-01] [ 2.07158897e-02 -1.34330078e-03 9.99784501e-01 -1.62910629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.173617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.10, Z:-0.01 [[ 9.99771782e-01 -1.13054400e-02 -1.81265505e-02 2.49440646e+00] [ 1.13243071e-02 9.99935438e-01 9.38540349e-04 -9.57468015e-02] [ 1.81147696e-02 -1.14359678e-03 9.99835260e-01 -1.22629811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617864999999 meters Centerline goodness [0,1] 0.9559397657557167 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.13, Z:-0.01 [[ 9.99809831e-01 -1.01952929e-02 -1.66239999e-02 2.52059536e+00] [ 1.02109967e-02 9.99947497e-01 8.60040766e-04 -1.33292171e-01] [ 1.66143587e-02 -1.02962482e-03 9.99861442e-01 -1.28328522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.233617864999999 meters Centerline goodness [0,1] 0.9616162514168871 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.14, Z:-0.01 [[ 9.99869662e-01 -7.12544821e-03 -1.44874958e-02 2.54951860e+00] [ 7.13703883e-03 9.99974251e-01 7.48498421e-04 -1.38481420e-01] [ 1.44817894e-02 -8.51798683e-04 9.99894771e-01 -1.00294398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters Centerline goodness [0,1] 0.9629472651021683 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.14, Z:-0.01 [[ 9.99901623e-01 -5.54055159e-03 -1.28859102e-02 2.57899111e+00] [ 5.54958747e-03 9.99984379e-01 6.65570085e-04 -1.41128050e-01] [ 1.28820213e-02 -7.37016094e-04 9.99916752e-01 -8.17871309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.293617864999999 meters Centerline goodness [0,1] 0.9636163916786227 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.14, Z:-0.01 [[ 9.99925868e-01 -3.69345596e-03 -1.16024879e-02 2.60923470e+00] [ 3.70065410e-03 9.99992973e-01 5.98987752e-04 -1.43872604e-01] [ 1.16001940e-02 -6.41880142e-04 9.99932509e-01 -6.86428138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617864999999 meters Centerline goodness [0,1] 0.9997765812462298 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.13, Z:-0.01 [[ 9.99940571e-01 3.83844733e-03 -1.02039618e-02 2.64062450e+00] [-3.83327244e-03 9.99992514e-01 5.26654740e-04 -1.31325243e-01] [ 1.02059069e-02 -4.87508876e-04 9.99947800e-01 -5.57072860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3536178649999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.11, Z:-0.01 [[ 9.99916090e-01 9.08541144e-03 -9.23406955e-03 2.67170545e+00] [-9.08139675e-03 9.99958650e-01 4.76607438e-04 -1.09564110e-01] [ 9.23801789e-03 -3.92709196e-04 9.99957251e-01 -6.62933645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:-0.01 [[ 9.99874036e-01 1.35547981e-02 -8.25706583e-03 2.70132601e+00] [-1.35517408e-02 9.99908080e-01 4.26099429e-04 -1.07657850e-01] [ 8.26208254e-03 -3.14148140e-04 9.99965819e-01 -6.28491449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.413617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.11, Z:-0.01 [[ 9.99808091e-01 1.74539876e-02 -8.89600886e-03 2.73150574e+00] [-1.74505980e-02 9.99847622e-01 4.58502033e-04 -1.09522910e-01] [ 8.90265598e-03 -3.03173368e-04 9.99960325e-01 -6.68310190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters Centerline goodness [0,1] 0.9999552562697152 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.11, Z:-0.01 [[ 9.99674216e-01 2.31918468e-02 -1.06583615e-02 2.76232985e+00] [-2.31873045e-02 9.99730987e-01 5.49564349e-04 -1.07385191e-01] [ 1.06682397e-02 -3.02246635e-04 9.99943047e-01 -9.33892621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.473617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.11, Z:-0.01 [[ 9.99602420e-01 2.57016450e-02 -1.15942696e-02 2.79494672e+00] [-2.56964374e-02 9.99669613e-01 5.97920533e-04 -1.07528976e-01] [ 1.16058066e-02 -2.99751388e-04 9.99932605e-01 -8.75142305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617864999999 meters Centerline goodness [0,1] 0.9999553451817451 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.11, Z:-0.01 [[ 9.99563866e-01 2.68408948e-02 -1.23144085e-02 2.82689317e+00] [-2.68350947e-02 9.99639672e-01 6.36020917e-04 -1.08735706e-01] [ 1.23270426e-02 -3.05285208e-04 9.99923973e-01 -9.45278017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.533617864999999 meters Centerline goodness [0,1] 0.9999553322166388 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.11, Z:-0.01 [[ 9.99552670e-01 2.57544629e-02 -1.52041950e-02 2.85859561e+00] [-2.57454292e-02 9.99668220e-01 7.89622839e-04 -1.09793487e-01] [ 1.52194869e-02 -3.97831090e-04 9.99884098e-01 -1.11849767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters Centerline goodness [0,1] 0.9999777143875914 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.11, Z:-0.01 [[ 9.99571204e-01 2.48000697e-02 -1.55680878e-02 2.88995165e+00] [-2.47904224e-02 9.99692340e-01 8.12388476e-04 -1.10700446e-01] [ 1.55834454e-02 -4.26100654e-04 9.99878480e-01 -1.16681168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.593617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.11, Z:-0.01 [[ 9.99632562e-01 2.14767815e-02 -1.65375212e-02 2.92092214e+00] [-2.14653858e-02 9.99769217e-01 8.66298501e-04 -1.14294837e-01] [ 1.65523099e-02 -5.10995917e-04 9.99862871e-01 -1.17383145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.11, Z:-0.01 [[ 9.99729947e-01 1.72544397e-02 -1.55665662e-02 2.95145115e+00] [-1.72438249e-02 9.99850981e-01 8.15868904e-04 -1.14521885e-01] [ 1.55783239e-02 -5.47221433e-04 9.99878501e-01 -1.04761121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.653617864999999 meters Centerline goodness [0,1] 0.9999778309834175 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.12, Z:-0.01 [[ 9.99769732e-01 1.45841676e-02 -1.57411664e-02 2.98020566e+00] [-1.45729841e-02 9.99893468e-01 8.24936452e-04 -1.18302214e-01] [ 1.57515205e-02 -5.95350728e-04 9.99875760e-01 -1.04203074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.12, Z:-0.01 [[ 9.99804792e-01 1.09117120e-02 -1.64715781e-02 3.00912900e+00] [-1.08989793e-02 9.99940232e-01 8.62581953e-04 -1.21595807e-01] [ 1.64800059e-02 -6.82890182e-04 9.99863962e-01 -9.67536463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.713617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.12, Z:-0.01 [[ 9.99851170e-01 5.04765522e-03 -1.64972572e-02 3.03917892e+00] [-5.03409685e-03 9.99986956e-01 8.63280557e-04 -1.23564984e-01] [ 1.65013996e-02 -7.80103284e-04 9.99863538e-01 -9.24192875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.13, Z:-0.01 [[ 9.99838655e-01 9.46781617e-05 -1.79625833e-02 3.06943529e+00] [-7.78078040e-05 9.99999555e-01 9.39890952e-04 -1.25885155e-01] [ 1.79626643e-02 -9.38341677e-04 9.99838218e-01 -8.71604971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.773617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.13, Z:-0.01 [[ 9.99810330e-01 -5.05460047e-03 -1.88083759e-02 3.09861056e+00] [ 5.07400206e-03 9.99986643e-01 9.83961049e-04 -1.31142372e-01] [ 1.88031512e-02 -1.07920816e-03 9.99822623e-01 -8.49363218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.14, Z:-0.01 [[ 9.99719406e-01 -1.49357723e-02 -1.83856436e-02 3.12817207e+00] [ 1.49559706e-02 9.99887691e-01 9.61574234e-04 -1.36138203e-01] [ 1.83692169e-02 -1.23627957e-03 9.99830507e-01 -8.53422719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.833617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.14, Z:-0.01 [[ 9.99656084e-01 -1.93091009e-02 -1.77446609e-02 3.15838512e+00] [ 1.93285993e-02 9.99812755e-01 9.27971442e-04 -1.37520208e-01] [ 1.77234200e-02 -1.27063174e-03 9.99842120e-01 -7.06692799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.14, Z:-0.01 [[ 9.99575238e-01 -2.35669135e-02 -1.71447793e-02 3.18833265e+00] [ 2.35857373e-02 9.99721416e-01 8.96533893e-04 -1.41178122e-01] [ 1.71188745e-02 -1.30052534e-03 9.99852616e-01 -6.02986113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8936178649999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.14, Z:-0.01 [[ 9.99568858e-01 -2.38359577e-02 -1.71448445e-02 3.21596811e+00] [ 2.38547996e-02 9.99715033e-01 8.95284448e-04 -1.42562812e-01] [ 1.71186188e-02 -1.30388528e-03 9.99852616e-01 -5.66065000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617864999999 meters Centerline goodness [0,1] 0.9999777955413447 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.14, Z:-0.00 [[ 9.99396617e-01 -3.03392205e-02 -1.69095469e-02 3.24679936e+00] [ 3.03584144e-02 9.99538690e-01 8.79496001e-04 -1.44240382e-01] [ 1.68750632e-02 -1.39231236e-03 9.99856637e-01 -4.06785469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.953617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.15, Z:-0.00 [[ 9.99324565e-01 -3.26016364e-02 -1.69572411e-02 3.27702070e+00] [ 3.26212639e-02 9.99467396e-01 8.82087007e-04 -1.48115422e-01] [ 1.69194522e-02 -1.43465785e-03 9.99855827e-01 -3.46866923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters Centerline goodness [0,1] 0.9999112294718153 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.16, Z:-0.00 [[ 9.99280977e-01 -3.38630800e-02 -1.70534696e-02 3.30496777e+00] [ 3.38831051e-02 9.99425409e-01 8.86610709e-04 -1.55945553e-01] [ 1.70136474e-02 -1.46379772e-03 9.99854186e-01 -2.77590214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.013617864999999 meters Centerline goodness [0,1] 0.9999332799572992 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.16, Z:-0.00 [[ 9.99245349e-01 -3.48406968e-02 -1.71714498e-02 3.33370194e+00] [ 3.48611121e-02 9.99391770e-01 8.90927003e-04 -1.56538510e-01] [ 1.71299651e-02 -1.48887050e-03 9.99852163e-01 -1.98104502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617864999999 meters Centerline goodness [0,1] 0.9999778422813587 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.16, Z:-0.00 [[ 9.99306296e-01 -3.31687193e-02 -1.69340755e-02 3.36357785e+00] [ 3.31882826e-02 9.99448734e-01 8.75466656e-04 -1.57499747e-01] [ 1.68957022e-02 -1.43687222e-03 9.99856225e-01 -1.80381959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.073617864999999 meters Centerline goodness [0,1] 0.9999112314418233 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.16, Z:-0.00 [[ 9.99377019e-01 -3.12192198e-02 -1.64600555e-02 3.39203772e+00] [ 3.12374344e-02 9.99511630e-01 8.50589283e-04 -1.61362961e-01] [ 1.64254622e-02 -1.36422929e-03 9.99864162e-01 -2.03656135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters Centerline goodness [0,1] 0.9999778520962991 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.15, Z:-0.00 [[ 9.99453298e-01 -2.90956368e-02 -1.57018507e-02 3.42195658e+00] [ 2.91119402e-02 9.99575829e-01 8.10696605e-04 -1.54222402e-01] [ 1.56716027e-02 -1.26736474e-03 9.99876390e-01 -1.16978243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.133617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.16, Z:0.00 [[ 9.99585251e-01 -2.49794792e-02 -1.43300976e-02 3.45137454e+00] [ 2.49926317e-02 9.99687362e-01 7.39446813e-04 -1.59659629e-01] [ 1.43071465e-02 -1.09728698e-03 9.99897045e-01 7.48577766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163617864999999 meters Centerline goodness [0,1] 0.9999335651172576 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.17, Z:0.00 [[ 9.99631038e-01 -2.33228563e-02 -1.39223660e-02 3.47987906e+00] [ 2.33351087e-02 9.99727441e-01 7.18228186e-04 -1.66507587e-01] [ 1.39018202e-02 -1.04284311e-03 9.99902821e-01 2.35002256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.193617864999999 meters Centerline goodness [0,1] 0.9998667318199991 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.17, Z:0.00 [[ 9.99660108e-01 -2.23536947e-02 -1.34156791e-02 3.50926492e+00] [ 2.23649758e-02 9.99749634e-01 6.91433445e-04 -1.66531576e-01] [ 1.33968642e-02 -9.91239772e-04 9.99909767e-01 3.92005240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.16, Z:0.01 [[ 9.99698705e-01 -2.10351868e-02 -1.26498765e-02 3.53841373e+00] [ 2.10450782e-02 9.99778317e-01 6.49313461e-04 -1.64611929e-01] [ 1.26334138e-02 -9.15335466e-04 9.99919776e-01 5.27095191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.253617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.16, Z:0.01 [[ 9.99828434e-01 -1.55103382e-02 -1.01258353e-02 3.56872639e+00] [ 1.55163877e-02 9.99879479e-01 5.19140908e-04 -1.63024512e-01] [ 1.01165628e-02 -6.76168227e-04 9.99948598e-01 7.02216699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.16, Z:0.01 [[ 9.99868828e-01 -1.27537897e-02 -9.98335974e-03 3.59911247e+00] [ 1.27595293e-02 9.99918463e-01 5.11433226e-04 -1.63718352e-01] [ 9.97602301e-03 -6.38749112e-04 9.99950034e-01 7.22438632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.313617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.16, Z:0.01 [[ 9.99892889e-01 -1.04929144e-02 -1.02034073e-02 3.62923444e+00] [ 1.04987908e-02 9.99944750e-01 5.22530110e-04 -1.63932243e-01] [ 1.01973607e-02 -6.29597580e-04 9.99947807e-01 6.87111109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.17, Z:0.01 [[ 9.99926177e-01 -6.88267590e-03 -1.00134854e-02 3.65792666e+00] [ 6.88815404e-03 9.99976145e-01 5.12691318e-04 -1.66548029e-01] [ 1.00097179e-02 -5.81627899e-04 9.99949732e-01 7.06715465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.373617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.17, Z:0.01 [[ 9.99941775e-01 -4.50405893e-03 -9.80616835e-03 3.68685472e+00] [ 4.50919548e-03 9.99989708e-01 5.01761391e-04 -1.69758181e-01] [ 9.80380746e-03 -5.45950106e-04 9.99951792e-01 7.61992786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.17, Z:0.01 [[ 9.99938501e-01 -2.87894343e-03 -1.07101278e-02 3.71573376e+00] [ 2.88497437e-03 9.99995688e-01 5.47698701e-04 -1.71149966e-01] [ 1.07085048e-02 -5.78563462e-04 9.99942495e-01 7.27636609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.433617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.17, Z:0.01 [[ 9.99932379e-01 8.88982811e-04 -1.15951503e-02 3.74583893e+00] [-8.82177146e-04 9.99999436e-01 5.92042053e-04 -1.67270881e-01] [ 1.15956700e-02 -5.81773042e-04 9.99932599e-01 6.65298728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.463617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.16, Z:0.01 [[ 9.99924328e-01 2.35301406e-03 -1.20748188e-02 3.77522515e+00] [-2.34574116e-03 9.99997059e-01 6.16447074e-04 -1.64636196e-01] [ 1.20762338e-02 -5.88076027e-04 9.99926907e-01 6.18633965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.493617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.17, Z:0.01 [[ 9.99907591e-01 3.04444436e-03 -1.32492030e-02 3.80264924e+00] [-3.03577048e-03 9.99995164e-01 6.74734187e-04 -1.68637543e-01] [ 1.32511932e-02 -6.34450295e-04 9.99911998e-01 5.71086297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.17, Z:0.01 [[ 9.99880519e-01 5.33315533e-03 -1.45087840e-02 3.83208638e+00] [-5.32301378e-03 9.99985561e-01 7.37521398e-04 -1.66439086e-01] [ 1.45125078e-02 -6.60202821e-04 9.99894470e-01 6.04018393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.553617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.17, Z:0.01 [[ 9.99866876e-01 6.36214850e-03 -1.50250890e-02 3.86134215e+00] [-6.35141290e-03 9.99979539e-01 7.62121477e-04 -1.66478507e-01] [ 1.50296303e-02 -6.66589476e-04 9.99886827e-01 5.41497858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.17, Z:0.00 [[ 9.99843701e-01 6.48223209e-03 -1.64485552e-02 3.88883208e+00] [-6.46940261e-03 9.99978726e-01 8.33066918e-04 -1.69074423e-01] [ 1.64536054e-02 -7.26524384e-04 9.99864366e-01 4.71638083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.613617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.17, Z:0.00 [[ 9.99814199e-01 6.02181724e-03 -1.83113237e-02 3.91688183e+00] [-6.00587292e-03 9.99981536e-01 9.25603964e-04 -1.72584762e-01] [ 1.83165594e-02 -8.15456503e-04 9.99831905e-01 3.17366492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.643617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.17, Z:0.00 [[ 9.99815984e-01 5.86333246e-03 -1.82652370e-02 3.94546966e+00] [-5.84747798e-03 9.99982479e-01 9.21300277e-04 -1.69393470e-01] [ 1.82703188e-02 -8.14325173e-04 9.99832752e-01 3.24151058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.673617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.17, Z:0.00 [[ 9.99804687e-01 4.71319305e-03 -1.91930513e-02 3.97447313e+00] [-4.69550998e-03 9.99988509e-01 9.66287483e-04 -1.72226023e-01] [ 1.91973851e-02 -8.75977591e-04 9.99815329e-01 2.96350429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.703617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.17, Z:0.00 [[ 9.99807775e-01 4.97849506e-03 -1.89638518e-02 4.00348507e+00] [-4.96130358e-03 9.99987238e-01 9.53478897e-04 -1.72544956e-01] [ 1.89683566e-02 -8.59210189e-04 9.99819715e-01 4.57393771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.733617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.18, Z:0.00 [[ 9.99795918e-01 4.19602451e-03 -1.97614757e-02 4.03147417e+00] [-4.17723304e-03 9.99990783e-01 9.92096235e-04 -1.76914186e-01] [ 1.97654564e-02 -9.09345477e-04 9.99804231e-01 4.82724111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.18, Z:0.01 [[ 9.99782090e-01 4.33086964e-03 -2.04209896e-02 4.06038413e+00] [-4.31086436e-03 9.99990184e-01 1.02356237e-03 -1.76376702e-01] [ 2.04252221e-02 -9.35307209e-04 9.99790946e-01 5.64088617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.793617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.18, Z:0.01 [[ 9.99783124e-01 4.72213605e-03 -2.02831667e-02 4.08925668e+00] [-4.70250826e-03 9.99988428e-01 1.01527559e-03 -1.76597161e-01] [ 2.02877263e-02 -9.19673645e-04 9.99793760e-01 6.35766640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.18, Z:0.01 [[ 9.99793757e-01 4.32487442e-03 -1.98428365e-02 4.11791691e+00] [-4.30603819e-03 9.99990237e-01 9.91899524e-04 -1.79587605e-01] [ 1.98469326e-02 -9.06250941e-04 9.99802620e-01 7.41107064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.853617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.18, Z:0.01 [[ 9.99801827e-01 4.06998975e-03 -1.94869708e-02 4.14559621e+00] [-4.05180238e-03 9.99991318e-01 9.72700697e-04 -1.83261215e-01] [ 1.94907605e-02 -8.93550580e-04 9.99809638e-01 8.05837205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.18, Z:0.01 [[ 9.99803848e-01 3.48564030e-03 -1.94965750e-02 4.17477743e+00] [-3.46735438e-03 9.99993517e-01 9.71629421e-04 -1.82033294e-01] [ 1.94998353e-02 -9.03837299e-04 9.99809452e-01 9.34236039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.913617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.18, Z:0.01 [[ 9.99842302e-01 3.66369855e-03 -1.73766827e-02 4.20337683e+00] [-3.64921945e-03 9.99992968e-01 8.64883936e-04 -1.84760286e-01] [ 1.73797291e-02 -8.01336217e-04 9.99848640e-01 1.17446668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.943617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:0.01 [[ 9.99851834e-01 3.69743765e-03 -1.68118780e-02 4.23099238e+00] [-3.68390934e-03 9.99992865e-01 8.35584973e-04 -1.91559001e-01] [ 1.68148476e-02 -7.73527733e-04 9.99858321e-01 1.26240067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.973617864999999 meters Centerline goodness [0,1] 0.9999779220205767 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.19, Z:0.01 [[ 9.99853025e-01 3.13635245e-03 -1.68550020e-02 4.26036058e+00] [-3.12269843e-03 9.99994775e-01 8.36344713e-04 -1.89956331e-01] [ 1.68575370e-02 -7.83588703e-04 9.99857595e-01 1.31683527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.19, Z:0.01 [[ 9.99851534e-01 3.70021184e-03 -1.68291217e-02 4.28942337e+00] [-3.68669866e-03 9.99992856e-01 8.33917508e-04 -1.90232904e-01] [ 1.68320872e-02 -7.71749799e-04 9.99858033e-01 1.32454950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.033617864999999 meters Centerline goodness [0,1] 0.9999338259622808 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.19, Z:0.01 [[ 9.99863534e-01 3.31914909e-03 -1.61831927e-02 4.31707260e+00] [-3.30662335e-03 9.99994213e-01 8.00692943e-04 -1.93586972e-01] [ 1.61857566e-02 -7.47071953e-04 9.99868723e-01 1.37931271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0636178649999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.20, Z:0.01 [[ 9.99869300e-01 4.13816218e-03 -1.56287420e-02 4.34494125e+00] [-4.12660755e-03 9.99991188e-01 7.71495416e-04 -1.98461854e-01] [ 1.56317969e-02 -7.06900897e-04 9.99877566e-01 1.47547230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.093617864999999 meters Centerline goodness [0,1] 0.999977886869223 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.20, Z:0.02 [[ 9.99868524e-01 4.07809517e-03 -1.56940660e-02 4.37249078e+00] [-4.06645733e-03 9.99991433e-01 7.73384010e-04 -2.00421859e-01] [ 1.56970855e-02 -7.09463078e-04 9.99876541e-01 1.52454444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.20, Z:0.02 [[ 9.99858912e-01 3.64740751e-03 -1.63967113e-02 4.40102717e+00] [-3.63467145e-03 9.99993069e-01 8.06478234e-04 -1.99584975e-01] [ 1.63995392e-02 -7.46767792e-04 9.99865240e-01 1.52527004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.153617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.20, Z:0.01 [[ 9.99841211e-01 3.05648059e-03 -1.75559354e-02 4.42957981e+00] [-3.04181010e-03 9.99995002e-01 8.62285005e-04 -2.00867191e-01] [ 1.75584832e-02 -8.08746262e-04 9.99845511e-01 1.46869916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.183617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.20, Z:0.01 [[ 9.99844194e-01 3.09961279e-03 -1.73775955e-02 4.45867486e+00] [-3.08526493e-03 9.99994877e-01 8.52401246e-04 -2.00689516e-01] [ 1.73801486e-02 -7.98653950e-04 9.99848635e-01 1.42279937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.213617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.20, Z:0.01 [[ 9.99830280e-01 2.10290515e-03 -1.83026882e-02 4.48674440e+00] [-2.08684622e-03 9.99997421e-01 8.96463282e-04 -2.03441232e-01] [ 1.83045262e-02 -8.58116239e-04 9.99832090e-01 1.34516610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.21, Z:0.01 [[ 9.99816879e-01 -3.76553423e-04 -1.91328851e-02 4.51515038e+00] [ 3.94528557e-04 9.99999484e-01 9.35723021e-04 -2.07728329e-01] [ 1.91325228e-02 -9.43100140e-04 9.99816512e-01 1.37738709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2736178649999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.21, Z:0.01 [[ 9.99833845e-01 -1.44034555e-03 -1.81716112e-02 4.54436262e+00] [ 1.45671820e-03 9.99998545e-01 8.87796867e-04 -2.09302530e-01] [ 1.81703061e-02 -9.14120272e-04 9.99834488e-01 1.48564505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.21, Z:0.02 [[ 9.99836115e-01 -3.79896117e-03 -1.77005812e-02 4.57378085e+00] [ 3.81484746e-03 9.99992350e-01 8.63822031e-04 -2.13281626e-01] [ 1.76971641e-02 -9.31205480e-04 9.99842959e-01 1.61600036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.333617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.22, Z:0.02 [[ 9.99814425e-01 -9.22798397e-03 -1.69103543e-02 4.60289190e+00] [ 9.24324962e-03 9.99956940e-01 8.24801762e-04 -2.20691259e-01] [ 1.69020149e-02 -9.80955326e-04 9.99856670e-01 1.79645340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.22, Z:0.02 [[ 9.99807245e-01 -1.06950462e-02 -1.64647663e-02 4.63249709e+00] [ 1.07097112e-02 9.99942327e-01 8.02774309e-04 -2.21416943e-01] [ 1.64552310e-02 -9.78952463e-04 9.99864124e-01 1.84091806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.393617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.22, Z:0.02 [[ 9.99789193e-01 -1.23775601e-02 -1.63818759e-02 4.66169971e+00] [ 1.23922937e-02 9.99922894e-01 7.98179858e-04 -2.23256712e-01] [ 1.63707333e-02 -1.00102061e-03 9.99865489e-01 1.84858763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.21, Z:0.02 [[ 9.99768480e-01 -1.44995395e-02 -1.58980761e-02 4.69214302e+00] [ 1.45136720e-02 9.99894372e-01 7.73918604e-04 -2.12029012e-01] [ 1.58851753e-02 -1.00447889e-03 9.99873318e-01 2.10588470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.453617864999999 meters Centerline goodness [0,1] 0.9996926117027116 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.23, Z:0.02 [[ 9.99762224e-01 -1.52878753e-02 -1.55491551e-02 4.71873178e+00] [ 1.53014791e-02 9.99882639e-01 7.56287569e-04 -2.31156970e-01] [ 1.55357682e-02 -9.94032814e-04 9.99878819e-01 2.16231715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4836178649999985 meters Centerline goodness [0,1] 0.9999779434469981 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.22, Z:0.02 [[ 9.99761965e-01 -1.62505386e-02 -1.45579347e-02 4.74778173e+00] [ 1.62625468e-02 9.99867506e-01 7.06842989e-04 -2.18150412e-01] [ 1.45445193e-02 -9.43423830e-04 9.99893778e-01 2.26430188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.513617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.22, Z:0.02 [[ 9.99757894e-01 -1.65944862e-02 -1.44490992e-02 4.77575769e+00] [ 1.66063227e-02 9.99861861e-01 6.99582601e-04 -2.18731276e-01] [ 1.44354940e-02 -9.39359632e-04 9.99895362e-01 2.27171422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.22, Z:0.02 [[ 9.99769521e-01 -1.64218348e-02 -1.38285193e-02 4.80493270e+00] [ 1.64326106e-02 9.99864754e-01 6.65969741e-04 -2.18892471e-01] [ 1.38157126e-02 -8.93054921e-04 9.99904160e-01 2.33794716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.573617864999999 meters Centerline goodness [0,1] 0.9999779181203904 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.22, Z:0.02 [[ 9.99775154e-01 -1.59451494e-02 -1.39783102e-02 4.83407646e+00] [ 1.59560667e-02 9.99872469e-01 6.69832012e-04 -2.19697366e-01] [ 1.39658470e-02 -8.92720253e-04 9.99902074e-01 2.34681380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.603617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.22, Z:0.02 [[ 9.99797027e-01 -1.41882939e-02 -1.43037655e-02 4.86236630e+00] [ 1.41994997e-02 9.99898949e-01 6.82161631e-04 -2.23304341e-01] [ 1.42926414e-02 -8.85129485e-04 9.99897463e-01 2.31469255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.633617864999999 meters Centerline goodness [0,1] 0.9999779142188259 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.23, Z:0.02 [[ 9.99806466e-01 -1.34049783e-02 -1.43992262e-02 4.88975309e+00] [ 1.34162440e-02 9.99909763e-01 6.86063637e-04 -2.27830798e-01] [ 1.43887302e-02 -8.79114391e-04 9.99896090e-01 2.35394257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.22, Z:0.02 [[ 9.99810608e-01 -1.30751310e-02 -1.44148720e-02 4.91905979e+00] [ 1.30863675e-02 9.99914135e-01 6.85457976e-04 -2.21620749e-01] [ 1.44046718e-02 -8.73966469e-04 9.99895865e-01 2.45496796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6936178649999984 meters Centerline goodness [0,1] 0.9999779288425885 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.22, Z:0.02 [[ 9.99818492e-01 -1.22552905e-02 -1.45873290e-02 4.94800054e+00] [ 1.22666587e-02 9.99924524e-01 6.90098908e-04 -2.20135655e-01] [ 1.45777707e-02 -8.68911436e-04 9.99893361e-01 2.40196543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617864999999 meters Centerline goodness [0,1] 0.9999780026396833 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.23, Z:0.02 [[ 9.99821022e-01 -1.17178230e-02 -1.48531576e-02 4.97598034e+00] [ 1.17294990e-02 9.99930963e-01 6.99221217e-04 -2.25044092e-01] [ 1.48439389e-02 -8.73316169e-04 9.99889441e-01 2.32692873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.753617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.22, Z:0.02 [[ 9.99826357e-01 -1.17136683e-02 -1.44929595e-02 5.00510754e+00] [ 1.17247640e-02 9.99931031e-01 6.80856706e-04 -2.23568292e-01] [ 1.44839846e-02 -8.50665011e-04 9.99894740e-01 2.32331759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.23, Z:0.02 [[ 9.99850303e-01 -1.05868022e-02 -1.36854167e-02 5.03251444e+00] [ 1.05965484e-02 9.99943650e-01 6.39841293e-04 -2.28108051e-01] [ 1.36778717e-02 -7.84763692e-04 9.99906146e-01 2.41367179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8136178649999986 meters Centerline goodness [0,1] 0.9999559849468518 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.23, Z:0.02 [[ 9.99847384e-01 -1.08589381e-02 -1.36854744e-02 5.06012332e+00] [ 1.08686928e-02 9.99940730e-01 6.38604803e-04 -2.29337139e-01] [ 1.36777287e-02 -7.87250560e-04 9.99906146e-01 2.45051047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617864999999 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.23, Z:0.02 [[ 9.99857808e-01 -9.90777220e-03 -1.36454886e-02 5.08886756e+00] [ 9.91733125e-03 9.99950622e-01 6.33038385e-04 -2.31088128e-01] [ 1.36385428e-02 -7.68275203e-04 9.99906696e-01 2.47399093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.873617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.23, Z:0.03 [[ 9.99859783e-01 -8.88146124e-03 -1.41962811e-02 5.11800074e+00] [ 8.89165469e-03 9.99960254e-01 6.55079681e-04 -2.30972549e-01] [ 1.41898988e-02 -7.81216257e-04 9.99899013e-01 2.51534205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999998 meters Centerline goodness [0,1] 0.9999116939311654 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.24, Z:0.02 [[ 9.99881311e-01 -6.21257350e-03 -1.40985353e-02 5.14671949e+00] [ 6.22231709e-03 9.99980432e-01 6.47346726e-04 -2.35373081e-01] [ 1.40942377e-02 -7.34995449e-04 9.99900401e-01 2.49497982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.933617864999999 meters Centerline goodness [0,1] 0.9999779117796479 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.23, Z:0.02 [[ 9.99889687e-01 -4.56602250e-03 -1.41338259e-02 5.17616455e+00] [ 4.57564193e-03 9.99989322e-01 6.48333218e-04 -2.34126285e-01] [ 1.41307147e-02 -7.12933025e-04 9.99899902e-01 2.49029231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617864999999 meters Centerline goodness [0,1] 0.9998676927826413 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.24, Z:0.03 [[ 9.99900705e-01 -1.39465507e-03 -1.40226439e-02 5.20625908e+00] [ 1.40377155e-03 9.99998810e-01 6.40304008e-04 -2.35027984e-01] [ 1.40217342e-02 -6.59925018e-04 9.99901473e-01 2.53057311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.993617864999999 meters Centerline goodness [0,1] 0.9999779585179307 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.24, Z:0.03 [[ 9.99902864e-01 -8.57182354e-04 -1.39113943e-02 5.23522362e+00] [ 8.66097801e-04 9.99999423e-01 6.34861730e-04 -2.36519292e-01] [ 1.39108421e-02 -6.46848691e-04 9.99903030e-01 2.58941380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0236178649999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.24, Z:0.03 [[ 9.99904087e-01 7.64381140e-04 -1.38287068e-02 5.26450742e+00] [-7.55770629e-04 9.99999517e-01 6.27870056e-04 -2.37209370e-01] [ 1.38291800e-02 -6.17358505e-04 9.99904182e-01 2.68544645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.053617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.24, Z:0.03 [[ 9.99897580e-01 2.69458731e-03 -1.40558888e-02 5.29381942e+00] [-2.68590598e-03 9.99996190e-01 6.36470065e-04 -2.37473178e-01] [ 1.40575502e-02 -5.98652083e-04 9.99901009e-01 2.68987405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617864999999 meters Centerline goodness [0,1] 0.9998893707407736 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.24, Z:0.03 [[ 9.99870298e-01 5.61415626e-03 -1.50953044e-02 5.32336024e+00] [-5.60452469e-03 9.99984063e-01 6.80279321e-04 -2.36669182e-01] [ 1.50988830e-02 -5.95589081e-04 9.99885828e-01 2.68168991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.113617864999998 meters Centerline goodness [0,1] 0.9999559461662151 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.24, Z:0.03 [[ 9.99861293e-01 7.96937289e-03 -1.46247696e-02 5.35286523e+00] [-7.96059494e-03 9.99968097e-01 6.58327953e-04 -2.36442286e-01] [ 1.46295494e-02 -5.41814771e-04 9.99892836e-01 2.74552044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.143617864999999 meters Centerline goodness [0,1] 0.9999779303038997 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.24, Z:0.03 [[ 9.99849080e-01 9.14615219e-03 -1.47703944e-02 5.38062700e+00] [-9.13737388e-03 9.99958034e-01 6.61695547e-04 -2.38341586e-01] [ 1.47758265e-02 -5.26633068e-04 9.99890693e-01 2.71594227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.173617864999999 meters Centerline goodness [0,1] 0.9999779312779997 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.24, Z:0.03 [[ 9.99839395e-01 9.41679386e-03 -1.52482271e-02 5.40977951e+00] [-9.40749001e-03 9.99955516e-01 6.81773597e-04 -2.39817567e-01] [ 1.52539689e-02 -5.38216557e-04 9.99883507e-01 2.71453494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.24, Z:0.03 [[ 9.99825658e-01 1.06210215e-02 -1.53572975e-02 5.43907862e+00] [-1.06117418e-02 9.99943459e-01 6.85614334e-04 -2.40854378e-01] [ 1.53637111e-02 -5.22527126e-04 9.99881835e-01 2.79193008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2336178649999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.24, Z:0.03 [[ 9.99808474e-01 1.21741079e-02 -1.53234041e-02 5.46728849e+00] [-1.21650646e-02 9.99925769e-01 6.83240048e-04 -2.40750154e-01] [ 1.53305845e-02 -4.96698989e-04 9.99882356e-01 2.78593812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617864999999 meters Centerline goodness [0,1] 0.9999336092238919 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.24, Z:0.03 [[ 9.99794367e-01 1.17222687e-02 -1.65472674e-02 5.49531120e+00] [-1.17116861e-02 9.99931145e-01 7.36299156e-04 -2.43741048e-01] [ 1.65547591e-02 -5.42351347e-04 9.99862813e-01 2.70355371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.293617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.25, Z:0.03 [[ 9.99798115e-01 1.02722186e-02 -1.72687977e-02 5.52261081e+00] [-1.02605042e-02 9.99947066e-01 7.66823118e-04 -2.46455029e-01] [ 1.72757605e-02 -5.89481736e-04 9.99850589e-01 2.64940438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.25, Z:0.03 [[ 9.99802944e-01 9.72348268e-03 -1.73068508e-02 5.55177648e+00] [-9.71166241e-03 9.99952547e-01 7.66898816e-04 -2.48182506e-01] [ 1.73134865e-02 -5.98669402e-04 9.99849931e-01 2.68614489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.353617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.25, Z:0.03 [[ 9.99811565e-01 1.10691530e-02 -1.59470496e-02 5.58045097e+00] [-1.10593042e-02 9.99938595e-01 7.05646106e-04 -2.46278696e-01] [ 1.59538813e-02 -5.29149863e-04 9.99872589e-01 2.78870437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.25, Z:0.03 [[ 9.99814048e-01 1.13923921e-02 -1.55590371e-02 5.60925448e+00] [-1.13830721e-02 9.99934974e-01 6.87445057e-04 -2.46936421e-01] [ 1.55658570e-02 -5.10207585e-04 9.99878715e-01 2.85724247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.413617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.25, Z:0.03 [[ 9.99805651e-01 1.04921840e-02 -1.66905255e-02 5.63660365e+00] [-1.04813553e-02 9.99944798e-01 7.36133509e-04 -2.49581151e-01] [ 1.66973278e-02 -5.61051114e-04 9.99860432e-01 2.78347015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4436178649999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.25, Z:0.03 [[ 9.99803682e-01 9.74998486e-03 -1.72491952e-02 5.66521686e+00] [-9.73833716e-03 9.99952293e-01 7.59129079e-04 -2.51545740e-01] [ 1.72557738e-02 -5.91001570e-04 9.99850933e-01 2.74871260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.473617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.25, Z:0.03 [[ 9.99812015e-01 8.78420759e-03 -1.72850200e-02 5.69365957e+00] [-8.77238709e-03 9.99961233e-01 7.59561965e-04 -2.53908283e-01] [ 1.72910221e-02 -6.07788293e-04 9.99850314e-01 2.79484185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617864999999 meters Centerline goodness [0,1] 0.9999778584713489 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.26, Z:0.03 [[ 9.99828131e-01 8.20075158e-03 -1.66269772e-02 5.72268319e+00] [-8.18975115e-03 9.99966197e-01 7.29584598e-04 -2.55919197e-01] [ 1.66323983e-02 -5.93288399e-04 9.99861496e-01 2.92275684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.533617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.26, Z:0.03 [[ 9.99857517e-01 7.08719307e-03 -1.53204953e-02 5.75001176e+00] [-7.07773800e-03 9.99974727e-01 6.71284644e-04 -2.59222424e-01] [ 1.53248657e-02 -5.62754546e-04 9.99882409e-01 3.10953161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5636178649999986 meters Centerline goodness [0,1] 0.9999778570005093 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.26, Z:0.03 [[ 9.99863312e-01 6.34735985e-03 -1.52665673e-02 5.77752411e+00] [-6.33790413e-03 9.99979692e-01 6.67677199e-04 -2.61331083e-01] [ 1.52704953e-02 -5.70827895e-04 9.99883236e-01 3.11392298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.593617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.26, Z:0.03 [[ 9.99863218e-01 5.80470082e-03 -1.54871379e-02 5.80641908e+00] [-5.79492396e-03 9.99982981e-01 6.76091047e-04 -2.61535587e-01] [ 1.54907989e-02 -5.86251783e-04 9.99879839e-01 3.09028781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.26, Z:0.03 [[ 9.99862169e-01 6.98122853e-03 -1.50633883e-02 5.83411371e+00] [-6.97212741e-03 9.99975479e-01 6.56619185e-04 -2.61386002e-01] [ 1.50676029e-02 -5.51504820e-04 9.99886325e-01 3.19454394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.653617864999998 meters Centerline goodness [0,1] 0.9999337719104596 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.26, Z:0.03 [[ 9.99856117e-01 7.42668452e-03 -1.52508925e-02 5.86344450e+00] [-7.41742499e-03 9.99972270e-01 6.63621884e-04 -2.63016532e-01] [ 1.52553981e-02 -5.50404049e-04 9.99883478e-01 3.21285500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.683617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.26, Z:0.03 [[ 9.99851198e-01 6.63189382e-03 -1.59247916e-02 5.89237417e+00] [-6.62171045e-03 9.99977837e-01 6.92109922e-04 -2.63145958e-01] [ 1.59290287e-02 -5.86557575e-04 9.99872953e-01 3.38374443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.713617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.26, Z:0.04 [[ 9.99870877e-01 5.43296880e-03 -1.51232600e-02 5.92126310e+00] [-5.42366259e-03 9.99985076e-01 6.56303527e-04 -2.64267857e-01] [ 1.51266000e-02 -5.74195324e-04 9.99885422e-01 3.50430263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999998 meters Centerline goodness [0,1] 0.9999336180381918 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.27, Z:0.04 [[ 9.99888601e-01 3.47801212e-03 -1.45151219e-02 5.94996403e+00] [-3.46924750e-03 9.99993784e-01 6.28963052e-04 -2.66573687e-01] [ 1.45172193e-02 -5.78536436e-04 9.99894452e-01 3.56394755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7736178649999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.27, Z:0.04 [[ 9.99898161e-01 8.60372720e-04 -1.42452568e-02 5.97863954e+00] [-8.51679038e-04 9.99999447e-01 6.16341354e-04 -2.67599656e-01] [ 1.42457792e-02 -6.04146200e-04 9.99898341e-01 3.54231912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.27, Z:0.03 [[ 9.99888290e-01 -8.38230244e-04 -1.49232988e-02 6.00726137e+00] [ 8.47948076e-04 9.99999433e-01 6.44869715e-04 -2.68612782e-01] [ 1.49227498e-02 -6.57451859e-04 9.99888433e-01 3.49702822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.833617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.27, Z:0.03 [[ 9.99867537e-01 -3.06916458e-03 -1.59840328e-02 6.03567722e+00] [ 3.08058011e-03 9.99995017e-01 6.89611107e-04 -2.73215923e-01] [ 1.59818366e-02 -7.38759852e-04 9.99872009e-01 3.47868011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999998 meters Centerline goodness [0,1] 0.999888967845088 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.28, Z:0.04 [[ 9.99861230e-01 -5.24293901e-03 -1.58124210e-02 6.06401679e+00] [ 5.25436871e-03 9.99985964e-01 6.81372149e-04 -2.77264818e-01] [ 1.58086267e-02 -7.64361885e-04 9.99874744e-01 3.59485435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.893617864999999 meters Centerline goodness [0,1] 0.9998447514914947 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.28, Z:0.04 [[ 9.99858596e-01 -6.24688603e-03 -1.56129467e-02 6.09251070e+00] [ 6.25812875e-03 9.99980192e-01 6.71335655e-04 -2.79339996e-01] [ 1.56084437e-02 -7.68948556e-04 9.99877885e-01 3.65431090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617864999999 meters Centerline goodness [0,1] 0.9997561732499889 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.28, Z:0.04 [[ 9.99840428e-01 -7.33191856e-03 -1.62899202e-02 6.11976636e+00] [ 7.34424263e-03 9.99972788e-01 6.96851659e-04 -2.83501035e-01] [ 1.62843676e-02 -8.16377587e-04 9.99867068e-01 3.68669843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.953617864999998 meters Centerline goodness [0,1] 0.9997779504829577 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.28, Z:0.04 [[ 9.99830413e-01 -7.84953971e-03 -1.66592420e-02 6.14877084e+00] [ 7.86245600e-03 9.99968838e-01 7.09967136e-04 -2.83963727e-01] [ 1.66531499e-02 -8.40829291e-04 9.99860973e-01 3.80206134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9836178649999985 meters Centerline goodness [0,1] 0.9998220719718873 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.28, Z:0.04 [[ 9.99823068e-01 -7.92320826e-03 -1.70603394e-02 6.17667690e+00] [ 7.93669589e-03 9.99968243e-01 7.23021356e-04 -2.82090927e-01] [ 1.70540690e-02 -8.58296156e-04 9.99854200e-01 3.74759553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.013617864999999 meters Centerline goodness [0,1] 0.9999554882934212 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.28, Z:0.04 [[ 9.99809226e-01 -8.80628930e-03 -1.74344662e-02 6.20530400e+00] [ 8.82044203e-03 9.99960829e-01 7.35036468e-04 -2.77945417e-01] [ 1.74273104e-02 -8.88675941e-04 9.99847738e-01 3.80996842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043617865 meters Centerline goodness [0,1] 0.9999777599857664 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.28, Z:0.04 [[ 9.99789748e-01 -1.00791643e-02 -1.78569462e-02 6.23444230e+00] [ 1.00941738e-02 9.99948771e-01 7.50607261e-04 -2.78977992e-01] [ 1.78484659e-02 -9.30700563e-04 9.99840270e-01 3.85369549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.073617865 meters Centerline goodness [0,1] 0.9999332977588047 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.28, Z:0.04 [[ 9.99728489e-01 -1.24243506e-02 -1.97125184e-02 6.26300367e+00] [ 1.24430181e-02 9.99922243e-01 8.24613751e-04 -2.81680019e-01] [ 1.97007403e-02 -1.06967308e-03 9.99805349e-01 3.81262458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103617865 meters Centerline goodness [0,1] 0.9998887331152503 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.28, Z:0.04 [[ 9.99690653e-01 -1.37550458e-02 -2.07219061e-02 6.29088043e+00] [ 1.37759255e-02 9.99904733e-01 8.65198926e-04 -2.84141170e-01] [ 2.07080311e-02 -1.15039471e-03 9.99784904e-01 3.74950161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.28, Z:0.04 [[ 9.99659926e-01 -1.52721910e-02 -2.11374857e-02 6.31952144e+00] [ 1.52942094e-02 9.99882649e-01 8.80401687e-04 -2.81013574e-01] [ 2.11215596e-02 -1.20338342e-03 9.99776191e-01 3.81950254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.29, Z:0.04 [[ 9.99635398e-01 -1.60468766e-02 -2.17156311e-02 6.34693684e+00] [ 1.60702442e-02 9.99870458e-01 9.01984855e-04 -2.85249146e-01] [ 2.16983440e-02 -1.25063148e-03 9.99763781e-01 3.77743306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.193617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.28, Z:0.04 [[ 9.99623612e-01 -1.61702151e-02 -2.21620917e-02 6.37527879e+00] [ 1.61945050e-02 9.99868440e-01 9.16963892e-04 -2.83143881e-01] [ 2.21443486e-02 -1.27552286e-03 9.99753970e-01 3.80493556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters Centerline goodness [0,1] 0.9999777822213335 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.29, Z:0.04 [[ 9.99627128e-01 -1.53040779e-02 -2.26139523e-02 6.40283777e+00] [ 1.53290465e-02 9.99882070e-01 9.31179818e-04 -2.87257148e-01] [ 2.25970345e-02 -1.27748293e-03 9.99743838e-01 3.86036107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.253617864999999 meters Centerline goodness [0,1] 0.9999778231171826 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.29, Z:0.04 [[ 9.99643875e-01 -1.45345376e-02 -2.23801345e-02 6.43117645e+00] [ 1.45587292e-02 9.99893594e-01 9.18382660e-04 -2.89778548e-01] [ 2.23644049e-02 -1.24388192e-03 9.99749112e-01 3.96233904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters Centerline goodness [0,1] 0.9999556737588653 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.29, Z:0.04 [[ 9.99663574e-01 -1.31241262e-02 -2.23717705e-02 6.46008113e+00] [ 1.31478669e-02 9.99913145e-01 9.14425008e-04 -2.89766426e-01] [ 2.23578263e-02 -1.20825843e-03 9.99749302e-01 4.03179177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.313617865 meters Centerline goodness [0,1] 0.9998896149770399 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.29, Z:0.04 [[ 9.99675669e-01 -1.22108281e-02 -2.23484508e-02 6.48925335e+00] [ 1.22342273e-02 9.99924744e-01 9.10588697e-04 -2.89503588e-01] [ 2.23356499e-02 -1.18370939e-03 9.99749827e-01 4.08562727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.28, Z:0.04 [[ 9.99727280e-01 -8.71699291e-03 -2.16651668e-02 6.51975278e+00] [ 8.73809871e-03 9.99961435e-01 8.79703019e-04 -2.81189296e-01] [ 2.16566629e-02 -1.06877547e-03 9.99764896e-01 4.26790351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.373617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.29, Z:0.04 [[ 9.99758219e-01 -7.47244457e-03 -2.06801122e-02 6.54768566e+00] [ 7.49139150e-03 9.99971587e-01 8.38871925e-04 -2.85035949e-01] [ 2.06732562e-02 -9.93591918e-04 9.99785792e-01 4.32058650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.28, Z:0.04 [[ 9.99768767e-01 -5.72660682e-03 -2.07272538e-02 6.57652139e+00] [ 5.74523228e-03 9.99983144e-01 8.39160825e-04 -2.81379330e-01] [ 2.07220989e-02 -9.58049671e-04 9.99784815e-01 4.47274828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.433617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.28, Z:0.05 [[ 9.99778659e-01 -3.03605139e-03 -2.08186370e-02 6.60625339e+00] [ 3.05423526e-03 9.99994982e-01 8.41701616e-04 -2.80686524e-01] [ 2.08159770e-02 -9.05100328e-04 9.99782914e-01 4.53919245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters Centerline goodness [0,1] 0.9999780094119717 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.28, Z:0.05 [[ 9.99774631e-01 -2.39598182e-03 -2.10937647e-02 6.63558349e+00] [ 2.41446137e-03 9.99996723e-01 8.50642467e-04 -2.81982466e-01] [ 2.10916574e-02 -9.01380838e-04 9.99777140e-01 4.65130225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.28, Z:0.05 [[ 9.99769190e-01 -1.97163095e-03 -2.13934336e-02 6.66416522e+00] [ 1.99043646e-03 9.99997651e-01 8.57773669e-04 -2.82767337e-01] [ 2.13916921e-02 -9.00157956e-04 9.99770766e-01 4.73415878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.28, Z:0.05 [[ 9.99750484e-01 -1.25042782e-03 -2.23026115e-02 6.69282807e+00] [ 1.27056381e-03 9.99998798e-01 8.88706293e-04 -2.84081073e-01] [ 2.23014734e-02 -9.16821437e-04 9.99750871e-01 4.67319116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.553617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.29, Z:0.05 [[ 9.99748957e-01 -1.04113124e-03 -2.23816881e-02 6.72095375e+00] [ 1.06126004e-03 9.99999043e-01 8.87483301e-04 -2.85898097e-01] [ 2.23807426e-02 -9.11013296e-04 9.99749105e-01 4.62112624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.29, Z:0.05 [[ 9.99750089e-01 -7.83475719e-04 -2.23415675e-02 6.74943597e+00] [ 8.03381902e-04 9.99999288e-01 8.82031537e-04 -2.86665702e-01] [ 2.23408606e-02 -8.99759919e-04 9.99750007e-01 4.67820251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.613617865 meters Centerline goodness [0,1] 0.9999337894504524 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.29, Z:0.05 [[ 9.99724457e-01 2.87267982e-04 -2.34718447e-02 6.77839597e+00] [-2.65727315e-04 9.99999541e-01 9.20837501e-04 -2.88221447e-01] [ 2.34720984e-02 -9.14346660e-04 9.99724074e-01 4.67593712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.29, Z:0.05 [[ 9.99696482e-01 5.31875698e-04 -2.46304963e-02 6.80653435e+00] [-5.08389784e-04 9.99999410e-01 9.59781943e-04 -2.90418216e-01] [ 2.46309923e-02 -9.46968739e-04 9.99696163e-01 4.64669318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.673617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.30, Z:0.04 [[ 9.99677455e-01 6.90424727e-04 -2.53871937e-02 6.83349603e+00] [-6.65657143e-04 9.99999294e-01 9.84031610e-04 -2.97675262e-01] [ 2.53878551e-02 -9.66815049e-04 9.99677209e-01 4.46074968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.30, Z:0.04 [[ 9.99677594e-01 4.34188594e-04 -2.53873744e-02 6.86108403e+00] [-4.09457240e-04 9.99999437e-01 9.79349844e-04 -2.98656774e-01] [ 2.53877854e-02 -9.68639052e-04 9.99677209e-01 4.49752959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.733617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.30, Z:0.05 [[ 9.99654493e-01 3.20302956e-04 -2.62829379e-02 6.88939168e+00] [-2.93942875e-04 9.99999450e-01 1.00679247e-03 -2.96180994e-01] [ 2.62832460e-02 -9.98718936e-04 9.99654037e-01 4.60430719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.30, Z:0.05 [[ 9.99649005e-01 -3.28845862e-04 -2.64907200e-02 6.91772762e+00] [ 3.55724171e-04 9.99999427e-01 1.00992500e-03 -2.97947797e-01] [ 2.64903727e-02 -1.01899392e-03 9.99648549e-01 4.61068242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.30, Z:0.05 [[ 9.99671768e-01 2.74213261e-04 -2.56179962e-02 6.94658584e+00] [-2.49378759e-04 9.99999496e-01 9.72606040e-04 -2.98070643e-01] [ 2.56182500e-02 -9.65898215e-04 9.99671332e-01 4.66669907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865 meters Centerline goodness [0,1] 0.9999336576735958 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.30, Z:0.05 [[ 9.99695363e-01 1.29944988e-03 -2.46473621e-02 6.97452276e+00] [-1.27688378e-03 9.99998751e-01 9.31274442e-04 -3.00331543e-01] [ 2.46485414e-02 -8.99518925e-04 9.99695774e-01 4.72209452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.853617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.30, Z:0.05 [[ 9.99693139e-01 1.02682389e-03 -2.47502209e-02 7.00243228e+00] [-1.00410279e-03 9.99999063e-01 9.30426305e-04 -3.03604092e-01] [ 2.47511531e-02 -9.05289028e-04 9.99693233e-01 4.80882669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.31, Z:0.05 [[ 9.99678835e-01 3.88729686e-04 -2.53392062e-02 7.03157411e+00] [-3.64873800e-04 9.99999486e-01 9.46078184e-04 -3.05260229e-01] [ 2.53395609e-02 -9.36528725e-04 9.99678463e-01 4.91490173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.913617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.31, Z:0.05 [[ 9.99687044e-01 8.81348562e-05 -2.50161335e-02 7.05984263e+00] [-6.49455514e-05 9.99999567e-01 9.27784936e-04 -3.06358638e-01] [ 2.50162045e-02 -9.25869893e-04 9.99686617e-01 4.94718132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters Centerline goodness [0,1] 0.9999778501340066 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.31, Z:0.05 [[ 9.99667594e-01 -1.25042696e-03 -2.57514830e-02 7.08784671e+00] [ 1.27530864e-03 9.99998736e-01 9.49822753e-04 -3.10958725e-01] [ 2.57502628e-02 -9.82348115e-04 9.99667924e-01 4.99962260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.973617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.31, Z:0.05 [[ 9.99665886e-01 -1.95081435e-03 -2.57742385e-02 7.11611467e+00] [ 1.97590337e-03 9.99997599e-01 9.47982328e-04 -3.13495691e-01] [ 2.57723272e-02 -9.98592998e-04 9.99667340e-01 5.06795367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.32, Z:0.05 [[ 9.99665047e-01 -2.65741106e-03 -2.57435813e-02 7.14359817e+00] [ 2.68262051e-03 9.99995955e-01 9.44765558e-04 -3.15274657e-01] [ 2.57409666e-02 -1.01350936e-03 9.99668133e-01 5.06029621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.32, Z:0.05 [[ 9.99653143e-01 -5.14241006e-03 -2.58292209e-02 7.17164457e+00] [ 5.16856365e-03 9.99986196e-01 9.45899014e-04 -3.17408650e-01] [ 2.58240002e-02 -1.07907089e-03 9.99665923e-01 5.05931040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.32, Z:0.05 [[ 9.99641796e-01 -7.05583920e-03 -2.58165517e-02 7.20034223e+00] [ 7.08250642e-03 9.99974475e-01 9.41657092e-04 -3.20167064e-01] [ 2.58092485e-02 -1.12416568e-03 9.99666254e-01 5.09971609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.093617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.32, Z:0.05 [[ 9.99631622e-01 -9.00925215e-03 -2.56018209e-02 7.22914265e+00] [ 9.03597134e-03 9.99958744e-01 9.28145751e-04 -3.22808130e-01] [ 2.55924027e-02 -1.15914116e-03 9.99671789e-01 5.18580416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.33, Z:0.05 [[ 9.99613182e-01 -1.10325467e-02 -2.55297688e-02 7.25730102e+00] [ 1.10596791e-02 9.99938415e-01 9.21814411e-04 -3.25809661e-01] [ 2.55180266e-02 -1.20380889e-03 9.99673637e-01 5.21940006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.153617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.32, Z:0.06 [[ 9.99577961e-01 -1.51135468e-02 -2.48088718e-02 7.28797445e+00] [ 1.51404015e-02 9.99884977e-01 8.94969691e-04 -3.22413611e-01] [ 2.47924920e-02 -1.27020826e-03 9.99691812e-01 5.64217681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617864999999 meters Centerline goodness [0,1] 0.9999777109105094 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.32, Z:0.06 [[ 9.99560633e-01 -1.69825188e-02 -2.42926865e-02 7.31722501e+00] [ 1.70088038e-02 9.99854956e-01 8.75781418e-04 -3.24239725e-01] [ 2.42742901e-02 -1.28858617e-03 9.99704506e-01 5.83492555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.213617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.33, Z:0.06 [[ 9.99586007e-01 -1.75903923e-02 -2.27682463e-02 7.34448769e+00] [ 1.76136051e-02 9.99844533e-01 8.19369557e-04 -3.28944862e-01] [ 2.27502935e-02 -1.22006124e-03 9.99740434e-01 5.92126805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.33, Z:0.06 [[ 9.99592707e-01 -1.80959887e-02 -2.20670651e-02 7.37231386e+00] [ 1.81178400e-02 9.99835546e-01 7.90681128e-04 -3.27282678e-01] [ 2.20491279e-02 -1.19016664e-03 9.99756180e-01 5.99328330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.273617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.33, Z:0.06 [[ 9.99573504e-01 -1.83948681e-02 -2.26812418e-02 7.40026324e+00] [ 1.84178893e-02 9.99830051e-01 8.06494738e-04 -3.27319672e-01] [ 2.26625518e-02 -1.22389137e-03 9.99742422e-01 5.96342247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.32, Z:0.06 [[ 9.99570219e-01 -1.86667487e-02 -2.26037393e-02 7.42866834e+00] [ 1.86895437e-02 9.99825017e-01 7.97611500e-04 -3.24761669e-01] [ 2.25848953e-02 -1.21972228e-03 9.99744185e-01 6.06496246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.333617864999999 meters Centerline goodness [0,1] 0.9999557002680134 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.33, Z:0.06 [[ 9.99578418e-01 -1.85195364e-02 -2.23609552e-02 7.45675211e+00] [ 1.85417087e-02 9.99827780e-01 7.84620270e-04 -3.30967554e-01] [ 2.23425734e-02 -1.19889981e-03 9.99749655e-01 6.05878371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.32, Z:0.06 [[ 9.99627393e-01 -1.77050393e-02 -2.07751677e-02 7.48592091e+00] [ 1.77239426e-02 9.99842655e-01 7.26110938e-04 -3.24616819e-01] [ 2.07590430e-02 -1.09405826e-03 9.99783909e-01 6.30013989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.393617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.33, Z:0.06 [[ 9.99657159e-01 -1.69071065e-02 -1.99928549e-02 7.51395340e+00] [ 1.69243746e-02 9.99856531e-01 6.94816422e-04 -3.25619468e-01] [ 1.99782392e-02 -1.03294478e-03 9.99799881e-01 6.35341191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.32, Z:0.06 [[ 9.99689628e-01 -1.57953912e-02 -1.92653437e-02 7.54277738e+00] [ 1.58111616e-02 9.99874774e-01 6.66532388e-04 -3.24628500e-01] [ 1.92524030e-02 -9.70932976e-04 9.99814184e-01 6.43303120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.32, Z:0.07 [[ 9.99736048e-01 -1.31732089e-02 -1.88228800e-02 7.57191654e+00] [ 1.31877388e-02 9.99912828e-01 6.48001412e-04 -3.24848644e-01] [ 1.88127030e-02 -8.96061595e-04 9.99822624e-01 6.51457684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.32, Z:0.07 [[ 9.99743485e-01 -1.21268715e-02 -1.91286203e-02 7.60073043e+00] [ 1.21416509e-02 9.99926072e-01 6.56682343e-04 -3.24377825e-01] [ 1.91192426e-02 -8.88766923e-04 9.99816816e-01 6.57091865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.513617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.33, Z:0.07 [[ 9.99750135e-01 -1.10215031e-02 -1.94472075e-02 7.63010066e+00] [ 1.10364809e-02 9.99938876e-01 6.63017433e-04 -3.25253734e-01] [ 1.94387114e-02 -8.77480502e-04 9.99810665e-01 6.59881067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.33, Z:0.07 [[ 9.99757083e-01 -1.03330639e-02 -1.94679973e-02 7.65904233e+00] [ 1.03478570e-02 9.99946242e-01 6.59283729e-04 -3.25255374e-01] [ 1.94601383e-02 -8.60575629e-04 9.99810263e-01 6.61654714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.573617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.32, Z:0.06 [[ 9.99758256e-01 -8.46185914e-03 -2.02935313e-02 7.68844874e+00] [ 8.47744975e-03 9.99963833e-01 6.82349066e-04 -3.24156212e-01] [ 2.02870234e-02 -8.54221504e-04 9.99793832e-01 6.48718520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.32, Z:0.06 [[ 9.99757935e-01 -7.67667766e-03 -2.06189116e-02 7.71767287e+00] [ 7.69250790e-03 9.99970175e-01 6.88548126e-04 -3.24492784e-01] [ 2.06130109e-02 -8.46992594e-04 9.99787171e-01 6.44432380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.633617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.33, Z:0.06 [[ 9.99756958e-01 -6.95163631e-03 -2.09212820e-02 7.74615989e+00] [ 6.96767120e-03 9.99975485e-01 6.93641673e-04 -3.25428025e-01] [ 2.09159472e-02 -8.39245703e-04 9.99780885e-01 6.43024882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.33, Z:0.06 [[ 9.99741205e-01 -5.61726826e-03 -2.20446949e-02 7.77482788e+00] [ 5.63462931e-03 9.99983862e-01 7.25502882e-04 -3.25751674e-01] [ 2.20402638e-02 -8.49528810e-04 9.99756723e-01 6.44519794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.693617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.33, Z:0.06 [[ 9.99731918e-01 -5.57012778e-03 -2.24736878e-02 7.80233228e+00] [ 5.58803116e-03 9.99984118e-01 7.33915690e-04 -3.28654025e-01] [ 2.24692429e-02 -8.59302608e-04 9.99747165e-01 6.41689935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.33, Z:0.06 [[ 9.99730415e-01 -5.94734233e-03 -2.24438633e-02 7.83006051e+00] [ 5.96515730e-03 9.99981944e-01 7.26890636e-04 -3.28432164e-01] [ 2.24391350e-02 -8.60575852e-04 9.99747841e-01 6.46016724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.753617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.33, Z:0.06 [[ 9.99732791e-01 -6.78520411e-03 -2.20977002e-02 7.85751023e+00] [ 6.80258364e-03 9.99976609e-01 7.11410268e-04 -3.30596229e-01] [ 2.20923562e-02 -8.61541626e-04 9.99755563e-01 6.44514249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.33, Z:0.07 [[ 9.99729785e-01 -9.88268023e-03 -2.10401788e-02 7.88565303e+00] [ 9.89908748e-03 9.99950774e-01 6.75795003e-04 -3.34680960e-01] [ 2.10324644e-02 -8.83890964e-04 9.99778403e-01 6.50388401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.34, Z:0.07 [[ 9.99724968e-01 -1.13775602e-02 -2.05070691e-02 7.91405480e+00] [ 1.13934305e-02 9.99934877e-01 6.57222350e-04 -3.37569644e-01] [ 2.04982561e-02 -8.90687460e-04 9.99789492e-01 6.59366782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.34, Z:0.07 [[ 9.99707739e-01 -1.34081755e-02 -2.01160889e-02 7.94394303e+00] [ 1.34238305e-02 9.99909689e-01 6.43396318e-04 -3.40657396e-01] [ 2.01056454e-02 -9.13243245e-04 9.99797444e-01 6.67542975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.873617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.34, Z:0.07 [[ 9.99695157e-01 -1.48054290e-02 -1.97583318e-02 7.97275173e+00] [ 1.48207669e-02 9.99889968e-01 6.30062257e-04 -3.44172262e-01] [ 1.97468294e-02 -9.22703816e-04 9.99804587e-01 6.78244537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.35, Z:0.07 [[ 9.99697194e-01 -1.55801169e-02 -1.90467985e-02 8.00018324e+00] [ 1.55944455e-02 9.99878217e-01 6.03981009e-04 -3.47630984e-01] [ 1.90350688e-02 -9.00822382e-04 9.99818411e-01 6.87596582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.933617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.35, Z:0.07 [[ 9.99700487e-01 -1.49837358e-02 -1.93500373e-02 8.02958039e+00] [ 1.49983675e-02 9.99887331e-01 6.11247627e-04 -3.46877845e-01] [ 1.93386984e-02 -9.01283522e-04 9.99812584e-01 6.84167472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.35, Z:0.07 [[ 9.99680539e-01 -1.33772094e-02 -2.14445992e-02 8.05762392e+00] [ 1.33947322e-02 9.99910060e-01 6.73681328e-04 -3.47477260e-01] [ 2.14336585e-02 -9.60710776e-04 9.99769811e-01 6.57998997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.35, Z:0.07 [[ 9.99680471e-01 -1.24090537e-02 -2.20220697e-02 8.08637349e+00] [ 1.24272325e-02 9.99922542e-01 6.88814153e-04 -3.47125941e-01] [ 2.20118164e-02 -9.62267437e-04 9.99757248e-01 6.52615685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.35, Z:0.06 [[ 9.99698646e-01 -1.07624914e-02 -2.20632470e-02 8.11575986e+00] [ 1.07802335e-02 9.99941657e-01 6.85364197e-04 -3.45991319e-01] [ 2.20545836e-02 -9.23004615e-04 9.99756342e-01 6.47086194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.053617865 meters Centerline goodness [0,1] 0.9999778805105178 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.35, Z:0.06 [[ 9.99699322e-01 -9.45421821e-03 -2.26248298e-02 8.14342824e+00] [ 9.47246103e-03 9.99954891e-01 6.99281715e-04 -3.46561756e-01] [ 2.26171980e-02 -9.13384275e-04 9.99743781e-01 6.44227546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.35, Z:0.06 [[ 9.99698561e-01 -8.78728231e-03 -2.29253389e-02 8.17218673e+00] [ 8.80576589e-03 9.99960980e-01 7.05422650e-04 -3.47518893e-01] [ 2.29182456e-02 -9.07085175e-04 9.99736931e-01 6.48988271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.113617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.35, Z:0.06 [[ 9.99697906e-01 -8.43812435e-03 -2.30845185e-02 8.20041513e+00] [ 8.45668767e-03 9.99963992e-01 7.06640110e-04 -3.48610221e-01] [ 2.30777245e-02 -9.01645200e-04 9.99733267e-01 6.48028906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.35, Z:0.06 [[ 9.99680841e-01 -9.58976969e-03 -2.33720636e-02 8.22911450e+00] [ 9.60903808e-03 9.99953578e-01 7.12249340e-04 -3.50348793e-01] [ 2.33641483e-02 -9.36605068e-04 9.99726582e-01 6.46314234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.173617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.35, Z:0.07 [[ 9.99672490e-01 -1.10357570e-02 -2.30895130e-02 8.25804874e+00] [ 1.10548341e-02 9.99938649e-01 6.98742739e-04 -3.52985287e-01] [ 2.30803853e-02 -9.53764630e-04 9.99733157e-01 6.53136899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.36, Z:0.07 [[ 9.99663267e-01 -1.47551844e-02 -2.13456801e-02 8.28790391e+00] [ 1.47722755e-02 9.99890677e-01 6.43214210e-04 -3.58823606e-01] [ 2.13338558e-02 -9.58321886e-04 9.99771948e-01 6.83885621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.233617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.36, Z:0.07 [[ 9.99649618e-01 -1.61960196e-02 -2.09363552e-02 8.31566431e+00] [ 1.62127602e-02 9.99868366e-01 6.30093548e-04 -3.61201461e-01] [ 2.09233943e-02 -9.69308881e-04 9.99780612e-01 6.96517109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.36, Z:0.07 [[ 9.99626702e-01 -1.83378307e-02 -2.02529135e-02 8.34476268e+00] [ 1.83539083e-02 9.99831368e-01 6.08234945e-04 -3.58931876e-01] [ 2.02383445e-02 -9.79728011e-04 9.99794704e-01 7.08810103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.36, Z:0.07 [[ 9.99552134e-01 -2.27202273e-02 -1.94762297e-02 8.37495213e+00] [ 2.27359111e-02 9.99741335e-01 5.84205188e-04 -3.55712082e-01] [ 1.94579186e-02 -1.02675337e-03 9.99810150e-01 7.32127092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865 meters Centerline goodness [0,1] 0.9999556324592928 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.36, Z:0.07 [[ 9.99515751e-01 -2.45322266e-02 -1.91424590e-02 8.40329957e+00] [ 2.45476989e-02 9.99698495e-01 5.73681510e-04 -3.61455044e-01] [ 1.91226138e-02 -1.04330703e-03 9.99816602e-01 7.35031637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.353617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.36, Z:0.07 [[ 9.99496659e-01 -2.54927405e-02 -1.88824863e-02 8.43196219e+00] [ 2.55079289e-02 9.99674461e-01 5.63918024e-04 -3.57784634e-01] [ 1.88619635e-02 -1.04528730e-03 9.99821551e-01 7.39898068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.36, Z:0.07 [[ 9.99471204e-01 -2.60739495e-02 -1.94283472e-02 8.45995288e+00] [ 2.60900655e-02 9.99659430e-01 5.76460853e-04 -3.59887695e-01] [ 1.94066999e-02 -1.08304287e-03 9.99811086e-01 7.35878905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.413617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.36, Z:0.07 [[ 9.99449474e-01 -2.63573155e-02 -2.01504580e-02 8.48731359e+00] [ 2.63746692e-02 9.99651950e-01 5.95890534e-04 -3.62486276e-01] [ 2.01277386e-02 -1.12702415e-03 9.99796781e-01 7.31687883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617864999998 meters Centerline goodness [0,1] 0.9999778132765353 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.36, Z:0.07 [[ 9.99452075e-01 -2.61972738e-02 -2.02299710e-02 8.51581567e+00] [ 2.62146670e-02 9.99656159e-01 5.95019741e-04 -3.62881505e-01] [ 2.02074272e-02 -1.12501567e-03 9.99795176e-01 7.39710839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.473617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.36, Z:0.07 [[ 9.99468899e-01 -2.54272477e-02 -2.03807456e-02 8.54535388e+00] [ 2.54446614e-02 9.99676055e-01 5.95518389e-04 -3.57662182e-01] [ 2.03590010e-02 -1.11378328e-03 9.99792114e-01 7.49007469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617864999999 meters Centerline goodness [0,1] 0.9999778250842647 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.36, Z:0.08 [[ 9.99492008e-01 -2.45532980e-02 -2.03189738e-02 8.57489944e+00] [ 2.45703614e-02 9.99697929e-01 5.90518033e-04 -3.56379872e-01] [ 2.02983369e-02 -1.08946258e-03 9.99793374e-01 7.54376703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.533617864999998 meters Centerline goodness [0,1] 0.9999778520962991 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.35, Z:0.08 [[ 9.99572052e-01 -2.17938999e-02 -1.95125273e-02 8.60344930e+00] [ 2.18090497e-02 9.99761995e-01 5.63931142e-04 -3.54414734e-01] [ 1.94955930e-02 -9.89239488e-04 9.99809453e-01 7.59760681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.35, Z:0.08 [[ 9.99597314e-01 -2.06055172e-02 -1.95095704e-02 8.63293072e+00] [ 2.06204092e-02 9.99787219e-01 5.62436184e-04 -3.52993713e-01] [ 1.94938298e-02 -9.64505023e-04 9.99809512e-01 7.60857412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.593617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.35, Z:0.08 [[ 9.99618112e-01 -1.89967855e-02 -2.00686918e-02 8.66056688e+00] [ 1.90121761e-02 9.99819086e-01 5.76362965e-04 -3.52460214e-01] [ 2.00541120e-02 -9.57692360e-04 9.99798437e-01 7.61500553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.35, Z:0.08 [[ 9.99613012e-01 -1.92631919e-02 -2.00687748e-02 8.68817638e+00] [ 1.92785778e-02 9.99813986e-01 5.73458927e-04 -3.53181703e-01] [ 2.00539951e-02 -9.60134443e-04 9.99798437e-01 7.65182313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.653617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.35, Z:0.08 [[ 9.99630455e-01 -1.84032681e-02 -2.00068127e-02 8.71708014e+00] [ 1.84182856e-02 9.99830208e-01 5.66597744e-04 -3.52903913e-01] [ 1.99929884e-02 -9.34879551e-04 9.99799683e-01 7.68872041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.35, Z:0.08 [[ 9.99682055e-01 -1.66031335e-02 -1.89769338e-02 8.74498120e+00] [ 1.66162564e-02 9.99861798e-01 5.34039388e-04 -3.53530488e-01] [ 1.89654444e-02 -8.49195190e-04 9.99819779e-01 7.89364656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.713617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.35, Z:0.08 [[ 9.99699128e-01 -1.63281817e-02 -1.83042224e-02 8.77327545e+00] [ 1.63403179e-02 9.99866356e-01 5.13651684e-04 -3.53982296e-01] [ 1.82933891e-02 -8.12593954e-04 9.99832332e-01 7.95735111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.35, Z:0.08 [[ 9.99712721e-01 -1.59737351e-02 -1.78694206e-02 8.80148722e+00] [ 1.59852196e-02 9.99872103e-01 5.00032225e-04 -3.53517383e-01] [ 1.78591477e-02 -7.85535189e-04 9.99840204e-01 7.99811566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.773617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.35, Z:0.08 [[ 9.99725268e-01 -1.61083670e-02 -1.70267174e-02 8.83013033e+00] [ 1.61187808e-02 9.99869971e-01 4.74548460e-04 -3.51798847e-01] [ 1.70168593e-02 -7.48868013e-04 9.99854922e-01 7.97313199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.35, Z:0.08 [[ 9.99729970e-01 -1.60348743e-02 -1.68187224e-02 8.85807647e+00] [ 1.60449670e-02 9.99871163e-01 4.65313981e-04 -3.53601355e-01] [ 1.68090943e-02 -7.35044178e-04 9.99858447e-01 8.00859373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.833617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.35, Z:0.08 [[ 9.99716463e-01 -1.63152346e-02 -1.73437863e-02 8.88641562e+00] [ 1.63259731e-02 9.99866608e-01 4.77740835e-04 -3.54951163e-01] [ 1.73336783e-02 -7.60759567e-04 9.99849471e-01 8.06398159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.35, Z:0.08 [[ 9.99702982e-01 -1.66210811e-02 -1.78237809e-02 8.91461627e+00] [ 1.66323874e-02 9.99861554e-01 4.86277882e-04 -3.49056643e-01] [ 1.78132308e-02 -7.82585477e-04 9.99841026e-01 8.18243853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.893617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.35, Z:0.08 [[ 9.99690264e-01 -1.63627650e-02 -1.87519649e-02 8.94225690e+00] [ 1.63751536e-02 9.99865789e-01 5.07291615e-04 -3.51115360e-01] [ 1.87411475e-02 -8.14200795e-04 9.99824038e-01 8.16836570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.35, Z:0.08 [[ 9.99676330e-01 -1.60571893e-02 -1.97332513e-02 8.97110300e+00] [ 1.60707959e-02 9.99870715e-01 5.31127935e-04 -3.50907024e-01] [ 1.97221717e-02 -8.48085079e-04 9.99805139e-01 8.15703547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.953617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.35, Z:0.08 [[ 9.99673690e-01 -1.56431638e-02 -2.01941825e-02 9.00003676e+00] [ 1.56572309e-02 9.99877273e-01 5.38658765e-04 -3.50088426e-01] [ 2.01832778e-02 -8.54667973e-04 9.99795932e-01 8.09322648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.35, Z:0.08 [[ 9.99683256e-01 -1.49850963e-02 -2.02196504e-02 9.02860389e+00] [ 1.49989667e-02 9.99887366e-01 5.34498338e-04 -3.49376550e-01] [ 2.02093634e-02 -8.37602901e-04 9.99795419e-01 8.04690508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.013617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.35, Z:0.08 [[ 9.99675384e-01 -1.44232544e-02 -2.10023011e-02 9.05772426e+00] [ 1.44379874e-02 9.99895616e-01 5.50022985e-04 -3.51776372e-01] [ 2.09921757e-02 -8.53075397e-04 9.99779276e-01 8.06095266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.35, Z:0.08 [[ 9.99669026e-01 -1.45990102e-02 -2.11827331e-02 9.08528318e+00] [ 1.46139236e-02 9.99893060e-01 5.49400906e-04 -3.54345777e-01] [ 2.11724471e-02 -8.58781911e-04 9.99775470e-01 8.12942500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.073617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.36, Z:0.08 [[ 9.99655724e-01 -1.51842751e-02 -2.13979408e-02 9.11457996e+00] [ 1.51995080e-02 9.99884330e-01 5.49418479e-04 -3.57266739e-01] [ 2.13871231e-02 -8.74467498e-04 9.99770887e-01 8.17825322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.36, Z:0.08 [[ 9.99614088e-01 -1.66329548e-02 -2.22490508e-02 9.14286683e+00] [ 1.66496923e-02 9.99861223e-01 5.67232347e-04 -3.59874055e-01] [ 2.22365284e-02 -9.37453294e-04 9.99752298e-01 8.26259891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.133617865 meters Centerline goodness [0,1] 0.9999559616866674 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.36, Z:0.08 [[ 9.99588015e-01 -1.79314194e-02 -2.24112574e-02 9.17117454e+00] [ 1.79486844e-02 9.99838747e-01 5.69439335e-04 -3.62147901e-01] [ 2.23974326e-02 -9.71457320e-04 9.99748674e-01 8.28733825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.37, Z:0.08 [[ 9.99570370e-01 -1.89499027e-02 -2.23601434e-02 9.19911826e+00] [ 1.89673006e-02 9.99819944e-01 5.66230542e-04 -3.65262156e-01] [ 2.23453873e-02 -9.90098834e-04 9.99749820e-01 8.24634560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.193617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.37, Z:0.08 [[ 9.99547403e-01 -2.04044083e-02 -2.21054066e-02 9.22666253e+00] [ 2.04217258e-02 9.99791299e-01 5.57920757e-04 -3.69506937e-01] [ 2.20894091e-02 -1.00909879e-03 9.99755490e-01 8.22453620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.38, Z:0.08 [[ 9.99506275e-01 -2.24018353e-02 -2.20309783e-02 9.25501748e+00] [ 2.24194865e-02 9.99748498e-01 5.54503077e-04 -3.76217358e-01] [ 2.20130156e-02 -1.04815253e-03 9.99757135e-01 8.36483487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.253617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.37, Z:0.09 [[ 9.99517191e-01 -2.25783244e-02 -2.13449026e-02 9.28359913e+00] [ 2.25948730e-02 9.99744560e-01 5.34414292e-04 -3.72514051e-01] [ 2.13273841e-02 -1.01644164e-03 9.99772029e-01 8.56929079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.37, Z:0.09 [[ 9.99537552e-01 -2.19176781e-02 -2.10783628e-02 9.31227547e+00] [ 2.19335547e-02 9.99759294e-01 5.22298076e-04 -3.72721621e-01] [ 2.10618416e-02 -9.84379963e-04 9.99777690e-01 8.63743447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.313617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.38, Z:0.09 [[ 9.99557182e-01 -2.08014707e-02 -2.12776596e-02 9.33972588e+00] [ 2.08173143e-02 9.99783159e-01 5.23363299e-04 -3.78369423e-01] [ 2.12621590e-02 -9.66075272e-04 9.99773468e-01 8.56485782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.38, Z:0.09 [[ 9.99547775e-01 -1.94410692e-02 -2.29410401e-02 9.36843450e+00] [ 1.94590511e-02 9.99810497e-01 5.60833851e-04 -3.75378365e-01] [ 2.29257895e-02 -1.00699110e-03 9.99736662e-01 8.51248838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.373617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.38, Z:0.08 [[ 9.99531048e-01 -1.94056841e-02 -2.36876370e-02 9.39580976e+00] [ 1.94247258e-02 9.99811157e-01 5.74014953e-04 -3.76537547e-01] [ 2.36720247e-02 -1.03387162e-03 9.99719244e-01 8.46186334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.37, Z:0.08 [[ 9.99518056e-01 -1.94333329e-02 -2.42074796e-02 9.42351108e+00] [ 1.94530977e-02 9.99810602e-01 5.81231081e-04 -3.74991501e-01] [ 2.41915995e-02 -1.05186143e-03 9.99706787e-01 8.49045459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.433617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.38, Z:0.08 [[ 9.99513300e-01 -1.95852825e-02 -2.42812634e-02 9.45092723e+00] [ 1.96050946e-02 9.99807635e-01 5.78136750e-04 -3.78486286e-01] [ 2.42652696e-02 -1.05389184e-03 9.99704999e-01 8.38910888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.37, Z:0.09 [[ 9.99493009e-01 -2.06177765e-02 -2.42617359e-02 9.47978323e+00] [ 2.06377598e-02 9.99786854e-01 5.73523623e-04 -3.73824117e-01] [ 2.42447399e-02 -1.07394073e-03 9.99705476e-01 8.55267162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.37, Z:0.09 [[ 9.99452471e-01 -2.20316587e-02 -2.46853191e-02 9.50835070e+00] [ 2.20526297e-02 9.99756644e-01 5.77591403e-04 -3.74180259e-01] [ 2.46665865e-02 -1.12165136e-03 9.99695104e-01 8.61695673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.37, Z:0.09 [[ 9.99397549e-01 -2.41959994e-02 -2.48815719e-02 9.53798597e+00] [ 2.42178844e-02 9.99706537e-01 5.78562908e-04 -3.74756298e-01] [ 2.48602711e-02 -1.18079338e-03 9.99690238e-01 8.74417858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.553617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.38, Z:0.09 [[ 9.99252060e-01 -2.99289102e-02 -2.44863263e-02 9.56826403e+00] [ 2.99518099e-02 9.99551182e-01 5.68896387e-04 -3.79136865e-01] [ 2.44583099e-02 -1.30188068e-03 9.99700003e-01 8.88881824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.38, Z:0.09 [[ 9.99178144e-01 -3.29618655e-02 -2.35913627e-02 9.59655255e+00] [ 3.29839469e-02 9.99455732e-01 5.47380603e-04 -3.83266917e-01] [ 2.35604800e-02 -1.32506699e-03 9.99721535e-01 8.95508654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.613617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.38, Z:0.09 [[ 9.99106103e-01 -3.56032076e-02 -2.27904992e-02 9.62645985e+00] [ 3.56244723e-02 9.99365108e-01 5.27597515e-04 -3.83750884e-01] [ 2.27572455e-02 -1.33902540e-03 9.99740124e-01 9.12256463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.39, Z:0.09 [[ 9.99038503e-01 -3.81381409e-02 -2.16229374e-02 9.65619930e+00] [ 3.81578580e-02 9.99271599e-01 4.99854976e-04 -3.85542264e-01] [ 2.15881237e-02 -1.32445934e-03 9.99766072e-01 9.23060912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.673617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.38, Z:0.09 [[ 9.98970157e-01 -4.13076245e-02 -1.87698277e-02 9.68606390e+00] [ 4.13230286e-02 9.99145745e-01 4.33414331e-04 -3.84275555e-01] [ 1.87358901e-02 -1.20859411e-03 9.99823737e-01 9.45156912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.38, Z:0.10 [[ 9.98953019e-01 -4.22257446e-02 -1.76026277e-02 9.71474306e+00] [ 4.22394123e-02 9.99107436e-01 4.05226950e-04 -3.83340437e-01] [ 1.75698052e-02 -1.14832733e-03 9.99844980e-01 9.52395323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.733617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.38, Z:0.10 [[ 9.98964252e-01 -4.22037885e-02 -1.70077255e-02 9.74303219e+00] [ 4.22164842e-02 9.99108412e-01 3.87974280e-04 -3.84925777e-01] [ 1.69761876e-02 -1.10557881e-03 9.99855283e-01 9.56085136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.38, Z:0.10 [[ 9.98982109e-01 -4.18952208e-02 -1.67193532e-02 9.77206456e+00] [ 4.19074050e-02 9.99121427e-01 3.78903904e-04 -3.79456472e-01] [ 1.66887897e-02 -1.07918293e-03 9.99860150e-01 9.59939382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.793617864999998 meters Centerline goodness [0,1] 0.9999778878471608 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.38, Z:0.10 [[ 9.99082180e-01 -3.92297020e-02 -1.71996792e-02 9.80174532e+00] [ 3.92421435e-02 9.99229656e-01 3.86321534e-04 -3.75443023e-01] [ 1.71712743e-02 -1.06091924e-03 9.99852000e-01 9.61532039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.38, Z:0.10 [[ 9.99163462e-01 -3.70173459e-02 -1.73808264e-02 9.83055653e+00] [ 3.70297068e-02 9.99314089e-01 3.89782943e-04 -3.79652027e-01] [ 1.73544760e-02 -1.03306378e-03 9.99848866e-01 9.58651127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.853617864999999 meters Centerline goodness [0,1] 0.9999781004314215 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.38, Z:0.10 [[ 9.99230692e-01 -3.47171710e-02 -1.82412094e-02 9.86026775e+00] [ 3.47303926e-02 9.99396634e-01 4.08434285e-04 -3.77271742e-01] [ 1.82160236e-02 -1.04164443e-03 9.99833532e-01 9.55562275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters Centerline goodness [0,1] 0.999933893038937 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.37, Z:0.10 [[ 9.99384460e-01 -2.94497800e-02 -1.90633772e-02 9.89090369e+00] [ 2.94632558e-02 9.99565773e-01 4.26358318e-04 -3.66463885e-01] [ 1.90425432e-02 -9.87765035e-04 9.99818186e-01 9.53747635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.913617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.36, Z:0.10 [[ 9.99437317e-01 -2.74401578e-02 -1.92895560e-02 9.91986794e+00] [ 2.74535730e-02 9.99622987e-01 4.30948887e-04 -3.64432108e-01] [ 1.92704582e-02 -9.60273631e-04 9.99813846e-01 9.52960234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617864999998 meters Centerline goodness [0,1] 0.9999781368197818 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.36, Z:0.10 [[ 9.99483098e-01 -2.57092409e-02 -1.93021415e-02 9.94852094e+00] [ 2.57223260e-02 9.99669034e-01 4.29904293e-04 -3.62339163e-01] [ 1.92847007e-02 -9.26178051e-04 9.99813604e-01 9.54670631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.973617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.36, Z:0.10 [[ 9.99503877e-01 -2.45054212e-02 -1.97859765e-02 9.97714420e+00] [ 2.45188856e-02 9.99699271e-01 4.38165640e-04 -3.59073255e-01] [ 1.97692889e-02 -9.23078350e-04 9.99804142e-01 9.55383828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.36, Z:0.10 [[ 9.99534139e-01 -2.30671785e-02 -1.99852419e-02 1.00049860e+01] [ 2.30805461e-02 9.99733513e-01 4.38439244e-04 -3.58252701e-01] [ 1.99698026e-02 -8.99505289e-04 9.99800179e-01 9.58534412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.033617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.36, Z:0.10 [[ 9.99552784e-01 -2.26149376e-02 -1.95651972e-02 1.00329786e+01] [ 2.26276198e-02 9.99743871e-01 4.27038366e-04 -3.59517963e-01] [ 1.95505285e-02 -8.69561230e-04 9.99808492e-01 9.67813334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.36, Z:0.10 [[ 9.99568775e-01 -2.19929971e-02 -1.94569085e-02 1.00619576e+01] [ 2.20053714e-02 9.99757763e-01 4.22089425e-04 -3.59376723e-01] [ 1.94429123e-02 -8.50063908e-04 9.99810607e-01 9.77222295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.093617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.36, Z:0.10 [[ 9.99593211e-01 -2.15115848e-02 -1.87260146e-02 1.00914028e+01] [ 2.15228830e-02 9.99768275e-01 4.01986674e-04 -3.58794102e-01] [ 1.87130279e-02 -8.04860970e-04 9.99824572e-01 9.87883958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.36, Z:0.10 [[ 9.99651336e-01 -2.04820102e-02 -1.66641441e-02 1.01192663e+01] [ 2.04907656e-02 9.99789979e-01 3.54811427e-04 -3.57557742e-01] [ 1.66533770e-02 -6.96148787e-04 9.99861081e-01 1.00571591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.153617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.36, Z:0.10 [[ 9.99673780e-01 -1.99496755e-02 -1.59481705e-02 1.01474861e+01] [ 1.99576062e-02 9.99800770e-01 3.38266841e-04 -3.59282555e-01] [ 1.59382449e-02 -6.56443799e-04 9.99872763e-01 1.01442746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.36, Z:0.10 [[ 9.99677602e-01 -2.01073875e-02 -1.55043260e-02 1.01760295e+01] [ 2.01148759e-02 9.99797622e-01 3.27180028e-04 -3.56321412e-01] [ 1.54946095e-02 -6.38942139e-04 9.99879747e-01 1.02148425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.213617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.35, Z:0.10 [[ 9.99672482e-01 -2.00274059e-02 -1.59321292e-02 1.02048575e+01] [ 2.00352340e-02 9.99799219e-01 3.31865580e-04 -3.53729542e-01] [ 1.59222839e-02 -6.50960825e-04 9.99873020e-01 1.02459839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.36, Z:0.10 [[ 9.99665205e-01 -2.04322471e-02 -1.58745303e-02 1.02328112e+01] [ 2.04400131e-02 9.99791028e-01 3.27098104e-04 -3.55812838e-01] [ 1.58645296e-02 -6.51464201e-04 9.99873938e-01 1.02592789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.273617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.36, Z:0.10 [[ 9.99647902e-01 -2.11115394e-02 -1.60740474e-02 1.02619560e+01] [ 2.11195508e-02 9.99776903e-01 3.28799205e-04 -3.55647419e-01] [ 1.60635198e-02 -6.68160095e-04 9.99870750e-01 1.03044998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.36, Z:0.10 [[ 9.99591629e-01 -2.19093965e-02 -1.83453843e-02 1.02900436e+01] [ 2.19198912e-02 9.99759661e-01 3.71156872e-04 -3.57508007e-01] [ 1.83328434e-02 -7.73134131e-04 9.99831640e-01 1.01587614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.333617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.36, Z:0.10 [[ 9.99557376e-01 -2.28061957e-02 -1.91031392e-02 1.03188225e+01] [ 2.28176902e-02 9.99739569e-01 3.83929789e-04 -3.58239344e-01] [ 1.90894081e-02 -8.19649363e-04 9.99817445e-01 1.01489657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.36, Z:0.10 [[ 9.99525732e-01 -2.36801078e-02 -1.96866280e-02 1.03479873e+01] [ 2.36923897e-02 9.99719220e-01 3.90837043e-04 -3.57072905e-01] [ 1.96718453e-02 -8.57074944e-04 9.99806123e-01 1.01855588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.393617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.36, Z:0.10 [[ 9.99500364e-01 -2.47313096e-02 -1.96820953e-02 1.03771999e+01] [ 2.47436946e-02 9.99693753e-01 3.85935395e-04 -3.57674378e-01] [ 1.96665231e-02 -8.72750325e-04 9.99806214e-01 1.02053943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.36, Z:0.10 [[ 9.99477194e-01 -2.58002643e-02 -1.94855310e-02 1.04054589e+01] [ 2.58125322e-02 9.99666729e-01 3.78302097e-04 -3.59702397e-01] [ 1.94692768e-02 -8.81075216e-04 9.99810067e-01 1.02733367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.453617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.36, Z:0.10 [[ 9.99429153e-01 -2.80999624e-02 -1.87552657e-02 1.04344829e+01] [ 2.81117056e-02 9.99604722e-01 3.62722083e-04 -3.61465690e-01] [ 1.87376597e-02 -8.89757532e-04 9.99824039e-01 1.03810751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.36, Z:0.10 [[ 9.99410610e-01 -2.91070508e-02 -1.81992262e-02 1.04625669e+01] [ 2.91182506e-02 9.99575912e-01 3.50660160e-04 -3.63471096e-01] [ 1.81813014e-02 -8.80383113e-04 9.99834319e-01 1.04161173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.513617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.36, Z:0.10 [[ 9.99402527e-01 -2.93832388e-02 -1.81992849e-02 1.04901782e+01] [ 2.93944285e-02 9.99567830e-01 3.47588396e-04 -3.63945573e-01] [ 1.81812065e-02 -8.82338300e-04 9.99834319e-01 1.04529106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.37, Z:0.11 [[ 9.99378094e-01 -3.03435154e-02 -1.79637478e-02 1.05181115e+01] [ 3.03544996e-02 9.99539139e-01 3.39053775e-04 -3.66074594e-01] [ 1.79451809e-02 -8.84123491e-04 9.99838581e-01 1.05046357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.573617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.37, Z:0.11 [[ 9.99344358e-01 -3.15296323e-02 -1.77971130e-02 1.05469380e+01] [ 3.15405620e-02 9.99502417e-01 3.33709309e-04 -3.67889226e-01] [ 1.77777358e-02 -8.94821462e-04 9.99841563e-01 1.05881160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.37, Z:0.11 [[ 9.99355409e-01 -3.14242182e-02 -1.73575550e-02 1.05748697e+01] [ 3.14345388e-02 9.99505761e-01 3.22006380e-04 -3.70767673e-01] [ 1.73388574e-02 -8.67425553e-04 9.99849294e-01 1.06574570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.633617864999998 meters Centerline goodness [0,1] 0.9999781773743017 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.37, Z:0.11 [[ 9.99360577e-01 -3.12021680e-02 -1.74602913e-02 1.06037126e+01] [ 3.12125406e-02 9.99512718e-01 3.21802680e-04 -3.71418392e-01] [ 1.74417423e-02 -8.66576964e-04 9.99847506e-01 1.07266241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.37, Z:0.11 [[ 9.99422978e-01 -2.93672672e-02 -1.70667884e-02 1.06328074e+01] [ 2.93768538e-02 9.99568359e-01 3.11223987e-04 -3.71860744e-01] [ 1.70502818e-02 -8.12412949e-04 9.99854303e-01 1.07915633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.693617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.37, Z:0.11 [[ 9.99446720e-01 -2.86714750e-02 -1.68582652e-02 1.06615032e+01] [ 2.86807007e-02 9.99588577e-01 3.05684862e-04 -3.68717920e-01] [ 1.68425649e-02 -7.89022591e-04 9.99857843e-01 1.08596823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.37, Z:0.11 [[ 9.99467728e-01 -2.79522393e-02 -1.68205872e-02 1.06896979e+01] [ 2.79612627e-02 9.99608962e-01 3.01465761e-04 -3.70227056e-01] [ 1.68055831e-02 -7.71630157e-04 9.99858478e-01 1.08683381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.753617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.37, Z:0.11 [[ 9.99471241e-01 -2.70828604e-02 -1.79932706e-02 1.07184434e+01] [ 2.70930033e-02 9.99632866e-01 3.20132860e-04 -3.69014301e-01] [ 1.79779945e-02 -8.07455326e-04 9.99838057e-01 1.07470261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.37, Z:0.11 [[ 9.99456960e-01 -2.70283561e-02 -1.88481738e-02 1.07467949e+01] [ 2.70393839e-02 9.99634314e-01 3.30442494e-04 -3.69204802e-01] [ 1.88323500e-02 -8.39906059e-04 9.99822303e-01 1.06806840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.37, Z:0.11 [[ 9.99432094e-01 -2.71934632e-02 -1.98998793e-02 1.07742062e+01] [ 2.72057001e-02 9.99629797e-01 3.44410832e-04 -3.70954174e-01] [ 1.98831466e-02 -8.85605388e-04 9.99801918e-01 1.06408134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843617864999999 meters Centerline goodness [0,1] 0.9999781778505182 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.37, Z:0.11 [[ 9.99416779e-01 -2.73463774e-02 -2.04518242e-02 1.08027689e+01] [ 2.73592701e-02 9.99625604e-01 3.50801186e-04 -3.69900587e-01] [ 2.04345739e-02 -9.10143572e-04 9.99790778e-01 1.06624852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.873617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.37, Z:0.11 [[ 9.99406966e-01 -2.74427762e-02 -2.07992805e-02 1.08307739e+01] [ 2.74560393e-02 9.99622950e-01 3.52322422e-04 -3.72782621e-01] [ 2.07817694e-02 -9.23179346e-04 9.99783609e-01 1.06539735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.37, Z:0.11 [[ 9.99408506e-01 -2.73835340e-02 -2.08033619e-02 1.08596913e+01] [ 2.73967287e-02 9.99624578e-01 3.49467305e-04 -3.73509304e-01] [ 2.07859822e-02 -9.19204658e-04 9.99783526e-01 1.07018066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.933617864999999 meters Centerline goodness [0,1] 0.9998480902777778 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.37, Z:0.11 [[ 9.99383994e-01 -2.81328044e-02 -2.09804067e-02 1.08879648e+01] [ 2.81463091e-02 9.99603753e-01 3.48607736e-04 -3.74837754e-01] [ 2.09622860e-02 -9.38914004e-04 9.99779826e-01 1.07130536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.37, Z:0.11 [[ 9.99401587e-01 -2.81101151e-02 -2.01566100e-02 1.09168865e+01] [ 2.81225208e-02 9.99604428e-01 3.32217975e-04 -3.73001122e-01] [ 2.01392980e-02 -8.98873856e-04 9.99796780e-01 1.08462205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.37, Z:0.11 [[ 9.99381847e-01 -2.92839526e-02 -1.94518590e-02 1.09455195e+01] [ 2.92956399e-02 9.99570741e-01 3.16089923e-04 -3.74052030e-01] [ 1.94342528e-02 -8.85749188e-04 9.99810745e-01 1.09219982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.38, Z:0.11 [[ 9.99361666e-01 -3.00331052e-02 -1.93461169e-02 1.09734081e+01] [ 3.00447355e-02 9.99548507e-01 3.10729858e-04 -3.78870345e-01] [ 1.93280500e-02 -8.91780472e-04 9.99812798e-01 1.09364503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.053617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.38, Z:0.11 [[ 9.99335372e-01 -3.09849022e-02 -1.92028459e-02 1.10022263e+01] [ 3.09964894e-02 9.99519447e-01 3.05998264e-04 -3.80130306e-01] [ 1.91841366e-02 -9.01015700e-04 9.99815562e-01 1.09426213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617864999999 meters Centerline goodness [0,1] 0.9999346974314323 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.38, Z:0.11 [[ 9.99272845e-01 -3.26402262e-02 -1.97078010e-02 1.10318797e+01] [ 3.26526873e-02 9.99466711e-01 3.10751120e-04 -3.81457038e-01] [ 1.96871481e-02 -9.54037821e-04 9.99805734e-01 1.09203614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.113617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.38, Z:0.11 [[ 9.99228501e-01 -3.38901831e-02 -1.98458834e-02 1.10610036e+01] [ 3.39030267e-02 9.99425079e-01 3.10976427e-04 -3.77731792e-01] [ 1.98239346e-02 -9.83572025e-04 9.99803003e-01 1.09829947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.38, Z:0.11 [[ 9.99186999e-01 -3.49610289e-02 -2.00765470e-02 1.10892124e+01] [ 3.49743139e-02 9.99388163e-01 3.10873141e-04 -3.79755092e-01] [ 2.00533949e-02 -1.01278386e-03 9.99798397e-01 1.10060559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.173617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.38, Z:0.11 [[ 9.99161062e-01 -3.63112094e-02 -1.89385287e-02 1.11169396e+01] [ 3.63232398e-02 9.99340051e-01 2.91518789e-04 -3.82015444e-01] [ 1.89154449e-02 -9.79182943e-04 9.99820607e-01 1.10888493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.38, Z:0.11 [[ 9.99156558e-01 -3.65987901e-02 -1.86198925e-02 1.11446751e+01] [ 3.66104306e-02 9.99329573e-01 2.84567527e-04 -3.83361502e-01] [ 1.85969944e-02 -9.66009795e-04 9.99826594e-01 1.11422007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.233617865 meters Centerline goodness [0,1] 0.9999564327103211 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.38, Z:0.11 [[ 9.99178584e-01 -3.61796208e-02 -1.82535471e-02 1.11740718e+01] [ 3.61906989e-02 9.99344864e-01 2.76823269e-04 -3.79199990e-01] [ 1.82315732e-02 -9.37204510e-04 9.99833352e-01 1.12577501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.38, Z:0.11 [[ 9.99208962e-01 -3.54209421e-02 -1.80777939e-02 1.12014689e+01] [ 3.54316240e-02 9.99372066e-01 2.70841830e-04 -3.84912815e-01] [ 1.80568487e-02 -9.11153179e-04 9.99836547e-01 1.12450829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.293617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.38, Z:0.11 [[ 9.99275802e-01 -3.33768510e-02 -1.82717815e-02 1.12306980e+01] [ 3.33873834e-02 9.99442449e-01 2.71597109e-04 -3.84272420e-01] [ 1.82525290e-02 -8.81447394e-04 9.99833020e-01 1.12416171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.38, Z:0.11 [[ 9.99297136e-01 -3.24345687e-02 -1.87945105e-02 1.12601290e+01] [ 3.24454702e-02 9.99473469e-01 2.75319186e-04 -3.77340010e-01] [ 1.87756847e-02 -8.84922403e-04 9.99823330e-01 1.13363748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.353617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.39, Z:0.11 [[ 9.99322662e-01 -3.17292629e-02 -1.86405864e-02 1.12879808e+01] [ 3.17398008e-02 9.99496129e-01 2.69668270e-04 -3.85600811e-01] [ 1.86226375e-02 -8.61134112e-04 9.99826213e-01 1.12759084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.39, Z:0.11 [[ 9.99345840e-01 -3.11179600e-02 -1.84273041e-02 1.13156350e+01] [ 3.11281264e-02 9.99515367e-01 2.65063614e-04 -3.88153664e-01] [ 1.84101254e-02 -8.38497671e-04 9.99830168e-01 1.13914010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.413617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.38, Z:0.12 [[ 9.99328461e-01 -3.13365861e-02 -1.89906785e-02 1.13433635e+01] [ 3.13473739e-02 9.99508514e-01 2.70568248e-04 -3.81503200e-01] [ 1.89728661e-02 -8.65694449e-04 9.99819624e-01 1.15457751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.38, Z:0.12 [[ 9.99315482e-01 -3.18026133e-02 -1.88987056e-02 1.13720366e+01] [ 3.18132877e-02 9.99493794e-01 2.64371279e-04 -3.82555177e-01] [ 1.88807312e-02 -8.65420270e-04 9.99821369e-01 1.15713970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.473617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.38, Z:0.12 [[ 9.99268997e-01 -3.26874696e-02 -1.98242583e-02 1.14009613e+01] [ 3.26992928e-02 9.99465198e-01 2.72455143e-04 -3.80299726e-01] [ 1.98047504e-02 -9.20495204e-04 9.99803443e-01 1.15078884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.39, Z:0.11 [[ 9.99249859e-01 -3.30396332e-02 -2.02015133e-02 1.14289911e+01] [ 3.30518984e-02 9.99453599e-01 2.73470655e-04 -3.93600460e-01] [ 2.01814398e-02 -9.40963880e-04 9.99795891e-01 1.12789740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.533617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.38, Z:0.11 [[ 9.99218253e-01 -3.36786815e-02 -2.07033565e-02 1.14582672e+01] [ 3.36916284e-02 9.99432238e-01 2.76769027e-04 -3.82637199e-01] [ 2.06822807e-02 -9.74082458e-04 9.99785624e-01 1.14420807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.39, Z:0.11 [[ 9.99206611e-01 -3.41395114e-02 -2.05095662e-02 1.14856670e+01] [ 3.41522312e-02 9.99416606e-01 2.70149626e-04 -3.87082558e-01] [ 2.04883783e-02 -9.70382740e-04 9.99789620e-01 1.14200203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.593617864999999 meters Centerline goodness [0,1] 0.999912600782223 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.40, Z:0.11 [[ 9.99176805e-01 -3.50175673e-02 -2.04812717e-02 1.15129126e+01] [ 3.50303877e-02 9.99386212e-01 2.67410017e-04 -3.99733112e-01] [ 2.04593365e-02 -9.84656773e-04 9.99790201e-01 1.14035728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617864999998 meters Centerline goodness [0,1] 0.9999780624780624 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.39, Z:0.12 [[ 9.99154534e-01 -3.58509830e-02 -2.01227181e-02 1.15421184e+01] [ 3.58634693e-02 9.99356665e-01 2.59861694e-04 -3.87042062e-01] [ 2.01004561e-02 -9.81312470e-04 9.99797484e-01 1.16713022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.653617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.39, Z:0.12 [[ 9.99156669e-01 -3.58897077e-02 -1.99469104e-02 1.15686712e+01] [ 3.59019071e-02 9.99355287e-01 2.53714301e-04 -3.87698689e-01] [ 1.99249446e-02 -9.69632460e-04 9.99801008e-01 1.16828831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.39, Z:0.12 [[ 9.99146915e-01 -3.61370369e-02 -1.99889116e-02 1.15964700e+01] [ 3.61492706e-02 9.99346370e-01 2.50914425e-04 -3.86817442e-01] [ 1.99667789e-02 -9.73284946e-04 9.99800170e-01 1.16982954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.713617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.39, Z:0.12 [[ 9.99152971e-01 -3.59888410e-02 -1.99535204e-02 1.16258019e+01] [ 3.60008999e-02 9.99351727e-01 2.45356218e-04 -3.86274811e-01] [ 1.99317550e-02 -9.63493085e-04 9.99800879e-01 1.16925730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.38, Z:0.12 [[ 9.99200785e-01 -3.49380394e-02 -1.94197049e-02 1.16546016e+01] [ 3.49491765e-02 9.99389063e-01 2.34299527e-04 -3.84311312e-01] [ 1.93996547e-02 -9.12814963e-04 9.99811392e-01 1.17335109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.773617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.38, Z:0.12 [[ 9.99233212e-01 -3.40698351e-02 -1.92933765e-02 1.16838347e+01] [ 3.40805780e-02 9.99419062e-01 2.28197127e-04 -3.83160008e-01] [ 1.92743936e-02 -8.85551570e-04 9.99813839e-01 1.17610041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.38, Z:0.12 [[ 9.99256637e-01 -3.34813481e-02 -1.91094961e-02 1.17129074e+01] [ 3.34916929e-02 9.99438971e-01 2.21474535e-04 -3.83428011e-01] [ 1.90913599e-02 -8.61319274e-04 9.99817372e-01 1.17883688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.833617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.38, Z:0.12 [[ 9.99266443e-01 -3.31947513e-02 -1.90966876e-02 1.17413742e+01] [ 3.32049429e-02 9.99448540e-01 2.16765820e-04 -3.82965717e-01] [ 1.90789610e-02 -8.50711230e-04 9.99817618e-01 1.18272356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.38, Z:0.12 [[ 9.99272165e-01 -3.33465152e-02 -1.85243046e-02 1.17681656e+01] [ 3.33560621e-02 9.99443510e-01 2.06547016e-04 -3.84560158e-01] [ 1.85071084e-02 -8.24294539e-04 9.99828389e-01 1.18496380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.893617864999998 meters Centerline goodness [0,1] 0.9999120550535365 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.39, Z:0.12 [[ 9.99258120e-01 -3.38860032e-02 -1.83015949e-02 1.17969038e+01] [ 3.38953619e-02 9.99425367e-01 2.01315624e-04 -3.85018213e-01] [ 1.82842564e-02 -8.21505454e-04 9.99832492e-01 1.18766860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617864999999 meters Centerline goodness [0,1] 0.9999560410576521 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.39, Z:0.12 [[ 9.99243114e-01 -3.44770350e-02 -1.80148101e-02 1.18261101e+01] [ 3.44861223e-02 9.99405158e-01 1.93929980e-04 -3.86285668e-01] [ 1.79974080e-02 -8.15044140e-04 9.99837701e-01 1.19439999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.953617864999998 meters Centerline goodness [0,1] 0.9998684095096061 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.39, Z:0.12 [[ 9.99252124e-01 -3.48073128e-02 -1.68417160e-02 1.18537844e+01] [ 3.48152470e-02 9.99393750e-01 1.78052278e-04 -3.88755390e-01] [ 1.68253082e-02 -7.64267621e-04 9.99858152e-01 1.20440913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters Centerline goodness [0,1] 0.9998467265163127 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.39, Z:0.12 [[ 9.99242976e-01 -3.51865184e-02 -1.65946915e-02 1.18822446e+01] [ 3.51942411e-02 9.99380476e-01 1.73476363e-04 -3.90295193e-01] [ 1.65783066e-02 -7.57382610e-04 9.99862284e-01 1.20601631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.013617864999999 meters Centerline goodness [0,1] 0.9997803645947727 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.39, Z:0.12 [[ 9.99227116e-01 -3.56135507e-02 -1.66386717e-02 1.19104367e+01] [ 3.56213000e-02 9.99365346e-01 1.69513552e-04 -3.91316319e-01] [ 1.66220749e-02 -7.62073653e-04 9.99861553e-01 1.21037378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617864999998 meters Centerline goodness [0,1] 0.9999559112051672 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.39, Z:0.12 [[ 9.99198472e-01 -3.64286361e-02 -1.65941993e-02 1.19397004e+01] [ 3.64363848e-02 9.99335961e-01 1.64756792e-04 -3.94014455e-01] [ 1.65771782e-02 -7.69257365e-04 9.99862293e-01 1.21891359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.073617865 meters Centerline goodness [0,1] 0.9999558391662434 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.39, Z:0.12 [[ 9.99182116e-01 -3.67915844e-02 -1.67772892e-02 1.19677737e+01] [ 3.67994872e-02 9.99322656e-01 1.62460193e-04 -3.92935523e-01] [ 1.67599481e-02 -7.79722958e-04 9.99859238e-01 1.22623128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617864999999 meters Centerline goodness [0,1] 0.999801749014252 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.39, Z:0.12 [[ 9.99194160e-01 -3.64617600e-02 -1.67800685e-02 1.19954563e+01] [ 3.64695524e-02 9.99334752e-01 1.58517275e-04 -3.94528322e-01] [ 1.67631258e-02 -7.70351123e-04 9.99859192e-01 1.22262761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.133617864999998 meters Centerline goodness [0,1] 0.9997353680589247 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.39, Z:0.12 [[ 9.99185913e-01 -3.63800840e-02 -1.74356167e-02 1.20246361e+01] [ 3.63884473e-02 9.99337708e-01 1.62553737e-04 -3.94424667e-01] [ 1.74181555e-02 -7.96876423e-04 9.99847975e-01 1.21862426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617864999999 meters Centerline goodness [0,1] 0.9996916095777254 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.40, Z:0.12 [[ 9.99209565e-01 -3.52417026e-02 -1.83920763e-02 1.20530344e+01] [ 3.52507329e-02 9.99378486e-01 1.66925246e-04 -3.96570690e-01] [ 1.83747626e-02 -8.15127471e-04 9.99830838e-01 1.20213647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.193617864999998 meters Centerline goodness [0,1] 0.9997134670487106 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.40, Z:0.12 [[ 9.99217720e-01 -3.47247213e-02 -1.89246404e-02 1.20818960e+01] [ 3.47341031e-02 9.99396575e-01 1.67177529e-04 -3.95471668e-01] [ 1.89074156e-02 -8.24377161e-04 9.99820899e-01 1.21011439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617864999998 meters Centerline goodness [0,1] 0.9998019191830266 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.40, Z:0.12 [[ 9.99219821e-01 -3.46789090e-02 -1.88976910e-02 1.21094949e+01] [ 3.46881867e-02 9.99398170e-01 1.63273617e-04 -4.03361334e-01] [ 1.88806556e-02 -8.18672866e-04 9.99821409e-01 1.20620382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.253617864999999 meters Centerline goodness [0,1] 0.999889819303658 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.40, Z:0.12 [[ 9.99207965e-01 -3.49831163e-02 -1.89637560e-02 1.21371199e+01] [ 3.49924626e-02 9.99387563e-01 1.61148612e-04 -3.98078784e-01] [ 1.89465044e-02 -8.24609500e-04 9.99820159e-01 1.22269163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617864999998 meters Centerline goodness [0,1] 0.9997365069606078 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.41, Z:0.12 [[ 9.99180940e-01 -3.58348458e-02 -1.87966131e-02 1.21650680e+01] [ 3.58441007e-02 9.99357382e-01 1.55590537e-04 -4.07193161e-01] [ 1.87789585e-02 -8.29210793e-04 9.99823316e-01 1.22759006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.313617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.40, Z:0.12 [[ 9.99156534e-01 -3.65837415e-02 -1.86507437e-02 1.21941047e+01] [ 3.65929387e-02 9.99330243e-01 1.51979727e-04 -4.03039876e-01] [ 1.86326923e-02 -8.34337060e-04 9.99826048e-01 1.23931428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.40, Z:0.12 [[ 9.99145805e-01 -3.70981985e-02 -1.82039553e-02 1.22214776e+01] [ 3.71069757e-02 9.99311289e-01 1.44504196e-04 -4.04530966e-01] [ 1.81860571e-02 -8.19874485e-04 9.99834284e-01 1.24062017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.373617864999998 meters Centerline goodness [0,1] 0.9999558839748539 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.41, Z:0.12 [[ 9.99095450e-01 -3.86234756e-02 -1.77906930e-02 1.22496423e+01] [ 3.86320589e-02 9.99253494e-01 1.38908635e-04 -4.08912477e-01] [ 1.77720470e-02 -8.26074086e-04 9.99841723e-01 1.24775963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.41, Z:0.13 [[ 9.99062598e-01 -3.95677713e-02 -1.75589356e-02 1.22780537e+01] [ 3.95762523e-02 9.99216544e-01 1.35645064e-04 -4.08690808e-01] [ 1.75398117e-02 -8.30434774e-04 9.99845821e-01 1.25923297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.433617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.41, Z:0.13 [[ 9.99051865e-01 -3.98378595e-02 -1.75589528e-02 1.23056715e+01] [ 3.98463424e-02 9.99205810e-01 1.33374456e-04 -4.08839182e-01] [ 1.75396943e-02 -8.32908043e-04 9.99845821e-01 1.26291460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.41, Z:0.13 [[ 9.99010237e-01 -4.07808495e-02 -1.77614109e-02 1.23332858e+01] [ 4.07896032e-02 9.99167749e-01 1.30708855e-04 -4.14118992e-01] [ 1.77412986e-02 -8.55060389e-04 9.99842245e-01 1.26735279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.41, Z:0.13 [[ 9.98979713e-01 -4.16033650e-02 -1.75696801e-02 1.23625104e+01] [ 4.16120114e-02 9.99133837e-01 1.26666704e-04 -4.14993186e-01] [ 1.75491922e-02 -8.57647198e-04 9.99845633e-01 1.27137236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.42, Z:0.13 [[ 9.98942979e-01 -4.25016789e-02 -1.75080358e-02 1.23908138e+01] [ 4.25103426e-02 9.99096019e-01 1.22808616e-04 -4.16243099e-01] [ 1.74869893e-02 -8.66951405e-04 9.99846715e-01 1.27167643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.553617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.42, Z:0.13 [[ 9.99010596e-01 -4.12732626e-02 -1.65634127e-02 1.24186268e+01] [ 4.12808264e-02 9.99147577e-01 1.14873592e-04 -4.16711919e-01] [ 1.65445524e-02 -7.98511300e-04 9.99862811e-01 1.27772941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.42, Z:0.13 [[ 9.99055644e-01 -4.04218307e-02 -1.59341007e-02 1.24478745e+01] [ 4.04286963e-02 9.99182420e-01 1.08862082e-04 -4.17054400e-01] [ 1.59166729e-02 -7.52954194e-04 9.99873038e-01 1.28505577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.613617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.42, Z:0.13 [[ 9.99097123e-01 -3.93981402e-02 -1.58973657e-02 1.24757744e+01] [ 3.94047919e-02 9.99223324e-01 1.05271874e-04 -4.18463828e-01] [ 1.58808711e-02 -7.31609213e-04 9.99873623e-01 1.29333386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.42, Z:0.13 [[ 9.99190355e-01 -3.67841072e-02 -1.62961120e-02 1.25046540e+01] [ 3.67907211e-02 9.99322987e-01 1.06149098e-04 -4.18959148e-01] [ 1.62811747e-02 -7.05608866e-04 9.99867204e-01 1.29592041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.673617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.42, Z:0.13 [[ 9.99233174e-01 -3.56287960e-02 -1.62373944e-02 1.25333658e+01] [ 3.56351892e-02 9.99364859e-01 1.04482896e-04 -4.18400710e-01] [ 1.62233588e-02 -6.83025399e-04 9.99868159e-01 1.28958526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.42, Z:0.13 [[ 9.99267406e-01 -3.42768113e-02 -1.70221070e-02 1.25620654e+01] [ 3.42835749e-02 9.99412140e-01 1.05600699e-04 -4.18337324e-01] [ 1.70084808e-02 -6.89102018e-04 9.99855108e-01 1.28563932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.733617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.42, Z:0.13 [[ 9.99339615e-01 -3.17263129e-02 -1.77136764e-02 1.25898665e+01] [ 3.17331768e-02 9.99496370e-01 1.06475304e-04 -4.18917674e-01] [ 1.77013772e-02 -6.68516214e-04 9.99843095e-01 1.28911981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617864999999 meters Centerline goodness [0,1] 0.9999779127553837 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.42, Z:0.13 [[ 9.99380609e-01 -3.06848811e-02 -1.72289490e-02 1.26181851e+01] [ 3.06911877e-02 9.99528909e-01 1.01697542e-04 -4.19422045e-01] [ 1.72177120e-02 -6.30411459e-04 9.99851565e-01 1.30190133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.793617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.42, Z:0.13 [[ 9.99415241e-01 -2.97524989e-02 -1.68512324e-02 1.26471249e+01] [ 2.97583388e-02 9.99557118e-01 9.58573629e-05 -4.19235898e-01] [ 1.68409173e-02 -5.97265993e-04 9.99858003e-01 1.31060562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.823617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.41, Z:0.13 [[ 9.99466289e-01 -2.78958997e-02 -1.69987183e-02 1.26760202e+01] [ 2.79015101e-02 9.99610673e-01 9.29313533e-05 -4.12779870e-01] [ 1.69895078e-02 -5.67171665e-04 9.99855507e-01 1.31959269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.853617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.41, Z:0.13 [[ 9.99489030e-01 -2.72146679e-02 -1.67642754e-02 1.27046116e+01] [ 2.72199644e-02 9.99629464e-01 8.78060474e-05 -4.11971331e-01] [ 1.67556741e-02 -5.44084162e-04 9.99859466e-01 1.32081513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617864999998 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.41, Z:0.13 [[ 9.99496890e-01 -2.70313229e-02 -1.65914200e-02 1.27331743e+01] [ 2.70364206e-02 9.99634446e-01 8.29857195e-05 -4.10856532e-01] [ 1.65831117e-02 -5.31516578e-04 9.99862349e-01 1.32355493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.913617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.41, Z:0.13 [[ 9.99499004e-01 -2.68596231e-02 -1.67421943e-02 1.27614650e+01] [ 2.68647282e-02 9.99639075e-01 8.00536002e-05 -4.12604323e-01] [ 1.67340015e-02 -5.29787994e-04 9.99859836e-01 1.32721755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.42, Z:0.13 [[ 9.99488930e-01 -2.71644366e-02 -1.68514675e-02 1.27890670e+01] [ 2.71696152e-02 9.99630835e-01 7.83988274e-05 -4.20550842e-01] [ 1.68431168e-02 -5.36206646e-04 9.99858001e-01 1.32525265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.973617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.41, Z:0.13 [[ 9.99455900e-01 -2.80728930e-02 -1.73151912e-02 1.28175681e+01] [ 2.80784501e-02 9.99605720e-01 7.78622374e-05 -4.14968755e-01] [ 1.73061783e-02 -5.64003604e-04 9.99850078e-01 1.34064916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003617864999999 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.41, Z:0.13 [[ 9.99439789e-01 -2.82566517e-02 -1.79351783e-02 1.28453460e+01] [ 2.82625618e-02 9.99600531e-01 7.60972144e-05 -4.14667384e-01] [ 1.79258635e-02 -5.82948668e-04 9.99839149e-01 1.33838079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.033617864999998 meters Centerline goodness [0,1] 0.9999778290173821 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.42, Z:0.13 [[ 9.99390178e-01 -2.90687551e-02 -1.93463176e-02 1.28727123e+01] [ 2.90756962e-02 9.99577210e-01 7.75405675e-05 -4.15431331e-01] [ 1.93358842e-02 -6.40000936e-04 9.99812839e-01 1.33451223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.42, Z:0.13 [[ 9.99346658e-01 -3.03506284e-02 -1.96238946e-02 1.29011390e+01] [ 3.03579797e-02 9.99539087e-01 7.67527768e-05 -4.17242728e-01] [ 1.96125202e-02 -6.72444425e-04 9.99807430e-01 1.33916082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.093617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.43, Z:0.13 [[ 9.99311534e-01 -3.19114882e-02 -1.89239051e-02 1.29284130e+01] [ 3.19185729e-02 9.99490470e-01 7.23815668e-05 -4.27940814e-01] [ 1.89119530e-02 -6.76355777e-04 9.99820924e-01 1.33705265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.43, Z:0.13 [[ 9.99250682e-01 -3.39391187e-02 -1.86067241e-02 1.29568662e+01] [ 3.39462903e-02 9.99423656e-01 6.96280826e-05 -4.30792589e-01] [ 1.85936371e-02 -7.01205167e-04 9.99826877e-01 1.34879230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.153617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.42, Z:0.14 [[ 9.99076956e-01 -3.86595115e-02 -1.87263940e-02 1.29866707e+01] [ 3.86675900e-02 9.99252127e-01 6.93691911e-05 -4.24763011e-01] [ 1.87097072e-02 -7.93409684e-04 9.99824643e-01 1.37349058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.44, Z:0.14 [[ 9.99010112e-01 -4.04960847e-02 -1.84082527e-02 1.30139812e+01] [ 4.05041834e-02 9.99179367e-01 6.71738887e-05 -4.39299042e-01] [ 1.83904260e-02 -8.12718637e-04 9.99830552e-01 1.36406189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.213617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.43, Z:0.14 [[ 9.98933303e-01 -4.24716755e-02 -1.81221441e-02 1.30435240e+01] [ 4.24798112e-02 9.99097323e-01 6.40575509e-05 -4.25846662e-01] [ 1.81030651e-02 -8.33814483e-04 9.99835778e-01 1.38327329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.44, Z:0.14 [[ 9.98883084e-01 -4.38227922e-02 -1.76676671e-02 1.30717646e+01] [ 4.38307186e-02 9.99038970e-01 6.14750967e-05 -4.42197898e-01] [ 1.76479939e-02 -8.35792978e-04 9.99843913e-01 1.37185841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.273617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.43, Z:0.14 [[ 9.98782957e-01 -4.63176728e-02 -1.69492980e-02 1.31015341e+01] [ 4.63252968e-02 9.98926405e-01 5.72580388e-05 -4.30326590e-01] [ 1.69284493e-02 -8.42369614e-04 9.99856349e-01 1.39090242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.43, Z:0.14 [[ 9.98784126e-01 -4.66742674e-02 -1.58676395e-02 1.31293333e+01] [ 4.66809767e-02 9.98909848e-01 5.25067647e-05 -4.26574635e-01] [ 1.58478907e-02 -7.93159833e-04 9.99874100e-01 1.40172035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.333617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.43, Z:0.14 [[ 9.98775766e-01 -4.69592659e-02 -1.55498149e-02 1.31571167e+01] [ 4.69656789e-02 9.98896503e-01 4.72932406e-05 -4.26754022e-01] [ 1.55304349e-02 -7.77542955e-04 9.99879093e-01 1.40689563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.42, Z:0.14 [[ 9.98811703e-01 -4.62644486e-02 -1.53225897e-02 1.31858108e+01] [ 4.62705320e-02 9.98928944e-01 4.25555038e-05 -4.24788396e-01] [ 1.53042096e-02 -7.51489313e-04 9.99882601e-01 1.40649410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.393617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.42, Z:0.14 [[ 9.98847038e-01 -4.54216803e-02 -1.55391905e-02 1.32138787e+01] [ 4.54277818e-02 9.98967625e-01 3.97200343e-05 -4.24483699e-01] [ 1.55213440e-02 -7.45585193e-04 9.99879259e-01 1.40391349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.42, Z:0.14 [[ 9.98899003e-01 -4.43706762e-02 -1.52323868e-02 1.32432964e+01] [ 4.43763937e-02 9.99014882e-01 3.73939024e-05 -4.20218019e-01] [ 1.52157219e-02 -7.13311127e-04 9.99883980e-01 1.40539200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.453617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.42, Z:0.14 [[ 9.98980462e-01 -4.26304408e-02 -1.48553836e-02 1.32709528e+01] [ 4.26356408e-02 9.99090687e-01 3.33720179e-05 -4.22821504e-01] [ 1.48404528e-02 -6.66706794e-04 9.99889652e-01 1.40761485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.42, Z:0.14 [[ 9.99175239e-01 -3.82477711e-02 -1.36363590e-02 1.33013026e+01] [ 3.82517305e-02 9.99268134e-01 2.95639848e-05 -4.19740587e-01] [ 1.36252482e-02 -5.51153930e-04 9.99907020e-01 1.41762739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.513617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.42, Z:0.14 [[ 9.99274075e-01 -3.58799860e-02 -1.28042517e-02 1.33294132e+01] [ 3.58832808e-02 9.99355987e-01 2.75959773e-05 -4.19780881e-01] [ 1.27950154e-02 -4.87034502e-04 9.99918022e-01 1.42439089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.41, Z:0.14 [[ 9.99357638e-01 -3.37369192e-02 -1.20884943e-02 1.33584154e+01] [ 3.37396877e-02 9.99430654e-01 2.50962939e-05 -4.12943415e-01] [ 1.20807651e-02 -4.32942196e-04 9.99926931e-01 1.42774293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.573617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.41, Z:0.14 [[ 9.99417485e-01 -3.20429155e-02 -1.17449193e-02 1.33877694e+01] [ 3.20454057e-02 9.99486414e-01 2.38474909e-05 -4.11140970e-01] [ 1.17381231e-02 -4.00204304e-04 9.99931026e-01 1.42999867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.41, Z:0.14 [[ 9.99494470e-01 -2.96606318e-02 -1.14477578e-02 1.34163832e+01] [ 2.96628101e-02 9.99559962e-01 2.04929884e-05 -4.07900198e-01] [ 1.14421125e-02 -3.60055294e-04 9.99934472e-01 1.43251159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.633617864999998 meters Centerline goodness [0,1] 0.9999342811452606 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.41, Z:0.14 [[ 9.99507756e-01 -2.91788010e-02 -1.15257596e-02 1.34444968e+01] [ 2.91809690e-02 9.99574145e-01 1.99392808e-05 -4.07907523e-01] [ 1.15202695e-02 -3.56262299e-04 9.99933576e-01 1.43506075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.41, Z:0.14 [[ 9.99500215e-01 -2.95635418e-02 -1.11944902e-02 1.34729103e+01] [ 2.95655992e-02 9.99562842e-01 1.83095540e-05 -4.06159233e-01] [ 1.11890551e-02 -3.49272213e-04 9.99937340e-01 1.43447701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.693617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.41, Z:0.14 [[ 9.99452833e-01 -3.11067123e-02 -1.12430921e-02 1.35011918e+01] [ 3.11088454e-02 9.99516003e-01 1.48464237e-05 -4.07843838e-01] [ 1.12371887e-02 -3.64597915e-04 9.99936794e-01 1.43679435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.41, Z:0.14 [[ 9.99408629e-01 -3.26430458e-02 -1.08084970e-02 1.35299277e+01] [ 3.26451015e-02 9.99467007e-01 1.37701092e-05 -4.08424568e-01] [ 1.08022867e-02 -3.66606449e-04 9.99941586e-01 1.43866161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.753617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.41, Z:0.14 [[ 9.99351692e-01 -3.44033861e-02 -1.06114633e-02 1.35587779e+01] [ 3.44054406e-02 9.99407958e-01 1.10691427e-05 -4.08248671e-01] [ 1.06048001e-02 -3.76154037e-04 9.99943697e-01 1.44155691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.41, Z:0.14 [[ 9.99224975e-01 -3.80061366e-02 -1.02460829e-02 1.35874609e+01] [ 3.80082119e-02 9.99277427e-01 7.83374009e-06 -4.10792095e-01] [ 1.02383816e-02 -3.97262958e-04 9.99947507e-01 1.44158593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.813617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.41, Z:0.14 [[ 9.99142866e-01 -4.01840381e-02 -9.93866780e-03 1.36174330e+01] [ 4.01860901e-02 9.99192213e-01 6.77097673e-06 -4.10775845e-01] [ 9.93036739e-03 -4.06161373e-04 9.99950610e-01 1.44408804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.41, Z:0.14 [[ 9.99056963e-01 -4.22449833e-02 -1.00272910e-02 1.36464289e+01] [ 4.22471728e-02 9.99107190e-01 6.54239581e-06 -4.13509755e-01] [ 1.00180621e-02 -4.30160921e-04 9.99949725e-01 1.44738829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.873617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.41, Z:0.14 [[ 9.98922805e-01 -4.52775912e-02 -1.01571984e-02 1.36755697e+01] [ 4.52799897e-02 9.98974335e-01 6.18163153e-06 -4.13093880e-01] [ 1.01465006e-02 -4.66092811e-04 9.99948414e-01 1.44799659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.42, Z:0.15 [[ 9.98888572e-01 -4.60815530e-02 -9.90515182e-03 1.37036123e+01] [ 4.60838668e-02 9.98937574e-01 5.36173582e-06 -4.16865113e-01] [ 9.89438125e-03 -4.61823474e-04 9.99950943e-01 1.45354852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.933617864999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.42, Z:0.15 [[ 9.98847781e-01 -4.70207695e-02 -9.59982936e-03 1.37325574e+01] [ 4.70229838e-02 9.98893808e-01 4.96163579e-06 -4.17171653e-01] [ 9.58897680e-03 -4.56368540e-04 9.99953921e-01 1.45582754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.42, Z:0.15 [[ 9.98832678e-01 -4.73622928e-02 -9.49178395e-03 1.37609269e+01] [ 4.73644472e-02 9.98877675e-01 2.18521863e-06 -4.16948300e-01] [ 9.48102758e-03 -4.51755768e-04 9.99954952e-01 1.45747181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.41, Z:0.15 [[ 9.98818313e-01 -4.77397887e-02 -9.10441977e-03 1.37900536e+01] [ 4.77417861e-02 9.98859711e-01 2.05565424e-06 -4.12140517e-01] [ 9.09393996e-03 -4.36714486e-04 9.99958554e-01 1.45381376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.41, Z:0.15 [[ 9.98827784e-01 -4.75852549e-02 -8.87140229e-03 1.38186094e+01] [ 4.75871273e-02 9.98867091e-01 -2.44691657e-08 -4.11166310e-01] [ 8.86135296e-03 -4.22140109e-04 9.99960648e-01 1.45246676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.053617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.42, Z:0.15 [[ 9.98831248e-01 -4.75062282e-02 -8.90481205e-03 1.38462056e+01] [ 4.75080883e-02 9.98870853e-01 -2.63636413e-06 -4.15371171e-01] [ 8.89488245e-03 -4.20417315e-04 9.99960351e-01 1.46002957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.41, Z:0.15 [[ 9.98883274e-01 -4.63969920e-02 -8.91763358e-03 1.38753358e+01] [ 4.63988075e-02 9.98922995e-01 -3.30436676e-06 -4.10288345e-01] [ 8.90818256e-03 -4.10466887e-04 9.99960237e-01 1.46303809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.41, Z:0.15 [[ 9.98906100e-01 -4.58825542e-02 -9.02191351e-03 1.39042030e+01] [ 4.58843724e-02 9.98946758e-01 -5.46384988e-06 -4.08542964e-01] [ 9.01266194e-03 -4.08506966e-04 9.99959302e-01 1.46924553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617864999996 meters Centerline goodness [0,1] 0.9999561557348299 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.41, Z:0.15 [[ 9.98936204e-01 -4.52674354e-02 -8.79320289e-03 1.39334957e+01] [ 4.52691215e-02 9.98974828e-01 -7.29493781e-06 -4.06609605e-01] [ 8.78451857e-03 -3.90773392e-04 9.99961339e-01 1.47429101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.173617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.40, Z:0.15 [[ 9.98995982e-01 -4.38770348e-02 -9.04624541e-03 1.39628549e+01] [ 4.38787419e-02 9.99036864e-01 -9.77329994e-06 -4.01376300e-01] [ 9.03796147e-03 -3.87174380e-04 9.99959082e-01 1.47285480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.40, Z:0.15 [[ 9.99007872e-01 -4.34782421e-02 -9.63916365e-03 1.39904832e+01] [ 4.34801344e-02 9.99054292e-01 -1.32529446e-05 -4.04224608e-01] [ 9.63062403e-03 -4.05872336e-04 9.99953542e-01 1.47361881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.40, Z:0.15 [[ 9.99000020e-01 -4.35230360e-02 -1.02325919e-02 1.40173960e+01] [ 4.35251622e-02 9.99052331e-01 -1.49179756e-05 -4.04647485e-01] [ 1.02235441e-02 -4.30472166e-04 9.99947646e-01 1.47074351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.39, Z:0.15 [[ 9.98936129e-01 -4.47645299e-02 -1.10790859e-02 1.40462676e+01] [ 4.47670869e-02 9.98997451e-01 -1.72178356e-05 -3.94326228e-01] [ 1.10687494e-02 -4.78778885e-04 9.99938625e-01 1.45975669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.293617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.39, Z:0.15 [[ 9.98884195e-01 -4.59719599e-02 -1.08140162e-02 1.40754735e+01] [ 4.59744390e-02 9.98942616e-01 -1.93560439e-05 -3.94011019e-01] [ 1.08034715e-02 -4.77833884e-04 9.99941527e-01 1.46288660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.39, Z:0.15 [[ 9.98871355e-01 -4.62501269e-02 -1.08140110e-02 1.41030854e+01] [ 4.62525948e-02 9.98929776e-01 -2.19010872e-05 -3.93900034e-01] [ 1.08034505e-02 -4.78299702e-04 9.99941527e-01 1.46655968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.353617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.40, Z:0.15 [[ 9.98801014e-01 -4.76606635e-02 -1.11801099e-02 1.41310979e+01] [ 4.76633487e-02 9.98863456e-01 -2.62979960e-05 -3.96475154e-01] [ 1.11686566e-02 -5.06615011e-04 9.99937500e-01 1.47999719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.39, Z:0.15 [[ 9.98658604e-01 -5.06939432e-02 -1.05412108e-02 1.41603367e+01] [ 5.06964890e-02 9.98714106e-01 -2.57332459e-05 -3.94370635e-01] [ 1.05289604e-02 -5.08703650e-04 9.99944440e-01 1.49369479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.39, Z:0.15 [[ 9.98568959e-01 -5.24670162e-02 -1.03559473e-02 1.41900449e+01] [ 5.24695624e-02 9.98622523e-01 -2.58623053e-05 -3.94069364e-01] [ 1.03430392e-02 -5.17546729e-04 9.99946375e-01 1.50255787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.39, Z:0.15 [[ 9.98489838e-01 -5.40074703e-02 -1.00616605e-02 1.42191154e+01] [ 5.40099553e-02 9.98540397e-01 -2.47832457e-05 -3.93506317e-01] [ 1.00483130e-02 -5.18684017e-04 9.99949380e-01 1.50815448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.473617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.40, Z:0.15 [[ 9.98421523e-01 -5.53174506e-02 -9.71816370e-03 1.42471815e+01] [ 5.53198035e-02 9.98468687e-01 -2.67375869e-05 -3.98080151e-01] [ 9.70476121e-03 -5.10911524e-04 9.99952777e-01 1.51503247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.39, Z:0.15 [[ 9.98326376e-01 -5.70018932e-02 -9.75867277e-03 1.42765819e+01] [ 5.70043360e-02 9.98373930e-01 -2.78718628e-05 -3.94152619e-01] [ 9.74439324e-03 -5.28461446e-04 9.99952383e-01 1.51395624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.533617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.40, Z:0.15 [[ 9.98292437e-01 -5.75267203e-02 -1.01433090e-02 1.43040280e+01] [ 5.75293845e-02 9.98343813e-01 -2.91707084e-05 -3.95170514e-01] [ 1.01281879e-02 -5.54417428e-04 9.99948555e-01 1.51636701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.39, Z:0.15 [[ 9.98261138e-01 -5.80778522e-02 -1.00828387e-02 1.43325294e+01] [ 5.80805093e-02 9.98311902e-01 -2.93401984e-05 -3.93644730e-01] [ 1.00675219e-02 -5.56327228e-04 9.99949166e-01 1.51782794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.593617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.39, Z:0.15 [[ 9.98249134e-01 -5.83082190e-02 -9.94069378e-03 1.43607947e+01] [ 5.83107914e-02 9.98298478e-01 -3.11068626e-05 -3.92131064e-01] [ 9.92559325e-03 -5.48597322e-04 9.99950590e-01 1.52431452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.39, Z:0.15 [[ 9.98264868e-01 -5.80122603e-02 -1.00911105e-02 1.43884260e+01] [ 5.80148620e-02 9.98315719e-01 -3.49666255e-05 -3.92999282e-01] [ 1.00761427e-02 -5.50528428e-04 9.99949083e-01 1.53177180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.653617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.39, Z:0.15 [[ 9.98292477e-01 -5.76049259e-02 -9.68521098e-03 1.44173025e+01] [ 5.76073012e-02 9.98339320e-01 -3.37795852e-05 -3.91500890e-01] [ 9.67107281e-03 -5.24216960e-04 9.99953097e-01 1.53798540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.39, Z:0.15 [[ 9.98363431e-01 -5.63916464e-02 -9.51008266e-03 1.44452784e+01] [ 5.63938571e-02 9.98408600e-01 -3.57559131e-05 -3.90824455e-01] [ 9.49696464e-03 -5.00612847e-04 9.99954778e-01 1.54544311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.39, Z:0.16 [[ 9.98584566e-01 -5.23482197e-02 -9.40900436e-03 1.44740354e+01] [ 5.23501908e-02 9.98628788e-01 -3.68507834e-05 -3.88887073e-01] [ 9.39803169e-03 -4.55764549e-04 9.99955734e-01 1.55688482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.39, Z:0.16 [[ 9.98705918e-01 -4.99110397e-02 -9.76616001e-03 1.45026261e+01] [ 4.99130442e-02 9.98753566e-01 -3.85255810e-05 -3.87558846e-01] [ 9.75590999e-03 -4.48983051e-04 9.99952309e-01 1.56147690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.773617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.38, Z:0.16 [[ 9.98828265e-01 -4.73699005e-02 -9.90909541e-03 1.45320296e+01] [ 4.73718341e-02 9.98877324e-01 -3.96272092e-05 -3.80265930e-01] [ 9.89984784e-03 -4.29831247e-04 9.99950903e-01 1.56207746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.38, Z:0.16 [[ 9.98958183e-01 -4.45021484e-02 -1.01048123e-02 1.45606992e+01] [ 4.45040093e-02 9.99009205e-01 -4.07368939e-05 -3.80317735e-01] [ 1.00966134e-02 -4.09010207e-04 9.99948944e-01 1.56754604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.833617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.37, Z:0.16 [[ 9.99157950e-01 -3.94551778e-02 -1.12552039e-02 1.45905714e+01] [ 3.94571602e-02 9.99221262e-01 -4.59563529e-05 -3.73323946e-01] [ 1.12482522e-02 -3.98180727e-04 9.99936657e-01 1.55459910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.37, Z:0.16 [[ 9.99242253e-01 -3.70325152e-02 -1.19797149e-02 1.46195925e+01] [ 3.70345854e-02 9.99313983e-01 -4.90618540e-05 -3.71687330e-01] [ 1.19733135e-02 -3.94639096e-04 9.99928239e-01 1.55131800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.37, Z:0.16 [[ 9.99321161e-01 -3.47811993e-02 -1.21443578e-02 1.46481731e+01] [ 3.47831507e-02 9.99394882e-01 -5.05602274e-05 -3.70116503e-01] [ 1.21387676e-02 -3.71893122e-04 9.99926253e-01 1.55119821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.37, Z:0.16 [[ 9.99426716e-01 -3.16566204e-02 -1.20041004e-02 1.46767405e+01] [ 3.16582923e-02 9.99498749e-01 -5.07654910e-05 -3.67462964e-01] [ 1.19996904e-02 -3.29292933e-04 9.99927947e-01 1.56292709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.953617864999995 meters Centerline goodness [0,1] 0.9999144952010431 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.37, Z:0.16 [[ 9.99462382e-01 -3.06203665e-02 -1.17192355e-02 1.47044290e+01] [ 3.06218800e-02 9.99531039e-01 -5.03134713e-05 -3.68065657e-01] [ 1.17152802e-02 -3.08578600e-04 9.99931326e-01 1.57080064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.37, Z:0.16 [[ 9.99472494e-01 -3.02050951e-02 -1.19325483e-02 1.47338303e+01] [ 3.02066246e-02 9.99543674e-01 -5.20709748e-05 -3.68031797e-01] [ 1.19286760e-02 -3.08398499e-04 9.99928803e-01 1.57723240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.013617864999997 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.37, Z:0.16 [[ 9.99475874e-01 -3.01793776e-02 -1.17125132e-02 1.47620221e+01] [ 3.01808209e-02 9.99544454e-01 -5.35415216e-05 -3.67702726e-01] [ 1.17087934e-02 -2.99979803e-04 9.99931405e-01 1.57946965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.37, Z:0.16 [[ 9.99469715e-01 -3.03350282e-02 -1.18353164e-02 1.47894832e+01] [ 3.03364725e-02 9.99539742e-01 -5.75133909e-05 -3.70402640e-01] [ 1.18316137e-02 -3.01558858e-04 9.99929959e-01 1.58419424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.37, Z:0.16 [[ 9.99458892e-01 -3.05677748e-02 -1.21463549e-02 1.48164713e+01] [ 3.05692840e-02 9.99532648e-01 -6.14340156e-05 -3.72450564e-01] [ 1.21425562e-02 -3.09904599e-04 9.99926228e-01 1.58419526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.37, Z:0.16 [[ 9.99436864e-01 -3.11372599e-02 -1.25070709e-02 1.48441768e+01] [ 3.11388874e-02 9.99515065e-01 -6.46340578e-05 -3.73161877e-01] [ 1.25030183e-02 -3.24858612e-04 9.99921781e-01 1.58518132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.133617864999998 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.38, Z:0.16 [[ 9.99359836e-01 -3.30000109e-02 -1.38173229e-02 1.48716727e+01] [ 3.30021200e-02 9.99455279e-01 -7.53976171e-05 -3.77020815e-01] [ 1.38122844e-02 -3.80651599e-04 9.99904533e-01 1.57210936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.38, Z:0.16 [[ 9.99293310e-01 -3.47842230e-02 -1.42456347e-02 1.49003286e+01] [ 3.47866237e-02 9.99394759e-01 -7.93114536e-05 -3.79556651e-01] [ 1.42397715e-02 -4.16302129e-04 9.99898523e-01 1.57300745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.193617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.38, Z:0.16 [[ 9.99221841e-01 -3.68976808e-02 -1.39382374e-02 1.49290849e+01] [ 3.69001406e-02 9.99318955e-01 -8.07457184e-05 -3.82585720e-01] [ 1.39317241e-02 -4.33640033e-04 9.99902855e-01 1.57481496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.39, Z:0.16 [[ 9.99131334e-01 -3.93056386e-02 -1.38435482e-02 1.49580751e+01] [ 3.93082523e-02 9.99227129e-01 -8.33454469e-05 -3.85689318e-01] [ 1.38361248e-02 -4.60892637e-04 9.99904170e-01 1.58066619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.39, Z:0.16 [[ 9.98955789e-01 -4.35484834e-02 -1.38152758e-02 1.49867825e+01] [ 4.35514493e-02 9.99051182e-01 -8.62409364e-05 -3.94008886e-01] [ 1.38059232e-02 -5.15524399e-04 9.99904561e-01 1.58611576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.40, Z:0.16 [[ 9.98861221e-01 -4.56735002e-02 -1.37910650e-02 1.50167184e+01] [ 4.56766489e-02 9.98956273e-01 -8.67415983e-05 -3.97815347e-01] [ 1.37806327e-02 -5.43286817e-04 9.99904895e-01 1.59136588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.313617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.40, Z:0.16 [[ 9.98769482e-01 -4.75390972e-02 -1.41264483e-02 1.50450694e+01] [ 4.75425801e-02 9.98869208e-01 -8.93586908e-05 -3.95293207e-01] [ 1.41147223e-02 -5.82359066e-04 9.99900213e-01 1.59736767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617864999995 meters Centerline goodness [0,1] 0.9999781296474499 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.40, Z:0.16 [[ 9.98647793e-01 -5.00064341e-02 -1.42106649e-02 1.50734786e+01] [ 5.00101906e-02 9.98748703e-01 -9.11141512e-05 -4.02665566e-01] [ 1.41974395e-02 -6.19687116e-04 9.99899019e-01 1.59760511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.373617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.40, Z:0.16 [[ 9.98621039e-01 -5.04327019e-02 -1.45795655e-02 1.51017912e+01] [ 5.04366825e-02 9.98727256e-01 -9.47684350e-05 -4.02469606e-01] [ 1.45657889e-02 -6.40707163e-04 9.99893708e-01 1.59681911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.41, Z:0.16 [[ 9.98623761e-01 -4.99413424e-02 -1.60139462e-02 1.51299996e+01] [ 4.99460136e-02 9.98751913e-01 -1.08362184e-04 -4.09515639e-01] [ 1.59993712e-02 -6.91619723e-04 9.99871763e-01 1.59375801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.41, Z:0.16 [[ 9.98663025e-01 -4.91286275e-02 -1.60791740e-02 1.51576628e+01] [ 4.91332098e-02 9.98792228e-01 -1.10171584e-04 -4.11539732e-01] [ 1.60651666e-02 -6.79997143e-04 9.99870716e-01 1.59656944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.41, Z:0.16 [[ 9.98720604e-01 -4.79604055e-02 -1.60298269e-02 1.51871350e+01] [ 4.79647824e-02 9.98849021e-01 -1.11521044e-04 -4.09588834e-01] [ 1.60167255e-02 -6.57488795e-04 9.99871508e-01 1.60540754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.493617864999997 meters Centerline goodness [0,1] 0.9999559723506362 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.41, Z:0.16 [[ 9.98840646e-01 -4.53972678e-02 -1.60141306e-02 1.52166835e+01] [ 4.54012505e-02 9.98968825e-01 -1.14955690e-04 -4.12760625e-01] [ 1.60028359e-02 -6.12239139e-04 9.99871759e-01 1.61635332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.41, Z:0.16 [[ 9.98885907e-01 -4.42603166e-02 -1.63697352e-02 1.52460388e+01] [ 4.42642655e-02 9.99019850e-01 -1.21187893e-04 -4.13952484e-01] [ 1.63590542e-02 -6.03541425e-04 9.99866000e-01 1.62245713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.553617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.41, Z:0.16 [[ 9.98929938e-01 -4.30578248e-02 -1.68820001e-02 1.52743055e+01] [ 4.30617971e-02 9.99072402e-01 -1.28312987e-04 -4.14708941e-01] [ 1.68718653e-02 -5.98793579e-04 9.99857481e-01 1.62116578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.42, Z:0.16 [[ 9.99028412e-01 -4.02365161e-02 -1.79793021e-02 1.53026176e+01] [ 4.02405383e-02 9.99190012e-01 -1.38157610e-04 -4.19285963e-01] [ 1.79702981e-02 -5.85473417e-04 9.99838350e-01 1.60469607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.42, Z:0.16 [[ 9.99048481e-01 -3.94873632e-02 -1.85170605e-02 1.53312653e+01] [ 3.94914623e-02 9.99219898e-01 -1.44385591e-04 -4.19467693e-01] [ 1.85083167e-02 -5.87017591e-04 9.99828534e-01 1.60707154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.42, Z:0.16 [[ 9.99096241e-01 -3.82420763e-02 -1.85538164e-02 1.53603520e+01] [ 3.82458977e-02 9.99268347e-01 -1.48954760e-04 -4.17128944e-01] [ 1.85459378e-02 -5.60787224e-04 9.99827852e-01 1.62347102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.673617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.42, Z:0.16 [[ 9.99219050e-01 -3.55047487e-02 -1.73407724e-02 1.53893823e+01] [ 3.55076188e-02 9.99369396e-01 -1.42446229e-04 -4.15046312e-01] [ 1.73348948e-02 -4.73394552e-04 9.99849627e-01 1.63076052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.42, Z:0.16 [[ 9.99279857e-01 -3.36810490e-02 -1.74744193e-02 1.54173715e+01] [ 3.36836630e-02 9.99432534e-01 -1.44795509e-04 -4.15897722e-01] [ 1.74693800e-02 -4.43911215e-04 9.99847300e-01 1.63505853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.733617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.41, Z:0.16 [[ 9.99402181e-01 -2.99125657e-02 -1.73354771e-02 1.54461405e+01] [ 2.99145479e-02 9.99552449e-01 -1.45013957e-04 -4.14917913e-01] [ 1.73320563e-02 -3.73655695e-04 9.99849719e-01 1.64723524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.41, Z:0.16 [[ 9.99433390e-01 -2.86920783e-02 -1.75972482e-02 1.54743105e+01] [ 2.86939099e-02 9.99588234e-01 -1.48444976e-04 -4.14623390e-01] [ 1.75942615e-02 -3.56572989e-04 9.99845145e-01 1.64604962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.41, Z:0.17 [[ 9.99448157e-01 -2.77993845e-02 -1.81817222e-02 1.55034682e+01] [ 2.78011510e-02 9.99613461e-01 -1.55636141e-04 -4.13556204e-01] [ 1.81790209e-02 -3.49922552e-04 9.99834687e-01 1.65139296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.41, Z:0.17 [[ 9.99501882e-01 -2.59494748e-02 -1.79614167e-02 1.55311413e+01] [ 2.59508347e-02 9.99663208e-01 -1.57398875e-04 -4.12371941e-01] [ 1.79594519e-02 -3.08793284e-04 9.99838668e-01 1.65146826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.853617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.41, Z:0.17 [[ 9.99517671e-01 -2.52523798e-02 -1.80760438e-02 1.55600240e+01] [ 2.52535931e-02 9.99681064e-01 -1.61172573e-04 -4.09491320e-01] [ 1.80743487e-02 -2.95390219e-04 9.99836602e-01 1.65648067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.41, Z:0.17 [[ 9.99528391e-01 -2.47098191e-02 -1.82324046e-02 1.55879066e+01] [ 2.47108974e-02 9.99694625e-01 -1.66175560e-04 -4.07942923e-01] [ 1.82309430e-02 -2.84441889e-04 9.99833762e-01 1.65040820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.913617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.41, Z:0.16 [[ 9.99461601e-01 -2.60987836e-02 -1.98837261e-02 1.56154379e+01] [ 2.61003058e-02 9.99659312e-01 -1.82996116e-04 -4.10359654e-01] [ 1.98817279e-02 -3.36073740e-04 9.99802282e-01 1.63555343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.41, Z:0.16 [[ 9.99424035e-01 -2.75778726e-02 -1.97752129e-02 1.56440110e+01] [ 2.75796171e-02 9.99619593e-01 -1.84552002e-04 -4.10870865e-01] [ 1.97727798e-02 -3.60947093e-04 9.99804434e-01 1.64221111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.973617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.41, Z:0.17 [[ 9.99403157e-01 -2.86982936e-02 -1.92285796e-02 1.56727953e+01] [ 2.87000686e-02 9.99588051e-01 -1.83699059e-04 -4.10166738e-01] [ 1.92259303e-02 -3.68272134e-04 9.99815097e-01 1.65010807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.41, Z:0.17 [[ 9.99312710e-01 -3.15843941e-02 -1.94044973e-02 1.57017819e+01] [ 3.15866589e-02 9.99500999e-01 -1.89836818e-04 -4.09125310e-01] [ 1.94008103e-02 -4.23216894e-04 9.99811697e-01 1.65322494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.033617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.41, Z:0.17 [[ 9.99234969e-01 -3.36974481e-02 -1.98483751e-02 1.57303164e+01] [ 3.37001392e-02 9.99431969e-01 -1.98973119e-04 -4.08128333e-01] [ 1.98438055e-02 -4.70072105e-04 9.99802982e-01 1.66549177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.41, Z:0.17 [[ 9.99186082e-01 -3.54050090e-02 -1.93302832e-02 1.57582991e+01] [ 3.54078094e-02 9.99372927e-01 -1.97472114e-04 -4.09393182e-01] [ 1.93251532e-02 -4.87131596e-04 9.99813133e-01 1.66832031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.093617864999995 meters Centerline goodness [0,1] 0.9999555209607472 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.41, Z:0.17 [[ 9.99087995e-01 -3.84021330e-02 -1.86669537e-02 1.57872106e+01] [ 3.84052221e-02 9.99262229e-01 -1.93108625e-04 -4.08554915e-01] [ 1.86605975e-02 -5.23975991e-04 9.99825739e-01 1.67696803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.41, Z:0.17 [[ 9.99041755e-01 -3.95404521e-02 -1.87650046e-02 1.58154016e+01] [ 3.95437040e-02 9.99217822e-01 -1.97868019e-04 -4.08674233e-01] [ 1.87581508e-02 -5.44359375e-04 9.99823902e-01 1.67597774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.153617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.41, Z:0.17 [[ 9.98974345e-01 -4.10810341e-02 -1.90422374e-02 1.58445800e+01] [ 4.10846139e-02 9.99155650e-01 -2.03338727e-04 -4.08440738e-01] [ 1.90345125e-02 -5.79212800e-04 9.99818659e-01 1.67413850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.41, Z:0.17 [[ 9.98908481e-01 -4.28536354e-02 -1.85852755e-02 1.58726093e+01] [ 4.28572851e-02 9.99081184e-01 -2.02054474e-04 -4.07746535e-01] [ 1.85768579e-02 -5.94680526e-04 9.99827258e-01 1.67185342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.41, Z:0.17 [[ 9.98885516e-01 -4.33423529e-02 -1.86859810e-02 1.59008702e+01] [ 4.33460979e-02 9.99060095e-01 -2.04743554e-04 -4.10623698e-01] [ 1.86772920e-02 -6.05448991e-04 9.99825381e-01 1.67336310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.41, Z:0.17 [[ 9.98874305e-01 -4.35999742e-02 -1.86859533e-02 1.59284680e+01] [ 4.36037176e-02 9.99048884e-01 -2.07240883e-04 -4.10235928e-01] [ 1.86772165e-02 -6.07769437e-04 9.99825381e-01 1.67704225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.273617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.41, Z:0.17 [[ 9.98833061e-01 -4.42546794e-02 -1.93401011e-02 1.59572228e+01] [ 4.42587157e-02 9.99020079e-01 -2.19482913e-04 -4.07089177e-01] [ 1.93308625e-02 -6.36741247e-04 9.99812939e-01 1.68674401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.303617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.41, Z:0.17 [[ 9.98825771e-01 -4.38819140e-02 -2.05294092e-02 1.59850895e+01] [ 4.38863021e-02 9.99036504e-01 -2.36950113e-04 -4.06409535e-01] [ 2.05200270e-02 -6.64287974e-04 9.99789221e-01 1.68469982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.333617864999997 meters Centerline goodness [0,1] 0.9999335150588392 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.40, Z:0.17 [[ 9.98843457e-01 -4.33239023e-02 -2.08515535e-02 1.60142234e+01] [ 4.33282466e-02 9.99060861e-01 -2.43604865e-04 -4.03805661e-01] [ 2.08425249e-02 -6.60138127e-04 9.99782553e-01 1.68699201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.40, Z:0.17 [[ 9.98865272e-01 -4.24742803e-02 -2.15430536e-02 1.60431201e+01] [ 4.24786071e-02 9.99097344e-01 -2.56934252e-04 -4.02629984e-01] [ 2.15345207e-02 -6.58476207e-04 9.99767888e-01 1.68905186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.393617864999996 meters Centerline goodness [0,1] 0.9998674296824941 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.40, Z:0.17 [[ 9.98912260e-01 -4.12862117e-02 -2.16736247e-02 1.60706563e+01] [ 4.12902273e-02 9.99147160e-01 -2.62389714e-04 -4.01854453e-01] [ 2.16659737e-02 -6.32804589e-04 9.99765065e-01 1.69281018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.40, Z:0.17 [[ 9.99014876e-01 -3.86705472e-02 -2.17684918e-02 1.60990899e+01] [ 3.86739408e-02 9.99251848e-01 -2.65228113e-04 -3.98411886e-01] [ 2.17624621e-02 -5.76906531e-04 9.99763003e-01 1.69280283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.453617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.40, Z:0.17 [[ 9.99049324e-01 -3.79118623e-02 -2.15206738e-02 1.61278288e+01] [ 3.79149436e-02 9.99280935e-01 -2.64974374e-04 -3.96787720e-01] [ 2.15152447e-02 -5.51232662e-04 9.99768368e-01 1.69685259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.40, Z:0.17 [[ 9.99064793e-01 -3.74160151e-02 -2.16698428e-02 1.61563112e+01] [ 3.74189137e-02 9.99299630e-01 -2.71844342e-04 -3.95263670e-01] [ 2.16648372e-02 -5.39271867e-04 9.99765144e-01 1.70170177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.513617864999997 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.40, Z:0.17 [[ 9.99078310e-01 -3.69697511e-02 -2.18121175e-02 1.61839994e+01] [ 3.69724909e-02 9.99316245e-01 -2.77787125e-04 -3.96809263e-01] [ 2.18074730e-02 -5.28917223e-04 9.99762049e-01 1.71098985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543617864999995 meters Centerline goodness [0,1] 0.9999779604610671 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.40, Z:0.17 [[ 9.99064710e-01 -3.71951440e-02 -2.20505603e-02 1.62121840e+01] [ 3.71979119e-02 9.99307878e-01 -2.84769937e-04 -3.95833268e-01] [ 2.20458906e-02 -5.35731205e-04 9.99756816e-01 1.72212373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.39, Z:0.17 [[ 9.99039483e-01 -3.77828018e-02 -2.21939416e-02 1.62413349e+01] [ 3.77856256e-02 9.99285826e-01 -2.92263348e-04 -3.93977806e-01] [ 2.21891338e-02 -5.46629343e-04 9.99753641e-01 1.73206793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.40, Z:0.17 [[ 9.98986138e-01 -3.90224111e-02 -2.24487650e-02 1.62694911e+01] [ 3.90255230e-02 9.99238169e-01 -2.99622395e-04 -3.98645225e-01] [ 2.24433548e-02 -5.76756174e-04 9.99747950e-01 1.72421074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.633617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.40, Z:0.17 [[ 9.98906214e-01 -4.09323822e-02 -2.26034345e-02 1.62982540e+01] [ 4.09359508e-02 9.99161726e-01 -3.05000959e-04 -3.97339203e-01] [ 2.25969710e-02 -6.20625727e-04 9.99744463e-01 1.73543819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.40, Z:0.17 [[ 9.98895179e-01 -4.12008424e-02 -2.26033575e-02 1.63258497e+01] [ 4.12043525e-02 9.99150692e-01 -3.10624630e-04 -3.96892689e-01] [ 2.25969582e-02 -6.21075262e-04 9.99744463e-01 1.73910925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.693617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.40, Z:0.17 [[ 9.98856306e-01 -4.23358734e-02 -2.22205859e-02 1.63551792e+01] [ 4.23394208e-02 9.99103236e-01 -3.11004602e-04 -3.96620749e-01] [ 2.22138259e-02 -6.30157828e-04 9.99753044e-01 1.74225781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.40, Z:0.17 [[ 9.98803572e-01 -4.33712806e-02 -2.25910615e-02 1.63836119e+01] [ 4.33751120e-02 9.99058806e-01 -3.20616785e-04 -3.96724556e-01] [ 2.25837045e-02 -6.59656633e-04 9.99744738e-01 1.74850330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.40, Z:0.18 [[ 9.98822198e-01 -4.31293926e-02 -2.22277358e-02 1.64110629e+01] [ 4.31329871e-02 9.99069289e-01 -3.17917665e-04 -3.98483646e-01] [ 2.22207598e-02 -6.41205420e-04 9.99752883e-01 1.76336838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.783617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.40, Z:0.18 [[ 9.98833646e-01 -4.29324740e-02 -2.20941087e-02 1.64397911e+01] [ 4.29359061e-02 9.99077778e-01 -3.19229880e-04 -3.97997111e-01] [ 2.20874384e-02 -6.29773033e-04 9.99755844e-01 1.76848925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.813617864999998 meters Centerline goodness [0,1] 0.9999779298168174 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.40, Z:0.18 [[ 9.98838248e-01 -4.21428092e-02 -2.33696017e-02 1.64692008e+01] [ 4.21463030e-02 9.99111391e-01 -3.43236267e-04 -3.97895501e-01] [ 2.33633002e-02 -6.42104804e-04 9.99726835e-01 1.77492498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.40, Z:0.18 [[ 9.98853631e-01 -4.17330892e-02 -2.34472311e-02 1.64968027e+01] [ 4.17364043e-02 9.99128596e-01 -3.48177163e-04 -3.96885621e-01] [ 2.34413296e-02 -6.30825092e-04 9.99725015e-01 1.77023031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.873617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.40, Z:0.18 [[ 9.98842131e-01 -4.14759149e-02 -2.43750906e-02 1.65247234e+01] [ 4.14793206e-02 9.99139296e-01 -3.66085373e-04 -3.96139231e-01] [ 2.43692945e-02 -6.45400701e-04 9.99702816e-01 1.76652928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.40, Z:0.18 [[ 9.98850796e-01 -4.10788378e-02 -2.46904122e-02 1.65527448e+01] [ 4.10820981e-02 9.99155704e-01 -3.75395751e-04 -3.95561557e-01] [ 2.46849870e-02 -6.39369592e-04 9.99695075e-01 1.77162430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.39, Z:0.18 [[ 9.98875190e-01 -4.08460046e-02 -2.40823475e-02 1.65821290e+01] [ 4.08489573e-02 9.99165265e-01 -3.69524458e-04 -3.94030793e-01] [ 2.40773387e-02 -6.14629972e-04 9.99709910e-01 1.77916133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.39, Z:0.18 [[ 9.98862802e-01 -4.10118197e-02 -2.43132548e-02 1.66100274e+01] [ 4.10147868e-02 9.99158469e-01 -3.76835803e-04 -3.94031765e-01] [ 2.43082492e-02 -6.20795697e-04 9.99704318e-01 1.78557878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.993617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.40, Z:0.18 [[ 9.98741824e-01 -4.40704201e-02 -2.39283928e-02 1.66373524e+01] [ 4.40741094e-02 9.99028195e-01 -3.73440415e-04 -3.95368494e-01] [ 2.39215967e-02 -6.81652041e-04 9.99713605e-01 1.79283521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.39, Z:0.18 [[ 9.98663635e-01 -4.57877470e-02 -2.39671971e-02 1.66656198e+01] [ 4.57918764e-02 9.98950931e-01 -3.76796397e-04 -3.94573960e-01] [ 2.39593065e-02 -7.21210067e-04 9.99712674e-01 1.79697663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.053617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.39, Z:0.18 [[ 9.98582183e-01 -4.76110740e-02 -2.38077713e-02 1.66933264e+01] [ 4.76156208e-02 9.98865662e-01 -3.76193418e-04 -3.94957689e-01] [ 2.37986762e-02 -7.57961766e-04 9.99716484e-01 1.79653691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.40, Z:0.18 [[ 9.98399637e-01 -5.12081683e-02 -2.39976825e-02 1.67216624e+01] [ 5.12137837e-02 9.98687640e-01 -3.80939967e-04 -3.97881293e-01] [ 2.39856961e-02 -8.48681796e-04 9.99711942e-01 1.80030606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.39, Z:0.18 [[ 9.98296955e-01 -5.31054337e-02 -2.41454604e-02 1.67508268e+01] [ 5.31115909e-02 9.98588509e-01 -3.86670568e-04 -3.93307443e-01] [ 2.41319136e-02 -8.96391764e-04 9.99708381e-01 1.82114731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.40, Z:0.18 [[ 9.98206005e-01 -5.47125523e-02 -2.43168317e-02 1.67784314e+01] [ 5.47191700e-02 9.98501706e-01 -3.93665333e-04 -3.99211466e-01] [ 2.43019364e-02 -9.37637748e-04 9.99704225e-01 1.80918942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.173617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.39, Z:0.18 [[ 9.98105436e-01 -5.65249782e-02 -2.42995072e-02 1.68069828e+01] [ 5.65320257e-02 9.98400707e-01 -3.97376643e-04 -3.90570904e-01] [ 2.42831069e-02 -9.77076582e-04 9.99704644e-01 1.83566446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.39, Z:0.18 [[ 9.97956845e-01 -5.87392070e-02 -2.51364666e-02 1.68352144e+01] [ 5.87473448e-02 9.98272797e-01 -4.15239251e-04 -3.90687487e-01] [ 2.51174416e-02 -1.06230982e-03 9.99683943e-01 1.83164081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.39, Z:0.18 [[ 9.97905233e-01 -5.94281718e-02 -2.55624521e-02 1.68625457e+01] [ 5.94367574e-02 9.98231983e-01 -4.24473499e-04 -3.90773188e-01] [ 2.55424830e-02 -1.09576494e-03 9.99673137e-01 1.82948806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters Centerline goodness [0,1] 0.9999778687617572 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.39, Z:0.18 [[ 9.97865061e-01 -5.98674649e-02 -2.60999215e-02 1.68915295e+01] [ 5.98764498e-02 9.98205700e-01 -4.37836756e-04 -3.89618885e-01] [ 2.60793026e-02 -1.12586864e-03 9.99659243e-01 1.83139018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.39, Z:0.18 [[ 9.97804135e-01 -6.04556110e-02 -2.70559992e-02 1.69201403e+01] [ 6.04653037e-02 9.98170193e-01 -4.60482800e-04 -3.89169863e-01] [ 2.70343307e-02 -1.17647757e-03 9.99633813e-01 1.84755200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.39, Z:0.19 [[ 9.97807586e-01 -6.07314297e-02 -2.63004858e-02 1.69469306e+01] [ 6.07405610e-02 9.98153485e-01 -4.52301043e-04 -3.90209807e-01] [ 2.62793904e-02 -1.14619685e-03 9.99653980e-01 1.85105471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.353617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.39, Z:0.19 [[ 9.97790979e-01 -6.10723621e-02 -2.61405572e-02 1.69746992e+01] [ 6.10813670e-02 9.98132687e-01 -4.54611006e-04 -3.89213837e-01] [ 2.61195088e-02 -1.14309421e-03 9.99658174e-01 1.85857083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.39, Z:0.19 [[ 9.97858785e-01 -6.01882137e-02 -2.55973475e-02 1.70034475e+01] [ 6.01963928e-02 9.98186451e-01 -4.51607567e-04 -3.87104744e-01] [ 2.55781069e-02 -1.09022741e-03 9.99672232e-01 1.86214678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.38, Z:0.19 [[ 9.97906383e-01 -5.94003565e-02 -2.55821924e-02 1.70322281e+01] [ 5.94081122e-02 9.98233674e-01 -4.57417406e-04 -3.84605482e-01] [ 2.55641766e-02 -1.06333001e-03 9.99672618e-01 1.86785818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.38, Z:0.19 [[ 9.98016028e-01 -5.76496966e-02 -2.53085136e-02 1.70599580e+01] [ 5.76566197e-02 9.98336369e-01 -4.56692117e-04 -3.84138976e-01] [ 2.52927377e-02 -1.00341729e-03 9.99679584e-01 1.87418743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.38, Z:0.19 [[ 9.98046598e-01 -5.72611897e-02 -2.49828926e-02 1.70892851e+01] [ 5.72677229e-02 9.98358754e-01 -4.54471423e-04 -3.82915408e-01] [ 2.49679131e-02 -9.77129716e-04 9.99687776e-01 1.88326960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.38, Z:0.19 [[ 9.98063114e-01 -5.70748761e-02 -2.47483322e-02 1.71178670e+01] [ 5.70810924e-02 9.98369441e-01 -4.55762394e-04 -3.81881408e-01] [ 2.47339912e-02 -9.57782204e-04 9.99693609e-01 1.89226927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.533617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.38, Z:0.19 [[ 9.98086684e-01 -5.67804683e-02 -2.44734356e-02 1.71470280e+01] [ 5.67863193e-02 9.98386251e-01 -4.56401506e-04 -3.80236906e-01] [ 2.44598563e-02 -9.34228061e-04 9.99700376e-01 1.89704496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.38, Z:0.19 [[ 9.98127049e-01 -5.61769024e-02 -2.42187848e-02 1.71748632e+01] [ 5.61823579e-02 9.98420420e-01 -4.55651321e-04 -3.80094400e-01] [ 2.42061263e-02 -9.05870526e-04 9.99706578e-01 1.89593523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.593617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.38, Z:0.19 [[ 9.98139292e-01 -5.60014844e-02 -2.41202646e-02 1.72040851e+01] [ 5.60067566e-02 9.98430285e-01 -4.57442690e-04 -3.76563878e-01] [ 2.41080202e-02 -8.94306267e-04 9.99708959e-01 1.90483134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.623617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.38, Z:0.19 [[ 9.98154399e-01 -5.55929967e-02 -2.44379720e-02 1.72315730e+01] [ 5.55981861e-02 9.98453115e-01 -4.67581833e-04 -3.77579383e-01] [ 2.44261635e-02 -8.91988051e-04 9.99701239e-01 1.89655684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.653617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.38, Z:0.19 [[ 9.98138323e-01 -5.53880415e-02 -2.55353470e-02 1.72585121e+01] [ 5.53935759e-02 9.98464476e-01 -4.91118699e-04 -3.76128080e-01] [ 2.55233390e-02 -9.24289789e-04 9.99673799e-01 1.88377986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.38, Z:0.19 [[ 9.98109434e-01 -5.55632108e-02 -2.62733151e-02 1.72872721e+01] [ 5.55690136e-02 9.98454718e-01 -5.09765131e-04 -3.75238262e-01] [ 2.62610396e-02 -9.51180816e-04 9.99654667e-01 1.87979373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.37, Z:0.19 [[ 9.97952755e-01 -5.78265709e-02 -2.73200779e-02 1.73165515e+01] [ 5.78335878e-02 9.98326095e-01 -5.33906837e-04 -3.71923380e-01] [ 2.73052207e-02 -1.04720433e-03 9.99626594e-01 1.89712636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.37, Z:0.19 [[ 9.97848319e-01 -5.94782926e-02 -2.75874150e-02 1.73456234e+01] [ 5.94859652e-02 9.98228994e-01 -5.43212608e-04 -3.73665217e-01] [ 2.75708669e-02 -1.09902022e-03 9.99619247e-01 1.90114348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.773617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.37, Z:0.19 [[ 9.97752754e-01 -6.11674844e-02 -2.73492363e-02 1.73747380e+01] [ 6.11754816e-02 9.98126877e-01 -5.44987489e-04 -3.74933587e-01] [ 2.73313433e-02 -1.12933993e-03 9.99625791e-01 1.90799930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.38, Z:0.19 [[ 9.97689247e-01 -6.23257159e-02 -2.70494335e-02 1.74031518e+01] [ 6.23338478e-02 9.98055207e-01 -5.43289875e-04 -3.75787962e-01] [ 2.70306889e-02 -1.14406080e-03 9.99633949e-01 1.91485371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.833617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.38, Z:0.19 [[ 9.97630794e-01 -6.37840414e-02 -2.57758625e-02 1.74310955e+01] [ 6.37918564e-02 9.97963090e-01 -5.19816131e-04 -3.75943494e-01] [ 2.57565153e-02 -1.12570554e-03 9.99667612e-01 1.91830841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.37, Z:0.19 [[ 9.97603200e-01 -6.42006568e-02 -2.58095250e-02 1.74602657e+01] [ 6.42085266e-02 9.97936366e-01 -5.24557419e-04 -3.74293054e-01] [ 2.57899405e-02 -1.13389141e-03 9.99666741e-01 1.92430071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.38, Z:0.19 [[ 9.97601048e-01 -6.41713683e-02 -2.59650545e-02 1.74871403e+01] [ 6.41792027e-02 9.97938248e-01 -5.32368690e-04 -3.76086993e-01] [ 2.59456838e-02 -1.13532493e-03 9.99662709e-01 1.91773303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.38, Z:0.19 [[ 9.97642094e-01 -6.33327021e-02 -2.64427817e-02 1.75152586e+01] [ 6.33404634e-02 9.97991828e-01 -5.44824080e-04 -3.77741528e-01] [ 2.64241853e-02 -1.13135861e-03 9.99650180e-01 1.91318591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.953617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.38, Z:0.19 [[ 9.97706784e-01 -6.23589065e-02 -2.63161398e-02 1.75427053e+01] [ 6.23661995e-02 9.98053185e-01 -5.44340339e-04 -3.77709721e-01] [ 2.62988516e-02 -1.09814558e-03 9.99653522e-01 1.91625838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.37, Z:0.19 [[ 9.97769553e-01 -6.15692683e-02 -2.57903735e-02 1.75716707e+01] [ 6.15759054e-02 9.98102259e-01 -5.37492184e-04 -3.71652589e-01] [ 2.57745231e-02 -1.05177227e-03 9.99667228e-01 1.93529186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.013617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.38, Z:0.19 [[ 9.97970578e-01 -5.89342976e-02 -2.41137814e-02 1.76004003e+01] [ 5.89392461e-02 9.98261443e-01 -5.06081943e-04 -3.75305501e-01] [ 2.41016838e-02 -9.16193209e-04 9.99709092e-01 1.93330095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.37, Z:0.20 [[ 9.98054930e-01 -5.77087881e-02 -2.35807826e-02 1.76292277e+01] [ 5.77131059e-02 9.98333085e-01 -4.97975068e-04 -3.68677313e-01] [ 2.35702130e-02 -8.63913733e-04 9.99721811e-01 1.95515032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.37, Z:0.20 [[ 9.98165758e-01 -5.60897084e-02 -2.27829897e-02 1.76582221e+01] [ 5.60931984e-02 9.98425419e-01 -4.86360485e-04 -3.65321669e-01] [ 2.27743958e-02 -7.92502377e-04 9.99740316e-01 1.96553673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.36, Z:0.20 [[ 9.98247139e-01 -5.48046374e-02 -2.23405593e-02 1.76866443e+01] [ 5.48075559e-02 9.98496820e-01 -4.82095161e-04 -3.63485941e-01] [ 2.23333985e-02 -7.43181339e-04 9.99750302e-01 1.96742521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.133617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.36, Z:0.20 [[ 9.98232185e-01 -5.50764049e-02 -2.23404368e-02 1.77142399e+01] [ 5.50792656e-02 9.98481866e-01 -4.87719717e-04 -3.62820947e-01] [ 2.23333829e-02 -7.43637336e-04 9.99750302e-01 1.97109690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617864999996 meters Centerline goodness [0,1] 0.9999559781651699 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.36, Z:0.20 [[ 9.98368263e-01 -5.27259311e-02 -2.19268583e-02 1.77422026e+01] [ 5.27280264e-02 9.98608793e-01 -4.82980183e-04 -3.61640557e-01] [ 2.19218191e-02 -6.73967878e-04 9.99759461e-01 1.96658233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.193617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.36, Z:0.20 [[ 9.98384019e-01 -5.23340517e-02 -2.21471593e-02 1.77709196e+01] [ 5.23360211e-02 9.98629411e-01 -4.91081575e-04 -3.58521558e-01] [ 2.21425049e-02 -6.68806201e-04 9.99754601e-01 1.97768956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.36, Z:0.20 [[ 9.98384023e-01 -5.23712656e-02 -2.20588402e-02 1.77983012e+01] [ 5.23731352e-02 9.98627464e-01 -4.93347827e-04 -3.58657006e-01] [ 2.20544009e-02 -6.62740031e-04 9.99756552e-01 1.97087956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.36, Z:0.20 [[ 9.98360403e-01 -5.27315145e-02 -2.22686418e-02 1.78258367e+01] [ 5.27334491e-02 9.98608498e-01 -5.00746447e-04 -3.57873758e-01] [ 2.22640600e-02 -6.74376862e-04 9.99751898e-01 1.96999642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters Centerline goodness [0,1] 0.9999560284935362 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.36, Z:0.20 [[ 9.98328133e-01 -5.32823712e-02 -2.24037493e-02 1.78548659e+01] [ 5.32843826e-02 9.98579249e-01 -5.07595081e-04 -3.55144657e-01] [ 2.23989650e-02 -6.87023500e-04 9.99748876e-01 1.97466747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.313617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.36, Z:0.20 [[ 9.98313036e-01 -5.37401435e-02 -2.19790401e-02 1.78827252e+01] [ 5.37421060e-02 9.98554723e-01 -5.01797303e-04 -3.56436111e-01] [ 2.19742409e-02 -6.80249111e-04 9.99758306e-01 1.97185599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.35, Z:0.20 [[ 9.98278675e-01 -5.45752792e-02 -2.14761861e-02 1.79112351e+01] [ 5.45772813e-02 9.98509428e-01 -4.93327635e-04 -3.53766079e-01] [ 2.14710978e-02 -6.79633394e-04 9.99769238e-01 1.99032071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.373617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.35, Z:0.20 [[ 9.98225310e-01 -5.53005886e-02 -2.20924433e-02 1.79395809e+01] [ 5.53027887e-02 9.98469499e-01 -5.11830482e-04 -3.52561762e-01] [ 2.20869353e-02 -7.10851584e-04 9.99755801e-01 1.99087791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.35, Z:0.20 [[ 9.98182223e-01 -5.59729859e-02 -2.23444297e-02 1.79681370e+01] [ 5.59753174e-02 9.98432017e-01 -5.21581003e-04 -3.50209438e-01] [ 2.23385885e-02 -7.30103660e-04 9.99750196e-01 1.99574617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.433617864999995 meters Centerline goodness [0,1] 0.9999779827825359 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.35, Z:0.20 [[ 9.98041694e-01 -5.82469324e-02 -2.28051035e-02 1.79959738e+01] [ 5.82498593e-02 9.98301891e-01 -5.36483665e-04 -3.50799520e-01] [ 2.27976265e-02 -7.92961005e-04 9.99739786e-01 1.99007522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.35, Z:0.20 [[ 9.97974288e-01 -5.95191831e-02 -2.24674531e-02 1.80246189e+01] [ 5.95222705e-02 9.98226836e-01 -5.31894380e-04 -3.50616700e-01] [ 2.24592725e-02 -8.06496906e-04 9.99747433e-01 1.99585824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.493617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.36, Z:0.20 [[ 9.97839416e-01 -6.20038295e-02 -2.17261428e-02 1.80522186e+01] [ 6.20072088e-02 9.98075567e-01 -5.18745176e-04 -3.56275728e-01] [ 2.17164965e-02 -8.29553089e-04 9.99763825e-01 1.98587579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.35, Z:0.20 [[ 9.97769095e-01 -6.32352185e-02 -2.14041957e-02 1.80808353e+01] [ 6.32386984e-02 9.97998298e-01 -5.14925771e-04 -3.53122015e-01] [ 2.13939123e-02 -8.39796454e-04 9.99770771e-01 1.99303467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.553617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.35, Z:0.20 [[ 9.97729069e-01 -6.40524869e-02 -2.08322549e-02 1.81095890e+01] [ 6.40558611e-02 9.97946186e-01 -5.05964094e-04 -3.51558079e-01] [ 2.08218775e-02 -8.29612939e-04 9.99782857e-01 2.00041916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters Centerline goodness [0,1] 0.9999779166574653 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.35, Z:0.20 [[ 9.97692538e-01 -6.47714326e-02 -2.03534292e-02 1.81380733e+01] [ 6.47747055e-02 9.97899789e-01 -4.99109266e-04 -3.49853647e-01] [ 2.03430107e-02 -8.20429793e-04 9.99792723e-01 2.00763922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.35, Z:0.20 [[ 9.97665903e-01 -6.49756172e-02 -2.09980020e-02 1.81659703e+01] [ 6.49790626e-02 9.97886493e-01 -5.18888417e-04 -3.51709487e-01] [ 2.09873377e-02 -8.46753207e-04 9.99779383e-01 2.00599127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.35, Z:0.20 [[ 9.97655303e-01 -6.50841620e-02 -2.11647878e-02 1.81937003e+01] [ 6.50876177e-02 9.97879414e-01 -5.26277142e-04 -3.51236589e-01] [ 2.11541584e-02 -8.52522437e-04 9.99775862e-01 2.00524909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.673617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.35, Z:0.20 [[ 9.97679944e-01 -6.45544374e-02 -2.16206855e-02 1.82212744e+01] [ 6.45578247e-02 9.97913821e-01 -5.41997162e-04 -3.50782699e-01] [ 2.16105692e-02 -8.55044728e-04 9.99766099e-01 2.00341740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.35, Z:0.20 [[ 9.97700911e-01 -6.43237438e-02 -2.13388982e-02 1.82488225e+01] [ 6.43269530e-02 9.97928732e-01 -5.36699805e-04 -3.50673385e-01] [ 2.13292222e-02 -8.37200415e-04 9.99772156e-01 2.00092591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.733617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.35, Z:0.20 [[ 9.97708788e-01 -6.42692342e-02 -2.11338796e-02 1.82782043e+01] [ 6.42723107e-02 9.97932254e-01 -5.34336982e-04 -3.48758350e-01] [ 2.11245215e-02 -8.25210574e-04 9.99776512e-01 2.00468874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters Centerline goodness [0,1] 0.999977991989084 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.35, Z:0.20 [[ 9.97756193e-01 -6.32815345e-02 -2.18638285e-02 1.83065394e+01] [ 6.32845093e-02 9.97995371e-01 -5.56510326e-04 -3.51067543e-01] [ 2.18552165e-02 -8.28380032e-04 9.99760803e-01 1.99545966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.35, Z:0.20 [[ 9.97782830e-01 -6.27878002e-02 -2.20707092e-02 1.83354897e+01] [ 6.27906427e-02 9.98026561e-01 -5.64871035e-04 -3.50603870e-01] [ 2.20626210e-02 -8.22215394e-04 9.99756253e-01 1.99829367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.35, Z:0.20 [[ 9.97814456e-01 -6.21428749e-02 -2.24627301e-02 1.83646858e+01] [ 6.21455409e-02 9.98066929e-01 -5.80036944e-04 -3.49910516e-01] [ 2.24553532e-02 -8.17189263e-04 9.99747513e-01 2.00139388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.853617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.35, Z:0.20 [[ 9.97883875e-01 -6.11862451e-02 -2.20003397e-02 1.83933898e+01] [ 6.11884625e-02 9.98126066e-01 -5.72990285e-04 -3.49333555e-01] [ 2.19941717e-02 -7.74389198e-04 9.99757799e-01 2.00320538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999994 meters Centerline goodness [0,1] 0.9999558830017206 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.34, Z:0.20 [[ 9.98000341e-01 -5.94859876e-02 -2.13714100e-02 1.84219321e+01] [ 5.94875861e-02 9.98228887e-01 -5.61499571e-04 -3.40845213e-01] [ 2.13669602e-02 -7.10956831e-04 9.99771448e-01 2.02287296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.913617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.34, Z:0.20 [[ 9.98050825e-01 -5.87873890e-02 -2.09426075e-02 1.84497004e+01] [ 5.87886888e-02 9.98270296e-01 -5.54124852e-04 -3.40166837e-01] [ 2.09389585e-02 -6.78143671e-04 9.99780526e-01 2.02497671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.34, Z:0.20 [[ 9.98065951e-01 -5.84405032e-02 -2.11911651e-02 1.84777732e+01] [ 5.84417094e-02 9.98290664e-01 -5.62901111e-04 -3.41446437e-01] [ 2.11878385e-02 -6.76635480e-04 9.99775284e-01 2.02414097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.34, Z:0.20 [[ 9.98028690e-01 -5.86499652e-02 -2.23364284e-02 1.85065036e+01] [ 5.86512693e-02 9.98278354e-01 -5.97288119e-04 -3.41833436e-01] [ 2.23330039e-02 -7.13949196e-04 9.99750332e-01 2.02481936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.34, Z:0.20 [[ 9.97997889e-01 -5.90210454e-02 -2.27316759e-02 1.85352696e+01] [ 5.90223680e-02 9.98256472e-01 -6.13323295e-04 -3.41654237e-01] [ 2.27282415e-02 -7.29581983e-04 9.99741414e-01 2.02637779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.033617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.34, Z:0.20 [[ 9.97951486e-01 -5.97111534e-02 -2.29654045e-02 1.85642085e+01] [ 5.97125589e-02 9.98215417e-01 -6.25161589e-04 -3.41199561e-01] [ 2.29617500e-02 -7.47442134e-04 9.99736065e-01 2.03283767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.34, Z:0.20 [[ 9.97867310e-01 -6.09710103e-02 -2.33102624e-02 1.85923936e+01] [ 6.09727058e-02 9.98139229e-01 -6.38658160e-04 -3.43601273e-01] [ 2.33058269e-02 -7.83993669e-04 9.99728075e-01 2.03660940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.093617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.34, Z:0.20 [[ 9.97827806e-01 -6.15599480e-02 -2.34529717e-02 1.86209449e+01] [ 6.15617443e-02 9.98103068e-01 -6.46088577e-04 -3.43295929e-01] [ 2.34482562e-02 -7.99120697e-04 9.99724732e-01 2.04512191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.34, Z:0.20 [[ 9.97890842e-01 -6.09481213e-02 -2.23426647e-02 1.86494178e+01] [ 6.09494837e-02 9.98140659e-01 -6.20624884e-04 -3.40118295e-01] [ 2.23389480e-02 -7.42457988e-04 9.99750179e-01 2.04950665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.34, Z:0.21 [[ 9.97844035e-01 -6.18026505e-02 -2.20842571e-02 1.86768197e+01] [ 6.18040929e-02 9.98088109e-01 -6.17865281e-04 -3.41504480e-01] [ 2.20802201e-02 -7.48364294e-04 9.99755922e-01 2.05449229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.34, Z:0.21 [[ 9.97757278e-01 -6.32425447e-02 -2.19270168e-02 1.87055152e+01] [ 6.32442265e-02 9.97997889e-01 -6.17449733e-04 -3.41449260e-01] [ 2.19221656e-02 -7.70692252e-04 9.99759383e-01 2.06427280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.213617864999996 meters Centerline goodness [0,1] 0.9999557659132127 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.34, Z:0.21 [[ 9.97653856e-01 -6.51464802e-02 -2.10409247e-02 1.87342907e+01] [ 6.51483497e-02 9.97875411e-01 -5.97332899e-04 -3.41690733e-01] [ 2.10351356e-02 -7.74850054e-04 9.99778437e-01 2.07287757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters Centerline goodness [0,1] 0.9999559762271627 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.34, Z:0.21 [[ 9.97608797e-01 -6.58974079e-02 -2.08379384e-02 1.87636065e+01] [ 6.58993029e-02 9.97826100e-01 -5.96471002e-04 -3.40328806e-01] [ 2.08319447e-02 -7.78160899e-04 9.99782689e-01 2.07965375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.273617864999995 meters Centerline goodness [0,1] 0.9998896174139568 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.34, Z:0.21 [[ 9.97557798e-01 -6.66686583e-02 -2.08261604e-02 1.87912781e+01] [ 6.66706397e-02 9.97774857e-01 -5.99941178e-04 -3.42416815e-01] [ 2.08198165e-02 -7.90017432e-04 9.99782932e-01 2.08291766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617864999996 meters Centerline goodness [0,1] 0.9999118088014816 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.34, Z:0.21 [[ 9.97494877e-01 -6.74875229e-02 -2.11991568e-02 1.88199755e+01] [ 6.74896967e-02 9.97719782e-01 -6.13700865e-04 -3.39276586e-01] [ 2.11922353e-02 -8.18561195e-04 9.99775084e-01 2.09143474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.333617864999997 meters Centerline goodness [0,1] 0.9999337879891412 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.34, Z:0.21 [[ 9.97412779e-01 -6.84327514e-02 -2.20160408e-02 1.88484390e+01] [ 6.84352080e-02 9.97655356e-01 -6.42709845e-04 -3.37349124e-01] [ 2.20084034e-02 -8.65625320e-04 9.99757411e-01 2.09554436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617864999995 meters Centerline goodness [0,1] 0.9997570939604725 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.34, Z:0.21 [[ 9.97374821e-01 -6.89910295e-02 -2.19932903e-02 1.88763504e+01] [ 6.89935308e-02 9.97616898e-01 -6.45944994e-04 -3.37422850e-01] [ 2.19854424e-02 -8.73145477e-04 9.99757910e-01 2.10178749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.393617864999996 meters Centerline goodness [0,1] 0.9998451841203141 Centerline is valid? [True, True] Translation: X:18.90, Y:-0.34, Z:0.21 [[ 9.97355679e-01 -6.92752424e-02 -2.19679306e-02 1.89043734e+01] [ 6.92777313e-02 9.97597201e-01 -6.48635307e-04 -3.37315216e-01] [ 2.19600804e-02 -8.74968285e-04 9.99758465e-01 2.11186958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters Centerline goodness [0,1] 0.9998457062246517 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.34, Z:0.21 [[ 9.97318116e-01 -6.97156700e-02 -2.22777941e-02 1.89325959e+01] [ 6.97182421e-02 9.97566503e-01 -6.62152738e-04 -3.38097759e-01] [ 2.22697436e-02 -8.92791720e-04 9.99751600e-01 2.11127540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.453617864999995 meters Centerline goodness [0,1] 0.9996469939327082 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.33, Z:0.21 [[ 9.97268287e-01 -7.04258349e-02 -2.22747885e-02 1.89612088e+01] [ 7.04285111e-02 9.97516607e-01 -6.65297869e-04 -3.31543226e-01] [ 2.22663256e-02 -9.05299722e-04 9.99751665e-01 2.12427268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617864999996 meters Centerline goodness [0,1] 0.9997791519434629 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.33, Z:0.21 [[ 9.97242408e-01 -7.07091767e-02 -2.25342268e-02 1.89885853e+01] [ 7.07118979e-02 9.97496551e-01 -6.77033990e-04 -3.30753658e-01] [ 2.25256860e-02 -9.18270939e-04 9.99745843e-01 2.12983434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.513617864999997 meters Centerline goodness [0,1] 0.9997795754623404 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.33, Z:0.21 [[ 9.97191248e-01 -7.13300978e-02 -2.28392559e-02 1.90170447e+01] [ 7.13329784e-02 9.97452320e-01 -6.89594137e-04 -3.29506612e-01] [ 2.28302576e-02 -9.41534906e-04 9.99738912e-01 2.14307637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999995 meters Centerline goodness [0,1] 0.9998017140716914 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.33, Z:0.21 [[ 9.97159347e-01 -7.16134855e-02 -2.33397876e-02 1.90451818e+01] [ 7.16164761e-02 9.97431992e-01 -7.08786915e-04 -3.29649296e-01] [ 2.33306095e-02 -9.64739841e-04 9.99727339e-01 2.13974752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.573617864999996 meters Centerline goodness [0,1] 0.9998018363167976 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.33, Z:0.21 [[ 9.97151793e-01 -7.17012327e-02 -2.33930690e-02 1.90732326e+01] [ 7.17041718e-02 9.97425687e-01 -7.14223463e-04 -3.26207694e-01] [ 2.33840586e-02 -9.65191433e-04 9.99726090e-01 2.14460865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.32, Z:0.22 [[ 9.97193324e-01 -7.13442154e-02 -2.27041229e-02 1.91018851e+01] [ 7.13467626e-02 9.97451328e-01 -6.98859740e-04 -3.22666940e-01] [ 2.26961172e-02 -9.22967401e-04 9.99741984e-01 2.16322660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.633617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.32, Z:0.22 [[ 9.97240314e-01 -7.09023569e-02 -2.20139165e-02 1.91304455e+01] [ 7.09045323e-02 9.97482873e-01 -6.82687247e-04 -3.21072142e-01] [ 2.20069088e-02 -8.80083208e-04 9.99757431e-01 2.17466923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617864999996 meters Centerline goodness [0,1] 0.9999780094119717 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.32, Z:0.22 [[ 9.97264854e-01 -7.06518528e-02 -2.17054340e-02 1.91591972e+01] [ 7.06537977e-02 9.97500667e-01 -6.78218483e-04 -3.16375483e-01] [ 2.16991023e-02 -8.57207887e-04 9.99764179e-01 2.19204218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.693617864999997 meters Centerline goodness [0,1] 0.9999343832020997 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.31, Z:0.22 [[ 9.97370648e-01 -6.94165474e-02 -2.08118366e-02 1.91869269e+01] [ 6.94179893e-02 9.97587447e-01 -6.54019270e-04 -3.13226309e-01] [ 2.08070267e-02 -7.92416223e-04 9.99783196e-01 2.20345767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.32, Z:0.22 [[ 9.97375333e-01 -6.93336591e-02 -2.08635857e-02 1.92146638e+01] [ 6.93350530e-02 9.97593213e-01 -6.57422753e-04 -3.16131088e-01] [ 2.08589530e-02 -7.90880584e-04 9.99782116e-01 2.20346544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.31, Z:0.22 [[ 9.97392791e-01 -6.89403064e-02 -2.13273418e-02 1.92437152e+01] [ 6.89416079e-02 9.97620468e-01 -6.75096703e-04 -3.09761874e-01] [ 2.13231341e-02 -7.97004652e-04 9.99772318e-01 2.21968845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.31, Z:0.22 [[ 9.97385631e-01 -6.89531372e-02 -2.16186950e-02 1.92713017e+01] [ 6.89543582e-02 9.97619577e-01 -6.89844631e-04 -3.07068270e-01] [ 2.16148003e-02 -8.02662116e-04 9.99766051e-01 2.22399899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.813617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.31, Z:0.22 [[ 9.97431445e-01 -6.81491765e-02 -2.20499912e-02 1.92988257e+01] [ 6.81501509e-02 9.97674825e-01 -7.08127399e-04 -3.05900934e-01] [ 2.20469794e-02 -7.96401694e-04 9.99756619e-01 2.23358289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.30, Z:0.22 [[ 9.97455576e-01 -6.78738279e-02 -2.18063431e-02 1.93272711e+01] [ 6.78746465e-02 9.97693609e-01 -7.03449423e-04 -3.04450348e-01] [ 2.18037950e-02 -7.78438282e-04 9.99761966e-01 2.24421468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.873617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.30, Z:0.23 [[ 9.97518305e-01 -6.68433511e-02 -2.21178015e-02 1.93558104e+01] [ 6.68438230e-02 9.97763192e-01 -7.18803250e-04 -3.00509536e-01] [ 2.21163754e-02 -7.61419006e-04 9.99755113e-01 2.25089896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.30, Z:0.22 [[ 9.97508640e-01 -6.66466610e-02 -2.31243440e-02 1.93842892e+01] [ 6.66469863e-02 9.97776330e-01 -7.57473790e-04 -2.98911953e-01] [ 2.31234062e-02 -7.85581188e-04 9.99732310e-01 2.24448260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.30, Z:0.22 [[ 9.97469683e-01 -6.63924844e-02 -2.54218256e-02 1.94126681e+01] [ 6.63926211e-02 9.97793223e-01 -8.39603474e-04 -2.95695484e-01] [ 2.54214687e-02 -8.50342625e-04 9.99676461e-01 2.23805276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.30, Z:0.22 [[ 9.97446985e-01 -6.65559190e-02 -2.58809330e-02 1.94392755e+01] [ 6.65559615e-02 9.97782323e-01 -8.60723028e-04 -2.96217991e-01] [ 2.58808236e-02 -8.64004788e-04 9.99664662e-01 2.23577557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.993617864999994 meters Centerline goodness [0,1] 0.9999782684283728 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.30, Z:0.22 [[ 9.97418063e-01 -6.68722220e-02 -2.61784934e-02 1.94673425e+01] [ 6.68722080e-02 9.97761163e-01 -8.76971897e-04 -2.95948461e-01] [ 2.61785291e-02 -8.75906046e-04 9.99656900e-01 2.24320258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.29, Z:0.23 [[ 9.97416782e-01 -6.69456289e-02 -2.60393237e-02 1.94952330e+01] [ 6.69454559e-02 9.97756249e-01 -8.79379401e-04 -2.93870506e-01] [ 2.60397686e-02 -8.66106626e-04 9.99660533e-01 2.25037343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.053617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.29, Z:0.23 [[ 9.97398395e-01 -6.72191077e-02 -2.60390812e-02 1.95228160e+01] [ 6.72188417e-02 9.97737862e-01 -8.86516635e-04 -2.92872793e-01] [ 2.60397681e-02 -8.66106610e-04 9.99660533e-01 2.25404350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.29, Z:0.23 [[ 9.97385969e-01 -6.72651428e-02 -2.63937568e-02 1.95502944e+01] [ 6.72647467e-02 9.97734753e-01 -9.03854321e-04 -2.92540447e-01] [ 2.63947663e-02 -8.73877747e-04 9.99651216e-01 2.25170938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.29, Z:0.23 [[ 9.97417944e-01 -6.68653582e-02 -2.62005535e-02 1.95792320e+01] [ 6.68647098e-02 9.97761644e-01 -9.01826915e-04 -2.90111376e-01] [ 2.62022083e-02 -8.52394058e-04 9.99656300e-01 2.25626487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.29, Z:0.23 [[ 9.97444235e-01 -6.66622609e-02 -2.57126789e-02 1.96084955e+01] [ 6.66614153e-02 9.97775256e-01 -8.91005354e-04 -2.89056685e-01] [ 2.57148712e-02 -8.25315416e-04 9.99668977e-01 2.26491559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.173617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.29, Z:0.23 [[ 9.97431182e-01 -6.73160638e-02 -2.44864320e-02 1.96355887e+01] [ 6.73153886e-02 9.97731382e-01 -8.52789936e-04 -2.91133510e-01] [ 2.44882881e-02 -7.97714412e-04 9.99699799e-01 2.27972777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.29, Z:0.23 [[ 9.97404162e-01 -6.80482626e-02 -2.35450756e-02 1.96631748e+01] [ 6.80477422e-02 9.97681726e-01 -8.24239260e-04 -2.89466760e-01] [ 2.35465797e-02 -7.80089569e-04 9.99722437e-01 2.29522109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.29, Z:0.23 [[ 9.97352446e-01 -6.90999368e-02 -2.26560763e-02 1.96917687e+01] [ 6.90995980e-02 9.97609446e-01 -7.98756518e-04 -2.89224962e-01] [ 2.26571098e-02 -7.68884001e-04 9.99742999e-01 2.30430850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.29, Z:0.23 [[ 9.97280856e-01 -7.03618547e-02 -2.19112714e-02 1.97211077e+01] [ 7.03617309e-02 9.97521239e-01 -7.77555110e-04 -2.88368824e-01] [ 2.19116688e-02 -7.66274156e-04 9.99759617e-01 2.31080794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.29, Z:0.23 [[ 9.97185116e-01 -7.19475013e-02 -2.11045423e-02 1.97496131e+01] [ 7.19476370e-02 9.97408126e-01 -7.53848419e-04 -2.85733268e-01] [ 2.11040795e-02 -7.66695528e-04 9.99776990e-01 2.32004463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.28, Z:0.23 [[ 9.97148027e-01 -7.23826705e-02 -2.13673055e-02 1.97779829e+01] [ 7.23828246e-02 9.97376628e-01 -7.67206040e-04 -2.84956688e-01] [ 2.13667835e-02 -7.81607935e-04 9.99771399e-01 2.32170655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.353617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.29, Z:0.23 [[ 9.97165998e-01 -7.19509382e-02 -2.19780478e-02 1.98054921e+01] [ 7.19509544e-02 9.97407858e-01 -7.91056567e-04 -2.86634895e-01] [ 2.19779948e-02 -7.92526801e-04 9.99758141e-01 2.32091804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.28, Z:0.23 [[ 9.97188135e-01 -7.17218416e-02 -2.17209874e-02 1.98342549e+01] [ 7.17217349e-02 9.97424371e-01 -7.84940253e-04 -2.83083961e-01] [ 2.17213396e-02 -7.75133796e-04 9.99763763e-01 2.32763143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.29, Z:0.23 [[ 9.97208704e-01 -7.14699595e-02 -2.16066198e-02 1.98626696e+01] [ 7.14697110e-02 9.97442462e-01 -7.84687654e-04 -2.85128662e-01] [ 2.16074417e-02 -7.61721518e-04 9.99766242e-01 2.31895077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.28, Z:0.23 [[ 9.97217650e-01 -7.12155239e-02 -2.20297088e-02 1.98910577e+01] [ 7.12151348e-02 9.97460656e-01 -8.03180857e-04 -2.82749781e-01] [ 2.20309667e-02 -7.67902552e-04 9.99756994e-01 2.30712626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.28, Z:0.23 [[ 9.97175386e-01 -7.15458378e-02 -2.28570072e-02 1.99193699e+01] [ 7.15453823e-02 9.97436993e-01 -8.38741381e-04 -2.78949324e-01] [ 2.28584330e-02 -7.98941060e-04 9.99738393e-01 2.31129975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.28, Z:0.23 [[ 9.97133374e-01 -7.20709083e-02 -2.30395173e-02 1.99477307e+01] [ 7.20704930e-02 9.97399179e-01 -8.49449872e-04 -2.77905722e-01] [ 2.30408163e-02 -8.13454557e-04 9.99734194e-01 2.31254551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.533617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.28, Z:0.23 [[ 9.97079310e-01 -7.28050820e-02 -2.30709726e-02 1.99760344e+01] [ 7.28048165e-02 9.97345844e-01 -8.52574360e-04 -2.80116667e-01] [ 2.30718103e-02 -8.29593669e-04 9.99733466e-01 2.31128210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.28, Z:0.23 [[ 9.96945896e-01 -7.50747357e-02 -2.15096575e-02 2.00051893e+01] [ 7.50749677e-02 9.97177573e-01 -7.97869706e-04 -2.80776720e-01] [ 2.15088479e-02 -8.19403911e-04 9.99768322e-01 2.32979872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.593617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.28, Z:0.23 [[ 9.96910688e-01 -7.58466627e-02 -2.04049780e-02 2.00334743e+01] [ 7.58469593e-02 9.97119181e-01 -7.60488654e-04 -2.81367938e-01] [ 2.04038755e-02 -7.89516267e-04 9.99791508e-01 2.33999662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.28, Z:0.23 [[ 9.96909981e-01 -7.63184824e-02 -1.86005041e-02 2.00609154e+01] [ 7.63187802e-02 9.97083227e-01 -6.94869995e-04 -2.80885967e-01] [ 1.85992821e-02 -7.26844951e-04 9.99826754e-01 2.34558508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.28, Z:0.24 [[ 9.96956486e-01 -7.59365077e-02 -1.76468447e-02 2.00896810e+01] [ 7.59366721e-02 9.97112423e-01 -6.61729234e-04 -2.79087723e-01] [ 1.76461375e-02 -6.80327406e-04 9.99844063e-01 2.35014231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.28, Z:0.24 [[ 9.96995993e-01 -7.53923053e-02 -1.77479389e-02 2.01173818e+01] [ 7.53923199e-02 9.97153724e-01 -6.69214069e-04 -2.79395482e-01] [ 1.77478769e-02 -6.70854540e-04 9.99842269e-01 2.35289111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.28, Z:0.24 [[ 9.97060136e-01 -7.46933948e-02 -1.70874611e-02 2.01462125e+01] [ 7.46932636e-02 9.97206347e-01 -6.46774617e-04 -2.77583258e-01] [ 1.70880344e-02 -6.31445046e-04 9.99853789e-01 2.35948720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.28, Z:0.24 [[ 9.97229199e-01 -7.26500378e-02 -1.59967478e-02 2.01745391e+01] [ 7.26496105e-02 9.97357340e-01 -6.08596587e-04 -2.77889778e-01] [ 1.59986884e-02 -5.55247206e-04 9.99871859e-01 2.35609762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.773617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.27, Z:0.24 [[ 9.97305222e-01 -7.16603637e-02 -1.57189746e-02 2.02034474e+01] [ 7.16598057e-02 9.97428951e-01 -5.99469607e-04 -2.72218113e-01] [ 1.57215185e-02 -5.28564495e-04 9.99876270e-01 2.35558579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.27, Z:0.23 [[ 9.97488062e-01 -6.92518511e-02 -1.48911835e-02 2.02314822e+01] [ 6.92510342e-02 9.97599102e-01 -5.71113559e-04 -2.69610291e-01] [ 1.48949819e-02 -4.61550898e-04 9.99888957e-01 2.34688167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.27, Z:0.23 [[ 9.97549680e-01 -6.84255057e-02 -1.45803286e-02 2.02590595e+01] [ 6.84246103e-02 9.97656132e-01 -5.60837862e-04 -2.68444681e-01] [ 1.45845299e-02 -4.38189676e-04 9.99893544e-01 2.34667175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.27, Z:0.23 [[ 9.97588478e-01 -6.76033611e-02 -1.57166709e-02 2.02875647e+01] [ 6.76021912e-02 9.97712171e-01 -6.06305118e-04 -2.68405813e-01] [ 1.57217021e-02 -4.57638393e-04 9.99876302e-01 2.34570811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.893617864999996 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.27, Z:0.23 [[ 9.97590430e-01 -6.76500350e-02 -1.53885352e-02 2.03151862e+01] [ 6.76488634e-02 9.97709013e-01 -5.97260477e-04 -2.68847942e-01] [ 1.53936849e-02 -4.45195578e-04 9.99881411e-01 2.34476376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters Centerline goodness [0,1] 0.9999123153141304 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.27, Z:0.23 [[ 9.97577988e-01 -6.77403128e-02 -1.57926781e-02 2.03435776e+01] [ 6.77390222e-02 9.97702884e-01 -6.17246048e-04 -2.68540750e-01] [ 1.57982129e-02 -4.54029504e-04 9.99875097e-01 2.34262234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.953617864999995 meters Centerline goodness [0,1] 0.9999563566534282 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.27, Z:0.23 [[ 9.97565875e-01 -6.78176201e-02 -1.62201929e-02 2.03714639e+01] [ 6.78161975e-02 9.97697627e-01 -6.38355503e-04 -2.66242337e-01] [ 1.62261397e-02 -4.63190137e-04 9.99868240e-01 2.33842300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.26, Z:0.23 [[ 9.97563117e-01 -6.78779100e-02 -1.61374526e-02 2.03993362e+01] [ 6.78764398e-02 9.97693530e-01 -6.39433312e-04 -2.64691738e-01] [ 1.61436355e-02 -4.57477742e-04 9.99869578e-01 2.33336380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.013617864999997 meters Centerline goodness [0,1] 0.999934196095635 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.26, Z:0.23 [[ 9.97583093e-01 -6.72241873e-02 -1.75750129e-02 2.04282775e+01] [ 6.72222556e-02 9.97737779e-01 -7.01317206e-04 -2.63491714e-01] [ 1.75823998e-02 -4.81809820e-04 9.99845302e-01 2.31612215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.26, Z:0.23 [[ 9.97594589e-01 -6.68473976e-02 -1.83428742e-02 2.04564000e+01] [ 6.68451580e-02 9.97763090e-01 -7.35873603e-04 -2.63611142e-01] [ 1.83510341e-02 -4.92028799e-04 9.99831485e-01 2.31359171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.073617864999996 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.26, Z:0.23 [[ 9.97580050e-01 -6.71033677e-02 -1.81983902e-02 2.04841635e+01] [ 6.71011515e-02 9.97745909e-01 -7.33060438e-04 -2.63122758e-01] [ 1.82065602e-02 -4.89846470e-04 9.99834127e-01 2.31696340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.26, Z:0.23 [[ 9.97536232e-01 -6.80978973e-02 -1.68565383e-02 2.05132392e+01] [ 6.80960670e-02 9.97678535e-01 -6.83193317e-04 -2.64644624e-01] [ 1.68639304e-02 -4.66353874e-04 9.99857685e-01 2.33650321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.133617864999994 meters Centerline goodness [0,1] 0.9999120531199156 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.27, Z:0.23 [[ 9.97498813e-01 -6.88166148e-02 -1.61366793e-02 2.05412620e+01] [ 6.88149763e-02 9.97629223e-01 -6.57435092e-04 -2.66871962e-01] [ 1.61436652e-02 -4.54654476e-04 9.99869579e-01 2.34889889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.27, Z:0.24 [[ 9.97431430e-01 -7.01227016e-02 -1.46064936e-02 2.05693110e+01] [ 7.01214750e-02 9.97538281e-01 -5.96731595e-04 -2.68110552e-01] [ 1.46123810e-02 -4.29030028e-04 9.99893141e-01 2.36188590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.193617864999997 meters Centerline goodness [0,1] 0.9999560565113265 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.27, Z:0.24 [[ 9.97274944e-01 -7.25282657e-02 -1.35032430e-02 2.05976708e+01] [ 7.25274237e-02 9.97366265e-01 -5.52692937e-04 -2.69822705e-01] [ 1.35077649e-02 -4.28168605e-04 9.99908674e-01 2.37236726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.27, Z:0.24 [[ 9.97175474e-01 -7.40680591e-02 -1.24497678e-02 2.06250891e+01] [ 7.40674522e-02 9.97253103e-01 -5.10455629e-04 -2.71446851e-01] [ 1.24533780e-02 -4.13108748e-04 9.99922368e-01 2.37671331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.27, Z:0.24 [[ 9.97066298e-01 -7.55039356e-02 -1.25679295e-02 2.06534780e+01] [ 7.55034081e-02 9.97145410e-01 -5.17126283e-04 -2.73222962e-01] [ 1.25710983e-02 -4.33312319e-04 9.99920887e-01 2.38374343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.27, Z:0.24 [[ 9.96950405e-01 -7.70141635e-02 -1.25979893e-02 2.06819995e+01] [ 7.70137357e-02 9.97029896e-01 -5.19807659e-04 -2.72567156e-01] [ 1.26006045e-02 -4.51995761e-04 9.99920507e-01 2.39068941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.313617864999994 meters Centerline goodness [0,1] 0.9999778324577154 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.28, Z:0.24 [[ 9.97008792e-01 -7.62887908e-02 -1.23890407e-02 2.07099850e+01] [ 7.62882836e-02 9.97085670e-01 -5.14212952e-04 -2.75385117e-01] [ 1.23921636e-02 -4.32463814e-04 9.99923121e-01 2.39421804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.27, Z:0.24 [[ 9.97078721e-01 -7.53507673e-02 -1.25014423e-02 2.07389361e+01] [ 7.53501655e-02 9.97157000e-01 -5.19810366e-04 -2.70102537e-01] [ 1.25050688e-02 -4.23693889e-04 9.99921719e-01 2.40231727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.373617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.27, Z:0.24 [[ 9.97251749e-01 -7.29534536e-02 -1.29129162e-02 2.07681054e+01] [ 7.29525702e-02 9.97335265e-01 -5.40058317e-04 -2.65655844e-01] [ 1.29179058e-02 -4.03456322e-04 9.99916479e-01 2.40388104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.26, Z:0.24 [[ 9.97299933e-01 -7.21780174e-02 -1.35343327e-02 2.07972124e+01] [ 7.21769326e-02 9.97391682e-01 -5.69226809e-04 -2.63755781e-01] [ 1.35401166e-02 -4.09176765e-04 9.99908245e-01 2.39854653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.26, Z:0.24 [[ 9.97338272e-01 -7.14125101e-02 -1.47182050e-02 2.08252148e+01] [ 7.14110903e-02 9.97446775e-01 -6.22665168e-04 -2.62116387e-01] [ 1.47250922e-02 -4.30035261e-04 9.99891487e-01 2.39321873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.26, Z:0.24 [[ 9.97388983e-01 -7.06656996e-02 -1.48853966e-02 2.08544449e+01] [ 7.06641334e-02 9.97499965e-01 -6.31809424e-04 -2.59527353e-01] [ 1.48928298e-02 -4.21703892e-04 9.99889007e-01 2.39316502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.493617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.26, Z:0.24 [[ 9.97396615e-01 -7.05887535e-02 -1.47383736e-02 2.08821435e+01] [ 7.05871571e-02 9.97505417e-01 -6.29134535e-04 -2.58024959e-01] [ 1.47460173e-02 -4.12843234e-04 9.99891186e-01 2.39883720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617864999995 meters Centerline goodness [0,1] 0.9999780648840729 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.26, Z:0.24 [[ 9.97395637e-01 -7.06097480e-02 -1.47039737e-02 2.09103911e+01] [ 7.06081019e-02 9.97503933e-01 -6.31705596e-04 -2.56382324e-01] [ 1.47118762e-02 -4.08159271e-04 9.99891691e-01 2.40544122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.553617864999996 meters Centerline goodness [0,1] 0.9999337368025798 Centerline is valid? [True, True] Translation: X:20.94, Y:-0.26, Z:0.24 [[ 9.97382423e-01 -7.11610539e-02 -1.28220953e-02 2.09384518e+01] [ 7.11598073e-02 9.97464774e-01 -5.54005011e-04 -2.55997648e-01] [ 1.28290120e-02 -3.59862970e-04 9.99917640e-01 2.42654460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.25, Z:0.24 [[ 9.97336420e-01 -7.18572743e-02 -1.25138920e-02 2.09677188e+01] [ 7.18561303e-02 9.97414860e-01 -5.41596708e-04 -2.53997045e-01] [ 1.25204595e-02 -3.59045732e-04 9.99921552e-01 2.43979796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.26, Z:0.24 [[ 9.97193188e-01 -7.37453457e-02 -1.29371612e-02 2.09951382e+01] [ 7.37442395e-02 9.97277028e-01 -5.63174892e-04 -2.55680438e-01] [ 1.29434652e-02 -3.92446948e-04 9.99916153e-01 2.44629540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.25, Z:0.24 [[ 9.97123747e-01 -7.45941459e-02 -1.34144414e-02 2.10244595e+01] [ 7.45930142e-02 9.97213889e-01 -5.85377007e-04 -2.54292430e-01] [ 1.34207329e-02 -4.16930301e-04 9.99909851e-01 2.44430867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.673617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.25, Z:0.24 [[ 9.97045711e-01 -7.55560956e-02 -1.38248319e-02 2.10529066e+01] [ 7.55549397e-02 9.97141456e-01 -6.06629871e-04 -2.52712455e-01] [ 1.38311476e-02 -4.39696629e-04 9.99904248e-01 2.44098862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.25, Z:0.24 [[ 9.97011805e-01 -7.59392286e-02 -1.41666337e-02 2.10803186e+01] [ 7.59380071e-02 9.97112345e-01 -6.24900985e-04 -2.51916798e-01] [ 1.41731799e-02 -4.52752274e-04 9.99899453e-01 2.43811096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.733617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.25, Z:0.24 [[ 9.96956602e-01 -7.65718785e-02 -1.46383434e-02 2.11082187e+01] [ 7.65706242e-02 9.97063950e-01 -6.46959903e-04 -2.50470895e-01] [ 1.46449035e-02 -4.75876147e-04 9.99892644e-01 2.43304016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.25, Z:0.24 [[ 9.96930131e-01 -7.68947890e-02 -1.47480422e-02 2.11356709e+01] [ 7.68935330e-02 9.97039096e-01 -6.53033202e-04 -2.49865831e-01] [ 1.47545895e-02 -4.83000596e-04 9.99891028e-01 2.43714047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.25, Z:0.24 [[ 9.96894562e-01 -7.73742913e-02 -1.46441427e-02 2.11646337e+01] [ 7.73730843e-02 9.97001998e-01 -6.49812727e-04 -2.49471059e-01] [ 1.46505184e-02 -4.85267716e-04 9.99892558e-01 2.44872190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.25, Z:0.25 [[ 9.96878131e-01 -7.77024343e-02 -1.40115376e-02 2.11929897e+01] [ 7.77013204e-02 9.96976486e-01 -6.24695260e-04 -2.49966924e-01] [ 1.40177139e-02 -4.65969928e-04 9.99901638e-01 2.46894074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.853617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.25, Z:0.25 [[ 9.96872317e-01 -7.77829988e-02 -1.39781236e-02 2.12197867e+01] [ 7.77818821e-02 9.96970205e-01 -6.24346681e-04 -2.49146857e-01] [ 1.39843363e-02 -4.64850841e-04 9.99902106e-01 2.47581557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.25, Z:0.25 [[ 9.96817391e-01 -7.84101425e-02 -1.43853936e-02 2.12485200e+01] [ 7.84089997e-02 9.96921067e-01 -6.44297004e-04 -2.47047286e-01] [ 1.43916213e-02 -4.85697861e-04 9.99896317e-01 2.47131975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.913617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.25, Z:0.25 [[ 9.96804211e-01 -7.85529227e-02 -1.45190824e-02 2.12751723e+01] [ 7.85517272e-02 9.96909825e-01 -6.53479413e-04 -2.45341929e-01] [ 1.45255486e-02 -4.89107971e-04 9.99894379e-01 2.46130599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.24, Z:0.25 [[ 9.96784508e-01 -7.88025711e-02 -1.45189651e-02 2.13027364e+01] [ 7.88013643e-02 9.96890122e-01 -6.56076599e-04 -2.44002448e-01] [ 1.45255134e-02 -4.90147266e-04 9.99894379e-01 2.46497994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.24, Z:0.25 [[ 9.96755936e-01 -7.91897808e-02 -1.43729561e-02 2.13306353e+01] [ 7.91885867e-02 9.96859439e-01 -6.53066020e-04 -2.39314014e-01] [ 1.43795331e-02 -4.87226650e-04 9.99896490e-01 2.47134434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.24, Z:0.25 [[ 9.96722147e-01 -7.96051405e-02 -1.44216228e-02 2.13587150e+01] [ 7.96039265e-02 9.96826354e-01 -6.59110116e-04 -2.36296064e-01] [ 1.44283222e-02 -4.91068152e-04 9.99895786e-01 2.47563668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.033617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.24, Z:0.25 [[ 9.96621890e-01 -8.08961323e-02 -1.41641575e-02 2.13869143e+01] [ 8.08950399e-02 9.96722413e-01 -6.50986546e-04 -2.37798402e-01] [ 1.41703955e-02 -4.97022644e-04 9.99899471e-01 2.48317283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.24, Z:0.25 [[ 9.96547375e-01 -8.19337353e-02 -1.34235397e-02 2.14149046e+01] [ 8.19328336e-02 9.96637662e-01 -6.18022237e-04 -2.43803182e-01] [ 1.34290420e-02 -4.83940203e-04 9.99909709e-01 2.48918967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.093617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.24, Z:0.25 [[ 9.96496455e-01 -8.25347132e-02 -1.35217171e-02 2.14429756e+01] [ 8.25338383e-02 9.96588068e-01 -6.23672229e-04 -2.36680424e-01] [ 1.35270565e-02 -4.94512048e-04 9.99908383e-01 2.49719091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.24, Z:0.25 [[ 9.96476813e-01 -8.27316681e-02 -1.37634193e-02 2.14709175e+01] [ 8.27307632e-02 9.96571732e-01 -6.36070415e-04 -2.36239675e-01] [ 1.37688578e-02 -5.04828765e-04 9.99905077e-01 2.49855814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.23, Z:0.25 [[ 9.96527540e-01 -8.19689795e-02 -1.46270010e-02 2.14996874e+01] [ 8.19678157e-02 9.96634745e-01 -6.80065231e-04 -2.33169940e-01] [ 1.46335217e-02 -5.21239591e-04 9.99892788e-01 2.49417902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.23, Z:0.25 [[ 9.96616882e-01 -8.06691165e-02 -1.57252462e-02 2.15282884e+01] [ 8.06675475e-02 9.96740792e-01 -7.35084678e-04 -2.31009025e-01] [ 1.57332930e-02 -5.35919247e-04 9.99876080e-01 2.48412148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.23, Z:0.25 [[ 9.96835342e-01 -7.74631686e-02 -1.78538304e-02 2.15570256e+01] [ 7.74605631e-02 9.96995064e-01 -8.38468232e-04 -2.26199428e-01] [ 1.78651312e-02 -5.47152990e-04 9.99840256e-01 2.46220196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.23, Z:0.25 [[ 9.96911668e-01 -7.63216548e-02 -1.84967852e-02 2.15846006e+01] [ 7.63186361e-02 9.97083100e-01 -8.70064915e-04 -2.26542784e-01] [ 1.85092367e-02 -5.44271553e-04 9.99828541e-01 2.45440702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.273617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.23, Z:0.25 [[ 9.96985493e-01 -7.52650008e-02 -1.88442781e-02 2.16125662e+01] [ 7.52616483e-02 9.97163425e-01 -8.88040096e-04 -2.26194745e-01] [ 1.88576632e-02 -5.32888336e-04 9.99822036e-01 2.45701609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.23, Z:0.25 [[ 9.97088033e-01 -7.40173003e-02 -1.83546807e-02 2.16415160e+01] [ 7.40138666e-02 9.97256835e-01 -8.67245224e-04 -2.25881332e-01] [ 1.83685219e-02 -4.93781053e-04 9.99831163e-01 2.46870301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.23, Z:0.25 [[ 9.97119906e-01 -7.36358840e-02 -1.81562801e-02 2.16695905e+01] [ 7.36323931e-02 9.97285079e-01 -8.61603182e-04 -2.27108104e-01] [ 1.81704321e-02 -4.77768670e-04 9.99834790e-01 2.47303302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.22, Z:0.25 [[ 9.97263643e-01 -7.18198458e-02 -1.75252745e-02 2.16985480e+01] [ 7.18162675e-02 9.97417529e-01 -8.34253974e-04 -2.22461163e-01] [ 1.75399320e-02 -4.26628647e-04 9.99846073e-01 2.48461132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.393617864999996 meters Centerline goodness [0,1] 0.9999779711421963 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.22, Z:0.25 [[ 9.97381783e-01 -7.03225104e-02 -1.68619014e-02 2.17263448e+01] [ 7.03189288e-02 9.97524235e-01 -8.05950059e-04 -2.21709930e-01] [ 1.68768317e-02 -3.81870939e-04 9.99857503e-01 2.48936604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999994 meters Centerline goodness [0,1] 0.9999779453927925 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.22, Z:0.25 [[ 9.97561900e-01 -6.79292973e-02 -1.59958121e-02 2.17551480e+01] [ 6.79257401e-02 9.97690086e-01 -7.66206794e-04 -2.18782813e-01] [ 1.60109110e-02 -3.22188669e-04 9.99871765e-01 2.51465768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.453617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.22, Z:0.25 [[ 9.97600559e-01 -6.74801829e-02 -1.54773773e-02 2.17839773e+01] [ 6.74767445e-02 9.97720569e-01 -7.44856723e-04 -2.15148720e-01] [ 1.54923607e-02 -3.01293548e-04 9.99879941e-01 2.52626733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617864999996 meters Centerline goodness [0,1] 0.9999778932242732 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.21, Z:0.25 [[ 9.97626220e-01 -6.71919128e-02 -1.50721973e-02 2.18114364e+01] [ 6.71885694e-02 9.97740029e-01 -7.28661881e-04 -2.14566855e-01] [ 1.50870948e-02 -2.85747176e-04 9.99886142e-01 2.53342172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.513617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.22, Z:0.25 [[ 9.97545635e-01 -6.84031424e-02 -1.49571433e-02 2.18395546e+01] [ 6.83999668e-02 9.97657717e-01 -7.24376645e-04 -2.16019654e-01] [ 1.49716591e-02 -3.00469345e-04 9.99887873e-01 2.53343843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999995 meters Centerline goodness [0,1] 0.9999779312779997 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.21, Z:0.25 [[ 9.97464843e-01 -6.94428785e-02 -1.55426349e-02 2.18687805e+01] [ 6.94395491e-02 9.97585876e-01 -7.54426781e-04 -2.14391391e-01] [ 1.55575026e-02 -3.26759366e-04 9.99878921e-01 2.53736172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.21, Z:0.25 [[ 9.97256239e-01 -7.23616213e-02 -1.56137714e-02 2.18980356e+01] [ 7.23585609e-02 9.97378393e-01 -7.61582637e-04 -2.13707765e-01] [ 1.56279476e-02 -3.70296997e-04 9.99877808e-01 2.53822101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.21, Z:0.25 [[ 9.97167289e-01 -7.35911345e-02 -1.55480528e-02 2.19256386e+01] [ 7.35881961e-02 9.97288422e-01 -7.61793381e-04 -2.12224569e-01] [ 1.55619543e-02 -3.84517716e-04 9.99878832e-01 2.54059666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.633617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.21, Z:0.25 [[ 9.97072915e-01 -7.48216598e-02 -1.57264277e-02 2.19537392e+01] [ 7.48187767e-02 9.97196848e-01 -7.72423122e-04 -2.13131154e-01] [ 1.57401381e-02 -4.06469910e-04 9.99876034e-01 2.53982373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.21, Z:0.25 [[ 9.96825821e-01 -7.77333094e-02 -1.71993032e-02 2.19830405e+01] [ 7.77302699e-02 9.96974066e-01 -8.46167179e-04 -2.13235541e-01] [ 1.72130346e-02 -4.93425185e-04 9.99851723e-01 2.54371628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.693617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.21, Z:0.26 [[ 9.96736984e-01 -7.87657637e-02 -1.76447818e-02 2.20113435e+01] [ 7.87627051e-02 9.96893014e-01 -8.69287386e-04 -2.12676453e-01] [ 1.76584298e-02 -5.23299859e-04 9.99843941e-01 2.55028940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999994 meters Centerline goodness [0,1] 0.9999778800212352 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.21, Z:0.26 [[ 9.96657524e-01 -7.97228405e-02 -1.78339126e-02 2.20398474e+01] [ 7.97198205e-02 9.96816921e-01 -8.81319998e-04 -2.09086858e-01] [ 1.78474072e-02 -5.43342106e-04 9.99840575e-01 2.55868915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.21, Z:0.26 [[ 9.96573204e-01 -8.06749633e-02 -1.82592457e-02 2.20673630e+01] [ 8.06718849e-02 9.96740300e-01 -9.06302339e-04 -2.09657864e-01] [ 1.82728420e-02 -5.69811142e-04 9.99832875e-01 2.55234257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.20, Z:0.25 [[ 9.96419958e-01 -8.22736661e-02 -1.94502376e-02 2.20955261e+01] [ 8.22704265e-02 9.96609572e-01 -9.68026102e-04 -2.04646449e-01] [ 1.94639361e-02 -6.35618817e-04 9.99810358e-01 2.54078402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.813617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:-0.21, Z:0.25 [[ 9.96363490e-01 -8.29271280e-02 -1.95675172e-02 2.21238478e+01] [ 8.29239426e-02 9.96555401e-01 -9.75519486e-04 -2.05331634e-01] [ 1.95810120e-02 -6.50643672e-04 9.99808062e-01 2.53226271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.20, Z:0.25 [[ 9.96292474e-01 -8.37325411e-02 -1.97526754e-02 2.21524319e+01] [ 8.37294011e-02 9.96488039e-01 -9.87385427e-04 -2.00044569e-01] [ 1.97659811e-02 -6.70155011e-04 9.99804409e-01 2.54190407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.873617864999996 meters Centerline goodness [0,1] 0.999978004091239 Centerline is valid? [True, True] Translation: X:22.18, Y:-0.20, Z:0.26 [[ 9.96172248e-01 -8.53186595e-02 -1.90152425e-02 2.21801586e+01] [ 8.53159675e-02 9.96353489e-01 -9.54237070e-04 -2.00267845e-01] [ 1.90273175e-02 -6.71719325e-04 9.99818739e-01 2.56498707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.20, Z:0.26 [[ 9.96125221e-01 -8.59369943e-02 -1.86916137e-02 2.22077962e+01] [ 8.59344630e-02 9.96300348e-01 -9.40065510e-04 -1.99665610e-01] [ 1.87032477e-02 -6.69830824e-04 9.99824855e-01 2.57977540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.20, Z:0.26 [[ 9.96076416e-01 -8.64742386e-02 -1.88143413e-02 2.22360998e+01] [ 8.64717405e-02 9.96253853e-01 -9.47787655e-04 -1.99482301e-01] [ 1.88258193e-02 -6.82839912e-04 9.99822545e-01 2.58395811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.19, Z:0.26 [[ 9.96083735e-01 -8.66520078e-02 -1.75676403e-02 2.22634286e+01] [ 8.66498201e-02 9.96238436e-01 -8.87101323e-04 -1.92042155e-01] [ 1.75784276e-02 -6.38605670e-04 9.99845284e-01 2.58916859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.993617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.19, Z:0.26 [[ 9.96110041e-01 -8.64186690e-02 -1.72220741e-02 2.22924211e+01] [ 8.64164577e-02 9.96258717e-01 -8.73945024e-04 -1.87411489e-01] [ 1.72331666e-02 -6.17725224e-04 9.99851307e-01 2.59373609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617864999995 meters Centerline goodness [0,1] 0.9999343329320346 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.18, Z:0.26 [[ 9.96150804e-01 -8.57224932e-02 -1.83092937e-02 2.23211668e+01] [ 8.57197955e-02 9.96318847e-01 -9.33534521e-04 -1.82602697e-01] [ 1.83219193e-02 -6.39527750e-04 9.99831935e-01 2.59759959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.053617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.18, Z:0.26 [[ 9.96166671e-01 -8.54023228e-02 -1.89316547e-02 2.23492658e+01] [ 8.53993112e-02 9.96346335e-01 -9.68950424e-04 -1.84611815e-01] [ 1.89452354e-02 -6.51514155e-04 9.99820311e-01 2.59911111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.18, Z:0.26 [[ 9.96155051e-01 -8.54837446e-02 -1.91740149e-02 2.23769208e+01] [ 8.54806186e-02 9.96339348e-01 -9.84055083e-04 -1.78320734e-01] [ 1.91879462e-02 -6.58735215e-04 9.99815677e-01 2.61370265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.17, Z:0.26 [[ 9.96191748e-01 -8.50537203e-02 -1.91798253e-02 2.24054361e+01] [ 8.50504171e-02 9.96376158e-01 -9.89339076e-04 -1.73621372e-01] [ 1.91944676e-02 -6.45680721e-04 9.99815561e-01 2.61290589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.17, Z:0.26 [[ 9.96194706e-01 -8.50145553e-02 -1.91998261e-02 2.24337728e+01] [ 8.50111464e-02 9.96379503e-01 -9.95135244e-04 -1.68976001e-01] [ 1.92149142e-02 -6.40850767e-04 9.99815171e-01 2.61665369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.173617864999994 meters Centerline goodness [0,1] 0.9999561586181196 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.17, Z:0.26 [[ 9.96217403e-01 -8.48044823e-02 -1.89495496e-02 2.24618499e+01] [ 8.48010456e-02 9.96397416e-01 -9.86276460e-04 -1.68739404e-01] [ 1.89649229e-02 -6.24395849e-04 9.99819955e-01 2.61611717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617864999995 meters Centerline goodness [0,1] 0.9999343415552296 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.16, Z:0.26 [[ 9.96239330e-01 -8.47394877e-02 -1.80669820e-02 2.24902088e+01] [ 8.47363127e-02 9.96402965e-01 -9.42570229e-04 -1.64655839e-01] [ 1.80818674e-02 -5.91903907e-04 9.99836334e-01 2.63058758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.16, Z:0.26 [[ 9.96359330e-01 -8.37966117e-02 -1.56912109e-02 2.25177320e+01] [ 8.37940529e-02 9.96482755e-01 -8.21615789e-04 -1.64511386e-01] [ 1.57048697e-02 -4.96205599e-04 9.99876548e-01 2.64973606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.16, Z:0.27 [[ 9.96409980e-01 -8.32565089e-02 -1.53462137e-02 2.25463810e+01] [ 8.32539730e-02 9.96528037e-01 -8.05142044e-04 -1.60142721e-01] [ 1.53599656e-02 -4.75381696e-04 9.99881916e-01 2.65704590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.293617864999995 meters Centerline goodness [0,1] 0.9999780927552742 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.16, Z:0.27 [[ 9.96530206e-01 -8.17488056e-02 -1.56423112e-02 2.25755394e+01] [ 8.17459302e-02 9.96652860e-01 -8.24188326e-04 -1.55612170e-01] [ 1.56573306e-02 -4.57366720e-04 9.99877312e-01 2.65135462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617864999996 meters Centerline goodness [0,1] 0.9999343429922087 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.16, Z:0.26 [[ 9.96582375e-01 -8.09583915e-02 -1.64106314e-02 2.26039353e+01] [ 8.09550790e-02 9.96717374e-01 -8.67148761e-04 -1.55482371e-01] [ 1.64269644e-02 -4.64338789e-04 9.99864960e-01 2.64473933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.353617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.15, Z:0.26 [[ 9.96638183e-01 -8.03146170e-02 -1.61831402e-02 2.26321861e+01] [ 8.03112492e-02 9.96769465e-01 -8.58935027e-04 -1.49215690e-01] [ 1.61998450e-02 -4.43640758e-04 9.99868675e-01 2.64856990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.15, Z:0.26 [[ 9.96678726e-01 -7.97586352e-02 -1.64340360e-02 2.26605652e+01] [ 7.97550208e-02 9.96814109e-01 -8.76254462e-04 -1.48640879e-01] [ 1.64515679e-02 -4.37352706e-04 9.99864568e-01 2.64649138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.15, Z:0.27 [[ 9.96675890e-01 -7.97244245e-02 -1.67686382e-02 2.26887523e+01] [ 7.97205866e-02 9.96816844e-01 -8.98261915e-04 -1.45242491e-01] [ 1.67868744e-02 -4.41529679e-04 9.99858993e-01 2.65131863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.14, Z:0.27 [[ 9.96636979e-01 -8.01121301e-02 -1.72272468e-02 2.27170649e+01] [ 8.01080559e-02 9.96785754e-01 -9.27547254e-04 -1.41785758e-01] [ 1.72461820e-02 -4.55613361e-04 9.99851170e-01 2.65397063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.14, Z:0.27 [[ 9.96569004e-01 -8.07883633e-02 -1.79849988e-02 2.27444976e+01] [ 8.07839569e-02 9.96731161e-01 -9.72563346e-04 -1.41057005e-01] [ 1.80047805e-02 -4.83672882e-04 9.99837784e-01 2.65149647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.14, Z:0.26 [[ 9.96405375e-01 -8.24905017e-02 -1.92781170e-02 2.27718747e+01] [ 8.24857169e-02 9.96591699e-01 -1.04457893e-03 -1.41275312e-01] [ 1.92985792e-02 -5.49345238e-04 9.99813614e-01 2.64797962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.533617864999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.14, Z:0.27 [[ 9.96296395e-01 -8.37183737e-02 -1.96144840e-02 2.27995348e+01] [ 8.37136040e-02 9.96489286e-01 -1.06556973e-03 -1.42283690e-01] [ 1.96348309e-02 -5.80375860e-04 9.99807050e-01 2.65152137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.14, Z:0.27 [[ 9.96128929e-01 -8.57066785e-02 -1.95325928e-02 2.28282971e+01] [ 8.57022695e-02 9.96320224e-01 -1.06423053e-03 -1.38976116e-01] [ 1.95519289e-02 -6.13876711e-04 9.99808654e-01 2.66255736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.593617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.14, Z:0.27 [[ 9.95915805e-01 -8.81663502e-02 -1.94526159e-02 2.28569979e+01] [ 8.81623560e-02 9.96105550e-01 -1.06447953e-03 -1.38715644e-01] [ 1.94707099e-02 -6.54856452e-04 9.99810213e-01 2.66498792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.14, Z:0.27 [[ 9.95512886e-01 -9.26880609e-02 -1.90529870e-02 2.28861139e+01] [ 9.26849888e-02 9.95694932e-01 -1.04612700e-03 -1.37656867e-01] [ 1.90679261e-02 -7.24492976e-04 9.99817928e-01 2.66607894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.653617864999994 meters Centerline goodness [0,1] 0.9999126847263757 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.14, Z:0.27 [[ 9.95345192e-01 -9.45431657e-02 -1.86959555e-02 2.29143649e+01] [ 9.45405032e-02 9.95520485e-01 -1.02818414e-03 -1.38027463e-01] [ 1.87094145e-02 -7.44126902e-04 9.99824687e-01 2.66952718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.14, Z:0.27 [[ 9.95069875e-01 -9.74080113e-02 -1.86446433e-02 2.29439694e+01] [ 9.74058301e-02 9.95244216e-01 -1.02724185e-03 -1.40046573e-01] [ 1.86560350e-02 -7.93919542e-04 9.99825646e-01 2.68368056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.14, Z:0.27 [[ 9.94966173e-01 -9.84587373e-02 -1.86598685e-02 2.29731566e+01] [ 9.84567046e-02 9.95140803e-01 -1.02981505e-03 -1.38529660e-01] [ 1.86705908e-02 -8.12558020e-04 9.99825359e-01 2.69259103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999994 meters Centerline goodness [0,1] 0.9999781167253868 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.14, Z:0.27 [[ 9.94881997e-01 -9.93494551e-02 -1.84254510e-02 2.30012181e+01] [ 9.93475593e-02 9.95052271e-01 -1.02047509e-03 -1.38983435e-01] [ 1.84356705e-02 -8.15271289e-04 9.99829716e-01 2.69062887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.773617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.14, Z:0.27 [[ 9.94801666e-01 -1.00056025e-01 -1.89324479e-02 2.30295812e+01] [ 1.00054120e-01 9.94981442e-01 -1.05019716e-03 -1.37009789e-01] [ 1.89425129e-02 -8.49531521e-04 9.99820214e-01 2.68777296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.14, Z:0.27 [[ 9.94748581e-01 -1.00586186e-01 -1.89124219e-02 2.30587745e+01] [ 1.00584334e-01 9.94927980e-01 -1.05156116e-03 -1.35979911e-01] [ 1.89222703e-02 -8.56254391e-04 9.99820591e-01 2.68893716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.14, Z:0.27 [[ 9.94729394e-01 -1.00804772e-01 -1.87571322e-02 2.30870648e+01] [ 1.00802921e-01 9.94905863e-01 -1.04655569e-03 -1.38359873e-01] [ 1.87670786e-02 -8.49734009e-04 9.99823522e-01 2.69213757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.11, Y:-0.14, Z:0.27 [[ 9.94702762e-01 -1.01067256e-01 -1.87569890e-02 2.31146297e+01] [ 1.01065403e-01 9.94879231e-01 -1.04911637e-03 -1.36746948e-01] [ 1.87669701e-02 -8.52123710e-04 9.99823522e-01 2.69581841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.13, Z:0.27 [[ 9.94654195e-01 -1.01560032e-01 -1.86706179e-02 2.31429798e+01] [ 1.01558193e-01 9.94829047e-01 -1.04908476e-03 -1.34376105e-01] [ 1.86806181e-02 -8.52677659e-04 9.99825138e-01 2.71196898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999994 meters Centerline goodness [0,1] 0.9999780214949779 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.13, Z:0.27 [[ 9.94633904e-01 -1.01829914e-01 -1.82774703e-02 2.31706573e+01] [ 1.01828115e-01 9.94801473e-01 -1.03150025e-03 -1.34265338e-01] [ 1.82874920e-02 -8.35195220e-04 9.99832421e-01 2.71807528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.953617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.14, Z:0.27 [[ 9.94632720e-01 -1.01906568e-01 -1.79109926e-02 2.31982455e+01] [ 1.01904778e-01 9.94793640e-01 -1.01495479e-03 -1.37617793e-01] [ 1.79211721e-02 -8.15708492e-04 9.99839070e-01 2.72113266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.14, Z:0.27 [[ 9.94720676e-01 -1.01030653e-01 -1.79884538e-02 2.32274229e+01] [ 1.01028657e-01 9.94882991e-01 -1.02202090e-03 -1.35436421e-01] [ 1.79996622e-02 -8.00724006e-04 9.99837672e-01 2.71755644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.013617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.13, Z:0.27 [[ 9.94775390e-01 -1.00312256e-01 -1.89571585e-02 2.32554006e+01] [ 1.00309834e-01 9.94955662e-01 -1.08100044e-03 -1.34403978e-01] [ 1.89699698e-02 -8.26236796e-04 9.99819713e-01 2.70884968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.13, Z:0.27 [[ 9.94851855e-01 -9.94913613e-02 -1.92679926e-02 2.32841047e+01] [ 9.94886471e-02 9.95038087e-01 -1.10176221e-03 -1.31741334e-01] [ 1.92820023e-02 -8.20856332e-04 9.99813748e-01 2.70971936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.13, Z:0.27 [[ 9.94977248e-01 -9.82445447e-02 -1.91907556e-02 2.33127139e+01] [ 9.82415342e-02 9.95161990e-01 -1.10184597e-03 -1.29587576e-01] [ 1.92061609e-02 -7.89017603e-04 9.99815233e-01 2.71560379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.13, Z:0.27 [[ 9.95229787e-01 -9.59048293e-02 -1.78867429e-02 2.33411164e+01] [ 9.59017780e-02 9.95390269e-01 -1.03024661e-03 -1.33292085e-01] [ 1.79030955e-02 -6.90038339e-04 9.99839489e-01 2.72475041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.133617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.13, Z:0.27 [[ 9.95340513e-01 -9.47690216e-02 -1.77790587e-02 2.33699645e+01] [ 9.47657923e-02 9.95499067e-01 -1.02593777e-03 -1.31769627e-01] [ 1.77962635e-02 -6.63689161e-04 9.99841414e-01 2.73141353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.13, Z:0.27 [[ 9.95567369e-01 -9.24146233e-02 -1.74685507e-02 2.33989654e+01] [ 9.24110765e-02 9.95720427e-01 -1.01186718e-03 -1.25099969e-01] [ 1.74873040e-02 -6.06905627e-04 9.99846901e-01 2.74115766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.193617864999997 meters Centerline goodness [0,1] 0.9999779531725385 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.12, Z:0.27 [[ 9.95689263e-01 -9.11200393e-02 -1.73213696e-02 2.34267447e+01] [ 9.11162996e-02 9.95839749e-01 -1.00661380e-03 -1.24728319e-01] [ 1.73410311e-02 -5.75984550e-04 9.99849467e-01 2.73952216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999994 meters Centerline goodness [0,1] 0.9999560188239434 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.12, Z:0.27 [[ 9.95764477e-01 -9.02409835e-02 -1.75974912e-02 2.34555156e+01] [ 9.02369488e-02 9.95919797e-01 -1.02480124e-03 -1.22885920e-01] [ 1.76181689e-02 -5.67483241e-04 9.99844627e-01 2.74160443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.12, Z:0.27 [[ 9.95944991e-01 -8.82323994e-02 -1.75675517e-02 2.34839942e+01] [ 8.82279949e-02 9.96099777e-01 -1.02711486e-03 -1.21721713e-01] [ 1.75896592e-02 -5.26999961e-04 9.99845151e-01 2.73714886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.12, Z:0.28 [[ 9.96001447e-01 -8.76304375e-02 -1.73788596e-02 2.35125495e+01] [ 8.76259662e-02 9.96152925e-01 -1.02006654e-03 -1.18052047e-01] [ 1.74013907e-02 -5.06851612e-04 9.99848456e-01 2.75018284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.313617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.12, Z:0.28 [[ 9.96055526e-01 -8.70101627e-02 -1.73960091e-02 2.35405227e+01] [ 8.70055261e-02 9.96207302e-01 -1.02462297e-03 -1.18199060e-01] [ 1.74191839e-02 -4.92967559e-04 9.99848153e-01 2.75678166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.12, Z:0.28 [[ 9.96186201e-01 -8.54774643e-02 -1.75115913e-02 2.35691737e+01] [ 8.54724916e-02 9.96339995e-01 -1.03357513e-03 -1.15759407e-01] [ 1.75358461e-02 -4.67126054e-04 9.99846126e-01 2.76459052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.373617864999996 meters Centerline goodness [0,1] 0.9999338434736587 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.11, Z:0.28 [[ 9.96246565e-01 -8.48381583e-02 -1.71833732e-02 2.35980458e+01] [ 8.48332055e-02 9.96394646e-01 -1.01825879e-03 -1.14001184e-01] [ 1.72078083e-02 -4.43283809e-04 9.99851836e-01 2.76368043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.11, Z:0.28 [[ 9.96325887e-01 -8.39293519e-02 -1.70467216e-02 2.36266806e+01] [ 8.39242753e-02 9.96471619e-01 -1.01422170e-03 -1.11407296e-01] [ 1.70716972e-02 -4.20138424e-04 9.99854180e-01 2.76725001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.11, Z:0.28 [[ 9.96404491e-01 -8.30751846e-02 -1.66314428e-02 2.36542522e+01] [ 8.30701740e-02 9.96543205e-01 -9.93082183e-04 -1.10029317e-01] [ 1.66564518e-02 -3.92065297e-04 9.99861195e-01 2.77044114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters Centerline goodness [0,1] 0.9999559209221343 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.11, Z:0.28 [[ 9.96596107e-01 -8.09620430e-02 -1.55353220e-02 2.36817359e+01] [ 8.09573853e-02 9.96717130e-01 -9.29495003e-04 -1.08986861e-01] [ 1.55595754e-02 -3.31367949e-04 9.99878888e-01 2.78233398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.493617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.11, Z:0.28 [[ 9.96683022e-01 -7.99437234e-02 -1.52300454e-02 2.37109410e+01] [ 7.99390965e-02 9.96799331e-01 -9.13306558e-04 -1.08134288e-01] [ 1.52543122e-02 -3.07198928e-04 9.99883599e-01 2.79354252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.11, Z:0.28 [[ 9.96733669e-01 -7.93447762e-02 -1.50465494e-02 2.37388711e+01] [ 7.93401427e-02 9.96847191e-01 -9.05567297e-04 -1.08886532e-01] [ 1.50709625e-02 -2.91185960e-04 9.99886384e-01 2.80266064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.553617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.11, Z:0.28 [[ 9.96835156e-01 -7.80431286e-02 -1.51308394e-02 2.37677351e+01] [ 7.80382698e-02 9.96949947e-01 -9.12184397e-04 -1.07346320e-01] [ 1.51558793e-02 -2.71487051e-04 9.99885106e-01 2.81201793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.11, Z:0.28 [[ 9.96865320e-01 -7.76401105e-02 -1.52166931e-02 2.37965727e+01] [ 7.76350952e-02 9.96981416e-01 -9.20919003e-04 -1.05442139e-01] [ 1.52422605e-02 -2.63317204e-04 9.99883795e-01 2.81057316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.10, Z:0.28 [[ 9.96972282e-01 -7.60510353e-02 -1.62021571e-02 2.38241442e+01] [ 7.60450819e-02 9.97103895e-01 -9.84113682e-04 -1.04914672e-01] [ 1.62300768e-02 -2.50960297e-04 9.99868252e-01 2.80507063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.10, Z:0.28 [[ 9.96991680e-01 -7.57589311e-02 -1.63760457e-02 2.38521759e+01] [ 7.57527783e-02 9.97126132e-01 -9.96596216e-04 -1.03611806e-01] [ 1.64044841e-02 -2.46932821e-04 9.99865407e-01 2.80993049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.673617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.10, Z:0.28 [[ 9.97118060e-01 -7.42405719e-02 -1.56177063e-02 2.38795098e+01] [ 7.42347342e-02 9.97240339e-01 -9.53983841e-04 -9.99760095e-02] [ 1.56454310e-02 -2.08141755e-04 9.99877581e-01 2.81993790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.10, Z:0.28 [[ 9.97262366e-01 -7.23653519e-02 -1.51996646e-02 2.39081575e+01] [ 7.23595817e-02 9.97378176e-01 -9.29961131e-04 -9.56633737e-02] [ 1.52271108e-02 -1.72426138e-04 9.99884046e-01 2.83069116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.733617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.09, Z:0.28 [[ 9.97327161e-01 -7.16000635e-02 -1.45590147e-02 2.39357317e+01] [ 7.15946414e-02 9.97433410e-01 -8.93954911e-04 -9.40516137e-02] [ 1.45856549e-02 -1.50781924e-04 9.99893612e-01 2.83727178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.09, Z:0.28 [[ 9.97332536e-01 -7.15204924e-02 -1.45819154e-02 2.39636868e+01] [ 7.15150233e-02 9.97439120e-01 -8.96825998e-04 -9.17804629e-02] [ 1.46087143e-02 -1.48392275e-04 9.99893276e-01 2.84060458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.793617864999995 meters Centerline goodness [0,1] 0.9999779900515032 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.09, Z:0.29 [[ 9.97423803e-01 -7.03823069e-02 -1.38595746e-02 2.39920021e+01] [ 7.03772095e-02 9.97520083e-01 -8.55772927e-04 -8.52533883e-02] [ 1.38854353e-02 -1.21829899e-04 9.99903585e-01 2.85309824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617864999996 meters Centerline goodness [0,1] 0.9999779307909604 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.08, Z:0.29 [[ 9.97382284e-01 -7.07864003e-02 -1.47602505e-02 2.40199782e+01] [ 7.07806068e-02 9.97491488e-01 -9.15191913e-04 -8.38946355e-02] [ 1.47880073e-02 -1.31943285e-04 9.99890643e-01 2.85384268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.853617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.08, Z:0.28 [[ 9.97343086e-01 -7.08378795e-02 -1.69930675e-02 2.40480948e+01] [ 7.08301198e-02 9.97487831e-01 -1.05881858e-03 -7.92988974e-02] [ 1.70253825e-02 -1.47615612e-04 9.99855047e-01 2.83454048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999994 meters Centerline goodness [0,1] 0.9999779195831218 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.08, Z:0.28 [[ 9.97261531e-01 -7.15909503e-02 -1.85519221e-02 2.40771683e+01] [ 7.15817354e-02 9.97434061e-01 -1.16113300e-03 -7.68562996e-02] [ 1.85874456e-02 -1.70025501e-04 9.99827224e-01 2.82051438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.913617864999996 meters Centerline goodness [0,1] 0.9999779953790296 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.08, Z:0.28 [[ 9.97169731e-01 -7.24694374e-02 -2.00177077e-02 2.41045405e+01] [ 7.24587977e-02 9.97370614e-01 -1.25725998e-03 -7.58144717e-02] [ 2.00561864e-02 -1.96757442e-04 9.99798835e-01 2.81788140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999993 meters Centerline goodness [0,1] 0.9999119834528891 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.08, Z:0.28 [[ 9.96893626e-01 -7.61175866e-02 -2.02289912e-02 2.41321712e+01] [ 7.61074201e-02 9.97098811e-01 -1.27308403e-03 -7.61767933e-02] [ 2.02672071e-02 -2.70446974e-04 9.99794562e-01 2.82144661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.07, Z:0.28 [[ 9.96710446e-01 -7.85458495e-02 -1.99708962e-02 2.41608742e+01] [ 7.85363738e-02 9.96910453e-01 -1.25954549e-03 -7.30721000e-02] [ 2.00081272e-02 -3.13039624e-04 9.99799768e-01 2.83431240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.08, Z:0.28 [[ 9.96095078e-01 -8.58927100e-02 -2.04215058e-02 2.41892980e+01] [ 8.58842664e-02 9.96304283e-01 -1.29176566e-03 -7.52602681e-02] [ 2.04569870e-02 -4.67164632e-04 9.99790625e-01 2.83689576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.033617864999997 meters Centerline goodness [0,1] 0.9999560362261497 Centerline is valid? [True, True] Translation: X:24.22, Y:-0.08, Z:0.28 [[ 9.95829128e-01 -8.90861075e-02 -1.96980572e-02 2.42168170e+01] [ 8.90788453e-02 9.96023796e-01 -1.24754044e-03 -7.74818462e-02] [ 1.97308723e-02 -5.12343088e-04 9.99805196e-01 2.84097179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.07, Z:0.29 [[ 9.95621394e-01 -9.15777501e-02 -1.87498083e-02 2.42449745e+01] [ 9.15715786e-02 9.95797787e-01 -1.18924267e-03 -7.32012507e-02] [ 1.87799258e-02 -5.32914102e-04 9.99823500e-01 2.85441249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.093617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.07, Z:0.29 [[ 9.95370921e-01 -9.41429014e-02 -1.93350522e-02 2.42741163e+01] [ 9.41367716e-02 9.95558516e-01 -1.22896692e-03 -7.24411234e-02] [ 1.93648744e-02 -5.96861458e-04 9.99812305e-01 2.86113857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.08, Z:0.29 [[ 9.94929644e-01 -9.86604387e-02 -1.95223171e-02 2.43032654e+01] [ 9.86549890e-02 9.95120920e-01 -1.24439013e-03 -7.53918504e-02] [ 1.95498382e-02 -6.87893343e-04 9.99808647e-01 2.87610638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.07, Z:0.29 [[ 9.94740430e-01 -1.00680531e-01 -1.88389764e-02 2.43319256e+01] [ 1.00675781e-01 9.94918560e-01 -1.20281198e-03 -7.08614181e-02] [ 1.88643470e-02 -7.00142951e-04 9.99821807e-01 2.88845391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.07, Z:0.29 [[ 9.94543685e-01 -1.02586953e-01 -1.89413681e-02 2.43594947e+01] [ 1.02582418e-01 9.94723768e-01 -1.21341923e-03 -7.14269141e-02] [ 1.89659100e-02 -7.36252915e-04 9.99819860e-01 2.88354118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.07, Z:0.29 [[ 9.94252878e-01 -1.05215302e-01 -1.97725895e-02 2.43889377e+01] [ 1.05210834e-01 9.94449129e-01 -1.26897575e-03 -6.55616950e-02] [ 1.97963500e-02 -8.18607838e-04 9.99803698e-01 2.88492199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.06, Z:0.29 [[ 9.94143290e-01 -1.06199638e-01 -2.00188697e-02 2.44167693e+01] [ 1.06195231e-01 9.94344467e-01 -1.28610127e-03 -6.48120321e-02] [ 2.00422358e-02 -8.47339544e-04 9.99798775e-01 2.88503072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.273617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.06, Z:0.29 [[ 9.94041751e-01 -1.07169040e-01 -1.98945862e-02 2.44450098e+01] [ 1.07164830e-01 9.94240443e-01 -1.28063681e-03 -6.44238291e-02] [ 1.99172468e-02 -8.58993499e-04 9.99801263e-01 2.88866617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.06, Z:0.29 [[ 9.93930549e-01 -1.08215319e-01 -1.97865529e-02 2.44732596e+01] [ 1.08211319e-01 9.94127096e-01 -1.27590312e-03 -6.19256172e-02] [ 1.98084206e-02 -8.72969892e-04 9.99803413e-01 2.90434265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.06, Z:0.29 [[ 9.93862812e-01 -1.08841408e-01 -1.97549629e-02 2.45022142e+01] [ 1.08837491e-01 9.94058736e-01 -1.27653673e-03 -6.04810248e-02] [ 1.97765335e-02 -8.81378207e-04 9.99804037e-01 2.91410857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.06, Z:0.29 [[ 9.93796283e-01 -1.09402595e-01 -2.00005004e-02 2.45306775e+01] [ 1.09398596e-01 9.93997115e-01 -1.29724474e-03 -5.68279118e-02] [ 2.00223616e-02 -8.98829669e-04 9.99799128e-01 2.92010866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.05, Z:0.29 [[ 9.93804141e-01 -1.09225475e-01 -2.05699957e-02 2.45585233e+01] [ 1.09221126e-01 9.94016577e-01 -1.33813791e-03 -5.37188910e-02] [ 2.05930755e-02 -9.16831098e-04 9.99787520e-01 2.90162816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.05, Z:0.29 [[ 9.93820662e-01 -1.08992718e-01 -2.10018653e-02 2.45870261e+01] [ 1.08988069e-01 9.94042115e-01 -1.36922542e-03 -5.08239930e-02] [ 2.10259742e-02 -9.28188238e-04 9.99778499e-01 2.89508437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.453617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.05, Z:0.29 [[ 9.93830917e-01 -1.08779642e-01 -2.16124637e-02 2.46156027e+01] [ 1.08774556e-01 9.94065438e-01 -1.41427732e-03 -4.76402911e-02] [ 2.16380477e-02 -9.45333616e-04 9.99765423e-01 2.89729693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.05, Z:0.29 [[ 9.93798572e-01 -1.08983042e-01 -2.20702333e-02 2.46437694e+01] [ 1.08977663e-01 9.94043141e-01 -1.44992047e-03 -4.78814542e-02] [ 2.20967808e-02 -9.64233553e-04 9.99755371e-01 2.91392444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.513617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.05, Z:0.29 [[ 9.93753089e-01 -1.09437100e-01 -2.18705094e-02 2.46720856e+01] [ 1.09431832e-01 9.93993258e-01 -1.44117144e-03 -4.89147942e-02] [ 2.18968566e-02 -9.61161333e-04 9.99759773e-01 2.91890880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.05, Z:0.29 [[ 9.93685189e-01 -1.10117651e-01 -2.15371426e-02 2.47003910e+01] [ 1.10112655e-01 9.93918097e-01 -1.42135257e-03 -4.69670694e-02] [ 2.15626717e-02 -9.59134941e-04 9.99767038e-01 2.92286809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.04, Z:0.29 [[ 9.93516631e-01 -1.11712458e-01 -2.10957317e-02 2.47291834e+01] [ 1.11707949e-01 9.93740100e-01 -1.39572318e-03 -4.28051281e-02] [ 2.11195942e-02 -9.69886727e-04 9.99776486e-01 2.91855899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.04, Z:0.29 [[ 9.93450958e-01 -1.12302695e-01 -2.10546462e-02 2.47570837e+01] [ 1.12298255e-01 9.93673563e-01 -1.39685373e-03 -4.19251459e-02] [ 2.10783158e-02 -9.76694351e-04 9.99777351e-01 2.91979952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.633617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.04, Z:0.29 [[ 9.93410262e-01 -1.12647637e-01 -2.11319920e-02 2.47848966e+01] [ 1.12643173e-01 9.93634511e-01 -1.40526529e-03 -4.00275073e-02] [ 2.11557763e-02 -9.84369661e-04 9.99775707e-01 2.92626690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.04, Z:0.29 [[ 9.93431277e-01 -1.12608456e-01 -2.03379857e-02 2.48132884e+01] [ 1.12604229e-01 9.93638992e-01 -1.35657657e-03 -4.12340672e-02] [ 2.03613776e-02 -9.42477611e-04 9.99792241e-01 2.93461486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.693617864999993 meters Centerline goodness [0,1] 0.9999339236156998 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.04, Z:0.29 [[ 9.93442455e-01 -1.12496681e-01 -2.04104157e-02 2.48424761e+01] [ 1.12492342e-01 9.93651655e-01 -1.36427015e-03 -3.75639788e-02] [ 2.04343192e-02 -9.40691570e-04 9.99790755e-01 2.94423123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.04, Z:0.29 [[ 9.93500844e-01 -1.11994567e-01 -2.03295356e-02 2.48708488e+01] [ 1.11990073e-01 9.93708391e-01 -1.36299066e-03 -3.91543080e-02] [ 2.03542776e-02 -9.22573797e-04 9.99792405e-01 2.94208651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.04, Z:0.29 [[ 9.93470882e-01 -1.12260087e-01 -2.03292957e-02 2.48983994e+01] [ 1.12255576e-01 9.93678428e-01 -1.36655977e-03 -3.72360283e-02] [ 2.03541927e-02 -9.24439451e-04 9.99792405e-01 2.94576562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.03, Z:0.29 [[ 9.93733868e-01 -1.09829040e-01 -2.07504365e-02 2.49274675e+01] [ 1.09823718e-01 9.93950096e-01 -1.39932991e-03 -3.36116625e-02] [ 2.07785854e-02 -8.88328571e-04 9.99783707e-01 2.94636167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.813617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.03, Z:0.29 [[ 9.93883410e-01 -1.08365354e-01 -2.12771745e-02 2.49560636e+01] [ 1.08359351e-01 9.94110750e-01 -1.43825361e-03 -2.98718509e-02] [ 2.13077247e-02 -8.76124410e-04 9.99772581e-01 2.94615519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.03, Z:0.29 [[ 9.94357553e-01 -1.03945816e-01 -2.11736842e-02 2.49851791e+01] [ 1.03938798e-01 9.94582660e-01 -1.43470548e-03 -2.69047117e-02] [ 2.12081108e-02 -7.74157055e-04 9.99774783e-01 2.93917191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.873617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.02, Z:0.29 [[ 9.94569963e-01 -1.01954046e-01 -2.08796781e-02 2.50139983e+01] [ 1.01946762e-01 9.94788849e-01 -1.41574712e-03 -2.34453143e-02] [ 2.09152120e-02 -7.20556016e-04 9.99780993e-01 2.94710382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.02, Z:0.30 [[ 9.94805917e-01 -9.96474213e-02 -2.07744638e-02 2.50432148e+01] [ 9.96396716e-02 9.95022586e-01 -1.41037970e-03 -2.05899861e-02] [ 2.08116014e-02 -6.66906675e-04 9.99783193e-01 2.95663595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.07, Y:-0.02, Z:0.30 [[ 9.94997236e-01 -9.77155488e-02 -2.07887300e-02 2.50713220e+01] [ 9.77073219e-02 9.95214189e-01 -1.41352702e-03 -2.04244775e-02] [ 2.08273626e-02 -6.24755653e-04 9.99782892e-01 2.95954869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters Centerline goodness [0,1] 0.9999116256462375 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.02, Z:0.30 [[ 9.95252854e-01 -9.51540216e-02 -2.04320442e-02 2.50997536e+01] [ 9.51455021e-02 9.95462405e-01 -1.39088235e-03 -1.70236317e-02] [ 2.04716799e-02 -5.59737471e-04 9.99790277e-01 2.96533741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.993617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.02, Z:0.30 [[ 9.95359448e-01 -9.41923308e-02 -1.96817974e-02 2.51278886e+01] [ 9.41842095e-02 9.95553884e-01 -1.34123192e-03 -1.56551397e-02] [ 1.97206236e-02 -5.18706659e-04 9.99805395e-01 2.96480577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.01, Z:0.30 [[ 9.95498616e-01 -9.28441283e-02 -1.90387571e-02 2.51565467e+01] [ 9.28362359e-02 9.95680543e-01 -1.29986170e-03 -1.22025914e-02] [ 1.90772045e-02 -4.73476023e-04 9.99817901e-01 2.96906601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.053617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.01, Z:0.30 [[ 9.95789663e-01 -8.96382402e-02 -1.91815534e-02 2.51853540e+01] [ 8.96295656e-02 9.95974305e-01 -1.31319025e-03 -9.11192032e-03] [ 1.92220464e-02 -4.11573020e-04 9.99815155e-01 2.97641592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999994 meters Centerline goodness [0,1] 0.9999779288425885 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.01, Z:0.30 [[ 9.95900306e-01 -8.84194731e-02 -1.90938954e-02 2.52133368e+01] [ 8.84106221e-02 9.96083254e-01 -1.30883819e-03 -8.60783888e-03] [ 1.91348362e-02 -3.84630816e-04 9.99816838e-01 2.98097886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.00, Z:0.30 [[ 9.96223294e-01 -8.47496320e-02 -1.88851323e-02 2.52418200e+01] [ 8.47402577e-02 9.96402231e-01 -1.29750960e-03 -4.39268230e-03] [ 1.89271514e-02 -3.07721691e-04 9.99820818e-01 2.99484285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.00, Z:0.30 [[ 9.96281313e-01 -8.40514415e-02 -1.89446613e-02 2.52692456e+01] [ 8.40418133e-02 9.96461374e-01 -1.30520984e-03 -2.57007658e-03] [ 1.89873280e-02 -2.91787515e-04 9.99819682e-01 2.98963863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.173617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.30, Y:0.00, Z:0.30 [[ 9.96333789e-01 -8.34900108e-02 -1.86654558e-02 2.52979251e+01] [ 8.34805216e-02 9.96508576e-01 -1.28833455e-03 4.34367646e-04] [ 1.87078499e-02 -2.74590746e-04 9.99824955e-01 2.98998470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.33, Y:0.00, Z:0.30 [[ 9.96284325e-01 -8.40023172e-02 -1.90040751e-02 2.53254987e+01] [ 8.39924997e-02 9.96465518e-01 -1.31559475e-03 1.26563547e-03] [ 1.90474186e-02 -2.85493343e-04 9.99818541e-01 2.98308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:0.00, Z:0.30 [[ 9.96231844e-01 -8.46655414e-02 -1.88111602e-02 2.53537044e+01] [ 8.46559820e-02 9.96409384e-01 -1.30533792e-03 3.15621702e-03] [ 1.88541337e-02 -2.92058035e-04 9.99822202e-01 2.98701361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:0.00, Z:0.30 [[ 9.96119029e-01 -8.60012850e-02 -1.87258954e-02 2.53810869e+01] [ 8.59919678e-02 9.96294977e-01 -1.30369163e-03 4.15793781e-03] [ 1.87686347e-02 -3.11644552e-04 9.99823805e-01 2.99058958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.293617864999995 meters Centerline goodness [0,1] 0.9999560864219217 Centerline is valid? [True, True] Translation: X:25.41, Y:0.01, Z:0.30 [[ 9.95978975e-01 -8.76918229e-02 -1.83309843e-02 2.54095324e+01] [ 8.76831246e-02 9.96147596e-01 -1.27925541e-03 7.20183821e-03] [ 1.83725462e-02 -3.33206487e-04 9.99831155e-01 3.00026602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:0.01, Z:0.30 [[ 9.95745263e-01 -9.03092152e-02 -1.83198414e-02 2.54378014e+01] [ 9.03009006e-02 9.95913703e-01 -1.28226179e-03 5.57228483e-03] [ 1.83607811e-02 -3.77492069e-04 9.99831355e-01 3.00186653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.353617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:0.01, Z:0.30 [[ 9.95210236e-01 -9.63110849e-02 -1.67559235e-02 2.54667386e+01] [ 9.63049504e-02 9.95351183e-01 -1.17450533e-03 6.71077164e-03] [ 1.67911462e-02 -4.44798659e-04 9.99858920e-01 3.02571909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:0.01, Z:0.30 [[ 9.94912776e-01 -9.94683640e-02 -1.59565646e-02 2.54959304e+01] [ 9.94631940e-02 9.95040612e-01 -1.11925083e-03 6.46107257e-03] [ 1.59887598e-02 -4.73533930e-04 9.99872059e-01 3.03838185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:0.00, Z:0.31 [[ 9.94616949e-01 -1.02416420e-01 -1.57480556e-02 2.55250531e+01] [ 1.02411741e-01 9.94741481e-01 -1.10541098e-03 4.64610275e-03] [ 1.57784564e-02 -5.13325296e-04 9.99875381e-01 3.05336415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:0.00, Z:0.31 [[ 9.94090753e-01 -1.07463697e-01 -1.53339146e-02 2.55553968e+01] [ 1.07459850e-01 9.94208842e-01 -1.07702467e-03 4.55916326e-03] [ 1.53608545e-02 -5.77119889e-04 9.99881849e-01 3.06938897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:0.01, Z:0.31 [[ 9.93846008e-01 -1.09646872e-01 -1.57377315e-02 2.55843290e+01] [ 1.09643080e-01 9.93970408e-01 -1.10617422e-03 5.89871783e-03] [ 1.57641279e-02 -6.26166521e-04 9.99875542e-01 3.07587797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:0.01, Z:0.31 [[ 9.93658543e-01 -1.11364403e-01 -1.55135557e-02 2.56123877e+01] [ 1.11360878e-01 9.93779432e-01 -1.09362772e-03 6.93980569e-03] [ 1.55388438e-02 -6.40910657e-04 9.99879059e-01 3.07543751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.533617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:0.01, Z:0.31 [[ 9.93506243e-01 -1.12731159e-01 -1.53958182e-02 2.56415140e+01] [ 1.12727827e-01 9.93625310e-01 -1.08688170e-03 9.18499638e-03] [ 1.54202001e-02 -6.55713374e-04 9.99880887e-01 3.07321387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:0.01, Z:0.31 [[ 9.93359132e-01 -1.14018732e-01 -1.54065818e-02 2.56703768e+01] [ 1.14015495e-01 9.93478372e-01 -1.09116149e-03 1.49674792e-02] [ 1.54305186e-02 -6.72673813e-04 9.99880716e-01 3.07198737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.593617864999995 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:25.70, Y:0.01, Z:0.31 [[ 9.93320410e-01 -1.14319210e-01 -1.56742160e-02 2.56980264e+01] [ 1.14315844e-01 9.93443832e-01 -1.11349563e-03 1.25945051e-02] [ 1.56987472e-02 -6.85753301e-04 9.99876532e-01 3.07353527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:0.02, Z:0.31 [[ 9.93251518e-01 -1.14832865e-01 -1.62737348e-02 2.57267170e+01] [ 1.14829275e-01 9.93384566e-01 -1.15794098e-03 1.99649210e-02] [ 1.62990467e-02 -7.18574549e-04 9.99866904e-01 3.08364590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.653617864999994 meters Centerline goodness [0,1] 0.9999779818129775 Centerline is valid? [True, True] Translation: X:25.75, Y:0.02, Z:0.31 [[ 9.93203564e-01 -1.15196702e-01 -1.66252693e-02 2.57549119e+01] [ 1.15192948e-01 9.93342427e-01 -1.18648318e-03 1.81618512e-02] [ 1.66512643e-02 -7.36694449e-04 9.99861087e-01 3.08346814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617864999995 meters Centerline goodness [0,1] 0.9999779672593474 Centerline is valid? [True, True] Translation: X:25.78, Y:0.02, Z:0.31 [[ 9.93151895e-01 -1.15590621e-01 -1.69741383e-02 2.57831019e+01] [ 1.15586729e-01 9.93296650e-01 -1.21350375e-03 2.08042099e-02] [ 1.70006243e-02 -7.56791571e-04 9.99855193e-01 3.08801908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:0.02, Z:0.31 [[ 9.93088852e-01 -1.16173241e-01 -1.66826060e-02 2.58123271e+01] [ 1.16169492e-01 9.93228683e-01 -1.19692761e-03 2.32228721e-02] [ 1.67086937e-02 -7.49354399e-04 9.99860119e-01 3.09533815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:0.02, Z:0.31 [[ 9.93068498e-01 -1.16383371e-01 -1.64276749e-02 2.58398579e+01] [ 1.16379709e-01 9.93204091e-01 -1.18196957e-03 2.34268987e-02] [ 1.64535955e-02 -7.38071279e-04 9.99864358e-01 3.10170366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.773617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.87, Y:0.03, Z:0.31 [[ 9.93041058e-01 -1.16605164e-01 -1.65134093e-02 2.58674669e+01] [ 1.16601462e-01 9.93178072e-01 -1.19008657e-03 2.57370090e-02] [ 1.65395263e-02 -7.43682843e-04 9.99862936e-01 3.10447125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.90, Y:0.03, Z:0.31 [[ 9.92964566e-01 -1.17168821e-01 -1.71125186e-02 2.58962565e+01] [ 1.17164852e-01 9.93111708e-01 -1.23777417e-03 3.12153558e-02] [ 1.71396711e-02 -7.75919811e-04 9.99852804e-01 3.10428587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.92, Y:0.04, Z:0.31 [[ 9.92941838e-01 -1.17385574e-01 -1.69450412e-02 2.59240245e+01] [ 1.17381643e-01 9.93086118e-01 -1.22980084e-03 3.51883132e-02] [ 1.69722460e-02 -7.67916073e-04 9.99855666e-01 3.10392053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.95, Y:0.03, Z:0.31 [[ 9.92907979e-01 -1.17627943e-01 -1.72456485e-02 2.59523748e+01] [ 1.17623837e-01 9.93057428e-01 -1.25570513e-03 3.10614562e-02] [ 1.72736253e-02 -7.81699711e-04 9.99850494e-01 3.10231615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.98, Y:0.04, Z:0.31 [[ 9.92818022e-01 -1.18317914e-01 -1.76987762e-02 2.59813174e+01] [ 1.18313661e-01 9.92975433e-01 -1.29091304e-03 3.79996091e-02] [ 1.77271881e-02 -8.12365266e-04 9.99842531e-01 3.10819331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:0.04, Z:0.31 [[ 9.92749515e-01 -1.18916709e-01 -1.75276203e-02 2.60101489e+01] [ 1.18912557e-01 9.92903902e-01 -1.28258543e-03 4.17049220e-02] [ 1.75557634e-02 -8.10968093e-04 9.99845557e-01 3.11104281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.953617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.04, Y:0.04, Z:0.31 [[ 9.92709007e-01 -1.19197566e-01 -1.79099791e-02 2.60385309e+01] [ 1.19193196e-01 9.92870209e-01 -1.31511868e-03 4.44883469e-02] [ 1.79390436e-02 -8.29217491e-04 9.99838739e-01 3.11419350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:0.05, Z:0.31 [[ 9.92721700e-01 -1.18990357e-01 -1.85720715e-02 2.60665148e+01] [ 1.18985538e-01 9.92895045e-01 -1.36821934e-03 4.68239295e-02] [ 1.86029227e-02 -8.51546892e-04 9.99826588e-01 3.09961141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.013617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.09, Y:0.05, Z:0.31 [[ 9.92682785e-01 -1.19286371e-01 -1.87523551e-02 2.60940340e+01] [ 1.19281450e-01 9.92859516e-01 -1.38470413e-03 5.08615593e-02] [ 1.87836306e-02 -8.62236159e-04 9.99823200e-01 3.09957977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.12, Y:0.05, Z:0.31 [[ 9.92693524e-01 -1.19187258e-01 -1.88139413e-02 2.61227677e+01] [ 1.19182195e-01 9.92871422e-01 -1.39418191e-03 5.33798828e-02] [ 1.88459934e-02 -8.58291461e-04 9.99822030e-01 3.10111688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.073617864999996 meters Centerline goodness [0,1] 0.9999779759938333 Centerline is valid? [True, True] Translation: X:26.15, Y:0.06, Z:0.31 [[ 9.92649312e-01 -1.19459650e-01 -1.94096826e-02 2.61504284e+01] [ 1.19454217e-01 9.92838661e-01 -1.44323248e-03 5.66689678e-02] [ 1.94430913e-02 -8.85944710e-04 9.99810573e-01 3.10505691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:0.06, Z:0.31 [[ 9.92599565e-01 -1.19693019e-01 -2.04861931e-02 2.61782897e+01] [ 1.19686898e-01 9.92810510e-01 -1.52904324e-03 5.98748309e-02] [ 2.05219237e-02 -9.34201263e-04 9.99788967e-01 3.10445742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.133617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:0.06, Z:0.31 [[ 9.92573291e-01 -1.19766883e-01 -2.13109413e-02 2.62060478e+01] [ 1.19760181e-01 9.92801569e-01 -1.59504377e-03 5.81555779e-02] [ 2.13485694e-02 -9.69004354e-04 9.99771624e-01 3.09317357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:0.07, Z:0.31 [[ 9.92572497e-01 -1.19366679e-01 -2.34826532e-02 2.62338581e+01] [ 1.19358339e-01 9.92849678e-01 -1.76147908e-03 6.52974830e-02] [ 2.35250066e-02 -1.05445480e-03 9.99722693e-01 3.08263123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.193617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.26, Y:0.07, Z:0.31 [[ 9.92554532e-01 -1.19461957e-01 -2.37558579e-02 2.62613359e+01] [ 1.19453301e-01 9.92838210e-01 -1.78823599e-03 6.96263235e-02] [ 2.37993496e-02 -1.06279389e-03 9.99716190e-01 3.08160192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:0.08, Z:0.31 [[ 9.92389159e-01 -1.20686974e-01 -2.44624364e-02 2.62898112e+01] [ 1.20678012e-01 9.92689983e-01 -1.84771474e-03 7.65166393e-02] [ 2.45066107e-02 -1.11842612e-03 9.99699042e-01 3.09037848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:0.07, Z:0.31 [[ 9.92247137e-01 -1.21865898e-01 -2.43787160e-02 2.63180242e+01] [ 1.21857239e-01 9.92545921e-01 -1.84599030e-03 7.41560481e-02] [ 2.44219584e-02 -1.13904444e-03 9.99701091e-01 3.08684802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:0.08, Z:0.31 [[ 9.92095424e-01 -1.23023592e-01 -2.47359293e-02 2.63460504e+01] [ 1.23014971e-01 9.92403042e-01 -1.87572199e-03 7.91028347e-02] [ 2.47787695e-02 -1.18199441e-03 9.99692260e-01 3.09934340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.313617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.37, Y:0.09, Z:0.31 [[ 9.91855851e-01 -1.24618021e-01 -2.63119776e-02 2.63749703e+01] [ 1.24608771e-01 9.92203943e-01 -1.99732685e-03 8.53754163e-02] [ 2.63557509e-02 -1.29764287e-03 9.99651785e-01 3.09608188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.40, Y:0.09, Z:0.31 [[ 9.91816062e-01 -1.24791065e-01 -2.69831297e-02 2.64027764e+01] [ 1.24781343e-01 9.92182147e-01 -2.05039169e-03 8.62111406e-02] [ 2.70280501e-02 -1.33337975e-03 9.99633786e-01 3.08204044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.373617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.43, Y:0.09, Z:0.31 [[ 9.91803669e-01 -1.24793712e-01 -2.74228126e-02 2.64308358e+01] [ 1.24783535e-01 9.92181791e-01 -2.08881740e-03 9.10299666e-02] [ 2.74690866e-02 -1.35021873e-03 9.99621742e-01 3.08625373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.46, Y:0.09, Z:0.31 [[ 9.91921333e-01 -1.23953130e-01 -2.69757357e-02 2.64582544e+01] [ 1.23942844e-01 9.92287222e-01 -2.05949544e-03 9.32415781e-02] [ 2.70229588e-02 -1.30059193e-03 9.99633967e-01 3.09945230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:0.10, Z:0.31 [[ 9.92008819e-01 -1.23315248e-01 -2.66805688e-02 2.64869044e+01] [ 1.23304841e-01 9.92366741e-01 -2.04125793e-03 9.70085657e-02] [ 2.67286274e-02 -1.26489743e-03 9.99641926e-01 3.11538542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:0.10, Z:0.31 [[ 9.92083934e-01 -1.22684514e-01 -2.67951136e-02 2.65155386e+01] [ 1.22673616e-01 9.92444938e-01 -2.05640333e-03 1.00575507e-01] [ 2.68449637e-02 -1.24692877e-03 9.99638831e-01 3.11988746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.493617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.54, Y:0.11, Z:0.31 [[ 9.92240822e-01 -1.21499355e-01 -2.63829076e-02 2.65440192e+01] [ 1.21488207e-01 9.92590797e-01 -2.03098273e-03 1.05684962e-01] [ 2.64341944e-02 -1.18998817e-03 9.99649847e-01 3.12373470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.57, Y:0.11, Z:0.31 [[ 9.92434345e-01 -1.19969458e-01 -2.61036396e-02 2.65730423e+01] [ 1.19957894e-01 9.92776937e-01 -2.01416301e-03 1.11844538e-01] [ 2.61567294e-02 -1.13241309e-03 9.99657213e-01 3.12926612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.553617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:0.12, Z:0.31 [[ 9.92904482e-01 -1.16160032e-01 -2.54467264e-02 2.66026638e+01] [ 1.16147740e-01 9.93230003e-01 -1.96556313e-03 1.18354730e-01] [ 2.55027720e-02 -1.00396331e-03 9.99674247e-01 3.13184745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999994 meters Centerline goodness [0,1] 0.9999344820808491 Centerline is valid? [True, True] Translation: X:26.63, Y:0.12, Z:0.31 [[ 9.93220235e-01 -1.13419431e-01 -2.54872006e-02 2.66305616e+01] [ 1.13406157e-01 9.93546759e-01 -1.97030123e-03 1.18503650e-01] [ 2.55461960e-02 -9.33462426e-04 9.99673207e-01 3.12274332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.613617864999995 meters Centerline goodness [0,1] 0.9998912783491705 Centerline is valid? [True, True] Translation: X:26.66, Y:0.12, Z:0.31 [[ 9.93350535e-01 -1.12315086e-01 -2.52989152e-02 2.66589284e+01] [ 1.12301550e-01 9.93672240e-01 -1.95973826e-03 1.24187027e-01] [ 2.53589379e-02 -8.94400331e-04 9.99678010e-01 3.14787874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:0.13, Z:0.32 [[ 9.93451527e-01 -1.11389130e-01 -2.54268441e-02 2.66874440e+01] [ 1.11374996e-01 9.93776487e-01 -1.97579974e-03 1.29075311e-01] [ 2.54886824e-02 -8.69053393e-04 9.99674733e-01 3.16078060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.673617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:0.13, Z:0.32 [[ 9.93420523e-01 -1.11665421e-01 -2.54263294e-02 2.67149574e+01] [ 1.11651209e-01 9.93745479e-01 -1.98240574e-03 1.31272951e-01] [ 2.54886661e-02 -8.69517869e-04 9.99674733e-01 3.16445243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617864999995 meters Centerline goodness [0,1] 0.9998910105501787 Centerline is valid? [True, True] Translation: X:26.74, Y:0.14, Z:0.32 [[ 9.93678331e-01 -1.09239316e-01 -2.58871934e-02 2.67432470e+01] [ 1.09223640e-01 9.94015143e-01 -2.02300229e-03 1.37167521e-01] [ 2.59532536e-02 -8.17279960e-04 9.99662823e-01 3.15917386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.733617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:0.14, Z:0.31 [[ 9.93809496e-01 -1.08072365e-01 -2.57497633e-02 2.67714462e+01] [ 1.08056399e-01 9.94142724e-01 -2.01477289e-03 1.36790072e-01] [ 2.58166811e-02 -7.80126248e-04 9.99666390e-01 3.13677868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999993 meters Centerline goodness [0,1] 0.9999782068604803 Centerline is valid? [True, True] Translation: X:26.80, Y:0.14, Z:0.32 [[ 9.94028807e-01 -1.06129999e-01 -2.53604685e-02 2.68001887e+01] [ 1.06113801e-01 9.94352006e-01 -1.98745459e-03 1.44486407e-01] [ 2.54281613e-02 -7.15508594e-04 9.99676396e-01 3.15853238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:0.15, Z:0.32 [[ 9.94378939e-01 -1.02830382e-01 -2.52277365e-02 2.68288150e+01] [ 1.02813230e-01 9.94698709e-01 -1.97947806e-03 1.48460715e-01] [ 2.52975474e-02 -6.25393796e-04 9.99679770e-01 3.16671114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.86, Y:0.15, Z:0.32 [[ 9.94489714e-01 -1.01658040e-01 -2.56096030e-02 2.68563337e+01] [ 1.01639913e-01 9.94819220e-01 -2.01191030e-03 1.50680318e-01] [ 2.56814522e-02 -6.02133720e-04 9.99669996e-01 3.16893269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.853617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:0.15, Z:0.32 [[ 9.94533468e-01 -1.01190453e-01 -2.57618563e-02 2.68851345e+01] [ 1.01171834e-01 9.94866898e-01 -2.02849236e-03 1.53275416e-01] [ 2.58348821e-02 -5.88970694e-04 9.99666050e-01 3.17307794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:0.16, Z:0.32 [[ 9.94529736e-01 -1.01585273e-01 -2.43112549e-02 2.69133702e+01] [ 1.01568672e-01 9.94826678e-01 -1.91992172e-03 1.57629748e-01] [ 2.43805207e-02 -5.59842626e-04 9.99702594e-01 3.19569230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.913617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:0.16, Z:0.32 [[ 9.94439251e-01 -1.02630626e-01 -2.36121080e-02 2.69414631e+01] [ 1.02615153e-01 9.94719376e-01 -1.86920079e-03 1.57288705e-01] [ 2.36792585e-02 -5.64153448e-04 9.99719448e-01 3.19396519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999993 meters Centerline goodness [0,1] 0.9999565953383394 Centerline is valid? [True, True] Translation: X:26.97, Y:0.16, Z:0.32 [[ 9.94121355e-01 -1.05734975e-01 -2.32990817e-02 2.69703534e+01] [ 1.05720668e-01 9.94394149e-01 -1.84841251e-03 1.57372831e-01] [ 2.33639124e-02 -6.25648138e-04 9.99726831e-01 3.20121876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:0.16, Z:0.32 [[ 9.93879013e-01 -1.08028623e-01 -2.31154378e-02 2.69993960e+01] [ 1.08015036e-01 9.94147559e-01 -1.83921008e-03 1.59862470e-01] [ 2.31788434e-02 -6.68862551e-04 9.99731111e-01 3.22040418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:0.16, Z:0.32 [[ 9.93650812e-01 -1.10117832e-01 -2.30678681e-02 2.70278709e+01] [ 1.10104762e-01 9.93918285e-01 -1.83983416e-03 1.56734171e-01] [ 2.31301744e-02 -7.11729422e-04 9.99732208e-01 3.22533665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.033617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:0.16, Z:0.32 [[ 9.93416679e-01 -1.12291735e-01 -2.26686500e-02 2.70567181e+01] [ 1.12279590e-01 9.93675003e-01 -1.81186970e-03 1.59903119e-01] [ 2.27287289e-02 -7.45285152e-04 9.99741391e-01 3.24708857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.09, Y:0.16, Z:0.33 [[ 9.93011738e-01 -1.15917536e-01 -2.21542902e-02 2.70860581e+01] [ 1.15906761e-01 9.93258514e-01 -1.77414047e-03 1.62712417e-01] [ 2.22105914e-02 -8.06089716e-04 9.99752989e-01 3.26033726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.093617864999995 meters Centerline goodness [0,1] 0.9998909915409436 Centerline is valid? [True, True] Translation: X:27.11, Y:0.16, Z:0.33 [[ 9.92809696e-01 -1.17670111e-01 -2.19693733e-02 2.71141039e+01] [ 1.17659917e-01 9.93052388e-01 -1.76054222e-03 1.63655857e-01] [ 2.20239018e-02 -8.37031256e-04 9.99757094e-01 3.26049789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999993 meters Centerline goodness [0,1] 0.9998913728301723 Centerline is valid? [True, True] Translation: X:27.14, Y:0.16, Z:0.33 [[ 9.92626924e-01 -1.19296217e-01 -2.14523111e-02 2.71419092e+01] [ 1.19286830e-01 9.92858343e-01 -1.72127466e-03 1.63228610e-01] [ 2.15044476e-02 -8.50394622e-04 9.99768391e-01 3.26263068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.153617864999994 meters Centerline goodness [0,1] 0.9998034677031925 Centerline is valid? [True, True] Translation: X:27.17, Y:0.17, Z:0.33 [[ 9.92451390e-01 -1.20837529e-01 -2.09411126e-02 2.71702669e+01] [ 1.20828853e-01 9.92671926e-01 -1.68376554e-03 1.67759020e-01] [ 2.09911167e-02 -8.59235164e-04 9.99779293e-01 3.27608829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.20, Y:0.16, Z:0.33 [[ 9.92369756e-01 -1.21533869e-01 -2.07794446e-02 2.71987168e+01] [ 1.21525392e-01 9.92586910e-01 -1.67490771e-03 1.64885373e-01] [ 2.08289627e-02 -8.63102393e-04 9.99782681e-01 3.27695765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.213617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:0.17, Z:0.33 [[ 9.92309291e-01 -1.22055065e-01 -2.06114572e-02 2.72269211e+01] [ 1.22046766e-01 9.92522955e-01 -1.66480061e-03 1.71389610e-01] [ 2.06605418e-02 -8.63564591e-04 9.99786175e-01 3.28810036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999994 meters Centerline goodness [0,1] 0.9997600506075083 Centerline is valid? [True, True] Translation: X:27.25, Y:0.17, Z:0.33 [[ 9.92282945e-01 -1.22364256e-01 -2.00385864e-02 2.72545536e+01] [ 1.22356376e-01 9.92484902e-01 -1.62346216e-03 1.73118081e-01] [ 2.00866482e-02 -8.40914998e-04 9.99797889e-01 3.29280573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.273617864999995 meters Centerline goodness [0,1] 0.9998907963132836 Centerline is valid? [True, True] Translation: X:27.28, Y:0.17, Z:0.33 [[ 9.92272188e-01 -1.22415632e-01 -2.02562993e-02 2.72811868e+01] [ 1.22407499e-01 9.92478562e-01 -1.64558679e-03 1.74240934e-01] [ 2.03053883e-02 -8.46652938e-04 9.99793466e-01 3.30418135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:0.18, Z:0.33 [[ 9.92221635e-01 -1.22826036e-01 -2.02482569e-02 2.73089909e+01] [ 1.22817924e-01 9.92427851e-01 -1.64841152e-03 1.78195061e-01] [ 2.02974019e-02 -8.51259298e-04 9.99793624e-01 3.30811909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.333617864999994 meters Centerline goodness [0,1] 0.9999565018812936 Centerline is valid? [True, True] Translation: X:27.34, Y:0.18, Z:0.33 [[ 9.92228713e-01 -1.22791829e-01 -2.01084136e-02 2.73372612e+01] [ 1.22783737e-01 9.92432093e-01 -1.64123321e-03 1.78864252e-01] [ 2.01577650e-02 -8.40507453e-04 9.99796458e-01 3.30484808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617864999995 meters Centerline goodness [0,1] 0.9998913964247703 Centerline is valid? [True, True] Translation: X:27.37, Y:0.18, Z:0.33 [[ 9.92241759e-01 -1.22709361e-01 -1.99675949e-02 2.73661278e+01] [ 1.22701313e-01 9.92442302e-01 -1.63239276e-03 1.81247049e-01] [ 2.00169958e-02 -8.30321843e-04 9.99799295e-01 3.30587848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.393617864999996 meters Centerline goodness [0,1] 0.9997391361057368 Centerline is valid? [True, True] Translation: X:27.39, Y:0.18, Z:0.33 [[ 9.92301884e-01 -1.22131368e-01 -2.05158520e-02 2.73943183e+01] [ 1.22122672e-01 9.92513591e-01 -1.68093583e-03 1.83312560e-01] [ 2.05675569e-02 -8.37454857e-04 9.99788115e-01 3.30572309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999994 meters Centerline goodness [0,1] 0.9998478922207735 Centerline is valid? [True, True] Translation: X:27.42, Y:0.19, Z:0.33 [[ 9.92502541e-01 -1.20478822e-01 -2.05805519e-02 2.74236188e+01] [ 1.20469661e-01 9.92715573e-01 -1.68885111e-03 1.85295043e-01] [ 2.06341051e-02 -8.03143090e-04 9.99786772e-01 3.31233102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.453617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.45, Y:0.19, Z:0.33 [[ 9.92561054e-01 -1.20053608e-01 -2.02406792e-02 2.74520893e+01] [ 1.20044570e-01 9.92767106e-01 -1.66537979e-03 1.92555755e-01] [ 2.02942154e-02 -7.76792518e-04 9.99793749e-01 3.32741946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617864999996 meters Centerline goodness [0,1] 0.999869593566616 Centerline is valid? [True, True] Translation: X:27.48, Y:0.19, Z:0.33 [[ 9.92685197e-01 -1.19063361e-01 -2.00003981e-02 2.74801315e+01] [ 1.19054261e-01 9.92886380e-01 -1.64934067e-03 1.89740499e-01] [ 2.00544989e-02 -7.43856547e-04 9.99798612e-01 3.32023217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.513617864999993 meters Centerline goodness [0,1] 0.9999565595134665 Centerline is valid? [True, True] Translation: X:27.51, Y:0.19, Z:0.33 [[ 9.92892317e-01 -1.17507144e-01 -1.88922868e-02 2.75074875e+01] [ 1.17498710e-01 9.93071810e-01 -1.55967705e-03 1.93500976e-01] [ 1.89446706e-02 -6.71227973e-04 9.99820308e-01 3.31973045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.54, Y:0.20, Z:0.33 [[ 9.92953494e-01 -1.17021440e-01 -1.86906742e-02 2.75362431e+01] [ 1.17013047e-01 9.93129175e-01 -1.54582006e-03 2.00307024e-01] [ 1.87431479e-02 -6.52125294e-04 9.99824119e-01 3.33040644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.57, Y:0.20, Z:0.33 [[ 9.92979499e-01 -1.16827598e-01 -1.85209873e-02 2.75652064e+01] [ 1.16819243e-01 9.93152005e-01 -1.53611735e-03 2.04071392e-01] [ 1.85736166e-02 -6.38274671e-04 9.99827292e-01 3.33407665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.59, Y:0.20, Z:0.33 [[ 9.93101286e-01 -1.15699559e-01 -1.90643114e-02 2.75934530e+01] [ 1.15690426e-01 9.93284055e-01 -1.58494785e-03 2.02025999e-01] [ 1.91196543e-02 -6.31544569e-04 9.99817003e-01 3.33798440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.633617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.62, Y:0.21, Z:0.33 [[ 9.93081844e-01 -1.15861697e-01 -1.90923691e-02 2.76213896e+01] [ 1.15852516e-01 9.93265154e-01 -1.58998061e-03 2.05604754e-01] [ 1.91480028e-02 -6.32918129e-04 9.99816460e-01 3.34470985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.65, Y:0.21, Z:0.33 [[ 9.93079854e-01 -1.15854562e-01 -1.92385933e-02 2.76496530e+01] [ 1.15845136e-01 9.93265987e-01 -1.60746445e-03 2.10296479e-01] [ 1.92952724e-02 -6.32356888e-04 9.99813629e-01 3.34908834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.693617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.68, Y:0.21, Z:0.33 [[ 9.93144911e-01 -1.15332372e-01 -1.90165574e-02 2.76774044e+01] [ 1.15322987e-01 9.93326769e-01 -1.59310959e-03 2.07624143e-01] [ 1.90733926e-02 -6.10857506e-04 9.99817900e-01 3.32981642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.71, Y:0.21, Z:0.33 [[ 9.93154770e-01 -1.15357389e-01 -1.83378306e-02 2.77056392e+01] [ 1.15348624e-01 9.93323879e-01 -1.53854706e-03 2.12408090e-01] [ 1.83928878e-02 -5.87228173e-04 9.99830664e-01 3.33647622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.753617864999995 meters Centerline goodness [0,1] 0.9998049710707089 Centerline is valid? [True, True] Translation: X:27.73, Y:0.21, Z:0.33 [[ 9.93129008e-01 -1.15687561e-01 -1.76397980e-02 2.77333223e+01] [ 1.15679428e-01 9.93285491e-01 -1.48416490e-03 2.14824560e-01] [ 1.76930549e-02 -5.66594526e-04 9.99843305e-01 3.34385170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.76, Y:0.21, Z:0.34 [[ 9.93128801e-01 -1.15879217e-01 -1.63459776e-02 2.77611936e+01] [ 1.15872191e-01 9.93263174e-01 -1.37950893e-03 2.14837151e-01] [ 1.63957140e-02 -5.24014181e-04 9.99865444e-01 3.35659608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.813617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.79, Y:0.21, Z:0.34 [[ 9.93103498e-01 -1.16181049e-01 -1.57291426e-02 2.77889049e+01] [ 1.16174522e-01 9.93227924e-01 -1.33117251e-03 2.14323900e-01] [ 1.57772807e-02 -5.05333544e-04 9.99875403e-01 3.35436748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.82, Y:0.22, Z:0.34 [[ 9.93065934e-01 -1.16478597e-01 -1.58992723e-02 2.78169120e+01] [ 1.16471937e-01 9.93193069e-01 -1.34741865e-03 2.17095041e-01] [ 1.59479925e-02 -5.13743471e-04 9.99872691e-01 3.35215040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.873617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:0.22, Z:0.34 [[ 9.93035687e-01 -1.16755149e-01 -1.57594141e-02 2.78446657e+01] [ 1.16748573e-01 9.93160599e-01 -1.33980271e-03 2.18298392e-01] [ 1.58080580e-02 -5.09417206e-04 9.99874915e-01 3.35302787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.87, Y:0.22, Z:0.34 [[ 9.93019285e-01 -1.16836461e-01 -1.61846067e-02 2.78730606e+01] [ 1.16829463e-01 9.93151031e-01 -1.38048114e-03 2.18608750e-01] [ 1.62350493e-02 -5.19994507e-04 9.99868068e-01 3.35300238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:0.22, Z:0.33 [[ 9.93044718e-01 -1.16639019e-01 -1.60476417e-02 2.79012433e+01] [ 1.16632050e-01 9.93174245e-01 -1.37271056e-03 2.18878080e-01] [ 1.60982161e-02 -5.08506379e-04 9.99870286e-01 3.34917445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:0.22, Z:0.33 [[ 9.93046719e-01 -1.16639881e-01 -1.59170375e-02 2.79294306e+01] [ 1.16632995e-01 9.93174147e-01 -1.36339791e-03 2.20092288e-01] [ 1.59674167e-02 -5.02533933e-04 9.99872386e-01 3.34139084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.993617864999994 meters Centerline goodness [0,1] 0.9999562851085222 Centerline is valid? [True, True] Translation: X:27.96, Y:0.22, Z:0.33 [[ 9.93079612e-01 -1.16395625e-01 -1.56506372e-02 2.79585978e+01] [ 1.16388872e-01 9.93202810e-01 -1.34474849e-03 2.21719078e-01] [ 1.57007797e-02 -4.86117700e-04 9.99876617e-01 3.34130143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.99, Y:0.22, Z:0.33 [[ 9.93094676e-01 -1.16299949e-01 -1.54041255e-02 2.79875268e+01] [ 1.16293339e-01 9.93214024e-01 -1.32723796e-03 2.22735375e-01] [ 1.54539512e-02 -4.73324240e-04 9.99880469e-01 3.34282046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.053617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.02, Y:0.22, Z:0.33 [[ 9.93133316e-01 -1.15942369e-01 -1.56071624e-02 2.80155248e+01] [ 1.15935485e-01 9.93255831e-01 -1.34817200e-03 2.21473876e-01] [ 1.56582153e-02 -4.70509421e-04 9.99877292e-01 3.33952872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.04, Y:0.22, Z:0.33 [[ 9.93117345e-01 -1.16078690e-01 -1.56101778e-02 2.80425361e+01] [ 1.16071799e-01 9.93239908e-01 -1.34983748e-03 2.21021609e-01] [ 1.56613389e-02 -4.71354403e-04 9.99877243e-01 3.34650274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.113617864999995 meters Centerline goodness [0,1] 0.9999557923122832 Centerline is valid? [True, True] Translation: X:28.07, Y:0.22, Z:0.34 [[ 9.93064055e-01 -1.16722051e-01 -1.41331458e-02 2.80718550e+01] [ 1.16716444e-01 9.93164525e-01 -1.22373504e-03 2.21032550e-01] [ 1.41793759e-02 -4.34323249e-04 9.99899373e-01 3.36207052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:0.22, Z:0.34 [[ 9.93026874e-01 -1.17091652e-01 -1.36811036e-02 2.80995647e+01] [ 1.17086389e-01 9.93121023e-01 -1.18779187e-03 2.19374144e-01] [ 1.37260721e-02 -4.22361760e-04 9.99905704e-01 3.36639752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.173617864999994 meters Centerline goodness [0,1] 0.9999337353389437 Centerline is valid? [True, True] Translation: X:28.13, Y:0.22, Z:0.34 [[ 9.92993554e-01 -1.17440100e-01 -1.31005690e-02 2.81276999e+01] [ 1.17435273e-01 9.93079885e-01 -1.13974040e-03 2.23031114e-01] [ 1.31437628e-02 -4.06714025e-04 9.99913534e-01 3.37028819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617864999995 meters Centerline goodness [0,1] 0.9999337719104596 Centerline is valid? [True, True] Translation: X:28.16, Y:0.22, Z:0.34 [[ 9.93300034e-01 -1.14962356e-01 -1.17770699e-02 2.81561908e+01] [ 1.14958244e-01 9.93369793e-01 -1.02777982e-03 2.23444164e-01] [ 1.18171415e-02 -3.32977543e-04 9.99930120e-01 3.38086765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.233617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:0.23, Z:0.34 [[ 9.93473117e-01 -1.13470894e-01 -1.16413642e-02 2.81847916e+01] [ 1.13466768e-01 9.93541272e-01 -1.01643089e-03 2.29149742e-01] [ 1.16815111e-02 -3.11111202e-04 9.99931720e-01 3.38649812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:0.23, Z:0.34 [[ 9.94083282e-01 -1.08083822e-01 -1.07849722e-02 2.82139797e+01] [ 1.08079932e-01 9.94141759e-01 -9.44563083e-04 2.34320329e-01] [ 1.08238833e-02 -2.26664698e-04 9.99941394e-01 3.40394165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:0.23, Z:0.34 [[ 9.94309360e-01 -1.05961850e-01 -1.09992282e-02 2.82421667e+01] [ 1.05957672e-01 9.94370174e-01 -9.63600764e-04 2.34161043e-01] [ 1.10394093e-02 -2.07335346e-04 9.99939042e-01 3.40833804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617864999996 meters Centerline goodness [0,1] 0.9999558693733451 Centerline is valid? [True, True] Translation: X:28.27, Y:0.24, Z:0.34 [[ 9.94386315e-01 -1.05136416e-01 -1.19243343e-02 2.82709175e+01] [ 1.05131435e-01 9.94457786e-01 -1.04555473e-03 2.39353947e-01] [ 1.19681730e-02 -2.13937057e-04 9.99928356e-01 3.40261563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.353617864999993 meters Centerline goodness [0,1] 0.9998675642865026 Centerline is valid? [True, True] Translation: X:28.30, Y:0.24, Z:0.34 [[ 9.94389882e-01 -1.05064136e-01 -1.22592528e-02 2.82989898e+01] [ 1.05058828e-01 9.94465425e-01 -1.07794302e-03 2.41156876e-01] [ 1.23046562e-02 -2.16047107e-04 9.99924272e-01 3.40283936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999994 meters Centerline goodness [0,1] 0.9999116236936877 Centerline is valid? [True, True] Translation: X:28.33, Y:0.24, Z:0.34 [[ 9.94517504e-01 -1.03858474e-01 -1.21799335e-02 2.83266948e+01] [ 1.03853101e-01 9.94592067e-01 -1.07450779e-03 2.43931607e-01] [ 1.22256620e-02 -1.96307054e-04 9.99925245e-01 3.41130032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.413617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:0.25, Z:0.34 [[ 9.94514498e-01 -1.03884531e-01 -1.22031822e-02 2.83542650e+01] [ 1.03879129e-01 9.94589345e-01 -1.07739757e-03 2.45486877e-01] [ 1.22490799e-02 -1.96168435e-04 9.99924958e-01 3.42142006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:0.25, Z:0.34 [[ 9.94423296e-01 -1.04778265e-01 -1.19926550e-02 2.83828748e+01] [ 1.04773074e-01 9.94495588e-01 -1.06204241e-03 2.47304478e-01] [ 1.20379215e-02 -2.00387621e-04 9.99927522e-01 3.42587486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:0.25, Z:0.34 [[ 9.94255438e-01 -1.06382916e-01 -1.17813431e-02 2.84117193e+01] [ 1.06377987e-01 9.94325213e-01 -1.04604005e-03 2.50515292e-01] [ 1.18257673e-02 -2.13244552e-04 9.99930050e-01 3.42462346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617864999995 meters Centerline goodness [0,1] 0.9999118418442686 Centerline is valid? [True, True] Translation: X:28.44, Y:0.25, Z:0.34 [[ 9.94061872e-01 -1.08235624e-01 -1.12269919e-02 2.84403035e+01] [ 1.08231237e-01 9.94125244e-01 -9.99341041e-04 2.52573157e-01] [ 1.12692004e-02 -2.21704403e-04 9.99936476e-01 3.42475208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.533617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:0.25, Z:0.34 [[ 9.93880006e-01 -1.09897349e-01 -1.11851037e-02 2.84685060e+01] [ 1.09893067e-01 9.93942914e-01 -9.98595994e-04 2.52978854e-01] [ 1.12270976e-02 -2.36680756e-04 9.99936946e-01 3.43211071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:0.26, Z:0.34 [[ 9.93850444e-01 -1.10164378e-01 -1.11850547e-02 2.84959832e+01] [ 1.10160106e-01 9.93913353e-01 -9.99145074e-04 2.55505344e-01] [ 1.12270454e-02 -2.39146039e-04 9.99936946e-01 3.43578897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.593617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.52, Y:0.25, Z:0.35 [[ 9.93407738e-01 -1.14072573e-01 -1.13364248e-02 2.85248253e+01] [ 1.14068399e-01 9.93472379e-01 -1.01621726e-03 2.53524009e-01] [ 1.13783474e-02 -2.83609739e-04 9.99935224e-01 3.45267565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.55, Y:0.26, Z:0.35 [[ 9.93205848e-01 -1.15854529e-01 -1.09485852e-02 2.85538630e+01] [ 1.15850743e-01 9.93266149e-01 -9.81541236e-04 2.55130274e-01] [ 1.09885750e-02 -2.93529231e-04 9.99939581e-01 3.46194372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.653617864999994 meters Centerline goodness [0,1] 0.9999779254321096 Centerline is valid? [True, True] Translation: X:28.58, Y:0.26, Z:0.35 [[ 9.93057695e-01 -1.17132399e-01 -1.07895947e-02 2.85814933e+01] [ 1.17128766e-01 9.93116263e-01 -9.70180934e-04 2.55413405e-01] [ 1.08289616e-02 -3.00326272e-04 9.99941320e-01 3.47358356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617864999995 meters Centerline goodness [0,1] 0.999955770804308 Centerline is valid? [True, True] Translation: X:28.61, Y:0.26, Z:0.35 [[ 9.92905244e-01 -1.18426753e-01 -1.06902327e-02 2.86107323e+01] [ 1.18423257e-01 9.92962742e-01 -9.61741648e-04 2.57124401e-01] [ 1.07288987e-02 -3.11053843e-04 9.99942395e-01 3.48440085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.713617864999993 meters Centerline goodness [0,1] 0.9999558868939962 Centerline is valid? [True, True] Translation: X:28.64, Y:0.26, Z:0.35 [[ 9.92924417e-01 -1.18272433e-01 -1.06175860e-02 2.86384268e+01] [ 1.18268944e-01 9.92981137e-01 -9.58074214e-04 2.59089068e-01] [ 1.06563764e-02 -3.04435411e-04 9.99943173e-01 3.48389912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:0.27, Z:0.35 [[ 9.92926734e-01 -1.18226578e-01 -1.09076757e-02 2.86655019e+01] [ 1.18222888e-01 9.92986596e-01 -9.84716091e-04 2.66764647e-01] [ 1.09475953e-02 -3.11785989e-04 9.99940025e-01 3.47795500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.773617864999995 meters Centerline goodness [0,1] 0.99991175627082 Centerline is valid? [True, True] Translation: X:28.69, Y:0.27, Z:0.35 [[ 9.93020147e-01 -1.17401592e-01 -1.13072359e-02 2.86929972e+01] [ 1.17397532e-01 9.93084473e-01 -1.02446347e-03 2.71061888e-01] [ 1.13493141e-02 -3.10128728e-04 9.99935546e-01 3.47355154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999993 meters Centerline goodness [0,1] 0.9999558752151083 Centerline is valid? [True, True] Translation: X:28.72, Y:0.28, Z:0.35 [[ 9.93031039e-01 -1.17306089e-01 -1.13418299e-02 2.87210140e+01] [ 1.17301990e-01 9.93095759e-01 -1.02820458e-03 2.75581653e-01] [ 1.13841378e-02 -3.09380159e-04 9.99935151e-01 3.47337521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:0.28, Z:0.35 [[ 9.92974676e-01 -1.17737770e-01 -1.17944664e-02 2.87491734e+01] [ 1.17733328e-01 9.93044668e-01 -1.07269214e-03 2.78266620e-01] [ 1.18387284e-02 -3.23445655e-04 9.99929867e-01 3.47488152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.78, Y:0.28, Z:0.35 [[ 9.92949850e-01 -1.17807727e-01 -1.31123727e-02 2.87766697e+01] [ 1.17802188e-01 9.93036360e-01 -1.19668215e-03 2.79133774e-01] [ 1.31620412e-02 -3.56420830e-04 9.99913313e-01 3.48066508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.893617864999992 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.80, Y:0.28, Z:0.35 [[ 9.92960615e-01 -1.17717875e-01 -1.31041734e-02 2.88046873e+01] [ 1.17712315e-01 9.93047016e-01 -1.19749795e-03 2.82829119e-01] [ 1.31540272e-02 -3.53454288e-04 9.99913420e-01 3.48479773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.83, Y:0.29, Z:0.35 [[ 9.92961111e-01 -1.17769323e-01 -1.25943987e-02 2.88321627e+01] [ 1.17764149e-01 9.93040922e-01 -1.15425283e-03 2.86004428e-01] [ 1.26426889e-02 -3.37040470e-04 9.99920021e-01 3.48628818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.953617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.86, Y:0.29, Z:0.35 [[ 9.93034072e-01 -1.17203774e-01 -1.21081805e-02 2.88600040e+01] [ 1.17198909e-01 9.93107837e-01 -1.11304733e-03 2.90001709e-01] [ 1.21551823e-02 -3.13771625e-04 9.99926074e-01 3.49779526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.89, Y:0.29, Z:0.35 [[ 9.93004761e-01 -1.17498030e-01 -1.16515326e-02 2.88879997e+01] [ 1.17493531e-01 9.93073069e-01 -1.07225292e-03 2.93110007e-01] [ 1.16968109e-02 -3.04227462e-04 9.99931544e-01 3.50226466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.92, Y:0.29, Z:0.35 [[ 9.92914718e-01 -1.18263099e-01 -1.15845779e-02 2.89162867e+01] [ 1.18258664e-01 9.92982248e-01 -1.06952324e-03 2.94680132e-01] [ 1.16297653e-02 -3.08031336e-04 9.99932325e-01 3.50751710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.94, Y:0.30, Z:0.35 [[ 9.92852912e-01 -1.18806793e-01 -1.13154956e-02 2.89438284e+01] [ 1.18802587e-01 9.92917344e-01 -1.04560443e-03 2.96025187e-01] [ 1.13595768e-02 -3.06178746e-04 9.99935431e-01 3.51926298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.97, Y:0.30, Z:0.35 [[ 9.92765153e-01 -1.19559473e-01 -1.10852824e-02 2.89726467e+01] [ 1.19555476e-01 9.92826993e-01 -1.02489407e-03 2.97941573e-01] [ 1.11283034e-02 -3.07827099e-04 9.99938031e-01 3.52802219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.00, Y:0.30, Z:0.35 [[ 9.92670012e-01 -1.20297573e-01 -1.16078494e-02 2.90014170e+01] [ 1.20293208e-01 9.92737824e-01 -1.07601103e-03 3.02950154e-01] [ 1.16529926e-02 -3.28221562e-04 9.99932048e-01 3.52789184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.03, Y:0.31, Z:0.35 [[ 9.92633284e-01 -1.20616864e-01 -1.14339245e-02 2.90294610e+01] [ 1.20612620e-01 9.92699082e-01 -1.06254658e-03 3.06211303e-01] [ 1.14786074e-02 -3.24356484e-04 9.99934066e-01 3.52596653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.06, Y:0.31, Z:0.35 [[ 9.92593605e-01 -1.20933173e-01 -1.15369915e-02 2.90571901e+01] [ 1.20928836e-01 9.92660597e-01 -1.07532920e-03 3.09509052e-01] [ 1.15823598e-02 -3.27790067e-04 9.99932868e-01 3.52637187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.193617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.08, Y:0.31, Z:0.35 [[ 9.92573339e-01 -1.21121643e-01 -1.13010955e-02 2.90845467e+01] [ 1.21117458e-01 9.92637620e-01 -1.05653997e-03 3.11818261e-01] [ 1.13458624e-02 -3.20066543e-04 9.99935582e-01 3.53322598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.11, Y:0.31, Z:0.35 [[ 9.92559127e-01 -1.21227013e-01 -1.14188978e-02 2.91120133e+01] [ 1.21222724e-01 9.92624757e-01 -1.06954925e-03 3.14643265e-01] [ 1.14643389e-02 -3.22639027e-04 9.99934230e-01 3.53468355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.253617864999995 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:29.14, Y:0.32, Z:0.35 [[ 9.92653850e-01 -1.20340592e-01 -1.25090145e-02 2.91405673e+01] [ 1.20335327e-01 9.92732606e-01 -1.17539423e-03 3.18789910e-01] [ 1.25595542e-02 -3.38516744e-04 9.99921068e-01 3.52644677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.17, Y:0.32, Z:0.35 [[ 9.92663818e-01 -1.20187585e-01 -1.31715325e-02 2.91687200e+01] [ 1.20181691e-01 9.92751138e-01 -1.24097664e-03 3.20457033e-01] [ 1.32252038e-02 -3.51104437e-04 9.99912482e-01 3.52563147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.313617865 meters Centerline goodness [0,1] 0.9999560844934346 Centerline is valid? [True, True] Translation: X:29.20, Y:0.32, Z:0.35 [[ 9.92715212e-01 -1.19727480e-01 -1.34847430e-02 2.91971272e+01] [ 1.19721236e-01 9.92806732e-01 -1.27221007e-03 3.23531531e-01] [ 1.35400622e-02 -3.51467819e-04 9.99908267e-01 3.52687019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters Centerline goodness [0,1] 0.9999120627871699 Centerline is valid? [True, True] Translation: X:29.23, Y:0.33, Z:0.35 [[ 9.92677030e-01 -1.20011895e-01 -1.37643837e-02 2.92253166e+01] [ 1.20005372e-01 9.92772389e-01 -1.30190242e-03 3.27345831e-01] [ 1.38211439e-02 -3.59431359e-04 9.99904419e-01 3.52756060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.373617865 meters Centerline goodness [0,1] 0.9999779992519746 Centerline is valid? [True, True] Translation: X:29.25, Y:0.33, Z:0.35 [[ 9.92620174e-01 -1.20482232e-01 -1.37558215e-02 2.92535691e+01] [ 1.20475710e-01 9.92715418e-01 -1.30484659e-03 3.31786566e-01] [ 1.38128269e-02 -3.62025322e-04 9.99904533e-01 3.52729638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:0.33, Z:0.35 [[ 9.92523278e-01 -1.21323458e-01 -1.33477258e-02 2.92817588e+01] [ 1.21317345e-01 9.92612961e-01 -1.26977384e-03 3.30489861e-01] [ 1.34031790e-02 -3.59030565e-04 9.99910109e-01 3.53342305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:0.33, Z:0.35 [[ 9.92431059e-01 -1.22083547e-01 -1.32740795e-02 2.93102778e+01] [ 1.22077545e-01 9.92519760e-01 -1.26448757e-03 3.32345408e-01] [ 1.33291593e-02 -3.65550296e-04 9.99911096e-01 3.53565212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.34, Y:0.34, Z:0.35 [[ 9.92293728e-01 -1.23145861e-01 -1.37205955e-02 2.93385228e+01] [ 1.23139506e-01 9.92388505e-01 -1.31025768e-03 3.37101270e-01] [ 1.37775141e-02 -3.89386877e-04 9.99905010e-01 3.53287994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:0.34, Z:0.35 [[ 9.92242565e-01 -1.23516828e-01 -1.40813673e-02 2.93666162e+01] [ 1.23510122e-01 9.92342397e-01 -1.34822481e-03 3.40306095e-01] [ 1.41400662e-02 -4.01425351e-04 9.99899944e-01 3.53201937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters Centerline goodness [0,1] 0.9999780610342028 Centerline is valid? [True, True] Translation: X:29.40, Y:0.34, Z:0.35 [[ 9.92183787e-01 -1.23982221e-01 -1.41330273e-02 2.93950912e+01] [ 1.23975457e-01 9.92284357e-01 -1.35714675e-03 3.42497986e-01] [ 1.41922440e-02 -4.05609512e-04 9.99899203e-01 3.53171303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.553617865 meters Centerline goodness [0,1] 0.9999781382536838 Centerline is valid? [True, True] Translation: X:29.42, Y:0.34, Z:0.35 [[ 9.92220024e-01 -1.23803726e-01 -1.31172193e-02 2.94231864e+01] [ 1.23797838e-01 9.92306656e-01 -1.26303331e-03 3.44016189e-01] [ 1.31726722e-02 -3.70676441e-04 9.99913168e-01 3.54026691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters Centerline goodness [0,1] 0.9999780451391939 Centerline is valid? [True, True] Translation: X:29.45, Y:0.35, Z:0.35 [[ 9.92281762e-01 -1.23348675e-01 -1.27282803e-02 2.94517339e+01] [ 1.23343074e-01 9.92363331e-01 -1.22713889e-03 3.47034906e-01] [ 1.27824446e-02 -3.52277674e-04 9.99918239e-01 3.54366206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:0.35, Z:0.35 [[ 9.92525030e-01 -1.21293041e-01 -1.34930879e-02 2.94799176e+01] [ 1.21286510e-01 9.92616684e-01 -1.30431214e-03 3.50595358e-01] [ 1.35516682e-02 -3.41967107e-04 9.99908113e-01 3.53952502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617864999996 meters Centerline goodness [0,1] 0.9999123249238323 Centerline is valid? [True, True] Translation: X:29.51, Y:0.35, Z:0.35 [[ 9.92647642e-01 -1.20205597e-01 -1.41870821e-02 2.95080655e+01] [ 1.20198217e-01 9.92748960e-01 -1.37480829e-03 3.52979563e-01] [ 1.42494707e-02 -3.40561773e-04 9.99898413e-01 3.53575279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.673617865 meters Centerline goodness [0,1] 0.9999780364594772 Centerline is valid? [True, True] Translation: X:29.54, Y:0.36, Z:0.35 [[ 9.92730167e-01 -1.19423295e-01 -1.49964154e-02 2.95368665e+01] [ 1.19414936e-01 9.92843370e-01 -1.45483752e-03 3.57317146e-01] [ 1.50628331e-02 -3.46534890e-04 9.99886489e-01 3.53768443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:0.36, Z:0.35 [[ 9.92789523e-01 -1.18902678e-01 -1.52025151e-02 2.95654698e+01] [ 1.18893970e-01 9.92905855e-01 -1.47856966e-03 3.60035414e-01] [ 1.52704721e-02 -3.39578897e-04 9.99883342e-01 3.53860827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.733617865 meters Centerline goodness [0,1] 0.999956153812426 Centerline is valid? [True, True] Translation: X:29.59, Y:0.36, Z:0.35 [[ 9.92863046e-01 -1.18273453e-01 -1.53088890e-02 2.95934654e+01] [ 1.18264495e-01 9.92981008e-01 -1.49232179e-03 3.60898486e-01] [ 1.53779381e-02 -3.28826872e-04 9.99881698e-01 3.53531292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:0.36, Z:0.35 [[ 9.92832642e-01 -1.18482981e-01 -1.56565461e-02 2.96217638e+01] [ 1.18473609e-01 9.92956026e-01 -1.52799988e-03 3.63440671e-01] [ 1.57273037e-02 -3.37839364e-04 9.99876261e-01 3.53491501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:0.37, Z:0.35 [[ 9.92815376e-01 -1.18627308e-01 -1.56585616e-02 2.96498957e+01] [ 1.18617887e-01 9.92938794e-01 -1.53233864e-03 3.66065623e-01] [ 1.57297705e-02 -3.36056128e-04 9.99876223e-01 3.53669961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:0.37, Z:0.35 [[ 9.92767783e-01 -1.19085857e-01 -1.51884009e-02 2.96782248e+01] [ 1.19076986e-01 9.92883906e-01 -1.49030325e-03 3.68525681e-01] [ 1.52577929e-02 -3.29063959e-04 9.99883539e-01 3.54158166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:0.37, Z:0.35 [[ 9.92742470e-01 -1.19322801e-01 -1.49818933e-02 2.97061035e+01] [ 1.19314137e-01 9.92855460e-01 -1.47402469e-03 3.71815741e-01] [ 1.50507393e-02 -3.24224758e-04 9.99886679e-01 3.54715663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:0.37, Z:0.36 [[ 9.92613689e-01 -1.20388175e-01 -1.49917103e-02 2.97339427e+01] [ 1.20379564e-01 9.92726837e-01 -1.47879526e-03 3.70843965e-01] [ 1.50607026e-02 -3.36823128e-04 9.99886524e-01 3.55022075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.913617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.76, Y:0.37, Z:0.36 [[ 9.92492918e-01 -1.21393847e-01 -1.48775839e-02 2.97628634e+01] [ 1.21385456e-01 9.92604359e-01 -1.46903077e-03 3.72107760e-01] [ 1.49458859e-02 -3.47919683e-04 9.99888243e-01 3.55226255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:0.37, Z:0.36 [[ 9.92254691e-01 -1.23309141e-01 -1.50161384e-02 2.97913726e+01] [ 1.23300763e-01 9.92368235e-01 -1.48602999e-03 3.72188502e-01] [ 1.50847799e-02 -3.76981096e-04 9.99886147e-01 3.55413387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.82, Y:0.37, Z:0.36 [[ 9.92142526e-01 -1.24169281e-01 -1.53361347e-02 2.98203866e+01] [ 1.24160611e-01 9.92260970e-01 -1.51985410e-03 3.73570890e-01] [ 1.54061671e-02 -3.96231971e-04 9.99881239e-01 3.55962317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.85, Y:0.38, Z:0.36 [[ 9.92044220e-01 -1.24908303e-01 -1.56901971e-02 2.98495473e+01] [ 1.24899262e-01 9.92168204e-01 -1.55864675e-03 3.75382675e-01] [ 1.57620026e-02 -4.13447537e-04 9.99875686e-01 3.56379520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:0.38, Z:0.36 [[ 9.92078967e-01 -1.24674398e-01 -1.53498380e-02 2.98772663e+01] [ 1.24665668e-01 9.92197630e-01 -1.52802743e-03 3.77828065e-01] [ 1.54205787e-02 -3.97673927e-04 9.99881017e-01 3.56826958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865 meters Centerline goodness [0,1] 0.9999779356603857 Centerline is valid? [True, True] Translation: X:29.91, Y:0.38, Z:0.36 [[ 9.92253779e-01 -1.23328778e-01 -1.49148098e-02 2.99060232e+01] [ 1.23320362e-01 9.92365799e-01 -1.48615927e-03 3.83861242e-01] [ 1.49842333e-02 -3.64652597e-04 9.99887664e-01 3.56594919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.093617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:0.39, Z:0.36 [[ 9.92276041e-01 -1.23040953e-01 -1.57855373e-02 2.99341357e+01] [ 1.23031433e-01 9.92401522e-01 -1.57645537e-03 3.86123658e-01] [ 1.58595598e-02 -3.77838386e-04 9.99874158e-01 3.56403064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.96, Y:0.39, Z:0.36 [[ 9.92285950e-01 -1.22902370e-01 -1.62358045e-02 2.99610093e+01] [ 1.22892249e-01 9.92418692e-01 -1.62343307e-03 3.87465402e-01] [ 1.63122396e-02 -3.84344695e-04 9.99866873e-01 3.56534486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:0.39, Z:0.36 [[ 9.92210348e-01 -1.23475364e-01 -1.65063561e-02 2.99890512e+01] [ 1.23464944e-01 9.92347558e-01 -1.65278649e-03 3.94035171e-01] [ 1.65841206e-02 -3.98044472e-04 9.99862395e-01 3.57321902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.02, Y:0.40, Z:0.36 [[ 9.92172843e-01 -1.23777289e-01 -1.64994934e-02 3.00160686e+01] [ 1.23766855e-01 9.92309943e-01 -1.65593388e-03 3.96004053e-01] [ 1.65775783e-02 -3.99117777e-04 9.99862503e-01 3.57231109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.04, Y:0.40, Z:0.36 [[ 9.92161775e-01 -1.23965051e-01 -1.57377930e-02 3.00442794e+01] [ 1.23955534e-01 9.92286512e-01 -1.58251385e-03 4.01122973e-01] [ 1.58125762e-02 -3.80676792e-04 9.99874901e-01 3.57237344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.07, Y:0.40, Z:0.36 [[ 9.92128333e-01 -1.24267590e-01 -1.54575824e-02 3.00720844e+01] [ 1.24258390e-01 9.92248671e-01 -1.55788661e-03 4.04036093e-01] [ 1.55313604e-02 -3.75110866e-04 9.99879311e-01 3.57764881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.273617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.10, Y:0.41, Z:0.36 [[ 9.92030101e-01 -1.25068562e-01 -1.53014456e-02 3.01002037e+01] [ 1.25059622e-01 9.92148028e-01 -1.54343843e-03 4.05595691e-01] [ 1.53743347e-02 -3.82455629e-04 9.99881735e-01 3.58162103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters Centerline goodness [0,1] 0.9999779200706558 Centerline is valid? [True, True] Translation: X:30.13, Y:0.41, Z:0.36 [[ 9.91921140e-01 -1.25923504e-01 -1.53532628e-02 3.01288368e+01] [ 1.25914581e-01 9.92039876e-01 -1.55026464e-03 4.09051552e-01] [ 1.54262636e-02 -3.95459385e-04 9.99880930e-01 3.58848363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.333617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:0.41, Z:0.36 [[ 9.91796503e-01 -1.26900022e-01 -1.53649169e-02 3.01569495e+01] [ 1.26891152e-01 9.91915429e-01 -1.55472569e-03 4.09593578e-01] [ 1.54379929e-02 -4.07700516e-04 9.99880744e-01 3.59569356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:0.41, Z:0.36 [[ 9.91490911e-01 -1.29205480e-01 -1.58656302e-02 3.01856351e+01] [ 1.29196290e-01 9.91617737e-01 -1.60713572e-03 4.13894991e-01] [ 1.59402910e-02 -4.56320099e-04 9.99872841e-01 3.59991434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.21, Y:0.42, Z:0.36 [[ 9.91346559e-01 -1.30308508e-01 -1.58648515e-02 3.02136777e+01] [ 1.30299407e-01 9.91473384e-01 -1.61039757e-03 4.19051984e-01] [ 1.59394265e-02 -4.70718655e-04 9.99872848e-01 3.60056706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.24, Y:0.42, Z:0.36 [[ 9.91256633e-01 -1.31007504e-01 -1.57264367e-02 3.02419536e+01] [ 1.30998621e-01 9.91381262e-01 -1.59808094e-03 4.22478968e-01] [ 1.58002552e-02 -4.76033185e-04 9.99875055e-01 3.60197498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.27, Y:0.43, Z:0.36 [[ 9.91110036e-01 -1.32156782e-01 -1.53454336e-02 3.02705017e+01] [ 1.32148406e-01 9.91228710e-01 -1.56300827e-03 4.27873155e-01] [ 1.54173965e-02 -4.78761405e-04 9.99881030e-01 3.60229925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.30, Y:0.43, Z:0.36 [[ 9.91073481e-01 -1.32430679e-01 -1.53450491e-02 3.02979564e+01] [ 1.32422278e-01 9.91192154e-01 -1.56677416e-03 4.30739091e-01] [ 1.54173813e-02 -4.79238034e-04 9.99881030e-01 3.60597064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.33, Y:0.43, Z:0.36 [[ 9.91032970e-01 -1.32653160e-01 -1.60247050e-02 3.03258081e+01] [ 1.32643961e-01 9.91162393e-01 -1.64027779e-03 4.34277720e-01] [ 1.61006730e-02 -5.00010974e-04 9.99870251e-01 3.60362299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:0.44, Z:0.36 [[ 9.90993720e-01 -1.32912050e-01 -1.63044155e-02 3.03539130e+01] [ 1.32902529e-01 9.91127704e-01 -1.67091314e-03 4.38767302e-01] [ 1.63818424e-02 -5.11033625e-04 9.99865678e-01 3.60963515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:0.44, Z:0.36 [[ 9.90975740e-01 -1.32972144e-01 -1.68964870e-02 3.03820901e+01] [ 1.32961846e-01 9.91119636e-01 -1.73638540e-03 4.41785509e-01] [ 1.69773309e-02 -5.25872297e-04 9.99855736e-01 3.61325732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865 meters Centerline goodness [0,1] 0.9999780350121905 Centerline is valid? [True, True] Translation: X:30.41, Y:0.45, Z:0.36 [[ 9.90947729e-01 -1.33066228e-01 -1.77757600e-02 3.04097629e+01] [ 1.33054754e-01 9.91106996e-01 -1.83184505e-03 4.48132809e-01] [ 1.78614368e-02 -5.49886686e-04 9.99840321e-01 3.61024966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.633617865 meters Centerline goodness [0,1] 0.999977991989084 Centerline is valid? [True, True] Translation: X:30.44, Y:0.45, Z:0.36 [[ 9.90942252e-01 -1.33001892e-01 -1.85458911e-02 3.04371964e+01] [ 1.32989308e-01 9.91115621e-01 -1.91573925e-03 4.50316880e-01] [ 1.86359193e-02 -5.68018249e-04 9.99826175e-01 3.60218014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.47, Y:0.46, Z:0.36 [[ 9.90963119e-01 -1.32770056e-01 -1.90842492e-02 3.04655924e+01] [ 1.32756629e-01 9.91146699e-01 -1.97441571e-03 4.55221870e-01] [ 1.91774339e-02 -5.76987441e-04 9.99815930e-01 3.60613584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.693617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.49, Y:0.46, Z:0.36 [[ 9.90937647e-01 -1.32974807e-01 -1.89810350e-02 3.04930523e+01] [ 1.32961471e-01 9.91119252e-01 -1.96852545e-03 4.59618868e-01] [ 1.90742335e-02 -5.73060345e-04 9.99817906e-01 3.61457711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.52, Y:0.46, Z:0.36 [[ 9.90950413e-01 -1.32893806e-01 -1.88816176e-02 3.05203991e+01] [ 1.32880514e-01 9.91130122e-01 -1.96240074e-03 4.63686455e-01] [ 1.89749308e-02 -5.64357238e-04 9.99819801e-01 3.62310808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:0.47, Z:0.36 [[ 9.90923669e-01 -1.33086257e-01 -1.89296070e-02 3.05488179e+01] [ 1.33072881e-01 9.91104297e-01 -1.97010257e-03 4.66707806e-01] [ 1.90234084e-02 -5.66796074e-04 9.99818878e-01 3.62345476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865 meters Centerline goodness [0,1] 0.999955994631345 Centerline is valid? [True, True] Translation: X:30.58, Y:0.47, Z:0.36 [[ 9.90851657e-01 -1.33611936e-01 -1.89958869e-02 3.05772063e+01] [ 1.33598467e-01 9.91033562e-01 -1.98206015e-03 4.69410273e-01] [ 1.90903883e-02 -5.73893780e-04 9.99817597e-01 3.63127417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:0.47, Z:0.36 [[ 9.90884104e-01 -1.33435087e-01 -1.85410340e-02 3.06046272e+01] [ 1.33422158e-01 9.91057401e-01 -1.93818013e-03 4.70769909e-01] [ 1.86338502e-02 -5.53272874e-04 9.99826222e-01 3.64387110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.63, Y:0.48, Z:0.37 [[ 9.90902136e-01 -1.33304326e-01 -1.85179500e-02 3.06333603e+01] [ 1.33291361e-01 9.91075001e-01 -1.93815948e-03 4.75015384e-01] [ 1.86110423e-02 -5.47756385e-04 9.99826650e-01 3.65043531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.873617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:0.48, Z:0.37 [[ 9.90966022e-01 -1.32808905e-01 -1.86584398e-02 3.06623347e+01] [ 1.32795570e-01 9.91141516e-01 -1.95736812e-03 4.78814304e-01] [ 1.87531103e-02 -5.38072852e-04 9.99824000e-01 3.65587162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:0.48, Z:0.37 [[ 9.91168091e-01 -1.31274272e-01 -1.87851478e-02 3.06902632e+01] [ 1.31260406e-01 9.91345957e-01 -1.97456086e-03 4.82021234e-01] [ 1.88817893e-02 -5.08624408e-04 9.99821594e-01 3.65484488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:0.49, Z:0.37 [[ 9.91239059e-01 -1.30714737e-01 -1.89416264e-02 3.07192112e+01] [ 1.30700480e-01 9.91419895e-01 -1.99402473e-03 4.85496440e-01] [ 1.90397537e-02 -4.99124463e-04 9.99818603e-01 3.66020525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:0.49, Z:0.37 [[ 9.91294761e-01 -1.30339606e-01 -1.86086825e-02 3.07476135e+01] [ 1.30325699e-01 9.91469292e-01 -1.96330848e-03 4.89082579e-01] [ 1.87058341e-02 -4.78972135e-04 9.99824916e-01 3.66461246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.993617865 meters Centerline goodness [0,1] 0.999978098512889 Centerline is valid? [True, True] Translation: X:30.77, Y:0.49, Z:0.37 [[ 9.91434635e-01 -1.29176802e-01 -1.92540372e-02 3.07749868e+01] [ 1.29161618e-01 9.91621467e-01 -2.03536218e-03 4.92017950e-01] [ 1.93556382e-02 -4.68954036e-04 9.99812552e-01 3.66018537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:0.49, Z:0.37 [[ 9.91424996e-01 -1.29166396e-01 -1.98120823e-02 3.08029163e+01] [ 1.29150248e-01 9.91622818e-01 -2.09777257e-03 4.94267146e-01] [ 1.99170746e-02 -4.78951191e-04 9.99801521e-01 3.66010292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.053617865 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:30.83, Y:0.50, Z:0.37 [[ 9.91393630e-01 -1.29382359e-01 -1.99718558e-02 3.08312181e+01] [ 1.29365886e-01 9.91594662e-01 -2.12002029e-03 4.97199831e-01] [ 2.00782788e-02 -4.81902217e-04 9.99798295e-01 3.66371735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters Centerline goodness [0,1] 0.999956279374795 Centerline is valid? [True, True] Translation: X:30.86, Y:0.50, Z:0.37 [[ 9.91315341e-01 -1.30030643e-01 -1.96450217e-02 3.08600166e+01] [ 1.30014734e-01 9.91509859e-01 -2.09030013e-03 4.99894490e-01] [ 1.97500357e-02 -4.81995677e-04 9.99804833e-01 3.66577726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.113617864999995 meters Centerline goodness [0,1] 0.999978038871198 Centerline is valid? [True, True] Translation: X:30.89, Y:0.50, Z:0.37 [[ 9.91202140e-01 -1.30845240e-01 -1.99459360e-02 3.08883801e+01] [ 1.30828911e-01 9.91402679e-01 -2.12702175e-03 5.02507916e-01] [ 2.00527651e-02 -5.01196568e-04 9.99798797e-01 3.66337586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:0.50, Z:0.37 [[ 9.90908649e-01 -1.32728896e-01 -2.19792838e-02 3.09168890e+01] [ 1.32709410e-01 9.91152205e-01 -2.34932766e-03 5.04952197e-01] [ 2.20966393e-02 -5.88888681e-04 9.99755666e-01 3.65031993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:0.50, Z:0.36 [[ 9.90697992e-01 -1.34203703e-01 -2.25134247e-02 3.09449218e+01] [ 1.34183547e-01 9.90953564e-01 -2.41040737e-03 5.03530064e-01] [ 2.26332440e-02 -6.32945444e-04 9.99743635e-01 3.64255638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.97, Y:0.51, Z:0.37 [[ 9.90471130e-01 -1.35854763e-01 -2.25925717e-02 3.09733088e+01] [ 1.35834818e-01 9.90728537e-01 -2.42226033e-03 5.08934349e-01] [ 2.27121811e-02 -6.69678932e-04 9.99741821e-01 3.66343150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.233617865 meters Centerline goodness [0,1] 0.9999779842367135 Centerline is valid? [True, True] Translation: X:31.00, Y:0.51, Z:0.37 [[ 9.90086268e-01 -1.38831410e-01 -2.13312330e-02 3.10021771e+01] [ 1.38814246e-01 9.90315787e-01 -2.29048667e-03 5.06859024e-01] [ 2.14426483e-02 -6.93299624e-04 9.99769840e-01 3.68915106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.03, Y:0.51, Z:0.37 [[ 9.89866976e-01 -1.40537166e-01 -2.03143958e-02 3.10309533e+01] [ 1.40521909e-01 9.90075161e-01 -2.18364288e-03 5.08680753e-01] [ 2.04196617e-02 -6.93101711e-04 9.99791257e-01 3.70102817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:0.51, Z:0.37 [[ 9.89746018e-01 -1.41410242e-01 -2.01485074e-02 3.10588388e+01] [ 1.41395339e-01 9.89950833e-01 -2.16954902e-03 5.10713568e-01] [ 2.02528282e-02 -7.01602541e-04 9.99794644e-01 3.70586962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:0.51, Z:0.37 [[ 9.89616588e-01 -1.42342710e-01 -1.99389591e-02 3.10879733e+01] [ 1.42328250e-01 9.89817179e-01 -2.14968557e-03 5.14389320e-01] [ 2.00419163e-02 -7.10512663e-04 9.99798888e-01 3.70234092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:0.52, Z:0.37 [[ 9.89597590e-01 -1.42427523e-01 -2.02734101e-02 3.11156137e+01] [ 1.42412487e-01 9.89804973e-01 -2.19086940e-03 5.18429889e-01] [ 2.03787622e-02 -7.19107676e-04 9.99792073e-01 3.70394162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.14, Y:0.52, Z:0.37 [[ 9.89690618e-01 -1.41637232e-01 -2.12456011e-02 3.11433466e+01] [ 1.41620442e-01 9.89918360e-01 -2.30041350e-03 5.19906008e-01] [ 2.13572347e-02 -7.32113752e-04 9.99771640e-01 3.69867872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.413617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.17, Y:0.52, Z:0.37 [[ 9.89714815e-01 -1.41444676e-01 -2.14006709e-02 3.11724096e+01] [ 1.41427530e-01 9.89945893e-01 -2.32025347e-03 5.23155461e-01] [ 2.15136937e-02 -7.30254783e-04 9.99768287e-01 3.70045178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.20, Y:0.53, Z:0.37 [[ 9.89848079e-01 -1.40557087e-01 -2.10828519e-02 3.12009468e+01] [ 1.40540140e-01 9.90072331e-01 -2.29071269e-03 5.27713247e-01] [ 2.11955243e-02 -6.95529415e-04 9.99775108e-01 3.70655277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.23, Y:0.53, Z:0.37 [[ 9.90107450e-01 -1.38710083e-01 -2.11364895e-02 3.12289523e+01] [ 1.38692523e-01 9.90332816e-01 -2.30155150e-03 5.34540551e-01] [ 2.12514076e-02 -6.52689768e-04 9.99773950e-01 3.70786197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.26, Y:0.54, Z:0.37 [[ 9.90205147e-01 -1.37968422e-01 -2.14121764e-02 3.12580656e+01] [ 1.37950120e-01 9.90436421e-01 -2.33661443e-03 5.38349690e-01] [ 2.15297783e-02 -6.40084652e-04 9.99768003e-01 3.71158729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.533617865 meters Centerline goodness [0,1] 0.9999780567014833 Centerline is valid? [True, True] Translation: X:31.29, Y:0.54, Z:0.37 [[ 9.90333459e-01 -1.37003408e-01 -2.16727144e-02 3.12859257e+01] [ 1.36984345e-01 9.90570380e-01 -2.36876096e-03 5.39116989e-01] [ 2.17928773e-02 -6.22959358e-04 9.99762313e-01 3.70686143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:0.55, Z:0.37 [[ 9.90403345e-01 -1.36580320e-01 -2.11430857e-02 3.13145554e+01] [ 1.36562018e-01 9.90628821e-01 -2.31385649e-03 5.45980347e-01] [ 2.12609774e-02 -5.95691247e-04 9.99773782e-01 3.71887716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.593617865 meters Centerline goodness [0,1] 0.9999560033437459 Centerline is valid? [True, True] Translation: X:31.34, Y:0.55, Z:0.37 [[ 9.90561968e-01 -1.35563057e-01 -2.02397018e-02 3.13427792e+01] [ 1.35545977e-01 9.90768571e-01 -2.21968791e-03 5.50323104e-01] [ 2.03537681e-02 -5.44671733e-04 9.99792692e-01 3.73102251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.37, Y:0.55, Z:0.37 [[ 9.90581999e-01 -1.35470035e-01 -1.98789776e-02 3.13709220e+01] [ 1.35453446e-01 9.90781303e-01 -2.18482951e-03 5.54657533e-01] [ 1.99916983e-02 -5.28423237e-04 9.99800006e-01 3.73902556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.40, Y:0.56, Z:0.37 [[ 9.90578843e-01 -1.35540119e-01 -1.95558882e-02 3.13983011e+01] [ 1.35523983e-01 9.90771724e-01 -2.15419291e-03 5.58521988e-01] [ 1.96674006e-02 -5.16393928e-04 9.99806445e-01 3.74414057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.43, Y:0.56, Z:0.37 [[ 9.90509964e-01 -1.36029822e-01 -1.96443316e-02 3.14265349e+01] [ 1.36013529e-01 9.90704605e-01 -2.16934957e-03 5.62200253e-01] [ 1.97568260e-02 -5.23132493e-04 9.99804678e-01 3.74251619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.713617864999996 meters Centerline goodness [0,1] 0.9999560526489266 Centerline is valid? [True, True] Translation: X:31.46, Y:0.57, Z:0.37 [[ 9.90295064e-01 -1.37512015e-01 -2.01526979e-02 3.14552444e+01] [ 1.37495065e-01 9.90499940e-01 -2.23089143e-03 5.67063690e-01] [ 2.02680204e-02 -5.61655733e-04 9.99794425e-01 3.73784773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.48, Y:0.57, Z:0.37 [[ 9.90157067e-01 -1.38512560e-01 -2.00811469e-02 3.14831421e+01] [ 1.38495859e-01 9.90360509e-01 -2.22678563e-03 5.68738042e-01] [ 2.01960126e-02 -5.76288154e-04 9.99795874e-01 3.74167757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.773617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:0.57, Z:0.38 [[ 9.89957106e-01 -1.40036138e-01 -1.93599455e-02 3.15117322e+01] [ 1.40020855e-01 9.90146222e-01 -2.14940143e-03 5.73088011e-01] [ 1.94701708e-02 -5.82980912e-04 9.99810268e-01 3.75408846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:0.58, Z:0.38 [[ 9.89812516e-01 -1.41149544e-01 -1.86544797e-02 3.15403340e+01] [ 1.41135469e-01 9.89988117e-01 -2.07550295e-03 5.76021249e-01] [ 1.87606695e-02 -5.78449943e-04 9.99823836e-01 3.76221423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:0.58, Z:0.38 [[ 9.89752848e-01 -1.41592926e-01 -1.84592234e-02 3.15680087e+01] [ 1.41579154e-01 9.89924800e-01 -2.05741936e-03 5.75568552e-01] [ 1.85645590e-02 -5.77104567e-04 9.99827497e-01 3.76568733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.60, Y:0.58, Z:0.38 [[ 9.89612208e-01 -1.42521524e-01 -1.88492255e-02 3.15968021e+01] [ 1.42507284e-01 9.89791518e-01 -2.10339950e-03 5.81918187e-01] [ 1.89565832e-02 -6.04602105e-04 9.99820125e-01 3.76638604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.62, Y:0.59, Z:0.38 [[ 9.89585069e-01 -1.42662052e-01 -1.92075711e-02 3.16232508e+01] [ 1.42647208e-01 9.89771267e-01 -2.14775500e-03 5.85516527e-01] [ 1.93175051e-02 -6.14520097e-04 9.99813211e-01 3.75890862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.65, Y:0.59, Z:0.37 [[ 9.89565962e-01 -1.42718421e-01 -1.97651138e-02 3.16511024e+01] [ 1.42702628e-01 9.89763131e-01 -2.21441920e-03 5.89717285e-01] [ 1.98788193e-02 -6.29219805e-04 9.99802199e-01 3.74897690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.68, Y:0.59, Z:0.38 [[ 9.89530693e-01 -1.42998331e-01 -1.95060262e-02 3.16791091e+01] [ 1.42982900e-01 9.89722735e-01 -2.19066505e-03 5.93352858e-01] [ 1.96188190e-02 -6.21297878e-04 9.99807339e-01 3.75599791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.71, Y:0.60, Z:0.38 [[ 9.89472427e-01 -1.43381293e-01 -1.96499360e-02 3.17067420e+01] [ 1.43365626e-01 9.89667322e-01 -2.21104062e-03 5.95404020e-01] [ 1.97639214e-02 -6.29361643e-04 9.99804477e-01 3.76341371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.73, Y:0.60, Z:0.38 [[ 9.89391458e-01 -1.43948351e-01 -1.95809963e-02 3.17342303e+01] [ 1.43932866e-01 9.89584997e-01 -2.20520153e-03 5.96977525e-01] [ 1.96944953e-02 -6.36541371e-04 9.99805842e-01 3.76923928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.76, Y:0.60, Z:0.38 [[ 9.89283169e-01 -1.44663618e-01 -1.97799970e-02 3.17626758e+01] [ 1.44647896e-01 9.89480677e-01 -2.23082863e-03 6.00397080e-01] [ 1.98946445e-02 -6.54213731e-04 9.99801868e-01 3.77026340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.073617864999996 meters Centerline goodness [0,1] 0.9998463159743567 Centerline is valid? [True, True] Translation: X:31.79, Y:0.60, Z:0.38 [[ 9.89255386e-01 -1.44841526e-01 -1.98673880e-02 3.17896943e+01] [ 1.44825614e-01 9.89454649e-01 -2.24500870e-03 6.02592829e-01] [ 1.99830499e-02 -6.56419712e-04 9.99800103e-01 3.76700744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.82, Y:0.61, Z:0.38 [[ 9.89236427e-01 -1.44976908e-01 -1.98238997e-02 3.18172135e+01] [ 1.44961010e-01 9.89434823e-01 -2.24423717e-03 6.06722970e-01] [ 1.99398193e-02 -6.53611365e-04 9.99800968e-01 3.76826505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.133617865 meters Centerline goodness [0,1] 0.9999562774632185 Centerline is valid? [True, True] Translation: X:31.85, Y:0.61, Z:0.38 [[ 9.89311663e-01 -1.44554714e-01 -1.91407390e-02 3.18454287e+01] [ 1.44539739e-01 9.89496615e-01 -2.17075454e-03 6.06510167e-01] [ 1.92534892e-02 -6.19044639e-04 9.99814443e-01 3.76544725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters Centerline goodness [0,1] 0.999956154773649 Centerline is valid? [True, True] Translation: X:31.87, Y:0.61, Z:0.38 [[ 9.89298136e-01 -1.44654531e-01 -1.90857322e-02 3.18724698e+01] [ 1.44639612e-01 9.89482029e-01 -2.16710426e-03 6.12853278e-01] [ 1.91984705e-02 -6.16640700e-04 9.99815502e-01 3.78074980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.193617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:0.62, Z:0.38 [[ 9.89235456e-01 -1.45104870e-01 -1.89153345e-02 3.19000769e+01] [ 1.45090204e-01 9.89416090e-01 -2.15274110e-03 6.21293924e-01] [ 1.90275095e-02 -6.14861909e-04 9.99818771e-01 3.79552878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.93, Y:0.62, Z:0.38 [[ 9.89205738e-01 -1.45250968e-01 -1.93432994e-02 3.19273336e+01] [ 1.45235562e-01 9.89394645e-01 -2.20639855e-03 6.22201800e-01] [ 1.94586384e-02 -6.26752853e-04 9.99810466e-01 3.79467111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.253617864999995 meters Centerline goodness [0,1] 0.9999560748484583 Centerline is valid? [True, True] Translation: X:31.96, Y:0.63, Z:0.38 [[ 9.89189931e-01 -1.45351554e-01 -1.93960250e-02 3.19554241e+01] [ 1.45336002e-01 9.89379873e-01 -2.21653982e-03 6.28042420e-01] [ 1.95122142e-02 -6.26361860e-04 9.99809422e-01 3.79821170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.98, Y:0.63, Z:0.38 [[ 9.89157763e-01 -1.45518581e-01 -1.97803718e-02 3.19834365e+01] [ 1.45502359e-01 9.89355313e-01 -2.26454899e-03 6.30010586e-01] [ 1.98993499e-02 -6.38094542e-04 9.99801785e-01 3.79533063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.313617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.01, Y:0.63, Z:0.38 [[ 9.89166906e-01 -1.45402325e-01 -2.01741296e-02 3.20105007e+01] [ 1.45385386e-01 9.89372400e-01 -2.31160739e-03 6.30600376e-01] [ 2.02958401e-02 -6.46458094e-04 9.99793809e-01 3.79559338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.04, Y:0.63, Z:0.38 [[ 9.89129708e-01 -1.45655214e-01 -2.01737499e-02 3.20379051e+01] [ 1.45638260e-01 9.89335200e-01 -2.31491707e-03 6.33830699e-01] [ 2.02957806e-02 -6.48316591e-04 9.99793809e-01 3.79927019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.373617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.07, Y:0.64, Z:0.38 [[ 9.89092445e-01 -1.45908118e-01 -2.01731570e-02 3.20653085e+01] [ 1.45891112e-01 9.89297933e-01 -2.32007406e-03 6.37068998e-01] [ 2.02957802e-02 -6.48316577e-04 9.99793809e-01 3.80293984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:0.64, Z:0.38 [[ 9.89164815e-01 -1.45515221e-01 -1.94496656e-02 3.20934376e+01] [ 1.45499244e-01 9.89355823e-01 -2.24162396e-03 6.43860574e-01] [ 1.95688304e-02 -6.12576090e-04 9.99808324e-01 3.81785354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:0.65, Z:0.38 [[ 9.89142308e-01 -1.45682846e-01 -1.93391332e-02 3.21208399e+01] [ 1.45666989e-01 9.89331158e-01 -2.23363819e-03 6.49856929e-01] [ 1.94582098e-02 -6.07687262e-04 9.99810486e-01 3.82462260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.15, Y:0.65, Z:0.38 [[ 9.89110758e-01 -1.45890361e-01 -1.93884391e-02 3.21481660e+01] [ 1.45874369e-01 9.89300577e-01 -2.24413882e-03 6.52523357e-01] [ 1.95083922e-02 -6.08574470e-04 9.99809508e-01 3.82592891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.493617865 meters Centerline goodness [0,1] 0.9999560960618168 Centerline is valid? [True, True] Translation: X:32.18, Y:0.66, Z:0.38 [[ 9.89065908e-01 -1.46216216e-01 -1.92210366e-02 3.21755835e+01] [ 1.46200482e-01 9.89252471e-01 -2.22882484e-03 6.56272434e-01] [ 1.93403483e-02 -6.05670151e-04 9.99812775e-01 3.83100462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.20, Y:0.66, Z:0.38 [[ 9.89050063e-01 -1.46266311e-01 -1.96504476e-02 3.22021070e+01] [ 1.46249789e-01 9.89245059e-01 -2.28300827e-03 6.58575251e-01] [ 1.97730354e-02 -6.15864336e-04 9.99804305e-01 3.83310618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.553617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.23, Y:0.67, Z:0.38 [[ 9.89006777e-01 -1.46539307e-01 -1.97946168e-02 3.22292135e+01] [ 1.46522529e-01 9.89204652e-01 -2.30311790e-03 6.66230724e-01] [ 1.99184243e-02 -6.22558111e-04 9.99801415e-01 3.84659458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617864999994 meters Centerline goodness [0,1] 0.9999561999036398 Centerline is valid? [True, True] Translation: X:32.26, Y:0.67, Z:0.38 [[ 9.88987597e-01 -1.46697597e-01 -1.95792708e-02 3.22563625e+01] [ 1.46681119e-01 9.89181196e-01 -2.28286255e-03 6.67883031e-01] [ 1.97023369e-02 -6.14186593e-04 9.99805701e-01 3.84262659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.28, Y:0.67, Z:0.38 [[ 9.88830899e-01 -1.47761490e-01 -1.94934542e-02 3.22842415e+01] [ 1.47745304e-01 9.89022824e-01 -2.27584113e-03 6.71750076e-01] [ 1.96157528e-02 -6.29644295e-04 9.99807394e-01 3.84358752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617864999996 meters Centerline goodness [0,1] 0.9999562200380886 Centerline is valid? [True, True] Translation: X:32.31, Y:0.68, Z:0.39 [[ 9.88779266e-01 -1.48097284e-01 -1.95641913e-02 3.23110956e+01] [ 1.48080990e-01 9.88972593e-01 -2.28695037e-03 6.79847761e-01] [ 1.96871402e-02 -6.35795712e-04 9.99805987e-01 3.85650002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.673617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:0.68, Z:0.39 [[ 9.88702218e-01 -1.48661660e-01 -1.91738264e-02 3.23386903e+01] [ 1.48646036e-01 9.88887918e-01 -2.24544827e-03 6.82613117e-01] [ 1.92945773e-02 -6.30033609e-04 9.99813644e-01 3.85749923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:0.69, Z:0.39 [[ 9.88696723e-01 -1.48774179e-01 -1.85750560e-02 3.23656144e+01] [ 1.48759487e-01 9.88871009e-01 -2.17794695e-03 6.91502701e-01] [ 1.86923566e-02 -6.09886794e-04 9.99825097e-01 3.86566083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.733617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:0.69, Z:0.39 [[ 9.88679134e-01 -1.48923025e-01 -1.83167196e-02 3.23928972e+01] [ 1.48908677e-01 9.88848610e-01 -2.15235103e-03 6.94285975e-01] [ 1.84329973e-02 -5.99533924e-04 9.99829918e-01 3.86809011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters Centerline goodness [0,1] 0.9999565547952645 Centerline is valid? [True, True] Translation: X:32.42, Y:0.70, Z:0.39 [[ 9.88594288e-01 -1.49638370e-01 -1.70203274e-02 3.24210642e+01] [ 1.49626031e-01 9.88740632e-01 -2.00331392e-03 7.01382379e-01] [ 1.71284619e-02 -5.66219343e-04 9.99853137e-01 3.87840764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.793617864999995 meters Centerline goodness [0,1] 0.9999565547952645 Centerline is valid? [True, True] Translation: X:32.45, Y:0.70, Z:0.39 [[ 9.88553043e-01 -1.49910664e-01 -1.70198289e-02 3.24484634e+01] [ 1.49898292e-01 9.88699384e-01 -2.00754134e-03 7.04672845e-01] [ 1.71284462e-02 -5.66682185e-04 9.99853137e-01 3.88207903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.48, Y:0.71, Z:0.39 [[ 9.88312757e-01 -1.51486411e-01 -1.70224152e-02 3.24768703e+01] [ 1.51474190e-01 9.88459164e-01 -2.01246588e-03 7.09729897e-01] [ 1.71308236e-02 -5.89510855e-04 9.99853083e-01 3.88138720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:0.72, Z:0.39 [[ 9.87936578e-01 -1.53865930e-01 -1.75097990e-02 3.25051700e+01] [ 1.53853295e-01 9.88091524e-01 -2.07445047e-03 7.15751214e-01] [ 1.76204712e-02 -6.44514769e-04 9.99844540e-01 3.87436097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:0.72, Z:0.39 [[ 9.87742133e-01 -1.55094188e-01 -1.76429122e-02 3.25329155e+01] [ 1.55081491e-01 9.87899462e-01 -2.09389064e-03 7.22139896e-01] [ 1.77541738e-02 -6.67865134e-04 9.99842159e-01 3.88142147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.913617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.56, Y:0.72, Z:0.39 [[ 9.87555470e-01 -1.56285305e-01 -1.75811672e-02 3.25610051e+01] [ 1.56272857e-01 9.87711716e-01 -2.08813803e-03 7.23045122e-01] [ 1.76914701e-02 -6.85307099e-04 9.99843259e-01 3.88543610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:0.73, Z:0.39 [[ 9.87391933e-01 -1.57346704e-01 -1.72969782e-02 3.25894839e+01] [ 1.57334781e-01 9.87543183e-01 -2.05652065e-03 7.27367930e-01] [ 1.74050997e-02 -6.90824382e-04 9.99848281e-01 3.89056755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:0.73, Z:0.39 [[ 9.87158864e-01 -1.58815249e-01 -1.71782829e-02 3.26173622e+01] [ 1.58803650e-01 9.87308065e-01 -2.04590839e-03 7.32250502e-01] [ 1.72851787e-02 -7.08337427e-04 9.99850349e-01 3.89614837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:0.74, Z:0.39 [[ 9.87067006e-01 -1.59383820e-01 -1.71908134e-02 3.26456212e+01] [ 1.59372254e-01 9.87216432e-01 -2.04950322e-03 7.40700641e-01] [ 1.72977111e-02 -7.16741671e-04 9.99850127e-01 3.90452535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.67, Y:0.75, Z:0.39 [[ 9.87008257e-01 -1.59740321e-01 -1.72548879e-02 3.26735729e+01] [ 1.59728646e-01 9.87158807e-01 -2.06155206e-03 7.45524786e-01] [ 1.73626276e-02 -7.21330983e-04 9.99848998e-01 3.90698820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:0.75, Z:0.39 [[ 9.86949778e-01 -1.60108890e-01 -1.71836567e-02 3.27012907e+01] [ 1.60097284e-01 9.87099096e-01 -2.05786724e-03 7.52076938e-01] [ 1.72914548e-02 -7.20045149e-04 9.99850232e-01 3.91025979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.093617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.73, Y:0.76, Z:0.39 [[ 9.87013104e-01 -1.59765377e-01 -1.67379064e-02 3.27291457e+01] [ 1.59754248e-01 9.87154773e-01 -2.00846434e-03 7.56928436e-01] [ 1.68437872e-02 -6.91571032e-04 9.99857894e-01 3.91708585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.76, Y:0.76, Z:0.39 [[ 9.87067985e-01 -1.59494609e-01 -1.60705808e-02 3.27581273e+01] [ 1.59484291e-01 9.87198580e-01 -1.92987860e-03 7.62042818e-01] [ 1.61726598e-02 -6.58083806e-04 9.99868997e-01 3.92613528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:0.77, Z:0.39 [[ 9.87115989e-01 -1.59240714e-01 -1.56338919e-02 3.27863550e+01] [ 1.59230881e-01 9.87239583e-01 -1.87970082e-03 7.67275332e-01] [ 1.57337218e-02 -6.33915649e-04 9.99876016e-01 3.93276208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:0.78, Z:0.39 [[ 9.87290083e-01 -1.58228148e-01 -1.49045190e-02 3.28135968e+01] [ 1.58219045e-01 9.87402405e-01 -1.79544798e-03 7.79343346e-01] [ 1.50008484e-02 -5.85550782e-04 9.99887309e-01 3.93856429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.84, Y:0.78, Z:0.39 [[ 9.87337807e-01 -1.57871751e-01 -1.55101552e-02 3.28412978e+01] [ 1.57861792e-01 9.87459442e-01 -1.87207677e-03 7.81970250e-01] [ 1.56111972e-02 -6.00088719e-04 9.99877958e-01 3.93846616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.87, Y:0.79, Z:0.39 [[ 9.87393821e-01 -1.57545281e-01 -1.52619578e-02 3.28699833e+01] [ 1.57535574e-01 9.87511592e-01 -1.84376257e-03 7.87379750e-01] [ 1.53618363e-02 -5.83781501e-04 9.99881830e-01 3.93889873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.273617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:0.79, Z:0.39 [[ 9.87411241e-01 -1.57432269e-01 -1.53010312e-02 3.28984107e+01] [ 1.57422442e-01 9.87529617e-01 -1.85214799e-03 7.92696418e-01] [ 1.54018094e-02 -5.79893956e-04 9.99881217e-01 3.94181390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.93, Y:0.80, Z:0.39 [[ 9.87448902e-01 -1.57177445e-01 -1.54892327e-02 3.29256567e+01] [ 1.57167290e-01 9.87570208e-01 -1.87831978e-03 7.98752369e-01] [ 1.55919343e-02 -5.79655919e-04 9.99878270e-01 3.93980883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:0.80, Z:0.39 [[ 9.87380588e-01 -1.57606482e-01 -1.54845423e-02 3.29533775e+01] [ 1.57596366e-01 9.87501825e-01 -1.87905612e-03 8.02944732e-01] [ 1.55871652e-02 -5.84964060e-04 9.99878342e-01 3.94298686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:0.81, Z:0.39 [[ 9.87297123e-01 -1.58132528e-01 -1.54432384e-02 3.29814208e+01] [ 1.58122504e-01 9.87417721e-01 -1.87567524e-03 8.09953390e-01] [ 1.55455325e-02 -5.90074754e-04 9.99878987e-01 3.94796546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.01, Y:0.82, Z:0.40 [[ 9.87040741e-01 -1.59783867e-01 -1.48219867e-02 3.30098209e+01] [ 1.59774768e-01 9.87151848e-01 -1.80366608e-03 8.15655274e-01] [ 1.49197483e-02 -5.87887582e-04 9.99888522e-01 3.96136836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:0.82, Z:0.40 [[ 9.86897964e-01 -1.60695838e-01 -1.44656922e-02 3.30380262e+01] [ 1.60687222e-01 9.87003803e-01 -1.76354651e-03 8.15457560e-01] [ 1.45610878e-02 -5.84011441e-04 9.99893811e-01 3.96781107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.07, Y:0.82, Z:0.40 [[ 9.86668398e-01 -1.62125479e-01 -1.41704564e-02 3.30660913e+01] [ 1.62117339e-01 9.86769973e-01 -1.72888119e-03 8.23313287e-01] [ 1.42632765e-02 -5.91444247e-04 9.99898099e-01 3.96888840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:0.83, Z:0.40 [[ 9.86605913e-01 -1.62519476e-01 -1.40068637e-02 3.30936945e+01] [ 1.62511517e-01 9.86705161e-01 -1.71215774e-03 8.28305103e-01] [ 1.40989037e-02 -5.87051724e-04 9.99900433e-01 3.96766455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:0.84, Z:0.40 [[ 9.86537481e-01 -1.62924303e-01 -1.41233702e-02 3.31210789e+01] [ 1.62916199e-01 9.86638393e-01 -1.73017250e-03 8.35725478e-01] [ 1.42165464e-02 -5.94045776e-04 9.99898763e-01 3.97053239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.15, Y:0.84, Z:0.40 [[ 9.86490901e-01 -1.63213399e-01 -1.40388135e-02 3.31482897e+01] [ 1.63205368e-01 9.86590613e-01 -1.72354402e-03 8.39427934e-01] [ 1.41318671e-02 -5.90949241e-04 9.99899966e-01 3.97094871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:0.85, Z:0.40 [[ 9.86505621e-01 -1.63041853e-01 -1.49670878e-02 3.31757535e+01] [ 1.63032659e-01 9.86618956e-01 -1.84054852e-03 8.51028845e-01] [ 1.50668990e-02 -6.24412668e-04 9.99886293e-01 3.96981009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.20, Y:0.85, Z:0.40 [[ 9.86586818e-01 -1.62510723e-01 -1.53855847e-02 3.32039244e+01] [ 1.62500888e-01 9.86706576e-01 -1.89561133e-03 8.53295171e-01] [ 1.54891148e-02 -6.29986031e-04 9.99879838e-01 3.96557513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.633617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:0.86, Z:0.40 [[ 9.86723016e-01 -1.61646600e-01 -1.57501479e-02 3.32322255e+01] [ 1.61636155e-01 9.86848509e-01 -1.94234524e-03 8.61382444e-01] [ 1.58569834e-02 -6.29236586e-04 9.99874072e-01 3.96414074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.26, Y:0.87, Z:0.40 [[ 9.86839950e-01 -1.60918604e-01 -1.58781783e-02 3.32601685e+01] [ 1.60907838e-01 9.86967487e-01 -1.96163730e-03 8.65676889e-01] [ 1.59869097e-02 -6.19101291e-04 9.99872010e-01 3.97044276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.693617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:0.87, Z:0.40 [[ 9.87001826e-01 -1.59936880e-01 -1.57349687e-02 3.32881718e+01] [ 1.59926162e-01 9.87127063e-01 -1.94529866e-03 8.65697365e-01] [ 1.58435384e-02 -5.96419813e-04 9.99874305e-01 3.97350126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:0.88, Z:0.40 [[ 9.87108938e-01 -1.59292753e-01 -1.55487449e-02 3.33161005e+01] [ 1.59282181e-01 9.87231222e-01 -1.92396184e-03 8.75047709e-01] [ 1.56566796e-02 -5.77478065e-04 9.99877260e-01 3.98050078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:0.88, Z:0.40 [[ 9.87368328e-01 -1.57764422e-01 -1.46346240e-02 3.33436056e+01] [ 1.57754842e-01 9.87476642e-01 -1.81399557e-03 8.79924449e-01] [ 1.47375334e-02 -5.17601030e-04 9.99891263e-01 3.98170437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:0.88, Z:0.40 [[ 9.87453132e-01 -1.57236753e-01 -1.45916460e-02 3.33724680e+01] [ 1.57227150e-01 9.87560807e-01 -1.81012269e-03 8.83759532e-01] [ 1.46947555e-02 -5.06791591e-04 9.99891898e-01 3.98450207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:0.89, Z:0.40 [[ 9.87525547e-01 -1.56742334e-01 -1.50044672e-02 3.34015712e+01] [ 1.56732068e-01 9.87639398e-01 -1.86498949e-03 8.87356679e-01] [ 1.51113258e-02 -5.09956415e-04 9.99885687e-01 3.98489540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.43, Y:0.89, Z:0.40 [[ 9.87614761e-01 -1.56133961e-01 -1.54683276e-02 3.34301964e+01] [ 1.56122917e-01 9.87735756e-01 -1.92640347e-03 8.90750460e-01] [ 1.55793973e-02 -5.12415932e-04 9.99878503e-01 3.98487653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.873617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:0.89, Z:0.40 [[ 9.88019980e-01 -1.53456233e-01 -1.63616746e-02 3.34584642e+01] [ 1.53443452e-01 9.88155322e-01 -2.04117355e-03 8.93740062e-01] [ 1.64811067e-02 -4.93871592e-04 9.99864055e-01 3.98513235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:0.90, Z:0.40 [[ 9.88241621e-01 -1.51969799e-01 -1.68427361e-02 3.34868703e+01] [ 1.51956009e-01 9.88385020e-01 -2.10298415e-03 9.00769275e-01] [ 1.69666982e-02 -4.81098500e-04 9.99855939e-01 3.99137097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:0.90, Z:0.40 [[ 9.88498181e-01 -1.50265641e-01 -1.70758251e-02 3.35152626e+01] [ 1.50251150e-01 9.88645554e-01 -2.13572215e-03 9.01353038e-01] [ 1.72028642e-02 -4.54504892e-04 9.99851916e-01 3.98930193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:0.91, Z:0.40 [[ 9.89070624e-01 -1.46470419e-01 -1.69031562e-02 3.35443264e+01] [ 1.46455633e-01 9.89214977e-01 -2.11604187e-03 9.05790697e-01] [ 1.70307928e-02 -3.82647581e-04 9.99854892e-01 3.99372657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:0.91, Z:0.40 [[ 9.89373550e-01 -1.44467616e-01 -1.64038672e-02 3.35726290e+01] [ 1.44453358e-01 9.89509472e-01 -2.05703131e-03 9.12741887e-01] [ 1.65289564e-02 -3.34421330e-04 9.99863332e-01 4.00257405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:0.92, Z:0.40 [[ 9.89698937e-01 -1.42232591e-01 -1.63065407e-02 3.36016377e+01] [ 1.42218138e-01 9.89833221e-01 -2.04844923e-03 9.17156375e-01] [ 1.64321120e-02 -2.91737840e-04 9.99864941e-01 4.01089660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.053617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:0.92, Z:0.40 [[ 9.90344880e-01 -1.37636166e-01 -1.65319174e-02 3.36294659e+01] [ 1.37620636e-01 9.90482831e-01 -2.07881404e-03 9.17339868e-01] [ 1.66607004e-02 -2.16390156e-04 9.99861177e-01 4.01171486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:0.92, Z:0.40 [[ 9.90573340e-01 -1.35956783e-01 -1.67395140e-02 3.36575732e+01] [ 1.35940587e-01 9.90714751e-01 -2.10694696e-03 9.22385706e-01] [ 1.68705372e-02 -1.88493871e-04 9.99857665e-01 4.01658887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:0.93, Z:0.40 [[ 9.90731983e-01 -1.34729710e-01 -1.72639020e-02 3.36858609e+01] [ 1.34712222e-01 9.90882373e-01 -2.17722190e-03 9.26237414e-01] [ 1.73998326e-02 -1.68615230e-04 9.99848597e-01 4.01473530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:0.93, Z:0.40 [[ 9.90792368e-01 -1.34159669e-01 -1.82117343e-02 3.37141723e+01] [ 1.34140024e-01 9.90959715e-01 -2.30157393e-03 9.27896983e-01] [ 1.83558735e-02 -1.62540592e-04 9.99831504e-01 4.00266096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.74, Y:0.93, Z:0.40 [[ 9.90705627e-01 -1.34810323e-01 -1.81255985e-02 3.37423685e+01] [ 1.34790897e-01 9.90871408e-01 -2.29482062e-03 9.28492339e-01] [ 1.82695028e-02 -1.69673961e-04 9.99833084e-01 4.00763734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:33.77, Y:0.92, Z:0.40 [[ 9.90227897e-01 -1.38362310e-01 -1.74523056e-02 3.37714260e+01] [ 1.38344825e-01 9.90381654e-01 -2.21105767e-03 9.24217414e-01] [ 1.75903704e-02 -2.24985181e-04 9.99845252e-01 4.02317788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.233617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.80, Y:0.92, Z:0.40 [[ 9.89908686e-01 -1.40624364e-01 -1.74809213e-02 3.37993823e+01] [ 1.40607147e-01 9.90062987e-01 -2.21621511e-03 9.22884640e-01] [ 1.76188670e-02 -2.64091889e-04 9.99844741e-01 4.02838332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.83, Y:0.92, Z:0.40 [[ 9.89497725e-01 -1.43468641e-01 -1.76352077e-02 3.38282611e+01] [ 1.43451531e-01 9.89654813e-01 -2.23800714e-03 9.22932254e-01] [ 1.77738520e-02 -3.15294572e-04 9.99841983e-01 4.03138020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:0.93, Z:0.40 [[ 9.89458420e-01 -1.43739536e-01 -1.76346519e-02 3.38556051e+01] [ 1.43722391e-01 9.89615504e-01 -2.24237904e-03 9.26473961e-01] [ 1.77738434e-02 -3.15753515e-04 9.99841983e-01 4.03504998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:0.92, Z:0.40 [[ 9.88842464e-01 -1.47864753e-01 -1.80719766e-02 3.38844278e+01] [ 1.47847360e-01 9.89007512e-01 -2.30209521e-03 9.23146539e-01] [ 1.82137193e-02 -3.95484533e-04 9.99834038e-01 4.02844897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:0.92, Z:0.40 [[ 9.88534730e-01 -1.49913078e-01 -1.80320943e-02 3.39135547e+01] [ 1.49896065e-01 9.88699087e-01 -2.29907056e-03 9.23736041e-01] [ 1.81729760e-02 -4.30228882e-04 9.99834765e-01 4.02698304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:0.92, Z:0.40 [[ 9.88097672e-01 -1.52628751e-01 -1.91690887e-02 3.39422334e+01] [ 1.52609961e-01 9.88283465e-01 -2.44789929e-03 9.19867873e-01] [ 1.93181132e-02 -5.06630287e-04 9.99813259e-01 4.02243549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.413617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:0.92, Z:0.40 [[ 9.87917699e-01 -1.53772270e-01 -1.93056924e-02 3.39707540e+01] [ 1.53753397e-01 9.88106172e-01 -2.46697678e-03 9.19509180e-01] [ 1.94554264e-02 -5.31145757e-04 9.99810584e-01 4.02263878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:0.92, Z:0.40 [[ 9.87750067e-01 -1.54794147e-01 -1.97123339e-02 3.39995110e+01] [ 1.54774622e-01 9.87946587e-01 -2.52159924e-03 9.20599566e-01] [ 1.98650618e-02 -5.60259192e-04 9.99802513e-01 4.02396539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.03, Y:0.92, Z:0.40 [[ 9.87638291e-01 -1.55501807e-01 -1.97432081e-02 3.40285287e+01] [ 1.55482268e-01 9.87835443e-01 -2.53023148e-03 9.21956491e-01] [ 1.98964963e-02 -5.70765275e-04 9.99801882e-01 4.02756313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617864999995 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:34.06, Y:0.92, Z:0.40 [[ 9.87631370e-01 -1.55499290e-01 -2.01059264e-02 3.40568680e+01] [ 1.55478922e-01 9.87835836e-01 -2.58184761e-03 9.22148106e-01] [ 2.02628301e-02 -5.76134072e-04 9.99794522e-01 4.03736931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.09, Y:0.92, Z:0.40 [[ 9.87650499e-01 -1.55348622e-01 -2.03296922e-02 3.40850241e+01] [ 1.55327649e-01 9.87859543e-01 -2.61631462e-03 9.23833908e-01] [ 2.04893213e-02 -5.73758851e-04 9.99789907e-01 4.04215645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.11, Y:0.92, Z:0.40 [[ 9.87690867e-01 -1.55173742e-01 -1.96941746e-02 3.41132439e+01] [ 1.55153943e-01 9.87887043e-01 -2.53867706e-03 9.22970055e-01] [ 1.98495560e-02 -5.48200693e-04 9.99802828e-01 4.04262624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.593617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.14, Y:0.92, Z:0.41 [[ 9.87635287e-01 -1.55514861e-01 -1.97906155e-02 3.41412067e+01] [ 1.55494876e-01 9.87833397e-01 -2.55406987e-03 9.24031598e-01] [ 1.99470268e-02 -5.54849785e-04 9.99800884e-01 4.05120974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.17, Y:0.93, Z:0.41 [[ 9.87540911e-01 -1.56128677e-01 -1.96668744e-02 3.41703677e+01] [ 1.56108960e-01 9.87736566e-01 -2.54328019e-03 9.25239003e-01] [ 1.98227700e-02 -5.58582086e-04 9.99803354e-01 4.05535465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.20, Y:0.92, Z:0.41 [[ 9.87415296e-01 -1.56993486e-01 -1.90808212e-02 3.41989201e+01] [ 1.56975019e-01 9.87599482e-01 -2.47109344e-03 9.22713887e-01] [ 1.92321547e-02 -5.55216804e-04 9.99814891e-01 4.06865061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617864999995 meters Centerline goodness [0,1] 0.9999348619072433 Centerline is valid? [True, True] Translation: X:34.23, Y:0.92, Z:0.41 [[ 9.87322098e-01 -1.57628322e-01 -1.86651172e-02 3.42278480e+01] [ 1.57610719e-01 9.87498358e-01 -2.41965758e-03 9.23598596e-01] [ 1.88131792e-02 -5.52841147e-04 9.99822864e-01 4.07814555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.713617864999996 meters Centerline goodness [0,1] 0.9999565925122084 Centerline is valid? [True, True] Translation: X:34.26, Y:0.93, Z:0.41 [[ 9.87253865e-01 -1.58129636e-01 -1.80228942e-02 3.42561229e+01] [ 1.58113228e-01 9.87418213e-01 -2.34076496e-03 9.25600219e-01] [ 1.81662783e-02 -5.38728722e-04 9.99834834e-01 4.08806172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.28, Y:0.93, Z:0.41 [[ 9.87239039e-01 -1.58237369e-01 -1.78889545e-02 3.42839921e+01] [ 1.58221133e-01 9.87400958e-01 -2.32825476e-03 9.25836160e-01] [ 1.80319877e-02 -5.31866658e-04 9.99837269e-01 4.08916458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.773617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:0.93, Z:0.41 [[ 9.87183275e-01 -1.58514807e-01 -1.84996650e-02 3.43120613e+01] [ 1.58497395e-01 9.87356447e-01 -2.41294335e-03 9.28075782e-01] [ 1.86482507e-02 -5.50131394e-04 9.99825955e-01 4.08724351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:0.93, Z:0.41 [[ 9.87180172e-01 -1.58517591e-01 -1.86408657e-02 3.43402853e+01] [ 1.58499816e-01 9.87356000e-01 -2.43652791e-03 9.29643738e-01] [ 1.87914032e-02 -5.49281758e-04 9.99823275e-01 4.08367780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:0.93, Z:0.41 [[ 9.87261295e-01 -1.57956943e-01 -1.90981340e-02 3.43694187e+01] [ 1.57938081e-01 9.87445849e-01 -2.50147985e-03 9.30344817e-01] [ 1.92534992e-02 -5.46708390e-04 9.99814485e-01 4.09057749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:0.93, Z:0.41 [[ 9.87232741e-01 -1.58114996e-01 -1.92655798e-02 3.43974605e+01] [ 1.58095734e-01 9.87420552e-01 -2.52840355e-03 9.31475843e-01] [ 1.94230080e-02 -5.49683214e-04 9.99811204e-01 4.09661180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:0.93, Z:0.41 [[ 9.87195522e-01 -1.58316511e-01 -1.95162458e-02 3.44253246e+01] [ 1.58296675e-01 9.87388259e-01 -2.56684436e-03 9.32882765e-01] [ 1.96764858e-02 -5.55379574e-04 9.99806245e-01 4.09900050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.45, Y:0.93, Z:0.41 [[ 9.87157333e-01 -1.58565262e-01 -1.94282736e-02 3.44534981e+01] [ 1.58545570e-01 9.87348343e-01 -2.55953742e-03 9.32846686e-01] [ 1.95883275e-02 -5.53600573e-04 9.99807977e-01 4.09913499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.48, Y:0.94, Z:0.41 [[ 9.87073195e-01 -1.59092665e-01 -1.93915146e-02 3.44817572e+01] [ 1.59073092e-01 9.87263496e-01 -2.55756688e-03 9.35359164e-01] [ 1.95514246e-02 -5.60162473e-04 9.99808696e-01 4.10422041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:0.93, Z:0.41 [[ 9.87017793e-01 -1.59523221e-01 -1.86606331e-02 3.45105893e+01] [ 1.59505097e-01 9.87194027e-01 -2.46518760e-03 9.32392343e-01] [ 1.88149202e-02 -5.43282078e-04 9.99822836e-01 4.10694694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:0.94, Z:0.41 [[ 9.87031445e-01 -1.59421084e-01 -1.88107607e-02 3.45382860e+01] [ 1.59402598e-01 9.87210526e-01 -2.48770963e-03 9.38443064e-01] [ 1.89667743e-02 -5.43036496e-04 9.99819967e-01 4.11922540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.57, Y:0.94, Z:0.41 [[ 9.87125590e-01 -1.58809095e-01 -1.90457818e-02 3.45670020e+01] [ 1.58789932e-01 9.87309165e-01 -2.52388465e-03 9.41866124e-01] [ 1.92048907e-02 -5.32887263e-04 9.99815427e-01 4.12146488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:0.95, Z:0.41 [[ 9.87330164e-01 -1.57517678e-01 -1.91657963e-02 3.45952679e+01] [ 1.57497941e-01 9.87516038e-01 -2.54441473e-03 9.45265881e-01] [ 1.93273215e-02 -5.06396032e-04 9.99813082e-01 4.12256224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:0.95, Z:0.41 [[ 9.87345466e-01 -1.57443674e-01 -1.89847575e-02 3.46235490e+01] [ 1.57424204e-01 9.87527845e-01 -2.52508073e-03 9.49041245e-01] [ 1.91455347e-02 -4.95533337e-04 9.99816585e-01 4.12670376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:0.95, Z:0.41 [[ 9.87275903e-01 -1.57907225e-01 -1.87509845e-02 3.46515194e+01] [ 1.57888239e-01 9.87453829e-01 -2.49801543e-03 9.51326281e-01] [ 1.89101861e-02 -4.94329483e-04 9.99821064e-01 4.12790744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters Centerline goodness [0,1] 0.9999339396208135 Centerline is valid? [True, True] Translation: X:34.68, Y:0.95, Z:0.41 [[ 9.87222560e-01 -1.58341210e-01 -1.78795498e-02 3.46796327e+01] [ 1.58323993e-01 9.87384339e-01 -2.38337469e-03 9.53687794e-01] [ 1.80313739e-02 -4.77840459e-04 9.99837307e-01 4.14027418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:0.96, Z:0.41 [[ 9.87068007e-01 -1.59318718e-01 -1.77283635e-02 3.47078115e+01] [ 1.59301918e-01 9.87227079e-01 -2.36486548e-03 9.57279379e-01] [ 1.78786878e-02 -4.89879257e-04 9.99840043e-01 4.14465463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617864999994 meters Centerline goodness [0,1] 0.9999556609838828 Centerline is valid? [True, True] Translation: X:34.74, Y:0.96, Z:0.41 [[ 9.86688657e-01 -1.61605385e-01 -1.81437048e-02 3.47359822e+01] [ 1.61588137e-01 9.86855312e-01 -2.42235747e-03 9.61656723e-01] [ 1.82966775e-02 -5.41694836e-04 9.99832455e-01 4.14825120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:0.97, Z:0.42 [[ 9.86482298e-01 -1.62854247e-01 -1.81980545e-02 3.47650796e+01] [ 1.62837067e-01 9.86649976e-01 -2.43188842e-03 9.65380570e-01] [ 1.83511534e-02 -5.64302937e-04 9.99831444e-01 4.15082405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865 meters Centerline goodness [0,1] 0.9998889998889999 Centerline is valid? [True, True] Translation: X:34.79, Y:0.97, Z:0.42 [[ 9.86389189e-01 -1.63419769e-01 -1.81754512e-02 3.47938670e+01] [ 1.63402648e-01 9.86556463e-01 -2.43316548e-03 9.71462234e-01] [ 1.83287362e-02 -5.69868734e-04 9.99831852e-01 4.16221709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.313617865 meters Centerline goodness [0,1] 0.9997345367666578 Centerline is valid? [True, True] Translation: X:34.82, Y:0.97, Z:0.41 [[ 9.86223528e-01 -1.64309991e-01 -1.91149310e-02 3.48221570e+01] [ 1.64291141e-01 9.86408562e-01 -2.56308928e-03 9.70653444e-01] [ 1.92762727e-02 -6.12634870e-04 9.99814008e-01 4.14839691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters Centerline goodness [0,1] 0.9998668973778784 Centerline is valid? [True, True] Translation: X:34.85, Y:0.98, Z:0.42 [[ 9.86225536e-01 -1.64256102e-01 -1.94711314e-02 3.48493754e+01] [ 1.64236464e-01 9.86417533e-01 -2.61435043e-03 9.82066246e-01] [ 1.96360884e-02 -6.19530620e-04 9.99807001e-01 4.15474587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.373617865 meters Centerline goodness [0,1] 0.9998012279694333 Centerline is valid? [True, True] Translation: X:34.88, Y:0.99, Z:0.41 [[ 9.86288789e-01 -1.63784867e-01 -2.02223225e-02 3.48772609e+01] [ 1.63763488e-01 9.86495880e-01 -2.71999947e-03 9.86077405e-01] [ 2.03947326e-02 -6.28973083e-04 9.99791808e-01 4.14874772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617864999994 meters Centerline goodness [0,1] 0.9995349867139061 Centerline is valid? [True, True] Translation: X:34.91, Y:0.99, Z:0.41 [[ 9.86615141e-01 -1.61767402e-01 -2.05395066e-02 3.49054079e+01] [ 1.61744836e-01 9.86828737e-01 -2.76618974e-03 9.91606073e-01] [ 2.07164547e-02 -5.92994454e-04 9.99785215e-01 4.14658860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.433617864999995 meters Centerline goodness [0,1] 0.999734912079173 Centerline is valid? [True, True] Translation: X:34.93, Y:1.00, Z:0.42 [[ 9.86718432e-01 -1.61114298e-01 -2.07103721e-02 3.49337948e+01] [ 1.61091107e-01 9.86935584e-01 -2.79422911e-03 9.95864395e-01] [ 2.08899934e-02 -5.79139401e-04 9.99781613e-01 4.15092405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617864999996 meters Centerline goodness [0,1] 0.9997570617725656 Centerline is valid? [True, True] Translation: X:34.96, Y:1.00, Z:0.42 [[ 9.86771638e-01 -1.60764655e-01 -2.08916428e-02 3.49619341e+01] [ 1.60740871e-01 9.86992603e-01 -2.82373734e-03 1.00029311e+00] [ 2.10738541e-02 -5.71756945e-04 9.99777758e-01 4.15686310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.493617865 meters Centerline goodness [0,1] 0.999911911735559 Centerline is valid? [True, True] Translation: X:34.99, Y:1.00, Z:0.42 [[ 9.86976145e-01 -1.59545854e-01 -2.05720674e-02 3.49909090e+01] [ 1.59522427e-01 9.87190375e-01 -2.78542768e-03 1.00413618e+00] [ 2.07529504e-02 -5.32555452e-04 9.99784492e-01 4.17102487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters Centerline goodness [0,1] 0.9996463697646149 Centerline is valid? [True, True] Translation: X:35.02, Y:1.01, Z:0.42 [[ 9.86973738e-01 -1.59646503e-01 -1.98955997e-02 3.50190970e+01] [ 1.59624513e-01 9.87174114e-01 -2.69871783e-03 1.00785968e+00] [ 2.00712619e-02 -5.12261793e-04 9.99798421e-01 4.18166454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.553617865 meters Centerline goodness [0,1] 0.9996466275012147 Centerline is valid? [True, True] Translation: X:35.05, Y:1.01, Z:0.42 [[ 9.86939275e-01 -1.59910878e-01 -1.94776625e-02 3.50458098e+01] [ 1.59889769e-01 9.87131328e-01 -2.64631421e-03 1.01067725e+00] [ 1.96501853e-02 -5.02527542e-04 9.99806790e-01 4.19259078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617864999994 meters Centerline goodness [0,1] 0.9998669682054011 Centerline is valid? [True, True] Translation: X:35.07, Y:1.02, Z:0.42 [[ 9.86772867e-01 -1.60981995e-01 -1.90815518e-02 3.50742409e+01] [ 1.60961879e-01 9.86957211e-01 -2.59547002e-03 1.01605305e+00] [ 1.92504991e-02 -5.10263041e-04 9.99814562e-01 4.20079132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.613617864999995 meters Centerline goodness [0,1] 0.9998227382508696 Centerline is valid? [True, True] Translation: X:35.10, Y:1.02, Z:0.42 [[ 9.86651191e-01 -1.61745490e-01 -1.89162531e-02 3.51023434e+01] [ 1.61725791e-01 9.86832371e-01 -2.57669442e-03 1.01627485e+00] [ 1.90839396e-02 -5.16947371e-04 9.99817751e-01 4.19756786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617864999996 meters Centerline goodness [0,1] 0.9999111742760703 Centerline is valid? [True, True] Translation: X:35.13, Y:1.02, Z:0.42 [[ 9.86477170e-01 -1.62769402e-01 -1.92071352e-02 3.51310418e+01] [ 1.62749236e-01 9.86663989e-01 -2.61889285e-03 1.01950385e+00] [ 1.93772643e-02 -5.42468589e-04 9.99812096e-01 4.20950959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.673617865 meters Centerline goodness [0,1] 0.9997112009597015 Centerline is valid? [True, True] Translation: X:35.16, Y:1.02, Z:0.42 [[ 9.86289528e-01 -1.63866286e-01 -1.95142907e-02 3.51597917e+01] [ 1.63845592e-01 9.86482396e-01 -2.66548698e-03 1.02478069e+00] [ 1.96872877e-02 -5.68388625e-04 9.99806025e-01 4.21631295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters Centerline goodness [0,1] 0.9996684350132626 Centerline is valid? [True, True] Translation: X:35.19, Y:1.03, Z:0.42 [[ 9.85980580e-01 -1.65674132e-01 -1.98589391e-02 3.51872061e+01] [ 1.65652986e-01 9.86180363e-01 -2.71657171e-03 1.02697913e+00] [ 2.00345614e-02 -6.11205623e-04 9.99799101e-01 4.20891823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.733617865 meters Centerline goodness [0,1] 0.9996897575676993 Centerline is valid? [True, True] Translation: X:35.22, Y:1.03, Z:0.42 [[ 9.85810852e-01 -1.66697831e-01 -1.97179662e-02 3.52154742e+01] [ 1.66677130e-01 9.86007831e-01 -2.70025251e-03 1.03105520e+00] [ 1.98921954e-02 -6.24595791e-04 9.99801936e-01 4.21181136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76361786499999 meters Centerline goodness [0,1] 0.9999333229613495 Centerline is valid? [True, True] Translation: X:35.24, Y:1.04, Z:0.42 [[ 9.85762360e-01 -1.67074861e-01 -1.89357006e-02 3.52433865e+01] [ 1.67055749e-01 9.85944029e-01 -2.59784568e-03 1.03561180e+00] [ 1.91035756e-02 -6.02459156e-04 9.99817329e-01 4.21796326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.793617864999995 meters Centerline goodness [0,1] 0.9999556078396555 Centerline is valid? [True, True] Translation: X:35.27, Y:1.04, Z:0.42 [[ 9.85716098e-01 -1.67297065e-01 -1.93769369e-02 3.52708681e+01] [ 1.67276987e-01 9.85906341e-01 -2.66390753e-03 1.03922331e+00] [ 1.95495089e-02 -6.15459079e-04 9.99808701e-01 4.22095877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617864999996 meters Centerline goodness [0,1] 0.9999556363959008 Centerline is valid? [True, True] Translation: X:35.30, Y:1.04, Z:0.42 [[ 9.85756763e-01 -1.66969673e-01 -2.01179741e-02 3.52991442e+01] [ 1.66947872e-01 9.85961832e-01 -2.77021603e-03 1.04132268e+00] [ 2.02980967e-02 -6.27893773e-04 9.99793775e-01 4.21638467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.853617865 meters Centerline goodness [0,1] 0.999755152918132 Centerline is valid? [True, True] Translation: X:35.33, Y:1.05, Z:0.42 [[ 9.85799361e-01 -1.66533967e-01 -2.15883941e-02 3.53272257e+01] [ 1.66508680e-01 9.86035497e-01 -2.97622956e-03 1.04586799e+00] [ 2.17825662e-02 -6.60689819e-04 9.99762513e-01 4.21785004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters Centerline goodness [0,1] 0.999889049151226 Centerline is valid? [True, True] Translation: X:35.35, Y:1.05, Z:0.42 [[ 9.85843603e-01 -1.66265800e-01 -2.16350397e-02 3.53548273e+01] [ 1.66240236e-01 9.86080757e-01 -2.98740121e-03 1.04789041e+00] [ 2.18305990e-02 -6.51503732e-04 9.99761472e-01 4.21541202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.913617865 meters Centerline goodness [0,1] 0.9999558742415885 Centerline is valid? [True, True] Translation: X:35.38, Y:1.05, Z:0.42 [[ 9.86083114e-01 -1.64866354e-01 -2.14284144e-02 3.53823865e+01] [ 1.64840888e-01 9.86315726e-01 -2.96154810e-03 1.05396632e+00] [ 2.16234417e-02 -6.11946287e-04 9.99765999e-01 4.21176324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94361786499999 meters Centerline goodness [0,1] 0.9998228756144002 Centerline is valid? [True, True] Translation: X:35.41, Y:1.06, Z:0.42 [[ 9.86170011e-01 -1.64391795e-01 -2.10724142e-02 3.54106771e+01] [ 1.64366987e-01 9.86394947e-01 -2.91580365e-03 1.06152148e+00] [ 2.12650571e-02 -5.88131105e-04 9.99773700e-01 4.21719786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:1.06, Z:0.42 [[ 9.86243074e-01 -1.63980162e-01 -2.08591997e-02 3.54386238e+01] [ 1.63955681e-01 9.86463472e-01 -2.89008149e-03 1.06496203e+00] [ 2.10507546e-02 -5.69661444e-04 9.99778246e-01 4.21476731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617864999995 meters Centerline goodness [0,1] 0.9998675057966214 Centerline is valid? [True, True] Translation: X:35.47, Y:1.07, Z:0.42 [[ 9.86206606e-01 -1.64092964e-01 -2.16801461e-02 3.54657127e+01] [ 1.64066467e-01 9.86444702e-01 -3.00739989e-03 1.07304830e+00] [ 2.18797584e-02 -5.91067352e-04 9.99760435e-01 4.22828539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.033617865 meters Centerline goodness [0,1] 0.9997805429367744 Centerline is valid? [True, True] Translation: X:35.49, Y:1.07, Z:0.42 [[ 9.86081925e-01 -1.64856006e-01 -2.15623576e-02 3.54943332e+01] [ 1.64829881e-01 9.86317463e-01 -2.99554235e-03 1.07236938e+00] [ 2.17611630e-02 -6.00270680e-04 9.99763018e-01 4.22100829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters Centerline goodness [0,1] 0.9997577839432774 Centerline is valid? [True, True] Translation: X:35.52, Y:1.08, Z:0.42 [[ 9.85841443e-01 -1.66229306e-01 -2.20106255e-02 3.55225520e+01] [ 1.66202352e-01 9.86086917e-01 -3.06113415e-03 1.07803673e+00] [ 2.22132400e-02 -6.40424819e-04 9.99753050e-01 4.23638585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.093617865 meters Centerline goodness [0,1] 0.9998018014050079 Centerline is valid? [True, True] Translation: X:35.55, Y:1.08, Z:0.42 [[ 9.85566075e-01 -1.67914515e-01 -2.15459525e-02 3.55513837e+01] [ 1.67888977e-01 9.85801340e-01 -3.00168535e-03 1.08216525e+00] [ 2.17440554e-02 -6.58968679e-04 9.99763353e-01 4.24922765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters Centerline goodness [0,1] 0.9998455598455599 Centerline is valid? [True, True] Translation: X:35.58, Y:1.08, Z:0.43 [[ 9.85096879e-01 -1.70730617e-01 -2.08613248e-02 3.55796602e+01] [ 1.70707229e-01 9.85317499e-01 -2.90998465e-03 1.08351292e+00] [ 2.10518519e-02 -6.94562161e-04 9.99778144e-01 4.25816140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.153617864999994 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:35.61, Y:1.09, Z:0.43 [[ 9.84941842e-01 -1.71624228e-01 -2.08492536e-02 3.56078653e+01] [ 1.71601008e-01 9.85162230e-01 -2.91107764e-03 1.08836373e+00] [ 2.10395087e-02 -7.10510776e-04 9.99778393e-01 4.26534318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617864999995 meters Centerline goodness [0,1] 0.9999779317650175 Centerline is valid? [True, True] Translation: X:35.64, Y:1.09, Z:0.43 [[ 9.84894943e-01 -1.71893253e-01 -2.08485211e-02 3.56351952e+01] [ 1.71869983e-01 9.85115325e-01 -2.91631622e-03 1.09224830e+00] [ 2.10394927e-02 -7.10969877e-04 9.99778393e-01 4.26901490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.213617864999996 meters Centerline goodness [0,1] 0.9999559675040179 Centerline is valid? [True, True] Translation: X:35.66, Y:1.09, Z:0.43 [[ 9.84824502e-01 -1.72265140e-01 -2.11049969e-02 3.56630004e+01] [ 1.72241285e-01 9.85050353e-01 -2.95659768e-03 1.09489938e+00] [ 2.12988034e-02 -7.23421950e-04 9.99772893e-01 4.26219218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865 meters Centerline goodness [0,1] 0.9998237031160474 Centerline is valid? [True, True] Translation: X:35.69, Y:1.10, Z:0.43 [[ 9.84803273e-01 -1.72364618e-01 -2.12826462e-02 3.56908662e+01] [ 1.72340311e-01 9.85032948e-01 -2.98485100e-03 1.10067296e+00] [ 2.14785904e-02 -7.28366823e-04 9.99769043e-01 4.26513605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.273617865 meters Centerline goodness [0,1] 0.9996468614814161 Centerline is valid? [True, True] Translation: X:35.72, Y:1.10, Z:0.43 [[ 9.84757080e-01 -1.72560650e-01 -2.18246607e-02 3.57188185e+01] [ 1.72535003e-01 9.84998612e-01 -3.06694328e-03 1.10452885e+00] [ 2.20264942e-02 -7.45323790e-04 9.99757110e-01 4.26769996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters Centerline goodness [0,1] 0.9995797668812068 Centerline is valid? [True, True] Translation: X:35.75, Y:1.11, Z:0.43 [[ 9.84719179e-01 -1.72737141e-01 -2.21363630e-02 3.57465450e+01] [ 1.72710664e-01 9.84967670e-01 -3.11684113e-03 1.10853480e+00] [ 2.23419961e-02 -7.53972723e-04 9.99750102e-01 4.27459050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.333617864999994 meters Centerline goodness [0,1] 0.9996910515281916 Centerline is valid? [True, True] Translation: X:35.77, Y:1.11, Z:0.43 [[ 9.84676233e-01 -1.73060729e-01 -2.15104936e-02 3.57747634e+01] [ 1.73035680e-01 9.84910882e-01 -3.03448188e-03 1.11254610e+00] [ 2.17110689e-02 -7.34100710e-04 9.99764017e-01 4.28071287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617864999995 meters Centerline goodness [0,1] 0.9996469939327082 Centerline is valid? [True, True] Translation: X:35.80, Y:1.12, Z:0.43 [[ 9.84720077e-01 -1.72818241e-01 -2.14528818e-02 3.58036735e+01] [ 1.72793149e-01 9.84953469e-01 -3.03191967e-03 1.11741379e+00] [ 2.16540613e-02 -7.21318820e-04 9.99765263e-01 4.28928318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.393617864999996 meters Centerline goodness [0,1] 0.9998237807832944 Centerline is valid? [True, True] Translation: X:35.83, Y:1.12, Z:0.43 [[ 9.84806196e-01 -1.72387441e-01 -2.09601136e-02 3.58319815e+01] [ 1.72363285e-01 9.85028981e-01 -2.96725355e-03 1.12238946e+00] [ 2.11578366e-02 -6.90584365e-04 9.99775909e-01 4.30127336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865 meters Centerline goodness [0,1] 0.9998899647887324 Centerline is valid? [True, True] Translation: X:35.86, Y:1.13, Z:0.43 [[ 9.85191004e-01 -1.70304825e-01 -1.98733892e-02 3.58596538e+01] [ 1.70282610e-01 9.85391240e-01 -2.81723198e-03 1.12595186e+00] [ 2.00628519e-02 -6.08580977e-04 9.99798536e-01 4.31238110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.453617865 meters Centerline goodness [0,1] 0.9999121091604227 Centerline is valid? [True, True] Translation: X:35.89, Y:1.13, Z:0.43 [[ 9.85392363e-01 -1.69206463e-01 -1.92630122e-02 3.58884730e+01] [ 1.69185325e-01 9.85580465e-01 -2.73363335e-03 1.13129197e+00] [ 1.94477970e-02 -5.65317551e-04 9.99810714e-01 4.32297970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters Centerline goodness [0,1] 0.9998901509326186 Centerline is valid? [True, True] Translation: X:35.92, Y:1.14, Z:0.43 [[ 9.85565253e-01 -1.68282888e-01 -1.84932840e-02 3.59165705e+01] [ 1.68263163e-01 9.85738605e-01 -2.62863969e-03 1.13821730e+00] [ 1.86718991e-02 -5.21042529e-04 9.99825529e-01 4.33466356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51361786499999 meters Centerline goodness [0,1] 0.9999560120526976 Centerline is valid? [True, True] Translation: X:35.94, Y:1.14, Z:0.43 [[ 9.85971235e-01 -1.65921923e-01 -1.81834900e-02 3.59436721e+01] [ 1.65902387e-01 9.86138783e-01 -2.58815476e-03 1.14319656e+00] [ 1.83608763e-02 -4.64838243e-04 9.99831317e-01 4.33149092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617864999995 meters Centerline goodness [0,1] 0.9999780200457183 Centerline is valid? [True, True] Translation: X:35.97, Y:1.15, Z:0.43 [[ 9.86089236e-01 -1.65164524e-01 -1.86734523e-02 3.59721943e+01] [ 1.65143739e-01 9.86265921e-01 -2.66034307e-03 1.14688845e+00] [ 1.88563839e-02 -4.60468075e-04 9.99822097e-01 4.32997922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.573617864999996 meters Centerline goodness [0,1] 0.9999560323601829 Centerline is valid? [True, True] Translation: X:36.00, Y:1.15, Z:0.43 [[ 9.86356380e-01 -1.63529067e-01 -1.89561430e-02 3.60012505e+01] [ 1.63507259e-01 9.86538422e-01 -2.70514720e-03 1.15058177e+00] [ 1.91433336e-02 -4.31227776e-04 9.99816657e-01 4.33520855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:1.15, Z:0.43 [[ 9.86429503e-01 -1.63072770e-01 -1.90815756e-02 3.60300271e+01] [ 1.63050500e-01 9.86613954e-01 -2.72757374e-03 1.15492696e+00] [ 1.92709418e-02 -4.20701232e-04 9.99814210e-01 4.34237423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.633617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:1.16, Z:0.43 [[ 9.86493760e-01 -1.62682911e-01 -1.90874965e-02 3.60572935e+01] [ 1.62660485e-01 9.86678318e-01 -2.73205289e-03 1.15819323e+00] [ 1.92776772e-02 -4.09628306e-04 9.99814084e-01 4.34744664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:1.16, Z:0.44 [[ 9.86494771e-01 -1.62641755e-01 -1.93836530e-02 3.60846116e+01] [ 1.62618583e-01 9.86685101e-01 -2.77628925e-03 1.16091398e+00] [ 1.95771022e-02 -4.13347353e-04 9.99808265e-01 4.35131473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:1.16, Z:0.44 [[ 9.86432201e-01 -1.62984518e-01 -1.96865215e-02 3.61120011e+01] [ 1.62960637e-01 9.86628535e-01 -2.82203029e-03 1.16356849e+00] [ 1.98832312e-02 -4.24386539e-04 9.99802219e-01 4.35411285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:1.17, Z:0.44 [[ 9.86246049e-01 -1.64123706e-01 -1.95483968e-02 3.61404662e+01] [ 1.64100321e-01 9.86439666e-01 -2.80537128e-03 1.16882025e+00] [ 1.97437419e-02 -4.41111838e-04 9.99804976e-01 4.36366726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.753617864999995 meters Centerline goodness [0,1] 0.9999779210456593 Centerline is valid? [True, True] Translation: X:36.17, Y:1.17, Z:0.44 [[ 9.86046790e-01 -1.65262967e-01 -1.99970098e-02 3.61684627e+01] [ 1.65238653e-01 9.86249426e-01 -2.87355364e-03 1.16926716e+00] [ 2.01969314e-02 -4.70820625e-04 9.99795910e-01 4.36185462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.20, Y:1.17, Z:0.44 [[ 9.85594089e-01 -1.67939703e-01 -2.00137098e-02 3.61972409e+01] [ 1.67915845e-01 9.85797130e-01 -2.87867290e-03 1.17187841e+00] [ 2.02129011e-02 -5.23416004e-04 9.99795561e-01 4.37720815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:1.17, Z:0.44 [[ 9.85098626e-01 -1.70702661e-01 -2.10071149e-02 3.62262741e+01] [ 1.70676895e-01 9.85322402e-01 -3.02669949e-03 1.17478047e+00] [ 2.12154466e-02 -6.03831624e-04 9.99774745e-01 4.38705756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:1.18, Z:0.44 [[ 9.84809190e-01 -1.72353418e-01 -2.10988009e-02 3.62547590e+01] [ 1.72327696e-01 9.85034971e-01 -3.04498161e-03 1.17820490e+00] [ 2.13078697e-02 -6.37181871e-04 9.99772759e-01 4.38583590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.873617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:1.18, Z:0.44 [[ 9.84629077e-01 -1.73429574e-01 -2.06824656e-02 3.62828092e+01] [ 1.73405016e-01 9.84846063e-01 -2.98861723e-03 1.18255422e+00] [ 2.08873595e-02 -6.43763867e-04 9.99781628e-01 4.38867473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617864999994 meters Centerline goodness [0,1] 0.9999336253816541 Centerline is valid? [True, True] Translation: X:36.31, Y:1.19, Z:0.44 [[ 9.84451251e-01 -1.74513359e-01 -2.00205395e-02 3.63107209e+01] [ 1.74490538e-01 9.84654596e-01 -2.89464452e-03 1.18760559e+00] [ 2.02184703e-02 -6.43758286e-04 9.99795379e-01 4.39660699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.34, Y:1.19, Z:0.44 [[ 9.84160826e-01 -1.76205366e-01 -1.94714678e-02 3.63395495e+01] [ 1.76184059e-01 9.84353207e-01 -2.81787727e-03 1.19291468e+00] [ 1.96633269e-02 -6.57317819e-04 9.99806442e-01 4.40322239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:1.20, Z:0.44 [[ 9.84041651e-01 -1.76880526e-01 -1.93728835e-02 3.63678657e+01] [ 1.76859473e-01 9.84232107e-01 -2.80831782e-03 1.19896486e+00] [ 1.95641507e-02 -6.62776271e-04 9.99808384e-01 4.41054090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.993617865 meters Centerline goodness [0,1] 0.999955918007494 Centerline is valid? [True, True] Translation: X:36.39, Y:1.20, Z:0.44 [[ 9.84024853e-01 -1.76972532e-01 -1.93858668e-02 3.63943538e+01] [ 1.76951390e-01 9.84215569e-01 -2.81423986e-03 1.20137975e+00] [ 1.95779151e-02 -6.61074110e-04 9.99808116e-01 4.41549671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.42, Y:1.21, Z:0.44 [[ 9.84028170e-01 -1.76973680e-01 -1.92061990e-02 3.64222247e+01] [ 1.76952864e-01 9.84215369e-01 -2.79144282e-03 1.20661053e+00] [ 1.93970481e-02 -6.51733543e-04 9.99811647e-01 4.42305756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.053617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.45, Y:1.21, Z:0.44 [[ 9.84279162e-01 -1.75589176e-01 -1.90518290e-02 3.64498382e+01] [ 1.75568354e-01 9.84463337e-01 -2.77317341e-03 1.21171250e+00] [ 1.92427664e-02 -6.15321465e-04 9.99814651e-01 4.42029083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:1.22, Z:0.44 [[ 9.84454202e-01 -1.74567703e-01 -1.93917650e-02 3.64777350e+01] [ 1.74545881e-01 9.84644988e-01 -2.82531837e-03 1.21896789e+00] [ 1.95872135e-02 -6.03356147e-04 9.99807970e-01 4.41815958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:1.23, Z:0.44 [[ 9.84940044e-01 -1.71739947e-01 -1.99624972e-02 3.65060590e+01] [ 1.71716143e-01 9.85142162e-01 -2.91330618e-03 1.22765170e+00] [ 2.01662287e-02 -5.58451107e-04 9.99796485e-01 4.41296245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.53, Y:1.23, Z:0.44 [[ 9.85207318e-01 -1.70189240e-01 -2.00539845e-02 3.65338755e+01] [ 1.70164802e-01 9.85411258e-01 -2.93133655e-03 1.23315461e+00] [ 2.02603040e-02 -5.24508087e-04 9.99794601e-01 4.41384159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.56, Y:1.24, Z:0.44 [[ 9.85437803e-01 -1.68845619e-01 -2.00871592e-02 3.65618637e+01] [ 1.68820738e-01 9.85642386e-01 -2.94027379e-03 1.23688176e+00] [ 2.02952079e-02 -4.93672106e-04 9.99793909e-01 4.41072522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters Centerline goodness [0,1] 0.9999780214949779 Centerline is valid? [True, True] Translation: X:36.59, Y:1.25, Z:0.44 [[ 9.85721976e-01 -1.67212368e-01 -1.98042825e-02 3.65898081e+01] [ 1.67187788e-01 9.85920799e-01 -2.90211193e-03 1.24555952e+00] [ 2.00107230e-02 -4.50358672e-04 9.99799664e-01 4.41947190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.233617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.62, Y:1.25, Z:0.44 [[ 9.85727145e-01 -1.67219458e-01 -1.94845938e-02 3.66172452e+01] [ 1.67195572e-01 9.85919601e-01 -2.86011496e-03 1.25072381e+00] [ 1.96885098e-02 -4.38444831e-04 9.99806066e-01 4.41789447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.65, Y:1.26, Z:0.44 [[ 9.85590688e-01 -1.68074614e-01 -1.90242094e-02 3.66455115e+01] [ 1.68051906e-01 9.85774178e-01 -2.79749716e-03 1.25800702e+00] [ 1.92237626e-02 -4.39867504e-04 9.99815110e-01 4.41817290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:1.26, Z:0.44 [[ 9.85380336e-01 -1.69351852e-01 -1.85888261e-02 3.66740028e+01] [ 1.69330315e-01 9.85555553e-01 -2.73799250e-03 1.26275176e+00] [ 1.87840049e-02 -4.49687805e-04 9.99823464e-01 4.42302535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.70, Y:1.27, Z:0.44 [[ 9.85219031e-01 -1.70362590e-01 -1.78898873e-02 3.67021226e+01] [ 1.70342744e-01 9.85381341e-01 -2.63862406e-03 1.26520786e+00] [ 1.80778840e-02 -4.47789851e-04 9.99836481e-01 4.42764942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.353617865 meters Centerline goodness [0,1] 0.9999780123131047 Centerline is valid? [True, True] Translation: X:36.73, Y:1.27, Z:0.44 [[ 9.84957840e-01 -1.72003739e-01 -1.65156583e-02 3.67311019e+01] [ 1.71987024e-01 9.85096199e-01 -2.43781904e-03 1.26920757e+00] [ 1.66888262e-02 -4.39329937e-04 9.99860635e-01 4.43702062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.76, Y:1.27, Z:0.45 [[ 9.84540307e-01 -1.74532189e-01 -1.47952159e-02 3.67586407e+01] [ 1.74519015e-01 9.84651375e-01 -2.18689301e-03 1.27246741e+00] [ 1.49498129e-02 -4.28962191e-04 9.99888153e-01 4.45291176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.413617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.79, Y:1.28, Z:0.45 [[ 9.84384807e-01 -1.75435842e-01 -1.44505285e-02 3.67865561e+01] [ 1.75423354e-01 9.84490772e-01 -2.13716686e-03 1.27755859e+00] [ 1.46013476e-02 -4.31165588e-04 9.99893302e-01 4.45431959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.81, Y:1.28, Z:0.45 [[ 9.84292984e-01 -1.75949460e-01 -1.44605861e-02 3.68139223e+01] [ 1.75936991e-01 9.84399104e-01 -2.13990816e-03 1.28165691e+00] [ 1.46115037e-02 -4.37855416e-04 9.99893150e-01 4.45416363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.473617864999994 meters Centerline goodness [0,1] 0.9999561326548517 Centerline is valid? [True, True] Translation: X:36.84, Y:1.29, Z:0.45 [[ 9.84212123e-01 -1.76489993e-01 -1.33333614e-02 3.68408028e+01] [ 1.76479427e-01 9.84302349e-01 -1.97418385e-03 1.28860275e+00] [ 1.34724827e-02 -4.10048311e-04 9.99909158e-01 4.45571301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.87, Y:1.29, Z:0.45 [[ 9.84212139e-01 -1.76513740e-01 -1.30140591e-02 3.68677903e+01] [ 1.76503629e-01 9.84298096e-01 -1.93049905e-03 1.29031573e+00] [ 1.31504732e-02 -3.97008057e-04 9.99913450e-01 4.45849868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.533617865 meters Centerline goodness [0,1] 0.9999343415552296 Centerline is valid? [True, True] Translation: X:36.90, Y:1.30, Z:0.45 [[ 9.84329378e-01 -1.75866576e-01 -1.29082290e-02 3.68956042e+01] [ 1.75856553e-01 9.84413937e-01 -1.91632171e-03 1.29910840e+00] [ 1.30440575e-02 -3.83704905e-04 9.99914849e-01 4.45292561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.92, Y:1.30, Z:0.45 [[ 9.84383287e-01 -1.75580083e-01 -1.26956410e-02 3.69238345e+01] [ 1.75570325e-01 9.84465082e-01 -1.88782294e-03 1.30456491e+00] [ 1.28298793e-02 -3.70636467e-04 9.99917625e-01 4.45237813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.593617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.95, Y:1.31, Z:0.45 [[ 9.84595286e-01 -1.74358395e-01 -1.30871276e-02 3.69509891e+01] [ 1.74347874e-01 9.84682192e-01 -1.94937191e-03 1.30847870e+00] [ 1.32265508e-02 -3.62370477e-04 9.99912460e-01 4.45609414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:1.31, Z:0.45 [[ 9.84693894e-01 -1.73779561e-01 -1.33641297e-02 3.69789415e+01] [ 1.73768512e-01 9.84784512e-01 -1.99240957e-03 1.31424727e+00] [ 1.35070280e-02 -3.60351404e-04 9.99908711e-01 4.46054328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:1.32, Z:0.45 [[ 9.85184880e-01 -1.70900455e-01 -1.42753977e-02 3.70075753e+01] [ 1.70887493e-01 9.85288242e-01 -2.13195428e-03 1.32041251e+00] [ 1.44297335e-02 -3.39117816e-04 9.99895828e-01 4.45974321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.04, Y:1.33, Z:0.45 [[ 9.85381093e-01 -1.69780694e-01 -1.40931480e-02 3.70360824e+01] [ 1.69767901e-01 9.85481819e-01 -2.10789161e-03 1.32619588e+00] [ 1.42464205e-02 -3.15487623e-04 9.99898465e-01 4.46275013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:1.33, Z:0.45 [[ 9.85563857e-01 -1.68718552e-01 -1.40688984e-02 3.70632621e+01] [ 1.68705649e-01 9.85664224e-01 -2.10755204e-03 1.33124958e+00] [ 1.42227930e-02 -2.96375511e-04 9.99898807e-01 4.46667602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865 meters Centerline goodness [0,1] 0.9998909701476264 Centerline is valid? [True, True] Translation: X:37.09, Y:1.34, Z:0.45 [[ 9.85910786e-01 -1.66710156e-01 -1.36983663e-02 3.70914836e+01] [ 1.66697712e-01 9.86005911e-01 -2.05327735e-03 1.33845522e+00] [ 1.38489723e-02 -2.59138035e-04 9.99904065e-01 4.46846202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.773617865 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:37.12, Y:1.34, Z:0.45 [[ 9.85995270e-01 -1.66222585e-01 -1.35417811e-02 3.71187948e+01] [ 1.66210334e-01 9.86088227e-01 -2.03302153e-03 1.34290894e+00] [ 1.36913250e-02 -2.46234355e-04 9.99906239e-01 4.46695816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:1.35, Z:0.45 [[ 9.86147279e-01 -1.65257748e-01 -1.42625657e-02 3.71470084e+01] [ 1.65244036e-01 9.86250383e-01 -2.14269310e-03 1.34819365e+00] [ 1.44205575e-02 -2.43792950e-04 9.99895989e-01 4.46219225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:1.35, Z:0.45 [[ 9.86084919e-01 -1.65619407e-01 -1.43785890e-02 3.71749991e+01] [ 1.65605458e-01 9.86189713e-01 -2.16367312e-03 1.35237353e+00] [ 1.45383628e-02 -2.47607384e-04 9.99894282e-01 4.46411757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.20, Y:1.36, Z:0.45 [[ 9.86050172e-01 -1.65823242e-01 -1.44122024e-02 3.72018223e+01] [ 1.65809195e-01 9.86155460e-01 -2.17252899e-03 1.35592126e+00] [ 1.45729279e-02 -2.47453086e-04 9.99893779e-01 4.47118272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.893617864999996 meters Centerline goodness [0,1] 0.9999782778694934 Centerline is valid? [True, True] Translation: X:37.23, Y:1.36, Z:0.45 [[ 9.85956842e-01 -1.66384488e-01 -1.43285740e-02 3.72299162e+01] [ 1.66370634e-01 9.86060920e-01 -2.16180885e-03 1.36056699e+00] [ 1.44885383e-02 -2.52403717e-04 9.99895004e-01 4.48632763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:1.37, Z:0.45 [[ 9.85791943e-01 -1.67375755e-01 -1.41280533e-02 3.72580406e+01] [ 1.67362334e-01 9.85893143e-01 -2.13541366e-03 1.36571992e+00] [ 1.42861673e-02 -2.59430385e-04 9.99897914e-01 4.49310478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:1.37, Z:0.45 [[ 9.85746201e-01 -1.67644980e-01 -1.41275378e-02 3.72853034e+01] [ 1.67631537e-01 9.85847398e-01 -2.13881887e-03 1.36991414e+00] [ 1.42861586e-02 -2.59888304e-04 9.99897914e-01 4.49677474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:1.37, Z:0.45 [[ 9.85567672e-01 -1.68697602e-01 -1.40528505e-02 3.73127933e+01] [ 1.68684355e-01 9.85667817e-01 -2.13125256e-03 1.37436255e+00] [ 1.42109797e-02 -2.70002398e-04 9.99898982e-01 4.50417014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:1.38, Z:0.45 [[ 9.85424933e-01 -1.69537500e-01 -1.39548628e-02 3.73415862e+01] [ 1.69524503e-01 9.85523697e-01 -2.11770731e-03 1.37843030e+00] [ 1.41118788e-02 -2.78849601e-04 9.99900384e-01 4.51091933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.37, Y:1.38, Z:0.45 [[ 9.85235955e-01 -1.70665947e-01 -1.35368818e-02 3.73702873e+01] [ 1.70653780e-01 9.85328907e-01 -2.05742443e-03 1.38244649e+00] [ 1.36894132e-02 -2.83071513e-04 9.99906256e-01 4.52438182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:1.39, Z:0.45 [[ 9.84889156e-01 -1.72646614e-01 -1.36564220e-02 3.73987556e+01] [ 1.72634375e-01 9.84983782e-01 -2.07889746e-03 1.38795655e+00] [ 1.38102688e-02 -3.10084312e-04 9.99904586e-01 4.53429459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:1.39, Z:0.45 [[ 9.84841108e-01 -1.72920525e-01 -1.36559130e-02 3.74260189e+01] [ 1.72908266e-01 9.84935732e-01 -2.08223549e-03 1.39217206e+00] [ 1.38102579e-02 -3.10549133e-04 9.99904586e-01 4.53796488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.45, Y:1.40, Z:0.45 [[ 9.84663299e-01 -1.73887152e-01 -1.41931928e-02 3.74533575e+01] [ 1.73873953e-01 9.84765529e-01 -2.16814943e-03 1.39534744e+00] [ 1.43539804e-02 -3.32929370e-04 9.99896921e-01 4.54079397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:1.40, Z:0.45 [[ 9.84482812e-01 -1.74913458e-01 -1.41022931e-02 3.74814418e+01] [ 1.74900515e-01 9.84583751e-01 -2.15549679e-03 1.39656972e+00] [ 1.42619141e-02 -3.44448794e-04 9.99898234e-01 4.54392867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19361786499999 meters Centerline goodness [0,1] 0.9999566902704693 Centerline is valid? [True, True] Translation: X:37.51, Y:1.40, Z:0.45 [[ 9.84239433e-01 -1.76248743e-01 -1.44609317e-02 3.75089274e+01] [ 1.76235258e-01 9.84345591e-01 -2.21164753e-03 1.40493402e+00] [ 1.46243545e-02 -3.71735317e-04 9.99892989e-01 4.54841094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:1.41, Z:0.45 [[ 9.83846798e-01 -1.78423088e-01 -1.45147773e-02 3.75367180e+01] [ 1.78409712e-01 9.83953779e-01 -2.22173134e-03 1.40906776e+00] [ 1.46782781e-02 -4.03733972e-04 9.99892187e-01 4.54566919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:1.41, Z:0.45 [[ 9.83622119e-01 -1.79611925e-01 -1.50692890e-02 3.75651966e+01] [ 1.79597621e-01 9.83737448e-01 -2.30825210e-03 1.41322777e+00] [ 1.52388135e-02 -4.35960636e-04 9.99883787e-01 4.54878494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.59, Y:1.42, Z:0.46 [[ 9.83207572e-01 -1.81805620e-01 -1.57982868e-02 3.75931659e+01] [ 1.81790123e-01 9.83334367e-01 -2.42360140e-03 1.41631603e+00] [ 1.59756227e-02 -4.89069246e-04 9.99872262e-01 4.55581418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.313617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.62, Y:1.42, Z:0.46 [[ 9.82952468e-01 -1.83164051e-01 -1.59804729e-02 3.76217923e+01] [ 1.83148335e-01 9.83082227e-01 -2.45395116e-03 1.42248123e+00] [ 1.61595945e-02 -5.14679657e-04 9.99869293e-01 4.55405246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.65, Y:1.43, Z:0.45 [[ 9.82772439e-01 -1.84068581e-01 -1.66460164e-02 3.76496098e+01] [ 1.84051594e-01 9.82913250e-01 -2.55993101e-03 1.42588749e+00] [ 1.68327930e-02 -5.47896217e-04 9.99858168e-01 4.54816855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.68, Y:1.43, Z:0.46 [[ 9.82591772e-01 -1.84953844e-01 -1.74781192e-02 3.76779090e+01] [ 1.84935206e-01 9.82747032e-01 -2.69073732e-03 1.43449878e+00] [ 1.76742319e-02 -5.88423210e-04 9.99843625e-01 4.55065692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.71, Y:1.44, Z:0.46 [[ 9.82360029e-01 -1.86127830e-01 -1.80334536e-02 3.77064578e+01] [ 1.86108103e-01 9.82525339e-01 -2.78080780e-03 1.44030111e+00] [ 1.82359108e-02 -6.24417397e-04 9.99833517e-01 4.55160943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.73, Y:1.44, Z:0.46 [[ 9.82299044e-01 -1.86412298e-01 -1.84131103e-02 3.77341834e+01] [ 1.86391711e-01 9.82471397e-01 -2.84317014e-03 1.44419745e+00] [ 1.86203561e-02 -6.39207815e-04 9.99826422e-01 4.55643114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:1.45, Z:0.46 [[ 9.82262512e-01 -1.86562509e-01 -1.88357914e-02 3.77619661e+01] [ 1.86540940e-01 9.82442875e-01 -2.91122092e-03 1.44959066e+00] [ 1.90482137e-02 -6.54063045e-04 9.99818352e-01 4.56188775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:1.46, Z:0.46 [[ 9.82351480e-01 -1.86121964e-01 -1.85521990e-02 3.77905897e+01] [ 1.86100879e-01 9.82526445e-01 -2.87177582e-03 1.45672786e+00] [ 1.87625267e-02 -6.31487315e-04 9.99823769e-01 4.57108216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.82, Y:1.46, Z:0.46 [[ 9.82484022e-01 -1.85437790e-01 -1.83840250e-02 3.78186210e+01] [ 1.85416910e-01 9.82655817e-01 -2.84875891e-03 1.46134300e+00] [ 1.85934366e-02 -6.09848989e-04 9.99826941e-01 4.57031408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.553617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.85, Y:1.47, Z:0.46 [[ 9.82811371e-01 -1.83594006e-01 -1.93662122e-02 3.78463009e+01] [ 1.83570382e-01 9.83001974e-01 -3.00582470e-03 1.46927188e+00] [ 1.95888762e-02 -6.00904267e-04 9.99807939e-01 4.56634531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.87, Y:1.48, Z:0.46 [[ 9.82922722e-01 -1.82928130e-01 -2.00055487e-02 3.78747007e+01] [ 1.82902682e-01 9.83126104e-01 -3.10999157e-03 1.47621235e+00] [ 2.02368821e-02 -6.02187138e-04 9.99795032e-01 4.57453999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.90, Y:1.48, Z:0.46 [[ 9.83052056e-01 -1.82255741e-01 -1.97863787e-02 3.79035330e+01] [ 1.82230618e-01 9.83250991e-01 -3.08062425e-03 1.48169359e+00] [ 2.00164379e-02 -5.77270013e-04 9.99799484e-01 4.58152978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617864999996 meters Centerline goodness [0,1] 0.9998922970877132 Centerline is valid? [True, True] Translation: X:37.93, Y:1.49, Z:0.46 [[ 9.83299505e-01 -1.80956985e-01 -1.94075475e-02 3.79306764e+01] [ 1.80932493e-01 9.83490865e-01 -3.02512962e-03 1.48729006e+00] [ 1.96345640e-02 -5.36847503e-04 9.99807079e-01 4.58737276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.673617865 meters Centerline goodness [0,1] 0.9999784492047756 Centerline is valid? [True, True] Translation: X:37.96, Y:1.49, Z:0.46 [[ 9.83374310e-01 -1.80558030e-01 -1.93329984e-02 3.79586543e+01] [ 1.80533598e-01 9.83564194e-01 -3.01615158e-03 1.49361025e+00] [ 1.95598354e-02 -5.24249791e-04 9.99808551e-01 4.59599300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.99, Y:1.50, Z:0.46 [[ 9.83306174e-01 -1.80942087e-01 -1.92075426e-02 3.79864314e+01] [ 1.80917950e-01 9.83493613e-01 -3.00145008e-03 1.49897188e+00] [ 1.94335841e-02 -5.23644834e-04 9.99811013e-01 4.60320723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.733617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.01, Y:1.50, Z:0.46 [[ 9.83278297e-01 -1.81119007e-01 -1.89656352e-02 3.80135942e+01] [ 1.81095407e-01 9.83461051e-01 -2.96886351e-03 1.50485784e+00] [ 1.91896812e-02 -5.15370364e-04 9.99815728e-01 4.60771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.04, Y:1.51, Z:0.46 [[ 9.83233543e-01 -1.81308242e-01 -1.94710150e-02 3.80413619e+01] [ 1.81283296e-01 9.83426176e-01 -3.05344350e-03 1.50945533e+00] [ 1.97019203e-02 -5.27521699e-04 9.99805759e-01 4.61250998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:1.51, Z:0.46 [[ 9.83203826e-01 -1.81440192e-01 -1.97406467e-02 3.80693856e+01] [ 1.81414493e-01 9.83401837e-01 -3.09995652e-03 1.51349923e+00] [ 1.99754449e-02 -5.33350300e-04 9.99800329e-01 4.61367383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.10, Y:1.52, Z:0.46 [[ 9.83077899e-01 -1.82078137e-01 -2.01344639e-02 3.80973254e+01] [ 1.82051500e-01 9.83283908e-01 -3.16353502e-03 1.51825283e+00] [ 2.03739049e-02 -5.55507988e-04 9.99792276e-01 4.61241773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:1.52, Z:0.46 [[ 9.82807195e-01 -1.83359823e-01 -2.16608473e-02 3.81245018e+01] [ 1.83329260e-01 9.83045668e-01 -3.40542682e-03 1.52145382e+00] [ 2.19180206e-02 -6.24189122e-04 9.99759576e-01 4.60185745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:1.53, Z:0.46 [[ 9.82629800e-01 -1.84249273e-01 -2.21558323e-02 3.81523524e+01] [ 1.84217475e-01 9.82879328e-01 -3.48538951e-03 1.52703372e+00] [ 2.24186901e-02 -6.56643887e-04 9.99748454e-01 4.60986589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.913617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.18, Y:1.53, Z:0.46 [[ 9.82390789e-01 -1.85542279e-01 -2.19635964e-02 3.81804443e+01] [ 1.85511302e-01 9.82636048e-01 -3.45740712e-03 1.52832258e+00] [ 2.22237167e-02 -6.77970453e-04 9.99752793e-01 4.61266977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.21, Y:1.53, Z:0.46 [[ 9.81991001e-01 -1.87737053e-01 -2.11772013e-02 3.82089336e+01] [ 1.87708688e-01 9.82219075e-01 -3.33718563e-03 1.53279831e+00] [ 2.14271645e-02 -6.98058425e-04 9.99770168e-01 4.63030485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.24, Y:1.54, Z:0.46 [[ 9.81857123e-01 -1.88441165e-01 -2.11309459e-02 3.82373425e+01] [ 1.88412977e-01 9.82084226e-01 -3.33501575e-03 1.53725098e+00] [ 2.13808229e-02 -7.06835450e-04 9.99771154e-01 4.63427419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.27, Y:1.54, Z:0.46 [[ 9.81946681e-01 -1.87916317e-01 -2.16373010e-02 3.82655671e+01] [ 1.87886518e-01 9.82184788e-01 -3.42025713e-03 1.54146162e+00] [ 2.18945500e-02 -7.06847000e-04 9.99760036e-01 4.63110195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:1.55, Z:0.46 [[ 9.81994314e-01 -1.87634127e-01 -2.19226171e-02 3.82936711e+01] [ 1.87603346e-01 9.82238738e-01 -3.47079526e-03 1.54844618e+00] [ 2.21844834e-02 -7.04455105e-04 9.99753646e-01 4.63710058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:1.55, Z:0.46 [[ 9.82083088e-01 -1.87056855e-01 -2.28591467e-02 3.83221138e+01] [ 1.87023131e-01 9.82348828e-01 -3.62340831e-03 1.54974809e+00] [ 2.31334393e-02 -7.16701158e-04 9.99732129e-01 4.63029265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.093617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:1.55, Z:0.46 [[ 9.82343060e-01 -1.85615237e-01 -2.34327936e-02 3.83505753e+01] [ 1.85579301e-01 9.82622257e-01 -3.71806933e-03 1.55479082e+00] [ 2.37157149e-02 -6.96221851e-04 9.99718500e-01 4.63846904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:1.56, Z:0.46 [[ 9.82484662e-01 -1.84894495e-01 -2.31929632e-02 3.83792686e+01] [ 1.84858957e-01 9.82758150e-01 -3.68571503e-03 1.56055705e+00] [ 2.34745420e-02 -6.66268490e-04 9.99724213e-01 4.64336046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:1.57, Z:0.46 [[ 9.82641518e-01 -1.84077795e-01 -2.30437287e-02 3.84082532e+01] [ 1.84042359e-01 9.82911471e-01 -3.66750921e-03 1.56519875e+00] [ 2.33250523e-02 -6.37175367e-04 9.99727731e-01 4.64383324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:1.57, Z:0.46 [[ 9.82756401e-01 -1.83419289e-01 -2.33927409e-02 3.84356757e+01] [ 1.83382481e-01 9.83034573e-01 -3.72744772e-03 1.56836214e+00] [ 2.36795589e-02 -6.26645757e-04 9.99719404e-01 4.64127575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.46, Y:1.57, Z:0.46 [[ 9.83041678e-01 -1.81698149e-01 -2.47960253e-02 3.84631677e+01] [ 1.81656174e-01 9.83354159e-01 -3.95386790e-03 1.57108702e+00] [ 2.51016851e-02 -6.17534152e-04 9.99684712e-01 4.63588889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.49, Y:1.58, Z:0.46 [[ 9.83157048e-01 -1.81104646e-01 -2.45626812e-02 3.84916888e+01] [ 1.81063177e-01 9.83463652e-01 -3.92050482e-03 1.57571788e+00] [ 2.48665258e-02 -5.92925140e-04 9.99690604e-01 4.64242823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.273617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.52, Y:1.58, Z:0.47 [[ 9.83200032e-01 -1.80789875e-01 -2.51538825e-02 3.85195080e+01] [ 1.80746117e-01 9.83521566e-01 -4.02136956e-03 1.57893427e+00] [ 2.54664088e-02 -5.92655904e-04 9.99675503e-01 4.65080937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:1.58, Z:0.47 [[ 9.83204924e-01 -1.80691293e-01 -2.56658152e-02 3.85477277e+01] [ 1.80645516e-01 9.83539680e-01 -4.11037835e-03 1.58153009e+00] [ 2.59860573e-02 -5.95070197e-04 9.99662128e-01 4.66105477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:1.59, Z:0.47 [[ 9.83110704e-01 -1.81141240e-01 -2.60997118e-02 3.85760904e+01] [ 1.81093876e-01 9.83456902e-01 -4.18682852e-03 1.58626469e+00] [ 2.64263491e-02 -6.10382054e-04 9.99650577e-01 4.66519282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:1.59, Z:0.47 [[ 9.83088944e-01 -1.81264397e-01 -2.60642943e-02 3.86025916e+01] [ 1.81217076e-01 9.83434212e-01 -4.18601118e-03 1.58905453e+00] [ 2.63912935e-02 -6.08073903e-04 9.99651504e-01 4.65644923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:1.59, Z:0.47 [[ 9.83019704e-01 -1.81611502e-01 -2.62587885e-02 3.86305646e+01] [ 1.81563456e-01 9.83370165e-01 -4.22250309e-03 1.59276802e+00] [ 2.65889643e-02 -6.16832647e-04 9.99646261e-01 4.65885472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865 meters Centerline goodness [0,1] 0.9999565462999175 Centerline is valid? [True, True] Translation: X:38.66, Y:1.59, Z:0.47 [[ 9.82738446e-01 -1.83225341e-01 -2.55660246e-02 3.86599577e+01] [ 1.83180173e-01 9.83070735e-01 -4.11765513e-03 1.59352528e+00] [ 2.58876694e-02 -6.36610807e-04 9.99664655e-01 4.66531186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:1.59, Z:0.47 [[ 9.82520627e-01 -1.84499206e-01 -2.47641128e-02 3.86878435e+01] [ 1.84457129e-01 9.82832451e-01 -3.99258650e-03 1.59411764e+00] [ 2.50756027e-02 -6.45118572e-04 9.99685349e-01 4.67864811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters Centerline goodness [0,1] 0.9999564175201568 Centerline is valid? [True, True] Translation: X:38.72, Y:1.59, Z:0.47 [[ 9.81939158e-01 -1.87828200e-01 -2.27168801e-02 3.87165165e+01] [ 1.87793639e-01 9.82201670e-01 -3.66438345e-03 1.59391760e+00] [ 2.30008321e-02 -6.67883976e-04 9.99735223e-01 4.70178339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:1.59, Z:0.47 [[ 9.81636743e-01 -1.89515571e-01 -2.17520679e-02 3.87446909e+01] [ 1.89484258e-01 9.81877483e-01 -3.51057925e-03 1.59472436e+00] [ 2.20231751e-02 -6.75560861e-04 9.99757232e-01 4.70607494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.77, Y:1.60, Z:0.47 [[ 9.81375719e-01 -1.90952046e-01 -2.09526881e-02 3.87735147e+01] [ 1.90923256e-01 9.81599132e-01 -3.38453126e-03 1.59874687e+00] [ 2.12134236e-02 -6.78858631e-04 9.99774740e-01 4.71562690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:1.60, Z:0.47 [[ 9.81242006e-01 -1.91497553e-01 -2.21993688e-02 3.88022045e+01] [ 1.91465281e-01 9.81492821e-01 -3.59004681e-03 1.59711937e+00] [ 2.24760063e-02 -7.27703651e-04 9.99747118e-01 4.70138989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.83, Y:1.60, Z:0.47 [[ 9.81371727e-01 -1.90733417e-01 -2.30281604e-02 3.88298404e+01] [ 1.90698434e-01 9.81641596e-01 -3.72605405e-03 1.59954206e+00] [ 2.33160832e-02 -7.34790031e-04 9.99727873e-01 4.69736412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.633617865 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:38.86, Y:1.60, Z:0.47 [[ 9.81563289e-01 -1.89691047e-01 -2.34694762e-02 3.88583644e+01] [ 1.89654330e-01 9.81843566e-01 -3.80095610e-03 1.60341817e+00] [ 2.37643615e-02 -7.20208813e-04 9.99717328e-01 4.69840959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:1.61, Z:0.47 [[ 9.82202979e-01 -1.86343159e-01 -2.35273075e-02 3.88868749e+01] [ 1.86305210e-01 9.82484514e-01 -3.81410439e-03 1.60942426e+00] [ 2.38259475e-02 -6.37035273e-04 9.99715919e-01 4.71106568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:1.61, Z:0.47 [[ 9.82519840e-01 -1.84647209e-01 -2.36679642e-02 3.89158400e+01] [ 1.84608233e-01 9.82804687e-01 -3.84021516e-03 1.61458860e+00] [ 2.39700711e-02 -5.96213472e-04 9.99712499e-01 4.70982064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.94, Y:1.62, Z:0.47 [[ 9.82807483e-01 -1.83081614e-01 -2.38867115e-02 3.89446457e+01] [ 1.83041315e-01 9.83097560e-01 -3.88138106e-03 1.61924679e+00] [ 2.41935773e-02 -5.57604744e-04 9.99707137e-01 4.70987989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.753617864999995 meters Centerline goodness [0,1] 0.999978021978022 Centerline is valid? [True, True] Translation: X:38.97, Y:1.62, Z:0.47 [[ 9.83286906e-01 -1.80449966e-01 -2.41799480e-02 3.89730474e+01] [ 1.80407773e-01 9.83584041e-01 -3.93327799e-03 1.62055471e+00] [ 2.44927708e-02 -4.94709814e-04 9.99699885e-01 4.69922736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.00, Y:1.62, Z:0.47 [[ 9.83529379e-01 -1.79138025e-01 -2.40733936e-02 3.90017973e+01] [ 1.79095718e-01 9.83823846e-01 -3.91969233e-03 1.62409929e+00] [ 2.43861446e-02 -4.56309142e-04 9.99702510e-01 4.70653814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.03, Y:1.63, Z:0.47 [[ 9.83779782e-01 -1.77787357e-01 -2.38536378e-02 3.90301635e+01] [ 1.77745283e-01 9.84068842e-01 -3.88967284e-03 1.62850988e+00] [ 2.41651564e-02 -4.13290105e-04 9.99707895e-01 4.71823577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters Centerline goodness [0,1] 0.999845644983462 Centerline is valid? [True, True] Translation: X:39.06, Y:1.63, Z:0.47 [[ 9.84206804e-01 -1.75453071e-01 -2.35199138e-02 3.90581453e+01] [ 1.75411401e-01 9.84487735e-01 -3.83937902e-03 1.63167098e+00] [ 2.38286975e-02 -3.46918064e-04 9.99715996e-01 4.71919024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87361786499999 meters Centerline goodness [0,1] 0.9999779332259418 Centerline is valid? [True, True] Translation: X:39.09, Y:1.64, Z:0.47 [[ 9.84691672e-01 -1.72814132e-01 -2.27505346e-02 3.90866966e+01] [ 1.72774360e-01 9.84954417e-01 -3.71724950e-03 1.63819789e+00] [ 2.30506328e-02 -2.70364419e-04 9.99734262e-01 4.73816625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617864999994 meters Centerline goodness [0,1] 0.9999779341997838 Centerline is valid? [True, True] Translation: X:39.12, Y:1.64, Z:0.48 [[ 9.85409569e-01 -1.68723124e-01 -2.23716213e-02 3.91153357e+01] [ 1.68683486e-01 9.85663472e-01 -3.66082328e-03 1.64418409e+00] [ 2.26685554e-02 -1.66312778e-04 9.99743021e-01 4.75310097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:1.65, Z:0.47 [[ 9.85687830e-01 -1.67057216e-01 -2.26138805e-02 3.91428799e+01] [ 1.67016181e-01 9.85947195e-01 -3.70465416e-03 1.64937944e+00] [ 2.29149812e-02 -1.25251436e-04 9.99737409e-01 4.74919987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617864999996 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:39.17, Y:1.66, Z:0.47 [[ 9.85890693e-01 -1.65834427e-01 -2.27702678e-02 3.91703688e+01] [ 1.65792406e-01 9.86153606e-01 -3.73418649e-03 1.65556571e+00] [ 2.30742383e-02 -9.36377736e-05 9.99733750e-01 4.74768911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.993617865 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:39.20, Y:1.66, Z:0.48 [[ 9.85844692e-01 -1.66107811e-01 -2.27692315e-02 3.91975800e+01] [ 1.66065717e-01 9.86107594e-01 -3.74049666e-03 1.66009659e+00] [ 2.30742378e-02 -9.36399741e-05 9.99733750e-01 4.75135701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.22, Y:1.67, Z:0.47 [[ 9.86086035e-01 -1.64572693e-01 -2.34554925e-02 3.92238420e+01] [ 1.64527466e-01 9.86364956e-01 -3.85836578e-03 1.66519551e+00] [ 2.37706574e-02 -5.43921340e-05 9.99717437e-01 4.74471973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.25, Y:1.67, Z:0.48 [[ 9.86025379e-01 -1.65073195e-01 -2.24675811e-02 3.92516464e+01] [ 1.65031733e-01 9.86281317e-01 -3.70005181e-03 1.67008986e+00] [ 2.27701348e-02 -5.95188553e-05 9.99740725e-01 4.75408868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617864999994 meters Centerline goodness [0,1] 0.9998457776113155 Centerline is valid? [True, True] Translation: X:39.28, Y:1.67, Z:0.48 [[ 9.85792854e-01 -1.66464545e-01 -2.24054474e-02 3.92791287e+01] [ 1.66423568e-01 9.86047437e-01 -3.69435696e-03 1.67315238e+00] [ 2.27078135e-02 -8.69238087e-05 9.99742141e-01 4.75537997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.113617864999995 meters Centerline goodness [0,1] 0.9999118787451533 Centerline is valid? [True, True] Translation: X:39.31, Y:1.68, Z:0.48 [[ 9.85126235e-01 -1.70429468e-01 -2.19111358e-02 3.93078279e+01] [ 1.70391187e-01 9.85369863e-01 -3.61613775e-03 1.67544548e+00] [ 2.22068694e-02 -1.71112276e-04 9.99753382e-01 4.76699561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617864999996 meters Centerline goodness [0,1] 0.9998902353354409 Centerline is valid? [True, True] Translation: X:39.34, Y:1.68, Z:0.48 [[ 9.84740653e-01 -1.72694462e-01 -2.15051120e-02 3.93361791e+01] [ 1.72658011e-01 9.84975420e-01 -3.55438534e-03 1.68019604e+00] [ 2.17958294e-02 -2.12882131e-04 9.99762420e-01 4.77125766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:1.68, Z:0.48 [[ 9.84302247e-01 -1.75215842e-01 -2.11777124e-02 3.93650538e+01] [ 1.75180965e-01 9.84530010e-01 -3.50546869e-03 1.68443089e+00] [ 2.14643070e-02 -2.59491379e-04 9.99769582e-01 4.77774682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:1.69, Z:0.48 [[ 9.83379887e-01 -1.80313506e-01 -2.12376520e-02 3.93937235e+01] [ 1.80279505e-01 9.83609122e-01 -3.52064097e-03 1.68652828e+00] [ 2.15243674e-02 -3.66585880e-04 9.99768257e-01 4.78120303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.233617865 meters Centerline goodness [0,1] 0.999934029686641 Centerline is valid? [True, True] Translation: X:39.42, Y:1.69, Z:0.48 [[ 9.82700202e-01 -1.83969072e-01 -2.13469618e-02 3.94212649e+01] [ 1.83935495e-01 9.82931932e-01 -3.54274849e-03 1.68915535e+00] [ 2.16343666e-02 -4.45004337e-04 9.99765851e-01 4.76904511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:1.69, Z:0.48 [[ 9.81607779e-01 -1.89786917e-01 -2.06662588e-02 3.94494875e+01] [ 1.89756699e-01 9.81825147e-01 -3.43150800e-03 1.69017361e+00] [ 2.09419079e-02 -5.53166096e-04 9.99780541e-01 4.79047641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.293617864999995 meters Centerline goodness [0,1] 0.9999779924734259 Centerline is valid? [True, True] Translation: X:39.48, Y:1.69, Z:0.48 [[ 9.80925675e-01 -1.93305448e-01 -2.04407247e-02 3.94782232e+01] [ 1.93276618e-01 9.81138430e-01 -3.39551132e-03 1.69492867e+00] [ 2.07115513e-02 -6.19969902e-04 9.99785301e-01 4.79657557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:1.70, Z:0.48 [[ 9.80436989e-01 -1.95803850e-01 -2.01038271e-02 3.95053751e+01] [ 1.95776458e-01 9.80642859e-01 -3.34096281e-03 1.69849648e+00] [ 2.03688478e-02 -6.60252539e-04 9.99792315e-01 4.79420367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:1.70, Z:0.48 [[ 9.79786212e-01 -1.98944681e-01 -2.09760055e-02 3.95347217e+01] [ 1.98915543e-01 9.80010430e-01 -3.48762316e-03 1.70213670e+00] [ 2.12505482e-02 -7.55328420e-04 9.99773896e-01 4.78987200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters Centerline goodness [0,1] 0.9998896612600684 Centerline is valid? [True, True] Translation: X:39.56, Y:1.71, Z:0.48 [[ 9.79633869e-01 -1.99600508e-01 -2.18430742e-02 3.95630815e+01] [ 1.99569016e-01 9.79877033e-01 -3.63437197e-03 1.70560324e+00] [ 2.21289492e-02 -7.98846955e-04 9.99754806e-01 4.79399561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.413617865 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:39.59, Y:1.71, Z:0.48 [[ 9.79580594e-01 -1.99858122e-01 -2.18767391e-02 3.95908801e+01] [ 1.99826509e-01 9.79824519e-01 -3.64392226e-03 1.70920873e+00] [ 2.21636328e-02 -8.02036883e-04 9.99754035e-01 4.79816504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:1.71, Z:0.48 [[ 9.79712590e-01 -1.99206302e-01 -2.19109557e-02 3.96188708e+01] [ 1.99174356e-01 9.79957261e-01 -3.65285937e-03 1.71457782e+00] [ 2.21994727e-02 -7.85348166e-04 9.99753253e-01 4.80229604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:1.72, Z:0.48 [[ 9.80279759e-01 -1.96329701e-01 -2.24998315e-02 3.96455498e+01] [ 1.96295158e-01 9.80537663e-01 -3.75541022e-03 1.72215751e+00] [ 2.27992308e-02 -7.35255357e-04 9.99739793e-01 4.79435341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:1.73, Z:0.48 [[ 9.80612619e-01 -1.94662502e-01 -2.24811306e-02 3.96736296e+01] [ 1.94627492e-01 9.80870038e-01 -3.75612003e-03 1.72952828e+00] [ 2.27822432e-02 -6.92147353e-04 9.99740211e-01 4.79622248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.533617865 meters Centerline goodness [0,1] 0.999978059108761 Centerline is valid? [True, True] Translation: X:39.70, Y:1.73, Z:0.48 [[ 9.81258376e-01 -1.91370526e-01 -2.25681383e-02 3.97017780e+01] [ 1.91334286e-01 9.81517674e-01 -3.77448634e-03 1.73401152e+00] [ 2.28733521e-02 -6.14312306e-04 9.99738182e-01 4.79469197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.73, Y:1.74, Z:0.48 [[ 9.81477174e-01 -1.90268311e-01 -2.23724661e-02 3.97302781e+01] [ 1.90232340e-01 9.81731956e-01 -3.74485148e-03 1.74003687e+00] [ 2.26762914e-02 -5.80480329e-04 9.99742691e-01 4.80782942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.593617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:1.75, Z:0.48 [[ 9.81672933e-01 -1.89283890e-01 -2.21327985e-02 3.97583056e+01] [ 1.89248318e-01 9.81922253e-01 -3.70997656e-03 1.74503607e+00] [ 2.24349261e-02 -5.46611316e-04 9.99748156e-01 4.81434464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:1.75, Z:0.48 [[ 9.82083159e-01 -1.87349260e-01 -2.03205017e-02 3.97868756e+01] [ 1.87318767e-01 9.82293259e-01 -3.41077469e-03 1.75084358e+00] [ 2.05996980e-02 -4.56746942e-04 9.99787699e-01 4.82922737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.653617864999994 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:39.81, Y:1.75, Z:0.48 [[ 9.82230266e-01 -1.86620483e-01 -1.99123096e-02 3.98143431e+01] [ 1.86590979e-01 9.82431988e-01 -3.34591135e-03 1.75480364e+00] [ 2.01869055e-02 -4.29001939e-04 9.99796132e-01 4.83601789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.84, Y:1.76, Z:0.48 [[ 9.82325333e-01 -1.86189305e-01 -1.92479382e-02 3.98416735e+01] [ 1.86161624e-01 9.82513806e-01 -3.23585519e-03 1.75907456e+00] [ 1.95138467e-02 -4.04564916e-04 9.99809505e-01 4.84045354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.713617864999996 meters Centerline goodness [0,1] 0.9999780696945109 Centerline is valid? [True, True] Translation: X:39.87, Y:1.76, Z:0.48 [[ 9.82371437e-01 -1.86041232e-01 -1.83035692e-02 3.98702049e+01] [ 1.86016134e-01 9.82541865e-01 -3.07931759e-03 1.76331170e+00] [ 1.85569030e-02 -3.79725528e-04 9.99827734e-01 4.84902129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.90, Y:1.77, Z:0.49 [[ 9.82357614e-01 -1.86233684e-01 -1.70450252e-02 3.98983656e+01] [ 1.86211881e-01 9.82505415e-01 -2.87144700e-03 1.76673313e+00] [ 1.72815897e-02 -3.53198382e-04 9.99850600e-01 4.86250643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.773617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:1.77, Z:0.49 [[ 9.82327686e-01 -1.86360571e-01 -1.73797141e-02 3.99252583e+01] [ 1.86337852e-01 9.82481353e-01 -2.93187593e-03 1.76945899e+00] [ 1.76216311e-02 -3.58435696e-04 9.99844663e-01 4.86616792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:1.77, Z:0.49 [[ 9.82196212e-01 -1.87057023e-01 -1.73283439e-02 3.99542608e+01] [ 1.87034503e-01 9.82348989e-01 -2.92566491e-03 1.77299236e+00] [ 1.75697473e-02 -3.67421195e-04 9.99845573e-01 4.86758544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:1.78, Z:0.49 [[ 9.81926656e-01 -1.88422192e-01 -1.78078541e-02 3.99828607e+01] [ 1.88398559e-01 9.82088040e-01 -3.01073900e-03 1.77535858e+00] [ 1.80561705e-02 -3.98649165e-04 9.99836895e-01 4.86764824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:1.78, Z:0.49 [[ 9.81945659e-01 -1.88392087e-01 -1.70629584e-02 4.00104179e+01] [ 1.88370318e-01 9.82093824e-01 -2.88866623e-03 1.78080971e+00] [ 1.73016279e-02 -3.77641628e-04 9.99850244e-01 4.86949428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:1.79, Z:0.49 [[ 9.81639951e-01 -1.89972332e-01 -1.71324260e-02 4.00389361e+01] [ 1.89950550e-01 9.81789362e-01 -2.90476390e-03 1.78522072e+00] [ 1.73722583e-02 -4.02881448e-04 9.99849010e-01 4.87497488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:1.79, Z:0.49 [[ 9.81674415e-01 -1.89840623e-01 -1.66096780e-02 4.00674911e+01] [ 1.89820069e-01 9.81814845e-01 -2.81988036e-03 1.79270374e+00] [ 1.68429562e-02 -3.84645803e-04 9.99858073e-01 4.88746243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:1.80, Z:0.49 [[ 9.81599657e-01 -1.90201952e-01 -1.68917636e-02 4.00951986e+01] [ 1.90180676e-01 9.81744907e-01 -2.87185163e-03 1.79855374e+00] [ 1.71296346e-02 -3.93478441e-04 9.99853200e-01 4.89362222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98361786499999 meters Centerline goodness [0,1] 0.9999780860342297 Centerline is valid? [True, True] Translation: X:40.12, Y:1.80, Z:0.49 [[ 9.81479108e-01 -1.90747454e-01 -1.77248300e-02 4.01234991e+01] [ 1.90724041e-01 9.81639055e-01 -3.01776528e-03 1.80106142e+00] [ 1.79750165e-02 -4.18677638e-04 9.99838349e-01 4.88855393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.15, Y:1.81, Z:0.49 [[ 9.81381702e-01 -1.91246603e-01 -1.77395364e-02 4.01515001e+01] [ 1.91223189e-01 9.81541928e-01 -3.02267378e-03 1.80657709e+00] [ 1.79901748e-02 -4.25813977e-04 9.99838073e-01 4.89077670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.18, Y:1.81, Z:0.49 [[ 9.81336360e-01 -1.91444637e-01 -1.81079751e-02 4.01789562e+01] [ 1.91420198e-01 9.81503318e-01 -3.08956246e-03 1.80963003e+00] [ 1.83645178e-02 -4.34332192e-04 9.99831264e-01 4.88593024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.073617864999996 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:40.21, Y:1.82, Z:0.49 [[ 9.81284597e-01 -1.91723187e-01 -1.79654918e-02 4.02057816e+01] [ 1.91699134e-01 9.81448945e-01 -3.06769736e-03 1.81776419e+00] [ 1.82203617e-02 -4.33685052e-04 9.99833901e-01 4.89189798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:40.23, Y:1.82, Z:0.49 [[ 9.81237097e-01 -1.92024409e-01 -1.73316378e-02 4.02327481e+01] [ 1.92001999e-01 9.81390060e-01 -2.96348662e-03 1.82191614e+00] [ 1.75781588e-02 -4.19826084e-04 9.99845404e-01 4.89155413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:1.83, Z:0.49 [[ 9.81236700e-01 -1.92068082e-01 -1.68638872e-02 4.02597897e+01] [ 1.92046828e-01 9.81381519e-01 -2.88606261e-03 1.82905665e+00] [ 1.71042277e-02 -4.06745501e-04 9.99853629e-01 4.89938996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters Centerline goodness [0,1] 0.9999339527101404 Centerline is valid? [True, True] Translation: X:40.29, Y:1.83, Z:0.49 [[ 9.81230384e-01 -1.92103481e-01 -1.68281284e-02 4.02875645e+01] [ 1.92082244e-01 9.81374593e-01 -2.88453748e-03 1.83427433e+00] [ 1.70688273e-02 -4.01988848e-04 9.99854236e-01 4.90671610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.31, Y:1.84, Z:0.49 [[ 9.81243839e-01 -1.92005483e-01 -1.71587585e-02 4.03146758e+01] [ 1.91983317e-01 9.81393770e-01 -2.94535739e-03 1.83572854e+00] [ 1.74050234e-02 -4.04081567e-04 9.99848439e-01 4.90564237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:1.85, Z:0.49 [[ 9.81352440e-01 -1.91406666e-01 -1.76316886e-02 4.03426666e+01] [ 1.91383116e-01 9.81510737e-01 -3.02924752e-03 1.84609307e+00] [ 1.78855098e-02 -4.01648050e-04 9.99839961e-01 4.92411323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:1.85, Z:0.49 [[ 9.81473101e-01 -1.90833431e-01 -1.71217360e-02 4.03700234e+01] [ 1.90811074e-01 9.81622361e-01 -2.94513619e-03 1.85055171e+00] [ 1.73691094e-02 -3.76444899e-04 9.99849075e-01 4.92412622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865 meters Centerline goodness [0,1] 0.9999339134265889 Centerline is valid? [True, True] Translation: X:40.40, Y:1.86, Z:0.49 [[ 9.81636062e-01 -1.90036071e-01 -1.66412891e-02 4.03980892e+01] [ 1.90014804e-01 9.81777046e-01 -2.86445617e-03 1.85758436e+00] [ 1.68823857e-02 -3.50237815e-04 9.99857421e-01 4.92707497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.313617865 meters Centerline goodness [0,1] 0.9999123978887892 Centerline is valid? [True, True] Translation: X:40.43, Y:1.86, Z:0.49 [[ 9.81655062e-01 -1.89943794e-01 -1.65739109e-02 4.04251939e+01] [ 1.89922616e-01 9.81794906e-01 -2.85701237e-03 1.86469228e+00] [ 1.68148530e-02 -3.43159855e-04 9.99858561e-01 4.93311185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:1.87, Z:0.49 [[ 9.81571344e-01 -1.90398367e-01 -1.63143453e-02 4.04521254e+01] [ 1.90377838e-01 9.81706853e-01 -2.81661977e-03 1.86812596e+00] [ 1.65521844e-02 -3.41176547e-04 9.99862945e-01 4.93591696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37361786499999 meters Centerline goodness [0,1] 0.9999559955995599 Centerline is valid? [True, True] Translation: X:40.48, Y:1.87, Z:0.49 [[ 9.81444142e-01 -1.91128174e-01 -1.54083673e-02 4.04809139e+01] [ 1.91109905e-01 9.81565032e-01 -2.66319262e-03 1.87357120e+00] [ 1.56333257e-02 -3.30916829e-04 9.99877737e-01 4.94325807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.51, Y:1.88, Z:0.50 [[ 9.81227823e-01 -1.92298629e-01 -1.46012432e-02 4.05099523e+01] [ 1.92282303e-01 9.81336400e-01 -2.52711064e-03 1.87693199e+00] [ 1.48146913e-02 -3.27889393e-04 9.99890203e-01 4.96249825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.433617864999995 meters Centerline goodness [0,1] 0.9999120260402921 Centerline is valid? [True, True] Translation: X:40.54, Y:1.88, Z:0.50 [[ 9.81030417e-01 -1.93354341e-01 -1.39075211e-02 4.05390034e+01] [ 1.93339589e-01 9.81128938e-01 -2.41031140e-03 1.88106890e+00] [ 1.41111156e-02 -3.24285621e-04 9.99900381e-01 4.97419109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617864999996 meters Centerline goodness [0,1] 0.9999780403179762 Centerline is valid? [True, True] Translation: X:40.57, Y:1.88, Z:0.50 [[ 9.80871513e-01 -1.94178438e-01 -1.36311478e-02 4.05663847e+01] [ 1.94164302e-01 9.80966170e-01 -2.36565712e-03 1.88485658e+00] [ 1.38310545e-02 -3.26276621e-04 9.99904293e-01 4.98246331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.59, Y:1.89, Z:0.50 [[ 9.80632914e-01 -1.95382806e-01 -1.35884745e-02 4.05944317e+01] [ 1.95368848e-01 9.80726997e-01 -2.36007579e-03 1.89045674e+00] [ 1.37877020e-02 -3.40396613e-04 9.99904887e-01 4.98462127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:1.89, Z:0.50 [[ 9.80281145e-01 -1.97114479e-01 -1.39556209e-02 4.06218255e+01] [ 1.97099884e-01 9.80380408e-01 -2.42725174e-03 1.89467526e+00] [ 1.41602638e-02 -3.71262140e-04 9.99899670e-01 4.97741031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.65, Y:1.90, Z:0.50 [[ 9.80115844e-01 -1.97880393e-01 -1.47065413e-02 4.06493893e+01] [ 1.97864250e-01 9.80226091e-01 -2.55920789e-03 1.89810663e+00] [ 1.49221526e-02 -4.01578583e-04 9.99888578e-01 4.98225551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617864999994 meters Centerline goodness [0,1] 0.999978027772895 Centerline is valid? [True, True] Translation: X:40.68, Y:1.90, Z:0.50 [[ 9.79616149e-01 -2.00289047e-01 -1.53785260e-02 4.06782551e+01] [ 2.00271665e-01 9.79736745e-01 -2.67787779e-03 1.90114362e+00] [ 1.56032566e-02 -4.56590668e-04 9.99878158e-01 4.98585715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:1.91, Z:0.50 [[ 9.79353200e-01 -2.01558273e-01 -1.55426217e-02 4.07058768e+01] [ 2.01540624e-01 9.79476408e-01 -2.70986710e-03 1.90531565e+00] [ 1.57698274e-02 -4.78552656e-04 9.99875534e-01 4.98712195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.73, Y:1.91, Z:0.50 [[ 9.79058579e-01 -2.02964983e-01 -1.57960392e-02 4.07344682e+01] [ 2.02946908e-01 9.79185865e-01 -2.75582521e-03 1.91038216e+00] [ 1.60265943e-02 -5.07643005e-04 9.99871437e-01 4.98761083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.673617865 meters Centerline goodness [0,1] 0.9999780185962676 Centerline is valid? [True, True] Translation: X:40.76, Y:1.91, Z:0.50 [[ 9.78558485e-01 -2.05380537e-01 -1.55604284e-02 4.07627334e+01] [ 2.05363251e-01 9.78682046e-01 -2.71793396e-03 1.91459993e+00] [ 1.57869226e-02 -5.35882834e-04 9.99875235e-01 4.98585726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters Centerline goodness [0,1] 0.999978021978022 Centerline is valid? [True, True] Translation: X:40.79, Y:1.92, Z:0.50 [[ 9.78348774e-01 -2.06370366e-01 -1.56508405e-02 4.07899620e+01] [ 2.06352990e-01 9.78473794e-01 -2.73473429e-03 1.92379209e+00] [ 1.58783053e-02 -5.54073778e-04 9.99873778e-01 4.99707606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:1.92, Z:0.50 [[ 9.78162689e-01 -2.07246064e-01 -1.57105799e-02 4.08181600e+01] [ 2.07228636e-01 9.78288682e-01 -2.74718019e-03 1.92300713e+00] [ 1.59388248e-02 -5.68492870e-04 9.99872807e-01 5.00256154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:1.93, Z:0.50 [[ 9.78036900e-01 -2.07811022e-01 -1.60748604e-02 4.08451269e+01] [ 2.07792827e-01 9.78168815e-01 -2.81236950e-03 1.92759066e+00] [ 1.63083685e-02 -5.89639538e-04 9.99866836e-01 5.01033854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.87, Y:1.94, Z:0.50 [[ 9.78032331e-01 -2.07783198e-01 -1.67003554e-02 4.08723903e+01] [ 2.07763516e-01 9.78174714e-01 -2.92413593e-03 1.93630710e+00] [ 1.69434517e-02 -6.09825078e-04 9.99856263e-01 5.01461776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.90, Y:1.95, Z:0.50 [[ 9.78337938e-01 -2.06307227e-01 -1.70940341e-02 4.08998284e+01] [ 2.06286301e-01 9.78487085e-01 -2.99771761e-03 1.94537717e+00] [ 1.73447424e-02 -5.93484196e-04 9.99849393e-01 5.01372182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:1.95, Z:0.50 [[ 9.78486873e-01 -2.05599937e-01 -1.70910752e-02 4.09283369e+01] [ 2.05578839e-01 9.78635955e-01 -3.00127681e-03 1.95295634e+00] [ 1.73430030e-02 -5.76853420e-04 9.99849432e-01 5.01942719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:1.96, Z:0.50 [[ 9.78710333e-01 -2.04539285e-01 -1.70224568e-02 4.09565334e+01] [ 2.04518128e-01 9.78858200e-01 -2.99314846e-03 1.95950348e+00] [ 1.72747879e-02 -5.51975674e-04 9.99850627e-01 5.02693590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.913617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.98, Y:1.96, Z:0.50 [[ 9.78654892e-01 -2.04804450e-01 -1.70217238e-02 4.09837010e+01] [ 2.04783261e-01 9.78802755e-01 -2.99731170e-03 1.96435339e+00] [ 1.72747729e-02 -5.52430351e-04 9.99850627e-01 5.03060720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.01, Y:1.97, Z:0.50 [[ 9.79197411e-01 -2.02215610e-01 -1.67713385e-02 4.10112564e+01] [ 2.02194595e-01 9.79340902e-01 -2.95708992e-03 1.97050126e+00] [ 1.70228275e-02 -4.95499186e-04 9.99854978e-01 5.04609610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.04, Y:1.98, Z:0.51 [[ 9.79427871e-01 -2.01095689e-01 -1.67800350e-02 4.10391340e+01] [ 2.01074457e-01 9.79571487e-01 -2.96041954e-03 1.97862035e+00] [ 1.70325714e-02 -4.74519010e-04 9.99854823e-01 5.05552048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.07, Y:1.99, Z:0.51 [[ 9.79749067e-01 -1.99520367e-01 -1.68341307e-02 4.10674927e+01] [ 1.99498695e-01 9.79893579e-01 -2.97408001e-03 1.98608778e+00] [ 1.70890461e-02 -4.44534984e-04 9.99853873e-01 5.06187978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.10, Y:2.00, Z:0.51 [[ 9.80248797e-01 -1.97025564e-01 -1.71237300e-02 4.10952113e+01] [ 1.97002686e-01 9.80398268e-01 -3.02949344e-03 1.99579942e+00] [ 1.73849629e-02 -4.03763492e-04 9.99848789e-01 5.06503475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters Centerline goodness [0,1] 0.9999782120835784 Centerline is valid? [True, True] Translation: X:41.12, Y:2.00, Z:0.51 [[ 9.80429507e-01 -1.96103449e-01 -1.73614311e-02 4.11234839e+01] [ 1.96079710e-01 9.80583136e-01 -3.07588319e-03 2.00233064e+00] [ 1.76275179e-02 -3.88537738e-04 9.99844548e-01 5.06983120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.093617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.15, Y:2.01, Z:0.51 [[ 9.80474751e-01 -1.95903781e-01 -1.70578536e-02 4.11506562e+01] [ 1.95880770e-01 9.80623051e-01 -3.02580342e-03 2.00780071e+00] [ 1.73200907e-02 -3.74581639e-04 9.99849926e-01 5.07358121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.18, Y:2.01, Z:0.51 [[ 9.80442340e-01 -1.96115785e-01 -1.64747052e-02 4.11778672e+01] [ 1.96094308e-01 9.80580679e-01 -2.92496187e-03 2.01337933e+00] [ 1.67284088e-02 -3.62839445e-04 9.99860005e-01 5.08417667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.21, Y:2.02, Z:0.51 [[ 9.80125846e-01 -1.97759594e-01 -1.56355292e-02 4.12058855e+01] [ 1.97740393e-01 9.80250482e-01 -2.78003960e-03 2.02077750e+00] [ 1.58765145e-02 -3.66987027e-04 9.99873893e-01 5.10404487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:2.03, Z:0.51 [[ 9.79881701e-01 -1.99029420e-01 -1.48034359e-02 4.12334854e+01] [ 1.99012303e-01 9.79993448e-01 -2.63538920e-03 2.02518231e+00] [ 1.50317902e-02 -3.63696229e-04 9.99886950e-01 5.11314494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.26, Y:2.03, Z:0.51 [[ 9.79177456e-01 -2.02473850e-01 -1.46918052e-02 4.12615766e+01] [ 2.02457347e-01 9.79287583e-01 -2.61761396e-03 2.03249449e+00] [ 1.49175008e-02 -4.11355331e-04 9.99888643e-01 5.12174034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:2.04, Z:0.51 [[ 9.78809672e-01 -2.04218838e-01 -1.50429986e-02 4.12903110e+01] [ 2.04201683e-01 9.78925160e-01 -2.68401054e-03 2.03780807e+00] [ 1.52740953e-02 -4.44670163e-04 9.99883245e-01 5.12654899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.273617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.32, Y:2.04, Z:0.51 [[ 9.78453472e-01 -2.05922984e-01 -1.49842811e-02 4.13179047e+01] [ 2.05906109e-01 9.78568090e-01 -2.67703554e-03 2.04239827e+00] [ 1.52144025e-02 -4.66000306e-04 9.99884146e-01 5.12657785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.35, Y:2.05, Z:0.51 [[ 9.77867221e-01 -2.08658346e-01 -1.54075501e-02 4.13458062e+01] [ 2.08640807e-01 9.77988458e-01 -2.75499738e-03 2.04908035e+00] [ 1.56432593e-02 -5.20622047e-04 9.99877501e-01 5.12437262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.37, Y:2.05, Z:0.51 [[ 9.77539293e-01 -2.10190704e-01 -1.53882393e-02 4.13734526e+01] [ 2.10173345e-01 9.77660255e-01 -2.75495875e-03 2.05432348e+00] [ 1.56235367e-02 -5.41117306e-04 9.99877799e-01 5.12531478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:2.06, Z:0.51 [[ 9.77144130e-01 -2.12017659e-01 -1.54227664e-02 4.14017868e+01] [ 2.12000423e-01 9.77265669e-01 -2.76283845e-03 2.05967942e+00] [ 1.56579107e-02 -5.69941629e-04 9.99877245e-01 5.12794987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:2.07, Z:0.51 [[ 9.76772497e-01 -2.13718645e-01 -1.54864335e-02 4.14294966e+01] [ 2.13701420e-01 9.76895074e-01 -2.77803604e-03 2.06807444e+00] [ 1.57223387e-02 -5.95963633e-04 9.99876219e-01 5.13270022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865 meters Centerline goodness [0,1] 0.9999567941240008 Centerline is valid? [True, True] Translation: X:41.46, Y:2.07, Z:0.51 [[ 9.76316534e-01 -2.15662501e-01 -1.71962713e-02 4.14565319e+01] [ 2.15641491e-01 9.76467719e-01 -3.08886494e-03 2.07258714e+00] [ 1.74577561e-02 -6.92519666e-04 9.99847362e-01 5.13292896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:2.08, Z:0.51 [[ 9.76139273e-01 -2.16440141e-01 -1.74867387e-02 4.14836970e+01] [ 2.16418503e-01 9.76295628e-01 -3.14312981e-03 2.07613772e+00] [ 1.77525260e-02 -7.16321371e-04 9.99842155e-01 5.13196708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:2.09, Z:0.51 [[ 9.75900166e-01 -2.17433846e-01 -1.84766888e-02 4.15113183e+01] [ 2.17409803e-01 9.76074754e-01 -3.32447295e-03 2.08552636e+00] [ 1.87574824e-02 -7.72659573e-04 9.99823764e-01 5.13707053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51361786499999 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:41.54, Y:2.09, Z:0.51 [[ 9.75815237e-01 -2.17823841e-01 -1.83683780e-02 4.15385226e+01] [ 2.17800062e-01 9.75987797e-01 -3.30960122e-03 2.09238361e+00] [ 1.86482228e-02 -7.71074551e-04 9.99825809e-01 5.14301758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:2.10, Z:0.52 [[ 9.75796591e-01 -2.17902365e-01 -1.84275126e-02 4.15661328e+01] [ 2.17878350e-01 9.75970269e-01 -3.32538845e-03 2.09825826e+00] [ 1.87093144e-02 -7.70053323e-04 9.99824669e-01 5.15088665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.573617864999996 meters Centerline goodness [0,1] 0.9998064058164297 Centerline is valid? [True, True] Translation: X:41.59, Y:2.10, Z:0.52 [[ 9.75679418e-01 -2.18376343e-01 -1.90117123e-02 4.15946142e+01] [ 2.18350771e-01 9.75864301e-01 -3.43598846e-03 2.10368150e+00] [ 1.93031899e-02 -7.98798815e-04 9.99813357e-01 5.15562638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.62, Y:2.11, Z:0.52 [[ 9.75675894e-01 -2.18298649e-01 -2.00561676e-02 4.16211403e+01] [ 2.18270089e-01 9.75881652e-01 -3.62892007e-03 2.11039684e+00] [ 2.03646343e-02 -8.37011658e-04 9.99792269e-01 5.16528134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.633617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:2.12, Z:0.52 [[ 9.75722918e-01 -2.18060583e-01 -2.03560484e-02 4.16489509e+01] [ 2.18031042e-01 9.75934872e-01 -3.68648507e-03 2.11700234e+00] [ 2.06700546e-02 -8.41262466e-04 9.99785998e-01 5.17063069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:2.13, Z:0.52 [[ 9.75974293e-01 -2.16885985e-01 -2.08482197e-02 4.16765467e+01] [ 2.16854625e-01 9.76196588e-01 -3.78061184e-03 2.12970581e+00] [ 2.11719227e-02 -8.31252901e-04 9.99775504e-01 5.19266740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69361786499999 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:41.70, Y:2.13, Z:0.52 [[ 9.76211399e-01 -2.15807726e-01 -2.09363432e-02 4.17047178e+01] [ 2.15775772e-01 9.76435545e-01 -3.80037418e-03 2.13165078e+00] [ 2.12631398e-02 -8.07587038e-04 9.99773588e-01 5.18422168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:2.14, Z:0.52 [[ 9.76381477e-01 -2.15014346e-01 -2.11670127e-02 4.17326743e+01] [ 2.14981432e-01 9.76610566e-01 -3.84532727e-03 2.13684398e+00] [ 2.14987287e-02 -7.96008379e-04 9.99768559e-01 5.19310653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:2.14, Z:0.52 [[ 9.76620526e-01 -2.13913105e-01 -2.12962661e-02 4.17609945e+01] [ 2.13879418e-01 9.76852388e-01 -3.87381857e-03 2.14328944e+00] [ 2.16319689e-02 -7.71582273e-04 9.99765704e-01 5.20330259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865 meters Centerline goodness [0,1] 0.9999357821731313 Centerline is valid? [True, True] Translation: X:41.79, Y:2.15, Z:0.52 [[ 9.77270148e-01 -2.10873383e-01 -2.18053768e-02 4.17882414e+01] [ 2.10837227e-01 9.77513121e-01 -3.97014134e-03 2.15451147e+00] [ 2.21522391e-02 -7.17484580e-04 9.99754352e-01 5.22534923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:2.16, Z:0.52 [[ 9.77525574e-01 -2.09657142e-01 -2.20824512e-02 4.18162342e+01] [ 2.09619681e-01 9.77774718e-01 -4.02372384e-03 2.16221152e+00] [ 2.24352649e-02 -6.95623423e-04 9.99748056e-01 5.23711157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.84, Y:2.17, Z:0.52 [[ 9.77775002e-01 -2.08469092e-01 -2.22863708e-02 4.18447316e+01] [ 2.08430506e-01 9.78028726e-01 -4.06626243e-03 2.16944803e+00] [ 2.26444009e-02 -6.69269801e-04 9.99743359e-01 5.24439576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.87, Y:2.18, Z:0.53 [[ 9.78122644e-01 -2.06787436e-01 -2.26947170e-02 4.18722863e+01] [ 2.06746844e-01 9.78385686e-01 -4.14622041e-03 2.17760653e+00] [ 2.30615725e-02 -6.36549040e-04 9.99733844e-01 5.25162669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.90, Y:2.18, Z:0.53 [[ 9.78106104e-01 -2.06828803e-01 -2.30281391e-02 4.18992853e+01] [ 2.06786915e-01 9.78376938e-01 -4.21166308e-03 2.18286318e+00] [ 2.34012934e-02 -6.42464466e-04 9.99725946e-01 5.25588922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.93, Y:2.19, Z:0.53 [[ 9.78149483e-01 -2.06638430e-01 -2.28942790e-02 4.19281834e+01] [ 2.06596887e-01 9.78417172e-01 -4.19100529e-03 2.18803754e+00] [ 2.32661784e-02 -6.30457115e-04 9.99729107e-01 5.26637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.96, Y:2.19, Z:0.53 [[ 9.77982548e-01 -2.07441921e-01 -2.27592818e-02 4.19559912e+01] [ 2.07400959e-01 9.78247126e-01 -4.17166838e-03 2.19425328e+00] [ 2.31295809e-02 -6.40477999e-04 9.99732270e-01 5.29395555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:2.20, Z:0.53 [[ 9.77890800e-01 -2.07909159e-01 -2.24357833e-02 4.19839195e+01] [ 2.07869383e-01 9.78147931e-01 -4.11644153e-03 2.19797428e+00] [ 2.28013609e-02 -6.38282136e-04 9.99739811e-01 5.29927919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:2.20, Z:0.53 [[ 9.77884351e-01 -2.07953750e-01 -2.23032146e-02 4.20116531e+01] [ 2.07914374e-01 9.78138456e-01 -4.09572530e-03 2.20499902e+00] [ 2.26673533e-02 -6.32013222e-04 9.99742863e-01 5.31376640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.04, Y:2.21, Z:0.53 [[ 9.77841101e-01 -2.08050702e-01 -2.32741551e-02 4.20389083e+01] [ 2.08007742e-01 9.78117822e-01 -4.27857885e-03 2.21044709e+00] [ 2.36550272e-02 -6.57434184e-04 9.99719965e-01 5.31345977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:2.21, Z:0.53 [[ 9.77865361e-01 -2.07882783e-01 -2.37504697e-02 4.20658932e+01] [ 2.07837936e-01 9.78153519e-01 -4.36862417e-03 2.21460915e+00] [ 2.41397673e-02 -6.64322365e-04 9.99708373e-01 5.30820854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:2.22, Z:0.53 [[ 9.77949711e-01 -2.07317629e-01 -2.51746760e-02 4.20934073e+01] [ 2.07266927e-01 9.78273445e-01 -4.63559998e-03 2.21964556e+00] [ 2.55887586e-02 -6.84494072e-04 9.99672320e-01 5.30133835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:2.23, Z:0.53 [[ 9.77950982e-01 -2.07297220e-01 -2.52930805e-02 4.21205802e+01] [ 2.07245851e-01 9.78277772e-01 -4.66447095e-03 2.22653850e+00] [ 2.57105903e-02 -6.80262048e-04 9.99669197e-01 5.31168888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:2.23, Z:0.53 [[ 9.77967865e-01 -2.07296809e-01 -2.46350987e-02 4.21484628e+01] [ 2.07247950e-01 9.78277875e-01 -4.54827290e-03 2.23102261e+00] [ 2.50428144e-02 -6.57508947e-04 9.99686163e-01 5.31428688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:2.24, Z:0.53 [[ 9.77956678e-01 -2.07358616e-01 -2.45589129e-02 4.21755636e+01] [ 2.07309951e-01 9.78264780e-01 -4.53925216e-03 2.23911373e+00] [ 2.49663725e-02 -6.52115066e-04 9.99688079e-01 5.32543484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.20, Y:2.24, Z:0.53 [[ 9.77935505e-01 -2.07396823e-01 -2.50739940e-02 4.22032142e+01] [ 2.07345981e-01 9.78256674e-01 -4.63941414e-03 2.24478051e+00] [ 2.54910017e-02 -6.61944087e-04 9.99674832e-01 5.31064052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.23, Y:2.25, Z:0.53 [[ 9.77920990e-01 -2.07410274e-01 -2.55248000e-02 4.22298509e+01] [ 2.07357522e-01 9.78253815e-01 -4.72555938e-03 2.24837632e+00] [ 2.59498625e-02 -6.71535562e-04 9.99663020e-01 5.29861938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:2.25, Z:0.53 [[ 9.77925565e-01 -2.07326059e-01 -2.60287307e-02 4.22569104e+01] [ 2.07271089e-01 9.78271661e-01 -4.82206628e-03 2.25157324e+00] [ 2.64629097e-02 -6.79381460e-04 9.99649565e-01 5.29293441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.28, Y:2.26, Z:0.53 [[ 9.77847790e-01 -2.07766350e-01 -2.54331072e-02 4.22843725e+01] [ 2.07713886e-01 9.78178253e-01 -4.71674532e-03 2.25853533e+00] [ 2.58580933e-02 -6.70550527e-04 9.99665399e-01 5.30828236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.31, Y:2.26, Z:0.53 [[ 9.77764114e-01 -2.08173766e-01 -2.53184016e-02 4.23124571e+01] [ 2.08121726e-01 9.78091628e-01 -4.70260006e-03 2.26355745e+00] [ 2.57426746e-02 -6.71275863e-04 9.99668377e-01 5.31343117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.34, Y:2.27, Z:0.53 [[ 9.77713535e-01 -2.08449945e-01 -2.49972914e-02 4.23394570e+01] [ 2.08399178e-01 9.78032810e-01 -4.64805944e-03 2.26868725e+00] [ 2.54170589e-02 -6.64944365e-04 9.99676713e-01 5.31229189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:2.27, Z:0.53 [[ 9.77772129e-01 -2.08186936e-01 -2.48970640e-02 4.23675638e+01] [ 2.08136377e-01 9.78088838e-01 -4.63387660e-03 2.27396533e+00] [ 2.53162530e-02 -6.51109330e-04 9.99679280e-01 5.31233101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:2.28, Z:0.53 [[ 9.77755342e-01 -2.08251469e-01 -2.50163167e-02 4.23953287e+01] [ 2.08200280e-01 9.78075101e-01 -4.66257889e-03 2.27896373e+00] [ 2.54388254e-02 -6.49542718e-04 9.99676170e-01 5.31477753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.42, Y:2.28, Z:0.53 [[ 9.77780062e-01 -2.08156152e-01 -2.48428556e-02 4.24234697e+01] [ 2.08105523e-01 9.78095399e-01 -4.63488126e-03 2.28238125e+00] [ 2.52634618e-02 -6.38040962e-04 9.99680624e-01 5.31595181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:2.29, Z:0.53 [[ 9.77844493e-01 -2.07975133e-01 -2.38010674e-02 4.24525660e+01] [ 2.07928524e-01 9.78133927e-01 -4.44399530e-03 2.28645251e+00] [ 2.42048720e-02 -6.03384481e-04 9.99706837e-01 5.32956955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:2.29, Z:0.53 [[ 9.77824105e-01 -2.08082212e-01 -2.37026026e-02 4.24798284e+01] [ 2.08035918e-01 9.78111156e-01 -4.42980831e-03 2.28970827e+00] [ 2.41055443e-02 -5.99419345e-04 9.99709239e-01 5.32662413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:2.30, Z:0.53 [[ 9.77772514e-01 -2.08347552e-01 -2.34991239e-02 4.25066534e+01] [ 2.08302020e-01 9.78054672e-01 -4.39623249e-03 2.29642641e+00] [ 2.38993722e-02 -5.96399683e-04 9.99714191e-01 5.33576451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.593617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:2.30, Z:0.53 [[ 9.77752893e-01 -2.08457755e-01 -2.33376448e-02 4.25336950e+01] [ 2.08412762e-01 9.78031194e-01 -4.37089131e-03 2.29924094e+00] [ 2.37360908e-02 -5.90211391e-04 9.99718085e-01 5.33318436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:2.30, Z:0.53 [[ 9.77686272e-01 -2.08803726e-01 -2.30338205e-02 4.25615985e+01] [ 2.08759892e-01 9.77957392e-01 -4.31827034e-03 2.30349774e+00] [ 2.34277659e-02 -5.86624236e-04 9.99725360e-01 5.33865140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.653617864999994 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:42.59, Y:2.31, Z:0.54 [[ 9.77577404e-01 -2.09370727e-01 -2.25014838e-02 4.25891734e+01] [ 2.09328906e-01 9.77836163e-01 -4.22459704e-03 2.30783308e+00] [ 2.28872715e-02 -5.80340390e-04 9.99737884e-01 5.35109966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:2.31, Z:0.54 [[ 9.77473100e-01 -2.09896562e-01 -2.21308097e-02 4.26169778e+01] [ 2.09856104e-01 9.77723427e-01 -4.16113585e-03 2.31280448e+00] [ 2.25112192e-02 -5.76887153e-04 9.99746424e-01 5.35793066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:2.32, Z:0.54 [[ 9.77380730e-01 -2.10386868e-01 -2.15470425e-02 4.26440091e+01] [ 2.10348503e-01 9.77618046e-01 -4.05740322e-03 2.31875486e+00] [ 2.19184019e-02 -5.66760409e-04 9.99759602e-01 5.36546062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:2.32, Z:0.54 [[ 9.77251955e-01 -2.11024916e-01 -2.11447584e-02 4.26719137e+01] [ 2.10988024e-01 9.77480519e-01 -3.98608962e-03 2.32262191e+00] [ 2.15097536e-02 -5.65876910e-04 9.99768478e-01 5.36636871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.773617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:2.33, Z:0.54 [[ 9.77205744e-01 -2.11256879e-01 -2.09634106e-02 4.26987962e+01] [ 2.11220626e-01 9.77430413e-01 -3.95403003e-03 2.32639107e+00] [ 2.13255912e-02 -5.64003855e-04 9.99772425e-01 5.36362421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:2.33, Z:0.54 [[ 9.77148926e-01 -2.11519597e-01 -2.09627187e-02 4.27258854e+01] [ 2.11483326e-01 9.77373593e-01 -3.95769530e-03 2.33157416e+00] [ 2.13255378e-02 -5.66007766e-04 9.99772425e-01 5.36729994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:2.34, Z:0.54 [[ 9.76965577e-01 -2.12399602e-01 -2.06075112e-02 4.27546336e+01] [ 2.12364632e-01 9.77182728e-01 -3.89604676e-03 2.33637414e+00] [ 2.09648228e-02 -5.70002954e-04 9.99780051e-01 5.36685110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:2.34, Z:0.54 [[ 9.76827277e-01 -2.12963976e-01 -2.13263967e-02 4.27832481e+01] [ 2.12926543e-01 9.77059869e-01 -4.03724633e-03 2.33970003e+00] [ 2.16969544e-02 -5.97263572e-04 9.99764415e-01 5.36303412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:2.35, Z:0.54 [[ 9.76749399e-01 -2.13321098e-01 -2.13241637e-02 4.28109547e+01] [ 2.13283638e-01 9.76981960e-01 -4.04230785e-03 2.34572245e+00] [ 2.16956328e-02 -5.99773445e-04 9.99764442e-01 5.36863604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:2.35, Z:0.54 [[ 9.76680428e-01 -2.13599054e-01 -2.16975888e-02 4.28382623e+01] [ 2.13560203e-01 9.76921221e-01 -4.11930108e-03 2.35115533e+00] [ 2.20767138e-02 -6.10500729e-04 9.99756093e-01 5.36643448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:2.36, Z:0.54 [[ 9.76816927e-01 -2.12841718e-01 -2.29585149e-02 4.28655406e+01] [ 2.12797887e-01 9.77086493e-01 -4.36393125e-03 2.35549575e+00] [ 2.33612814e-02 -6.22761549e-04 9.99726894e-01 5.35551445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:2.36, Z:0.54 [[ 9.76888649e-01 -2.12528900e-01 -2.28042743e-02 4.28937579e+01] [ 2.12485474e-01 9.77154593e-01 -4.33876237e-03 2.36263383e+00] [ 2.32054137e-02 -6.07089332e-04 9.99730534e-01 5.35943599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01361786499999 meters Centerline goodness [0,1] 0.9999572777374289 Centerline is valid? [True, True] Translation: X:42.92, Y:2.37, Z:0.54 [[ 9.77015623e-01 -2.11973868e-01 -2.25288985e-02 4.29213140e+01] [ 2.11931244e-01 9.77275161e-01 -4.29044866e-03 2.36526734e+00] [ 2.29263959e-02 -5.82742107e-04 9.99736986e-01 5.35638582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:2.37, Z:0.54 [[ 9.77226450e-01 -2.11030547e-01 -2.22390328e-02 4.29502410e+01] [ 2.10988697e-01 9.77479312e-01 -4.23841150e-03 2.37042298e+00] [ 2.26326287e-02 -5.50296729e-04 9.99743698e-01 5.36858771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:2.38, Z:0.54 [[ 9.77742554e-01 -2.08720337e-01 -2.13382108e-02 4.29783164e+01] [ 2.08681155e-01 9.77975254e-01 -4.07154588e-03 2.37811246e+00] [ 2.17180566e-02 -4.71958804e-04 9.99764024e-01 5.38552574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.01, Y:2.38, Z:0.54 [[ 9.78045496e-01 -2.07351230e-01 -2.07960499e-02 4.30053973e+01] [ 2.07313623e-01 9.78266470e-01 -3.97193131e-03 2.38410389e+00] [ 2.11676632e-02 -4.26574929e-04 9.99775849e-01 5.38604731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:2.39, Z:0.54 [[ 9.78377792e-01 -2.05789851e-01 -2.06744676e-02 4.30329106e+01] [ 2.05752296e-01 9.78596130e-01 -3.95050992e-03 2.39013089e+00] [ 2.10449288e-02 -3.88727988e-04 9.99778455e-01 5.38824145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:2.40, Z:0.54 [[ 9.78886503e-01 -2.03408025e-01 -2.01590892e-02 4.30616859e+01] [ 2.03371759e-01 9.79094004e-01 -3.85472520e-03 2.39596069e+00] [ 2.05217254e-02 -3.26450961e-04 9.99789354e-01 5.39190758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:2.40, Z:0.54 [[ 9.79140925e-01 -2.02240859e-01 -1.95367170e-02 4.30896503e+01] [ 2.02206477e-01 9.79335771e-01 -3.74018647e-03 2.40228090e+00] [ 1.98894243e-02 -2.88281059e-04 9.99802144e-01 5.40382454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:2.41, Z:0.54 [[ 9.79372917e-01 -2.01168001e-01 -1.89769730e-02 4.31177847e+01] [ 2.01135269e-01 9.79556721e-01 -3.63770486e-03 2.40733025e+00] [ 1.93208113e-02 -2.54268948e-04 9.99813303e-01 5.41268620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:2.41, Z:0.54 [[ 9.79667995e-01 -1.99838588e-01 -1.77527107e-02 4.31465327e+01] [ 1.99809648e-01 9.79828809e-01 -3.40727375e-03 2.41111745e+00] [ 1.80755221e-02 -2.09165822e-04 9.99836603e-01 5.43157886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:43.17, Y:2.42, Z:0.54 [[ 9.79727546e-01 -1.99607712e-01 -1.70498059e-02 4.31738390e+01] [ 1.99580923e-01 9.79875872e-01 -3.27586910e-03 2.41515137e+00] [ 1.73605822e-02 -1.93356814e-04 9.99849275e-01 5.43769876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.313617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.20, Y:2.42, Z:0.54 [[ 9.79693516e-01 -1.99766513e-01 -1.71451116e-02 4.32019911e+01] [ 1.99739407e-01 9.79843509e-01 -3.29649599e-03 2.41958041e+00] [ 1.74580558e-02 -1.94998683e-04 9.99847578e-01 5.44150319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:43.23, Y:2.42, Z:0.54 [[ 9.79470305e-01 -2.00823934e-01 -1.75404967e-02 4.32310363e+01] [ 2.00795645e-01 9.79627328e-01 -3.37742151e-03 2.42370796e+00] [ 1.78614170e-02 -2.13971280e-04 9.99840449e-01 5.43151457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37361786499999 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:43.26, Y:2.43, Z:0.54 [[ 9.79256167e-01 -2.01848964e-01 -1.77300420e-02 4.32584848e+01] [ 2.01820158e-01 9.79416634e-01 -3.41781462e-03 2.42705675e+00] [ 1.80549804e-02 -2.31363842e-04 9.99836969e-01 5.42544186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:2.43, Z:0.54 [[ 9.78924811e-01 -2.03480982e-01 -1.73696662e-02 4.32869616e+01] [ 2.03453544e-01 9.79078866e-01 -3.35108464e-03 2.43072500e+00] [ 1.76881551e-02 -2.53460251e-04 9.99843520e-01 5.42716459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.433617864999995 meters Centerline goodness [0,1] 0.9999784997097461 Centerline is valid? [True, True] Translation: X:43.32, Y:2.43, Z:0.54 [[ 9.78220918e-01 -2.06851165e-01 -1.72171595e-02 4.33154331e+01] [ 2.06824665e-01 9.78372373e-01 -3.32520929e-03 2.42972744e+00] [ 1.75326167e-02 -3.08143976e-04 9.99846244e-01 5.43200276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:2.43, Z:0.54 [[ 9.77761210e-01 -2.09018944e-01 -1.71492561e-02 4.33443346e+01] [ 2.08992950e-01 9.77911531e-01 -3.31421104e-03 2.43380375e+00] [ 1.74631882e-02 -3.43566620e-04 9.99847448e-01 5.43795395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.493617865 meters Centerline goodness [0,1] 0.9998702057239276 Centerline is valid? [True, True] Translation: X:43.37, Y:2.44, Z:0.54 [[ 9.77325958e-01 -2.11064834e-01 -1.68999142e-02 4.33727237e+01] [ 2.11039833e-01 9.77471994e-01 -3.26964551e-03 2.43687616e+00] [ 1.72093000e-02 -3.71045635e-04 9.99851840e-01 5.44140831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:2.44, Z:0.54 [[ 9.76877423e-01 -2.13159435e-01 -1.65395066e-02 4.34017020e+01] [ 2.13135748e-01 9.77017348e-01 -3.20239384e-03 2.44034199e+00] [ 1.68420054e-02 -3.96813869e-04 9.99858085e-01 5.44591453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.43, Y:2.44, Z:0.54 [[ 9.76160858e-01 -2.16437702e-01 -1.62695938e-02 4.34311543e+01] [ 2.16415172e-01 9.76296331e-01 -3.15398111e-03 2.44167441e+00] [ 1.65665851e-02 -4.42194033e-04 9.99862667e-01 5.44814646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617864999994 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:43.46, Y:2.44, Z:0.55 [[ 9.75892934e-01 -2.17653117e-01 -1.61276656e-02 4.34588639e+01] [ 2.17631089e-01 9.76026082e-01 -3.12981930e-03 2.44419033e+00] [ 1.64222372e-02 -4.55512882e-04 9.99865042e-01 5.45101844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.613617864999995 meters Centerline goodness [0,1] 0.9999565378012474 Centerline is valid? [True, True] Translation: X:43.49, Y:2.45, Z:0.55 [[ 9.75700586e-01 -2.18481835e-01 -1.65546101e-02 4.34871395e+01] [ 2.18458721e-01 9.75840897e-01 -3.21409834e-03 2.44702766e+00] [ 1.68568877e-02 -4.80501302e-04 9.99857797e-01 5.45238190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:2.45, Z:0.55 [[ 9.75433358e-01 -2.19663366e-01 -1.66664520e-02 4.35151722e+01] [ 2.19640077e-01 9.75575601e-01 -3.23779225e-03 2.45251891e+00] [ 1.69706083e-02 -5.02370235e-04 9.99855863e-01 5.45919175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.673617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:2.46, Z:0.55 [[ 9.75373135e-01 -2.19914382e-01 -1.68793124e-02 4.35431334e+01] [ 2.19890470e-01 9.75519044e-01 -3.28274002e-03 2.45561888e+00] [ 1.71880124e-02 -5.09703513e-04 9.99852145e-01 5.45490756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.57, Y:2.46, Z:0.55 [[ 9.75262274e-01 -2.20359637e-01 -1.74678615e-02 4.35717103e+01] [ 2.20334060e-01 9.75418549e-01 -3.39943186e-03 2.46044208e+00] [ 1.77875737e-02 -5.33427211e-04 9.99841646e-01 5.45211748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:2.46, Z:0.54 [[ 9.75026548e-01 -2.21329472e-01 -1.83438208e-02 4.36005131e+01] [ 2.21301367e-01 9.75198920e-01 -3.57365008e-03 2.46013584e+00] [ 1.86798283e-02 -5.75108910e-04 9.99825351e-01 5.44228760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76361786499999 meters Centerline goodness [0,1] 0.9999781143307362 Centerline is valid? [True, True] Translation: X:43.63, Y:2.47, Z:0.55 [[ 9.74825188e-01 -2.22225059e-01 -1.82174533e-02 4.36283000e+01] [ 2.22197452e-01 9.74995221e-01 -3.55138332e-03 2.46832900e+00] [ 1.85511362e-02 -5.85893779e-04 9.99827741e-01 5.45138510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:2.47, Z:0.55 [[ 9.74634127e-01 -2.23081075e-01 -1.79764471e-02 4.36563964e+01] [ 2.23054274e-01 9.74799715e-01 -3.50796729e-03 2.47091585e+00] [ 1.83059966e-02 -5.90738711e-04 9.99832257e-01 5.45473396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617864999996 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:43.68, Y:2.47, Z:0.55 [[ 9.74166890e-01 -2.25173886e-01 -1.71927992e-02 4.36849050e+01] [ 2.25149660e-01 9.74318408e-01 -3.35712359e-03 2.47414830e+00] [ 1.75071973e-02 -6.00554238e-04 9.99846557e-01 5.46836470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:2.47, Z:0.55 [[ 9.73944108e-01 -2.26182214e-01 -1.65674430e-02 4.37140379e+01] [ 2.26159804e-01 9.74084829e-01 -3.23854154e-03 2.47111188e+00] [ 1.68705953e-02 -5.92731200e-04 9.99857506e-01 5.46654041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.74, Y:2.48, Z:0.55 [[ 9.73686030e-01 -2.27294326e-01 -1.65168086e-02 4.37412451e+01] [ 2.27272171e-01 9.73825919e-01 -3.23117159e-03 2.48343058e+00] [ 1.68189232e-02 -6.07664289e-04 9.99858367e-01 5.48149797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.77, Y:2.49, Z:0.55 [[ 9.73472644e-01 -2.28291359e-01 -1.52992413e-02 4.37693065e+01] [ 2.28272422e-01 9.73592689e-01 -2.99626376e-03 2.48514141e+00] [ 1.55792506e-02 -5.75614065e-04 9.99878470e-01 5.49455198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.80, Y:2.49, Z:0.55 [[ 9.73366928e-01 -2.28762150e-01 -1.49900551e-02 4.37971940e+01] [ 2.28743993e-01 9.73482180e-01 -2.93785526e-03 2.49104965e+00] [ 1.52646216e-02 -5.69273920e-04 9.99883327e-01 5.50498889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:2.50, Z:0.55 [[ 9.73266700e-01 -2.29227904e-01 -1.43700391e-02 4.38242827e+01] [ 2.29211218e-01 9.73372625e-01 -2.81978623e-03 2.49641984e+00] [ 1.46337764e-02 -5.49370131e-04 9.99892770e-01 5.51223066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:2.50, Z:0.55 [[ 9.73194840e-01 -2.29594779e-01 -1.33432268e-02 4.38520067e+01] [ 2.29580379e-01 9.73286174e-01 -2.62182885e-03 2.50145055e+00] [ 1.35887363e-02 -5.11792748e-04 9.99907538e-01 5.52305293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.88, Y:2.51, Z:0.55 [[ 9.73277008e-01 -2.29252054e-01 -1.32423990e-02 4.38801170e+01] [ 2.29237789e-01 9.73366964e-01 -2.60576341e-03 2.50668260e+00] [ 1.34870903e-02 -4.99528647e-04 9.99908920e-01 5.52159504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.91, Y:2.51, Z:0.55 [[ 9.73450356e-01 -2.28503831e-01 -1.34314548e-02 4.39080073e+01] [ 2.28489038e-01 9.73542889e-01 -2.64634540e-03 2.51294134e+00] [ 1.36807974e-02 -4.92854317e-04 9.99906292e-01 5.52038162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.94, Y:2.52, Z:0.55 [[ 9.74145647e-01 -2.25495405e-01 -1.38593025e-02 4.39360784e+01] [ 2.25479302e-01 9.74244122e-01 -2.73407504e-03 2.51962626e+00] [ 1.41188653e-02 -4.61598553e-04 9.99900217e-01 5.51538759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:2.52, Z:0.55 [[ 9.74491185e-01 -2.23986470e-01 -1.40353538e-02 4.39641616e+01] [ 2.23969782e-01 9.74592153e-01 -2.76999004e-03 2.52354265e+00] [ 1.42991860e-02 -4.44164264e-04 9.99897663e-01 5.51085249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.153617864999994 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:43.99, Y:2.53, Z:0.55 [[ 9.74854116e-01 -2.22375947e-01 -1.44357461e-02 4.39924134e+01] [ 2.22358063e-01 9.74960899e-01 -2.85267570e-03 2.53186051e+00] [ 1.47086544e-02 -4.28961893e-04 9.99891730e-01 5.51106351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:2.54, Z:0.55 [[ 9.75152785e-01 -2.21027120e-01 -1.49685910e-02 4.40198427e+01] [ 2.21007682e-01 9.75267571e-01 -2.96127540e-03 2.53700775e+00] [ 1.52529036e-02 -4.20477639e-04 9.99883579e-01 5.51035392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.213617864999996 meters Centerline goodness [0,1] 0.9999123287671233 Centerline is valid? [True, True] Translation: X:44.05, Y:2.54, Z:0.55 [[ 9.75689515e-01 -2.18593595e-01 -1.57102219e-02 4.40476985e+01] [ 2.18571843e-01 9.75815905e-01 -3.10953973e-03 2.54147545e+00] [ 1.60100099e-02 -3.99866859e-04 9.99871752e-01 5.49760297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.08, Y:2.55, Z:0.55 [[ 9.75802150e-01 -2.18061977e-01 -1.60977740e-02 4.40761040e+01] [ 2.18039026e-01 9.75934842e-01 -3.18868534e-03 2.54850045e+00] [ 1.64057095e-02 -3.98416948e-04 9.99865338e-01 5.50062948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.273617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:2.55, Z:0.55 [[ 9.75865689e-01 -2.17784110e-01 -1.60074438e-02 4.41044934e+01] [ 2.17761315e-01 9.75996891e-01 -3.17469367e-03 2.55306972e+00] [ 1.63146132e-02 -3.87727387e-04 9.99866833e-01 5.50303313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:2.56, Z:0.55 [[ 9.75823931e-01 -2.17948812e-01 -1.63086237e-02 4.41325109e+01] [ 2.17925105e-01 9.75960122e-01 -3.23856028e-03 2.55658812e+00] [ 1.66224067e-02 -3.93793911e-04 9.99861761e-01 5.50745971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.16, Y:2.56, Z:0.55 [[ 9.75807917e-01 -2.18001204e-01 -1.65645315e-02 4.41597984e+01] [ 2.17976676e-01 9.75948420e-01 -3.29401431e-03 2.56162106e+00] [ 1.68842274e-02 -3.96356271e-04 9.99857373e-01 5.50609404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.19, Y:2.57, Z:0.55 [[ 9.75756564e-01 -2.18205959e-01 -1.68904416e-02 4.41872005e+01] [ 2.18180419e-01 9.75902657e-01 -3.36283796e-03 2.56642462e+00] [ 1.72172182e-02 -4.03852415e-04 9.99851691e-01 5.50446630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:2.57, Z:0.55 [[ 9.75643450e-01 -2.18699031e-01 -1.70467922e-02 4.42145921e+01] [ 2.18673052e-01 9.75792274e-01 -3.39617799e-03 2.57134579e+00] [ 1.73768690e-02 -4.14215271e-04 9.99848925e-01 5.50311115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:2.57, Z:0.55 [[ 9.75346198e-01 -2.20023526e-01 -1.70130028e-02 4.42422559e+01] [ 2.19997781e-01 9.75494470e-01 -3.39350935e-03 2.57446173e+00] [ 1.73427420e-02 -4.32976418e-04 9.99849510e-01 5.50563031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.453617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:2.58, Z:0.55 [[ 9.75164792e-01 -2.20853496e-01 -1.66541770e-02 4.42699444e+01] [ 2.20828914e-01 9.75306897e-01 -3.32385492e-03 2.57810155e+00] [ 1.69770187e-02 -4.36417533e-04 9.99855785e-01 5.50842271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:2.58, Z:0.55 [[ 9.74882371e-01 -2.22086775e-01 -1.67877095e-02 4.42984837e+01] [ 2.22061946e-01 9.75026796e-01 -3.35248421e-03 2.58252089e+00] [ 1.71130090e-02 -4.59633694e-04 9.99853456e-01 5.51618889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:2.59, Z:0.55 [[ 9.74584895e-01 -2.23395628e-01 -1.66935951e-02 4.43264384e+01] [ 2.23371200e-01 9.74727740e-01 -3.33766001e-03 2.58935393e+00] [ 1.70173289e-02 -4.76035347e-04 9.99855081e-01 5.52923468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:2.59, Z:0.55 [[ 9.74090220e-01 -2.25559905e-01 -1.64612311e-02 4.43558502e+01] [ 2.25536393e-01 9.74229171e-01 -3.29525829e-03 2.59067267e+00] [ 1.67802897e-02 -5.02727825e-04 9.99859075e-01 5.53989645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:2.59, Z:0.55 [[ 9.73759072e-01 -2.26970697e-01 -1.66605270e-02 4.43842644e+01] [ 2.26946757e-01 9.73901444e-01 -3.33874412e-03 2.59085431e+00] [ 1.69835084e-02 -5.29920206e-04 9.99855629e-01 5.53902175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:2.60, Z:0.55 [[ 9.73489379e-01 -2.28086343e-01 -1.71770078e-02 4.44123969e+01] [ 2.28061031e-01 9.73640746e-01 -3.44444422e-03 2.59879130e+00] [ 1.75098653e-02 -5.64276246e-04 9.99846531e-01 5.54698670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.633617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.44, Y:2.60, Z:0.55 [[ 9.73293365e-01 -2.28897123e-01 -1.74966586e-02 4.44402990e+01] [ 2.28870925e-01 9.73450442e-01 -3.51224015e-03 2.60267411e+00] [ 1.78360717e-02 -5.86036413e-04 9.99840753e-01 5.54448191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:2.61, Z:0.55 [[ 9.73455555e-01 -2.28223117e-01 -1.72769153e-02 4.44687640e+01] [ 2.28197429e-01 9.73608695e-01 -3.47028719e-03 2.60866495e+00] [ 1.76129547e-02 -5.64377313e-04 9.99844721e-01 5.54813178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:2.62, Z:0.56 [[ 9.73695990e-01 -2.27200235e-01 -1.72096477e-02 4.44968934e+01] [ 2.27174514e-01 9.73847915e-01 -3.46098112e-03 2.61652779e+00] [ 1.75459153e-02 -5.39649922e-04 9.99845913e-01 5.55759107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:2.62, Z:0.56 [[ 9.73633737e-01 -2.27466928e-01 -1.72087895e-02 4.45239404e+01] [ 2.27441173e-01 9.73785657e-01 -3.46524372e-03 2.62203608e+00] [ 1.75459008e-02 -5.40109079e-04 9.99845913e-01 5.56126235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:2.63, Z:0.56 [[ 9.73901346e-01 -2.26323783e-01 -1.71380549e-02 4.45516981e+01] [ 2.26297980e-01 9.74051992e-01 -3.45571612e-03 2.62764017e+00] [ 1.74754673e-02 -5.12780637e-04 9.99847161e-01 5.56465693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:44.58, Y:2.63, Z:0.56 [[ 9.74028124e-01 -2.25770918e-01 -1.72251746e-02 4.45795785e+01] [ 2.25744702e-01 9.74180292e-01 -3.47689505e-03 2.63223729e+00] [ 1.75654074e-02 -5.01898338e-04 9.99845590e-01 5.56469182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:2.64, Z:0.56 [[ 9.73951423e-01 -2.26048163e-01 -1.79123891e-02 4.46066603e+01] [ 2.26019814e-01 9.74115985e-01 -3.61815658e-03 2.63887675e+00] [ 1.82666222e-02 -5.24646107e-04 9.99833014e-01 5.56460162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:2.65, Z:0.56 [[ 9.73895992e-01 -2.26323598e-01 -1.74421014e-02 4.46337563e+01] [ 2.26296676e-01 9.74052035e-01 -3.52798826e-03 2.64607106e+00] [ 1.77879814e-02 -5.11195939e-04 9.99841651e-01 5.56539937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:2.65, Z:0.56 [[ 9.73778837e-01 -2.26851830e-01 -1.71179418e-02 4.46615146e+01] [ 2.26825898e-01 9.73929151e-01 -3.46719791e-03 2.65112653e+00] [ 1.74582027e-02 -5.06508569e-04 9.99847466e-01 5.56680399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:2.66, Z:0.56 [[ 9.73565536e-01 -2.27758243e-01 -1.72142545e-02 4.46894060e+01] [ 2.27732088e-01 9.73717572e-01 -3.49077647e-03 2.65505690e+00] [ 1.75568752e-02 -5.21738463e-04 9.99845730e-01 5.57564335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:2.66, Z:0.56 [[ 9.73289393e-01 -2.28942809e-01 -1.71157404e-02 4.47173679e+01] [ 2.28917098e-01 9.73439726e-01 -3.47291450e-03 2.66073163e+00] [ 1.74562404e-02 -5.37934781e-04 9.99847484e-01 5.57903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617864999996 meters Centerline goodness [0,1] 0.9999114005360268 Centerline is valid? [True, True] Translation: X:44.75, Y:2.67, Z:0.56 [[ 9.72671397e-01 -2.31594372e-01 -1.65650577e-02 4.47455572e+01] [ 2.31570607e-01 9.72812279e-01 -3.36511402e-03 2.66816991e+00] [ 1.68940330e-02 -5.62830295e-04 9.99857127e-01 5.57763981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:2.67, Z:0.56 [[ 9.72416527e-01 -2.32668531e-01 -1.64758390e-02 4.47737672e+01] [ 2.32645116e-01 9.72555923e-01 -3.35051796e-03 2.67127798e+00] [ 1.68032349e-02 -5.74924424e-04 9.99858650e-01 5.58248168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:2.68, Z:0.56 [[ 9.72167310e-01 -2.33733351e-01 -1.61072142e-02 4.48016543e+01] [ 2.33711087e-01 9.72300564e-01 -3.27740423e-03 2.67752898e+00] [ 1.64270922e-02 -5.78249299e-04 9.99864899e-01 5.58971674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:2.69, Z:0.56 [[ 9.72044898e-01 -2.34260465e-01 -1.58351044e-02 4.48289756e+01] [ 2.34238963e-01 9.72173701e-01 -3.22535647e-03 2.68535951e+00] [ 1.61500455e-02 -5.74007132e-04 9.99869415e-01 5.59602791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.86, Y:2.69, Z:0.56 [[ 9.72059705e-01 -2.34210592e-01 -1.56629438e-02 4.48568470e+01] [ 2.34189522e-01 9.72185722e-01 -3.19201911e-03 2.69293420e+00] [ 1.59748950e-02 -5.65264157e-04 9.99872233e-01 5.59740541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:2.70, Z:0.56 [[ 9.72083274e-01 -2.34125890e-01 -1.54653097e-02 4.48849522e+01] [ 2.34105279e-01 9.72206131e-01 -3.15542333e-03 2.69992393e+00] [ 1.57742352e-02 -5.53176397e-04 9.99875426e-01 5.59682538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617864999996 meters Centerline goodness [0,1] 0.999955956837701 Centerline is valid? [True, True] Translation: X:44.91, Y:2.71, Z:0.56 [[ 9.72333766e-01 -2.33076996e-01 -1.55615220e-02 4.49130625e+01] [ 2.33055935e-01 9.72458136e-01 -3.17876149e-03 2.70936670e+00] [ 1.58738248e-02 -5.35887917e-04 9.99873859e-01 5.59740429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:2.72, Z:0.56 [[ 9.72299720e-01 -2.33221755e-01 -1.55199029e-02 4.49401311e+01] [ 2.33200768e-01 9.72423431e-01 -3.17386541e-03 2.71846861e+00] [ 1.58321317e-02 -5.33304822e-04 9.99874522e-01 5.60149217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:2.72, Z:0.56 [[ 9.72337298e-01 -2.33062437e-01 -1.55589091e-02 4.49673975e+01] [ 2.33041260e-01 9.72461630e-01 -3.18589006e-03 2.72417399e+00] [ 1.58729534e-02 -5.28108050e-04 9.99873877e-01 5.60552822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.99, Y:2.73, Z:0.56 [[ 9.72404879e-01 -2.32823770e-01 -1.48944149e-02 4.49949884e+01] [ 2.32804303e-01 9.72518813e-01 -3.05193529e-03 2.73226415e+00] [ 1.51956618e-02 -4.99767117e-04 9.99884414e-01 5.61591765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26361786499999 meters Centerline goodness [0,1] 0.9999560883502393 Centerline is valid? [True, True] Translation: X:45.02, Y:2.74, Z:0.56 [[ 9.72567335e-01 -2.32156707e-01 -1.46983942e-02 4.50228936e+01] [ 2.32137618e-01 9.72678279e-01 -3.01538354e-03 2.74033343e+00] [ 1.49968502e-02 -4.79386680e-04 9.99887426e-01 5.62345193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:2.74, Z:0.56 [[ 9.72795463e-01 -2.31190715e-01 -1.48270089e-02 4.50509798e+01] [ 2.31171126e-01 9.72908340e-01 -3.04525325e-03 2.74414332e+00] [ 1.51293549e-02 -4.65167804e-04 9.99885437e-01 5.62581180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.08, Y:2.76, Z:0.56 [[ 9.73544435e-01 -2.28022643e-01 -1.47277680e-02 4.50785108e+01] [ 2.28002933e-01 9.73655742e-01 -3.02621859e-03 2.75520388e+00] [ 1.50298222e-02 -4.11816025e-04 9.99886961e-01 5.62629871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:2.76, Z:0.56 [[ 9.73939347e-01 -2.26314816e-01 -1.49583768e-02 4.51066955e+01] [ 2.26294252e-01 9.74054132e-01 -3.07556527e-03 2.75918738e+00] [ 1.52663147e-02 -3.89580660e-04 9.99883387e-01 5.63115860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters Centerline goodness [0,1] 0.9999124937104854 Centerline is valid? [True, True] Translation: X:45.13, Y:2.77, Z:0.56 [[ 9.74394098e-01 -2.24324692e-01 -1.53158061e-02 4.51336437e+01] [ 2.24302829e-01 9.74514392e-01 -3.15280556e-03 2.76968861e+00] [ 1.56327256e-02 -3.63303500e-04 9.99877735e-01 5.63392281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:2.78, Z:0.56 [[ 9.75100580e-01 -2.21166503e-01 -1.62553333e-02 4.51604061e+01] [ 2.21141377e-01 9.75236007e-01 -3.34980709e-03 2.77615713e+00] [ 1.65936515e-02 -3.28327971e-04 9.99862262e-01 5.62782211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:2.78, Z:0.56 [[ 9.75359173e-01 -2.20043020e-01 -1.59860369e-02 4.51887318e+01] [ 2.20018540e-01 9.75490122e-01 -3.29605598e-03 2.78333817e+00] [ 1.63194952e-02 -3.02386055e-04 9.99866782e-01 5.63136798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.473617864999994 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:45.22, Y:2.79, Z:0.56 [[ 9.75506933e-01 -2.19415278e-01 -1.55935910e-02 4.52155304e+01] [ 2.19391856e-01 9.75631517e-01 -3.21819259e-03 2.78992841e+00] [ 1.59197195e-02 -2.81737688e-04 9.99873234e-01 5.63602720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.24, Y:2.80, Z:0.56 [[ 9.75651212e-01 -2.18728814e-01 -1.61993473e-02 4.52430416e+01] [ 2.18703413e-01 9.75785646e-01 -3.34502473e-03 2.79938647e+00] [ 1.65387439e-02 -2.79275112e-04 9.99863187e-01 5.63930071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.27, Y:2.81, Z:0.56 [[ 9.75601505e-01 -2.18949287e-01 -1.62145996e-02 4.52706184e+01] [ 2.18923803e-01 9.75736200e-01 -3.35211915e-03 2.80531043e+00] [ 1.65551159e-02 -2.79429327e-04 9.99862916e-01 5.64033302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:2.81, Z:0.56 [[ 9.75570384e-01 -2.19095445e-01 -1.61124879e-02 4.52982609e+01] [ 2.19070229e-01 9.75703392e-01 -3.33536032e-03 2.81068140e+00] [ 1.64517713e-02 -2.75887658e-04 9.99864622e-01 5.64050769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:2.82, Z:0.56 [[ 9.75533052e-01 -2.19278018e-01 -1.58875788e-02 4.53254454e+01] [ 2.19253457e-01 9.75662379e-01 -3.29308918e-03 2.81763734e+00] [ 1.62230150e-02 -2.70889240e-04 9.99868362e-01 5.64870268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:2.82, Z:0.57 [[ 9.75546995e-01 -2.19204511e-01 -1.60450305e-02 4.53520021e+01] [ 2.19179382e-01 9.75678897e-01 -3.32984182e-03 2.82096046e+00] [ 1.63847141e-02 -2.68322708e-04 9.99865726e-01 5.65092406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:2.83, Z:0.57 [[ 9.75534733e-01 -2.19235420e-01 -1.63650735e-02 4.53789733e+01] [ 2.19209241e-01 9.75671951e-01 -3.39885079e-03 2.82910130e+00] [ 1.67120917e-02 -2.71678343e-04 9.99860306e-01 5.65445466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:2.83, Z:0.57 [[ 9.75532839e-01 -2.19238661e-01 -1.64343885e-02 4.54054150e+01] [ 2.19212189e-01 9.75671224e-01 -3.41746470e-03 2.83418808e+00] [ 1.67838004e-02 -2.68769238e-04 9.99859106e-01 5.65273400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.43, Y:2.84, Z:0.56 [[ 9.75703419e-01 -2.18394449e-01 -1.75129260e-02 4.54336512e+01] [ 2.18364201e-01 9.75860540e-01 -3.64459803e-03 2.83993351e+00] [ 1.78861334e-02 -2.68149327e-04 9.99839994e-01 5.64921166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.46, Y:2.85, Z:0.56 [[ 9.75754126e-01 -2.18151913e-01 -1.77095671e-02 4.54607538e+01] [ 2.18120858e-01 9.75914788e-01 -3.69013782e-03 2.84520854e+00] [ 1.80880391e-02 -2.62158773e-04 9.99836364e-01 5.64622152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:2.85, Z:0.56 [[ 9.75856001e-01 -2.17642658e-01 -1.83504569e-02 4.54881584e+01] [ 2.17609144e-01 9.76028487e-01 -3.82798499e-03 2.85029955e+00] [ 1.87437015e-02 -2.57665100e-04 9.99824288e-01 5.64582832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80361786499999 meters Centerline goodness [0,1] 0.999956145159522 Centerline is valid? [True, True] Translation: X:45.52, Y:2.86, Z:0.56 [[ 9.75936736e-01 -2.17255700e-01 -1.86399891e-02 4.55159283e+01] [ 2.17220997e-01 9.76114695e-01 -3.89111626e-03 2.85559636e+00] [ 1.90401345e-02 -2.51513722e-04 9.99818689e-01 5.64591960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:2.86, Z:0.56 [[ 9.75914938e-01 -2.17298550e-01 -1.92710476e-02 4.55435111e+01] [ 2.17261356e-01 9.76105156e-01 -4.02841677e-03 2.86069955e+00] [ 1.96859381e-02 -2.55461840e-04 9.99806181e-01 5.63964247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:2.87, Z:0.56 [[ 9.75826356e-01 -2.17684435e-01 -1.94012857e-02 4.55709884e+01] [ 2.17646703e-01 9.76019170e-01 -4.06119359e-03 2.86503960e+00] [ 1.98200854e-02 -2.59606132e-04 9.99803529e-01 5.63972331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.893617864999996 meters Centerline goodness [0,1] 0.9999779648318716 Centerline is valid? [True, True] Translation: X:45.60, Y:2.87, Z:0.56 [[ 9.75736054e-01 -2.18056091e-01 -1.97660098e-02 4.55990528e+01] [ 2.18016914e-01 9.75936202e-01 -4.14191667e-03 2.86817722e+00] [ 2.01935346e-02 -2.67907031e-04 9.99796054e-01 5.63865121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:2.87, Z:0.56 [[ 9.75531174e-01 -2.18996379e-01 -1.94811504e-02 4.56273130e+01] [ 2.18958458e-01 9.75725631e-01 -4.08489975e-03 2.87215875e+00] [ 1.99028360e-02 -2.80615593e-04 9.99801880e-01 5.64438170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.953617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:2.87, Z:0.57 [[ 9.74991219e-01 -2.21440560e-01 -1.88732962e-02 4.56563987e+01] [ 2.21405341e-01 9.75173820e-01 -3.96188292e-03 2.87358390e+00] [ 1.92820659e-02 -3.15847519e-04 9.99814034e-01 5.66290728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:2.88, Z:0.57 [[ 9.74677986e-01 -2.22859773e-01 -1.83397052e-02 4.56847152e+01] [ 2.22826686e-01 9.74850457e-01 -3.85427011e-03 2.87827296e+00] [ 1.87374318e-02 -3.29903515e-04 9.99824384e-01 5.67469641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:2.88, Z:0.57 [[ 9.74346164e-01 -2.24324339e-01 -1.81147242e-02 4.57134822e+01] [ 2.24292228e-01 9.74514479e-01 -3.81150476e-03 2.88195367e+00] [ 1.85080743e-02 -3.49266804e-04 9.99828650e-01 5.68081997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.74, Y:2.88, Z:0.57 [[ 9.73789837e-01 -2.26761520e-01 -1.76795696e-02 4.57425506e+01] [ 2.26731255e-01 9.73950239e-01 -3.72430901e-03 2.88349773e+00] [ 1.80635511e-02 -3.81816755e-04 9.99836768e-01 5.68319232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.073617864999996 meters Centerline goodness [0,1] 0.9999557619995576 Centerline is valid? [True, True] Translation: X:45.77, Y:2.89, Z:0.57 [[ 9.73500375e-01 -2.27991517e-01 -1.78013560e-02 4.57707080e+01] [ 2.27960968e-01 9.73663035e-01 -3.75390278e-03 2.88614762e+00] [ 1.81883803e-02 -4.03588576e-04 9.99834496e-01 5.68432518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:2.89, Z:0.57 [[ 9.73303090e-01 -2.28805004e-01 -1.81484184e-02 4.57990261e+01] [ 2.28773338e-01 9.73472183e-01 -3.83011114e-03 2.89024702e+00] [ 1.85433290e-02 -4.24015229e-04 9.99827968e-01 5.68842821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.133617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.83, Y:2.90, Z:0.57 [[ 9.73210905e-01 -2.29182502e-01 -1.83279866e-02 4.58267698e+01] [ 2.29150184e-01 9.73383375e-01 -3.87274983e-03 2.89617171e+00] [ 1.87277239e-02 -4.30859127e-04 9.99824528e-01 5.69414174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:2.90, Z:0.57 [[ 9.73704958e-01 -2.27201653e-01 -1.66752705e-02 4.58532644e+01] [ 2.27174547e-01 9.73847670e-01 -3.52724025e-03 2.90375878e+00] [ 1.70405681e-02 -3.53705703e-04 9.99854736e-01 5.69978025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:2.91, Z:0.57 [[ 9.73829816e-01 -2.26634008e-01 -1.71031126e-02 4.58816156e+01] [ 2.26605367e-01 9.73979930e-01 -3.61991629e-03 2.90918963e+00] [ 1.74784846e-02 -3.50474711e-04 9.99847178e-01 5.70439327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:2.92, Z:0.57 [[ 9.73942908e-01 -2.26122130e-01 -1.74354474e-02 4.59102494e+01] [ 2.26092206e-01 9.74098899e-01 -3.69461556e-03 2.91550151e+00] [ 1.78192844e-02 -3.43674134e-04 9.99841165e-01 5.70923157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:2.92, Z:0.57 [[ 9.74093063e-01 -2.25450520e-01 -1.77416814e-02 4.59376295e+01] [ 2.25419356e-01 9.74254562e-01 -3.76324458e-03 2.92101357e+00] [ 1.81333395e-02 -3.33567967e-04 9.99835522e-01 5.70890239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:2.93, Z:0.57 [[ 9.74390360e-01 -2.24189618e-01 -1.73908298e-02 4.59657895e+01] [ 2.24159434e-01 9.74545496e-01 -3.69105798e-03 2.92938711e+00] [ 1.77756517e-02 -3.01787234e-04 9.99841955e-01 5.72010324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.313617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:2.94, Z:0.57 [[ 9.74440005e-01 -2.23989174e-01 -1.71909058e-02 4.59934032e+01] [ 2.23959585e-01 9.74591589e-01 -3.65227289e-03 2.93502873e+00] [ 1.75721818e-02 -2.91147307e-04 9.99845555e-01 5.72534565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:2.94, Z:0.57 [[ 9.74414325e-01 -2.24100003e-01 -1.72021030e-02 4.60205553e+01] [ 2.24070352e-01 9.74566111e-01 -3.65700524e-03 2.94139943e+00] [ 1.75841215e-02 -2.91042978e-04 9.99845345e-01 5.72977837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37361786499999 meters Centerline goodness [0,1] 0.9999556196604904 Centerline is valid? [True, True] Translation: X:46.05, Y:2.95, Z:0.57 [[ 9.74265846e-01 -2.24726809e-01 -1.74333981e-02 4.60473141e+01] [ 2.24696365e-01 9.74421762e-01 -3.71120186e-03 2.94956714e+00] [ 1.78214891e-02 -3.01523974e-04 9.99841139e-01 5.72261207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.07, Y:2.96, Z:0.57 [[ 9.74164739e-01 -2.25183883e-01 -1.71837364e-02 4.60745852e+01] [ 2.25154291e-01 9.74316236e-01 -3.66292117e-03 2.95551361e+00] [ 1.75672242e-02 -3.00703340e-04 9.99845639e-01 5.72685292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.433617864999995 meters Centerline goodness [0,1] 0.999867949028325 Centerline is valid? [True, True] Translation: X:46.10, Y:2.96, Z:0.57 [[ 9.74057873e-01 -2.25689917e-01 -1.65928127e-02 4.61021731e+01] [ 2.25662332e-01 9.74199145e-01 -3.54087325e-03 2.95988155e+00] [ 1.69638433e-02 -2.95357336e-04 9.99856060e-01 5.73418274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:2.97, Z:0.58 [[ 9.73878146e-01 -2.26526827e-01 -1.57147236e-02 4.61302832e+01] [ 2.26502166e-01 9.74004883e-01 -3.35524366e-03 2.96601139e+00] [ 1.60662702e-02 -2.91820450e-04 9.99870887e-01 5.75042987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.493617865 meters Centerline goodness [0,1] 0.9999556865264884 Centerline is valid? [True, True] Translation: X:46.16, Y:2.97, Z:0.58 [[ 9.73696240e-01 -2.27341156e-01 -1.52194581e-02 4.61584990e+01] [ 2.27318066e-01 9.73815133e-01 -3.25316829e-03 2.97328653e+00] [ 1.55605176e-02 -2.92060059e-04 9.99878885e-01 5.75650476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:2.98, Z:0.58 [[ 9.73662303e-01 -2.27518074e-01 -1.47392672e-02 4.61855331e+01] [ 2.27496384e-01 9.73773817e-01 -3.15415639e-03 2.97954775e+00] [ 1.50703401e-02 -2.82046825e-04 9.99886396e-01 5.75853687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.21, Y:2.99, Z:0.58 [[ 9.73624992e-01 -2.27698070e-01 -1.44209256e-02 4.62129181e+01] [ 2.27677268e-01 9.73731746e-01 -3.09003755e-03 2.98608872e+00] [ 1.47457086e-02 -2.74779151e-04 9.99891238e-01 5.76226544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:2.99, Z:0.58 [[ 9.73626100e-01 -2.27700699e-01 -1.43041763e-02 4.62402682e+01] [ 2.27680174e-01 9.73731133e-01 -3.06906373e-03 2.99231513e+00] [ 1.46272497e-02 -2.68656785e-04 9.99892980e-01 5.75614619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:3.00, Z:0.58 [[ 9.73564464e-01 -2.27964139e-01 -1.43033439e-02 4.62672276e+01] [ 2.27943585e-01 9.73669492e-01 -3.07293816e-03 2.99817796e+00] [ 1.46272493e-02 -2.68652107e-04 9.99892980e-01 5.75981446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.29, Y:3.00, Z:0.58 [[ 9.73584567e-01 -2.27833681e-01 -1.49968525e-02 4.62935574e+01] [ 2.27811006e-01 9.73700025e-01 -3.22604345e-03 3.00389200e+00] [ 1.53374370e-02 -2.75621963e-04 9.99882337e-01 5.75969753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.673617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.32, Y:3.01, Z:0.58 [[ 9.73614451e-01 -2.27684098e-01 -1.53248781e-02 4.63207631e+01] [ 2.27660366e-01 9.73735013e-01 -3.29889782e-03 3.01117824e+00] [ 1.56734769e-02 -2.77012769e-04 9.99877125e-01 5.76204213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters Centerline goodness [0,1] 0.9999117153703541 Centerline is valid? [True, True] Translation: X:46.35, Y:3.02, Z:0.58 [[ 9.73727985e-01 -2.27202905e-01 -1.52529166e-02 4.63479631e+01] [ 2.27179275e-01 9.73847406e-01 -3.28733859e-03 3.01707294e+00] [ 1.56009061e-02 -2.64172963e-04 9.99878264e-01 5.76451810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.37, Y:3.02, Z:0.58 [[ 9.73943944e-01 -2.26316977e-01 -1.46225463e-02 4.63748717e+01] [ 2.26295142e-01 9.74053679e-01 -3.15273317e-03 3.02323637e+00] [ 1.49566621e-02 -2.38425812e-04 9.99888114e-01 5.76706025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.40, Y:3.03, Z:0.58 [[ 9.74013374e-01 -2.25997200e-01 -1.49403249e-02 4.64019856e+01] [ 2.25974342e-01 9.74127923e-01 -3.22295002e-03 3.03011988e+00] [ 1.52821653e-02 -2.36933657e-04 9.99883193e-01 5.76584091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.793617864999995 meters Centerline goodness [0,1] 0.9998897658626924 Centerline is valid? [True, True] Translation: X:46.43, Y:3.04, Z:0.58 [[ 9.74024791e-01 -2.25954522e-01 -1.48411858e-02 4.64287143e+01] [ 2.25931900e-01 9.74137824e-01 -3.20564541e-03 3.03712674e+00] [ 1.51816905e-02 -2.30719208e-04 9.99884725e-01 5.76533931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:3.05, Z:0.58 [[ 9.74063896e-01 -2.25840885e-01 -1.39792813e-02 4.64555153e+01] [ 2.25820749e-01 9.74164180e-01 -3.02316701e-03 3.04546797e+00] [ 1.43008698e-02 -2.12053954e-04 9.99897715e-01 5.77135143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:3.05, Z:0.58 [[ 9.74083867e-01 -2.25760922e-01 -1.38789913e-02 4.64824842e+01] [ 2.25741010e-01 9.74182716e-01 -3.00543533e-03 3.05068310e+00] [ 1.41991833e-02 -2.05511436e-04 9.99899165e-01 5.77937412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters Centerline goodness [0,1] 0.9999338668077508 Centerline is valid? [True, True] Translation: X:46.51, Y:3.06, Z:0.58 [[ 9.74032771e-01 -2.25997576e-01 -1.36108623e-02 4.65103426e+01] [ 2.25978412e-01 9.74127843e-01 -2.95007471e-03 3.05684449e+00] [ 1.39254296e-02 -2.02291589e-04 9.99903016e-01 5.78419969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:3.06, Z:0.58 [[ 9.74035715e-01 -2.26009876e-01 -1.31894934e-02 4.65377716e+01] [ 2.25991831e-01 9.74124991e-01 -2.86238576e-03 3.06342209e+00] [ 1.34951425e-02 -1.92651803e-04 9.99908918e-01 5.79061256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:3.07, Z:0.58 [[ 9.74011353e-01 -2.26148242e-01 -1.26038253e-02 4.65645669e+01] [ 2.26131731e-01 9.74092880e-01 -2.73871962e-03 3.07088221e+00] [ 1.28966531e-02 -1.82580826e-04 9.99916818e-01 5.78699798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.973617864999994 meters Centerline goodness [0,1] 0.9999559694427933 Centerline is valid? [True, True] Translation: X:46.59, Y:3.08, Z:0.58 [[ 9.73949301e-01 -2.26401151e-01 -1.28560347e-02 4.65920888e+01] [ 2.26383946e-01 9.74034129e-01 -2.79732175e-03 3.07750503e+00] [ 1.31555334e-02 -1.85950292e-04 9.99913445e-01 5.78583948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617864999995 meters Centerline goodness [0,1] 0.9999778946903046 Centerline is valid? [True, True] Translation: X:46.62, Y:3.08, Z:0.58 [[ 9.73916286e-01 -2.26522728e-01 -1.32106351e-02 4.66180651e+01] [ 2.26504519e-01 9.74005861e-01 -2.87835514e-03 3.08325780e+00] [ 1.35192489e-02 -1.88991589e-04 9.99908593e-01 5.78623357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.033617865 meters Centerline goodness [0,1] 0.9999778270509978 Centerline is valid? [True, True] Translation: X:46.65, Y:3.09, Z:0.58 [[ 9.73855315e-01 -2.26809146e-01 -1.27842105e-02 4.66455935e+01] [ 2.26792098e-01 9.73939206e-01 -2.78699564e-03 3.08906373e+00] [ 1.30831599e-02 -1.85227400e-04 9.99914395e-01 5.78770204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:3.09, Z:0.58 [[ 9.73555227e-01 -2.28088464e-01 -1.28791810e-02 4.66739732e+01] [ 2.28071259e-01 9.73640391e-01 -2.80880724e-03 3.09387656e+00] [ 1.31803474e-02 -2.02842059e-04 9.99913115e-01 5.79516737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:3.10, Z:0.58 [[ 9.73397660e-01 -2.28758119e-01 -1.29119207e-02 4.67017564e+01] [ 2.28740843e-01 9.73483271e-01 -2.81917905e-03 3.09965318e+00] [ 1.32144489e-02 -2.09301337e-04 9.99912663e-01 5.79911669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12361786499999 meters Centerline goodness [0,1] 0.9999556924167571 Centerline is valid? [True, True] Translation: X:46.73, Y:3.11, Z:0.58 [[ 9.72999750e-01 -2.30434655e-01 -1.30903523e-02 4.67294112e+01] [ 2.30417033e-01 9.73087774e-01 -2.85933018e-03 3.10534374e+00] [ 1.33969505e-02 -2.34112591e-04 9.99910229e-01 5.79841104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.153617864999994 meters Centerline goodness [0,1] 0.999955712039682 Centerline is valid? [True, True] Translation: X:46.76, Y:3.11, Z:0.58 [[ 9.72754749e-01 -2.31454078e-01 -1.33119265e-02 4.67571342e+01] [ 2.31435934e-01 9.72845798e-01 -2.90893309e-03 3.10901829e+00] [ 1.36237362e-02 -2.51179658e-04 9.99907161e-01 5.79777150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:3.11, Z:0.58 [[ 9.72451077e-01 -2.32729190e-01 -1.32675441e-02 4.67856594e+01] [ 2.32711269e-01 9.72541543e-01 -2.90043402e-03 3.11440560e+00] [ 1.35782535e-02 -2.66976848e-04 9.99907776e-01 5.80202860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.213617864999996 meters Centerline goodness [0,1] 0.9999336518046709 Centerline is valid? [True, True] Translation: X:46.81, Y:3.12, Z:0.58 [[ 9.72223302e-01 -2.33674334e-01 -1.33475331e-02 4.68139582e+01] [ 2.33656242e-01 9.72314881e-01 -2.92107334e-03 3.12156577e+00] [ 1.36605850e-02 -2.78798860e-04 9.99906651e-01 5.80805693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters Centerline goodness [0,1] 0.9999336444670545 Centerline is valid? [True, True] Translation: X:46.84, Y:3.13, Z:0.58 [[ 9.71686014e-01 -2.35911941e-01 -1.31090254e-02 4.68428498e+01] [ 2.35894651e-01 9.71774390e-01 -2.87204271e-03 3.12533844e+00] [ 1.34165643e-02 -3.01625228e-04 9.99909948e-01 5.81780089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27361786499999 meters Centerline goodness [0,1] 0.9999778863802216 Centerline is valid? [True, True] Translation: X:46.87, Y:3.13, Z:0.58 [[ 9.71385887e-01 -2.37135377e-01 -1.32767021e-02 4.68710526e+01] [ 2.37117711e-01 9.71476562e-01 -2.91206798e-03 3.13038703e+00] [ 1.35885593e-02 -3.19399474e-04 9.99907620e-01 5.82187257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30361786499999 meters Centerline goodness [0,1] 0.9999115768065964 Centerline is valid? [True, True] Translation: X:46.90, Y:3.14, Z:0.58 [[ 9.71203884e-01 -2.37887178e-01 -1.31418000e-02 4.68994645e+01] [ 2.37869895e-01 9.71292740e-01 -2.88565570e-03 3.13690051e+00] [ 1.34509954e-02 -3.23478560e-04 9.99909479e-01 5.82470475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:3.14, Z:0.58 [[ 9.70973290e-01 -2.38830639e-01 -1.30689170e-02 4.69280667e+01] [ 2.38813589e-01 9.71061180e-01 -2.87291385e-03 3.14322749e+00] [ 1.33768578e-02 -3.31512371e-04 9.99910471e-01 5.82606475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:3.15, Z:0.58 [[ 9.70912309e-01 -2.39029752e-01 -1.39307657e-02 4.69552931e+01] [ 2.39010349e-01 9.71012180e-01 -3.06595852e-03 3.14854138e+00] [ 1.42597985e-02 -3.52820311e-04 9.99898262e-01 5.82321931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.393617864999996 meters Centerline goodness [0,1] 0.9999118379581671 Centerline is valid? [True, True] Translation: X:46.98, Y:3.16, Z:0.58 [[ 9.70920005e-01 -2.38990851e-01 -1.40611631e-02 4.69825233e+01] [ 2.38971058e-01 9.71021754e-01 -3.09612754e-03 3.15537125e+00] [ 1.43936415e-02 -3.54118864e-04 9.99896343e-01 5.82191389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:3.16, Z:0.58 [[ 9.70962147e-01 -2.38814339e-01 -1.41499291e-02 4.70102939e+01] [ 2.38794221e-01 9.71065183e-01 -3.11952246e-03 3.16075075e+00] [ 1.44854902e-02 -3.49983062e-04 9.99895019e-01 5.82626935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:3.17, Z:0.58 [[ 9.71022534e-01 -2.38550087e-01 -1.44601214e-02 4.70381570e+01] [ 2.38529024e-01 9.71130131e-01 -3.18944549e-03 3.16750875e+00] [ 1.48035021e-02 -3.52135210e-04 9.99890360e-01 5.83074289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:3.17, Z:0.58 [[ 9.71103490e-01 -2.38218494e-01 -1.44900476e-02 4.70662785e+01] [ 2.38197253e-01 9.71211527e-01 -3.19968429e-03 3.17377697e+00] [ 1.48351252e-02 -3.44264962e-04 9.99889894e-01 5.82853803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:3.18, Z:0.58 [[ 9.71056940e-01 -2.38403686e-01 -1.45637294e-02 4.70925387e+01] [ 2.38382198e-01 9.71166084e-01 -3.21941140e-03 3.17908214e+00] [ 1.49113196e-02 -3.45502044e-04 9.99888760e-01 5.83142705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:3.19, Z:0.58 [[ 9.70905947e-01 -2.39005561e-01 -1.47643084e-02 4.71207199e+01] [ 2.38983515e-01 9.71018133e-01 -3.26582136e-03 3.18597618e+00] [ 1.51169606e-02 -3.57620931e-04 9.99885668e-01 5.83789676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:3.19, Z:0.58 [[ 9.70818613e-01 -2.39371887e-01 -1.45712433e-02 4.71488168e+01] [ 2.39350404e-01 9.70927893e-01 -3.22649185e-03 3.19018845e+00] [ 1.49199580e-02 -3.55294637e-04 9.99888628e-01 5.84304455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:3.20, Z:0.59 [[ 9.70633540e-01 -2.40142652e-01 -1.42140101e-02 4.71775046e+01] [ 2.40122272e-01 9.70737544e-01 -3.14881560e-03 3.19642025e+00] [ 1.45542382e-02 -3.56754358e-04 9.99894018e-01 5.85422677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.633617865 meters Centerline goodness [0,1] 0.9999339076028287 Centerline is valid? [True, True] Translation: X:47.20, Y:3.20, Z:0.59 [[ 9.70646996e-01 -2.40098087e-01 -1.40469497e-02 4.72041063e+01] [ 2.40078132e-01 9.70748570e-01 -3.11510557e-03 3.20264799e+00] [ 1.43839872e-02 -3.48697561e-04 9.99896484e-01 5.85632893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66361786499999 meters Centerline goodness [0,1] 0.9999338901253884 Centerline is valid? [True, True] Translation: X:47.23, Y:3.21, Z:0.59 [[ 9.70619542e-01 -2.40227709e-01 -1.37241307e-02 4.72309318e+01] [ 2.40208648e-01 9.70716504e-01 -3.04526916e-03 3.21085670e+00] [ 1.40537982e-02 -3.40857136e-04 9.99901182e-01 5.86285458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69361786499999 meters Centerline goodness [0,1] 0.9999114828830025 Centerline is valid? [True, True] Translation: X:47.26, Y:3.22, Z:0.59 [[ 9.70597867e-01 -2.40308876e-01 -1.38356143e-02 4.72578721e+01] [ 2.40289456e-01 9.70696414e-01 -3.07400563e-03 3.21827547e+00] [ 1.41688920e-02 -3.40928919e-04 9.99899558e-01 5.86753776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:3.22, Z:0.59 [[ 9.70643120e-01 -2.40127682e-01 -1.38068557e-02 4.72851070e+01] [ 2.40108270e-01 9.70741255e-01 -3.07146211e-03 3.22286073e+00] [ 1.41404275e-02 -3.33846654e-04 9.99899963e-01 5.87245570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:3.23, Z:0.59 [[ 9.70583384e-01 -2.40348420e-01 -1.41609013e-02 4.73120312e+01] [ 2.40328001e-01 9.70686622e-01 -3.15174667e-03 3.23082918e+00] [ 1.45033148e-02 -3.44228157e-04 9.99894762e-01 5.87126839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.34, Y:3.24, Z:0.59 [[ 9.70533164e-01 -2.40516720e-01 -1.47338088e-02 4.73393228e+01] [ 2.40494574e-01 9.70644930e-01 -3.28324139e-03 3.23729692e+00] [ 1.50909713e-02 -3.56906427e-04 9.99886061e-01 5.87004152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.37, Y:3.24, Z:0.59 [[ 9.70421236e-01 -2.40940565e-01 -1.51746041e-02 4.73660483e+01] [ 2.40917098e-01 9.70539801e-01 -3.38324845e-03 3.24427641e+00] [ 1.55427190e-02 -3.72645433e-04 9.99879135e-01 5.86733354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.39, Y:3.25, Z:0.59 [[ 9.70338898e-01 -2.41236057e-01 -1.57349085e-02 4.73925788e+01] [ 2.41210790e-01 9.70466391e-01 -3.51276052e-03 3.25224890e+00] [ 1.61176043e-02 -3.86861538e-04 9.99870028e-01 5.86436537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87361786499999 meters Centerline goodness [0,1] 0.9999779273810838 Centerline is valid? [True, True] Translation: X:47.42, Y:3.26, Z:0.59 [[ 9.70310511e-01 -2.41298477e-01 -1.65092934e-02 4.74194532e+01] [ 2.41270587e-01 9.70450866e-01 -3.69058952e-03 3.26002031e+00] [ 1.69119917e-02 -4.02189105e-04 9.99856901e-01 5.86427720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.45, Y:3.26, Z:0.59 [[ 9.70331603e-01 -2.41205553e-01 -1.66271525e-02 4.74457806e+01] [ 2.41177178e-01 9.70473968e-01 -3.72117497e-03 3.26448006e+00] [ 1.70337867e-02 -3.99316033e-04 9.99854835e-01 5.86351101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.933617864999995 meters Centerline goodness [0,1] 0.9999780720989387 Centerline is valid? [True, True] Translation: X:47.47, Y:3.27, Z:0.59 [[ 9.70200896e-01 -2.41745270e-01 -1.64147935e-02 4.74721117e+01] [ 2.41717649e-01 9.70339664e-01 -3.67622434e-03 3.27474813e+00] [ 1.68166350e-02 -4.01069138e-04 9.99858510e-01 5.87128542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.50, Y:3.28, Z:0.59 [[ 9.70141727e-01 -2.41990414e-01 -1.62993434e-02 4.74996152e+01] [ 2.41963148e-01 9.70278558e-01 -3.65435045e-03 3.28050323e+00] [ 1.66992212e-02 -3.98602581e-04 9.99860479e-01 5.87668273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.993617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:3.29, Z:0.59 [[ 9.69993229e-01 -2.42608172e-01 -1.59502647e-02 4.75277643e+01] [ 2.42582115e-01 9.70124278e-01 -3.57792936e-03 3.28738075e+00] [ 1.63417740e-02 -3.98681702e-04 9.99866385e-01 5.88307424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:3.29, Z:0.59 [[ 9.69819451e-01 -2.43316699e-01 -1.57231104e-02 4.75554726e+01] [ 2.43291410e-01 9.69946815e-01 -3.53079676e-03 3.29399093e+00] [ 1.61096826e-02 -4.01062326e-04 9.99870150e-01 5.88932334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.58, Y:3.30, Z:0.59 [[ 9.69674451e-01 -2.43904229e-01 -1.55623633e-02 4.75834306e+01] [ 2.43879469e-01 9.69799239e-01 -3.49850574e-03 3.30183000e+00] [ 1.59456685e-02 -4.02929288e-04 9.99872779e-01 5.89656293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:3.31, Z:0.59 [[ 9.69752232e-01 -2.43588355e-01 -1.56627337e-02 4.76102911e+01] [ 2.43563176e-01 9.69878630e-01 -3.52466543e-03 3.30842120e+00] [ 1.60495182e-02 -3.96813007e-04 9.99871119e-01 5.89887093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.64, Y:3.32, Z:0.59 [[ 9.69759538e-01 -2.43570180e-01 -1.54921002e-02 4.76373615e+01] [ 2.43545507e-01 9.69883197e-01 -3.48867188e-03 3.31625824e+00] [ 1.58752641e-02 -3.89858571e-04 9.99873904e-01 5.90121672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:3.32, Z:0.59 [[ 9.70080753e-01 -2.42289391e-01 -1.54655808e-02 4.76639771e+01] [ 2.42264577e-01 9.70203957e-01 -3.48662016e-03 3.32401096e+00] [ 1.58495388e-02 -3.64459285e-04 9.99874322e-01 5.90324623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:3.33, Z:0.59 [[ 9.70240957e-01 -2.41630705e-01 -1.57190108e-02 4.76923856e+01] [ 2.41604956e-01 9.70368216e-01 -3.54558095e-03 3.33116086e+00] [ 1.61099497e-02 -3.57723055e-04 9.99870162e-01 5.90505295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.72, Y:3.34, Z:0.59 [[ 9.70352369e-01 -2.41178374e-01 -1.57883255e-02 4.77205452e+01] [ 2.41152274e-01 9.70480742e-01 -3.56506097e-03 3.33995160e+00] [ 1.61820815e-02 -3.48025247e-04 9.99869001e-01 5.91358488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23361786499999 meters Centerline goodness [0,1] 0.9999780994721973 Centerline is valid? [True, True] Translation: X:47.75, Y:3.35, Z:0.59 [[ 9.70745439e-01 -2.39631858e-01 -1.51613265e-02 4.77472177e+01] [ 2.39607552e-01 9.70863780e-01 -3.42670501e-03 3.34704038e+00] [ 1.55407304e-02 -3.06310071e-04 9.99879189e-01 5.92582458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:3.35, Z:0.59 [[ 9.70954632e-01 -2.38797764e-01 -1.49241361e-02 4.77748412e+01] [ 2.38774080e-01 9.71069280e-01 -3.37527694e-03 3.35466523e+00] [ 1.52983787e-02 -2.86256089e-04 9.99882932e-01 5.93604706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:3.36, Z:0.59 [[ 9.71117530e-01 -2.38148586e-01 -1.46967437e-02 4.78027930e+01] [ 2.38125489e-01 9.71228696e-01 -3.32748454e-03 3.36305369e+00] [ 1.50663350e-02 -2.68290726e-04 9.99886460e-01 5.94359787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617864999996 meters Centerline goodness [0,1] 0.9999782244191364 Centerline is valid? [True, True] Translation: X:47.83, Y:3.37, Z:0.59 [[ 9.71316854e-01 -2.37328532e-01 -1.47897450e-02 4.78295733e+01] [ 2.37304994e-01 9.71429413e-01 -3.35205053e-03 3.36883535e+00] [ 1.51627306e-02 -2.53777180e-04 9.99885007e-01 5.94369342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:3.38, Z:0.59 [[ 9.71405164e-01 -2.36930924e-01 -1.53539992e-02 4.78567648e+01] [ 2.36905476e-01 9.71526465e-01 -3.48183028e-03 3.37762777e+00] [ 1.57417699e-02 -2.55178592e-04 9.99876058e-01 5.94215826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:3.38, Z:0.59 [[ 9.71450923e-01 -2.36744577e-01 -1.53333002e-02 4.78829789e+01] [ 2.36719109e-01 9.71571893e-01 -3.48131048e-03 3.38371923e+00] [ 1.57215849e-02 -2.47762892e-04 9.99876378e-01 5.94173634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:3.39, Z:0.59 [[ 9.71237170e-01 -2.37622445e-01 -1.52948512e-02 4.79106611e+01] [ 2.37597171e-01 9.71357559e-01 -3.47530987e-03 3.38976721e+00] [ 1.56825810e-02 -2.58663253e-04 9.99876987e-01 5.94583698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44361786499999 meters Centerline goodness [0,1] 0.9999781320387501 Centerline is valid? [True, True] Translation: X:47.94, Y:3.40, Z:0.60 [[ 9.71091166e-01 -2.38246865e-01 -1.48451795e-02 4.79375677e+01] [ 2.38223107e-01 9.71204594e-01 -3.37448646e-03 3.39526208e+00] [ 1.52216673e-02 -2.59530786e-04 9.99884110e-01 5.95402790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.473617864999994 meters Centerline goodness [0,1] 0.9999781540141999 Centerline is valid? [True, True] Translation: X:47.97, Y:3.40, Z:0.60 [[ 9.70806123e-01 -2.39432830e-01 -1.44010993e-02 4.79653069e+01] [ 2.39410577e-01 9.70912894e-01 -3.27532262e-03 3.40092007e+00] [ 1.47664327e-02 -2.68072229e-04 9.99890934e-01 5.96224917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:3.41, Z:0.60 [[ 9.70554286e-01 -2.40469548e-01 -1.40987267e-02 4.79930682e+01] [ 2.40448309e-01 9.70656644e-01 -3.20791365e-03 3.40716568e+00] [ 1.44564283e-02 -2.76560645e-04 9.99895462e-01 5.97252946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:3.41, Z:0.60 [[ 9.70490996e-01 -2.40724893e-01 -1.40979810e-02 4.80199425e+01] [ 2.40703634e-01 9.70593349e-01 -3.21118747e-03 3.41336968e+00] [ 1.44564194e-02 -2.77006731e-04 9.99895462e-01 5.97619941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters Centerline goodness [0,1] 0.999956390911866 Centerline is valid? [True, True] Translation: X:48.05, Y:3.42, Z:0.60 [[ 9.70095199e-01 -2.42338025e-01 -1.36962179e-02 4.80472449e+01] [ 2.42318071e-01 9.70191836e-01 -3.12323536e-03 3.42118676e+00] [ 1.40448375e-02 -2.89005472e-04 9.99901325e-01 5.98742452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:3.43, Z:0.60 [[ 9.69924917e-01 -2.43047843e-01 -1.31681635e-02 4.80757899e+01] [ 2.43029447e-01 9.70014260e-01 -3.00398692e-03 3.42775312e+00] [ 1.35034189e-02 -2.86609740e-04 9.99908784e-01 5.99905760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:3.43, Z:0.60 [[ 9.69727704e-01 -2.43833465e-01 -1.31689435e-02 4.81041020e+01] [ 2.43815094e-01 9.69817073e-01 -3.00749913e-03 3.43483568e+00] [ 1.35047952e-02 -2.94331976e-04 9.99908763e-01 6.00520416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:3.44, Z:0.60 [[ 9.69577376e-01 -2.44433725e-01 -1.31097494e-02 4.81321979e+01] [ 2.44415529e-01 9.69665956e-01 -2.99732112e-03 3.44165139e+00] [ 1.34447241e-02 -2.98091591e-04 9.99909571e-01 6.00661284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:3.45, Z:0.60 [[ 9.69465509e-01 -2.44858028e-01 -1.34600351e-02 4.81591660e+01] [ 2.44838840e-01 9.69558895e-01 -3.08084901e-03 3.44868276e+00] [ 1.38046674e-02 -3.08762520e-04 9.99904663e-01 6.00263731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:3.46, Z:0.60 [[ 9.69369863e-01 -2.45223987e-01 -1.36844710e-02 4.81861194e+01] [ 2.45204171e-01 9.69466397e-01 -3.13360148e-03 3.45559429e+00] [ 1.40350691e-02 -3.17870523e-04 9.99901453e-01 6.00050069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.21, Y:3.46, Z:0.60 [[ 9.69238866e-01 -2.45727961e-01 -1.39208465e-02 4.82130195e+01] [ 2.45707449e-01 9.69338776e-01 -3.19172486e-03 3.46324651e+00] [ 1.42783124e-02 -3.26911905e-04 9.99898006e-01 6.00089711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.24, Y:3.47, Z:0.60 [[ 9.68975537e-01 -2.46747688e-01 -1.42122464e-02 4.82401053e+01] [ 2.46726361e-01 9.69079697e-01 -3.26244356e-03 3.46811015e+00] [ 1.45777999e-02 -3.45307844e-04 9.99893679e-01 6.00617481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:3.48, Z:0.60 [[ 9.68763793e-01 -2.47572925e-01 -1.42954421e-02 4.82678624e+01] [ 2.47551415e-01 9.68869196e-01 -3.28301469e-03 3.47524551e+00] [ 1.46631990e-02 -3.58391156e-04 9.99892425e-01 6.01096092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.30, Y:3.48, Z:0.60 [[ 9.68517219e-01 -2.48530242e-01 -1.43914741e-02 4.82952425e+01] [ 2.48508496e-01 9.68624066e-01 -3.30861454e-03 3.48347542e+00] [ 1.47622189e-02 -3.71953419e-04 9.99890963e-01 6.01421278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:3.49, Z:0.60 [[ 9.68215923e-01 -2.49725166e-01 -1.39738572e-02 4.83228645e+01] [ 2.49704740e-01 9.68316684e-01 -3.21600660e-03 3.49213915e+00] [ 1.43342369e-02 -3.75549589e-04 9.99897189e-01 6.01546197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:3.50, Z:0.60 [[ 9.68087760e-01 -2.50213506e-01 -1.41170294e-02 4.83502742e+01] [ 2.50192658e-01 9.68190609e-01 -3.25258159e-03 3.49938191e+00] [ 1.44818151e-02 -3.83192670e-04 9.99895060e-01 6.01869238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters Centerline goodness [0,1] 0.999978324482497 Centerline is valid? [True, True] Translation: X:48.38, Y:3.51, Z:0.60 [[ 9.68057107e-01 -2.50346818e-01 -1.38530958e-02 4.83772575e+01] [ 2.50326701e-01 9.68156150e-01 -3.19569261e-03 3.50625689e+00] [ 1.42119913e-02 -3.74186816e-04 9.99898935e-01 6.02568334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.41, Y:3.51, Z:0.60 [[ 9.68108996e-01 -2.50156909e-01 -1.36562012e-02 4.84055492e+01] [ 2.50137286e-01 9.68205241e-01 -3.15411181e-03 3.51400490e+00] [ 1.40110285e-02 -3.62401091e-04 9.99901775e-01 6.02867626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.43, Y:3.52, Z:0.60 [[ 9.68314358e-01 -2.49339032e-01 -1.40481832e-02 4.84327363e+01] [ 2.49318129e-01 9.68416191e-01 -3.24824323e-03 3.52429110e+00] [ 1.44144019e-02 -3.57146203e-04 9.99896043e-01 6.02746812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:3.53, Z:0.60 [[ 9.68438554e-01 -2.48861915e-01 -1.39468570e-02 4.84605727e+01] [ 2.48841213e-01 9.68538915e-01 -3.22826370e-03 3.53298321e+00] [ 1.43114656e-02 -3.44177792e-04 9.99897526e-01 6.02350973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:3.54, Z:0.60 [[ 9.68621119e-01 -2.48101642e-01 -1.47886184e-02 4.84872500e+01] [ 2.48078222e-01 9.68733943e-01 -3.42672166e-03 3.53973220e+00] [ 1.51764119e-02 -3.49539200e-04 9.99884771e-01 6.02216444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.51, Y:3.55, Z:0.60 [[ 9.69099455e-01 -2.46203158e-01 -1.51740570e-02 4.85144261e+01] [ 2.46178242e-01 9.69218189e-01 -3.51776426e-03 3.54985836e+00] [ 1.55730568e-02 -3.26459262e-04 9.99878679e-01 6.02917315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.54, Y:3.56, Z:0.60 [[ 9.69298016e-01 -2.45441930e-01 -1.48194377e-02 4.85418736e+01] [ 2.45418021e-01 9.69411248e-01 -3.43920991e-03 3.55823780e+00] [ 1.52102559e-02 -3.03337718e-04 9.99884271e-01 6.03454182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.57, Y:3.57, Z:0.60 [[ 9.69492097e-01 -2.44666793e-01 -1.49410502e-02 4.85692567e+01] [ 2.44642339e-01 9.69607176e-01 -3.47123846e-03 3.56712507e+00] [ 1.53362463e-02 -2.89875206e-04 9.99882351e-01 6.03771595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:3.58, Z:0.60 [[ 9.69856672e-01 -2.43199391e-01 -1.52345365e-02 4.85960043e+01] [ 2.43173730e-01 9.69976280e-01 -3.54301000e-03 3.57663787e+00] [ 1.56387969e-02 -2.68427179e-04 9.99877671e-01 6.03059309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19361786499999 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:48.62, Y:3.58, Z:0.60 [[ 9.69807735e-01 -2.43355536e-01 -1.58442771e-02 4.86229353e+01] [ 2.43327767e-01 9.69937114e-01 -3.68686286e-03 3.58433587e+00] [ 1.62651709e-02 -2.79804452e-04 9.99867674e-01 6.02860933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:3.59, Z:0.60 [[ 9.69814328e-01 -2.43309243e-01 -1.61487540e-02 4.86501013e+01] [ 2.43280311e-01 9.69948728e-01 -3.76247852e-03 3.59141661e+00] [ 1.65789092e-02 -2.79768309e-04 9.99862521e-01 6.02918382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.68, Y:3.60, Z:0.60 [[ 9.69577897e-01 -2.44241563e-01 -1.62714795e-02 4.86774227e+01] [ 2.44212252e-01 9.69714377e-01 -3.79516238e-03 3.59737783e+00] [ 1.67056239e-02 -2.93989086e-04 9.99860408e-01 6.02934631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.71, Y:3.61, Z:0.60 [[ 9.69305685e-01 -2.45336291e-01 -1.60185440e-02 4.87056125e+01] [ 2.45308002e-01 9.69437987e-01 -3.73809692e-03 3.60515073e+00] [ 1.64460759e-02 -3.06118442e-04 9.99864707e-01 6.03795872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.313617865 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:48.73, Y:3.61, Z:0.60 [[ 9.69072783e-01 -2.46293363e-01 -1.54116747e-02 4.87331737e+01] [ 2.46267244e-01 9.69195277e-01 -3.59992927e-03 3.61086852e+00] [ 1.58235610e-02 -3.06797180e-04 9.99874753e-01 6.04181888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.76, Y:3.62, Z:0.60 [[ 9.68482647e-01 -2.48660193e-01 -1.44731308e-02 4.87608942e+01] [ 2.48637401e-01 9.68590731e-01 -3.38218421e-03 3.61862858e+00] [ 1.48595550e-02 -3.22974911e-04 9.99889539e-01 6.04322634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.79, Y:3.63, Z:0.60 [[ 9.68215452e-01 -2.49671038e-01 -1.49402576e-02 4.87886664e+01] [ 2.49646811e-01 9.68330653e-01 -3.49519001e-03 3.62609313e+00] [ 1.53397571e-02 -3.45690686e-04 9.99882279e-01 6.04511477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.82, Y:3.63, Z:0.60 [[ 9.68017336e-01 -2.50447380e-01 -1.47833681e-02 4.88170845e+01] [ 2.50423693e-01 9.68130150e-01 -3.46220986e-03 3.63343374e+00] [ 1.51793257e-02 -3.50626461e-04 9.99884726e-01 6.04249661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.84, Y:3.64, Z:0.60 [[ 9.67880230e-01 -2.50953585e-01 -1.51710050e-02 4.88448791e+01] [ 2.50928645e-01 9.67999052e-01 -3.55661485e-03 3.63873223e+00] [ 1.55780637e-02 -3.64462531e-04 9.99878588e-01 6.04277702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.87, Y:3.65, Z:0.60 [[ 9.67774628e-01 -2.51312881e-01 -1.59407129e-02 4.88716963e+01] [ 2.51285361e-01 9.67905825e-01 -3.73913667e-03 3.64526146e+00] [ 1.63688021e-02 -3.87026200e-04 9.99865947e-01 6.03476108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.493617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.90, Y:3.65, Z:0.60 [[ 9.67788563e-01 -2.51218039e-01 -1.65769290e-02 4.88984635e+01] [ 2.51188192e-01 9.67930441e-01 -3.89263820e-03 3.65160329e+00] [ 1.70232151e-02 -3.96678095e-04 9.99855016e-01 6.02944071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.93, Y:3.66, Z:0.60 [[ 9.67744326e-01 -2.51388056e-01 -1.65820421e-02 4.89252217e+01] [ 2.51358171e-01 9.67886299e-01 -3.89648104e-03 3.66078054e+00] [ 1.70290602e-02 -3.97234357e-04 9.99854916e-01 6.03425021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:3.67, Z:0.60 [[ 9.67700402e-01 -2.51534972e-01 -1.69141834e-02 4.89525160e+01] [ 2.51503813e-01 9.67848126e-01 -3.97952522e-03 3.66763356e+00] [ 1.73713505e-02 -4.02993471e-04 9.99849025e-01 6.03155322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:3.67, Z:0.60 [[ 9.67715991e-01 -2.51474668e-01 -1.69190105e-02 4.89788518e+01] [ 2.51443408e-01 9.67863799e-01 -3.98491434e-03 3.67375316e+00] [ 1.73774028e-02 -3.97908336e-04 9.99848922e-01 6.03319357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:3.68, Z:0.60 [[ 9.67548542e-01 -2.52132222e-01 -1.67081540e-02 4.90068364e+01] [ 2.52101791e-01 9.67692710e-01 -3.93778960e-03 3.67988884e+00] [ 1.71612025e-02 -4.02152958e-04 9.99852655e-01 6.04075719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.03, Y:3.68, Z:0.61 [[ 9.67165450e-01 -2.53618417e-01 -1.63917701e-02 4.90346447e+01] [ 2.53589282e-01 9.67304257e-01 -3.86671083e-03 3.68334238e+00] [ 1.68364980e-02 -4.17028074e-04 9.99858169e-01 6.05609873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.673617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.06, Y:3.69, Z:0.61 [[ 9.66911572e-01 -2.54601488e-01 -1.61274611e-02 4.90619669e+01] [ 2.54573399e-01 9.67045966e-01 -3.80576751e-03 3.68867512e+00] [ 1.65649503e-02 -4.25781942e-04 9.99862701e-01 6.06055452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.09, Y:3.69, Z:0.61 [[ 9.66566343e-01 -2.55910613e-01 -1.61016423e-02 4.90898739e+01] [ 2.55882763e-01 9.66700346e-01 -3.80156271e-03 3.69434131e+00] [ 1.65383235e-02 -4.45670168e-04 9.99863133e-01 6.06483051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:3.70, Z:0.61 [[ 9.66225599e-01 -2.57205248e-01 -1.59233034e-02 4.91178664e+01] [ 2.57178125e-01 9.66356689e-01 -3.76328582e-03 3.69971542e+00] [ 1.63555276e-02 -4.58942224e-04 9.99866134e-01 6.06564176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76361786499999 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:49.15, Y:3.70, Z:0.61 [[ 9.65726223e-01 -2.59059371e-01 -1.61587144e-02 4.91460737e+01] [ 2.59031641e-01 9.65861273e-01 -3.82237750e-03 3.70073619e+00] [ 1.65972992e-02 -4.94248135e-04 9.99862133e-01 6.06589056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:3.71, Z:0.61 [[ 9.65430609e-01 -2.60143868e-01 -1.63983655e-02 4.91732310e+01] [ 2.60115433e-01 9.65569728e-01 -3.88106877e-03 3.71267311e+00] [ 1.68434015e-02 -5.18565342e-04 9.99858005e-01 6.07626725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.20, Y:3.71, Z:0.61 [[ 9.65307792e-01 -2.60585887e-01 -1.66090874e-02 4.92014283e+01] [ 2.60556715e-01 9.65450525e-01 -3.93480397e-03 3.71388183e+00] [ 1.70606065e-02 -5.29312317e-04 9.99854317e-01 6.07323626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.23, Y:3.72, Z:0.61 [[ 9.65209229e-01 -2.60980493e-01 -1.61346303e-02 4.92274171e+01] [ 2.60952976e-01 9.65343935e-01 -3.82505131e-03 3.72442094e+00] [ 1.65737313e-02 -5.18404964e-04 9.99862512e-01 6.08620600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:3.73, Z:0.61 [[ 9.65332426e-01 -2.60570629e-01 -1.53706019e-02 4.92552224e+01] [ 2.60545543e-01 9.65454667e-01 -3.64779849e-03 3.72882170e+00] [ 1.57901285e-02 -4.83403660e-04 9.99875211e-01 6.09774660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:3.73, Z:0.61 [[ 9.65500230e-01 -2.59950315e-01 -1.53342519e-02 4.92827895e+01] [ 2.59925248e-01 9.65621878e-01 -3.64056579e-03 3.73467350e+00] [ 1.57534554e-02 -4.70792121e-04 9.99875796e-01 6.10101197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:3.74, Z:0.61 [[ 9.65616542e-01 -2.59524180e-01 -1.52280554e-02 4.93111096e+01] [ 2.59499378e-01 9.65736501e-01 -3.61706331e-03 3.74133652e+00] [ 1.56450044e-02 -4.58974751e-04 9.99877504e-01 6.10603770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:3.75, Z:0.61 [[ 9.65992526e-01 -2.58117887e-01 -1.52838534e-02 4.93391044e+01] [ 2.58092667e-01 9.66113331e-01 -3.63412905e-03 3.74774117e+00] [ 1.57039682e-02 -4.34108981e-04 9.99876591e-01 6.11247678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.37, Y:3.76, Z:0.61 [[ 9.66031517e-01 -2.57994507e-01 -1.48977522e-02 4.93670031e+01] [ 2.57970475e-01 9.66146293e-01 -3.54595211e-03 3.75512188e+00] [ 1.53082443e-02 -4.17678731e-04 9.99882735e-01 6.12490784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:3.76, Z:0.61 [[ 9.66189320e-01 -2.57432802e-01 -1.43718578e-02 4.93947571e+01] [ 2.57410325e-01 9.66296124e-01 -3.42416046e-03 3.76035569e+00] [ 1.47689617e-02 -3.91077323e-04 9.99890856e-01 6.13465494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:3.77, Z:0.61 [[ 9.66197684e-01 -2.57405957e-01 -1.42901460e-02 4.94220417e+01] [ 2.57383701e-01 9.66303278e-01 -3.40681056e-03 3.76641136e+00] [ 1.46855483e-02 -3.86398189e-04 9.99892087e-01 6.14543069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:3.77, Z:0.61 [[ 9.66281098e-01 -2.57142339e-01 -1.33662818e-02 4.94491164e+01] [ 2.57122794e-01 9.66373474e-01 -3.19009522e-03 3.77171102e+00] [ 1.37371287e-02 -3.54247012e-04 9.99905578e-01 6.14824362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:3.78, Z:0.62 [[ 9.66237548e-01 -2.57304615e-01 -1.33916411e-02 4.94750902e+01] [ 2.57284995e-01 9.66330279e-01 -3.19736705e-03 3.77718768e+00] [ 1.37634456e-02 -3.56052226e-04 9.99905216e-01 6.15007791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.153617864999994 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:49.50, Y:3.78, Z:0.62 [[ 9.66156497e-01 -2.57594284e-01 -1.36677937e-02 4.95026992e+01] [ 2.57573847e-01 9.66253099e-01 -3.26536265e-03 3.78306834e+00] [ 1.40476868e-02 -3.65614876e-04 9.99901260e-01 6.15424086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.53, Y:3.79, Z:0.62 [[ 9.66041091e-01 -2.58011938e-01 -1.39445809e-02 4.95304037e+01] [ 2.57990650e-01 9.66141656e-01 -3.33549658e-03 3.78913821e+00] [ 1.43330384e-02 -3.75344730e-04 9.99897206e-01 6.15576320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.56, Y:3.79, Z:0.62 [[ 9.66009085e-01 -2.58151616e-01 -1.35716879e-02 4.95581142e+01] [ 2.58131412e-01 9.66104348e-01 -3.25010876e-03 3.79467825e+00] [ 1.39506875e-02 -3.63644353e-04 9.99902618e-01 6.15806845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.59, Y:3.80, Z:0.62 [[ 9.65970163e-01 -2.58256065e-01 -1.43334772e-02 4.95856260e+01] [ 2.58233477e-01 9.66076425e-01 -3.43685292e-03 3.80012412e+00] [ 1.47348225e-02 -3.81486270e-04 9.99891364e-01 6.16413967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.61, Y:3.81, Z:0.62 [[ 9.66040012e-01 -2.57949796e-01 -1.51194268e-02 4.96138312e+01] [ 2.57924557e-01 9.66158242e-01 -3.62973692e-03 3.80676494e+00] [ 1.55440487e-02 -3.93200363e-04 9.99879107e-01 6.15894490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.64, Y:3.81, Z:0.62 [[ 9.66189571e-01 -2.57353767e-01 -1.57083483e-02 4.96417128e+01] [ 2.57326379e-01 9.66317175e-01 -3.77518792e-03 3.81392845e+00] [ 1.61508056e-02 -3.94625191e-04 9.99869489e-01 6.15996940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.333617864999994 meters Centerline goodness [0,1] 0.9999566452060437 Centerline is valid? [True, True] Translation: X:49.67, Y:3.82, Z:0.62 [[ 9.66249189e-01 -2.57118795e-01 -1.58880547e-02 4.96693543e+01] [ 2.57090686e-01 9.66379724e-01 -3.82194567e-03 3.81990139e+00] [ 1.63365880e-02 -3.91718985e-04 9.99866472e-01 6.16071344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:3.83, Z:0.62 [[ 9.66293325e-01 -2.56932747e-01 -1.62102990e-02 4.96964208e+01] [ 2.56903425e-01 9.66429205e-01 -3.90158030e-03 3.82712377e+00] [ 1.66685501e-02 -3.94410327e-04 9.99860992e-01 6.16450468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.72, Y:3.83, Z:0.62 [[ 9.66375563e-01 -2.56683049e-01 -1.52342946e-02 4.97246942e+01] [ 2.56657057e-01 9.66495567e-01 -3.67076535e-03 3.83099288e+00] [ 1.56661015e-02 -3.62651290e-04 9.99877213e-01 6.17473357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.75, Y:3.84, Z:0.62 [[ 9.66307753e-01 -2.56938262e-01 -1.52334084e-02 4.97514875e+01] [ 2.56912243e-01 9.66427751e-01 -3.67443976e-03 3.83753399e+00] [ 1.56660928e-02 -3.63009502e-04 9.99877213e-01 6.17840346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45361786499999 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:49.78, Y:3.84, Z:0.62 [[ 9.66260447e-01 -2.57144950e-01 -1.47385330e-02 4.97792013e+01] [ 2.57120557e-01 9.66372781e-01 -3.55907492e-03 3.84372001e+00] [ 1.51581152e-02 -3.50586489e-04 9.99885048e-01 6.18635650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:3.85, Z:0.62 [[ 9.66160017e-01 -2.57544774e-01 -1.43356341e-02 4.98066318e+01] [ 2.57521683e-01 9.66266305e-01 -3.46572224e-03 3.85126628e+00] [ 1.47446189e-02 -3.43294360e-04 9.99891233e-01 6.19036453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.83, Y:3.86, Z:0.62 [[ 9.66137288e-01 -2.57608131e-01 -1.47238731e-02 4.98330074e+01] [ 2.57583718e-01 9.66249413e-01 -3.56366250e-03 3.85596039e+00] [ 1.51449622e-02 -3.49642753e-04 9.99885247e-01 6.18482611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617864999995 meters Centerline goodness [0,1] 0.9998694914516901 Centerline is valid? [True, True] Translation: X:49.86, Y:3.86, Z:0.62 [[ 9.66016527e-01 -2.58032367e-01 -1.52107573e-02 4.98601357e+01] [ 2.58006329e-01 9.66136203e-01 -3.68385031e-03 3.86360863e+00] [ 1.56462160e-02 -3.65811377e-04 9.99877524e-01 6.18577158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:3.87, Z:0.62 [[ 9.65953594e-01 -2.58272065e-01 -1.51391668e-02 4.98865265e+01] [ 2.58246236e-01 9.66072155e-01 -3.67061770e-03 3.86851581e+00] [ 1.55735455e-02 -3.63986484e-04 9.99878659e-01 6.18790539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:3.87, Z:0.62 [[ 9.65848724e-01 -2.58671034e-01 -1.50179187e-02 4.99145692e+01] [ 2.58645631e-01 9.65965404e-01 -3.64346789e-03 3.87360354e+00] [ 1.54492496e-02 -3.65280260e-04 9.99880586e-01 6.19425168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:3.88, Z:0.62 [[ 9.65878313e-01 -2.58552454e-01 -1.51562590e-02 4.99422774e+01] [ 2.58526497e-01 9.65997152e-01 -3.68147515e-03 3.88010889e+00] [ 1.55927574e-02 -3.62437525e-04 9.99878360e-01 6.19993819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.97, Y:3.89, Z:0.62 [[ 9.66100699e-01 -2.57722493e-01 -1.51180631e-02 4.99703441e+01] [ 2.57696498e-01 9.66218918e-01 -3.67651378e-03 3.88653518e+00] [ 1.55548788e-02 -3.43989377e-04 9.99878956e-01 6.20700296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69361786499999 meters Centerline goodness [0,1] 0.9999129318038353 Centerline is valid? [True, True] Translation: X:50.00, Y:3.89, Z:0.62 [[ 9.66763674e-01 -2.55224519e-01 -1.51143207e-02 4.99974135e+01] [ 2.55198177e-01 9.66881769e-01 -3.67908684e-03 3.89261203e+00] [ 1.55527543e-02 -3.00339594e-04 9.99879003e-01 6.20833088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.02, Y:3.90, Z:0.62 [[ 9.67097183e-01 -2.53947357e-01 -1.52897920e-02 5.00245481e+01] [ 2.53920217e-01 9.67218000e-01 -3.72328524e-03 3.89916868e+00] [ 1.57340805e-02 -2.81608642e-04 9.99876172e-01 6.21228732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.05, Y:3.91, Z:0.62 [[ 9.67490231e-01 -2.52442401e-01 -1.53455680e-02 5.00526302e+01] [ 2.52414837e-01 9.67611890e-01 -3.73917087e-03 3.90650033e+00] [ 1.57924793e-02 -2.55837741e-04 9.99875258e-01 6.21305519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:3.91, Z:0.62 [[ 9.67914041e-01 -2.50801881e-01 -1.55185556e-02 5.00800629e+01] [ 2.50773419e-01 9.68038411e-01 -3.78520863e-03 3.91414549e+00] [ 1.59718954e-02 -2.27884671e-04 9.99872415e-01 6.21296239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.813617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:3.92, Z:0.62 [[ 9.68641160e-01 -2.47890339e-01 -1.68725403e-02 5.01079330e+01] [ 2.47856173e-01 9.68788080e-01 -4.12001157e-03 3.92118822e+00] [ 1.73672269e-02 -1.91150465e-04 9.99849160e-01 6.20156794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84361786499999 meters Centerline goodness [0,1] 0.9999346262802353 Centerline is valid? [True, True] Translation: X:50.14, Y:3.93, Z:0.62 [[ 9.68930897e-01 -2.46708759e-01 -1.75415250e-02 5.01350101e+01] [ 2.46671562e-01 9.69089655e-01 -4.28743407e-03 3.92704557e+00] [ 1.80570579e-02 -1.72768028e-04 9.99836943e-01 6.19978231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87361786499999 meters Centerline goodness [0,1] 0.9998912334130955 Centerline is valid? [True, True] Translation: X:50.16, Y:3.93, Z:0.62 [[ 9.69116842e-01 -2.45962867e-01 -1.77430287e-02 5.01626968e+01] [ 2.45924627e-01 9.69279239e-01 -4.33987580e-03 3.93320065e+00] [ 1.82653976e-02 -1.57600986e-04 9.99833161e-01 6.19915072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617864999994 meters Centerline goodness [0,1] 0.999912631326038 Centerline is valid? [True, True] Translation: X:50.19, Y:3.94, Z:0.62 [[ 9.69126033e-01 -2.45865949e-01 -1.85652110e-02 5.01895340e+01] [ 2.45823975e-01 9.69303828e-01 -4.54566996e-03 3.93567273e+00] [ 1.91129555e-02 -1.58446866e-04 9.99817318e-01 6.19649581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.933617864999995 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:50.22, Y:3.94, Z:0.62 [[ 9.68952818e-01 -2.46554151e-01 -1.84793832e-02 5.02173714e+01] [ 2.46512628e-01 9.69129002e-01 -4.52789126e-03 3.94089455e+00] [ 1.90252766e-02 -1.68088338e-04 9.99818989e-01 6.20093783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617864999996 meters Centerline goodness [0,1] 0.9999780845934693 Centerline is valid? [True, True] Translation: X:50.25, Y:3.95, Z:0.62 [[ 9.68763572e-01 -2.47299545e-01 -1.84411717e-02 5.02453786e+01] [ 2.47258228e-01 9.68939061e-01 -4.52383805e-03 3.94503640e+00] [ 1.89871147e-02 -1.77201931e-04 9.99819713e-01 6.20652539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.993617865 meters Centerline goodness [0,1] 0.9998903292316466 Centerline is valid? [True, True] Translation: X:50.27, Y:3.95, Z:0.62 [[ 9.68549964e-01 -2.48148821e-01 -1.82518540e-02 5.02731431e+01] [ 2.48108401e-01 9.68721904e-01 -4.48258876e-03 3.94915813e+00] [ 1.87933199e-02 -1.86827131e-04 9.99823373e-01 6.21074786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02361786499999 meters Centerline goodness [0,1] 0.9999122075413722 Centerline is valid? [True, True] Translation: X:50.30, Y:3.95, Z:0.62 [[ 9.68210056e-01 -2.49500648e-01 -1.78525647e-02 5.03011512e+01] [ 2.49462133e-01 9.68374610e-01 -4.38858496e-03 3.95103379e+00] [ 1.83829252e-02 -2.04466777e-04 9.99830999e-01 6.21772306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05361786499999 meters Centerline goodness [0,1] 0.9999780514036127 Centerline is valid? [True, True] Translation: X:50.33, Y:3.96, Z:0.62 [[ 9.68026592e-01 -2.50206606e-01 -1.79212651e-02 5.03289861e+01] [ 2.50167885e-01 9.68192443e-01 -4.40706097e-03 3.95534664e+00] [ 1.84539092e-02 -2.17172769e-04 9.99829689e-01 6.22114725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617864999994 meters Centerline goodness [0,1] 0.9998899502575164 Centerline is valid? [True, True] Translation: X:50.36, Y:3.96, Z:0.62 [[ 9.67838121e-01 -2.50930987e-01 -1.79725165e-02 5.03570638e+01] [ 2.50892140e-01 9.68004952e-01 -4.42123345e-03 3.95971900e+00] [ 1.85069094e-02 -2.30124839e-04 9.99828706e-01 6.22378843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.113617864999995 meters Centerline goodness [0,1] 0.9999118165784833 Centerline is valid? [True, True] Translation: X:50.38, Y:3.97, Z:0.62 [[ 9.67651280e-01 -2.51657248e-01 -1.78782113e-02 5.03847252e+01] [ 2.51618885e-01 9.67816394e-01 -4.40055245e-03 3.96526789e+00] [ 1.84102569e-02 -2.40295401e-04 9.99830488e-01 6.23330451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.41, Y:3.97, Z:0.62 [[ 9.67309120e-01 -2.52960352e-01 -1.80035075e-02 5.04133184e+01] [ 2.52921597e-01 9.67476610e-01 -4.43558196e-03 3.96542185e+00] [ 1.85399988e-02 -2.62896993e-04 9.99828085e-01 6.23766800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.173617865 meters Centerline goodness [0,1] 0.9998681869109602 Centerline is valid? [True, True] Translation: X:50.44, Y:3.97, Z:0.63 [[ 9.67426012e-01 -2.52595972e-01 -1.67983859e-02 5.04411872e+01] [ 2.52562143e-01 9.67571816e-01 -4.14065770e-03 3.97258757e+00] [ 1.72995582e-02 -2.36856385e-04 9.99850323e-01 6.25148133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20361786499999 meters Centerline goodness [0,1] 0.9999558079413129 Centerline is valid? [True, True] Translation: X:50.47, Y:3.98, Z:0.63 [[ 9.67810432e-01 -2.51169417e-01 -1.60278319e-02 5.04686882e+01] [ 2.51138365e-01 9.67943120e-01 -3.95439248e-03 3.97992606e+00] [ 1.65072520e-02 -1.98101188e-04 9.99863726e-01 6.26009018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23361786499999 meters Centerline goodness [0,1] 0.9999779948948156 Centerline is valid? [True, True] Translation: X:50.50, Y:3.99, Z:0.63 [[ 9.67891958e-01 -2.50822647e-01 -1.65274898e-02 5.04963763e+01] [ 2.50789507e-01 9.68033038e-01 -4.08181506e-03 3.98537230e+00] [ 1.70229678e-02 -1.94165050e-04 9.99855080e-01 6.26160398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26361786499999 meters Centerline goodness [0,1] 0.9999340789733899 Centerline is valid? [True, True] Translation: X:50.52, Y:3.99, Z:0.63 [[ 9.67908267e-01 -2.50742149e-01 -1.67917128e-02 5.05234713e+01] [ 2.50707848e-01 9.68053892e-01 -4.15173861e-03 3.99259621e+00] [ 1.72962988e-02 -1.91312051e-04 9.99850390e-01 6.27085335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:4.00, Z:0.63 [[ 9.68006547e-01 -2.50344949e-01 -1.70508549e-02 5.05512582e+01] [ 2.50309431e-01 9.68156688e-01 -4.22079769e-03 3.99921013e+00] [ 1.75645546e-02 -1.82230001e-04 9.99845715e-01 6.27759201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617864999996 meters Centerline goodness [0,1] 0.9998894661213662 Centerline is valid? [True, True] Translation: X:50.58, Y:4.00, Z:0.63 [[ 9.67990883e-01 -2.50428468e-01 -1.67102844e-02 5.05787901e+01] [ 2.50394286e-01 9.68135090e-01 -4.14126477e-03 4.00499463e+00] [ 1.72149033e-02 -1.75453192e-04 9.99851797e-01 6.28411763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.353617865 meters Centerline goodness [0,1] 0.9999336987270155 Centerline is valid? [True, True] Translation: X:50.61, Y:4.01, Z:0.63 [[ 9.67935891e-01 -2.50671299e-01 -1.62483878e-02 5.06056268e+01] [ 2.50638937e-01 9.68072245e-01 -4.03139136e-03 4.01140868e+00] [ 1.67401674e-02 -1.70350263e-04 9.99859859e-01 6.29302672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38361786499999 meters Centerline goodness [0,1] 0.9998675438209192 Centerline is valid? [True, True] Translation: X:50.63, Y:4.02, Z:0.63 [[ 9.67818183e-01 -2.51155753e-01 -1.57718935e-02 5.06327849e+01] [ 2.51125253e-01 9.67946672e-01 -3.91764257e-03 4.01834371e+00] [ 1.62502903e-02 -1.69155039e-04 9.99867941e-01 6.29796885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41361786499999 meters Centerline goodness [0,1] 0.9998894319011079 Centerline is valid? [True, True] Translation: X:50.66, Y:4.03, Z:0.63 [[ 9.67682099e-01 -2.51675582e-01 -1.58353319e-02 5.06597440e+01] [ 2.51644831e-01 9.67811640e-01 -3.93800139e-03 4.02668343e+00] [ 1.63167173e-02 -1.74145952e-04 9.99866858e-01 6.30022305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44361786499999 meters Centerline goodness [0,1] 0.9999779449063761 Centerline is valid? [True, True] Translation: X:50.69, Y:4.03, Z:0.63 [[ 9.67762689e-01 -2.51364178e-01 -1.58564688e-02 5.06864073e+01] [ 2.51333235e-01 9.67892568e-01 -3.94743582e-03 4.03338799e+00] [ 1.63396022e-02 -1.65076489e-04 9.99866486e-01 6.30026759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:4.04, Z:0.63 [[ 9.67811974e-01 -2.51177933e-01 -1.57996529e-02 5.07139251e+01] [ 2.51147146e-01 9.67940918e-01 -3.93575622e-03 4.04102606e+00] [ 1.62817056e-02 -1.58965736e-04 9.99867432e-01 6.30533169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617864999995 meters Centerline goodness [0,1] 0.9999339236156998 Centerline is valid? [True, True] Translation: X:50.74, Y:4.05, Z:0.63 [[ 9.68061985e-01 -2.50209400e-01 -1.58508258e-02 5.07414444e+01] [ 2.50178211e-01 9.68191736e-01 -3.95300015e-03 4.04831105e+00] [ 1.63357163e-02 -1.38782060e-04 9.99866554e-01 6.30997357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.533617865 meters Centerline goodness [0,1] 0.9999779132432194 Centerline is valid? [True, True] Translation: X:50.77, Y:4.06, Z:0.63 [[ 9.68661175e-01 -2.47852183e-01 -1.62733981e-02 5.07690466e+01] [ 2.47818904e-01 9.68797856e-01 -4.06262271e-03 4.05676393e+00] [ 1.67725631e-02 -9.75507963e-05 9.99859326e-01 6.31532319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56361786499999 meters Centerline goodness [0,1] 0.9999339657942814 Centerline is valid? [True, True] Translation: X:50.80, Y:4.06, Z:0.63 [[ 9.68849000e-01 -2.47113235e-01 -1.63298733e-02 5.07959881e+01] [ 2.47079548e-01 9.68986606e-01 -4.08099946e-03 4.06492401e+00] [ 1.68318975e-02 -8.09054620e-05 9.99858330e-01 6.31883020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.82, Y:4.07, Z:0.63 [[ 9.68941629e-01 -2.46784757e-01 -1.57925314e-02 5.08227553e+01] [ 2.46753134e-01 9.69070317e-01 -3.95117333e-03 4.07368061e+00] [ 1.62791627e-02 -6.84002914e-05 9.99867483e-01 6.32031585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62361786499999 meters Centerline goodness [0,1] 0.999978069213562 Centerline is valid? [True, True] Translation: X:50.85, Y:4.08, Z:0.63 [[ 9.69132633e-01 -2.46103005e-01 -1.46714378e-02 5.08497200e+01] [ 2.46075573e-01 9.69243679e-01 -3.67473675e-03 4.08251652e+00] [ 1.51245621e-02 -4.89751606e-05 9.99885616e-01 6.32798524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.653617864999994 meters Centerline goodness [0,1] 0.9999343199929941 Centerline is valid? [True, True] Translation: X:50.88, Y:4.09, Z:0.63 [[ 9.69072929e-01 -2.46344181e-01 -1.45671968e-02 5.08757300e+01] [ 2.46317106e-01 9.69182409e-01 -3.65260893e-03 4.08906505e+00] [ 1.50180698e-02 -4.85053106e-05 9.99887221e-01 6.33262106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617864999995 meters Centerline goodness [0,1] 0.9998456279633918 Centerline is valid? [True, True] Translation: X:50.90, Y:4.10, Z:0.63 [[ 9.68977108e-01 -2.46725191e-01 -1.44929144e-02 5.09030901e+01] [ 2.46698402e-01 9.69085485e-01 -3.63607681e-03 4.09572292e+00] [ 1.49419847e-02 -5.21036208e-05 9.99888361e-01 6.34058039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.713617864999996 meters Centerline goodness [0,1] 0.9999341050365717 Centerline is valid? [True, True] Translation: X:50.93, Y:4.10, Z:0.63 [[ 9.68700747e-01 -2.47859418e-01 -1.35856866e-02 5.09300672e+01] [ 2.47835939e-01 9.68796008e-01 -3.41208641e-03 4.10095447e+00] [ 1.40074767e-02 -6.17307262e-05 9.99901889e-01 6.34766105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters Centerline goodness [0,1] 0.9999560014079549 Centerline is valid? [True, True] Translation: X:50.96, Y:4.11, Z:0.64 [[ 9.68457378e-01 -2.48809041e-01 -1.35782243e-02 5.09577013e+01] [ 2.48785662e-01 9.68552557e-01 -3.41157049e-03 4.10768595e+00] [ 1.40000535e-02 -7.41069182e-05 9.99901992e-01 6.35145629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77361786499999 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:50.98, Y:4.11, Z:0.64 [[ 9.68171699e-01 -2.49918275e-01 -1.35800146e-02 5.09848337e+01] [ 2.49894944e-01 9.68266930e-01 -3.41593489e-03 4.11439907e+00] [ 1.40027836e-02 -8.63655064e-05 9.99901952e-01 6.35058915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80361786499999 meters Centerline goodness [0,1] 0.999956013020146 Centerline is valid? [True, True] Translation: X:51.01, Y:4.12, Z:0.63 [[ 9.67531568e-01 -2.52405532e-01 -1.31951480e-02 5.10122144e+01] [ 2.52383687e-01 9.67621535e-01 -3.32275775e-03 4.12003513e+00] [ 1.36065918e-02 -1.15367069e-04 9.99907419e-01 6.34859938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.833617864999994 meters Centerline goodness [0,1] 0.9999560323601829 Centerline is valid? [True, True] Translation: X:51.04, Y:4.13, Z:0.63 [[ 9.67200881e-01 -2.53672584e-01 -1.31406432e-02 5.10401596e+01] [ 2.53651019e-01 9.67290134e-01 -3.31022928e-03 4.12783198e+00] [ 1.35505289e-02 -1.31480856e-04 9.99908179e-01 6.34946119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617864999995 meters Centerline goodness [0,1] 0.9999339236156998 Centerline is valid? [True, True] Translation: X:51.07, Y:4.13, Z:0.64 [[ 9.66752443e-01 -2.55340185e-01 -1.38239974e-02 5.10686189e+01] [ 2.55316437e-01 9.66851263e-01 -3.48608792e-03 4.13373479e+00] [ 1.42558877e-02 -1.59309749e-04 9.99898367e-01 6.35340676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.10, Y:4.14, Z:0.64 [[ 9.66252116e-01 -2.57222167e-01 -1.39142332e-02 5.10972381e+01] [ 2.57198250e-01 9.66352277e-01 -3.51243644e-03 4.13925163e+00] [ 1.43495275e-02 -1.84817293e-04 9.99897023e-01 6.35832059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters Centerline goodness [0,1] 0.9999559723506362 Centerline is valid? [True, True] Translation: X:51.13, Y:4.14, Z:0.64 [[ 9.65372113e-01 -2.60492270e-01 -1.41584018e-02 5.11254030e+01] [ 2.60467807e-01 9.65475905e-01 -3.57756782e-03 4.14195381e+00] [ 1.46015246e-02 -2.34123669e-04 9.99893365e-01 6.36540964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.15, Y:4.15, Z:0.64 [[ 9.65251704e-01 -2.60948883e-01 -1.39581096e-02 5.11516156e+01] [ 2.60925134e-01 9.65352591e-01 -3.52841220e-03 4.15194390e+00] [ 1.43952325e-02 -2.36215735e-04 9.99896355e-01 6.36852573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98361786499999 meters Centerline goodness [0,1] 0.9999339628871425 Centerline is valid? [True, True] Translation: X:51.18, Y:4.16, Z:0.64 [[ 9.65099098e-01 -2.61514992e-01 -1.39154881e-02 5.11784897e+01] [ 2.61491392e-01 9.65199384e-01 -3.52145802e-03 4.15968886e+00] [ 1.43521347e-02 -2.40224406e-04 9.99896974e-01 6.36975257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01361786499999 meters Centerline goodness [0,1] 0.9999780903553744 Centerline is valid? [True, True] Translation: X:51.20, Y:4.17, Z:0.64 [[ 9.64955788e-01 -2.62013805e-01 -1.44600914e-02 5.12048198e+01] [ 2.61988352e-01 9.65064092e-01 -3.66092091e-03 4.16935565e+00] [ 1.49141268e-02 -2.55748709e-04 9.99888746e-01 6.36408431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617864999995 meters Centerline goodness [0,1] 0.9999343487394958 Centerline is valid? [True, True] Translation: X:51.23, Y:4.18, Z:0.64 [[ 9.64934616e-01 -2.62079765e-01 -1.46759466e-02 5.12310323e+01] [ 2.62053494e-01 9.65046181e-01 -3.71958980e-03 4.17569249e+00] [ 1.51377955e-02 -2.56722132e-04 9.99885384e-01 6.35988857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.073617864999996 meters Centerline goodness [0,1] 0.9999780831525193 Centerline is valid? [True, True] Translation: X:51.26, Y:4.18, Z:0.64 [[ 9.64833383e-01 -2.62416605e-01 -1.52992923e-02 5.12581432e+01] [ 2.62388060e-01 9.64954637e-01 -3.87993536e-03 4.18302930e+00] [ 1.57812825e-02 -2.70860459e-04 9.99875431e-01 6.36243022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:4.19, Z:0.64 [[ 9.64608882e-01 -2.63169114e-01 -1.64840196e-02 5.12869841e+01] [ 2.63136004e-01 9.64749671e-01 -4.18521120e-03 4.18831227e+00] [ 1.70043708e-02 -3.00447166e-04 9.99855370e-01 6.36662841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13361786499999 meters Centerline goodness [0,1] 0.9999780509218613 Centerline is valid? [True, True] Translation: X:51.31, Y:4.20, Z:0.64 [[ 9.64355448e-01 -2.64046773e-01 -1.72589772e-02 5.13144857e+01] [ 2.64010538e-01 9.64509821e-01 -4.38645055e-03 4.19607906e+00] [ 1.78046811e-02 -3.26454377e-04 9.99841431e-01 6.36715538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16361786499999 meters Centerline goodness [0,1] 0.9999341888779204 Centerline is valid? [True, True] Translation: X:51.34, Y:4.20, Z:0.64 [[ 9.64217466e-01 -2.64500390e-01 -1.80061793e-02 5.13419626e+01] [ 2.64460940e-01 9.64385517e-01 -4.58112820e-03 4.20355050e+00] [ 1.85766087e-02 -3.44727269e-04 9.99827380e-01 6.36116173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19361786499999 meters Centerline goodness [0,1] 0.9999559141207072 Centerline is valid? [True, True] Translation: X:51.37, Y:4.21, Z:0.64 [[ 9.64211230e-01 -2.64494146e-01 -1.84268785e-02 5.13684845e+01] [ 2.64452751e-01 9.64387228e-01 -4.69226567e-03 4.21024655e+00] [ 1.90117231e-02 -3.48703466e-04 9.99819200e-01 6.35037805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:4.22, Z:0.64 [[ 9.64811084e-01 -2.62330490e-01 -1.79523165e-02 5.13948464e+01] [ 2.62290787e-01 9.64978045e-01 -4.57347335e-03 4.21927495e+00] [ 1.85233528e-02 -2.96189443e-04 9.99828384e-01 6.35057944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:4.23, Z:0.64 [[ 9.65163684e-01 -2.61073011e-01 -1.73189565e-02 5.14222677e+01] [ 2.61035819e-01 9.65319023e-01 -4.41430680e-03 4.22752619e+00] [ 1.78707746e-02 -2.60339385e-04 9.99840271e-01 6.35678447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:4.24, Z:0.64 [[ 9.65601429e-01 -2.59467615e-01 -1.70422119e-02 5.14505221e+01] [ 2.59431279e-01 9.65751783e-01 -4.34791387e-03 4.23541235e+00] [ 1.75866894e-02 -2.22930994e-04 9.99845317e-01 6.36692795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31361786499999 meters Centerline goodness [0,1] 0.999912194051147 Centerline is valid? [True, True] Translation: X:51.48, Y:4.24, Z:0.64 [[ 9.66078492e-01 -2.57674916e-01 -1.72042328e-02 5.14772766e+01] [ 2.57637535e-01 9.66231650e-01 -4.39299930e-03 4.24285176e+00] [ 1.77552399e-02 -1.88473984e-04 9.99842346e-01 6.37156771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34361786499999 meters Centerline goodness [0,1] 0.999912194051147 Centerline is valid? [True, True] Translation: X:51.50, Y:4.25, Z:0.64 [[ 9.66011655e-01 -2.57925418e-01 -1.72035486e-02 5.15039774e+01] [ 2.57888029e-01 9.66164811e-01 -4.39567724e-03 4.24976045e+00] [ 1.77552201e-02 -1.90313784e-04 9.99842346e-01 6.37524252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37361786499999 meters Centerline goodness [0,1] 0.9998243919571517 Centerline is valid? [True, True] Translation: X:51.53, Y:4.26, Z:0.64 [[ 9.66886616e-01 -2.54622094e-01 -1.72586811e-02 5.15308866e+01] [ 2.54583855e-01 9.67040627e-01 -4.41443820e-03 4.25949727e+00] [ 1.78138593e-02 -1.25520343e-04 9.99841313e-01 6.38285708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.56, Y:4.27, Z:0.64 [[ 9.67168460e-01 -2.53526769e-01 -1.75882578e-02 5.15581130e+01] [ 2.53486790e-01 9.67328366e-01 -4.50340063e-03 4.26777587e+00] [ 1.81553533e-02 -1.02843949e-04 9.99835173e-01 6.38367933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.433617864999995 meters Centerline goodness [0,1] 0.9999560700243811 Centerline is valid? [True, True] Translation: X:51.59, Y:4.27, Z:0.64 [[ 9.67461422e-01 -2.52419746e-01 -1.73973595e-02 5.15850538e+01] [ 2.52380378e-01 9.67617830e-01 -4.45860543e-03 4.27494738e+00] [ 1.79594353e-02 -7.72234222e-05 9.99838713e-01 6.38037076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617864999996 meters Centerline goodness [0,1] 0.9999340905595712 Centerline is valid? [True, True] Translation: X:51.61, Y:4.28, Z:0.64 [[ 9.67632857e-01 -2.51791509e-01 -1.69614389e-02 5.16117555e+01] [ 2.51753952e-01 9.67781500e-01 -4.34916993e-03 4.28223214e+00] [ 1.75100509e-02 -6.17095618e-05 9.99846685e-01 6.38844085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.493617865 meters Centerline goodness [0,1] 0.9999559461662151 Centerline is valid? [True, True] Translation: X:51.64, Y:4.29, Z:0.64 [[ 9.67447076e-01 -2.52525375e-01 -1.66460506e-02 5.16384662e+01] [ 2.52489240e-01 9.67590270e-01 -4.27240674e-03 4.28790781e+00] [ 1.71854478e-02 -6.96212711e-05 9.99852317e-01 6.39302172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52361786499999 meters Centerline goodness [0,1] 0.9999561066608142 Centerline is valid? [True, True] Translation: X:51.67, Y:4.29, Z:0.64 [[ 9.67188508e-01 -2.53525462e-01 -1.64690472e-02 5.16664143e+01] [ 2.53490192e-01 9.67328710e-01 -4.22958005e-03 4.29360373e+00] [ 1.70032884e-02 -8.39407244e-05 9.99855430e-01 6.39814176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55361786499999 meters Centerline goodness [0,1] 0.9999122633853172 Centerline is valid? [True, True] Translation: X:51.69, Y:4.30, Z:0.64 [[ 9.66547854e-01 -2.55931954e-01 -1.68547075e-02 5.16946074e+01] [ 2.55895304e-01 9.66694791e-01 -4.33292089e-03 4.29672418e+00] [ 1.74022909e-02 -1.25065125e-04 9.99848561e-01 6.40189883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617864999994 meters Centerline goodness [0,1] 0.9999118709791134 Centerline is valid? [True, True] Translation: X:51.72, Y:4.30, Z:0.64 [[ 9.66128534e-01 -2.57478465e-01 -1.73348390e-02 5.17230029e+01] [ 2.57439894e-01 9.66284025e-01 -4.45922728e-03 4.30271940e+00] [ 1.78985330e-02 -1.54492399e-04 9.99839796e-01 6.40087432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.613617864999995 meters Centerline goodness [0,1] 0.9999560226922908 Centerline is valid? [True, True] Translation: X:51.75, Y:4.31, Z:0.64 [[ 9.66035234e-01 -2.57830579e-01 -1.73008401e-02 5.17491979e+01] [ 2.57792148e-01 9.66190130e-01 -4.45430726e-03 4.30952219e+00] [ 1.78643575e-02 -1.57002967e-04 9.99840407e-01 6.40090051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617864999996 meters Centerline goodness [0,1] 0.9998900905653741 Centerline is valid? [True, True] Translation: X:51.78, Y:4.32, Z:0.64 [[ 9.66032357e-01 -2.57831427e-01 -1.74481986e-02 5.17762799e+01] [ 2.57792285e-01 9.66189904e-01 -4.49517943e-03 4.31710005e+00] [ 1.80172719e-02 -1.55522215e-04 9.99837664e-01 6.39957962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.673617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.80, Y:4.32, Z:0.64 [[ 9.65876278e-01 -2.58415390e-01 -1.74499925e-02 5.18039499e+01] [ 2.58376261e-01 9.66033881e-01 -4.49973597e-03 4.32326057e+00] [ 1.80200850e-02 -1.62475589e-04 9.99837612e-01 6.39154974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:4.33, Z:0.64 [[ 9.65686225e-01 -2.59128968e-01 -1.73865815e-02 5.18306454e+01] [ 2.59090195e-01 9.65842714e-01 -4.48584081e-03 4.33152239e+00] [ 1.79551143e-02 -1.72778101e-04 9.99838779e-01 6.40295538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.86, Y:4.34, Z:0.64 [[ 9.65362223e-01 -2.60310358e-01 -1.77283799e-02 5.18590823e+01] [ 2.60270150e-01 9.65524977e-01 -4.57915156e-03 4.33792033e+00] [ 1.83091942e-02 -1.93628175e-04 9.99832354e-01 6.40547276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:4.34, Z:0.64 [[ 9.64599621e-01 -2.63042398e-01 -1.88750522e-02 5.18879534e+01] [ 2.62997245e-01 9.64784241e-01 -4.88040016e-03 4.34305990e+00] [ 1.94941051e-02 -2.56454567e-04 9.99809939e-01 6.40461217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:4.35, Z:0.64 [[ 9.64182363e-01 -2.64537836e-01 -1.92900186e-02 5.19156912e+01] [ 2.64490874e-01 9.64375264e-01 -4.99271877e-03 4.34973655e+00] [ 1.99235798e-02 -2.88142507e-04 9.99801464e-01 6.40264975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:4.36, Z:0.64 [[ 9.63599775e-01 -2.66641897e-01 -1.94312122e-02 5.19436735e+01] [ 2.66594572e-01 9.63795616e-01 -5.03427427e-03 4.35700941e+00] [ 2.00700656e-02 -3.29230143e-04 9.99798522e-01 6.40482344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:4.36, Z:0.64 [[ 9.63272883e-01 -2.67840975e-01 -1.91458672e-02 5.19703526e+01] [ 2.67795190e-01 9.63463073e-01 -4.96418616e-03 4.36436707e+00] [ 1.97759485e-02 -3.45305230e-04 9.99804377e-01 6.40225726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88361786499999 meters Centerline goodness [0,1] 0.9999560950980176 Centerline is valid? [True, True] Translation: X:52.00, Y:4.37, Z:0.64 [[ 9.62440524e-01 -2.70827582e-01 -1.89910286e-02 5.19971555e+01] [ 2.70783082e-01 9.62627789e-01 -4.92575208e-03 4.37061440e+00] [ 1.96153214e-02 -4.01705838e-04 9.99807520e-01 6.40044428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91361786499999 meters Centerline goodness [0,1] 0.9999341281865489 Centerline is valid? [True, True] Translation: X:52.02, Y:4.38, Z:0.64 [[ 9.61954399e-01 -2.72523574e-01 -1.93555264e-02 5.20242879e+01] [ 2.72477657e-01 9.62149004e-01 -5.02205094e-03 4.37581659e+00] [ 1.99915277e-02 -4.42964493e-04 9.99800051e-01 6.39812179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94361786499999 meters Centerline goodness [0,1] 0.9999780258416102 Centerline is valid? [True, True] Translation: X:52.05, Y:4.38, Z:0.64 [[ 9.61398756e-01 -2.74449192e-01 -1.97502424e-02 5.20524228e+01] [ 2.74401731e-01 9.61601477e-01 -5.12732788e-03 4.38377570e+00] [ 2.03990533e-02 -4.90094053e-04 9.99791798e-01 6.40460324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.08, Y:4.39, Z:0.64 [[ 9.60909153e-01 -2.76156023e-01 -1.97851240e-02 5.20805286e+01] [ 2.76108655e-01 9.61112677e-01 -5.14127761e-03 4.38996749e+00] [ 2.04355282e-02 -5.22543262e-04 9.99791036e-01 6.40816264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.11, Y:4.40, Z:0.64 [[ 9.60303203e-01 -2.78242309e-01 -1.99743584e-02 5.21082962e+01] [ 2.78194378e-01 9.60510747e-01 -5.19544639e-03 4.39844870e+00] [ 2.06311789e-02 -5.67550399e-04 9.99786993e-01 6.42108065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.14, Y:4.41, Z:0.64 [[ 9.60079447e-01 -2.79026366e-01 -1.97924878e-02 5.21361248e+01] [ 2.78979368e-01 9.60283269e-01 -5.15313365e-03 4.40672967e+00] [ 2.04442550e-02 -5.74278033e-04 9.99790829e-01 6.42512969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:4.42, Z:0.64 [[ 9.59855284e-01 -2.79787382e-01 -1.99212291e-02 5.21635125e+01] [ 2.79739829e-01 9.60061807e-01 -5.19179085e-03 4.41716509e+00] [ 2.05782088e-02 -5.89393350e-04 9.99788073e-01 6.43171054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:4.42, Z:0.64 [[ 9.59710917e-01 -2.80325081e-01 -1.93081478e-02 5.21900015e+01] [ 2.80280442e-01 9.59904951e-01 -5.03587584e-03 4.42475984e+00] [ 1.99456690e-02 -5.78711173e-04 9.99800898e-01 6.43805169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:4.43, Z:0.65 [[ 9.59522890e-01 -2.80985514e-01 -1.90516398e-02 5.22177158e+01] [ 2.80942129e-01 9.59711833e-01 -4.97170729e-03 4.43262490e+00] [ 1.96810618e-02 -5.81941280e-04 9.99806140e-01 6.45071244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.153617864999994 meters Centerline goodness [0,1] 0.9999781878462679 Centerline is valid? [True, True] Translation: X:52.25, Y:4.44, Z:0.65 [[ 9.59314540e-01 -2.81708464e-01 -1.88667647e-02 5.22450401e+01] [ 2.81665963e-01 9.59499869e-01 -4.92825542e-03 4.44201042e+00] [ 1.94909896e-02 -5.86378379e-04 9.99809861e-01 6.46354513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617864999995 meters Centerline goodness [0,1] 0.9998909225768451 Centerline is valid? [True, True] Translation: X:52.27, Y:4.45, Z:0.65 [[ 9.59037070e-01 -2.82667744e-01 -1.86237709e-02 5.22731125e+01] [ 2.82626419e-01 9.59217699e-01 -4.86958873e-03 4.44967254e+00] [ 1.92407263e-02 -5.93453581e-04 9.99814704e-01 6.46914665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.213617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:4.46, Z:0.65 [[ 9.58682382e-01 -2.83895834e-01 -1.82001583e-02 5.23002182e+01] [ 2.83856519e-01 9.58854939e-01 -4.76257940e-03 4.45757132e+00] [ 1.88033881e-02 -6.00432607e-04 9.99823020e-01 6.48579168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:4.47, Z:0.65 [[ 9.58552223e-01 -2.84379333e-01 -1.74937336e-02 5.23269986e+01] [ 2.84343045e-01 9.58711664e-01 -4.58020231e-03 4.46524455e+00] [ 1.80739613e-02 -5.83858383e-04 9.99836482e-01 6.49594155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.35, Y:4.47, Z:0.65 [[ 9.58381784e-01 -2.85014242e-01 -1.64692737e-02 5.23546781e+01] [ 2.84982099e-01 9.58523120e-01 -4.31643739e-03 4.47319611e+00] [ 1.70164258e-02 -5.56653224e-04 9.99855055e-01 6.50698399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.38, Y:4.48, Z:0.65 [[ 9.58475011e-01 -2.84739519e-01 -1.57816457e-02 5.23814300e+01] [ 2.84709910e-01 9.58604783e-01 -4.13961430e-03 4.48182064e+00] [ 1.63070729e-02 -5.25474087e-04 9.99866893e-01 6.52242896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:4.49, Z:0.65 [[ 9.58507248e-01 -2.84633420e-01 -1.57376004e-02 5.24086402e+01] [ 2.84603933e-01 9.58636295e-01 -4.12992492e-03 4.49021516e+00] [ 1.62621496e-02 -5.20419985e-04 9.99867627e-01 6.52828808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:4.50, Z:0.65 [[ 9.58641745e-01 -2.84159200e-01 -1.61106849e-02 5.24355091e+01] [ 2.84128162e-01 9.58776970e-01 -4.23195971e-03 4.50016252e+00] [ 1.66491040e-02 -5.20566065e-04 9.99861259e-01 6.53250044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:4.51, Z:0.65 [[ 9.59050277e-01 -2.82728394e-01 -1.69476264e-02 5.24619059e+01] [ 2.82693756e-01 9.59199868e-01 -4.45565906e-03 4.50768146e+00] [ 1.75159024e-02 -5.17787122e-04 9.99846451e-01 6.52609315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:4.52, Z:0.65 [[ 9.59180951e-01 -2.82258647e-01 -1.73769508e-02 5.24885918e+01] [ 2.82222114e-01 9.59338202e-01 -4.57086272e-03 4.51836092e+00] [ 1.79605383e-02 -5.19875338e-04 9.99838561e-01 6.53009717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.52, Y:4.53, Z:0.65 [[ 9.59252481e-01 -2.82011192e-01 -1.74460686e-02 5.25157603e+01] [ 2.81974246e-01 9.59410978e-01 -4.59350771e-03 4.52970072e+00] [ 1.80333703e-02 -5.13008371e-04 9.99837254e-01 6.53632248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.54, Y:4.54, Z:0.65 [[ 9.59439409e-01 -2.81366391e-01 -1.75776491e-02 5.25419949e+01] [ 2.81328707e-01 9.59600283e-01 -4.63201035e-03 4.53840083e+00] [ 1.81708091e-02 -5.00964020e-04 9.99834772e-01 6.54316015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.57, Y:4.55, Z:0.65 [[ 9.59466933e-01 -2.81240103e-01 -1.80889099e-02 5.25676021e+01] [ 2.81200137e-01 9.59637298e-01 -4.76863247e-03 4.54601100e+00] [ 1.86999233e-02 -5.11258767e-04 9.99825010e-01 6.54318839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:4.56, Z:0.65 [[ 9.59422250e-01 -2.81358734e-01 -1.86067084e-02 5.25944117e+01] [ 2.81316404e-01 9.59602515e-01 -4.90850578e-03 4.55529852e+00] [ 1.92360952e-02 -5.25042657e-04 9.99814831e-01 6.54539822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:4.56, Z:0.65 [[ 9.59313846e-01 -2.81693212e-01 -1.91279831e-02 5.26209642e+01] [ 2.81648455e-01 9.59504372e-01 -5.05050324e-03 4.56238531e+00] [ 1.97760759e-02 -5.42349213e-04 9.99804287e-01 6.54623226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:4.57, Z:0.66 [[ 9.59025002e-01 -2.82674567e-01 -1.91346351e-02 5.26479574e+01] [ 2.82629940e-01 9.59215708e-01 -5.05399701e-03 4.57120681e+00] [ 1.97828790e-02 -5.61111291e-04 9.99804142e-01 6.55587612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:4.58, Z:0.66 [[ 9.58812566e-01 -2.83411130e-01 -1.88836915e-02 5.26751883e+01] [ 2.83367757e-01 9.58998337e-01 -4.99037530e-03 4.57999543e+00] [ 1.95237566e-02 -5.66194740e-04 9.99809233e-01 6.56835731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:4.59, Z:0.66 [[ 9.58531588e-01 -2.84353585e-01 -1.89798209e-02 5.27029476e+01] [ 2.84309858e-01 9.58719301e-01 -5.02063583e-03 4.58895191e+00] [ 1.96239564e-02 -5.83712143e-04 9.99807261e-01 6.57779950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.73, Y:4.60, Z:0.66 [[ 9.58243039e-01 -2.85308794e-01 -1.92137953e-02 5.27306849e+01] [ 2.85264074e-01 9.58435457e-01 -5.08750967e-03 4.59791076e+00] [ 1.98666940e-02 -6.05934813e-04 9.99802454e-01 6.58196173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.76, Y:4.61, Z:0.66 [[ 9.57961639e-01 -2.86200520e-01 -1.99689977e-02 5.27574077e+01] [ 2.86152300e-01 9.58169530e-01 -5.29275989e-03 4.60896105e+00] [ 2.06484758e-02 -6.43913679e-04 9.99786590e-01 6.58135789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:4.62, Z:0.66 [[ 9.57812157e-01 -2.86695943e-01 -2.00326719e-02 5.27850824e+01] [ 2.86647416e-01 9.58021405e-01 -5.31481767e-03 4.61793965e+00] [ 2.07154651e-02 -6.51716646e-04 9.99785199e-01 6.58367472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:4.63, Z:0.66 [[ 9.57737961e-01 -2.86913638e-01 -2.04588142e-02 5.28121268e+01] [ 2.86862980e-01 9.57956221e-01 -5.43230637e-03 4.62622391e+00] [ 2.11572511e-02 -6.66150385e-04 9.99775938e-01 6.58786174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:4.63, Z:0.66 [[ 9.57356170e-01 -2.88160300e-01 -2.08039664e-02 5.28384888e+01] [ 2.88108158e-01 9.57581927e-01 -5.52647368e-03 4.63496281e+00] [ 2.15140125e-02 -7.02988747e-04 9.99768300e-01 6.59439065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:4.64, Z:0.66 [[ 9.56951677e-01 -2.89502632e-01 -2.07777299e-02 5.28662427e+01] [ 2.89450870e-01 9.57176940e-01 -5.52264479e-03 4.64329975e+00] [ 2.14867842e-02 -7.29227812e-04 9.99768866e-01 6.59947843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:4.65, Z:0.66 [[ 9.56623716e-01 -2.90568307e-01 -2.10029897e-02 5.28924700e+01] [ 2.90515583e-01 9.56853952e-01 -5.58665338e-03 4.65115882e+00] [ 2.17200981e-02 -7.57370690e-04 9.99763804e-01 6.60484029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:4.66, Z:0.66 [[ 9.55748690e-01 -2.93478772e-01 -2.03630268e-02 5.29202508e+01] [ 2.93429834e-01 9.55965259e-01 -5.41815515e-03 4.66008643e+00] [ 2.10564597e-02 -7.96724895e-04 9.99777971e-01 6.61374239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:4.67, Z:0.66 [[ 9.55271193e-01 -2.95028834e-01 -2.03699312e-02 5.29470871e+01] [ 2.94980187e-01 9.55487990e-01 -5.42133078e-03 4.66706914e+00] [ 2.10626735e-02 -8.29885007e-04 9.99777813e-01 6.62212946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:4.68, Z:0.66 [[ 9.54760893e-01 -2.96679968e-01 -2.03134147e-02 5.29739714e+01] [ 2.96631900e-01 9.54976573e-01 -5.40930986e-03 4.67832297e+00] [ 2.10036690e-02 -8.61009272e-04 9.99779028e-01 6.63331489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:4.69, Z:0.66 [[ 9.54292937e-01 -2.98190587e-01 -2.01832570e-02 5.30014698e+01] [ 2.98143363e-01 9.54505942e-01 -5.37978167e-03 4.68700857e+00] [ 2.08692390e-02 -8.83616461e-04 9.99781823e-01 6.64028276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02361786499999 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:53.03, Y:4.70, Z:0.66 [[ 9.54013179e-01 -2.99082888e-01 -2.02059475e-02 5.30284360e+01] [ 2.99035674e-01 9.54226711e-01 -5.38979327e-03 4.69585644e+00] [ 2.08930498e-02 -9.00365319e-04 9.99781311e-01 6.63978827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.06, Y:4.70, Z:0.66 [[ 9.53844537e-01 -2.99648481e-01 -1.97834940e-02 5.30555019e+01] [ 2.99603300e-01 9.54049261e-01 -5.27918844e-03 4.70391644e+00] [ 2.04563287e-02 -8.91675040e-04 9.99790350e-01 6.64856352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.08, Y:4.71, Z:0.67 [[ 9.53822416e-01 -2.99717740e-01 -1.98008986e-02 5.30816337e+01] [ 2.99672441e-01 9.54027506e-01 -5.28643713e-03 4.71061936e+00] [ 2.04750408e-02 -8.91461378e-04 9.99789967e-01 6.65130132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.113617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:4.72, Z:0.67 [[ 9.53932983e-01 -2.99361042e-01 -1.98703648e-02 5.31082048e+01] [ 2.99315278e-01 9.54139500e-01 -5.30833485e-03 4.72145496e+00] [ 2.05482086e-02 -8.83708061e-04 9.99788473e-01 6.65721002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:4.73, Z:0.67 [[ 9.54624289e-01 -2.97118989e-01 -2.03168174e-02 5.31350467e+01] [ 2.97070559e-01 9.54840082e-01 -5.43142660e-03 4.73326239e+00] [ 2.10130915e-02 -8.50556527e-04 9.99778839e-01 6.65519914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.173617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.16, Y:4.74, Z:0.67 [[ 9.55167765e-01 -2.95348714e-01 -2.05834517e-02 5.31619014e+01] [ 2.95298562e-01 9.55389168e-01 -5.50417851e-03 4.74283019e+00] [ 2.12908588e-02 -8.20849799e-04 9.99772987e-01 6.65708404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.19, Y:4.76, Z:0.67 [[ 9.55805388e-01 -2.93244963e-01 -2.10582816e-02 5.31882264e+01] [ 2.93191927e-01 9.56037011e-01 -5.63267946e-03 4.75623560e+00] [ 2.17842515e-02 -7.90372770e-04 9.99762383e-01 6.66629792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:4.76, Z:0.67 [[ 9.55725090e-01 -2.93506620e-01 -2.10574478e-02 5.32148597e+01] [ 2.93453579e-01 9.55956712e-01 -5.63579495e-03 4.76342296e+00] [ 2.17841517e-02 -7.93112781e-04 9.99762383e-01 6.66997673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.24, Y:4.78, Z:0.67 [[ 9.57280217e-01 -2.88343210e-01 -2.17434929e-02 5.32420963e+01] [ 2.88285211e-01 9.57526873e-01 -5.82441165e-03 4.77815790e+00] [ 2.24994084e-02 -6.92733402e-04 9.99746616e-01 6.67043310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.293617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:4.78, Z:0.67 [[ 9.58127466e-01 -2.85492958e-01 -2.20347310e-02 5.32700409e+01] [ 2.85432589e-01 9.58380599e-01 -5.90471972e-03 4.78349819e+00] [ 2.28034145e-02 -6.31956155e-04 9.99739769e-01 6.65664411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:4.80, Z:0.67 [[ 9.58828918e-01 -2.83136648e-01 -2.19258779e-02 5.32956566e+01] [ 2.83076182e-01 9.59079410e-01 -5.87886226e-03 4.79882831e+00] [ 2.26931794e-02 -5.69870659e-04 9.99742314e-01 6.68386653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.353617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:4.81, Z:0.67 [[ 9.59951328e-01 -2.79320074e-01 -2.17656562e-02 5.33214121e+01] [ 2.79259413e-01 9.60197935e-01 -5.84008467e-03 4.81020518e+00] [ 2.25305910e-02 -4.72067339e-04 9.99746043e-01 6.68690149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.35, Y:4.82, Z:0.67 [[ 9.60270551e-01 -2.78220302e-01 -2.17699625e-02 5.33485122e+01] [ 2.78159256e-01 9.60517187e-01 -5.84475186e-03 4.81984250e+00] [ 2.25365517e-02 -4.42973475e-04 9.99745922e-01 6.69083146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.38, Y:4.83, Z:0.67 [[ 9.60470141e-01 -2.77522436e-01 -2.18724943e-02 5.33759849e+01] [ 2.77460504e-01 9.60719063e-01 -5.87797042e-03 4.82852143e+00] [ 2.26445909e-02 -4.23138204e-04 9.99743489e-01 6.69236230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:4.84, Z:0.67 [[ 9.60776523e-01 -2.76458910e-01 -2.18847927e-02 5.34025283e+01] [ 2.76396538e-01 9.61025658e-01 -5.88543081e-03 4.83698676e+00] [ 2.26589271e-02 -3.94297199e-04 9.99743176e-01 6.69340320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.473617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:4.84, Z:0.67 [[ 9.60748438e-01 -2.76556129e-01 -2.18894053e-02 5.34294827e+01] [ 2.76493670e-01 9.60997686e-01 -5.89043943e-03 4.84495613e+00] [ 2.26647050e-02 -3.93051543e-04 9.99743045e-01 6.69942171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:4.85, Z:0.67 [[ 9.60691387e-01 -2.76783181e-01 -2.15204331e-02 5.34557644e+01] [ 2.76722730e-01 9.60932319e-01 -5.79732977e-03 4.85350475e+00] [ 2.22842830e-02 -3.85748208e-04 9.99751600e-01 6.70695546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:4.86, Z:0.67 [[ 9.60613620e-01 -2.77079480e-01 -2.11762618e-02 5.34829865e+01] [ 2.77020884e-01 9.60846927e-01 -5.71076053e-03 4.86101673e+00] [ 2.19294806e-02 -3.80432398e-04 9.99759448e-01 6.71146652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:4.87, Z:0.67 [[ 9.60251135e-01 -2.78297987e-01 -2.16330378e-02 5.35094300e+01] [ 2.78237038e-01 9.60494695e-01 -5.83873033e-03 4.86813811e+00] [ 2.24033250e-02 -4.12464931e-04 9.99748929e-01 6.70468208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:4.88, Z:0.67 [[ 9.59910117e-01 -2.79438459e-01 -2.20616266e-02 5.35373122e+01] [ 2.79375286e-01 9.60163502e-01 -5.95814881e-03 4.87552853e+00] [ 2.28477046e-02 -4.44185926e-04 9.99738858e-01 6.70766893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.57, Y:4.88, Z:0.67 [[ 9.59503336e-01 -2.80786138e-01 -2.26382933e-02 5.35653432e+01] [ 2.80719856e-01 9.59770239e-01 -6.11972104e-03 4.88286259e+00] [ 2.34458930e-02 -4.83125690e-04 9.99724991e-01 6.71015490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.653617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:4.89, Z:0.67 [[ 9.58724262e-01 -2.83383450e-01 -2.32725215e-02 5.35932872e+01] [ 2.83314019e-01 9.59006523e-01 -6.29727926e-03 4.88956170e+00] [ 2.41030447e-02 -5.56077186e-04 9.99709325e-01 6.71962801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:4.89, Z:0.67 [[ 9.58361474e-01 -2.84656565e-01 -2.26699026e-02 5.36209417e+01] [ 2.84590930e-01 9.58629395e-01 -6.13886715e-03 4.89466309e+00] [ 2.34795038e-02 -5.68394887e-04 9.99724157e-01 6.71800585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.65, Y:4.90, Z:0.67 [[ 9.58015372e-01 -2.85854417e-01 -2.22216104e-02 5.36482013e+01] [ 2.85791614e-01 9.58272880e-01 -6.02006060e-03 4.89994388e+00] [ 2.30152275e-02 -5.83439304e-04 9.99734944e-01 6.72076844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.68, Y:4.91, Z:0.67 [[ 9.57601179e-01 -2.87264343e-01 -2.18901774e-02 5.36756976e+01] [ 2.87203689e-01 9.57851153e-01 -5.93374482e-03 4.90976466e+00] [ 2.26720849e-02 -6.04778658e-04 9.99742772e-01 6.73511002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:4.92, Z:0.67 [[ 9.57019615e-01 -2.89210867e-01 -2.16917387e-02 5.37035966e+01] [ 2.89151681e-01 9.57265201e-01 -5.88555312e-03 4.91653997e+00] [ 2.24669125e-02 -6.39612936e-04 9.99747382e-01 6.74336120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:4.92, Z:0.67 [[ 9.56822611e-01 -2.89882055e-01 -2.14216026e-02 5.37304511e+01] [ 2.89824404e-01 9.57062161e-01 -5.81673570e-03 4.92233329e+00] [ 2.21879726e-02 -6.42918963e-04 9.99753610e-01 6.74271745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:4.93, Z:0.68 [[ 9.56680134e-01 -2.90361746e-01 -2.12879719e-02 5.37569471e+01] [ 2.90304837e-01 9.56916736e-01 -5.78470113e-03 4.93036482e+00] [ 2.20504725e-02 -6.45892550e-04 9.99756650e-01 6.75160492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.78, Y:4.94, Z:0.67 [[ 9.56760931e-01 -2.90039643e-01 -2.20346736e-02 5.37838143e+01] [ 2.89978434e-01 9.57014408e-01 -5.99423841e-03 4.93660150e+00] [ 2.28260669e-02 -6.54527025e-04 9.99739237e-01 6.74689787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:4.95, Z:0.68 [[ 9.56910762e-01 -2.89532762e-01 -2.21940104e-02 5.38108805e+01] [ 2.89470384e-01 9.57167890e-01 -6.04383715e-03 4.94635652e+00] [ 2.29932829e-02 -6.41095906e-04 9.99735414e-01 6.75379572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:4.95, Z:0.67 [[ 9.57194247e-01 -2.88578521e-01 -2.23966834e-02 5.38380588e+01] [ 2.88514638e-01 9.57456032e-01 -6.10332989e-03 4.95263633e+00] [ 2.32051295e-02 -6.19698756e-04 9.99730533e-01 6.74805385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:4.96, Z:0.68 [[ 9.57448893e-01 -2.87719844e-01 -2.25590094e-02 5.38654212e+01] [ 2.87654707e-01 9.57714431e-01 -6.15124932e-03 4.96084113e+00] [ 2.33749253e-02 -5.99698378e-04 9.99726589e-01 6.75435738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:4.97, Z:0.68 [[ 9.58183040e-01 -2.85319064e-01 -2.18699079e-02 5.38924439e+01] [ 2.85257096e-01 9.58432450e-01 -5.96886345e-03 4.97035693e+00] [ 2.26638600e-02 -5.19282699e-04 9.99743007e-01 6.76191626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.92, Y:4.98, Z:0.68 [[ 9.58524755e-01 -2.84162589e-01 -2.19526174e-02 5.39203628e+01] [ 2.84099719e-01 9.58775982e-01 -5.99710780e-03 4.97868639e+00] [ 2.27517960e-02 -4.88356160e-04 9.99741025e-01 6.76671293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:4.99, Z:0.68 [[ 9.58812293e-01 -2.83199818e-01 -2.18369030e-02 5.39478443e+01] [ 2.83137232e-01 9.59060819e-01 -5.97109793e-03 4.98663642e+00] [ 2.26339319e-02 -4.57678185e-04 9.99743715e-01 6.76955045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.073617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.98, Y:4.99, Z:0.68 [[ 9.59151344e-01 -2.82038723e-01 -2.19740285e-02 5.39758187e+01] [ 2.81974940e-01 9.59402926e-01 -6.01315780e-03 4.99159370e+00] [ 2.27778906e-02 -4.28596989e-04 9.99740458e-01 6.76629054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:5.00, Z:0.68 [[ 9.59046544e-01 -2.82381649e-01 -2.21433981e-02 5.40023746e+01] [ 2.82316867e-01 9.59302045e-01 -6.06398840e-03 5.00043049e+00] [ 2.29545662e-02 -4.35807675e-04 9.99736414e-01 6.78282780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:5.00, Z:0.68 [[ 9.58654627e-01 -2.83700376e-01 -2.22576465e-02 5.40305751e+01] [ 2.83635172e-01 9.58912864e-01 -6.09993131e-03 5.00403239e+00] [ 2.30736963e-02 -4.65324003e-04 9.99733659e-01 6.77917626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.06, Y:5.01, Z:0.68 [[ 9.58324454e-01 -2.84841505e-01 -2.18988218e-02 5.40584632e+01] [ 2.84778605e-01 9.58574507e-01 -6.00506803e-03 5.01243174e+00] [ 2.27021449e-02 -4.81512397e-04 9.99742157e-01 6.79505535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.09, Y:5.02, Z:0.68 [[ 9.57902886e-01 -2.86271812e-01 -2.16912648e-02 5.40866658e+01] [ 2.86210340e-01 9.58148315e-01 -5.95374787e-03 5.02009786e+00] [ 2.24878390e-02 -5.05152002e-04 9.99746989e-01 6.80382497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:5.03, Z:0.68 [[ 9.57525565e-01 -2.87565189e-01 -2.12380654e-02 5.41149980e+01] [ 2.87506455e-01 9.57760927e-01 -5.83487768e-03 5.02736751e+00] [ 2.20188969e-02 -5.19036352e-04 9.99757420e-01 6.80917033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.253617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:5.03, Z:0.68 [[ 9.57232315e-01 -2.88588426e-01 -2.05673547e-02 5.41418659e+01] [ 2.88533493e-01 9.57453105e-01 -5.65463275e-03 5.03299851e+00] [ 2.13241391e-02 -5.21573494e-04 9.99772479e-01 6.81175529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:5.04, Z:0.68 [[ 9.56694896e-01 -2.90413455e-01 -1.98721129e-02 5.41702448e+01] [ 2.90362505e-01 9.56901110e-01 -5.46647868e-03 5.03834965e+00] [ 2.06031858e-02 -5.40364220e-04 9.99787586e-01 6.81677576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.20, Y:5.05, Z:0.68 [[ 9.56418865e-01 -2.91351924e-01 -1.94167520e-02 5.41982468e+01] [ 2.91303375e-01 9.56615786e-01 -5.34621393e-03 5.04519020e+00] [ 2.01320012e-02 -5.42945537e-04 9.99797183e-01 6.82633433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:5.05, Z:0.68 [[ 9.56181365e-01 -2.92139718e-01 -1.92764708e-02 5.42253102e+01] [ 2.92091943e-01 9.56375492e-01 -5.31183993e-03 5.05087396e+00] [ 1.99873437e-02 -5.51419468e-04 9.99800081e-01 6.83119579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:5.06, Z:0.68 [[ 9.55717450e-01 -2.93679462e-01 -1.88819854e-02 5.42539914e+01] [ 2.93633858e-01 9.55903787e-01 -5.20644141e-03 5.05657048e+00] [ 1.95783863e-02 -5.68503318e-04 9.99808163e-01 6.83291714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:5.06, Z:0.68 [[ 9.55601328e-01 -2.94095133e-01 -1.82798966e-02 5.42817011e+01] [ 2.94052397e-01 9.55775991e-01 -5.04413324e-03 5.06248558e+00] [ 1.89549413e-02 -5.55066995e-04 9.99820185e-01 6.83538346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:5.07, Z:0.68 [[ 9.55528489e-01 -2.94350419e-01 -1.79760302e-02 5.43089003e+01] [ 2.94309106e-01 9.55697405e-01 -4.96190111e-03 5.06888711e+00] [ 1.86401831e-02 -5.49271516e-04 9.99826106e-01 6.84023239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.34, Y:5.08, Z:0.69 [[ 9.55909753e-01 -2.93112322e-01 -1.79362818e-02 5.43368920e+01] [ 2.93070930e-01 9.56077871e-01 -4.95329972e-03 5.07779420e+00] [ 1.86003553e-02 -5.21695271e-04 9.99826862e-01 6.85041198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.37, Y:5.09, Z:0.69 [[ 9.56352223e-01 -2.91660026e-01 -1.80237241e-02 5.43651687e+01] [ 2.91617901e-01 9.56521922e-01 -4.98123535e-03 5.08573240e+00] [ 1.86929145e-02 -4.92225096e-04 9.99825151e-01 6.85308370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:5.09, Z:0.68 [[ 9.56856482e-01 -2.89938214e-01 -1.90132552e-02 5.43925297e+01] [ 2.89890950e-01 9.57045244e-01 -5.25710140e-03 5.09267529e+00] [ 1.97207801e-02 -4.81479055e-04 9.99805411e-01 6.84792392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:5.10, Z:0.68 [[ 9.57401625e-01 -2.88067342e-01 -1.99833596e-02 5.44200107e+01] [ 2.88014660e-01 9.57610042e-01 -5.52839325e-03 5.10193143e+00] [ 2.07288154e-02 -4.62607840e-04 9.99785028e-01 6.84743293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.45, Y:5.11, Z:0.68 [[ 9.58495155e-01 -2.84320344e-01 -2.11891397e-02 5.44478606e+01] [ 2.84260073e-01 9.58729254e-01 -5.86755919e-03 5.11047028e+00] [ 2.19829145e-02 -3.99199342e-04 9.99758267e-01 6.83257095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.613617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:5.12, Z:0.68 [[ 9.59089985e-01 -2.82281605e-01 -2.15289547e-02 5.44758285e+01] [ 2.82218748e-01 9.59331523e-01 -5.96716109e-03 5.11849070e+00] [ 2.23378247e-02 -3.52830214e-04 9.99750417e-01 6.83405461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:5.13, Z:0.68 [[ 9.59641047e-01 -2.80391988e-01 -2.16654958e-02 5.45026960e+01] [ 2.80327756e-01 9.59885534e-01 -6.00916537e-03 5.12527968e+00] [ 2.24813179e-02 -3.06798088e-04 9.99747216e-01 6.83349613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:5.13, Z:0.68 [[ 9.60166494e-01 -2.78603504e-01 -2.14567377e-02 5.45294402e+01] [ 2.78540014e-01 9.60406174e-01 -5.95320164e-03 5.13268639e+00] [ 2.22657662e-02 -2.60495257e-04 9.99752053e-01 6.83505824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:5.14, Z:0.68 [[ 9.60935322e-01 -2.75909413e-01 -2.18472728e-02 5.45578809e+01] [ 2.75842819e-01 9.61183623e-01 -6.06488207e-03 5.14017118e+00] [ 2.26725989e-02 -1.98453916e-04 9.99742924e-01 6.84588984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:5.15, Z:0.69 [[ 9.61058065e-01 -2.75457973e-01 -2.21427135e-02 5.45857132e+01] [ 2.75389311e-01 9.61313097e-01 -6.15277180e-03 5.14623747e+00] [ 2.29809105e-02 -1.84695654e-04 9.99735887e-01 6.85107585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:5.15, Z:0.69 [[ 9.61044513e-01 -2.75504967e-01 -2.21462677e-02 5.46130424e+01] [ 2.75436145e-01 9.61299631e-01 -6.16031938e-03 5.15174726e+00] [ 2.29863976e-02 -1.79541469e-04 9.99735762e-01 6.85782298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.64, Y:5.16, Z:0.69 [[ 9.60938214e-01 -2.75860625e-01 -2.23307954e-02 5.46403029e+01] [ 2.75790592e-01 9.61197629e-01 -6.21827421e-03 5.15731510e+00] [ 2.31796846e-02 -1.83245974e-04 9.99731298e-01 6.86037423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.67, Y:5.16, Z:0.69 [[ 9.60424468e-01 -2.77726376e-01 -2.12814659e-02 5.46686659e+01] [ 2.77663094e-01 9.60660198e-01 -5.93217495e-03 5.16042581e+00] [ 2.20917787e-02 -2.11671719e-04 9.99755924e-01 6.87024003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:5.16, Z:0.69 [[ 9.60074132e-01 -2.78966875e-01 -2.08601075e-02 5.46963056e+01] [ 2.78906263e-01 9.60300697e-01 -5.81955963e-03 5.16458689e+00] [ 2.16554401e-02 -2.30805965e-04 9.99765467e-01 6.87313289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:5.17, Z:0.69 [[ 9.59115515e-01 -2.82287600e-01 -2.02765785e-02 5.47251399e+01] [ 2.82231015e-01 9.59329779e-01 -5.65950337e-03 5.16676926e+00] [ 2.10495332e-02 -2.94561847e-04 9.99778391e-01 6.87952507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:5.17, Z:0.69 [[ 9.58620052e-01 -2.83995947e-01 -1.98468494e-02 5.47532447e+01] [ 2.83942053e-01 9.58825426e-01 -5.54190107e-03 5.17162480e+00] [ 2.06035412e-02 -3.22777650e-04 9.99787672e-01 6.88459959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94361786499999 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:54.78, Y:5.18, Z:0.69 [[ 9.58141101e-01 -2.85641736e-01 -1.93501571e-02 5.47806792e+01] [ 2.85590807e-01 9.58336412e-01 -5.40493384e-03 5.17569094e+00] [ 2.00878348e-02 -3.47537718e-04 9.99798159e-01 6.89030887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.973617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:5.18, Z:0.69 [[ 9.57201353e-01 -2.88871667e-01 -1.78530342e-02 5.48092962e+01] [ 2.88828846e-01 9.57367753e-01 -4.98826981e-03 5.17724233e+00] [ 1.85328890e-02 -3.81692655e-04 9.99828178e-01 6.89761030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:5.18, Z:0.69 [[ 9.56798017e-01 -2.90208126e-01 -1.77988227e-02 5.48374053e+01] [ 2.90165753e-01 9.56963469e-01 -4.97552991e-03 5.18310645e+00] [ 1.84767623e-02 -4.04031622e-04 9.99829208e-01 6.90340051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.033617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:5.19, Z:0.69 [[ 9.56409676e-01 -2.91464326e-01 -1.81405364e-02 5.48658936e+01] [ 2.91420447e-01 9.56581601e-01 -5.07574996e-03 5.18821909e+00] [ 1.88323034e-02 -4.32026859e-04 9.99822563e-01 6.90637649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06361786499999 meters Centerline goodness [0,1] 0.9999565896857093 Centerline is valid? [True, True] Translation: X:54.89, Y:5.19, Z:0.69 [[ 9.55918369e-01 -2.93059716e-01 -1.83323292e-02 5.48937072e+01] [ 2.93015122e-01 9.56094026e-01 -5.13333163e-03 5.19046014e+00] [ 1.90318032e-02 -4.64603695e-04 9.99818771e-01 6.90362820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:5.20, Z:0.69 [[ 9.55855624e-01 -2.93256946e-01 -1.84496460e-02 5.49208308e+01] [ 2.93211776e-01 9.56033547e-01 -5.16829133e-03 5.19538428e+00] [ 1.91541179e-02 -4.69513157e-04 9.99816433e-01 6.90548221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:5.20, Z:0.69 [[ 9.55821430e-01 -2.93397667e-01 -1.79778657e-02 5.49480083e+01] [ 2.93354746e-01 9.55990376e-01 -5.03916641e-03 5.20145378e+00] [ 1.86651463e-02 -4.57348988e-04 9.99825686e-01 6.90994830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.153617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.97, Y:5.21, Z:0.69 [[ 9.55743813e-01 -2.93650486e-01 -1.79765312e-02 5.49745454e+01] [ 2.93607521e-01 9.55912748e-01 -5.04392341e-03 5.20897725e+00] [ 1.86651459e-02 -4.57346153e-04 9.99825686e-01 6.91361711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:5.22, Z:0.69 [[ 9.55808089e-01 -2.93442134e-01 -1.79613934e-02 5.50021628e+01] [ 2.93399127e-01 9.55976732e-01 -5.04379056e-03 5.21522045e+00] [ 1.86507349e-02 -4.48961349e-04 9.99825959e-01 6.91548875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.213617864999996 meters Centerline goodness [0,1] 0.9999564753759439 Centerline is valid? [True, True] Translation: X:55.03, Y:5.22, Z:0.69 [[ 9.56028337e-01 -2.92726969e-01 -1.79092576e-02 5.50300282e+01] [ 2.92684056e-01 9.56195971e-01 -5.03072601e-03 5.22004217e+00] [ 1.85973891e-02 -4.32237543e-04 9.99826960e-01 6.90860926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:5.23, Z:0.69 [[ 9.56050443e-01 -2.92628700e-01 -1.83301535e-02 5.50576441e+01] [ 2.92583677e-01 9.56226047e-01 -5.15163884e-03 5.22552188e+00] [ 1.90352876e-02 -4.37877115e-04 9.99818717e-01 6.90490827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:5.23, Z:0.69 [[ 9.56021762e-01 -2.92737095e-01 -1.80937285e-02 5.50850950e+01] [ 2.92693152e-01 9.56192872e-01 -5.09018789e-03 5.23094217e+00] [ 1.87911810e-02 -4.29580033e-04 9.99823338e-01 6.90684310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30361786499999 meters Centerline goodness [0,1] 0.999912682820345 Centerline is valid? [True, True] Translation: X:55.11, Y:5.24, Z:0.69 [[ 9.55936642e-01 -2.93001887e-01 -1.83038239e-02 5.51120590e+01] [ 2.92956887e-01 9.56111764e-01 -5.15346454e-03 5.23609901e+00] [ 1.90104762e-02 -4.35845671e-04 9.99819190e-01 6.90911668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.333617864999994 meters Centerline goodness [0,1] 0.9999123210802043 Centerline is valid? [True, True] Translation: X:55.14, Y:5.24, Z:0.69 [[ 9.55634674e-01 -2.94041408e-01 -1.73787481e-02 5.51407329e+01] [ 2.94000971e-01 9.55792584e-01 -4.89535242e-03 5.24023280e+00] [ 1.80499149e-02 -4.31200301e-04 9.99836994e-01 6.91576241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:5.25, Z:0.69 [[ 9.55313228e-01 -2.95106242e-01 -1.69983186e-02 5.51684218e+01] [ 2.95067652e-01 9.55464345e-01 -4.79226583e-03 5.24948728e+00] [ 1.76555149e-02 -4.37539020e-04 9.99844034e-01 6.92751493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.20, Y:5.25, Z:0.69 [[ 9.54878431e-01 -2.96494104e-01 -1.72750842e-02 5.51973489e+01] [ 2.96454408e-01 9.55034569e-01 -4.87404501e-03 5.24895935e+00] [ 1.79434282e-02 -4.67154409e-04 9.99838895e-01 6.92145204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:5.26, Z:0.69 [[ 9.54566932e-01 -2.97497374e-01 -1.72419316e-02 5.52250493e+01] [ 2.97457953e-01 9.54722514e-01 -4.86696506e-03 5.25837867e+00] [ 1.79091696e-02 -4.82905770e-04 9.99839501e-01 6.93055824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.25, Y:5.26, Z:0.69 [[ 9.54348514e-01 -2.98237636e-01 -1.65295884e-02 5.52533821e+01] [ 2.98201446e-01 9.54491534e-01 -4.66991752e-03 5.26385042e+00] [ 1.71700974e-02 -4.72418331e-04 9.99852471e-01 6.93771371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:5.27, Z:0.69 [[ 9.54141196e-01 -2.98944461e-01 -1.57094708e-02 5.52811941e+01] [ 2.98911807e-01 9.54270402e-01 -4.44199494e-03 5.27020080e+00] [ 1.63189928e-02 -4.57455946e-04 9.99866732e-01 6.94472480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:5.28, Z:0.69 [[ 9.54008618e-01 -2.99407626e-01 -1.49207745e-02 5.53083645e+01] [ 2.99378169e-01 9.54125192e-01 -4.22265802e-03 5.27749656e+00] [ 1.55005828e-02 -4.38501999e-04 9.99879763e-01 6.94908515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.34, Y:5.28, Z:0.70 [[ 9.53907085e-01 -2.99757884e-01 -1.43695994e-02 5.53357629e+01] [ 2.99730541e-01 9.54015216e-01 -4.07075165e-03 5.28392560e+00] [ 1.49290564e-02 -4.23888962e-04 9.99888466e-01 6.95070020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.573617864999996 meters Centerline goodness [0,1] 0.9999780137633841 Centerline is valid? [True, True] Translation: X:55.36, Y:5.29, Z:0.69 [[ 9.53949791e-01 -2.99617886e-01 -1.44540222e-02 5.53643050e+01] [ 2.99590144e-01 9.54059194e-01 -4.09874719e-03 5.29097947e+00] [ 1.50180507e-02 -4.20283553e-04 9.99887134e-01 6.94988736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.39, Y:5.30, Z:0.69 [[ 9.53950519e-01 -2.99615999e-01 -1.44451155e-02 5.53915619e+01] [ 2.99588256e-01 9.54059788e-01 -4.09854427e-03 5.29838630e+00] [ 1.50094932e-02 -4.17778516e-04 9.99887264e-01 6.94780428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:5.30, Z:0.70 [[ 9.54273475e-01 -2.98572580e-01 -1.47155980e-02 5.54189210e+01] [ 2.98543602e-01 9.54386845e-01 -4.17938045e-03 5.30287051e+00] [ 1.52922215e-02 -4.04975712e-04 9.99882985e-01 6.95162346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:5.31, Z:0.70 [[ 9.54446149e-01 -2.98029702e-01 -1.45205119e-02 5.54464902e+01] [ 2.98001404e-01 9.54556517e-01 -4.12529967e-03 5.30915285e+00] [ 1.50901111e-02 -3.89756560e-04 9.99886062e-01 6.95616028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:5.32, Z:0.70 [[ 9.54677939e-01 -2.97285891e-01 -1.45303660e-02 5.54740212e+01] [ 2.97257444e-01 9.54788436e-01 -4.12971809e-03 5.31721350e+00] [ 1.51011323e-02 -3.76708700e-04 9.99885900e-01 6.96338678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617864999994 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:55.50, Y:5.33, Z:0.70 [[ 9.55440924e-01 -2.94893362e-01 -1.30593139e-02 5.55004342e+01] [ 2.94870120e-01 9.55530122e-01 -3.71464612e-03 5.32535253e+00] [ 1.35739923e-02 -3.01676545e-04 9.99907824e-01 6.96756947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.753617864999995 meters Centerline goodness [0,1] 0.999977966773895 Centerline is valid? [True, True] Translation: X:55.53, Y:5.33, Z:0.70 [[ 9.55807830e-01 -2.93706733e-01 -1.29517402e-02 5.55282201e+01] [ 2.93683747e-01 9.55895536e-01 -3.68524804e-03 5.33441732e+00] [ 1.34628928e-02 -2.81326649e-04 9.99909332e-01 6.96901108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865 meters Centerline goodness [0,1] 0.9999341151666886 Centerline is valid? [True, True] Translation: X:55.56, Y:5.34, Z:0.70 [[ 9.56438537e-01 -2.91663323e-01 -1.25630813e-02 5.55551473e+01] [ 2.91641478e-01 9.56521013e-01 -3.57776097e-03 5.34451023e+00] [ 1.30603529e-02 -2.42007139e-04 9.99914681e-01 6.97677061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81361786499999 meters Centerline goodness [0,1] 0.9999780316344464 Centerline is valid? [True, True] Translation: X:55.58, Y:5.36, Z:0.70 [[ 9.57458295e-01 -2.88319118e-01 -1.20706103e-02 5.55819519e+01] [ 2.88298650e-01 9.57534361e-01 -3.44047244e-03 5.35548701e+00] [ 1.25499781e-02 -1.85831769e-04 9.99921229e-01 6.97814376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84361786499999 meters Centerline goodness [0,1] 0.999934351612762 Centerline is valid? [True, True] Translation: X:55.61, Y:5.36, Z:0.70 [[ 9.57764603e-01 -2.87256548e-01 -1.30629419e-02 5.56088371e+01] [ 2.87232428e-01 9.57853664e-01 -3.72696543e-03 5.36231880e+00] [ 1.35829820e-02 -1.82544956e-04 9.99907730e-01 6.98304743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87361786499999 meters Centerline goodness [0,1] 0.9999339265262972 Centerline is valid? [True, True] Translation: X:55.64, Y:5.37, Z:0.70 [[ 9.57938862e-01 -2.86672055e-01 -1.31251625e-02 5.56367437e+01] [ 2.86647624e-01 9.58028759e-01 -3.74657150e-03 5.37032514e+00] [ 1.36483205e-02 -1.73310209e-04 9.99906842e-01 6.98354291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617864999994 meters Centerline goodness [0,1] 0.999934106483922 Centerline is valid? [True, True] Translation: X:55.66, Y:5.38, Z:0.70 [[ 9.58307424e-01 -2.85428743e-01 -1.33159209e-02 5.56637654e+01] [ 2.85403428e-01 9.58399921e-01 -3.80453133e-03 5.37939779e+00] [ 1.38479001e-02 -1.54498852e-04 9.99904101e-01 6.98217959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.933617864999995 meters Centerline goodness [0,1] 0.9999781028291145 Centerline is valid? [True, True] Translation: X:55.69, Y:5.39, Z:0.70 [[ 9.58601118e-01 -2.84415729e-01 -1.38415940e-02 5.56903573e+01] [ 2.84388219e-01 9.58701034e-01 -3.95826785e-03 5.38860922e+00] [ 1.43957441e-02 -1.41986259e-04 9.99896366e-01 6.98159866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:5.40, Z:0.70 [[ 9.58808558e-01 -2.83705187e-01 -1.40540562e-02 5.57172100e+01] [ 2.83676730e-01 9.58911544e-01 -4.02037712e-03 5.39753621e+00] [ 1.46171985e-02 -1.32036707e-04 9.99893154e-01 6.97806529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99361786499999 meters Centerline goodness [0,1] 0.9998682303333772 Centerline is valid? [True, True] Translation: X:55.74, Y:5.41, Z:0.70 [[ 9.59085721e-01 -2.82739982e-01 -1.45836265e-02 5.57438961e+01] [ 2.82709194e-01 9.59196585e-01 -4.17412052e-03 5.40711203e+00] [ 1.51687555e-02 -1.19585909e-04 9.99884941e-01 6.97729597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02361786499999 meters Centerline goodness [0,1] 0.9999560449220897 Centerline is valid? [True, True] Translation: X:55.77, Y:5.41, Z:0.70 [[ 9.59077798e-01 -2.82753195e-01 -1.48461413e-02 5.57701694e+01] [ 2.82721225e-01 9.59192690e-01 -4.25351452e-03 5.41406772e+00] [ 1.54430050e-02 -1.17867912e-04 9.99880743e-01 6.98023680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05361786499999 meters Centerline goodness [0,1] 0.9999780475490089 Centerline is valid? [True, True] Translation: X:55.80, Y:5.42, Z:0.70 [[ 9.58971766e-01 -2.83105692e-01 -1.49772864e-02 5.57974767e+01] [ 2.83073147e-01 9.59088709e-01 -4.29431875e-03 5.42178880e+00] [ 1.55802924e-02 -1.21537160e-04 9.99878612e-01 6.98651317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617864999994 meters Centerline goodness [0,1] 0.9999560555457901 Centerline is valid? [True, True] Translation: X:55.82, Y:5.43, Z:0.70 [[ 9.58676921e-01 -2.84080250e-01 -1.53938963e-02 5.58245232e+01] [ 2.84045919e-01 9.58800497e-01 -4.41845440e-03 5.42824720e+00] [ 1.60148710e-02 -1.36703169e-04 9.99871744e-01 6.99371609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.113617864999995 meters Centerline goodness [0,1] 0.9999119194944179 Centerline is valid? [True, True] Translation: X:55.85, Y:5.43, Z:0.70 [[ 9.58114000e-01 -2.85954544e-01 -1.57341162e-02 5.58521250e+01] [ 2.85918864e-01 9.58243169e-01 -4.52026509e-03 5.43447708e+00] [ 1.63696997e-02 -1.67751367e-04 9.99865993e-01 6.99003324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617864999996 meters Centerline goodness [0,1] 0.9999120821153044 Centerline is valid? [True, True] Translation: X:55.88, Y:5.44, Z:0.70 [[ 9.57719694e-01 -2.87252699e-01 -1.60895886e-02 5.58803591e+01] [ 2.87215537e-01 9.57854817e-01 -4.62442651e-03 5.44241037e+00] [ 1.67398689e-02 -1.92275483e-04 9.99859860e-01 6.99197401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17361786499999 meters Centerline goodness [0,1] 0.9999559636259551 Centerline is valid? [True, True] Translation: X:55.91, Y:5.45, Z:0.70 [[ 9.57466325e-01 -2.88117902e-01 -1.56943192e-02 5.59070734e+01] [ 2.88082594e-01 9.57594922e-01 -4.51486521e-03 5.45093252e+00] [ 1.63296139e-02 -1.98428780e-04 9.99866643e-01 6.99610790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20361786499999 meters Centerline goodness [0,1] 0.9999560545802114 Centerline is valid? [True, True] Translation: X:55.93, Y:5.46, Z:0.70 [[ 9.57050453e-01 -2.89519447e-01 -1.52617059e-02 5.59345585e+01] [ 2.89486173e-01 9.57172108e-01 -4.39444285e-03 5.45814810e+00] [ 1.58803559e-02 -2.12349318e-04 9.99873877e-01 6.99753630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23361786499999 meters Centerline goodness [0,1] 0.9999780340472268 Centerline is valid? [True, True] Translation: X:55.96, Y:5.47, Z:0.70 [[ 9.56526953e-01 -2.91277771e-01 -1.46098921e-02 5.59615858e+01] [ 2.91247456e-01 9.56638493e-01 -4.20860904e-03 5.46515427e+00] [ 1.52022594e-02 -2.29445919e-04 9.99884413e-01 7.00620894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26361786499999 meters Centerline goodness [0,1] 0.9999119660188833 Centerline is valid? [True, True] Translation: X:55.99, Y:5.47, Z:0.70 [[ 9.55943905e-01 -2.93166937e-01 -1.49799226e-02 5.59890999e+01] [ 2.93135276e-01 9.56061231e-01 -4.31659841e-03 5.47219135e+00] [ 1.55872072e-02 -2.64717820e-04 9.99878477e-01 7.01109287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.293617864999995 meters Centerline goodness [0,1] 0.999933818663137 Centerline is valid? [True, True] Translation: X:56.02, Y:5.48, Z:0.70 [[ 9.55299489e-01 -2.95238070e-01 -1.54067768e-02 5.60168227e+01] [ 2.95204824e-01 9.55423670e-01 -4.44106001e-03 5.47724107e+00] [ 1.60311692e-02 -3.05612469e-04 9.99871446e-01 7.01890372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:5.48, Z:0.70 [[ 9.53951624e-01 -2.99565769e-01 -1.53834205e-02 5.60450986e+01] [ 2.99533164e-01 9.54075578e-01 -4.43569209e-03 5.48059847e+00] [ 1.60057273e-02 -3.76408953e-04 9.99871829e-01 7.02761759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:5.49, Z:0.70 [[ 9.53390611e-01 -3.01374482e-01 -1.48244606e-02 5.60720847e+01] [ 3.01344399e-01 9.53505778e-01 -4.27594345e-03 5.49101086e+00] [ 1.54238690e-02 -3.90623817e-04 9.99880969e-01 7.03253220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38361786499999 meters Centerline goodness [0,1] 0.9999558411163366 Centerline is valid? [True, True] Translation: X:56.10, Y:5.50, Z:0.70 [[ 9.52852448e-01 -3.03099198e-01 -1.42508727e-02 5.60997389e+01] [ 3.03071541e-01 9.52958927e-01 -4.11390587e-03 5.49719859e+00] [ 1.48274179e-02 -3.99088677e-04 9.99889988e-01 7.03311848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:5.50, Z:0.70 [[ 9.52391847e-01 -3.04544273e-01 -1.42322188e-02 5.61266884e+01] [ 3.04516820e-01 9.52498089e-01 -4.11044114e-03 5.50262554e+00] [ 1.48079725e-02 -4.19199395e-04 9.99890268e-01 7.03144577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44361786499999 meters Centerline goodness [0,1] 0.9999780345297192 Centerline is valid? [True, True] Translation: X:56.15, Y:5.51, Z:0.70 [[ 9.51501329e-01 -3.07284266e-01 -1.48862340e-02 5.61544196e+01] [ 3.07254537e-01 9.51617648e-01 -4.30128953e-03 5.51164810e+00] [ 1.54877215e-02 -4.81180226e-04 9.99879942e-01 7.03030820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.473617864999994 meters Centerline goodness [0,1] 0.9998682708351629 Centerline is valid? [True, True] Translation: X:56.18, Y:5.52, Z:0.70 [[ 9.51118698e-01 -3.08449071e-01 -1.52444314e-02 5.61828053e+01] [ 3.08417982e-01 9.51240722e-01 -4.40871456e-03 5.51880543e+00] [ 1.58609878e-02 -5.08445896e-04 9.99874077e-01 7.03017796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617864999995 meters Centerline goodness [0,1] 0.9999558927311221 Centerline is valid? [True, True] Translation: X:56.21, Y:5.53, Z:0.70 [[ 9.50798012e-01 -3.09416761e-01 -1.56335680e-02 5.62110097e+01] [ 3.09384129e-01 9.50926381e-01 -4.52527263e-03 5.52652101e+00] [ 1.62665675e-02 -5.34157598e-04 9.99867548e-01 7.03557057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.533617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.24, Y:5.54, Z:0.70 [[ 9.50920701e-01 -3.09067563e-01 -1.50685803e-02 5.62384909e+01] [ 3.09037145e-01 9.51039950e-01 -4.36543656e-03 5.53562849e+00] [ 1.56800367e-02 -5.05567027e-04 9.99876933e-01 7.04699681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56361786499999 meters Centerline goodness [0,1] 0.9999558985667034 Centerline is valid? [True, True] Translation: X:56.27, Y:5.55, Z:0.70 [[ 9.51036390e-01 -3.08660407e-01 -1.60790840e-02 5.62662326e+01] [ 3.08625643e-01 9.51172158e-01 -4.66243967e-03 5.54564516e+00] [ 1.67330876e-02 -5.28267855e-04 9.99859853e-01 7.04497652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:5.55, Z:0.70 [[ 9.51310490e-01 -3.07778802e-01 -1.67499270e-02 5.62932087e+01] [ 3.07740879e-01 9.51457791e-01 -4.86049998e-03 5.55398110e+00] [ 1.74328074e-02 -5.30792636e-04 9.99847896e-01 7.03640816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62361786499999 meters Centerline goodness [0,1] 0.9999336943308653 Centerline is valid? [True, True] Translation: X:56.32, Y:5.57, Z:0.70 [[ 9.51737732e-01 -3.06406604e-01 -1.76148179e-02 5.63195895e+01] [ 3.06364383e-01 9.51900579e-01 -5.11393732e-03 5.56544382e+00] [ 1.83344995e-02 -5.29425690e-04 9.99831769e-01 7.02790523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.653617864999994 meters Centerline goodness [0,1] 0.9999338215829877 Centerline is valid? [True, True] Translation: X:56.35, Y:5.57, Z:0.70 [[ 9.52029655e-01 -3.05495982e-01 -1.76561897e-02 5.63476445e+01] [ 3.05453321e-01 9.52193230e-01 -5.13050683e-03 5.57393284e+00] [ 1.83794535e-02 -5.08747143e-04 9.99830954e-01 7.02851862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:5.58, Z:0.70 [[ 9.52257726e-01 -3.04780917e-01 -1.77148539e-02 5.63755155e+01] [ 3.04737765e-01 9.52422359e-01 -5.15210495e-03 5.58254029e+00] [ 1.84422862e-02 -4.92253244e-04 9.99829805e-01 7.03256331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.713617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.40, Y:5.59, Z:0.70 [[ 9.52489897e-01 -3.04032830e-01 -1.80841035e-02 5.64033435e+01] [ 3.03987639e-01 9.52661432e-01 -5.26409316e-03 5.59057014e+00] [ 1.88284851e-02 -4.83348398e-04 9.99822612e-01 7.03276744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:5.60, Z:0.70 [[ 9.52845831e-01 -3.02918764e-01 -1.80290079e-02 5.64298774e+01] [ 3.02873583e-01 9.53016271e-01 -5.25156750e-03 5.59960698e+00] [ 1.87727362e-02 -4.56576018e-04 9.99823672e-01 7.03668402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.46, Y:5.61, Z:0.70 [[ 9.53021773e-01 -3.02384166e-01 -1.77007730e-02 5.64569320e+01] [ 3.02340493e-01 9.53186040e-01 -5.15754544e-03 5.60733970e+00] [ 1.84316898e-02 -4.36407345e-04 9.99830027e-01 7.03754946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:5.62, Z:0.70 [[ 9.53142668e-01 -3.02008309e-01 -1.76078422e-02 5.64837080e+01] [ 3.01964987e-01 9.53305198e-01 -5.13282641e-03 5.61734912e+00] [ 1.83358037e-02 -4.24635959e-04 9.99831795e-01 7.04379526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.833617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:5.63, Z:0.71 [[ 9.53205360e-01 -3.01833261e-01 -1.72111550e-02 5.65107748e+01] [ 3.01791762e-01 9.53360644e-01 -5.02151905e-03 5.62770305e+00] [ 1.79240993e-02 -4.07645915e-04 9.99839267e-01 7.05266511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:5.63, Z:0.71 [[ 9.53156346e-01 -3.02017405e-01 -1.66873381e-02 5.65368515e+01] [ 3.01978357e-01 9.53302329e-01 -4.87246309e-03 5.63362054e+00] [ 1.73796469e-02 -3.94995824e-04 9.99848885e-01 7.05542816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.893617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:5.64, Z:0.71 [[ 9.53003301e-01 -3.02512922e-01 -1.64511459e-02 5.65637574e+01] [ 3.02475011e-01 9.53145201e-01 -4.80547489e-03 5.63959036e+00] [ 1.71340490e-02 -3.96427106e-04 9.99853123e-01 7.06101204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:5.65, Z:0.71 [[ 9.52727956e-01 -3.03379479e-01 -1.64418197e-02 5.65910510e+01] [ 3.03341704e-01 9.52869731e-01 -4.80484814e-03 5.64869181e+00] [ 1.71246047e-02 -4.09776468e-04 9.99853279e-01 7.07143250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:5.65, Z:0.71 [[ 9.52141318e-01 -3.05226829e-01 -1.62324893e-02 5.66180470e+01] [ 3.05190217e-01 9.52279578e-01 -4.74730652e-03 5.65390848e+00] [ 1.69068733e-02 -4.33890244e-04 9.99856974e-01 7.07567012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:5.66, Z:0.71 [[ 9.51756796e-01 -3.06423133e-01 -1.62438872e-02 5.66453331e+01] [ 3.06386615e-01 9.51895297e-01 -4.75235393e-03 5.66170280e+00] [ 1.69187110e-02 -4.53824445e-04 9.99856765e-01 7.08163036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:5.67, Z:0.71 [[ 9.51395721e-01 -3.07538299e-01 -1.63210390e-02 5.66728784e+01] [ 3.07501561e-01 9.51535585e-01 -4.77701421e-03 5.67125653e+00] [ 1.69991642e-02 -4.73914097e-04 9.99855391e-01 7.08621949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:5.68, Z:0.71 [[ 9.51310620e-01 -3.07801505e-01 -1.63198468e-02 5.66993460e+01] [ 3.07764736e-01 9.51450476e-01 -4.78108427e-03 5.67907030e+00] [ 1.69991509e-02 -4.74377090e-04 9.99855391e-01 7.08989034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.073617864999996 meters Centerline goodness [0,1] 0.9998679955118474 Centerline is valid? [True, True] Translation: X:56.73, Y:5.69, Z:0.71 [[ 9.50914504e-01 -3.09020303e-01 -1.63724710e-02 5.67262192e+01] [ 3.08983406e-01 9.51055313e-01 -4.80069220e-03 5.68577083e+00] [ 1.70546369e-02 -4.93773999e-04 9.99854437e-01 7.08406607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:5.69, Z:0.71 [[ 9.50738743e-01 -3.09548735e-01 -1.65958839e-02 5.67534743e+01] [ 3.09510866e-01 9.50883443e-01 -4.86839268e-03 5.69422707e+00] [ 1.72877560e-02 -5.08036876e-04 9.99850427e-01 7.08546496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.78, Y:5.70, Z:0.71 [[ 9.50681810e-01 -3.09723040e-01 -1.66052933e-02 5.67813187e+01] [ 3.09685091e-01 9.50826683e-01 -4.87483146e-03 5.70005955e+00] [ 1.72986036e-02 -5.07998178e-04 9.99850239e-01 7.08142747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.81, Y:5.71, Z:0.71 [[ 9.50632696e-01 -3.09786625e-01 -1.81583190e-02 5.68075576e+01] [ 3.09741203e-01 9.50805942e-01 -5.33362026e-03 5.71021950e+00] [ 1.89173218e-02 -5.54065768e-04 9.99820898e-01 7.07785404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19361786499999 meters Centerline goodness [0,1] 0.9999780624780624 Centerline is valid? [True, True] Translation: X:56.83, Y:5.72, Z:0.71 [[ 9.50618679e-01 -3.09795686e-01 -1.87285870e-02 5.68344728e+01] [ 3.09747257e-01 9.50802983e-01 -5.50675319e-03 5.71782058e+00] [ 1.95131647e-02 -5.66306000e-04 9.99809440e-01 7.07418690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617864999994 meters Centerline goodness [0,1] 0.9999780181130749 Centerline is valid? [True, True] Translation: X:56.86, Y:5.73, Z:0.71 [[ 9.50611279e-01 -3.09791907e-01 -1.91617146e-02 5.68612402e+01] [ 3.09741098e-01 9.50804209e-01 -5.63980021e-03 5.72557042e+00] [ 1.99662034e-02 -5.73912846e-04 9.99800491e-01 7.07590948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.253617864999995 meters Centerline goodness [0,1] 0.999977939554379 Centerline is valid? [True, True] Translation: X:56.89, Y:5.74, Z:0.71 [[ 9.50877590e-01 -3.08936544e-01 -1.97489242e-02 5.68888496e+01] [ 3.08882272e-01 9.51082483e-01 -5.81829636e-03 5.73530604e+00] [ 2.05803402e-02 -5.67604951e-04 9.99788041e-01 7.07931075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865 meters Centerline goodness [0,1] 0.9999120028159099 Centerline is valid? [True, True] Translation: X:56.92, Y:5.74, Z:0.71 [[ 9.51098454e-01 -3.08259425e-01 -1.96940883e-02 5.69158971e+01] [ 3.08205227e-01 9.51302174e-01 -5.80610245e-03 5.74307618e+00] [ 2.05248148e-02 -5.47645890e-04 9.99789194e-01 7.07761046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.94, Y:5.75, Z:0.71 [[ 9.51352606e-01 -3.07467678e-01 -1.97950822e-02 5.69431011e+01] [ 3.07412690e-01 9.51558377e-01 -5.83885497e-03 5.75242929e+00] [ 2.06314355e-02 -5.30449594e-04 9.99787009e-01 7.08027679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:5.76, Z:0.71 [[ 9.51645690e-01 -3.06546657e-01 -1.99907052e-02 5.69708770e+01] [ 3.06490267e-01 9.51855496e-01 -5.90170140e-03 5.76138484e+00] [ 2.08374094e-02 -5.10627871e-04 9.99782747e-01 7.08163770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.00, Y:5.77, Z:0.71 [[ 9.52265443e-01 -3.04576173e-01 -2.05883672e-02 5.69968855e+01] [ 3.04515805e-01 9.52487862e-01 -6.08254799e-03 5.77042804e+00] [ 2.14627690e-02 -4.77282932e-04 9.99769534e-01 7.07831117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617864999994 meters Centerline goodness [0,1] 0.9999340543392244 Centerline is valid? [True, True] Translation: X:57.02, Y:5.78, Z:0.71 [[ 9.52473510e-01 -3.03943107e-01 -2.03174925e-02 5.70244657e+01] [ 3.03884098e-01 9.52690077e-01 -6.00610927e-03 5.77902137e+00] [ 2.11817890e-02 -4.53502896e-04 9.99775538e-01 7.08442594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.433617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:5.79, Z:0.71 [[ 9.52857259e-01 -3.02820707e-01 -1.90437471e-02 5.70509844e+01] [ 3.02768569e-01 9.53047460e-01 -5.63317775e-03 5.78609736e+00] [ 1.98554377e-02 -3.98233752e-04 9.99802782e-01 7.10062416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.08, Y:5.79, Z:0.71 [[ 9.52813835e-01 -3.02978506e-01 -1.87035121e-02 5.70779831e+01] [ 3.02928190e-01 9.52997309e-01 -5.53535699e-03 5.79338750e+00] [ 1.95014909e-02 -3.91656329e-04 9.99809751e-01 7.11233416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49361786499999 meters Centerline goodness [0,1] 0.9999560806359524 Centerline is valid? [True, True] Translation: X:57.11, Y:5.80, Z:0.71 [[ 9.52781379e-01 -3.03094790e-01 -1.84713792e-02 5.71055416e+01] [ 3.03045636e-01 9.52960335e-01 -5.47188926e-03 5.80085094e+00] [ 1.92609928e-02 -3.84156666e-04 9.99814416e-01 7.11853004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52361786499999 meters Centerline goodness [0,1] 0.9999560333267383 Centerline is valid? [True, True] Translation: X:57.13, Y:5.81, Z:0.71 [[ 9.52621549e-01 -3.03613970e-01 -1.81863201e-02 5.71323140e+01] [ 3.03566320e-01 9.52795051e-01 -5.39255462e-03 5.80846478e+00] [ 1.89650908e-02 -3.83690550e-04 9.99820073e-01 7.12513287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55361786499999 meters Centerline goodness [0,1] 0.9998677715091678 Centerline is valid? [True, True] Translation: X:57.16, Y:5.82, Z:0.71 [[ 9.52458927e-01 -3.04166577e-01 -1.74552674e-02 5.71580658e+01] [ 3.04122685e-01 9.52618787e-01 -5.18066677e-03 5.81901885e+00] [ 1.82040013e-02 -3.74170466e-04 9.99834223e-01 7.13834526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617864999994 meters Centerline goodness [0,1] 0.9999780263244633 Centerline is valid? [True, True] Translation: X:57.19, Y:5.82, Z:0.71 [[ 9.52300736e-01 -3.04685969e-01 -1.70225892e-02 5.71859483e+01] [ 3.04644234e-01 9.52452793e-01 -5.05642302e-03 5.82405547e+00] [ 1.77538337e-02 -3.70598272e-04 9.99842320e-01 7.14146471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.613617864999995 meters Centerline goodness [0,1] 0.9999780432109608 Centerline is valid? [True, True] Translation: X:57.21, Y:5.83, Z:0.72 [[ 9.52076381e-01 -3.05422435e-01 -1.63615353e-02 5.72136974e+01] [ 3.05383953e-01 9.52216888e-01 -4.86213799e-03 5.83377939e+00] [ 1.70647363e-02 -3.67423588e-04 9.99854319e-01 7.15398096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617864999996 meters Centerline goodness [0,1] 0.999977989082585 Centerline is valid? [True, True] Translation: X:57.24, Y:5.84, Z:0.72 [[ 9.51738414e-01 -3.06480445e-01 -1.62397222e-02 5.72416757e+01] [ 3.06442617e-01 9.51876879e-01 -4.83012220e-03 5.84210477e+00] [ 1.69385541e-02 -3.79530118e-04 9.99856460e-01 7.16274264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.27, Y:5.85, Z:0.72 [[ 9.50926640e-01 -3.08989842e-01 -1.62420195e-02 5.72689169e+01] [ 3.08952307e-01 9.51065245e-01 -4.83445823e-03 5.84905310e+00] [ 1.69410188e-02 -4.20794282e-04 9.99856402e-01 7.15814044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70361786499999 meters Centerline goodness [0,1] 0.999978021978022 Centerline is valid? [True, True] Translation: X:57.30, Y:5.86, Z:0.72 [[ 9.50325589e-01 -3.10807130e-01 -1.67392733e-02 5.72966635e+01] [ 3.10767503e-01 9.50472888e-01 -4.98471536e-03 5.85753373e+00] [ 1.74595105e-02 -4.64919605e-04 9.99847463e-01 7.16032691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73361786499999 meters Centerline goodness [0,1] 0.99995609895296 Centerline is valid? [True, True] Translation: X:57.32, Y:5.86, Z:0.72 [[ 9.49717458e-01 -3.12661566e-01 -1.67181301e-02 5.73232717e+01] [ 3.12622260e-01 9.49864464e-01 -4.98219684e-03 5.86386311e+00] [ 1.74376991e-02 -4.94780291e-04 9.99847829e-01 7.16537632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:5.87, Z:0.72 [[ 9.48441700e-01 -3.16476907e-01 -1.73409486e-02 5.73521994e+01] [ 3.16435224e-01 9.48600035e-01 -5.16944512e-03 5.87090177e+00] [ 1.80856345e-02 -5.84369649e-04 9.99836271e-01 7.16386789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.793617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:5.88, Z:0.72 [[ 9.47764379e-01 -3.18472328e-01 -1.78341748e-02 5.73795136e+01] [ 3.18428571e-01 9.47931943e-01 -5.31765114e-03 5.87721749e+00] [ 1.85991087e-02 -6.39030453e-04 9.99826817e-01 7.15712920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:5.89, Z:0.72 [[ 9.47197425e-01 -3.20157717e-01 -1.77784814e-02 5.74067709e+01] [ 3.20114473e-01 9.47364023e-01 -5.30406380e-03 5.88643431e+00] [ 1.85408306e-02 -6.67153614e-04 9.99827881e-01 7.15892999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:5.89, Z:0.72 [[ 9.46675769e-01 -3.21713617e-01 -1.74738885e-02 5.74339182e+01] [ 3.21672041e-01 9.46836777e-01 -5.21682055e-03 5.89221888e+00] [ 1.82232425e-02 -6.82223760e-04 9.99833710e-01 7.16173645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88361786499999 meters Centerline goodness [0,1] 0.9999779190955661 Centerline is valid? [True, True] Translation: X:57.46, Y:5.90, Z:0.72 [[ 9.46076274e-01 -3.23480384e-01 -1.73241376e-02 5.74605986e+01] [ 3.23439784e-01 9.46234611e-01 -5.17367361e-03 5.90174625e+00] [ 1.80662805e-02 -7.08625477e-04 9.99836540e-01 7.17703658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91361786499999 meters Centerline goodness [0,1] 0.9999337602119673 Centerline is valid? [True, True] Translation: X:57.49, Y:5.91, Z:0.72 [[ 9.45895281e-01 -3.23994380e-01 -1.75999914e-02 5.74876815e+01] [ 3.23952536e-01 9.46058725e-01 -5.25768864e-03 5.91014431e+00] [ 1.83540870e-02 -7.28338989e-04 9.99831284e-01 7.18379555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94361786499999 meters Centerline goodness [0,1] 0.9998900543131692 Centerline is valid? [True, True] Translation: X:57.51, Y:5.91, Z:0.72 [[ 9.45848440e-01 -3.24119469e-01 -1.78128476e-02 5.75143812e+01] [ 3.24076595e-01 9.46015870e-01 -5.32310750e-03 5.91355137e+00] [ 1.85765593e-02 -7.37874069e-04 9.99827169e-01 7.17862203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.973617864999994 meters Centerline goodness [0,1] 0.9999120144296335 Centerline is valid? [True, True] Translation: X:57.54, Y:5.92, Z:0.72 [[ 9.45720802e-01 -3.24490115e-01 -1.78418077e-02 5.75400112e+01] [ 3.24447110e-01 9.45888795e-01 -5.33484151e-03 5.92448423e+00] [ 1.86074693e-02 -7.43452344e-04 9.99826590e-01 7.18369405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617864999995 meters Centerline goodness [0,1] 0.9999342249506687 Centerline is valid? [True, True] Translation: X:57.57, Y:5.94, Z:0.72 [[ 9.46218281e-01 -3.23036340e-01 -1.78462126e-02 5.75666086e+01] [ 3.22992964e-01 9.46386295e-01 -5.34102593e-03 5.93828891e+00] [ 1.86147565e-02 -7.10424729e-04 9.99826478e-01 7.18735107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:5.95, Z:0.72 [[ 9.46639107e-01 -3.21795554e-01 -1.79449550e-02 5.75938749e+01] [ 3.21751392e-01 9.46808931e-01 -5.37500916e-03 5.94820774e+00] [ 1.87200977e-02 -6.85620372e-04 9.99824529e-01 7.19317145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06361786499999 meters Centerline goodness [0,1] 0.9999562037402006 Centerline is valid? [True, True] Translation: X:57.62, Y:5.96, Z:0.72 [[ 9.47744239e-01 -3.18511373e-01 -1.82033441e-02 5.76208764e+01] [ 3.18465255e-01 9.47918832e-01 -5.45601930e-03 5.95975861e+00] [ 1.89930969e-02 -6.26221778e-04 9.99819419e-01 7.20094921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09361786499999 meters Centerline goodness [0,1] 0.9999781239061953 Centerline is valid? [True, True] Translation: X:57.65, Y:5.97, Z:0.72 [[ 9.48271944e-01 -3.16958774e-01 -1.78172710e-02 5.76471706e+01] [ 3.16914299e-01 9.48439137e-01 -5.34134185e-03 5.96868133e+00] [ 1.85915823e-02 -5.81503316e-04 9.99826992e-01 7.20233376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12361786499999 meters Centerline goodness [0,1] 0.9999781234276214 Centerline is valid? [True, True] Translation: X:57.67, Y:5.97, Z:0.72 [[ 9.48763979e-01 -3.15472883e-01 -1.79936876e-02 5.76748346e+01] [ 3.15427224e-01 9.48934429e-01 -5.39589271e-03 5.97375107e+00] [ 1.87770875e-02 -5.56270294e-04 9.99823540e-01 7.20044242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.153617864999994 meters Centerline goodness [0,1] 0.9999781057056532 Centerline is valid? [True, True] Translation: X:57.70, Y:5.99, Z:0.72 [[ 9.49107086e-01 -3.14448713e-01 -1.78254125e-02 5.77003238e+01] [ 3.14403678e-01 9.49274316e-01 -5.34789811e-03 5.98915073e+00] [ 1.86028459e-02 -5.28647242e-04 9.99826812e-01 7.21130711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617864999995 meters Centerline goodness [0,1] 0.9999563480804068 Centerline is valid? [True, True] Translation: X:57.73, Y:6.00, Z:0.72 [[ 9.49783527e-01 -3.12365990e-01 -1.84048915e-02 5.77265961e+01] [ 3.12317494e-01 9.49961704e-01 -5.52663977e-03 6.00094593e+00] [ 1.92102764e-02 -4.99058168e-04 9.99815341e-01 7.20750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.213617864999996 meters Centerline goodness [0,1] 0.999956330924256 Centerline is valid? [True, True] Translation: X:57.75, Y:6.01, Z:0.72 [[ 9.49940279e-01 -3.11889295e-01 -1.83992972e-02 5.77534797e+01] [ 3.11840647e-01 9.50118326e-01 -5.52972972e-03 6.01106153e+00] [ 1.92061730e-02 -4.84735764e-04 9.99815427e-01 7.20491988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:6.02, Z:0.72 [[ 9.49932480e-01 -3.11912667e-01 -1.84057556e-02 5.77799959e+01] [ 3.11863893e-01 9.50110655e-01 -5.53668277e-03 6.02116596e+00] [ 1.92144660e-02 -4.80615798e-04 9.99815270e-01 7.21207006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27361786499999 meters Centerline goodness [0,1] 0.9999346447944579 Centerline is valid? [True, True] Translation: X:57.81, Y:6.03, Z:0.72 [[ 9.49964291e-01 -3.11864586e-01 -1.75592028e-02 5.78068381e+01] [ 3.11820108e-01 9.50126452e-01 -5.28637799e-03 6.02833591e+00] [ 1.83320972e-02 -4.53442210e-04 9.99831850e-01 7.21854793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30361786499999 meters Centerline goodness [0,1] 0.9999345021068489 Centerline is valid? [True, True] Translation: X:57.83, Y:6.04, Z:0.72 [[ 9.49831871e-01 -3.12316205e-01 -1.66735019e-02 5.78330142e+01] [ 3.12276135e-01 9.49978104e-01 -5.02180443e-03 6.03974116e+00] [ 1.74078526e-02 -4.36866830e-04 9.99848376e-01 7.23267190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.333617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:6.05, Z:0.72 [[ 9.49618238e-01 -3.12985767e-01 -1.62822241e-02 5.78600985e+01] [ 3.12947625e-01 9.49757716e-01 -4.90561383e-03 6.04716728e+00] [ 1.69995553e-02 -4.37023010e-04 9.99855402e-01 7.24001779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:6.06, Z:0.72 [[ 9.49191725e-01 -3.14307975e-01 -1.56705252e-02 5.78876054e+01] [ 3.14272785e-01 9.49320969e-01 -4.72378423e-03 6.05712395e+00] [ 1.63610812e-02 -4.41042683e-04 9.99866051e-01 7.24297292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.393617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.91, Y:6.06, Z:0.72 [[ 9.48951044e-01 -3.15024872e-01 -1.58507561e-02 5.79139518e+01] [ 3.14988904e-01 9.49083307e-01 -4.78198565e-03 6.06465612e+00] [ 1.65501324e-02 -4.54942012e-04 9.99862934e-01 7.24126589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.94, Y:6.07, Z:0.72 [[ 9.48695323e-01 -3.15793186e-01 -1.58697433e-02 5.79415165e+01] [ 3.15757191e-01 9.48827933e-01 -4.79058782e-03 6.07496162e+00] [ 1.65704907e-02 -4.66177297e-04 9.99862591e-01 7.24461123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.97, Y:6.08, Z:0.73 [[ 9.48413025e-01 -3.16661899e-01 -1.54264381e-02 5.79687417e+01] [ 3.16627939e-01 9.48538363e-01 -4.66066537e-03 6.08491487e+00] [ 1.61084235e-02 -4.64205558e-04 9.99870143e-01 7.25660168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:6.09, Z:0.73 [[ 9.48347079e-01 -3.16860883e-01 -1.53947487e-02 5.79950926e+01] [ 3.16827023e-01 9.48471911e-01 -4.65521190e-03 6.09368384e+00] [ 1.60765413e-02 -4.62715777e-04 9.99870657e-01 7.26067712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:6.10, Z:0.73 [[ 9.48449126e-01 -3.16534723e-01 -1.58121537e-02 5.80217238e+01] [ 3.16498885e-01 9.48580810e-01 -4.78579186e-03 6.10209991e+00] [ 1.65139749e-02 -4.65448910e-04 9.99863527e-01 7.26139630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617864999995 meters Centerline goodness [0,1] 0.9999782764538483 Centerline is valid? [True, True] Translation: X:58.05, Y:6.11, Z:0.73 [[ 9.49011787e-01 -3.14824988e-01 -1.61819354e-02 5.80481596e+01] [ 3.14787159e-01 9.49149635e-01 -4.90042557e-03 6.11406551e+00] [ 1.69018545e-02 -4.43303846e-04 9.99857055e-01 7.25794450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.573617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:6.12, Z:0.73 [[ 9.49501370e-01 -3.13346855e-01 -1.61523028e-02 5.80743043e+01] [ 3.13308889e-01 9.49638657e-01 -4.89508301e-03 6.12380474e+00] [ 1.68727100e-02 -4.12772016e-04 9.99857560e-01 7.26127205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:6.13, Z:0.73 [[ 9.49958959e-01 -3.11941080e-01 -1.64541495e-02 5.81015529e+01] [ 3.11901434e-01 9.50101367e-01 -4.98870294e-03 6.13400764e+00] [ 1.71892913e-02 -3.93009771e-04 9.99852176e-01 7.26258113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:6.14, Z:0.73 [[ 9.50431307e-01 -3.10491727e-01 -1.65897132e-02 5.81285224e+01] [ 3.10451130e-01 9.50576012e-01 -5.03409146e-03 6.14423047e+00] [ 1.73328272e-02 -3.65737099e-04 9.99849708e-01 7.26266919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:6.15, Z:0.73 [[ 9.51235482e-01 -3.07937672e-01 -1.80401944e-02 5.81548412e+01] [ 3.07889129e-01 9.51406471e-01 -5.47830133e-03 6.15214857e+00] [ 1.88505331e-02 -3.43225155e-04 9.99822254e-01 7.25117084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.18, Y:6.16, Z:0.73 [[ 9.51426610e-01 -3.07326004e-01 -1.83884057e-02 5.81817810e+01] [ 3.07275404e-01 9.51604232e-01 -5.58669146e-03 6.16414913e+00] [ 1.92154203e-02 -3.34977882e-04 9.99815311e-01 7.25910085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.21, Y:6.17, Z:0.73 [[ 9.51621427e-01 -3.06699890e-01 -1.87573216e-02 5.82090962e+01] [ 3.06647020e-01 9.51806216e-01 -5.70370746e-03 6.17339688e+00] [ 1.96026617e-02 -3.24106543e-04 9.99807797e-01 7.26078953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.753617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.24, Y:6.18, Z:0.73 [[ 9.51877406e-01 -3.05873761e-01 -1.92521473e-02 5.82356613e+01] [ 3.05817816e-01 9.52072027e-01 -5.85816734e-03 6.18271040e+00] [ 2.01212906e-02 -3.11392505e-04 9.99797498e-01 7.25618154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.26, Y:6.19, Z:0.73 [[ 9.51835210e-01 -3.06008649e-01 -1.91947543e-02 5.82626757e+01] [ 3.05953004e-01 9.52028681e-01 -5.84373863e-03 6.19159105e+00] [ 2.00621912e-02 -3.10416545e-04 9.99798686e-01 7.25802677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81361786499999 meters Centerline goodness [0,1] 0.9999783376297035 Centerline is valid? [True, True] Translation: X:58.29, Y:6.20, Z:0.73 [[ 9.51670960e-01 -3.06516808e-01 -1.92309692e-02 5.82892336e+01] [ 3.06460943e-01 9.51865193e-01 -5.86038853e-03 6.20015177e+00] [ 2.01015978e-02 -3.16379384e-04 9.99797892e-01 7.26342519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84361786499999 meters Centerline goodness [0,1] 0.9999783169626402 Centerline is valid? [True, True] Translation: X:58.32, Y:6.21, Z:0.73 [[ 9.51449727e-01 -3.07226267e-01 -1.88530794e-02 5.83164278e+01] [ 3.07172607e-01 9.51636442e-01 -5.75074126e-03 6.20798059e+00] [ 1.97080562e-02 -3.19608357e-04 9.99805726e-01 7.27047080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87361786499999 meters Centerline goodness [0,1] 0.9999564696920231 Centerline is valid? [True, True] Translation: X:58.34, Y:6.21, Z:0.73 [[ 9.50879572e-01 -3.09031455e-01 -1.80997109e-02 5.83441670e+01] [ 3.08982229e-01 9.51051757e-01 -5.52598419e-03 6.21454687e+00] [ 1.89214648e-02 -3.37943548e-04 9.99820916e-01 7.28685555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617864999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.37, Y:6.22, Z:0.73 [[ 9.50634570e-01 -3.09801730e-01 -1.77989389e-02 5.83717911e+01] [ 3.09754192e-01 9.50801120e-01 -5.43790289e-03 6.22047003e+00] [ 1.86079228e-02 -3.43837457e-04 9.99826798e-01 7.28965107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.933617864999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.40, Y:6.23, Z:0.73 [[ 9.50414034e-01 -3.10484713e-01 -1.76750168e-02 5.83988748e+01] [ 3.10437907e-01 9.50578308e-01 -5.40250863e-03 6.22998191e+00] [ 1.84788839e-02 -3.52375204e-04 9.99829189e-01 7.30266280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617864999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:6.24, Z:0.73 [[ 9.50328644e-01 -3.10746055e-01 -1.76736641e-02 5.84252311e+01] [ 3.10699212e-01 9.50492906e-01 -5.40693099e-03 6.23810871e+00] [ 1.84788748e-02 -3.52832102e-04 9.99829189e-01 7.30633275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:6.25, Z:0.73 [[ 9.50004820e-01 -3.11774299e-01 -1.69596068e-02 5.84531729e+01] [ 3.11731244e-01 9.50156125e-01 -5.19325727e-03 6.24519049e+00] [ 1.77333984e-02 -3.53219882e-04 9.99842689e-01 7.31713550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.48, Y:6.25, Z:0.73 [[ 9.49852263e-01 -3.12277445e-01 -1.62319295e-02 5.84796213e+01] [ 3.12238007e-01 9.49990884e-01 -4.97465257e-03 6.25315368e+00] [ 1.69736568e-02 -3.43040298e-04 9.99855878e-01 7.32198313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:6.26, Z:0.73 [[ 9.49792465e-01 -3.12481294e-01 -1.58023507e-02 5.85065570e+01] [ 3.12443868e-01 9.49923855e-01 -4.84758242e-03 6.26132839e+00] [ 1.65258087e-02 -3.33150326e-04 9.99863384e-01 7.32503014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:6.27, Z:0.73 [[ 9.49591667e-01 -3.13038778e-01 -1.68044271e-02 5.85341664e+01] [ 3.12996466e-01 9.49740277e-01 -5.15936083e-03 6.26809758e+00] [ 1.75749213e-02 -3.60440245e-04 9.99845484e-01 7.31762674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:6.27, Z:0.73 [[ 9.49461833e-01 -3.13414690e-01 -1.71306638e-02 5.85624001e+01] [ 3.13370747e-01 9.49616287e-01 -5.26131770e-03 6.27175124e+00] [ 1.79165316e-02 -3.72828555e-04 9.99839417e-01 7.30805456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14361786499998 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:58.59, Y:6.28, Z:0.73 [[ 9.49191109e-01 -3.14199456e-01 -1.77465674e-02 5.85894734e+01] [ 3.14152376e-01 9.49356910e-01 -5.45357580e-03 6.28274618e+00] [ 1.85613370e-02 -3.98640669e-04 9.99827644e-01 7.31658436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:6.29, Z:0.73 [[ 9.48922056e-01 -3.14957757e-01 -1.86693163e-02 5.86169055e+01] [ 3.14905723e-01 9.49105592e-01 -5.74111144e-03 6.28876257e+00] [ 1.95273601e-02 -4.31207290e-04 9.99809230e-01 7.31229805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:6.30, Z:0.73 [[ 9.48455503e-01 -3.16329058e-01 -1.91855552e-02 5.86442344e+01] [ 3.16274330e-01 9.48649412e-01 -5.90268106e-03 6.29691115e+00] [ 2.00675552e-02 -4.69468281e-04 9.99798516e-01 7.30952343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:6.30, Z:0.73 [[ 9.48067949e-01 -3.17444461e-01 -1.99042244e-02 5.86720026e+01] [ 3.17385694e-01 9.48276730e-01 -6.12894790e-03 6.30385501e+00] [ 2.08203134e-02 -5.06657017e-04 9.99783105e-01 7.31127518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:6.31, Z:0.73 [[ 9.47658989e-01 -3.18655961e-01 -2.00204708e-02 5.86997296e+01] [ 3.18596669e-01 9.47870295e-01 -6.16982558e-03 6.31111156e+00] [ 2.09428613e-02 -5.31564637e-04 9.99780533e-01 7.31526714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29361786499999 meters Centerline goodness [0,1] 0.9999564611633577 Centerline is valid? [True, True] Translation: X:58.73, Y:6.32, Z:0.73 [[ 9.46768095e-01 -3.21272830e-01 -2.03455867e-02 5.87274746e+01] [ 3.21212115e-01 9.46986491e-01 -6.27398918e-03 6.31579436e+00] [ 2.12826580e-02 -5.95236126e-04 9.99773321e-01 7.31685988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:6.32, Z:0.73 [[ 9.46394985e-01 -3.22350837e-01 -2.06511607e-02 5.87550512e+01] [ 3.22288473e-01 9.46620064e-01 -6.37136749e-03 6.32370123e+00] [ 2.16026187e-02 -6.25800811e-04 9.99766440e-01 7.32103628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35361786499999 meters Centerline goodness [0,1] 0.9999346704122297 Centerline is valid? [True, True] Translation: X:58.78, Y:6.33, Z:0.73 [[ 9.46121699e-01 -3.23147298e-01 -2.07257091e-02 5.87818033e+01] [ 3.23084580e-01 9.46348462e-01 -6.39864483e-03 6.33020178e+00] [ 2.16814477e-02 -6.42260307e-04 9.99764723e-01 7.32136603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters Centerline goodness [0,1] 0.9999564715868283 Centerline is valid? [True, True] Translation: X:58.81, Y:6.34, Z:0.73 [[ 9.45829043e-01 -3.23985522e-01 -2.09953221e-02 5.88090944e+01] [ 3.23921284e-01 9.46061804e-01 -6.48567650e-03 6.33845331e+00] [ 2.19641376e-02 -6.66490504e-04 9.99758537e-01 7.32054349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:6.35, Z:0.73 [[ 9.45700235e-01 -3.24336606e-01 -2.13736237e-02 5.88356014e+01] [ 3.24270019e-01 9.45941489e-01 -6.60716568e-03 6.34537868e+00] [ 2.23611431e-02 -6.82427222e-04 9.99749725e-01 7.31474026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:6.35, Z:0.73 [[ 9.45712990e-01 -3.24303164e-01 -2.13166127e-02 5.88621538e+01] [ 3.24236824e-01 9.45952959e-01 -6.59397713e-03 6.35337858e+00] [ 2.23029605e-02 -6.75620984e-04 9.99751030e-01 7.31756165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:6.37, Z:0.73 [[ 9.45831905e-01 -3.23983127e-01 -2.09031511e-02 5.88882390e+01] [ 3.23919132e-01 9.46062636e-01 -6.47180611e-03 6.36600580e+00] [ 2.18724462e-02 -6.49689869e-04 9.99760558e-01 7.33722161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:6.37, Z:0.73 [[ 9.46412064e-01 -3.22287189e-01 -2.08607841e-02 5.89150564e+01] [ 3.22222943e-01 9.46641750e-01 -6.46322569e-03 6.37276458e+00] [ 2.18307040e-02 -6.04948459e-04 9.99761499e-01 7.34639961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:6.38, Z:0.74 [[ 9.46703323e-01 -3.21443777e-01 -2.06571151e-02 5.89422688e+01] [ 3.21380495e-01 9.46928491e-01 -6.40395933e-03 6.38157483e+00] [ 2.16193237e-02 -5.76144315e-04 9.99766109e-01 7.35405468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:6.39, Z:0.74 [[ 9.47006321e-01 -3.20520726e-01 -2.11067073e-02 5.89695285e+01] [ 3.20454307e-01 9.47241336e-01 -6.54895425e-03 6.39062430e+00] [ 2.20922212e-02 -5.61834179e-04 9.99755779e-01 7.35901564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59361786499998 meters Centerline goodness [0,1] 0.9999123076248521 Centerline is valid? [True, True] Translation: X:59.00, Y:6.40, Z:0.74 [[ 9.47737594e-01 -3.18361215e-01 -2.09663836e-02 5.89971067e+01] [ 3.18295027e-01 9.47969347e-01 -6.51092011e-03 6.40045390e+00] [ 2.19483134e-02 -5.02851874e-04 9.99758980e-01 7.36294373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.02, Y:6.41, Z:0.74 [[ 9.48014336e-01 -3.17531048e-01 -2.10440744e-02 5.90240070e+01] [ 3.17464071e-01 9.48247754e-01 -6.53922385e-03 6.40812603e+00] [ 2.20314029e-02 -4.81459587e-04 9.99757163e-01 7.36643630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65361786499999 meters Centerline goodness [0,1] 0.9999563833035285 Centerline is valid? [True, True] Translation: X:59.05, Y:6.42, Z:0.74 [[ 9.48268124e-01 -3.16787288e-01 -2.08177584e-02 5.90520449e+01] [ 3.16721494e-01 9.48496498e-01 -6.47218274e-03 6.41613788e+00] [ 2.17958762e-02 -4.56066951e-04 9.99762338e-01 7.37168111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters Centerline goodness [0,1] 0.9999561778303644 Centerline is valid? [True, True] Translation: X:59.08, Y:6.42, Z:0.74 [[ 9.48400609e-01 -3.16360819e-01 -2.12630504e-02 5.90790930e+01] [ 3.16291980e-01 9.48638829e-01 -6.61478843e-03 6.42231798e+00] [ 2.22636151e-02 -4.51862938e-04 9.99752033e-01 7.37182059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71361786499999 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:59.11, Y:6.43, Z:0.74 [[ 9.48347145e-01 -3.16512925e-01 -2.13836720e-02 5.91055263e+01] [ 3.16443258e-01 9.48588088e-01 -6.65605218e-03 6.43090458e+00] [ 2.23910231e-02 -4.54470750e-04 9.99749186e-01 7.38048804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:6.44, Z:0.74 [[ 9.48298009e-01 -3.16647365e-01 -2.15715504e-02 5.91322412e+01] [ 3.16576398e-01 9.48543218e-01 -6.71915394e-03 6.43777835e+00] [ 2.25891503e-02 -4.57283441e-04 9.99744728e-01 7.37655902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:6.45, Z:0.74 [[ 9.48096342e-01 -3.17230856e-01 -2.18611499e-02 5.91594807e+01] [ 3.17158044e-01 9.48348227e-01 -6.81293116e-03 6.44643221e+00] [ 2.28932548e-02 -4.74124448e-04 9.99737803e-01 7.38602562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.19, Y:6.45, Z:0.74 [[ 9.47923600e-01 -3.17765086e-01 -2.15916118e-02 5.91861212e+01] [ 3.17694063e-01 9.48169354e-01 -6.73486726e-03 6.45407783e+00] [ 2.26126103e-02 -4.75387277e-04 9.99744189e-01 7.39127796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:6.46, Z:0.74 [[ 9.47859890e-01 -3.17950331e-01 -2.16613846e-02 5.92127443e+01] [ 3.17878791e-01 9.48107251e-01 -6.76127577e-03 6.46084840e+00] [ 2.26870657e-02 -4.76952630e-04 9.99742502e-01 7.39268275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86361786499998 meters Centerline goodness [0,1] 0.9999345564014747 Centerline is valid? [True, True] Translation: X:59.24, Y:6.47, Z:0.74 [[ 9.47576683e-01 -3.18775827e-01 -2.19180815e-02 5.92408179e+01] [ 3.18702720e-01 9.47830007e-01 -6.84496972e-03 6.46825814e+00] [ 2.29566262e-02 -4.99218484e-04 9.99736337e-01 7.39610776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89361786499998 meters Centerline goodness [0,1] 0.9999780518853431 Centerline is valid? [True, True] Translation: X:59.27, Y:6.47, Z:0.74 [[ 9.47101148e-01 -3.20149757e-01 -2.24398708e-02 5.92692773e+01] [ 3.20073373e-01 9.47366794e-01 -7.01381729e-03 6.47421663e+00] [ 2.35042603e-02 -5.39610732e-04 9.99723591e-01 7.39811850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92361786499998 meters Centerline goodness [0,1] 0.99993441189331 Centerline is valid? [True, True] Translation: X:59.30, Y:6.48, Z:0.74 [[ 9.46863283e-01 -3.20791962e-01 -2.32903413e-02 5.92967939e+01] [ 3.20709722e-01 9.47149508e-01 -7.28581582e-03 6.48155962e+00] [ 2.43966665e-02 -5.70767401e-04 9.99702194e-01 7.40021450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95361786499998 meters Centerline goodness [0,1] 0.9999780489946439 Centerline is valid? [True, True] Translation: X:59.32, Y:6.49, Z:0.74 [[ 9.46641659e-01 -3.21422563e-01 -2.36030596e-02 5.93246923e+01] [ 3.21338141e-01 9.46935684e-01 -7.38987670e-03 6.48995250e+00] [ 2.47258525e-02 -5.88998162e-04 9.99694096e-01 7.40664363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.35, Y:6.50, Z:0.74 [[ 9.46398037e-01 -3.22112064e-01 -2.39702578e-02 5.93527054e+01] [ 3.22025054e-01 9.46701350e-01 -7.51125538e-03 6.49714154e+00] [ 2.51121414e-02 -6.10386227e-04 9.99684454e-01 7.40948379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01361786499999 meters Centerline goodness [0,1] 0.9999118981542663 Centerline is valid? [True, True] Translation: X:59.38, Y:6.50, Z:0.74 [[ 9.46461849e-01 -3.21936285e-01 -2.38116995e-02 5.93797351e+01] [ 3.21850257e-01 9.46761148e-01 -7.46597680e-03 6.50443541e+00] [ 2.49475608e-02 -5.97539396e-04 9.99688583e-01 7.40724496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:6.51, Z:0.74 [[ 9.46455192e-01 -3.21956131e-01 -2.38079884e-02 5.94062336e+01] [ 3.21870024e-01 9.46754402e-01 -7.46930255e-03 6.51215651e+00] [ 2.49451056e-02 -5.93717623e-04 9.99688646e-01 7.41455953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07361786499999 meters Centerline goodness [0,1] 0.9999779444199383 Centerline is valid? [True, True] Translation: X:59.43, Y:6.52, Z:0.74 [[ 9.46696250e-01 -3.21247663e-01 -2.37938906e-02 5.94343209e+01] [ 3.21161268e-01 9.46995045e-01 -7.47154312e-03 6.51965932e+00] [ 2.49329123e-02 -5.68394214e-04 9.99688965e-01 7.42325067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.46, Y:6.53, Z:0.74 [[ 9.46800497e-01 -3.20933389e-01 -2.38868072e-02 5.94620037e+01] [ 3.20846061e-01 9.47101605e-01 -7.50696180e-03 6.52755573e+00] [ 2.50324682e-02 -5.56392857e-04 9.99686484e-01 7.42590245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:6.53, Z:0.74 [[ 9.47020124e-01 -3.20261010e-01 -2.42027128e-02 5.94884146e+01] [ 3.20171025e-01 9.47329189e-01 -7.61066994e-03 6.53491304e+00] [ 2.53653371e-02 -5.41549780e-04 9.99678101e-01 7.42442235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters Centerline goodness [0,1] 0.9999340441903924 Centerline is valid? [True, True] Translation: X:59.51, Y:6.54, Z:0.74 [[ 9.47163957e-01 -3.19802219e-01 -2.46369544e-02 5.95149500e+01] [ 3.19708698e-01 9.47484172e-01 -7.75198393e-03 6.54367934e+00] [ 2.58222260e-02 -5.34248825e-04 9.99666408e-01 7.42756623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:6.55, Z:0.74 [[ 9.47540248e-01 -3.18661680e-01 -2.49441728e-02 5.95424763e+01] [ 3.18565233e-01 9.47868388e-01 -7.85569467e-03 6.55227818e+00] [ 2.61471017e-02 -5.02759328e-04 9.99657980e-01 7.42820714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22361786499998 meters Centerline goodness [0,1] 0.9999780393534786 Centerline is valid? [True, True] Translation: X:59.57, Y:6.56, Z:0.74 [[ 9.47720373e-01 -3.18111258e-01 -2.51261243e-02 5.95698709e+01] [ 3.18013030e-01 9.48053265e-01 -7.91958602e-03 6.56095272e+00] [ 2.63402136e-02 -4.84881907e-04 9.99652919e-01 7.43587117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25361786499998 meters Centerline goodness [0,1] 0.9999780224610448 Centerline is valid? [True, True] Translation: X:59.60, Y:6.57, Z:0.74 [[ 9.47799123e-01 -3.17919332e-01 -2.45788630e-02 5.95970128e+01] [ 3.17825108e-01 9.48117653e-01 -7.75350373e-03 6.56997989e+00] [ 2.57686426e-02 -4.63015740e-04 9.99667826e-01 7.44569663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:6.58, Z:0.74 [[ 9.47806845e-01 -3.17895068e-01 -2.45949118e-02 5.96232976e+01] [ 3.17800585e-01 9.48125791e-01 -7.76351558e-03 6.57714157e+00] [ 2.57870535e-02 -4.57964157e-04 9.99667354e-01 7.44539876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:6.58, Z:0.74 [[ 9.47681884e-01 -3.18280794e-01 -2.44209407e-02 5.96498057e+01] [ 3.18187701e-01 9.47996372e-01 -7.71135560e-03 6.58434106e+00] [ 2.56053396e-02 -4.62530973e-04 9.99672023e-01 7.44693811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:6.59, Z:0.75 [[ 9.47484879e-01 -3.18899649e-01 -2.39878919e-02 5.96762204e+01] [ 3.18809938e-01 9.47788371e-01 -7.57809341e-03 6.59218419e+00] [ 2.51520963e-02 -4.67449428e-04 9.99683527e-01 7.45784393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37361786499999 meters Centerline goodness [0,1] 0.9999779044588802 Centerline is valid? [True, True] Translation: X:59.70, Y:6.60, Z:0.75 [[ 9.46806572e-01 -3.20988834e-01 -2.28797666e-02 5.97046089e+01] [ 3.20907706e-01 9.47082850e-01 -7.23321944e-03 6.59904955e+00] [ 2.39908172e-02 -4.93833712e-04 9.99712057e-01 7.47307697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters Centerline goodness [0,1] 0.9999558625559993 Centerline is valid? [True, True] Translation: X:59.73, Y:6.61, Z:0.75 [[ 9.46376280e-01 -3.22298644e-01 -2.22602824e-02 5.97321957e+01] [ 3.22222077e-01 9.46637907e-01 -7.04319432e-03 6.60678483e+00] [ 2.33424391e-02 -5.07242379e-04 9.99727399e-01 7.48013223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.76, Y:6.61, Z:0.75 [[ 9.46145026e-01 -3.23039851e-01 -2.13270934e-02 5.97585933e+01] [ 3.22969627e-01 9.46385232e-01 -6.75375334e-03 6.61482010e+00] [ 2.23653777e-02 -4.97973281e-04 9.99749740e-01 7.48532886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters Centerline goodness [0,1] 0.9999338405557393 Centerline is valid? [True, True] Translation: X:59.79, Y:6.62, Z:0.75 [[ 9.45407016e-01 -3.25220149e-01 -2.09147994e-02 5.97854549e+01] [ 3.25153048e-01 9.45638181e-01 -6.62771453e-03 6.62202887e+00] [ 2.19332992e-02 -5.34622957e-04 9.99759293e-01 7.48589682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:6.63, Z:0.75 [[ 9.45039869e-01 -3.26288741e-01 -2.08639551e-02 5.98132473e+01] [ 3.26222153e-01 9.45269988e-01 -6.61492508e-03 6.63066473e+00] [ 2.18804461e-02 -5.54916402e-04 9.99760440e-01 7.49028057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:6.64, Z:0.75 [[ 9.44542179e-01 -3.27735683e-01 -2.07218138e-02 5.98412471e+01] [ 3.27670230e-01 9.44769277e-01 -6.57528552e-03 6.63920015e+00] [ 2.17322887e-02 -5.79286974e-04 9.99763658e-01 7.49456847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:6.65, Z:0.75 [[ 9.44168823e-01 -3.28794564e-01 -2.09611367e-02 5.98684753e+01] [ 3.28727727e-01 9.44401275e-01 -6.65681977e-03 6.64834256e+00] [ 2.19844503e-02 -6.05345116e-04 9.99758129e-01 7.50273867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:6.66, Z:0.75 [[ 9.43465454e-01 -3.30815748e-01 -2.08297293e-02 5.98950315e+01] [ 3.30750144e-01 9.43695145e-01 -6.61939751e-03 6.65522986e+00] [ 2.18467153e-02 -6.44263083e-04 9.99761124e-01 7.50510226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:6.66, Z:0.75 [[ 9.43161833e-01 -3.31672188e-01 -2.09598586e-02 5.99216159e+01] [ 3.31605916e-01 9.43394465e-01 -6.66335441e-03 6.66345956e+00] [ 2.19834639e-02 -6.65791552e-04 9.99758113e-01 7.50404873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:6.67, Z:0.75 [[ 9.42799662e-01 -3.32736906e-01 -2.03702902e-02 5.99492205e+01] [ 3.32674478e-01 9.43019462e-01 -6.47964828e-03 6.67317759e+00] [ 2.13655982e-02 -6.67665440e-04 9.99771507e-01 7.50795737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:6.68, Z:0.75 [[ 9.42449041e-01 -3.33750944e-01 -2.00028016e-02 5.99757907e+01] [ 3.33690894e-01 9.42661049e-01 -6.36669995e-03 6.68286804e+00] [ 2.09807541e-02 -6.74462501e-04 9.99779652e-01 7.51288624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:6.69, Z:0.75 [[ 9.42207389e-01 -3.34423296e-01 -2.01567760e-02 6.00033837e+01] [ 3.34362406e-01 9.42422718e-01 -6.41881815e-03 6.69238551e+00] [ 2.11428059e-02 -6.91810216e-04 9.99776227e-01 7.51758099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:6.70, Z:0.75 [[ 9.42065261e-01 -3.34814712e-01 -2.03015617e-02 6.00292669e+01] [ 3.34752915e-01 9.42283725e-01 -6.47049088e-03 6.70268343e+00] [ 2.12962467e-02 -7.00382295e-04 9.99772964e-01 7.52191295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:6.71, Z:0.75 [[ 9.41777087e-01 -3.35643080e-01 -1.99910177e-02 6.00567175e+01] [ 3.35583229e-01 9.41988975e-01 -6.37712865e-03 6.71248290e+00] [ 2.09717574e-02 -7.02816621e-04 9.99779821e-01 7.52780784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79361786499999 meters Centerline goodness [0,1] 0.9999779963473937 Centerline is valid? [True, True] Translation: X:60.08, Y:6.72, Z:0.75 [[ 9.41517969e-01 -3.36430143e-01 -1.89386550e-02 6.00830316e+01] [ 3.36376513e-01 9.41708181e-01 -6.04511466e-03 6.72288043e+00] [ 1.98684451e-02 -6.78934650e-04 9.99802372e-01 7.54152511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:6.73, Z:0.75 [[ 9.41450435e-01 -3.36631596e-01 -1.87148764e-02 6.01088488e+01] [ 3.36579229e-01 9.41636190e-01 -5.97559801e-03 6.73128894e+00] [ 1.96341800e-02 -6.73309301e-04 9.99807004e-01 7.54909321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:6.74, Z:0.76 [[ 9.41362803e-01 -3.36876627e-01 -1.87139107e-02 6.01351122e+01] [ 3.36824248e-01 9.41548555e-01 -5.97862097e-03 6.73976169e+00] [ 1.96341132e-02 -6.75247492e-04 9.99807004e-01 7.55277042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:6.75, Z:0.76 [[ 9.41414840e-01 -3.36763537e-01 -1.81223279e-02 6.01618920e+01] [ 3.36714303e-01 9.41589030e-01 -5.79453628e-03 6.75110610e+00] [ 1.90151737e-02 -6.46984553e-04 9.99818986e-01 7.56336785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91361786499999 meters Centerline goodness [0,1] 0.99997806344053 Centerline is valid? [True, True] Translation: X:60.19, Y:6.76, Z:0.76 [[ 9.41822180e-01 -3.35617574e-01 -1.82160720e-02 6.01874641e+01] [ 3.35567543e-01 9.41998118e-01 -5.82826618e-03 6.76214701e+00] [ 1.91155741e-02 -6.23532168e-04 9.99817086e-01 7.57153651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94361786499998 meters Centerline goodness [0,1] 0.9999126694757985 Centerline is valid? [True, True] Translation: X:60.21, Y:6.77, Z:0.76 [[ 9.42175774e-01 -3.34604181e-01 -1.85702100e-02 6.02132598e+01] [ 3.34551957e-01 9.42358565e-01 -5.94326206e-03 6.77327385e+00] [ 1.94884368e-02 -6.13102564e-04 9.99809894e-01 7.57070236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97361786499998 meters Centerline goodness [0,1] 0.9999562027811234 Centerline is valid? [True, True] Translation: X:60.24, Y:6.79, Z:0.76 [[ 9.42681755e-01 -3.33153426e-01 -1.89711346e-02 6.02397138e+01] [ 3.33098574e-01 9.42872442e-01 -6.07428649e-03 6.78573271e+00] [ 1.99110294e-02 -5.93138855e-04 9.99801580e-01 7.57149762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00361786499998 meters Centerline goodness [0,1] 0.9999346348265644 Centerline is valid? [True, True] Translation: X:60.27, Y:6.80, Z:0.76 [[ 9.43231627e-01 -3.31572050e-01 -1.93409558e-02 6.02659207e+01] [ 3.31514607e-01 9.43429730e-01 -6.19756979e-03 6.79702485e+00] [ 2.03017736e-02 -5.66065525e-04 9.99793738e-01 7.57162042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.29, Y:6.81, Z:0.76 [[ 9.44251314e-01 -3.28634940e-01 -1.97112329e-02 6.02907574e+01] [ 3.28574559e-01 9.44456890e-01 -6.31994789e-03 6.81377882e+00] [ 2.06933654e-02 -5.08990544e-04 9.99785740e-01 7.58501439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.32, Y:6.83, Z:0.76 [[ 9.44692401e-01 -3.27373546e-01 -1.95660317e-02 6.03170812e+01] [ 3.27313724e-01 9.44894881e-01 -6.27615468e-03 6.82529836e+00] [ 2.05424902e-02 -4.75195066e-04 9.99788868e-01 7.59470178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09361786499998 meters Centerline goodness [0,1] 0.999913406793237 Centerline is valid? [True, True] Translation: X:60.34, Y:6.83, Z:0.76 [[ 9.45071447e-01 -3.26280850e-01 -1.95132650e-02 6.03431727e+01] [ 3.26221036e-01 9.45272769e-01 -6.26323830e-03 6.83426494e+00] [ 2.04889328e-02 -4.46429857e-04 9.99789980e-01 7.60065963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.37, Y:6.85, Z:0.76 [[ 9.45282731e-01 -3.25672919e-01 -1.94347237e-02 6.03697599e+01] [ 3.25613397e-01 9.45482399e-01 -6.24097576e-03 6.84520186e+00] [ 2.04077060e-02 -4.28719801e-04 9.99791649e-01 7.60999821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15361786499999 meters Centerline goodness [0,1] 0.999826437853904 Centerline is valid? [True, True] Translation: X:60.40, Y:6.86, Z:0.76 [[ 9.45790724e-01 -3.24190617e-01 -1.95025668e-02 6.03966171e+01] [ 3.24130261e-01 9.45991696e-01 -6.26773886e-03 6.85763388e+00] [ 2.04812084e-02 -3.93402798e-04 9.99790161e-01 7.62247362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters Centerline goodness [0,1] 0.9997615899781096 Centerline is valid? [True, True] Translation: X:60.42, Y:6.87, Z:0.76 [[ 9.45862613e-01 -3.24012516e-01 -1.89685554e-02 6.04233681e+01] [ 3.23955293e-01 9.46052720e-01 -6.10076937e-03 6.86832343e+00] [ 1.99219790e-02 -3.74474246e-04 9.99801468e-01 7.63126014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21361786499999 meters Centerline goodness [0,1] 0.9997845524076269 Centerline is valid? [True, True] Translation: X:60.45, Y:6.87, Z:0.76 [[ 9.45904557e-01 -3.23888395e-01 -1.89967791e-02 6.04502787e+01] [ 3.23830892e-01 9.46095224e-01 -6.11402562e-03 6.87420896e+00] [ 1.99530239e-02 -3.68459241e-04 9.99800851e-01 7.62733052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters Centerline goodness [0,1] 0.9996974215997753 Centerline is valid? [True, True] Translation: X:60.48, Y:6.89, Z:0.76 [[ 9.45695461e-01 -3.24512453e-01 -1.87553653e-02 6.04760178e+01] [ 3.24456482e-01 9.45881350e-01 -6.03852386e-03 6.88668803e+00] [ 1.96999264e-02 -3.74695225e-04 9.99805867e-01 7.64899120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27361786499999 meters Centerline goodness [0,1] 0.9996968909673508 Centerline is valid? [True, True] Translation: X:60.50, Y:6.89, Z:0.77 [[ 9.45279975e-01 -3.25728030e-01 -1.86284626e-02 6.05034328e+01] [ 3.25672998e-01 9.45463428e-01 -6.00034306e-03 6.89492600e+00] [ 1.95670101e-02 -3.94783141e-04 9.99808470e-01 7.65629822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499998 meters Centerline goodness [0,1] 0.9998266672444425 Centerline is valid? [True, True] Translation: X:60.53, Y:6.90, Z:0.77 [[ 9.44312018e-01 -3.28538048e-01 -1.83729171e-02 6.05307464e+01] [ 3.28484974e-01 9.44490632e-01 -5.92177081e-03 6.90289798e+00] [ 1.92985751e-02 -4.43227846e-04 9.99813667e-01 7.67074236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33361786499998 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:60.56, Y:6.91, Z:0.77 [[ 9.43531445e-01 -3.30763056e-01 -1.85529497e-02 6.05579762e+01] [ 3.30709313e-01 9.43713706e-01 -5.98256146e-03 6.91134937e+00] [ 1.94874833e-02 -4.90898396e-04 9.99809980e-01 7.68082791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36361786499998 meters Centerline goodness [0,1] 0.9999565415788444 Centerline is valid? [True, True] Translation: X:60.59, Y:6.92, Z:0.77 [[ 9.42865174e-01 -3.32643950e-01 -1.87953921e-02 6.05857200e+01] [ 3.32589066e-01 9.43052342e-01 -6.06580330e-03 6.91971251e+00] [ 1.97427913e-02 -5.31907222e-04 9.99804951e-01 7.68263546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.61, Y:6.93, Z:0.77 [[ 9.41769599e-01 -3.35702937e-01 -1.93277231e-02 6.06143581e+01] [ 3.35645466e-01 9.41967710e-01 -6.24134998e-03 6.92823894e+00] [ 2.03013306e-02 -6.09348963e-04 9.99793721e-01 7.67958790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:6.94, Z:0.77 [[ 9.41202583e-01 -3.37276427e-01 -1.95527163e-02 6.06416809e+01] [ 3.37217926e-01 9.41405433e-01 -6.31513704e-03 6.93528017e+00] [ 2.05369802e-02 -6.49703137e-04 9.99788883e-01 7.67801760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.67, Y:6.95, Z:0.77 [[ 9.40612814e-01 -3.38905419e-01 -1.97648883e-02 6.06687753e+01] [ 3.38845936e-01 9.40820196e-01 -6.38676862e-03 6.94547443e+00] [ 2.07597166e-02 -6.89775663e-04 9.99784256e-01 7.68552986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.70, Y:6.95, Z:0.77 [[ 9.39641172e-01 -3.41572276e-01 -2.00710777e-02 6.06976327e+01] [ 3.41511463e-01 9.39855206e-01 -6.48945621e-03 6.95336011e+00] [ 2.10805252e-02 -7.56742885e-04 9.99777495e-01 7.69020601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.73, Y:6.96, Z:0.77 [[ 9.39201333e-01 -3.42741855e-01 -2.07093452e-02 6.07251137e+01] [ 3.42677368e-01 9.39429279e-01 -6.69709517e-03 6.95844771e+00] [ 2.17503401e-02 -8.06703215e-04 9.99763108e-01 7.68663299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.75, Y:6.97, Z:0.77 [[ 9.38826035e-01 -3.43743650e-01 -2.11182098e-02 6.07528715e+01] [ 3.43676769e-01 9.39063146e-01 -6.83274644e-03 6.96707242e+00] [ 2.21800457e-02 -8.43077850e-04 9.99753637e-01 7.68739790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.78, Y:6.97, Z:0.77 [[ 9.38527536e-01 -3.44543052e-01 -2.13576598e-02 6.07800074e+01] [ 3.44474759e-01 9.38770117e-01 -6.91435768e-03 6.97430233e+00] [ 2.24322267e-02 -8.67859643e-04 9.99747989e-01 7.68765438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.81, Y:6.98, Z:0.77 [[ 9.37937594e-01 -3.46179834e-01 -2.07988530e-02 6.08066320e+01] [ 3.46115398e-01 9.38167761e-01 -6.73672773e-03 6.98493032e+00] [ 2.18449327e-02 -8.80173107e-04 9.99760984e-01 7.69997503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:6.99, Z:0.77 [[ 9.37675938e-01 -3.46868059e-01 -2.11278236e-02 6.08335724e+01] [ 3.46801617e-01 9.37913498e-01 -6.84894905e-03 6.99444949e+00] [ 2.21917526e-02 -9.05068671e-04 9.99753323e-01 7.70770893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:7.00, Z:0.77 [[ 9.37492404e-01 -3.47358498e-01 -2.12147559e-02 6.08606171e+01] [ 3.47291539e-01 9.37731963e-01 -6.88135135e-03 7.00050172e+00] [ 2.22840506e-02 -9.16490606e-04 9.99751260e-01 7.70090399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:7.01, Z:0.77 [[ 9.37475799e-01 -3.47340188e-01 -2.22243048e-02 6.08862521e+01] [ 3.47266600e-01 9.37738706e-01 -7.21305187e-03 7.01316794e+00] [ 2.33459736e-02 -9.55697212e-04 9.99726989e-01 7.71021195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:7.02, Z:0.77 [[ 9.37652678e-01 -3.46862702e-01 -2.22198586e-02 6.09140748e+01] [ 3.46788895e-01 9.37915446e-01 -7.21649542e-03 7.01879900e+00] [ 2.33434817e-02 -9.39033958e-04 9.99727063e-01 7.70503054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:7.03, Z:0.77 [[ 9.37869304e-01 -3.46285454e-01 -2.20806019e-02 6.09408707e+01] [ 3.46212324e-01 9.38128747e-01 -7.17497088e-03 7.02918173e+00] [ 2.31990355e-02 -9.15391567e-04 9.99730447e-01 7.71547039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:7.04, Z:0.77 [[ 9.38218435e-01 -3.45374473e-01 -2.15090893e-02 6.09682640e+01] [ 3.45304714e-01 9.38464558e-01 -6.99488011e-03 7.03939450e+00] [ 2.26013710e-02 -8.64464461e-04 9.99744183e-01 7.72759762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:7.05, Z:0.77 [[ 9.39094289e-01 -3.43035185e-01 -2.07069673e-02 6.09950595e+01] [ 3.42969880e-01 9.39322236e-01 -6.73788836e-03 7.04822200e+00] [ 2.17618476e-02 -7.74353625e-04 9.99762883e-01 7.73671372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:7.06, Z:0.77 [[ 9.39522071e-01 -3.41878050e-01 -2.04371687e-02 6.10223476e+01] [ 3.41814098e-01 9.39744039e-01 -6.65306088e-03 7.05875516e+00] [ 2.14802429e-02 -7.35014855e-04 9.99769003e-01 7.74455721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.05, Y:7.07, Z:0.78 [[ 9.39898808e-01 -3.40862833e-01 -2.00688866e-02 6.10488496e+01] [ 3.40800825e-01 9.40112784e-01 -6.53836852e-03 7.06971574e+00] [ 2.10957037e-02 -6.94088346e-04 9.99777220e-01 7.75103074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:7.08, Z:0.78 [[ 9.40317367e-01 -3.39706242e-01 -2.00728032e-02 6.10764818e+01] [ 3.39643838e-01 9.40531355e-01 -6.54481864e-03 7.08001575e+00] [ 2.11024166e-02 -6.63397291e-04 9.99777099e-01 7.75699080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:7.09, Z:0.78 [[ 9.41336555e-01 -3.36892375e-01 -1.97235285e-02 6.11037726e+01] [ 3.36831431e-01 9.41542980e-01 -6.43453375e-03 7.09025542e+00] [ 2.07382952e-02 -5.86442506e-04 9.99784766e-01 7.77001284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:7.10, Z:0.78 [[ 9.41582801e-01 -3.36197617e-01 -1.98240163e-02 6.11310086e+01] [ 3.36135837e-01 9.41791291e-01 -6.47017744e-03 7.10006437e+00] [ 2.08453441e-02 -5.71354522e-04 9.99782549e-01 7.77303058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.16, Y:7.11, Z:0.78 [[ 9.41964203e-01 -3.35095309e-01 -2.03611171e-02 6.11573352e+01] [ 3.35029789e-01 9.42184071e-01 -6.64965983e-03 7.10982385e+00] [ 2.14121900e-02 -5.57839257e-04 9.99770577e-01 7.77330238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:7.12, Z:0.78 [[ 9.41897083e-01 -3.35266403e-01 -2.06475992e-02 6.11837390e+01] [ 3.35198987e-01 9.42123197e-01 -6.74687063e-03 7.11949937e+00] [ 2.17145812e-02 -5.66196575e-04 9.99764050e-01 7.77803959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.21, Y:7.13, Z:0.78 [[ 9.41745173e-01 -3.35696640e-01 -2.05863105e-02 6.12103915e+01] [ 3.35629626e-01 9.41969979e-01 -6.73146757e-03 7.12697447e+00] [ 2.16514175e-02 -5.70048608e-04 9.99765418e-01 7.78091705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.24, Y:7.14, Z:0.78 [[ 9.41506904e-01 -3.36342899e-01 -2.09333318e-02 6.12380565e+01] [ 3.36273693e-01 9.41739403e-01 -6.84832332e-03 7.13513458e+00] [ 2.20171284e-02 -5.91585117e-04 9.99757419e-01 7.78722893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11361786499998 meters Centerline goodness [0,1] 0.9999568295631152 Centerline is valid? [True, True] Translation: X:61.27, Y:7.14, Z:0.78 [[ 9.41136405e-01 -3.37365084e-01 -2.11439858e-02 6.12657521e+01] [ 3.37294610e-01 9.41373688e-01 -6.92281222e-03 7.14305954e+00] [ 2.22399070e-02 -6.16441850e-04 9.99752473e-01 7.79382347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.29, Y:7.15, Z:0.78 [[ 9.40957671e-01 -3.37834254e-01 -2.16027282e-02 6.12932844e+01] [ 3.37760682e-01 9.41205404e-01 -7.07879056e-03 7.15239181e+00] [ 2.27240624e-02 -6.35709904e-04 9.99741573e-01 7.80022342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:7.16, Z:0.78 [[ 9.40924250e-01 -3.37838372e-01 -2.29519207e-02 6.13200830e+01] [ 3.37755213e-01 9.41203901e-01 -7.52546319e-03 7.15867251e+00] [ 2.41448275e-02 -6.71240048e-04 9.99708246e-01 7.79369906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:7.17, Z:0.78 [[ 9.40893354e-01 -3.37885821e-01 -2.35131580e-02 6.13466247e+01] [ 3.37798449e-01 9.41186859e-01 -7.71395996e-03 7.16829992e+00] [ 2.47367130e-02 -6.84694632e-04 9.99693766e-01 7.79573632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:7.18, Z:0.78 [[ 9.41066355e-01 -3.37365405e-01 -2.40561872e-02 6.13733553e+01] [ 3.37273654e-01 9.41373528e-01 -7.89706212e-03 7.17649943e+00] [ 2.53100534e-02 -6.81858687e-04 9.99679417e-01 7.79121902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:7.18, Z:0.78 [[ 9.41109231e-01 -3.37225761e-01 -2.43352039e-02 6.13997802e+01] [ 3.37131704e-01 9.41423561e-01 -7.99330300e-03 7.18485192e+00] [ 2.56052821e-02 -6.81597532e-04 9.99671899e-01 7.78956549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:7.19, Z:0.78 [[ 9.41084739e-01 -3.37252906e-01 -2.48996286e-02 6.14272687e+01] [ 3.37154248e-01 9.41413830e-01 -8.18615822e-03 7.19260641e+00] [ 2.62016604e-02 -6.91147003e-04 9.99656439e-01 7.79414937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.45, Y:7.20, Z:0.78 [[ 9.41048210e-01 -3.37367076e-01 -2.47330221e-02 6.14539103e+01] [ 3.37269583e-01 9.41372928e-01 -8.13868890e-03 7.20073933e+00] [ 2.60287231e-02 -6.82797424e-04 9.99660962e-01 7.80336886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:7.21, Z:0.78 [[ 9.40863895e-01 -3.37885397e-01 -2.46695848e-02 6.14809119e+01] [ 3.37788456e-01 9.41187006e-01 -8.12267155e-03 7.20743152e+00] [ 2.59632247e-02 -6.90772562e-04 9.99662660e-01 7.80664216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:7.22, Z:0.78 [[ 9.40689605e-01 -3.38456261e-01 -2.34611762e-02 6.15071774e+01] [ 3.38368658e-01 9.40981888e-01 -7.72906311e-03 7.21584963e+00] [ 2.46924917e-02 -6.67877390e-04 9.99694871e-01 7.82367155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:7.22, Z:0.78 [[ 9.40570304e-01 -3.38845710e-01 -2.26072597e-02 6.15333523e+01] [ 3.38764365e-01 9.40841731e-01 -7.45259011e-03 7.22352188e+00] [ 2.37951315e-02 -6.48849035e-04 9.99716645e-01 7.83342782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:7.23, Z:0.78 [[ 9.40474026e-01 -3.39159302e-01 -2.18991775e-02 6.15599797e+01] [ 3.39082961e-01 9.40728743e-01 -7.22339885e-03 7.23165424e+00] [ 2.30510686e-02 -6.32218926e-04 9.99734089e-01 7.84320382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.59, Y:7.24, Z:0.79 [[ 9.40672454e-01 -3.38643003e-01 -2.13600460e-02 6.15862340e+01] [ 3.38570109e-01 9.40914745e-01 -7.05148572e-03 7.24315568e+00] [ 2.24859186e-02 -5.98734738e-04 9.99746980e-01 7.86680710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50361786499998 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:61.61, Y:7.25, Z:0.79 [[ 9.40911405e-01 -3.37998799e-01 -2.10366200e-02 6.16139020e+01] [ 3.37927843e-01 9.41146368e-01 -6.94887095e-03 7.24851229e+00] [ 2.21472485e-02 -5.70587679e-04 9.99754557e-01 7.85809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53361786499998 meters Centerline goodness [0,1] 0.9999783465419427 Centerline is valid? [True, True] Translation: X:61.64, Y:7.26, Z:0.79 [[ 9.41190757e-01 -3.37254914e-01 -2.04714963e-02 6.16406854e+01] [ 3.37187476e-01 9.41413212e-01 -6.76530420e-03 7.25827521e+00] [ 2.15537692e-02 -5.35290407e-04 9.99767547e-01 7.86174074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.67, Y:7.27, Z:0.79 [[ 9.42070488e-01 -3.34815214e-01 -2.00491465e-02 6.16660067e+01] [ 3.34749871e-01 9.42283692e-01 -6.63078110e-03 7.27262862e+00] [ 2.11120702e-02 -4.64786019e-04 9.99777007e-01 7.87726391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:7.28, Z:0.79 [[ 9.42422072e-01 -3.33846962e-01 -1.96683370e-02 6.16920775e+01] [ 3.33783785e-01 9.42627190e-01 -6.50883761e-03 7.28141449e+00] [ 2.07128650e-02 -4.30899751e-04 9.99785373e-01 7.87996168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:7.29, Z:0.79 [[ 9.42753549e-01 -3.32947522e-01 -1.90182354e-02 6.17193427e+01] [ 3.32888212e-01 9.42945275e-01 -6.29655757e-03 7.29113357e+00] [ 2.00295784e-02 -3.94844378e-04 9.99799310e-01 7.88976150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:7.30, Z:0.79 [[ 9.42908104e-01 -3.32512370e-01 -1.89692179e-02 6.17466761e+01] [ 3.32453176e-01 9.43098817e-01 -6.28539246e-03 7.30080269e+00] [ 1.99798177e-02 -3.79829254e-04 9.99800311e-01 7.89823594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:7.31, Z:0.79 [[ 9.42894473e-01 -3.32533309e-01 -1.92772065e-02 6.17735093e+01] [ 3.32472070e-01 9.43091434e-01 -6.39293223e-03 7.30882016e+00] [ 2.03060312e-02 -3.81272282e-04 9.99793739e-01 7.89940659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:7.32, Z:0.79 [[ 9.42571568e-01 -3.33401208e-01 -2.00617286e-02 6.18006846e+01] [ 3.33334972e-01 9.42784952e-01 -6.65819335e-03 7.31677429e+00] [ 2.11337456e-02 -4.11452013e-04 9.99776573e-01 7.89795313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:7.33, Z:0.79 [[ 9.42120142e-01 -3.34697532e-01 -1.96773913e-02 6.18287548e+01] [ 3.34634017e-01 9.42325516e-01 -6.53427171e-03 7.32510407e+00] [ 2.07295126e-02 -4.28655504e-04 9.99785029e-01 7.89654677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.85, Y:7.33, Z:0.79 [[ 9.42028143e-01 -3.34956479e-01 -1.96757396e-02 6.18549112e+01] [ 3.34892917e-01 9.42233502e-01 -6.53924231e-03 7.33386143e+00] [ 2.07295026e-02 -4.29115529e-04 9.99785029e-01 7.90021690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:7.34, Z:0.79 [[ 9.41501280e-01 -3.36414033e-01 -2.00234396e-02 6.18823696e+01] [ 3.36348408e-01 9.41714067e-01 -6.66071097e-03 7.34212909e+00] [ 2.10971113e-02 -4.63784113e-04 9.99777324e-01 7.90054145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:7.35, Z:0.79 [[ 9.40360544e-01 -3.39572088e-01 -2.03185847e-02 6.19102494e+01] [ 3.39505161e-01 9.40579878e-01 -6.76306500e-03 7.34857744e+00] [ 2.14078000e-02 -5.38544883e-04 9.99770682e-01 7.89737582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:7.36, Z:0.79 [[ 9.39614963e-01 -3.41626660e-01 -2.03702428e-02 6.19381993e+01] [ 3.41559804e-01 9.39835563e-01 -6.78349705e-03 7.35604703e+00] [ 2.14621020e-02 -5.83780787e-04 9.99769492e-01 7.90217937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:7.36, Z:0.79 [[ 9.38931390e-01 -3.43535964e-01 -1.97708507e-02 6.19656120e+01] [ 3.43473301e-01 9.39139327e-01 -6.58903910e-03 7.36422882e+00] [ 2.08311553e-02 -6.04103703e-04 9.99782825e-01 7.90816088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:7.37, Z:0.79 [[ 9.37861115e-01 -3.46459072e-01 -1.95612171e-02 6.19938859e+01] [ 3.46398288e-01 9.38064858e-01 -6.52290659e-03 7.37058754e+00] [ 2.06096105e-02 -6.58391670e-04 9.99787383e-01 7.91095704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.02, Y:7.38, Z:0.79 [[ 9.37529551e-01 -3.47357126e-01 -1.95286492e-02 6.20211610e+01] [ 3.47296711e-01 9.37732675e-01 -6.51340151e-03 7.37800641e+00] [ 2.05751289e-02 -6.75729256e-04 9.99788081e-01 7.90833782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.05, Y:7.39, Z:0.79 [[ 9.37319243e-01 -3.47919028e-01 -1.96210819e-02 6.20482722e+01] [ 3.47858100e-01 9.37524334e-01 -6.54723003e-03 7.38745491e+00] [ 2.06731476e-02 -6.88507568e-04 9.99786051e-01 7.91137417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:7.40, Z:0.79 [[ 9.37497351e-01 -3.47423058e-01 -1.98981514e-02 6.20754593e+01] [ 3.47360176e-01 9.37708245e-01 -6.64490749e-03 7.39626888e+00] [ 2.09672547e-02 -6.82242194e-04 9.99779930e-01 7.91389347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters Centerline goodness [0,1] 0.9999132904120873 Centerline is valid? [True, True] Translation: X:62.10, Y:7.41, Z:0.79 [[ 9.37788451e-01 -3.46626062e-01 -2.00797133e-02 6.21024929e+01] [ 3.46561734e-01 9.38003161e-01 -6.71078121e-03 7.40647236e+00] [ 2.11609663e-02 -6.65567155e-04 9.99775860e-01 7.91874018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.13, Y:7.42, Z:0.79 [[ 9.38215925e-01 -3.45474369e-01 -1.99584469e-02 6.21300939e+01] [ 3.45410446e-01 9.38427974e-01 -6.67541784e-03 7.41603136e+00] [ 2.10357507e-02 -6.30872725e-04 9.99778525e-01 7.92495717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:7.43, Z:0.79 [[ 9.38594372e-01 -3.44435280e-01 -2.01231802e-02 6.21568799e+01] [ 3.44369948e-01 9.38809868e-01 -6.73574390e-03 7.42571247e+00] [ 2.12118680e-02 -6.07687229e-04 9.99774818e-01 7.92914722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:7.44, Z:0.79 [[ 9.39561095e-01 -3.41775601e-01 -2.03564952e-02 6.21831593e+01] [ 3.41708035e-01 9.39781430e-01 -6.81785043e-03 7.43581991e+00] [ 2.14608311e-02 -5.50190964e-04 9.99769538e-01 7.93623399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:7.44, Z:0.79 [[ 9.40051014e-01 -3.40433778e-01 -2.02221035e-02 6.22095339e+01] [ 3.40366752e-01 9.40268354e-01 -6.77467732e-03 7.44461048e+00] [ 2.13205330e-02 -5.14389408e-04 9.99772559e-01 7.93848880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:7.46, Z:0.79 [[ 9.40878112e-01 -3.38155575e-01 -1.99796250e-02 6.22362070e+01] [ 3.38089570e-01 9.41090113e-01 -6.69643038e-03 7.45504362e+00] [ 2.10670628e-02 -4.54378055e-04 9.99777962e-01 7.94824620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:7.46, Z:0.80 [[ 9.41257680e-01 -3.37115593e-01 -1.96737898e-02 6.22632149e+01] [ 3.37051281e-01 9.41463170e-01 -6.59800714e-03 7.46293729e+00] [ 2.07464396e-02 -4.20651173e-04 9.99784681e-01 7.95239456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:7.47, Z:0.80 [[ 9.41397458e-01 -3.36761635e-01 -1.90375371e-02 6.22899863e+01] [ 3.36701279e-01 9.41589849e-01 -6.38785360e-03 7.47270597e+00] [ 2.00767357e-02 -3.96453947e-04 9.99798363e-01 7.96298474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:7.48, Z:0.80 [[ 9.41504491e-01 -3.36483578e-01 -1.86573070e-02 6.23168525e+01] [ 3.36425478e-01 9.41689258e-01 -6.26418108e-03 7.48025206e+00] [ 1.96771797e-02 -3.79038799e-04 9.99806314e-01 7.96734454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.34, Y:7.49, Z:0.80 [[ 9.41352674e-01 -3.36913475e-01 -1.85594638e-02 6.23432002e+01] [ 3.36855999e-01 9.41535535e-01 -6.23473947e-03 7.48886917e+00] [ 1.95749624e-02 -3.82778042e-04 9.99808319e-01 7.97736931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34361786499998 meters Centerline goodness [0,1] 0.9999133955442008 Centerline is valid? [True, True] Translation: X:62.37, Y:7.50, Z:0.80 [[ 9.41113939e-01 -3.37577875e-01 -1.85938933e-02 6.23709316e+01] [ 3.37520212e-01 9.41297522e-01 -6.25155898e-03 7.49776717e+00] [ 1.96127736e-02 -3.92385492e-04 9.99807574e-01 7.98314030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:7.50, Z:0.80 [[ 9.40510313e-01 -3.39267460e-01 -1.83832197e-02 6.23988877e+01] [ 3.39211340e-01 9.40689861e-01 -6.18477787e-03 7.50323905e+00] [ 1.93912023e-02 -4.18949227e-04 9.99811885e-01 7.97827323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:7.51, Z:0.80 [[ 9.40072637e-01 -3.40491544e-01 -1.81368528e-02 6.24261886e+01] [ 3.40437085e-01 9.40247478e-01 -6.10505146e-03 7.51269804e+00] [ 1.91318485e-02 -4.35265475e-04 9.99816875e-01 7.98883467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43361786499999 meters Centerline goodness [0,1] 0.9999783028488359 Centerline is valid? [True, True] Translation: X:62.45, Y:7.52, Z:0.80 [[ 9.39704866e-01 -3.41491354e-01 -1.83962195e-02 6.24533725e+01] [ 3.41435441e-01 9.39884804e-01 -6.19635825e-03 7.51777451e+00] [ 1.94063299e-02 -4.58373300e-04 9.99811574e-01 7.98802636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.48, Y:7.52, Z:0.80 [[ 9.39393831e-01 -3.42354023e-01 -1.82470215e-02 6.24803090e+01] [ 3.42299139e-01 9.39570913e-01 -6.14799958e-03 7.52384582e+00] [ 1.92491631e-02 -4.70546901e-04 9.99814607e-01 7.99431532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49361786499999 meters Centerline goodness [0,1] 0.9999352611135088 Centerline is valid? [True, True] Translation: X:62.51, Y:7.53, Z:0.80 [[ 9.39081683e-01 -3.43201060e-01 -1.84017617e-02 6.25078984e+01] [ 3.43145372e-01 9.39261833e-01 -6.20178059e-03 7.52790600e+00] [ 1.94125301e-02 -4.90500799e-04 9.99811439e-01 7.99252667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:62.53, Y:7.54, Z:0.80 [[ 9.38465721e-01 -3.44889033e-01 -1.82659678e-02 6.25349788e+01] [ 3.44834433e-01 9.38643322e-01 -6.15856198e-03 7.53738229e+00] [ 1.92692492e-02 -5.19135340e-04 9.99814196e-01 8.00270585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55361786499998 meters Centerline goodness [0,1] 0.999956377595533 Centerline is valid? [True, True] Translation: X:62.56, Y:7.54, Z:0.80 [[ 9.38274336e-01 -3.45376297e-01 -1.88807852e-02 6.25618352e+01] [ 3.45317980e-01 9.38464127e-01 -6.36976701e-03 7.54439379e+00] [ 1.99189062e-02 -5.43285712e-04 9.99801451e-01 8.00214771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.59, Y:7.55, Z:0.80 [[ 9.38140801e-01 -3.45710049e-01 -1.94010136e-02 6.25885132e+01] [ 3.45648509e-01 9.38341220e-01 -6.54706070e-03 7.55166068e+00] [ 2.04681554e-02 -5.63866636e-04 9.99790346e-01 7.99671914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61361786499998 meters Centerline goodness [0,1] 0.9999780965940204 Centerline is valid? [True, True] Translation: X:62.62, Y:7.56, Z:0.80 [[ 9.37843916e-01 -3.46454010e-01 -2.04550257e-02 6.26162318e+01] [ 3.46385708e-01 9.38066761e-01 -6.90599048e-03 7.56061756e+00] [ 2.15807878e-02 -6.08587425e-04 9.99766922e-01 7.99272156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.64, Y:7.57, Z:0.80 [[ 9.37690410e-01 -3.46833547e-01 -2.10519683e-02 6.26438884e+01] [ 3.46761194e-01 9.37926486e-01 -7.11210746e-03 7.56689091e+00] [ 2.22119161e-02 -6.31050697e-04 9.99753086e-01 7.99544343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.67, Y:7.57, Z:0.80 [[ 9.37374396e-01 -3.47717544e-01 -2.05365777e-02 6.26716624e+01] [ 3.47648820e-01 9.37599120e-01 -6.94178204e-03 7.57446812e+00] [ 2.16688566e-02 -6.32468261e-04 9.99765003e-01 8.00553105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:7.58, Z:0.80 [[ 9.36930821e-01 -3.48928505e-01 -2.02369614e-02 6.27006477e+01] [ 3.48861940e-01 9.37149125e-01 -6.84582744e-03 7.58029615e+00] [ 2.13537550e-02 -6.45838871e-04 9.99771774e-01 8.02213454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.73, Y:7.59, Z:0.80 [[ 9.36720267e-01 -3.49510366e-01 -1.99410460e-02 6.27279713e+01] [ 3.49445781e-01 9.36932274e-01 -6.74977409e-03 7.58576000e+00] [ 2.10425256e-02 -6.45664194e-04 9.99778373e-01 8.02564765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:7.59, Z:0.80 [[ 9.36627112e-01 -3.49786147e-01 -1.94757223e-02 6.27547423e+01] [ 3.49724558e-01 9.36829359e-01 -6.59432484e-03 7.59222228e+00] [ 2.05520319e-02 -6.34714937e-04 9.99788583e-01 8.02785406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.78, Y:7.60, Z:0.80 [[ 9.36848118e-01 -3.49234597e-01 -1.87296701e-02 6.27824496e+01] [ 3.49177484e-01 9.37035133e-01 -6.34384493e-03 7.59804471e+00] [ 1.97658490e-02 -5.96759896e-04 9.99804458e-01 8.03092639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters Centerline goodness [0,1] 0.9998674970186829 Centerline is valid? [True, True] Translation: X:62.81, Y:7.61, Z:0.80 [[ 9.37008301e-01 -3.48814943e-01 -1.85359268e-02 6.28095156e+01] [ 3.48758871e-01 9.37191443e-01 -6.28088181e-03 7.60699760e+00] [ 1.95625774e-02 -5.79330526e-04 9.99808467e-01 8.03745381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85361786499999 meters Centerline goodness [0,1] 0.9999557815609109 Centerline is valid? [True, True] Translation: X:62.84, Y:7.62, Z:0.81 [[ 9.37603052e-01 -3.47265837e-01 -1.75201185e-02 6.28362597e+01] [ 3.47215392e-01 9.37766589e-01 -5.94104341e-03 7.61919058e+00] [ 1.84929032e-02 -5.12914394e-04 9.99828860e-01 8.05539697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters Centerline goodness [0,1] 0.9999779327389884 Centerline is valid? [True, True] Translation: X:62.86, Y:7.63, Z:0.81 [[ 9.39010551e-01 -3.43451132e-01 -1.73350622e-02 6.28629654e+01] [ 3.43401030e-01 9.39170451e-01 -5.88196565e-03 7.62905688e+00] [ 1.83007460e-02 -4.29650416e-04 9.99832435e-01 8.05827025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91361786499998 meters Centerline goodness [0,1] 0.9999778619025481 Centerline is valid? [True, True] Translation: X:62.89, Y:7.64, Z:0.81 [[ 9.39328973e-01 -3.42557983e-01 -1.77513192e-02 6.28907009e+01] [ 3.42505243e-01 9.39496595e-01 -6.02551757e-03 7.63770150e+00] [ 1.87413931e-02 -4.19976663e-04 9.99824276e-01 8.05949835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:7.65, Z:0.81 [[ 9.40039750e-01 -3.40621829e-01 -1.73792492e-02 6.29174162e+01] [ 3.40570878e-01 9.40200315e-01 -5.90289948e-03 7.64666864e+00] [ 1.83506320e-02 -3.69906005e-04 9.99831545e-01 8.06464179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97361786499998 meters Centerline goodness [0,1] 0.999977886869223 Centerline is valid? [True, True] Translation: X:62.94, Y:7.66, Z:0.81 [[ 9.40769124e-01 -3.38625678e-01 -1.69146482e-02 6.29439133e+01] [ 3.38577051e-01 9.40921117e-01 -5.74736964e-03 7.65961534e+00] [ 1.78615566e-02 -3.19963814e-04 9.99840418e-01 8.07535089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:7.67, Z:0.81 [[ 9.41060171e-01 -3.37840669e-01 -1.64145309e-02 6.29713653e+01] [ 3.37794683e-01 9.41203271e-01 -5.58168339e-03 7.67001887e+00] [ 1.73351298e-02 -2.92041338e-04 9.99849693e-01 8.07991281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:7.68, Z:0.81 [[ 9.41001594e-01 -3.38017928e-01 -1.61208097e-02 6.29976407e+01] [ 3.37973525e-01 9.41139628e-01 -5.48615668e-03 7.67955489e+00] [ 1.70263521e-02 -2.85924691e-04 9.99855000e-01 8.08430013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.02, Y:7.69, Z:0.81 [[ 9.40867087e-01 -3.38401475e-01 -1.59237812e-02 6.30240101e+01] [ 3.38358136e-01 9.41001786e-01 -5.42320721e-03 7.68704165e+00] [ 1.68195278e-02 -2.85423746e-04 9.99858501e-01 8.08399777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09361786499998 meters Centerline goodness [0,1] 0.9999558498896247 Centerline is valid? [True, True] Translation: X:63.05, Y:7.70, Z:0.81 [[ 9.40146840e-01 -3.40396695e-01 -1.59376777e-02 6.30512535e+01] [ 3.40353532e-01 9.40281866e-01 -5.43000327e-03 7.69716405e+00] [ 1.68342645e-02 -3.19444504e-04 9.99858243e-01 8.09242018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:7.71, Z:0.81 [[ 9.39658262e-01 -3.41740151e-01 -1.60006399e-02 6.30776245e+01] [ 3.41696777e-01 9.39794420e-01 -5.45528211e-03 7.70538688e+00] [ 1.69016011e-02 -3.41266189e-04 9.99857099e-01 8.09864037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:7.71, Z:0.81 [[ 9.39077133e-01 -3.43355628e-01 -1.55258123e-02 6.31050350e+01] [ 3.43314969e-01 9.39205401e-01 -5.29586751e-03 7.71451259e+00] [ 1.64002927e-02 -3.57015695e-04 9.99865442e-01 8.10315530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters Centerline goodness [0,1] 0.9999557903578771 Centerline is valid? [True, True] Translation: X:63.13, Y:7.72, Z:0.81 [[ 9.38121286e-01 -3.45953994e-01 -1.56296997e-02 6.31310252e+01] [ 3.45913088e-01 9.38251391e-01 -5.33504922e-03 7.72366203e+00] [ 1.65102691e-02 -4.01594456e-04 9.99863616e-01 8.10676986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:7.73, Z:0.81 [[ 9.37605878e-01 -3.47352049e-01 -1.55489918e-02 6.31574769e+01] [ 3.47311723e-01 9.37734705e-01 -5.30951973e-03 7.73265781e+00] [ 1.64251018e-02 -4.22110228e-04 9.99865010e-01 8.10663989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:7.74, Z:0.81 [[ 9.37097672e-01 -3.48700206e-01 -1.60037001e-02 6.31844302e+01] [ 3.48657658e-01 9.37234206e-01 -5.46628590e-03 7.74141333e+00] [ 1.69053102e-02 -4.57368816e-04 9.99856990e-01 8.10443308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:7.75, Z:0.81 [[ 9.35955004e-01 -3.51701440e-01 -1.71559830e-02 6.32120313e+01] [ 3.51653020e-01 9.36112065e-01 -5.86135283e-03 7.75054942e+00] [ 1.81213689e-02 -5.46990744e-04 9.99835645e-01 8.10401588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:7.76, Z:0.81 [[ 9.35171858e-01 -3.53743058e-01 -1.78729987e-02 6.32394916e+01] [ 3.53690838e-01 9.35342439e-01 -6.10845148e-03 7.75981569e+00] [ 1.88781965e-02 -6.09063947e-04 9.99821605e-01 8.10690889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:7.77, Z:0.81 [[ 9.34521745e-01 -3.55441156e-01 -1.81849875e-02 6.32659287e+01] [ 3.55387340e-01 9.34698433e-01 -6.21911549e-03 7.76695085e+00] [ 1.92080089e-02 -6.50815677e-04 9.99815297e-01 8.10456434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.29, Y:7.77, Z:0.81 [[ 9.33919456e-01 -3.57006886e-01 -1.84535303e-02 6.32926888e+01] [ 3.56951735e-01 9.34101497e-01 -6.31293833e-03 7.77450055e+00] [ 1.94912327e-02 -6.91243706e-04 9.99809789e-01 8.10373163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:7.79, Z:0.81 [[ 9.32945549e-01 -3.59518137e-01 -1.89555373e-02 6.33204589e+01] [ 3.59460415e-01 9.33137787e-01 -6.48701475e-03 7.78532832e+00] [ 2.00203276e-02 -7.61733773e-04 9.99799283e-01 8.10381932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:7.80, Z:0.81 [[ 9.32542233e-01 -3.60556477e-01 -1.90790600e-02 6.33471562e+01] [ 3.60498152e-01 9.32737053e-01 -6.53248579e-03 7.79500696e+00] [ 2.01510763e-02 -7.86146988e-04 9.99796637e-01 8.10780131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:7.80, Z:0.81 [[ 9.32387432e-01 -3.60975956e-01 -1.87092445e-02 6.33744365e+01] [ 3.60919909e-01 9.32574798e-01 -6.40817785e-03 7.80135825e+00] [ 1.97609680e-02 -7.77634316e-04 9.99804431e-01 8.11053994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:7.81, Z:0.81 [[ 9.32114347e-01 -3.61704410e-01 -1.82418372e-02 6.34011615e+01] [ 3.61651218e-01 9.32292511e-01 -6.25069309e-03 7.81296307e+00] [ 1.92676315e-02 -7.70821934e-04 9.99814065e-01 8.12243577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:7.82, Z:0.81 [[ 9.31858050e-01 -3.62387107e-01 -1.77808747e-02 6.34271701e+01] [ 3.62336618e-01 9.32027363e-01 -6.09677406e-03 7.82154635e+00] [ 1.87816540e-02 -7.61333999e-04 9.99823319e-01 8.13371148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:7.83, Z:0.81 [[ 9.31819677e-01 -3.62505509e-01 -1.73736976e-02 6.34525506e+01] [ 3.62457263e-01 9.31981332e-01 -5.96057818e-03 7.83304320e+00] [ 1.83527043e-02 -7.43038837e-04 9.99831299e-01 8.14256327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.48, Y:7.84, Z:0.81 [[ 9.31878195e-01 -3.62379318e-01 -1.68599683e-02 6.34792365e+01] [ 3.62333791e-01 9.32030428e-01 -5.78838890e-03 7.84241828e+00] [ 1.78115959e-02 -7.14862817e-04 9.99841105e-01 8.14893457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters Centerline goodness [0,1] 0.9999782267897579 Centerline is valid? [True, True] Translation: X:63.51, Y:7.85, Z:0.82 [[ 9.32341059e-01 -3.61234000e-01 -1.58160200e-02 6.35052729e+01] [ 3.61193746e-01 9.32474974e-01 -5.43150822e-03 7.85344434e+00] [ 1.67100883e-02 -6.48629389e-04 9.99860166e-01 8.15950658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.53, Y:7.86, Z:0.82 [[ 9.32698126e-01 -3.60326040e-01 -1.54709746e-02 6.35323907e+01] [ 3.60287359e-01 9.32826225e-01 -5.31540735e-03 7.86453412e+00] [ 1.63470105e-02 -6.16326105e-04 9.99866189e-01 8.16332374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:7.87, Z:0.82 [[ 9.32604019e-01 -3.60569593e-01 -1.54697286e-02 6.35584668e+01] [ 3.60530886e-01 9.32732109e-01 -5.31903153e-03 7.87358280e+00] [ 1.63469936e-02 -6.16764769e-04 9.99866189e-01 8.16699567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:7.89, Z:0.82 [[ 9.33606920e-01 -3.57942385e-01 -1.59802388e-02 6.35844036e+01] [ 3.57900628e-01 9.33743490e-01 -5.49861618e-03 7.88723302e+00] [ 1.68896317e-02 -5.85791380e-04 9.99857188e-01 8.16996662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:7.90, Z:0.82 [[ 9.34128793e-01 -3.56578816e-01 -1.59670593e-02 6.36097683e+01] [ 3.56536897e-01 9.34265078e-01 -5.49590567e-03 7.90128550e+00] [ 1.68771894e-02 -5.58962048e-04 9.99857414e-01 8.17683226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.64, Y:7.91, Z:0.82 [[ 9.34652046e-01 -3.55205215e-01 -1.59627402e-02 6.36373100e+01] [ 3.55163047e-01 9.34788198e-01 -5.49869306e-03 7.90866118e+00] [ 1.68749456e-02 -5.30010717e-04 9.99857467e-01 8.17199177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:7.92, Z:0.82 [[ 9.35496566e-01 -3.52991334e-01 -1.55978289e-02 6.36627946e+01] [ 3.52950706e-01 9.35626470e-01 -5.37653426e-03 7.92087119e+00] [ 1.64916116e-02 -4.75535373e-04 9.99863891e-01 8.18014468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:7.93, Z:0.82 [[ 9.35473885e-01 -3.53057246e-01 -1.54658439e-02 6.36881168e+01] [ 3.53017279e-01 9.35601603e-01 -5.33301134e-03 7.93492909e+00] [ 1.63527266e-02 -4.70817301e-04 9.99866174e-01 8.18880545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.71, Y:7.94, Z:0.82 [[ 9.35457383e-01 -3.53120745e-01 -1.50074456e-02 6.37136736e+01] [ 3.53083057e-01 9.35577647e-01 -5.17896939e-03 7.94369809e+00] [ 1.58694321e-02 -4.54169611e-04 9.99873969e-01 8.19030881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:7.95, Z:0.82 [[ 9.35186013e-01 -3.53809537e-01 -1.56822560e-02 6.37409483e+01] [ 3.53768438e-01 9.35317367e-01 -5.41438620e-03 7.95464009e+00] [ 1.65835479e-02 -4.84428980e-04 9.99862366e-01 8.19448405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:7.96, Z:0.82 [[ 9.34225225e-01 -3.56307590e-01 -1.63746474e-02 6.37683293e+01] [ 3.56263099e-01 9.34368557e-01 -5.65722072e-03 7.96253857e+00] [ 1.73156663e-02 -5.48564326e-04 9.99849922e-01 8.19032113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.80, Y:7.97, Z:0.82 [[ 9.33465978e-01 -3.58309636e-01 -1.59835347e-02 6.37958114e+01] [ 3.58267506e-01 9.33602635e-01 -5.52393132e-03 7.97161105e+00] [ 1.69015479e-02 -5.69979171e-04 9.99856996e-01 8.19104786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.82, Y:7.98, Z:0.82 [[ 9.32640328e-01 -3.60455636e-01 -1.59296095e-02 6.38236493e+01] [ 3.60414033e-01 9.32776163e-01 -5.50941080e-03 7.98040185e+00] [ 1.68446582e-02 -6.02956129e-04 9.99857937e-01 8.19715288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.85, Y:7.99, Z:0.82 [[ 9.31858957e-01 -3.62472003e-01 -1.59038186e-02 6.38501930e+01] [ 3.62430758e-01 9.31994444e-01 -5.50463451e-03 7.99203307e+00] [ 1.68175465e-02 -6.34490071e-04 9.99858374e-01 8.20474753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.88, Y:8.00, Z:0.82 [[ 9.30593554e-01 -3.65743229e-01 -1.50840270e-02 6.38777670e+01] [ 3.65706501e-01 9.30715564e-01 -5.22432450e-03 7.99878221e+00] [ 1.59497000e-02 -6.54604011e-04 9.99872581e-01 8.21405607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:8.01, Z:0.82 [[ 9.30033331e-01 -3.67181627e-01 -1.46852172e-02 6.39050526e+01] [ 3.67146968e-01 9.30149030e-01 -5.08784263e-03 8.00936183e+00] [ 1.55276028e-02 -6.59769726e-04 9.99879222e-01 8.22403499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.93, Y:8.02, Z:0.82 [[ 9.29419551e-01 -3.68766257e-01 -1.38111172e-02 6.39316214e+01] [ 3.68735729e-01 9.29521939e-01 -4.78823054e-03 8.01748212e+00] [ 1.46034743e-02 -6.42377309e-04 9.99893157e-01 8.23298515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.96, Y:8.03, Z:0.82 [[ 9.29131041e-01 -3.69495044e-01 -1.37448258e-02 6.39581215e+01] [ 3.69464867e-01 9.29232474e-01 -4.76670965e-03 8.02877232e+00] [ 1.45334141e-02 -6.49332356e-04 9.99894174e-01 8.23666006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:8.04, Z:0.82 [[ 9.29011763e-01 -3.69796899e-01 -1.36893083e-02 6.39840264e+01] [ 3.69766949e-01 9.29112390e-01 -4.75082916e-03 8.03762060e+00] [ 1.44757479e-02 -6.48277603e-04 9.99895011e-01 8.23830052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:8.05, Z:0.82 [[ 9.29111685e-01 -3.69549719e-01 -1.35824003e-02 6.40099998e+01] [ 3.69520185e-01 9.29210739e-01 -4.71535334e-03 8.04993478e+00] [ 1.43634698e-02 -6.37881212e-04 9.99896637e-01 8.24001100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:8.06, Z:0.82 [[ 9.29149126e-01 -3.69445280e-01 -1.38595167e-02 6.40371054e+01] [ 3.69414464e-01 9.29252263e-01 -4.81515401e-03 8.06033959e+00] [ 1.46579232e-02 -6.45909804e-04 9.99892358e-01 8.24068409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:8.07, Z:0.82 [[ 9.29320186e-01 -3.69008341e-01 -1.40298039e-02 6.40630460e+01] [ 3.68976660e-01 9.29425860e-01 -4.87792453e-03 8.07479395e+00] [ 1.48396574e-02 -6.43516455e-04 9.99889679e-01 8.24210605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:8.09, Z:0.82 [[ 9.29434984e-01 -3.68704074e-01 -1.44192809e-02 6.40883683e+01] [ 3.68670513e-01 9.29546599e-01 -5.01724636e-03 8.08858630e+00] [ 1.52532727e-02 -6.52759408e-04 9.99883449e-01 8.24769641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:8.10, Z:0.82 [[ 9.30006673e-01 -3.67266946e-01 -1.42329800e-02 6.41147632e+01] [ 3.67234022e-01 9.30115374e-01 -4.95623940e-03 8.09941686e+00] [ 1.50585764e-02 -6.17498773e-04 9.99886423e-01 8.24503186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.14, Y:8.11, Z:0.83 [[ 9.30555540e-01 -3.65882928e-01 -1.40024937e-02 6.41409860e+01] [ 3.65850851e-01 9.30660703e-01 -4.87959218e-03 8.11216138e+00] [ 1.48169302e-02 -5.82092716e-04 9.99890054e-01 8.25033213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.17, Y:8.13, Z:0.83 [[ 9.31339243e-01 -3.63894527e-01 -1.37108359e-02 6.41668391e+01] [ 3.63863509e-01 9.31440007e-01 -4.78129772e-03 8.12545743e+00] [ 1.45107091e-02 -5.35862646e-04 9.99894571e-01 8.25687349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:8.14, Z:0.83 [[ 9.33166663e-01 -3.59184504e-01 -1.36554551e-02 6.41921860e+01] [ 3.59153216e-01 9.33266458e-01 -4.76301838e-03 8.13915452e+00] [ 1.44549806e-02 -4.59710641e-04 9.99895416e-01 8.26870934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:8.15, Z:0.83 [[ 9.34076853e-01 -3.56810901e-01 -1.36533423e-02 6.42187766e+01] [ 3.56779353e-01 9.34176537e-01 -4.76340169e-03 8.15171851e+00] [ 1.44542657e-02 -4.21847380e-04 9.99895443e-01 8.27349946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:8.16, Z:0.83 [[ 9.34971929e-01 -3.54455902e-01 -1.37297574e-02 6.42453387e+01] [ 3.54423697e-01 9.35072653e-01 -4.79347565e-03 8.16491868e+00] [ 1.45373964e-02 -3.84386195e-04 9.99894253e-01 8.27699109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.27, Y:8.18, Z:0.83 [[ 9.35727494e-01 -3.52463322e-01 -1.35522605e-02 6.42706017e+01] [ 3.52431689e-01 9.35825564e-01 -4.73469205e-03 8.17663972e+00] [ 1.43513571e-02 -3.45864532e-04 9.99896954e-01 8.27880245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:8.19, Z:0.83 [[ 9.36682668e-01 -3.49916888e-01 -1.35554374e-02 6.42956284e+01] [ 3.49884953e-01 9.36780699e-01 -4.73725068e-03 8.19065760e+00] [ 1.43561161e-02 -3.05542966e-04 9.99896899e-01 8.28449490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:8.20, Z:0.83 [[ 9.36852643e-01 -3.49470552e-01 -1.33213379e-02 6.43213653e+01] [ 3.49439619e-01 9.36947303e-01 -4.65875804e-03 8.20101439e+00] [ 1.41094903e-02 -2.90433431e-04 9.99900414e-01 8.29266616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.35, Y:8.21, Z:0.83 [[ 9.36815250e-01 -3.49594856e-01 -1.26737436e-02 6.43470383e+01] [ 3.49566853e-01 9.36900934e-01 -4.43341376e-03 8.21300668e+00] [ 1.34239408e-02 -2.77031037e-04 9.99909856e-01 8.30226172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.37, Y:8.22, Z:0.83 [[ 9.36125726e-01 -3.51454094e-01 -1.21920187e-02 6.43734202e+01] [ 3.51428289e-01 9.36205072e-01 -4.26858047e-03 8.22322465e+00] [ 1.29144398e-02 -2.88692278e-04 9.99916563e-01 8.31775814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:8.23, Z:0.83 [[ 9.35562482e-01 -3.52951107e-01 -1.21802020e-02 6.44002070e+01] [ 3.52925465e-01 9.35641716e-01 -4.26560431e-03 8.23085812e+00] [ 1.29018549e-02 -3.07964094e-04 9.99916720e-01 8.32306119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:8.24, Z:0.83 [[ 9.34903495e-01 -3.54686784e-01 -1.23588433e-02 6.44269352e+01] [ 3.54660511e-01 9.34985119e-01 -4.32998408e-03 8.24040983e+00] [ 1.30911227e-02 -3.35076453e-04 9.99914251e-01 8.32813569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:8.25, Z:0.83 [[ 9.33416614e-01 -3.58551716e-01 -1.31943514e-02 6.44552324e+01] [ 3.58522138e-01 9.33509772e-01 -4.62401301e-03 8.24954184e+00] [ 1.39750038e-02 -4.14336497e-04 9.99902259e-01 8.32709387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.48, Y:8.26, Z:0.83 [[ 9.32609453e-01 -3.60632146e-01 -1.35670107e-02 6.44824023e+01] [ 3.60601082e-01 9.32708018e-01 -4.75536556e-03 8.25900830e+00] [ 1.43689974e-02 -4.57379882e-04 9.99896656e-01 8.33168881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:8.27, Z:0.83 [[ 9.31856862e-01 -3.62567831e-01 -1.36878458e-02 6.45093166e+01] [ 3.62536369e-01 9.31957257e-01 -4.80121706e-03 8.26649576e+00] [ 1.44972540e-02 -4.88294845e-04 9.99894790e-01 8.33572128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:8.28, Z:0.83 [[ 9.31133280e-01 -3.64405101e-01 -1.41328629e-02 6.45366623e+01] [ 3.64371746e-01 9.31240377e-01 -4.95894714e-03 8.27663808e+00] [ 1.49681582e-02 -5.32175224e-04 9.99887829e-01 8.34443405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.56, Y:8.29, Z:0.83 [[ 9.30277441e-01 -3.66569857e-01 -1.45059231e-02 6.45641728e+01] [ 3.66534927e-01 9.30390351e-01 -5.09335022e-03 8.28675598e+00] [ 1.53632395e-02 -5.78698644e-04 9.99881811e-01 8.34756124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.59, Y:8.30, Z:0.84 [[ 9.29978084e-01 -3.67320047e-01 -1.47223268e-02 6.45907951e+01] [ 3.67284146e-01 9.30094417e-01 -5.17025514e-03 8.29561450e+00] [ 1.55922923e-02 -5.99053258e-04 9.99878253e-01 8.35278222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.62, Y:8.31, Z:0.84 [[ 9.29660709e-01 -3.68108880e-01 -1.50605062e-02 6.46181089e+01] [ 3.68071385e-01 9.29782481e-01 -5.29086498e-03 8.30558548e+00] [ 1.59506092e-02 -6.24632102e-04 9.99872586e-01 8.35555975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:8.32, Z:0.84 [[ 9.29545372e-01 -3.68353122e-01 -1.61672005e-02 6.46429503e+01] [ 3.68309871e-01 9.29685714e-01 -5.68428069e-03 8.31845500e+00] [ 1.71242379e-02 -6.70742738e-04 9.99853145e-01 8.35357724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.67, Y:8.33, Z:0.84 [[ 9.29580252e-01 -3.68229332e-01 -1.69621311e-02 6.46705653e+01] [ 3.68181608e-01 9.29734733e-01 -5.96901919e-03 8.32810243e+00] [ 1.79682504e-02 -6.96462350e-04 9.99838315e-01 8.35332657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:8.34, Z:0.84 [[ 9.29665911e-01 -3.67981467e-01 -1.76333008e-02 6.46970512e+01] [ 3.67929756e-01 9.29832850e-01 -6.21006816e-03 8.33854044e+00] [ 1.86812123e-02 -7.14527373e-04 9.99825236e-01 8.35287406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.72, Y:8.35, Z:0.84 [[ 9.30334910e-01 -3.66241588e-01 -1.85487094e-02 6.47227321e+01] [ 3.66183942e-01 9.30519529e-01 -6.53658348e-03 8.34859902e+00] [ 1.96539050e-02 -7.11027706e-04 9.99806591e-01 8.35096629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.75, Y:8.36, Z:0.84 [[ 9.30691661e-01 -3.65317839e-01 -1.88655459e-02 6.47485800e+01] [ 3.65257958e-01 9.30882584e-01 -6.65118517e-03 8.36197405e+00] [ 1.99914047e-02 -7.00588195e-04 9.99799906e-01 8.35632633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.78, Y:8.37, Z:0.84 [[ 9.31134800e-01 -3.64176475e-01 -1.90651244e-02 6.47757408e+01] [ 3.64114974e-01 9.31329714e-01 -6.72682772e-03 8.37223189e+00] [ 2.02056692e-02 -6.78313882e-04 9.99795615e-01 8.35710946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.80, Y:8.38, Z:0.84 [[ 9.32032833e-01 -3.61858234e-01 -1.93239740e-02 6.48028221e+01] [ 3.61794447e-01 9.32232921e-01 -6.82338402e-03 8.38398702e+00] [ 2.04835424e-02 -6.31688537e-04 9.99789991e-01 8.36648399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.83, Y:8.39, Z:0.84 [[ 9.32537986e-01 -3.60565617e-01 -1.91138625e-02 6.48295740e+01] [ 3.60502861e-01 9.32733662e-01 -6.75302469e-03 8.39280390e+00] [ 2.02630515e-02 -5.93150086e-04 9.99794507e-01 8.37060176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.86, Y:8.40, Z:0.84 [[ 9.32898626e-01 -3.59640941e-01 -1.89353570e-02 6.48564791e+01] [ 3.59579103e-01 9.33090603e-01 -6.69287334e-03 8.40293749e+00] [ 2.00754350e-02 -5.64986362e-04 9.99798309e-01 8.37650682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.88, Y:8.41, Z:0.84 [[ 9.33781932e-01 -3.57357964e-01 -1.86169073e-02 6.48830820e+01] [ 3.57297658e-01 9.33967361e-01 -6.58418693e-03 8.41204801e+00] [ 1.97404954e-02 -5.03582586e-04 9.99805011e-01 8.38647073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:8.42, Z:0.84 [[ 9.34038755e-01 -3.56692684e-01 -1.84914545e-02 6.49102096e+01] [ 3.56633006e-01 9.34221652e-01 -6.54246453e-03 8.42344014e+00] [ 1.96087664e-02 -4.83747593e-04 9.99807613e-01 8.39525567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:8.43, Z:0.84 [[ 9.34205216e-01 -3.56251783e-01 -1.85817485e-02 6.49374814e+01] [ 3.56191340e-01 9.34389878e-01 -6.57916257e-03 8.43430946e+00] [ 1.97064361e-02 -4.72369913e-04 9.99805698e-01 8.39956014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.96, Y:8.44, Z:0.84 [[ 9.34817362e-01 -3.54622267e-01 -1.89617616e-02 6.49640497e+01] [ 3.54558909e-01 9.35009546e-01 -6.71778093e-03 8.44287788e+00] [ 2.01117028e-02 -4.43163259e-04 9.99797641e-01 8.40012365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:8.45, Z:0.84 [[ 9.34999949e-01 -3.54152354e-01 -1.87404735e-02 6.49910567e+01] [ 3.54090317e-01 9.35187644e-01 -6.64217269e-03 8.45158630e+00] [ 1.98782003e-02 -4.25389061e-04 9.99802319e-01 8.40428516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:8.46, Z:0.84 [[ 9.35071838e-01 -3.53960537e-01 -1.87775194e-02 6.50174914e+01] [ 3.53898113e-01 9.35260265e-01 -6.66044572e-03 8.46149500e+00] [ 1.99194027e-02 -4.17333451e-04 9.99801502e-01 8.41250218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.04, Y:8.47, Z:0.84 [[ 9.35304052e-01 -3.53360929e-01 -1.85036395e-02 6.50439555e+01] [ 3.53300112e-01 9.35486984e-01 -6.56756571e-03 8.47006529e+00] [ 1.96306351e-02 -3.94667109e-04 9.99807223e-01 8.41863637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:8.48, Z:0.84 [[ 9.35665106e-01 -3.52373801e-01 -1.90660261e-02 6.50713932e+01] [ 3.52308967e-01 9.35859262e-01 -6.77005057e-03 8.47922991e+00] [ 2.02287055e-02 -3.82631873e-04 9.99795306e-01 8.42417610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:8.49, Z:0.84 [[ 9.35626644e-01 -3.52467809e-01 -1.92152772e-02 6.50976966e+01] [ 3.52401869e-01 9.35823860e-01 -6.82825830e-03 8.48784970e+00] [ 2.03888561e-02 -3.82799197e-04 9.99792052e-01 8.42841855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.12, Y:8.50, Z:0.84 [[ 9.35531239e-01 -3.52690885e-01 -1.97595765e-02 6.51238400e+01] [ 3.52621081e-01 9.35739806e-01 -7.02765606e-03 8.49836241e+00] [ 2.09684125e-02 -3.93051431e-04 9.99780061e-01 8.43295929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:8.51, Z:0.84 [[ 9.35611307e-01 -3.52414737e-01 -2.08646786e-02 6.51511883e+01] [ 3.52336692e-01 9.35843839e-01 -7.42727595e-03 8.50636355e+00] [ 2.21435624e-02 -4.02348472e-04 9.99754720e-01 8.42903382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.18, Y:8.52, Z:0.84 [[ 9.35417050e-01 -3.52915493e-01 -2.11091827e-02 6.51782774e+01] [ 3.52835596e-01 9.35655110e-01 -7.52050065e-03 8.51503814e+00] [ 2.24050159e-02 -4.13266552e-04 9.99748891e-01 8.43664857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.21, Y:8.52, Z:0.84 [[ 9.35302109e-01 -3.53222308e-01 -2.10705166e-02 6.52054601e+01] [ 3.53142648e-01 9.35539325e-01 -7.51271276e-03 8.52340204e+00] [ 2.23659546e-02 -4.14241928e-04 9.99749765e-01 8.43989776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:8.53, Z:0.84 [[ 9.35112053e-01 -3.53703756e-01 -2.14266417e-02 6.52333854e+01] [ 3.53621363e-01 9.35357403e-01 -7.64598906e-03 8.53040751e+00] [ 2.27459829e-02 -4.27061689e-04 9.99741185e-01 8.44839575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:8.54, Z:0.85 [[ 9.35015948e-01 -3.53957848e-01 -2.14247165e-02 6.52593322e+01] [ 3.53875398e-01 9.35261278e-01 -7.65138060e-03 8.53974228e+00] [ 2.27459740e-02 -4.27517204e-04 9.99741185e-01 8.45206567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:8.55, Z:0.85 [[ 9.34961925e-01 -3.54080157e-01 -2.17587082e-02 6.52863051e+01] [ 3.53995039e-01 9.35214978e-01 -7.77544037e-03 8.54712806e+00] [ 2.31021989e-02 -4.32734041e-04 9.99733015e-01 8.45519502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:8.56, Z:0.85 [[ 9.34762031e-01 -3.54574622e-01 -2.22886316e-02 6.53139779e+01] [ 3.54485356e-01 9.35027611e-01 -7.96863403e-03 8.55562806e+00] [ 2.36659614e-02 -4.52216987e-04 9.99719820e-01 8.46069261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67361786499998 meters Centerline goodness [0,1] 0.9998505423178752 Centerline is valid? [True, True] Translation: X:65.34, Y:8.56, Z:0.85 [[ 9.34596071e-01 -3.54962707e-01 -2.30577711e-02 6.53420391e+01] [ 3.54867137e-01 9.34880342e-01 -8.24991100e-03 8.56380780e+00] [ 2.44846677e-02 -4.72110835e-04 9.99700094e-01 8.46346169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70361786499998 meters Centerline goodness [0,1] 0.9998931874986648 Centerline is valid? [True, True] Translation: X:65.37, Y:8.57, Z:0.85 [[ 9.34365067e-01 -3.55540684e-01 -2.35104829e-02 6.53702334e+01] [ 3.55441349e-01 9.34660677e-01 -8.41823040e-03 8.57145982e+00] [ 2.49673473e-02 -4.90897344e-04 9.99688147e-01 8.46218350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.40, Y:8.58, Z:0.85 [[ 9.34206300e-01 -3.55882957e-01 -2.46152307e-02 6.53977345e+01] [ 3.55774048e-01 9.34530391e-01 -8.81899398e-03 8.57716597e+00] [ 2.61422108e-02 -5.18700552e-04 9.99658099e-01 8.46081908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.42, Y:8.59, Z:0.85 [[ 9.34193133e-01 -3.55899481e-01 -2.48746929e-02 6.54246304e+01] [ 3.55788125e-01 9.34524098e-01 -8.91743767e-03 8.58508695e+00] [ 2.64197114e-02 -5.19511323e-04 9.99650804e-01 8.46446550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79361786499999 meters Centerline goodness [0,1] 0.9996987368466356 Centerline is valid? [True, True] Translation: X:65.45, Y:8.59, Z:0.85 [[ 9.34636798e-01 -3.54654513e-01 -2.59659715e-02 6.54524542e+01] [ 3.54532547e-01 9.34997286e-01 -9.31383955e-03 8.59102208e+00] [ 2.75813081e-02 -5.00724829e-04 9.99619438e-01 8.45587007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters Centerline goodness [0,1] 0.9997410723918437 Centerline is valid? [True, True] Translation: X:65.48, Y:8.60, Z:0.85 [[ 9.34836649e-01 -3.54099175e-01 -2.63479520e-02 6.54794769e+01] [ 3.53973225e-01 9.35207751e-01 -9.45612463e-03 8.59844565e+00] [ 2.79892149e-02 -4.86537684e-04 9.99608107e-01 8.45670743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85361786499999 meters Centerline goodness [0,1] 0.9998058042938829 Centerline is valid? [True, True] Translation: X:65.51, Y:8.61, Z:0.85 [[ 9.35035139e-01 -3.53555078e-01 -2.66100750e-02 6.55065142e+01] [ 3.53426165e-01 9.35413592e-01 -9.55811171e-03 8.60553097e+00] [ 2.82707448e-02 -4.67526475e-04 9.99600193e-01 8.46260200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters Centerline goodness [0,1] 0.9996974215997753 Centerline is valid? [True, True] Translation: X:65.53, Y:8.61, Z:0.85 [[ 9.35266866e-01 -3.52984565e-01 -2.60343351e-02 6.55344679e+01] [ 3.52860752e-01 9.35629045e-01 -9.35845430e-03 8.61327703e+00] [ 2.76618700e-02 -4.33842838e-04 9.99617243e-01 8.47211974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:8.62, Z:0.85 [[ 9.35543677e-01 -3.52277433e-01 -2.56639531e-02 6.55622027e+01] [ 3.52156715e-01 9.35895533e-01 -9.23034557e-03 8.61809026e+00] [ 2.72704215e-02 -4.02341985e-04 9.99628012e-01 8.47799795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94361786499998 meters Centerline goodness [0,1] 0.9997617603742528 Centerline is valid? [True, True] Translation: X:65.59, Y:8.63, Z:0.85 [[ 9.35658551e-01 -3.51993110e-01 -2.53757139e-02 6.55904076e+01] [ 3.51874850e-01 9.36002512e-01 -9.13167717e-03 8.62559538e+00] [ 2.69660194e-02 -3.84943696e-04 9.99636277e-01 8.48049718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97361786499998 meters Centerline goodness [0,1] 0.9997176613673877 Centerline is valid? [True, True] Translation: X:65.62, Y:8.63, Z:0.85 [[ 9.35668463e-01 -3.51966538e-01 -2.53788161e-02 6.56175789e+01] [ 3.51848108e-01 9.36012506e-01 -9.13764973e-03 8.63104258e+00] [ 2.69710362e-02 -3.79677766e-04 9.99636143e-01 8.47367201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00361786499998 meters Centerline goodness [0,1] 0.9998694630580455 Centerline is valid? [True, True] Translation: X:65.65, Y:8.64, Z:0.85 [[ 9.35727820e-01 -3.51849254e-01 -2.48102873e-02 6.56450154e+01] [ 3.51735902e-01 9.36056606e-01 -8.93780716e-03 8.64082138e+00] [ 2.63685942e-02 -3.63314004e-04 9.99652222e-01 8.50350748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03361786499998 meters Centerline goodness [0,1] 0.9999345692475463 Centerline is valid? [True, True] Translation: X:65.67, Y:8.65, Z:0.85 [[ 9.36041387e-01 -3.51110213e-01 -2.34123985e-02 6.56741996e+01] [ 3.51008893e-01 9.36334084e-01 -8.44033440e-03 8.64587066e+00] [ 2.48853144e-02 -3.17457789e-04 9.99690262e-01 8.51500290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06361786499998 meters Centerline goodness [0,1] 0.999978195455933 Centerline is valid? [True, True] Translation: X:65.70, Y:8.65, Z:0.85 [[ 9.36180703e-01 -3.50808118e-01 -2.23462722e-02 6.57011999e+01] [ 3.50715632e-01 9.36447318e-01 -8.06015478e-03 8.65264890e+00] [ 2.37536744e-02 -2.91425612e-04 9.99717799e-01 8.51616038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:8.66, Z:0.85 [[ 9.36786943e-01 -3.49323928e-01 -2.00752548e-02 6.57284719e+01] [ 3.49248879e-01 9.37001997e-01 -7.24416593e-03 8.66112870e+00] [ 2.13411144e-02 -2.25020186e-04 9.99772227e-01 8.53849364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:8.67, Z:0.85 [[ 9.37571054e-01 -3.47308434e-01 -1.83676389e-02 6.57552448e+01] [ 3.47245131e-01 9.37750940e-01 -6.63273438e-03 8.67053859e+00] [ 1.95278752e-02 -1.59413405e-04 9.99809300e-01 8.53070153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15361786499999 meters Centerline goodness [0,1] 0.9999129147435339 Centerline is valid? [True, True] Translation: X:65.78, Y:8.68, Z:0.85 [[ 9.38126286e-01 -3.45828471e-01 -1.79371140e-02 6.57825052e+01] [ 3.45767741e-01 9.38297743e-01 -6.48195262e-03 8.68101925e+00] [ 1.90719973e-02 -1.21185233e-04 9.99818106e-01 8.53157330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters Centerline goodness [0,1] 0.9999564488382727 Centerline is valid? [True, True] Translation: X:65.81, Y:8.69, Z:0.85 [[ 9.39001724e-01 -3.43430462e-01 -1.82011164e-02 6.58088051e+01] [ 3.43367405e-01 9.39178105e-01 -6.58123275e-03 8.68937196e+00] [ 1.93542859e-02 -6.98812190e-05 9.99812686e-01 8.52617953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.84, Y:8.70, Z:0.85 [[ 9.39050018e-01 -3.43308630e-01 -1.80069185e-02 6.58352198e+01] [ 3.43246825e-01 9.39222647e-01 -6.51433135e-03 8.69915815e+00] [ 1.91489318e-02 -6.35346069e-05 9.99816640e-01 8.53856108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters Centerline goodness [0,1] 0.9999563585580867 Centerline is valid? [True, True] Translation: X:65.86, Y:8.71, Z:0.85 [[ 9.38983385e-01 -3.43516458e-01 -1.75113254e-02 6.58616058e+01] [ 3.43457962e-01 9.39146655e-01 -6.33948189e-03 8.70717821e+00] [ 1.86234190e-02 -6.17359785e-05 9.99826567e-01 8.52736556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:8.72, Z:0.85 [[ 9.38673712e-01 -3.44404751e-01 -1.66442207e-02 6.58882272e+01] [ 3.44351994e-01 9.38821262e-01 -6.02840312e-03 8.71591703e+00] [ 1.77021590e-02 -7.27670637e-05 9.99843302e-01 8.54187625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:8.73, Z:0.85 [[ 9.38530538e-01 -3.44835906e-01 -1.57679418e-02 6.59145587e+01] [ 3.44788542e-01 9.38662982e-01 -5.71560570e-03 8.72685234e+00] [ 1.67717294e-02 -7.23351898e-05 9.99859342e-01 8.54668130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:8.74, Z:0.85 [[ 9.38483927e-01 -3.44983349e-01 -1.53103791e-02 6.59400144e+01] [ 3.44938643e-01 9.38608802e-01 -5.55414113e-03 8.73738955e+00] [ 1.62865428e-02 -6.86692243e-05 9.99867363e-01 8.54590487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:8.75, Z:0.85 [[ 9.38443419e-01 -3.45102477e-01 -1.51072644e-02 6.59663871e+01] [ 3.45058910e-01 9.38565009e-01 -5.48387655e-03 8.74840115e+00] [ 1.60716492e-02 -6.65883371e-05 9.99870840e-01 8.54431585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.99, Y:8.76, Z:0.85 [[ 9.38207244e-01 -3.45727134e-01 -1.54892233e-02 6.59926928e+01] [ 3.45681341e-01 9.38335091e-01 -5.62738957e-03 8.75874572e+00] [ 1.64796230e-02 -7.46777966e-05 9.99864199e-01 8.53345358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:8.77, Z:0.85 [[ 9.38021068e-01 -3.46244403e-01 -1.52082271e-02 6.60184171e+01] [ 3.46200254e-01 9.38144342e-01 -5.52966783e-03 8.76796965e+00] [ 1.61821287e-02 -7.81471556e-05 9.99869058e-01 8.52887510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.04, Y:8.78, Z:0.85 [[ 9.37661725e-01 -3.47216075e-01 -1.52146892e-02 6.60444949e+01] [ 3.47171960e-01 9.37785151e-01 -5.53548356e-03 8.77742516e+00] [ 1.61901185e-02 -9.17024056e-05 9.99868927e-01 8.52924410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48361786499999 meters Centerline goodness [0,1] 0.9999781788028891 Centerline is valid? [True, True] Translation: X:66.07, Y:8.79, Z:0.85 [[ 9.36966873e-01 -3.49156948e-01 -1.35094058e-02 6.60709395e+01] [ 3.49122318e-01 9.37064253e-01 -4.91860308e-03 8.78555435e+00] [ 1.43765457e-02 -1.07866922e-04 9.99896646e-01 8.53563568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.10, Y:8.79, Z:0.85 [[ 9.36453076e-01 -3.50573309e-01 -1.24093213e-02 6.60974385e+01] [ 3.50544200e-01 9.36535285e-01 -4.51917060e-03 8.79446144e+00] [ 1.32060679e-02 -1.18024418e-04 9.99912789e-01 8.53951051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.12, Y:8.80, Z:0.85 [[ 9.35803924e-01 -3.52340397e-01 -1.12809393e-02 6.61241660e+01] [ 3.52316461e-01 9.35871908e-01 -4.10896716e-03 8.80444510e+00] [ 1.20052693e-02 -1.29273034e-04 9.99927926e-01 8.54382621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57361786499999 meters Centerline goodness [0,1] 0.9999346106061597 Centerline is valid? [True, True] Translation: X:66.15, Y:8.81, Z:0.85 [[ 9.34814522e-01 -3.54997156e-01 -9.94125485e-03 6.61511391e+01] [ 3.54978690e-01 9.34867370e-01 -3.62363856e-03 8.81141603e+00] [ 1.05801362e-02 -1.41503671e-04 9.99944019e-01 8.54934762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:8.82, Z:0.86 [[ 9.34384414e-01 -3.56163084e-01 -8.58050890e-03 6.61781362e+01] [ 3.56149372e-01 9.34423801e-01 -3.12814874e-03 8.82056527e+00] [ 9.13196285e-03 -1.33049424e-04 9.99958294e-01 8.55480746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63361786499999 meters Centerline goodness [0,1] 0.999978252359619 Centerline is valid? [True, True] Translation: X:66.20, Y:8.83, Z:0.86 [[ 9.34027866e-01 -3.57108183e-01 -8.10502855e-03 6.62049021e+01] [ 3.57095960e-01 9.34063021e-01 -2.95755696e-03 8.82784251e+00] [ 8.62677525e-03 -1.31832341e-04 9.99962780e-01 8.56381856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499998 meters Centerline goodness [0,1] 0.9999782158806231 Centerline is valid? [True, True] Translation: X:66.23, Y:8.84, Z:0.86 [[ 9.33722113e-01 -3.57922895e-01 -7.36319304e-03 6.62324514e+01] [ 3.57912835e-01 9.33751137e-01 -2.68656855e-03 8.83784428e+00] [ 7.83697426e-03 -1.26872824e-04 9.99969282e-01 8.56906138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.26, Y:8.85, Z:0.86 [[ 9.33330624e-01 -3.58970385e-01 -5.84888165e-03 6.62594469e+01] [ 3.58964052e-01 9.33348944e-01 -2.13492299e-03 8.84699288e+00] [ 6.22542164e-03 -1.06949253e-04 9.99980616e-01 8.56655502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72361786499998 meters Centerline goodness [0,1] 0.9999781597396641 Centerline is valid? [True, True] Translation: X:66.29, Y:8.86, Z:0.86 [[ 9.33139328e-01 -3.59471874e-01 -5.56484468e-03 6.62858011e+01] [ 3.59466135e-01 9.33155915e-01 -2.03373949e-03 8.85602955e+00] [ 5.92393987e-03 -1.02610906e-04 9.99982448e-01 8.56511579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75361786499998 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:66.31, Y:8.86, Z:0.86 [[ 9.32819831e-01 -3.60316817e-01 -4.35358127e-03 6.63122791e+01] [ 3.60313313e-01 9.32829987e-01 -1.59123198e-03 8.86411549e+00] [ 4.63449880e-03 -8.43205511e-05 9.99989257e-01 8.57098502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.34, Y:8.87, Z:0.86 [[ 9.32530539e-01 -3.61072313e-01 -3.68493207e-03 6.63391457e+01] [ 3.61069814e-01 9.32537817e-01 -1.34553526e-03 8.87354732e+00] [ 3.92217403e-03 -7.57650121e-05 9.99992305e-01 8.57886768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81361786499998 meters Centerline goodness [0,1] 0.9998688983087882 Centerline is valid? [True, True] Translation: X:66.37, Y:8.88, Z:0.86 [[ 9.32227525e-01 -3.61859917e-01 -3.03996802e-03 6.63656835e+01] [ 3.61858220e-01 9.32232480e-01 -1.11010817e-03 8.88483530e+00] [ 3.23566058e-03 -6.51640241e-05 9.99994763e-01 8.57492232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:8.89, Z:0.86 [[ 9.31920575e-01 -3.62653569e-01 -2.53605457e-03 6.63921612e+01] [ 3.62652386e-01 9.31924024e-01 -9.27980073e-04 8.89308743e+00] [ 2.69994546e-03 -5.49025180e-05 9.99996354e-01 8.58777217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87361786499999 meters Centerline goodness [0,1] 0.999978107143639 Centerline is valid? [True, True] Translation: X:66.42, Y:8.90, Z:0.86 [[ 9.31580101e-01 -3.63523508e-01 -3.02901443e-03 6.64196996e+01] [ 3.63521828e-01 9.31585023e-01 -1.10722607e-03 8.90322544e+00] [ 3.22428718e-03 -6.96430935e-05 9.99994800e-01 8.58459935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:8.91, Z:0.86 [[ 9.31360628e-01 -3.64082707e-01 -3.34118220e-03 6.64458245e+01] [ 3.64080656e-01 9.31366618e-01 -1.22420574e-03 8.91207232e+00] [ 3.55757770e-03 -7.62827767e-05 9.99993669e-01 8.58639607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:8.92, Z:0.86 [[ 9.30967315e-01 -3.65086030e-01 -3.47108396e-03 6.64735873e+01] [ 3.65083829e-01 9.30973782e-01 -1.27063545e-03 8.92162466e+00] [ 3.69537941e-03 -8.43165520e-05 9.99993169e-01 8.57948194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:8.93, Z:0.86 [[ 9.30756712e-01 -3.65623308e-01 -3.39692489e-03 6.65003768e+01] [ 3.65621195e-01 9.30762907e-01 -1.24589387e-03 8.93098768e+00] [ 3.61725953e-03 -8.23636532e-05 9.99993454e-01 8.58234989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:8.94, Z:0.86 [[ 9.30503445e-01 -3.66262908e-01 -3.84992597e-03 6.65266608e+01] [ 3.66260204e-01 9.30511404e-01 -1.41075239e-03 8.94056796e+00] [ 4.09910629e-03 -9.73647103e-05 9.99991594e-01 8.58363669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499998 meters Centerline goodness [0,1] 0.9999780855539971 Centerline is valid? [True, True] Translation: X:66.55, Y:8.95, Z:0.86 [[ 9.30322002e-01 -3.66719811e-01 -4.18958070e-03 6.65530843e+01] [ 3.66716606e-01 9.30331430e-01 -1.53680066e-03 8.95125392e+00] [ 4.46127385e-03 -1.06669348e-04 9.99990043e-01 8.57834755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:8.96, Z:0.86 [[ 9.30089840e-01 -3.67305164e-01 -4.45043461e-03 6.65791368e+01] [ 3.67301547e-01 9.30100480e-01 -1.63409604e-03 8.96116191e+00] [ 4.73956328e-03 -1.14795397e-04 9.99988762e-01 8.57498318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08361786499998 meters Centerline goodness [0,1] 0.9999561105137265 Centerline is valid? [True, True] Translation: X:66.61, Y:8.97, Z:0.86 [[ 9.29817462e-01 -3.67986216e-01 -5.06275188e-03 6.66060540e+01] [ 3.67981526e-01 9.29831236e-01 -1.86257428e-03 8.97002110e+00] [ 5.39290650e-03 -1.31145071e-04 9.99985450e-01 8.57981128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11361786499998 meters Centerline goodness [0,1] 0.9999560960618168 Centerline is valid? [True, True] Translation: X:66.63, Y:8.98, Z:0.86 [[ 9.29484259e-01 -3.68823016e-01 -5.34735152e-03 6.66334848e+01] [ 3.68817801e-01 9.29499630e-01 -1.96667052e-03 8.97994297e+00] [ 5.69571461e-03 -1.44209140e-04 9.99983769e-01 8.58439365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:8.99, Z:0.86 [[ 9.28768070e-01 -3.70631362e-01 -4.71872725e-03 6.66604768e+01] [ 3.70627315e-01 9.28780047e-01 -1.73727157e-03 8.98761162e+00] [ 5.02654704e-03 -1.35366855e-04 9.99987358e-01 8.60225486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:9.00, Z:0.86 [[ 9.28180957e-01 -3.72106423e-01 -4.11363821e-03 6.66869482e+01] [ 3.72103365e-01 9.28190064e-01 -1.51379448e-03 8.99862806e+00] [ 4.38153076e-03 -1.25623415e-04 9.99990393e-01 8.60706654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:9.01, Z:0.86 [[ 9.27722693e-01 -3.73254786e-01 -3.38673860e-03 6.67144281e+01] [ 3.73252720e-01 9.27728868e-01 -1.24662273e-03 9.00793087e+00] [ 3.60728307e-03 -1.07589196e-04 9.99993488e-01 8.61393816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23361786499999 meters Centerline goodness [0,1] 0.9999560690594386 Centerline is valid? [True, True] Translation: X:66.74, Y:9.02, Z:0.86 [[ 9.27313719e-01 -3.74273044e-01 -2.99250708e-03 6.67413043e+01] [ 3.74271435e-01 9.27318542e-01 -1.10191458e-03 9.01766693e+00] [ 3.18742423e-03 -9.81894095e-05 9.99994915e-01 8.61978274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:9.02, Z:0.86 [[ 9.26726905e-01 -3.75721072e-01 -3.30439629e-03 6.67685031e+01] [ 3.75719109e-01 9.26732790e-01 -1.21952613e-03 9.02480243e+00] [ 3.52049406e-03 -1.11357153e-04 9.99993797e-01 8.63121519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:9.03, Z:0.86 [[ 9.26416580e-01 -3.76487880e-01 -3.03251152e-03 6.67951883e+01] [ 3.76486230e-01 9.26421538e-01 -1.11941145e-03 9.03444862e+00] [ 3.23082883e-03 -1.04657503e-04 9.99994775e-01 8.63525905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters Centerline goodness [0,1] 0.9999342955386671 Centerline is valid? [True, True] Translation: X:66.82, Y:9.05, Z:0.86 [[ 9.26138612e-01 -3.77171029e-01 -3.04716395e-03 6.68212295e+01] [ 3.77169372e-01 9.26143619e-01 -1.12350310e-03 9.04678734e+00] [ 3.24586427e-03 -1.08777311e-04 9.99994726e-01 8.63403500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:9.06, Z:0.86 [[ 9.25656805e-01 -3.78356230e-01 -2.45813032e-03 6.68472648e+01] [ 3.78355151e-01 9.25660065e-01 -9.07982084e-04 9.05823951e+00] [ 2.61893375e-03 -8.95664727e-05 9.99996567e-01 8.63833669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters Centerline goodness [0,1] 0.9999561288058261 Centerline is valid? [True, True] Translation: X:66.87, Y:9.07, Z:0.86 [[ 9.25569405e-01 -3.78567911e-01 -2.75927934e-03 6.68725589e+01] [ 3.78566553e-01 9.25573512e-01 -1.01926514e-03 9.06703470e+00] [ 2.93977694e-03 -1.01170242e-04 9.99995674e-01 8.64621232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:9.08, Z:0.86 [[ 9.25448375e-01 -3.78857337e-01 -3.52466368e-03 6.68982922e+01] [ 3.78855125e-01 9.25455078e-01 -1.30135334e-03 9.07972068e+00] [ 3.75494516e-03 -1.31001563e-04 9.99992942e-01 8.64440168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:9.09, Z:0.86 [[ 9.25476807e-01 -3.78776256e-01 -4.60737054e-03 6.69241453e+01] [ 3.78772461e-01 9.25488260e-01 -1.70386192e-03 9.09432451e+00] [ 4.90944979e-03 -1.68260394e-04 9.99987934e-01 8.63473632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:9.10, Z:0.86 [[ 9.25373089e-01 -3.79029578e-01 -4.60706359e-03 6.69500042e+01] [ 3.79025782e-01 9.25384542e-01 -1.70469121e-03 9.10397274e+00] [ 4.90943382e-03 -1.68720509e-04 9.99987934e-01 8.63840789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50361786499998 meters Centerline goodness [0,1] 0.9998683864174783 Centerline is valid? [True, True] Translation: X:66.98, Y:9.12, Z:0.86 [[ 9.25352138e-01 -3.79073736e-01 -5.14999920e-03 6.69764247e+01] [ 3.79068981e-01 9.25366450e-01 -1.90793018e-03 9.11543713e+00] [ 5.48888271e-03 -1.86697676e-04 9.99984919e-01 8.63549140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:9.13, Z:0.86 [[ 9.25426949e-01 -3.78883892e-01 -5.65318015e-03 6.70027502e+01] [ 3.78878142e-01 9.25444194e-01 -2.09710238e-03 9.12566001e+00] [ 6.02626106e-03 -2.01151331e-04 9.99981822e-01 8.64149615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:9.14, Z:0.86 [[ 9.25535307e-01 -3.78601730e-01 -6.71755297e-03 6.70289606e+01] [ 3.78593599e-01 9.25559654e-01 -2.49255556e-03 9.13814135e+00] [ 7.16118185e-03 -2.36274381e-04 9.99974330e-01 8.63731515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:9.15, Z:0.86 [[ 9.25670416e-01 -3.78263104e-01 -7.16279181e-03 6.70545683e+01] [ 3.78253827e-01 9.25698095e-01 -2.66056167e-03 9.14854588e+00] [ 7.63697505e-03 -2.46550190e-04 9.99970807e-01 8.63867393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:9.16, Z:0.86 [[ 9.25640502e-01 -3.78335768e-01 -7.19081564e-03 6.70800453e+01] [ 3.78326420e-01 9.25668399e-01 -2.67113994e-03 9.15955796e+00] [ 7.66689859e-03 -2.47960225e-04 9.99970578e-01 8.64299539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:9.18, Z:0.86 [[ 9.25829365e-01 -3.77866777e-01 -7.52899957e-03 6.71047320e+01] [ 3.77856492e-01 9.25859944e-01 -2.79934349e-03 9.17504832e+00] [ 8.02857801e-03 -2.53166962e-04 9.99967738e-01 8.63881215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:9.19, Z:0.86 [[ 9.25826989e-01 -3.77873726e-01 -7.47219994e-03 6.71302322e+01] [ 3.77863582e-01 9.25857108e-01 -2.78004801e-03 9.18614246e+00] [ 7.96869653e-03 -2.49628756e-04 9.99968218e-01 8.64516294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71361786499999 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:67.16, Y:9.20, Z:0.87 [[ 9.26014514e-01 -3.77412360e-01 -7.55184614e-03 6.71564642e+01] [ 3.77401955e-01 9.26045275e-01 -2.81315999e-03 9.19580047e+00] [ 8.05507278e-03 -2.45054515e-04 9.99967527e-01 8.65413541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.18, Y:9.21, Z:0.87 [[ 9.26114682e-01 -3.77166921e-01 -7.53059967e-03 6.71824240e+01] [ 3.77156567e-01 9.26145267e-01 -2.80516714e-03 9.21028505e+00] [ 8.03244549e-03 -2.42308643e-04 9.99967710e-01 8.65366131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:9.22, Z:0.87 [[ 9.26793771e-01 -3.75488324e-01 -7.86290908e-03 6.72072315e+01] [ 3.75476951e-01 9.26827095e-01 -2.93187400e-03 9.22248547e+00] [ 8.38844163e-03 -2.35098565e-04 9.99964789e-01 8.66043378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.23, Y:9.23, Z:0.87 [[ 9.26913020e-01 -3.75183228e-01 -8.35455505e-03 6.72338112e+01] [ 3.75170375e-01 9.26950637e-01 -3.11537629e-03 9.23414822e+00] [ 8.91309706e-03 -2.46698705e-04 9.99960247e-01 8.66389700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.26, Y:9.24, Z:0.87 [[ 9.27128792e-01 -3.74641101e-01 -8.73205599e-03 6.72591773e+01] [ 3.74627007e-01 9.27169878e-01 -3.25916016e-03 9.24468863e+00] [ 9.31711464e-03 -2.49602780e-04 9.99956564e-01 8.66609040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.28, Y:9.26, Z:0.87 [[ 9.27540690e-01 -3.73598549e-01 -9.61210882e-03 6.72841994e+01] [ 3.73581398e-01 9.27590457e-01 -3.58933268e-03 9.25723032e+00] [ 1.02570699e-02 -2.61652947e-04 9.99947361e-01 8.66939232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.31, Y:9.27, Z:0.87 [[ 9.27703567e-01 -3.73184468e-01 -9.97218432e-03 6.73110756e+01] [ 3.73165975e-01 9.27757124e-01 -3.72466405e-03 9.26921707e+00] [ 1.06417518e-02 -2.65895756e-04 9.99943340e-01 8.67086276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:9.28, Z:0.87 [[ 9.27681559e-01 -3.73228575e-01 -1.03612743e-02 6.73354968e+01] [ 3.73208600e-01 9.27739379e-01 -3.87118861e-03 9.28344772e+00] [ 1.10574004e-02 -2.75686403e-04 9.99938827e-01 8.66975138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:9.29, Z:0.87 [[ 9.27751403e-01 -3.73042135e-01 -1.08119993e-02 6.73608005e+01] [ 3.73020326e-01 9.27814360e-01 -4.04362137e-03 9.29440445e+00] [ 1.15399694e-02 -2.81620114e-04 9.99933373e-01 8.67449254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:9.31, Z:0.87 [[ 9.27813507e-01 -3.72873553e-01 -1.12876191e-02 6.73858822e+01] [ 3.72849756e-01 9.27882120e-01 -4.22261999e-03 9.30633730e+00] [ 1.20480832e-02 -2.90782141e-04 9.99927377e-01 8.67837981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:9.32, Z:0.87 [[ 9.27731677e-01 -3.73073682e-01 -1.14000998e-02 6.74114543e+01] [ 3.73049402e-01 9.27801671e-01 -4.26646671e-03 9.31645720e+00] [ 1.21687381e-02 -2.94664110e-04 9.99925915e-01 8.68440682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:9.33, Z:0.87 [[ 9.27481609e-01 -3.73698278e-01 -1.12899248e-02 6.74381118e+01] [ 3.73674501e-01 9.27550272e-01 -4.22611284e-03 9.32748855e+00] [ 1.20512639e-02 -2.99115079e-04 9.99927336e-01 8.69376598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:9.34, Z:0.87 [[ 9.27006970e-01 -3.74884501e-01 -1.09402123e-02 6.74641699e+01] [ 3.74862223e-01 9.27071475e-01 -4.09805939e-03 9.33985494e+00] [ 1.16786577e-02 -3.02142686e-04 9.99931757e-01 8.70516898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:9.35, Z:0.87 [[ 9.26629623e-01 -3.75801036e-01 -1.14509206e-02 6.74909221e+01] [ 3.75776659e-01 9.26700316e-01 -4.29259613e-03 9.35189435e+00] [ 1.22247338e-02 -3.25341957e-04 9.99925222e-01 8.70570487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.52, Y:9.36, Z:0.87 [[ 9.26338182e-01 -3.76514821e-01 -1.15828740e-02 6.75168178e+01] [ 3.76489895e-01 9.26410534e-01 -4.34535347e-03 9.36370388e+00] [ 1.23665865e-02 -3.35568199e-04 9.99923475e-01 8.70312801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.54, Y:9.38, Z:0.87 [[ 9.25631931e-01 -3.78232447e-01 -1.20724794e-02 6.75426431e+01] [ 3.78205499e-01 9.25710580e-01 -4.53022633e-03 9.37590741e+00] [ 1.28891005e-02 -3.72555950e-04 9.99916863e-01 8.70491482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.57, Y:9.39, Z:0.87 [[ 9.25109020e-01 -3.79503587e-01 -1.22608681e-02 6.75688774e+01] [ 3.79475888e-01 9.25190181e-01 -4.60205258e-03 9.38774012e+00] [ 1.30901302e-02 -3.95303462e-04 9.99914242e-01 8.71321697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:9.40, Z:0.87 [[ 9.24716501e-01 -3.80442335e-01 -1.27680384e-02 6.75948276e+01] [ 3.80412339e-01 9.24804548e-01 -4.79594849e-03 9.40086605e+00] [ 1.36325218e-02 -4.22226640e-04 9.99906984e-01 8.71836856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25361786499998 meters Centerline goodness [0,1] 0.9999788507497409 Centerline is valid? [True, True] Translation: X:67.62, Y:9.41, Z:0.87 [[ 9.24028132e-01 -3.82080832e-01 -1.36473362e-02 6.76194892e+01] [ 3.82046685e-01 9.24128786e-01 -5.12997004e-03 9.41461217e+00] [ 1.45719594e-02 -4.73682918e-04 9.99893711e-01 8.71316991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:9.43, Z:0.87 [[ 9.23656027e-01 -3.82957941e-01 -1.42393748e-02 6.76460680e+01] [ 3.82920846e-01 9.23765640e-01 -5.35423417e-03 9.42647513e+00] [ 1.52042917e-02 -5.07082779e-04 9.99884279e-01 8.71717727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.67, Y:9.44, Z:0.87 [[ 9.23139713e-01 -3.84176892e-01 -1.48723446e-02 6.76727689e+01] [ 3.84136517e-01 9.23259344e-01 -5.59635520e-03 9.43842597e+00] [ 1.58810214e-02 -5.46792912e-04 9.99873739e-01 8.71979218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.70, Y:9.45, Z:0.87 [[ 9.22190882e-01 -3.86420409e-01 -1.55962951e-02 6.76982887e+01] [ 3.86376257e-01 9.22322555e-01 -5.87306669e-03 9.45277318e+00] [ 1.66542876e-02 -6.09949557e-04 9.99861122e-01 8.72059965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:9.46, Z:0.87 [[ 9.21614105e-01 -3.87784099e-01 -1.58408798e-02 6.77242305e+01] [ 3.87738689e-01 9.21750010e-01 -5.96883345e-03 9.46437548e+00] [ 1.69159498e-02 -6.41160860e-04 9.99856710e-01 8.72699841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:9.48, Z:0.87 [[ 9.20934498e-01 -3.89393645e-01 -1.58820714e-02 6.77502978e+01] [ 3.89348203e-01 9.21071191e-01 -5.98643674e-03 9.47676819e+00] [ 1.69595988e-02 -6.70539834e-04 9.99855951e-01 8.73572050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:9.49, Z:0.87 [[ 9.20180951e-01 -3.91165558e-01 -1.60163495e-02 6.77769689e+01] [ 3.91119548e-01 9.20320058e-01 -6.04073948e-03 9.48568708e+00] [ 1.71030969e-02 -7.05733973e-04 9.99853482e-01 8.74070226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:9.50, Z:0.88 [[ 9.18902141e-01 -3.94153520e-01 -1.61820585e-02 6.78029234e+01] [ 3.94106991e-01 9.19044293e-01 -6.10463622e-03 9.50023605e+00] [ 1.72781924e-02 -7.67899102e-04 9.99850426e-01 8.75789842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:9.51, Z:0.88 [[ 9.18317238e-01 -3.95520014e-01 -1.60427277e-02 6.78285529e+01] [ 3.95474462e-01 9.18457023e-01 -6.05370576e-03 9.51319785e+00] [ 1.71289177e-02 -7.85266759e-04 9.99852981e-01 8.76334357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:9.53, Z:0.88 [[ 9.18036083e-01 -3.96183544e-01 -1.57591410e-02 6.78540535e+01] [ 3.96139618e-01 9.18171003e-01 -5.95080285e-03 9.52774313e+00] [ 1.68271965e-02 -7.79768351e-04 9.99858109e-01 8.77257255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:9.55, Z:0.88 [[ 9.17994000e-01 -3.96286829e-01 -1.56129842e-02 6.78777184e+01] [ 3.96243656e-01 9.18126438e-01 -5.89991191e-03 9.54515327e+00] [ 1.66727510e-02 -7.70462227e-04 9.99860703e-01 8.78733721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:9.55, Z:0.88 [[ 9.18340724e-01 -3.95476522e-01 -1.57681749e-02 6.79035516e+01] [ 3.95432296e-01 9.18475772e-01 -5.96282952e-03 9.55498908e+00] [ 1.68408457e-02 -7.59336432e-04 9.99857895e-01 8.78984732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:9.57, Z:0.88 [[ 9.18737195e-01 -3.94545259e-01 -1.60001740e-02 6.79295735e+01] [ 3.94499544e-01 9.18876202e-01 -6.05272266e-03 9.56843505e+00] [ 1.70902522e-02 -7.51199929e-04 9.99853669e-01 8.79417236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:9.59, Z:0.88 [[ 9.19956662e-01 -3.91667475e-01 -1.66231258e-02 6.79533882e+01] [ 3.91617598e-01 9.20106553e-01 -6.29197867e-03 9.58852483e+00] [ 1.77594103e-02 -7.21560880e-04 9.99842029e-01 8.79959824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.98, Y:9.60, Z:0.88 [[ 9.20643065e-01 -3.90036334e-01 -1.69706977e-02 6.79792363e+01] [ 3.89984051e-01 9.20799198e-01 -6.42468006e-03 9.59922640e+00] [ 1.81324635e-02 -7.03464291e-04 9.99835346e-01 8.79577632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:9.61, Z:0.88 [[ 9.21200109e-01 -3.88683766e-01 -1.77563906e-02 6.80038825e+01] [ 3.88626216e-01 9.21370953e-01 -6.72544639e-03 9.61492390e+00] [ 1.89742943e-02 -7.05116925e-04 9.99819723e-01 8.79784058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:9.63, Z:0.88 [[ 9.21667628e-01 -3.87573563e-01 -1.77628008e-02 6.80295583e+01] [ 3.87515672e-01 9.21838529e-01 -6.73275373e-03 9.62724634e+00] [ 1.89838715e-02 -6.78002531e-04 9.99819560e-01 8.79627862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:9.64, Z:0.88 [[ 9.22798352e-01 -3.84869084e-01 -1.78602742e-02 6.80543848e+01] [ 3.84809977e-01 9.22970964e-01 -6.77354539e-03 9.64343234e+00] [ 1.90914427e-02 -6.22195186e-04 9.99817548e-01 8.80068422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:9.65, Z:0.88 [[ 9.23087512e-01 -3.84182761e-01 -1.76932315e-02 6.80802532e+01] [ 3.84124600e-01 9.23256868e-01 -6.71165327e-03 9.65373751e+00] [ 1.89138990e-02 -6.00962158e-04 9.99820936e-01 8.80068515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:9.67, Z:0.88 [[ 9.23281469e-01 -3.83735902e-01 -1.72651954e-02 6.81060570e+01] [ 3.83680399e-01 9.23442703e-01 -6.55173741e-03 9.66706413e+00] [ 1.84575555e-02 -5.75219297e-04 9.99829479e-01 8.81115681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:9.68, Z:0.88 [[ 9.23322174e-01 -3.83662736e-01 -1.67053267e-02 6.81314186e+01] [ 3.83610693e-01 9.23473119e-01 -6.34311845e-03 9.67875509e+00] [ 1.78605383e-02 -5.51600045e-04 9.99840336e-01 8.81915596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:9.69, Z:0.88 [[ 9.23234141e-01 -3.83882698e-01 -1.65164963e-02 6.81566374e+01] [ 3.83831808e-01 9.23381706e-01 -6.27440117e-03 9.69018512e+00] [ 1.76596646e-02 -5.46815243e-04 9.99843906e-01 8.82480406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.18, Y:9.70, Z:0.88 [[ 9.22865260e-01 -3.84766155e-01 -1.65745925e-02 6.81821222e+01] [ 3.84714962e-01 9.23013917e-01 -6.30136523e-03 9.70452119e+00] [ 1.77231316e-02 -5.61182651e-04 9.99842775e-01 8.82982443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:9.71, Z:0.88 [[ 9.22543370e-01 -3.85512427e-01 -1.71434804e-02 6.82078624e+01] [ 3.85457710e-01 9.22702454e-01 -6.52184321e-03 9.71457656e+00] [ 1.83325830e-02 -5.91403479e-04 9.99831769e-01 8.82754993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:9.73, Z:0.88 [[ 9.22324295e-01 -3.86033656e-01 -1.72020900e-02 6.82340617e+01] [ 3.85978598e-01 9.22484502e-01 -6.54723392e-03 9.72661734e+00] [ 1.83961141e-02 -6.00965679e-04 9.99830597e-01 8.82754916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:9.74, Z:0.88 [[ 9.21838356e-01 -3.87188872e-01 -1.72865135e-02 6.82598744e+01] [ 3.87133404e-01 9.22000211e-01 -6.58323745e-03 9.73773002e+00] [ 1.84871254e-02 -6.23506036e-04 9.99828904e-01 8.82735456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:9.75, Z:0.88 [[ 9.21631361e-01 -3.87673667e-01 -1.74574318e-02 6.82859920e+01] [ 3.87617148e-01 9.21796464e-01 -6.65024954e-03 9.74789643e+00] [ 1.86703256e-02 -6.37721405e-04 9.99825491e-01 8.83228128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:9.76, Z:0.88 [[ 9.21551066e-01 -3.87885719e-01 -1.69794523e-02 6.83121332e+01] [ 3.87832232e-01 9.21707265e-01 -6.47126654e-03 9.75881450e+00] [ 1.81601965e-02 -6.21576316e-04 9.99834897e-01 8.83803850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.34, Y:9.77, Z:0.88 [[ 9.21317484e-01 -3.88430385e-01 -1.72026076e-02 6.83382159e+01] [ 3.88375483e-01 9.21477852e-01 -6.56144942e-03 9.77042390e+00] [ 1.84004883e-02 -6.35892971e-04 9.99830494e-01 8.84683044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:9.78, Z:0.88 [[ 9.21305643e-01 -3.88461977e-01 -1.71231875e-02 6.83636902e+01] [ 3.88407499e-01 9.21464539e-01 -6.53594726e-03 9.78212962e+00] [ 1.83173771e-02 -6.29169337e-04 9.99832025e-01 8.84892065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:9.79, Z:0.88 [[ 9.21331323e-01 -3.88381569e-01 -1.75599198e-02 6.83882004e+01] [ 3.88324167e-01 9.21498426e-01 -6.70766446e-03 9.79247485e+00] [ 1.87865717e-02 -6.38959858e-04 9.99823313e-01 8.84969330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:9.80, Z:0.88 [[ 9.21408574e-01 -3.88204172e-01 -1.74287001e-02 6.84147335e+01] [ 3.88147520e-01 9.21573181e-01 -6.66147541e-03 9.80472465e+00] [ 1.86478352e-02 -6.26966173e-04 9.99825917e-01 8.84930547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.44, Y:9.82, Z:0.89 [[ 9.21499136e-01 -3.87993709e-01 -1.73270066e-02 6.84408840e+01] [ 3.87937608e-01 9.21661816e-01 -6.62641568e-03 9.81524306e+00] [ 1.85406480e-02 -6.15561167e-04 9.99827918e-01 8.85120112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:9.83, Z:0.89 [[ 9.21736287e-01 -3.87424392e-01 -1.74515938e-02 6.84665439e+01] [ 3.87367348e-01 9.21901281e-01 -6.67572764e-03 9.82520203e+00] [ 1.86749864e-02 -6.06917195e-04 9.99825423e-01 8.85697733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:9.84, Z:0.89 [[ 9.21768559e-01 -3.87336296e-01 -1.77007884e-02 6.84916103e+01] [ 3.87277542e-01 9.21938295e-01 -6.77386441e-03 9.83810139e+00] [ 1.89427982e-02 -6.11182588e-04 9.99820382e-01 8.86262219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:9.85, Z:0.89 [[ 9.22013123e-01 -3.86755568e-01 -1.76615780e-02 6.85187283e+01] [ 3.86696867e-01 9.22182075e-01 -6.76415224e-03 9.84857936e+00] [ 1.89032642e-02 -5.93039746e-04 9.99821141e-01 8.86965424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:9.86, Z:0.89 [[ 9.23095659e-01 -3.84139375e-01 -1.82028575e-02 6.85455654e+01] [ 3.84076434e-01 9.23274951e-01 -6.97551588e-03 9.85669531e+00] [ 1.94858127e-02 -5.52220171e-04 9.99809981e-01 8.87135962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:9.87, Z:0.89 [[ 9.23777914e-01 -3.82497840e-01 -1.81594844e-02 6.85713468e+01] [ 3.82434828e-01 9.23956242e-01 -6.96162156e-03 9.87103974e+00] [ 1.94413742e-02 -5.13827050e-04 9.99810867e-01 8.88555985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.60, Y:9.88, Z:0.89 [[ 9.23675706e-01 -3.82744672e-01 -1.81577858e-02 6.85970465e+01] [ 3.82681621e-01 9.23854021e-01 -6.96604956e-03 9.88097477e+00] [ 1.94413618e-02 -5.14280168e-04 9.99810867e-01 8.88922988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:9.89, Z:0.89 [[ 9.24474534e-01 -3.80799158e-01 -1.84075345e-02 6.86231950e+01] [ 3.80733867e-01 9.24657653e-01 -7.06731698e-03 9.89183611e+00] [ 1.97118960e-02 -4.74817211e-04 9.99805589e-01 8.89543736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:9.91, Z:0.89 [[ 9.26724963e-01 -3.75314299e-01 -1.78891071e-02 6.86493640e+01] [ 3.75251544e-01 9.26897545e-01 -6.87170129e-03 9.90644878e+00] [ 1.91604172e-02 -3.44737945e-04 9.99816363e-01 8.90610230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:9.92, Z:0.89 [[ 9.27834353e-01 -3.72570345e-01 -1.77412071e-02 6.86757239e+01] [ 3.72508086e-01 9.28003910e-01 -6.81676571e-03 9.91792222e+00] [ 1.90036343e-02 -2.83913696e-04 9.99819374e-01 8.91255222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:9.93, Z:0.89 [[ 9.28967390e-01 -3.69714878e-01 -1.81795667e-02 6.87022483e+01] [ 3.69648862e-01 9.29145230e-01 -6.99006929e-03 9.93058248e+00] [ 1.94757903e-02 -2.26509696e-04 9.99810303e-01 8.92575390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:9.94, Z:0.89 [[ 9.31259289e-01 -3.63904040e-01 -1.81655230e-02 6.87272304e+01] [ 3.63836939e-01 9.31436439e-01 -6.98869646e-03 9.94324537e+00] [ 1.94632450e-02 -1.00999808e-04 9.99810568e-01 8.92545448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:9.95, Z:0.89 [[ 9.32306887e-01 -3.61209858e-01 -1.82018370e-02 6.87526389e+01] [ 3.61141929e-01 9.32484550e-01 -7.00501721e-03 9.95458427e+00] [ 1.95032131e-02 -4.26207486e-05 9.99809793e-01 8.92954954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:9.97, Z:0.89 [[ 9.33054089e-01 -3.59305316e-01 -1.75998997e-02 6.87781548e+01] [ 3.59241415e-01 9.33220065e-01 -6.77616393e-03 9.96582998e+00] [ 1.88592912e-02 -8.53938249e-08 9.99822148e-01 8.94149280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.80, Y:9.98, Z:0.89 [[ 9.34103480e-01 -3.56567905e-01 -1.76073070e-02 6.88037854e+01] [ 3.56503356e-01 9.34269407e-01 -6.78467176e-03 9.97659644e+00] [ 1.88691644e-02 6.05214844e-05 9.99821960e-01 8.94997181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:9.99, Z:0.89 [[ 9.34300207e-01 -3.56046303e-01 -1.77243808e-02 6.88295899e+01] [ 3.55980712e-01 9.34468311e-01 -6.83432409e-03 9.98637176e+00] [ 1.89962080e-02 7.57727039e-05 9.99819553e-01 8.94705207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:10.00, Z:0.90 [[ 9.34176242e-01 -3.56357319e-01 -1.80058383e-02 6.88559367e+01] [ 3.56289628e-01 9.34349750e-01 -6.94584040e-03 9.99518837e+00] [ 1.92989516e-02 7.33456451e-05 9.99813755e-01 8.95255523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:10.00, Z:0.90 [[ 9.33370280e-01 -3.58474889e-01 -1.77672213e-02 6.88835114e+01] [ 3.58409259e-01 9.33539369e-01 -6.85930795e-03 1.00012483e+01] [ 1.90452902e-02 3.43375505e-05 9.99818621e-01 8.96004061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75361786499998 meters Centerline goodness [0,1] 0.9999792052236478 Centerline is valid? [True, True] Translation: X:68.91, Y:10.01, Z:0.90 [[ 9.32663305e-01 -3.60298773e-01 -1.79987389e-02 6.89106793e+01] [ 3.60231650e-01 9.32836960e-01 -6.95442757e-03 1.00091039e+01] [ 1.92955606e-02 2.42400366e-06 9.99813823e-01 8.96411161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:10.02, Z:0.90 [[ 9.31912601e-01 -3.62227675e-01 -1.81663108e-02 6.89375348e+01] [ 3.62159550e-01 9.32089647e-01 -7.02493584e-03 1.00165827e+01] [ 1.94772564e-02 -3.24766989e-05 9.99810300e-01 8.96652631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.97, Y:10.02, Z:0.90 [[ 9.30140935e-01 -3.66757436e-01 -1.80782914e-02 6.89658323e+01] [ 3.66690738e-01 9.30316596e-01 -6.99532980e-03 1.00215526e+01] [ 1.93841238e-02 -1.22499431e-04 9.99812103e-01 8.96192136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:10.03, Z:0.90 [[ 9.29033801e-01 -3.69555294e-01 -1.80300029e-02 6.89942107e+01] [ 3.69489426e-01 9.29208724e-01 -6.97935460e-03 1.00289308e+01] [ 1.93328934e-02 -1.77839087e-04 9.99813086e-01 8.96314780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:10.04, Z:0.90 [[ 9.27910537e-01 -3.72361416e-01 -1.81386915e-02 6.90221075e+01] [ 3.72295190e-01 9.28087777e-01 -7.02635372e-03 1.00359583e+01] [ 1.94506409e-02 -2.33119963e-04 9.99810791e-01 8.96734495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:10.04, Z:0.90 [[ 9.26706403e-01 -3.75336595e-01 -1.83761703e-02 6.90499822e+01] [ 3.75269123e-01 9.26888534e-01 -7.12263883e-03 1.00418496e+01] [ 1.97060485e-02 -2.95414281e-04 9.99805773e-01 8.96929375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:10.05, Z:0.90 [[ 9.24462433e-01 -3.80851541e-01 -1.79252328e-02 6.90799612e+01] [ 3.80788334e-01 9.24636114e-01 -6.94993949e-03 1.00456158e+01] [ 1.92212128e-02 -4.00761558e-04 9.99815175e-01 8.98372235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:10.05, Z:0.90 [[ 9.23548799e-01 -3.83056357e-01 -1.80400532e-02 6.91074680e+01] [ 3.82992732e-01 9.23724865e-01 -6.99576356e-03 1.00520730e+01] [ 1.93438174e-02 -4.48280204e-04 9.99812790e-01 8.98666861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:10.06, Z:0.90 [[ 9.22739212e-01 -3.85001424e-01 -1.80623864e-02 6.91356467e+01] [ 3.84937960e-01 9.22915850e-01 -7.00720248e-03 1.00600700e+01] [ 1.93678457e-02 -4.87077677e-04 9.99812307e-01 8.99027572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:10.06, Z:0.90 [[ 9.22027227e-01 -3.86683446e-01 -1.84852881e-02 6.91644023e+01] [ 3.86617232e-01 9.22212357e-01 -7.17535038e-03 1.00637288e+01] [ 1.98219503e-02 -5.30862517e-04 9.99803385e-01 8.98109955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:10.07, Z:0.90 [[ 9.22143418e-01 -3.86391132e-01 -1.87991672e-02 6.91918858e+01] [ 3.86322531e-01 9.22334869e-01 -7.30007544e-03 1.00725122e+01] [ 2.01598118e-02 -5.30825321e-04 9.99796629e-01 8.98644485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:10.08, Z:0.90 [[ 9.22322506e-01 -3.85952270e-01 -1.90273769e-02 6.92185250e+01] [ 3.85881795e-01 9.22518603e-01 -7.39378064e-03 1.00838559e+01] [ 2.04067556e-02 -5.22868081e-04 9.99791624e-01 8.99565128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:10.09, Z:0.90 [[ 9.23531003e-01 -3.83047930e-01 -1.90989338e-02 6.92453846e+01] [ 3.82976219e-01 9.23728356e-01 -7.42565134e-03 1.00920108e+01] [ 2.04866071e-02 -4.56618242e-04 9.99790023e-01 8.99944344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:10.10, Z:0.90 [[ 9.24479462e-01 -3.80751507e-01 -1.91314846e-02 6.92715869e+01] [ 3.80679022e-01 9.24677309e-01 -7.44015764e-03 1.01017374e+01] [ 2.05233009e-02 -4.04681904e-04 9.99789293e-01 9.00432615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:10.11, Z:0.90 [[ 9.25238554e-01 -3.78917078e-01 -1.88538264e-02 6.92988557e+01] [ 3.78846242e-01 9.25430560e-01 -7.33507512e-03 1.01120466e+01] [ 2.02272923e-02 -3.56006980e-04 9.99795344e-01 9.00769322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:10.12, Z:0.90 [[ 9.27028743e-01 -3.74545327e-01 -1.82622160e-02 6.93264946e+01] [ 3.74477926e-01 9.27208572e-01 -7.10959473e-03 1.01216367e+01] [ 1.95957487e-02 -2.47998100e-04 9.99807954e-01 9.02628220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:10.13, Z:0.90 [[ 9.27729259e-01 -3.72843393e-01 -1.74993165e-02 6.93536273e+01] [ 3.72781121e-01 9.27894264e-01 -6.81698035e-03 1.01318459e+01] [ 1.87791815e-02 -1.99102681e-04 9.99823636e-01 9.04169877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:10.14, Z:0.90 [[ 9.28489604e-01 -3.70958120e-01 -1.72374016e-02 6.93802515e+01] [ 3.70897301e-01 9.28649584e-01 -6.71884062e-03 1.01396431e+01] [ 1.84999143e-02 -1.54932069e-04 9.99828850e-01 9.04514004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:10.15, Z:0.91 [[ 9.29441885e-01 -3.68564896e-01 -1.72539968e-02 6.94077882e+01] [ 3.68503501e-01 9.29602015e-01 -6.72779931e-03 1.01472332e+01] [ 1.85189809e-02 -1.05059765e-04 9.99828503e-01 9.05678579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:10.16, Z:0.91 [[ 9.29886020e-01 -3.67441280e-01 -1.72886070e-02 6.94345837e+01] [ 3.67379357e-01 9.30046719e-01 -6.74602659e-03 1.01560647e+01] [ 1.85579809e-02 -7.84414997e-05 9.99827783e-01 9.06535092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:10.16, Z:0.91 [[ 9.30102805e-01 -3.66898712e-01 -1.71495293e-02 6.94604764e+01] [ 3.66837609e-01 9.30260894e-01 -6.69611578e-03 1.01643589e+01] [ 1.84103327e-02 -6.30162472e-05 9.99830513e-01 9.07140749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:10.17, Z:0.91 [[ 9.30148722e-01 -3.66812455e-01 -1.64917334e-02 6.94880338e+01] [ 3.66755885e-01 9.30294910e-01 -6.44213464e-03 1.01711294e+01] [ 1.77052309e-02 -5.62969873e-05 9.99843249e-01 9.08668062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:10.18, Z:0.91 [[ 9.30047873e-01 -3.67095834e-01 -1.58619669e-02 6.95139129e+01] [ 3.67043471e-01 9.30183125e-01 -6.20039403e-03 1.01781669e+01] [ 1.70306727e-02 -5.53680901e-05 9.99854966e-01 9.09009236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:10.19, Z:0.91 [[ 9.29835776e-01 -3.67642592e-01 -1.56318215e-02 6.95403226e+01] [ 3.67591779e-01 9.29967161e-01 -6.11252390e-03 1.01851309e+01] [ 1.67843048e-02 -6.24856574e-05 9.99859132e-01 9.09950940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:10.19, Z:0.91 [[ 9.29459729e-01 -3.68586360e-01 -1.57704564e-02 6.95678479e+01] [ 3.68534735e-01 9.29593507e-01 -6.16931124e-03 1.01923830e+01] [ 1.69340379e-02 -7.78346223e-05 9.99856606e-01 9.10694859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:10.20, Z:0.91 [[ 9.28634651e-01 -3.70620966e-01 -1.66668738e-02 6.95966610e+01] [ 3.70563542e-01 9.28784198e-01 -6.52495344e-03 1.01975850e+01] [ 1.78982136e-02 -1.16837947e-04 9.99839807e-01 9.11239657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:10.20, Z:0.91 [[ 9.28172852e-01 -3.71745216e-01 -1.73393034e-02 6.96238462e+01] [ 3.71683187e-01 9.28334786e-01 -6.79216432e-03 1.02047641e+01] [ 1.86216331e-02 -1.40425020e-04 9.99826592e-01 9.11082900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:10.21, Z:0.91 [[ 9.27618975e-01 -3.73088328e-01 -1.81145337e-02 6.96521374e+01] [ 3.73020830e-01 9.27795813e-01 -7.09860326e-03 1.02127152e+01] [ 1.94549946e-02 -1.72299327e-04 9.99810719e-01 9.11453703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:10.22, Z:0.91 [[ 9.26572225e-01 -3.75615261e-01 -1.94187619e-02 6.96808732e+01] [ 3.75538132e-01 9.26775658e-01 -7.61523059e-03 1.02185924e+01] [ 2.08572326e-02 -2.36424400e-04 9.99782436e-01 9.11901130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:10.23, Z:0.91 [[ 9.26053278e-01 -3.76871223e-01 -1.98345205e-02 6.97078899e+01] [ 3.76790952e-01 9.26265626e-01 -7.78257605e-03 1.02254234e+01] [ 2.13050635e-02 -2.66387786e-04 9.99772986e-01 9.11387806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:10.23, Z:0.91 [[ 9.25615182e-01 -3.77928606e-01 -2.01619467e-02 6.97348769e+01] [ 3.77845870e-01 9.25834695e-01 -7.91304810e-03 1.02321852e+01] [ 2.16571971e-02 -2.93670848e-04 9.99765412e-01 9.11802019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:10.24, Z:0.91 [[ 9.24957982e-01 -3.79522510e-01 -2.03812696e-02 6.97629179e+01] [ 3.79438277e-01 9.25182444e-01 -8.00247429e-03 1.02397060e+01] [ 2.18935119e-02 -3.31481337e-04 9.99760253e-01 9.12613385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:10.25, Z:0.91 [[ 9.23904028e-01 -3.82061013e-01 -2.07540327e-02 6.97913798e+01] [ 3.81974215e-01 9.24137017e-01 -8.15305729e-03 1.02450070e+01] [ 2.22945352e-02 -3.94862901e-04 9.99751368e-01 9.14195734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.82, Y:10.25, Z:0.91 [[ 9.23420417e-01 -3.83217583e-01 -2.09527457e-02 6.98192116e+01] [ 3.83129331e-01 9.23658002e-01 -8.23472000e-03 1.02535720e+01] [ 2.25088607e-02 -4.23502868e-04 9.99746554e-01 9.14914800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77361786499998 meters Centerline goodness [0,1] 0.9999141170155663 Centerline is valid? [True, True] Translation: X:69.85, Y:10.26, Z:0.91 [[ 9.22847417e-01 -3.84508961e-01 -2.24834281e-02 6.98473462e+01] [ 3.84407568e-01 9.23121133e-01 -8.84279950e-03 1.02620176e+01] [ 2.41550632e-02 -4.82245232e-04 9.99708108e-01 9.13548821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.87, Y:10.27, Z:0.92 [[ 9.22678892e-01 -3.84936694e-01 -2.20772111e-02 6.98739115e+01] [ 3.84838952e-01 9.22942853e-01 -8.68737723e-03 1.02700742e+01] [ 2.37200945e-02 -4.80511194e-04 9.99718523e-01 9.15567394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.90, Y:10.28, Z:0.92 [[ 9.22526143e-01 -3.85276832e-01 -2.25228609e-02 6.99007261e+01] [ 3.85175097e-01 9.22800909e-01 -8.86718455e-03 1.02773803e+01] [ 2.42004373e-02 -4.95035588e-04 9.99707004e-01 9.16509080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:10.29, Z:0.92 [[ 9.22521962e-01 -3.85296700e-01 -2.23535728e-02 6.99277057e+01] [ 3.85196325e-01 9.22792619e-01 -8.80757785e-03 1.02857972e+01] [ 2.40212426e-02 -4.85330085e-04 9.99711331e-01 9.17667008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:10.29, Z:0.92 [[ 9.22618741e-01 -3.85103768e-01 -2.16736510e-02 6.99557673e+01] [ 3.85009205e-01 9.22873164e-01 -8.54608429e-03 1.02930453e+01] [ 2.32931601e-02 -4.59777611e-04 9.99728572e-01 9.20218809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:10.30, Z:0.92 [[ 9.22844906e-01 -3.84597138e-01 -2.10314322e-02 6.99825607e+01] [ 3.84507870e-01 9.23084425e-01 -8.29708432e-03 1.03009235e+01] [ 2.26048224e-02 -4.29829191e-04 9.99744386e-01 9.21257741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.01, Y:10.31, Z:0.92 [[ 9.22913500e-01 -3.84442346e-01 -2.08507578e-02 7.00094052e+01] [ 3.84354478e-01 9.23148909e-01 -8.22969082e-03 1.03097084e+01] [ 2.24121959e-02 -4.18789355e-04 9.99748727e-01 9.22688735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.04, Y:10.32, Z:0.92 [[ 9.23219119e-01 -3.83733932e-01 -2.03648496e-02 7.00366812e+01] [ 3.83649839e-01 9.23443620e-01 -8.04250852e-03 1.03174964e+01] [ 2.18919739e-02 -3.87973659e-04 9.99760267e-01 9.23730256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:10.33, Z:0.92 [[ 9.23237475e-01 -3.83705499e-01 -2.00662433e-02 7.00631543e+01] [ 3.83623772e-01 9.23455438e-01 -7.92809706e-03 1.03282137e+01] [ 2.15723359e-02 -3.78371633e-04 9.99767218e-01 9.24857636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:70.09, Y:10.34, Z:0.93 [[ 9.23675650e-01 -3.82636026e-01 -2.03215420e-02 7.00900872e+01] [ 3.82551847e-01 9.23899100e-01 -8.03356431e-03 1.03352797e+01] [ 2.18489855e-02 -3.53635701e-04 9.99761220e-01 9.26102455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:10.34, Z:0.93 [[ 9.23793726e-01 -3.82349089e-01 -2.03550089e-02 7.01169365e+01] [ 3.82264480e-01 9.24017887e-01 -8.05057055e-03 1.03448518e+01] [ 2.18865206e-02 -3.43930319e-04 9.99760402e-01 9.27332076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters Centerline goodness [0,1] 0.9999784287501617 Centerline is valid? [True, True] Translation: X:70.14, Y:10.35, Z:0.93 [[ 9.24139215e-01 -3.81512868e-01 -2.03627737e-02 7.01430539e+01] [ 3.81427888e-01 9.24363472e-01 -8.05838282e-03 1.03536818e+01] [ 2.18969809e-02 -3.19862186e-04 9.99760181e-01 9.27276471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:10.36, Z:0.93 [[ 9.24493750e-01 -3.80667059e-01 -2.00971770e-02 7.01701790e+01] [ 3.80584012e-01 9.24712120e-01 -7.95649298e-03 1.03648878e+01] [ 2.16128780e-02 -2.92936224e-04 9.99766372e-01 9.28756696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499998 meters Centerline goodness [0,1] 0.9999351183009646 Centerline is valid? [True, True] Translation: X:70.20, Y:10.37, Z:0.93 [[ 9.25366938e-01 -3.78525309e-01 -2.03622260e-02 7.01961921e+01] [ 3.78439448e-01 9.25590909e-01 -8.06550235e-03 1.03742111e+01] [ 2.19000881e-02 -2.42320380e-04 9.99760135e-01 9.29019883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19361786499998 meters Centerline goodness [0,1] 0.9999352974162101 Centerline is valid? [True, True] Translation: X:70.22, Y:10.38, Z:0.93 [[ 9.25774176e-01 -3.77526573e-01 -2.03926943e-02 7.02227498e+01] [ 3.77440138e-01 9.25998726e-01 -8.08097510e-03 1.03843370e+01] [ 2.19343918e-02 -2.15863285e-04 9.99759389e-01 9.29344886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:10.40, Z:0.93 [[ 9.26217808e-01 -3.76413106e-01 -2.08265421e-02 7.02487407e+01] [ 3.76322535e-01 9.26451908e-01 -8.25902945e-03 1.03954007e+01] [ 2.24035966e-02 -1.87836969e-04 9.99748990e-01 9.30209522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.28, Y:10.40, Z:0.93 [[ 9.26576729e-01 -3.75525670e-01 -2.08815016e-02 7.02755383e+01] [ 3.75434286e-01 9.26811979e-01 -8.28564985e-03 1.04044116e+01] [ 2.24647001e-02 -1.62341335e-04 9.99747624e-01 9.29207297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.30, Y:10.41, Z:0.93 [[ 9.26480267e-01 -3.75763664e-01 -2.08802150e-02 7.03011355e+01] [ 3.75672267e-01 9.26715513e-01 -8.28889108e-03 1.04146658e+01] [ 2.24646832e-02 -1.64623701e-04 9.99747624e-01 9.29574898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31361786499998 meters Centerline goodness [0,1] 0.999913791245501 Centerline is valid? [True, True] Translation: X:70.33, Y:10.43, Z:0.93 [[ 9.27026733e-01 -3.74370516e-01 -2.16368594e-02 7.03275923e+01] [ 3.74271838e-01 9.27279192e-01 -8.59598945e-03 1.04250781e+01] [ 2.32814945e-02 -1.29355118e-04 9.99728941e-01 9.31192450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:10.43, Z:0.93 [[ 9.27211565e-01 -3.73928700e-01 -2.13551229e-02 7.03531130e+01] [ 3.73832326e-01 9.27457446e-01 -8.48983458e-03 1.04342273e+01] [ 2.29805606e-02 -1.11362454e-04 9.99735906e-01 9.30314827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:10.44, Z:0.93 [[ 9.27466129e-01 -3.73342614e-01 -2.05395107e-02 7.03793991e+01] [ 3.73253212e-01 9.27693529e-01 -8.17039323e-03 1.04449899e+01] [ 2.21047271e-02 -8.86753547e-05 9.99755657e-01 9.32624165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:10.45, Z:0.93 [[ 9.27339837e-01 -3.73658761e-01 -2.04928602e-02 7.04044937e+01] [ 3.73569741e-01 9.27566236e-01 -8.15637215e-03 1.04537485e+01] [ 2.20561851e-02 -9.17836606e-05 9.99756729e-01 9.31502633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43361786499999 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:70.43, Y:10.46, Z:0.93 [[ 9.27216730e-01 -3.73947817e-01 -2.07886060e-02 7.04307054e+01] [ 3.73856184e-01 9.27449740e-01 -8.27845028e-03 1.04640709e+01] [ 2.23760957e-02 -9.60313275e-05 9.99749619e-01 9.32711621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters Centerline goodness [0,1] 0.9999783526355667 Centerline is valid? [True, True] Translation: X:70.46, Y:10.47, Z:0.93 [[ 9.26517785e-01 -3.75658199e-01 -2.11118760e-02 7.04585153e+01] [ 3.75563993e-01 9.26758275e-01 -8.41355717e-03 1.04720328e+01] [ 2.27262275e-02 -1.33550094e-04 9.99741717e-01 9.32753027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49361786499999 meters Centerline goodness [0,1] 0.9999352191751242 Centerline is valid? [True, True] Translation: X:70.49, Y:10.48, Z:0.93 [[ 9.25989703e-01 -3.76955370e-01 -2.11593935e-02 7.04850983e+01] [ 3.76860934e-01 9.26231409e-01 -8.43873587e-03 1.04806427e+01] [ 2.27795216e-02 -1.59966280e-04 9.99740500e-01 9.33483627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499998 meters Centerline goodness [0,1] 0.999956738048886 Centerline is valid? [True, True] Translation: X:70.51, Y:10.49, Z:0.93 [[ 9.25544589e-01 -3.78028218e-01 -2.14914034e-02 7.05113377e+01] [ 3.77930971e-01 9.25794055e-01 -8.57608567e-03 1.04890887e+01] [ 2.31386159e-02 -1.84717244e-04 9.99732249e-01 9.33883611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:10.50, Z:0.93 [[ 9.24856395e-01 -3.79708781e-01 -2.14916460e-02 7.05395769e+01] [ 3.79611898e-01 9.25106044e-01 -8.57992102e-03 1.04971472e+01] [ 2.31399229e-02 -2.23289698e-04 9.99732211e-01 9.34261719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:10.51, Z:0.93 [[ 9.24330015e-01 -3.80976311e-01 -2.17042107e-02 7.05662835e+01] [ 3.80877750e-01 9.24584764e-01 -8.66914211e-03 1.05062986e+01] [ 2.33701203e-02 -2.53502664e-04 9.99726849e-01 9.34603116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61361786499998 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:70.59, Y:10.52, Z:0.93 [[ 9.23977699e-01 -3.81823495e-01 -2.18181334e-02 7.05925600e+01] [ 3.81724082e-01 9.24235221e-01 -8.71676604e-03 1.05150712e+01] [ 2.34933534e-02 -2.74409501e-04 9.99723955e-01 9.34311886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64361786499998 meters Centerline goodness [0,1] 0.9999566715050153 Centerline is valid? [True, True] Translation: X:70.62, Y:10.53, Z:0.94 [[ 9.23612655e-01 -3.82678604e-01 -2.22878684e-02 7.06195977e+01] [ 3.82575018e-01 9.23881484e-01 -8.90834835e-03 1.05254938e+01] [ 2.40003833e-02 -2.98918396e-04 9.99711905e-01 9.35750844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:10.53, Z:0.94 [[ 9.22838369e-01 -3.84525788e-01 -2.25668406e-02 7.06469456e+01] [ 3.84420037e-01 9.23114184e-01 -9.02428194e-03 1.05335592e+01] [ 2.43018398e-02 -3.47192070e-04 9.99704606e-01 9.37261952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:10.54, Z:0.94 [[ 9.22336979e-01 -3.85716422e-01 -2.27450961e-02 7.06738523e+01] [ 3.85609300e-01 9.22617308e-01 -9.09781596e-03 1.05420496e+01] [ 2.44941963e-02 -3.79468480e-04 9.99699900e-01 9.38047163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73361786499999 meters Centerline goodness [0,1] 0.9999563499858137 Centerline is valid? [True, True] Translation: X:70.70, Y:10.55, Z:0.94 [[ 9.21693264e-01 -3.87264464e-01 -2.25335665e-02 7.07007208e+01] [ 3.87159689e-01 9.21968581e-01 -9.01723681e-03 1.05516288e+01] [ 2.42672957e-02 -4.12962170e-04 9.99705421e-01 9.39627958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:10.56, Z:0.94 [[ 9.21152129e-01 -3.88560690e-01 -2.23460151e-02 7.07271946e+01] [ 3.88457928e-01 9.21423028e-01 -8.94658871e-03 1.05597092e+01] [ 2.40664256e-02 -4.39317471e-04 9.99710265e-01 9.40186282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:10.57, Z:0.94 [[ 9.20136373e-01 -3.90982829e-01 -2.19426945e-02 7.07542285e+01] [ 3.90884340e-01 9.20397842e-01 -8.78895026e-03 1.05688747e+01] [ 2.36323373e-02 -4.90022832e-04 9.99720597e-01 9.41971772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:70.78, Y:10.58, Z:0.94 [[ 9.19495557e-01 -3.92493318e-01 -2.18383899e-02 7.07811419e+01] [ 3.92396047e-01 9.19754709e-01 -8.75317285e-03 1.05782957e+01] [ 2.35215238e-02 -5.20794347e-04 9.99723195e-01 9.42558743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:10.59, Z:0.94 [[ 9.18989566e-01 -3.93637442e-01 -2.25331257e-02 7.08077640e+01] [ 3.93534105e-01 9.19265602e-01 -9.03663996e-03 1.05881846e+01] [ 2.42710872e-02 -5.62975623e-04 9.99705255e-01 9.43292650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:10.59, Z:0.94 [[ 9.18180694e-01 -3.95481129e-01 -2.32140005e-02 7.08351619e+01] [ 3.95371953e-01 9.18473888e-01 -9.31316802e-03 1.05940711e+01] [ 2.50046355e-02 -6.26993636e-04 9.99687139e-01 9.43292190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91361786499998 meters Centerline goodness [0,1] 0.9999780538120528 Centerline is valid? [True, True] Translation: X:70.86, Y:10.61, Z:0.95 [[ 9.17951243e-01 -3.96025922e-01 -2.29996817e-02 7.08610140e+01] [ 3.95918796e-01 9.18239114e-01 -9.23235376e-03 1.06060461e+01] [ 2.47754588e-02 -6.31155687e-04 9.99692842e-01 9.45500643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:10.62, Z:0.95 [[ 9.17663097e-01 -3.96688055e-01 -2.30873972e-02 7.08877916e+01] [ 3.96580147e-01 9.17953251e-01 -9.27448868e-03 1.06162052e+01] [ 2.48722302e-02 -6.45147360e-04 9.99690430e-01 9.46435488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.91, Y:10.63, Z:0.95 [[ 9.17853288e-01 -3.96274285e-01 -2.26281553e-02 7.09144501e+01] [ 3.96170351e-01 9.18131969e-01 -9.09623147e-03 1.06264015e+01] [ 2.43802354e-02 -6.15598252e-04 9.99702568e-01 9.47939228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:10.63, Z:0.95 [[ 9.18107863e-01 -3.95678851e-01 -2.27200063e-02 7.09416131e+01] [ 3.95573734e-01 9.18388747e-01 -9.13945404e-03 1.06349199e+01] [ 2.44820868e-02 -5.96433097e-04 9.99700091e-01 9.47494312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:10.65, Z:0.95 [[ 9.18278307e-01 -3.95283991e-01 -2.27050161e-02 7.09680183e+01] [ 3.95178742e-01 9.18558779e-01 -9.13956101e-03 1.06461561e+01] [ 2.44686140e-02 -5.79879091e-04 9.99700430e-01 9.48140827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:10.66, Z:0.95 [[ 9.18777806e-01 -3.94092257e-01 -2.32085201e-02 7.09943241e+01] [ 3.93981750e-01 9.19070718e-01 -9.34853837e-03 1.06586202e+01] [ 2.50144578e-02 -5.54503774e-04 9.99686936e-01 9.49166217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:10.67, Z:0.95 [[ 9.20034899e-01 -3.91112415e-01 -2.38088946e-02 7.10204749e+01] [ 3.90994948e-01 9.20342789e-01 -9.59696846e-03 1.06709211e+01] [ 2.56658380e-02 -4.79611601e-04 9.99670463e-01 9.49336398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters Centerline goodness [0,1] 0.9998680767793144 Centerline is valid? [True, True] Translation: X:71.05, Y:10.68, Z:0.95 [[ 9.20564859e-01 -3.89890577e-01 -2.33597674e-02 7.10467015e+01] [ 3.89776948e-01 9.20861093e-01 -9.42224241e-03 1.06817296e+01] [ 2.51847445e-02 -4.31313585e-04 9.99682721e-01 9.49312560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15361786499999 meters Centerline goodness [0,1] 0.9999781425542611 Centerline is valid? [True, True] Translation: X:71.07, Y:10.69, Z:0.95 [[ 9.21075308e-01 -3.88690515e-01 -2.32370507e-02 7.10729081e+01] [ 3.88577537e-01 9.21368293e-01 -9.37905758e-03 1.06935010e+01] [ 2.50554324e-02 -3.90577565e-04 9.99685987e-01 9.50336235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:10.70, Z:0.95 [[ 9.22226364e-01 -3.86016273e-01 -2.21353054e-02 7.10981704e+01] [ 3.85912885e-01 9.22491923e-01 -8.93853211e-03 1.07049092e+01] [ 2.38700593e-02 -2.98949602e-04 9.99715025e-01 9.50889233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:10.72, Z:0.95 [[ 9.22602443e-01 -3.85139505e-01 -2.17323043e-02 7.11245207e+01] [ 3.85039519e-01 9.22858326e-01 -8.77948832e-03 1.07159524e+01] [ 2.34371657e-02 -2.67818600e-04 9.99725276e-01 9.51461882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.15, Y:10.73, Z:0.95 [[ 9.23058345e-01 -3.84081729e-01 -2.10835885e-02 7.11506489e+01] [ 3.83987246e-01 9.23299070e-01 -8.52188600e-03 1.07268464e+01] [ 2.27395584e-02 -2.29631083e-04 9.99741396e-01 9.51802699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.18, Y:10.74, Z:0.95 [[ 9.23758331e-01 -3.82457835e-01 -1.99135963e-02 7.11766868e+01] [ 3.82373092e-01 9.23972929e-01 -8.05264361e-03 1.07389671e+01] [ 2.14794205e-02 -1.75726752e-04 9.99769275e-01 9.52552710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:10.75, Z:0.95 [[ 9.24077336e-01 -3.81719837e-01 -1.92624827e-02 7.12028556e+01] [ 3.81640282e-01 9.24278066e-01 -7.79434239e-03 1.07501226e+01] [ 2.07791454e-02 -1.48764185e-04 9.99784079e-01 9.52890100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33361786499998 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:71.23, Y:10.76, Z:0.95 [[ 9.24214252e-01 -3.81415559e-01 -1.87133178e-02 7.12285753e+01] [ 3.81340310e-01 9.24403675e-01 -7.57721339e-03 1.07610747e+01] [ 2.01887268e-02 -1.33173788e-04 9.99796178e-01 9.53178583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36361786499998 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:71.25, Y:10.77, Z:0.95 [[ 9.24715815e-01 -3.80249616e-01 -1.76320800e-02 7.12542983e+01] [ 3.80182524e-01 9.24883895e-01 -7.14341108e-03 1.07721881e+01] [ 1.90239061e-02 -9.77834750e-05 9.99819024e-01 9.54053557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:10.78, Z:0.95 [[ 9.24776438e-01 -3.80147317e-01 -1.66300305e-02 7.12800393e+01] [ 3.80087576e-01 9.24925948e-01 -6.73978852e-03 1.07834471e+01] [ 1.79436593e-02 -8.80703696e-05 9.99838996e-01 9.54120246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42361786499998 meters Centerline goodness [0,1] 0.9999563728377288 Centerline is valid? [True, True] Translation: X:71.31, Y:10.80, Z:0.95 [[ 9.24777901e-01 -3.80166195e-01 -1.61089294e-02 7.13059029e+01] [ 3.80110061e-01 9.24918190e-01 -6.53330728e-03 1.07953735e+01] [ 1.73831843e-02 -8.13079168e-05 9.99848898e-01 9.54827369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:10.81, Z:0.95 [[ 9.24653728e-01 -3.80502825e-01 -1.52670623e-02 7.13319060e+01] [ 3.80452374e-01 9.24779755e-01 -6.19650158e-03 1.08062036e+01] [ 1.64764565e-02 -7.87718304e-05 9.99864251e-01 9.54993963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:10.82, Z:0.95 [[ 9.24564595e-01 -3.80729393e-01 -1.50145856e-02 7.13572836e+01] [ 3.80680554e-01 9.24686500e-01 -6.09856430e-03 1.08159297e+01] [ 1.62056873e-02 -7.72441257e-05 9.99868676e-01 9.54760149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:10.83, Z:0.96 [[ 9.24511730e-01 -3.80861730e-01 -1.49132228e-02 7.13834494e+01] [ 3.80813508e-01 9.24632001e-01 -6.06092976e-03 1.08261957e+01] [ 1.60976193e-02 -7.57560579e-05 9.99870422e-01 9.55234857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters Centerline goodness [0,1] 0.9999127704117237 Centerline is valid? [True, True] Translation: X:71.41, Y:10.84, Z:0.95 [[ 9.24501254e-01 -3.80885975e-01 -1.49433825e-02 7.14095281e+01] [ 3.80837484e-01 9.24622014e-01 -6.07801684e-03 1.08366346e+01] [ 1.61320118e-02 -7.18659793e-05 9.99869868e-01 9.54960709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57361786499999 meters Centerline goodness [0,1] 0.9999123940515561 Centerline is valid? [True, True] Translation: X:71.44, Y:10.85, Z:0.96 [[ 9.24337843e-01 -3.81294911e-01 -1.46199708e-02 7.14355618e+01] [ 3.81248474e-01 9.24453453e-01 -5.95109157e-03 1.08470728e+01] [ 1.57846034e-02 -7.30224168e-05 9.99875413e-01 9.55540526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters Centerline goodness [0,1] 0.999934554973822 Centerline is valid? [True, True] Translation: X:71.46, Y:10.86, Z:0.96 [[ 9.24191651e-01 -3.81647413e-01 -1.46643958e-02 7.14608316e+01] [ 3.81600667e-01 9.24307983e-01 -5.97364667e-03 1.08567686e+01] [ 1.58342449e-02 -7.51488160e-05 9.99874628e-01 9.55224460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63361786499998 meters Centerline goodness [0,1] 0.9998687089715537 Centerline is valid? [True, True] Translation: X:71.49, Y:10.87, Z:0.96 [[ 9.23730480e-01 -3.82763969e-01 -1.46199996e-02 7.14867829e+01] [ 3.82717592e-01 9.23846165e-01 -5.95896305e-03 1.08666260e+01] [ 1.57875069e-02 -9.08552510e-05 9.99875365e-01 9.55211035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:10.88, Z:0.96 [[ 9.23348177e-01 -3.83698907e-01 -1.42580823e-02 7.15129723e+01] [ 3.83654847e-01 9.23458249e-01 -5.81549960e-03 1.08767332e+01] [ 1.53981446e-02 -1.00451441e-04 9.99881436e-01 9.55679902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69361786499998 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:71.54, Y:10.88, Z:0.96 [[ 9.22798953e-01 -3.85040656e-01 -1.36303346e-02 7.15394737e+01] [ 3.85000517e-01 9.22899605e-01 -5.56075495e-03 1.08843173e+01] [ 1.47205471e-02 -1.16227005e-04 9.99891640e-01 9.56272728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:10.89, Z:0.96 [[ 9.22287055e-01 -3.86288038e-01 -1.29668645e-02 7.15666257e+01] [ 3.86251817e-01 9.22378195e-01 -5.29139816e-03 1.08940220e+01] [ 1.40043569e-02 -1.28286936e-04 9.99901926e-01 9.57053817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:10.90, Z:0.96 [[ 9.21772890e-01 -3.87540188e-01 -1.21384498e-02 7.15938227e+01] [ 3.87508516e-01 9.21852800e-01 -4.95638461e-03 1.09042926e+01] [ 1.31106622e-02 -1.35091718e-04 9.99914042e-01 9.58137990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:10.92, Z:0.96 [[ 9.21297587e-01 -3.88682394e-01 -1.16941065e-02 7.16202685e+01] [ 3.88653052e-01 9.21371790e-01 -4.77795547e-03 1.09150611e+01] [ 1.26317270e-02 -1.43031317e-04 9.99920206e-01 9.58748705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:10.92, Z:0.96 [[ 9.20867347e-01 -3.89732237e-01 -1.05883056e-02 7.16460302e+01] [ 3.89708219e-01 9.20928208e-01 -4.32904869e-03 1.09248070e+01] [ 1.14382391e-02 -1.39870141e-04 9.99934571e-01 9.59166799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84361786499998 meters Centerline goodness [0,1] 0.9999559616866674 Centerline is valid? [True, True] Translation: X:71.67, Y:10.93, Z:0.96 [[ 9.20249145e-01 -3.91207188e-01 -9.92208028e-03 7.16735719e+01] [ 3.91186177e-01 9.20302621e-01 -4.05712908e-03 1.09334859e+01] [ 1.07184945e-02 -1.47811087e-04 9.99942544e-01 9.59766753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:10.94, Z:0.96 [[ 9.19973875e-01 -3.91853273e-01 -9.95398066e-03 7.16999105e+01] [ 3.91832131e-01 9.20027711e-01 -4.07330138e-03 1.09430396e+01] [ 1.07540745e-02 -1.52958607e-04 9.99942162e-01 9.60466539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:10.95, Z:0.96 [[ 9.19773786e-01 -3.92319748e-01 -1.00696013e-02 7.17263445e+01] [ 3.92298131e-01 9.19828891e-01 -4.12149521e-03 1.09524786e+01] [ 1.08792541e-02 -1.59442509e-04 9.99940806e-01 9.61116881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:10.96, Z:0.96 [[ 9.19778590e-01 -3.92303765e-01 -1.02518712e-02 7.17523348e+01] [ 3.92281345e-01 9.19835708e-01 -4.19719594e-03 1.09640379e+01] [ 1.10766130e-02 -1.61126864e-04 9.99938639e-01 9.61316890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:10.97, Z:0.96 [[ 9.20049532e-01 -3.91665248e-01 -1.03533912e-02 7.17784272e+01] [ 3.91642300e-01 9.20107771e-01 -4.24249457e-03 1.09734557e+01] [ 1.11878734e-02 -1.51520809e-04 9.99937402e-01 9.61603607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99361786499999 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:71.80, Y:10.99, Z:0.96 [[ 9.20828092e-01 -3.89836874e-01 -1.01408939e-02 7.18034857e+01] [ 3.89814740e-01 9.20883921e-01 -4.15599026e-03 1.09878038e+01] [ 1.09587444e-02 -1.26117351e-04 9.99939943e-01 9.61538222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:11.00, Z:0.96 [[ 9.21320268e-01 -3.88670864e-01 -1.01942454e-02 7.18290183e+01] [ 3.88648390e-01 9.21376659e-01 -4.18108019e-03 1.09990754e+01] [ 1.10178038e-02 -1.09863142e-04 9.99939296e-01 9.61942100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:11.01, Z:0.96 [[ 9.21774938e-01 -3.87589302e-01 -1.02711615e-02 7.18552609e+01] [ 3.87566414e-01 9.21832156e-01 -4.21327497e-03 1.10114774e+01] [ 1.11013072e-02 -9.70659541e-05 9.99938374e-01 9.62221797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08361786499998 meters Centerline goodness [0,1] 0.9999560902783876 Centerline is valid? [True, True] Translation: X:71.88, Y:11.02, Z:0.96 [[ 9.22663263e-01 -3.85467304e-01 -1.03663172e-02 7.18801191e+01] [ 3.85443820e-01 9.22721493e-01 -4.25544143e-03 1.10235438e+01] [ 1.12055572e-02 -6.92934032e-05 9.99937213e-01 9.62965123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:11.04, Z:0.96 [[ 9.22954604e-01 -3.84771516e-01 -1.02800952e-02 7.19060214e+01] [ 3.84748365e-01 9.23011851e-01 -4.22116826e-03 1.10353991e+01] [ 1.11128350e-02 -5.93031503e-05 9.99938249e-01 9.63470339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:11.05, Z:0.96 [[ 9.23126272e-01 -3.84360240e-01 -1.02514021e-02 7.19309558e+01] [ 3.84337153e-01 9.23183191e-01 -4.21301286e-03 1.10461755e+01] [ 1.10832368e-02 -5.08518622e-05 9.99938578e-01 9.64014750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17361786499998 meters Centerline goodness [0,1] 0.999934351612762 Centerline is valid? [True, True] Translation: X:71.96, Y:11.06, Z:0.96 [[ 9.23286271e-01 -3.83969527e-01 -1.04816307e-02 7.19568280e+01] [ 3.83945354e-01 9.23345764e-01 -4.30876986e-03 1.10582461e+01] [ 1.13326056e-02 -4.61453554e-05 9.99935783e-01 9.64414610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20361786499998 meters Centerline goodness [0,1] 0.999934351612762 Centerline is valid? [True, True] Translation: X:71.98, Y:11.07, Z:0.96 [[ 9.23180557e-01 -3.84223657e-01 -1.04804420e-02 7.19823156e+01] [ 3.84199467e-01 9.23240044e-01 -4.31165897e-03 1.10688035e+01] [ 1.13326052e-02 -4.61405204e-05 9.99935783e-01 9.64781375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23361786499999 meters Centerline goodness [0,1] 0.9999121901960354 Centerline is valid? [True, True] Translation: X:72.01, Y:11.08, Z:0.97 [[ 9.23128255e-01 -3.84358167e-01 -1.01500431e-02 7.20079465e+01] [ 3.84335452e-01 9.23184054e-01 -4.17887610e-03 1.10794917e+01] [ 1.09765431e-02 -4.33828192e-05 9.99939755e-01 9.65676876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:11.09, Z:0.97 [[ 9.22981468e-01 -3.84718970e-01 -9.82465005e-03 7.20329540e+01] [ 3.84697671e-01 9.23033755e-01 -4.04839670e-03 1.10903212e+01] [ 1.06259786e-02 -4.29248672e-05 9.99943542e-01 9.66011249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:11.10, Z:0.97 [[ 9.22906485e-01 -3.84911524e-01 -9.31333130e-03 7.20579837e+01] [ 3.84892382e-01 9.22953475e-01 -3.83891136e-03 1.11011560e+01] [ 1.00734127e-02 -4.16740725e-05 9.99949261e-01 9.67304569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters Centerline goodness [0,1] 0.9999780788285326 Centerline is valid? [True, True] Translation: X:72.08, Y:11.11, Z:0.97 [[ 9.22800754e-01 -3.85184630e-01 -8.45985419e-03 7.20838137e+01] [ 3.85168836e-01 9.22839531e-01 -3.48828311e-03 1.11124540e+01] [ 9.15072091e-03 -3.94819054e-05 9.99958130e-01 9.68769057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35361786499999 meters Centerline goodness [0,1] 0.999956223871123 Centerline is valid? [True, True] Translation: X:72.11, Y:11.12, Z:0.97 [[ 9.22646725e-01 -3.85563300e-01 -7.99768147e-03 7.21092461e+01] [ 3.85549201e-01 9.22681386e-01 -3.29750574e-03 1.11232808e+01] [ 8.65070902e-03 -4.10668274e-05 9.99962581e-01 9.69917884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499998 meters Centerline goodness [0,1] 0.999978086514441 Centerline is valid? [True, True] Translation: X:72.13, Y:11.13, Z:0.97 [[ 9.22299047e-01 -3.86393730e-01 -8.02209957e-03 7.21343055e+01] [ 3.86379555e-01 9.22333933e-01 -3.31003874e-03 1.11349503e+01] [ 8.67803286e-03 -4.67296834e-05 9.99962344e-01 9.69707369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:11.15, Z:0.97 [[ 9.22097059e-01 -3.86869681e-01 -8.29843865e-03 7.21598100e+01] [ 3.86854507e-01 9.22134398e-01 -3.42683342e-03 1.11462842e+01] [ 8.97801368e-03 -5.04153791e-05 9.99959696e-01 9.69224552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44361786499998 meters Centerline goodness [0,1] 0.9999344333952573 Centerline is valid? [True, True] Translation: X:72.18, Y:11.16, Z:0.97 [[ 9.22055720e-01 -3.86964778e-01 -8.45632085e-03 7.21848644e+01] [ 3.86948993e-01 9.22094495e-01 -3.49557549e-03 1.11573272e+01] [ 9.15019150e-03 -4.90494602e-05 9.99958135e-01 9.69301760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:11.17, Z:0.97 [[ 9.21811439e-01 -3.87537079e-01 -8.87040956e-03 7.22101758e+01] [ 3.87519729e-01 9.21854115e-01 -3.66747747e-03 1.11687087e+01] [ 9.59850706e-03 -5.67360258e-05 9.99953932e-01 9.69203585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50361786499998 meters Centerline goodness [0,1] 0.9998042031066441 Centerline is valid? [True, True] Translation: X:72.24, Y:11.18, Z:0.97 [[ 9.21363813e-01 -3.88579411e-01 -9.73474377e-03 7.22359380e+01] [ 3.88558531e-01 9.21415236e-01 -4.02884773e-03 1.11806714e+01] [ 1.05352685e-02 -7.04832307e-05 9.99944500e-01 9.68186643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:11.19, Z:0.97 [[ 9.20884156e-01 -3.89706826e-01 -1.00479383e-02 7.22612140e+01] [ 3.89684637e-01 9.20938968e-01 -4.15941045e-03 1.11912501e+01] [ 1.08744886e-02 -8.51920178e-05 9.99940867e-01 9.68370901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.29, Y:11.20, Z:0.97 [[ 9.20309439e-01 -3.91052327e-01 -1.04218186e-02 7.22880618e+01] [ 3.91028527e-01 9.20368441e-01 -4.31558147e-03 1.12031706e+01] [ 1.12795311e-02 -1.03558002e-04 9.99936379e-01 9.68428292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.31, Y:11.21, Z:0.97 [[ 9.19735430e-01 -3.92393527e-01 -1.06798120e-02 7.23141735e+01] [ 3.92368585e-01 9.19797426e-01 -4.42584442e-03 1.12139214e+01] [ 1.15599363e-02 -1.19816803e-04 9.99933175e-01 9.68556111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:11.22, Z:0.97 [[ 9.19063293e-01 -3.93953835e-01 -1.10922986e-02 7.23412195e+01] [ 3.93927031e-01 9.19130217e-01 -4.59772754e-03 1.12249670e+01] [ 1.20065592e-02 -1.43953615e-04 9.99927908e-01 9.68866822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:11.23, Z:0.97 [[ 9.17808756e-01 -3.96878190e-01 -1.07139835e-02 7.23676355e+01] [ 3.96853345e-01 9.17871272e-01 -4.44408854e-03 1.12344643e+01] [ 1.15978195e-02 -1.73056808e-04 9.99932728e-01 9.69790918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.39, Y:11.25, Z:0.97 [[ 9.17093815e-01 -3.98549767e-01 -9.84974112e-03 7.23943093e+01] [ 3.98528860e-01 9.17146690e-01 -4.08603722e-03 1.12454920e+01] [ 1.06621466e-02 -1.78126639e-04 9.99943142e-01 9.70694481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:11.26, Z:0.97 [[ 9.15913253e-01 -4.01260177e-01 -9.65319053e-03 7.24200498e+01] [ 4.01240214e-01 9.15964098e-01 -4.00760846e-03 1.12557539e+01] [ 1.04500696e-02 -2.02626540e-04 9.99945376e-01 9.71134613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:11.27, Z:0.97 [[ 9.15392543e-01 -4.02444970e-01 -9.72307355e-03 7.24464029e+01] [ 4.02424779e-01 9.15444154e-01 -4.03712968e-03 1.12670241e+01] [ 1.05256534e-02 -2.17247321e-04 9.99944580e-01 9.71564582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:11.28, Z:0.97 [[ 9.14910000e-01 -4.03536858e-01 -9.88415107e-03 7.24725046e+01] [ 4.03516026e-01 9.14963360e-01 -4.10679141e-03 1.12784038e+01] [ 1.07008778e-02 -2.31068832e-04 9.99942717e-01 9.71925308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80361786499998 meters Centerline goodness [0,1] 0.9999346874795898 Centerline is valid? [True, True] Translation: X:72.50, Y:11.29, Z:0.97 [[ 9.14448728e-01 -4.04581694e-01 -9.85782225e-03 7.24985174e+01] [ 4.04560999e-01 9.14501829e-01 -4.09902029e-03 1.12885929e+01] [ 1.06733851e-02 -2.39746528e-04 9.99943009e-01 9.72158370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.53, Y:11.30, Z:0.97 [[ 9.13967908e-01 -4.05660182e-01 -1.01232503e-02 7.25255761e+01] [ 4.05638417e-01 9.14023933e-01 -4.21003263e-03 1.12995148e+01] [ 1.09607356e-02 -2.58544511e-04 9.99939896e-01 9.73819377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:11.31, Z:0.97 [[ 9.13737748e-01 -4.06184536e-01 -9.87171330e-03 7.25515891e+01] [ 4.06163838e-01 9.13791036e-01 -4.10846657e-03 1.13101191e+01] [ 1.06894787e-02 -2.55471974e-04 9.99942833e-01 9.74578606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:11.32, Z:0.98 [[ 9.13553077e-01 -4.06603629e-01 -9.70895624e-03 7.25773952e+01] [ 4.06583623e-01 9.13604632e-01 -4.04152560e-03 1.13207391e+01] [ 1.05134464e-02 -2.55354456e-04 9.99944700e-01 9.75206483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:11.33, Z:0.98 [[ 9.13475550e-01 -4.06766017e-01 -1.01895597e-02 7.26022325e+01] [ 4.06743978e-01 9.13532339e-01 -4.24281272e-03 1.13336493e+01] [ 1.10343244e-02 -2.68836375e-04 9.99939084e-01 9.75026741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:11.34, Z:0.97 [[ 9.13579909e-01 -4.06531135e-01 -1.02072239e-02 7.26273974e+01] [ 4.06508965e-01 9.13636890e-01 -4.25373561e-03 1.13445117e+01] [ 1.10549722e-02 -2.63200619e-04 9.99938857e-01 9.74959132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.65, Y:11.36, Z:0.98 [[ 9.13568396e-01 -4.06549880e-01 -1.04872149e-02 7.26535573e+01] [ 4.06526471e-01 9.13628547e-01 -4.37106348e-03 1.13557936e+01] [ 1.13584742e-02 -2.70064996e-04 9.99935454e-01 9.75499976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01361786499999 meters Centerline goodness [0,1] 0.9999348675640469 Centerline is valid? [True, True] Translation: X:72.68, Y:11.37, Z:0.98 [[ 9.13624734e-01 -4.06419551e-01 -1.06298514e-02 7.26789273e+01] [ 4.06395450e-01 9.13686531e-01 -4.43412331e-03 1.13661262e+01] [ 1.15144664e-02 -2.68798504e-04 9.99933670e-01 9.75707933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:11.38, Z:0.98 [[ 9.13595212e-01 -4.06470529e-01 -1.12025436e-02 7.27043092e+01] [ 4.06443755e-01 9.13663849e-01 -4.67388693e-03 1.13787885e+01] [ 1.21351564e-02 -2.83163174e-04 9.99926326e-01 9.76121662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.73, Y:11.39, Z:0.98 [[ 9.13548666e-01 -4.06572406e-01 -1.13010589e-02 7.27292436e+01] [ 4.06545124e-01 9.13618519e-01 -4.71848618e-03 1.13909704e+01] [ 1.22432629e-02 -2.83823620e-04 9.99925008e-01 9.75856845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:11.40, Z:0.98 [[ 9.13497072e-01 -4.06683516e-01 -1.14724593e-02 7.27536668e+01] [ 4.06655362e-01 9.13569065e-01 -4.79379202e-03 1.14015748e+01] [ 1.24304401e-02 -2.86222109e-04 9.99922698e-01 9.76169715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.78, Y:11.41, Z:0.98 [[ 9.13410193e-01 -4.06872067e-01 -1.17021466e-02 7.27794827e+01] [ 4.06842759e-01 9.13485104e-01 -4.89225301e-03 1.14133832e+01] [ 1.26802577e-02 -2.92299845e-04 9.99919560e-01 9.76050412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.81, Y:11.42, Z:0.98 [[ 9.13259866e-01 -4.07213447e-01 -1.15596881e-02 7.28055181e+01] [ 4.07184828e-01 9.13332976e-01 -4.83642579e-03 1.14222889e+01] [ 1.25273019e-02 -2.90016045e-04 9.99921488e-01 9.77101026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:11.43, Z:0.98 [[ 9.13115986e-01 -4.07543887e-01 -1.12772653e-02 7.28310995e+01] [ 4.07516665e-01 9.13185577e-01 -4.71910919e-03 1.14343959e+01] [ 1.22214801e-02 -2.86579497e-04 9.99925274e-01 9.78109978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:11.44, Z:0.98 [[ 9.12957757e-01 -4.07891969e-01 -1.15010755e-02 7.28570254e+01] [ 4.07863638e-01 9.13030150e-01 -4.81636321e-03 1.14449789e+01] [ 1.24653846e-02 -2.93734346e-04 9.99922261e-01 9.78398332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:11.46, Z:0.98 [[ 9.13071561e-01 -4.07602440e-01 -1.26718417e-02 7.28823290e+01] [ 4.07567962e-01 9.13159434e-01 -5.31081608e-03 1.14554831e+01] [ 1.37361133e-02 -3.15481553e-04 9.99905605e-01 9.78602507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:11.47, Z:0.98 [[ 9.13068743e-01 -4.07595828e-01 -1.30809537e-02 7.29068329e+01] [ 4.07559067e-01 9.13162382e-01 -5.48372971e-03 1.14706228e+01] [ 1.41801802e-02 -3.24239080e-04 9.99899404e-01 9.79132971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31361786499998 meters Centerline goodness [0,1] 0.9999567277526559 Centerline is valid? [True, True] Translation: X:72.93, Y:11.48, Z:0.98 [[ 9.13378786e-01 -4.06888225e-01 -1.34598103e-02 7.29325120e+01] [ 4.06849164e-01 9.13477898e-01 -5.64683055e-03 1.14816942e+01] [ 1.45928681e-02 -3.18417356e-04 9.99893468e-01 9.79623637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:11.49, Z:0.98 [[ 9.14171003e-01 -4.05105995e-01 -1.34354020e-02 7.29584669e+01] [ 4.05066863e-01 9.14269681e-01 -5.63795289e-03 1.14920494e+01] [ 1.45675492e-02 -2.88183090e-04 9.99893846e-01 9.80213578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37361786499999 meters Centerline goodness [0,1] 0.9998920459452457 Centerline is valid? [True, True] Translation: X:72.98, Y:11.50, Z:0.98 [[ 9.14609456e-01 -4.04120209e-01 -1.32815398e-02 7.29841750e+01] [ 4.04081846e-01 9.14705846e-01 -5.57470235e-03 1.15021711e+01] [ 1.44015520e-02 -2.68153635e-04 9.99896256e-01 9.80613706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:11.51, Z:0.98 [[ 9.14768059e-01 -4.03763139e-01 -1.32183590e-02 7.30102924e+01] [ 4.03725082e-01 9.14863520e-01 -5.54958179e-03 1.15140359e+01] [ 1.43337110e-02 -2.60002917e-04 9.99897233e-01 9.81831345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43361786499999 meters Centerline goodness [0,1] 0.9999350213346618 Centerline is valid? [True, True] Translation: X:73.04, Y:11.53, Z:0.98 [[ 9.15137716e-01 -4.02898028e-01 -1.40050160e-02 7.30356459e+01] [ 4.02855147e-01 9.15244838e-01 -5.88364499e-03 1.15293225e+01] [ 1.51885275e-02 -2.57647340e-04 9.99884614e-01 9.82346996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:11.54, Z:0.98 [[ 9.15212145e-01 -4.02713886e-01 -1.44310950e-02 7.30611341e+01] [ 4.02668274e-01 9.15325876e-01 -6.06642289e-03 1.15373546e+01] [ 1.56521874e-02 -2.58880228e-04 9.99877463e-01 9.81851223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:11.55, Z:0.98 [[ 9.15049420e-01 -4.03070048e-01 -1.48018891e-02 7.30857912e+01] [ 4.03022069e-01 9.15169090e-01 -6.22480945e-03 1.15517255e+01] [ 1.60552656e-02 -2.69479679e-04 9.99871070e-01 9.82332589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:11.56, Z:0.98 [[ 9.14854822e-01 -4.03479363e-01 -1.56543073e-02 7.31115881e+01] [ 4.03425670e-01 9.14988700e-01 -6.58847973e-03 1.15628569e+01] [ 1.69818299e-02 -2.87846973e-04 9.99855757e-01 9.82980382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:11.57, Z:0.98 [[ 9.14628421e-01 -4.03974195e-01 -1.61152813e-02 7.31370129e+01] [ 4.03917278e-01 9.14770332e-01 -6.78772717e-03 1.15736866e+01] [ 1.74838479e-02 -3.00992391e-04 9.99847101e-01 9.83418087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:11.58, Z:0.98 [[ 9.14498028e-01 -4.04274275e-01 -1.59896025e-02 7.31631816e+01] [ 4.04218215e-01 9.14637754e-01 -6.73901260e-03 1.15835678e+01] [ 1.73491035e-02 -3.00474839e-04 9.99849448e-01 9.83931975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:11.60, Z:0.98 [[ 9.13682605e-01 -4.06116073e-01 -1.59321213e-02 7.31888610e+01] [ 4.06060658e-01 9.13821440e-01 -6.71697772e-03 1.15965770e+01] [ 1.72869867e-02 -3.32221972e-04 9.99850514e-01 9.84833165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64361786499998 meters Centerline goodness [0,1] 0.999956796923941 Centerline is valid? [True, True] Translation: X:73.21, Y:11.61, Z:0.99 [[ 9.13427724e-01 -4.06687087e-01 -1.59814001e-02 7.32148648e+01] [ 4.06631338e-01 9.13567456e-01 -6.74225410e-03 1.16073458e+01] [ 1.73420747e-02 -3.39976285e-04 9.99849557e-01 9.85551283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:11.62, Z:0.99 [[ 9.13022555e-01 -4.07570899e-01 -1.66065054e-02 7.32412964e+01] [ 4.07510756e-01 9.13173493e-01 -7.01108845e-03 1.16186588e+01] [ 1.80221361e-02 -3.66047662e-04 9.99837521e-01 9.86220303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:11.63, Z:0.99 [[ 9.12788210e-01 -4.08102230e-01 -1.64394139e-02 7.32667445e+01] [ 4.08043295e-01 9.12936161e-01 -6.94515808e-03 1.16308919e+01] [ 1.78424699e-02 -3.68534191e-04 9.99840743e-01 9.87071081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:11.64, Z:0.99 [[ 9.12492784e-01 -4.08757851e-01 -1.65510740e-02 7.32929321e+01] [ 4.08698128e-01 9.12642797e-01 -6.99747748e-03 1.16432977e+01] [ 1.79654923e-02 -3.79245229e-04 9.99838536e-01 9.87964848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:11.65, Z:0.99 [[ 9.12552447e-01 -4.08608394e-01 -1.69473262e-02 7.33178811e+01] [ 4.08545674e-01 9.12709721e-01 -7.16919466e-03 1.16541634e+01] [ 1.83973825e-02 -3.81490680e-04 9.99830681e-01 9.88258641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:11.66, Z:0.99 [[ 9.12497993e-01 -4.08734099e-01 -1.68478425e-02 7.33427649e+01] [ 4.08672086e-01 9.12653435e-01 -7.12979179e-03 1.16644486e+01] [ 1.82904303e-02 -3.79322239e-04 9.99832644e-01 9.87878081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:73.37, Y:11.68, Z:0.99 [[ 9.12794374e-01 -4.08074828e-01 -1.67739827e-02 7.33674645e+01] [ 4.08013175e-01 9.12948413e-01 -7.10244592e-03 1.16790953e+01] [ 1.82121103e-02 -3.60933257e-04 9.99834081e-01 9.89347807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:11.69, Z:0.99 [[ 9.13647074e-01 -4.06153765e-01 -1.69747965e-02 7.33925959e+01] [ 4.06090221e-01 9.13804692e-01 -7.19151142e-03 1.16915964e+01] [ 1.84325081e-02 -3.22795485e-04 9.99830055e-01 9.90108932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.42, Y:11.71, Z:0.99 [[ 9.14164402e-01 -4.04995071e-01 -1.68059064e-02 7.34185631e+01] [ 4.04932543e-01 9.14318821e-01 -7.12247979e-03 1.17053016e+01] [ 1.82505257e-02 -2.94140939e-04 9.99833402e-01 9.90891940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.44, Y:11.72, Z:0.99 [[ 9.15407713e-01 -4.02152725e-01 -1.73754238e-02 7.34432308e+01] [ 4.02085296e-01 9.15572568e-01 -7.36797376e-03 1.17177800e+01] [ 1.88715121e-02 -2.41702413e-04 9.99821888e-01 9.91601711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:11.73, Z:0.99 [[ 9.15783385e-01 -4.01299897e-01 -1.72969621e-02 7.34687511e+01] [ 4.01232874e-01 9.15946693e-01 -7.33734799e-03 1.17322047e+01] [ 1.87875722e-02 -2.20688445e-04 9.99823474e-01 9.92564792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:11.74, Z:0.99 [[ 9.16147317e-01 -4.00448985e-01 -1.77399037e-02 7.34938280e+01] [ 4.00378223e-01 9.16319032e-01 -7.53055008e-03 1.17447926e+01] [ 1.92710125e-02 -2.03577863e-04 9.99814276e-01 9.92843241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:11.76, Z:0.99 [[ 9.16305594e-01 -4.00089500e-01 -1.76762512e-02 7.35193071e+01] [ 4.00019070e-01 9.16476053e-01 -7.50919075e-03 1.17568360e+01] [ 1.92042093e-02 -1.90124073e-04 9.99815564e-01 9.93379961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:11.77, Z:0.99 [[ 9.16429325e-01 -3.99810466e-01 -1.75750899e-02 7.35438651e+01] [ 3.99740700e-01 9.16597817e-01 -7.47085878e-03 1.17681738e+01] [ 1.90962166e-02 -1.78964695e-04 9.99817635e-01 9.94006610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:11.78, Z:0.99 [[ 9.16426916e-01 -3.99797042e-01 -1.80009050e-02 7.35688066e+01] [ 3.99723782e-01 9.16603673e-01 -7.65541899e-03 1.17802465e+01] [ 1.95603095e-02 -1.79757805e-04 9.99808663e-01 9.94754870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:11.79, Z:1.00 [[ 9.16319892e-01 -4.00042368e-01 -1.79988542e-02 7.35941509e+01] [ 3.99969061e-01 9.16496629e-01 -7.66023824e-03 1.17911114e+01] [ 1.95603090e-02 -1.79756126e-04 9.99808663e-01 9.95121650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:11.80, Z:1.00 [[ 9.15934522e-01 -4.00921629e-01 -1.80498794e-02 7.36200072e+01] [ 4.00847964e-01 9.16112335e-01 -7.68766481e-03 1.18026682e+01] [ 1.96178682e-02 -1.93859801e-04 9.99807532e-01 9.95410168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:11.81, Z:1.00 [[ 9.15397842e-01 -4.02147009e-01 -1.80159556e-02 7.36456904e+01] [ 4.02073771e-01 9.15575085e-01 -7.67763404e-03 1.18137555e+01] [ 1.95824976e-02 -2.15653561e-04 9.99808221e-01 9.95553714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.67, Y:11.82, Z:1.00 [[ 9.14290404e-01 -4.04666638e-01 -1.78316915e-02 7.36713107e+01] [ 4.04595328e-01 9.14464237e-01 -7.60123304e-03 1.18235339e+01] [ 1.93824096e-02 -2.64884659e-04 9.99812108e-01 9.96975000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:11.83, Z:1.00 [[ 9.13501376e-01 -4.06457600e-01 -1.75344198e-02 7.36980999e+01] [ 4.06388912e-01 9.13669597e-01 -7.47797324e-03 1.18341857e+01] [ 1.90601454e-02 -2.94654946e-04 9.99818296e-01 9.97912365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:11.84, Z:1.00 [[ 9.12789331e-01 -4.08062446e-01 -1.73400511e-02 7.37242451e+01] [ 4.07995490e-01 9.12953962e-01 -7.39883579e-03 1.18439875e+01] [ 1.88498554e-02 -3.21084291e-04 9.99822274e-01 9.98922210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:11.85, Z:1.00 [[ 9.11329491e-01 -4.11340121e-01 -1.66692703e-02 7.37501942e+01] [ 4.11278763e-01 9.11481852e-01 -7.11424434e-03 1.18531909e+01] [ 1.81201115e-02 -3.72296217e-04 9.99835748e-01 9.99675141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:11.86, Z:1.00 [[ 9.10712492e-01 -4.12701624e-01 -1.67369713e-02 7.37768244e+01] [ 4.12639949e-01 9.10866187e-01 -7.14570907e-03 1.18639728e+01] [ 1.81941869e-02 -3.98656467e-04 9.99834393e-01 1.00029962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:11.88, Z:1.00 [[ 9.10096056e-01 -4.14052491e-01 -1.69027723e-02 7.38026345e+01] [ 4.13989738e-01 9.10252906e-01 -7.22104767e-03 1.18779638e+01] [ 1.83756904e-02 -4.25727261e-04 9.99831062e-01 1.00091709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:11.89, Z:1.00 [[ 9.09510102e-01 -4.15325718e-01 -1.72023883e-02 7.38289562e+01] [ 4.15260857e-01 9.09672656e-01 -7.35390047e-03 1.18888925e+01] [ 1.87028062e-02 -4.55031735e-04 9.99824984e-01 1.00153892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:11.90, Z:1.00 [[ 9.08742356e-01 -4.16981663e-01 -1.77094300e-02 7.38564786e+01] [ 4.16913158e-01 9.08914761e-01 -7.57469766e-03 1.18959193e+01] [ 1.92548723e-02 -4.99845767e-04 9.99814483e-01 1.00180761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:11.91, Z:1.00 [[ 9.08335570e-01 -4.17854983e-01 -1.79918249e-02 7.38835304e+01] [ 4.17784394e-01 9.08513587e-01 -7.69817480e-03 1.19071169e+01] [ 1.95625381e-02 -5.24177680e-04 9.99808498e-01 1.00248194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.91, Y:11.92, Z:1.00 [[ 9.08261704e-01 -4.17993054e-01 -1.85063208e-02 7.39082600e+01] [ 4.17918308e-01 9.08450063e-01 -7.92278643e-03 1.19171800e+01] [ 2.01237380e-02 -5.38166755e-04 9.99797352e-01 1.00340581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:11.93, Z:1.01 [[ 9.08195739e-01 -4.18116584e-01 -1.89478944e-02 7.39320228e+01] [ 4.18038160e-01 9.08393208e-01 -8.11643933e-03 1.19338007e+01] [ 2.06057564e-02 -5.49627290e-04 9.99787528e-01 1.00537198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.96, Y:11.95, Z:1.01 [[ 9.08311442e-01 -4.17874814e-01 -1.87340277e-02 7.39579205e+01] [ 4.17797984e-01 9.08504461e-01 -8.03044367e-03 1.19455810e+01] [ 2.03756679e-02 -5.32895144e-04 9.99792253e-01 1.00620714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:11.96, Z:1.01 [[ 9.08558637e-01 -4.17315711e-01 -1.92041551e-02 7.39838771e+01] [ 4.17234759e-01 9.08761419e-01 -8.23644558e-03 1.19562441e+01] [ 2.08891934e-02 -5.29347237e-04 9.99781657e-01 1.00706532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:11.97, Z:1.01 [[ 9.09176566e-01 -4.15948130e-01 -1.96246160e-02 7.40096353e+01] [ 4.15863194e-01 9.09388200e-01 -8.42059262e-03 1.19688575e+01] [ 2.13489240e-02 -5.05349994e-04 9.99771958e-01 1.00874421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.04, Y:11.98, Z:1.01 [[ 9.09392693e-01 -4.15479411e-01 -1.95393984e-02 7.40356929e+01] [ 4.15394991e-01 9.09602452e-01 -8.38927650e-03 1.19810211e+01] [ 2.12586564e-02 -4.87421469e-04 9.99773890e-01 1.00920448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:12.00, Z:1.01 [[ 9.09701362e-01 -4.14780181e-01 -2.00208247e-02 7.40614866e+01] [ 4.14691262e-01 9.09921520e-01 -8.60139124e-03 1.19954289e+01] [ 2.17850659e-02 -4.77763756e-04 9.99762563e-01 1.01044065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:12.01, Z:1.01 [[ 9.10698726e-01 -4.12574773e-01 -2.02456684e-02 7.40870021e+01] [ 4.12483211e-01 9.10923638e-01 -8.70204607e-03 1.20063357e+01] [ 2.20325026e-02 -4.26056022e-04 9.99757164e-01 1.00953503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:12.02, Z:1.01 [[ 9.11118908e-01 -4.11645778e-01 -2.02506681e-02 7.41121049e+01] [ 4.11553865e-01 9.11343839e-01 -8.70763561e-03 1.20211593e+01] [ 2.20397831e-02 -4.00549305e-04 9.99757014e-01 1.01021630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:12.04, Z:1.01 [[ 9.11767217e-01 -4.10174859e-01 -2.09076078e-02 7.41376449e+01] [ 4.10076362e-01 9.12006824e-01 -8.99611170e-03 1.20352907e+01] [ 2.27578598e-02 -3.71355992e-04 9.99740937e-01 1.01119198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:12.05, Z:1.01 [[ 9.13015777e-01 -4.07391291e-01 -2.08453124e-02 7.41636288e+01] [ 4.07292518e-01 9.13253661e-01 -8.97529735e-03 1.20485188e+01] [ 2.26935158e-02 -2.95551680e-04 9.99742425e-01 1.01187211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.19, Y:12.06, Z:1.01 [[ 9.13416710e-01 -4.06493071e-01 -2.08157756e-02 7.41889732e+01] [ 4.06394246e-01 9.13653824e-01 -8.96696031e-03 1.20607691e+01] [ 2.26634202e-02 -2.68840024e-04 9.99743116e-01 1.01216823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:12.07, Z:1.01 [[ 9.13884125e-01 -4.05445280e-01 -2.07347919e-02 7.42153352e+01] [ 4.05346870e-01 9.14119286e-01 -8.93572079e-03 1.20734493e+01] [ 2.25770190e-02 -2.38569631e-04 9.99745078e-01 1.01243175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84361786499998 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:74.24, Y:12.09, Z:1.01 [[ 9.14744603e-01 -4.03480257e-01 -2.11185382e-02 7.42410604e+01] [ 4.03377507e-01 9.14988332e-01 -9.10713888e-03 1.20876083e+01] [ 2.29977668e-02 -1.88037148e-04 9.99735499e-01 1.01137525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:12.10, Z:1.01 [[ 9.15090855e-01 -4.02697380e-01 -2.10605348e-02 7.42666060e+01] [ 4.02594842e-01 9.15333160e-01 -9.08841702e-03 1.21003486e+01] [ 2.29372876e-02 -1.62135374e-04 9.99736893e-01 1.01141243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:12.11, Z:1.01 [[ 9.15375472e-01 -4.02058931e-01 -2.08892786e-02 7.42919478e+01] [ 4.01957734e-01 9.15613781e-01 -9.02125465e-03 1.21130138e+01] [ 2.27535874e-02 -1.38771884e-04 9.99741094e-01 1.01173450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93361786499999 meters Centerline goodness [0,1] 0.9999365683476055 Centerline is valid? [True, True] Translation: X:74.32, Y:12.13, Z:1.01 [[ 9.15718546e-01 -4.01259464e-01 -2.12223317e-02 7.43172206e+01] [ 4.01154638e-01 9.15964426e-01 -9.17206559e-03 1.21254152e+01] [ 2.31192790e-02 -1.14406209e-04 9.99732707e-01 1.01139639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:12.14, Z:1.01 [[ 9.15746855e-01 -4.01209998e-01 -2.09340656e-02 7.43432491e+01] [ 4.01107833e-01 9.15986095e-01 -9.05426420e-03 1.21370290e+01] [ 2.28079744e-02 -1.05403743e-04 9.99739859e-01 1.01193081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:12.15, Z:1.01 [[ 9.15763552e-01 -4.01176229e-01 -2.08506440e-02 7.43683341e+01] [ 4.01074750e-01 9.16000886e-01 -9.02340854e-03 1.21482645e+01] [ 2.27191854e-02 -9.93581520e-05 9.99741881e-01 1.01172242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:12.16, Z:1.01 [[ 9.15606491e-01 -4.01531453e-01 -2.09104381e-02 7.43933454e+01] [ 4.01429380e-01 9.15845228e-01 -9.05384594e-03 1.21599808e+01] [ 2.27861288e-02 -1.04304074e-04 9.99740357e-01 1.01179867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:12.17, Z:1.01 [[ 9.15409429e-01 -4.02027313e-01 -1.99904213e-02 7.44192122e+01] [ 4.01934005e-01 9.15627669e-01 -8.66181153e-03 1.21713470e+01] [ 2.17860677e-02 -1.05726148e-04 9.99762650e-01 1.01218138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:12.18, Z:1.01 [[ 9.15221753e-01 -4.02466831e-01 -1.97381161e-02 7.44440253e+01] [ 4.02375846e-01 9.15434562e-01 -8.55806522e-03 1.21819166e+01] [ 2.15132911e-02 -1.09613721e-04 9.99768556e-01 1.01359157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:12.19, Z:1.01 [[ 9.15024252e-01 -4.02920828e-01 -1.96322388e-02 7.44695196e+01] [ 4.02830813e-01 9.15234829e-01 -8.51721328e-03 1.21929758e+01] [ 2.13998714e-02 -1.15014035e-04 9.99770990e-01 1.01498584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:12.20, Z:1.02 [[ 9.14882758e-01 -4.03263441e-01 -1.91868951e-02 7.44955029e+01] [ 4.03177413e-01 9.15083922e-01 -8.33005628e-03 1.22044484e+01] [ 2.09168264e-02 -1.14697866e-04 9.99781213e-01 1.01572982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:12.22, Z:1.02 [[ 9.14650907e-01 -4.03801770e-01 -1.89169034e-02 7.45210318e+01] [ 4.03718137e-01 9.14846499e-01 -8.21885672e-03 1.22157362e+01] [ 2.06248517e-02 -1.19712239e-04 9.99787278e-01 1.01691816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:12.23, Z:1.02 [[ 9.14458070e-01 -4.04225632e-01 -1.91853087e-02 7.45466762e+01] [ 4.04139570e-01 9.14659293e-01 -8.34174543e-03 1.22267644e+01] [ 2.09199683e-02 -1.25365998e-04 9.99781146e-01 1.01764813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23361786499999 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:74.57, Y:12.24, Z:1.02 [[ 9.14248801e-01 -4.04705107e-01 -1.90500998e-02 7.45720490e+01] [ 4.04620231e-01 9.14447242e-01 -8.28910282e-03 1.22384823e+01] [ 2.07749535e-02 -1.29753467e-04 9.99784169e-01 1.01865899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:12.25, Z:1.02 [[ 9.14098319e-01 -4.05040783e-01 -1.91370631e-02 7.45968544e+01] [ 4.04955088e-01 9.14298609e-01 -8.33248932e-03 1.22493956e+01] [ 2.08719882e-02 -1.32936593e-04 9.99782147e-01 1.01894549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:12.26, Z:1.02 [[ 9.13981188e-01 -4.05324360e-01 -1.87230105e-02 7.46225253e+01] [ 4.05242295e-01 9.14172930e-01 -8.15700747e-03 1.22616471e+01] [ 2.04223032e-02 -1.32004362e-04 9.99791434e-01 1.01955640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:12.27, Z:1.02 [[ 9.13614433e-01 -4.06167878e-01 -1.83391112e-02 7.46471414e+01] [ 4.06089207e-01 9.13798465e-01 -7.99507913e-03 1.22724282e+01] [ 2.00055959e-02 -1.42895421e-04 9.99799858e-01 1.02001264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:12.28, Z:1.02 [[ 9.13458607e-01 -4.06540656e-01 -1.78344459e-02 7.46719128e+01] [ 4.06466260e-01 9.13632680e-01 -7.77851396e-03 1.22833397e+01] [ 1.94564147e-02 -1.43749976e-04 9.99810696e-01 1.01994238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:12.29, Z:1.02 [[ 9.13328518e-01 -4.06818909e-01 -1.81492092e-02 7.46975647e+01] [ 4.06741872e-01 9.13508814e-01 -7.91811781e-03 1.22942829e+01] [ 1.98007027e-02 -1.50200540e-04 9.99803936e-01 1.01985849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:12.31, Z:1.02 [[ 9.12836942e-01 -4.07935183e-01 -1.78214467e-02 7.47229658e+01] [ 4.07861058e-01 9.13010875e-01 -7.77814351e-03 1.23060418e+01] [ 1.94441530e-02 -1.68497350e-04 9.99810930e-01 1.02042632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:12.32, Z:1.02 [[ 9.12308716e-01 -4.09120199e-01 -1.77050840e-02 7.47490342e+01] [ 4.09047173e-01 9.12480481e-01 -7.73191248e-03 1.23157354e+01] [ 1.93188251e-02 -1.88323413e-04 9.99813356e-01 1.01893102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:12.33, Z:1.02 [[ 9.12038613e-01 -4.09713221e-01 -1.79065785e-02 7.47746696e+01] [ 4.09638577e-01 9.12214359e-01 -7.82303224e-03 1.23275176e+01] [ 1.95398378e-02 -2.00317878e-04 9.99809059e-01 1.01937347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50361786499998 meters Centerline goodness [0,1] 0.9999360654689597 Centerline is valid? [True, True] Translation: X:74.80, Y:12.34, Z:1.02 [[ 9.11812640e-01 -4.10222224e-01 -1.77605254e-02 7.48000018e+01] [ 4.10148801e-01 9.11985573e-01 -7.76377418e-03 1.23379216e+01] [ 1.93822157e-02 -2.05350776e-04 9.99812126e-01 1.01904985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:12.35, Z:1.02 [[ 9.11447916e-01 -4.11051780e-01 -1.72953797e-02 7.48254619e+01] [ 4.10982248e-01 9.11611972e-01 -7.56332984e-03 1.23487608e+01] [ 1.88755954e-02 -2.14512812e-04 9.99821817e-01 1.01884729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:12.36, Z:1.02 [[ 9.11413995e-01 -4.11154474e-01 -1.66291318e-02 7.48502939e+01] [ 4.11090124e-01 9.11565663e-01 -7.27685284e-03 1.23596534e+01] [ 1.81504562e-02 -2.03846354e-04 9.99835246e-01 1.01857950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:12.37, Z:1.02 [[ 9.11232994e-01 -4.11560633e-01 -1.65007704e-02 7.48755110e+01] [ 4.11497265e-01 9.11382358e-01 -7.22480828e-03 1.23712463e+01] [ 1.80119578e-02 -2.06538226e-04 9.99837750e-01 1.01883089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:12.38, Z:1.02 [[ 9.11194801e-01 -4.11668005e-01 -1.59213420e-02 7.49000706e+01] [ 4.11608944e-01 9.11333866e-01 -6.97579580e-03 1.23818008e+01] [ 1.73813701e-02 -1.97057932e-04 9.99848913e-01 1.01919749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:12.39, Z:1.02 [[ 9.11230980e-01 -4.11600867e-01 -1.55829278e-02 7.49246629e+01] [ 4.11544228e-01 9.11364192e-01 -6.83065973e-03 1.23921770e+01] [ 1.70132279e-02 -1.88755242e-04 9.99855247e-01 1.01975886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:12.40, Z:1.02 [[ 9.11050204e-01 -4.12015013e-01 -1.52037986e-02 7.49508678e+01] [ 4.11961111e-01 9.11177037e-01 -6.66709512e-03 1.24033626e+01] [ 1.66002954e-02 -1.89315390e-04 9.99862188e-01 1.02040153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.98, Y:12.41, Z:1.02 [[ 9.10703857e-01 -4.12793989e-01 -1.48191513e-02 7.49764691e+01] [ 4.12742808e-01 9.10824398e-01 -6.50308215e-03 1.24137872e+01] [ 1.61820778e-02 -1.94116125e-04 9.99869043e-01 1.02140438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.00, Y:12.42, Z:1.02 [[ 9.10555597e-01 -4.13119832e-01 -1.48495639e-02 7.50015056e+01] [ 4.13068412e-01 9.10676653e-01 -6.52082565e-03 1.24234953e+01] [ 1.62170335e-02 -1.96311469e-04 9.99868476e-01 1.02207963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.03, Y:12.43, Z:1.02 [[ 9.10244899e-01 -4.13810965e-01 -1.46529664e-02 7.50273977e+01] [ 4.13760947e-01 9.10362809e-01 -6.43700507e-03 1.24343096e+01] [ 1.60032189e-02 -2.03574224e-04 9.99871920e-01 1.02250068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:12.44, Z:1.02 [[ 9.09746496e-01 -4.14900329e-01 -1.47996868e-02 7.50542892e+01] [ 4.14849371e-01 9.09866841e-01 -6.50622392e-03 1.24443920e+01] [ 1.61651787e-02 -2.20626339e-04 9.99869311e-01 1.02337666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:12.45, Z:1.02 [[ 9.09668147e-01 -4.15074028e-01 -1.47449232e-02 7.50793617e+01] [ 4.15023408e-01 9.09787614e-01 -6.48599015e-03 1.24538120e+01] [ 1.61069145e-02 -2.19389623e-04 9.99870251e-01 1.02381655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:12.47, Z:1.02 [[ 9.09499329e-01 -4.15442719e-01 -1.47755918e-02 7.51046026e+01] [ 4.15391895e-01 9.09619314e-01 -6.50206099e-03 1.24651152e+01] [ 1.61413976e-02 -2.24040964e-04 9.99869694e-01 1.02489695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:12.47, Z:1.02 [[ 9.09395546e-01 -4.15676885e-01 -1.45762901e-02 7.51302295e+01] [ 4.15627381e-01 9.09512330e-01 -6.41885460e-03 1.24749865e+01] [ 1.59254850e-02 -2.21027487e-04 9.99873157e-01 1.02499152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.16, Y:12.49, Z:1.03 [[ 9.09357480e-01 -4.15759632e-01 -1.45911375e-02 7.51566297e+01] [ 4.15709982e-01 9.09474508e-01 -6.42890539e-03 1.24857718e+01] [ 1.59431469e-02 -2.19508283e-04 9.99872876e-01 1.02518339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:12.50, Z:1.03 [[ 9.09317299e-01 -4.15838447e-01 -1.48470988e-02 7.51828639e+01] [ 4.15786970e-01 9.09438474e-01 -6.54659079e-03 1.24967557e+01] [ 1.62248470e-02 -2.20301986e-04 9.99868344e-01 1.02574958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:12.51, Z:1.03 [[ 9.09419134e-01 -4.15570215e-01 -1.60697134e-02 7.52090055e+01] [ 4.15509771e-01 9.09561072e-01 -7.09128876e-03 1.25065867e+01] [ 1.75633141e-02 -2.28169226e-04 9.99845727e-01 1.02549960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:12.52, Z:1.03 [[ 9.09305562e-01 -4.15818737e-01 -1.60677746e-02 7.52342040e+01] [ 4.15758254e-01 9.09447484e-01 -7.09567935e-03 1.25177852e+01] [ 1.75633136e-02 -2.28169219e-04 9.99845727e-01 1.02586639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:12.53, Z:1.03 [[ 9.09331434e-01 -4.15751757e-01 -1.63346324e-02 7.52601686e+01] [ 4.15689140e-01 9.09478106e-01 -7.21893457e-03 1.25288300e+01] [ 1.78572753e-02 -2.25725179e-04 9.99840521e-01 1.02604252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.29, Y:12.54, Z:1.03 [[ 9.09453248e-01 -4.15473745e-01 -1.66239583e-02 7.52859477e+01] [ 4.15408743e-01 9.09605145e-01 -7.35234268e-03 1.25400931e+01] [ 1.81759434e-02 -2.19125709e-04 9.99834780e-01 1.02656475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters Centerline goodness [0,1] 0.9999148029818956 Centerline is valid? [True, True] Translation: X:75.31, Y:12.55, Z:1.03 [[ 9.09831501e-01 -4.14624251e-01 -1.71280544e-02 7.53112726e+01] [ 4.14555008e-01 9.09992686e-01 -7.57996312e-03 1.25506875e+01] [ 1.87292408e-02 -2.04031521e-04 9.99824572e-01 1.02651264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:12.56, Z:1.03 [[ 9.10557035e-01 -4.13048655e-01 -1.66341169e-02 7.53370230e+01] [ 4.12983056e-01 9.10708944e-01 -7.36303095e-03 1.25620908e+01] [ 1.81901291e-02 -1.65148795e-04 9.99834532e-01 1.02690041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:12.57, Z:1.03 [[ 9.10815646e-01 -4.12497174e-01 -1.61536573e-02 7.53623388e+01] [ 4.12435180e-01 9.10958868e-01 -7.15283811e-03 1.25738465e+01] [ 1.76658429e-02 -1.47419701e-04 9.99843936e-01 1.02777764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:12.58, Z:1.03 [[ 9.11233575e-01 -4.11587179e-01 -1.57913133e-02 7.53881816e+01] [ 4.11527724e-01 9.11370385e-01 -6.99667303e-03 1.25848794e+01] [ 1.72714762e-02 -1.22959849e-04 9.99850829e-01 1.02845043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:12.60, Z:1.03 [[ 9.11306580e-01 -4.11417870e-01 -1.59891429e-02 7.54135912e+01] [ 4.11356859e-01 9.11446829e-01 -7.08611317e-03 1.25951492e+01] [ 1.74886071e-02 -1.19622011e-04 9.99847055e-01 1.02901836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:12.60, Z:1.03 [[ 9.11480877e-01 -4.11011258e-01 -1.65032481e-02 7.54396253e+01] [ 4.10946150e-01 9.11630261e-01 -7.31631942e-03 1.26042222e+01] [ 1.80519501e-02 -1.13261044e-04 9.99837044e-01 1.02931900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.47, Y:12.62, Z:1.03 [[ 9.11346965e-01 -4.11314034e-01 -1.63546629e-02 7.54656003e+01] [ 4.11250088e-01 9.11493693e-01 -7.25346598e-03 1.26153782e+01] [ 1.78906245e-02 -1.15432367e-04 9.99839943e-01 1.03030111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:12.62, Z:1.03 [[ 9.10999720e-01 -4.12061618e-01 -1.68740089e-02 7.54920230e+01] [ 4.11993571e-01 9.11155972e-01 -7.48940651e-03 1.26247822e+01] [ 1.84609509e-02 -1.29135930e-04 9.99829574e-01 1.03117401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.52, Y:12.63, Z:1.03 [[ 9.10916558e-01 -4.12238275e-01 -1.70478126e-02 7.55171451e+01] [ 4.12168763e-01 9.11076060e-01 -7.57122368e-03 1.26349024e+01] [ 1.86530022e-02 -1.29822830e-04 9.99826009e-01 1.03210294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37361786499999 meters Centerline goodness [0,1] 0.9999571560163664 Centerline is valid? [True, True] Translation: X:75.54, Y:12.65, Z:1.03 [[ 9.10779018e-01 -4.12542565e-01 -1.70356137e-02 7.55426672e+01] [ 4.12473144e-01 9.10938315e-01 -7.56906684e-03 1.26453887e+01] [ 1.86409555e-02 -1.32985871e-04 9.99826233e-01 1.03295122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:75.57, Y:12.65, Z:1.03 [[ 9.10818687e-01 -4.12455814e-01 -1.70153404e-02 7.55686057e+01] [ 4.12386458e-01 9.10977599e-01 -7.56462888e-03 1.26546515e+01] [ 1.86206691e-02 -1.26890634e-04 9.99826612e-01 1.03435926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43361786499999 meters Centerline goodness [0,1] 0.999850778085696 Centerline is valid? [True, True] Translation: X:75.59, Y:12.67, Z:1.04 [[ 9.10842787e-01 -4.12398885e-01 -1.71049052e-02 7.55945996e+01] [ 4.12328726e-01 9.11003373e-01 -7.60769494e-03 1.26650684e+01] [ 1.87200312e-02 -1.23429707e-04 9.99824757e-01 1.03518795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters Centerline goodness [0,1] 0.9999143487291493 Centerline is valid? [True, True] Translation: X:75.62, Y:12.68, Z:1.04 [[ 9.10767929e-01 -4.12544614e-01 -1.75704691e-02 7.56205831e+01] [ 4.12470503e-01 9.10937388e-01 -7.82038922e-03 1.26754382e+01] [ 1.92318567e-02 -1.24740553e-04 9.99815043e-01 1.03566050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49361786499998 meters Centerline goodness [0,1] 0.9999785449162178 Centerline is valid? [True, True] Translation: X:75.65, Y:12.68, Z:1.04 [[ 9.10735301e-01 -4.12584109e-01 -1.83184232e-02 7.56457833e+01] [ 4.12503455e-01 9.10919501e-01 -8.15858258e-03 1.26844800e+01] [ 2.00527104e-02 -1.26103686e-04 9.99798916e-01 1.03589070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:12.69, Z:1.04 [[ 9.10711309e-01 -4.12616196e-01 -1.87826117e-02 7.56720050e+01] [ 4.12531341e-01 9.10904967e-01 -8.36861832e-03 1.26949746e+01] [ 2.05622017e-02 -1.27020628e-04 9.99788568e-01 1.03576594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:12.71, Z:1.04 [[ 9.10538363e-01 -4.12965658e-01 -1.94744671e-02 7.56978481e+01] [ 4.12874439e-01 9.10746588e-01 -8.68048152e-03 1.27063322e+01] [ 2.13210452e-02 -1.36598256e-04 9.99772671e-01 1.03701006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:12.72, Z:1.04 [[ 9.10534793e-01 -4.12952621e-01 -1.99129110e-02 7.57239621e+01] [ 4.12857101e-01 9.10752499e-01 -8.88252008e-03 1.27169832e+01] [ 2.18037934e-02 -1.33343108e-04 9.99762260e-01 1.03713215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61361786499998 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:75.75, Y:12.73, Z:1.04 [[ 9.10906853e-01 -4.12113052e-01 -2.02863618e-02 7.57493026e+01] [ 4.12013592e-01 9.11132713e-01 -9.05430715e-03 1.27257122e+01] [ 2.22149660e-02 -1.10626356e-04 9.99753211e-01 1.03637014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64361786499998 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:75.77, Y:12.74, Z:1.04 [[ 9.10984383e-01 -4.11942159e-01 -2.02758840e-02 7.57749554e+01] [ 4.11842662e-01 9.11209991e-01 -9.05397440e-03 1.27372227e+01] [ 2.22053019e-02 -1.02444773e-04 9.99753427e-01 1.03820982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67361786499998 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:75.80, Y:12.75, Z:1.04 [[ 9.11069161e-01 -4.11747293e-01 -2.04242525e-02 7.57999656e+01] [ 4.11646171e-01 9.11298062e-01 -9.12534893e-03 1.27471266e+01] [ 2.23699194e-02 -9.37413201e-05 9.99749758e-01 1.03742624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:12.76, Z:1.04 [[ 9.11199038e-01 -4.11444719e-01 -2.07257220e-02 7.58259885e+01] [ 4.11340410e-01 9.11434713e-01 -9.26450309e-03 1.27571225e+01] [ 2.27019733e-02 -8.35206586e-05 9.99742274e-01 1.03924418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:12.77, Z:1.04 [[ 9.11143485e-01 -4.11587081e-01 -2.03377648e-02 7.58517104e+01] [ 4.11486552e-01 9.11370434e-01 -9.09667432e-03 1.27670445e+01] [ 2.22793112e-02 -8.03411836e-05 9.99751782e-01 1.03985320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:12.78, Z:1.04 [[ 9.10985978e-01 -4.11915774e-01 -2.07350735e-02 7.58778721e+01] [ 4.11811238e-01 9.11221920e-01 -9.27989080e-03 1.27775713e+01] [ 2.27167869e-02 -8.50858899e-05 9.99741937e-01 1.04148352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79361786499999 meters Centerline goodness [0,1] 0.9999568677349091 Centerline is valid? [True, True] Translation: X:75.90, Y:12.79, Z:1.04 [[ 9.10567959e-01 -4.12863203e-01 -2.02476578e-02 7.59044862e+01] [ 4.12763612e-01 9.10793042e-01 -9.06833379e-03 1.27872582e+01] [ 2.21854072e-02 -1.00162184e-04 9.99753869e-01 1.04367010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:12.80, Z:1.04 [[ 9.10541059e-01 -4.12958780e-01 -1.94942698e-02 7.59301147e+01] [ 4.12866350e-01 9.10749712e-01 -8.73724150e-03 1.27978072e+01] [ 2.13625212e-02 -9.29109080e-05 9.99771791e-01 1.04496916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85361786499998 meters Centerline goodness [0,1] 0.9999783769758038 Centerline is valid? [True, True] Translation: X:75.96, Y:12.81, Z:1.05 [[ 9.10378558e-01 -4.13291072e-01 -2.00342355e-02 7.59557280e+01] [ 4.13193382e-01 9.10598968e-01 -8.98604414e-03 1.28083295e+01] [ 2.19570060e-02 -9.73116283e-05 9.99758911e-01 1.04568482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88361786499998 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:75.98, Y:12.82, Z:1.05 [[ 9.10159287e-01 -4.13760344e-01 -2.03088730e-02 7.59817980e+01] [ 4.13659921e-01 9.10385834e-01 -9.11606383e-03 1.28180366e+01] [ 2.22607760e-02 -1.03896660e-04 9.99752193e-01 1.04644154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91361786499998 meters Centerline goodness [0,1] 0.999978400328315 Centerline is valid? [True, True] Translation: X:76.01, Y:12.83, Z:1.05 [[ 9.09907988e-01 -4.14294061e-01 -2.06853547e-02 7.60078832e+01] [ 4.14189859e-01 9.10143076e-01 -9.29203280e-03 1.28286079e+01] [ 2.26762664e-02 -1.12769297e-04 9.99742854e-01 1.04700594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:12.84, Z:1.05 [[ 9.09682659e-01 -4.14789334e-01 -2.06704721e-02 7.60339273e+01] [ 4.14685255e-01 9.09917466e-01 -9.29219958e-03 1.28390530e+01] [ 2.26627288e-02 -1.18787161e-04 9.99743160e-01 1.04750641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97361786499998 meters Centerline goodness [0,1] 0.9998919736415686 Centerline is valid? [True, True] Translation: X:76.06, Y:12.85, Z:1.05 [[ 9.09340657e-01 -4.15506235e-01 -2.13105269e-02 7.60618045e+01] [ 4.15395649e-01 9.09590320e-01 -9.58669964e-03 1.28485427e+01] [ 2.33671824e-02 -1.34724390e-04 9.99726941e-01 1.04816444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00361786499998 meters Centerline goodness [0,1] 0.9998916130151091 Centerline is valid? [True, True] Translation: X:76.09, Y:12.86, Z:1.05 [[ 9.09198687e-01 -4.15805025e-01 -2.15390100e-02 7.60873529e+01] [ 4.15691981e-01 9.09453771e-01 -9.69614343e-03 1.28590561e+01] [ 2.36204390e-02 -1.37872856e-04 9.99720989e-01 1.04930878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03361786499998 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:76.11, Y:12.87, Z:1.05 [[ 9.08765223e-01 -4.16750068e-01 -2.15673489e-02 7.61132124e+01] [ 4.16636821e-01 9.09021098e-01 -9.71608716e-03 1.28694613e+01] [ 2.36543552e-02 -1.56109587e-04 9.99720184e-01 1.04996511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06361786499998 meters Centerline goodness [0,1] 0.99993462912926 Centerline is valid? [True, True] Translation: X:76.14, Y:12.88, Z:1.05 [[ 9.08310079e-01 -4.17730431e-01 -2.17735464e-02 7.61409848e+01] [ 4.17615125e-01 9.08570997e-01 -9.81587323e-03 1.28792055e+01] [ 2.38832018e-02 -1.77105732e-04 9.99714740e-01 1.05113794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09361786499998 meters Centerline goodness [0,1] 0.9999564535795158 Centerline is valid? [True, True] Translation: X:76.17, Y:12.89, Z:1.05 [[ 9.07985619e-01 -4.18438788e-01 -2.17047477e-02 7.61671086e+01] [ 4.18324304e-01 9.08244980e-01 -9.78941084e-03 1.28893708e+01] [ 2.38094974e-02 -1.90979226e-04 9.99716495e-01 1.05125115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters Centerline goodness [0,1] 0.9999566066391842 Centerline is valid? [True, True] Translation: X:76.19, Y:12.90, Z:1.05 [[ 9.07798298e-01 -4.18855515e-01 -2.15013254e-02 7.61935353e+01] [ 4.18743181e-01 9.08052872e-01 -9.70202117e-03 1.29002031e+01] [ 2.35880854e-02 -1.96055106e-04 9.99721743e-01 1.05211429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15361786499999 meters Centerline goodness [0,1] 0.9998259393833903 Centerline is valid? [True, True] Translation: X:76.22, Y:12.91, Z:1.05 [[ 9.07560314e-01 -4.19374500e-01 -2.14314121e-02 7.62195645e+01] [ 4.19262923e-01 9.07813300e-01 -9.67546236e-03 1.29103950e+01] [ 2.35133632e-02 -2.04330841e-04 9.99723502e-01 1.05185868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters Centerline goodness [0,1] 0.9999781911761498 Centerline is valid? [True, True] Translation: X:76.25, Y:12.92, Z:1.05 [[ 9.06981907e-01 -4.20624674e-01 -2.14173685e-02 7.62471906e+01] [ 4.20513499e-01 9.07234716e-01 -9.67305387e-03 1.29200682e+01] [ 2.34993053e-02 -2.33007702e-04 9.99723826e-01 1.05258010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21361786499999 meters Centerline goodness [0,1] 0.9998907748432619 Centerline is valid? [True, True] Translation: X:76.27, Y:12.93, Z:1.05 [[ 9.06627684e-01 -4.21379464e-01 -2.15775254e-02 7.62737596e+01] [ 4.21266727e-01 9.06884383e-01 -9.74990094e-03 1.29296438e+01] [ 2.36767288e-02 -2.50363382e-04 9.99719636e-01 1.05221170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499998 meters Centerline goodness [0,1] 0.9998904853688453 Centerline is valid? [True, True] Translation: X:76.30, Y:12.94, Z:1.05 [[ 9.06122449e-01 -4.22461644e-01 -2.16394858e-02 7.63003773e+01] [ 4.22348471e-01 9.06380761e-01 -9.78191597e-03 1.29398629e+01] [ 2.37460979e-02 -2.75790107e-04 9.99717984e-01 1.05306236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27361786499998 meters Centerline goodness [0,1] 0.9999123498992024 Centerline is valid? [True, True] Translation: X:76.33, Y:12.95, Z:1.05 [[ 9.05169814e-01 -4.24520236e-01 -2.12173887e-02 7.63283643e+01] [ 4.24411858e-01 9.05418394e-01 -9.59722034e-03 1.29484824e+01] [ 2.32848283e-02 -3.17797230e-04 9.99728821e-01 1.05302703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499998 meters Centerline goodness [0,1] 0.99989031720265 Centerline is valid? [True, True] Translation: X:76.35, Y:12.96, Z:1.05 [[ 9.04987695e-01 -4.24940766e-01 -2.05576782e-02 7.63537101e+01] [ 4.24839027e-01 9.05221104e-01 -9.30344696e-03 1.29575059e+01] [ 2.25626580e-02 -3.14198985e-04 9.99745381e-01 1.05319439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33361786499998 meters Centerline goodness [0,1] 0.9998465753424658 Centerline is valid? [True, True] Translation: X:76.38, Y:12.97, Z:1.05 [[ 9.04686404e-01 -4.25597316e-01 -2.02345030e-02 7.63791109e+01] [ 4.25498818e-01 9.04912604e-01 -9.16157080e-03 1.29685668e+01] [ 2.22095968e-02 -3.21408586e-04 9.99753285e-01 1.05447401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36361786499998 meters Centerline goodness [0,1] 0.9999560651992443 Centerline is valid? [True, True] Translation: X:76.40, Y:12.98, Z:1.06 [[ 9.04383363e-01 -4.26313381e-01 -1.86449327e-02 7.64049829e+01] [ 4.26229785e-01 9.04575484e-01 -8.44769239e-03 1.29783325e+01] [ 2.04671133e-02 -3.07073198e-04 9.99790480e-01 1.05604667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39361786499998 meters Centerline goodness [0,1] 0.9999120183001936 Centerline is valid? [True, True] Translation: X:76.43, Y:12.99, Z:1.06 [[ 9.04170402e-01 -4.26785493e-01 -1.81666605e-02 7.64306407e+01] [ 4.26706108e-01 9.04352835e-01 -8.23694649e-03 1.29891044e+01] [ 1.99444802e-02 -3.04221766e-04 9.99801043e-01 1.05668922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42361786499998 meters Centerline goodness [0,1] 0.9999342379271795 Centerline is valid? [True, True] Translation: X:76.46, Y:13.00, Z:1.06 [[ 9.04105509e-01 -4.26924934e-01 -1.81198807e-02 7.64557985e+01] [ 4.26845887e-01 9.04287017e-01 -8.22065025e-03 1.29988221e+01] [ 1.98951734e-02 -3.02061378e-04 9.99802026e-01 1.05696769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45361786499998 meters Centerline goodness [0,1] 0.9999780306691858 Centerline is valid? [True, True] Translation: X:76.48, Y:13.01, Z:1.06 [[ 9.03936491e-01 -4.27270232e-01 -1.84111235e-02 7.64823908e+01] [ 4.27188646e-01 9.04123914e-01 -8.35520922e-03 1.30080357e+01] [ 2.02158692e-02 -3.12444432e-04 9.99795590e-01 1.05697833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:13.02, Z:1.06 [[ 9.03903148e-01 -4.27350990e-01 -1.81722106e-02 7.65079959e+01] [ 4.27271460e-01 9.04085746e-01 -8.25000685e-03 1.30194723e+01] [ 1.99548852e-02 -3.07259806e-04 9.99800834e-01 1.05751850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:13.03, Z:1.06 [[ 9.03957363e-01 -4.27249051e-01 -1.78699138e-02 7.65332542e+01] [ 4.27172022e-01 9.04133929e-01 -8.11800586e-03 1.30299728e+01] [ 1.96252057e-02 -2.95196042e-04 9.99807364e-01 1.05729053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:13.04, Z:1.06 [[ 9.04112542e-01 -4.26954695e-01 -1.70352284e-02 7.65597918e+01] [ 4.26884568e-01 9.04272976e-01 -7.74279584e-03 1.30412405e+01] [ 1.87103197e-02 -2.71717303e-04 9.99824910e-01 1.05712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:13.05, Z:1.06 [[ 9.04119972e-01 -4.26937550e-01 -1.70705500e-02 7.65846735e+01] [ 4.26867052e-01 9.04281071e-01 -7.76295852e-03 1.30515223e+01] [ 1.87508737e-02 -2.68209508e-04 9.99824151e-01 1.05760716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499998 meters Centerline goodness [0,1] 0.9999779249448124 Centerline is valid? [True, True] Translation: X:76.61, Y:13.06, Z:1.06 [[ 9.04041864e-01 -4.27133051e-01 -1.62992382e-02 7.66092933e+01] [ 4.27068773e-01 9.04188747e-01 -7.41438233e-03 1.30615650e+01] [ 1.79045155e-02 -2.57983626e-04 9.99839668e-01 1.05803714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:13.07, Z:1.06 [[ 9.03758688e-01 -4.27777278e-01 -1.50610037e-02 7.66359206e+01] [ 4.27722445e-01 9.03884140e-01 -6.85355630e-03 1.30718747e+01] [ 1.65451981e-02 -2.47968286e-04 9.99863088e-01 1.05830668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:13.08, Z:1.06 [[ 9.03457856e-01 -4.28422550e-01 -1.47655482e-02 7.66612092e+01] [ 4.28369859e-01 9.03578473e-01 -6.72365010e-03 1.30836215e+01] [ 1.62223948e-02 -2.50581291e-04 9.99868377e-01 1.05909321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:13.09, Z:1.06 [[ 9.03227220e-01 -4.28919601e-01 -1.44417648e-02 7.66867823e+01] [ 4.28869187e-01 9.03342634e-01 -6.58078518e-03 1.30949213e+01] [ 1.58684896e-02 -2.49683622e-04 9.99874056e-01 1.05927320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72361786499998 meters Centerline goodness [0,1] 0.9999116197883294 Centerline is valid? [True, True] Translation: X:76.71, Y:13.11, Z:1.06 [[ 9.02951790e-01 -4.29514539e-01 -1.39759175e-02 7.67124548e+01] [ 4.29467328e-01 9.03059909e-01 -6.37298352e-03 1.31055231e+01] [ 1.53583799e-02 -2.47703070e-04 9.99882022e-01 1.05979445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75361786499998 meters Centerline goodness [0,1] 0.9999779220205767 Centerline is valid? [True, True] Translation: X:76.74, Y:13.11, Z:1.06 [[ 9.02813434e-01 -4.29823597e-01 -1.34007179e-02 7.67400694e+01] [ 4.29780167e-01 9.02912852e-01 -6.11465917e-03 1.31133049e+01] [ 1.47279052e-02 -2.38966322e-04 9.99891510e-01 1.05962951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:13.13, Z:1.06 [[ 9.02839894e-01 -4.29779156e-01 -1.30385535e-02 7.67646112e+01] [ 4.29738016e-01 9.02934009e-01 -5.95089932e-03 1.31270266e+01] [ 1.43305258e-02 -2.30452782e-04 9.99897286e-01 1.06042060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81361786499998 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:76.79, Y:13.14, Z:1.06 [[ 9.03205096e-01 -4.29031647e-01 -1.23450711e-02 7.67907972e+01] [ 4.28994647e-01 9.03289435e-01 -5.63814586e-03 1.31398188e+01] [ 1.35701153e-02 -2.03567367e-04 9.99907901e-01 1.06063923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:13.15, Z:1.06 [[ 9.03553462e-01 -4.28289636e-01 -1.26146175e-02 7.68160722e+01] [ 4.28250881e-01 9.03641494e-01 -5.76480617e-03 1.31512956e+01] [ 1.38680986e-02 -1.93410494e-04 9.99903815e-01 1.06113584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87361786499999 meters Centerline goodness [0,1] 0.9998453892876864 Centerline is valid? [True, True] Translation: X:76.84, Y:13.16, Z:1.06 [[ 9.03907018e-01 -4.27536521e-01 -1.28306620e-02 7.68415128e+01] [ 4.27496330e-01 9.03998058e-01 -5.86497328e-03 1.31642983e+01] [ 1.41063838e-02 -1.83670400e-04 9.99900483e-01 1.06095990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters Centerline goodness [0,1] 0.9998453892876864 Centerline is valid? [True, True] Translation: X:76.87, Y:13.18, Z:1.06 [[ 9.03790722e-01 -4.27782352e-01 -1.28292547e-02 7.68665788e+01] [ 4.27742142e-01 9.03881754e-01 -5.86805012e-03 1.31758371e+01] [ 1.41063775e-02 -1.84123613e-04 9.99900483e-01 1.06132688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93361786499999 meters Centerline goodness [0,1] 0.999911678332487 Centerline is valid? [True, True] Translation: X:76.89, Y:13.19, Z:1.06 [[ 9.04842547e-01 -4.25555068e-01 -1.27612554e-02 7.68914908e+01] [ 4.25515005e-01 9.04932519e-01 -5.84098159e-03 1.31889108e+01] [ 1.40337343e-02 -1.44937011e-04 9.99901512e-01 1.06192272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:13.20, Z:1.06 [[ 9.05179001e-01 -4.24851526e-01 -1.23351959e-02 7.69177752e+01] [ 4.24814012e-01 9.05263036e-01 -5.64719590e-03 1.32020560e+01] [ 1.35658167e-02 -1.28440904e-04 9.99907972e-01 1.06257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:13.22, Z:1.06 [[ 9.05923083e-01 -4.23276413e-01 -1.18509869e-02 7.69435449e+01] [ 4.23241628e-01 9.06000590e-01 -5.42731671e-03 1.32150079e+01] [ 1.30342562e-02 -9.90994829e-05 9.99915046e-01 1.06354927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:13.23, Z:1.06 [[ 9.06397077e-01 -4.22266964e-01 -1.16167885e-02 7.69687105e+01] [ 4.22233414e-01 9.06471514e-01 -5.32344562e-03 1.32271562e+01] [ 1.27782031e-02 -7.98407227e-05 9.99918352e-01 1.06401833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05361786499998 meters Centerline goodness [0,1] 0.9999559102332348 Centerline is valid? [True, True] Translation: X:76.99, Y:13.24, Z:1.06 [[ 9.06822682e-01 -4.21367560e-01 -1.10454763e-02 7.69933761e+01] [ 4.21337145e-01 9.06889947e-01 -5.06307542e-03 1.32405103e+01] [ 1.21504472e-02 -6.25578291e-05 9.99926179e-01 1.06433593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08361786499998 meters Centerline goodness [0,1] 0.9999119330691325 Centerline is valid? [True, True] Translation: X:77.02, Y:13.25, Z:1.06 [[ 9.07178407e-01 -4.20615621e-01 -1.04802894e-02 7.70184713e+01] [ 4.20588151e-01 9.07238942e-01 -4.80730578e-03 1.32540424e+01] [ 1.15301545e-02 -4.68015284e-05 9.99933524e-01 1.06476997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:13.27, Z:1.07 [[ 9.08049351e-01 -4.18759156e-01 -9.33517410e-03 7.70423090e+01] [ 4.18737235e-01 9.08097335e-01 -4.28473114e-03 1.32682932e+01] [ 1.02715171e-02 -1.82376599e-05 9.99947246e-01 1.06545564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:13.28, Z:1.07 [[ 9.08467817e-01 -4.17854394e-01 -9.16135358e-03 7.70664076e+01] [ 4.17833200e-01 9.08514009e-01 -4.20851386e-03 1.32806694e+01] [ 1.00817641e-02 -4.61828478e-06 9.99949178e-01 1.06640370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17361786499998 meters Centerline goodness [0,1] 0.9999560526489266 Centerline is valid? [True, True] Translation: X:77.09, Y:13.29, Z:1.07 [[ 9.08561303e-01 -4.17663729e-01 -8.56544944e-03 7.70920129e+01] [ 4.17645190e-01 9.08601678e-01 -3.93523325e-03 1.32932976e+01] [ 9.42618592e-03 -1.91810860e-06 9.99955573e-01 1.06672801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:13.30, Z:1.07 [[ 9.08486404e-01 -4.17826938e-01 -8.55007028e-03 7.71162431e+01] [ 4.17808439e-01 9.08526637e-01 -3.93168160e-03 1.33047179e+01] [ 9.41072908e-03 -4.12234951e-07 9.99955718e-01 1.06771804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23361786499999 meters Centerline goodness [0,1] 0.9999120937081072 Centerline is valid? [True, True] Translation: X:77.14, Y:13.32, Z:1.07 [[ 9.08007443e-01 -4.18875653e-01 -8.10374410e-03 7.71420064e+01] [ 4.18859074e-01 9.08043604e-01 -3.72677284e-03 1.33162073e+01] [ 8.91960740e-03 -1.03892753e-05 9.99960219e-01 1.06801145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:13.33, Z:1.07 [[ 9.07491148e-01 -4.19988640e-01 -8.32812345e-03 7.71675088e+01] [ 4.19971151e-01 9.07529361e-01 -3.83280166e-03 1.33280045e+01] [ 9.16774971e-03 -1.93380158e-05 9.99957975e-01 1.06850946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:13.34, Z:1.07 [[ 9.06602198e-01 -4.21899380e-01 -8.56552912e-03 7.71934294e+01] [ 4.21880929e-01 9.06642659e-01 -3.94586504e-03 1.33387754e+01] [ 9.43063211e-03 -3.63034641e-05 9.99955530e-01 1.06901349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:77.22, Y:13.35, Z:1.07 [[ 9.05926219e-01 -4.23347633e-01 -8.62944872e-03 7.72190362e+01] [ 4.23328963e-01 9.05967317e-01 -3.97622429e-03 1.33495625e+01] [ 9.50132365e-03 -5.09297425e-05 9.99954860e-01 1.06946379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35361786499998 meters Centerline goodness [0,1] 0.9999559481068699 Centerline is valid? [True, True] Translation: X:77.25, Y:13.36, Z:1.07 [[ 9.05080713e-01 -4.25148377e-01 -8.81820800e-03 7.72459115e+01] [ 4.25128964e-01 9.05123667e-01 -4.06349640e-03 1.33612941e+01] [ 9.70915766e-03 -7.10834144e-05 9.99952862e-01 1.06925082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499998 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:77.27, Y:13.37, Z:1.07 [[ 9.03443166e-01 -4.28598580e-01 -9.67999136e-03 7.72736034e+01] [ 4.28575350e-01 9.03495016e-01 -4.46377573e-03 1.33711865e+01] [ 1.06589919e-02 -1.15838006e-04 9.99943185e-01 1.06915141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:13.38, Z:1.07 [[ 9.02446958e-01 -4.30682641e-01 -1.00970509e-02 7.73001537e+01] [ 4.30657458e-01 9.02503430e-01 -4.65957989e-03 1.33800800e+01] [ 1.11194232e-02 -1.43346562e-04 9.99938167e-01 1.06926396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44361786499998 meters Centerline goodness [0,1] 0.9999557864485464 Centerline is valid? [True, True] Translation: X:77.33, Y:13.39, Z:1.07 [[ 9.01321848e-01 -4.33030477e-01 -1.01750840e-02 7.73267120e+01] [ 4.33005045e-01 9.01379263e-01 -4.69630671e-03 1.33907680e+01] [ 1.12052537e-02 -1.72978878e-04 9.99937204e-01 1.06952821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47361786499998 meters Centerline goodness [0,1] 0.999955832339561 Centerline is valid? [True, True] Translation: X:77.35, Y:13.40, Z:1.07 [[ 8.99309135e-01 -4.37182540e-01 -1.07008032e-02 7.73531605e+01] [ 4.37154664e-01 8.99372766e-01 -4.94238751e-03 1.34010686e+01] [ 1.17847365e-02 -2.33171793e-04 9.99930530e-01 1.06955918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:13.41, Z:1.07 [[ 8.98430962e-01 -4.38999663e-01 -1.00549693e-02 7.73802624e+01] [ 4.38975155e-01 8.98487194e-01 -4.64491958e-03 1.34077174e+01] [ 1.10733793e-02 -2.40742135e-04 9.99938659e-01 1.07071489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:13.42, Z:1.07 [[ 8.97501008e-01 -4.40907883e-01 -9.60098285e-03 7.74052920e+01] [ 4.40885633e-01 8.97552325e-01 -4.43657024e-03 1.34224230e+01] [ 1.05735033e-02 -2.51109132e-04 9.99944067e-01 1.07114027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:13.43, Z:1.07 [[ 8.96353731e-01 -4.43244292e-01 -9.19164771e-03 7.74322693e+01] [ 4.43223990e-01 8.96400819e-01 -4.25055235e-03 1.34312112e+01] [ 1.01234336e-02 -2.63960304e-04 9.99948722e-01 1.07218482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59361786499998 meters Centerline goodness [0,1] 0.9999778790426049 Centerline is valid? [True, True] Translation: X:77.46, Y:13.44, Z:1.07 [[ 8.96084896e-01 -4.43791543e-01 -8.99591927e-03 7.74581145e+01] [ 4.43772120e-01 8.96130011e-01 -4.16037328e-03 1.34437378e+01] [ 9.90785171e-03 -2.64090507e-04 9.99950881e-01 1.07251785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:13.45, Z:1.07 [[ 8.95962920e-01 -4.44027435e-01 -9.49120887e-03 7.74841875e+01] [ 4.44005791e-01 8.96013147e-01 -4.39290190e-03 1.34537081e+01] [ 1.04548169e-02 -2.78274489e-04 9.99945308e-01 1.07299030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.51, Y:13.47, Z:1.07 [[ 8.95733612e-01 -4.44494269e-01 -9.28120879e-03 7.75098643e+01] [ 4.44473593e-01 8.95781652e-01 -4.29611261e-03 1.34671931e+01] [ 1.02235340e-02 -2.77079750e-04 9.99947700e-01 1.07332371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters Centerline goodness [0,1] 0.9999559500473537 Centerline is valid? [True, True] Translation: X:77.53, Y:13.48, Z:1.07 [[ 8.97285252e-01 -4.41361749e-01 -8.88728078e-03 7.75347696e+01] [ 4.41342607e-01 8.97329234e-01 -4.11686583e-03 1.34824575e+01] [ 9.79184396e-03 -2.28332672e-04 9.99952033e-01 1.07436482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71361786499999 meters Centerline goodness [0,1] 0.9999559024562332 Centerline is valid? [True, True] Translation: X:77.56, Y:13.49, Z:1.07 [[ 8.97885758e-01 -4.40129956e-01 -9.31595228e-03 7.75606120e+01] [ 4.40108849e-01 8.97934057e-01 -4.31620173e-03 1.34931827e+01] [ 1.02648005e-02 -2.24576972e-04 9.99947290e-01 1.07474134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:13.51, Z:1.08 [[ 8.98163134e-01 -4.39543262e-01 -1.02325173e-02 7.75862078e+01] [ 4.39517750e-01 8.98221389e-01 -4.74167768e-03 1.35074699e+01] [ 1.12752384e-02 -2.38572902e-04 9.99936404e-01 1.07510218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77361786499998 meters Centerline goodness [0,1] 0.9999780619967971 Centerline is valid? [True, True] Translation: X:77.61, Y:13.52, Z:1.08 [[ 8.98913636e-01 -4.37981408e-01 -1.12499849e-02 7.76118814e+01] [ 4.37950403e-01 8.98983999e-01 -5.21678558e-03 1.35195529e+01] [ 1.23984115e-02 -2.37495726e-04 9.99923109e-01 1.07531316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:13.53, Z:1.08 [[ 8.99127008e-01 -4.37540898e-01 -1.13396074e-02 7.76372488e+01] [ 4.37509319e-01 8.99198482e-01 -5.26178579e-03 1.35316245e+01] [ 1.24988042e-02 -2.30170191e-04 9.99921860e-01 1.07574987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.66, Y:13.54, Z:1.08 [[ 8.99217644e-01 -4.37354755e-01 -1.13334431e-02 7.76618746e+01] [ 4.37323183e-01 8.99289034e-01 -5.25988244e-03 1.35449437e+01] [ 1.24924757e-02 -2.26598308e-04 9.99921940e-01 1.07640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86361786499998 meters Centerline goodness [0,1] 0.9999338507673311 Centerline is valid? [True, True] Translation: X:77.69, Y:13.56, Z:1.08 [[ 8.99460535e-01 -4.36857819e-01 -1.12246423e-02 7.76872037e+01] [ 4.36826765e-01 8.99530544e-01 -5.21323248e-03 1.35566554e+01] [ 1.23743500e-02 -2.14127321e-04 9.99923412e-01 1.07720222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:13.57, Z:1.08 [[ 8.99446193e-01 -4.36885790e-01 -1.12850595e-02 7.77117711e+01] [ 4.36854382e-01 8.99516960e-01 -5.24290452e-03 1.35708259e+01] [ 1.24416529e-02 -2.14217177e-04 9.99922577e-01 1.07698800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:13.58, Z:1.08 [[ 8.99496230e-01 -4.36778182e-01 -1.14609080e-02 7.77370310e+01] [ 4.36745730e-01 8.99569216e-01 -5.32844801e-03 1.35828905e+01] [ 1.26372299e-02 -2.12583735e-04 9.99920124e-01 1.07768518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:13.59, Z:1.08 [[ 8.99362020e-01 -4.37059927e-01 -1.12506638e-02 7.77629527e+01] [ 4.37028632e-01 8.99432363e-01 -5.23435592e-03 1.35947340e+01] [ 1.24069384e-02 -2.09281325e-04 9.99923009e-01 1.07794356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:13.61, Z:1.08 [[ 8.99376154e-01 -4.37023852e-01 -1.15189798e-02 7.77870923e+01] [ 4.36990992e-01 8.99449892e-01 -5.36318085e-03 1.36058827e+01] [ 1.27045831e-02 -2.10173449e-04 9.99919271e-01 1.07783626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:13.62, Z:1.08 [[ 8.99266506e-01 -4.37254250e-01 -1.13345054e-02 7.78122253e+01] [ 4.37222423e-01 8.99337911e-01 -5.27973120e-03 1.36183476e+01] [ 1.25021353e-02 -2.07814467e-04 9.99921824e-01 1.07748409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters Centerline goodness [0,1] 0.9999342263927561 Centerline is valid? [True, True] Translation: X:77.84, Y:13.63, Z:1.08 [[ 8.99482293e-01 -4.36807495e-01 -1.14375142e-02 7.78369877e+01] [ 4.36775001e-01 8.99554986e-01 -5.33167856e-03 1.36304419e+01] [ 1.26175901e-02 -1.99869824e-04 9.99920375e-01 1.07720045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:13.64, Z:1.08 [[ 8.99566412e-01 -4.36635908e-01 -1.13733987e-02 7.78624478e+01] [ 4.36603750e-01 8.99638286e-01 -5.30280195e-03 1.36434650e+01] [ 1.25473387e-02 -1.95446005e-04 9.99921260e-01 1.07753784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:13.66, Z:1.08 [[ 8.99788680e-01 -4.36177165e-01 -1.13935171e-02 7.78886236e+01] [ 4.36144813e-01 8.99860793e-01 -5.31566976e-03 1.36562764e+01] [ 1.25711531e-02 -1.86243916e-04 9.99920963e-01 1.07729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13361786499998 meters Centerline goodness [0,1] 0.9999780889151821 Centerline is valid? [True, True] Translation: X:77.91, Y:13.67, Z:1.08 [[ 9.00044829e-01 -4.35633320e-01 -1.19547428e-02 7.79140537e+01] [ 4.35597607e-01 9.00124201e-01 -5.58107242e-03 1.36682067e+01] [ 1.31920544e-02 -1.84241992e-04 9.99912964e-01 1.07739182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:13.68, Z:1.08 [[ 9.00207712e-01 -4.35283172e-01 -1.24352836e-02 7.79393293e+01] [ 4.35244469e-01 9.00293578e-01 -5.80741907e-03 1.36812673e+01] [ 1.37232777e-02 -1.84504965e-04 9.99905814e-01 1.07745629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:13.69, Z:1.08 [[ 9.00442041e-01 -4.34798455e-01 -1.24271938e-02 7.79649801e+01] [ 4.34759701e-01 9.00527775e-01 -5.80760190e-03 1.36929579e+01] [ 1.37161695e-02 -1.73434172e-04 9.99905914e-01 1.07760153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22361786499998 meters Centerline goodness [0,1] 0.9999124151521787 Centerline is valid? [True, True] Translation: X:77.99, Y:13.71, Z:1.08 [[ 9.00884301e-01 -4.33876613e-01 -1.25921157e-02 7.79907407e+01] [ 4.33836716e-01 9.00972285e-01 -5.88604754e-03 1.37067134e+01] [ 1.38989656e-02 -1.60274305e-04 9.99903392e-01 1.07873533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:13.72, Z:1.08 [[ 9.01104310e-01 -4.33415430e-01 -1.27313492e-02 7.80157764e+01] [ 4.33374548e-01 9.01194231e-01 -5.95476282e-03 1.37198797e+01] [ 1.40543045e-02 -1.51580247e-04 9.99901222e-01 1.07937538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28361786499998 meters Centerline goodness [0,1] 0.9999561960664067 Centerline is valid? [True, True] Translation: X:78.04, Y:13.73, Z:1.08 [[ 9.01615785e-01 -4.32355249e-01 -1.25663800e-02 7.80407253e+01] [ 4.32315262e-01 9.01703345e-01 -5.88152156e-03 1.37330317e+01] [ 1.38740536e-02 -1.29765178e-04 9.99903742e-01 1.08020315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:13.75, Z:1.08 [[ 9.01690163e-01 -4.32204028e-01 -1.24309074e-02 7.80653441e+01] [ 4.32164867e-01 9.01775838e-01 -5.81936416e-03 1.37450153e+01] [ 1.37250446e-02 -1.24938025e-04 9.99905799e-01 1.08075686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34361786499998 meters Centerline goodness [0,1] 0.999912631326038 Centerline is valid? [True, True] Translation: X:78.09, Y:13.76, Z:1.08 [[ 9.01672856e-01 -4.32226784e-01 -1.28867117e-02 7.80898057e+01] [ 4.32184673e-01 9.01764931e-01 -6.03472744e-03 1.37582807e+01] [ 1.42291555e-02 -1.28089344e-04 9.99898752e-01 1.08104120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:13.77, Z:1.08 [[ 9.01575697e-01 -4.32418835e-01 -1.32368565e-02 7.81141588e+01] [ 4.32374362e-01 9.01672853e-01 -6.20299992e-03 1.37692356e+01] [ 1.46176081e-02 -1.30803392e-04 9.99893149e-01 1.08124209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:13.78, Z:1.08 [[ 9.01104857e-01 -4.33406470e-01 -1.29949582e-02 7.81388615e+01] [ 4.33363681e-01 9.01198542e-01 -6.09165037e-03 1.37816888e+01] [ 1.43511981e-02 -1.42327204e-04 9.99897006e-01 1.08094765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:13.79, Z:1.08 [[ 9.00643600e-01 -4.34354650e-01 -1.33095657e-02 7.81646120e+01] [ 4.34309804e-01 9.00741924e-01 -6.24347934e-03 1.37943218e+01] [ 1.47003681e-02 -1.57325143e-04 9.99891931e-01 1.08166382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters Centerline goodness [0,1] 0.9999344419920894 Centerline is valid? [True, True] Translation: X:78.19, Y:13.81, Z:1.08 [[ 9.00177046e-01 -4.35321942e-01 -1.32700062e-02 7.81909531e+01] [ 4.35277411e-01 9.00274835e-01 -6.22878881e-03 1.38066310e+01] [ 1.46581811e-02 -1.69121217e-04 9.99892549e-01 1.08200763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:13.82, Z:1.08 [[ 8.99711918e-01 -4.36273005e-01 -1.35768101e-02 7.82168547e+01] [ 4.36226437e-01 8.99814331e-01 -6.37686701e-03 1.38189739e+01] [ 1.49986633e-02 -1.85220264e-04 9.99887497e-01 1.08243151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:13.83, Z:1.08 [[ 8.99257978e-01 -4.37221003e-01 -1.31485081e-02 7.82434134e+01] [ 4.37177374e-01 8.99354078e-01 -6.17947331e-03 1.38314300e+01] [ 1.45269599e-02 -1.91289558e-04 9.99894460e-01 1.08290030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:13.84, Z:1.08 [[ 8.98693047e-01 -4.38378520e-01 -1.32318279e-02 7.82700661e+01] [ 4.38334404e-01 8.98790426e-01 -6.22257190e-03 1.38437597e+01] [ 1.46204821e-02 -2.07783309e-04 9.99893093e-01 1.08347046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:13.86, Z:1.09 [[ 8.97761860e-01 -4.40279386e-01 -1.33306434e-02 7.82964470e+01] [ 4.40234759e-01 8.97860795e-01 -6.27300967e-03 1.38558117e+01] [ 1.47309390e-02 -2.36943776e-04 9.99891466e-01 1.08504912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:13.87, Z:1.09 [[ 8.97373987e-01 -4.41053652e-01 -1.38421015e-02 7.83216362e+01] [ 4.41005565e-01 8.97480702e-01 -6.51773040e-03 1.38665940e+01] [ 1.52976878e-02 -2.55602084e-04 9.99882951e-01 1.08534948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:13.88, Z:1.09 [[ 8.96297345e-01 -4.43245126e-01 -1.35951067e-02 7.83466285e+01] [ 4.43198956e-01 8.96400400e-01 -6.40381503e-03 1.38776187e+01] [ 1.50251189e-02 -2.85614673e-04 9.99887076e-01 1.08558658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:13.89, Z:1.09 [[ 8.95776969e-01 -4.44286921e-01 -1.38836157e-02 7.83724145e+01] [ 4.44238869e-01 8.95884500e-01 -6.54142083e-03 1.38894278e+01] [ 1.53443838e-02 -3.07987597e-04 9.99882221e-01 1.08576862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.40, Y:13.90, Z:1.09 [[ 8.95312459e-01 -4.45226542e-01 -1.37450645e-02 7.83981352e+01] [ 4.45179534e-01 8.95417905e-01 -6.47753783e-03 1.39014842e+01] [ 1.51915486e-02 -3.19601097e-04 9.99884551e-01 1.08573648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:13.91, Z:1.09 [[ 8.94756207e-01 -4.46336278e-01 -1.39734546e-02 7.84245861e+01] [ 4.46287802e-01 8.94865247e-01 -6.58699068e-03 1.39135696e+01] [ 1.54443718e-02 -3.42431541e-04 9.99880670e-01 1.08635635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:13.92, Z:1.09 [[ 8.93962008e-01 -4.47904698e-01 -1.46051169e-02 7.84513120e+01] [ 4.47851885e-01 8.94081224e-01 -6.88867860e-03 1.39228831e+01] [ 1.61436323e-02 -3.82712162e-04 9.99869610e-01 1.08585215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:13.94, Z:1.09 [[ 8.93640303e-01 -4.48525119e-01 -1.52389634e-02 7.84770887e+01] [ 4.48467676e-01 8.93770133e-01 -7.18982068e-03 1.39351761e+01] [ 1.68449455e-02 -4.09068958e-04 9.99858030e-01 1.08571967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:13.95, Z:1.09 [[ 8.93522787e-01 -4.48759240e-01 -1.52372673e-02 7.85020083e+01] [ 4.48701770e-01 8.93652604e-01 -7.19341366e-03 1.39470277e+01] [ 1.68449344e-02 -4.09509781e-04 9.99858030e-01 1.08608671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85361786499998 meters Centerline goodness [0,1] 0.9999340528895826 Centerline is valid? [True, True] Translation: X:78.53, Y:13.96, Z:1.09 [[ 8.93215738e-01 -4.49361646e-01 -1.54840638e-02 7.85283803e+01] [ 4.49302306e-01 8.93349837e-01 -7.31481024e-03 1.39593360e+01] [ 1.71196810e-02 -4.23321922e-04 9.99853358e-01 1.08626790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:13.97, Z:1.09 [[ 8.93141443e-01 -4.49513310e-01 -1.53670588e-02 7.85535725e+01] [ 4.49454810e-01 8.93273535e-01 -7.26397747e-03 1.39726766e+01] [ 1.69922415e-02 -4.19039186e-04 9.99855534e-01 1.08650439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91361786499998 meters Centerline goodness [0,1] 0.9999341831026085 Centerline is valid? [True, True] Translation: X:78.58, Y:13.98, Z:1.09 [[ 8.93367271e-01 -4.49054343e-01 -1.56561758e-02 7.85783170e+01] [ 4.48993474e-01 8.93504351e-01 -7.40506431e-03 1.39849331e+01] [ 1.73141375e-02 -4.14078671e-04 9.99850013e-01 1.08636301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94361786499998 meters Centerline goodness [0,1] 0.9999559384018858 Centerline is valid? [True, True] Translation: X:78.60, Y:14.00, Z:1.09 [[ 8.93555168e-01 -4.48687076e-01 -1.54618487e-02 7.86042273e+01] [ 4.48627617e-01 8.93688843e-01 -7.31528027e-03 1.39988810e+01] [ 1.71003534e-02 -4.00005839e-04 9.99853698e-01 1.08711354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97361786499998 meters Centerline goodness [0,1] 0.9999780403179762 Centerline is valid? [True, True] Translation: X:78.63, Y:14.01, Z:1.09 [[ 8.94069864e-01 -4.47653364e-01 -1.56698541e-02 7.86298505e+01] [ 4.47592072e-01 8.94207090e-01 -7.41734605e-03 1.40106037e+01] [ 1.73324945e-02 -3.82076868e-04 9.99849708e-01 1.08756218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00361786499998 meters Centerline goodness [0,1] 0.9999560970255735 Centerline is valid? [True, True] Translation: X:78.65, Y:14.03, Z:1.09 [[ 8.95101992e-01 -4.45577641e-01 -1.59056411e-02 7.86546414e+01] [ 4.45514122e-01 8.95243233e-01 -7.53131158e-03 1.40252504e+01] [ 1.75952016e-02 -3.44895730e-04 9.99845133e-01 1.08867389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03361786499998 meters Centerline goodness [0,1] 0.9999780514036127 Centerline is valid? [True, True] Translation: X:78.68, Y:14.04, Z:1.09 [[ 8.95603123e-01 -4.44560929e-01 -1.61439448e-02 7.86803207e+01] [ 4.44495242e-01 8.95748556e-01 -7.64884824e-03 1.40394287e+01] [ 1.78612943e-02 -3.25574264e-04 9.99840421e-01 1.08940657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:14.05, Z:1.09 [[ 8.96165437e-01 -4.43429385e-01 -1.60589323e-02 7.87058492e+01] [ 4.43364138e-01 8.96309261e-01 -7.61249101e-03 1.40512254e+01] [ 1.77693720e-02 -2.97903348e-04 9.99842068e-01 1.08917112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:14.07, Z:1.09 [[ 8.97422511e-01 -4.40872383e-01 -1.62597106e-02 7.87299710e+01] [ 4.40805043e-01 8.97569764e-01 -7.70934653e-03 1.40652218e+01] [ 1.79930626e-02 -2.48821303e-04 9.99838081e-01 1.09048970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters Centerline goodness [0,1] 0.9999343860723503 Centerline is valid? [True, True] Translation: X:78.76, Y:14.08, Z:1.09 [[ 8.98004080e-01 -4.39698281e-01 -1.59403087e-02 7.87554334e+01] [ 4.39633344e-01 8.98145519e-01 -7.55968427e-03 1.40799639e+01] [ 1.76406970e-02 -2.19263878e-04 9.99844367e-01 1.09193980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:14.09, Z:1.09 [[ 8.98477277e-01 -4.38724588e-01 -1.61033544e-02 7.87814752e+01] [ 4.38658106e-01 8.98621553e-01 -7.64000628e-03 1.40936083e+01] [ 1.78226800e-02 -1.99494917e-04 9.99841144e-01 1.09318960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:14.11, Z:1.09 [[ 8.99717503e-01 -4.36149785e-01 -1.67863075e-02 7.88056266e+01] [ 4.36077024e-01 8.99874070e-01 -7.96789042e-03 1.41070171e+01] [ 1.85807566e-02 -1.51272555e-04 9.99827351e-01 1.09423116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21361786499999 meters Centerline goodness [0,1] 0.9999781435097153 Centerline is valid? [True, True] Translation: X:78.83, Y:14.12, Z:1.10 [[ 9.00113555e-01 -4.35330350e-01 -1.68248375e-02 7.88305235e+01] [ 4.35257058e-01 9.00270775e-01 -7.98900590e-03 1.41210121e+01] [ 1.86247663e-02 -1.32116787e-04 9.99826535e-01 1.09530775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499998 meters Centerline goodness [0,1] 0.9999781497181314 Centerline is valid? [True, True] Translation: X:78.85, Y:14.13, Z:1.10 [[ 9.01006305e-01 -4.33424771e-01 -1.81826100e-02 7.88541287e+01] [ 4.33338678e-01 9.01189746e-01 -8.63893925e-03 1.41349298e+01] [ 2.01303120e-02 -9.54894438e-05 9.99797360e-01 1.09506708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27361786499998 meters Centerline goodness [0,1] 0.9999781454203729 Centerline is valid? [True, True] Translation: X:78.88, Y:14.15, Z:1.09 [[ 9.01177913e-01 -4.33038354e-01 -1.88720127e-02 7.88782785e+01] [ 4.32945454e-01 9.01375491e-01 -8.96981105e-03 1.41472600e+01] [ 2.08950419e-02 -8.71565106e-05 9.99781671e-01 1.09412822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499998 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:78.90, Y:14.16, Z:1.10 [[ 9.01405971e-01 -4.32556177e-01 -1.90375584e-02 7.89024987e+01] [ 4.32461428e-01 9.01606981e-01 -9.05345262e-03 1.41605682e+01] [ 2.10805224e-02 -7.21734207e-05 9.99777778e-01 1.09514877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:14.17, Z:1.10 [[ 9.01463770e-01 -4.32422162e-01 -1.93428529e-02 7.89276673e+01] [ 4.32324183e-01 9.01671265e-01 -9.20493794e-03 1.41735209e+01] [ 2.14213138e-02 -6.44650363e-05 9.99770535e-01 1.09571601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36361786499998 meters Centerline goodness [0,1] 0.9999782338985265 Centerline is valid? [True, True] Translation: X:78.95, Y:14.19, Z:1.10 [[ 9.01246009e-01 -4.32850518e-01 -1.99012607e-02 7.89525865e+01] [ 4.32746798e-01 9.01465709e-01 -9.47546150e-03 1.41861336e+01] [ 2.20417625e-02 -7.24849652e-05 9.99757048e-01 1.09562345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:14.20, Z:1.10 [[ 9.00990273e-01 -4.33366778e-01 -2.02426229e-02 7.89769397e+01] [ 4.33259533e-01 9.01217637e-01 -9.64099336e-03 1.41979565e+01] [ 2.24210950e-02 -8.38680842e-05 9.99748612e-01 1.09617658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.00, Y:14.21, Z:1.10 [[ 9.00489414e-01 -4.34411007e-01 -2.01467844e-02 7.90022496e+01] [ 4.34304918e-01 9.00714753e-01 -9.60061957e-03 1.42103172e+01] [ 2.23171207e-02 -1.04591248e-04 9.99750937e-01 1.09793440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:14.22, Z:1.10 [[ 8.99498816e-01 -4.36496545e-01 -1.93040651e-02 7.90279911e+01] [ 4.36399494e-01 8.99705922e-01 -9.20523372e-03 1.42225500e+01] [ 2.13860344e-02 -1.44187394e-04 9.99771282e-01 1.09905366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:14.23, Z:1.10 [[ 8.98885665e-01 -4.37770692e-01 -1.90100786e-02 7.90530404e+01] [ 4.37676728e-01 8.99086644e-01 -9.07124616e-03 1.42349459e+01] [ 2.10628335e-02 -1.66255890e-04 9.99778140e-01 1.09970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:14.25, Z:1.10 [[ 8.98443331e-01 -4.38683490e-01 -1.88779622e-02 7.90776878e+01] [ 4.38590899e-01 8.98641621e-01 -9.01444639e-03 1.42479508e+01] [ 2.09190114e-02 -1.80733198e-04 9.99781157e-01 1.10050404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:14.26, Z:1.10 [[ 8.97835962e-01 -4.39910401e-01 -1.92204188e-02 7.91028845e+01] [ 4.39814568e-01 8.98041645e-01 -9.18423820e-03 1.42618491e+01] [ 2.13009784e-02 -2.07480827e-04 9.99773087e-01 1.10017823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57361786499999 meters Centerline goodness [0,1] 0.9999783732347153 Centerline is valid? [True, True] Translation: X:79.13, Y:14.27, Z:1.10 [[ 8.97528012e-01 -4.40522421e-01 -1.95822651e-02 7.91283088e+01] [ 4.40422994e-01 8.97741582e-01 -9.36156892e-03 1.42742025e+01] [ 2.17037946e-02 -2.22209468e-04 9.99764420e-01 1.09980032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499998 meters Centerline goodness [0,1] 0.9999782896593647 Centerline is valid? [True, True] Translation: X:79.15, Y:14.29, Z:1.10 [[ 8.97080929e-01 -4.41445880e-01 -1.92702215e-02 7.91530796e+01] [ 4.41349731e-01 8.97287846e-01 -9.21609016e-03 1.42876136e+01] [ 2.13593405e-02 -2.37328332e-04 9.99771835e-01 1.10040094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63361786499998 meters Centerline goodness [0,1] 0.9999353629371082 Centerline is valid? [True, True] Translation: X:79.18, Y:14.30, Z:1.10 [[ 8.96365324e-01 -4.42932245e-01 -1.84453895e-02 7.91781909e+01] [ 4.42844365e-01 8.96555052e-01 -8.82653285e-03 1.43006743e+01] [ 2.04468632e-02 -2.56638832e-04 9.99790908e-01 1.10016272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:14.31, Z:1.10 [[ 8.96006838e-01 -4.43670592e-01 -1.81149849e-02 7.92033899e+01] [ 4.43585905e-01 8.96189899e-01 -8.67236255e-03 1.43141086e+01] [ 2.00821387e-02 -2.65055834e-04 9.99798298e-01 1.10161834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69361786499998 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:79.23, Y:14.33, Z:1.10 [[ 8.95366926e-01 -4.44977597e-01 -1.76919730e-02 7.92289180e+01] [ 4.44896983e-01 8.95541656e-01 -8.47445389e-03 1.43253151e+01] [ 1.96148410e-02 -2.83359696e-04 9.99807570e-01 1.10159512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72361786499998 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:79.25, Y:14.34, Z:1.10 [[ 8.94143671e-01 -4.47430506e-01 -1.76928720e-02 7.92548001e+01] [ 4.47350307e-01 8.94318640e-01 -8.47774814e-03 1.43377535e+01] [ 1.96162684e-02 -3.34586901e-04 9.99807527e-01 1.10230082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:14.35, Z:1.10 [[ 8.93465763e-01 -4.48790833e-01 -1.74847937e-02 7.92800619e+01] [ 4.48712674e-01 8.93636762e-01 -8.38297487e-03 1.43511889e+01] [ 1.93872567e-02 -3.55747494e-04 9.99811986e-01 1.10314721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78361786499998 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:79.31, Y:14.36, Z:1.10 [[ 8.92754182e-01 -4.50216187e-01 -1.71859095e-02 7.93063464e+01] [ 4.50140848e-01 8.92919506e-01 -8.24459362e-03 1.43639176e+01] [ 1.90574833e-02 -3.75684432e-04 9.99818319e-01 1.10361220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:14.38, Z:1.10 [[ 8.91966809e-01 -4.51778477e-01 -1.70710122e-02 7.93322716e+01] [ 4.51704335e-01 8.92130061e-01 -8.19437675e-03 1.43765085e+01] [ 1.89316062e-02 -4.01938135e-04 9.99820700e-01 1.10437925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:14.39, Z:1.11 [[ 8.91531894e-01 -4.52631734e-01 -1.71870550e-02 7.93573622e+01] [ 4.52556643e-01 8.91697448e-01 -8.25510517e-03 1.43903718e+01] [ 1.90621756e-02 -4.18426364e-04 9.99818213e-01 1.10556171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87361786499999 meters Centerline goodness [0,1] 0.9998917608347404 Centerline is valid? [True, True] Translation: X:79.38, Y:14.40, Z:1.11 [[ 8.91100523e-01 -4.53492408e-01 -1.68669507e-02 7.93822396e+01] [ 4.53420167e-01 8.91260038e-01 -8.10539535e-03 1.44018925e+01] [ 1.87085744e-02 -4.25093562e-04 9.99824889e-01 1.10599754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters Centerline goodness [0,1] 0.9999350171121605 Centerline is valid? [True, True] Translation: X:79.41, Y:14.41, Z:1.11 [[ 8.90131831e-01 -4.55410478e-01 -1.63284982e-02 7.94070681e+01] [ 4.55343067e-01 8.90281470e-01 -7.84832319e-03 1.44138397e+01] [ 1.81111680e-02 -4.49026155e-04 9.99835879e-01 1.10614107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93361786499999 meters Centerline goodness [0,1] 0.9999783305885412 Centerline is valid? [True, True] Translation: X:79.43, Y:14.43, Z:1.11 [[ 8.89631517e-01 -4.56401044e-01 -1.59327019e-02 7.94326800e+01] [ 4.56336978e-01 8.89774061e-01 -7.66045597e-03 1.44264758e+01] [ 1.76727450e-02 -4.55697970e-04 9.99843721e-01 1.10679074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499997 meters Centerline goodness [0,1] 0.9999783456041577 Centerline is valid? [True, True] Translation: X:79.46, Y:14.44, Z:1.11 [[ 8.89050859e-01 -4.57581895e-01 -1.44006745e-02 7.94581749e+01] [ 4.57529651e-01 8.89167377e-01 -6.92773146e-03 1.44396058e+01] [ 1.59746144e-02 -4.29629945e-04 9.99872305e-01 1.10762898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99361786499998 meters Centerline goodness [0,1] 0.9999783460730604 Centerline is valid? [True, True] Translation: X:79.48, Y:14.45, Z:1.11 [[ 8.88848106e-01 -4.57979951e-01 -1.42621511e-02 7.94838460e+01] [ 4.57928700e-01 8.88962418e-01 -6.86479806e-03 1.44514829e+01] [ 1.58224562e-02 -4.29285551e-04 9.99874725e-01 1.10797295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499998 meters Centerline goodness [0,1] 0.9999566611770825 Centerline is valid? [True, True] Translation: X:79.51, Y:14.46, Z:1.11 [[ 8.88795419e-01 -4.58094001e-01 -1.38777000e-02 7.95082707e+01] [ 4.58045461e-01 8.88903657e-01 -6.68157799e-03 1.44648924e+01] [ 1.53967291e-02 -4.18061584e-04 9.99881376e-01 1.10829277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05361786499998 meters Centerline goodness [0,1] 0.999891845122215 Centerline is valid? [True, True] Translation: X:79.53, Y:14.48, Z:1.11 [[ 8.88852961e-01 -4.57983643e-01 -1.38346534e-02 7.95337215e+01] [ 4.57935326e-01 8.88960525e-01 -6.66504583e-03 1.44764170e+01] [ 1.53509427e-02 -4.11130787e-04 9.99882083e-01 1.10861610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08361786499998 meters Centerline goodness [0,1] 0.9999783582574069 Centerline is valid? [True, True] Translation: X:79.56, Y:14.49, Z:1.11 [[ 8.89129793e-01 -4.57453810e-01 -1.35728599e-02 7.95594226e+01] [ 4.57407219e-01 8.89233297e-01 -6.54058525e-03 1.44900889e+01] [ 1.50614546e-02 -3.92894876e-04 9.99886493e-01 1.10861666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:14.51, Z:1.11 [[ 8.90194685e-01 -4.55391199e-01 -1.31254647e-02 7.95841719e+01] [ 4.55347351e-01 8.90291378e-01 -6.32861205e-03 1.45059783e+01] [ 1.45674823e-02 -3.42948775e-04 9.99893830e-01 1.10828374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14361786499998 meters Centerline goodness [0,1] 0.9999567305612046 Centerline is valid? [True, True] Translation: X:79.61, Y:14.52, Z:1.11 [[ 8.90692573e-01 -4.54418068e-01 -1.30751803e-02 7.96087045e+01] [ 4.54374397e-01 8.90788480e-01 -6.30805975e-03 1.45210191e+01] [ 1.45137163e-02 -3.22485192e-04 9.99894618e-01 1.10820010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:14.54, Z:1.11 [[ 8.92075800e-01 -4.51676137e-01 -1.37635292e-02 7.96317439e+01] [ 4.51627357e-01 8.92181923e-01 -6.64430495e-03 1.45392148e+01] [ 1.52806460e-02 -2.88762690e-04 9.99883202e-01 1.10773252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:14.55, Z:1.11 [[ 8.92609869e-01 -4.50618096e-01 -1.38186118e-02 7.96566625e+01] [ 4.50568739e-01 8.92716786e-01 -6.67472548e-03 1.45507553e+01] [ 1.53438588e-02 -2.68308653e-04 9.99882240e-01 1.10748839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:14.57, Z:1.11 [[ 8.93026899e-01 -4.49793169e-01 -1.37499885e-02 7.96811190e+01] [ 4.49744176e-01 8.93132712e-01 -6.64337421e-03 1.45667480e+01] [ 1.52687088e-02 -2.51265365e-04 9.99883395e-01 1.10771874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.71, Y:14.58, Z:1.11 [[ 8.93733329e-01 -4.48391442e-01 -1.36327300e-02 7.97052344e+01] [ 4.48343056e-01 8.93837270e-01 -6.59076387e-03 1.45821721e+01] [ 1.51406843e-02 -2.21754495e-04 9.99885349e-01 1.10764495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.73, Y:14.60, Z:1.11 [[ 8.93802781e-01 -4.48264911e-01 -1.32347336e-02 7.97293791e+01] [ 4.48219238e-01 8.93900736e-01 -6.40222105e-03 1.45959267e+01] [ 1.47004292e-02 -2.09739252e-04 9.99891921e-01 1.10778333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:14.61, Z:1.11 [[ 8.93770778e-01 -4.48340253e-01 -1.28379604e-02 7.97541164e+01] [ 4.48297226e-01 8.93862952e-01 -6.21447901e-03 1.46098353e+01] [ 1.42615782e-02 -2.00902280e-04 9.99898278e-01 1.10806930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:14.62, Z:1.11 [[ 8.93628926e-01 -4.48650492e-01 -1.18354864e-02 7.97770570e+01] [ 4.48613902e-01 8.93707279e-01 -5.73292725e-03 1.46235036e+01] [ 1.31495409e-02 -1.86454088e-04 9.99913524e-01 1.10905046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:14.64, Z:1.11 [[ 8.93350117e-01 -4.49216767e-01 -1.13957833e-02 7.98016821e+01] [ 4.49182872e-01 8.93422779e-01 -5.52143001e-03 1.46374796e+01] [ 1.26615713e-02 -1.86220536e-04 9.99919822e-01 1.10984623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:14.65, Z:1.11 [[ 8.92956358e-01 -4.50012040e-01 -1.08676741e-02 7.98274054e+01] [ 4.49981230e-01 8.93022469e-01 -5.26907401e-03 1.46513896e+01] [ 1.20762239e-02 -1.85196223e-04 9.99927063e-01 1.11031194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:14.66, Z:1.11 [[ 8.92482945e-01 -4.50965461e-01 -1.02149694e-02 7.98519090e+01] [ 4.50938268e-01 8.92541382e-01 -4.95576114e-03 1.46642610e+01] [ 1.13521600e-02 -1.83388323e-04 9.99935545e-01 1.11057364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:14.68, Z:1.11 [[ 8.92116004e-01 -4.51697333e-01 -9.92747431e-03 7.98770952e+01] [ 4.51671687e-01 8.92171219e-01 -4.81688527e-03 1.46790603e+01] [ 1.10327811e-02 -1.86738637e-04 9.99939120e-01 1.11115095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.90, Y:14.69, Z:1.11 [[ 8.91979399e-01 -4.51974867e-01 -9.56405865e-03 7.99016249e+01] [ 4.51951053e-01 8.92030653e-01 -4.64316237e-03 1.46920570e+01] [ 1.06300262e-02 -1.80881199e-04 9.99943483e-01 1.11132001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:14.71, Z:1.11 [[ 8.91750639e-01 -4.52420848e-01 -9.80688084e-03 7.99259905e+01] [ 4.52395798e-01 8.91804542e-01 -4.76446730e-03 1.47052333e+01] [ 1.09013652e-02 -1.87874928e-04 9.99940561e-01 1.11140163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:14.72, Z:1.11 [[ 8.91854778e-01 -4.52224927e-01 -9.36323935e-03 7.99486676e+01] [ 4.52202046e-01 8.91903910e-01 -4.55239877e-03 1.47199572e+01] [ 1.04098180e-02 -1.73997401e-04 9.99945801e-01 1.11116758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:14.73, Z:1.11 [[ 8.91804214e-01 -4.52316859e-01 -9.73156208e-03 7.99734268e+01] [ 4.52292137e-01 8.91857290e-01 -4.73253485e-03 1.47340366e+01] [ 1.08197699e-02 -1.81014481e-04 9.99941448e-01 1.11123935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters Centerline goodness [0,1] 0.9999363206045297 Centerline is valid? [True, True] Translation: X:80.00, Y:14.75, Z:1.11 [[ 8.91860870e-01 -4.52199507e-01 -9.98972403e-03 7.99983494e+01] [ 4.52173410e-01 8.91916797e-01 -4.86151461e-03 1.47479223e+01] [ 1.11083772e-02 -1.81292940e-04 9.99938284e-01 1.11174133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:14.76, Z:1.11 [[ 8.92142847e-01 -4.51635443e-01 -1.03231571e-02 8.00225070e+01] [ 4.51607495e-01 8.92202553e-01 -5.02740288e-03 1.47643845e+01] [ 1.14809005e-02 -1.76853626e-04 9.99934077e-01 1.11199750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:14.78, Z:1.11 [[ 8.92223026e-01 -4.51479713e-01 -1.02049234e-02 8.00472080e+01] [ 4.51452359e-01 8.92281368e-01 -4.97275998e-03 1.47779233e+01] [ 1.13507633e-02 -1.70225799e-04 9.99935564e-01 1.11231761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:14.79, Z:1.11 [[ 8.92098703e-01 -4.51725350e-01 -1.02035526e-02 8.00719637e+01] [ 4.51697979e-01 8.92157037e-01 -4.97557103e-03 1.47900663e+01] [ 1.13507628e-02 -1.70223617e-04 9.99935564e-01 1.11268441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:14.80, Z:1.11 [[ 8.92049056e-01 -4.51815643e-01 -1.05406863e-02 8.00963142e+01] [ 4.51786396e-01 8.92111313e-01 -5.14369569e-03 1.48049931e+01] [ 1.17274677e-02 -1.73709802e-04 9.99931216e-01 1.11275128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:14.82, Z:1.11 [[ 8.91938129e-01 -4.52036656e-01 -1.04516327e-02 8.01204542e+01] [ 4.52007875e-01 8.91999346e-01 -5.10376802e-03 1.48186248e+01] [ 1.16299398e-02 -1.71975002e-04 9.99932355e-01 1.11315767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:14.83, Z:1.11 [[ 8.91855906e-01 -4.52196045e-01 -1.05726292e-02 8.01442400e+01] [ 4.52166559e-01 8.91918554e-01 -5.16680524e-03 1.48313221e+01] [ 1.17663331e-02 -1.72543606e-04 9.99930759e-01 1.11351185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:14.85, Z:1.11 [[ 8.92021466e-01 -4.51883801e-01 -9.93649879e-03 8.01680522e+01] [ 4.51857727e-01 8.92076793e-01 -4.85690382e-03 1.48475223e+01] [ 1.10588761e-02 -1.57421286e-04 9.99938836e-01 1.11326276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:14.86, Z:1.11 [[ 8.92082680e-01 -4.51765737e-01 -9.80873549e-03 8.01917769e+01] [ 4.51740281e-01 8.92136591e-01 -4.79819370e-03 1.48596335e+01] [ 1.09183913e-02 -1.50615429e-04 9.99940381e-01 1.11373314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:14.87, Z:1.11 [[ 8.92159205e-01 -4.51619786e-01 -9.56672163e-03 8.02156364e+01] [ 4.51595552e-01 8.92210484e-01 -4.68071293e-03 1.48739423e+01] [ 1.06494319e-02 -1.44347816e-04 9.99943283e-01 1.11391582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:14.89, Z:1.11 [[ 8.92860490e-01 -4.50226660e-01 -9.80302740e-03 8.02397751e+01] [ 4.50201087e-01 8.92914295e-01 -4.80033003e-03 1.48883193e+01] [ 1.09144999e-02 -1.27308565e-04 9.99940427e-01 1.11419333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:14.90, Z:1.11 [[ 8.93264359e-01 -4.49425293e-01 -9.78215226e-03 8.02637322e+01] [ 4.49399769e-01 8.93317913e-01 -4.79115089e-03 1.49018213e+01] [ 1.08918362e-02 -1.16332631e-04 9.99940675e-01 1.11453947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:14.92, Z:1.11 [[ 8.93731619e-01 -4.48494949e-01 -9.80175724e-03 8.02887902e+01] [ 4.48469260e-01 8.93785360e-01 -4.80137165e-03 1.49163134e+01] [ 1.09140581e-02 -1.04649158e-04 9.99940434e-01 1.11463557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:14.93, Z:1.11 [[ 8.94713747e-01 -4.46524895e-01 -1.01404155e-02 8.03130304e+01] [ 4.46497238e-01 8.94771206e-01 -4.97037308e-03 1.49323237e+01] [ 1.12927471e-02 -8.06063796e-05 9.99936232e-01 1.11480659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters Centerline goodness [0,1] 0.999957882323211 Centerline is valid? [True, True] Translation: X:80.34, Y:14.95, Z:1.12 [[ 8.95332165e-01 -4.45284924e-01 -1.00821678e-02 8.03378242e+01] [ 4.45257469e-01 8.95388928e-01 -4.94509820e-03 1.49457114e+01] [ 1.12294391e-02 -6.16550189e-05 9.99936946e-01 1.11559679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:14.96, Z:1.12 [[ 8.95856486e-01 -4.44228631e-01 -1.01034656e-02 8.03623593e+01] [ 4.44200977e-01 8.95913456e-01 -4.95683766e-03 1.49592107e+01] [ 1.12538000e-02 -4.73541203e-05 9.99936673e-01 1.11615167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:14.97, Z:1.12 [[ 8.96133460e-01 -4.43676471e-01 -9.79857126e-03 8.03871162e+01] [ 4.43650393e-01 8.96187027e-01 -4.81045528e-03 1.49724703e+01] [ 1.09156383e-02 -3.63300616e-05 9.99940422e-01 1.11703792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:14.99, Z:1.12 [[ 8.96560111e-01 -4.42820557e-01 -9.48274475e-03 8.04117704e+01] [ 4.42796053e-01 8.96610258e-01 -4.65847707e-03 1.49856521e+01] [ 1.05651956e-02 -2.23172316e-05 9.99944187e-01 1.11761989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:15.00, Z:1.12 [[ 8.97416827e-01 -4.41096443e-01 -8.77308941e-03 8.04363385e+01] [ 4.41075361e-01 8.97459708e-01 -4.31249687e-03 1.49997757e+01] [ 9.77572129e-03 5.13673230e-07 9.99952216e-01 1.11800190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:15.01, Z:1.12 [[ 8.97787236e-01 -4.40333429e-01 -9.19510129e-03 8.04614668e+01] [ 4.40310195e-01 8.97834323e-01 -4.52331039e-03 1.50131079e+01] [ 1.02474423e-02 1.22734920e-05 9.99947494e-01 1.11837752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:15.03, Z:1.12 [[ 8.98998811e-01 -4.37841214e-01 -9.80862709e-03 8.04858235e+01] [ 4.37814589e-01 8.99052317e-01 -4.82875153e-03 1.50273324e+01] [ 1.09326953e-02 4.66818446e-05 9.99940235e-01 1.11847371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.51, Y:15.04, Z:1.12 [[ 8.99554376e-01 -4.36685274e-01 -1.03873064e-02 8.05100673e+01] [ 4.36655288e-01 8.99614344e-01 -5.11782356e-03 1.50410628e+01] [ 1.15794480e-02 6.80883124e-05 9.99932954e-01 1.11873720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:15.05, Z:1.12 [[ 9.00007855e-01 -4.35747832e-01 -1.04731962e-02 8.05350375e+01] [ 4.35717275e-01 9.00068787e-01 -5.16098724e-03 1.50547370e+01] [ 1.16754860e-02 8.15765301e-05 9.99931836e-01 1.11875368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:15.07, Z:1.12 [[ 9.00916994e-01 -4.33848737e-01 -1.11284761e-02 8.05606053e+01] [ 4.33814048e-01 9.00985716e-01 -5.48738275e-03 1.50679719e+01] [ 1.24072921e-02 1.15987094e-04 9.99923020e-01 1.11879350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:15.08, Z:1.12 [[ 9.01255404e-01 -4.33136407e-01 -1.14694740e-02 8.05854123e+01] [ 4.33099455e-01 9.01328372e-01 -5.65922048e-03 1.50807048e+01] [ 1.27889767e-02 1.32980111e-04 9.99918209e-01 1.11897212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:15.09, Z:1.12 [[ 9.01535812e-01 -4.32556811e-01 -1.13041982e-02 8.06107278e+01] [ 4.32520855e-01 9.01606669e-01 -5.57886969e-03 1.50934727e+01] [ 1.26051186e-02 1.40249334e-04 9.99920543e-01 1.11901584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:15.11, Z:1.12 [[ 9.01782781e-01 -4.32039424e-01 -1.13908950e-02 8.06355074e+01] [ 4.32002859e-01 9.01854707e-01 -5.62287489e-03 1.51057825e+01] [ 1.27022359e-02 1.49712571e-04 9.99919312e-01 1.11920713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43361786499999 meters Centerline goodness [0,1] 0.9999584104472956 Centerline is valid? [True, True] Translation: X:80.66, Y:15.12, Z:1.12 [[ 9.01758135e-01 -4.32092112e-01 -1.13433962e-02 8.06605416e+01] [ 4.32055842e-01 9.01829465e-01 -5.60047046e-03 1.51175418e+01] [ 1.26497280e-02 1.49289207e-04 9.99919978e-01 1.11924400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:15.13, Z:1.12 [[ 9.01487336e-01 -4.32661438e-01 -1.11652714e-02 8.06858784e+01] [ 4.32626295e-01 9.01556465e-01 -5.51627785e-03 1.51297029e+01] [ 1.24528033e-02 1.42464639e-04 9.99922451e-01 1.11910527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:15.14, Z:1.12 [[ 9.00960855e-01 -4.33754901e-01 -1.12349191e-02 8.07128388e+01] [ 4.33719355e-01 9.01030892e-01 -5.55456270e-03 1.51399917e+01] [ 1.25323280e-02 1.31641677e-04 9.99921459e-01 1.11933103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:15.15, Z:1.12 [[ 9.00578204e-01 -4.34544724e-01 -1.13921781e-02 8.07382530e+01] [ 4.34508193e-01 9.00650247e-01 -5.63590664e-03 1.51507292e+01] [ 1.27094215e-02 1.25579966e-04 9.99919224e-01 1.11994085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55361786499998 meters Centerline goodness [0,1] 0.9999791196859601 Centerline is valid? [True, True] Translation: X:80.76, Y:15.16, Z:1.12 [[ 9.00114351e-01 -4.35505206e-01 -1.13741341e-02 8.07639995e+01] [ 4.35468854e-01 9.00186204e-01 -5.62804717e-03 1.51609936e+01] [ 1.26898825e-02 1.12804882e-04 9.99919474e-01 1.12029778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:15.17, Z:1.12 [[ 8.99577026e-01 -4.36611809e-01 -1.14587338e-02 8.07896873e+01] [ 4.36574952e-01 8.99649997e-01 -5.67393903e-03 1.51721828e+01] [ 1.27861586e-02 1.01549025e-04 9.99918249e-01 1.12083448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:15.18, Z:1.12 [[ 8.98908951e-01 -4.37984804e-01 -1.14895279e-02 8.08154507e+01] [ 4.37947807e-01 8.98982372e-01 -5.69332183e-03 1.51825086e+01] [ 1.28224715e-02 8.59643997e-05 9.99917785e-01 1.12071921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:15.19, Z:1.12 [[ 8.98501010e-01 -4.38816911e-01 -1.16470436e-02 8.08407598e+01] [ 4.38778947e-01 8.98576493e-01 -5.77257818e-03 1.51937429e+01] [ 1.29988645e-02 7.61897814e-05 9.99915508e-01 1.12062385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:15.21, Z:1.12 [[ 8.98195200e-01 -4.39447993e-01 -1.14386966e-02 8.08663583e+01] [ 4.39411378e-01 8.98268032e-01 -5.67316720e-03 1.52050322e+01] [ 1.27680775e-02 6.93180955e-05 9.99918482e-01 1.12101113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:15.21, Z:1.12 [[ 8.97417919e-01 -4.41019941e-01 -1.19369707e-02 8.08924256e+01] [ 4.40980147e-01 8.97497303e-01 -5.92455318e-03 1.52141012e+01] [ 1.33262451e-02 5.28330888e-05 9.99911200e-01 1.12102017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:15.22, Z:1.12 [[ 8.96723583e-01 -4.42428855e-01 -1.19801524e-02 8.09187683e+01] [ 4.42388882e-01 8.96803606e-01 -5.94726183e-03 1.52248196e+01] [ 1.33750841e-02 3.31637132e-05 9.99910549e-01 1.12115677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:15.24, Z:1.12 [[ 8.95850821e-01 -4.44179752e-01 -1.24761674e-02 8.09447196e+01] [ 4.44136509e-01 8.95937692e-01 -6.19785043e-03 1.52352131e+01] [ 1.39308283e-02 1.12279733e-05 9.99902961e-01 1.12115426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:15.24, Z:1.12 [[ 8.94106578e-01 -4.47670631e-01 -1.28231406e-02 8.09718761e+01] [ 4.47625247e-01 8.94198527e-01 -6.37440482e-03 1.52435024e+01] [ 1.43200672e-02 -4.05641903e-05 9.99897462e-01 1.12134464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:15.25, Z:1.12 [[ 8.93101550e-01 -4.49670084e-01 -1.29010402e-02 8.09990109e+01] [ 4.49624334e-01 8.93194721e-01 -6.41464414e-03 1.52542891e+01] [ 1.44076146e-02 -7.16930082e-05 9.99896202e-01 1.12126301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:15.26, Z:1.12 [[ 8.92073783e-01 -4.51711683e-01 -1.26854627e-02 8.10253596e+01] [ 4.51667607e-01 8.92163968e-01 -6.31093924e-03 1.52642546e+01] [ 1.41682377e-02 -9.97891430e-05 9.99899621e-01 1.12150845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:15.27, Z:1.12 [[ 8.90102905e-01 -4.55579358e-01 -1.28166922e-02 8.10536951e+01] [ 4.55534735e-01 8.90195160e-01 -6.37831076e-03 1.52723944e+01] [ 1.43151841e-02 -1.61095567e-04 9.99897520e-01 1.12237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:15.28, Z:1.12 [[ 8.89348641e-01 -4.57058274e-01 -1.25191390e-02 8.10794924e+01] [ 4.57015798e-01 8.89436733e-01 -6.23360605e-03 1.52822139e+01] [ 1.39841033e-02 -1.77595231e-04 9.99902202e-01 1.12317549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:15.29, Z:1.12 [[ 8.88388066e-01 -4.58938538e-01 -1.19189988e-02 8.11058810e+01] [ 4.58900183e-01 8.88467996e-01 -5.93647744e-03 1.52913330e+01] [ 1.33141273e-02 -1.95735022e-04 9.99911344e-01 1.12369946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:15.30, Z:1.12 [[ 8.87135172e-01 -4.61364533e-01 -1.15738082e-02 8.11326277e+01] [ 4.61328560e-01 8.87210638e-01 -5.76565802e-03 1.53013045e+01] [ 1.29284759e-02 -2.24410237e-04 9.99916399e-01 1.12439960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:15.31, Z:1.12 [[ 8.86349531e-01 -4.62864785e-01 -1.18617141e-02 8.11595986e+01] [ 4.62827118e-01 8.86428862e-01 -5.91026509e-03 1.53127894e+01] [ 1.32502193e-02 -2.51362250e-04 9.99912180e-01 1.12432992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:15.32, Z:1.12 [[ 8.85813111e-01 -4.63890172e-01 -1.18760523e-02 8.11852094e+01] [ 4.63852462e-01 8.85892679e-01 -5.92070566e-03 1.53231311e+01] [ 1.32674649e-02 -2.64097378e-04 9.99911948e-01 1.12425342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06361786499998 meters Centerline goodness [0,1] 0.9999576853908813 Centerline is valid? [True, True] Translation: X:81.21, Y:15.33, Z:1.12 [[ 8.84980503e-01 -4.65468546e-01 -1.21877945e-02 8.12119936e+01] [ 4.65428955e-01 8.85064374e-01 -6.07793891e-03 1.53314705e+01] [ 1.36160721e-02 -2.93695014e-04 9.99907254e-01 1.12400961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:15.34, Z:1.12 [[ 8.84747308e-01 -4.65910769e-01 -1.22211362e-02 8.12381157e+01] [ 4.65870986e-01 8.84831659e-01 -6.09581445e-03 1.53426682e+01] [ 1.36537538e-02 -3.00217319e-04 9.99906738e-01 1.12457162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:15.35, Z:1.12 [[ 8.84666109e-01 -4.66063623e-01 -1.22708959e-02 8.12632235e+01] [ 4.66023479e-01 8.84751156e-01 -6.12436776e-03 1.53539118e+01] [ 1.37110344e-02 -3.00505009e-04 9.99905954e-01 1.12477402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:15.37, Z:1.13 [[ 8.84975936e-01 -4.65474423e-01 -1.22945121e-02 8.12891778e+01] [ 4.65434044e-01 8.85061285e-01 -6.13784453e-03 1.53663784e+01] [ 1.37384064e-02 -2.90439810e-04 9.99905581e-01 1.12524394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:15.38, Z:1.13 [[ 8.85760470e-01 -4.63959837e-01 -1.30253365e-02 8.13134374e+01] [ 4.63914298e-01 8.85856191e-01 -6.50638678e-03 1.53821148e+01] [ 1.45572772e-02 -2.79539639e-04 9.99893998e-01 1.12502704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:15.39, Z:1.13 [[ 8.86278255e-01 -4.62954062e-01 -1.35791072e-02 8.13392869e+01] [ 4.62904387e-01 8.86382233e-01 -6.78709889e-03 1.53946727e+01] [ 1.51783944e-02 -2.70570135e-04 9.99884765e-01 1.12529655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:15.41, Z:1.13 [[ 8.86573120e-01 -4.62390025e-01 -1.35487181e-02 8.13656893e+01] [ 4.62340448e-01 8.86676603e-01 -6.77581839e-03 1.54074137e+01] [ 1.51464022e-02 -2.56861953e-04 9.99885254e-01 1.12554258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:15.42, Z:1.13 [[ 8.87179360e-01 -4.61227430e-01 -1.34922659e-02 8.13910520e+01] [ 4.61178076e-01 8.87281919e-01 -6.75118025e-03 1.54191167e+01] [ 1.50852731e-02 -2.32829439e-04 9.99886184e-01 1.12631575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:15.43, Z:1.13 [[ 8.87965180e-01 -4.59736131e-01 -1.26700381e-02 8.14168459e+01] [ 4.59692438e-01 8.88055546e-01 -6.34112221e-03 1.54319500e+01] [ 1.41669406e-02 -1.93624957e-04 9.99899625e-01 1.12807655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:15.44, Z:1.13 [[ 8.88497053e-01 -4.58726218e-01 -1.19684242e-02 8.14426699e+01] [ 4.58687094e-01 8.88577644e-01 -5.99330248e-03 1.54433616e+01] [ 1.33841591e-02 -1.64730113e-04 9.99910415e-01 1.12905835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36361786499998 meters Centerline goodness [0,1] 0.9998932171535965 Centerline is valid? [True, True] Translation: X:81.47, Y:15.46, Z:1.13 [[ 8.89285697e-01 -4.57213488e-01 -1.12594412e-02 8.14690304e+01] [ 4.57178729e-01 8.89356964e-01 -5.63924859e-03 1.54556558e+01] [ 1.25920030e-02 -1.32673903e-04 9.99920709e-01 1.13042870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39361786499998 meters Centerline goodness [0,1] 0.999871715379188 Centerline is valid? [True, True] Translation: X:81.49, Y:15.47, Z:1.13 [[ 8.89812810e-01 -4.56190392e-01 -1.11125373e-02 8.14942553e+01] [ 4.56156413e-01 8.89882191e-01 -5.56899712e-03 1.54678411e+01] [ 1.24293721e-02 -1.13690189e-04 9.99922746e-01 1.13129343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42361786499998 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:81.52, Y:15.48, Z:1.13 [[ 8.90313780e-01 -4.55216849e-01 -1.09084095e-02 8.15192709e+01] [ 4.55184020e-01 8.90380599e-01 -5.46779732e-03 1.54793201e+01] [ 1.22016697e-02 -9.72783950e-05 9.99925552e-01 1.13190935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:15.49, Z:1.13 [[ 8.91303594e-01 -4.53270462e-01 -1.11261803e-02 8.15454061e+01] [ 4.53236145e-01 8.91373033e-01 -5.57797035e-03 1.54927524e+01] [ 1.24459063e-02 -7.11220487e-05 9.99922544e-01 1.13202422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:15.51, Z:1.13 [[ 8.91973288e-01 -4.51954454e-01 -1.09920500e-02 8.15705320e+01] [ 4.51920823e-01 8.92041013e-01 -5.51365564e-03 1.55053713e+01] [ 1.22972806e-02 -4.95027133e-05 9.99924384e-01 1.13208342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51361786499999 meters Centerline goodness [0,1] 0.9999570040416201 Centerline is valid? [True, True] Translation: X:81.60, Y:15.52, Z:1.13 [[ 8.92421104e-01 -4.51066811e-01 -1.11043128e-02 8.15957814e+01] [ 4.51032373e-01 8.92490185e-01 -5.57384003e-03 1.55181526e+01] [ 1.24246645e-02 -3.41920945e-05 9.99922810e-01 1.13201091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters Centerline goodness [0,1] 0.9999354046896195 Centerline is valid? [True, True] Translation: X:81.62, Y:15.53, Z:1.13 [[ 8.93774636e-01 -4.48361853e-01 -1.17706416e-02 8.16213832e+01] [ 4.48322866e-01 8.93852140e-01 -5.91262537e-03 1.55304214e+01] [ 1.31722088e-02 7.50682597e-06 9.99913243e-01 1.13170993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:15.54, Z:1.13 [[ 8.94179876e-01 -4.47548437e-01 -1.19476002e-02 8.16471473e+01] [ 4.47508140e-01 8.94259692e-01 -6.00571957e-03 1.55426928e+01] [ 1.33721076e-02 2.35452597e-05 9.99910589e-01 1.13183654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499998 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:81.67, Y:15.55, Z:1.13 [[ 8.94522063e-01 -4.46844329e-01 -1.26658469e-02 8.16716479e+01] [ 4.46798906e-01 8.94611728e-01 -6.37129510e-03 1.55545413e+01] [ 1.41779923e-02 4.01774900e-05 9.99899486e-01 1.13174315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63361786499998 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:81.70, Y:15.57, Z:1.13 [[ 8.94404165e-01 -4.47080292e-01 -1.26650230e-02 8.16962433e+01] [ 4.47034869e-01 8.94493830e-01 -6.37293258e-03 1.55670083e+01] [ 1.41779974e-02 3.82705517e-05 9.99899486e-01 1.13211058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499998 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:81.72, Y:15.58, Z:1.13 [[ 8.94432135e-01 -4.47022211e-01 -1.27396733e-02 8.17222222e+01] [ 4.46976185e-01 8.94522857e-01 -6.41474179e-03 1.55771728e+01] [ 1.42634610e-02 4.32206388e-05 9.99898271e-01 1.13187292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:15.59, Z:1.13 [[ 8.94145582e-01 -4.47579969e-01 -1.32608467e-02 8.17481884e+01] [ 4.47530092e-01 8.94243910e-01 -6.68187396e-03 1.55880502e+01] [ 1.48491044e-02 3.99401193e-05 9.99889745e-01 1.13233289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72361786499998 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:81.77, Y:15.60, Z:1.13 [[ 8.93479288e-01 -4.48914784e-01 -1.30490472e-02 8.17748466e+01] [ 4.48866566e-01 8.93574572e-01 -6.57950485e-03 1.55986446e+01] [ 1.46139338e-02 2.13702972e-05 9.99893211e-01 1.13258932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75361786499998 meters Centerline goodness [0,1] 0.9999349593495935 Centerline is valid? [True, True] Translation: X:81.80, Y:15.61, Z:1.13 [[ 8.92688179e-01 -4.50491087e-01 -1.28684062e-02 8.18012267e+01] [ 4.50444300e-01 8.92780925e-01 -6.49249512e-03 1.56081671e+01] [ 1.44134788e-02 -7.26589655e-07 9.99896120e-01 1.13349570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:15.61, Z:1.13 [[ 8.90575345e-01 -4.54661170e-01 -1.26006279e-02 8.18306172e+01] [ 4.54616667e-01 8.90664481e-01 -6.36157029e-03 1.56140698e+01] [ 1.41152907e-02 -6.29977855e-05 9.99900372e-01 1.13473744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:15.62, Z:1.14 [[ 8.89403239e-01 -4.56955235e-01 -1.24012885e-02 8.18577557e+01] [ 4.56912301e-01 8.89489688e-01 -6.26453985e-03 1.56230789e+01] [ 1.38934325e-02 -9.45992527e-05 9.99903477e-01 1.13532528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84361786499998 meters Centerline goodness [0,1] 0.9999782391086739 Centerline is valid? [True, True] Translation: X:81.89, Y:15.63, Z:1.14 [[ 8.88095629e-01 -4.59500816e-01 -1.20480062e-02 8.18850869e+01] [ 4.59460511e-01 8.88177338e-01 -6.08736235e-03 1.56333878e+01] [ 1.34979140e-02 -1.29423171e-04 9.99908891e-01 1.13597778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87361786499999 meters Centerline goodness [0,1] 0.9999782267897579 Centerline is valid? [True, True] Translation: X:81.91, Y:15.64, Z:1.14 [[ 8.85892295e-01 -4.63753142e-01 -1.13077546e-02 8.19132656e+01] [ 4.63717940e-01 8.85964441e-01 -5.71672102e-03 1.56390856e+01] [ 1.26694158e-02 -1.79209555e-04 9.99919724e-01 1.13679292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters Centerline goodness [0,1] 0.9999781143307362 Centerline is valid? [True, True] Translation: X:81.94, Y:15.65, Z:1.14 [[ 8.84974548e-01 -4.65518138e-01 -1.06260399e-02 8.19404305e+01] [ 4.65487167e-01 8.85038319e-01 -5.37315898e-03 1.56479126e+01] [ 1.19057555e-02 -1.91176297e-04 9.99929106e-01 1.13780077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:15.66, Z:1.14 [[ 8.84163767e-01 -4.67058937e-01 -1.05063553e-02 8.19667733e+01] [ 4.67028758e-01 8.84226162e-01 -5.31346566e-03 1.56591702e+01] [ 1.17716959e-02 -2.08796278e-04 9.99930689e-01 1.13874233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:15.67, Z:1.14 [[ 8.83167989e-01 -4.68955127e-01 -9.76692246e-03 8.19949763e+01] [ 4.68929134e-01 8.83221967e-01 -4.94217761e-03 1.56676334e+01] [ 1.09440200e-02 -2.15221426e-04 9.99940089e-01 1.13955480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99361786499998 meters Centerline goodness [0,1] 0.9999780340472268 Centerline is valid? [True, True] Translation: X:82.02, Y:15.68, Z:1.14 [[ 8.83003423e-01 -4.69263455e-01 -9.83690180e-03 8.20209792e+01] [ 4.69237069e-01 8.83058188e-01 -4.98096911e-03 1.56774495e+01] [ 1.10239434e-02 -2.17626197e-04 9.99939211e-01 1.13986988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:15.69, Z:1.14 [[ 8.82886317e-01 -4.69485358e-01 -9.75958863e-03 8.20469028e+01] [ 4.69459391e-01 8.82940231e-01 -4.94258653e-03 1.56861872e+01] [ 1.09376054e-02 -2.17988515e-04 9.99940159e-01 1.14055339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05361786499998 meters Centerline goodness [0,1] 0.9999779716274562 Centerline is valid? [True, True] Translation: X:82.07, Y:15.70, Z:1.14 [[ 8.83129246e-01 -4.69014152e-01 -1.04143748e-02 8.20732325e+01] [ 4.68984522e-01 8.83190622e-01 -5.27668588e-03 1.56992824e+01] [ 1.16727185e-02 -2.24184956e-04 9.99931846e-01 1.13957773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:15.71, Z:1.14 [[ 8.83348811e-01 -4.68588590e-01 -1.09366656e-02 8.20993831e+01] [ 4.68555842e-01 8.83416483e-01 -5.54446528e-03 1.57111877e+01] [ 1.22597038e-02 -2.26741753e-04 9.99924821e-01 1.13924276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11361786499998 meters Centerline goodness [0,1] 0.9998241758241758 Centerline is valid? [True, True] Translation: X:82.12, Y:15.72, Z:1.14 [[ 8.83744131e-01 -4.67840889e-01 -1.10097193e-02 8.21248151e+01] [ 4.67807602e-01 8.83812682e-01 -5.58493908e-03 1.57223250e+01] [ 1.23433924e-02 -2.14773259e-04 9.99923794e-01 1.13917162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:15.73, Z:1.14 [[ 8.84626198e-01 -4.66176489e-01 -1.07690122e-02 8.21511894e+01] [ 4.66144507e-01 8.84691724e-01 -5.46372356e-03 1.57335724e+01] [ 1.20743155e-02 -1.86562907e-04 9.99927085e-01 1.14032709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:15.75, Z:1.14 [[ 8.84987082e-01 -4.65497827e-01 -1.04707950e-02 8.21767733e+01] [ 4.65467510e-01 8.85049007e-01 -5.31533206e-03 1.57471736e+01] [ 1.17414423e-02 -1.69814670e-04 9.99931052e-01 1.14089317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:15.76, Z:1.14 [[ 8.85366753e-01 -4.64777513e-01 -1.03719068e-02 8.22027363e+01] [ 4.64747677e-01 8.85427490e-01 -5.26853087e-03 1.57581699e+01] [ 1.16322660e-02 -1.55737506e-04 9.99932331e-01 1.14187197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23361786499999 meters Centerline goodness [0,1] 0.9999778829566064 Centerline is valid? [True, True] Translation: X:82.23, Y:15.77, Z:1.14 [[ 8.85898103e-01 -4.63775086e-01 -9.86005600e-03 8.22287268e+01] [ 4.63748049e-01 8.85952962e-01 -5.00953035e-03 1.57684860e+01] [ 1.10588412e-02 -1.34648300e-04 9.99938840e-01 1.14282703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters Centerline goodness [0,1] 0.9999557649348638 Centerline is valid? [True, True] Translation: X:82.25, Y:15.78, Z:1.14 [[ 8.85949204e-01 -4.63686561e-01 -9.42241608e-03 8.22540961e+01] [ 4.63661862e-01 8.85999299e-01 -4.78753665e-03 1.57804947e+01] [ 1.05681704e-02 -1.27300703e-04 9.99944147e-01 1.14379237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:15.79, Z:1.14 [[ 8.86089061e-01 -4.63424459e-01 -9.16225852e-03 8.22794689e+01] [ 4.63401062e-01 8.86136421e-01 -4.65823235e-03 1.57927479e+01] [ 1.02777498e-02 -1.18191600e-04 9.99947176e-01 1.14422451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:15.80, Z:1.14 [[ 8.86265192e-01 -4.63092646e-01 -8.90004842e-03 8.23046203e+01] [ 4.63070524e-01 8.86309872e-01 -4.52777028e-03 1.58046924e+01] [ 9.98497790e-03 -1.08544890e-04 9.99950143e-01 1.14481542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:15.82, Z:1.15 [[ 8.86792363e-01 -4.62085256e-01 -8.74758620e-03 8.23310729e+01] [ 4.62063803e-01 8.86835502e-01 -4.45361363e-03 1.58150345e+01] [ 9.81561920e-03 -9.25123880e-05 9.99951821e-01 1.14601196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:15.83, Z:1.15 [[ 8.86984759e-01 -4.61713727e-01 -8.85842963e-03 8.23557727e+01] [ 4.61691699e-01 8.87028989e-01 -4.51092287e-03 1.58276754e+01] [ 9.94043889e-03 -8.87435931e-05 9.99950589e-01 1.14625689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:15.84, Z:1.15 [[ 8.87508413e-01 -4.60709462e-01 -8.69527299e-03 8.23816552e+01] [ 4.60688162e-01 8.87551005e-01 -4.43074275e-03 1.58398930e+01] [ 9.75878339e-03 -7.34878660e-05 9.99952379e-01 1.14665128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44361786499998 meters Centerline goodness [0,1] 0.9999779619181947 Centerline is valid? [True, True] Translation: X:82.41, Y:15.85, Z:1.15 [[ 8.87631149e-01 -4.60469750e-01 -8.86302513e-03 8.24062511e+01] [ 4.60447583e-01 8.87675394e-01 -4.51864311e-03 1.58524675e+01] [ 9.94818778e-03 -7.00701229e-05 9.99950513e-01 1.14625268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:15.86, Z:1.15 [[ 8.87886436e-01 -4.59969030e-01 -9.28272963e-03 8.24315787e+01] [ 4.59944646e-01 8.87934957e-01 -4.73653960e-03 1.58644523e+01] [ 1.04211217e-02 -6.40325256e-05 9.99945697e-01 1.14666415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50361786499998 meters Centerline goodness [0,1] 0.9999556757235938 Centerline is valid? [True, True] Translation: X:82.46, Y:15.88, Z:1.15 [[ 8.88470169e-01 -4.58839442e-01 -9.33407933e-03 8.24567605e+01] [ 4.58814721e-01 8.88519197e-01 -4.76312861e-03 1.58766610e+01] [ 1.04790199e-02 -5.07153275e-05 9.99945092e-01 1.14651033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:15.89, Z:1.15 [[ 8.88796515e-01 -4.58205107e-01 -9.42517288e-03 8.24820511e+01] [ 4.58179833e-01 8.88846487e-01 -4.81278940e-03 1.58899175e+01] [ 1.05827765e-02 -4.08336865e-05 9.99944000e-01 1.14699742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:15.90, Z:1.15 [[ 8.89326345e-01 -4.57187237e-01 -8.85898528e-03 8.25057582e+01] [ 4.57164824e-01 8.89370468e-01 -4.52708715e-03 1.59025134e+01] [ 9.94864636e-03 -2.39585692e-05 9.99950511e-01 1.14806322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59361786499998 meters Centerline goodness [0,1] 0.999911426040744 Centerline is valid? [True, True] Translation: X:82.53, Y:15.92, Z:1.15 [[ 8.90034790e-01 -4.55800882e-01 -9.14492791e-03 8.25304912e+01] [ 4.55776915e-01 8.90081769e-01 -4.67411610e-03 1.59167096e+01] [ 1.02701999e-02 -7.92109036e-06 9.99947260e-01 1.14827589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:15.93, Z:1.15 [[ 8.90376788e-01 -4.55130556e-01 -9.23860785e-03 8.25552265e+01] [ 4.55106027e-01 8.90424717e-01 -4.72517837e-03 1.59301723e+01] [ 1.03768578e-02 2.64303023e-06 9.99946159e-01 1.14875634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65361786499999 meters Centerline goodness [0,1] 0.9999558713207714 Centerline is valid? [True, True] Translation: X:82.58, Y:15.94, Z:1.15 [[ 8.90487882e-01 -4.54914427e-01 -9.17589228e-03 8.25787954e+01] [ 4.54890181e-01 8.90535156e-01 -4.69672971e-03 1.59425029e+01] [ 1.03080648e-02 8.35759335e-06 9.99946870e-01 1.14942980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:15.95, Z:1.15 [[ 8.90477140e-01 -4.54930744e-01 -9.40645544e-03 8.26038246e+01] [ 4.54905255e-01 8.90526820e-01 -4.81572765e-03 1.59547790e+01] [ 1.05675234e-02 9.24936839e-06 9.99944162e-01 1.15013203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71361786499997 meters Centerline goodness [0,1] 0.9999341527655838 Centerline is valid? [True, True] Translation: X:82.63, Y:15.97, Z:1.15 [[ 8.90138305e-01 -4.55592905e-01 -9.42881863e-03 8.26289709e+01] [ 4.55567298e-01 8.90188241e-01 -4.83034315e-03 1.59666373e+01] [ 1.05940935e-02 4.21204309e-06 9.99943881e-01 1.15115738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:15.98, Z:1.15 [[ 8.90072035e-01 -4.55731561e-01 -8.97311532e-03 8.26538438e+01] [ 4.55708349e-01 8.90117264e-01 -4.59965084e-03 1.59798385e+01] [ 1.00833309e-02 4.89701820e-06 9.99949162e-01 1.15153781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.68, Y:15.99, Z:1.15 [[ 8.89938363e-01 -4.55994415e-01 -8.87712818e-03 8.26774392e+01] [ 4.55971673e-01 8.89982637e-01 -4.55404348e-03 1.59921518e+01] [ 9.97710834e-03 5.09901427e-06 9.99950227e-01 1.15222553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:16.00, Z:1.15 [[ 8.89526312e-01 -4.56793255e-01 -9.10283039e-03 8.27017846e+01] [ 4.56769370e-01 8.89572887e-01 -4.67124418e-03 1.60044633e+01] [ 1.02314239e-02 -2.69949202e-06 9.99947658e-01 1.15301040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:16.02, Z:1.15 [[ 8.89291397e-01 -4.57249737e-01 -9.13720162e-03 8.27262635e+01] [ 4.57225687e-01 8.89338337e-01 -4.68970780e-03 1.60172333e+01] [ 1.02704314e-02 -7.24648534e-06 9.99947258e-01 1.15351841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:16.03, Z:1.15 [[ 8.88917462e-01 -4.57979060e-01 -8.99595806e-03 8.27509775e+01] [ 4.57955755e-01 8.88962981e-01 -4.62009195e-03 1.60297882e+01] [ 1.01129791e-02 -1.28703581e-05 9.99948862e-01 1.15412037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:16.04, Z:1.15 [[ 8.88050524e-01 -4.59658998e-01 -8.93713022e-03 8.27761489e+01] [ 4.59636053e-01 8.88095493e-01 -4.59285406e-03 1.60422430e+01] [ 1.00481718e-02 -2.91408020e-05 9.99949515e-01 1.15466652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:16.05, Z:1.15 [[ 8.87548762e-01 -4.60623627e-01 -9.11425551e-03 8.27999768e+01] [ 4.60599778e-01 8.87595557e-01 -4.68740220e-03 1.60542330e+01] [ 1.02489009e-02 -3.77260525e-05 9.99947478e-01 1.15494933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:16.07, Z:1.16 [[ 8.87026439e-01 -4.61620930e-01 -9.49805568e-03 8.28245828e+01] [ 4.61595065e-01 8.87077288e-01 -4.88687750e-03 1.60669805e+01] [ 1.06813944e-02 -4.94660804e-05 9.99942951e-01 1.15521493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters Centerline goodness [0,1] 0.9999778800212352 Centerline is valid? [True, True] Translation: X:82.85, Y:16.08, Z:1.15 [[ 8.86015463e-01 -4.63536603e-01 -1.05079867e-02 8.28502582e+01] [ 4.63505031e-01 8.86077769e-01 -5.41053443e-03 1.60794451e+01] [ 1.18188742e-02 -7.66875397e-05 9.99930152e-01 1.15465692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01361786499999 meters Centerline goodness [0,1] 0.9999117329037668 Centerline is valid? [True, True] Translation: X:82.88, Y:16.09, Z:1.15 [[ 8.85541631e-01 -4.64424022e-01 -1.12404556e-02 8.28757860e+01] [ 4.64387920e-01 8.85612963e-01 -5.79140702e-03 1.60918481e+01] [ 1.26443617e-02 -9.13997554e-05 9.99920053e-01 1.15482919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:16.11, Z:1.16 [[ 8.85058809e-01 -4.65348027e-01 -1.10506831e-02 8.28999594e+01] [ 4.65313192e-01 8.85127789e-01 -5.69475016e-03 1.61054799e+01] [ 1.24313074e-02 -1.01839821e-04 9.99922723e-01 1.15573714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:16.12, Z:1.16 [[ 8.84620880e-01 -4.66170375e-01 -1.14490102e-02 8.29249932e+01] [ 4.66133027e-01 8.84694958e-01 -5.90194977e-03 1.61182070e+01] [ 1.28801957e-02 -1.15773773e-04 9.99917040e-01 1.15563386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:16.13, Z:1.16 [[ 8.84073002e-01 -4.67207662e-01 -1.14860113e-02 8.29504903e+01] [ 4.67170145e-01 8.84147603e-01 -5.92216337e-03 1.61313959e+01] [ 1.29222095e-02 -1.30296828e-04 9.99916496e-01 1.15597351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:16.14, Z:1.16 [[ 8.83561724e-01 -4.68180213e-01 -1.12235230e-02 8.29751150e+01] [ 4.68144427e-01 8.83632995e-01 -5.79018798e-03 1.61439367e+01] [ 1.26283267e-02 -1.38241272e-04 9.99920250e-01 1.15633578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:16.16, Z:1.16 [[ 8.82506815e-01 -4.70173531e-01 -1.08890581e-02 8.30002030e+01] [ 4.70139985e-01 8.82573977e-01 -5.61869122e-03 1.61571475e+01] [ 1.22521592e-02 -1.60848293e-04 9.99924927e-01 1.15710089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:16.17, Z:1.16 [[ 8.81997938e-01 -4.71134208e-01 -1.05922687e-02 8.30251672e+01] [ 4.71102518e-01 8.82061523e-01 -5.46697465e-03 1.61712071e+01] [ 1.19187114e-02 -1.68184076e-04 9.99928955e-01 1.15786179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:16.18, Z:1.16 [[ 8.81546819e-01 -4.71988336e-01 -1.01102531e-02 8.30502463e+01] [ 4.71959484e-01 8.81604777e-01 -5.22144202e-03 1.61822774e+01] [ 1.13777072e-02 -1.68684246e-04 9.99935258e-01 1.15874449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:16.20, Z:1.16 [[ 8.81208534e-01 -4.72626182e-01 -9.79851354e-03 8.30752071e+01] [ 4.72599112e-01 8.81262993e-01 -5.06133694e-03 1.61962826e+01] [ 1.10271877e-02 -1.70675486e-04 9.99939184e-01 1.15972425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:16.21, Z:1.16 [[ 8.80779092e-01 -4.73420996e-01 -1.00375475e-02 8.30990526e+01] [ 4.73392601e-01 8.80836266e-01 -5.18819696e-03 1.62098971e+01] [ 1.12976372e-02 -1.82045321e-04 9.99936163e-01 1.15935183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:16.22, Z:1.16 [[ 8.80633088e-01 -4.73688728e-01 -1.02153362e-02 8.31234972e+01] [ 4.73659329e-01 8.80692315e-01 -5.28080582e-03 1.62231587e+01] [ 1.14980263e-02 -1.88136950e-04 9.99933878e-01 1.15962495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:16.24, Z:1.16 [[ 8.80465176e-01 -4.74007351e-01 -9.90482255e-03 8.31478932e+01] [ 4.73979697e-01 8.80520867e-01 -5.12344730e-03 1.62378506e+01] [ 1.11499546e-02 -1.83667863e-04 9.99937820e-01 1.15996284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:16.25, Z:1.16 [[ 8.80667366e-01 -4.73639704e-01 -9.50901072e-03 8.31720653e+01] [ 4.73614156e-01 8.80718685e-01 -4.92232639e-03 1.62519889e+01] [ 1.07061726e-02 -1.68669861e-04 9.99942673e-01 1.16053338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:16.27, Z:1.16 [[ 8.80825121e-01 -4.73344838e-01 -9.57968928e-03 8.31963714e+01] [ 4.73318886e-01 8.80877197e-01 -4.95941635e-03 1.62659679e+01] [ 1.07860440e-02 -1.65869352e-04 9.99941815e-01 1.16118786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43361786499999 meters Centerline goodness [0,1] 0.9999124745629199 Centerline is valid? [True, True] Translation: X:83.22, Y:16.28, Z:1.16 [[ 8.80873705e-01 -4.73246448e-01 -9.96566810e-03 8.32209599e+01] [ 4.73218317e-01 8.80930060e-01 -5.16270558e-03 1.62804379e+01] [ 1.12222887e-02 -1.68245093e-04 9.99937014e-01 1.15990232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:16.29, Z:1.16 [[ 8.81357257e-01 -4.72350867e-01 -9.69764814e-03 8.32459396e+01] [ 4.72324139e-01 8.81410595e-01 -5.02703771e-03 1.62949855e+01] [ 1.09221354e-02 -1.49817144e-04 9.99940340e-01 1.16251312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:16.31, Z:1.16 [[ 8.81476751e-01 -4.72123607e-01 -9.90137115e-03 8.32699440e+01] [ 4.72095699e-01 8.81532346e-01 -5.13547454e-03 1.63101447e+01] [ 1.11529577e-02 -1.47593331e-04 9.99937793e-01 1.16259222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:16.32, Z:1.16 [[ 8.81348327e-01 -4.72363332e-01 -9.89997330e-03 8.32944041e+01] [ 4.72335409e-01 8.81403915e-01 -5.13816767e-03 1.63229202e+01] [ 1.11529572e-02 -1.47592460e-04 9.99937793e-01 1.16295901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:16.34, Z:1.16 [[ 8.81845246e-01 -4.71425295e-01 -1.03514428e-02 8.33185298e+01] [ 4.71394654e-01 8.81905988e-01 -5.37660077e-03 1.63370546e+01] [ 1.16636650e-02 -1.38284991e-04 9.99931968e-01 1.16313370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:16.35, Z:1.16 [[ 8.81993664e-01 -4.71150379e-01 -1.02223779e-02 8.33423835e+01] [ 4.71120467e-01 8.82052891e-01 -5.31057903e-03 1.63497599e+01] [ 1.15187593e-02 -1.32074393e-04 9.99933648e-01 1.16338394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:16.36, Z:1.16 [[ 8.82016768e-01 -4.71094928e-01 -1.07699058e-02 8.33667177e+01] [ 4.71061704e-01 8.82082508e-01 -5.59647619e-03 1.63635373e+01] [ 1.21364170e-02 -1.37104330e-04 9.99926342e-01 1.16380808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64361786499998 meters Centerline goodness [0,1] 0.9999563089828731 Centerline is valid? [True, True] Translation: X:83.39, Y:16.38, Z:1.16 [[ 8.81868661e-01 -4.71365990e-01 -1.10348395e-02 8.33909675e+01] [ 4.71331086e-01 8.81937687e-01 -5.73790511e-03 1.63774583e+01] [ 1.24366941e-02 -1.40984176e-04 9.99922651e-01 1.16402699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:16.39, Z:1.16 [[ 8.81452511e-01 -4.72137864e-01 -1.12830870e-02 8.34161945e+01] [ 4.72101382e-01 8.81524710e-01 -5.87113534e-03 1.63882848e+01] [ 1.27183053e-02 -1.51633970e-04 9.99919108e-01 1.16469578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:16.40, Z:1.17 [[ 8.81125314e-01 -4.72741278e-01 -1.15699652e-02 8.34411065e+01] [ 4.72702950e-01 8.81201258e-01 -6.02195547e-03 1.64001912e+01] [ 1.30422948e-02 -1.63059284e-04 9.99914932e-01 1.16548760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:16.41, Z:1.17 [[ 8.80715767e-01 -4.73506002e-01 -1.14805744e-02 8.34663939e+01] [ 4.73468314e-01 8.80790575e-01 -5.97652090e-03 1.64139896e+01] [ 1.29419002e-02 -1.72072009e-04 9.99916235e-01 1.16588890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters Centerline goodness [0,1] 0.9999346974314323 Centerline is valid? [True, True] Translation: X:83.49, Y:16.43, Z:1.17 [[ 8.79839470e-01 -4.75123712e-01 -1.18306566e-02 8.34926889e+01] [ 4.75083789e-01 8.79918984e-01 -6.16241402e-03 1.64259996e+01] [ 1.33379283e-02 -1.98618047e-04 9.99911026e-01 1.16646774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79361786499999 meters Centerline goodness [0,1] 0.9998471715826475 Centerline is valid? [True, True] Translation: X:83.52, Y:16.44, Z:1.17 [[ 8.79270695e-01 -4.76176229e-01 -1.18001431e-02 8.35183799e+01] [ 4.76136559e-01 8.79349848e-01 -6.15002476e-03 1.64396455e+01] [ 1.33049496e-02 -2.10942962e-04 9.99911463e-01 1.16683547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499997 meters Centerline goodness [0,1] 0.9999781773743017 Centerline is valid? [True, True] Translation: X:83.54, Y:16.45, Z:1.17 [[ 8.78809577e-01 -4.77047691e-01 -1.09191573e-02 8.35437906e+01] [ 4.77013753e-01 8.78877385e-01 -5.69393638e-03 1.64529543e+01] [ 1.23128796e-02 -2.04702370e-04 9.99924173e-01 1.16748383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:16.46, Z:1.17 [[ 8.78561450e-01 -4.77503173e-01 -1.09771684e-02 8.35698113e+01] [ 4.77468865e-01 8.78629999e-01 -5.72778566e-03 1.64638852e+01] [ 1.23799053e-02 -2.09044477e-04 9.99923344e-01 1.16830006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:16.48, Z:1.17 [[ 8.78181616e-01 -4.78217173e-01 -1.02657475e-02 8.35952512e+01] [ 4.78187207e-01 8.78241592e-01 -5.35731542e-03 1.64773450e+01] [ 1.15777666e-02 -2.04253196e-04 9.99932955e-01 1.16972550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:16.49, Z:1.17 [[ 8.77910323e-01 -4.78715024e-01 -1.02659762e-02 8.36202618e+01] [ 4.78685052e-01 8.77970320e-01 -5.36084650e-03 1.64894951e+01] [ 1.15795402e-02 -2.07826884e-04 9.99932933e-01 1.17059850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.65, Y:16.50, Z:1.17 [[ 8.77896912e-01 -4.78738836e-01 -1.03023973e-02 8.36452577e+01] [ 4.78708644e-01 8.77957336e-01 -5.38062400e-03 1.65020665e+01] [ 1.16209789e-02 -2.08213438e-04 9.99932452e-01 1.17143081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:16.52, Z:1.17 [[ 8.77796481e-01 -4.78915652e-01 -1.06365665e-02 8.36700093e+01] [ 4.78883437e-01 8.77860896e-01 -5.55884674e-03 1.65159749e+01] [ 1.19996445e-02 -2.14139421e-04 9.99927979e-01 1.17187565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:16.53, Z:1.17 [[ 8.77841555e-01 -4.78814898e-01 -1.14235736e-02 8.36940548e+01] [ 4.78777676e-01 8.77915852e-01 -5.97445254e-03 1.65279460e+01] [ 1.28895932e-02 -2.24729288e-04 9.99916900e-01 1.17239448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:16.54, Z:1.17 [[ 8.78046009e-01 -4.78400759e-01 -1.29583576e-02 8.37194848e+01] [ 4.78352784e-01 8.78141591e-01 -6.77946412e-03 1.65412011e+01] [ 1.46225735e-02 -2.45985017e-04 9.99893054e-01 1.17181730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:16.55, Z:1.17 [[ 8.78119869e-01 -4.78254092e-01 -1.33611484e-02 8.37447050e+01] [ 4.78203009e-01 8.78221477e-01 -6.99428927e-03 1.65542570e+01] [ 1.50790949e-02 -2.47516984e-04 9.99886273e-01 1.17189748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:16.57, Z:1.17 [[ 8.78216879e-01 -4.78057124e-01 -1.40178030e-02 8.37699808e+01] [ 4.78000794e-01 8.78328710e-01 -7.34290547e-03 1.65674486e+01] [ 1.58225671e-02 -2.51857439e-04 9.99874784e-01 1.17170816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:16.58, Z:1.17 [[ 8.78131700e-01 -4.78204575e-01 -1.43214195e-02 8.37942143e+01] [ 4.78145719e-01 8.78248438e-01 -7.50682282e-03 1.65818622e+01] [ 1.61675613e-02 -2.55746335e-04 9.99869264e-01 1.17227969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15361786499999 meters Centerline goodness [0,1] 0.9998456926196985 Centerline is valid? [True, True] Translation: X:83.82, Y:16.59, Z:1.17 [[ 8.78292041e-01 -4.77906862e-01 -1.44264391e-02 8.38199574e+01] [ 4.77847028e-01 8.78410479e-01 -7.56628531e-03 1.65930155e+01] [ 1.62883150e-02 -2.48222881e-04 9.99867306e-01 1.17255021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters Centerline goodness [0,1] 0.9999779793887078 Centerline is valid? [True, True] Translation: X:83.84, Y:16.61, Z:1.17 [[ 8.78187939e-01 -4.78111163e-01 -1.39878256e-02 8.38443950e+01] [ 4.78054907e-01 8.78299298e-01 -7.33822999e-03 1.66075287e+01] [ 1.57939870e-02 -2.42603567e-04 9.99875238e-01 1.17392315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21361786499997 meters Centerline goodness [0,1] 0.9999560004399956 Centerline is valid? [True, True] Translation: X:83.87, Y:16.62, Z:1.17 [[ 8.78157824e-01 -4.78171143e-01 -1.38273374e-02 8.38691650e+01] [ 4.78116106e-01 8.78266646e-01 -7.25857499e-03 1.66175078e+01] [ 1.56149304e-02 -2.36898307e-04 9.99878051e-01 1.17475237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499998 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:83.89, Y:16.63, Z:1.18 [[ 8.78385043e-01 -4.77768913e-01 -1.32884045e-02 8.38943338e+01] [ 4.77717990e-01 8.78485525e-01 -6.97879553e-03 1.66313475e+01] [ 1.50079226e-02 -2.18040300e-04 9.99887351e-01 1.17687225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27361786499998 meters Centerline goodness [0,1] 0.9998898314421064 Centerline is valid? [True, True] Translation: X:83.92, Y:16.64, Z:1.18 [[ 8.78357091e-01 -4.77835477e-01 -1.27309915e-02 8.39197727e+01] [ 4.77788690e-01 8.78449324e-01 -6.68980360e-03 1.66440146e+01] [ 1.43801563e-02 -2.06687300e-04 9.99896579e-01 1.17775488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:16.66, Z:1.18 [[ 8.78320197e-01 -4.77900484e-01 -1.28358060e-02 8.39441234e+01] [ 4.77852869e-01 8.78413960e-01 -6.74914037e-03 1.66565183e+01] [ 1.45005686e-02 -2.05720430e-04 9.99894840e-01 1.17819356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:16.67, Z:1.18 [[ 8.78249743e-01 -4.78031467e-01 -1.27791191e-02 8.39687742e+01] [ 4.77984254e-01 8.78342687e-01 -6.72142962e-03 1.66701089e+01] [ 1.44375006e-02 -2.05123855e-04 9.99895753e-01 1.17897917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36361786499998 meters Centerline goodness [0,1] 0.9998903677067117 Centerline is valid? [True, True] Translation: X:83.99, Y:16.68, Z:1.18 [[ 8.78335227e-01 -4.77880649e-01 -1.25425209e-02 8.39930839e+01] [ 4.77835094e-01 8.78424753e-01 -6.60115531e-03 1.66814070e+01] [ 1.41722252e-02 -1.95229429e-04 9.99899550e-01 1.17893147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:16.69, Z:1.18 [[ 8.78136799e-01 -4.78247747e-01 -1.24441039e-02 8.40182999e+01] [ 4.78202913e-01 8.78224945e-01 -6.55134842e-03 1.66941516e+01] [ 1.40618900e-02 -1.97826588e-04 9.99901107e-01 1.17921486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:16.71, Z:1.18 [[ 8.78096782e-01 -4.78315656e-01 -1.26560219e-02 8.40425739e+01] [ 4.78269231e-01 8.78187960e-01 -6.66704023e-03 1.67053574e+01] [ 1.43033158e-02 -1.98679306e-04 9.99897683e-01 1.17979513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:16.72, Z:1.18 [[ 8.77916189e-01 -4.78633390e-01 -1.31622072e-02 8.40665713e+01] [ 4.78583179e-01 8.78014826e-01 -6.93594044e-03 1.67194058e+01] [ 1.48763857e-02 -2.10036550e-04 9.99889318e-01 1.18016566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:16.73, Z:1.18 [[ 8.78166109e-01 -4.78168334e-01 -1.33913858e-02 8.40919208e+01] [ 4.78116238e-01 8.78268184e-01 -7.06107223e-03 1.67317945e+01] [ 1.51376092e-02 -2.01844678e-04 9.99885399e-01 1.18000864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:16.75, Z:1.18 [[ 8.78149194e-01 -4.78188512e-01 -1.37746139e-02 8.41162882e+01] [ 4.78133364e-01 8.78257197e-01 -7.26512948e-03 1.67455391e+01] [ 1.55717553e-02 -2.06234885e-04 9.99878732e-01 1.18009294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:16.76, Z:1.18 [[ 8.78489250e-01 -4.77537723e-01 -1.46410586e-02 8.41403227e+01] [ 4.77475241e-01 8.78611223e-01 -7.72738333e-03 1.67593858e+01] [ 1.65539155e-02 -2.02319799e-04 9.99862954e-01 1.17920323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:16.77, Z:1.18 [[ 8.78507075e-01 -4.77501518e-01 -1.47519151e-02 8.41647921e+01] [ 4.77437996e-01 8.78630901e-01 -7.79096589e-03 1.67727967e+01] [ 1.66816865e-02 -1.98706119e-04 9.99860831e-01 1.17910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499998 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:84.19, Y:16.79, Z:1.18 [[ 8.78523212e-01 -4.77473425e-01 -1.47001348e-02 8.41888095e+01] [ 4.77410271e-01 8.78646169e-01 -7.76805634e-03 1.67854369e+01] [ 1.66252576e-02 -1.93577528e-04 9.99861772e-01 1.17927643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:16.80, Z:1.18 [[ 8.78477708e-01 -4.77562067e-01 -1.45391996e-02 8.42130518e+01] [ 4.77500257e-01 8.78597994e-01 -7.68567008e-03 1.67990185e+01] [ 1.64444961e-02 -1.90781723e-04 9.99864762e-01 1.18011757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:16.81, Z:1.18 [[ 8.78578558e-01 -4.77384997e-01 -1.42576712e-02 8.42373404e+01] [ 4.77325465e-01 8.78694220e-01 -7.54115725e-03 1.68109157e+01] [ 1.61281686e-02 -1.80050464e-04 9.99869916e-01 1.18121774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:16.83, Z:1.18 [[ 8.78341560e-01 -4.77829102e-01 -1.39804629e-02 8.42615135e+01] [ 4.77771879e-01 8.78452797e-01 -7.39701649e-03 1.68258190e+01] [ 1.58156865e-02 -1.82365044e-04 9.99874908e-01 1.18273074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72361786499998 meters Centerline goodness [0,1] 0.9998906601937502 Centerline is valid? [True, True] Translation: X:84.29, Y:16.84, Z:1.18 [[ 8.78337896e-01 -4.77847800e-01 -1.35653842e-02 8.42858154e+01] [ 4.77793861e-01 8.78442627e-01 -7.18170549e-03 1.68372180e+01] [ 1.53481739e-02 -1.73493188e-04 9.99882195e-01 1.18305379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75361786499998 meters Centerline goodness [0,1] 0.9999780094119717 Centerline is valid? [True, True] Translation: X:84.31, Y:16.85, Z:1.18 [[ 8.78275039e-01 -4.77971616e-01 -1.32699044e-02 8.43095948e+01] [ 4.77919981e-01 8.78375264e-01 -7.02755587e-03 1.68525988e+01] [ 1.50149280e-02 -1.69825548e-04 9.99887255e-01 1.18400832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78361786499998 meters Centerline goodness [0,1] 0.9999780427288496 Centerline is valid? [True, True] Translation: X:84.33, Y:16.87, Z:1.18 [[ 8.78034417e-01 -4.78426463e-01 -1.27938280e-02 8.43344444e+01] [ 4.78378452e-01 8.78127605e-01 -6.77976670e-03 1.68661071e+01] [ 1.44782333e-02 -1.67423121e-04 9.99895171e-01 1.18403696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:16.88, Z:1.18 [[ 8.77599163e-01 -4.79211223e-01 -1.32782579e-02 8.43602275e+01] [ 4.79159526e-01 8.77699590e-01 -7.04118642e-03 1.68801052e+01] [ 1.50285371e-02 -1.83064458e-04 9.99887048e-01 1.18384380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84361786499998 meters Centerline goodness [0,1] 0.9999341874341874 Centerline is valid? [True, True] Translation: X:84.39, Y:16.89, Z:1.18 [[ 8.77134846e-01 -4.80055052e-01 -1.34762537e-02 8.43861075e+01] [ 4.80001838e-01 8.77238342e-01 -7.15034199e-03 1.68936353e+01] [ 1.52544442e-02 -1.96812421e-04 9.99883625e-01 1.18369757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:16.91, Z:1.18 [[ 8.76758213e-01 -4.80735440e-01 -1.37285614e-02 8.44120862e+01] [ 4.80680232e-01 8.76865664e-01 -7.28845754e-03 1.69067455e+01] [ 1.55419239e-02 -2.08833061e-04 9.99879195e-01 1.18415494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters Centerline goodness [0,1] 0.9999560516832205 Centerline is valid? [True, True] Translation: X:84.44, Y:16.92, Z:1.18 [[ 8.75913418e-01 -4.82260776e-01 -1.41502183e-02 8.44371862e+01] [ 4.82202260e-01 8.76027675e-01 -7.51625832e-03 1.69187135e+01] [ 1.60207794e-02 -2.39675722e-04 9.99871630e-01 1.18404652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:16.93, Z:1.18 [[ 8.75394640e-01 -4.83197918e-01 -1.42827628e-02 8.44623001e+01] [ 4.83138392e-01 8.75511111e-01 -7.58868722e-03 1.69326876e+01] [ 1.61715554e-02 -2.57454949e-04 9.99869199e-01 1.18416523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:16.95, Z:1.18 [[ 8.75141150e-01 -4.83657755e-01 -1.42528402e-02 8.44867587e+01] [ 4.83598479e-01 8.75257166e-01 -7.57655527e-03 1.69456465e+01] [ 1.61393603e-02 -2.62096560e-04 9.99869718e-01 1.18398457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:16.96, Z:1.18 [[ 8.74820813e-01 -4.84248725e-01 -1.38462210e-02 8.45109247e+01] [ 4.84192834e-01 8.74930342e-01 -7.36183710e-03 1.69606344e+01] [ 1.56794391e-02 -2.63952678e-04 9.99877035e-01 1.18448844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:16.97, Z:1.18 [[ 8.74508115e-01 -4.84810321e-01 -1.39466486e-02 8.45355994e+01] [ 4.84753662e-01 8.74619276e-01 -7.41687756e-03 1.69746257e+01] [ 1.57937864e-02 -2.74569338e-04 9.99875233e-01 1.18490749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05361786499998 meters Centerline goodness [0,1] 0.9999561739892626 Centerline is valid? [True, True] Translation: X:84.56, Y:16.99, Z:1.19 [[ 8.74194779e-01 -4.85387387e-01 -1.35119823e-02 8.45606555e+01] [ 4.85334236e-01 8.74299154e-01 -7.18817387e-03 1.69882771e+01] [ 1.53025636e-02 -2.73963514e-04 9.99882871e-01 1.18533783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:17.00, Z:1.19 [[ 8.74066165e-01 -4.85617155e-01 -1.35763567e-02 8.45846952e+01] [ 4.85563457e-01 8.74171552e-01 -7.22676428e-03 1.70006896e+01] [ 1.53775055e-02 -2.75512569e-04 9.99881721e-01 1.18613713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11361786499998 meters Centerline goodness [0,1] 0.9998250639609892 Centerline is valid? [True, True] Translation: X:84.61, Y:17.01, Z:1.19 [[ 8.73918711e-01 -4.85896026e-01 -1.30819581e-02 8.46096132e+01] [ 4.85846171e-01 8.74016579e-01 -6.96547999e-03 1.70122106e+01] [ 1.48183473e-02 -2.68555947e-04 9.99890166e-01 1.18662461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:17.03, Z:1.19 [[ 8.73348243e-01 -4.86920970e-01 -1.30696275e-02 8.46343358e+01] [ 4.86871293e-01 8.73445985e-01 -6.96103465e-03 1.70275772e+01] [ 1.48050874e-02 -2.83819036e-04 9.99890358e-01 1.18704281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17361786499998 meters Centerline goodness [0,1] 0.9999563490331311 Centerline is valid? [True, True] Translation: X:84.66, Y:17.04, Z:1.19 [[ 8.73313247e-01 -4.86984842e-01 -1.30282697e-02 8.46575859e+01] [ 4.86935432e-01 8.73410376e-01 -6.94263556e-03 1.70410070e+01] [ 1.47599842e-02 -2.80830517e-04 9.99891026e-01 1.18685756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.68, Y:17.06, Z:1.19 [[ 8.73156201e-01 -4.87268545e-01 -1.29465902e-02 8.46813873e+01] [ 4.87219753e-01 8.73252132e-01 -6.90120885e-03 1.70567249e+01] [ 1.46683795e-02 -2.82001170e-04 9.99892374e-01 1.18679608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23361786499999 meters Centerline goodness [0,1] 0.9999781473306965 Centerline is valid? [True, True] Translation: X:84.71, Y:17.07, Z:1.19 [[ 8.73134398e-01 -4.87315400e-01 -1.26500493e-02 8.47060455e+01] [ 4.87268763e-01 8.73225988e-01 -6.74731632e-03 1.70691066e+01] [ 1.43344229e-02 -2.72659874e-04 9.99897220e-01 1.18760548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:17.08, Z:1.19 [[ 8.73082301e-01 -4.87416784e-01 -1.23358534e-02 8.47300341e+01] [ 4.87372389e-01 8.73169404e-01 -6.58376363e-03 1.70828563e+01] [ 1.39803266e-02 -2.63986822e-04 9.99902236e-01 1.18881753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:17.10, Z:1.19 [[ 8.72936408e-01 -4.87682324e-01 -1.21646668e-02 8.47545420e+01] [ 4.87639124e-01 8.73021124e-01 -6.49628252e-03 1.70958807e+01] [ 1.37881332e-02 -2.61125941e-04 9.99904905e-01 1.18976134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:17.11, Z:1.19 [[ 8.73158830e-01 -4.87287114e-01 -1.20385175e-02 8.47783414e+01] [ 4.87244750e-01 8.73241780e-01 -6.43018422e-03 1.71128670e+01] [ 1.36458824e-02 -2.51132345e-04 9.99906859e-01 1.19121547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:17.13, Z:1.19 [[ 8.73206779e-01 -4.87206039e-01 -1.18404729e-02 8.48016341e+01] [ 4.87165005e-01 8.73287018e-01 -6.32787733e-03 1.71283083e+01] [ 1.34231114e-02 -2.42718665e-04 9.99909877e-01 1.19108932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:17.14, Z:1.19 [[ 8.73348887e-01 -4.86940922e-01 -1.22580490e-02 8.48250683e+01] [ 4.86896854e-01 8.73434874e-01 -6.55547775e-03 1.71435437e+01] [ 1.38987379e-02 -2.43186321e-04 9.99903378e-01 1.19122731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:17.16, Z:1.19 [[ 8.73514915e-01 -4.86647368e-01 -1.20844066e-02 8.48493683e+01] [ 4.86604454e-01 8.73598469e-01 -6.46679174e-03 1.71562105e+01] [ 1.37039663e-02 -2.31487059e-04 9.99906069e-01 1.19169129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:17.17, Z:1.19 [[ 8.73387350e-01 -4.86876292e-01 -1.20835843e-02 8.48736555e+01] [ 4.86833379e-01 8.73470905e-01 -6.46832801e-03 1.71693023e+01] [ 1.37039348e-02 -2.33336296e-04 9.99906069e-01 1.19205884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:17.19, Z:1.19 [[ 8.73814259e-01 -4.86106648e-01 -1.22052439e-02 8.48974275e+01] [ 4.86062734e-01 8.73899467e-01 -6.53759648e-03 1.71861506e+01] [ 1.38441253e-02 -2.19869204e-04 9.99904141e-01 1.19287675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:17.20, Z:1.19 [[ 8.74091997e-01 -4.85595859e-01 -1.26428592e-02 8.49220761e+01] [ 4.85548631e-01 8.74183399e-01 -6.77586484e-03 1.72000684e+01] [ 1.43425096e-02 -2.15993758e-04 9.99897118e-01 1.19322977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:17.21, Z:1.19 [[ 8.73958054e-01 -4.85826302e-01 -1.30431560e-02 8.49457999e+01] [ 4.85776035e-01 8.74055349e-01 -6.99218734e-03 1.72144118e+01] [ 1.47974288e-02 -2.25174160e-04 9.99890487e-01 1.19335897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:17.23, Z:1.19 [[ 8.74061196e-01 -4.85616757e-01 -1.39065168e-02 8.49688885e+01] [ 4.85559512e-01 8.74171786e-01 -7.45982179e-03 1.72282896e+01] [ 1.57792991e-02 -2.32100735e-04 9.99875472e-01 1.19300739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59361786499998 meters Centerline goodness [0,1] 0.9999782778694934 Centerline is valid? [True, True] Translation: X:84.99, Y:17.24, Z:1.19 [[ 8.73995667e-01 -4.85731002e-01 -1.40345447e-02 8.49926821e+01] [ 4.85672670e-01 8.74108311e-01 -7.53113748e-03 1.72431465e+01] [ 1.59258191e-02 -2.34013267e-04 9.99873149e-01 1.19318961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:17.26, Z:1.19 [[ 8.74076640e-01 -4.85585827e-01 -1.40154404e-02 8.50160147e+01] [ 4.85527564e-01 8.74188969e-01 -7.52537366e-03 1.72559945e+01] [ 1.59063582e-02 -2.27129320e-04 9.99873460e-01 1.19359555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65361786499999 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:85.04, Y:17.27, Z:1.19 [[ 8.73939266e-01 -4.85840428e-01 -1.37563643e-02 8.50399706e+01] [ 4.85784293e-01 8.74047497e-01 -7.38873038e-03 1.72714763e+01] [ 1.56134597e-02 -2.25324074e-04 9.99878077e-01 1.19439510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:17.28, Z:1.20 [[ 8.73889234e-01 -4.85937857e-01 -1.34909628e-02 8.50633335e+01] [ 4.85883813e-01 8.73993336e-01 -7.25047301e-03 1.72844344e+01] [ 1.53142909e-02 -2.18930128e-04 9.99882705e-01 1.19539502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:17.30, Z:1.20 [[ 8.73710216e-01 -4.86247883e-01 -1.39087804e-02 8.50876681e+01] [ 4.86190438e-01 8.73820887e-01 -7.47760817e-03 1.72985749e+01] [ 1.57897540e-02 -2.29053372e-04 9.99875308e-01 1.19610669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499998 meters Centerline goodness [0,1] 0.9999783951950914 Centerline is valid? [True, True] Translation: X:85.11, Y:17.31, Z:1.20 [[ 8.73421125e-01 -4.86760146e-01 -1.41456078e-02 8.51116466e+01] [ 4.86700724e-01 8.73535634e-01 -7.60934528e-03 1.73120412e+01] [ 1.60606185e-02 -2.38514613e-04 9.99870992e-01 1.19698977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77361786499998 meters Centerline goodness [0,1] 0.9999136348915039 Centerline is valid? [True, True] Translation: X:85.14, Y:17.33, Z:1.20 [[ 8.73161351e-01 -4.87208980e-01 -1.47195448e-02 8.51358228e+01] [ 4.87144662e-01 8.73285374e-01 -7.92042482e-03 1.73259543e+01] [ 1.67132653e-02 -2.54738862e-04 9.99860291e-01 1.19696268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:17.34, Z:1.20 [[ 8.72837631e-01 -4.87778595e-01 -1.50503377e-02 8.51603252e+01] [ 4.87711348e-01 8.72967337e-01 -8.10370240e-03 1.73401311e+01] [ 1.70912658e-02 -2.67004077e-04 9.99853898e-01 1.19701448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:17.35, Z:1.20 [[ 8.72742792e-01 -4.87921350e-01 -1.58988955e-02 8.51845795e+01] [ 4.87846244e-01 8.72887552e-01 -8.56530079e-03 1.73544831e+01] [ 1.80571411e-02 -2.80911941e-04 9.99836917e-01 1.19681050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:17.37, Z:1.20 [[ 8.72420356e-01 -4.88491132e-01 -1.60976819e-02 8.52095102e+01] [ 4.88414187e-01 8.72568809e-01 -8.67493572e-03 1.73686151e+01] [ 1.82839643e-02 -2.94145730e-04 9.99832791e-01 1.19749011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:17.38, Z:1.20 [[ 8.72033596e-01 -4.89171484e-01 -1.63910761e-02 8.52344787e+01] [ 4.89091737e-01 8.72187574e-01 -8.83792201e-03 1.73823593e+01] [ 1.86193523e-02 -3.09774981e-04 9.99826597e-01 1.19806279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92361786499998 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:85.26, Y:17.39, Z:1.20 [[ 8.71676041e-01 -4.89812994e-01 -1.62514708e-02 8.52598773e+01] [ 4.89734640e-01 8.71827466e-01 -8.76652259e-03 1.73947764e+01] [ 1.84624353e-02 -3.17340486e-04 9.99829504e-01 1.19846337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:17.41, Z:1.20 [[ 8.70394531e-01 -4.92097645e-01 -1.59144084e-02 8.52842172e+01] [ 4.92022844e-01 8.70539936e-01 -8.58716923e-03 1.74107321e+01] [ 1.80798539e-02 -3.56027374e-04 9.99836483e-01 1.20025568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:17.43, Z:1.20 [[ 8.69516268e-01 -4.93658823e-01 -1.55700284e-02 8.53096597e+01] [ 4.93587391e-01 8.69655579e-01 -8.40605396e-03 1.74252234e+01] [ 1.76902848e-02 -3.75969041e-04 9.99843444e-01 1.20099128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:17.44, Z:1.20 [[ 8.68610103e-01 -4.95251650e-01 -1.55657364e-02 8.53349787e+01] [ 4.95180428e-01 8.68749469e-01 -8.40858204e-03 1.74384930e+01] [ 1.76870894e-02 -4.04068713e-04 9.99843490e-01 1.20140093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:17.45, Z:1.20 [[ 8.66827746e-01 -4.98365623e-01 -1.55359256e-02 8.53628172e+01] [ 4.98295097e-01 8.66966834e-01 -8.39669696e-03 1.74455780e+01] [ 1.76537573e-02 -4.62985640e-04 9.99844053e-01 1.20123379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:17.46, Z:1.20 [[ 8.66089549e-01 -4.99668594e-01 -1.48387517e-02 8.53866702e+01] [ 4.99604403e-01 8.66216532e-01 -8.02251240e-03 1.74618670e+01] [ 1.68621695e-02 -4.65291547e-04 9.99857715e-01 1.20248117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499998 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:85.41, Y:17.48, Z:1.20 [[ 8.65224239e-01 -5.01173343e-01 -1.45704354e-02 8.54108816e+01] [ 5.01111594e-01 8.65346779e-01 -7.88174446e-03 1.74774021e+01] [ 1.65585995e-02 -4.81937748e-04 9.99862781e-01 1.20322114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:17.49, Z:1.20 [[ 8.64074394e-01 -5.03158992e-01 -1.43691218e-02 8.54364911e+01] [ 5.03099140e-01 8.64193711e-01 -7.77724347e-03 1.74910022e+01] [ 1.63308946e-02 -5.08975869e-04 9.99866513e-01 1.20376610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:17.50, Z:1.20 [[ 8.63701317e-01 -5.03808757e-01 -1.40275488e-02 8.54617913e+01] [ 5.03751740e-01 8.63815074e-01 -7.59629249e-03 1.75030465e+01] [ 1.59442868e-02 -5.05474287e-04 9.99872754e-01 1.20359729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:17.52, Z:1.20 [[ 8.63565064e-01 -5.04044384e-01 -1.39513151e-02 8.54852140e+01] [ 5.03987973e-01 8.63677605e-01 -7.55769773e-03 1.75180476e+01] [ 1.58588535e-02 -5.04731296e-04 9.99874113e-01 1.20398292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:17.53, Z:1.20 [[ 8.63670502e-01 -5.03856657e-01 -1.42032609e-02 8.55102147e+01] [ 5.03798085e-01 8.63787134e-01 -7.69912499e-03 1.75330749e+01] [ 1.61478494e-02 -5.06068502e-04 9.99869487e-01 1.20406618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:17.55, Z:1.20 [[ 8.64576471e-01 -5.02307459e-01 -1.39550060e-02 8.55340315e+01] [ 5.02250648e-01 8.64688962e-01 -7.56878110e-03 1.75484745e+01] [ 1.58685948e-02 -4.65120740e-04 9.99873978e-01 1.20374284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:17.56, Z:1.20 [[ 8.65188522e-01 -5.01256353e-01 -1.38162940e-02 8.55584041e+01] [ 5.01200466e-01 8.65298721e-01 -7.49772023e-03 1.75630972e+01] [ 1.57135014e-02 -4.37791494e-04 9.99876439e-01 1.20431588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:17.58, Z:1.20 [[ 8.65793039e-01 -5.00221886e-01 -1.34342505e-02 8.55825505e+01] [ 5.00168866e-01 8.65897166e-01 -7.29408624e-03 1.75800793e+01] [ 1.52813410e-02 -4.04224764e-04 9.99883152e-01 1.20463164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34361786499998 meters Centerline goodness [0,1] 0.9999569076962854 Centerline is valid? [True, True] Translation: X:85.61, Y:17.60, Z:1.20 [[ 8.67437434e-01 -4.97371889e-01 -1.31720652e-02 8.56061142e+01] [ 4.97320555e-01 8.67537368e-01 -7.15403838e-03 1.75979940e+01] [ 1.49854763e-02 -3.45058055e-04 9.99887652e-01 1.20475829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37361786499999 meters Centerline goodness [0,1] 0.9999570326766494 Centerline is valid? [True, True] Translation: X:85.63, Y:17.61, Z:1.20 [[ 8.68084391e-01 -4.96236630e-01 -1.33677850e-02 8.56299926e+01] [ 4.96183570e-01 8.68187249e-01 -7.26397035e-03 1.76120607e+01] [ 1.52103886e-02 -3.27135993e-04 9.99884262e-01 1.20466376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:85.65, Y:17.63, Z:1.20 [[ 8.68748397e-01 -4.95075305e-01 -1.32915448e-02 8.56539259e+01] [ 4.95022689e-01 8.68850016e-01 -7.22408334e-03 1.76264361e+01] [ 1.51248242e-02 -3.03705439e-04 9.99885567e-01 1.20433492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43361786499997 meters Centerline goodness [0,1] 0.9999570049659264 Centerline is valid? [True, True] Translation: X:85.68, Y:17.64, Z:1.20 [[ 8.69894803e-01 -4.93062032e-01 -1.31477789e-02 8.56775043e+01] [ 4.93010288e-01 8.69994117e-01 -7.14796951e-03 1.76422314e+01] [ 1.49628827e-02 -2.64008723e-04 9.99888015e-01 1.20375066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:17.66, Z:1.20 [[ 8.70305938e-01 -4.92341930e-01 -1.29228050e-02 8.57018292e+01] [ 4.92291838e-01 8.70401841e-01 -7.02725327e-03 1.76577905e+01] [ 1.47078447e-02 -2.45931182e-04 9.99891804e-01 1.20407624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:17.67, Z:1.20 [[ 8.70650027e-01 -4.91731065e-01 -1.30034804e-02 8.57258205e+01] [ 4.91680222e-01 8.70747096e-01 -7.07486486e-03 1.76716447e+01] [ 1.48016736e-02 -2.33822831e-04 9.99890422e-01 1.20442958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499998 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:85.75, Y:17.69, Z:1.21 [[ 8.71205009e-01 -4.90755396e-01 -1.26875228e-02 8.57499537e+01] [ 4.90706863e-01 8.71297364e-01 -6.90493569e-03 1.76863777e+01] [ 1.44432396e-02 -2.10239938e-04 9.99895669e-01 1.20550815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55361786499998 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:85.77, Y:17.70, Z:1.21 [[ 8.71311923e-01 -4.90577362e-01 -1.22222986e-02 8.57740331e+01] [ 4.90532278e-01 8.71397620e-01 -6.65368366e-03 1.77006694e+01] [ 1.39146285e-02 -1.97998076e-04 9.99903167e-01 1.20602380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:17.72, Z:1.21 [[ 8.71708976e-01 -4.89884191e-01 -1.17021769e-02 8.57971603e+01] [ 4.89842751e-01 8.71787502e-01 -6.37424455e-03 1.77154990e+01] [ 1.33244532e-02 -1.75740347e-04 9.99911210e-01 1.20684489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:17.73, Z:1.21 [[ 8.71647437e-01 -4.89996692e-01 -1.15753057e-02 8.58206337e+01] [ 4.89956140e-01 8.71724275e-01 -6.30630540e-03 1.77294662e+01] [ 1.31805438e-02 -1.74517171e-04 9.99913118e-01 1.20715880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64361786499998 meters Centerline goodness [0,1] 0.9998721718010993 Centerline is valid? [True, True] Translation: X:85.85, Y:17.74, Z:1.21 [[ 8.71762686e-01 -4.89787539e-01 -1.17467323e-02 8.58451470e+01] [ 4.89745735e-01 8.71841807e-01 -6.40139827e-03 1.77440110e+01] [ 1.33766174e-02 -1.72411876e-04 9.99910514e-01 1.20765243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67361786499998 meters Centerline goodness [0,1] 0.9999357119897139 Centerline is valid? [True, True] Translation: X:85.87, Y:17.76, Z:1.21 [[ 8.71551840e-01 -4.90167311e-01 -1.15497768e-02 8.58684003e+01] [ 4.90126883e-01 8.71628348e-01 -6.29774902e-03 1.77596646e+01] [ 1.31540636e-02 -1.72041360e-04 9.99913467e-01 1.20780184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:17.77, Z:1.21 [[ 8.71551380e-01 -4.90166114e-01 -1.16349823e-02 8.58924868e+01] [ 4.90125032e-01 8.71629022e-01 -6.34829749e-03 1.77738102e+01] [ 1.32531085e-02 -1.69728623e-04 9.99912159e-01 1.20825010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:17.79, Z:1.21 [[ 8.71391787e-01 -4.90448437e-01 -1.16912155e-02 8.59166064e+01] [ 4.90406927e-01 8.71470195e-01 -6.38315601e-03 1.77889216e+01] [ 1.33191548e-02 -1.71223358e-04 9.99911281e-01 1.20790610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:17.80, Z:1.21 [[ 8.71368162e-01 -4.90489902e-01 -1.17124415e-02 8.59411522e+01] [ 4.90448190e-01 8.71446859e-01 -6.39891559e-03 1.78034268e+01] [ 1.33453738e-02 -1.68534390e-04 9.99910932e-01 1.20767273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79361786499999 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:85.97, Y:17.81, Z:1.21 [[ 8.71169404e-01 -4.90837433e-01 -1.19366805e-02 8.59659354e+01] [ 4.90794082e-01 8.71251160e-01 -6.52570271e-03 1.78147387e+01] [ 1.36029059e-02 -1.73459605e-04 9.99907461e-01 1.20680012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:17.83, Z:1.21 [[ 8.70893015e-01 -4.91310617e-01 -1.26187940e-02 8.59889675e+01] [ 4.91262175e-01 8.70984410e-01 -6.90173874e-03 1.78317771e+01] [ 1.43816704e-02 -1.88460117e-04 9.99896561e-01 1.20643603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:17.85, Z:1.21 [[ 8.70591183e-01 -4.91843631e-01 -1.26820724e-02 8.60131439e+01] [ 4.91794724e-01 8.70683527e-01 -6.93869496e-03 1.78464990e+01] [ 1.44548244e-02 -1.96209622e-04 9.99895504e-01 1.20550679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499998 meters Centerline goodness [0,1] 0.9999364016026796 Centerline is valid? [True, True] Translation: X:86.04, Y:17.86, Z:1.21 [[ 8.70660868e-01 -4.91721888e-01 -1.26189396e-02 8.60366578e+01] [ 4.91673392e-01 8.70752289e-01 -6.90849110e-03 1.78599780e+01] [ 1.43850268e-02 -1.89443953e-04 9.99896512e-01 1.20545021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:17.88, Z:1.21 [[ 8.70987573e-01 -4.91158679e-01 -1.19916409e-02 8.60610170e+01] [ 4.91114806e-01 8.71070103e-01 -6.56688932e-03 1.78757176e+01] [ 1.36709446e-02 -1.69593413e-04 9.99906534e-01 1.20522868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94361786499998 meters Centerline goodness [0,1] 0.9999788270167267 Centerline is valid? [True, True] Translation: X:86.08, Y:17.89, Z:1.21 [[ 8.71298187e-01 -4.90613013e-01 -1.17618372e-02 8.60843548e+01] [ 4.90570708e-01 8.71377557e-01 -6.44462393e-03 1.78906470e+01] [ 1.34108173e-02 -1.54823659e-04 9.99910059e-01 1.20519713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:17.90, Z:1.21 [[ 8.71763924e-01 -4.89793575e-01 -1.13980169e-02 8.61079510e+01] [ 4.89753723e-01 8.71838423e-01 -6.24935165e-03 1.79045651e+01] [ 1.29981213e-02 -1.34261877e-04 9.99915512e-01 1.20549250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00361786499998 meters Centerline goodness [0,1] 0.999978835978836 Centerline is valid? [True, True] Translation: X:86.13, Y:17.92, Z:1.21 [[ 8.72077659e-01 -4.89241497e-01 -1.11046585e-02 8.61314895e+01] [ 4.89203612e-01 8.72148349e-01 -6.08957316e-03 1.79198313e+01] [ 1.26641815e-02 -1.21858339e-04 9.99919799e-01 1.20572678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03361786499998 meters Centerline goodness [0,1] 0.999830770207095 Centerline is valid? [True, True] Translation: X:86.15, Y:17.94, Z:1.21 [[ 8.72556655e-01 -4.88411258e-01 -9.96625550e-03 8.61545818e+01] [ 4.88380653e-01 8.72613565e-01 -5.46843311e-03 1.79360253e+01] [ 1.13675340e-02 -9.58086674e-05 9.99935383e-01 1.20611126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:17.95, Z:1.21 [[ 8.72628974e-01 -4.88291103e-01 -9.51166111e-03 8.61787725e+01] [ 4.88263184e-01 8.72680807e-01 -5.22227972e-03 1.79492432e+01] [ 1.08506368e-02 -8.70813380e-05 9.99941126e-01 1.20740869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09361786499998 meters Centerline goodness [0,1] 0.9998945703742752 Centerline is valid? [True, True] Translation: X:86.20, Y:17.96, Z:1.21 [[ 8.72588812e-01 -4.88370221e-01 -9.12649822e-03 8.62027530e+01] [ 4.88344488e-01 8.72636534e-01 -5.01395356e-03 1.79635811e+01] [ 1.04127814e-02 -8.17553224e-05 9.99945782e-01 1.20772374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:17.98, Z:1.21 [[ 8.72166659e-01 -4.89133222e-01 -8.60285700e-03 8.62270342e+01] [ 4.89110368e-01 8.72209083e-01 -4.72911114e-03 1.79771570e+01] [ 9.81665539e-03 -8.31734877e-05 9.99951812e-01 1.20885732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15361786499999 meters Centerline goodness [0,1] 0.9999364581788914 Centerline is valid? [True, True] Translation: X:86.25, Y:17.99, Z:1.21 [[ 8.71815762e-01 -4.89764247e-01 -8.26196100e-03 8.62515884e+01] [ 4.89743170e-01 8.71854905e-01 -4.54449358e-03 1.79907793e+01] [ 9.42896170e-03 -8.42778377e-05 9.99955543e-01 1.20882299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:18.00, Z:1.21 [[ 8.71382004e-01 -4.90542909e-01 -7.81396971e-03 8.62767376e+01] [ 4.90524055e-01 8.71417034e-01 -4.30162142e-03 1.80026237e+01] [ 8.91935620e-03 -8.45846152e-05 9.99960218e-01 1.20980541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21361786499997 meters Centerline goodness [0,1] 0.999978750982767 Centerline is valid? [True, True] Translation: X:86.30, Y:18.02, Z:1.21 [[ 8.70461513e-01 -4.92173931e-01 -7.84707562e-03 8.63017961e+01] [ 4.92154982e-01 8.70496876e-01 -4.31994929e-03 1.80165958e+01] [ 8.95702124e-03 -1.01627766e-04 9.99959880e-01 1.20940042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:18.03, Z:1.21 [[ 8.69927092e-01 -4.93113889e-01 -8.09605132e-03 8.63273490e+01] [ 4.93093735e-01 8.69964758e-01 -4.45965821e-03 1.80300552e+01] [ 9.24239873e-03 -1.12534684e-04 9.99957282e-01 1.20952948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:18.04, Z:1.21 [[ 8.69590365e-01 -4.93709510e-01 -7.96970069e-03 8.63520232e+01] [ 4.93689976e-01 8.69626878e-01 -4.39327690e-03 1.80426902e+01] [ 9.09966851e-03 -1.14210081e-04 9.99958591e-01 1.21017203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:18.06, Z:1.21 [[ 8.69008907e-01 -4.94729677e-01 -8.12807648e-03 8.63780799e+01] [ 4.94709402e-01 8.69046909e-01 -4.48080458e-03 1.80557612e+01] [ 9.28046675e-03 -1.27176757e-04 9.99956927e-01 1.20989731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:18.07, Z:1.21 [[ 8.68873743e-01 -4.94967038e-01 -8.12707190e-03 8.64021954e+01] [ 4.94946756e-01 8.68911742e-01 -4.48262570e-03 1.80691415e+01] [ 9.28046017e-03 -1.27632098e-04 9.99956927e-01 1.21026426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:18.08, Z:1.21 [[ 8.68888512e-01 -4.94944283e-01 -7.93156617e-03 8.64263686e+01] [ 4.94924935e-01 8.68924704e-01 -4.37794605e-03 1.80815066e+01] [ 9.05877316e-03 -1.21582848e-04 9.99958961e-01 1.21103179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39361786499998 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:86.45, Y:18.09, Z:1.21 [[ 8.68719496e-01 -4.95245027e-01 -7.66813795e-03 8.64509008e+01] [ 4.95226943e-01 8.68753331e-01 -4.23387432e-03 1.80946012e+01] [ 8.75852558e-03 -1.19419346e-04 9.99961636e-01 1.21080676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42361786499998 meters Centerline goodness [0,1] 0.9999788171496357 Centerline is valid? [True, True] Translation: X:86.48, Y:18.11, Z:1.21 [[ 8.68347822e-01 -4.95890855e-01 -8.01998637e-03 8.64755568e+01] [ 4.95871067e-01 8.68384847e-01 -4.43194337e-03 1.81065891e+01] [ 9.16219483e-03 -1.28410825e-04 9.99958018e-01 1.21068003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45361786499998 meters Centerline goodness [0,1] 0.9999360586555267 Centerline is valid? [True, True] Translation: X:86.50, Y:18.12, Z:1.21 [[ 8.68174608e-01 -4.96196161e-01 -7.88799271e-03 8.65007086e+01] [ 4.96177021e-01 8.68210431e-01 -4.36009217e-03 1.81188781e+01] [ 9.01189855e-03 -1.28519418e-04 9.99959384e-01 1.21123529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:18.13, Z:1.21 [[ 8.67915647e-01 -4.96653435e-01 -7.60234111e-03 8.65252520e+01] [ 4.96635675e-01 8.67948932e-01 -4.20198473e-03 1.81315157e+01] [ 8.68537400e-03 -1.28625521e-04 9.99962273e-01 1.21152462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51361786499999 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:86.55, Y:18.14, Z:1.21 [[ 8.67176329e-01 -4.97937019e-01 -7.99621481e-03 8.65513846e+01] [ 4.97917397e-01 8.67213182e-01 -4.42283772e-03 1.81431984e+01] [ 9.13671752e-03 -1.46074285e-04 9.99958249e-01 1.21140865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:18.16, Z:1.21 [[ 8.67085531e-01 -4.98093730e-01 -8.08189680e-03 8.65761414e+01] [ 4.98073671e-01 8.67123183e-01 -4.47258273e-03 1.81558093e+01] [ 9.23576549e-03 -1.47268236e-04 9.99957339e-01 1.21198980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:18.17, Z:1.21 [[ 8.66909901e-01 -4.98398620e-01 -8.12646278e-03 8.66009328e+01] [ 4.98378325e-01 8.66947976e-01 -4.50013945e-03 1.81684925e+01] [ 9.28808375e-03 -1.48837465e-04 9.99956854e-01 1.21231691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:18.18, Z:1.21 [[ 8.66728762e-01 -4.98715320e-01 -8.01761005e-03 8.66255568e+01] [ 4.98695554e-01 8.66765832e-01 -4.44265282e-03 1.81812099e+01] [ 9.16500947e-03 -1.47771499e-04 9.99957989e-01 1.21272555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:18.19, Z:1.21 [[ 8.66796264e-01 -4.98609198e-01 -7.28720774e-03 8.66504633e+01] [ 4.98592848e-01 8.66826886e-01 -4.04010704e-03 1.81937499e+01] [ 8.33118212e-03 -1.31399967e-04 9.99965286e-01 1.21338964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:18.21, Z:1.21 [[ 8.66784520e-01 -4.98637524e-01 -6.72425076e-03 8.66749615e+01] [ 4.98623579e-01 8.66810594e-01 -3.73108621e-03 1.82061150e+01] [ 7.68911138e-03 -1.18822203e-04 9.99970431e-01 1.21396487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:18.22, Z:1.21 [[ 8.66886970e-01 -4.98454476e-01 -7.07931043e-03 8.67003052e+01] [ 4.98439010e-01 8.66915867e-01 -3.92840745e-03 1.82191439e+01] [ 8.09529882e-03 -1.23119253e-04 9.99967225e-01 1.21433892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:18.23, Z:1.21 [[ 8.67628041e-01 -4.97162984e-01 -7.10977669e-03 8.67256882e+01] [ 4.97147321e-01 8.67657165e-01 -3.94797331e-03 1.82322633e+01] [ 8.13163488e-03 -1.09234082e-04 9.99966932e-01 1.21436718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:18.24, Z:1.21 [[ 8.68099931e-01 -4.96341371e-01 -6.91044815e-03 8.67508837e+01] [ 4.96326523e-01 8.68127430e-01 -3.84031020e-03 1.82446437e+01] [ 7.90525442e-03 -9.60656887e-05 9.99968748e-01 1.21480510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:18.26, Z:1.21 [[ 8.68564142e-01 -4.95523087e-01 -7.29394967e-03 8.67757214e+01] [ 4.95506517e-01 8.68594762e-01 -4.05342760e-03 1.82586083e+01] [ 8.34405344e-03 -9.35377356e-05 9.99965183e-01 1.21498872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:18.27, Z:1.21 [[ 8.69621174e-01 -4.93661707e-01 -7.55865669e-03 8.68004394e+01] [ 4.93643815e-01 8.69654019e-01 -4.20364118e-03 1.82715816e+01] [ 8.64859285e-03 -7.57087410e-05 9.99962597e-01 1.21470908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:18.29, Z:1.22 [[ 8.70041706e-01 -4.92912129e-01 -8.06615446e-03 8.68260933e+01] [ 4.92891713e-01 8.70079093e-01 -4.48681005e-03 1.82851901e+01] [ 9.22979546e-03 -7.20288207e-05 9.99957402e-01 1.21505205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:18.30, Z:1.22 [[ 8.70483837e-01 -4.92123471e-01 -8.50759912e-03 8.68508560e+01] [ 4.92100689e-01 8.70525408e-01 -4.73567039e-03 1.82975451e+01] [ 9.73661574e-03 -6.42708580e-05 9.99952596e-01 1.21590996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:18.31, Z:1.22 [[ 8.71397325e-01 -4.90503037e-01 -8.57162442e-03 8.68775754e+01] [ 4.90479822e-01 8.71439481e-01 -4.77235547e-03 1.83099611e+01] [ 9.81050679e-03 -4.55910263e-05 9.99951875e-01 1.21660067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93361786499997 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:86.90, Y:18.32, Z:1.22 [[ 8.71874440e-01 -4.89652654e-01 -8.67407974e-03 8.69019363e+01] [ 4.89628809e-01 8.71917586e-01 -4.83242186e-03 1.83222846e+01] [ 9.92929086e-03 -3.38142227e-05 9.99950703e-01 1.21749762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:18.33, Z:1.22 [[ 8.72263706e-01 -4.88958704e-01 -8.68409232e-03 8.69265786e+01] [ 4.88934761e-01 8.72306933e-01 -4.83877062e-03 1.83349225e+01] [ 9.94115295e-03 -2.52706128e-05 9.99950585e-01 1.21790977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:18.35, Z:1.22 [[ 8.72963619e-01 -4.87710653e-01 -8.53458047e-03 8.69510603e+01] [ 4.87687432e-01 8.73005338e-01 -4.75911101e-03 1.83458917e+01] [ 9.77180344e-03 -7.67685957e-06 9.99952255e-01 1.21806993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:18.36, Z:1.22 [[ 8.72948408e-01 -4.87735924e-01 -8.64553685e-03 8.69767135e+01] [ 4.87712089e-01 8.72991219e-01 -4.82177065e-03 1.83584903e+01] [ 9.89922851e-03 -7.37583072e-06 9.99951001e-01 1.21808669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05361786499998 meters Centerline goodness [0,1] 0.999762516461927 Centerline is valid? [True, True] Translation: X:87.00, Y:18.37, Z:1.22 [[ 8.72779695e-01 -4.88030561e-01 -9.04296101e-03 8.70020463e+01] [ 4.88004466e-01 8.72826541e-01 -5.04678453e-03 1.83705933e+01] [ 1.03559215e-02 -8.27429898e-06 9.99946376e-01 1.21759454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:18.38, Z:1.22 [[ 8.72441540e-01 -4.88632335e-01 -9.17606901e-03 8.70276561e+01] [ 4.88605464e-01 8.72489794e-01 -5.12441506e-03 1.83827018e+01] [ 1.05099815e-02 -1.27248861e-05 9.99944769e-01 1.21819081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:18.39, Z:1.22 [[ 8.71816247e-01 -4.89737378e-01 -9.68152242e-03 8.70538047e+01] [ 4.89707487e-01 8.71870002e-01 -5.41076902e-03 1.83915794e+01] [ 1.10908848e-02 -2.39176768e-05 9.99938494e-01 1.21947170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14361786499998 meters Centerline goodness [0,1] 0.9999565896857093 Centerline is valid? [True, True] Translation: X:87.08, Y:18.40, Z:1.22 [[ 8.71340776e-01 -4.90588729e-01 -9.37821502e-03 8.70798118e+01] [ 4.90560722e-01 8.71391243e-01 -5.24220151e-03 1.84032995e+01] [ 1.07438594e-02 -3.28399950e-05 9.99942283e-01 1.21981562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17361786499998 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:87.11, Y:18.42, Z:1.22 [[ 8.70875095e-01 -4.91409170e-01 -9.67452324e-03 8.71056051e+01] [ 4.91379376e-01 8.70928829e-01 -5.41134815e-03 1.84156527e+01] [ 1.10850073e-02 -4.12528655e-05 9.99938559e-01 1.22005505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20361786499998 meters Centerline goodness [0,1] 0.9999566009894975 Centerline is valid? [True, True] Translation: X:87.13, Y:18.43, Z:1.22 [[ 8.70406746e-01 -4.92235144e-01 -9.83158853e-03 8.71298950e+01] [ 4.92204384e-01 8.70462268e-01 -5.50310041e-03 1.84268302e+01] [ 1.12668463e-02 -4.92152494e-05 9.99936526e-01 1.22068781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23361786499999 meters Centerline goodness [0,1] 0.9998912830771238 Centerline is valid? [True, True] Translation: X:87.16, Y:18.44, Z:1.22 [[ 8.69806885e-01 -4.93278440e-01 -1.06001697e-02 8.71552123e+01] [ 4.93242723e-01 8.69871471e-01 -5.93628661e-03 1.84371852e+01] [ 1.21490274e-02 -6.50336199e-05 9.99926196e-01 1.22056310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:18.45, Z:1.22 [[ 8.69474855e-01 -4.93854621e-01 -1.10041122e-02 8.71800348e+01] [ 4.93816157e-01 8.69544483e-01 -6.16403197e-03 1.84494415e+01] [ 1.26127007e-02 -7.45375868e-05 9.99920454e-01 1.22099806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:18.46, Z:1.22 [[ 8.68765369e-01 -4.95081589e-01 -1.18723621e-02 8.72067507e+01] [ 4.95036869e-01 8.68846483e-01 -6.65493333e-03 1.84585255e+01] [ 1.36099950e-02 -9.56813455e-05 9.99907375e-01 1.22164270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:18.47, Z:1.22 [[ 8.68222857e-01 -4.96028048e-01 -1.20518042e-02 8.72325119e+01] [ 4.95982036e-01 8.68306492e-01 -6.75697270e-03 1.84702558e+01] [ 1.38163078e-02 -1.10920214e-04 9.99904544e-01 1.22201043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35361786499998 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:87.26, Y:18.48, Z:1.22 [[ 8.67604789e-01 -4.97113257e-01 -1.18464946e-02 8.72586937e+01] [ 4.97068847e-01 8.67685654e-01 -6.64580372e-03 1.84834051e+01] [ 1.35827505e-02 -1.22592266e-04 9.99907743e-01 1.22256090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:18.50, Z:1.22 [[ 8.66996229e-01 -4.98169506e-01 -1.20283733e-02 8.72850949e+01] [ 4.98123771e-01 8.67079653e-01 -6.75165250e-03 1.84957400e+01] [ 1.37930251e-02 -1.37961402e-04 9.99904862e-01 1.22310037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:18.51, Z:1.22 [[ 8.65930766e-01 -5.00013480e-01 -1.22649510e-02 8.73118528e+01] [ 4.99966059e-01 8.66017605e-01 -6.88821722e-03 1.85059489e+01] [ 1.40658650e-02 -1.67340016e-04 9.99901057e-01 1.22319145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44361786499998 meters Centerline goodness [0,1] 0.9999339570720969 Centerline is valid? [True, True] Translation: X:87.34, Y:18.52, Z:1.22 [[ 8.65169498e-01 -5.01333531e-01 -1.21008263e-02 8.73378912e+01] [ 5.01287480e-01 8.65254099e-01 -6.79747878e-03 1.85186255e+01] [ 1.38780936e-02 -1.85021423e-04 9.99903678e-01 1.22357310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47361786499998 meters Centerline goodness [0,1] 0.9999779492833517 Centerline is valid? [True, True] Translation: X:87.36, Y:18.53, Z:1.23 [[ 8.64019599e-01 -5.03322050e-01 -1.17066701e-02 8.73645157e+01] [ 5.03279084e-01 8.64098878e-01 -6.57968474e-03 1.85272262e+01] [ 1.34274209e-02 -2.06745615e-04 9.99909827e-01 1.22527726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50361786499998 meters Centerline goodness [0,1] 0.9999115846245662 Centerline is valid? [True, True] Translation: X:87.39, Y:18.54, Z:1.23 [[ 8.63559039e-01 -5.04130322e-01 -1.08813890e-02 8.73902580e+01] [ 5.04093251e-01 8.63627569e-01 -6.11698263e-03 1.85393196e+01] [ 1.24812240e-02 -2.02859107e-04 9.99922086e-01 1.22644053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53361786499998 meters Centerline goodness [0,1] 0.9999114495705305 Centerline is valid? [True, True] Translation: X:87.41, Y:18.55, Z:1.23 [[ 8.63517802e-01 -5.04212043e-01 -1.03547988e-02 8.74144890e+01] [ 5.04178470e-01 8.63579862e-01 -5.82172512e-03 1.85528375e+01] [ 1.18775796e-02 -1.93503341e-04 9.99929440e-01 1.22817355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:18.57, Z:1.23 [[ 8.64760159e-01 -5.02097705e-01 -9.36812829e-03 8.74386333e+01] [ 5.02070063e-01 8.64810889e-01 -5.27056035e-03 1.85675713e+01] [ 1.07479956e-02 -1.45686153e-04 9.99942228e-01 1.22826872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59361786499998 meters Centerline goodness [0,1] 0.999977922995408 Centerline is valid? [True, True] Translation: X:87.46, Y:18.58, Z:1.23 [[ 8.65233885e-01 -5.01276391e-01 -9.60747534e-03 8.74634761e+01] [ 5.01247260e-01 8.65287213e-01 -5.40591130e-03 1.85828067e+01] [ 1.10230813e-02 -1.38343046e-04 9.99939234e-01 1.22803797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters Centerline goodness [0,1] 0.99993355040202 Centerline is valid? [True, True] Translation: X:87.49, Y:18.60, Z:1.23 [[ 8.65903291e-01 -5.00113513e-01 -9.89768763e-03 8.74886305e+01] [ 5.00082482e-01 8.65959848e-01 -5.57249451e-03 1.85959999e+01] [ 1.13578799e-02 -1.24418869e-04 9.99935489e-01 1.22797930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65361786499999 meters Centerline goodness [0,1] 0.9999556845627174 Centerline is valid? [True, True] Translation: X:87.51, Y:18.61, Z:1.23 [[ 8.66796736e-01 -4.98560956e-01 -1.00195337e-02 8.75123559e+01] [ 4.98529016e-01 8.66854637e-01 -5.64432259e-03 1.86132023e+01] [ 1.14995181e-02 -1.02547883e-04 9.99933873e-01 1.22768558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499997 meters Centerline goodness [0,1] 0.9999115865788427 Centerline is valid? [True, True] Translation: X:87.54, Y:18.63, Z:1.23 [[ 8.68287722e-01 -4.95949545e-01 -1.05109422e-02 8.75358113e+01] [ 4.95914157e-01 8.68351337e-01 -5.92491474e-03 1.86284381e+01] [ 1.20656495e-02 -6.79943339e-05 9.99927205e-01 1.22685917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:18.64, Z:1.23 [[ 8.68591637e-01 -4.95416279e-01 -1.05488704e-02 8.75599444e+01] [ 4.95380584e-01 8.68655690e-01 -5.94722608e-03 1.86435189e+01] [ 1.21096889e-02 -5.99947414e-05 9.99926673e-01 1.22675144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499998 meters Centerline goodness [0,1] 0.9999336136313344 Centerline is valid? [True, True] Translation: X:87.58, Y:18.66, Z:1.23 [[ 8.68739194e-01 -4.95163261e-01 -1.02741535e-02 8.75836367e+01] [ 4.95129342e-01 8.68799944e-01 -5.79593196e-03 1.86577308e+01] [ 1.17961166e-02 -5.18816117e-05 9.99930422e-01 1.22653164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:18.67, Z:1.23 [[ 8.68748857e-01 -4.95145186e-01 -1.03280589e-02 8.76064895e+01] [ 4.95110861e-01 8.68810245e-01 -5.83033949e-03 1.86721595e+01] [ 1.18599879e-02 -4.84333471e-05 9.99929667e-01 1.22600853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499998 meters Centerline goodness [0,1] 0.9999115337830367 Centerline is valid? [True, True] Translation: X:87.63, Y:18.69, Z:1.23 [[ 8.68364610e-01 -4.95821336e-01 -1.02032722e-02 8.76309968e+01] [ 4.95787867e-01 8.68424551e-01 -5.76117940e-03 1.86863038e+01] [ 1.17172877e-02 -5.58542504e-05 9.99931349e-01 1.22612026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:18.70, Z:1.23 [[ 8.67948682e-01 -4.96552066e-01 -1.00563594e-02 8.76550498e+01] [ 4.96519559e-01 8.68006937e-01 -5.68207125e-03 1.86998111e+01] [ 1.15504340e-02 -6.14328956e-05 9.99933290e-01 1.22638197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86361786499998 meters Centerline goodness [0,1] 0.9999779068996753 Centerline is valid? [True, True] Translation: X:87.68, Y:18.71, Z:1.23 [[ 8.67416737e-01 -4.97487155e-01 -9.73320921e-03 8.76793433e+01] [ 4.97456751e-01 8.67471340e-01 -5.50047435e-03 1.87138142e+01] [ 1.11796954e-02 -7.06471214e-05 9.99937503e-01 1.22640649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89361786499998 meters Centerline goodness [0,1] 0.9999779735682819 Centerline is valid? [True, True] Translation: X:87.70, Y:18.73, Z:1.23 [[ 8.66296661e-01 -4.99447391e-01 -9.07744431e-03 8.77041723e+01] [ 4.99421016e-01 8.66344214e-01 -5.13343842e-03 1.87274118e+01] [ 1.04280738e-02 -8.63859024e-05 9.99945622e-01 1.22655721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:18.74, Z:1.23 [[ 8.65657841e-01 -5.00559438e-01 -8.76079356e-03 8.77298689e+01] [ 5.00534925e-01 8.65702166e-01 -4.95472223e-03 1.87416608e+01] [ 1.00643709e-02 -9.59889995e-05 9.99949348e-01 1.22702418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:18.76, Z:1.23 [[ 8.64324387e-01 -5.02857730e-01 -8.80094974e-03 8.77555985e+01] [ 5.02833084e-01 8.64369185e-01 -4.98012215e-03 1.87555796e+01] [ 1.01115627e-02 -1.20967670e-04 9.99948870e-01 1.22642119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters Centerline goodness [0,1] 0.9999779171451285 Centerline is valid? [True, True] Translation: X:87.78, Y:18.77, Z:1.23 [[ 8.63565484e-01 -5.04158942e-01 -8.85532302e-03 8.77810959e+01] [ 5.04134030e-01 8.63610875e-01 -5.01366733e-03 1.87695405e+01] [ 1.01752385e-02 -1.34639630e-04 9.99948222e-01 1.22633193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01361786499999 meters Centerline goodness [0,1] 0.9999778858911986 Centerline is valid? [True, True] Translation: X:87.81, Y:18.78, Z:1.23 [[ 8.62859581e-01 -5.05368969e-01 -8.69184935e-03 8.78054921e+01] [ 5.05344997e-01 8.62903346e-01 -4.92434690e-03 1.87826387e+01] [ 9.98883800e-03 -1.43362679e-04 9.99950100e-01 1.22638012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:18.80, Z:1.23 [[ 8.61985380e-01 -5.06851253e-01 -9.11113321e-03 8.78309795e+01] [ 5.06824989e-01 8.62033514e-01 -5.16247316e-03 1.87963617e+01] [ 1.04707082e-02 -1.67773607e-04 9.99945167e-01 1.22616186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:18.81, Z:1.23 [[ 8.61448909e-01 -5.07769807e-01 -8.69480304e-03 8.78553953e+01] [ 5.07745911e-01 8.61492771e-01 -4.92901833e-03 1.88123265e+01] [ 9.99331665e-03 -1.68653230e-04 9.99950051e-01 1.22600096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:18.83, Z:1.23 [[ 8.61089739e-01 -5.08360902e-01 -9.67752159e-03 8.78789534e+01] [ 5.08331295e-01 8.61144098e-01 -5.48978274e-03 1.88258668e+01] [ 1.11245315e-02 -1.92191490e-04 9.99938102e-01 1.22544119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13361786499998 meters Centerline goodness [0,1] 0.999977941987427 Centerline is valid? [True, True] Translation: X:87.90, Y:18.84, Z:1.23 [[ 8.60847314e-01 -5.08766409e-01 -9.93189969e-03 8.79030090e+01] [ 5.08735225e-01 8.60904583e-01 -5.63645157e-03 1.88404404e+01] [ 1.14180552e-02 -2.00583031e-04 9.99934792e-01 1.22579016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:18.85, Z:1.23 [[ 8.60661807e-01 -5.09074664e-01 -1.02098609e-02 8.79270869e+01] [ 5.09041683e-01 8.60722338e-01 -5.79834518e-03 1.88521227e+01] [ 1.17396460e-02 -2.06830563e-04 9.99931067e-01 1.22612550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:18.87, Z:1.23 [[ 8.60585809e-01 -5.09205246e-01 -1.01035764e-02 8.79502898e+01] [ 5.09172943e-01 8.60645093e-01 -5.73921829e-03 1.88673854e+01] [ 1.16180335e-02 -2.05377898e-04 9.99932487e-01 1.22556479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22361786499998 meters Centerline goodness [0,1] 0.9999779225080031 Centerline is valid? [True, True] Translation: X:87.97, Y:18.88, Z:1.23 [[ 8.60321700e-01 -5.09653362e-01 -1.00011202e-02 8.79740761e+01] [ 5.09621701e-01 8.60379805e-01 -5.68456260e-03 1.88818373e+01] [ 1.15019183e-02 -2.06235323e-04 9.99933829e-01 1.22543660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25361786499998 meters Centerline goodness [0,1] 0.9999779225080031 Centerline is valid? [True, True] Translation: X:88.00, Y:18.90, Z:1.23 [[ 8.60180283e-01 -5.09892038e-01 -9.99954077e-03 8.79980366e+01] [ 5.09860360e-01 8.60238378e-01 -5.68733945e-03 1.88955347e+01] [ 1.15019178e-02 -2.06232206e-04 9.99933829e-01 1.22580341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28361786499998 meters Centerline goodness [0,1] 0.9998676986174505 Centerline is valid? [True, True] Translation: X:88.02, Y:18.91, Z:1.23 [[ 8.59799532e-01 -5.10528068e-01 -1.02886791e-02 8.80229369e+01] [ 5.10494527e-01 8.59861061e-01 -5.85602401e-03 1.89090503e+01] [ 1.18364991e-02 -2.17307663e-04 9.99929923e-01 1.22589581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31361786499998 meters Centerline goodness [0,1] 0.9999779156820742 Centerline is valid? [True, True] Translation: X:88.05, Y:18.92, Z:1.23 [[ 8.59457381e-01 -5.11106235e-01 -1.01699481e-02 8.80484322e+01] [ 5.11073494e-01 8.59517520e-01 -5.78930099e-03 1.89231714e+01] [ 1.17001964e-02 -2.21933427e-04 9.99931526e-01 1.22594362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34361786499998 meters Centerline goodness [0,1] 0.9998894856662909 Centerline is valid? [True, True] Translation: X:88.07, Y:18.94, Z:1.23 [[ 8.59063932e-01 -5.11776007e-01 -9.72010963e-03 8.80737706e+01] [ 5.11746109e-01 8.59118892e-01 -5.53610923e-03 1.89379892e+01] [ 1.11839777e-02 -2.18356521e-04 9.99937434e-01 1.22623653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37361786499999 meters Centerline goodness [0,1] 0.9999778824674319 Centerline is valid? [True, True] Translation: X:88.10, Y:18.95, Z:1.23 [[ 8.58678453e-01 -5.12439234e-01 -8.79467248e-03 8.80985735e+01] [ 5.12414762e-01 8.58723466e-01 -5.01206780e-03 1.89510030e+01] [ 1.01205718e-02 -2.02765384e-04 9.99948765e-01 1.22663667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:18.96, Z:1.23 [[ 8.58662940e-01 -5.12462750e-01 -8.93787807e-03 8.81232152e+01] [ 5.12437467e-01 8.58709431e-01 -5.09459891e-03 1.89625977e+01] [ 1.02858324e-02 -2.05560323e-04 9.99947078e-01 1.22788888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43361786499997 meters Centerline goodness [0,1] 0.9999559024562332 Centerline is valid? [True, True] Translation: X:88.15, Y:18.98, Z:1.23 [[ 8.58548453e-01 -5.12663455e-01 -8.41050689e-03 8.81466381e+01] [ 5.12641072e-01 8.58589625e-01 -4.79455177e-03 1.89785768e+01] [ 9.67916543e-03 -1.95216258e-04 9.99953137e-01 1.22757222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:18.99, Z:1.23 [[ 8.58854678e-01 -5.12155509e-01 -8.08561397e-03 8.81705182e+01] [ 5.12134765e-01 8.58892719e-01 -4.61300378e-03 1.89924342e+01] [ 9.30725027e-03 -1.79024146e-04 9.99956671e-01 1.22792259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49361786499998 meters Centerline goodness [0,1] 0.9999335915882679 Centerline is valid? [True, True] Translation: X:88.20, Y:19.01, Z:1.23 [[ 8.59025034e-01 -5.11867225e-01 -8.24224796e-03 8.81956193e+01] [ 5.11845650e-01 8.59064556e-01 -4.70311133e-03 1.90077190e+01] [ 9.48799163e-03 -1.78668388e-04 9.99954972e-01 1.22785540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:19.02, Z:1.23 [[ 8.58968590e-01 -5.11962400e-01 -8.21353948e-03 8.82196533e+01] [ 5.11940971e-01 8.59007840e-01 -4.68752648e-03 1.90216337e+01] [ 9.45533211e-03 -1.78409370e-04 9.99955281e-01 1.22763036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:19.03, Z:1.23 [[ 8.59077941e-01 -5.11776674e-01 -8.35030686e-03 8.82436505e+01] [ 5.11754479e-01 8.59118504e-01 -4.76951857e-03 1.90348332e+01] [ 9.61483149e-03 -1.75918749e-04 9.99953761e-01 1.22840659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:19.05, Z:1.23 [[ 8.59094156e-01 -5.11747059e-01 -8.49579488e-03 8.82671456e+01] [ 5.11724074e-01 8.59136145e-01 -4.85346764e-03 1.90477504e+01] [ 9.78279226e-03 -1.77917083e-04 9.99952132e-01 1.22784771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61361786499998 meters Centerline goodness [0,1] 0.9999114789651891 Centerline is valid? [True, True] Translation: X:88.29, Y:19.06, Z:1.23 [[ 8.58905545e-01 -5.12063095e-01 -8.52359881e-03 8.82917866e+01] [ 5.12039967e-01 8.58947818e-01 -4.87007567e-03 1.90621164e+01] [ 9.81511262e-03 -1.81488257e-04 9.99951814e-01 1.22775897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:19.07, Z:1.23 [[ 8.58507004e-01 -5.12734072e-01 -8.33637411e-03 8.83160263e+01] [ 5.12711946e-01 8.58547458e-01 -4.76679449e-03 1.90749562e+01] [ 9.60127075e-03 -1.81832135e-04 9.99953890e-01 1.22746041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:19.09, Z:1.23 [[ 8.58140174e-01 -5.13344817e-01 -8.51709170e-03 8.83402846e+01] [ 5.13321748e-01 8.58182417e-01 -4.87046182e-03 1.90899181e+01] [ 9.80944468e-03 -1.92469448e-04 9.99951868e-01 1.22730581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70361786499998 meters Centerline goodness [0,1] 0.999735572155748 Centerline is valid? [True, True] Translation: X:88.37, Y:19.10, Z:1.22 [[ 8.57887231e-01 -5.13768992e-01 -8.42146648e-03 8.83659037e+01] [ 5.13746427e-01 8.57928543e-01 -4.81907951e-03 1.91021444e+01] [ 9.70091009e-03 -1.92271534e-04 9.99952927e-01 1.22143473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:19.12, Z:1.23 [[ 8.57553448e-01 -5.14313375e-01 -9.15623787e-03 8.83901273e+01] [ 5.14286725e-01 8.57602301e-01 -5.24008043e-03 1.91158181e+01] [ 1.05474541e-02 -2.15282549e-04 9.99944351e-01 1.22797691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.42, Y:19.13, Z:1.23 [[ 8.57412366e-01 -5.14545192e-01 -9.34242000e-03 8.84152001e+01] [ 5.14517423e-01 8.57463234e-01 -5.35013511e-03 1.91294641e+01] [ 1.07636680e-02 -2.19565864e-04 9.99942046e-01 1.22787201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79361786499997 meters Centerline goodness [0,1] 0.999977804905116 Centerline is valid? [True, True] Translation: X:88.44, Y:19.14, Z:1.23 [[ 8.57350902e-01 -5.14641766e-01 -9.65836248e-03 8.84390785e+01] [ 5.14612053e-01 8.57405273e-01 -5.53471804e-03 1.91434189e+01] [ 1.11295280e-02 -2.25114240e-04 9.99938040e-01 1.22814793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:19.16, Z:1.23 [[ 8.57730137e-01 -5.14011162e-01 -9.56756894e-03 8.84633905e+01] [ 5.13981926e-01 8.57783470e-01 -5.48620575e-03 1.91587490e+01] [ 1.10268735e-02 -2.11873507e-04 9.99939180e-01 1.22850289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85361786499998 meters Centerline goodness [0,1] 0.9999778770850847 Centerline is valid? [True, True] Translation: X:88.49, Y:19.18, Z:1.23 [[ 8.58737776e-01 -5.12325511e-01 -9.59183576e-03 8.84874402e+01] [ 5.12295988e-01 8.58791322e-01 -5.50317847e-03 1.91751501e+01] [ 1.10568040e-02 -1.88071747e-04 9.99938854e-01 1.22786360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499998 meters Centerline goodness [0,1] 0.9999335857076442 Centerline is valid? [True, True] Translation: X:88.51, Y:19.19, Z:1.23 [[ 8.59304287e-01 -5.11384147e-01 -9.07724065e-03 8.85120789e+01] [ 5.11357626e-01 8.59352214e-01 -5.21064264e-03 1.91913637e+01] [ 1.04651869e-02 -1.64188666e-04 9.99945225e-01 1.22782150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91361786499998 meters Centerline goodness [0,1] 0.9999778775744973 Centerline is valid? [True, True] Translation: X:88.54, Y:19.21, Z:1.23 [[ 8.59690693e-01 -5.10727349e-01 -9.45973190e-03 8.85370233e+01] [ 5.10698475e-01 8.59742723e-01 -5.43312531e-03 1.92067465e+01] [ 1.09077813e-02 -1.60263392e-04 9.99940496e-01 1.22818301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:19.22, Z:1.23 [[ 8.60543797e-01 -5.09293905e-01 -9.17019726e-03 8.85614996e+01] [ 5.09266660e-01 8.60592645e-01 -5.26964575e-03 1.92229625e+01] [ 1.05756028e-02 -1.35314772e-04 9.99944068e-01 1.22853181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97361786499998 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:88.59, Y:19.24, Z:1.23 [[ 8.60935900e-01 -5.08623942e-01 -9.54264547e-03 8.85856556e+01] [ 5.08594362e-01 8.60988774e-01 -5.48685708e-03 1.92382398e+01] [ 1.10068575e-02 -1.29503452e-04 9.99939414e-01 1.22871128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00361786499998 meters Centerline goodness [0,1] 0.9999558069648223 Centerline is valid? [True, True] Translation: X:88.61, Y:19.25, Z:1.23 [[ 8.61344345e-01 -5.07934291e-01 -9.41672239e-03 8.86099125e+01] [ 5.07905414e-01 8.61395810e-01 -5.41738232e-03 1.92540168e+01] [ 1.08631995e-02 -1.16572656e-04 9.99940987e-01 1.22831289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:19.27, Z:1.23 [[ 8.61727165e-01 -5.07273342e-01 -1.00024495e-02 8.86326217e+01] [ 5.07240675e-01 8.61785207e-01 -5.75799775e-03 1.92698410e+01] [ 1.15408418e-02 -1.11826138e-04 9.99933396e-01 1.22704673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06361786499998 meters Centerline goodness [0,1] 0.9999338828403932 Centerline is valid? [True, True] Translation: X:88.66, Y:19.29, Z:1.23 [[ 8.61615989e-01 -5.07459052e-01 -1.01586301e-02 8.86567376e+01] [ 5.07425351e-01 8.61675866e-01 -5.84938782e-03 1.92850930e+01] [ 1.17217712e-02 -1.14820354e-04 9.99931291e-01 1.22708790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09361786499998 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:88.68, Y:19.30, Z:1.23 [[ 8.61439423e-01 -5.07752415e-01 -1.04692441e-02 8.86801108e+01] [ 5.07716593e-01 8.61503030e-01 -6.03244154e-03 1.92987639e+01] [ 1.20822722e-02 -1.18825967e-04 9.99927000e-01 1.22728265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:19.31, Z:1.23 [[ 8.60975803e-01 -5.08534693e-01 -1.06363823e-02 8.87041295e+01] [ 5.08497759e-01 8.61041491e-01 -6.13027786e-03 1.93129407e+01] [ 1.22758255e-02 -1.30555676e-04 9.99924641e-01 1.22803188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:19.33, Z:1.23 [[ 8.60558659e-01 -5.09244194e-01 -1.04472577e-02 8.87284393e+01] [ 5.09208569e-01 8.60622061e-01 -6.02501490e-03 1.93270417e+01] [ 1.20593443e-02 -1.34954405e-04 9.99927274e-01 1.22863119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499997 meters Centerline goodness [0,1] 0.9999118360149879 Centerline is valid? [True, True] Translation: X:88.75, Y:19.34, Z:1.23 [[ 8.60131851e-01 -5.09962903e-01 -1.05373783e-02 8.87530526e+01] [ 5.09926664e-01 8.60196383e-01 -6.08111695e-03 1.93410396e+01] [ 1.21653588e-02 -1.42727793e-04 9.99925989e-01 1.22907152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21361786499997 meters Centerline goodness [0,1] 0.9999779924734259 Centerline is valid? [True, True] Translation: X:88.78, Y:19.36, Z:1.23 [[ 8.59249017e-01 -5.11445391e-01 -1.07116484e-02 8.87771183e+01] [ 5.11408046e-01 8.59315765e-01 -6.18274617e-03 1.93565605e+01] [ 1.23668253e-02 -1.65504591e-04 9.99923514e-01 1.22866584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:19.37, Z:1.23 [[ 8.58919248e-01 -5.11997361e-01 -1.07901775e-02 8.88009410e+01] [ 5.11959465e-01 8.58987004e-01 -6.23166288e-03 1.93708699e+01] [ 1.24592172e-02 -1.71638297e-04 9.99922366e-01 1.22873719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27361786499998 meters Centerline goodness [0,1] 0.9999779735682819 Centerline is valid? [True, True] Translation: X:88.82, Y:19.39, Z:1.23 [[ 8.58497713e-01 -5.12699293e-01 -1.10050901e-02 8.88248252e+01] [ 5.12659915e-01 8.58568227e-01 -6.35689844e-03 1.93854404e+01] [ 1.27077981e-02 -1.84485789e-04 9.99919236e-01 1.22901014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:19.40, Z:1.23 [[ 8.57907541e-01 -5.13682138e-01 -1.11942886e-02 8.88489247e+01] [ 5.13641424e-01 8.57980548e-01 -6.47040176e-03 1.93987026e+01] [ 1.29282117e-02 -1.98843876e-04 9.99916407e-01 1.23001521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33361786499998 meters Centerline goodness [0,1] 0.9999119834528891 Centerline is valid? [True, True] Translation: X:88.87, Y:19.41, Z:1.23 [[ 8.57358477e-01 -5.14615043e-01 -1.03826557e-02 8.88735038e+01] [ 5.14580077e-01 8.57421319e-01 -6.00209454e-03 1.94137614e+01] [ 1.19910785e-02 -1.96761136e-04 9.99928085e-01 1.23058836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.90, Y:19.43, Z:1.23 [[ 8.56864815e-01 -5.15437971e-01 -1.03143779e-02 8.88977115e+01] [ 5.15403481e-01 8.56926867e-01 -5.96618617e-03 1.94274757e+01] [ 1.19138665e-02 -2.03851272e-04 9.99929007e-01 1.23159642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:19.44, Z:1.23 [[ 8.56559737e-01 -5.15938978e-01 -1.06012769e-02 8.89219563e+01] [ 5.15902569e-01 8.56625311e-01 -6.13314401e-03 1.94417907e+01] [ 1.22456502e-02 -2.15821747e-04 9.99924996e-01 1.23148809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42361786499998 meters Centerline goodness [0,1] 0.9999342840244464 Centerline is valid? [True, True] Translation: X:88.95, Y:19.46, Z:1.23 [[ 8.55755643e-01 -5.17267378e-01 -1.08045549e-02 8.89462346e+01] [ 5.17229612e-01 8.55823816e-01 -6.25498597e-03 1.94556229e+01] [ 1.24822956e-02 -2.35696185e-04 9.99922065e-01 1.23149808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45361786499998 meters Centerline goodness [0,1] 0.9999780749835563 Centerline is valid? [True, True] Translation: X:88.97, Y:19.47, Z:1.23 [[ 8.55242766e-01 -5.18101658e-01 -1.14229317e-02 8.89712081e+01] [ 5.18059502e-01 8.55319007e-01 -6.61432659e-03 1.94709683e+01] [ 1.31971441e-02 -2.60903319e-04 9.99912880e-01 1.23168219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters Centerline goodness [0,1] 0.9999781878462679 Centerline is valid? [True, True] Translation: X:89.00, Y:19.49, Z:1.23 [[ 8.54316390e-01 -5.19627418e-01 -1.14390475e-02 8.89957285e+01] [ 5.19585230e-01 8.54392923e-01 -6.62731914e-03 1.94859782e+01] [ 1.32171779e-02 -2.81732740e-04 9.99912610e-01 1.23210202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51361786499999 meters Centerline goodness [0,1] 0.9999125166765085 Centerline is valid? [True, True] Translation: X:89.02, Y:19.50, Z:1.23 [[ 8.53919396e-01 -5.20283910e-01 -1.12391067e-02 8.90201316e+01] [ 5.20243194e-01 8.53993309e-01 -6.51510726e-03 1.94992093e+01] [ 1.29878274e-02 -2.83692298e-04 9.99915614e-01 1.23187822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:19.51, Z:1.23 [[ 8.53330507e-01 -5.21246410e-01 -1.13677319e-02 8.90451645e+01] [ 5.21204826e-01 8.53406169e-01 -6.59094677e-03 1.95131226e+01] [ 1.31367999e-02 -3.00660780e-04 9.99913663e-01 1.23230305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:19.53, Z:1.23 [[ 8.52518377e-01 -5.22568221e-01 -1.16134036e-02 8.90702410e+01] [ 5.22524891e-01 8.52597413e-01 -6.73717228e-03 1.95270615e+01] [ 1.34221900e-02 -3.24729285e-04 9.99909866e-01 1.23268316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499998 meters Centerline goodness [0,1] 0.9999781052262825 Centerline is valid? [True, True] Translation: X:89.10, Y:19.54, Z:1.23 [[ 8.51280638e-01 -5.24578653e-01 -1.17691306e-02 8.90955931e+01] [ 5.24534293e-01 8.51361914e-01 -6.83130891e-03 1.95410506e+01] [ 1.36033484e-02 -3.57951584e-04 9.99907406e-01 1.23257129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:19.55, Z:1.23 [[ 8.50604166e-01 -5.25674371e-01 -1.17901429e-02 8.91203536e+01] [ 5.25629907e-01 8.50685792e-01 -6.84722468e-03 1.95548850e+01] [ 1.36291176e-02 -3.72973873e-04 9.99907050e-01 1.23314393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:19.57, Z:1.23 [[ 8.49811422e-01 -5.26960295e-01 -1.15496605e-02 8.91451807e+01] [ 5.26917719e-01 8.49889817e-01 -6.70948367e-03 1.95669331e+01] [ 1.33515703e-02 -3.83924886e-04 9.99910790e-01 1.23376964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69361786499998 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:89.17, Y:19.58, Z:1.24 [[ 8.48919698e-01 -5.28388409e-01 -1.18758219e-02 8.91690325e+01] [ 5.28343506e-01 8.49002660e-01 -6.90100013e-03 1.95823922e+01] [ 1.37290129e-02 -4.16118441e-04 9.99905666e-01 1.23517827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72361786499998 meters Centerline goodness [0,1] 0.9999562765073674 Centerline is valid? [True, True] Translation: X:89.19, Y:19.60, Z:1.24 [[ 8.48767040e-01 -5.28644568e-01 -1.13768237e-02 8.91935521e+01] [ 5.28603366e-01 8.48843189e-01 -6.61227481e-03 1.95959463e+01] [ 1.31526825e-02 -4.01546392e-04 9.99913419e-01 1.23522229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75361786499998 meters Centerline goodness [0,1] 0.9998908249268527 Centerline is valid? [True, True] Translation: X:89.22, Y:19.61, Z:1.23 [[ 8.48258934e-01 -5.29463131e-01 -1.12059786e-02 8.92188578e+01] [ 5.29423213e-01 8.48332852e-01 -6.51415899e-03 1.96107584e+01] [ 1.29554068e-02 -4.07011636e-04 9.99915992e-01 1.23234314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78361786499998 meters Centerline goodness [0,1] 0.9999563290171846 Centerline is valid? [True, True] Translation: X:89.24, Y:19.62, Z:1.24 [[ 8.48061559e-01 -5.29770179e-01 -1.16253481e-02 8.92430100e+01] [ 5.29727196e-01 8.48141130e-01 -6.76170291e-03 1.96236692e+01] [ 1.34420844e-02 -4.23922712e-04 9.99909561e-01 1.23557244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81361786499998 meters Centerline goodness [0,1] 0.9999126370506268 Centerline is valid? [True, True] Translation: X:89.26, Y:19.64, Z:1.24 [[ 8.47802429e-01 -5.30188521e-01 -1.14531248e-02 8.92648154e+01] [ 5.30146823e-01 8.47879681e-01 -6.66276189e-03 1.96410979e+01] [ 1.32433917e-02 -4.23132009e-04 9.99912213e-01 1.23564140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:19.65, Z:1.24 [[ 8.47576490e-01 -5.30534252e-01 -1.21450002e-02 8.92888464e+01] [ 5.30487336e-01 8.47663379e-01 -7.06984339e-03 1.96545552e+01] [ 1.40456660e-02 -4.50535736e-04 9.99901253e-01 1.23633649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87361786499999 meters Centerline goodness [0,1] 0.999956363319006 Centerline is valid? [True, True] Translation: X:89.31, Y:19.67, Z:1.24 [[ 8.47182957e-01 -5.31141902e-01 -1.30122200e-02 8.93134687e+01] [ 5.31088089e-01 8.47282738e-01 -7.57655259e-03 1.96696230e+01] [ 1.50492540e-02 -4.91908839e-04 9.99886633e-01 1.23651221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters Centerline goodness [0,1] 0.9999128843975956 Centerline is valid? [True, True] Translation: X:89.34, Y:19.68, Z:1.24 [[ 8.47167914e-01 -5.31160970e-01 -1.32116829e-02 8.93371077e+01] [ 5.31105436e-01 8.47270781e-01 -7.69667474e-03 1.96828997e+01] [ 1.52820462e-02 -4.96420747e-04 9.99883099e-01 1.23675751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:19.70, Z:1.24 [[ 8.47185609e-01 -5.31126114e-01 -1.34757556e-02 8.93610002e+01] [ 5.31068293e-01 8.47292628e-01 -7.85306063e-03 1.96985401e+01] [ 1.55888740e-02 -5.03546579e-04 9.99878359e-01 1.23718661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:19.72, Z:1.24 [[ 8.47908878e-01 -5.29957589e-01 -1.39817053e-02 8.93836136e+01] [ 5.29895104e-01 8.48024002e-01 -8.15294978e-03 1.97163653e+01] [ 1.61775393e-02 -4.95878670e-04 9.99869012e-01 1.23776358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99361786499998 meters Centerline goodness [0,1] 0.9999565018812936 Centerline is valid? [True, True] Translation: X:89.41, Y:19.73, Z:1.24 [[ 8.48075507e-01 -5.29693825e-01 -1.38703407e-02 8.94072826e+01] [ 5.29632227e-01 8.48188787e-01 -8.09236692e-03 1.97331313e+01] [ 1.60511442e-02 -4.83241236e-04 9.99871055e-01 1.23792180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:19.75, Z:1.24 [[ 8.48487290e-01 -5.29027889e-01 -1.41000365e-02 8.94311169e+01] [ 5.28964073e-01 8.48604306e-01 -8.23056249e-03 1.97473317e+01] [ 1.63195488e-02 -4.74885074e-04 9.99866715e-01 1.23812904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:19.76, Z:1.24 [[ 8.48682952e-01 -5.28714104e-01 -1.40940836e-02 8.94552928e+01] [ 5.28650254e-01 8.48799846e-01 -8.22983451e-03 1.97635026e+01] [ 1.63142856e-02 -4.66320613e-04 9.99866804e-01 1.23867605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08361786499998 meters Centerline goodness [0,1] 0.9999131812558332 Centerline is valid? [True, True] Translation: X:89.48, Y:19.78, Z:1.24 [[ 8.49051921e-01 -5.28102659e-01 -1.47789286e-02 8.94786150e+01] [ 5.28032278e-01 8.49180404e-01 -8.63454496e-03 1.97803315e+01] [ 1.71099027e-02 -4.72574329e-04 9.99853503e-01 1.23705049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11361786499998 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:89.50, Y:19.80, Z:1.24 [[ 8.49315082e-01 -5.27660104e-01 -1.54500929e-02 8.95021072e+01] [ 5.27583021e-01 8.49455463e-01 -9.03171971e-03 1.97966093e+01] [ 1.78898440e-02 -4.80430927e-04 9.99839849e-01 1.23917242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14361786499998 meters Centerline goodness [0,1] 0.9999782910732893 Centerline is valid? [True, True] Translation: X:89.53, Y:19.81, Z:1.24 [[ 8.49170972e-01 -5.27892057e-01 -1.54478564e-02 8.95258965e+01] [ 5.27814943e-01 8.49311336e-01 -9.03554367e-03 1.98105959e+01] [ 1.78898313e-02 -4.80888045e-04 9.99839849e-01 1.23953949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:19.83, Z:1.24 [[ 8.49290368e-01 -5.27703682e-01 -1.53197413e-02 8.95502043e+01] [ 5.27627716e-01 8.49428399e-01 -8.96601700e-03 1.98264607e+01] [ 1.77444235e-02 -4.68368214e-04 9.99842446e-01 1.23990783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:19.84, Z:1.24 [[ 8.49771669e-01 -5.26919518e-01 -1.56183204e-02 8.95735253e+01] [ 5.26840337e-01 8.49915062e-01 -9.14585050e-03 1.98435245e+01] [ 1.80933729e-02 -4.56476550e-04 9.99836197e-01 1.24007275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:19.86, Z:1.24 [[ 8.49970197e-01 -5.26600433e-01 -1.55771815e-02 8.95975897e+01] [ 5.26521525e-01 8.50112808e-01 -9.12674405e-03 1.98587434e+01] [ 1.80485089e-02 -4.44260925e-04 9.99837014e-01 1.24029926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters Centerline goodness [0,1] 0.999956609463476 Centerline is valid? [True, True] Translation: X:89.62, Y:19.87, Z:1.24 [[ 8.49862835e-01 -5.26751252e-01 -1.63180628e-02 8.96211826e+01] [ 5.26664580e-01 8.50019354e-01 -9.56644716e-03 1.98741438e+01] [ 1.89098072e-02 -4.63977768e-04 9.99821086e-01 1.23828382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29361786499997 meters Centerline goodness [0,1] 0.9999348081185623 Centerline is valid? [True, True] Translation: X:89.64, Y:19.89, Z:1.24 [[ 8.49809758e-01 -5.26833255e-01 -1.64345891e-02 8.96439735e+01] [ 5.26745260e-01 8.49968532e-01 -9.63978188e-03 1.98876947e+01] [ 1.90474413e-02 -4.64861215e-04 9.99818473e-01 1.24020154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499997 meters Centerline goodness [0,1] 0.9999135919813359 Centerline is valid? [True, True] Translation: X:89.67, Y:19.90, Z:1.24 [[ 8.49492582e-01 -5.27347847e-01 -1.63279142e-02 8.96682992e+01] [ 5.27261022e-01 8.49649355e-01 -9.58058222e-03 1.99039873e+01] [ 1.89253012e-02 -4.70439220e-04 9.99820790e-01 1.24044690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:19.92, Z:1.24 [[ 8.49113024e-01 -5.27950746e-01 -1.65855910e-02 8.96931722e+01] [ 5.27861190e-01 8.49274850e-01 -9.73614003e-03 1.99174372e+01] [ 1.92259277e-02 -4.87806507e-04 9.99815046e-01 1.24013741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499998 meters Centerline goodness [0,1] 0.999956686518679 Centerline is valid? [True, True] Translation: X:89.72, Y:19.93, Z:1.24 [[ 8.48431716e-01 -5.29048377e-01 -1.64753464e-02 8.97177765e+01] [ 5.28960160e-01 8.48591514e-01 -9.67428092e-03 1.99334679e+01] [ 1.90990017e-02 -5.06835085e-04 9.99817469e-01 1.24005894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:19.95, Z:1.24 [[ 8.47843162e-01 -5.29980539e-01 -1.68107189e-02 8.97423214e+01] [ 5.29888794e-01 8.48009636e-01 -9.87545443e-03 1.99471131e+01] [ 1.94894502e-02 -5.34975028e-04 9.99809920e-01 1.24018393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:19.97, Z:1.24 [[ 8.47336962e-01 -5.30793992e-01 -1.66676714e-02 8.97649833e+01] [ 5.30703902e-01 8.47500702e-01 -9.79434844e-03 1.99654919e+01] [ 1.93246445e-02 -5.46484779e-04 9.99813112e-01 1.24106520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:19.98, Z:1.24 [[ 8.46246709e-01 -5.32549625e-01 -1.60438273e-02 8.97893264e+01] [ 5.32466374e-01 8.46398596e-01 -9.43279911e-03 1.99815312e+01] [ 1.86029065e-02 -5.60323341e-04 9.99826794e-01 1.24141108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:19.99, Z:1.24 [[ 8.45731414e-01 -5.33355079e-01 -1.64540416e-02 8.98142330e+01] [ 5.33267585e-01 8.45891253e-01 -9.67832953e-03 1.99937419e+01] [ 1.90803161e-02 -5.89139719e-04 9.99817781e-01 1.24081291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:20.01, Z:1.24 [[ 8.45048707e-01 -5.34430545e-01 -1.66335837e-02 8.98368798e+01] [ 5.34341281e-01 8.45212169e-01 -9.78692886e-03 2.00130899e+01] [ 1.92893411e-02 -6.17578848e-04 9.99813753e-01 1.24153714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:20.03, Z:1.24 [[ 8.44101312e-01 -5.35909591e-01 -1.71430923e-02 8.98612353e+01] [ 5.35814982e-01 8.44275112e-01 -1.00915543e-02 2.00261112e+01] [ 1.98816469e-02 -6.67231462e-04 9.99802118e-01 1.24043069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:20.04, Z:1.24 [[ 8.43771162e-01 -5.36421444e-01 -1.73856433e-02 8.98837083e+01] [ 5.36324193e-01 8.43949976e-01 -1.02370432e-02 2.00439142e+01] [ 2.01639827e-02 -6.86619262e-04 9.99796450e-01 1.24056331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:89.91, Y:20.06, Z:1.24 [[ 8.43150208e-01 -5.37394379e-01 -1.74644960e-02 8.99082401e+01] [ 5.37296385e-01 8.43330764e-01 -1.02867550e-02 2.00590030e+01] [ 2.02563911e-02 -7.10330971e-04 9.99794566e-01 1.24070625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:20.07, Z:1.24 [[ 8.42906809e-01 -5.37770559e-01 -1.76334177e-02 8.99317733e+01] [ 5.37670651e-01 8.43090923e-01 -1.03907238e-02 2.00739784e+01] [ 2.04543997e-02 -7.22559358e-04 9.99790526e-01 1.23991669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:20.09, Z:1.24 [[ 8.42521435e-01 -5.38382935e-01 -1.73622315e-02 8.99559121e+01] [ 5.38286142e-01 8.42700001e-01 -1.02340959e-02 2.00900831e+01] [ 2.01410151e-02 -7.23403503e-04 9.99796887e-01 1.23978906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:20.11, Z:1.24 [[ 8.42627628e-01 -5.38222006e-01 -1.71974433e-02 8.99791410e+01] [ 5.38126900e-01 8.42802806e-01 -1.01424339e-02 2.01070667e+01] [ 1.99529346e-02 -7.08111774e-04 9.99800670e-01 1.24011325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:20.12, Z:1.24 [[ 8.42533532e-01 -5.38387303e-01 -1.66240686e-02 9.00024868e+01] [ 5.38298359e-01 8.42697244e-01 -9.80976331e-03 2.01221994e+01] [ 1.92905088e-02 -6.83654336e-04 9.99813687e-01 1.24077537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:20.13, Z:1.24 [[ 8.42503592e-01 -5.38445382e-01 -1.62563384e-02 9.00272625e+01] [ 5.38360247e-01 8.42660150e-01 -9.59770253e-03 2.01335938e+01] [ 1.88664072e-02 -6.65667517e-04 9.99821792e-01 1.24063904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:20.15, Z:1.24 [[ 8.42539225e-01 -5.38397592e-01 -1.59902198e-02 9.00490620e+01] [ 5.38315153e-01 8.42690696e-01 -9.44387925e-03 2.01532324e+01] [ 1.85593713e-02 -6.50938894e-04 9.99827548e-01 1.24173457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:20.17, Z:1.24 [[ 8.42970385e-01 -5.37753388e-01 -1.49071521e-02 9.00732415e+01] [ 5.37681560e-01 8.43101978e-01 -8.80877679e-03 2.01699642e+01] [ 1.73051990e-02 -5.89762818e-04 9.99850080e-01 1.24244022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:20.18, Z:1.24 [[ 8.43538565e-01 -5.36860272e-01 -1.49578503e-02 9.00973182e+01] [ 5.36787746e-01 8.43670980e-01 -8.84265090e-03 2.01839104e+01] [ 1.73667722e-02 -5.70073723e-04 9.99849024e-01 1.24300618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:20.20, Z:1.24 [[ 8.44033456e-01 -5.36086545e-01 -1.47898767e-02 9.01218664e+01] [ 5.36015480e-01 8.44162850e-01 -8.74572493e-03 2.01997368e+01] [ 1.71735299e-02 -5.45918408e-04 9.99852375e-01 1.24349110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:20.22, Z:1.24 [[ 8.44467607e-01 -5.35416695e-01 -1.42626382e-02 9.01450734e+01] [ 5.35350437e-01 8.44587890e-01 -8.43840171e-03 2.02174791e+01] [ 1.65641127e-02 -5.09552708e-04 9.99862676e-01 1.24417164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:20.23, Z:1.25 [[ 8.45720290e-01 -5.33450974e-01 -1.36839347e-02 9.01686418e+01] [ 5.33389663e-01 8.45830868e-01 -8.10002979e-03 2.02323977e+01] [ 1.58952632e-02 -4.48509782e-04 9.99873562e-01 1.24501972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:20.25, Z:1.25 [[ 8.46118687e-01 -5.32822122e-01 -1.35555795e-02 9.01928702e+01] [ 5.32761833e-01 8.46227157e-01 -8.02667745e-03 2.02482985e+01] [ 1.57478908e-02 -4.30373603e-04 9.99875902e-01 1.24591262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:20.26, Z:1.25 [[ 8.46777059e-01 -5.31795005e-01 -1.27548197e-02 9.02164024e+01] [ 5.31741459e-01 8.46873028e-01 -7.55615757e-03 2.02637924e+01] [ 1.48200396e-02 -3.83885536e-04 9.99890103e-01 1.24612752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:20.28, Z:1.25 [[ 8.46712956e-01 -5.31888581e-01 -1.31037066e-02 9.02397901e+01] [ 5.31832047e-01 8.46814255e-01 -7.76479196e-03 2.02792464e+01] [ 1.52264097e-02 -3.94421149e-04 9.99883994e-01 1.24635933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:20.29, Z:1.25 [[ 8.46520183e-01 -5.32203232e-01 -1.27788854e-02 9.02630874e+01] [ 5.32149433e-01 8.46616543e-01 -7.57693833e-03 2.02944051e+01] [ 1.48512869e-02 -3.86245421e-04 9.99889639e-01 1.24632378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499998 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:90.29, Y:20.31, Z:1.25 [[ 8.45982034e-01 -5.33047024e-01 -1.32388716e-02 9.02876696e+01] [ 5.32989308e-01 8.46085516e-01 -7.85471622e-03 2.03090765e+01] [ 1.53881506e-02 -4.11228218e-04 9.99881511e-01 1.24605257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:20.32, Z:1.24 [[ 8.45069006e-01 -5.34473050e-01 -1.40333140e-02 9.03121115e+01] [ 5.34408323e-01 8.45185392e-01 -8.33049817e-03 2.03221924e+01] [ 1.63131788e-02 -4.59673981e-04 9.99866826e-01 1.24498711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:20.34, Z:1.25 [[ 8.44780650e-01 -5.34937250e-01 -1.37037222e-02 9.03357856e+01] [ 5.34875553e-01 8.44891668e-01 -8.13705613e-03 2.03378701e+01] [ 1.59309751e-02 -4.55758423e-04 9.99872990e-01 1.24505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:20.35, Z:1.24 [[ 8.43949804e-01 -5.36234543e-01 -1.41860215e-02 9.03612997e+01] [ 5.36168581e-01 8.44068877e-01 -8.42513858e-03 2.03500853e+01] [ 1.64918296e-02 -4.95704973e-04 9.99863878e-01 1.24491341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:20.36, Z:1.25 [[ 8.43495588e-01 -5.36946771e-01 -1.42603722e-02 9.03860166e+01] [ 5.36880181e-01 8.43615970e-01 -8.47150972e-03 2.03644027e+01] [ 1.65790275e-02 -5.10430123e-04 9.99862428e-01 1.24570928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:20.38, Z:1.25 [[ 8.43235088e-01 -5.37369903e-01 -1.37176897e-02 9.04095725e+01] [ 5.37308281e-01 8.43346514e-01 -8.15286261e-03 2.03802569e+01] [ 1.59498688e-02 -4.95848450e-04 9.99872670e-01 1.24607906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28361786499998 meters Centerline goodness [0,1] 0.999978645710991 Centerline is valid? [True, True] Translation: X:90.43, Y:20.39, Z:1.25 [[ 8.42502402e-01 -5.38535447e-01 -1.30105954e-02 9.04337468e+01] [ 5.38480132e-01 8.42602713e-01 -7.73405030e-03 2.03936898e+01] [ 1.51278232e-02 -4.89991172e-04 9.99885448e-01 1.24663432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:20.41, Z:1.25 [[ 8.41903573e-01 -5.39480489e-01 -1.26164696e-02 9.04585806e+01] [ 5.39428556e-01 8.41997958e-01 -7.50141499e-03 2.04088853e+01] [ 1.46699087e-02 -4.90215923e-04 9.99892271e-01 1.24741140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:20.42, Z:1.25 [[ 8.41262432e-01 -5.40482951e-01 -1.24780060e-02 9.04827802e+01] [ 5.40432205e-01 8.41354819e-01 -7.42297234e-03 2.04218358e+01] [ 1.45104205e-02 -4.98848551e-04 9.99894594e-01 1.24811011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:20.44, Z:1.25 [[ 8.40894749e-01 -5.41068169e-01 -1.18851771e-02 9.05075685e+01] [ 5.41022157e-01 8.40978599e-01 -7.07263936e-03 2.04366457e+01] [ 1.38219596e-02 -4.82798835e-04 9.99904356e-01 1.24872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:20.45, Z:1.25 [[ 8.40877695e-01 -5.41105288e-01 -1.13916453e-02 9.05314407e+01] [ 5.41062975e-01 8.40954728e-01 -6.78245522e-03 2.04521277e+01] [ 1.32498804e-02 -4.60382210e-04 9.99912110e-01 1.24916071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:20.47, Z:1.25 [[ 8.41456540e-01 -5.40205983e-01 -1.13307818e-02 9.05554966e+01] [ 5.40163985e-01 8.41532710e-01 -6.75037404e-03 2.04666013e+01] [ 1.31818160e-02 -4.40333870e-04 9.99913019e-01 1.24963935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:20.48, Z:1.25 [[ 8.42010065e-01 -5.39336095e-01 -1.16459012e-02 9.05796484e+01] [ 5.39291627e-01 8.42090485e-01 -6.93949676e-03 2.04816769e+01] [ 1.35496236e-02 -4.37410864e-04 9.99908104e-01 1.24973573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:20.50, Z:1.25 [[ 8.43863412e-01 -5.36420447e-01 -1.21509864e-02 9.06033792e+01] [ 5.36371679e-01 8.43950793e-01 -7.24440130e-03 2.04989354e+01] [ 1.41408796e-02 -4.04159793e-04 9.99899931e-01 1.24990062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:20.52, Z:1.25 [[ 8.44782201e-01 -5.34963560e-01 -1.25308346e-02 9.06270208e+01] [ 5.34911480e-01 8.44875043e-01 -7.47460594e-03 2.05162027e+01] [ 1.45856312e-02 -3.88473201e-04 9.99893549e-01 1.25020236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:20.53, Z:1.25 [[ 8.45566226e-01 -5.33734370e-01 -1.20573020e-02 9.06506072e+01] [ 5.33685976e-01 8.45652115e-01 -7.19583194e-03 2.05334595e+01] [ 1.40369457e-02 -3.50260518e-04 9.99901416e-01 1.25062379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:20.55, Z:1.25 [[ 8.47493507e-01 -5.30669682e-01 -1.20185195e-02 9.06742699e+01] [ 5.30621237e-01 8.47578670e-01 -7.17647548e-03 2.05512654e+01] [ 1.39949787e-02 -2.95265302e-04 9.99902022e-01 1.25159394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:20.57, Z:1.25 [[ 8.48317520e-01 -5.29357351e-01 -1.17550253e-02 9.06973803e+01] [ 5.29310856e-01 8.48398918e-01 -7.02092111e-03 2.05663626e+01] [ 1.36895270e-02 -2.66092149e-04 9.99906259e-01 1.25202312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:20.58, Z:1.25 [[ 8.49743073e-01 -5.27081495e-01 -1.10366607e-02 9.07201122e+01] [ 5.27040302e-01 8.49814716e-01 -6.59306090e-03 2.05826688e+01] [ 1.28541970e-02 -2.14357144e-04 9.99917358e-01 1.25266806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:20.60, Z:1.25 [[ 8.50290915e-01 -5.26198534e-01 -1.09755260e-02 9.07443097e+01] [ 5.26157708e-01 8.50361725e-01 -6.55769082e-03 2.05982129e+01] [ 1.27838145e-02 -1.98912674e-04 9.99918264e-01 1.25323912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:20.61, Z:1.25 [[ 8.50501758e-01 -5.25863114e-01 -1.07119142e-02 9.07680453e+01] [ 5.25824158e-01 8.50569192e-01 -6.40348238e-03 2.06141134e+01] [ 1.24785794e-02 -1.86410269e-04 9.99922122e-01 1.25365844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:20.63, Z:1.25 [[ 8.50772394e-01 -5.25423292e-01 -1.08026969e-02 9.07916517e+01] [ 5.25383584e-01 8.50840956e-01 -6.46193494e-03 2.06285531e+01] [ 1.25866281e-02 -1.77923780e-04 9.99920769e-01 1.25360287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:20.64, Z:1.25 [[ 8.50446843e-01 -5.25948916e-01 -1.08584052e-02 9.08154782e+01] [ 5.25908816e-01 8.50516139e-01 -6.49718923e-03 2.06423287e+01] [ 1.26524385e-02 -1.85016954e-04 9.99919938e-01 1.25344196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:20.66, Z:1.25 [[ 8.49915172e-01 -5.26806185e-01 -1.09290018e-02 9.08396855e+01] [ 5.26765619e-01 8.49985414e-01 -6.54057135e-03 2.06581486e+01] [ 1.27351055e-02 -1.98091560e-04 9.99918886e-01 1.25339318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499997 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:90.86, Y:20.67, Z:1.25 [[ 8.49124953e-01 -5.28078173e-01 -1.09661631e-02 9.08647417e+01] [ 5.28037389e-01 8.49195735e-01 -6.56649713e-03 2.06712987e+01] [ 1.27800427e-02 -2.14767564e-04 9.99918309e-01 1.25361741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:20.69, Z:1.25 [[ 8.48177721e-01 -5.29595161e-01 -1.11139451e-02 9.08891890e+01] [ 5.29553384e-01 8.48250498e-01 -6.65621507e-03 2.06870277e+01] [ 1.29525087e-02 -2.39773908e-04 9.99916084e-01 1.25379429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:20.70, Z:1.25 [[ 8.46487306e-01 -5.32285451e-01 -1.14646811e-02 9.09142506e+01] [ 5.32241189e-01 8.46564892e-01 -6.87019386e-03 2.06991300e+01] [ 1.33625008e-02 -2.86443622e-04 9.99910677e-01 1.25432288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:20.71, Z:1.25 [[ 8.45619813e-01 -5.33662777e-01 -1.14530521e-02 9.09393080e+01] [ 5.33618713e-01 8.45697314e-01 -6.86457007e-03 2.07134147e+01] [ 1.33491810e-02 -3.06746488e-04 9.99910849e-01 1.25475750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:20.73, Z:1.25 [[ 8.44460540e-01 -5.35494226e-01 -1.15034628e-02 9.09644678e+01] [ 5.35449893e-01 8.44538822e-01 -6.89856725e-03 2.07260377e+01] [ 1.34092638e-02 -3.33960086e-04 9.99910036e-01 1.25475497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:20.74, Z:1.25 [[ 8.44022485e-01 -5.36184677e-01 -1.14907476e-02 9.09891877e+01] [ 5.36140487e-01 8.44100631e-01 -6.89228584e-03 2.07411112e+01] [ 1.33948853e-02 -3.43410792e-04 9.99910226e-01 1.25475805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:20.75, Z:1.25 [[ 8.43763556e-01 -5.36584783e-01 -1.18250915e-02 9.10132525e+01] [ 5.36537970e-01 8.43846339e-01 -7.09669524e-03 2.07542642e+01] [ 1.37865388e-02 -3.56677763e-04 9.99904898e-01 1.25464344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:20.77, Z:1.25 [[ 8.43287458e-01 -5.37322631e-01 -1.22741205e-02 9.10376304e+01] [ 5.37272240e-01 8.43376692e-01 -7.36848945e-03 2.07702737e+01] [ 1.43109633e-02 -3.80789500e-04 9.99897520e-01 1.25483159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:20.78, Z:1.26 [[ 8.43139846e-01 -5.37554267e-01 -1.22723321e-02 9.10612436e+01] [ 5.37503857e-01 8.43229070e-01 -7.37146692e-03 2.07845279e+01] [ 1.43109507e-02 -3.81248382e-04 9.99897520e-01 1.25519862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:20.80, Z:1.26 [[ 8.43066003e-01 -5.37663395e-01 -1.25614256e-02 9.10847689e+01] [ 5.37610527e-01 8.43159489e-01 -7.54967240e-03 2.07980671e+01] [ 1.46504676e-02 -3.88282491e-04 9.99892601e-01 1.25557872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:20.81, Z:1.26 [[ 8.42906806e-01 -5.37911282e-01 -1.26320711e-02 9.11084718e+01] [ 5.37857812e-01 8.43001363e-01 -7.59443891e-03 2.08125175e+01] [ 1.47339875e-02 -3.92853883e-04 9.99891372e-01 1.25603532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:20.83, Z:1.26 [[ 8.43232204e-01 -5.37402075e-01 -1.25881205e-02 9.11326132e+01] [ 5.37348855e-01 8.43326074e-01 -7.57237967e-03 2.08261127e+01] [ 1.46853028e-02 -3.78937772e-04 9.99892093e-01 1.25609113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:20.84, Z:1.26 [[ 8.43282687e-01 -5.37324711e-01 -1.25085860e-02 9.11565577e+01] [ 5.37272129e-01 8.43375370e-01 -7.52623417e-03 2.08405794e+01] [ 1.45934649e-02 -3.73771650e-04 9.99893440e-01 1.25687875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:20.86, Z:1.26 [[ 8.43250612e-01 -5.37371800e-01 -1.26472567e-02 9.11799075e+01] [ 5.37317982e-01 8.43345367e-01 -7.61436047e-03 2.08570444e+01] [ 1.47577480e-02 -3.74784333e-04 9.99891028e-01 1.25753271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:20.87, Z:1.26 [[ 8.43632180e-01 -5.36762925e-01 -1.30501738e-02 9.12051429e+01] [ 5.36705478e-01 8.43733029e-01 -7.86162684e-03 2.08688324e+01] [ 1.52306925e-02 -3.71778360e-04 9.99883937e-01 1.25743825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:20.89, Z:1.26 [[ 8.43772231e-01 -5.36543091e-01 -1.30358528e-02 9.12285830e+01] [ 5.36485716e-01 8.43872845e-01 -7.85487171e-03 2.08860746e+01] [ 1.52150794e-02 -3.65826212e-04 9.99884177e-01 1.25774403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:20.90, Z:1.26 [[ 8.44033525e-01 -5.36127684e-01 -1.32103996e-02 9.12529663e+01] [ 5.36068644e-01 8.44136824e-01 -7.96441742e-03 2.09011751e+01] [ 1.54213294e-02 -3.59445678e-04 9.99881020e-01 1.25795061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:20.92, Z:1.26 [[ 8.44343807e-01 -5.35640893e-01 -1.31289619e-02 9.12766459e+01] [ 5.35582459e-01 8.44445803e-01 -7.91924701e-03 2.09152442e+01] [ 1.53285693e-02 -3.45074525e-04 9.99882451e-01 1.25853349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:20.93, Z:1.26 [[ 8.44776616e-01 -5.34960262e-01 -1.30379318e-02 9.13010056e+01] [ 5.34902527e-01 8.44877157e-01 -7.86618371e-03 2.09302059e+01] [ 1.52235465e-02 -3.28854626e-04 9.99884061e-01 1.25947323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:20.94, Z:1.26 [[ 8.44730436e-01 -5.35022571e-01 -1.34662351e-02 9.13253714e+01] [ 5.34960915e-01 8.44837698e-01 -8.12919885e-03 2.09445646e+01] [ 1.57260880e-02 -3.36927786e-04 9.99876281e-01 1.25990451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:20.96, Z:1.26 [[ 8.44667609e-01 -5.35115114e-01 -1.37275315e-02 9.13494395e+01] [ 5.35050972e-01 8.44779082e-01 -8.29212671e-03 2.09589021e+01] [ 1.60339738e-02 -3.40838257e-04 9.99871389e-01 1.26038896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:20.97, Z:1.26 [[ 8.44175874e-01 -5.35881012e-01 -1.40937905e-02 9.13747617e+01] [ 5.35813421e-01 8.44293439e-01 -8.51863372e-03 2.09733851e+01] [ 1.64642689e-02 -3.60417033e-04 9.99864390e-01 1.26070538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:20.99, Z:1.26 [[ 8.43050475e-01 -5.37642549e-01 -1.43661215e-02 9.14006871e+01] [ 5.37572496e-01 8.43172776e-01 -8.68800393e-03 2.09858122e+01] [ 1.67841632e-02 -3.98405966e-04 9.99859057e-01 1.26099131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:21.00, Z:1.26 [[ 8.42186821e-01 -5.38992673e-01 -1.44311123e-02 9.14263279e+01] [ 5.38922102e-01 8.42310346e-01 -8.73204651e-03 2.09993509e+01] [ 1.68619843e-02 -4.23230875e-04 9.99857737e-01 1.26185018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:21.01, Z:1.26 [[ 8.41053849e-01 -5.40757350e-01 -1.44883670e-02 9.14516241e+01] [ 5.40686409e-01 8.41178507e-01 -8.77081706e-03 2.10113151e+01] [ 1.69301867e-02 -4.56933671e-04 9.99856570e-01 1.26222170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:21.03, Z:1.26 [[ 8.38868217e-01 -5.44159569e-01 -1.38013715e-02 9.14780828e+01] [ 5.44095624e-01 8.38981594e-01 -8.35687349e-03 2.10252113e+01] [ 1.61265693e-02 -4.98950268e-04 9.99869834e-01 1.26345486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:21.04, Z:1.26 [[ 8.37824224e-01 -5.45774604e-01 -1.34406552e-02 9.15040467e+01] [ 5.45714105e-01 8.37931870e-01 -8.14227645e-03 2.10387459e+01] [ 1.57062011e-02 -5.12958702e-04 9.99876518e-01 1.26415846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:21.05, Z:1.26 [[ 8.35939551e-01 -5.48668622e-01 -1.29541690e-02 9.15313577e+01] [ 5.48612709e-01 8.36039741e-01 -7.85163694e-03 2.10513665e+01] [ 1.51381469e-02 -5.43327901e-04 9.99885264e-01 1.26482635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:21.07, Z:1.27 [[ 8.34919250e-01 -5.50225242e-01 -1.27290875e-02 9.15563954e+01] [ 5.50171381e-01 8.35016090e-01 -7.71880953e-03 2.10655722e+01] [ 1.48760767e-02 -5.58596995e-04 9.99889189e-01 1.26562979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:21.08, Z:1.27 [[ 8.34184286e-01 -5.51350410e-01 -1.22189779e-02 9.15814308e+01] [ 5.51300844e-01 8.34273589e-01 -7.41337968e-03 2.10795260e+01] [ 1.42813405e-02 -5.52208005e-04 9.99897864e-01 1.26571056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:21.09, Z:1.27 [[ 8.33217044e-01 -5.52810147e-01 -1.22596642e-02 9.16062333e+01] [ 5.52760352e-01 8.33307032e-01 -7.44197779e-03 2.10912959e+01] [ 1.43300652e-02 -5.75873555e-04 9.99897154e-01 1.26557806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:21.10, Z:1.27 [[ 8.32889802e-01 -5.53295450e-01 -1.25985271e-02 9.16309693e+01] [ 5.53242894e-01 8.32984866e-01 -7.64946680e-03 2.11049263e+01] [ 1.47267975e-02 -5.98882679e-04 9.99891375e-01 1.26572525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:21.12, Z:1.27 [[ 8.32849687e-01 -5.53351267e-01 -1.27974280e-02 9.16552184e+01] [ 5.53297017e-01 8.32947781e-01 -7.77208997e-03 2.11193983e+01] [ 1.49602851e-02 -6.07796040e-04 9.99887904e-01 1.26582841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:21.14, Z:1.27 [[ 8.33354083e-01 -5.52585671e-01 -1.30402548e-02 9.16788763e+01] [ 5.52529175e-01 8.33455886e-01 -7.92441517e-03 2.11362169e+01] [ 1.52473954e-02 -6.01277492e-04 9.99883571e-01 1.26662757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:21.15, Z:1.27 [[ 8.33895997e-01 -5.51766670e-01 -1.30770115e-02 9.17031679e+01] [ 5.51709693e-01 8.33998321e-01 -7.95075208e-03 2.11503614e+01] [ 1.52931656e-02 -5.84613686e-04 9.99882882e-01 1.26734612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:21.17, Z:1.27 [[ 8.34573951e-01 -5.50744422e-01 -1.29190310e-02 9.17268062e+01] [ 5.50688663e-01 8.34673751e-01 -7.85653444e-03 2.11673249e+01] [ 1.51101186e-02 -5.57504938e-04 9.99885680e-01 1.26794225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:21.18, Z:1.27 [[ 8.35456757e-01 -5.49415948e-01 -1.24146279e-02 9.17510089e+01] [ 5.49364254e-01 8.35548836e-01 -7.55378304e-03 2.11819573e+01] [ 1.45231967e-02 -5.09293694e-04 9.99894403e-01 1.26829348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:21.20, Z:1.27 [[ 8.37535681e-01 -5.46260038e-01 -1.15738096e-02 9.17747428e+01] [ 5.46214760e-01 8.37615540e-01 -7.04571410e-03 2.11972248e+01] [ 1.35431948e-02 -4.20748677e-04 9.99908198e-01 1.26858726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:21.21, Z:1.27 [[ 8.38470191e-01 -5.44828937e-01 -1.13652361e-02 9.17985848e+01] [ 5.44785132e-01 8.38547123e-01 -6.91969976e-03 2.12119476e+01] [ 1.33003387e-02 -3.89649651e-04 9.99911471e-01 1.26925537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:21.23, Z:1.27 [[ 8.39457024e-01 -5.43310015e-01 -1.12308673e-02 9.18211386e+01] [ 5.43267081e-01 8.39532071e-01 -6.83968118e-03 2.12308826e+01] [ 1.31447406e-02 -3.59742088e-04 9.99913539e-01 1.26962264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:21.25, Z:1.27 [[ 8.41788834e-01 -5.39700796e-01 -1.07055737e-02 9.18443794e+01] [ 5.39661448e-01 8.41856858e-01 -6.52323510e-03 2.12464054e+01] [ 1.25331558e-02 -2.86198913e-04 9.99921416e-01 1.26988756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:21.26, Z:1.27 [[ 8.42974442e-01 -5.37845058e-01 -1.08067000e-02 9.18682617e+01] [ 5.37804787e-01 8.43043668e-01 -6.58666933e-03 2.12603270e+01] [ 1.26531275e-02 -2.59501070e-04 9.99919912e-01 1.26984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:21.28, Z:1.27 [[ 8.44111647e-01 -5.36063988e-01 -1.05322104e-02 9.18908670e+01] [ 5.36025587e-01 8.44177321e-01 -6.42034400e-03 2.12789463e+01] [ 1.23327684e-02 -2.26047100e-04 9.99923923e-01 1.27024345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11361786499998 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:91.91, Y:21.30, Z:1.27 [[ 8.46431852e-01 -5.32398116e-01 -1.02647965e-02 9.19135191e+01] [ 5.32361327e-01 8.46494075e-01 -6.26087200e-03 2.12953249e+01] [ 1.20223659e-02 -1.65179222e-04 9.99927715e-01 1.27006777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:21.31, Z:1.27 [[ 8.47284574e-01 -5.31049018e-01 -9.78722708e-03 9.19375778e+01] [ 5.31015475e-01 8.47341089e-01 -5.97033518e-03 2.13110010e+01] [ 1.14636603e-02 -1.38596131e-04 9.99934280e-01 1.27145506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:21.33, Z:1.27 [[ 8.48039757e-01 -5.29847645e-01 -9.48917547e-03 9.19614228e+01] [ 5.29816002e-01 8.48092837e-01 -5.79178950e-03 2.13258014e+01] [ 1.11164678e-02 -1.15849248e-04 9.99938203e-01 1.27207527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20361786499998 meters Centerline goodness [0,1] 0.9999570824660415 Centerline is valid? [True, True] Translation: X:91.99, Y:21.34, Z:1.27 [[ 8.48821148e-01 -5.28598705e-01 -9.27725212e-03 9.19860589e+01] [ 5.28568371e-01 8.48871840e-01 -5.66368501e-03 2.13411717e+01] [ 1.08690146e-02 -9.62064265e-05 9.99940926e-01 1.27236603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:21.35, Z:1.27 [[ 8.48961432e-01 -5.28372177e-01 -9.34501793e-03 9.20096200e+01] [ 5.28341347e-01 8.49012859e-01 -5.70842039e-03 2.13548609e+01] [ 1.09502109e-02 -9.11306145e-05 9.99940040e-01 1.27234990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters Centerline goodness [0,1] 0.9999139932914768 Centerline is valid? [True, True] Translation: X:92.03, Y:21.37, Z:1.27 [[ 8.48759954e-01 -5.28693993e-01 -9.44466587e-03 9.20339246e+01] [ 5.28662510e-01 8.48812495e-01 -5.77042345e-03 2.13694490e+01] [ 1.10675386e-02 -9.53364236e-05 9.99938748e-01 1.27210866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:21.38, Z:1.27 [[ 8.48008974e-01 -5.29897871e-01 -9.43536808e-03 9.20598139e+01] [ 5.29866485e-01 8.48061457e-01 -5.76825428e-03 2.13831253e+01] [ 1.10583577e-02 -1.07953929e-04 9.99938849e-01 1.27233727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:21.40, Z:1.27 [[ 8.47365299e-01 -5.30921135e-01 -9.73647938e-03 9.20841856e+01] [ 5.30887741e-01 8.47421225e-01 -5.95589857e-03 2.13960042e+01] [ 1.14130117e-02 -1.22155778e-04 9.99934862e-01 1.27255245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:21.41, Z:1.27 [[ 8.46552897e-01 -5.32218020e-01 -9.60058720e-03 9.21090766e+01] [ 5.32185624e-01 8.46607324e-01 -5.87374430e-03 2.14097265e+01] [ 1.12540400e-02 -1.36859233e-04 9.99936662e-01 1.27311315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:21.42, Z:1.27 [[ 8.45828223e-01 -5.33371625e-01 -9.45129991e-03 9.21342153e+01] [ 5.33340287e-01 8.45881013e-01 -5.78366775e-03 2.14235549e+01] [ 1.10795194e-02 -1.48769590e-04 9.99938609e-01 1.27350175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.16, Y:21.44, Z:1.27 [[ 8.44437412e-01 -5.35576837e-01 -9.10542564e-03 9.21597001e+01] [ 5.35547845e-01 8.44486485e-01 -5.57514613e-03 2.14354141e+01] [ 1.06753280e-02 -1.68529113e-04 9.99943003e-01 1.27398306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:21.45, Z:1.27 [[ 8.43752009e-01 -5.36655237e-01 -9.14892377e-03 9.21853877e+01] [ 5.36626025e-01 8.43801590e-01 -5.60235213e-03 2.14488554e+01] [ 1.07264080e-02 -1.82554730e-04 9.99942454e-01 1.27462530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:21.46, Z:1.27 [[ 8.43081307e-01 -5.37704795e-01 -9.35214892e-03 9.22089765e+01] [ 5.37674304e-01 8.43133153e-01 -5.72965375e-03 2.14649032e+01] [ 1.09659691e-02 -1.97846188e-04 9.99939852e-01 1.27455911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:21.47, Z:1.27 [[ 8.41694272e-01 -5.39853347e-01 -1.04458578e-02 9.22354510e+01] [ 5.39815421e-01 8.41759052e-01 -6.40382780e-03 2.14747698e+01] [ 1.22500233e-02 -2.48769963e-04 9.99924935e-01 1.27439501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53361786499998 meters Centerline goodness [0,1] 0.9998916717219863 Centerline is valid? [True, True] Translation: X:92.26, Y:21.49, Z:1.27 [[ 8.40649658e-01 -5.41472300e-01 -1.07656990e-02 9.22605146e+01] [ 5.41432134e-01 8.40718544e-01 -6.60109147e-03 2.14885626e+01] [ 1.26252310e-02 -2.79690112e-04 9.99920259e-01 1.27118104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:21.50, Z:1.27 [[ 8.39331220e-01 -5.43500645e-01 -1.14083679e-02 9.22853979e+01] [ 5.43455677e-01 8.39408686e-01 -6.99894254e-03 2.15037222e+01] [ 1.33802129e-02 -3.25511299e-04 9.99910428e-01 1.27437240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:21.52, Z:1.27 [[ 8.38726895e-01 -5.44434425e-01 -1.13292457e-02 9.23099514e+01] [ 5.44390113e-01 8.38803341e-01 -6.95410698e-03 2.15186307e+01] [ 1.32890644e-02 -3.34932812e-04 9.99911640e-01 1.27425717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters Centerline goodness [0,1] 0.99997830002387 Centerline is valid? [True, True] Translation: X:92.33, Y:21.53, Z:1.27 [[ 8.38252897e-01 -5.45159497e-01 -1.15414084e-02 9.23347798e+01] [ 5.45113525e-01 8.38332274e-01 -7.08829754e-03 2.15329221e+01] [ 1.35397879e-02 -3.49591897e-04 9.99908272e-01 1.27459384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:21.54, Z:1.28 [[ 8.37914814e-01 -5.45675260e-01 -1.17163952e-02 9.23596994e+01] [ 5.45627880e-01 8.37996647e-01 -7.19972677e-03 2.15448557e+01] [ 1.37470127e-02 -3.60034170e-04 9.99905441e-01 1.27548014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:21.56, Z:1.28 [[ 8.38102247e-01 -5.45386583e-01 -1.17514916e-02 9.23841103e+01] [ 5.45338870e-01 8.38184555e-01 -7.22273297e-03 2.15584996e+01] [ 1.37891004e-02 -3.55156443e-04 9.99904863e-01 1.27586902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:21.57, Z:1.28 [[ 8.38293698e-01 -5.45094074e-01 -1.16673085e-02 9.24081561e+01] [ 5.45046985e-01 8.38374815e-01 -7.17309478e-03 2.15740505e+01] [ 1.36915891e-02 -3.46071200e-04 9.99906206e-01 1.27645678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:21.59, Z:1.28 [[ 8.38614878e-01 -5.44607608e-01 -1.12977703e-02 9.24324629e+01] [ 5.44563362e-01 8.38690914e-01 -6.94959041e-03 2.15871087e+01] [ 1.32601371e-02 -3.24321831e-04 9.99912028e-01 1.27672329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:21.60, Z:1.28 [[ 8.39744721e-01 -5.42872236e-01 -1.08875930e-02 9.24566846e+01] [ 5.42830984e-01 8.39815250e-01 -6.69842365e-03 2.16035941e+01] [ 1.27799549e-02 -2.85156943e-04 9.99918292e-01 1.27737263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499998 meters Centerline goodness [0,1] 0.999956765170021 Centerline is valid? [True, True] Translation: X:92.48, Y:21.62, Z:1.28 [[ 8.40314329e-01 -5.41992702e-01 -1.07582341e-02 9.24813034e+01] [ 5.41952308e-01 8.40383151e-01 -6.62233303e-03 2.16192747e+01] [ 1.26302948e-02 -2.65608460e-04 9.99920199e-01 1.27775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:21.64, Z:1.28 [[ 8.41085687e-01 -5.40794709e-01 -1.07679777e-02 9.25054905e+01] [ 5.40754099e-01 8.41154577e-01 -6.63187236e-03 2.16350156e+01] [ 1.26440152e-02 -2.44855141e-04 9.99920031e-01 1.27836016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86361786499998 meters Centerline goodness [0,1] 0.9999566282826968 Centerline is valid? [True, True] Translation: X:92.53, Y:21.65, Z:1.28 [[ 8.42677776e-01 -5.38319807e-01 -1.02932725e-02 9.25300137e+01] [ 5.38282474e-01 8.42740617e-01 -6.34278919e-03 2.16493605e+01] [ 1.20890079e-02 -1.95760728e-04 9.99926906e-01 1.27881779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89361786499998 meters Centerline goodness [0,1] 0.9999348972461535 Centerline is valid? [True, True] Translation: X:92.55, Y:21.66, Z:1.28 [[ 8.43350376e-01 -5.37270517e-01 -1.00267147e-02 9.25540961e+01] [ 5.37234977e-01 8.43409961e-01 -6.18205738e-03 2.16642285e+01] [ 1.17780682e-02 -1.73061421e-04 9.99930621e-01 1.27954898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:21.68, Z:1.28 [[ 8.44039012e-01 -5.36189826e-01 -9.93055827e-03 9.25783984e+01] [ 5.36154880e-01 8.44097415e-01 -6.12360033e-03 2.16804701e+01] [ 1.16657708e-02 -1.55759707e-04 9.99931940e-01 1.27984663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:21.70, Z:1.28 [[ 8.43891479e-01 -5.36422021e-01 -9.92911403e-03 9.26018388e+01] [ 5.36387063e-01 8.43949875e-01 -6.12594112e-03 2.16950076e+01] [ 1.16657643e-02 -1.56218806e-04 9.99931940e-01 1.28021358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters Centerline goodness [0,1] 0.9998916106655105 Centerline is valid? [True, True] Translation: X:92.63, Y:21.71, Z:1.28 [[ 8.44375102e-01 -5.35655974e-01 -1.01668339e-02 9.26262606e+01] [ 5.35619218e-01 8.44436295e-01 -6.27662941e-03 2.17103129e+01] [ 1.19473576e-02 -1.45722004e-04 9.99928617e-01 1.28036881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:21.73, Z:1.28 [[ 8.45088250e-01 -5.34520028e-01 -1.06859113e-02 9.26511190e+01] [ 5.34479286e-01 8.45155797e-01 -6.60083540e-03 2.17255217e+01] [ 1.25595386e-02 -1.33109797e-04 9.99921117e-01 1.28023459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:21.74, Z:1.28 [[ 8.45281562e-01 -5.34210767e-01 -1.08599217e-02 9.26753074e+01] [ 5.34168615e-01 8.45351312e-01 -6.71197024e-03 2.17395675e+01] [ 1.27660558e-02 -1.27524653e-04 9.99918502e-01 1.28046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:21.75, Z:1.28 [[ 8.45065675e-01 -5.34543926e-01 -1.12603721e-02 9.26996737e+01] [ 5.34498579e-01 8.45140683e-01 -6.96387682e-03 2.17536357e+01] [ 1.32390966e-02 -1.33719593e-04 9.99912350e-01 1.28063672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:21.77, Z:1.28 [[ 8.44486370e-01 -5.35453110e-01 -1.15211998e-02 9.27249380e+01] [ 5.35405663e-01 8.44564945e-01 -7.12955694e-03 2.17651195e+01] [ 1.35479449e-02 -1.47701974e-04 9.99908211e-01 1.28108969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:21.78, Z:1.28 [[ 8.43921969e-01 -5.36341110e-01 -1.15725211e-02 9.27498723e+01] [ 5.36293304e-01 8.44001296e-01 -7.16271134e-03 2.17800200e+01] [ 1.36088794e-02 -1.61496115e-04 9.99907382e-01 1.28119147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:21.79, Z:1.28 [[ 8.42847714e-01 -5.38026624e-01 -1.16224781e-02 9.27754755e+01] [ 5.37978513e-01 8.42927824e-01 -7.19741090e-03 2.17931142e+01] [ 1.36693088e-02 -1.86322139e-04 9.99906553e-01 1.28177270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:21.81, Z:1.28 [[ 8.42257149e-01 -5.38954437e-01 -1.14459432e-02 9.28010791e+01] [ 5.38907812e-01 8.42334896e-01 -7.09180458e-03 2.18074912e+01] [ 1.34634769e-02 -1.95185073e-04 9.99909344e-01 1.28198701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22361786499998 meters Centerline goodness [0,1] 0.9998908034680819 Centerline is valid? [True, True] Translation: X:92.83, Y:21.82, Z:1.28 [[ 8.41276026e-01 -5.40480308e-01 -1.16483566e-02 9.28266387e+01] [ 5.40432111e-01 8.41356636e-01 -7.22116984e-03 2.18211452e+01] [ 1.37033222e-02 -2.20148877e-04 9.99906081e-01 1.27913851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:21.83, Z:1.28 [[ 8.40494985e-01 -5.41699454e-01 -1.13965796e-02 9.28527390e+01] [ 5.41653380e-01 8.40572215e-01 -7.06880972e-03 2.18336784e+01] [ 1.34088185e-02 -2.31696738e-04 9.99910071e-01 1.28284215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:21.85, Z:1.28 [[ 8.40127022e-01 -5.42263857e-01 -1.16831436e-02 9.28775664e+01] [ 5.42215436e-01 8.40208218e-01 -7.25055255e-03 2.18472815e+01] [ 1.37479859e-02 -2.43395684e-04 9.99905462e-01 1.28308174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:21.86, Z:1.28 [[ 8.39774177e-01 -5.42792543e-01 -1.24734487e-02 9.29020531e+01] [ 5.42737339e-01 8.39866766e-01 -7.74574685e-03 2.18606830e+01] [ 1.46803687e-02 -2.65128189e-04 9.99892202e-01 1.28275045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters Centerline goodness [0,1] 0.9999342523395209 Centerline is valid? [True, True] Translation: X:92.93, Y:21.87, Z:1.28 [[ 8.39395324e-01 -5.43351005e-01 -1.36079061e-02 9.29272197e+01] [ 5.43285340e-01 8.39505566e-01 -8.45242991e-03 2.18742281e+01] [ 1.60165492e-02 -2.98045737e-04 9.99871682e-01 1.28191583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:21.89, Z:1.28 [[ 8.39263497e-01 -5.43545691e-01 -1.39593574e-02 9.29516327e+01] [ 5.43476536e-01 8.39379526e-01 -8.67560676e-03 2.18885186e+01] [ 1.64327875e-02 -3.05463137e-04 9.99864926e-01 1.28147438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499997 meters Centerline goodness [0,1] 0.999978059108761 Centerline is valid? [True, True] Translation: X:92.98, Y:21.90, Z:1.28 [[ 8.39152924e-01 -5.43711287e-01 -1.41564897e-02 9.29751079e+01] [ 5.43640103e-01 8.39272269e-01 -8.80324191e-03 2.19012824e+01] [ 1.66675712e-02 -3.08769311e-04 9.99861039e-01 1.28134478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43361786499997 meters Centerline goodness [0,1] 0.9998902570180637 Centerline is valid? [True, True] Translation: X:93.00, Y:21.92, Z:1.28 [[ 8.38855653e-01 -5.44160319e-01 -1.45169125e-02 9.29995447e+01] [ 5.44085460e-01 8.38981193e-01 -9.03159748e-03 2.19156340e+01] [ 1.70940536e-02 -3.22234422e-04 9.99853834e-01 1.27921642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499997 meters Centerline goodness [0,1] 0.9998903123903123 Centerline is valid? [True, True] Translation: X:93.02, Y:21.93, Z:1.28 [[ 8.38852936e-01 -5.44162655e-01 -1.45861793e-02 9.30240970e+01] [ 5.44086996e-01 8.38979679e-01 -9.07954820e-03 2.19273116e+01] [ 1.71782591e-02 -3.19744830e-04 9.99852392e-01 1.27914634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49361786499998 meters Centerline goodness [0,1] 0.9999780393534786 Centerline is valid? [True, True] Translation: X:93.05, Y:21.94, Z:1.28 [[ 8.39255042e-01 -5.43554569e-01 -1.41210744e-02 9.30493667e+01] [ 5.43483527e-01 8.39373781e-01 -8.79276103e-03 2.19421983e+01] [ 1.66322051e-02 -2.95202295e-04 9.99861632e-01 1.28242700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:21.96, Z:1.28 [[ 8.39182320e-01 -5.43658898e-01 -1.44234679e-02 9.30741605e+01] [ 5.43584710e-01 8.39306210e-01 -8.98606420e-03 2.19553130e+01] [ 1.69910600e-02 -2.99430437e-04 9.99855597e-01 1.28296325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:21.97, Z:1.28 [[ 8.39286455e-01 -5.43496394e-01 -1.44884676e-02 9.30989178e+01] [ 5.43421418e-01 8.39411451e-01 -9.03207940e-03 2.19694035e+01] [ 1.70706882e-02 -2.92841710e-04 9.99854242e-01 1.28371127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58361786499998 meters Centerline goodness [0,1] 0.9999560536145902 Centerline is valid? [True, True] Translation: X:93.12, Y:21.98, Z:1.28 [[ 8.39550035e-01 -5.43116318e-01 -1.34314434e-02 9.31228664e+01] [ 5.43051768e-01 8.39657429e-01 -8.37734671e-03 2.19833318e+01] [ 1.58276849e-02 -2.60767331e-04 9.99874700e-01 1.28393726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:22.00, Z:1.29 [[ 8.39877210e-01 -5.42619317e-01 -1.30594160e-02 9.31480417e+01] [ 5.42558205e-01 8.39978701e-01 -8.14716789e-03 2.19977473e+01] [ 1.53904420e-02 -2.42872680e-04 9.99881531e-01 1.28531545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:22.01, Z:1.29 [[ 8.39926873e-01 -5.42552062e-01 -1.26533457e-02 9.31713097e+01] [ 5.42494627e-01 8.40022146e-01 -7.89765376e-03 2.20106916e+01] [ 1.49139790e-02 -2.30920429e-04 9.99888754e-01 1.28584744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:22.02, Z:1.29 [[ 8.39951700e-01 -5.42518398e-01 -1.24470571e-02 9.31951495e+01] [ 5.42462784e-01 8.40043890e-01 -7.77112213e-03 2.20248081e+01] [ 1.46720510e-02 -2.24698011e-04 9.99892334e-01 1.28643168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:22.04, Z:1.29 [[ 8.40706376e-01 -5.41341599e-01 -1.27303922e-02 9.32199522e+01] [ 5.41283219e-01 8.40802730e-01 -7.95271889e-03 2.20400748e+01] [ 1.50088861e-02 -2.04846189e-04 9.99887339e-01 1.28670843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73361786499999 meters Centerline goodness [0,1] 0.9999778795319308 Centerline is valid? [True, True] Translation: X:93.24, Y:22.06, Z:1.29 [[ 8.41139760e-01 -5.40670101e-01 -1.26390644e-02 9.32443442e+01] [ 5.40612420e-01 8.41234692e-01 -7.89969697e-03 2.20555405e+01] [ 1.49035494e-02 -1.88085989e-04 9.99888918e-01 1.28682663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters Centerline goodness [0,1] 0.9999778854021539 Centerline is valid? [True, True] Translation: X:93.27, Y:22.07, Z:1.29 [[ 8.41742376e-01 -5.39727236e-01 -1.28172969e-02 9.32684888e+01] [ 5.39667744e-01 8.41839938e-01 -8.01526684e-03 2.20720594e+01] [ 1.51161703e-02 -1.70291962e-04 9.99885730e-01 1.28706243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:22.09, Z:1.29 [[ 8.42262922e-01 -5.38913905e-01 -1.28441690e-02 9.32917317e+01] [ 5.38854010e-01 8.42360837e-01 -8.03595123e-03 2.20868970e+01] [ 1.51501108e-02 -1.52748196e-04 9.99885219e-01 1.28681460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499997 meters Centerline goodness [0,1] 0.9999779827825359 Centerline is valid? [True, True] Translation: X:93.32, Y:22.10, Z:1.29 [[ 8.43268570e-01 -5.37328983e-01 -1.32545231e-02 9.33153534e+01] [ 5.37264972e-01 8.43372722e-01 -8.29468392e-03 2.21038509e+01] [ 1.56354773e-02 -1.26544732e-04 9.99877750e-01 1.28699613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:22.12, Z:1.29 [[ 8.43562854e-01 -5.36870194e-01 -1.31189111e-02 9.33387304e+01] [ 5.36807363e-01 8.43664852e-01 -8.21421845e-03 2.21196985e+01] [ 1.54779333e-02 -1.13118537e-04 9.99880203e-01 1.28707326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:22.14, Z:1.29 [[ 8.44389478e-01 -5.35568475e-01 -1.31460321e-02 9.33615758e+01] [ 5.35505155e-01 8.44491801e-01 -8.23573833e-03 2.21362311e+01] [ 1.55125181e-02 -8.55971483e-05 9.99879670e-01 1.28721467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91361786499998 meters Centerline goodness [0,1] 0.9999779653174096 Centerline is valid? [True, True] Translation: X:93.38, Y:22.15, Z:1.29 [[ 8.44548202e-01 -5.35322572e-01 -1.29644792e-02 9.33846873e+01] [ 5.35260931e-01 8.44647700e-01 -8.12393868e-03 2.21517269e+01] [ 1.52993453e-02 -7.83213734e-05 9.99882955e-01 1.28727042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94361786499998 meters Centerline goodness [0,1] 0.9999560217252678 Centerline is valid? [True, True] Translation: X:93.41, Y:22.17, Z:1.29 [[ 8.44499585e-01 -5.35396940e-01 -1.30601429e-02 9.34083856e+01] [ 5.35334318e-01 8.44600563e-01 -8.18882097e-03 2.21671561e+01] [ 1.54148737e-02 -7.60867767e-05 9.99881181e-01 1.28765397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97361786499998 meters Centerline goodness [0,1] 0.9999560168895144 Centerline is valid? [True, True] Translation: X:93.43, Y:22.18, Z:1.29 [[ 8.44006557e-01 -5.36158314e-01 -1.36818683e-02 9.34317047e+01] [ 5.36089609e-01 8.44117441e-01 -8.58348723e-03 2.21821521e+01] [ 1.61512117e-02 -9.01879504e-05 9.99869557e-01 1.28741153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00361786499998 meters Centerline goodness [0,1] 0.9999338784686254 Centerline is valid? [True, True] Translation: X:93.46, Y:22.20, Z:1.29 [[ 8.43442289e-01 -5.37051449e-01 -1.34479144e-02 9.34551646e+01] [ 5.36985144e-01 8.43549483e-01 -8.43947893e-03 2.21973375e+01] [ 1.58764156e-02 -1.03116832e-04 9.99873956e-01 1.28762986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03361786499998 meters Centerline goodness [0,1] 0.9999339061467284 Centerline is valid? [True, True] Translation: X:93.48, Y:22.21, Z:1.29 [[ 8.43016287e-01 -5.37713679e-01 -1.36944910e-02 9.34788886e+01] [ 5.37644932e-01 8.43127503e-01 -8.59886907e-03 2.22119272e+01] [ 1.61699315e-02 -1.13787001e-04 9.99869252e-01 1.28775386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06361786499998 meters Centerline goodness [0,1] 0.9999779822977674 Centerline is valid? [True, True] Translation: X:93.50, Y:22.23, Z:1.29 [[ 8.41861023e-01 -5.39527848e-01 -1.34059124e-02 9.35039177e+01] [ 5.39462167e-01 8.41967743e-01 -8.41963313e-03 2.22267227e+01] [ 1.58299723e-02 -1.43821561e-04 9.99874688e-01 1.28793939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09361786499998 meters Centerline goodness [0,1] 0.9998895588982396 Centerline is valid? [True, True] Translation: X:93.53, Y:22.24, Z:1.29 [[ 8.41224977e-01 -5.40520811e-01 -1.33338376e-02 9.35285858e+01] [ 5.40455892e-01 8.41330629e-01 -8.37856901e-03 2.22414527e+01] [ 1.57469569e-02 -1.58089578e-04 9.99875996e-01 1.28814115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters Centerline goodness [0,1] 0.9999120415164042 Centerline is valid? [True, True] Translation: X:93.55, Y:22.26, Z:1.29 [[ 8.40489417e-01 -5.41657026e-01 -1.36090489e-02 9.35537616e+01] [ 5.41589478e-01 8.40599568e-01 -8.55585841e-03 2.22564771e+01] [ 1.60741014e-02 -1.79409234e-04 9.99870787e-01 1.28552908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15361786499997 meters Centerline goodness [0,1] 0.9998673094785262 Centerline is valid? [True, True] Translation: X:93.58, Y:22.27, Z:1.29 [[ 8.39213639e-01 -5.43637003e-01 -1.33894195e-02 9.35772980e+01] [ 5.43571804e-01 8.39320419e-01 -8.42195456e-03 2.22725808e+01] [ 1.58164993e-02 -2.10291760e-04 9.99874889e-01 1.28533515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499997 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:93.60, Y:22.29, Z:1.29 [[ 8.38515729e-01 -5.44713461e-01 -1.33647883e-02 9.36011712e+01] [ 5.44648574e-01 8.38622200e-01 -8.41048528e-03 2.22865289e+01] [ 1.57893127e-02 -2.26788693e-04 9.99875315e-01 1.28916341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:22.30, Z:1.29 [[ 8.37717847e-01 -5.45944176e-01 -1.31820165e-02 9.36252188e+01] [ 5.45881174e-01 8.37821518e-01 -8.29742164e-03 2.23025951e+01] [ 1.55741061e-02 -2.44916451e-04 9.99878686e-01 1.28957647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:22.32, Z:1.29 [[ 8.37250717e-01 -5.46651529e-01 -1.35403823e-02 9.36499364e+01] [ 5.46585081e-01 8.37360160e-01 -8.52715513e-03 2.23154665e+01] [ 1.59995590e-02 -2.61604174e-04 9.99871965e-01 1.28952460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:22.33, Z:1.29 [[ 8.35964330e-01 -5.48615901e-01 -1.35732147e-02 9.36749868e+01] [ 5.48549355e-01 8.36074461e-01 -8.54992070e-03 2.23305877e+01] [ 1.60388406e-02 -2.98149445e-04 9.99871325e-01 1.28972340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499998 meters Centerline goodness [0,1] 0.9998891721157043 Centerline is valid? [True, True] Translation: X:93.70, Y:22.35, Z:1.29 [[ 8.35402804e-01 -5.49468488e-01 -1.36577757e-02 9.36992753e+01] [ 5.49401151e-01 8.35514382e-01 -8.60768771e-03 2.23461972e+01] [ 1.61409212e-02 -3.12711248e-04 9.99869678e-01 1.28999288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.72, Y:22.36, Z:1.29 [[ 8.34879010e-01 -5.50265263e-01 -1.36080593e-02 9.37242347e+01] [ 5.50198448e-01 8.34989842e-01 -8.58089982e-03 2.23614733e+01] [ 1.60843624e-02 -3.23119945e-04 9.99870586e-01 1.29043454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:22.38, Z:1.29 [[ 8.34315355e-01 -5.51121944e-01 -1.35089220e-02 9.37481052e+01] [ 5.51056147e-01 8.34424647e-01 -8.52241470e-03 2.23751397e+01] [ 1.59690672e-02 -3.33793066e-04 9.99872431e-01 1.29055356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:22.39, Z:1.29 [[ 8.34035007e-01 -5.51551329e-01 -1.32943350e-02 9.37718503e+01] [ 5.51487627e-01 8.34140887e-01 -8.38911265e-03 2.23903347e+01] [ 1.57163746e-02 -3.34847643e-04 9.99876434e-01 1.29110516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:22.41, Z:1.29 [[ 8.33962859e-01 -5.51674568e-01 -1.26933312e-02 9.37958497e+01] [ 5.51616442e-01 8.34059392e-01 -8.01444775e-03 2.24054774e+01] [ 1.50083591e-02 -3.18098448e-04 9.99887318e-01 1.29226373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:22.42, Z:1.29 [[ 8.33806721e-01 -5.51905761e-01 -1.28989633e-02 9.38191760e+01] [ 5.51845689e-01 8.33906425e-01 -8.14921405e-03 2.24203158e+01] [ 1.52541266e-02 -3.23367843e-04 9.99883597e-01 1.29270600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:22.44, Z:1.29 [[ 8.33666728e-01 -5.52110288e-01 -1.31915241e-02 9.38425640e+01] [ 5.52047405e-01 8.33771024e-01 -8.33913803e-03 2.24354868e+01] [ 1.56028345e-02 -3.30284747e-04 9.99878214e-01 1.29290365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:22.45, Z:1.29 [[ 8.33721792e-01 -5.52016604e-01 -1.36250772e-02 9.38658642e+01] [ 5.51949430e-01 8.33833051e-01 -8.61805380e-03 2.24499206e+01] [ 1.61183485e-02 -3.35294353e-04 9.99870035e-01 1.29263639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:22.47, Z:1.29 [[ 8.33818857e-01 -5.51868475e-01 -1.36857350e-02 9.38887753e+01] [ 5.51800636e-01 8.33931098e-01 -8.65921111e-03 2.24656884e+01] [ 1.61917057e-02 -3.31583780e-04 9.99868851e-01 1.29245841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:22.48, Z:1.29 [[ 8.34249185e-01 -5.51220752e-01 -1.35639128e-02 9.39122905e+01] [ 5.51153958e-01 8.34359386e-01 -8.58664336e-03 2.24802692e+01] [ 1.60503140e-02 -3.12404002e-04 9.99871137e-01 1.29229764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:22.50, Z:1.29 [[ 8.34412964e-01 -5.50966618e-01 -1.38127606e-02 9.39356850e+01] [ 5.50897277e-01 8.34527225e-01 -8.74648631e-03 2.24967154e+01] [ 1.63461468e-02 -3.11230657e-04 9.99866344e-01 1.29249235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:22.51, Z:1.29 [[ 8.35455296e-01 -5.49392308e-01 -1.35107611e-02 9.39585857e+01] [ 5.49325682e-01 8.35564491e-01 -8.56017499e-03 2.25139385e+01] [ 1.59920065e-02 -2.70164495e-04 9.99872083e-01 1.29233527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:22.53, Z:1.29 [[ 8.35945991e-01 -5.48654868e-01 -1.31200736e-02 9.39819256e+01] [ 5.48591883e-01 8.36048907e-01 -8.31691329e-03 2.25303698e+01] [ 1.55321382e-02 -2.45075548e-04 9.99879339e-01 1.29272578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:22.55, Z:1.29 [[ 8.36312245e-01 -5.48099606e-01 -1.29865753e-02 9.40059289e+01] [ 5.48037762e-01 8.36413037e-01 -8.23661137e-03 2.25455133e+01] [ 1.53766244e-02 -2.28754746e-04 9.99881747e-01 1.29279665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:22.56, Z:1.29 [[ 8.37537369e-01 -5.46239639e-01 -1.23859935e-02 9.40286605e+01] [ 5.46183125e-01 8.37628929e-01 -7.85940519e-03 2.25623034e+01] [ 1.46679852e-02 -1.82475132e-04 9.99892403e-01 1.29254308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75361786499998 meters Centerline goodness [0,1] 0.9999117523771703 Centerline is valid? [True, True] Translation: X:94.05, Y:22.58, Z:1.29 [[ 8.37794009e-01 -5.45857869e-01 -1.18484821e-02 9.40514520e+01] [ 5.45806095e-01 8.37877771e-01 -7.51978118e-03 2.25795481e+01] [ 1.40323115e-02 -1.66946128e-04 9.99901528e-01 1.29254681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:22.60, Z:1.29 [[ 8.37798579e-01 -5.45858625e-01 -1.14849258e-02 9.40746329e+01] [ 5.45809923e-01 8.37877280e-01 -7.29325535e-03 2.25955431e+01] [ 1.36040447e-02 -1.58307486e-04 9.99907448e-01 1.29207486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81361786499998 meters Centerline goodness [0,1] 0.9998899841577187 Centerline is valid? [True, True] Translation: X:94.10, Y:22.61, Z:1.29 [[ 8.37705090e-01 -5.46007540e-01 -1.12226840e-02 9.40975729e+01] [ 5.45960995e-01 8.37780247e-01 -7.13087803e-03 2.26116297e+01] [ 1.32956562e-02 -1.53574914e-04 9.99911597e-01 1.29130216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters Centerline goodness [0,1] 0.9999122864723812 Centerline is valid? [True, True] Translation: X:94.12, Y:22.63, Z:1.29 [[ 8.37175868e-01 -5.46829026e-01 -1.07043056e-02 9.41217602e+01] [ 5.46786698e-01 8.37244284e-01 -6.80554681e-03 2.26258721e+01] [ 1.26835892e-02 -1.55532342e-04 9.99919548e-01 1.29161660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87361786499999 meters Centerline goodness [0,1] 0.9999122864723812 Centerline is valid? [True, True] Translation: X:94.14, Y:22.64, Z:1.29 [[ 8.37033456e-01 -5.47047002e-01 -1.07037944e-02 9.41449908e+01] [ 5.47004681e-01 8.37101877e-01 -6.80635073e-03 2.26407426e+01] [ 1.26835601e-02 -1.57882368e-04 9.99919548e-01 1.29198428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499997 meters Centerline goodness [0,1] 0.9999120105587329 Centerline is valid? [True, True] Translation: X:94.17, Y:22.66, Z:1.29 [[ 8.36437286e-01 -5.47972172e-01 -9.95814528e-03 9.41688389e+01] [ 5.47935568e-01 8.36496547e-01 -6.33559786e-03 2.26573866e+01] [ 1.18016855e-02 -1.57091705e-04 9.99930345e-01 1.29211448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:22.67, Z:1.29 [[ 8.35618252e-01 -5.49231539e-01 -9.31948515e-03 9.41928721e+01] [ 5.49199521e-01 8.35670204e-01 -5.93259865e-03 2.26713899e+01] [ 1.10463863e-02 -1.60869068e-04 9.99938974e-01 1.29242801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499997 meters Centerline goodness [0,1] 0.9999560651992443 Centerline is valid? [True, True] Translation: X:94.22, Y:22.69, Z:1.29 [[ 8.35139476e-01 -5.49960457e-01 -9.24938463e-03 9.42167464e+01] [ 5.49928951e-01 8.35190677e-01 -5.88907474e-03 2.26857002e+01] [ 1.09637580e-02 -1.68305591e-04 9.99939882e-01 1.29279171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:22.70, Z:1.29 [[ 8.34414575e-01 -5.51068473e-01 -8.70951421e-03 9.42406295e+01] [ 5.51040594e-01 8.34460010e-01 -5.54573150e-03 2.27016290e+01] [ 1.03238191e-02 -1.71856685e-04 9.99946693e-01 1.29296816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499998 meters Centerline goodness [0,1] 0.9999780354946407 Centerline is valid? [True, True] Translation: X:94.26, Y:22.72, Z:1.29 [[ 8.33606351e-01 -5.52297995e-01 -8.20832478e-03 9.42645368e+01] [ 5.52273261e-01 8.33646744e-01 -5.22979556e-03 2.27168228e+01] [ 9.73124883e-03 -1.73647501e-04 9.99952635e-01 1.29318467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:22.73, Z:1.29 [[ 8.33199745e-01 -5.52916913e-01 -7.81492546e-03 9.42886194e+01] [ 5.52894512e-01 8.33236376e-01 -4.98003738e-03 2.27301329e+01] [ 9.26522707e-03 -1.71463526e-04 9.99957062e-01 1.29408466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.31, Y:22.75, Z:1.29 [[ 8.32669154e-01 -5.53716882e-01 -7.72624934e-03 9.43132899e+01] [ 5.53695019e-01 8.32704979e-01 -4.92371141e-03 2.27460207e+01] [ 9.16002843e-03 -1.78163164e-04 9.99958030e-01 1.29405019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:22.76, Z:1.29 [[ 8.32227756e-01 -5.54374450e-01 -8.11981471e-03 9.43372325e+01] [ 5.54350307e-01 8.32267344e-01 -5.17735421e-03 2.27624111e+01] [ 9.62804952e-03 -1.92483899e-04 9.99953631e-01 1.29378695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:22.78, Z:1.29 [[ 8.31487348e-01 -5.55482037e-01 -8.27628754e-03 9.43617609e+01] [ 5.55456980e-01 8.31528511e-01 -5.28001975e-03 2.27773461e+01] [ 9.81492517e-03 -2.06852066e-04 9.99951811e-01 1.29334477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17361786499998 meters Centerline goodness [0,1] 0.9999340166278098 Centerline is valid? [True, True] Translation: X:94.39, Y:22.79, Z:1.29 [[ 8.31054259e-01 -5.56131274e-01 -8.17466051e-03 9.43853513e+01] [ 5.56106835e-01 8.31094436e-01 -5.21787205e-03 2.27936607e+01] [ 9.69573670e-03 -2.09649798e-04 9.99952973e-01 1.29309618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:22.81, Z:1.29 [[ 8.30818466e-01 -5.56481147e-01 -8.33127918e-03 9.44096566e+01] [ 5.56455744e-01 8.30860209e-01 -5.32144176e-03 2.28081718e+01] [ 9.88341038e-03 -2.14836071e-04 9.99951135e-01 1.29356366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:22.82, Z:1.29 [[ 8.30471875e-01 -5.57002579e-01 -8.03687892e-03 9.44331525e+01] [ 5.56978955e-01 8.30510736e-01 -5.13433932e-03 2.28224545e+01] [ 9.53455447e-03 -2.12448025e-04 9.99954523e-01 1.29389778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:22.84, Z:1.29 [[ 8.30269660e-01 -5.57306820e-01 -7.83580745e-03 9.44565730e+01] [ 5.57284378e-01 8.30306608e-01 -5.00587734e-03 2.28380539e+01] [ 9.29593229e-03 -2.10545001e-04 9.99956770e-01 1.29436441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29361786499997 meters Centerline goodness [0,1] 0.9999122383606126 Centerline is valid? [True, True] Translation: X:94.48, Y:22.85, Z:1.29 [[ 8.30142620e-01 -5.57496271e-01 -7.81906813e-03 9.44799495e+01] [ 5.57473905e-01 8.30179417e-01 -4.99819199e-03 2.28527376e+01] [ 9.27770281e-03 -2.09714245e-04 9.99956939e-01 1.29449799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:22.87, Z:1.29 [[ 8.30350294e-01 -5.57175139e-01 -8.61709079e-03 9.45036409e+01] [ 5.57147911e-01 8.30394975e-01 -5.51275459e-03 2.28675600e+01] [ 1.02271587e-02 -2.23476741e-04 9.99947676e-01 1.29475310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35361786499998 meters Centerline goodness [0,1] 0.9998900736506541 Centerline is valid? [True, True] Translation: X:94.53, Y:22.88, Z:1.29 [[ 8.30326717e-01 -5.57211632e-01 -8.52881482e-03 9.45268106e+01] [ 5.57184959e-01 8.30370488e-01 -5.45654460e-03 2.28839876e+01] [ 1.01225262e-02 -2.21412571e-04 9.99948741e-01 1.29410239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499998 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:94.55, Y:22.90, Z:1.29 [[ 8.30324733e-01 -5.57206064e-01 -9.06863164e-03 9.45496919e+01] [ 5.57175861e-01 8.30374222e-01 -5.80619793e-03 2.28985067e+01] [ 1.07656066e-02 -2.31792893e-04 9.99942022e-01 1.29424515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41361786499998 meters Centerline goodness [0,1] 0.9999780021557887 Centerline is valid? [True, True] Translation: X:94.57, Y:22.91, Z:1.29 [[ 8.30543356e-01 -5.56879292e-01 -9.12079502e-03 9.45732911e+01] [ 5.56848702e-01 8.30593404e-01 -5.84125079e-03 2.29135479e+01] [ 1.08285438e-02 -2.27490837e-04 9.99941344e-01 1.29409125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44361786499998 meters Centerline goodness [0,1] 0.9999560796714759 Centerline is valid? [True, True] Translation: X:94.60, Y:22.93, Z:1.29 [[ 8.30662203e-01 -5.56702730e-01 -9.07608614e-03 9.45964664e+01] [ 5.56672423e-01 8.30711756e-01 -5.81311585e-03 2.29292659e+01] [ 1.07757889e-02 -2.23671248e-04 9.99941914e-01 1.29454248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47361786499998 meters Centerline goodness [0,1] 0.999911973768183 Centerline is valid? [True, True] Translation: X:94.62, Y:22.94, Z:1.30 [[ 8.30728764e-01 -5.56605151e-01 -8.96808788e-03 9.46196891e+01] [ 5.56575520e-01 8.30777141e-01 -5.74736234e-03 2.29448531e+01] [ 1.06494939e-02 -2.16918955e-04 9.99943269e-01 1.29518581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:22.96, Z:1.30 [[ 8.31312162e-01 -5.55732944e-01 -8.99912182e-03 9.46439411e+01] [ 5.55703017e-01 8.31360844e-01 -5.77091539e-03 2.29597186e+01] [ 1.06886053e-02 -2.03406997e-04 9.99942855e-01 1.29574841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53361786499998 meters Centerline goodness [0,1] 0.9998679112363509 Centerline is valid? [True, True] Translation: X:94.67, Y:22.98, Z:1.30 [[ 8.31662473e-01 -5.55206795e-01 -9.10741795e-03 9.46670723e+01] [ 5.55176078e-01 8.31712315e-01 -5.84351365e-03 2.29768533e+01] [ 1.08191102e-02 -1.96389564e-04 9.99941452e-01 1.29567650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56361786499998 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:94.69, Y:22.99, Z:1.30 [[ 8.32108599e-01 -5.54534622e-01 -9.30763646e-03 9.46908418e+01] [ 5.54502457e-01 8.32160632e-01 -5.97564444e-03 2.29913552e+01] [ 1.10591504e-02 -1.88722164e-04 9.99938828e-01 1.29605291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59361786499998 meters Centerline goodness [0,1] 0.9999342537804077 Centerline is valid? [True, True] Translation: X:94.71, Y:23.01, Z:1.30 [[ 8.32515631e-01 -5.53922731e-01 -9.34522395e-03 9.47139908e+01] [ 5.53890258e-01 8.32568061e-01 -6.00050356e-03 2.30094385e+01] [ 1.11043503e-02 -1.80715507e-04 9.99938328e-01 1.29601462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters Centerline goodness [0,1] 0.9999561056974805 Centerline is valid? [True, True] Translation: X:94.74, Y:23.03, Z:1.30 [[ 8.32738478e-01 -5.53589952e-01 -9.20827048e-03 9.47372709e+01] [ 5.53558372e-01 8.32789370e-01 -5.91549703e-03 2.30250783e+01] [ 1.09433095e-02 -1.71253222e-04 9.99940106e-01 1.29650835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65361786499997 meters Centerline goodness [0,1] 0.9999780055426033 Centerline is valid? [True, True] Translation: X:94.76, Y:23.04, Z:1.30 [[ 8.32812164e-01 -5.53474308e-01 -9.49153118e-03 9.47608274e+01] [ 5.53440705e-01 8.32866232e-01 -6.10120776e-03 2.30407992e+01] [ 1.12820376e-02 -1.71839672e-04 9.99936341e-01 1.29689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499997 meters Centerline goodness [0,1] 0.9999123076248521 Centerline is valid? [True, True] Translation: X:94.78, Y:23.06, Z:1.30 [[ 8.32706877e-01 -5.53623552e-01 -1.00109746e-02 9.47841187e+01] [ 5.53586133e-01 8.32767033e-01 -6.43914503e-03 2.30572504e+01] [ 1.19016720e-02 -1.80016377e-04 9.99929156e-01 1.29730263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71361786499997 meters Centerline goodness [0,1] 0.9999341267401519 Centerline is valid? [True, True] Translation: X:94.81, Y:23.07, Z:1.30 [[ 8.32629164e-01 -5.53737099e-01 -1.01931164e-02 9.48071627e+01] [ 5.53698264e-01 8.32691535e-01 -6.56054360e-03 2.30713031e+01] [ 1.21205382e-02 -1.81410934e-04 9.99926527e-01 1.29757881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499998 meters Centerline goodness [0,1] 0.9999562592948998 Centerline is valid? [True, True] Translation: X:94.83, Y:23.09, Z:1.30 [[ 8.32443482e-01 -5.54018901e-01 -1.00452414e-02 9.48305180e+01] [ 5.53981184e-01 8.32504069e-01 -6.46708064e-03 2.30867471e+01] [ 1.19455892e-02 -1.81395571e-04 9.99928632e-01 1.29815483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77361786499998 meters Centerline goodness [0,1] 0.9999124803080693 Centerline is valid? [True, True] Translation: X:94.85, Y:23.10, Z:1.30 [[ 8.32063810e-01 -5.54582094e-01 -1.04171572e-02 9.48536165e+01] [ 5.54541561e-01 8.32128994e-01 -6.70777034e-03 2.31032562e+01] [ 1.23884278e-02 -1.95453657e-04 9.99923241e-01 1.29833030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499998 meters Centerline goodness [0,1] 0.999978224893302 Centerline is valid? [True, True] Translation: X:94.88, Y:23.12, Z:1.30 [[ 8.31296055e-01 -5.55730249e-01 -1.05242127e-02 9.48781854e+01] [ 5.55688957e-01 8.31362643e-01 -6.77783723e-03 2.31189983e+01] [ 1.25160864e-02 -2.13799409e-04 9.99921648e-01 1.29838746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83361786499998 meters Centerline goodness [0,1] 0.9999125855023056 Centerline is valid? [True, True] Translation: X:94.90, Y:23.13, Z:1.30 [[ 8.31070206e-01 -5.56060157e-01 -1.09276933e-02 9.49024210e+01] [ 5.56015615e-01 8.31142016e-01 -7.04160196e-03 2.31328519e+01] [ 1.29980193e-02 -2.23902503e-04 9.99915497e-01 1.29855864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86361786499998 meters Centerline goodness [0,1] 0.9999563232949706 Centerline is valid? [True, True] Translation: X:94.93, Y:23.15, Z:1.30 [[ 8.30727482e-01 -5.56569084e-01 -1.10772440e-02 9.49250521e+01] [ 5.56523343e-01 8.30801300e-01 -7.13928141e-03 2.31494231e+01] [ 1.31764920e-02 -2.33947569e-04 9.99913159e-01 1.29890117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89361786499998 meters Centerline goodness [0,1] 0.9999782154060648 Centerline is valid? [True, True] Translation: X:94.95, Y:23.17, Z:1.30 [[ 8.30541343e-01 -5.56843096e-01 -1.12624990e-02 9.49485628e+01] [ 5.56795777e-01 8.30617668e-01 -7.26309084e-03 2.31654451e+01] [ 1.33992326e-02 -2.38614637e-04 9.99910198e-01 1.29959153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:23.18, Z:1.30 [[ 8.30625534e-01 -5.56717755e-01 -1.12500438e-02 9.49721154e+01] [ 5.56670472e-01 8.30701684e-01 -7.25938636e-03 2.31814813e+01] [ 1.33868596e-02 -2.32735495e-04 9.99910365e-01 1.30029016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95361786499998 meters Centerline goodness [0,1] 0.9999782466826191 Centerline is valid? [True, True] Translation: X:95.00, Y:23.20, Z:1.30 [[ 8.30873749e-01 -5.56345860e-01 -1.13180395e-02 9.49954463e+01] [ 5.56297910e-01 8.30950801e-01 -7.30763929e-03 2.31974314e+01] [ 1.34703088e-02 -2.24476051e-04 9.99909246e-01 1.30129572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:23.21, Z:1.30 [[ 8.31021087e-01 -5.56127775e-01 -1.12183077e-02 9.50189264e+01] [ 5.56080629e-01 8.31096775e-01 -7.24457901e-03 2.32118920e+01] [ 1.33524110e-02 -2.17885701e-04 9.99910829e-01 1.30193204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:23.23, Z:1.30 [[ 8.31050383e-01 -5.56081705e-01 -1.13312537e-02 9.50408987e+01] [ 5.56033542e-01 8.31127602e-01 -7.32185483e-03 2.32294781e+01] [ 1.34892672e-02 -2.15726851e-04 9.99908992e-01 1.30226491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499997 meters Centerline goodness [0,1] 0.9999782703172534 Centerline is valid? [True, True] Translation: X:95.06, Y:23.24, Z:1.30 [[ 8.31559937e-01 -5.55307717e-01 -1.18916710e-02 9.50646963e+01] [ 5.55254527e-01 8.31644934e-01 -7.68859608e-03 2.32447641e+01] [ 1.41591847e-02 -2.09375703e-04 9.99899732e-01 1.30216388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:23.26, Z:1.30 [[ 8.31474002e-01 -5.55440409e-01 -1.17019655e-02 9.50870896e+01] [ 5.55388895e-01 8.31556317e-01 -7.56744542e-03 2.32621399e+01] [ 1.39341083e-02 -2.07007554e-04 9.99902894e-01 1.30259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:23.28, Z:1.30 [[ 8.31368899e-01 -5.55581138e-01 -1.24640388e-02 9.51099138e+01] [ 5.55522641e-01 8.31462297e-01 -8.06497761e-03 2.32775602e+01] [ 1.48441278e-02 -2.19084187e-04 9.99889796e-01 1.30263061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:23.29, Z:1.30 [[ 8.31012353e-01 -5.56111515e-01 -1.25877419e-02 9.51335761e+01] [ 5.56051877e-01 8.31107653e-01 -8.14739467e-03 2.32934375e+01] [ 1.49926286e-02 -2.28851872e-04 9.99887578e-01 1.30255604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:23.31, Z:1.30 [[ 8.29886123e-01 -5.57782724e-01 -1.29404778e-02 9.51576547e+01] [ 5.57719823e-01 8.29986966e-01 -8.38058942e-03 2.33094120e+01] [ 1.54149759e-02 -2.62226129e-04 9.99881148e-01 1.30258498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:23.32, Z:1.30 [[ 8.28983294e-01 -5.59113778e-01 -1.33596836e-02 9.51815390e+01] [ 5.59046844e-01 8.29090886e-01 -8.65614226e-03 2.33246856e+01] [ 1.59161603e-02 -2.92891630e-04 9.99873287e-01 1.30290882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:23.34, Z:1.30 [[ 8.27941333e-01 -5.60652772e-01 -1.34765526e-02 9.52052846e+01] [ 5.60584840e-01 8.28050943e-01 -8.73347036e-03 2.33401230e+01] [ 1.60557165e-02 -3.23949995e-04 9.99871046e-01 1.30285145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:23.36, Z:1.30 [[ 8.26839697e-01 -5.62281015e-01 -1.32731525e-02 9.52296662e+01] [ 5.62215295e-01 8.26946153e-01 -8.60368558e-03 2.33558986e+01] [ 1.58138715e-02 -3.48500592e-04 9.99874892e-01 1.30363094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:23.37, Z:1.30 [[ 8.24629356e-01 -5.65521288e-01 -1.31186315e-02 9.52547422e+01] [ 5.65457429e-01 8.24733600e-01 -8.50790765e-03 2.33708327e+01] [ 1.56307791e-02 -4.02157260e-04 9.99877751e-01 1.30397867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:23.39, Z:1.30 [[ 8.23495979e-01 -5.67173814e-01 -1.29706094e-02 9.52783517e+01] [ 5.67111529e-01 8.23598011e-01 -8.41605120e-03 2.33871343e+01] [ 1.54559320e-02 -4.25197796e-04 9.99880460e-01 1.30416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:23.40, Z:1.30 [[ 8.22615961e-01 -5.68445519e-01 -1.31404822e-02 9.53020881e+01] [ 5.68381689e-01 8.22720784e-01 -8.53043850e-03 2.34018221e+01] [ 1.56600373e-02 -4.51534583e-04 9.99877272e-01 1.30441731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:23.42, Z:1.30 [[ 8.20749887e-01 -5.71144872e-01 -1.27733324e-02 9.53269834e+01] [ 5.71084861e-01 8.20849132e-01 -8.29361844e-03 2.34155881e+01] [ 1.52218364e-02 -4.87670349e-04 9.99884022e-01 1.30458769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:23.43, Z:1.31 [[ 8.20150805e-01 -5.72013879e-01 -1.23603556e-02 9.53517100e+01] [ 5.71957760e-01 8.20243796e-01 -8.02717553e-03 2.34310224e+01] [ 1.47301608e-02 -4.86106840e-04 9.99891387e-01 1.30507682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:23.45, Z:1.31 [[ 8.19233646e-01 -5.73325653e-01 -1.24067994e-02 9.53753595e+01] [ 5.73269200e-01 8.19327430e-01 -8.06146025e-03 2.34473042e+01] [ 1.47870730e-02 -5.08216488e-04 9.99890536e-01 1.30582530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:23.46, Z:1.31 [[ 8.19106552e-01 -5.73510538e-01 -1.22523139e-02 9.53984852e+01] [ 5.73455446e-01 8.19198029e-01 -7.96495007e-03 2.34622816e+01] [ 1.46050542e-02 -5.02013348e-04 9.99893214e-01 1.30615302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:23.48, Z:1.31 [[ 8.18966602e-01 -5.73709312e-01 -1.23016471e-02 9.54214347e+01] [ 5.73653766e-01 8.19058831e-01 -7.99923782e-03 2.34779499e+01] [ 1.46650100e-02 -5.05777595e-04 9.99892335e-01 1.30634175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:23.50, Z:1.31 [[ 8.19360688e-01 -5.73139878e-01 -1.25993392e-02 9.54444263e+01] [ 5.73081472e-01 8.19457397e-01 -8.19760459e-03 2.34954086e+01] [ 1.50229958e-02 -5.03652927e-04 9.99887022e-01 1.30568592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55361786499998 meters Centerline goodness [0,1] 0.9999345521183298 Centerline is valid? [True, True] Translation: X:95.47, Y:23.51, Z:1.31 [[ 8.19631182e-01 -5.72744897e-01 -1.29618550e-02 9.54684801e+01] [ 5.72682964e-01 8.19733509e-01 -8.43782377e-03 2.35119396e+01] [ 1.54579874e-02 -5.07130097e-04 9.99880390e-01 1.30539291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:23.53, Z:1.31 [[ 8.19947255e-01 -5.72283615e-01 -1.33402850e-02 9.54919893e+01] [ 5.72217881e-01 8.20055611e-01 -8.68862039e-03 2.35281374e+01] [ 1.59121307e-02 -5.09339195e-04 9.99873264e-01 1.30522756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:23.54, Z:1.30 [[ 8.20203411e-01 -5.71912749e-01 -1.34971326e-02 9.55157335e+01] [ 5.71845339e-01 8.20314301e-01 -8.79518873e-03 2.35444806e+01] [ 1.61019715e-02 -5.04428585e-04 9.99870228e-01 1.30499392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:23.56, Z:1.31 [[ 8.21051192e-01 -5.70690088e-01 -1.37026838e-02 9.55371593e+01] [ 5.70620365e-01 8.21165385e-01 -8.93364600e-03 2.35645928e+01] [ 1.63505128e-02 -4.84049742e-04 9.99866204e-01 1.30550006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:23.58, Z:1.31 [[ 8.21414377e-01 -5.70174359e-01 -1.34023060e-02 9.55598547e+01] [ 5.70107520e-01 8.21523578e-01 -8.74224713e-03 2.35819483e+01] [ 1.59949156e-02 -4.59747974e-04 9.99871967e-01 1.30572743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:23.60, Z:1.31 [[ 8.21623567e-01 -5.69872579e-01 -1.34148119e-02 9.55827712e+01] [ 5.69805501e-01 8.21732950e-01 -8.75499892e-03 2.36003465e+01] [ 1.60126268e-02 -4.50520184e-04 9.99871688e-01 1.30662163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:23.61, Z:1.31 [[ 8.22203593e-01 -5.69041683e-01 -1.31459274e-02 9.56084966e+01] [ 5.68977095e-01 8.22308571e-01 -8.58370471e-03 2.36125680e+01] [ 1.56944945e-02 -4.22178720e-04 9.99876745e-01 1.30669497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:23.63, Z:1.31 [[ 8.22061888e-01 -5.69246405e-01 -1.31446681e-02 9.56315357e+01] [ 5.69181813e-01 8.22166863e-01 -8.58563268e-03 2.36277307e+01] [ 1.56944511e-02 -4.23784625e-04 9.99876745e-01 1.30706244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79361786499997 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:95.65, Y:23.65, Z:1.31 [[ 8.22170441e-01 -5.69093960e-01 -1.29549385e-02 9.56514616e+01] [ 5.69031130e-01 8.22272398e-01 -8.46624074e-03 2.36493197e+01] [ 1.54705748e-02 -4.11070409e-04 9.99880239e-01 1.30820737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:23.66, Z:1.31 [[ 8.22562067e-01 -5.68524301e-01 -1.31059334e-02 9.56752155e+01] [ 5.68459860e-01 8.22666371e-01 -8.56908805e-03 2.36632531e+01] [ 1.56535455e-02 -4.01590287e-04 9.99877395e-01 1.30856427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85361786499998 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:95.70, Y:23.68, Z:1.31 [[ 8.23094191e-01 -5.67761894e-01 -1.27430419e-02 9.56976542e+01] [ 5.67700857e-01 8.23192742e-01 -8.33344649e-03 2.36825848e+01] [ 1.52213930e-02 -3.75024427e-04 9.99884078e-01 1.30910439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:23.70, Z:1.31 [[ 8.23293799e-01 -5.67469927e-01 -1.28531311e-02 9.57209009e+01] [ 5.67407758e-01 8.23394039e-01 -8.40783220e-03 2.36983558e+01] [ 1.53543835e-02 -3.70850210e-04 9.99882046e-01 1.30913318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91361786499998 meters Centerline goodness [0,1] 0.999978332466632 Centerline is valid? [True, True] Translation: X:95.74, Y:23.72, Z:1.31 [[ 8.23778968e-01 -5.66765622e-01 -1.28429740e-02 9.57432401e+01] [ 5.66703432e-01 8.23878998e-01 -8.40342306e-03 2.37155414e+01] [ 1.53438278e-02 -3.55594252e-04 9.99882213e-01 1.30936964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:23.73, Z:1.31 [[ 8.23876626e-01 -5.66621308e-01 -1.29459935e-02 9.57657865e+01] [ 5.66558066e-01 8.23978257e-01 -8.47286260e-03 2.37327700e+01] [ 1.54681217e-02 -3.54063612e-04 9.99880299e-01 1.30958668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97361786499998 meters Centerline goodness [0,1] 0.9999350072575229 Centerline is valid? [True, True] Translation: X:95.79, Y:23.75, Z:1.31 [[ 8.23824076e-01 -5.66690197e-01 -1.32707132e-02 9.57888691e+01] [ 5.66623669e-01 8.23930878e-01 -8.69063245e-03 2.37488344e+01] [ 1.58590466e-02 -3.59947941e-04 9.99874173e-01 1.30804993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:23.77, Z:1.31 [[ 8.24053968e-01 -5.66357065e-01 -1.32186703e-02 9.58121792e+01] [ 5.66290936e-01 8.24159908e-01 -8.66153340e-03 2.37657184e+01] [ 1.57998187e-02 -3.48042210e-04 9.99875114e-01 1.30983703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03361786499998 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:95.84, Y:23.78, Z:1.31 [[ 8.24360852e-01 -5.65913826e-01 -1.30662611e-02 9.58357678e+01] [ 5.65849089e-01 8.24464330e-01 -8.56602121e-03 2.37832590e+01] [ 1.56202960e-02 -3.32039398e-04 9.99877941e-01 1.31009146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:23.80, Z:1.31 [[ 8.24391271e-01 -5.65874426e-01 -1.28516756e-02 9.58587730e+01] [ 5.65811733e-01 8.24491376e-01 -8.42931782e-03 2.37979269e+01] [ 1.53660311e-02 -3.22572811e-04 9.99881884e-01 1.31038768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09361786499998 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:95.88, Y:23.82, Z:1.31 [[ 8.24721244e-01 -5.65397664e-01 -1.26629616e-02 9.58809905e+01] [ 5.65336707e-01 8.24818396e-01 -8.30787330e-03 2.38164001e+01] [ 1.51418958e-02 -3.07157414e-04 9.99885308e-01 1.31068894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:23.83, Z:1.31 [[ 8.24863015e-01 -5.65190624e-01 -1.26714376e-02 9.59042268e+01] [ 5.65129495e-01 8.24960283e-01 -8.31771925e-03 2.38329956e+01] [ 1.51545297e-02 -3.00024168e-04 9.99885119e-01 1.31118429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:23.85, Z:1.31 [[ 8.24723557e-01 -5.65400871e-01 -1.23656290e-02 9.59261187e+01] [ 5.65342614e-01 8.24816203e-01 -8.12156215e-03 2.38505431e+01] [ 1.47913095e-02 -2.92773388e-04 9.99890560e-01 1.31155606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499997 meters Centerline goodness [0,1] 0.9999140043857764 Centerline is valid? [True, True] Translation: X:95.95, Y:23.87, Z:1.31 [[ 8.25018746e-01 -5.64976569e-01 -1.20642042e-02 9.59488537e+01] [ 5.64921010e-01 8.25106903e-01 -7.92792968e-03 2.38658408e+01] [ 1.44333527e-02 -2.74631813e-04 9.99895796e-01 1.31166595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:23.88, Z:1.31 [[ 8.25016041e-01 -5.64991261e-01 -1.15501706e-02 9.59701007e+01] [ 5.64940317e-01 8.25096846e-01 -7.59157650e-03 2.38840259e+01] [ 1.38191837e-02 -2.61984628e-04 9.99904476e-01 1.31172596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:23.90, Z:1.31 [[ 8.24828527e-01 -5.65268393e-01 -1.13817939e-02 9.59925481e+01] [ 5.65218889e-01 8.24907011e-01 -7.48533952e-03 2.38987564e+01] [ 1.36201474e-02 -2.59083342e-04 9.99907208e-01 1.31204274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27361786499998 meters Centerline goodness [0,1] 0.9999137708027939 Centerline is valid? [True, True] Translation: X:96.02, Y:23.92, Z:1.31 [[ 8.24411057e-01 -5.65888092e-01 -1.08201465e-02 9.60168194e+01] [ 5.65843372e-01 8.24482021e-01 -7.11872093e-03 2.39150399e+01] [ 1.29494156e-02 -2.53755915e-04 9.99916121e-01 1.31225972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:23.93, Z:1.31 [[ 8.24055643e-01 -5.66407711e-01 -1.07052348e-02 9.60402112e+01] [ 5.66363933e-01 8.24125136e-01 -7.04672476e-03 2.39308654e+01] [ 1.28137723e-02 -2.56165557e-04 9.99917867e-01 1.31264049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:23.95, Z:1.31 [[ 8.23308754e-01 -5.67492768e-01 -1.07076501e-02 9.60634146e+01] [ 5.67449006e-01 8.23378337e-01 -7.05261879e-03 2.39464340e+01] [ 1.28187573e-02 -2.69562624e-04 9.99917800e-01 1.31258749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:23.96, Z:1.31 [[ 8.22946524e-01 -5.68015087e-01 -1.08572040e-02 9.60873341e+01] [ 5.67970124e-01 8.23018093e-01 -7.15239195e-03 2.39628301e+01] [ 1.29983418e-02 -2.80531380e-04 9.99915479e-01 1.31225221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39361786499998 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:96.11, Y:23.98, Z:1.31 [[ 8.22503126e-01 -5.68657743e-01 -1.08156993e-02 9.61102761e+01] [ 5.68613130e-01 8.22574185e-01 -7.12871084e-03 2.39801077e+01] [ 1.29505116e-02 -2.86561675e-04 9.99916098e-01 1.31221452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:23.99, Z:1.31 [[ 8.22049941e-01 -5.69306607e-01 -1.11302358e-02 9.61347577e+01] [ 5.69259367e-01 8.22125231e-01 -7.34009945e-03 2.39941787e+01] [ 1.33292148e-02 -3.02062679e-04 9.99911116e-01 1.31235881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.16, Y:24.01, Z:1.31 [[ 8.22213878e-01 -5.69070038e-01 -1.11189444e-02 9.61589801e+01] [ 5.69022853e-01 8.22289003e-01 -7.33404587e-03 2.40106294e+01] [ 1.33165714e-02 -2.96779150e-04 9.99911286e-01 1.31262449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:24.03, Z:1.31 [[ 8.22578572e-01 -5.68549429e-01 -1.07721590e-02 9.61826890e+01] [ 5.68505051e-01 8.22649057e-01 -7.10885140e-03 2.40279134e+01] [ 1.29034399e-02 -2.76437979e-04 9.99916709e-01 1.31323999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:24.04, Z:1.31 [[ 8.22598644e-01 -5.68518266e-01 -1.08835842e-02 9.62060641e+01] [ 5.68472913e-01 8.22670593e-01 -7.18620314e-03 2.40435239e+01] [ 1.30390924e-02 -2.75661860e-04 9.99914949e-01 1.31365517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:24.06, Z:1.31 [[ 8.22707785e-01 -5.68357301e-01 -1.10398543e-02 9.62290114e+01] [ 5.68310564e-01 8.22781808e-01 -7.29381304e-03 2.40591280e+01] [ 1.32288832e-02 -2.73389029e-04 9.99912457e-01 1.31356201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:24.07, Z:1.31 [[ 8.22931192e-01 -5.68036091e-01 -1.09202902e-02 9.62520852e+01] [ 5.67990276e-01 8.23003603e-01 -7.21916968e-03 2.40742858e+01] [ 1.30881871e-02 -2.61738762e-04 9.99914312e-01 1.31372813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:24.09, Z:1.31 [[ 8.23584877e-01 -5.67093498e-01 -1.06260820e-02 9.62755802e+01] [ 5.67050024e-01 8.23653390e-01 -7.02594519e-03 2.40890445e+01] [ 1.27365763e-02 -2.39057845e-04 9.99918858e-01 1.31424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:24.10, Z:1.31 [[ 8.23818994e-01 -5.66757427e-01 -1.04059847e-02 9.62999048e+01] [ 5.66715694e-01 8.23884681e-01 -6.88149918e-03 2.41044267e+01] [ 1.24734722e-02 -2.28125119e-04 9.99922177e-01 1.31457844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:24.12, Z:1.31 [[ 8.24154533e-01 -5.66271784e-01 -1.02748693e-02 9.63241856e+01] [ 5.66231017e-01 8.24218551e-01 -6.79820743e-03 2.41198892e+01] [ 1.23183709e-02 -2.15176228e-04 9.99924103e-01 1.31477355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.35, Y:24.14, Z:1.32 [[ 8.24674519e-01 -5.65516650e-01 -1.01418446e-02 9.63482710e+01] [ 5.65476833e-01 8.24736855e-01 -6.71353161e-03 2.41356000e+01] [ 1.21609669e-02 -1.98499712e-04 9.99926033e-01 1.31522757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:24.15, Z:1.32 [[ 8.24859968e-01 -5.65251165e-01 -9.85667892e-03 9.63717428e+01] [ 5.65213499e-01 8.24918836e-01 -6.52796293e-03 2.41502264e+01] [ 1.18208987e-02 -1.86472695e-04 9.99930113e-01 1.31558378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75361786499998 meters Centerline goodness [0,1] 0.9998703907718229 Centerline is valid? [True, True] Translation: X:96.40, Y:24.17, Z:1.32 [[ 8.24874620e-01 -5.65235425e-01 -9.52759303e-03 9.63955378e+01] [ 5.65200191e-01 8.24929623e-01 -6.31361166e-03 2.41656768e+01] [ 1.14282707e-02 -1.77059378e-04 9.99934680e-01 1.31605637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78361786499998 meters Centerline goodness [0,1] 0.9999352065830112 Centerline is valid? [True, True] Translation: X:96.42, Y:24.18, Z:1.32 [[ 8.24900121e-01 -5.65200917e-01 -9.36558787e-03 9.64193712e+01] [ 5.65166827e-01 8.24953268e-01 -6.20994074e-03 2.41796314e+01] [ 1.12360365e-02 -1.70538716e-04 9.99936859e-01 1.31636442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81361786499998 meters Centerline goodness [0,1] 0.999805262246841 Centerline is valid? [True, True] Translation: X:96.44, Y:24.19, Z:1.32 [[ 8.24749845e-01 -5.65415935e-01 -9.61839033e-03 9.64437401e+01] [ 5.65379949e-01 8.24805910e-01 -6.38151946e-03 2.41930791e+01] [ 1.15415180e-02 -1.74887848e-04 9.99933379e-01 1.31590142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters Centerline goodness [0,1] 0.9999352387531302 Centerline is valid? [True, True] Translation: X:96.47, Y:24.21, Z:1.32 [[ 8.24665006e-01 -5.65535975e-01 -9.83301965e-03 9.64674728e+01] [ 5.65498327e-01 8.24723608e-01 -6.52782633e-03 2.42073546e+01] [ 1.18012441e-02 -1.77286216e-04 9.99930347e-01 1.31572447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:24.22, Z:1.32 [[ 8.24131050e-01 -5.66302076e-01 -1.04867270e-02 9.64928741e+01] [ 5.66259261e-01 8.24197743e-01 -6.96636012e-03 2.42190554e+01] [ 1.25882009e-02 -1.97012599e-04 9.99920746e-01 1.31582284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:24.23, Z:1.32 [[ 8.23581992e-01 -5.67097125e-01 -1.06561816e-02 9.65178520e+01] [ 5.67052965e-01 8.23650901e-01 -7.08013893e-03 2.42337980e+01] [ 1.27921000e-02 -2.11544425e-04 9.99918155e-01 1.31555862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93361786499997 meters Centerline goodness [0,1] 0.999956642386403 Centerline is valid? [True, True] Translation: X:96.54, Y:24.25, Z:1.32 [[ 8.22939617e-01 -5.68020754e-01 -1.10819629e-02 9.65431726e+01] [ 5.67973025e-01 8.23014198e-01 -7.36702484e-03 2.42479109e+01] [ 1.33052358e-02 -2.31639375e-04 9.99911455e-01 1.31582040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:24.26, Z:1.32 [[ 8.22502515e-01 -5.68655792e-01 -1.09637200e-02 9.65684596e+01] [ 5.68609083e-01 8.22575550e-01 -7.29215435e-03 2.42619441e+01] [ 1.31652138e-02 -2.36255457e-04 9.99913307e-01 1.31613502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:24.27, Z:1.32 [[ 8.21492602e-01 -5.70118388e-01 -1.07204558e-02 9.65952631e+01] [ 5.70073808e-01 8.21562512e-01 -7.13393641e-03 2.42744099e+01] [ 1.28747129e-02 -2.50975055e-04 9.99917086e-01 1.31665892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:24.29, Z:1.32 [[ 8.20925577e-01 -5.70933663e-01 -1.07679921e-02 9.66204564e+01] [ 5.70888709e-01 8.20996154e-01 -7.16924528e-03 2.42885954e+01] [ 1.29336436e-02 -2.61908302e-04 9.99916323e-01 1.31712682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:24.30, Z:1.32 [[ 8.20320969e-01 -5.71801508e-01 -1.07954951e-02 9.66468064e+01] [ 5.71756351e-01 8.20391955e-01 -7.19128007e-03 2.42997730e+01] [ 1.29685221e-02 -2.73235051e-04 9.99915868e-01 1.31780344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:24.31, Z:1.32 [[ 8.20013642e-01 -5.72238994e-01 -1.09617682e-02 9.66711101e+01] [ 5.72192457e-01 8.20086857e-01 -7.30333412e-03 2.43134747e+01] [ 1.31688546e-02 -2.83407444e-04 9.99913247e-01 1.31836816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:24.33, Z:1.32 [[ 8.19778095e-01 -5.72583244e-01 -1.05973195e-02 9.66941557e+01] [ 5.72539730e-01 8.19846542e-01 -7.06438237e-03 2.43289805e+01] [ 1.27331227e-02 -2.76160502e-04 9.99918892e-01 1.31836497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:24.34, Z:1.32 [[ 8.19884214e-01 -5.72430765e-01 -1.06252034e-02 9.67189255e+01] [ 5.72386952e-01 8.19953015e-01 -7.08734315e-03 2.43414846e+01] [ 1.27691809e-02 -2.70927044e-04 9.99918434e-01 1.31906976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:24.36, Z:1.32 [[ 8.20050806e-01 -5.72192126e-01 -1.06229571e-02 9.67437397e+01] [ 5.72148297e-01 8.20119565e-01 -7.08704682e-03 2.43569558e+01] [ 1.27672473e-02 -2.66168344e-04 9.99918460e-01 1.31985561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:24.37, Z:1.32 [[ 8.20237145e-01 -5.71929583e-01 -1.03720250e-02 9.67683904e+01] [ 5.71887735e-01 8.20302681e-01 -6.92316507e-03 2.43718231e+01] [ 1.24677628e-02 -2.52996747e-04 9.99922242e-01 1.32055286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23361786499999 meters Centerline goodness [0,1] 0.9999346647211272 Centerline is valid? [True, True] Translation: X:96.79, Y:24.39, Z:1.32 [[ 8.20637742e-01 -5.71353379e-01 -1.04409653e-02 9.67929264e+01] [ 5.71310880e-01 8.20704123e-01 -6.97282504e-03 2.43871190e+01] [ 1.25528904e-02 -2.42873674e-04 9.99921180e-01 1.32128386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:24.40, Z:1.32 [[ 8.21840091e-01 -5.69624772e-01 -1.03191419e-02 9.68171755e+01] [ 5.69583077e-01 8.21904845e-01 -6.89519278e-03 2.44004931e+01] [ 1.24090253e-02 -2.10862738e-04 9.99922983e-01 1.32231815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:24.42, Z:1.32 [[ 8.22321070e-01 -5.68932035e-01 -1.02174932e-02 9.68414706e+01] [ 5.68891091e-01 8.22384521e-01 -6.82832731e-03 2.44158209e+01] [ 1.22875624e-02 -1.97563419e-04 9.99924486e-01 1.32264315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499997 meters Centerline goodness [0,1] 0.9999781830875295 Centerline is valid? [True, True] Translation: X:96.86, Y:24.43, Z:1.32 [[ 8.23724393e-01 -5.66890956e-01 -1.06192061e-02 9.68647798e+01] [ 5.66846509e-01 8.23792823e-01 -7.10070496e-03 2.44304030e+01] [ 1.27733512e-02 -1.70436001e-04 9.99918403e-01 1.32264146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:24.45, Z:1.32 [[ 8.24308258e-01 -5.66043716e-01 -1.05075350e-02 9.68892650e+01] [ 5.66000116e-01 8.24375211e-01 -7.02717185e-03 2.44463276e+01] [ 1.26398379e-02 -1.54710246e-04 9.99920102e-01 1.32261915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:24.46, Z:1.32 [[ 8.24865874e-01 -5.65230337e-01 -1.05335624e-02 9.69133823e+01] [ 5.65186408e-01 8.24933117e-01 -7.04817038e-03 2.44618988e+01] [ 1.26733242e-02 -1.39631079e-04 9.99919680e-01 1.32271800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:24.48, Z:1.32 [[ 8.25792781e-01 -5.63877559e-01 -1.04106208e-02 9.69385472e+01] [ 5.63834499e-01 8.25858393e-01 -6.96937798e-03 2.44768834e+01] [ 1.25275744e-02 -1.14605129e-04 9.99921520e-01 1.32362514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:24.49, Z:1.32 [[ 8.25941655e-01 -5.63662490e-01 -1.02460022e-02 9.69621466e+01] [ 5.63620724e-01 8.26005197e-01 -6.86250904e-03 2.44921220e+01] [ 1.23313900e-02 -1.06827099e-04 9.99923960e-01 1.32414825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47361786499998 meters Centerline goodness [0,1] 0.9999561297681459 Centerline is valid? [True, True] Translation: X:96.99, Y:24.51, Z:1.32 [[ 8.25957496e-01 -5.63635588e-01 -1.04469749e-02 9.69858264e+01] [ 5.63592109e-01 8.26023555e-01 -7.00154946e-03 2.45059926e+01] [ 1.25757698e-02 -1.04850376e-04 9.99920916e-01 1.32478257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50361786499998 meters Centerline goodness [0,1] 0.999978076906213 Centerline is valid? [True, True] Translation: X:97.01, Y:24.52, Z:1.33 [[ 8.25987882e-01 -5.63585090e-01 -1.07640243e-02 9.70100998e+01] [ 5.63538904e-01 8.26058009e-01 -7.21589931e-03 2.45193796e+01] [ 1.29584817e-02 -1.05701053e-04 9.99916030e-01 1.32546378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53361786499998 meters Centerline goodness [0,1] 0.9998683170924414 Centerline is valid? [True, True] Translation: X:97.03, Y:24.53, Z:1.33 [[ 8.25650595e-01 -5.64080779e-01 -1.06757101e-02 9.70343279e+01] [ 5.64035334e-01 8.25719603e-01 -7.16089084e-03 2.45340097e+01] [ 1.28544640e-02 -1.09083923e-04 9.99917372e-01 1.32611707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56361786499998 meters Centerline goodness [0,1] 0.9999339439844989 Centerline is valid? [True, True] Translation: X:97.06, Y:24.55, Z:1.33 [[ 8.25201212e-01 -5.64740002e-01 -1.05683142e-02 9.70580733e+01] [ 5.64695469e-01 8.25268875e-01 -7.09296556e-03 2.45486569e+01] [ 1.27273821e-02 -1.14755351e-04 9.99918997e-01 1.32651338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:24.56, Z:1.33 [[ 8.24379012e-01 -5.65932517e-01 -1.09375620e-02 9.70835419e+01] [ 5.65884864e-01 8.24451556e-01 -7.34525311e-03 2.45618046e+01] [ 1.31744076e-02 -1.34128255e-04 9.99913205e-01 1.32663597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters Centerline goodness [0,1] 0.9998895003204491 Centerline is valid? [True, True] Translation: X:97.11, Y:24.58, Z:1.33 [[ 8.24030639e-01 -5.66441155e-01 -1.08592554e-02 9.71073772e+01] [ 5.66394178e-01 8.24102177e-01 -7.29635651e-03 2.45761035e+01] [ 1.30820926e-02 -1.38197735e-04 9.99914416e-01 1.32725099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.13, Y:24.59, Z:1.33 [[ 8.23799763e-01 -5.66780018e-01 -1.06940308e-02 9.71310942e+01] [ 5.66734435e-01 8.23869160e-01 -7.18945439e-03 2.45915433e+01] [ 1.28853212e-02 -1.38004670e-04 9.99916971e-01 1.32801759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:24.61, Z:1.33 [[ 8.23648039e-01 -5.67000517e-01 -1.06921089e-02 9.71539411e+01] [ 5.66954915e-01 8.23717424e-01 -7.19231147e-03 2.46070041e+01] [ 1.28853207e-02 -1.38010437e-04 9.99916971e-01 1.32838437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71361786499997 meters Centerline goodness [0,1] 0.9998681898066784 Centerline is valid? [True, True] Translation: X:97.18, Y:24.62, Z:1.33 [[ 8.23920685e-01 -5.66613317e-01 -1.02007248e-02 9.71761598e+01] [ 5.66571732e-01 8.23983819e-01 -6.86573223e-03 2.46220248e+01] [ 1.22954475e-02 -1.22623503e-04 9.99924401e-01 1.32836528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499998 meters Centerline goodness [0,1] 0.9999560081824781 Centerline is valid? [True, True] Translation: X:97.20, Y:24.64, Z:1.33 [[ 8.23927604e-01 -5.66602558e-01 -1.02394047e-02 9.71992067e+01] [ 5.66560637e-01 8.23991218e-01 -6.89330263e-03 2.46380863e+01] [ 1.23429424e-02 -1.21661313e-04 9.99923816e-01 1.32881564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77361786499998 meters Centerline goodness [0,1] 0.9999115435647944 Centerline is valid? [True, True] Translation: X:97.22, Y:24.65, Z:1.33 [[ 8.24452166e-01 -5.65824160e-01 -1.10293696e-02 9.72222911e+01] [ 5.65775391e-01 8.24525929e-01 -7.42969191e-03 2.46548645e+01] [ 1.32979004e-02 -1.14720303e-04 9.99911572e-01 1.32826665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499998 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:97.25, Y:24.67, Z:1.33 [[ 8.24293060e-01 -5.66043266e-01 -1.16606726e-02 9.72450016e+01] [ 5.65988718e-01 8.24375525e-01 -7.85909557e-03 2.46705829e+01] [ 1.40613612e-02 -1.21611176e-04 9.99901127e-01 1.32836088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83361786499998 meters Centerline goodness [0,1] 0.9998896320331987 Centerline is valid? [True, True] Translation: X:97.27, Y:24.69, Z:1.33 [[ 8.23978347e-01 -5.66504463e-01 -1.15055678e-02 9.72690481e+01] [ 5.66451341e-01 8.24058662e-01 -7.75887921e-03 2.46854000e+01] [ 1.38767025e-02 -1.24195818e-04 9.99903706e-01 1.32865035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:24.70, Z:1.33 [[ 8.22902236e-01 -5.68068381e-01 -1.14116013e-02 9.72933458e+01] [ 5.68016254e-01 8.22981344e-01 -7.69690220e-03 2.46984281e+01] [ 1.37639018e-02 -1.48177019e-04 9.99905262e-01 1.32946738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:24.72, Z:1.33 [[ 8.22111625e-01 -5.69218174e-01 -1.10970943e-02 9.73168007e+01] [ 5.69168961e-01 8.22186502e-01 -7.48666197e-03 2.47155795e+01] [ 1.33854252e-02 -1.61249808e-04 9.99910398e-01 1.33004419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:24.73, Z:1.33 [[ 8.20280154e-01 -5.71859112e-01 -1.08455253e-02 9.73405112e+01] [ 5.71812290e-01 8.20351825e-01 -7.32038649e-03 2.47321693e+01] [ 1.30833762e-02 -1.96836921e-04 9.99914390e-01 1.33049485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95361786499998 meters Centerline goodness [0,1] 0.999977983752009 Centerline is valid? [True, True] Translation: X:97.36, Y:24.75, Z:1.33 [[ 8.19267333e-01 -5.73311304e-01 -1.07324371e-02 9.73648113e+01] [ 5.73265532e-01 8.19337600e-01 -7.24758268e-03 2.47483345e+01] [ 1.29486103e-02 -2.14828512e-04 9.99916140e-01 1.33062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters Centerline goodness [0,1] 0.9999779672593474 Centerline is valid? [True, True] Translation: X:97.39, Y:24.76, Z:1.33 [[ 8.18168996e-01 -5.74887991e-01 -1.01632575e-02 9.73887493e+01] [ 5.74847028e-01 8.18232086e-01 -6.86637884e-03 2.47639034e+01] [ 1.22633022e-02 -2.24460120e-04 9.99924778e-01 1.33066441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:24.78, Z:1.33 [[ 8.16353431e-01 -5.77467557e-01 -9.91444923e-03 9.74119339e+01] [ 5.77428724e-01 8.16413594e-01 -6.70166023e-03 2.47786974e+01] [ 1.19642825e-02 -2.53964446e-04 9.99928393e-01 1.33130580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:24.79, Z:1.33 [[ 8.15428612e-01 -5.78777143e-01 -9.65391810e-03 9.74363317e+01] [ 5.78740403e-01 8.15485713e-01 -6.52660289e-03 2.47948337e+01] [ 1.16500809e-02 -2.65133726e-04 9.99932100e-01 1.33165520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.46, Y:24.81, Z:1.33 [[ 8.14590172e-01 -5.79961623e-01 -9.34702582e-03 9.74605069e+01] [ 5.79927228e-01 8.14643752e-01 -6.32203750e-03 2.48111420e+01] [ 1.12810353e-02 -2.70725155e-04 9.99936330e-01 1.33212046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499998 meters Centerline goodness [0,1] 0.9999558313641483 Centerline is valid? [True, True] Translation: X:97.48, Y:24.83, Z:1.33 [[ 8.13450009e-01 -5.81552847e-01 -9.76567890e-03 9.74818678e+01] [ 5.81515378e-01 8.13508570e-01 -6.60846238e-03 2.48313216e+01] [ 1.17876336e-02 -3.03238671e-04 9.99930477e-01 1.33148854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13361786499998 meters Centerline goodness [0,1] 0.9999779400410316 Centerline is valid? [True, True] Translation: X:97.50, Y:24.85, Z:1.33 [[ 8.13248544e-01 -5.81825951e-01 -1.02648989e-02 9.75041135e+01] [ 5.81784528e-01 8.13313261e-01 -6.95000858e-03 2.48481491e+01] [ 1.23922737e-02 -3.19874985e-04 9.99923162e-01 1.33184138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:24.86, Z:1.33 [[ 8.13076230e-01 -5.82060091e-01 -1.06346134e-02 9.75271562e+01] [ 5.82015591e-01 8.13145707e-01 -7.20488436e-03 2.48634208e+01] [ 1.28411659e-02 -3.31390609e-04 9.99917494e-01 1.33197777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:24.88, Z:1.33 [[ 8.13254004e-01 -5.81808838e-01 -1.07889425e-02 9.75503071e+01] [ 5.81762999e-01 8.13325498e-01 -7.31074795e-03 2.48801794e+01] [ 1.30283798e-02 -3.31112483e-04 9.99915072e-01 1.33184904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:24.90, Z:1.33 [[ 8.13961746e-01 -5.80806869e-01 -1.13867256e-02 9.75728615e+01] [ 5.80755655e-01 8.14041321e-01 -7.71990712e-03 2.48993617e+01] [ 1.37530402e-02 -3.29196191e-04 9.99905368e-01 1.33176445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:24.92, Z:1.33 [[ 8.14404017e-01 -5.80184070e-01 -1.15127257e-02 9.75965348e+01] [ 5.80131602e-01 8.14485324e-01 -7.80905594e-03 2.49167872e+01] [ 1.39076360e-02 -3.19169494e-04 9.99903233e-01 1.33169018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:24.93, Z:1.33 [[ 8.14890496e-01 -5.79504129e-01 -1.13332705e-02 9.76195264e+01] [ 5.79453171e-01 8.14969247e-01 -7.69084457e-03 2.49330986e+01] [ 1.36931431e-02 -2.99903359e-04 9.99906200e-01 1.33193528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:24.95, Z:1.33 [[ 8.15493284e-01 -5.78657124e-01 -1.12532834e-02 9.76411204e+01] [ 5.78606774e-01 8.15570876e-01 -7.63862198e-03 2.49531939e+01] [ 1.35979932e-02 -2.81981073e-04 9.99907503e-01 1.33224877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:24.97, Z:1.33 [[ 8.15523105e-01 -5.78617922e-01 -1.11069818e-02 9.76639662e+01] [ 5.78568817e-01 8.15598691e-01 -7.54312828e-03 2.49703932e+01] [ 1.34234290e-02 -2.74557928e-04 9.99909864e-01 1.33305894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:24.99, Z:1.33 [[ 8.15450602e-01 -5.78723353e-01 -1.09360226e-02 9.76862662e+01] [ 5.78675704e-01 8.15523886e-01 -7.43104872e-03 2.49875630e+01] [ 1.32191091e-02 -2.68757424e-04 9.99912588e-01 1.33336402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:25.00, Z:1.33 [[ 8.15182565e-01 -5.79104065e-01 -1.07641378e-02 9.77100358e+01] [ 5.79057879e-01 8.15253586e-01 -7.31862513e-03 2.50022886e+01] [ 1.30137475e-02 -2.67043216e-04 9.99915282e-01 1.33456245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43361786499997 meters Centerline goodness [0,1] 0.9999781540141999 Centerline is valid? [True, True] Translation: X:97.73, Y:25.02, Z:1.34 [[ 8.14972298e-01 -5.79404838e-01 -1.04970349e-02 9.77325112e+01] [ 5.79360926e-01 8.15039854e-01 -7.13816034e-03 2.50187936e+01] [ 1.26913865e-02 -2.64168951e-04 9.99919426e-01 1.33522662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:25.04, Z:1.34 [[ 8.14453230e-01 -5.80128593e-01 -1.08051913e-02 9.77552212e+01] [ 5.80082071e-01 8.14524854e-01 -7.35205303e-03 2.50368015e+01] [ 1.30662330e-02 -2.79994385e-04 9.99914594e-01 1.33586504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:25.05, Z:1.34 [[ 8.13267642e-01 -5.81794679e-01 -1.05211284e-02 9.77794968e+01] [ 5.81750664e-01 8.13335640e-01 -7.16251851e-03 2.50509969e+01] [ 1.27243239e-02 -2.95628913e-04 9.99918999e-01 1.33640474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:25.07, Z:1.34 [[ 8.12692490e-01 -5.82599476e-01 -1.04291316e-02 9.78025369e+01] [ 5.82556277e-01 8.12759348e-01 -7.10119048e-03 2.50661080e+01] [ 1.26135240e-02 -3.04471891e-04 9.99920400e-01 1.33672108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:25.08, Z:1.34 [[ 8.11295903e-01 -5.84533854e-01 -1.09147224e-02 9.78250653e+01] [ 5.84486695e-01 8.11369245e-01 -7.43316230e-03 2.50845137e+01] [ 1.32008051e-02 -3.49015918e-04 9.99912805e-01 1.33690213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:25.10, Z:1.34 [[ 8.10658841e-01 -5.85416079e-01 -1.09662705e-02 9.78483478e+01] [ 5.85368502e-01 8.10732930e-01 -7.47215914e-03 2.50998709e+01] [ 1.32650387e-02 -3.61937463e-04 9.99911950e-01 1.33750505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.87, Y:25.12, Z:1.34 [[ 8.10164679e-01 -5.86093957e-01 -1.12724026e-02 9.78716222e+01] [ 5.86043733e-01 8.10243005e-01 -7.68219246e-03 2.51160688e+01] [ 1.36358720e-02 -3.82279937e-04 9.99906954e-01 1.33781943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:25.13, Z:1.34 [[ 8.09557581e-01 -5.86933587e-01 -1.12021316e-02 9.78956358e+01] [ 5.86884048e-01 8.09634986e-01 -7.63572675e-03 2.51321973e+01] [ 1.35513021e-02 -3.92791844e-04 9.99908100e-01 1.33835324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:25.15, Z:1.34 [[ 8.08629160e-01 -5.88201471e-01 -1.17435926e-02 9.79191015e+01] [ 5.88147102e-01 8.08714316e-01 -8.00889665e-03 2.51466448e+01] [ 1.42080562e-02 -4.30732580e-04 9.99898968e-01 1.33896050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:25.16, Z:1.34 [[ 8.08306231e-01 -5.88641064e-01 -1.19471411e-02 9.79424819e+01] [ 5.88584818e-01 8.08394396e-01 -8.14940056e-03 2.51631990e+01] [ 1.44550737e-02 -4.44694608e-04 9.99895421e-01 1.33911359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:25.18, Z:1.34 [[ 8.08173937e-01 -5.88813090e-01 -1.24110352e-02 9.79648100e+01] [ 5.88752349e-01 8.08269096e-01 -8.46993548e-03 2.51784555e+01] [ 1.50186651e-02 -4.61845026e-04 9.99887107e-01 1.33973071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:25.20, Z:1.34 [[ 8.07994779e-01 -5.89054476e-01 -1.26198924e-02 9.79861041e+01] [ 5.88991665e-01 8.08093188e-01 -8.61498482e-03 2.51970959e+01] [ 1.52727445e-02 -4.72148689e-04 9.99883253e-01 1.34093239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:25.21, Z:1.34 [[ 8.08259359e-01 -5.88685283e-01 -1.29014162e-02 9.80108522e+01] [ 5.88619517e-01 8.08362181e-01 -8.81189153e-03 2.52103898e+01] [ 1.56164478e-02 -4.71731596e-04 9.99877945e-01 1.34136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:25.23, Z:1.34 [[ 8.08341852e-01 -5.88570402e-01 -1.29742944e-02 9.80331581e+01] [ 5.88503844e-01 8.08445830e-01 -8.86370629e-03 2.52295667e+01] [ 1.57059294e-02 -4.70517388e-04 9.99876544e-01 1.34235021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:25.25, Z:1.34 [[ 8.08867235e-01 -5.87840800e-01 -1.33037755e-02 9.80555461e+01] [ 5.87770644e-01 8.08976501e-01 -9.09345573e-03 2.52475985e+01] [ 1.61079461e-02 -4.64170320e-04 9.99870151e-01 1.34322318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:25.26, Z:1.34 [[ 8.09208622e-01 -5.87365474e-01 -1.35353824e-02 9.80791399e+01] [ 5.87292711e-01 8.09321685e-01 -9.25647592e-03 2.52649640e+01] [ 1.63914128e-02 -4.58811282e-04 9.99865546e-01 1.34378626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:25.28, Z:1.34 [[ 8.09742394e-01 -5.86625422e-01 -1.37065488e-02 9.81018195e+01] [ 5.86550632e-01 8.09858269e-01 -9.37766523e-03 2.52813735e+01] [ 1.66015387e-02 -4.46091770e-04 9.99862085e-01 1.34405523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.12, Y:25.30, Z:1.34 [[ 8.11302224e-01 -5.84441580e-01 -1.47221099e-02 9.81242130e+01] [ 5.84354888e-01 8.11435676e-01 -1.00751471e-02 2.53002867e+01] [ 1.78343801e-02 -4.28947645e-04 9.99840863e-01 1.34395054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:25.32, Z:1.34 [[ 8.12191643e-01 -5.83212901e-01 -1.44030149e-02 9.81472857e+01] [ 5.83129652e-01 8.12319248e-01 -9.86148311e-03 2.53179541e+01] [ 1.74511904e-02 -3.89410887e-04 9.99847641e-01 1.34400968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:25.34, Z:1.34 [[ 8.13015294e-01 -5.82057017e-01 -1.46888193e-02 9.81707340e+01] [ 5.81970155e-01 8.13147892e-01 -1.00620617e-02 2.53356455e+01] [ 1.78008761e-02 -3.67844361e-04 9.99841484e-01 1.34446994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:25.35, Z:1.35 [[ 8.14585392e-01 -5.79871251e-01 -1.41411323e-02 9.81928577e+01] [ 5.79790342e-01 8.14708070e-01 -9.69122235e-03 2.53546664e+01] [ 1.71405558e-02 -3.04563769e-04 9.99853043e-01 1.34546811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.22, Y:25.37, Z:1.35 [[ 8.15226136e-01 -5.78975171e-01 -1.39319196e-02 9.82154926e+01] [ 5.78896429e-01 8.15345126e-01 -9.55252797e-03 2.53723600e+01] [ 1.68899993e-02 -2.77668062e-04 9.99857315e-01 1.34607694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.24, Y:25.39, Z:1.35 [[ 8.15739601e-01 -5.78252849e-01 -1.38761012e-02 9.82383761e+01] [ 5.78174551e-01 8.15857571e-01 -9.51904988e-03 2.53901361e+01] [ 1.68253400e-02 -2.57742665e-04 9.99858411e-01 1.34669606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:25.41, Z:1.35 [[ 8.16284184e-01 -5.77478704e-01 -1.40881959e-02 9.82614273e+01] [ 5.77397804e-01 8.16405713e-01 -9.66888558e-03 2.54063639e+01] [ 1.70852592e-02 -2.41935028e-04 9.99854007e-01 1.34640463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:25.42, Z:1.35 [[ 8.16673022e-01 -5.76922443e-01 -1.43412068e-02 9.82839316e+01] [ 5.76838480e-01 8.16798899e-01 -9.84514735e-03 2.54240151e+01] [ 1.73937684e-02 -2.32293708e-04 9.99848690e-01 1.34647798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499997 meters Centerline goodness [0,1] 0.9999131378935939 Centerline is valid? [True, True] Translation: X:98.31, Y:25.44, Z:1.34 [[ 8.16794294e-01 -5.76737293e-01 -1.48719804e-02 9.83068919e+01] [ 5.76646881e-01 8.16929642e-01 -1.02143725e-02 2.54380148e+01] [ 1.80403712e-02 -2.32839912e-04 9.99837232e-01 1.34421513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21361786499997 meters Centerline goodness [0,1] 0.999956566117228 Centerline is valid? [True, True] Translation: X:98.33, Y:25.45, Z:1.35 [[ 8.16645666e-01 -5.76953728e-01 -1.46373792e-02 9.83293433e+01] [ 5.76866120e-01 8.16776801e-01 -1.00567016e-02 2.54549154e+01] [ 1.77577232e-02 -2.31046333e-04 9.99842293e-01 1.34626810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:25.47, Z:1.35 [[ 8.15635469e-01 -5.78372510e-01 -1.49673383e-02 9.83534265e+01] [ 5.78281052e-01 8.15772744e-01 -1.02885490e-02 2.54696280e+01] [ 1.81605605e-02 -2.63622685e-04 9.99835049e-01 1.34572858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:25.48, Z:1.35 [[ 8.14795428e-01 -5.79561547e-01 -1.47249559e-02 9.83774805e+01] [ 5.79473184e-01 8.14928422e-01 -1.01240195e-02 2.54840682e+01] [ 1.78672774e-02 -2.83712287e-04 9.99840327e-01 1.34568832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:25.50, Z:1.35 [[ 8.12548190e-01 -5.82718859e-01 -1.42888118e-02 9.84026354e+01] [ 5.82636085e-01 8.12673745e-01 -9.82731982e-03 2.54983718e+01] [ 1.73387068e-02 -3.40006459e-04 9.99849616e-01 1.34640866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:25.51, Z:1.35 [[ 8.11404343e-01 -5.84317835e-01 -1.39878434e-02 9.84276075e+01] [ 5.84238678e-01 8.11524821e-01 -9.62448965e-03 2.55111629e+01] [ 1.69752430e-02 -3.62886425e-04 9.99855844e-01 1.34645831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:25.52, Z:1.35 [[ 8.09985984e-01 -5.86286531e-01 -1.38133307e-02 9.84518814e+01] [ 5.86209595e-01 8.10103663e-01 -9.50610239e-03 2.55245304e+01] [ 1.67635296e-02 -3.97697283e-04 9.99859403e-01 1.34690218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:25.54, Z:1.35 [[ 8.07982390e-01 -5.89048954e-01 -1.36303846e-02 9.84754221e+01] [ 5.88974407e-01 8.08097228e-01 -9.38177752e-03 2.55411016e+01] [ 1.65410022e-02 -4.47636668e-04 9.99863088e-01 1.34838070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:25.56, Z:1.35 [[ 8.07141158e-01 -5.90205338e-01 -1.34465475e-02 9.84990684e+01] [ 5.90132925e-01 8.07253024e-01 -9.25672158e-03 2.55556785e+01] [ 1.63181326e-02 -4.63769405e-04 9.99866743e-01 1.34851443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.52, Y:25.57, Z:1.35 [[ 8.06155074e-01 -5.91553305e-01 -1.33673024e-02 9.85233208e+01] [ 5.91481892e-01 8.06265745e-01 -9.20435006e-03 2.55714997e+01] [ 1.62224617e-02 -4.86383800e-04 9.99868289e-01 1.34869878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:25.59, Z:1.35 [[ 8.05433683e-01 -5.92542113e-01 -1.30547896e-02 9.85473850e+01] [ 5.92474067e-01 8.05539325e-01 -8.99313971e-03 2.55861129e+01] [ 1.58449604e-02 -4.91246650e-04 9.99874340e-01 1.34848686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:25.60, Z:1.35 [[ 8.04408789e-01 -5.93921720e-01 -1.35458808e-02 9.85707435e+01] [ 5.93848615e-01 8.04522656e-01 -9.33373567e-03 2.56026417e+01] [ 1.64414763e-02 -5.36063557e-04 9.99864686e-01 1.34758447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:25.62, Z:1.35 [[ 8.03815394e-01 -5.94719803e-01 -1.37538379e-02 9.85944824e+01] [ 5.94644472e-01 8.03932861e-01 -9.48190394e-03 2.56188423e+01] [ 1.66962383e-02 -5.56943331e-04 9.99860453e-01 1.34795781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:25.63, Z:1.35 [[ 8.03653222e-01 -5.94938984e-01 -1.37515113e-02 9.86171634e+01] [ 5.94863627e-01 8.03770673e-01 -9.48527722e-03 2.56345631e+01] [ 1.66962227e-02 -5.57400259e-04 9.99860453e-01 1.34832493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:25.65, Z:1.35 [[ 8.03468318e-01 -5.95182448e-01 -1.40184041e-02 9.86410872e+01] [ 5.95104091e-01 8.03590399e-01 -9.67425483e-03 2.56493788e+01] [ 1.70230016e-02 -5.69452362e-04 9.99854936e-01 1.34799355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:25.67, Z:1.35 [[ 8.03520074e-01 -5.95115994e-01 -1.38724398e-02 9.86636252e+01] [ 5.95039210e-01 8.03639621e-01 -9.57590084e-03 2.56676424e+01] [ 1.68472140e-02 -5.60217060e-04 9.99857919e-01 1.34740252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:25.68, Z:1.35 [[ 8.03735711e-01 -5.94815713e-01 -1.42539377e-02 9.86872545e+01] [ 5.94734525e-01 8.03861896e-01 -9.84364790e-03 2.56822462e+01] [ 1.73133538e-02 -5.65617500e-04 9.99849953e-01 1.34719406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:25.70, Z:1.35 [[ 8.04021874e-01 -5.94433892e-01 -1.40418600e-02 9.87100716e+01] [ 5.94355003e-01 8.04144296e-01 -9.69962091e-03 2.57003744e+01] [ 1.70574651e-02 -5.47142379e-04 9.99854361e-01 1.34730545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72361786499998 meters Centerline goodness [0,1] 0.9999781973575197 Centerline is valid? [True, True] Translation: X:98.73, Y:25.72, Z:1.35 [[ 8.04489945e-01 -5.93798102e-01 -1.41330236e-02 9.87335173e+01] [ 5.93718001e-01 8.04613901e-01 -9.76757340e-03 2.57166260e+01] [ 1.71715938e-02 -5.33115907e-04 9.99852415e-01 1.34775267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:25.73, Z:1.35 [[ 8.05709690e-01 -5.92160287e-01 -1.33450321e-02 9.87566592e+01] [ 5.92088582e-01 8.05820064e-01 -9.22689016e-03 2.57318453e+01] [ 1.62174925e-02 -4.67246309e-04 9.99868379e-01 1.34851138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:25.75, Z:1.35 [[ 8.06308965e-01 -5.91350187e-01 -1.30694275e-02 9.87804986e+01] [ 5.91281274e-01 8.06414759e-01 -9.03837971e-03 2.57483950e+01] [ 1.58842268e-02 -4.39981145e-04 9.99873741e-01 1.34913431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:25.77, Z:1.35 [[ 8.08551323e-01 -5.88296770e-01 -1.23153975e-02 9.88029587e+01] [ 5.88235167e-01 8.08645030e-01 -8.52081149e-03 2.57657955e+01] [ 1.49715509e-02 -3.54836520e-04 9.99887857e-01 1.34985741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:25.78, Z:1.35 [[ 8.09668086e-01 -5.86771833e-01 -1.16793141e-02 9.88262376e+01] [ 5.86716228e-01 8.09752260e-01 -8.08369728e-03 2.57836108e+01] [ 1.42006369e-02 -3.07331432e-04 9.99899119e-01 1.35046845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:25.80, Z:1.35 [[ 8.10758850e-01 -5.85270488e-01 -1.13376806e-02 9.88494007e+01] [ 5.85217890e-01 8.10838075e-01 -7.85095181e-03 2.58013751e+01] [ 1.37879535e-02 -2.69784830e-04 9.99904905e-01 1.35081283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:25.82, Z:1.35 [[ 8.12628089e-01 -5.82687816e-01 -1.05118186e-02 9.88707924e+01] [ 5.82642345e-01 8.12696048e-01 -7.28231969e-03 2.58217717e+01] [ 1.27862324e-02 -2.06813096e-04 9.99918231e-01 1.35090884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:25.84, Z:1.35 [[ 8.13272554e-01 -5.81794985e-01 -1.01166945e-02 9.88942872e+01] [ 5.81752756e-01 8.13335455e-01 -7.01202829e-03 2.58391910e+01] [ 1.23078292e-02 -1.82724768e-04 9.99924239e-01 1.35096790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499997 meters Centerline goodness [0,1] 0.9999781840394433 Centerline is valid? [True, True] Translation: X:98.92, Y:25.85, Z:1.35 [[ 8.14096292e-01 -5.80650874e-01 -9.58070257e-03 9.89178180e+01] [ 5.80612881e-01 8.14152651e-01 -6.64402760e-03 2.58541040e+01] [ 1.16580148e-02 -1.53801085e-04 9.99932031e-01 1.35131487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99361786499998 meters Centerline goodness [0,1] 0.9999344477220583 Centerline is valid? [True, True] Translation: X:98.94, Y:25.87, Z:1.35 [[ 8.14698818e-01 -5.79803017e-01 -9.71065499e-03 9.89403088e+01] [ 5.79763912e-01 8.14756676e-01 -6.73539432e-03 2.58699515e+01] [ 1.18170229e-02 -1.42569528e-04 9.99930166e-01 1.35147058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:25.89, Z:1.35 [[ 8.15042406e-01 -5.79305903e-01 -1.05141642e-02 9.89630964e+01] [ 5.79260001e-01 8.15110207e-01 -7.29394223e-03 2.58880556e+01] [ 1.27956263e-02 -1.45562533e-04 9.99918122e-01 1.35075152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:25.90, Z:1.35 [[ 8.14779521e-01 -5.79674622e-01 -1.05671481e-02 9.89868783e+01] [ 5.79628238e-01 8.14848029e-01 -7.33450125e-03 2.59017552e+01] [ 1.28622440e-02 -1.49016007e-04 9.99917267e-01 1.35063066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:25.92, Z:1.35 [[ 8.13760836e-01 -5.81111641e-01 -1.01273366e-02 9.90104058e+01] [ 5.81069131e-01 8.13823835e-01 -7.03070008e-03 2.59187265e+01] [ 1.23274895e-02 -1.63374292e-04 9.99924000e-01 1.35009361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:25.93, Z:1.35 [[ 8.12756828e-01 -5.82521376e-01 -9.75624548e-03 9.90348119e+01] [ 5.82481988e-01 8.12815364e-01 -6.77627556e-03 2.59346345e+01] [ 1.18773516e-02 -1.75373029e-04 9.99929446e-01 1.35013035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14361786499998 meters Centerline goodness [0,1] 0.9999346348265644 Centerline is valid? [True, True] Translation: X:99.06, Y:25.95, Z:1.35 [[ 8.11723902e-01 -5.83961866e-01 -9.63568401e-03 9.90589466e+01] [ 5.83923506e-01 8.11781068e-01 -6.69604462e-03 2.59493028e+01] [ 1.17323006e-02 -1.91162914e-04 9.99931156e-01 1.35057276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:25.96, Z:1.35 [[ 8.10343223e-01 -5.85881671e-01 -9.30207117e-03 9.90836517e+01] [ 5.85846031e-01 8.10396584e-01 -6.46558487e-03 2.59639054e+01] [ 1.13264344e-02 -2.10238594e-04 9.99935832e-01 1.35109760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:25.98, Z:1.35 [[ 8.07708510e-01 -5.89526270e-01 -8.10800590e-03 9.91090331e+01] [ 5.89499348e-01 8.07749172e-01 -5.63858333e-03 2.59762788e+01] [ 9.87332806e-03 -2.25332451e-04 9.99951232e-01 1.35204795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:25.99, Z:1.35 [[ 8.06367722e-01 -5.91361653e-01 -7.90522652e-03 9.91335495e+01] [ 5.91336141e-01 8.06406434e-01 -5.49830236e-03 2.59905211e+01] [ 9.62631071e-03 -2.40992603e-04 9.99953637e-01 1.35281299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:26.01, Z:1.35 [[ 8.05343012e-01 -5.92759269e-01 -7.68641729e-03 9.91564639e+01] [ 5.92735205e-01 8.05379654e-01 -5.34698102e-03 2.60072782e+01] [ 9.35995666e-03 -2.49856329e-04 9.99956163e-01 1.35252963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29361786499997 meters Centerline goodness [0,1] 0.9999781702285577 Centerline is valid? [True, True] Translation: X:99.18, Y:26.02, Z:1.35 [[ 8.03909683e-01 -5.94700307e-01 -7.79532752e-03 9.91810530e+01] [ 5.94675645e-01 8.03947429e-01 -5.42302491e-03 2.60226246e+01] [ 9.49210809e-03 -2.76069184e-04 9.99954911e-01 1.35199597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499997 meters Centerline goodness [0,1] 0.9999127190207074 Centerline is valid? [True, True] Translation: X:99.20, Y:26.04, Z:1.35 [[ 8.03827629e-01 -5.94805655e-01 -8.20822573e-03 9.92035932e+01] [ 5.94778281e-01 8.03869485e-01 -5.71382308e-03 2.60373001e+01] [ 9.99695647e-03 -2.89145533e-04 9.99949987e-01 1.35148667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:26.05, Z:1.35 [[ 8.03706741e-01 -5.94960833e-01 -8.77958329e-03 9.92264788e+01] [ 5.94929512e-01 8.03754633e-01 -6.11272484e-03 2.60533955e+01] [ 1.06934626e-02 -3.10395040e-04 9.99942775e-01 1.35088463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499998 meters Centerline goodness [0,1] 0.9999562478123907 Centerline is valid? [True, True] Translation: X:99.25, Y:26.07, Z:1.35 [[ 8.04206446e-01 -5.94268609e-01 -9.83933572e-03 9.92493552e+01] [ 5.94229165e-01 8.04266565e-01 -6.85501742e-03 2.60711399e+01] [ 1.19871704e-02 -3.33971051e-04 9.99928096e-01 1.34956118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:26.09, Z:1.35 [[ 8.04475730e-01 -5.93893534e-01 -1.04532041e-02 9.92731646e+01] [ 5.93848931e-01 8.04543566e-01 -7.28671717e-03 2.60852051e+01] [ 1.27375924e-02 -3.45636991e-04 9.99918814e-01 1.34913188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44361786499998 meters Centerline goodness [0,1] 0.9999781296474499 Centerline is valid? [True, True] Translation: X:99.29, Y:26.10, Z:1.35 [[ 8.04782039e-01 -5.93473673e-01 -1.07177171e-02 9.92947715e+01] [ 5.93426730e-01 8.04853328e-01 -7.47241619e-03 2.61048021e+01] [ 1.30608726e-02 -3.46513486e-04 9.99914643e-01 1.34922873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47361786499998 meters Centerline goodness [0,1] 0.9998902377450443 Centerline is valid? [True, True] Translation: X:99.32, Y:26.12, Z:1.35 [[ 8.05384129e-01 -5.92667180e-01 -1.01004374e-02 9.93180180e+01] [ 5.92625381e-01 8.05447402e-01 -7.04563120e-03 2.61196500e+01] [ 1.23110855e-02 -3.11336034e-04 9.99924167e-01 1.34937282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:26.14, Z:1.35 [[ 8.05677141e-01 -5.92280131e-01 -9.41224421e-03 9.93412713e+01] [ 5.92243799e-01 8.05732068e-01 -6.56633604e-03 2.61365204e+01] [ 1.14728574e-02 -2.83996419e-04 9.99934144e-01 1.35031447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:26.15, Z:1.35 [[ 8.05932413e-01 -5.91933551e-01 -9.36034156e-03 9.93647860e+01] [ 5.91897559e-01 8.05986721e-01 -6.53336840e-03 2.61527948e+01] [ 1.14116310e-02 -2.74909959e-04 9.99934847e-01 1.35115945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:26.17, Z:1.35 [[ 8.06082829e-01 -5.91739194e-01 -8.67181109e-03 9.93875023e+01] [ 5.91708257e-01 8.06129434e-01 -6.05591243e-03 2.61678099e+01] [ 1.05741229e-02 -2.49615199e-04 9.99944061e-01 1.35182040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:26.19, Z:1.35 [[ 8.05935679e-01 -5.91943194e-01 -8.42236301e-03 9.94095025e+01] [ 5.91914015e-01 8.05979650e-01 -5.88247005e-03 2.61860697e+01] [ 1.02703413e-02 -2.44422208e-04 9.99947229e-01 1.35215530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:26.20, Z:1.35 [[ 8.05666465e-01 -5.92316770e-01 -7.89879116e-03 9.94334481e+01] [ 5.92291088e-01 8.05705151e-01 -5.52053699e-03 2.62007887e+01] [ 9.63400336e-03 -2.30672091e-04 9.99953565e-01 1.35285950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:26.22, Z:1.35 [[ 8.05311784e-01 -5.92805391e-01 -7.39582748e-03 9.94562246e+01] [ 5.92782896e-01 8.05345714e-01 -5.16902067e-03 2.62194525e+01] [ 9.02042129e-03 -2.21446774e-04 9.99959291e-01 1.35301792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:26.23, Z:1.35 [[ 8.04884467e-01 -5.93395321e-01 -6.55656875e-03 9.94795208e+01] [ 5.93377638e-01 8.04911146e-01 -4.58536331e-03 2.62341312e+01] [ 7.99838840e-03 -1.99833571e-04 9.99967992e-01 1.35383245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:26.25, Z:1.35 [[ 8.04279282e-01 -5.94223318e-01 -5.78659215e-03 9.95031021e+01] [ 5.94209570e-01 8.04300077e-01 -4.04628969e-03 2.62501864e+01] [ 7.05855620e-03 -1.84101469e-04 9.99975071e-01 1.35430861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:26.27, Z:1.35 [[ 8.03714452e-01 -5.94988364e-01 -5.65043993e-03 9.95274341e+01] [ 5.94975261e-01 8.03734293e-01 -3.95298599e-03 2.62664541e+01] [ 6.89343301e-03 -1.84800000e-04 9.99976223e-01 1.35485962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:26.28, Z:1.35 [[ 8.02341187e-01 -5.96839866e-01 -5.54934273e-03 9.95509714e+01] [ 5.96827251e-01 8.02360354e-01 -3.88534819e-03 2.62809064e+01] [ 6.77150329e-03 -1.94624087e-04 9.99977054e-01 1.35462542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:26.30, Z:1.35 [[ 8.01496654e-01 -5.97969101e-01 -6.00571954e-03 9.95744085e+01] [ 5.97954353e-01 8.01519124e-01 -4.20544375e-03 2.62958692e+01] [ 7.32842448e-03 -2.20497048e-04 9.99973122e-01 1.35422409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:26.31, Z:1.35 [[ 8.00657592e-01 -5.99085291e-01 -6.65092791e-03 9.95981575e+01] [ 5.99067237e-01 8.00685175e-01 -4.65800265e-03 2.63119329e+01] [ 8.11584025e-03 -2.54887817e-04 9.99967034e-01 1.35400512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:26.33, Z:1.35 [[ 7.99861706e-01 -6.00144638e-01 -6.90402054e-03 9.96222141e+01] [ 6.00125201e-01 7.99891455e-01 -4.83775443e-03 2.63279269e+01] [ 8.42581941e-03 -2.73742199e-04 9.99964465e-01 1.35355669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.65, Y:26.34, Z:1.35 [[ 7.98418075e-01 -6.02066844e-01 -6.64023869e-03 9.96462207e+01] [ 6.02048906e-01 7.98445638e-01 -4.65598804e-03 2.63422819e+01] [ 8.10508564e-03 -2.80323429e-04 9.99967114e-01 1.35361652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.67, Y:26.36, Z:1.35 [[ 7.97551122e-01 -6.03216578e-01 -6.47829470e-03 9.96702702e+01] [ 6.03199544e-01 7.97577381e-01 -4.54218427e-03 2.63587330e+01] [ 7.90686217e-03 -2.85080244e-04 9.99968700e-01 1.35354832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:26.37, Z:1.35 [[ 7.96320962e-01 -6.04845470e-01 -5.90614953e-03 9.96938002e+01] [ 6.04831337e-01 7.96342818e-01 -4.14376817e-03 2.63738393e+01] [ 7.20965916e-03 -2.72454863e-04 9.99973973e-01 1.35380842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:26.39, Z:1.35 [[ 7.95932438e-01 -6.05356621e-01 -5.90889474e-03 9.97170293e+01] [ 6.05342484e-01 7.95954323e-01 -4.14636155e-03 2.63889011e+01] [ 7.21323773e-03 -2.76681360e-04 9.99973946e-01 1.35476725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:26.41, Z:1.36 [[ 7.95622270e-01 -6.05765542e-01 -5.77166914e-03 9.97406312e+01] [ 6.05752067e-01 7.95643157e-01 -4.04963339e-03 2.64059688e+01] [ 7.04531741e-03 -2.74222005e-04 9.99975144e-01 1.35536813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:26.42, Z:1.36 [[ 7.96491881e-01 -6.04618326e-01 -6.11252561e-03 9.97624217e+01] [ 6.04603155e-01 7.96515287e-01 -4.29200157e-03 2.64227492e+01] [ 7.46374290e-03 -2.77107871e-04 9.99972107e-01 1.35610082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:26.44, Z:1.36 [[ 7.97292329e-01 -6.03561691e-01 -6.18284072e-03 9.97851345e+01] [ 6.03546139e-01 7.97316256e-01 -4.34113187e-03 2.64410359e+01] [ 7.54982030e-03 -2.70478506e-04 9.99971463e-01 1.35629486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:26.46, Z:1.36 [[ 7.98297918e-01 -6.02223427e-01 -6.88315242e-03 9.98072367e+01] [ 6.02204082e-01 7.98327541e-01 -4.83544802e-03 2.64587476e+01] [ 8.40703022e-03 -2.84934394e-04 9.99964620e-01 1.35626730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:26.48, Z:1.36 [[ 8.00893407e-01 -5.98759465e-01 -7.54018017e-03 9.98268614e+01] [ 5.98736068e-01 8.00928855e-01 -5.30007353e-03 2.64784613e+01] [ 9.21261706e-03 -2.69783875e-04 9.99957527e-01 1.35588899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:26.50, Z:1.36 [[ 8.02005763e-01 -5.97265952e-01 -7.75493502e-03 9.98494810e+01] [ 5.97241119e-01 8.02043213e-01 -5.45258456e-03 2.64973221e+01] [ 9.47643611e-03 -2.58561831e-04 9.99955064e-01 1.35583095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:26.52, Z:1.36 [[ 8.02898863e-01 -5.96059800e-01 -8.13205147e-03 9.98686599e+01] [ 5.96032407e-01 8.02940004e-01 -5.72015578e-03 2.65210464e+01] [ 9.93910435e-03 -2.54259639e-04 9.99950574e-01 1.35547447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:26.53, Z:1.36 [[ 8.04059659e-01 -5.94501789e-01 -7.46241300e-03 9.98937692e+01] [ 5.94478628e-01 8.04094259e-01 -5.25198959e-03 2.65332909e+01] [ 9.12280066e-03 -2.13332083e-04 9.99958364e-01 1.35772001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:26.56, Z:1.36 [[ 8.04329794e-01 -5.94135896e-01 -7.49126844e-03 9.99133887e+01] [ 5.94112538e-01 8.04364652e-01 -5.27247734e-03 2.65555459e+01] [ 9.15827958e-03 -2.09845889e-04 9.99958040e-01 1.35727569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28361786499998 meters Centerline goodness [0,1] 0.9999349113709834 Centerline is valid? [True, True] Translation: X:99.94, Y:26.57, Z:1.36 [[ 8.04396508e-01 -5.94045763e-01 -7.47597422e-03 9.99353484e+01] [ 5.94022474e-01 8.04431221e-01 -5.26414022e-03 2.65725553e+01] [ 9.14104727e-03 -2.06440697e-04 9.99958198e-01 1.35738970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:26.59, Z:1.36 [[ 8.04510874e-01 -5.93887980e-01 -7.70202339e-03 9.99587272e+01] [ 5.93863216e-01 8.04547714e-01 -5.42743841e-03 2.65882828e+01] [ 9.41993575e-03 -2.07515157e-04 9.99955610e-01 1.35804001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:26.61, Z:1.36 [[ 8.04566624e-01 -5.93809100e-01 -7.95620184e-03 9.99808628e+01] [ 5.93782668e-01 8.04605933e-01 -5.60677478e-03 2.66060788e+01] [ 9.73096109e-03 -2.13230902e-04 9.99952630e-01 1.35785125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:26.62, Z:1.36 [[ 8.04345892e-01 -5.94105828e-01 -8.12099771e-03 1.00003441e+02] [ 5.94078271e-01 8.04386858e-01 -5.72625341e-03 2.66227948e+01] [ 9.93442436e-03 -2.18619867e-04 9.99950628e-01 1.35799868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:26.64, Z:1.36 [[ 8.04056145e-01 -5.94497142e-01 -8.17706562e-03 1.00026061e+02] [ 5.94469185e-01 8.04097693e-01 -5.76966261e-03 2.66382262e+01] [ 1.00052075e-02 -2.21880860e-04 9.99949922e-01 1.35864051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:26.65, Z:1.36 [[ 8.03630884e-01 -5.95079352e-01 -7.61359636e-03 1.00049218e+02] [ 5.95055126e-01 8.03666921e-01 -5.37373840e-03 2.66537553e+01] [ 9.31659631e-03 -2.12007398e-04 9.99956577e-01 1.35929469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:26.67, Z:1.36 [[ 8.03248966e-01 -5.95597686e-01 -7.38200537e-03 1.00073204e+02] [ 5.95574933e-01 8.03282859e-01 -5.21037509e-03 2.66706411e+01] [ 9.03312573e-03 -2.11308942e-04 9.99959178e-01 1.35981660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:26.69, Z:1.36 [[ 8.03091987e-01 -5.95809351e-01 -7.38088708e-03 1.00095688e+02] [ 5.95786592e-01 8.03125876e-01 -5.21195858e-03 2.66866177e+01] [ 9.03311506e-03 -2.11751387e-04 9.99959178e-01 1.36018361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499998 meters Centerline goodness [0,1] 0.9999132791327914 Centerline is valid? [True, True] Translation: X:100.12, Y:26.70, Z:1.36 [[ 8.02522737e-01 -5.96576560e-01 -7.32562136e-03 1.00119634e+02] [ 5.96554145e-01 8.02556142e-01 -5.17597950e-03 2.67033868e+01] [ 8.96709046e-03 -2.16288560e-04 9.99959771e-01 1.36042017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:26.72, Z:1.36 [[ 8.01613270e-01 -5.97800932e-01 -7.08598655e-03 1.00141721e+02] [ 5.97779988e-01 8.01644558e-01 -5.00892364e-03 2.67215312e+01] [ 8.67478178e-03 -2.20641295e-04 9.99962349e-01 1.36026781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:26.74, Z:1.36 [[ 8.01147625e-01 -5.98423586e-01 -7.18991294e-03 1.00165696e+02] [ 5.98402024e-01 8.01179855e-01 -5.08501802e-03 2.67381524e+01] [ 8.80340812e-03 -2.28608349e-04 9.99961223e-01 1.36031144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61361786499998 meters Centerline goodness [0,1] 0.9999348604928889 Centerline is valid? [True, True] Translation: X:100.19, Y:26.75, Z:1.36 [[ 8.00082917e-01 -5.99841131e-01 -7.61200574e-03 1.00188920e+02] [ 5.99816996e-01 8.00119086e-01 -5.38693192e-03 2.67527424e+01] [ 9.32181442e-03 -2.55818210e-04 9.99956518e-01 1.35968673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:26.77, Z:1.36 [[ 7.99466012e-01 -6.00660177e-01 -7.83885378e-03 1.00212679e+02] [ 6.00634608e-01 7.99504395e-01 -5.54887262e-03 2.67697959e+01] [ 9.60018486e-03 -2.72151798e-04 9.99953880e-01 1.35956528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:26.79, Z:1.36 [[ 7.98711701e-01 -6.01659497e-01 -8.09127081e-03 1.00236762e+02] [ 6.01632276e-01 7.98752631e-01 -5.73055670e-03 2.67862034e+01] [ 9.91076771e-03 -2.90906980e-04 9.99950845e-01 1.35932221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:26.80, Z:1.36 [[ 7.97904713e-01 -6.02724159e-01 -8.46498769e-03 1.00260076e+02] [ 6.02694393e-01 7.97949552e-01 -5.99839922e-03 2.68036191e+01] [ 1.03700133e-02 -3.15649609e-04 9.99946180e-01 1.35924434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:26.82, Z:1.36 [[ 7.96877285e-01 -6.04060858e-01 -9.85249258e-03 1.00283174e+02] [ 6.04020581e-01 7.96938098e-01 -6.98606146e-03 2.68191712e+01] [ 1.20718330e-02 -3.84074605e-04 9.99927059e-01 1.35904814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:26.84, Z:1.36 [[ 7.96561936e-01 -6.04470064e-01 -1.02481066e-02 1.00306430e+02] [ 6.04426506e-01 7.96627753e-01 -7.26780451e-03 2.68356899e+01] [ 1.25570964e-02 -4.04970860e-04 9.99921075e-01 1.35889740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:26.85, Z:1.36 [[ 7.96481653e-01 -6.04565388e-01 -1.08475063e-02 1.00329196e+02] [ 6.04516540e-01 7.96555403e-01 -7.69697249e-03 2.68520587e+01] [ 1.32939629e-02 -4.26999597e-04 9.99911540e-01 1.35906902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:26.87, Z:1.36 [[ 7.96365826e-01 -6.04712037e-01 -1.11724101e-02 1.00351381e+02] [ 6.04660170e-01 7.96444072e-01 -7.93217027e-03 2.68693031e+01] [ 1.36948787e-02 -4.38602079e-04 9.99906125e-01 1.35908258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:26.88, Z:1.36 [[ 7.97197459e-01 -6.03602321e-01 -1.18511092e-02 1.00375456e+02] [ 6.03543767e-01 7.97285422e-01 -8.41892813e-03 2.68839626e+01] [ 1.45304011e-02 -4.41114955e-04 9.99894331e-01 1.35967722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499998 meters Centerline goodness [0,1] 0.9999565981641023 Centerline is valid? [True, True] Translation: X:100.40, Y:26.90, Z:1.36 [[ 7.97872202e-01 -6.02705984e-01 -1.20601237e-02 1.00397935e+02] [ 6.02645216e-01 7.97963227e-01 -8.56925199e-03 2.69025562e+01] [ 1.47882747e-02 -4.30807898e-04 9.99890555e-01 1.36021872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:26.92, Z:1.36 [[ 7.98703003e-01 -6.01606875e-01 -1.19449453e-02 1.00421507e+02] [ 6.01547081e-01 7.98792217e-01 -8.49141358e-03 2.69179098e+01] [ 1.46500221e-02 -4.03329432e-04 9.99892601e-01 1.36066251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:26.94, Z:1.36 [[ 8.00510480e-01 -5.99209265e-01 -1.14555249e-02 1.00442615e+02] [ 5.99154004e-01 8.00592368e-01 -8.14500547e-03 2.69381449e+01] [ 1.40517685e-02 -3.43461344e-04 9.99901210e-01 1.36158621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:26.95, Z:1.36 [[ 8.01287822e-01 -5.98175264e-01 -1.11435871e-02 1.00465501e+02] [ 5.98122824e-01 8.01365245e-01 -7.92668947e-03 2.69548850e+01] [ 1.36716330e-02 -3.13674063e-04 9.99906490e-01 1.36235360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00361786499998 meters Centerline goodness [0,1] 0.9999567679737149 Centerline is valid? [True, True] Translation: X:100.49, Y:26.97, Z:1.36 [[ 8.01886883e-01 -5.97383821e-01 -1.04879947e-02 1.00488009e+02] [ 5.97337257e-01 8.01955418e-01 -7.46384705e-03 2.69724176e+01] [ 1.28696856e-02 -2.79708937e-04 9.99917143e-01 1.36344729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:26.99, Z:1.36 [[ 8.02316594e-01 -5.96818139e-01 -9.80776383e-03 1.00510834e+02] [ 5.96777339e-01 8.02376499e-01 -6.98298000e-03 2.69893715e+01] [ 1.20370883e-02 -2.50490473e-04 9.99927520e-01 1.36489473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.53, Y:27.01, Z:1.37 [[ 8.02343674e-01 -5.96786388e-01 -9.52030454e-03 1.00533512e+02] [ 5.96747904e-01 8.02400118e-01 -6.78153002e-03 2.70053322e+01] [ 1.16862183e-02 -2.40104068e-04 9.99931685e-01 1.36581637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.56, Y:27.02, Z:1.37 [[ 8.02148689e-01 -5.97053008e-01 -9.22963020e-03 1.00555806e+02] [ 5.97016812e-01 8.02201752e-01 -6.57838054e-03 2.70201812e+01] [ 1.13316674e-02 -2.33405064e-04 9.99935767e-01 1.36683479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:27.04, Z:1.37 [[ 8.01401140e-01 -5.98063911e-01 -8.70472482e-03 1.00579765e+02] [ 5.98031752e-01 8.01448379e-01 -6.20636482e-03 2.70360309e+01] [ 1.06881904e-02 -2.31913993e-04 9.99942853e-01 1.36823699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:27.05, Z:1.37 [[ 8.01059402e-01 -5.98526793e-01 -8.33737776e-03 1.00602953e+02] [ 5.98497281e-01 8.01102757e-01 -5.94786255e-03 2.70514404e+01] [ 1.02390514e-02 -2.25306698e-04 9.99947554e-01 1.36863619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.63, Y:27.07, Z:1.37 [[ 8.00629704e-01 -5.99102267e-01 -8.27953252e-03 1.00626203e+02] [ 5.99073189e-01 8.00672481e-01 -5.90704750e-03 2.70686272e+01] [ 1.01681194e-02 -2.30688262e-04 9.99948277e-01 1.36881139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:27.09, Z:1.37 [[ 7.99845491e-01 -6.00149020e-01 -8.26706373e-03 1.00649313e+02] [ 6.00120056e-01 7.99888177e-01 -5.90108086e-03 2.70853013e+01] [ 1.01542544e-02 -2.41277832e-04 9.99948415e-01 1.36868062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499998 meters Centerline goodness [0,1] 0.9999782816436452 Centerline is valid? [True, True] Translation: X:100.67, Y:27.10, Z:1.37 [[ 7.99489110e-01 -6.00621517e-01 -8.42358331e-03 1.00672730e+02] [ 6.00591440e-01 7.99533446e-01 -6.01589330e-03 2.71014523e+01] [ 1.03482116e-02 -2.49490849e-04 9.99946425e-01 1.36886669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:27.12, Z:1.37 [[ 7.98878781e-01 -6.01418031e-01 -9.43632195e-03 1.00697019e+02] [ 6.01380298e-01 7.98934458e-01 -6.74300805e-03 2.71171996e+01] [ 1.15943694e-02 -2.87972057e-04 9.99932742e-01 1.36895375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.72, Y:27.13, Z:1.37 [[ 7.98577342e-01 -6.01813410e-01 -9.73900776e-03 1.00720191e+02] [ 6.01773205e-01 7.98636669e-01 -6.96283763e-03 2.71335461e+01] [ 1.19682578e-02 -3.00309544e-04 9.99928333e-01 1.36901891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:27.15, Z:1.37 [[ 7.98252120e-01 -6.02240717e-01 -9.98362721e-03 1.00742704e+02] [ 6.02198448e-01 7.98314488e-01 -7.14188198e-03 2.71503441e+01] [ 1.22712064e-02 -3.11102388e-04 9.99924658e-01 1.36863264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:27.17, Z:1.37 [[ 7.98107373e-01 -6.02422908e-01 -1.05480729e-02 1.00765229e+02] [ 6.02375680e-01 7.98177006e-01 -7.55029978e-03 2.71657562e+01] [ 1.29677028e-02 -3.27952674e-04 9.99915862e-01 1.36866817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:27.18, Z:1.37 [[ 7.97908854e-01 -6.02682238e-01 -1.07507967e-02 1.00786687e+02] [ 6.02633176e-01 7.97981207e-01 -7.69732868e-03 2.71840600e+01] [ 1.32179770e-02 -3.37020054e-04 9.99912582e-01 1.36876913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:27.20, Z:1.37 [[ 7.97754316e-01 -6.02886375e-01 -1.07735701e-02 1.00809427e+02] [ 6.02837064e-01 7.97826989e-01 -7.71816436e-03 2.71980115e+01] [ 1.32486212e-02 -3.37508463e-04 9.99912176e-01 1.36938256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:27.22, Z:1.37 [[ 7.97808244e-01 -6.02818149e-01 -1.05964789e-02 1.00831163e+02] [ 6.02770416e-01 7.97878544e-01 -7.59307707e-03 2.72156018e+01] [ 1.30319478e-02 -3.29424482e-04 9.99915026e-01 1.36980585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.85, Y:27.23, Z:1.37 [[ 7.98126434e-01 -6.02400734e-01 -1.03707165e-02 1.00854327e+02] [ 6.02354925e-01 7.98193748e-01 -7.43546875e-03 2.72334267e+01] [ 1.27569729e-02 -3.12408004e-04 9.99918578e-01 1.37062984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:27.25, Z:1.37 [[ 7.98312367e-01 -6.02154363e-01 -1.03676616e-02 1.00877705e+02] [ 6.02108513e-01 7.98379628e-01 -7.43700152e-03 2.72507299e+01] [ 1.27555527e-02 -3.05406993e-04 9.99918598e-01 1.37132945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:27.27, Z:1.37 [[ 7.98516233e-01 -6.01884402e-01 -1.03437438e-02 1.00901364e+02] [ 6.01838693e-01 7.98583169e-01 -7.42355286e-03 2.72680792e+01] [ 1.27284604e-02 -2.97437790e-04 9.99918946e-01 1.37181011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:27.28, Z:1.37 [[ 7.98992271e-01 -6.01249028e-01 -1.05336421e-02 1.00924753e+02] [ 6.01201520e-01 7.99061651e-01 -7.56374372e-03 2.72831751e+01] [ 1.29647230e-02 -2.89468848e-04 9.99915913e-01 1.37215525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:27.30, Z:1.37 [[ 7.99003208e-01 -6.01230349e-01 -1.07675527e-02 1.00946059e+02] [ 6.01180688e-01 7.99075704e-01 -7.73307725e-03 2.73014899e+01] [ 1.32534505e-02 -2.94491196e-04 9.99912126e-01 1.37226221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:27.32, Z:1.37 [[ 7.99023131e-01 -6.01202986e-01 -1.08169205e-02 1.00969150e+02] [ 6.01152807e-01 7.99096293e-01 -7.77291486e-03 2.73180609e+01] [ 1.33168607e-02 -2.91883352e-04 9.99911284e-01 1.37255147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:27.33, Z:1.37 [[ 7.98442298e-01 -6.01970409e-01 -1.10237593e-02 1.00992550e+02] [ 6.01918304e-01 7.98518336e-01 -7.92608854e-03 2.73347368e+01] [ 1.35739447e-02 -3.06878136e-04 9.99907823e-01 1.37314485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.02, Y:27.35, Z:1.37 [[ 7.97998678e-01 -6.02557016e-01 -1.10973784e-02 1.01015400e+02] [ 6.02504215e-01 7.98075775e-01 -7.98302151e-03 2.73499661e+01] [ 1.36667745e-02 -3.15776651e-04 9.99906555e-01 1.37350391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72361786499998 meters Centerline goodness [0,1] 0.9999784394471875 Centerline is valid? [True, True] Translation: X:101.04, Y:27.36, Z:1.37 [[ 7.97618726e-01 -6.03053835e-01 -1.14210611e-02 1.01039630e+02] [ 6.02997938e-01 7.97700421e-01 -8.21737736e-03 2.73645327e+01] [ 1.40661062e-02 -3.32542230e-04 9.99901012e-01 1.37378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.06, Y:27.38, Z:1.37 [[ 7.96861278e-01 -6.04044836e-01 -1.19138484e-02 1.01063966e+02] [ 6.03984099e-01 7.96950251e-01 -8.57350396e-03 2.73790231e+01] [ 1.46735253e-02 -3.63881696e-04 9.99892272e-01 1.37364780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:27.40, Z:1.37 [[ 7.96480965e-01 -6.04552865e-01 -1.15717188e-02 1.01086044e+02] [ 6.04495598e-01 7.96564939e-01 -8.32885679e-03 2.73976970e+01] [ 1.42528597e-02 -3.61277152e-04 9.99898358e-01 1.37411057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:27.41, Z:1.37 [[ 7.95936118e-01 -6.05271702e-01 -1.14831508e-02 1.01110038e+02] [ 6.05215324e-01 7.96018864e-01 -8.26921136e-03 2.74142070e+01] [ 1.41459243e-02 -3.68014872e-04 9.99899874e-01 1.37453163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.14, Y:27.43, Z:1.38 [[ 7.95563595e-01 -6.05768757e-01 -1.10805567e-02 1.01135465e+02] [ 6.05716260e-01 7.95640675e-01 -7.98308710e-03 2.74271632e+01] [ 1.36520464e-02 -3.60619899e-04 9.99906741e-01 1.37526622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.16, Y:27.45, Z:1.38 [[ 7.94602601e-01 -6.07047034e-01 -1.00302016e-02 1.01156933e+02] [ 6.07004106e-01 7.94665828e-01 -7.22749402e-03 2.74458689e+01] [ 1.23580872e-02 -3.45387982e-04 9.99923576e-01 1.37661468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:27.46, Z:1.38 [[ 7.93896246e-01 -6.07975362e-01 -9.73186861e-03 1.01180342e+02] [ 6.07935008e-01 7.93955816e-01 -7.01347728e-03 2.74630927e+01] [ 1.19906951e-02 -3.48370340e-04 9.99928048e-01 1.37712903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.20, Y:27.48, Z:1.38 [[ 7.92800613e-01 -6.09408317e-01 -9.41760775e-03 1.01204198e+02] [ 6.09370585e-01 7.92856467e-01 -6.79059517e-03 2.74774386e+01] [ 1.16050564e-02 -3.55225133e-04 9.99932596e-01 1.37829373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.23, Y:27.49, Z:1.38 [[ 7.92294498e-01 -6.10072235e-01 -9.01649926e-03 1.01227642e+02] [ 6.10037672e-01 7.92345725e-01 -6.50317774e-03 2.74932042e+01] [ 1.11115928e-02 -3.47972273e-04 9.99938204e-01 1.37874921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.25, Y:27.51, Z:1.38 [[ 7.91964467e-01 -6.10504604e-01 -8.74138519e-03 1.01250313e+02] [ 6.10472138e-01 7.92012633e-01 -6.30533550e-03 2.75113217e+01] [ 1.07727239e-02 -3.42770445e-04 9.99941914e-01 1.37899008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:27.53, Z:1.38 [[ 7.92005341e-01 -6.10454203e-01 -8.55602053e-03 1.01272692e+02] [ 6.10423061e-01 7.92051485e-01 -6.17509814e-03 2.75260793e+01] [ 1.05464234e-02 -3.32081533e-04 9.99944330e-01 1.37960573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05361786499998 meters Centerline goodness [0,1] 0.9999783127304273 Centerline is valid? [True, True] Translation: X:101.30, Y:27.54, Z:1.38 [[ 7.92114677e-01 -6.10317445e-01 -8.18261603e-03 1.01295423e+02] [ 6.10288945e-01 7.92156876e-01 -5.90655132e-03 2.75433621e+01] [ 1.00867869e-02 -3.15094112e-04 9.99949077e-01 1.37972717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:27.56, Z:1.38 [[ 7.92549960e-01 -6.09748575e-01 -8.44012604e-03 1.01317126e+02] [ 6.09718188e-01 7.92594837e-01 -6.09550376e-03 2.75624902e+01] [ 1.04063251e-02 -3.15107101e-04 9.99945803e-01 1.38022332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:27.58, Z:1.38 [[ 7.93080791e-01 -6.09057952e-01 -8.44210927e-03 1.01340604e+02] [ 6.09027475e-01 7.93125664e-01 -6.10046435e-03 2.75770574e+01] [ 1.04111898e-02 -3.03315406e-04 9.99945756e-01 1.38080314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.36, Y:27.60, Z:1.38 [[ 7.94791080e-01 -6.06821731e-01 -8.63283049e-03 1.01361358e+02] [ 6.06789711e-01 7.94837913e-01 -6.24003389e-03 2.75983303e+01] [ 1.06482891e-02 -2.78789447e-04 9.99943266e-01 1.38048858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:27.61, Z:1.38 [[ 7.95608635e-01 -6.05745612e-01 -8.89685809e-03 1.01383714e+02] [ 6.05711516e-01 7.95658332e-01 -6.43259865e-03 2.76145283e+01] [ 1.09753777e-02 -2.71098377e-04 9.99939732e-01 1.38080317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:27.63, Z:1.38 [[ 7.96506289e-01 -6.04568352e-01 -8.65102161e-03 1.01406246e+02] [ 6.04536039e-01 7.96553229e-01 -6.25543523e-03 2.76324489e+01] [ 1.06728374e-02 -2.47360837e-04 9.99943013e-01 1.38110258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:27.65, Z:1.38 [[ 7.97920982e-01 -6.02699547e-01 -8.68116424e-03 1.01429023e+02] [ 6.02666858e-01 7.97968174e-01 -6.28095148e-03 2.76490290e+01] [ 1.07128194e-02 -2.20147007e-04 9.99942592e-01 1.38214084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.45, Y:27.67, Z:1.38 [[ 7.98334497e-01 -6.02155144e-01 -8.43884157e-03 1.01452533e+02] [ 6.02124219e-01 7.98379071e-01 -6.10614048e-03 2.76660467e+01] [ 1.04142384e-02 -2.06488300e-04 9.99945749e-01 1.38261708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.48, Y:27.68, Z:1.38 [[ 7.98396723e-01 -6.02083444e-01 -7.62880944e-03 1.01476233e+02] [ 6.02058146e-01 7.98433149e-01 -5.52232343e-03 2.76820101e+01] [ 9.41599385e-03 -1.83981936e-04 9.99955652e-01 1.38382818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:27.70, Z:1.38 [[ 7.98030018e-01 -6.02571402e-01 -7.46959363e-03 1.01499387e+02] [ 6.02547146e-01 7.98064954e-01 -5.40979121e-03 2.76980727e+01] [ 9.22100638e-03 -1.83606541e-04 9.99957469e-01 1.38469473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.52, Y:27.71, Z:1.39 [[ 7.97446685e-01 -6.03350833e-01 -6.82327491e-03 1.01523471e+02] [ 6.03330598e-01 7.97475857e-01 -4.94437486e-03 2.77139072e+01] [ 8.42458969e-03 -1.73815192e-04 9.99964497e-01 1.38551097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:27.73, Z:1.39 [[ 7.97282400e-01 -6.03567918e-01 -6.82219662e-03 1.01545761e+02] [ 6.03547679e-01 7.97311569e-01 -4.94586203e-03 2.77301550e+01] [ 8.42457994e-03 -1.74272187e-04 9.99964497e-01 1.38587796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.57, Y:27.75, Z:1.39 [[ 7.96132947e-01 -6.05092439e-01 -5.95576318e-03 1.01570375e+02] [ 6.05077041e-01 7.96155207e-01 -4.31988982e-03 2.77459235e+01] [ 7.35564454e-03 -1.64488949e-04 9.99972933e-01 1.38703937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.59, Y:27.76, Z:1.39 [[ 7.95367851e-01 -6.06102332e-01 -5.47221280e-03 1.01593777e+02] [ 6.06089345e-01 7.95386660e-01 -3.97081071e-03 2.77624223e+01] [ 6.75924269e-03 -1.58394696e-04 9.99977144e-01 1.38759329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:27.78, Z:1.39 [[ 7.94672699e-01 -6.07020407e-01 -4.63970016e-03 1.01617144e+02] [ 6.07011072e-01 7.94686231e-01 -3.36925667e-03 2.77775232e+01] [ 5.73231339e-03 -1.38893080e-04 9.99983561e-01 1.38853390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.64, Y:27.79, Z:1.39 [[ 7.93571468e-01 -6.08465838e-01 -3.69441062e-03 1.01641703e+02] [ 6.08459942e-01 7.93580059e-01 -2.68136931e-03 2.77931927e+01] [ 4.56333222e-03 -1.20042691e-04 9.99989581e-01 1.38941305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:27.81, Z:1.39 [[ 7.92803632e-01 -6.09468179e-01 -3.30755819e-03 1.01665552e+02] [ 6.09463459e-01 7.92810523e-01 -2.40138078e-03 2.78095266e+01] [ 4.08583211e-03 -1.12012454e-04 9.99991647e-01 1.39027324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:27.83, Z:1.39 [[ 7.92439018e-01 -6.09942003e-01 -3.33993553e-03 1.01689762e+02] [ 6.09937188e-01 7.92446049e-01 -2.42613772e-03 2.78258574e+01] [ 4.12652201e-03 -1.14584687e-04 9.99991479e-01 1.39081080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:27.84, Z:1.39 [[ 7.91942662e-01 -6.10586260e-01 -3.35249430e-03 1.01713006e+02] [ 6.10581403e-01 7.91949750e-01 -2.43817387e-03 2.78421048e+01] [ 4.14372249e-03 -1.16076765e-04 9.99991408e-01 1.39122097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:27.86, Z:1.39 [[ 7.91116238e-01 -6.11657601e-01 -3.17456923e-03 1.01736140e+02] [ 6.11653260e-01 7.91122599e-01 -2.30729146e-03 2.78591964e+01] [ 3.92274582e-03 -1.16399877e-04 9.99992299e-01 1.39010549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:27.88, Z:1.39 [[ 7.90656205e-01 -6.12250578e-01 -3.46334780e-03 1.01759426e+02] [ 6.12245410e-01 7.90663780e-01 -2.51879191e-03 2.78759659e+01] [ 4.28047547e-03 -1.28920342e-04 9.99990830e-01 1.38993517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:27.89, Z:1.39 [[ 7.90541098e-01 -6.12399677e-01 -3.37758011e-03 1.01782995e+02] [ 6.12394756e-01 7.90548304e-01 -2.45816274e-03 2.78897241e+01] [ 4.17551829e-03 -1.25133670e-04 9.99991275e-01 1.39078542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:27.91, Z:1.39 [[ 7.90374904e-01 -6.12612622e-01 -3.64517556e-03 1.01805472e+02] [ 6.12606891e-01 7.90383297e-01 -2.65332621e-03 2.79065244e+01] [ 4.50654700e-03 -1.35937221e-04 9.99989836e-01 1.39018777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:27.92, Z:1.39 [[ 7.90397988e-01 -6.12581559e-01 -3.85405893e-03 1.01829110e+02] [ 6.12575136e-01 7.90407372e-01 -2.80883167e-03 2.79207015e+01] [ 4.76691508e-03 -1.40805771e-04 9.99988628e-01 1.39075200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:27.94, Z:1.39 [[ 7.90287798e-01 -6.12722205e-01 -4.08601424e-03 1.01849819e+02] [ 6.12714991e-01 7.90298347e-01 -2.97699249e-03 2.79404769e+01] [ 5.05323970e-03 -1.50881344e-04 9.99987221e-01 1.38976157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:27.96, Z:1.39 [[ 7.90627258e-01 -6.12284832e-01 -3.97791900e-03 1.01872645e+02] [ 6.12277974e-01 7.90637252e-01 -2.90135152e-03 2.79561152e+01] [ 4.92154448e-03 -1.41704587e-04 9.99987879e-01 1.38963523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.90, Y:27.97, Z:1.39 [[ 7.90946393e-01 -6.11872319e-01 -4.00846747e-03 1.01895502e+02] [ 6.11865352e-01 7.90956538e-01 -2.92327864e-03 2.79732644e+01] [ 4.95919683e-03 -1.40485663e-04 9.99987693e-01 1.38988060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:27.99, Z:1.39 [[ 7.91362644e-01 -6.11336010e-01 -3.66721816e-03 1.01918695e+02] [ 6.11330168e-01 7.91371132e-01 -2.67540435e-03 2.79907487e+01] [ 4.53770160e-03 -1.24666034e-04 9.99989697e-01 1.38989103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:28.01, Z:1.39 [[ 7.92202233e-01 -6.10247938e-01 -3.61607889e-03 1.01941721e+02] [ 6.10242241e-01 7.92210478e-01 -2.63937562e-03 2.80082722e+01] [ 4.47536911e-03 -1.15764824e-04 9.99989979e-01 1.38949081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:28.03, Z:1.39 [[ 7.92610930e-01 -6.09717150e-01 -3.59321261e-03 1.01964228e+02] [ 6.09711514e-01 7.92619067e-01 -2.62396864e-03 2.80257734e+01] [ 4.44792750e-03 -1.11036871e-04 9.99990102e-01 1.38922078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95361786499998 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:101.99, Y:28.04, Z:1.39 [[ 7.92859750e-01 -6.09391282e-01 -3.95996271e-03 1.01987207e+02] [ 6.09384423e-01 7.92869631e-01 -2.89369042e-03 2.80424839e+01] [ 4.90312389e-03 -1.18848934e-04 9.99987973e-01 1.38925750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499997 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:102.01, Y:28.06, Z:1.39 [[ 7.93212831e-01 -6.08927765e-01 -4.51460331e-03 1.02010019e+02] [ 6.08918831e-01 7.93225668e-01 -3.30114651e-03 2.80608737e+01] [ 5.59125900e-03 -1.30515199e-04 9.99984360e-01 1.38861080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:28.08, Z:1.39 [[ 7.93071169e-01 -6.09112927e-01 -4.42303821e-03 1.02031961e+02] [ 6.09104339e-01 7.93083493e-01 -3.23701251e-03 2.80763905e+01] [ 5.47954476e-03 -1.26910462e-04 9.99984979e-01 1.38890627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499997 meters Centerline goodness [0,1] 0.9999565680036483 Centerline is valid? [True, True] Translation: X:102.05, Y:28.09, Z:1.39 [[ 7.93041864e-01 -6.09149780e-01 -4.59877790e-03 1.02053851e+02] [ 6.09140491e-01 7.93055186e-01 -3.36653250e-03 2.80920409e+01] [ 5.69780720e-03 -1.31500619e-04 9.99983759e-01 1.38923059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:28.11, Z:1.39 [[ 7.92750366e-01 -6.09531174e-01 -4.31351814e-03 1.02076325e+02] [ 6.09523012e-01 7.92762091e-01 -3.15681864e-03 2.81089705e+01] [ 5.34377302e-03 -1.26619440e-04 9.99985714e-01 1.38953566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:28.12, Z:1.39 [[ 7.92357492e-01 -6.10041364e-01 -4.37475854e-03 1.02099254e+02] [ 6.10032956e-01 7.92369559e-01 -3.20545400e-03 2.81244139e+01] [ 5.42188502e-03 -1.28881390e-04 9.99985293e-01 1.39011204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:28.14, Z:1.39 [[ 7.92159524e-01 -6.10300046e-01 -4.14036020e-03 1.02121704e+02] [ 6.10292526e-01 7.92170334e-01 -3.03227598e-03 2.81417430e+01] [ 5.13046869e-03 -1.24784586e-04 9.99986831e-01 1.39030135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:28.16, Z:1.39 [[ 7.91779273e-01 -6.10790925e-01 -4.47543483e-03 1.02143568e+02] [ 6.10782134e-01 7.91791909e-01 -3.27986121e-03 2.81586886e+01] [ 5.54692255e-03 -1.36589513e-04 9.99984606e-01 1.38977675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:28.17, Z:1.39 [[ 7.91367409e-01 -6.11319827e-01 -5.06873519e-03 1.02167554e+02] [ 6.11308534e-01 7.91383627e-01 -3.71912731e-03 2.81736354e+01] [ 6.28489031e-03 -1.55364931e-04 9.99980238e-01 1.39032595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:28.19, Z:1.39 [[ 7.91144940e-01 -6.11606185e-01 -5.24961565e-03 1.02189873e+02] [ 6.11594083e-01 7.91162340e-01 -3.85099356e-03 2.81913723e+01] [ 6.50858968e-03 -1.63939803e-04 9.99978805e-01 1.38997602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:28.21, Z:1.39 [[ 7.90896852e-01 -6.11922878e-01 -5.70611841e-03 1.02212483e+02] [ 6.11908568e-01 7.90917416e-01 -4.18868044e-03 2.82083729e+01] [ 7.07621782e-03 -1.78808565e-04 9.99974947e-01 1.38974626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28361786499998 meters Centerline goodness [0,1] 0.9998913681100223 Centerline is valid? [True, True] Translation: X:102.24, Y:28.23, Z:1.39 [[ 7.91132770e-01 -6.11608507e-01 -6.63129494e-03 1.02235211e+02] [ 6.11589139e-01 7.91160536e-01 -4.87156679e-03 2.82263675e+01] [ 8.22591055e-03 -2.01571828e-04 9.99966146e-01 1.38878985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31361786499998 meters Centerline goodness [0,1] 0.9999566028728898 Centerline is valid? [True, True] Translation: X:102.26, Y:28.24, Z:1.39 [[ 7.91305907e-01 -6.11378741e-01 -7.14120679e-03 1.02258602e+02] [ 6.11356236e-01 7.91338101e-01 -5.24999801e-03 2.82419392e+01] [ 8.86084619e-03 -2.11466860e-04 9.99960720e-01 1.38930027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:28.26, Z:1.39 [[ 7.91576982e-01 -6.11026302e-01 -7.26225655e-03 1.02280318e+02] [ 6.11003011e-01 7.91610266e-01 -5.33914223e-03 2.82606175e+01] [ 9.01123317e-03 -2.10918525e-04 9.99959376e-01 1.38922881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37361786499997 meters Centerline goodness [0,1] 0.999934979084939 Centerline is valid? [True, True] Translation: X:102.30, Y:28.28, Z:1.39 [[ 7.92445544e-01 -6.09898021e-01 -7.37999075e-03 1.02303103e+02] [ 6.09873894e-01 7.92479883e-01 -5.42849386e-03 2.82778366e+01] [ 9.15932186e-03 -1.99077929e-04 9.99958033e-01 1.38982072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499997 meters Centerline goodness [0,1] 0.9998482088646024 Centerline is valid? [True, True] Translation: X:102.33, Y:28.29, Z:1.39 [[ 7.92875481e-01 -6.09338237e-01 -7.44208329e-03 1.02325671e+02] [ 6.09313645e-01 7.92910384e-01 -5.47773926e-03 2.82942507e+01] [ 9.23870110e-03 -1.91397743e-04 9.99957304e-01 1.39096345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:28.31, Z:1.39 [[ 7.93208546e-01 -6.08901847e-01 -7.66439582e-03 1.02348809e+02] [ 6.08875741e-01 7.93245551e-01 -5.64169592e-03 2.83117832e+01] [ 9.51498695e-03 -1.91623266e-04 9.99954713e-01 1.39110272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499997 meters Centerline goodness [0,1] 0.9998482220294883 Centerline is valid? [True, True] Translation: X:102.37, Y:28.33, Z:1.39 [[ 7.93387164e-01 -6.08661686e-01 -8.23164533e-03 1.02371316e+02] [ 6.08631521e-01 7.93429841e-01 -6.06296510e-03 2.83276976e+01] [ 1.02215276e-02 -1.99760132e-04 9.99947739e-01 1.39104943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:28.35, Z:1.39 [[ 7.93213241e-01 -6.08879064e-01 -8.89038937e-03 1.02393754e+02] [ 6.08843875e-01 7.93263032e-01 -6.54963758e-03 2.83450619e+01] [ 1.10403544e-02 -2.17599862e-04 9.99939030e-01 1.39122896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499998 meters Centerline goodness [0,1] 0.999978379780771 Centerline is valid? [True, True] Translation: X:102.42, Y:28.36, Z:1.39 [[ 7.93252849e-01 -6.08819845e-01 -9.39754735e-03 1.02416561e+02] [ 6.08780469e-01 7.93308481e-01 -6.92780310e-03 2.83599591e+01] [ 1.16729380e-02 -2.25543741e-04 9.99931844e-01 1.39147858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55361786499998 meters Centerline goodness [0,1] 0.9999348307772516 Centerline is valid? [True, True] Translation: X:102.44, Y:28.37, Z:1.39 [[ 7.93325038e-01 -6.08715770e-01 -1.00247999e-02 1.02439382e+02] [ 6.08670930e-01 7.93388338e-01 -7.39209943e-03 2.83749991e+01] [ 1.24532468e-02 -2.37466726e-04 9.99922427e-01 1.39178390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58361786499998 meters Centerline goodness [0,1] 0.9998269072655676 Centerline is valid? [True, True] Translation: X:102.46, Y:28.39, Z:1.39 [[ 7.93266621e-01 -6.08780795e-01 -1.06776381e-02 1.02461518e+02] [ 6.08729889e-01 7.93338440e-01 -7.87667601e-03 2.83905542e+01] [ 1.32661498e-02 -2.51493303e-04 9.99911969e-01 1.39184186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:28.41, Z:1.39 [[ 7.93117972e-01 -6.08966530e-01 -1.11196588e-02 1.02483067e+02] [ 6.08911311e-01 7.93195875e-01 -8.20486354e-03 2.84081132e+01] [ 1.38165548e-02 -2.63461297e-04 9.99904512e-01 1.39200870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64361786499998 meters Centerline goodness [0,1] 0.9999134798408029 Centerline is valid? [True, True] Translation: X:102.51, Y:28.42, Z:1.39 [[ 7.92896028e-01 -6.09249095e-01 -1.14643034e-02 1.02505754e+02] [ 6.09190358e-01 7.92978856e-01 -8.46409228e-03 2.84243655e+01] [ 1.42476908e-02 -2.72797952e-04 9.99898459e-01 1.39209664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:28.44, Z:1.39 [[ 7.92944741e-01 -6.09163584e-01 -1.25843420e-02 1.02528141e+02] [ 6.09092717e-01 7.93044539e-01 -9.29626578e-03 2.84389731e+01] [ 1.56428903e-02 -2.93606029e-04 9.99877599e-01 1.39256544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:28.46, Z:1.39 [[ 7.92967566e-01 -6.09128043e-01 -1.28633777e-02 1.02549973e+02] [ 6.09053948e-01 7.93071837e-01 -9.50529179e-03 2.84562591e+01] [ 1.59915223e-02 -2.97102843e-04 9.99872083e-01 1.39318084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:28.47, Z:1.39 [[ 7.93009724e-01 -6.09068186e-01 -1.30966750e-02 1.02572617e+02] [ 6.08991286e-01 7.93117808e-01 -9.68280683e-03 2.84718931e+01] [ 1.62846958e-02 -2.97200983e-04 9.99867351e-01 1.39352764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499997 meters Centerline goodness [0,1] 0.9999783070849061 Centerline is valid? [True, True] Translation: X:102.60, Y:28.49, Z:1.39 [[ 7.93429471e-01 -6.08513980e-01 -1.34316794e-02 1.02595643e+02] [ 6.08432976e-01 7.93543100e-01 -9.93288199e-03 2.84883646e+01] [ 1.67029141e-02 -2.91235368e-04 9.99860454e-01 1.39303774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:28.51, Z:1.39 [[ 7.93446980e-01 -6.08480176e-01 -1.39199381e-02 1.02618115e+02] [ 6.08393122e-01 7.93569018e-01 -1.02967569e-02 2.85055702e+01] [ 1.73118040e-02 -2.98863948e-04 9.99850095e-01 1.39304580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:28.52, Z:1.39 [[ 7.93400426e-01 -6.08531124e-01 -1.43399629e-02 1.02640873e+02] [ 6.08438649e-01 7.93529948e-01 -1.06128043e-02 2.85210595e+01] [ 1.78374118e-02 -3.04784171e-04 9.99840854e-01 1.39333389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:28.54, Z:1.39 [[ 7.92972179e-01 -6.09088533e-01 -1.43625370e-02 1.02664612e+02] [ 6.08995799e-01 7.93102175e-01 -1.06328131e-02 2.85370757e+01] [ 1.78672839e-02 -3.15199704e-04 9.99840318e-01 1.39368223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:28.55, Z:1.39 [[ 7.92683206e-01 -6.09469502e-01 -1.41513932e-02 1.02687452e+02] [ 6.09379458e-01 7.92809452e-01 -1.04808968e-02 2.85521984e+01] [ 1.76071452e-02 -3.15537425e-04 9.99844932e-01 1.39431270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:28.57, Z:1.40 [[ 7.92146120e-01 -6.10172473e-01 -1.39311996e-02 1.02711249e+02] [ 6.10085279e-01 7.92268546e-01 -1.03200754e-02 2.85676909e+01] [ 1.73342772e-02 -3.24212081e-04 9.99849698e-01 1.39500606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:28.58, Z:1.40 [[ 7.91849514e-01 -6.10554759e-01 -1.40439912e-02 1.02733893e+02] [ 6.10466147e-01 7.91973974e-01 -1.04070869e-02 2.85835301e+01] [ 1.74765720e-02 -3.32534462e-04 9.99847218e-01 1.39515591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97361786499998 meters Centerline goodness [0,1] 0.9998916505948382 Centerline is valid? [True, True] Translation: X:102.76, Y:28.60, Z:1.39 [[ 7.92075563e-01 -6.10261308e-01 -1.40512909e-02 1.02756108e+02] [ 6.10172472e-01 7.92200121e-01 -1.04174336e-02 2.85988500e+01] [ 1.74887910e-02 -3.22316309e-04 9.99847007e-01 1.39497664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00361786499998 meters Centerline goodness [0,1] 0.999738356881214 Centerline is valid? [True, True] Translation: X:102.78, Y:28.62, Z:1.40 [[ 7.92824251e-01 -6.09289517e-01 -1.39996616e-02 1.02779056e+02] [ 6.09201131e-01 7.92947789e-01 -1.03820562e-02 2.86168948e+01] [ 1.74266787e-02 -2.97463759e-04 9.99848100e-01 1.39550068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03361786499998 meters Centerline goodness [0,1] 0.9998258901366762 Centerline is valid? [True, True] Translation: X:102.80, Y:28.63, Z:1.40 [[ 7.93269044e-01 -6.08712594e-01 -1.38997228e-02 1.02802133e+02] [ 6.08625288e-01 7.93390761e-01 -1.03130216e-02 2.86336457e+01] [ 1.73055778e-02 -2.78722015e-04 9.99850208e-01 1.39558060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06361786499998 meters Centerline goodness [0,1] 0.9999563166171588 Centerline is valid? [True, True] Translation: X:102.83, Y:28.65, Z:1.40 [[ 7.93705782e-01 -6.08146709e-01 -1.37372490e-02 1.02825576e+02] [ 6.08061275e-01 7.93824611e-01 -1.01967453e-02 2.86483773e+01] [ 1.71060835e-02 -2.59873425e-04 9.99853646e-01 1.39534528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:28.66, Z:1.40 [[ 7.93825037e-01 -6.07974317e-01 -1.44582555e-02 1.02847556e+02] [ 6.07879611e-01 7.93956648e-01 -1.07340383e-02 2.86638131e+01] [ 1.80052477e-02 -2.67930350e-04 9.99837856e-01 1.39538454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.87, Y:28.68, Z:1.39 [[ 7.93726086e-01 -6.08104980e-01 -1.43956378e-02 1.02870444e+02] [ 6.08011070e-01 7.93856575e-01 -1.06900262e-02 2.86776681e+01] [ 1.79287299e-02 -2.67754505e-04 9.99839232e-01 1.39468777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.89, Y:28.70, Z:1.40 [[ 7.93504870e-01 -6.08382618e-01 -1.48530102e-02 1.02891726e+02] [ 6.08282627e-01 7.93643819e-01 -1.10332910e-02 2.86955262e+01] [ 1.85004622e-02 -2.79857957e-04 9.99828813e-01 1.39599852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:28.71, Z:1.40 [[ 7.93505927e-01 -6.08389960e-01 -1.44913812e-02 1.02914405e+02] [ 6.08294673e-01 7.93638195e-01 -1.07706222e-02 2.87123979e+01] [ 1.80536520e-02 -2.68477438e-04 9.99836983e-01 1.39672105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:28.73, Z:1.40 [[ 7.93381600e-01 -6.08568914e-01 -1.37664308e-02 1.02936371e+02] [ 6.08482854e-01 7.93500984e-01 -1.02373787e-02 2.87299269e+01] [ 1.71538269e-02 -2.54489232e-04 9.99852830e-01 1.39738919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:28.75, Z:1.40 [[ 7.93558285e-01 -6.08349749e-01 -1.32601657e-02 1.02958142e+02] [ 6.08269793e-01 7.93669029e-01 -9.86571800e-03 2.87460252e+01] [ 1.65259899e-02 -2.36735994e-04 9.99863408e-01 1.39777998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:28.76, Z:1.40 [[ 7.93143106e-01 -6.08890869e-01 -1.32636276e-02 1.02981178e+02] [ 6.08810910e-01 7.93253963e-01 -9.87049761e-03 2.87612027e+01] [ 1.65314810e-02 -2.46324086e-04 9.99863315e-01 1.39756219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:28.78, Z:1.40 [[ 7.92987096e-01 -6.09094058e-01 -1.32624816e-02 1.03003250e+02] [ 6.09014102e-01 7.93097955e-01 -9.87203718e-03 2.87777410e+01] [ 1.65314463e-02 -2.48640245e-04 9.99863315e-01 1.39792986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33361786499998 meters Centerline goodness [0,1] 0.9999125568380552 Centerline is valid? [True, True] Translation: X:103.03, Y:28.80, Z:1.40 [[ 7.91758281e-01 -6.10696535e-01 -1.29833225e-02 1.03026277e+02] [ 6.10620044e-01 7.91864678e-01 -9.66923673e-03 2.87951352e+01] [ 1.61860039e-02 -2.72178711e-04 9.99868961e-01 1.39818669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.05, Y:28.81, Z:1.40 [[ 7.91224955e-01 -6.11398560e-01 -1.24447290e-02 1.03048338e+02] [ 6.11328309e-01 7.91322771e-01 -9.27204731e-03 2.88129607e+01] [ 1.55167138e-02 -2.71539903e-04 9.99879572e-01 1.39930639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:28.83, Z:1.40 [[ 7.90383014e-01 -6.12496487e-01 -1.19475713e-02 1.03071986e+02] [ 6.12431836e-01 7.90473260e-01 -8.90346176e-03 2.88301125e+01] [ 1.48975747e-02 -2.79928062e-04 9.99888986e-01 1.39992223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:28.85, Z:1.40 [[ 7.88458418e-01 -6.14979947e-01 -1.15320413e-02 1.03094144e+02] [ 6.14919922e-01 7.88542686e-01 -8.59777099e-03 2.88462256e+01] [ 1.43809635e-02 -3.12297000e-04 9.99896540e-01 1.40016587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:28.86, Z:1.40 [[ 7.87336001e-01 -6.16416332e-01 -1.15293651e-02 1.03117331e+02] [ 6.16356461e-01 7.87420340e-01 -8.59777172e-03 2.88640631e+01] [ 1.43782635e-02 -3.36863491e-04 9.99896571e-01 1.40007746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:28.88, Z:1.40 [[ 7.86449200e-01 -6.17538662e-01 -1.19856976e-02 1.03140365e+02] [ 6.17474023e-01 7.86540441e-01 -8.94235714e-03 2.88799497e+01] [ 1.49494871e-02 -3.68147268e-04 9.99888182e-01 1.40024446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:28.90, Z:1.40 [[ 7.85574595e-01 -6.18654004e-01 -1.18228474e-02 1.03163738e+02] [ 6.18591209e-01 7.85663463e-01 -8.82264869e-03 2.88972981e+01] [ 1.47469462e-02 -3.82660801e-04 9.99891185e-01 1.40050517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:28.91, Z:1.40 [[ 7.85430340e-01 -6.18838286e-01 -1.17624985e-02 1.03185243e+02] [ 6.18776092e-01 7.85518319e-01 -8.78166934e-03 2.89137677e+01] [ 1.46740912e-02 -3.80963304e-04 9.99892257e-01 1.40069685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:28.93, Z:1.40 [[ 7.85401575e-01 -6.18871248e-01 -1.19475826e-02 1.03206004e+02] [ 6.18807048e-01 7.85492348e-01 -8.92233849e-03 2.89327858e+01] [ 1.49065135e-02 -3.85629645e-04 9.99888817e-01 1.40054362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:28.95, Z:1.40 [[ 7.86367565e-01 -6.17629306e-01 -1.26527618e-02 1.03227611e+02] [ 6.17557060e-01 7.86469259e-01 -9.45415636e-03 2.89499079e+01] [ 1.57901722e-02 -3.79360450e-04 9.99875255e-01 1.39944141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:28.97, Z:1.40 [[ 7.86954580e-01 -6.16883476e-01 -1.25405706e-02 1.03250378e+02] [ 6.16812368e-01 7.87054413e-01 -9.37306902e-03 2.89683486e+01] [ 1.56522028e-02 -3.58999454e-04 9.99877432e-01 1.39964343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499998 meters Centerline goodness [0,1] 0.9999343817668803 Centerline is valid? [True, True] Translation: X:103.27, Y:28.98, Z:1.40 [[ 7.87739250e-01 -6.15879789e-01 -1.26078994e-02 1.03272997e+02] [ 6.15807721e-01 7.87840067e-01 -9.42759931e-03 2.89842957e+01] [ 1.57392762e-02 -3.37551761e-04 9.99876073e-01 1.39974793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:29.00, Z:1.40 [[ 7.88585754e-01 -6.14794191e-01 -1.26732376e-02 1.03296002e+02] [ 6.14721201e-01 7.88687519e-01 -9.47851905e-03 2.90026395e+01] [ 1.58225628e-02 -3.15882767e-04 9.99874766e-01 1.40005159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:29.02, Z:1.40 [[ 7.90298192e-01 -6.12594097e-01 -1.25395487e-02 1.03317609e+02] [ 6.12522302e-01 7.90397623e-01 -9.38228455e-03 2.90205773e+01] [ 1.56587616e-02 -2.65950710e-04 9.99877359e-01 1.40013276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75361786499998 meters Centerline goodness [0,1] 0.9999561979851073 Centerline is valid? [True, True] Translation: X:103.34, Y:29.04, Z:1.40 [[ 7.90888548e-01 -6.11839307e-01 -1.21641411e-02 1.03340632e+02] [ 6.11771630e-01 7.90982050e-01 -9.10323533e-03 2.90387344e+01] [ 1.51913344e-02 -2.42031825e-04 9.99884576e-01 1.40089139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.36, Y:29.06, Z:1.40 [[ 7.92167134e-01 -6.10189888e-01 -1.18124091e-02 1.03362332e+02] [ 6.10125824e-01 7.92255174e-01 -8.84408199e-03 2.90582185e+01] [ 1.47550116e-02 -2.01064733e-04 9.99891119e-01 1.40155075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81361786499998 meters Centerline goodness [0,1] 0.9998468706932383 Centerline is valid? [True, True] Translation: X:103.39, Y:29.07, Z:1.40 [[ 7.92792461e-01 -6.09387135e-01 -1.12886565e-02 1.03385100e+02] [ 6.09328490e-01 7.92872808e-01 -8.45587748e-03 2.90736649e+01] [ 1.41033718e-02 -1.74744131e-04 9.99900527e-01 1.40232775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499997 meters Centerline goodness [0,1] 0.9998033689454021 Centerline is valid? [True, True] Translation: X:103.41, Y:29.09, Z:1.40 [[ 7.93279770e-01 -6.08759887e-01 -1.08907005e-02 1.03408255e+02] [ 6.08705216e-01 7.93354509e-01 -8.15990331e-03 2.90916817e+01] [ 1.36076082e-02 -1.56139991e-04 9.99907400e-01 1.40311241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:29.11, Z:1.40 [[ 7.93671911e-01 -6.08262411e-01 -1.00864856e-02 1.03431502e+02] [ 6.08215434e-01 7.93735990e-01 -7.56074266e-03 2.91075054e+01] [ 1.26049222e-02 -1.34007130e-04 9.99920546e-01 1.40444868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499997 meters Centerline goodness [0,1] 0.999803171131766 Centerline is valid? [True, True] Translation: X:103.45, Y:29.12, Z:1.40 [[ 7.93413980e-01 -6.08602336e-01 -9.87185881e-03 1.03454155e+02] [ 6.08557310e-01 7.93475380e-01 -7.40411458e-03 2.91230922e+01] [ 1.23392384e-02 -1.33063822e-04 9.99923860e-01 1.40452906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.48, Y:29.14, Z:1.40 [[ 7.92966423e-01 -6.09187906e-01 -9.71318899e-03 1.03477067e+02] [ 6.09144328e-01 7.93025899e-01 -7.28776457e-03 2.91393502e+01] [ 1.21424285e-02 -1.37781383e-04 9.99926269e-01 1.40481424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499997 meters Centerline goodness [0,1] 0.9998247612371857 Centerline is valid? [True, True] Translation: X:103.50, Y:29.15, Z:1.40 [[ 7.92040228e-01 -6.10397432e-01 -9.34090574e-03 1.03501205e+02] [ 6.10357165e-01 7.92095293e-01 -7.01264288e-03 2.91543657e+01] [ 1.16793867e-02 -1.46993480e-04 9.99931783e-01 1.40450663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99361786499998 meters Centerline goodness [0,1] 0.999934322868777 Centerline is valid? [True, True] Translation: X:103.52, Y:29.17, Z:1.40 [[ 7.91724648e-01 -6.10813149e-01 -8.90951800e-03 1.03523349e+02] [ 6.10776536e-01 7.91774763e-01 -6.68936545e-03 2.91717427e+01] [ 1.11402839e-02 -1.45589036e-04 9.99937935e-01 1.40497413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499998 meters Centerline goodness [0,1] 0.9997809035537444 Centerline is valid? [True, True] Translation: X:103.54, Y:29.19, Z:1.41 [[ 7.91806274e-01 -6.10721236e-01 -7.89918651e-03 1.03544629e+02] [ 6.10692416e-01 7.91845665e-01 -5.93435779e-03 2.91881178e+01] [ 9.87917491e-03 -1.25111560e-04 9.99951192e-01 1.40570356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05361786499998 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:103.57, Y:29.21, Z:1.41 [[ 7.91808462e-01 -6.10722426e-01 -7.58139498e-03 1.03566709e+02] [ 6.10695873e-01 7.91844748e-01 -5.69621382e-03 2.92051903e+01] [ 9.48209331e-03 -1.19616320e-04 9.99955037e-01 1.40612134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08361786499998 meters Centerline goodness [0,1] 0.9997585389410835 Centerline is valid? [True, True] Translation: X:103.59, Y:29.22, Z:1.41 [[ 7.91436053e-01 -6.11200394e-01 -7.94049954e-03 1.03589380e+02] [ 6.11171251e-01 7.91475876e-01 -5.96998295e-03 2.92205614e+01] [ 9.93356975e-03 -1.28145288e-04 9.99950653e-01 1.40612057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11361786499998 meters Centerline goodness [0,1] 0.9999122306578312 Centerline is valid? [True, True] Translation: X:103.61, Y:29.24, Z:1.41 [[ 7.90969702e-01 -6.11801264e-01 -8.13292827e-03 1.03611659e+02] [ 6.11770701e-01 7.91011501e-01 -6.11677856e-03 2.92375337e+01] [ 1.01754927e-02 -1.37300712e-04 9.99948219e-01 1.40597833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14361786499998 meters Centerline goodness [0,1] 0.9998904469763366 Centerline is valid? [True, True] Translation: X:103.63, Y:29.25, Z:1.41 [[ 7.90393396e-01 -6.12546055e-01 -8.09999018e-03 1.03634401e+02] [ 6.12515738e-01 7.90434886e-01 -6.09601678e-03 2.92544467e+01] [ 1.01366059e-02 -1.43120054e-04 9.99948613e-01 1.40524165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17361786499998 meters Centerline goodness [0,1] 0.9998903196086604 Centerline is valid? [True, True] Translation: X:103.66, Y:29.27, Z:1.41 [[ 7.89996401e-01 -6.13058959e-01 -8.02486576e-03 1.03655991e+02] [ 6.13029225e-01 7.90037145e-01 -6.03969194e-03 2.92727904e+01] [ 1.00426293e-02 -1.48142346e-04 9.99949561e-01 1.40534039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters Centerline goodness [0,1] 0.9998464575564817 Centerline is valid? [True, True] Translation: X:103.68, Y:29.29, Z:1.41 [[ 7.89684172e-01 -6.13463815e-01 -7.81381917e-03 1.03678095e+02] [ 6.13435614e-01 7.89722816e-01 -5.88403567e-03 2.92906478e+01] [ 9.78039425e-03 -1.46745118e-04 9.99952160e-01 1.40545340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23361786499997 meters Centerline goodness [0,1] 0.9999343084873434 Centerline is valid? [True, True] Translation: X:103.70, Y:29.31, Z:1.40 [[ 7.88359669e-01 -6.15161162e-01 -8.11027601e-03 1.03700206e+02] [ 6.15130831e-01 7.88401367e-01 -6.11108438e-03 2.93098701e+01] [ 1.01534545e-02 -1.71148361e-04 9.99948438e-01 1.40463802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499997 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:103.72, Y:29.33, Z:1.40 [[ 7.87606337e-01 -6.16119822e-01 -8.52193071e-03 1.03723490e+02] [ 6.16086353e-01 7.87652416e-01 -6.42472722e-03 2.93275455e+01] [ 1.06707211e-02 -1.90089340e-04 9.99943048e-01 1.40438299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29361786499997 meters Centerline goodness [0,1] 0.9998684066235333 Centerline is valid? [True, True] Translation: X:103.75, Y:29.34, Z:1.40 [[ 7.86684097e-01 -6.17294484e-01 -8.69778014e-03 1.03746506e+02] [ 6.17259649e-01 7.86732151e-01 -6.56117854e-03 2.93429484e+01] [ 1.08930026e-02 -2.07213900e-04 9.99940648e-01 1.40420408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499997 meters Centerline goodness [0,1] 0.9999561979851073 Centerline is valid? [True, True] Translation: X:103.77, Y:29.36, Z:1.40 [[ 7.85542414e-01 -6.18736050e-01 -9.42427261e-03 1.03769733e+02] [ 6.18695242e-01 7.85598906e-01 -7.11030137e-03 2.93603890e+01] [ 1.18030980e-02 -2.45309331e-04 9.99930311e-01 1.40455896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35361786499998 meters Centerline goodness [0,1] 0.9999342984165919 Centerline is valid? [True, True] Translation: X:103.79, Y:29.37, Z:1.40 [[ 7.83511898e-01 -6.21299268e-01 -9.81453827e-03 1.03793934e+02] [ 6.21255162e-01 7.83573311e-01 -7.40880988e-03 2.93746506e+01] [ 1.22934984e-02 -2.92441868e-04 9.99924389e-01 1.40433198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:29.39, Z:1.40 [[ 7.82242895e-01 -6.22897019e-01 -9.76508781e-03 1.03816365e+02] [ 6.22853467e-01 7.82303780e-01 -7.37256276e-03 2.93923801e+01] [ 1.22316125e-02 -3.15083962e-04 9.99925141e-01 1.40481243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:29.41, Z:1.41 [[ 7.81260629e-01 -6.24131888e-01 -9.55074856e-03 1.03840254e+02] [ 6.24090277e-01 7.81318937e-01 -7.21421757e-03 2.94092768e+01] [ 1.19648039e-02 -3.24345160e-04 9.99928367e-01 1.40552837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44361786499998 meters Centerline goodness [0,1] 0.999934151320266 Centerline is valid? [True, True] Translation: X:103.86, Y:29.42, Z:1.41 [[ 7.79753123e-01 -6.26021354e-01 -9.07365841e-03 1.03863544e+02] [ 6.25983885e-01 7.79805843e-01 -6.85728417e-03 2.94241301e+01] [ 1.13684982e-02 -3.32975202e-04 9.99935321e-01 1.40577588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:29.45, Z:1.41 [[ 7.78903081e-01 -6.27075453e-01 -9.29334452e-03 1.03883844e+02] [ 6.27036203e-01 7.78958439e-01 -7.02495232e-03 2.94457722e+01] [ 1.16443043e-02 -3.55506454e-04 9.99932140e-01 1.40585042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:29.46, Z:1.41 [[ 7.78222787e-01 -6.27919545e-01 -9.29190734e-03 1.03908214e+02] [ 6.27880322e-01 7.78278171e-01 -7.02775209e-03 2.94601820e+01] [ 1.16445515e-02 -3.65048955e-04 9.99932133e-01 1.40662049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:29.48, Z:1.41 [[ 7.76487770e-01 -6.30071898e-01 -8.72621141e-03 1.03930134e+02] [ 6.30037434e-01 7.76536712e-01 -6.60053160e-03 2.94793284e+01] [ 1.09350330e-02 -3.72607779e-04 9.99940141e-01 1.40788979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.95, Y:29.50, Z:1.41 [[ 7.75545004e-01 -6.31242022e-01 -7.96599070e-03 1.03952486e+02] [ 6.31213337e-01 7.75585834e-01 -6.02811895e-03 2.94971284e+01] [ 9.98351153e-03 -3.53162035e-04 9.99950101e-01 1.40874135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:29.51, Z:1.41 [[ 7.74567376e-01 -6.32448670e-01 -7.35253266e-03 1.03974579e+02] [ 6.32424258e-01 7.74602198e-01 -5.56708530e-03 2.95131737e+01] [ 9.21618365e-03 -3.37837362e-04 9.99957473e-01 1.40964536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:29.53, Z:1.41 [[ 7.73262417e-01 -6.34059118e-01 -5.85402240e-03 1.03996364e+02] [ 6.34043683e-01 7.73284524e-01 -4.43323047e-03 2.95304559e+01] [ 7.33775512e-03 -2.83655415e-04 9.99973038e-01 1.41098643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65361786499997 meters Centerline goodness [0,1] 0.9999781792790434 Centerline is valid? [True, True] Translation: X:104.02, Y:29.55, Z:1.41 [[ 7.72976283e-01 -6.34412107e-01 -5.38005550e-03 1.04019027e+02] [ 6.34399083e-01 7.72994961e-01 -4.07357055e-03 2.95490799e+01] [ 6.74307826e-03 -2.64328852e-04 9.99977230e-01 1.41186325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:29.57, Z:1.41 [[ 7.72964345e-01 -6.34428282e-01 -5.18427283e-03 1.04038862e+02] [ 6.34416180e-01 7.72981688e-01 -3.92674559e-03 2.95692781e+01] [ 6.49858643e-03 -2.53752235e-04 9.99978852e-01 1.41157194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:29.59, Z:1.41 [[ 7.73913377e-01 -6.33268206e-01 -5.42808370e-03 1.04060033e+02] [ 6.33254891e-01 7.73932371e-01 -4.11430487e-03 2.95882684e+01] [ 6.80642815e-03 -2.53244981e-04 9.99976804e-01 1.41241848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:29.61, Z:1.41 [[ 7.74275686e-01 -6.32825526e-01 -5.38655616e-03 1.04081462e+02] [ 6.32812390e-01 7.74294384e-01 -4.08485588e-03 2.96078378e+01] [ 6.75578126e-03 -2.45874890e-04 9.99977149e-01 1.41276736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:29.63, Z:1.41 [[ 7.74990834e-01 -6.31952435e-01 -5.03261429e-03 1.04103357e+02] [ 6.31940932e-01 7.75007142e-01 -3.81942854e-03 2.96256736e+01] [ 6.31400919e-03 -2.20292854e-04 9.99980042e-01 1.41300729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:29.65, Z:1.41 [[ 7.75785828e-01 -6.30969137e-01 -5.85642357e-03 1.04124222e+02] [ 6.30953530e-01 7.75807893e-01 -4.44465306e-03 2.96466717e+01] [ 7.34789853e-03 -2.47032274e-04 9.99972973e-01 1.41278717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:29.66, Z:1.41 [[ 7.76149215e-01 -6.30518701e-01 -6.21003478e-03 1.04145522e+02] [ 6.30501113e-01 7.76174016e-01 -4.71629760e-03 2.96639839e+01] [ 7.79378147e-03 -2.54883156e-04 9.99969596e-01 1.41245676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:29.68, Z:1.41 [[ 7.76359992e-01 -6.30252498e-01 -6.85211816e-03 1.04166679e+02] [ 6.30231073e-01 7.76390180e-01 -5.20405903e-03 2.96846271e+01] [ 8.59978845e-03 -2.78194554e-04 9.99962982e-01 1.41208075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:29.70, Z:1.41 [[ 7.76457481e-01 -6.30129546e-01 -7.10887111e-03 1.04187660e+02] [ 6.30106456e-01 7.76489970e-01 -5.40183166e-03 2.97041732e+01] [ 8.92382085e-03 -2.85052981e-04 9.99960141e-01 1.41186486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92361786499998 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:104.21, Y:29.72, Z:1.41 [[ 7.76807802e-01 -6.29697760e-01 -7.09720688e-03 1.04208431e+02] [ 6.29674696e-01 7.76840173e-01 -5.39651257e-03 2.97222054e+01] [ 8.91156729e-03 -2.76878517e-04 9.99960253e-01 1.41236383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:29.74, Z:1.41 [[ 7.76852165e-01 -6.29646250e-01 -6.80536115e-03 1.04229554e+02] [ 6.29625045e-01 7.76881928e-01 -5.17435875e-03 2.97403082e+01] [ 8.54497767e-03 -2.65114018e-04 9.99963456e-01 1.41311175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:29.76, Z:1.41 [[ 7.77374130e-01 -6.29004998e-01 -6.49420939e-03 1.04250240e+02] [ 6.28985642e-01 7.77401218e-01 -4.94052261e-03 2.97604873e+01] [ 8.15621970e-03 -2.44130000e-04 9.99966708e-01 1.41371980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01361786499997 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:104.27, Y:29.78, Z:1.41 [[ 7.77575751e-01 -6.28755711e-01 -6.49673834e-03 1.04271085e+02] [ 6.28736312e-01 7.77602854e-01 -4.94481177e-03 2.97804797e+01] [ 8.16096091e-03 -2.39769584e-04 9.99966670e-01 1.41405109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.29, Y:29.80, Z:1.41 [[ 7.77619741e-01 -6.28701655e-01 -6.46273343e-03 1.04292150e+02] [ 6.28682439e-01 7.77646560e-01 -4.92115166e-03 2.97990895e+01] [ 8.11965862e-03 -2.36222335e-04 9.99967007e-01 1.41464956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:29.82, Z:1.41 [[ 7.77995432e-01 -6.28238447e-01 -6.28977109e-03 1.04312211e+02] [ 6.28220208e-01 7.78020825e-01 -4.79233043e-03 2.98196253e+01] [ 7.90429911e-03 -2.22950116e-04 9.99968736e-01 1.41499024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:29.84, Z:1.42 [[ 7.78155608e-01 -6.28042520e-01 -6.03677927e-03 1.04333523e+02] [ 6.28025697e-01 7.78178995e-01 -4.60168064e-03 2.98393179e+01] [ 7.58774593e-03 -2.10428916e-04 9.99971191e-01 1.41560097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:29.86, Z:1.42 [[ 7.78103210e-01 -6.28110141e-01 -5.74850664e-03 1.04354373e+02] [ 6.28094866e-01 7.78124419e-01 -4.38490031e-03 2.98567205e+01] [ 7.22725374e-03 -1.98702499e-04 9.99973863e-01 1.41616380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:29.88, Z:1.42 [[ 7.78046901e-01 -6.28185084e-01 -5.14975724e-03 1.04375075e+02] [ 6.28172821e-01 7.78063923e-01 -3.92925825e-03 2.98762354e+01] [ 6.47514174e-03 -1.77790334e-04 9.99979020e-01 1.41693416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:29.89, Z:1.42 [[ 7.77876226e-01 -6.28396414e-01 -5.15019990e-03 1.04396961e+02] [ 6.28384159e-01 7.77893254e-01 -3.92867872e-03 2.98930207e+01] [ 6.47507338e-03 -1.80278258e-04 9.99979020e-01 1.41730188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.42, Y:29.91, Z:1.42 [[ 7.77581464e-01 -6.28759031e-01 -5.39887206e-03 1.04418129e+02] [ 6.28745555e-01 7.77600183e-01 -4.12090365e-03 2.99116191e+01] [ 6.78921928e-03 -1.90178517e-04 9.99976935e-01 1.41723970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:29.93, Z:1.42 [[ 7.77332965e-01 -6.29064424e-01 -5.60469327e-03 1.04439678e+02] [ 6.29049880e-01 7.77353145e-01 -4.28209148e-03 2.99291323e+01] [ 7.05053735e-03 -1.97020761e-04 9.99975125e-01 1.41713529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:29.95, Z:1.42 [[ 7.76674376e-01 -6.29878918e-01 -5.42781616e-03 1.04460660e+02] [ 6.29865302e-01 7.76693317e-01 -4.14638825e-03 2.99487049e+01] [ 6.82747108e-03 -1.98399554e-04 9.99976673e-01 1.41729825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.48, Y:29.97, Z:1.42 [[ 7.76518776e-01 -6.30077255e-01 -4.60893106e-03 1.04482685e+02] [ 6.30067435e-01 7.76532436e-01 -3.52195829e-03 2.99677747e+01] [ 5.79809027e-03 -1.69070627e-04 9.99983177e-01 1.41790506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:29.99, Z:1.42 [[ 7.76210844e-01 -6.30457592e-01 -4.46647294e-03 1.04504586e+02] [ 6.30448367e-01 7.76223677e-01 -3.41465737e-03 2.99863398e+01] [ 5.61977871e-03 -1.65386492e-04 9.99984195e-01 1.41810915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:30.00, Z:1.42 [[ 7.76097966e-01 -6.30597025e-01 -4.39762403e-03 1.04525390e+02] [ 6.30588077e-01 7.76110408e-01 -3.36324578e-03 3.00049392e+01] [ 5.53389457e-03 -1.62881071e-04 9.99984675e-01 1.41835153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:30.02, Z:1.42 [[ 7.76755365e-01 -6.29783800e-01 -4.84433927e-03 1.04545922e+02] [ 6.29772900e-01 7.76770453e-01 -3.70916897e-03 3.00240757e+01] [ 6.09891413e-03 -1.69716692e-04 9.99981387e-01 1.41849177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:30.04, Z:1.42 [[ 7.77300398e-01 -6.29108512e-01 -5.15480411e-03 1.04567000e+02] [ 6.29096150e-01 7.77317471e-01 -3.94767665e-03 3.00427788e+01] [ 6.49043628e-03 -1.74336787e-04 9.99978922e-01 1.41833298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:30.06, Z:1.42 [[ 7.79100190e-01 -6.26870065e-01 -6.06754005e-03 1.04586766e+02] [ 6.26852869e-01 7.79123795e-01 -4.64682777e-03 3.00649201e+01] [ 7.64032206e-03 -1.83110492e-04 9.99970796e-01 1.41680944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.61, Y:30.08, Z:1.42 [[ 7.80233485e-01 -6.25454748e-01 -6.48583916e-03 1.04608140e+02] [ 6.25435024e-01 7.80260422e-01 -4.97037103e-03 3.00824358e+01] [ 8.16938576e-03 -1.78421055e-04 9.99966614e-01 1.41725846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:30.10, Z:1.42 [[ 7.81308677e-01 -6.24108367e-01 -6.74528269e-03 1.04628832e+02] [ 6.24086982e-01 7.81337774e-01 -5.16923547e-03 3.01022643e+01] [ 8.49650727e-03 -1.70874598e-04 9.99963889e-01 1.41701557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:30.12, Z:1.42 [[ 7.83417499e-01 -6.21459211e-01 -6.74322704e-03 1.04649119e+02] [ 6.21437720e-01 7.83446507e-01 -5.17016155e-03 3.01222325e+01] [ 8.49600219e-03 -1.40100608e-04 9.99963899e-01 1.41753160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:30.14, Z:1.42 [[ 7.84477334e-01 -6.20120073e-01 -6.81229851e-03 1.04669607e+02] [ 6.20098068e-01 7.84506902e-01 -5.22562289e-03 3.01424575e+01] [ 8.58480884e-03 -1.24910427e-04 9.99963142e-01 1.41734332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:30.16, Z:1.42 [[ 7.85398551e-01 -6.18951014e-01 -6.98275281e-03 1.04691345e+02] [ 6.18927823e-01 7.85429583e-01 -5.35911585e-03 3.01607750e+01] [ 8.80149082e-03 -1.12778174e-04 9.99961260e-01 1.41832368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:30.18, Z:1.42 [[ 7.86939411e-01 -6.16989018e-01 -7.13546907e-03 1.04712405e+02] [ 6.16964696e-01 7.86971755e-01 -5.47909042e-03 3.01814286e+01] [ 8.99595124e-03 -9.06203108e-05 9.99959532e-01 1.41814665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:30.20, Z:1.42 [[ 7.87254770e-01 -6.16580853e-01 -7.61440051e-03 1.04733402e+02] [ 6.16553110e-01 7.87291587e-01 -5.84970877e-03 3.02000224e+01] [ 9.60157189e-03 -8.94711842e-05 9.99953900e-01 1.41774078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:30.22, Z:1.42 [[ 7.87219329e-01 -6.16620455e-01 -8.05866125e-03 1.04754954e+02] [ 6.16589337e-01 7.87260570e-01 -6.19548319e-03 3.02160444e+01] [ 1.01645279e-02 -9.16804798e-05 9.99948336e-01 1.41793131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:30.23, Z:1.42 [[ 7.86827667e-01 -6.17121107e-01 -7.98512244e-03 1.04777267e+02] [ 6.17090570e-01 7.86868178e-01 -6.13985604e-03 3.02331094e+01] [ 1.00722735e-02 -9.65351552e-05 9.99949269e-01 1.41794746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.80, Y:30.25, Z:1.42 [[ 7.84865408e-01 -6.19612368e-01 -8.17344128e-03 1.04800890e+02] [ 6.19580471e-01 7.84907955e-01 -6.28835715e-03 3.02497371e+01] [ 1.03117429e-02 -1.28590594e-04 9.99946824e-01 1.41789003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:30.27, Z:1.42 [[ 7.83326140e-01 -6.21554709e-01 -8.36073209e-03 1.04823969e+02] [ 6.21521403e-01 7.83370742e-01 -6.43625762e-03 3.02650009e+01] [ 1.05500391e-02 -1.54685108e-04 9.99944335e-01 1.41851836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:30.28, Z:1.42 [[ 7.81576194e-01 -6.23749980e-01 -8.63800011e-03 1.04848086e+02] [ 6.23714554e-01 7.81623904e-01 -6.65044820e-03 3.02804409e+01] [ 1.08998843e-02 -1.89814386e-04 9.99940576e-01 1.41901927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:30.29, Z:1.42 [[ 7.78001187e-01 -6.28198013e-01 -9.02276275e-03 1.04874667e+02] [ 6.28159617e-01 7.78053462e-01 -6.95029525e-03 3.02949139e+01] [ 1.13863535e-02 -2.60397236e-04 9.99935139e-01 1.42010312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:30.31, Z:1.42 [[ 7.76320568e-01 -6.30277417e-01 -8.76090800e-03 1.04898527e+02] [ 6.30241316e-01 7.76369950e-01 -6.75167208e-03 3.03093857e+01] [ 1.10571321e-02 -2.80024280e-04 9.99938829e-01 1.42050181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:30.32, Z:1.42 [[ 7.73790833e-01 -6.33384153e-01 -8.50061035e-03 1.04923243e+02] [ 6.33350340e-01 7.73837461e-01 -6.55221992e-03 3.03245603e+01] [ 1.07281630e-02 -3.13816738e-04 9.99942402e-01 1.42146282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:30.34, Z:1.42 [[ 7.72916396e-01 -6.34452644e-01 -8.37183401e-03 1.04946771e+02] [ 6.34419902e-01 7.72961667e-01 -6.45366169e-03 3.03393033e+01] [ 1.05656495e-02 -3.23117178e-04 9.99944130e-01 1.42250668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:30.36, Z:1.42 [[ 7.71939157e-01 -6.35643710e-01 -8.18606887e-03 1.04968870e+02] [ 6.35612460e-01 7.71982489e-01 -6.31160306e-03 3.03576960e+01] [ 1.03314326e-02 -3.30993826e-04 9.99946575e-01 1.42309441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:30.38, Z:1.42 [[ 7.71271708e-01 -6.36460409e-01 -7.62233898e-03 1.04991304e+02] [ 6.36433330e-01 7.71309307e-01 -5.87956196e-03 3.03752644e+01] [ 9.62128941e-03 -3.16370783e-04 9.99953664e-01 1.42389838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:30.39, Z:1.42 [[ 7.71222829e-01 -6.36518535e-01 -7.71380404e-03 1.05013411e+02] [ 6.36490772e-01 7.71261339e-01 -5.95341459e-03 3.03912485e+01] [ 9.73881757e-03 -3.18355843e-04 9.99952526e-01 1.42458788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:30.41, Z:1.43 [[ 7.71322331e-01 -6.36397743e-01 -7.73136596e-03 1.05036191e+02] [ 6.36369820e-01 7.71361014e-01 -5.96978858e-03 3.04080528e+01] [ 9.76283426e-03 -3.15376721e-04 9.99952293e-01 1.42500730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.06, Y:30.42, Z:1.43 [[ 7.71675154e-01 -6.35968268e-01 -7.86248730e-03 1.05061353e+02] [ 6.35939364e-01 7.71715144e-01 -6.07147515e-03 3.04219012e+01] [ 9.92886605e-03 -3.14858651e-04 9.99950658e-01 1.42591332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.08, Y:30.44, Z:1.43 [[ 7.72657892e-01 -6.34771012e-01 -8.09598609e-03 1.05082809e+02] [ 6.34740266e-01 7.72700245e-01 -6.25503232e-03 3.04404256e+01] [ 1.02262836e-02 -3.05848279e-04 9.99947663e-01 1.42593481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:30.46, Z:1.43 [[ 7.73297168e-01 -6.33987092e-01 -8.47688925e-03 1.05102905e+02] [ 6.33953305e-01 7.73343567e-01 -6.55240754e-03 3.04621493e+01] [ 1.07096896e-02 -3.06993759e-04 9.99942603e-01 1.42565095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:30.48, Z:1.43 [[ 7.74153431e-01 -6.32937167e-01 -8.77541512e-03 1.05125917e+02] [ 6.32900850e-01 7.74203108e-01 -6.78690319e-03 3.04803892e+01] [ 1.10896369e-02 -2.99863304e-04 9.99938463e-01 1.42602952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:30.50, Z:1.43 [[ 7.75897746e-01 -6.30786945e-01 -9.51405298e-03 1.05147019e+02] [ 6.30744069e-01 7.75956020e-01 -7.36027415e-03 3.04986505e+01] [ 1.20252515e-02 -2.90112367e-04 9.99927652e-01 1.42616921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:30.52, Z:1.43 [[ 7.76743934e-01 -6.29741005e-01 -9.75337774e-03 1.05168511e+02] [ 6.29695848e-01 7.76805116e-01 -7.54654809e-03 3.05178606e+01] [ 1.23288445e-02 -2.79926019e-04 9.99923958e-01 1.42624169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:30.54, Z:1.43 [[ 7.77172549e-01 -6.29208508e-01 -9.97413405e-03 1.05190636e+02] [ 6.29161192e-01 7.77236501e-01 -7.72119743e-03 3.05359853e+01] [ 1.26105042e-02 -2.74635377e-04 9.99920447e-01 1.42634290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:30.55, Z:1.43 [[ 7.77931983e-01 -6.28258006e-01 -1.06633570e-02 1.05212364e+02] [ 6.28203778e-01 7.78005015e-01 -8.25897122e-03 3.05530086e+01] [ 1.34849100e-02 -2.73843276e-04 9.99909037e-01 1.42606980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:30.57, Z:1.43 [[ 7.77939810e-01 -6.28242738e-01 -1.09870186e-02 1.05233965e+02] [ 6.28185144e-01 7.78017341e-01 -8.51127701e-03 3.05710458e+01] [ 1.38952390e-02 -2.80620639e-04 9.99903417e-01 1.42607588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:30.59, Z:1.43 [[ 7.77057703e-01 -6.29335205e-01 -1.08869121e-02 1.05257391e+02] [ 6.29278700e-01 7.77133909e-01 -8.43829560e-03 3.05876984e+01] [ 1.37711051e-02 -2.93859313e-04 9.99905131e-01 1.42613348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.28, Y:30.60, Z:1.43 [[ 7.76349574e-01 -6.30201999e-01 -1.12596288e-02 1.05281065e+02] [ 6.30141587e-01 7.76431156e-01 -8.73154886e-03 3.06045694e+01] [ 1.42449662e-02 -3.16426157e-04 9.99898485e-01 1.42708911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:30.62, Z:1.43 [[ 7.75429821e-01 -6.31329015e-01 -1.15007169e-02 1.05304334e+02] [ 6.31266050e-01 7.75515028e-01 -8.92278936e-03 3.06194038e+01] [ 1.45521946e-02 -3.41015164e-04 9.99894053e-01 1.42728958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:30.63, Z:1.43 [[ 7.73655378e-01 -6.33507167e-01 -1.12260888e-02 1.05329329e+02] [ 6.33447371e-01 7.73736733e-01 -8.71187854e-03 3.06326326e+01] [ 1.42050748e-02 -3.71144736e-04 9.99899034e-01 1.42783297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:30.65, Z:1.43 [[ 7.72601473e-01 -6.34798667e-01 -1.08451124e-02 1.05352094e+02] [ 6.34742968e-01 7.72677492e-01 -8.41768068e-03 3.06500414e+01] [ 1.37233068e-02 -3.80346367e-04 9.99905759e-01 1.42884121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:30.67, Z:1.43 [[ 7.71701969e-01 -6.35900216e-01 -1.03434366e-02 1.05373801e+02] [ 6.35849601e-01 7.71771192e-01 -8.03196904e-03 3.06684058e+01] [ 1.30902973e-02 -3.78583721e-04 9.99914247e-01 1.42978183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:30.68, Z:1.43 [[ 7.71142803e-01 -6.36586685e-01 -9.80665970e-03 1.05399942e+02] [ 6.36541218e-01 7.71205068e-01 -7.61710550e-03 3.06808424e+01] [ 1.24118936e-02 -3.68467028e-04 9.99922902e-01 1.43068142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:30.70, Z:1.43 [[ 7.70735261e-01 -6.37082888e-01 -9.62035897e-03 1.05423065e+02] [ 6.37039158e-01 7.70795212e-01 -7.47347984e-03 3.06989230e+01] [ 1.21765527e-02 -3.68470938e-04 9.99925795e-01 1.43168740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:30.71, Z:1.43 [[ 7.70460749e-01 -6.37423687e-01 -9.01545080e-03 1.05447477e+02] [ 6.37385268e-01 7.70513415e-01 -7.00693706e-03 3.07123776e+01] [ 1.14129134e-02 -3.47745555e-04 9.99934810e-01 1.43241730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:30.73, Z:1.43 [[ 7.70544623e-01 -6.37322460e-01 -9.00366732e-03 1.05467975e+02] [ 6.37284126e-01 7.70597147e-01 -6.99855115e-03 3.07328812e+01] [ 1.13985342e-02 -3.45198310e-04 9.99934975e-01 1.43267909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499998 meters Centerline goodness [0,1] 0.9999572539967513 Centerline is valid? [True, True] Translation: X:105.49, Y:30.75, Z:1.43 [[ 7.71048907e-01 -6.36709059e-01 -9.22805754e-03 1.05493480e+02] [ 6.36668701e-01 7.71104051e-01 -7.17683793e-03 3.07454789e+01] [ 1.16853503e-02 -3.41522368e-04 9.99931666e-01 1.43269519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:30.77, Z:1.43 [[ 7.71198148e-01 -6.36520068e-01 -9.77848784e-03 1.05512846e+02] [ 6.36474723e-01 7.71260056e-01 -7.60610132e-03 3.07682581e+01] [ 1.23831932e-02 -3.57949083e-04 9.99923261e-01 1.43215385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:30.78, Z:1.43 [[ 7.71834043e-01 -6.35742401e-01 -1.01886887e-02 1.05535739e+02] [ 6.35693048e-01 7.71901207e-01 -7.92941609e-03 3.07839160e+01] [ 1.29057271e-02 -3.56685298e-04 9.99916654e-01 1.43142677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.56, Y:30.80, Z:1.43 [[ 7.72807483e-01 -6.34543625e-01 -1.10896908e-02 1.05559300e+02] [ 6.34484998e-01 7.72886961e-01 -8.63320749e-03 3.08011643e+01] [ 1.40492242e-02 -3.64435094e-04 9.99901238e-01 1.43117994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:30.82, Z:1.43 [[ 7.73218655e-01 -6.34040100e-01 -1.12277746e-02 1.05584109e+02] [ 6.33979890e-01 7.73300087e-01 -8.74498018e-03 3.08153711e+01] [ 1.42271071e-02 -3.56401462e-04 9.99898726e-01 1.43106009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.61, Y:30.83, Z:1.43 [[ 7.73490908e-01 -6.33700406e-01 -1.16451710e-02 1.05606283e+02] [ 6.33635568e-01 7.73578480e-01 -9.07203318e-03 3.08338012e+01] [ 1.47574048e-02 -3.61659365e-04 9.99891038e-01 1.43146866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.63, Y:30.85, Z:1.43 [[ 7.73842219e-01 -6.33269385e-01 -1.17518466e-02 1.05631974e+02] [ 6.33203239e-01 7.73931367e-01 -9.15947514e-03 3.08465580e+01] [ 1.48955379e-02 -3.53318739e-04 9.99888993e-01 1.43141017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:30.86, Z:1.43 [[ 7.73912850e-01 -6.33184174e-01 -1.16919772e-02 1.05653507e+02] [ 6.33118662e-01 7.74001086e-01 -9.11478517e-03 3.08640662e+01] [ 1.48209408e-02 -3.48359601e-04 9.99890103e-01 1.43251680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499997 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:105.68, Y:30.88, Z:1.43 [[ 7.74020135e-01 -6.33053523e-01 -1.16647509e-02 1.05676952e+02] [ 6.32988225e-01 7.74107951e-01 -9.09871443e-03 3.08800419e+01] [ 1.47897496e-02 -3.41061784e-04 9.99890568e-01 1.43274973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.70, Y:30.89, Z:1.43 [[ 7.74125268e-01 -6.32918934e-01 -1.19872246e-02 1.05700510e+02] [ 6.32849880e-01 7.74217996e-01 -9.35545098e-03 3.08940078e+01] [ 1.52019670e-02 -3.43822629e-04 9.99884384e-01 1.43247535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:30.91, Z:1.43 [[ 7.74141747e-01 -6.32893287e-01 -1.22736525e-02 1.05723146e+02] [ 6.32820828e-01 7.74238959e-01 -9.58298573e-03 3.09100732e+01] [ 1.55677473e-02 -3.48433626e-04 9.99878755e-01 1.43233746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:30.93, Z:1.43 [[ 7.73812434e-01 -6.33292548e-01 -1.24444949e-02 1.05746267e+02] [ 6.33218023e-01 7.73912412e-01 -9.72186765e-03 3.09257479e+01] [ 1.57877354e-02 -3.57176395e-04 9.99875302e-01 1.43245326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:30.94, Z:1.43 [[ 7.73190962e-01 -6.34048544e-01 -1.25769630e-02 1.05770334e+02] [ 6.33972437e-01 7.73293156e-01 -9.83076149e-03 3.09420480e+01] [ 1.59588594e-02 -3.72391925e-04 9.99872580e-01 1.43247496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:30.96, Z:1.43 [[ 7.72001187e-01 -6.35496699e-01 -1.25742640e-02 1.05795465e+02] [ 6.35420749e-01 7.72103481e-01 -9.83292641e-03 3.09554756e+01] [ 1.59574253e-02 -3.98917353e-04 9.99872593e-01 1.43287195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.82, Y:30.97, Z:1.43 [[ 7.71214030e-01 -6.36459408e-01 -1.21795494e-02 1.05820109e+02] [ 6.36388240e-01 7.71310093e-01 -9.52626665e-03 3.09715716e+01] [ 1.54572914e-02 -4.04131522e-04 9.99880447e-01 1.43398667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:30.99, Z:1.43 [[ 7.71043009e-01 -6.36666626e-01 -1.21772679e-02 1.05841790e+02] [ 6.36595437e-01 7.71139056e-01 -9.52918235e-03 3.09886259e+01] [ 1.54572792e-02 -4.04583727e-04 9.99880447e-01 1.43435370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:31.00, Z:1.44 [[ 7.69917668e-01 -6.38040879e-01 -1.14289954e-02 1.05868096e+02] [ 6.37978255e-01 7.70002387e-01 -8.94825266e-03 3.10021036e+01] [ 1.45097047e-02 -4.02032699e-04 9.99894648e-01 1.43650691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:31.02, Z:1.44 [[ 7.69738671e-01 -6.38262887e-01 -1.10844836e-02 1.05890890e+02] [ 6.38203949e-01 7.69818377e-01 -8.68247908e-03 3.10162676e+01] [ 1.40747433e-02 -3.90921272e-04 9.99900869e-01 1.43764830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:31.03, Z:1.44 [[ 7.69871328e-01 -6.38109893e-01 -1.06724760e-02 1.05914626e+02] [ 6.38055215e-01 7.69945209e-01 -8.36167070e-03 3.10319643e+01] [ 1.35528866e-02 -3.72218438e-04 9.99908086e-01 1.43874789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:31.05, Z:1.44 [[ 7.70977597e-01 -6.36777266e-01 -1.04047479e-02 1.05938683e+02] [ 6.36725126e-01 7.71047728e-01 -8.15567491e-03 3.10470153e+01] [ 1.32159056e-02 -3.37121780e-04 9.99912609e-01 1.43981181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:31.07, Z:1.44 [[ 7.71801452e-01 -6.35777868e-01 -1.04413379e-02 1.05960608e+02] [ 6.35725241e-01 7.71872011e-01 -8.18635432e-03 3.10664166e+01] [ 1.32640793e-02 -3.19581882e-04 9.99911977e-01 1.44057848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:31.08, Z:1.44 [[ 7.73902975e-01 -6.33216532e-01 -1.05360339e-02 1.05986012e+02] [ 6.33162654e-01 7.73974643e-01 -8.26471897e-03 3.10801313e+01] [ 1.33879798e-02 -2.74932587e-04 9.99910339e-01 1.44100770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:31.10, Z:1.44 [[ 7.74863383e-01 -6.32032247e-01 -1.10443300e-02 1.06008578e+02] [ 6.31972866e-01 7.74942043e-01 -8.66757860e-03 3.10976543e+01] [ 1.40369049e-02 -2.63527641e-04 9.99901443e-01 1.44156793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35361786499998 meters Centerline goodness [0,1] 0.9999563013459185 Centerline is valid? [True, True] Translation: X:106.03, Y:31.12, Z:1.44 [[ 7.75856751e-01 -6.30809080e-01 -1.12341712e-02 1.06031520e+02] [ 6.30747453e-01 7.75938043e-01 -8.82067403e-03 3.11150278e+01] [ 1.42811821e-02 -2.42345373e-04 9.99897989e-01 1.44150481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499998 meters Centerline goodness [0,1] 0.9998901847093189 Centerline is valid? [True, True] Translation: X:106.05, Y:31.13, Z:1.44 [[ 7.76851775e-01 -6.29582799e-01 -1.12613834e-02 1.06053485e+02] [ 6.29520688e-01 7.76933364e-01 -8.84595870e-03 3.11319556e+01] [ 1.43186079e-02 -2.17275100e-04 9.99897460e-01 1.44198832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41361786499998 meters Centerline goodness [0,1] 0.999890191944481 Centerline is valid? [True, True] Translation: X:106.08, Y:31.15, Z:1.44 [[ 7.78247557e-01 -6.27861589e-01 -1.09802322e-02 1.06075048e+02] [ 6.27802340e-01 7.78324992e-01 -8.62721398e-03 3.11511732e+01] [ 1.39628854e-02 -1.79307246e-04 9.99902498e-01 1.44314268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:31.17, Z:1.44 [[ 7.81444872e-01 -6.23890941e-01 -1.01983407e-02 1.06093959e+02] [ 6.23839447e-01 7.81511410e-01 -8.01621097e-03 3.11743531e+01] [ 1.29713610e-02 -9.79002645e-05 9.99915864e-01 1.44453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47361786499998 meters Centerline goodness [0,1] 0.9998684152813719 Centerline is valid? [True, True] Translation: X:106.12, Y:31.19, Z:1.44 [[ 7.82551997e-01 -6.22498438e-01 -1.03955091e-02 1.06115752e+02] [ 6.22444756e-01 7.82621038e-01 -8.17540470e-03 3.11923430e+01] [ 1.32249208e-02 -7.29508719e-05 9.99912544e-01 1.44486693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50361786499998 meters Centerline goodness [0,1] 0.9998903677067117 Centerline is valid? [True, True] Translation: X:106.14, Y:31.21, Z:1.44 [[ 7.83136807e-01 -6.21747791e-01 -1.12439323e-02 1.06137952e+02] [ 6.21684883e-01 7.83217518e-01 -8.84456481e-03 3.12101817e+01] [ 1.43055334e-02 -6.36784948e-05 9.99897669e-01 1.44477844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53361786499998 meters Centerline goodness [0,1] 0.9998025839566562 Centerline is valid? [True, True] Translation: X:106.16, Y:31.23, Z:1.45 [[ 7.82942146e-01 -6.21987226e-01 -1.15536761e-02 1.06160342e+02] [ 6.21920755e-01 7.83027386e-01 -9.09328596e-03 3.12259665e+01] [ 1.47027525e-02 -6.59541219e-05 9.99891907e-01 1.44534808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56361786499998 meters Centerline goodness [0,1] 0.9999560960618168 Centerline is valid? [True, True] Translation: X:106.18, Y:31.24, Z:1.45 [[ 7.82362649e-01 -6.22718925e-01 -1.13940579e-02 1.06182229e+02] [ 6.22654321e-01 7.82445611e-01 -8.97008550e-03 3.12428564e+01] [ 1.45010726e-02 -7.66995506e-05 9.99894851e-01 1.44587749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59361786499997 meters Centerline goodness [0,1] 0.9997368940340722 Centerline is valid? [True, True] Translation: X:106.21, Y:31.26, Z:1.45 [[ 7.81240774e-01 -6.24121288e-01 -1.16392091e-02 1.06205078e+02] [ 6.24053951e-01 7.81327465e-01 -9.16830546e-03 3.12601208e+01] [ 1.48161684e-02 -1.00840387e-04 9.99890229e-01 1.44630712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499997 meters Centerline goodness [0,1] 0.9998904877674837 Centerline is valid? [True, True] Translation: X:106.23, Y:31.28, Z:1.45 [[ 7.79410227e-01 -6.26395825e-01 -1.21642085e-02 1.06227047e+02] [ 6.26322482e-01 7.79505131e-01 -9.58640614e-03 3.12770990e+01] [ 1.54869477e-02 -1.46974252e-04 9.99880059e-01 1.44612282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65361786499997 meters Centerline goodness [0,1] 0.999868426823385 Centerline is valid? [True, True] Translation: X:106.25, Y:31.30, Z:1.45 [[ 7.78197270e-01 -6.27895262e-01 -1.25119264e-02 1.06249078e+02] [ 6.27817823e-01 7.78297827e-01 -9.86272676e-03 3.12953659e+01] [ 1.59307645e-02 -1.80063339e-04 9.99873081e-01 1.44601037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:31.31, Z:1.45 [[ 7.76030269e-01 -6.30549005e-01 -1.36005413e-02 1.06271838e+02] [ 6.30457822e-01 7.76149399e-01 -1.07258951e-02 3.13117359e+01] [ 1.73192544e-02 -2.50948382e-04 9.99849979e-01 1.44500396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71361786499997 meters Centerline goodness [0,1] 0.9998466627237081 Centerline is valid? [True, True] Translation: X:106.30, Y:31.33, Z:1.45 [[ 7.74644745e-01 -6.32242669e-01 -1.39544587e-02 1.06295204e+02] [ 6.32146890e-01 7.74770367e-01 -1.10085476e-02 3.13289837e+01] [ 1.77715747e-02 -2.93554122e-04 9.99842030e-01 1.44504205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499998 meters Centerline goodness [0,1] 0.9998902738764045 Centerline is valid? [True, True] Translation: X:106.32, Y:31.35, Z:1.44 [[ 7.72861419e-01 -6.34419052e-01 -1.40603622e-02 1.06317913e+02] [ 6.34322092e-01 7.72989230e-01 -1.10966230e-02 3.13457407e+01] [ 1.79084176e-02 -3.42646600e-04 9.99839573e-01 1.44303706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77361786499998 meters Centerline goodness [0,1] 0.9999562401540346 Centerline is valid? [True, True] Translation: X:106.34, Y:31.36, Z:1.45 [[ 7.71418318e-01 -6.36170209e-01 -1.41860348e-02 1.06340520e+02] [ 6.36071751e-01 7.71548649e-01 -1.11986709e-02 3.13630873e+01] [ 1.80694768e-02 -3.84476125e-04 9.99836660e-01 1.44635430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:31.38, Z:1.45 [[ 7.70501040e-01 -6.37277492e-01 -1.43368675e-02 1.06362634e+02] [ 6.37177019e-01 7.70634303e-01 -1.13233159e-02 3.13810880e+01] [ 1.82645763e-02 -4.10495791e-04 9.99833104e-01 1.44691473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83361786499998 meters Centerline goodness [0,1] 0.9998251022058984 Centerline is valid? [True, True] Translation: X:106.38, Y:31.40, Z:1.45 [[ 7.69857294e-01 -6.38052367e-01 -1.44541945e-02 1.06384042e+02] [ 6.37950294e-01 7.69992852e-01 -1.14205970e-02 3.13997511e+01] [ 1.84165654e-02 -4.28827678e-04 9.99830309e-01 1.44679921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86361786499998 meters Centerline goodness [0,1] 0.9999562391965516 Centerline is valid? [True, True] Translation: X:106.40, Y:31.42, Z:1.45 [[ 7.69236950e-01 -6.38803567e-01 -1.43009658e-02 1.06404970e+02] [ 6.38703740e-01 7.69369748e-01 -1.13014809e-02 3.14186157e+01] [ 1.82221568e-02 -4.40563656e-04 9.99833866e-01 1.44532281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:31.44, Z:1.45 [[ 7.69481306e-01 -6.38521897e-01 -1.37224802e-02 1.06425441e+02] [ 6.38429894e-01 7.69603544e-01 -1.08469438e-02 3.14388757e+01] [ 1.74868805e-02 -4.14321132e-04 9.99847007e-01 1.44660190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:31.46, Z:1.45 [[ 7.69218273e-01 -6.38841193e-01 -1.36080603e-02 1.06447388e+02] [ 6.38750675e-01 7.69338520e-01 -1.07618230e-02 3.14570034e+01] [ 1.73443008e-02 -4.13966791e-04 9.99849491e-01 1.44706828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:31.47, Z:1.45 [[ 7.68807846e-01 -6.39332228e-01 -1.37403776e-02 1.06470037e+02] [ 6.39239917e-01 7.68930506e-01 -1.08722901e-02 3.14748280e+01] [ 1.75164009e-02 -4.24695876e-04 9.99846486e-01 1.44699691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:31.49, Z:1.45 [[ 7.68073590e-01 -6.40215505e-01 -1.36772422e-02 1.06491791e+02] [ 6.40124090e-01 7.68195232e-01 -1.08275001e-02 3.14938994e+01] [ 1.74387257e-02 -4.38815383e-04 9.99847838e-01 1.44746988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01361786499997 meters Centerline goodness [0,1] 0.9999346689895471 Centerline is valid? [True, True] Translation: X:106.51, Y:31.51, Z:1.45 [[ 7.66939805e-01 -6.41573694e-01 -1.36576558e-02 1.06513630e+02] [ 6.41482663e-01 7.67061262e-01 -1.08172647e-02 3.15124118e+01] [ 1.74163312e-02 -4.64958524e-04 9.99848216e-01 1.44567774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:31.53, Z:1.45 [[ 7.66730643e-01 -6.41821108e-01 -1.37762762e-02 1.06537214e+02] [ 6.41728449e-01 7.66854252e-01 -1.09157663e-02 3.15269689e+01] [ 1.75703652e-02 -4.71175901e-04 9.99845518e-01 1.44712578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:31.55, Z:1.45 [[ 7.65681983e-01 -6.43070796e-01 -1.38221638e-02 1.06556679e+02] [ 6.42977674e-01 7.65806569e-01 -1.09548957e-02 3.15489610e+01] [ 1.76298774e-02 -4.99376473e-04 9.99844457e-01 1.44689838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:31.57, Z:1.45 [[ 7.65437988e-01 -6.43355812e-01 -1.40706958e-02 1.06578760e+02] [ 6.43259274e-01 7.65567134e-01 -1.11565826e-02 3.15654295e+01] [ 1.79497146e-02 -5.11433441e-04 9.99838760e-01 1.44652134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.60, Y:31.58, Z:1.45 [[ 7.65326035e-01 -6.43494935e-01 -1.37959666e-02 1.06599375e+02] [ 6.43402116e-01 7.65450204e-01 -1.09408237e-02 3.15823362e+01] [ 1.76004900e-02 -5.03056895e-04 9.99844973e-01 1.44659548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:31.60, Z:1.45 [[ 7.65639977e-01 -6.43130877e-01 -1.33454723e-02 1.06621546e+02] [ 6.43043914e-01 7.65756129e-01 -1.05865987e-02 3.16001375e+01] [ 1.70279458e-02 -4.76201556e-04 9.99854901e-01 1.44722008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:31.62, Z:1.45 [[ 7.65880113e-01 -6.42841286e-01 -1.35179091e-02 1.06643487e+02] [ 6.42751926e-01 7.65999255e-01 -1.07286125e-02 3.16189240e+01] [ 1.72515034e-02 -4.71831165e-04 9.99851070e-01 1.44760103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:31.64, Z:1.45 [[ 7.66319295e-01 -6.42308620e-01 -1.39418409e-02 1.06666470e+02] [ 6.42213383e-01 7.66445964e-01 -1.10704842e-02 3.16372949e+01] [ 1.77963351e-02 -4.70111125e-04 9.99841522e-01 1.44767845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:31.66, Z:1.45 [[ 7.67559544e-01 -6.40806794e-01 -1.47986456e-02 1.06688511e+02] [ 6.40699104e-01 7.67702054e-01 -1.17564497e-02 3.16553159e+01] [ 1.88945634e-02 -4.57703815e-04 9.99821377e-01 1.44643655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:31.68, Z:1.45 [[ 7.68286708e-01 -6.39932983e-01 -1.48765034e-02 1.06709110e+02] [ 6.39823885e-01 7.68430601e-01 -1.18240374e-02 3.16762194e+01] [ 1.89981520e-02 -4.34091452e-04 9.99819425e-01 1.44654075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:31.70, Z:1.45 [[ 7.68877050e-01 -6.39228781e-01 -1.46508638e-02 1.06731470e+02] [ 6.39122734e-01 7.69016515e-01 -1.16503407e-02 3.16950679e+01] [ 1.87139894e-02 -4.06020548e-04 9.99824796e-01 1.44675496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:31.71, Z:1.45 [[ 7.69624019e-01 -6.38346709e-01 -1.38689662e-02 1.06754558e+02] [ 6.38251456e-01 7.69748887e-01 -1.10331268e-02 3.17103767e+01] [ 1.77185815e-02 -3.60528477e-04 9.99842949e-01 1.44621350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:31.73, Z:1.45 [[ 7.69655078e-01 -6.38313081e-01 -1.36920250e-02 1.06777273e+02] [ 6.38220179e-01 7.69776777e-01 -1.08957346e-02 3.17277004e+01] [ 1.74946928e-02 -3.52569190e-04 9.99846894e-01 1.44692086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:31.75, Z:1.45 [[ 7.69464365e-01 -6.38546655e-01 -1.35189239e-02 1.06797748e+02] [ 6.38456030e-01 7.69583035e-01 -1.07633507e-02 3.17463025e+01] [ 1.72768361e-02 -3.49223651e-04 9.99850683e-01 1.44761167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:31.76, Z:1.45 [[ 7.69224601e-01 -6.38822349e-01 -1.41251760e-02 1.06821439e+02] [ 6.38723364e-01 7.69354191e-01 -1.12513477e-02 3.17617835e+01] [ 1.80548758e-02 -3.67266489e-04 9.99836930e-01 1.44684541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:31.78, Z:1.45 [[ 7.68944550e-01 -6.39142175e-01 -1.48848522e-02 1.06843370e+02] [ 6.39032254e-01 7.69088503e-01 -1.18597185e-02 3.17805074e+01] [ 1.90278150e-02 -3.92434766e-04 9.99818878e-01 1.44705634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:31.80, Z:1.45 [[ 7.69095943e-01 -6.38955347e-01 -1.50829362e-02 1.06866036e+02] [ 6.38842324e-01 7.69243728e-01 -1.20237920e-02 3.17975784e+01] [ 1.92851203e-02 -3.88168426e-04 9.99813949e-01 1.44633117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:31.82, Z:1.45 [[ 7.69741251e-01 -6.38164305e-01 -1.56437578e-02 1.06888667e+02] [ 6.38042418e-01 7.69900109e-01 -1.24777405e-02 3.18151819e+01] [ 2.00069794e-02 -3.76749461e-04 9.99799769e-01 1.44595859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.91, Y:31.83, Z:1.45 [[ 7.71110013e-01 -6.36520003e-01 -1.52195283e-02 1.06909893e+02] [ 6.36404205e-01 7.71260127e-01 -1.21451669e-02 3.18346695e+01] [ 1.94688570e-02 -3.20511984e-04 9.99810412e-01 1.44630800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:31.85, Z:1.45 [[ 7.72255183e-01 -6.35135154e-01 -1.50089394e-02 1.06930744e+02] [ 6.35022188e-01 7.72400970e-01 -1.19817229e-02 3.18528990e+01] [ 1.92029328e-02 -2.78061907e-04 9.99815568e-01 1.44664188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:31.87, Z:1.45 [[ 7.73838524e-01 -6.33205480e-01 -1.49919922e-02 1.06952132e+02] [ 6.33092345e-01 7.73983701e-01 -1.19713608e-02 3.18716879e+01] [ 1.91838888e-02 -2.27415363e-04 9.99815946e-01 1.44660718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:31.89, Z:1.45 [[ 7.74318230e-01 -6.32614117e-01 -1.51874483e-02 1.06973803e+02] [ 6.32497781e-01 7.74467130e-01 -1.21335212e-02 3.18901223e+01] [ 1.94380163e-02 -2.10820710e-04 9.99811042e-01 1.44703654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:31.91, Z:1.45 [[ 7.74152504e-01 -6.32822156e-01 -1.49672722e-02 1.06995925e+02] [ 6.32709085e-01 7.74297150e-01 -1.19640198e-02 3.19081241e+01] [ 1.91602131e-02 -2.07953200e-04 9.99816405e-01 1.44736628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:31.93, Z:1.45 [[ 7.73255071e-01 -6.33937206e-01 -1.41497140e-02 1.07018522e+02] [ 6.33836234e-01 7.73384491e-01 -1.13162026e-02 3.19256282e+01] [ 1.81169312e-02 -2.18290371e-04 9.99835851e-01 1.44849732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:31.94, Z:1.45 [[ 7.72188204e-01 -6.35242345e-01 -1.38759074e-02 1.07041836e+02] [ 6.35145360e-01 7.72312829e-01 -1.11025392e-02 3.19428946e+01] [ 1.77693444e-02 -2.39968356e-04 9.99842084e-01 1.44923513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:31.96, Z:1.45 [[ 7.70953640e-01 -6.36743342e-01 -1.37259394e-02 1.07065642e+02] [ 6.36648587e-01 7.71075771e-01 -1.09878190e-02 3.19601206e+01] [ 1.75801599e-02 -2.67500885e-04 9.99845421e-01 1.44982568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:31.98, Z:1.45 [[ 7.69403557e-01 -6.38619784e-01 -1.35254772e-02 1.07089169e+02] [ 6.38527976e-01 7.69522372e-01 -1.08325086e-02 3.19770859e+01] [ 1.73260117e-02 -3.01824936e-04 9.99849848e-01 1.45019159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:31.99, Z:1.45 [[ 7.66769010e-01 -6.41780764e-01 -1.35180387e-02 1.07113545e+02] [ 6.41689469e-01 7.66888072e-01 -1.08309823e-02 3.19913850e+01] [ 1.73179387e-02 -3.69521531e-04 9.99849965e-01 1.45090929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85361786499998 meters Centerline goodness [0,1] 0.9999781811834526 Centerline is valid? [True, True] Translation: X:107.14, Y:32.01, Z:1.45 [[ 7.65414847e-01 -6.43398575e-01 -1.33561236e-02 1.07136384e+02] [ 6.43309657e-01 7.65531263e-01 -1.07037921e-02 3.20090208e+01] [ 1.71113347e-02 -3.99281933e-04 9.99853511e-01 1.45186155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:32.03, Z:1.45 [[ 7.63734439e-01 -6.45402739e-01 -1.28456513e-02 1.07160415e+02] [ 6.45320691e-01 7.63842343e-01 -1.02995392e-02 3.20258988e+01] [ 1.64594032e-02 -4.23451745e-04 9.99864445e-01 1.45240768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:32.04, Z:1.45 [[ 7.63354418e-01 -6.45859498e-01 -1.24715863e-02 1.07182663e+02] [ 6.45782145e-01 7.63456177e-01 -1.00043511e-02 3.20441622e+01] [ 1.59829148e-02 -4.17062116e-04 9.99872178e-01 1.45256643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:32.06, Z:1.45 [[ 7.63442774e-01 -6.45751869e-01 -1.26354739e-02 1.07204562e+02] [ 6.45672370e-01 7.63547216e-01 -1.01409626e-02 3.20618008e+01] [ 1.61963265e-02 -4.16331801e-04 9.99868744e-01 1.45298533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:32.08, Z:1.45 [[ 7.63823884e-01 -6.45299870e-01 -1.26945596e-02 1.07226685e+02] [ 6.45219482e-01 7.63929260e-01 -1.01934009e-02 3.20781641e+01] [ 1.62755458e-02 -4.04814088e-04 9.99867463e-01 1.45278090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:32.10, Z:1.45 [[ 7.63653975e-01 -6.45500956e-01 -1.26933670e-02 1.07248144e+02] [ 6.45420572e-01 7.63759353e-01 -1.01948857e-02 3.20954960e+01] [ 1.62754863e-02 -4.07195199e-04 9.99867463e-01 1.45314861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:32.11, Z:1.45 [[ 7.64175213e-01 -6.44873707e-01 -1.31964753e-02 1.07269357e+02] [ 6.44786632e-01 7.64289041e-01 -1.06047305e-02 3.21147910e+01] [ 1.69246334e-02 -4.05038689e-04 9.99856686e-01 1.45318083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:32.13, Z:1.45 [[ 7.64628427e-01 -6.44339238e-01 -1.30504902e-02 1.07291499e+02] [ 6.44253918e-01 7.64739693e-01 -1.04924094e-02 3.21332753e+01] [ 1.67408990e-02 -3.85034985e-04 9.99859787e-01 1.45355255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:32.15, Z:1.45 [[ 7.65919155e-01 -6.42811741e-01 -1.26851525e-02 1.07313781e+02] [ 6.42730845e-01 7.66024119e-01 -1.02034438e-02 3.21509182e+01] [ 1.62760262e-02 -3.38125671e-04 9.99867480e-01 1.45447826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:32.17, Z:1.46 [[ 7.66444517e-01 -6.42187559e-01 -1.25674622e-02 1.07335737e+02] [ 6.42107996e-01 7.66547479e-01 -1.01135167e-02 3.21698662e+01] [ 1.61283311e-02 -3.18218514e-04 9.99869879e-01 1.45528325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:32.19, Z:1.46 [[ 7.67282968e-01 -6.41193526e-01 -1.21535907e-02 1.07356700e+02] [ 6.41118931e-01 7.67379164e-01 -9.78441144e-03 3.21879063e+01] [ 1.56001135e-02 -2.84484818e-04 9.99878270e-01 1.45615310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:32.21, Z:1.46 [[ 7.68164726e-01 -6.40144130e-01 -1.17663780e-02 1.07378370e+02] [ 6.40074062e-01 7.68254794e-01 -9.47450230e-03 3.22065265e+01] [ 1.51046233e-02 -2.53374890e-04 9.99885887e-01 1.45772824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:32.23, Z:1.46 [[ 7.68345806e-01 -6.39936418e-01 -1.12295838e-02 1.07398589e+02] [ 6.39872518e-01 7.68427827e-01 -9.04626689e-03 3.22262875e+01] [ 1.44181603e-02 -2.34840864e-04 9.99896025e-01 1.45902873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499998 meters Centerline goodness [0,1] 0.9999565868588421 Centerline is valid? [True, True] Translation: X:107.42, Y:32.24, Z:1.46 [[ 7.68392001e-01 -6.39882356e-01 -1.11491232e-02 1.07420076e+02] [ 6.39819294e-01 7.68472848e-01 -8.98627307e-03 3.22433944e+01] [ 1.43179561e-02 -2.28443798e-04 9.99897467e-01 1.45952072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27361786499998 meters Centerline goodness [0,1] 0.9999347201671164 Centerline is valid? [True, True] Translation: X:107.44, Y:32.26, Z:1.46 [[ 7.68287507e-01 -6.40013368e-01 -1.08256984e-02 1.07441585e+02] [ 6.39953895e-01 7.68363742e-01 -8.72765605e-03 3.22605423e+01] [ 1.39038906e-02 -2.22598730e-04 9.99903311e-01 1.45964667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:32.28, Z:1.46 [[ 7.67937350e-01 -6.40435253e-01 -1.07197431e-02 1.07462947e+02] [ 6.40376951e-01 7.68012132e-01 -8.64438854e-03 3.22790591e+01] [ 1.37690640e-02 -2.26327610e-04 9.99905176e-01 1.46012526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33361786499998 meters Centerline goodness [0,1] 0.9999128293416436 Centerline is valid? [True, True] Translation: X:107.49, Y:32.30, Z:1.46 [[ 7.67592601e-01 -6.40846464e-01 -1.08355362e-02 1.07485115e+02] [ 6.40786868e-01 7.67669041e-01 -8.74262433e-03 3.22953690e+01] [ 1.39207856e-02 -2.32495553e-04 9.99903074e-01 1.46030820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36361786499998 meters Centerline goodness [0,1] 0.9999564251165628 Centerline is valid? [True, True] Translation: X:107.51, Y:32.31, Z:1.46 [[ 7.67262408e-01 -6.41237844e-01 -1.10645789e-02 1.07506631e+02] [ 6.41175717e-01 7.67342145e-01 -8.92923490e-03 3.23137270e+01] [ 1.42160810e-02 -2.43273025e-04 9.99898917e-01 1.46020531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39361786499998 meters Centerline goodness [0,1] 0.9999347059591694 Centerline is valid? [True, True] Translation: X:107.53, Y:32.33, Z:1.46 [[ 7.67138328e-01 -6.41381007e-01 -1.13661468e-02 1.07528061e+02] [ 6.41315390e-01 7.67222485e-01 -9.17762988e-03 3.23304538e+01] [ 1.46067209e-02 -2.48773236e-04 9.99893285e-01 1.46030253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42361786499998 meters Centerline goodness [0,1] 0.9999782547241611 Centerline is valid? [True, True] Translation: X:107.55, Y:32.35, Z:1.46 [[ 7.66850755e-01 -6.41717478e-01 -1.17728034e-02 1.07549788e+02] [ 6.41647079e-01 7.66941073e-01 -9.50872632e-03 3.23484407e+01] [ 1.51309624e-02 -2.62210973e-04 9.99885486e-01 1.46024702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:32.37, Z:1.46 [[ 7.67032064e-01 -6.41499924e-01 -1.18178162e-02 1.07571463e+02] [ 6.41428879e-01 7.67123056e-01 -9.55044227e-03 3.23667054e+01] [ 1.51923273e-02 -2.54793137e-04 9.99884557e-01 1.46118329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499997 meters Centerline goodness [0,1] 0.9999565085025878 Centerline is valid? [True, True] Translation: X:107.59, Y:32.38, Z:1.46 [[ 7.67357234e-01 -6.41112524e-01 -1.17305649e-02 1.07592976e+02] [ 6.41042406e-01 7.67446854e-01 -9.48476964e-03 3.23843574e+01] [ 1.50833897e-02 -2.41582927e-04 9.99886210e-01 1.46143968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:32.40, Z:1.46 [[ 7.67576038e-01 -6.40850034e-01 -1.17583803e-02 1.07614580e+02] [ 6.40779521e-01 7.67666059e-01 -9.50932655e-03 3.24025379e+01] [ 1.51205617e-02 -2.35398073e-04 9.99885650e-01 1.46190285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:32.42, Z:1.46 [[ 7.67445791e-01 -6.41009516e-01 -1.15654273e-02 1.07636250e+02] [ 6.40941241e-01 7.67532897e-01 -9.35834069e-03 3.24206617e+01] [ 1.48756313e-02 -2.30740152e-04 9.99889325e-01 1.46261635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:32.44, Z:1.46 [[ 7.67223550e-01 -6.41284246e-01 -1.10697853e-02 1.07657327e+02] [ 6.41221660e-01 7.67303373e-01 -8.96199425e-03 3.24393575e+01] [ 1.42410693e-02 -2.22333060e-04 9.99898566e-01 1.46350138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:32.45, Z:1.46 [[ 7.66941210e-01 -6.41625303e-01 -1.08697356e-02 1.07679401e+02] [ 6.41564926e-01 7.67018201e-01 -8.80482130e-03 3.24546133e+01] [ 1.39866812e-02 -2.20860808e-04 9.99902157e-01 1.46417316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:32.47, Z:1.47 [[ 7.66551667e-01 -6.42103444e-01 -1.00850991e-02 1.07701675e+02] [ 6.42051486e-01 7.66617977e-01 -8.17106938e-03 3.24714405e+01] [ 1.29780900e-02 -2.11606004e-04 9.99915759e-01 1.46561100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499998 meters Centerline goodness [0,1] 0.9999564687445586 Centerline is valid? [True, True] Translation: X:107.72, Y:32.49, Z:1.47 [[ 7.66363156e-01 -6.42334018e-01 -9.72227576e-03 1.07722771e+02] [ 6.42285735e-01 7.66424795e-01 -7.87833136e-03 3.24883575e+01] [ 1.25119134e-02 -2.06816157e-04 9.99921702e-01 1.46589053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:32.51, Z:1.47 [[ 7.66046237e-01 -6.42709570e-01 -9.87781794e-03 1.07743693e+02] [ 6.42659739e-01 7.66109889e-01 -8.00612116e-03 3.25069076e+01] [ 1.27131047e-02 -2.15016900e-04 9.99919162e-01 1.46688939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:32.53, Z:1.47 [[ 7.65922107e-01 -6.42857240e-01 -9.89418599e-03 1.07765148e+02] [ 6.42807199e-01 7.65985981e-01 -8.02379048e-03 3.25253615e+01] [ 1.27369596e-02 -2.14455474e-04 9.99918859e-01 1.46716915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:32.54, Z:1.47 [[ 7.65620872e-01 -6.43212925e-01 -1.00902547e-02 1.07786049e+02] [ 6.43160851e-01 7.65687328e-01 -8.18751685e-03 3.25419322e+01] [ 1.29922969e-02 -2.21123035e-04 9.99915572e-01 1.46731809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78361786499998 meters Centerline goodness [0,1] 0.9998915683553088 Centerline is valid? [True, True] Translation: X:107.81, Y:32.56, Z:1.47 [[ 7.65211373e-01 -6.43698429e-01 -1.01925267e-02 1.07807538e+02] [ 6.43645296e-01 7.65279217e-01 -8.27364285e-03 3.25607653e+01] [ 1.31258598e-02 -2.29286277e-04 9.99913826e-01 1.46755568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:32.58, Z:1.47 [[ 7.64099492e-01 -6.45016605e-01 -1.02735312e-02 1.07829203e+02] [ 6.44962681e-01 7.64168513e-01 -8.34411228e-03 3.25776971e+01] [ 1.32328001e-02 -2.50312281e-04 9.99912411e-01 1.46732393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:32.60, Z:1.47 [[ 7.62992078e-01 -6.46328885e-01 -1.01025699e-02 1.07851214e+02] [ 6.46276837e-01 7.63058910e-01 -8.20665153e-03 3.25952391e+01] [ 1.30130519e-02 -2.67446807e-04 9.99915291e-01 1.46732587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:32.61, Z:1.47 [[ 7.61760678e-01 -6.47775926e-01 -1.03449927e-02 1.07873321e+02] [ 6.47721464e-01 7.61830861e-01 -8.40501294e-03 3.26142470e+01] [ 1.33256997e-02 -2.98065462e-04 9.99911164e-01 1.46770541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:32.63, Z:1.47 [[ 7.58795902e-01 -6.51249121e-01 -1.01667207e-02 1.07896569e+02] [ 6.51196778e-01 7.58863928e-01 -8.26410148e-03 3.26301898e+01] [ 1.30971464e-02 -3.49769399e-04 9.99914168e-01 1.46809766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:32.65, Z:1.47 [[ 7.56984422e-01 -6.53355146e-01 -1.00815173e-02 1.07918132e+02] [ 6.53303850e-01 7.57051456e-01 -8.19587629e-03 3.26489590e+01] [ 1.29870453e-02 -3.82143382e-04 9.99915592e-01 1.46902549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:32.67, Z:1.47 [[ 7.55462838e-01 -6.55114253e-01 -1.00606052e-02 1.07939734e+02] [ 6.55063275e-01 7.55529714e-01 -8.18275371e-03 3.26656299e+01] [ 1.29617247e-02 -4.08566614e-04 9.99915910e-01 1.46962624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:32.68, Z:1.47 [[ 7.54145947e-01 -6.56630989e-01 -9.98174434e-03 1.07961837e+02] [ 6.56580910e-01 7.54211880e-01 -8.12091896e-03 3.26839170e+01] [ 1.28607972e-02 -4.29464666e-04 9.99917204e-01 1.47008984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:32.71, Z:1.47 [[ 7.52320514e-01 -6.58723333e-01 -9.86989891e-03 1.07980850e+02] [ 6.58674502e-01 7.52385115e-01 -8.03360466e-03 3.27064666e+01] [ 1.27178879e-02 -4.57205159e-04 9.99919020e-01 1.47056656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:32.73, Z:1.47 [[ 7.51896445e-01 -6.59211133e-01 -9.61348594e-03 1.08002215e+02] [ 6.59164801e-01 7.51957764e-01 -7.82848708e-03 3.27258099e+01] [ 1.23895612e-02 -4.50659945e-04 9.99923145e-01 1.47115136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:32.74, Z:1.47 [[ 7.51973572e-01 -6.59121629e-01 -9.71724029e-03 1.08024504e+02] [ 6.59074235e-01 7.52036219e-01 -7.91696607e-03 3.27414384e+01] [ 1.25259602e-02 -4.51033447e-04 9.99921445e-01 1.47144751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:32.77, Z:1.47 [[ 7.53238819e-01 -6.57668560e-01 -1.01659599e-02 1.08040474e+02] [ 6.57616530e-01 7.53307286e-01 -8.28448210e-03 3.27676365e+01] [ 1.31065351e-02 -4.45109775e-04 9.99914007e-01 1.47176852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:32.79, Z:1.47 [[ 7.54183208e-01 -6.56585811e-01 -1.01371059e-02 1.08060259e+02] [ 6.56533929e-01 7.54251214e-01 -8.26470128e-03 3.27890217e+01] [ 1.30724100e-02 -4.22255030e-04 9.99914463e-01 1.47205788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:32.81, Z:1.47 [[ 7.55410112e-01 -6.55173513e-01 -1.01602743e-02 1.08079964e+02] [ 6.55121214e-01 7.55478333e-01 -8.28758159e-03 3.28107077e+01] [ 1.31056711e-02 -3.95688320e-04 9.99914039e-01 1.47256311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:32.83, Z:1.47 [[ 7.58118263e-01 -6.52039116e-01 -1.00841681e-02 1.08098794e+02] [ 6.51987267e-01 7.58185254e-01 -8.22946919e-03 3.28325066e+01] [ 1.30116034e-02 -3.35838302e-04 9.99915289e-01 1.47296075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:32.86, Z:1.47 [[ 7.59356479e-01 -6.50595159e-01 -1.01821712e-02 1.08116203e+02] [ 6.50542135e-01 7.59424678e-01 -8.31196764e-03 3.28567409e+01] [ 1.31403180e-02 -3.12184941e-04 9.99913614e-01 1.47300147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:32.88, Z:1.47 [[ 7.60510192e-01 -6.49246250e-01 -1.01761281e-02 1.08135895e+02] [ 6.49193116e-01 7.60578217e-01 -8.31103416e-03 3.28777233e+01] [ 1.31356492e-02 -2.85646155e-04 9.99913683e-01 1.47309542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:32.90, Z:1.47 [[ 7.62937420e-01 -6.46390268e-01 -1.03012443e-02 1.08153867e+02] [ 6.46335503e-01 7.63006924e-01 -8.41730927e-03 3.29023033e+01] [ 1.33007876e-02 -2.36179733e-04 9.99911513e-01 1.47369918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:32.92, Z:1.47 [[ 7.63818770e-01 -6.45351649e-01 -1.01062456e-02 1.08173506e+02] [ 6.45298822e-01 7.63885597e-01 -8.25987787e-03 3.29232054e+01] [ 1.30505412e-02 -2.12498598e-04 9.99914815e-01 1.47421666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:32.94, Z:1.47 [[ 7.64638246e-01 -6.44384287e-01 -9.86123325e-03 1.08193304e+02] [ 6.44333862e-01 7.64701808e-01 -8.06342473e-03 3.29438472e+01] [ 1.27368471e-02 -1.88323565e-04 9.99918865e-01 1.47499420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:32.97, Z:1.48 [[ 7.66502295e-01 -6.42180340e-01 -8.86807175e-03 1.08210255e+02] [ 6.42139378e-01 7.66553581e-01 -7.25439933e-03 3.29685997e+01] [ 1.14564848e-02 -1.34024354e-04 9.99934363e-01 1.47579136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:32.99, Z:1.48 [[ 7.67212315e-01 -6.41335056e-01 -8.63770300e-03 1.08230426e+02] [ 6.41296105e-01 7.67260928e-01 -7.06923959e-03 3.29895422e+01] [ 1.11611232e-02 -1.15717617e-04 9.99937706e-01 1.47627702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:33.01, Z:1.48 [[ 7.67770698e-01 -6.40668812e-01 -8.46341120e-03 1.08250378e+02] [ 6.40631336e-01 7.67817337e-01 -6.93024807e-03 3.30088512e+01] [ 1.09383476e-02 -1.01085031e-04 9.99940169e-01 1.47694517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:33.03, Z:1.48 [[ 7.68258893e-01 -6.40083242e-01 -8.46856125e-03 1.08268496e+02] [ 6.40045675e-01 7.68305561e-01 -6.93540285e-03 3.30315629e+01] [ 1.09456778e-02 -9.20810868e-05 9.99940090e-01 1.47598271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:33.05, Z:1.48 [[ 7.68044477e-01 -6.40334720e-01 -8.89537831e-03 1.08287980e+02] [ 6.40293240e-01 7.68095981e-01 -7.28902145e-03 3.30522184e+01] [ 1.14999178e-02 -9.73579368e-05 9.99933869e-01 1.47580731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:33.07, Z:1.48 [[ 7.67880956e-01 -6.40533841e-01 -8.67388886e-03 1.08307958e+02] [ 6.40494371e-01 7.67929938e-01 -7.11135477e-03 3.30719491e+01] [ 1.12160023e-02 -9.49030902e-05 9.99937094e-01 1.47540939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:33.09, Z:1.48 [[ 7.67306987e-01 -6.41218598e-01 -8.87118835e-03 1.08328446e+02] [ 6.41177310e-01 7.67358260e-01 -7.27725314e-03 3.30919366e+01] [ 1.14736897e-02 -1.04117504e-04 9.99934170e-01 1.47560539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:33.11, Z:1.48 [[ 7.66554742e-01 -6.42112639e-01 -9.22966859e-03 1.08349314e+02] [ 6.42067955e-01 7.66610295e-01 -7.57605399e-03 3.31107062e+01] [ 1.19402390e-02 -1.18614324e-04 9.99928706e-01 1.47588592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.37, Y:33.13, Z:1.48 [[ 7.64060813e-01 -6.45072443e-01 -9.62385225e-03 1.08369083e+02] [ 6.45024069e-01 7.64121401e-01 -7.90165685e-03 3.31316562e+01] [ 1.24509325e-02 -1.70269979e-04 9.99922470e-01 1.47522424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.39, Y:33.15, Z:1.48 [[ 7.62434082e-01 -6.46991418e-01 -9.81710956e-03 1.08390478e+02] [ 6.46941189e-01 7.62497255e-01 -8.06436285e-03 3.31510624e+01] [ 1.27030927e-02 -2.02547439e-04 9.99919292e-01 1.47509684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:33.17, Z:1.48 [[ 7.58611847e-01 -6.51473336e-01 -9.51614445e-03 1.08412808e+02] [ 6.51426444e-01 7.58671484e-01 -7.82089803e-03 3.31706575e+01] [ 1.23147340e-02 -2.66042237e-04 9.99924135e-01 1.47541604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:33.19, Z:1.48 [[ 7.56545672e-01 -6.53882831e-01 -8.71144379e-03 1.08434227e+02] [ 6.53843659e-01 7.56595775e-01 -7.16258294e-03 3.31885020e+01] [ 1.12745316e-02 -2.77101162e-04 9.99936402e-01 1.47569291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:33.21, Z:1.48 [[ 7.54583242e-01 -6.56147283e-01 -8.65297663e-03 1.08455063e+02] [ 6.56108770e-01 7.54632790e-01 -7.11573033e-03 3.32077857e+01] [ 1.11987870e-02 -3.07882997e-04 9.99937244e-01 1.47605084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:33.23, Z:1.48 [[ 7.52720853e-01 -6.58290979e-01 -8.01898755e-03 1.08475633e+02] [ 6.58258014e-01 7.52763501e-01 -6.59539596e-03 3.32264570e+01] [ 1.03780908e-02 -3.14070747e-04 9.99946097e-01 1.47665962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:33.25, Z:1.48 [[ 7.49329520e-01 -6.62155309e-01 -7.45763690e-03 1.08495525e+02] [ 6.62126984e-01 7.49366552e-01 -6.13405434e-03 3.32468372e+01] [ 9.65020031e-03 -3.41474635e-04 9.99953377e-01 1.47713169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.52, Y:33.27, Z:1.48 [[ 7.48003657e-01 -6.63656720e-01 -7.09135321e-03 1.08515461e+02] [ 6.63631148e-01 7.48037193e-01 -5.83598094e-03 3.32671707e+01] [ 9.17768392e-03 -3.40707784e-04 9.99957826e-01 1.47719966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:33.29, Z:1.48 [[ 7.47019297e-01 -6.64766885e-01 -6.86712781e-03 1.08535927e+02] [ 6.64742943e-01 7.47050782e-01 -5.65236883e-03 3.32867835e+01] [ 8.88760082e-03 -3.42446154e-04 9.99960446e-01 1.47701188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:33.31, Z:1.48 [[ 7.46432131e-01 -6.65421388e-01 -7.31102426e-03 1.08556262e+02] [ 6.65394277e-01 7.46467841e-01 -6.01809675e-03 3.33075003e+01] [ 9.46201479e-03 -3.72612929e-04 9.99955165e-01 1.47721517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.58, Y:33.33, Z:1.48 [[ 7.46253776e-01 -6.65621416e-01 -7.30969349e-03 1.08577498e+02] [ 6.65594300e-01 7.46289482e-01 -6.01971256e-03 3.33250802e+01] [ 9.46199696e-03 -3.73057094e-04 9.99955165e-01 1.47758231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:33.35, Z:1.48 [[ 7.46601404e-01 -6.65225563e-01 -7.82908725e-03 1.08595849e+02] [ 6.65194394e-01 7.46642349e-01 -6.45143613e-03 3.33480066e+01] [ 1.01371883e-02 -3.91213679e-04 9.99948541e-01 1.47753270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:33.37, Z:1.48 [[ 7.47228276e-01 -6.64516101e-01 -8.26166139e-03 1.08615566e+02] [ 6.64481312e-01 7.47273839e-01 -6.81138084e-03 3.33687382e+01] [ 1.06999957e-02 -4.00063242e-04 9.99942673e-01 1.47737222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:33.39, Z:1.48 [[ 7.48459355e-01 -6.63121539e-01 -8.85540150e-03 1.08635242e+02] [ 6.63081425e-01 7.48511630e-01 -7.30502072e-03 3.33890080e+01] [ 1.14724876e-02 -4.04341141e-04 9.99934107e-01 1.47716855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:33.42, Z:1.48 [[ 7.51333567e-01 -6.59856785e-01 -9.32173756e-03 1.08650267e+02] [ 6.59812065e-01 7.51391300e-01 -7.69110482e-03 3.34158557e+01] [ 1.20793002e-02 -3.72009698e-04 9.99926973e-01 1.47633990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:33.44, Z:1.48 [[ 7.52789446e-01 -6.58194972e-01 -9.35030723e-03 1.08669602e+02] [ 6.58149841e-01 7.52847434e-01 -7.71545029e-03 3.34368540e+01] [ 1.21176254e-02 -3.45793665e-04 9.99926519e-01 1.47686022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:33.46, Z:1.48 [[ 7.54306514e-01 -6.56456413e-01 -9.30917092e-03 1.08689595e+02] [ 6.56411502e-01 7.54363891e-01 -7.68510743e-03 3.34565385e+01] [ 1.20674404e-02 -3.13720261e-04 9.99927137e-01 1.47757656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:33.48, Z:1.48 [[ 7.55584891e-01 -6.54982125e-01 -9.48095732e-03 1.08707013e+02] [ 6.54935411e-01 7.55644314e-01 -7.82802008e-03 3.34811427e+01] [ 1.22914447e-02 -2.94680979e-04 9.99924414e-01 1.47794535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:33.51, Z:1.48 [[ 7.58173831e-01 -6.51989603e-01 -9.05534518e-03 1.08723209e+02] [ 6.51946736e-01 7.58227870e-01 -7.48001367e-03 3.35076945e+01] [ 1.17429062e-02 -2.32452106e-04 9.99931023e-01 1.47887987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:33.53, Z:1.48 [[ 7.59424519e-01 -6.50540452e-01 -8.45696074e-03 1.08743050e+02] [ 6.50502935e-01 7.59471581e-01 -6.98913132e-03 3.35270315e+01] [ 1.09695340e-02 -1.93560099e-04 9.99939814e-01 1.47996305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:33.55, Z:1.48 [[ 7.60328179e-01 -6.49485455e-01 -8.34888591e-03 1.08763135e+02] [ 6.49448816e-01 7.60373995e-01 -6.90089315e-03 3.35470774e+01] [ 1.08303055e-02 -1.75230550e-04 9.99941335e-01 1.48084022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:33.57, Z:1.48 [[ 7.61234681e-01 -6.48423986e-01 -8.25198008e-03 1.08783060e+02] [ 6.48388116e-01 7.61279390e-01 -6.82215027e-03 3.35689870e+01] [ 1.07057082e-02 -1.57228438e-04 9.99942680e-01 1.48082178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:33.59, Z:1.48 [[ 7.62977925e-01 -6.46368751e-01 -8.49260176e-03 1.08801539e+02] [ 6.46330591e-01 7.63025177e-01 -7.02473011e-03 3.35901561e+01] [ 1.10206350e-02 -1.29314307e-04 9.99939263e-01 1.48131536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:33.61, Z:1.48 [[ 7.63461270e-01 -6.45798825e-01 -8.41227233e-03 1.08822336e+02] [ 6.45761337e-01 7.63507606e-01 -6.95933393e-03 3.36090273e+01] [ 1.09171636e-02 -1.19138303e-04 9.99940399e-01 1.48227846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499997 meters Centerline goodness [0,1] 0.9999791445077061 Centerline is valid? [True, True] Translation: X:108.84, Y:33.63, Z:1.48 [[ 7.63985090e-01 -6.45182112e-01 -8.17458949e-03 1.08840561e+02] [ 6.45146666e-01 7.64028815e-01 -6.76382135e-03 3.36314070e+01] [ 1.06095185e-02 -1.06350491e-04 9.99943712e-01 1.48222898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:33.65, Z:1.48 [[ 7.63856417e-01 -6.45336559e-01 -8.00630991e-03 1.08860964e+02] [ 6.45302529e-01 7.63898367e-01 -6.62802876e-03 3.36510363e+01] [ 1.03933163e-02 -1.03629735e-04 9.99945983e-01 1.48247551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499997 meters Centerline goodness [0,1] 0.9999791423327216 Centerline is valid? [True, True] Translation: X:108.88, Y:33.67, Z:1.48 [[ 7.63422302e-01 -6.45852951e-01 -7.76881381e-03 1.08881916e+02] [ 6.45820903e-01 7.63461823e-01 -6.43484715e-03 3.36698687e+01] [ 1.00871578e-02 -1.04756522e-04 9.99949118e-01 1.48290467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43361786499997 meters Centerline goodness [0,1] 0.9999792552639768 Centerline is valid? [True, True] Translation: X:108.90, Y:33.69, Z:1.48 [[ 7.63010268e-01 -6.46341117e-01 -7.64793868e-03 1.08902597e+02] [ 6.46310049e-01 7.63048589e-01 -6.33814880e-03 3.36882258e+01] [ 9.93235499e-03 -1.06867009e-04 9.99950667e-01 1.48319932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:33.71, Z:1.48 [[ 7.61431046e-01 -6.48202802e-01 -7.47595258e-03 1.08925426e+02] [ 6.48173172e-01 7.61467735e-01 -6.19907100e-03 3.37065883e+01] [ 9.71095187e-03 -1.25546783e-04 9.99952840e-01 1.48379981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:33.72, Z:1.48 [[ 7.60301571e-01 -6.49527962e-01 -7.41263338e-03 1.08947189e+02] [ 6.49498861e-01 7.60337693e-01 -6.14998419e-03 3.37233744e+01] [ 9.63069126e-03 -1.38654296e-04 9.99953614e-01 1.48390578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:33.74, Z:1.48 [[ 7.59113053e-01 -6.50914395e-01 -7.60410201e-03 1.08968591e+02] [ 6.50883825e-01 7.59151121e-01 -6.31045506e-03 3.37420308e+01] [ 9.88022860e-03 -1.59038191e-04 9.99951177e-01 1.48372104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.99, Y:33.76, Z:1.48 [[ 7.58078024e-01 -6.52117529e-01 -7.77419876e-03 1.08991065e+02] [ 6.52085619e-01 7.58117865e-01 -6.45354363e-03 3.37592730e+01] [ 1.01022279e-02 -1.77153603e-04 9.99948956e-01 1.48342209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:33.78, Z:1.48 [[ 7.55878468e-01 -6.54653752e-01 -8.72957562e-03 1.09013769e+02] [ 6.54613674e-01 7.55928838e-01 -7.24766701e-03 3.37767819e+01] [ 1.13436504e-02 -2.36144134e-04 9.99935631e-01 1.48259994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:33.79, Z:1.48 [[ 7.54978713e-01 -6.55684762e-01 -9.19977526e-03 1.09037440e+02] [ 6.55640276e-01 7.55034717e-01 -7.64230746e-03 3.37918966e+01] [ 1.19570943e-02 -2.61963737e-04 9.99928477e-01 1.48249241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:33.81, Z:1.48 [[ 7.54151133e-01 -6.56631921e-01 -9.51787539e-03 1.09059711e+02] [ 6.56584364e-01 7.54211137e-01 -7.90780085e-03 3.38095660e+01] [ 1.23710021e-02 -2.85611198e-04 9.99923435e-01 1.48229181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:33.83, Z:1.48 [[ 7.52840991e-01 -6.58126382e-01 -1.00053581e-02 1.09081713e+02] [ 6.58073909e-01 7.52907405e-01 -8.31685242e-03 3.38285758e+01] [ 1.30066482e-02 -3.22997683e-04 9.99915358e-01 1.48172878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499997 meters Centerline goodness [0,1] 0.9999792125722363 Centerline is valid? [True, True] Translation: X:109.10, Y:33.85, Z:1.48 [[ 7.52217493e-01 -6.58835956e-01 -1.01993558e-02 1.09104129e+02] [ 6.58781439e-01 7.52286560e-01 -8.48219399e-03 3.38465985e+01] [ 1.32612127e-02 -3.38691625e-04 9.99912009e-01 1.48190071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:33.86, Z:1.48 [[ 7.52038277e-01 -6.59042202e-01 -1.00899101e-02 1.09127580e+02] [ 6.58988815e-01 7.52105886e-01 -8.39513562e-03 3.38622929e+01] [ 1.31214295e-02 -3.35674596e-04 9.99913854e-01 1.48249174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:33.88, Z:1.48 [[ 7.51870271e-01 -6.59233776e-01 -1.00957324e-02 1.09146666e+02] [ 6.59180327e-01 7.51937972e-01 -8.40133073e-03 3.38835320e+01] [ 1.31298056e-02 -3.38197403e-04 9.99913743e-01 1.48310566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:33.90, Z:1.48 [[ 7.52376180e-01 -6.58648627e-01 -1.05862853e-02 1.09168945e+02] [ 6.58589729e-01 7.52450577e-01 -8.81472290e-03 3.39010683e+01] [ 1.37714616e-02 -3.40031230e-04 9.99905111e-01 1.48280924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:33.92, Z:1.48 [[ 7.52591813e-01 -6.58399294e-01 -1.07671944e-02 1.09191304e+02] [ 6.58338277e-01 7.52668756e-01 -8.96980697e-03 3.39195371e+01] [ 1.40098454e-02 -3.37852948e-04 9.99901800e-01 1.48296527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:33.94, Z:1.48 [[ 7.53143563e-01 -6.57762581e-01 -1.10977702e-02 1.09213398e+02] [ 6.57697627e-01 7.53225250e-01 -9.24960221e-03 3.39369830e+01] [ 1.44431629e-02 -3.32698755e-04 9.99895637e-01 1.48276570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:33.96, Z:1.48 [[ 7.53568825e-01 -6.57275539e-01 -1.10856574e-02 1.09234602e+02] [ 6.57210648e-01 7.53650292e-01 -9.24131149e-03 3.39566931e+01] [ 1.44287969e-02 -3.21647827e-04 9.99895848e-01 1.48283174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:33.98, Z:1.48 [[ 7.54563567e-01 -6.56129520e-01 -1.13082665e-02 1.09256556e+02] [ 6.56061799e-01 7.54648237e-01 -9.43150841e-03 3.39758350e+01] [ 1.47220545e-02 -3.02249069e-04 9.99891579e-01 1.48278663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:33.99, Z:1.48 [[ 7.54602912e-01 -6.56086801e-01 -1.11604225e-02 1.09277793e+02] [ 6.56020771e-01 7.54685380e-01 -9.31265964e-03 3.39934523e+01] [ 1.45325208e-02 -2.94108869e-04 9.99894354e-01 1.48291440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:34.01, Z:1.48 [[ 7.54458897e-01 -6.56253769e-01 -1.10798620e-02 1.09298888e+02] [ 6.56188633e-01 7.54540195e-01 -9.25048305e-03 3.40112775e+01] [ 1.44308656e-02 -2.91370267e-04 9.99895827e-01 1.48348832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:34.03, Z:1.48 [[ 7.53521543e-01 -6.57331293e-01 -1.09934149e-02 1.09323213e+02] [ 6.57267215e-01 7.53601670e-01 -9.18317035e-03 3.40256393e+01] [ 1.43210410e-02 -3.05894480e-04 9.99897402e-01 1.48383566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:34.04, Z:1.48 [[ 7.52750437e-01 -6.58211244e-01 -1.11686229e-02 1.09344389e+02] [ 6.58145176e-01 7.52833217e-01 -9.33141281e-03 3.40447916e+01] [ 1.45501511e-02 -3.26350214e-04 9.99894088e-01 1.48450478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06361786499997 meters Centerline goodness [0,1] 0.9999580703997988 Centerline is valid? [True, True] Translation: X:109.37, Y:34.06, Z:1.48 [[ 7.52158422e-01 -6.58887840e-01 -1.11589828e-02 1.09367080e+02] [ 6.58821897e-01 7.52241120e-01 -9.32773088e-03 3.40616479e+01] [ 1.45401741e-02 -3.35850842e-04 9.99894230e-01 1.48317766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:34.08, Z:1.49 [[ 7.51438567e-01 -6.59720103e-01 -1.04625536e-02 1.09390474e+02] [ 6.59662186e-01 7.51511329e-01 -8.74775354e-03 3.40785401e+01] [ 1.36337964e-02 -3.28351561e-04 9.99907002e-01 1.48592696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:34.10, Z:1.49 [[ 7.51174428e-01 -6.60024806e-01 -1.02094635e-02 1.09412319e+02] [ 6.59969632e-01 7.51243736e-01 -8.54012116e-03 3.40968364e+01] [ 1.33064874e-02 -3.22815267e-04 9.99911413e-01 1.48679676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:34.12, Z:1.49 [[ 7.51083676e-01 -6.60131392e-01 -9.99279348e-03 1.09433736e+02] [ 6.60078486e-01 7.51150082e-01 -8.36339484e-03 3.41155447e+01] [ 1.30270271e-02 -3.14418649e-04 9.99915095e-01 1.48741351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:34.13, Z:1.49 [[ 7.51157857e-01 -6.60061878e-01 -8.95496461e-03 1.09455985e+02] [ 6.60019342e-01 7.51211182e-01 -7.49853008e-03 3.41318490e+01] [ 1.16765634e-02 -2.77870067e-04 9.99931788e-01 1.48800810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:34.15, Z:1.49 [[ 7.51231310e-01 -6.59980748e-01 -8.77099819e-03 1.09477624e+02] [ 6.59939891e-01 7.51282463e-01 -7.34852214e-03 3.41493215e+01] [ 1.14393803e-02 -2.67891673e-04 9.99934532e-01 1.48868366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:34.17, Z:1.49 [[ 7.51083487e-01 -6.60154368e-01 -8.35500224e-03 1.09498853e+02] [ 6.60117265e-01 7.51129913e-01 -7.00359149e-03 3.41672129e+01] [ 1.08991436e-02 -2.54999312e-04 9.99940570e-01 1.48900915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:34.18, Z:1.49 [[ 7.50940475e-01 -6.60317946e-01 -8.28330446e-03 1.09520098e+02] [ 6.60281446e-01 7.50986116e-01 -6.94729312e-03 3.41848842e+01] [ 1.08080690e-02 -2.52308651e-04 9.99941559e-01 1.48931298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.54, Y:34.20, Z:1.49 [[ 7.51144332e-01 -6.60086738e-01 -8.22741465e-03 1.09541959e+02] [ 6.60050667e-01 7.51189349e-01 -6.90493141e-03 3.42016693e+01] [ 1.07381999e-02 -2.43910434e-04 9.99942314e-01 1.48976967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:34.22, Z:1.49 [[ 7.51343785e-01 -6.59856512e-01 -8.47941699e-03 1.09563571e+02] [ 6.59818174e-01 7.51391591e-01 -7.11725376e-03 3.42204366e+01] [ 1.10677289e-02 -2.47369054e-04 9.99938720e-01 1.48980464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:34.24, Z:1.49 [[ 7.51686445e-01 -6.59464358e-01 -8.61670723e-03 1.09585132e+02] [ 6.59424702e-01 7.51735792e-01 -7.23609703e-03 3.42390231e+01] [ 1.12494353e-02 -2.42793542e-04 9.99936694e-01 1.48986219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:34.26, Z:1.49 [[ 7.52927741e-01 -6.58041262e-01 -9.02853783e-03 1.09607289e+02] [ 6.57997571e-01 7.52981836e-01 -7.58621768e-03 3.42557117e+01] [ 1.17903692e-02 -2.28882218e-04 9.99930465e-01 1.48937038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:34.28, Z:1.49 [[ 7.53804540e-01 -6.57033386e-01 -9.26527551e-03 1.09628510e+02] [ 6.56987284e-01 7.53861448e-01 -7.78628632e-03 3.42750028e+01] [ 1.21005841e-02 -2.17830213e-04 9.99926762e-01 1.48944186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:34.29, Z:1.49 [[ 7.55000226e-01 -6.55657045e-01 -9.40728473e-03 1.09650392e+02] [ 6.55609364e-01 7.55058806e-01 -7.90958858e-03 3.42938682e+01] [ 1.22890307e-02 -1.95762786e-04 9.99924468e-01 1.48948384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:34.31, Z:1.49 [[ 7.57568137e-01 -6.52673754e-01 -1.03676524e-02 1.09671991e+02] [ 6.52615496e-01 7.57639060e-01 -8.72176004e-03 3.43110332e+01] [ 1.35474023e-02 -1.58763120e-04 9.99908217e-01 1.48868344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:34.33, Z:1.49 [[ 7.58507644e-01 -6.51571661e-01 -1.09783566e-02 1.09692971e+02] [ 6.51506194e-01 7.58587074e-01 -9.23741933e-03 3.43303472e+01] [ 1.43468801e-02 -1.45814175e-04 9.99897068e-01 1.48835066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:34.35, Z:1.49 [[ 7.59489853e-01 -6.50423969e-01 -1.11275805e-02 1.09715083e+02] [ 6.50356520e-01 7.59571356e-01 -9.36760368e-03 3.43484191e+01] [ 1.45451054e-02 -1.22294617e-04 9.99894207e-01 1.48834733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:34.36, Z:1.49 [[ 7.60900865e-01 -6.48772983e-01 -1.11126095e-02 1.09737790e+02] [ 6.48705475e-01 7.60982003e-01 -9.35931491e-03 3.43640688e+01] [ 1.45285665e-02 -8.72998303e-05 9.99894451e-01 1.48831189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:34.38, Z:1.49 [[ 7.61038181e-01 -6.48613543e-01 -1.10163261e-02 1.09760609e+02] [ 6.48547157e-01 7.61117905e-01 -9.28007221e-03 3.43810664e+01] [ 1.44039036e-02 -8.21177181e-05 9.99896255e-01 1.48880614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:34.40, Z:1.49 [[ 7.61171514e-01 -6.48462678e-01 -1.06809023e-02 1.09782919e+02] [ 6.48400193e-01 7.61246445e-01 -9.00224216e-03 3.43966343e+01] [ 1.39684170e-02 -7.32488385e-05 9.99902434e-01 1.48940618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:34.41, Z:1.49 [[ 7.60814390e-01 -6.48883481e-01 -1.05684714e-02 1.09805497e+02] [ 6.48822314e-01 7.60887786e-01 -8.90969559e-03 3.44125704e+01] [ 1.38227751e-02 -7.84354191e-05 9.99904458e-01 1.49029130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:34.43, Z:1.49 [[ 7.60474983e-01 -6.49286236e-01 -1.02559506e-02 1.09829109e+02] [ 6.49228609e-01 7.60544133e-01 -8.65078383e-03 3.44264215e+01] [ 1.34169379e-02 -7.97518650e-05 9.99909986e-01 1.49058742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:34.44, Z:1.49 [[ 7.60328493e-01 -6.49462020e-01 -9.98340198e-03 1.09851746e+02] [ 6.49407405e-01 7.60394029e-01 -8.42276501e-03 3.44434697e+01] [ 1.30615852e-02 -7.92269506e-05 9.99914691e-01 1.49124401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75361786499998 meters Centerline goodness [0,1] 0.9999791401572832 Centerline is valid? [True, True] Translation: X:109.87, Y:34.46, Z:1.49 [[ 7.60346339e-01 -6.49448081e-01 -9.52024998e-03 1.09874683e+02] [ 6.49398363e-01 7.60405934e-01 -8.03630542e-03 3.44599957e+01] [ 1.24584177e-02 -7.20593496e-05 9.99922388e-01 1.49211532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:34.48, Z:1.49 [[ 7.60459290e-01 -6.49327227e-01 -8.70742663e-03 1.09896958e+02] [ 6.49285582e-01 7.60509137e-01 -7.35429374e-03 3.44757450e+01] [ 1.13974207e-02 -6.09655622e-05 9.99935045e-01 1.49321037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:34.49, Z:1.49 [[ 7.60281383e-01 -6.49535535e-01 -8.70673806e-03 1.09917952e+02] [ 6.49493893e-01 7.60331234e-01 -7.35510888e-03 3.44935679e+01] [ 1.13974095e-02 -6.30208472e-05 9.99935045e-01 1.49357756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:34.51, Z:1.49 [[ 7.60633117e-01 -6.49134285e-01 -7.87028458e-03 1.09942683e+02] [ 6.49100206e-01 7.60673831e-01 -6.65170042e-03 3.45079744e+01] [ 1.03045663e-02 -4.90997236e-05 9.99946905e-01 1.49466372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:34.52, Z:1.50 [[ 7.60786708e-01 -6.48953064e-01 -7.96909033e-03 1.09965545e+02] [ 6.48918066e-01 7.60828443e-01 -6.73977451e-03 3.45229956e+01] [ 1.04369079e-02 -4.37558183e-05 9.99945533e-01 1.49502079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:34.54, Z:1.49 [[ 7.60913016e-01 -6.48797147e-01 -8.58166610e-03 1.09990499e+02] [ 6.48756534e-01 7.60961406e-01 -7.25940863e-03 3.45366966e+01] [ 1.12402003e-02 -4.36334414e-05 9.99936826e-01 1.49486521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:34.55, Z:1.50 [[ 7.60896456e-01 -6.48814613e-01 -8.72817708e-03 1.10013287e+02] [ 6.48772555e-01 7.60946513e-01 -7.38759236e-03 3.45526728e+01] [ 1.14348538e-02 -4.14088974e-05 9.99934619e-01 1.49509972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:34.57, Z:1.50 [[ 7.61080672e-01 -6.48599174e-01 -8.67883535e-03 1.10035731e+02] [ 6.48557524e-01 7.61130153e-01 -7.35037662e-03 3.45680912e+01] [ 1.13731715e-02 -3.44943952e-05 9.99935323e-01 1.49546725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:34.58, Z:1.50 [[ 7.60912607e-01 -6.48803014e-01 -8.16410534e-03 1.10058847e+02] [ 6.48766159e-01 7.60956403e-01 -6.91546482e-03 3.45842009e+01] [ 1.06993027e-02 -3.45308994e-05 9.99942760e-01 1.49596040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:34.60, Z:1.50 [[ 7.60822038e-01 -6.48910617e-01 -8.05216563e-03 1.10084195e+02] [ 6.48874731e-01 7.60864646e-01 -6.82442496e-03 3.45977403e+01] [ 1.05550500e-02 -3.26739032e-05 9.99944293e-01 1.49676377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:34.61, Z:1.50 [[ 7.60621101e-01 -6.49145569e-01 -8.09755884e-03 1.10106472e+02] [ 6.49109244e-01 7.60664202e-01 -6.86736782e-03 3.46126148e+01] [ 1.06174445e-02 -3.27354201e-05 9.99943633e-01 1.49735011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:34.63, Z:1.50 [[ 7.60221244e-01 -6.49609929e-01 -8.40238708e-03 1.10129498e+02] [ 6.49570830e-01 7.60267676e-01 -7.12724207e-03 3.46282725e+01] [ 1.10179905e-02 -3.96647192e-05 9.99939299e-01 1.49725272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:34.64, Z:1.50 [[ 7.59717167e-01 -6.50199054e-01 -8.42712698e-03 1.10152768e+02] [ 6.50159718e-01 7.59763903e-01 -7.15219399e-03 3.46439515e+01] [ 1.10529766e-02 -4.53339465e-05 9.99938913e-01 1.49732686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:34.66, Z:1.50 [[ 7.58410517e-01 -6.51719137e-01 -8.69791322e-03 1.10178356e+02] [ 6.51677276e-01 7.58460389e-01 -7.38684463e-03 3.46565389e+01] [ 1.14111707e-02 -6.59717389e-05 9.99934888e-01 1.49794293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:34.67, Z:1.50 [[ 7.57478597e-01 -6.52797763e-01 -9.01420637e-03 1.10202208e+02] [ 6.52752862e-01 7.57532226e-01 -7.65686206e-03 3.46720625e+01] [ 1.18269342e-02 -8.41398701e-05 9.99930056e-01 1.49809094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:34.69, Z:1.50 [[ 7.56540873e-01 -6.53879156e-01 -9.37852316e-03 1.10226123e+02] [ 6.53830620e-01 7.56598994e-01 -7.96754871e-03 3.46878413e+01] [ 1.23055952e-02 -1.04189361e-04 9.99924278e-01 1.49819588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:34.70, Z:1.50 [[ 7.55193498e-01 -6.55420805e-01 -1.03126142e-02 1.10251650e+02] [ 6.55362199e-01 7.55263894e-01 -8.76574253e-03 3.47001255e+01] [ 1.35339952e-02 -1.38665744e-04 9.99908402e-01 1.49873414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:34.72, Z:1.50 [[ 7.54472221e-01 -6.56253314e-01 -1.01614412e-02 1.10275641e+02] [ 6.56196471e-01 7.54540632e-01 -8.63870489e-03 3.47159619e+01] [ 1.33363990e-02 -1.50238995e-04 9.99911055e-01 1.49927198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:34.73, Z:1.50 [[ 7.53538415e-01 -6.57326779e-01 -1.00679197e-02 1.10299753e+02] [ 6.57271019e-01 7.53605652e-01 -8.56323581e-03 3.47328614e+01] [ 1.32160854e-02 -1.64624697e-04 9.99912650e-01 1.49982626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499997 meters Centerline goodness [0,1] 0.9999789393875574 Centerline is valid? [True, True] Translation: X:110.32, Y:34.75, Z:1.50 [[ 7.52777007e-01 -6.58204753e-01 -9.65818192e-03 1.10323625e+02] [ 6.58153462e-01 7.52838943e-01 -8.21869441e-03 3.47478649e+01] [ 1.26806392e-02 -1.69721687e-04 9.99919583e-01 1.50056978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35361786499998 meters Centerline goodness [0,1] 0.9999366594176889 Centerline is valid? [True, True] Translation: X:110.35, Y:34.76, Z:1.50 [[ 7.51248577e-01 -6.59960928e-01 -8.78346939e-03 1.10348449e+02] [ 6.59918617e-01 7.51299901e-01 -7.47512834e-03 3.47633529e+01] [ 1.15323123e-02 -1.80695444e-04 9.99933484e-01 1.50139879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.37, Y:34.78, Z:1.50 [[ 7.50536902e-01 -6.60772473e-01 -8.60794784e-03 1.10372157e+02] [ 6.60731851e-01 7.50586240e-01 -7.32926872e-03 3.47799801e+01] [ 1.13039862e-02 -1.86658668e-04 9.99936090e-01 1.50213333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:34.80, Z:1.50 [[ 7.50135235e-01 -6.61227589e-01 -8.67204385e-03 1.10395517e+02] [ 6.61186345e-01 7.50185336e-01 -7.38778138e-03 3.47961642e+01] [ 1.13906450e-02 -1.92001858e-04 9.99935106e-01 1.50250234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:34.81, Z:1.50 [[ 7.49721869e-01 -6.61697771e-01 -8.55442686e-03 1.10418096e+02] [ 6.61657647e-01 7.49770646e-01 -7.28946785e-03 3.48119919e+01] [ 1.12372828e-02 -1.95028487e-04 9.99936841e-01 1.50315202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:34.82, Z:1.50 [[ 7.49553251e-01 -6.61884150e-01 -8.90481515e-03 1.10442483e+02] [ 6.61840662e-01 7.49606117e-01 -7.58997312e-03 3.48248377e+01] [ 1.16987868e-02 -2.04479720e-04 9.99931546e-01 1.50335463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:34.84, Z:1.50 [[ 7.49517087e-01 -6.61929240e-01 -8.59167520e-03 1.10463849e+02] [ 6.61888734e-01 7.49566303e-01 -7.32545227e-03 3.48435498e+01] [ 1.12889613e-02 -1.96181375e-04 9.99936258e-01 1.50351421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:34.86, Z:1.50 [[ 7.49573863e-01 -6.61866738e-01 -8.45249680e-03 1.10485551e+02] [ 6.61827483e-01 7.49621495e-01 -7.21093243e-03 3.48596026e+01] [ 1.11088496e-02 -1.88968199e-04 9.99938277e-01 1.50426939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:34.88, Z:1.51 [[ 7.50124689e-01 -6.61246316e-01 -8.14005235e-03 1.10508582e+02] [ 6.61209842e-01 7.50168835e-01 -6.94721397e-03 3.48757745e+01] [ 1.07002332e-02 -1.71006014e-04 9.99942736e-01 1.50518222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:34.89, Z:1.51 [[ 7.50180596e-01 -6.61191487e-01 -7.40886605e-03 1.10530351e+02] [ 6.61161268e-01 7.50217164e-01 -6.32324623e-03 3.48928344e+01] [ 9.73913505e-03 -1.54878647e-04 9.99952562e-01 1.50583036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:34.91, Z:1.51 [[ 7.50438692e-01 -6.60902521e-01 -7.04464873e-03 1.10552833e+02] [ 6.60875152e-01 7.50471744e-01 -6.01623630e-03 3.49083097e+01] [ 9.26295556e-03 -1.40816802e-04 9.99957088e-01 1.50612884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:34.93, Z:1.51 [[ 7.50360326e-01 -6.60989114e-01 -7.26440959e-03 1.10574667e+02] [ 6.60960008e-01 7.50395476e-01 -6.20463672e-03 3.49257813e+01] [ 9.55237741e-03 -1.45770987e-04 9.99954364e-01 1.50609740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:34.94, Z:1.51 [[ 7.50355089e-01 -6.60992747e-01 -7.47187059e-03 1.10596542e+02] [ 6.60961921e-01 7.50392275e-01 -6.38537289e-03 3.49433726e+01] [ 9.82751914e-03 -1.47324895e-04 9.99951698e-01 1.50594241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:34.96, Z:1.51 [[ 7.50330896e-01 -6.61020916e-01 -7.40911246e-03 1.10620434e+02] [ 6.60990565e-01 7.50367462e-01 -6.33597101e-03 3.49568732e+01] [ 9.74776628e-03 -1.43278623e-04 9.99952479e-01 1.50653369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:34.97, Z:1.51 [[ 7.49933382e-01 -6.61470207e-01 -7.55566903e-03 1.10642062e+02] [ 6.61438657e-01 7.49971428e-01 -6.46219874e-03 3.49748963e+01] [ 9.94108783e-03 -1.51393025e-04 9.99950575e-01 1.50599289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:34.99, Z:1.51 [[ 7.49601636e-01 -6.61842358e-01 -7.87915328e-03 1.10664431e+02] [ 6.61808028e-01 7.49643027e-01 -6.74285060e-03 3.49920382e+01] [ 1.03692565e-02 -1.60035054e-04 9.99946225e-01 1.50585078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:35.01, Z:1.51 [[ 7.49153799e-01 -6.62344460e-01 -8.27055569e-03 1.10686671e+02] [ 6.62306615e-01 7.49199430e-01 -7.08250481e-03 3.50082515e+01] [ 1.08873534e-02 -1.71758363e-04 9.99940716e-01 1.50561183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:35.03, Z:1.51 [[ 7.48375747e-01 -6.63220960e-01 -8.46755453e-03 1.10710581e+02] [ 6.63181328e-01 7.48423625e-01 -7.25284916e-03 3.50250730e+01] [ 1.11475594e-02 -1.87667648e-04 9.99937846e-01 1.50540712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.73, Y:35.04, Z:1.50 [[ 7.47969025e-01 -6.63678614e-01 -8.54608141e-03 1.10732728e+02] [ 6.63638233e-01 7.48017821e-01 -7.32363563e-03 3.50421211e+01] [ 1.12531615e-02 -1.93653766e-04 9.99936662e-01 1.50497970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:35.06, Z:1.51 [[ 7.47600977e-01 -6.64088540e-01 -8.89885514e-03 1.10755842e+02] [ 6.64044729e-01 7.47653910e-01 -7.63080913e-03 3.50579135e+01] [ 1.17207967e-02 -2.04437483e-04 9.99931288e-01 1.50563373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:35.08, Z:1.51 [[ 7.47477637e-01 -6.64230390e-01 -8.67013336e-03 1.10778007e+02] [ 6.64188802e-01 7.47527891e-01 -7.43552612e-03 3.50755795e+01] [ 1.14200689e-02 -2.00715999e-04 9.99934769e-01 1.50588348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:35.09, Z:1.51 [[ 7.47575082e-01 -6.64124536e-01 -8.37241997e-03 1.10799807e+02] [ 6.64085700e-01 7.47621940e-01 -7.18455289e-03 3.50921747e+01] [ 1.10308427e-02 -1.89011655e-04 9.99939141e-01 1.50625520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:35.11, Z:1.51 [[ 7.47601887e-01 -6.64094744e-01 -8.34201059e-03 1.10821224e+02] [ 6.64056175e-01 7.47648404e-01 -7.15971672e-03 3.51103911e+01] [ 1.09916211e-02 -1.86945912e-04 9.99939573e-01 1.50644025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.84, Y:35.13, Z:1.51 [[ 7.47896940e-01 -6.63763467e-01 -8.25992906e-03 1.10842980e+02] [ 6.63725584e-01 7.47942530e-01 -7.09370334e-03 3.51274879e+01] [ 1.08864934e-02 -1.76967218e-04 9.99940725e-01 1.50658556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:35.15, Z:1.51 [[ 7.48387824e-01 -6.63208255e-01 -8.39501398e-03 1.10865380e+02] [ 6.63169073e-01 7.48434888e-01 -7.21102272e-03 3.51461847e+01] [ 1.10655311e-02 -1.70672039e-04 9.99938761e-01 1.50615957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.073617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:35.16, Z:1.51 [[ 7.48473878e-01 -6.63109210e-01 -8.54569192e-03 1.10887555e+02] [ 6.63068564e-01 7.48522642e-01 -7.34391416e-03 3.51636936e+01] [ 1.12664610e-02 -1.69651754e-04 9.99936517e-01 1.50648454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:35.18, Z:1.51 [[ 7.48520233e-01 -6.63051916e-01 -8.92284247e-03 1.10910031e+02] [ 6.63007544e-01 7.48573394e-01 -7.67271541e-03 3.51792672e+01] [ 1.17668111e-02 -1.72729145e-04 9.99930754e-01 1.50695319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:35.20, Z:1.51 [[ 7.48356895e-01 -6.63228780e-01 -9.46270237e-03 1.10932592e+02] [ 6.63178866e-01 7.48416696e-01 -8.13881157e-03 3.51964985e+01] [ 1.24799385e-02 -1.84728470e-04 9.99922105e-01 1.50694545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:35.21, Z:1.51 [[ 7.47983548e-01 -6.63646450e-01 -9.69545864e-03 1.10955012e+02] [ 6.63594027e-01 7.48046357e-01 -8.34357158e-03 3.52141224e+01] [ 1.27898342e-02 -1.92994168e-04 9.99918188e-01 1.50713868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.98, Y:35.23, Z:1.51 [[ 7.47695644e-01 -6.63963230e-01 -1.02006158e-02 1.10977128e+02] [ 6.63905165e-01 7.47765195e-01 -8.78320528e-03 3.52315712e+01] [ 1.34593908e-02 -2.05077198e-04 9.99909397e-01 1.50707067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:35.25, Z:1.51 [[ 7.47457649e-01 -6.64224595e-01 -1.06184039e-02 1.10999418e+02] [ 6.64161634e-01 7.47533037e-01 -9.14783295e-03 3.52471877e+01] [ 1.40138234e-02 -2.14718804e-04 9.99901779e-01 1.50665934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:35.26, Z:1.51 [[ 7.47013846e-01 -6.64722285e-01 -1.07050203e-02 1.11021235e+02] [ 6.64658311e-01 7.47090513e-01 -9.22473850e-03 3.52645993e+01] [ 1.41295084e-02 -2.24173351e-04 9.99900148e-01 1.50693511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:35.28, Z:1.51 [[ 7.46555933e-01 -6.65237407e-01 -1.06503947e-02 1.11044243e+02] [ 6.65174069e-01 7.46631864e-01 -9.18249698e-03 3.52819788e+01] [ 1.40604645e-02 -2.29118790e-04 9.99901121e-01 1.50729277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.07, Y:35.30, Z:1.51 [[ 7.46019829e-01 -6.65840824e-01 -1.05077619e-02 1.11067445e+02] [ 6.65779173e-01 7.46093790e-01 -9.06368033e-03 3.52995008e+01] [ 1.38747442e-02 -2.34163752e-04 9.99903714e-01 1.50765843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:35.32, Z:1.51 [[ 7.45554983e-01 -6.66359657e-01 -1.06101362e-02 1.11090217e+02] [ 6.66296793e-01 7.45630437e-01 -9.15615147e-03 3.53159132e+01] [ 1.40125305e-02 -2.43085403e-04 9.99901790e-01 1.50792144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:35.33, Z:1.51 [[ 7.43935787e-01 -6.68164613e-01 -1.07514866e-02 1.11115278e+02] [ 6.68100227e-01 7.44013422e-01 -9.27984162e-03 3.53314534e+01] [ 1.41997121e-02 -2.79464350e-04 9.99899140e-01 1.50825225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:35.35, Z:1.51 [[ 7.43161178e-01 -6.69026798e-01 -1.07054688e-02 1.11138437e+02] [ 6.68962994e-01 7.43238224e-01 -9.24416237e-03 3.53478709e+01] [ 1.41413060e-02 -2.91659836e-04 9.99899964e-01 1.50847474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:35.36, Z:1.51 [[ 7.42104806e-01 -6.70197459e-01 -1.07621185e-02 1.11162176e+02] [ 6.70133079e-01 7.42182772e-01 -9.29458502e-03 3.53624523e+01] [ 1.42166662e-02 -3.14495419e-04 9.99898889e-01 1.50869513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46361786499997 meters Centerline goodness [0,1] 0.9999342710661233 Centerline is valid? [True, True] Translation: X:111.18, Y:35.38, Z:1.51 [[ 7.41826418e-01 -6.70510901e-01 -1.04258156e-02 1.11182191e+02] [ 6.70450492e-01 7.41899613e-01 -9.00564606e-03 3.53820358e+01] [ 1.37732924e-02 -3.09367060e-04 9.99905096e-01 1.50928919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.20, Y:35.40, Z:1.51 [[ 7.41553214e-01 -6.70815867e-01 -1.02422425e-02 1.11203680e+02] [ 6.70757531e-01 7.41623880e-01 -8.85185342e-03 3.53995129e+01] [ 1.35338554e-02 -3.05940979e-04 9.99908366e-01 1.50990379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:35.42, Z:1.51 [[ 7.41847579e-01 -6.70492323e-01 -1.01101037e-02 1.11225936e+02] [ 6.70435389e-01 7.41916410e-01 -8.74241665e-03 3.54161017e+01] [ 1.33625751e-02 -2.92630697e-04 9.99910674e-01 1.51030072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:35.43, Z:1.51 [[ 7.42620144e-01 -6.69635657e-01 -1.01690021e-02 1.11249157e+02] [ 6.69577957e-01 7.42689713e-01 -8.79486466e-03 3.54312592e+01] [ 1.34417682e-02 -2.77695968e-04 9.99909617e-01 1.51031841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:35.45, Z:1.51 [[ 7.43242344e-01 -6.68946628e-01 -1.00611663e-02 1.11267875e+02] [ 6.68890054e-01 7.43310393e-01 -8.70371760e-03 3.54535512e+01] [ 1.33008920e-02 -2.60842619e-04 9.99911505e-01 1.51066675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:35.47, Z:1.51 [[ 7.44159869e-01 -6.67929792e-01 -9.79196017e-03 1.11288935e+02] [ 6.67876064e-01 7.44224253e-01 -8.47494144e-03 3.54710936e+01] [ 1.29480801e-02 -2.33104512e-04 9.99916143e-01 1.51102769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:35.49, Z:1.51 [[ 7.45761620e-01 -6.66144344e-01 -9.55613649e-03 1.11309957e+02] [ 6.66093010e-01 7.45822817e-01 -8.27209464e-03 3.54907372e+01] [ 1.26375937e-02 -1.96265020e-04 9.99920123e-01 1.51208223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:35.51, Z:1.51 [[ 7.46250688e-01 -6.65596640e-01 -9.54060532e-03 1.11330666e+02] [ 6.65545380e-01 7.46311650e-01 -8.26248651e-03 3.55107901e+01] [ 1.26197482e-02 -1.83819549e-04 9.99920351e-01 1.51273439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:35.53, Z:1.51 [[ 7.46832921e-01 -6.64942904e-01 -9.56676737e-03 1.11352262e+02] [ 6.64891258e-01 7.46894173e-01 -8.28914850e-03 3.55303340e+01] [ 1.26571733e-02 -1.70251006e-04 9.99919880e-01 1.51301577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:35.55, Z:1.51 [[ 7.46651037e-01 -6.65147159e-01 -9.56479915e-03 1.11373060e+02] [ 6.65095500e-01 7.46712279e-01 -8.29141896e-03 3.55484509e+01] [ 1.26571667e-02 -1.70708312e-04 9.99919880e-01 1.51338272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters Centerline goodness [0,1] 0.9998906721476364 Centerline is valid? [True, True] Translation: X:111.39, Y:35.57, Z:1.51 [[ 7.47600566e-01 -6.64071257e-01 -1.01370110e-02 1.11394397e+02] [ 6.64013065e-01 7.47669272e-01 -8.79259515e-03 3.55685868e+01] [ 1.34180413e-02 -1.57758613e-04 9.99909962e-01 1.51328424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.793617865 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:111.41, Y:35.59, Z:1.51 [[ 7.47954669e-01 -6.63669499e-01 -1.03251616e-02 1.11414997e+02] [ 6.63609027e-01 7.48025918e-01 -8.96019037e-03 3.55873508e+01] [ 1.36700935e-02 -1.50054222e-04 9.99906549e-01 1.51330863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:35.61, Z:1.51 [[ 7.48133782e-01 -6.63465367e-01 -1.04666302e-02 1.11435389e+02] [ 6.63403138e-01 7.48206980e-01 -9.08798297e-03 3.56062825e+01] [ 1.38607677e-02 -1.44568236e-04 9.99903924e-01 1.51363981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.853617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:35.63, Z:1.51 [[ 7.48143063e-01 -6.63458097e-01 -1.02621100e-02 1.11454893e+02] [ 6.63398211e-01 7.48213429e-01 -8.91510043e-03 3.56253025e+01] [ 1.35930441e-02 -1.38094897e-04 9.99907601e-01 1.51378186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:35.64, Z:1.51 [[ 7.47916359e-01 -6.63713919e-01 -1.02446698e-02 1.11475302e+02] [ 6.63654232e-01 7.47986506e-01 -8.90208648e-03 3.56438762e+01] [ 1.35713135e-02 -1.40902398e-04 9.99907896e-01 1.51409383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:35.66, Z:1.51 [[ 7.47454195e-01 -6.64232393e-01 -1.03708545e-02 1.11495916e+02] [ 6.64171208e-01 7.47526124e-01 -9.01665672e-03 3.56628334e+01] [ 1.37416402e-02 -1.48485094e-04 9.99905568e-01 1.51463021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:35.68, Z:1.52 [[ 7.46290815e-01 -6.65548121e-01 -9.78360469e-03 1.11518017e+02] [ 6.65493724e-01 7.46354925e-01 -8.51055082e-03 3.56817000e+01] [ 1.29662227e-02 -1.59581618e-04 9.99915922e-01 1.51518244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:35.70, Z:1.52 [[ 7.45565018e-01 -6.66359112e-01 -9.91658436e-03 1.11540662e+02] [ 6.66303242e-01 7.45630944e-01 -8.63053385e-03 3.56984058e+01] [ 1.31451470e-02 -1.72828188e-04 9.99913584e-01 1.51555891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:35.72, Z:1.52 [[ 7.44531862e-01 -6.67512541e-01 -9.96564910e-03 1.11562515e+02] [ 6.67456200e-01 7.44598529e-01 -8.67474050e-03 3.57156266e+01] [ 1.32109057e-02 -1.93013581e-04 9.99912714e-01 1.51569592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03361786499997 meters Centerline goodness [0,1] 0.9999341845465315 Centerline is valid? [True, True] Translation: X:111.58, Y:35.74, Z:1.52 [[ 7.43362069e-01 -6.68817240e-01 -9.81493471e-03 1.11583969e+02] [ 6.68762687e-01 7.43426832e-01 -8.54484219e-03 3.57354275e+01] [ 1.30116236e-02 -2.11950536e-04 9.99915323e-01 1.51585909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06361786499997 meters Centerline goodness [0,1] 0.9998256548838426 Centerline is valid? [True, True] Translation: X:111.61, Y:35.75, Z:1.52 [[ 7.41206016e-01 -6.71197163e-01 -1.03927647e-02 1.11606383e+02] [ 6.71136168e-01 7.41278826e-01 -9.05243573e-03 3.57519769e+01] [ 1.37799056e-02 -2.65240451e-04 9.99905017e-01 1.51540474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:35.77, Z:1.52 [[ 7.39876939e-01 -6.72655126e-01 -1.08257329e-02 1.11628388e+02] [ 6.72589060e-01 7.39956073e-01 -9.43222351e-03 3.57706515e+01] [ 1.43552003e-02 -3.02584836e-04 9.99896913e-01 1.51578561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:35.79, Z:1.52 [[ 7.38948622e-01 -6.73666232e-01 -1.13464995e-02 1.11650314e+02] [ 6.73593705e-01 7.39035653e-01 -9.89058853e-03 3.57881217e+01] [ 1.50484232e-02 -3.34293883e-04 9.99886710e-01 1.51538377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:35.81, Z:1.52 [[ 7.37465839e-01 -6.75284833e-01 -1.15987361e-02 1.11672523e+02] [ 6.75209212e-01 7.37556950e-01 -1.01126321e-02 3.58061311e+01] [ 1.53836355e-02 -3.73852746e-04 9.99881595e-01 1.51520230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:35.82, Z:1.52 [[ 7.37070553e-01 -6.75724475e-01 -1.11101122e-02 1.11693224e+02] [ 6.75655075e-01 7.37154192e-01 -9.69111643e-03 3.58248654e+01] [ 1.47383904e-02 -3.63567173e-04 9.99891318e-01 1.51594620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21361786499997 meters Centerline goodness [0,1] 0.999978086514441 Centerline is valid? [True, True] Translation: X:111.71, Y:35.84, Z:1.52 [[ 7.36824813e-01 -6.75993936e-01 -1.10178616e-02 1.11714172e+02] [ 6.75925639e-01 7.36907095e-01 -9.61582961e-03 3.58440936e+01] [ 1.46193829e-02 -3.62073273e-04 9.99893066e-01 1.51631487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:35.86, Z:1.52 [[ 7.36881937e-01 -6.75931729e-01 -1.10139980e-02 1.11735153e+02] [ 6.75863398e-01 7.36964158e-01 -9.61756461e-03 3.58607430e+01] [ 1.46177388e-02 -3.56948476e-04 9.99893091e-01 1.51706577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:35.88, Z:1.52 [[ 7.36704569e-01 -6.76132353e-01 -1.05555265e-02 1.11754945e+02] [ 6.76069566e-01 7.36780105e-01 -9.22058259e-03 3.58804652e+01] [ 1.40114361e-02 -3.43424913e-04 9.99901776e-01 1.51753077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:35.90, Z:1.52 [[ 7.36870400e-01 -6.75951300e-01 -1.05760949e-02 1.11775296e+02] [ 6.75888180e-01 7.36946217e-01 -9.24346454e-03 3.58985601e+01] [ 1.40421450e-02 -3.37022094e-04 9.99901347e-01 1.51852121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:35.92, Z:1.52 [[ 7.37514287e-01 -6.75247363e-01 -1.06618422e-02 1.11796010e+02] [ 6.75183113e-01 7.37591278e-01 -9.32047593e-03 3.59171691e+01] [ 1.41577086e-02 -3.24711664e-04 9.99899722e-01 1.51865615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:35.94, Z:1.52 [[ 7.37866655e-01 -6.74856141e-01 -1.10448789e-02 1.11816521e+02] [ 6.74787118e-01 7.37949241e-01 -9.65724965e-03 3.59378430e+01] [ 1.46678142e-02 -3.27179493e-04 9.99892368e-01 1.51884190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:35.96, Z:1.52 [[ 7.38519319e-01 -6.74137946e-01 -1.12803226e-02 1.11837017e+02] [ 6.74065801e-01 7.38605395e-01 -9.86745056e-03 3.59569935e+01] [ 1.49837300e-02 -3.16376841e-04 9.99887688e-01 1.51848901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:35.98, Z:1.52 [[ 7.39505838e-01 -6.73035732e-01 -1.24104560e-02 1.11857258e+02] [ 6.72948208e-01 7.39609898e-01 -1.08585759e-02 3.59781914e+01] [ 1.64871056e-02 -3.21613834e-04 9.99864027e-01 1.51765202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:36.00, Z:1.52 [[ 7.40000313e-01 -6.72482527e-01 -1.29146578e-02 1.11878344e+02] [ 6.72387578e-01 7.40112930e-01 -1.13046443e-02 3.59971106e+01] [ 1.71604809e-02 -3.18215158e-04 9.99852697e-01 1.51745018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:36.02, Z:1.52 [[ 7.40491012e-01 -6.71931829e-01 -1.34416943e-02 1.11899945e+02] [ 6.71828812e-01 7.40612934e-01 -1.17698419e-02 3.60166168e+01] [ 1.78636240e-02 -3.15055379e-04 9.99840383e-01 1.51711421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:36.04, Z:1.52 [[ 7.41516271e-01 -6.70792798e-01 -1.38073516e-02 1.11920578e+02] [ 6.70683799e-01 7.41644752e-01 -1.20956300e-02 3.60364341e+01] [ 1.83538113e-02 -2.91260593e-04 9.99831512e-01 1.51787365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters Centerline goodness [0,1] 0.9999782504676149 Centerline is valid? [True, True] Translation: X:111.94, Y:36.06, Z:1.52 [[ 7.42079819e-01 -6.70170471e-01 -1.37507077e-02 1.11940879e+02] [ 6.70062156e-01 7.42207159e-01 -1.20515709e-02 3.60576453e+01] [ 1.82824806e-02 -2.70601261e-04 9.99832825e-01 1.51921684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.573617865 meters Centerline goodness [0,1] 0.9999347301090007 Centerline is valid? [True, True] Translation: X:111.96, Y:36.07, Z:1.52 [[ 7.42327418e-01 -6.69897222e-01 -1.37009642e-02 1.11961505e+02] [ 6.69789551e-01 7.42453800e-01 -1.20129988e-02 3.60747186e+01] [ 1.82198075e-02 -2.59184289e-04 9.99833972e-01 1.51973184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:36.09, Z:1.52 [[ 7.41984363e-01 -6.70276996e-01 -1.37095971e-02 1.11982173e+02] [ 6.70169185e-01 7.42110960e-01 -1.20243958e-02 3.60930368e+01] [ 1.82337181e-02 -2.65835868e-04 9.99833717e-01 1.52117598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:36.11, Z:1.52 [[ 7.41598973e-01 -6.70702819e-01 -1.37364922e-02 1.12003878e+02] [ 6.70594535e-01 7.41726132e-01 -1.20546589e-02 3.61114590e+01] [ 1.82738089e-02 -2.71893988e-04 9.99832983e-01 1.52171197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:36.13, Z:1.52 [[ 7.41013428e-01 -6.71353827e-01 -1.35328993e-02 1.12025739e+02] [ 6.71248725e-01 7.41136938e-01 -1.18822506e-02 3.61297567e+01] [ 1.80069259e-02 -2.79034135e-04 9.99837823e-01 1.52210713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:36.15, Z:1.52 [[ 7.40427582e-01 -6.72007122e-01 -1.31690566e-02 1.12047169e+02] [ 6.71907601e-01 7.40544629e-01 -1.15684014e-02 3.61473704e+01] [ 1.75263223e-02 -2.82825744e-04 9.99846362e-01 1.52294885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:36.17, Z:1.52 [[ 7.39874320e-01 -6.72621544e-01 -1.28937546e-02 1.12069240e+02] [ 6.72526132e-01 7.39986605e-01 -1.13324745e-02 3.61663184e+01] [ 1.71636722e-02 -2.86780076e-04 9.99852652e-01 1.52385589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:36.18, Z:1.52 [[ 7.38732458e-01 -6.73879865e-01 -1.26602796e-02 1.12091220e+02] [ 6.73787986e-01 7.38840871e-01 -1.11318365e-02 3.61832092e+01] [ 1.68554524e-02 -3.06895374e-04 9.99857890e-01 1.52449116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:36.20, Z:1.53 [[ 7.37907374e-01 -6.74788325e-01 -1.23864256e-02 1.12114010e+02] [ 6.74700465e-01 7.38011256e-01 -1.08934918e-02 3.62015176e+01] [ 1.64921226e-02 -3.18739189e-04 9.99863945e-01 1.52508355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:36.22, Z:1.53 [[ 7.37101110e-01 -6.75672533e-01 -1.21894210e-02 1.12136584e+02] [ 6.75587485e-01 7.37201817e-01 -1.07252086e-02 3.62201965e+01] [ 1.62327922e-02 -3.29457183e-04 9.99868185e-01 1.52572021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:36.24, Z:1.53 [[ 7.35337780e-01 -6.77602528e-01 -1.15396594e-02 1.12159242e+02] [ 6.77526479e-01 7.35428237e-01 -1.01576619e-02 3.62363613e+01] [ 1.53694487e-02 -3.49112272e-04 9.99881822e-01 1.52682348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:36.25, Z:1.53 [[ 7.34702195e-01 -6.78298204e-01 -1.11459018e-02 1.12181097e+02] [ 6.78227313e-01 7.34786652e-01 -9.81264842e-03 3.62544695e+01] [ 1.48457617e-02 -3.50080724e-04 9.99889734e-01 1.52746319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:36.27, Z:1.53 [[ 7.34146686e-01 -6.78900219e-01 -1.10966617e-02 1.12202672e+02] [ 6.78829998e-01 7.34230456e-01 -9.77090429e-03 3.62729088e+01] [ 1.47809760e-02 -3.59469833e-04 9.99890691e-01 1.52825597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:36.29, Z:1.53 [[ 7.34261900e-01 -6.78774272e-01 -1.11781515e-02 1.12222559e+02] [ 6.78702971e-01 7.34346893e-01 -9.84467812e-03 3.62925278e+01] [ 1.48909551e-02 -3.58072579e-04 9.99889059e-01 1.52856936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:36.31, Z:1.53 [[ 7.34562741e-01 -6.78443536e-01 -1.14868206e-02 1.12243436e+02] [ 6.78368118e-01 7.34652462e-01 -1.01220335e-02 3.63119832e+01] [ 1.53060493e-02 -3.57024172e-04 9.99882792e-01 1.52851666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:36.33, Z:1.53 [[ 7.35226566e-01 -6.77721256e-01 -1.16531743e-02 1.12264164e+02] [ 6.77643477e-01 7.35318830e-01 -1.02731014e-02 3.63311165e+01] [ 1.55310977e-02 -3.43640436e-04 9.99879326e-01 1.52839997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:36.35, Z:1.53 [[ 7.35724176e-01 -6.77170556e-01 -1.22464236e-02 1.12284421e+02] [ 6.77084539e-01 7.35826010e-01 -1.07985933e-02 3.63513217e+01] [ 1.63237265e-02 -3.47077953e-04 9.99866699e-01 1.52827284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05361786499998 meters Centerline goodness [0,1] 0.9999560970255735 Centerline is valid? [True, True] Translation: X:112.31, Y:36.37, Z:1.53 [[ 7.36835923e-01 -6.75940510e-01 -1.33134843e-02 1.12305389e+02] [ 6.75838558e-01 7.36956110e-01 -1.17445917e-02 3.63700032e+01] [ 1.77500989e-02 -3.43928959e-04 9.99842395e-01 1.52675117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:36.39, Z:1.53 [[ 7.37259148e-01 -6.75469488e-01 -1.37811710e-02 1.12324634e+02] [ 6.75360105e-01 7.37387859e-01 -1.21603459e-02 3.63915597e+01] [ 1.83760108e-02 -3.41926877e-04 9.99831088e-01 1.52728322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:36.41, Z:1.53 [[ 7.37901489e-01 -6.74764093e-01 -1.39574659e-02 1.12345334e+02] [ 6.74651675e-01 7.38033409e-01 -1.23208880e-02 3.64107019e+01] [ 1.86147690e-02 -3.24826138e-04 9.99826677e-01 1.52663613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:36.43, Z:1.53 [[ 7.37750850e-01 -6.74930638e-01 -1.38678555e-02 1.12365854e+02] [ 6.74819625e-01 7.37881108e-01 -1.22451726e-02 3.64300737e+01] [ 1.84974707e-02 -3.24414563e-04 9.99828855e-01 1.52736703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:36.45, Z:1.53 [[ 7.37638942e-01 -6.75057018e-01 -1.36679697e-02 1.12386795e+02] [ 6.74949104e-01 7.37765492e-01 -1.20742119e-02 3.64472411e+01] [ 1.82345379e-02 -3.18775067e-04 9.99833686e-01 1.52810498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:36.47, Z:1.53 [[ 7.36935245e-01 -6.75838949e-01 -1.29676594e-02 1.12408445e+02] [ 6.75741875e-01 7.37049262e-01 -1.14588035e-02 3.64663505e+01] [ 1.73021095e-02 -3.18394345e-04 9.99850257e-01 1.52950615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:36.48, Z:1.53 [[ 7.36290203e-01 -6.76550636e-01 -1.24889643e-02 1.12429955e+02] [ 6.76460626e-01 7.36396045e-01 -1.10402427e-02 3.64840418e+01] [ 1.66661071e-02 -3.19470048e-04 9.99861060e-01 1.53033717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:36.50, Z:1.53 [[ 7.35470605e-01 -6.77454802e-01 -1.17465010e-02 1.12451088e+02] [ 6.77375258e-01 7.35564334e-01 -1.03860531e-02 3.65032957e+01] [ 1.56763888e-02 -3.18152419e-04 9.99877067e-01 1.53113138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:36.52, Z:1.53 [[ 7.34063856e-01 -6.78981441e-01 -1.15955737e-02 1.12473380e+02] [ 6.78904049e-01 7.34155355e-01 -1.02570445e-02 3.65200220e+01] [ 1.54772954e-02 -3.42956238e-04 9.99880161e-01 1.53187853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:36.54, Z:1.53 [[ 7.33494930e-01 -6.79598018e-01 -1.14769676e-02 1.12496192e+02] [ 6.79522251e-01 7.33584631e-01 -1.01538398e-02 3.65364815e+01] [ 1.53198564e-02 -3.51064782e-04 9.99882582e-01 1.53185083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:36.56, Z:1.53 [[ 7.32705641e-01 -6.80450457e-01 -1.13850766e-02 1.12516451e+02] [ 6.80375970e-01 7.32793998e-01 -1.00745781e-02 3.65577942e+01] [ 1.51981670e-02 -3.64432304e-04 9.99884435e-01 1.53233223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:36.57, Z:1.53 [[ 7.32291322e-01 -6.80892030e-01 -1.16388660e-02 1.12539520e+02] [ 6.80814170e-01 7.32383711e-01 -1.03036831e-02 3.65737393e+01] [ 1.55398116e-02 -3.78607173e-04 9.99879178e-01 1.53216859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:36.60, Z:1.53 [[ 7.31688316e-01 -6.81543790e-01 -1.14136104e-02 1.12559319e+02] [ 6.81468963e-01 7.31777230e-01 -1.01063194e-02 3.65951915e+01] [ 1.52401194e-02 -3.83345482e-04 9.99883789e-01 1.53202103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:36.61, Z:1.53 [[ 7.31464837e-01 -6.81784050e-01 -1.13886791e-02 1.12580555e+02] [ 6.81709504e-01 7.31553390e-01 -1.00891044e-02 3.66140433e+01] [ 1.52100173e-02 -3.83945651e-04 9.99884247e-01 1.53235504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:36.63, Z:1.53 [[ 7.31576797e-01 -6.81658546e-01 -1.17054226e-02 1.12601363e+02] [ 6.81579697e-01 7.31670333e-01 -1.03749943e-02 3.66317281e+01] [ 1.56367140e-02 -3.88073242e-04 9.99877664e-01 1.53252089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:36.65, Z:1.53 [[ 7.32137185e-01 -6.81060997e-01 -1.14481293e-02 1.12621635e+02] [ 6.80985464e-01 7.32226594e-01 -1.01495245e-02 3.66532025e+01] [ 1.52950700e-02 -3.65165370e-04 9.99882957e-01 1.53316266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:36.67, Z:1.53 [[ 7.32495228e-01 -6.80673050e-01 -1.16163758e-02 1.12643492e+02] [ 6.80595164e-01 7.32587244e-01 -1.03030385e-02 3.66707301e+01] [ 1.55230094e-02 -3.59122630e-04 9.99879446e-01 1.53357100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:36.69, Z:1.53 [[ 7.33044919e-01 -6.80082805e-01 -1.15119203e-02 1.12665364e+02] [ 6.80006212e-01 7.33135227e-01 -1.02122714e-02 3.66902690e+01] [ 1.53849845e-02 -3.42123618e-04 9.99881586e-01 1.53405991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:36.71, Z:1.53 [[ 7.33348686e-01 -6.79754544e-01 -1.15527007e-02 1.12686755e+02] [ 6.79677320e-01 7.33439601e-01 -1.02514201e-02 3.67095345e+01] [ 1.54416576e-02 -3.34243198e-04 9.99880715e-01 1.53443415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:36.73, Z:1.53 [[ 7.33165156e-01 -6.79952533e-01 -1.15502330e-02 1.12707337e+02] [ 6.79875290e-01 7.33256054e-01 -1.02541999e-02 3.67278994e+01] [ 1.54416475e-02 -3.34695895e-04 9.99880715e-01 1.53480115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:36.75, Z:1.53 [[ 7.34044706e-01 -6.79007478e-01 -1.12789083e-02 1.12728279e+02] [ 6.78933631e-01 7.34131291e-01 -1.00185718e-02 3.67473153e+01] [ 1.50828847e-02 -3.03550565e-04 9.99886201e-01 1.53496301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:36.77, Z:1.54 [[ 7.34027196e-01 -6.79028991e-01 -1.11222844e-02 1.12749169e+02] [ 6.78957114e-01 7.34111396e-01 -9.88413442e-03 3.67665860e+01] [ 1.48766096e-02 -2.96330659e-04 9.99889293e-01 1.53552089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71361786499997 meters Centerline goodness [0,1] 0.9998900857331282 Centerline is valid? [True, True] Translation: X:112.77, Y:36.79, Z:1.54 [[ 7.33779818e-01 -6.79297476e-01 -1.10506745e-02 1.12770501e+02] [ 6.79226473e-01 7.33862965e-01 -9.82583774e-03 3.67853180e+01] [ 1.47843476e-02 -2.95909269e-04 9.99890662e-01 1.53563778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74361786499998 meters Centerline goodness [0,1] 0.9999780224610448 Centerline is valid? [True, True] Translation: X:112.79, Y:36.80, Z:1.54 [[ 7.33467539e-01 -6.79647691e-01 -1.02168725e-02 1.12791881e+02] [ 6.79586972e-01 7.33538642e-01 -9.08896533e-03 3.68029580e+01] [ 1.36717651e-02 -2.76792423e-04 9.99906499e-01 1.53651939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:36.82, Z:1.54 [[ 7.33127806e-01 -6.80019836e-01 -9.83071722e-03 1.12813271e+02] [ 6.79963632e-01 7.33193664e-01 -8.74702286e-03 3.68213710e+01] [ 1.31559686e-02 -2.71844512e-04 9.99913420e-01 1.53716284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:36.84, Z:1.54 [[ 7.32804724e-01 -6.80367077e-01 -9.89324285e-03 1.12833538e+02] [ 6.80310168e-01 7.32871450e-01 -8.80411090e-03 3.68401692e+01] [ 1.32405024e-02 -2.78779649e-04 9.99912302e-01 1.53745252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:36.86, Z:1.54 [[ 7.32830756e-01 -6.80339518e-01 -9.86024371e-03 1.12854443e+02] [ 6.80282923e-01 7.32897036e-01 -8.77946358e-03 3.68591546e+01] [ 1.31995594e-02 -2.73894484e-04 9.99912845e-01 1.53777693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters Centerline goodness [0,1] 0.9999779929577465 Centerline is valid? [True, True] Translation: X:112.88, Y:36.88, Z:1.54 [[ 7.32739265e-01 -6.80439876e-01 -9.73372593e-03 1.12875055e+02] [ 6.80384673e-01 7.32803864e-01 -8.67142571e-03 3.68776066e+01] [ 1.30332958e-02 -2.68783838e-04 9.99915027e-01 1.53822502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:36.90, Z:1.54 [[ 7.32540997e-01 -6.80650298e-01 -9.94284723e-03 1.12895791e+02] [ 6.80592652e-01 7.32608420e-01 -8.86257632e-03 3.68972785e+01] [ 1.33165288e-02 -2.74828274e-04 9.99911293e-01 1.53853543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:36.91, Z:1.54 [[ 7.32116055e-01 -6.81102757e-01 -1.02526270e-02 1.12917282e+02] [ 6.81041438e-01 7.32187784e-01 -9.14373278e-03 3.69144005e+01] [ 1.37346699e-02 -2.88190301e-04 9.99905633e-01 1.53855051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:36.93, Z:1.54 [[ 7.31591988e-01 -6.81663414e-01 -1.03996601e-02 1.12938622e+02] [ 6.81600358e-01 7.31665838e-01 -9.27648733e-03 3.69317453e+01] [ 1.39325180e-02 -3.01808217e-04 9.99902892e-01 1.53873225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:36.95, Z:1.54 [[ 7.30593056e-01 -6.82729327e-01 -1.06982424e-02 1.12960329e+02] [ 6.82662673e-01 7.30671306e-01 -9.54558995e-03 3.69513972e+01] [ 1.43339529e-02 -3.29348987e-04 9.99897209e-01 1.53837615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:36.97, Z:1.54 [[ 7.29864274e-01 -6.83508313e-01 -1.07017777e-02 1.12981983e+02] [ 6.83441637e-01 7.29942648e-01 -9.55295024e-03 3.69691015e+01] [ 1.43412048e-02 -3.41683370e-04 9.99897101e-01 1.53869119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:36.99, Z:1.54 [[ 7.28987053e-01 -6.84443800e-01 -1.07033158e-02 1.13003776e+02] [ 6.84377184e-01 7.29065536e-01 -9.55588081e-03 3.69868467e+01] [ 1.43438820e-02 -3.58991727e-04 9.99897057e-01 1.53907736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.073617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:37.01, Z:1.54 [[ 7.27981136e-01 -6.85516308e-01 -1.05288984e-02 1.13025213e+02] [ 6.85451934e-01 7.28057177e-01 -9.40178495e-03 3.70056127e+01] [ 1.41107169e-02 -3.72731673e-04 9.99900369e-01 1.53965698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:37.03, Z:1.54 [[ 7.25950219e-01 -6.87681954e-01 -9.47678672e-03 1.13045990e+02] [ 6.87629944e-01 7.26011978e-01 -8.46566563e-03 3.70259394e+01] [ 1.27019462e-02 -3.70870507e-04 9.99919258e-01 1.54139105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.07, Y:37.04, Z:1.54 [[ 7.25337270e-01 -6.88334838e-01 -8.99973206e-03 1.13068123e+02] [ 6.88287938e-01 7.25393011e-01 -8.04328184e-03 3.70431611e+01] [ 1.20648138e-02 -3.60314933e-04 9.99927153e-01 1.54248543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:37.06, Z:1.54 [[ 7.24684422e-01 -6.89030128e-01 -8.36490406e-03 1.13089683e+02] [ 6.88989641e-01 7.24732615e-01 -7.47732293e-03 3.70627146e+01] [ 1.12144196e-02 -3.44632807e-04 9.99937057e-01 1.54411155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19361786499996 meters Centerline goodness [0,1] 0.9999340427403043 Centerline is valid? [True, True] Translation: X:113.11, Y:37.08, Z:1.55 [[ 7.24386795e-01 -6.89348006e-01 -7.94343482e-03 1.13111021e+02] [ 6.89311482e-01 7.24430271e-01 -7.10368597e-03 3.70819048e+01] [ 1.06513764e-02 -3.29684523e-04 9.99943218e-01 1.54509293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:37.10, Z:1.55 [[ 7.24739588e-01 -6.88979788e-01 -7.70588178e-03 1.13131105e+02] [ 6.88945360e-01 7.24780487e-01 -6.89472076e-03 3.71012745e+01] [ 1.03353960e-02 -3.12054412e-04 9.99946540e-01 1.54578278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:37.12, Z:1.55 [[ 7.24905648e-01 -6.88804298e-01 -7.77431221e-03 1.13151717e+02] [ 6.88769229e-01 7.24947269e-01 -6.95752234e-03 3.71218669e+01] [ 1.04283377e-02 -3.11159780e-04 9.99945575e-01 1.54606655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28361786499997 meters Centerline goodness [0,1] 0.9998902112335866 Centerline is valid? [True, True] Translation: X:113.17, Y:37.14, Z:1.55 [[ 7.25993689e-01 -6.87660280e-01 -7.51688237e-03 1.13170603e+02] [ 6.87627397e-01 7.26032548e-01 -6.73076633e-03 3.71422370e+01] [ 1.00859819e-02 -2.82320380e-04 9.99949095e-01 1.54627687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:37.16, Z:1.55 [[ 7.26497269e-01 -6.87124442e-01 -7.85620834e-03 1.13191396e+02] [ 6.87088485e-01 7.26539689e-01 -7.03528808e-03 3.71625370e+01] [ 1.05419656e-02 -2.86792707e-04 9.99944391e-01 1.54666273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:37.19, Z:1.55 [[ 7.27038263e-01 -6.86555484e-01 -7.54531972e-03 1.13209486e+02] [ 6.86522257e-01 7.27077367e-01 -6.75971130e-03 3.71859203e+01] [ 1.01269481e-02 -2.65461158e-04 9.99948686e-01 1.54636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:37.21, Z:1.55 [[ 7.27602676e-01 -6.85949916e-01 -8.18892260e-03 1.13229514e+02] [ 6.85910692e-01 7.27648704e-01 -7.34073568e-03 3.72053992e+01] [ 1.09940359e-02 -2.75730640e-04 9.99939526e-01 1.54670502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:37.23, Z:1.55 [[ 7.27579865e-01 -6.85973353e-01 -8.25221884e-03 1.13249921e+02] [ 6.85933513e-01 7.27626609e-01 -7.39820468e-03 3.72251860e+01] [ 1.10795053e-02 -2.77688692e-04 9.99938582e-01 1.54692762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:37.24, Z:1.55 [[ 7.27373337e-01 -6.86187950e-01 -8.60967495e-03 1.13269841e+02] [ 6.86144548e-01 7.27424232e-01 -7.72305088e-03 3.72447685e+01] [ 1.15623506e-02 -2.89940240e-04 9.99933112e-01 1.54717505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:37.26, Z:1.55 [[ 7.26770451e-01 -6.86817297e-01 -9.31191851e-03 1.13289431e+02] [ 6.86766514e-01 7.26830033e-01 -8.35812014e-03 3.72645024e+01] [ 1.25086835e-02 -3.20679072e-04 9.99921712e-01 1.54645510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:37.28, Z:1.55 [[ 7.26143004e-01 -6.87474961e-01 -9.72187638e-03 1.13310262e+02] [ 6.87419647e-01 7.26207999e-01 -8.72756452e-03 3.72843367e+01] [ 1.30600865e-02 -3.45548914e-04 9.99914654e-01 1.54690309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:37.30, Z:1.55 [[ 7.25507754e-01 -6.88141059e-01 -1.00190704e-02 1.13331263e+02] [ 6.88082317e-01 7.25576839e-01 -8.99863986e-03 3.73026300e+01] [ 1.34619390e-02 -3.65362200e-04 9.99909317e-01 1.54718396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:37.33, Z:1.55 [[ 7.23777552e-01 -6.89960083e-01 -1.00568424e-02 1.13348707e+02] [ 6.89901051e-01 7.23847308e-01 -9.03409237e-03 3.73259409e+01] [ 1.35127814e-02 -3.99552886e-04 9.99908618e-01 1.54771611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:37.34, Z:1.55 [[ 7.22772355e-01 -6.91012911e-01 -1.00637946e-02 1.13370063e+02] [ 6.90953841e-01 7.22842295e-01 -9.04467285e-03 3.73442805e+01] [ 1.35245221e-02 -4.16378001e-04 9.99908453e-01 1.54831470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:37.36, Z:1.55 [[ 7.21815069e-01 -6.92017661e-01 -9.72433388e-03 1.13390915e+02] [ 6.91962581e-01 7.21880447e-01 -8.74103310e-03 3.73631170e+01] [ 1.30687558e-02 -4.19465768e-04 9.99914512e-01 1.54880014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:37.38, Z:1.55 [[ 7.20846159e-01 -6.93031761e-01 -9.36975385e-03 1.13409875e+02] [ 6.92980695e-01 7.20906929e-01 -8.42349543e-03 3.73849937e+01] [ 1.25924703e-02 -4.21014209e-04 9.99920623e-01 1.54930678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:37.41, Z:1.55 [[ 7.19199403e-01 -6.94747487e-01 -8.84012716e-03 1.13429982e+02] [ 6.94702118e-01 7.19253606e-01 -7.95095176e-03 3.74060601e+01] [ 1.18821971e-02 -4.22935296e-04 9.99929315e-01 1.55045573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:37.43, Z:1.55 [[ 7.18621699e-01 -6.95346344e-01 -8.73581520e-03 1.13450683e+02] [ 6.95302039e-01 7.18674670e-01 -7.86092204e-03 3.74259863e+01] [ 1.17442725e-02 -4.25000961e-04 9.99930943e-01 1.55108859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:37.45, Z:1.55 [[ 7.18126510e-01 -6.95855161e-01 -8.93923235e-03 1.13470199e+02] [ 6.95808759e-01 7.18182011e-01 -8.04797511e-03 3.74470183e+01] [ 1.20202209e-02 -4.40531889e-04 9.99927657e-01 1.55148576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:37.47, Z:1.55 [[ 7.17913331e-01 -6.96074915e-01 -8.95325606e-03 1.13490315e+02] [ 6.96028339e-01 7.17969022e-01 -8.06443467e-03 3.74671346e+01] [ 1.20416112e-02 -4.42154780e-04 9.99927399e-01 1.55215870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:37.49, Z:1.55 [[ 7.18236362e-01 -6.95747082e-01 -8.51628858e-03 1.13510845e+02] [ 6.95704866e-01 7.18286732e-01 -7.67529119e-03 3.74864032e+01] [ 1.14571985e-02 -4.12150189e-04 9.99934279e-01 1.55306795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:37.51, Z:1.55 [[ 7.19058666e-01 -6.94902961e-01 -8.03181536e-03 1.13528692e+02] [ 6.94865347e-01 7.19103424e-01 -7.23980763e-03 3.75085823e+01] [ 1.08066697e-02 -3.75183756e-04 9.99941536e-01 1.55403603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:37.53, Z:1.55 [[ 7.19795019e-01 -6.94142328e-01 -7.84589847e-03 1.13548490e+02] [ 6.94106384e-01 7.19837692e-01 -7.07287366e-03 3.75304992e+01] [ 1.05573544e-02 -3.54868986e-04 9.99944207e-01 1.55463819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:37.55, Z:1.55 [[ 7.20283651e-01 -6.93635542e-01 -7.82283177e-03 1.13567859e+02] [ 6.93599747e-01 7.20326049e-01 -7.05509857e-03 3.75529230e+01] [ 1.05286566e-02 -3.44241976e-04 9.99944513e-01 1.55474955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:37.57, Z:1.55 [[ 7.21070303e-01 -6.92819155e-01 -7.69649878e-03 1.13587365e+02] [ 6.92784431e-01 7.21111304e-01 -6.94405306e-03 3.75747247e+01] [ 1.03610052e-02 -3.24864085e-04 9.99946271e-01 1.55496837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:37.60, Z:1.55 [[ 7.22707713e-01 -6.91099006e-01 -8.70208351e-03 1.13605112e+02] [ 6.91054436e-01 7.22760023e-01 -7.85593876e-03 3.75963875e+01] [ 1.17187495e-02 -3.36065876e-04 9.99931277e-01 1.55439805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:37.62, Z:1.55 [[ 7.23424038e-01 -6.90339595e-01 -9.42898389e-03 1.13624572e+02] [ 6.90287185e-01 7.23485398e-01 -8.51357986e-03 3.76183628e+01] [ 1.26989934e-02 -3.49778432e-04 9.99919303e-01 1.55441237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:37.64, Z:1.55 [[ 7.24222605e-01 -6.89497556e-01 -9.73339297e-03 1.13644398e+02] [ 6.89441573e-01 7.24287928e-01 -8.79284786e-03 3.76375487e+01] [ 1.31124261e-02 -3.42626581e-04 9.99913970e-01 1.55449498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:37.66, Z:1.55 [[ 7.25732737e-01 -6.87898013e-01 -1.04076132e-02 1.13663239e+02] [ 6.87833815e-01 7.25807283e-01 -9.40374734e-03 3.76604130e+01] [ 1.40227406e-02 -3.34101035e-04 9.99901621e-01 1.55424461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:37.68, Z:1.56 [[ 7.26326384e-01 -6.87268887e-01 -1.05574512e-02 1.13683018e+02] [ 6.87202703e-01 7.26403037e-01 -9.54321434e-03 3.76805394e+01] [ 1.42277189e-02 -3.23620658e-04 9.99898729e-01 1.55529449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:37.70, Z:1.56 [[ 7.27010980e-01 -6.86543857e-01 -1.06097690e-02 1.13703225e+02] [ 6.86476915e-01 7.27088328e-01 -9.59211943e-03 3.76999182e+01] [ 1.42996499e-02 -3.09785339e-04 9.99897707e-01 1.55593540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:37.72, Z:1.56 [[ 7.27566257e-01 -6.85951447e-01 -1.08606931e-02 1.13721858e+02] [ 6.85881206e-01 7.27647250e-01 -9.82091502e-03 3.77218250e+01] [ 1.46394243e-02 -3.03778888e-04 9.99892792e-01 1.55674937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:37.74, Z:1.56 [[ 7.28037673e-01 -6.85455171e-01 -1.05997800e-02 1.13741495e+02] [ 6.85388149e-01 7.28114776e-01 -9.58947207e-03 3.77429050e+01] [ 1.42910097e-02 -2.83466645e-04 9.99897838e-01 1.55752058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:37.76, Z:1.56 [[ 7.27899735e-01 -6.85604937e-01 -1.03849282e-02 1.13761728e+02] [ 6.85540557e-01 7.27973759e-01 -9.39952729e-03 3.77625136e+01] [ 1.40043175e-02 -2.77376042e-04 9.99901896e-01 1.55821354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:37.78, Z:1.56 [[ 7.27635108e-01 -6.85890741e-01 -1.00519090e-02 1.13782215e+02] [ 6.85830386e-01 7.27704486e-01 -9.10290230e-03 3.77823588e+01] [ 1.35584157e-02 -2.70313348e-04 9.99908044e-01 1.55882247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:37.80, Z:1.56 [[ 7.27213081e-01 -6.86339002e-01 -9.99549366e-03 1.13802189e+02] [ 6.86279299e-01 7.27281720e-01 -9.05667991e-03 3.78015074e+01] [ 1.34854925e-02 -2.73564280e-04 9.99909029e-01 1.55928799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:37.82, Z:1.56 [[ 7.26621007e-01 -6.86960058e-01 -1.03822777e-02 1.13822123e+02] [ 6.86895672e-01 7.26695117e-01 -9.40970711e-03 3.78223622e+01] [ 1.40088435e-02 -2.94250792e-04 9.99901828e-01 1.55944293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:37.84, Z:1.56 [[ 7.26300824e-01 -6.87294586e-01 -1.06426252e-02 1.13842843e+02] [ 6.87226901e-01 7.26378730e-01 -9.65022533e-03 3.78404686e+01] [ 1.43631242e-02 -3.04931722e-04 9.99896799e-01 1.55935687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:37.86, Z:1.56 [[ 7.25018236e-01 -6.88643543e-01 -1.08916598e-02 1.13863740e+02] [ 6.88572780e-01 7.25099963e-01 -9.87776219e-03 3.78595380e+01] [ 1.46997993e-02 -3.38142753e-04 9.99891895e-01 1.55973848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:37.88, Z:1.56 [[ 7.24479193e-01 -6.89210904e-01 -1.08732669e-02 1.13885271e+02] [ 6.89140416e-01 7.24560700e-01 -9.86302028e-03 3.78791358e+01] [ 1.46760430e-02 -3.47654664e-04 9.99892241e-01 1.56008964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:37.90, Z:1.56 [[ 7.24165048e-01 -6.89534635e-01 -1.12680959e-02 1.13905880e+02] [ 6.89458903e-01 7.24252618e-01 -1.02257865e-02 3.78972369e+01] [ 1.52119820e-02 -3.63731859e-04 9.99884225e-01 1.56079649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:37.92, Z:1.56 [[ 7.23532950e-01 -6.90188381e-01 -1.18351222e-02 1.13927386e+02] [ 6.90104892e-01 7.23629631e-01 -1.07422394e-02 3.79156106e+01] [ 1.59784139e-02 -3.95111571e-04 9.99872259e-01 1.56102402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:37.94, Z:1.56 [[ 7.22909203e-01 -6.90837220e-01 -1.20921408e-02 1.13948211e+02] [ 6.90750115e-01 7.23010209e-01 -1.09780061e-02 3.79359633e+01] [ 1.63267564e-02 -4.16546041e-04 9.99866623e-01 1.56117660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:37.96, Z:1.56 [[ 7.22683659e-01 -6.91068419e-01 -1.23599957e-02 1.13968291e+02] [ 6.90977352e-01 7.22789221e-01 -1.12267756e-02 3.79559964e+01] [ 1.66921417e-02 -4.27069833e-04 9.99860585e-01 1.56162475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:37.97, Z:1.56 [[ 7.22749845e-01 -6.90990687e-01 -1.28270266e-02 1.13988527e+02] [ 6.90892481e-01 7.22863528e-01 -1.16575614e-02 3.79748211e+01] [ 1.73274560e-02 -4.36595497e-04 9.99849773e-01 1.56185513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:37.99, Z:1.56 [[ 7.22561523e-01 -6.91187669e-01 -1.28238500e-02 1.14008881e+02] [ 6.91089433e-01 7.22675180e-01 -1.16610549e-02 3.79934154e+01] [ 1.73274555e-02 -4.36597612e-04 9.99849773e-01 1.56222200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.573617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:38.01, Z:1.56 [[ 7.22512666e-01 -6.91238346e-01 -1.28451043e-02 1.14029330e+02] [ 6.91139695e-01 7.22626709e-01 -1.16859486e-02 3.80114732e+01] [ 1.73599912e-02 -4.34515572e-04 9.99849210e-01 1.56234628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:38.03, Z:1.56 [[ 7.22642941e-01 -6.91093783e-01 -1.32876906e-02 1.14050544e+02] [ 6.90988123e-01 7.22764959e-01 -1.20924775e-02 3.80301374e+01] [ 1.79609132e-02 -4.43092848e-04 9.99838592e-01 1.56312568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:38.05, Z:1.56 [[ 7.22603550e-01 -6.91121611e-01 -1.39652634e-02 1.14071046e+02] [ 6.91004769e-01 7.22738339e-01 -1.27162518e-02 3.80490616e+01] [ 1.88817077e-02 -4.61254913e-04 9.99821618e-01 1.56427485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:38.07, Z:1.56 [[ 7.22115514e-01 -6.91630215e-01 -1.40296035e-02 1.14092357e+02] [ 6.91512260e-01 7.22251634e-01 -1.27816555e-02 3.80681265e+01] [ 1.89730832e-02 -4.71811133e-04 9.99819884e-01 1.56490283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:38.08, Z:1.56 [[ 7.21617019e-01 -6.92143421e-01 -1.43653322e-02 1.14115605e+02] [ 6.92019754e-01 7.21759822e-01 -1.30927062e-02 3.80846591e+01] [ 1.94303501e-02 -4.93174012e-04 9.99811091e-01 1.56484827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:38.10, Z:1.57 [[ 7.21028953e-01 -6.92750627e-01 -1.46225112e-02 1.14136817e+02] [ 6.92622544e-01 7.21177026e-01 -1.33307637e-02 3.81040496e+01] [ 1.97803140e-02 -5.16014315e-04 9.99804217e-01 1.56544500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:38.12, Z:1.57 [[ 7.19666731e-01 -6.94138792e-01 -1.58472088e-02 1.14160862e+02] [ 6.93988532e-01 7.19840943e-01 -1.44545680e-02 3.81209426e+01] [ 2.14409461e-02 -5.95309451e-04 9.99769939e-01 1.56580099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:38.14, Z:1.57 [[ 7.18849541e-01 -6.94967046e-01 -1.66175253e-02 1.14182312e+02] [ 6.94801872e-01 7.19041299e-01 -1.51647165e-02 3.81399400e+01] [ 2.24876652e-02 -6.44738211e-04 9.99746913e-01 1.56647959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:38.16, Z:1.57 [[ 7.18447117e-01 -6.95369253e-01 -1.71855253e-02 1.14204657e+02] [ 6.95192576e-01 7.18652312e-01 -1.56887528e-02 3.81568844e+01] [ 2.32598938e-02 -6.75710367e-04 9.99729224e-01 1.56629437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:38.18, Z:1.57 [[ 7.17738052e-01 -6.96079193e-01 -1.80511991e-02 1.14225618e+02] [ 6.95884361e-01 7.17964640e-01 -1.64843023e-02 3.81762092e+01] [ 2.44345025e-02 -7.30136155e-04 9.99701166e-01 1.56655772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:38.19, Z:1.57 [[ 7.17816700e-01 -6.95989894e-01 -1.83644494e-02 1.14246446e+02] [ 6.95788054e-01 7.18051201e-01 -1.67766871e-02 3.81939355e+01] [ 2.48630196e-02 -7.35178280e-04 9.99690597e-01 1.56672558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:38.21, Z:1.57 [[ 7.17817742e-01 -6.95989431e-01 -1.83412733e-02 1.14267079e+02] [ 6.95787940e-01 7.18051656e-01 -1.67619305e-02 3.82123516e+01] [ 2.48361081e-02 -7.29625652e-04 9.99691270e-01 1.56720382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:38.23, Z:1.57 [[ 7.18248263e-01 -6.95552901e-01 -1.80442535e-02 1.14289000e+02] [ 6.95357540e-01 7.18474548e-01 -1.64989220e-02 3.82311634e+01] [ 2.44402099e-02 -6.96885687e-04 9.99701051e-01 1.56832678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:38.25, Z:1.57 [[ 7.19287356e-01 -6.94473705e-01 -1.82201136e-02 1.14311513e+02] [ 6.94273974e-01 7.19517780e-01 -1.66677044e-02 3.82485220e+01] [ 2.46849781e-02 -6.60881642e-04 9.99695061e-01 1.56952930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:38.27, Z:1.57 [[ 7.19715521e-01 -6.94032930e-01 -1.81069352e-02 1.14332874e+02] [ 6.93835398e-01 7.19942974e-01 -1.65696846e-02 3.82658112e+01] [ 2.45358675e-02 -6.37773427e-04 9.99698747e-01 1.56989002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:38.28, Z:1.57 [[ 7.20216985e-01 -6.93499485e-01 -1.85999953e-02 1.14354847e+02] [ 6.93290736e-01 7.20456844e-01 -1.70261868e-02 3.82848092e+01] [ 2.52081457e-02 -6.32655499e-04 9.99682024e-01 1.57049014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:38.30, Z:1.57 [[ 7.20539908e-01 -6.93160616e-01 -1.87243649e-02 1.14376959e+02] [ 6.92948747e-01 7.20782892e-01 -1.71480791e-02 3.83034788e+01] [ 2.53825749e-02 -6.19149879e-04 9.99677619e-01 1.57093677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:38.32, Z:1.57 [[ 7.20653886e-01 -6.93041073e-01 -1.87629217e-02 1.14398608e+02] [ 6.92828072e-01 7.20897842e-01 -1.71919793e-02 3.83216295e+01] [ 2.54408976e-02 -6.10012135e-04 9.99676142e-01 1.57122154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:38.34, Z:1.57 [[ 7.20676818e-01 -6.93022881e-01 -1.85529177e-02 1.14419189e+02] [ 6.92814385e-01 7.20915342e-01 -1.70087368e-02 3.83411205e+01] [ 2.51625267e-02 -5.95925965e-04 9.99683196e-01 1.57230749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:38.36, Z:1.57 [[ 7.21040888e-01 -6.92647579e-01 -1.84219890e-02 1.14442788e+02] [ 6.92441719e-01 7.21275954e-01 -1.68956701e-02 3.83560534e+01] [ 2.49900827e-02 -5.73684778e-04 9.99687535e-01 1.57344520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:38.37, Z:1.57 [[ 7.21021467e-01 -6.92671916e-01 -1.82664044e-02 1.14464862e+02] [ 6.92469367e-01 7.21252590e-01 -1.67594132e-02 3.83734455e+01] [ 2.47834664e-02 -5.65028797e-04 9.99692683e-01 1.57462369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:38.39, Z:1.57 [[ 7.21214697e-01 -6.92475596e-01 -1.80806588e-02 1.14487664e+02] [ 6.92276921e-01 7.21441092e-01 -1.65956687e-02 3.83899521e+01] [ 2.45362258e-02 -5.47782603e-04 9.99698791e-01 1.57431858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:38.41, Z:1.58 [[ 7.22294845e-01 -6.91351827e-01 -1.79668779e-02 1.14508905e+02] [ 6.91155156e-01 7.22518096e-01 -1.64969892e-02 3.84089689e+01] [ 2.43866180e-02 -5.02210063e-04 9.99702476e-01 1.57542245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:38.43, Z:1.58 [[ 7.22859392e-01 -6.90753382e-01 -1.82774369e-02 1.14530974e+02] [ 6.90549464e-01 7.23090264e-01 -1.67901078e-02 3.84275522e+01] [ 2.48140604e-02 -4.84587092e-04 9.99691966e-01 1.57535182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:38.45, Z:1.58 [[ 7.23581442e-01 -6.89997813e-01 -1.82459548e-02 1.14552948e+02] [ 6.89794162e-01 7.23811311e-01 -1.67690425e-02 3.84467582e+01] [ 2.47772310e-02 -4.52185142e-04 9.99692895e-01 1.57557941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:38.46, Z:1.58 [[ 7.24838805e-01 -6.88680635e-01 -1.81022317e-02 1.14575464e+02] [ 6.88479576e-01 7.25064704e-01 -1.66447891e-02 3.84649416e+01] [ 2.45882332e-02 -3.98227820e-04 9.99697584e-01 1.57635831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:38.48, Z:1.58 [[ 7.25503147e-01 -6.87985401e-01 -1.79240353e-02 1.14598075e+02] [ 6.87787918e-01 7.25724433e-01 -1.64871771e-02 3.84836950e+01] [ 2.43508475e-02 -3.66435971e-04 9.99703407e-01 1.57706080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:38.50, Z:1.58 [[ 7.25904080e-01 -6.87572532e-01 -1.75293679e-02 1.14621220e+02] [ 6.87383393e-01 7.26115622e-01 -1.61299009e-02 3.85017953e+01] [ 2.38188247e-02 -3.40635491e-04 9.99716234e-01 1.57785585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:38.52, Z:1.58 [[ 7.26333456e-01 -6.87127031e-01 -1.72091179e-02 1.14645588e+02] [ 6.86944440e-01 7.26537228e-01 -1.58427659e-02 3.85182916e+01] [ 2.33890575e-02 -3.14576906e-04 9.99726389e-01 1.57952465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:38.54, Z:1.58 [[ 7.26568332e-01 -6.86890554e-01 -1.67280267e-02 1.14668402e+02] [ 6.86717805e-01 7.26760814e-01 -1.54069661e-02 3.85368688e+01] [ 2.27401738e-02 -2.93220124e-04 9.99741366e-01 1.58035387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:38.55, Z:1.58 [[ 7.26628170e-01 -6.86833675e-01 -1.64622492e-02 1.14690131e+02] [ 6.86666236e-01 7.26814572e-01 -1.51676492e-02 3.85535946e+01] [ 2.23826548e-02 -2.82829499e-04 9.99749437e-01 1.58082899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:38.57, Z:1.58 [[ 7.27139448e-01 -6.86284129e-01 -1.68023291e-02 1.14712981e+02] [ 6.86109447e-01 7.27333502e-01 -1.54855863e-02 3.85683415e+01] [ 2.28484090e-02 -2.68056035e-04 9.99738905e-01 1.58087161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:38.59, Z:1.58 [[ 7.27534255e-01 -6.85861198e-01 -1.69801280e-02 1.14734391e+02] [ 6.85682523e-01 7.27732336e-01 -1.56564785e-02 3.85862505e+01] [ 2.30951593e-02 -2.52352576e-04 9.99733239e-01 1.58121160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:38.60, Z:1.58 [[ 7.27810698e-01 -6.85561629e-01 -1.72290715e-02 1.14755795e+02] [ 6.85377414e-01 7.28014556e-01 -1.58935784e-02 3.86034990e+01] [ 2.34390423e-02 -2.40900110e-04 9.99725239e-01 1.58109820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59361786499997 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:114.78, Y:38.62, Z:1.58 [[ 7.28605875e-01 -6.84704680e-01 -1.76912168e-02 1.14779056e+02] [ 6.84510018e-01 7.28820592e-01 -1.63273074e-02 3.86196733e+01] [ 2.40731069e-02 -2.13642999e-04 9.99710178e-01 1.58136562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:38.64, Z:1.58 [[ 7.28934473e-01 -6.84350421e-01 -1.78615610e-02 1.14800595e+02] [ 6.84151665e-01 7.29153250e-01 -1.64935339e-02 3.86379035e+01] [ 2.43111721e-02 -1.97311270e-04 9.99704420e-01 1.58224579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:38.66, Z:1.58 [[ 7.29702038e-01 -6.83546705e-01 -1.72869447e-02 1.14820936e+02] [ 6.83360168e-01 7.29906759e-01 -1.59688607e-02 3.86570188e+01] [ 2.35333199e-02 -1.60699228e-04 9.99723040e-01 1.58244838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:38.68, Z:1.58 [[ 7.30727283e-01 -6.82462327e-01 -1.68169793e-02 1.14842267e+02] [ 6.82285405e-01 7.30920761e-01 -1.55392403e-02 3.86766556e+01] [ 2.28968254e-02 -1.19032633e-04 9.99737826e-01 1.58320418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:38.70, Z:1.58 [[ 7.30909493e-01 -6.82266193e-01 -1.68568796e-02 1.14863205e+02] [ 6.82088197e-01 7.31103844e-01 -1.55840021e-02 3.86957158e+01] [ 2.29565672e-02 -1.07383582e-04 9.99736458e-01 1.58476951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:38.71, Z:1.58 [[ 7.31222731e-01 -6.81919951e-01 -1.72770922e-02 1.14882983e+02] [ 6.81732711e-01 7.31426805e-01 -1.59793540e-02 3.87136228e+01] [ 2.35335687e-02 -9.38920327e-05 9.99723043e-01 1.58453610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:38.73, Z:1.58 [[ 7.31309424e-01 -6.81823677e-01 -1.74068674e-02 1.14903121e+02] [ 6.81633484e-01 7.31516552e-01 -1.61036657e-02 3.87321540e+01] [ 2.37132721e-02 -8.83412143e-05 9.99718797e-01 1.58483309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:38.75, Z:1.58 [[ 7.30726884e-01 -6.82431110e-01 -1.80554806e-02 1.14924041e+02] [ 6.82226550e-01 7.30949908e-01 -1.67082555e-02 3.87499641e+01] [ 2.45998852e-02 -1.08756744e-04 9.99697371e-01 1.58487643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:38.77, Z:1.59 [[ 7.30279648e-01 -6.82910085e-01 -1.80402721e-02 1.14944783e+02] [ 6.82705866e-01 7.30502430e-01 -1.67002692e-02 3.87695561e+01] [ 2.45832449e-02 -1.20332865e-04 9.99697779e-01 1.58595655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:38.79, Z:1.59 [[ 7.28913985e-01 -6.84361011e-01 -1.82868725e-02 1.14964567e+02] [ 6.84151412e-01 7.29143319e-01 -1.69371168e-02 3.87902548e+01] [ 2.49248533e-02 -1.65288324e-04 9.99689314e-01 1.58651376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:38.81, Z:1.59 [[ 7.27649616e-01 -6.85695876e-01 -1.86333587e-02 1.14985529e+02] [ 6.85478547e-01 7.27888125e-01 -1.72638289e-02 3.88093895e+01] [ 2.54007368e-02 -2.10749118e-04 9.99677327e-01 1.58639486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters Centerline goodness [0,1] 0.9999561663050387 Centerline is valid? [True, True] Translation: X:115.01, Y:38.83, Z:1.59 [[ 7.26160830e-01 -6.87265747e-01 -1.88743674e-02 1.15006764e+02] [ 6.87043143e-01 7.26406032e-01 -1.74927483e-02 3.88287304e+01] [ 2.57326211e-02 -2.64956144e-04 9.99668826e-01 1.58693669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:38.85, Z:1.59 [[ 7.24478798e-01 -6.89037174e-01 -1.89273545e-02 1.15027584e+02] [ 6.88813752e-01 7.24725926e-01 -1.75484209e-02 3.88469229e+01] [ 2.58086589e-02 -3.23963199e-04 9.99666849e-01 1.58691002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:38.87, Z:1.59 [[ 7.21367855e-01 -6.92298690e-01 -1.87334366e-02 1.15049463e+02] [ 6.92080805e-01 7.21610931e-01 -1.73730551e-02 3.88651151e+01] [ 2.55455960e-02 -4.32688383e-04 9.99673564e-01 1.58739903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:38.88, Z:1.59 [[ 7.19955605e-01 -6.93766504e-01 -1.87606980e-02 1.15071511e+02] [ 6.93548321e-01 7.20199838e-01 -1.74046175e-02 3.88840121e+01] [ 2.55861923e-02 -4.80898646e-04 9.99672504e-01 1.58823126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:38.90, Z:1.59 [[ 7.18146280e-01 -6.95631594e-01 -1.90421937e-02 1.15093548e+02] [ 6.95407248e-01 7.18398485e-01 -1.76741817e-02 3.89032346e+01] [ 2.59746023e-02 -5.49431693e-04 9.99662452e-01 1.58828229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.073617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:38.92, Z:1.59 [[ 7.17613765e-01 -6.96173635e-01 -1.93068526e-02 1.15114374e+02] [ 6.95942980e-01 7.17873209e-01 -1.79283089e-02 3.89227769e+01] [ 2.63410882e-02 -5.70867276e-04 9.99652850e-01 1.58845456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:38.94, Z:1.59 [[ 7.17418311e-01 -6.96367673e-01 -1.95711552e-02 1.15134541e+02] [ 6.96130486e-01 7.17684978e-01 -1.81829349e-02 3.89428069e+01] [ 2.67079322e-02 -5.79307272e-04 9.99643112e-01 1.58835664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:38.96, Z:1.59 [[ 7.17553197e-01 -6.96224759e-01 -1.97102485e-02 1.15153480e+02] [ 6.95983930e-01 7.17823625e-01 -1.83197139e-02 3.89619769e+01] [ 2.69031205e-02 -5.72646924e-04 9.99637882e-01 1.58807710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:38.98, Z:1.59 [[ 7.18927778e-01 -6.94800381e-01 -1.98816635e-02 1.15172306e+02] [ 6.94554607e-01 7.19202448e-01 -1.84861238e-02 3.89844432e+01] [ 2.71431069e-02 -5.18713070e-04 9.99631423e-01 1.58875590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:39.01, Z:1.59 [[ 7.19670001e-01 -6.94047059e-01 -1.93331339e-02 1.15192986e+02] [ 6.93814174e-01 7.19929482e-01 -1.79842470e-02 3.90053747e+01] [ 2.64004068e-02 -4.70879252e-04 9.99651338e-01 1.58958487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:39.02, Z:1.59 [[ 7.20420376e-01 -6.93275352e-01 -1.90727225e-02 1.15212759e+02] [ 6.93048287e-01 7.20672671e-01 -1.77474625e-02 3.90243724e+01] [ 2.60490682e-02 -4.32684023e-04 9.99660572e-01 1.58960958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:39.04, Z:1.59 [[ 7.21995861e-01 -6.91657972e-01 -1.81996261e-02 1.15232519e+02] [ 6.91450581e-01 7.22225120e-01 -1.69401816e-02 3.90449456e+01] [ 2.48610387e-02 -3.53401049e-04 9.99690854e-01 1.59076943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28361786499997 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:115.25, Y:39.06, Z:1.59 [[ 7.22574771e-01 -6.91066212e-01 -1.76971973e-02 1.15253095e+02] [ 6.90869752e-01 7.22791387e-01 -1.64802089e-02 3.90649026e+01] [ 2.41802973e-02 -3.18275103e-04 9.99707563e-01 1.59211585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:39.08, Z:1.59 [[ 7.23036509e-01 -6.90601349e-01 -1.69700856e-02 1.15274355e+02] [ 6.90420450e-01 7.23235574e-01 -1.58084273e-02 3.90835905e+01] [ 2.31906908e-02 -2.86424061e-04 9.99731019e-01 1.59305944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34361786499997 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:115.30, Y:39.10, Z:1.59 [[ 7.23665050e-01 -6.89969782e-01 -1.58302085e-02 1.15295095e+02] [ 6.89812170e-01 7.23838130e-01 -1.47489698e-02 3.91015077e+01] [ 2.16348520e-02 -2.46556464e-04 9.99765909e-01 1.59428064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:39.12, Z:1.60 [[ 7.23910279e-01 -6.89712863e-01 -1.58137089e-02 1.15315685e+02] [ 6.89555418e-01 7.24082945e-01 -1.47382049e-02 3.91208020e+01] [ 2.16155664e-02 -2.35290655e-04 9.99766329e-01 1.59597797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:39.14, Z:1.60 [[ 7.23786519e-01 -6.89837120e-01 -1.60568339e-02 1.15336135e+02] [ 6.89674685e-01 7.23964565e-01 -1.49712381e-02 3.91390792e+01] [ 2.19522945e-02 -2.38011595e-04 9.99758991e-01 1.59617340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:39.16, Z:1.60 [[ 7.23601645e-01 -6.90031102e-01 -1.60541853e-02 1.15356255e+02] [ 6.89868652e-01 7.23779677e-01 -1.49740778e-02 3.91579404e+01] [ 2.19522725e-02 -2.40011852e-04 9.99758991e-01 1.59654088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:39.18, Z:1.60 [[ 7.23562661e-01 -6.90074959e-01 -1.59256405e-02 1.15376632e+02] [ 6.89914968e-01 7.23737864e-01 -1.48607085e-02 3.91758210e+01] [ 2.17809918e-02 -2.34683956e-04 9.99762739e-01 1.59631918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:39.19, Z:1.60 [[ 7.22607680e-01 -6.91070695e-01 -1.61070152e-02 1.15398011e+02] [ 6.90907165e-01 7.22787123e-01 -1.50354243e-02 3.91949042e+01] [ 2.20324843e-02 -2.63739133e-04 9.99757221e-01 1.59621471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:39.21, Z:1.60 [[ 7.21850337e-01 -6.91861466e-01 -1.61184023e-02 1.15419436e+02] [ 6.91697746e-01 7.22030215e-01 -1.50531384e-02 3.92136266e+01] [ 2.20526599e-02 -2.82949494e-04 9.99756770e-01 1.59623544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:39.23, Z:1.60 [[ 7.21071870e-01 -6.92678098e-01 -1.58874252e-02 1.15441115e+02] [ 6.92519084e-01 7.21246812e-01 -1.48443523e-02 3.92329479e+01] [ 2.17411125e-02 -2.98500246e-04 9.99763590e-01 1.59632327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:39.25, Z:1.60 [[ 7.20559614e-01 -6.93213935e-01 -1.57569967e-02 1.15461105e+02] [ 6.93057520e-01 7.20731813e-01 -1.47284901e-02 3.92512898e+01] [ 2.15665634e-02 -3.07749910e-04 9.99767367e-01 1.59651692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:39.27, Z:1.60 [[ 7.19934139e-01 -6.93878433e-01 -1.50849289e-02 1.15481697e+02] [ 6.93735113e-01 7.20092094e-01 -1.41056515e-02 3.92707878e+01] [ 2.06501454e-02 -3.09804773e-04 9.99786715e-01 1.59680376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:39.29, Z:1.60 [[ 7.19573836e-01 -6.94246998e-01 -1.53166527e-02 1.15502289e+02] [ 6.94099199e-01 7.19736759e-01 -1.43282754e-02 3.92888399e+01] [ 2.09713202e-02 -3.21024279e-04 9.99780026e-01 1.59649289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:39.31, Z:1.60 [[ 7.18761326e-01 -6.95086144e-01 -1.54080729e-02 1.15523400e+02] [ 6.94936678e-01 7.18926376e-01 -1.44180416e-02 3.93089387e+01] [ 2.10990510e-02 -3.44504253e-04 9.99777331e-01 1.59664941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:39.33, Z:1.60 [[ 7.16546862e-01 -6.97344533e-01 -1.64680522e-02 1.15545637e+02] [ 6.97174220e-01 7.16735945e-01 -1.54173046e-02 3.93272756e+01] [ 2.25544180e-02 -4.33880251e-04 9.99745523e-01 1.59584621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:39.34, Z:1.60 [[ 7.15435902e-01 -6.98473668e-01 -1.69117023e-02 1.15567171e+02] [ 6.98294242e-01 7.15635596e-01 -1.58380839e-02 3.93447656e+01] [ 2.31651007e-02 -4.78210457e-04 9.99731539e-01 1.59558534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:39.37, Z:1.60 [[ 7.13381651e-01 -7.00584711e-01 -1.63610020e-02 1.15586209e+02] [ 7.00417279e-01 7.13569047e-01 -1.53248453e-02 3.93659497e+01] [ 2.24110569e-02 -5.27064996e-04 9.99748702e-01 1.59771720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:39.39, Z:1.60 [[ 7.12154303e-01 -7.01839250e-01 -1.60597590e-02 1.15606333e+02] [ 7.01678178e-01 7.12335146e-01 -1.50457180e-02 3.93859544e+01] [ 2.19996062e-02 -5.53909630e-04 9.99757826e-01 1.59815133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:39.41, Z:1.60 [[ 7.11010137e-01 -7.02994234e-01 -1.62386087e-02 1.15626873e+02] [ 7.02829738e-01 7.11195301e-01 -1.52185315e-02 3.94058362e+01] [ 2.22473621e-02 -5.92446954e-04 9.99752321e-01 1.59790803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:39.43, Z:1.60 [[ 7.09571547e-01 -7.04428493e-01 -1.69917074e-02 1.15647606e+02] [ 7.04248612e-01 7.09774655e-01 -1.59321062e-02 3.94256548e+01] [ 2.32833129e-02 -6.61417131e-04 9.99728688e-01 1.59801728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:39.44, Z:1.60 [[ 7.09184599e-01 -7.04817013e-01 -1.70347231e-02 1.15669083e+02] [ 7.04636185e-01 7.09388840e-01 -1.59787268e-02 3.94441312e+01] [ 2.33463210e-02 -6.71415302e-04 9.99727212e-01 1.59853112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:39.46, Z:1.60 [[ 7.09117139e-01 -7.04883754e-01 -1.70814695e-02 1.15689178e+02] [ 7.04701803e-01 7.09322524e-01 -1.60288842e-02 3.94637932e+01] [ 2.34147711e-02 -6.70985834e-04 9.99725611e-01 1.59981062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:39.49, Z:1.60 [[ 7.09806428e-01 -7.04197359e-01 -1.67605004e-02 1.15709167e+02] [ 7.04021814e-01 7.10004001e-01 -1.57354582e-02 3.94853324e+01] [ 2.29808905e-02 -6.30628500e-04 9.99735706e-01 1.60093961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:39.51, Z:1.60 [[ 7.10364918e-01 -7.03634736e-01 -1.67284567e-02 1.15729123e+02] [ 7.03459542e-01 7.10561602e-01 -1.57124932e-02 3.95064052e+01] [ 2.29424551e-02 -6.06188539e-04 9.99736603e-01 1.60125753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:39.53, Z:1.60 [[ 7.11046548e-01 -7.02942043e-01 -1.68905445e-02 1.15748720e+02] [ 7.02763067e-01 7.11246893e-01 -1.58722649e-02 3.95283031e+01] [ 2.31706296e-02 -5.84131689e-04 9.99731354e-01 1.60147164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:39.55, Z:1.60 [[ 7.12027169e-01 -7.01956881e-01 -1.65483260e-02 1.15768498e+02] [ 7.01784659e-01 7.12219243e-01 -1.55577280e-02 3.95501134e+01] [ 2.27068904e-02 -5.35836323e-04 9.99742022e-01 1.60216747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:39.57, Z:1.60 [[ 7.13967528e-01 -6.99991113e-01 -1.62114369e-02 1.15787636e+02] [ 6.99825173e-01 7.14151406e-01 -1.52477962e-02 3.95710437e+01] [ 2.22507423e-02 -4.58740278e-04 9.99752316e-01 1.60379507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:39.59, Z:1.61 [[ 7.15076606e-01 -6.98867676e-01 -1.57930179e-02 1.15808152e+02] [ 6.98709769e-01 7.15250869e-01 -1.48611329e-02 3.95917291e+01] [ 2.16819352e-02 -4.07887356e-04 9.99764836e-01 1.60552584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:39.61, Z:1.61 [[ 7.16223383e-01 -6.97702651e-01 -1.53321911e-02 1.15828672e+02] [ 6.97553417e-01 7.16387383e-01 -1.44342459e-02 3.96115710e+01] [ 2.10545999e-02 -3.56877919e-04 9.99778264e-01 1.60700319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:39.63, Z:1.61 [[ 7.17321220e-01 -6.96576087e-01 -1.52322751e-02 1.15849232e+02] [ 6.96428395e-01 7.17482860e-01 -1.43469765e-02 3.96319552e+01] [ 2.09226571e-02 -3.16798155e-04 9.99781047e-01 1.60801895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.87, Y:39.65, Z:1.61 [[ 7.19392582e-01 -6.94435112e-01 -1.53032294e-02 1.15868766e+02] [ 6.94285436e-01 7.19555288e-01 -1.44194828e-02 3.96523707e+01] [ 2.10249148e-02 -2.51540284e-04 9.99778920e-01 1.60783361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:39.67, Z:1.61 [[ 7.20339541e-01 -6.93446681e-01 -1.55770884e-02 1.15888253e+02] [ 6.93291266e-01 7.20507911e-01 -1.46823061e-02 3.96733025e+01] [ 2.14048119e-02 -2.23213694e-04 9.99770866e-01 1.60738750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24361786499998 meters Centerline goodness [0,1] 0.9999348520054724 Centerline is valid? [True, True] Translation: X:115.91, Y:39.69, Z:1.61 [[ 7.21023795e-01 -6.92727722e-01 -1.59056969e-02 1.15906956e+02] [ 6.92565343e-01 7.21199184e-01 -1.49994023e-02 3.96948723e+01] [ 2.18616774e-02 -2.00808519e-04 9.99760985e-01 1.60849857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:39.71, Z:1.61 [[ 7.21655874e-01 -6.92061265e-01 -1.62482071e-02 1.15926876e+02] [ 6.91891458e-01 7.21838745e-01 -1.53309128e-02 3.97145798e+01] [ 2.23385164e-02 -1.78352419e-04 9.99750448e-01 1.60893879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:39.73, Z:1.61 [[ 7.21223107e-01 -6.92507733e-01 -1.64398851e-02 1.15948401e+02] [ 6.92333864e-01 7.21410427e-01 -1.55182917e-02 3.97315015e+01] [ 2.26064415e-02 -1.89738647e-04 9.99744424e-01 1.60740627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:39.75, Z:1.61 [[ 7.19738345e-01 -6.94041902e-01 -1.68092965e-02 1.15970437e+02] [ 6.93860426e-01 7.19934567e-01 -1.58722708e-02 3.97499226e+01] [ 2.31176147e-02 -2.39423701e-04 9.99732724e-01 1.61035859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters Centerline goodness [0,1] 0.999869471577436 Centerline is valid? [True, True] Translation: X:115.99, Y:39.77, Z:1.61 [[ 7.18661928e-01 -6.95148871e-01 -1.71195861e-02 1.15992324e+02] [ 6.94960764e-01 7.18865754e-01 -1.61729909e-02 3.97687504e+01] [ 2.35493205e-02 -2.74527795e-04 9.99722639e-01 1.60923181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:39.79, Z:1.61 [[ 7.17573285e-01 -6.96265390e-01 -1.74094103e-02 1.16013885e+02] [ 6.96071052e-01 7.17784375e-01 -1.64523943e-02 3.97866266e+01] [ 2.39514354e-02 -3.12387937e-04 9.99713074e-01 1.61061515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:39.80, Z:1.61 [[ 7.15698837e-01 -6.98192863e-01 -1.73752698e-02 1.16036656e+02] [ 6.97999737e-01 7.15909622e-01 -1.64249938e-02 3.98048729e+01] [ 2.39069362e-02 -3.72584796e-04 9.99714119e-01 1.61118639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:39.82, Z:1.61 [[ 7.14808454e-01 -6.99106241e-01 -1.73013849e-02 1.16058278e+02] [ 6.98914842e-01 7.15017697e-01 -1.63626628e-02 3.98235641e+01] [ 2.38100361e-02 -3.96025052e-04 9.99716422e-01 1.61177489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters Centerline goodness [0,1] 0.999934496386384 Centerline is valid? [True, True] Translation: X:116.08, Y:39.84, Z:1.61 [[ 7.13980299e-01 -6.99951114e-01 -1.73369598e-02 1.16079523e+02] [ 6.99758992e-01 7.14190634e-01 -1.64039889e-02 3.98437250e+01] [ 2.38638846e-02 -4.19568602e-04 9.99715129e-01 1.61241085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:39.86, Z:1.61 [[ 7.12491801e-01 -7.01449531e-01 -1.79996813e-02 1.16102416e+02] [ 7.01242754e-01 7.12718964e-01 -1.70375701e-02 3.98600447e+01] [ 2.47797098e-02 -4.83017071e-04 9.99692819e-01 1.61282390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:39.88, Z:1.61 [[ 7.11722152e-01 -7.02222268e-01 -1.83156921e-02 1.16123509e+02] [ 7.02008264e-01 7.11957598e-01 -1.73428719e-02 3.98802630e+01] [ 2.52185470e-02 -5.14461111e-04 9.99681829e-01 1.61401296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.573617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:39.90, Z:1.61 [[ 7.11149596e-01 -7.02785612e-01 -1.89376796e-02 1.16144009e+02] [ 7.02556796e-01 7.11401493e-01 -1.79405542e-02 3.99008387e+01] [ 2.60806569e-02 -5.46377624e-04 9.99659692e-01 1.61497344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:39.92, Z:1.61 [[ 7.10700515e-01 -7.03218424e-01 -1.97135962e-02 1.16167345e+02] [ 7.02970465e-01 7.10973636e-01 -1.86819295e-02 3.99167639e+01] [ 2.71533242e-02 -5.80818944e-04 9.99631112e-01 1.61220678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:39.94, Z:1.61 [[ 7.09967469e-01 -7.03956694e-01 -1.97778868e-02 1.16186113e+02] [ 7.03707231e-01 7.10242638e-01 -1.87490763e-02 3.99389572e+01] [ 2.72456363e-02 -6.06607671e-04 9.99628585e-01 1.61480879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66361786499996 meters Centerline goodness [0,1] 0.999934304171685 Centerline is valid? [True, True] Translation: X:116.21, Y:39.96, Z:1.61 [[ 7.09144814e-01 -7.04793823e-01 -1.94756286e-02 1.16207572e+02] [ 7.04552062e-01 7.09411923e-01 -1.84692926e-02 3.99571013e+01] [ 2.68332865e-02 -6.24191258e-04 9.99639728e-01 1.61293128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:39.98, Z:1.62 [[ 7.08595619e-01 -7.05348861e-01 -1.93709194e-02 1.16229662e+02] [ 7.05109722e-01 7.08860055e-01 -1.83766826e-02 3.99757007e+01] [ 2.66932431e-02 -6.36986803e-04 9.99643469e-01 1.61584067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72361786499997 meters Centerline goodness [0,1] 0.9999342191816866 Centerline is valid? [True, True] Translation: X:116.25, Y:39.99, Z:1.62 [[ 7.07919929e-01 -7.06043459e-01 -1.87618789e-02 1.16251109e+02] [ 7.05819137e-01 7.08168221e-01 -1.78077568e-02 3.99939520e+01] [ 2.58596166e-02 -6.36027233e-04 9.99665382e-01 1.61749647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:40.01, Z:1.62 [[ 7.07710061e-01 -7.06263350e-01 -1.83997088e-02 1.16272020e+02] [ 7.06047444e-01 7.07948931e-01 -1.74733131e-02 4.00132611e+01] [ 2.53668149e-02 -6.25027899e-04 9.99678015e-01 1.61841493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:40.03, Z:1.62 [[ 7.07657485e-01 -7.06320986e-01 -1.82084686e-02 1.16291744e+02] [ 7.06109331e-01 7.07891437e-01 -1.73010269e-02 4.00332600e+01] [ 2.51096974e-02 -6.13968366e-04 9.99684513e-01 1.61967078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:40.05, Z:1.62 [[ 7.07674107e-01 -7.06325140e-01 -1.73826090e-02 1.16312500e+02] [ 7.06132051e-01 7.07887322e-01 -1.65247011e-02 4.00533324e+01] [ 2.39767403e-02 -5.80314281e-04 9.99712348e-01 1.62166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84361786499997 meters Centerline goodness [0,1] 0.9998901267936801 Centerline is valid? [True, True] Translation: X:116.33, Y:40.07, Z:1.62 [[ 7.07653857e-01 -7.06357577e-01 -1.68817417e-02 1.16332385e+02] [ 7.06175328e-01 7.07854971e-01 -1.60544846e-02 4.00714874e+01] [ 2.32900316e-02 -5.60451584e-04 9.99728593e-01 1.62254774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:40.09, Z:1.62 [[ 7.07416483e-01 -7.06598049e-01 -1.67665671e-02 1.16353203e+02] [ 7.06418211e-01 7.07614926e-01 -1.59507820e-02 4.00908985e+01] [ 2.31350646e-02 -5.60362265e-04 9.99732192e-01 1.62349807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90361786499997 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:116.37, Y:40.11, Z:1.62 [[ 7.07231693e-01 -7.06796263e-01 -1.61979964e-02 1.16373279e+02] [ 7.06628326e-01 7.07416955e-01 -1.54162763e-02 4.01089984e+01] [ 2.23549037e-02 -5.43083894e-04 9.99749950e-01 1.62276343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:40.13, Z:1.62 [[ 7.07297777e-01 -7.06729194e-01 -1.62388813e-02 1.16393646e+02] [ 7.06560264e-01 7.07483962e-01 -1.54608029e-02 4.01277977e+01] [ 2.24153489e-02 -5.38356763e-04 9.99748600e-01 1.62438665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:40.15, Z:1.62 [[ 7.07391362e-01 -7.06629219e-01 -1.65108391e-02 1.16414304e+02] [ 7.06454397e-01 7.07583815e-01 -1.57267275e-02 4.01451063e+01] [ 2.27957677e-02 -5.39203696e-04 9.99739997e-01 1.62412354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:40.17, Z:1.62 [[ 7.07176618e-01 -7.06841161e-01 -1.66374255e-02 1.16433240e+02] [ 7.06663561e-01 7.07372091e-01 -1.58536032e-02 4.01657167e+01] [ 2.29748298e-02 -5.45764831e-04 9.99735895e-01 1.62426876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:40.19, Z:1.62 [[ 7.06868345e-01 -7.07142142e-01 -1.69450315e-02 1.16453578e+02] [ 7.06957803e-01 7.07071197e-01 -1.61551026e-02 4.01866268e+01] [ 2.34052975e-02 -5.59891570e-04 9.99725902e-01 1.62462655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:40.21, Z:1.63 [[ 7.06556753e-01 -7.07448173e-01 -1.71649842e-02 1.16474414e+02] [ 7.07258908e-01 7.06764993e-01 -1.63731802e-02 4.02061230e+01] [ 2.37147864e-02 -5.71506963e-04 9.99718602e-01 1.62502099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters Centerline goodness [0,1] 0.9999781090606598 Centerline is valid? [True, True] Translation: X:116.49, Y:40.22, Z:1.63 [[ 7.06320446e-01 -7.07678735e-01 -1.73849211e-02 1.16494218e+02] [ 7.07484480e-01 7.06534125e-01 -1.65903714e-02 4.02244579e+01] [ 2.40236931e-02 -5.81443367e-04 9.99711220e-01 1.62504969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:40.24, Z:1.63 [[ 7.06046463e-01 -7.07946143e-01 -1.76252536e-02 1.16513884e+02] [ 7.07746392e-01 7.06266172e-01 -1.68267382e-02 4.02448872e+01] [ 2.43605448e-02 -5.93750668e-04 9.99703062e-01 1.62548884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters Centerline goodness [0,1] 0.9999342249506687 Centerline is valid? [True, True] Translation: X:116.53, Y:40.27, Z:1.62 [[ 7.05773246e-01 -7.08214890e-01 -1.77706219e-02 1.16533776e+02] [ 7.08011690e-01 7.05996677e-01 -1.69746579e-02 4.02652891e+01] [ 2.45677055e-02 -6.01548646e-04 9.99697987e-01 1.62388874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:40.29, Z:1.63 [[ 7.05860224e-01 -7.08136830e-01 -1.74233927e-02 1.16552836e+02] [ 7.07941304e-01 7.06074990e-01 -1.66498768e-02 4.02854672e+01] [ 2.40926128e-02 -5.82253591e-04 9.99709561e-01 1.62689970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters Centerline goodness [0,1] 0.9999781468531469 Centerline is valid? [True, True] Translation: X:116.57, Y:40.31, Z:1.63 [[ 7.05874683e-01 -7.08132541e-01 -1.70069142e-02 1.16573035e+02] [ 7.07946117e-01 7.06079305e-01 -1.62576160e-02 4.03062895e+01] [ 2.35207771e-02 -5.64139287e-04 9.99723189e-01 1.62760886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:40.33, Z:1.63 [[ 7.05542796e-01 -7.08459849e-01 -1.71465897e-02 1.16591318e+02] [ 7.08270252e-01 7.05750886e-01 -1.63992763e-02 4.03277456e+01] [ 2.37194497e-02 -5.74028144e-04 9.99718489e-01 1.62856635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:40.35, Z:1.63 [[ 7.04946113e-01 -7.09038322e-01 -1.77661446e-02 1.16610997e+02] [ 7.08834740e-01 7.05169687e-01 -1.70006766e-02 4.03488220e+01] [ 2.45822778e-02 -6.08699581e-04 9.99697625e-01 1.62882740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:40.37, Z:1.63 [[ 7.04937429e-01 -7.09043971e-01 -1.78848848e-02 1.16630319e+02] [ 7.08837494e-01 7.05164008e-01 -1.71210297e-02 4.03674025e+01] [ 2.47513399e-02 -6.08222281e-04 9.99693454e-01 1.62926941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:40.39, Z:1.63 [[ 7.04841713e-01 -7.09131920e-01 -1.81680704e-02 1.16648557e+02] [ 7.08918749e-01 7.05075555e-01 -1.73973827e-02 4.03872330e+01] [ 2.51469017e-02 -6.17284742e-04 9.99683576e-01 1.63007256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:40.41, Z:1.63 [[ 7.04653953e-01 -7.09318587e-01 -1.81645000e-02 1.16668426e+02] [ 7.09105382e-01 7.04887764e-01 -1.74011101e-02 4.04063668e+01] [ 2.51468646e-02 -6.18783702e-04 9.99683576e-01 1.63043996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:40.43, Z:1.63 [[ 7.04904224e-01 -7.09074522e-01 -1.79821200e-02 1.16688055e+02] [ 7.08865285e-01 7.05133296e-01 -1.72349323e-02 4.04275405e+01] [ 2.49006429e-02 -5.97924095e-04 9.99689752e-01 1.63083098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:40.45, Z:1.63 [[ 7.05223467e-01 -7.08756978e-01 -1.79835459e-02 1.16707522e+02] [ 7.08547407e-01 7.05452485e-01 -1.72442316e-02 4.04487030e+01] [ 2.49085066e-02 -5.81158069e-04 9.99689566e-01 1.63073571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:40.47, Z:1.63 [[ 7.05493616e-01 -7.08484535e-01 -1.81223755e-02 1.16726028e+02] [ 7.08271422e-01 7.05726107e-01 -1.73854827e-02 4.04713707e+01] [ 2.51067791e-02 -5.70213548e-04 9.99684613e-01 1.63181252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:40.49, Z:1.63 [[ 7.06082915e-01 -7.07892504e-01 -1.83062576e-02 1.16744441e+02] [ 7.07674633e-01 7.06319971e-01 -1.75702324e-02 4.04938241e+01] [ 2.53679112e-02 -5.48833209e-04 9.99678032e-01 1.63163260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:40.51, Z:1.63 [[ 7.05914724e-01 -7.08070997e-01 -1.78847776e-02 1.16763691e+02] [ 7.07862889e-01 7.06141045e-01 -1.71742330e-02 4.05141619e+01] [ 2.47897518e-02 -5.36426381e-04 9.99692543e-01 1.63251617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:40.53, Z:1.63 [[ 7.05625321e-01 -7.08377276e-01 -1.71622048e-02 1.16782989e+02] [ 7.08185529e-01 7.05833809e-01 -1.64891071e-02 4.05349130e+01] [ 2.37941731e-02 -5.18893599e-04 9.99716744e-01 1.63498734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:40.56, Z:1.64 [[ 7.05123678e-01 -7.08888524e-01 -1.66631208e-02 1.16803128e+02] [ 7.08707713e-01 7.05320350e-01 -1.60181523e-02 4.05550212e+01] [ 2.31079225e-02 -5.14503745e-04 9.99732844e-01 1.63615143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59361786499997 meters Centerline goodness [0,1] 0.9999782731499587 Centerline is valid? [True, True] Translation: X:116.82, Y:40.58, Z:1.64 [[ 7.04706028e-01 -7.09318395e-01 -1.60258622e-02 1.16822520e+02] [ 7.09151081e-01 7.04888049e-01 -1.54137256e-02 4.05755727e+01] [ 2.22296778e-02 -5.02612149e-04 9.99752764e-01 1.63664065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:40.59, Z:1.64 [[ 7.04507321e-01 -7.09528113e-01 -1.54690425e-02 1.16842156e+02] [ 7.09372126e-01 7.04676962e-01 -1.48851159e-02 4.05939308e+01] [ 2.14620861e-02 -4.86634389e-04 9.99769544e-01 1.63772629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:40.62, Z:1.64 [[ 7.04302781e-01 -7.09745419e-01 -1.47997404e-02 1.16857946e+02] [ 7.09602563e-01 7.04458105e-01 -1.42471392e-02 4.06183602e+01] [ 2.05376388e-02 -4.67633962e-04 9.99788971e-01 1.63975636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68361786499997 meters Centerline goodness [0,1] 0.9998701298701299 Centerline is valid? [True, True] Translation: X:116.88, Y:40.64, Z:1.64 [[ 7.04153221e-01 -7.09900779e-01 -1.44611990e-02 1.16877387e+02] [ 7.09764293e-01 7.04301552e-01 -1.39274068e-02 4.06376668e+01] [ 2.00721218e-02 -4.57014356e-04 9.99798430e-01 1.63651511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71361786499997 meters Centerline goodness [0,1] 0.9997837183147331 Centerline is valid? [True, True] Translation: X:116.90, Y:40.66, Z:1.64 [[ 7.03575771e-01 -7.10480139e-01 -1.41105106e-02 1.16895231e+02] [ 7.10350227e-01 7.03717103e-01 -1.35939204e-02 4.06609400e+01] [ 1.95880181e-02 -4.59051390e-04 9.99808031e-01 1.63674193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:40.68, Z:1.64 [[ 7.03256031e-01 -7.10807880e-01 -1.35318858e-02 1.16915192e+02] [ 7.10688346e-01 7.03386067e-01 -1.30427967e-02 4.06808076e+01] [ 1.87890626e-02 -4.44528127e-04 9.99823371e-01 1.64091125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77361786499998 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:116.93, Y:40.70, Z:1.64 [[ 7.02794342e-01 -7.11271217e-01 -1.31669294e-02 1.16934133e+02] [ 7.11158020e-01 7.02917535e-01 -1.26968209e-02 4.07012014e+01] [ 1.82861488e-02 -4.40513526e-04 9.99832697e-01 1.63977030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:40.72, Z:1.64 [[ 7.02465214e-01 -7.11606649e-01 -1.25936196e-02 1.16953170e+02] [ 7.11503083e-01 7.02577963e-01 -1.21477890e-02 4.07216020e+01] [ 1.74924470e-02 -4.27000004e-04 9.99846904e-01 1.64127773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:40.74, Z:1.64 [[ 7.02153540e-01 -7.11911101e-01 -1.27667342e-02 1.16970076e+02] [ 7.11804598e-01 7.02269460e-01 -1.23215611e-02 4.07449001e+01] [ 1.77375436e-02 -4.35792376e-04 9.99842582e-01 1.64162319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:40.77, Z:1.64 [[ 7.02144801e-01 -7.11910011e-01 -1.32971442e-02 1.16989023e+02] [ 7.11794337e-01 7.02270557e-01 -1.28408509e-02 4.07659129e+01] [ 1.84797232e-02 -4.48695210e-04 9.99829135e-01 1.64123893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:40.79, Z:1.64 [[ 7.02078476e-01 -7.11975606e-01 -1.32872151e-02 1.17007679e+02] [ 7.11859984e-01 7.02204058e-01 -1.28383947e-02 4.07874174e+01] [ 1.84709602e-02 -4.45076128e-04 9.99829298e-01 1.64091026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters Centerline goodness [0,1] 0.9998926439644437 Centerline is valid? [True, True] Translation: X:117.03, Y:40.81, Z:1.64 [[ 7.02339507e-01 -7.11713372e-01 -1.35385535e-02 1.17026344e+02] [ 7.11593152e-01 7.02469843e-01 -1.30883688e-02 4.08090460e+01] [ 1.88255926e-02 -4.41463474e-04 9.99822685e-01 1.63844389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:40.83, Z:1.64 [[ 7.03406303e-01 -7.10666499e-01 -1.31415572e-02 1.17044131e+02] [ 7.10552933e-01 7.03528941e-01 -1.27106097e-02 4.08316344e+01] [ 1.82784703e-02 -3.97049040e-04 9.99832856e-01 1.64083834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:40.85, Z:1.64 [[ 7.04025454e-01 -7.10057709e-01 -1.28922361e-02 1.17063202e+02] [ 7.09948203e-01 7.04143389e-01 -1.24754169e-02 4.08533085e+01] [ 1.79362488e-02 -3.69808774e-04 9.99839064e-01 1.64123841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:40.88, Z:1.64 [[ 7.05071936e-01 -7.09017321e-01 -1.29616138e-02 1.17080702e+02] [ 7.08906348e-01 7.05190983e-01 -1.25486381e-02 4.08767271e+01] [ 1.80376149e-02 -3.40877774e-04 9.99837251e-01 1.64166173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:40.90, Z:1.64 [[ 7.05293733e-01 -7.08795615e-01 -1.30202176e-02 1.17098507e+02] [ 7.08683503e-01 7.05413825e-01 -1.26106181e-02 4.08968967e+01] [ 1.81229923e-02 -3.33023512e-04 9.99835710e-01 1.64177766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.073617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:40.92, Z:1.64 [[ 7.05002482e-01 -7.09097191e-01 -1.23561390e-02 1.17115180e+02] [ 7.08996211e-01 7.05110680e-01 -1.19709041e-02 4.09202213e+01] [ 1.72009800e-02 -3.20938608e-04 9.99852001e-01 1.64190911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:40.94, Z:1.64 [[ 7.04342623e-01 -7.09759478e-01 -1.19563092e-02 1.17134220e+02] [ 7.09664934e-01 7.04444021e-01 -1.15888861e-02 4.09398837e+01] [ 1.66478723e-02 -3.22426952e-04 9.99861363e-01 1.64201712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13361786499996 meters Centerline goodness [0,1] 0.9999576477563898 Centerline is valid? [True, True] Translation: X:117.15, Y:40.96, Z:1.64 [[ 7.03304545e-01 -7.10781370e-01 -1.23515460e-02 1.17154325e+02] [ 7.10680574e-01 7.03412906e-01 -1.19751727e-02 4.09604811e+01] [ 1.71999665e-02 -3.55810415e-04 9.99852006e-01 1.64139254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16361786499996 meters Centerline goodness [0,1] 0.9998732599649353 Centerline is valid? [True, True] Translation: X:117.17, Y:40.98, Z:1.64 [[ 7.01965011e-01 -7.12100378e-01 -1.25767273e-02 1.17174073e+02] [ 7.11995982e-01 7.02077558e-01 -1.21993165e-02 4.09815829e+01] [ 1.75169759e-02 -3.91085909e-04 9.99846490e-01 1.64025234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:41.00, Z:1.64 [[ 6.99182368e-01 -7.14836945e-01 -1.23352770e-02 1.17193894e+02] [ 7.14736845e-01 6.99291029e-01 -1.19707674e-02 4.10028405e+01] [ 1.71830954e-02 -4.46727484e-04 9.99852260e-01 1.64406739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:41.02, Z:1.64 [[ 6.97485493e-01 -7.16501878e-01 -1.17917741e-02 1.17213838e+02] [ 7.16410566e-01 6.97585008e-01 -1.14480396e-02 4.10231666e+01] [ 1.64283067e-02 -4.62910037e-04 9.99864939e-01 1.64470654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25361786499997 meters Centerline goodness [0,1] 0.9998732626420515 Centerline is valid? [True, True] Translation: X:117.23, Y:41.04, Z:1.64 [[ 6.96049354e-01 -7.17892478e-01 -1.20700937e-02 1.17234019e+02] [ 7.17796976e-01 6.96153815e-01 -1.17203365e-02 4.10428112e+01] [ 1.68165832e-02 -5.05944106e-04 9.99858463e-01 1.64219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:41.06, Z:1.65 [[ 6.94622769e-01 -7.19284844e-01 -1.13367720e-02 1.17254466e+02] [ 7.19200751e-01 6.94715091e-01 -1.10100744e-02 4.10623892e+01] [ 1.57952062e-02 -5.05566607e-04 9.99875120e-01 1.64561224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:41.08, Z:1.65 [[ 6.92470088e-01 -7.21350554e-01 -1.17709493e-02 1.17274251e+02] [ 7.21260161e-01 6.92569888e-01 -1.14336899e-02 4.10821279e+01] [ 1.63999036e-02 -5.72428562e-04 9.99865349e-01 1.64579415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:41.10, Z:1.65 [[ 6.91749228e-01 -7.22044045e-01 -1.16362916e-02 1.17293864e+02] [ 7.21955769e-01 6.91846848e-01 -1.13051775e-02 4.11038099e+01] [ 1.62133677e-02 -5.80540014e-04 9.99868386e-01 1.64644030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:41.12, Z:1.65 [[ 6.91521067e-01 -7.22266422e-01 -1.13943147e-02 1.17313790e+02] [ 7.22181734e-01 6.91614698e-01 -1.10748364e-02 4.11223908e+01] [ 1.58794580e-02 -5.70283235e-04 9.99873751e-01 1.64668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40361786499997 meters Centerline goodness [0,1] 0.999958112551574 Centerline is valid? [True, True] Translation: X:117.33, Y:41.14, Z:1.65 [[ 6.92051818e-01 -7.21759329e-01 -1.13027712e-02 1.17332444e+02] [ 7.21675885e-01 6.92143891e-01 -1.09886888e-02 4.11447754e+01] [ 1.57543327e-02 -5.52195322e-04 9.99875740e-01 1.64726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:41.16, Z:1.65 [[ 6.92525994e-01 -7.21298729e-01 -1.16572775e-02 1.17352658e+02] [ 7.21209825e-01 6.92623877e-01 -1.13381177e-02 4.11639153e+01] [ 1.62522786e-02 -5.55401893e-04 9.99867769e-01 1.64736732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:41.19, Z:1.65 [[ 6.94080570e-01 -7.19803031e-01 -1.16515717e-02 1.17368672e+02] [ 7.19713971e-01 6.94178167e-01 -1.13345630e-02 4.11894639e+01] [ 1.62469195e-02 -5.18699030e-04 9.99867876e-01 1.64838937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:41.21, Z:1.65 [[ 6.94535703e-01 -7.19366223e-01 -1.15062845e-02 1.17387354e+02] [ 7.19279262e-01 6.94630828e-01 -1.11962540e-02 4.12114557e+01] [ 1.60468269e-02 -5.00033660e-04 9.99871116e-01 1.64891183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:41.23, Z:1.65 [[ 6.95445858e-01 -7.18475498e-01 -1.21662606e-02 1.17407406e+02] [ 7.18378049e-01 6.95552087e-01 -1.18437172e-02 4.12329568e+01] [ 1.69716886e-02 -5.03310431e-04 9.99855844e-01 1.64923800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:41.26, Z:1.65 [[ 6.96889420e-01 -7.17072291e-01 -1.23477129e-02 1.17425673e+02] [ 7.16971630e-01 6.96998641e-01 -1.20239754e-02 4.12556260e+01] [ 1.72283987e-02 -4.73578605e-04 9.99851468e-01 1.64927352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:41.28, Z:1.65 [[ 6.97610004e-01 -7.16367717e-01 -1.25529608e-02 1.17444526e+02] [ 7.16263481e-01 6.97722784e-01 -1.22287532e-02 4.12758269e+01] [ 1.75187708e-02 -4.60326816e-04 9.99846429e-01 1.64925544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61361786499998 meters Centerline goodness [0,1] 0.9999163984450111 Centerline is valid? [True, True] Translation: X:117.46, Y:41.30, Z:1.65 [[ 6.98399345e-01 -7.15598714e-01 -1.25234151e-02 1.17461505e+02] [ 7.15494794e-01 6.98511481e-01 -1.22029113e-02 4.13001457e+01] [ 1.74801368e-02 -4.37933017e-04 9.99847115e-01 1.64766574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:41.32, Z:1.65 [[ 6.99471603e-01 -7.14559189e-01 -1.20267480e-02 1.17481281e+02] [ 7.14463115e-01 6.99574880e-01 -1.17237049e-02 4.13202397e+01] [ 1.67908919e-02 -3.92269176e-04 9.99858946e-01 1.65006061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:41.34, Z:1.65 [[ 7.01955589e-01 -7.12126826e-01 -1.15643562e-02 1.17498579e+02] [ 7.12037637e-01 7.02050768e-01 -1.12748314e-02 4.13420260e+01] [ 1.61478750e-02 -3.19825938e-04 9.99869563e-01 1.65074292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:41.36, Z:1.65 [[ 7.03275126e-01 -7.10829459e-01 -1.12061253e-02 1.17517593e+02] [ 7.10745510e-01 7.03364345e-01 -1.09278436e-02 4.13640958e+01] [ 1.56498222e-02 -2.79422659e-04 9.99877495e-01 1.65123892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:41.39, Z:1.65 [[ 7.04428861e-01 -7.09688522e-01 -1.10536073e-02 1.17535987e+02] [ 7.09606624e-01 7.04515536e-01 -1.07841601e-02 4.13865398e+01] [ 1.54408327e-02 -2.47039344e-04 9.99880753e-01 1.65187467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters Centerline goodness [0,1] 0.9999161899972762 Centerline is valid? [True, True] Translation: X:117.55, Y:41.41, Z:1.65 [[ 7.06863094e-01 -7.07257587e-01 -1.14573956e-02 1.17553973e+02] [ 7.07169186e-01 7.06955916e-01 -1.11837102e-02 4.14086990e+01] [ 1.60096375e-02 -1.96965102e-04 9.99871818e-01 1.64916908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:41.43, Z:1.65 [[ 7.07907881e-01 -7.06209524e-01 -1.15991174e-02 1.17574687e+02] [ 7.06118693e-01 7.08002880e-01 -1.13274927e-02 4.14295075e+01] [ 1.62117918e-02 -1.71532294e-04 9.99868566e-01 1.65138655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:41.45, Z:1.65 [[ 7.09549749e-01 -7.04556003e-01 -1.18318433e-02 1.17593963e+02] [ 7.04461184e-01 7.09648379e-01 -1.15593772e-02 4.14502165e+01] [ 1.65406770e-02 -1.33121106e-04 9.99863185e-01 1.65192987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85361786499996 meters Centerline goodness [0,1] 0.9999163932027674 Centerline is valid? [True, True] Translation: X:117.61, Y:41.47, Z:1.65 [[ 7.09860560e-01 -7.04245797e-01 -1.16551659e-02 1.17613126e+02] [ 7.04153703e-01 7.09956226e-01 -1.13894464e-02 4.14705021e+01] [ 1.62956273e-02 -1.22109419e-04 9.99867210e-01 1.65036086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:41.49, Z:1.65 [[ 7.10148276e-01 -7.03962946e-01 -1.12069842e-02 1.17632375e+02] [ 7.03877682e-01 7.10236692e-01 -1.09567304e-02 4.14887831e+01] [ 1.56727436e-02 -1.07442847e-04 9.99877169e-01 1.65296036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:41.51, Z:1.65 [[ 7.09907303e-01 -7.04209929e-01 -1.09543410e-02 1.17651879e+02] [ 7.04128457e-01 7.09991806e-01 -1.07121886e-02 4.15071312e+01] [ 1.53211219e-02 -1.08602272e-04 9.99882619e-01 1.65303593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94361786499996 meters Centerline goodness [0,1] 0.9997915667924213 Centerline is valid? [True, True] Translation: X:117.67, Y:41.53, Z:1.65 [[ 7.09057925e-01 -7.05059473e-01 -1.13136591e-02 1.17672434e+02] [ 7.04972629e-01 7.09148167e-01 -1.10666198e-02 4.15268803e+01] [ 1.58256857e-02 -1.28945522e-04 9.99874758e-01 1.64926254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:41.54, Z:1.65 [[ 7.08359193e-01 -7.05766251e-01 -1.10114934e-02 1.17693744e+02] [ 7.05684000e-01 7.08444761e-01 -1.07755519e-02 4.15439888e+01] [ 1.54060557e-02 -1.37673464e-04 9.99881310e-01 1.65385669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00361786499997 meters Centerline goodness [0,1] 0.9998535901779925 Centerline is valid? [True, True] Translation: X:117.72, Y:41.56, Z:1.65 [[ 7.06318159e-01 -7.07797767e-01 -1.17038124e-02 1.17715425e+02] [ 7.07705089e-01 7.06415094e-01 -1.14552607e-02 4.15613183e+01] [ 1.63757577e-02 -1.91788903e-04 9.99865890e-01 1.65087937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03361786499997 meters Centerline goodness [0,1] 0.9998531263113722 Centerline is valid? [True, True] Translation: X:117.74, Y:41.58, Z:1.65 [[ 7.05246597e-01 -7.08859871e-01 -1.20382770e-02 1.17735876e+02] [ 7.08761928e-01 7.05349300e-01 -1.17853618e-02 4.15810691e+01] [ 1.68453603e-02 -2.20686148e-04 9.99858082e-01 1.65115137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:41.60, Z:1.65 [[ 7.03746001e-01 -7.10349664e-01 -1.20383253e-02 1.17758079e+02] [ 7.10251855e-01 7.03848912e-01 -1.17902928e-02 4.15975669e+01] [ 1.68483927e-02 -2.52871498e-04 9.99858024e-01 1.65441339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09361786499997 meters Centerline goodness [0,1] 0.9998956398321889 Centerline is valid? [True, True] Translation: X:117.78, Y:41.62, Z:1.65 [[ 7.02343247e-01 -7.11724928e-01 -1.27118478e-02 1.17779429e+02] [ 7.11616036e-01 7.02458210e-01 -1.24530894e-02 4.16175021e+01] [ 1.77927160e-02 -2.99611465e-04 9.99841652e-01 1.65284712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12361786499997 meters Centerline goodness [0,1] 0.9998739283913263 Centerline is valid? [True, True] Translation: X:117.80, Y:41.64, Z:1.65 [[ 7.01054202e-01 -7.13002809e-01 -1.22474758e-02 1.17800897e+02] [ 7.12901828e-01 7.01161105e-01 -1.20037325e-02 4.16370307e+01] [ 1.71461487e-02 -3.15980712e-04 9.99852944e-01 1.65313201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:41.65, Z:1.66 [[ 6.98529963e-01 -7.15487762e-01 -1.15392100e-02 1.17825022e+02] [ 7.15398377e-01 6.98625178e-01 -1.13147434e-02 4.16533039e+01] [ 1.61571431e-02 -3.51444829e-04 9.99869403e-01 1.65708916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18361786499997 meters Centerline goodness [0,1] 0.9998119082948442 Centerline is valid? [True, True] Translation: X:117.85, Y:41.67, Z:1.65 [[ 6.97235886e-01 -7.16734932e-01 -1.23756346e-02 1.17849197e+02] [ 7.16632218e-01 6.97345592e-01 -1.21404187e-02 4.16689936e+01] [ 1.73315564e-02 -4.04042882e-04 9.99849716e-01 1.65319009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:41.69, Z:1.66 [[ 6.96553682e-01 -7.17406487e-01 -1.18702010e-02 1.17872279e+02] [ 7.17312035e-01 6.96654701e-01 -1.16478709e-02 4.16871610e+01] [ 1.66256895e-02 -4.01270685e-04 9.99861703e-01 1.65731010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:41.71, Z:1.66 [[ 6.96375680e-01 -7.17579314e-01 -1.18675977e-02 1.17891876e+02] [ 7.17484842e-01 6.96476680e-01 -1.16505229e-02 4.17065348e+01] [ 1.66256793e-02 -4.01680657e-04 9.99861703e-01 1.65767707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:41.73, Z:1.66 [[ 6.95487568e-01 -7.18439183e-01 -1.19240587e-02 1.17910006e+02] [ 7.18343839e-01 6.95589652e-01 -1.17117447e-02 4.17287114e+01] [ 1.67084281e-02 -4.20201240e-04 9.99860316e-01 1.65899105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:41.75, Z:1.66 [[ 6.94942605e-01 -7.18963316e-01 -1.21048023e-02 1.17932200e+02] [ 7.18865055e-01 6.95047883e-01 -1.18942488e-02 4.17460669e+01] [ 1.69649457e-02 -4.35899117e-04 9.99855990e-01 1.65917406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:41.76, Z:1.66 [[ 6.94750355e-01 -7.19147890e-01 -1.21760346e-02 1.17952425e+02] [ 7.19048453e-01 6.94856904e-01 -1.19667991e-02 4.17639104e+01] [ 1.70665000e-02 -4.41220877e-04 9.99854259e-01 1.65905218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters Centerline goodness [0,1] 0.9999790008609647 Centerline is valid? [True, True] Translation: X:117.97, Y:41.78, Z:1.66 [[ 6.95662130e-01 -7.18264306e-01 -1.22713753e-02 1.17972588e+02] [ 7.18163086e-01 6.95770228e-01 -1.20652862e-02 4.17848670e+01] [ 1.72041220e-02 -4.19486096e-04 9.99851910e-01 1.65811357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39361786499998 meters Centerline goodness [0,1] 0.9999162514132574 Centerline is valid? [True, True] Translation: X:117.99, Y:41.80, Z:1.66 [[ 6.95962202e-01 -7.17973071e-01 -1.22997347e-02 1.17993592e+02] [ 7.17871235e-01 6.96070759e-01 -1.20990658e-02 4.18042872e+01] [ 1.72482891e-02 -4.09133265e-04 9.99851153e-01 1.65732219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters Centerline goodness [0,1] 0.9997904530405264 Centerline is valid? [True, True] Translation: X:118.01, Y:41.82, Z:1.66 [[ 6.96220059e-01 -7.17719910e-01 -1.24803895e-02 1.18014229e+02] [ 7.17614915e-01 6.96331793e-01 -1.22827985e-02 4.18240213e+01] [ 1.75061010e-02 -4.04582967e-04 9.99846675e-01 1.65601951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45361786499998 meters Centerline goodness [0,1] 0.9999581178145875 Centerline is valid? [True, True] Translation: X:118.04, Y:41.84, Z:1.66 [[ 6.97326824e-01 -7.16663162e-01 -1.13671882e-02 1.18035833e+02] [ 7.16575842e-01 6.97419383e-01 -1.11922624e-02 4.18425766e+01] [ 1.59487795e-02 -3.40787716e-04 9.99872752e-01 1.65901407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:41.86, Z:1.66 [[ 6.97969150e-01 -7.16041902e-01 -1.10932248e-02 1.18057242e+02] [ 7.15958582e-01 6.98057229e-01 -1.09276846e-02 4.18621535e+01] [ 1.55683858e-02 -3.15102752e-04 9.99878756e-01 1.66041470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:41.88, Z:1.66 [[ 6.99749024e-01 -7.14319856e-01 -9.92203794e-03 1.18077986e+02] [ 7.14252970e-01 6.99819322e-01 -9.77807853e-03 4.18808099e+01] [ 1.39283095e-02 -2.44644163e-04 9.99902966e-01 1.66014417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters Centerline goodness [0,1] 0.9999580809456938 Centerline is valid? [True, True] Translation: X:118.10, Y:41.90, Z:1.66 [[ 7.00485564e-01 -7.13599925e-01 -9.75301159e-03 1.18098618e+02] [ 7.13535206e-01 7.00553421e-01 -9.61319012e-03 4.19006271e+01] [ 1.36924774e-02 -2.25216228e-04 9.99906228e-01 1.65933488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:41.92, Z:1.66 [[ 7.02252756e-01 -7.11875539e-01 -8.61879369e-03 1.18119753e+02] [ 7.11824822e-01 7.02305624e-01 -8.49899318e-03 4.19188136e+01] [ 1.21032526e-02 -1.66629901e-04 9.99926739e-01 1.66077481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:41.94, Z:1.66 [[ 7.02538669e-01 -7.11599943e-01 -8.05854777e-03 1.18139942e+02] [ 7.11555580e-01 7.02584869e-01 -7.94722161e-03 4.19381385e+01] [ 1.13170562e-02 -1.50874137e-04 9.99935949e-01 1.66088265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:41.96, Z:1.66 [[ 7.03144372e-01 -7.11004616e-01 -7.77355839e-03 1.18161033e+02] [ 7.10963248e-01 7.03187328e-01 -7.67082014e-03 4.19561503e+01] [ 1.09202563e-02 -1.33020314e-04 9.99940363e-01 1.66118713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:41.97, Z:1.66 [[ 7.03296562e-01 -7.10863401e-01 -6.86813504e-03 1.18182905e+02] [ 7.10831102e-01 7.03330087e-01 -6.77737712e-03 4.19735340e+01] [ 9.64835537e-03 -1.15577970e-04 9.99953447e-01 1.66105107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:41.99, Z:1.66 [[ 7.02984395e-01 -7.11175529e-01 -6.50438638e-03 1.18204004e+02] [ 7.11146545e-01 7.03014477e-01 -6.42157991e-03 4.19924527e+01] [ 9.13954827e-03 -1.11301434e-04 9.99958227e-01 1.66128986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:42.01, Z:1.66 [[ 7.02534497e-01 -7.11623467e-01 -6.10908486e-03 1.18224348e+02] [ 7.11597892e-01 7.02561050e-01 -6.03420369e-03 4.20111600e+01] [ 8.58608602e-03 -1.07975651e-04 9.99963133e-01 1.66137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:42.03, Z:1.66 [[ 7.02315683e-01 -7.11845667e-01 -5.33186717e-03 1.18247502e+02] [ 7.11826162e-01 7.02335915e-01 -5.27039381e-03 4.20271533e+01] [ 7.49646880e-03 -9.38823186e-05 9.99971897e-01 1.66239276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78361786499997 meters Centerline goodness [0,1] 0.9999578494804948 Centerline is valid? [True, True] Translation: X:118.27, Y:42.05, Z:1.66 [[ 7.01540160e-01 -7.12611444e-01 -5.13164846e-03 1.18268798e+02] [ 7.12593401e-01 7.01558922e-01 -5.07198486e-03 4.20470166e+01] [ 7.21450821e-03 -9.85777553e-05 9.99973970e-01 1.66114111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:42.06, Z:1.66 [[ 7.01392683e-01 -7.12756860e-01 -5.09537292e-03 1.18290239e+02] [ 7.12739050e-01 7.01411184e-01 -5.03956727e-03 4.20634526e+01] [ 7.16593770e-03 -9.69556455e-05 9.99974320e-01 1.66256272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:42.08, Z:1.66 [[ 7.01168528e-01 -7.12977141e-01 -5.12758562e-03 1.18311485e+02] [ 7.12959112e-01 7.01187270e-01 -5.07126959e-03 4.20813258e+01] [ 7.21109705e-03 -9.99442543e-05 9.99973995e-01 1.66113512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:42.10, Z:1.66 [[ 7.00939701e-01 -7.13199891e-01 -5.42695496e-03 1.18333382e+02] [ 7.13179667e-01 7.00960701e-01 -5.37191500e-03 4.20974136e+01] [ 7.63533135e-03 -1.05005438e-04 9.99970845e-01 1.66176049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:42.12, Z:1.66 [[ 7.01020240e-01 -7.13117569e-01 -5.82720486e-03 1.18353664e+02] [ 7.13094246e-01 7.01044450e-01 -5.76853288e-03 4.21172744e+01] [ 8.19877177e-03 -1.11487947e-04 9.99966383e-01 1.65937486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:42.14, Z:1.66 [[ 7.01158067e-01 -7.12979277e-01 -6.15757102e-03 1.18374588e+02] [ 7.12953197e-01 7.01185095e-01 -6.09925360e-03 4.21362244e+01] [ 8.66623844e-03 -1.13519082e-04 9.99962441e-01 1.65870754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:42.15, Z:1.66 [[ 7.01163342e-01 -7.12973382e-01 -6.23897715e-03 1.18396681e+02] [ 7.12946568e-01 7.01191090e-01 -6.18437291e-03 4.21526629e+01] [ 8.78400845e-03 -1.11801772e-04 9.99961414e-01 1.65916884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:42.17, Z:1.66 [[ 7.00767098e-01 -7.13358013e-01 -6.76905275e-03 1.18416585e+02] [ 7.13326458e-01 7.00799778e-01 -6.71079354e-03 4.21724150e+01] [ 9.53094901e-03 -1.25841117e-04 9.99954572e-01 1.65832191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:42.19, Z:1.66 [[ 6.99974318e-01 -7.14141201e-01 -6.18863582e-03 1.18440857e+02] [ 7.14114829e-01 7.00001664e-01 -6.13847576e-03 4.21891239e+01] [ 8.71579382e-03 -1.22621230e-04 9.99962009e-01 1.65855085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:42.21, Z:1.66 [[ 6.99395521e-01 -7.14705866e-01 -6.43666541e-03 1.18462113e+02] [ 7.14677335e-01 6.99425126e-01 -6.38746811e-03 4.22070379e+01] [ 9.06712645e-03 -1.32772297e-04 9.99958884e-01 1.65880395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:42.22, Z:1.66 [[ 6.99055779e-01 -7.15040347e-01 -6.19023554e-03 1.18484138e+02] [ 7.15013933e-01 6.99083175e-01 -6.14736275e-03 4.22240897e+01] [ 8.72310191e-03 -1.28755203e-04 9.99961945e-01 1.65934552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:42.24, Z:1.66 [[ 6.98631395e-01 -7.15456954e-01 -5.95988399e-03 1.18506192e+02] [ 7.15432488e-01 6.98656804e-01 -5.91822351e-03 4.22420910e+01] [ 8.39814766e-03 -1.29237883e-04 9.99964727e-01 1.65920897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:42.26, Z:1.66 [[ 6.98734532e-01 -7.15357918e-01 -5.75359558e-03 1.18527996e+02] [ 7.15335079e-01 6.98758209e-01 -5.71752632e-03 4.22586127e+01] [ 8.11044987e-03 -1.20715676e-04 9.99967102e-01 1.66045087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:42.28, Z:1.66 [[ 6.98896253e-01 -7.15201726e-01 -5.52426661e-03 1.18548471e+02] [ 7.15180667e-01 6.98918076e-01 -5.48967439e-03 4.22779711e+01] [ 7.78723439e-03 -1.14135812e-04 9.99969673e-01 1.66077971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:42.30, Z:1.66 [[ 7.00118323e-01 -7.14009519e-01 -4.97401735e-03 1.18571030e+02] [ 7.13992398e-01 7.00135986e-01 -4.94536320e-03 4.22956913e+01] [ 7.01352495e-03 -8.90711842e-05 9.99975401e-01 1.66122594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23361786499999 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:118.59, Y:42.31, Z:1.66 [[ 7.00981532e-01 -7.13161452e-01 -5.06305358e-03 1.18591555e+02] [ 7.13143663e-01 7.00999812e-01 -5.03769162e-03 4.23140784e+01] [ 7.14188708e-03 -7.93557870e-05 9.99974493e-01 1.66159924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters Centerline goodness [0,1] 0.9998487630981959 Centerline is valid? [True, True] Translation: X:118.61, Y:42.33, Z:1.66 [[ 7.02951111e-01 -7.11226125e-01 -4.13928123e-03 1.18612283e+02] [ 7.11214200e-01 7.02963296e-01 -4.11896467e-03 4.23320948e+01] [ 5.83927806e-03 -4.84847948e-05 9.99982950e-01 1.66251735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:42.35, Z:1.66 [[ 7.03839996e-01 -7.10345441e-01 -4.31442997e-03 1.18633206e+02] [ 7.10332473e-01 7.03853218e-01 -4.29246362e-03 4.23522277e+01] [ 6.08585738e-03 -4.34721327e-05 9.99981480e-01 1.66240669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32361786499996 meters Centerline goodness [0,1] 0.99997834232127 Centerline is valid? [True, True] Translation: X:118.65, Y:42.37, Z:1.66 [[ 7.04424791e-01 -7.09768835e-01 -3.73015406e-03 1.18653456e+02] [ 7.09759130e-01 7.04434666e-01 -3.71190219e-03 4.23710930e+01] [ 5.26224233e-03 -3.27549767e-05 9.99986154e-01 1.66279531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35361786499996 meters Centerline goodness [0,1] 0.9998920063068317 Centerline is valid? [True, True] Translation: X:118.68, Y:42.39, Z:1.66 [[ 7.05789026e-01 -7.08407409e-01 -4.55994509e-03 1.18675986e+02] [ 7.08392852e-01 7.05803756e-01 -4.54156908e-03 4.23889365e+01] [ 6.43570756e-03 -2.48428863e-05 9.99979290e-01 1.66271870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:42.41, Z:1.66 [[ 7.06305399e-01 -7.07892601e-01 -4.55505291e-03 1.18697065e+02] [ 7.07878052e-01 7.06320087e-01 -4.53846876e-03 4.24076259e+01] [ 6.43007382e-03 -1.88769946e-05 9.99979327e-01 1.66279061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:42.43, Z:1.66 [[ 7.06784492e-01 -7.07413496e-01 -4.67191517e-03 1.18717778e+02] [ 7.07398154e-01 7.06799933e-01 -4.65908998e-03 4.24252075e+01] [ 6.59801246e-03 -1.19316247e-05 9.99978233e-01 1.66381025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:42.44, Z:1.66 [[ 7.07381038e-01 -7.06816832e-01 -4.69404520e-03 1.18739864e+02] [ 7.06801332e-01 7.07396612e-01 -4.68092814e-03 4.24423709e+01] [ 6.62911046e-03 -6.55759439e-06 9.99978027e-01 1.66369883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:42.46, Z:1.66 [[ 7.07352582e-01 -7.06846926e-01 -4.44392476e-03 1.18760205e+02] [ 7.06833014e-01 7.07366541e-01 -4.43472246e-03 4.24598559e+01] [ 6.27815362e-03 -4.20035457e-06 9.99980292e-01 1.66436617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:42.48, Z:1.66 [[ 7.06855410e-01 -7.07344162e-01 -4.43468379e-03 1.18783469e+02] [ 7.07330317e-01 7.06869321e-01 -4.42558595e-03 4.24762950e+01] [ 6.26515430e-03 -8.53691704e-06 9.99980374e-01 1.66420012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53361786499997 meters Centerline goodness [0,1] 0.9999564336593548 Centerline is valid? [True, True] Translation: X:118.81, Y:42.49, Z:1.66 [[ 7.06514647e-01 -7.07682823e-01 -4.69846126e-03 1.18805023e+02] [ 7.07667271e-01 7.06530270e-01 -4.69164082e-03 4.24938698e+01] [ 6.63979872e-03 -1.02342972e-05 9.99977956e-01 1.66437378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56361786499997 meters Centerline goodness [0,1] 0.9999345721015441 Centerline is valid? [True, True] Translation: X:118.83, Y:42.51, Z:1.66 [[ 7.05871583e-01 -7.08322868e-01 -4.90133346e-03 1.18827365e+02] [ 7.08305939e-01 7.05888600e-01 -4.89706482e-03 4.25119245e+01] [ 6.92849841e-03 -1.49447026e-05 9.99975998e-01 1.66458821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59361786499997 meters Centerline goodness [0,1] 0.9999125778603432 Centerline is valid? [True, True] Translation: X:118.85, Y:42.53, Z:1.66 [[ 7.05281396e-01 -7.08907383e-01 -5.33613018e-03 1.18848562e+02] [ 7.08887302e-01 7.05301582e-01 -5.33580637e-03 4.25287000e+01] [ 7.54617359e-03 -1.94699609e-05 9.99971527e-01 1.66485482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62361786499997 meters Centerline goodness [0,1] 0.9999780668085013 Centerline is valid? [True, True] Translation: X:118.87, Y:42.54, Z:1.66 [[ 7.04335291e-01 -7.09844662e-01 -5.68807960e-03 1.18872076e+02] [ 7.09821868e-01 7.04358257e-01 -5.68861439e-03 4.25444886e+01] [ 8.04447840e-03 -3.08314190e-05 9.99967642e-01 1.66430945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65361786499997 meters Centerline goodness [0,1] 0.9999780696945109 Centerline is valid? [True, True] Translation: X:118.89, Y:42.56, Z:1.66 [[ 7.04003821e-01 -7.10171682e-01 -5.89939534e-03 1.18892773e+02] [ 7.10147138e-01 7.04028537e-01 -5.90426609e-03 4.25614473e+01] [ 8.34638525e-03 -3.28128323e-05 9.99965168e-01 1.66479740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:42.58, Z:1.66 [[ 7.03345357e-01 -7.10818747e-01 -6.48218140e-03 1.18914133e+02] [ 7.10789128e-01 7.03375225e-01 -6.48904173e-03 4.25797235e+01] [ 9.17193831e-03 -4.34266955e-05 9.99957936e-01 1.66457882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71361786499997 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:118.94, Y:42.60, Z:1.66 [[ 7.02856516e-01 -7.11297695e-01 -6.95030188e-03 1.18936615e+02] [ 7.11263620e-01 7.02890878e-01 -6.96248167e-03 4.25956707e+01] [ 9.83770096e-03 -4.98712689e-05 9.99951607e-01 1.66440318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters Centerline goodness [0,1] 0.9998901123052241 Centerline is valid? [True, True] Translation: X:118.96, Y:42.61, Z:1.67 [[ 7.02822559e-01 -7.11329690e-01 -7.10792982e-03 1.18957003e+02] [ 7.11294036e-01 7.02858499e-01 -7.12205956e-03 4.26146102e+01] [ 1.00620013e-02 -5.02839654e-05 9.99949376e-01 1.66503432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77361786499998 meters Centerline goodness [0,1] 0.999977941987427 Centerline is valid? [True, True] Translation: X:118.98, Y:42.64, Z:1.67 [[ 7.03601885e-01 -7.10564492e-01 -6.51845760e-03 1.18975811e+02] [ 7.10534445e-01 7.03632079e-01 -6.53451439e-03 4.26351005e+01] [ 9.22978977e-03 -3.38920056e-05 9.99957404e-01 1.66592647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:42.66, Z:1.67 [[ 7.05590218e-01 -7.08592433e-01 -6.26167865e-03 1.18993394e+02] [ 7.08564596e-01 7.05618002e-01 -6.28084480e-03 4.26558276e+01] [ 8.86891227e-03 -5.10115774e-06 9.99960670e-01 1.66728164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83361786499998 meters Centerline goodness [0,1] 0.9999561576570652 Centerline is valid? [True, True] Translation: X:119.01, Y:42.68, Z:1.67 [[ 7.06745049e-01 -7.07437471e-01 -6.60764774e-03 1.19011086e+02] [ 7.07406396e-01 7.06775937e-01 -6.63071247e-03 4.26762931e+01] [ 9.36094088e-03 1.19309377e-05 9.99956185e-01 1.66789812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:119.03, Y:42.70, Z:1.67 [[ 7.07574206e-01 -7.06596644e-01 -7.74108264e-03 1.19030437e+02] [ 7.06553918e-01 7.07616550e-01 -7.77045101e-03 4.26961570e+01] [ 1.09682928e-02 2.86784376e-05 9.99939846e-01 1.66720763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89361786499998 meters Centerline goodness [0,1] 0.9999560738837275 Centerline is valid? [True, True] Translation: X:119.05, Y:42.72, Z:1.67 [[ 7.07372508e-01 -7.06792422e-01 -8.28293336e-03 1.19051013e+02] [ 7.06743463e-01 7.07421000e-01 -8.31902662e-03 4.27159388e+01] [ 1.17393460e-02 3.07417160e-05 9.99931091e-01 1.66749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:42.74, Z:1.67 [[ 7.06899130e-01 -7.07259224e-01 -8.83235511e-03 1.19071029e+02] [ 7.07203528e-01 7.06954305e-01 -8.87584856e-03 4.27357158e+01] [ 1.25215972e-02 2.80569354e-05 9.99921601e-01 1.66763260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95361786499998 meters Centerline goodness [0,1] 0.9999780427288496 Centerline is valid? [True, True] Translation: X:119.09, Y:42.76, Z:1.67 [[ 7.06270139e-01 -7.07882935e-01 -9.17827661e-03 1.19091314e+02] [ 7.07822777e-01 7.06329774e-01 -9.22857826e-03 4.27557476e+01] [ 1.30156431e-02 2.12760153e-05 9.99915293e-01 1.66772767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters Centerline goodness [0,1] 0.9999780427288496 Centerline is valid? [True, True] Translation: X:119.11, Y:42.77, Z:1.67 [[ 7.04686518e-01 -7.09454293e-01 -9.56650973e-03 1.19110294e+02] [ 7.09389009e-01 7.04751450e-01 -9.62434382e-03 4.27748154e+01] [ 1.35700436e-02 -4.23151517e-06 9.99907923e-01 1.66812753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.013617865 meters Centerline goodness [0,1] 0.9999780783479844 Centerline is valid? [True, True] Translation: X:119.13, Y:42.79, Z:1.67 [[ 7.03722236e-01 -7.10412922e-01 -9.40715690e-03 1.19129732e+02] [ 7.10349843e-01 7.03785109e-01 -9.46678051e-03 4.27947842e+01] [ 1.33459402e-02 -2.03884805e-05 9.99910939e-01 1.66877786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:42.81, Z:1.67 [[ 7.02675280e-01 -7.11446460e-01 -9.55958223e-03 1.19148670e+02] [ 7.11381349e-01 7.02740303e-01 -9.62517013e-03 4.28141428e+01] [ 1.35656969e-02 -3.71393911e-05 9.99907981e-01 1.66957333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07361786499996 meters Centerline goodness [0,1] 0.9999780436930509 Centerline is valid? [True, True] Translation: X:119.17, Y:42.83, Z:1.67 [[ 7.01478293e-01 -7.12625811e-01 -9.62590443e-03 1.19168456e+02] [ 7.12559857e-01 7.01544332e-01 -9.69538836e-03 4.28336105e+01] [ 1.36621827e-02 -5.79286102e-05 9.99906666e-01 1.67052985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10361786499996 meters Centerline goodness [0,1] 0.9999340760762081 Centerline is valid? [True, True] Translation: X:119.19, Y:42.85, Z:1.67 [[ 6.99138713e-01 -7.14922916e-01 -9.50181656e-03 1.19190021e+02] [ 7.14858798e-01 6.99203271e-01 -9.57520826e-03 4.28533156e+01] [ 1.34892370e-02 -9.80583889e-05 9.99909011e-01 1.67169074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:42.87, Z:1.67 [[ 6.97916652e-01 -7.16114939e-01 -9.57815590e-03 1.19210566e+02] [ 7.16049838e-01 6.97982364e-01 -9.65655725e-03 4.28727728e+01] [ 1.36005888e-02 -1.18964873e-04 9.99907501e-01 1.67214411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:42.89, Z:1.67 [[ 6.97730734e-01 -7.16296101e-01 -9.57702207e-03 1.19229926e+02] [ 7.16231002e-01 6.97796447e-01 -9.65768162e-03 4.28924165e+01] [ 1.36005717e-02 -1.20898828e-04 9.99907501e-01 1.67251160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:42.91, Z:1.67 [[ 6.95319533e-01 -7.18632191e-01 -9.92582708e-03 1.19249842e+02] [ 7.18562425e-01 6.95390355e-01 -1.00147839e-02 4.29133797e+01] [ 1.40992705e-02 -1.68851489e-04 9.99900586e-01 1.67275940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:42.93, Z:1.67 [[ 6.94087712e-01 -7.19821141e-01 -9.98866449e-03 1.19271213e+02] [ 7.19750544e-01 6.94159556e-01 -1.00829425e-02 4.29320863e+01] [ 1.41916421e-02 -1.90900211e-04 9.99899275e-01 1.67280573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25361786499997 meters Centerline goodness [0,1] 0.9999121400487623 Centerline is valid? [True, True] Translation: X:119.29, Y:42.95, Z:1.67 [[ 6.92897943e-01 -7.20966170e-01 -1.00110913e-02 1.19289832e+02] [ 7.20895337e-01 6.92970227e-01 -1.01083119e-02 4.29536883e+01] [ 1.42251391e-02 -2.12920531e-04 9.99898795e-01 1.67349370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28361786499997 meters Centerline goodness [0,1] 0.9998461437017825 Centerline is valid? [True, True] Translation: X:119.31, Y:42.97, Z:1.67 [[ 6.91817087e-01 -7.22004833e-01 -9.90650417e-03 1.19309501e+02] [ 7.21935512e-01 6.91887974e-01 -1.00073503e-02 4.29730292e+01] [ 1.40795464e-02 -2.28601211e-04 9.99900852e-01 1.67355520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:42.99, Z:1.67 [[ 6.89991796e-01 -7.23742389e-01 -1.04055620e-02 1.19330321e+02] [ 7.23666060e-01 6.90070199e-01 -1.05145068e-02 4.29931028e+01] [ 1.47903625e-02 -2.75228665e-04 9.99890579e-01 1.67442924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:43.01, Z:1.67 [[ 6.89185401e-01 -7.24509604e-01 -1.04554630e-02 1.19350713e+02] [ 7.24432560e-01 6.89264644e-01 -1.05695935e-02 4.30127790e+01] [ 1.48643530e-02 -2.89868283e-04 9.99889477e-01 1.67487247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:43.03, Z:1.68 [[ 6.87927256e-01 -7.25695236e-01 -1.10686876e-02 1.19371666e+02] [ 7.25609003e-01 6.88016217e-01 -1.11919961e-02 4.30330407e+01] [ 1.57374148e-02 -3.32260209e-04 9.99876104e-01 1.67580093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:43.05, Z:1.68 [[ 6.87575842e-01 -7.26028924e-01 -1.10210204e-02 1.19390692e+02] [ 7.25943397e-01 6.87664082e-01 -1.11487679e-02 4.30517177e+01] [ 1.56730878e-02 -3.35013562e-04 9.99877113e-01 1.67600646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43361786499997 meters Centerline goodness [0,1] 0.9999780615155105 Centerline is valid? [True, True] Translation: X:119.41, Y:43.07, Z:1.68 [[ 6.87529071e-01 -7.26073772e-01 -1.09842569e-02 1.19410090e+02] [ 7.25988761e-01 6.87616730e-01 -1.11153812e-02 4.30726351e+01] [ 1.56235456e-02 -3.32299389e-04 9.99877890e-01 1.67628422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:43.09, Z:1.68 [[ 6.87556570e-01 -7.26037103e-01 -1.16656856e-02 1.19428275e+02] [ 7.25941100e-01 6.87655440e-01 -1.18116294e-02 4.30947646e+01] [ 1.65976534e-02 -3.47437254e-04 9.99862189e-01 1.67667730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:43.11, Z:1.68 [[ 6.87483071e-01 -7.26101552e-01 -1.19817711e-02 1.19447526e+02] [ 7.26000179e-01 6.87587384e-01 -1.21379280e-02 4.31140761e+01] [ 1.70518830e-02 -3.54147956e-04 9.99854543e-01 1.67685311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:43.13, Z:1.68 [[ 6.87430924e-01 -7.26148733e-01 -1.21136941e-02 1.19467134e+02] [ 7.26045046e-01 6.87537555e-01 -1.22760679e-02 4.31336186e+01] [ 1.72428708e-02 -3.56138834e-04 9.99851267e-01 1.67678213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55361786499998 meters Centerline goodness [0,1] 0.9999561326548517 Centerline is valid? [True, True] Translation: X:119.49, Y:43.15, Z:1.68 [[ 6.87247981e-01 -7.26314415e-01 -1.25531981e-02 1.19487229e+02] [ 7.26202965e-01 6.87362521e-01 -1.27286459e-02 4.31532524e+01] [ 1.78735969e-02 -3.68433515e-04 9.99840187e-01 1.67705113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:43.17, Z:1.68 [[ 6.87085118e-01 -7.26456135e-01 -1.32485494e-02 1.19509499e+02] [ 7.26331897e-01 6.87212727e-01 -1.34403665e-02 4.31705020e+01] [ 1.88684085e-02 -3.88168168e-04 9.99821900e-01 1.67702788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61361786499998 meters Centerline goodness [0,1] 0.9999780668085013 Centerline is valid? [True, True] Translation: X:119.53, Y:43.19, Z:1.68 [[ 6.86923577e-01 -7.26605507e-01 -1.34326686e-02 1.19528936e+02] [ 7.26477724e-01 6.87054788e-01 -1.36321328e-02 4.31913846e+01] [ 1.91341621e-02 -3.94301074e-04 9.99816847e-01 1.67790174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:43.21, Z:1.68 [[ 6.87005798e-01 -7.26532449e-01 -1.31770552e-02 1.19549619e+02] [ 7.26409337e-01 6.87132052e-01 -1.33797984e-02 4.32109025e+01] [ 1.87752347e-02 -3.79936894e-04 9.99823658e-01 1.67942989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67361786499998 meters Centerline goodness [0,1] 0.9999780461031833 Centerline is valid? [True, True] Translation: X:119.57, Y:43.23, Z:1.68 [[ 6.87024959e-01 -7.26514620e-01 -1.31609978e-02 1.19569737e+02] [ 7.26391670e-01 6.87150905e-01 -1.33706801e-02 4.32298116e+01] [ 1.87575861e-02 -3.74048243e-04 9.99823991e-01 1.67987635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:43.25, Z:1.68 [[ 6.86965702e-01 -7.26570172e-01 -1.31875038e-02 1.19589557e+02] [ 7.26446601e-01 6.87092168e-01 -1.34047712e-02 4.32491325e+01] [ 1.88005375e-02 -3.71399216e-04 9.99823185e-01 1.68072415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73361786499999 meters Centerline goodness [0,1] 0.999934239368698 Centerline is valid? [True, True] Translation: X:119.61, Y:43.27, Z:1.68 [[ 6.87213204e-01 -7.26340652e-01 -1.29332830e-02 1.19610702e+02] [ 7.26221637e-01 6.87334804e-01 -1.31529814e-02 4.32692473e+01] [ 1.84430407e-02 -3.53527465e-04 9.99829850e-01 1.68139989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:43.29, Z:1.68 [[ 6.87297292e-01 -7.26259047e-01 -1.30471954e-02 1.19630175e+02] [ 7.26137792e-01 6.87421031e-01 -1.32752862e-02 4.32892781e+01] [ 1.86102133e-02 -3.49993415e-04 9.99826754e-01 1.68210488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:43.31, Z:1.68 [[ 6.87628029e-01 -7.25946865e-01 -1.29939446e-02 1.19650359e+02] [ 7.25826432e-01 6.87750708e-01 -1.32270514e-02 4.33079760e+01] [ 1.85387311e-02 -3.36057170e-04 9.99828086e-01 1.68199011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82361786499996 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:119.67, Y:43.33, Z:1.68 [[ 6.89126432e-01 -7.24516324e-01 -1.34482821e-02 1.19670070e+02] [ 7.24386983e-01 6.89257574e-01 -1.36929446e-02 4.33280131e+01] [ 1.91900922e-02 -3.05590452e-04 9.99815807e-01 1.68240895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:43.35, Z:1.68 [[ 6.89814504e-01 -7.23854147e-01 -1.38247588e-02 1.19690397e+02] [ 7.23717237e-01 6.89952961e-01 -1.40809177e-02 4.33492101e+01] [ 1.97309639e-02 -2.91994978e-04 9.99805283e-01 1.68243725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88361786499996 meters Centerline goodness [0,1] 0.9999340818703171 Centerline is valid? [True, True] Translation: X:119.71, Y:43.37, Z:1.68 [[ 6.90304537e-01 -7.23380454e-01 -1.41550390e-02 1.19708460e+02] [ 7.23236682e-01 6.90449593e-01 -1.44243341e-02 4.33707380e+01] [ 2.02076222e-02 -2.80260170e-04 9.99795766e-01 1.68305153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:43.39, Z:1.68 [[ 6.91554786e-01 -7.22159346e-01 -1.54226201e-02 1.19727018e+02] [ 7.21988205e-01 6.91726688e-01 -1.57232637e-02 4.33899581e+01] [ 2.20229398e-02 -2.61451530e-04 9.99757431e-01 1.68190288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:43.41, Z:1.68 [[ 6.92006722e-01 -7.21719878e-01 -1.57198489e-02 1.19745922e+02] [ 7.21541829e-01 6.92185203e-01 -1.60322357e-02 4.34105448e+01] [ 2.24518300e-02 -2.48113656e-04 9.99747895e-01 1.68236454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:43.43, Z:1.68 [[ 6.92989505e-01 -7.20763357e-01 -1.63012000e-02 1.19764335e+02] [ 7.20571417e-01 6.93181170e-01 -1.66342664e-02 4.34312890e+01] [ 2.32890546e-02 -2.18806767e-04 9.99728749e-01 1.68258994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:43.45, Z:1.68 [[ 6.93126084e-01 -7.20621316e-01 -1.67675691e-02 1.19783615e+02] [ 7.20417965e-01 6.93328835e-01 -1.71196334e-02 4.34510642e+01] [ 2.39622118e-02 -2.13593555e-04 9.99712842e-01 1.68313698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:43.47, Z:1.68 [[ 6.93412701e-01 -7.20351162e-01 -1.65236197e-02 1.19802554e+02] [ 7.20153442e-01 6.93609519e-01 -1.68776589e-02 4.34702599e+01] [ 2.36187811e-02 -1.96358580e-04 9.99721018e-01 1.68366646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:43.49, Z:1.69 [[ 6.93231015e-01 -7.20549639e-01 -1.54589052e-02 1.19822790e+02] [ 7.20376511e-01 6.93403334e-01 -1.57955312e-02 4.34914799e+01] [ 2.21007207e-02 -1.86280075e-04 9.99755732e-01 1.68520074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09361786499997 meters Centerline goodness [0,1] 0.9999118088014816 Centerline is valid? [True, True] Translation: X:119.84, Y:43.51, Z:1.69 [[ 6.92752508e-01 -7.21018020e-01 -1.50657878e-02 1.19842288e+02] [ 7.20853555e-01 6.92916286e-01 -1.54004156e-02 4.35105568e+01] [ 2.15433069e-02 -1.91550184e-04 9.99767898e-01 1.68574289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:43.53, Z:1.69 [[ 6.92207058e-01 -7.21550185e-01 -1.46533532e-02 1.19861328e+02] [ 7.21394587e-01 6.92362111e-01 -1.49852406e-02 4.35312347e+01] [ 2.09580296e-02 -1.97960378e-04 9.99780337e-01 1.68737801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15361786499997 meters Centerline goodness [0,1] 0.9999779653174096 Centerline is valid? [True, True] Translation: X:119.88, Y:43.55, Z:1.69 [[ 6.91655809e-01 -7.22087612e-01 -1.42028934e-02 1.19881091e+02] [ 7.21941406e-01 6.91801590e-01 -1.45315580e-02 4.35495196e+01] [ 2.03186422e-02 -2.02820310e-04 9.99793535e-01 1.68769962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:43.57, Z:1.69 [[ 6.90745024e-01 -7.22962215e-01 -1.40338267e-02 1.19901491e+02] [ 7.22819535e-01 6.90887535e-01 -1.43643252e-02 4.35693649e+01] [ 2.00806603e-02 -2.21837942e-04 9.99798339e-01 1.68914845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21361786499997 meters Centerline goodness [0,1] 0.9998896442129426 Centerline is valid? [True, True] Translation: X:119.92, Y:43.59, Z:1.69 [[ 6.90286543e-01 -7.23401793e-01 -1.39403861e-02 1.19921154e+02] [ 7.23260960e-01 6.90427254e-01 -1.42754953e-02 4.35891882e+01] [ 1.99517414e-02 -2.28354771e-04 9.99800918e-01 1.68966327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:43.61, Z:1.69 [[ 6.89665314e-01 -7.23990250e-01 -1.41376082e-02 1.19940822e+02] [ 7.23845378e-01 6.89810161e-01 -1.44848317e-02 4.36102095e+01] [ 2.02391427e-02 -2.43756349e-04 9.99795138e-01 1.69029873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27361786499998 meters Centerline goodness [0,1] 0.9999337675240093 Centerline is valid? [True, True] Translation: X:119.96, Y:43.63, Z:1.69 [[ 6.88758830e-01 -7.24841255e-01 -1.47115175e-02 1.19960603e+02] [ 7.24684447e-01 6.88915872e-01 -1.50788701e-02 4.36304808e+01] [ 2.10647850e-02 -2.75502982e-04 9.99778075e-01 1.68986282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:43.65, Z:1.69 [[ 6.88244535e-01 -7.25319851e-01 -1.51846475e-02 1.19979811e+02] [ 7.25152795e-01 6.88411959e-01 -1.55691191e-02 4.36516081e+01] [ 2.17458841e-02 -2.95828444e-04 9.99763487e-01 1.69044572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:43.67, Z:1.69 [[ 6.87237773e-01 -7.26264619e-01 -1.56187755e-02 1.19999587e+02] [ 7.26087970e-01 6.87415154e-01 -1.60208217e-02 4.36706420e+01] [ 2.23719389e-02 -3.30491187e-04 9.99749662e-01 1.68959098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:43.69, Z:1.69 [[ 6.86414640e-01 -7.27042123e-01 -1.56426695e-02 1.20019090e+02] [ 7.26865002e-01 6.86592766e-01 -1.60512315e-02 4.36922797e+01] [ 2.24100651e-02 -3.52308748e-04 9.99748801e-01 1.69043998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:43.71, Z:1.69 [[ 6.85529021e-01 -7.27875250e-01 -1.57347463e-02 1.20038897e+02] [ 7.27696083e-01 6.85709471e-01 -1.61534076e-02 4.37127188e+01] [ 2.25471302e-02 -3.76483577e-04 9.99745710e-01 1.69125554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:43.73, Z:1.69 [[ 6.84692594e-01 -7.28658707e-01 -1.58915186e-02 1.20059088e+02] [ 7.28475983e-01 6.84876870e-01 -1.63222026e-02 4.37332400e+01] [ 2.27770485e-02 -4.00898390e-04 9.99740489e-01 1.69152264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:43.75, Z:1.69 [[ 6.83847829e-01 -7.29449162e-01 -1.60021039e-02 1.20079013e+02] [ 7.29263969e-01 6.84034896e-01 -1.64415528e-02 4.37532715e+01] [ 2.29392744e-02 -4.26237615e-04 9.99736769e-01 1.69197224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:43.77, Z:1.69 [[ 6.83382766e-01 -7.29890759e-01 -1.57313417e-02 1.20098361e+02] [ 7.29711782e-01 6.83563673e-01 -1.61685112e-02 4.37734298e+01] [ 2.25546206e-02 -4.30063505e-04 9.99745520e-01 1.69258989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.513617865 meters Centerline goodness [0,1] 0.9999778819782359 Centerline is valid? [True, True] Translation: X:120.12, Y:43.79, Z:1.69 [[ 6.82735857e-01 -7.30502597e-01 -1.54177276e-02 1.20117751e+02] [ 7.30330663e-01 6.82909779e-01 -1.58542375e-02 4.37946675e+01] [ 2.21104786e-02 -4.35782825e-04 9.99755439e-01 1.69354397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters Centerline goodness [0,1] 0.9998450847607666 Centerline is valid? [True, True] Translation: X:120.14, Y:43.81, Z:1.69 [[ 6.82404469e-01 -7.30818758e-01 -1.51024333e-02 1.20137222e+02] [ 7.30653726e-01 6.82571429e-01 -1.55362926e-02 4.38140179e+01] [ 2.16627036e-02 -4.32613683e-04 9.99765243e-01 1.69410220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:43.83, Z:1.69 [[ 6.81963573e-01 -7.31236628e-01 -1.47877871e-02 1.20155743e+02] [ 7.31078403e-01 6.82123747e-01 -1.52171982e-02 4.38331764e+01] [ 2.12144734e-02 -4.33456975e-04 9.99774854e-01 1.69476284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:43.85, Z:1.70 [[ 6.81691956e-01 -7.31498676e-01 -1.43444816e-02 1.20174765e+02] [ 7.31349738e-01 6.81842729e-01 -1.47666615e-02 4.38537841e+01] [ 2.05824738e-02 -4.24518531e-04 9.99788068e-01 1.69580053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:43.87, Z:1.70 [[ 6.81786706e-01 -7.31412101e-01 -1.42557396e-02 1.20192910e+02] [ 7.31264848e-01 6.81935603e-01 -1.46818262e-02 4.38739046e+01] [ 2.04599618e-02 -4.14847282e-04 9.99790587e-01 1.69671363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66361786499996 meters Centerline goodness [0,1] 0.9998675233490097 Centerline is valid? [True, True] Translation: X:120.21, Y:43.89, Z:1.70 [[ 6.81855912e-01 -7.31349022e-01 -1.41817942e-02 1.20211562e+02] [ 7.31203170e-01 6.82003257e-01 -1.46110090e-02 4.38946791e+01] [ 2.03577770e-02 -4.07170044e-04 9.99792676e-01 1.69674439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:43.92, Z:1.70 [[ 6.81869517e-01 -7.31333288e-01 -1.43381804e-02 1.20230678e+02] [ 7.31184036e-01 6.82020129e-01 -1.47800315e-02 4.39157077e+01] [ 2.05880567e-02 -4.05795674e-04 9.99787961e-01 1.69710374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72361786499997 meters Centerline goodness [0,1] 0.9999338682655851 Centerline is valid? [True, True] Translation: X:120.25, Y:43.94, Z:1.70 [[ 6.82423941e-01 -7.30813649e-01 -1.44559672e-02 1.20249158e+02] [ 7.30661680e-01 6.82576926e-01 -1.49080415e-02 4.39364482e+01] [ 2.07623099e-02 -3.88816863e-04 9.99784364e-01 1.69699748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75361786499997 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:120.27, Y:43.96, Z:1.70 [[ 6.82493669e-01 -7.30748299e-01 -1.44677581e-02 1.20267921e+02] [ 7.30595955e-01 6.82646890e-01 -1.49256146e-02 4.39573169e+01] [ 2.07832375e-02 -3.83448053e-04 9.99783932e-01 1.69713237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78361786499997 meters Centerline goodness [0,1] 0.9998458285613603 Centerline is valid? [True, True] Translation: X:120.29, Y:43.98, Z:1.70 [[ 6.82674666e-01 -7.30578955e-01 -1.44807111e-02 1.20286010e+02] [ 7.30426136e-01 6.82828127e-01 -1.49468456e-02 4.39793318e+01] [ 2.08076877e-02 -3.73256974e-04 9.99783427e-01 1.69822320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:44.00, Z:1.70 [[ 6.83346572e-01 -7.29951188e-01 -1.44473314e-02 1.20304727e+02] [ 7.29798773e-01 6.83499190e-01 -1.49200901e-02 4.40014803e+01] [ 2.07656768e-02 -3.48052284e-04 9.99784310e-01 1.69918934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84361786499997 meters Centerline goodness [0,1] 0.9999338886685177 Centerline is valid? [True, True] Translation: X:120.32, Y:44.02, Z:1.70 [[ 6.83745612e-01 -7.29578774e-01 -1.43788386e-02 1.20324586e+02] [ 7.29427572e-01 6.83896705e-01 -1.48564512e-02 4.40230579e+01] [ 2.06725918e-02 -3.30287957e-04 9.99786245e-01 1.69984988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87361786499997 meters Centerline goodness [0,1] 0.9998458726908427 Centerline is valid? [True, True] Translation: X:120.34, Y:44.04, Z:1.70 [[ 6.83964617e-01 -7.29373684e-01 -1.43677283e-02 1.20343804e+02] [ 7.29222515e-01 6.84115434e-01 -1.48524736e-02 4.40438132e+01] [ 2.06621881e-02 -3.18704582e-04 9.99786463e-01 1.70024338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90361786499997 meters Centerline goodness [0,1] 0.9999559955995599 Centerline is valid? [True, True] Translation: X:120.36, Y:44.07, Z:1.70 [[ 6.84740361e-01 -7.28645473e-01 -1.43670429e-02 1.20362779e+02] [ 7.28493998e-01 6.84891005e-01 -1.48595531e-02 4.40657311e+01] [ 2.06672045e-02 -2.91368703e-04 9.99786368e-01 1.70120198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93361786499997 meters Centerline goodness [0,1] 0.9998899623671296 Centerline is valid? [True, True] Translation: X:120.38, Y:44.09, Z:1.70 [[ 6.84998755e-01 -7.28407008e-01 -1.41398600e-02 1.20381366e+02] [ 7.28260115e-01 6.85144623e-01 -1.46304843e-02 4.40852722e+01] [ 2.03447964e-02 -2.75632568e-04 9.99792985e-01 1.70146747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96361786499997 meters Centerline goodness [0,1] 0.9999779832672832 Centerline is valid? [True, True] Translation: X:120.40, Y:44.11, Z:1.70 [[ 6.85039294e-01 -7.28376037e-01 -1.37664275e-02 1.20400360e+02] [ 7.28236694e-01 6.85177553e-01 -1.42491460e-02 4.41059391e+01] [ 1.98111836e-02 -2.63992761e-04 9.99803704e-01 1.70241901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:44.13, Z:1.70 [[ 6.85672532e-01 -7.27793710e-01 -1.30190383e-02 1.20419351e+02] [ 7.27668855e-01 6.85796080e-01 -1.34823390e-02 4.41274182e+01] [ 1.87407670e-02 -2.29079167e-04 9.99824350e-01 1.70347066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:44.15, Z:1.70 [[ 6.85901873e-01 -7.27581873e-01 -1.27765145e-02 1.20439792e+02] [ 7.27461488e-01 6.86020825e-01 -1.32367204e-02 4.41453716e+01] [ 1.83957528e-02 -2.15330948e-04 9.99830761e-01 1.70287324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:44.17, Z:1.70 [[ 6.85725399e-01 -7.27748236e-01 -1.27742760e-02 1.20458860e+02] [ 7.27627841e-01 6.85844339e-01 -1.32388804e-02 4.41652886e+01] [ 1.83957367e-02 -2.16682345e-04 9.99830761e-01 1.70324051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:44.19, Z:1.70 [[ 6.86048430e-01 -7.27445444e-01 -1.26759064e-02 1.20475119e+02] [ 7.27326723e-01 6.86165494e-01 -1.31435238e-02 4.41881571e+01] [ 1.82589661e-02 -2.02431587e-04 9.99833271e-01 1.70498541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11361786499998 meters Centerline goodness [0,1] 0.9999780927552742 Centerline is valid? [True, True] Translation: X:120.49, Y:44.21, Z:1.71 [[ 6.86567235e-01 -7.26956747e-01 -1.26221900e-02 1.20493573e+02] [ 7.26838835e-01 6.86683226e-01 -1.30940793e-02 4.42078979e+01] [ 1.81862754e-02 -1.84332112e-04 9.99834599e-01 1.70507999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters Centerline goodness [0,1] 0.9999561960664067 Centerline is valid? [True, True] Translation: X:120.51, Y:44.23, Z:1.71 [[ 6.87250687e-01 -7.26307872e-01 -1.27815650e-02 1.20511844e+02] [ 7.26186765e-01 6.87369513e-01 -1.32640610e-02 4.42296688e+01] [ 1.84194500e-02 -1.66068342e-04 9.99830334e-01 1.70567230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:44.25, Z:1.71 [[ 6.87531408e-01 -7.26044975e-01 -1.26197123e-02 1.20530930e+02] [ 7.25926741e-01 6.87647200e-01 -1.31032777e-02 4.42508627e+01] [ 1.81914788e-02 -1.52071610e-04 9.99834510e-01 1.70610583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters Centerline goodness [0,1] 0.9999781745165656 Centerline is valid? [True, True] Translation: X:120.55, Y:44.27, Z:1.71 [[ 6.87909943e-01 -7.25687232e-01 -1.25679035e-02 1.20548902e+02] [ 7.25569787e-01 6.88024725e-01 -1.30560859e-02 4.42709266e+01] [ 1.81216632e-02 -1.37479822e-04 9.99835780e-01 1.70637564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23361786499999 meters Centerline goodness [0,1] 0.9999126732889423 Centerline is valid? [True, True] Translation: X:120.57, Y:44.29, Z:1.71 [[ 6.88130869e-01 -7.25477024e-01 -1.26093065e-02 1.20567904e+02] [ 7.25358679e-01 6.88246374e-01 -1.31040246e-02 4.42900830e+01] [ 1.81849782e-02 -1.28986070e-04 9.99834631e-01 1.70623452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:44.31, Z:1.71 [[ 6.88078302e-01 -7.25532498e-01 -1.22818743e-02 1.20586381e+02] [ 7.25420137e-01 6.88187895e-01 -1.27689685e-02 4.43116466e+01] [ 1.77165388e-02 -1.23468715e-04 9.99843042e-01 1.70744690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.293617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:44.33, Z:1.71 [[ 6.87980090e-01 -7.25621827e-01 -1.25043609e-02 1.20604647e+02] [ 7.25505241e-01 6.88093706e-01 -1.30075840e-02 4.43323901e+01] [ 1.80427589e-02 -1.23020530e-04 9.99837209e-01 1.70768677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:44.35, Z:1.71 [[ 6.87723785e-01 -7.25858493e-01 -1.28624505e-02 1.20623550e+02] [ 7.25735050e-01 6.87844046e-01 -1.33867990e-02 4.43524191e+01] [ 1.85642817e-02 -1.28311092e-04 9.99827661e-01 1.70797190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35361786499996 meters Centerline goodness [0,1] 0.9999781506729593 Centerline is valid? [True, True] Translation: X:120.64, Y:44.37, Z:1.71 [[ 6.87389599e-01 -7.26179084e-01 -1.26284276e-02 1.20642379e+02] [ 7.26060056e-01 6.87505578e-01 -1.31481672e-02 4.43726275e+01] [ 1.82300385e-02 -1.31083496e-04 9.99833810e-01 1.70840431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:44.39, Z:1.71 [[ 6.86980526e-01 -7.26566359e-01 -1.26127605e-02 1.20660637e+02] [ 7.26447578e-01 6.87096286e-01 -1.31381265e-02 4.43918898e+01] [ 1.82119017e-02 -1.36872217e-04 9.99834140e-01 1.70877094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:44.41, Z:1.71 [[ 6.85949420e-01 -7.27547004e-01 -1.21963562e-02 1.20680210e+02] [ 7.27436016e-01 6.86057821e-01 -1.27086014e-02 4.44123309e+01] [ 1.76135104e-02 -1.54610951e-04 9.99844858e-01 1.70951348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44361786499996 meters Centerline goodness [0,1] 0.9999781935540145 Centerline is valid? [True, True] Translation: X:120.70, Y:44.43, Z:1.71 [[ 6.85253998e-01 -7.28205946e-01 -1.19606778e-02 1.20699649e+02] [ 7.28099203e-01 6.85358354e-01 -1.24690512e-02 4.44306041e+01] [ 1.72773876e-02 -1.64092755e-04 9.99850721e-01 1.70966214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47361786499997 meters Centerline goodness [0,1] 0.9998907032155114 Centerline is valid? [True, True] Translation: X:120.72, Y:44.45, Z:1.71 [[ 6.83905739e-01 -7.29478275e-01 -1.15925313e-02 1.20719731e+02] [ 7.29378117e-01 6.84003955e-01 -1.20893107e-02 4.44512438e+01] [ 1.67482267e-02 -1.87389699e-04 9.99859721e-01 1.71100050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:44.47, Z:1.71 [[ 6.83011290e-01 -7.30314201e-01 -1.16938445e-02 1.20739476e+02] [ 7.30212309e-01 6.83111357e-01 -1.22007079e-02 4.44720841e+01] [ 1.68985482e-02 -2.05767942e-04 9.99857188e-01 1.71193759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53361786499997 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:120.76, Y:44.49, Z:1.71 [[ 6.81238942e-01 -7.31974377e-01 -1.12701419e-02 1.20759121e+02] [ 7.31879885e-01 6.81332119e-01 -1.17633841e-02 4.44914333e+01] [ 1.62892054e-02 -2.34714821e-04 9.99867295e-01 1.71213491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56361786499997 meters Centerline goodness [0,1] 0.9998906530201636 Centerline is valid? [True, True] Translation: X:120.78, Y:44.51, Z:1.71 [[ 6.80104038e-01 -7.33027459e-01 -1.13684506e-02 1.20778513e+02] [ 7.32931415e-01 6.80198998e-01 -1.18686683e-02 4.45124692e+01] [ 1.64328684e-02 -2.60365316e-04 9.99864937e-01 1.71265519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:44.53, Z:1.71 [[ 6.78826717e-01 -7.34212412e-01 -1.12437873e-02 1.20797779e+02] [ 7.34118535e-01 6.78919770e-01 -1.17439923e-02 4.45335570e+01] [ 1.62562144e-02 -2.82136969e-04 9.99867819e-01 1.71304992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62361786499997 meters Centerline goodness [0,1] 0.9999346148816529 Centerline is valid? [True, True] Translation: X:120.82, Y:44.55, Z:1.71 [[ 6.76318999e-01 -7.36524957e-01 -1.11175083e-02 1.20818474e+02] [ 7.36433408e-01 6.76410289e-01 -1.16171189e-02 4.45523110e+01] [ 1.60762950e-02 -3.30426272e-04 9.99870713e-01 1.71318371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:44.57, Z:1.71 [[ 6.74809803e-01 -7.37911210e-01 -1.08984354e-02 1.20837745e+02] [ 7.37823363e-01 6.74897712e-01 -1.13913988e-02 4.45734983e+01] [ 1.57611700e-02 -3.54092664e-04 9.99875722e-01 1.71428561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:44.59, Z:1.72 [[ 6.72655046e-01 -7.39877928e-01 -1.07629128e-02 1.20857796e+02] [ 7.39792430e-01 6.72741033e-01 -1.12544667e-02 4.45925828e+01] [ 1.55675846e-02 -3.91947573e-04 9.99878741e-01 1.71503176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:44.61, Z:1.72 [[ 6.71659371e-01 -7.40781027e-01 -1.08240141e-02 1.20877601e+02] [ 7.40694635e-01 6.71746454e-01 -1.13207286e-02 4.46134600e+01] [ 1.56571741e-02 -4.13615719e-04 9.99877333e-01 1.71509379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters Centerline goodness [0,1] 0.9999344075912281 Centerline is valid? [True, True] Translation: X:120.89, Y:44.64, Z:1.72 [[ 6.70751391e-01 -7.41603505e-01 -1.08080270e-02 1.20894967e+02] [ 7.41517393e-01 6.70838325e-01 -1.13092015e-02 4.46369950e+01] [ 1.56373822e-02 -4.28677318e-04 9.99877637e-01 1.71531424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:44.66, Z:1.71 [[ 6.70125222e-01 -7.42167894e-01 -1.09089168e-02 1.20915260e+02] [ 7.42080163e-01 6.70213862e-01 -1.14197701e-02 4.46566781e+01] [ 1.57866939e-02 -4.42614793e-04 9.99875284e-01 1.71485803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:44.68, Z:1.71 [[ 6.69121662e-01 -7.43068037e-01 -1.12291479e-02 1.20934403e+02] [ 7.42975172e-01 6.69215710e-01 -1.17570380e-02 4.46767190e+01] [ 1.62510013e-02 -4.76089296e-04 9.99867830e-01 1.71499746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:44.70, Z:1.72 [[ 6.68720511e-01 -7.43426935e-01 -1.13697263e-02 1.20954410e+02] [ 7.43331745e-01 6.68816980e-01 -1.19064444e-02 4.46966352e+01] [ 1.64558375e-02 -4.89394956e-04 9.99864474e-01 1.71547797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters Centerline goodness [0,1] 0.999934351612762 Centerline is valid? [True, True] Translation: X:120.97, Y:44.72, Z:1.72 [[ 6.68154243e-01 -7.43937015e-01 -1.12971369e-02 1.20974007e+02] [ 7.43843052e-01 6.68249557e-01 -1.18340141e-02 4.47176616e+01] [ 1.63530679e-02 -4.96350018e-04 9.99866156e-01 1.71661521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:44.74, Z:1.72 [[ 6.67782829e-01 -7.44273186e-01 -1.11138524e-02 1.20994008e+02] [ 7.44182216e-01 6.67875124e-01 -1.16468441e-02 4.47375503e+01] [ 1.60910993e-02 -4.93168859e-04 9.99870408e-01 1.71741127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:44.76, Z:1.72 [[ 6.67738339e-01 -7.44308964e-01 -1.13875505e-02 1.21012703e+02] [ 7.44213403e-01 6.67835243e-01 -1.19373231e-02 4.47577713e+01] [ 1.64900642e-02 -5.03759405e-04 9.99863903e-01 1.71737365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:44.78, Z:1.72 [[ 6.67861298e-01 -7.44197176e-01 -1.14825359e-02 1.21027223e+02] [ 7.44099906e-01 6.67959812e-01 -1.20423536e-02 4.47836643e+01] [ 1.66317581e-02 -5.01532008e-04 9.99861557e-01 1.71812150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:44.81, Z:1.72 [[ 6.68524224e-01 -7.43596347e-01 -1.18251509e-02 1.21044416e+02] [ 7.43492999e-01 6.68628615e-01 -1.24071067e-02 4.48057774e+01] [ 1.71325135e-02 -4.97465549e-04 9.99853104e-01 1.71797728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:44.83, Z:1.72 [[ 6.68686635e-01 -7.43450968e-01 -1.17831220e-02 1.21061946e+02] [ 7.43348262e-01 6.68790265e-01 -1.23669713e-02 4.48289594e+01] [ 1.70746741e-02 -4.89334841e-04 9.99854097e-01 1.71893722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:44.85, Z:1.72 [[ 6.69126518e-01 -7.43053962e-01 -1.18537778e-02 1.21081015e+02] [ 7.42949870e-01 6.69231336e-01 -1.24462900e-02 4.48495388e+01] [ 1.71811847e-02 -4.78619971e-04 9.99852278e-01 1.71931110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:44.87, Z:1.72 [[ 6.69608901e-01 -7.42617627e-01 -1.19574087e-02 1.21099068e+02] [ 7.42511585e-01 6.69715492e-01 -1.25581408e-02 4.48719811e+01] [ 1.73339586e-02 -4.69471634e-04 9.99849645e-01 1.72011386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:44.90, Z:1.72 [[ 6.70683582e-01 -7.41645875e-01 -1.20386306e-02 1.21116123e+02] [ 7.41538125e-01 6.70791473e-01 -1.26495011e-02 4.48959230e+01] [ 1.74568610e-02 -4.43290850e-04 9.99847519e-01 1.72105647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:44.92, Z:1.72 [[ 6.71274040e-01 -7.41112840e-01 -1.19549856e-02 1.21133629e+02] [ 7.41006409e-01 6.71380354e-01 -1.25666785e-02 4.49171567e+01] [ 1.73396692e-02 -4.23035908e-04 9.99849567e-01 1.72120663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:44.94, Z:1.72 [[ 6.72035716e-01 -7.40427208e-01 -1.16424501e-02 1.21150161e+02] [ 7.40326119e-01 6.72136441e-01 -1.22409645e-02 4.49409315e+01] [ 1.68888581e-02 -3.92844556e-04 9.99857296e-01 1.72175142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:44.96, Z:1.72 [[ 6.72081374e-01 -7.40387509e-01 -1.15309237e-02 1.21167910e+02] [ 7.40288244e-01 6.72180176e-01 -1.21296033e-02 4.49625487e+01] [ 1.67314651e-02 -3.84126800e-04 9.99859945e-01 1.72245318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:44.98, Z:1.72 [[ 6.72465334e-01 -7.40040421e-01 -1.14258220e-02 1.21186373e+02] [ 7.39942809e-01 6.72562294e-01 -1.20249459e-02 4.49830709e+01] [ 1.65835231e-02 -3.68095548e-04 9.99862416e-01 1.72279907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:45.01, Z:1.72 [[ 6.72277385e-01 -7.40205442e-01 -1.17907177e-02 1.21203109e+02] [ 7.40101447e-01 6.72380664e-01 -1.24133273e-02 4.50056853e+01] [ 1.71162630e-02 -3.81127955e-04 9.99853433e-01 1.72332636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:45.03, Z:1.72 [[ 6.72593112e-01 -7.39914531e-01 -1.20412780e-02 1.21219773e+02] [ 7.39805916e-01 6.72700784e-01 -1.26831398e-02 4.50279280e+01] [ 1.74846166e-02 -3.77616245e-04 9.99847061e-01 1.72335383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:45.05, Z:1.72 [[ 6.72506041e-01 -7.39991487e-01 -1.21747392e-02 1.21237561e+02] [ 7.39880403e-01 6.72616127e-01 -1.28271374e-02 4.50493934e+01] [ 1.76808984e-02 -3.81523605e-04 9.99843608e-01 1.72394863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:45.07, Z:1.72 [[ 6.72849153e-01 -7.39674134e-01 -1.24977440e-02 1.21254779e+02] [ 7.39556907e-01 6.72965105e-01 -1.31738125e-02 4.50705924e+01] [ 1.81548739e-02 -3.78804354e-04 9.99835115e-01 1.72484464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:45.09, Z:1.73 [[ 6.72944231e-01 -7.39590794e-01 -1.23093422e-02 1.21272326e+02] [ 7.39476985e-01 6.73056700e-01 -1.29794580e-02 4.50919877e+01] [ 1.78843729e-02 -3.68023896e-04 9.99839994e-01 1.72588471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:45.11, Z:1.73 [[ 6.72787416e-01 -7.39740671e-01 -1.18673009e-02 1.21289844e+02] [ 7.39634798e-01 6.72891978e-01 -1.25200553e-02 4.51133377e+01] [ 1.72470057e-02 -3.54133064e-04 9.99851197e-01 1.72724764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:45.14, Z:1.73 [[ 6.73176541e-01 -7.39394502e-01 -1.13628930e-02 1.21307665e+02] [ 7.39297287e-01 6.73272355e-01 -1.19940905e-02 4.51361668e+01] [ 1.65186863e-02 -3.26415602e-04 9.99863504e-01 1.72901953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:45.16, Z:1.73 [[ 6.73547648e-01 -7.39059157e-01 -1.11860695e-02 1.21325673e+02] [ 7.38964817e-01 6.73640458e-01 -1.18123978e-02 4.51571507e+01] [ 1.62654497e-02 -3.09898976e-04 9.99867661e-01 1.73022131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:45.18, Z:1.73 [[ 6.73658316e-01 -7.38958256e-01 -1.11879291e-02 1.21343399e+02] [ 7.38863824e-01 6.73751143e-01 -1.18171886e-02 4.51794523e+01] [ 1.62702891e-02 -3.05608695e-04 9.99867583e-01 1.73106903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:45.20, Z:1.73 [[ 6.73894406e-01 -7.38744512e-01 -1.10849292e-02 1.21361138e+02] [ 7.38651690e-01 6.73985504e-01 -1.17141634e-02 4.51994728e+01] [ 1.61248555e-02 -2.93792489e-04 9.99869943e-01 1.73164075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:45.22, Z:1.73 [[ 6.73692277e-01 -7.38928872e-01 -1.10832759e-02 1.21380040e+02] [ 7.38836049e-01 6.73783374e-01 -1.17157274e-02 4.52195442e+01] [ 1.61248163e-02 -2.95928717e-04 9.99869943e-01 1.73200822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:45.24, Z:1.73 [[ 6.73640542e-01 -7.38975806e-01 -1.10985450e-02 1.21397719e+02] [ 7.38882629e-01 6.73731899e-01 -1.17383208e-02 4.52408700e+01] [ 1.61517789e-02 -2.93113258e-04 9.99869509e-01 1.73280731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:45.26, Z:1.73 [[ 6.74339930e-01 -7.38339380e-01 -1.09826543e-02 1.21415824e+02] [ 7.38247965e-01 6.74429304e-01 -1.16213991e-02 4.52624029e+01] [ 1.59875604e-02 -2.71148721e-04 9.99872154e-01 1.73288380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:45.28, Z:1.73 [[ 6.74555943e-01 -7.38141567e-01 -1.10139743e-02 1.21433454e+02] [ 7.38049559e-01 6.74645801e-01 -1.16572762e-02 4.52843604e+01] [ 1.60352516e-02 -2.65373952e-04 9.99871392e-01 1.73377856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:45.31, Z:1.73 [[ 6.75085122e-01 -7.37657286e-01 -1.10366161e-02 1.21452159e+02] [ 7.37564734e-01 6.75175285e-01 -1.16874733e-02 4.53057576e+01] [ 1.60730002e-02 -2.50179521e-04 9.99870790e-01 1.73462048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters Centerline goodness [0,1] 0.9999370712982191 Centerline is valid? [True, True] Translation: X:121.47, Y:45.33, Z:1.74 [[ 6.76106893e-01 -7.36707537e-01 -1.18943165e-02 1.21469903e+02] [ 7.36599783e-01 6.76211466e-01 -1.26020996e-02 4.53289637e+01] [ 1.73271350e-02 -2.40984520e-04 9.99849845e-01 1.73501361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:45.35, Z:1.73 [[ 6.76698715e-01 -7.36150757e-01 -1.26851519e-02 1.21488217e+02] [ 7.36027990e-01 6.76817558e-01 -1.34458842e-02 4.53486433e+01] [ 1.84837314e-02 -2.37814277e-04 9.99829133e-01 1.73430775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:45.37, Z:1.73 [[ 6.77140681e-01 -7.35737875e-01 -1.30490330e-02 1.21506120e+02] [ 7.35607800e-01 6.77266363e-01 -1.38361522e-02 4.53707601e+01] [ 1.90174523e-02 -2.29948944e-04 9.99819125e-01 1.73459610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.793617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:45.39, Z:1.73 [[ 6.77552309e-01 -7.35355246e-01 -1.32488499e-02 1.21524390e+02] [ 7.35220933e-01 6.77681795e-01 -1.40557698e-02 4.53920440e+01] [ 1.93144885e-02 -2.17312518e-04 9.99813434e-01 1.73479546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:45.41, Z:1.74 [[ 6.78354039e-01 -7.34615973e-01 -1.32352091e-02 1.21542229e+02] [ 7.34481653e-01 6.78483114e-01 -1.40486820e-02 4.54146591e+01] [ 1.93002521e-02 -1.91038097e-04 9.99813715e-01 1.73573529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:45.44, Z:1.74 [[ 6.79438182e-01 -7.33619316e-01 -1.29017669e-02 1.21560327e+02] [ 7.33491377e-01 6.79560649e-01 -1.37012308e-02 4.54366923e+01] [ 1.88190207e-02 -1.54195468e-04 9.99822895e-01 1.73740745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:45.46, Z:1.74 [[ 6.79775282e-01 -7.33312854e-01 -1.25627783e-02 1.21578916e+02] [ 7.33191379e-01 6.79891343e-01 -1.33477879e-02 4.54579537e+01] [ 1.83294287e-02 -1.37424414e-04 9.99831992e-01 1.73806198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:45.48, Z:1.74 [[ 6.80234935e-01 -7.32881215e-01 -1.28669662e-02 1.21596711e+02] [ 7.32753587e-01 6.80356605e-01 -1.36773990e-02 4.54776617e+01] [ 1.87780342e-02 -1.24471029e-04 9.99823669e-01 1.73835879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:45.50, Z:1.74 [[ 6.80662592e-01 -7.32487615e-01 -1.26621482e-02 1.21614741e+02] [ 7.32363870e-01 6.80780348e-01 -1.34639985e-02 4.54992065e+01] [ 1.84823538e-02 -1.08859777e-04 9.99829181e-01 1.73900829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:45.52, Z:1.74 [[ 6.80463698e-01 -7.32672450e-01 -1.26584907e-02 1.21633568e+02] [ 7.32548673e-01 6.80581420e-01 -1.34674365e-02 4.55193352e+01] [ 1.84823533e-02 -1.08858913e-04 9.99829181e-01 1.73937504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:45.54, Z:1.74 [[ 6.81595131e-01 -7.31617256e-01 -1.28166869e-02 1.21651147e+02] [ 7.31490062e-01 6.81715619e-01 -1.36419929e-02 4.55405986e+01] [ 1.87180531e-02 -7.69631626e-05 9.99824799e-01 1.73940736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:45.56, Z:1.74 [[ 6.81918210e-01 -7.31318597e-01 -1.26753448e-02 1.21669551e+02] [ 7.31194064e-01 6.82036000e-01 -1.34957715e-02 4.55614552e+01] [ 1.85147501e-02 -6.51245136e-05 9.99828585e-01 1.74027393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:45.58, Z:1.74 [[ 6.82157845e-01 -7.31092821e-01 -1.28047143e-02 1.21688329e+02] [ 7.30965554e-01 6.82278011e-01 -1.36409138e-02 4.55821513e+01] [ 1.87091492e-02 -5.45486934e-05 9.99824967e-01 1.74128916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:45.60, Z:1.74 [[ 6.82529483e-01 -7.30747445e-01 -1.27151688e-02 1.21706643e+02] [ 7.30621775e-01 6.82647910e-01 -1.35518370e-02 4.56021576e+01] [ 1.85829536e-02 -4.04509056e-05 9.99827321e-01 1.74200404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:45.62, Z:1.74 [[ 6.82311202e-01 -7.30950167e-01 -1.27779930e-02 1.21726218e+02] [ 7.30823196e-01 6.82430840e-01 -1.36236726e-02 4.56228915e+01] [ 1.86783223e-02 -4.28692657e-05 9.99825544e-01 1.74226073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:45.64, Z:1.74 [[ 6.82125355e-01 -7.31119895e-01 -1.29884384e-02 1.21745354e+02] [ 7.30988599e-01 6.82248999e-01 -1.38553359e-02 4.56429773e+01] [ 1.89912609e-02 -4.33244905e-05 9.99819649e-01 1.74212543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:45.66, Z:1.74 [[ 6.81486099e-01 -7.31701029e-01 -1.37949840e-02 1.21765158e+02] [ 7.31552903e-01 6.81625705e-01 -1.47224013e-02 4.56630325e+01] [ 2.01754119e-02 -5.86487483e-05 9.99796454e-01 1.74110830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:45.68, Z:1.74 [[ 6.80962106e-01 -7.32183750e-01 -1.40558557e-02 1.21784813e+02] [ 7.32029960e-01 6.81107152e-01 -1.50061743e-02 4.56832552e+01] [ 2.05608208e-02 -7.06714572e-05 9.99788601e-01 1.74116554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:45.70, Z:1.74 [[ 6.80382359e-01 -7.32723076e-01 -1.40263943e-02 1.21803972e+02] [ 7.32569912e-01 6.80526919e-01 -1.49812175e-02 4.57019709e+01] [ 2.05224227e-02 -8.23582858e-05 9.99789390e-01 1.74129504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:45.72, Z:1.74 [[ 6.79449163e-01 -7.33590413e-01 -1.39262770e-02 1.21823851e+02] [ 7.33439498e-01 6.79591859e-01 -1.48797940e-02 4.57217376e+01] [ 2.03798587e-02 -1.04018058e-04 9.99792304e-01 1.74267673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:45.74, Z:1.74 [[ 6.77917284e-01 -7.35015090e-01 -1.34526250e-02 1.21844572e+02] [ 7.34874399e-01 6.78050734e-01 -1.43812107e-02 4.57401218e+01] [ 1.96919691e-02 -1.36718436e-04 9.99806085e-01 1.74449741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:45.76, Z:1.75 [[ 6.77020326e-01 -7.35847943e-01 -1.30875205e-02 1.21864038e+02] [ 7.35714798e-01 6.77146795e-01 -1.39983355e-02 4.57599309e+01] [ 1.91628189e-02 -1.51524842e-04 9.99816365e-01 1.74559827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:45.78, Z:1.75 [[ 6.76259325e-01 -7.36550188e-01 -1.29285102e-02 1.21885027e+02] [ 7.36420267e-01 6.76382875e-01 -1.38346437e-02 4.57787162e+01] [ 1.89345323e-02 -1.65010095e-04 9.99820712e-01 1.74538801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:45.80, Z:1.75 [[ 6.74694177e-01 -7.37984731e-01 -1.28959009e-02 1.21907147e+02] [ 7.37855666e-01 6.74817380e-01 -1.38029182e-02 4.57959299e+01] [ 1.88887209e-02 -2.02564994e-04 9.99821572e-01 1.74562468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:45.81, Z:1.75 [[ 6.73979195e-01 -7.38643650e-01 -1.25540067e-02 1.21926706e+02] [ 7.38521395e-01 6.74096071e-01 -1.34401261e-02 4.58142588e+01] [ 1.83900704e-02 -2.13037172e-04 9.99830866e-01 1.74609672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:45.84, Z:1.75 [[ 6.73203728e-01 -7.39357128e-01 -1.21563634e-02 1.21944304e+02] [ 7.39242504e-01 6.73313439e-01 -1.30204414e-02 4.58363915e+01] [ 1.78117990e-02 -2.21090876e-04 9.99841333e-01 1.74842717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:45.85, Z:1.75 [[ 6.72360509e-01 -7.40126486e-01 -1.20054239e-02 1.21965360e+02] [ 7.40014708e-01 6.72467642e-01 -1.28647479e-02 4.58549782e+01] [ 1.75947997e-02 -2.34441833e-04 9.99845172e-01 1.74928502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:45.88, Z:1.75 [[ 6.72171182e-01 -7.40300532e-01 -1.18753764e-02 1.21984626e+02] [ 7.40191131e-01 6.72276036e-01 -1.27287521e-02 4.58753198e+01] [ 1.74066329e-02 -2.34147928e-04 9.99848466e-01 1.74970686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:45.89, Z:1.75 [[ 6.72222314e-01 -7.40251767e-01 -1.20200603e-02 1.22003698e+02] [ 7.40139565e-01 6.72329732e-01 -1.28901480e-02 4.58944554e+01] [ 1.76233987e-02 -2.31477048e-04 9.99844669e-01 1.74999800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:45.91, Z:1.75 [[ 6.72413915e-01 -7.40065468e-01 -1.27526543e-02 1.22023466e+02] [ 7.39939050e-01 6.72534792e-01 -1.36804591e-02 4.59139054e+01] [ 1.87010391e-02 -2.37255855e-04 9.99825092e-01 1.74977963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:45.93, Z:1.75 [[ 6.72311142e-01 -7.40152360e-01 -1.31229925e-02 1.22043106e+02] [ 7.40018356e-01 6.72439162e-01 -1.40856794e-02 4.59338788e+01] [ 1.92499629e-02 -2.41296153e-04 9.99814673e-01 1.75025249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:45.95, Z:1.75 [[ 6.71939604e-01 -7.40483486e-01 -1.34676036e-02 1.22063376e+02] [ 7.40342257e-01 6.72074508e-01 -1.44637057e-02 4.59531444e+01] [ 1.97613682e-02 -2.51899368e-04 9.99804693e-01 1.75135065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:45.97, Z:1.75 [[ 6.71516072e-01 -7.40862855e-01 -1.37257012e-02 1.22083870e+02] [ 7.40716102e-01 6.71656282e-01 -1.47477156e-02 4.59724703e+01] [ 2.01449882e-02 -2.63519822e-04 9.99797034e-01 1.75157239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:45.99, Z:1.75 [[ 6.70714524e-01 -7.41592618e-01 -1.35061419e-02 1.22104503e+02] [ 7.41450576e-01 6.70850439e-01 -1.45165831e-02 4.59927684e+01] [ 1.98259921e-02 -2.77653542e-04 9.99803407e-01 1.75257083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:46.01, Z:1.75 [[ 6.69203630e-01 -7.42957010e-01 -1.34678374e-02 1.22126650e+02] [ 7.42815911e-01 6.69339064e-01 -1.44823546e-02 4.60115685e+01] [ 1.97743166e-02 -3.12479685e-04 9.99804420e-01 1.75333927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:46.03, Z:1.75 [[ 6.68360274e-01 -7.43727744e-01 -1.27901058e-02 1.22146836e+02] [ 7.43600529e-01 6.68482568e-01 -1.37589802e-02 4.60307102e+01] [ 1.87828981e-02 -3.14773685e-04 9.99823536e-01 1.75407793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:46.05, Z:1.75 [[ 6.67501337e-01 -7.44501455e-01 -1.26312452e-02 1.22167270e+02] [ 7.44377442e-01 6.67620757e-01 -1.35922336e-02 4.60510270e+01] [ 1.85523192e-02 -3.29579895e-04 9.99827837e-01 1.75475631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:46.07, Z:1.76 [[ 6.66247381e-01 -7.45630747e-01 -1.22154507e-02 1.22188610e+02] [ 7.45514863e-01 6.66359265e-01 -1.31498498e-02 4.60697632e+01] [ 1.79448110e-02 -3.45747096e-04 9.99838919e-01 1.75542170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:46.09, Z:1.76 [[ 6.65445051e-01 -7.46347358e-01 -1.21862374e-02 1.22209525e+02] [ 7.46232091e-01 6.65556526e-01 -1.31215990e-02 4.60897812e+01] [ 1.79039006e-02 -3.62058312e-04 9.99839647e-01 1.75614047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:46.11, Z:1.76 [[ 6.64701830e-01 -7.47006585e-01 -1.23547083e-02 1.22230200e+02] [ 7.46888108e-01 6.64816529e-01 -1.33092890e-02 4.61101097e+01] [ 1.81557409e-02 -3.80875948e-04 9.99835098e-01 1.75663572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:46.13, Z:1.76 [[ 6.64026239e-01 -7.47607839e-01 -1.23155345e-02 1.22251753e+02] [ 7.47490102e-01 6.64140321e-01 -1.32733439e-02 4.61294153e+01] [ 1.81024990e-02 -3.91891523e-04 9.99836060e-01 1.75796841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:46.15, Z:1.76 [[ 6.63841964e-01 -7.47774234e-01 -1.21467235e-02 1.22271400e+02] [ 7.47659616e-01 6.63952970e-01 -1.30978300e-02 4.61493603e+01] [ 1.78590730e-02 -3.86725474e-04 9.99840439e-01 1.75859062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:46.17, Z:1.76 [[ 6.64383289e-01 -7.47289883e-01 -1.23562258e-02 1.22291878e+02] [ 7.47171063e-01 6.64498074e-01 -1.33308746e-02 4.61702501e+01] [ 1.81727159e-02 -3.75404072e-04 9.99834792e-01 1.75936974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:46.19, Z:1.76 [[ 6.64787036e-01 -7.46933641e-01 -1.21792027e-02 1.22311620e+02] [ 7.46818032e-01 6.64898496e-01 -1.31459979e-02 4.61920277e+01] [ 1.79171217e-02 -3.56359243e-04 9.99839412e-01 1.75968581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:46.21, Z:1.76 [[ 6.65063165e-01 -7.46688259e-01 -1.21503188e-02 1.22331812e+02] [ 7.46573050e-01 6.65174056e-01 -1.31208183e-02 4.62130873e+01] [ 1.78792378e-02 -3.44927663e-04 9.99840094e-01 1.76007303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:46.23, Z:1.76 [[ 6.65532097e-01 -7.46268676e-01 -1.22512018e-02 1.22354213e+02] [ 7.46151378e-01 6.65644765e-01 -1.32351401e-02 4.62308932e+01] [ 1.80319189e-02 -3.32840575e-04 9.99837356e-01 1.75999269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:46.25, Z:1.76 [[ 6.66226839e-01 -7.45654370e-01 -1.18894882e-02 1.22373058e+02] [ 7.45543746e-01 6.66332851e-01 -1.28473682e-02 4.62535301e+01] [ 1.75020528e-02 -3.04872092e-04 9.99846781e-01 1.76127063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:46.27, Z:1.76 [[ 6.66372479e-01 -7.45527618e-01 -1.16743145e-02 1.22392655e+02] [ 7.45420844e-01 6.66474669e-01 -1.26206086e-02 4.62743016e+01] [ 1.71896471e-02 -2.92251128e-04 9.99852204e-01 1.76234422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:46.29, Z:1.76 [[ 6.66547638e-01 -7.45369590e-01 -1.17652367e-02 1.22411797e+02] [ 7.45261013e-01 6.66651403e-01 -1.27251569e-02 4.62937112e+01] [ 1.73282565e-02 -2.86248942e-04 9.99849814e-01 1.76256661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:46.31, Z:1.76 [[ 6.66929196e-01 -7.45024659e-01 -1.19877098e-02 1.22432101e+02] [ 7.44911786e-01 6.67036866e-01 -1.29711477e-02 4.63133475e+01] [ 1.76600693e-02 -2.78949148e-04 9.99844010e-01 1.76255115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:46.33, Z:1.76 [[ 6.67117464e-01 -7.44853866e-01 -1.21246558e-02 1.22451905e+02] [ 7.44738250e-01 6.67227580e-01 -1.31261196e-02 4.63333381e+01] [ 1.78669457e-02 -2.73031307e-04 9.99840336e-01 1.76298620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:46.35, Z:1.76 [[ 6.68312743e-01 -7.43783184e-01 -1.20271642e-02 1.22472320e+02] [ 7.43669144e-01 6.68420914e-01 -1.30264046e-02 4.63522447e+01] [ 1.77280288e-02 -2.38518705e-04 9.99842818e-01 1.76449130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:46.37, Z:1.76 [[ 6.69026379e-01 -7.43142641e-01 -1.19465113e-02 1.22491982e+02] [ 7.43029984e-01 6.69132997e-01 -1.29412160e-02 4.63720815e+01] [ 1.76109743e-02 -2.18601218e-04 9.99844891e-01 1.76475250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29361786499996 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:122.51, Y:46.39, Z:1.77 [[ 6.69797709e-01 -7.42446984e-01 -1.19793479e-02 1.22511657e+02] [ 7.42333541e-01 6.69904796e-01 -1.29799030e-02 4.63937542e+01] [ 1.76619124e-02 -1.98762500e-04 9.99843997e-01 1.76526113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:46.41, Z:1.76 [[ 6.71506605e-01 -7.40896615e-01 -1.22917103e-02 1.22530533e+02] [ 7.40776822e-01 6.71619074e-01 -1.33236131e-02 4.64140325e+01] [ 1.81267669e-02 -1.58519897e-04 9.99835684e-01 1.76493781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35361786499996 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:122.55, Y:46.43, Z:1.77 [[ 6.72149390e-01 -7.40314592e-01 -1.22271052e-02 1.22549298e+02] [ 7.40195897e-01 6.72260578e-01 -1.32570580e-02 4.64346594e+01] [ 1.80341943e-02 -1.39729677e-04 9.99837361e-01 1.76518045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:46.45, Z:1.77 [[ 6.72853492e-01 -7.39668942e-01 -1.25711744e-02 1.22568913e+02] [ 7.39543238e-01 6.72970907e-01 -1.36366676e-02 4.64539388e+01] [ 1.85466541e-02 -1.21447594e-04 9.99827989e-01 1.76586592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41361786499996 meters Centerline goodness [0,1] 0.9999136814846785 Centerline is valid? [True, True] Translation: X:122.59, Y:46.47, Z:1.77 [[ 6.73265427e-01 -7.39299255e-01 -1.22587405e-02 1.22588396e+02] [ 7.39179576e-01 6.73377012e-01 -1.33024101e-02 4.64744012e+01] [ 1.80892159e-02 -1.05357845e-04 9.99836371e-01 1.76725889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:46.49, Z:1.77 [[ 6.74151441e-01 -7.38490871e-01 -1.22909701e-02 1.22607685e+02] [ 7.38370311e-01 6.74263470e-01 -1.33437829e-02 4.64928146e+01] [ 1.81416140e-02 -7.95569386e-05 9.99835424e-01 1.76753162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:46.51, Z:1.77 [[ 6.74292663e-01 -7.38356005e-01 -1.26417324e-02 1.22626676e+02] [ 7.38228366e-01 6.74411153e-01 -1.37286661e-02 4.65116009e+01] [ 1.86623683e-02 -7.53466246e-05 9.99825840e-01 1.76723583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:46.53, Z:1.77 [[ 6.74052486e-01 -7.38572390e-01 -1.28089769e-02 1.22647495e+02] [ 7.38441292e-01 6.74174175e-01 -1.39154720e-02 4.65301932e+01] [ 1.89130648e-02 -7.89189604e-05 9.99821129e-01 1.76800590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:46.55, Z:1.77 [[ 6.73586895e-01 -7.38999185e-01 -1.26845718e-02 1.22667347e+02] [ 7.38870560e-01 6.73706313e-01 -1.37876083e-02 4.65494577e+01] [ 1.87347074e-02 -8.51044234e-05 9.99824486e-01 1.76878070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:46.57, Z:1.77 [[ 6.73115211e-01 -7.39434015e-01 -1.23794353e-02 1.22687733e+02] [ 7.39311450e-01 6.73229032e-01 -1.34629496e-02 4.65690929e+01] [ 1.82891581e-02 -9.01420712e-05 9.99832735e-01 1.76922550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:46.59, Z:1.77 [[ 6.72194298e-01 -7.40282014e-01 -1.17202836e-02 1.22708583e+02] [ 7.40172183e-01 6.72296459e-01 -1.27518984e-02 4.65860480e+01] [ 1.73195062e-02 -1.03274475e-04 9.99850001e-01 1.77029542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:46.61, Z:1.77 [[ 6.71582060e-01 -7.40836419e-01 -1.17871555e-02 1.22728852e+02] [ 7.40725338e-01 6.71685482e-01 -1.28291370e-02 4.66057658e+01] [ 1.74215532e-02 -1.15226467e-04 9.99848227e-01 1.77119821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:46.62, Z:1.77 [[ 6.71119676e-01 -7.41254393e-01 -1.18451086e-02 1.22748265e+02] [ 7.41142173e-01 6.71224188e-01 -1.28984030e-02 4.66243849e+01] [ 1.75117213e-02 -1.22537532e-04 9.99846651e-01 1.77167568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68361786499997 meters Centerline goodness [0,1] 0.9999781597396641 Centerline is valid? [True, True] Translation: X:122.77, Y:46.64, Z:1.77 [[ 6.69810720e-01 -7.42440562e-01 -1.16452581e-02 1.22769664e+02] [ 7.42332195e-01 6.69911928e-01 -1.26854918e-02 4.66419393e+01] [ 1.72195210e-02 -1.47771621e-04 9.99851722e-01 1.77207377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:46.66, Z:1.77 [[ 6.68863444e-01 -7.43296811e-01 -1.14692429e-02 1.22790425e+02] [ 7.43191723e-01 6.68961751e-01 -1.24995325e-02 4.66612954e+01] [ 1.69633475e-02 -1.63366084e-04 9.99856099e-01 1.77276679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:46.68, Z:1.77 [[ 6.67786376e-01 -7.44268421e-01 -1.12193508e-02 1.22811155e+02] [ 7.44167901e-01 6.67880592e-01 -1.22331570e-02 4.66805373e+01] [ 1.65979391e-02 -1.79945126e-04 9.99862229e-01 1.77374635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:46.70, Z:1.77 [[ 6.66641301e-01 -7.45292729e-01 -1.13191631e-02 1.22831756e+02] [ 7.45190458e-01 6.66737359e-01 -1.23480691e-02 4.67000846e+01] [ 1.67498350e-02 -2.03199471e-04 9.99859691e-01 1.77449906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:46.72, Z:1.78 [[ 6.64884327e-01 -7.46866851e-01 -1.08967464e-02 1.22854265e+02] [ 7.46772199e-01 6.64973574e-01 -1.18923578e-02 4.67176172e+01] [ 1.61280562e-02 -2.30344978e-04 9.99869908e-01 1.77528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:46.74, Z:1.78 [[ 6.64051354e-01 -7.47611448e-01 -1.06264492e-02 1.22875030e+02] [ 7.47521480e-01 6.64136330e-01 -1.16005492e-02 4.67373297e+01] [ 1.57301144e-02 -2.40138639e-04 9.99876245e-01 1.77601696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.89, Y:46.76, Z:1.78 [[ 6.63867952e-01 -7.47774351e-01 -1.06236777e-02 1.22893576e+02] [ 7.47684362e-01 6.63952907e-01 -1.16030869e-02 4.67577392e+01] [ 1.57301125e-02 -2.40240149e-04 9.99876245e-01 1.77638378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.91, Y:46.78, Z:1.78 [[ 6.62961322e-01 -7.48581742e-01 -1.03760417e-02 1.22912205e+02] [ 7.48495915e-01 6.63042467e-01 -1.13380526e-02 4.67793055e+01] [ 1.53672155e-02 -2.49734514e-04 9.99881886e-01 1.77741859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters Centerline goodness [0,1] 0.9999781501955558 Centerline is valid? [True, True] Translation: X:122.93, Y:46.80, Z:1.78 [[ 6.61811836e-01 -7.49601399e-01 -1.01408182e-02 1.22933609e+02] [ 7.49519464e-01 6.61889472e-01 -1.10860760e-02 4.67988522e+01] [ 1.50222388e-02 -2.63844329e-04 9.99887125e-01 1.77813110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:46.82, Z:1.78 [[ 6.61383667e-01 -7.49980108e-01 -1.00738556e-02 1.22952731e+02] [ 7.49899218e-01 6.61460328e-01 -1.10180213e-02 4.68190117e+01] [ 1.49267527e-02 -2.67237127e-04 9.99888554e-01 1.77854851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:46.84, Z:1.78 [[ 6.61035192e-01 -7.50282338e-01 -1.04349490e-02 1.22971347e+02] [ 7.50195485e-01 6.61117490e-01 -1.14192692e-02 4.68401030e+01] [ 1.54664033e-02 -2.79712808e-04 9.99880349e-01 1.77863518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.013617865 meters Centerline goodness [0,1] 0.999978021978022 Centerline is valid? [True, True] Translation: X:122.99, Y:46.86, Z:1.78 [[ 6.60994663e-01 -7.50316109e-01 -1.05731601e-02 1.22991552e+02] [ 7.50226843e-01 6.61079161e-01 -1.15769674e-02 4.68596009e+01] [ 1.56760810e-02 -2.79954848e-04 9.99877084e-01 1.77874561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04361786499996 meters Centerline goodness [0,1] 0.9999560429899558 Centerline is valid? [True, True] Translation: X:123.01, Y:46.88, Z:1.78 [[ 6.60776868e-01 -7.50509976e-01 -1.04262229e-02 1.23010745e+02] [ 7.50423102e-01 6.60859062e-01 -1.14222665e-02 4.68800140e+01] [ 1.54627889e-02 -2.76509090e-04 9.99880406e-01 1.77911038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07361786499996 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:123.03, Y:46.90, Z:1.78 [[ 6.61203130e-01 -7.50136856e-01 -1.02527496e-02 1.23030605e+02] [ 7.50052713e-01 6.61282564e-01 -1.12382003e-02 4.69003231e+01] [ 1.52101528e-02 -2.59369385e-04 9.99884285e-01 1.77918951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:46.92, Z:1.78 [[ 6.61549585e-01 -7.49826310e-01 -1.06137750e-02 1.23050051e+02] [ 7.49736006e-01 6.61634672e-01 -1.16396965e-02 4.69207794e+01] [ 1.57501922e-02 -2.57292863e-04 9.99875925e-01 1.77955331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13361786499996 meters Centerline goodness [0,1] 0.9999339468933022 Centerline is valid? [True, True] Translation: X:123.07, Y:46.94, Z:1.78 [[ 6.61678590e-01 -7.49711236e-01 -1.07007932e-02 1.23068740e+02] [ 7.49619333e-01 6.61765063e-01 -1.17412432e-02 4.69412335e+01] [ 1.58839530e-02 -2.52592153e-04 9.99873810e-01 1.77977729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16361786499996 meters Centerline goodness [0,1] 0.9999780408001933 Centerline is valid? [True, True] Translation: X:123.09, Y:46.96, Z:1.78 [[ 6.62756382e-01 -7.48759568e-01 -1.06342027e-02 1.23088669e+02] [ 7.48668593e-01 6.62841654e-01 -1.16738615e-02 4.69604366e+01] [ 1.57897081e-02 -2.24567372e-04 9.99875310e-01 1.78023229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19361786499996 meters Centerline goodness [0,1] 0.9999560110852065 Centerline is valid? [True, True] Translation: X:123.11, Y:46.98, Z:1.78 [[ 6.63007537e-01 -7.48541249e-01 -1.03443198e-02 1.23106707e+02] [ 7.48455102e-01 6.63088195e-01 -1.13580767e-02 4.69817688e+01] [ 1.53611853e-02 -2.11768523e-04 9.99881988e-01 1.78131283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:47.00, Z:1.78 [[ 6.63286158e-01 -7.48297037e-01 -1.01497668e-02 1.23125770e+02] [ 7.48213982e-01 6.63363781e-01 -1.11504053e-02 4.70024851e+01] [ 1.50768029e-02 -1.98287931e-04 9.99886319e-01 1.78166789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25361786499997 meters Centerline goodness [0,1] 0.999977998767931 Centerline is valid? [True, True] Translation: X:123.14, Y:47.02, Z:1.78 [[ 6.63549328e-01 -7.48067555e-01 -9.86013402e-03 1.23144212e+02] [ 7.47989068e-01 6.63622558e-01 -1.08376678e-02 4.70221987e+01] [ 1.46507150e-02 -1.83945243e-04 9.99892656e-01 1.78240946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28361786499997 meters Centerline goodness [0,1] 0.9999341686598934 Centerline is valid? [True, True] Translation: X:123.16, Y:47.04, Z:1.78 [[ 6.64192925e-01 -7.47504268e-01 -9.22649973e-03 1.23163637e+02] [ 7.47435454e-01 6.64256987e-01 -1.01438691e-02 4.70428092e+01] [ 1.37113523e-02 -1.58726957e-04 9.99905982e-01 1.78345014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.18, Y:47.06, Z:1.78 [[ 6.64398717e-01 -7.47325074e-01 -8.92068911e-03 1.23182195e+02] [ 7.47260696e-01 6.64458585e-01 -9.81027475e-03 4.70633750e+01] [ 1.32588928e-02 -1.48146394e-04 9.99912086e-01 1.78419560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34361786499997 meters Centerline goodness [0,1] 0.9999780195625892 Centerline is valid? [True, True] Translation: X:123.20, Y:47.08, Z:1.79 [[ 6.64801255e-01 -7.46969310e-01 -8.72587668e-03 1.23200127e+02] [ 7.46907616e-01 6.64858505e-01 -9.60110157e-03 4.70830329e+01] [ 1.29732015e-02 -1.34599374e-04 9.99915835e-01 1.78501599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37361786499997 meters Centerline goodness [0,1] 0.999934132525359 Centerline is valid? [True, True] Translation: X:123.22, Y:47.10, Z:1.79 [[ 6.65600379e-01 -7.46259413e-01 -8.54539906e-03 1.23219056e+02] [ 7.46200156e-01 6.65655222e-01 -9.40491362e-03 4.71044622e+01] [ 1.27067948e-02 -1.16664041e-04 9.99919259e-01 1.78551713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40361786499997 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:123.24, Y:47.13, Z:1.79 [[ 6.65911940e-01 -7.45983399e-01 -8.36998288e-03 1.23237596e+02] [ 7.45926476e-01 6.65964531e-01 -9.21603876e-03 4.71251604e+01] [ 1.24491236e-02 -1.06321588e-04 9.99922501e-01 1.78601595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43361786499997 meters Centerline goodness [0,1] 0.9999779808433337 Centerline is valid? [True, True] Translation: X:123.26, Y:47.15, Z:1.79 [[ 6.66891729e-01 -7.45107420e-01 -8.38781040e-03 1.23255882e+02] [ 7.45050119e-01 6.66944470e-01 -9.24087705e-03 4.71456693e+01] [ 1.24796498e-02 -8.66746685e-05 9.99922122e-01 1.78597391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46361786499997 meters Centerline goodness [0,1] 0.9999780118296356 Centerline is valid? [True, True] Translation: X:123.27, Y:47.17, Z:1.79 [[ 6.67208022e-01 -7.44821215e-01 -8.64942462e-03 1.23274029e+02] [ 7.44760230e-01 6.67264079e-01 -9.53144490e-03 4.71656088e+01] [ 1.28706727e-02 -8.22909694e-05 9.99917166e-01 1.78557997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49361786499998 meters Centerline goodness [0,1] 0.999978009895547 Centerline is valid? [True, True] Translation: X:123.29, Y:47.19, Z:1.79 [[ 6.67297986e-01 -7.44742312e-01 -8.50213945e-03 1.23292094e+02] [ 7.44683349e-01 6.67352143e-01 -9.37164761e-03 4.71878240e+01] [ 1.26533835e-02 -7.77201081e-05 9.99919940e-01 1.78527202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:47.21, Z:1.79 [[ 6.67762493e-01 -7.44324249e-01 -8.64095647e-03 1.23310095e+02] [ 7.44263238e-01 6.67818395e-01 -9.53015779e-03 4.72076881e+01] [ 1.28641172e-02 -6.72643238e-05 9.99917252e-01 1.78503500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55361786499998 meters Centerline goodness [0,1] 0.9999559936630875 Centerline is valid? [True, True] Translation: X:123.33, Y:47.23, Z:1.78 [[ 6.67805783e-01 -7.44286573e-01 -8.54011769e-03 1.23327941e+02] [ 7.44226940e-01 6.67860385e-01 -9.42172628e-03 4.72274080e+01] [ 1.27160707e-02 -6.39023508e-05 9.99919145e-01 1.78497778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters Centerline goodness [0,1] 0.9999779852060585 Centerline is valid? [True, True] Translation: X:123.35, Y:47.25, Z:1.79 [[ 6.67769461e-01 -7.44320621e-01 -8.41187858e-03 1.23346033e+02] [ 7.44262734e-01 6.67822438e-01 -9.28303321e-03 4.72468604e+01] [ 1.25271943e-02 -6.17216634e-05 9.99921530e-01 1.78511615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61361786499998 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:123.36, Y:47.27, Z:1.78 [[ 6.67336367e-01 -7.44708981e-01 -8.40874309e-03 1.23364905e+02] [ 7.44651135e-01 6.67389338e-01 -9.28216387e-03 4.72679572e+01] [ 1.25244163e-02 -6.72545711e-05 9.99921564e-01 1.78488168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters Centerline goodness [0,1] 0.9999780002199978 Centerline is valid? [True, True] Translation: X:123.38, Y:47.29, Z:1.79 [[ 6.67065783e-01 -7.44954106e-01 -8.16218769e-03 1.23383392e+02] [ 7.44899559e-01 6.67115714e-01 -9.01503087e-03 4.72874410e+01] [ 1.21609079e-02 -6.63913810e-05 9.99926051e-01 1.78544284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:47.31, Z:1.79 [[ 6.66996001e-01 -7.45016829e-01 -8.13996653e-03 1.23402092e+02] [ 7.44962551e-01 6.67045665e-01 -8.99324565e-03 4.73076634e+01] [ 1.21298488e-02 -6.55113443e-05 9.99926429e-01 1.78564007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:47.33, Z:1.79 [[ 6.66770034e-01 -7.45217883e-01 -8.24791065e-03 1.23420976e+02] [ 7.45162139e-01 6.66821042e-01 -9.11507239e-03 4.73290663e+01] [ 1.22925953e-02 -6.83736122e-05 9.99924441e-01 1.78591498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.44, Y:47.35, Z:1.79 [[ 6.67097883e-01 -7.44925750e-01 -8.12651404e-03 1.23438784e+02] [ 7.44871557e-01 6.67147377e-01 -8.98561064e-03 4.73504407e+01] [ 1.21151953e-02 -5.89273211e-05 9.99926607e-01 1.78585283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:47.37, Z:1.79 [[ 6.67509367e-01 -7.44560434e-01 -7.81054125e-03 1.23456543e+02] [ 7.44510293e-01 6.67555060e-01 -8.64096524e-03 4.73713279e+01] [ 1.16476872e-02 -4.71031140e-05 9.99932162e-01 1.78646894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:47.39, Z:1.79 [[ 6.67899829e-01 -7.44209831e-01 -7.84509301e-03 1.23473965e+02] [ 7.44159185e-01 6.67945900e-01 -8.68221098e-03 4.73930202e+01] [ 1.17014845e-02 -3.91507922e-05 9.99931535e-01 1.78700788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.49, Y:47.41, Z:1.79 [[ 6.67889759e-01 -7.44217513e-01 -7.97268558e-03 1.23491990e+02] [ 7.44165148e-01 6.67937342e-01 -8.82836038e-03 4.74140507e+01] [ 1.18954748e-02 -3.66232634e-05 9.99929246e-01 1.78689592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:47.43, Z:1.79 [[ 6.67757291e-01 -7.44336522e-01 -7.95886280e-03 1.23509259e+02] [ 7.44284287e-01 6.67804718e-01 -8.81806135e-03 4.74348446e+01] [ 1.18785712e-02 -3.53317759e-05 9.99929447e-01 1.78681777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.53, Y:47.46, Z:1.79 [[ 6.67675882e-01 -7.44407060e-01 -8.18811925e-03 1.23527079e+02] [ 7.44351735e-01 6.67726088e-01 -9.07556057e-03 4.74551599e+01] [ 1.22233322e-02 -3.53078679e-05 9.99925292e-01 1.78703059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91361786499996 meters Centerline goodness [0,1] 0.9999341383095499 Centerline is valid? [True, True] Translation: X:123.55, Y:47.48, Z:1.79 [[ 6.67240688e-01 -7.44798949e-01 -8.02432139e-03 1.23545805e+02] [ 7.44745808e-01 6.67288936e-01 -8.89704718e-03 4.74762472e+01] [ 1.19810523e-02 -3.96078303e-05 9.99928224e-01 1.78760203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94361786499996 meters Centerline goodness [0,1] 0.9999780489946439 Centerline is valid? [True, True] Translation: X:123.56, Y:47.50, Z:1.79 [[ 6.66619778e-01 -7.45352470e-01 -8.23209199e-03 1.23564477e+02] [ 7.45296521e-01 6.66670604e-01 -9.13248141e-03 4.74975359e+01] [ 1.22950113e-02 -4.74567854e-05 9.99924412e-01 1.78794753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:47.52, Z:1.79 [[ 6.65320963e-01 -7.46510840e-01 -8.34164638e-03 1.23582561e+02] [ 7.46453420e-01 6.65373250e-01 -9.25906061e-03 4.75184785e+01] [ 1.24622975e-02 -6.64033490e-05 9.99922340e-01 1.78772629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00361786499997 meters Centerline goodness [0,1] 0.9999779750236768 Centerline is valid? [True, True] Translation: X:123.60, Y:47.54, Z:1.79 [[ 6.64475226e-01 -7.47264313e-01 -8.28982767e-03 1.23600834e+02] [ 7.47207600e-01 6.64526930e-01 -9.20660572e-03 4.75384421e+01] [ 1.23885816e-02 -7.66608261e-05 9.99923256e-01 1.78788718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03361786499997 meters Centerline goodness [0,1] 0.9999560217252678 Centerline is valid? [True, True] Translation: X:123.62, Y:47.56, Z:1.79 [[ 6.62442147e-01 -7.49070044e-01 -8.02935926e-03 1.23620065e+02] [ 7.49016931e-01 6.62490799e-01 -8.92069233e-03 4.75582036e+01] [ 1.20016000e-02 -1.04683446e-04 9.99927973e-01 1.78888810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06361786499997 meters Centerline goodness [0,1] 0.9999122325836534 Centerline is valid? [True, True] Translation: X:123.64, Y:47.58, Z:1.79 [[ 6.61751105e-01 -7.49682168e-01 -7.88176197e-03 1.23638573e+02] [ 7.49631018e-01 6.61798032e-01 -8.75796759e-03 4.75780588e+01] [ 1.17818267e-02 -1.12818511e-04 9.99930586e-01 1.78967739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:47.60, Z:1.79 [[ 6.60258151e-01 -7.50999333e-01 -7.69255597e-03 1.23656702e+02] [ 7.50950673e-01 6.60302949e-01 -8.54998416e-03 4.76001614e+01] [ 1.15004498e-02 -1.31533360e-04 9.99933859e-01 1.79007281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:47.62, Z:1.79 [[ 6.59536330e-01 -7.51636715e-01 -7.35380343e-03 1.23675687e+02] [ 7.51592245e-01 6.59577313e-01 -8.17715614e-03 4.76217239e+01] [ 1.09966527e-02 -1.33930071e-04 9.99939526e-01 1.79005627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:47.64, Z:1.79 [[ 6.58678111e-01 -7.52381420e-01 -8.08365478e-03 1.23694025e+02] [ 7.52327681e-01 6.58727693e-01 -8.99370405e-03 4.76426648e+01] [ 1.20916231e-02 -1.57601260e-04 9.99926881e-01 1.78997589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:47.66, Z:1.79 [[ 6.58202214e-01 -7.52795858e-01 -8.26083155e-03 1.23713044e+02] [ 7.52739743e-01 6.58254030e-01 -9.19304693e-03 4.76618063e+01] [ 1.23582133e-02 -1.67372380e-04 9.99923620e-01 1.79050397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21361786499997 meters Centerline goodness [0,1] 0.9999560497516811 Centerline is valid? [True, True] Translation: X:123.73, Y:47.68, Z:1.79 [[ 6.57701222e-01 -7.53229594e-01 -8.61860434e-03 1.23730676e+02] [ 7.53168511e-01 6.57757665e-01 -9.59422154e-03 4.76837592e+01] [ 1.28956047e-02 -1.81130163e-04 9.99916832e-01 1.79048471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:47.71, Z:1.79 [[ 6.57127650e-01 -7.53728614e-01 -8.74231501e-03 1.23749434e+02] [ 7.53665740e-01 6.57185773e-01 -9.73716464e-03 4.77050199e+01] [ 1.30845047e-02 -1.90223193e-04 9.99914376e-01 1.79071366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27361786499998 meters Centerline goodness [0,1] 0.999933964340744 Centerline is valid? [True, True] Translation: X:123.77, Y:47.73, Z:1.79 [[ 6.56381431e-01 -7.54377840e-01 -8.80292643e-03 1.23768398e+02] [ 7.54314080e-01 6.56440427e-01 -9.80993428e-03 4.77255347e+01] [ 1.31789938e-02 -2.01112652e-04 9.99913133e-01 1.79106276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters Centerline goodness [0,1] 0.999933894495615 Centerline is valid? [True, True] Translation: X:123.79, Y:47.75, Z:1.79 [[ 6.55832265e-01 -7.54851331e-01 -9.13833464e-03 1.23787906e+02] [ 7.54782625e-01 6.55895892e-01 -1.01866407e-02 4.77470002e+01] [ 1.36831954e-02 -2.16728588e-04 9.99906357e-01 1.79158584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:47.77, Z:1.79 [[ 6.55223368e-01 -7.55380827e-01 -9.06335982e-03 1.23806408e+02] [ 7.55313230e-01 6.55286011e-01 -1.01078330e-02 4.77671488e+01] [ 1.35743561e-02 -2.22787228e-04 9.99907839e-01 1.79204271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:47.79, Z:1.79 [[ 6.54790805e-01 -7.55751608e-01 -9.40789214e-03 1.23825527e+02] [ 7.55678740e-01 6.54858344e-01 -1.04972063e-02 4.77882110e+01] [ 1.40941172e-02 -2.35869879e-04 9.99900645e-01 1.79281185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:47.81, Z:1.79 [[ 6.54335347e-01 -7.56146573e-01 -9.36025837e-03 1.23844086e+02] [ 7.56074405e-01 6.54402249e-01 -1.04494215e-02 4.78087857e+01] [ 1.40266684e-02 -2.39625962e-04 9.99901593e-01 1.79264645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters Centerline goodness [0,1] 0.9999121709153986 Centerline is valid? [True, True] Translation: X:123.86, Y:47.83, Z:1.79 [[ 6.54109939e-01 -7.56339659e-01 -9.51361237e-03 1.23862505e+02] [ 7.56265049e-01 6.54179074e-01 -1.06261236e-02 4.78288757e+01] [ 1.42605648e-02 -2.44159483e-04 9.99898283e-01 1.79299441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:47.85, Z:1.79 [[ 6.54099162e-01 -7.56350602e-01 -9.38363225e-03 1.23879832e+02] [ 7.56277951e-01 6.54166424e-01 -1.04857671e-02 4.78514435e+01] [ 1.40693734e-02 -2.37902703e-04 9.99900993e-01 1.79352739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:47.87, Z:1.79 [[ 6.54838148e-01 -7.55706145e-01 -9.75820374e-03 1.23899256e+02] [ 7.55627423e-01 6.54910811e-01 -1.09100072e-02 4.78710347e+01] [ 1.46355126e-02 -2.29277442e-04 9.99892869e-01 1.79444534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:47.89, Z:1.80 [[ 6.55206177e-01 -7.55387314e-01 -9.74019291e-03 1.23916833e+02] [ 7.55308817e-01 6.55278534e-01 -1.08919563e-02 4.78941523e+01] [ 1.46101850e-02 -2.20376531e-04 9.99893241e-01 1.79514613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54361786499996 meters Centerline goodness [0,1] 0.9999120550535365 Centerline is valid? [True, True] Translation: X:123.93, Y:47.92, Z:1.80 [[ 6.56521151e-01 -7.54244528e-01 -9.75554445e-03 1.23934497e+02] [ 7.54165581e-01 6.56593600e-01 -1.09142122e-02 4.79151833e+01] [ 1.46374129e-02 -1.91884688e-04 9.99892849e-01 1.79610412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57361786499996 meters Centerline goodness [0,1] 0.9999121574139143 Centerline is valid? [True, True] Translation: X:123.95, Y:47.94, Z:1.80 [[ 6.56937427e-01 -7.53878244e-01 -1.00404299e-02 1.23952689e+02] [ 7.53794510e-01 6.57014123e-01 -1.12373443e-02 4.79353623e+01] [ 1.50682936e-02 -1.86188826e-04 9.99886449e-01 1.79677033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60361786499996 meters Centerline goodness [0,1] 0.999978153059664 Centerline is valid? [True, True] Translation: X:123.97, Y:47.96, Z:1.80 [[ 6.57501944e-01 -7.53385309e-01 -1.00880740e-02 1.23970498e+02] [ 7.53300658e-01 6.57579308e-01 -1.12948246e-02 4.79571273e+01] [ 1.51430636e-02 -1.72983660e-04 9.99885322e-01 1.79685353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63361786499996 meters Centerline goodness [0,1] 0.9999562411114757 Centerline is valid? [True, True] Translation: X:123.99, Y:47.98, Z:1.80 [[ 6.58089756e-01 -7.52869967e-01 -1.02315657e-02 1.23987393e+02] [ 7.52782740e-01 6.58169269e-01 -1.14612374e-02 4.79805441e+01] [ 1.53629235e-02 -1.59623148e-04 9.99881971e-01 1.79712570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66361786499996 meters Centerline goodness [0,1] 0.999956176870152 Centerline is valid? [True, True] Translation: X:124.01, Y:48.00, Z:1.80 [[ 6.58453781e-01 -7.52547820e-01 -1.05069920e-02 1.24005637e+02] [ 7.52455695e-01 6.58537588e-01 -1.17758941e-02 4.80017958e+01] [ 1.57811726e-02 -1.52163939e-04 9.99875458e-01 1.79771075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69361786499996 meters Centerline goodness [0,1] 0.999934177326283 Centerline is valid? [True, True] Translation: X:124.02, Y:48.02, Z:1.80 [[ 6.58663758e-01 -7.52360791e-01 -1.07374757e-02 1.24023765e+02] [ 7.52264455e-01 6.58751257e-01 -1.20403740e-02 4.80215380e+01] [ 1.61320310e-02 -1.46863302e-04 9.99869860e-01 1.79789115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:48.04, Z:1.80 [[ 6.58758592e-01 -7.52275760e-01 -1.08765684e-02 1.24041279e+02] [ 7.52176831e-01 6.58848360e-01 -1.22005536e-02 4.80436727e+01] [ 1.63441900e-02 -1.43883282e-04 9.99866414e-01 1.79893119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75361786499997 meters Centerline goodness [0,1] 0.9998904469763366 Centerline is valid? [True, True] Translation: X:124.06, Y:48.06, Z:1.80 [[ 6.58657959e-01 -7.52367230e-01 -1.06415886e-02 1.24060083e+02] [ 7.52272439e-01 6.58743904e-01 -1.19434287e-02 4.80649376e+01] [ 1.59959260e-02 -1.38739447e-04 9.99872047e-01 1.79949478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78361786499997 meters Centerline goodness [0,1] 0.9998904469763366 Centerline is valid? [True, True] Translation: X:124.08, Y:48.09, Z:1.80 [[ 6.58453444e-01 -7.52546270e-01 -1.06383406e-02 1.24078376e+02] [ 7.52451456e-01 6.58539363e-01 -1.19463212e-02 4.80855818e+01] [ 1.59959255e-02 -1.38738580e-04 9.99872047e-01 1.79986153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:48.11, Z:1.80 [[ 6.58292397e-01 -7.52686637e-01 -1.06746165e-02 1.24096860e+02] [ 7.52591095e-01 6.58378924e-01 -1.19931450e-02 4.81057204e+01] [ 1.60550225e-02 -1.38625172e-04 9.99871100e-01 1.80047735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:48.13, Z:1.80 [[ 6.57892510e-01 -7.53036628e-01 -1.06434462e-02 1.24115218e+02] [ 7.52941623e-01 6.57978584e-01 -1.19622281e-02 4.81264363e+01] [ 1.60111556e-02 -1.44033412e-04 9.99871803e-01 1.80127112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87361786499997 meters Centerline goodness [0,1] 0.9999121439082782 Centerline is valid? [True, True] Translation: X:124.14, Y:48.15, Z:1.80 [[ 6.56936659e-01 -7.53863176e-01 -1.11596667e-02 1.24135136e+02] [ 7.53758734e-01 6.57031418e-01 -1.25493858e-02 4.81471825e+01] [ 1.67927715e-02 -1.67544613e-04 9.99858977e-01 1.80157693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.15, Y:48.17, Z:1.80 [[ 6.56173906e-01 -7.54524566e-01 -1.13351247e-02 1.24154796e+02] [ 7.54416806e-01 6.56271778e-01 -1.27529123e-02 4.81679947e+01] [ 1.70613080e-02 -1.83280234e-04 9.99854428e-01 1.80183546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93361786499997 meters Centerline goodness [0,1] 0.9999561201430484 Centerline is valid? [True, True] Translation: X:124.17, Y:48.19, Z:1.80 [[ 6.55377898e-01 -7.55214545e-01 -1.14368837e-02 1.24174116e+02] [ 7.55104851e-01 6.55477651e-01 -1.28729339e-02 4.81878096e+01] [ 1.72184486e-02 -1.99410052e-04 9.99851732e-01 1.80232917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:48.21, Z:1.80 [[ 6.54478178e-01 -7.55996949e-01 -1.12662602e-02 1.24194174e+02] [ 7.55890557e-01 6.54575105e-01 -1.26845506e-02 4.82092870e+01] [ 1.69640950e-02 -2.14298116e-04 9.99856076e-01 1.80257091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:48.23, Z:1.80 [[ 6.52205911e-01 -7.57957489e-01 -1.13091035e-02 1.24214893e+02] [ 7.57850477e-01 6.52303899e-01 -1.27388098e-02 4.82296720e+01] [ 1.70324486e-02 -2.62282457e-04 9.99854903e-01 1.80329436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.24, Y:48.25, Z:1.80 [[ 6.50895842e-01 -7.59082433e-01 -1.13341475e-02 1.24235589e+02] [ 7.58975025e-01 6.50994452e-01 -1.27724152e-02 4.82484190e+01] [ 1.70737831e-02 -2.88822937e-04 9.99854191e-01 1.80350760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:48.27, Z:1.80 [[ 6.48408384e-01 -7.61201210e-01 -1.18019538e-02 1.24257215e+02] [ 7.61085033e-01 6.48515683e-01 -1.33034327e-02 4.82663756e+01] [ 1.77803412e-02 -3.56233063e-04 9.99841854e-01 1.80375926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:48.29, Z:1.80 [[ 6.47220992e-01 -7.62209973e-01 -1.18719996e-02 1.24274725e+02] [ 7.62092501e-01 6.47329753e-01 -1.33869769e-02 4.82887140e+01] [ 1.78887859e-02 -3.83229362e-04 9.99839909e-01 1.80471619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.30, Y:48.31, Z:1.80 [[ 6.46445025e-01 -7.62866501e-01 -1.19804588e-02 1.24297299e+02] [ 7.62746927e-01 6.46555906e-01 -1.35124276e-02 4.83063163e+01] [ 1.80542148e-02 -4.03016543e-04 9.99836928e-01 1.80397355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters Centerline goodness [0,1] 0.9999337792199192 Centerline is valid? [True, True] Translation: X:124.32, Y:48.33, Z:1.81 [[ 6.44792415e-01 -7.64263387e-01 -1.20090528e-02 1.24315229e+02] [ 7.64143435e-01 6.44904086e-01 -1.35473419e-02 4.83283512e+01] [ 1.80984246e-02 -4.41415607e-04 9.99836113e-01 1.80500212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17361786499998 meters Centerline goodness [0,1] 0.9998020411754355 Centerline is valid? [True, True] Translation: X:124.34, Y:48.35, Z:1.80 [[ 6.44077995e-01 -7.64866652e-01 -1.19390589e-02 1.24335227e+02] [ 7.64748119e-01 6.44188482e-01 -1.34727357e-02 4.83498477e+01] [ 1.79958505e-02 -4.52880212e-04 9.99837959e-01 1.80495337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:48.37, Z:1.81 [[ 6.43969450e-01 -7.64957235e-01 -1.19906693e-02 1.24353894e+02] [ 7.64837572e-01 6.44080913e-01 -1.35375507e-02 4.83707896e+01] [ 1.80786085e-02 -4.53145321e-04 9.99836466e-01 1.80613264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:48.39, Z:1.81 [[ 6.44678824e-01 -7.64364136e-01 -1.16910528e-02 1.24372830e+02] [ 7.64250164e-01 6.44784685e-01 -1.32059826e-02 4.83926785e+01] [ 1.76323913e-02 -4.21271619e-04 9.99844449e-01 1.80700672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:48.41, Z:1.81 [[ 6.45111044e-01 -7.64001812e-01 -1.15313100e-02 1.24391259e+02] [ 7.63890771e-01 6.45213972e-01 -1.30315538e-02 4.84145942e+01] [ 1.73962931e-02 -4.01861964e-04 9.99848592e-01 1.80798631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29361786499996 meters Centerline goodness [0,1] 0.9998677452774043 Centerline is valid? [True, True] Translation: X:124.41, Y:48.44, Z:1.81 [[ 6.45897347e-01 -7.63343047e-01 -1.11359871e-02 1.24409544e+02] [ 7.63239307e-01 6.45993234e-01 -1.25897474e-02 4.84355557e+01] [ 1.68040685e-02 -3.67738634e-04 9.99858734e-01 1.80822750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32361786499996 meters Centerline goodness [0,1] 0.9999118165784833 Centerline is valid? [True, True] Translation: X:124.43, Y:48.46, Z:1.81 [[ 6.48090473e-01 -7.61482900e-01 -1.10694165e-02 1.24426493e+02] [ 7.61380079e-01 6.48184922e-01 -1.25172780e-02 4.84586051e+01] [ 1.67067220e-02 -3.15704562e-04 9.99860383e-01 1.80855990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:48.48, Z:1.81 [[ 6.49169298e-01 -7.60557528e-01 -1.14660023e-02 1.24443916e+02] [ 7.60446955e-01 6.49270481e-01 -1.29719158e-02 4.84802302e+01] [ 1.73104251e-02 -2.98317091e-04 9.99850119e-01 1.80880293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:48.50, Z:1.81 [[ 6.51537133e-01 -7.58522762e-01 -1.19408556e-02 1.24459804e+02] [ 7.58402375e-01 6.51646497e-01 -1.35159330e-02 4.85048686e+01] [ 1.80333595e-02 -2.49841036e-04 9.99837355e-01 1.80872047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:48.53, Z:1.81 [[ 6.52728047e-01 -7.57497305e-01 -1.19970703e-02 1.24477043e+02] [ 7.57375502e-01 6.52838253e-01 -1.35854069e-02 4.85261265e+01] [ 1.81230556e-02 -2.18711034e-04 9.99835740e-01 1.80863822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44361786499996 meters Centerline goodness [0,1] 0.9999780205288261 Centerline is valid? [True, True] Translation: X:124.49, Y:48.55, Z:1.81 [[ 6.54053362e-01 -7.56353331e-01 -1.19933027e-02 1.24493007e+02] [ 7.56231319e-01 6.54163287e-01 -1.35862686e-02 4.85501009e+01] [ 1.81215978e-02 -1.83566487e-04 9.99835774e-01 1.80936170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.51, Y:48.57, Z:1.81 [[ 6.54782297e-01 -7.55723799e-01 -1.19030553e-02 1.24510758e+02] [ 7.55603396e-01 6.54890459e-01 -1.34905202e-02 4.85729033e+01] [ 1.79903046e-02 -1.60635232e-04 9.99838148e-01 1.80981211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50361786499997 meters Centerline goodness [0,1] 0.9999123844570027 Centerline is valid? [True, True] Translation: X:124.53, Y:48.60, Z:1.81 [[ 6.56272535e-01 -7.54436223e-01 -1.15041309e-02 1.24527312e+02] [ 7.54323466e-01 6.56373348e-01 -1.30436252e-02 4.85950554e+01] [ 1.73915882e-02 -1.17662965e-04 9.99848748e-01 1.80976780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:48.62, Z:1.81 [[ 6.56363625e-01 -7.54362190e-01 -1.11569799e-02 1.24543930e+02] [ 7.54256073e-01 6.56458433e-01 -1.26531701e-02 4.86175040e+01] [ 1.68691666e-02 -1.10139229e-04 9.99857699e-01 1.81044571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:48.64, Z:1.81 [[ 6.56211292e-01 -7.54492640e-01 -1.12958674e-02 1.24561299e+02] [ 7.54383771e-01 6.56308498e-01 -1.28172221e-02 4.86385595e+01] [ 1.70840735e-02 -1.10613153e-04 9.99854050e-01 1.81094111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:48.66, Z:1.81 [[ 6.55765929e-01 -7.54878593e-01 -1.13734833e-02 1.24579301e+02] [ 7.54768200e-01 6.55864540e-01 -1.29100280e-02 4.86606960e+01] [ 1.72049681e-02 -1.18387023e-04 9.99851977e-01 1.81104098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62361786499997 meters Centerline goodness [0,1] 0.9999781521050447 Centerline is valid? [True, True] Translation: X:124.60, Y:48.68, Z:1.81 [[ 6.55347419e-01 -7.55243214e-01 -1.12893372e-02 1.24597034e+02] [ 7.55134394e-01 6.55444638e-01 -1.28208640e-02 4.86810376e+01] [ 1.70824060e-02 -1.22846657e-04 9.99854078e-01 1.81088636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:48.70, Z:1.81 [[ 6.53927740e-01 -7.56468522e-01 -1.15708621e-02 1.24615550e+02] [ 7.56354330e-01 6.54030084e-01 -1.31445067e-02 4.87025884e+01] [ 1.75110974e-02 -1.56114077e-04 9.99846657e-01 1.81032509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:48.72, Z:1.81 [[ 6.52784756e-01 -7.57454467e-01 -1.16100678e-02 1.24634828e+02] [ 7.57339584e-01 6.52887968e-01 -1.31930423e-02 4.87247312e+01] [ 1.75732024e-02 -1.80547039e-04 9.99845563e-01 1.81064021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71361786499997 meters Centerline goodness [0,1] 0.9999781148097082 Centerline is valid? [True, True] Translation: X:124.65, Y:48.75, Z:1.81 [[ 6.51383341e-01 -7.58660592e-01 -1.15693189e-02 1.24653847e+02] [ 7.58546593e-01 6.51486042e-01 -1.31530911e-02 4.87460091e+01] [ 1.75159817e-02 -2.08162985e-04 9.99846562e-01 1.81054551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:48.77, Z:1.81 [[ 6.48215828e-01 -7.61364787e-01 -1.18279578e-02 1.24673968e+02] [ 7.61245964e-01 6.48323670e-01 -1.34537134e-02 4.87669902e+01] [ 1.79115287e-02 -2.83075179e-04 9.99839536e-01 1.81074500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:48.79, Z:1.81 [[ 6.46732417e-01 -7.62626138e-01 -1.17709347e-02 1.24693562e+02] [ 7.62508570e-01 6.46839451e-01 -1.33942000e-02 4.87873381e+01] [ 1.78286720e-02 -3.12975264e-04 9.99841008e-01 1.81113822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters Centerline goodness [0,1] 0.9999780422467173 Centerline is valid? [True, True] Translation: X:124.71, Y:48.81, Z:1.81 [[ 6.44945648e-01 -7.64141838e-01 -1.15048867e-02 1.24712511e+02] [ 7.64029711e-01 6.45048162e-01 -1.30946145e-02 4.88089161e+01] [ 1.74273488e-02 -3.44760652e-04 9.99848073e-01 1.81207998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:48.83, Z:1.81 [[ 6.42218919e-01 -7.66443746e-01 -1.09015929e-02 1.24732421e+02] [ 7.66343305e-01 6.42311325e-01 -1.24137354e-02 4.88303373e+01] [ 1.65166464e-02 -3.82026961e-04 9.99863518e-01 1.81342630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:48.85, Z:1.81 [[ 6.40987608e-01 -7.67474783e-01 -1.08324952e-02 1.24751345e+02] [ 7.67375671e-01 6.41079008e-01 -1.23403862e-02 4.88501372e+01] [ 1.64154205e-02 -4.02558594e-04 9.99865177e-01 1.81353019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:48.87, Z:1.81 [[ 6.39688519e-01 -7.68559020e-01 -1.07531612e-02 1.24770840e+02] [ 7.68461456e-01 6.39778752e-01 -1.22531274e-02 4.88720556e+01] [ 1.62968957e-02 -4.25204994e-04 9.99867106e-01 1.81420517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:48.89, Z:1.81 [[ 6.38132132e-01 -7.69853509e-01 -1.06281260e-02 1.24789372e+02] [ 7.69758286e-01 6.38220474e-01 -1.21163914e-02 4.88944544e+01] [ 1.61109340e-02 -4.49229354e-04 9.99870110e-01 1.81480797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:48.91, Z:1.82 [[ 6.36395052e-01 -7.71288952e-01 -1.07093598e-02 1.24810228e+02] [ 7.71192385e-01 6.36484970e-01 -1.22143019e-02 4.89134123e+01] [ 1.62371027e-02 -4.85855374e-04 9.99868052e-01 1.81528895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:48.94, Z:1.82 [[ 6.35429784e-01 -7.72093550e-01 -1.00269343e-02 1.24828276e+02] [ 7.72008963e-01 6.35508715e-01 -1.14382611e-02 4.89357645e+01] [ 1.52036118e-02 -4.72671359e-04 9.99884307e-01 1.81600129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.013617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.85, Y:48.96, Z:1.82 [[ 6.34539217e-01 -7.72827732e-01 -9.86301909e-03 1.24847109e+02] [ 7.72745898e-01 6.34615685e-01 -1.12565105e-02 4.89579520e+01] [ 1.49585701e-02 -4.78910164e-04 9.99888000e-01 1.81701533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:48.98, Z:1.82 [[ 6.34321877e-01 -7.73011352e-01 -9.44492512e-03 1.24864553e+02] [ 7.72936261e-01 6.34392023e-01 -1.07841277e-02 4.89787615e+01] [ 1.43280383e-02 -4.59716960e-04 9.99897243e-01 1.81792548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:49.00, Z:1.82 [[ 6.34251030e-01 -7.73069196e-01 -9.46835129e-03 1.24881169e+02] [ 7.72993689e-01 6.34321532e-01 -1.08143737e-02 4.90014793e+01] [ 1.43662383e-02 -4.59948152e-04 9.99896694e-01 1.81830919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:49.03, Z:1.82 [[ 6.34971725e-01 -7.72477119e-01 -9.48731825e-03 1.24897954e+02] [ 7.72401158e-01 6.35042442e-01 -1.08419517e-02 4.90253555e+01] [ 1.44000094e-02 -4.43682822e-04 9.99896216e-01 1.81886686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:49.05, Z:1.82 [[ 6.34760367e-01 -7.72650838e-01 -9.48469855e-03 1.24916073e+02] [ 7.72574862e-01 6.34831068e-01 -1.08442430e-02 4.90461674e+01] [ 1.43999948e-02 -4.44143992e-04 9.99896216e-01 1.81923394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:49.07, Z:1.82 [[ 6.36153278e-01 -7.71512093e-01 -8.83724598e-03 1.24933016e+02] [ 7.71445956e-01 6.36214540e-01 -1.01091828e-02 4.90690538e+01] [ 1.34217411e-02 -3.86467913e-04 9.99909850e-01 1.81914113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:49.09, Z:1.82 [[ 6.37004550e-01 -7.70811037e-01 -8.69188635e-03 1.24951411e+02] [ 7.70746931e-01 6.37063744e-01 -9.94761959e-03 4.90897275e+01] [ 1.32050206e-02 -3.62565792e-04 9.99912744e-01 1.81957168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:49.11, Z:1.82 [[ 6.37296974e-01 -7.70573783e-01 -8.28318789e-03 1.24969892e+02] [ 7.70515527e-01 6.37350711e-01 -9.48122671e-03 4.91124755e+01] [ 1.25852804e-02 -3.39967787e-04 9.99920744e-01 1.82005930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:49.14, Z:1.82 [[ 6.38255089e-01 -7.69779967e-01 -8.32126822e-03 1.24987032e+02] [ 7.69721051e-01 6.38309250e-01 -9.52921594e-03 4.91364158e+01] [ 1.26469420e-02 -3.22984747e-04 9.99919972e-01 1.82015856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:49.16, Z:1.82 [[ 6.38655524e-01 -7.69445514e-01 -8.52779810e-03 1.25005212e+02] [ 7.69383547e-01 6.38712375e-01 -9.77037889e-03 4.91582820e+01] [ 1.29645844e-02 -3.21241103e-04 9.99915905e-01 1.81995393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:49.18, Z:1.82 [[ 6.39327230e-01 -7.68893134e-01 -8.00257604e-03 1.25022319e+02] [ 7.68838474e-01 6.39377248e-01 -9.17253036e-03 4.91804443e+01] [ 1.21693607e-02 -2.88439917e-04 9.99925909e-01 1.82011828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:49.20, Z:1.82 [[ 6.39871215e-01 -7.68443616e-01 -7.69661361e-03 1.25040069e+02] [ 7.68392973e-01 6.39917447e-01 -8.82610625e-03 4.92023445e+01] [ 1.17075623e-02 -2.66452487e-04 9.99931429e-01 1.82073231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:49.22, Z:1.82 [[ 6.40307722e-01 -7.68078713e-01 -7.81738306e-03 1.25057336e+02] [ 7.68026387e-01 6.40355388e-01 -8.96921698e-03 4.92242150e+01] [ 1.18949680e-02 -2.60897566e-04 9.99929218e-01 1.82113889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:49.25, Z:1.82 [[ 6.41938502e-01 -7.66716312e-01 -7.81386311e-03 1.25073928e+02] [ 7.66663873e-01 6.41986014e-01 -8.97011147e-03 4.92472272e+01] [ 1.18939216e-02 -2.32346641e-04 9.99929238e-01 1.82098366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:49.27, Z:1.82 [[ 6.42707590e-01 -7.66070427e-01 -7.94075772e-03 1.25090135e+02] [ 7.66016207e-01 6.42756604e-01 -9.11698696e-03 4.92710325e+01] [ 1.20882286e-02 -2.23192388e-04 9.99926910e-01 1.82084924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:49.29, Z:1.82 [[ 6.43384766e-01 -7.65499198e-01 -8.18660575e-03 1.25109124e+02] [ 7.65441463e-01 6.43436812e-01 -9.40402415e-03 4.92913139e+01] [ 1.24663364e-02 -2.15961601e-04 9.99922269e-01 1.82085925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.13, Y:49.31, Z:1.82 [[ 6.44155056e-01 -7.64851720e-01 -8.13085340e-03 1.25126588e+02] [ 7.64794701e-01 6.44206338e-01 -9.34128872e-03 4.93139849e+01] [ 1.23826480e-02 -2.01195233e-04 9.99923312e-01 1.82069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters Centerline goodness [0,1] 0.9999568304949383 Centerline is valid? [True, True] Translation: X:125.14, Y:49.34, Z:1.82 [[ 6.44968787e-01 -7.64162364e-01 -8.43478633e-03 1.25143094e+02] [ 7.64100878e-01 6.45023911e-01 -9.69547485e-03 4.93373371e+01] [ 1.28495558e-02 -1.91748992e-04 9.99917423e-01 1.82121593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55361786499998 meters Centerline goodness [0,1] 0.9998918334234721 Centerline is valid? [True, True] Translation: X:125.16, Y:49.36, Z:1.82 [[ 6.44876218e-01 -7.64244007e-01 -8.10932075e-03 1.25161014e+02] [ 7.64187131e-01 6.44927177e-01 -9.32545615e-03 4.93589858e+01] [ 1.23568453e-02 -1.83273671e-04 9.99923634e-01 1.82135511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:49.38, Z:1.82 [[ 6.44641217e-01 -7.64441168e-01 -8.20987482e-03 1.25178807e+02] [ 7.64382825e-01 6.44693467e-01 -9.44616732e-03 4.93811804e+01] [ 1.25138918e-02 -1.86098510e-04 9.99921681e-01 1.82166889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:49.40, Z:1.82 [[ 6.44276139e-01 -7.64747971e-01 -8.29440050e-03 1.25196643e+02] [ 7.64688379e-01 6.44329499e-01 -9.54876393e-03 4.94010290e+01] [ 1.26467248e-02 -1.90590921e-04 9.99920009e-01 1.82206374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:125.21, Y:49.42, Z:1.82 [[ 6.43906829e-01 -7.65057939e-01 -8.38728027e-03 1.25214965e+02] [ 7.64996993e-01 6.43961421e-01 -9.65860192e-03 4.94228220e+01] [ 1.27904750e-02 -1.97004460e-04 9.99918179e-01 1.82192779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67361786499998 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:125.23, Y:49.44, Z:1.82 [[ 6.43708385e-01 -7.65224941e-01 -8.38477917e-03 1.25232972e+02] [ 7.65163982e-01 6.43762962e-01 -9.66077265e-03 4.94437034e+01] [ 1.27904745e-02 -1.97010656e-04 9.99918179e-01 1.82229458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.25, Y:49.47, Z:1.82 [[ 6.43112956e-01 -7.65724746e-01 -8.44624010e-03 1.25251752e+02] [ 7.65662866e-01 6.43168384e-01 -9.73675015e-03 4.94654243e+01] [ 1.28880251e-02 -2.05142231e-04 9.99916925e-01 1.82276811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:49.49, Z:1.82 [[ 6.42725271e-01 -7.66053101e-01 -8.17758909e-03 1.25269332e+02] [ 7.65995070e-01 6.42777260e-01 -9.43116462e-03 4.94879554e+01] [ 1.24811412e-02 -2.02345095e-04 9.99922087e-01 1.82348696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:49.51, Z:1.82 [[ 6.42171384e-01 -7.66522846e-01 -7.65765386e-03 1.25289122e+02] [ 7.66471936e-01 6.42217011e-01 -8.83643726e-03 4.95081615e+01] [ 1.16912066e-02 -1.94869634e-04 9.99931637e-01 1.82429853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:49.53, Z:1.82 [[ 6.41735518e-01 -7.66884995e-01 -7.93278334e-03 1.25307716e+02] [ 7.66830364e-01 6.41784513e-01 -9.15599598e-03 4.95296775e+01] [ 1.21127334e-02 -2.07371311e-04 9.99926617e-01 1.82456213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:49.55, Z:1.82 [[ 6.40972631e-01 -7.67523050e-01 -7.90285911e-03 1.25325845e+02] [ 7.67468821e-01 6.41021312e-01 -9.12620380e-03 4.95507286e+01] [ 1.20704729e-02 -2.15551098e-04 9.99927126e-01 1.82388542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.34, Y:49.57, Z:1.82 [[ 6.40591436e-01 -7.67842673e-01 -7.76153142e-03 1.25342960e+02] [ 7.67790343e-01 6.40638418e-01 -8.96698972e-03 4.95736493e+01] [ 1.18575726e-02 -2.15052049e-04 9.99929673e-01 1.82395350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:49.59, Z:1.82 [[ 6.40280328e-01 -7.68100980e-01 -7.87313140e-03 1.25361308e+02] [ 7.68047091e-01 6.40328694e-01 -9.10104379e-03 4.95947169e+01] [ 1.20319126e-02 -2.19716366e-04 9.99927590e-01 1.82426054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:49.62, Z:1.82 [[ 6.40192998e-01 -7.68170890e-01 -8.14919825e-03 1.25380823e+02] [ 7.68113093e-01 6.40244823e-01 -9.42562133e-03 4.96154824e+01] [ 1.24579699e-02 -2.25289099e-04 9.99922371e-01 1.82442609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:49.64, Z:1.82 [[ 6.40210518e-01 -7.68154253e-01 -8.33881511e-03 1.25399278e+02] [ 7.68093664e-01 6.40264783e-01 -9.65043774e-03 4.96366710e+01] [ 1.27520744e-02 -2.26679306e-04 9.99918663e-01 1.82456182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:49.66, Z:1.82 [[ 6.40476712e-01 -7.67930954e-01 -8.46353322e-03 1.25417223e+02] [ 7.67868447e-01 6.40532592e-01 -9.80040443e-03 4.96568367e+01] [ 1.29472028e-02 -2.21949303e-04 9.99916157e-01 1.82467376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:49.68, Z:1.83 [[ 6.40908316e-01 -7.67569499e-01 -8.57878589e-03 1.25435791e+02] [ 7.67505209e-01 6.40965692e-01 -9.93662206e-03 4.96785063e+01] [ 1.31257554e-02 -2.15799148e-04 9.99913830e-01 1.82501474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:49.70, Z:1.83 [[ 6.41838888e-01 -7.66795190e-01 -8.24491775e-03 1.25453857e+02] [ 7.66735685e-01 6.41891814e-01 -9.55450076e-03 4.96994492e+01] [ 1.26186904e-02 -1.89222517e-04 9.99920363e-01 1.82536878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:49.72, Z:1.83 [[ 6.42122284e-01 -7.66560421e-01 -8.00579528e-03 1.25472154e+02] [ 7.66504285e-01 6.42172165e-01 -9.27862335e-03 4.97204691e+01] [ 1.22537243e-02 -1.78465564e-04 9.99924904e-01 1.82596349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:49.74, Z:1.83 [[ 6.42436262e-01 -7.66299429e-01 -7.79958005e-03 1.25489634e+02] [ 7.66246068e-01 6.42483585e-01 -9.04467834e-03 4.97405442e+01] [ 1.19420340e-02 -1.65768195e-04 9.99928678e-01 1.82638127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.51, Y:49.76, Z:1.83 [[ 6.42959179e-01 -7.65861777e-01 -7.69629164e-03 1.25507810e+02] [ 7.65809759e-01 6.43005222e-01 -8.92738762e-03 4.97600789e+01] [ 1.17859007e-02 -1.53949427e-04 9.99930532e-01 1.82724092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15361786499997 meters Centerline goodness [0,1] 0.9999131699481191 Centerline is valid? [True, True] Translation: X:125.53, Y:49.78, Z:1.83 [[ 6.42843473e-01 -7.65960875e-01 -7.49709557e-03 1.25525830e+02] [ 7.65911499e-01 6.42887171e-01 -8.69833855e-03 4.97802969e+01] [ 1.14823736e-02 -1.50441533e-04 9.99934064e-01 1.82762311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:49.80, Z:1.83 [[ 6.42328256e-01 -7.66396934e-01 -7.08172412e-03 1.25544195e+02] [ 7.66352884e-01 6.42367276e-01 -8.21819904e-03 4.98017901e+01] [ 1.08474704e-02 -1.48318248e-04 9.99941153e-01 1.82846739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21361786499997 meters Centerline goodness [0,1] 0.9999781897491821 Centerline is valid? [True, True] Translation: X:125.56, Y:49.82, Z:1.83 [[ 6.41810703e-01 -7.66828929e-01 -7.23987448e-03 1.25562991e+02] [ 7.66782864e-01 6.41851517e-01 -8.40652266e-03 4.98225638e+01] [ 1.10932892e-02 -1.56015476e-04 9.99938455e-01 1.82834669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:49.84, Z:1.83 [[ 6.41361622e-01 -7.67199288e-01 -7.77965991e-03 1.25582548e+02] [ 7.67146057e-01 6.41408781e-01 -9.03894566e-03 4.98413174e+01] [ 1.19246148e-02 -1.70902579e-04 9.99928885e-01 1.82792034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:49.86, Z:1.83 [[ 6.41078571e-01 -7.67435491e-01 -7.81237000e-03 1.25601405e+02] [ 7.67381798e-01 6.41126147e-01 -9.07959293e-03 4.98618443e+01] [ 1.19767165e-02 -1.74338077e-04 9.99928261e-01 1.82789059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters Centerline goodness [0,1] 0.9999566311041721 Centerline is valid? [True, True] Translation: X:125.62, Y:49.88, Z:1.83 [[ 6.40923297e-01 -7.67564454e-01 -7.88268509e-03 1.25618701e+02] [ 7.67509742e-01 6.40971746e-01 -9.16611006e-03 4.98840827e+01] [ 1.20881587e-02 -1.75264114e-04 9.99926920e-01 1.82770862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:49.90, Z:1.83 [[ 6.40874955e-01 -7.67603674e-01 -7.99323460e-03 1.25638290e+02] [ 7.67547353e-01 6.40924777e-01 -9.30004530e-03 4.99035310e+01] [ 1.22618110e-02 -1.75019950e-04 9.99924806e-01 1.82861776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:49.93, Z:1.83 [[ 6.41430035e-01 -7.67143492e-01 -7.64025371e-03 1.25655501e+02] [ 7.67091967e-01 6.41475517e-01 -8.89241223e-03 4.99267240e+01] [ 1.17227919e-02 -1.56916961e-04 9.99931273e-01 1.82893339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:49.95, Z:1.83 [[ 6.41580918e-01 -7.67017912e-01 -7.57946378e-03 1.25673930e+02] [ 7.66967148e-01 6.41625669e-01 -8.82583522e-03 4.99477280e+01] [ 1.16327522e-02 -1.50712258e-04 9.99932326e-01 1.82991097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:49.97, Z:1.83 [[ 6.41693493e-01 -7.66924918e-01 -7.45863716e-03 1.25692513e+02] [ 7.66875694e-01 6.41736823e-01 -8.69021766e-03 4.99679980e+01] [ 1.14512266e-02 -1.43391428e-04 9.99934422e-01 1.83028690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:49.99, Z:1.83 [[ 6.41730060e-01 -7.66894421e-01 -7.44829708e-03 1.25710277e+02] [ 7.66845307e-01 6.41773267e-01 -8.68036557e-03 4.99893603e+01] [ 1.14370419e-02 -1.41240145e-04 9.99934585e-01 1.83081005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:50.01, Z:1.83 [[ 6.41728536e-01 -7.66889692e-01 -8.04279959e-03 1.25729498e+02] [ 7.66832351e-01 6.41778917e-01 -9.37912820e-03 5.00090461e+01] [ 1.23544559e-02 -1.48624705e-04 9.99923670e-01 1.83089784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.513617865 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:50.03, Z:1.83 [[ 6.41163114e-01 -7.67359365e-01 -8.33469156e-03 1.25748113e+02] [ 7.67297787e-01 6.41217264e-01 -9.72248267e-03 5.00302449e+01] [ 1.28049862e-02 -1.61493125e-04 9.99918000e-01 1.83128849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:50.05, Z:1.83 [[ 6.40784849e-01 -7.67675726e-01 -8.29200575e-03 1.25766330e+02] [ 7.67614735e-01 6.40838477e-01 -9.67808628e-03 5.00500613e+01] [ 1.27434682e-02 -1.63494748e-04 9.99918785e-01 1.83184023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.79, Y:50.07, Z:1.83 [[ 6.40119386e-01 -7.68228862e-01 -8.46097832e-03 1.25785402e+02] [ 7.68165367e-01 6.40175277e-01 -9.87841840e-03 5.00716182e+01] [ 1.30053953e-02 -1.76063401e-04 9.99915411e-01 1.83210359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.81, Y:50.09, Z:1.83 [[ 6.38649324e-01 -7.69452073e-01 -8.39930785e-03 1.25805451e+02] [ 7.69389547e-01 6.38704524e-01 -9.81104374e-03 5.00927025e+01] [ 1.29138039e-02 -1.96523216e-04 9.99916594e-01 1.83225696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:50.11, Z:1.83 [[ 6.37705610e-01 -7.70232263e-01 -8.59161565e-03 1.25824520e+02] [ 7.70166846e-01 6.37763447e-01 -1.00406176e-02 5.01142563e+01] [ 1.32130260e-02 -2.14019365e-04 9.99912681e-01 1.83305761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:50.13, Z:1.83 [[ 6.36418247e-01 -7.71296624e-01 -8.56343264e-03 1.25845001e+02] [ 7.71231668e-01 6.36475815e-01 -1.00125678e-02 5.01328075e+01] [ 1.31730775e-02 -2.32209591e-04 9.99913204e-01 1.83399564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.86, Y:50.15, Z:1.83 [[ 6.35841095e-01 -7.71770824e-01 -8.71188868e-03 1.25864132e+02] [ 7.71703616e-01 6.35900727e-01 -1.01879301e-02 5.01545744e+01] [ 1.34026435e-02 -2.45091387e-04 9.99910151e-01 1.83445342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:50.18, Z:1.84 [[ 6.35207382e-01 -7.72293037e-01 -8.66289284e-03 1.25883327e+02] [ 7.72226567e-01 6.35266402e-01 -1.01354647e-02 5.01756078e+01] [ 1.33307936e-02 -2.51593994e-04 9.99911109e-01 1.83507452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.90, Y:50.20, Z:1.84 [[ 6.34688098e-01 -7.72718832e-01 -8.75357637e-03 1.25902856e+02] [ 7.72650936e-01 6.34748406e-01 -1.02465103e-02 5.01966797e+01] [ 1.34739901e-02 -2.60120837e-04 9.99909188e-01 1.83529389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78361786499997 meters Centerline goodness [0,1] 0.9999563032554075 Centerline is valid? [True, True] Translation: X:125.92, Y:50.22, Z:1.84 [[ 6.34490716e-01 -7.72875608e-01 -9.21016420e-03 1.25921437e+02] [ 7.72800384e-01 6.34557500e-01 -1.07864169e-02 5.02181441e+01] [ 1.41809373e-02 -2.73737042e-04 9.99899408e-01 1.83545120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:50.24, Z:1.84 [[ 6.34621494e-01 -7.72768425e-01 -9.19347210e-03 1.25939731e+02] [ 7.72693379e-01 6.34688025e-01 -1.07727567e-02 5.02389482e+01] [ 1.41598329e-02 -2.67112048e-04 9.99899709e-01 1.83584818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84361786499997 meters Centerline goodness [0,1] 0.9999781559230215 Centerline is valid? [True, True] Translation: X:125.96, Y:50.26, Z:1.84 [[ 6.34885086e-01 -7.72550009e-01 -9.34940117e-03 1.25959264e+02] [ 7.72472284e-01 6.34953868e-01 -1.09615612e-02 5.02598007e+01] [ 1.44047927e-02 -2.62821527e-04 9.99896211e-01 1.83654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:50.28, Z:1.84 [[ 6.35093636e-01 -7.72379930e-01 -9.23671910e-03 1.25977662e+02] [ 7.72303973e-01 6.35160751e-01 -1.08348462e-02 5.02798573e+01] [ 1.42354192e-02 -2.52412976e-04 9.99898639e-01 1.83702486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90361786499997 meters Centerline goodness [0,1] 0.9999344262295082 Centerline is valid? [True, True] Translation: X:126.00, Y:50.30, Z:1.84 [[ 6.35504028e-01 -7.72042259e-01 -9.24022451e-03 1.25996846e+02] [ 7.71966163e-01 6.35571154e-01 -1.08421119e-02 5.03013717e+01] [ 1.42433887e-02 -2.42934899e-04 9.99898528e-01 1.83787646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.02, Y:50.32, Z:1.84 [[ 6.36602842e-01 -7.71140108e-01 -8.93058271e-03 1.26016045e+02] [ 7.71068872e-01 6.36665445e-01 -1.04835511e-02 5.03233555e+01] [ 1.37700802e-02 -2.12235902e-04 9.99905165e-01 1.83896517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:50.35, Z:1.84 [[ 6.37180324e-01 -7.70667413e-01 -8.54240808e-03 1.26034475e+02] [ 7.70602134e-01 6.37237556e-01 -1.00323745e-02 5.03450446e+01] [ 1.31751674e-02 -1.90366252e-04 9.99913186e-01 1.83913580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:50.37, Z:1.84 [[ 6.37722811e-01 -7.70218918e-01 -8.51084647e-03 1.26051696e+02] [ 7.70154020e-01 6.37779576e-01 -9.99995313e-03 5.03654040e+01] [ 1.31301971e-02 -1.77464392e-04 9.99913780e-01 1.83933620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.07, Y:50.39, Z:1.84 [[ 6.38372772e-01 -7.69682164e-01 -8.34093471e-03 1.26069483e+02] [ 7.69619730e-01 6.38427241e-01 -9.80458117e-03 5.03887562e+01] [ 1.28714912e-02 -1.60370258e-04 9.99917146e-01 1.83948097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:50.41, Z:1.84 [[ 6.39341625e-01 -7.68878309e-01 -8.27245455e-03 1.26088061e+02] [ 7.68816767e-01 6.39395126e-01 -9.72887643e-03 5.04092465e+01] [ 1.27696892e-02 -1.39926101e-04 9.99918454e-01 1.83979271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters Centerline goodness [0,1] 0.9998906123520532 Centerline is valid? [True, True] Translation: X:126.11, Y:50.43, Z:1.84 [[ 6.39587459e-01 -7.68672433e-01 -8.40085130e-03 1.26106917e+02] [ 7.68608911e-01 6.39642613e-01 -9.88277313e-03 5.04284606e+01] [ 1.29701577e-02 -1.36071423e-04 9.99915875e-01 1.84044066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11361786499998 meters Centerline goodness [0,1] 0.9998904901660169 Centerline is valid? [True, True] Translation: X:126.12, Y:50.45, Z:1.84 [[ 6.39939729e-01 -7.68383188e-01 -8.02618572e-03 1.26124750e+02] [ 7.68325153e-01 6.39990048e-01 -9.44444310e-03 5.04499044e+01] [ 1.23936303e-02 -1.22846008e-04 9.99923188e-01 1.84131973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters Centerline goodness [0,1] 0.9999346134565507 Centerline is valid? [True, True] Translation: X:126.14, Y:50.47, Z:1.84 [[ 6.39981836e-01 -7.68350025e-01 -7.84143527e-03 1.26142859e+02] [ 7.68294566e-01 6.40029863e-01 -9.23221687e-03 5.04701256e+01] [ 1.21123268e-02 -1.16081007e-04 9.99926636e-01 1.84210697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17361786499998 meters Centerline goodness [0,1] 0.9999123575810692 Centerline is valid? [True, True] Translation: X:126.16, Y:50.49, Z:1.84 [[ 6.39797386e-01 -7.68504248e-01 -7.77989583e-03 1.26161198e+02] [ 7.68449628e-01 6.39844675e-01 -9.16303289e-03 5.04916580e+01] [ 1.20197546e-02 -1.15973570e-04 9.99927753e-01 1.84219693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters Centerline goodness [0,1] 0.99995609895296 Centerline is valid? [True, True] Translation: X:126.18, Y:50.51, Z:1.84 [[ 6.39342367e-01 -7.68882834e-01 -7.77986958e-03 1.26180111e+02] [ 7.68828182e-01 6.39389689e-01 -9.16803185e-03 5.05125067e+01] [ 1.20235107e-02 -1.19871805e-04 9.99927708e-01 1.84222007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.20, Y:50.53, Z:1.84 [[ 6.38935193e-01 -7.69220681e-01 -7.83345922e-03 1.26198879e+02] [ 7.69165237e-01 6.38983199e-01 -9.23636337e-03 5.05332612e+01] [ 1.21102506e-02 -1.23786908e-04 9.99926661e-01 1.84232178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters Centerline goodness [0,1] 0.9998684066235333 Centerline is valid? [True, True] Translation: X:126.22, Y:50.55, Z:1.84 [[ 6.38450356e-01 -7.69621619e-01 -7.98163852e-03 1.26217869e+02] [ 7.69564023e-01 6.38500232e-01 -9.41642335e-03 5.05539407e+01] [ 1.23433610e-02 -1.30463010e-04 9.99923809e-01 1.84252996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.24, Y:50.57, Z:1.84 [[ 6.37659543e-01 -7.70278081e-01 -7.87307836e-03 1.26237473e+02] [ 7.70222025e-01 6.37708130e-01 -9.29370427e-03 5.05743311e+01] [ 1.21794628e-02 -1.37799145e-04 9.99925818e-01 1.84248701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.26, Y:50.60, Z:1.84 [[ 6.37156215e-01 -7.70691484e-01 -8.16045149e-03 1.26255504e+02] [ 7.70631266e-01 6.37208454e-01 -9.63523607e-03 5.05953122e+01] [ 1.26257031e-02 -1.49548518e-04 9.99920281e-01 1.84262040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.27, Y:50.62, Z:1.84 [[ 6.36847371e-01 -7.70944186e-01 -8.39574006e-03 1.26273897e+02] [ 7.70880392e-01 6.36902691e-01 -9.91884229e-03 5.06152426e+01] [ 1.29941432e-02 -1.55322745e-04 9.99915560e-01 1.84261756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:50.64, Z:1.84 [[ 6.36135080e-01 -7.71531431e-01 -8.45045925e-03 1.26292787e+02] [ 7.71466813e-01 6.36191184e-01 -9.98668280e-03 5.06356158e+01] [ 1.30811474e-02 -1.66369601e-04 9.99914424e-01 1.84289993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:50.66, Z:1.84 [[ 6.34960315e-01 -7.72495297e-01 -8.74158234e-03 1.26312864e+02] [ 7.72426204e-01 6.35020457e-01 -1.03333705e-02 5.06568998e+01] [ 1.35335637e-02 -1.90947060e-04 9.99908399e-01 1.84282961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:50.68, Z:1.84 [[ 6.34183140e-01 -7.73133016e-01 -8.77972375e-03 1.26332166e+02] [ 7.73063314e-01 6.34243879e-01 -1.03833700e-02 5.06777884e+01] [ 1.35962122e-02 -2.02324144e-04 9.99907547e-01 1.84314943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.35, Y:50.70, Z:1.84 [[ 6.33359023e-01 -7.73806532e-01 -8.93308240e-03 1.26351883e+02] [ 7.73734363e-01 6.33421980e-01 -1.05703215e-02 5.06970713e+01] [ 1.38377945e-02 -2.17024348e-04 9.99904230e-01 1.84320790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.37, Y:50.72, Z:1.84 [[ 6.32703683e-01 -7.74342045e-01 -8.96919214e-03 1.26370219e+02] [ 7.74269275e-01 6.32767213e-01 -1.06181147e-02 5.07192071e+01] [ 1.38974634e-02 -2.26449619e-04 9.99903400e-01 1.84342600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53361786499997 meters Centerline goodness [0,1] 0.999955959747209 Centerline is valid? [True, True] Translation: X:126.39, Y:50.74, Z:1.84 [[ 6.32060725e-01 -7.74865618e-01 -9.08373120e-03 1.26389775e+02] [ 7.74790960e-01 6.32125951e-01 -1.07587486e-02 5.07391280e+01] [ 1.40786466e-02 -2.37810357e-04 9.99900863e-01 1.84368998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:50.76, Z:1.84 [[ 6.30769327e-01 -7.75918124e-01 -9.00672561e-03 1.26409432e+02] [ 7.75844796e-01 6.30833575e-01 -1.06701758e-02 5.07606971e+01] [ 1.39609277e-02 -2.57401587e-04 9.99902508e-01 1.84461331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.43, Y:50.78, Z:1.84 [[ 6.30567888e-01 -7.76081865e-01 -9.00428820e-03 1.26427156e+02] [ 7.76008526e-01 6.30632121e-01 -1.06722323e-02 5.07818362e+01] [ 1.39609193e-02 -2.57837440e-04 9.99902508e-01 1.84498028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62361786499997 meters Centerline goodness [0,1] 0.9999779628895059 Centerline is valid? [True, True] Translation: X:126.44, Y:50.80, Z:1.85 [[ 6.30036343e-01 -7.76513386e-01 -9.00934733e-03 1.26444233e+02] [ 7.76439929e-01 6.30100700e-01 -1.06838752e-02 5.08046162e+01] [ 1.39729681e-02 -2.63987351e-04 9.99902338e-01 1.84547482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:50.83, Z:1.85 [[ 6.29539758e-01 -7.76918921e-01 -8.75689951e-03 1.26463057e+02] [ 7.76849486e-01 6.29600605e-01 -1.03901045e-02 5.08254400e+01] [ 1.35856180e-02 -2.61809026e-04 9.99907677e-01 1.84649906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68361786499997 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:126.48, Y:50.85, Z:1.85 [[ 6.28972328e-01 -7.77379526e-01 -8.65345518e-03 1.26482270e+02] [ 7.77311726e-01 6.29031797e-01 -1.02703142e-02 5.08470072e+01] [ 1.34272304e-02 -2.66688756e-04 9.99909815e-01 1.84719302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.50, Y:50.87, Z:1.85 [[ 6.27692490e-01 -7.78420244e-01 -8.00378419e-03 1.26500664e+02] [ 7.78362275e-01 6.27743461e-01 -9.50343629e-03 5.08690539e+01] [ 1.24219904e-02 -2.64608084e-04 9.99922809e-01 1.84849810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.52, Y:50.89, Z:1.85 [[ 6.27326292e-01 -7.78719354e-01 -7.60862461e-03 1.26519936e+02] [ 7.78666937e-01 6.27372380e-01 -9.03863107e-03 5.08894768e+01] [ 1.18119979e-02 -2.54413506e-04 9.99930204e-01 1.84911259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:50.91, Z:1.85 [[ 6.26756794e-01 -7.79180772e-01 -7.29695153e-03 1.26538074e+02] [ 7.79132570e-01 6.26799219e-01 -8.67048693e-03 5.09117240e+01] [ 1.13296002e-02 -2.51006006e-04 9.99935787e-01 1.85017521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters Centerline goodness [0,1] 0.9998905285282655 Centerline is valid? [True, True] Translation: X:126.56, Y:50.93, Z:1.85 [[ 6.26051390e-01 -7.79748506e-01 -7.20582758e-03 1.26556781e+02] [ 7.79701489e-01 6.26092806e-01 -8.56662661e-03 5.09322277e+01] [ 1.11913311e-02 -2.55245994e-04 9.99937343e-01 1.85086122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83361786499998 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:126.57, Y:50.95, Z:1.85 [[ 6.25708917e-01 -7.80022982e-01 -7.24556155e-03 1.26574329e+02] [ 7.79975444e-01 6.25750813e-01 -8.61552145e-03 5.09537948e+01] [ 1.12542208e-02 -2.60551484e-04 9.99936635e-01 1.85138853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters Centerline goodness [0,1] 0.9999341354175815 Centerline is valid? [True, True] Translation: X:126.59, Y:50.98, Z:1.85 [[ 6.25422609e-01 -7.80252425e-01 -7.26038448e-03 1.26590893e+02] [ 7.80204656e-01 6.25464694e-01 -8.63771933e-03 5.09771455e+01] [ 1.12807156e-02 -2.62360818e-04 9.99936336e-01 1.85097172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.61, Y:51.00, Z:1.85 [[ 6.26037920e-01 -7.79754054e-01 -7.75483934e-03 1.26607697e+02] [ 7.79699448e-01 6.26085892e-01 -9.23184986e-03 5.09993832e+01] [ 1.20537679e-02 -2.66955863e-04 9.99927315e-01 1.85104468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:51.02, Z:1.85 [[ 6.26521731e-01 -7.79364726e-01 -7.81957368e-03 1.26625454e+02] [ 7.79309154e-01 6.26570472e-01 -9.31052435e-03 5.10214592e+01] [ 1.21558082e-02 -2.60619524e-04 9.99926081e-01 1.85093955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95361786499998 meters Centerline goodness [0,1] 0.9999121072291804 Centerline is valid? [True, True] Translation: X:126.64, Y:51.04, Z:1.85 [[ 6.26942520e-01 -7.79025246e-01 -7.92104840e-03 1.26642491e+02] [ 7.78968178e-01 6.26992504e-01 -9.43275854e-03 5.10428494e+01] [ 1.23147950e-02 -2.56447230e-04 9.99924137e-01 1.85049815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.66, Y:51.07, Z:1.85 [[ 6.27183142e-01 -7.78827488e-01 -8.30966925e-03 1.26660119e+02] [ 7.78764606e-01 6.27238133e-01 -9.90009849e-03 5.10664000e+01] [ 1.29226103e-02 -2.62101423e-04 9.99916465e-01 1.85061084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.013617865 meters Centerline goodness [0,1] 0.9999780243929238 Centerline is valid? [True, True] Translation: X:126.68, Y:51.09, Z:1.85 [[ 6.27831363e-01 -7.78305934e-01 -8.22508821e-03 1.26676650e+02] [ 7.78244224e-01 6.27885190e-01 -9.80388841e-03 5.10896795e+01] [ 1.27948356e-02 -2.45938762e-04 9.99918112e-01 1.85051705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:51.11, Z:1.85 [[ 6.27901767e-01 -7.78252170e-01 -7.93290138e-03 1.26692623e+02] [ 7.78194704e-01 6.27951833e-01 -9.46032677e-03 5.11129646e+01] [ 1.23439998e-02 -2.33185946e-04 9.99923783e-01 1.85075354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.71, Y:51.13, Z:1.85 [[ 6.28545617e-01 -7.77735081e-01 -7.65187548e-03 1.26710973e+02] [ 7.77681512e-01 6.28592157e-01 -9.13051713e-03 5.11340884e+01] [ 1.19110324e-02 -2.11775570e-04 9.99929039e-01 1.85159069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10361786499996 meters Centerline goodness [0,1] 0.9999120898441792 Centerline is valid? [True, True] Translation: X:126.73, Y:51.16, Z:1.85 [[ 6.28686910e-01 -7.77621124e-01 -7.62606977e-03 1.26728329e+02] [ 7.77567894e-01 6.28733126e-01 -9.10089548e-03 5.11566045e+01] [ 1.18718113e-02 -2.08173154e-04 9.99929506e-01 1.85187541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:51.18, Z:1.85 [[ 6.28713764e-01 -7.77602248e-01 -7.33115293e-03 1.26745247e+02] [ 7.77553004e-01 6.28756475e-01 -8.75332653e-03 5.11790783e+01] [ 1.14161163e-02 -1.97023114e-04 9.99934815e-01 1.85224738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.76, Y:51.20, Z:1.85 [[ 6.28737728e-01 -7.77585042e-01 -7.09724831e-03 1.26761463e+02] [ 7.77538841e-01 6.28777756e-01 -8.47842496e-03 5.12016133e+01] [ 1.10552883e-02 -1.87680576e-04 9.99938871e-01 1.85272450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19361786499996 meters Centerline goodness [0,1] 0.9999342566619915 Centerline is valid? [True, True] Translation: X:126.78, Y:51.22, Z:1.85 [[ 6.28492034e-01 -7.77787826e-01 -6.62274187e-03 1.26778781e+02] [ 7.77747567e-01 6.28526902e-01 -7.91547229e-03 5.12232713e+01] [ 1.03191294e-02 -1.76010094e-04 9.99946741e-01 1.85244854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:51.25, Z:1.85 [[ 6.27978894e-01 -7.78202831e-01 -6.54689438e-03 1.26796054e+02] [ 7.78163470e-01 6.28012995e-01 -7.82894162e-03 5.12450315e+01] [ 1.02040393e-02 -1.78143942e-04 9.99947922e-01 1.85297207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:51.27, Z:1.85 [[ 6.27147458e-01 -7.78876391e-01 -6.13458207e-03 1.26814840e+02] [ 7.78841828e-01 6.27177436e-01 -7.33969583e-03 5.12672301e+01] [ 9.56418726e-03 -1.74797531e-04 9.99954247e-01 1.85331918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.83, Y:51.29, Z:1.85 [[ 6.26389483e-01 -7.79485548e-01 -6.20446951e-03 1.26831671e+02] [ 7.79450189e-01 6.26420183e-01 -7.42677096e-03 5.12908630e+01] [ 9.67566556e-03 -1.84023707e-04 9.99953173e-01 1.85296860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31361786499997 meters Centerline goodness [0,1] 0.9999125071087974 Centerline is valid? [True, True] Translation: X:126.85, Y:51.31, Z:1.85 [[ 6.25924977e-01 -7.79857169e-01 -6.38123466e-03 1.26849379e+02] [ 7.79819748e-01 6.25957474e-01 -7.64211708e-03 5.13120799e+01] [ 9.95414132e-03 -1.92820847e-04 9.99950438e-01 1.85297405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34361786499997 meters Centerline goodness [0,1] 0.9999562133286628 Centerline is valid? [True, True] Translation: X:126.87, Y:51.33, Z:1.85 [[ 6.25453329e-01 -7.80235746e-01 -6.34931891e-03 1.26867535e+02] [ 7.80198668e-01 6.25485525e-01 -7.60898790e-03 5.13337206e+01] [ 9.90821142e-03 -1.94663344e-04 9.99950894e-01 1.85294239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.89, Y:51.36, Z:1.85 [[ 6.25131237e-01 -7.80494698e-01 -6.24200127e-03 1.26885303e+02] [ 7.80458865e-01 6.25162369e-01 -7.48140387e-03 5.13558014e+01] [ 9.74146036e-03 -1.94765970e-04 9.99952532e-01 1.85338731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:51.38, Z:1.85 [[ 6.24738374e-01 -7.80811112e-01 -5.99755485e-03 1.26903140e+02] [ 7.80778002e-01 6.24767134e-01 -7.19312076e-03 5.13778628e+01] [ 9.36354377e-03 -1.88940324e-04 9.99956143e-01 1.85366378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43361786499997 meters Centerline goodness [0,1] 0.9999563661750589 Centerline is valid? [True, True] Translation: X:126.92, Y:51.40, Z:1.85 [[ 6.24363344e-01 -7.81112532e-01 -5.79891216e-03 1.26921318e+02] [ 7.81081576e-01 6.24390245e-01 -6.95656222e-03 5.13984726e+01] [ 9.05464211e-03 -1.86001005e-04 9.99958989e-01 1.85424295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46361786499997 meters Centerline goodness [0,1] 0.999978093235191 Centerline is valid? [True, True] Translation: X:126.94, Y:51.42, Z:1.85 [[ 6.24009675e-01 -7.81397577e-01 -5.45464588e-03 1.26938618e+02] [ 7.81370195e-01 6.24033489e-01 -6.54394504e-03 5.14209459e+01] [ 8.51730449e-03 -1.78612703e-04 9.99963711e-01 1.85459906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:51.44, Z:1.86 [[ 6.23665321e-01 -7.81672388e-01 -5.46310129e-03 1.26956846e+02] [ 7.81644893e-01 6.23689222e-01 -6.55863655e-03 5.14406845e+01] [ 8.53398249e-03 -1.79811055e-04 9.99963569e-01 1.85535872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.97, Y:51.46, Z:1.85 [[ 6.23099435e-01 -7.82125761e-01 -5.13699277e-03 1.26973896e+02] [ 7.82101457e-01 6.23120586e-01 -6.16827240e-03 5.14641421e+01] [ 8.02533069e-03 -1.74202482e-04 9.99967781e-01 1.85477576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.99, Y:51.49, Z:1.85 [[ 6.23019671e-01 -7.82190679e-01 -4.92246131e-03 1.26991541e+02] [ 7.82168347e-01 6.23039095e-01 -5.91300489e-03 5.14863494e+01] [ 7.69198315e-03 -1.66275064e-04 9.99970402e-01 1.85440066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters Centerline goodness [0,1] 0.999956176870152 Centerline is valid? [True, True] Translation: X:127.01, Y:51.51, Z:1.85 [[ 6.22990014e-01 -7.82212934e-01 -5.13510847e-03 1.27009398e+02] [ 7.82188601e-01 6.23011153e-01 -6.17209745e-03 5.15083528e+01] [ 8.02712430e-03 -1.71468238e-04 9.99967767e-01 1.85439985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61361786499998 meters Centerline goodness [0,1] 0.9999781697520084 Centerline is valid? [True, True] Translation: X:127.03, Y:51.53, Z:1.85 [[ 6.23021137e-01 -7.82184446e-01 -5.67054280e-03 1.27026710e+02] [ 7.82154727e-01 6.23046915e-01 -6.82092509e-03 5.15290083e+01] [ 8.86823571e-03 -1.85661350e-04 9.99960659e-01 1.85427578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.04, Y:51.55, Z:1.85 [[ 6.22900054e-01 -7.82281193e-01 -5.62648387e-03 1.27044222e+02] [ 7.82251930e-01 6.22925438e-01 -6.76879358e-03 5.15510061e+01] [ 8.79997985e-03 -1.85045983e-04 9.99961262e-01 1.85436982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:51.57, Z:1.85 [[ 6.22711239e-01 -7.82429783e-01 -5.86071386e-03 1.27061950e+02] [ 7.82397995e-01 6.22738788e-01 -7.05544012e-03 5.15716947e+01] [ 9.17008033e-03 -1.91908908e-04 9.99957936e-01 1.85477411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.08, Y:51.59, Z:1.85 [[ 6.22493297e-01 -7.82600925e-01 -6.15530849e-03 1.27077980e+02] [ 7.82565854e-01 6.22523695e-01 -7.41176047e-03 5.15946648e+01] [ 9.63227598e-03 -2.03163030e-04 9.99953588e-01 1.85331820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.10, Y:51.61, Z:1.85 [[ 6.22393316e-01 -7.82679712e-01 -6.24730793e-03 1.27095808e+02] [ 7.82643539e-01 6.22424636e-01 -7.52749747e-03 5.16148957e+01] [ 9.78009791e-03 -2.04351077e-04 9.99952153e-01 1.85356645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.11, Y:51.64, Z:1.85 [[ 6.22213103e-01 -7.82821054e-01 -6.48468447e-03 1.27113489e+02] [ 7.82782069e-01 6.22246858e-01 -7.81543006e-03 5.16365309e+01] [ 1.01531577e-02 -2.13231735e-04 9.99948433e-01 1.85401791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79361786499996 meters Centerline goodness [0,1] 0.999956167265714 Centerline is valid? [True, True] Translation: X:127.13, Y:51.66, Z:1.85 [[ 6.22156293e-01 -7.82865757e-01 -6.53865110e-03 1.27130907e+02] [ 7.82826078e-01 6.22190615e-01 -7.88475233e-03 5.16588886e+01] [ 1.02409900e-02 -2.13078318e-04 9.99947537e-01 1.85432054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:51.68, Z:1.85 [[ 6.21967072e-01 -7.83018882e-01 -6.19620255e-03 1.27149444e+02] [ 7.82983212e-01 6.21997902e-01 -7.47656132e-03 5.16790746e+01] [ 9.70831367e-03 -2.01347625e-04 9.99952853e-01 1.85475794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:51.70, Z:1.86 [[ 6.21597237e-01 -7.83314741e-01 -5.90688020e-03 1.27166563e+02] [ 7.83282336e-01 6.21625271e-01 -7.12773328e-03 5.17012328e+01] [ 9.25512456e-03 -1.96175612e-04 9.99957151e-01 1.85500223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.19, Y:51.72, Z:1.86 [[ 6.21163926e-01 -7.83661696e-01 -5.45195088e-03 1.27185844e+02] [ 7.83634067e-01 6.21187824e-01 -6.58306481e-03 5.17212824e+01] [ 8.54558124e-03 -1.83172053e-04 9.99963469e-01 1.85554633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:51.74, Z:1.86 [[ 6.21048525e-01 -7.83754813e-01 -5.20782389e-03 1.27202352e+02] [ 7.83729605e-01 6.21070335e-01 -6.28847509e-03 5.17435331e+01] [ 8.16304755e-03 -1.76077575e-04 9.99966666e-01 1.85578319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:51.76, Z:1.86 [[ 6.20968229e-01 -7.83819148e-01 -5.09924395e-03 1.27220518e+02] [ 7.83794954e-01 6.20989141e-01 -6.16081496e-03 5.17641024e+01] [ 7.99553985e-03 -1.71091326e-04 9.99968021e-01 1.85638190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:51.79, Z:1.86 [[ 6.21393213e-01 -7.83480318e-01 -5.39132629e-03 1.27238604e+02] [ 7.83453233e-01 6.21416576e-01 -6.51698794e-03 5.17854971e+01] [ 8.45619131e-03 -1.74239935e-04 9.99964231e-01 1.85709481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.26, Y:51.81, Z:1.86 [[ 6.21839062e-01 -7.83124672e-01 -5.65058697e-03 1.27256588e+02] [ 7.83094869e-01 6.21864710e-01 -6.83441181e-03 5.18075704e+01] [ 8.86609714e-03 -1.75041429e-04 9.99960680e-01 1.85689660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:51.83, Z:1.86 [[ 6.22518166e-01 -7.82584190e-01 -5.75492906e-03 1.27274362e+02] [ 7.82553222e-01 6.22544744e-01 -6.96400160e-03 5.18298602e+01] [ 9.03261839e-03 -1.68320774e-04 9.99959191e-01 1.85739556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:51.85, Z:1.86 [[ 6.23254284e-01 -7.82000742e-01 -5.37931168e-03 1.27291721e+02] [ 7.81973642e-01 6.23277480e-01 -6.51200895e-03 5.18521754e+01] [ 8.44519966e-03 -1.47842469e-04 9.99964328e-01 1.85760826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09361786499997 meters Centerline goodness [0,1] 0.9999562736395636 Centerline is valid? [True, True] Translation: X:127.31, Y:51.87, Z:1.86 [[ 6.25376558e-01 -7.80304447e-01 -5.39728986e-03 1.27308669e+02] [ 7.80277061e-01 6.25399836e-01 -6.53857007e-03 5.18740918e+01] [ 8.47753950e-03 -1.22313029e-04 9.99964058e-01 1.85671574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:51.90, Z:1.86 [[ 6.26403283e-01 -7.79480859e-01 -5.34024723e-03 1.27326139e+02] [ 7.79454021e-01 6.26426036e-01 -6.46920659e-03 5.18968032e+01] [ 8.38789262e-03 -1.10144931e-04 9.99964815e-01 1.85868364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:51.92, Z:1.86 [[ 6.28048792e-01 -7.78154156e-01 -5.55208575e-03 1.27343188e+02] [ 7.78125062e-01 6.28073325e-01 -6.72950256e-03 5.19188046e+01] [ 8.72370734e-03 -9.37611191e-05 9.99961943e-01 1.85900157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:51.94, Z:1.86 [[ 6.28644993e-01 -7.77670968e-01 -5.77395201e-03 1.27360380e+02] [ 7.77639447e-01 6.28671502e-01 -7.00236050e-03 5.19397683e+01] [ 9.07545155e-03 -8.80539799e-05 9.99958813e-01 1.85910215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:51.96, Z:1.86 [[ 6.29345677e-01 -7.77103649e-01 -5.82565139e-03 1.27377155e+02] [ 7.77071510e-01 6.29372634e-01 -7.06791550e-03 5.19625539e+01] [ 9.15900849e-03 -7.87856620e-05 9.99958052e-01 1.85824573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.39, Y:51.98, Z:1.86 [[ 6.29344951e-01 -7.77102524e-01 -6.04970541e-03 1.27394199e+02] [ 7.77067820e-01 6.29374023e-01 -7.34456401e-03 5.19830738e+01] [ 9.51500666e-03 -7.87671205e-05 9.99954728e-01 1.85879680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27361786499998 meters Centerline goodness [0,1] 0.9999122595362917 Centerline is valid? [True, True] Translation: X:127.41, Y:52.00, Z:1.86 [[ 6.29505807e-01 -7.76970123e-01 -6.31402453e-03 1.27411919e+02] [ 7.76932289e-01 6.29537467e-01 -7.66790114e-03 5.20039945e+01] [ 9.93264510e-03 -7.85812331e-05 9.99950667e-01 1.85836559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters Centerline goodness [0,1] 0.9999562018220042 Centerline is valid? [True, True] Translation: X:127.43, Y:52.02, Z:1.86 [[ 6.29398205e-01 -7.77051820e-01 -6.95474876e-03 1.27430324e+02] [ 7.77005896e-01 6.29436622e-01 -8.44841642e-03 5.20232920e+01] [ 1.09424309e-02 -8.64626599e-05 9.99940126e-01 1.85784178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:52.05, Z:1.86 [[ 6.29119439e-01 -7.77277255e-01 -6.98566785e-03 1.27447917e+02] [ 7.77230893e-01 6.29158216e-01 -8.48988854e-03 5.20453267e+01] [ 1.09940876e-02 -8.83229451e-05 9.99939559e-01 1.85778230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:52.06, Z:1.86 [[ 6.28858767e-01 -7.77486870e-01 -7.12867076e-03 1.27466042e+02] [ 7.77438544e-01 6.28899164e-01 -8.66901411e-03 5.20649922e+01] [ 1.12232597e-02 -9.05179023e-05 9.99937013e-01 1.85837024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.48, Y:52.09, Z:1.86 [[ 6.28256590e-01 -7.77975781e-01 -6.88051772e-03 1.27483963e+02] [ 7.77930768e-01 6.28294259e-01 -8.36923849e-03 5.20860842e+01] [ 1.08340546e-02 -9.45371977e-05 9.99941305e-01 1.85847281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:52.11, Z:1.86 [[ 6.28005547e-01 -7.78175144e-01 -7.24416538e-03 1.27502066e+02] [ 7.78125197e-01 6.28047319e-01 -8.81717421e-03 5.21063428e+01] [ 1.14109845e-02 -9.96332980e-05 9.99934888e-01 1.85885700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.52, Y:52.13, Z:1.86 [[ 6.27597819e-01 -7.78502650e-01 -7.38921431e-03 1.27520577e+02] [ 7.78450676e-01 6.27641308e-01 -8.99625124e-03 5.21276185e+01] [ 1.16413816e-02 -1.06111213e-04 9.99932231e-01 1.85924878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:52.15, Z:1.86 [[ 6.27389701e-01 -7.78670404e-01 -7.38680885e-03 1.27538018e+02] [ 7.78618419e-01 6.27433176e-01 -8.99822584e-03 5.21489850e+01] [ 1.16413811e-02 -1.06111209e-04 9.99932231e-01 1.85961554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:52.17, Z:1.86 [[ 6.26469644e-01 -7.79407829e-01 -7.69551105e-03 1.27557292e+02] [ 7.79351398e-01 6.26516896e-01 -9.37965099e-03 5.21696131e+01] [ 1.21319411e-02 -1.21440681e-04 9.99926398e-01 1.85986229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:52.19, Z:1.86 [[ 6.25887927e-01 -7.79872971e-01 -7.90271710e-03 1.27575898e+02] [ 7.79813431e-01 6.25937803e-01 -9.63748013e-03 5.21897565e+01] [ 1.24626196e-02 -1.30662475e-04 9.99922330e-01 1.86018664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:52.21, Z:1.86 [[ 6.25356297e-01 -7.80299303e-01 -7.90565660e-03 1.27593893e+02] [ 7.80239730e-01 6.25406251e-01 -9.64288104e-03 5.22100666e+01] [ 1.24685804e-02 -1.38070993e-04 9.99922255e-01 1.86044787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.61, Y:52.23, Z:1.86 [[ 6.24820955e-01 -7.80726117e-01 -8.09350263e-03 1.27611545e+02] [ 7.80663652e-01 6.24873354e-01 -9.87691057e-03 5.22313997e+01] [ 1.27685762e-02 -1.47002628e-04 9.99918468e-01 1.86096710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:52.25, Z:1.86 [[ 6.24101382e-01 -7.81302042e-01 -8.03639337e-03 1.27630009e+02] [ 7.81240435e-01 6.24153103e-01 -9.81259496e-03 5.22526984e+01] [ 1.26825403e-02 -1.54301371e-04 9.99919561e-01 1.86191887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66361786499996 meters Centerline goodness [0,1] 0.9999779458791875 Centerline is valid? [True, True] Translation: X:127.65, Y:52.27, Z:1.86 [[ 6.23732417e-01 -7.81598368e-01 -7.86527798e-03 1.27648437e+02] [ 7.81539315e-01 6.23781987e-01 -9.60896808e-03 5.22743173e+01] [ 1.24165725e-02 -1.53599070e-04 9.99922900e-01 1.86222735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69361786499996 meters Centerline goodness [0,1] 0.9999559742889848 Centerline is valid? [True, True] Translation: X:127.67, Y:52.29, Z:1.86 [[ 6.23444305e-01 -7.81828515e-01 -7.83400897e-03 1.27666428e+02] [ 7.81769879e-01 6.23493504e-01 -9.57632396e-03 5.22945513e+01] [ 1.23714968e-02 -1.54087608e-04 9.99923458e-01 1.86277928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:52.32, Z:1.86 [[ 6.22744819e-01 -7.82384019e-01 -8.00856636e-03 1.27685909e+02] [ 7.82322748e-01 6.22796290e-01 -9.79279492e-03 5.23158903e+01] [ 1.26494317e-02 -1.66871343e-04 9.99919979e-01 1.86381962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:52.34, Z:1.86 [[ 6.22357784e-01 -7.82693099e-01 -7.89314812e-03 1.27704250e+02] [ 7.82633547e-01 6.22407813e-01 -9.65638583e-03 5.23375676e+01] [ 1.24707436e-02 -1.67715620e-04 9.99922223e-01 1.86425949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.72, Y:52.36, Z:1.86 [[ 6.21984137e-01 -7.82988407e-01 -8.05526665e-03 1.27722570e+02] [ 7.82926338e-01 6.22036272e-01 -9.86030507e-03 5.23594501e+01] [ 1.27311726e-02 -1.73727078e-04 9.99918940e-01 1.86415413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81361786499997 meters Centerline goodness [0,1] 0.9999779580320931 Centerline is valid? [True, True] Translation: X:127.74, Y:52.38, Z:1.86 [[ 6.22473599e-01 -7.82597957e-01 -8.18886917e-03 1.27739115e+02] [ 7.82533704e-01 6.22527438e-01 -1.00294859e-02 5.23835867e+01] [ 1.29468509e-02 -1.64975966e-04 9.99916172e-01 1.86373955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:52.40, Z:1.86 [[ 6.22398041e-01 -7.82658262e-01 -8.16847731e-03 1.27756596e+02] [ 7.82594269e-01 6.22451619e-01 -1.00095834e-02 5.24040254e+01] [ 1.29185651e-02 -1.62658441e-04 9.99916539e-01 1.86407591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:52.43, Z:1.86 [[ 6.22326518e-01 -7.82710521e-01 -8.59908304e-03 1.27773714e+02] [ 7.82639561e-01 6.22385902e-01 -1.05407206e-02 5.24263942e+01] [ 1.36022809e-02 -1.70212647e-04 9.99907470e-01 1.86437587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.79, Y:52.45, Z:1.86 [[ 6.22000092e-01 -7.82967693e-01 -8.80212145e-03 1.27791869e+02] [ 7.82893282e-01 6.22062345e-01 -1.07957667e-02 5.24480608e+01] [ 1.39282049e-02 -1.76153834e-04 9.99902982e-01 1.86476768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.81, Y:52.47, Z:1.87 [[ 6.20944076e-01 -7.83804338e-01 -8.90024366e-03 1.27810603e+02] [ 7.83728258e-01 6.21007829e-01 -1.09222079e-02 5.24697894e+01] [ 1.40879950e-02 -1.93292133e-04 9.99900741e-01 1.86538751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.83, Y:52.49, Z:1.87 [[ 6.20310437e-01 -7.84307396e-01 -8.76757264e-03 1.27829191e+02] [ 7.84233547e-01 6.20372364e-01 -1.07645214e-02 5.24910155e+01] [ 1.38818535e-02 -1.98479611e-04 9.99903623e-01 1.86591796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.85, Y:52.51, Z:1.87 [[ 6.19795363e-01 -7.84712142e-01 -8.97571521e-03 1.27846605e+02] [ 7.84634745e-01 6.19860315e-01 -1.10229656e-02 5.25123358e+01] [ 1.42135446e-02 -2.10675037e-04 9.99898960e-01 1.86669336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters Centerline goodness [0,1] 0.999889770723104 Centerline is valid? [True, True] Translation: X:127.86, Y:52.54, Z:1.87 [[ 6.19164027e-01 -7.85213058e-01 -8.73849577e-03 1.27862887e+02] [ 7.85139702e-01 6.19225652e-01 -1.07350421e-02 5.25357399e+01] [ 1.38403960e-02 -2.14188078e-04 9.99904194e-01 1.86693497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.88, Y:52.56, Z:1.87 [[ 6.18602601e-01 -7.85653067e-01 -8.94871867e-03 1.27880257e+02] [ 7.85576096e-01 6.18667283e-01 -1.09995561e-02 5.25569851e+01] [ 1.41781144e-02 -2.25545470e-04 9.99899460e-01 1.86734158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters Centerline goodness [0,1] 0.999977959003747 Centerline is valid? [True, True] Translation: X:127.90, Y:52.58, Z:1.87 [[ 6.18339301e-01 -7.85860727e-01 -8.91218138e-03 1.27896558e+02] [ 7.85784362e-01 6.18403482e-01 -1.09576607e-02 5.25794948e+01] [ 1.41225192e-02 -2.27500516e-04 9.99900246e-01 1.86773504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.91, Y:52.60, Z:1.87 [[ 6.17826580e-01 -7.86267580e-01 -8.57960680e-03 1.27914025e+02] [ 7.86196771e-01 6.17886107e-01 -1.05544193e-02 5.26016309e+01] [ 1.35998176e-02 -2.24458386e-04 9.99907493e-01 1.86794628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.93, Y:52.62, Z:1.87 [[ 6.16899906e-01 -7.86990311e-01 -8.98647857e-03 1.27931682e+02] [ 7.86912613e-01 6.16965307e-01 -1.10611633e-02 5.26228188e+01] [ 1.42493739e-02 -2.47942726e-04 9.99898442e-01 1.86817532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17361786499998 meters Centerline goodness [0,1] 0.9999558508642193 Centerline is valid? [True, True] Translation: X:127.95, Y:52.64, Z:1.87 [[ 6.16130553e-01 -7.87592552e-01 -9.00630986e-03 1.27949770e+02] [ 7.87514545e-01 6.16196320e-01 -1.10877321e-02 5.26448782e+01] [ 1.42822702e-02 -2.61109518e-04 9.99897969e-01 1.86833057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:52.67, Z:1.87 [[ 6.15339519e-01 -7.88209690e-01 -9.09725054e-03 1.27967218e+02] [ 7.88130091e-01 6.15406702e-01 -1.12049343e-02 5.26659733e+01] [ 1.44303468e-02 -2.74977995e-04 9.99895839e-01 1.86880986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23361786499999 meters Centerline goodness [0,1] 0.9999342725061894 Centerline is valid? [True, True] Translation: X:127.98, Y:52.69, Z:1.87 [[ 6.13924510e-01 -7.89309991e-01 -9.29697684e-03 1.27984101e+02] [ 7.89226948e-01 6.13994824e-01 -1.14534180e-02 5.26876422e+01] [ 1.47485930e-02 -3.05890599e-04 9.99891187e-01 1.86925550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.00, Y:52.71, Z:1.87 [[ 6.12973209e-01 -7.90050118e-01 -9.20092523e-03 1.28001908e+02] [ 7.89968816e-01 6.13042177e-01 -1.13384160e-02 5.27106504e+01] [ 1.45984722e-02 -3.18298748e-04 9.99893386e-01 1.86919837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.02, Y:52.73, Z:1.87 [[ 6.12269555e-01 -7.90596543e-01 -9.11583573e-03 1.28019407e+02] [ 7.90516722e-01 6.12337326e-01 -1.12388526e-02 5.27321369e+01] [ 1.44673645e-02 -3.25013278e-04 9.99895289e-01 1.86967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:52.75, Z:1.87 [[ 6.11551831e-01 -7.91152967e-01 -9.01890684e-03 1.28036648e+02] [ 7.91074818e-01 6.11618242e-01 -1.11246878e-02 5.27540818e+01] [ 1.43174577e-02 -3.31306878e-04 9.99897445e-01 1.87032588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35361786499996 meters Centerline goodness [0,1] 0.9999343429922087 Centerline is valid? [True, True] Translation: X:128.05, Y:52.78, Z:1.87 [[ 6.10504926e-01 -7.91966781e-01 -8.50609117e-03 1.28054104e+02] [ 7.91897277e-01 6.10564092e-01 -1.04972057e-02 5.27751850e+01] [ 1.35069520e-02 -3.27354650e-04 9.99908723e-01 1.86940053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.07, Y:52.80, Z:1.87 [[ 6.10494549e-01 -7.91976009e-01 -8.39084350e-03 1.28070955e+02] [ 7.91908350e-01 6.10552125e-01 -1.03570109e-02 5.27959965e+01] [ 1.33255515e-02 -3.21880324e-04 9.99911159e-01 1.87267832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41361786499996 meters Centerline goodness [0,1] 0.9998904061547903 Centerline is valid? [True, True] Translation: X:128.09, Y:52.82, Z:1.87 [[ 6.10139232e-01 -7.92251568e-01 -8.22015445e-03 1.28085213e+02] [ 7.92186612e-01 6.10194519e-01 -1.01498651e-02 5.28206937e+01] [ 1.30571397e-02 -3.19065417e-04 9.99914701e-01 1.87301204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.10, Y:52.84, Z:1.87 [[ 6.10235101e-01 -7.92177986e-01 -8.19514979e-03 1.28102574e+02] [ 7.92113343e-01 6.10290047e-01 -1.01247221e-02 5.28418509e+01] [ 1.30220003e-02 -3.13026698e-04 9.99915161e-01 1.87361379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.12, Y:52.87, Z:1.87 [[ 6.10715306e-01 -7.91804895e-01 -8.47486546e-03 1.28116307e+02] [ 7.91735686e-01 6.10774025e-01 -1.04735231e-02 5.28678122e+01] [ 1.34692145e-02 -3.13512564e-04 9.99909237e-01 1.87385640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.13, Y:52.89, Z:1.87 [[ 6.11251288e-01 -7.91388745e-01 -8.70161667e-03 1.28133117e+02] [ 7.91315664e-01 6.11313144e-01 -1.07592103e-02 5.28913511e+01] [ 1.38341305e-02 -3.09144451e-04 9.99904256e-01 1.87379036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.15, Y:52.91, Z:1.87 [[ 6.12444340e-01 -7.90459401e-01 -9.26641279e-03 1.28149132e+02] [ 7.90376334e-01 6.12514362e-01 -1.14632980e-02 5.29144477e+01] [ 1.47370826e-02 -3.03321401e-04 9.99891357e-01 1.87320320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56361786499997 meters Centerline goodness [0,1] 0.9999781435097153 Centerline is valid? [True, True] Translation: X:128.16, Y:52.94, Z:1.87 [[ 6.12634126e-01 -7.90309483e-01 -9.50513877e-03 1.28163681e+02] [ 7.90222005e-01 6.12707783e-01 -1.17624881e-02 5.29390047e+01] [ 1.51198784e-02 -3.05068165e-04 9.99885642e-01 1.87384347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.18, Y:52.96, Z:1.87 [[ 6.13067941e-01 -7.89970331e-01 -9.72501269e-03 1.28180342e+02] [ 7.89878615e-01 6.13144996e-01 -1.20410619e-02 5.29614065e+01] [ 1.54749245e-02 -2.99590539e-04 9.99880211e-01 1.87432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62361786499997 meters Centerline goodness [0,1] 0.9999782035353866 Centerline is valid? [True, True] Translation: X:128.20, Y:52.99, Z:1.87 [[ 6.13733991e-01 -7.89447307e-01 -1.01753578e-02 1.28196416e+02] [ 7.89346773e-01 6.13818264e-01 -1.26020095e-02 5.29857661e+01] [ 1.61944429e-02 -2.97604225e-04 9.99868817e-01 1.87445305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.21, Y:53.01, Z:1.87 [[ 6.13804338e-01 -7.89393636e-01 -1.00956349e-02 1.28212838e+02] [ 7.89294571e-01 6.13887289e-01 -1.25090947e-02 5.30078518e+01] [ 1.60721817e-02 -2.90293261e-04 9.99870792e-01 1.87478017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68361786499997 meters Centerline goodness [0,1] 0.9999782896593647 Centerline is valid? [True, True] Translation: X:128.23, Y:53.03, Z:1.88 [[ 6.14379397e-01 -7.88947309e-01 -1.00049635e-02 1.28228798e+02] [ 7.88849891e-01 6.14460795e-01 -1.24008398e-02 5.30327446e+01] [ 1.59312670e-02 -2.73593892e-04 9.99873052e-01 1.87583767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.25, Y:53.06, Z:1.88 [[ 6.14541081e-01 -7.88819581e-01 -1.01453144e-02 1.28245332e+02] [ 7.88719296e-01 6.14624759e-01 -1.25808396e-02 5.30553403e+01] [ 1.61595741e-02 -2.70362486e-04 9.99869389e-01 1.87635115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:53.08, Z:1.88 [[ 6.14709059e-01 -7.88690383e-01 -1.00126154e-02 1.28262246e+02] [ 7.88592577e-01 6.14790543e-01 -1.24231817e-02 5.30781098e+01] [ 1.59537052e-02 -2.59231859e-04 9.99872698e-01 1.87675282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77361786499998 meters Centerline goodness [0,1] 0.9999565321336202 Centerline is valid? [True, True] Translation: X:128.28, Y:53.10, Z:1.88 [[ 6.14734150e-01 -7.88668441e-01 -1.01987617e-02 1.28279415e+02] [ 7.88566843e-01 6.14818691e-01 -1.26613678e-02 5.31007237e+01] [ 1.62560105e-02 -2.59030195e-04 9.99867829e-01 1.87734975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.30, Y:53.12, Z:1.88 [[ 6.14732797e-01 -7.88671350e-01 -1.00543638e-02 1.28295874e+02] [ 7.88572507e-01 6.14814963e-01 -1.24884667e-02 5.31219030e+01] [ 1.60308692e-02 -2.51524795e-04 9.99871466e-01 1.87793636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.31, Y:53.14, Z:1.88 [[ 6.14892332e-01 -7.88548975e-01 -9.89615353e-03 1.28312174e+02] [ 7.88453138e-01 6.14971915e-01 -1.22961021e-02 5.31448933e+01] [ 1.57819352e-02 -2.41874417e-04 9.99875428e-01 1.87857569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.33, Y:53.17, Z:1.88 [[ 6.15155503e-01 -7.88345504e-01 -9.75054976e-03 1.28328693e+02] [ 7.88252338e-01 6.15232731e-01 -1.21218117e-02 5.31672611e+01] [ 1.55550332e-02 -2.29094441e-04 9.99878987e-01 1.87880764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.35, Y:53.19, Z:1.88 [[ 6.15307744e-01 -7.88223081e-01 -1.00376095e-02 1.28345106e+02] [ 7.88124219e-01 6.15389569e-01 -1.24857646e-02 5.31901131e+01] [ 1.60186080e-02 -2.28295509e-04 9.99871668e-01 1.87891719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.36, Y:53.21, Z:1.88 [[ 6.15808524e-01 -7.87827063e-01 -1.04105668e-02 1.28360564e+02] [ 7.87720548e-01 6.15896476e-01 -1.29564493e-02 5.32119780e+01] [ 1.66192728e-02 -2.21925493e-04 9.99861866e-01 1.87883191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95361786499998 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:128.38, Y:53.23, Z:1.88 [[ 6.15851680e-01 -7.87793131e-01 -1.04254836e-02 1.28377004e+02] [ 7.87686233e-01 6.15939880e-01 -1.29793284e-02 5.32345476e+01] [ 1.66464968e-02 -2.18668718e-04 9.99861414e-01 1.87906827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.39, Y:53.26, Z:1.88 [[ 6.15838664e-01 -7.87799519e-01 -1.07078478e-02 1.28393951e+02] [ 7.87686623e-01 6.15931709e-01 -1.33384463e-02 5.32566268e+01] [ 1.71033245e-02 -2.20097574e-04 9.99853703e-01 1.87924313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.41, Y:53.28, Z:1.88 [[ 6.15013564e-01 -7.88439615e-01 -1.10131228e-02 1.28410807e+02] [ 7.88320159e-01 6.15112116e-01 -1.37263287e-02 5.32796374e+01] [ 1.75966866e-02 -2.39988392e-04 9.99845138e-01 1.87930222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.43, Y:53.30, Z:1.88 [[ 6.14475434e-01 -7.88858314e-01 -1.10680182e-02 1.28427679e+02] [ 7.88737620e-01 6.14575055e-01 -1.38010312e-02 5.33002663e+01] [ 1.76891861e-02 -2.49367663e-04 9.99843503e-01 1.87899345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07361786499996 meters Centerline goodness [0,1] 0.9998488773747841 Centerline is valid? [True, True] Translation: X:128.45, Y:53.32, Z:1.88 [[ 6.13757635e-01 -7.89414487e-01 -1.12397720e-02 1.28445443e+02] [ 7.89290018e-01 6.13860486e-01 -1.40204055e-02 5.33233727e+01] [ 1.79675631e-02 -2.66308933e-04 9.99838535e-01 1.87933531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.46, Y:53.35, Z:1.88 [[ 6.12908993e-01 -7.90071680e-01 -1.13713265e-02 1.28463475e+02] [ 7.89944281e-01 6.13014404e-01 -1.41906410e-02 5.33452145e+01] [ 1.81824105e-02 -2.85142807e-04 9.99834646e-01 1.87934508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.48, Y:53.36, Z:1.88 [[ 6.11347025e-01 -7.91278253e-01 -1.15560449e-02 1.28483335e+02] [ 7.91146834e-01 6.11456149e-01 -1.44244850e-02 5.33647594e+01] [ 1.84797960e-02 -3.24162319e-04 9.99829181e-01 1.87925510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.50, Y:53.39, Z:1.88 [[ 6.10284851e-01 -7.92097507e-01 -1.15732290e-02 1.28499533e+02] [ 7.91965775e-01 6.10394478e-01 -1.44496905e-02 5.33888833e+01] [ 1.85097989e-02 -3.47174092e-04 9.99828619e-01 1.88054877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19361786499996 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:128.52, Y:53.41, Z:1.88 [[ 6.09011837e-01 -7.93079865e-01 -1.13538891e-02 1.28518006e+02] [ 7.92953126e-01 6.09117554e-01 -1.41826028e-02 5.34114138e+01] [ 1.81637898e-02 -3.65728883e-04 9.99834958e-01 1.88083386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.54, Y:53.43, Z:1.88 [[ 6.06973268e-01 -7.94641695e-01 -1.13149861e-02 1.28536397e+02] [ 7.94515990e-01 6.07078587e-01 -1.41396652e-02 5.34323042e+01] [ 1.81050533e-02 -4.07538620e-04 9.99836007e-01 1.88143221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.55, Y:53.45, Z:1.88 [[ 6.06110673e-01 -7.95301042e-01 -1.12296164e-02 1.28553910e+02] [ 7.95177277e-01 6.06214545e-01 -1.40365108e-02 5.34549986e+01] [ 1.79708085e-02 -4.21856732e-04 9.99838423e-01 1.88230374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.57, Y:53.48, Z:1.88 [[ 6.05043446e-01 -7.96117666e-01 -1.09128353e-02 1.28571743e+02] [ 7.96000805e-01 6.05141700e-01 -1.36470330e-02 5.34771792e+01] [ 1.74684557e-02 -4.29577822e-04 9.99847323e-01 1.88272979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.59, Y:53.50, Z:1.88 [[ 6.04269869e-01 -7.96708081e-01 -1.06845164e-02 1.28590092e+02] [ 7.96596042e-01 6.04364167e-01 -1.33678807e-02 5.34999299e+01] [ 1.71076375e-02 -4.33435931e-04 9.99853560e-01 1.88340918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.61, Y:53.52, Z:1.88 [[ 6.03065772e-01 -7.97621186e-01 -1.05885773e-02 1.28608206e+02] [ 7.97511183e-01 6.03158553e-01 -1.32542046e-02 5.35226184e+01] [ 1.69584253e-02 -4.51351712e-04 9.99856094e-01 1.88421711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.63, Y:53.54, Z:1.88 [[ 6.02737855e-01 -7.97868598e-01 -1.06197369e-02 1.28625465e+02] [ 7.97757883e-01 6.02831231e-01 -1.32991787e-02 5.35431086e+01] [ 1.70129061e-02 -4.56060407e-04 9.99855166e-01 1.88417849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.64, Y:53.56, Z:1.88 [[ 6.02526314e-01 -7.98028391e-01 -1.06173565e-02 1.28642614e+02] [ 7.97917667e-01 6.02619679e-01 -1.33010788e-02 5.35647117e+01] [ 1.70128665e-02 -4.57526353e-04 9.99855166e-01 1.88454587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.66, Y:53.59, Z:1.88 [[ 6.02160042e-01 -7.98302288e-01 -1.08046383e-02 1.28659588e+02] [ 7.98187554e-01 6.02256786e-01 -1.35422366e-02 5.35874788e+01] [ 1.73179652e-02 -4.69534044e-04 9.99849923e-01 1.88475856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.68, Y:53.61, Z:1.88 [[ 6.02856356e-01 -7.97776756e-01 -1.07917042e-02 1.28675801e+02] [ 7.97662159e-01 6.02952770e-01 -1.35291099e-02 5.36104348e+01] [ 1.73000973e-02 -4.52024172e-04 9.99850240e-01 1.88409986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.69, Y:53.63, Z:1.88 [[ 6.03265151e-01 -7.97467773e-01 -1.07846461e-02 1.28692451e+02] [ 7.97353218e-01 6.03361382e-01 -1.35236445e-02 5.36338269e+01] [ 1.72917096e-02 -4.40828852e-04 9.99850390e-01 1.88433866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:128.71, Y:53.66, Z:1.88 [[ 6.04708510e-01 -7.96377070e-01 -1.05441787e-02 1.28705899e+02] [ 7.96267288e-01 6.04800302e-01 -1.32288282e-02 5.36595448e+01] [ 1.69122579e-02 -3.96399566e-04 9.99856899e-01 1.88467213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.72, Y:53.68, Z:1.88 [[ 6.05348089e-01 -7.95893421e-01 -1.03611337e-02 1.28722695e+02] [ 7.95787250e-01 6.05436638e-01 -1.30049903e-02 5.36818064e+01] [ 1.66235961e-02 -3.72712062e-04 9.99861749e-01 1.88491451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.74, Y:53.70, Z:1.89 [[ 6.05944545e-01 -7.95442658e-01 -1.01087243e-02 1.28741362e+02] [ 7.95341479e-01 6.06028759e-01 -1.26915263e-02 5.37028241e+01] [ 1.62215591e-02 -3.49526589e-04 9.99868361e-01 1.88515539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.75, Y:53.73, Z:1.89 [[ 6.07262513e-01 -7.94441224e-01 -9.76638142e-03 1.28754973e+02] [ 7.94346612e-01 6.07340963e-01 -1.22643428e-02 5.37286964e+01] [ 1.56748230e-02 -3.10216350e-04 9.99877094e-01 1.88518809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.77, Y:53.75, Z:1.89 [[ 6.07496265e-01 -7.94265203e-01 -9.54335561e-03 1.28771146e+02] [ 7.94174754e-01 6.07571148e-01 -1.19899937e-02 5.37519618e+01] [ 1.53215023e-02 -2.95215684e-04 9.99882575e-01 1.88527667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.79, Y:53.77, Z:1.89 [[ 6.07875041e-01 -7.93974960e-01 -9.57588845e-03 1.28788146e+02] [ 7.93883769e-01 6.07950394e-01 -1.20366004e-02 5.37743254e+01] [ 1.53784245e-02 -2.85393425e-04 9.99881704e-01 1.88573315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters Centerline goodness [0,1] 0.9999785692855 Centerline is valid? [True, True] Translation: X:128.80, Y:53.80, Z:1.89 [[ 6.08145024e-01 -7.93773317e-01 -9.14061055e-03 1.28804783e+02] [ 7.93690159e-01 6.08213656e-01 -1.14926393e-02 5.37954006e+01] [ 1.46819946e-02 -2.65621215e-04 9.99892178e-01 1.88586969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.82, Y:53.82, Z:1.89 [[ 6.08723013e-01 -7.93333447e-01 -8.85070705e-03 1.28820207e+02] [ 7.93255392e-01 6.08787304e-01 -1.11310982e-02 5.38198128e+01] [ 1.42188706e-02 -2.45115482e-04 9.99898877e-01 1.88676391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.84, Y:53.84, Z:1.89 [[ 6.08752323e-01 -7.93311230e-01 -8.82619432e-03 1.28838243e+02] [ 7.93233529e-01 6.08816257e-01 -1.11056121e-02 5.38402521e+01] [ 1.41837374e-02 -2.40666124e-04 9.99899377e-01 1.88667137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.85, Y:53.86, Z:1.89 [[ 6.08831182e-01 -7.93252574e-01 -8.65714656e-03 1.28853745e+02] [ 7.93177768e-01 6.08892683e-01 -1.08962869e-02 5.38641690e+01] [ 1.39147808e-02 -2.32656967e-04 9.99903158e-01 1.88688860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:53.89, Z:1.89 [[ 6.08671580e-01 -7.93374606e-01 -8.69720719e-03 1.28870095e+02] [ 7.93299032e-01 6.08733669e-01 -1.09528833e-02 5.38870205e+01] [ 1.39840223e-02 -2.32777246e-04 9.99902192e-01 1.88633800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.89, Y:53.91, Z:1.89 [[ 6.08551466e-01 -7.93467406e-01 -8.63645089e-03 1.28887048e+02] [ 7.93392810e-01 6.08612703e-01 -1.08824096e-02 5.39096786e+01] [ 1.38910910e-02 -2.29591715e-04 9.99903488e-01 1.88670140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.90, Y:53.93, Z:1.89 [[ 6.08538100e-01 -7.93478297e-01 -8.57742570e-03 1.28903835e+02] [ 7.93404637e-01 6.08598506e-01 -1.08139486e-02 5.39306750e+01] [ 1.38008420e-02 -2.24669602e-04 9.99904739e-01 1.88684375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.92, Y:53.95, Z:1.89 [[ 6.08271659e-01 -7.93683610e-01 -8.48034392e-03 1.28921808e+02] [ 7.93611582e-01 6.08330730e-01 -1.06948298e-02 5.39528460e+01] [ 1.36471649e-02 -2.24737287e-04 9.99906848e-01 1.88700254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.94, Y:53.98, Z:1.89 [[ 6.08016739e-01 -7.93878283e-01 -8.53909797e-03 1.28938667e+02] [ 7.93805192e-01 6.08076656e-01 -1.07748605e-02 5.39752677e+01] [ 1.37463539e-02 -2.27084756e-04 9.99905489e-01 1.88705558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97361786499997 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:128.96, Y:54.00, Z:1.89 [[ 6.07803310e-01 -7.94044009e-01 -8.32156163e-03 1.28955985e+02] [ 7.93974533e-01 6.07860233e-01 -1.05061178e-02 5.39979044e+01] [ 1.34006663e-02 -2.21454867e-04 9.99910183e-01 1.88735941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.97, Y:54.02, Z:1.89 [[ 6.08369551e-01 -7.93613207e-01 -8.03543479e-03 1.28973184e+02] [ 7.93548316e-01 6.08422582e-01 -1.01504661e-02 5.40211490e+01] [ 1.29444840e-02 -2.01271219e-04 9.99916196e-01 1.88727898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.99, Y:54.04, Z:1.89 [[ 6.08854331e-01 -7.93243480e-01 -7.82209952e-03 1.28989712e+02] [ 7.93181898e-01 6.08904547e-01 -9.88586528e-03 5.40426676e+01] [ 1.26048101e-02 -1.85295849e-04 9.99920539e-01 1.88752024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:54.07, Z:1.89 [[ 6.10004596e-01 -7.92363917e-01 -7.33595664e-03 1.29007455e+02] [ 7.92309664e-01 6.10048686e-01 -9.27340039e-03 5.40657554e+01] [ 1.18231986e-02 -1.55532485e-04 9.99930091e-01 1.88781843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.03, Y:54.09, Z:1.89 [[ 6.10244330e-01 -7.92181109e-01 -7.13783977e-03 1.29025135e+02] [ 7.92129687e-01 6.10286056e-01 -9.02712512e-03 5.40879820e+01] [ 1.15072421e-02 -1.45342863e-04 9.99933779e-01 1.88769279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:54.11, Z:1.89 [[ 6.10770265e-01 -7.91774008e-01 -7.32146325e-03 1.29043125e+02] [ 7.91719814e-01 6.10814130e-01 -9.26470304e-03 5.41107236e+01] [ 1.18076043e-02 -1.37942388e-04 9.99930278e-01 1.88761763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.06, Y:54.13, Z:1.89 [[ 6.11124168e-01 -7.91499823e-01 -7.43511937e-03 1.29059947e+02] [ 7.91443857e-01 6.11169381e-01 -9.41322952e-03 5.41328793e+01] [ 1.19946868e-02 -1.31827487e-04 9.99928052e-01 1.88735695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:54.16, Z:1.89 [[ 6.11869649e-01 -7.90924439e-01 -7.35286289e-03 1.29077263e+02] [ 7.90869600e-01 6.11913816e-01 -9.31437314e-03 5.41554247e+01] [ 1.18662837e-02 -1.15973503e-04 9.99929586e-01 1.88759245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.09, Y:54.18, Z:1.89 [[ 6.13628294e-01 -7.89557935e-01 -7.65398383e-03 1.29093428e+02] [ 7.89498340e-01 6.13676021e-01 -9.70112367e-03 5.41780763e+01] [ 1.23566655e-02 -8.99235596e-05 9.99923649e-01 1.88635109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:54.20, Z:1.89 [[ 6.14206930e-01 -7.89109463e-01 -7.49017796e-03 1.29110812e+02] [ 7.89052343e-01 6.14252594e-01 -9.49475632e-03 5.42007309e+01] [ 1.20932633e-02 -7.83973414e-05 9.99926871e-01 1.88635345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.13, Y:54.22, Z:1.89 [[ 6.14842692e-01 -7.88615441e-01 -7.35864611e-03 1.29128209e+02] [ 7.88560214e-01 6.14886723e-01 -9.33310849e-03 5.42227255e+01] [ 1.18849673e-02 -6.43420027e-05 9.99929369e-01 1.88660904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.15, Y:54.24, Z:1.89 [[ 6.15281750e-01 -7.88273156e-01 -7.33483652e-03 1.29145669e+02] [ 7.88218201e-01 6.15325466e-01 -9.30802240e-03 5.42445446e+01] [ 1.18505759e-02 -5.43953305e-05 9.99929778e-01 1.88676687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.16, Y:54.27, Z:1.89 [[ 6.15597064e-01 -7.88031954e-01 -6.77458321e-03 1.29164487e+02] [ 7.87985012e-01 6.15634338e-01 -8.60132236e-03 5.42658800e+01] [ 1.09487829e-02 -4.33212378e-05 9.99940059e-01 1.88747743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.18, Y:54.29, Z:1.89 [[ 6.15399355e-01 -7.88188987e-01 -6.46181477e-03 1.29182824e+02] [ 7.88146243e-01 6.15433278e-01 -8.20854707e-03 5.42877808e+01] [ 1.04467022e-02 -4.13204669e-05 9.99945431e-01 1.88837440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.20, Y:54.31, Z:1.89 [[ 6.15488544e-01 -7.88121067e-01 -6.24796484e-03 1.29200710e+02] [ 7.88081053e-01 6.15520254e-01 -7.94171034e-03 5.43087567e+01] [ 1.01047781e-02 -3.58709810e-05 9.99948945e-01 1.88850078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:129.22, Y:54.33, Z:1.89 [[ 6.15421298e-01 -7.88173851e-01 -6.21347810e-03 1.29218559e+02] [ 7.88134254e-01 6.15452662e-01 -7.90046709e-03 5.43306653e+01] [ 1.00510432e-02 -3.49392229e-05 9.99949486e-01 1.88860808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:54.35, Z:1.89 [[ 6.15438159e-01 -7.88161145e-01 -6.15481791e-03 1.29236005e+02] [ 7.88122241e-01 6.15468934e-01 -7.83096568e-03 5.43514195e+01] [ 9.96016209e-03 -3.12737804e-05 9.99950396e-01 1.88906964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.25, Y:54.37, Z:1.89 [[ 6.15305628e-01 -7.88264313e-01 -6.19330602e-03 1.29253331e+02] [ 7.88224908e-01 6.15336796e-01 -7.88178319e-03 5.43728772e+01] [ 1.00238975e-02 -3.20125030e-05 9.99949759e-01 1.88906386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:54.39, Z:1.89 [[ 6.14970744e-01 -7.88528977e-01 -5.74771551e-03 1.29271833e+02] [ 7.88495016e-01 6.14997602e-01 -7.31839438e-03 5.43934605e+01] [ 9.30559729e-03 -3.14466001e-05 9.99956702e-01 1.88907398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.29, Y:54.41, Z:1.89 [[ 6.14596123e-01 -7.88818786e-01 -6.04385255e-03 1.29289372e+02] [ 7.88781196e-01 6.14625839e-01 -7.70081405e-03 5.44136690e+01] [ 9.78925473e-03 -3.43867880e-05 9.99952084e-01 1.88931128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.31, Y:54.43, Z:1.89 [[ 6.14123448e-01 -7.89184649e-01 -6.32297912e-03 1.29307590e+02] [ 7.89143506e-01 6.14155996e-01 -8.05850026e-03 5.44345212e+01] [ 1.02429402e-02 -4.08239428e-05 9.99947539e-01 1.88926401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:54.45, Z:1.89 [[ 6.12574278e-01 -7.90384818e-01 -6.67778137e-03 1.29327340e+02] [ 7.90338939e-01 6.12610672e-01 -8.51628153e-03 5.44528910e+01] [ 1.08220198e-02 -6.08556272e-05 9.99941438e-01 1.88924212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.35, Y:54.47, Z:1.89 [[ 6.11599502e-01 -7.91135955e-01 -7.06750809e-03 1.29346525e+02] [ 7.91084580e-01 6.11640331e-01 -9.01619063e-03 5.44726463e+01] [ 1.14558056e-02 -7.66989719e-05 9.99934377e-01 1.88966173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:54.49, Z:1.89 [[ 6.10432417e-01 -7.92040115e-01 -6.68734595e-03 1.29364893e+02] [ 7.91994131e-01 6.10469040e-01 -8.53508453e-03 5.44943766e+01] [ 1.08425470e-02 -8.62464636e-05 9.99941214e-01 1.88971087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:54.51, Z:1.89 [[ 6.08591686e-01 -7.93455211e-01 -6.70720563e-03 1.29386711e+02] [ 7.93408994e-01 6.08628635e-01 -8.56462179e-03 5.45141422e+01] [ 1.08778412e-02 -1.09199651e-04 9.99940829e-01 1.89066658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.41, Y:54.54, Z:1.89 [[ 6.07314696e-01 -7.94431469e-01 -6.89207577e-03 1.29406314e+02] [ 7.94382682e-01 6.07353789e-01 -8.80506394e-03 5.45353314e+01] [ 1.11809482e-02 -1.27500904e-04 9.99937483e-01 1.89085548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.43, Y:54.56, Z:1.89 [[ 6.06216752e-01 -7.95271411e-01 -6.68071940e-03 1.29426249e+02] [ 7.95225573e-01 6.06253547e-01 -8.53959659e-03 5.45552418e+01] [ 1.08415069e-02 -1.35832403e-04 9.99941220e-01 1.89130541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.45, Y:54.58, Z:1.89 [[ 6.03892195e-01 -7.97039113e-01 -6.54754647e-03 1.29448012e+02] [ 7.96995170e-01 6.03927667e-01 -8.37089303e-03 5.45750700e+01] [ 1.06261736e-02 -1.63245953e-04 9.99943527e-01 1.89172683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.47, Y:54.60, Z:1.89 [[ 6.02742920e-01 -7.97909942e-01 -6.37943614e-03 1.29467156e+02] [ 7.97868227e-01 6.02776655e-01 -8.16066969e-03 5.45950059e+01] [ 1.03568547e-02 -1.71163524e-04 9.99946352e-01 1.89196833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.49, Y:54.62, Z:1.89 [[ 6.01787929e-01 -7.98630831e-01 -6.33118989e-03 1.29486676e+02] [ 7.98589778e-01 6.01821204e-01 -8.09960853e-03 5.46161649e+01] [ 1.02788414e-02 -1.81776892e-04 9.99947155e-01 1.89262596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.51, Y:54.64, Z:1.89 [[ 6.00750010e-01 -7.99414344e-01 -6.01105800e-03 1.29507569e+02] [ 7.99377342e-01 6.00780054e-01 -7.69356979e-03 5.46366156e+01] [ 9.76167379e-03 -1.83191442e-04 9.99952337e-01 1.89314314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.53, Y:54.66, Z:1.89 [[ 6.00692822e-01 -7.99457459e-01 -5.99209242e-03 1.29525795e+02] [ 7.99420653e-01 6.00722680e-01 -7.67338557e-03 5.46567872e+01] [ 9.73413115e-03 -1.80854805e-04 9.99952606e-01 1.89372415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.54, Y:54.68, Z:1.89 [[ 6.00642544e-01 -7.99495624e-01 -5.93976928e-03 1.29544072e+02] [ 7.99459437e-01 6.00671887e-01 -7.60875969e-03 5.46777591e+01] [ 9.65102250e-03 -1.78459828e-04 9.99953412e-01 1.89437891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.56, Y:54.70, Z:1.89 [[ 6.02196895e-01 -7.98323317e-01 -6.22740593e-03 1.29563469e+02] [ 7.98283428e-01 6.02229071e-01 -7.98215012e-03 5.46993929e+01] [ 1.01226615e-02 -1.64408927e-04 9.99948751e-01 1.89479144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.58, Y:54.72, Z:1.90 [[ 6.03181145e-01 -7.97577470e-01 -6.53342767e-03 1.29581892e+02] [ 7.97533469e-01 6.03216507e-01 -8.37918471e-03 5.47222940e+01] [ 1.06241204e-02 -1.56461008e-04 9.99943550e-01 1.89517325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.60, Y:54.74, Z:1.90 [[ 6.04336075e-01 -7.96703427e-01 -6.44662998e-03 1.29599480e+02] [ 7.96660519e-01 6.04370442e-01 -8.26964763e-03 5.47447665e+01] [ 1.04846092e-02 -1.38129195e-04 9.99945025e-01 1.89526774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05361786499998 meters Centerline goodness [0,1] 0.9999780181130749 Centerline is valid? [True, True] Translation: X:129.62, Y:54.77, Z:1.90 [[ 6.05580343e-01 -7.95755279e-01 -6.78110218e-03 1.29617089e+02] [ 7.95707688e-01 6.05618296e-01 -8.70380034e-03 5.47659711e+01] [ 1.10328546e-02 -1.24924735e-04 9.99939128e-01 1.89553527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:54.79, Z:1.90 [[ 6.06786641e-01 -7.94834740e-01 -6.90707206e-03 1.29634353e+02] [ 7.94785292e-01 6.06825942e-01 -8.86653586e-03 5.47896013e+01] [ 1.12388212e-02 -1.09543772e-04 9.99936836e-01 1.89527373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.65, Y:54.81, Z:1.90 [[ 6.08899676e-01 -7.93212360e-01 -7.43888962e-03 1.29652280e+02] [ 7.93154822e-01 6.08945109e-01 -9.55422929e-03 5.48125357e+01] [ 1.21084082e-02 -8.26240474e-05 9.99926687e-01 1.89540274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.67, Y:54.83, Z:1.90 [[ 6.09640497e-01 -7.92641410e-01 -7.61968010e-03 1.29669225e+02] [ 7.92580935e-01 6.09688109e-01 -9.79138183e-03 5.48332446e+01] [ 1.24066831e-02 -6.99902943e-05 9.99923032e-01 1.89601016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17361786499998 meters Centerline goodness [0,1] 0.999934223508518 Centerline is valid? [True, True] Translation: X:129.69, Y:54.85, Z:1.90 [[ 6.10632338e-01 -7.91874830e-01 -7.89939269e-03 1.29687867e+02] [ 7.91809719e-01 6.10683429e-01 -1.01547301e-02 5.48541325e+01] [ 1.28653034e-02 -5.40093483e-05 9.99917237e-01 1.89697416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.71, Y:54.88, Z:1.90 [[ 6.10644363e-01 -7.91863367e-01 -8.11602774e-03 1.29705771e+02] [ 7.91794557e-01 6.10698293e-01 -1.04390664e-02 5.48753913e+01] [ 1.32227585e-02 -5.16695629e-05 9.99912574e-01 1.89766078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:54.90, Z:1.90 [[ 6.10637581e-01 -7.91867282e-01 -8.24339115e-03 1.29724330e+02] [ 7.91796215e-01 6.10693218e-01 -1.06088550e-02 5.48964823e+01] [ 1.34349883e-02 -4.89203398e-05 9.99909745e-01 1.89779006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26361786499996 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:129.74, Y:54.92, Z:1.90 [[ 6.10436713e-01 -7.92020826e-01 -8.36836611e-03 1.29741653e+02] [ 7.91947518e-01 6.10494069e-01 -1.07758958e-02 5.49167699e+01] [ 1.36435718e-02 -4.93043407e-05 9.99906921e-01 1.89789228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29361786499996 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:129.76, Y:54.94, Z:1.90 [[ 6.10228037e-01 -7.92181634e-01 -8.36668101e-03 1.29758502e+02] [ 7.92108323e-01 6.10285389e-01 -1.07772040e-02 5.49386048e+01] [ 1.36435663e-02 -5.07656195e-05 9.99906921e-01 1.89825957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:54.96, Z:1.90 [[ 6.10161433e-01 -7.92233745e-01 -8.28962757e-03 1.29775989e+02] [ 7.92161706e-01 6.10217740e-01 -1.06837097e-02 5.49603954e+01] [ 1.35224732e-02 -4.79378797e-05 9.99908566e-01 1.89901770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.79, Y:54.98, Z:1.90 [[ 6.10188750e-01 -7.92216755e-01 -7.89319215e-03 1.29792146e+02] [ 7.92151372e-01 6.10239798e-01 -1.01780368e-02 5.49829759e+01] [ 1.28799513e-02 -4.20794338e-05 9.99917049e-01 1.89958892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.81, Y:55.00, Z:1.90 [[ 6.10299809e-01 -7.92129406e-01 -8.07139211e-03 1.29808352e+02] [ 7.92060950e-01 6.10353179e-01 -1.04138459e-02 5.50047227e+01] [ 1.31755134e-02 -3.74663217e-05 9.99913198e-01 1.90008208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.83, Y:55.03, Z:1.90 [[ 6.09863412e-01 -7.92464870e-01 -8.12702731e-03 1.29825571e+02] [ 7.92395444e-01 6.09917558e-01 -1.04896530e-02 5.50267675e+01] [ 1.32694982e-02 -4.25638400e-05 9.99911955e-01 1.90050522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44361786499996 meters Centerline goodness [0,1] 0.9999781004314215 Centerline is valid? [True, True] Translation: X:129.84, Y:55.05, Z:1.90 [[ 6.09480103e-01 -7.92759818e-01 -8.11632687e-03 1.29841451e+02] [ 7.92690523e-01 6.09534141e-01 -1.04817185e-02 5.50483083e+01] [ 1.32566636e-02 -4.53365286e-05 9.99912126e-01 1.90087030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.86, Y:55.07, Z:1.90 [[ 6.08220663e-01 -7.93724438e-01 -8.31513158e-03 1.29858242e+02] [ 7.93651749e-01 6.08277496e-01 -1.07419301e-02 5.50709573e+01] [ 1.35840399e-02 -6.58548602e-05 9.99907731e-01 1.90063629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.88, Y:55.09, Z:1.90 [[ 6.07275088e-01 -7.94442920e-01 -8.79853976e-03 1.29876362e+02] [ 7.94361510e-01 6.07338818e-01 -1.13732385e-02 5.50927019e+01] [ 1.43790836e-02 -8.25369071e-05 9.99896612e-01 1.90068290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.89, Y:55.12, Z:1.90 [[ 6.05643937e-01 -7.95685056e-01 -8.98406961e-03 1.29894942e+02] [ 7.95600215e-01 6.05710558e-01 -1.16197245e-02 5.51152612e+01] [ 1.46873870e-02 -1.10311989e-04 9.99892128e-01 1.90104038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56361786499997 meters Centerline goodness [0,1] 0.9999559112051672 Centerline is valid? [True, True] Translation: X:129.91, Y:55.14, Z:1.90 [[ 6.02593260e-01 -7.97991157e-01 -9.56434414e-03 1.29913638e+02] [ 7.97895190e-01 6.02669132e-01 -1.23767127e-02 5.51377675e+01] [ 1.56406423e-02 -1.73220549e-04 9.99877663e-01 1.90057984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.93, Y:55.16, Z:1.90 [[ 6.00833358e-01 -7.99315367e-01 -9.70673088e-03 1.29932046e+02] [ 7.99216593e-01 6.00911725e-01 -1.25672840e-02 5.51604309e+01] [ 1.58781116e-02 -2.06936957e-04 9.99873913e-01 1.90030646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.95, Y:55.18, Z:1.90 [[ 5.97796300e-01 -8.01586223e-01 -9.95542670e-03 1.29949921e+02] [ 8.01482534e-01 5.97879130e-01 -1.28954792e-02 5.51819364e+01] [ 1.62889803e-02 -2.70230848e-04 9.99867289e-01 1.89990772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.97, Y:55.21, Z:1.90 [[ 5.96369359e-01 -8.02645475e-01 -1.01897025e-02 1.29967124e+02] [ 8.02536915e-01 5.96456327e-01 -1.32041375e-02 5.52055138e+01] [ 1.66759538e-02 -3.03069391e-04 9.99860901e-01 1.90072890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.98, Y:55.23, Z:1.90 [[ 5.95297818e-01 -8.03442431e-01 -1.00383328e-02 1.29984373e+02] [ 8.03337092e-01 5.95382364e-01 -1.30137279e-02 5.52272744e+01] [ 1.64324275e-02 -3.17121259e-04 9.99864928e-01 1.90112543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:55.25, Z:1.90 [[ 5.92993698e-01 -8.05145347e-01 -9.97222057e-03 1.30001105e+02] [ 8.05041567e-01 5.93077433e-01 -1.29318918e-02 5.52505367e+01] [ 1.63263515e-02 -3.59521740e-04 9.99866652e-01 1.90237170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.02, Y:55.27, Z:1.90 [[ 5.92158696e-01 -8.05761992e-01 -9.78219214e-03 1.30020040e+02] [ 8.05662122e-01 5.92239376e-01 -1.26912029e-02 5.52715384e+01] [ 1.60194883e-02 -3.65935517e-04 9.99871613e-01 1.90277044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.04, Y:55.30, Z:1.90 [[ 5.91169853e-01 -8.06488633e-01 -9.71028583e-03 1.30036420e+02] [ 8.06390265e-01 5.91249473e-01 -1.26016092e-02 5.52954134e+01] [ 1.59042559e-02 -3.80588519e-04 9.99873447e-01 1.90390693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:55.32, Z:1.90 [[ 5.90366692e-01 -8.07081107e-01 -9.34103076e-03 1.30054194e+02] [ 8.06990064e-01 5.90440466e-01 -1.21281660e-02 5.53187045e+01] [ 1.53037362e-02 -3.78053761e-04 9.99882820e-01 1.90460484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.07, Y:55.34, Z:1.91 [[ 5.89551023e-01 -8.07680799e-01 -9.01766817e-03 1.30072261e+02] [ 8.07595942e-01 5.89619865e-01 -1.17136225e-02 5.53395518e+01] [ 1.47778642e-02 -3.76854109e-04 9.99890730e-01 1.90531294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.09, Y:55.36, Z:1.91 [[ 5.88592679e-01 -8.08385876e-01 -8.42227353e-03 1.30087639e+02] [ 8.08311890e-01 5.88652819e-01 -1.09429178e-02 5.53642039e+01] [ 1.38038952e-02 -3.66902538e-04 9.99904654e-01 1.90648501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:55.39, Z:1.91 [[ 5.88144957e-01 -8.08711171e-01 -8.47059418e-03 1.30104053e+02] [ 8.08636292e-01 5.88205833e-01 -1.10111512e-02 5.53867558e+01] [ 1.38872939e-02 -3.73476799e-04 9.99903497e-01 1.90715558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.12, Y:55.41, Z:1.91 [[ 5.88155877e-01 -8.08704495e-01 -8.34891348e-03 1.30120059e+02] [ 8.08631669e-01 5.88215018e-01 -1.08589716e-02 5.54095054e+01] [ 1.36926554e-02 -3.64427891e-04 9.99906185e-01 1.90783789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.14, Y:55.43, Z:1.91 [[ 5.88291631e-01 -8.08605422e-01 -8.38023053e-03 1.30136097e+02] [ 8.08531955e-01 5.88351206e-01 -1.09057699e-02 5.54309605e+01] [ 1.37489834e-02 -3.59911002e-04 9.99905413e-01 1.90813170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.15, Y:55.45, Z:1.91 [[ 5.88265064e-01 -8.08622431e-01 -8.60103727e-03 1.30152852e+02] [ 8.08544966e-01 5.88327825e-01 -1.11986182e-02 5.54522702e+01] [ 1.41156834e-02 -3.66569535e-04 9.99900302e-01 1.90856033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.17, Y:55.48, Z:1.91 [[ 5.88458288e-01 -8.08479409e-01 -8.82545383e-03 1.30167773e+02] [ 8.08397748e-01 5.88524349e-01 -1.14965894e-02 5.54770216e+01] [ 1.44887502e-02 -3.69213705e-04 9.99894964e-01 1.90868624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.18, Y:55.50, Z:1.91 [[ 5.88717793e-01 -8.08285873e-01 -9.23624903e-03 1.30183781e+02] [ 8.08196315e-01 5.88790120e-01 -1.20378795e-02 5.55016827e+01] [ 1.51682601e-02 -3.77788593e-04 9.99884884e-01 1.90844390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.20, Y:55.52, Z:1.91 [[ 5.88679282e-01 -8.08312933e-01 -9.32225075e-03 1.30200380e+02] [ 8.08221615e-01 5.88752969e-01 -1.21557841e-02 5.55233330e+01] [ 1.53141803e-02 -3.78586298e-04 9.99882659e-01 1.90885089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.22, Y:55.54, Z:1.91 [[ 5.88342041e-01 -8.08557202e-01 -9.42829988e-03 1.30216689e+02] [ 8.08463765e-01 5.88417454e-01 -1.22979459e-02 5.55449309e+01] [ 1.54913690e-02 -3.87040203e-04 9.99879927e-01 1.90907586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13361786499996 meters Centerline goodness [0,1] 0.999956210452565 Centerline is valid? [True, True] Translation: X:130.23, Y:55.57, Z:1.91 [[ 5.88027837e-01 -8.08790239e-01 -9.03398300e-03 1.30233528e+02] [ 8.08704423e-01 5.88097109e-01 -1.17875818e-02 5.55678729e+01] [ 1.48465404e-02 -3.74395775e-04 9.99889714e-01 1.90960294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.25, Y:55.59, Z:1.91 [[ 5.87020109e-01 -8.09526984e-01 -8.57055929e-03 1.30249511e+02] [ 8.09449742e-01 5.87082555e-01 -1.11888060e-02 5.55923830e+01] [ 1.40892662e-02 -3.69382866e-04 9.99900673e-01 1.91090870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.27, Y:55.61, Z:1.91 [[ 5.86676350e-01 -8.09777512e-01 -8.44040741e-03 1.30266656e+02] [ 8.09702550e-01 5.86736948e-01 -1.10242844e-02 5.56135685e+01] [ 1.38795165e-02 -3.66532437e-04 9.99903608e-01 1.91164254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.28, Y:55.64, Z:1.91 [[ 5.86328767e-01 -8.10029200e-01 -8.44232269e-03 1.30283105e+02] [ 8.09954177e-01 5.86389425e-01 -1.10305561e-02 5.56364737e+01] [ 1.38855612e-02 -3.70362200e-04 9.99903522e-01 1.91215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:55.66, Z:1.91 [[ 5.86022483e-01 -8.10251165e-01 -8.40828409e-03 1.30301213e+02] [ 8.10176685e-01 5.86082684e-01 -1.09921499e-02 5.56571479e+01] [ 1.38343520e-02 -3.70548735e-04 9.99904232e-01 1.91253634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.32, Y:55.68, Z:1.91 [[ 5.86019821e-01 -8.10254533e-01 -8.26804340e-03 1.30315358e+02] [ 8.10182474e-01 5.86078032e-01 -1.08120104e-02 5.56811330e+01] [ 1.36061991e-02 -3.62571441e-04 9.99907366e-01 1.91273870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:55.70, Z:1.91 [[ 5.86751835e-01 -8.09722924e-01 -8.43034654e-03 1.30331848e+02] [ 8.09647865e-01 5.86812288e-01 -1.10305322e-02 5.57049344e+01] [ 1.38787057e-02 -3.53427057e-04 9.99903624e-01 1.91282126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:55.73, Z:1.91 [[ 5.87496578e-01 -8.09181629e-01 -8.53588076e-03 1.30347642e+02] [ 8.09104545e-01 5.87558485e-01 -1.11741339e-02 5.57297625e+01] [ 1.40572331e-02 -3.41654475e-04 9.99901134e-01 1.91356026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.36, Y:55.75, Z:1.91 [[ 5.88465977e-01 -8.08476354e-01 -8.58943430e-03 1.30363941e+02] [ 8.08398147e-01 5.88528572e-01 -1.12496896e-02 5.57524718e+01] [ 1.41502355e-02 -3.23623187e-04 9.99899828e-01 1.91338413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.38, Y:55.78, Z:1.91 [[ 5.90902598e-01 -8.06693081e-01 -8.96619580e-03 1.30378850e+02] [ 8.06607619e-01 5.90970547e-01 -1.17456573e-02 5.57772503e+01] [ 1.47738981e-02 -2.91662429e-04 9.99890817e-01 1.91389515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:55.80, Z:1.91 [[ 5.91955346e-01 -8.05918407e-01 -9.18644155e-03 1.30395092e+02] [ 8.05828509e-01 5.92026559e-01 -1.20402875e-02 5.58009984e+01] [ 1.51421067e-02 -2.75383924e-04 9.99885314e-01 1.91452745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.41, Y:55.83, Z:1.91 [[ 5.92818645e-01 -8.05285149e-01 -9.04894402e-03 1.30411807e+02] [ 8.05197761e-01 5.92887650e-01 -1.18658848e-02 5.58251547e+01] [ 1.49204279e-02 -2.51871742e-04 9.99888652e-01 1.91499854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49361786499998 meters Centerline goodness [0,1] 0.999956686518679 Centerline is valid? [True, True] Translation: X:130.43, Y:55.85, Z:1.92 [[ 5.93785761e-01 -8.04576678e-01 -8.65098875e-03 1.30428544e+02] [ 8.04496656e-01 5.93848736e-01 -1.13494158e-02 5.58492460e+01] [ 1.42688540e-02 -2.20570052e-04 9.99898170e-01 1.91543112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.44, Y:55.87, Z:1.92 [[ 5.95177975e-01 -8.03553063e-01 -8.10265442e-03 1.30444005e+02] [ 8.03482705e-01 5.95233099e-01 -1.06349285e-02 5.58726927e+01] [ 1.33686975e-02 -1.80667486e-04 9.99910619e-01 1.91592071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.46, Y:55.89, Z:1.92 [[ 5.95564472e-01 -8.03268151e-01 -7.95214736e-03 1.30459741e+02] [ 8.03200334e-01 5.95617535e-01 -1.04391132e-02 5.58944316e+01] [ 1.31218456e-02 -1.70002474e-04 9.99913890e-01 1.91670441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:55.92, Z:1.92 [[ 5.95813045e-01 -8.03083994e-01 -7.93186312e-03 1.30476113e+02] [ 8.03016441e-01 5.95865817e-01 -1.04174639e-02 5.59170957e+01] [ 1.30924246e-02 -1.62555618e-04 9.99914277e-01 1.91717332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:55.94, Z:1.92 [[ 5.95563244e-01 -8.03271984e-01 -7.65127939e-03 1.30492597e+02] [ 8.03209074e-01 5.95612370e-01 -1.00543097e-02 5.59398438e+01] [ 1.26335419e-02 -1.57599748e-04 9.99920181e-01 1.91769083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:55.96, Z:1.92 [[ 5.95308752e-01 -8.03460965e-01 -7.61365443e-03 1.30509295e+02] [ 8.03398618e-01 5.95357416e-01 -1.00104033e-02 5.59614919e+01] [ 1.25758140e-02 -1.57518721e-04 9.99920909e-01 1.91812855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:55.98, Z:1.92 [[ 5.94629504e-01 -8.03968101e-01 -7.14469272e-03 1.30525946e+02] [ 8.03913183e-01 5.94672405e-01 -9.39811711e-03 5.59836098e+01] [ 1.18045380e-02 -1.55314954e-04 9.99930312e-01 1.91858640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters Centerline goodness [0,1] 0.9999350621239015 Centerline is valid? [True, True] Translation: X:130.54, Y:56.00, Z:1.92 [[ 5.93938370e-01 -8.04480759e-01 -6.92243853e-03 1.30542925e+02] [ 8.04429186e-01 5.93978689e-01 -9.11054642e-03 5.60049097e+01] [ 1.14410403e-02 -1.57508502e-04 9.99934537e-01 1.91913432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73361786499999 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:130.56, Y:56.03, Z:1.92 [[ 5.93355051e-01 -8.04909969e-01 -7.05170345e-03 1.30558766e+02] [ 8.04856428e-01 5.93396929e-01 -9.28519629e-03 5.60284822e+01] [ 1.16582062e-02 -1.66190741e-04 9.99932027e-01 1.91893459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:56.05, Z:1.92 [[ 5.91762796e-01 -8.06079489e-01 -7.25606775e-03 1.30577304e+02] [ 8.06022816e-01 5.91807250e-01 -9.56032907e-03 5.60495344e+01] [ 1.20005787e-02 -1.91109096e-04 9.99927972e-01 1.91842986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:56.07, Z:1.92 [[ 5.90571852e-01 -8.06949429e-01 -7.58336269e-03 1.30594032e+02] [ 8.06887578e-01 5.90620497e-01 -9.99320379e-03 5.60726320e+01] [ 1.25428995e-02 -2.17216295e-04 9.99921311e-01 1.91800475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:56.10, Z:1.92 [[ 5.89189652e-01 -8.07956272e-01 -7.88779155e-03 1.30611985e+02] [ 8.07889375e-01 5.89242398e-01 -1.03997106e-02 5.60954685e+01] [ 1.30503326e-02 -2.45061100e-04 9.99914811e-01 1.91840511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:56.12, Z:1.92 [[ 5.87634544e-01 -8.09091098e-01 -7.56558973e-03 1.30629973e+02] [ 8.09029589e-01 5.87683188e-01 -9.97975171e-03 5.61162055e+01] [ 1.25206982e-02 -2.56339106e-04 9.99921580e-01 1.91842281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:56.14, Z:1.92 [[ 5.83810101e-01 -8.11859354e-01 -7.08206269e-03 1.30649499e+02] [ 8.11805625e-01 5.83852981e-01 -9.34469416e-03 5.61363192e+01] [ 1.17214608e-02 -2.93731485e-04 9.99931258e-01 1.91969840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.67, Y:56.16, Z:1.92 [[ 5.81867276e-01 -8.13254400e-01 -6.91045827e-03 1.30666052e+02] [ 8.13203285e-01 5.81908227e-01 -9.12319236e-03 5.61593599e+01] [ 1.14407288e-02 -3.11120284e-04 9.99934504e-01 1.92003648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.68, Y:56.18, Z:1.92 [[ 5.80011917e-01 -8.14579268e-01 -6.84056983e-03 1.30684908e+02] [ 8.14529250e-01 5.80052158e-01 -9.03295418e-03 5.61813533e+01] [ 1.13259445e-02 -3.32623151e-04 9.99935804e-01 1.92039873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.71, Y:56.20, Z:1.92 [[ 5.77119556e-01 -8.16632831e-01 -6.62092359e-03 1.30705859e+02] [ 8.16586059e-01 5.77157423e-01 -8.74740834e-03 5.61997067e+01] [ 1.09647360e-02 -3.58253480e-04 9.99939821e-01 1.92096934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:56.22, Z:1.92 [[ 5.76093748e-01 -8.17356001e-01 -6.72026520e-03 1.30724373e+02] [ 8.17307831e-01 5.76132821e-01 -8.88157069e-03 5.62223909e+01] [ 1.11311704e-02 -3.75908031e-04 9.99937976e-01 1.92132962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.74, Y:56.24, Z:1.92 [[ 5.75680278e-01 -8.17646668e-01 -6.79292454e-03 1.30742019e+02] [ 8.17597423e-01 5.75720227e-01 -8.98189954e-03 5.62431903e+01] [ 1.12548443e-02 -3.83175179e-04 9.99936589e-01 1.92106809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.76, Y:56.27, Z:1.92 [[ 5.76316244e-01 -8.17198072e-01 -6.84824043e-03 1.30758825e+02] [ 8.17147939e-01 5.76356809e-01 -9.05956805e-03 5.62664573e+01] [ 1.13504915e-02 -3.74849316e-04 9.99935511e-01 1.92147030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:56.29, Z:1.92 [[ 5.77229020e-01 -8.16553350e-01 -6.87643110e-03 1.30772362e+02] [ 8.16502709e-01 5.77269864e-01 -9.10106562e-03 5.62923627e+01] [ 1.14010621e-02 -3.61225439e-04 9.99934941e-01 1.92127644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.79, Y:56.32, Z:1.92 [[ 5.80600707e-01 -8.14157984e-01 -7.04241022e-03 1.30787821e+02] [ 8.14104638e-01 5.80643328e-01 -9.32539364e-03 5.63158535e+01] [ 1.16814722e-02 -3.18928687e-04 9.99931718e-01 1.92089541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.80, Y:56.34, Z:1.92 [[ 5.82450392e-01 -8.12833534e-01 -7.29300270e-03 1.30804390e+02] [ 8.12776151e-01 5.82495972e-01 -9.66288832e-03 5.63385746e+01] [ 1.21024644e-02 -2.99425577e-04 9.99926718e-01 1.92142021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.82, Y:56.36, Z:1.92 [[ 5.83841806e-01 -8.11836332e-01 -7.10739087e-03 1.30821479e+02] [ 8.11781745e-01 5.83885003e-01 -9.41819273e-03 5.63624713e+01] [ 1.17959300e-02 -2.70915504e-04 9.99930389e-01 1.92195421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.84, Y:56.38, Z:1.92 [[ 5.83629026e-01 -8.11989330e-01 -7.10544702e-03 1.30838024e+02] [ 8.11934737e-01 5.83672214e-01 -9.41965898e-03 5.63845393e+01] [ 1.17959146e-02 -2.71572858e-04 9.99930389e-01 1.92232128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:56.41, Z:1.92 [[ 5.86705073e-01 -8.09772601e-01 -6.74478543e-03 1.30853064e+02] [ 8.09723204e-01 5.86743803e-01 -8.94670112e-03 5.64073650e+01] [ 1.12022545e-02 -2.12334332e-04 9.99937230e-01 1.92302037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.87, Y:56.43, Z:1.92 [[ 5.87928697e-01 -8.08886383e-01 -6.53206353e-03 1.30868794e+02] [ 8.08839983e-01 5.87964952e-01 -8.66584719e-03 5.64295035e+01] [ 1.08503102e-02 -1.88493911e-04 9.99941116e-01 1.92354319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.89, Y:56.45, Z:1.92 [[ 5.89051872e-01 -8.08070491e-01 -6.32245251e-03 1.30885262e+02] [ 8.08026945e-01 5.89085778e-01 -8.39059362e-03 5.64520759e+01] [ 1.05046580e-02 -1.66217106e-04 9.99944811e-01 1.92415605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.90, Y:56.48, Z:1.93 [[ 5.90691750e-01 -8.06874661e-01 -6.04462658e-03 1.30902660e+02] [ 8.06834755e-01 5.90722661e-01 -8.02592309e-03 5.64752199e+01] [ 1.00466119e-02 -1.36168248e-04 9.99949522e-01 1.92546980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.92, Y:56.50, Z:1.93 [[ 5.91355383e-01 -8.06390537e-01 -5.75431120e-03 1.30919808e+02] [ 8.06354319e-01 5.91383367e-01 -7.64365741e-03 5.64970723e+01] [ 9.56677694e-03 -1.19895725e-04 9.99954230e-01 1.92590404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:56.52, Z:1.93 [[ 5.92298019e-01 -8.05699791e-01 -5.55914716e-03 1.30936947e+02] [ 8.05665920e-01 5.92324097e-01 -7.38847897e-03 5.65175733e+01] [ 9.24571278e-03 -1.02633955e-04 9.99957252e-01 1.92644936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters Centerline goodness [0,1] 0.9999563833035285 Centerline is valid? [True, True] Translation: X:130.95, Y:56.54, Z:1.93 [[ 5.92834645e-01 -8.05304369e-01 -5.65308029e-03 1.30953706e+02] [ 8.05269294e-01 5.92861590e-01 -7.51666839e-03 5.65387796e+01] [ 9.40470006e-03 -9.61105355e-05 9.99955770e-01 1.92677590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.97, Y:56.56, Z:1.93 [[ 5.93115476e-01 -8.05098080e-01 -5.57795342e-03 1.30969562e+02] [ 8.05063894e-01 5.93141698e-01 -7.41975817e-03 5.65622274e+01] [ 9.28214981e-03 -8.98355028e-05 9.99956916e-01 1.92626176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:130.99, Y:56.58, Z:1.93 [[ 5.93460084e-01 -8.04844599e-01 -5.50453562e-03 1.30986837e+02] [ 8.04811253e-01 5.93485606e-01 -7.32680651e-03 5.65832702e+01] [ 9.16380330e-03 -8.19450001e-05 9.99958008e-01 1.92708440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51361786499996 meters Centerline goodness [0,1] 0.9998253389515971 Centerline is valid? [True, True] Translation: X:131.00, Y:56.61, Z:1.93 [[ 5.93767834e-01 -8.04616318e-01 -5.68690821e-03 1.31004152e+02] [ 8.04580691e-01 5.93795061e-01 -7.57214618e-03 5.66057755e+01] [ 9.46953038e-03 -7.94797008e-05 9.99955160e-01 1.92674521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54361786499996 meters Centerline goodness [0,1] 0.9999781621243885 Centerline is valid? [True, True] Translation: X:131.02, Y:56.63, Z:1.93 [[ 5.94043841e-01 -8.04410445e-01 -5.97915044e-03 1.31022058e+02] [ 8.04371007e-01 5.94073926e-01 -7.96583164e-03 5.66276799e+01] [ 9.95985555e-03 -7.74020310e-05 9.99950396e-01 1.92659890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:56.65, Z:1.93 [[ 5.93796197e-01 -8.04591934e-01 -6.15600338e-03 1.31040001e+02] [ 8.04550084e-01 5.93828101e-01 -8.20668522e-03 5.66483867e+01] [ 1.02586405e-02 -7.97145695e-05 9.99947376e-01 1.92701624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60361786499996 meters Centerline goodness [0,1] 0.9999780190794391 Centerline is valid? [True, True] Translation: X:131.06, Y:56.67, Z:1.93 [[ 5.92972330e-01 -8.05198005e-01 -6.32367349e-03 1.31058550e+02] [ 8.05153847e-01 5.93006041e-01 -8.43310466e-03 5.66696232e+01] [ 1.05402956e-02 -9.09323184e-05 9.99944445e-01 1.92635611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63361786499996 meters Centerline goodness [0,1] 0.9999342537804077 Centerline is valid? [True, True] Translation: X:131.08, Y:56.69, Z:1.93 [[ 5.92300885e-01 -8.05691009e-01 -6.45449772e-03 1.31076362e+02] [ 8.05644975e-01 5.92336044e-01 -8.61304694e-03 5.66906127e+01] [ 1.07626861e-02 -9.85183329e-05 9.99942076e-01 1.92645622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.09, Y:56.71, Z:1.93 [[ 5.91270716e-01 -8.06445719e-01 -6.65155018e-03 1.31094747e+02] [ 8.06396842e-01 5.91308118e-01 -8.87940449e-03 5.67125507e+01] [ 1.10938734e-02 -1.13657205e-04 9.99938455e-01 1.92681064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69361786499996 meters Centerline goodness [0,1] 0.9998900881493042 Centerline is valid? [True, True] Translation: X:131.11, Y:56.73, Z:1.93 [[ 5.89109475e-01 -8.08023821e-01 -6.89432672e-03 1.31114959e+02] [ 8.07971363e-01 5.89149798e-01 -9.20826270e-03 5.67335703e+01] [ 1.15022868e-02 -1.45743754e-04 9.99933836e-01 1.92640146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:56.75, Z:1.93 [[ 5.87771533e-01 -8.08997091e-01 -6.95206645e-03 1.31133328e+02] [ 8.08943762e-01 5.87812623e-01 -9.29033886e-03 5.67549567e+01] [ 1.16023695e-02 -1.63234073e-04 9.99932677e-01 1.92642579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75361786499997 meters Centerline goodness [0,1] 0.9999780118296356 Centerline is valid? [True, True] Translation: X:131.15, Y:56.78, Z:1.93 [[ 5.86291824e-01 -8.10071222e-01 -6.82005721e-03 1.31151873e+02] [ 8.10019950e-01 5.86331462e-01 -9.11581137e-03 5.67771945e+01] [ 1.13832706e-02 -1.79856724e-04 9.99935192e-01 1.92627475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78361786499997 meters Centerline goodness [0,1] 0.9999558975942138 Centerline is valid? [True, True] Translation: X:131.17, Y:56.80, Z:1.93 [[ 5.84892061e-01 -8.11082269e-01 -6.84323023e-03 1.31170543e+02] [ 8.11030665e-01 5.84932059e-01 -9.15132056e-03 5.67994761e+01] [ 1.14252986e-02 -1.97534827e-04 9.99934710e-01 1.92654761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.19, Y:56.82, Z:1.93 [[ 5.85115703e-01 -8.10923386e-01 -6.54798384e-03 1.31186134e+02] [ 8.10876079e-01 5.85152312e-01 -8.76102526e-03 5.68217937e+01] [ 1.09360882e-02 -1.83390008e-04 9.99940182e-01 1.92701321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.20, Y:56.84, Z:1.93 [[ 5.85116905e-01 -8.10920738e-01 -6.76488823e-03 1.31202998e+02] [ 8.10870214e-01 5.85155980e-01 -9.05397277e-03 5.68433249e+01] [ 1.13005691e-02 -1.87813841e-04 9.99936129e-01 1.92703791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.22, Y:56.87, Z:1.93 [[ 5.85973935e-01 -8.10294063e-01 -7.62089764e-03 1.31218601e+02] [ 8.10229835e-01 5.86023457e-01 -1.02040070e-02 5.68670791e+01] [ 1.27342711e-02 -1.95396482e-04 9.99918897e-01 1.92617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90361786499997 meters Centerline goodness [0,1] 0.9999116939311654 Centerline is valid? [True, True] Translation: X:131.23, Y:56.89, Z:1.93 [[ 5.86189487e-01 -8.10131446e-01 -8.30210897e-03 1.31234853e+02] [ 8.10055114e-01 5.86248239e-01 -1.11226899e-02 5.68886193e+01] [ 1.38779376e-02 -2.05161933e-04 9.99903676e-01 1.92562620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93361786499997 meters Centerline goodness [0,1] 0.9999779628895059 Centerline is valid? [True, True] Translation: X:131.25, Y:56.91, Z:1.93 [[ 5.86128829e-01 -8.10171881e-01 -8.63240831e-03 1.31251125e+02] [ 8.10089275e-01 5.86192356e-01 -1.15710296e-02 5.69098287e+01] [ 1.44347746e-02 -2.10907350e-04 9.99895791e-01 1.92516378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.27, Y:56.93, Z:1.93 [[ 5.86051430e-01 -8.10224412e-01 -8.95115570e-03 1.31267370e+02] [ 8.10135524e-01 5.86119744e-01 -1.20032360e-02 5.69324589e+01] [ 1.49717640e-02 -2.17135574e-04 9.99887893e-01 1.92508729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:56.95, Z:1.92 [[ 5.86187027e-01 -8.10124735e-01 -9.09295890e-03 1.31282112e+02] [ 8.10032892e-01 5.86257509e-01 -1.22002958e-02 5.69547666e+01] [ 1.52145768e-02 -2.13940679e-04 9.99884229e-01 1.92478530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.30, Y:56.98, Z:1.92 [[ 5.86378102e-01 -8.09988017e-01 -8.95177149e-03 1.31297539e+02] [ 8.09898898e-01 5.86446392e-01 -1.20168069e-02 5.69774317e+01] [ 1.49832037e-02 -2.03637464e-04 9.99887725e-01 1.92488800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05361786499998 meters Centerline goodness [0,1] 0.9999559014839151 Centerline is valid? [True, True] Translation: X:131.31, Y:57.00, Z:1.93 [[ 5.86503122e-01 -8.09897068e-01 -8.99039362e-03 1.31313084e+02] [ 8.09807078e-01 5.86571990e-01 -1.20746548e-02 5.70013636e+01] [ 1.50527406e-02 -1.98661654e-04 9.99886681e-01 1.92550956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:57.02, Z:1.93 [[ 5.87274493e-01 -8.09337908e-01 -8.98999742e-03 1.31328758e+02] [ 8.09247758e-01 5.87343271e-01 -1.20808941e-02 5.70242058e+01] [ 1.50577401e-02 -1.80334297e-04 9.99886610e-01 1.92674850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11361786499998 meters Centerline goodness [0,1] 0.9999780547752809 Centerline is valid? [True, True] Translation: X:131.34, Y:57.05, Z:1.93 [[ 5.87660798e-01 -8.09057335e-01 -9.00083969e-03 1.31344327e+02] [ 8.08966836e-01 5.87729699e-01 -1.21020125e-02 5.70461507e+01] [ 1.50812828e-02 -1.69502466e-04 9.99886257e-01 1.92730120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:57.07, Z:1.93 [[ 5.87969153e-01 -8.08833856e-01 -8.94810105e-03 1.31360076e+02] [ 8.08744300e-01 5.88037216e-01 -1.20369754e-02 5.70692035e+01] [ 1.49977297e-02 -1.59355491e-04 9.99887515e-01 1.92779389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.38, Y:57.09, Z:1.93 [[ 5.88353897e-01 -8.08556126e-01 -8.75684071e-03 1.31376102e+02] [ 8.08470232e-01 5.88419043e-01 -1.17862265e-02 5.70918434e+01] [ 1.46825175e-02 -1.45172742e-04 9.99892195e-01 1.92877504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:57.11, Z:1.93 [[ 5.88130474e-01 -8.08717060e-01 -8.90297748e-03 1.31392502e+02] [ 8.08628190e-01 5.88197837e-01 -1.19897696e-02 5.71138666e+01] [ 1.49330433e-02 -1.47649692e-04 9.99888485e-01 1.92971451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.41, Y:57.14, Z:1.93 [[ 5.87864294e-01 -8.08912260e-01 -8.74802493e-03 1.31408159e+02] [ 8.08826392e-01 5.87929362e-01 -1.17870190e-02 5.71355933e+01] [ 1.46778849e-02 -1.46465846e-04 9.99892263e-01 1.92931128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:57.16, Z:1.93 [[ 5.87381519e-01 -8.09260276e-01 -8.98652533e-03 1.31424164e+02] [ 8.09169606e-01 5.87450238e-01 -1.21147293e-02 5.71585008e+01] [ 1.50831056e-02 -1.55655077e-04 9.99886231e-01 1.92944281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.44, Y:57.18, Z:1.93 [[ 5.86692560e-01 -8.09761088e-01 -8.87805344e-03 1.31440565e+02] [ 8.09672555e-01 5.86759707e-01 -1.19750104e-02 5.71794761e+01] [ 1.49061815e-02 -1.62666722e-04 9.99888883e-01 1.92923343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.46, Y:57.20, Z:1.93 [[ 5.85541024e-01 -8.10589702e-01 -9.27595297e-03 1.31458873e+02] [ 8.10493087e-01 5.85614462e-01 -1.25163129e-02 5.71999278e+01] [ 1.55777266e-02 -1.89281068e-04 9.99878642e-01 1.92865081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35361786499996 meters Centerline goodness [0,1] 0.9999781052262825 Centerline is valid? [True, True] Translation: X:131.48, Y:57.22, Z:1.93 [[ 5.84422043e-01 -8.11393521e-01 -9.56189130e-03 1.31475909e+02] [ 8.11290858e-01 5.84500221e-01 -1.29087204e-02 5.72236382e+01] [ 1.60629796e-02 -2.13334270e-04 9.99870959e-01 1.92898294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.49, Y:57.25, Z:1.93 [[ 5.83399722e-01 -8.12127834e-01 -9.65114281e-03 1.31493900e+02] [ 8.12023240e-01 5.83479500e-01 -1.30357646e-02 5.72460335e+01] [ 1.62179513e-02 -2.31890787e-04 9.99868453e-01 1.92917733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.51, Y:57.27, Z:1.93 [[ 5.81489467e-01 -8.13493889e-01 -9.88398508e-03 1.31512610e+02] [ 8.13384279e-01 5.81573399e-01 -1.33565181e-02 5.72669822e+01] [ 1.66137087e-02 -2.72803477e-04 9.99861946e-01 1.92939946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.53, Y:57.29, Z:1.93 [[ 5.80321422e-01 -8.14325614e-01 -1.00419628e-02 1.31530538e+02] [ 8.14212519e-01 5.80408223e-01 -1.35745674e-02 5.72901802e+01] [ 1.68825557e-02 -2.98679579e-04 9.99857435e-01 1.92945555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.55, Y:57.31, Z:1.93 [[ 5.79215233e-01 -8.15114794e-01 -9.87860035e-03 1.31549403e+02] [ 8.15005366e-01 5.79299382e-01 -1.33596038e-02 5.73108525e+01] [ 1.66122778e-02 -3.13026277e-04 9.99861958e-01 1.92915743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.57, Y:57.33, Z:1.93 [[ 5.76974671e-01 -8.16706699e-01 -9.50771006e-03 1.31565681e+02] [ 8.16605497e-01 5.77052900e-01 -1.28612673e-02 5.73342069e+01] [ 1.59903348e-02 -3.43422848e-04 9.99872087e-01 1.93005239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:57.36, Z:1.93 [[ 5.75753211e-01 -8.17569005e-01 -9.44256672e-03 1.31583476e+02] [ 8.17469235e-01 5.75830523e-01 -1.27772787e-02 5.73570915e+01] [ 1.58836251e-02 -3.62448580e-04 9.99873782e-01 1.93092982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.60, Y:57.38, Z:1.93 [[ 5.73745910e-01 -8.18981114e-01 -9.25017923e-03 1.31602275e+02] [ 8.18885458e-01 5.73820341e-01 -1.25228958e-02 5.73780844e+01] [ 1.55639562e-02 -3.89876991e-04 9.99878798e-01 1.93113670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.62, Y:57.40, Z:1.93 [[ 5.72818511e-01 -8.19632023e-01 -9.07193933e-03 1.31619111e+02] [ 8.19540030e-01 5.72890207e-01 -1.22862051e-02 5.74013404e+01] [ 1.52673924e-02 -3.97051697e-04 9.99883368e-01 1.93182860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62361786499997 meters Centerline goodness [0,1] 0.9999779803584797 Centerline is valid? [True, True] Translation: X:131.64, Y:57.42, Z:1.93 [[ 5.71865977e-01 -8.20301659e-01 -8.63092642e-03 1.31636651e+02] [ 8.20218386e-01 5.71930970e-01 -1.16946086e-02 5.74242080e+01] [ 1.45294010e-02 -3.91495749e-04 9.99894366e-01 1.93201160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:57.45, Z:1.93 [[ 5.71166017e-01 -8.20792087e-01 -8.35051208e-03 1.31654119e+02] [ 8.20714112e-01 5.71226925e-01 -1.13202163e-02 5.74473433e+01] [ 1.40615813e-02 -3.87660271e-04 9.99901056e-01 1.93240477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.67, Y:57.47, Z:1.93 [[ 5.70955400e-01 -8.20942895e-01 -7.91797857e-03 1.31670767e+02] [ 8.20872735e-01 5.71010181e-01 -1.07389983e-02 5.74704379e+01] [ 1.33373507e-02 -3.68163677e-04 9.99910986e-01 1.93256425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.69, Y:57.49, Z:1.93 [[ 5.71409668e-01 -8.20626981e-01 -7.89613206e-03 1.31688642e+02] [ 8.20557095e-01 5.71464111e-01 -1.07155636e-02 5.74908612e+01] [ 1.33058367e-02 -3.56250546e-04 9.99911410e-01 1.93277275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters Centerline goodness [0,1] 0.9999780089283751 Centerline is valid? [True, True] Translation: X:131.70, Y:57.52, Z:1.93 [[ 5.71656559e-01 -8.20454603e-01 -7.93877455e-03 1.31703079e+02] [ 8.20383888e-01 5.71711572e-01 -1.07774974e-02 5.75150134e+01] [ 1.33811366e-02 -3.51815667e-04 9.99910407e-01 1.93272818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.72, Y:57.54, Z:1.93 [[ 5.72157920e-01 -8.20105439e-01 -7.89838511e-03 1.31718887e+02] [ 8.20035329e-01 5.72212334e-01 -1.07286778e-02 5.75382526e+01] [ 1.33182004e-02 -3.38456861e-04 9.99911252e-01 1.93287285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters Centerline goodness [0,1] 0.9999780802700511 Centerline is valid? [True, True] Translation: X:131.73, Y:57.56, Z:1.93 [[ 5.73328356e-01 -8.19289102e-01 -7.74361007e-03 1.31733109e+02] [ 8.19221563e-01 5.73380564e-01 -1.05242004e-02 5.75639872e+01] [ 1.30623982e-02 -3.09909839e-04 9.99914635e-01 1.93253422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83361786499998 meters Centerline goodness [0,1] 0.9999781148097082 Centerline is valid? [True, True] Translation: X:131.75, Y:57.59, Z:1.93 [[ 5.73723931e-01 -8.19014911e-01 -7.44492407e-03 1.31748940e+02] [ 8.18952397e-01 5.73772161e-01 -1.01231916e-02 5.75887321e+01] [ 1.25627351e-02 -2.89121116e-04 9.99921044e-01 1.93245588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters Centerline goodness [0,1] 0.9999125281550001 Centerline is valid? [True, True] Translation: X:131.77, Y:57.61, Z:1.93 [[ 5.74089362e-01 -8.18760721e-01 -7.23085083e-03 1.31766029e+02] [ 8.18701669e-01 5.74134833e-01 -9.83718415e-03 5.76103782e+01] [ 1.22057833e-02 -2.72486864e-04 9.99925470e-01 1.93276383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89361786499998 meters Centerline goodness [0,1] 0.9999562190797251 Centerline is valid? [True, True] Translation: X:131.78, Y:57.64, Z:1.93 [[ 5.73430514e-01 -8.19226619e-01 -6.72256007e-03 1.31781542e+02] [ 8.19175583e-01 5.73469859e-01 -9.14792595e-03 5.76353866e+01] [ 1.13494100e-02 -2.61257187e-04 9.99935559e-01 1.93356770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.80, Y:57.66, Z:1.93 [[ 5.72911531e-01 -8.19590940e-01 -6.56272770e-03 1.31798761e+02] [ 8.19542278e-01 5.72949059e-01 -8.93479434e-03 5.76586704e+01] [ 1.10829852e-02 -2.59586103e-04 9.99938548e-01 1.93404798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:57.68, Z:1.93 [[ 5.72072533e-01 -8.20177247e-01 -6.50388592e-03 1.31816272e+02] [ 8.20129439e-01 5.72109441e-01 -8.85945115e-03 5.76804949e+01] [ 1.09872548e-02 -2.65779657e-04 9.99939603e-01 1.93451797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.83, Y:57.70, Z:1.93 [[ 5.70048435e-01 -8.21589476e-01 -5.95945073e-03 1.31832261e+02] [ 8.21549391e-01 5.70079522e-01 -8.12015851e-03 5.77026656e+01] [ 1.00687976e-02 -2.67099470e-04 9.99949273e-01 1.93465044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.85, Y:57.73, Z:1.93 [[ 5.68730328e-01 -8.22503993e-01 -5.74423023e-03 1.31847010e+02] [ 8.22466791e-01 5.68759270e-01 -7.82756829e-03 5.77275823e+01] [ 9.70529036e-03 -2.72663121e-04 9.99952865e-01 1.93451983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:57.75, Z:1.93 [[ 5.66299404e-01 -8.24183487e-01 -5.15405942e-03 1.31863087e+02] [ 8.24153580e-01 5.66322794e-01 -7.02638117e-03 5.77500588e+01] [ 8.70988866e-03 -2.68701053e-04 9.99962032e-01 1.93453964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.88, Y:57.77, Z:1.93 [[ 5.64947704e-01 -8.25110310e-01 -5.20266074e-03 1.31880651e+02] [ 8.25079845e-01 5.64971588e-01 -7.09601621e-03 5.77735243e+01] [ 8.79435163e-03 -2.83732453e-04 9.99961289e-01 1.93487718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:57.80, Z:1.94 [[ 5.64727354e-01 -8.25261149e-01 -5.20112493e-03 1.31896901e+02] [ 8.25230680e-01 5.64751233e-01 -7.09714160e-03 5.77958255e+01] [ 8.79433694e-03 -2.84177864e-04 9.99961289e-01 1.93524427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:57.82, Z:1.94 [[ 5.63543070e-01 -8.26069757e-01 -5.28816855e-03 1.31914013e+02] [ 8.26038256e-01 5.63567802e-01 -7.22032041e-03 5.78189070e+01] [ 8.94472985e-03 -2.99267994e-04 9.99959950e-01 1.93581238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:57.84, Z:1.94 [[ 5.62221919e-01 -8.26970507e-01 -5.12776691e-03 1.31930872e+02] [ 8.26940897e-01 5.62245221e-01 -7.00457278e-03 5.78420761e+01] [ 8.67563754e-03 -3.02235823e-04 9.99962320e-01 1.93585469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.95, Y:57.86, Z:1.94 [[ 5.60445719e-01 -8.28174275e-01 -5.28836197e-03 1.31946766e+02] [ 8.28142792e-01 5.60470573e-01 -7.22861784e-03 5.78642165e+01] [ 8.95052660e-03 -3.28270928e-04 9.99959889e-01 1.93558150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.96, Y:57.89, Z:1.94 [[ 5.59700369e-01 -8.28677562e-01 -5.38475892e-03 1.31963649e+02] [ 8.28644938e-01 5.59726167e-01 -7.36103118e-03 5.78881179e+01] [ 9.11391184e-03 -3.42081348e-04 9.99958409e-01 1.93567494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.98, Y:57.91, Z:1.94 [[ 5.59263298e-01 -8.28972255e-01 -5.43722183e-03 1.31976344e+02] [ 8.28938974e-01 5.59289620e-01 -7.43624618e-03 5.79142942e+01] [ 9.20542350e-03 -3.48305519e-04 9.99957569e-01 1.93500922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.99, Y:57.94, Z:1.93 [[ 5.59443382e-01 -8.28850715e-01 -5.44005119e-03 1.31990336e+02] [ 8.28817360e-01 5.59469725e-01 -7.44384063e-03 5.79393607e+01] [ 9.21337657e-03 -3.44401479e-04 9.99957497e-01 1.93481181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.01, Y:57.96, Z:1.94 [[ 5.59810927e-01 -8.28602773e-01 -5.40093834e-03 1.32010424e+02] [ 8.28569850e-01 5.59836880e-01 -7.39402795e-03 5.79598584e+01] [ 9.15035653e-03 -3.35797032e-04 9.99958078e-01 1.93573373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:57.98, Z:1.94 [[ 5.60214098e-01 -8.28330900e-01 -5.29955362e-03 1.32025490e+02] [ 8.28299154e-01 5.60239071e-01 -7.25911031e-03 5.79828011e+01] [ 8.98196237e-03 -3.22959849e-04 9.99959609e-01 1.93616234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:58.01, Z:1.94 [[ 5.60728299e-01 -8.27982172e-01 -5.41265375e-03 1.32035327e+02] [ 8.27949017e-01 5.60754330e-01 -7.41671636e-03 5.80110562e+01] [ 9.17607795e-03 -3.22638606e-04 9.99957847e-01 1.93568654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.05, Y:58.03, Z:1.94 [[ 5.61831977e-01 -8.27234347e-01 -5.30705030e-03 1.32051532e+02] [ 8.27202396e-01 5.61856961e-01 -7.27677733e-03 5.80339584e+01] [ 9.00140329e-03 -3.01678522e-04 9.99959441e-01 1.93648501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:58.06, Z:1.94 [[ 5.62154101e-01 -8.27015697e-01 -5.27297512e-03 1.32066272e+02] [ 8.26984144e-01 5.62178753e-01 -7.23021847e-03 5.80594467e+01] [ 8.94385873e-03 -2.96169851e-04 9.99959959e-01 1.93643073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.08, Y:58.08, Z:1.94 [[ 5.62603838e-01 -8.26712089e-01 -4.90346219e-03 1.32082237e+02] [ 8.26684767e-01 5.62625142e-01 -6.72653807e-03 5.80840391e+01] [ 8.31972145e-03 -2.69241360e-04 9.99965354e-01 1.93713833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49361786499998 meters Centerline goodness [0,1] 0.999891845122215 Centerline is valid? [True, True] Translation: X:132.10, Y:58.11, Z:1.94 [[ 5.63972170e-01 -8.25779541e-01 -4.85188095e-03 1.32095856e+02] [ 8.25752730e-01 5.63992984e-01 -6.65903489e-03 5.81095390e+01] [ 8.23532159e-03 -2.50943587e-04 9.99966058e-01 1.93707655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.11, Y:58.13, Z:1.94 [[ 5.64976807e-01 -8.25092270e-01 -4.89422345e-03 1.32111054e+02] [ 8.25064927e-01 5.64997954e-01 -6.72142954e-03 5.81325204e+01] [ 8.31102579e-03 -2.40600317e-04 9.99965434e-01 1.93754243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.13, Y:58.16, Z:1.94 [[ 5.65881903e-01 -8.24470240e-01 -5.14740893e-03 1.32126313e+02] [ 8.24439956e-01 5.65905262e-01 -7.07062271e-03 5.81569796e+01] [ 8.74246380e-03 -2.42592152e-04 9.99961755e-01 1.93756896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.14, Y:58.18, Z:1.94 [[ 5.67289345e-01 -8.23504809e-01 -4.75692144e-03 1.32140326e+02] [ 8.23478889e-01 5.67309251e-01 -6.53709115e-03 5.81827076e+01] [ 8.08197154e-03 -2.08802218e-04 9.99967319e-01 1.93737803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.16, Y:58.21, Z:1.94 [[ 5.67521380e-01 -8.23344701e-01 -4.79445389e-03 1.32156399e+02] [ 8.23318337e-01 5.67541594e-01 -6.59203105e-03 5.82065452e+01] [ 8.14856584e-03 -2.06243244e-04 9.99966779e-01 1.93773881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:132.17, Y:58.23, Z:1.94 [[ 5.68175163e-01 -8.22892187e-01 -5.04308632e-03 1.32171615e+02] [ 8.22862961e-01 5.68197506e-01 -6.93840948e-03 5.82298300e+01] [ 8.57503203e-03 -2.07537006e-04 9.99963212e-01 1.93755093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.19, Y:58.25, Z:1.94 [[ 5.68298848e-01 -8.22806155e-01 -5.14304010e-03 1.32187284e+02] [ 8.22775746e-01 5.68322080e-01 -7.07709523e-03 5.82527453e+01] [ 8.74598077e-03 -2.09663584e-04 9.99961731e-01 1.93771173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.20, Y:58.28, Z:1.94 [[ 5.68069622e-01 -8.22964794e-01 -5.08455402e-03 1.32201711e+02] [ 8.22935046e-01 5.68092339e-01 -7.00034787e-03 5.82766751e+01] [ 8.64953602e-03 -2.07572733e-04 9.99962571e-01 1.93807143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.22, Y:58.30, Z:1.94 [[ 5.67759596e-01 -8.23180629e-01 -4.76374752e-03 1.32218468e+02] [ 8.23154486e-01 5.67779547e-01 -6.56337011e-03 5.82984542e+01] [ 8.10759754e-03 -1.94883778e-04 9.99967114e-01 1.93851212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.23, Y:58.32, Z:1.94 [[ 5.67044256e-01 -8.23675617e-01 -4.39207027e-03 1.32234677e+02] [ 8.23653407e-01 5.67061235e-01 -6.05156276e-03 5.83226661e+01] [ 7.47509748e-03 -1.86039732e-04 9.99972044e-01 1.93891500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:58.35, Z:1.94 [[ 5.66364239e-01 -8.24143912e-01 -4.28488021e-03 1.32250311e+02] [ 8.24122767e-01 5.66380417e-01 -5.90653449e-03 5.83472547e+01] [ 7.29470669e-03 -1.86017425e-04 9.99973376e-01 1.93906923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.27, Y:58.37, Z:1.94 [[ 5.65518282e-01 -8.24725018e-01 -4.20918566e-03 1.32267217e+02] [ 8.24704609e-01 5.65533915e-01 -5.80498782e-03 5.83712561e+01] [ 7.16795593e-03 -1.88508077e-04 9.99974292e-01 1.93916540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.28, Y:58.39, Z:1.94 [[ 5.63958368e-01 -8.25792332e-01 -4.24070787e-03 1.32283827e+02] [ 8.25771619e-01 5.63974276e-01 -5.85224916e-03 5.83940828e+01] [ 7.22439263e-03 -2.01431318e-04 9.99973883e-01 1.93911933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.30, Y:58.42, Z:1.94 [[ 5.63413558e-01 -8.26164357e-01 -4.19738060e-03 1.32299876e+02] [ 8.26144069e-01 5.63429156e-01 -5.79348949e-03 5.84160467e+01] [ 7.15130113e-03 -2.03510566e-04 9.99974408e-01 1.93947716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.32, Y:58.44, Z:1.94 [[ 5.62969078e-01 -8.26466732e-01 -4.30787946e-03 1.32315929e+02] [ 8.26445349e-01 5.62985520e-01 -5.94890912e-03 5.84392308e+01] [ 7.34184924e-03 -2.11175061e-04 9.99973026e-01 1.93929306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.33, Y:58.46, Z:1.94 [[ 5.62629188e-01 -8.26698139e-01 -4.31076165e-03 1.32330310e+02] [ 8.26676710e-01 5.62645662e-01 -5.95620128e-03 5.84632278e+01] [ 7.34941186e-03 -2.12473571e-04 9.99972970e-01 1.93895654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.35, Y:58.49, Z:1.94 [[ 5.62663447e-01 -8.26673481e-01 -4.56092264e-03 1.32345696e+02] [ 8.26649455e-01 5.62681888e-01 -6.30648791e-03 5.84858333e+01] [ 7.77975487e-03 -2.21853995e-04 9.99969713e-01 1.93888531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.36, Y:58.51, Z:1.94 [[ 5.62905138e-01 -8.26508370e-01 -4.66040550e-03 1.32361382e+02] [ 8.26483265e-01 5.62924385e-01 -6.44582351e-03 5.85086763e+01] [ 7.95098299e-03 -2.23359985e-04 9.99968365e-01 1.93918390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:58.53, Z:1.94 [[ 5.63990728e-01 -8.25766986e-01 -4.83151512e-03 1.32374242e+02] [ 8.25739944e-01 5.64011380e-01 -6.68640219e-03 5.85347235e+01] [ 8.24643969e-03 -2.18506186e-04 9.99965974e-01 1.93804074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.39, Y:58.56, Z:1.94 [[ 5.64637347e-01 -8.25324991e-01 -4.82969859e-03 1.32388402e+02] [ 8.25297927e-01 5.64657963e-01 -6.68707298e-03 5.85605503e+01] [ 8.24613621e-03 -2.10169091e-04 9.99965978e-01 1.93774436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.41, Y:58.58, Z:1.94 [[ 5.65804916e-01 -8.24523827e-01 -5.02541464e-03 1.32407051e+02] [ 8.24494450e-01 5.65827197e-01 -6.96310692e-03 5.85817490e+01] [ 8.58476384e-03 -2.03666351e-04 9.99963129e-01 1.93892638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.42, Y:58.61, Z:1.94 [[ 5.67733766e-01 -8.23197326e-01 -4.95314914e-03 1.32417885e+02] [ 8.23168737e-01 5.67755344e-01 -6.86291343e-03 5.86094248e+01] [ 8.46170887e-03 -1.80969841e-04 9.99964183e-01 1.93753185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.43, Y:58.63, Z:1.94 [[ 5.68705871e-01 -8.22525279e-01 -5.07914906e-03 1.32434137e+02] [ 8.22495158e-01 5.68728525e-01 -7.04133100e-03 5.86339264e+01] [ 8.68032970e-03 -1.73129228e-04 9.99962310e-01 1.93768284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.45, Y:58.66, Z:1.94 [[ 5.69617307e-01 -8.21894480e-01 -5.05829892e-03 1.32450009e+02] [ 8.21864554e-01 5.69639743e-01 -7.01554107e-03 5.86579803e+01] [ 8.64744258e-03 -1.61062975e-04 9.99962597e-01 1.93778989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.47, Y:58.68, Z:1.94 [[ 5.71277932e-01 -8.20742233e-01 -4.86940770e-03 1.32465901e+02] [ 8.20714432e-01 5.71298668e-01 -6.75674199e-03 5.86814624e+01] [ 8.32742964e-03 -1.36415584e-04 9.99965317e-01 1.93900387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.48, Y:58.71, Z:1.94 [[ 5.72053255e-01 -8.20203645e-01 -4.58846832e-03 1.32480464e+02] [ 8.20178919e-01 5.72071645e-01 -6.36972417e-03 5.87060900e+01] [ 7.84940359e-03 -1.19543539e-04 9.99969186e-01 1.93893476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.50, Y:58.73, Z:1.94 [[ 5.72637735e-01 -8.19795944e-01 -4.54253219e-03 1.32495868e+02] [ 8.19771674e-01 5.72655741e-01 -6.30900705e-03 5.87304490e+01] [ 7.77340553e-03 -1.11063709e-04 9.99969780e-01 1.93901016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.51, Y:58.75, Z:1.94 [[ 5.73147014e-01 -8.19439872e-01 -4.56026751e-03 1.32511895e+02] [ 8.19415368e-01 5.73165146e-01 -6.33797374e-03 5.87527982e+01] [ 7.80737478e-03 -1.04162551e-04 9.99969517e-01 1.93960445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.53, Y:58.78, Z:1.94 [[ 5.73764483e-01 -8.19007750e-01 -4.54127122e-03 1.32527895e+02] [ 8.18983430e-01 5.73782446e-01 -6.31231431e-03 5.87769716e+01] [ 7.77553605e-03 -9.74441293e-05 9.99969765e-01 1.93948874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.54, Y:58.80, Z:1.94 [[ 5.73861036e-01 -8.18940412e-01 -4.48476608e-03 1.32543275e+02] [ 8.18916662e-01 5.73878552e-01 -6.23765268e-03 5.87989707e+01] [ 7.68197692e-03 -9.31038394e-05 9.99970489e-01 1.93994805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.56, Y:58.82, Z:1.94 [[ 5.73792598e-01 -8.18988987e-01 -4.36964275e-03 1.32558800e+02] [ 8.18966436e-01 5.73809229e-01 -6.07838295e-03 5.88211151e+01] [ 7.48547003e-03 -9.08596046e-05 9.99971979e-01 1.94030114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.57, Y:58.84, Z:1.94 [[ 5.73328485e-01 -8.19313518e-01 -4.45062012e-03 1.32573777e+02] [ 8.19290111e-01 5.73345752e-01 -6.19382618e-03 5.88445304e+01] [ 7.62642966e-03 -9.52520720e-05 9.99970914e-01 1.93993607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.59, Y:58.87, Z:1.94 [[ 5.72849574e-01 -8.19648906e-01 -4.36314899e-03 1.32591802e+02] [ 8.19626384e-01 5.72866182e-01 -6.07684905e-03 5.88660294e+01] [ 7.48038318e-03 -9.50316401e-05 9.99972017e-01 1.94122717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.61, Y:58.89, Z:1.94 [[ 5.71333939e-01 -8.20707155e-01 -4.15879808e-03 1.32609679e+02] [ 8.20686708e-01 5.71349066e-01 -5.79411880e-03 5.88879689e+01] [ 7.13140016e-03 -1.02693588e-04 9.99974566e-01 1.94182416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.63, Y:58.91, Z:1.94 [[ 5.70189858e-01 -8.21502628e-01 -4.11801034e-03 1.32627283e+02] [ 8.21482599e-01 5.70204717e-01 -5.73762507e-03 5.89109404e+01] [ 7.06158300e-03 -1.11338219e-04 9.99975061e-01 1.94200933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.64, Y:58.93, Z:1.94 [[ 5.69007360e-01 -8.22321318e-01 -4.27496837e-03 1.32644849e+02] [ 8.22299733e-01 5.69023405e-01 -5.95933633e-03 5.89337006e+01] [ 7.33304636e-03 -1.24399116e-04 9.99973105e-01 1.94240420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.66, Y:58.96, Z:1.94 [[ 5.66279120e-01 -8.24199661e-01 -4.78296870e-03 1.32661798e+02] [ 8.24172679e-01 5.66299295e-01 -6.67112346e-03 5.89572387e+01] [ 8.20692950e-03 -1.64274205e-04 9.99966309e-01 1.94105874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.68, Y:58.98, Z:1.94 [[ 5.64812958e-01 -8.25204248e-01 -4.92674292e-03 1.32681373e+02] [ 8.25175619e-01 5.64834415e-01 -6.87611179e-03 5.89774436e+01] [ 8.45699061e-03 -1.81711104e-04 9.99964223e-01 1.94164577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.70, Y:59.00, Z:1.94 [[ 5.63506795e-01 -8.26095122e-01 -5.19056537e-03 1.32696155e+02] [ 8.26063370e-01 5.63530663e-01 -7.24573652e-03 5.90025827e+01] [ 8.91071034e-03 -2.04714160e-04 9.99960278e-01 1.94086320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:59.03, Z:1.94 [[ 5.61185013e-01 -8.27670353e-01 -5.75918715e-03 1.32714619e+02] [ 8.27631299e-01 5.61214508e-01 -8.04418923e-03 5.90252461e+01] [ 9.89007631e-03 -2.52205104e-04 9.99951060e-01 1.94071834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.73, Y:59.05, Z:1.94 [[ 5.60460736e-01 -8.28160911e-01 -5.76786104e-03 1.32731615e+02] [ 8.28121716e-01 5.60490355e-01 -8.06133628e-03 5.90475343e+01] [ 9.90891408e-03 -2.58428518e-04 9.99950872e-01 1.94091470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.75, Y:59.07, Z:1.94 [[ 5.59872319e-01 -8.28556708e-01 -6.06376467e-03 1.32747540e+02] [ 8.28513402e-01 5.59905086e-01 -8.47573635e-03 5.90714793e+01] [ 1.04177609e-02 -2.78580126e-04 9.99945695e-01 1.94096002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.77, Y:59.09, Z:1.94 [[ 5.59559450e-01 -8.28768736e-01 -5.96690796e-03 1.32767095e+02] [ 8.28726767e-01 5.59591196e-01 -8.34498482e-03 5.90909873e+01] [ 1.02550917e-02 -2.75421225e-04 9.99947377e-01 1.94184990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.78, Y:59.12, Z:1.94 [[ 5.59701990e-01 -8.28671934e-01 -6.04216507e-03 1.32781115e+02] [ 8.28628869e-01 5.59734535e-01 -8.45271730e-03 5.91162362e+01] [ 1.03865381e-02 -2.75709708e-04 9.99946020e-01 1.94217288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.80, Y:59.14, Z:1.94 [[ 5.59970216e-01 -8.28491351e-01 -5.95297029e-03 1.32797710e+02] [ 8.28449495e-01 5.60001795e-01 -8.33213081e-03 5.91400695e+01] [ 1.02367724e-02 -2.65990137e-04 9.99947568e-01 1.94222844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.81, Y:59.16, Z:1.94 [[ 5.60489837e-01 -8.28138137e-01 -6.19429061e-03 1.32814048e+02] [ 8.28092748e-01 5.60524001e-01 -8.67441797e-03 5.91641281e+01] [ 1.06556649e-02 -2.67524018e-04 9.99943191e-01 1.94282786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.83, Y:59.19, Z:1.94 [[ 5.61176577e-01 -8.27674760e-01 -5.94485289e-03 1.32830345e+02] [ 8.27632887e-01 5.61208011e-01 -8.32903753e-03 5.91880462e+01] [ 1.02300332e-02 -2.46094983e-04 9.99947642e-01 1.94313752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.84, Y:59.21, Z:1.94 [[ 5.63144703e-01 -8.26336459e-01 -6.00829706e-03 1.32844614e+02] [ 8.26293560e-01 5.63176711e-01 -8.42292502e-03 5.92118156e+01] [ 1.03439030e-02 -2.21291555e-04 9.99946476e-01 1.94299598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.86, Y:59.24, Z:1.94 [[ 5.64132632e-01 -8.25662844e-01 -5.93645082e-03 1.32859467e+02] [ 8.25620921e-01 5.64163829e-01 -8.32280804e-03 5.92364259e+01] [ 1.02209642e-02 -2.06090382e-04 9.99947743e-01 1.94314573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.87, Y:59.26, Z:1.94 [[ 5.66099513e-01 -8.24314311e-01 -6.10397319e-03 1.32874299e+02] [ 8.24269863e-01 5.66132390e-01 -8.56209254e-03 5.92609572e+01] [ 1.05135123e-02 -1.84324725e-04 9.99944715e-01 1.94365349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.89, Y:59.28, Z:1.94 [[ 5.67245627e-01 -8.23526868e-01 -5.99131499e-03 1.32890352e+02] [ 8.23483950e-01 5.67277243e-01 -8.40912888e-03 5.92835967e+01] [ 1.03238802e-02 -1.63710153e-04 9.99946694e-01 1.94420412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.91, Y:59.31, Z:1.94 [[ 5.67018820e-01 -8.23683049e-01 -5.99105212e-03 1.32906296e+02] [ 8.23640138e-01 5.67050445e-01 -8.40931627e-03 5.93060873e+01] [ 1.03238400e-02 -1.66230404e-04 9.99946694e-01 1.94457168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.92, Y:59.33, Z:1.95 [[ 5.68070075e-01 -8.22957048e-01 -6.17152343e-03 1.32923388e+02] [ 8.22911404e-01 5.68103577e-01 -8.66876459e-03 5.93280530e+01] [ 1.06400855e-02 -1.54151260e-04 9.99943381e-01 1.94545333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:59.35, Z:1.95 [[ 5.70094453e-01 -8.21555217e-01 -6.27226187e-03 1.32937391e+02] [ 8.21507975e-01 5.70128941e-01 -8.81122973e-03 5.93535564e+01] [ 1.08149098e-02 -1.29479959e-04 9.99941509e-01 1.94536377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.95, Y:59.38, Z:1.95 [[ 5.70745841e-01 -8.21103949e-01 -6.12289163e-03 1.32953204e+02] [ 8.21058861e-01 5.70778671e-01 -8.60552003e-03 5.93773544e+01] [ 1.05608424e-02 -1.15689669e-04 9.99944226e-01 1.94554720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:59.40, Z:1.95 [[ 5.71823528e-01 -8.20357006e-01 -5.67762936e-03 1.32969409e+02] [ 8.20318163e-01 5.71851706e-01 -7.98353001e-03 5.94011543e+01] [ 9.79610682e-03 -9.22921908e-05 9.99952013e-01 1.94592778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17361786499998 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:132.99, Y:59.42, Z:1.95 [[ 5.72228734e-01 -8.20075366e-01 -5.53803057e-03 1.32985575e+02] [ 8.20038363e-01 5.72255526e-01 -7.79072057e-03 5.94237137e+01] [ 9.55814662e-03 -8.33233498e-05 9.99954316e-01 1.94637840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.00, Y:59.45, Z:1.95 [[ 5.72349401e-01 -8.19990930e-01 -5.57122471e-03 1.33002091e+02] [ 8.19953434e-01 5.72376510e-01 -7.84200745e-03 5.94461564e+01] [ 9.61921314e-03 -7.97765687e-05 9.99953731e-01 1.94676104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23361786499996 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:133.02, Y:59.47, Z:1.95 [[ 5.72401413e-01 -8.19954894e-01 -5.53126051e-03 1.33018730e+02] [ 8.19917890e-01 5.72428132e-01 -7.79019129e-03 5.94691221e+01] [ 9.55385459e-03 -7.60629417e-05 9.99954358e-01 1.94699007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.04, Y:59.49, Z:1.95 [[ 5.73011237e-01 -8.19527267e-01 -5.76038386e-03 1.33035024e+02] [ 8.19487054e-01 5.73040186e-01 -8.11867681e-03 5.94910285e+01] [ 9.95440846e-03 -6.84669615e-05 9.99950451e-01 1.94703876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.05, Y:59.51, Z:1.95 [[ 5.73377583e-01 -8.19271571e-01 -5.67806751e-03 1.33051617e+02] [ 8.19232472e-01 5.73405694e-01 -8.00423164e-03 5.95142735e+01] [ 9.81347566e-03 -6.22102844e-05 9.99951845e-01 1.94728158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.07, Y:59.54, Z:1.95 [[ 5.73309526e-01 -8.19320109e-01 -5.54498955e-03 1.33067830e+02] [ 8.19282780e-01 5.73336337e-01 -7.82119900e-03 5.95360351e+01] [ 9.58720962e-03 -5.89465615e-05 9.99954040e-01 1.94752498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:59.56, Z:1.95 [[ 5.72703577e-01 -8.19745761e-01 -5.24407033e-03 1.33085464e+02] [ 8.19712372e-01 5.72727582e-01 -7.39885925e-03 5.95575157e+01] [ 9.06860723e-03 -6.12761784e-05 9.99958877e-01 1.94797699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.10, Y:59.58, Z:1.95 [[ 5.71701594e-01 -8.20445432e-01 -5.15555229e-03 1.33102745e+02] [ 8.20413155e-01 5.71724836e-01 -7.27785070e-03 5.95798049e+01] [ 8.91863665e-03 -6.89240713e-05 9.99960226e-01 1.94786052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:59.60, Z:1.95 [[ 5.68917363e-01 -8.22377915e-01 -5.25342029e-03 1.33122475e+02] [ 8.22344434e-01 5.68941609e-01 -7.42143370e-03 5.95999318e+01] [ 9.09211257e-03 -9.79384450e-05 9.99958661e-01 1.94778295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.14, Y:59.62, Z:1.95 [[ 5.67175235e-01 -8.23579399e-01 -5.40616557e-03 1.33140731e+02] [ 8.23543976e-01 5.67200987e-01 -7.63937144e-03 5.96218215e+01] [ 9.35801139e-03 -1.19352803e-04 9.99956206e-01 1.94755607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.16, Y:59.64, Z:1.95 [[ 5.65105229e-01 -8.25002776e-01 -5.14772719e-03 1.33160216e+02] [ 8.24970701e-01 5.65128659e-01 -7.27614045e-03 5.96419006e+01] [ 8.91196423e-03 -1.34939089e-04 9.99960279e-01 1.94825232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:59.67, Z:1.95 [[ 5.63054334e-01 -8.26404599e-01 -5.02560694e-03 1.33176749e+02] [ 8.26374072e-01 5.63076741e-01 -7.10466484e-03 5.96657109e+01] [ 8.70113007e-03 -1.52718948e-04 9.99962133e-01 1.94767539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.20, Y:59.68, Z:1.95 [[ 5.58923278e-01 -8.29205652e-01 -4.77045292e-03 1.33198814e+02] [ 8.29178211e-01 5.58943605e-01 -6.74839965e-03 5.96838887e+01] [ 8.26222528e-03 -1.83717963e-04 9.99965850e-01 1.94861810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.22, Y:59.70, Z:1.95 [[ 5.56926162e-01 -8.30549579e-01 -4.54392801e-03 1.33217244e+02] [ 8.30524722e-01 5.56944665e-01 -6.42849302e-03 5.97048317e+01] [ 7.86989863e-03 -1.93648601e-04 9.99969013e-01 1.94907942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:59.73, Z:1.95 [[ 5.55166537e-01 -8.31726357e-01 -4.62430585e-03 1.33233627e+02] [ 8.31700639e-01 5.55185755e-01 -6.54405291e-03 5.97283916e+01] [ 8.01021001e-03 -2.12998941e-04 9.99967895e-01 1.94857884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:59.75, Z:1.95 [[ 5.53078500e-01 -8.33114441e-01 -4.94995037e-03 1.33252901e+02] [ 8.33084988e-01 5.53100595e-01 -7.00964925e-03 5.97486365e+01] [ 8.57766051e-03 -2.46843054e-04 9.99963181e-01 1.94854873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.27, Y:59.77, Z:1.95 [[ 5.52429103e-01 -8.33545731e-01 -4.85799991e-03 1.33270686e+02] [ 8.33517370e-01 5.52450407e-01 -6.88057497e-03 5.97717041e+01] [ 8.41907793e-03 -2.48197451e-04 9.99964528e-01 1.94871155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:59.79, Z:1.95 [[ 5.52056615e-01 -8.33792424e-01 -4.86694944e-03 1.33287750e+02] [ 8.33763941e-01 5.52078011e-01 -6.89643177e-03 5.97945148e+01] [ 8.43712833e-03 -2.50666162e-04 9.99964375e-01 1.94877196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.30, Y:59.82, Z:1.95 [[ 5.52626389e-01 -8.33416046e-01 -4.66577966e-03 1.33304924e+02] [ 8.33389824e-01 5.52646036e-01 -6.61521259e-03 5.98179981e+01] [ 8.09174895e-03 -2.32672250e-04 9.99967234e-01 1.94917653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:59.84, Z:1.95 [[ 5.53292595e-01 -8.32972665e-01 -4.88299367e-03 1.33324388e+02] [ 8.32943893e-01 5.53314092e-01 -6.92725461e-03 5.98377723e+01] [ 8.47204294e-03 -2.34461076e-04 9.99964084e-01 1.95034885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.34, Y:59.86, Z:1.95 [[ 5.55243525e-01 -8.31674370e-01 -4.72975969e-03 1.33337173e+02] [ 8.31647308e-01 5.55263631e-01 -6.71233623e-03 5.98646572e+01] [ 8.20874154e-03 -2.06510688e-04 9.99966286e-01 1.94977602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:59.89, Z:1.95 [[ 5.56155678e-01 -8.31065838e-01 -4.52049349e-03 1.33352089e+02] [ 8.31041078e-01 5.56174018e-01 -6.41786357e-03 5.98891837e+01] [ 7.84784819e-03 -1.87384514e-04 9.99969188e-01 1.94937334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83361786499998 meters Centerline goodness [0,1] 0.9999783385681793 Centerline is valid? [True, True] Translation: X:133.37, Y:59.91, Z:1.95 [[ 5.57111488e-01 -8.30425529e-01 -4.49792026e-03 1.33368420e+02] [ 8.30400969e-01 5.57129618e-01 -6.38908192e-03 5.99126336e+01] [ 7.81158132e-03 -1.75646403e-04 9.99969474e-01 1.95003310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.39, Y:59.93, Z:1.95 [[ 5.58044788e-01 -8.29799630e-01 -4.31153742e-03 1.33385325e+02] [ 8.29777015e-01 5.58061421e-01 -6.12825764e-03 5.99347107e+01] [ 7.49132863e-03 -1.57772415e-04 9.99971927e-01 1.95044451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:59.96, Z:1.95 [[ 5.60333183e-01 -8.28256758e-01 -4.17934795e-03 1.33401734e+02] [ 8.28235461e-01 5.60348753e-01 -5.94105041e-03 5.99589428e+01] [ 7.26260756e-03 -1.32516492e-04 9.99973618e-01 1.95132294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:59.98, Z:1.95 [[ 5.61409849e-01 -8.27529047e-01 -3.82850439e-03 1.33418529e+02] [ 8.27511141e-01 5.61422892e-01 -5.44494164e-03 5.99802284e+01] [ 6.65525738e-03 -1.11286173e-04 9.99977847e-01 1.95263856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:60.00, Z:1.95 [[ 5.62489403e-01 -8.26797300e-01 -3.44926081e-03 1.33433550e+02] [ 8.26782744e-01 5.62499971e-01 -4.90691967e-03 6.00048432e+01] [ 5.99723704e-03 -9.16990037e-05 9.99982012e-01 1.95285204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:60.03, Z:1.95 [[ 5.63717315e-01 -8.25962793e-01 -2.87286546e-03 1.33450151e+02] [ 8.25952678e-01 5.63724631e-01 -4.08832955e-03 6.00268157e+01] [ 4.99631312e-03 -6.81887650e-05 9.99987516e-01 1.95471825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:60.05, Z:1.96 [[ 5.65833767e-01 -8.24516668e-01 -2.10061982e-03 1.33465254e+02] [ 8.24511252e-01 5.65837664e-01 -2.98869944e-03 6.00505854e+01] [ 3.65284231e-03 -4.08776167e-05 9.99993328e-01 1.95543711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:60.07, Z:1.96 [[ 5.66439629e-01 -8.24101316e-01 -1.77989070e-03 1.33480868e+02] [ 8.24097425e-01 5.66442424e-01 -2.53274238e-03 6.00733200e+01] [ 3.09544193e-03 -3.21576880e-05 9.99995209e-01 1.95621729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.50, Y:60.10, Z:1.96 [[ 5.66850440e-01 -8.23819210e-01 -1.57741780e-03 1.33496895e+02] [ 8.23816151e-01 5.66852634e-01 -2.24522619e-03 6.00965235e+01] [ 2.74382390e-03 -2.67948073e-05 9.99996235e-01 1.95646851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:60.12, Z:1.96 [[ 5.66648862e-01 -8.23958161e-01 -1.41966582e-03 1.33513999e+02] [ 8.23955682e-01 5.66650640e-01 -2.02123101e-03 6.01186973e+01] [ 2.46986433e-03 -2.44134608e-05 9.99996950e-01 1.95678026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.53, Y:60.14, Z:1.96 [[ 5.65795004e-01 -8.24544539e-01 -1.52222352e-03 1.33530482e+02] [ 8.24541687e-01 5.65797051e-01 -2.16869450e-03 6.01415840e+01] [ 2.64945479e-03 -2.81002364e-05 9.99996490e-01 1.95603310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16361786499996 meters Centerline goodness [0,1] 0.9999132396321361 Centerline is valid? [True, True] Translation: X:133.55, Y:60.16, Z:1.96 [[ 5.65247002e-01 -8.24920490e-01 -1.41865503e-03 1.33546878e+02] [ 8.24918007e-01 5.65248781e-01 -2.02412412e-03 6.01626013e+01] [ 2.47163449e-03 -2.61439890e-05 9.99996945e-01 1.95613108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.57, Y:60.18, Z:1.96 [[ 5.63011110e-01 -8.26447495e-01 -1.73991950e-03 1.33565229e+02] [ 8.26443761e-01 5.63013797e-01 -2.48483132e-03 6.01834198e+01] [ 3.03318131e-03 -3.89579708e-05 9.99995399e-01 1.95631336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:60.20, Z:1.96 [[ 5.61808842e-01 -8.27265119e-01 -1.80199341e-03 1.33583412e+02] [ 8.27261121e-01 5.61811731e-01 -2.57230425e-03 6.02042586e+01] [ 3.14035862e-03 -4.55758214e-05 9.99995068e-01 1.95722082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.60, Y:60.23, Z:1.96 [[ 5.60323072e-01 -8.28271679e-01 -2.02017179e-03 1.33600747e+02] [ 8.28266652e-01 5.60326711e-01 -2.88609136e-03 6.02271927e+01] [ 3.52242395e-03 -5.60973425e-05 9.99993795e-01 1.95707434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.62, Y:60.25, Z:1.96 [[ 5.59037269e-01 -8.29139475e-01 -2.25014243e-03 1.33617935e+02] [ 8.29133235e-01 5.59041793e-01 -3.21738323e-03 6.02480128e+01] [ 3.92558310e-03 -6.70307368e-05 9.99992293e-01 1.95739413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.63, Y:60.27, Z:1.96 [[ 5.56907327e-01 -8.30572346e-01 -1.95114803e-03 1.33633698e+02] [ 8.30567655e-01 5.56910741e-01 -2.79212562e-03 6.02715400e+01] [ 3.40567762e-03 -6.56052268e-05 9.99994199e-01 1.95536451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:60.29, Z:1.96 [[ 5.55873068e-01 -8.31264639e-01 -2.05717308e-03 1.33651297e+02] [ 8.31259430e-01 5.55876870e-01 -2.94384977e-03 6.02928681e+01] [ 3.59065315e-03 -7.36377207e-05 9.99993551e-01 1.95605687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:60.31, Z:1.96 [[ 5.55103856e-01 -8.31777860e-01 -2.30228087e-03 1.33667894e+02] [ 8.31771343e-01 5.55108623e-01 -3.29390227e-03 6.03141355e+01] [ 4.01781095e-03 -8.65133995e-05 9.99991925e-01 1.95616625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.68, Y:60.34, Z:1.96 [[ 5.54165311e-01 -8.32402622e-01 -2.58512648e-03 1.33683787e+02] [ 8.32394400e-01 5.54171332e-01 -3.70115121e-03 6.03383142e+01] [ 4.51345096e-03 -1.00795187e-04 9.99989809e-01 1.95528235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:60.36, Z:1.96 [[ 5.53044519e-01 -8.33146161e-01 -3.03881449e-03 1.33702848e+02] [ 8.33134782e-01 5.53052854e-01 -4.35620336e-03 6.03593314e+01] [ 5.30997914e-03 -1.22567656e-04 9.99985894e-01 1.95566193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:60.38, Z:1.96 [[ 5.52675453e-01 -8.33390974e-01 -3.05429659e-03 1.33718767e+02] [ 8.33379491e-01 5.52683878e-01 -4.37665716e-03 6.03825432e+01] [ 5.33552705e-03 -1.26517157e-04 9.99985758e-01 1.95582775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49361786499998 meters Centerline goodness [0,1] 0.9999780152134723 Centerline is valid? [True, True] Translation: X:133.74, Y:60.41, Z:1.96 [[ 5.52401739e-01 -8.33571560e-01 -3.28226557e-03 1.33735837e+02] [ 8.33558284e-01 5.52411473e-01 -4.70650304e-03 6.04053498e+01] [ 5.73636824e-03 -1.36079195e-04 9.99983538e-01 1.95593374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.75, Y:60.43, Z:1.96 [[ 5.52169515e-01 -8.33725006e-01 -3.38244553e-03 1.33752507e+02] [ 8.33710893e-01 5.52179857e-01 -4.85314285e-03 6.04279821e+01] [ 5.91390485e-03 -1.40224147e-04 9.99982503e-01 1.95621566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.77, Y:60.45, Z:1.96 [[ 5.52295831e-01 -8.33640501e-01 -3.58196475e-03 1.33770811e+02] [ 8.33624647e-01 5.52307428e-01 -5.14323030e-03 6.04484470e+01] [ 6.26595082e-03 -1.45429451e-04 9.99980358e-01 1.95698740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.78, Y:60.47, Z:1.96 [[ 5.52494553e-01 -8.33507987e-01 -3.76898198e-03 1.33784763e+02] [ 8.33490415e-01 5.52507388e-01 -5.41424617e-03 6.04727925e+01] [ 6.59520781e-03 -1.50068843e-04 9.99978240e-01 1.95663533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:60.49, Z:1.96 [[ 5.52481017e-01 -8.33515652e-01 -4.04765109e-03 1.33800107e+02] [ 8.33495357e-01 5.52495821e-01 -5.81865793e-03 6.04945570e+01] [ 7.08625277e-03 -1.59000339e-04 9.99974880e-01 1.95688989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.82, Y:60.52, Z:1.96 [[ 5.52702107e-01 -8.33369076e-01 -4.04527195e-03 1.33815741e+02] [ 8.33348783e-01 5.52716888e-01 -5.81783272e-03 6.05178995e+01] [ 7.08429200e-03 -1.55594060e-04 9.99974894e-01 1.95688853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67361786499998 meters Centerline goodness [0,1] 0.9999560304269446 Centerline is valid? [True, True] Translation: X:133.83, Y:60.54, Z:1.96 [[ 5.53050205e-01 -8.33138914e-01 -3.87562919e-03 1.33831352e+02] [ 8.33120255e-01 5.53063766e-01 -5.57776030e-03 6.05395422e+01] [ 6.79051923e-03 -1.44083700e-04 9.99976934e-01 1.95747935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:60.56, Z:1.96 [[ 5.53019820e-01 -8.33159839e-01 -3.70966504e-03 1.33847423e+02] [ 8.33142739e-01 5.53032245e-01 -5.33970872e-03 6.05624960e+01] [ 6.50039524e-03 -1.37715738e-04 9.99978863e-01 1.95846281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.86, Y:60.58, Z:1.96 [[ 5.53138027e-01 -8.33082504e-01 -3.44447826e-03 1.33863301e+02] [ 8.33067740e-01 5.53148737e-01 -4.96143301e-03 6.05845193e+01] [ 6.03859183e-03 -1.25126451e-04 9.99981760e-01 1.95869863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:60.61, Z:1.96 [[ 5.52782631e-01 -8.33320342e-01 -2.92743382e-03 1.33879649e+02] [ 8.33309680e-01 5.52790372e-01 -4.21687876e-03 6.06061315e+01] [ 5.13226808e-03 -1.08441609e-04 9.99986824e-01 1.95996536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79361786499996 meters Centerline goodness [0,1] 0.9999123863760815 Centerline is valid? [True, True] Translation: X:133.90, Y:60.63, Z:1.96 [[ 5.52156893e-01 -8.33736111e-01 -2.61968564e-03 1.33895354e+02] [ 8.33727573e-01 5.52163099e-01 -3.77444060e-03 6.06295650e+01] [ 4.59338116e-03 -1.00020757e-04 9.99989445e-01 1.95980542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:60.65, Z:1.96 [[ 5.52256708e-01 -8.33671198e-01 -2.20518797e-03 1.33911704e+02] [ 8.33665145e-01 5.52261104e-01 -3.17789509e-03 6.06526444e+01] [ 3.86715915e-03 -8.33744659e-05 9.99992519e-01 1.96075536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:60.68, Z:1.96 [[ 5.52507303e-01 -8.33505491e-01 -2.06788181e-03 1.33927345e+02] [ 8.33500163e-01 5.52511168e-01 -2.98136908e-03 6.06758547e+01] [ 3.62751529e-03 -7.63516318e-05 9.99993418e-01 1.96113269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.94, Y:60.70, Z:1.96 [[ 5.52900140e-01 -8.33245145e-01 -1.99099075e-03 1.33943270e+02] [ 8.33240197e-01 5.52903720e-01 -2.87230436e-03 6.06997158e+01] [ 3.49415986e-03 -7.08760397e-05 9.99993893e-01 1.96118932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:60.72, Z:1.96 [[ 5.52674737e-01 -8.33394668e-01 -1.99043892e-03 1.33958905e+02] [ 8.33389720e-01 5.52678317e-01 -2.87268653e-03 6.07224407e+01] [ 3.49415407e-03 -7.11500554e-05 9.99993893e-01 1.96155624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:60.74, Z:1.96 [[ 5.53466370e-01 -8.32869115e-01 -2.00367236e-03 1.33976457e+02] [ 8.32864091e-01 5.53469993e-01 -2.89367119e-03 6.07440647e+01] [ 3.51902189e-03 -6.72370730e-05 9.99993806e-01 1.96327797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:60.77, Z:1.96 [[ 5.56093498e-01 -8.31117046e-01 -2.11599193e-03 1.33988659e+02] [ 8.31111421e-01 5.56097521e-01 -3.05831760e-03 6.07704737e+01] [ 3.71851776e-03 -5.79145314e-05 9.99993085e-01 1.96166153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:60.79, Z:1.96 [[ 5.57591253e-01 -8.30113187e-01 -2.02298940e-03 1.34002506e+02] [ 8.30108030e-01 5.57594920e-01 -2.92622055e-03 6.07938066e+01] [ 3.55710288e-03 -4.76647633e-05 9.99993672e-01 1.96241007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.02, Y:60.82, Z:1.96 [[ 5.59450489e-01 -8.28860960e-01 -2.15854797e-03 1.34017063e+02] [ 8.28855079e-01 5.59454651e-01 -3.12277201e-03 6.08185143e+01] [ 3.79595350e-03 -4.20871179e-05 9.99992794e-01 1.96193269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:60.84, Z:1.96 [[ 5.62703506e-01 -8.26654390e-01 -2.69889908e-03 1.34030244e+02] [ 8.26645143e-01 5.62709977e-01 -3.91010028e-03 6.08435864e+01] [ 4.75099900e-03 -3.08046822e-05 9.99988713e-01 1.96198651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:60.87, Z:1.96 [[ 5.64057169e-01 -8.25730645e-01 -2.90051479e-03 1.34045056e+02] [ 8.25719960e-01 5.64064626e-01 -4.20059899e-03 6.08678912e+01] [ 5.10464110e-03 -2.56349804e-05 9.99986971e-01 1.96187403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12361786499997 meters Centerline goodness [0,1] 0.9999780788285326 Centerline is valid? [True, True] Translation: X:134.06, Y:60.89, Z:1.96 [[ 5.64773135e-01 -8.25240699e-01 -3.01580571e-03 1.34059316e+02] [ 8.25229126e-01 5.64781187e-01 -4.37053358e-03 6.08903673e+01] [ 5.31001251e-03 -2.03707580e-05 9.99985902e-01 1.96219562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15361786499997 meters Centerline goodness [0,1] 0.9998467734874354 Centerline is valid? [True, True] Translation: X:134.07, Y:60.91, Z:1.96 [[ 5.65739274e-01 -8.24576555e-01 -3.54682644e-03 1.34073949e+02] [ 8.24560515e-01 5.65750391e-01 -5.14306486e-03 6.09147198e+01] [ 6.24746915e-03 -1.49392559e-05 9.99980484e-01 1.96087299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18361786499997 meters Centerline goodness [0,1] 0.9999344004198373 Centerline is valid? [True, True] Translation: X:134.09, Y:60.94, Z:1.96 [[ 5.66046744e-01 -8.24363933e-01 -3.89729435e-03 1.34088424e+02] [ 8.24344534e-01 5.66060160e-01 -5.65546326e-03 6.09374602e+01] [ 6.86826300e-03 -1.14567312e-05 9.99976413e-01 1.96167415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.10, Y:60.96, Z:1.96 [[ 5.66994977e-01 -8.23712400e-01 -3.81814881e-03 1.34101422e+02] [ 8.23693749e-01 5.67007832e-01 -5.54305707e-03 6.09628908e+01] [ 6.73080512e-03 -2.09978865e-06 9.99977348e-01 1.96142430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters Centerline goodness [0,1] 0.9999126465899413 Centerline is valid? [True, True] Translation: X:134.12, Y:60.99, Z:1.96 [[ 5.67215574e-01 -8.23558608e-01 -4.20848244e-03 1.34115933e+02] [ 8.23535914e-01 5.67231187e-01 -6.11382809e-03 6.09873268e+01] [ 7.42227824e-03 2.02207868e-06 9.99972455e-01 1.96093878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27361786499998 meters Centerline goodness [0,1] 0.9999126026918371 Centerline is valid? [True, True] Translation: X:134.13, Y:61.01, Z:1.96 [[ 5.66401253e-01 -8.24110640e-01 -5.59228543e-03 1.34132355e+02] [ 8.24070531e-01 5.66428859e-01 -8.13068776e-03 6.10103090e+01] [ 9.86821815e-03 -3.20588999e-06 9.99951308e-01 1.95886392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.15, Y:61.03, Z:1.96 [[ 5.64978614e-01 -8.25082984e-01 -6.10212037e-03 1.34149136e+02] [ 8.25035223e-01 5.65011566e-01 -8.87757896e-03 6.10329442e+01] [ 1.07725079e-02 -1.88219845e-05 9.99941975e-01 1.95872474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33361786499998 meters Centerline goodness [0,1] 0.9997158780461152 Centerline is valid? [True, True] Translation: X:134.17, Y:61.05, Z:1.96 [[ 5.63243601e-01 -8.26266108e-01 -6.40027567e-03 1.34166063e+02] [ 8.26213572e-01 5.63279963e-01 -9.31759599e-03 6.10544344e+01] [ 1.13039608e-02 -3.99183033e-05 9.99936107e-01 1.95870673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters Centerline goodness [0,1] 0.9997585601404742 Centerline is valid? [True, True] Translation: X:134.19, Y:61.08, Z:1.96 [[ 5.59256470e-01 -8.28966926e-01 -6.78509531e-03 1.34185361e+02] [ 8.28908039e-01 5.59297619e-01 -9.88112249e-03 6.10757282e+01] [ 1.19860114e-02 -9.81383677e-05 9.99928160e-01 1.95871116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.20, Y:61.10, Z:1.96 [[ 5.57013168e-01 -8.30472407e-01 -7.20497376e-03 1.34202655e+02] [ 8.30406058e-01 5.57059748e-01 -1.04983765e-02 6.10989336e+01] [ 1.27322129e-02 -1.35319900e-04 9.99918933e-01 1.95909395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.22, Y:61.12, Z:1.96 [[ 5.54869049e-01 -8.31904461e-01 -7.43682949e-03 1.34219352e+02] [ 8.31833823e-01 5.54918858e-01 -1.08421246e-02 6.11211270e+01] [ 1.31464487e-02 -1.70246942e-04 9.99913567e-01 1.95914876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.24, Y:61.14, Z:1.96 [[ 5.51855996e-01 -8.33901465e-01 -7.95658944e-03 1.34235963e+02] [ 8.33820759e-01 5.51913303e-01 -1.16037808e-02 6.11443754e+01] [ 1.40677573e-02 -2.30753451e-04 9.99901018e-01 1.95981284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499996 meters Centerline goodness [0,1] 0.9999120318444723 Centerline is valid? [True, True] Translation: X:134.25, Y:61.17, Z:1.96 [[ 5.51076893e-01 -8.34416337e-01 -7.97715880e-03 1.34251534e+02] [ 8.34335182e-01 5.51134574e-01 -1.16397886e-02 6.11686870e+01] [ 1.41089177e-02 -2.41205725e-04 9.99900435e-01 1.96042559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51361786499996 meters Centerline goodness [0,1] 0.9997585707387735 Centerline is valid? [True, True] Translation: X:134.27, Y:61.19, Z:1.96 [[ 5.50281000e-01 -8.34940053e-01 -8.11958311e-03 1.34268351e+02] [ 8.34855945e-01 5.50340841e-01 -1.18536892e-02 6.11913803e+01] [ 1.43656581e-02 -2.55822246e-04 9.99896776e-01 1.96103311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54361786499996 meters Centerline goodness [0,1] 0.9998902497914746 Centerline is valid? [True, True] Translation: X:134.29, Y:61.21, Z:1.96 [[ 5.49127290e-01 -8.35694412e-01 -8.60633251e-03 1.34286758e+02] [ 8.35599955e-01 5.49194652e-01 -1.25678173e-02 6.12127720e+01] [ 1.52294065e-02 -2.90119606e-04 9.99883984e-01 1.96117421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57361786499996 meters Centerline goodness [0,1] 0.9998679838940351 Centerline is valid? [True, True] Translation: X:134.30, Y:61.24, Z:1.96 [[ 5.48790771e-01 -8.35909902e-01 -9.12829423e-03 1.34299687e+02] [ 8.35803590e-01 5.48866595e-01 -1.33348796e-02 6.12380894e+01] [ 1.61569737e-02 -3.11402200e-04 9.99869419e-01 1.96169202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60361786499996 meters Centerline goodness [0,1] 0.9998681376642785 Centerline is valid? [True, True] Translation: X:134.31, Y:61.26, Z:1.96 [[ 5.48679442e-01 -8.35975882e-01 -9.75673231e-03 1.34314677e+02] [ 8.35854290e-01 5.48766084e-01 -1.42615367e-02 6.12606649e+01] [ 1.72764645e-02 -3.30194561e-04 9.99850696e-01 1.96114362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63361786499996 meters Centerline goodness [0,1] 0.9998903412580051 Centerline is valid? [True, True] Translation: X:134.33, Y:61.28, Z:1.96 [[ 5.48429727e-01 -8.36135738e-01 -1.00926340e-02 1.34329939e+02] [ 8.36005509e-01 5.48522479e-01 -1.47607271e-02 6.12839480e+01] [ 1.78780081e-02 -3.42276069e-04 9.99840117e-01 1.96124435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:61.31, Z:1.96 [[ 5.47922039e-01 -8.36461106e-01 -1.06890991e-02 1.34346180e+02] [ 8.36314915e-01 5.48026169e-01 -1.56422982e-02 6.13059378e+01] [ 1.89420801e-02 -3.68693107e-04 9.99820515e-01 1.96070435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69361786499996 meters Centerline goodness [0,1] 0.9999124362426391 Centerline is valid? [True, True] Translation: X:134.36, Y:61.33, Z:1.96 [[ 5.47633912e-01 -8.36643368e-01 -1.11791566e-02 1.34360577e+02] [ 8.36483321e-01 5.47747866e-01 -1.63685018e-02 6.13295568e+01] [ 1.98179576e-02 -3.87231350e-04 9.99803530e-01 1.96101732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.38, Y:61.35, Z:1.96 [[ 5.47535733e-01 -8.36700955e-01 -1.16676117e-02 1.34375699e+02] [ 8.36526421e-01 5.47659886e-01 -1.70937546e-02 6.13536957e+01] [ 2.06922437e-02 -4.00824003e-04 9.99785812e-01 1.96130252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75361786499997 meters Centerline goodness [0,1] 0.999912694255282 Centerline is valid? [True, True] Translation: X:134.39, Y:61.38, Z:1.96 [[ 5.47778786e-01 -8.36537371e-01 -1.19845050e-02 1.34390228e+02] [ 8.36352969e-01 5.47909725e-01 -1.75682717e-02 6.13776754e+01] [ 2.12629427e-02 -3.99749782e-04 9.99773838e-01 1.96173102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78361786499997 meters Centerline goodness [0,1] 0.9999564516831424 Centerline is valid? [True, True] Translation: X:134.41, Y:61.40, Z:1.96 [[ 5.48488309e-01 -8.36070660e-01 -1.21006955e-02 1.34406199e+02] [ 8.35882358e-01 5.48621643e-01 -1.77475653e-02 6.14001002e+01] [ 2.14769221e-02 -3.80425791e-04 9.99769272e-01 1.96104386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.42, Y:61.42, Z:1.96 [[ 5.49070441e-01 -8.35685494e-01 -1.23047215e-02 1.34418947e+02] [ 8.35490512e-01 5.49208176e-01 -1.80549993e-02 6.14249179e+01] [ 2.18461547e-02 -3.67011644e-04 9.99761277e-01 1.96277561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84361786499997 meters Centerline goodness [0,1] 0.9999782457361643 Centerline is valid? [True, True] Translation: X:134.43, Y:61.45, Z:1.96 [[ 5.51342539e-01 -8.34194319e-01 -1.18845541e-02 1.34433481e+02] [ 8.34011885e-01 5.51470537e-01 -1.74477008e-02 6.14492961e+01] [ 2.11087543e-02 -2.92199726e-04 9.99777143e-01 1.96390450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.45, Y:61.47, Z:1.97 [[ 5.52446238e-01 -8.33465807e-01 -1.17432040e-02 1.34447688e+02] [ 8.33287337e-01 5.52570975e-01 -1.72491150e-02 6.14738303e+01] [ 2.08655012e-02 -2.56254559e-04 9.99782259e-01 1.96501437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:61.50, Z:1.97 [[ 5.53361164e-01 -8.32856325e-01 -1.19064276e-02 1.34462719e+02] [ 8.32672512e-01 5.53489194e-01 -1.74985452e-02 6.14990033e+01] [ 2.11638531e-02 -2.31139601e-04 9.99775994e-01 1.96607948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.48, Y:61.52, Z:1.96 [[ 5.55049389e-01 -8.31733387e-01 -1.18215628e-02 1.34478575e+02] [ 8.31551785e-01 5.55175234e-01 -1.73807191e-02 6.15224787e+01] [ 2.10191632e-02 -1.83084174e-04 9.99779056e-01 1.96439182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:61.55, Z:1.97 [[ 5.55212038e-01 -8.31626637e-01 -1.16931488e-02 1.34492608e+02] [ 8.31448819e-01 5.55335130e-01 -1.71975301e-02 6.15465029e+01] [ 2.07955404e-02 -1.73979007e-04 9.99783734e-01 1.96585831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:61.57, Z:1.97 [[ 5.55158035e-01 -8.31663972e-01 -1.16014573e-02 1.34508415e+02] [ 8.31488736e-01 5.55279217e-01 -1.70725771e-02 6.15699472e+01] [ 2.06406954e-02 -1.68502757e-04 9.99786944e-01 1.96620673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:61.59, Z:1.97 [[ 5.54976458e-01 -8.31788576e-01 -1.13532349e-02 1.34524038e+02] [ 8.31620589e-01 5.55092549e-01 -1.67169826e-02 6.15937417e+01] [ 2.02070913e-02 -1.64052054e-04 9.99795802e-01 1.96744554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.54, Y:61.61, Z:1.97 [[ 5.54382800e-01 -8.32187092e-01 -1.11514858e-02 1.34541201e+02] [ 8.32024931e-01 5.54494919e-01 -1.64286094e-02 6.16147872e+01] [ 1.98551188e-02 -1.70575713e-04 9.99802853e-01 1.96728000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:61.64, Z:1.97 [[ 5.53705190e-01 -8.32641529e-01 -1.08924612e-02 1.34557170e+02] [ 8.32486761e-01 5.53812289e-01 -1.60542993e-02 6.16383199e+01] [ 1.93998552e-02 -1.78480879e-04 9.99811789e-01 1.96889092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.57, Y:61.66, Z:1.97 [[ 5.53088332e-01 -8.33049364e-01 -1.10477942e-02 1.34573667e+02] [ 8.32890044e-01 5.53198627e-01 -1.62927668e-02 6.16606603e+01] [ 1.96843036e-02 -1.90258635e-04 9.99806227e-01 1.96955827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.59, Y:61.68, Z:1.97 [[ 5.52231548e-01 -8.33621657e-01 -1.07354436e-02 1.34591111e+02] [ 8.33471172e-01 5.52335851e-01 -1.58402095e-02 6.16810147e+01] [ 1.91343121e-02 -2.00219390e-04 9.99816902e-01 1.96918564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.61, Y:61.70, Z:1.97 [[ 5.51562674e-01 -8.34066270e-01 -1.05865021e-02 1.34606418e+02] [ 8.33919883e-01 5.51664222e-01 -1.56273601e-02 6.17041969e+01] [ 1.88744484e-02 -2.08826055e-04 9.99821840e-01 1.97026655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.62, Y:61.73, Z:1.97 [[ 5.50651496e-01 -8.34670822e-01 -1.03705604e-02 1.34622649e+02] [ 8.34530297e-01 5.50749099e-01 -1.53170748e-02 6.17264002e+01] [ 1.84962922e-02 -2.20176694e-04 9.99828905e-01 1.97008901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:61.75, Z:1.97 [[ 5.48682619e-01 -8.35967337e-01 -1.02953950e-02 1.34639521e+02] [ 8.35828925e-01 5.48779141e-01 -1.52139193e-02 6.17499363e+01] [ 1.83682376e-02 -2.57575847e-04 9.99831257e-01 1.97034859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26361786499996 meters Centerline goodness [0,1] 0.999934560684059 Centerline is valid? [True, True] Translation: X:134.66, Y:61.77, Z:1.97 [[ 5.47929719e-01 -8.36460677e-01 -1.03227855e-02 1.34657028e+02] [ 8.36321482e-01 5.48026882e-01 -1.52615658e-02 6.17713470e+01] [ 1.84228636e-02 -2.70901827e-04 9.99830248e-01 1.96974600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:61.79, Z:1.97 [[ 5.46855228e-01 -8.37158700e-01 -1.07084068e-02 1.34673296e+02] [ 8.37008917e-01 5.46959980e-01 -1.58383341e-02 6.17948568e+01] [ 1.91162692e-02 -3.01756124e-04 9.99817222e-01 1.97026222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:61.82, Z:1.97 [[ 5.45528091e-01 -8.38020524e-01 -1.09865076e-02 1.34690773e+02] [ 8.37862870e-01 5.45638606e-01 -1.62579891e-02 6.18176682e+01] [ 1.96191912e-02 -3.35997014e-04 9.99807469e-01 1.97016155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.71, Y:61.84, Z:1.97 [[ 5.44604376e-01 -8.38622245e-01 -1.08997500e-02 1.34707397e+02] [ 8.38467030e-01 5.44713327e-01 -1.61378807e-02 6.18399429e+01] [ 1.94708248e-02 -3.50320543e-04 9.99810364e-01 1.97034247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.72, Y:61.86, Z:1.97 [[ 5.44039342e-01 -8.38989826e-01 -1.08289726e-02 1.34724000e+02] [ 8.38836527e-01 5.44146988e-01 -1.60417120e-02 6.18631116e+01] [ 1.93513860e-02 -3.56415299e-04 9.99812681e-01 1.97066727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41361786499996 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:134.74, Y:61.89, Z:1.97 [[ 5.45218538e-01 -8.38230205e-01 -1.03378113e-02 1.34738304e+02] [ 8.38090206e-01 5.45316448e-01 -1.53224584e-02 6.18881437e+01] [ 1.84811260e-02 -3.09930032e-04 9.99829161e-01 1.97160768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:61.91, Z:1.97 [[ 5.46126754e-01 -8.37636718e-01 -1.05022681e-02 1.34752878e+02] [ 8.37491978e-01 5.46227649e-01 -1.55737676e-02 6.19115171e+01] [ 1.87817888e-02 -2.90314130e-04 9.99823565e-01 1.97146564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:61.94, Z:1.97 [[ 5.46643382e-01 -8.37295702e-01 -1.08129474e-02 1.34767933e+02] [ 8.37142067e-01 5.46750242e-01 -1.60416094e-02 6.19352687e+01] [ 1.93435522e-02 -2.82933519e-04 9.99812856e-01 1.97134590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.78, Y:61.96, Z:1.97 [[ 5.47606105e-01 -8.36655208e-01 -1.16454673e-02 1.34781850e+02] [ 8.36476649e-01 5.47729849e-01 -1.72866288e-02 6.19588578e+01] [ 2.08415180e-02 -2.74897959e-04 9.99782754e-01 1.97076953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53361786499997 meters Centerline goodness [0,1] 0.9998470246290347 Centerline is valid? [True, True] Translation: X:134.80, Y:61.98, Z:1.97 [[ 5.47392411e-01 -8.36791085e-01 -1.19259835e-02 1.34798265e+02] [ 8.36603659e-01 5.47522238e-01 -1.77120549e-02 6.19805188e+01] [ 2.13510308e-02 -2.81877028e-04 9.99772001e-01 1.97000466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56361786499997 meters Centerline goodness [0,1] 0.9999781439874109 Centerline is valid? [True, True] Translation: X:134.81, Y:62.00, Z:1.97 [[ 5.46909340e-01 -8.37103817e-01 -1.21397702e-02 1.34812910e+02] [ 8.36909478e-01 5.47043978e-01 -1.80391774e-02 6.20041303e+01] [ 2.17416524e-02 -2.94094176e-04 9.99763579e-01 1.97089874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59361786499997 meters Centerline goodness [0,1] 0.9998688094457199 Centerline is valid? [True, True] Translation: X:134.83, Y:62.03, Z:1.97 [[ 5.46070832e-01 -8.37649347e-01 -1.22563494e-02 1.34827465e+02] [ 8.37451176e-01 5.46208269e-01 -1.82223674e-02 6.20291156e+01] [ 2.19584736e-02 -3.13390906e-04 9.99758835e-01 1.97228206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62361786499997 meters Centerline goodness [0,1] 0.9999124343257443 Centerline is valid? [True, True] Translation: X:134.84, Y:62.05, Z:1.97 [[ 5.44627812e-01 -8.38585961e-01 -1.24150227e-02 1.34842610e+02] [ 8.38382691e-01 5.44769183e-01 -1.84662128e-02 6.20521213e+01] [ 2.22488286e-02 -3.51327027e-04 9.99752402e-01 1.97218727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65361786499997 meters Centerline goodness [0,1] 0.9999781759455272 Centerline is valid? [True, True] Translation: X:134.86, Y:62.07, Z:1.97 [[ 5.43618196e-01 -8.39241866e-01 -1.23428643e-02 1.34857904e+02] [ 8.39040969e-01 5.43758173e-01 -1.83657703e-02 6.20747120e+01] [ 2.21248567e-02 -3.72201864e-04 9.99755146e-01 1.97255811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68361786499997 meters Centerline goodness [0,1] 0.9999344734945286 Centerline is valid? [True, True] Translation: X:134.87, Y:62.10, Z:1.97 [[ 5.42289089e-01 -8.40103107e-01 -1.22193974e-02 1.34873758e+02] [ 8.39906223e-01 5.42426595e-01 -1.81913686e-02 6.20984470e+01] [ 2.19107514e-02 -3.98167205e-04 9.99759851e-01 1.97329622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.89, Y:62.12, Z:1.97 [[ 5.39644906e-01 -8.41810365e-01 -1.17764075e-02 1.34891551e+02] [ 8.41627739e-01 5.39773202e-01 -1.75396342e-02 6.21204514e+01] [ 2.11216350e-02 -4.46176950e-04 9.99776814e-01 1.97428884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.91, Y:62.14, Z:1.98 [[ 5.38159541e-01 -8.42764654e-01 -1.14911763e-02 1.34906173e+02] [ 8.42590840e-01 5.38282007e-01 -1.71218271e-02 6.21449551e+01] [ 2.06151641e-02 -4.68085271e-04 9.99787375e-01 1.97584386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:62.17, Z:1.98 [[ 5.35238657e-01 -8.44622930e-01 -1.14754150e-02 1.34922726e+02] [ 8.44449841e-01 5.35361392e-01 -1.71069029e-02 6.21682357e+01] [ 2.05923766e-02 -5.34136630e-04 9.99787812e-01 1.97686723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.94, Y:62.19, Z:1.98 [[ 5.34145781e-01 -8.45314564e-01 -1.14705296e-02 1.34939051e+02] [ 8.45141633e-01 5.34268639e-01 -1.71067564e-02 6.21907255e+01] [ 2.05889345e-02 -5.56720374e-04 9.99787870e-01 1.97694996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.95, Y:62.21, Z:1.98 [[ 5.33919433e-01 -8.45457591e-01 -1.14674339e-02 1.34954352e+02] [ 8.45284649e-01 5.34042274e-01 -1.71088314e-02 6.22136771e+01] [ 2.05888858e-02 -5.58508304e-04 9.99787870e-01 1.97731746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:62.24, Z:1.98 [[ 5.32626415e-01 -8.46270899e-01 -1.16045882e-02 1.34970266e+02] [ 8.46093786e-01 5.32752489e-01 -1.73231135e-02 6.22379167e+01] [ 2.08424200e-02 -5.91822119e-04 9.99782598e-01 1.97722518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89361786499998 meters Centerline goodness [0,1] 0.9999782490483958 Centerline is valid? [True, True] Translation: X:134.99, Y:62.26, Z:1.98 [[ 5.31948441e-01 -8.46698492e-01 -1.15117611e-02 1.34986213e+02] [ 8.46524153e-01 5.32072650e-01 -1.71916930e-02 6.22605442e+01] [ 2.06812738e-02 -5.99889579e-04 9.99785940e-01 1.97720947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.00, Y:62.28, Z:1.98 [[ 5.31384261e-01 -8.47056525e-01 -1.12254190e-02 1.35001590e+02] [ 8.46890734e-01 5.31502481e-01 -1.67689462e-02 6.22832228e+01] [ 2.01705834e-02 -5.95949263e-04 9.99796375e-01 1.97771733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.02, Y:62.31, Z:1.98 [[ 5.31063660e-01 -8.47260410e-01 -1.10084482e-02 1.35016850e+02] [ 8.47100871e-01 5.31177420e-01 -1.64518342e-02 6.23062747e+01] [ 1.97864269e-02 -5.88294725e-04 9.99804056e-01 1.97808569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.03, Y:62.33, Z:1.98 [[ 5.30741994e-01 -8.47460555e-01 -1.11149776e-02 1.35030866e+02] [ 8.47297766e-01 5.30858033e-01 -1.66206090e-02 6.23311925e+01] [ 1.99857857e-02 -5.96440511e-04 9.99800086e-01 1.97923838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:62.35, Z:1.98 [[ 5.30641306e-01 -8.47522390e-01 -1.12072801e-02 1.35046555e+02] [ 8.47356699e-01 5.30759306e-01 -1.67685706e-02 6.23543817e+01] [ 2.01601072e-02 -5.98467680e-04 9.99796585e-01 1.97959856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.06, Y:62.38, Z:1.98 [[ 5.30708988e-01 -8.47479153e-01 -1.12718917e-02 1.35063048e+02] [ 8.47311341e-01 5.30828344e-01 -1.68748214e-02 6.23757340e+01] [ 2.02844990e-02 -5.95182290e-04 9.99794071e-01 1.97933719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.08, Y:62.40, Z:1.98 [[ 5.30888444e-01 -8.47367673e-01 -1.12021164e-02 1.35077402e+02] [ 8.47201727e-01 5.31006298e-01 -1.67793200e-02 6.24000712e+01] [ 2.01666477e-02 -5.82505305e-04 9.99796463e-01 1.97996172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:62.42, Z:1.98 [[ 5.30932526e-01 -8.47341102e-01 -1.11224880e-02 1.35092973e+02] [ 8.47177309e-01 5.31048707e-01 -1.66696672e-02 6.24238985e+01] [ 2.00314771e-02 -5.72250947e-04 9.99799186e-01 1.98001585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.11, Y:62.45, Z:1.98 [[ 5.31074139e-01 -8.47252656e-01 -1.10993586e-02 1.35108558e+02] [ 8.47089331e-01 5.31189815e-01 -1.66446891e-02 6.24475360e+01] [ 1.99981233e-02 -5.62584330e-04 9.99799859e-01 1.97943923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.12, Y:62.47, Z:1.98 [[ 5.30931627e-01 -8.47339708e-01 -1.12705880e-02 1.35123826e+02] [ 8.47171123e-01 5.31050935e-01 -1.69113280e-02 6.24707482e+01] [ 2.03148960e-02 -5.69357767e-04 9.99793469e-01 1.97934423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.14, Y:62.49, Z:1.98 [[ 5.30707565e-01 -8.47483326e-01 -1.10223549e-02 1.35139168e+02] [ 8.47321929e-01 5.30821723e-01 -1.65483245e-02 6.24945544e+01] [ 1.98753345e-02 -5.57162022e-04 9.99802311e-01 1.97919745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.15, Y:62.52, Z:1.98 [[ 5.30459707e-01 -8.47639160e-01 -1.09705754e-02 1.35154907e+02] [ 8.47479120e-01 5.30572847e-01 -1.64801385e-02 6.25174488e+01] [ 1.97899002e-02 -5.55284169e-04 9.99804007e-01 1.97950335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:62.54, Z:1.98 [[ 5.30152051e-01 -8.47836356e-01 -1.05979512e-02 1.35171528e+02] [ 8.47686888e-01 5.30257694e-01 -1.59285034e-02 6.25389764e+01] [ 1.91244095e-02 -5.39215551e-04 9.99816966e-01 1.98011874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.19, Y:62.56, Z:1.98 [[ 5.29962150e-01 -8.47956928e-01 -1.04483566e-02 1.35187905e+02] [ 8.47811543e-01 5.30064869e-01 -1.57105954e-02 6.25620502e+01] [ 1.88602150e-02 -5.32216441e-04 9.99821989e-01 1.98053897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:62.58, Z:1.98 [[ 5.29452411e-01 -8.48285056e-01 -9.62332578e-03 1.35203674e+02] [ 8.48161649e-01 5.29539627e-01 -1.44775851e-02 6.25835494e+01] [ 1.73770514e-02 -4.96943545e-04 9.99848884e-01 1.98135549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.22, Y:62.61, Z:1.98 [[ 5.28865398e-01 -8.48653172e-01 -9.44372535e-03 1.35217184e+02] [ 8.48534261e-01 5.28949476e-01 -1.42147839e-02 6.26088339e+01] [ 1.70586750e-02 -4.95617162e-04 9.99854367e-01 1.98236360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:62.63, Z:1.98 [[ 5.28611677e-01 -8.48812948e-01 -9.28844250e-03 1.35234113e+02] [ 8.48697809e-01 5.28693050e-01 -1.39888715e-02 6.26300643e+01] [ 1.67846703e-02 -4.88399975e-04 9.99859008e-01 1.98246220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.25, Y:62.65, Z:1.98 [[ 5.28342364e-01 -8.48981373e-01 -9.21815818e-03 1.35248027e+02] [ 8.48867871e-01 5.28422550e-01 -1.38904926e-02 6.26544957e+01] [ 1.66638522e-02 -4.86062597e-04 9.99861030e-01 1.98305389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43361786499997 meters Centerline goodness [0,1] 0.9999781664155805 Centerline is valid? [True, True] Translation: X:135.26, Y:62.68, Z:1.98 [[ 5.28397880e-01 -8.48949385e-01 -8.97895012e-03 1.35262436e+02] [ 8.48841567e-01 5.28473956e-01 -1.35377753e-02 6.26790414e+01] [ 1.62380273e-02 -4.68374299e-04 9.99868045e-01 1.98348121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.28, Y:62.70, Z:1.98 [[ 5.28214320e-01 -8.49068080e-01 -8.54568682e-03 1.35277919e+02] [ 8.48970321e-01 5.28283255e-01 -1.28917169e-02 6.27009903e+01] [ 1.54604885e-02 -4.45445030e-04 9.99880380e-01 1.98400659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:62.72, Z:1.98 [[ 5.28105087e-01 -8.49137770e-01 -8.37046582e-03 1.35293382e+02] [ 8.49043888e-01 5.28171240e-01 -1.26340207e-02 6.27240229e+01] [ 1.51490635e-02 -4.34802240e-04 9.99885152e-01 1.98453135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.31, Y:62.75, Z:1.99 [[ 5.27998588e-01 -8.49208271e-01 -7.92484698e-03 1.35307893e+02] [ 8.49124033e-01 5.28057898e-01 -1.19680185e-02 6.27483929e+01] [ 1.43481183e-02 -4.10081150e-04 9.99896976e-01 1.98543885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:62.77, Z:1.99 [[ 5.27719245e-01 -8.49384842e-01 -7.60180621e-03 1.35324624e+02] [ 8.49307260e-01 5.27773847e-01 -1.14866882e-02 6.27692606e+01] [ 1.37686533e-02 -3.94522780e-04 9.99905130e-01 1.98581428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.34, Y:62.79, Z:1.99 [[ 5.27398528e-01 -8.49586895e-01 -7.27320713e-03 1.35338713e+02] [ 8.49515821e-01 5.27448541e-01 -1.09957672e-02 6.27931526e+01] [ 1.31781022e-02 -3.79553085e-04 9.99913093e-01 1.98616207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:62.82, Z:1.99 [[ 5.27703665e-01 -8.49399812e-01 -6.98580624e-03 1.35354377e+02] [ 8.49334152e-01 5.27749781e-01 -1.05672516e-02 6.28160963e+01] [ 1.26625793e-02 -3.56906399e-04 9.99919763e-01 1.98685506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters Centerline goodness [0,1] 0.9999562812862045 Centerline is valid? [True, True] Translation: X:135.37, Y:62.84, Z:1.99 [[ 5.28131329e-01 -8.49136441e-01 -6.67856911e-03 1.35369878e+02] [ 8.49076342e-01 5.28173451e-01 -1.01080244e-02 6.28401987e+01] [ 1.21105348e-02 -3.32250658e-04 9.99926610e-01 1.98738027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:62.86, Z:1.99 [[ 5.29698120e-01 -8.48161891e-01 -6.42711348e-03 1.35384285e+02] [ 8.48106098e-01 5.29737029e-01 -9.73282140e-03 6.28647165e+01] [ 1.16596882e-02 -2.95416932e-04 9.99931980e-01 1.98806067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.40, Y:62.89, Z:1.99 [[ 5.30615128e-01 -8.47588934e-01 -6.37058636e-03 1.35399340e+02] [ 8.47534021e-01 5.30653297e-01 -9.65206254e-03 6.28893438e+01] [ 1.15615541e-02 -2.77758275e-04 9.99933124e-01 1.98845200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:62.91, Z:1.99 [[ 5.31440928e-01 -8.47071304e-01 -6.38318679e-03 1.35413856e+02] [ 8.47016080e-01 5.31479196e-01 -9.67594981e-03 6.29133620e+01] [ 1.15887504e-02 -2.64466104e-04 9.99932813e-01 1.98877107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.43, Y:62.94, Z:1.99 [[ 5.32350369e-01 -8.46497898e-01 -6.66280742e-03 1.35428038e+02] [ 8.46437612e-01 5.32392000e-01 -1.01058055e-02 6.29365287e+01] [ 1.21017685e-02 -2.59821510e-04 9.99926737e-01 1.98878500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:62.96, Z:1.99 [[ 5.33923839e-01 -8.45507436e-01 -6.52000753e-03 1.35441224e+02] [ 8.45449581e-01 5.33963597e-01 -9.89353792e-03 6.29609221e+01] [ 1.18465065e-02 -2.29941894e-04 9.99929801e-01 1.98874195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.46, Y:62.98, Z:1.99 [[ 5.34663426e-01 -8.45039469e-01 -6.58162100e-03 1.35455782e+02] [ 8.44980464e-01 5.34703888e-01 -9.98837862e-03 6.29846293e+01] [ 1.19597925e-02 -2.20920435e-04 9.99928455e-01 1.98883744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.47, Y:63.01, Z:1.99 [[ 5.34927796e-01 -8.44872328e-01 -6.55761066e-03 1.35470499e+02] [ 8.44813677e-01 5.34967946e-01 -9.95732427e-03 6.30081199e+01] [ 1.19207792e-02 -2.13509647e-04 9.99928922e-01 1.98905366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.48, Y:63.03, Z:1.99 [[ 5.35123730e-01 -8.44747878e-01 -6.60430975e-03 1.35484087e+02] [ 8.44688311e-01 5.35164441e-01 -1.00338240e-02 6.30326969e+01] [ 1.20104432e-02 -2.09245954e-04 9.99927850e-01 1.98925334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.50, Y:63.06, Z:1.99 [[ 5.35826870e-01 -8.44303836e-01 -6.37158735e-03 1.35497357e+02] [ 8.44248299e-01 5.35864718e-01 -9.68571823e-03 6.30580444e+01] [ 1.15919979e-02 -1.89333694e-04 9.99932793e-01 1.98983680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:63.08, Z:1.99 [[ 5.36084499e-01 -8.44141455e-01 -6.21407400e-03 1.35511846e+02] [ 8.44088560e-01 5.36120483e-01 -9.45146332e-03 6.30806839e+01] [ 1.13098644e-02 -1.78445795e-04 9.99936026e-01 1.99064214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.53, Y:63.10, Z:1.99 [[ 5.36091400e-01 -8.44138186e-01 -6.06086473e-03 1.35525307e+02] [ 8.44087842e-01 5.36125632e-01 -9.22069532e-03 6.31048747e+01] [ 1.10329259e-02 -1.72766773e-04 9.99939121e-01 1.99107946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:63.13, Z:1.99 [[ 5.35647975e-01 -8.44418230e-01 -6.25293992e-03 1.35540104e+02] [ 8.44364596e-01 5.35684440e-01 -9.51887297e-03 6.31273153e+01] [ 1.13875125e-02 -1.80996056e-04 9.99935144e-01 1.99111565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.56, Y:63.15, Z:1.99 [[ 5.34798103e-01 -8.44957721e-01 -6.11866852e-03 1.35555053e+02] [ 8.44906347e-01 5.34833072e-01 -9.31932754e-03 6.31512486e+01] [ 1.11469040e-02 -1.85743177e-04 9.99937854e-01 1.99151577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.57, Y:63.18, Z:1.99 [[ 5.32191854e-01 -8.46605000e-01 -5.63956968e-03 1.35569335e+02] [ 8.46561404e-01 5.32221696e-01 -8.59390337e-03 6.31766165e+01] [ 1.02771429e-02 -2.00636660e-04 9.99947169e-01 1.99178314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.59, Y:63.20, Z:1.99 [[ 5.30362671e-01 -8.47753587e-01 -5.41227513e-03 1.35585510e+02] [ 8.47713455e-01 5.30390243e-01 -8.25156312e-03 6.32005313e+01] [ 9.86591016e-03 -2.11737397e-04 9.99951308e-01 1.99206817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.60, Y:63.22, Z:1.99 [[ 5.28490212e-01 -8.48920819e-01 -5.61599050e-03 1.35601461e+02] [ 8.48877622e-01 5.28519996e-01 -8.56721880e-03 6.32240568e+01] [ 1.02410537e-02 -2.39597384e-04 9.99947530e-01 1.99232825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:63.25, Z:1.99 [[ 5.24401407e-01 -8.51451804e-01 -5.74377606e-03 1.35617739e+02] [ 8.51406742e-01 5.24432779e-01 -8.76466548e-03 6.32473042e+01] [ 1.04749147e-02 -2.94086758e-04 9.99945093e-01 1.99182981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.63, Y:63.27, Z:1.99 [[ 5.22260954e-01 -8.52764305e-01 -6.04451013e-03 1.35633457e+02] [ 8.52714427e-01 5.22295824e-01 -9.22915961e-03 6.32710530e+01] [ 1.10273203e-02 -3.34211294e-04 9.99939141e-01 1.99225994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.65, Y:63.29, Z:1.99 [[ 5.20448504e-01 -8.53871772e-01 -6.02918013e-03 1.35649161e+02] [ 8.53822176e-01 5.20483305e-01 -9.20985675e-03 6.32938990e+01] [ 1.10021243e-02 -3.54591528e-04 9.99939412e-01 1.99246533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.66, Y:63.32, Z:1.99 [[ 5.18614399e-01 -8.54988094e-01 -5.87054085e-03 1.35663878e+02] [ 8.54941109e-01 5.18647495e-01 -8.97085179e-03 6.33191515e+01] [ 1.07147128e-02 -3.66553787e-04 9.99942529e-01 1.99283411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27361786499998 meters Centerline goodness [0,1] 0.9997623163353501 Centerline is valid? [True, True] Translation: X:135.68, Y:63.34, Z:1.99 [[ 5.16518703e-01 -8.56258214e-01 -5.50451799e-03 1.35677224e+02] [ 8.56216929e-01 5.16547903e-01 -8.41628730e-03 6.33442718e+01] [ 1.00498624e-02 -3.65891692e-04 9.99949432e-01 1.99287226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters Centerline goodness [0,1] 0.9997625318423211 Centerline is valid? [True, True] Translation: X:135.69, Y:63.37, Z:1.99 [[ 5.15965794e-01 -8.56591540e-01 -5.49849917e-03 1.35694896e+02] [ 8.56550345e-01 5.15994958e-01 -8.40891434e-03 6.33662583e+01] [ 1.00402027e-02 -3.71029204e-04 9.99949527e-01 1.99343061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33361786499998 meters Centerline goodness [0,1] 0.9998055483536428 Centerline is valid? [True, True] Translation: X:135.71, Y:63.39, Z:1.99 [[ 5.15415410e-01 -8.56922153e-01 -5.60171965e-03 1.35706119e+02] [ 8.56879394e-01 5.15445708e-01 -8.56892723e-03 6.33931401e+01] [ 1.02302859e-02 -3.83441001e-04 9.99947596e-01 1.99309161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters Centerline goodness [0,1] 0.9999352862504853 Centerline is valid? [True, True] Translation: X:135.72, Y:63.42, Z:1.99 [[ 5.15036988e-01 -8.57147899e-01 -5.86348945e-03 1.35718201e+02] [ 8.57101014e-01 5.15070205e-01 -8.97418990e-03 6.34183074e+01] [ 1.07123167e-02 -4.03563017e-04 9.99942540e-01 1.99217493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39361786499998 meters Centerline goodness [0,1] 0.9999140542747255 Centerline is valid? [True, True] Translation: X:135.73, Y:63.44, Z:1.99 [[ 5.14793478e-01 -8.57293557e-01 -5.95251813e-03 1.35734451e+02] [ 8.57245185e-01 5.14827728e-01 -9.11611526e-03 6.34395250e+01] [ 1.08797083e-02 -4.09850826e-04 9.99940730e-01 1.99229390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.75, Y:63.47, Z:1.99 [[ 5.14507361e-01 -8.57465106e-01 -5.98053706e-03 1.35745389e+02] [ 8.57416236e-01 5.14541953e-01 -9.16388920e-03 6.34654234e+01] [ 1.09349524e-02 -4.12921122e-04 9.99940126e-01 1.99198795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:63.49, Z:1.99 [[ 5.14191585e-01 -8.57654251e-01 -6.01667805e-03 1.35759219e+02] [ 8.57604741e-01 5.14226616e-01 -9.22473078e-03 6.34897515e+01] [ 1.10055656e-02 -4.16652689e-04 9.99939350e-01 1.99240170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.77, Y:63.51, Z:1.99 [[ 5.13828954e-01 -8.57872342e-01 -5.90341093e-03 1.35771879e+02] [ 8.57824636e-01 5.13862702e-01 -9.05639620e-03 6.35142629e+01] [ 1.08027745e-02 -4.10652737e-04 9.99941564e-01 1.99260066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:63.54, Z:1.99 [[ 5.13746405e-01 -8.57921461e-01 -5.94964839e-03 1.35785667e+02] [ 8.57872955e-01 5.13780690e-01 -9.13218481e-03 6.35385006e+01] [ 1.08915118e-02 -4.12415330e-04 9.99940601e-01 1.99321405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.80, Y:63.56, Z:1.99 [[ 5.13724976e-01 -8.57936454e-01 -5.62942742e-03 1.35797668e+02] [ 8.57892980e-01 5.13755672e-01 -8.64550836e-03 6.35629406e+01] [ 1.03094471e-02 -3.88032686e-04 9.99946781e-01 1.99398420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:63.59, Z:1.99 [[ 5.13559142e-01 -8.58036057e-01 -5.57960014e-03 1.35811027e+02] [ 8.57993312e-01 5.13589307e-01 -8.57319031e-03 6.35876679e+01] [ 1.02217294e-02 -3.84419347e-04 9.99947683e-01 1.99440052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.82, Y:63.61, Z:2.00 [[ 5.13384974e-01 -8.58141533e-01 -5.38301540e-03 1.35823979e+02] [ 8.58101709e-01 5.13413061e-01 -8.27561328e-03 6.36121997e+01] [ 9.86535789e-03 -3.70599200e-04 9.99951268e-01 1.99509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:63.64, Z:2.00 [[ 5.12864471e-01 -8.58453410e-01 -5.27052334e-03 1.35835058e+02] [ 8.58415205e-01 5.12891421e-01 -8.10722040e-03 6.36389359e+01] [ 9.66287719e-03 -3.66392075e-04 9.99953246e-01 1.99577031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.85, Y:63.66, Z:2.00 [[ 5.12207790e-01 -8.58845939e-01 -5.18011932e-03 1.35849379e+02] [ 8.58809010e-01 5.12233853e-01 -7.97273481e-03 6.36641802e+01] [ 9.50078339e-03 -3.65036267e-04 9.99954800e-01 1.99561786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69361786499996 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:135.86, Y:63.69, Z:2.00 [[ 5.11613860e-01 -8.59198928e-01 -5.33477620e-03 1.35863029e+02] [ 8.59159738e-01 5.11641532e-01 -8.21511252e-03 6.36902042e+01] [ 9.78790894e-03 -3.80459494e-04 9.99952025e-01 1.99563856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72361786499997 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:135.88, Y:63.71, Z:2.00 [[ 5.11382478e-01 -8.59336675e-01 -5.33293904e-03 1.35877987e+02] [ 8.59297479e-01 5.11410143e-01 -8.21630486e-03 6.37133769e+01] [ 9.78789122e-03 -3.80906728e-04 9.99952025e-01 1.99600570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.89, Y:63.74, Z:2.00 [[ 5.10229153e-01 -8.60020742e-01 -5.52580729e-03 1.35894985e+02] [ 8.59978639e-01 5.10258913e-01 -8.51949115e-03 6.37360042e+01] [ 1.01465315e-02 -4.05183489e-04 9.99948441e-01 1.99648999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78361786499997 meters Centerline goodness [0,1] 0.9999788891469105 Centerline is valid? [True, True] Translation: X:135.90, Y:63.76, Z:2.00 [[ 5.09717836e-01 -8.60324682e-01 -5.40088660e-03 1.35904909e+02] [ 8.60284460e-01 5.09746291e-01 -8.32868303e-03 6.37642543e+01] [ 9.91845349e-03 -4.01020518e-04 9.99950731e-01 1.99666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.92, Y:63.79, Z:2.00 [[ 5.08941910e-01 -8.60783940e-01 -5.39814333e-03 1.35919264e+02] [ 8.60743742e-01 5.08970374e-01 -8.32878159e-03 6.37899009e+01] [ 9.91677647e-03 -4.07552074e-04 9.99950745e-01 1.99710492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.94, Y:63.81, Z:2.00 [[ 5.08669585e-01 -8.60944731e-01 -5.42434982e-03 1.35935015e+02] [ 8.60904101e-01 5.08698341e-01 -8.37414384e-03 6.38122775e+01] [ 9.96903277e-03 -4.10172735e-04 9.99950224e-01 1.99774010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:63.84, Z:2.00 [[ 5.08725352e-01 -8.60911281e-01 -5.50295748e-03 1.35946893e+02] [ 8.60869439e-01 5.08754945e-01 -8.49788740e-03 6.38376855e+01] [ 1.01155840e-02 -4.14237168e-04 9.99948750e-01 1.99827156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.96, Y:63.86, Z:2.00 [[ 5.08698164e-01 -8.60927501e-01 -5.47872496e-03 1.35959510e+02] [ 8.60885979e-01 5.08727501e-01 -8.46523572e-03 6.38631258e+01] [ 1.00751323e-02 -4.10307631e-04 9.99949160e-01 1.99837262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.97, Y:63.89, Z:2.00 [[ 5.09324097e-01 -8.60556814e-01 -5.56177775e-03 1.35974915e+02] [ 8.60513939e-01 5.09354302e-01 -8.59975521e-03 6.38866673e+01] [ 1.02334934e-02 -4.05924723e-04 9.99947554e-01 1.99895959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.99, Y:63.91, Z:2.00 [[ 5.09803241e-01 -8.60272218e-01 -5.68909747e-03 1.35986458e+02] [ 8.60227331e-01 5.09834820e-01 -8.79747080e-03 6.39134108e+01] [ 1.04687197e-02 -4.08938001e-04 9.99945118e-01 1.99891305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.00, Y:63.94, Z:2.00 [[ 5.11550976e-01 -8.59231907e-01 -6.01071774e-03 1.35996853e+02] [ 8.59181675e-01 5.11586126e-01 -9.29977771e-03 6.39406644e+01] [ 1.10656655e-02 -4.06988169e-04 9.99938691e-01 1.99905550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.01, Y:63.97, Z:2.00 [[ 5.12351194e-01 -8.58753907e-01 -6.16289308e-03 1.36010699e+02] [ 8.58701000e-01 5.12388100e-01 -9.54084727e-03 6.39660580e+01] [ 1.13510329e-02 -4.03817958e-04 9.99935493e-01 1.99937761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.02, Y:63.99, Z:2.00 [[ 5.14437770e-01 -8.57500870e-01 -6.78516844e-03 1.36022804e+02] [ 8.57436553e-01 5.14482351e-01 -1.05104240e-02 6.39905481e+01] [ 1.25035471e-02 -4.10892371e-04 9.99921743e-01 1.99904841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.04, Y:64.02, Z:2.00 [[ 5.15066074e-01 -8.57121071e-01 -7.09999538e-03 1.36036128e+02] [ 8.57050576e-01 5.15114836e-01 -1.10006645e-02 6.40162261e+01] [ 1.30862143e-02 -4.18986062e-04 9.99914284e-01 1.99929685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.05, Y:64.04, Z:2.00 [[ 5.15890509e-01 -8.56621710e-01 -7.49859278e-03 1.36050087e+02] [ 8.56542939e-01 5.15944827e-01 -1.16245365e-02 6.40418995e+01] [ 1.38266905e-02 -4.25878633e-04 9.99904316e-01 1.99937552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.06, Y:64.07, Z:2.00 [[ 5.16732668e-01 -8.56111363e-01 -7.79006977e-03 1.36064052e+02] [ 8.56026198e-01 5.16791210e-01 -1.20828145e-02 6.40673894e+01] [ 1.43700744e-02 -4.24918831e-04 9.99896655e-01 1.99973321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:64.09, Z:2.00 [[ 5.18741967e-01 -8.54893935e-01 -7.94547042e-03 1.36077213e+02] [ 8.54805101e-01 5.18802663e-01 -1.23303120e-02 6.40932747e+01] [ 1.46632402e-02 -3.95578334e-04 9.99892411e-01 2.00044157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:64.12, Z:2.00 [[ 5.19546486e-01 -8.54405689e-01 -7.89728155e-03 1.36091024e+02] [ 8.54317780e-01 5.19606367e-01 -1.22618937e-02 6.41184190e+01] [ 1.45801095e-02 -3.76164287e-04 9.99893634e-01 2.00128598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:64.14, Z:2.00 [[ 5.20569915e-01 -8.53782471e-01 -7.90285909e-03 1.36105527e+02] [ 8.53694278e-01 5.20629777e-01 -1.22766022e-02 6.41419267e+01] [ 1.45960115e-02 -3.55795820e-04 9.99893409e-01 2.00187736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:64.17, Z:2.00 [[ 5.21339171e-01 -8.53313350e-01 -7.86108557e-03 1.36119265e+02] [ 8.53225997e-01 5.21398324e-01 -1.22142040e-02 6.41652284e+01] [ 1.45213002e-02 -3.39539565e-04 9.99894503e-01 2.00213462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:64.19, Z:2.00 [[ 5.22289187e-01 -8.52732427e-01 -7.83663598e-03 1.36131886e+02] [ 8.52645473e-01 5.22347877e-01 -1.21816099e-02 6.41911198e+01] [ 1.44811040e-02 -3.19549069e-04 9.99895092e-01 2.00256987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:64.21, Z:2.00 [[ 5.22590821e-01 -8.52546945e-01 -7.90826468e-03 1.36147133e+02] [ 8.52458280e-01 5.22650560e-01 -1.22992572e-02 6.42130505e+01] [ 1.46189531e-02 -3.13986817e-04 9.99893088e-01 2.00266591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.16, Y:64.24, Z:2.00 [[ 5.21731228e-01 -8.53074873e-01 -7.73216989e-03 1.36164011e+02] [ 8.52990121e-01 5.21788423e-01 -1.20289001e-02 6.42369822e+01] [ 1.42961092e-02 -3.19611713e-04 9.99897754e-01 2.00290584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:64.26, Z:2.00 [[ 5.20633464e-01 -8.53744084e-01 -7.86352555e-03 1.36181370e+02] [ 8.53656415e-01 5.20692734e-01 -1.22393999e-02 6.42590487e+01] [ 1.45437958e-02 -3.40507882e-04 9.99894175e-01 2.00356590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.20, Y:64.28, Z:2.00 [[ 5.19179748e-01 -8.54630648e-01 -7.67103500e-03 1.36196126e+02] [ 8.54547266e-01 5.19236295e-01 -1.19432190e-02 6.42837280e+01] [ 1.41901208e-02 -3.54584558e-04 9.99899252e-01 2.00437014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:64.31, Z:2.01 [[ 5.17582770e-01 -8.55600029e-01 -7.52776818e-03 1.36212856e+02] [ 8.55519753e-01 5.17637376e-01 -1.17260343e-02 6.43057855e+01] [ 1.39294495e-02 -3.70961056e-04 9.99902912e-01 2.00511802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.23, Y:64.33, Z:2.01 [[ 5.16039236e-01 -8.56533352e-01 -7.35685402e-03 1.36230255e+02] [ 8.56456745e-01 5.16091530e-01 -1.14619557e-02 6.43293843e+01] [ 1.36143574e-02 -3.86008357e-04 9.99907246e-01 2.00564406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.25, Y:64.35, Z:2.01 [[ 5.12905777e-01 -8.58414253e-01 -7.25492619e-03 1.36247839e+02] [ 8.58339864e-01 5.12956906e-01 -1.13088620e-02 6.43519009e+01] [ 1.34291528e-02 -4.26811706e-04 9.99909734e-01 2.00612691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.26, Y:64.37, Z:2.01 [[ 5.11629444e-01 -8.59175612e-01 -7.25115322e-03 1.36264655e+02] [ 8.59101294e-01 5.11680634e-01 -1.13091062e-02 6.43748764e+01] [ 1.34267830e-02 -4.43403376e-04 9.99909758e-01 2.00680841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:64.40, Z:2.01 [[ 5.10662058e-01 -8.59752110e-01 -7.11146494e-03 1.36281449e+02] [ 8.59680636e-01 5.10711376e-01 -1.10948249e-02 6.43987311e+01] [ 1.31707051e-02 -4.47882608e-04 9.99913162e-01 2.00707850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.30, Y:64.42, Z:2.01 [[ 5.09347625e-01 -8.60531888e-01 -7.06161879e-03 1.36298738e+02] [ 8.60461414e-01 5.09396364e-01 -1.10226626e-02 6.44208163e+01] [ 1.30825156e-02 -4.61883461e-04 9.99914314e-01 2.00689790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:64.44, Z:2.01 [[ 5.09066284e-01 -8.60697796e-01 -7.12892583e-03 1.36312435e+02] [ 8.60625937e-01 5.09115983e-01 -1.11316194e-02 6.44449101e+01] [ 1.32104103e-02 -4.68606364e-04 9.99912629e-01 2.00685758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.33, Y:64.47, Z:2.01 [[ 5.09213714e-01 -8.60610541e-01 -7.13371322e-03 1.36328800e+02] [ 8.60538490e-01 5.09263470e-01 -1.11456304e-02 6.44666067e+01] [ 1.32249866e-02 -4.63326948e-04 9.99912439e-01 2.00688451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.34, Y:64.49, Z:2.01 [[ 5.10028478e-01 -8.60123764e-01 -7.61990645e-03 1.36341333e+02] [ 8.60041415e-01 5.10085172e-01 -1.19114381e-02 6.44924887e+01] [ 1.41321123e-02 -4.78262453e-04 9.99900022e-01 2.00587169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.36, Y:64.52, Z:2.01 [[ 5.10579003e-01 -8.59794140e-01 -7.94469939e-03 1.36357174e+02] [ 8.59704483e-01 5.10640578e-01 -1.24258511e-02 6.45161622e+01] [ 1.47405598e-02 -4.85715019e-04 9.99891234e-01 2.00561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:64.54, Z:2.01 [[ 5.10976318e-01 -8.59556498e-01 -8.11351071e-03 1.36375081e+02] [ 8.59462860e-01 5.11040499e-01 -1.26964821e-02 6.45365474e+01] [ 1.50596763e-02 -4.85659427e-04 9.99886479e-01 2.00541542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.39, Y:64.56, Z:2.01 [[ 5.11322958e-01 -8.59351333e-01 -8.00740239e-03 1.36387019e+02] [ 8.59260019e-01 5.11385436e-01 -1.25361958e-02 6.45631946e+01] [ 1.48678656e-02 -4.70395984e-04 9.99889357e-01 2.00605820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:64.58, Z:2.01 [[ 5.12318605e-01 -8.58759174e-01 -7.89479941e-03 1.36408225e+02] [ 8.58670250e-01 5.12379239e-01 -1.23660077e-02 6.45830065e+01] [ 1.46645539e-02 -4.43693538e-04 9.99892371e-01 2.00592726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.42, Y:64.61, Z:2.01 [[ 5.12348270e-01 -8.58741927e-01 -7.84552963e-03 1.36419236e+02] [ 8.58654068e-01 5.12408148e-01 -1.22915661e-02 6.46095659e+01] [ 1.45753965e-02 -4.39033286e-04 9.99893677e-01 2.00669689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.44, Y:64.63, Z:2.01 [[ 5.12487742e-01 -8.58660948e-01 -7.59540512e-03 1.36435697e+02] [ 8.58578497e-01 5.12543852e-01 -1.19064708e-02 6.46319104e+01] [ 1.41165997e-02 -4.19331194e-04 9.99900268e-01 2.00690424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.45, Y:64.66, Z:2.01 [[ 5.12568890e-01 -8.58612881e-01 -7.55338681e-03 1.36451074e+02] [ 8.58531280e-01 5.12624375e-01 -1.18444727e-02 6.46559814e+01] [ 1.40418670e-02 -4.13710603e-04 9.99901323e-01 2.00711018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:64.68, Z:2.01 [[ 5.12739742e-01 -8.58513866e-01 -7.20411426e-03 1.36468422e+02] [ 8.58439546e-01 5.12790201e-01 -1.13029058e-02 6.46776711e+01] [ 1.33979005e-02 -3.88847586e-04 9.99910168e-01 2.00805370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.48, Y:64.70, Z:2.01 [[ 5.12671760e-01 -8.58556123e-01 -7.00360854e-03 1.36484291e+02] [ 8.58485832e-01 5.12719458e-01 -1.09924935e-02 6.46991194e+01] [ 1.30285589e-02 -3.76957728e-04 9.99915054e-01 2.00876547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:64.72, Z:2.01 [[ 5.12534740e-01 -8.58639500e-01 -6.80809100e-03 1.36501399e+02] [ 8.58573017e-01 5.12579824e-01 -1.06910645e-02 6.47207510e+01] [ 1.26694603e-02 -3.65701280e-04 9.99919672e-01 2.00941718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.52, Y:64.74, Z:2.01 [[ 5.12369684e-01 -8.58738961e-01 -6.68614042e-03 1.36517566e+02] [ 8.58674780e-01 5.12413182e-01 -1.05048920e-02 6.47440441e+01] [ 1.24470266e-02 -3.58831941e-04 9.99922468e-01 2.01006089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.53, Y:64.77, Z:2.01 [[ 5.12279073e-01 -8.58791547e-01 -6.87237063e-03 1.36533260e+02] [ 8.58723665e-01 5.12325037e-01 -1.08038592e-02 6.47672640e+01] [ 1.27991505e-02 -3.66876323e-04 9.99918020e-01 2.01055202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.55, Y:64.79, Z:2.01 [[ 5.12781493e-01 -8.58489228e-01 -7.16844874e-03 1.36549444e+02] [ 8.58415251e-01 5.12831462e-01 -1.12760390e-02 6.47891807e+01] [ 1.33565640e-02 -3.71361626e-04 9.99910728e-01 2.01093339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.56, Y:64.81, Z:2.01 [[ 5.12974092e-01 -8.58373966e-01 -7.19132321e-03 1.36564955e+02] [ 8.58299439e-01 5.13024365e-01 -1.13169920e-02 6.48125610e+01] [ 1.34035353e-02 -3.66984989e-04 9.99910101e-01 2.01128940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.58, Y:64.84, Z:2.01 [[ 5.13044663e-01 -8.58333468e-01 -6.98796695e-03 1.36577769e+02] [ 8.58263015e-01 5.13092129e-01 -1.10029004e-02 6.48374702e+01] [ 1.30296285e-02 -3.52534244e-04 9.99915049e-01 2.01187702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.59, Y:64.86, Z:2.01 [[ 5.13419679e-01 -8.58110135e-01 -6.87244278e-03 1.36592934e+02] [ 8.58041890e-01 5.13465561e-01 -1.08273782e-02 6.48597556e+01] [ 1.28198457e-02 -3.37854749e-04 9.99917765e-01 2.01287070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.61, Y:64.88, Z:2.01 [[ 5.13531654e-01 -8.58044992e-01 -6.63571473e-03 1.36608628e+02] [ 8.57981303e-01 5.13574423e-01 -1.04592107e-02 6.48821656e+01] [ 1.23824067e-02 -3.22183407e-04 9.99923283e-01 2.01353624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.62, Y:64.91, Z:2.01 [[ 5.13590755e-01 -8.58009809e-01 -6.61096393e-03 1.36623845e+02] [ 8.57946526e-01 5.13633203e-01 -1.04254712e-02 6.49052578e+01] [ 1.23407671e-02 -3.17427922e-04 9.99923799e-01 2.01384524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:64.93, Z:2.01 [[ 5.13506522e-01 -8.58059724e-01 -6.67545248e-03 1.36638736e+02] [ 8.57995129e-01 5.13549811e-01 -1.05333205e-02 6.49274364e+01] [ 1.24663954e-02 -3.18576942e-04 9.99922241e-01 2.01426310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.65, Y:64.95, Z:2.01 [[ 5.12966586e-01 -8.58383803e-01 -6.52140312e-03 1.36652638e+02] [ 8.58322118e-01 5.13007941e-01 -1.02953693e-02 6.49523413e+01] [ 1.21829098e-02 -3.16284085e-04 9.99925736e-01 2.01414865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.67, Y:64.97, Z:2.01 [[ 5.12514725e-01 -8.58653890e-01 -6.49254818e-03 1.36671132e+02] [ 8.58592704e-01 5.12555748e-01 -1.02554204e-02 6.49736534e+01] [ 1.21336495e-02 -3.18400523e-04 9.99926334e-01 2.01454361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:64.99, Z:2.01 [[ 5.12059402e-01 -8.58923775e-01 -6.71687371e-03 1.36689079e+02] [ 8.58858269e-01 5.12103345e-01 -1.06130564e-02 6.49942191e+01] [ 1.25555400e-02 -3.34327208e-04 9.99921120e-01 2.01490966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.70, Y:65.02, Z:2.01 [[ 5.10829475e-01 -8.59653302e-01 -7.03187205e-03 1.36703898e+02] [ 8.59581498e-01 5.10877741e-01 -1.11167732e-02 6.50187145e+01] [ 1.31489977e-02 -3.65691711e-04 9.99913481e-01 2.01444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.72, Y:65.04, Z:2.01 [[ 5.10460084e-01 -8.59869578e-01 -7.40354594e-03 1.36720098e+02] [ 8.59789920e-01 5.10513623e-01 -1.17104376e-02 6.50414267e+01] [ 1.38490601e-02 -3.87783202e-04 9.99904022e-01 2.01428796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.74, Y:65.06, Z:2.01 [[ 5.10386371e-01 -8.59911879e-01 -7.57055626e-03 1.36736022e+02] [ 8.59828494e-01 5.10442363e-01 -1.19814311e-02 6.50643320e+01] [ 1.41673075e-02 -3.94220871e-04 9.99899561e-01 2.01446627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.75, Y:65.09, Z:2.01 [[ 5.10497378e-01 -8.59845274e-01 -7.65061713e-03 1.36748139e+02] [ 8.59760011e-01 5.10554552e-01 -1.21149646e-02 6.50898148e+01] [ 1.43230524e-02 -3.93037028e-04 9.99897343e-01 2.01471067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:65.11, Z:2.01 [[ 5.11622760e-01 -8.59173628e-01 -7.92639058e-03 1.36763954e+02] [ 8.59081921e-01 5.11684013e-01 -1.25588341e-02 6.51130090e+01] [ 1.48460264e-02 -3.84033478e-04 9.99889718e-01 2.01450511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.78, Y:65.14, Z:2.01 [[ 5.12312885e-01 -8.58761990e-01 -7.95945713e-03 1.36779848e+02] [ 8.58669424e-01 5.12374576e-01 -1.26140197e-02 6.51370472e+01] [ 1.49106641e-02 -3.72217672e-04 9.99888761e-01 2.01468437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.80, Y:65.16, Z:2.02 [[ 5.12899733e-01 -8.58412144e-01 -7.90281935e-03 1.36796054e+02] [ 8.58320755e-01 5.12960489e-01 -1.25306781e-02 6.51592859e+01] [ 1.48103204e-02 -3.56172419e-04 9.99890258e-01 2.01516841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:65.18, Z:2.02 [[ 5.13800494e-01 -8.57874375e-01 -7.78522145e-03 1.36811958e+02] [ 8.57785553e-01 5.13859364e-01 -1.23490300e-02 6.51824027e+01] [ 1.45944254e-02 -3.33112766e-04 9.99893440e-01 2.01571523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:65.20, Z:2.02 [[ 5.13804253e-01 -8.57870730e-01 -7.93728111e-03 1.36830349e+02] [ 8.57778298e-01 5.13865448e-01 -1.25973396e-02 6.52024362e+01] [ 1.48855834e-02 -3.35860828e-04 9.99889147e-01 2.01578042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.84, Y:65.23, Z:2.02 [[ 5.13598044e-01 -8.57994228e-01 -7.93434320e-03 1.36844943e+02] [ 8.57901783e-01 5.13659218e-01 -1.25991898e-02 6.52258151e+01] [ 1.48855806e-02 -3.35967959e-04 9.99889147e-01 2.01614728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.86, Y:65.25, Z:2.02 [[ 5.13284455e-01 -8.58182868e-01 -7.82518274e-03 1.36856795e+02] [ 8.58092873e-01 5.13343992e-01 -1.24324689e-02 6.52518220e+01] [ 1.46863424e-02 -3.33340492e-04 9.99892094e-01 2.01706183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.87, Y:65.28, Z:2.02 [[ 5.12591128e-01 -8.58597931e-01 -7.74131153e-03 1.36873485e+02] [ 8.58509798e-01 5.12649469e-01 -1.23064223e-02 6.52759220e+01] [ 1.45348480e-02 -3.37828913e-04 9.99894306e-01 2.01776929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.89, Y:65.30, Z:2.02 [[ 5.10933683e-01 -8.59585126e-01 -7.75770070e-03 1.36892308e+02] [ 8.59496637e-01 5.10992445e-01 -1.23390352e-02 6.52985536e+01] [ 1.45705776e-02 -3.63288952e-04 9.99893778e-01 2.01879147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.91, Y:65.32, Z:2.02 [[ 5.09834272e-01 -8.60238323e-01 -7.68395229e-03 1.36911161e+02] [ 8.60151492e-01 5.09892035e-01 -1.22279826e-02 6.53199771e+01] [ 1.44369653e-02 -3.75118445e-04 9.99895711e-01 2.01921878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.93, Y:65.34, Z:2.02 [[ 5.08916852e-01 -8.60783370e-01 -7.45843557e-03 1.36927066e+02] [ 8.60701571e-01 5.08971362e-01 -1.18726090e-02 6.53440924e+01] [ 1.40158745e-02 -3.77316402e-04 9.99901702e-01 2.01987840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.94, Y:65.37, Z:2.02 [[ 5.07917229e-01 -8.61374320e-01 -7.37356619e-03 1.36943895e+02] [ 8.61294350e-01 5.07970601e-01 -1.17435306e-02 6.53670068e+01] [ 1.38611305e-02 -3.86069409e-04 9.99903855e-01 2.02037430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.96, Y:65.39, Z:2.02 [[ 5.06809784e-01 -8.62024867e-01 -7.54793270e-03 1.36963079e+02] [ 8.61941091e-01 5.06865820e-01 -1.20248071e-02 6.53879886e+01] [ 1.41914719e-02 -4.11583436e-04 9.99899211e-01 2.02074900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:65.41, Z:2.02 [[ 5.06548230e-01 -8.62175179e-01 -7.92791411e-03 1.36979320e+02] [ 8.62082708e-01 5.06610079e-01 -1.26345412e-02 6.54105898e+01] [ 1.49095491e-02 -4.34513163e-04 9.99888752e-01 2.02052822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:65.43, Z:2.02 [[ 5.06666354e-01 -8.62097901e-01 -8.74156091e-03 1.36996790e+02] [ 8.61985317e-01 5.06741538e-01 -1.39401616e-02 6.54329453e+01] [ 1.64474961e-02 -4.72086310e-04 9.99864619e-01 2.01988461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:65.46, Z:2.02 [[ 5.06908835e-01 -8.61952848e-01 -8.98449548e-03 1.37012287e+02] [ 8.61833750e-01 5.06988226e-01 -1.43361830e-02 6.54559634e+01] [ 1.69121472e-02 -4.76003607e-04 9.99856866e-01 2.01978539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.03, Y:65.48, Z:2.02 [[ 5.07202399e-01 -8.61776507e-01 -9.32621060e-03 1.37027707e+02] [ 8.61647992e-01 5.07287904e-01 -1.48902499e-02 6.54801269e+01] [ 1.75631414e-02 -4.83540161e-04 9.99845639e-01 2.01980381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.04, Y:65.50, Z:2.02 [[ 5.07687178e-01 -8.61489367e-01 -9.47629494e-03 1.37043928e+02] [ 8.61356480e-01 5.07775387e-01 -1.51384201e-02 6.55026631e+01] [ 1.78534172e-02 -4.76886281e-04 9.99840501e-01 2.01961286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.06, Y:65.53, Z:2.02 [[ 5.07930218e-01 -8.61342071e-01 -9.83519014e-03 1.37059985e+02] [ 8.61198725e-01 5.08025198e-01 -1.57211417e-02 6.55259112e+01] [ 1.85378052e-02 -4.84810275e-04 9.99828043e-01 2.01971035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.08, Y:65.55, Z:2.02 [[ 5.08914278e-01 -8.60754567e-01 -1.03842761e-02 1.37077805e+02] [ 8.60594462e-01 5.09019981e-01 -1.66081722e-02 6.55469798e+01] [ 1.95813641e-02 -4.84514537e-04 9.99808149e-01 2.01983022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:65.57, Z:2.02 [[ 5.09084010e-01 -8.60652867e-01 -1.04934839e-02 1.37094251e+02] [ 8.60489194e-01 5.09191919e-01 -1.67909852e-02 6.55699283e+01] [ 1.97944068e-02 -4.81507417e-04 9.99803956e-01 2.02009434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:65.59, Z:2.02 [[ 5.09318190e-01 -8.60511284e-01 -1.07383015e-02 1.37110549e+02] [ 8.60339647e-01 5.09431151e-01 -1.71928669e-02 6.55930894e+01] [ 2.02650813e-02 -4.81946653e-04 9.99794526e-01 2.02022822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.13, Y:65.61, Z:2.02 [[ 5.09994638e-01 -8.60105040e-01 -1.11708972e-02 1.37128633e+02] [ 8.59918975e-01 5.10116742e-01 -1.78960020e-02 6.56144839e+01] [ 2.10909032e-02 -4.79201383e-04 9.99777447e-01 2.02006818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.14, Y:65.64, Z:2.02 [[ 5.10348778e-01 -8.59892280e-01 -1.13750604e-02 1.37144992e+02] [ 8.59699074e-01 5.10475311e-01 -1.82334338e-02 6.56374536e+01] [ 2.14854764e-02 -4.73718211e-04 9.99769048e-01 2.02024657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.16, Y:65.66, Z:2.02 [[ 5.10879142e-01 -8.59576190e-01 -1.14576044e-02 1.37160314e+02] [ 8.59379865e-01 5.11007401e-01 -1.83761887e-02 6.56605937e+01] [ 2.16506549e-02 -4.58423028e-04 9.99765492e-01 2.02116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.18, Y:65.68, Z:2.02 [[ 5.12067481e-01 -8.58863818e-01 -1.18252489e-02 1.37179003e+02] [ 8.58654255e-01 5.12203818e-01 -1.89768032e-02 6.56822486e+01] [ 2.23554272e-02 -4.36396470e-04 9.99749991e-01 2.02198170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27361786499998 meters Centerline goodness [0,1] 0.9999782651220414 Centerline is valid? [True, True] Translation: X:137.20, Y:65.70, Z:2.02 [[ 5.12385278e-01 -8.58673325e-01 -1.18931621e-02 1.37195772e+02] [ 8.58461052e-01 5.12523112e-01 -1.90966732e-02 6.57046016e+01] [ 2.24933243e-02 -4.24962187e-04 9.99746903e-01 2.02238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.21, Y:65.73, Z:2.02 [[ 5.12974319e-01 -8.58319284e-01 -1.20563400e-02 1.37212594e+02] [ 8.58100792e-01 5.13115815e-01 -1.93698637e-02 6.57273743e+01] [ 2.28118262e-02 -4.09312243e-04 9.99739693e-01 2.02323136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:65.75, Z:2.03 [[ 5.18682335e-01 -8.54897637e-01 -1.08933803e-02 1.37222617e+02] [ 8.54718313e-01 5.18796664e-01 -1.75107673e-02 6.57535838e+01] [ 2.06213630e-02 -2.28245960e-04 9.99787331e-01 2.02500169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.24, Y:65.78, Z:2.02 [[ 5.20347034e-01 -8.53881385e-01 -1.12046943e-02 1.37238348e+02] [ 8.53691207e-01 5.20467622e-01 -1.80215734e-02 6.57765722e+01] [ 2.12199667e-02 -1.87876703e-04 9.99774814e-01 2.02482522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.25, Y:65.80, Z:2.02 [[ 5.21017168e-01 -8.53461124e-01 -1.20507631e-02 1.37254257e+02] [ 8.53240760e-01 5.21156482e-01 -1.93939909e-02 6.57985480e+01] [ 2.28323506e-02 -1.77600048e-04 9.99739292e-01 2.02474387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.27, Y:65.82, Z:2.02 [[ 5.21876723e-01 -8.52927872e-01 -1.25988641e-02 1.37271446e+02] [ 8.52686590e-01 5.22028755e-01 -2.02868815e-02 6.58195956e+01] [ 2.38802160e-02 -1.55631292e-04 9.99714815e-01 2.02465840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.29, Y:65.84, Z:2.03 [[ 5.22687500e-01 -8.52437184e-01 -1.21911676e-02 1.37285547e+02] [ 8.52210921e-01 5.22829639e-01 -1.96396107e-02 6.58440967e+01] [ 2.31154382e-02 -1.24067193e-04 9.99732795e-01 2.02647464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499996 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:137.30, Y:65.87, Z:2.03 [[ 5.22850766e-01 -8.52339719e-01 -1.20033003e-02 1.37300990e+02] [ 8.52120098e-01 5.22988518e-01 -1.93481098e-02 6.58680300e+01] [ 2.27687507e-02 -1.12079344e-04 9.99740752e-01 2.02832673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51361786499996 meters Centerline goodness [0,1] 0.9999782891880157 Centerline is valid? [True, True] Translation: X:137.32, Y:65.89, Z:2.03 [[ 5.22162340e-01 -8.52757953e-01 -1.22623441e-02 1.37316038e+02] [ 8.52528592e-01 5.22306287e-01 -1.97773274e-02 6.58911443e+01] [ 2.32699727e-02 -1.27023442e-04 9.99729209e-01 2.02856228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.33, Y:65.91, Z:2.03 [[ 5.21138618e-01 -8.53384810e-01 -1.22027531e-02 1.37330812e+02] [ 8.53157582e-01 5.21281444e-01 -1.96925628e-02 6.59149960e+01] [ 2.31664028e-02 -1.48316378e-04 9.99731612e-01 2.02919715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57361786499996 meters Centerline goodness [0,1] 0.999891193175636 Centerline is valid? [True, True] Translation: X:137.35, Y:65.94, Z:2.03 [[ 5.20146934e-01 -8.53992252e-01 -1.20166970e-02 1.37345654e+02] [ 8.53771793e-01 5.20285696e-01 -1.94041373e-02 6.59384089e+01] [ 2.28230985e-02 -1.66514425e-04 9.99739505e-01 2.03005052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60361786499996 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:137.36, Y:65.96, Z:2.03 [[ 5.19586282e-01 -8.54340841e-01 -1.14814542e-02 1.37359955e+02] [ 8.54139438e-01 5.19713094e-01 -1.85504979e-02 6.59608726e+01] [ 2.18155100e-02 -1.68178617e-04 9.99761999e-01 2.03103176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.38, Y:65.98, Z:2.03 [[ 5.16968227e-01 -8.55934564e-01 -1.09487027e-02 1.37376603e+02] [ 8.55751575e-01 5.17084107e-01 -1.76993856e-02 6.59839965e+01] [ 2.08109161e-02 -2.19349562e-04 9.99783405e-01 2.03311880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66361786499996 meters Centerline goodness [0,1] 0.9999782736220044 Centerline is valid? [True, True] Translation: X:137.39, Y:66.01, Z:2.03 [[ 5.15273435e-01 -8.56952721e-01 -1.11947339e-02 1.37392156e+02] [ 8.56761468e-01 5.15394961e-01 -1.81058379e-02 6.60074515e+01] [ 2.12855565e-02 -2.61759389e-04 9.99773403e-01 2.03306236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.41, Y:66.03, Z:2.03 [[ 5.13525187e-01 -8.58001870e-01 -1.11657449e-02 1.37406912e+02] [ 8.57811744e-01 5.13646474e-01 -1.80640919e-02 6.60317001e+01] [ 2.12342701e-02 -3.01740984e-04 9.99774482e-01 2.03379373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.42, Y:66.05, Z:2.03 [[ 5.10002144e-01 -8.60099633e-01 -1.12442991e-02 1.37424073e+02] [ 8.59907179e-01 5.10125936e-01 -1.81981445e-02 6.60547741e+01] [ 2.13882260e-02 -3.87960764e-04 9.99771170e-01 2.03422264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75361786499997 meters Centerline goodness [0,1] 0.9999345121152586 Centerline is valid? [True, True] Translation: X:137.44, Y:66.08, Z:2.03 [[ 5.08786897e-01 -8.60815761e-01 -1.14943322e-02 1.37439552e+02] [ 8.60614651e-01 5.08916542e-01 -1.86111857e-02 6.60782842e+01] [ 2.18704578e-02 -4.23063257e-04 9.99760723e-01 2.03412756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.45, Y:66.10, Z:2.03 [[ 5.07772417e-01 -8.61406581e-01 -1.20778831e-02 1.37453706e+02] [ 8.61184514e-01 5.07915824e-01 -1.95639637e-02 6.61037046e+01] [ 2.29870750e-02 -4.67244786e-04 9.99735653e-01 2.03370241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.47, Y:66.13, Z:2.03 [[ 5.07046955e-01 -8.61826803e-01 -1.25677089e-02 1.37468589e+02] [ 8.61586217e-01 5.07202436e-01 -2.03685729e-02 6.61289638e+01] [ 2.39285547e-02 -5.00341921e-04 9.99713546e-01 2.03280142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.48, Y:66.15, Z:2.03 [[ 5.06654012e-01 -8.62054592e-01 -1.27903412e-02 1.37482616e+02] [ 8.61805190e-01 5.06815169e-01 -2.07412202e-02 6.61537903e+01] [ 2.43624031e-02 -5.14159962e-04 9.99703060e-01 2.03286284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.50, Y:66.18, Z:2.03 [[ 5.07036470e-01 -8.61829712e-01 -1.27893149e-02 1.37496884e+02] [ 8.61579984e-01 5.07197497e-01 -2.07516111e-02 6.61787028e+01] [ 2.43710635e-02 -4.97194100e-04 9.99702858e-01 2.03331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90361786499997 meters Centerline goodness [0,1] 0.9998910461746312 Centerline is valid? [True, True] Translation: X:137.51, Y:66.20, Z:2.03 [[ 5.07566540e-01 -8.61517162e-01 -1.28213433e-02 1.37510061e+02] [ 8.61265790e-01 5.07728226e-01 -2.08155541e-02 6.62035222e+01] [ 2.44427150e-02 -4.77305589e-04 9.99701118e-01 2.03399889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.52, Y:66.23, Z:2.04 [[ 5.09120248e-01 -8.60606272e-01 -1.23862241e-02 1.37523450e+02] [ 8.60371139e-01 5.09270728e-01 -2.01203563e-02 6.62296633e+01] [ 2.36236461e-02 -4.13068944e-04 9.99720837e-01 2.03503157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters Centerline goodness [0,1] 0.999978184515369 Centerline is valid? [True, True] Translation: X:137.54, Y:66.25, Z:2.04 [[ 5.09701918e-01 -8.60268689e-01 -1.19053553e-02 1.37537564e+02] [ 8.60051166e-01 5.09840799e-01 -1.93481917e-02 6.62531408e+01] [ 2.27144794e-02 -3.77404297e-04 9.99741922e-01 2.03554648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.55, Y:66.28, Z:2.04 [[ 5.09904425e-01 -8.60151359e-01 -1.17097207e-02 1.37552024e+02] [ 8.59940703e-01 5.10038733e-01 -1.90388718e-02 6.62778637e+01] [ 2.23487226e-02 -3.61660489e-04 9.99750171e-01 2.03613323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.57, Y:66.30, Z:2.04 [[ 5.09630099e-01 -8.60312556e-01 -1.18096762e-02 1.37565758e+02] [ 8.60098083e-01 5.09766782e-01 -1.92123858e-02 6.63018992e+01] [ 2.25488373e-02 -3.66269779e-04 9.99745676e-01 2.03687855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.58, Y:66.33, Z:2.04 [[ 5.08508371e-01 -8.60979276e-01 -1.15725423e-02 1.37581443e+02] [ 8.60773260e-01 5.08639893e-01 -1.88375910e-02 6.63251413e+01] [ 2.21050321e-02 -3.82262226e-04 9.99755581e-01 2.03789273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.60, Y:66.35, Z:2.04 [[ 5.07166101e-01 -8.61770941e-01 -1.15494996e-02 1.37597297e+02] [ 8.61565718e-01 5.07297424e-01 -1.88105673e-02 6.63491093e+01] [ 2.20694316e-02 -4.10570851e-04 9.99756356e-01 2.03878431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:66.37, Z:2.04 [[ 5.05956670e-01 -8.62483394e-01 -1.14124361e-02 1.37612686e+02] [ 8.62282981e-01 5.06085180e-01 -1.85970884e-02 6.63731989e+01] [ 2.18153447e-02 -4.31428500e-04 9.99761924e-01 2.04006102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.63, Y:66.40, Z:2.04 [[ 5.03484500e-01 -8.63934107e-01 -1.10098637e-02 1.37629880e+02] [ 8.63747732e-01 5.03604643e-01 -1.79504804e-02 6.63967946e+01] [ 2.10526507e-02 -4.71956153e-04 9.99778257e-01 2.04130679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.65, Y:66.42, Z:2.04 [[ 5.02187754e-01 -8.64692522e-01 -1.06912460e-02 1.37646477e+02] [ 8.64516791e-01 5.02301312e-01 -1.74387491e-02 6.64197167e+01] [ 2.04493828e-02 -4.85235409e-04 9.99790772e-01 2.04211507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.66, Y:66.44, Z:2.04 [[ 5.01268586e-01 -8.65227982e-01 -1.05044452e-02 1.37661910e+02] [ 8.65058323e-01 5.01378394e-01 -1.71407207e-02 6.64435743e+01] [ 2.00973330e-02 -4.94852916e-04 9.99797906e-01 2.04321603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.68, Y:66.46, Z:2.04 [[ 5.00893497e-01 -8.65445259e-01 -1.04980272e-02 1.37679492e+02] [ 8.65275656e-01 5.01003249e-01 -1.71401451e-02 6.64642514e+01] [ 2.00934031e-02 -4.98300175e-04 9.99797983e-01 2.04298457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:66.49, Z:2.04 [[ 5.01438548e-01 -8.65133640e-01 -1.01571699e-02 1.37689433e+02] [ 8.64974629e-01 5.01541193e-01 -1.65928270e-02 6.64912319e+01] [ 1.94492520e-02 -4.65411155e-04 9.99810737e-01 2.04445421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.70, Y:66.52, Z:2.05 [[ 5.01991591e-01 -8.64812048e-01 -1.02256861e-02 1.37702616e+02] [ 8.64650622e-01 5.02095527e-01 -1.67147787e-02 6.65165793e+01] [ 1.95894132e-02 -4.50967510e-04 9.99808007e-01 2.04510627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32361786499996 meters Centerline goodness [0,1] 0.999956369982548 Centerline is valid? [True, True] Translation: X:137.72, Y:66.54, Z:2.04 [[ 5.02339847e-01 -8.64608041e-01 -1.03736680e-02 1.37717667e+02] [ 8.64441657e-01 5.02446751e-01 -1.69671587e-02 6.65398068e+01] [ 1.98821577e-02 -4.44150791e-04 9.99802232e-01 2.04496389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.73, Y:66.56, Z:2.05 [[ 5.02562991e-01 -8.64475297e-01 -1.06254579e-02 1.37731179e+02] [ 8.64300485e-01 5.02675107e-01 -1.73898979e-02 6.65645011e+01] [ 2.03742903e-02 -4.44069354e-04 9.99792324e-01 2.04502760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.75, Y:66.59, Z:2.04 [[ 5.02709165e-01 -8.64387464e-01 -1.08538864e-02 1.37745173e+02] [ 8.64204809e-01 5.02826127e-01 -1.77745551e-02 6.65873998e+01] [ 2.08217203e-02 -4.44549110e-04 9.99783106e-01 2.04454579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.76, Y:66.61, Z:2.05 [[ 5.02555091e-01 -8.64475113e-01 -1.10073079e-02 1.37758716e+02] [ 8.64287053e-01 5.02675420e-01 -1.80363840e-02 6.66118021e+01] [ 2.11251083e-02 -4.49197117e-04 9.99776739e-01 2.04513398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.77, Y:66.63, Z:2.05 [[ 5.02247897e-01 -8.64654292e-01 -1.09546773e-02 1.37772632e+02] [ 8.64467842e-01 5.02367150e-01 -1.79609721e-02 6.66347493e+01] [ 2.10333016e-02 -4.49105780e-04 9.99778675e-01 2.04544796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47361786499997 meters Centerline goodness [0,1] 0.9999782447896272 Centerline is valid? [True, True] Translation: X:137.79, Y:66.66, Z:2.05 [[ 5.01825868e-01 -8.64900271e-01 -1.08774650e-02 1.37786486e+02] [ 8.64716325e-01 5.01943540e-01 -1.78426645e-02 6.66575681e+01] [ 2.08919986e-02 -4.52010923e-04 9.99781636e-01 2.04510292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50361786499997 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:137.80, Y:66.68, Z:2.05 [[ 5.01421146e-01 -8.65133938e-01 -1.09592093e-02 1.37800610e+02] [ 8.64947116e-01 5.01540683e-01 -1.79841733e-02 6.66817529e+01] [ 2.10552080e-02 -4.61491667e-04 9.99778208e-01 2.04565399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53361786499997 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:137.81, Y:66.71, Z:2.05 [[ 5.01184919e-01 -8.65270871e-01 -1.09542973e-02 1.37814903e+02] [ 8.65084016e-01 5.01304405e-01 -1.79871650e-02 6.67053447e+01] [ 2.10552075e-02 -4.61491655e-04 9.99778208e-01 2.04602082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:66.73, Z:2.05 [[ 5.01037632e-01 -8.65356435e-01 -1.09330629e-02 1.37829497e+02] [ 8.65170093e-01 5.01156692e-01 -1.79633238e-02 6.67296337e+01] [ 2.10238555e-02 -4.58657824e-04 9.99778869e-01 2.04662556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.84, Y:66.75, Z:2.05 [[ 5.01361141e-01 -8.65169062e-01 -1.09316597e-02 1.37843419e+02] [ 8.64982491e-01 5.01480106e-01 -1.79719986e-02 6.67537426e+01] [ 2.10308270e-02 -4.45232493e-04 9.99778729e-01 2.04730209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62361786499997 meters Centerline goodness [0,1] 0.9999344677690645 Centerline is valid? [True, True] Translation: X:137.86, Y:66.78, Z:2.05 [[ 5.01404918e-01 -8.65142113e-01 -1.10559107e-02 1.37857540e+02] [ 8.64951033e-01 5.01526598e-01 -1.81874281e-02 6.67784523e+01] [ 2.12795433e-02 -4.43555455e-04 9.99773466e-01 2.04726507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.87, Y:66.80, Z:2.05 [[ 5.01219232e-01 -8.65248262e-01 -1.11680757e-02 1.37871965e+02] [ 8.65053067e-01 5.01343440e-01 -1.83832999e-02 6.68029514e+01] [ 2.15051598e-02 -4.46914656e-04 9.99768637e-01 2.04690823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.89, Y:66.83, Z:2.05 [[ 5.00661550e-01 -8.65566469e-01 -1.15195624e-02 1.37886810e+02] [ 8.65358679e-01 5.00793836e-01 -1.89707784e-02 6.68259455e+01] [ 2.21893955e-02 -4.70613968e-04 9.99753674e-01 2.04642172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.90, Y:66.85, Z:2.05 [[ 4.99791058e-01 -8.66070405e-01 -1.14434241e-02 1.37902048e+02] [ 8.65865339e-01 4.99921811e-01 -1.88519813e-02 6.68492498e+01] [ 2.20479603e-02 -4.86412599e-04 9.99756796e-01 2.04687777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.92, Y:66.87, Z:2.05 [[ 4.98586807e-01 -8.66762074e-01 -1.16061773e-02 1.37918408e+02] [ 8.66551089e-01 4.98721603e-01 -1.91303934e-02 6.68733272e+01] [ 2.23697508e-02 -5.19183839e-04 9.99749631e-01 2.04747008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77361786499998 meters Centerline goodness [0,1] 0.9999781902248588 Centerline is valid? [True, True] Translation: X:137.94, Y:66.90, Z:2.05 [[ 4.96303312e-01 -8.68072029e-01 -1.15747048e-02 1.37935904e+02] [ 8.67862319e-01 4.96437937e-01 -1.90884894e-02 6.68964509e+01] [ 2.23163063e-02 -5.71569620e-04 9.99750797e-01 2.04833064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.95, Y:66.92, Z:2.05 [[ 4.94977641e-01 -8.68829279e-01 -1.15247207e-02 1.37951936e+02] [ 8.68621387e-01 4.95111428e-01 -1.90147234e-02 6.69187289e+01] [ 2.22265694e-02 -5.98755939e-04 9.99752780e-01 2.04873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.96, Y:66.94, Z:2.05 [[ 4.93881863e-01 -8.69454070e-01 -1.14160022e-02 1.37964819e+02] [ 8.69250071e-01 4.94013400e-01 -1.88434378e-02 6.69445033e+01] [ 2.20231618e-02 -6.16928523e-04 9.99757270e-01 2.05072827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.98, Y:66.97, Z:2.05 [[ 4.92069094e-01 -8.70489979e-01 -1.07332698e-02 1.37980842e+02] [ 8.70309707e-01 4.92185751e-01 -1.77256994e-02 6.69683145e+01] [ 2.07128061e-02 -6.19000006e-04 9.99785275e-01 2.05136483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.00, Y:66.99, Z:2.05 [[ 4.91182295e-01 -8.70992081e-01 -1.06182965e-02 1.37996383e+02] [ 8.70815576e-01 4.91296651e-01 -1.75451685e-02 6.69926624e+01] [ 2.04984364e-02 -6.28701870e-04 9.99789687e-01 2.05224259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.01, Y:67.02, Z:2.05 [[ 4.90058410e-01 -8.71626433e-01 -1.04936252e-02 1.38012045e+02] [ 8.71454007e-01 4.90170325e-01 -1.73483713e-02 6.70173592e+01] [ 2.02649627e-02 -6.42996448e-04 9.99794438e-01 2.05265401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.03, Y:67.04, Z:2.05 [[ 4.89226532e-01 -8.72097493e-01 -1.01667961e-02 1.38028109e+02] [ 8.71935597e-01 4.89331744e-01 -1.68154573e-02 6.70407148e+01] [ 1.96396542e-02 -6.38223585e-04 9.99806920e-01 2.05319161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.04, Y:67.07, Z:2.05 [[ 4.88712853e-01 -8.72388867e-01 -9.86977329e-03 1.38042188e+02] [ 8.72236237e-01 4.88812101e-01 -1.63302364e-02 6.70651285e+01] [ 1.90707811e-02 -6.27977490e-04 9.99817939e-01 2.05350729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.06, Y:67.09, Z:2.05 [[ 4.88537474e-01 -8.72487236e-01 -9.85698537e-03 1.38056690e+02] [ 8.72334852e-01 4.88636502e-01 -1.63179343e-02 6.70880998e+01] [ 1.90536722e-02 -6.26669466e-04 9.99818266e-01 2.05367665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04361786499996 meters Centerline goodness [0,1] 0.9999781521050447 Centerline is valid? [True, True] Translation: X:138.07, Y:67.11, Z:2.05 [[ 4.88396798e-01 -8.72563685e-01 -1.00589841e-02 1.38068290e+02] [ 8.72404852e-01 4.88499956e-01 -1.66603627e-02 6.71136017e+01] [ 1.94510408e-02 -6.38638740e-04 9.99810607e-01 2.05434472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.09, Y:67.14, Z:2.05 [[ 4.89046752e-01 -8.72196877e-01 -1.02899462e-02 1.38085485e+02] [ 8.72030394e-01 4.89154584e-01 -1.70524220e-02 6.71354731e+01] [ 1.99064435e-02 -6.33714222e-04 9.99801646e-01 2.05344286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.10, Y:67.16, Z:2.05 [[ 4.89278099e-01 -8.72062400e-01 -1.06823807e-02 1.38096826e+02] [ 8.71882765e-01 4.89394270e-01 -1.77113558e-02 6.71619526e+01] [ 2.06733033e-02 -6.48005123e-04 9.99786074e-01 2.05444096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.11, Y:67.19, Z:2.05 [[ 4.89614968e-01 -8.71874174e-01 -1.06116795e-02 1.38110824e+02] [ 8.71696647e-01 4.89729544e-01 -1.76047977e-02 6.71862130e+01] [ 2.05460215e-02 -6.30592978e-04 9.99788709e-01 2.05443433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16361786499996 meters Centerline goodness [0,1] 0.9999125874125874 Centerline is valid? [True, True] Translation: X:138.12, Y:67.21, Z:2.05 [[ 4.90241248e-01 -8.71521002e-01 -1.07080473e-02 1.38124697e+02] [ 8.71339934e-01 4.90357791e-01 -1.77751618e-02 6.72114738e+01] [ 2.07422012e-02 -6.16231685e-04 9.99784667e-01 2.05453168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19361786499996 meters Centerline goodness [0,1] 0.9999342523395209 Centerline is valid? [True, True] Translation: X:138.14, Y:67.24, Z:2.05 [[ 4.92091917e-01 -8.70481688e-01 -1.03525614e-02 1.38138398e+02] [ 8.70312067e-01 4.92200496e-01 -1.71923620e-02 6.72361025e+01] [ 2.00611721e-02 -5.49736758e-04 9.99798603e-01 2.05493641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.15, Y:67.26, Z:2.06 [[ 4.93041245e-01 -8.69942799e-01 -1.04812847e-02 1.38152188e+02] [ 8.69768719e-01 4.93152353e-01 -1.74107064e-02 6.72593832e+01] [ 2.03151888e-02 -5.32097192e-04 9.99793484e-01 2.05551365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.17, Y:67.28, Z:2.06 [[ 4.94091751e-01 -8.69348496e-01 -1.03215028e-02 1.38169190e+02] [ 8.69179405e-01 4.94199298e-01 -1.71527469e-02 6.72822295e+01] [ 2.00125942e-02 -4.96206902e-04 9.99799605e-01 2.05516212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:67.31, Z:2.06 [[ 4.96874927e-01 -8.67763208e-01 -1.01154429e-02 1.38178971e+02] [ 8.67600295e-01 4.96977706e-01 -1.68192686e-02 6.73097976e+01] [ 1.96222921e-02 -4.19088348e-04 9.99807376e-01 2.05693002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.19, Y:67.34, Z:2.06 [[ 4.98367994e-01 -8.66907517e-01 -1.00349313e-02 1.38191631e+02] [ 8.66746833e-01 4.98468870e-01 -1.66947179e-02 6.73357195e+01] [ 1.94748773e-02 -3.77631865e-04 9.99810275e-01 2.05750903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.21, Y:67.36, Z:2.06 [[ 4.99737016e-01 -8.66118635e-01 -1.00709891e-02 1.38205141e+02] [ 8.65956471e-01 4.99838366e-01 -1.67630041e-02 6.73612500e+01] [ 1.95526170e-02 -3.43944515e-04 9.99808770e-01 2.05783138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.22, Y:67.39, Z:2.06 [[ 5.00949031e-01 -8.65414950e-01 -1.03456968e-02 1.38219406e+02] [ 8.65243516e-01 5.01055747e-01 -1.72277668e-02 6.73862797e+01] [ 2.00929378e-02 -3.21313991e-04 9.99798065e-01 2.05790494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40361786499997 meters Centerline goodness [0,1] 0.9999781382536838 Centerline is valid? [True, True] Translation: X:138.23, Y:67.41, Z:2.06 [[ 5.03455127e-01 -8.63956812e-01 -1.05622748e-02 1.38233466e+02] [ 8.63777600e-01 5.03565842e-01 -1.75982931e-02 6.74109063e+01] [ 2.05229660e-02 -2.63505537e-04 9.99789347e-01 2.05809525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.25, Y:67.43, Z:2.06 [[ 5.04567723e-01 -8.63308315e-01 -1.04959558e-02 1.38247606e+02] [ 8.63131033e-01 5.04676826e-01 -1.74963266e-02 6.74346645e+01] [ 2.04017899e-02 -2.31303527e-04 9.99791835e-01 2.05866746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.26, Y:67.46, Z:2.06 [[ 5.05417758e-01 -8.62808880e-01 -1.06643120e-02 1.38262013e+02] [ 8.62625576e-01 5.05530210e-01 -1.77854437e-02 6.74590092e+01] [ 2.07365706e-02 -2.10229173e-04 9.99784952e-01 2.05931709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:67.48, Z:2.06 [[ 5.06795040e-01 -8.62000665e-01 -1.06602260e-02 1.38276213e+02] [ 8.61817106e-01 5.06907115e-01 -1.77890920e-02 6.74839252e+01] [ 2.07379536e-02 -1.71741536e-04 9.99784931e-01 2.06005657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters Centerline goodness [0,1] 0.9999781463755764 Centerline is valid? [True, True] Translation: X:138.29, Y:67.51, Z:2.06 [[ 5.07088397e-01 -8.61830634e-01 -1.04554113e-02 1.38289825e+02] [ 8.61653833e-01 5.07196148e-01 -1.74567692e-02 6.75070021e+01] [ 2.03477228e-02 -1.56820102e-04 9.99792951e-01 2.06088565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:67.53, Z:2.06 [[ 5.07171968e-01 -8.61784415e-01 -1.02086566e-02 1.38304489e+02] [ 8.61615666e-01 5.07274679e-01 -1.70541312e-02 6.75313173e+01] [ 1.98755775e-02 -1.46561167e-04 9.99802450e-01 2.06163998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.32, Y:67.55, Z:2.06 [[ 5.06723529e-01 -8.62056518e-01 -9.47764360e-03 1.38320434e+02] [ 8.61910958e-01 5.06812135e-01 -1.58417275e-02 6.75527654e+01] [ 1.84598493e-02 -1.41508787e-04 9.99829592e-01 2.06297986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61361786499998 meters Centerline goodness [0,1] 0.9999781711815939 Centerline is valid? [True, True] Translation: X:138.34, Y:67.58, Z:2.06 [[ 5.06025792e-01 -8.62467242e-01 -9.38902716e-03 1.38335991e+02] [ 8.62324304e-01 5.06112867e-01 -1.57022354e-02 6.75756330e+01] [ 1.82945711e-02 -1.50650181e-04 9.99832629e-01 2.06409436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.35, Y:67.60, Z:2.06 [[ 5.04936862e-01 -8.63106348e-01 -9.28426592e-03 1.38352164e+02] [ 8.62966539e-01 5.05022182e-01 -1.55354000e-02 6.75978321e+01] [ 1.80974626e-02 -1.67614683e-04 9.99836213e-01 2.06416162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67361786499998 meters Centerline goodness [0,1] 0.9999563814010294 Centerline is valid? [True, True] Translation: X:138.37, Y:67.62, Z:2.07 [[ 5.03433025e-01 -8.63984490e-01 -9.27305022e-03 1.38369175e+02] [ 8.63845045e-01 5.03518383e-01 -1.55234013e-02 6.76210072e+01] [ 1.80811292e-02 -1.95485621e-04 9.99836504e-01 2.06560623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.38, Y:67.64, Z:2.07 [[ 5.02439187e-01 -8.64564445e-01 -9.12055840e-03 1.38384806e+02] [ 8.64429491e-01 5.02521917e-01 -1.52767187e-02 6.76443319e+01] [ 1.77909883e-02 -2.08457538e-04 9.99841706e-01 2.06593871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73361786499996 meters Centerline goodness [0,1] 0.9999780485127867 Centerline is valid? [True, True] Translation: X:138.40, Y:67.67, Z:2.07 [[ 5.01615997e-01 -8.65042546e-01 -9.09864268e-03 1.38399899e+02] [ 8.64908162e-01 5.01698461e-01 -1.52488041e-02 6.76677076e+01] [ 1.77556393e-02 -2.20446241e-04 9.99842332e-01 2.06622397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76361786499996 meters Centerline goodness [0,1] 0.999956173028882 Centerline is valid? [True, True] Translation: X:138.42, Y:67.69, Z:2.07 [[ 5.00543105e-01 -8.65663864e-01 -9.09255238e-03 1.38415703e+02] [ 8.65529603e-01 5.00625627e-01 -1.52475880e-02 6.76901343e+01] [ 1.77512507e-02 -2.37798180e-04 9.99842406e-01 2.06641899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.43, Y:67.71, Z:2.07 [[ 4.99816074e-01 -8.66084459e-01 -9.03333211e-03 1.38430909e+02] [ 8.65951848e-01 4.99897638e-01 -1.51574511e-02 6.77133950e+01] [ 1.76433742e-02 -2.46492937e-04 9.99844313e-01 2.06671514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82361786499996 meters Centerline goodness [0,1] 0.9999781243847483 Centerline is valid? [True, True] Translation: X:138.45, Y:67.74, Z:2.07 [[ 4.98906526e-01 -8.66605760e-01 -9.31317000e-03 1.38445437e+02] [ 8.66464727e-01 4.98993372e-01 -1.56362146e-02 6.77377514e+01] [ 1.81976437e-02 -2.68523816e-04 9.99834373e-01 2.06715511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85361786499996 meters Centerline goodness [0,1] 0.9999781564001747 Centerline is valid? [True, True] Translation: X:138.46, Y:67.76, Z:2.07 [[ 4.97492306e-01 -8.67415346e-01 -9.59291211e-03 1.38460990e+02] [ 8.67265687e-01 4.97584693e-01 -1.61152643e-02 6.77620870e+01] [ 1.87519137e-02 -3.02383541e-04 9.99824122e-01 2.06688611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:67.79, Z:2.07 [[ 4.96470280e-01 -8.68000693e-01 -9.59472607e-03 1.38476090e+02] [ 8.67850915e-01 4.96562882e-01 -1.61274125e-02 6.77863292e+01] [ 1.87629901e-02 -3.20010788e-04 9.99823908e-01 2.06704667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.49, Y:67.81, Z:2.07 [[ 4.95532877e-01 -8.68535680e-01 -9.64050715e-03 1.38491105e+02] [ 8.68384397e-01 4.95626531e-01 -1.62136267e-02 6.78104197e+01] [ 1.88602044e-02 -3.37280882e-04 9.99822074e-01 2.06706652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:67.83, Z:2.07 [[ 4.94886165e-01 -8.68900599e-01 -9.97157049e-03 1.38506089e+02] [ 8.68738633e-01 4.94986485e-01 -1.67799606e-02 6.78330898e+01] [ 1.95159105e-02 -3.58518147e-04 9.99809482e-01 2.06716589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.52, Y:67.86, Z:2.07 [[ 4.93288935e-01 -8.69805879e-01 -1.01862220e-02 1.38519255e+02] [ 8.69636872e-01 4.93393934e-01 -1.71503948e-02 6.78591436e+01] [ 1.99433344e-02 -3.98214279e-04 9.99801033e-01 2.06862999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.53, Y:67.88, Z:2.07 [[ 4.92463928e-01 -8.70276890e-01 -9.86988085e-03 1.38533636e+02] [ 8.70118138e-01 4.92562661e-01 -1.66268399e-02 6.78839089e+01] [ 1.93314893e-02 -3.99843456e-04 9.99813049e-01 2.06914501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.55, Y:67.91, Z:2.07 [[ 4.91544634e-01 -8.70798773e-01 -9.66277880e-03 1.38549596e+02] [ 8.70646537e-01 4.91639432e-01 -1.62872926e-02 6.79067343e+01] [ 1.89335575e-02 -4.06933614e-04 9.99820661e-01 2.06931731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.56, Y:67.93, Z:2.07 [[ 4.90460281e-01 -8.71417034e-01 -9.00366663e-03 1.38559964e+02] [ 8.71284822e-01 4.90542756e-01 -1.51843188e-02 6.79340451e+01] [ 1.76485575e-02 -3.97452813e-04 9.99844173e-01 2.07125167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09361786499997 meters Centerline goodness [0,1] 0.999934200425504 Centerline is valid? [True, True] Translation: X:138.57, Y:67.96, Z:2.07 [[ 4.89992075e-01 -8.71682656e-01 -8.78137940e-03 1.38573359e+02] [ 8.71556789e-01 4.90070599e-01 -1.48179442e-02 6.79578815e+01] [ 1.72200408e-02 -3.92795606e-04 9.99851647e-01 2.07161916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12361786499997 meters Centerline goodness [0,1] 0.9999561480442027 Centerline is valid? [True, True] Translation: X:138.59, Y:67.98, Z:2.07 [[ 4.89916391e-01 -8.71726240e-01 -8.67714834e-03 1.38586193e+02] [ 8.71603208e-01 4.89993076e-01 -1.46503465e-02 6.79833788e+01] [ 1.70228341e-02 -3.85585426e-04 9.99855027e-01 2.07253395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.60, Y:68.01, Z:2.07 [[ 4.90369474e-01 -8.71477343e-01 -8.06347115e-03 1.38598530e+02] [ 8.71370948e-01 4.90435643e-01 -1.36216681e-02 6.80081934e+01] [ 1.58255888e-02 -3.46624271e-04 9.99874707e-01 2.07328765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.61, Y:68.03, Z:2.07 [[ 4.90822516e-01 -8.71223445e-01 -7.93510337e-03 1.38611579e+02] [ 8.71120290e-01 4.90886544e-01 -1.34104848e-02 6.80335596e+01] [ 1.55787643e-02 -3.30261640e-04 9.99878589e-01 2.07362473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:68.06, Z:2.07 [[ 4.91554630e-01 -8.70812988e-01 -7.66721456e-03 1.38623725e+02] [ 8.70716523e-01 4.91614329e-01 -1.29648764e-02 6.80598362e+01] [ 1.50592953e-02 -3.03025368e-04 9.99886556e-01 2.07425397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters Centerline goodness [0,1] 0.9999781564001747 Centerline is valid? [True, True] Translation: X:138.63, Y:68.09, Z:2.07 [[ 4.93467780e-01 -8.69734098e-01 -7.22138624e-03 1.38634799e+02] [ 8.69648353e-01 4.93520552e-01 -1.22150604e-02 6.80851631e+01] [ 1.41877571e-02 -2.52327892e-04 9.99899317e-01 2.07450756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27361786499998 meters Centerline goodness [0,1] 0.9998910532967272 Centerline is valid? [True, True] Translation: X:138.65, Y:68.11, Z:2.07 [[ 4.94312221e-01 -8.69256004e-01 -7.03048463e-03 1.38647056e+02] [ 8.69174651e-01 4.94362160e-01 -1.18945243e-02 6.81102611e+01] [ 1.38149922e-02 -2.31110313e-04 9.99904542e-01 2.07492699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters Centerline goodness [0,1] 0.999913026461699 Centerline is valid? [True, True] Translation: X:138.66, Y:68.14, Z:2.08 [[ 4.95632247e-01 -8.68505694e-01 -6.82166889e-03 1.38658151e+02] [ 8.68428944e-01 4.95679149e-01 -1.15477199e-02 6.81358739e+01] [ 1.34106195e-02 -2.00712349e-04 9.99910053e-01 2.07524120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.67, Y:68.16, Z:2.08 [[ 4.95352588e-01 -8.68665882e-01 -6.73795008e-03 1.38670873e+02] [ 8.68590954e-01 4.95398371e-01 -1.14109286e-02 6.81601499e+01] [ 1.32502538e-02 -2.00089481e-04 9.99912192e-01 2.07521988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.68, Y:68.19, Z:2.08 [[ 4.95128253e-01 -8.68793779e-01 -6.73663979e-03 1.38682409e+02] [ 8.68718798e-01 4.95174040e-01 -1.14157856e-02 6.81858814e+01] [ 1.32537726e-02 -1.99967663e-04 9.99912145e-01 2.07556277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:68.21, Z:2.08 [[ 4.94533524e-01 -8.69132742e-01 -6.69861535e-03 1.38696806e+02] [ 8.69058543e-01 4.94578847e-01 -1.13583742e-02 6.82088492e+01] [ 1.31849284e-02 -2.04392071e-04 9.99913054e-01 2.07578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.71, Y:68.24, Z:2.08 [[ 4.92418888e-01 -8.70331544e-01 -6.82949889e-03 1.38708381e+02] [ 8.70254468e-01 4.92466188e-01 -1.15851229e-02 6.82356223e+01] [ 1.34461952e-02 -2.38668565e-04 9.99909567e-01 2.07537290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.72, Y:68.26, Z:2.08 [[ 4.92188293e-01 -8.70461991e-01 -6.82680988e-03 1.38722312e+02] [ 8.70384906e-01 4.92235578e-01 -1.15867073e-02 6.82594176e+01] [ 1.34461870e-02 -2.39110580e-04 9.99909567e-01 2.07573983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.74, Y:68.29, Z:2.08 [[ 4.91025473e-01 -8.71119010e-01 -6.75684389e-03 1.38735643e+02] [ 8.71043467e-01 4.91071896e-01 -1.14748422e-02 6.82853210e+01] [ 1.33140493e-02 -2.51064893e-04 9.99911333e-01 2.07588941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:68.31, Z:2.08 [[ 4.89902219e-01 -8.71752344e-01 -6.60809137e-03 1.38749529e+02] [ 8.71680070e-01 4.89946715e-01 -1.12281696e-02 6.83095511e+01] [ 1.30257959e-02 -2.59436317e-04 9.99915127e-01 2.07628141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.76, Y:68.34, Z:2.08 [[ 4.88511818e-01 -8.72533566e-01 -6.43266744e-03 1.38763381e+02] [ 8.72465111e-01 4.88554093e-01 -1.09329208e-02 6.83352861e+01] [ 1.26820464e-02 -2.71416867e-04 9.99919543e-01 2.07675459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:68.36, Z:2.08 [[ 4.86001634e-01 -8.73934926e-01 -6.33703365e-03 1.38777460e+02] [ 8.73868537e-01 4.86042854e-01 -1.07761176e-02 6.83593779e+01] [ 1.24976954e-02 -3.00523588e-04 9.99921856e-01 2.07745078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.79, Y:68.39, Z:2.08 [[ 4.84740837e-01 -8.74635988e-01 -6.18142267e-03 1.38790776e+02] [ 8.74572823e-01 4.84780150e-01 -1.05158414e-02 6.83853678e+01] [ 1.21941643e-02 -3.08646531e-04 9.99925601e-01 2.07750363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.80, Y:68.41, Z:2.08 [[ 4.83456611e-01 -8.75347307e-01 -6.06607581e-03 1.38803196e+02] [ 8.75286470e-01 4.83494561e-01 -1.03249650e-02 6.84118183e+01] [ 1.19708450e-02 -3.17881472e-04 9.99928296e-01 2.07772224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.82, Y:68.44, Z:2.08 [[ 4.80566273e-01 -8.76937101e-01 -6.11373665e-03 1.38817855e+02] [ 8.76875362e-01 4.80605028e-01 -1.04118763e-02 6.84358992e+01] [ 1.20688532e-02 -3.57388427e-04 9.99927105e-01 2.07767422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.83, Y:68.46, Z:2.08 [[ 4.79126125e-01 -8.77723558e-01 -6.28592832e-03 1.38829855e+02] [ 8.77658287e-01 4.79167202e-01 -1.07109089e-02 6.84622202e+01] [ 1.24132278e-02 -3.85020805e-04 9.99922879e-01 2.07784915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:68.49, Z:2.08 [[ 4.76630378e-01 -8.79079456e-01 -6.54172258e-03 1.38842147e+02] [ 8.79008807e-01 4.76675070e-01 -1.11532334e-02 6.84867603e+01] [ 1.29228544e-02 -4.34261929e-04 9.99916402e-01 2.07747745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.86, Y:68.51, Z:2.08 [[ 4.75020718e-01 -8.79949053e-01 -6.70690476e-03 1.38856173e+02] [ 8.79874841e-01 4.75067833e-01 -1.14375601e-02 6.85123168e+01] [ 1.32507049e-02 -4.68158765e-04 9.99912096e-01 2.07781629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.87, Y:68.54, Z:2.08 [[ 4.73807861e-01 -8.80602367e-01 -6.75144584e-03 1.38870572e+02] [ 8.80527149e-01 4.73855710e-01 -1.15197778e-02 6.85366247e+01] [ 1.33435547e-02 -4.86670094e-04 9.99910852e-01 2.07836038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:68.56, Z:2.08 [[ 4.72453931e-01 -8.81327537e-01 -7.00400000e-03 1.38883240e+02] [ 8.81246604e-01 4.72505554e-01 -1.19551090e-02 6.85628260e+01] [ 1.38457956e-02 -5.24012983e-04 9.99904005e-01 2.07884179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.90, Y:68.59, Z:2.08 [[ 4.70557037e-01 -8.82344262e-01 -6.68421004e-03 1.38898343e+02] [ 8.82270575e-01 4.70604215e-01 -1.14151711e-02 6.85855461e+01] [ 1.32177281e-02 -5.25792741e-04 9.99912504e-01 2.07972153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.91, Y:68.61, Z:2.08 [[ 4.69944569e-01 -8.82671486e-01 -6.56885537e-03 1.38906694e+02] [ 8.82600320e-01 4.69990184e-01 -1.12206048e-02 6.86146511e+01] [ 1.29914055e-02 -5.24611561e-04 9.99915471e-01 2.08037996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.92, Y:68.64, Z:2.08 [[ 4.69154398e-01 -8.83091201e-01 -6.63931876e-03 1.38919524e+02] [ 8.83018461e-01 4.69201065e-01 -1.13471633e-02 6.86406593e+01] [ 1.31357555e-02 -5.39069453e-04 9.99913577e-01 2.08058281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:68.67, Z:2.08 [[ 4.68723236e-01 -8.83318524e-01 -6.84928523e-03 1.38929971e+02] [ 8.83241046e-01 4.68772942e-01 -1.17125271e-02 6.86666644e+01] [ 1.35566517e-02 -5.59636246e-04 9.99907948e-01 2.08106223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:68.69, Z:2.08 [[ 4.68919550e-01 -8.83215912e-01 -6.64147536e-03 1.38942036e+02] [ 8.83142965e-01 4.68966273e-01 -1.13638424e-02 6.86920536e+01] [ 1.31513544e-02 -5.36644364e-04 9.99913373e-01 2.08155896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.95, Y:68.72, Z:2.08 [[ 4.69289653e-01 -8.83019039e-01 -6.67825134e-03 1.38954184e+02] [ 8.82945172e-01 4.69336868e-01 -1.14336731e-02 6.87162248e+01] [ 1.32305006e-02 -5.30825313e-04 9.99912332e-01 2.08222160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.96, Y:68.74, Z:2.08 [[ 4.70875385e-01 -8.82175574e-01 -6.52910710e-03 1.38963501e+02] [ 8.82104823e-01 4.70920390e-01 -1.11833396e-02 6.87438382e+01] [ 1.29403586e-02 -4.93397546e-04 9.99916148e-01 2.08324771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05361786499998 meters Centerline goodness [0,1] 0.9998947589981056 Centerline is valid? [True, True] Translation: X:138.97, Y:68.77, Z:2.08 [[ 4.71570367e-01 -8.81804260e-01 -6.52957606e-03 1.38973003e+02] [ 8.81733382e-01 4.71615326e-01 -1.11904543e-02 6.87717667e+01] [ 1.29472384e-02 -4.80258555e-04 9.99916066e-01 2.08399536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters Centerline goodness [0,1] 0.9999368806412927 Centerline is valid? [True, True] Translation: X:138.99, Y:68.80, Z:2.09 [[ 4.72326078e-01 -8.81399908e-01 -6.50223274e-03 1.38985267e+02] [ 8.81329506e-01 4.72370604e-01 -1.11496761e-02 6.87979536e+01] [ 1.28987871e-02 -4.64326771e-04 9.99916699e-01 2.08510603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11361786499998 meters Centerline goodness [0,1] 0.9999580228775318 Centerline is valid? [True, True] Translation: X:139.00, Y:68.82, Z:2.09 [[ 4.72561196e-01 -8.81274580e-01 -6.40552175e-03 1.38996335e+02] [ 8.81206171e-01 4.72604392e-01 -1.09896976e-02 6.88238010e+01] [ 1.27122189e-02 -4.51280649e-04 9.99919095e-01 2.08561520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters Centerline goodness [0,1] 0.9999790602227993 Centerline is valid? [True, True] Translation: X:139.01, Y:68.85, Z:2.09 [[ 4.73108937e-01 -8.80977447e-01 -6.83164006e-03 1.39005581e+02] [ 8.80899499e-01 4.73158026e-01 -1.17283785e-02 6.88514207e+01] [ 1.35648823e-02 -4.69187619e-04 9.99907883e-01 2.08647421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:68.88, Z:2.09 [[ 4.72672855e-01 -8.81211796e-01 -6.79276022e-03 1.39016920e+02] [ 8.81134671e-01 4.72721428e-01 -1.16679900e-02 6.88772141e+01] [ 1.34930538e-02 -4.70194372e-04 9.99908854e-01 2.08666073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499996 meters Centerline goodness [0,1] 0.9999789960092418 Centerline is valid? [True, True] Translation: X:139.03, Y:68.90, Z:2.09 [[ 4.72212790e-01 -8.81456729e-01 -7.00831690e-03 1.39028835e+02] [ 8.81374549e-01 4.72264541e-01 -1.20460703e-02 6.89033353e+01] [ 1.39278693e-02 -4.88643692e-04 9.99902883e-01 2.08754394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23361786499996 meters Centerline goodness [0,1] 0.9999790996112528 Centerline is valid? [True, True] Translation: X:139.04, Y:68.93, Z:2.09 [[ 4.70176550e-01 -8.82543953e-01 -7.08396028e-03 1.39041387e+02] [ 8.82460017e-01 4.70229621e-01 -1.21828262e-02 6.89280042e+01] [ 1.40829675e-02 -5.23232532e-04 9.99900693e-01 2.08768310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.05, Y:68.95, Z:2.09 [[ 4.69212967e-01 -8.83055323e-01 -7.24488129e-03 1.39054118e+02] [ 8.82967528e-01 4.69268575e-01 -1.24639165e-02 6.89543077e+01] [ 1.44061230e-02 -5.48763652e-04 9.99896076e-01 2.08842131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.07, Y:68.98, Z:2.09 [[ 4.67870137e-01 -8.83765968e-01 -7.43292545e-03 1.39067918e+02] [ 8.83673545e-01 4.67928813e-01 -1.27941794e-02 6.89778740e+01] [ 1.47851403e-02 -5.82265122e-04 9.99890524e-01 2.08858566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.08, Y:69.00, Z:2.09 [[ 4.66612476e-01 -8.84430641e-01 -7.43225877e-03 1.39080410e+02] [ 8.84338268e-01 4.66671276e-01 -1.27963905e-02 6.90043136e+01] [ 1.47859416e-02 -6.01675380e-04 9.99890501e-01 2.08890579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.09, Y:69.03, Z:2.09 [[ 4.64348425e-01 -8.85617952e-01 -7.83473704e-03 1.39092488e+02] [ 8.85515351e-01 4.64414032e-01 -1.34970106e-02 6.90308691e+01] [ 1.55917567e-02 -6.70464313e-04 9.99878216e-01 2.08860801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.11, Y:69.06, Z:2.09 [[ 4.63495028e-01 -8.86063782e-01 -7.95830109e-03 1.39106285e+02] [ 8.85957871e-01 4.63562827e-01 -1.37169652e-02 6.90555813e+01] [ 1.58432786e-02 -6.92974304e-04 9.99874247e-01 2.08862146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.12, Y:69.08, Z:2.09 [[ 4.63138223e-01 -8.86244285e-01 -8.60547921e-03 1.39117462e+02] [ 8.86120375e-01 4.63217552e-01 -1.48384939e-02 6.90812646e+01] [ 1.71367394e-02 -7.53216791e-04 9.99852872e-01 2.08870435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.13, Y:69.11, Z:2.09 [[ 4.63480525e-01 -8.86063420e-01 -8.79883922e-03 1.39130216e+02] [ 8.85933691e-01 4.63563415e-01 -1.51807337e-02 6.91051657e+01] [ 1.75299128e-02 -7.59213699e-04 9.99846051e-01 2.08864327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.14, Y:69.13, Z:2.09 [[ 4.65394815e-01 -8.85059746e-01 -8.76996396e-03 1.39137160e+02] [ 8.84930559e-01 4.65476889e-01 -1.51384235e-02 6.91337509e+01] [ 1.74806248e-02 -7.15465305e-04 9.99846946e-01 2.08911647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.15, Y:69.16, Z:2.09 [[ 4.66461924e-01 -8.84500060e-01 -8.53914025e-03 1.39153077e+02] [ 8.84377366e-01 4.66539592e-01 -1.47473507e-02 6.91567014e+01] [ 1.70278796e-02 -6.72744760e-04 9.99854789e-01 2.08925171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:69.18, Z:2.09 [[ 4.68068341e-01 -8.83652261e-01 -8.40892015e-03 1.39163239e+02] [ 8.83533080e-01 4.68143444e-01 -1.45262399e-02 6.91844443e+01] [ 1.67727256e-02 -6.30286103e-04 9.99859129e-01 2.08996281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.18, Y:69.21, Z:2.09 [[ 4.69656133e-01 -8.82809326e-01 -8.41493555e-03 1.39175560e+02] [ 8.82689709e-01 4.69731134e-01 -1.45443604e-02 6.92106350e+01] [ 1.67926542e-02 -5.96928945e-04 9.99858815e-01 2.09007921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:69.23, Z:2.09 [[ 4.71956025e-01 -8.81581320e-01 -8.47861877e-03 1.39188943e+02] [ 8.81459567e-01 4.72031852e-01 -1.46615602e-02 6.92342272e+01] [ 1.69275357e-02 -5.53947962e-04 9.99856566e-01 2.08993447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.20, Y:69.26, Z:2.09 [[ 4.76649570e-01 -8.79050363e-01 -8.69751102e-03 1.39197357e+02] [ 8.78921737e-01 4.76728681e-01 -1.50447867e-02 6.92626017e+01] [ 1.73714781e-02 -4.73340387e-04 9.99848992e-01 2.08999809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:69.29, Z:2.09 [[ 4.79427810e-01 -8.77537977e-01 -8.72206002e-03 1.39207981e+02] [ 8.77408226e-01 4.79506962e-01 -1.50956204e-02 6.92898948e+01] [ 1.74292687e-02 -4.15546979e-04 9.99848012e-01 2.09056880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.22, Y:69.32, Z:2.09 [[ 4.84536819e-01 -8.74726172e-01 -8.84282774e-03 1.39218670e+02] [ 8.74592180e-01 4.84617402e-01 -1.53131565e-02 6.93159707e+01] [ 1.76802069e-02 -3.14079863e-04 9.99843644e-01 2.09089725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.23, Y:69.34, Z:2.09 [[ 4.86765458e-01 -8.73490403e-01 -8.59681575e-03 1.39230406e+02] [ 8.73363427e-01 4.86841298e-01 -1.48954556e-02 6.93421296e+01] [ 1.71963225e-02 -2.57551199e-04 9.99852099e-01 2.09224756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.24, Y:69.37, Z:2.09 [[ 4.88935077e-01 -8.72278486e-01 -8.52838220e-03 1.39243201e+02] [ 8.72153202e-01 4.89009406e-01 -1.47849240e-02 6.93679934e+01] [ 1.70670303e-02 -2.09187863e-04 9.99854326e-01 2.09301161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.26, Y:69.39, Z:2.09 [[ 4.93305268e-01 -8.69817083e-01 -8.25562930e-03 1.39255373e+02] [ 8.69699225e-01 4.93374329e-01 -1.43188216e-02 6.93931396e+01] [ 1.65278712e-02 -1.16364314e-04 9.99863399e-01 2.09413790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.27, Y:69.42, Z:2.09 [[ 4.94999991e-01 -8.68853430e-01 -8.29006936e-03 1.39269197e+02] [ 8.68734388e-01 4.95069399e-01 -1.43823806e-02 6.94183636e+01] [ 1.66003404e-02 -8.25900352e-05 9.99862201e-01 2.09472116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.28, Y:69.44, Z:2.10 [[ 4.97722201e-01 -8.67300664e-01 -7.88469582e-03 1.39282823e+02] [ 8.67192683e-01 4.97784649e-01 -1.36855432e-02 6.94425547e+01] [ 1.57943613e-02 -2.59518425e-05 9.99875261e-01 2.09503657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.30, Y:69.47, Z:2.10 [[ 4.98471992e-01 -8.66868631e-01 -8.02804198e-03 1.39296782e+02] [ 8.66756573e-01 4.98536635e-01 -1.39379792e-02 6.94657653e+01] [ 1.60846700e-02 -1.06659024e-05 9.99870633e-01 2.09523929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.31, Y:69.49, Z:2.10 [[ 4.98674321e-01 -8.66755024e-01 -7.72337809e-03 1.39311430e+02] [ 8.66651182e-01 4.98734126e-01 -1.34163907e-02 6.94893635e+01] [ 1.54806362e-02 -3.06525066e-06 9.99880168e-01 2.09556819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:69.51, Z:2.10 [[ 4.98832490e-01 -8.66663875e-01 -7.73792857e-03 1.39326308e+02] [ 8.66559505e-01 4.98892502e-01 -1.34497657e-02 6.95125083e+01] [ 1.55168206e-02 3.80457629e-06 9.99879607e-01 2.09598684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.34, Y:69.54, Z:2.10 [[ 4.98005681e-01 -8.67141112e-01 -7.52556067e-03 1.39344020e+02] [ 8.67042360e-01 4.98062538e-01 -1.30864009e-02 6.95352168e+01] [ 1.50959561e-02 -7.87790130e-06 9.99886050e-01 2.09707862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.36, Y:69.56, Z:2.10 [[ 4.97130179e-01 -8.67645456e-01 -7.27646141e-03 1.39360381e+02] [ 8.67553075e-01 4.97183429e-01 -1.26609691e-02 6.95587249e+01] [ 1.46029684e-02 -1.85666216e-05 9.99893371e-01 2.09731361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:69.58, Z:2.10 [[ 4.96262540e-01 -8.68140643e-01 -7.43744225e-03 1.39375910e+02] [ 8.68044062e-01 4.96318268e-01 -1.29492747e-02 6.95806550e+01] [ 1.49331301e-02 -2.97876129e-05 9.99888494e-01 2.09772968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.39, Y:69.60, Z:2.10 [[ 4.95480650e-01 -8.68588685e-01 -7.25406624e-03 1.39392270e+02] [ 8.68496775e-01 4.95533747e-01 -1.26356100e-02 6.96038697e+01] [ 1.45697825e-02 -3.94329015e-05 9.99893854e-01 2.09834184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:69.62, Z:2.10 [[ 4.93925346e-01 -8.69471519e-01 -7.55181831e-03 1.39410779e+02] [ 8.69371885e-01 4.93983070e-01 -1.31625710e-02 6.96246915e+01] [ 1.51749510e-02 -6.40111007e-05 9.99884852e-01 2.09813132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:69.65, Z:2.10 [[ 4.93234726e-01 -8.69862287e-01 -7.68812228e-03 1.39426890e+02] [ 8.69758985e-01 4.93294635e-01 -1.34056550e-02 6.96478814e+01] [ 1.54535832e-02 -7.46788399e-05 9.99880583e-01 2.09826815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.44, Y:69.67, Z:2.10 [[ 4.92170712e-01 -8.70462192e-01 -7.97259930e-03 1.39443228e+02] [ 8.70351037e-01 4.92235272e-01 -1.39107496e-02 6.96707730e+01] [ 1.60331762e-02 -9.24965241e-05 9.99871456e-01 2.09847912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.46, Y:69.69, Z:2.10 [[ 4.90640230e-01 -8.71321745e-01 -8.40121336e-03 1.39462233e+02] [ 8.71198283e-01 4.90712137e-01 -1.46680120e-02 6.96912662e+01] [ 1.69031352e-02 -1.22405876e-04 9.99857124e-01 2.09818203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.48, Y:69.71, Z:2.10 [[ 4.89760526e-01 -8.71813443e-01 -8.71482333e-03 1.39478803e+02] [ 8.71680510e-01 4.89838036e-01 -1.52245432e-02 6.97141146e+01] [ 1.75418134e-02 -1.40161344e-04 9.99846121e-01 2.09829301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.50, Y:69.74, Z:2.10 [[ 4.88286123e-01 -8.72634031e-01 -9.30104133e-03 1.39498131e+02] [ 8.72482593e-01 4.88374668e-01 -1.62575726e-02 6.97353679e+01] [ 1.87293041e-02 -1.76649554e-04 9.99824576e-01 2.09834999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.51, Y:69.76, Z:2.10 [[ 4.87500456e-01 -8.73070265e-01 -9.57170839e-03 1.39514251e+02] [ 8.72909848e-01 4.87594374e-01 -1.67368886e-02 6.97595033e+01] [ 1.92795909e-02 -1.95997709e-04 9.99814112e-01 2.09899761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.53, Y:69.78, Z:2.10 [[ 4.86795257e-01 -8.73463353e-01 -9.59941773e-03 1.39530488e+02] [ 8.73301918e-01 4.86889851e-01 -1.67938030e-02 6.97816201e+01] [ 1.93426306e-02 -2.08046259e-04 9.99812892e-01 2.09915696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:69.80, Z:2.10 [[ 4.86093291e-01 -8.73849156e-01 -1.00481365e-02 1.39549213e+02] [ 8.73672198e-01 4.86197079e-01 -1.75866870e-02 6.98019589e+01] [ 2.02534862e-02 -2.30006954e-04 9.99794851e-01 2.09951171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.56, Y:69.83, Z:2.10 [[ 4.85861094e-01 -8.73978330e-01 -1.00437212e-02 1.39562813e+02] [ 8.73801347e-01 4.85964840e-01 -1.75892085e-02 6.98259265e+01] [ 2.02534824e-02 -2.30305017e-04 9.99794851e-01 2.09987855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:69.85, Z:2.10 [[ 4.85488052e-01 -8.74183518e-01 -1.02239102e-02 1.39579058e+02] [ 8.73999949e-01 4.85595635e-01 -1.79155847e-02 6.98478921e+01] [ 2.06261950e-02 -2.37894693e-04 9.99787229e-01 2.10033061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.59, Y:69.87, Z:2.10 [[ 4.84995581e-01 -8.74459791e-01 -9.96801273e-03 1.39594043e+02] [ 8.74285152e-01 4.85097947e-01 -1.74772819e-02 6.98718730e+01] [ 2.01186428e-02 -2.38481050e-04 9.99797571e-01 2.10220472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.61, Y:69.89, Z:2.10 [[ 4.84720950e-01 -8.74612229e-01 -9.95239082e-03 1.39609681e+02] [ 8.74437977e-01 4.84823052e-01 -1.74594647e-02 6.98936348e+01] [ 2.00954099e-02 -2.39780157e-04 9.99798038e-01 2.10302617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.63, Y:69.92, Z:2.11 [[ 4.84380645e-01 -8.74803688e-01 -9.69011372e-03 1.39627527e+02] [ 8.74638391e-01 4.84477503e-01 -1.70068634e-02 6.99151930e+01] [ 1.95723089e-02 -2.37550026e-04 9.99808416e-01 2.10500365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.64, Y:69.94, Z:2.11 [[ 4.84186756e-01 -8.74911731e-01 -9.62544624e-03 1.39643057e+02] [ 8.74748445e-01 4.84282365e-01 -1.69041148e-02 6.99386519e+01] [ 1.94510422e-02 -2.35095620e-04 9.99810783e-01 2.10624680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.66, Y:69.96, Z:2.11 [[ 4.84081549e-01 -8.74971337e-01 -9.49810399e-03 1.39658309e+02] [ 8.74812158e-01 4.84174666e-01 -1.66907398e-02 6.99610124e+01] [ 1.92026602e-02 -2.29377681e-04 9.99815586e-01 2.10747467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.68, Y:69.98, Z:2.11 [[ 4.84578421e-01 -8.74695018e-01 -9.61144509e-03 1.39675796e+02] [ 8.74531767e-01 4.84673683e-01 -1.68999841e-02 6.99829532e+01] [ 1.94407464e-02 -2.16146454e-04 9.99810987e-01 2.10847190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.69, Y:70.01, Z:2.11 [[ 4.84794991e-01 -8.74575682e-01 -9.54955395e-03 1.39690830e+02] [ 8.74414307e-01 4.84888993e-01 -1.68013344e-02 7.00054753e+01] [ 1.93245120e-02 -2.05063855e-04 9.99813243e-01 2.10894873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:70.03, Z:2.11 [[ 4.85264902e-01 -8.74313832e-01 -9.65911587e-03 1.39705505e+02] [ 8.74148508e-01 4.85360986e-01 -1.70029390e-02 7.00283398e+01] [ 1.95540627e-02 -1.92572220e-04 9.99808782e-01 2.10928070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.72, Y:70.05, Z:2.11 [[ 4.86851620e-01 -8.73431448e-01 -9.64397276e-03 1.39721337e+02] [ 8.73266307e-01 4.86947104e-01 -1.69845415e-02 7.00519147e+01] [ 1.95309373e-02 -1.52804948e-04 9.99809241e-01 2.11073394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:70.08, Z:2.11 [[ 4.87766798e-01 -8.72921767e-01 -9.54666436e-03 1.39736327e+02] [ 8.72759642e-01 4.87860197e-01 -1.68236290e-02 7.00757490e+01] [ 1.93431495e-02 -1.25935729e-04 9.99812896e-01 2.11134320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.75, Y:70.10, Z:2.11 [[ 4.88716459e-01 -8.72392602e-01 -9.34725689e-03 1.39750934e+02] [ 8.72236895e-01 4.88805829e-01 -1.64821108e-02 7.00986200e+01] [ 1.89478652e-02 -9.79434978e-05 9.99820468e-01 2.11140494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:70.12, Z:2.11 [[ 4.89857530e-01 -8.71752176e-01 -9.36719009e-03 1.39765189e+02] [ 8.71595507e-01 4.89947078e-01 -1.65267504e-02 7.01227621e+01] [ 1.89966580e-02 -6.86476571e-05 9.99819545e-01 2.11233951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.78, Y:70.15, Z:2.11 [[ 4.92090531e-01 -8.70492791e-01 -9.44509494e-03 1.39780619e+02] [ 8.70333069e-01 4.92181166e-01 -1.66748120e-02 7.01464184e+01] [ 1.91640015e-02 -1.48613503e-05 9.99816354e-01 2.11230497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:70.17, Z:2.11 [[ 4.93030296e-01 -8.69960503e-01 -9.47889709e-03 1.39795127e+02] [ 8.69799331e-01 4.93121407e-01 -1.67452105e-02 7.01706249e+01] [ 1.92419188e-02 1.11577465e-05 9.99814857e-01 2.11269581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.81, Y:70.19, Z:2.11 [[ 4.95186888e-01 -8.68734289e-01 -9.52261892e-03 1.39810027e+02] [ 8.68571191e-01 4.95278437e-01 -1.68331681e-02 7.01938387e+01] [ 1.93398981e-02 6.44916529e-05 9.99812965e-01 2.11263203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:70.22, Z:2.11 [[ 4.96068864e-01 -8.68234414e-01 -9.20242763e-03 1.39824602e+02] [ 8.68081833e-01 4.96154205e-01 -1.62768558e-02 7.02174915e+01] [ 1.86979495e-02 8.59811167e-05 9.99825174e-01 2.11345004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.84, Y:70.24, Z:2.11 [[ 4.96486112e-01 -8.67996879e-01 -9.10811951e-03 1.39838510e+02] [ 8.67847183e-01 4.96569641e-01 -1.61201492e-02 7.02409030e+01] [ 1.85150549e-02 9.89743744e-05 9.99828577e-01 2.11376417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.85, Y:70.26, Z:2.11 [[ 4.96872946e-01 -8.67777369e-01 -8.92823705e-03 1.39854449e+02] [ 8.67633322e-01 4.96953143e-01 -1.58111540e-02 7.02643127e+01] [ 1.81574771e-02 1.09698686e-04 9.99835133e-01 2.11401656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.87, Y:70.29, Z:2.11 [[ 4.96304637e-01 -8.68099993e-01 -9.17114518e-03 1.39868516e+02] [ 8.67947862e-01 4.96389354e-01 -1.62516840e-02 7.02874698e+01] [ 1.86605456e-02 1.05710297e-04 9.99825871e-01 2.11364085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:70.31, Z:2.11 [[ 4.95583395e-01 -8.68511530e-01 -9.20981705e-03 1.39884459e+02] [ 8.68358002e-01 4.95668955e-01 -1.63299547e-02 7.03109342e+01] [ 1.87477743e-02 9.54360535e-05 9.99824240e-01 2.11414813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:70.33, Z:2.11 [[ 4.93341064e-01 -8.69786937e-01 -9.23468193e-03 1.39902648e+02] [ 8.69632605e-01 4.93427484e-01 -1.63844626e-02 7.03330658e+01] [ 1.88076374e-02 5.23477255e-05 9.99823119e-01 2.11409594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.92, Y:70.36, Z:2.11 [[ 4.92042576e-01 -8.70521026e-01 -9.34063510e-03 1.39917974e+02] [ 8.70363082e-01 4.92131226e-01 -1.65819961e-02 7.03557824e+01] [ 1.90317944e-02 2.93041059e-05 9.99818879e-01 2.11363599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:70.38, Z:2.11 [[ 4.90586906e-01 -8.71342699e-01 -9.29456745e-03 1.39933920e+02] [ 8.71186304e-01 4.90674945e-01 -1.65082389e-02 7.03792808e+01] [ 1.89449448e-02 1.42597937e-06 9.99820528e-01 2.11422823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.95, Y:70.40, Z:2.11 [[ 4.89015927e-01 -8.72227227e-01 -9.11522854e-03 1.39949810e+02] [ 8.72076779e-01 4.89100873e-01 -1.61996376e-02 7.04031214e+01] [ 1.85880312e-02 -2.72983499e-05 9.99827227e-01 2.11446409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12361786499997 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:139.97, Y:70.42, Z:2.11 [[ 4.85936566e-01 -8.73945342e-01 -9.22996826e-03 1.39967564e+02] [ 8.73791204e-01 4.86024208e-01 -1.64134369e-02 7.04239595e+01] [ 1.88304348e-02 -8.91759115e-05 9.99822688e-01 2.11407121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.98, Y:70.45, Z:2.11 [[ 4.84158510e-01 -8.74932392e-01 -9.15681881e-03 1.39983630e+02] [ 8.74780688e-01 4.84245078e-01 -1.62927083e-02 7.04459213e+01] [ 1.86891626e-02 -1.21954896e-04 9.99825335e-01 2.11427192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.00, Y:70.47, Z:2.11 [[ 4.82257034e-01 -8.75982413e-01 -9.10856818e-03 1.40000368e+02] [ 8.75832314e-01 4.82343019e-01 -1.62163287e-02 7.04687241e+01] [ 1.85986730e-02 -1.57139775e-04 9.99827017e-01 2.11448724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:70.49, Z:2.12 [[ 4.79040477e-01 -8.77750709e-01 -8.59731812e-03 1.40020604e+02] [ 8.77617133e-01 4.79117573e-01 -1.53140289e-02 7.04896084e+01] [ 1.75610259e-02 -2.09113977e-04 9.99845771e-01 2.11518491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters Centerline goodness [0,1] 0.9999781826115414 Centerline is valid? [True, True] Translation: X:140.04, Y:70.51, Z:2.12 [[ 4.77648936e-01 -8.78508507e-01 -8.61958552e-03 1.40036906e+02] [ 8.78374257e-01 4.77726646e-01 -1.53595714e-02 7.05133387e+01] [ 1.76113198e-02 -2.34739090e-04 9.99844881e-01 2.11582000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27361786499998 meters Centerline goodness [0,1] 0.9999124093984716 Centerline is valid? [True, True] Translation: X:140.06, Y:70.53, Z:2.12 [[ 4.75473443e-01 -8.79689015e-01 -8.49948328e-03 1.40055641e+02] [ 8.79558530e-01 4.75549328e-01 -1.51535341e-02 7.05343626e+01] [ 1.73723210e-02 -2.70689991e-04 9.99849053e-01 2.11565008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:70.56, Z:2.12 [[ 4.74628922e-01 -8.80145275e-01 -8.46648436e-03 1.40071108e+02] [ 8.80015774e-01 4.74704344e-01 -1.51004219e-02 7.05581035e+01] [ 1.73096419e-02 -2.83542833e-04 9.99850137e-01 2.11603369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:70.58, Z:2.12 [[ 4.73749935e-01 -8.80619142e-01 -8.42174298e-03 1.40086936e+02] [ 8.80490925e-01 4.73824693e-01 -1.50296563e-02 7.05813272e+01] [ 1.72258328e-02 -2.94969567e-04 9.99851581e-01 2.11633002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.10, Y:70.61, Z:2.12 [[ 4.75366617e-01 -8.79755431e-01 -7.54723051e-03 1.40099747e+02] [ 8.79652240e-01 4.75426468e-01 -1.34762474e-02 7.06069380e+01] [ 1.54439550e-02 -2.32780088e-04 9.99880708e-01 2.11836722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.11, Y:70.63, Z:2.12 [[ 4.77304263e-01 -8.78709637e-01 -7.07215373e-03 1.40112663e+02] [ 8.78618824e-01 4.77356618e-01 -1.26341635e-02 7.06312008e+01] [ 1.44777006e-02 -1.83387287e-04 9.99895176e-01 2.11852241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.12, Y:70.66, Z:2.12 [[ 4.78431950e-01 -8.78096060e-01 -7.08376494e-03 1.40124477e+02] [ 8.78004839e-01 4.78484361e-01 -1.26578139e-02 7.06570625e+01] [ 1.45042473e-02 -1.63677289e-04 9.99894794e-01 2.11917134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45361786499996 meters Centerline goodness [0,1] 0.999978107143639 Centerline is valid? [True, True] Translation: X:140.14, Y:70.68, Z:2.12 [[ 4.80369648e-01 -8.77039646e-01 -6.81621648e-03 1.40136252e+02] [ 8.76954977e-01 4.80417990e-01 -1.21870278e-02 7.06829234e+01] [ 1.39631396e-02 -1.23236691e-04 9.99902503e-01 2.11989023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:70.71, Z:2.12 [[ 4.83722096e-01 -8.75191174e-01 -7.30354746e-03 1.40146221e+02] [ 8.75093627e-01 4.83777225e-01 -1.30667946e-02 7.07090682e+01] [ 1.49692332e-02 -7.05905693e-05 9.99887952e-01 2.11931891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:70.73, Z:2.12 [[ 4.84462637e-01 -8.74780687e-01 -7.39614860e-03 1.40159359e+02] [ 8.74680501e-01 4.84519088e-01 -1.32391555e-02 7.07344187e+01] [ 1.51649327e-02 -5.53907655e-05 9.99885004e-01 2.11910078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.17, Y:70.76, Z:2.12 [[ 4.84964248e-01 -8.74498667e-01 -7.85870374e-03 1.40172708e+02] [ 8.74385379e-01 4.85027916e-01 -1.40758754e-02 7.07582046e+01] [ 1.61210249e-02 -4.52393374e-05 9.99870047e-01 2.11883705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57361786499996 meters Centerline goodness [0,1] 0.9999562046992357 Centerline is valid? [True, True] Translation: X:140.18, Y:70.78, Z:2.12 [[ 4.84933343e-01 -8.74510207e-01 -8.45877760e-03 1.40184311e+02] [ 8.74378826e-01 4.85007109e-01 -1.51582588e-02 7.07833869e+01] [ 1.73586193e-02 -4.54308957e-05 9.99849327e-01 2.11888489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60361786499996 meters Centerline goodness [0,1] 0.9999343271819794 Centerline is valid? [True, True] Translation: X:140.20, Y:70.81, Z:2.12 [[ 4.84405962e-01 -8.74802889e-01 -8.41246639e-03 1.40196740e+02] [ 8.74672823e-01 4.84479001e-01 -1.50847493e-02 7.08079800e+01] [ 1.72718456e-02 -5.10132258e-05 9.99850829e-01 2.11819205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.21, Y:70.83, Z:2.12 [[ 4.82936689e-01 -8.75613616e-01 -8.54102656e-03 1.40209429e+02] [ 8.75479509e-01 4.83012204e-01 -1.53245176e-02 7.08331946e+01] [ 1.75437763e-02 -7.67219339e-05 9.99846093e-01 2.11894702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66361786499996 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:140.22, Y:70.86, Z:2.12 [[ 4.81697205e-01 -8.76293696e-01 -8.78411994e-03 1.40223263e+02] [ 8.76151775e-01 4.81777281e-01 -1.57708142e-02 7.08561035e+01] [ 1.80518545e-02 -9.94651550e-05 9.99837047e-01 2.11900690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.24, Y:70.88, Z:2.12 [[ 4.79988784e-01 -8.77230772e-01 -8.77158982e-03 1.40237357e+02] [ 8.77089242e-01 4.80068908e-01 -1.57577145e-02 7.08806956e+01] [ 1.80341196e-02 -1.29940845e-04 9.99837364e-01 2.11977726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72361786499997 meters Centerline goodness [0,1] 0.9999343214309171 Centerline is valid? [True, True] Translation: X:140.25, Y:70.90, Z:2.12 [[ 4.76437537e-01 -8.79159214e-01 -9.29244794e-03 1.40254540e+02] [ 8.79000538e-01 4.76528102e-01 -1.67039674e-02 7.09044280e+01] [ 1.91135594e-02 -2.09669647e-04 9.99817297e-01 2.12037304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75361786499997 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:140.27, Y:70.93, Z:2.12 [[ 4.74399617e-01 -8.80261232e-01 -9.22858580e-03 1.40270306e+02] [ 8.80104786e-01 4.74489307e-01 -1.65970973e-02 7.09279361e+01] [ 1.89886466e-02 -2.48465933e-04 9.99819669e-01 2.12110615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.29, Y:70.95, Z:2.12 [[ 4.72380981e-01 -8.81346525e-01 -9.19301852e-03 1.40285689e+02] [ 8.81191372e-01 4.72470338e-01 -1.65392499e-02 7.09519868e+01] [ 1.89202390e-02 -2.87981531e-04 9.99820955e-01 2.12168581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81361786499997 meters Centerline goodness [0,1] 0.9998684989151161 Centerline is valid? [True, True] Translation: X:140.30, Y:70.98, Z:2.12 [[ 4.70476899e-01 -8.82362561e-01 -9.37008709e-03 1.40300677e+02] [ 8.82201389e-01 4.70570082e-01 -1.68673348e-02 7.09761898e+01] [ 1.92923873e-02 -3.30612494e-04 9.99813830e-01 2.12198272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84361786499997 meters Centerline goodness [0,1] 0.9999780831525193 Centerline is valid? [True, True] Translation: X:140.32, Y:71.00, Z:2.12 [[ 4.67303369e-01 -8.84046972e-01 -9.40808818e-03 1.40316230e+02] [ 8.83884635e-01 4.67397896e-01 -1.69457665e-02 7.09993741e+01] [ 1.93781742e-02 -3.96850814e-04 9.99812147e-01 2.12217095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.33, Y:71.02, Z:2.12 [[ 4.66265551e-01 -8.84594735e-01 -9.41226047e-03 1.40331216e+02] [ 8.84432169e-01 4.66360356e-01 -1.69633939e-02 7.10239524e+01] [ 1.93952341e-02 -4.15059720e-04 9.99811809e-01 2.12285404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:71.05, Z:2.12 [[ 4.65638915e-01 -8.84923539e-01 -9.52522864e-03 1.40345671e+02] [ 8.84756915e-01 4.65736133e-01 -1.71772057e-02 7.10479905e+01] [ 1.96367568e-02 -4.29136465e-04 9.99807088e-01 2.12340841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.36, Y:71.07, Z:2.13 [[ 4.66197082e-01 -8.84631038e-01 -9.39187538e-03 1.40358839e+02] [ 8.84468791e-01 4.66291499e-01 -1.69468689e-02 7.10729042e+01] [ 1.93710778e-02 -4.06239845e-04 9.99812281e-01 2.12513083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:71.10, Z:2.13 [[ 4.66862730e-01 -8.84280865e-01 -9.30286211e-03 1.40372750e+02] [ 8.84121415e-01 4.66955249e-01 -1.67964084e-02 7.10959575e+01] [ 1.91967628e-02 -3.83242527e-04 9.99815652e-01 2.12602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:71.12, Z:2.13 [[ 4.69758887e-01 -8.82748025e-01 -9.08363945e-03 1.40384658e+02] [ 8.82595548e-01 4.69846602e-01 -1.64094453e-02 7.11207929e+01] [ 1.87533225e-02 -3.08696988e-04 9.99824093e-01 2.12699705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters Centerline goodness [0,1] 0.9999780600715241 Centerline is valid? [True, True] Translation: X:140.40, Y:71.15, Z:2.13 [[ 4.71749527e-01 -8.81683767e-01 -9.28005195e-03 1.40396966e+02] [ 8.81524282e-01 4.71840718e-01 -1.67713327e-02 7.11467877e+01] [ 1.91657182e-02 -2.68722852e-04 9.99816285e-01 2.12691136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05361786499998 meters Centerline goodness [0,1] 0.9998687118443798 Centerline is valid? [True, True] Translation: X:140.41, Y:71.17, Z:2.13 [[ 4.73557797e-01 -8.80711799e-01 -9.47307474e-03 1.40409163e+02] [ 8.80545222e-01 4.73652482e-01 -1.71300483e-02 7.11725953e+01] [ 1.95735810e-02 -2.29402750e-04 9.99808393e-01 2.12681300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters Centerline goodness [0,1] 0.9998900833168458 Centerline is valid? [True, True] Translation: X:140.42, Y:71.20, Z:2.13 [[ 4.75423346e-01 -8.79703953e-01 -9.67458089e-03 1.40420550e+02] [ 8.79529794e-01 4.75521735e-01 -1.75049030e-02 7.11989898e+01] [ 1.99996058e-02 -1.86842597e-04 9.99799970e-01 2.12772468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11361786499998 meters Centerline goodness [0,1] 0.9998903604946935 Centerline is valid? [True, True] Translation: X:140.43, Y:71.22, Z:2.13 [[ 4.78855258e-01 -8.77836561e-01 -1.00306864e-02 1.40432233e+02] [ 8.77648725e-01 4.78960292e-01 -1.81591640e-02 7.12238105e+01] [ 2.07450786e-02 -1.07808016e-04 9.99784792e-01 2.12694133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters Centerline goodness [0,1] 0.9998243572573385 Centerline is valid? [True, True] Translation: X:140.45, Y:71.25, Z:2.13 [[ 4.80090662e-01 -8.77162954e-01 -9.90494661e-03 1.40445334e+02] [ 8.76979511e-01 4.80192822e-01 -1.79385506e-02 7.12491839e+01] [ 2.04913163e-02 -7.43045743e-05 9.99790028e-01 2.12795197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.46, Y:71.27, Z:2.13 [[ 4.81009193e-01 -8.76660718e-01 -9.80520632e-03 1.40459170e+02] [ 8.76480677e-01 4.81109118e-01 -1.77662676e-02 7.12724457e+01] [ 2.02923630e-02 -4.83358482e-05 9.99794088e-01 2.12919423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499996 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:140.47, Y:71.30, Z:2.13 [[ 4.80723467e-01 -8.76817422e-01 -9.80600596e-03 1.40473669e+02] [ 8.76637155e-01 4.80823467e-01 -1.77789752e-02 7.12963036e+01] [ 2.03038730e-02 -4.95385464e-05 9.99793854e-01 2.13006670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23361786499996 meters Centerline goodness [0,1] 0.9999121786286693 Centerline is valid? [True, True] Translation: X:140.49, Y:71.32, Z:2.13 [[ 4.80288974e-01 -8.77056652e-01 -9.70206848e-03 1.40487826e+02] [ 8.76880017e-01 4.80386954e-01 -1.76014141e-02 7.13201923e+01] [ 2.00981845e-02 -5.37848368e-05 9.99798010e-01 2.13221619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26361786499996 meters Centerline goodness [0,1] 0.9999121786286693 Centerline is valid? [True, True] Translation: X:140.50, Y:71.34, Z:2.13 [[ 4.80046965e-01 -8.77189191e-01 -9.69720696e-03 1.40501078e+02] [ 8.77012528e-01 4.80144896e-01 -1.76040924e-02 7.13443805e+01] [ 2.00981840e-02 -5.37808688e-05 9.99798010e-01 2.13258294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29361786499996 meters Centerline goodness [0,1] 0.9999560603730474 Centerline is valid? [True, True] Translation: X:140.52, Y:71.37, Z:2.13 [[ 4.78886994e-01 -8.77826013e-01 -9.42008203e-03 1.40515997e+02] [ 8.77659214e-01 4.78979629e-01 -1.71119602e-02 7.13678055e+01] [ 1.95333512e-02 -7.29265964e-05 9.99809203e-01 2.13316454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32361786499996 meters Centerline goodness [0,1] 0.9999560072148168 Centerline is valid? [True, True] Translation: X:140.53, Y:71.39, Z:2.13 [[ 4.78082202e-01 -8.78264702e-01 -9.40857052e-03 1.40530841e+02] [ 8.78098184e-01 4.78174765e-01 -1.71018501e-02 7.13909554e+01] [ 1.95188923e-02 -8.55585515e-05 9.99809485e-01 2.13257355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35361786499996 meters Centerline goodness [0,1] 0.999955924807722 Centerline is valid? [True, True] Translation: X:140.55, Y:71.41, Z:2.13 [[ 4.76469362e-01 -8.79140246e-01 -9.45385707e-03 1.40546607e+02] [ 8.78972093e-01 4.76563127e-01 -1.71943321e-02 7.14141634e+01] [ 1.96215890e-02 -1.17104104e-04 9.99807471e-01 2.13293598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:71.44, Z:2.13 [[ 4.75553795e-01 -8.79635167e-01 -9.51632347e-03 1.40559840e+02] [ 8.79464674e-01 4.75648983e-01 -1.73185369e-02 7.14387305e+01] [ 1.97604237e-02 -1.33374383e-04 9.99804735e-01 2.13389094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:71.46, Z:2.13 [[ 4.74454316e-01 -8.80231471e-01 -9.25525330e-03 1.40574933e+02] [ 8.80070120e-01 4.74544556e-01 -1.68537426e-02 7.14612713e+01] [ 1.92272247e-02 -1.48940947e-04 9.99815129e-01 2.13307518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:71.49, Z:2.13 [[ 4.73478297e-01 -8.80756133e-01 -9.32395395e-03 1.40587526e+02] [ 8.80592280e-01 4.73570065e-01 -1.69890906e-02 7.14867701e+01] [ 1.93787912e-02 -1.66636186e-04 9.99812200e-01 2.13455430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:71.51, Z:2.13 [[ 4.72512583e-01 -8.81278350e-01 -8.96266632e-03 1.40600467e+02] [ 8.81126859e-01 4.72597545e-01 -1.63407057e-02 7.15105171e+01] [ 1.86364442e-02 -1.76056964e-04 9.99826311e-01 2.13484949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50361786499997 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:140.61, Y:71.54, Z:2.14 [[ 4.71704680e-01 -8.81712131e-01 -8.85510435e-03 1.40614033e+02] [ 8.81564155e-01 4.71787753e-01 -1.61541761e-02 7.15354878e+01] [ 1.84210628e-02 -1.86342125e-04 9.99830300e-01 2.13548776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:71.56, Z:2.14 [[ 4.70839049e-01 -8.82174673e-01 -8.85639037e-03 1.40628603e+02] [ 8.82026548e-01 4.70922293e-01 -1.61666845e-02 7.15583575e+01] [ 1.84325112e-02 -1.99665082e-04 9.99830087e-01 2.13526893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.64, Y:71.58, Z:2.14 [[ 4.69389723e-01 -8.82945688e-01 -8.95539983e-03 1.40642506e+02] [ 8.82794189e-01 4.69475089e-01 -1.63572448e-02 7.15831538e+01] [ 1.86468959e-02 -2.27852342e-04 9.99826106e-01 2.13604019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:71.61, Z:2.14 [[ 4.68768504e-01 -8.83274914e-01 -9.02866501e-03 1.40656081e+02] [ 8.83120792e-01 4.68855383e-01 -1.65013785e-02 7.16079300e+01] [ 1.88083918e-02 -2.38075300e-04 9.99823078e-01 2.13639392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62361786499997 meters Centerline goodness [0,1] 0.999868259265765 Centerline is valid? [True, True] Translation: X:140.67, Y:71.63, Z:2.14 [[ 4.67563114e-01 -8.83910188e-01 -9.35487659e-03 1.40669045e+02] [ 8.83744673e-01 4.67656612e-01 -1.71069103e-02 7.16331974e+01] [ 1.94958422e-02 -2.68762089e-04 9.99809902e-01 2.13615049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65361786499997 meters Centerline goodness [0,1] 0.9999779910203362 Centerline is valid? [True, True] Translation: X:140.68, Y:71.66, Z:2.14 [[ 4.66959679e-01 -8.84230015e-01 -9.27033194e-03 1.40681644e+02] [ 8.84067404e-01 4.67051608e-01 -1.69593871e-02 7.16577894e+01] [ 1.93257225e-02 -2.76248340e-04 9.99813203e-01 2.13614585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68361786499997 meters Centerline goodness [0,1] 0.9999342249506687 Centerline is valid? [True, True] Translation: X:140.69, Y:71.68, Z:2.14 [[ 4.66260269e-01 -8.84600001e-01 -9.17604063e-03 1.40694382e+02] [ 8.84440573e-01 4.66350467e-01 -1.67962963e-02 7.16822616e+01] [ 1.91372546e-02 -2.84216983e-04 9.99816826e-01 2.13625556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:71.71, Z:2.14 [[ 4.65550418e-01 -8.84976093e-01 -8.95114818e-03 1.40706527e+02] [ 8.84824310e-01 4.65636372e-01 -1.63923321e-02 7.17072089e+01] [ 1.86748022e-02 -2.88736480e-04 9.99825569e-01 2.13684605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.72, Y:71.73, Z:2.14 [[ 4.64348691e-01 -8.85611964e-01 -8.47011131e-03 1.40719746e+02] [ 8.85476001e-01 4.64425843e-01 -1.55205665e-02 7.17314780e+01] [ 1.76789380e-02 -2.93125553e-04 9.99843672e-01 2.13782067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.73, Y:71.76, Z:2.14 [[ 4.63446685e-01 -8.86083687e-01 -8.53643489e-03 1.40733287e+02] [ 8.85945501e-01 4.63525193e-01 -1.56513409e-02 7.17552964e+01] [ 1.78252505e-02 -3.09254039e-04 9.99841070e-01 2.13871418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:71.78, Z:2.14 [[ 4.62684771e-01 -8.86482841e-01 -8.42470992e-03 1.40746569e+02] [ 8.86348141e-01 4.62761357e-01 -1.54563778e-02 7.17803553e+01] [ 1.76004439e-02 -3.15795365e-04 9.99845050e-01 2.13910529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83361786499998 meters Centerline goodness [0,1] 0.9999781081021913 Centerline is valid? [True, True] Translation: X:140.76, Y:71.81, Z:2.14 [[ 4.61882636e-01 -8.86901496e-01 -8.37655860e-03 1.40758460e+02] [ 8.86768236e-01 4.61958473e-01 -1.53774063e-02 7.18054063e+01] [ 1.75078669e-02 -3.25509144e-04 9.99846673e-01 2.13993724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters Centerline goodness [0,1] 0.9999781248632804 Centerline is valid? [True, True] Translation: X:140.77, Y:71.83, Z:2.14 [[ 4.61810343e-01 -8.86939443e-01 -8.34454273e-03 1.40770928e+02] [ 8.86807042e-01 4.61885615e-01 -1.53280576e-02 7.18301832e+01] [ 1.74492831e-02 -3.21343705e-04 9.99847698e-01 2.14056047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.78, Y:71.86, Z:2.14 [[ 4.61769124e-01 -8.86962507e-01 -8.17230232e-03 1.40783317e+02] [ 8.86835364e-01 4.61841330e-01 -1.50207770e-02 7.18558728e+01] [ 1.70971730e-02 -3.11355678e-04 9.99853784e-01 2.14139295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499995 meters Centerline goodness [0,1] 0.9998689870515536 Centerline is valid? [True, True] Translation: X:140.79, Y:71.88, Z:2.14 [[ 4.62498453e-01 -8.86582682e-01 -8.14428580e-03 1.40794131e+02] [ 8.86456192e-01 4.62570063e-01 -1.49785519e-02 7.18804604e+01] [ 1.70470275e-02 -2.91995492e-04 9.99854646e-01 2.14108530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.81, Y:71.91, Z:2.14 [[ 4.62679447e-01 -8.86487488e-01 -8.22575371e-03 1.40805754e+02] [ 8.86358274e-01 4.62752473e-01 -1.51380184e-02 7.19062127e+01] [ 1.72261518e-02 -2.86914873e-04 9.99851578e-01 2.14190317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.82, Y:71.93, Z:2.14 [[ 4.62809084e-01 -8.86418902e-01 -8.32360004e-03 1.40817613e+02] [ 8.86286414e-01 4.62883841e-01 -1.53278505e-02 7.19314675e+01] [ 1.74397563e-02 -2.83225209e-04 9.99847876e-01 2.14248287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:71.96, Z:2.14 [[ 4.63145316e-01 -8.86242665e-01 -8.38779754e-03 1.40828815e+02] [ 8.86107927e-01 4.63221182e-01 -1.54557070e-02 7.19558678e+01] [ 1.75829125e-02 -2.74255568e-04 9.99845371e-01 2.14257959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.84, Y:71.98, Z:2.14 [[ 4.62874088e-01 -8.86386246e-01 -8.18542624e-03 1.40840924e+02] [ 8.86257808e-01 4.62946379e-01 -1.50913061e-02 7.19813055e+01] [ 1.71661396e-02 -2.69023369e-04 9.99852615e-01 2.14274310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.85, Y:72.01, Z:2.14 [[ 4.62385186e-01 -8.86639160e-01 -8.42260859e-03 1.40853347e+02] [ 8.86503037e-01 4.62461805e-01 -1.55384870e-02 7.20053162e+01] [ 1.76721659e-02 -2.81901877e-04 9.99843795e-01 2.14258547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10361786499996 meters Centerline goodness [0,1] 0.9999129829446571 Centerline is valid? [True, True] Translation: X:140.87, Y:72.03, Z:2.14 [[ 4.61314590e-01 -8.87198583e-01 -8.21730826e-03 1.40865531e+02] [ 8.87068950e-01 4.61387678e-01 -1.51686368e-02 7.20294116e+01] [ 1.72489579e-02 -2.91805535e-04 9.99851183e-01 2.14296690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.88, Y:72.05, Z:2.14 [[ 4.60638661e-01 -8.87550656e-01 -8.11523999e-03 1.40878195e+02] [ 8.87424114e-01 4.60710045e-01 -1.49898864e-02 7.20541643e+01] [ 1.70430561e-02 -2.96738441e-04 9.99854713e-01 2.14414747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.89, Y:72.08, Z:2.15 [[ 4.59975856e-01 -8.87895398e-01 -7.99835685e-03 1.40891243e+02] [ 8.87772375e-01 4.60045292e-01 -1.47830518e-02 7.20788949e+01] [ 1.68054101e-02 -3.00873345e-04 9.99858734e-01 2.14501519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.90, Y:72.10, Z:2.15 [[ 4.58875651e-01 -8.88466946e-01 -7.72152818e-03 1.40904061e+02] [ 8.88352235e-01 4.58940509e-01 -1.42798908e-02 7.21029710e+01] [ 1.62309331e-02 -3.06742628e-04 9.99868223e-01 2.14654226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22361786499997 meters Centerline goodness [0,1] 0.9999782125582815 Centerline is valid? [True, True] Translation: X:140.92, Y:72.13, Z:2.15 [[ 4.58405216e-01 -8.88709554e-01 -7.74503191e-03 1.40916872e+02] [ 8.88594045e-01 4.58470534e-01 -1.43315131e-02 7.21283660e+01] [ 1.62874216e-02 -3.12548855e-04 9.99867302e-01 2.14708103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.93, Y:72.15, Z:2.15 [[ 4.58163223e-01 -8.88833200e-01 -7.87425562e-03 1.40929332e+02] [ 8.88713678e-01 4.58230773e-01 -1.45793028e-02 7.21529444e+01] [ 1.65667946e-02 -3.18258300e-04 9.99862711e-01 2.14699392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:72.18, Z:2.15 [[ 4.57712535e-01 -8.89067907e-01 -7.58235513e-03 1.40941681e+02] [ 8.88957017e-01 4.57775228e-01 -1.40449790e-02 7.21771868e+01] [ 1.59579544e-02 -3.11824852e-04 9.99872615e-01 2.14715564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.95, Y:72.20, Z:2.15 [[ 4.57139879e-01 -8.89361131e-01 -7.74012828e-03 1.40951300e+02] [ 8.89245506e-01 4.57205285e-01 -1.43442547e-02 7.22038583e+01] [ 1.62960501e-02 -3.25543426e-04 9.99867158e-01 2.14763467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:72.23, Z:2.15 [[ 4.56867290e-01 -8.89501289e-01 -7.72891032e-03 1.40965989e+02] [ 8.89385873e-01 4.56932545e-01 -1.43324322e-02 7.22269249e+01] [ 1.62803076e-02 -3.25964190e-04 9.99867414e-01 2.14782906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.98, Y:72.25, Z:2.15 [[ 4.56132103e-01 -8.89877045e-01 -7.89617993e-03 1.40976981e+02] [ 8.89756492e-01 4.56200315e-01 -1.46511951e-02 7.22525641e+01] [ 1.66400020e-02 -3.42796922e-04 9.99861487e-01 2.14856948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.99, Y:72.28, Z:2.15 [[ 4.55538157e-01 -8.90181557e-01 -7.86015064e-03 1.40990171e+02] [ 8.90062009e-01 4.55605831e-01 -1.45927127e-02 7.22773928e+01] [ 1.65712942e-02 -3.48483992e-04 9.99862626e-01 2.14922193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:72.30, Z:2.15 [[ 4.55013956e-01 -8.90450235e-01 -7.78966943e-03 1.41003210e+02] [ 8.90332713e-01 4.55080494e-01 -1.44708056e-02 7.23017506e+01] [ 1.64304588e-02 -3.50979018e-04 9.99864949e-01 2.14985397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.01, Y:72.33, Z:2.15 [[ 4.53759365e-01 -8.91094729e-01 -7.25410674e-03 1.41014204e+02] [ 8.90992775e-01 4.53817215e-01 -1.34837117e-02 7.23286005e+01] [ 1.53073029e-02 -3.44996230e-04 9.99882777e-01 2.15093348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.03, Y:72.35, Z:2.15 [[ 4.53060565e-01 -8.91451884e-01 -7.04714205e-03 1.41026344e+02] [ 8.91355599e-01 4.53115239e-01 -1.31063584e-02 7.23536118e+01] [ 1.48768554e-02 -3.43535375e-04 9.99889274e-01 2.15171366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.04, Y:72.38, Z:2.15 [[ 4.52134193e-01 -8.91923119e-01 -6.91524971e-03 1.41038268e+02] [ 8.91830343e-01 4.52186939e-01 -1.28690297e-02 7.23796571e+01] [ 1.46051707e-02 -3.48701169e-04 9.99893278e-01 2.15241988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.05, Y:72.40, Z:2.15 [[ 4.51854339e-01 -8.92066622e-01 -6.69321742e-03 1.41050352e+02] [ 8.91979625e-01 4.51903781e-01 -1.24627731e-02 7.24046529e+01] [ 1.41423142e-02 -3.38855471e-04 9.99899935e-01 2.15260143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.06, Y:72.43, Z:2.15 [[ 4.51640049e-01 -8.92175310e-01 -6.66951145e-03 1.41061497e+02] [ 8.92088827e-01 4.51689166e-01 -1.24267155e-02 7.24302147e+01] [ 1.40993548e-02 -3.37394244e-04 9.99900542e-01 2.15335227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.07, Y:72.45, Z:2.15 [[ 4.51692696e-01 -8.92148369e-01 -6.70788969e-03 1.41074715e+02] [ 8.92060767e-01 4.51742377e-01 -1.25065185e-02 7.24542664e+01] [ 1.41879081e-02 -3.34742169e-04 9.99899291e-01 2.15361873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:72.48, Z:2.15 [[ 4.52214771e-01 -8.91886214e-01 -6.38613586e-03 1.41088150e+02] [ 8.91806698e-01 4.52259756e-01 -1.19132661e-02 7.24775375e+01] [ 1.35134700e-02 -3.07843845e-04 9.99908642e-01 2.15385534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.10, Y:72.51, Z:2.15 [[ 4.53346278e-01 -8.91311100e-01 -6.45564011e-03 1.41095030e+02] [ 8.91229701e-01 4.53392147e-01 -1.20491123e-02 7.25066650e+01] [ 1.36664441e-02 -2.91037971e-04 9.99906567e-01 2.15449532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:72.53, Z:2.15 [[ 4.53915760e-01 -8.91021609e-01 -6.40112866e-03 1.41106137e+02] [ 8.90941458e-01 4.53960808e-01 -1.19542156e-02 7.25313876e+01] [ 1.35573260e-02 -2.76824025e-04 9.99908057e-01 2.15439436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.12, Y:72.56, Z:2.15 [[ 4.55318477e-01 -8.90307180e-01 -6.18136963e-03 1.41116193e+02] [ 8.90232294e-01 4.55360369e-01 -1.15497401e-02 7.25566975e+01] [ 1.30975673e-02 -2.44044786e-04 9.99914193e-01 2.15489068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.13, Y:72.58, Z:2.16 [[ 4.56019881e-01 -8.89948151e-01 -6.17708352e-03 1.41127598e+02] [ 8.89873274e-01 4.56061656e-01 -1.15465302e-02 7.25828278e+01] [ 1.30929441e-02 -2.31374218e-04 9.99914257e-01 2.15540815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:72.61, Z:2.16 [[ 4.57051977e-01 -8.89418401e-01 -6.19666729e-03 1.41138054e+02] [ 8.89342901e-01 4.57093932e-01 -1.15906177e-02 7.26084209e+01] [ 1.31413677e-02 -2.13447322e-04 9.99913626e-01 2.15621526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.15, Y:72.63, Z:2.16 [[ 4.57116241e-01 -8.89386684e-01 -6.00570373e-03 1.41149557e+02] [ 8.89315694e-01 4.57155646e-01 -1.12388188e-02 7.26340659e+01] [ 1.27411971e-02 -2.03519986e-04 9.99918807e-01 2.15655266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.16, Y:72.66, Z:2.16 [[ 4.57113877e-01 -8.89387629e-01 -6.04554904e-03 1.41161718e+02] [ 8.89315598e-01 4.57153809e-01 -1.13208541e-02 7.26595713e+01] [ 1.28323733e-02 -2.01481553e-04 9.99917641e-01 2.15701346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.17, Y:72.69, Z:2.16 [[ 4.56663098e-01 -8.89620065e-01 -5.91220182e-03 1.41172872e+02] [ 8.89551108e-01 4.56701324e-01 -1.10781786e-02 7.26858466e+01] [ 1.25554804e-02 -2.00210327e-04 9.99921157e-01 2.15723929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.19, Y:72.71, Z:2.16 [[ 4.56125803e-01 -8.89896455e-01 -5.79232980e-03 1.41185285e+02] [ 8.89830199e-01 4.56162536e-01 -1.08608366e-02 7.27093447e+01] [ 1.23072638e-02 -2.00282162e-04 9.99924243e-01 2.15786497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.20, Y:72.74, Z:2.16 [[ 4.55772488e-01 -8.90078696e-01 -5.59946267e-03 1.41196943e+02] [ 8.90016719e-01 4.55806841e-01 -1.05053644e-02 7.27354461e+01] [ 1.19028745e-02 -1.95559303e-04 9.99929139e-01 2.15794633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.21, Y:72.76, Z:2.16 [[ 4.55164668e-01 -8.90387512e-01 -5.93330310e-03 1.41210234e+02] [ 8.90317851e-01 4.55203288e-01 -1.11396363e-02 7.27588709e+01] [ 1.26194522e-02 -2.12156799e-04 9.99920349e-01 2.15807352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.22, Y:72.79, Z:2.16 [[ 4.54253174e-01 -8.90850783e-01 -6.23985458e-03 1.41220906e+02] [ 8.90773682e-01 4.54295969e-01 -1.17226506e-02 7.27862734e+01] [ 1.32778732e-02 -2.33247017e-04 9.99911818e-01 2.15820800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.23, Y:72.81, Z:2.16 [[ 4.54206077e-01 -8.90874203e-01 -6.32401753e-03 1.41233482e+02] [ 8.90794914e-01 4.54250040e-01 -1.18879072e-02 7.28097471e+01] [ 1.34633151e-02 -2.33842966e-04 9.99909338e-01 2.15856227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.25, Y:72.84, Z:2.16 [[ 4.53879349e-01 -8.91040179e-01 -6.39811905e-03 1.41246198e+02] [ 8.90958975e-01 4.53924379e-01 -1.20317921e-02 7.28350808e+01] [ 1.36250724e-02 -2.39479637e-04 9.99907146e-01 2.15897392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:72.86, Z:2.16 [[ 4.53378353e-01 -8.91292910e-01 -6.70949598e-03 1.41257803e+02] [ 8.91203512e-01 4.53427925e-01 -1.26260259e-02 7.28606991e+01] [ 1.42957602e-02 -2.55159563e-04 9.99897778e-01 2.15922671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:72.89, Z:2.16 [[ 4.52920798e-01 -8.91523878e-01 -6.92285263e-03 1.41270099e+02] [ 8.91428599e-01 4.52973624e-01 -1.30364359e-02 7.28862310e+01] [ 1.47581636e-02 -2.66755854e-04 9.99891057e-01 2.15943210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.28, Y:72.91, Z:2.16 [[ 4.52673323e-01 -8.91649587e-01 -6.91923246e-03 1.41282971e+02] [ 8.91554294e-01 4.52726123e-01 -1.30383572e-02 7.29106115e+01] [ 1.47581631e-02 -2.66754945e-04 9.99891057e-01 2.15979889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:72.94, Z:2.16 [[ 4.51956683e-01 -8.92009423e-01 -7.37200721e-03 1.41295869e+02] [ 8.91901143e-01 4.52016708e-01 -1.39013441e-02 7.29359424e+01] [ 1.57324004e-02 -2.92296296e-04 9.99876195e-01 2.15953392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.31, Y:72.96, Z:2.16 [[ 4.51264008e-01 -8.92357971e-01 -7.61885589e-03 1.41308678e+02] [ 8.92242211e-01 4.51328213e-01 -1.43764244e-02 7.29612740e+01] [ 1.62675215e-02 -3.10301951e-04 9.99867627e-01 2.15998981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.32, Y:72.99, Z:2.16 [[ 4.50478939e-01 -8.92752996e-01 -7.79836280e-03 1.41321311e+02] [ 8.92631612e-01 4.50546314e-01 -1.47249144e-02 7.29863661e+01] [ 1.66592350e-02 -3.27801355e-04 9.99861172e-01 2.16019572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.33, Y:73.01, Z:2.16 [[ 4.49924325e-01 -8.93033646e-01 -7.68172643e-03 1.41333701e+02] [ 8.92915755e-01 4.49989776e-01 -1.45139596e-02 7.30113699e+01] [ 1.64181526e-02 -3.28951094e-04 9.99865159e-01 2.16026241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.35, Y:73.04, Z:2.16 [[ 4.49037568e-01 -8.93479248e-01 -7.75220202e-03 1.41346304e+02] [ 8.93359089e-01 4.49104349e-01 -1.46568361e-02 7.30368712e+01] [ 1.65771266e-02 -3.44030075e-04 9.99862531e-01 2.16086788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.36, Y:73.06, Z:2.16 [[ 4.48448167e-01 -8.93776002e-01 -7.66160905e-03 1.41358638e+02] [ 8.93658527e-01 4.48513476e-01 -1.44947494e-02 7.30621116e+01] [ 1.63913940e-02 -3.46718486e-04 9.99865592e-01 2.16126911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:73.09, Z:2.16 [[ 4.47953693e-01 -8.94023307e-01 -7.73404442e-03 1.41371691e+02] [ 8.93903476e-01 4.48020313e-01 -1.46415614e-02 7.30873033e+01] [ 1.65549061e-02 -3.54747675e-04 9.99862895e-01 2.16174370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.38, Y:73.11, Z:2.16 [[ 4.47502559e-01 -8.94247536e-01 -7.92494379e-03 1.41384048e+02] [ 8.94121583e-01 4.47572575e-01 -1.50128600e-02 7.31109657e+01] [ 1.69722006e-02 -3.67570011e-04 9.99855894e-01 2.16210091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.40, Y:73.14, Z:2.16 [[ 4.47340696e-01 -8.94329413e-01 -7.82327883e-03 1.41396714e+02] [ 8.94206533e-01 4.47408952e-01 -1.48292448e-02 7.31359975e+01] [ 1.67624348e-02 -3.61902328e-04 9.99859435e-01 2.16246000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:73.16, Z:2.16 [[ 4.47868604e-01 -8.94066151e-01 -7.70911855e-03 1.41408644e+02] [ 8.93946639e-01 4.47934816e-01 -1.46221521e-02 7.31621924e+01] [ 1.65263539e-02 -3.42737758e-04 9.99863372e-01 2.16318919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.42, Y:73.19, Z:2.16 [[ 4.48460949e-01 -8.93769102e-01 -7.71817039e-03 1.41420290e+02] [ 8.93649118e-01 4.48527240e-01 -1.46481977e-02 7.31876135e+01] [ 1.65539162e-02 -3.28191503e-04 9.99862921e-01 2.16345017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:73.21, Z:2.16 [[ 4.49167047e-01 -8.93411646e-01 -8.03701915e-03 1.41432424e+02] [ 8.93281324e-01 4.49238829e-01 -1.52627329e-02 7.32116514e+01] [ 1.72464444e-02 -3.23802448e-04 9.99851217e-01 2.16361715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.44, Y:73.24, Z:2.16 [[ 4.50216058e-01 -8.92879051e-01 -8.51479741e-03 1.41443492e+02] [ 8.92732527e-01 4.50296458e-01 -1.61782441e-02 7.32378680e+01] [ 1.82793983e-02 -3.17731322e-04 9.99832867e-01 2.16308215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.46, Y:73.26, Z:2.16 [[ 4.50659357e-01 -8.92654238e-01 -8.63453602e-03 1.41456715e+02] [ 8.92503332e-01 4.50741962e-01 -1.64160390e-02 7.32610429e+01] [ 1.85457945e-02 -3.08310593e-04 9.99827964e-01 2.16305125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.47, Y:73.29, Z:2.16 [[ 4.51036070e-01 -8.92464734e-01 -8.55354503e-03 1.41469676e+02] [ 8.92316438e-01 4.51117072e-01 -1.62714946e-02 7.32856971e+01] [ 1.83803853e-02 -2.93437853e-04 9.99831023e-01 2.16343051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:73.31, Z:2.17 [[ 4.51545128e-01 -8.92210578e-01 -8.20254130e-03 1.41481550e+02] [ 8.92073996e-01 4.51619545e-01 -1.56132304e-02 7.33122441e+01] [ 1.76347173e-02 -2.67195671e-04 9.99844461e-01 2.16520587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.50, Y:73.34, Z:2.17 [[ 4.51797105e-01 -8.92084682e-01 -8.01850610e-03 1.41495009e+02] [ 8.91953987e-01 4.51868186e-01 -1.52718330e-02 7.33355889e+01] [ 1.72470760e-02 -2.52368559e-04 9.99851226e-01 2.16553432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:73.36, Z:2.17 [[ 4.51927578e-01 -8.92021158e-01 -7.72777805e-03 1.41508181e+02] [ 8.91899620e-01 4.51993582e-01 -1.47265065e-02 7.33592253e+01] [ 1.66292615e-02 -2.37087896e-04 9.99861696e-01 2.16634227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.52, Y:73.38, Z:2.17 [[ 4.52055714e-01 -8.91957713e-01 -7.55446192e-03 1.41520223e+02] [ 8.91841422e-01 4.52118776e-01 -1.44045567e-02 7.33842855e+01] [ 1.62637695e-02 -2.25719907e-04 9.99867711e-01 2.16789727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.53, Y:73.41, Z:2.17 [[ 4.52099777e-01 -8.91938742e-01 -7.14643673e-03 1.41533435e+02] [ 8.91834539e-01 4.52156208e-01 -1.36352325e-02 7.34090128e+01] [ 1.53930979e-02 -2.08953533e-04 9.99881497e-01 2.16866166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.55, Y:73.43, Z:2.17 [[ 4.52156485e-01 -8.91911370e-01 -6.97291216e-03 1.41546634e+02] [ 8.91812031e-01 4.52210204e-01 -1.33128992e-02 7.34334396e+01] [ 1.50271482e-02 -1.99013232e-04 9.99887066e-01 2.16906227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.56, Y:73.46, Z:2.17 [[ 4.52373717e-01 -8.91800524e-01 -7.06015753e-03 1.41559543e+02] [ 8.91698536e-01 4.52428765e-01 -1.34882340e-02 7.34569704e+01] [ 1.52230325e-02 -1.93809589e-04 9.99884104e-01 2.16938154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.57, Y:73.48, Z:2.17 [[ 4.53132241e-01 -8.91415568e-01 -7.03261904e-03 1.41572344e+02] [ 8.91314230e-01 4.53186776e-01 -1.34420503e-02 7.34823323e+01] [ 1.51695428e-02 -1.77247067e-04 9.99884920e-01 2.16939679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:73.51, Z:2.17 [[ 4.53686814e-01 -8.91132284e-01 -7.17831309e-03 1.41585078e+02] [ 8.91026526e-01 4.53743568e-01 -1.37297152e-02 7.35069107e+01] [ 1.54921058e-02 -1.67076645e-04 9.99879976e-01 2.16972571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.60, Y:73.53, Z:2.17 [[ 4.54314952e-01 -8.90810883e-01 -7.34132410e-03 1.41597955e+02] [ 8.90700077e-01 4.54374236e-01 -1.40508851e-02 7.35307536e+01] [ 1.58523899e-02 -1.55390738e-04 9.99874331e-01 2.16981680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:73.55, Z:2.17 [[ 4.55571783e-01 -8.90169018e-01 -7.31226224e-03 1.41610978e+02] [ 8.90058877e-01 4.55630445e-01 -1.40032947e-02 7.35546888e+01] [ 1.57969884e-02 -1.28837975e-04 9.99875211e-01 2.17005578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.62, Y:73.58, Z:2.17 [[ 4.55819869e-01 -8.90042352e-01 -7.27045002e-03 1.41623474e+02] [ 8.89933329e-01 4.55877832e-01 -1.39309475e-02 7.35798135e+01] [ 1.57135703e-02 -1.20213114e-04 9.99876527e-01 2.17059151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:73.60, Z:2.17 [[ 4.55785570e-01 -8.90061215e-01 -7.10975601e-03 1.41636658e+02] [ 8.89956825e-01 4.55841004e-01 -1.36319187e-02 7.36043280e+01] [ 1.53741604e-02 -1.14144070e-04 9.99881804e-01 2.17108449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:73.63, Z:2.17 [[ 4.55787516e-01 -8.90060410e-01 -7.08567979e-03 1.41650886e+02] [ 8.89956589e-01 4.55842576e-01 -1.35947008e-02 7.36277719e+01] [ 1.53300595e-02 -1.09652510e-04 9.99882482e-01 2.17191838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.66, Y:73.65, Z:2.17 [[ 4.55374211e-01 -8.90272122e-01 -7.06230345e-03 1.41664456e+02] [ 8.90168887e-01 4.55428958e-01 -1.35579402e-02 7.36515535e+01] [ 1.52866337e-02 -1.12706468e-04 9.99883146e-01 2.17212628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:141.68, Y:73.68, Z:2.17 [[ 4.54806542e-01 -8.90562923e-01 -6.97783214e-03 1.41678244e+02] [ 8.90462055e-01 4.54860052e-01 -1.34037736e-02 7.36759815e+01] [ 1.51108409e-02 -1.17370816e-04 9.99885818e-01 2.17260760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.69, Y:73.70, Z:2.17 [[ 4.53382418e-01 -8.91291430e-01 -6.63091953e-03 1.41694299e+02] [ 8.91200304e-01 4.53430887e-01 -1.27455265e-02 7.36994979e+01] [ 1.43666423e-02 -1.30879865e-04 9.99896786e-01 2.17372845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:73.72, Z:2.17 [[ 4.52584807e-01 -8.91696173e-01 -6.70284341e-03 1.41708318e+02] [ 8.91602982e-01 4.52634417e-01 -1.28921030e-02 7.37225488e+01] [ 1.45297765e-02 -1.41505235e-04 9.99894427e-01 2.17452627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.72, Y:73.75, Z:2.18 [[ 4.51600008e-01 -8.92197637e-01 -6.38814379e-03 1.41722849e+02] [ 8.92112970e-01 4.51645164e-01 -1.22920230e-02 7.37457638e+01] [ 1.38520881e-02 -1.47868266e-04 9.99904044e-01 2.17568841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.74, Y:73.77, Z:2.18 [[ 4.50168781e-01 -8.92921609e-01 -6.25052689e-03 1.41738457e+02] [ 8.92840551e-01 4.50212143e-01 -1.20323272e-02 7.37696470e+01] [ 1.35579881e-02 -1.64145780e-04 9.99908073e-01 2.17670313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.75, Y:73.79, Z:2.18 [[ 4.49215438e-01 -8.93400899e-01 -6.35010843e-03 1.41751814e+02] [ 8.93317179e-01 4.49260283e-01 -1.22317397e-02 7.37941246e+01] [ 1.37806988e-02 -1.77974631e-04 9.99905026e-01 2.17712474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.77, Y:73.82, Z:2.18 [[ 4.48806787e-01 -8.93606837e-01 -6.26808768e-03 1.41765929e+02] [ 8.93525180e-01 4.48850520e-01 -1.20815086e-02 7.38176764e+01] [ 1.36095531e-02 -1.78431110e-04 9.99907370e-01 2.17761014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:73.84, Z:2.18 [[ 4.47636965e-01 -8.94192988e-01 -6.32835225e-03 1.41781811e+02] [ 8.94109710e-01 4.47681653e-01 -1.22050577e-02 7.38416207e+01] [ 1.37467642e-02 -1.94806223e-04 9.99905490e-01 2.17770694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:73.86, Z:2.18 [[ 4.47128002e-01 -8.94446337e-01 -6.50384111e-03 1.41795466e+02] [ 8.94358289e-01 4.47175255e-01 -1.25515966e-02 7.38645184e+01] [ 1.41350864e-02 -2.04593912e-04 9.99900074e-01 2.17804792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.81, Y:73.89, Z:2.18 [[ 4.46240420e-01 -8.94887560e-01 -6.76328057e-03 1.41810602e+02] [ 8.94792283e-01 4.46291614e-01 -1.30600699e-02 7.38873185e+01] [ 1.47056895e-02 -2.23800188e-04 9.99891840e-01 2.17805744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.82, Y:73.91, Z:2.18 [[ 4.45714267e-01 -8.95148309e-01 -6.94961507e-03 1.41822858e+02] [ 8.95047649e-01 4.45768381e-01 -1.34259734e-02 7.39122912e+01] [ 1.51161560e-02 -2.36088751e-04 9.99885717e-01 2.17811465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.84, Y:73.94, Z:2.18 [[ 4.45134504e-01 -8.95436249e-01 -7.01411302e-03 1.41836722e+02] [ 8.95333606e-01 4.45189695e-01 -1.35598141e-02 7.39369574e+01] [ 1.52645599e-02 -2.44029968e-04 9.99883460e-01 2.17832576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.85, Y:73.96, Z:2.18 [[ 4.44767013e-01 -8.95617841e-01 -7.14051142e-03 1.41852245e+02] [ 8.95511343e-01 4.44824257e-01 -1.38135596e-02 7.39589291e+01] [ 1.55479431e-02 -2.50593339e-04 9.99879092e-01 2.17788720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.87, Y:73.98, Z:2.18 [[ 4.44519927e-01 -8.95737684e-01 -7.48575546e-03 1.41865682e+02] [ 8.95620502e-01 4.44582875e-01 -1.44908264e-02 7.39831374e+01] [ 1.63080180e-02 -2.62934975e-04 9.99866981e-01 2.17863337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.88, Y:74.01, Z:2.18 [[ 4.44506837e-01 -8.95742764e-01 -7.65333470e-03 1.41879541e+02] [ 8.95620110e-01 4.44572639e-01 -1.48252119e-02 7.40063587e+01] [ 1.66820395e-02 -2.64572416e-04 9.99860810e-01 2.17916628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:74.03, Z:2.18 [[ 4.44495242e-01 -8.95745484e-01 -8.00052002e-03 1.41893497e+02] [ 8.95611280e-01 4.44567154e-01 -1.55074268e-02 7.40296176e+01] [ 1.74474759e-02 -2.72378547e-04 9.99847744e-01 2.17966485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:74.05, Z:2.18 [[ 4.44946574e-01 -8.95521018e-01 -8.04068205e-03 1.41907131e+02] [ 8.95385257e-01 4.45019143e-01 -1.55949646e-02 7.40540611e+01] [ 1.75438760e-02 -2.60582105e-04 9.99846060e-01 2.18040667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59361786499997 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:141.92, Y:74.08, Z:2.18 [[ 4.45278842e-01 -8.95357123e-01 -7.89779072e-03 1.41920839e+02] [ 8.95225942e-01 4.45348810e-01 -1.53280917e-02 7.40790734e+01] [ 1.72413877e-02 -2.45032236e-04 9.99851326e-01 2.18104995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.94, Y:74.10, Z:2.18 [[ 4.46090183e-01 -8.94957128e-01 -7.43555138e-03 1.41935484e+02] [ 8.94840657e-01 4.46152097e-01 -1.44396983e-02 7.41024948e+01] [ 1.62402978e-02 -2.12226028e-04 9.99868095e-01 2.18221584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:74.13, Z:2.18 [[ 4.46296699e-01 -8.94852855e-01 -7.59112870e-03 1.41949715e+02] [ 8.94731322e-01 4.46361204e-01 -1.47491175e-02 7.41271840e+01] [ 1.65866753e-02 -2.09538156e-04 9.99862410e-01 2.18294663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.96, Y:74.15, Z:2.18 [[ 4.46426826e-01 -8.94788092e-01 -7.57363085e-03 1.41964048e+02] [ 8.94666946e-01 4.46491019e-01 -1.47249820e-02 7.41517881e+01] [ 1.65572967e-02 -2.02250212e-04 9.99862898e-01 2.18363199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:74.18, Z:2.18 [[ 4.46416018e-01 -8.94791341e-01 -7.82265427e-03 1.41978266e+02] [ 8.94661920e-01 4.46484505e-01 -1.52195555e-02 7.41760428e+01] [ 1.71110204e-02 -2.04377545e-04 9.99853575e-01 2.18396901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.99, Y:74.20, Z:2.18 [[ 4.46895619e-01 -8.94546032e-01 -8.46775620e-03 1.41993833e+02] [ 8.94394123e-01 4.46975787e-01 -1.64863032e-02 7.41995961e+01] [ 1.85326391e-02 -2.05854688e-04 9.99828235e-01 2.18421598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.01, Y:74.22, Z:2.18 [[ 4.46827484e-01 -8.94578312e-01 -8.65120852e-03 1.42007761e+02] [ 8.94419544e-01 4.46911178e-01 -1.68546385e-02 7.42230719e+01] [ 1.89441159e-02 -2.06694258e-04 9.99820523e-01 2.18426110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters Centerline goodness [0,1] 0.9999346334023315 Centerline is valid? [True, True] Translation: X:142.02, Y:74.25, Z:2.18 [[ 4.47458627e-01 -8.94260447e-01 -8.88990659e-03 1.42023127e+02] [ 8.94092519e-01 4.47546887e-01 -1.73306446e-02 7.42471059e+01] [ 1.94767600e-02 -1.93652544e-04 9.99810291e-01 2.18496849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.04, Y:74.27, Z:2.19 [[ 4.47587181e-01 -8.94195807e-01 -8.92047517e-03 1.42036795e+02] [ 8.94026483e-01 4.47676027e-01 -1.74018160e-02 7.42719223e+01] [ 1.95541138e-02 -1.86311264e-04 9.99808783e-01 2.18576635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.05, Y:74.30, Z:2.19 [[ 4.47552264e-01 -8.94212971e-01 -8.95170198e-03 1.42050705e+02] [ 8.94042230e-01 4.47641741e-01 -1.74746095e-02 7.42964958e+01] [ 1.96331779e-02 -1.82398583e-04 9.99807234e-01 2.18664711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89361786499998 meters Centerline goodness [0,1] 0.9998900929813378 Centerline is valid? [True, True] Translation: X:142.07, Y:74.32, Z:2.19 [[ 4.47428021e-01 -8.94274120e-01 -9.05339493e-03 1.42066172e+02] [ 8.94099256e-01 4.47519569e-01 -1.76848786e-02 7.43188308e+01] [ 1.98667007e-02 -1.81923426e-04 9.99802621e-01 2.18741832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499995 meters Centerline goodness [0,1] 0.9999341021416804 Centerline is valid? [True, True] Translation: X:142.08, Y:74.34, Z:2.19 [[ 4.47110150e-01 -8.94431752e-01 -9.18451194e-03 1.42080199e+02] [ 8.94251596e-01 4.47204434e-01 -1.79520508e-02 7.43415833e+01] [ 2.01642387e-02 -1.86720360e-04 9.99796664e-01 2.18736548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95361786499996 meters Centerline goodness [0,1] 0.9999779808433337 Centerline is valid? [True, True] Translation: X:142.10, Y:74.36, Z:2.19 [[ 4.45717159e-01 -8.95124369e-01 -9.41160498e-03 1.42096094e+02] [ 8.94935103e-01 4.45816461e-01 -1.84077514e-02 7.43641955e+01] [ 2.06730753e-02 -2.18125014e-04 9.99786265e-01 2.18746831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.11, Y:74.39, Z:2.19 [[ 4.44598906e-01 -8.95679927e-01 -9.44881106e-03 1.42110346e+02] [ 8.95489029e-01 4.44699236e-01 -1.84929259e-02 7.43883100e+01] [ 2.07656216e-02 -2.39371998e-04 9.99784343e-01 2.18817650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.12, Y:74.41, Z:2.19 [[ 4.43943921e-01 -8.96004209e-01 -9.50012928e-03 1.42124825e+02] [ 8.95811080e-01 4.44045487e-01 -1.86041734e-02 7.44118039e+01] [ 2.08879072e-02 -2.51111380e-04 9.99781792e-01 2.18878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04361786499996 meters Centerline goodness [0,1] 0.9999335489301377 Centerline is valid? [True, True] Translation: X:142.14, Y:74.44, Z:2.19 [[ 4.43186063e-01 -8.96378935e-01 -9.53514361e-03 1.42137737e+02] [ 8.96184248e-01 4.43288546e-01 -1.86831031e-02 7.44362998e+01] [ 2.09739600e-02 -2.65154607e-04 9.99779987e-01 2.19015383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07361786499996 meters Centerline goodness [0,1] 0.9999335489301377 Centerline is valid? [True, True] Translation: X:142.15, Y:74.46, Z:2.19 [[ 4.42937027e-01 -8.96502075e-01 -9.52995392e-03 1.42150219e+02] [ 8.96307360e-01 4.43039456e-01 -1.86857502e-02 7.44608997e+01] [ 2.09739594e-02 -2.65157197e-04 9.99779987e-01 2.19052061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10361786499996 meters Centerline goodness [0,1] 0.9999779303038997 Centerline is valid? [True, True] Translation: X:142.17, Y:74.48, Z:2.19 [[ 4.42130377e-01 -8.96898506e-01 -9.68508796e-03 1.42166227e+02] [ 8.96697250e-01 4.42236351e-01 -1.90013480e-02 7.44830012e+01] [ 2.13253786e-02 -2.83518607e-04 9.99772548e-01 2.19130035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13361786499996 meters Centerline goodness [0,1] 0.9999558108705259 Centerline is valid? [True, True] Translation: X:142.18, Y:74.51, Z:2.19 [[ 4.42459938e-01 -8.96736407e-01 -9.64472438e-03 1.42179827e+02] [ 8.96536589e-01 4.42564960e-01 -1.89314564e-02 7.45066330e+01] [ 2.12449432e-02 -2.70437294e-04 9.99774264e-01 2.19176727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:74.53, Z:2.19 [[ 4.42986817e-01 -8.96478424e-01 -9.44011552e-03 1.42191067e+02] [ 8.96286704e-01 4.43087321e-01 -1.85410260e-02 7.45320627e+01] [ 2.08044253e-02 -2.47619929e-04 9.99783534e-01 2.19314006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19361786499996 meters Centerline goodness [0,1] 0.9999119524543253 Centerline is valid? [True, True] Translation: X:142.20, Y:74.56, Z:2.19 [[ 4.43629885e-01 -8.96160523e-01 -9.42557520e-03 1.42203248e+02] [ 8.95969078e-01 4.43729946e-01 -1.85242023e-02 7.45564835e+01] [ 2.07830688e-02 -2.27134191e-04 9.99783983e-01 2.19399136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22361786499997 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:142.22, Y:74.58, Z:2.19 [[ 4.45535415e-01 -8.95212859e-01 -9.59851210e-03 1.42216035e+02] [ 8.95013858e-01 4.45638761e-01 -1.88756038e-02 7.45815688e+01] [ 2.11751523e-02 -1.81051355e-04 9.99775765e-01 2.19445347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25361786499997 meters Centerline goodness [0,1] 0.9999779244574936 Centerline is valid? [True, True] Translation: X:142.23, Y:74.61, Z:2.19 [[ 4.46632496e-01 -8.94664460e-01 -9.74258758e-03 1.42228226e+02] [ 8.94459038e-01 4.46738718e-01 -1.91715376e-02 7.46066333e+01] [ 2.15044844e-02 -1.51713827e-04 9.99768740e-01 2.19462182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.24, Y:74.63, Z:2.19 [[ 4.49008441e-01 -8.93466831e-01 -1.04135407e-02 1.42239424e+02] [ 8.93231503e-01 4.49129172e-01 -2.05053331e-02 7.46315962e+01] [ 2.29978599e-02 -9.46349535e-05 9.99735510e-01 2.19371326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31361786499997 meters Centerline goodness [0,1] 0.9998455018981195 Centerline is valid? [True, True] Translation: X:142.25, Y:74.66, Z:2.19 [[ 4.49975065e-01 -8.92975963e-01 -1.07874892e-02 1.42251165e+02] [ 8.92722967e-01 4.50104349e-01 -2.12550921e-02 7.46567855e+01] [ 2.38357821e-02 -6.59779431e-05 9.99715885e-01 2.19369308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34361786499997 meters Centerline goodness [0,1] 0.9998679112363509 Centerline is valid? [True, True] Translation: X:142.26, Y:74.68, Z:2.19 [[ 4.50493902e-01 -8.92711149e-01 -1.10475759e-02 1.42262986e+02] [ 8.92445372e-01 4.50629340e-01 -2.17820125e-02 7.46820166e+01] [ 2.44234073e-02 -4.66941602e-05 9.99701703e-01 2.19376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37361786499997 meters Centerline goodness [0,1] 0.9999117640570887 Centerline is valid? [True, True] Translation: X:142.27, Y:74.71, Z:2.19 [[ 4.51128869e-01 -8.92387193e-01 -1.13066843e-02 1.42274071e+02] [ 8.92108375e-01 4.51270536e-01 -2.23058329e-02 7.47071645e+01] [ 2.50078130e-02 -2.39825699e-05 9.99687255e-01 2.19392939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40361786499997 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:142.29, Y:74.73, Z:2.20 [[ 4.50987275e-01 -8.92458930e-01 -1.12932255e-02 1.42286581e+02] [ 8.92180488e-01 4.51128650e-01 -2.22916783e-02 7.47319263e+01] [ 2.49891049e-02 -2.23321943e-05 9.99687723e-01 2.19518714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43361786499997 meters Centerline goodness [0,1] 0.9997797162745616 Centerline is valid? [True, True] Translation: X:142.30, Y:74.76, Z:2.20 [[ 4.50356439e-01 -8.92780019e-01 -1.10866950e-02 1.42298974e+02] [ 8.92511415e-01 4.50492881e-01 -2.18983782e-02 7.47557520e+01] [ 2.45449117e-02 -3.29261645e-05 9.99698728e-01 2.19623246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:142.31, Y:74.78, Z:2.20 [[ 4.48715260e-01 -8.93611478e-01 -1.06367915e-02 1.42312656e+02] [ 8.93364153e-01 4.48841309e-01 -2.10230627e-02 7.47807984e+01] [ 2.35606816e-02 -6.91592276e-05 9.99722406e-01 2.19938090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49361786499998 meters Centerline goodness [0,1] 0.9997799828386614 Centerline is valid? [True, True] Translation: X:142.33, Y:74.81, Z:2.20 [[ 4.47831472e-01 -8.94058396e-01 -1.03227046e-02 1.42325848e+02] [ 8.93825289e-01 4.47950419e-01 -2.04150399e-02 7.48059981e+01] [ 2.28762977e-02 -8.41971265e-05 9.99738300e-01 2.20114394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters Centerline goodness [0,1] 0.999670474516696 Centerline is valid? [True, True] Translation: X:142.34, Y:74.83, Z:2.20 [[ 4.46644777e-01 -8.94653628e-01 -1.01651197e-02 1.42339159e+02] [ 8.94427436e-01 4.46760422e-01 -2.01168130e-02 7.48307778e+01] [ 2.25389529e-02 -1.06892513e-04 9.99745960e-01 2.20230546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55361786499998 meters Centerline goodness [0,1] 0.9996483052710248 Centerline is valid? [True, True] Translation: X:142.35, Y:74.85, Z:2.20 [[ 4.45603504e-01 -8.95170919e-01 -1.03219749e-02 1.42352584e+02] [ 8.94937524e-01 4.45723019e-01 -2.04406065e-02 7.48541713e+01] [ 2.28985783e-02 -1.29116810e-04 9.99737785e-01 2.20153254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters Centerline goodness [0,1] 0.9997586713762313 Centerline is valid? [True, True] Translation: X:142.37, Y:74.88, Z:2.20 [[ 4.43955833e-01 -8.95990635e-01 -1.01980882e-02 1.42365034e+02] [ 8.95762738e-01 4.44072917e-01 -2.02079449e-02 7.48796723e+01] [ 2.26348241e-02 -1.63632399e-04 9.99743786e-01 2.20307032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61361786499998 meters Centerline goodness [0,1] 0.9994944277141539 Centerline is valid? [True, True] Translation: X:142.38, Y:74.91, Z:2.20 [[ 4.42768916e-01 -8.96576614e-01 -1.02986916e-02 1.42377234e+02] [ 8.96344044e-01 4.42888632e-01 -2.04209325e-02 7.49051046e+01] [ 2.28701039e-02 -1.89416733e-04 9.99738427e-01 2.20384451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499995 meters Centerline goodness [0,1] 0.9996276013143484 Centerline is valid? [True, True] Translation: X:142.39, Y:74.93, Z:2.20 [[ 4.40905240e-01 -8.97488997e-01 -1.07735914e-02 1.42390936e+02] [ 8.97234471e-01 4.41036781e-01 -2.13743242e-02 7.49290811e+01] [ 2.39347708e-02 -2.42386051e-04 9.99713493e-01 2.20362989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67361786499995 meters Centerline goodness [0,1] 0.99984627547435 Centerline is valid? [True, True] Translation: X:142.40, Y:74.95, Z:2.20 [[ 4.39663578e-01 -8.98095493e-01 -1.09737718e-02 1.42404133e+02] [ 8.97831347e-01 4.39800420e-01 -2.17821901e-02 7.49541475e+01] [ 2.43887562e-02 -2.75760665e-04 9.99702512e-01 2.20404227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499996 meters Centerline goodness [0,1] 0.9997585230390973 Centerline is valid? [True, True] Translation: X:142.42, Y:74.98, Z:2.20 [[ 4.38635663e-01 -8.98595736e-01 -1.11560912e-02 1.42417318e+02] [ 8.98322592e-01 4.38777405e-01 -2.21564726e-02 7.49787283e+01] [ 2.48047526e-02 -3.03149731e-04 9.99692269e-01 2.20427547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73361786499996 meters Centerline goodness [0,1] 0.9998905692587161 Centerline is valid? [True, True] Translation: X:142.43, Y:75.00, Z:2.21 [[ 4.36786460e-01 -8.99490257e-01 -1.16132101e-02 1.42432145e+02] [ 8.99194338e-01 4.36940666e-01 -2.30737236e-02 7.50029648e+01] [ 2.58288733e-02 -3.64242739e-04 9.99666313e-01 2.20519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76361786499996 meters Centerline goodness [0,1] 0.9999781085814361 Centerline is valid? [True, True] Translation: X:142.45, Y:75.03, Z:2.21 [[ 4.35963414e-01 -8.99890145e-01 -1.15597735e-02 1.42445653e+02] [ 8.99596784e-01 4.36116477e-01 -2.29792360e-02 7.50280965e+01] [ 2.57201958e-02 -3.81028892e-04 9.99669108e-01 2.20552805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79361786499996 meters Centerline goodness [0,1] 0.9997151059586684 Centerline is valid? [True, True] Translation: X:142.46, Y:75.05, Z:2.21 [[ 4.35391790e-01 -9.00165386e-01 -1.16733671e-02 1.42457824e+02] [ 8.99865919e-01 4.35548072e-01 -2.32207782e-02 7.50529639e+01] [ 2.59868533e-02 -3.94328989e-04 9.99662207e-01 2.20588544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82361786499996 meters Centerline goodness [0,1] 0.9998250830855344 Centerline is valid? [True, True] Translation: X:142.47, Y:75.08, Z:2.21 [[ 4.34717706e-01 -9.00494082e-01 -1.14421833e-02 1.42470147e+02] [ 9.00206103e-01 4.34868081e-01 -2.27755084e-02 7.50767961e+01] [ 2.54850508e-02 -3.99406511e-04 9.99675124e-01 2.20572334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85361786499996 meters Centerline goodness [0,1] 0.9998684470170361 Centerline is valid? [True, True] Translation: X:142.48, Y:75.10, Z:2.21 [[ 4.34199974e-01 -9.00746800e-01 -1.12065051e-02 1.42482593e+02] [ 9.00470291e-01 4.34344384e-01 -2.23206627e-02 7.51020949e+01] [ 2.49727480e-02 -3.99493796e-04 9.99688052e-01 2.20651705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:75.13, Z:2.21 [[ 4.33755358e-01 -9.00964029e-01 -1.09593909e-02 1.42495130e+02] [ 9.00699292e-01 4.33893607e-01 -2.18431432e-02 7.51268824e+01] [ 2.44350959e-02 -3.96535189e-04 9.99701340e-01 2.20700421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91361786499996 meters Centerline goodness [0,1] 0.9999780185962676 Centerline is valid? [True, True] Translation: X:142.51, Y:75.15, Z:2.21 [[ 4.32976363e-01 -9.01344128e-01 -1.04991514e-02 1.42508155e+02] [ 9.01100964e-01 4.33103460e-01 -2.09391165e-02 7.51502655e+01] [ 2.34205685e-02 -3.94652959e-04 9.99725623e-01 2.20707176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:75.17, Z:2.21 [[ 4.31276450e-01 -9.02162104e-01 -1.02059884e-02 1.42521886e+02] [ 9.01932275e-01 4.31396988e-01 -2.03668802e-02 7.51746949e+01] [ 2.27770602e-02 -4.21354538e-04 9.99740480e-01 2.20761774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:75.20, Z:2.21 [[ 4.30077364e-01 -9.02736397e-01 -1.00228722e-02 1.42535030e+02] [ 9.02514615e-01 4.30193915e-01 -2.00141352e-02 7.51994433e+01] [ 2.23792669e-02 -4.38162121e-04 9.99749457e-01 2.20866967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:75.22, Z:2.21 [[ 4.28892742e-01 -9.03304691e-01 -9.57349264e-03 1.42548708e+02] [ 9.03102242e-01 4.28999348e-01 -1.91285038e-02 7.52235097e+01] [ 2.13858893e-02 -4.41766218e-04 9.99771198e-01 2.20919555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.56, Y:75.25, Z:2.21 [[ 4.27441597e-01 -9.03995125e-01 -9.30028649e-03 1.42562820e+02] [ 9.03803998e-01 4.27542518e-01 -1.85937955e-02 7.52486146e+01] [ 2.07849684e-02 -4.57874454e-04 9.99783864e-01 2.21007807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:75.27, Z:2.21 [[ 4.27142172e-01 -9.04137973e-01 -9.17012542e-03 1.42574485e+02] [ 9.03951949e-01 4.27240355e-01 -1.83453872e-02 7.52741518e+01] [ 2.05046089e-02 -4.53264188e-04 9.99789656e-01 2.21049921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.59, Y:75.30, Z:2.21 [[ 4.27564264e-01 -9.03940809e-01 -8.93392571e-03 1.42586300e+02] [ 9.03763964e-01 4.27657377e-01 -1.78847690e-02 7.53003265e+01] [ 1.99874318e-02 -4.27272036e-04 9.99800140e-01 2.21032266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.60, Y:75.33, Z:2.21 [[ 4.27867809e-01 -9.03796852e-01 -8.96589717e-03 1.42598558e+02] [ 9.03618466e-01 4.27961535e-01 -1.79608719e-02 7.53257253e+01] [ 2.00700386e-02 -4.16871330e-04 9.99798490e-01 2.21041210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.61, Y:75.35, Z:2.21 [[ 4.28179550e-01 -9.03646979e-01 -9.18750586e-03 1.42611049e+02] [ 9.03459369e-01 4.28277906e-01 -1.84174962e-02 7.53512119e+01] [ 2.05777205e-02 -4.14543038e-04 9.99788170e-01 2.21019245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.62, Y:75.38, Z:2.21 [[ 4.28554085e-01 -9.03468256e-01 -9.30089891e-03 1.42622686e+02] [ 9.03275677e-01 4.28654810e-01 -1.86575632e-02 7.53769216e+01] [ 2.08433911e-02 -4.05500834e-04 9.99782671e-01 2.20984982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21361786499997 meters Centerline goodness [0,1] 0.9998897099371347 Centerline is valid? [True, True] Translation: X:142.64, Y:75.40, Z:2.21 [[ 4.28039627e-01 -9.03713172e-01 -9.19679144e-03 1.42635024e+02] [ 9.03524680e-01 4.28138222e-01 -1.84611977e-02 7.54024475e+01] [ 2.06211255e-02 -4.07403846e-04 9.99787279e-01 2.20986781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.65, Y:75.43, Z:2.21 [[ 4.27531490e-01 -9.03952178e-01 -9.34260042e-03 1.42647769e+02] [ 9.03757447e-01 4.27633351e-01 -1.87668227e-02 7.54276619e+01] [ 2.09595178e-02 -4.20037052e-04 9.99780237e-01 2.21025778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:75.45, Z:2.21 [[ 4.26928724e-01 -9.04239475e-01 -9.10146056e-03 1.42659964e+02] [ 9.04054491e-01 4.27025523e-01 -1.82942431e-02 7.54518582e+01] [ 2.04289328e-02 -4.17878426e-04 9.99791220e-01 2.21068539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.67, Y:75.48, Z:2.21 [[ 4.26489912e-01 -9.04448022e-01 -8.95154467e-03 1.42671921e+02] [ 9.04268900e-01 4.26583640e-01 -1.80042840e-02 7.54772667e+01] [ 2.01025216e-02 -4.15957951e-04 9.99797837e-01 2.21146351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.68, Y:75.50, Z:2.21 [[ 4.26245534e-01 -9.04566568e-01 -8.60626083e-03 1.42683650e+02] [ 9.04400810e-01 4.26332221e-01 -1.73208542e-02 7.55011271e+01] [ 1.93369920e-02 -4.00572498e-04 9.99812943e-01 2.21227371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.70, Y:75.53, Z:2.21 [[ 4.26290778e-01 -9.04546389e-01 -8.48546626e-03 1.42695944e+02] [ 9.04385053e-01 4.26375045e-01 -1.70879078e-02 7.55254031e+01] [ 1.90747963e-02 -3.89711339e-04 9.99817984e-01 2.21323393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:75.55, Z:2.21 [[ 4.26471747e-01 -9.04463057e-01 -8.27206187e-03 1.42708117e+02] [ 9.04309534e-01 4.26551801e-01 -1.66681628e-02 7.55505479e+01] [ 1.86042004e-02 -3.72003903e-04 9.99826858e-01 2.21395126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:75.58, Z:2.21 [[ 4.26647124e-01 -9.04379676e-01 -8.34465837e-03 1.42719556e+02] [ 9.04223218e-01 4.26728564e-01 -1.68256968e-02 7.55761624e+01] [ 1.87777223e-02 -3.66798712e-04 9.99823616e-01 2.21431473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:75.60, Z:2.21 [[ 4.27081702e-01 -9.04174770e-01 -8.31898279e-03 1.42730745e+02] [ 9.04019041e-01 4.27162571e-01 -1.67842904e-02 7.56008482e+01] [ 1.87294900e-02 -3.52255520e-04 9.99824526e-01 2.21395217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.74, Y:75.63, Z:2.21 [[ 4.27062545e-01 -9.04182562e-01 -8.45448869e-03 1.42741512e+02] [ 9.04021539e-01 4.27146076e-01 -1.70671509e-02 7.56272025e+01] [ 1.90431219e-02 -3.54298975e-04 9.99818601e-01 2.21451441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.75, Y:75.65, Z:2.21 [[ 4.26766001e-01 -9.04323733e-01 -8.32861761e-03 1.42753689e+02] [ 9.04167282e-01 4.26847119e-01 -1.68244798e-02 7.56530388e+01] [ 1.87698228e-02 -3.50347579e-04 9.99823770e-01 2.21475077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.77, Y:75.68, Z:2.22 [[ 4.26679818e-01 -9.04363959e-01 -8.37628872e-03 1.42765852e+02] [ 9.04205506e-01 4.26761886e-01 -1.69321052e-02 7.56770795e+01] [ 1.88874664e-02 -3.49298821e-04 9.99821555e-01 2.21503401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:75.70, Z:2.22 [[ 4.27335634e-01 -9.04057148e-01 -8.05792273e-03 1.42777105e+02] [ 9.03910276e-01 4.27411479e-01 -1.62984928e-02 7.57034052e+01] [ 1.81788176e-02 -3.18712402e-04 9.99834701e-01 2.21626731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.79, Y:75.73, Z:2.22 [[ 4.27484985e-01 -9.03986201e-01 -8.09542026e-03 1.42788563e+02] [ 9.03837747e-01 4.27561517e-01 -1.63852784e-02 7.57290026e+01] [ 1.82733558e-02 -3.12485900e-04 9.99832979e-01 2.21641715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.80, Y:75.75, Z:2.22 [[ 4.27822388e-01 -9.03826890e-01 -8.05959051e-03 1.42800058e+02] [ 9.03679526e-01 4.27898192e-01 -1.63233231e-02 7.57531719e+01] [ 1.82021426e-02 -2.99803854e-04 9.99834282e-01 2.21720968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.81, Y:75.78, Z:2.22 [[ 4.27668730e-01 -9.03900975e-01 -7.90470188e-03 1.42812353e+02] [ 9.03759065e-01 4.27741676e-01 -1.60191136e-02 7.57780597e+01] [ 1.78608628e-02 -2.93072007e-04 9.99840439e-01 2.21800754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:75.80, Z:2.22 [[ 4.27404825e-01 -9.04026776e-01 -7.79131690e-03 1.42824204e+02] [ 9.03888745e-01 4.27475736e-01 -1.57997473e-02 7.58032642e+01] [ 1.76139936e-02 -2.89595419e-04 9.99844820e-01 2.21849946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.84, Y:75.83, Z:2.22 [[ 4.27234674e-01 -9.04109632e-01 -7.50385602e-03 1.42836501e+02] [ 9.03981443e-01 4.27300476e-01 -1.52267284e-02 7.58285038e+01] [ 1.69730331e-02 -2.77960242e-04 9.99855909e-01 2.21894144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:75.85, Z:2.22 [[ 4.27213821e-01 -9.04118815e-01 -7.58421372e-03 1.42847134e+02] [ 9.03987689e-01 4.27281046e-01 -1.54001738e-02 7.58548554e+01] [ 1.71641777e-02 -2.76868733e-04 9.99852646e-01 2.21947015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.86, Y:75.88, Z:2.22 [[ 4.26936754e-01 -9.04250048e-01 -7.54049874e-03 1.42858136e+02] [ 9.04120273e-01 4.27003250e-01 -1.53217788e-02 7.58795658e+01] [ 1.70745367e-02 -2.76087255e-04 9.99854181e-01 2.21946649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.87, Y:75.91, Z:2.22 [[ 4.26757701e-01 -9.04336701e-01 -7.27981111e-03 1.42869178e+02] [ 9.04215592e-01 4.26819705e-01 -1.48021514e-02 7.59054609e+01] [ 1.64932956e-02 -2.65586585e-04 9.99863941e-01 2.21987025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.88, Y:75.93, Z:2.22 [[ 4.26730507e-01 -9.04350523e-01 -7.15576039e-03 1.42880959e+02] [ 9.04233351e-01 4.26790422e-01 -1.45595905e-02 7.59296039e+01] [ 1.62209833e-02 -2.57455768e-04 9.99868398e-01 2.22002170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:75.96, Z:2.22 [[ 4.26327232e-01 -9.04542375e-01 -6.94139855e-03 1.42893072e+02] [ 9.04431993e-01 4.26383662e-01 -1.41330497e-02 7.59553255e+01] [ 1.57436413e-02 -2.52718966e-04 9.99876029e-01 2.22151627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.91, Y:75.98, Z:2.22 [[ 4.26000617e-01 -9.04696160e-01 -6.95215753e-03 1.42905744e+02] [ 9.04585313e-01 4.26057265e-01 -1.41639986e-02 7.59791845e+01] [ 1.57761323e-02 -2.54947473e-04 9.99875517e-01 2.22220309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.92, Y:76.01, Z:2.22 [[ 4.25739625e-01 -9.04818805e-01 -6.97866763e-03 1.42915631e+02] [ 9.04707011e-01 4.25796740e-01 -1.42253667e-02 7.60051893e+01] [ 1.58428732e-02 -2.57347270e-04 9.99874461e-01 2.22316050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:76.03, Z:2.22 [[ 4.25497901e-01 -9.04932532e-01 -6.97486811e-03 1.42927706e+02] [ 9.04820722e-01 4.25554986e-01 -1.42272295e-02 7.60299871e+01] [ 1.58428727e-02 -2.57348928e-04 9.99874461e-01 2.22352728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99361786499998 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:142.94, Y:76.05, Z:2.22 [[ 4.25584558e-01 -9.04890659e-01 -7.11887473e-03 1.42939776e+02] [ 9.04774020e-01 4.25644016e-01 -1.45307775e-02 7.60547182e+01] [ 1.61788712e-02 -2.56898403e-04 9.99869081e-01 2.22313302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.95, Y:76.08, Z:2.22 [[ 4.25956670e-01 -9.04716558e-01 -6.99036168e-03 1.42948908e+02] [ 9.04603932e-01 4.26013957e-01 -1.42770861e-02 7.60811420e+01] [ 1.58947078e-02 -2.42088626e-04 9.99873642e-01 2.22376013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.96, Y:76.11, Z:2.22 [[ 4.26704199e-01 -9.04366097e-01 -6.74459300e-03 1.42957262e+02] [ 9.04261071e-01 4.26757443e-01 -1.37840667e-02 7.61088957e+01] [ 1.53441479e-02 -2.17153754e-04 9.99882248e-01 2.22387929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters Centerline goodness [0,1] 0.999978413849674 Centerline is valid? [True, True] Translation: X:142.97, Y:76.13, Z:2.22 [[ 4.26970248e-01 -9.04240844e-01 -6.70096975e-03 1.42969139e+02] [ 9.04137017e-01 4.27022778e-01 -1.37040759e-02 7.61334096e+01] [ 1.52532518e-02 -2.07362124e-04 9.99883641e-01 2.22440731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11361786499998 meters Centerline goodness [0,1] 0.9999566827662385 Centerline is valid? [True, True] Translation: X:142.98, Y:76.16, Z:2.23 [[ 4.26785357e-01 -9.04328950e-01 -6.58859100e-03 1.42980032e+02] [ 9.04228463e-01 4.26836162e-01 -1.34824731e-02 7.61594611e+01] [ 1.50048396e-02 -2.03469440e-04 9.99887400e-01 2.22555467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499995 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:142.99, Y:76.19, Z:2.23 [[ 4.26887087e-01 -9.04283591e-01 -6.21302463e-03 1.42990370e+02] [ 9.04194114e-01 4.26932256e-01 -1.27221439e-02 7.61860459e+01] [ 1.41569666e-02 -1.86861335e-04 9.99899768e-01 2.22706959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.00, Y:76.21, Z:2.23 [[ 4.26510767e-01 -9.04461070e-01 -6.22406179e-03 1.43003522e+02] [ 9.04371172e-01 4.26556136e-01 -1.27532749e-02 7.62102102e+01] [ 1.41897524e-02 -1.89453017e-04 9.99899302e-01 2.22773155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499996 meters Centerline goodness [0,1] 0.9999568118508282 Centerline is valid? [True, True] Translation: X:143.01, Y:76.24, Z:2.23 [[ 4.26106349e-01 -9.04653511e-01 -5.95012633e-03 1.43013212e+02] [ 9.04571298e-01 4.26147851e-01 -1.21974121e-02 7.62366031e+01] [ 1.35700653e-02 -1.84918736e-04 9.99907905e-01 2.22884036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23361786499996 meters Centerline goodness [0,1] 0.9999568025227327 Centerline is valid? [True, True] Translation: X:143.02, Y:76.26, Z:2.23 [[ 4.25398714e-01 -9.04986894e-01 -5.88691916e-03 1.43023292e+02] [ 9.04906343e-01 4.25439403e-01 -1.20758170e-02 7.62630367e+01] [ 1.34329835e-02 -1.90073476e-04 9.99909755e-01 2.22985644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.03, Y:76.29, Z:2.23 [[ 4.24759928e-01 -9.05289376e-01 -5.49089103e-03 1.43032404e+02] [ 9.05219231e-01 4.24795378e-01 -1.12708280e-02 7.62883424e+01] [ 1.25358660e-02 -1.83064065e-04 9.99921406e-01 2.23067465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.04, Y:76.31, Z:2.23 [[ 4.23919133e-01 -9.05683266e-01 -5.51282666e-03 1.43043289e+02] [ 9.05612501e-01 4.23954933e-01 -1.13230808e-02 7.63138944e+01] [ 1.25923148e-02 -1.92414165e-04 9.99920695e-01 2.23136785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:76.34, Z:2.23 [[ 4.23611957e-01 -9.05827033e-01 -5.50427335e-03 1.43053153e+02] [ 9.05756402e-01 4.23647671e-01 -1.13133308e-02 7.63391700e+01] [ 1.25797935e-02 -1.93068615e-04 9.99920853e-01 2.23219885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.06, Y:76.37, Z:2.23 [[ 4.23462390e-01 -9.05897200e-01 -5.46505443e-03 1.43063410e+02] [ 9.05827515e-01 4.23497610e-01 -1.12377999e-02 7.63654898e+01] [ 1.24947290e-02 -1.91611053e-04 9.99921919e-01 2.23289797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38361786499996 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:143.07, Y:76.39, Z:2.23 [[ 4.23310645e-01 -9.05967970e-01 -5.48964690e-03 1.43074078e+02] [ 9.05897564e-01 4.23346196e-01 -1.12961108e-02 7.63916945e+01] [ 1.25579357e-02 -1.91293810e-04 9.99921128e-01 2.23300016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:76.42, Z:2.23 [[ 4.23371170e-01 -9.05937774e-01 -5.79675372e-03 1.43082732e+02] [ 9.05859154e-01 4.23410806e-01 -1.19366348e-02 7.64180428e+01] [ 1.32682565e-02 -1.97415390e-04 9.99911953e-01 2.23303220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.09, Y:76.44, Z:2.23 [[ 4.23194176e-01 -9.06019442e-01 -5.95489236e-03 1.43092291e+02] [ 9.05936401e-01 4.23236022e-01 -1.22681590e-02 7.64449931e+01] [ 1.36355155e-02 -2.02940303e-04 9.99907011e-01 2.23330854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:76.47, Z:2.23 [[ 4.23103559e-01 -9.06060301e-01 -6.17336724e-03 1.43103005e+02] [ 9.05970928e-01 4.23148542e-01 -1.27275099e-02 7.64713962e+01] [ 1.41441428e-02 -2.07836497e-04 9.99899945e-01 2.23338053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.11, Y:76.50, Z:2.23 [[ 4.22897541e-01 -9.06153355e-01 -6.61572758e-03 1.43113492e+02] [ 9.06050573e-01 4.22949227e-01 -1.36495744e-02 7.64968404e+01] [ 1.51667245e-02 -2.21812331e-04 9.99884954e-01 2.23323227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.12, Y:76.52, Z:2.23 [[ 4.22596231e-01 -9.06293809e-01 -6.62999183e-03 1.43124353e+02] [ 9.06190469e-01 4.22648177e-01 -1.36876986e-02 7.65232641e+01] [ 1.52072304e-02 -2.23665572e-04 9.99884338e-01 2.23340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.13, Y:76.55, Z:2.23 [[ 4.22278020e-01 -9.06441332e-01 -6.73682726e-03 1.43134419e+02] [ 9.06334509e-01 4.22331693e-01 -1.39175694e-02 7.65498677e+01] [ 1.54606358e-02 -2.28735354e-04 9.99880451e-01 2.23399380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:76.57, Z:2.23 [[ 4.21894268e-01 -9.06620811e-01 -6.62807352e-03 1.43145352e+02] [ 9.06517293e-01 4.21946268e-01 -1.37020162e-02 7.65748131e+01] [ 1.52192239e-02 -2.27661163e-04 9.99884155e-01 2.23449121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:76.60, Z:2.24 [[ 4.21315191e-01 -9.06892267e-01 -6.31874689e-03 1.43151987e+02] [ 9.06798087e-01 4.21362513e-01 -1.30714015e-02 7.66023347e+01] [ 1.45168360e-02 -2.22647591e-04 9.99894600e-01 2.23566713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.16, Y:76.63, Z:2.24 [[ 4.20745918e-01 -9.07158151e-01 -6.07959906e-03 1.43164435e+02] [ 9.07070876e-01 4.20789782e-01 -1.25851134e-02 7.66266375e+01] [ 1.39749213e-02 -2.19492166e-04 9.99902322e-01 2.23611755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.17, Y:76.65, Z:2.24 [[ 4.20068158e-01 -9.07473415e-01 -5.89442750e-03 1.43173632e+02] [ 9.07391305e-01 4.20109454e-01 -1.22093109e-02 7.66535838e+01] [ 1.35559298e-02 -2.19809519e-04 9.99908090e-01 2.23713416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:76.68, Z:2.24 [[ 4.18098213e-01 -9.08384258e-01 -5.65016954e-03 1.43182863e+02] [ 9.08308797e-01 4.18136323e-01 -1.17108965e-02 7.66814660e+01] [ 1.30005352e-02 -2.35793792e-04 9.99915462e-01 2.23779128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.19, Y:76.71, Z:2.24 [[ 4.16561284e-01 -9.09090059e-01 -5.65341736e-03 1.43194483e+02] [ 9.09014484e-01 4.16599567e-01 -1.17247217e-02 7.67077177e+01] [ 1.30140392e-02 -2.54973126e-04 9.99915281e-01 2.23798048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:76.73, Z:2.24 [[ 4.13548584e-01 -9.10463113e-01 -5.87262855e-03 1.43206184e+02] [ 9.10381597e-01 4.13590166e-01 -1.21870109e-02 7.67342891e+01] [ 1.35246853e-02 -3.06411863e-04 9.99908490e-01 2.23842747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.22, Y:76.76, Z:2.24 [[ 4.11939780e-01 -9.11190841e-01 -6.07194353e-03 1.43218657e+02] [ 9.11103668e-01 4.11984389e-01 -1.26083393e-02 7.67596840e+01] [ 1.39901492e-02 -3.38293504e-04 9.99902076e-01 2.23840885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.23, Y:76.79, Z:2.24 [[ 4.10220426e-01 -9.11965446e-01 -6.18290766e-03 1.43228174e+02] [ 9.11875073e-01 4.10266852e-01 -1.28437405e-02 7.67871220e+01] [ 1.42496896e-02 -3.69274686e-04 9.99898400e-01 2.23892773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.24, Y:76.81, Z:2.24 [[ 4.07576678e-01 -9.13149287e-01 -6.29527283e-03 1.43240696e+02] [ 9.13055623e-01 4.07625082e-01 -1.30852106e-02 7.68113927e+01] [ 1.45148618e-02 -4.14707595e-04 9.99894568e-01 2.23954467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:76.84, Z:2.24 [[ 4.06311669e-01 -9.13712931e-01 -6.28553522e-03 1.43251020e+02] [ 9.13619543e-01 4.06360054e-01 -1.30704710e-02 7.68379861e+01] [ 1.44968488e-02 -4.31902949e-04 9.99894822e-01 2.24014369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.26, Y:76.86, Z:2.24 [[ 4.05203992e-01 -9.14204723e-01 -6.28083561e-03 1.43262797e+02] [ 9.14111463e-01 4.05252420e-01 -1.30655986e-02 7.68645842e+01] [ 1.44899557e-02 -4.47151139e-04 9.99894915e-01 2.24074551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.27, Y:76.89, Z:2.24 [[ 4.03255705e-01 -9.15064107e-01 -6.52052476e-03 1.43271835e+02] [ 9.14963575e-01 4.03308118e-01 -1.35727187e-02 7.68919631e+01] [ 1.50496883e-02 -4.92766408e-04 9.99886626e-01 2.24124127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.28, Y:76.92, Z:2.24 [[ 4.02014206e-01 -9.15610826e-01 -6.43376164e-03 1.43283412e+02] [ 9.15512899e-01 4.02065370e-01 -1.34003497e-02 7.69188563e+01] [ 1.48562980e-02 -5.03060847e-04 9.99889513e-01 2.24163273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:76.94, Z:2.24 [[ 4.00974869e-01 -9.16066008e-01 -6.49789425e-03 1.43298671e+02] [ 9.15966057e-01 4.01027176e-01 -1.35420358e-02 7.69421915e+01] [ 1.50112309e-02 -5.21834545e-04 9.99887189e-01 2.24162637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.31, Y:76.97, Z:2.24 [[ 3.99956797e-01 -9.16510327e-01 -6.58639204e-03 1.43306517e+02] [ 9.16407611e-01 4.00010655e-01 -1.37319101e-02 7.69705525e+01] [ 1.52200644e-02 -5.43649037e-04 9.99884020e-01 2.24221829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.32, Y:77.00, Z:2.24 [[ 3.98371618e-01 -9.17199177e-01 -6.76193342e-03 1.43317037e+02] [ 9.17090876e-01 3.98428578e-01 -1.41065146e-02 7.69969403e+01] [ 1.56326311e-02 -5.81672396e-04 9.99877634e-01 2.24268493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:77.02, Z:2.24 [[ 3.97849644e-01 -9.17424664e-01 -6.90261982e-03 1.43330047e+02] [ 9.17311727e-01 3.97909067e-01 -1.44072874e-02 7.70210366e+01] [ 1.59642159e-02 -5.99919935e-04 9.99872384e-01 2.24330922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.34, Y:77.05, Z:2.24 [[ 3.97294559e-01 -9.17666000e-01 -6.79311526e-03 1.43341391e+02] [ 9.17556510e-01 3.97352183e-01 -1.41877718e-02 7.70466352e+01] [ 1.57188949e-02 -5.96342596e-04 9.99876273e-01 2.24408589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:77.07, Z:2.25 [[ 3.98096505e-01 -9.17320808e-01 -6.45815049e-03 1.43351077e+02] [ 9.17221676e-01 3.98148505e-01 -1.34968337e-02 7.70740171e+01] [ 1.49522293e-02 -5.50513301e-04 9.99888058e-01 2.24504827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19361786499996 meters Centerline goodness [0,1] 0.9999791148889956 Centerline is valid? [True, True] Translation: X:143.36, Y:77.10, Z:2.25 [[ 3.98957354e-01 -9.16946922e-01 -6.43211254e-03 1.43362239e+02] [ 9.16848425e-01 3.99008847e-01 -1.34501420e-02 7.70994177e+01] [ 1.48995361e-02 -5.31239188e-04 9.99888855e-01 2.24554641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.37, Y:77.13, Z:2.25 [[ 4.00101969e-01 -9.16447914e-01 -6.45246392e-03 1.43373406e+02] [ 9.16348676e-01 4.00153667e-01 -1.34961748e-02 7.71265359e+01] [ 1.49505183e-02 -5.12860655e-04 9.99888103e-01 2.24589512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.38, Y:77.15, Z:2.25 [[ 4.03239635e-01 -9.15071239e-01 -6.51335028e-03 1.43382720e+02] [ 9.14969829e-01 4.03291970e-01 -1.36308119e-02 7.71525313e+01] [ 1.50999458e-02 -4.63035397e-04 9.99885882e-01 2.24607551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.39, Y:77.18, Z:2.25 [[ 4.04570088e-01 -9.14484725e-01 -6.38218134e-03 1.43393392e+02] [ 9.14387227e-01 4.04620195e-01 -1.33602513e-02 7.71790131e+01] [ 1.48001052e-02 -4.30627053e-04 9.99890380e-01 2.24636031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:77.21, Z:2.25 [[ 4.07041145e-01 -9.13386323e-01 -6.55217118e-03 1.43402819e+02] [ 9.13283292e-01 4.07093683e-01 -1.37245176e-02 7.72066535e+01] [ 1.52031342e-02 -3.97545102e-04 9.99884347e-01 2.24688469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.41, Y:77.23, Z:2.25 [[ 4.07985934e-01 -9.12963908e-01 -6.66186700e-03 1.43414532e+02] [ 9.12857209e-01 4.08040139e-01 -1.39628235e-02 7.72329061e+01] [ 1.54658630e-02 -3.84697738e-04 9.99880322e-01 2.24729657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.43, Y:77.26, Z:2.25 [[ 4.08263846e-01 -9.12839819e-01 -6.64051889e-03 1.43426499e+02] [ 9.12733651e-01 4.08317675e-01 -1.39268844e-02 7.72588382e+01] [ 1.54244558e-02 -3.75181677e-04 9.99880966e-01 2.24779627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.44, Y:77.28, Z:2.25 [[ 4.08378711e-01 -9.12787652e-01 -6.74762712e-03 1.43438047e+02] [ 9.12677870e-01 4.08434281e-01 -1.41613309e-02 7.72846771e+01] [ 1.56822502e-02 -3.75223872e-04 9.99876956e-01 2.24832249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:77.31, Z:2.25 [[ 4.07603985e-01 -9.13133234e-01 -6.83295995e-03 1.43450273e+02] [ 9.13020547e-01 4.07661068e-01 -1.43504445e-02 7.73100168e+01] [ 1.58893996e-02 -3.89334455e-04 9.99873680e-01 2.24911642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.46, Y:77.33, Z:2.25 [[ 4.06931351e-01 -9.13433799e-01 -6.75058853e-03 1.43462746e+02] [ 9.13323709e-01 4.06987151e-01 -1.41866922e-02 7.73341361e+01] [ 1.57060070e-02 -3.92462720e-04 9.99876576e-01 2.24919138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.47, Y:77.36, Z:2.25 [[ 4.06075634e-01 -9.13814175e-01 -6.79952596e-03 1.43474587e+02] [ 9.13702394e-01 4.06132353e-01 -1.42985164e-02 7.73598149e+01] [ 1.58276944e-02 -4.06464041e-04 9.99874652e-01 2.24960947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.49, Y:77.38, Z:2.25 [[ 4.04082223e-01 -9.14699100e-01 -6.56605611e-03 1.43489396e+02] [ 9.14594850e-01 4.04135346e-01 -1.38160581e-02 7.73834008e+01] [ 1.52911113e-02 -4.22457630e-04 9.99882995e-01 2.25035833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.50, Y:77.41, Z:2.25 [[ 4.02817611e-01 -9.15256439e-01 -6.60479725e-03 1.43502637e+02] [ 9.15150929e-01 4.02871511e-01 -1.39040344e-02 7.74089676e+01] [ 1.53866416e-02 -4.43596431e-04 9.99881520e-01 2.25077066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.52, Y:77.43, Z:2.25 [[ 4.01539841e-01 -9.15817628e-01 -6.62027133e-03 1.43515702e+02] [ 9.15711564e-01 4.01594146e-01 -1.39453675e-02 7.74335572e+01] [ 1.54300756e-02 -4.62638376e-04 9.99880842e-01 2.25119159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:77.46, Z:2.25 [[ 3.99349667e-01 -9.16772797e-01 -6.89065299e-03 1.43525645e+02] [ 9.16657887e-01 3.99408778e-01 -1.45240288e-02 7.74612184e+01] [ 1.60674218e-02 -5.16205318e-04 9.99870777e-01 2.25140412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.54, Y:77.48, Z:2.25 [[ 3.98434313e-01 -9.17169504e-01 -7.08508188e-03 1.43541948e+02] [ 9.17047934e-01 3.98496932e-01 -1.49426140e-02 7.74838294e+01] [ 1.65282932e-02 -5.43709575e-04 9.99863251e-01 2.25097051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.55, Y:77.51, Z:2.25 [[ 3.97440125e-01 -9.17596934e-01 -7.56394624e-03 1.43550607e+02] [ 9.17458313e-01 3.97511648e-01 -1.59603755e-02 7.75112261e+01] [ 1.76519484e-02 -5.96311732e-04 9.99844014e-01 2.25157676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.56, Y:77.54, Z:2.25 [[ 3.97010329e-01 -9.17781189e-01 -7.77737806e-03 1.43563203e+02] [ 9.17634475e-01 3.97086020e-01 -1.64213845e-02 7.75364899e+01] [ 1.81595259e-02 -6.17330968e-04 9.99834912e-01 2.25183848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:77.56, Z:2.25 [[ 3.96913863e-01 -9.17821887e-01 -7.89748980e-03 1.43575504e+02] [ 9.17670404e-01 3.96991933e-01 -1.66863541e-02 7.75605195e+01] [ 1.84503407e-02 -6.24247414e-04 9.99829583e-01 2.25220143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.59, Y:77.59, Z:2.25 [[ 3.97077233e-01 -9.17750780e-01 -7.94834295e-03 1.43587446e+02] [ 9.17597126e-01 3.97156292e-01 -1.68046146e-02 7.75860091e+01] [ 1.85791826e-02 -6.20646754e-04 9.99827199e-01 2.25296874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:77.61, Z:2.25 [[ 3.98174664e-01 -9.17276546e-01 -7.78940994e-03 1.43597544e+02] [ 9.17128694e-01 3.98250422e-01 -1.64791090e-02 7.76137262e+01] [ 1.82180360e-02 -5.82327670e-04 9.99833868e-01 2.25442670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:77.64, Z:2.26 [[ 3.98540927e-01 -9.17117888e-01 -7.74011289e-03 1.43608677e+02] [ 9.16971695e-01 3.98615676e-01 -1.63845207e-02 7.76397043e+01] [ 1.81118674e-02 -5.67562353e-04 9.99835806e-01 2.25501988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.62, Y:77.67, Z:2.26 [[ 3.99195698e-01 -9.16834645e-01 -7.55170021e-03 1.43620334e+02] [ 9.16695250e-01 3.99266759e-01 -1.59960375e-02 7.76662755e+01] [ 1.76808643e-02 -5.37058348e-04 9.99843537e-01 2.25593177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:77.69, Z:2.26 [[ 3.98950317e-01 -9.16941479e-01 -7.54782518e-03 1.43632035e+02] [ 9.16802068e-01 3.99021348e-01 -1.59978659e-02 7.76912378e+01] [ 1.76808502e-02 -5.37508064e-04 9.99843537e-01 2.25629880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.64, Y:77.72, Z:2.26 [[ 4.00489655e-01 -9.16270354e-01 -7.52824519e-03 1.43643685e+02] [ 9.16131359e-01 4.00560090e-01 -1.59670643e-02 7.77172024e+01] [ 1.76456622e-02 -5.02217437e-04 9.99844177e-01 2.25722932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.66, Y:77.74, Z:2.26 [[ 4.00958618e-01 -9.16065373e-01 -7.51128423e-03 1.43655074e+02] [ 9.15926795e-01 4.01028670e-01 -1.59408983e-02 7.77430816e+01] [ 1.76151452e-02 -4.88145963e-04 9.99844722e-01 2.25728170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.67, Y:77.77, Z:2.26 [[ 4.01582454e-01 -9.15792224e-01 -7.49236645e-03 1.43666296e+02] [ 9.15654121e-01 4.01652065e-01 -1.59106646e-02 7.77682474e+01] [ 1.75801874e-02 -4.70972468e-04 9.99845346e-01 2.25736731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:77.80, Z:2.26 [[ 4.03863364e-01 -9.14785949e-01 -7.81352969e-03 1.43675745e+02] [ 9.14635398e-01 4.03938700e-01 -1.66016475e-02 7.77961289e+01] [ 1.83431409e-02 -4.41733627e-04 9.99831653e-01 2.25805801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.69, Y:77.82, Z:2.26 [[ 4.05201884e-01 -9.14193253e-01 -7.88223348e-03 1.43687286e+02] [ 9.14039765e-01 4.05278330e-01 -1.67565912e-02 7.78207516e+01] [ 1.85132610e-02 -4.14872531e-04 9.99828529e-01 2.25819838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:77.85, Z:2.26 [[ 4.06439713e-01 -9.13644852e-01 -7.73581812e-03 1.43698174e+02] [ 9.13496764e-01 4.06513148e-01 -1.64536717e-02 7.78469893e+01] [ 1.81775243e-02 -3.79219187e-04 9.99834703e-01 2.25896193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:77.88, Z:2.26 [[ 4.09875088e-01 -9.12111233e-01 -7.45060445e-03 1.43705772e+02] [ 9.11973437e-01 4.09942693e-01 -1.58568326e-02 7.78750335e+01] [ 1.75175159e-02 -2.95432711e-04 9.99846513e-01 2.26076463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.72, Y:77.90, Z:2.26 [[ 4.11778649e-01 -9.11253393e-01 -7.45645851e-03 1.43715864e+02] [ 9.11115090e-01 4.11846075e-01 -1.58777742e-02 7.79005742e+01] [ 1.75395887e-02 -2.55563476e-04 9.99846137e-01 2.26169687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.73, Y:77.93, Z:2.26 [[ 4.15484195e-01 -9.09571002e-01 -7.31280089e-03 1.43725038e+02] [ 9.09437646e-01 4.15548506e-01 -1.55758621e-02 7.79262154e+01] [ 1.72061760e-02 -1.79011890e-04 9.99851947e-01 2.26187472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18361786499997 meters Centerline goodness [0,1] 0.9999791692705079 Centerline is valid? [True, True] Translation: X:143.73, Y:77.95, Z:2.26 [[ 4.16664440e-01 -9.09029283e-01 -7.51712354e-03 1.43734065e+02] [ 9.08888141e-01 4.16732214e-01 -1.60190016e-02 7.79525559e+01] [ 1.76943691e-02 -1.57676104e-04 9.99843430e-01 2.26293506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.75, Y:77.98, Z:2.26 [[ 4.17757588e-01 -9.08527792e-01 -7.47317175e-03 1.43745006e+02] [ 9.08388022e-01 4.17824405e-01 -1.59363603e-02 7.79789449e+01] [ 1.76010997e-02 -1.31004281e-04 9.99845080e-01 2.26368052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.76, Y:78.00, Z:2.26 [[ 4.18383136e-01 -9.08239572e-01 -7.51210935e-03 1.43756837e+02] [ 9.08098099e-01 4.18450555e-01 -1.60304400e-02 7.80035831e+01] [ 1.77029263e-02 -1.14866450e-04 9.99843284e-01 2.26275350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:78.03, Z:2.26 [[ 4.18826067e-01 -9.08035158e-01 -7.54177774e-03 1.43767166e+02] [ 9.07892346e-01 4.18893951e-01 -1.61042200e-02 7.80302062e+01] [ 1.77824030e-02 -1.02255189e-04 9.99841875e-01 2.26382745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.78, Y:78.06, Z:2.26 [[ 4.18894250e-01 -9.08003067e-01 -7.61820587e-03 1.43778741e+02] [ 9.07857131e-01 4.18963508e-01 -1.62790779e-02 7.80553510e+01] [ 1.79732029e-02 -9.70303964e-05 9.99838464e-01 2.26489995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:78.08, Z:2.27 [[ 4.18345307e-01 -9.08256163e-01 -7.61229017e-03 1.43790855e+02] [ 9.08110305e-01 4.18414546e-01 -1.62770262e-02 7.80798310e+01] [ 1.79688023e-02 -1.03381635e-04 9.99838543e-01 2.26524235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:78.11, Z:2.27 [[ 4.17406630e-01 -9.08687653e-01 -7.64551195e-03 1.43803432e+02] [ 9.08540446e-01 4.17476628e-01 -1.63561715e-02 7.81052224e+01] [ 1.80544737e-02 -1.19082398e-04 9.99836998e-01 2.26559831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:78.13, Z:2.27 [[ 4.15047920e-01 -9.09768980e-01 -7.45840460e-03 1.43817319e+02] [ 9.09628891e-01 4.15114898e-01 -1.59656750e-02 7.81295234e+01] [ 1.76211707e-02 -1.57860098e-04 9.99844723e-01 2.26624309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:78.15, Z:2.27 [[ 4.13261445e-01 -9.10583259e-01 -7.28737990e-03 1.43830381e+02] [ 9.10449541e-01 4.13325651e-01 -1.56057659e-02 7.81548888e+01] [ 1.72224102e-02 -1.85530326e-04 9.99851666e-01 2.26713800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:78.18, Z:2.27 [[ 4.11608700e-01 -9.11330912e-01 -7.36523862e-03 1.43843512e+02] [ 9.11194271e-01 4.11674535e-01 -1.57822003e-02 7.81792461e+01] [ 1.74148882e-02 -2.15072272e-04 9.99848326e-01 2.26746051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:78.20, Z:2.27 [[ 4.07526308e-01 -9.13164191e-01 -7.31223054e-03 1.43857828e+02] [ 9.13029687e-01 4.07591802e-01 -1.56752691e-02 7.82044674e+01] [ 1.72944997e-02 -2.88199016e-04 9.99850397e-01 2.26844485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:78.23, Z:2.27 [[ 4.05322550e-01 -9.14144102e-01 -7.36155108e-03 1.43872271e+02] [ 9.14007775e-01 4.05389262e-01 -1.57902720e-02 7.82287633e+01] [ 1.74188778e-02 -3.28361620e-04 9.99848226e-01 2.26844832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:78.25, Z:2.27 [[ 4.01087267e-01 -9.16009575e-01 -7.44732039e-03 1.43887020e+02] [ 9.15870243e-01 4.01156191e-01 -1.59814965e-02 7.82532103e+01] [ 1.76267425e-02 -4.10804399e-04 9.99844553e-01 2.26887370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:78.28, Z:2.27 [[ 3.99081762e-01 -9.16885166e-01 -7.43907697e-03 1.43900604e+02] [ 9.16746130e-01 3.99150842e-01 -1.59730561e-02 7.82782512e+01] [ 1.76147721e-02 -4.45189636e-04 9.99844749e-01 2.26929908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.91, Y:78.30, Z:2.27 [[ 3.97013578e-01 -9.17783770e-01 -7.29177737e-03 1.43914191e+02] [ 9.17650209e-01 3.97080254e-01 -1.56641405e-02 7.83036530e+01] [ 1.72717147e-02 -4.72424559e-04 9.99850721e-01 2.26955529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.93, Y:78.33, Z:2.27 [[ 3.94974300e-01 -9.18661499e-01 -7.50684081e-03 1.43927873e+02] [ 9.18519934e-01 3.95045286e-01 -1.61354810e-02 7.83285660e+01] [ 1.77885872e-02 -5.22082622e-04 9.99841634e-01 2.27026785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.94, Y:78.35, Z:2.27 [[ 3.94201214e-01 -9.18993961e-01 -7.45004636e-03 1.43941034e+02] [ 9.18854487e-01 3.94271250e-01 -1.60191523e-02 7.83533475e+01] [ 1.76588433e-02 -5.30739260e-04 9.99843930e-01 2.27091063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.95, Y:78.38, Z:2.27 [[ 3.93581713e-01 -9.19259763e-01 -7.41106096e-03 1.43953536e+02] [ 9.19121675e-01 3.93651114e-01 -1.59419663e-02 7.83782569e+01] [ 1.75721805e-02 -5.37200379e-04 9.99845453e-01 2.27176827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.97, Y:78.40, Z:2.27 [[ 3.93170739e-01 -9.19436784e-01 -7.26434907e-03 1.43967344e+02] [ 9.19303957e-01 3.93237485e-01 -1.56369861e-02 7.84018201e+01] [ 1.72338346e-02 -5.30139464e-04 9.99851346e-01 2.27266345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.98, Y:78.43, Z:2.27 [[ 3.93501286e-01 -9.19296066e-01 -7.17498943e-03 1.43977953e+02] [ 9.19166291e-01 3.93566359e-01 -1.54547864e-02 7.84280168e+01] [ 1.70313588e-02 -5.13530099e-04 9.99854824e-01 2.27326911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.99, Y:78.45, Z:2.27 [[ 3.94150164e-01 -9.19018754e-01 -7.08359628e-03 1.43989973e+02] [ 9.18892049e-01 3.94213505e-01 -1.52680595e-02 7.84524311e+01] [ 1.68240824e-02 -4.91152147e-04 9.99858344e-01 2.27322377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.00, Y:78.48, Z:2.27 [[ 3.94969293e-01 -9.18666408e-01 -7.16156267e-03 1.44002000e+02] [ 9.18536694e-01 3.95033925e-01 -1.54447424e-02 7.84790068e+01] [ 1.70176262e-02 -4.77959114e-04 9.99855075e-01 2.27367074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:78.51, Z:2.27 [[ 3.98034618e-01 -9.17344798e-01 -6.85306230e-03 1.44012639e+02] [ 9.17225676e-01 3.98093409e-01 -1.47884050e-02 7.85052296e+01] [ 1.62942253e-02 -3.99507557e-04 9.99867160e-01 2.27458280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.02, Y:78.53, Z:2.27 [[ 3.99741780e-01 -9.16601096e-01 -6.99570840e-03 1.44024183e+02] [ 9.16476699e-01 3.99802816e-01 -1.51052834e-02 7.85304129e+01] [ 1.66424232e-02 -3.73190867e-04 9.99861436e-01 2.27491800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90361786499997 meters Centerline goodness [0,1] 0.9999790943680228 Centerline is valid? [True, True] Translation: X:144.04, Y:78.56, Z:2.28 [[ 4.01434960e-01 -9.15860841e-01 -6.99232867e-03 1.44035810e+02] [ 9.15736396e-01 4.01495708e-01 -1.51013092e-02 7.85556537e+01] [ 1.66380877e-02 -3.40936379e-04 9.99861519e-01 2.27531045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.04, Y:78.58, Z:2.28 [[ 4.05217453e-01 -9.14193890e-01 -6.95329073e-03 1.44044963e+02] [ 9.14070507e-01 4.05277017e-01 -1.50215625e-02 7.85832032e+01] [ 1.65506296e-02 -2.68798669e-04 9.99862993e-01 2.27580080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:78.61, Z:2.28 [[ 4.06785709e-01 -9.13497412e-01 -6.91843675e-03 1.44055905e+02] [ 9.13374997e-01 4.06844470e-01 -1.49563304e-02 7.86097081e+01] [ 1.64772969e-02 -2.35105675e-04 9.99864212e-01 2.27676845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.07, Y:78.63, Z:2.28 [[ 4.08594392e-01 -9.12690211e-01 -6.87032004e-03 1.44067208e+02] [ 9.12569214e-01 4.08652101e-01 -1.48623445e-02 7.86344554e+01] [ 1.63722871e-02 -1.96971932e-04 9.99865946e-01 2.27674069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.08, Y:78.66, Z:2.28 [[ 4.12104817e-01 -9.11111776e-01 -6.70461249e-03 1.44077841e+02] [ 9.10996209e-01 4.12159333e-01 -1.45118120e-02 7.86616942e+01] [ 1.59852514e-02 -1.27488947e-04 9.99872220e-01 2.27781496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:78.69, Z:2.28 [[ 4.13529605e-01 -9.10467421e-01 -6.50700945e-03 1.44089010e+02] [ 9.10358351e-01 4.13580786e-01 -1.40927670e-02 7.86862830e+01] [ 1.55221793e-02 -9.59340175e-05 9.99879519e-01 2.27797919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.10, Y:78.71, Z:2.28 [[ 4.14534282e-01 -9.10012087e-01 -6.27138061e-03 1.44100311e+02] [ 9.09910600e-01 4.14581712e-01 -1.35905749e-02 7.87122495e+01] [ 1.49675871e-02 -7.26364895e-05 9.99887977e-01 2.27885139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.11, Y:78.74, Z:2.28 [[ 4.15830704e-01 -9.09419050e-01 -6.46664269e-03 1.44113004e+02] [ 9.09310912e-01 4.15880980e-01 -1.40240917e-02 7.87373160e+01] [ 1.54431298e-02 -4.85408339e-05 9.99880747e-01 2.27947998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:78.76, Z:2.28 [[ 4.15432773e-01 -9.09600103e-01 -6.57754167e-03 1.44125120e+02] [ 9.09488083e-01 4.15484837e-01 -1.42750793e-02 7.87610342e+01] [ 1.57174825e-02 -5.18599649e-05 9.99876471e-01 2.27957112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.14, Y:78.78, Z:2.28 [[ 4.14022793e-01 -9.10241699e-01 -6.72132993e-03 1.44138859e+02] [ 9.10124654e-01 4.14077340e-01 -1.45969281e-02 7.87841025e+01] [ 1.60698830e-02 -7.37871549e-05 9.99870868e-01 2.27890401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:78.81, Z:2.28 [[ 4.12826654e-01 -9.10784328e-01 -6.78686484e-03 1.44151769e+02] [ 9.10664904e-01 4.12882428e-01 -1.47490174e-02 7.88092269e+01] [ 1.62353511e-02 -9.17721150e-05 9.99868194e-01 2.27935321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.17, Y:78.83, Z:2.28 [[ 4.11195496e-01 -9.11523192e-01 -6.61320188e-03 1.44165154e+02] [ 9.11409736e-01 4.11248656e-01 -1.43817591e-02 7.88344569e+01] [ 1.58289774e-02 -1.13622013e-04 9.99874707e-01 2.27972651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:78.86, Z:2.28 [[ 4.09481465e-01 -9.12292140e-01 -6.92689542e-03 1.44178923e+02] [ 9.12167588e-01 4.09540023e-01 -1.50751859e-02 7.88586627e+01] [ 1.65898145e-02 -1.45480274e-04 9.99862369e-01 2.28018043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.19, Y:78.88, Z:2.28 [[ 4.07790952e-01 -9.13049095e-01 -6.92027456e-03 1.44193134e+02] [ 9.12924726e-01 4.07849631e-01 -1.50706231e-02 7.88819443e+01] [ 1.65826502e-02 -1.72026009e-04 9.99862484e-01 2.28017066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:78.91, Z:2.28 [[ 4.04517323e-01 -9.14500780e-01 -7.35246541e-03 1.44209197e+02] [ 9.14360437e-01 4.04584064e-01 -1.60226637e-02 7.89064473e+01] [ 1.76274288e-02 -2.41358458e-04 9.99844596e-01 2.28090838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.22, Y:78.93, Z:2.28 [[ 4.02942124e-01 -9.15196123e-01 -7.32809011e-03 1.44223254e+02] [ 9.15056645e-01 4.03008666e-01 -1.59797011e-02 7.89322042e+01] [ 1.75778443e-02 -2.66722868e-04 9.99845462e-01 2.28131584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:78.96, Z:2.28 [[ 4.01352465e-01 -9.15892733e-01 -7.53000493e-03 1.44238045e+02] [ 9.15745413e-01 4.01422983e-01 -1.64294967e-02 7.89565035e+01] [ 1.80703737e-02 -3.01548473e-04 9.99836672e-01 2.28092762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:78.98, Z:2.28 [[ 3.98499642e-01 -9.17135844e-01 -7.73813222e-03 1.44253414e+02] [ 9.16980362e-01 3.98574599e-01 -1.68909887e-02 7.89816247e+01] [ 1.85755542e-02 -3.64662308e-04 9.99827393e-01 2.28147164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.27, Y:79.01, Z:2.28 [[ 3.97216337e-01 -9.17692136e-01 -7.76697727e-03 1.44267610e+02] [ 9.17535396e-01 3.97292076e-01 -1.69647842e-02 7.90070045e+01] [ 1.86542076e-02 -3.87787111e-04 9.99825920e-01 2.28213555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.28, Y:79.03, Z:2.28 [[ 3.94965704e-01 -9.18659675e-01 -8.15438484e-03 1.44284686e+02] [ 9.18486912e-01 3.95049615e-01 -1.78211664e-02 7.90299669e+01] [ 1.95929735e-02 -4.50946212e-04 9.99807938e-01 2.28303291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:79.06, Z:2.28 [[ 3.93677587e-01 -9.19212407e-01 -8.15525793e-03 1.44298264e+02] [ 9.19039566e-01 3.93761761e-01 -1.78311952e-02 7.90552684e+01] [ 1.96018846e-02 -4.75262794e-04 9.99807752e-01 2.28362050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.31, Y:79.08, Z:2.28 [[ 3.92829549e-01 -9.19573321e-01 -8.35784538e-03 1.44313412e+02] [ 9.19391660e-01 3.92918130e-01 -1.82843681e-02 7.90789366e+01] [ 2.00977660e-02 -5.01493282e-04 9.99797894e-01 2.28326907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.33, Y:79.10, Z:2.28 [[ 3.91965176e-01 -9.19941234e-01 -8.45150580e-03 1.44329185e+02] [ 9.19755390e-01 3.92055932e-01 -1.84978250e-02 7.91017581e+01] [ 2.03303749e-02 -5.22814802e-04 9.99793180e-01 2.28361111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.34, Y:79.13, Z:2.28 [[ 3.92021262e-01 -9.19916325e-01 -8.56067130e-03 1.44343066e+02] [ 9.19725389e-01 3.92114372e-01 -1.87490870e-02 7.91266425e+01] [ 2.06043534e-02 -5.23426008e-04 9.99787571e-01 2.28407479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.36, Y:79.15, Z:2.28 [[ 3.92042137e-01 -9.19908287e-01 -8.46799705e-03 1.44356298e+02] [ 9.19721199e-01 3.92133245e-01 -1.85589565e-02 7.91511791e+01] [ 2.03931210e-02 -5.12303435e-04 9.99791907e-01 2.28486621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.37, Y:79.17, Z:2.29 [[ 3.93407461e-01 -9.19327967e-01 -8.16449927e-03 1.44370845e+02] [ 9.19153714e-01 3.93491902e-01 -1.79045325e-02 7.91747071e+01] [ 1.96728018e-02 -4.60653171e-04 9.99806366e-01 2.28631616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:79.20, Z:2.29 [[ 3.94382325e-01 -9.18911651e-01 -7.99745254e-03 1.44380732e+02] [ 9.18744201e-01 3.94463173e-01 -1.75470536e-02 7.92022585e+01] [ 1.92788925e-02 -4.27365330e-04 9.99814054e-01 2.28845290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.39, Y:79.23, Z:2.29 [[ 3.95394641e-01 -9.18476677e-01 -7.97951266e-03 1.44393140e+02] [ 9.18309664e-01 3.95474948e-01 -1.75193210e-02 7.92272146e+01] [ 1.92467851e-02 -4.00617956e-04 9.99814683e-01 2.28905381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.41, Y:79.25, Z:2.29 [[ 3.96625061e-01 -9.17945843e-01 -7.99943805e-03 1.44405952e+02] [ 9.17777651e-01 3.96705548e-01 -1.75752786e-02 7.92528133e+01] [ 1.93065754e-02 -3.70909532e-04 9.99813542e-01 2.28988715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:79.28, Z:2.29 [[ 3.96369254e-01 -9.18056368e-01 -7.99496588e-03 1.44417320e+02] [ 9.17888158e-01 3.96449703e-01 -1.75773129e-02 7.92779393e+01] [ 1.93065659e-02 -3.71378083e-04 9.99813542e-01 2.29025410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.43, Y:79.30, Z:2.29 [[ 3.99221073e-01 -9.16819795e-01 -7.99990301e-03 1.44430754e+02] [ 9.16650916e-01 3.99301101e-01 -1.75991015e-02 7.93041434e+01] [ 1.93295747e-02 -3.07186231e-04 9.99813119e-01 2.29065732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.44, Y:79.33, Z:2.29 [[ 4.00673178e-01 -9.16184806e-01 -8.14896640e-03 1.44442996e+02] [ 9.16009274e-01 4.00755940e-01 -1.79356097e-02 7.93298125e+01] [ 1.96980798e-02 -2.78211060e-04 9.99805935e-01 2.29102496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.46, Y:79.35, Z:2.29 [[ 4.03621667e-01 -9.14889492e-01 -8.17108423e-03 1.44456247e+02] [ 9.14712491e-01 4.03704313e-01 -1.79968472e-02 7.93549894e+01] [ 1.97638284e-02 -2.10275330e-04 9.99804654e-01 2.29132579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.47, Y:79.38, Z:2.29 [[ 4.04840800e-01 -9.14349154e-01 -8.33969425e-03 1.44467908e+02] [ 9.14164417e-01 4.04926648e-01 -1.83800976e-02 7.93791393e+01] [ 2.01827911e-02 -1.82838314e-04 9.99796290e-01 2.29185912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:79.40, Z:2.29 [[ 4.05926943e-01 -9.13867287e-01 -8.36055125e-03 1.44479925e+02] [ 9.13681276e-01 4.06013003e-01 -1.84382279e-02 7.94041835e+01] [ 2.02445858e-02 -1.54305648e-04 9.99795045e-01 2.29183748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.49, Y:79.43, Z:2.29 [[ 4.07649600e-01 -9.13098832e-01 -8.50448587e-03 1.44492866e+02] [ 9.12905922e-01 4.07738286e-01 -1.87688009e-02 7.94278012e+01] [ 2.06053747e-02 -1.12701320e-04 9.99787680e-01 2.29236888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499996 meters Centerline goodness [0,1] 0.9999786301955337 Centerline is valid? [True, True] Translation: X:144.51, Y:79.45, Z:2.29 [[ 4.08072743e-01 -9.12909424e-01 -8.54522552e-03 1.44505533e+02] [ 9.12714392e-01 4.08162191e-01 -1.88696905e-02 7.94521040e+01] [ 2.07141562e-02 -9.91439729e-05 9.99785434e-01 2.29248445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01361786499996 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:144.52, Y:79.48, Z:2.29 [[ 4.08023578e-01 -9.12934198e-01 -8.24069823e-03 1.44517888e+02] [ 9.12752623e-01 4.08106776e-01 -1.82073518e-02 7.94769931e+01] [ 1.99851989e-02 -9.26900881e-05 9.99800272e-01 2.29353198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04361786499996 meters Centerline goodness [0,1] 0.999957138571 Centerline is valid? [True, True] Translation: X:144.53, Y:79.50, Z:2.29 [[ 4.07842603e-01 -9.13014711e-01 -8.27938928e-03 1.44530421e+02] [ 9.12831187e-01 4.07926621e-01 -1.83055995e-02 7.95010428e+01] [ 2.00906649e-02 -9.18814087e-05 9.99798158e-01 2.29394721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:79.53, Z:2.29 [[ 4.06883490e-01 -9.13441911e-01 -8.34867222e-03 1.44544442e+02] [ 9.13255141e-01 4.06969118e-01 -1.84711900e-02 7.95254112e+01] [ 2.02700109e-02 -1.08845567e-04 9.99794536e-01 2.29431730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.56, Y:79.55, Z:2.29 [[ 4.05612713e-01 -9.14006951e-01 -8.34390832e-03 1.44557619e+02] [ 9.13820248e-01 4.05698504e-01 -1.84737290e-02 7.95499972e+01] [ 2.02702279e-02 -1.31653016e-04 9.99794529e-01 2.29454312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.57, Y:79.57, Z:2.29 [[ 4.04516136e-01 -9.14492697e-01 -8.35484597e-03 1.44570900e+02] [ 9.14305341e-01 4.04602379e-01 -1.85110185e-02 7.95746614e+01] [ 2.03085818e-02 -1.50874600e-04 9.99793748e-01 2.29477903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.59, Y:79.60, Z:2.30 [[ 4.01093109e-01 -9.16000445e-01 -8.21602552e-03 1.44586888e+02] [ 9.15819329e-01 4.01177190e-01 -1.82158859e-02 7.95989160e+01] [ 1.99818417e-02 -2.18128640e-04 9.99800319e-01 2.29580292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19361786499996 meters Centerline goodness [0,1] 0.9999129943011267 Centerline is valid? [True, True] Translation: X:144.60, Y:79.62, Z:2.30 [[ 3.99173854e-01 -9.16839424e-01 -8.10588126e-03 1.44600766e+02] [ 9.16663076e-01 3.99256068e-01 -1.79832729e-02 7.96225618e+01] [ 1.97240958e-02 -2.51909707e-04 9.99805429e-01 2.29563130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22361786499997 meters Centerline goodness [0,1] 0.9999783516983093 Centerline is valid? [True, True] Translation: X:144.61, Y:79.65, Z:2.30 [[ 3.97179693e-01 -9.17707871e-01 -7.78163856e-03 1.44613798e+02] [ 9.17545318e-01 3.97255818e-01 -1.72743759e-02 7.96472334e+01] [ 1.89441320e-02 -2.78974695e-04 9.99820505e-01 2.29669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:79.67, Z:2.30 [[ 3.93547473e-01 -9.19272882e-01 -7.59967950e-03 1.44628808e+02] [ 9.19117937e-01 3.93620695e-01 -1.68809624e-02 7.96703229e+01] [ 1.85096021e-02 -3.41541635e-04 9.99828624e-01 2.29708272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28361786499997 meters Centerline goodness [0,1] 0.9999782632322574 Centerline is valid? [True, True] Translation: X:144.64, Y:79.70, Z:2.30 [[ 3.92033394e-01 -9.19920235e-01 -7.52190013e-03 1.44639836e+02] [ 9.19768363e-01 3.92105379e-01 -1.67191416e-02 7.96967459e+01] [ 1.83296542e-02 -3.63943928e-04 9.99831932e-01 2.29817576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31361786499997 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:144.65, Y:79.72, Z:2.30 [[ 3.89870554e-01 -9.20838446e-01 -7.58338443e-03 1.44653859e+02] [ 9.20684052e-01 3.89944088e-01 -1.68666715e-02 7.97222891e+01] [ 1.84885755e-02 -4.06082541e-04 9.99828989e-01 2.29797358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.67, Y:79.75, Z:2.30 [[ 3.89317254e-01 -9.21072101e-01 -7.63279803e-03 1.44666900e+02] [ 9.20915545e-01 3.89391848e-01 -1.69867183e-02 7.97468366e+01] [ 1.86181416e-02 -4.15939843e-04 9.99826581e-01 2.29792111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.68, Y:79.77, Z:2.30 [[ 3.88940992e-01 -9.21231217e-01 -7.61254024e-03 1.44681727e+02] [ 9.21075346e-01 3.89015257e-01 -1.69510034e-02 7.97698142e+01] [ 1.85771878e-02 -4.18783080e-04 9.99827341e-01 2.29725964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40361786499997 meters Centerline goodness [0,1] 0.9999782215737091 Centerline is valid? [True, True] Translation: X:144.69, Y:79.79, Z:2.30 [[ 3.88619021e-01 -9.21368183e-01 -7.47851283e-03 1.44693380e+02] [ 9.21217555e-01 3.88690753e-01 -1.66647686e-02 7.97937891e+01] [ 1.82612163e-02 -4.13091254e-04 9.99833165e-01 2.29758892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.70, Y:79.82, Z:2.30 [[ 3.88620409e-01 -9.21368763e-01 -7.33353574e-03 1.44702548e+02] [ 9.21223717e-01 3.88689390e-01 -1.63530251e-02 7.98207556e+01] [ 1.79176340e-02 -4.00707765e-04 9.99839386e-01 2.29856888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:79.84, Z:2.30 [[ 3.88677235e-01 -9.21345405e-01 -7.25612184e-03 1.44716803e+02] [ 9.21203198e-01 3.88744764e-01 -1.61918518e-02 7.98442794e+01] [ 1.77390677e-02 -3.90958448e-04 9.99842574e-01 2.29851013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49361786499998 meters Centerline goodness [0,1] 0.9998913397805064 Centerline is valid? [True, True] Translation: X:144.73, Y:79.87, Z:2.30 [[ 3.88701245e-01 -9.21336677e-01 -7.07592652e-03 1.44727931e+02] [ 9.21201244e-01 3.88765463e-01 -1.58013380e-02 7.98681202e+01] [ 1.73092281e-02 -3.76352533e-04 9.99850113e-01 2.29943267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.74, Y:79.89, Z:2.30 [[ 3.89453300e-01 -9.21021553e-01 -6.73984512e-03 1.44738349e+02] [ 9.20898449e-01 3.89511466e-01 -1.50620492e-02 7.98926395e+01] [ 1.64977189e-02 -3.40748139e-04 9.99863845e-01 2.30043720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:79.92, Z:2.30 [[ 3.90143561e-01 -9.20730796e-01 -6.54236980e-03 1.44748611e+02] [ 9.20614585e-01 3.90198285e-01 -1.46316065e-02 7.99177263e+01] [ 1.60245921e-02 -3.14574021e-04 9.99871549e-01 2.30120108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:79.95, Z:2.30 [[ 3.91465720e-01 -9.20171395e-01 -6.26043888e-03 1.44754378e+02] [ 9.20064765e-01 3.91515679e-01 -1.40107478e-02 7.99465629e+01] [ 1.53433493e-02 -2.75281756e-04 9.99882246e-01 2.30249234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.77, Y:79.97, Z:2.30 [[ 3.91962113e-01 -9.19961030e-01 -6.11607269e-03 1.44765041e+02] [ 9.19859095e-01 3.92009742e-01 -1.36969559e-02 7.99732000e+01] [ 1.49982257e-02 -2.57237310e-04 9.99887487e-01 2.30316388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:80.00, Z:2.30 [[ 3.92758790e-01 -9.19622423e-01 -5.92717489e-03 1.44775380e+02] [ 9.19526524e-01 3.92803442e-01 -1.32826069e-02 7.99995026e+01] [ 1.45431978e-02 -2.33333902e-04 9.99894215e-01 2.30372087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.79, Y:80.03, Z:2.30 [[ 3.94567787e-01 -9.18847940e-01 -5.89277711e-03 1.44786179e+02] [ 9.18752927e-01 3.94611738e-01 -1.32149493e-02 8.00251560e+01] [ 1.44678880e-02 -1.99812905e-04 9.99895315e-01 2.30407735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.80, Y:80.05, Z:2.30 [[ 3.95452511e-01 -9.18466792e-01 -6.00539539e-03 1.44796426e+02] [ 9.18367926e-01 3.95498064e-01 -1.34771780e-02 8.00517969e+01] [ 1.47534627e-02 -1.85578634e-04 9.99891145e-01 2.30445966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:80.08, Z:2.30 [[ 3.96020774e-01 -9.18221570e-01 -6.05762910e-03 1.44806766e+02] [ 9.18120806e-01 3.96067062e-01 -1.36039317e-02 8.00763229e+01] [ 1.48906509e-02 -1.74195759e-04 9.99889113e-01 2.30460067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.82, Y:80.10, Z:2.30 [[ 3.96483377e-01 -9.18021206e-01 -6.16414124e-03 1.44817184e+02] [ 9.17916727e-01 3.96531257e-01 -1.38507836e-02 8.01020745e+01] [ 1.51595878e-02 -1.66562886e-04 9.99885073e-01 2.30452610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.83, Y:80.13, Z:2.30 [[ 3.97478757e-01 -9.17588316e-01 -6.50536967e-03 1.44827193e+02] [ 9.17471718e-01 3.97531959e-01 -1.46283531e-02 8.01269473e+01] [ 1.60088982e-02 -1.54033105e-04 9.99871838e-01 2.30377951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82361786499996 meters Centerline goodness [0,1] 0.9999347783551101 Centerline is valid? [True, True] Translation: X:144.84, Y:80.15, Z:2.30 [[ 3.97517502e-01 -9.17571231e-01 -6.54771514e-03 1.44838132e+02] [ 9.17452932e-01 3.97571395e-01 -1.47344339e-02 8.01521743e+01] [ 1.61230769e-02 -1.50025119e-04 9.99870004e-01 2.30377491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:80.18, Z:2.30 [[ 3.97642688e-01 -9.17518947e-01 -6.26685587e-03 1.44847648e+02] [ 9.17410420e-01 3.97692044e-01 -1.41123974e-02 8.01787977e+01] [ 1.54406707e-02 -1.37587247e-04 9.99880776e-01 2.30470411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.86, Y:80.20, Z:2.30 [[ 3.97376561e-01 -9.17633854e-01 -6.32292795e-03 1.44859169e+02] [ 9.17523225e-01 3.97426838e-01 -1.42492350e-02 8.02035822e+01] [ 1.55884817e-02 -1.39121225e-04 9.99878483e-01 2.30496884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91361786499996 meters Centerline goodness [0,1] 0.999913079380256 Centerline is valid? [True, True] Translation: X:144.87, Y:80.23, Z:2.31 [[ 3.96854788e-01 -9.17860298e-01 -6.22500697e-03 1.44870050e+02] [ 9.17752952e-01 3.96903582e-01 -1.40380077e-02 8.02293331e+01] [ 1.53556575e-02 -1.41967939e-04 9.99882085e-01 2.30574800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:80.25, Z:2.31 [[ 3.94766553e-01 -9.18760410e-01 -6.21908979e-03 1.44882768e+02] [ 9.18653230e-01 3.94815500e-01 -1.40343776e-02 8.02546349e+01] [ 1.53496236e-02 -1.72884037e-04 9.99882173e-01 2.30595181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.90, Y:80.28, Z:2.31 [[ 3.93486543e-01 -9.19308818e-01 -6.29575144e-03 1.44895117e+02] [ 9.19198962e-01 3.93536858e-01 -1.42129993e-02 8.02801550e+01] [ 1.55437458e-02 -1.94424220e-04 9.99879170e-01 2.30617502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00361786499997 meters Centerline goodness [0,1] 0.9999564791644 Centerline is valid? [True, True] Translation: X:144.91, Y:80.30, Z:2.31 [[ 3.89916835e-01 -9.20830424e-01 -6.01602427e-03 1.44909378e+02] [ 9.20730154e-01 3.89963169e-01 -1.35907973e-02 8.03037153e+01] [ 1.48608476e-02 -2.39854271e-04 9.99889543e-01 2.30626704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.92, Y:80.33, Z:2.31 [[ 3.87804827e-01 -9.21722500e-01 -5.92033510e-03 1.44921823e+02] [ 9.21625365e-01 3.87849923e-01 -1.33836869e-02 8.03287266e+01] [ 1.46322469e-02 -2.66072619e-04 9.99892908e-01 2.30644000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06361786499997 meters Centerline goodness [0,1] 0.9999347230079638 Centerline is valid? [True, True] Translation: X:144.93, Y:80.35, Z:2.31 [[ 3.85816694e-01 -9.22556194e-01 -5.96214874e-03 1.44933312e+02] [ 9.22457653e-01 3.85862645e-01 -1.34869560e-02 8.03544579e+01] [ 1.47430453e-02 -2.96336964e-04 9.99891271e-01 2.30666142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.95, Y:80.38, Z:2.31 [[ 3.83547965e-01 -9.23503083e-01 -5.74583577e-03 1.44947724e+02] [ 9.23411546e-01 3.83590870e-01 -1.30061987e-02 8.03778612e+01] [ 1.42153148e-02 -3.17270034e-04 9.99898907e-01 2.30686243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12361786499997 meters Centerline goodness [0,1] 0.9999781683222355 Centerline is valid? [True, True] Translation: X:144.96, Y:80.40, Z:2.31 [[ 3.79343439e-01 -9.25236602e-01 -5.98213772e-03 1.44959315e+02] [ 9.25137454e-01 3.79390400e-01 -1.35505062e-02 8.04043884e+01] [ 1.48069899e-02 -3.94004046e-04 9.99890293e-01 2.30753924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:80.43, Z:2.31 [[ 3.77442655e-01 -9.26013463e-01 -6.00898451e-03 1.44971795e+02] [ 9.25913393e-01 3.77490247e-01 -1.36199458e-02 8.04286294e+01] [ 1.48805863e-02 -4.23050723e-04 9.99889188e-01 2.30786644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:80.45, Z:2.31 [[ 3.75273885e-01 -9.26894845e-01 -5.95461681e-03 1.44984062e+02] [ 9.26796595e-01 3.75320853e-01 -1.35029263e-02 8.04527642e+01] [ 1.47506846e-02 -4.51422978e-04 9.99891101e-01 2.30837285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.00, Y:80.48, Z:2.31 [[ 3.72132607e-01 -9.28161165e-01 -5.84586850e-03 1.44996992e+02] [ 9.28066524e-01 3.72178198e-01 -1.32633132e-02 8.04779953e+01] [ 1.44861970e-02 -4.89643551e-04 9.99894950e-01 2.30886903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:80.50, Z:2.31 [[ 3.70975261e-01 -9.28624550e-01 -5.81382951e-03 1.45008042e+02] [ 9.28530869e-01 3.71020476e-01 -1.31996629e-02 8.05038381e+01] [ 1.44145808e-02 -5.01571767e-04 9.99895979e-01 2.30878524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27361786499998 meters Centerline goodness [0,1] 0.9999782343722793 Centerline is valid? [True, True] Translation: X:145.02, Y:80.53, Z:2.31 [[ 3.69669936e-01 -9.29144059e-01 -5.95444736e-03 1.45021634e+02] [ 9.29045717e-01 3.69717507e-01 -1.35285366e-02 8.05281964e+01] [ 1.47714228e-02 -5.30860571e-04 9.99890756e-01 2.30884974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.03, Y:80.56, Z:2.31 [[ 3.68192357e-01 -9.29731189e-01 -5.85692243e-03 1.45031662e+02] [ 9.29635986e-01 3.68238539e-01 -1.33158283e-02 8.05552185e+01] [ 1.45368854e-02 -5.42019655e-04 9.99894187e-01 2.30948200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.05, Y:80.58, Z:2.31 [[ 3.67787112e-01 -9.29892884e-01 -5.64483161e-03 1.45046120e+02] [ 9.29804357e-01 3.67830053e-01 -1.28417531e-02 8.05784221e+01] [ 1.40177936e-02 -5.25557726e-04 9.99901608e-01 2.31014551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.06, Y:80.60, Z:2.31 [[ 3.67549179e-01 -9.29988066e-01 -5.45866355e-03 1.45055281e+02] [ 9.29905182e-01 3.67589360e-01 -1.24264081e-02 8.06046911e+01] [ 1.35629579e-02 -5.08723400e-04 9.99907889e-01 2.31056604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.06, Y:80.63, Z:2.31 [[ 3.69016923e-01 -9.29409077e-01 -5.02784316e-03 1.45064678e+02] [ 9.29338610e-01 3.69050904e-01 -1.14533501e-02 8.06314143e+01] [ 1.25003776e-02 -4.46088748e-04 9.99921768e-01 2.31150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.08, Y:80.66, Z:2.31 [[ 3.70171054e-01 -9.28950652e-01 -4.90682163e-03 1.45075163e+02] [ 9.28883402e-01 3.70203339e-01 -1.11854466e-02 8.06583724e+01] [ 1.22072497e-02 -4.17336597e-04 9.99925402e-01 2.31241254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:80.68, Z:2.31 [[ 3.71990173e-01 -9.28224289e-01 -4.79380278e-03 1.45085673e+02] [ 9.28159958e-01 3.72020864e-01 -1.09348078e-02 8.06840315e+01] [ 1.19333489e-02 -3.81774724e-04 9.99928722e-01 2.31292310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:80.71, Z:2.31 [[ 3.76659024e-01 -9.26342134e-01 -4.26973638e-03 1.45093679e+02] [ 9.26290915e-01 3.76683116e-01 -9.74533627e-03 8.07110289e+01] [ 1.06358532e-02 -2.84349175e-04 9.99943397e-01 2.31376274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:80.74, Z:2.31 [[ 3.79004632e-01 -9.25384569e-01 -4.34610900e-03 1.45103257e+02] [ 9.25331347e-01 3.79029462e-01 -9.92803241e-03 8.07364113e+01] [ 1.08345513e-02 -2.58820625e-04 9.99941271e-01 2.31413285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.11, Y:80.76, Z:2.31 [[ 3.81225048e-01 -9.24472159e-01 -4.32314245e-03 1.45112981e+02] [ 9.24419396e-01 3.81249490e-01 -9.87963456e-03 8.07633086e+01] [ 1.07816430e-02 -2.30032571e-04 9.99941850e-01 2.31408954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.12, Y:80.79, Z:2.31 [[ 3.85451838e-01 -9.22717528e-01 -4.38667967e-03 1.45121496e+02] [ 9.22663004e-01 3.85476757e-01 -1.00325195e-02 8.07908870e+01] [ 1.09481447e-02 -1.80373952e-04 9.99940051e-01 2.31342691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.13, Y:80.82, Z:2.31 [[ 3.86990553e-01 -9.22072299e-01 -4.58123620e-03 1.45131491e+02] [ 9.22012734e-01 3.87017632e-01 -1.04819047e-02 8.08170683e+01] [ 1.14380931e-02 -1.67560033e-04 9.99934569e-01 2.31348875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:80.84, Z:2.31 [[ 3.89741724e-01 -9.20911868e-01 -4.76648726e-03 1.45141500e+02] [ 9.20847200e-01 3.89770846e-01 -1.09142690e-02 8.08428613e+01] [ 1.19089177e-02 -1.35460419e-04 9.99929077e-01 2.31338507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66361786499996 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:145.15, Y:80.87, Z:2.31 [[ 3.90184592e-01 -9.20724644e-01 -4.70265923e-03 1.45152162e+02] [ 9.20661624e-01 3.90212909e-01 -1.07731317e-02 8.08688752e+01] [ 1.17541261e-02 -1.26047908e-04 9.99930910e-01 2.31322529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69361786499996 meters Centerline goodness [0,1] 0.9999351519605724 Centerline is valid? [True, True] Translation: X:145.16, Y:80.89, Z:2.31 [[ 3.89938147e-01 -9.20829058e-01 -4.69977796e-03 1.45163117e+02] [ 9.20766030e-01 3.89966448e-01 -1.07743884e-02 8.08941839e+01] [ 1.17541256e-02 -1.26050843e-04 9.99930910e-01 2.31359204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:80.92, Z:2.31 [[ 3.90476127e-01 -9.20600736e-01 -4.76224461e-03 1.45173733e+02] [ 9.20535909e-01 3.90505148e-01 -1.09256531e-02 8.09190005e+01] [ 1.19178453e-02 -1.17610471e-04 9.99928973e-01 2.31420438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.18, Y:80.94, Z:2.31 [[ 3.90638578e-01 -9.20533129e-01 -4.50112005e-03 1.45184544e+02] [ 9.20475127e-01 3.90664495e-01 -1.03340394e-02 8.09448542e+01] [ 1.12712534e-02 -1.06294606e-04 9.99936472e-01 2.31443965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:80.97, Z:2.31 [[ 3.89971569e-01 -9.20815154e-01 -4.65051541e-03 1.45195937e+02] [ 9.20753164e-01 3.89999280e-01 -1.06851655e-02 8.09701240e+01] [ 1.16527600e-02 -1.15066030e-04 9.99932098e-01 2.31463979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.21, Y:80.99, Z:2.32 [[ 3.89140592e-01 -9.21166810e-01 -4.61612267e-03 1.45207690e+02] [ 9.21105668e-01 3.89167951e-01 -1.06138472e-02 8.09943145e+01] [ 1.15735708e-02 -1.21657959e-04 9.99933017e-01 2.31542986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.22, Y:81.02, Z:2.32 [[ 3.87910322e-01 -9.21686083e-01 -4.51069493e-03 1.45219401e+02] [ 9.21627648e-01 3.87936525e-01 -1.03793944e-02 8.10195974e+01] [ 1.13164067e-02 -1.30906931e-04 9.99935959e-01 2.31580750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:81.04, Z:2.32 [[ 3.85625934e-01 -9.22642966e-01 -4.75351543e-03 1.45232289e+02] [ 9.22578036e-01 3.85655196e-01 -1.09469933e-02 8.10438092e+01] [ 1.19333843e-02 -1.64044410e-04 9.99928781e-01 2.31590050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.24, Y:81.07, Z:2.32 [[ 3.84264569e-01 -9.23210637e-01 -4.78133925e-03 1.45244742e+02] [ 9.23144931e-01 3.84294272e-01 -1.10158744e-02 8.10682118e+01] [ 1.20074137e-02 -1.80858871e-04 9.99927892e-01 2.31602082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.26, Y:81.09, Z:2.32 [[ 3.82762488e-01 -9.23832934e-01 -5.05851870e-03 1.45257117e+02] [ 9.23759342e-01 3.82795855e-01 -1.16624226e-02 8.10938063e+01] [ 1.27105101e-02 -2.08916007e-04 9.99919196e-01 2.31592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters Centerline goodness [0,1] 0.9999564725341691 Centerline is valid? [True, True] Translation: X:145.27, Y:81.12, Z:2.32 [[ 3.81290604e-01 -9.24441282e-01 -5.07849585e-03 1.45269454e+02] [ 9.24367060e-01 3.81324355e-01 -1.17163937e-02 8.11197580e+01] [ 1.27676722e-02 -2.27043436e-04 9.99918464e-01 2.31622052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.28, Y:81.15, Z:2.32 [[ 3.77983579e-01 -9.25796513e-01 -5.40649783e-03 1.45283397e+02] [ 9.25712409e-01 3.78022134e-01 -1.24820801e-02 8.11450692e+01] [ 1.35996420e-02 -2.86840831e-04 9.99907479e-01 2.31645462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.30, Y:81.17, Z:2.32 [[ 3.75908649e-01 -9.26640117e-01 -5.54804824e-03 1.45296153e+02] [ 9.26551521e-01 3.75949451e-01 -1.28175639e-02 8.11709207e+01] [ 1.39630546e-02 -3.22319405e-04 9.99902460e-01 2.31683131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05361786499998 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:145.31, Y:81.19, Z:2.32 [[ 3.71837860e-01 -9.28280630e-01 -5.62828222e-03 1.45311301e+02] [ 9.28189513e-01 3.71880253e-01 -1.30117651e-02 8.11940170e+01] [ 1.41716165e-02 -3.85845643e-04 9.99899503e-01 2.31781819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.32, Y:81.22, Z:2.32 [[ 3.69836917e-01 -9.29078554e-01 -5.80471357e-03 1.45323633e+02] [ 9.28981588e-01 3.69882222e-01 -1.34294440e-02 8.12195061e+01] [ 1.46240688e-02 -4.25767877e-04 9.99892972e-01 2.31843528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11361786499995 meters Centerline goodness [0,1] 0.9999127589967285 Centerline is valid? [True, True] Translation: X:145.34, Y:81.24, Z:2.32 [[ 3.68027716e-01 -9.29796125e-01 -5.89636605e-03 1.45336475e+02] [ 9.29696028e-01 3.68074662e-01 -1.36506092e-02 8.12438059e+01] [ 1.48625865e-02 -4.58025576e-04 9.99889441e-01 2.31902444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499995 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:145.35, Y:81.27, Z:2.32 [[ 3.65481319e-01 -9.30799632e-01 -5.95404553e-03 1.45349738e+02] [ 9.30697562e-01 3.65529472e-01 -1.37932518e-02 8.12669347e+01] [ 1.50151328e-02 -5.00239809e-04 9.99887141e-01 2.32006732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17361786499995 meters Centerline goodness [0,1] 0.9999781692754383 Centerline is valid? [True, True] Translation: X:145.36, Y:81.29, Z:2.32 [[ 3.64932060e-01 -9.31015054e-01 -5.96324538e-03 1.45361103e+02] [ 9.30912576e-01 3.64980427e-01 -1.38226144e-02 8.12914480e+01] [ 1.50455299e-02 -5.06944965e-04 9.99886681e-01 2.32070004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499996 meters Centerline goodness [0,1] 0.9999781549686524 Centerline is valid? [True, True] Translation: X:145.37, Y:81.32, Z:2.32 [[ 3.64922969e-01 -9.31019478e-01 -5.82741203e-03 1.45367058e+02] [ 9.30921474e-01 3.64969163e-01 -1.35173978e-02 8.13192455e+01] [ 1.47117863e-02 -4.92054062e-04 9.99891655e-01 2.32194039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.38, Y:81.35, Z:2.32 [[ 3.66092346e-01 -9.30560275e-01 -5.82821794e-03 1.45376744e+02] [ 9.30462040e-01 3.66138435e-01 -1.35291756e-02 8.13457216e+01] [ 1.47236480e-02 -4.70007913e-04 9.99891491e-01 2.32272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:81.37, Z:2.32 [[ 3.66933678e-01 -9.30228877e-01 -5.82350556e-03 1.45386708e+02] [ 9.30130618e-01 3.66979607e-01 -1.35277945e-02 8.13725838e+01] [ 1.47210529e-02 -4.52817436e-04 9.99891537e-01 2.32317719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.40, Y:81.40, Z:2.32 [[ 3.67941700e-01 -9.29830543e-01 -5.83671084e-03 1.45397530e+02] [ 9.29731648e-01 3.67987735e-01 -1.35679716e-02 8.13976298e+01] [ 1.47637524e-02 -4.34352249e-04 9.99890916e-01 2.32355674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.41, Y:81.42, Z:2.32 [[ 3.70513745e-01 -9.28808842e-01 -5.80521062e-03 1.45408680e+02] [ 9.28710786e-01 3.70559016e-01 -1.35015553e-02 8.14222309e+01] [ 1.46915370e-02 -3.88849917e-04 9.99891998e-01 2.32439654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:81.45, Z:2.33 [[ 3.71723905e-01 -9.28325363e-01 -5.77575220e-03 1.45417771e+02] [ 9.28228151e-01 3.71768593e-01 -1.34392250e-02 8.14488797e+01] [ 1.46232167e-02 -3.65534579e-04 9.99893008e-01 2.32515303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:81.48, Z:2.33 [[ 3.73332889e-01 -9.27678573e-01 -5.91768746e-03 1.45427526e+02] [ 9.27576293e-01 3.73379627e-01 -1.37794864e-02 8.14758528e+01] [ 1.49924783e-02 -3.44771121e-04 9.99887547e-01 2.32563993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.44, Y:81.50, Z:2.33 [[ 3.76869263e-01 -9.26247649e-01 -5.90353179e-03 1.45436625e+02] [ 9.26145539e-01 3.76915392e-01 -1.37559964e-02 8.15012446e+01] [ 1.49665913e-02 -2.83317430e-04 9.99887954e-01 2.32617570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.45, Y:81.53, Z:2.33 [[ 3.78779697e-01 -9.25468149e-01 -5.88610973e-03 1.45446688e+02] [ 9.25366450e-01 3.78825347e-01 -1.37218706e-02 8.15271535e+01] [ 1.49289617e-02 -2.49242482e-04 9.99888526e-01 2.32662815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.46, Y:81.55, Z:2.33 [[ 3.80466353e-01 -9.24775682e-01 -5.94070167e-03 1.45456634e+02] [ 9.24671859e-01 3.80512666e-01 -1.38587046e-02 8.15523542e+01] [ 1.50767052e-02 -2.20428873e-04 9.99886316e-01 2.32723269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:81.58, Z:2.33 [[ 3.83561265e-01 -9.23496835e-01 -5.86100222e-03 1.45465562e+02] [ 9.23395519e-01 3.83606007e-01 -1.36801919e-02 8.15799111e+01] [ 1.48819295e-02 -1.64831487e-04 9.99889244e-01 2.32808932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:81.61, Z:2.33 [[ 3.84879055e-01 -9.22947734e-01 -5.96599642e-03 1.45475439e+02] [ 9.22842548e-01 3.84925265e-01 -1.39345819e-02 8.16050136e+01] [ 1.51573536e-02 -1.42546608e-04 9.99885111e-01 2.32851042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.49, Y:81.63, Z:2.33 [[ 3.85903074e-01 -9.22519304e-01 -6.07872371e-03 1.45485848e+02] [ 9.22409910e-01 3.85950927e-01 -1.42070318e-02 8.16314475e+01] [ 1.54523502e-02 -1.24537730e-04 9.99880598e-01 2.32843282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.50, Y:81.66, Z:2.33 [[ 3.87043080e-01 -9.22041398e-01 -6.10857073e-03 1.45495546e+02] [ 9.21930702e-01 3.87091268e-01 -1.42874685e-02 8.16573565e+01] [ 1.55382118e-02 -1.01813091e-04 9.99879270e-01 2.32855456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.50, Y:81.68, Z:2.33 [[ 3.88710743e-01 -9.21339195e-01 -6.16818515e-03 1.45504746e+02] [ 9.21226069e-01 3.88759673e-01 -1.44376507e-02 8.16830233e+01] [ 1.56999151e-02 -7.02230442e-05 9.99876746e-01 2.32877197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:81.71, Z:2.33 [[ 3.89211429e-01 -9.21128340e-01 -6.08647794e-03 1.45515209e+02] [ 9.21018020e-01 3.89259012e-01 -1.42558527e-02 8.17084165e+01] [ 1.55006863e-02 -5.72150763e-05 9.99879856e-01 2.32947077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.53, Y:81.73, Z:2.33 [[ 3.89649474e-01 -9.20943476e-01 -6.03340862e-03 1.45525738e+02] [ 9.20834879e-01 3.89696179e-01 -1.41426003e-02 8.17337572e+01] [ 1.53757318e-02 -4.51163295e-05 9.99881785e-01 2.33032541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71361786499997 meters Centerline goodness [0,1] 0.9999565614004604 Centerline is valid? [True, True] Translation: X:145.54, Y:81.76, Z:2.33 [[ 3.89508821e-01 -9.21001856e-01 -6.20153532e-03 1.45536681e+02] [ 9.20886949e-01 3.89558184e-01 -1.45481507e-02 8.17600171e+01] [ 1.58147327e-02 -4.42798991e-05 9.99874938e-01 2.33089945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters Centerline goodness [0,1] 0.9999782986111111 Centerline is valid? [True, True] Translation: X:145.55, Y:81.79, Z:2.33 [[ 3.88941248e-01 -9.21241033e-01 -6.29793842e-03 1.45547443e+02] [ 9.21122380e-01 3.88992231e-01 -1.47852938e-02 8.17857050e+01] [ 1.60706685e-02 -5.05614024e-05 9.99870857e-01 2.33114405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77361786499998 meters Centerline goodness [0,1] 0.9999347641724835 Centerline is valid? [True, True] Translation: X:145.56, Y:81.81, Z:2.33 [[ 3.88593915e-01 -9.21387359e-01 -6.33271209e-03 1.45558135e+02] [ 9.21267241e-01 3.88645509e-01 -1.48774706e-02 8.18106323e+01] [ 1.61690934e-02 -5.28256632e-05 9.99869270e-01 2.33178457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:81.84, Z:2.33 [[ 3.88138942e-01 -9.21578637e-01 -6.40129885e-03 1.45568952e+02] [ 9.21455785e-01 3.88191721e-01 -1.50473899e-02 8.18363044e+01] [ 1.63522843e-02 -5.80358375e-05 9.99866291e-01 2.33241991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.58, Y:81.86, Z:2.33 [[ 3.87489942e-01 -9.21851805e-01 -6.38698816e-03 1.45579635e+02] [ 9.21729364e-01 3.87542571e-01 -1.50244674e-02 8.18612100e+01] [ 1.63255622e-02 -6.52445282e-05 9.99866727e-01 2.33206493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.59, Y:81.89, Z:2.33 [[ 3.85849694e-01 -9.22538484e-01 -6.53906946e-03 1.45590482e+02] [ 9.22410084e-01 3.85905088e-01 -1.53915604e-02 8.18869191e+01] [ 1.67227669e-02 -9.28747544e-05 9.99860160e-01 2.33288016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.60, Y:81.91, Z:2.33 [[ 3.84881816e-01 -9.22942718e-01 -6.53653628e-03 1.45601670e+02] [ 9.22814277e-01 3.84937304e-01 -1.53974534e-02 8.19120546e+01] [ 1.67271242e-02 -1.05809162e-04 9.99860086e-01 2.33289506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:81.94, Z:2.33 [[ 3.84168168e-01 -9.23240182e-01 -6.51040359e-03 1.45612870e+02] [ 9.23112624e-01 3.84223313e-01 -1.53469576e-02 8.19381577e+01] [ 1.66703767e-02 -1.14023156e-04 9.99861033e-01 2.33309909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.62, Y:81.96, Z:2.33 [[ 3.83317123e-01 -9.23592799e-01 -6.65769515e-03 1.45623247e+02] [ 9.23459249e-01 3.83374915e-01 -1.57063675e-02 8.19645456e+01] [ 1.70586812e-02 -1.27590576e-04 9.99854482e-01 2.33387158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.63, Y:81.99, Z:2.33 [[ 3.82955266e-01 -9.23743077e-01 -6.63266914e-03 1.45633962e+02] [ 9.23610348e-01 3.83012677e-01 -1.56593144e-02 8.19908934e+01] [ 1.70055796e-02 -1.29184957e-04 9.99855386e-01 2.33461298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.64, Y:82.02, Z:2.34 [[ 3.82719702e-01 -9.23841310e-01 -6.54704307e-03 1.45644301e+02] [ 9.23711802e-01 3.82775675e-01 -1.54689661e-02 8.20165006e+01] [ 1.67969187e-02 -1.27302865e-04 9.99858914e-01 2.33545979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04361786499996 meters Centerline goodness [0,1] 0.9999782873024144 Centerline is valid? [True, True] Translation: X:145.65, Y:82.04, Z:2.34 [[ 3.82675358e-01 -9.23860121e-01 -6.48445869e-03 1.45654707e+02] [ 9.23732888e-01 3.82730274e-01 -1.53326114e-02 8.20409879e+01] [ 1.66469869e-02 -1.22495194e-04 9.99861422e-01 2.33552774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.66, Y:82.07, Z:2.34 [[ 3.82937983e-01 -9.23751868e-01 -6.40207924e-03 1.45663349e+02] [ 9.23627659e-01 3.82991479e-01 -1.51484079e-02 8.20675056e+01] [ 1.64453119e-02 -1.12236685e-04 9.99864760e-01 2.33668699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.67, Y:82.09, Z:2.34 [[ 3.82977768e-01 -9.23734127e-01 -6.57973187e-03 1.45672899e+02] [ 9.23602723e-01 3.83034269e-01 -1.55807144e-02 8.20924693e+01] [ 1.69127004e-02 -1.09991063e-04 9.99856964e-01 2.33691695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13361786499996 meters Centerline goodness [0,1] 0.9999132377502549 Centerline is valid? [True, True] Translation: X:145.68, Y:82.12, Z:2.34 [[ 3.83016141e-01 -9.23718173e-01 -6.58578535e-03 1.45682284e+02] [ 9.23586343e-01 3.83072742e-01 -1.56057892e-02 8.21181491e+01] [ 1.69381860e-02 -1.05272242e-04 9.99856533e-01 2.33660815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16361786499996 meters Centerline goodness [0,1] 0.9999132358682921 Centerline is valid? [True, True] Translation: X:145.69, Y:82.14, Z:2.34 [[ 3.82807362e-01 -9.23804441e-01 -6.62406603e-03 1.45692598e+02] [ 9.23670900e-01 3.82864654e-01 -1.57075137e-02 8.21443221e+01] [ 1.70467917e-02 -1.05505150e-04 9.99854687e-01 2.33711560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19361786499996 meters Centerline goodness [0,1] 0.9999567043338962 Centerline is valid? [True, True] Translation: X:145.70, Y:82.17, Z:2.34 [[ 3.82594548e-01 -9.23892398e-01 -6.65194496e-03 1.45702811e+02] [ 9.23757542e-01 3.82652356e-01 -1.57853595e-02 8.21696684e+01] [ 1.71293561e-02 -1.05391835e-04 9.99853276e-01 2.33726352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22361786499997 meters Centerline goodness [0,1] 0.9999135434228159 Centerline is valid? [True, True] Translation: X:145.71, Y:82.20, Z:2.34 [[ 3.82648837e-01 -9.23869407e-01 -6.72209721e-03 1.45712968e+02] [ 9.23731493e-01 3.82707863e-01 -1.59631022e-02 8.21960305e+01] [ 1.73204213e-02 -1.01150388e-04 9.99849985e-01 2.33778014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25361786499997 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:145.72, Y:82.22, Z:2.34 [[ 3.82954558e-01 -9.23742435e-01 -6.76168330e-03 1.45721498e+02] [ 9.23602662e-01 3.83014237e-01 -1.60691120e-02 8.22215228e+01] [ 1.74335416e-02 -9.13689982e-05 9.99848020e-01 2.33782526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28361786499997 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:145.73, Y:82.25, Z:2.34 [[ 3.83159663e-01 -9.23656365e-01 -6.89863976e-03 1.45731470e+02] [ 9.23510652e-01 3.83221752e-01 -1.64062507e-02 8.22479534e+01] [ 1.77974467e-02 -8.47537990e-05 9.99841609e-01 2.33820149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.74, Y:82.27, Z:2.34 [[ 3.83237242e-01 -9.23623828e-01 -6.94558138e-03 1.45741217e+02] [ 9.23475891e-01 3.83300167e-01 -1.65306112e-02 8.22731341e+01] [ 1.79303089e-02 -7.89311248e-05 9.99839236e-01 2.33860512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34361786499997 meters Centerline goodness [0,1] 0.9999141114832947 Centerline is valid? [True, True] Translation: X:145.75, Y:82.30, Z:2.34 [[ 3.83134488e-01 -9.23667055e-01 -6.86553383e-03 1.45750325e+02] [ 9.23522287e-01 3.83195989e-01 -1.63529529e-02 8.22981841e+01] [ 1.77355288e-02 -7.50932825e-05 9.99842710e-01 2.33912021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37361786499997 meters Centerline goodness [0,1] 0.9999569679626482 Centerline is valid? [True, True] Translation: X:145.76, Y:82.32, Z:2.34 [[ 3.82779348e-01 -9.23816191e-01 -6.60419612e-03 1.45760394e+02] [ 9.23682056e-01 3.82836308e-01 -1.57423384e-02 8.23234254e+01] [ 1.70713531e-02 -7.43354333e-05 9.99854271e-01 2.33973476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.77, Y:82.35, Z:2.34 [[ 3.82648907e-01 -9.23869367e-01 -6.72367252e-03 1.45770158e+02] [ 9.23730124e-01 3.82707967e-01 -1.60396313e-02 8.23493493e+01] [ 1.73917270e-02 -7.33114903e-05 9.99848750e-01 2.34097773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43361786499997 meters Centerline goodness [0,1] 0.9999354088619041 Centerline is valid? [True, True] Translation: X:145.78, Y:82.38, Z:2.34 [[ 3.82115486e-01 -9.24090540e-01 -6.66547642e-03 1.45779896e+02] [ 9.23953536e-01 3.82173609e-01 -1.59121300e-02 8.23751276e+01] [ 1.72516180e-02 -7.83192017e-05 9.99851177e-01 2.34127216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.79, Y:82.40, Z:2.34 [[ 3.81751081e-01 -9.24239874e-01 -6.83864518e-03 1.45790182e+02] [ 9.24095509e-01 3.81812320e-01 -1.63353028e-02 8.24014509e+01] [ 1.77088172e-02 -8.35418091e-05 9.99843183e-01 2.34209188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:82.43, Z:2.34 [[ 3.81320664e-01 -9.24418170e-01 -6.75269110e-03 1.45800428e+02] [ 9.24277226e-01 3.81380441e-01 -1.61421298e-02 8.24267150e+01] [ 1.74974224e-02 -8.60309292e-05 9.99846905e-01 2.34204259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.81, Y:82.45, Z:2.34 [[ 3.80630172e-01 -9.24700539e-01 -7.04165046e-03 1.45810183e+02] [ 9.24547096e-01 3.80695289e-01 -1.68453171e-02 8.24528257e+01] [ 1.82575969e-02 -9.85015394e-05 9.99833311e-01 2.34183078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.82, Y:82.48, Z:2.34 [[ 3.80210929e-01 -9.24870716e-01 -7.33537777e-03 1.45820418e+02] [ 9.24703973e-01 3.80281668e-01 -1.75617662e-02 8.24787158e+01] [ 1.90318729e-02 -1.05877549e-04 9.99818872e-01 2.34183190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.83, Y:82.50, Z:2.34 [[ 3.79959964e-01 -9.24973885e-01 -7.33061369e-03 1.45830976e+02] [ 9.24807123e-01 3.80030658e-01 -1.75637548e-02 8.25041904e+01] [ 1.90318724e-02 -1.05880125e-04 9.99818872e-01 2.34219864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61361786499995 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:145.84, Y:82.53, Z:2.34 [[ 3.79438224e-01 -9.25187430e-01 -7.40629033e-03 1.45841147e+02] [ 9.25016984e-01 3.79510483e-01 -1.77587162e-02 8.25300561e+01] [ 1.92409059e-02 -1.12608595e-04 9.99814870e-01 2.34224436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.85, Y:82.56, Z:2.34 [[ 3.78925713e-01 -9.25397887e-01 -7.35212128e-03 1.45851154e+02] [ 9.25229706e-01 3.78997013e-01 -1.76424130e-02 8.25550121e+01] [ 1.91126838e-02 -1.17237068e-04 9.99817329e-01 2.34298798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:82.58, Z:2.34 [[ 3.78347945e-01 -9.25635356e-01 -7.21254759e-03 1.45861683e+02] [ 9.25473291e-01 3.78416666e-01 -1.73209225e-02 8.25809443e+01] [ 1.87622065e-02 -1.21684722e-04 9.99823967e-01 2.34349428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.87, Y:82.61, Z:2.34 [[ 3.77965003e-01 -9.25792952e-01 -7.06161956e-03 1.45871914e+02] [ 9.25637398e-01 3.78030944e-01 -1.69709160e-02 8.26070694e+01] [ 1.83810651e-02 -1.22086845e-04 9.99831047e-01 2.34428605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.88, Y:82.63, Z:2.35 [[ 3.77475981e-01 -9.25994532e-01 -6.78316827e-03 1.45882285e+02] [ 9.25850829e-01 3.77536902e-01 -1.63134754e-02 8.26334600e+01] [ 1.76670853e-02 -1.22256857e-04 9.99843917e-01 2.34501242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:82.66, Z:2.35 [[ 3.76664588e-01 -9.26325063e-01 -6.75763936e-03 1.45890909e+02] [ 9.26182279e-01 3.76725178e-01 -1.62642327e-02 8.26598909e+01] [ 1.76117393e-02 -1.32645317e-04 9.99844893e-01 2.34605834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.90, Y:82.69, Z:2.35 [[ 3.76085687e-01 -9.26559525e-01 -6.85589759e-03 1.45900808e+02] [ 9.26412366e-01 3.76148146e-01 -1.65136554e-02 8.26860993e+01] [ 1.78797178e-02 -1.40838886e-04 9.99840135e-01 2.34668390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82361786499996 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:145.91, Y:82.71, Z:2.35 [[ 3.75705793e-01 -9.26714371e-01 -6.75509685e-03 1.45910817e+02] [ 9.26571314e-01 3.75766489e-01 -1.62833251e-02 8.27119765e+01] [ 1.76283304e-02 -1.41339390e-04 9.99844599e-01 2.34693408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.92, Y:82.74, Z:2.35 [[ 3.74837623e-01 -9.27065163e-01 -6.85126734e-03 1.45919980e+02] [ 9.26917835e-01 3.74900199e-01 -1.65277867e-02 8.27376613e+01] [ 1.78908767e-02 -1.55325626e-04 9.99839933e-01 2.34694931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88361786499996 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:145.93, Y:82.76, Z:2.35 [[ 3.74187191e-01 -9.27326676e-01 -7.01297743e-03 1.45930311e+02] [ 9.27172130e-01 3.74252866e-01 -1.69302640e-02 8.27639252e+01] [ 1.83245123e-02 -1.67149309e-04 9.99832078e-01 2.34705166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.94, Y:82.79, Z:2.35 [[ 3.73243101e-01 -9.27706749e-01 -7.05520433e-03 1.45940168e+02] [ 9.27550165e-01 3.73309731e-01 -1.70451514e-02 8.27900327e+01] [ 1.84466785e-02 -1.82070755e-04 9.99829829e-01 2.34738634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.95, Y:82.82, Z:2.35 [[ 3.71421393e-01 -9.28438889e-01 -6.88316076e-03 1.45949622e+02] [ 9.28289749e-01 3.71485108e-01 -1.66420243e-02 8.28157141e+01] [ 1.80080943e-02 -2.08363721e-04 9.99837819e-01 2.34776180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.96, Y:82.84, Z:2.35 [[ 3.70053888e-01 -9.28984864e-01 -6.87338871e-03 1.45960233e+02] [ 9.28836006e-01 3.70117644e-01 -1.66314208e-02 8.28417983e+01] [ 1.79943006e-02 -2.29728969e-04 9.99838063e-01 2.34817453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.97, Y:82.87, Z:2.35 [[ 3.67093157e-01 -9.30160343e-01 -6.65959473e-03 1.45971402e+02] [ 9.30020591e-01 3.67153457e-01 -1.61257379e-02 8.28680442e+01] [ 1.74446151e-02 -2.73912185e-04 9.99847794e-01 2.34896668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03361786499997 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:145.98, Y:82.89, Z:2.35 [[ 3.65523363e-01 -9.30779172e-01 -6.54244721e-03 1.45983260e+02] [ 9.30644204e-01 3.65581791e-01 -1.58530480e-02 8.28926252e+01] [ 1.71474864e-02 -2.94031171e-04 9.99852928e-01 2.34954521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.99, Y:82.92, Z:2.35 [[ 3.63889671e-01 -9.31419793e-01 -6.44020109e-03 1.45994687e+02] [ 9.31288935e-01 3.63946520e-01 -1.56157112e-02 8.29185139e+01] [ 1.68886712e-02 -3.15292004e-04 9.99857327e-01 2.35008915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:82.94, Z:2.35 [[ 3.62411474e-01 -9.31996671e-01 -6.33474592e-03 1.46005336e+02] [ 9.31869977e-01 3.62466681e-01 -1.53704815e-02 8.29444589e+01] [ 1.66213720e-02 -3.32720659e-04 9.99861800e-01 2.35075298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:82.97, Z:2.35 [[ 3.59708164e-01 -9.33046632e-01 -5.83264357e-03 1.46014847e+02] [ 9.32939222e-01 3.59755281e-01 -1.41614139e-02 8.29717895e+01] [ 1.53115838e-02 -3.47525785e-04 9.99882710e-01 2.35144831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.02, Y:83.00, Z:2.35 [[ 3.58654824e-01 -9.33452256e-01 -5.79689091e-03 1.46024970e+02] [ 9.33346058e-01 3.58701488e-01 -1.40847039e-02 8.29987288e+01] [ 1.52267520e-02 -3.58958274e-04 9.99884002e-01 2.35201320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.04, Y:83.02, Z:2.35 [[ 3.57563860e-01 -9.33871165e-01 -5.72132416e-03 1.46037364e+02] [ 9.33767619e-01 3.57609441e-01 -1.39111759e-02 8.30230502e+01] [ 1.50372456e-02 -3.68253483e-04 9.99886866e-01 2.35205241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:83.05, Z:2.35 [[ 3.56604911e-01 -9.34237780e-01 -5.71906338e-03 1.46045700e+02] [ 9.34134218e-01 3.56650566e-01 -1.39153128e-02 8.30502205e+01] [ 1.50399182e-02 -3.80103901e-04 9.99886822e-01 2.35290303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.06, Y:83.07, Z:2.35 [[ 3.56538523e-01 -9.34262969e-01 -5.74336515e-03 1.46056544e+02] [ 9.34158372e-01 3.56584577e-01 -1.39848102e-02 8.30748396e+01] [ 1.51134858e-02 -3.79089057e-04 9.99885713e-01 2.35320183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.06, Y:83.10, Z:2.35 [[ 3.56682120e-01 -9.34207794e-01 -5.80200294e-03 1.46063342e+02] [ 9.34100868e-01 3.56729107e-01 -1.41390520e-02 8.31020165e+01] [ 1.52785559e-02 -3.76508960e-04 9.99883205e-01 2.35395176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:83.13, Z:2.35 [[ 3.58170015e-01 -9.33638530e-01 -5.77361342e-03 1.46071472e+02] [ 9.33532418e-01 3.58216379e-01 -1.40801547e-02 8.31290631e+01] [ 1.52139778e-02 -3.46766072e-04 9.99884201e-01 2.35461961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:83.16, Z:2.35 [[ 3.58918915e-01 -9.33351489e-01 -5.67548585e-03 1.46080365e+02] [ 9.33248827e-01 3.58963636e-01 -1.38468364e-02 8.31563171e+01] [ 1.49612585e-02 -3.26749005e-04 9.99888021e-01 2.35498337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.09, Y:83.18, Z:2.36 [[ 3.60256450e-01 -9.32835062e-01 -5.83414912e-03 1.46088358e+02] [ 9.32726344e-01 3.60303554e-01 -1.42448411e-02 8.31842983e+01] [ 1.53901519e-02 -3.09868701e-04 9.99881517e-01 2.35532994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:83.21, Z:2.36 [[ 3.60641466e-01 -9.32686097e-01 -5.86319799e-03 1.46098032e+02] [ 9.32576120e-01 3.60688998e-01 -1.43257302e-02 8.32109426e+01] [ 1.54762004e-02 -3.01426088e-04 9.99880191e-01 2.35557331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.11, Y:83.24, Z:2.36 [[ 3.61158704e-01 -9.32485935e-01 -5.86272242e-03 1.46107459e+02] [ 9.32375783e-01 3.61206171e-01 -1.43353360e-02 8.32361159e+01] [ 1.54851507e-02 -2.88929037e-04 9.99880056e-01 2.35604581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.12, Y:83.26, Z:2.36 [[ 3.61765210e-01 -9.32249793e-01 -6.02130213e-03 1.46116741e+02] [ 9.32133415e-01 3.61815206e-01 -1.47327102e-02 8.32615498e+01] [ 1.59131647e-02 -2.82874928e-04 9.99873338e-01 2.35656343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.12, Y:83.29, Z:2.36 [[ 3.62509995e-01 -9.31959578e-01 -6.15208381e-03 1.46124879e+02] [ 9.31837885e-01 3.62562092e-01 -1.50627216e-02 8.32883897e+01] [ 1.62683601e-02 -2.72357620e-04 9.99867624e-01 2.35657719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.13, Y:83.31, Z:2.36 [[ 3.62436897e-01 -9.31988582e-01 -6.06454385e-03 1.46133794e+02] [ 9.31870155e-01 3.62487534e-01 -1.48594438e-02 8.33146183e+01] [ 1.60471535e-02 -2.65756708e-04 9.99871201e-01 2.35682249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.14, Y:83.34, Z:2.36 [[ 3.62528227e-01 -9.31952543e-01 -6.14346736e-03 1.46143489e+02] [ 9.31830815e-01 3.62580182e-01 -1.50646426e-02 8.33414855e+01] [ 1.62670315e-02 -2.63314017e-04 9.99867648e-01 2.35729397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.15, Y:83.37, Z:2.36 [[ 3.62110245e-01 -9.32115925e-01 -6.00602069e-03 1.46152386e+02] [ 9.31999427e-01 3.62159956e-01 -1.47388668e-02 8.33685897e+01] [ 1.59134727e-02 -2.60513172e-04 9.99873339e-01 2.35807731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.16, Y:83.39, Z:2.36 [[ 3.61798546e-01 -9.32237875e-01 -5.86150503e-03 1.46163084e+02] [ 9.32126766e-01 3.61845934e-01 -1.43948538e-02 8.33933555e+01] [ 1.55403897e-02 -2.55628535e-04 9.99879208e-01 2.35854451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63361786499996 meters Centerline goodness [0,1] 0.9999364164299945 Centerline is valid? [True, True] Translation: X:146.17, Y:83.42, Z:2.36 [[ 3.61082413e-01 -9.32516955e-01 -5.62309195e-03 1.46173734e+02] [ 9.32414623e-01 3.61126105e-01 -1.38169031e-02 8.34186872e+01] [ 1.49151417e-02 -2.54012445e-04 9.99888731e-01 2.35931593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:83.45, Z:2.36 [[ 3.59705249e-01 -9.33049851e-01 -5.48727137e-03 1.46183111e+02] [ 9.32952310e-01 3.59747002e-01 -1.34937667e-02 8.34452925e+01] [ 1.45643865e-02 -2.65583780e-04 9.99893898e-01 2.36055427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.19, Y:83.47, Z:2.36 [[ 3.58994655e-01 -9.33324159e-01 -5.37136249e-03 1.46192115e+02] [ 9.33230590e-01 3.59034737e-01 -1.32182917e-02 8.34723932e+01] [ 1.42654567e-02 -2.67423738e-04 9.99898207e-01 2.36108367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:83.50, Z:2.36 [[ 3.58022241e-01 -9.33696532e-01 -5.55529466e-03 1.46202919e+02] [ 9.33596328e-01 3.58065222e-01 -1.36818344e-02 8.34973396e+01] [ 1.47638391e-02 -2.88001697e-04 9.99890967e-01 2.36050090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:83.52, Z:2.36 [[ 3.57535040e-01 -9.33882211e-01 -5.71943336e-03 1.46211628e+02] [ 9.33775902e-01 3.57580656e-01 -1.40939470e-02 8.35238667e+01] [ 1.52072451e-02 -3.01589143e-04 9.99884318e-01 2.36094608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:83.55, Z:2.36 [[ 3.57015570e-01 -9.34081381e-01 -5.64413270e-03 1.46221832e+02] [ 9.33977713e-01 3.57060054e-01 -1.39193959e-02 8.35485984e+01] [ 1.50171429e-02 -3.02053083e-04 9.99887191e-01 2.36091762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:83.57, Z:2.36 [[ 3.56628739e-01 -9.34227398e-01 -5.92547616e-03 1.46231888e+02] [ 9.34112978e-01 3.56677819e-01 -1.46245586e-02 8.35746727e+01] [ 1.57761492e-02 -3.19526314e-04 9.99875498e-01 2.36116501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:83.60, Z:2.36 [[ 3.56578421e-01 -9.34246134e-01 -5.99918573e-03 1.46241774e+02] [ 9.34128662e-01 3.56628740e-01 -1.48184089e-02 8.36006249e+01] [ 1.59835233e-02 -3.20086489e-04 9.99872204e-01 2.36133039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.25, Y:83.63, Z:2.36 [[ 3.56407625e-01 -9.34311124e-01 -6.02727521e-03 1.46252143e+02] [ 9.34192377e-01 3.56458442e-01 -1.48990566e-02 8.36252369e+01] [ 1.60688274e-02 -3.20497184e-04 9.99870837e-01 2.36129706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:83.65, Z:2.36 [[ 3.56061341e-01 -9.34442976e-01 -6.05365577e-03 1.46261751e+02] [ 9.34323064e-01 3.56112650e-01 -1.49730603e-02 8.36520770e+01] [ 1.61472544e-02 -3.24742298e-04 9.99869572e-01 2.36203798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:83.68, Z:2.36 [[ 3.56049228e-01 -9.34448303e-01 -5.94276598e-03 1.46273075e+02] [ 9.34332566e-01 3.56098680e-01 -1.47101011e-02 8.36762608e+01] [ 1.58620401e-02 -3.14999667e-04 9.99874140e-01 2.36276251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.28, Y:83.70, Z:2.36 [[ 3.55739955e-01 -9.34566304e-01 -5.90820470e-03 1.46281667e+02] [ 9.34451760e-01 3.55788875e-01 -1.46350293e-02 8.37025340e+01] [ 1.57794787e-02 -3.14667618e-04 9.99875447e-01 2.36391010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:83.73, Z:2.36 [[ 3.55306659e-01 -9.34731139e-01 -5.90557442e-03 1.46291204e+02] [ 9.34616538e-01 3.55355592e-01 -1.46399979e-02 8.37290758e+01] [ 1.57830408e-02 -3.17758784e-04 9.99875390e-01 2.36468943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.30, Y:83.75, Z:2.37 [[ 3.54661720e-01 -9.34975927e-01 -5.92288954e-03 1.46301677e+02] [ 9.34860503e-01 3.54711024e-01 -1.46945173e-02 8.37543295e+01] [ 1.58399342e-02 -3.25492703e-04 9.99874487e-01 2.36520683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:83.78, Z:2.37 [[ 3.54447727e-01 -9.35056467e-01 -6.01760500e-03 1.46312346e+02] [ 9.34937155e-01 3.54498651e-01 -1.49406116e-02 8.37805412e+01] [ 1.61035483e-02 -3.30416690e-04 9.99870275e-01 2.36544300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.32, Y:83.81, Z:2.37 [[ 3.54052014e-01 -9.35205019e-01 -6.22443302e-03 1.46322048e+02] [ 9.35077178e-01 3.54106557e-01 -1.54666573e-02 8.38070514e+01] [ 1.66686081e-02 -3.44324098e-04 9.99861010e-01 2.36566164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.33, Y:83.83, Z:2.37 [[ 3.53791481e-01 -9.35302085e-01 -6.44958962e-03 1.46332385e+02] [ 9.35164622e-01 3.53850083e-01 -1.60389541e-02 8.38317728e+01] [ 1.72834551e-02 -3.56982715e-04 9.99850566e-01 2.36602423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:83.86, Z:2.37 [[ 3.53683922e-01 -9.35339999e-01 -6.83882963e-03 1.46343226e+02] [ 9.35185209e-01 3.53749834e-01 -1.70199554e-02 8.38581615e+01] [ 1.83386799e-02 -3.75887735e-04 9.99831762e-01 2.36646887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.35, Y:83.88, Z:2.37 [[ 3.53775711e-01 -9.35305322e-01 -6.83382675e-03 1.46353399e+02] [ 9.35150531e-01 3.53841515e-01 -1.70195890e-02 8.38826920e+01] [ 1.83366038e-02 -3.69539512e-04 9.99831802e-01 2.36663547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:83.91, Z:2.37 [[ 3.53699261e-01 -9.35333491e-01 -6.93497281e-03 1.46362840e+02] [ 9.35173893e-01 3.53767045e-01 -1.72820145e-02 8.39086607e+01] [ 1.86178118e-02 -3.72769764e-04 9.99826604e-01 2.36757897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.37, Y:83.93, Z:2.37 [[ 3.53526721e-01 -9.35396564e-01 -7.21986313e-03 1.46373735e+02] [ 9.35223339e-01 3.53600225e-01 -1.80052152e-02 8.39331627e+01] [ 1.93949617e-02 -3.86859808e-04 9.99811825e-01 2.36773056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.39, Y:83.96, Z:2.37 [[ 3.53219855e-01 -9.35509126e-01 -7.64262848e-03 1.46386275e+02] [ 9.35314787e-01 3.53302287e-01 -1.90720617e-02 8.39577215e+01] [ 2.05422459e-02 -4.11632556e-04 9.99788901e-01 2.36803273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:83.98, Z:2.37 [[ 3.52929685e-01 -9.35618354e-01 -7.67682958e-03 1.46395987e+02] [ 9.35421977e-01 3.53012924e-01 -1.91729218e-02 8.39841250e+01] [ 2.06485576e-02 -4.14381838e-04 9.99786710e-01 2.36903926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:84.01, Z:2.37 [[ 3.51631033e-01 -9.36103632e-01 -8.09985062e-03 1.46408610e+02] [ 9.35884800e-01 3.51724008e-01 -2.02450880e-02 8.40098681e+01] [ 2.18004123e-02 -4.61725874e-04 9.99762236e-01 2.36947470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.42, Y:84.04, Z:2.37 [[ 3.51060893e-01 -9.36315250e-01 -8.36676338e-03 1.46420622e+02] [ 9.36081472e-01 3.51160246e-01 -2.09275043e-02 8.40357218e+01] [ 2.25328161e-02 -4.85143818e-04 9.99745986e-01 2.37016435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:84.06, Z:2.37 [[ 3.50179873e-01 -9.36643675e-01 -8.52543378e-03 1.46432276e+02] [ 9.36400668e-01 3.50283266e-01 -2.13406267e-02 8.40612263e+01] [ 2.29748798e-02 -5.10163933e-04 9.99735912e-01 2.37037851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.44, Y:84.09, Z:2.37 [[ 3.49216622e-01 -9.37003689e-01 -8.47570243e-03 1.46444904e+02] [ 9.36763290e-01 3.49319067e-01 -2.12303525e-02 8.40850196e+01] [ 2.28536431e-02 -5.25734896e-04 9.99738683e-01 2.37097831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44361786499996 meters Centerline goodness [0,1] 0.999936731551975 Centerline is valid? [True, True] Translation: X:146.46, Y:84.11, Z:2.37 [[ 3.48421871e-01 -9.37299737e-01 -8.44998329e-03 1.46456332e+02] [ 9.37060608e-01 3.48523904e-01 -2.11779254e-02 8.41101034e+01] [ 2.27950851e-02 -5.39294086e-04 9.99740013e-01 2.37155653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.47, Y:84.14, Z:2.37 [[ 3.47930973e-01 -9.37484469e-01 -8.17975966e-03 1.46467836e+02] [ 9.37260155e-01 3.48026709e-01 -2.05136954e-02 8.41356998e+01] [ 2.20780457e-02 -5.29212817e-04 9.99756110e-01 2.37261832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:84.16, Z:2.37 [[ 3.47683310e-01 -9.37576395e-01 -8.17433478e-03 1.46477973e+02] [ 9.37352055e-01 3.47778987e-01 -2.05158572e-02 8.41613435e+01] [ 2.20780453e-02 -5.29208354e-04 9.99756110e-01 2.37298516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.49, Y:84.19, Z:2.37 [[ 3.46445374e-01 -9.38036032e-01 -8.00026874e-03 1.46491027e+02] [ 9.37821011e-01 3.46537311e-01 -2.00908974e-02 8.41851824e+01] [ 2.16183773e-02 -5.42421629e-04 9.99766148e-01 2.37322403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56361786499997 meters Centerline goodness [0,1] 0.9998942559851113 Centerline is valid? [True, True] Translation: X:146.50, Y:84.21, Z:2.37 [[ 3.45745972e-01 -9.38293938e-01 -8.01307755e-03 1.46502990e+02] [ 9.38078080e-01 3.45838369e-01 -2.01330221e-02 8.42109857e+01] [ 2.16619222e-02 -5.55981124e-04 9.99765198e-01 2.37348480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:84.24, Z:2.37 [[ 3.45246596e-01 -9.38478841e-01 -7.89005357e-03 1.46514176e+02] [ 9.38269295e-01 3.45336298e-01 -1.98386480e-02 8.42367280e+01] [ 2.13428733e-02 -5.53769304e-04 9.99772062e-01 2.37396053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.53, Y:84.26, Z:2.37 [[ 3.44731674e-01 -9.38667397e-01 -7.97434611e-03 1.46525002e+02] [ 9.38453065e-01 3.44823429e-01 -2.00660816e-02 8.42613376e+01] [ 2.15851179e-02 -5.66135660e-04 9.99766854e-01 2.37385422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.53, Y:84.29, Z:2.37 [[ 3.43795247e-01 -9.39011302e-01 -7.91220227e-03 1.46533042e+02] [ 9.38800056e-01 3.43885796e-01 -1.99252064e-02 8.42890297e+01] [ 2.14308880e-02 -5.77784673e-04 9.99770165e-01 2.37449900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.54, Y:84.31, Z:2.37 [[ 3.43182518e-01 -9.39236539e-01 -7.77701930e-03 1.46543895e+02] [ 9.39032192e-01 3.43270142e-01 -1.95997950e-02 8.43148114e+01] [ 2.10784622e-02 -5.76564464e-04 9.99777658e-01 2.37459406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:84.34, Z:2.37 [[ 3.42371446e-01 -9.39532825e-01 -7.73711756e-03 1.46554673e+02] [ 9.39330334e-01 3.42458356e-01 -1.95140432e-02 8.43398238e+01] [ 2.09837247e-02 -5.86658024e-04 9.99779645e-01 2.37452939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:84.36, Z:2.37 [[ 3.41268932e-01 -9.39936451e-01 -7.41511974e-03 1.46566498e+02] [ 9.39750328e-01 3.41348985e-01 -1.87134219e-02 8.43641733e+01] [ 2.01205710e-02 -5.82051690e-04 9.99797391e-01 2.37437926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:84.39, Z:2.38 [[ 3.40853040e-01 -9.40090316e-01 -7.02876262e-03 1.46575809e+02] [ 9.39922925e-01 3.40925048e-01 -1.77484162e-02 8.43909309e+01] [ 1.90813954e-02 -5.56893510e-04 9.99817779e-01 2.37533061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.59, Y:84.42, Z:2.38 [[ 3.40604212e-01 -9.40183983e-01 -6.54589841e-03 1.46585948e+02] [ 9.40038599e-01 3.40666712e-01 -1.65416049e-02 8.44170947e+01] [ 1.77821216e-02 -5.19256874e-04 9.99841751e-01 2.37552155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:84.44, Z:2.38 [[ 3.40873518e-01 -9.40088590e-01 -6.21997802e-03 1.46595906e+02] [ 9.39957106e-01 3.40929917e-01 -1.57299095e-02 8.44435898e+01] [ 1.69080850e-02 -4.84602963e-04 9.99856931e-01 2.37556706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:84.47, Z:2.38 [[ 3.41562198e-01 -9.39839438e-01 -6.09061235e-03 1.46606711e+02] [ 9.39713133e-01 3.41616189e-01 -1.54145060e-02 8.44686186e+01] [ 1.65678125e-02 -4.58415860e-04 9.99862639e-01 2.37551870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:84.50, Z:2.38 [[ 3.44404283e-01 -9.38803607e-01 -5.78603324e-03 1.46613005e+02] [ 9.38689297e-01 3.44452669e-01 -1.46548138e-02 8.44960580e+01] [ 1.57510067e-02 -3.84106830e-04 9.99875871e-01 2.37515451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.62, Y:84.52, Z:2.38 [[ 3.46131683e-01 -9.38168909e-01 -5.65296276e-03 1.46621737e+02] [ 9.38059550e-01 3.46177672e-01 -1.43283024e-02 8.45218433e+01] [ 1.53992973e-02 -3.43336282e-04 9.99881365e-01 2.37520356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:84.55, Z:2.38 [[ 3.47970329e-01 -9.37489731e-01 -5.44561113e-03 1.46631780e+02] [ 9.37388063e-01 3.48012809e-01 -1.38095451e-02 8.45476591e+01] [ 1.48414492e-02 -2.99338904e-04 9.99889815e-01 2.37543409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:84.58, Z:2.38 [[ 3.49961431e-01 -9.36749432e-01 -5.24389298e-03 1.46638748e+02] [ 9.36654978e-01 3.50000624e-01 -1.33046997e-02 8.45762218e+01] [ 1.42985357e-02 -2.55586704e-04 9.99897738e-01 2.37588662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.65, Y:84.60, Z:2.38 [[ 3.53637283e-01 -9.35369744e-01 -4.91061973e-03 1.46646936e+02] [ 9.35286672e-01 3.53671328e-01 -1.24672894e-02 8.46026455e+01] [ 1.33982707e-02 -1.83938831e-04 9.99910222e-01 2.37620305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.66, Y:84.63, Z:2.38 [[ 3.55151533e-01 -9.34797264e-01 -4.63279758e-03 1.46655903e+02] [ 9.34723214e-01 3.55181716e-01 -1.17670063e-02 8.46298407e+01] [ 1.26452503e-02 -1.51313100e-04 9.99920034e-01 2.37636377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.66, Y:84.66, Z:2.38 [[ 3.56728085e-01 -9.34196599e-01 -4.66773280e-03 1.46664043e+02] [ 9.34121266e-01 3.56758599e-01 -1.18643074e-02 8.46572312e+01] [ 1.27488495e-02 -1.27896808e-04 9.99918722e-01 2.37688825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.67, Y:84.68, Z:2.38 [[ 3.59384925e-01 -9.33180005e-01 -4.18965909e-03 1.46671122e+02] [ 9.33119163e-01 3.59409337e-01 -1.06562752e-02 8.46833242e+01] [ 1.14500256e-02 -7.97464996e-05 9.99934443e-01 2.37721041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.68, Y:84.71, Z:2.38 [[ 3.60033219e-01 -9.32930256e-01 -4.14960746e-03 1.46679887e+02] [ 9.32870460e-01 3.60057125e-01 -1.05627294e-02 8.47091563e+01] [ 1.13483856e-02 -6.81127620e-05 9.99935603e-01 2.37769024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:84.74, Z:2.38 [[ 3.60391199e-01 -9.32794003e-01 -3.67861324e-03 1.46689417e+02] [ 9.32746936e-01 3.60409968e-01 -9.37055625e-03 8.47357050e+01] [ 1.00666076e-02 -5.41492331e-05 9.99949329e-01 2.37800830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.70, Y:84.76, Z:2.38 [[ 3.60469758e-01 -9.32763439e-01 -3.73094467e-03 1.46699059e+02] [ 9.32714946e-01 3.60489062e-01 -9.51136825e-03 8.47617449e+01] [ 1.02168213e-02 -5.13472450e-05 9.99947806e-01 2.37856856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.71, Y:84.79, Z:2.38 [[ 3.60140847e-01 -9.32890803e-01 -3.64960747e-03 1.46708904e+02] [ 9.32844340e-01 3.60159335e-01 -9.31083529e-03 8.47871223e+01] [ 1.00004328e-02 -5.13035662e-05 9.99949993e-01 2.37887598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.72, Y:84.81, Z:2.38 [[ 3.59428405e-01 -9.33165592e-01 -3.63322826e-03 1.46718924e+02] [ 9.33119482e-01 3.59446763e-01 -9.27670713e-03 8.48128572e+01] [ 9.96265604e-03 -5.59240232e-05 9.99950370e-01 2.37903698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.73, Y:84.84, Z:2.38 [[ 3.57911614e-01 -9.33748017e-01 -3.73056197e-03 1.46729570e+02] [ 9.33699358e-01 3.57931049e-01 -9.53271267e-03 8.48383925e+01] [ 1.02364355e-02 -7.13547370e-05 9.99947604e-01 2.37873582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.74, Y:84.86, Z:2.38 [[ 3.56630293e-01 -9.34238781e-01 -3.56857547e-03 1.46739719e+02] [ 9.34194218e-01 3.56648138e-01 -9.12517603e-03 8.48648458e+01] [ 9.79781912e-03 -7.94283768e-05 9.99951997e-01 2.37865778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.75, Y:84.89, Z:2.38 [[ 3.55416219e-01 -9.34701123e-01 -3.62249043e-03 1.46750386e+02] [ 9.34655154e-01 3.55434668e-01 -9.27034626e-03 8.48913061e+01] [ 9.95256174e-03 -9.09479315e-05 9.99950468e-01 2.37869597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.76, Y:84.92, Z:2.38 [[ 3.52335343e-01 -9.35867089e-01 -3.54941278e-03 1.46762595e+02] [ 9.35822944e-01 3.52353201e-01 -9.09061656e-03 8.49159999e+01] [ 9.75825581e-03 -1.18676410e-04 9.99952380e-01 2.37851672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.77, Y:84.94, Z:2.38 [[ 3.50391419e-01 -9.36596891e-01 -3.48102628e-03 1.46773955e+02] [ 9.36554407e-01 3.50408685e-01 -8.92163368e-03 8.49417648e+01] [ 9.57575621e-03 -1.34106611e-04 9.99954142e-01 2.37846392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.79, Y:84.97, Z:2.38 [[ 3.48271342e-01 -9.37387537e-01 -3.41717039e-03 1.46785089e+02] [ 9.37346576e-01 3.48288073e-01 -8.76436209e-03 8.49677214e+01] [ 9.40576349e-03 -1.50696821e-04 9.99955753e-01 2.37837116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:84.99, Z:2.38 [[ 3.44082030e-01 -9.38933539e-01 -3.37140384e-03 1.46801951e+02] [ 9.38893683e-01 3.44098495e-01 -8.65320401e-03 8.49908820e+01] [ 9.28487845e-03 -1.87977767e-04 9.99956877e-01 2.37908839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.81, Y:85.02, Z:2.38 [[ 3.41714436e-01 -9.39798789e-01 -3.07919739e-03 1.46809200e+02] [ 9.39765530e-01 3.41728255e-01 -7.90873000e-03 8.50183447e+01] [ 8.48486363e-03 -1.91196354e-04 9.99963985e-01 2.37836684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.82, Y:85.05, Z:2.38 [[ 3.39482865e-01 -9.40607817e-01 -2.88424811e-03 1.46820163e+02] [ 9.40578625e-01 3.39495060e-01 -7.41317546e-03 8.50450923e+01] [ 7.95207877e-03 -1.96216080e-04 9.99968362e-01 2.37845212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:85.07, Z:2.38 [[ 3.35839484e-01 -9.41915526e-01 -2.64275359e-03 1.46833064e+02] [ 9.41891010e-01 3.35849818e-01 -6.79890986e-03 8.50694563e+01] [ 7.29156707e-03 -2.05843466e-04 9.99973395e-01 2.37880986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.85, Y:85.09, Z:2.38 [[ 3.34180044e-01 -9.42505921e-01 -2.50725119e-03 1.46847586e+02] [ 9.42483878e-01 3.34189385e-01 -6.44941327e-03 8.50931917e+01] [ 6.91650693e-03 -2.07778609e-04 9.99976059e-01 2.37982233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:85.12, Z:2.38 [[ 3.32858131e-01 -9.42974171e-01 -2.27534453e-03 1.46855197e+02] [ 9.42956004e-01 3.32865850e-01 -5.85668072e-03 8.51213651e+01] [ 6.28008314e-03 -1.96105987e-04 9.99980261e-01 2.37933703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.87, Y:85.15, Z:2.38 [[ 3.31892714e-01 -9.43314709e-01 -2.14159176e-03 1.46865458e+02] [ 9.43298602e-01 3.31899569e-01 -5.51574090e-03 8.51480290e+01] [ 5.91387290e-03 -1.89526297e-04 9.99982495e-01 2.37940834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.88, Y:85.17, Z:2.38 [[ 3.31085305e-01 -9.43598990e-01 -1.86180041e-03 1.46879821e+02] [ 9.43586798e-01 3.31090497e-01 -4.79967596e-03 8.51725362e+01] [ 5.14539382e-03 -1.67668105e-04 9.99986748e-01 2.38093846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:85.20, Z:2.38 [[ 3.31002097e-01 -9.43628411e-01 -1.74187338e-03 1.46886856e+02] [ 9.43617746e-01 3.31006643e-01 -4.48897695e-03 8.51994249e+01] [ 4.81249785e-03 -1.57801851e-04 9.99988407e-01 2.38064488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.90, Y:85.22, Z:2.38 [[ 3.31103701e-01 -9.43592995e-01 -1.61189733e-03 1.46899819e+02] [ 9.43583848e-01 3.31107593e-01 -4.15743489e-03 8.52233437e+01] [ 4.45663789e-03 -1.44418207e-04 9.99990059e-01 2.38205109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.91, Y:85.25, Z:2.38 [[ 3.31808013e-01 -9.43345859e-01 -1.42570664e-03 1.46906561e+02] [ 9.43338697e-01 3.31811053e-01 -3.67801665e-03 8.52505450e+01] [ 3.94270699e-03 -1.24528851e-04 9.99992220e-01 2.38130168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79361786499996 meters Centerline goodness [0,1] 0.9999787919918561 Centerline is valid? [True, True] Translation: X:146.92, Y:85.28, Z:2.38 [[ 3.32663529e-01 -9.43044555e-01 -1.39391535e-03 1.46916494e+02] [ 9.43037689e-01 3.32666429e-01 -3.60062862e-03 8.52762833e+01] [ 3.85926206e-03 -1.16716883e-04 9.99992546e-01 2.38185445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:85.30, Z:2.38 [[ 3.34989964e-01 -9.42220751e-01 -1.33399398e-03 1.46925100e+02] [ 9.42214446e-01 3.34992605e-01 -3.44839979e-03 8.53020946e+01] [ 3.69603196e-03 -1.01729074e-04 9.99993164e-01 2.38192878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:85.33, Z:2.38 [[ 3.36260331e-01 -9.41768142e-01 -1.32554404e-03 1.46934455e+02] [ 9.41761917e-01 3.36262930e-01 -3.42559971e-03 8.53289607e+01] [ 3.67185200e-03 -9.64536023e-05 9.99993254e-01 2.38230146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.94, Y:85.36, Z:2.38 [[ 3.37805646e-01 -9.41215015e-01 -1.28135502e-03 1.46941897e+02] [ 9.41209187e-01 3.37808065e-01 -3.31332365e-03 8.53567589e+01] [ 3.55140203e-03 -8.67636786e-05 9.99993690e-01 2.38184225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:85.38, Z:2.38 [[ 3.39678668e-01 -9.40540789e-01 -1.19424468e-03 1.46952140e+02] [ 9.40535709e-01 3.39680760e-01 -3.09213841e-03 8.53817550e+01] [ 3.31394424e-03 -7.28963098e-05 9.99994506e-01 2.38316966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.96, Y:85.41, Z:2.38 [[ 3.43814005e-01 -9.39037064e-01 -1.14971833e-03 1.46958332e+02] [ 9.39032350e-01 3.43815923e-01 -2.97605852e-03 8.54099934e+01] [ 3.18992072e-03 -5.64121038e-05 9.99994911e-01 2.38293932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.97, Y:85.44, Z:2.38 [[ 3.45587557e-01 -9.38385835e-01 -1.12484719e-03 1.46968358e+02] [ 9.38381307e-01 3.45589385e-01 -2.91529376e-03 8.54354361e+01] [ 3.12440561e-03 -4.80463249e-05 9.99995118e-01 2.38417462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00361786499997 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:146.97, Y:85.46, Z:2.38 [[ 3.49471123e-01 -9.36946249e-01 -1.28898922e-03 1.46974909e+02] [ 9.36940288e-01 3.49473498e-01 -3.34240744e-03 8.54639140e+01] [ 3.58212369e-03 -3.96310487e-05 9.99993583e-01 2.38249491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:85.49, Z:2.38 [[ 3.50774655e-01 -9.36458971e-01 -1.31803988e-03 1.46985318e+02] [ 9.36452723e-01 3.50777130e-01 -3.42081730e-03 8.54885924e+01] [ 3.66579330e-03 -3.43460206e-05 9.99993280e-01 2.38441149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:85.52, Z:2.38 [[ 3.52216272e-01 -9.35917549e-01 -1.42784643e-03 1.46993657e+02] [ 9.35910205e-01 3.52219165e-01 -3.70785835e-03 8.55157005e+01] [ 3.97316458e-03 -3.03680012e-05 9.99992106e-01 2.38291438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.00, Y:85.54, Z:2.38 [[ 3.54133493e-01 -9.35193264e-01 -1.74002245e-03 1.47003230e+02] [ 9.35182310e-01 3.54137767e-01 -4.52642335e-03 8.55413303e+01] [ 4.84928829e-03 -2.42801026e-05 9.99988242e-01 2.38342217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.01, Y:85.57, Z:2.38 [[ 3.54410965e-01 -9.35088107e-01 -1.76062280e-03 1.47013216e+02] [ 9.35076889e-01 3.54415338e-01 -4.58031473e-03 8.55675184e+01] [ 4.90698955e-03 -2.30039310e-05 9.99987960e-01 2.38355389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:85.59, Z:2.38 [[ 3.54771144e-01 -9.34951774e-01 -1.61704680e-03 1.47023523e+02] [ 9.34942291e-01 3.54774829e-01 -4.21113720e-03 8.55922825e+01] [ 4.51089770e-03 -1.78554734e-05 9.99989826e-01 2.38389115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.03, Y:85.62, Z:2.38 [[ 3.54516732e-01 -9.35047996e-01 -1.76944244e-03 1.47034319e+02] [ 9.35036635e-01 3.54521148e-01 -4.60953169e-03 8.56181324e+01] [ 4.93743814e-03 -2.03373904e-05 9.99987811e-01 2.38361223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:85.64, Z:2.38 [[ 3.54041697e-01 -9.35228129e-01 -1.68023643e-03 1.47045229e+02] [ 9.35217869e-01 3.54045684e-01 -4.38087041e-03 8.56429148e+01] [ 4.69199369e-03 -2.03763369e-05 9.99988992e-01 2.38379210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.06, Y:85.67, Z:2.38 [[ 3.53715660e-01 -9.35351281e-01 -1.79221451e-03 1.47056507e+02] [ 9.35339591e-01 3.53720200e-01 -4.67641768e-03 8.56688050e+01] [ 5.00803574e-03 -2.22070160e-05 9.99987459e-01 2.38459794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.07, Y:85.69, Z:2.38 [[ 3.52452405e-01 -9.35828279e-01 -1.65347729e-03 1.47069034e+02] [ 9.35818321e-01 3.52456283e-01 -4.31718695e-03 8.56945458e+01] [ 4.62292409e-03 -2.57514162e-05 9.99989314e-01 2.38445468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:85.72, Z:2.38 [[ 3.51700523e-01 -9.36110919e-01 -1.75751757e-03 1.47080381e+02] [ 9.36099652e-01 3.51704913e-01 -4.59307291e-03 8.57203870e+01] [ 4.91775326e-03 -2.98254367e-05 9.99987907e-01 2.38458179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.09, Y:85.75, Z:2.38 [[ 3.50470788e-01 -9.36572037e-01 -1.74546081e-03 1.47092848e+02] [ 9.36560913e-01 3.50475133e-01 -4.56482293e-03 8.57451526e+01] [ 4.88702612e-03 -3.48932788e-05 9.99988058e-01 2.38473833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:85.77, Z:2.39 [[ 3.49854718e-01 -9.36802222e-01 -1.80891976e-03 1.47104096e+02] [ 9.36790255e-01 3.49859393e-01 -4.73528901e-03 8.57695131e+01] [ 5.06889684e-03 -3.79152000e-05 9.99987152e-01 2.38556555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.11, Y:85.80, Z:2.39 [[ 3.49608729e-01 -9.36894055e-01 -1.80741757e-03 1.47113837e+02] [ 9.36882086e-01 3.49613399e-01 -4.73586188e-03 8.57953025e+01] [ 5.06889824e-03 -3.76384905e-05 9.99987152e-01 2.38593220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.13, Y:85.82, Z:2.39 [[ 3.48858319e-01 -9.37173799e-01 -1.77284176e-03 1.47125119e+02] [ 9.37162270e-01 3.48862821e-01 -4.64874298e-03 8.58214764e+01] [ 4.97515870e-03 -3.96877431e-05 9.99987623e-01 2.38617151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.14, Y:85.85, Z:2.39 [[ 3.47799333e-01 -9.37567041e-01 -1.91508169e-03 1.47137453e+02] [ 9.37553569e-01 3.47804602e-01 -5.02634379e-03 8.58466652e+01] [ 5.37860850e-03 -4.73326511e-05 9.99985534e-01 2.38624105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.15, Y:85.87, Z:2.39 [[ 3.46995830e-01 -9.37864581e-01 -1.98026959e-03 1.47148596e+02] [ 9.37850158e-01 3.47001476e-01 -5.20167132e-03 8.58714795e+01] [ 5.56561977e-03 -5.22378889e-05 9.99984510e-01 2.38658339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.16, Y:85.90, Z:2.39 [[ 3.46135738e-01 -9.38182290e-01 -2.01030677e-03 1.47159815e+02] [ 9.38167404e-01 3.46141571e-01 -5.28539364e-03 8.58964941e+01] [ 5.65451345e-03 -5.65406563e-05 9.99984012e-01 2.38677964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.17, Y:85.92, Z:2.39 [[ 3.45549011e-01 -9.38398289e-01 -2.12868534e-03 1.47170601e+02] [ 9.38381569e-01 3.45555562e-01 -5.60220131e-03 8.59228200e+01] [ 5.99267518e-03 -6.16839629e-05 9.99982042e-01 2.38648119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:85.95, Z:2.39 [[ 3.44460793e-01 -9.38797998e-01 -2.25399222e-03 1.47182626e+02] [ 9.38779227e-01 3.44468161e-01 -5.93719384e-03 8.59485676e+01] [ 6.35025425e-03 -7.08705749e-05 9.99979834e-01 2.38584307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:85.97, Z:2.39 [[ 3.43569216e-01 -9.39124475e-01 -2.32677224e-03 1.47193850e+02] [ 9.39104446e-01 3.43577086e-01 -6.13396947e-03 8.59736974e+01] [ 6.55998649e-03 -7.76390737e-05 9.99978480e-01 2.38594652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.21, Y:86.00, Z:2.39 [[ 3.42800095e-01 -9.39405763e-01 -2.21537299e-03 1.47205126e+02] [ 9.39387581e-01 3.42807245e-01 -5.84517005e-03 8.59996083e+01] [ 6.25043234e-03 -7.73690200e-05 9.99980463e-01 2.38637843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.22, Y:86.02, Z:2.39 [[ 3.40956292e-01 -9.40076841e-01 -2.08330629e-03 1.47218617e+02] [ 9.40060749e-01 3.40962646e-01 -5.50117315e-03 8.60233115e+01] [ 5.88185510e-03 -8.27748773e-05 9.99982698e-01 2.38776129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.23, Y:86.05, Z:2.39 [[ 3.39903427e-01 -9.40458162e-01 -2.02620904e-03 1.47230036e+02] [ 9.40442929e-01 3.39909455e-01 -5.35352445e-03 8.60494362e+01] [ 5.72349338e-03 -8.58526585e-05 9.99983617e-01 2.38804026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:86.07, Z:2.39 [[ 3.38940511e-01 -9.40805808e-01 -1.93955688e-03 1.47242396e+02] [ 9.40791827e-01 3.38946050e-01 -5.12976833e-03 8.60739689e+01] [ 5.48352098e-03 -8.60329584e-05 9.99984962e-01 2.38940327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.25, Y:86.10, Z:2.39 [[ 3.37262859e-01 -9.41408798e-01 -1.79984570e-03 1.47254205e+02] [ 9.41396752e-01 3.37267650e-01 -4.76318421e-03 8.60994447e+01] [ 5.09113325e-03 -8.79237741e-05 9.99987036e-01 2.38952173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.26, Y:86.13, Z:2.39 [[ 3.36603265e-01 -9.41644799e-01 -1.82058672e-03 1.47263384e+02] [ 9.41632478e-01 3.36608176e-01 -4.81794364e-03 8.61258080e+01] [ 5.14961595e-03 -9.25880224e-05 9.99986736e-01 2.38906663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:86.15, Z:2.39 [[ 3.36410068e-01 -9.41713950e-01 -1.76133756e-03 1.47273974e+02] [ 9.41702402e-01 3.36414667e-01 -4.66450657e-03 8.61518501e+01] [ 4.98517070e-03 -8.94688371e-05 9.99987570e-01 2.38881694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:86.18, Z:2.39 [[ 3.36289001e-01 -9.41757103e-01 -1.80760933e-03 1.47284345e+02] [ 9.41744915e-01 3.36293846e-01 -4.79198187e-03 8.61764756e+01] [ 5.12077086e-03 -9.08161025e-05 9.99986885e-01 2.38964558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.29, Y:86.20, Z:2.39 [[ 3.36784790e-01 -9.41579944e-01 -1.79269454e-03 1.47294368e+02] [ 9.41567940e-01 3.36789550e-01 -4.75528998e-03 8.62030855e+01] [ 5.08124646e-03 -8.64343763e-05 9.99987087e-01 2.38964149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:86.23, Z:2.39 [[ 3.37743403e-01 -9.41236265e-01 -1.91999738e-03 1.47304995e+02] [ 9.41222465e-01 3.37748849e-01 -5.09770322e-03 8.62276366e+01] [ 5.44662005e-03 -8.54290361e-05 9.99985163e-01 2.39031267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:86.25, Z:2.39 [[ 3.38228888e-01 -9.41062071e-01 -1.84331593e-03 1.47315229e+02] [ 9.41049329e-01 3.38233902e-01 -4.89782528e-03 8.62526929e+01] [ 5.23262954e-03 -7.80652171e-05 9.99986307e-01 2.39101366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.32, Y:86.28, Z:2.39 [[ 3.38745224e-01 -9.40876168e-01 -1.92625366e-03 1.47324796e+02] [ 9.40862222e-01 3.38750692e-01 -5.12330811e-03 8.62792382e+01] [ 5.47291826e-03 -7.68431410e-05 9.99985021e-01 2.39118532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:86.31, Z:2.39 [[ 3.39021420e-01 -9.40776795e-01 -1.87034486e-03 1.47334851e+02] [ 9.40763626e-01 3.39026571e-01 -4.97833278e-03 8.63056102e+01] [ 5.31759656e-03 -7.17909630e-05 9.99985859e-01 2.39122258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.35, Y:86.33, Z:2.39 [[ 3.39785123e-01 -9.40501050e-01 -1.96111802e-03 1.47345155e+02] [ 9.40486540e-01 3.39790775e-01 -5.22462139e-03 8.63315041e+01] [ 5.58013171e-03 -6.91564793e-05 9.99984429e-01 2.39167292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05361786499998 meters Centerline goodness [0,1] 0.9998914930555556 Centerline is valid? [True, True] Translation: X:147.35, Y:86.36, Z:2.39 [[ 3.39930725e-01 -9.40448633e-01 -1.86304208e-03 1.47354461e+02] [ 9.40435521e-01 3.39935824e-01 -4.96651360e-03 8.63578929e+01] [ 5.30406567e-03 -6.38003792e-05 9.99985931e-01 2.39119352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters Centerline goodness [0,1] 0.9999783432593394 Centerline is valid? [True, True] Translation: X:147.37, Y:86.38, Z:2.39 [[ 3.40135243e-01 -9.40374746e-01 -1.83139410e-03 1.47365673e+02] [ 9.40362050e-01 3.40140168e-01 -4.88674019e-03 8.63823131e+01] [ 5.21829776e-03 -6.00209453e-05 9.99986383e-01 2.39250937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.38, Y:86.41, Z:2.39 [[ 3.40829309e-01 -9.40123216e-01 -1.92871181e-03 1.47375542e+02] [ 9.40109111e-01 3.40834761e-01 -5.15017271e-03 8.64087036e+01] [ 5.49916896e-03 -5.78697382e-05 9.99984878e-01 2.39206042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499995 meters Centerline goodness [0,1] 0.9999565859164713 Centerline is valid? [True, True] Translation: X:147.39, Y:86.43, Z:2.39 [[ 3.41181679e-01 -9.39995264e-01 -1.99137949e-03 1.47386100e+02] [ 9.39980189e-01 3.41187486e-01 -5.32376979e-03 8.64334114e+01] [ 5.68375215e-03 -5.54845491e-05 9.99983846e-01 2.39279162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.40, Y:86.46, Z:2.39 [[ 3.41907967e-01 -9.39731037e-01 -2.12603708e-03 1.47395951e+02] [ 9.39713835e-01 3.41914573e-01 -5.68621256e-03 8.64597933e+01] [ 6.07043348e-03 -5.37050803e-05 9.99981573e-01 2.39225925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499996 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:147.41, Y:86.49, Z:2.39 [[ 3.42078239e-01 -9.39668936e-01 -2.18398344e-03 1.47406212e+02] [ 9.39650752e-01 3.42085206e-01 -5.84602150e-03 8.64850859e+01] [ 6.24043323e-03 -5.23849479e-05 9.99980527e-01 2.39225763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.42, Y:86.51, Z:2.39 [[ 3.42289209e-01 -9.39591929e-01 -2.25931733e-03 1.47416509e+02] [ 9.39572428e-01 3.42296662e-01 -6.05365837e-03 8.65109019e+01] [ 6.46132532e-03 -5.06903297e-05 9.99979124e-01 2.39250162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:86.54, Z:2.39 [[ 3.42424766e-01 -9.39542321e-01 -2.34645695e-03 1.47427236e+02] [ 9.39521249e-01 3.42432802e-01 -6.29275982e-03 8.65368906e+01] [ 6.71581800e-03 -4.97493523e-05 9.99977447e-01 2.39259170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29361786499996 meters Centerline goodness [0,1] 0.9999782556698341 Centerline is valid? [True, True] Translation: X:147.44, Y:86.56, Z:2.39 [[ 3.42662202e-01 -9.39455739e-01 -2.35142090e-03 1.47439478e+02] [ 9.39434542e-01 3.42670267e-01 -6.31105150e-03 8.65616114e+01] [ 6.73471558e-03 -4.64472158e-05 9.99977320e-01 2.39344584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32361786499996 meters Centerline goodness [0,1] 0.9999565217391304 Centerline is valid? [True, True] Translation: X:147.45, Y:86.59, Z:2.39 [[ 3.42628087e-01 -9.39468103e-01 -2.38287707e-03 1.47449766e+02] [ 9.39446294e-01 3.42636370e-01 -6.40147930e-03 8.65875672e+01] [ 6.83044596e-03 -4.52584276e-05 9.99976671e-01 2.39306847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35361786499996 meters Centerline goodness [0,1] 0.9999782196763444 Centerline is valid? [True, True] Translation: X:147.46, Y:86.61, Z:2.39 [[ 3.42425097e-01 -9.39542384e-01 -2.27190453e-03 1.47460557e+02] [ 9.39522531e-01 3.42432631e-01 -6.10799600e-03 8.66135140e+01] [ 6.51669537e-03 -4.29743717e-05 9.99978765e-01 2.39345458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:86.64, Z:2.39 [[ 3.42455714e-01 -9.39530906e-01 -2.40010827e-03 1.47472642e+02] [ 9.39508708e-01 3.42464122e-01 -6.45860437e-03 8.66393939e+01] [ 6.89000939e-03 -4.31366448e-05 9.99976263e-01 2.39314793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41361786499996 meters Centerline goodness [0,1] 0.9999781549686524 Centerline is valid? [True, True] Translation: X:147.48, Y:86.67, Z:2.39 [[ 3.42376159e-01 -9.39559928e-01 -2.38896548e-03 1.47483366e+02] [ 9.39537899e-01 3.42384491e-01 -6.43394104e-03 8.66654658e+01] [ 6.86301791e-03 -4.16955922e-05 9.99976448e-01 2.39323778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44361786499996 meters Centerline goodness [0,1] 0.9999126084201787 Centerline is valid? [True, True] Translation: X:147.49, Y:86.69, Z:2.39 [[ 3.42094808e-01 -9.39662510e-01 -2.34736990e-03 1.47494208e+02] [ 9.39641212e-01 3.42102859e-01 -6.32674345e-03 8.66907642e+01] [ 6.74804559e-03 -4.13394160e-05 9.99977231e-01 2.39334706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47361786499997 meters Centerline goodness [0,1] 0.9999780903553744 Centerline is valid? [True, True] Translation: X:147.51, Y:86.71, Z:2.39 [[ 3.41323783e-01 -9.39942285e-01 -2.56448003e-03 1.47507172e+02] [ 9.39916820e-01 3.41333413e-01 -6.91907075e-03 8.67145725e+01] [ 7.37886989e-03 -4.87545140e-05 9.99972775e-01 2.39350558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50361786499997 meters Centerline goodness [0,1] 0.9999126656623217 Centerline is valid? [True, True] Translation: X:147.52, Y:86.74, Z:2.39 [[ 3.40572746e-01 -9.40214536e-01 -2.61354451e-03 1.47518473e+02] [ 9.40188047e-01 3.40582770e-01 -7.05789119e-03 8.67394173e+01] [ 7.52606012e-03 -5.34979210e-05 9.99971677e-01 2.39334316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.53, Y:86.76, Z:2.39 [[ 3.39366795e-01 -9.40649213e-01 -3.03909672e-03 1.47531496e+02] [ 9.40613334e-01 3.39380395e-01 -8.21603158e-03 8.67630581e+01] [ 8.75981349e-03 -7.03665920e-05 9.99961630e-01 2.39317289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56361786499997 meters Centerline goodness [0,1] 0.9999561316926586 Centerline is valid? [True, True] Translation: X:147.54, Y:86.79, Z:2.39 [[ 3.38720726e-01 -9.40882104e-01 -3.02273182e-03 1.47542827e+02] [ 9.40846556e-01 3.38734205e-01 -8.17902419e-03 8.67886913e+01] [ 8.71940014e-03 -7.35218082e-05 9.99961983e-01 2.39346619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59361786499997 meters Centerline goodness [0,1] 0.9998898460047146 Centerline is valid? [True, True] Translation: X:147.55, Y:86.81, Z:2.39 [[ 3.38587891e-01 -9.40929539e-01 -3.13730235e-03 1.47552996e+02] [ 9.40891183e-01 3.38602417e-01 -8.49613567e-03 8.68144083e+01] [ 9.05656318e-03 -7.51714584e-05 9.99958986e-01 2.39408233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:86.84, Z:2.39 [[ 3.39846518e-01 -9.40476807e-01 -2.77837292e-03 1.47560339e+02] [ 9.40446673e-01 3.39857870e-01 -7.52881917e-03 8.68419528e+01] [ 8.02493172e-03 -5.42685907e-05 9.99967798e-01 2.39489879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65361786499997 meters Centerline goodness [0,1] 0.9999560999165898 Centerline is valid? [True, True] Translation: X:147.57, Y:86.87, Z:2.40 [[ 3.40146862e-01 -9.40367747e-01 -2.93486229e-03 1.47569217e+02] [ 9.40334057e-01 3.40159519e-01 -7.96008634e-03 8.68680941e+01] [ 8.48372980e-03 -5.21525697e-05 9.99964011e-01 2.39544435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68361786499997 meters Centerline goodness [0,1] 0.9998900301317439 Centerline is valid? [True, True] Translation: X:147.58, Y:86.89, Z:2.40 [[ 3.40854856e-01 -9.40111309e-01 -2.94843890e-03 1.47577833e+02] [ 9.40077240e-01 3.40867606e-01 -8.00362907e-03 8.68946739e+01] [ 8.52932951e-03 -4.36844639e-05 9.99963624e-01 2.39559806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:86.92, Z:2.40 [[ 3.41064199e-01 -9.40034831e-01 -3.11898026e-03 1.47586136e+02] [ 9.39996637e-01 3.41078458e-01 -8.47399296e-03 8.69202169e+01] [ 9.02966552e-03 -4.16553345e-05 9.99959231e-01 2.39568035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.60, Y:86.95, Z:2.40 [[ 3.41123844e-01 -9.40012467e-01 -3.32944408e-03 1.47595567e+02] [ 9.39968858e-01 3.41140089e-01 -9.05461424e-03 8.69469122e+01] [ 9.64725711e-03 -4.08289373e-05 9.99953463e-01 2.39553475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77361786499998 meters Centerline goodness [0,1] 0.9999119156151594 Centerline is valid? [True, True] Translation: X:147.60, Y:86.97, Z:2.40 [[ 3.41377851e-01 -9.39919860e-01 -3.43801836e-03 1.47604190e+02] [ 9.39873277e-01 3.41395160e-01 -9.35780888e-03 8.69728639e+01] [ 9.96931324e-03 -3.67528953e-05 9.99950304e-01 2.39612960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters Centerline goodness [0,1] 0.9999341729933734 Centerline is valid? [True, True] Translation: X:147.61, Y:87.00, Z:2.40 [[ 3.41201456e-01 -9.39983748e-01 -3.48136700e-03 1.47613639e+02] [ 9.39935899e-01 3.41219214e-01 -9.48441038e-03 8.69998252e+01] [ 1.01031009e-02 -3.61671882e-05 9.99948962e-01 2.39669159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83361786499998 meters Centerline goodness [0,1] 0.9999339498018494 Centerline is valid? [True, True] Translation: X:147.62, Y:87.03, Z:2.40 [[ 3.40042356e-01 -9.40402927e-01 -3.67850332e-03 1.47623344e+02] [ 9.40349431e-01 3.40062249e-01 -1.00306382e-02 8.70254426e+01] [ 1.06837617e-02 -4.82366458e-05 9.99942926e-01 2.39706271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:87.05, Z:2.40 [[ 3.38874261e-01 -9.40824221e-01 -3.74434651e-03 1.47633056e+02] [ 9.40768759e-01 3.38894942e-01 -1.02157176e-02 8.70522596e+01] [ 1.08801347e-02 -6.07204514e-05 9.99940808e-01 2.39710461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89361786499995 meters Centerline goodness [0,1] 0.9997570081070931 Centerline is valid? [True, True] Translation: X:147.64, Y:87.08, Z:2.40 [[ 3.36370572e-01 -9.41721257e-01 -3.98909114e-03 1.47643670e+02] [ 9.41658256e-01 3.36394212e-01 -1.08932714e-02 8.70783286e+01] [ 1.16003324e-02 -9.21846719e-05 9.99932710e-01 2.39780585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499995 meters Centerline goodness [0,1] 0.9997357002841222 Centerline is valid? [True, True] Translation: X:147.65, Y:87.10, Z:2.40 [[ 3.35031940e-01 -9.42198467e-01 -3.95583576e-03 1.47653482e+02] [ 9.42136442e-01 3.35055277e-01 -1.08113884e-02 8.71040178e+01] [ 1.15118973e-02 -1.04776584e-04 9.99933730e-01 2.39816137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95361786499996 meters Centerline goodness [0,1] 0.9999120917761857 Centerline is valid? [True, True] Translation: X:147.66, Y:87.13, Z:2.40 [[ 3.33595225e-01 -9.42707406e-01 -4.11980332e-03 1.47663175e+02] [ 9.42640046e-01 3.33620640e-01 -1.12699716e-02 8.71301024e+01] [ 1.19987371e-02 -1.23882893e-04 9.99928005e-01 2.39884748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499996 meters Centerline goodness [0,1] 0.9999117387466901 Centerline is valid? [True, True] Translation: X:147.67, Y:87.16, Z:2.40 [[ 3.31082421e-01 -9.43592585e-01 -4.17904066e-03 1.47672777e+02] [ 9.43523227e-01 3.31108759e-01 -1.14416002e-02 8.71563795e+01] [ 1.21799261e-02 -1.54909229e-04 9.99925810e-01 2.39931416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01361786499996 meters Centerline goodness [0,1] 0.9997577412676739 Centerline is valid? [True, True] Translation: X:147.68, Y:87.18, Z:2.40 [[ 3.29708572e-01 -9.44072615e-01 -4.37666836e-03 1.47682829e+02] [ 9.43996462e-01 3.29737572e-01 -1.19922083e-02 8.71820088e+01] [ 1.27646674e-02 -1.77625578e-04 9.99918513e-01 2.39967775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04361786499996 meters Centerline goodness [0,1] 0.9999559558677795 Centerline is valid? [True, True] Translation: X:147.69, Y:87.21, Z:2.40 [[ 3.28125032e-01 -9.44623315e-01 -4.55579267e-03 1.47693873e+02] [ 9.44540749e-01 3.28156594e-01 -1.24909149e-02 8.72075002e+01] [ 1.32942229e-02 -2.04549963e-04 9.99911607e-01 2.40018655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07361786499996 meters Centerline goodness [0,1] 0.9999559888211605 Centerline is valid? [True, True] Translation: X:147.70, Y:87.23, Z:2.40 [[ 3.27073808e-01 -9.44987075e-01 -4.70671240e-03 1.47703869e+02] [ 9.44898850e-01 3.27107595e-01 -1.29144883e-02 8.72339609e+01] [ 1.37436259e-02 -2.23376280e-04 9.99905527e-01 2.40050208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10361786499996 meters Centerline goodness [0,1] 0.9999780562199645 Centerline is valid? [True, True] Translation: X:147.71, Y:87.26, Z:2.40 [[ 3.24918498e-01 -9.45729062e-01 -4.95092240e-03 1.47714180e+02] [ 9.45631364e-01 3.24956108e-01 -1.35960285e-02 8.72586319e+01] [ 1.44669917e-02 -2.64146358e-04 9.99895313e-01 2.40069009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13361786499996 meters Centerline goodness [0,1] 0.9999120763177561 Centerline is valid? [True, True] Translation: X:147.72, Y:87.28, Z:2.40 [[ 3.23805415e-01 -9.46109679e-01 -5.15055074e-03 1.47723990e+02] [ 9.46003806e-01 3.23846247e-01 -1.41565386e-02 8.72848351e+01] [ 1.50616247e-02 -2.88476735e-04 9.99886526e-01 2.40101848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16361786499996 meters Centerline goodness [0,1] 0.9999780301865238 Centerline is valid? [True, True] Translation: X:147.73, Y:87.31, Z:2.40 [[ 3.22878105e-01 -9.46425743e-01 -5.29545994e-03 1.47730354e+02] [ 9.46313688e-01 3.22921380e-01 -1.45666171e-02 8.73120085e+01] [ 1.54962387e-02 -3.07924499e-04 9.99879879e-01 2.40146100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:87.34, Z:2.40 [[ 3.22185428e-01 -9.46660951e-01 -5.44002150e-03 1.47740071e+02] [ 9.46542519e-01 3.22231189e-01 -1.49773326e-02 8.73378049e+01] [ 1.59314005e-02 -3.23733350e-04 9.99873035e-01 2.40185677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22361786499997 meters Centerline goodness [0,1] 0.9999779730831075 Centerline is valid? [True, True] Translation: X:147.75, Y:87.37, Z:2.40 [[ 3.21291076e-01 -9.46963612e-01 -5.65343770e-03 1.47747823e+02] [ 9.46835517e-01 3.21340624e-01 -1.55790646e-02 8.73655198e+01] [ 1.65694865e-02 -3.47461165e-04 9.99862656e-01 2.40300636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25361786499997 meters Centerline goodness [0,1] 0.9998898314421064 Centerline is valid? [True, True] Translation: X:147.76, Y:87.39, Z:2.40 [[ 3.20921242e-01 -9.47089823e-01 -5.51579524e-03 1.47758691e+02] [ 9.46967708e-01 3.20968458e-01 -1.52121172e-02 8.73899156e+01] [ 1.61776376e-02 -3.41388450e-04 9.99869075e-01 2.40329199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28361786499997 meters Centerline goodness [0,1] 0.9999338113623828 Centerline is valid? [True, True] Translation: X:147.77, Y:87.42, Z:2.40 [[ 3.20429734e-01 -9.47257036e-01 -5.37520365e-03 1.47766747e+02] [ 9.47140909e-01 3.20474638e-01 -1.48359042e-02 8.74168297e+01] [ 1.57760311e-02 -3.37210430e-04 9.99875494e-01 2.40429936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31361786499997 meters Centerline goodness [0,1] 0.9999338113623828 Centerline is valid? [True, True] Translation: X:147.78, Y:87.44, Z:2.40 [[ 3.20171860e-01 -9.47344252e-01 -5.37116334e-03 1.47776077e+02] [ 9.47228113e-01 3.20216732e-01 -1.48373669e-02 8.74427944e+01] [ 1.57760306e-02 -3.37209555e-04 9.99875494e-01 2.40466617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.79, Y:87.47, Z:2.41 [[ 3.19927559e-01 -9.47427088e-01 -5.31694291e-03 1.47785222e+02] [ 9.47313098e-01 3.19971563e-01 -1.47000910e-02 8.74686472e+01] [ 1.56285349e-02 -3.33845448e-04 9.99877811e-01 2.40573944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37361786499997 meters Centerline goodness [0,1] 0.9999780055426033 Centerline is valid? [True, True] Translation: X:147.79, Y:87.50, Z:2.41 [[ 3.19811016e-01 -9.47466589e-01 -5.28923312e-03 1.47793684e+02] [ 9.47353588e-01 3.19854581e-01 -1.46364810e-02 8.74956046e+01] [ 1.55593622e-02 -3.29866102e-04 9.99878891e-01 2.40626893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40361786499997 meters Centerline goodness [0,1] 0.99993424513414 Centerline is valid? [True, True] Translation: X:147.80, Y:87.52, Z:2.41 [[ 3.19686671e-01 -9.47509114e-01 -5.18751948e-03 1.47802945e+02] [ 9.47400244e-01 3.19728595e-01 -1.43667111e-02 8.75214735e+01] [ 1.52711880e-02 -3.21811179e-04 9.99883337e-01 2.40654937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:87.55, Z:2.41 [[ 3.19323326e-01 -9.47632502e-01 -5.02530620e-03 1.47811764e+02] [ 9.47530220e-01 3.19362711e-01 -1.39262529e-02 8.75486082e+01] [ 1.48018653e-02 -3.14652086e-04 9.99890397e-01 2.40586350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.82, Y:87.58, Z:2.41 [[ 3.19179306e-01 -9.47681165e-01 -4.99796732e-03 1.47819956e+02] [ 9.47579826e-01 3.19218283e-01 -1.38622380e-02 8.75755955e+01] [ 1.47324244e-02 -3.11433485e-04 9.99891423e-01 2.40596786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49361786499998 meters Centerline goodness [0,1] 0.9999339861370888 Centerline is valid? [True, True] Translation: X:147.83, Y:87.60, Z:2.41 [[ 3.18968042e-01 -9.47752402e-01 -4.97733392e-03 1.47831217e+02] [ 9.47651734e-01 3.19006723e-01 -1.38166922e-02 8.76004149e+01] [ 1.46826062e-02 -3.09695853e-04 9.99892157e-01 2.40588169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters Centerline goodness [0,1] 0.9998683748683749 Centerline is valid? [True, True] Translation: X:147.84, Y:87.63, Z:2.41 [[ 3.18735218e-01 -9.47830902e-01 -4.94395955e-03 1.47840833e+02] [ 9.47731467e-01 3.18773410e-01 -1.37324339e-02 8.76269264e+01] [ 1.45920281e-02 -3.08535709e-04 9.99893483e-01 2.40631278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.85, Y:87.65, Z:2.41 [[ 3.18117496e-01 -9.48038232e-01 -4.97684147e-03 1.47849118e+02] [ 9.47937326e-01 3.18156267e-01 -1.38353321e-02 8.76540065e+01] [ 1.46998371e-02 -3.16472581e-04 9.99891901e-01 2.40666267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.86, Y:87.68, Z:2.41 [[ 3.17655070e-01 -9.48193001e-01 -5.02880276e-03 1.47858287e+02] [ 9.48089816e-01 3.17694709e-01 -1.39918958e-02 8.76806496e+01] [ 1.48646417e-02 -3.23160048e-04 9.99889463e-01 2.40672109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:87.71, Z:2.41 [[ 3.16221624e-01 -9.48673415e-01 -4.75784250e-03 1.47869145e+02] [ 9.48580955e-01 3.16257249e-01 -1.32485388e-02 8.77054025e+01] [ 1.40732387e-02 -3.23724333e-04 9.99900915e-01 2.40640486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.88, Y:87.73, Z:2.41 [[ 3.15176447e-01 -9.49020711e-01 -4.84740806e-03 1.47878716e+02] [ 9.48924698e-01 3.15213534e-01 -1.35035299e-02 8.77317240e+01] [ 1.43430982e-02 -3.43830657e-04 9.99897073e-01 2.40613501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.89, Y:87.76, Z:2.41 [[ 3.13533114e-01 -9.49565358e-01 -4.75586378e-03 1.47890299e+02] [ 9.49472852e-01 3.13568977e-01 -1.32589899e-02 8.77570146e+01] [ 1.40815688e-02 -3.58431168e-04 9.99900786e-01 2.40626210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.90, Y:87.78, Z:2.41 [[ 3.10143245e-01 -9.50677931e-01 -4.75804998e-03 1.47900025e+02] [ 9.50585324e-01 3.10179475e-01 -1.32753493e-02 8.77832038e+01] [ 1.40964311e-02 -4.05672567e-04 9.99900558e-01 2.40644420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.91, Y:87.81, Z:2.41 [[ 3.08402019e-01 -9.51244820e-01 -4.63538846e-03 1.47911233e+02] [ 9.51156844e-01 3.08436571e-01 -1.29437487e-02 8.78087957e+01] [ 1.37423972e-02 -4.17103230e-04 9.99905482e-01 2.40670167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:87.84, Z:2.41 [[ 3.06379941e-01 -9.51898486e-01 -4.53928706e-03 1.47920570e+02] [ 9.51814058e-01 3.06413258e-01 -1.26851791e-02 8.78356163e+01] [ 1.34659005e-02 -4.34072816e-04 9.99909236e-01 2.40735671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.93, Y:87.86, Z:2.41 [[ 3.04507465e-01 -9.52499687e-01 -4.42147144e-03 1.47931316e+02] [ 9.52419522e-01 3.04539238e-01 -1.23655601e-02 8.78621302e+01] [ 1.31247037e-02 -4.45690352e-04 9.99913768e-01 2.40771340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:87.89, Z:2.41 [[ 3.01514322e-01 -9.53453036e-01 -4.05245291e-03 1.47941691e+02] [ 9.53385680e-01 3.01541228e-01 -1.13416596e-02 8.78881275e+01] [ 1.20357214e-02 -4.43877756e-04 9.99927470e-01 2.40842468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.95, Y:87.91, Z:2.41 [[ 3.00546065e-01 -9.53758812e-01 -4.02379657e-03 1.47951047e+02] [ 9.53692317e-01 3.00572663e-01 -1.12711096e-02 8.79147893e+01] [ 1.19593633e-02 -4.49976239e-04 9.99928383e-01 2.40899152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88361786499996 meters Centerline goodness [0,1] 0.9999779492833517 Centerline is valid? [True, True] Translation: X:147.96, Y:87.94, Z:2.41 [[ 2.99815356e-01 -9.53989016e-01 -3.96360340e-03 1.47961990e+02] [ 9.53924410e-01 2.99841217e-01 -1.11114568e-02 8.79402543e+01] [ 1.17886594e-02 -4.49592663e-04 9.99930410e-01 2.40964263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.97, Y:87.97, Z:2.41 [[ 2.99420762e-01 -9.54112918e-01 -3.96835887e-03 1.47968861e+02] [ 9.54048068e-01 2.99446716e-01 -1.11331700e-02 8.79678253e+01] [ 1.18106134e-02 -4.52502861e-04 9.99930150e-01 2.40979677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.98, Y:87.99, Z:2.41 [[ 3.00068400e-01 -9.53909606e-01 -3.92677406e-03 1.47979919e+02] [ 9.53845977e-01 3.00093775e-01 -1.10262646e-02 8.79932004e+01] [ 1.16964602e-02 -4.36904061e-04 9.99931499e-01 2.40998427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:88.02, Z:2.41 [[ 3.00656697e-01 -9.53724323e-01 -3.93275994e-03 1.47988172e+02] [ 9.53660407e-01 3.00682112e-01 -1.10496803e-02 8.80205422e+01] [ 1.17208594e-02 -4.28357066e-04 9.99931217e-01 2.41014324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:88.05, Z:2.41 [[ 3.02691255e-01 -9.53080553e-01 -3.93230869e-03 1.47994396e+02] [ 9.53016499e-01 3.02716531e-01 -1.10568904e-02 8.80483520e+01] [ 1.17284820e-02 -4.00731042e-04 9.99931139e-01 2.41031649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.00, Y:88.08, Z:2.41 [[ 3.04115792e-01 -9.52627013e-01 -3.91895901e-03 1.48002243e+02] [ 9.52563255e-01 3.04140805e-01 -1.10279618e-02 8.80757530e+01] [ 1.16974496e-02 -3.79279011e-04 9.99931511e-01 2.41025167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06361786499997 meters Centerline goodness [0,1] 0.9999129791585084 Centerline is valid? [True, True] Translation: X:148.01, Y:88.10, Z:2.41 [[ 3.07332651e-01 -9.51593471e-01 -4.06293187e-03 1.48008001e+02] [ 9.51524738e-01 3.07359307e-01 -1.14424576e-02 8.81037283e+01] [ 1.21373479e-02 -3.49339344e-04 9.99926279e-01 2.41045038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.01, Y:88.13, Z:2.41 [[ 3.08832101e-01 -9.51108281e-01 -3.97135810e-03 1.48013805e+02] [ 9.51042507e-01 3.08857467e-01 -1.11899837e-02 8.81313621e+01] [ 1.18694698e-02 -3.21104187e-04 9.99929504e-01 2.41097777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:88.16, Z:2.41 [[ 3.10486241e-01 -9.50569329e-01 -4.03051887e-03 1.48023798e+02] [ 9.50501418e-01 3.10512254e-01 -1.13664135e-02 8.81571066e+01] [ 1.20560896e-02 -3.01898888e-04 9.99927277e-01 2.41176613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.03, Y:88.18, Z:2.41 [[ 3.13633813e-01 -9.49536157e-01 -3.86242438e-03 1.48031478e+02] [ 9.49473653e-01 3.13657496e-01 -1.08975989e-02 8.81826238e+01] [ 1.15591426e-02 -2.49414672e-04 9.99933160e-01 2.41208513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:88.21, Z:2.41 [[ 3.15100064e-01 -9.49050781e-01 -3.81646641e-03 1.48036822e+02] [ 9.48989629e-01 3.15123095e-01 -1.07758820e-02 8.82108118e+01] [ 1.14295160e-02 -2.26305917e-04 9.99934655e-01 2.41278541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:88.24, Z:2.41 [[ 3.16959761e-01 -9.48432051e-01 -3.62693698e-03 1.48043370e+02] [ 9.48376697e-01 3.16980454e-01 -1.02485098e-02 8.82384669e+01] [ 1.08696833e-02 -1.91337297e-04 9.99940905e-01 2.41333405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.05, Y:88.27, Z:2.41 [[ 3.18325055e-01 -9.47974478e-01 -3.68085969e-03 1.48050647e+02] [ 9.47917336e-01 3.18346287e-01 -1.04099149e-02 8.82662001e+01] [ 1.10401216e-02 -1.75413993e-04 9.99939041e-01 2.41386963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.06, Y:88.29, Z:2.41 [[ 3.19585585e-01 -9.47550693e-01 -3.56916636e-03 1.48058404e+02] [ 9.47496893e-01 3.19605477e-01 -1.00983558e-02 8.82931029e+01] [ 1.07094291e-02 -1.54485097e-04 9.99942640e-01 2.41441587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.07, Y:88.32, Z:2.41 [[ 3.22279391e-01 -9.46637600e-01 -3.63991117e-03 1.48065805e+02] [ 9.46581482e-01 3.22299922e-01 -1.03081670e-02 8.83198311e+01] [ 1.09312416e-02 -1.23362703e-04 9.99940245e-01 2.41484502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.07, Y:88.35, Z:2.41 [[ 3.23052722e-01 -9.46373498e-01 -3.76034290e-03 1.48073851e+02] [ 9.46313520e-01 3.23074586e-01 -1.06551929e-02 8.83465906e+01] [ 1.12986634e-02 -1.16274252e-04 9.99936161e-01 2.41495456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499995 meters Centerline goodness [0,1] 0.9999128065395095 Centerline is valid? [True, True] Translation: X:148.08, Y:88.37, Z:2.41 [[ 3.23848807e-01 -9.46100452e-01 -3.98550687e-03 1.48081711e+02] [ 9.46032934e-01 3.23873311e-01 -1.13033863e-02 8.83740251e+01] [ 1.19849382e-02 -1.09832608e-04 9.99928172e-01 2.41474243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39361786499995 meters Centerline goodness [0,1] 0.9998039770870996 Centerline is valid? [True, True] Translation: X:148.09, Y:88.40, Z:2.41 [[ 3.23636918e-01 -9.46171881e-01 -4.23287261e-03 1.48090906e+02] [ 9.46095585e-01 3.23664577e-01 -1.20160509e-02 8.83998527e+01] [ 1.27392804e-02 -1.15864422e-04 9.99918845e-01 2.41466342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.10, Y:88.43, Z:2.42 [[ 3.22949739e-01 -9.46406559e-01 -4.25343703e-03 1.48100616e+02] [ 9.46329397e-01 3.22977725e-01 -1.20856169e-02 8.84266323e+01] [ 1.28116725e-02 -1.22105696e-04 9.99917920e-01 2.41511362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45361786499996 meters Centerline goodness [0,1] 0.9998468003151536 Centerline is valid? [True, True] Translation: X:148.11, Y:88.45, Z:2.42 [[ 3.21291811e-01 -9.46971286e-01 -4.11773710e-03 1.48111034e+02] [ 9.46898892e-01 3.21318168e-01 -1.17099883e-02 8.84521722e+01] [ 1.24121264e-02 -1.36757343e-04 9.99922957e-01 2.41583806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499996 meters Centerline goodness [0,1] 0.9998029599789824 Centerline is valid? [True, True] Translation: X:148.12, Y:88.48, Z:2.42 [[ 3.19911030e-01 -9.47438150e-01 -4.22908898e-03 1.48121248e+02] [ 9.47361729e-01 3.19938944e-01 -1.20343660e-02 8.84770491e+01] [ 1.27548677e-02 -1.56550631e-04 9.99918641e-01 2.41636652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51361786499996 meters Centerline goodness [0,1] 0.9999562257873886 Centerline is valid? [True, True] Translation: X:148.13, Y:88.50, Z:2.42 [[ 3.17246675e-01 -9.48332908e-01 -4.38670562e-03 1.48132509e+02] [ 9.48250613e-01 3.17276941e-01 -1.24947215e-02 8.85031181e+01] [ 1.32409561e-02 -1.95787451e-04 9.99912316e-01 2.41643394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54361786499996 meters Centerline goodness [0,1] 0.9999345378371302 Centerline is valid? [True, True] Translation: X:148.14, Y:88.53, Z:2.42 [[ 3.15587171e-01 -9.48885846e-01 -4.51537451e-03 1.48142658e+02] [ 9.48798563e-01 3.15619394e-01 -1.28718531e-02 8.85291758e+01] [ 1.36390590e-02 -2.21989137e-04 9.99906959e-01 2.41625244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:88.55, Z:2.42 [[ 3.14127946e-01 -9.49369333e-01 -4.63718779e-03 1.48154242e+02] [ 9.49277224e-01 3.14162074e-01 -1.32265780e-02 8.85543120e+01] [ 1.40137361e-02 -2.47138980e-04 9.99901772e-01 2.41650833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.16, Y:88.58, Z:2.42 [[ 3.12368610e-01 -9.49948800e-01 -4.80924668e-03 1.48164091e+02] [ 9.49849639e-01 3.12405504e-01 -1.37282300e-02 8.85808178e+01] [ 1.45435508e-02 -2.79793093e-04 9.99894198e-01 2.41618633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63361786499996 meters Centerline goodness [0,1] 0.9998689212216542 Centerline is valid? [True, True] Translation: X:148.18, Y:88.61, Z:2.42 [[ 3.09553415e-01 -9.50867546e-01 -5.25286013e-03 1.48176675e+02] [ 9.50749172e-01 3.09597784e-01 -1.50074559e-02 8.86058330e+01] [ 1.58963766e-02 -3.48543187e-04 9.99873584e-01 2.41568769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66361786499996 meters Centerline goodness [0,1] 0.9998468170777075 Centerline is valid? [True, True] Translation: X:148.19, Y:88.63, Z:2.42 [[ 3.08095523e-01 -9.51339563e-01 -5.49404608e-03 1.48187508e+02] [ 9.51209920e-01 3.08144263e-01 -1.57098968e-02 8.86306840e+01] [ 1.66384051e-02 -3.85842264e-04 9.99861498e-01 2.41574515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69361786499996 meters Centerline goodness [0,1] 0.9999123921328136 Centerline is valid? [True, True] Translation: X:148.20, Y:88.66, Z:2.42 [[ 3.06518645e-01 -9.51848672e-01 -5.51590678e-03 1.48196062e+02] [ 9.51717850e-01 3.06567996e-01 -1.57860133e-02 8.86579710e+01] [ 1.67168963e-02 -4.10879531e-04 9.99860179e-01 2.41639141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.21, Y:88.68, Z:2.42 [[ 3.05010937e-01 -9.52332574e-01 -5.56747845e-03 1.48208830e+02] [ 9.52199155e-01 3.05061432e-01 -1.59465174e-02 8.86829676e+01] [ 1.68848109e-02 -4.37486069e-04 9.99857346e-01 2.41667572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75361786499997 meters Centerline goodness [0,1] 0.9999561624619161 Centerline is valid? [True, True] Translation: X:148.22, Y:88.71, Z:2.42 [[ 3.03328705e-01 -9.52869822e-01 -5.54966260e-03 1.48217809e+02] [ 9.52737135e-01 3.03379117e-01 -1.59079314e-02 8.87100442e+01] [ 1.68418395e-02 -4.62037406e-04 9.99858059e-01 2.41814605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.23, Y:88.74, Z:2.42 [[ 3.02263056e-01 -9.53209257e-01 -5.39983631e-03 1.48226058e+02] [ 9.53083490e-01 3.02310929e-01 -1.54907301e-02 8.87368135e+01] [ 1.63983369e-02 -4.64219412e-04 9.99865430e-01 2.41906108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81361786499997 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:148.24, Y:88.76, Z:2.42 [[ 3.01653288e-01 -9.53403074e-01 -5.27936299e-03 1.48237298e+02] [ 9.53282683e-01 3.01699132e-01 -1.51578122e-02 8.87619862e+01] [ 1.60442840e-02 -4.60321426e-04 9.99871176e-01 2.41962618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84361786499997 meters Centerline goodness [0,1] 0.9999563261562651 Centerline is valid? [True, True] Translation: X:148.25, Y:88.79, Z:2.42 [[ 3.00173046e-01 -9.53871317e-01 -5.06491441e-03 1.48246576e+02] [ 9.53760377e-01 3.00215419e-01 -1.45549335e-02 8.87892612e+01] [ 1.54040990e-02 -4.61715931e-04 9.99881243e-01 2.42082787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.26, Y:88.82, Z:2.42 [[ 2.99446597e-01 -9.54100688e-01 -4.85930462e-03 1.48255962e+02] [ 9.53998439e-01 2.99485683e-01 -1.39751497e-02 8.88153398e+01] [ 1.47889921e-02 -4.50958003e-04 9.99890535e-01 2.42129143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:88.84, Z:2.42 [[ 2.98836174e-01 -9.54294185e-01 -4.42154821e-03 1.48266543e+02] [ 9.54209414e-01 2.98868593e-01 -1.27262849e-02 8.88406575e+01] [ 1.34660816e-02 -4.16008630e-04 9.99909242e-01 2.42263132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:88.87, Z:2.42 [[ 2.98548824e-01 -9.54384523e-01 -4.33392221e-03 1.48274188e+02] [ 9.54302939e-01 2.98580000e-01 -1.24853426e-02 8.88673698e+01] [ 1.32098403e-02 -4.08390345e-04 9.99912663e-01 2.42331659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.28, Y:88.89, Z:2.42 [[ 2.99245364e-01 -9.54167245e-01 -4.13286539e-03 1.48282463e+02] [ 9.54092907e-01 2.99273664e-01 -1.19163058e-02 8.88947255e+01] [ 1.26070065e-02 -3.77238288e-04 9.99920457e-01 2.42408234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:88.92, Z:2.42 [[ 2.99755427e-01 -9.54007927e-01 -3.94438998e-03 1.48290442e+02] [ 9.53940135e-01 2.99781171e-01 -1.13784371e-02 8.89221051e+01] [ 1.20375731e-02 -3.51963622e-04 9.99927484e-01 2.42472128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.30, Y:88.95, Z:2.42 [[ 3.01877331e-01 -9.53339335e-01 -3.76694430e-03 1.48297488e+02] [ 9.53277349e-01 3.01900676e-01 -1.08755415e-02 8.89493836e+01] [ 1.15053246e-02 -3.07863227e-04 9.99933764e-01 2.42479274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:88.98, Z:2.42 [[ 3.03359733e-01 -9.52868848e-01 -3.71893792e-03 1.48305147e+02] [ 9.52808294e-01 3.03382395e-01 -1.07459991e-02 8.89769071e+01] [ 1.13677881e-02 -2.83531481e-04 9.99935344e-01 2.42494730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:89.00, Z:2.42 [[ 3.07036928e-01 -9.51690616e-01 -3.64637565e-03 1.48311091e+02] [ 9.51632212e-01 3.07058492e-01 -1.05459124e-02 8.90031552e+01] [ 1.11560965e-02 -2.32023964e-04 9.99937742e-01 2.42458587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.32, Y:89.03, Z:2.42 [[ 3.08898828e-01 -9.51087659e-01 -3.71188907e-03 1.48319208e+02] [ 9.51027033e-01 3.08921057e-01 -1.07407357e-02 8.90294757e+01] [ 1.13620618e-02 -2.12306187e-04 9.99935427e-01 2.42456472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499995 meters Centerline goodness [0,1] 0.9999782514136581 Centerline is valid? [True, True] Translation: X:148.33, Y:89.06, Z:2.42 [[ 3.10525102e-01 -9.50557787e-01 -3.74888428e-03 1.48325625e+02] [ 9.50495839e-01 3.10547670e-01 -1.08537998e-02 8.90574035e+01] [ 1.14813712e-02 -1.92921615e-04 9.99934068e-01 2.42417823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.33, Y:89.09, Z:2.42 [[ 3.13483151e-01 -9.49586410e-01 -3.73684650e-03 1.48331811e+02] [ 9.49524683e-01 3.13505385e-01 -1.08282312e-02 8.90852977e+01] [ 1.14538627e-02 -1.53759951e-04 9.99934391e-01 2.42392239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.34, Y:89.11, Z:2.42 [[ 3.13221382e-01 -9.49672798e-01 -3.73400469e-03 1.48340742e+02] [ 9.49611065e-01 3.13243601e-01 -1.08292110e-02 8.91113945e+01] [ 1.14538602e-02 -1.53911728e-04 9.99934391e-01 2.42428920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.35, Y:89.14, Z:2.43 [[ 3.14244356e-01 -9.49334852e-01 -3.71794471e-03 1.48350325e+02] [ 9.49273511e-01 3.14266320e-01 -1.07926882e-02 8.91371492e+01] [ 1.14142999e-02 -1.37805057e-04 9.99934845e-01 2.42507803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.36, Y:89.16, Z:2.43 [[ 3.14874913e-01 -9.49126757e-01 -3.49110610e-03 1.48357340e+02] [ 9.49072600e-01 3.14894243e-01 -1.01398161e-02 8.91649065e+01] [ 1.07233000e-02 -1.20539435e-04 9.99942497e-01 2.42536585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29361786499996 meters Centerline goodness [0,1] 0.9999565991059416 Centerline is valid? [True, True] Translation: X:148.37, Y:89.19, Z:2.43 [[ 3.15534449e-01 -9.48907950e-01 -3.42256689e-03 1.48365243e+02] [ 9.48855797e-01 3.15552992e-01 -9.94915908e-03 8.91916304e+01] [ 1.05208374e-02 -1.08220009e-04 9.99944649e-01 2.42534699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.37, Y:89.22, Z:2.43 [[ 3.15922372e-01 -9.48779070e-01 -3.36615210e-03 1.48373679e+02] [ 9.48728529e-01 3.15940289e-01 -9.79344929e-03 8.92180685e+01] [ 1.03553228e-02 -9.95948020e-05 9.99946377e-01 2.42550019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:89.24, Z:2.43 [[ 3.16239967e-01 -9.48673827e-01 -3.20217058e-03 1.48381349e+02] [ 9.48628012e-01 3.16256166e-01 -9.32378420e-03 8.92449311e+01] [ 9.85793622e-03 -8.91155062e-05 9.99951405e-01 2.42549230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.39, Y:89.27, Z:2.43 [[ 3.16091927e-01 -9.48723320e-01 -3.15540319e-03 1.48390010e+02] [ 9.48678759e-01 3.16107664e-01 -9.19551005e-03 8.92711648e+01] [ 9.72144195e-03 -8.68374882e-05 9.99952742e-01 2.42579539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.40, Y:89.30, Z:2.43 [[ 3.16046699e-01 -9.48738758e-01 -3.04180483e-03 1.48397943e+02] [ 9.48697281e-01 3.16061326e-01 -8.87175523e-03 8.92986200e+01] [ 9.37837491e-03 -8.18630163e-05 9.99956019e-01 2.42568651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:89.32, Z:2.43 [[ 3.15687602e-01 -9.48858142e-01 -3.09263052e-03 1.48406576e+02] [ 9.48815196e-01 3.15702738e-01 -9.02795753e-03 8.93246832e+01] [ 9.54260293e-03 -8.43205778e-05 9.99954465e-01 2.42581887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.42, Y:89.35, Z:2.43 [[ 3.15435304e-01 -9.48942228e-01 -3.03596119e-03 1.48415075e+02] [ 9.48900769e-01 3.15449902e-01 -8.87075154e-03 8.93516519e+01] [ 9.37552439e-03 -8.26777084e-05 9.99956045e-01 2.42587276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.42, Y:89.38, Z:2.43 [[ 3.14334284e-01 -9.49306919e-01 -3.21414983e-03 1.48424063e+02] [ 9.49260381e-01 3.14350702e-01 -9.40030256e-03 8.93782817e+01] [ 9.93414252e-03 -9.62277098e-05 9.99950651e-01 2.42514764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.43, Y:89.40, Z:2.42 [[ 3.13390276e-01 -9.49618995e-01 -3.20933555e-03 1.48433487e+02] [ 9.49572532e-01 3.13406691e-01 -9.39426343e-03 8.94037910e+01] [ 9.92679823e-03 -1.03426075e-04 9.99950723e-01 2.42491765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:89.43, Z:2.43 [[ 3.12427522e-01 -9.49936092e-01 -3.23489157e-03 1.48442590e+02] [ 9.49888814e-01 3.12444249e-01 -9.47805189e-03 8.94303420e+01] [ 1.00142668e-02 -1.11583052e-04 9.99949850e-01 2.42507002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59361786499997 meters Centerline goodness [0,1] 0.9999783301189676 Centerline is valid? [True, True] Translation: X:148.45, Y:89.46, Z:2.42 [[ 3.09871575e-01 -9.50772411e-01 -3.38078016e-03 1.48452979e+02] [ 9.50720723e-01 3.09889984e-01 -9.91483459e-03 8.94566779e+01] [ 1.04744211e-02 -1.41852349e-04 9.99945132e-01 2.42482947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.46, Y:89.48, Z:2.43 [[ 3.08693163e-01 -9.51155530e-01 -3.41887869e-03 1.48462715e+02] [ 9.51102600e-01 3.08712057e-01 -1.00354131e-02 8.94817027e+01] [ 1.06006877e-02 -1.53841015e-04 9.99943799e-01 2.42519230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.47, Y:89.51, Z:2.43 [[ 3.06905892e-01 -9.51733702e-01 -3.42560158e-03 1.48471505e+02] [ 9.51680537e-01 3.06924961e-01 -1.00610028e-02 8.95088451e+01] [ 1.06267981e-02 -1.72297309e-04 9.99943519e-01 2.42506677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.48, Y:89.53, Z:2.43 [[ 3.03866288e-01 -9.52708203e-01 -3.51549052e-03 1.48484743e+02] [ 9.52652167e-01 3.03886551e-01 -1.03350480e-02 8.95328200e+01] [ 1.09145953e-02 -2.08566982e-04 9.99940412e-01 2.42530452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71361786499997 meters Centerline goodness [0,1] 0.9999783891254079 Centerline is valid? [True, True] Translation: X:148.50, Y:89.56, Z:2.43 [[ 3.02238320e-01 -9.53226049e-01 -3.47802214e-03 1.48495138e+02] [ 9.53171205e-01 3.02258248e-01 -1.02276648e-02 8.95590391e+01] [ 1.08005374e-02 -2.23958338e-04 9.99941647e-01 2.42550078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters Centerline goodness [0,1] 0.9999135770460634 Centerline is valid? [True, True] Translation: X:148.50, Y:89.59, Z:2.43 [[ 3.00508936e-01 -9.53773083e-01 -3.35934203e-03 1.48503075e+02] [ 9.53721870e-01 3.00527622e-01 -9.88657002e-03 8.95865292e+01] [ 1.04391194e-02 -2.32875324e-04 9.99945484e-01 2.42551720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.51, Y:89.61, Z:2.43 [[ 2.98980745e-01 -9.54253353e-01 -3.32453492e-03 1.48513292e+02] [ 9.54203140e-01 2.98999128e-01 -9.79227872e-03 8.96126748e+01] [ 1.03383478e-02 -2.44578875e-04 9.99946528e-01 2.42599018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.53, Y:89.64, Z:2.43 [[ 2.97029272e-01 -9.54862604e-01 -3.31937816e-03 1.48527666e+02] [ 9.54812486e-01 2.97047703e-01 -9.78664317e-03 8.96363028e+01] [ 1.03309132e-02 -2.62464218e-04 9.99946600e-01 2.42681084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83361786499995 meters Centerline goodness [0,1] 0.9999348859418749 Centerline is valid? [True, True] Translation: X:148.53, Y:89.66, Z:2.43 [[ 2.96456933e-01 -9.55040439e-01 -3.32377978e-03 1.48533718e+02] [ 9.54990174e-01 2.96475443e-01 -9.80197461e-03 8.96638951e+01] [ 1.03467012e-02 -2.68313700e-04 9.99946435e-01 2.42665389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.54, Y:89.69, Z:2.43 [[ 2.96375832e-01 -9.55065745e-01 -3.28462502e-03 1.48543349e+02] [ 9.55016572e-01 2.96393916e-01 -9.69504064e-03 8.96905389e+01] [ 1.02329441e-02 -2.63495588e-04 9.99947607e-01 2.42706073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.55, Y:89.72, Z:2.43 [[ 2.97036846e-01 -9.54860795e-01 -3.15831111e-03 1.48553523e+02] [ 9.54815243e-01 2.97053536e-01 -9.33002250e-03 8.97159981e+01] [ 9.84706019e-03 -2.44243137e-04 9.99951487e-01 2.42718605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499995 meters Centerline goodness [0,1] 0.9999128843975956 Centerline is valid? [True, True] Translation: X:148.56, Y:89.74, Z:2.43 [[ 2.97762141e-01 -9.54635437e-01 -2.98144511e-03 1.48563099e+02] [ 9.54594763e-01 2.97776985e-01 -8.81509866e-03 8.97418725e+01] [ 9.30301130e-03 -2.21269234e-04 9.99956702e-01 2.42739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.57, Y:89.77, Z:2.43 [[ 3.00108248e-01 -9.53900545e-01 -2.96477146e-03 1.48571397e+02] [ 9.53860217e-01 3.00122829e-01 -8.77347815e-03 8.97692886e+01] [ 9.25882118e-03 -1.94984395e-04 9.99957117e-01 2.42759592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499996 meters Centerline goodness [0,1] 0.9999782971981683 Centerline is valid? [True, True] Translation: X:148.58, Y:89.80, Z:2.43 [[ 3.01425597e-01 -9.53484900e-01 -3.02580223e-03 1.48578544e+02] [ 9.53442804e-01 3.01440727e-01 -8.96145875e-03 8.97967245e+01] [ 9.45671562e-03 -1.83716311e-04 9.99955267e-01 2.42752740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.59, Y:89.82, Z:2.43 [[ 3.02811075e-01 -9.53045758e-01 -3.03899919e-03 1.48588264e+02] [ 9.53003200e-01 3.02826277e-01 -9.00809729e-03 8.98223586e+01] [ 9.50541772e-03 -1.68424334e-04 9.99954808e-01 2.42809095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.59, Y:89.85, Z:2.43 [[ 3.05884003e-01 -9.52064746e-01 -2.77406876e-03 1.48594061e+02] [ 9.52029189e-01 3.05896557e-01 -8.22919779e-03 8.98505515e+01] [ 8.68330719e-03 -1.23814469e-04 9.99962292e-01 2.42738632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07361786499996 meters Centerline goodness [0,1] 0.9999782168296774 Centerline is valid? [True, True] Translation: X:148.60, Y:89.88, Z:2.43 [[ 3.07347352e-01 -9.51593271e-01 -2.80215750e-03 1.48602778e+02] [ 9.51556899e-01 3.07360106e-01 -8.32064927e-03 8.98765862e+01] [ 8.77914528e-03 -1.09082781e-04 9.99961457e-01 2.42783287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.61, Y:89.90, Z:2.43 [[ 3.08004723e-01 -9.51381047e-01 -2.68209296e-03 1.48611475e+02] [ 9.51347685e-01 3.08016386e-01 -7.96796001e-03 8.99030132e+01] [ 8.40669471e-03 -9.74336064e-05 9.99964658e-01 2.42793452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.62, Y:89.93, Z:2.43 [[ 3.08574408e-01 -9.51196704e-01 -2.58180292e-03 1.48620378e+02] [ 9.51165734e-01 3.08585196e-01 -7.67612854e-03 8.99284540e+01] [ 8.09821432e-03 -8.70656538e-05 9.99967205e-01 2.42832207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.63, Y:89.96, Z:2.43 [[ 3.09185681e-01 -9.50997908e-01 -2.68207323e-03 1.48629923e+02] [ 9.50964412e-01 3.09197303e-01 -7.98221650e-03 8.99553404e+01] [ 8.42036100e-03 -8.25691424e-05 9.99964545e-01 2.42815911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.64, Y:89.98, Z:2.43 [[ 3.08831522e-01 -9.51113122e-01 -2.63064643e-03 1.48639792e+02] [ 9.51080848e-01 3.08842715e-01 -7.83569973e-03 8.99802861e+01] [ 8.26509282e-03 -8.20463679e-05 9.99965840e-01 2.42878843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22361786499997 meters Centerline goodness [0,1] 0.9999344032885819 Centerline is valid? [True, True] Translation: X:148.65, Y:90.01, Z:2.43 [[ 3.08347007e-01 -9.51270014e-01 -2.73558458e-03 1.48648983e+02] [ 9.51235048e-01 3.08359129e-01 -8.15669729e-03 9.00069214e+01] [ 8.60276403e-03 -8.70907318e-05 9.99962992e-01 2.42848517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25361786499997 meters Centerline goodness [0,1] 0.9999781626012709 Centerline is valid? [True, True] Translation: X:148.66, Y:90.03, Z:2.43 [[ 3.06420556e-01 -9.51892552e-01 -2.64815080e-03 1.48660569e+02] [ 9.51859748e-01 3.06431982e-01 -7.90316836e-03 9.00323678e+01] [ 8.33444519e-03 -9.89749111e-05 9.99965263e-01 2.42812529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28361786499997 meters Centerline goodness [0,1] 0.999956123031021 Centerline is valid? [True, True] Translation: X:148.67, Y:90.06, Z:2.43 [[ 3.05056180e-01 -9.52330856e-01 -2.58206333e-03 1.48670257e+02] [ 9.52299642e-01 3.05067089e-01 -7.71120978e-03 9.00588157e+01] [ 8.13132555e-03 -1.06545784e-04 9.99966935e-01 2.42826580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.68, Y:90.08, Z:2.43 [[ 3.03636431e-01 -9.52784604e-01 -2.53282357e-03 1.48680583e+02] [ 9.52754532e-01 3.03646973e-01 -7.57083374e-03 9.00849598e+01] [ 7.98245804e-03 -1.14378201e-04 9.99968133e-01 2.42858898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.69, Y:90.11, Z:2.43 [[ 3.00387787e-01 -9.53814177e-01 -2.38614645e-03 1.48694458e+02] [ 9.53787472e-01 3.00397235e-01 -7.13856323e-03 9.01095096e+01] [ 7.52565460e-03 -1.31539380e-04 9.99971673e-01 2.42967665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37361786499997 meters Centerline goodness [0,1] 0.9999780316344464 Centerline is valid? [True, True] Translation: X:148.70, Y:90.14, Z:2.43 [[ 2.98540228e-01 -9.54394239e-01 -2.31702236e-03 1.48703291e+02] [ 9.54369036e-01 2.98549187e-01 -6.93735161e-03 9.01366753e+01] [ 7.31271356e-03 -1.40215863e-04 9.99973252e-01 2.42955910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:90.16, Z:2.43 [[ 2.95422283e-01 -9.55365008e-01 -1.83773653e-03 1.48715815e+02] [ 9.55349144e-01 2.95427970e-01 -5.50697720e-03 9.01611613e+01] [ 5.80409209e-03 -1.28796249e-04 9.99983148e-01 2.43031322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.73, Y:90.19, Z:2.43 [[ 2.93789648e-01 -9.55868292e-01 -1.85746588e-03 1.48726004e+02] [ 9.55852090e-01 2.93795487e-01 -5.56720536e-03 9.01880371e+01] [ 5.86723017e-03 -1.39875336e-04 9.99982778e-01 2.43044869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.74, Y:90.21, Z:2.43 [[ 2.92334515e-01 -9.56314433e-01 -1.79889604e-03 1.48735703e+02] [ 9.56299221e-01 2.92340015e-01 -5.39584795e-03 9.02145473e+01] [ 5.68601657e-03 -1.42890284e-04 9.99983824e-01 2.43062140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.75, Y:90.24, Z:2.43 [[ 2.90909009e-01 -9.56749042e-01 -1.79415730e-03 1.48745530e+02] [ 9.56733891e-01 2.90914503e-01 -5.38649456e-03 9.02401061e+01] [ 5.67546989e-03 -1.49551306e-04 9.99983883e-01 2.43104227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.76, Y:90.26, Z:2.43 [[ 2.89257013e-01 -9.57249902e-01 -1.73343328e-03 1.48757122e+02] [ 9.57235739e-01 2.89262167e-01 -5.20941421e-03 9.02647648e+01] [ 5.48812792e-03 -1.52444691e-04 9.99984929e-01 2.43205531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.77, Y:90.29, Z:2.43 [[ 2.88243702e-01 -9.57555701e-01 -1.62706917e-03 1.48765579e+02] [ 9.57543222e-01 2.88248256e-01 -4.89081786e-03 9.02920563e+01] [ 5.15223038e-03 -1.48241609e-04 9.99986716e-01 2.43228815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.77, Y:90.32, Z:2.43 [[ 2.87563319e-01 -9.57760246e-01 -1.62775066e-03 1.48774876e+02] [ 9.57747740e-01 2.87567886e-01 -4.89669168e-03 9.03190621e+01] [ 5.15794545e-03 -1.50865605e-04 9.99986686e-01 2.43265677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.78, Y:90.34, Z:2.43 [[ 2.86785414e-01 -9.57993131e-01 -1.81291136e-03 1.48784384e+02] [ 9.57977590e-01 2.86791093e-01 -5.45947892e-03 9.03446115e+01] [ 5.75007013e-03 -1.71029537e-04 9.99983454e-01 2.43244758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499995 meters Centerline goodness [0,1] 0.9999557502544361 Centerline is valid? [True, True] Translation: X:148.79, Y:90.37, Z:2.43 [[ 2.86214627e-01 -9.58163842e-01 -1.79984432e-03 1.48793266e+02] [ 9.58148496e-01 2.86220235e-01 -5.42562643e-03 9.03707739e+01] [ 5.71379093e-03 -1.71624486e-04 9.99983661e-01 2.43268797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.80, Y:90.40, Z:2.43 [[ 2.85865068e-01 -9.58267985e-01 -1.90559841e-03 1.48802343e+02] [ 9.58250753e-01 2.85871361e-01 -5.74975309e-03 9.03960379e+01] [ 6.05456032e-03 -1.82387549e-04 9.99981654e-01 2.43337540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.81, Y:90.42, Z:2.43 [[ 2.85429353e-01 -9.58398135e-01 -1.76032395e-03 1.48809943e+02] [ 9.58383408e-01 2.85434731e-01 -5.31584022e-03 9.04230658e+01] [ 5.59714895e-03 -1.69768435e-04 9.99984321e-01 2.43420742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.82, Y:90.45, Z:2.44 [[ 2.85518223e-01 -9.58371999e-01 -1.56690370e-03 1.48819340e+02] [ 9.58360306e-01 2.85522484e-01 -4.73652829e-03 9.04481321e+01] [ 4.98674232e-03 -1.49293167e-04 9.99987555e-01 2.43542406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.82, Y:90.48, Z:2.43 [[ 2.85542643e-01 -9.58364837e-01 -1.49610542e-03 1.48822909e+02] [ 9.58354176e-01 2.85546527e-01 -4.52273931e-03 9.04765985e+01] [ 4.76164202e-03 -1.42363942e-04 9.99988653e-01 2.43480486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:90.50, Z:2.44 [[ 2.85887949e-01 -9.58262124e-01 -1.33501161e-03 1.48830855e+02] [ 9.58253625e-01 2.85891038e-01 -4.03790882e-03 9.05021143e+01] [ 4.25104294e-03 -1.24890247e-04 9.99990956e-01 2.43572179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82361786499996 meters Centerline goodness [0,1] 0.9999560188239434 Centerline is valid? [True, True] Translation: X:148.84, Y:90.53, Z:2.44 [[ 2.86547122e-01 -9.58065189e-01 -1.35692649e-03 1.48838653e+02] [ 9.58056386e-01 2.86550309e-01 -4.10873471e-03 9.05286688e+01] [ 4.32526340e-03 -1.22665986e-04 9.99990638e-01 2.43608222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.84, Y:90.56, Z:2.44 [[ 2.87587215e-01 -9.57753464e-01 -1.37684811e-03 1.48844918e+02] [ 9.57744380e-01 2.87590486e-01 -4.17320456e-03 9.05567834e+01] [ 4.39286954e-03 -1.18508261e-04 9.99990344e-01 2.43621639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88361786499996 meters Centerline goodness [0,1] 0.9999780672895556 Centerline is valid? [True, True] Translation: X:148.85, Y:90.58, Z:2.44 [[ 2.87794482e-01 -9.57690922e-01 -1.56039386e-03 1.48852811e+02] [ 9.57679225e-01 2.87798682e-01 -4.73499042e-03 9.05839024e+01] [ 4.98373664e-03 -1.31652663e-04 9.99987572e-01 2.43583737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.86, Y:90.61, Z:2.44 [[ 2.88703499e-01 -9.57416520e-01 -1.97384457e-03 1.48859682e+02] [ 9.57397743e-01 2.88710203e-01 -5.99839013e-03 9.06112172e+01] [ 6.31282688e-03 -1.57998117e-04 9.99980061e-01 2.43505341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.87, Y:90.64, Z:2.44 [[ 2.88646466e-01 -9.57433511e-01 -2.07098563e-03 1.48867915e+02] [ 9.57412804e-01 2.88653848e-01 -6.29915410e-03 9.06366408e+01] [ 6.62881920e-03 -1.64559587e-04 9.99978016e-01 2.43514108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97361786499997 meters Centerline goodness [0,1] 0.9999780807505151 Centerline is valid? [True, True] Translation: X:148.87, Y:90.66, Z:2.43 [[ 2.88498507e-01 -9.57477684e-01 -2.25734215e-03 1.48874870e+02] [ 9.57453024e-01 2.88507283e-01 -6.87422303e-03 9.06644364e+01] [ 7.23317480e-03 -1.78095986e-04 9.99973824e-01 2.43450975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:90.69, Z:2.43 [[ 2.86978066e-01 -9.57933911e-01 -2.49214843e-03 1.48884060e+02] [ 9.57903807e-01 2.86988813e-01 -7.59725136e-03 9.06902270e+01] [ 7.99288343e-03 -2.06993966e-04 9.99968035e-01 2.43444606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.89, Y:90.72, Z:2.43 [[ 2.85912231e-01 -9.58252307e-01 -2.59079331e-03 1.48893111e+02] [ 9.58219728e-01 2.85923882e-01 -7.90484924e-03 9.07170931e+01] [ 8.31560970e-03 -2.22456178e-04 9.99965400e-01 2.43478541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06361786499997 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:148.90, Y:90.74, Z:2.44 [[ 2.84854675e-01 -9.58567039e-01 -2.65445266e-03 1.48901998e+02] [ 9.58532779e-01 2.84866946e-01 -8.10775722e-03 9.07435996e+01] [ 8.52799466e-03 -2.34847337e-04 9.99963608e-01 2.43522655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.91, Y:90.77, Z:2.44 [[ 2.82712878e-01 -9.59201313e-01 -2.50405338e-03 1.48913120e+02] [ 9.59170810e-01 2.82723867e-01 -7.65324909e-03 9.07682926e+01] [ 8.04896223e-03 -2.38142826e-04 9.99967578e-01 2.43597217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:90.79, Z:2.44 [[ 2.82465564e-01 -9.59274171e-01 -2.50388060e-03 1.48921615e+02] [ 9.59243671e-01 2.82476560e-01 -7.65330577e-03 9.07945431e+01] [ 8.04890613e-03 -2.40036288e-04 9.99967578e-01 2.43633978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15361786499997 meters Centerline goodness [0,1] 0.9999781449427397 Centerline is valid? [True, True] Translation: X:148.93, Y:90.82, Z:2.44 [[ 2.81318542e-01 -9.59611426e-01 -2.40590175e-03 1.48928552e+02] [ 9.59583231e-01 2.81328729e-01 -7.35993344e-03 9.08223099e+01] [ 7.73952551e-03 -2.38177234e-04 9.99970021e-01 2.43624537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters Centerline goodness [0,1] 0.9999781792790434 Centerline is valid? [True, True] Translation: X:148.94, Y:90.85, Z:2.44 [[ 2.80280775e-01 -9.59915482e-01 -2.22571672e-03 1.48936258e+02] [ 9.59891327e-01 2.80289521e-01 -6.81364501e-03 9.08494865e+01] [ 7.16436841e-03 -2.26712467e-04 9.99974310e-01 2.43660161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:90.88, Z:2.44 [[ 2.79181540e-01 -9.60236105e-01 -2.07138390e-03 1.48945629e+02] [ 9.60215158e-01 2.79189140e-01 -6.34618276e-03 9.08756492e+01] [ 6.67214170e-03 -2.17237138e-04 9.99977717e-01 2.43696882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:90.90, Z:2.44 [[ 2.78996062e-01 -9.60290120e-01 -2.02067679e-03 1.48952774e+02] [ 9.60270159e-01 2.79003299e-01 -6.19518796e-03 9.09026914e+01] [ 6.51295328e-03 -2.11962576e-04 9.99978768e-01 2.43690801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.96, Y:90.93, Z:2.44 [[ 2.78753342e-01 -9.60360416e-01 -2.10871930e-03 1.48960626e+02] [ 9.60338636e-01 2.78761230e-01 -6.47154688e-03 9.09291751e+01] [ 6.80284663e-03 -2.21119296e-04 9.99976836e-01 2.43699956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:90.96, Z:2.44 [[ 2.79047850e-01 -9.60274556e-01 -2.25285349e-03 1.48968142e+02] [ 9.60249644e-01 2.79056848e-01 -6.92078979e-03 9.09553933e+01] [ 7.27453253e-03 -2.32070250e-04 9.99973513e-01 2.43675490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.98, Y:90.98, Z:2.44 [[ 2.79383630e-01 -9.60176558e-01 -2.40084910e-03 1.48977005e+02] [ 9.60148193e-01 2.79393840e-01 -7.38443549e-03 9.09811072e+01] [ 7.76114431e-03 -2.42080530e-04 9.99969853e-01 2.43690212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.98, Y:91.01, Z:2.44 [[ 2.79612151e-01 -9.60109634e-01 -2.55661262e-03 1.48984265e+02] [ 9.60077427e-01 2.79623723e-01 -7.86811658e-03 9.10080933e+01] [ 8.26914407e-03 -2.54525071e-04 9.99965778e-01 2.43688974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:91.04, Z:2.44 [[ 2.80620572e-01 -9.59815569e-01 -2.48365216e-03 1.48988994e+02] [ 9.59785112e-01 2.80631462e-01 -7.64998186e-03 9.10360021e+01] [ 8.03956263e-03 -2.37030080e-04 9.99967654e-01 2.43705228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:91.06, Z:2.44 [[ 2.81114932e-01 -9.59671188e-01 -2.36778675e-03 1.48994201e+02] [ 9.59643459e-01 2.81124817e-01 -7.29855772e-03 9.10635397e+01] [ 7.66985917e-03 -2.20497517e-04 9.99970562e-01 2.43689474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:91.09, Z:2.44 [[ 2.81902576e-01 -9.59440442e-01 -2.23080653e-03 1.49005312e+02] [ 9.59415779e-01 2.81911331e-01 -6.88212167e-03 9.10889523e+01] [ 7.23187549e-03 -2.00183156e-04 9.99973830e-01 2.43852076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:91.12, Z:2.44 [[ 2.84052454e-01 -9.58806715e-01 -1.97133414e-03 1.49007538e+02] [ 9.58787412e-01 2.84059249e-01 -6.08623309e-03 9.11183179e+01] [ 6.39549685e-03 -1.61280910e-04 9.99979536e-01 2.43865092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:91.15, Z:2.44 [[ 2.85217024e-01 -9.58461318e-01 -1.77503021e-03 1.49014953e+02] [ 9.58445640e-01 2.85222514e-01 -5.48387752e-03 9.11460697e+01] [ 5.76236305e-03 -1.37174739e-04 9.99983388e-01 2.43953520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.02, Y:91.17, Z:2.44 [[ 2.86388087e-01 -9.58112329e-01 -1.62150402e-03 1.49022107e+02] [ 9.58099222e-01 2.86392653e-01 -5.01278429e-03 9.11734681e+01] [ 5.26719727e-03 -1.17960032e-04 9.99986121e-01 2.44029152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:91.20, Z:2.44 [[ 2.89396851e-01 -9.57207847e-01 -1.61256850e-03 1.49027683e+02] [ 9.57194831e-01 2.89401327e-01 -4.99264944e-03 9.12002395e+01] [ 5.24568268e-03 -9.86852017e-05 9.99986236e-01 2.44123233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:91.23, Z:2.44 [[ 2.90904633e-01 -9.56750707e-01 -1.60602208e-03 1.49034559e+02] [ 9.56737790e-01 2.90909052e-01 -4.97244408e-03 9.12280499e+01] [ 5.22459575e-03 -9.00350003e-05 9.99986348e-01 2.44156647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.04, Y:91.25, Z:2.44 [[ 2.92435823e-01 -9.56283693e-01 -1.66994648e-03 1.49041599e+02] [ 9.56269693e-01 2.92440579e-01 -5.17510087e-03 9.12545718e+01] [ 5.43722468e-03 -8.35343262e-05 9.99985215e-01 2.44162952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.05, Y:91.28, Z:2.44 [[ 2.95252763e-01 -9.55416967e-01 -2.05532227e-03 1.49045879e+02] [ 9.55395681e-01 2.95259906e-01 -6.37816517e-03 9.12826051e+01] [ 6.70066149e-03 -8.04751356e-05 9.99977547e-01 2.44014074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69361786499996 meters Centerline goodness [0,1] 0.9999783254221124 Centerline is valid? [True, True] Translation: X:149.05, Y:91.31, Z:2.44 [[ 2.96322505e-01 -9.55085828e-01 -2.00864459e-03 1.49052562e+02] [ 9.55065457e-01 2.96329304e-01 -6.23831951e-03 9.13096716e+01] [ 6.55335081e-03 -6.98325986e-05 9.99978524e-01 2.43968100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:91.34, Z:2.44 [[ 2.97412629e-01 -9.54746608e-01 -2.15491489e-03 1.49058699e+02] [ 9.54723104e-01 2.97420428e-01 -6.69956870e-03 9.13370174e+01] [ 7.03730620e-03 -6.48106905e-05 9.99975236e-01 2.43872999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.07, Y:91.36, Z:2.44 [[ 2.97467874e-01 -9.54729498e-01 -2.10942060e-03 1.49066949e+02] [ 9.54706937e-01 2.97475347e-01 -6.56371185e-03 9.13631745e+01] [ 6.89406995e-03 -6.13850742e-05 9.99976234e-01 2.43875919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:91.39, Z:2.44 [[ 2.97091402e-01 -9.54846637e-01 -2.14443387e-03 1.49075415e+02] [ 9.54823274e-01 2.97099134e-01 -6.67977483e-03 9.13898542e+01] [ 7.01526998e-03 -6.30517029e-05 9.99975391e-01 2.43886326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81361786499997 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:149.08, Y:91.42, Z:2.44 [[ 2.96123908e-01 -9.55147166e-01 -2.12682806e-03 1.49084419e+02] [ 9.55124149e-01 2.96131538e-01 -6.63110506e-03 9.14164843e+01] [ 6.96350207e-03 -6.77561010e-05 9.99975752e-01 2.43918938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.09, Y:91.44, Z:2.44 [[ 2.93396233e-01 -9.55988723e-01 -2.05216345e-03 1.49094304e+02] [ 9.55967263e-01 2.93403398e-01 -6.40613487e-03 9.14421994e+01] [ 6.72630442e-03 -8.22652355e-05 9.99977375e-01 2.43916170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.10, Y:91.47, Z:2.44 [[ 2.91538160e-01 -9.56557217e-01 -1.94715783e-03 1.49102886e+02] [ 9.56537903e-01 2.91544648e-01 -6.07931341e-03 9.14695881e+01] [ 6.38289456e-03 -9.01784233e-05 9.99979625e-01 2.43906815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:91.50, Z:2.44 [[ 2.87530631e-01 -9.57769648e-01 -1.85392816e-03 1.49113356e+02] [ 9.57752118e-01 2.87536587e-01 -5.79581115e-03 9.14959972e+01] [ 6.08412418e-03 -1.09130384e-04 9.99981486e-01 2.43945045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.12, Y:91.52, Z:2.44 [[ 2.85201794e-01 -9.58465702e-01 -1.85307847e-03 1.49124365e+02] [ 9.58448187e-01 2.85207788e-01 -5.79578605e-03 9.15221117e+01] [ 6.08357456e-03 -1.23111119e-04 9.99981487e-01 2.44022663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:91.55, Z:2.44 [[ 2.82900254e-01 -9.59147365e-01 -1.94371282e-03 1.49134719e+02] [ 9.59128093e-01 2.82906895e-01 -6.08192316e-03 9.15471865e+01] [ 6.38335033e-03 -1.43691961e-04 9.99979616e-01 2.44100013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:91.57, Z:2.44 [[ 2.80470720e-01 -9.59860414e-01 -2.03974540e-03 1.49144534e+02] [ 9.59839187e-01 2.80478087e-01 -6.38579411e-03 9.15737721e+01] [ 6.70157487e-03 -1.66799295e-04 9.99977530e-01 2.44108312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.16, Y:91.60, Z:2.44 [[ 2.76231749e-01 -9.61088175e-01 -2.35401304e-03 1.49155540e+02] [ 9.61059883e-01 2.76241688e-01 -7.37779402e-03 9.16003497e+01] [ 7.74098712e-03 -2.24366555e-04 9.99970013e-01 2.44098776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:91.63, Z:2.44 [[ 2.74051982e-01 -9.61711487e-01 -2.55498651e-03 1.49165291e+02] [ 9.61678116e-01 2.74063768e-01 -8.01579736e-03 9.16271035e+01] [ 8.40911362e-03 -2.60329459e-04 9.99964609e-01 2.44076235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:91.65, Z:2.44 [[ 2.71739990e-01 -9.62366902e-01 -2.70642725e-03 1.49173901e+02] [ 9.62329415e-01 2.71753307e-01 -8.49929577e-03 9.16544953e+01] [ 8.91492149e-03 -2.94876001e-04 9.99960218e-01 2.44100117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:91.68, Z:2.44 [[ 2.68405695e-01 -9.63301258e-01 -3.01149084e-03 1.49185534e+02] [ 9.63254814e-01 2.68422347e-01 -9.46611880e-03 9.16793804e+01] [ 9.92707559e-03 -3.60072856e-04 9.99950661e-01 2.44139428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:91.71, Z:2.44 [[ 2.67276863e-01 -9.63615092e-01 -3.00565166e-03 1.49193972e+02] [ 9.63568754e-01 2.67293508e-01 -9.45711019e-03 9.17067318e+01] [ 9.91640527e-03 -3.68485285e-04 9.99950763e-01 2.44149631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:91.73, Z:2.44 [[ 2.66200226e-01 -9.63912765e-01 -3.10187239e-03 1.49202373e+02] [ 9.63863339e-01 2.66218013e-01 -9.76897765e-03 9.17333352e+01] [ 1.02422166e-02 -3.89277020e-04 9.99947471e-01 2.44173878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.21, Y:91.76, Z:2.44 [[ 2.65698091e-01 -9.64050851e-01 -3.23750095e-03 1.49211672e+02] [ 9.63996924e-01 2.65717499e-01 -1.02050016e-02 9.17590609e+01] [ 1.06984011e-02 -4.09491521e-04 9.99942687e-01 2.44242610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:91.78, Z:2.44 [[ 2.65833154e-01 -9.64013562e-01 -3.25371437e-03 1.49220808e+02] [ 9.63958978e-01 2.65852753e-01 -1.02665328e-02 9.17846325e+01] [ 1.07620858e-02 -4.07262384e-04 9.99942004e-01 2.44316949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:91.81, Z:2.44 [[ 2.66161567e-01 -9.63922971e-01 -3.24435847e-03 1.49228232e+02] [ 9.63868588e-01 2.66181040e-01 -1.02469158e-02 9.18118433e+01] [ 1.07408242e-02 -3.99800059e-04 9.99942236e-01 2.44360256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:91.84, Z:2.44 [[ 2.68646439e-01 -9.63232710e-01 -3.44048463e-03 1.49234462e+02] [ 9.63171365e-01 2.68668183e-01 -1.08778698e-02 9.18383924e+01] [ 1.14022688e-02 -3.91475288e-04 9.99934915e-01 2.44429572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.24, Y:91.87, Z:2.44 [[ 2.70229965e-01 -9.62789637e-01 -3.44687369e-03 1.49239018e+02] [ 9.62727980e-01 2.70251691e-01 -1.09023062e-02 9.18664229e+01] [ 1.14281508e-02 -3.72271932e-04 9.99934627e-01 2.44459272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:91.89, Z:2.45 [[ 2.72363276e-01 -9.62188910e-01 -3.27818496e-03 1.49246017e+02] [ 9.62133002e-01 2.72382807e-01 -1.03775231e-02 9.18931939e+01] [ 1.08780588e-02 -3.27593755e-04 9.99940779e-01 2.44505791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:91.92, Z:2.45 [[ 2.76630312e-01 -9.60971484e-01 -3.07870337e-03 1.49253011e+02] [ 9.60922012e-01 2.76647321e-01 -9.75431662e-03 9.19199800e+01] [ 1.02253351e-02 -2.60054188e-04 9.99947686e-01 2.44601474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:91.95, Z:2.45 [[ 2.79002131e-01 -9.60285808e-01 -2.99640108e-03 1.49255735e+02] [ 9.60238821e-01 2.79018129e-01 -9.50209014e-03 9.19489162e+01] [ 9.96077253e-03 -2.26157245e-04 9.99950365e-01 2.44588714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:91.98, Z:2.45 [[ 2.81088394e-01 -9.59676942e-01 -3.07924123e-03 1.49263040e+02] [ 9.59627180e-01 2.81105183e-01 -9.77504602e-03 9.19750685e+01] [ 1.02464769e-02 -2.07271593e-04 9.99947482e-01 2.44623077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:92.00, Z:2.45 [[ 2.85711176e-01 -9.58311055e-01 -3.00757983e-03 1.49266892e+02] [ 9.58263460e-01 2.85726965e-01 -9.55212782e-03 9.20032235e+01] [ 1.00132563e-02 -1.52904175e-04 9.99949854e-01 2.44599618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:92.03, Z:2.45 [[ 2.87835696e-01 -9.57675134e-01 -2.99148350e-03 1.49274273e+02] [ 9.57627913e-01 2.87851213e-01 -9.51098468e-03 9.20291906e+01] [ 9.96953569e-03 -1.27127202e-04 9.99950295e-01 2.44648272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:92.06, Z:2.45 [[ 2.91767053e-01 -9.56484810e-01 -2.96576333e-03 1.49279420e+02] [ 9.56438278e-01 2.91782114e-01 -9.43495646e-03 9.20568339e+01] [ 9.88974923e-03 -8.37601325e-05 9.99951092e-01 2.44693416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:92.08, Z:2.45 [[ 2.93279450e-01 -9.56022434e-01 -2.87563864e-03 1.49286369e+02] [ 9.55978590e-01 2.93293540e-01 -9.15609487e-03 9.20837051e+01] [ 9.59683835e-03 -6.37545066e-05 9.99953947e-01 2.44753695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:92.11, Z:2.45 [[ 2.94743275e-01 -9.55572454e-01 -2.77250560e-03 1.49293493e+02] [ 9.55531605e-01 2.94756311e-01 -8.83570732e-03 9.21105076e+01] [ 9.26037205e-03 -4.49514071e-05 9.99957121e-01 2.44810473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62361786499997 meters Centerline goodness [0,1] 0.999935504675911 Centerline is valid? [True, True] Translation: X:149.30, Y:92.14, Z:2.45 [[ 2.96013735e-01 -9.55179857e-01 -2.70347246e-03 1.49300838e+02] [ 9.55140930e-01 2.96026079e-01 -8.62350513e-03 9.21374607e+01] [ 9.03729675e-03 -2.95212355e-05 9.99959162e-01 2.44837214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.31, Y:92.16, Z:2.45 [[ 2.98086182e-01 -9.54535610e-01 -2.52944017e-03 1.49307949e+02] [ 9.54501440e-01 2.98096913e-01 -8.07656273e-03 9.21637476e+01] [ 8.46338504e-03 -6.84253667e-06 9.99964185e-01 2.44943006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:92.19, Z:2.45 [[ 2.98614666e-01 -9.54370303e-01 -2.57020548e-03 1.49316016e+02] [ 9.54334976e-01 2.98625727e-01 -8.21152143e-03 9.21901324e+01] [ 8.60436168e-03 -7.56260454e-07 9.99962982e-01 2.44957519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:92.22, Z:2.45 [[ 2.99375830e-01 -9.54131592e-01 -2.64907856e-03 1.49324090e+02] [ 9.54093981e-01 2.99387550e-01 -8.47169172e-03 9.22160583e+01] [ 8.87620985e-03 8.74983215e-06 9.99960606e-01 2.45017498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:92.24, Z:2.45 [[ 2.99105655e-01 -9.54216342e-01 -2.64204481e-03 1.49332820e+02] [ 9.54178856e-01 2.99117324e-01 -8.45793288e-03 9.22425422e+01] [ 8.86097914e-03 8.83226337e-06 9.99960741e-01 2.45003086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:92.27, Z:2.45 [[ 2.98763924e-01 -9.54322956e-01 -2.79519853e-03 1.49341700e+02] [ 9.54280919e-01 2.98777000e-01 -8.95722385e-03 9.22691813e+01] [ 9.38322537e-03 8.69072277e-06 9.99955977e-01 2.45002674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters Centerline goodness [0,1] 0.9999783221331021 Centerline is valid? [True, True] Translation: X:149.35, Y:92.30, Z:2.45 [[ 2.97477001e-01 -9.54724282e-01 -2.99664145e-03 1.49352179e+02] [ 9.54675890e-01 2.97492094e-01 -9.61240885e-03 9.22952232e+01] [ 1.00686773e-02 -1.35079043e-06 9.99949310e-01 2.44933007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:92.32, Z:2.45 [[ 2.96541253e-01 -9.55014932e-01 -3.12487207e-03 1.49361235e+02] [ 9.54962214e-01 2.96557717e-01 -1.00344685e-02 9.23203266e+01] [ 1.05097722e-02 -8.50087887e-06 9.99944771e-01 2.44914052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.37, Y:92.35, Z:2.45 [[ 2.95735000e-01 -9.55264069e-01 -3.37161039e-03 1.49371097e+02] [ 9.55202625e-01 2.95754219e-01 -1.08345233e-02 9.23470264e+01] [ 1.13469988e-02 -1.64233507e-05 9.99935621e-01 2.44897510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:92.37, Z:2.45 [[ 2.93216874e-01 -9.56038610e-01 -3.74710594e-03 1.49382900e+02] [ 9.55962619e-01 2.93240812e-01 -1.20539228e-02 9.23722267e+01] [ 1.26228200e-02 -4.76796473e-05 9.99920328e-01 2.44849887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:92.40, Z:2.45 [[ 2.91541271e-01 -9.56550771e-01 -3.78277150e-03 1.49393191e+02] [ 9.56473265e-01 2.91565803e-01 -1.21768969e-02 9.23981477e+01] [ 1.27507469e-02 -6.80518148e-05 9.99918704e-01 2.44859110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:92.42, Z:2.45 [[ 2.89626192e-01 -9.57131804e-01 -3.92162030e-03 1.49404049e+02] [ 9.57048389e-01 2.89652726e-01 -1.26364545e-02 9.24231989e+01] [ 1.32306605e-02 -9.33321824e-05 9.99912467e-01 2.44878534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499996 meters Centerline goodness [0,1] 0.999956445044535 Centerline is valid? [True, True] Translation: X:149.42, Y:92.45, Z:2.45 [[ 2.85621736e-01 -9.58334089e-01 -3.99974428e-03 1.49418695e+02] [ 9.58247254e-01 2.85649702e-01 -1.29015071e-02 9.24475324e+01] [ 1.35064798e-02 -1.47793111e-04 9.99908772e-01 2.44894390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01361786499996 meters Centerline goodness [0,1] 0.999956445044535 Centerline is valid? [True, True] Translation: X:149.43, Y:92.47, Z:2.45 [[ 2.85355301e-01 -9.58413470e-01 -3.99665841e-03 1.49426477e+02] [ 9.58326629e-01 2.85383249e-01 -1.29024630e-02 9.24731219e+01] [ 1.35064737e-02 -1.48317972e-04 9.99908772e-01 2.44929969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.44, Y:92.50, Z:2.45 [[ 2.83328198e-01 -9.59014560e-01 -4.02579597e-03 1.49436454e+02] [ 9.58926333e-01 2.83356744e-01 -1.30094005e-02 9.25000416e+01] [ 1.36169409e-02 -1.74511766e-04 9.99907270e-01 2.44955829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:92.53, Z:2.45 [[ 2.78560836e-01 -9.60411363e-01 -3.72472640e-03 1.49449291e+02] [ 9.60335839e-01 2.78585649e-01 -1.20462693e-02 9.25258286e+01] [ 1.26070292e-02 -2.21369413e-04 9.99920504e-01 2.45076002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10361786499996 meters Centerline goodness [0,1] 0.9999563232949706 Centerline is valid? [True, True] Translation: X:149.46, Y:92.55, Z:2.45 [[ 2.76287925e-01 -9.61067680e-01 -3.72786446e-03 1.49460970e+02] [ 9.60991944e-01 2.76312962e-01 -1.20677511e-02 9.25504341e+01] [ 1.26279828e-02 -2.48273820e-04 9.99920233e-01 2.45164394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13361786499996 meters Centerline goodness [0,1] 0.9999781200770174 Centerline is valid? [True, True] Translation: X:149.47, Y:92.58, Z:2.45 [[ 2.74302748e-01 -9.61636616e-01 -3.60836586e-03 1.49471663e+02] [ 9.61565655e-01 2.74326353e-01 -1.16851473e-02 9.25769496e+01] [ 1.22267353e-02 -2.64412679e-04 9.99925216e-01 2.45207168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16361786499996 meters Centerline goodness [0,1] 0.9999342263927561 Centerline is valid? [True, True] Translation: X:149.48, Y:92.60, Z:2.45 [[ 2.72234824e-01 -9.62224015e-01 -3.62560118e-03 1.49482483e+02] [ 9.62152295e-01 2.72258812e-01 -1.17516496e-02 9.26030657e+01] [ 1.22948213e-02 -2.89172238e-04 9.99924374e-01 2.45278516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19361786499996 meters Centerline goodness [0,1] 0.9999780826721606 Centerline is valid? [True, True] Translation: X:149.49, Y:92.63, Z:2.45 [[ 2.69686003e-01 -9.62941266e-01 -3.68474478e-03 1.49494982e+02] [ 9.62867116e-01 2.69710980e-01 -1.19542795e-02 9.26292048e+01] [ 1.25050852e-02 -3.24017704e-04 9.99921756e-01 2.45363476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22361786499997 meters Centerline goodness [0,1] 0.9999560632688927 Centerline is valid? [True, True] Translation: X:149.50, Y:92.66, Z:2.45 [[ 2.68790078e-01 -9.63191729e-01 -3.68606047e-03 1.49503422e+02] [ 9.63117415e-01 2.68815145e-01 -1.19692594e-02 9.26562008e+01] [ 1.25195605e-02 -3.32890864e-04 9.99921572e-01 2.45419744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.51, Y:92.68, Z:2.46 [[ 2.68199949e-01 -9.63356459e-01 -3.62212226e-03 1.49514796e+02] [ 9.63284578e-01 2.68224202e-01 -1.17728097e-02 9.26805716e+01] [ 1.23129531e-02 -3.31667553e-04 9.99924138e-01 2.45505148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:92.71, Z:2.46 [[ 2.68489563e-01 -9.63275633e-01 -3.66178334e-03 1.49524171e+02] [ 9.63202056e-01 2.68514330e-01 -1.19102054e-02 9.27067468e+01] [ 1.24560520e-02 -3.29271391e-04 9.99922366e-01 2.45551618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:92.73, Z:2.46 [[ 2.68893690e-01 -9.63162437e-01 -3.78200395e-03 1.49533732e+02] [ 9.63083779e-01 2.68920082e-01 -1.23136107e-02 9.27332358e+01] [ 1.28770641e-02 -3.31334443e-04 9.99917032e-01 2.45581410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.54, Y:92.76, Z:2.46 [[ 2.69392428e-01 -9.63023195e-01 -3.74773783e-03 1.49541852e+02] [ 9.62945793e-01 2.69418307e-01 -1.22137110e-02 9.27604187e+01] [ 1.27717962e-02 -3.18587119e-04 9.99918387e-01 2.45630389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.55, Y:92.79, Z:2.46 [[ 2.70931014e-01 -9.62591201e-01 -3.81654193e-03 1.49552900e+02] [ 9.62510724e-01 2.70957727e-01 -1.24505806e-02 9.27859603e+01] [ 1.30189409e-02 -3.00214103e-04 9.99915205e-01 2.45711585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40361786499997 meters Centerline goodness [0,1] 0.9999561153289156 Centerline is valid? [True, True] Translation: X:149.56, Y:92.81, Z:2.46 [[ 2.71876363e-01 -9.62324573e-01 -3.82873149e-03 1.49562026e+02] [ 9.62243447e-01 2.71903171e-01 -1.24985677e-02 9.28127018e+01] [ 1.30687231e-02 -2.86106646e-04 9.99914560e-01 2.45742513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43361786499997 meters Centerline goodness [0,1] 0.9999779905359305 Centerline is valid? [True, True] Translation: X:149.57, Y:92.84, Z:2.46 [[ 2.72572384e-01 -9.62127555e-01 -3.85537490e-03 1.49569543e+02] [ 9.62045117e-01 2.72599510e-01 -1.25975999e-02 9.28394276e+01] [ 1.31714713e-02 -2.75286771e-04 9.99913215e-01 2.45802417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.58, Y:92.87, Z:2.46 [[ 2.74377681e-01 -9.61614651e-01 -3.76189709e-03 1.49579103e+02] [ 9.61535964e-01 2.74403363e-01 -1.23038598e-02 9.28655372e+01] [ 1.28638491e-02 -2.41294814e-04 9.99917228e-01 2.45841924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:92.89, Z:2.46 [[ 2.75130940e-01 -9.61399376e-01 -3.76892857e-03 1.49586139e+02] [ 9.61320227e-01 2.75156659e-01 -1.23383203e-02 9.28926752e+01] [ 1.28990992e-02 -2.28493615e-04 9.99916777e-01 2.45845324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters Centerline goodness [0,1] 0.9999779507419575 Centerline is valid? [True, True] Translation: X:149.59, Y:92.92, Z:2.46 [[ 2.75642070e-01 -9.61253084e-01 -3.73596799e-03 1.49594832e+02] [ 9.61175147e-01 2.75667302e-01 -1.22423516e-02 9.29192223e+01] [ 1.27978825e-02 -2.16412438e-04 9.99918080e-01 2.45879337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.60, Y:92.94, Z:2.46 [[ 2.77693141e-01 -9.60663031e-01 -3.61381750e-03 1.49602227e+02] [ 9.60589916e-01 2.77716596e-01 -1.18535295e-02 9.29449819e+01] [ 1.23908647e-02 -1.79752806e-04 9.99923214e-01 2.45952606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.61, Y:92.97, Z:2.46 [[ 2.78137353e-01 -9.60535354e-01 -3.38332324e-03 1.49609571e+02] [ 9.60471173e-01 2.78157884e-01 -1.11048794e-02 9.29707398e+01] [ 1.16077273e-02 -1.60902672e-04 9.99932615e-01 2.45986561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.62, Y:93.00, Z:2.46 [[ 2.78223508e-01 -9.60510181e-01 -3.44562879e-03 1.49617835e+02] [ 9.60443519e-01 2.78244797e-01 -1.13172589e-02 9.29977396e+01] [ 1.18290707e-02 -1.60604376e-04 9.99930021e-01 2.46000603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499995 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:149.63, Y:93.02, Z:2.46 [[ 2.78093339e-01 -9.60547576e-01 -3.52830852e-03 1.49625907e+02] [ 9.60477541e-01 2.78115673e-01 -1.16002420e-02 9.30248626e+01] [ 1.21238622e-02 -1.62911065e-04 9.99926490e-01 2.46015696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.63, Y:93.05, Z:2.46 [[ 2.78105793e-01 -9.60543641e-01 -3.61697671e-03 1.49632986e+02] [ 9.60469892e-01 2.78129264e-01 -1.19037090e-02 9.30525486e+01] [ 1.24400191e-02 -1.63506807e-04 9.99922607e-01 2.46028456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:93.08, Z:2.46 [[ 2.76929923e-01 -9.60882932e-01 -3.71608155e-03 1.49642122e+02] [ 9.60804954e-01 2.76954797e-01 -1.22425699e-02 9.30783691e+01] [ 1.27928631e-02 -1.80095624e-04 9.99918152e-01 2.46003178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.65, Y:93.11, Z:2.46 [[ 2.74831639e-01 -9.61484005e-01 -4.00982467e-03 1.49650505e+02] [ 9.61393131e-01 2.74860800e-01 -1.32207431e-02 9.31052197e+01] [ 1.38136766e-02 -2.21539393e-04 9.99904562e-01 2.45948045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.66, Y:93.13, Z:2.46 [[ 2.73082994e-01 -9.61981199e-01 -4.22508632e-03 1.49658882e+02] [ 9.61880166e-01 2.73115556e-01 -1.39441265e-02 9.31318831e+01] [ 1.45679244e-02 -2.56122920e-04 9.99893849e-01 2.45926347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.67, Y:93.16, Z:2.46 [[ 2.71356800e-01 -9.62468199e-01 -4.52262980e-03 1.49667905e+02] [ 9.62352281e-01 2.71394322e-01 -1.49401741e-02 9.31574323e+01] [ 1.56068585e-02 -2.98245262e-04 9.99878161e-01 2.45919619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.68, Y:93.18, Z:2.46 [[ 2.69624211e-01 -9.62955001e-01 -4.52227292e-03 1.49677293e+02] [ 9.62838973e-01 2.69661940e-01 -1.49516134e-02 9.31829709e+01] [ 1.56172158e-02 -3.22903636e-04 9.99877992e-01 2.45933860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.68, Y:93.21, Z:2.46 [[ 2.66167733e-01 -9.63915545e-01 -4.64323588e-03 1.49684995e+02] [ 9.63793204e-01 2.66207950e-01 -1.53618862e-02 9.32100352e+01] [ 1.60436272e-02 -3.86280762e-04 9.99871218e-01 2.45973982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88361786499996 meters Centerline goodness [0,1] 0.9999335032694225 Centerline is valid? [True, True] Translation: X:149.69, Y:93.24, Z:2.46 [[ 2.64534610e-01 -9.64364784e-01 -4.69078383e-03 1.49693360e+02] [ 9.64239754e-01 2.64575872e-01 -1.55339827e-02 9.32369078e+01] [ 1.62214941e-02 -4.13764194e-04 9.99868337e-01 2.46019705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.70, Y:93.26, Z:2.46 [[ 2.61156388e-01 -9.65283473e-01 -5.01580483e-03 1.49702060e+02] [ 9.65140405e-01 2.61204074e-01 -1.66262285e-02 9.32630596e+01] [ 1.73591723e-02 -4.98910114e-04 9.99849194e-01 2.46071956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.71, Y:93.29, Z:2.46 [[ 2.59604094e-01 -9.65702202e-01 -4.99707438e-03 1.49710242e+02] [ 9.65560007e-01 2.59651661e-01 -1.65797580e-02 9.32902510e+01] [ 1.73086075e-02 -5.20802099e-04 9.99850059e-01 2.46073226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.72, Y:93.32, Z:2.46 [[ 2.58248189e-01 -9.66065370e-01 -5.05713423e-03 1.49718531e+02] [ 9.65919524e-01 2.58297119e-01 -1.67949652e-02 9.33173723e+01] [ 1.75312774e-02 -5.47515358e-04 9.99846165e-01 2.46117270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.73, Y:93.34, Z:2.46 [[ 2.56020041e-01 -9.66657483e-01 -5.20079075e-03 1.49727078e+02] [ 9.66503050e-01 2.56072157e-01 -1.72888651e-02 9.33432121e+01] [ 1.80441886e-02 -6.00284160e-04 9.99837010e-01 2.46181089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.73, Y:93.37, Z:2.46 [[ 2.55388486e-01 -9.66824239e-01 -5.25469253e-03 1.49734726e+02] [ 9.66666300e-01 2.55441801e-01 -1.74857245e-02 9.33692000e+01] [ 1.82478904e-02 -6.13881487e-04 9.99833305e-01 2.46247792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.74, Y:93.39, Z:2.46 [[ 2.55095470e-01 -9.66901249e-01 -5.31756588e-03 1.49741936e+02] [ 9.66739176e-01 2.55150129e-01 -1.77137333e-02 9.33942388e+01] [ 1.84842085e-02 -6.22006145e-04 9.99828959e-01 2.46271054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:93.42, Z:2.46 [[ 2.55218558e-01 -9.66868016e-01 -5.45235407e-03 1.49748612e+02] [ 9.66697239e-01 2.55276014e-01 -1.81825571e-02 9.34211480e+01] [ 1.89719881e-02 -6.30249613e-04 9.99819817e-01 2.46304760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:93.45, Z:2.46 [[ 2.56772123e-01 -9.66456993e-01 -5.38117509e-03 1.49753570e+02] [ 9.66290226e-01 2.56827831e-01 -1.79628425e-02 9.34488786e+01] [ 1.87423503e-02 -5.87419692e-04 9.99824174e-01 2.46377319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.76, Y:93.48, Z:2.46 [[ 2.57938071e-01 -9.66146917e-01 -5.29966474e-03 1.49759555e+02] [ 9.65984808e-01 2.57991918e-01 -1.77065359e-02 9.34750365e+01] [ 1.84743857e-02 -5.52205920e-04 9.99829181e-01 2.46471542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.77, Y:93.50, Z:2.47 [[ 2.59466430e-01 -9.65737251e-01 -5.36040029e-03 1.49765785e+02] [ 9.65571020e-01 2.59521264e-01 -1.79253588e-02 9.35014379e+01] [ 1.87023246e-02 -5.24818325e-04 9.99824959e-01 2.46553109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.77, Y:93.53, Z:2.47 [[ 2.62961770e-01 -9.64791860e-01 -5.27012309e-03 1.49769732e+02] [ 9.64630707e-01 2.63014198e-01 -1.76388877e-02 9.35292373e+01] [ 1.84039725e-02 -4.45369436e-04 9.99830533e-01 2.46668368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:93.56, Z:2.47 [[ 2.64538174e-01 -9.64360794e-01 -5.27383647e-03 1.49776036e+02] [ 9.64199029e-01 2.64590419e-01 -1.76675426e-02 9.35570500e+01] [ 1.84332920e-02 -4.11288535e-04 9.99830008e-01 2.46737461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:93.58, Z:2.47 [[ 2.68373178e-01 -9.63300406e-01 -5.30703040e-03 1.49779857e+02] [ 9.63136083e-01 2.68425436e-01 -1.77952664e-02 9.35830870e+01] [ 1.85667293e-02 -3.35620265e-04 9.99827567e-01 2.46803053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.79, Y:93.61, Z:2.47 [[ 2.70164261e-01 -9.62798956e-01 -5.42609437e-03 1.49785565e+02] [ 9.62626729e-01 2.70218575e-01 -1.82126773e-02 9.36105966e+01] [ 1.90013782e-02 -3.02888972e-04 9.99819412e-01 2.46828617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33361786499995 meters Centerline goodness [0,1] 0.9999564801114109 Centerline is valid? [True, True] Translation: X:149.79, Y:93.64, Z:2.47 [[ 2.71740703e-01 -9.62355104e-01 -5.44463485e-03 1.49788395e+02] [ 9.62181292e-01 2.71795110e-01 -1.82915020e-02 9.36388307e+01] [ 1.90827454e-02 -2.68180198e-04 9.99817872e-01 2.46989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.79, Y:93.67, Z:2.47 [[ 2.74480088e-01 -9.61577331e-01 -5.45141246e-03 1.49793008e+02] [ 9.61402589e-01 2.74534138e-01 -1.83321646e-02 9.36671738e+01] [ 1.91243927e-02 -2.09187914e-04 9.99817090e-01 2.47063583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.80, Y:93.69, Z:2.47 [[ 2.75638358e-01 -9.61245880e-01 -5.46391394e-03 1.49800036e+02] [ 9.61069919e-01 2.75692447e-01 -1.83925237e-02 9.36937450e+01] [ 1.91860974e-02 -1.81518298e-04 9.99815913e-01 2.47100332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.81, Y:93.72, Z:2.47 [[ 2.76251310e-01 -9.61069466e-01 -5.54033171e-03 1.49807385e+02] [ 9.60888128e-01 2.76306811e-01 -1.86695191e-02 9.37200488e+01] [ 1.94735362e-02 -1.66159849e-04 9.99810359e-01 2.47109745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.82, Y:93.75, Z:2.47 [[ 2.76188403e-01 -9.61086629e-01 -5.69709188e-03 1.49815505e+02] [ 9.60894519e-01 2.76247105e-01 -1.92161406e-02 9.37461605e+01] [ 2.00421809e-02 -1.67029170e-04 9.99799121e-01 2.47085769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.82, Y:93.77, Z:2.47 [[ 2.75525826e-01 -9.61276483e-01 -5.74826304e-03 1.49822787e+02] [ 9.61080626e-01 2.75585724e-01 -1.94046124e-02 9.37735293e+01] [ 2.02373368e-02 -1.78072375e-04 9.99795188e-01 2.47226515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51361786499996 meters Centerline goodness [0,1] 0.9999782585063594 Centerline is valid? [True, True] Translation: X:149.83, Y:93.80, Z:2.47 [[ 2.74278304e-01 -9.61632888e-01 -5.79656700e-03 1.49831385e+02] [ 9.61433397e-01 2.74339476e-01 -1.95876209e-02 9.38005780e+01] [ 2.04263276e-02 -2.00553674e-04 9.99791341e-01 2.47261139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.84, Y:93.83, Z:2.47 [[ 2.73204623e-01 -9.61938471e-01 -5.79755625e-03 1.49839937e+02] [ 9.61738575e-01 2.73266043e-01 -1.96107894e-02 9.38273960e+01] [ 2.04486480e-02 -2.17975170e-04 9.99790881e-01 2.47293159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57361786499996 meters Centerline goodness [0,1] 0.9999563537961286 Centerline is valid? [True, True] Translation: X:149.85, Y:93.85, Z:2.47 [[ 2.70908228e-01 -9.62587574e-01 -5.82189269e-03 1.49848960e+02] [ 9.62385789e-01 2.70970650e-01 -1.97103864e-02 9.38533892e+01] [ 2.05505351e-02 -2.63200937e-04 9.99788781e-01 2.47337512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.86, Y:93.88, Z:2.47 [[ 2.69373566e-01 -9.63017930e-01 -5.86078118e-03 1.49857735e+02] [ 9.62813235e-01 2.69437155e-01 -1.98568658e-02 9.38804128e+01] [ 2.07016300e-02 -2.93922940e-04 9.99785655e-01 2.47391081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.87, Y:93.91, Z:2.47 [[ 2.66316511e-01 -9.63868645e-01 -5.72289211e-03 1.49868055e+02] [ 9.63673294e-01 2.66377769e-01 -1.94078923e-02 9.39069399e+01] [ 2.02311101e-02 -3.46356134e-04 9.99795270e-01 2.47489656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:93.93, Z:2.48 [[ 2.64578323e-01 -9.64346208e-01 -5.89093977e-03 1.49877346e+02] [ 9.64138936e-01 2.64643611e-01 -1.99967655e-02 9.39332804e+01] [ 2.08428046e-02 -3.88973712e-04 9.99782689e-01 2.47519278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69361786499996 meters Centerline goodness [0,1] 0.9999562879748218 Centerline is valid? [True, True] Translation: X:149.89, Y:93.96, Z:2.48 [[ 2.62742031e-01 -9.64848020e-01 -5.90970072e-03 1.49886127e+02] [ 9.64639162e-01 2.62808140e-01 -2.00790621e-02 9.39605317e+01] [ 2.09263608e-02 -4.25115199e-04 9.99780929e-01 2.47563248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72361786499997 meters Centerline goodness [0,1] 0.9999562535543987 Centerline is valid? [True, True] Translation: X:149.90, Y:93.99, Z:2.48 [[ 2.59172460e-01 -9.65811833e-01 -6.09413234e-03 1.49896680e+02] [ 9.65589563e-01 2.59243591e-01 -2.07257616e-02 9.39868645e+01] [ 2.15970506e-02 -5.12883951e-04 9.99766625e-01 2.47540328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.90, Y:94.01, Z:2.48 [[ 2.57230608e-01 -9.66329108e-01 -6.36152370e-03 1.49904658e+02] [ 9.66086581e-01 2.57308616e-01 -2.16562688e-02 9.40139406e+01] [ 2.25639578e-02 -5.75127496e-04 9.99745236e-01 2.47580293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78361786499997 meters Centerline goodness [0,1] 0.9999563023006839 Centerline is valid? [True, True] Translation: X:149.91, Y:94.04, Z:2.48 [[ 2.55731966e-01 -9.66726467e-01 -6.41097853e-03 1.49914660e+02] [ 9.66479799e-01 2.55811586e-01 -2.18455999e-02 9.40391973e+01] [ 2.27587222e-02 -6.09463031e-04 9.99740801e-01 2.47526341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81361786499997 meters Centerline goodness [0,1] 0.999978200209278 Centerline is valid? [True, True] Translation: X:149.92, Y:94.07, Z:2.48 [[ 2.54019161e-01 -9.67177245e-01 -6.51472772e-03 1.49923879e+02] [ 9.66922188e-01 2.54101844e-01 -2.22201680e-02 9.40659109e+01] [ 2.31462452e-02 -6.54886345e-04 9.99731875e-01 2.47553918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.94, Y:94.09, Z:2.47 [[ 2.51520640e-01 -9.67829801e-01 -6.54552871e-03 1.49936772e+02] [ 9.67572124e-01 2.51604784e-01 -2.23431711e-02 9.40904544e+01] [ 2.32712731e-02 -7.13502435e-04 9.99728933e-01 2.47491963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.94, Y:94.12, Z:2.48 [[ 2.50372530e-01 -9.68128688e-01 -6.35926396e-03 1.49943631e+02] [ 9.67885205e-01 2.50452253e-01 -2.17232415e-02 9.41182872e+01] [ 2.26235853e-02 -7.16134557e-04 9.99743797e-01 2.47606813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.95, Y:94.15, Z:2.48 [[ 2.49319689e-01 -9.68399678e-01 -6.46192439e-03 1.49951402e+02] [ 9.68147881e-01 2.49402296e-01 -2.20946974e-02 9.41460366e+01] [ 2.30081166e-02 -7.47455330e-04 9.99734999e-01 2.47714607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.96, Y:94.17, Z:2.48 [[ 2.49060868e-01 -9.68466314e-01 -6.45620590e-03 1.49959075e+02] [ 9.68214496e-01 2.49143412e-01 -2.20963686e-02 9.41725462e+01] [ 2.30081098e-02 -7.47651408e-04 9.99734999e-01 2.47751308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.97, Y:94.20, Z:2.48 [[ 2.47555483e-01 -9.68852744e-01 -6.37522692e-03 1.49967441e+02] [ 9.68606849e-01 2.47636367e-01 -2.18403677e-02 9.41999727e+01] [ 2.27388382e-02 -7.68385683e-04 9.99741144e-01 2.47888733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.98, Y:94.23, Z:2.48 [[ 2.46847321e-01 -9.69034642e-01 -6.18575317e-03 1.49976371e+02] [ 9.68802756e-01 2.46923654e-01 -2.12115277e-02 9.42265377e+01] [ 2.20821139e-02 -7.56765915e-04 9.99755874e-01 2.47950284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.99, Y:94.25, Z:2.48 [[ 2.46453428e-01 -9.69136612e-01 -5.91055450e-03 1.49986748e+02] [ 9.68924504e-01 2.46523221e-01 -2.02880824e-02 9.42515022e+01] [ 2.11190124e-02 -7.26813640e-04 9.99776705e-01 2.48014600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:94.28, Z:2.48 [[ 2.46404178e-01 -9.69149590e-01 -5.83553623e-03 1.49995211e+02] [ 9.68942410e-01 2.46472236e-01 -2.00510141e-02 9.42783308e+01] [ 2.08707298e-02 -7.13644904e-04 9.99781928e-01 2.48104364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:94.31, Z:2.48 [[ 2.47323380e-01 -9.68916876e-01 -5.58867597e-03 1.50002268e+02] [ 9.68726438e-01 2.47385634e-01 -1.92207123e-02 9.43055548e+01] [ 2.00058306e-02 -6.60166635e-04 9.99799645e-01 2.48215525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:94.33, Z:2.48 [[ 2.47985173e-01 -9.68747852e-01 -5.56365304e-03 1.50010530e+02] [ 9.68558716e-01 2.48046753e-01 -1.91526188e-02 9.43327808e+01] [ 1.99341044e-02 -6.39159168e-04 9.99801092e-01 2.48227365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.02, Y:94.36, Z:2.48 [[ 2.48696748e-01 -9.68564959e-01 -5.64346102e-03 1.50019410e+02] [ 9.68369933e-01 2.48759976e-01 -1.94459945e-02 9.43589522e+01] [ 2.02385761e-02 -6.28802383e-04 9.99794981e-01 2.48228801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.03, Y:94.39, Z:2.48 [[ 2.49846618e-01 -9.68269114e-01 -5.62052295e-03 1.50025285e+02] [ 9.68075219e-01 2.49909115e-01 -1.93857036e-02 9.43865482e+01] [ 2.01751980e-02 -5.97636499e-04 9.99796281e-01 2.48291177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.03, Y:94.41, Z:2.48 [[ 2.52630097e-01 -9.67546142e-01 -5.70055550e-03 1.50032134e+02] [ 9.67346116e-01 2.52693822e-01 -1.96805309e-02 9.44126693e+01] [ 2.04823169e-02 -5.42515798e-04 9.99790068e-01 2.48255220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:94.44, Z:2.48 [[ 2.53574271e-01 -9.67299323e-01 -5.66653682e-03 1.50039752e+02] [ 9.67101251e-01 2.53637054e-01 -1.95810032e-02 9.44397866e+01] [ 2.03779349e-02 -5.14876232e-04 9.99792216e-01 2.48269382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:94.47, Z:2.48 [[ 2.54787370e-01 -9.66979936e-01 -5.76185930e-03 1.50044324e+02] [ 9.66774657e-01 2.54852037e-01 -1.99299173e-02 9.44681209e+01] [ 2.07402518e-02 -4.92528313e-04 9.99784777e-01 2.48382450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.05, Y:94.50, Z:2.48 [[ 2.55803936e-01 -9.66711036e-01 -5.84113802e-03 1.50052158e+02] [ 9.66499569e-01 2.55870181e-01 -2.02245666e-02 9.44950309e+01] [ 2.10458848e-02 -4.71933653e-04 9.99778399e-01 2.48371315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.06, Y:94.52, Z:2.48 [[ 2.57389332e-01 -9.66290534e-01 -5.77368682e-03 1.50060099e+02] [ 9.66083444e-01 2.57453725e-01 -2.00089524e-02 9.45210418e+01] [ 2.08209185e-02 -4.27772356e-04 9.99783130e-01 2.48312040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35361786499996 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:150.07, Y:94.55, Z:2.48 [[ 2.57476722e-01 -9.66266944e-01 -5.82500943e-03 1.50066662e+02] [ 9.66055800e-01 2.57542254e-01 -2.02034405e-02 9.45481056e+01] [ 2.10221028e-02 -4.25368500e-04 9.99778921e-01 2.48356794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:94.57, Z:2.48 [[ 2.56530622e-01 -9.66519920e-01 -5.59329600e-03 1.50078136e+02] [ 9.66324896e-01 2.56591243e-01 -1.94198483e-02 9.45726159e+01] [ 2.02048610e-02 -4.23155424e-04 9.99795771e-01 2.48230919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:94.60, Z:2.48 [[ 2.55647425e-01 -9.66754879e-01 -5.42205323e-03 1.50084806e+02] [ 9.66571280e-01 2.55704567e-01 -1.88450420e-02 9.45998427e+01] [ 1.96049800e-02 -4.23114489e-04 9.99807714e-01 2.48353194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.09, Y:94.63, Z:2.48 [[ 2.54029005e-01 -9.67182108e-01 -5.29482910e-03 1.50093051e+02] [ 9.67006774e-01 2.54083798e-01 -1.84207253e-02 9.46265834e+01] [ 1.91615262e-02 -4.40737078e-04 9.99816304e-01 2.48415280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47361786499997 meters Centerline goodness [0,1] 0.9999559306348192 Centerline is valid? [True, True] Translation: X:150.10, Y:94.65, Z:2.48 [[ 2.51451587e-01 -9.67856998e-01 -4.99310488e-03 1.50102631e+02] [ 9.67700927e-01 2.51500736e-01 -1.73866744e-02 9.46534926e+01] [ 1.80835840e-02 -4.59925355e-04 9.99836373e-01 2.48459826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50361786499997 meters Centerline goodness [0,1] 0.9999558645040274 Centerline is valid? [True, True] Translation: X:150.11, Y:94.68, Z:2.49 [[ 2.49949054e-01 -9.68246936e-01 -4.83135434e-03 1.50111245e+02] [ 9.68100606e-01 2.49995305e-01 -1.68393973e-02 9.46807032e+01] [ 1.75125107e-02 -4.68245648e-04 9.99846535e-01 2.48503251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53361786499997 meters Centerline goodness [0,1] 0.999934065934066 Centerline is valid? [True, True] Translation: X:150.12, Y:94.71, Z:2.48 [[ 2.48829812e-01 -9.68535633e-01 -4.73832237e-03 1.50120257e+02] [ 9.68394666e-01 2.48874469e-01 -1.65308413e-02 9.47067041e+01] [ 1.71899563e-02 -4.75199984e-04 9.99852129e-01 2.48498941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.13, Y:94.73, Z:2.49 [[ 2.46683016e-01 -9.69085234e-01 -4.61506923e-03 1.50127362e+02] [ 9.68951354e-01 2.46725683e-01 -1.61155406e-02 9.47343145e+01] [ 1.67559885e-02 -4.96347433e-04 9.99859485e-01 2.48521103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:94.76, Z:2.49 [[ 2.45690233e-01 -9.69337735e-01 -4.54591904e-03 1.50135272e+02] [ 9.69207628e-01 2.45731772e-01 -1.58893268e-02 9.47611747e+01] [ 1.65192008e-02 -5.02087003e-04 9.99863423e-01 2.48547050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:94.79, Z:2.49 [[ 2.44323515e-01 -9.69683327e-01 -4.50169699e-03 1.50143063e+02] [ 9.69555548e-01 2.44364438e-01 -1.57499619e-02 9.47873691e+01] [ 1.63725301e-02 -5.16559241e-04 9.99865828e-01 2.48506499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65361786499997 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:150.15, Y:94.81, Z:2.49 [[ 2.43498001e-01 -9.69890824e-01 -4.52907213e-03 1.50150782e+02] [ 9.69761274e-01 2.43539541e-01 -1.58607824e-02 9.48146630e+01] [ 1.64862355e-02 -5.30049947e-04 9.99863952e-01 2.48527541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:94.84, Z:2.49 [[ 2.43063918e-01 -9.69999597e-01 -4.55112862e-03 1.50158408e+02] [ 9.69868540e-01 2.43105930e-01 -1.59537667e-02 9.48415833e+01] [ 1.65815536e-02 -5.36211445e-04 9.99862373e-01 2.48523415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:94.87, Z:2.48 [[ 2.42826966e-01 -9.70058717e-01 -4.59893679e-03 1.50163220e+02] [ 9.69924623e-01 2.42869907e-01 -1.61379534e-02 9.48694411e+01] [ 1.67717057e-02 -5.41891782e-04 9.99859198e-01 2.48454934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters Centerline goodness [0,1] 0.9998897634323257 Centerline is valid? [True, True] Translation: X:150.17, Y:94.90, Z:2.48 [[ 2.42995683e-01 -9.70017064e-01 -4.47145962e-03 1.50169736e+02] [ 9.69890034e-01 2.43036263e-01 -1.57065835e-02 9.48970351e+01] [ 1.63223809e-02 -5.20192135e-04 9.99866646e-01 2.48452592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77361786499998 meters Centerline goodness [0,1] 0.9999117153703541 Centerline is valid? [True, True] Translation: X:150.18, Y:94.92, Z:2.48 [[ 2.43258215e-01 -9.69950816e-01 -4.56685875e-03 1.50176703e+02] [ 9.69818017e-01 2.43300518e-01 -1.60584062e-02 9.49247721e+01] [ 1.66869833e-02 -5.22682672e-04 9.99860626e-01 2.48440661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:94.95, Z:2.48 [[ 2.43829170e-01 -9.69807726e-01 -4.50670586e-03 1.50185371e+02] [ 9.69678126e-01 2.43870298e-01 -1.58622402e-02 9.49509495e+01] [ 1.64823748e-02 -5.02377223e-04 9.99864030e-01 2.48428577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83361786499995 meters Centerline goodness [0,1] 0.9999120337790288 Centerline is valid? [True, True] Translation: X:150.19, Y:94.98, Z:2.49 [[ 2.45729548e-01 -9.69330226e-01 -3.98762789e-03 1.50188076e+02] [ 9.69228513e-01 2.45761554e-01 -1.40480904e-02 9.49794398e+01] [ 1.45972443e-02 -4.12891749e-04 9.99893369e-01 2.48506536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:95.01, Z:2.49 [[ 2.46722465e-01 -9.69078991e-01 -3.73293309e-03 1.50193040e+02] [ 9.68989660e-01 2.46750427e-01 -1.31630126e-02 9.50074011e+01] [ 1.36771018e-02 -3.69562651e-04 9.99906396e-01 2.48618390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89361786499995 meters Centerline goodness [0,1] 0.9999781023496179 Centerline is valid? [True, True] Translation: X:150.20, Y:95.04, Z:2.49 [[ 2.48175047e-01 -9.68709034e-01 -3.45746528e-03 1.50197874e+02] [ 9.68632224e-01 2.48198923e-01 -1.22028642e-02 9.50356163e+01] [ 1.26791639e-02 -3.20565884e-04 9.99919565e-01 2.48692253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499995 meters Centerline goodness [0,1] 0.999956176870152 Centerline is valid? [True, True] Translation: X:150.20, Y:95.06, Z:2.49 [[ 2.51302197e-01 -9.67903834e-01 -3.06176796e-03 1.50202897e+02] [ 9.67843433e-01 2.51320729e-01 -1.08157359e-02 9.50630648e+01] [ 1.12380780e-02 -2.45293823e-04 9.99936821e-01 2.48787958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95361786499996 meters Centerline goodness [0,1] 0.9999127304461656 Centerline is valid? [True, True] Translation: X:150.21, Y:95.09, Z:2.49 [[ 2.52368699e-01 -9.67626303e-01 -3.06239021e-03 1.50208992e+02] [ 9.67565731e-01 2.52387173e-01 -1.08291602e-02 9.50901378e+01] [ 1.12514882e-02 -2.30122758e-04 9.99936674e-01 2.48856883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499996 meters Centerline goodness [0,1] 0.9999563947150395 Centerline is valid? [True, True] Translation: X:150.21, Y:95.12, Z:2.49 [[ 2.54767754e-01 -9.66998111e-01 -2.83647500e-03 1.50214415e+02] [ 9.66946007e-01 2.54783477e-01 -1.00398894e-02 9.51180559e+01] [ 1.04312410e-02 -1.84878105e-04 9.99945576e-01 2.48904755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01361786499996 meters Centerline goodness [0,1] 0.9998909011564477 Centerline is valid? [True, True] Translation: X:150.22, Y:95.15, Z:2.49 [[ 2.55686265e-01 -9.66756073e-01 -2.68877023e-03 1.50220285e+02] [ 9.66709156e-01 2.55700349e-01 -9.52570273e-03 9.51452432e+01] [ 9.89655045e-03 -1.63667454e-04 9.99951015e-01 2.48938952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04361786499996 meters Centerline goodness [0,1] 0.9997821920195156 Centerline is valid? [True, True] Translation: X:150.23, Y:95.17, Z:2.49 [[ 2.56423569e-01 -9.66560914e-01 -2.63668977e-03 1.50226098e+02] [ 9.66515695e-01 2.56437080e-01 -9.35069940e-03 9.51724201e+01] [ 9.71416559e-03 -1.50662331e-04 9.99952805e-01 2.48930410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07361786499996 meters Centerline goodness [0,1] 0.9999782016348774 Centerline is valid? [True, True] Translation: X:150.23, Y:95.20, Z:2.49 [[ 2.57427588e-01 -9.66293775e-01 -2.71604668e-03 1.50231874e+02] [ 9.66245672e-01 2.57441877e-01 -9.64269842e-03 9.51994833e+01] [ 1.00169036e-02 -1.42071750e-04 9.99949819e-01 2.48917161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.24, Y:95.23, Z:2.49 [[ 2.57449183e-01 -9.66287774e-01 -2.80292123e-03 1.50236916e+02] [ 9.66236433e-01 2.57464401e-01 -9.96185134e-03 9.52276045e+01] [ 1.03476676e-02 -1.43614119e-04 9.99946451e-01 2.48848392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.24, Y:95.25, Z:2.49 [[ 2.57754411e-01 -9.66205936e-01 -2.95870915e-03 1.50243848e+02] [ 9.66148593e-01 2.57771350e-01 -1.05274483e-02 9.52534564e+01] [ 1.09343535e-02 -1.45056449e-04 9.99940208e-01 2.48840728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.25, Y:95.28, Z:2.49 [[ 2.57194229e-01 -9.66354690e-01 -3.12119827e-03 1.50250367e+02] [ 9.66290732e-01 2.57213120e-01 -1.11189756e-02 9.52803337e+01] [ 1.15476873e-02 -1.56248617e-04 9.99933311e-01 2.48829848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:95.31, Z:2.49 [[ 2.56920584e-01 -9.66427669e-01 -3.06172559e-03 1.50258003e+02] [ 9.66366005e-01 2.56938781e-01 -1.09182175e-02 9.53060733e+01] [ 1.13383435e-02 -1.53632716e-04 9.99935707e-01 2.48872716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:95.33, Z:2.49 [[ 2.55644903e-01 -9.66765561e-01 -3.16765317e-03 1.50264831e+02] [ 9.66699427e-01 2.55664470e-01 -1.13091310e-02 9.53330788e+01] [ 1.17431347e-02 -1.71046818e-04 9.99931032e-01 2.48873575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.27, Y:95.36, Z:2.49 [[ 2.54949599e-01 -9.66949551e-01 -3.04436387e-03 1.50271089e+02] [ 9.66888359e-01 2.54967718e-01 -1.08794931e-02 9.53601209e+01] [ 1.12961355e-02 -1.69837583e-04 9.99936182e-01 2.48889031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.28, Y:95.39, Z:2.49 [[ 2.53939321e-01 -9.67215411e-01 -3.02831324e-03 1.50278524e+02] [ 9.67154755e-01 2.53957315e-01 -1.08334071e-02 9.53859163e+01] [ 1.12473006e-02 -1.77819507e-04 9.99936731e-01 2.48893195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:95.41, Z:2.49 [[ 2.52083050e-01 -9.67701359e-01 -2.86619946e-03 1.50286445e+02] [ 9.67646937e-01 2.52099276e-01 -1.02644899e-02 9.54131550e+01] [ 1.06555277e-02 -1.85965199e-04 9.99943211e-01 2.48883466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:95.44, Z:2.49 [[ 2.51127088e-01 -9.67949878e-01 -2.86680270e-03 1.50294316e+02] [ 9.67895343e-01 2.51143376e-01 -1.02766960e-02 9.54398720e+01] [ 1.06673052e-02 -1.94008230e-04 9.99943084e-01 2.48892677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37361786499997 meters Centerline goodness [0,1] 0.999956384254716 Centerline is valid? [True, True] Translation: X:150.30, Y:95.47, Z:2.49 [[ 2.50172026e-01 -9.68196717e-01 -3.01248153e-03 1.50302046e+02] [ 9.68136382e-01 2.50190073e-01 -1.08108111e-02 9.54653670e+01] [ 1.12206848e-02 -2.11930441e-04 9.99937024e-01 2.48920533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40361786499997 meters Centerline goodness [0,1] 0.9999564327103211 Centerline is valid? [True, True] Translation: X:150.31, Y:95.49, Z:2.49 [[ 2.49122189e-01 -9.68467493e-01 -2.97498885e-03 1.50309855e+02] [ 9.68408540e-01 2.49139856e-01 -1.06879263e-02 9.54909525e+01] [ 1.10920974e-02 -2.18405020e-04 9.99938457e-01 2.48944563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:95.52, Z:2.49 [[ 2.47533803e-01 -9.68874222e-01 -3.12390816e-03 1.50316629e+02] [ 9.68809097e-01 2.47553393e-01 -1.12361447e-02 9.55187110e+01] [ 1.16597450e-02 -2.45145025e-04 9.99931993e-01 2.48897750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:95.55, Z:2.49 [[ 2.46528729e-01 -9.69130723e-01 -3.03752738e-03 1.50324248e+02] [ 9.69069053e-01 2.46547317e-01 -1.09357967e-02 9.55461893e+01] [ 1.13471108e-02 -2.47585717e-04 9.99935589e-01 2.48928024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:95.57, Z:2.49 [[ 2.44750460e-01 -9.69581781e-01 -2.89507582e-03 1.50333020e+02] [ 9.69525670e-01 2.44767451e-01 -1.04341242e-02 9.55724484e+01] [ 1.08253570e-02 -2.53093629e-04 9.99941372e-01 2.49006067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.34, Y:95.60, Z:2.49 [[ 2.44000108e-01 -9.69770760e-01 -2.93608181e-03 1.50340989e+02] [ 9.69712988e-01 2.44017630e-01 -1.05885702e-02 9.55981271e+01] [ 1.09849415e-02 -2.63544386e-04 9.99939629e-01 2.49084666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:95.63, Z:2.49 [[ 2.42804395e-01 -9.70071387e-01 -2.74421436e-03 1.50348658e+02] [ 9.70020874e-01 2.42819766e-01 -9.90275741e-03 9.56251325e+01] [ 1.02727311e-02 -2.57512187e-04 9.99947201e-01 2.49131077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.36, Y:95.65, Z:2.49 [[ 2.41112545e-01 -9.70493478e-01 -2.67406290e-03 1.50355265e+02] [ 9.70445451e-01 2.41127226e-01 -9.65853056e-03 9.56528397e+01] [ 1.00183303e-02 -2.66239291e-04 9.99949780e-01 2.49129290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.36, Y:95.68, Z:2.49 [[ 2.40023792e-01 -9.70763143e-01 -2.73854446e-03 1.50364504e+02] [ 9.70712685e-01 2.40039249e-01 -9.90162816e-03 9.56783352e+01] [ 1.02694938e-02 -2.81713510e-04 9.99947228e-01 2.49176598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.37, Y:95.71, Z:2.49 [[ 2.39117716e-01 -9.70986804e-01 -2.70996949e-03 1.50370789e+02] [ 9.70937318e-01 2.39132901e-01 -9.80718278e-03 9.57061140e+01] [ 1.01706879e-02 -2.86139352e-04 9.99948236e-01 2.49183690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67361786499995 meters Centerline goodness [0,1] 0.999956252597502 Centerline is valid? [True, True] Translation: X:150.38, Y:95.73, Z:2.49 [[ 2.37917587e-01 -9.71282054e-01 -2.52839034e-03 1.50378546e+02] [ 9.71238915e-01 2.37930861e-01 -9.15837644e-03 9.57328297e+01] [ 9.49694877e-03 -2.76732259e-04 9.99954865e-01 2.49180032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:95.76, Z:2.49 [[ 2.37636103e-01 -9.71350886e-01 -2.55731900e-03 1.50385657e+02] [ 9.71306677e-01 2.37649697e-01 -9.27155012e-03 9.57595001e+01] [ 9.61367450e-03 -2.80685986e-04 9.99953748e-01 2.49239253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.39, Y:95.79, Z:2.49 [[ 2.37056797e-01 -9.71492861e-01 -2.38666989e-03 1.50390151e+02] [ 9.71454293e-01 2.37068662e-01 -8.66055475e-03 9.57872880e+01] [ 8.97947175e-03 -2.65497348e-04 9.99959648e-01 2.49280192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.40, Y:95.81, Z:2.49 [[ 2.37239873e-01 -9.71448490e-01 -2.25251431e-03 1.50397945e+02] [ 9.71414069e-01 2.37250437e-01 -8.18144317e-03 9.58133628e+01] [ 8.48226062e-03 -2.47159556e-04 9.99963994e-01 2.49387411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.40, Y:95.84, Z:2.49 [[ 2.37663295e-01 -9.71345339e-01 -2.09527690e-03 1.50403175e+02] [ 9.71315491e-01 2.37672425e-01 -7.61812964e-03 9.58406384e+01] [ 7.89782426e-03 -2.24625118e-04 9.99968786e-01 2.49422364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.41, Y:95.87, Z:2.49 [[ 2.37404741e-01 -9.71408569e-01 -2.09325091e-03 1.50410408e+02] [ 9.71378718e-01 2.37413863e-01 -7.61868609e-03 9.58672600e+01] [ 7.89782373e-03 -2.24627187e-04 9.99968786e-01 2.49459050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85361786499996 meters Centerline goodness [0,1] 0.9999781430319986 Centerline is valid? [True, True] Translation: X:150.41, Y:95.90, Z:2.49 [[ 2.38301070e-01 -9.71189471e-01 -1.90021735e-03 1.50413392e+02] [ 9.71164823e-01 2.38308565e-01 -6.92205680e-03 9.58955959e+01] [ 7.17546675e-03 -1.95890707e-04 9.99974237e-01 2.49464635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88361786499996 meters Centerline goodness [0,1] 0.9999128407382389 Centerline is valid? [True, True] Translation: X:150.42, Y:95.92, Z:2.50 [[ 2.38174825e-01 -9.71220422e-01 -1.90899609e-03 1.50421968e+02] [ 9.71195497e-01 2.38182395e-01 -6.96083720e-03 9.59215528e+01] [ 7.21519650e-03 -1.96112222e-04 9.99973951e-01 2.49531020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91361786499996 meters Centerline goodness [0,1] 0.9999563290171846 Centerline is valid? [True, True] Translation: X:150.43, Y:95.95, Z:2.49 [[ 2.38223882e-01 -9.71208231e-01 -1.98863630e-03 1.50426799e+02] [ 9.71181111e-01 2.38232097e-01 -7.26067020e-03 9.59495161e+01] [ 7.52537965e-03 -2.01660970e-04 9.99971664e-01 2.49498931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94361786499996 meters Centerline goodness [0,1] 0.9999783042610432 Centerline is valid? [True, True] Translation: X:150.44, Y:95.98, Z:2.50 [[ 2.37755512e-01 -9.71322702e-01 -2.12739362e-03 1.50435686e+02] [ 9.71291598e-01 2.37764930e-01 -7.77625259e-03 9.59753012e+01] [ 8.05907027e-03 -2.17472635e-04 9.99967502e-01 2.49544117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97361786499997 meters Centerline goodness [0,1] 0.9999565557389869 Centerline is valid? [True, True] Translation: X:150.44, Y:96.00, Z:2.50 [[ 2.36320738e-01 -9.71672468e-01 -2.26361434e-03 1.50442359e+02] [ 9.71637176e-01 2.36331455e-01 -8.28501625e-03 9.60024150e+01] [ 8.58528546e-03 -2.41490694e-04 9.99963117e-01 2.49508116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:96.03, Z:2.49 [[ 2.35361551e-01 -9.71905001e-01 -2.36847364e-03 1.50446695e+02] [ 9.71866291e-01 2.35373325e-01 -8.67818227e-03 9.60309549e+01] [ 8.99184426e-03 -2.59329247e-04 9.99959539e-01 2.49456647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03361786499997 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:150.45, Y:96.06, Z:2.49 [[ 2.34020474e-01 -9.72228713e-01 -2.39726574e-03 1.50454485e+02] [ 9.72188989e-01 2.34032593e-01 -8.79290522e-03 9.60586978e+01] [ 9.10975325e-03 -2.72875511e-04 9.99958468e-01 2.49465754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.46, Y:96.09, Z:2.49 [[ 2.31533243e-01 -9.72823611e-01 -2.56500620e-03 1.50462156e+02] [ 9.72778056e-01 2.31547237e-01 -9.41973081e-03 9.60852367e+01] [ 9.75765664e-03 -3.14200923e-04 9.99952344e-01 2.49428296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:96.11, Z:2.49 [[ 2.30272742e-01 -9.73122524e-01 -2.64920517e-03 1.50469378e+02] [ 9.73073892e-01 2.30287735e-01 -9.73448012e-03 9.61127020e+01] [ 1.00829213e-02 -3.36286953e-04 9.99949110e-01 2.49431117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.48, Y:96.14, Z:2.49 [[ 2.28408120e-01 -9.73561817e-01 -2.66826883e-03 1.50475179e+02] [ 9.73512412e-01 2.28423428e-01 -9.81436329e-03 9.61409167e+01] [ 1.01643845e-02 -3.55912548e-04 9.99948278e-01 2.49442848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.48, Y:96.17, Z:2.49 [[ 2.27949382e-01 -9.73669460e-01 -2.61952007e-03 1.50481739e+02] [ 9.73621760e-01 2.27964161e-01 -9.64411665e-03 9.61668402e+01] [ 9.98733855e-03 -3.52051315e-04 9.99950063e-01 2.49487270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.49, Y:96.19, Z:2.50 [[ 2.27524680e-01 -9.73768598e-01 -2.69044029e-03 1.50488211e+02] [ 9.73718157e-01 2.27540297e-01 -9.91788591e-03 9.61936431e+01] [ 1.02699094e-02 -3.63166746e-04 9.99947197e-01 2.49534388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.49, Y:96.22, Z:2.50 [[ 2.27377958e-01 -9.73803138e-01 -2.59079743e-03 1.50493520e+02] [ 9.73756306e-01 2.27392448e-01 -9.55674115e-03 9.62214789e+01] [ 9.89551230e-03 -3.49813045e-04 9.99950977e-01 2.49573068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:96.25, Z:2.50 [[ 2.27174292e-01 -9.73850921e-01 -2.49489341e-03 1.50501642e+02] [ 9.73807409e-01 2.27187741e-01 -9.21197728e-03 9.62469601e+01] [ 9.53790176e-03 -3.36821277e-04 9.99954456e-01 2.49634626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:96.28, Z:2.50 [[ 2.27208450e-01 -9.73842893e-01 -2.51787593e-03 1.50504359e+02] [ 9.73798473e-01 2.27222150e-01 -9.30748241e-03 9.62751560e+01] [ 9.63614278e-03 -3.37165083e-04 9.99953514e-01 2.49612161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.51, Y:96.30, Z:2.50 [[ 2.27706170e-01 -9.73726180e-01 -2.68823258e-03 1.50509457e+02] [ 9.73675418e-01 2.27721765e-01 -9.94882108e-03 9.63030029e+01] [ 1.02995966e-02 -3.52058040e-04 9.99946896e-01 2.49609979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.51, Y:96.33, Z:2.50 [[ 2.27994010e-01 -9.73658855e-01 -2.67681454e-03 1.50514114e+02] [ 9.73608411e-01 2.28009462e-01 -9.91704219e-03 9.63310002e+01] [ 1.02661550e-02 -3.45142935e-04 9.99947242e-01 2.49590002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.52, Y:96.36, Z:2.50 [[ 2.29911483e-01 -9.73207164e-01 -2.91989148e-03 1.50523358e+02] [ 9.73146948e-01 2.29929755e-01 -1.08316472e-02 9.63566381e+01] [ 1.12128066e-02 -3.51163418e-04 9.99937073e-01 2.49597325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.53, Y:96.38, Z:2.50 [[ 2.30836243e-01 -9.72988094e-01 -2.96606296e-03 1.50528928e+02] [ 9.72925866e-01 2.30855041e-01 -1.10095234e-02 9.63840483e+01] [ 1.13968657e-02 -3.44362367e-04 9.99934994e-01 2.49603440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.53, Y:96.41, Z:2.50 [[ 2.31794640e-01 -9.72759917e-01 -3.06415997e-03 1.50533212e+02] [ 9.72693343e-01 2.31814641e-01 -1.13856200e-02 9.64122562e+01] [ 1.17857919e-02 -3.41362313e-04 9.99930487e-01 2.49617456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:96.44, Z:2.50 [[ 2.32954385e-01 -9.72482838e-01 -3.06339152e-03 1.50538872e+02] [ 9.72416141e-01 2.32974300e-01 -1.13940566e-02 9.64395106e+01] [ 1.17942160e-02 -3.24595917e-04 9.99930393e-01 2.49615514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:96.47, Z:2.50 [[ 2.35297423e-01 -9.71918749e-01 -3.01129168e-03 1.50539709e+02] [ 9.71854125e-01 2.35316514e-01 -1.12115271e-02 9.64684276e+01] [ 1.16053001e-02 -2.88492797e-04 9.99932615e-01 2.49660180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.55, Y:96.49, Z:2.50 [[ 2.36309661e-01 -9.71673571e-01 -2.86647167e-03 1.50547038e+02] [ 9.71614870e-01 2.36326902e-01 -1.06836334e-02 9.64943365e+01] [ 1.10584286e-02 -2.60460711e-04 9.99938820e-01 2.49718609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.55, Y:96.52, Z:2.50 [[ 2.37104342e-01 -9.71479931e-01 -2.87656611e-03 1.50552508e+02] [ 9.71420710e-01 2.37121658e-01 -1.07295275e-02 9.65217607e+01] [ 1.11056168e-02 -2.50338327e-04 9.99938299e-01 2.49794674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:96.55, Z:2.50 [[ 2.38857496e-01 -9.71050928e-01 -2.68175516e-03 1.50557547e+02] [ 9.70999326e-01 2.38872456e-01 -1.00129295e-02 9.65500163e+01] [ 1.03636619e-02 -2.12319201e-04 9.99946273e-01 2.49818728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.57, Y:96.58, Z:2.50 [[ 2.39360653e-01 -9.70926915e-01 -2.72095776e-03 1.50565339e+02] [ 9.70873671e-01 2.39376029e-01 -1.01701122e-02 9.65755343e+01] [ 1.05257677e-02 -2.07381546e-04 9.99944581e-01 2.49886498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.57, Y:96.60, Z:2.50 [[ 2.39619852e-01 -9.70862867e-01 -2.76040977e-03 1.50570916e+02] [ 9.70807933e-01 2.39635664e-01 -1.03298297e-02 9.66032557e+01] [ 1.06903407e-02 -2.04595446e-04 9.99942836e-01 2.49916968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.58, Y:96.63, Z:2.50 [[ 2.40777489e-01 -9.70576598e-01 -2.69608158e-03 1.50576634e+02] [ 9.70524065e-01 2.40792512e-01 -1.00997484e-02 9.66312608e+01] [ 1.04517757e-02 -1.84820012e-04 9.99945362e-01 2.49928164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.58, Y:96.66, Z:2.50 [[ 2.40892473e-01 -9.70548001e-01 -2.71942538e-03 1.50583577e+02] [ 9.70494439e-01 2.40907753e-01 -1.01980093e-02 9.66570739e+01] [ 1.05527882e-02 -1.82563543e-04 9.99944301e-01 2.49971963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.59, Y:96.68, Z:2.50 [[ 2.41098342e-01 -9.70497148e-01 -2.62205067e-03 1.50591066e+02] [ 9.70447239e-01 2.41112539e-01 -9.84382214e-03 9.66833004e+01] [ 1.01856106e-02 -1.71232634e-04 9.99948111e-01 2.50010783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.60, Y:96.71, Z:2.50 [[ 2.40815235e-01 -9.70567423e-01 -2.62661547e-03 1.50598230e+02] [ 9.70517226e-01 2.40829498e-01 -9.87257957e-03 9.67105354e+01] [ 1.02145706e-02 -1.71707986e-04 9.99947815e-01 2.50050683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:96.74, Z:2.50 [[ 2.40441143e-01 -9.70660019e-01 -2.68054788e-03 1.50605930e+02] [ 9.70607625e-01 2.40456020e-01 -1.00866752e-02 9.67376873e+01] [ 1.04352863e-02 -1.76508490e-04 9.99945535e-01 2.50060645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.62, Y:96.76, Z:2.50 [[ 2.38878652e-01 -9.71045851e-01 -2.63540011e-03 1.50615045e+02] [ 9.70995116e-01 2.38893116e-01 -9.92789769e-03 9.67636440e+01] [ 1.02700228e-02 -1.87397812e-04 9.99947244e-01 2.50081291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.62, Y:96.79, Z:2.50 [[ 2.37558037e-01 -9.71369976e-01 -2.55896868e-03 1.50623580e+02] [ 9.71322071e-01 2.37571741e-01 -9.64895706e-03 9.67907740e+01] [ 9.98064584e-03 -1.93395458e-04 9.99950173e-01 2.50088500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.63, Y:96.82, Z:2.50 [[ 2.34662977e-01 -9.72073645e-01 -2.47296796e-03 1.50633679e+02] [ 9.72028855e-01 2.34675910e-01 -9.33394888e-03 9.68172169e+01] [ 9.65363172e-03 -2.13463980e-04 9.99953380e-01 2.50113938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:96.84, Z:2.50 [[ 2.32822590e-01 -9.72516510e-01 -2.29751349e-03 1.50642882e+02] [ 9.72477800e-01 2.32833828e-01 -8.67974942e-03 9.68438269e+01] [ 8.97613848e-03 -2.13439128e-04 9.99959691e-01 2.50159224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.65, Y:96.87, Z:2.50 [[ 2.31126908e-01 -9.72920954e-01 -2.27355475e-03 1.50651140e+02] [ 9.72882989e-01 2.31137981e-01 -8.59791257e-03 9.68710332e+01] [ 8.89059416e-03 -2.24693797e-04 9.99960453e-01 2.50201334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:96.90, Z:2.50 [[ 2.29307702e-01 -9.73351295e-01 -2.28781655e-03 1.50661776e+02] [ 9.73312776e-01 2.29318989e-01 -8.66268926e-03 9.68969696e+01] [ 8.95647959e-03 -2.40339703e-04 9.99959861e-01 2.50288068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:96.92, Z:2.50 [[ 2.26333625e-01 -9.74047267e-01 -2.23868203e-03 1.50671529e+02] [ 9.74010381e-01 2.26344546e-01 -8.48080357e-03 9.69238750e+01] [ 8.76741701e-03 -2.61008524e-04 9.99961531e-01 2.50308314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.68, Y:96.95, Z:2.50 [[ 2.24869629e-01 -9.74386294e-01 -2.23631545e-03 1.50681241e+02] [ 9.74349424e-01 2.24880584e-01 -8.48075122e-03 9.69501259e+01] [ 8.76643168e-03 -2.71889297e-04 9.99961537e-01 2.50359216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.69, Y:96.98, Z:2.50 [[ 2.23896890e-01 -9.74610243e-01 -2.24884147e-03 1.50688927e+02] [ 9.74572895e-01 2.23908008e-01 -8.53680269e-03 9.69773704e+01] [ 8.82358896e-03 -2.80296366e-04 9.99961032e-01 2.50424603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:97.00, Z:2.50 [[ 2.22665367e-01 -9.74892244e-01 -2.29045716e-03 1.50697391e+02] [ 9.74853431e-01 2.22676952e-01 -8.70416828e-03 9.70046866e+01] [ 8.99565817e-03 -2.94743201e-04 9.99959495e-01 2.50440417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:97.03, Z:2.50 [[ 2.22430575e-01 -9.74945737e-01 -2.33454461e-03 1.50704985e+02] [ 9.74905331e-01 2.22442623e-01 -8.88119084e-03 9.70313757e+01] [ 9.17798137e-03 -3.00511599e-04 9.99957836e-01 2.50462450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499995 meters Centerline goodness [0,1] 0.9999783484172693 Centerline is valid? [True, True] Translation: X:150.71, Y:97.06, Z:2.51 [[ 2.22388579e-01 -9.74955499e-01 -2.25737272e-03 1.50713747e+02] [ 9.74917633e-01 2.22399848e-01 -8.59741707e-03 9.70572727e+01] [ 8.88413840e-03 -2.88785102e-04 9.99960494e-01 2.50519563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.72, Y:97.08, Z:2.51 [[ 2.23284787e-01 -9.74750378e-01 -2.36730787e-03 1.50721107e+02] [ 9.74708635e-01 2.23297145e-01 -9.02561065e-03 9.70849512e+01] [ 9.32633048e-03 -2.92153867e-04 9.99956466e-01 2.50506338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:97.11, Z:2.51 [[ 2.23753357e-01 -9.74642666e-01 -2.47181289e-03 1.50728610e+02] [ 9.74597046e-01 2.23766811e-01 -9.43462035e-03 9.71105065e+01] [ 9.74849321e-03 -2.97993566e-04 9.99952438e-01 2.50548407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.74, Y:97.14, Z:2.51 [[ 2.25182334e-01 -9.74313885e-01 -2.31750373e-03 1.50736513e+02] [ 9.74273666e-01 2.25194105e-01 -8.85654425e-03 9.71366765e+01] [ 9.15094221e-03 -2.63545553e-04 9.99958095e-01 2.50601086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.74, Y:97.16, Z:2.51 [[ 2.25719684e-01 -9.74189368e-01 -2.38734605e-03 1.50742702e+02] [ 9.74146631e-01 2.25732153e-01 -9.12884116e-03 9.71642862e+01] [ 9.43212076e-03 -2.65065979e-04 9.99955481e-01 2.50664266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:97.19, Z:2.51 [[ 2.27075084e-01 -9.73874777e-01 -2.19662388e-03 1.50750944e+02] [ 9.73838507e-01 2.27085592e-01 -8.40812103e-03 9.71911171e+01] [ 8.68727862e-03 -2.29882137e-04 9.99962238e-01 2.50740299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:97.22, Z:2.51 [[ 2.27610384e-01 -9.73749872e-01 -2.16812759e-03 1.50758688e+02] [ 9.73714457e-01 2.27620604e-01 -8.30767882e-03 9.72175935e+01] [ 8.58311169e-03 -2.20223210e-04 9.99963140e-01 2.50815773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.77, Y:97.24, Z:2.51 [[ 2.28556806e-01 -9.73528322e-01 -2.09580507e-03 1.50765985e+02] [ 9.73495151e-01 2.28566325e-01 -8.03902494e-03 9.72436028e+01] [ 8.30524893e-03 -2.02882211e-04 9.99965490e-01 2.50864979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38361786499996 meters Centerline goodness [0,1] 0.9999565538515011 Centerline is valid? [True, True] Translation: X:150.77, Y:97.27, Z:2.51 [[ 2.29097725e-01 -9.73401233e-01 -2.06675286e-03 1.50772676e+02] [ 9.73368899e-01 2.29106965e-01 -7.93633464e-03 9.72709635e+01] [ 8.19874540e-03 -1.93516749e-04 9.99966371e-01 2.50920577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41361786499996 meters Centerline goodness [0,1] 0.9999565538515011 Centerline is valid? [True, True] Translation: X:150.78, Y:97.30, Z:2.51 [[ 2.28831612e-01 -9.73463831e-01 -2.06458473e-03 1.50779553e+02] [ 9.73431494e-01 2.28840844e-01 -7.93689843e-03 9.72976761e+01] [ 8.19874486e-03 -1.93518532e-04 9.99966371e-01 2.50957259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44361786499996 meters Centerline goodness [0,1] 0.9999347911142025 Centerline is valid? [True, True] Translation: X:150.79, Y:97.32, Z:2.51 [[ 2.29863518e-01 -9.73220545e-01 -2.12924488e-03 1.50787479e+02] [ 9.73186046e-01 2.29873303e-01 -8.19656533e-03 9.73236901e+01] [ 8.46652233e-03 -1.88060063e-04 9.99964141e-01 2.50998240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.80, Y:97.35, Z:2.51 [[ 2.30034063e-01 -9.73180179e-01 -2.16095050e-03 1.50795062e+02] [ 9.73144595e-01 2.30044136e-01 -8.32426710e-03 9.73504827e+01] [ 8.59812573e-03 -1.88052320e-04 9.99963018e-01 2.51034617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50361786499997 meters Centerline goodness [0,1] 0.9999782329509589 Centerline is valid? [True, True] Translation: X:150.80, Y:97.38, Z:2.51 [[ 2.30182962e-01 -9.73144853e-01 -2.21344237e-03 1.50803187e+02] [ 9.73107432e-01 2.30193527e-01 -8.53614734e-03 9.73766289e+01] [ 8.81642795e-03 -1.89041543e-04 9.99961117e-01 2.51090846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.81, Y:97.40, Z:2.51 [[ 2.30796317e-01 -9.72999578e-01 -2.20947951e-03 1.50811271e+02] [ 9.72962195e-01 2.30806822e-01 -8.53099824e-03 9.74033360e+01] [ 8.81062063e-03 -1.80817068e-04 9.99961169e-01 2.51112206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.82, Y:97.43, Z:2.51 [[ 2.30568044e-01 -9.73053185e-01 -2.42421503e-03 1.50819439e+02] [ 9.73008069e-01 2.30580703e-01 -9.37208761e-03 9.74302397e+01] [ 9.67851690e-03 -1.97876870e-04 9.99953142e-01 2.51124724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:97.46, Z:2.51 [[ 2.30190693e-01 -9.73141960e-01 -2.64028308e-03 1.50828168e+02] [ 9.73088316e-01 2.30205732e-01 -1.02200987e-02 9.74574228e+01] [ 1.05534152e-02 -2.16657014e-04 9.99944288e-01 2.51085290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.84, Y:97.48, Z:2.51 [[ 2.29604784e-01 -9.73280186e-01 -2.70614064e-03 1.50836268e+02] [ 9.73223709e-01 2.29620620e-01 -1.04872651e-02 9.74841466e+01] [ 1.08284330e-02 -2.25754004e-04 9.99941345e-01 2.51101262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.84, Y:97.51, Z:2.51 [[ 2.29144622e-01 -9.73388405e-01 -2.78476156e-03 1.50844884e+02] [ 9.73328467e-01 2.29161423e-01 -1.08045163e-02 9.75099436e+01] [ 1.11551508e-02 -2.34690907e-04 9.99937752e-01 2.51134525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.86, Y:97.53, Z:2.51 [[ 2.28251716e-01 -9.73597987e-01 -2.84853587e-03 1.50856756e+02] [ 9.73535132e-01 2.28269356e-01 -1.10656078e-02 9.75347522e+01] [ 1.14236869e-02 -2.47405770e-04 9.99934717e-01 2.51144923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.87, Y:97.56, Z:2.51 [[ 2.27542743e-01 -9.73763866e-01 -2.86951969e-03 1.50865103e+02] [ 9.73699942e-01 2.27560694e-01 -1.11603400e-02 9.75598156e+01] [ 1.15205257e-02 -2.54596773e-04 9.99933604e-01 2.51194287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.87, Y:97.59, Z:2.51 [[ 2.27263444e-01 -9.73829098e-01 -2.86611413e-03 1.50871636e+02] [ 9.73765169e-01 2.27281374e-01 -1.11612145e-02 9.75857636e+01] [ 1.15205298e-02 -2.54386068e-04 9.99933604e-01 2.51229846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.88, Y:97.61, Z:2.51 [[ 2.26814233e-01 -9.73933629e-01 -2.93072874e-03 1.50878816e+02] [ 9.73866628e-01 2.26833015e-01 -1.14268992e-02 9.76127875e+01] [ 1.17938274e-02 -2.62355542e-04 9.99930416e-01 2.51276762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:97.64, Z:2.51 [[ 2.26213367e-01 -9.74073359e-01 -2.93322483e-03 1.50887560e+02] [ 9.74006102e-01 2.26232226e-01 -1.14495959e-02 9.76399345e+01] [ 1.18163363e-02 -2.66927232e-04 9.99930149e-01 2.51314325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.90, Y:97.67, Z:2.51 [[ 2.25725606e-01 -9.74186242e-01 -3.01930374e-03 1.50896014e+02] [ 9.74114822e-01 2.25745628e-01 -1.17993515e-02 9.76665597e+01] [ 1.21763606e-02 -2.77732745e-04 9.99925827e-01 2.51370554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.91, Y:97.69, Z:2.51 [[ 2.25373789e-01 -9.74267639e-01 -3.03698868e-03 1.50905210e+02] [ 9.74195222e-01 2.25394075e-01 -1.18819643e-02 9.76936353e+01] [ 1.22607326e-02 -2.80736544e-04 9.99924795e-01 2.51404262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.91, Y:97.72, Z:2.51 [[ 2.25815222e-01 -9.74165023e-01 -3.16141110e-03 1.50913183e+02] [ 9.74086351e-01 2.25837173e-01 -1.23835619e-02 9.77194845e+01] [ 1.27775970e-02 -2.83090632e-04 9.99918323e-01 2.51490016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:97.75, Z:2.52 [[ 2.26731098e-01 -9.73952561e-01 -3.06890840e-03 1.50919488e+02] [ 9.73878235e-01 2.26751718e-01 -1.20350425e-02 9.77453924e+01] [ 1.24174407e-02 -2.60024681e-04 9.99922867e-01 2.51569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.93, Y:97.77, Z:2.52 [[ 2.27970171e-01 -9.73663320e-01 -3.05627193e-03 1.50925348e+02] [ 9.73589409e-01 2.27990530e-01 -1.19991874e-02 9.77730327e+01] [ 1.23799697e-02 -2.40097185e-04 9.99923336e-01 2.51637518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.93, Y:97.80, Z:2.52 [[ 2.30839976e-01 -9.72986369e-01 -3.22967428e-03 1.50930445e+02] [ 9.72903568e-01 2.30862471e-01 -1.26951602e-02 9.78005436e+01] [ 1.30978284e-02 -2.11611157e-04 9.99914197e-01 2.51666626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.94, Y:97.83, Z:2.52 [[ 2.31600569e-01 -9.72804925e-01 -3.42844069e-03 1.50935044e+02] [ 9.72711384e-01 2.31625848e-01 -1.34918658e-02 9.78281557e+01] [ 1.39190689e-02 -2.10159502e-04 9.99903103e-01 2.51654356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04361786499996 meters Centerline goodness [0,1] 0.9999342955386671 Centerline is valid? [True, True] Translation: X:150.94, Y:97.85, Z:2.52 [[ 2.32289884e-01 -9.72639754e-01 -3.64960623e-03 1.50942153e+02] [ 9.72533470e-01 2.32318458e-01 -1.43799922e-02 9.78542514e+01] [ 1.48344229e-02 -2.09037504e-04 9.99889942e-01 2.51676792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:97.88, Z:2.52 [[ 2.33150353e-01 -9.72433095e-01 -3.84546538e-03 1.50948137e+02] [ 9.72314771e-01 2.33181976e-01 -1.51707465e-02 9.78815191e+01] [ 1.56492292e-02 -2.01937888e-04 9.99877523e-01 2.51746578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:97.91, Z:2.52 [[ 2.32504545e-01 -9.72587382e-01 -3.92700238e-03 1.50954513e+02] [ 9.72463717e-01 2.32537609e-01 -1.55106413e-02 9.79073534e+01] [ 1.59986297e-02 -2.12572734e-04 9.99871991e-01 2.51805728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:97.93, Z:2.52 [[ 2.31201546e-01 -9.72897456e-01 -4.04777088e-03 1.50960207e+02] [ 9.72765791e-01 2.31236856e-01 -1.60072839e-02 9.79345464e+01] [ 1.65094396e-02 -2.36624261e-04 9.99863682e-01 2.51891545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.97, Y:97.96, Z:2.52 [[ 2.29937631e-01 -9.73196857e-01 -4.06979521e-03 1.50966620e+02] [ 9.73063490e-01 2.29973504e-01 -1.61131150e-02 9.79604441e+01] [ 1.66171780e-02 -2.55157635e-04 9.99861893e-01 2.51966130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.97, Y:97.99, Z:2.52 [[ 2.28444797e-01 -9.73548596e-01 -4.01311817e-03 1.50973995e+02] [ 9.73418670e-01 2.28479881e-01 -1.59071280e-02 9.79868933e+01] [ 1.64032789e-02 -2.72543532e-04 9.99865420e-01 2.52048962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.98, Y:98.01, Z:2.52 [[ 2.25039127e-01 -9.74341959e-01 -3.89085226e-03 1.50980442e+02] [ 9.74219703e-01 2.25072538e-01 -1.54377371e-02 9.80145430e+01] [ 1.59173590e-02 -3.16450052e-04 9.99873261e-01 2.52249143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25361786499997 meters Centerline goodness [0,1] 0.9999562669465583 Centerline is valid? [True, True] Translation: X:150.99, Y:98.04, Z:2.52 [[ 2.22884722e-01 -9.74837439e-01 -3.79049929e-03 1.50988149e+02] [ 9.74721236e-01 2.22916694e-01 -1.50552434e-02 9.80421864e+01] [ 1.55213805e-02 -3.39096416e-04 9.99879479e-01 2.52350819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.99, Y:98.07, Z:2.52 [[ 2.20533899e-01 -9.75372381e-01 -3.67671595e-03 1.50994704e+02] [ 9.75262894e-01 2.20564249e-01 -1.46184680e-02 9.80698809e+01] [ 1.50694020e-02 -3.61896898e-04 9.99886385e-01 2.52467663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.00, Y:98.10, Z:2.53 [[ 2.16293572e-01 -9.76321635e-01 -3.62716737e-03 1.51002541e+02] [ 9.76214979e-01 2.16323578e-01 -1.44369018e-02 9.80972582e+01] [ 1.48797014e-02 -4.18286072e-04 9.99889204e-01 2.52623456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:98.13, Z:2.53 [[ 2.14461775e-01 -9.76725106e-01 -3.77024159e-03 1.51009706e+02] [ 9.76609668e-01 2.14494420e-01 -1.50233526e-02 9.81250862e+01] [ 1.54823814e-02 -4.60119524e-04 9.99880035e-01 2.52660838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:98.15, Z:2.53 [[ 2.12100112e-01 -9.77239761e-01 -3.99904316e-03 1.51015835e+02] [ 9.77109676e-01 2.12137162e-01 -1.59532174e-02 9.81529569e+01] [ 1.64384640e-02 -5.23824572e-04 9.99864742e-01 2.52649471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:98.18, Z:2.53 [[ 2.11582802e-01 -9.77351438e-01 -4.10907300e-03 1.51022311e+02] [ 9.77213802e-01 2.11622002e-01 -1.64107709e-02 9.81796875e+01] [ 1.69086608e-02 -5.43205951e-04 9.99856891e-01 2.52675418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.03, Y:98.21, Z:2.53 [[ 2.11547017e-01 -9.77358916e-01 -4.17252110e-03 1.51028958e+02] [ 9.77216644e-01 2.11587453e-01 -1.66847558e-02 9.82063821e+01] [ 1.71898479e-02 -5.47846749e-04 9.99852094e-01 2.52692178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.03, Y:98.24, Z:2.53 [[ 2.13129182e-01 -9.77014066e-01 -4.41213593e-03 1.51031634e+02] [ 9.76854514e-01 2.13174149e-01 -1.76646741e-02 9.82350366e+01] [ 1.81991884e-02 -5.45157365e-04 9.99834232e-01 2.52778366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:98.26, Z:2.53 [[ 2.14214705e-01 -9.76776532e-01 -4.43462316e-03 1.51037393e+02] [ 9.76614936e-01 2.14259964e-01 -1.77745794e-02 9.82629013e+01] [ 1.83119543e-02 -5.23342913e-04 9.99832185e-01 2.52818162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:98.29, Z:2.53 [[ 2.15499778e-01 -9.76493542e-01 -4.49536061e-03 1.51043106e+02] [ 9.76327050e-01 2.15546076e-01 -1.80382882e-02 9.82902765e+01] [ 1.85832292e-02 -5.01695063e-04 9.99827191e-01 2.52859863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:98.32, Z:2.53 [[ 2.18792088e-01 -9.75760534e-01 -4.62621742e-03 1.51047177e+02] [ 9.75583635e-01 2.18840535e-01 -1.85847053e-02 9.83179460e+01] [ 1.91466259e-02 -4.47075530e-04 9.99816587e-01 2.52958008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:98.35, Z:2.53 [[ 2.20309229e-01 -9.75418745e-01 -4.70277289e-03 1.51052583e+02] [ 9.75235439e-01 2.20359018e-01 -1.89140507e-02 9.83454830e+01] [ 1.94854180e-02 -4.19370870e-04 9.99810053e-01 2.52985039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.06, Y:98.37, Z:2.53 [[ 2.21590317e-01 -9.75128710e-01 -4.66167103e-03 1.51057501e+02] [ 9.74948131e-01 2.21639010e-01 -1.87694229e-02 9.83736144e+01] [ 1.93358113e-02 -3.85765093e-04 9.99812971e-01 2.53007669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.06, Y:98.40, Z:2.53 [[ 2.23715888e-01 -9.74643440e-01 -4.62243369e-03 1.51061375e+02] [ 9.74465389e-01 2.23763385e-01 -1.86320650e-02 9.84014279e+01] [ 1.91939513e-02 -3.36112692e-04 9.99815723e-01 2.53002897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:98.43, Z:2.53 [[ 2.24084073e-01 -9.74559460e-01 -4.49302058e-03 1.51068094e+02] [ 9.74390850e-01 2.24128891e-01 -1.81303852e-02 9.84281694e+01] [ 1.86761541e-02 -3.15227577e-04 9.99825536e-01 2.53033058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:98.46, Z:2.53 [[ 2.23741973e-01 -9.74638756e-01 -4.33865023e-03 1.51073480e+02] [ 9.74481192e-01 2.23783826e-01 -1.75272688e-02 9.84562252e+01] [ 1.80536753e-02 -3.06347332e-04 9.99836972e-01 2.53163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73361786499996 meters Centerline goodness [0,1] 0.9999130434782608 Centerline is valid? [True, True] Translation: X:151.08, Y:98.48, Z:2.53 [[ 2.22841174e-01 -9.74846026e-01 -4.12752710e-03 1.51080494e+02] [ 9.74703134e-01 2.22879190e-01 -1.66933313e-02 9.84834702e+01] [ 1.71933676e-02 -3.03152047e-04 9.99852137e-01 2.53055030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.09, Y:98.51, Z:2.53 [[ 2.22050923e-01 -9.75026379e-01 -4.11687657e-03 1.51088796e+02] [ 9.74883917e-01 2.22088865e-01 -1.66698964e-02 9.85101363e+01] [ 1.71679012e-02 -3.11910871e-04 9.99852572e-01 2.53376450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.10, Y:98.54, Z:2.54 [[ 2.19541409e-01 -9.75595380e-01 -3.90174116e-03 1.51098200e+02] [ 9.75467233e-01 2.19575824e-01 -1.58156481e-02 9.85355595e+01] [ 1.62864012e-02 -3.33830982e-04 9.99867312e-01 2.53537381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:98.56, Z:2.54 [[ 2.18551909e-01 -9.75817960e-01 -3.79094021e-03 1.51106487e+02] [ 9.75696807e-01 2.18584525e-01 -1.53800906e-02 9.85617818e+01] [ 1.58368095e-02 -3.37460101e-04 9.99874533e-01 2.53581597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:98.59, Z:2.54 [[ 2.18013331e-01 -9.75938233e-01 -3.84087623e-03 1.51112440e+02] [ 9.75813577e-01 2.18046887e-01 -1.56018669e-02 9.85891618e+01] [ 1.60639495e-02 -3.46564204e-04 9.99870906e-01 2.53618444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88361786499996 meters Centerline goodness [0,1] 0.9998915942154674 Centerline is valid? [True, True] Translation: X:151.12, Y:98.62, Z:2.54 [[ 2.18331756e-01 -9.75866340e-01 -4.01640648e-03 1.51118783e+02] [ 9.75729704e-01 2.18368410e-01 -1.63334509e-02 9.86159204e+01] [ 1.68163212e-02 -3.52816104e-04 9.99858533e-01 2.53560161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.12, Y:98.64, Z:2.54 [[ 2.18556627e-01 -9.75815793e-01 -4.06667868e-03 1.51123788e+02] [ 9.75675447e-01 2.18594178e-01 -1.65531833e-02 9.86439611e+01] [ 1.70418100e-02 -3.49950616e-04 9.99854717e-01 2.53567300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:98.67, Z:2.54 [[ 2.19344551e-01 -9.75639258e-01 -4.00069273e-03 1.51129271e+02] [ 9.75503087e-01 2.19380789e-01 -1.63032911e-02 9.86714794e+01] [ 1.67838059e-02 -3.26650056e-04 9.99859089e-01 2.53566513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:98.70, Z:2.53 [[ 2.21097905e-01 -9.75242340e-01 -4.25372979e-03 1.51134284e+02] [ 9.75087972e-01 2.21138602e-01 -1.73541342e-02 9.86982172e+01] [ 1.78651503e-02 -3.10798040e-04 9.99840357e-01 2.53447238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.14, Y:98.73, Z:2.53 [[ 2.21851134e-01 -9.75070887e-01 -4.34040337e-03 1.51139647e+02] [ 9.74909830e-01 2.21893386e-01 -1.77242330e-02 9.87253757e+01] [ 1.82454904e-02 -2.99360739e-04 9.99833492e-01 2.53391887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03361786499997 meters Centerline goodness [0,1] 0.9999346034790949 Centerline is valid? [True, True] Translation: X:151.14, Y:98.75, Z:2.53 [[ 2.22747242e-01 -9.74865743e-01 -4.52214131e-03 1.51143721e+02] [ 9.74690453e-01 2.22792953e-01 -1.84884184e-02 9.87530840e+01] [ 1.90312269e-02 -2.89443744e-04 9.99818848e-01 2.53424146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:98.78, Z:2.53 [[ 2.24244807e-01 -9.74522100e-01 -4.57644327e-03 1.51150647e+02] [ 9.74342064e-01 2.24291352e-01 -1.87332015e-02 9.87793389e+01] [ 1.92823755e-02 -2.58198023e-04 9.99814044e-01 2.53267028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.16, Y:98.81, Z:2.53 [[ 2.24987672e-01 -9.74350697e-01 -4.61167933e-03 1.51156352e+02] [ 9.74167376e-01 2.25034803e-01 -1.89013689e-02 9.88050407e+01] [ 1.94543503e-02 -2.39972574e-04 9.99810717e-01 2.53258665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.16, Y:98.83, Z:2.53 [[ 2.26768829e-01 -9.73939362e-01 -4.24477309e-03 1.51160882e+02] [ 9.73783611e-01 2.26808479e-01 -1.74181650e-02 9.88329787e+01] [ 1.79269870e-02 -1.83593597e-04 9.99839282e-01 2.53418559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:98.86, Z:2.54 [[ 2.27482738e-01 -9.73773468e-01 -4.10331904e-03 1.51165918e+02] [ 9.73627582e-01 2.27519686e-01 -1.68559812e-02 9.88608336e+01] [ 1.73474931e-02 -1.60659837e-04 9.99849508e-01 2.53506168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:98.89, Z:2.54 [[ 2.28014213e-01 -9.73649732e-01 -3.96470770e-03 1.51170887e+02] [ 9.73513211e-01 2.28048636e-01 -1.63048283e-02 9.88887592e+01] [ 1.67793379e-02 -1.41962735e-04 9.99859207e-01 2.53604085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21361786499997 meters Centerline goodness [0,1] 0.999978300965607 Centerline is valid? [True, True] Translation: X:151.18, Y:98.92, Z:2.54 [[ 2.28982519e-01 -9.73423005e-01 -3.82872516e-03 1.51176297e+02] [ 9.73295358e-01 2.29014496e-01 -1.57640998e-02 9.89157447e+01] [ 1.62219709e-02 -1.16777156e-04 9.99868408e-01 2.53633917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:151.18, Y:98.94, Z:2.54 [[ 2.29178361e-01 -9.73377211e-01 -3.75278733e-03 1.51182376e+02] [ 9.73254271e-01 2.29209060e-01 -1.54703293e-02 9.89430651e+01] [ 1.59186389e-02 -1.06951582e-04 9.99873285e-01 2.53683001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.19, Y:98.97, Z:2.54 [[ 2.29036885e-01 -9.73411693e-01 -3.43228736e-03 1.51188949e+02] [ 9.73308633e-01 2.29062581e-01 -1.41646917e-02 9.89703388e+01] [ 1.45742851e-02 -9.64380691e-05 9.99893785e-01 2.53723365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:99.00, Z:2.54 [[ 2.28262236e-01 -9.73593607e-01 -3.44097784e-03 1.51196436e+02] [ 9.73489794e-01 2.28288146e-01 -1.42176903e-02 9.89967364e+01] [ 1.46277868e-02 -1.04395041e-04 9.99893003e-01 2.53777888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:99.02, Z:2.54 [[ 2.27424188e-01 -9.73789929e-01 -3.37835602e-03 1.51203457e+02] [ 9.73689634e-01 2.27449252e-01 -1.39762387e-02 9.90239393e+01] [ 1.43783250e-02 -1.10935518e-04 9.99896620e-01 2.53839210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:99.05, Z:2.54 [[ 2.26359842e-01 -9.74037906e-01 -3.37351974e-03 1.51210985e+02] [ 9.73937688e-01 2.26384945e-01 -1.39726695e-02 9.90494639e+01] [ 1.43736238e-02 -1.22746767e-04 9.99896687e-01 2.53874525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.22, Y:99.08, Z:2.54 [[ 2.24609521e-01 -9.74442352e-01 -3.55882576e-03 1.51219548e+02] [ 9.74330659e-01 2.24637661e-01 -1.47542796e-02 9.90767260e+01] [ 1.51766412e-02 -1.53521371e-04 9.99884816e-01 2.53827619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.23, Y:99.10, Z:2.54 [[ 2.23541847e-01 -9.74687545e-01 -3.63773391e-03 1.51226338e+02] [ 9.74570592e-01 2.23571380e-01 -1.50996232e-02 9.91040437e+01] [ 1.55307079e-02 -1.69830824e-04 9.99879377e-01 2.53834350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.24, Y:99.13, Z:2.54 [[ 2.22767042e-01 -9.74864417e-01 -3.77003152e-03 1.51235314e+02] [ 9.74738527e-01 2.22798864e-01 -1.56674988e-02 9.91298486e+01] [ 1.61136458e-02 -1.84592608e-04 9.99870150e-01 2.53806895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499996 meters Centerline goodness [0,1] 0.999956363319006 Centerline is valid? [True, True] Translation: X:151.24, Y:99.16, Z:2.54 [[ 2.21462005e-01 -9.75161976e-01 -3.70153736e-03 1.51243287e+02] [ 9.75040436e-01 2.21492847e-01 -1.53969705e-02 9.91568926e+01] [ 1.58344043e-02 -1.99304641e-04 9.99874608e-01 2.53826302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51361786499996 meters Centerline goodness [0,1] 0.9999124515747773 Centerline is valid? [True, True] Translation: X:151.25, Y:99.18, Z:2.54 [[ 2.20231694e-01 -9.75440065e-01 -3.83156987e-03 1.51249628e+02] [ 9.75309561e-01 2.20264909e-01 -1.59571056e-02 9.91839495e+01] [ 1.64091605e-02 -2.22706342e-04 9.99865336e-01 2.53753441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54361786499996 meters Centerline goodness [0,1] 0.999934761335218 Centerline is valid? [True, True] Translation: X:151.26, Y:99.21, Z:2.54 [[ 2.19897435e-01 -9.75515465e-01 -3.83360961e-03 1.51258321e+02] [ 9.75384511e-01 2.19930735e-01 -1.59852432e-02 9.92095332e+01] [ 1.64369806e-02 -2.24129450e-04 9.99864879e-01 2.53893515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57361786499996 meters Centerline goodness [0,1] 0.9999562841530054 Centerline is valid? [True, True] Translation: X:151.26, Y:99.24, Z:2.54 [[ 2.19181181e-01 -9.75677325e-01 -3.65618721e-03 1.51264045e+02] [ 9.75557942e-01 2.19211562e-01 -1.52641071e-02 9.92373753e+01] [ 1.56943217e-02 -2.21217452e-04 9.99876812e-01 2.53986155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:99.26, Z:2.54 [[ 2.18604245e-01 -9.75807040e-01 -3.57843309e-03 1.51271483e+02] [ 9.75692421e-01 2.18633420e-01 -1.49575218e-02 9.92636465e+01] [ 1.53780201e-02 -2.21672284e-04 9.99881727e-01 2.54027670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.28, Y:99.29, Z:2.54 [[ 2.18338037e-01 -9.75866655e-01 -3.57411894e-03 1.51277826e+02] [ 9.75752027e-01 2.18367176e-01 -1.49585527e-02 9.92904871e+01] [ 1.53780230e-02 -2.21432772e-04 9.99881727e-01 2.54064337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66361786499996 meters Centerline goodness [0,1] 0.9998686572391752 Centerline is valid? [True, True] Translation: X:151.28, Y:99.32, Z:2.54 [[ 2.18118638e-01 -9.75915359e-01 -3.67050215e-03 1.51284047e+02] [ 9.75794171e-01 2.18149402e-01 -1.53809860e-02 9.93178009e+01] [ 1.58112583e-02 -2.26774880e-04 9.99874969e-01 2.54090235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69361786499996 meters Centerline goodness [0,1] 0.9999781883220276 Centerline is valid? [True, True] Translation: X:151.29, Y:99.34, Z:2.54 [[ 2.17826279e-01 -9.75980420e-01 -3.73260680e-03 1.51291074e+02] [ 9.75854807e-01 2.17858134e-01 -1.56598144e-02 9.93435466e+01] [ 1.60968510e-02 -2.31363195e-04 9.99870411e-01 2.54069041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:99.37, Z:2.54 [[ 2.17830549e-01 -9.75979769e-01 -3.65264435e-03 1.51297871e+02] [ 9.75859256e-01 2.17861057e-01 -1.53385788e-02 9.93704128e+01] [ 1.57659116e-02 -2.23255760e-04 9.99875685e-01 2.54139883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:99.40, Z:2.54 [[ 2.17829168e-01 -9.75980118e-01 -3.64181615e-03 1.51304582e+02] [ 9.75860026e-01 2.17859499e-01 -1.53117386e-02 9.93973453e+01] [ 1.57373567e-02 -2.18559529e-04 9.99876136e-01 2.54170027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:99.42, Z:2.54 [[ 2.17912789e-01 -9.75961537e-01 -3.61862476e-03 1.51311263e+02] [ 9.75842678e-01 2.17942729e-01 -1.52326709e-02 9.94245983e+01] [ 1.56551539e-02 -2.11814674e-04 9.99877428e-01 2.54238663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.32, Y:99.45, Z:2.54 [[ 2.18492348e-01 -9.75832707e-01 -3.40915486e-03 1.51316946e+02] [ 9.75726952e-01 2.18518863e-01 -1.43674044e-02 9.94517613e+01] [ 1.47651478e-02 -1.87236349e-04 9.99890972e-01 2.54406464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.32, Y:99.48, Z:2.54 [[ 2.18422564e-01 -9.75848729e-01 -3.29266779e-03 1.51324012e+02] [ 9.75749849e-01 2.18447308e-01 -1.38926635e-02 9.94778753e+01] [ 1.42764124e-02 -1.78348917e-04 9.99898071e-01 2.54455263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:99.51, Z:2.55 [[ 2.18518000e-01 -9.75827754e-01 -3.17447633e-03 1.51328004e+02] [ 9.75735682e-01 2.18540993e-01 -1.34057066e-02 9.95056387e+01] [ 1.37754137e-02 -1.68061634e-04 9.99905100e-01 2.54530377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:99.53, Z:2.55 [[ 2.18464608e-01 -9.75840273e-01 -2.99606072e-03 1.51334227e+02] [ 9.75758073e-01 2.18485095e-01 -1.26667256e-02 9.95333316e+01] [ 1.30152956e-02 -1.56199189e-04 9.99915285e-01 2.54600414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.34, Y:99.56, Z:2.55 [[ 2.18089836e-01 -9.75924138e-01 -2.98339293e-03 1.51340593e+02] [ 9.75842442e-01 2.18110184e-01 -1.26283715e-02 9.95608325e+01] [ 1.29750409e-02 -1.57201981e-04 9.99915808e-01 2.54671803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:99.59, Z:2.55 [[ 2.17908287e-01 -9.75964817e-01 -2.94174589e-03 1.51346799e+02] [ 9.75885199e-01 2.17928089e-01 -1.24670422e-02 9.95870180e+01] [ 1.28084836e-02 -1.54134461e-04 9.99917956e-01 2.54724247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:99.61, Z:2.55 [[ 2.17341970e-01 -9.76091338e-01 -2.85793378e-03 1.51352730e+02] [ 9.76016078e-01 2.17360704e-01 -1.21218972e-02 9.96148717e+01] [ 1.24532814e-02 -1.54792297e-04 9.99922443e-01 2.54799229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:151.36, Y:99.64, Z:2.55 [[ 2.17262495e-01 -9.76109207e-01 -2.79704176e-03 1.51358405e+02] [ 9.76036952e-01 2.17280447e-01 -1.18775581e-02 9.96428785e+01] [ 1.22015363e-02 -1.49468208e-04 9.99925547e-01 2.54888299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.36, Y:99.67, Z:2.55 [[ 2.17213577e-01 -9.76120607e-01 -2.61217284e-03 1.51363837e+02] [ 9.76057449e-01 2.17229239e-01 -1.11046861e-02 9.96692886e+01] [ 1.14069532e-02 -1.37542179e-04 9.99934929e-01 2.55052890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.37, Y:99.70, Z:2.55 [[ 2.16880010e-01 -9.76194727e-01 -2.62975070e-03 1.51369335e+02] [ 9.76130613e-01 2.16895907e-01 -1.11888792e-02 9.96963442e+01] [ 1.14929071e-02 -1.40335924e-04 9.99933945e-01 2.55131802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:99.72, Z:2.55 [[ 2.16592089e-01 -9.76258685e-01 -2.61665706e-03 1.51375145e+02] [ 9.76195060e-01 2.16607850e-01 -1.11465329e-02 9.97235218e+01] [ 1.14486880e-02 -1.40116848e-04 9.99934452e-01 2.55213221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:99.75, Z:2.55 [[ 2.15668889e-01 -9.76463090e-01 -2.60069736e-03 1.51381299e+02] [ 9.76400095e-01 2.15684519e-01 -1.10924200e-02 9.97499191e+01] [ 1.13922689e-02 -1.47031245e-04 9.99935095e-01 2.55280677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:99.78, Z:2.55 [[ 2.15162736e-01 -9.76574746e-01 -2.60061772e-03 1.51385965e+02] [ 9.76511658e-01 2.15178399e-01 -1.11012525e-02 9.97779834e+01] [ 1.14007996e-02 -1.50957666e-04 9.99934997e-01 2.55326425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:99.80, Z:2.55 [[ 2.14679481e-01 -9.76681147e-01 -2.58024518e-03 1.51391806e+02] [ 9.76618906e-01 2.14694932e-01 -1.10271693e-02 9.98045867e+01] [ 1.13239940e-02 -1.52609235e-04 9.99935870e-01 2.55407267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23361786499996 meters Centerline goodness [0,1] 0.9999783343443973 Centerline is valid? [True, True] Translation: X:151.40, Y:99.83, Z:2.55 [[ 2.14049377e-01 -9.76819388e-01 -2.59755930e-03 1.51397827e+02] [ 9.76756157e-01 2.14065079e-01 -1.11154063e-02 9.98323664e+01] [ 1.14137911e-02 -1.57936254e-04 9.99934848e-01 2.55458184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.40, Y:99.86, Z:2.56 [[ 2.13013611e-01 -9.77045586e-01 -2.66908220e-03 1.51402497e+02] [ 9.76978681e-01 2.13030263e-01 -1.14352041e-02 9.98598612e+01] [ 1.17413110e-02 -1.71782291e-04 9.99931054e-01 2.55523277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29361786499996 meters Centerline goodness [0,1] 0.9999569104815254 Centerline is valid? [True, True] Translation: X:151.41, Y:99.89, Z:2.56 [[ 2.12405543e-01 -9.77177860e-01 -2.70454451e-03 1.51409791e+02] [ 9.77109007e-01 2.12422686e-01 -1.16013599e-02 9.98858263e+01] [ 1.19110986e-02 -1.78441654e-04 9.99929044e-01 2.55553623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.42, Y:99.91, Z:2.56 [[ 2.11571182e-01 -9.77358885e-01 -2.69164405e-03 1.51415623e+02] [ 9.77290526e-01 2.11588223e-01 -1.15607744e-02 9.99126927e+01] [ 1.18685458e-02 -1.84591519e-04 9.99929549e-01 2.55602635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35361786499996 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:151.42, Y:99.94, Z:2.56 [[ 2.10853309e-01 -9.77513836e-01 -2.75379097e-03 1.51420206e+02] [ 9.77442104e-01 2.10871202e-01 -1.18435652e-02 9.99401733e+01] [ 1.21579441e-02 -1.94416314e-04 9.99926071e-01 2.55591514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:99.97, Z:2.56 [[ 2.10097443e-01 -9.77676309e-01 -2.84603021e-03 1.51426178e+02] [ 9.77599515e-01 2.10116616e-01 -1.22554718e-02 9.99673579e+01] [ 1.25798826e-02 -2.07434477e-04 9.99920849e-01 2.55611945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41361786499996 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:151.43, Y:99.99, Z:2.56 [[ 2.09732600e-01 -9.77754436e-01 -2.91547111e-03 1.51432192e+02] [ 9.77673657e-01 2.09752754e-01 -1.25699229e-02 9.99944090e+01] [ 1.29018260e-02 -2.14056690e-04 9.99916745e-01 2.55670687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:100.02, Z:2.56 [[ 2.09397429e-01 -9.77825547e-01 -3.14887976e-03 1.51436055e+02] [ 9.77731081e-01 2.09420975e-01 -1.35936944e-02 1.00022601e+02] [ 1.39517032e-02 -2.32272947e-04 9.99902643e-01 2.55679386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:100.05, Z:2.56 [[ 2.09029872e-01 -9.77903610e-01 -3.32290644e-03 1.51442234e+02] [ 9.77798146e-01 2.09056136e-01 -1.43637467e-02 1.00049164e+02] [ 1.47410337e-02 -2.46679636e-04 9.99891315e-01 2.55649321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50361786499997 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:151.45, Y:100.08, Z:2.56 [[ 2.08650293e-01 -9.77984393e-01 -3.40324566e-03 1.51446938e+02] [ 9.77873483e-01 2.08677891e-01 -1.47305565e-02 1.00076627e+02] [ 1.51164365e-02 -2.54408753e-04 9.99885708e-01 2.55643082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.45, Y:100.10, Z:2.56 [[ 2.07576288e-01 -9.78212370e-01 -3.55575003e-03 1.51450788e+02] [ 9.78091019e-01 2.07606553e-01 -1.54102823e-02 1.00104178e+02] [ 1.58127257e-02 -2.79037982e-04 9.99874932e-01 2.55636657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:100.13, Z:2.56 [[ 2.06933595e-01 -9.78348258e-01 -3.62936971e-03 1.51456943e+02] [ 9.78221527e-01 2.06965215e-01 -1.57493903e-02 1.00130352e+02] [ 1.61595419e-02 -2.91249622e-04 9.99869384e-01 2.55664629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:100.16, Z:2.56 [[ 2.05679632e-01 -9.78612537e-01 -3.65952334e-03 1.51463100e+02] [ 9.78483398e-01 2.05711952e-01 -1.59007101e-02 1.00157726e+02] [ 1.63134419e-02 -3.10330634e-04 9.99866879e-01 2.55716421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:100.19, Z:2.56 [[ 2.03840873e-01 -9.78997053e-01 -3.69711133e-03 1.51466775e+02] [ 9.78865001e-01 2.03874114e-01 -1.60827588e-02 1.00186144e+02] [ 1.64987188e-02 -3.40649276e-04 9.99863829e-01 2.55811001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.47, Y:100.21, Z:2.56 [[ 2.02638846e-01 -9.79246521e-01 -3.70812798e-03 1.51472279e+02] [ 9.79113401e-01 2.02672455e-01 -1.61500259e-02 1.00214017e+02] [ 1.65663921e-02 -3.58055187e-04 9.99862704e-01 2.55843315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:100.24, Z:2.56 [[ 2.01631324e-01 -9.79454391e-01 -3.72901233e-03 1.51479653e+02] [ 9.79319480e-01 2.01665458e-01 -1.62603510e-02 1.00240634e+02] [ 1.66782852e-02 -3.73298314e-04 9.99860838e-01 2.55854294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:100.27, Z:2.56 [[ 1.99901520e-01 -9.79808825e-01 -3.74821137e-03 1.51484228e+02] [ 9.79672265e-01 1.99936255e-01 -1.63629672e-02 1.00267172e+02] [ 1.67819830e-02 -4.01036715e-04 9.99859092e-01 2.55916317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:100.30, Z:2.56 [[ 1.97927690e-01 -9.80209738e-01 -3.67424362e-03 1.51488123e+02] [ 9.80078258e-01 1.97961340e-01 -1.60597694e-02 1.00295897e+02] [ 1.64693005e-02 -4.22373232e-04 9.99864283e-01 2.56044284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:100.32, Z:2.56 [[ 1.96363571e-01 -9.80524822e-01 -3.52441427e-03 1.51493565e+02] [ 9.80403627e-01 1.96394733e-01 -1.54219480e-02 1.00323606e+02] [ 1.58137792e-02 -4.27039771e-04 9.99874863e-01 2.56113425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:100.35, Z:2.56 [[ 1.94744184e-01 -9.80847992e-01 -3.45248444e-03 1.51497247e+02] [ 9.80731478e-01 1.94774287e-01 -1.51243184e-02 1.00352390e+02] [ 1.55071125e-02 -4.40587113e-04 9.99879660e-01 2.56196616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:100.38, Z:2.56 [[ 1.93235228e-01 -9.81146499e-01 -3.41976542e-03 1.51503660e+02] [ 9.81031960e-01 1.93264947e-01 -1.49984893e-02 1.00379108e+02] [ 1.53766361e-02 -4.56662660e-04 9.99881668e-01 2.56226328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:100.41, Z:2.56 [[ 1.90587625e-01 -9.81663890e-01 -3.51636138e-03 1.51508853e+02] [ 9.81542585e-01 1.90619382e-01 -1.54403724e-02 1.00406291e+02] [ 1.58275426e-02 -5.08714550e-04 9.99874607e-01 2.56208196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:100.43, Z:2.56 [[ 1.89114115e-01 -9.81948744e-01 -3.53772687e-03 1.51512078e+02] [ 9.81825710e-01 1.89146453e-01 -1.55529692e-02 1.00434972e+02] [ 1.59413671e-02 -5.32145179e-04 9.99872787e-01 2.56227060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499995 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:151.52, Y:100.46, Z:2.56 [[ 1.88065685e-01 -9.82149608e-01 -3.66692475e-03 1.51518592e+02] [ 9.82017164e-01 1.88100580e-01 -1.61388102e-02 1.00461609e+02] [ 1.65404768e-02 -5.65826645e-04 9.99863037e-01 2.56190343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:100.49, Z:2.56 [[ 1.87067927e-01 -9.82339802e-01 -3.75542151e-03 1.51517982e+02] [ 9.82200685e-01 1.87104676e-01 -1.65424976e-02 1.00490622e+02] [ 1.69530108e-02 -5.94006839e-04 9.99856111e-01 2.56227390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:100.52, Z:2.56 [[ 1.86764352e-01 -9.82397437e-01 -3.78841248e-03 1.51523881e+02] [ 9.82255532e-01 1.86801805e-01 -1.67079679e-02 1.00516700e+02] [ 1.71215472e-02 -6.00736313e-04 9.99853235e-01 2.56265828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:100.55, Z:2.56 [[ 1.87064161e-01 -9.82340232e-01 -3.82983184e-03 1.51522300e+02] [ 9.82194814e-01 1.87102407e-01 -1.69126073e-02 1.00545623e+02] [ 1.73305054e-02 -5.97898267e-04 9.99849637e-01 2.56298541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:100.57, Z:2.56 [[ 1.87266051e-01 -9.82301505e-01 -3.89614887e-03 1.51524405e+02] [ 9.82150616e-01 1.87305615e-01 -1.72271428e-02 1.00573727e+02] [ 1.76520189e-02 -6.00546002e-04 9.99844011e-01 2.56325540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:100.60, Z:2.56 [[ 1.87730904e-01 -9.82212964e-01 -3.84726427e-03 1.51533301e+02] [ 9.82065449e-01 1.87769424e-01 -1.70322514e-02 1.00599355e+02] [ 1.74516967e-02 -5.80785355e-04 9.99847539e-01 2.56264547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:100.63, Z:2.56 [[ 1.88334177e-01 -9.82097376e-01 -3.87067101e-03 1.51530355e+02] [ 9.81947652e-01 1.88373087e-01 -1.71577780e-02 1.00628428e+02] [ 1.75797390e-02 -5.69400323e-04 9.99845302e-01 2.56371879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:100.65, Z:2.56 [[ 1.88714089e-01 -9.82024848e-01 -3.76705754e-03 1.51534205e+02] [ 9.81882664e-01 1.88750901e-01 -1.67191862e-02 1.00654906e+02] [ 1.71296917e-02 -5.43662511e-04 9.99853128e-01 2.56411454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:100.68, Z:2.56 [[ 1.90152624e-01 -9.81747617e-01 -3.68740022e-03 1.51536296e+02] [ 9.81610990e-01 1.90187706e-01 -1.63860059e-02 1.00682865e+02] [ 1.67882204e-02 -5.03750572e-04 9.99858941e-01 2.56494775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:100.71, Z:2.57 [[ 1.91008759e-01 -9.81581639e-01 -3.62482472e-03 1.51537406e+02] [ 9.81449271e-01 1.91042554e-01 -1.61267399e-02 1.00711625e+02] [ 1.65222076e-02 -4.77233000e-04 9.99863385e-01 2.56533478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:100.74, Z:2.56 [[ 1.93176239e-01 -9.81157182e-01 -3.67770177e-03 1.51542971e+02] [ 9.81020538e-01 1.93210735e-01 -1.63803628e-02 1.00738709e+02] [ 1.67822820e-02 -4.43604090e-04 9.99859069e-01 2.56443953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:100.77, Z:2.57 [[ 1.93922083e-01 -9.81010168e-01 -3.64364575e-03 1.51540714e+02] [ 9.80875783e-01 1.93955847e-01 -1.62427696e-02 1.00768208e+02] [ 1.66410285e-02 -4.24132157e-04 9.99861439e-01 2.56565222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.54, Y:100.80, Z:2.57 [[ 1.94729098e-01 -9.80850297e-01 -3.64332831e-03 1.51542749e+02] [ 9.80715572e-01 1.94762754e-01 -1.62614897e-02 1.00796706e+02] [ 1.66596717e-02 -4.06483579e-04 9.99861135e-01 2.56602491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:100.82, Z:2.57 [[ 1.96430908e-01 -9.80510940e-01 -3.63245355e-03 1.51546417e+02] [ 9.80376623e-01 1.96464139e-01 -1.62332730e-02 1.00824365e+02] [ 1.66305486e-02 -3.72455985e-04 9.99861634e-01 2.56661006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:100.85, Z:2.57 [[ 1.96982013e-01 -9.80400844e-01 -3.50307763e-03 1.51548044e+02] [ 9.80275612e-01 1.97012855e-01 -1.56735419e-02 1.00852261e+02] [ 1.60565050e-02 -3.46575729e-04 9.99871026e-01 2.56746470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:100.88, Z:2.57 [[ 1.98308054e-01 -9.80134064e-01 -3.33642035e-03 1.51546569e+02] [ 9.80020156e-01 1.98335882e-01 -1.49456067e-02 1.00881453e+02] [ 1.53104302e-02 -3.05925011e-04 9.99882742e-01 2.56812915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:100.91, Z:2.57 [[ 1.99199905e-01 -9.79953203e-01 -3.33438909e-03 1.51550682e+02] [ 9.79839128e-01 1.99227602e-01 -1.49547850e-02 1.00908390e+02] [ 1.53192918e-02 -2.88173152e-04 9.99882611e-01 2.56839314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:100.94, Z:2.57 [[ 1.99691442e-01 -9.79852951e-01 -3.39438348e-03 1.51556547e+02] [ 9.79734465e-01 1.99720090e-01 -1.52401934e-02 1.00935255e+02] [ 1.56110751e-02 -2.82258284e-04 9.99878100e-01 2.56844495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:100.96, Z:2.57 [[ 1.99843234e-01 -9.79822336e-01 -3.29722857e-03 1.51558222e+02] [ 9.79710240e-01 1.99870253e-01 -1.48231929e-02 1.00963427e+02] [ 1.51831134e-02 -2.68013788e-04 9.99884694e-01 2.56922432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:100.99, Z:2.57 [[ 2.00491182e-01 -9.79690302e-01 -3.19344365e-03 1.51561329e+02] [ 9.79584874e-01 2.00516462e-01 -1.43743839e-02 1.00990409e+02] [ 1.47227825e-02 -2.46311879e-04 9.99891584e-01 2.56971046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:101.02, Z:2.57 [[ 2.00487128e-01 -9.79690800e-01 -3.29350733e-03 1.51566056e+02] [ 9.79578450e-01 2.00514020e-01 -1.48387156e-02 1.01018546e+02] [ 1.51977476e-02 -2.51277337e-04 9.99884476e-01 2.57041958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.57, Y:101.05, Z:2.57 [[ 2.00219194e-01 -9.79745607e-01 -3.28944730e-03 1.51571956e+02] [ 9.79633249e-01 2.00246056e-01 -1.48396157e-02 1.01045460e+02] [ 1.51977471e-02 -2.51276058e-04 9.99884476e-01 2.57078635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:101.07, Z:2.57 [[ 2.00395471e-01 -9.79709702e-01 -3.24881174e-03 1.51576743e+02] [ 9.79599825e-01 2.00421658e-01 -1.46745301e-02 1.01072310e+02] [ 1.50279118e-02 -2.41826031e-04 9.99887045e-01 2.57141390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:101.10, Z:2.57 [[ 1.99909141e-01 -9.79809194e-01 -3.20621638e-03 1.51581412e+02] [ 9.79701983e-01 1.99934702e-01 -1.44961944e-02 1.01100285e+02] [ 1.48445384e-02 -2.43214793e-04 9.99889784e-01 2.57195102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499995 meters Centerline goodness [0,1] 0.9999790659214135 Centerline is valid? [True, True] Translation: X:151.59, Y:101.13, Z:2.57 [[ 1.99514134e-01 -9.79889626e-01 -3.22975447e-03 1.51585186e+02] [ 9.79780563e-01 1.99540121e-01 -1.46214838e-02 1.01127916e+02] [ 1.49719059e-02 -2.47257993e-04 9.99887884e-01 2.57213935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.59, Y:101.15, Z:2.57 [[ 1.98598353e-01 -9.80075635e-01 -3.23186515e-03 1.51591384e+02] [ 9.79966167e-01 1.98624481e-01 -1.46501807e-02 1.01154658e+02] [ 1.50002127e-02 -2.57616751e-04 9.99887457e-01 2.57239694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:101.18, Z:2.57 [[ 1.96411344e-01 -9.80516137e-01 -3.26957185e-03 1.51598242e+02] [ 9.80403852e-01 1.96438341e-01 -1.48413370e-02 1.01182548e+02] [ 1.51944397e-02 -2.90493901e-04 9.99884516e-01 2.57313602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:101.21, Z:2.57 [[ 1.94528099e-01 -9.80891548e-01 -3.25426222e-03 1.51604589e+02] [ 9.80780099e-01 1.94555063e-01 -1.47893825e-02 1.01209783e+02] [ 1.51399135e-02 -3.14765157e-04 9.99885335e-01 2.57338429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:101.24, Z:2.57 [[ 1.92654330e-01 -9.81260942e-01 -3.35760584e-03 1.51611006e+02] [ 9.81142072e-01 1.92683267e-01 -1.52772465e-02 1.01236948e+02] [ 1.56379197e-02 -3.51060662e-04 9.99877659e-01 2.57386166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:101.26, Z:2.57 [[ 1.88794100e-01 -9.82010586e-01 -3.46351371e-03 1.51618885e+02] [ 9.81883914e-01 1.88825396e-01 -1.57781605e-02 1.01264203e+02] [ 1.61483200e-02 -4.21944780e-04 9.99869518e-01 2.57383564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.63, Y:101.29, Z:2.57 [[ 1.86753623e-01 -9.82400348e-01 -3.55532873e-03 1.51628699e+02] [ 9.82266609e-01 1.86786886e-01 -1.62163031e-02 1.01290264e+02] [ 1.65949906e-02 -4.63827347e-04 9.99862186e-01 2.57400624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:101.32, Z:2.57 [[ 1.84772285e-01 -9.82775094e-01 -3.50975370e-03 1.51636438e+02] [ 9.82644508e-01 1.84804973e-01 -1.60278458e-02 1.01315962e+02] [ 1.64003876e-02 -4.87338512e-04 9.99865386e-01 2.57429474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:101.34, Z:2.58 [[ 1.82942791e-01 -9.83116984e-01 -3.59589407e-03 1.51641716e+02] [ 9.82979614e-01 1.82977370e-01 -1.64426614e-02 1.01344354e+02] [ 1.68230269e-02 -5.26624197e-04 9.99858344e-01 2.57504064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.65, Y:101.37, Z:2.58 [[ 1.80426732e-01 -9.83581169e-01 -3.77864944e-03 1.51650881e+02] [ 9.83429229e-01 1.80465314e-01 -1.72980123e-02 1.01370373e+02] [ 1.76959143e-02 -5.95010482e-04 9.99843238e-01 2.57526284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.66, Y:101.40, Z:2.58 [[ 1.79264019e-01 -9.83793172e-01 -3.92510109e-03 1.51656712e+02] [ 9.83628971e-01 1.79305854e-01 -1.79849529e-02 1.01397962e+02] [ 1.83972675e-02 -6.36788219e-04 9.99830553e-01 2.57584490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.66, Y:101.43, Z:2.58 [[ 1.78497818e-01 -9.83932370e-01 -3.95231507e-03 1.51662112e+02] [ 9.83765511e-01 1.78540380e-01 -1.81315073e-02 1.01425230e+02] [ 1.85458248e-02 -6.51716761e-04 9.99827799e-01 2.57705708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.67, Y:101.45, Z:2.58 [[ 1.78152792e-01 -9.83994556e-01 -4.03694011e-03 1.51671469e+02] [ 9.83820066e-01 1.78197272e-01 -1.85421308e-02 1.01451371e+02] [ 1.89647275e-02 -6.68290312e-04 9.99819930e-01 2.57722739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:101.48, Z:2.58 [[ 1.78344432e-01 -9.83959589e-01 -4.09763475e-03 1.51678620e+02] [ 9.83779392e-01 1.78390238e-01 -1.88422486e-02 1.01477362e+02] [ 1.92709892e-02 -6.70758497e-04 9.99814072e-01 2.57758929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:101.51, Z:2.58 [[ 1.79509332e-01 -9.83747090e-01 -4.25011561e-03 1.51683377e+02] [ 9.83552753e-01 1.79558395e-01 -1.95643529e-02 1.01505202e+02] [ 2.00095191e-02 -6.68228991e-04 9.99799566e-01 2.57859519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.69, Y:101.53, Z:2.58 [[ 1.80224605e-01 -9.83615868e-01 -4.34919239e-03 1.51689802e+02] [ 9.83411794e-01 1.80275851e-01 -2.00464880e-02 1.01533133e+02] [ 2.05020980e-02 -6.64176721e-04 9.99789589e-01 2.57882746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.70, Y:101.56, Z:2.58 [[ 1.81006105e-01 -9.83472082e-01 -4.41072808e-03 1.51697597e+02] [ 9.83261644e-01 1.81058661e-01 -2.03543792e-02 1.01559630e+02] [ 2.08165642e-02 -6.52632846e-04 9.99783099e-01 2.57865107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.70, Y:101.59, Z:2.58 [[ 1.82956347e-01 -9.83110394e-01 -4.57470991e-03 1.51703892e+02] [ 9.82883411e-01 1.83012448e-01 -2.11339503e-02 1.01587668e+02] [ 2.16142351e-02 -6.29816141e-04 9.99766187e-01 2.57860396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.71, Y:101.62, Z:2.58 [[ 1.84187038e-01 -9.82880459e-01 -4.59773184e-03 1.51710088e+02] [ 9.82650546e-01 1.84243434e-01 -2.12664305e-02 1.01615661e+02] [ 2.17494609e-02 -6.00962847e-04 9.99763272e-01 2.57925687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:101.64, Z:2.58 [[ 1.87297289e-01 -9.82292280e-01 -4.64784341e-03 1.51717737e+02] [ 9.82056625e-01 1.87354190e-01 -2.15219268e-02 1.01641437e+02] [ 2.20116154e-02 -5.33446863e-04 9.99757573e-01 2.57997709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:101.67, Z:2.58 [[ 1.88820734e-01 -9.82000678e-01 -4.62595279e-03 1.51723539e+02] [ 9.81766687e-01 1.88876748e-01 -2.14416914e-02 1.01669368e+02] [ 2.19294904e-02 -4.92970423e-04 9.99759398e-01 2.58127102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.73, Y:101.70, Z:2.58 [[ 1.90680838e-01 -9.81641892e-01 -4.47364296e-03 1.51730702e+02] [ 9.81422473e-01 1.90732820e-01 -2.07586186e-02 1.01695997e+02] [ 2.12308002e-02 -4.32262939e-04 9.99774508e-01 2.58148941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:101.72, Z:2.58 [[ 1.93413329e-01 -9.81107579e-01 -4.38216339e-03 1.51737267e+02] [ 9.80896500e-01 1.93462627e-01 -2.03535742e-02 1.01723974e+02] [ 2.08168308e-02 -3.61796192e-04 9.99783241e-01 2.58219620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:101.75, Z:2.58 [[ 1.94534808e-01 -9.80886205e-01 -4.29675363e-03 1.51744017e+02] [ 9.80682735e-01 1.94581979e-01 -1.99806428e-02 1.01751435e+02] [ 2.04348077e-02 -3.26821610e-04 9.99791134e-01 2.58259669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.75, Y:101.78, Z:2.58 [[ 1.94781636e-01 -9.80837289e-01 -4.28099140e-03 1.51749759e+02] [ 9.80634769e-01 1.94828420e-01 -1.99333056e-02 1.01779306e+02] [ 2.03853882e-02 -3.15447127e-04 9.99792147e-01 2.58338966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:101.81, Z:2.58 [[ 1.95273756e-01 -9.80739122e-01 -4.35149269e-03 1.51757496e+02] [ 9.80529275e-01 1.95321997e-01 -2.02893454e-02 1.01805242e+02] [ 2.07484970e-02 -3.04789294e-04 9.99784680e-01 2.58297740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:101.83, Z:2.58 [[ 1.95753362e-01 -9.80643309e-01 -4.39562919e-03 1.51764867e+02] [ 9.80428566e-01 1.95802489e-01 -2.05234376e-02 1.01832750e+02] [ 2.09868469e-02 -2.92068520e-04 9.99779709e-01 2.58326120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.77, Y:101.86, Z:2.58 [[ 1.95887058e-01 -9.80616376e-01 -4.44786023e-03 1.51772028e+02] [ 9.80395890e-01 1.95937338e-01 -2.07956432e-02 1.01859395e+02] [ 2.12640501e-02 -2.87066527e-04 9.99773853e-01 2.58317040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.78, Y:101.89, Z:2.58 [[ 1.96545546e-01 -9.80485211e-01 -4.31280111e-03 1.51778318e+02] [ 9.80277319e-01 1.96592687e-01 -2.01914139e-02 1.01886749e+02] [ 2.06452479e-02 -2.59208644e-04 9.99786831e-01 2.58376596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.78, Y:101.91, Z:2.58 [[ 1.96739963e-01 -9.80446367e-01 -4.27887768e-03 1.51784383e+02] [ 9.80241172e-01 1.96786332e-01 -2.00595406e-02 1.01913706e+02] [ 2.05093284e-02 -2.47818779e-04 9.99789631e-01 2.58420318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.79, Y:101.94, Z:2.58 [[ 1.96889678e-01 -9.80416403e-01 -4.25822802e-03 1.51793013e+02] [ 9.80212632e-01 1.96935576e-01 -1.99893517e-02 1.01939589e+02] [ 2.04364849e-02 -2.38271885e-04 9.99791125e-01 2.58355129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.80, Y:101.97, Z:2.58 [[ 1.96383728e-01 -9.80518141e-01 -4.19605372e-03 1.51799490e+02] [ 9.80319801e-01 1.96428404e-01 -1.97223415e-02 1.01966974e+02] [ 2.01623377e-02 -2.40327605e-04 9.99796691e-01 2.58364945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:101.99, Z:2.58 [[ 1.95713430e-01 -9.80652287e-01 -4.16484263e-03 1.51805966e+02] [ 9.80456390e-01 1.95757583e-01 -1.96019201e-02 1.01994409e+02] [ 2.00379673e-02 -2.47087547e-04 9.99799189e-01 2.58419369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:102.02, Z:2.58 [[ 1.95006413e-01 -9.80793352e-01 -4.11104888e-03 1.51812812e+02] [ 9.80602043e-01 1.95049577e-01 -1.93725684e-02 1.02020993e+02] [ 1.98023446e-02 -2.53527866e-04 9.99803882e-01 2.58436729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.82, Y:102.05, Z:2.58 [[ 1.93567298e-01 -9.81078789e-01 -4.01381058e-03 1.51821277e+02] [ 9.80896077e-01 1.93608718e-01 -1.89354308e-02 1.02047346e+02] [ 1.93542583e-02 -2.71850872e-04 9.99812652e-01 2.58478753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:102.07, Z:2.59 [[ 1.93023115e-01 -9.81186701e-01 -3.83863841e-03 1.51828119e+02] [ 9.81019155e-01 1.93061098e-01 -1.81336514e-02 1.02074969e+02] [ 1.85335894e-02 -2.65563916e-04 9.99828203e-01 2.58527031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:102.10, Z:2.59 [[ 1.92291163e-01 -9.81330052e-01 -3.92915812e-03 1.51834205e+02] [ 9.81154061e-01 1.92331096e-01 -1.85865104e-02 1.02102783e+02] [ 1.89952005e-02 -2.81087749e-04 9.99819535e-01 2.58541243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.84, Y:102.13, Z:2.59 [[ 1.91984872e-01 -9.81389809e-01 -3.98152873e-03 1.51840648e+02] [ 9.81208606e-01 1.92025941e-01 -1.88602828e-02 1.02129186e+02] [ 1.92738461e-02 -2.85821275e-04 9.99814201e-01 2.58519724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:102.16, Z:2.58 [[ 1.91990841e-01 -9.81387996e-01 -4.13748529e-03 1.51847092e+02] [ 9.81191755e-01 1.92035197e-01 -1.96271114e-02 1.02156449e+02] [ 2.00563544e-02 -2.91440824e-04 9.99798809e-01 2.58465015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.85, Y:102.18, Z:2.58 [[ 1.92062872e-01 -9.81373694e-01 -4.18641545e-03 1.51853296e+02] [ 9.81172235e-01 1.92108276e-01 -1.98860902e-02 1.02184318e+02] [ 2.03199309e-02 -2.88215007e-04 9.99793487e-01 2.58479711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:102.21, Z:2.58 [[ 1.92369418e-01 -9.81314054e-01 -4.09084735e-03 1.51860277e+02] [ 9.81121210e-01 1.92412719e-01 -1.94554930e-02 1.02210842e+02] [ 1.98790798e-02 -2.70975235e-04 9.99802355e-01 2.58484002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.87, Y:102.24, Z:2.59 [[ 1.92596613e-01 -9.81269829e-01 -4.00831657e-03 1.51865549e+02] [ 9.81084275e-01 1.92638147e-01 -1.90837613e-02 1.02238054e+02] [ 1.94984738e-02 -2.57028575e-04 9.99809854e-01 2.58611325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.87, Y:102.26, Z:2.59 [[ 1.92620004e-01 -9.81265714e-01 -3.89007695e-03 1.51872536e+02] [ 9.81090467e-01 1.92659126e-01 -1.85460769e-02 1.02264349e+02] [ 1.89480882e-02 -2.44172021e-04 9.99820439e-01 2.58675867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.88, Y:102.29, Z:2.59 [[ 1.92907188e-01 -9.81210455e-01 -3.58597906e-03 1.51877483e+02] [ 9.81061130e-01 1.92940394e-01 -1.71190914e-02 1.02291566e+02] [ 1.74893117e-02 -2.15668883e-04 9.99847027e-01 2.58807757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.88, Y:102.32, Z:2.59 [[ 1.92626290e-01 -9.81265819e-01 -3.53613832e-03 1.51883447e+02] [ 9.81120238e-01 1.92658626e-01 -1.69036105e-02 1.02318778e+02] [ 1.72682027e-02 -2.13297092e-04 9.99850871e-01 2.58868518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:102.35, Z:2.59 [[ 1.92253281e-01 -9.81339450e-01 -3.40007931e-03 1.51889738e+02] [ 9.81204516e-01 1.92283233e-01 -1.62743734e-02 1.02346077e+02] [ 1.66244628e-02 -2.07371497e-04 9.99861783e-01 2.58915505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.90, Y:102.37, Z:2.59 [[ 1.91176667e-01 -9.81550326e-01 -3.23116304e-03 1.51897351e+02] [ 9.81428178e-01 1.91203855e-01 -1.54860300e-02 1.02372633e+02] [ 1.58181287e-02 -2.10586854e-04 9.99874863e-01 2.59050680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.90, Y:102.40, Z:2.59 [[ 1.90322829e-01 -9.81716371e-01 -3.19198805e-03 1.51903590e+02] [ 9.81596851e-01 1.90349470e-01 -1.53199847e-02 1.02400312e+02] [ 1.56474730e-02 -2.17502595e-04 9.99877547e-01 2.59107221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:102.43, Z:2.59 [[ 1.88965788e-01 -9.81978379e-01 -3.22395994e-03 1.51911990e+02] [ 9.81856144e-01 1.88993139e-01 -1.54953810e-02 1.02426345e+02] [ 1.58254355e-02 -2.37367987e-04 9.99874742e-01 2.59067794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:102.45, Z:2.59 [[ 1.88471380e-01 -9.82073216e-01 -3.27688915e-03 1.51916854e+02] [ 9.81946574e-01 1.88499706e-01 -1.57729831e-02 1.02453638e+02] [ 1.61079169e-02 -2.44974172e-04 9.99870229e-01 2.59087330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:102.48, Z:2.59 [[ 1.87951356e-01 -9.82173017e-01 -3.23295245e-03 1.51921735e+02] [ 9.82049428e-01 1.87978998e-01 -1.55825711e-02 1.02481076e+02] [ 1.59125080e-02 -2.46153731e-04 9.99873358e-01 2.59113624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.93, Y:102.51, Z:2.59 [[ 1.88084414e-01 -9.82147895e-01 -3.12508159e-03 1.51928070e+02] [ 9.82032095e-01 1.88110231e-01 -1.50832714e-02 1.02508145e+02] [ 1.54018631e-02 -2.32002159e-04 9.99881357e-01 2.59143187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.93, Y:102.54, Z:2.59 [[ 1.88086334e-01 -9.82147459e-01 -3.14629863e-03 1.51934628e+02] [ 9.82029745e-01 1.88112508e-01 -1.52073930e-02 1.02535515e+02] [ 1.55277606e-02 -2.29456032e-04 9.99879411e-01 2.59210449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:102.56, Z:2.59 [[ 1.87916775e-01 -9.82180121e-01 -3.08167826e-03 1.51941936e+02] [ 9.82066882e-01 1.87941908e-01 -1.49157263e-02 1.02562059e+02] [ 1.52291063e-02 -2.23498982e-04 9.99884005e-01 2.59237966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.95, Y:102.59, Z:2.59 [[ 1.87456558e-01 -9.82268011e-01 -3.09722293e-03 1.51949692e+02] [ 9.82153340e-01 1.87482004e-01 -1.50104824e-02 1.02589305e+02] [ 1.53249903e-02 -2.28134483e-04 9.99882539e-01 2.59291928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.96, Y:102.62, Z:2.59 [[ 1.87284060e-01 -9.82300793e-01 -3.13583038e-03 1.51956171e+02] [ 9.82182919e-01 1.87310170e-01 -1.52188930e-02 1.02616652e+02] [ 1.55369036e-02 -2.29702961e-04 9.99879269e-01 2.59277631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.96, Y:102.64, Z:2.59 [[ 1.87037250e-01 -9.82347625e-01 -3.19548559e-03 1.51962385e+02] [ 9.82224885e-01 1.87064398e-01 -1.55301581e-02 1.02644402e+02] [ 1.58537755e-02 -2.33967407e-04 9.99874294e-01 2.59286289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:102.67, Z:2.59 [[ 1.87137089e-01 -9.82328297e-01 -3.29030339e-03 1.51968857e+02] [ 9.82197790e-01 1.87165865e-01 -1.60137564e-02 1.02671114e+02] [ 1.63465986e-02 -2.34960945e-04 9.99866358e-01 2.59257707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:102.70, Z:2.59 [[ 1.87213402e-01 -9.82313830e-01 -3.26819197e-03 1.51974357e+02] [ 9.82184698e-01 1.87241788e-01 -1.59289823e-02 1.02699013e+02] [ 1.62592017e-02 -2.27849167e-04 9.99867784e-01 2.59320179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.98, Y:102.73, Z:2.59 [[ 1.87139720e-01 -9.82327902e-01 -3.25850066e-03 1.51981325e+02] [ 9.82199176e-01 1.87167952e-01 -1.59039695e-02 1.02726164e+02] [ 1.62327999e-02 -2.24232261e-04 9.99868214e-01 2.59432167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:102.75, Z:2.59 [[ 1.86866926e-01 -9.82379847e-01 -3.25408253e-03 1.51986794e+02] [ 9.82251113e-01 1.86895122e-01 -1.59048736e-02 1.02753185e+02] [ 1.62327994e-02 -2.24231353e-04 9.99868214e-01 2.59468842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:102.78, Z:2.60 [[ 1.86562206e-01 -9.82437856e-01 -3.22542191e-03 1.51993700e+02] [ 9.82311027e-01 1.86589952e-01 -1.57871905e-02 1.02779462e+02] [ 1.61117649e-02 -2.23074419e-04 9.99870172e-01 2.59517012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.00, Y:102.81, Z:2.60 [[ 1.86400432e-01 -9.82468756e-01 -3.16595693e-03 1.51999494e+02] [ 9.82346207e-01 1.86427190e-01 -1.55187971e-02 1.02807178e+02] [ 1.58369537e-02 -2.17355302e-04 9.99874564e-01 2.59609240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:102.83, Z:2.60 [[ 1.86350290e-01 -9.82478564e-01 -3.07253047e-03 1.52007855e+02] [ 9.82362834e-01 1.86375502e-01 -1.50809318e-02 1.02833353e+02] [ 1.53893366e-02 -2.08003718e-04 9.99881556e-01 2.59675087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:102.86, Z:2.60 [[ 1.86235904e-01 -9.82500448e-01 -3.00950925e-03 1.52011685e+02] [ 9.82389183e-01 1.86260109e-01 -1.47873374e-02 1.02861710e+02] [ 1.50891172e-02 -2.02576165e-04 9.99886132e-01 2.59741463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:102.89, Z:2.60 [[ 1.86535983e-01 -9.82443682e-01 -2.95612304e-03 1.52018164e+02] [ 9.82336019e-01 1.86559308e-01 -1.45454991e-02 1.02888464e+02] [ 1.48416260e-02 -1.90647158e-04 9.99889839e-01 2.59814929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:102.91, Z:2.60 [[ 1.86432440e-01 -9.82462973e-01 -3.07440269e-03 1.52024291e+02] [ 9.82346162e-01 1.86457686e-01 -1.51508859e-02 1.02914503e+02] [ 1.54584304e-02 -1.95511043e-04 9.99880492e-01 2.59855977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:102.94, Z:2.60 [[ 1.86769027e-01 -9.82399053e-01 -3.07120785e-03 1.52030663e+02] [ 9.82282132e-01 1.86794184e-01 -1.51573697e-02 1.02941817e+02] [ 1.54642694e-02 -1.85865405e-04 9.99880404e-01 2.59902702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.04, Y:102.97, Z:2.60 [[ 1.87110676e-01 -9.82334006e-01 -3.08157717e-03 1.52036758e+02] [ 9.82215957e-01 1.87135966e-01 -1.52296898e-02 1.02969706e+02] [ 1.55373161e-02 -1.77136721e-04 9.99879273e-01 2.59936445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.04, Y:103.00, Z:2.60 [[ 1.87338662e-01 -9.82290208e-01 -3.18959271e-03 1.52043490e+02] [ 9.82163366e-01 1.87365731e-01 -1.57862629e-02 1.02996342e+02] [ 1.61043118e-02 -1.75323747e-04 9.99870302e-01 2.59935597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:152.05, Y:103.02, Z:2.60 [[ 1.87418738e-01 -9.82274540e-01 -3.30816868e-03 1.52049972e+02] [ 9.82137680e-01 1.87447850e-01 -1.63975671e-02 1.03023352e+02] [ 1.67270218e-02 -1.75865784e-04 9.99860078e-01 2.60021238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77361786499995 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:152.06, Y:103.05, Z:2.60 [[ 1.87195575e-01 -9.82316405e-01 -3.50674615e-03 1.52057765e+02] [ 9.82162182e-01 1.87228326e-01 -1.74069798e-02 1.03050414e+02] [ 1.77557240e-02 -1.85683866e-04 9.99842337e-01 2.60073216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.07, Y:103.08, Z:2.60 [[ 1.87104787e-01 -9.82333725e-01 -3.50011789e-03 1.52065092e+02] [ 9.82179652e-01 1.87137433e-01 -1.73986349e-02 1.03076371e+02] [ 1.77462689e-02 -1.82376700e-04 9.99842506e-01 2.60113573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.07, Y:103.10, Z:2.60 [[ 1.87055926e-01 -9.82342895e-01 -3.53809769e-03 1.52071069e+02] [ 9.82184997e-01 1.87089297e-01 -1.76132591e-02 1.03103467e+02] [ 1.79642001e-02 -1.80401979e-04 9.99838614e-01 2.60176685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:103.13, Z:2.60 [[ 1.87339312e-01 -9.82288933e-01 -3.52615126e-03 1.52079852e+02] [ 9.82131643e-01 1.87372417e-01 -1.75787699e-02 1.03129749e+02] [ 1.79281346e-02 -1.69950092e-04 9.99839264e-01 2.60231996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:103.16, Z:2.60 [[ 1.87062475e-01 -9.82341885e-01 -3.47154688e-03 1.52085300e+02] [ 9.82188992e-01 1.87094610e-01 -1.73317877e-02 1.03157486e+02] [ 1.76752487e-02 -1.67588031e-04 9.99843767e-01 2.60373639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.09, Y:103.18, Z:2.61 [[ 1.86922428e-01 -9.82368606e-01 -3.45363283e-03 1.52093237e+02] [ 9.82216854e-01 1.86954258e-01 -1.72672164e-02 1.03184802e+02] [ 1.76084427e-02 -1.64586359e-04 9.99844946e-01 2.60511660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.10, Y:103.21, Z:2.61 [[ 1.86584161e-01 -9.82432865e-01 -3.46654412e-03 1.52100395e+02] [ 9.82279543e-01 1.86616286e-01 -1.73568595e-02 1.03211774e+02] [ 1.76988628e-02 -1.66600317e-04 9.99843349e-01 2.60539729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:103.24, Z:2.61 [[ 1.86265079e-01 -9.82493089e-01 -3.55665538e-03 1.52107584e+02] [ 9.82331228e-01 1.86298953e-01 -1.78341799e-02 1.03239001e+02] [ 1.81845597e-02 -1.71928715e-04 9.99834632e-01 2.60628726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:103.27, Z:2.61 [[ 1.85977736e-01 -9.82547512e-01 -3.55920508e-03 1.52114561e+02] [ 9.82384961e-01 1.86011710e-01 -1.78726577e-02 1.03265815e+02] [ 1.82227892e-02 -1.72593135e-04 9.99833936e-01 2.60677259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.12, Y:103.29, Z:2.61 [[ 1.86094036e-01 -9.82525421e-01 -3.57864737e-03 1.52121567e+02] [ 9.82360602e-01 1.86128368e-01 -1.79966052e-02 1.03292327e+02] [ 1.83482099e-02 -1.66461290e-04 9.99831644e-01 2.60721011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.13, Y:103.32, Z:2.61 [[ 1.87252492e-01 -9.82305110e-01 -3.62976983e-03 1.52128934e+02] [ 9.82134996e-01 1.87287615e-01 -1.82811175e-02 1.03319260e+02] [ 1.86374461e-02 -1.41739182e-04 9.99826298e-01 2.60796762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.14, Y:103.35, Z:2.61 [[ 1.87579348e-01 -9.82242454e-01 -3.70812349e-03 1.52135065e+02] [ 9.82064393e-01 1.87615949e-01 -1.87025139e-02 1.03346582e+02] [ 1.90661062e-02 -1.33410683e-04 9.99818216e-01 2.60862618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13361786499996 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:152.14, Y:103.37, Z:2.61 [[ 1.88211648e-01 -9.82121082e-01 -3.81519565e-03 1.52141294e+02] [ 9.81932018e-01 1.88250274e-01 -1.92703374e-02 1.03373940e+02] [ 1.96440163e-02 -1.19360804e-04 9.99807031e-01 2.60864547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:103.40, Z:2.61 [[ 1.88903861e-01 -9.81987783e-01 -3.91490641e-03 1.52148781e+02] [ 9.81788154e-01 1.88944395e-01 -1.97998883e-02 1.03399876e+02] [ 2.01829480e-02 -1.03333406e-04 9.99796298e-01 2.60869194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:103.43, Z:2.61 [[ 1.89033028e-01 -9.81962539e-01 -4.01088977e-03 1.52155422e+02] [ 9.81752487e-01 1.89075549e-01 -2.03098557e-02 1.03426513e+02] [ 2.07018787e-02 -9.84674810e-05 9.99785688e-01 2.60932804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:103.45, Z:2.61 [[ 1.89444368e-01 -9.81882876e-01 -4.10470401e-03 1.52163579e+02] [ 9.81662206e-01 1.89488812e-01 -2.08159239e-02 1.03453756e+02] [ 2.12165948e-02 -8.59732326e-05 9.99774899e-01 2.61070555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.17, Y:103.48, Z:2.61 [[ 1.88962888e-01 -9.81975666e-01 -4.10095608e-03 1.52170811e+02] [ 9.81754767e-01 1.89007361e-01 -2.08277322e-02 1.03479522e+02] [ 2.12274371e-02 -9.04647704e-05 9.99774668e-01 2.61000398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.18, Y:103.51, Z:2.61 [[ 1.88370641e-01 -9.82089247e-01 -4.14877314e-03 1.52177081e+02] [ 9.81862507e-01 1.88416297e-01 -2.11025085e-02 1.03507189e+02] [ 2.15062431e-02 -9.84317510e-05 9.99768709e-01 2.61187277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31361786499997 meters Centerline goodness [0,1] 0.9999566874566874 Centerline is valid? [True, True] Translation: X:152.19, Y:103.53, Z:2.61 [[ 1.87175269e-01 -9.82318268e-01 -4.02977696e-03 1.52185989e+02] [ 9.82103789e-01 1.87218607e-01 -2.05266006e-02 1.03534034e+02] [ 2.09181039e-02 -1.15587249e-04 9.99781186e-01 2.61312275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.19, Y:103.56, Z:2.61 [[ 1.86216578e-01 -9.82500307e-01 -4.06601341e-03 1.52193165e+02] [ 9.82281351e-01 1.86260917e-01 -2.07417040e-02 1.03560948e+02] [ 2.11360699e-02 -1.31520003e-04 9.99776600e-01 2.61372266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.20, Y:103.59, Z:2.61 [[ 1.85016851e-01 -9.82727069e-01 -4.03408779e-03 1.52200694e+02] [ 9.82510951e-01 1.85060764e-01 -2.06093436e-02 1.03587466e+02] [ 2.09999112e-02 -1.50459591e-04 9.99779466e-01 2.61432106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:103.61, Z:2.62 [[ 1.83971745e-01 -9.82923238e-01 -4.03791663e-03 1.52207474e+02] [ 9.82706101e-01 1.84015977e-01 -2.06600718e-02 1.03614351e+02] [ 2.10503058e-02 -1.67215850e-04 9.99778404e-01 2.61572869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43361786499997 meters Centerline goodness [0,1] 0.9999782263156749 Centerline is valid? [True, True] Translation: X:152.22, Y:103.64, Z:2.62 [[ 1.82399952e-01 -9.83215959e-01 -4.07859800e-03 1.52215890e+02] [ 9.82993844e-01 1.82445439e-01 -2.08988940e-02 1.03641427e+02] [ 2.12922477e-02 -1.97279484e-04 9.99773275e-01 2.61689006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters Centerline goodness [0,1] 0.9999128160418483 Centerline is valid? [True, True] Translation: X:152.22, Y:103.67, Z:2.62 [[ 1.81328017e-01 -9.83414317e-01 -4.05348037e-03 1.52222513e+02] [ 9.83194322e-01 1.81373192e-01 -2.08012307e-02 1.03667750e+02] [ 2.11914208e-02 -2.13512977e-04 9.99775414e-01 2.61725656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.23, Y:103.69, Z:2.62 [[ 1.80017827e-01 -9.83654703e-01 -4.12399915e-03 1.52228983e+02] [ 9.83426349e-01 1.80064899e-01 -2.11954625e-02 1.03694894e+02] [ 2.15916038e-02 -2.40088334e-04 9.99766845e-01 2.61825383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:103.72, Z:2.62 [[ 1.79067033e-01 -9.83828311e-01 -4.10504368e-03 1.52235019e+02] [ 9.83601444e-01 1.79113899e-01 -2.11284399e-02 1.03722151e+02] [ 2.15220277e-02 -2.54319858e-04 9.99768342e-01 2.61837199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:103.75, Z:2.62 [[ 1.78374423e-01 -9.83953695e-01 -4.20610651e-03 1.52240983e+02] [ 9.83714837e-01 1.78423802e-01 -2.16809989e-02 1.03749087e+02] [ 2.20835685e-02 -2.70273704e-04 9.99756092e-01 2.61876645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.25, Y:103.78, Z:2.62 [[ 1.77233000e-01 -9.84159686e-01 -4.26344518e-03 1.52247797e+02] [ 9.83913574e-01 1.77284028e-01 -2.20102848e-02 1.03775258e+02] [ 2.24174757e-02 -2.93912782e-04 9.99748654e-01 2.61902369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.25, Y:103.80, Z:2.62 [[ 1.76526766e-01 -9.84286358e-01 -4.32038251e-03 1.52253563e+02] [ 9.84032911e-01 1.76579358e-01 -2.23374181e-02 1.03802264e+02] [ 2.27493063e-02 -3.08246412e-04 9.99741154e-01 2.61944620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.26, Y:103.83, Z:2.62 [[ 1.76068398e-01 -9.84368119e-01 -4.39611637e-03 1.52259346e+02] [ 9.84104959e-01 1.76122983e-01 -2.27623393e-02 1.03829256e+02] [ 2.31807782e-02 -3.18511315e-04 9.99731239e-01 2.61933354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67361786499995 meters Centerline goodness [0,1] 0.9999780908353965 Centerline is valid? [True, True] Translation: X:152.27, Y:103.86, Z:2.62 [[ 1.74598943e-01 -9.84629401e-01 -4.48897470e-03 1.52265717e+02] [ 9.84354257e-01 1.74656280e-01 -2.32783215e-02 1.03855161e+02] [ 2.37045474e-02 -3.54371023e-04 9.99718945e-01 2.61988716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.27, Y:103.88, Z:2.62 [[ 1.74222700e-01 -9.84696236e-01 -4.44680263e-03 1.52270250e+02] [ 9.84425466e-01 1.74279080e-01 -2.30933911e-02 1.03882853e+02] [ 2.35149600e-02 -3.54152813e-04 9.99723422e-01 2.62122168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.28, Y:103.91, Z:2.62 [[ 1.73561575e-01 -9.84813018e-01 -4.43842382e-03 1.52276604e+02] [ 9.84542503e-01 1.73617937e-01 -2.30840271e-02 1.03909253e+02] [ 2.35040404e-02 -3.63316782e-04 9.99723676e-01 2.62146731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76361786499996 meters Centerline goodness [0,1] 0.9999780475490089 Centerline is valid? [True, True] Translation: X:152.28, Y:103.93, Z:2.62 [[ 1.72777470e-01 -9.84951581e-01 -4.28126735e-03 1.52283042e+02] [ 9.84699146e-01 1.72830124e-01 -2.23011366e-02 1.03934910e+02] [ 2.27054717e-02 -3.62626344e-04 9.99742132e-01 2.62220916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79361786499996 meters Centerline goodness [0,1] 0.9999780600715241 Centerline is valid? [True, True] Translation: X:152.29, Y:103.96, Z:2.62 [[ 1.72378248e-01 -9.85022324e-01 -4.09390968e-03 1.52288422e+02] [ 9.84790781e-01 1.72426501e-01 -2.13593147e-02 1.03960588e+02] [ 2.17453004e-02 -3.49763246e-04 9.99763482e-01 2.62296291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.29, Y:103.99, Z:2.62 [[ 1.71932867e-01 -9.85100618e-01 -3.98272597e-03 1.52293674e+02] [ 9.84880810e-01 1.71978645e-01 -2.08119056e-02 1.03987366e+02] [ 2.11867649e-02 -3.44259771e-04 9.99775476e-01 2.62379445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85361786499996 meters Centerline goodness [0,1] 0.9999341455383602 Centerline is valid? [True, True] Translation: X:152.30, Y:104.01, Z:2.62 [[ 1.71799350e-01 -9.85124129e-01 -3.92848323e-03 1.52298420e+02] [ 9.84909625e-01 1.71843930e-01 -2.05595212e-02 1.04014711e+02] [ 2.09287664e-02 -3.37088570e-04 9.99780913e-01 2.62442724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.30, Y:104.04, Z:2.62 [[ 1.71914020e-01 -9.85104090e-01 -3.93731291e-03 1.52303908e+02] [ 9.84887942e-01 1.71958785e-01 -2.06377774e-02 1.04040089e+02] [ 2.10074144e-02 -3.29888744e-04 9.99779266e-01 2.62466943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.31, Y:104.07, Z:2.63 [[ 1.71844668e-01 -9.85116535e-01 -3.85006385e-03 1.52308933e+02] [ 9.84909200e-01 1.71887496e-01 -2.02127631e-02 1.04066734e+02] [ 2.05737050e-02 -3.18507751e-04 9.99788288e-01 2.62504502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:104.09, Z:2.62 [[ 1.72746458e-01 -9.84958955e-01 -3.81036870e-03 1.52315006e+02] [ 9.84755193e-01 1.72788231e-01 -2.00359159e-02 1.04092659e+02] [ 2.03929417e-02 -2.91146855e-04 9.99792000e-01 2.62482931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97361786499997 meters Centerline goodness [0,1] 0.9999341050365717 Centerline is valid? [True, True] Translation: X:152.32, Y:104.12, Z:2.63 [[ 1.73067414e-01 -9.84902506e-01 -3.83712887e-03 1.52318566e+02] [ 9.84695189e-01 1.73109718e-01 -2.02091895e-02 1.04120072e+02] [ 2.05683257e-02 -2.80850172e-04 9.99788410e-01 2.62603152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:104.15, Z:2.63 [[ 1.73470932e-01 -9.84831397e-01 -3.86732700e-03 1.52322386e+02] [ 9.84620145e-01 1.73513826e-01 -2.03990593e-02 1.04148363e+02] [ 2.07606687e-02 -2.69204252e-04 9.99784438e-01 2.62690424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:104.17, Z:2.63 [[ 1.74999344e-01 -9.84560762e-01 -3.91612354e-03 1.52326305e+02] [ 9.84343408e-01 1.75042999e-01 -2.06882344e-02 1.04174070e+02] [ 2.10543138e-02 -2.34382940e-04 9.99778306e-01 2.62662024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:104.20, Z:2.63 [[ 1.75496244e-01 -9.84471776e-01 -4.04855583e-03 1.52330778e+02] [ 9.84238646e-01 1.75542793e-01 -2.14246540e-02 1.04200184e+02] [ 2.18026620e-02 -2.24798792e-04 9.99762268e-01 2.62694120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:104.23, Z:2.63 [[ 1.77253745e-01 -9.84157009e-01 -4.01132298e-03 1.52333952e+02] [ 9.83927358e-01 1.77299039e-01 -2.12604290e-02 1.04228647e+02] [ 2.16348040e-02 -1.78359753e-04 9.99765924e-01 2.62757241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12361786499997 meters Centerline goodness [0,1] 0.9998898387238918 Centerline is valid? [True, True] Translation: X:152.34, Y:104.26, Z:2.63 [[ 1.77972752e-01 -9.84027297e-01 -3.99719833e-03 1.52338307e+02] [ 9.83798576e-01 1.78017565e-01 -2.12157510e-02 1.04255501e+02] [ 2.15884497e-02 -1.56612428e-04 9.99766930e-01 2.62751925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.34, Y:104.28, Z:2.63 [[ 1.78327532e-01 -9.83962996e-01 -4.01414696e-03 1.52342419e+02] [ 9.83731614e-01 1.78372647e-01 -2.13380238e-02 1.04283104e+02] [ 2.17118399e-02 -1.43686149e-04 9.99764260e-01 2.62839190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters Centerline goodness [0,1] 0.999977905923422 Centerline is valid? [True, True] Translation: X:152.35, Y:104.31, Z:2.63 [[ 1.78686014e-01 -9.83898208e-01 -3.95280181e-03 1.52347380e+02] [ 9.83673162e-01 1.78729684e-01 -2.10430506e-02 1.04310992e+02] [ 2.14107028e-02 -1.28166223e-04 9.99770756e-01 2.62938026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.35, Y:104.34, Z:2.63 [[ 1.78062294e-01 -9.84011390e-01 -3.92483460e-03 1.52353047e+02] [ 9.83788876e-01 1.78105493e-01 -2.09256183e-02 1.04338509e+02] [ 2.12900814e-02 -1.35145021e-04 9.99773331e-01 2.62953902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters Centerline goodness [0,1] 0.9999779112917476 Centerline is valid? [True, True] Translation: X:152.36, Y:104.36, Z:2.63 [[ 1.77567864e-01 -9.84100558e-01 -3.96801323e-03 1.52358821e+02] [ 9.83872436e-01 1.77612137e-01 -2.11886332e-02 1.04364900e+02] [ 2.15565130e-02 -1.41598517e-04 9.99767621e-01 2.62949509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27361786499995 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:152.36, Y:104.39, Z:2.63 [[ 1.76316207e-01 -9.84325648e-01 -3.95136969e-03 1.52364472e+02] [ 9.84098780e-01 1.76360403e-01 -2.11329078e-02 1.04392106e+02] [ 2.14985283e-02 -1.62463952e-04 9.99768867e-01 2.62991407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499995 meters Centerline goodness [0,1] 0.9999779614325068 Centerline is valid? [True, True] Translation: X:152.37, Y:104.42, Z:2.63 [[ 1.75083209e-01 -9.84545387e-01 -4.03123712e-03 1.52370684e+02] [ 9.84308554e-01 1.75129512e-01 -2.15945652e-02 1.04418354e+02] [ 2.19668182e-02 -1.87135403e-04 9.99758683e-01 2.62919643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:104.45, Z:2.63 [[ 1.73986691e-01 -9.84739748e-01 -4.03230177e-03 1.52376018e+02] [ 9.84502094e-01 1.74033290e-01 -2.16342747e-02 1.04445659e+02] [ 2.20058849e-02 -2.05733658e-04 9.99757820e-01 2.62977884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:104.47, Z:2.63 [[ 1.73724629e-01 -9.84786038e-01 -4.02653964e-03 1.52380991e+02] [ 9.84548371e-01 1.73771164e-01 -2.16353474e-02 1.04472787e+02] [ 2.20058845e-02 -2.05730344e-04 9.99757820e-01 2.63014558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39361786499995 meters Centerline goodness [0,1] 0.9998232083268878 Centerline is valid? [True, True] Translation: X:152.39, Y:104.50, Z:2.63 [[ 1.71976018e-01 -9.85092606e-01 -4.09955256e-03 1.52386281e+02] [ 9.84845592e-01 1.72024701e-01 -2.20604371e-02 1.04500800e+02] [ 2.24367977e-02 -2.43560155e-04 9.99748234e-01 2.63031459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.39, Y:104.53, Z:2.63 [[ 1.70640145e-01 -9.85324935e-01 -4.08823635e-03 1.52391780e+02] [ 9.85078700e-01 1.70688900e-01 -2.20284817e-02 1.04527483e+02] [ 2.24030288e-02 -2.68291257e-04 9.99748985e-01 2.63071413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45361786499996 meters Centerline goodness [0,1] 0.999955770804308 Centerline is valid? [True, True] Translation: X:152.40, Y:104.55, Z:2.63 [[ 1.68608122e-01 -9.85674757e-01 -4.07120472e-03 1.52398477e+02] [ 9.85430065e-01 1.68656984e-01 -2.19637972e-02 1.04554981e+02] [ 2.23357976e-02 -3.08612936e-04 9.99750477e-01 2.63103520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499996 meters Centerline goodness [0,1] 0.9999119311301438 Centerline is valid? [True, True] Translation: X:152.40, Y:104.58, Z:2.63 [[ 1.67320631e-01 -9.85894310e-01 -4.02680208e-03 1.52404416e+02] [ 9.85654281e-01 1.67368756e-01 -2.17563481e-02 1.04581919e+02] [ 2.21234206e-02 -3.28748827e-04 9.99755193e-01 2.63161043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:104.61, Z:2.63 [[ 1.66102702e-01 -9.86100598e-01 -3.93735767e-03 1.52410486e+02] [ 9.85870469e-01 1.66149008e-01 -2.13055387e-02 1.04609770e+02] [ 2.16635926e-02 -3.42817096e-04 9.99765258e-01 2.63239756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54361786499996 meters Centerline goodness [0,1] 0.9999557649348638 Centerline is valid? [True, True] Translation: X:152.42, Y:104.64, Z:2.63 [[ 1.65077354e-01 -9.86273080e-01 -3.85730533e-03 1.52415639e+02] [ 9.86051607e-01 1.65122037e-01 -2.09031559e-02 1.04637185e+02] [ 2.12531460e-02 -3.52864460e-04 9.99774064e-01 2.63346631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.42, Y:104.66, Z:2.63 [[ 1.63526272e-01 -9.86532537e-01 -3.56522301e-03 1.52421439e+02] [ 9.86342845e-01 1.63564753e-01 -1.93484647e-02 1.04663568e+02] [ 1.96710348e-02 -3.52549895e-04 9.99806444e-01 2.63452677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60361786499996 meters Centerline goodness [0,1] 0.9999778990872323 Centerline is valid? [True, True] Translation: X:152.43, Y:104.69, Z:2.63 [[ 1.63063424e-01 -9.86609548e-01 -3.45251266e-03 1.52426411e+02] [ 9.86431132e-01 1.63099603e-01 -1.87654097e-02 1.04691478e+02] [ 1.90772358e-02 -3.45714021e-04 9.99817953e-01 2.63495358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:104.72, Z:2.64 [[ 1.62402169e-01 -9.86719176e-01 -3.28675958e-03 1.52429274e+02] [ 9.86557029e-01 1.62435075e-01 -1.78906145e-02 1.04719064e+02] [ 1.81868974e-02 -3.37101170e-04 9.99834548e-01 2.63639591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:104.75, Z:2.64 [[ 1.62150242e-01 -9.86760715e-01 -3.25434507e-03 1.52434550e+02] [ 9.86601256e-01 1.62182552e-01 -1.77420880e-02 1.04745652e+02] [ 1.80349934e-02 -3.33857074e-04 9.99837301e-01 2.63664759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69361786499996 meters Centerline goodness [0,1] 0.9999116197883294 Centerline is valid? [True, True] Translation: X:152.44, Y:104.77, Z:2.64 [[ 1.62227206e-01 -9.86748195e-01 -3.21461562e-03 1.52440011e+02] [ 9.86592134e-01 1.62258729e-01 -1.75518270e-02 1.04772222e+02] [ 1.78408331e-02 -3.24130626e-04 9.99840787e-01 2.63620916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72361786499997 meters Centerline goodness [0,1] 0.9998895759717314 Centerline is valid? [True, True] Translation: X:152.44, Y:104.80, Z:2.64 [[ 1.62571015e-01 -9.86691688e-01 -3.19020455e-03 1.52443462e+02] [ 9.86537607e-01 1.62602013e-01 -1.74394875e-02 1.04799806e+02] [ 1.77261310e-02 -3.12101592e-04 9.99842831e-01 2.63651517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.45, Y:104.83, Z:2.64 [[ 1.62524727e-01 -9.86699268e-01 -3.20445617e-03 1.52447326e+02] [ 9.86543337e-01 1.62556019e-01 -1.75438000e-02 1.04827294e+02] [ 1.78313582e-02 -3.10033586e-04 9.99840961e-01 2.63718385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78361786499997 meters Centerline goodness [0,1] 0.9998896661297085 Centerline is valid? [True, True] Translation: X:152.45, Y:104.86, Z:2.64 [[ 1.62221362e-01 -9.86749208e-01 -3.19832300e-03 1.52450399e+02] [ 9.86593409e-01 1.62252591e-01 -1.75368692e-02 1.04855380e+02] [ 1.78234280e-02 -3.10589584e-04 9.99841102e-01 2.63683808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81361786499997 meters Centerline goodness [0,1] 0.9999337616745049 Centerline is valid? [True, True] Translation: X:152.45, Y:104.88, Z:2.64 [[ 1.62113037e-01 -9.86766938e-01 -3.22084180e-03 1.52454260e+02] [ 9.86608445e-01 1.62144733e-01 -1.76878765e-02 1.04882777e+02] [ 1.79760542e-02 -3.10274338e-04 9.99838370e-01 2.63675392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:104.91, Z:2.64 [[ 1.61623913e-01 -9.86847361e-01 -3.16172384e-03 1.52458429e+02] [ 9.86694177e-01 1.61654540e-01 -1.73899609e-02 1.04910608e+02] [ 1.76723440e-02 -3.09020980e-04 9.99843784e-01 2.63651399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:104.94, Z:2.64 [[ 1.60352144e-01 -9.87055185e-01 -3.04175507e-03 1.52463052e+02] [ 9.86913021e-01 1.60380681e-01 -1.67548875e-02 1.04938007e+02] [ 1.70258373e-02 -3.15265549e-04 9.99855000e-01 2.63642197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.47, Y:104.96, Z:2.64 [[ 1.59445931e-01 -9.87202108e-01 -2.99875288e-03 1.52467994e+02] [ 9.87063566e-01 1.59473802e-01 -1.65415506e-02 1.04964208e+02] [ 1.68080761e-02 -3.22476774e-04 9.99858682e-01 2.63701338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93361786499997 meters Centerline goodness [0,1] 0.9999341874341874 Centerline is valid? [True, True] Translation: X:152.47, Y:104.99, Z:2.64 [[ 1.58124970e-01 -9.87414924e-01 -2.87441876e-03 1.52473226e+02] [ 9.87287276e-01 1.58150756e-01 -1.58799838e-02 1.04991037e+02] [ 1.61347245e-02 -3.26855099e-04 9.99869773e-01 2.63809343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters Centerline goodness [0,1] 0.9999560362261497 Centerline is valid? [True, True] Translation: X:152.48, Y:105.02, Z:2.64 [[ 1.57578122e-01 -9.87502697e-01 -2.74931298e-03 1.52477551e+02] [ 9.87385619e-01 1.57601783e-01 -1.52090894e-02 1.05018663e+02] [ 1.54523134e-02 -3.18012357e-04 9.99880555e-01 2.63864974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.48, Y:105.05, Z:2.64 [[ 1.56832413e-01 -9.87621569e-01 -2.68905578e-03 1.52480889e+02] [ 9.87509250e-01 1.56855141e-01 -1.48978626e-02 1.05046829e+02] [ 1.51352427e-02 -3.18999708e-04 9.99885405e-01 2.63903417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.48, Y:105.07, Z:2.64 [[ 1.56741055e-01 -9.87636254e-01 -2.62128132e-03 1.52484902e+02] [ 9.87529205e-01 1.56762668e-01 -1.45442360e-02 1.05074855e+02] [ 1.47753338e-02 -3.08912963e-04 9.99890791e-01 2.63913342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:105.10, Z:2.64 [[ 1.56813390e-01 -9.87624881e-01 -2.57985984e-03 1.52487510e+02] [ 9.87520872e-01 1.56834324e-01 -1.43360396e-02 1.05102940e+02] [ 1.45632399e-02 -2.99582480e-04 9.99893906e-01 2.63863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499995 meters Centerline goodness [0,1] 0.9999780359770696 Centerline is valid? [True, True] Translation: X:152.49, Y:105.13, Z:2.64 [[ 1.57057850e-01 -9.87585999e-01 -2.59339017e-03 1.52491906e+02] [ 9.87480565e-01 1.57078985e-01 -1.44335457e-02 1.05129202e+02] [ 1.46617347e-02 -2.94020747e-04 9.99892468e-01 2.63864000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:105.16, Z:2.64 [[ 1.56990724e-01 -9.87596763e-01 -2.55873068e-03 1.52494222e+02] [ 9.87493802e-01 1.57011312e-01 -1.42632132e-02 1.05157355e+02] [ 1.44880528e-02 -2.87538510e-04 9.99895001e-01 2.63880046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499995 meters Centerline goodness [0,1] 0.999978072579761 Centerline is valid? [True, True] Translation: X:152.50, Y:105.18, Z:2.64 [[ 1.57734844e-01 -9.87478238e-01 -2.53949806e-03 1.52497530e+02] [ 9.87376485e-01 1.57755053e-01 -1.41781414e-02 1.05184673e+02] [ 1.44012247e-02 -2.71053744e-04 9.99896260e-01 2.63946980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.50, Y:105.21, Z:2.64 [[ 1.58059308e-01 -9.87426494e-01 -2.48470649e-03 1.52499948e+02] [ 9.87328770e-01 1.58078628e-01 -1.38941217e-02 1.05212938e+02] [ 1.41122029e-02 -2.57126926e-04 9.99900385e-01 2.64001841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.50, Y:105.24, Z:2.64 [[ 1.59635029e-01 -9.87173335e-01 -2.33742888e-03 1.52501252e+02] [ 9.87086568e-01 1.59651992e-01 -1.30900153e-02 1.05241004e+02] [ 1.32952892e-02 -2.17619683e-04 9.99911590e-01 2.64055387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.50, Y:105.27, Z:2.64 [[ 1.60397195e-01 -9.87049979e-01 -2.25345273e-03 1.52504546e+02] [ 9.86969073e-01 1.60412903e-01 -1.26392271e-02 1.05269035e+02] [ 1.28370318e-02 -1.96791577e-04 9.99917583e-01 2.64124736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:105.30, Z:2.64 [[ 1.61208178e-01 -9.86917948e-01 -2.21084317e-03 1.52508303e+02] [ 9.86839812e-01 1.61223237e-01 -1.24198532e-02 1.05296356e+02] [ 1.26138153e-02 -1.79566156e-04 9.99920427e-01 2.64166542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29361786499996 meters Centerline goodness [0,1] 0.9999564895792542 Centerline is valid? [True, True] Translation: X:152.51, Y:105.32, Z:2.64 [[ 1.62051980e-01 -9.86779710e-01 -2.22689168e-03 1.52512067e+02] [ 9.86700167e-01 1.62067195e-01 -1.25301592e-02 1.05324589e+02] [ 1.27254129e-02 -1.66737286e-04 9.99919015e-01 2.64212008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.51, Y:105.35, Z:2.64 [[ 1.64010026e-01 -9.86456232e-01 -2.19393852e-03 1.52514033e+02] [ 9.86378755e-01 1.64024643e-01 -1.23639977e-02 1.05352743e+02] [ 1.25564026e-02 -1.36234754e-04 9.99921156e-01 2.64253929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35361786499996 meters Centerline goodness [0,1] 0.9999564516831424 Centerline is valid? [True, True] Translation: X:152.52, Y:105.38, Z:2.64 [[ 1.64823967e-01 -9.86320614e-01 -2.16922622e-03 1.52517313e+02] [ 9.86244622e-01 1.64838196e-01 -1.22439587e-02 1.05380907e+02] [ 1.24340402e-02 -1.21289843e-04 9.99922687e-01 2.64274507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:105.41, Z:2.64 [[ 1.65828974e-01 -9.86152099e-01 -2.18844554e-03 1.52520703e+02] [ 9.86074490e-01 1.65843379e-01 -1.23722701e-02 1.05408238e+02] [ 1.25638793e-02 -1.06289466e-04 9.99921066e-01 2.64320751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:105.44, Z:2.64 [[ 1.68067307e-01 -9.85773058e-01 -2.20401055e-03 1.52521922e+02] [ 9.85694043e-01 1.68081741e-01 -1.24812280e-02 1.05436366e+02] [ 1.26741123e-02 -7.47936869e-05 9.99919677e-01 2.64371774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:105.46, Z:2.64 [[ 1.69077666e-01 -9.85600331e-01 -2.17489465e-03 1.52524972e+02] [ 9.85523137e-01 1.69091644e-01 -1.23354087e-02 1.05464178e+02] [ 1.25255394e-02 -5.77668901e-05 9.99921551e-01 2.64435491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47361786499997 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:152.53, Y:105.49, Z:2.65 [[ 1.70423670e-01 -9.85368554e-01 -2.14147486e-03 1.52527700e+02] [ 9.85293459e-01 1.70437120e-01 -1.21650441e-02 1.05491703e+02] [ 1.23520387e-02 -3.67697172e-05 9.99923710e-01 2.64572413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.53, Y:105.52, Z:2.65 [[ 1.70485868e-01 -9.85357951e-01 -2.06797292e-03 1.52531321e+02] [ 9.85287708e-01 1.70498406e-01 -1.17654206e-02 1.05518657e+02] [ 1.19457369e-02 -3.17103554e-05 9.99928647e-01 2.64636086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.54, Y:105.55, Z:2.65 [[ 1.70449090e-01 -9.85364381e-01 -2.03577427e-03 1.52535001e+02] [ 9.85296081e-01 1.70461245e-01 -1.16016049e-02 1.05546534e+02] [ 1.17788288e-02 -2.83574072e-05 9.99930627e-01 2.64714668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56361786499997 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:152.54, Y:105.57, Z:2.65 [[ 1.69723210e-01 -9.85489980e-01 -1.87905797e-03 1.52538176e+02] [ 9.85431633e-01 1.69733609e-01 -1.07237802e-02 1.05574365e+02] [ 1.08871172e-02 -3.16087690e-05 9.99940733e-01 2.64806153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59361786499997 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:152.54, Y:105.60, Z:2.65 [[ 1.68515559e-01 -9.85697346e-01 -1.80239309e-03 1.52542600e+02] [ 9.85643517e-01 1.68525193e-01 -1.03013076e-02 1.05601172e+02] [ 1.04577202e-02 -4.05864639e-05 9.99945316e-01 2.64869791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:105.63, Z:2.65 [[ 1.65609516e-01 -9.86189936e-01 -1.70239659e-03 1.52547177e+02] [ 9.86141792e-01 1.65618253e-01 -9.74477515e-03 1.05629312e+02] [ 9.89214713e-03 -6.49769252e-05 9.99951069e-01 2.64918157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:105.66, Z:2.65 [[ 1.63874723e-01 -9.86479744e-01 -1.67009457e-03 1.52552239e+02] [ 9.86433277e-01 1.63883214e-01 -9.57504068e-03 1.05656623e+02] [ 9.71928415e-03 -7.83297237e-05 9.99952764e-01 2.64959462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters Centerline goodness [0,1] 0.9999784478113752 Centerline is valid? [True, True] Translation: X:152.56, Y:105.68, Z:2.65 [[ 1.59654251e-01 -9.87171834e-01 -1.51303425e-03 1.52557361e+02] [ 9.87133617e-01 1.59661385e-01 -8.68707357e-03 1.05684494e+02] [ 8.81720750e-03 -1.06638747e-04 9.99961122e-01 2.64963468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:105.71, Z:2.65 [[ 1.57132836e-01 -9.87576329e-01 -1.50567537e-03 1.52562079e+02] [ 9.87538384e-01 1.57139999e-01 -8.65796838e-03 1.05712111e+02] [ 8.78700645e-03 -1.26461090e-04 9.99961386e-01 2.64991642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.57, Y:105.74, Z:2.65 [[ 1.54878501e-01 -9.87932292e-01 -1.56075358e-03 1.52569341e+02] [ 9.87891390e-01 1.54886293e-01 -8.99096586e-03 1.05738241e+02] [ 9.12420485e-03 -1.49347707e-04 9.99958362e-01 2.65080112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.57, Y:105.77, Z:2.65 [[ 1.52540026e-01 -9.88296014e-01 -1.59059048e-03 1.52572616e+02] [ 9.88253461e-01 1.52548221e-01 -9.17258083e-03 1.05766606e+02] [ 9.30786682e-03 -1.72720828e-04 9.99956666e-01 2.65078709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:105.79, Z:2.65 [[ 1.48003084e-01 -9.88985487e-01 -1.67128249e-03 1.52581466e+02] [ 9.88938397e-01 1.48012351e-01 -9.65352005e-03 1.05792865e+02] [ 9.79456168e-03 -2.24044689e-04 9.99952007e-01 2.65136122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:105.82, Z:2.65 [[ 1.45770343e-01 -9.89317124e-01 -1.62340127e-03 1.52583422e+02] [ 9.89272571e-01 1.45779190e-01 -9.39187209e-03 1.05821486e+02] [ 9.52819801e-03 -2.36929930e-04 9.99954578e-01 2.65091078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:105.85, Z:2.65 [[ 1.43844341e-01 -9.89598967e-01 -1.63987919e-03 1.52588006e+02] [ 9.89553383e-01 1.43853461e-01 -9.50183280e-03 1.05849374e+02] [ 9.63890623e-03 -2.55963116e-04 9.99953512e-01 2.65131974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:105.88, Z:2.65 [[ 1.40918478e-01 -9.90019761e-01 -1.68953048e-03 1.52591853e+02] [ 9.89971230e-01 1.40928307e-01 -9.80690786e-03 1.05877263e+02] [ 9.94713525e-03 -2.90612039e-04 9.99950484e-01 2.65042907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:105.90, Z:2.65 [[ 1.39808343e-01 -9.90177122e-01 -1.70138980e-03 1.52595392e+02] [ 9.90127833e-01 1.39818367e-01 -9.88423865e-03 1.05904987e+02] [ 1.00250325e-02 -3.02694376e-04 9.99949702e-01 2.65051687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:105.93, Z:2.65 [[ 1.38777286e-01 -9.90322061e-01 -1.75511998e-03 1.52599161e+02] [ 9.90269457e-01 1.38788014e-01 -1.02121952e-02 1.05931940e+02] [ 1.03569518e-02 -3.20820976e-04 9.99946314e-01 2.65069136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:105.96, Z:2.65 [[ 1.38469674e-01 -9.90365152e-01 -1.73624250e-03 1.52603019e+02] [ 9.90313532e-01 1.38480192e-01 -1.01165752e-02 1.05959604e+02] [ 1.02595388e-02 -3.18585565e-04 9.99947319e-01 2.65106674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:105.99, Z:2.65 [[ 1.38226945e-01 -9.90399171e-01 -1.67171106e-03 1.52606361e+02] [ 9.90351170e-01 1.38236712e-01 -9.75562069e-03 1.05987722e+02] [ 9.89305048e-03 -3.07091361e-04 9.99951015e-01 2.65109802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:106.02, Z:2.65 [[ 1.38750160e-01 -9.90326081e-01 -1.62679333e-03 1.52607917e+02] [ 9.90280477e-01 1.38759390e-01 -9.50834235e-03 1.06016241e+02] [ 9.64209227e-03 -2.91697651e-04 9.99953471e-01 2.65107337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:106.04, Z:2.65 [[ 1.38972912e-01 -9.90294882e-01 -1.60512968e-03 1.52610447e+02] [ 9.90250339e-01 1.38981892e-01 -9.39681014e-03 1.06043917e+02] [ 9.52869695e-03 -2.83578138e-04 9.99954561e-01 2.65096571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:106.07, Z:2.65 [[ 1.40211219e-01 -9.90120262e-01 -1.63745502e-03 1.52613068e+02] [ 9.90073728e-01 1.40220511e-01 -9.60322750e-03 1.06072764e+02] [ 9.73795490e-03 -2.74720964e-04 9.99952547e-01 2.65132645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:106.10, Z:2.65 [[ 1.40995301e-01 -9.90008889e-01 -1.65040560e-03 1.52617654e+02] [ 9.89961455e-01 1.41004708e-01 -9.69479890e-03 1.06099705e+02] [ 9.83065205e-03 -2.66916839e-04 9.99951642e-01 2.65172966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:106.13, Z:2.65 [[ 1.41789476e-01 -9.89895489e-01 -1.63238481e-03 1.52620385e+02] [ 9.89848980e-01 1.41798644e-01 -9.59899643e-03 1.06127931e+02] [ 9.73347322e-03 -2.54777759e-04 9.99952596e-01 2.65214796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:106.16, Z:2.65 [[ 1.43468838e-01 -9.89653351e-01 -1.71394557e-03 1.52621590e+02] [ 9.89601860e-01 1.43478862e-01 -1.00982192e-02 1.06155454e+02] [ 1.02396514e-02 -2.47343950e-04 9.99947543e-01 2.65261007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:106.18, Z:2.65 [[ 1.43915797e-01 -9.89588354e-01 -1.77028833e-03 1.52624602e+02] [ 9.89533314e-01 1.43926469e-01 -1.04399043e-02 1.06182155e+02] [ 1.05859990e-02 -2.49292131e-04 9.99943936e-01 2.65314545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:106.21, Z:2.65 [[ 1.43651326e-01 -9.89626785e-01 -1.76736302e-03 1.52629130e+02] [ 9.89571742e-01 1.43661982e-01 -1.04403994e-02 1.06209352e+02] [ 1.05860017e-02 -2.49155291e-04 9.99943936e-01 2.65351222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:106.24, Z:2.65 [[ 1.43992312e-01 -9.89577065e-01 -1.85665168e-03 1.52631001e+02] [ 9.89516106e-01 1.44004055e-01 -1.09867213e-02 1.06237591e+02] [ 1.11395728e-02 -2.55183344e-04 9.99937920e-01 2.65375769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:106.27, Z:2.65 [[ 1.44244998e-01 -9.89540289e-01 -1.84323934e-03 1.52634847e+02] [ 9.89480004e-01 1.44256562e-01 -1.09255054e-02 1.06265659e+02] [ 1.10771271e-02 -2.47898960e-04 9.99938616e-01 2.65394630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:106.29, Z:2.65 [[ 1.44246608e-01 -9.89539908e-01 -1.92029543e-03 1.52637875e+02] [ 9.89474246e-01 1.44259164e-01 -1.14021644e-02 1.06294079e+02] [ 1.15599169e-02 -2.55359341e-04 9.99933149e-01 2.65411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:106.32, Z:2.65 [[ 1.43973987e-01 -9.89579471e-01 -1.99058481e-03 1.52642628e+02] [ 9.89508675e-01 1.43987504e-01 -1.18397999e-02 1.06321199e+02] [ 1.20030422e-02 -2.65077742e-04 9.99927926e-01 2.65469188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:106.35, Z:2.65 [[ 1.43509469e-01 -9.89646868e-01 -2.02696941e-03 1.52646512e+02] [ 9.89573202e-01 1.43523524e-01 -1.20778934e-02 1.06348984e+02] [ 1.22437671e-02 -2.72542546e-04 9.99925005e-01 2.65498829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:106.38, Z:2.66 [[ 1.42658449e-01 -9.89769538e-01 -2.19743677e-03 1.52650190e+02] [ 9.89682666e-01 1.42675049e-01 -1.31168071e-02 1.06377156e+02] [ 1.32961355e-02 -3.03541729e-04 9.99911556e-01 2.65507255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:106.41, Z:2.66 [[ 1.42165429e-01 -9.89840384e-01 -2.23720959e-03 1.52651393e+02] [ 9.89750048e-01 1.42182687e-01 -1.33763041e-02 1.06405717e+02] [ 1.35584985e-02 -3.12630279e-04 9.99908030e-01 2.65530786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:106.43, Z:2.66 [[ 1.42138426e-01 -9.89844076e-01 -2.31787146e-03 1.52654902e+02] [ 9.89746769e-01 1.42156962e-01 -1.38827839e-02 1.06432357e+02] [ 1.40712930e-02 -3.20828724e-04 9.99900943e-01 2.65566852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:106.46, Z:2.66 [[ 1.42113150e-01 -9.89847841e-01 -2.25928041e-03 1.52658665e+02] [ 9.89755163e-01 1.42130768e-01 -1.35485047e-02 1.06459778e+02] [ 1.37320714e-02 -3.10713768e-04 9.99905662e-01 2.65619295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:106.49, Z:2.66 [[ 1.42274866e-01 -9.89824397e-01 -2.35076743e-03 1.52662309e+02] [ 9.89723709e-01 1.42293931e-01 -1.41214860e-02 1.06487569e+02] [ 1.43122913e-02 -3.17477732e-04 9.99897524e-01 2.65657188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:106.51, Z:2.66 [[ 1.42826072e-01 -9.89744913e-01 -2.39169829e-03 1.52664544e+02] [ 9.89640333e-01 1.42845756e-01 -1.43910353e-02 1.06514473e+02] [ 1.45850979e-02 -3.11506052e-04 9.99893583e-01 2.65677358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:106.54, Z:2.66 [[ 1.42952592e-01 -9.89726560e-01 -2.42768386e-03 1.52666566e+02] [ 9.89618529e-01 1.42972865e-01 -1.46262647e-02 1.06542423e+02] [ 1.48230955e-02 -3.11618479e-04 9.99890083e-01 2.65726225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:106.57, Z:2.66 [[ 1.42869954e-01 -9.89738396e-01 -2.46650659e-03 1.52671191e+02] [ 9.89626506e-01 1.42890898e-01 -1.48852198e-02 1.06568812e+02] [ 1.50849149e-02 -3.14269623e-04 9.99886167e-01 2.65750580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:106.60, Z:2.66 [[ 1.42824868e-01 -9.89744833e-01 -2.49465880e-03 1.52674776e+02] [ 9.89630069e-01 1.42846304e-01 -1.50751246e-02 1.06596002e+02] [ 1.52768795e-02 -3.15686682e-04 9.99883252e-01 2.65788170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:106.62, Z:2.66 [[ 1.43193448e-01 -9.89691559e-01 -2.50070479e-03 1.52677331e+02] [ 9.89575830e-01 1.43214954e-01 -1.51378240e-02 1.06624317e+02] [ 1.53399150e-02 -3.06999795e-04 9.99882289e-01 2.65831501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:106.65, Z:2.66 [[ 1.43009812e-01 -9.89718109e-01 -2.50179257e-03 1.52679618e+02] [ 9.89601902e-01 1.43031365e-01 -1.51691800e-02 1.06652730e+02] [ 1.53710470e-02 -3.06437110e-04 9.99881812e-01 2.65880086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:106.68, Z:2.66 [[ 1.43484634e-01 -9.89649357e-01 -2.51214910e-03 1.52684164e+02] [ 9.89531791e-01 1.43506317e-01 -1.52568737e-02 1.06679608e+02] [ 1.54594645e-02 -2.96724462e-04 9.99880451e-01 2.65948838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:106.71, Z:2.66 [[ 1.43882993e-01 -9.89591627e-01 -2.46891577e-03 1.52686331e+02] [ 9.89477775e-01 1.43903896e-01 -1.50133749e-02 1.06707848e+02] [ 1.52123967e-02 -2.82767971e-04 9.99884245e-01 2.66017987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:106.74, Z:2.66 [[ 1.44046219e-01 -9.89568054e-01 -2.39855728e-03 1.52688920e+02] [ 9.89460240e-01 1.44065936e-01 -1.46095356e-02 1.06735511e+02] [ 1.48026801e-02 -2.68828699e-04 9.99890398e-01 2.66066642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:106.76, Z:2.66 [[ 1.45134183e-01 -9.89409232e-01 -2.33258107e-03 1.52692306e+02] [ 9.89306901e-01 1.45152725e-01 -1.42317279e-02 1.06763502e+02] [ 1.44195835e-02 -2.42128340e-04 9.99896003e-01 2.66180232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:106.79, Z:2.66 [[ 1.45651301e-01 -9.89333386e-01 -2.26952800e-03 1.52697313e+02] [ 9.89236178e-01 1.45668808e-01 -1.38702254e-02 1.06790309e+02] [ 1.40528765e-02 -2.24882822e-04 9.99901228e-01 2.66255538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:106.82, Z:2.66 [[ 1.47565167e-01 -9.89049631e-01 -2.31275359e-03 1.52701109e+02] [ 9.88948382e-01 1.47583155e-01 -1.41530893e-02 1.06818627e+02] [ 1.43394312e-02 -1.98690939e-04 9.99897165e-01 2.66322370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:106.85, Z:2.66 [[ 1.48347502e-01 -9.88932416e-01 -2.38652937e-03 1.52705909e+02] [ 9.88824223e-01 1.48366576e-01 -1.46292332e-02 1.06846081e+02] [ 1.48214041e-02 -1.89647850e-04 9.99890139e-01 2.66358208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:106.87, Z:2.66 [[ 1.50260022e-01 -9.88643553e-01 -2.41894889e-03 1.52710883e+02] [ 9.88531971e-01 1.50279407e-01 -1.48540141e-02 1.06873504e+02] [ 1.50488435e-02 -1.59243825e-04 9.99886747e-01 2.66425309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:106.90, Z:2.67 [[ 1.51414898e-01 -9.88467342e-01 -2.41729052e-03 1.52715527e+02] [ 9.88355504e-01 1.51434130e-01 -1.48694730e-02 1.06901507e+02] [ 1.50640487e-02 -1.37682652e-04 9.99886521e-01 2.66503588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:106.93, Z:2.67 [[ 1.52457809e-01 -9.88306985e-01 -2.43317533e-03 1.52720438e+02] [ 9.88193255e-01 1.52477178e-01 -1.49933627e-02 1.06928217e+02] [ 1.51890488e-02 -1.18592215e-04 9.99884633e-01 2.66559231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:106.96, Z:2.67 [[ 1.53401331e-01 -9.88160986e-01 -2.42859230e-03 1.52725205e+02] [ 9.88047257e-01 1.53420522e-01 -1.49920423e-02 1.06955973e+02] [ 1.51871472e-02 -9.97647205e-05 9.99884664e-01 2.66621541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:106.98, Z:2.67 [[ 1.55173351e-01 -9.87884457e-01 -2.35156319e-03 1.52731997e+02] [ 9.87777443e-01 1.55191154e-01 -1.45405994e-02 1.06982574e+02] [ 1.47293739e-02 -6.65075410e-05 9.99891515e-01 2.66733190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:107.01, Z:2.67 [[ 1.55989094e-01 -9.87756117e-01 -2.29251903e-03 1.52737771e+02] [ 9.87654141e-01 1.56005931e-01 -1.41932002e-02 1.07009021e+02] [ 1.43770669e-02 -5.02314671e-05 9.99896643e-01 2.66814426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:107.04, Z:2.67 [[ 1.56228880e-01 -9.87718371e-01 -2.22625942e-03 1.52742975e+02] [ 9.87621965e-01 1.56244735e-01 -1.37999123e-02 1.07036513e+02] [ 1.39782683e-02 -4.27578529e-05 9.99902298e-01 2.66888368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:107.06, Z:2.67 [[ 1.56704196e-01 -9.87643159e-01 -2.18763125e-03 1.52750154e+02] [ 9.87549747e-01 1.56719462e-01 -1.35833585e-02 1.07064211e+02] [ 1.37583555e-02 -3.18254215e-05 9.99905349e-01 2.66972753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:107.09, Z:2.67 [[ 1.56495772e-01 -9.87676397e-01 -2.09964218e-03 1.52756202e+02] [ 9.87590061e-01 1.56509854e-01 -1.30589566e-02 1.07092165e+02] [ 1.32266378e-02 -2.99142656e-05 9.99912524e-01 2.67004319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:107.12, Z:2.67 [[ 1.55942797e-01 -9.87764047e-01 -2.00787458e-03 1.52764691e+02] [ 9.87684838e-01 1.55955720e-01 -1.25089528e-02 1.07118580e+02] [ 1.26690333e-02 -3.24661955e-05 9.99919744e-01 2.67057744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:107.15, Z:2.67 [[ 1.55711052e-01 -9.87800603e-01 -2.00903252e-03 1.52771230e+02] [ 9.87721012e-01 1.55724009e-01 -1.25393386e-02 1.07146310e+02] [ 1.26992208e-02 -3.18500274e-05 9.99919361e-01 2.67135201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:107.17, Z:2.67 [[ 1.55377250e-01 -9.87853214e-01 -1.98443676e-03 1.52777911e+02] [ 9.87775295e-01 1.55389918e-01 -1.24072421e-02 1.07173708e+02] [ 1.25648954e-02 -3.23744533e-05 9.99921058e-01 2.67197724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:107.20, Z:2.67 [[ 1.54772958e-01 -9.87948048e-01 -1.99643425e-03 1.52784534e+02] [ 9.87868913e-01 1.54785830e-01 -1.25043403e-02 1.07201420e+02] [ 1.26626584e-02 -3.68815823e-05 9.99919825e-01 2.67254453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.79, Y:107.23, Z:2.67 [[ 1.54482546e-01 -9.87993314e-01 -2.08676043e-03 1.52793247e+02] [ 9.87906535e-01 1.54496635e-01 -1.30945747e-02 1.07226949e+02] [ 1.32597497e-02 -3.86410204e-05 9.99912085e-01 2.67276334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:107.25, Z:2.67 [[ 1.54093484e-01 -9.88054022e-01 -2.10891280e-03 1.52799676e+02] [ 9.87965057e-01 1.54107909e-01 -1.32588951e-02 1.07254294e+02] [ 1.34255048e-02 -4.04228233e-05 9.99909873e-01 2.67289386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.81, Y:107.28, Z:2.67 [[ 1.53458378e-01 -9.88152704e-01 -2.18163111e-03 1.52806493e+02] [ 9.88057151e-01 1.53473878e-01 -1.37417522e-02 1.07280195e+02] [ 1.39137729e-02 -4.67892186e-05 9.99903198e-01 2.67304015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:107.31, Z:2.67 [[ 1.52949346e-01 -9.88231259e-01 -2.34016880e-03 1.52815957e+02] [ 9.88120877e-01 1.52967238e-01 -1.47701295e-02 1.07306922e+02] [ 1.49542728e-02 -5.32880019e-05 9.99888177e-01 2.67364059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:107.33, Z:2.67 [[ 1.52221407e-01 -9.88343703e-01 -2.31697860e-03 1.52822804e+02] [ 9.88235127e-01 1.52239027e-01 -1.46496346e-02 1.07333784e+02] [ 1.48316086e-02 -5.97316578e-05 9.99890004e-01 2.67395219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:107.36, Z:2.67 [[ 1.50635020e-01 -9.88586532e-01 -2.39979180e-03 1.52833000e+02] [ 9.88469652e-01 1.50654112e-01 -1.52014849e-02 1.07359278e+02] [ 1.53895218e-02 -8.22453788e-05 9.99881571e-01 2.67375074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:107.39, Z:2.67 [[ 1.49932453e-01 -9.88693345e-01 -2.39341333e-03 1.52839352e+02] [ 9.88576661e-01 1.49951529e-01 -1.51896106e-02 1.07386688e+02] [ 1.53767629e-02 -8.86569739e-05 9.99881767e-01 2.67460324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.85, Y:107.41, Z:2.68 [[ 1.48482094e-01 -9.88912295e-01 -2.35399834e-03 1.52846601e+02] [ 9.88799037e-01 1.48500715e-01 -1.49666764e-02 1.07412836e+02] [ 1.51503007e-02 -1.05347840e-04 9.99885222e-01 2.67504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60361786499996 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:152.86, Y:107.44, Z:2.68 [[ 1.46054126e-01 -9.89273968e-01 -2.28235648e-03 1.52856770e+02] [ 9.89167142e-01 1.46071896e-01 -1.45384506e-02 1.07439622e+02] [ 1.47158988e-02 -1.34231341e-04 9.99891706e-01 2.67644367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63361786499996 meters Centerline goodness [0,1] 0.9999349410131853 Centerline is valid? [True, True] Translation: X:152.86, Y:107.47, Z:2.68 [[ 1.44566607e-01 -9.89492453e-01 -2.27642826e-03 1.52863991e+02] [ 9.89385820e-01 1.44584449e-01 -1.45270983e-02 1.07467200e+02] [ 1.47035902e-02 -1.52132527e-04 9.99891885e-01 2.67742603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66361786499996 meters Centerline goodness [0,1] 0.9999134180393515 Centerline is valid? [True, True] Translation: X:152.87, Y:107.49, Z:2.68 [[ 1.43106272e-01 -9.89704870e-01 -2.20556823e-03 1.52871272e+02] [ 9.89604440e-01 1.43123173e-01 -1.40999603e-02 1.07493901e+02] [ 1.42704673e-02 -1.64847356e-04 9.99898158e-01 2.67778041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:107.52, Z:2.68 [[ 1.40691016e-01 -9.90051436e-01 -2.04724604e-03 1.52880902e+02] [ 9.89964634e-01 1.40705793e-01 -1.31111918e-02 1.07521143e+02] [ 1.32688137e-02 -1.82074269e-04 9.99911949e-01 2.67907140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.89, Y:107.55, Z:2.68 [[ 1.39783231e-01 -9.90179938e-01 -2.08293530e-03 1.52887905e+02] [ 9.90089780e-01 1.39798614e-01 -1.33631782e-02 1.07547098e+02] [ 1.35231424e-02 -1.94344725e-04 9.99908539e-01 2.67942317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75361786499997 meters Centerline goodness [0,1] 0.9999346903232829 Centerline is valid? [True, True] Translation: X:152.89, Y:107.57, Z:2.68 [[ 1.38970456e-01 -9.90294412e-01 -2.04697457e-03 1.52893883e+02] [ 9.90207023e-01 1.38985389e-01 -1.31572627e-02 1.07574589e+02] [ 1.33140633e-02 -1.98457800e-04 9.99911344e-01 2.67963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:107.60, Z:2.68 [[ 1.38654614e-01 -9.90338521e-01 -2.12433519e-03 1.52900142e+02] [ 9.90244046e-01 1.38670732e-01 -1.36805651e-02 1.07600907e+02] [ 1.38429737e-02 -2.06736805e-04 9.99904160e-01 2.67992834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:107.63, Z:2.68 [[ 1.38824228e-01 -9.90314623e-01 -2.18659724e-03 1.52906863e+02] [ 9.90214127e-01 1.38841293e-01 -1.41094977e-02 1.07628262e+02] [ 1.42764319e-02 -2.06459363e-04 9.99898065e-01 2.67980418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:107.66, Z:2.68 [[ 1.39364948e-01 -9.90238706e-01 -2.17174830e-03 1.52911725e+02] [ 9.90139204e-01 1.39381733e-01 -1.40388165e-02 1.07656395e+02] [ 1.42044815e-02 -1.93814209e-04 9.99899092e-01 2.68000997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:107.68, Z:2.68 [[ 1.39936725e-01 -9.90157838e-01 -2.27357755e-03 1.52917378e+02] [ 9.90048357e-01 1.39955064e-01 -1.47252038e-02 1.07683321e+02] [ 1.48984746e-02 -1.90354927e-04 9.99888993e-01 2.68007233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:107.71, Z:2.68 [[ 1.41127324e-01 -9.89988830e-01 -2.27912681e-03 1.52923301e+02] [ 9.89878370e-01 1.41145625e-01 -1.47893838e-02 1.07709561e+02] [ 1.49630135e-02 -1.68872172e-04 9.99888034e-01 2.68039956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:107.74, Z:2.68 [[ 1.41640559e-01 -9.89915511e-01 -2.28756384e-03 1.52928352e+02] [ 9.89803807e-01 1.41658943e-01 -1.48717211e-02 1.07737564e+02] [ 1.50458012e-02 -1.57800512e-04 9.99886793e-01 2.68119141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:107.77, Z:2.68 [[ 1.41820985e-01 -9.89889898e-01 -2.19027037e-03 1.52933386e+02] [ 9.89787136e-01 1.41837823e-01 -1.42638627e-02 1.07765684e+02] [ 1.44303168e-02 -1.44986379e-04 9.99895867e-01 2.68177756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99361786499995 meters Centerline goodness [0,1] 0.9999341802145725 Centerline is valid? [True, True] Translation: X:152.94, Y:107.79, Z:2.68 [[ 1.42476724e-01 -9.89795895e-01 -2.11420878e-03 1.52939136e+02] [ 9.89699799e-01 1.42492353e-01 -1.37926858e-02 1.07792840e+02] [ 1.39532024e-02 -1.27295313e-04 9.99902641e-01 2.68274469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:107.82, Z:2.68 [[ 1.42612036e-01 -9.89776552e-01 -2.04538535e-03 1.52943819e+02] [ 9.89686293e-01 1.42626655e-01 -1.33670880e-02 1.07819242e+02] [ 1.35221567e-02 -1.17982208e-04 9.99908565e-01 2.68332147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:107.85, Z:2.68 [[ 1.42631957e-01 -9.89773881e-01 -1.94678315e-03 1.52948336e+02] [ 9.89691815e-01 1.42645201e-01 -1.27458711e-02 1.07846551e+02] [ 1.28932296e-02 -1.08746807e-04 9.99916873e-01 2.68375665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499995 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:152.95, Y:107.87, Z:2.68 [[ 1.43161262e-01 -9.89697438e-01 -1.95833670e-03 1.52953819e+02] [ 9.89614084e-01 1.43174621e-01 -1.28449622e-02 1.07873596e+02] [ 1.29930103e-02 -9.90965838e-05 9.99915582e-01 2.68409655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:107.90, Z:2.68 [[ 1.43314785e-01 -9.89675262e-01 -1.93589226e-03 1.52958163e+02] [ 9.89593495e-01 1.43327830e-01 -1.27219161e-02 1.07901063e+02] [ 1.28680329e-02 -9.25077118e-05 9.99917199e-01 2.68426472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:107.93, Z:2.68 [[ 1.43648131e-01 -9.89626824e-01 -1.99087770e-03 1.52962016e+02] [ 9.89540022e-01 1.43661900e-01 -1.31073668e-02 1.07927449e+02] [ 1.32574150e-02 -8.72044249e-05 9.99912113e-01 2.68440167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.97, Y:107.95, Z:2.68 [[ 1.43387528e-01 -9.89664624e-01 -1.98720296e-03 1.52966069e+02] [ 9.89577818e-01 1.43401271e-01 -1.31079239e-02 1.07954729e+02] [ 1.32574160e-02 -8.69791715e-05 9.99912113e-01 2.68476831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499996 meters Centerline goodness [0,1] 0.9999780011879359 Centerline is valid? [True, True] Translation: X:152.97, Y:107.98, Z:2.68 [[ 1.45252499e-01 -9.89392403e-01 -2.09385739e-03 1.52968938e+02] [ 9.89295638e-01 1.45267577e-01 -1.38373235e-02 1.07983167e+02] [ 1.39947124e-02 -6.15381628e-05 9.99902067e-01 2.68379700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23361786499996 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:152.97, Y:108.01, Z:2.68 [[ 1.46293755e-01 -9.89238839e-01 -2.15776605e-03 1.52972339e+02] [ 9.89135683e-01 1.46309661e-01 -1.42858082e-02 1.08011270e+02] [ 1.44477784e-02 -4.43988572e-05 9.99895624e-01 2.68360889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26361786499996 meters Centerline goodness [0,1] 0.9999779992519746 Centerline is valid? [True, True] Translation: X:152.98, Y:108.04, Z:2.68 [[ 1.47261442e-01 -9.89095028e-01 -2.25670165e-03 1.52975640e+02] [ 9.88981754e-01 1.47278730e-01 -1.49688058e-02 1.08039290e+02] [ 1.51379355e-02 -2.75088359e-05 9.99885415e-01 2.68332412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29361786499996 meters Centerline goodness [0,1] 0.9998677627664029 Centerline is valid? [True, True] Translation: X:152.98, Y:108.07, Z:2.68 [[ 1.49242333e-01 -9.88797684e-01 -2.42182239e-03 1.52977462e+02] [ 9.88666674e-01 1.49261982e-01 -1.60955802e-02 1.08065598e+02] [ 1.62767584e-02 7.76684886e-06 9.99867525e-01 2.68266050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32361786499996 meters Centerline goodness [0,1] 0.9997572708416081 Centerline is valid? [True, True] Translation: X:152.98, Y:108.09, Z:2.68 [[ 1.50023690e-01 -9.88679359e-01 -2.45324109e-03 1.52980122e+02] [ 9.88544340e-01 1.50043744e-01 -1.63390200e-02 1.08092556e+02] [ 1.65221453e-02 2.61024806e-05 9.99863500e-01 2.68241782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35361786499996 meters Centerline goodness [0,1] 0.9998900252941824 Centerline is valid? [True, True] Translation: X:152.98, Y:108.12, Z:2.68 [[ 1.51566459e-01 -9.88443859e-01 -2.51897437e-03 1.52982078e+02] [ 9.88300899e-01 1.51587379e-01 -1.68107248e-02 1.08120433e+02] [ 1.69983024e-02 5.84374059e-05 9.99855517e-01 2.68271131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38361786499996 meters Centerline goodness [0,1] 0.9999779580320931 Centerline is valid? [True, True] Translation: X:152.98, Y:108.15, Z:2.68 [[ 1.51650310e-01 -9.88430964e-01 -2.53220688e-03 1.52984674e+02] [ 9.88285953e-01 1.51671436e-01 -1.69307344e-02 1.08147007e+02] [ 1.71189256e-02 6.50066344e-05 9.99853458e-01 2.68213603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41361786499996 meters Centerline goodness [0,1] 0.9996696544585637 Centerline is valid? [True, True] Translation: X:152.99, Y:108.17, Z:2.68 [[ 1.51439302e-01 -9.88463300e-01 -2.53816392e-03 1.52988405e+02] [ 9.88317038e-01 1.51460556e-01 -1.70039167e-02 1.08173752e+02] [ 1.71921793e-02 6.65506263e-05 9.99852201e-01 2.68219487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44361786499996 meters Centerline goodness [0,1] 0.999758162031439 Centerline is valid? [True, True] Translation: X:152.99, Y:108.20, Z:2.68 [[ 1.50403072e-01 -9.88621642e-01 -2.48298699e-03 1.52991948e+02] [ 9.88481139e-01 1.50423557e-01 -1.66670947e-02 1.08200387e+02] [ 1.68509502e-02 5.23964291e-05 9.99858011e-01 2.68236473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47361786499997 meters Centerline goodness [0,1] 0.9997807354134234 Centerline is valid? [True, True] Translation: X:153.00, Y:108.23, Z:2.68 [[ 1.47505362e-01 -9.89058389e-01 -2.38155094e-03 1.52997338e+02] [ 9.88928695e-01 1.47524586e-01 -1.60166379e-02 1.08227481e+02] [ 1.61927274e-02 7.35590727e-06 9.99868889e-01 2.68295076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50361786499997 meters Centerline goodness [0,1] 0.9999561018437225 Centerline is valid? [True, True] Translation: X:153.00, Y:108.25, Z:2.68 [[ 1.44879057e-01 -9.89446630e-01 -2.32910830e-03 1.53002484e+02] [ 9.89322185e-01 1.44897774e-01 -1.56923449e-02 1.08254009e+02] [ 1.58642204e-02 -3.07463831e-05 9.99874155e-01 2.68359669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53361786499997 meters Centerline goodness [0,1] 0.9999780166633692 Centerline is valid? [True, True] Translation: X:153.01, Y:108.28, Z:2.69 [[ 1.39829477e-01 -9.90172995e-01 -2.27110276e-03 1.53009454e+02] [ 9.90054298e-01 1.39847880e-01 -1.53315774e-02 1.08281681e+02] [ 1.54985228e-02 -1.04708610e-04 9.99879885e-01 2.68506988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56361786499997 meters Centerline goodness [0,1] 0.9999780113461454 Centerline is valid? [True, True] Translation: X:153.02, Y:108.31, Z:2.69 [[ 1.36993561e-01 -9.90569498e-01 -2.19841983e-03 1.53015898e+02] [ 9.90457948e-01 1.37011127e-01 -1.48662466e-02 1.08308392e+02] [ 1.50272585e-02 -1.40862325e-04 9.99887074e-01 2.68569210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59361786499997 meters Centerline goodness [0,1] 0.9999560931702927 Centerline is valid? [True, True] Translation: X:153.02, Y:108.33, Z:2.69 [[ 1.34200426e-01 -9.90951755e-01 -2.20573191e-03 1.53021764e+02] [ 9.90839222e-01 1.34218429e-01 -1.49348514e-02 1.08334481e+02] [ 1.50957671e-02 -1.81262263e-04 9.99886036e-01 2.68622035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62361786499997 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:153.03, Y:108.36, Z:2.69 [[ 1.31953962e-01 -9.91253405e-01 -2.19959156e-03 1.53025797e+02] [ 9.91141113e-01 1.31972125e-01 -1.49215242e-02 1.08361866e+02] [ 1.50812964e-02 -2.11151389e-04 9.99886248e-01 2.68664853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65361786499997 meters Centerline goodness [0,1] 0.9999339919470175 Centerline is valid? [True, True] Translation: X:153.03, Y:108.39, Z:2.69 [[ 1.28248591e-01 -9.91739517e-01 -2.24245670e-03 1.53030548e+02] [ 9.91622439e-01 1.28267913e-01 -1.52407820e-02 1.08390331e+02] [ 1.54025210e-02 -2.69061560e-04 9.99881338e-01 2.68677391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:108.42, Z:2.69 [[ 1.26780526e-01 -9.91928115e-01 -2.30489282e-03 1.53033838e+02] [ 9.91804006e-01 1.26801129e-01 -1.56935401e-02 1.08418730e+02] [ 1.58591267e-02 -2.96366672e-04 9.99874192e-01 2.68663260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:108.45, Z:2.69 [[ 1.25460653e-01 -9.92095500e-01 -2.47861674e-03 1.53037532e+02] [ 9.91951458e-01 1.25484681e-01 -1.69085523e-02 1.08446161e+02] [ 1.70859271e-02 -3.37309473e-04 9.99853968e-01 2.68509310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:108.47, Z:2.69 [[ 1.24983473e-01 -9.92155340e-01 -2.62932292e-03 1.53041283e+02] [ 9.91992663e-01 1.25010602e-01 -1.79695834e-02 1.08474194e+02] [ 1.81573113e-02 -3.62368102e-04 9.99835077e-01 2.68516738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:108.50, Z:2.69 [[ 1.24710765e-01 -9.92189428e-01 -2.71368933e-03 1.53045830e+02] [ 9.92015527e-01 1.24739723e-01 -1.85794305e-02 1.08500494e+02] [ 1.87728194e-02 -3.74966955e-04 9.99823705e-01 2.68502324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:108.53, Z:2.68 [[ 1.25036521e-01 -9.92148283e-01 -2.76641840e-03 1.53049198e+02] [ 9.91966987e-01 1.25066566e-01 -1.89697222e-02 1.08528726e+02] [ 1.91667637e-02 -3.72287665e-04 9.99816231e-01 2.68473532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:108.56, Z:2.69 [[ 1.25051723e-01 -9.92146360e-01 -2.76901258e-03 1.53052631e+02] [ 9.91964047e-01 1.25081836e-01 -1.90227363e-02 1.08556545e+02] [ 1.92196918e-02 -3.67934963e-04 9.99815217e-01 2.68526834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:108.58, Z:2.69 [[ 1.25205656e-01 -9.92127069e-01 -2.72460258e-03 1.53055953e+02] [ 9.91949900e-01 1.25234795e-01 -1.87521358e-02 1.08584872e+02] [ 1.89457165e-02 -3.54795804e-04 9.99820451e-01 2.68619950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:108.61, Z:2.69 [[ 1.25266440e-01 -9.92119679e-01 -2.61942652e-03 1.53059478e+02] [ 9.91955328e-01 1.25293374e-01 -1.80609317e-02 1.08613030e+02] [ 1.82468026e-02 -3.35925470e-04 9.99833457e-01 2.68670891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:108.64, Z:2.69 [[ 1.26073031e-01 -9.92018117e-01 -2.37611909e-03 1.53060912e+02] [ 9.91882392e-01 1.26095092e-01 -1.64118198e-02 1.08640873e+02] [ 1.65804396e-02 -2.87742818e-04 9.99862494e-01 2.68887714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:108.67, Z:2.69 [[ 1.26445977e-01 -9.91970904e-01 -2.26731097e-03 1.53065838e+02] [ 9.91846850e-01 1.26466026e-01 -1.56897938e-02 1.08667377e+02] [ 1.58505568e-02 -2.64913936e-04 9.99874337e-01 2.68932169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:108.70, Z:2.69 [[ 1.26870491e-01 -9.91916693e-01 -2.26989497e-03 1.53068809e+02] [ 9.91791847e-01 1.26890541e-01 -1.57392472e-02 1.08695743e+02] [ 1.59000503e-02 -2.54417292e-04 9.99873554e-01 2.69039838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:108.72, Z:2.69 [[ 1.28453151e-01 -9.91712942e-01 -2.28645135e-03 1.53071791e+02] [ 9.91585747e-01 1.28473298e-01 -1.58845016e-02 1.08723151e+02] [ 1.60466137e-02 -2.26798292e-04 9.99871219e-01 2.69047418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:108.75, Z:2.69 [[ 1.29680407e-01 -9.91553222e-01 -2.28022161e-03 1.53073940e+02] [ 9.91426211e-01 1.29700294e-01 -1.58714194e-02 1.08750932e+02] [ 1.60331024e-02 -2.02459350e-04 9.99871441e-01 2.69079120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07361786499996 meters Centerline goodness [0,1] 0.9999343401181878 Centerline is valid? [True, True] Translation: X:153.08, Y:108.78, Z:2.69 [[ 1.30689125e-01 -9.91420793e-01 -2.27261836e-03 1.53077207e+02] [ 9.91294108e-01 1.30708757e-01 -1.58496659e-02 1.08777748e+02] [ 1.60107394e-02 -1.81454228e-04 9.99871803e-01 2.69085470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.08, Y:108.80, Z:2.69 [[ 1.33062232e-01 -9.91105206e-01 -2.21664468e-03 1.53079300e+02] [ 9.90984181e-01 1.33080625e-01 -1.54887235e-02 1.08804732e+02] [ 1.56459469e-02 -1.35695690e-04 9.99877585e-01 2.69098430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13361786499996 meters Centerline goodness [0,1] 0.9999345392655306 Centerline is valid? [True, True] Translation: X:153.08, Y:108.83, Z:2.69 [[ 1.33954612e-01 -9.90984952e-01 -2.23301630e-03 1.53082433e+02] [ 9.90861745e-01 1.33973170e-01 -1.56266403e-02 1.08832049e+02] [ 1.57849296e-02 -1.19349891e-04 9.99875403e-01 2.69097818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.08, Y:108.86, Z:2.69 [[ 1.35924153e-01 -9.90716769e-01 -2.21539793e-03 1.53084970e+02] [ 9.90595000e-01 1.35942180e-01 -1.55328321e-02 1.08859687e+02] [ 1.56898033e-02 -8.32750688e-05 9.99876904e-01 2.69146633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19361786499996 meters Centerline goodness [0,1] 0.9999345934985938 Centerline is valid? [True, True] Translation: X:153.09, Y:108.89, Z:2.69 [[ 1.36287164e-01 -9.90666753e-01 -2.27887645e-03 1.53088119e+02] [ 9.90537488e-01 1.36306194e-01 -1.60033469e-02 1.08887278e+02] [ 1.61646087e-02 -7.62617886e-05 9.99869341e-01 2.69179416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:108.91, Z:2.69 [[ 1.36514826e-01 -9.90635400e-01 -2.28184974e-03 1.53092070e+02] [ 9.90505309e-01 1.36533878e-01 -1.60540514e-02 1.08913860e+02] [ 1.62152615e-02 -6.85682456e-05 9.99868522e-01 2.69177970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:108.94, Z:2.69 [[ 1.36183613e-01 -9.90681037e-01 -2.25955578e-03 1.53096446e+02] [ 9.90553101e-01 1.36202339e-01 -1.59209532e-02 1.08941833e+02] [ 1.60803432e-02 -7.00370556e-05 9.99870700e-01 2.69202898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:108.97, Z:2.69 [[ 1.35857403e-01 -9.90725763e-01 -2.28644217e-03 1.53100397e+02] [ 9.90594266e-01 1.35876623e-01 -1.61413362e-02 1.08969778e+02] [ 1.63023117e-02 -7.20164821e-05 9.99867106e-01 2.69274369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:109.00, Z:2.69 [[ 1.35151818e-01 -9.90822440e-01 -2.20863589e-03 1.53104547e+02] [ 9.90699295e-01 1.35169842e-01 -1.56211927e-02 1.08997757e+02] [ 1.57763692e-02 -7.68614272e-05 9.99875542e-01 2.69316991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34361786499997 meters Centerline goodness [0,1] 0.9999564829521965 Centerline is valid? [True, True] Translation: X:153.11, Y:109.03, Z:2.69 [[ 1.32916688e-01 -9.91124841e-01 -2.16875950e-03 1.53109871e+02] [ 9.91005686e-01 1.32934338e-01 -1.53685439e-02 1.09025062e+02] [ 1.55204482e-02 -1.06517035e-04 9.99879545e-01 2.69376890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37361786499997 meters Centerline goodness [0,1] 0.9999782106593454 Centerline is valid? [True, True] Translation: X:153.12, Y:109.05, Z:2.69 [[ 1.31563065e-01 -9.91305452e-01 -2.15890002e-03 1.53115272e+02] [ 9.91186937e-01 1.31580720e-01 -1.53287416e-02 1.09051594e+02] [ 1.54795347e-02 -1.23177268e-04 9.99880177e-01 2.69390945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:109.08, Z:2.69 [[ 1.30154259e-01 -9.91491357e-01 -2.18107087e-03 1.53120351e+02] [ 9.91369920e-01 1.30172454e-01 -1.55181531e-02 1.09079573e+02] [ 1.56700300e-02 -1.42494339e-04 9.99877207e-01 2.69442805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43361786499997 meters Centerline goodness [0,1] 0.99995626981524 Centerline is valid? [True, True] Translation: X:153.13, Y:109.11, Z:2.70 [[ 1.27064445e-01 -9.91892000e-01 -2.21084483e-03 1.53126819e+02] [ 9.91766799e-01 1.27083535e-01 -1.57604522e-02 1.09107118e+02] [ 1.59136284e-02 -1.90049382e-04 9.99873352e-01 2.69523425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:109.13, Z:2.70 [[ 1.25956666e-01 -9.92033202e-01 -2.24585309e-03 1.53132994e+02] [ 9.91903528e-01 1.25976516e-01 -1.60408281e-02 1.09134078e+02] [ 1.61959588e-02 -2.07220377e-04 9.99868815e-01 2.69575922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:109.16, Z:2.70 [[ 1.24725014e-01 -9.92188835e-01 -2.23291407e-03 1.53137717e+02] [ 9.92060140e-01 1.24744803e-01 -1.59816615e-02 1.09160862e+02] [ 1.61353705e-02 -2.21872097e-04 9.99869792e-01 2.69664561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499995 meters Centerline goodness [0,1] 0.9999780542936775 Centerline is valid? [True, True] Translation: X:153.14, Y:109.19, Z:2.70 [[ 1.23306632e-01 -9.92365970e-01 -2.29271233e-03 1.53142665e+02] [ 9.92229730e-01 1.23327697e-01 -1.64451083e-02 1.09188939e+02] [ 1.66023208e-02 -2.47106422e-04 9.99862141e-01 2.69716901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:109.22, Z:2.70 [[ 1.22488838e-01 -9.92467253e-01 -2.28817240e-03 1.53149114e+02] [ 9.92331023e-01 1.22509941e-01 -1.64455377e-02 1.09215123e+02] [ 1.66019815e-02 -2.56229650e-04 9.99862145e-01 2.69732388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:109.24, Z:2.70 [[ 1.21332586e-01 -9.92609228e-01 -2.30741023e-03 1.53153549e+02] [ 9.92470132e-01 1.21354216e-01 -1.66190217e-02 1.09241709e+02] [ 1.67762083e-02 -2.73606852e-04 9.99859232e-01 2.69753928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61361786499995 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:153.16, Y:109.27, Z:2.70 [[ 1.20677261e-01 -9.92689259e-01 -2.24365495e-03 1.53158058e+02] [ 9.92557202e-01 1.20697809e-01 -1.61938085e-02 1.09267993e+02] [ 1.63462240e-02 -2.72731415e-04 9.99866354e-01 2.69817073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:109.30, Z:2.70 [[ 1.20092165e-01 -9.92760223e-01 -2.23872406e-03 1.53160418e+02] [ 9.92628179e-01 1.20112710e-01 -1.61936659e-02 1.09296459e+02] [ 1.63453266e-02 -2.77488185e-04 9.99866368e-01 2.69908424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67361786499995 meters Centerline goodness [0,1] 0.9999340992465348 Centerline is valid? [True, True] Translation: X:153.16, Y:109.32, Z:2.70 [[ 1.20228453e-01 -9.92743740e-01 -2.23293939e-03 1.53164564e+02] [ 9.92611839e-01 1.20248882e-01 -1.61846793e-02 1.09323315e+02] [ 1.63357475e-02 -2.70583119e-04 9.99866526e-01 2.69972409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:109.35, Z:2.70 [[ 1.20701869e-01 -9.92686350e-01 -2.20671751e-03 1.53168141e+02] [ 9.92556981e-01 1.20721768e-01 -1.60279345e-02 1.09350839e+02] [ 1.61771106e-02 -2.55691224e-04 9.99869109e-01 2.70030667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73361786499996 meters Centerline goodness [0,1] 0.9999340166278098 Centerline is valid? [True, True] Translation: X:153.17, Y:109.38, Z:2.70 [[ 1.22887128e-01 -9.92418066e-01 -2.26612985e-03 1.53171592e+02] [ 9.92281036e-01 1.22907821e-01 -1.64928009e-02 1.09377828e+02] [ 1.66462787e-02 -2.21884732e-04 9.99861416e-01 2.70072907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76361786499996 meters Centerline goodness [0,1] 0.9999560023758717 Centerline is valid? [True, True] Translation: X:153.17, Y:109.41, Z:2.70 [[ 1.24082465e-01 -9.92269276e-01 -2.28615043e-03 1.53173316e+02] [ 9.92129228e-01 1.24103364e-01 -1.66718138e-02 1.09405615e+02] [ 1.68266475e-02 -1.99476903e-04 9.99858402e-01 2.70182836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:109.43, Z:2.70 [[ 1.24928315e-01 -9.92163206e-01 -2.25605912e-03 1.53176055e+02] [ 9.92026261e-01 1.24948557e-01 -1.64850018e-02 1.09433938e+02] [ 1.66377036e-02 -1.78626397e-04 9.99861568e-01 2.70214061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:109.46, Z:2.70 [[ 1.25842447e-01 -9.92047756e-01 -2.22001570e-03 1.53178884e+02] [ 9.91914606e-01 1.25861930e-01 -1.62538784e-02 1.09460916e+02] [ 1.64040390e-02 -1.56638183e-04 9.99865432e-01 2.70269843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:109.49, Z:2.70 [[ 1.27747525e-01 -9.91804499e-01 -2.09879720e-03 1.53179826e+02] [ 9.91684989e-01 1.27764713e-01 -1.53967491e-02 1.09488993e+02] [ 1.55387173e-02 -1.14449088e-04 9.99879260e-01 2.70356964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88361786499996 meters Centerline goodness [0,1] 0.9999780432109608 Centerline is valid? [True, True] Translation: X:153.18, Y:109.52, Z:2.70 [[ 1.28798124e-01 -9.91668493e-01 -2.15469139e-03 1.53182014e+02] [ 9.91541987e-01 1.28816110e-01 -1.58397598e-02 1.09516375e+02] [ 1.59853497e-02 -9.63356384e-05 9.99872222e-01 2.70407020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91361786499996 meters Centerline goodness [0,1] 0.9999120569870724 Centerline is valid? [True, True] Translation: X:153.18, Y:109.54, Z:2.70 [[ 1.28828461e-01 -9.91664665e-01 -2.10254013e-03 1.53184952e+02] [ 9.91543708e-01 1.28845586e-01 -1.54883647e-02 1.09544136e+02] [ 1.56301670e-02 -8.94182402e-05 9.99877837e-01 2.70418691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94361786499996 meters Centerline goodness [0,1] 0.9999119447012724 Centerline is valid? [True, True] Translation: X:153.19, Y:109.57, Z:2.70 [[ 1.28931885e-01 -9.91651217e-01 -2.10524052e-03 1.53188176e+02] [ 9.91529457e-01 1.28949044e-01 -1.55396250e-02 1.09572465e+02] [ 1.56813568e-02 -8.38548528e-05 9.99877036e-01 2.70475632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97361786499997 meters Centerline goodness [0,1] 0.9999339803261372 Centerline is valid? [True, True] Translation: X:153.19, Y:109.60, Z:2.70 [[ 1.28481267e-01 -9.91709795e-01 -2.06074253e-03 1.53191180e+02] [ 9.91592684e-01 1.28497764e-01 -1.52405579e-02 1.09599028e+02] [ 1.53790114e-02 -8.52910146e-05 9.99881732e-01 2.70478966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00361786499997 meters Centerline goodness [0,1] 0.9999122807017544 Centerline is valid? [True, True] Translation: X:153.19, Y:109.63, Z:2.71 [[ 1.27579320e-01 -9.91826295e-01 -2.02936660e-03 1.53194489e+02] [ 9.91712389e-01 1.27595424e-01 -1.50314943e-02 1.09626529e+02] [ 1.51675692e-02 -9.48401834e-05 9.99884961e-01 2.70514911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:109.65, Z:2.71 [[ 1.26503846e-01 -9.91964071e-01 -2.01477962e-03 1.53197844e+02] [ 9.91851362e-01 1.26519844e-01 -1.49534114e-02 1.09654606e+02] [ 1.50881564e-02 -1.06697868e-04 9.99886162e-01 2.70569804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:109.68, Z:2.71 [[ 1.26231034e-01 -9.91998832e-01 -2.01066570e-03 1.53201455e+02] [ 9.91886119e-01 1.26247001e-01 -1.49539646e-02 1.09681951e+02] [ 1.50881559e-02 -1.06696982e-04 9.99886162e-01 2.70606476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09361786499997 meters Centerline goodness [0,1] 0.9999560632688927 Centerline is valid? [True, True] Translation: X:153.21, Y:109.71, Z:2.71 [[ 1.24936866e-01 -9.92162726e-01 -1.97610064e-03 1.53205964e+02] [ 9.92053424e-01 1.24952435e-01 -1.47273153e-02 1.09708495e+02] [ 1.48588118e-02 -1.20412789e-04 9.99889595e-01 2.70609387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12361786499997 meters Centerline goodness [0,1] 0.999955924807722 Centerline is valid? [True, True] Translation: X:153.21, Y:109.74, Z:2.71 [[ 1.22885673e-01 -9.92418837e-01 -1.99097964e-03 1.53210060e+02] [ 9.92307424e-01 1.22901711e-01 -1.48709648e-02 1.09736634e+02] [ 1.50029203e-02 -1.48235366e-04 9.99887439e-01 2.70611359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:109.76, Z:2.71 [[ 1.21681553e-01 -9.92567131e-01 -2.02267465e-03 1.53214863e+02] [ 9.92451676e-01 1.21698251e-01 -1.51395466e-02 1.09762996e+02] [ 1.52731723e-02 -1.65203313e-04 9.99883345e-01 2.70603397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:109.79, Z:2.71 [[ 1.20303031e-01 -9.92735181e-01 -2.01046947e-03 1.53217714e+02] [ 9.92620645e-01 1.20319692e-01 -1.50806637e-02 1.09790481e+02] [ 1.52130044e-02 -1.81383951e-04 9.99884259e-01 2.70597789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:109.82, Z:2.71 [[ 1.18371172e-01 -9.92967267e-01 -2.06715441e-03 1.53222202e+02] [ 9.92845700e-01 1.18389028e-01 -1.55387589e-02 1.09818798e+02] [ 1.56742074e-02 -2.13024263e-04 9.99877129e-01 2.70505683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:109.85, Z:2.71 [[ 1.17032922e-01 -9.93125783e-01 -2.11518331e-03 1.53226209e+02] [ 9.92998000e-01 1.17051798e-01 -1.59326487e-02 1.09846241e+02] [ 1.60707102e-02 -2.35728360e-04 9.99870830e-01 2.70519912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27361786499995 meters Centerline goodness [0,1] 0.999911921433919 Centerline is valid? [True, True] Translation: X:153.23, Y:109.87, Z:2.70 [[ 1.14955331e-01 -9.93368270e-01 -2.18000760e-03 1.53233507e+02] [ 9.93231990e-01 1.14975675e-01 -1.64562506e-02 1.09873031e+02] [ 1.65977650e-02 -2.73519548e-04 9.99862210e-01 2.70441148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499995 meters Centerline goodness [0,1] 0.9998681550496616 Centerline is valid? [True, True] Translation: X:153.24, Y:109.90, Z:2.70 [[ 1.13838223e-01 -9.93496873e-01 -2.19590619e-03 1.53236219e+02] [ 9.93358077e-01 1.13859029e-01 -1.66088068e-02 1.09900995e+02] [ 1.67508214e-02 -2.90604094e-04 9.99859653e-01 2.70460446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:109.93, Z:2.70 [[ 1.12577690e-01 -9.93640470e-01 -2.20923673e-03 1.53241436e+02] [ 9.93499434e-01 1.12598939e-01 -1.67437546e-02 1.09928354e+02] [ 1.68860299e-02 -3.09902226e-04 9.99857373e-01 2.70452931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499995 meters Centerline goodness [0,1] 0.9999117971334068 Centerline is valid? [True, True] Translation: X:153.25, Y:109.96, Z:2.71 [[ 1.10431439e-01 -9.93881376e-01 -2.16965395e-03 1.53246744e+02] [ 9.93744886e-01 1.10452238e-01 -1.64743725e-02 1.09955567e+02] [ 1.66132152e-02 -3.36793843e-04 9.99861934e-01 2.70521688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.25, Y:109.98, Z:2.71 [[ 1.09192539e-01 -9.94018426e-01 -2.08775701e-03 1.53249610e+02] [ 9.93891563e-01 1.09211965e-01 -1.58841782e-02 1.09983359e+02] [ 1.60171739e-02 -3.40570321e-04 9.99871659e-01 2.70616434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499995 meters Centerline goodness [0,1] 0.999977918607989 Centerline is valid? [True, True] Translation: X:153.25, Y:110.01, Z:2.71 [[ 1.08086845e-01 -9.94139314e-01 -2.06352500e-03 1.53254155e+02] [ 9.94014886e-01 1.08105972e-01 -1.57323255e-02 1.10010675e+02] [ 1.58632027e-02 -3.50717140e-04 9.99874110e-01 2.70655830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45361786499996 meters Centerline goodness [0,1] 0.9999778839348903 Centerline is valid? [True, True] Translation: X:153.26, Y:110.04, Z:2.71 [[ 1.07178787e-01 -9.94237707e-01 -2.02225419e-03 1.53257479e+02] [ 9.94117768e-01 1.07197277e-01 -1.54468979e-02 1.10038135e+02] [ 1.55746685e-02 -3.54779034e-04 9.99878645e-01 2.70724749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499996 meters Centerline goodness [0,1] 0.9999115787612184 Centerline is valid? [True, True] Translation: X:153.26, Y:110.07, Z:2.71 [[ 1.05589176e-01 -9.94407976e-01 -1.92417823e-03 1.53262180e+02] [ 9.94298970e-01 1.05606099e-01 -1.47278690e-02 1.10066412e+02] [ 1.48487154e-02 -3.58104877e-04 9.99889688e-01 2.70770581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:110.09, Z:2.71 [[ 1.05284664e-01 -9.94440290e-01 -1.91042274e-03 1.53266634e+02] [ 9.94332400e-01 1.05301390e-01 -1.46524787e-02 1.10093136e+02] [ 1.47721853e-02 -3.56913929e-04 9.99890822e-01 2.70817599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54361786499996 meters Centerline goodness [0,1] 0.9999778932242732 Centerline is valid? [True, True] Translation: X:153.27, Y:110.12, Z:2.71 [[ 1.05681605e-01 -9.94398232e-01 -1.88536709e-03 1.53271045e+02] [ 9.94292686e-01 1.05697865e-01 -1.44919020e-02 1.10119827e+02] [ 1.46100010e-02 -3.43079239e-04 9.99893209e-01 2.70852044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:110.14, Z:2.71 [[ 1.06077444e-01 -9.94356174e-01 -1.83729460e-03 1.53278221e+02] [ 9.94255628e-01 1.06092852e-01 -1.41440067e-02 1.10144955e+02] [ 1.42591042e-02 -3.26380418e-04 9.99898281e-01 2.70895831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60361786499996 meters Centerline goodness [0,1] 0.9998897050713608 Centerline is valid? [True, True] Translation: X:153.28, Y:110.17, Z:2.71 [[ 1.06770303e-01 -9.94282087e-01 -1.79811502e-03 1.53276189e+02] [ 9.94185428e-01 1.06785001e-01 -1.38671322e-02 1.10173353e+02] [ 1.39798529e-02 -3.07061850e-04 9.99902230e-01 2.70922844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:110.20, Z:2.71 [[ 1.09036165e-01 -9.94036163e-01 -1.79506770e-03 1.53279077e+02] [ 9.93939394e-01 1.09050602e-01 -1.38725049e-02 1.10200208e+02] [ 1.39855247e-02 -2.71583783e-04 9.99902161e-01 2.70947391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:110.23, Z:2.71 [[ 1.09986222e-01 -9.93931576e-01 -1.74752526e-03 1.53279906e+02] [ 9.93839607e-01 1.09999821e-01 -1.35231393e-02 1.10228071e+02] [ 1.36333026e-02 -2.49400811e-04 9.99907031e-01 2.70965071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:110.25, Z:2.71 [[ 1.11562716e-01 -9.93755867e-01 -1.74293273e-03 1.53282924e+02] [ 9.93663961e-01 1.11576106e-01 -1.35168371e-02 1.10254583e+02] [ 1.36269058e-02 -2.23914375e-04 9.99907124e-01 2.71015029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72361786499997 meters Centerline goodness [0,1] 0.9999341932087391 Centerline is valid? [True, True] Translation: X:153.28, Y:110.28, Z:2.71 [[ 1.14753177e-01 -9.93392545e-01 -1.72019599e-03 1.53283539e+02] [ 9.93302594e-01 1.14765937e-01 -1.33692772e-02 1.10283452e+02] [ 1.34783602e-02 -1.74508108e-04 9.99909148e-01 2.71000516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:110.31, Z:2.71 [[ 1.16218672e-01 -9.93222148e-01 -1.72776220e-03 1.53285590e+02] [ 9.93131007e-01 1.16231415e-01 -1.34559205e-02 1.10311377e+02] [ 1.35655385e-02 -1.52065000e-04 9.99907972e-01 2.71065792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78361786499997 meters Centerline goodness [0,1] 0.9999124362426391 Centerline is valid? [True, True] Translation: X:153.29, Y:110.34, Z:2.71 [[ 1.17650147e-01 -9.93053686e-01 -1.67912920e-03 1.53287884e+02] [ 9.92967226e-01 1.17662062e-01 -1.31045036e-02 1.10339293e+02] [ 1.32110454e-02 -1.25573481e-04 9.99912722e-01 2.71073384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:110.37, Z:2.71 [[ 1.20348419e-01 -9.92730378e-01 -1.62904417e-03 1.53288089e+02] [ 9.92648630e-01 1.20359415e-01 -1.27400537e-02 1.10367107e+02] [ 1.28435091e-02 -8.38231446e-05 9.99917515e-01 2.71166563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84361786499997 meters Centerline goodness [0,1] 0.9999341079312086 Centerline is valid? [True, True] Translation: X:153.29, Y:110.40, Z:2.71 [[ 1.21492215e-01 -9.92591076e-01 -1.61158159e-03 1.53290009e+02] [ 9.92510719e-01 1.21502886e-01 -1.26301534e-02 1.10395552e+02] [ 1.27323894e-02 -6.50466831e-05 9.99918938e-01 2.71200238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:110.42, Z:2.71 [[ 1.22498805e-01 -9.92467392e-01 -1.58674730e-03 1.53292471e+02] [ 9.92389150e-01 1.22509072e-01 -1.24620069e-02 1.10423960e+02] [ 1.25625265e-02 -4.80898427e-05 9.99921087e-01 2.71249684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90361786499997 meters Centerline goodness [0,1] 0.99997808171138 Centerline is valid? [True, True] Translation: X:153.29, Y:110.45, Z:2.71 [[ 1.23729593e-01 -9.92314719e-01 -1.57702138e-03 1.53294392e+02] [ 9.92237088e-01 1.23739639e-01 -1.24122424e-02 1.10451966e+02] [ 1.25119909e-02 -2.90174052e-05 9.99921722e-01 2.71270079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:110.48, Z:2.71 [[ 1.23844569e-01 -9.92300413e-01 -1.55322734e-03 1.53297404e+02] [ 9.92224782e-01 1.23854306e-01 -1.22512262e-02 1.10479405e+02] [ 1.23492707e-02 -2.39028391e-05 9.99923745e-01 2.71321672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters Centerline goodness [0,1] 0.9998906075655808 Centerline is valid? [True, True] Translation: X:153.30, Y:110.51, Z:2.71 [[ 1.23767044e-01 -9.92310013e-01 -1.59885219e-03 1.53300421e+02] [ 9.92229511e-01 1.23777368e-01 -1.26396436e-02 1.10507187e+02] [ 1.27403467e-02 -2.20569992e-05 9.99918838e-01 2.71401707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99361786499995 meters Centerline goodness [0,1] 0.9999781119355615 Centerline is valid? [True, True] Translation: X:153.30, Y:110.54, Z:2.71 [[ 1.23300199e-01 -9.92368086e-01 -1.62600625e-03 1.53302618e+02] [ 9.92284457e-01 1.23310917e-01 -1.28830738e-02 1.10535509e+02] [ 1.29852556e-02 -2.49751631e-05 9.99915688e-01 2.71404339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499995 meters Centerline goodness [0,1] 0.9999781425542611 Centerline is valid? [True, True] Translation: X:153.31, Y:110.56, Z:2.71 [[ 1.22520686e-01 -9.92464605e-01 -1.63965928e-03 1.53305518e+02] [ 9.92379197e-01 1.22531653e-01 -1.30200991e-02 1.10563384e+02] [ 1.31228977e-02 -3.19322846e-05 9.99913891e-01 2.71402602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05361786499995 meters Centerline goodness [0,1] 0.9999125644836933 Centerline is valid? [True, True] Translation: X:153.31, Y:110.59, Z:2.71 [[ 1.21724585e-01 -9.92562548e-01 -1.64739823e-03 1.53308409e+02] [ 9.92475953e-01 1.21735726e-01 -1.31109352e-02 1.10591564e+02] [ 1.32139705e-02 -3.90799736e-05 9.99912691e-01 2.71434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:110.62, Z:2.71 [[ 1.19541766e-01 -9.92827952e-01 -1.55713846e-03 1.53311421e+02] [ 9.92750281e-01 1.19551891e-01 -1.24187658e-02 1.10619379e+02] [ 1.25158566e-02 -6.12884530e-05 9.99921672e-01 2.71457771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:110.65, Z:2.72 [[ 1.18168766e-01 -9.92992430e-01 -1.47511340e-03 1.53315028e+02] [ 9.92922431e-01 1.18177951e-01 -1.17905523e-02 1.10646225e+02] [ 1.18822550e-02 -7.13981753e-05 9.99929401e-01 2.71536976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:110.67, Z:2.72 [[ 1.16765790e-01 -9.93158452e-01 -1.42842828e-03 1.53318601e+02] [ 9.93092629e-01 1.16774497e-01 -1.14344615e-02 1.10674533e+02] [ 1.15230361e-02 -8.34076708e-05 9.99933604e-01 2.71593437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:110.70, Z:2.72 [[ 1.14099406e-01 -9.93468393e-01 -1.37036408e-03 1.53322218e+02] [ 9.93407552e-01 1.14107584e-01 -1.09952383e-02 1.10701338e+02] [ 1.10797906e-02 -1.06779872e-04 9.99938612e-01 2.71642763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:110.73, Z:2.72 [[ 1.12861634e-01 -9.93609790e-01 -1.35528789e-03 1.53325091e+02] [ 9.93550145e-01 1.12869709e-01 -1.08875144e-02 1.10729428e+02] [ 1.09709118e-02 -1.17763816e-04 9.99939811e-01 2.71697677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:110.76, Z:2.72 [[ 1.11158270e-01 -9.93801863e-01 -1.30253503e-03 1.53327616e+02] [ 9.93746540e-01 1.11165826e-01 -1.04868466e-02 1.10756996e+02] [ 1.05666450e-02 -1.28689964e-04 9.99944163e-01 2.71729537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:110.78, Z:2.72 [[ 1.10254865e-01 -9.93902404e-01 -1.36954956e-03 1.53330581e+02] [ 9.93840995e-01 1.10263279e-01 -1.10492833e-02 1.10784584e+02] [ 1.11329203e-02 -1.42877245e-04 9.99938017e-01 2.71789180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29361786499996 meters Centerline goodness [0,1] 0.9999781104982051 Centerline is valid? [True, True] Translation: X:153.33, Y:110.81, Z:2.72 [[ 1.09368400e-01 -9.94000347e-01 -1.36523537e-03 1.53333415e+02] [ 9.93939058e-01 1.09376818e-01 -1.10390263e-02 1.10812118e+02] [ 1.11221211e-02 -1.49640113e-04 9.99938136e-01 2.71777385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.84, Z:2.72 [[ 1.08203298e-01 -9.94127885e-01 -1.33939932e-03 1.53336260e+02] [ 9.94068646e-01 1.08211473e-01 -1.08537917e-02 1.10840100e+02] [ 1.09349954e-02 -1.57038808e-04 9.99940199e-01 2.71822421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.87, Z:2.72 [[ 1.07194929e-01 -9.94237159e-01 -1.31119567e-03 1.53337914e+02] [ 9.94180147e-01 1.07202825e-01 -1.06484767e-02 1.10868595e+02] [ 1.07276751e-02 -1.62102003e-04 9.99942444e-01 2.71865293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.90, Z:2.72 [[ 1.06782794e-01 -9.94281459e-01 -1.34704817e-03 1.53340176e+02] [ 9.94221010e-01 1.06791158e-01 -1.09650260e-02 1.10896965e+02] [ 1.10461749e-02 -1.68387470e-04 9.99938975e-01 2.71830166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.93, Z:2.72 [[ 1.06486471e-01 -9.94313226e-01 -1.35642285e-03 1.53341602e+02] [ 9.94251660e-01 1.06494973e-01 -1.10660759e-02 1.10925217e+02] [ 1.11475979e-02 -1.70238294e-04 9.99937849e-01 2.71813325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.95, Z:2.72 [[ 1.05851338e-01 -9.94381048e-01 -1.35126502e-03 1.53342943e+02] [ 9.94319680e-01 1.05859820e-01 -1.10486396e-02 1.10952660e+02] [ 1.11296025e-02 -1.74076108e-04 9.99938049e-01 2.71841937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:110.98, Z:2.72 [[ 1.05190206e-01 -9.94451162e-01 -1.38095599e-03 1.53344389e+02] [ 9.94386754e-01 1.05199112e-01 -1.13194594e-02 1.10980311e+02] [ 1.14019249e-02 -1.82508081e-04 9.99934979e-01 2.71895022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50361786499997 meters Centerline goodness [0,1] 0.999935137939981 Centerline is valid? [True, True] Translation: X:153.35, Y:111.01, Z:2.72 [[ 1.03886866e-01 -9.94588158e-01 -1.38422404e-03 1.53345984e+02] [ 9.94523155e-01 1.03895904e-01 -1.13726087e-02 1.11007769e+02] [ 1.14548771e-02 -1.95178189e-04 9.99934372e-01 2.71895713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:111.04, Z:2.72 [[ 1.02981224e-01 -9.94682320e-01 -1.39610296e-03 1.53347502e+02] [ 9.94615941e-01 1.02990483e-01 -1.14930345e-02 1.11036337e+02] [ 1.15757035e-02 -2.05019501e-04 9.99932978e-01 2.71975373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:111.06, Z:2.72 [[ 1.01678089e-01 -9.94816327e-01 -1.42881156e-03 1.53347944e+02] [ 9.94746486e-01 1.01687884e-01 -1.17899543e-02 1.11064184e+02] [ 1.18741319e-02 -2.22525257e-04 9.99929475e-01 2.72042047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:111.09, Z:2.72 [[ 1.00909280e-01 -9.94894616e-01 -1.42147906e-03 1.53350124e+02] [ 9.94825182e-01 1.00919034e-01 -1.17560888e-02 1.11091718e+02] [ 1.18395238e-02 -2.27824710e-04 9.99929884e-01 2.72072175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62361786499997 meters Centerline goodness [0,1] 0.9999353434341257 Centerline is valid? [True, True] Translation: X:153.35, Y:111.12, Z:2.72 [[ 9.98873913e-02 -9.94997753e-01 -1.40765869e-03 1.53351164e+02] [ 9.94929341e-01 9.98970335e-02 -1.16700405e-02 1.11119702e+02] [ 1.17522850e-02 -2.34831033e-04 9.99930912e-01 2.72121763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:111.15, Z:2.72 [[ 9.88306236e-02 -9.95103314e-01 -1.37927478e-03 1.53351903e+02] [ 9.95037335e-01 9.88399571e-02 -1.14614166e-02 1.11147178e+02] [ 1.15416211e-02 -2.39690952e-04 9.99933365e-01 2.72165986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:111.18, Z:2.72 [[ 9.80859524e-02 -9.95177050e-01 -1.33644549e-03 1.53354180e+02] [ 9.95114867e-01 9.80947668e-02 -1.11273666e-02 1.11175605e+02] [ 1.12047982e-02 -2.38478424e-04 9.99937196e-01 2.72257722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.20, Z:2.72 [[ 9.75779377e-02 -9.95227000e-01 -1.32829672e-03 1.53355905e+02] [ 9.95165296e-01 9.75866824e-02 -1.10848491e-02 1.11203566e+02] [ 1.11615652e-02 -2.40238089e-04 9.99937679e-01 2.72310546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.23, Z:2.72 [[ 9.65807104e-02 -9.95324212e-01 -1.37091708e-03 1.53358047e+02] [ 9.95258159e-01 9.65900986e-02 -1.14694968e-02 1.11230077e+02] [ 1.15482849e-02 -2.56684257e-04 9.99933283e-01 2.72328521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.26, Z:2.72 [[ 9.59975107e-02 -9.95380581e-01 -1.40625095e-03 1.53357342e+02] [ 9.95310872e-01 9.60074346e-02 -1.17830512e-02 1.11258559e+02] [ 1.18636309e-02 -2.68513279e-04 9.99929589e-01 2.72295610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.29, Z:2.72 [[ 9.56494879e-02 -9.95413943e-01 -1.50230811e-03 1.53360117e+02] [ 9.95333985e-01 9.56608509e-02 -1.26197953e-02 1.11285010e+02] [ 1.27056323e-02 -2.88221357e-04 9.99919239e-01 2.72329634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.31, Z:2.72 [[ 9.52924320e-02 -9.95448133e-01 -1.53838391e-03 1.53359613e+02] [ 9.95363861e-01 9.53043872e-02 -1.29559927e-02 1.11313564e+02] [ 1.30436335e-02 -2.96643691e-04 9.99914884e-01 2.72340364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.34, Z:2.72 [[ 9.48019422e-02 -9.95494888e-01 -1.58713224e-03 1.53361087e+02] [ 9.95404760e-01 9.48147213e-02 -1.33989615e-02 1.11341955e+02] [ 1.34890811e-02 -3.09591415e-04 9.99908970e-01 2.72376675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.37, Z:2.72 [[ 9.44574803e-02 -9.95527606e-01 -1.60291956e-03 1.53363227e+02] [ 9.95435238e-01 9.44705570e-02 -1.35646629e-02 1.11368969e+02] [ 1.36554251e-02 -3.14318734e-04 9.99906711e-01 2.72437023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:111.40, Z:2.73 [[ 9.33086306e-02 -9.95635904e-01 -1.62664461e-03 1.53363159e+02] [ 9.95540320e-01 9.33222184e-02 -1.37998230e-02 1.11397096e+02] [ 1.38914013e-02 -3.31747713e-04 9.99903455e-01 2.72548794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.42, Z:2.73 [[ 9.25880917e-02 -9.95703118e-01 -1.65705829e-03 1.53365399e+02] [ 9.95603626e-01 9.26022718e-02 -1.40797776e-02 1.11424453e+02] [ 1.41727258e-02 -3.46153508e-04 9.99899502e-01 2.72565440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.45, Z:2.73 [[ 9.23215364e-02 -9.95727875e-01 -1.65303276e-03 1.53368543e+02] [ 9.95628378e-01 9.23356862e-02 -1.40802502e-02 1.11451847e+02] [ 1.41727315e-02 -3.45895996e-04 9.99899502e-01 2.72602114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.48, Z:2.73 [[ 9.10873672e-02 -9.95841581e-01 -1.62415933e-03 1.53368641e+02] [ 9.95745107e-01 9.11011573e-02 -1.38658273e-02 1.11480716e+02] [ 1.39561302e-02 -3.54247000e-04 9.99902546e-01 2.72673512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.51, Z:2.73 [[ 9.02154696e-02 -9.95920822e-01 -1.69882903e-03 1.53370584e+02] [ 9.95814796e-01 9.02306620e-02 -1.45368381e-02 1.11508805e+02] [ 1.46308262e-02 -3.80271407e-04 9.99892891e-01 2.72732374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.54, Z:2.73 [[ 8.91972739e-02 -9.96012510e-01 -1.71080333e-03 1.53371477e+02] [ 9.95904494e-01 8.92128048e-02 -1.46736102e-02 1.11537565e+02] [ 1.47677249e-02 -3.94950696e-04 9.99890873e-01 2.72786234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.57, Z:2.73 [[ 8.82968263e-02 -9.96092629e-01 -1.77343613e-03 1.53371946e+02] [ 9.95976050e-01 8.83136344e-02 -1.52449822e-02 1.11565592e+02] [ 1.53420330e-02 -4.20216368e-04 9.99882216e-01 2.72823365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.59, Z:2.73 [[ 8.69134346e-02 -9.96214135e-01 -1.85803585e-03 1.53373650e+02] [ 9.96085805e-01 8.69320734e-02 -1.59963902e-02 1.11592567e+02] [ 1.60973529e-02 -4.60461924e-04 9.99870323e-01 2.72878207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.62, Z:2.73 [[ 8.62431090e-02 -9.96272266e-01 -1.92325812e-03 1.53373951e+02] [ 9.96134406e-01 8.62631827e-02 -1.65803610e-02 1.11620530e+02] [ 1.66844602e-02 -4.85881704e-04 9.99860687e-01 2.72927466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.65, Z:2.73 [[ 8.63908932e-02 -9.96259479e-01 -1.91424369e-03 1.53372009e+02] [ 9.96122244e-01 8.64107781e-02 -1.65424607e-02 1.11649016e+02] [ 1.66459945e-02 -4.77702770e-04 9.99861332e-01 2.73064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.68, Z:2.73 [[ 8.68919650e-02 -9.96215988e-01 -1.86886684e-03 1.53373005e+02] [ 9.96084540e-01 8.69108702e-02 -1.61891714e-02 1.11677165e+02] [ 1.62903362e-02 -4.54840456e-04 9.99867200e-01 2.73156196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.70, Z:2.73 [[ 8.75496240e-02 -9.96158398e-01 -1.87343867e-03 1.53374998e+02] [ 9.96025642e-01 8.75685524e-02 -1.62686764e-02 1.11704533e+02] [ 1.63702329e-02 -4.41676451e-04 9.99865901e-01 2.73208991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.73, Z:2.73 [[ 8.85632036e-02 -9.96068766e-01 -1.89019672e-03 1.53373210e+02] [ 9.95932928e-01 8.85823520e-02 -1.64550614e-02 1.11733153e+02] [ 1.65578108e-02 -4.25196202e-04 9.99862820e-01 2.73287559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.76, Z:2.73 [[ 9.11060804e-02 -9.95839359e-01 -1.91153516e-03 1.53375679e+02] [ 9.95699716e-01 9.11253242e-02 -1.66808682e-02 1.11760858e+02] [ 1.67856543e-02 -3.83586493e-04 9.99859037e-01 2.73266253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.79, Z:2.73 [[ 9.20444032e-02 -9.95752988e-01 -1.95293542e-03 1.53372482e+02] [ 9.95606514e-01 9.20643675e-02 -1.70827908e-02 1.11789907e+02] [ 1.71900358e-02 -3.71979945e-04 9.99852171e-01 2.73348064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.82, Z:2.73 [[ 9.25682445e-02 -9.95704304e-01 -2.01469449e-03 1.53373890e+02] [ 9.95547650e-01 9.25894252e-02 -1.76656695e-02 1.11817077e+02] [ 1.77763225e-02 -3.70444354e-04 9.99841920e-01 2.73358214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:111.85, Z:2.73 [[ 9.32108947e-02 -9.95644316e-01 -2.03083481e-03 1.53373998e+02] [ 9.95484317e-01 9.32323296e-02 -1.78523880e-02 1.11845031e+02] [ 1.79639681e-02 -3.57627142e-04 9.99838571e-01 2.73381028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.87, Z:2.73 [[ 9.29460355e-02 -9.95669094e-01 -2.02217244e-03 1.53376088e+02] [ 9.95509690e-01 9.29673456e-02 -1.78193426e-02 1.11872665e+02] [ 1.79301647e-02 -3.56855012e-04 9.99839178e-01 2.73440385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.90, Z:2.74 [[ 9.22404189e-02 -9.95734771e-01 -1.99281285e-03 1.53378523e+02] [ 9.95579219e-01 9.22612399e-02 -1.76034598e-02 1.11899438e+02] [ 1.77122364e-02 -3.60252560e-04 9.99843061e-01 2.73516007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.93, Z:2.74 [[ 9.17918480e-02 -9.95776324e-01 -1.94137363e-03 1.53380683e+02] [ 9.95627963e-01 9.18116900e-02 -1.71922314e-02 1.11925928e+02] [ 1.72978578e-02 -3.54779184e-04 9.99850318e-01 2.73633938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.95, Z:2.74 [[ 9.16288657e-02 -9.95791367e-01 -1.92494388e-03 1.53382671e+02] [ 9.95644776e-01 9.16484122e-02 -1.70894241e-02 1.11953488e+02] [ 1.71939190e-02 -3.50675770e-04 9.99852112e-01 2.73732214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:111.98, Z:2.74 [[ 9.18564448e-02 -9.95770621e-01 -1.80645954e-03 1.53382512e+02] [ 9.95640923e-01 9.18736416e-02 -1.60744134e-02 1.11982169e+02] [ 1.61723946e-02 -3.22046575e-04 9.99869166e-01 2.73856975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:112.01, Z:2.74 [[ 9.20505998e-02 -9.95752745e-01 -1.77719247e-03 1.53384390e+02] [ 9.95626589e-01 9.20672317e-02 -1.58530776e-02 1.12009977e+02] [ 1.59493667e-02 -3.10134782e-04 9.99872753e-01 2.73927621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:112.04, Z:2.74 [[ 9.24316799e-02 -9.95717457e-01 -1.76931574e-03 1.53386699e+02] [ 9.95591779e-01 9.24481288e-02 -1.58225809e-02 1.12037354e+02] [ 1.59183899e-02 -2.99008475e-04 9.99873250e-01 2.73930750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:112.06, Z:2.74 [[ 9.27095459e-02 -9.95691621e-01 -1.77104823e-03 1.53389021e+02] [ 9.95565030e-01 9.27260041e-02 -1.58795476e-02 1.12064550e+02] [ 1.59753547e-02 -2.91008040e-04 9.99872344e-01 2.73934443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:112.09, Z:2.74 [[ 9.34280584e-02 -9.95624381e-01 -1.81355149e-03 1.53389563e+02] [ 9.95490930e-01 9.34452323e-02 -1.63032938e-02 1.12092480e+02] [ 1.64014245e-02 -2.82188970e-04 9.99865448e-01 2.73954172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:112.12, Z:2.74 [[ 9.32564014e-02 -9.95640383e-01 -1.86324657e-03 1.53392628e+02] [ 9.95498791e-01 9.32745661e-02 -1.67932291e-02 1.12119755e+02] [ 1.68938105e-02 -2.88783595e-04 9.99857248e-01 2.73953129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:112.15, Z:2.74 [[ 9.31671085e-02 -9.95648738e-01 -1.86541288e-03 1.53394698e+02] [ 9.95506076e-01 9.31853409e-02 -1.68565910e-02 1.12147507e+02] [ 1.69570727e-02 -2.86550012e-04 9.99856177e-01 2.73956238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:112.18, Z:2.74 [[ 9.32536002e-02 -9.95640600e-01 -1.88748756e-03 1.53396991e+02] [ 9.95493806e-01 9.32722662e-02 -1.70987294e-02 1.12175080e+02] [ 1.72002394e-02 -2.84464098e-04 9.99852024e-01 2.73917536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:112.20, Z:2.74 [[ 9.28423216e-02 -9.95678970e-01 -1.92148834e-03 1.53398335e+02] [ 9.95526073e-01 9.28617420e-02 -1.74509227e-02 1.12202884e+02] [ 1.75539495e-02 -2.92707564e-04 9.99845875e-01 2.73944138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:112.23, Z:2.74 [[ 9.21216326e-02 -9.95745977e-01 -1.88527066e-03 1.53402026e+02] [ 9.95598044e-01 9.21404475e-02 -1.71660505e-02 1.12229705e+02] [ 1.72667354e-02 -2.95607182e-04 9.99850875e-01 2.73876141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:112.26, Z:2.74 [[ 9.20029868e-02 -9.95756990e-01 -1.86220638e-03 1.53404958e+02] [ 9.95611892e-01 9.20213744e-02 -1.70008168e-02 1.12257104e+02] [ 1.71000450e-02 -2.89908889e-04 9.99853742e-01 2.73932116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:112.28, Z:2.74 [[ 9.15464233e-02 -9.95799133e-01 -1.82715879e-03 1.53407502e+02] [ 9.95658767e-01 9.15642012e-02 -1.67217461e-02 1.12284784e+02] [ 1.68188026e-02 -2.88410620e-04 9.99858512e-01 2.74016749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:112.31, Z:2.74 [[ 9.08291179e-02 -9.95864959e-01 -1.74772729e-03 1.53410724e+02] [ 9.95735914e-01 9.08454875e-02 -1.60339546e-02 1.12312535e+02] [ 1.61264267e-02 -2.83924877e-04 9.99869920e-01 2.74094456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:112.34, Z:2.74 [[ 9.02941158e-02 -9.95913631e-01 -1.73550346e-03 1.53415093e+02] [ 9.95785737e-01 9.03103374e-02 -1.59627478e-02 1.12339233e+02] [ 1.60542521e-02 -2.86847395e-04 9.99871081e-01 2.74103830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:112.37, Z:2.74 [[ 8.97800905e-02 -9.95960114e-01 -1.72828031e-03 1.53418234e+02] [ 9.95832611e-01 8.97962552e-02 -1.59387711e-02 1.12366886e+02] [ 1.60295734e-02 -2.90093584e-04 9.99871476e-01 2.74119148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:112.39, Z:2.74 [[ 8.99787524e-02 -9.95942117e-01 -1.76763968e-03 1.53421163e+02] [ 9.95808042e-01 8.99956475e-02 -1.63440345e-02 1.12394770e+02] [ 1.64367922e-02 -2.89613978e-04 9.99864865e-01 2.74110375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:112.42, Z:2.74 [[ 9.01060441e-02 -9.95930679e-01 -1.72753190e-03 1.53424643e+02] [ 9.95801967e-01 9.01221761e-02 -1.60136050e-02 1.12422515e+02] [ 1.61041294e-02 -2.77357066e-04 9.99870282e-01 2.74150171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:112.45, Z:2.74 [[ 9.00329509e-02 -9.95937272e-01 -1.73734150e-03 1.53429889e+02] [ 9.95806397e-01 9.00492881e-02 -1.61475868e-02 1.12449257e+02] [ 1.62384299e-02 -2.76240888e-04 9.99868110e-01 2.74181733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:112.48, Z:2.74 [[ 9.01873028e-02 -9.95923347e-01 -1.71412857e-03 1.53432967e+02] [ 9.95795249e-01 9.02031982e-02 -1.59751462e-02 1.12477238e+02] [ 1.60646410e-02 -2.66165740e-04 9.99870920e-01 2.74238796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.44, Y:112.51, Z:2.74 [[ 9.05626396e-02 -9.95889289e-01 -1.71218080e-03 1.53435845e+02] [ 9.95760816e-01 9.05784614e-02 -1.59981271e-02 1.12505117e+02] [ 1.60874501e-02 -2.56089927e-04 9.99870556e-01 2.74315720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.44, Y:112.53, Z:2.74 [[ 9.09232348e-02 -9.95856542e-01 -1.64736226e-03 1.53440834e+02] [ 9.95736992e-01 9.09378478e-02 -1.54321054e-02 1.12531395e+02] [ 1.55179707e-02 -2.37202600e-04 9.99879561e-01 2.74393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.44, Y:112.56, Z:2.74 [[ 9.10285574e-02 -9.95847008e-01 -1.59334997e-03 1.53443781e+02] [ 9.95734570e-01 9.10422251e-02 -1.49659645e-02 1.12559587e+02] [ 1.50488731e-02 -2.24223483e-04 9.99886734e-01 2.74464880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:112.59, Z:2.75 [[ 9.11378691e-02 -9.95837036e-01 -1.57717896e-03 1.53447508e+02] [ 9.95726294e-01 9.11512571e-02 -1.48524773e-02 1.12587471e+02] [ 1.49344088e-02 -2.16815427e-04 9.99888452e-01 2.74505423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:112.62, Z:2.75 [[ 9.07191972e-02 -9.95875315e-01 -1.54426200e-03 1.53452820e+02] [ 9.95768603e-01 9.07320850e-02 -1.45800372e-02 1.12615497e+02] [ 1.46600132e-02 -2.15038346e-04 9.99892513e-01 2.74535222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:112.64, Z:2.75 [[ 9.00361643e-02 -9.95937260e-01 -1.56945270e-03 1.53457707e+02] [ 9.95826455e-01 9.00495606e-02 -1.48576154e-02 1.12643667e+02] [ 1.49385813e-02 -2.25179814e-04 9.99888388e-01 2.74553424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:112.67, Z:2.75 [[ 8.88808472e-02 -9.96041037e-01 -1.56478389e-03 1.53462634e+02] [ 9.95930325e-01 8.88943009e-02 -1.48522909e-02 1.12670994e+02] [ 1.49325916e-02 -2.38331532e-04 9.99888474e-01 2.74538634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:112.70, Z:2.75 [[ 8.75393376e-02 -9.96159793e-01 -1.59107236e-03 1.53468311e+02] [ 9.96044766e-01 8.75534113e-02 -1.51401436e-02 1.12698397e+02] [ 1.52213062e-02 -2.59421150e-04 9.99884116e-01 2.74520010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:112.73, Z:2.74 [[ 8.47726431e-02 -9.96398959e-01 -1.64706525e-03 1.53474970e+02] [ 9.96275288e-01 8.47880759e-02 -1.57013510e-02 1.12726666e+02] [ 1.57844613e-02 -3.09885380e-04 9.99875370e-01 2.74483429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:112.75, Z:2.75 [[ 8.29127852e-02 -9.96555476e-01 -1.62883160e-03 1.53480264e+02] [ 9.96433976e-01 8.29281164e-02 -1.55646946e-02 1.12754249e+02] [ 1.56461575e-02 -3.32510964e-04 9.99877536e-01 2.74506357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:112.78, Z:2.75 [[ 8.11651376e-02 -9.96699339e-01 -1.62734824e-03 1.53485279e+02] [ 9.96577510e-01 8.11806666e-02 -1.55873597e-02 1.12782662e+02] [ 1.56680203e-02 -3.56628470e-04 9.99877185e-01 2.74543778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:112.81, Z:2.75 [[ 7.93411155e-02 -9.96846361e-01 -1.52291062e-03 1.53489302e+02] [ 9.96739193e-01 7.93549229e-02 -1.46211008e-02 1.12810600e+02] [ 1.46958416e-02 -3.57890257e-04 9.99891946e-01 2.74571389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:112.84, Z:2.75 [[ 7.67092602e-02 -9.97052328e-01 -1.53094107e-03 1.53499429e+02] [ 9.96943508e-01 7.67235143e-02 -1.47357997e-02 1.12836964e+02] [ 1.48098225e-02 -3.95889474e-04 9.99890250e-01 2.74551355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:112.87, Z:2.75 [[ 7.57061742e-02 -9.97129037e-01 -1.50284074e-03 1.53503183e+02] [ 9.97023655e-01 7.57200301e-02 -1.45019818e-02 1.12865106e+02] [ 1.45741423e-02 -4.00478211e-04 9.99893711e-01 2.74589557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:112.89, Z:2.75 [[ 7.42720083e-02 -9.97236953e-01 -1.45880909e-03 1.53510555e+02] [ 9.97137203e-01 7.42852206e-02 -1.41104144e-02 1.12890997e+02] [ 1.41797946e-02 -4.06624002e-04 9.99899379e-01 2.74604288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:112.92, Z:2.75 [[ 7.38951812e-02 -9.97264984e-01 -1.43308387e-03 1.53510325e+02] [ 9.97168360e-01 7.39079786e-02 -1.38878662e-02 1.12919274e+02] [ 1.39557990e-02 -4.02779500e-04 9.99902532e-01 2.74661840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:112.95, Z:2.75 [[ 7.36906845e-02 -9.97280154e-01 -1.40601559e-03 1.53513101e+02] [ 9.97186661e-01 7.37030362e-02 -1.36611166e-02 1.12947548e+02] [ 1.37275881e-02 -3.95362964e-04 9.99905694e-01 2.74721739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:112.98, Z:2.75 [[ 7.35656026e-02 -9.97289426e-01 -1.37931741e-03 1.53516541e+02] [ 9.97198973e-01 7.35775148e-02 -1.34372069e-02 1.12975129e+02] [ 1.35022711e-02 -3.86937687e-04 9.99908765e-01 2.74761615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:113.00, Z:2.75 [[ 7.45381246e-02 -9.97217330e-01 -1.29055323e-03 1.53519840e+02] [ 9.97137734e-01 7.45484867e-02 -1.26040906e-02 1.13003060e+02] [ 1.26652263e-02 -3.47374053e-04 9.99919732e-01 2.74860043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:113.03, Z:2.75 [[ 7.50458573e-02 -9.97179292e-01 -1.25657857e-03 1.53524355e+02] [ 9.97103445e-01 7.50556529e-02 -1.23032027e-02 1.13030309e+02] [ 1.23628123e-02 -3.29634427e-04 9.99923523e-01 2.74943853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.06, Z:2.75 [[ 7.61274849e-02 -9.97097302e-01 -1.25569096e-03 1.53525063e+02] [ 9.97021143e-01 7.61371949e-02 -1.23275552e-02 1.13058511e+02] [ 1.23873768e-02 -3.13484659e-04 9.99923224e-01 2.75023176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.09, Z:2.75 [[ 7.92150389e-02 -9.96856777e-01 -1.24272815e-03 1.53525899e+02] [ 9.96781768e-01 7.92243269e-02 -1.22316654e-02 1.13086775e+02] [ 1.22916728e-02 -2.69796916e-04 9.99924418e-01 2.75060625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.11, Z:2.75 [[ 8.08448262e-02 -9.96725969e-01 -1.20721901e-03 1.53527400e+02] [ 9.96654802e-01 8.08534827e-02 -1.19130239e-02 1.13114946e+02] [ 1.19716282e-02 -2.40074272e-04 9.99928309e-01 2.75079606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.14, Z:2.75 [[ 8.25885120e-02 -9.96583013e-01 -1.19845946e-03 1.53528327e+02] [ 9.96512497e-01 8.25969272e-02 -1.18571178e-02 1.13143346e+02] [ 1.19155913e-02 -2.15018109e-04 9.99928984e-01 2.75098413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.17, Z:2.75 [[ 8.59987046e-02 -9.96294619e-01 -1.12043054e-03 1.53529165e+02] [ 9.96232636e-01 8.60058535e-02 -1.11143118e-02 1.13170931e+02] [ 1.11694926e-02 -1.60393053e-04 9.99937606e-01 2.75156711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.20, Z:2.75 [[ 8.57271236e-02 -9.96318026e-01 -1.11877068e-03 1.53531858e+02] [ 9.96256043e-01 8.57342709e-02 -1.11144788e-02 1.13198362e+02] [ 1.11694726e-02 -1.61769751e-04 9.99937606e-01 2.75193426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:113.23, Z:2.75 [[ 8.71008655e-02 -9.96198859e-01 -1.12776314e-03 1.53533900e+02] [ 9.96135515e-01 8.71080458e-02 -1.12349623e-02 1.13226329e+02] [ 1.12904939e-02 -1.44829973e-04 9.99936250e-01 2.75266701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:113.25, Z:2.75 [[ 8.86528091e-02 -9.96061953e-01 -1.12488823e-03 1.53537352e+02] [ 9.95998575e-01 8.86598585e-02 -1.12369058e-02 1.13253529e+02] [ 1.12923868e-02 -1.24203811e-04 9.99936231e-01 2.75321988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:113.28, Z:2.75 [[ 9.16604359e-02 -9.95789707e-01 -1.10656077e-03 1.53536746e+02] [ 9.95728014e-01 9.16670749e-02 -1.10846443e-02 1.13281700e+02] [ 1.11394099e-02 -8.58102336e-05 9.99937951e-01 2.75334638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:113.31, Z:2.75 [[ 9.30749536e-02 -9.95658510e-01 -1.08809910e-03 1.53538167e+02] [ 9.95598533e-01 9.30812901e-02 -1.09286405e-02 1.13310060e+02] [ 1.09824756e-02 -6.61271591e-05 9.99939689e-01 2.75364961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:113.34, Z:2.75 [[ 9.44401358e-02 -9.95529965e-01 -1.07217544e-03 1.53540013e+02] [ 9.95471401e-01 9.44462098e-02 -1.07983025e-02 1.13338143e+02] [ 1.08512966e-02 -4.75268355e-05 9.99941122e-01 2.75417912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:113.37, Z:2.75 [[ 9.62280151e-02 -9.95358761e-01 -1.05180938e-03 1.53542418e+02] [ 9.95302085e-01 9.62337601e-02 -1.06217903e-02 1.13365171e+02] [ 1.06737116e-02 -2.47542710e-05 9.99943034e-01 2.75492559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:113.39, Z:2.76 [[ 9.64753446e-02 -9.95334855e-01 -1.01732301e-03 1.53545341e+02] [ 9.95281502e-01 9.64807065e-02 -1.03055909e-02 1.13392023e+02] [ 1.03556658e-02 -1.82873438e-05 9.99946379e-01 2.75535787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:113.42, Z:2.76 [[ 9.64839159e-02 -9.95334004e-01 -1.03689141e-03 1.53548660e+02] [ 9.95278374e-01 9.64894859e-02 -1.05231385e-02 1.13420206e+02] [ 1.05740867e-02 -1.66819819e-05 9.99944093e-01 2.75555931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499995 meters Centerline goodness [0,1] 0.9999579416650894 Centerline is valid? [True, True] Translation: X:153.55, Y:113.45, Z:2.76 [[ 9.62172840e-02 -9.95359824e-01 -1.02712334e-03 1.53552179e+02] [ 9.95304934e-01 9.62227648e-02 -1.04531594e-02 1.13447020e+02] [ 1.05034876e-02 -1.65263123e-05 9.99944837e-01 2.75588379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:113.47, Z:2.76 [[ 9.51225991e-02 -9.95465044e-01 -1.01853790e-03 1.53556868e+02] [ 9.95410740e-01 9.51280488e-02 -1.03977395e-02 1.13474390e+02] [ 1.04474777e-02 -2.48035635e-05 9.99945423e-01 2.75619947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:113.50, Z:2.76 [[ 9.43394115e-02 -9.95539559e-01 -1.03030872e-03 1.53560595e+02] [ 9.95483686e-01 9.43450325e-02 -1.05473562e-02 1.13502597e+02] [ 1.05975148e-02 -3.06241464e-05 9.99943844e-01 2.75621949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:113.53, Z:2.76 [[ 9.33197503e-02 -9.95635635e-01 -1.05173309e-03 1.53564702e+02] [ 9.95577085e-01 9.33256684e-02 -1.07975672e-02 1.13529737e+02] [ 1.08485963e-02 -3.94550902e-05 9.99941151e-01 2.75639634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:113.56, Z:2.76 [[ 9.25503307e-02 -9.95707440e-01 -1.06359046e-03 1.53568415e+02] [ 9.95647198e-01 9.25564309e-02 -1.09528448e-02 1.13557503e+02] [ 1.10042712e-02 -4.52714556e-05 9.99939450e-01 2.75624515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:113.58, Z:2.76 [[ 9.09163600e-02 -9.95857884e-01 -1.13597972e-03 1.53574264e+02] [ 9.95788758e-01 9.09234338e-02 -1.17336880e-02 1.13583966e+02] [ 1.17883729e-02 -6.44116272e-05 9.99930513e-01 2.75607562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:113.61, Z:2.76 [[ 8.95860862e-02 -9.95978383e-01 -1.18056632e-03 1.53578541e+02] [ 9.95903265e-01 8.95938290e-02 -1.22324260e-02 1.13611615e+02] [ 1.22890033e-02 -7.98746830e-05 9.99924484e-01 2.75620751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:113.64, Z:2.76 [[ 8.76632318e-02 -9.96149428e-01 -1.21449259e-03 1.53584476e+02] [ 9.96069484e-01 8.76715833e-02 -1.26204666e-02 1.13639687e+02] [ 1.26783471e-02 -1.03368121e-04 9.99919621e-01 2.75670900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:113.67, Z:2.76 [[ 8.62257300e-02 -9.96274915e-01 -1.19054734e-03 1.53588835e+02] [ 9.96197679e-01 8.62338703e-02 -1.24058381e-02 1.13667429e+02] [ 1.24622908e-02 -1.16318050e-04 9.99922336e-01 2.75735134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:113.70, Z:2.76 [[ 8.51298638e-02 -9.96369199e-01 -1.15135923e-03 1.53592772e+02] [ 9.96296578e-01 8.51375605e-02 -1.20301112e-02 1.13695166e+02] [ 1.20844562e-02 -1.22973534e-04 9.99926973e-01 2.75805402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:113.72, Z:2.76 [[ 8.28112462e-02 -9.96564645e-01 -1.09810623e-03 1.53599908e+02] [ 9.96498216e-01 8.28184060e-02 -1.15072477e-02 1.13722108e+02] [ 1.15586596e-02 -1.41331383e-04 9.99933186e-01 2.75920065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:113.75, Z:2.76 [[ 8.12004057e-02 -9.96697170e-01 -1.11558565e-03 1.53605011e+02] [ 9.96628389e-01 8.12079092e-02 -1.17102303e-02 1.13748967e+02] [ 1.17621478e-02 -1.60948881e-04 9.99930811e-01 2.75981984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:113.78, Z:2.76 [[ 7.98988353e-02 -9.96802309e-01 -1.15484144e-03 1.53609484e+02] [ 9.96728165e-01 7.99069790e-02 -1.21589342e-02 1.13775799e+02] [ 1.22123335e-02 -1.79578311e-04 9.99925411e-01 2.76003467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:113.80, Z:2.76 [[ 7.75939504e-02 -9.96984349e-01 -1.17797080e-03 1.53616565e+02] [ 9.96906719e-01 7.76026104e-02 -1.24429841e-02 1.13801824e+02] [ 1.24968740e-02 -2.08826709e-04 9.99921889e-01 2.76023271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56361786499997 meters Centerline goodness [0,1] 0.9999576809140922 Centerline is valid? [True, True] Translation: X:153.62, Y:113.83, Z:2.76 [[ 7.65376879e-02 -9.97065930e-01 -1.23056755e-03 1.53618211e+02] [ 9.96980868e-01 7.65472345e-02 -1.30257607e-02 1.13829410e+02] [ 1.30817387e-02 -2.29890695e-04 9.99914404e-01 2.75998159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:113.86, Z:2.76 [[ 7.57917430e-02 -9.97122904e-01 -1.23498187e-03 1.53621994e+02] [ 9.97036728e-01 7.58014316e-02 -1.31112603e-02 1.13856888e+02] [ 1.31671514e-02 -2.37597014e-04 9.99913281e-01 2.76031577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:113.88, Z:2.76 [[ 7.50226910e-02 -9.97181059e-01 -1.23753364e-03 1.53627856e+02] [ 9.97094015e-01 7.50324961e-02 -1.31776184e-02 1.13883287e+02] [ 1.32333267e-02 -2.45316987e-04 9.99912406e-01 2.76068906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:113.91, Z:2.76 [[ 7.48529721e-02 -9.97193814e-01 -1.23681064e-03 1.53631651e+02] [ 9.97106323e-01 7.48627908e-02 -1.32114708e-02 1.13911010e+02] [ 1.32669881e-02 -2.44313852e-04 9.99911960e-01 2.76148134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:113.94, Z:2.76 [[ 7.45487857e-02 -9.97216605e-01 -1.23365985e-03 1.53635552e+02] [ 9.97129048e-01 7.45585905e-02 -1.32165993e-02 1.13938432e+02] [ 1.32717922e-02 -2.44836646e-04 9.99911896e-01 2.76223272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:113.96, Z:2.76 [[ 7.44006250e-02 -9.97227713e-01 -1.19832321e-03 1.53640156e+02] [ 9.97144618e-01 7.44098974e-02 -1.28754875e-02 1.13964853e+02] [ 1.29289601e-02 -2.36957218e-04 9.99916389e-01 2.76306725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:113.99, Z:2.76 [[ 7.43392219e-02 -9.97232297e-01 -1.19395533e-03 1.53645745e+02] [ 9.97149448e-01 7.43484385e-02 -1.28564521e-02 1.13991275e+02] [ 1.29096380e-02 -2.34813249e-04 9.99916640e-01 2.76398351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:114.02, Z:2.76 [[ 7.44926549e-02 -9.97220899e-01 -1.15046295e-03 1.53648053e+02] [ 9.97143666e-01 7.45012060e-02 -1.24128820e-02 1.14018880e+02] [ 1.24640962e-02 -2.22508308e-04 9.99922295e-01 2.76436372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:114.05, Z:2.76 [[ 7.45670008e-02 -9.97215369e-01 -1.12750892e-03 1.53652461e+02] [ 9.97140756e-01 7.45752161e-02 -1.22004173e-02 1.14045730e+02] [ 1.22505279e-02 -2.14536571e-04 9.99924936e-01 2.76477152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83361786499995 meters Centerline goodness [0,1] 0.9999573032748388 Centerline is valid? [True, True] Translation: X:153.66, Y:114.07, Z:2.77 [[ 7.50855274e-02 -9.97176530e-01 -1.06386723e-03 1.53656869e+02] [ 9.97109703e-01 7.50928136e-02 -1.15459645e-02 1.14073935e+02] [ 1.15932536e-02 -1.93857503e-04 9.99932777e-01 2.76547838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:114.10, Z:2.77 [[ 7.51027323e-02 -9.97175237e-01 -1.06088091e-03 1.53660288e+02] [ 9.97108396e-01 7.51099830e-02 -1.15471734e-02 1.14102180e+02] [ 1.15942381e-02 -1.90588991e-04 9.99932766e-01 2.76610807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89361786499995 meters Centerline goodness [0,1] 0.9999570815450644 Centerline is valid? [True, True] Translation: X:153.66, Y:114.13, Z:2.77 [[ 7.54934157e-02 -9.97145728e-01 -1.06837338e-03 1.53663933e+02] [ 9.97077527e-01 7.55007491e-02 -1.16636676e-02 1.14130043e+02] [ 1.17110393e-02 -1.84720983e-04 9.99931406e-01 2.76652756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499995 meters Centerline goodness [0,1] 0.999978450597996 Centerline is valid? [True, True] Translation: X:153.67, Y:114.16, Z:2.77 [[ 7.69069381e-02 -9.97037654e-01 -1.11334421e-03 1.53668856e+02] [ 9.96963116e-01 7.69148034e-02 -1.21925296e-02 1.14156897e+02] [ 1.22420438e-02 -1.72272992e-04 9.99925049e-01 2.76726283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:114.18, Z:2.77 [[ 7.78821439e-02 -9.96961923e-01 -1.13847518e-03 1.53670881e+02] [ 9.96883487e-01 7.78902984e-02 -1.25065794e-02 1.14184998e+02] [ 1.25572596e-02 -1.60887897e-04 9.99921142e-01 2.76724273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:114.21, Z:2.77 [[ 7.89421571e-02 -9.96878527e-01 -1.15712842e-03 1.53673643e+02] [ 9.96797001e-01 7.89505005e-02 -1.27497955e-02 1.14212278e+02] [ 1.28013532e-02 -1.46925782e-04 9.99918049e-01 2.76739606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01361786499996 meters Centerline goodness [0,1] 0.9998705948324204 Centerline is valid? [True, True] Translation: X:153.68, Y:114.24, Z:2.77 [[ 8.13946815e-02 -9.96681215e-01 -1.20890441e-03 1.53676552e+02] [ 9.96591635e-01 8.14035744e-02 -1.33630721e-02 1.14238174e+02] [ 1.34171321e-02 -1.17101025e-04 9.99909979e-01 2.76803469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:114.27, Z:2.77 [[ 8.22144092e-02 -9.96613946e-01 -1.19719664e-03 1.53678787e+02] [ 9.96525479e-01 8.22230631e-02 -1.32792471e-02 1.14265390e+02] [ 1.33327200e-02 -1.01291501e-04 9.99911110e-01 2.76838963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:114.29, Z:2.77 [[ 8.29911770e-02 -9.96549524e-01 -1.22894603e-03 1.53681633e+02] [ 9.96455656e-01 8.30002275e-02 -1.36780138e-02 1.14291874e+02] [ 1.37328210e-02 -8.94357541e-05 9.99905696e-01 2.76842194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10361786499996 meters Centerline goodness [0,1] 0.9999352037840991 Centerline is valid? [True, True] Translation: X:153.68, Y:114.32, Z:2.77 [[ 8.43087609e-02 -9.96438911e-01 -1.23676015e-03 1.53684921e+02] [ 9.96343169e-01 8.43178046e-02 -1.38129572e-02 1.14317785e+02] [ 1.38680489e-02 -6.76842176e-05 9.99903832e-01 2.76843572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13361786499996 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:153.69, Y:114.35, Z:2.77 [[ 8.43498219e-02 -9.96435450e-01 -1.22556331e-03 1.53687566e+02] [ 9.96340956e-01 8.43587009e-02 -1.37225669e-02 1.14345670e+02] [ 1.37770391e-02 -6.35828505e-05 9.99905090e-01 2.76955809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16361786499996 meters Centerline goodness [0,1] 0.9999351365375884 Centerline is valid? [True, True] Translation: X:153.69, Y:114.37, Z:2.77 [[ 8.39658588e-02 -9.96467836e-01 -1.25979764e-03 1.53691030e+02] [ 9.96367351e-01 8.39752824e-02 -1.41511257e-02 1.14372507e+02] [ 1.42069335e-02 -6.70098147e-05 9.99899074e-01 2.76997762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19361786499996 meters Centerline goodness [0,1] 0.999848363407924 Centerline is valid? [True, True] Translation: X:153.69, Y:114.40, Z:2.77 [[ 8.35577807e-02 -9.96502188e-01 -1.21898352e-03 1.53694413e+02] [ 9.96407513e-01 8.35666450e-02 -1.37362367e-02 1.14400253e+02] [ 1.37900563e-02 -6.68348903e-05 9.99904910e-01 2.77036216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:114.43, Z:2.77 [[ 8.19867247e-02 -9.96632646e-01 -1.24374426e-03 1.53700394e+02] [ 9.96533486e-01 8.19961120e-02 -1.40587528e-02 1.14426757e+02] [ 1.41133942e-02 -8.68017086e-05 9.99900397e-01 2.77181504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:114.46, Z:2.77 [[ 8.05544647e-02 -9.96749446e-01 -1.23300744e-03 1.53703379e+02] [ 9.96651559e-01 8.05638340e-02 -1.39692051e-02 1.14455113e+02] [ 1.40231333e-02 -1.03596945e-04 9.99901666e-01 2.77290001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:114.48, Z:2.77 [[ 7.90299253e-02 -9.96871502e-01 -1.21645498e-03 1.53707913e+02] [ 9.96775633e-01 7.90391958e-02 -1.38254201e-02 1.14482349e+02] [ 1.38783149e-02 -1.19910763e-04 9.99903684e-01 2.77267540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:114.51, Z:2.77 [[ 7.77011487e-02 -9.96975982e-01 -1.19244647e-03 1.53711390e+02] [ 9.96883259e-01 7.77101857e-02 -1.35975892e-02 1.14510075e+02] [ 1.36491351e-02 -1.32181618e-04 9.99906837e-01 2.77372968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:114.54, Z:2.77 [[ 7.55083820e-02 -9.97144435e-01 -1.20791994e-03 1.53716937e+02] [ 9.97048696e-01 7.55178715e-02 -1.38184447e-02 1.14537436e+02] [ 1.38702047e-02 -1.60946602e-04 9.99903791e-01 2.77422987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:114.56, Z:2.77 [[ 7.41292838e-02 -9.97247887e-01 -1.22549515e-03 1.53720995e+02] [ 9.97148779e-01 7.41391952e-02 -1.40602982e-02 1.14563845e+02] [ 1.41124599e-02 -1.79721154e-04 9.99900398e-01 2.77443333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:114.59, Z:2.77 [[ 7.20247930e-02 -9.97402067e-01 -1.24344511e-03 1.53726396e+02] [ 9.97299364e-01 7.20352223e-02 -1.43144858e-02 1.14591723e+02] [ 1.43668696e-02 -2.09089140e-04 9.99896769e-01 2.77441524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43361786499997 meters Centerline goodness [0,1] 0.9999781439874109 Centerline is valid? [True, True] Translation: X:153.73, Y:114.62, Z:2.77 [[ 7.12137530e-02 -9.97460259e-01 -1.27756818e-03 1.53730104e+02] [ 9.97351155e-01 7.12248612e-02 -1.47544499e-02 1.14619302e+02] [ 1.48079721e-02 -2.23464346e-04 9.99890331e-01 2.77413952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:114.65, Z:2.77 [[ 7.05582471e-02 -9.97506810e-01 -1.30332468e-03 1.53733614e+02] [ 9.97392539e-01 7.05698937e-02 -1.51001403e-02 1.14646122e+02] [ 1.51544682e-02 -2.34486885e-04 9.99885137e-01 2.77435815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:114.67, Z:2.77 [[ 7.00305403e-02 -9.97543964e-01 -1.32810291e-03 1.53735183e+02] [ 9.97424512e-01 7.00427095e-02 -1.54389456e-02 1.14674489e+02] [ 1.54940510e-02 -2.43484690e-04 9.99879930e-01 2.77440773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:114.70, Z:2.77 [[ 6.96570026e-02 -9.97570030e-01 -1.39210158e-03 1.53739494e+02] [ 9.97437883e-01 6.96704364e-02 -1.62388618e-02 1.14701485e+02] [ 1.62963902e-02 -2.57384406e-04 9.99867172e-01 2.77458626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:114.73, Z:2.77 [[ 6.95642597e-02 -9.97576485e-01 -1.40374142e-03 1.53742288e+02] [ 9.97441185e-01 6.95779463e-02 -1.64314589e-02 1.14729532e+02] [ 1.64893065e-02 -2.57107229e-04 9.99864009e-01 2.77499466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:114.76, Z:2.77 [[ 6.94426765e-02 -9.97584946e-01 -1.41111125e-03 1.53746697e+02] [ 9.97447305e-01 6.94565382e-02 -1.65729415e-02 1.14755891e+02] [ 1.66309278e-02 -2.56639700e-04 9.99861664e-01 2.77492763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:114.78, Z:2.78 [[ 6.89547576e-02 -9.97618847e-01 -1.36993137e-03 1.53751240e+02] [ 9.97488236e-01 6.89678996e-02 -1.61445834e-02 1.14781795e+02] [ 1.62006220e-02 -2.53244588e-04 9.99868729e-01 2.77572147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:114.81, Z:2.78 [[ 6.84473021e-02 -9.97653832e-01 -1.34121409e-03 1.53752097e+02] [ 9.97527749e-01 6.84599770e-02 -1.58625680e-02 1.14810208e+02] [ 1.59171712e-02 -2.52148289e-04 9.99873282e-01 2.77686772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67361786499995 meters Centerline goodness [0,1] 0.9999561970257781 Centerline is valid? [True, True] Translation: X:153.76, Y:114.84, Z:2.78 [[ 6.69609324e-02 -9.97754752e-01 -1.29910370e-03 1.53757203e+02] [ 9.97635727e-01 6.69730130e-02 -1.54133649e-02 1.14837239e+02] [ 1.54657629e-02 -2.63938982e-04 9.99880363e-01 2.77823806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.76, Y:114.87, Z:2.78 [[ 6.59165574e-02 -9.97824312e-01 -1.28425022e-03 1.53760455e+02] [ 9.97707315e-01 6.59284975e-02 -1.52822414e-02 1.14865344e+02] [ 1.53336607e-02 -2.73953102e-04 9.99882395e-01 2.77928783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.76, Y:114.89, Z:2.78 [[ 6.52132487e-02 -9.97870577e-01 -1.24260181e-03 1.53763841e+02] [ 9.97760359e-01 6.52245169e-02 -1.48333341e-02 1.14893263e+02] [ 1.48827957e-02 -2.72488929e-04 9.99889208e-01 2.78011601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:114.92, Z:2.78 [[ 6.43755515e-02 -9.97925033e-01 -1.19038562e-03 1.53766803e+02] [ 9.97823261e-01 6.43859896e-02 -1.42542753e-02 1.14921102e+02] [ 1.43013423e-02 -2.70167631e-04 9.99897694e-01 2.78106292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:114.95, Z:2.78 [[ 6.41088684e-02 -9.97942205e-01 -1.18657341e-03 1.53769018e+02] [ 9.97840430e-01 6.41192793e-02 -1.42545927e-02 1.14948598e+02] [ 1.43013419e-02 -2.70165121e-04 9.99897694e-01 2.78142969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:114.98, Z:2.78 [[ 6.34098271e-02 -9.97986890e-01 -1.16671650e-03 1.53772142e+02] [ 9.97887868e-01 6.34199736e-02 -1.40609011e-02 1.14976892e+02] [ 1.41065881e-02 -2.72652936e-04 9.99900460e-01 2.78259255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85361786499996 meters Centerline goodness [0,1] 0.9999781095398625 Centerline is valid? [True, True] Translation: X:153.77, Y:115.00, Z:2.78 [[ 6.34433008e-02 -9.97984755e-01 -1.17305595e-03 1.53774522e+02] [ 9.97884000e-01 6.34535671e-02 -1.41833433e-02 1.15004955e+02] [ 1.42291949e-02 -2.70735650e-04 9.99898723e-01 2.78279485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:115.03, Z:2.78 [[ 6.31724486e-02 -9.98001929e-01 -1.18002220e-03 1.53777138e+02] [ 9.97899313e-01 6.31828776e-02 -1.43137748e-02 1.15031475e+02] [ 1.43597320e-02 -2.73307145e-04 9.99896856e-01 2.78313156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:115.06, Z:2.78 [[ 6.34917350e-02 -9.97981569e-01 -1.25998826e-03 1.53779794e+02] [ 9.97863837e-01 6.35036015e-02 -1.53315202e-02 1.15057932e+02] [ 1.53805884e-02 -2.83871895e-04 9.99881671e-01 2.78358653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:115.09, Z:2.78 [[ 6.34460256e-02 -9.97984373e-01 -1.33940750e-03 1.53782321e+02] [ 9.97850280e-01 6.34594605e-02 -1.63620407e-02 1.15085378e+02] [ 1.64140590e-02 -2.98421695e-04 9.99865236e-01 2.78425496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:115.11, Z:2.78 [[ 6.35148996e-02 -9.97980001e-01 -1.33234359e-03 1.53784763e+02] [ 9.97846364e-01 6.35282011e-02 -1.63340347e-02 1.15111376e+02] [ 1.63856813e-02 -2.92019639e-04 9.99865703e-01 2.78415639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:115.14, Z:2.78 [[ 6.35811631e-02 -9.97975760e-01 -1.34858362e-03 1.53786607e+02] [ 9.97837826e-01 6.35947997e-02 -1.65944334e-02 1.15139075e+02] [ 1.66466052e-02 -2.90574377e-04 9.99861393e-01 2.78391415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03361786499997 meters Centerline goodness [0,1] 0.9999340427403043 Centerline is valid? [True, True] Translation: X:153.79, Y:115.17, Z:2.78 [[ 6.37510908e-02 -9.97964867e-01 -1.38649288e-03 1.53786743e+02] [ 9.97818063e-01 6.37654972e-02 -1.71194128e-02 1.15167140e+02] [ 1.71729829e-02 -2.92086399e-04 9.99852491e-01 2.78466341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:115.19, Z:2.79 [[ 6.38288948e-02 -9.97959944e-01 -1.34989517e-03 1.53788719e+02] [ 9.97819877e-01 6.38425552e-02 -1.67218881e-02 1.15194925e+02] [ 1.67739553e-02 -2.79612598e-04 9.99859268e-01 2.78516405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:115.22, Z:2.79 [[ 6.34729760e-02 -9.97982676e-01 -1.32675344e-03 1.53791210e+02] [ 9.97846462e-01 6.34862357e-02 -1.64904846e-02 1.15222101e+02] [ 1.65414485e-02 -2.77196090e-04 9.99863142e-01 2.78521835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:115.25, Z:2.79 [[ 6.29945716e-02 -9.98013000e-01 -1.31741621e-03 1.53795191e+02] [ 9.97877724e-01 6.30077264e-02 -1.64339170e-02 1.15248187e+02] [ 1.64842702e-02 -2.79372733e-04 9.99864086e-01 2.78567658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:115.28, Z:2.79 [[ 6.21846165e-02 -9.98063811e-01 -1.30523547e-03 1.53796352e+02] [ 9.97930014e-01 6.21976550e-02 -1.63444065e-02 1.15276214e+02] [ 1.63939432e-02 -2.86163004e-04 9.99865569e-01 2.78697071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:153.80, Y:115.30, Z:2.79 [[ 6.17261678e-02 -9.98092315e-01 -1.26943700e-03 1.53800506e+02] [ 9.97964894e-01 6.17385745e-02 -1.59504804e-02 1.15303121e+02] [ 1.59984251e-02 -2.82291533e-04 9.99871977e-01 2.78790616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21361786499995 meters Centerline goodness [0,1] 0.9999781181619256 Centerline is valid? [True, True] Translation: X:153.80, Y:115.33, Z:2.79 [[ 6.12638403e-02 -9.98120835e-01 -1.24109994e-03 1.53803277e+02] [ 9.97998209e-01 6.12757707e-02 -1.56478300e-02 1.15330534e+02] [ 1.56944745e-02 -2.79969359e-04 9.99876795e-01 2.78883113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.36, Z:2.79 [[ 6.10007032e-02 -9.98137004e-01 -1.19805131e-03 1.53805493e+02] [ 9.98022161e-01 6.10118609e-02 -1.51432824e-02 1.15358029e+02] [ 1.51881659e-02 -2.71930883e-04 9.99884616e-01 2.78971119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.39, Z:2.79 [[ 6.13823801e-02 -9.98113652e-01 -1.15808057e-03 1.53806115e+02] [ 9.98005628e-01 6.13927771e-02 -1.46865111e-02 1.15385904e+02] [ 1.47299050e-02 -2.54277924e-04 9.99891477e-01 2.79043785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.41, Z:2.79 [[ 6.15713577e-02 -9.98102029e-01 -1.14370807e-03 1.53807484e+02] [ 9.97995933e-01 6.15814908e-02 -1.45546776e-02 1.15413799e+02] [ 1.45974845e-02 -2.45264739e-04 9.99893421e-01 2.79077938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.44, Z:2.79 [[ 6.19652590e-02 -9.98077648e-01 -1.14669253e-03 1.53810113e+02] [ 9.97970247e-01 6.19754151e-02 -1.46436010e-02 1.15440501e+02] [ 1.46865176e-02 -2.36970502e-04 9.99892119e-01 2.79143719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.47, Z:2.79 [[ 6.22611288e-02 -9.98059248e-01 -1.13574926e-03 1.53811787e+02] [ 9.97953323e-01 6.22710695e-02 -1.45422894e-02 1.15469036e+02] [ 1.45847908e-02 -2.28005390e-04 9.99893610e-01 2.79157359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:115.50, Z:2.79 [[ 6.32539268e-02 -9.97996792e-01 -1.15919138e-03 1.53813174e+02] [ 9.97885684e-01 6.32641833e-02 -1.48931145e-02 1.15496488e+02] [ 1.49366158e-02 -2.14692508e-04 9.99888419e-01 2.79151017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:115.52, Z:2.79 [[ 6.38569101e-02 -9.97958325e-01 -1.21540998e-03 1.53815270e+02] [ 9.97835236e-01 6.38681244e-02 -1.56749713e-02 1.15523808e+02] [ 1.57205940e-02 -2.11823675e-04 9.99876401e-01 2.79148222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:115.55, Z:2.79 [[ 6.43794757e-02 -9.97924733e-01 -1.22921273e-03 1.53816024e+02] [ 9.97797889e-01 6.43908922e-02 -1.59117943e-02 1.15551453e+02] [ 1.59579232e-02 -2.02112889e-04 9.99872644e-01 2.79152783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:115.58, Z:2.79 [[ 6.52191821e-02 -9.97870157e-01 -1.26784985e-03 1.53817423e+02] [ 9.97734210e-01 6.52312257e-02 -1.64721942e-02 1.15579164e+02] [ 1.65198144e-02 -1.90674139e-04 9.99863520e-01 2.79140165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:115.61, Z:2.79 [[ 6.54405632e-02 -9.97855647e-01 -1.28096509e-03 1.53819591e+02] [ 9.97715855e-01 6.54528377e-02 -1.67032700e-02 1.15605755e+02] [ 1.67512951e-02 -1.84967782e-04 9.99859670e-01 2.79190164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:115.63, Z:2.79 [[ 6.53303139e-02 -9.97862897e-01 -1.26083048e-03 1.53821466e+02] [ 9.97726452e-01 6.53422317e-02 -1.65021132e-02 1.15632506e+02] [ 1.65492319e-02 -1.79875693e-04 9.99863036e-01 2.79169505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57361786499996 meters Centerline goodness [0,1] 0.9999561047341045 Centerline is valid? [True, True] Translation: X:153.82, Y:115.66, Z:2.79 [[ 6.52343885e-02 -9.97869197e-01 -1.24137179e-03 1.53823571e+02] [ 9.97735928e-01 6.52459649e-02 -1.63089446e-02 1.15658789e+02] [ 1.63551879e-02 -1.74657213e-04 9.99866230e-01 2.79217270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60361786499996 meters Centerline goodness [0,1] 0.9999339279814998 Centerline is valid? [True, True] Translation: X:153.83, Y:115.69, Z:2.79 [[ 6.42603909e-02 -9.97932413e-01 -1.22552559e-03 1.53825318e+02] [ 9.97801483e-01 6.42718126e-02 -1.61658455e-02 1.15686755e+02] [ 1.62111880e-02 -1.84007702e-04 9.99868573e-01 2.79285908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63361786499996 meters Centerline goodness [0,1] 0.9999343314946152 Centerline is valid? [True, True] Translation: X:153.83, Y:115.71, Z:2.79 [[ 6.36793847e-02 -9.97969661e-01 -1.22160340e-03 1.53828511e+02] [ 9.97838614e-01 6.36908204e-02 -1.61734561e-02 1.15714033e+02] [ 1.62184234e-02 -1.89047307e-04 9.99868455e-01 2.79300823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:115.74, Z:2.79 [[ 6.22577908e-02 -9.98059388e-01 -1.19417263e-03 1.53830857e+02] [ 9.97933231e-01 6.22689094e-02 -1.58697734e-02 1.15741766e+02] [ 1.59133362e-02 -2.03687517e-04 9.99873354e-01 2.79406991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:115.77, Z:2.79 [[ 6.14758294e-02 -9.98107896e-01 -1.16190860e-03 1.53833368e+02] [ 9.97987617e-01 6.14864604e-02 -1.54962024e-02 1.15770094e+02] [ 1.55383237e-02 -2.06928496e-04 9.99879252e-01 2.79446276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72361786499997 meters Centerline goodness [0,1] 0.9999343688470794 Centerline is valid? [True, True] Translation: X:153.84, Y:115.80, Z:2.79 [[ 6.04868504e-02 -9.98168325e-01 -1.15586699e-03 1.53836938e+02] [ 9.98048460e-01 6.04975010e-02 -1.54700747e-02 1.15796584e+02] [ 1.55116656e-02 -2.17875171e-04 9.99879663e-01 2.79456731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:115.82, Z:2.80 [[ 5.94544501e-02 -9.98230371e-01 -1.13761264e-03 1.53838484e+02] [ 9.98113625e-01 5.94648968e-02 -1.52682022e-02 1.15824833e+02] [ 1.53088312e-02 -2.27704110e-04 9.99882787e-01 2.79574018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:115.85, Z:2.80 [[ 5.80369303e-02 -9.98313829e-01 -1.10148754e-03 1.53842187e+02] [ 9.98203608e-01 5.80468922e-02 -1.48362608e-02 1.15851655e+02] [ 1.48751822e-02 -2.38457808e-04 9.99889330e-01 2.79643256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:115.88, Z:2.80 [[ 5.78319478e-02 -9.98325710e-01 -1.11448113e-03 1.53844088e+02] [ 9.98212107e-01 5.78421816e-02 -1.50622268e-02 1.15879660e+02] [ 1.51014723e-02 -2.41410642e-04 9.99885937e-01 2.79713435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:115.91, Z:2.80 [[ 5.71353800e-02 -9.98365831e-01 -1.10225652e-03 1.53846017e+02] [ 9.98253896e-01 5.71454816e-02 -1.49517076e-02 1.15907265e+02] [ 1.49902629e-02 -2.46060374e-04 9.99887609e-01 2.79763103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87361786499997 meters Centerline goodness [0,1] 0.9999339396208135 Centerline is valid? [True, True] Translation: X:153.85, Y:115.93, Z:2.80 [[ 5.71403644e-02 -9.98365524e-01 -1.12204116e-03 1.53849237e+02] [ 9.98248678e-01 5.71508452e-02 -1.52760742e-02 1.15934387e+02] [ 1.53152315e-02 -2.47195655e-04 9.99882684e-01 2.79741303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:115.96, Z:2.80 [[ 5.71017523e-02 -9.98367709e-01 -1.14366228e-03 1.53850951e+02] [ 9.98245604e-01 5.71126570e-02 -1.56159634e-02 1.15962633e+02] [ 1.56557912e-02 -2.49956971e-04 9.99877409e-01 2.79786760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93361786499997 meters Centerline goodness [0,1] 0.9999780605528741 Centerline is valid? [True, True] Translation: X:153.85, Y:115.99, Z:2.80 [[ 5.70605299e-02 -9.98370052e-01 -1.15580034e-03 1.53852317e+02] [ 9.98244414e-01 5.70716873e-02 -1.58402377e-02 1.15990274e+02] [ 1.58803824e-02 -2.49918881e-04 9.99873868e-01 2.79765759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:116.02, Z:2.80 [[ 5.78209514e-02 -9.98326264e-01 -1.18657333e-03 1.53853768e+02] [ 9.98192804e-01 5.78326252e-02 -1.63252603e-02 1.16016805e+02] [ 1.63665587e-02 -2.40486882e-04 9.99866030e-01 2.79758546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.04, Z:2.80 [[ 5.78921239e-02 -9.98322130e-01 -1.19416097e-03 1.53855472e+02] [ 9.98185768e-01 5.79039551e-02 -1.65016454e-02 1.16042547e+02] [ 1.65431044e-02 -2.36679185e-04 9.99863125e-01 2.79767645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.07, Z:2.80 [[ 5.81165537e-02 -9.98309100e-01 -1.18604276e-03 1.53855916e+02] [ 9.98173451e-01 5.81282101e-02 -1.64582424e-02 1.16071114e+02] [ 1.64993557e-02 -2.27380068e-04 9.99863851e-01 2.79864931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.10, Z:2.80 [[ 5.85941119e-02 -9.98281219e-01 -1.15629520e-03 1.53857571e+02] [ 9.98151311e-01 5.86051421e-02 -1.61058082e-02 1.16099512e+02] [ 1.61458907e-02 -2.10452038e-04 9.99869624e-01 2.80004678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.13, Z:2.80 [[ 5.88054563e-02 -9.98268789e-01 -1.15942549e-03 1.53860045e+02] [ 9.98137142e-01 5.88165317e-02 -1.62129978e-02 1.16126265e+02] [ 1.62531231e-02 -2.03852908e-04 9.99867889e-01 2.80075841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.15, Z:2.80 [[ 5.91426638e-02 -9.98248900e-01 -1.13055017e-03 1.53860984e+02] [ 9.98122722e-01 5.91531642e-02 -1.58724731e-02 1.16154590e+02] [ 1.59115545e-02 -1.89687472e-04 9.99873385e-01 2.80140643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499995 meters Centerline goodness [0,1] 0.9999780740221014 Centerline is valid? [True, True] Translation: X:153.86, Y:116.18, Z:2.80 [[ 5.94373517e-02 -9.98231407e-01 -1.12203085e-03 1.53863232e+02] [ 9.98106141e-01 5.94476691e-02 -1.58147461e-02 1.16181553e+02] [ 1.58534783e-02 -1.79919257e-04 9.99874310e-01 2.80175040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17361786499995 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:153.86, Y:116.21, Z:2.80 [[ 6.02564733e-02 -9.98182382e-01 -1.04351898e-03 1.53864726e+02] [ 9.98073176e-01 6.02653173e-02 -1.47657019e-02 1.16207979e+02] [ 1.48017515e-02 -1.51779183e-04 9.99890437e-01 2.80175064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:116.24, Z:2.80 [[ 6.06225408e-02 -9.98160264e-01 -9.97668576e-04 1.53864416e+02] [ 9.98059597e-01 6.06305963e-02 -1.41764242e-02 1.16236061e+02] [ 1.42108326e-02 -1.36321841e-04 9.99899012e-01 2.80278646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:116.26, Z:2.80 [[ 6.09853085e-02 -9.98138201e-01 -9.61371246e-04 1.53866028e+02] [ 9.98044023e-01 6.09927610e-02 -1.37117469e-02 1.16263080e+02] [ 1.37448550e-02 -1.23275712e-04 9.99905527e-01 2.80300456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:116.29, Z:2.80 [[ 6.14072371e-02 -9.98112324e-01 -9.69489137e-04 1.53867059e+02] [ 9.98015984e-01 6.14147802e-02 -1.38679776e-02 1.16290904e+02] [ 1.39013404e-02 -1.15971463e-04 9.99903365e-01 2.80306635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:116.32, Z:2.80 [[ 6.13655156e-02 -9.98114895e-01 -9.64607223e-04 1.53868812e+02] [ 9.98018770e-01 6.13729931e-02 -1.38524250e-02 1.16318008e+02] [ 1.38855125e-02 -1.12634913e-04 9.99903585e-01 2.80311313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32361786499996 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:153.87, Y:116.35, Z:2.80 [[ 6.13242911e-02 -9.98117393e-01 -1.00029332e-03 1.53870477e+02] [ 9.98013133e-01 6.13323435e-02 -1.44266954e-02 1.16346453e+02] [ 1.44608859e-02 -1.13598999e-04 9.99895429e-01 2.80300134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35361786499996 meters Centerline goodness [0,1] 0.9999781095398625 Centerline is valid? [True, True] Translation: X:153.87, Y:116.37, Z:2.80 [[ 6.15471248e-02 -9.98103636e-01 -1.04089061e-03 1.53871735e+02] [ 9.97989834e-01 6.15558257e-02 -1.50721950e-02 1.16372931e+02] [ 1.51076855e-02 -1.11147982e-04 9.99885866e-01 2.80242234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38361786499996 meters Centerline goodness [0,1] 0.9999121246073068 Centerline is valid? [True, True] Translation: X:153.87, Y:116.40, Z:2.80 [[ 6.13152537e-02 -9.98117937e-01 -1.01190735e-03 1.53872552e+02] [ 9.98009656e-01 6.13235073e-02 -1.47021979e-02 1.16400880e+02] [ 1.47365811e-02 -1.08424314e-04 9.99891405e-01 2.80266724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41361786499996 meters Centerline goodness [0,1] 0.9998242492146137 Centerline is valid? [True, True] Translation: X:153.87, Y:116.43, Z:2.80 [[ 6.06419053e-02 -9.98159089e-01 -9.96302901e-04 1.53874850e+02] [ 9.98053292e-01 6.06499836e-02 -1.45329566e-02 1.16428834e+02] [ 1.45666285e-02 -1.13057211e-04 9.99893895e-01 2.80335147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44361786499996 meters Centerline goodness [0,1] 0.9999780802700511 Centerline is valid? [True, True] Translation: X:153.88, Y:116.46, Z:2.80 [[ 5.98462112e-02 -9.98207104e-01 -1.00393719e-03 1.53876749e+02] [ 9.98098814e-01 5.98545068e-02 -1.47035757e-02 1.16456501e+02] [ 1.47373038e-02 -1.22075229e-04 9.99891393e-01 2.80410058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47361786499997 meters Centerline goodness [0,1] 0.9998911671237648 Centerline is valid? [True, True] Translation: X:153.88, Y:116.48, Z:2.80 [[ 5.87454636e-02 -9.98272495e-01 -9.98544093e-04 1.53878568e+02] [ 9.98164518e-01 5.87537964e-02 -1.46828810e-02 1.16484917e+02] [ 1.47161845e-02 -1.34158633e-04 9.99891702e-01 2.80444151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:116.51, Z:2.80 [[ 5.73941772e-02 -9.98351114e-01 -9.80956289e-04 1.53880376e+02] [ 9.98246091e-01 5.74023686e-02 -1.44813804e-02 1.16512979e+02] [ 1.45138115e-02 -1.48088867e-04 9.99894658e-01 2.80468962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53361786499997 meters Centerline goodness [0,1] 0.9999343185550083 Centerline is valid? [True, True] Translation: X:153.88, Y:116.54, Z:2.80 [[ 5.49450539e-02 -9.98488922e-01 -9.55450247e-04 1.53883489e+02] [ 9.98388523e-01 5.49530791e-02 -1.41603743e-02 1.16541681e+02] [ 1.41914818e-02 -1.75868034e-04 9.99899280e-01 2.80487211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56361786499997 meters Centerline goodness [0,1] 0.9999562831974469 Centerline is valid? [True, True] Translation: X:153.89, Y:116.57, Z:2.81 [[ 5.35297269e-02 -9.98565785e-01 -9.70099616e-04 1.53886091e+02] [ 9.98461480e-01 5.35381579e-02 -1.44339073e-02 1.16569276e+02] [ 1.44651434e-02 -1.95963981e-04 9.99895355e-01 2.80527374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59361786499997 meters Centerline goodness [0,1] 0.9998904757732411 Centerline is valid? [True, True] Translation: X:153.89, Y:116.60, Z:2.81 [[ 5.18799957e-02 -9.98652846e-01 -9.79109749e-04 1.53888590e+02] [ 9.98545734e-01 5.18887727e-02 -1.46278028e-02 1.16597414e+02] [ 1.46589017e-02 -2.18795515e-04 9.99892529e-01 2.80555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62361786499997 meters Centerline goodness [0,1] 0.9998029297773107 Centerline is valid? [True, True] Translation: X:153.89, Y:116.62, Z:2.81 [[ 5.05622290e-02 -9.98720428e-01 -9.83915952e-04 1.53891567e+02] [ 9.98611415e-01 5.05712490e-02 -1.47577215e-02 1.16624966e+02] [ 1.47885958e-02 -2.36366406e-04 9.99890615e-01 2.80575455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65361786499997 meters Centerline goodness [0,1] 0.9998689670233676 Centerline is valid? [True, True] Translation: X:153.90, Y:116.65, Z:2.81 [[ 4.85142194e-02 -9.98821988e-01 -1.00383516e-03 1.53895225e+02] [ 9.98707604e-01 4.85238576e-02 -1.51181018e-02 1.16651397e+02] [ 1.51490024e-02 -2.69094899e-04 9.99885211e-01 2.80590335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters Centerline goodness [0,1] 0.9998689670233676 Centerline is valid? [True, True] Translation: X:153.90, Y:116.68, Z:2.81 [[ 4.82456486e-02 -9.98835000e-01 -1.00043628e-03 1.53896974e+02] [ 9.98720614e-01 4.82552661e-02 -1.51183268e-02 1.16678928e+02] [ 1.51489902e-02 -2.69762858e-04 9.99885211e-01 2.80627036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:116.71, Z:2.81 [[ 4.69863040e-02 -9.98895024e-01 -1.00906115e-03 1.53900192e+02] [ 9.98777696e-01 4.69962532e-02 -1.53123024e-02 1.16705427e+02] [ 1.53428047e-02 -2.88359278e-04 9.99882251e-01 2.80638677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499995 meters Centerline goodness [0,1] 0.999956377595533 Centerline is valid? [True, True] Translation: X:153.90, Y:116.73, Z:2.81 [[ 4.59918296e-02 -9.98941292e-01 -1.02314903e-03 1.53902066e+02] [ 9.98819601e-01 4.60021998e-02 -1.55949695e-02 1.16732490e+02] [ 1.56255261e-02 -3.04700121e-04 9.99877868e-01 2.80679524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:116.76, Z:2.81 [[ 4.48144551e-02 -9.98994814e-01 -1.01274301e-03 1.53903293e+02] [ 9.98874531e-01 4.48247779e-02 -1.55052026e-02 1.16760215e+02] [ 1.55350130e-02 -3.16745989e-04 9.99879274e-01 2.80713908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499995 meters Centerline goodness [0,1] 0.9999561979851073 Centerline is valid? [True, True] Translation: X:153.91, Y:116.79, Z:2.81 [[ 4.42385632e-02 -9.99020483e-01 -1.01165418e-03 1.53906987e+02] [ 9.98899446e-01 4.42489541e-02 -1.55539949e-02 1.16786141e+02] [ 1.55835241e-02 -3.22454418e-04 9.99878518e-01 2.80744463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83361786499995 meters Centerline goodness [0,1] 0.9998903653028111 Centerline is valid? [True, True] Translation: X:153.91, Y:116.81, Z:2.81 [[ 4.41912572e-02 -9.99022571e-01 -1.01802389e-03 1.53907698e+02] [ 9.98898809e-01 4.42018098e-02 -1.57280087e-02 1.16813330e+02] [ 1.57576342e-02 -3.21862371e-04 9.99875789e-01 2.80820198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:116.84, Z:2.81 [[ 4.42775119e-02 -9.99018759e-01 -1.01047857e-03 1.53908654e+02] [ 9.98895706e-01 4.42879207e-02 -1.56827719e-02 1.16839497e+02] [ 1.57121353e-02 -3.14968587e-04 9.99876507e-01 2.80773096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89361786499995 meters Centerline goodness [0,1] 0.9999563366444711 Centerline is valid? [True, True] Translation: X:153.91, Y:116.87, Z:2.81 [[ 4.44027158e-02 -9.99013211e-01 -1.00164116e-03 1.53909988e+02] [ 9.98891152e-01 4.44129508e-02 -1.56191131e-02 1.16866284e+02] [ 1.56481862e-02 -3.06999448e-04 9.99877513e-01 2.80799507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499995 meters Centerline goodness [0,1] 0.9998687491796824 Centerline is valid? [True, True] Translation: X:153.91, Y:116.89, Z:2.81 [[ 4.48064989e-02 -9.98995163e-01 -1.02124039e-03 1.53911422e+02] [ 9.98867146e-01 4.48171087e-02 -1.59953663e-02 1.16892883e+02] [ 1.60250626e-02 -3.03387108e-04 9.99871544e-01 2.80779964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95361786499996 meters Centerline goodness [0,1] 0.9999562075760894 Centerline is valid? [True, True] Translation: X:153.91, Y:116.92, Z:2.81 [[ 4.61648239e-02 -9.98933333e-01 -1.00226487e-03 1.53910212e+02] [ 9.98809115e-01 4.61748912e-02 -1.57553776e-02 1.16919855e+02] [ 1.57848514e-02 -2.73727053e-04 9.99875374e-01 2.80820395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499996 meters Centerline goodness [0,1] 0.999912457322945 Centerline is valid? [True, True] Translation: X:153.91, Y:116.95, Z:2.81 [[ 4.66503912e-02 -9.98910805e-01 -9.71508932e-04 1.53911044e+02] [ 9.98793009e-01 4.66598115e-02 -1.53423265e-02 1.16947256e+02] [ 1.53709462e-02 -2.54610794e-04 9.99881828e-01 2.80842884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01361786499996 meters Centerline goodness [0,1] 0.9999344477220583 Centerline is valid? [True, True] Translation: X:153.91, Y:116.98, Z:2.81 [[ 4.76344439e-02 -9.98864397e-01 -9.36419605e-04 1.53911743e+02] [ 9.98753948e-01 4.76431035e-02 -1.48554851e-02 1.16975637e+02] [ 1.48832291e-02 -2.27620005e-04 9.99889213e-01 2.80867430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04361786499996 meters Centerline goodness [0,1] 0.9999781301257518 Centerline is valid? [True, True] Translation: X:153.91, Y:117.00, Z:2.81 [[ 4.92846474e-02 -9.98784372e-01 -8.95632139e-04 1.53911998e+02] [ 9.98682483e-01 4.92924135e-02 -1.42672918e-02 1.17001604e+02] [ 1.42940959e-02 -1.91293686e-04 9.99897816e-01 2.80874801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07361786499996 meters Centerline goodness [0,1] 0.9999344147610512 Centerline is valid? [True, True] Translation: X:153.91, Y:117.03, Z:2.81 [[ 5.03441660e-02 -9.98731532e-01 -8.89585939e-04 1.53912471e+02] [ 9.98629996e-01 5.03517333e-02 -1.42419647e-02 1.17028483e+02] [ 1.42686915e-02 -1.71367365e-04 9.99898182e-01 2.80905386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10361786499996 meters Centerline goodness [0,1] 0.9998686744878305 Centerline is valid? [True, True] Translation: X:153.91, Y:117.05, Z:2.81 [[ 5.22620645e-02 -9.98633063e-01 -8.25759071e-04 1.53912538e+02] [ 9.98544786e-01 5.22684246e-02 -1.32786078e-02 1.17054889e+02] [ 1.33036180e-02 -1.30589955e-04 9.99911494e-01 2.80897258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:117.08, Z:2.81 [[ 5.26659616e-02 -9.98611859e-01 -8.07494568e-04 1.53913432e+02] [ 9.98526608e-01 5.26720171e-02 -1.30487900e-02 1.17081986e+02] [ 1.30732088e-02 -1.19077737e-04 9.99914535e-01 2.80959249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:117.11, Z:2.81 [[ 5.31621130e-02 -9.98585587e-01 -7.84538274e-04 1.53914419e+02] [ 9.98504384e-01 5.31677953e-02 -1.27350234e-02 1.17108487e+02] [ 1.27587230e-02 -1.06344152e-04 9.99918599e-01 2.80965678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19361786499996 meters Centerline goodness [0,1] 0.999912802737994 Centerline is valid? [True, True] Translation: X:153.91, Y:117.14, Z:2.81 [[ 5.33413736e-02 -9.98576072e-01 -7.25877987e-04 1.53914647e+02] [ 9.98505928e-01 5.33462304e-02 -1.18359958e-02 1.17135638e+02] [ 1.18578650e-02 -9.34452000e-05 9.99929689e-01 2.80958309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:117.16, Z:2.81 [[ 5.31489059e-02 -9.98586348e-01 -7.06190995e-04 1.53914857e+02] [ 9.98519330e-01 5.31535207e-02 -1.15694219e-02 1.17163436e+02] [ 1.15906033e-02 -9.02432416e-05 9.99932823e-01 2.80926858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25361786499997 meters Centerline goodness [0,1] 0.9999127304461656 Centerline is valid? [True, True] Translation: X:153.92, Y:117.19, Z:2.81 [[ 5.26075641e-02 -9.98615045e-01 -6.60344141e-04 1.53915642e+02] [ 9.98555960e-01 5.26116349e-02 -1.08632622e-02 1.17191188e+02] [ 1.08829588e-02 -8.79008166e-05 9.99940775e-01 2.80884188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28361786499997 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:153.92, Y:117.22, Z:2.81 [[ 5.21992589e-02 -9.98636490e-01 -6.30582948e-04 1.53917127e+02] [ 9.98582153e-01 5.22029969e-02 -1.04178242e-02 1.17219040e+02] [ 1.04365377e-02 -8.58861780e-05 9.99945534e-01 2.80902009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:117.25, Z:2.81 [[ 5.14532307e-02 -9.98675220e-01 -6.07856189e-04 1.53919301e+02] [ 9.98624297e-01 5.14567457e-02 -1.00854939e-02 1.17246142e+02] [ 1.01034111e-02 -8.80887169e-05 9.99948955e-01 2.80899567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:117.27, Z:2.81 [[ 5.06731529e-02 -9.98715127e-01 -5.72436650e-04 1.53920687e+02] [ 9.98669552e-01 5.06763094e-02 -9.54136759e-03 1.17274572e+02] [ 9.55811712e-03 -8.81838738e-05 9.99954316e-01 2.80885816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37361786499997 meters Centerline goodness [0,1] 0.9999781611705613 Centerline is valid? [True, True] Translation: X:153.92, Y:117.30, Z:2.81 [[ 5.01137727e-02 -9.98743359e-01 -5.58767949e-04 1.53922586e+02] [ 9.98699558e-01 5.01168083e-02 -9.35406301e-03 1.17301861e+02] [ 9.37031198e-03 -8.92739155e-05 9.99956094e-01 2.80889828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:117.33, Z:2.81 [[ 4.92376649e-02 -9.98786953e-01 -5.24452496e-04 1.53924393e+02] [ 9.98748044e-01 4.92403763e-02 -8.81641592e-03 1.17328032e+02] [ 8.83154543e-03 -8.96961715e-05 9.99960997e-01 2.80912473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:117.36, Z:2.81 [[ 4.81056426e-02 -9.98842134e-01 -4.88341631e-04 1.53924975e+02] [ 9.98808049e-01 4.81080355e-02 -8.25213554e-03 1.17355886e+02] [ 8.26607383e-03 -9.07852689e-05 9.99965831e-01 2.80772041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:117.38, Z:2.81 [[ 4.71160663e-02 -9.98889315e-01 -4.60230372e-04 1.53926918e+02] [ 9.98858787e-01 4.71182247e-02 -7.81008189e-03 1.17383879e+02] [ 7.82309259e-03 -9.17248153e-05 9.99969395e-01 2.80781649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:117.41, Z:2.81 [[ 4.60129059e-02 -9.98940727e-01 -4.87263143e-04 1.53928977e+02] [ 9.98906156e-01 4.60153676e-02 -8.31133042e-03 1.17411785e+02] [ 8.32494804e-03 -1.04301688e-04 9.99965342e-01 2.80778142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499995 meters Centerline goodness [0,1] 0.9999779254321096 Centerline is valid? [True, True] Translation: X:153.93, Y:117.44, Z:2.81 [[ 4.49459415e-02 -9.98989320e-01 -4.48100658e-04 1.53931230e+02] [ 9.98959850e-01 4.49480578e-02 -7.67398224e-03 1.17439704e+02] [ 7.68636756e-03 -1.02720210e-04 9.99970454e-01 2.80746033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:117.47, Z:2.81 [[ 4.30926473e-02 -9.99070984e-01 -4.39430564e-04 1.53933597e+02] [ 9.99042401e-01 4.30947388e-02 -7.55807800e-03 1.17466928e+02] [ 7.56999357e-03 -1.13312176e-04 9.99971341e-01 2.80726326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499995 meters Centerline goodness [0,1] 0.9999560661643565 Centerline is valid? [True, True] Translation: X:153.94, Y:117.49, Z:2.81 [[ 4.20729559e-02 -9.99114443e-01 -4.42899844e-04 1.53935431e+02] [ 9.99085124e-01 4.20751147e-02 -7.65498860e-03 1.17494593e+02] [ 7.66684474e-03 -1.20426647e-04 9.99970602e-01 2.80718725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:117.52, Z:2.81 [[ 4.07849165e-02 -9.99167852e-01 -4.40898664e-04 1.53937966e+02] [ 9.99138499e-01 4.07870984e-02 -7.65975388e-03 1.17521767e+02] [ 7.67136281e-03 -1.28116407e-04 9.99970566e-01 2.80737494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:117.55, Z:2.81 [[ 3.85187734e-02 -9.99257787e-01 -4.24482403e-04 1.53942186e+02] [ 9.99230302e-01 3.85208628e-02 -7.41263664e-03 1.17548499e+02] [ 7.42348631e-03 -1.38630009e-04 9.99972436e-01 2.80775844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:117.58, Z:2.81 [[ 3.75776333e-02 -9.99293638e-01 -3.82359248e-04 1.53943982e+02] [ 9.99271172e-01 3.75793529e-02 -6.70204087e-03 1.17575898e+02] [ 6.71167561e-03 -1.30233740e-04 9.99977468e-01 2.80795590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.60, Z:2.81 [[ 3.64469982e-02 -9.99335525e-01 -3.54753895e-04 1.53945924e+02] [ 9.99315990e-01 3.64485044e-02 -6.24973748e-03 1.17604189e+02] [ 6.25851493e-03 -1.26727069e-04 9.99980407e-01 2.80869288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:117.63, Z:2.81 [[ 3.50315979e-02 -9.99386160e-01 -3.01012218e-04 1.53944357e+02] [ 9.99372019e-01 3.50327039e-02 -5.31760554e-03 1.17632984e+02] [ 5.32488665e-03 -1.14538970e-04 9.99985816e-01 2.80797951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76361786499996 meters Centerline goodness [0,1] 0.9999780205288261 Centerline is valid? [True, True] Translation: X:153.95, Y:117.66, Z:2.81 [[ 3.41273414e-02 -9.99417459e-01 -2.57515046e-04 1.53948743e+02] [ 9.99407043e-01 3.41281617e-02 -4.56413945e-03 1.17659976e+02] [ 4.57026916e-03 -1.01600405e-04 9.99989551e-01 2.80966019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.69, Z:2.81 [[ 3.33105006e-02 -9.99445025e-01 -2.31519793e-04 1.53948715e+02] [ 9.99436585e-01 3.33111710e-02 -4.10822454e-03 1.17687389e+02] [ 4.11365678e-03 -9.45423350e-05 9.99991534e-01 2.80971362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.71, Z:2.81 [[ 3.30532567e-02 -9.99453566e-01 -2.28015088e-04 1.53948847e+02] [ 9.99445301e-01 3.30539109e-02 -4.06559330e-03 1.17714695e+02] [ 4.07090851e-03 -9.35075090e-05 9.99991709e-01 2.80951273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85361786499996 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:153.95, Y:117.74, Z:2.81 [[ 3.31636256e-02 -9.99449906e-01 -2.43257918e-04 1.53948243e+02] [ 9.99440359e-01 3.31643723e-02 -4.36965013e-03 1.17742716e+02] [ 4.37531390e-03 -9.82083401e-05 9.99990423e-01 2.80903941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.77, Z:2.81 [[ 3.35320513e-02 -9.99437610e-01 -2.55930781e-04 1.53952856e+02] [ 9.99426926e-01 3.35328765e-02 -4.62239599e-03 1.17770031e+02] [ 4.62837850e-03 -1.00785694e-04 9.99989284e-01 2.81096535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.80, Z:2.81 [[ 3.49623867e-02 -9.99388595e-01 -2.61078391e-04 1.53946868e+02] [ 9.99377338e-01 3.49632323e-02 -4.74438695e-03 1.17798364e+02] [ 4.75061436e-03 -9.50407361e-05 9.99988711e-01 2.80851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.83, Z:2.81 [[ 3.50692454e-02 -9.99384849e-01 -2.69191781e-04 1.53951168e+02] [ 9.99372705e-01 3.50701466e-02 -4.92769141e-03 1.17825220e+02] [ 4.93410073e-03 -9.62124986e-05 9.99987823e-01 2.81054893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97361786499997 meters Centerline goodness [0,1] 0.999912401725686 Centerline is valid? [True, True] Translation: X:153.95, Y:117.85, Z:2.81 [[ 3.52947206e-02 -9.99376914e-01 -2.58269922e-04 1.53946925e+02] [ 9.99365717e-01 3.52955480e-02 -4.73160122e-03 1.17853523e+02] [ 4.73776880e-03 -9.11055632e-05 9.99988773e-01 2.80868203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00361786499997 meters Centerline goodness [0,1] 0.9999781673689496 Centerline is valid? [True, True] Translation: X:153.95, Y:117.88, Z:2.81 [[ 3.52185463e-02 -9.99379599e-01 -2.67105220e-04 1.53951717e+02] [ 9.99367500e-01 3.52194345e-02 -4.91846884e-03 1.17880021e+02] [ 4.92482471e-03 -9.37149530e-05 9.99987869e-01 2.81088833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03361786499997 meters Centerline goodness [0,1] 0.9999781540141999 Centerline is valid? [True, True] Translation: X:153.95, Y:117.91, Z:2.81 [[ 3.49036528e-02 -9.99390652e-01 -2.42854145e-04 1.53948072e+02] [ 9.99380577e-01 3.49043916e-02 -4.48836632e-03 1.17907160e+02] [ 4.49410802e-03 -8.60433361e-05 9.99989898e-01 2.80954014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06361786499997 meters Centerline goodness [0,1] 0.9999781592626568 Centerline is valid? [True, True] Translation: X:153.95, Y:117.94, Z:2.81 [[ 3.43305396e-02 -9.99410506e-01 -2.35499918e-04 1.53947977e+02] [ 9.99400917e-01 3.43312420e-02 -4.37865301e-03 1.17935648e+02] [ 4.38415682e-03 -8.50373134e-05 9.99990386e-01 2.80936911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:117.96, Z:2.81 [[ 3.31022821e-02 -9.99451948e-01 -2.05537518e-04 1.53948893e+02] [ 9.99444602e-01 3.31028270e-02 -3.83285049e-03 1.17963997e+02] [ 3.83755377e-03 -7.85472640e-05 9.99992633e-01 2.80963831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12361786499997 meters Centerline goodness [0,1] 0.9999344749257383 Centerline is valid? [True, True] Translation: X:153.95, Y:117.99, Z:2.81 [[ 3.22960885e-02 -9.99478324e-01 -2.07905225e-04 1.53948885e+02] [ 9.99470730e-01 3.22966537e-02 -3.89698899e-03 1.17991792e+02] [ 3.90167066e-03 -8.19376861e-05 9.99992385e-01 2.80903776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15361786499997 meters Centerline goodness [0,1] 0.9999563423631879 Centerline is valid? [True, True] Translation: X:153.95, Y:118.02, Z:2.81 [[ 3.15887697e-02 -9.99500928e-01 -2.11803833e-04 1.53951284e+02] [ 9.99492905e-01 3.15893649e-02 -4.00552305e-03 1.18018995e+02] [ 4.01021476e-03 -8.51668831e-05 9.99991955e-01 2.80962344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:118.05, Z:2.81 [[ 3.06562689e-02 -9.99529962e-01 -2.21255819e-04 1.53951906e+02] [ 9.99521212e-01 3.06569265e-02 -4.18329972e-03 1.18045705e+02] [ 4.18811643e-03 -9.29055233e-05 9.99991225e-01 2.80900256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:118.07, Z:2.81 [[ 3.04855608e-02 -9.99535180e-01 -2.33752082e-04 1.53950146e+02] [ 9.99525250e-01 3.04863002e-02 -4.45655744e-03 1.18074291e+02] [ 4.46161217e-03 -9.77804552e-05 9.99990042e-01 2.80738761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:118.10, Z:2.81 [[ 3.02431908e-02 -9.99542542e-01 -2.38974547e-04 1.53950797e+02] [ 9.99532045e-01 3.02439687e-02 -4.58180891e-03 1.18102107e+02] [ 4.58694046e-03 -1.00294197e-04 9.99989475e-01 2.80712397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27361786499995 meters Centerline goodness [0,1] 0.9999345435503578 Centerline is valid? [True, True] Translation: X:153.95, Y:118.13, Z:2.81 [[ 2.96241817e-02 -9.99561076e-01 -2.50273642e-04 1.53952277e+02] [ 9.99549435e-01 2.96250448e-02 -4.82535679e-03 1.18128758e+02] [ 4.83065319e-03 -1.07213631e-04 9.99988327e-01 2.80692291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499995 meters Centerline goodness [0,1] 0.999912734253987 Centerline is valid? [True, True] Translation: X:153.95, Y:118.16, Z:2.81 [[ 2.91292581e-02 -9.99575614e-01 -2.78066864e-04 1.53953183e+02] [ 9.99561020e-01 2.91303358e-02 -5.40285014e-03 1.18156806e+02] [ 5.40865743e-03 -1.20563782e-04 9.99985366e-01 2.80670743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:118.18, Z:2.81 [[ 2.83169361e-02 -9.99598961e-01 -2.60162530e-04 1.53954912e+02] [ 9.99586082e-01 2.83178922e-02 -5.07553168e-03 1.18184249e+02] [ 5.08086345e-03 -1.16331338e-04 9.99987086e-01 2.80699409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.21, Z:2.81 [[ 2.74683972e-02 -9.99622640e-01 -2.53055160e-04 1.53957437e+02] [ 9.99610184e-01 2.74693185e-02 -4.99162386e-03 1.18211036e+02] [ 4.99669148e-03 -1.15844608e-04 9.99987510e-01 2.80751064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39361786499995 meters Centerline goodness [0,1] 0.9999781420765027 Centerline is valid? [True, True] Translation: X:153.96, Y:118.24, Z:2.81 [[ 2.69713564e-02 -9.99636176e-01 -2.47234926e-04 1.53957318e+02] [ 9.99624356e-01 2.69722401e-02 -4.86269483e-03 1.18238916e+02] [ 4.86759415e-03 -1.15988579e-04 9.99988146e-01 2.80744695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.27, Z:2.81 [[ 2.67291652e-02 -9.99642688e-01 -2.17773439e-04 1.53957864e+02] [ 9.99633456e-01 2.67298546e-02 -4.29739593e-03 1.18266876e+02] [ 4.30168147e-03 -1.02827810e-04 9.99990742e-01 2.80734577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45361786499996 meters Centerline goodness [0,1] 0.9999129033662849 Centerline is valid? [True, True] Translation: X:153.96, Y:118.29, Z:2.81 [[ 2.68380355e-02 -9.99639774e-01 -2.06736480e-04 1.53960910e+02] [ 9.99631387e-01 2.68386574e-02 -4.09584893e-03 1.18294061e+02] [ 4.09992203e-03 -9.67357352e-05 9.99991591e-01 2.80843924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.32, Z:2.81 [[ 2.70629684e-02 -9.99633714e-01 -1.83010056e-04 1.53959685e+02] [ 9.99627088e-01 2.70634555e-02 -3.64055599e-03 1.18322071e+02] [ 3.64417539e-03 -8.44175580e-05 9.99993356e-01 2.80755124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.35, Z:2.81 [[ 2.74373843e-02 -9.99623507e-01 -1.83594106e-04 1.53963581e+02] [ 9.99616770e-01 2.74378736e-02 -3.67096276e-03 1.18349197e+02] [ 3.67461810e-03 -8.28021314e-05 9.99993245e-01 2.80908063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.38, Z:2.81 [[ 2.76577426e-02 -9.99617438e-01 -1.64047603e-04 1.53964569e+02] [ 9.99612023e-01 2.76581329e-02 -3.29114996e-03 1.18376814e+02] [ 3.29442814e-03 -7.29581780e-05 9.99994571e-01 2.80921294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.41, Z:2.81 [[ 2.83633704e-02 -9.99597670e-01 -1.31897083e-04 1.53962565e+02] [ 9.99594159e-01 2.83636204e-02 -2.65003983e-03 1.18405280e+02] [ 2.65271471e-03 -5.66794930e-05 9.99996480e-01 2.80776339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:118.43, Z:2.81 [[ 2.80909371e-02 -9.99605363e-01 -1.31174858e-04 1.53963831e+02] [ 9.99601852e-01 2.80911862e-02 -2.65007518e-03 1.18432834e+02] [ 2.65271422e-03 -5.66795356e-05 9.99996480e-01 2.80813019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:118.46, Z:2.81 [[ 2.81947185e-02 -9.99602442e-01 -1.23493063e-04 1.53965421e+02] [ 9.99599314e-01 2.81949393e-02 -2.50135021e-03 1.18459894e+02] [ 2.50383766e-03 -5.29187157e-05 9.99996864e-01 2.80863313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66361786499996 meters Centerline goodness [0,1] 0.9999781635549733 Centerline is valid? [True, True] Translation: X:153.97, Y:118.49, Z:2.81 [[ 2.86315693e-02 -9.99590022e-01 -1.48026417e-04 1.53966787e+02] [ 9.99585364e-01 2.86318879e-02 -3.05217308e-03 1.18486578e+02] [ 3.05516003e-03 -6.05765344e-05 9.99995331e-01 2.80792395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:118.51, Z:2.81 [[ 2.87574665e-02 -9.99586406e-01 -1.57253864e-04 1.53967598e+02] [ 9.99581164e-01 2.87578251e-02 -3.23794867e-03 1.18513450e+02] [ 3.24113176e-03 -6.40728004e-05 9.99994745e-01 2.80761055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72361786499997 meters Centerline goodness [0,1] 0.9999563395040167 Centerline is valid? [True, True] Translation: X:153.97, Y:118.54, Z:2.81 [[ 2.88952613e-02 -9.99582429e-01 -1.78241885e-04 1.53967334e+02] [ 9.99575548e-01 2.88957238e-02 -3.70950494e-03 1.18541554e+02] [ 3.71310638e-03 -7.09791161e-05 9.99993104e-01 2.80637585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75361786499997 meters Centerline goodness [0,1] 0.9999781458979851 Centerline is valid? [True, True] Translation: X:153.97, Y:118.57, Z:2.81 [[ 2.92203688e-02 -9.99572972e-01 -2.08832300e-04 1.53967427e+02] [ 9.99563362e-01 2.92210038e-02 -4.38395195e-03 1.18570057e+02] [ 4.38818217e-03 -8.06404227e-05 9.99990369e-01 2.80504172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:118.60, Z:2.81 [[ 2.89670222e-02 -9.99580342e-01 -2.25273107e-04 1.53970580e+02] [ 9.99568931e-01 2.89677681e-02 -4.77717681e-03 1.18596556e+02] [ 4.78169769e-03 -8.67954124e-05 9.99988564e-01 2.80629841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:118.63, Z:2.81 [[ 2.86217355e-02 -9.99590289e-01 -2.26612399e-04 1.53969301e+02] [ 9.99578704e-01 2.86224950e-02 -4.81326126e-03 1.18625148e+02] [ 4.81777543e-03 -8.87530377e-05 9.99988391e-01 2.80501986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84361786499997 meters Centerline goodness [0,1] 0.9998915754093028 Centerline is valid? [True, True] Translation: X:153.97, Y:118.65, Z:2.81 [[ 2.81598155e-02 -9.99603403e-01 -2.49843393e-04 1.53973637e+02] [ 9.99589121e-01 2.81607490e-02 -5.34419858e-03 1.18651828e+02] [ 5.34911486e-03 -9.92490918e-05 9.99985688e-01 2.80617017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87361786499997 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:153.97, Y:118.68, Z:2.80 [[ 2.67836927e-02 -9.99641222e-01 -2.45968499e-04 1.53972233e+02] [ 9.99627185e-01 2.67846203e-02 -5.29868093e-03 1.18680684e+02] [ 5.30336806e-03 -1.03958556e-04 9.99985932e-01 2.80473525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:118.71, Z:2.81 [[ 2.56595288e-02 -9.99670709e-01 -2.49741017e-04 1.53973354e+02] [ 9.99656081e-01 2.56605047e-02 -5.40915932e-03 1.18708591e+02] [ 5.41378661e-03 -1.10858647e-04 9.99985339e-01 2.80522138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93361786499997 meters Centerline goodness [0,1] 0.9999782092349262 Centerline is valid? [True, True] Translation: X:153.98, Y:118.74, Z:2.81 [[ 2.47480738e-02 -9.99693691e-01 -2.39726967e-04 1.53975148e+02] [ 9.99680063e-01 2.47489884e-02 -5.22102908e-03 1.18736761e+02] [ 5.22536283e-03 -1.10439857e-04 9.99986342e-01 2.80567405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499995 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:153.98, Y:118.76, Z:2.81 [[ 2.28574110e-02 -9.99738714e-01 -2.03918316e-04 1.53977957e+02] [ 9.99728767e-01 2.28580935e-02 -4.46101186e-03 1.18764460e+02] [ 4.46450745e-03 -1.01895825e-04 9.99990029e-01 2.80698413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99361786499995 meters Centerline goodness [0,1] 0.9999781902248588 Centerline is valid? [True, True] Translation: X:153.98, Y:118.79, Z:2.81 [[ 2.19310342e-02 -9.99759466e-01 -1.99806909e-04 1.53980050e+02] [ 9.99749839e-01 2.19317001e-02 -4.38851030e-03 1.18791859e+02] [ 4.39183682e-03 -1.03512355e-04 9.99990350e-01 2.80823012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499995 meters Centerline goodness [0,1] 0.9999565255195201 Centerline is valid? [True, True] Translation: X:153.98, Y:118.82, Z:2.81 [[ 2.11388134e-02 -9.99776535e-01 -1.73373352e-04 1.53979528e+02] [ 9.99769229e-01 2.11393220e-02 -3.82343007e-03 1.18820295e+02] [ 3.82624066e-03 -9.25105674e-05 9.99992676e-01 2.80764369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:118.85, Z:2.81 [[ 2.04432881e-02 -9.99790999e-01 -1.72239246e-04 1.53980448e+02] [ 9.99783712e-01 2.04437969e-02 -3.81833216e-03 1.18847558e+02] [ 3.82105535e-03 -9.41427289e-05 9.99992695e-01 2.80764262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:118.88, Z:2.81 [[ 2.01534176e-02 -9.99796886e-01 -1.61379067e-04 1.53981025e+02] [ 9.99790410e-01 2.01538681e-02 -3.59965280e-03 1.18875759e+02] [ 3.60217408e-03 -8.87999373e-05 9.99993508e-01 2.80746535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:118.90, Z:2.81 [[ 1.99287026e-02 -9.99801388e-01 -1.78854094e-04 1.53981638e+02] [ 9.99793295e-01 1.99292611e-02 -4.02379199e-03 1.18904042e+02] [ 4.02655725e-03 -9.86281697e-05 9.99991889e-01 2.80791363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499995 meters Centerline goodness [0,1] 0.9999783671526846 Centerline is valid? [True, True] Translation: X:153.98, Y:118.93, Z:2.81 [[ 2.02364128e-02 -9.99795203e-01 -1.97037505e-04 1.53983036e+02] [ 9.99785154e-01 2.02370931e-02 -4.48389428e-03 1.18930894e+02] [ 4.48696346e-03 -1.06257237e-04 9.99989928e-01 2.80787264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:118.96, Z:2.81 [[ 2.01134814e-02 -9.99797681e-01 -2.12188816e-04 1.53983401e+02] [ 9.99785994e-01 2.01142726e-02 -4.83559637e-03 1.18958273e+02] [ 4.83888606e-03 -1.14882728e-04 9.99988286e-01 2.80756925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:118.98, Z:2.81 [[ 2.00159056e-02 -9.99799640e-01 -2.07767315e-04 1.53984244e+02] [ 9.99788223e-01 2.00166702e-02 -4.77930932e-03 1.18984257e+02] [ 4.78251054e-03 -1.12061111e-04 9.99988557e-01 2.80724154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.01, Z:2.81 [[ 2.03487810e-02 -9.99792917e-01 -2.23323653e-04 1.53984493e+02] [ 9.99779634e-01 2.03496621e-02 -5.15509283e-03 1.19010177e+02] [ 5.15856986e-03 -1.18374585e-04 9.99986687e-01 2.80723458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.04, Z:2.81 [[ 2.04075290e-02 -9.99791714e-01 -2.47916468e-04 1.53985060e+02] [ 9.99775023e-01 2.04086212e-02 -5.77853553e-03 1.19037291e+02] [ 5.78239157e-03 -1.29935061e-04 9.99983273e-01 2.80756728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29361786499996 meters Centerline goodness [0,1] 0.9999132151613113 Centerline is valid? [True, True] Translation: X:153.99, Y:119.06, Z:2.81 [[ 2.07449670e-02 -9.99784773e-01 -2.32842426e-04 1.53985544e+02] [ 9.99769890e-01 2.07459289e-02 -5.45657715e-03 1.19063265e+02] [ 5.46023328e-03 -1.19592334e-04 9.99985086e-01 2.80749907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32361786499996 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:153.98, Y:119.09, Z:2.81 [[ 2.16900243e-02 -9.99764724e-01 -1.99092550e-04 1.53984074e+02] [ 9.99753738e-01 2.16907195e-02 -4.68797015e-03 1.19090780e+02] [ 4.69118564e-03 -9.73613342e-05 9.99988992e-01 2.80753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.12, Z:2.81 [[ 2.20849413e-02 -9.99756080e-01 -1.90473622e-04 1.53985088e+02] [ 9.99745913e-01 2.20855759e-02 -4.50973312e-03 1.19117006e+02] [ 4.51283982e-03 -9.08280339e-05 9.99989813e-01 2.80896881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.14, Z:2.81 [[ 2.27341321e-02 -9.99741530e-01 -1.78529385e-04 1.53984989e+02] [ 9.99732465e-01 2.27346864e-02 -4.25816774e-03 1.19144350e+02] [ 4.26112594e-03 -8.16758738e-05 9.99990918e-01 2.80956723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.17, Z:2.81 [[ 2.32627202e-02 -9.99729371e-01 -1.72928500e-04 1.53984603e+02] [ 9.99720759e-01 2.32632377e-02 -4.15041296e-03 1.19171974e+02] [ 4.15331262e-03 -7.63303154e-05 9.99991372e-01 2.81003966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.20, Z:2.81 [[ 2.47357818e-02 -9.99694013e-01 -1.48739880e-04 1.53980233e+02] [ 9.99687590e-01 2.47361561e-02 -3.58390308e-03 1.19200298e+02] [ 3.58648570e-03 -6.00427680e-05 9.99993567e-01 2.80833720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.23, Z:2.81 [[ 2.55304267e-02 -9.99674035e-01 -1.47663246e-04 1.53979601e+02] [ 9.99667626e-01 2.55307918e-02 -3.57985680e-03 1.19228510e+02] [ 3.58245985e-03 -5.62188948e-05 9.99993581e-01 2.80855572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.26, Z:2.81 [[ 2.62024133e-02 -9.99656649e-01 -1.36041157e-04 1.53982113e+02] [ 9.99651168e-01 2.62027202e-02 -3.31068099e-03 1.19255460e+02] [ 3.31310891e-03 -4.92458694e-05 9.99994510e-01 2.81115411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.28, Z:2.81 [[ 2.70960846e-02 -9.99632824e-01 -1.37195076e-04 1.53978749e+02] [ 9.99627154e-01 2.70963930e-02 -3.36737685e-03 1.19283320e+02] [ 3.36985792e-03 -4.59011952e-05 9.99994321e-01 2.80851314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.31, Z:2.81 [[ 2.70989696e-02 -9.99632743e-01 -1.58988890e-04 1.53978833e+02] [ 9.99624962e-01 2.70993860e-02 -3.94441282e-03 1.19311055e+02] [ 3.94727270e-03 -5.20397403e-05 9.99992208e-01 2.80787659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.34, Z:2.81 [[ 2.68813978e-02 -9.99638617e-01 -1.59159047e-04 1.53979926e+02] [ 9.99630723e-01 2.68818181e-02 -3.97302467e-03 1.19337832e+02] [ 3.97586737e-03 -5.22998167e-05 9.99992095e-01 2.80823883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.37, Z:2.81 [[ 2.64799305e-02 -9.99649333e-01 -1.58713886e-04 1.53978889e+02] [ 9.99641348e-01 2.64803534e-02 -3.99574148e-03 1.19365748e+02] [ 3.99854310e-03 -5.28500061e-05 9.99992004e-01 2.80708501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65361786499997 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:153.98, Y:119.39, Z:2.81 [[ 2.57781430e-02 -9.99667676e-01 -1.56050485e-04 1.53979726e+02] [ 9.99659855e-01 2.57785587e-02 -3.95485373e-03 1.19393709e+02] [ 3.95756219e-03 -5.40486197e-05 9.99992167e-01 2.80686907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.42, Z:2.81 [[ 2.47906997e-02 -9.99692651e-01 -1.59027957e-04 1.53980862e+02] [ 9.99684402e-01 2.47911412e-02 -4.06138477e-03 1.19421525e+02] [ 4.06407899e-03 -5.82931976e-05 9.99991740e-01 2.80708590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:119.45, Z:2.81 [[ 2.20398349e-02 -9.99757083e-01 -1.45783406e-04 1.53982654e+02] [ 9.99750060e-01 2.20402266e-02 -3.74775582e-03 1.19448705e+02] [ 3.75005853e-03 -6.31470490e-05 9.99992967e-01 2.80683320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499995 meters Centerline goodness [0,1] 0.9999568565696658 Centerline is valid? [True, True] Translation: X:153.98, Y:119.48, Z:2.81 [[ 2.03590794e-02 -9.99792722e-01 -1.42798482e-04 1.53984471e+02] [ 9.99785920e-01 2.03594678e-02 -3.68878083e-03 1.19476659e+02] [ 3.69092353e-03 -6.76677294e-05 9.99993186e-01 2.80668237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.50, Z:2.81 [[ 1.82653723e-02 -9.99833164e-01 -1.41486724e-04 1.53986396e+02] [ 9.99826409e-01 1.82657691e-02 -3.67611333e-03 1.19504135e+02] [ 3.67808439e-03 -7.43165847e-05 9.99993233e-01 2.80687382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499995 meters Centerline goodness [0,1] 0.999935137939981 Centerline is valid? [True, True] Translation: X:153.99, Y:119.53, Z:2.81 [[ 1.45949971e-02 -9.99893479e-01 -1.26308524e-04 1.53990346e+02] [ 9.99887971e-01 1.45953361e-02 -3.31996599e-03 1.19530917e+02] [ 3.32145587e-03 -7.78394796e-05 9.99994481e-01 2.80731200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83361786499995 meters Centerline goodness [0,1] 0.9999566226386449 Centerline is valid? [True, True] Translation: X:153.99, Y:119.56, Z:2.81 [[ 1.29033013e-02 -9.99916744e-01 -9.90196871e-05 1.53992470e+02] [ 9.99913414e-01 1.29035140e-02 -2.58163663e-03 1.19559000e+02] [ 2.58269939e-03 -6.56994780e-05 9.99996663e-01 2.80793032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499995 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:153.99, Y:119.59, Z:2.81 [[ 1.13033608e-02 -9.99936111e-01 -9.34176333e-05 1.53994324e+02] [ 9.99933116e-01 1.13035557e-02 -2.44798467e-03 1.19587379e+02] [ 2.44888422e-03 -6.57409312e-05 9.99996999e-01 2.80809921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.61, Z:2.81 [[ 9.80585432e-03 -9.99951918e-01 -7.80026695e-05 1.53995902e+02] [ 9.99949842e-01 9.80599297e-03 -2.03851899e-03 1.19614454e+02] [ 2.03918587e-03 -5.80093368e-05 9.99997919e-01 2.80831876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.64, Z:2.81 [[ 9.55399548e-03 -9.99954355e-01 -9.78308906e-05 1.53996689e+02] [ 9.99950983e-01 9.55421743e-03 -2.59795408e-03 1.19642102e+02] [ 2.59877019e-03 -7.30052537e-05 9.99996621e-01 2.80834905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.67, Z:2.81 [[ 9.64293337e-03 -9.99953501e-01 -1.01538511e-04 1.53996732e+02] [ 9.99949800e-01 9.64317404e-03 -2.72165039e-03 1.19669195e+02] [ 2.72250299e-03 -7.52887202e-05 9.99996291e-01 2.80817153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.70, Z:2.81 [[ 1.09911609e-02 -9.99939588e-01 -1.23210835e-04 1.53992306e+02] [ 9.99933950e-01 1.09915128e-02 -3.35903145e-03 1.19698092e+02] [ 3.36018279e-03 -8.62830421e-05 9.99994351e-01 2.80554261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.73, Z:2.81 [[ 1.15252247e-02 -9.99933572e-01 -1.46005634e-04 1.53992213e+02] [ 9.99925458e-01 1.15257196e-02 -4.02954088e-03 1.19726654e+02] [ 4.03095602e-03 -9.95533857e-05 9.99991871e-01 2.80546454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.75, Z:2.81 [[ 1.19882698e-02 -9.99928124e-01 -1.70413076e-04 1.53993507e+02] [ 9.99916854e-01 1.19889440e-02 -4.74866050e-03 1.19753862e+02] [ 4.75036226e-03 -1.13470684e-04 9.99988711e-01 2.80563382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07361786499996 meters Centerline goodness [0,1] 0.9999570971963018 Centerline is valid? [True, True] Translation: X:154.00, Y:119.78, Z:2.81 [[ 1.25003874e-02 -9.99921852e-01 -1.75030081e-04 1.53997904e+02] [ 9.99909752e-01 1.25010974e-02 -4.92041894e-03 1.19780504e+02] [ 4.92222249e-03 -1.13507142e-04 9.99987879e-01 2.80722784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.81, Z:2.81 [[ 1.37129081e-02 -9.99905959e-01 -1.69377119e-04 1.53993359e+02] [ 9.99894446e-01 1.37135632e-02 -4.79948748e-03 1.19809210e+02] [ 4.80135889e-03 -1.03544310e-04 9.99988468e-01 2.80543734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:119.84, Z:2.81 [[ 1.35498667e-02 -9.99908184e-01 -1.60226396e-04 1.53993764e+02] [ 9.99897762e-01 1.35504572e-02 -4.56636561e-03 1.19837712e+02] [ 4.56811748e-03 -9.83363690e-05 9.99989561e-01 2.80585183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.86, Z:2.81 [[ 1.39695739e-02 -9.99902411e-01 -1.42765081e-04 1.53995175e+02] [ 9.99893968e-01 1.39700428e-02 -4.10976678e-03 1.19864728e+02] [ 4.11136014e-03 -8.53382526e-05 9.99991545e-01 2.80647702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.89, Z:2.81 [[ 1.40453242e-02 -9.99901350e-01 -1.34973937e-04 1.53995083e+02] [ 9.99893814e-01 1.40457425e-02 -3.88311398e-03 1.19892557e+02] [ 3.88462672e-03 -8.04200096e-05 9.99992452e-01 2.80674068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.92, Z:2.81 [[ 1.46193072e-02 -9.99893122e-01 -1.40382457e-04 1.53996549e+02] [ 9.99884825e-01 1.46197579e-02 -4.07419937e-03 1.19919461e+02] [ 4.07581629e-03 -8.08043167e-05 9.99991691e-01 2.80721917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:119.95, Z:2.81 [[ 1.48799630e-02 -9.99889278e-01 -1.35824772e-04 1.53997805e+02] [ 9.99881377e-01 1.48803855e-02 -3.97578729e-03 1.19947077e+02] [ 3.97736821e-03 -7.66490924e-05 9.99992087e-01 2.80723827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28361786499997 meters Centerline goodness [0,1] 0.999978466838932 Centerline is valid? [True, True] Translation: X:154.00, Y:119.97, Z:2.81 [[ 1.52555938e-02 -9.99883614e-01 -1.56214120e-04 1.53999554e+02] [ 9.99872924e-01 1.52561532e-02 -4.62454446e-03 1.19974325e+02] [ 4.62638946e-03 -8.56440969e-05 9.99989295e-01 2.80817380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:120.00, Z:2.81 [[ 1.63896573e-02 -9.99865668e-01 -1.59121778e-04 1.54000230e+02] [ 9.99854357e-01 1.63902289e-02 -4.75670144e-03 1.20002536e+02] [ 4.75867050e-03 -8.11378963e-05 9.99988674e-01 2.80776643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:120.03, Z:2.81 [[ 1.63189595e-02 -9.99866824e-01 -1.59785269e-04 1.54001462e+02] [ 9.99855288e-01 1.63195389e-02 -4.80362857e-03 1.20028521e+02] [ 4.80559646e-03 -8.13719266e-05 9.99988450e-01 2.80815810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:120.06, Z:2.81 [[ 1.64846194e-02 -9.99864106e-01 -1.62596855e-04 1.54003778e+02] [ 9.99851911e-01 1.64852215e-02 -4.93906328e-03 1.20055121e+02] [ 4.94107254e-03 -8.11541973e-05 9.99987790e-01 2.80849601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:120.08, Z:2.81 [[ 1.57490240e-02 -9.99875963e-01 -1.61187687e-04 1.54004263e+02] [ 9.99863698e-01 1.57496293e-02 -4.95319808e-03 1.20083539e+02] [ 4.95512235e-03 -8.31576818e-05 9.99987720e-01 2.80798119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:120.11, Z:2.81 [[ 1.46881554e-02 -9.99892111e-01 -1.58146528e-04 1.54006191e+02] [ 9.99880108e-01 1.46887541e-02 -4.89994592e-03 1.20111814e+02] [ 4.90174025e-03 -8.61564003e-05 9.99987983e-01 2.80850226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:120.14, Z:2.81 [[ 1.20742336e-02 -9.99927093e-01 -1.48999125e-04 1.54009725e+02] [ 9.99916259e-01 1.20747965e-02 -4.65566127e-03 1.20139435e+02] [ 4.65712097e-03 -9.27731059e-05 9.99989151e-01 2.80912060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:120.17, Z:2.81 [[ 1.18062485e-02 -9.99930293e-01 -1.47984637e-04 1.54010514e+02] [ 9.99919459e-01 1.18068096e-02 -4.65569332e-03 1.20167000e+02] [ 4.65711601e-03 -9.30064458e-05 9.99989151e-01 2.80948747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:120.20, Z:2.81 [[ 1.02162750e-02 -9.99947804e-01 -1.27538802e-04 1.54012065e+02] [ 9.99939665e-01 1.02167065e-02 -4.03552092e-03 1.20195146e+02] [ 4.03661331e-03 -8.63031155e-05 9.99991849e-01 2.80982952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:120.22, Z:2.81 [[ 8.64214937e-03 -9.99962649e-01 -1.18142171e-04 1.54014947e+02] [ 9.99955615e-01 8.64253183e-03 -3.75174709e-03 1.20222528e+02] [ 3.75262800e-03 -8.57137680e-05 9.99992955e-01 2.81089034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.25, Z:2.81 [[ 7.07922786e-03 -9.99974934e-01 -1.29449874e-04 1.54016114e+02] [ 9.99966253e-01 7.07970595e-03 -4.16785931e-03 1.20250229e+02] [ 4.16867130e-03 -9.99402798e-05 9.99991306e-01 2.81084347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.28, Z:2.81 [[ 4.75133409e-03 -9.99988704e-01 -1.28075213e-04 1.54016385e+02] [ 9.99980054e-01 4.75182589e-03 -4.16080137e-03 1.20278625e+02] [ 4.16136296e-03 -1.08303301e-04 9.99991336e-01 2.81012611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.31, Z:2.81 [[ 3.39770239e-03 -9.99994219e-01 -1.31696384e-04 1.54018460e+02] [ 9.99984884e-01 3.39823992e-03 -4.32237261e-03 1.20306338e+02] [ 4.32279516e-03 -1.17008258e-04 9.99990650e-01 2.81038961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.33, Z:2.81 [[ 2.28138325e-03 -9.99997389e-01 -1.35344570e-04 1.54021991e+02] [ 9.99987286e-01 2.28196880e-03 -4.49664122e-03 1.20333439e+02] [ 4.49693833e-03 -1.25084287e-04 9.99989881e-01 2.81081541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.36, Z:2.81 [[ 9.21533405e-04 -9.99999566e-01 -1.39810673e-04 1.54019967e+02] [ 9.99988717e-01 9.22174917e-04 -4.65994557e-03 1.20361787e+02] [ 4.66007248e-03 -1.35514800e-04 9.99989133e-01 2.80963864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.39, Z:2.81 [[ 1.61594959e-04 -9.99999976e-01 -1.45959085e-04 1.54023415e+02] [ 9.99987955e-01 1.62309004e-04 -4.90540314e-03 1.20388505e+02] [ 4.90542671e-03 -1.45164639e-04 9.99987958e-01 2.81038060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.42, Z:2.81 [[-3.93893498e-05 -9.99999987e-01 -1.55692152e-04 1.54023765e+02] [ 9.99985945e-01 -3.85633668e-05 -5.30168682e-03 1.20416361e+02] [ 5.30168075e-03 -1.55898794e-04 9.99985934e-01 2.81022271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.44, Z:2.81 [[ 3.67605606e-04 -9.99999921e-01 -1.51095686e-04 1.54024511e+02] [ 9.99986462e-01 3.68384894e-04 -5.19033062e-03 1.20444021e+02] [ 5.19038587e-03 -1.49185646e-04 9.99986519e-01 2.81021160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.47, Z:2.81 [[ 9.54521343e-04 -9.99999533e-01 -1.50831270e-04 1.54025127e+02] [ 9.99985863e-01 9.55297267e-04 -5.23083361e-03 1.20472030e+02] [ 5.23097526e-03 -1.45836196e-04 9.99986308e-01 2.81040084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.50, Z:2.81 [[ 1.80831488e-03 -9.99998353e-01 -1.53691555e-04 1.54025250e+02] [ 9.99983845e-01 1.80911682e-03 -5.38854572e-03 1.20500535e+02] [ 5.38881489e-03 -1.43944885e-04 9.99985470e-01 2.81102804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.53, Z:2.81 [[ 4.43279321e-03 -9.99990165e-01 -1.40342516e-04 1.54022206e+02] [ 9.99977891e-01 4.43343435e-03 -4.95603513e-03 1.20529413e+02] [ 4.95660858e-03 -1.18370335e-04 9.99987709e-01 2.81072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.56, Z:2.81 [[ 5.96114798e-03 -9.99982222e-01 -1.45332422e-04 1.54022554e+02] [ 9.99968707e-01 5.96182317e-03 -5.20008064e-03 1.20556321e+02] [ 5.20085464e-03 -1.14329424e-04 9.99986469e-01 2.81101156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.58, Z:2.81 [[ 7.60108476e-03 -9.99971100e-01 -1.51043783e-04 1.54022356e+02] [ 9.99956401e-01 7.60179216e-03 -5.42298625e-03 1.20584867e+02] [ 5.42397773e-03 -1.09816619e-04 9.99985284e-01 2.81101605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.61, Z:2.81 [[ 1.02771203e-02 -9.99947179e-01 -1.44681225e-04 1.54023130e+02] [ 9.99933311e-01 1.02777398e-02 -5.26700264e-03 1.20612493e+02] [ 5.26821142e-03 -9.05419569e-05 9.99986119e-01 2.81171286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.64, Z:2.81 [[ 1.12162352e-02 -9.99937086e-01 -1.42875407e-04 1.54023709e+02] [ 9.99923511e-01 1.12168275e-02 -5.21108976e-03 1.20641015e+02] [ 5.21236452e-03 -8.44156699e-05 9.99986412e-01 2.81231974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.67, Z:2.81 [[ 1.22802145e-02 -9.99924586e-01 -1.35213052e-04 1.54024283e+02] [ 9.99912257e-01 1.22807346e-02 -4.96612041e-03 1.20668661e+02] [ 4.96740642e-03 -7.42161642e-05 9.99987660e-01 2.81260003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:120.70, Z:2.81 [[ 1.38474284e-02 -9.99904112e-01 -1.24045268e-04 1.54024768e+02] [ 9.99893570e-01 1.38478521e-02 -4.59188515e-03 1.20696805e+02] [ 4.59316260e-03 -6.04462653e-05 9.99989450e-01 2.81293903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.72, Z:2.81 [[ 1.41619413e-02 -9.99899708e-01 -1.12675926e-04 1.54025317e+02] [ 9.99890884e-01 1.41622897e-02 -4.20116943e-03 1.20724981e+02] [ 4.20234384e-03 -5.31669167e-05 9.99991169e-01 2.81326619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.75, Z:2.81 [[ 1.45563044e-02 -9.99894045e-01 -1.11256479e-04 1.54026340e+02] [ 9.99885265e-01 1.45566428e-02 -4.19065617e-03 1.20753382e+02] [ 4.19183167e-03 -5.02432478e-05 9.99991213e-01 2.81310744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.78, Z:2.81 [[ 1.51307500e-02 -9.99885517e-01 -1.19683367e-04 1.54028698e+02] [ 9.99875087e-01 1.51311388e-02 -4.56714930e-03 1.20781658e+02] [ 4.56843738e-03 -5.05640227e-05 9.99989563e-01 2.81349922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters Centerline goodness [0,1] 0.9999782362670845 Centerline is valid? [True, True] Translation: X:154.03, Y:120.81, Z:2.81 [[ 1.49798741e-02 -9.99887789e-01 -1.16117412e-04 1.54030281e+02] [ 9.99877781e-01 1.49802437e-02 -4.47385147e-03 1.20809831e+02] [ 4.47508892e-03 -4.90854881e-05 9.99989986e-01 2.81354905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:120.84, Z:2.81 [[ 1.45948967e-02 -9.99893483e-01 -1.04848326e-04 1.54031663e+02] [ 9.99885209e-01 1.45952025e-02 -4.06803417e-03 1.20837972e+02] [ 4.06913114e-03 -4.54637518e-05 9.99991720e-01 2.81404336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499995 meters Centerline goodness [0,1] 0.9999347712645678 Centerline is valid? [True, True] Translation: X:154.04, Y:120.87, Z:2.81 [[ 1.34107139e-02 -9.99910066e-01 -1.08665039e-04 1.54036678e+02] [ 9.99900982e-01 1.34110553e-02 -4.26249451e-03 1.20865146e+02] [ 4.26356848e-03 -5.14911851e-05 9.99990910e-01 2.81459888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27361786499995 meters Centerline goodness [0,1] 0.9999562765073674 Centerline is valid? [True, True] Translation: X:154.04, Y:120.89, Z:2.81 [[ 1.20354380e-02 -9.99927564e-01 -1.26209513e-04 1.54037563e+02] [ 9.99914873e-01 1.20359212e-02 -5.03812100e-03 1.20893104e+02] [ 5.03927511e-03 -6.55627760e-05 9.99987301e-01 2.81321947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499995 meters Centerline goodness [0,1] 0.9998907008263017 Centerline is valid? [True, True] Translation: X:154.04, Y:120.92, Z:2.81 [[ 1.05746780e-02 -9.99944080e-01 -1.18566035e-04 1.54039897e+02] [ 9.99932673e-01 1.05751237e-02 -4.77666306e-03 1.20920968e+02] [ 4.77764979e-03 -6.80463782e-05 9.99988585e-01 2.81304172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:120.95, Z:2.81 [[ 8.25308720e-03 -9.99965935e-01 -1.23153567e-04 1.54045957e+02] [ 9.99953259e-01 8.25360276e-03 -5.03569698e-03 1.20948292e+02] [ 5.03654190e-03 -8.15877644e-05 9.99987313e-01 2.81437021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499995 meters Centerline goodness [0,1] 0.999934322868777 Centerline is valid? [True, True] Translation: X:154.05, Y:120.98, Z:2.81 [[ 7.23595896e-03 -9.99973813e-01 -1.16967520e-04 1.54047086e+02] [ 9.99962214e-01 7.23643848e-03 -4.81706413e-03 1.20975896e+02] [ 4.81778441e-03 -8.21070220e-05 9.99988391e-01 2.81403203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39361786499995 meters Centerline goodness [0,1] 0.9999123691013452 Centerline is valid? [True, True] Translation: X:154.05, Y:121.00, Z:2.81 [[ 6.36508273e-03 -9.99979736e-01 -1.15249795e-04 1.54049618e+02] [ 9.99968247e-01 6.36556214e-03 -4.79419220e-03 1.21003264e+02] [ 4.79482868e-03 -8.47307057e-05 9.99988501e-01 2.81449380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:121.03, Z:2.81 [[ 5.80506029e-03 -9.99983144e-01 -1.14708670e-04 1.54051415e+02] [ 9.99971445e-01 5.80554733e-03 -4.83785989e-03 1.21031115e+02] [ 4.83844428e-03 -8.66213263e-05 9.99988291e-01 2.81452369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:121.06, Z:2.81 [[ 4.91319700e-03 -9.99987923e-01 -1.21042423e-04 1.54052951e+02] [ 9.99974549e-01 4.91375740e-03 -5.17258717e-03 1.21058692e+02] [ 5.17311948e-03 -9.56254029e-05 9.99986615e-01 2.81421432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499996 meters Centerline goodness [0,1] 0.9999342061977762 Centerline is valid? [True, True] Translation: X:154.05, Y:121.09, Z:2.81 [[ 4.36597684e-03 -9.99990462e-01 -1.19087715e-04 1.54053948e+02] [ 9.99977221e-01 4.36653196e-03 -5.14691318e-03 1.21086495e+02] [ 5.14738409e-03 -9.66136986e-05 9.99986747e-01 2.81333729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51361786499996 meters Centerline goodness [0,1] 0.9999560033437459 Centerline is valid? [True, True] Translation: X:154.06, Y:121.11, Z:2.81 [[ 4.47026727e-03 -9.99990002e-01 -1.09807438e-04 1.54055237e+02] [ 9.99978554e-01 4.47074162e-03 -4.78584568e-03 1.21113492e+02] [ 4.78628875e-03 -8.84110740e-05 9.99988542e-01 2.81403672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:121.14, Z:2.81 [[ 4.83067688e-03 -9.99988328e-01 -9.72808704e-05 1.54054497e+02] [ 9.99979165e-01 4.83104912e-03 -4.28140534e-03 1.21142068e+02] [ 4.28182533e-03 -7.65967578e-05 9.99990830e-01 2.81375958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:121.17, Z:2.81 [[ 5.66151999e-03 -9.99983969e-01 -9.06618596e-05 1.54054573e+02] [ 9.99975870e-01 5.66183908e-03 -4.02539634e-03 1.21169555e+02] [ 4.02584512e-03 -6.78698101e-05 9.99991894e-01 2.81418254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60361786499996 meters Centerline goodness [0,1] 0.9998904805712533 Centerline is valid? [True, True] Translation: X:154.05, Y:121.20, Z:2.81 [[ 6.37449978e-03 -9.99979678e-01 -9.80570184e-05 1.54054921e+02] [ 9.99969871e-01 6.37487158e-03 -4.42912955e-03 1.21196906e+02] [ 4.42966464e-03 -6.98205787e-05 9.99990187e-01 2.81414087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63361786499996 meters Centerline goodness [0,1] 0.999978064402913 Centerline is valid? [True, True] Translation: X:154.06, Y:121.22, Z:2.81 [[ 7.69401169e-03 -9.99970393e-01 -1.22370970e-04 1.54055150e+02] [ 9.99954445e-01 7.69458017e-03 -5.64819065e-03 1.21223928e+02] [ 5.64896502e-03 -7.89081505e-05 9.99984041e-01 2.81355402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:121.25, Z:2.81 [[ 8.32366946e-03 -9.99965350e-01 -1.20418744e-04 1.54054156e+02] [ 9.99949524e-01 8.32421527e-03 -5.62639802e-03 1.21251801e+02] [ 5.62720545e-03 -7.35803881e-05 9.99984164e-01 2.81304850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69361786499996 meters Centerline goodness [0,1] 0.999780557384244 Centerline is valid? [True, True] Translation: X:154.06, Y:121.28, Z:2.81 [[ 8.95740776e-03 -9.99959874e-01 -1.22955184e-04 1.54055820e+02] [ 9.99942759e-01 8.95797387e-03 -5.85090418e-03 1.21278567e+02] [ 5.85177084e-03 -7.05392118e-05 9.99982876e-01 2.81408670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72361786499997 meters Centerline goodness [0,1] 0.9999122653097035 Centerline is valid? [True, True] Translation: X:154.06, Y:121.31, Z:2.81 [[ 8.70511762e-03 -9.99962102e-01 -1.25973990e-04 1.54055494e+02] [ 9.99943984e-01 8.70571827e-03 -6.01993282e-03 1.21306288e+02] [ 6.02080137e-03 -7.35627098e-05 9.99981872e-01 2.81415714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75361786499997 meters Centerline goodness [0,1] 0.9998031237695235 Centerline is valid? [True, True] Translation: X:154.06, Y:121.33, Z:2.81 [[ 8.30491161e-03 -9.99965506e-01 -1.21923447e-04 1.54056031e+02] [ 9.99948094e-01 8.30548656e-03 -5.90158658e-03 1.21332693e+02] [ 5.90239564e-03 -7.29049635e-05 9.99982578e-01 2.81429233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78361786499997 meters Centerline goodness [0,1] 0.999934235043953 Centerline is valid? [True, True] Translation: X:154.06, Y:121.36, Z:2.81 [[ 6.68918779e-03 -9.99977620e-01 -1.16632070e-04 1.54055173e+02] [ 9.99961136e-01 6.68974726e-03 -5.74223247e-03 1.21360391e+02] [ 5.74288420e-03 -7.82166658e-05 9.99983506e-01 2.81389410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81361786499997 meters Centerline goodness [0,1] 0.9998243418307973 Centerline is valid? [True, True] Translation: X:154.06, Y:121.39, Z:2.81 [[ 5.99446848e-03 -9.99982027e-01 -1.11136995e-04 1.54055560e+02] [ 9.99966698e-01 5.99499200e-03 -5.53734469e-03 1.21388137e+02] [ 5.53791143e-03 -7.79398558e-05 9.99984663e-01 2.81421393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.41, Z:2.82 [[ 4.78268306e-03 -9.99988557e-01 -1.12756550e-04 1.54057886e+02] [ 9.99972187e-01 4.78325002e-03 -5.72244664e-03 1.21414667e+02] [ 5.72292050e-03 -8.53847648e-05 9.99983620e-01 2.81569676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.44, Z:2.82 [[ 3.64848508e-03 -9.99993339e-01 -1.07048399e-04 1.54059778e+02] [ 9.99978474e-01 3.64901461e-03 -5.45318212e-03 1.21440438e+02] [ 5.45353642e-03 -8.71502412e-05 9.99985126e-01 2.81657071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters Centerline goodness [0,1] 0.9998463598252891 Centerline is valid? [True, True] Translation: X:154.06, Y:121.47, Z:2.82 [[ 7.70892165e-04 -9.99999697e-01 -1.07571192e-04 1.54059964e+02] [ 9.99984097e-01 7.71481099e-04 -5.58664200e-03 1.21468130e+02] [ 5.58672330e-03 -1.03262783e-04 9.99984389e-01 2.81605961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93361786499995 meters Centerline goodness [0,1] 0.9999560864219217 Centerline is valid? [True, True] Translation: X:154.06, Y:121.50, Z:2.82 [[-6.69617562e-04 -9.99999770e-01 -1.09091424e-04 1.54060267e+02] [ 9.99983230e-01 -6.68978924e-04 -5.75263039e-03 1.21496324e+02] [ 5.75255608e-03 -1.12941657e-04 9.99983448e-01 2.81604668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499995 meters Centerline goodness [0,1] 0.9999122845489233 Centerline is valid? [True, True] Translation: X:154.06, Y:121.52, Z:2.82 [[-3.87490960e-03 -9.99992487e-01 -1.09623231e-04 1.54062421e+02] [ 9.99975294e-01 -3.87419999e-03 -5.86536329e-03 1.21523884e+02] [ 5.86489452e-03 -1.32348275e-04 9.99982793e-01 2.81651937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99361786499995 meters Centerline goodness [0,1] 0.9999780898753314 Centerline is valid? [True, True] Translation: X:154.06, Y:121.55, Z:2.82 [[-5.28004611e-03 -9.99986054e-01 -1.13483079e-04 1.54063584e+02] [ 9.99967026e-01 -5.27924537e-03 -6.17061792e-03 1.21552206e+02] [ 6.16993276e-03 -1.46060484e-04 9.99980955e-01 2.81677820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.58, Z:2.82 [[-6.71055691e-03 -9.99977477e-01 -1.21970710e-04 1.54064825e+02] [ 9.99954743e-01 -6.70958165e-03 -6.74494684e-03 1.21580445e+02] [ 6.74397655e-03 -1.67227539e-04 9.99977245e-01 2.81687531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.61, Z:2.82 [[-7.88103310e-03 -9.99968937e-01 -1.23236386e-04 1.54065750e+02] [ 9.99945096e-01 -7.87999396e-03 -6.90723838e-03 1.21607769e+02] [ 6.90605272e-03 -1.77665794e-04 9.99976137e-01 2.81682979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.64, Z:2.82 [[-9.56180961e-03 -9.99954276e-01 -1.32781898e-04 1.54064943e+02] [ 9.99925462e-01 -9.56052571e-03 -7.59387097e-03 1.21635900e+02] [ 7.59225428e-03 -2.05383149e-04 9.99971157e-01 2.81634015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.66, Z:2.82 [[-1.01177742e-02 -9.99948805e-01 -1.35667417e-04 1.54065889e+02] [ 9.99917793e-01 -1.01163916e-02 -7.87822800e-03 1.21664371e+02] [ 7.87645220e-03 -2.15366396e-04 9.99968957e-01 2.81666485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.69, Z:2.82 [[-1.09147803e-02 -9.99940423e-01 -1.34022278e-04 1.54068396e+02] [ 9.99909215e-01 -1.09133804e-02 -7.90317246e-03 1.21691092e+02] [ 7.90123898e-03 -2.20271502e-04 9.99968760e-01 2.81753661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.72, Z:2.82 [[-1.18513281e-02 -9.99929761e-01 -1.40065355e-04 1.54067415e+02] [ 9.99894317e-01 -1.18497282e-02 -8.42255535e-03 1.21719131e+02] [ 8.42030402e-03 -2.39869019e-04 9.99964520e-01 2.81706736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.75, Z:2.82 [[-1.23994564e-02 -9.99923113e-01 -1.48884676e-04 1.54066814e+02] [ 9.99881592e-01 -1.23975841e-02 -9.11602148e-03 1.21747473e+02] [ 9.11347476e-03 -2.61900757e-04 9.99958437e-01 2.81698892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.77, Z:2.82 [[-1.28193727e-02 -9.99917818e-01 -1.46593136e-04 1.54067473e+02] [ 9.99876017e-01 -1.28174958e-02 -9.14666792e-03 1.21774925e+02] [ 9.14403727e-03 -2.63829506e-04 9.99958158e-01 2.81690849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.80, Z:2.82 [[-1.36935577e-02 -9.99906224e-01 -1.70013555e-04 1.54066717e+02] [ 9.99848456e-01 -1.36909383e-02 -1.07528165e-02 1.21802642e+02] [ 1.07494805e-02 -3.17232104e-04 9.99942172e-01 2.81613325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.83, Z:2.82 [[-1.40583325e-02 -9.99901161e-01 -1.75837660e-04 1.54064337e+02] [ 9.99836772e-01 -1.40554309e-02 -1.13522448e-02 1.21830922e+02] [ 1.13486513e-02 -3.35402591e-04 9.99935546e-01 2.81576823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:121.86, Z:2.82 [[-1.43314140e-02 -9.99897284e-01 -1.79872791e-04 1.54066821e+02] [ 9.99827355e-01 -1.43282835e-02 -1.18304795e-02 1.21858023e+02] [ 1.18266870e-02 -3.49389236e-04 9.99930001e-01 2.81596720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.89, Z:2.82 [[-1.42974963e-02 -9.99897768e-01 -1.85947833e-04 1.54062408e+02] [ 9.99819922e-01 -1.42940619e-02 -1.24821125e-02 1.21886448e+02] [ 1.24781785e-02 -3.64377306e-04 9.99922078e-01 2.81635547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.91, Z:2.82 [[-1.45325570e-02 -9.99894379e-01 -1.88645782e-04 1.54063996e+02] [ 9.99811114e-01 -1.45289113e-02 -1.29091828e-02 1.21913463e+02] [ 1.29050785e-02 -3.76213584e-04 9.99916655e-01 2.81688674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.94, Z:2.82 [[-1.48290812e-02 -9.99890026e-01 -1.84905538e-04 1.54064269e+02] [ 9.99806760e-01 -1.48254591e-02 -1.29092364e-02 1.21940223e+02] [ 1.29050754e-02 -3.76301921e-04 9.99916655e-01 2.81724249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:121.97, Z:2.82 [[-1.51467496e-02 -9.99885264e-01 -1.86321114e-04 1.54061348e+02] [ 9.99796992e-01 -1.51429356e-02 -1.32915979e-02 1.21967952e+02] [ 1.32872514e-02 -3.87607795e-04 9.99911645e-01 2.81747701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.00, Z:2.82 [[-1.60452350e-02 -9.99871247e-01 -1.98220837e-04 1.54060969e+02] [ 9.99767113e-01 -1.60407019e-02 -1.44366184e-02 1.21995552e+02] [ 1.44315800e-02 -4.29813608e-04 9.99895767e-01 2.81690302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.02, Z:2.82 [[-1.67731437e-02 -9.99859300e-01 -2.02694807e-04 1.54061341e+02] [ 9.99747399e-01 -1.67682326e-02 -1.49654679e-02 1.22023597e+02] [ 1.49599635e-02 -4.53661550e-04 9.99887991e-01 2.81688112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.05, Z:2.82 [[-1.78886066e-02 -9.99839966e-01 -2.02958660e-04 1.54061151e+02] [ 9.99723140e-01 -1.78834124e-02 -1.52914069e-02 1.22051847e+02] [ 1.52853301e-02 -4.76444430e-04 9.99883059e-01 2.81695090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.08, Z:2.82 [[-1.87894432e-02 -9.99823443e-01 -2.00873050e-04 1.54061297e+02] [ 9.99704227e-01 -1.87840994e-02 -1.54472047e-02 1.22079611e+02] [ 1.54407041e-02 -4.91058013e-04 9.99880665e-01 2.81739932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.11, Z:2.82 [[-2.06596027e-02 -9.99786548e-01 -1.97691386e-04 1.54062137e+02] [ 9.99666147e-01 -2.06540451e-02 -1.55243175e-02 1.22106531e+02] [ 1.55169207e-02 -5.18351618e-04 9.99879471e-01 2.81779222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.13, Z:2.82 [[-2.14046632e-02 -9.99770876e-01 -1.89055630e-04 1.54059274e+02] [ 9.99655862e-01 -2.13993316e-02 -1.51731882e-02 1.22134853e+02] [ 1.51656660e-02 -5.13767552e-04 9.99884863e-01 2.81839004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.16, Z:2.82 [[-2.22762629e-02 -9.99751837e-01 -1.81715713e-04 1.54058634e+02] [ 9.99640861e-01 -2.22710811e-02 -1.49046016e-02 1.22163075e+02] [ 1.48968559e-02 -5.13669276e-04 9.99888904e-01 2.81910260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.19, Z:2.82 [[-2.21970804e-02 -9.99753599e-01 -1.73516206e-04 1.54058123e+02] [ 9.99648033e-01 -2.21922136e-02 -1.45367369e-02 1.22190716e+02] [ 1.45293043e-02 -4.96128252e-04 9.99894321e-01 2.81947032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.22, Z:2.82 [[-2.17967001e-02 -9.99762410e-01 -1.66911934e-04 1.54064068e+02] [ 9.99660167e-01 -2.17920826e-02 -1.43057916e-02 1.22217770e+02] [ 1.42987553e-02 -4.78674260e-04 9.99897653e-01 2.81951575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.25, Z:2.82 [[-1.99253630e-02 -9.99801456e-01 -1.69719787e-04 1.54055897e+02] [ 9.99690336e-01 -1.99206169e-02 -1.49130996e-02 1.22245973e+02] [ 1.49067577e-02 -4.66816154e-04 9.99888779e-01 2.81993149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.27, Z:2.82 [[-1.90039163e-02 -9.99819395e-01 -1.66702907e-04 1.54055808e+02] [ 9.99707186e-01 -1.89992849e-02 -1.49856352e-02 1.22272856e+02] [ 1.49797614e-02 -4.51439850e-04 9.99887695e-01 2.82010981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.30, Z:2.82 [[-1.80431626e-02 -9.99837195e-01 -1.67406535e-04 1.54055529e+02] [ 9.99719674e-01 -1.80384741e-02 -1.53357918e-02 1.22299674e+02] [ 1.53302753e-02 -4.44065791e-04 9.99882386e-01 2.82002537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.33, Z:2.82 [[-1.68408322e-02 -9.99858169e-01 -1.67637681e-04 1.54054700e+02] [ 9.99734130e-01 -1.68361015e-02 -1.57548143e-02 1.22327757e+02] [ 1.57497574e-02 -4.32917295e-04 9.99875871e-01 2.82010308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.36, Z:2.82 [[-1.49321017e-02 -9.99888496e-01 -1.69450579e-04 1.54053096e+02] [ 9.99755049e-01 -1.49273396e-02 -1.63406118e-02 1.22356272e+02] [ 1.63362603e-02 -4.13408749e-04 9.99866469e-01 2.81975058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.38, Z:2.82 [[-1.45854284e-02 -9.99893613e-01 -1.67543093e-04 1.54051733e+02] [ 9.99756471e-01 -1.45806522e-02 -1.65651444e-02 1.22383933e+02] [ 1.65609392e-02 -4.09112019e-04 9.99862775e-01 2.81988854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.41, Z:2.82 [[-1.43308246e-02 -9.99897295e-01 -1.63240386e-04 1.54051659e+02] [ 9.99759855e-01 -1.43261475e-02 -1.65829298e-02 1.22412319e+02] [ 1.65788880e-02 -4.00848243e-04 9.99862480e-01 2.82001136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.44, Z:2.82 [[-1.37087835e-02 -9.99906017e-01 -1.61852849e-04 1.54051563e+02] [ 9.99763024e-01 -1.37040852e-02 -1.69142827e-02 1.22440315e+02] [ 1.69104750e-02 -3.93688734e-04 9.99856930e-01 2.82056667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.47, Z:2.82 [[-1.36843917e-02 -9.99906352e-01 -1.56677154e-04 1.54052459e+02] [ 9.99764451e-01 -1.36798095e-02 -1.68494723e-02 1.22468563e+02] [ 1.68457511e-02 -3.87215028e-04 9.99858025e-01 2.82145018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.50, Z:2.82 [[-1.35981130e-02 -9.99907529e-01 -1.58025395e-04 1.54054844e+02] [ 9.99754020e-01 -1.35932558e-02 -1.75249129e-02 1.22495320e+02] [ 1.75211442e-02 -3.96292269e-04 9.99846414e-01 2.82216960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.52, Z:2.82 [[-1.38427697e-02 -9.99904171e-01 -1.60370867e-04 1.54054996e+02] [ 9.99734889e-01 -1.38374745e-02 -1.84031687e-02 1.22522072e+02] [ 1.83991861e-02 -4.15079178e-04 9.99830635e-01 2.82234273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:122.55, Z:2.82 [[-1.39810111e-02 -9.99902248e-01 -1.61441790e-04 1.54054956e+02] [ 9.99717833e-01 -1.39753313e-02 -1.92079516e-02 1.22549930e+02] [ 1.92038178e-02 -4.29942821e-04 9.99815497e-01 2.82253285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.58, Z:2.82 [[-1.39280573e-02 -9.99902986e-01 -1.68387704e-04 1.54056743e+02] [ 9.99687350e-01 -1.39215558e-02 -2.07700116e-02 1.22576463e+02] [ 2.07656524e-02 -4.57620969e-04 9.99784266e-01 2.82200619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13361786499996 meters Centerline goodness [0,1] 0.9999344448571991 Centerline is valid? [True, True] Translation: X:154.06, Y:122.60, Z:2.82 [[-1.38873229e-02 -9.99903553e-01 -1.63684757e-04 1.54058272e+02] [ 9.99683006e-01 -1.38808213e-02 -2.10049925e-02 1.22602677e+02] [ 2.10006945e-02 -4.55335984e-04 9.99779357e-01 2.82195386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16361786499996 meters Centerline goodness [0,1] 0.999978076906213 Centerline is valid? [True, True] Translation: X:154.06, Y:122.63, Z:2.82 [[-1.41047781e-02 -9.99900510e-01 -1.62308126e-04 1.54057389e+02] [ 9.99665959e-01 -1.40979533e-02 -2.16614318e-02 1.22631044e+02] [ 2.16569884e-02 -4.67783597e-04 9.99765350e-01 2.82330072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.66, Z:2.82 [[-1.39382509e-02 -9.99902845e-01 -1.62913623e-04 1.54059164e+02] [ 9.99648138e-01 -1.39310226e-02 -2.25727153e-02 1.22658805e+02] [ 2.25682527e-02 -4.77480468e-04 9.99745191e-01 2.82400693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22361786499997 meters Centerline goodness [0,1] 0.999978214931486 Centerline is valid? [True, True] Translation: X:154.06, Y:122.69, Z:2.82 [[-1.31609445e-02 -9.99913379e-01 -1.55402554e-04 1.54058476e+02] [ 9.99663532e-01 -1.31541815e-02 -2.23559911e-02 1.22686557e+02] [ 2.23520104e-02 -4.49576224e-04 9.99750062e-01 2.82488600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.71, Z:2.83 [[-1.21993825e-02 -9.99925574e-01 -1.49282109e-04 1.54056245e+02] [ 9.99676047e-01 -1.21930028e-02 -2.23412780e-02 1.22714878e+02] [ 2.23377951e-02 -4.21783546e-04 9.99750391e-01 2.82603187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.74, Z:2.83 [[-1.16177893e-02 -9.99932501e-01 -1.43593009e-04 1.54057250e+02] [ 9.99681154e-01 -1.16116491e-02 -2.24223145e-02 1.22741532e+02] [ 2.24191337e-02 -4.04044951e-04 9.99748578e-01 2.82586010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31361786499997 meters Centerline goodness [0,1] 0.9999781983081887 Centerline is valid? [True, True] Translation: X:154.06, Y:122.77, Z:2.83 [[-1.03203949e-02 -9.99946733e-01 -1.41407547e-04 1.54056437e+02] [ 9.99680008e-01 -1.03143757e-02 -2.30974960e-02 1.22769853e+02] [ 2.30948072e-02 -3.79737579e-04 9.99733207e-01 2.82734388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.80, Z:2.83 [[-1.03453045e-02 -9.99946477e-01 -1.35548040e-04 1.54056580e+02] [ 9.99678325e-01 -1.03393909e-02 -2.31590886e-02 1.22797994e+02] [ 2.31564476e-02 -3.75092260e-04 9.99731783e-01 2.82854985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.83, Z:2.83 [[-1.05363126e-02 -9.99944483e-01 -1.27697262e-04 1.54057486e+02] [ 9.99682575e-01 -1.05306300e-02 -2.28878865e-02 1.22825305e+02] [ 2.28852712e-02 -3.68810655e-04 9.99738030e-01 2.82893574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.85, Z:2.83 [[-1.12300995e-02 -9.99936933e-01 -1.21182136e-04 1.54057923e+02] [ 9.99675836e-01 -1.12243977e-02 -2.28524670e-02 1.22853730e+02] [ 2.28496656e-02 -3.77778332e-04 9.99738841e-01 2.82997675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.88, Z:2.83 [[-1.27174193e-02 -9.99919124e-01 -1.11952534e-04 1.54058760e+02] [ 9.99670607e-01 -1.27117623e-02 -2.22954746e-02 1.22880023e+02] [ 2.22922483e-02 -3.95456556e-04 9.99751419e-01 2.83073843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.91, Z:2.83 [[-1.39868112e-02 -9.99902174e-01 -1.03176371e-04 1.54058795e+02] [ 9.99663140e-01 -1.39812112e-02 -2.18662320e-02 1.22907646e+02] [ 2.18626503e-02 -4.08980473e-04 9.99760900e-01 2.83143313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.93, Z:2.83 [[-1.61626069e-02 -9.99869372e-01 -9.15956302e-05 1.54060452e+02] [ 9.99656700e-01 -1.61572797e-02 -2.06258209e-02 1.22934470e+02] [ 2.06216466e-02 -4.24931221e-04 9.99787261e-01 2.83270876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.96, Z:2.83 [[-1.73042261e-02 -9.99850267e-01 -8.50203646e-05 1.54060585e+02] [ 9.99641939e-01 -1.72988847e-02 -2.04142883e-02 1.22962012e+02] [ 2.04097609e-02 -4.38243383e-04 9.99791603e-01 2.83395822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:122.99, Z:2.83 [[-1.80387585e-02 -9.99837285e-01 -7.73409807e-05 1.54060885e+02] [ 9.99638972e-01 -1.80336399e-02 -1.99176684e-02 1.22989077e+02] [ 1.99130328e-02 -4.36603070e-04 9.99801621e-01 2.83495544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.02, Z:2.83 [[-1.87134561e-02 -9.99824885e-01 -7.14959067e-05 1.54062886e+02] [ 9.99625463e-01 -1.87082954e-02 -1.99732980e-02 1.23015258e+02] [ 1.99684629e-02 -4.45238566e-04 9.99800511e-01 2.83470011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.04, Z:2.83 [[-1.93466614e-02 -9.99812834e-01 -6.68363802e-05 1.54061443e+02] [ 9.99604027e-01 -1.93412547e-02 -2.04378331e-02 1.23042064e+02] [ 2.04327151e-02 -4.62213750e-04 9.99791123e-01 2.83432705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.07, Z:2.84 [[-1.96021122e-02 -9.99807858e-01 -6.22437280e-05 1.54058185e+02] [ 9.99589980e-01 -1.95965408e-02 -2.08769697e-02 1.23070080e+02] [ 2.08717386e-02 -4.71450910e-04 9.99782050e-01 2.83501764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.10, Z:2.83 [[-1.92213909e-02 -9.99815250e-01 -5.82438275e-05 1.54059849e+02] [ 9.99581814e-01 -1.92156442e-02 -2.16091649e-02 1.23097132e+02] [ 2.16040535e-02 -4.73577676e-04 9.99766493e-01 2.83366785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.12, Z:2.83 [[-1.92410509e-02 -9.99814873e-01 -5.17982536e-05 1.54060555e+02] [ 9.99582115e-01 -1.92354536e-02 -2.15775917e-02 1.23122995e+02] [ 2.15726008e-02 -4.66952148e-04 9.99767175e-01 2.83387919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.15, Z:2.84 [[-1.91965561e-02 -9.99815728e-01 -4.51287762e-05 1.54057587e+02] [ 9.99586723e-01 -1.91911931e-02 -2.14028220e-02 1.23151017e+02] [ 2.13980120e-02 -4.55970597e-04 9.99770932e-01 2.83564075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.18, Z:2.84 [[-1.91920070e-02 -9.99815816e-01 -3.81450662e-05 1.54057904e+02] [ 9.99600283e-01 -1.91870776e-02 -2.07636845e-02 1.23177895e+02] [ 2.07591283e-02 -4.36626598e-04 9.99784411e-01 2.83679947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.20, Z:2.84 [[-1.89821614e-02 -9.99819822e-01 -3.18093907e-05 1.54060440e+02] [ 9.99611260e-01 -1.89775519e-02 -2.04250170e-02 1.23204499e+02] [ 2.04207332e-02 -4.19507994e-04 9.99791387e-01 2.83645338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.23, Z:2.84 [[-1.89299264e-02 -9.99820813e-01 -2.50728534e-05 1.54057758e+02] [ 9.99632374e-01 -1.89258717e-02 -1.94146181e-02 1.23232262e+02] [ 1.94106647e-02 -3.92580926e-04 9.99811518e-01 2.83797093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.26, Z:2.84 [[-1.86152979e-02 -9.99826720e-01 -1.91927059e-05 1.54057701e+02] [ 9.99652640e-01 -1.86116986e-02 -1.86602285e-02 1.23259981e+02] [ 1.86566379e-02 -3.66551753e-04 9.99825883e-01 2.83866223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.29, Z:2.84 [[-1.78583161e-02 -9.99840528e-01 -1.36264896e-05 1.54058279e+02] [ 9.99672174e-01 -1.78550590e-02 -1.83505029e-02 1.23285822e+02] [ 1.83473332e-02 -3.41331103e-04 9.99831615e-01 2.83902929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.31, Z:2.84 [[-1.75867499e-02 -9.99845341e-01 -8.01192817e-06 1.54057671e+02] [ 9.99674477e-01 -1.75835963e-02 -1.84866929e-02 1.23312685e+02] [ 1.84836929e-02 -3.33130165e-04 9.99829106e-01 2.83958238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.34, Z:2.84 [[-1.74155007e-02 -9.99848339e-01 -2.52411704e-06 1.54057562e+02] [ 9.99679795e-01 -1.74125186e-02 -1.83606177e-02 1.23339595e+02] [ 1.83577892e-02 -3.22282659e-04 9.99831430e-01 2.83992318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.37, Z:2.84 [[-1.65619716e-02 -9.99862841e-01 2.83010508e-06 1.54057967e+02] [ 9.99703484e-01 -1.65593825e-02 -1.78530440e-02 1.23365382e+02] [ 1.78506422e-02 -2.92852342e-04 9.99840622e-01 2.84031498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00361786499997 meters Centerline goodness [0,1] 0.9999563013459185 Centerline is valid? [True, True] Translation: X:154.06, Y:123.39, Z:2.84 [[-1.66049162e-02 -9.99862129e-01 8.26091217e-06 1.54058163e+02] [ 9.99706198e-01 -1.66024725e-02 -1.76600293e-02 1.23391663e+02] [ 1.76577316e-02 -2.84984821e-04 9.99844050e-01 2.84073534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03361786499997 meters Centerline goodness [0,1] 0.9998694914516901 Centerline is valid? [True, True] Translation: X:154.06, Y:123.42, Z:2.84 [[-1.66771236e-02 -9.99860927e-01 1.39599618e-05 1.54058148e+02] [ 9.99699221e-01 -1.66746776e-02 -1.79839319e-02 1.23418743e+02] [ 1.79816636e-02 -2.85964492e-04 9.99838276e-01 2.84123591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06361786499997 meters Centerline goodness [0,1] 0.9999781234276214 Centerline is valid? [True, True] Translation: X:154.06, Y:123.45, Z:2.84 [[-1.71022775e-02 -9.99853745e-01 1.84399892e-05 1.54057703e+02] [ 9.99701486e-01 -1.70999950e-02 -1.74507401e-02 1.23446699e+02] [ 1.74485031e-02 -2.80012915e-04 9.99847724e-01 2.84211267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.47, Z:2.84 [[-1.79517715e-02 -9.99838854e-01 2.28562933e-05 1.54058456e+02] [ 9.99689824e-01 -1.79494904e-02 -1.72647285e-02 1.23474731e+02] [ 1.72623566e-02 -2.87083257e-04 9.99850953e-01 2.84259872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12361786499997 meters Centerline goodness [0,1] 0.9999564194195066 Centerline is valid? [True, True] Translation: X:154.06, Y:123.50, Z:2.84 [[-1.91366964e-02 -9.99816876e-01 2.86622956e-05 1.54059887e+02] [ 9.99656993e-01 -1.91341489e-02 -1.78823952e-02 1.23501863e+02] [ 1.78796689e-02 -3.13557503e-04 9.99840097e-01 2.84260451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.53, Z:2.84 [[-2.02546211e-02 -9.99794854e-01 3.34067292e-05 1.54060130e+02] [ 9.99638156e-01 -2.02520382e-02 -1.77034720e-02 1.23528750e+02] [ 1.77005168e-02 -3.25182477e-04 9.99843281e-01 2.84274960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.56, Z:2.84 [[-2.00953630e-02 -9.99798067e-01 3.85451822e-05 1.54058915e+02] [ 9.99642734e-01 -2.00929204e-02 -1.76260907e-02 1.23555005e+02] [ 1.76233059e-02 -3.15671279e-04 9.99844648e-01 2.84359722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.58, Z:2.84 [[-2.01637107e-02 -9.99796691e-01 4.29995775e-05 1.54059293e+02] [ 9.99647893e-01 -2.01614518e-02 -1.72512718e-02 1.23580966e+02] [ 1.72486314e-02 -3.04865218e-04 9.99851185e-01 2.84329701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.61, Z:2.84 [[-2.07956814e-02 -9.99783745e-01 5.01221058e-05 1.54056252e+02] [ 9.99624020e-01 -2.07932552e-02 -1.78734062e-02 1.23608038e+02] [ 1.78705832e-02 -3.21586401e-04 9.99840257e-01 2.84281494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.64, Z:2.84 [[-2.17126042e-02 -9.99764252e-01 5.83178017e-05 1.54055926e+02] [ 9.99587755e-01 -2.17098670e-02 -1.87883617e-02 1.23635404e+02] [ 1.87851985e-02 -3.49650501e-04 9.99823481e-01 2.84241895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.66, Z:2.84 [[-2.20017122e-02 -9.99757931e-01 6.37547934e-05 1.54055717e+02] [ 9.99581433e-01 -2.19990261e-02 -1.87883435e-02 1.23662153e+02] [ 1.87851980e-02 -3.49647619e-04 9.99823481e-01 2.84277458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.69, Z:2.84 [[-2.30377309e-02 -9.99734594e-01 7.09375575e-05 1.54056183e+02] [ 9.99549019e-01 -2.30348215e-02 -1.92654121e-02 1.23689199e+02] [ 1.92619330e-02 -3.72925813e-04 9.99814402e-01 2.84245661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.72, Z:2.84 [[-2.44826148e-02 -9.99700253e-01 7.83942759e-05 1.54055907e+02] [ 9.99503807e-01 -2.44793582e-02 -1.98217332e-02 1.23717667e+02] [ 1.98177108e-02 -4.06932483e-04 9.99803527e-01 2.84266915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.75, Z:2.84 [[-2.78223258e-02 -9.99612880e-01 8.74276672e-05 1.54055945e+02] [ 9.99398805e-01 -2.78181772e-02 -2.06924741e-02 1.23745787e+02] [ 2.06868957e-02 -4.88337649e-04 9.99785884e-01 2.84310883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.77, Z:2.84 [[-2.94162711e-02 -9.99567244e-01 9.19911678e-05 1.54055354e+02] [ 9.99358012e-01 -2.94119964e-02 -2.04572244e-02 1.23773320e+02] [ 2.04510771e-02 -5.09843150e-04 9.99790725e-01 2.84346915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:123.80, Z:2.84 [[-3.19671826e-02 -9.99488914e-01 9.55728586e-05 1.54056640e+02] [ 9.99286334e-01 -3.19626282e-02 -2.01298964e-02 1.23800205e+02] [ 2.01226631e-02 -5.47991423e-04 9.99797369e-01 2.84294958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.83, Z:2.84 [[-3.31365872e-02 -9.99450827e-01 1.02358634e-04 1.54053451e+02] [ 9.99238716e-01 -3.31316643e-02 -2.05980945e-02 1.23828322e+02] [ 2.05901739e-02 -5.80269846e-04 9.99787832e-01 2.84409440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.86, Z:2.84 [[-3.44907468e-02 -9.99405011e-01 1.08892622e-04 1.54051508e+02] [ 9.99188773e-01 -3.44855502e-02 -2.07976871e-02 1.23855990e+02] [ 2.07890679e-02 -6.08523473e-04 9.99783699e-01 2.84427440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.88, Z:2.84 [[-3.61959122e-02 -9.99344707e-01 1.14631210e-04 1.54053541e+02] [ 9.99128309e-01 -3.61904609e-02 -2.08056027e-02 1.23883413e+02] [ 2.07961174e-02 -6.38546480e-04 9.99783533e-01 2.84407803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.91, Z:2.85 [[-3.72931098e-02 -9.99304363e-01 1.19491548e-04 1.54050964e+02] [ 9.99091149e-01 -3.72876223e-02 -2.06521202e-02 1.23911408e+02] [ 2.06422093e-02 -6.50798836e-04 9.99786715e-01 2.84583570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.94, Z:2.85 [[-3.79847228e-02 -9.99278312e-01 1.24488734e-04 1.54051212e+02] [ 9.99067209e-01 -3.79792583e-02 -2.05496489e-02 1.23938191e+02] [ 2.05395465e-02 -6.56200105e-04 9.99788826e-01 2.84648796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.97, Z:2.85 [[-3.83314257e-02 -9.99265073e-01 1.26251662e-04 1.54049777e+02] [ 9.99066167e-01 -3.83263160e-02 -1.99471263e-02 1.23966416e+02] [ 1.99373053e-02 -6.38468025e-04 9.99801028e-01 2.84693962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:123.99, Z:2.85 [[-3.85400496e-02 -9.99257048e-01 1.32272011e-04 1.54049772e+02] [ 9.99056963e-01 -3.85349808e-02 -2.00060147e-02 1.23992358e+02] [ 1.99962483e-02 -6.38885526e-04 9.99799851e-01 2.84705925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.02, Z:2.85 [[-3.87760902e-02 -9.99247915e-01 1.38766523e-04 1.54048169e+02] [ 9.99046883e-01 -3.87710739e-02 -2.00531714e-02 1.24019764e+02] [ 2.00434698e-02 -6.38949321e-04 9.99798905e-01 2.84744218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.05, Z:2.85 [[-3.89718023e-02 -9.99240300e-01 1.44629027e-04 1.54046832e+02] [ 9.99039492e-01 -3.89668713e-02 -2.00418756e-02 1.24047043e+02] [ 2.00322855e-02 -6.36577903e-04 9.99799131e-01 2.84822906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.07, Z:2.85 [[-3.92027380e-02 -9.99231266e-01 1.50106493e-04 1.54046583e+02] [ 9.99031885e-01 -3.91979157e-02 -1.99703936e-02 1.24072865e+02] [ 1.99609255e-02 -6.32932935e-04 9.99800561e-01 2.84868464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.10, Z:2.85 [[-3.97643734e-02 -9.99209072e-01 1.58124729e-04 1.54045792e+02] [ 9.99004847e-01 -3.97594445e-02 -2.02114452e-02 1.24100538e+02] [ 2.02017464e-02 -6.45728083e-04 9.99795715e-01 2.84914054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.13, Z:2.85 [[-4.01865455e-02 -9.99192180e-01 1.68280327e-04 1.54045795e+02] [ 9.98977809e-01 -4.01814111e-02 -2.07072775e-02 1.24126761e+02] [ 2.06973115e-02 -6.64045636e-04 9.99785567e-01 2.84951540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:124.15, Z:2.85 [[-4.10700720e-02 -9.99156253e-01 1.78470315e-04 1.54045153e+02] [ 9.98931938e-01 -4.10646351e-02 -2.11820296e-02 1.24153611e+02] [ 2.11714862e-02 -6.91667784e-04 9.99775620e-01 2.84943868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:124.18, Z:2.85 [[-4.17071383e-02 -9.99129862e-01 1.84025737e-04 1.54042941e+02] [ 9.98906419e-01 -4.17017048e-02 -2.11408337e-02 1.24180968e+02] [ 2.11301125e-02 -6.97899187e-04 9.99776491e-01 2.84998108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:124.21, Z:2.85 [[-4.23847266e-02 -9.99101345e-01 1.93193978e-04 1.54040086e+02] [ 9.98870505e-01 -4.23790888e-02 -2.14878468e-02 1.24208778e+02] [ 2.14767240e-02 -7.17780745e-04 9.99769091e-01 2.85057910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:124.24, Z:2.85 [[-4.35497981e-02 -9.99051237e-01 2.04418774e-04 1.54042252e+02] [ 9.98808086e-01 -4.35437113e-02 -2.20533957e-02 1.24235995e+02] [ 2.20413734e-02 -7.56245807e-04 9.99756773e-01 2.85038483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.04, Y:124.26, Z:2.85 [[-4.42311146e-02 -9.99021304e-01 2.07927359e-04 1.54035500e+02] [ 9.98784192e-01 -4.42251493e-02 -2.17778211e-02 1.24263683e+02] [ 2.17657028e-02 -7.55582741e-04 9.99762814e-01 2.85230793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:124.29, Z:2.85 [[-4.45904812e-02 -9.99005327e-01 2.13887794e-04 1.54034919e+02] [ 9.98768320e-01 -4.45845640e-02 -2.17729214e-02 1.24291916e+02] [ 2.17608006e-02 -7.57240691e-04 9.99762919e-01 2.85324697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:124.32, Z:2.85 [[-4.45793565e-02 -9.99005824e-01 2.13298383e-04 1.54032911e+02] [ 9.98782514e-01 -4.45739040e-02 -2.11342566e-02 1.24320211e+02] [ 2.11227529e-02 -7.29112863e-04 9.99776624e-01 2.85427089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:124.35, Z:2.86 [[-4.45584974e-02 -9.99006753e-01 2.18342317e-04 1.54031614e+02] [ 9.98784868e-01 -4.45532050e-02 -2.10665314e-02 1.24348347e+02] [ 2.10553350e-02 -7.20615982e-04 9.99778052e-01 2.85517681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:124.38, Z:2.86 [[-4.45885138e-02 -9.99005413e-01 2.20997420e-04 1.54028885e+02] [ 9.98789501e-01 -4.45834741e-02 -2.07809154e-02 1.24376404e+02] [ 2.07700998e-02 -7.05860231e-04 9.99784029e-01 2.85629358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:124.40, Z:2.86 [[-4.37305799e-02 -9.99043335e-01 2.27123905e-04 1.54025320e+02] [ 9.98825588e-01 -4.37257929e-02 -2.08686416e-02 1.24403549e+02] [ 2.08586085e-02 -6.85740632e-04 9.99782200e-01 2.85681121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:124.43, Z:2.86 [[-4.31027122e-02 -9.99070619e-01 2.33450749e-04 1.54022697e+02] [ 9.98849838e-01 -4.30980972e-02 -2.10132252e-02 1.24431060e+02] [ 2.10037572e-02 -6.72544757e-04 9.99779171e-01 2.85661239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:124.46, Z:2.86 [[-4.15644683e-02 -9.99135793e-01 2.51228312e-04 1.54016022e+02] [ 9.98892213e-01 -4.15598849e-02 -2.20708527e-02 1.24459681e+02] [ 2.20622199e-02 -6.66413252e-04 9.99756378e-01 2.85679799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:124.49, Z:2.86 [[-4.08751427e-02 -9.99164228e-01 2.60581245e-04 1.54012662e+02] [ 9.98913797e-01 -4.08707341e-02 -2.23787775e-02 1.24488157e+02] [ 2.23707241e-02 -6.54437524e-04 9.99749530e-01 2.85714727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:124.52, Z:2.86 [[-4.03407260e-02 -9.99185946e-01 2.66273306e-04 1.54011881e+02] [ 9.98934670e-01 -4.03365548e-02 -2.24162490e-02 1.24515149e+02] [ 2.24087415e-02 -6.38298122e-04 9.99748689e-01 2.85689382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:124.54, Z:2.86 [[-3.98730547e-02 -9.99204717e-01 2.70947550e-04 1.54007157e+02] [ 9.98954310e-01 -3.98691302e-02 -2.23771918e-02 1.24542960e+02] [ 2.23701980e-02 -6.21582771e-04 9.99749563e-01 2.85796538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:124.57, Z:2.86 [[-3.80481101e-02 -9.99275872e-01 2.70399709e-04 1.54003509e+02] [ 9.99035610e-01 -3.80448931e-02 -2.19188595e-02 1.24570500e+02] [ 2.19132748e-02 -5.63832242e-04 9.99759716e-01 2.85883007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:124.60, Z:2.86 [[-3.71977529e-02 -9.99307889e-01 2.64037360e-04 1.53997902e+02] [ 9.99086062e-01 -3.71950605e-02 -2.10610791e-02 1.24598853e+02] [ 2.10563234e-02 -5.19628770e-04 9.99778156e-01 2.86015147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:124.63, Z:2.86 [[-3.60542920e-02 -9.99349799e-01 2.59704394e-04 1.53996944e+02] [ 9.99143071e-01 -3.60521173e-02 -2.03314502e-02 1.24625939e+02] [ 2.03275936e-02 -4.73554197e-04 9.99793261e-01 2.86028967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:124.65, Z:2.86 [[-3.35171482e-02 -9.99438108e-01 2.62447312e-04 1.53989714e+02] [ 9.99234012e-01 -3.35156084e-02 -2.02013001e-02 1.24654195e+02] [ 2.01987452e-02 -4.14843687e-04 9.99795898e-01 2.86108299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:124.68, Z:2.86 [[-3.23072687e-02 -9.99477949e-01 2.64610856e-04 1.53985562e+02] [ 9.99278740e-01 -3.23061133e-02 -1.99578139e-02 1.24682574e+02] [ 1.99559435e-02 -3.80362455e-04 9.99800788e-01 2.86158102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:124.71, Z:2.86 [[-3.13987099e-02 -9.99506902e-01 2.72508623e-04 1.53983499e+02] [ 9.99304102e-01 -3.13978292e-02 -2.01367174e-02 1.24709790e+02] [ 2.01353442e-02 -3.59947964e-04 9.99797199e-01 2.86145454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:124.74, Z:2.86 [[-2.89602970e-02 -9.99580527e-01 2.67713213e-04 1.53976551e+02] [ 9.99392299e-01 -2.89600393e-02 -1.93996877e-02 1.24737903e+02] [ 1.93993031e-02 -2.94270195e-04 9.99811773e-01 2.86268391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:124.77, Z:2.86 [[-2.84672592e-02 -9.99594689e-01 2.69084892e-04 1.53973251e+02] [ 9.99411618e-01 -2.84671958e-02 -1.91320966e-02 1.24765588e+02] [ 1.91320022e-02 -2.75711784e-04 9.99816928e-01 2.86309189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:124.79, Z:2.86 [[-2.83604183e-02 -9.99597727e-01 2.65719281e-04 1.53971149e+02] [ 9.99425771e-01 -2.83604686e-02 -1.85421695e-02 1.24792950e+02] [ 1.85422464e-02 -2.60296985e-04 9.99828044e-01 2.86337893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:124.82, Z:2.86 [[-2.81713317e-02 -9.99603076e-01 2.57662060e-04 1.53966030e+02] [ 9.99447286e-01 -2.81714904e-02 -1.76490633e-02 1.24820678e+02] [ 1.76493167e-02 -2.39677970e-04 9.99844210e-01 2.86460929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:124.85, Z:2.86 [[-2.88337640e-02 -9.99584187e-01 2.57351306e-04 1.53964717e+02] [ 9.99434372e-01 -2.88338984e-02 -1.73072820e-02 1.24847347e+02] [ 1.73075058e-02 -2.41828344e-04 9.99850185e-01 2.86466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:124.88, Z:2.87 [[-2.95422571e-02 -9.99563499e-01 2.57530181e-04 1.53961518e+02] [ 9.99418950e-01 -2.95423649e-02 -1.70002988e-02 1.24875533e+02] [ 1.70004862e-02 -2.44846655e-04 9.99855451e-01 2.86535335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:124.90, Z:2.86 [[-3.11196308e-02 -9.99515633e-01 2.59458179e-04 1.53960708e+02] [ 9.99373892e-01 -3.11195877e-02 -1.68343237e-02 1.24902580e+02] [ 1.68342439e-02 -2.64582208e-04 9.99858259e-01 2.86466184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:124.93, Z:2.86 [[-3.21783489e-02 -9.99482107e-01 2.69162017e-04 1.53956588e+02] [ 9.99334441e-01 -3.21782220e-02 -1.71824818e-02 1.24930708e+02] [ 1.71822442e-02 -2.83921020e-04 9.99852334e-01 2.86493495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:124.96, Z:2.86 [[-3.32901552e-02 -9.99445691e-01 2.77948755e-04 1.53954697e+02] [ 9.99293637e-01 -3.32899395e-02 -1.74357954e-02 1.24958802e+02] [ 1.74353835e-02 -3.02687915e-04 9.99847946e-01 2.86471383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:124.99, Z:2.86 [[-3.47169512e-02 -9.99397146e-01 2.79247354e-04 1.53954184e+02] [ 9.99248350e-01 -3.47166017e-02 -1.72479760e-02 1.24986521e+02] [ 1.72472725e-02 -3.19759685e-04 9.99851204e-01 2.86448814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.02, Z:2.86 [[-3.71841546e-02 -9.99308392e-01 2.75620392e-04 1.53951203e+02] [ 9.99166722e-01 -3.71835250e-02 -1.68299573e-02 1.25015282e+02] [ 1.68285661e-02 -3.50417011e-04 9.99858328e-01 2.86428888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.04, Z:2.86 [[-3.87355960e-02 -9.99249455e-01 2.82694336e-04 1.53950140e+02] [ 9.99105090e-01 -3.87348061e-02 -1.69892359e-02 1.25043481e+02] [ 1.69874349e-02 -3.75646831e-04 9.99855633e-01 2.86433716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.07, Z:2.86 [[-4.08773543e-02 -9.99164126e-01 3.03793623e-04 1.53949200e+02] [ 9.99002710e-01 -4.08762126e-02 -1.79644395e-02 1.25071109e+02] [ 1.79618414e-02 -4.30848107e-04 9.99838580e-01 2.86353248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.10, Z:2.86 [[-4.22690989e-02 -9.99106215e-01 3.08175739e-04 1.53948204e+02] [ 9.98945032e-01 -4.22678169e-02 -1.79514789e-02 1.25099405e+02] [ 1.79484600e-02 -4.50942213e-04 9.99838812e-01 2.86345062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.13, Z:2.86 [[-4.32658590e-02 -9.99063544e-01 3.16185357e-04 1.53948356e+02] [ 9.98898816e-01 -4.32644686e-02 -1.81477405e-02 1.25127204e+02] [ 1.81444256e-02 -4.69340404e-04 9.99835266e-01 2.86364905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.15, Z:2.86 [[-4.58330411e-02 -9.98949066e-01 3.10636261e-04 1.53949291e+02] [ 9.98794471e-01 -4.58314151e-02 -1.75808303e-02 1.25154591e+02] [ 1.75765909e-02 -4.95521137e-04 9.99845397e-01 2.86347559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.18, Z:2.86 [[-4.73441737e-02 -9.98878589e-01 3.06956482e-04 1.53946843e+02] [ 9.98732200e-01 -4.73424926e-02 -1.71079343e-02 1.25182406e+02] [ 1.71032813e-02 -5.03393691e-04 9.99853601e-01 2.86407630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:125.21, Z:2.86 [[-4.94576438e-02 -9.98776176e-01 3.04413457e-04 1.53946788e+02] [ 9.98636077e-01 -4.94558074e-02 -1.67364494e-02 1.25209805e+02] [ 1.67310220e-02 -5.23747093e-04 9.99859889e-01 2.86397433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.24, Z:2.86 [[-5.03819735e-02 -9.98729974e-01 3.09875692e-04 1.53944620e+02] [ 9.98588081e-01 -5.03800415e-02 -1.68432682e-02 1.25237680e+02] [ 1.68374884e-02 -5.39158920e-04 9.99858094e-01 2.86430429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.27, Z:2.86 [[-5.14640771e-02 -9.98674799e-01 3.08435109e-04 1.53943857e+02] [ 9.98538114e-01 -5.14621390e-02 -1.65312831e-02 1.25265780e+02] [ 1.65252486e-02 -5.42783019e-04 9.99863301e-01 2.86465904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.29, Z:2.87 [[-5.23408437e-02 -9.98629232e-01 3.04796499e-04 1.53940500e+02] [ 9.98499356e-01 -5.23389548e-02 -1.61142741e-02 1.25294169e+02] [ 1.61081379e-02 -5.39095595e-04 9.99870110e-01 2.86523595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.32, Z:2.87 [[-5.28883351e-02 -9.98600386e-01 3.05876326e-04 1.53942876e+02] [ 9.98473143e-01 -5.28864816e-02 -1.59500160e-02 1.25321620e+02] [ 1.59438689e-02 -5.38160494e-04 9.99872744e-01 2.86548995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.35, Z:2.87 [[-5.33691711e-02 -9.98574804e-01 3.04459729e-04 1.53937446e+02] [ 9.98452349e-01 -5.33673971e-02 -1.56469559e-02 1.25349912e+02] [ 1.56409042e-02 -5.31076536e-04 9.99877533e-01 2.86634296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:125.38, Z:2.87 [[-5.32053087e-02 -9.98583551e-01 2.95110313e-04 1.53935864e+02] [ 9.98471549e-01 -5.32037635e-02 -1.49641233e-02 1.25377989e+02] [ 1.49586283e-02 -5.01511547e-04 9.99887988e-01 2.86663215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:125.41, Z:2.87 [[-5.14154019e-02 -9.98677308e-01 3.02974483e-04 1.53933742e+02] [ 9.98562337e-01 -5.14140822e-02 -1.51608294e-02 1.25405106e+02] [ 1.51563535e-02 -4.76961230e-04 9.99885022e-01 2.86697541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:125.43, Z:2.87 [[-5.16799794e-02 -9.98663650e-01 3.05611869e-04 1.53933114e+02] [ 9.98548680e-01 -5.16786693e-02 -1.51607763e-02 1.25432657e+02] [ 1.51563098e-02 -4.78340277e-04 9.99885022e-01 2.86734263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:125.46, Z:2.87 [[-5.07793211e-02 -9.98709853e-01 2.99352391e-04 1.53930378e+02] [ 9.98602289e-01 -5.07782475e-02 -1.46641509e-02 1.25461112e+02] [ 1.46604326e-02 -4.45701646e-04 9.99892431e-01 2.86779551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:125.49, Z:2.87 [[-4.97629487e-02 -9.98761011e-01 3.04558725e-04 1.53928059e+02] [ 9.98652370e-01 -4.97620296e-02 -1.47372065e-02 1.25489715e+02] [ 1.47341027e-02 -4.29218558e-04 9.99891355e-01 2.86846880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:125.52, Z:2.87 [[-4.80750928e-02 -9.98843681e-01 2.94628536e-04 1.53925686e+02] [ 9.98744394e-01 -4.80744697e-02 -1.40883567e-02 1.25517999e+02] [ 1.40862302e-02 -3.83040458e-04 9.99900711e-01 2.86899192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.55, Z:2.87 [[-4.75210431e-02 -9.98870193e-01 2.97057545e-04 1.53924572e+02] [ 9.98771682e-01 -4.75205298e-02 -1.40330320e-02 1.25546075e+02] [ 1.40312937e-02 -3.70171653e-04 9.99901488e-01 2.86934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.57, Z:2.87 [[-4.68997031e-02 -9.98899559e-01 2.98502074e-04 1.53922116e+02] [ 9.98802522e-01 -4.68993091e-02 -1.39275661e-02 1.25573995e+02] [ 1.39262392e-02 -3.55054093e-04 9.99902962e-01 2.86956943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.60, Z:2.87 [[-4.58159750e-02 -9.98949856e-01 2.86972696e-04 1.53920467e+02] [ 9.98862293e-01 -4.58157597e-02 -1.32301277e-02 1.25601800e+02] [ 1.32293820e-02 -3.19504993e-04 9.99912437e-01 2.86989099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.63, Z:2.87 [[-4.54167156e-02 -9.98968083e-01 3.01476385e-04 1.53919159e+02] [ 9.98873809e-01 -4.54165724e-02 -1.37276478e-02 1.25630082e+02] [ 1.37271740e-02 -3.22327811e-04 9.99905726e-01 2.87023366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.66, Z:2.87 [[-4.48807737e-02 -9.98992307e-01 2.94949717e-04 1.53919298e+02] [ 9.98904169e-01 -4.48807329e-02 -1.32733329e-02 1.25656761e+02] [ 1.32731951e-02 -3.01090950e-04 9.99911862e-01 2.87042128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.68, Z:2.87 [[-4.39703007e-02 -9.99032799e-01 2.82301682e-04 1.53917017e+02] [ 9.98953920e-01 -4.39703773e-02 -1.25567397e-02 1.25684608e+02] [ 1.25570077e-02 -2.70117250e-04 9.99921121e-01 2.87121010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.71, Z:2.87 [[-4.40148921e-02 -9.99030834e-01 2.85082729e-04 1.53917591e+02] [ 9.98952299e-01 -4.40150074e-02 -1.25293337e-02 1.25711901e+02] [ 1.25297386e-02 -2.66693223e-04 9.99921464e-01 2.87148192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.74, Z:2.87 [[-4.37432789e-02 -9.99042763e-01 2.87780946e-04 1.53915313e+02] [ 9.98964718e-01 -4.37434595e-02 -1.24900845e-02 1.25740295e+02] [ 1.24907170e-02 -2.58874236e-04 9.99921954e-01 2.87173397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.77, Z:2.87 [[-4.32902708e-02 -9.99062494e-01 2.93387495e-04 1.53916379e+02] [ 9.98983306e-01 -4.32905341e-02 -1.25810891e-02 1.25767282e+02] [ 1.25819952e-02 -2.51549545e-04 9.99920812e-01 2.87172474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.79, Z:2.87 [[-4.31349282e-02 -9.99069213e-01 2.93877610e-04 1.53915615e+02] [ 9.98991673e-01 -4.31352424e-02 -1.24494520e-02 1.25794919e+02] [ 1.24505406e-02 -2.43424930e-04 9.99922459e-01 2.87180706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:125.82, Z:2.87 [[-4.30179922e-02 -9.99074253e-01 2.99107501e-04 1.53914965e+02] [ 9.98995732e-01 -4.30183619e-02 -1.25278812e-02 1.25823116e+02] [ 1.25291507e-02 -2.40117179e-04 9.99921478e-01 2.87208343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67361786499995 meters Centerline goodness [0,1] 0.9999166805532411 Centerline is valid? [True, True] Translation: X:153.92, Y:125.85, Z:2.87 [[-4.31959532e-02 -9.99066572e-01 3.07626547e-04 1.53916179e+02] [ 9.98985387e-01 -4.31963654e-02 -1.27385347e-02 1.25850344e+02] [ 1.27399325e-02 -2.42938722e-04 9.99918814e-01 2.87229922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.88, Z:2.87 [[-4.35628536e-02 -9.99050639e-01 3.13442269e-04 1.53915315e+02] [ 9.98968324e-01 -4.35632886e-02 -1.28268189e-02 1.25878842e+02] [ 1.28282962e-02 -2.45653936e-04 9.99917684e-01 2.87289780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.91, Z:2.87 [[-4.39963261e-02 -9.99031642e-01 3.17316991e-04 1.53916597e+02] [ 9.98949137e-01 -4.39967715e-02 -1.28415634e-02 1.25906038e+02] [ 1.28430891e-02 -2.47998077e-04 9.99917493e-01 2.87331835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.93, Z:2.87 [[-4.46782016e-02 -9.99001376e-01 3.31769405e-04 1.53916670e+02] [ 9.98913319e-01 -4.46786693e-02 -1.32663895e-02 1.25934379e+02] [ 1.32679643e-02 -2.61309545e-04 9.99911943e-01 2.87340252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.96, Z:2.87 [[-4.60764340e-02 -9.98937858e-01 3.42892936e-04 1.53917806e+02] [ 9.98845811e-01 -4.60768441e-02 -1.35635866e-02 1.25963048e+02] [ 1.35649795e-02 -2.82464529e-04 9.99907952e-01 2.87367996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:125.99, Z:2.87 [[-4.72627512e-02 -9.98882431e-01 3.48756383e-04 1.53919412e+02] [ 9.98789128e-01 -4.72631044e-02 -1.36556696e-02 1.25990324e+02] [ 1.36568918e-02 -2.97070434e-04 9.99906696e-01 2.87393178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:126.02, Z:2.87 [[-4.91625526e-02 -9.98790728e-01 3.54872011e-04 1.53922811e+02] [ 9.98695931e-01 -4.91627770e-02 -1.37644351e-02 1.26018617e+02] [ 1.37652367e-02 -3.22285531e-04 9.99905203e-01 2.87458300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:126.05, Z:2.88 [[-4.97883307e-02 -9.98759725e-01 3.67138429e-04 1.53924412e+02] [ 9.98660275e-01 -4.97885555e-02 -1.40980377e-02 1.26045604e+02] [ 1.40988316e-02 -3.35271200e-04 9.99900550e-01 2.87514709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:126.07, Z:2.88 [[-5.06295035e-02 -9.98717437e-01 3.66134918e-04 1.53924459e+02] [ 9.98620615e-01 -5.06296948e-02 -1.39104766e-02 1.26073270e+02] [ 1.39111729e-02 -3.38650649e-04 9.99903178e-01 2.87550248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.10, Z:2.88 [[-5.15827030e-02 -9.98668654e-01 3.80913552e-04 1.53927592e+02] [ 9.98566026e-01 -5.15828645e-02 -1.43212963e-02 1.26100449e+02] [ 1.43218783e-02 -3.58363839e-04 9.99897372e-01 2.87549251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.13, Z:2.88 [[-5.22004494e-02 -9.98636545e-01 4.05427754e-04 1.53927406e+02] [ 9.98522483e-01 -5.22006166e-02 -1.50979150e-02 1.26128822e+02] [ 1.50984933e-02 -3.83289221e-04 9.99885938e-01 2.87558708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.16, Z:2.88 [[-5.20679644e-02 -9.98643457e-01 4.15689888e-04 1.53927058e+02] [ 9.98525945e-01 -5.20682164e-02 -1.53244308e-02 1.26157079e+02] [ 1.53252868e-02 -3.82834782e-04 9.99882488e-01 2.87570228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.18, Z:2.88 [[-5.10561481e-02 -9.98695696e-01 4.21212956e-04 1.53928641e+02] [ 9.98577422e-01 -5.10565857e-02 -1.53739108e-02 1.26184053e+02] [ 1.53753642e-02 -3.64318917e-04 9.99881726e-01 2.87611151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.21, Z:2.88 [[-5.01949400e-02 -9.98739346e-01 4.31610009e-04 1.53928537e+02] [ 9.98617621e-01 -5.01955624e-02 -1.55965607e-02 1.26212120e+02] [ 1.55985638e-02 -3.51855069e-04 9.99878273e-01 2.87666085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.24, Z:2.88 [[-4.90051822e-02 -9.98798423e-01 4.49878647e-04 1.53928135e+02] [ 9.98668782e-01 -4.90060713e-02 -1.60956089e-02 1.26239843e+02] [ 1.60983155e-02 -3.39488485e-04 9.99870356e-01 2.87737584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.27, Z:2.88 [[-4.61152589e-02 -9.98936013e-01 4.74955243e-04 1.53928273e+02] [ 9.98794346e-01 -4.61167189e-02 -1.68256562e-02 1.26267659e+02] [ 1.68296573e-02 -3.01536883e-04 9.99858326e-01 2.87780799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.30, Z:2.88 [[-4.52483832e-02 -9.98975647e-01 4.90045900e-04 1.53927780e+02] [ 9.98827620e-01 -4.52501154e-02 -1.71992059e-02 1.26295714e+02] [ 1.72037625e-02 -2.88764879e-04 9.99851963e-01 2.87833381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.32, Z:2.88 [[-4.44708509e-02 -9.99010552e-01 5.10485370e-04 1.53927261e+02] [ 9.98852990e-01 -4.44729043e-02 -1.77444346e-02 1.26323975e+02] [ 1.77495802e-02 -2.79210268e-04 9.99842425e-01 2.87902037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.35, Z:2.88 [[-4.31360939e-02 -9.99069060e-01 5.39015941e-04 1.53929989e+02] [ 9.98896805e-01 -4.31386664e-02 -1.85533762e-02 1.26351321e+02] [ 1.85593565e-02 -2.61898874e-04 9.99827726e-01 2.87881839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.38, Z:2.88 [[-4.30791057e-02 -9.99071517e-01 5.42225811e-04 1.53930886e+02] [ 9.98900602e-01 -4.30817662e-02 -1.84810154e-02 1.26377912e+02] [ 1.84872162e-02 -2.54515929e-04 9.99829064e-01 2.87955425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.41, Z:2.88 [[-4.28074390e-02 -9.99083187e-01 5.56472939e-04 1.53931195e+02] [ 9.98906811e-01 -4.28103386e-02 -1.87738859e-02 1.26405639e+02] [ 1.87804965e-02 -2.47797367e-04 9.99823600e-01 2.88051316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.43, Z:2.88 [[-4.27750122e-02 -9.99084559e-01 5.85504931e-04 1.53932593e+02] [ 9.98892900e-01 -4.27782755e-02 -1.95701970e-02 1.26433709e+02] [ 1.95773285e-02 -2.52258695e-04 9.99808314e-01 2.88188866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:126.46, Z:2.88 [[-4.30278779e-02 -9.99073701e-01 5.84866252e-04 1.53933547e+02] [ 9.98885928e-01 -4.30311308e-02 -1.93707045e-02 1.26461317e+02] [ 1.93779289e-02 -2.49265638e-04 9.99812199e-01 2.88262063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:126.49, Z:2.88 [[-4.35885360e-02 -9.99049386e-01 6.02582289e-04 1.53937207e+02] [ 9.98853714e-01 -4.35919255e-02 -1.97737735e-02 1.26489136e+02] [ 1.97812440e-02 -2.60018281e-04 9.99804298e-01 2.88386359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:126.52, Z:2.88 [[-4.38956002e-02 -9.99035932e-01 6.18490141e-04 1.53939080e+02] [ 9.98833579e-01 -4.38991581e-02 -2.01083271e-02 1.26516702e+02] [ 2.01160925e-02 -2.64898365e-04 9.99797616e-01 2.88433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:126.54, Z:2.88 [[-4.46291658e-02 -9.99003421e-01 6.34112012e-04 1.53941196e+02] [ 9.98794707e-01 -4.46328044e-02 -2.04216931e-02 1.26543955e+02] [ 2.04296435e-02 -2.78055409e-04 9.99791254e-01 2.88485771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:126.57, Z:2.89 [[-4.54836378e-02 -9.98964874e-01 6.47097165e-04 1.53943380e+02] [ 9.98751515e-01 -4.54872981e-02 -2.06474618e-02 1.26570641e+02] [ 2.06555238e-02 -2.92832400e-04 9.99786609e-01 2.88551359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:126.60, Z:2.89 [[-4.74340553e-02 -9.98874143e-01 6.75225481e-04 1.53946109e+02] [ 9.98645968e-01 -4.74376534e-02 -2.13518114e-02 1.26599494e+02] [ 2.13598035e-02 -3.38491801e-04 9.99771796e-01 2.88709310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:126.63, Z:2.89 [[-4.86893061e-02 -9.98813731e-01 6.94735840e-04 1.53948015e+02] [ 9.98576115e-01 -4.86928784e-02 -2.17886921e-02 1.26627159e+02] [ 2.17966736e-02 -3.67129685e-04 9.99762357e-01 2.88698923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:126.66, Z:2.89 [[-4.99071406e-02 -9.98753611e-01 7.08631347e-04 1.53949893e+02] [ 9.98510368e-01 -4.99106271e-02 -2.20448049e-02 1.26655175e+02] [ 2.20526967e-02 -3.92617430e-04 9.99756733e-01 2.88707991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:126.68, Z:2.89 [[-5.19490385e-02 -9.98649449e-01 7.58744933e-04 1.53954083e+02] [ 9.98375309e-01 -5.19525585e-02 -2.34024226e-02 1.26683508e+02] [ 2.34102352e-02 -4.58221148e-04 9.99725838e-01 2.88696015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:126.71, Z:2.89 [[-5.31007082e-02 -9.98588855e-01 7.83446737e-04 1.53956971e+02] [ 9.98300770e-01 -5.31042104e-02 -2.39898947e-02 1.26710577e+02] [ 2.39976458e-02 -4.91764916e-04 9.99711894e-01 2.88684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:126.74, Z:2.89 [[-5.50571741e-02 -9.98482866e-01 8.20516598e-04 1.53961228e+02] [ 9.98171287e-01 -5.50604951e-02 -2.49484046e-02 1.26739136e+02] [ 2.49557326e-02 -5.54572546e-04 9.99688403e-01 2.88769216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:126.77, Z:2.89 [[-5.59035440e-02 -9.98435803e-01 8.60560173e-04 1.53963456e+02] [ 9.98097644e-01 -5.59070114e-02 -2.59903751e-02 1.26767048e+02] [ 2.59978324e-02 -5.94030996e-04 9.99661823e-01 2.88760657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:126.80, Z:2.89 [[-5.69923861e-02 -9.98374222e-01 8.83934817e-04 1.53965248e+02] [ 9.98021911e-01 -5.69957618e-02 -2.65282653e-02 1.26795088e+02] [ 2.65355167e-02 -6.29722823e-04 9.99647673e-01 2.88748602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:126.82, Z:2.89 [[-5.84274575e-02 -9.98291232e-01 9.20591326e-04 1.53970263e+02] [ 9.97914782e-01 -5.84307120e-02 -2.74215333e-02 1.26822744e+02] [ 2.74284670e-02 -6.83498777e-04 9.99623535e-01 2.88756661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:126.85, Z:2.89 [[-5.91853231e-02 -9.98246576e-01 9.32845126e-04 1.53972327e+02] [ 9.97865949e-01 -5.91885225e-02 -2.75729409e-02 1.26850786e+02] [ 2.75798076e-02 -7.01059030e-04 9.99619359e-01 2.88775812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:126.88, Z:2.89 [[-5.95287722e-02 -9.98226143e-01 9.44499193e-04 1.53974641e+02] [ 9.97842054e-01 -5.95320742e-02 -2.76977819e-02 1.26878506e+02] [ 2.77048780e-02 -7.06353936e-04 9.99615897e-01 2.88821545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:126.91, Z:2.89 [[-5.88479542e-02 -9.98266509e-01 9.46329400e-04 1.53979404e+02] [ 9.97887417e-01 -5.88516920e-02 -2.75169134e-02 1.26905017e+02] [ 2.75249062e-02 -6.74983859e-04 9.99620890e-01 2.88909744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:126.93, Z:2.89 [[-5.78884903e-02 -9.98322589e-01 9.65293879e-04 1.53980279e+02] [ 9.97935084e-01 -5.78929206e-02 -2.78204722e-02 1.26932316e+02] [ 2.78296895e-02 -6.47184506e-04 9.99612470e-01 2.89000845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:126.96, Z:2.89 [[-5.66021113e-02 -9.98396351e-01 9.62493376e-04 1.53980744e+02] [ 9.98017170e-01 -5.66071449e-02 -2.75201803e-02 1.26960497e+02] [ 2.75305316e-02 -5.97115393e-04 9.99620785e-01 2.89083913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:126.99, Z:2.89 [[-5.49609854e-02 -9.98488046e-01 9.55194850e-04 1.53980128e+02] [ 9.98119080e-01 -5.49666461e-02 -2.71471891e-02 1.26989022e+02] [ 2.71586477e-02 -5.38638060e-04 9.99630991e-01 2.89236529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.02, Z:2.89 [[-5.15857382e-02 -9.98668108e-01 9.60009369e-04 1.53982881e+02] [ 9.98299980e-01 -5.15927900e-02 -2.71170516e-02 1.27016764e+02] [ 2.71304641e-02 -4.40475789e-04 9.99631804e-01 2.89257433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.05, Z:2.89 [[-5.00660289e-02 -9.98745457e-01 9.51061030e-04 1.53981848e+02] [ 9.98389506e-01 -5.00735775e-02 -2.66651672e-02 1.27045184e+02] [ 2.66793377e-02 -3.85489681e-04 9.99643969e-01 2.89497860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.07, Z:2.90 [[-4.70787628e-02 -9.98890733e-01 9.45836682e-04 1.53984653e+02] [ 9.98543841e-01 -4.70873398e-02 -2.63245094e-02 1.27072265e+02] [ 2.63398454e-02 -2.94865940e-04 9.99653003e-01 2.89526453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.10, Z:2.90 [[-4.59107206e-02 -9.98945099e-01 9.46385841e-04 1.53984001e+02] [ 9.98601940e-01 -4.59197546e-02 -2.61828670e-02 1.27100779e+02] [ 2.61987044e-02 -2.57011555e-04 9.99656722e-01 2.89729648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.13, Z:2.90 [[-4.54974790e-02 -9.98964011e-01 9.40213704e-04 1.53984356e+02] [ 9.98629378e-01 -4.55065733e-02 -2.58557020e-02 1.27129257e+02] [ 2.58717016e-02 -2.37444231e-04 9.99665243e-01 2.89856427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.16, Z:2.90 [[-4.50337876e-02 -9.98985039e-01 9.21546828e-04 1.53988322e+02] [ 9.98667690e-01 -4.50427092e-02 -2.51793315e-02 1.27156352e+02] [ 2.51952844e-02 -2.13601624e-04 9.99682526e-01 2.89849801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.18, Z:2.90 [[-4.53235698e-02 -9.98971928e-01 9.27645565e-04 1.53987221e+02] [ 9.98654581e-01 -4.53325530e-02 -2.51791071e-02 1.27183079e+02] [ 2.51952737e-02 -2.14809524e-04 9.99682526e-01 2.89885403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.21, Z:2.90 [[-4.57791731e-02 -9.98951168e-01 9.11381597e-04 1.53988347e+02] [ 9.98649545e-01 -4.57877460e-02 -2.45472642e-02 1.27210866e+02] [ 2.45632484e-02 -2.13602642e-04 9.99698255e-01 2.89971979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.24, Z:2.90 [[-4.62851678e-02 -9.98927842e-01 9.21711950e-04 1.53987807e+02] [ 9.98623980e-01 -4.62938218e-02 -2.46379447e-02 1.27238673e+02] [ 2.46541985e-02 -2.19927749e-04 9.99696015e-01 2.90230172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.27, Z:2.90 [[-4.55588223e-02 -9.98961275e-01 8.74638268e-04 1.53985646e+02] [ 9.98691535e-01 -4.55668453e-02 -2.32137853e-02 1.27266102e+02] [ 2.32295270e-02 -1.84098884e-04 9.99730141e-01 2.90320578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23361786499996 meters Centerline goodness [0,1] 0.9999563537961286 Centerline is valid? [True, True] Translation: X:153.99, Y:127.29, Z:2.90 [[-4.62987439e-02 -9.98927253e-01 8.76992721e-04 1.53986116e+02] [ 9.98660016e-01 -4.63066430e-02 -2.31055671e-02 1.27294104e+02] [ 2.31213913e-02 -1.93941170e-04 9.99732646e-01 2.90407973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.32, Z:2.90 [[-4.75803183e-02 -9.98867015e-01 8.94092210e-04 1.53986755e+02] [ 9.98593294e-01 -4.75882107e-02 -2.33836456e-02 1.27322419e+02] [ 2.33997005e-02 -2.19766815e-04 9.99726165e-01 2.90432695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.35, Z:2.90 [[-5.01398068e-02 -9.98741832e-01 8.67220933e-04 1.53989101e+02] [ 9.98487991e-01 -5.01466157e-02 -2.25177348e-02 1.27349487e+02] [ 2.25328919e-02 -2.63125183e-04 9.99746068e-01 2.90380821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.38, Z:2.90 [[-5.20186816e-02 -9.98645739e-01 8.63289622e-04 1.53988981e+02] [ 9.98397958e-01 -5.20250063e-02 -2.22467184e-02 1.27376603e+02] [ 2.22615032e-02 -2.95338367e-04 9.99752138e-01 2.90484063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.40, Z:2.91 [[-5.36650013e-02 -9.98558637e-01 8.46250076e-04 1.53988348e+02] [ 9.98324095e-01 -5.36707390e-02 -2.16437763e-02 1.27404197e+02] [ 2.16579987e-02 -3.16681445e-04 9.99765388e-01 2.90562555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.43, Z:2.91 [[-5.64387288e-02 -9.98405729e-01 8.18613449e-04 1.53986587e+02] [ 9.98189431e-01 -5.64435432e-02 -2.07843021e-02 1.27431675e+02] [ 2.07973717e-02 -3.55908296e-04 9.99783648e-01 2.90627855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:127.46, Z:2.91 [[-5.80901693e-02 -9.98311000e-01 8.24929032e-04 1.53985526e+02] [ 9.98094487e-01 -5.80947534e-02 -2.07941229e-02 1.27458460e+02] [ 2.08069257e-02 -3.84577001e-04 9.99783439e-01 2.90578298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.49, Z:2.91 [[-5.95287224e-02 -9.98226249e-01 8.28915552e-04 1.53984857e+02] [ 9.98010641e-01 -5.95330955e-02 -2.07502033e-02 1.27486094e+02] [ 2.07627455e-02 -4.07966552e-04 9.99784348e-01 2.90582750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.51, Z:2.91 [[-6.23934008e-02 -9.98051276e-01 8.45514793e-04 1.53983994e+02] [ 9.97829919e-01 -6.23973737e-02 -2.10242846e-02 1.27514494e+02] [ 2.10360720e-02 -4.68096660e-04 9.99778608e-01 2.90652214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.54, Z:2.91 [[-6.38662615e-02 -9.97958097e-01 8.58886825e-04 1.53984090e+02] [ 9.97732803e-01 -6.38700976e-02 -2.12100212e-02 1.27541957e+02] [ 2.12215695e-02 -4.97665198e-04 9.99774673e-01 2.90628357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.57, Z:2.91 [[-6.52990178e-02 -9.97865375e-01 8.55215409e-04 1.53981804e+02] [ 9.97645034e-01 -6.53025757e-02 -2.09752125e-02 1.27570053e+02] [ 2.09862861e-02 -5.16459369e-04 9.99779630e-01 2.90647575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.60, Z:2.91 [[-6.78970336e-02 -9.97691957e-01 8.67653452e-04 1.53981067e+02] [ 9.97468074e-01 -6.79001843e-02 -2.11425273e-02 1.27598892e+02] [ 2.11526433e-02 -5.70058270e-04 9.99776095e-01 2.90707327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.63, Z:2.91 [[-6.93777999e-02 -9.97590077e-01 8.70932246e-04 1.53981722e+02] [ 9.97367115e-01 -6.93807138e-02 -2.10986663e-02 1.27625522e+02] [ 2.11082461e-02 -5.95139868e-04 9.99777019e-01 2.90730575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.65, Z:2.91 [[-7.07107799e-02 -9.97496508e-01 8.38159041e-04 1.53978327e+02] [ 9.97292352e-01 -7.07132718e-02 -2.01890443e-02 1.27652976e+02] [ 2.01977701e-02 -5.91693466e-04 9.99795829e-01 2.90846754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.68, Z:2.91 [[-7.32024542e-02 -9.97316775e-01 8.06541979e-04 1.53976956e+02] [ 9.97130154e-01 -7.32043663e-02 -1.93022312e-02 1.27681772e+02] [ 1.93094814e-02 -6.08743366e-04 9.99813369e-01 2.90949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.71, Z:2.91 [[-7.44744263e-02 -9.97222617e-01 7.82528690e-04 1.53975643e+02] [ 9.97049018e-01 -7.44760701e-02 -1.86163852e-02 1.27710454e+02] [ 1.86229600e-02 -6.06225146e-04 9.99826394e-01 2.91072746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:127.74, Z:2.91 [[-7.56358042e-02 -9.97135231e-01 7.45275754e-04 1.53976769e+02] [ 9.96979588e-01 -7.56371731e-02 -1.76272518e-02 1.27738276e+02] [ 1.76331244e-02 -5.90226655e-04 9.99844350e-01 2.91127290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:127.77, Z:2.91 [[-7.72541648e-02 -9.97011198e-01 6.82547731e-04 1.53972834e+02] [ 9.96882050e-01 -7.72551501e-02 -1.60567891e-02 1.27766715e+02] [ 1.60615289e-02 -5.60034254e-04 9.99870849e-01 2.91277925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:127.79, Z:2.91 [[-7.78228163e-02 -9.96966998e-01 6.43970010e-04 1.53972201e+02] [ 9.96853302e-01 -7.78236725e-02 -1.50655618e-02 1.27793349e+02] [ 1.50699840e-02 -5.30500818e-04 9.99886301e-01 2.91318558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:127.82, Z:2.91 [[-7.85607254e-02 -9.96909137e-01 6.20783156e-04 1.53969985e+02] [ 9.96804449e-01 -7.85614776e-02 -1.44562875e-02 1.27821609e+02] [ 1.44603747e-02 -5.16897018e-04 9.99895310e-01 2.91402490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:127.85, Z:2.91 [[-7.86708006e-02 -9.96900478e-01 5.85768886e-04 1.53968792e+02] [ 9.96808370e-01 -7.86714995e-02 -1.35598416e-02 1.27849065e+02] [ 1.35638959e-02 -4.82864267e-04 9.99907890e-01 2.91458171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:127.88, Z:2.91 [[-7.86658524e-02 -9.96900872e-01 5.79469877e-04 1.53966785e+02] [ 9.96811901e-01 -7.86665782e-02 -1.33268082e-02 1.27876376e+02] [ 1.33310916e-02 -4.70742255e-04 9.99911026e-01 2.91486277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:127.90, Z:2.92 [[-7.80565939e-02 -9.96948756e-01 5.88345202e-04 1.53963422e+02] [ 9.96858298e-01 -7.80574416e-02 -1.34376509e-02 1.27904418e+02] [ 1.34425740e-02 -4.62400460e-04 9.99909538e-01 2.91507545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:127.93, Z:2.92 [[-7.77526327e-02 -9.96972517e-01 5.73738136e-04 1.53961720e+02] [ 9.96887520e-01 -7.77534999e-02 -1.30256164e-02 1.27932527e+02] [ 1.30307917e-02 -4.40823581e-04 9.99914998e-01 2.91530051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:127.96, Z:2.92 [[-7.66505941e-02 -9.97057839e-01 5.94274914e-04 1.53958573e+02] [ 9.96967787e-01 -7.66516623e-02 -1.34072718e-02 1.27959725e+02] [ 1.34133776e-02 -4.35202404e-04 9.99909942e-01 2.91504663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:127.99, Z:2.91 [[-7.67266561e-02 -9.97051995e-01 5.82008755e-04 1.53957503e+02] [ 9.96966360e-01 -7.67276980e-02 -1.30743062e-02 1.27986419e+02] [ 1.30804192e-02 -4.22904643e-04 9.99914358e-01 2.91487005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.01, Z:2.91 [[-7.63622382e-02 -9.97079977e-01 5.73081371e-04 1.53954090e+02] [ 9.96998094e-01 -7.63633151e-02 -1.27845568e-02 1.28014077e+02] [ 1.27909880e-02 -4.04896337e-04 9.99918110e-01 2.91451231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.04, Z:2.91 [[-7.66434711e-02 -9.97058412e-01 5.49668692e-04 1.53952050e+02] [ 9.96983965e-01 -7.66444687e-02 -1.21901430e-02 1.28041280e+02] [ 1.21964136e-02 -3.86283998e-04 9.99925546e-01 2.91478844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.07, Z:2.91 [[-7.67580904e-02 -9.97049587e-01 5.62991155e-04 1.53950484e+02] [ 9.96972523e-01 -7.67591608e-02 -1.24023707e-02 1.28068333e+02] [ 1.24089933e-02 -3.90695582e-04 9.99922929e-01 2.91462361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.10, Z:2.91 [[-7.72217746e-02 -9.97013781e-01 5.63973062e-04 1.53949082e+02] [ 9.96937438e-01 -7.72228441e-02 -1.23441521e-02 1.28095388e+02] [ 1.23508413e-02 -3.90991468e-04 9.99923649e-01 2.91462486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.12, Z:2.92 [[-7.81413318e-02 -9.96942138e-01 5.52999644e-04 1.53947443e+02] [ 9.96869652e-01 -7.81423222e-02 -1.20280574e-02 1.28123595e+02] [ 1.20344899e-02 -3.88619861e-04 9.99927507e-01 2.91516173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.15, Z:2.92 [[-7.89408243e-02 -9.96879174e-01 5.09388898e-04 1.53946341e+02] [ 9.96818280e-01 -7.89416355e-02 -1.10243049e-02 1.28150691e+02] [ 1.10301119e-02 -3.62499549e-04 9.99939101e-01 2.91564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:128.18, Z:2.92 [[-8.00360526e-02 -9.96791843e-01 5.02035495e-04 1.53945070e+02] [ 9.96733371e-01 -8.00367985e-02 -1.08026886e-02 1.28177323e+02] [ 1.08082132e-02 -3.64209024e-04 9.99941523e-01 2.91587661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:128.20, Z:2.92 [[-8.07271106e-02 -9.96736112e-01 5.05843044e-04 1.53943800e+02] [ 9.96677427e-01 -8.07278499e-02 -1.08222074e-02 1.28204709e+02] [ 1.08277206e-02 -3.69483192e-04 9.99941310e-01 2.91615897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:128.23, Z:2.92 [[-8.10983543e-02 -9.96705969e-01 5.18540917e-04 1.53942655e+02] [ 9.96645099e-01 -8.10991356e-02 -1.10216613e-02 1.28230455e+02] [ 1.10274088e-02 -3.77037329e-04 9.99939125e-01 2.91651798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:128.26, Z:2.92 [[-8.16291328e-02 -9.96662644e-01 5.08008426e-04 1.53939426e+02] [ 9.96604710e-01 -8.16298685e-02 -1.07525104e-02 1.28257399e+02] [ 1.07580941e-02 -3.71434510e-04 9.99942061e-01 2.91713231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:128.28, Z:2.92 [[-8.09671226e-02 -9.96716645e-01 5.04119923e-04 1.53933458e+02] [ 9.96660289e-01 -8.09679083e-02 -1.06050417e-02 1.28284774e+02] [ 1.06110391e-02 -3.56223402e-04 9.99943638e-01 2.91757424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:128.31, Z:2.92 [[-8.04457810e-02 -9.96758853e-01 5.16089339e-04 1.53930637e+02] [ 9.96700475e-01 -8.04466581e-02 -1.07934248e-02 1.28312734e+02] [ 1.07999594e-02 -3.53898997e-04 9.99941616e-01 2.91821211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.93, Y:128.34, Z:2.92 [[-7.92021212e-02 -9.96858436e-01 5.31582964e-04 1.53929314e+02] [ 9.96797285e-01 -7.92031534e-02 -1.10469044e-02 1.28339889e+02] [ 1.10543029e-02 -3.45057804e-04 9.99938840e-01 2.91841957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:128.37, Z:2.92 [[-7.63244478e-02 -9.97082887e-01 5.42910168e-04 1.53923829e+02] [ 9.97019530e-01 -7.63257207e-02 -1.12445679e-02 1.28367438e+02] [ 1.12532042e-02 -3.16943395e-04 9.99936630e-01 2.91880892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:128.40, Z:2.92 [[-7.48425750e-02 -9.97195213e-01 5.43967628e-04 1.53921172e+02] [ 9.97132334e-01 -7.48439665e-02 -1.12022340e-02 1.28395935e+02] [ 1.12115268e-02 -2.95996330e-04 9.99937105e-01 2.91917859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:128.42, Z:2.92 [[-7.35328461e-02 -9.97292648e-01 5.42782699e-04 1.53918528e+02] [ 9.97230714e-01 -7.35343305e-02 -1.11178111e-02 1.28424226e+02] [ 1.11276244e-02 -2.76244711e-04 9.99938048e-01 2.91940294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:128.45, Z:2.92 [[-7.08843343e-02 -9.97484371e-01 5.83544232e-04 1.53916198e+02] [ 9.97413621e-01 -7.08862584e-02 -1.18830557e-02 1.28451822e+02] [ 1.18945276e-02 -2.60287527e-04 9.99929224e-01 2.91983964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.48, Z:2.92 [[-6.98911080e-02 -9.97554456e-01 5.83989476e-04 1.53913445e+02] [ 9.97484347e-01 -6.98931211e-02 -1.18291977e-02 1.28479468e+02] [ 1.18410857e-02 -2.44235375e-04 9.99929862e-01 2.92036184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.51, Z:2.92 [[-6.92967982e-02 -9.97595930e-01 5.60572768e-04 1.53912338e+02] [ 9.97532007e-01 -6.92987050e-02 -1.12953256e-02 1.28506865e+02] [ 1.13070178e-02 -2.23540621e-04 9.99936049e-01 2.92097349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.54, Z:2.92 [[-6.81992613e-02 -9.97671583e-01 5.23039163e-04 1.53910245e+02] [ 9.97616522e-01 -6.82009933e-02 -1.04833447e-02 1.28535187e+02] [ 1.04946069e-02 -1.93163854e-04 9.99944911e-01 2.92271815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.56, Z:2.92 [[-6.78703076e-02 -9.97694023e-01 5.07740613e-04 1.53908245e+02] [ 9.97642669e-01 -6.78719666e-02 -1.01242753e-02 1.28562928e+02] [ 1.01353903e-02 -1.80593978e-04 9.99948619e-01 2.92343550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.59, Z:2.92 [[-6.75782678e-02 -9.97713863e-01 4.75165039e-04 1.53907295e+02] [ 9.97669317e-01 -6.75797413e-02 -9.42929549e-03 1.28589739e+02] [ 9.43985035e-03 -1.63157875e-04 9.99955430e-01 2.92448328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.62, Z:2.93 [[-6.82022493e-02 -9.97671390e-01 5.00240252e-04 1.53906299e+02] [ 9.97622597e-01 -6.82038619e-02 -9.86851184e-03 1.28616457e+02] [ 9.87965024e-03 -1.74003725e-04 9.99951180e-01 2.92513203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:128.64, Z:2.93 [[-6.87349825e-02 -9.97634822e-01 5.14212091e-04 1.53905254e+02] [ 9.97583919e-01 -6.87366707e-02 -1.00793899e-02 1.28643226e+02] [ 1.00908955e-02 -1.79836973e-04 9.99949069e-01 2.92533089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.67, Z:2.93 [[-7.02321943e-02 -9.97530522e-01 5.45163316e-04 1.53902967e+02] [ 9.97474018e-01 -7.02340196e-02 -1.06191079e-02 1.28671420e+02] [ 1.06311733e-02 -2.02017007e-04 9.99943467e-01 2.92515913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.70, Z:2.93 [[-7.12024382e-02 -9.97461728e-01 5.60423013e-04 1.53903433e+02] [ 9.97402620e-01 -7.12043210e-02 -1.08608761e-02 1.28698781e+02] [ 1.08732128e-02 -2.14353477e-04 9.99940862e-01 2.92545162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.73, Z:2.93 [[-7.22655277e-02 -9.97385254e-01 5.91248571e-04 1.53902414e+02] [ 9.97320231e-01 -7.22675691e-02 -1.13910501e-02 1.28725907e+02] [ 1.14039935e-02 -2.33516083e-04 9.99934945e-01 2.92532334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.75, Z:2.93 [[-7.33734870e-02 -9.97304343e-01 6.15800846e-04 1.53902724e+02] [ 9.97234626e-01 -7.33756406e-02 -1.17947896e-02 1.28752229e+02] [ 1.18081797e-02 -2.51326915e-04 9.99930249e-01 2.92572424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85361786499996 meters Centerline goodness [0,1] 0.9999568965517242 Centerline is valid? [True, True] Translation: X:153.90, Y:128.78, Z:2.93 [[-7.44549646e-02 -9.97224174e-01 6.35992285e-04 1.53898362e+02] [ 9.97150715e-01 -7.44572012e-02 -1.21068996e-02 1.28780167e+02] [ 1.21206472e-02 -2.67238623e-04 9.99926507e-01 2.92586348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.81, Z:2.93 [[-7.68336868e-02 -9.97043692e-01 6.79059368e-04 1.53897953e+02] [ 9.96960864e-01 -7.68360593e-02 -1.28551741e-02 1.28806696e+02] [ 1.28693465e-02 -3.10714810e-04 9.99917138e-01 2.92602147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.83, Z:2.93 [[-7.85892381e-02 -9.96906835e-01 7.02918607e-04 1.53896717e+02] [ 9.96818836e-01 -7.85916435e-02 -1.32499518e-02 1.28834809e+02] [ 1.32642110e-02 -3.40621110e-04 9.99911968e-01 2.92627299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.86, Z:2.93 [[-8.11012374e-02 -9.96705565e-01 7.79003384e-04 1.53896336e+02] [ 9.96598647e-01 -8.11039520e-02 -1.46042762e-02 1.28861487e+02] [ 1.46193436e-02 -4.08071154e-04 9.99893048e-01 2.92640552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:128.89, Z:2.93 [[-8.23972531e-02 -9.96599259e-01 7.80988757e-04 1.53898418e+02] [ 9.96492659e-01 -8.23998670e-02 -1.45822379e-02 1.28888616e+02] [ 1.45970009e-02 -4.23286787e-04 9.99893369e-01 2.92651327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:128.92, Z:2.93 [[-8.35601528e-02 -9.96502401e-01 8.15606947e-04 1.53893502e+02] [ 9.96387042e-01 -8.35628951e-02 -1.51692310e-02 1.28916122e+02] [ 1.51843295e-02 -4.54883064e-04 9.99884608e-01 2.92712469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:128.94, Z:2.93 [[-8.38547716e-02 -9.96477649e-01 8.19653442e-04 1.53891950e+02] [ 9.96362290e-01 -8.38575413e-02 -1.51690124e-02 1.28942836e+02] [ 1.51843159e-02 -4.55322286e-04 9.99884608e-01 2.92748056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:128.97, Z:2.93 [[-8.49275532e-02 -9.96386784e-01 8.29263630e-04 1.53889803e+02] [ 9.96269981e-01 -8.49303006e-02 -1.52633013e-02 1.28969573e+02] [ 1.52785813e-02 -4.70104372e-04 9.99883165e-01 2.92770080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:129.00, Z:2.93 [[-8.52998443e-02 -9.96354961e-01 8.53065839e-04 1.53887541e+02] [ 9.96232643e-01 -8.53027454e-02 -1.56193235e-02 1.28996874e+02] [ 1.56351593e-02 -4.82473825e-04 9.99877647e-01 2.92832124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:129.02, Z:2.93 [[-8.53363370e-02 -9.96351823e-01 8.68445988e-04 1.53885158e+02] [ 9.96226403e-01 -8.53393805e-02 -1.58159198e-02 1.29024356e+02] [ 1.58323331e-02 -4.84503835e-04 9.99874543e-01 2.92900842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:129.05, Z:2.93 [[-8.42960625e-02 -9.96440367e-01 8.77182189e-04 1.53881780e+02] [ 9.96313731e-01 -8.42993399e-02 -1.58924542e-02 1.29050839e+02] [ 1.59098287e-02 -4.65722651e-04 9.99873322e-01 2.92975789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:129.08, Z:2.93 [[-8.33494330e-02 -9.96519989e-01 8.85252240e-04 1.53875782e+02] [ 9.96392210e-01 -8.33529271e-02 -1.59641440e-02 1.29078765e+02] [ 1.59823769e-02 -4.48543912e-04 9.99872173e-01 2.93070614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21361786499995 meters Centerline goodness [0,1] 0.9999785412330208 Centerline is valid? [True, True] Translation: X:153.87, Y:129.11, Z:2.93 [[-8.26665309e-02 -9.96576859e-01 8.99532979e-04 1.53872738e+02] [ 9.96446203e-01 -8.26702639e-02 -1.61428932e-02 1.29106556e+02] [ 1.61619984e-02 -4.38140759e-04 9.99869290e-01 2.93110809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:129.13, Z:2.93 [[-8.01413444e-02 -9.96783074e-01 9.31673821e-04 1.53869192e+02] [ 9.96644226e-01 -8.01457357e-02 -1.66417226e-02 1.29133394e+02] [ 1.66628571e-02 -4.05142688e-04 9.99861083e-01 2.93147826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:129.16, Z:2.93 [[-7.93616471e-02 -9.96845437e-01 9.51136264e-04 1.53865772e+02] [ 9.96701863e-01 -7.93663635e-02 -1.69226583e-02 1.29160836e+02] [ 1.69447629e-02 -3.95010746e-04 9.99856349e-01 2.93153072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:129.19, Z:2.93 [[-7.84653975e-02 -9.96916388e-01 9.46629855e-04 1.53861337e+02] [ 9.96775644e-01 -7.84702299e-02 -1.67552661e-02 1.29188037e+02] [ 1.67778816e-02 -3.71131031e-04 9.99859173e-01 2.93224125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:129.21, Z:2.93 [[-7.79358846e-02 -9.96957916e-01 9.55317628e-04 1.53860237e+02] [ 9.96816106e-01 -7.79409149e-02 -1.68185721e-02 1.29214523e+02] [ 1.68418669e-02 -3.58494294e-04 9.99858101e-01 2.93251089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:129.24, Z:2.93 [[-7.75652736e-02 -9.96986832e-01 9.40367725e-04 1.53853763e+02] [ 9.96850871e-01 -7.75702288e-02 -1.64681419e-02 1.29242144e+02] [ 1.64914652e-02 -3.39949549e-04 9.99863949e-01 2.93340792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:129.27, Z:2.93 [[-7.80373564e-02 -9.96949991e-01 9.41211054e-04 1.53851548e+02] [ 9.96815066e-01 -7.80422829e-02 -1.64050522e-02 1.29270008e+02] [ 1.64284709e-02 -3.41993543e-04 9.99864985e-01 2.93407186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:129.30, Z:2.93 [[-7.91311300e-02 -9.96863751e-01 9.62402956e-04 1.53850985e+02] [ 9.96724037e-01 -7.91361556e-02 -1.66931926e-02 1.29297552e+02] [ 1.67169995e-02 -3.61701034e-04 9.99860196e-01 2.93427820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:129.33, Z:2.93 [[-8.04887654e-02 -9.96755042e-01 9.72411134e-04 1.53849121e+02] [ 9.96613718e-01 -8.04937319e-02 -1.67885722e-02 1.29325096e+02] [ 1.68123670e-02 -3.82173173e-04 9.99858589e-01 2.93428112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:129.35, Z:2.93 [[-8.16615159e-02 -9.96659625e-01 9.94238631e-04 1.53845911e+02] [ 9.96512950e-01 -8.16665595e-02 -1.71030242e-02 1.29353343e+02] [ 1.71270897e-02 -4.05887210e-04 9.99853238e-01 2.93484726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.38, Z:2.93 [[-8.43270610e-02 -9.96437575e-01 1.05132295e-03 1.53844352e+02] [ 9.96275055e-01 -8.43323009e-02 -1.80021713e-02 1.29379857e+02] [ 1.80267004e-02 -4.70663366e-04 9.99837395e-01 2.93495018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.41, Z:2.94 [[-8.59841947e-02 -9.96295945e-01 1.05245319e-03 1.53843260e+02] [ 9.96134373e-01 -8.59892111e-02 -1.79489746e-02 1.29406758e+02] [ 1.79729902e-02 -4.94943324e-04 9.99838350e-01 2.93513364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.44, Z:2.94 [[-8.72237355e-02 -9.96188182e-01 1.06140991e-03 1.53839600e+02] [ 9.96025376e-01 -8.72286771e-02 -1.80168920e-02 1.29435283e+02] [ 1.80408002e-02 -5.14309412e-04 9.99837119e-01 2.93567408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.46, Z:2.94 [[-8.90211393e-02 -9.96029150e-01 1.08106287e-03 1.53838299e+02] [ 9.95861771e-01 -8.90260067e-02 -1.82675275e-02 1.29462131e+02] [ 1.82912326e-02 -5.49606919e-04 9.99832550e-01 2.93581002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.49, Z:2.94 [[-9.19889568e-02 -9.95759407e-01 1.11119552e-03 1.53837124e+02] [ 9.95584272e-01 -9.19936288e-02 -1.86850008e-02 1.29489586e+02] [ 1.87079882e-02 -6.12524947e-04 9.99824803e-01 2.93530850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.52, Z:2.94 [[-9.30786357e-02 -9.95658076e-01 1.16727481e-03 1.53835326e+02] [ 9.95466664e-01 -9.30836419e-02 -1.95334614e-02 1.29517719e+02] [ 1.95573028e-02 -6.56164772e-04 9.99808522e-01 2.93535275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:129.54, Z:2.94 [[-9.55991267e-02 -9.95419141e-01 1.24090551e-03 1.53836273e+02] [ 9.95204615e-01 -9.56043017e-02 -2.06782788e-02 1.29544985e+02] [ 2.07021905e-02 -7.41870510e-04 9.99785411e-01 2.93503190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72361786499997 meters Centerline goodness [0,1] 0.999978820290162 Centerline is valid? [True, True] Translation: X:153.83, Y:129.57, Z:2.94 [[-9.67082114e-02 -9.95311998e-01 1.24434412e-03 1.53834346e+02] [ 9.95097835e-01 -9.67132322e-02 -2.06603448e-02 1.29572681e+02] [ 2.06838336e-02 -7.59780853e-04 9.99785778e-01 2.93521639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:129.60, Z:2.94 [[-9.75633710e-02 -9.95228507e-01 1.26754194e-03 1.53829803e+02] [ 9.95008198e-01 -9.75684616e-02 -2.09542493e-02 1.29600885e+02] [ 2.09779384e-02 -7.83152576e-04 9.99779632e-01 2.93623174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:129.63, Z:2.94 [[-9.83687829e-02 -9.95149199e-01 1.28660022e-03 1.53828510e+02] [ 9.94924216e-01 -9.83739202e-02 -2.11748877e-02 1.29628310e+02] [ 2.11987405e-02 -8.02878217e-04 9.99774959e-01 2.93636592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:129.66, Z:2.94 [[-9.91430856e-02 -9.95072352e-01 1.28927291e-03 1.53826370e+02] [ 9.94848486e-01 -9.91481476e-02 -2.11218925e-02 1.29655932e+02] [ 2.11456403e-02 -8.11458392e-04 9.99776077e-01 2.93690982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:129.68, Z:2.94 [[-9.94157844e-02 -9.95045141e-01 1.29211951e-03 1.53824362e+02] [ 9.94822238e-01 -9.94208824e-02 -2.10761443e-02 1.29684342e+02] [ 2.11001786e-02 -8.09872196e-04 9.99777038e-01 2.93744852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:129.71, Z:2.94 [[-9.90762241e-02 -9.95079039e-01 1.26813644e-03 1.53819184e+02] [ 9.94866193e-01 -9.90812784e-02 -2.05951240e-02 1.29711840e+02] [ 2.06194248e-02 -7.78861046e-04 9.99787094e-01 2.93842004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:129.74, Z:2.94 [[-9.85655556e-02 -9.95129766e-01 1.25679558e-03 1.53819202e+02] [ 9.94922571e-01 -9.85706961e-02 -2.03198473e-02 1.29738886e+02] [ 2.03447681e-02 -7.52422746e-04 9.99792741e-01 2.93885756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:129.77, Z:2.94 [[-9.77960197e-02 -9.95205698e-01 1.24814424e-03 1.53816166e+02] [ 9.95003145e-01 -9.78013126e-02 -2.00909015e-02 1.29766470e+02] [ 2.01166498e-02 -7.22902755e-04 9.99797378e-01 2.93948212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:129.79, Z:2.94 [[-9.44318950e-02 -9.95530563e-01 1.23109656e-03 1.53811298e+02] [ 9.95335192e-01 -9.44377643e-02 -1.97322906e-02 1.29794655e+02] [ 1.97603604e-02 -6.38003869e-04 9.99804541e-01 2.94017273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:129.82, Z:2.94 [[-9.28310899e-02 -9.95681125e-01 1.21904444e-03 1.53811329e+02] [ 9.95491160e-01 -9.28372015e-02 -1.94577656e-02 1.29821883e+02] [ 1.94869026e-02 -5.92737622e-04 9.99809937e-01 2.94024658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:129.85, Z:2.94 [[-9.12060462e-02 -9.95831341e-01 1.18218984e-03 1.53805491e+02] [ 9.95654152e-01 -9.12121272e-02 -1.87924683e-02 1.29849261e+02] [ 1.88219590e-02 -5.36934509e-04 9.99822707e-01 2.94141726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:129.88, Z:2.94 [[-8.94068731e-02 -9.95994501e-01 1.16877535e-03 1.53802442e+02] [ 9.95822748e-01 -8.94131677e-02 -1.85024240e-02 1.29877608e+02] [ 1.85328165e-02 -4.90350797e-04 9.99828132e-01 2.94211903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:129.91, Z:2.94 [[-8.53984832e-02 -9.96346255e-01 1.11342087e-03 1.53795267e+02] [ 9.96191609e-01 -8.54048496e-02 -1.75581796e-02 1.29905877e+02] [ 1.75891180e-02 -3.90261378e-04 9.99845223e-01 2.94401848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:129.93, Z:2.94 [[-8.32124533e-02 -9.96531237e-01 1.08691101e-03 1.53794041e+02] [ 9.96384993e-01 -8.32188656e-02 -1.70753343e-02 1.29932793e+02] [ 1.71065555e-02 -3.37898641e-04 9.99853615e-01 2.94406830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:129.96, Z:2.94 [[-8.15340046e-02 -9.96669959e-01 1.09460318e-03 1.53791841e+02] [ 9.96522580e-01 -8.15407744e-02 -1.71420464e-02 1.29959373e+02] [ 1.71742175e-02 -3.06862905e-04 9.99852465e-01 2.94416356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:129.99, Z:2.94 [[-7.84413285e-02 -9.96918160e-01 1.06784706e-03 1.53787677e+02] [ 9.96779053e-01 -7.84482232e-02 -1.66552067e-02 1.29986550e+02] [ 1.66876487e-02 -2.42048964e-04 9.99860722e-01 2.94450709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.01, Z:2.94 [[-7.74639031e-02 -9.96994563e-01 1.08830890e-03 1.53783169e+02] [ 9.96851247e-01 -7.74712218e-02 -1.69056657e-02 1.30014214e+02] [ 1.69391695e-02 -2.24696764e-04 9.99856497e-01 2.94474790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.04, Z:2.95 [[-7.62810791e-02 -9.97085760e-01 1.08831443e-03 1.53780296e+02] [ 9.96943659e-01 -7.62885823e-02 -1.68343000e-02 1.30042473e+02] [ 1.68682668e-02 -1.99150397e-04 9.99857701e-01 2.94514471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.07, Z:2.95 [[-7.63512308e-02 -9.97080372e-01 1.10473978e-03 1.53778127e+02] [ 9.96935194e-01 -7.63589665e-02 -1.70155018e-02 1.30070043e+02] [ 1.70501797e-02 -1.97800533e-04 9.99854616e-01 2.94572072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.10, Z:2.95 [[-7.67109251e-02 -9.97052774e-01 1.09515798e-03 1.53778384e+02] [ 9.96911307e-01 -7.67184900e-02 -1.67964023e-02 1.30097562e+02] [ 1.68309184e-02 -1.96692183e-04 9.99858331e-01 2.94585494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.13, Z:2.95 [[-7.85081108e-02 -9.96912961e-01 1.01258683e-03 1.53776204e+02] [ 9.96793000e-01 -7.85143733e-02 -1.54663691e-02 1.30125436e+02] [ 1.54981264e-02 -2.04895955e-04 9.99879876e-01 2.94737979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.78, Y:130.15, Z:2.95 [[-8.00645138e-02 -9.96789165e-01 1.01691749e-03 1.53775266e+02] [ 9.96669154e-01 -8.00706555e-02 -1.54689203e-02 1.30153075e+02] [ 1.55006774e-02 -2.24981283e-04 9.99879832e-01 2.94787143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.18, Z:2.95 [[-8.18795089e-02 -9.96641753e-01 9.81371782e-04 1.53774246e+02] [ 9.96530849e-01 -8.18850394e-02 -1.48696789e-02 1.30180775e+02] [ 1.49001025e-02 -2.39554752e-04 9.99888959e-01 2.94855415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.21, Z:2.95 [[-8.55503693e-02 -9.96333383e-01 9.61027147e-04 1.53773804e+02] [ 9.96227851e-01 -8.55552976e-02 -1.45037842e-02 1.30208735e+02] [ 1.45328254e-02 -2.83402087e-04 9.99894353e-01 2.94868188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.24, Z:2.95 [[-8.76889318e-02 -9.96147428e-01 9.76483582e-04 1.53773098e+02] [ 9.96039356e-01 -8.76938052e-02 -1.46764463e-02 1.30237196e+02] [ 1.47055358e-02 -3.14345824e-04 9.99891818e-01 2.94887129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.27, Z:2.95 [[-9.01605420e-02 -9.95926789e-01 9.52375389e-04 1.53772121e+02] [ 9.95824782e-01 -9.01649417e-02 -1.42578398e-02 1.30265497e+02] [ 1.42856355e-02 -3.37095552e-04 9.99897898e-01 2.94917329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.29, Z:2.95 [[-9.22901620e-02 -9.95731654e-01 1.00008572e-03 1.53771816e+02] [ 9.95620106e-01 -9.22947972e-02 -1.49089127e-02 1.30293018e+02] [ 1.49375790e-02 -3.80240520e-04 9.99888356e-01 2.94951257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.32, Z:2.95 [[-9.54706651e-02 -9.95431688e-01 1.05238386e-03 1.53771804e+02] [ 9.95309198e-01 -9.54754329e-02 -1.56218742e-02 1.30319557e+02] [ 1.56509854e-02 -4.43983389e-04 9.99877417e-01 2.94935824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.35, Z:2.95 [[-9.68405233e-02 -9.95299313e-01 1.09095129e-03 1.53770181e+02] [ 9.95168567e-01 -9.68454922e-02 -1.61392341e-02 1.30347955e+02] [ 1.61690224e-02 -4.77251451e-04 9.99869159e-01 2.94956799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.38, Z:2.95 [[-9.82776133e-02 -9.95158382e-01 1.14246138e-03 1.53766505e+02] [ 9.95016135e-01 -9.82828907e-02 -1.68334412e-02 1.30376495e+02] [ 1.68642245e-02 -5.17582916e-04 9.99857655e-01 2.94969200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:130.40, Z:2.95 [[-9.85025006e-02 -9.95136135e-01 1.15367591e-03 1.53765257e+02] [ 9.94992201e-01 -9.85078839e-02 -1.69327196e-02 1.30403560e+02] [ 1.69640073e-02 -5.20016689e-04 9.99855966e-01 2.95054061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.76, Y:130.43, Z:2.95 [[-9.82382323e-02 -9.95162226e-01 1.18065420e-03 1.53763154e+02] [ 9.95012776e-01 -9.82439493e-02 -1.72540701e-02 1.30430539e+02] [ 1.72865910e-02 -5.20243340e-04 9.99850440e-01 2.95119132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.76, Y:130.46, Z:2.95 [[-9.60459892e-02 -9.95376182e-01 1.19340636e-03 1.53762255e+02] [ 9.95224783e-01 -9.60522023e-02 -1.73667783e-02 1.30457791e+02] [ 1.74011068e-02 -4.80301815e-04 9.99848474e-01 2.95192694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:130.49, Z:2.95 [[-9.47635648e-02 -9.95499103e-01 1.18472930e-03 1.53754076e+02] [ 9.95350998e-01 -9.47699088e-02 -1.71771916e-02 1.30485291e+02] [ 1.72121555e-02 -4.48550419e-04 9.99851759e-01 2.95372375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:130.51, Z:2.95 [[-9.30998994e-02 -9.95656088e-01 1.16734774e-03 1.53751727e+02] [ 9.95513323e-01 -9.31063234e-02 -1.68652568e-02 1.30512865e+02] [ 1.69006831e-02 -4.08043486e-04 9.99857090e-01 2.95436182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:130.54, Z:2.96 [[-9.12547982e-02 -9.95826876e-01 1.18115135e-03 1.53747138e+02] [ 9.95681473e-01 -9.12616625e-02 -1.70209809e-02 1.30541415e+02] [ 1.70577441e-02 -3.77195662e-04 9.99854435e-01 2.95539564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:130.57, Z:2.96 [[-8.75747190e-02 -9.96157280e-01 1.15831911e-03 1.53744405e+02] [ 9.96018109e-01 -8.75818488e-02 -1.66537356e-02 1.30568453e+02] [ 1.66911877e-02 -3.04739408e-04 9.99860646e-01 2.95608969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:130.60, Z:2.96 [[-8.61945128e-02 -9.96277654e-01 1.15844908e-03 1.53740580e+02] [ 9.96139203e-01 -8.62018495e-02 -1.66111140e-02 1.30596643e+02] [ 1.66491422e-02 -2.77810342e-04 9.99861355e-01 2.95704962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:130.63, Z:2.96 [[-8.35331681e-02 -9.96504353e-01 1.13336050e-03 1.53736902e+02] [ 9.96372837e-01 -8.35405581e-02 -1.61908737e-02 1.30625279e+02] [ 1.62289577e-02 -2.23225355e-04 9.99868277e-01 2.95824417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:130.65, Z:2.96 [[-8.25498073e-02 -9.96586314e-01 1.11677177e-03 1.53735522e+02] [ 9.96459477e-01 -8.25571193e-02 -1.59007318e-02 1.30652576e+02] [ 1.59386492e-02 -1.99784528e-04 9.99872952e-01 2.95909284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:130.68, Z:2.96 [[-8.28418842e-02 -9.96562074e-01 1.12017792e-03 1.53733529e+02] [ 9.96435237e-01 -8.28492134e-02 -1.59004919e-02 1.30679237e+02] [ 1.59386330e-02 -2.01041952e-04 9.99872952e-01 2.95944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:130.71, Z:2.96 [[-8.24299720e-02 -9.96596227e-01 1.12233178e-03 1.53730266e+02] [ 9.96469947e-01 -8.24373946e-02 -1.58656955e-02 1.30706778e+02] [ 1.59042144e-02 -1.89438942e-04 9.99873502e-01 2.96052781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:130.73, Z:2.96 [[-8.15509125e-02 -9.96668554e-01 1.11426012e-03 1.53728217e+02] [ 9.96545036e-01 -8.15583488e-02 -1.56916477e-02 1.30733811e+02] [ 1.57302490e-02 -1.69257797e-04 9.99876258e-01 2.96150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:130.76, Z:2.96 [[-8.15756980e-02 -9.96666522e-01 1.11741508e-03 1.53725788e+02] [ 9.96543277e-01 -8.15831837e-02 -1.56742079e-02 1.30761581e+02] [ 1.57131206e-02 -1.65081966e-04 9.99876528e-01 2.96196619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04361786499996 meters Centerline goodness [0,1] 0.9999787969382778 Centerline is valid? [True, True] Translation: X:153.72, Y:130.79, Z:2.96 [[-8.20538449e-02 -9.96627285e-01 1.10514444e-03 1.53724378e+02] [ 9.96507638e-01 -8.20611191e-02 -1.54434798e-02 1.30789300e+02] [ 1.54820828e-02 -1.65912024e-04 9.99880132e-01 2.96348886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.82, Z:2.96 [[-8.26095143e-02 -9.96581377e-01 1.10790654e-03 1.53723552e+02] [ 9.96462046e-01 -8.26167681e-02 -1.54227287e-02 1.30816150e+02] [ 1.54615359e-02 -1.70077306e-04 9.99880449e-01 2.96373014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10361786499996 meters Centerline goodness [0,1] 0.9999788619261013 Centerline is valid? [True, True] Translation: X:153.72, Y:130.84, Z:2.96 [[-8.37658824e-02 -9.96484789e-01 1.15823332e-03 1.53722719e+02] [ 9.96355425e-01 -8.37736716e-02 -1.60573617e-02 1.30844506e+02] [ 1.60979461e-02 -1.91047023e-04 9.99870401e-01 2.96394367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.87, Z:2.96 [[-8.48608712e-02 -9.96392111e-01 1.18063678e-03 1.53721953e+02] [ 9.96258693e-01 -8.48688299e-02 -1.63063988e-02 1.30872227e+02] [ 1.63477664e-02 -2.07555553e-04 9.99866345e-01 2.96374259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.90, Z:2.96 [[-8.76756948e-02 -9.96148309e-01 1.23259327e-03 1.53722482e+02] [ 9.96003954e-01 -8.76839751e-02 -1.69600916e-02 1.30900337e+02] [ 1.70028453e-02 -2.59320049e-04 9.99855408e-01 2.96395457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.93, Z:2.96 [[-8.92639425e-02 -9.96007183e-01 1.28084774e-03 1.53722841e+02] [ 9.95852330e-01 -8.92726527e-02 -1.75650567e-02 1.30927312e+02] [ 1.76092673e-02 -2.92391000e-04 9.99844902e-01 2.96357175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.95, Z:2.96 [[-9.11588906e-02 -9.95835498e-01 1.31062215e-03 1.53723233e+02] [ 9.95674230e-01 -9.11677182e-02 -1.79241324e-02 1.30954895e+02] [ 1.79689738e-02 -3.28991324e-04 9.99838491e-01 2.96288157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:130.98, Z:2.96 [[-9.40547180e-02 -9.95566065e-01 1.38553608e-03 1.53722669e+02] [ 9.95386892e-01 -9.40640821e-02 -1.88913885e-02 1.30982862e+02] [ 1.89379545e-02 -3.97679762e-04 9.99820582e-01 2.96378797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:131.01, Z:2.96 [[-9.55422262e-02 -9.95424393e-01 1.40060433e-03 1.53726195e+02] [ 9.95242467e-01 -9.55515479e-02 -1.90350448e-02 1.31010687e+02] [ 1.90817778e-02 -4.24709648e-04 9.99817836e-01 2.96316573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:131.04, Z:2.96 [[-9.84181367e-02 -9.95144200e-01 1.37527258e-03 1.53728313e+02] [ 9.94969713e-01 -9.84266410e-02 -1.86404357e-02 1.31038462e+02] [ 1.86852849e-02 -4.66202382e-04 9.99825306e-01 2.96434574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:131.07, Z:2.96 [[-9.97632737e-02 -9.95010268e-01 1.36220247e-03 1.53730318e+02] [ 9.94840218e-01 -9.97714157e-02 -1.84012507e-02 1.31065468e+02] [ 1.84453422e-02 -4.80595205e-04 9.99829755e-01 2.96488090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.09, Z:2.97 [[-1.00850588e-01 -9.94900689e-01 1.33343778e-03 1.53723693e+02] [ 9.94738639e-01 -1.00858236e-01 -1.79626393e-02 1.31093228e+02] [ 1.80055304e-02 -4.85120654e-04 9.99837770e-01 2.96653394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.12, Z:2.97 [[-1.01683384e-01 -9.94815882e-01 1.36000958e-03 1.53723448e+02] [ 9.94648505e-01 -1.01691232e-01 -1.82550193e-02 1.31120617e+02] [ 1.82986841e-02 -5.03500637e-04 9.99832438e-01 2.96683748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.15, Z:2.97 [[-1.02372581e-01 -9.94745245e-01 1.32343068e-03 1.53724437e+02] [ 9.94587820e-01 -1.02379933e-01 -1.77036277e-02 1.31148290e+02] [ 1.77460923e-02 -4.96098028e-04 9.99842403e-01 2.96641868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.18, Z:2.97 [[-1.02909076e-01 -9.94689908e-01 1.30712323e-03 1.53722791e+02] [ 9.94537498e-01 -1.02916198e-01 -1.74189816e-02 1.31176552e+02] [ 1.74610094e-02 -4.92588227e-04 9.99847424e-01 2.96678310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49361786499995 meters Centerline goodness [0,1] 0.9999568537774518 Centerline is valid? [True, True] Translation: X:153.72, Y:131.20, Z:2.97 [[-1.03127533e-01 -9.94667312e-01 1.28486816e-03 1.53722043e+02] [ 9.94521098e-01 -1.03134412e-01 -1.70610374e-02 1.31204907e+02] [ 1.71025703e-02 -4.81634195e-04 9.99853624e-01 2.96719155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.23, Z:2.97 [[-1.03120915e-01 -9.94668039e-01 1.25285122e-03 1.53722728e+02] [ 9.94530008e-01 -1.03127484e-01 -1.65766195e-02 1.31232539e+02] [ 1.66174370e-02 -4.63398039e-04 9.99861813e-01 2.96800513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.26, Z:2.97 [[-1.03128353e-01 -9.94667296e-01 1.22974676e-03 1.53720629e+02] [ 9.94535282e-01 -1.03134708e-01 -1.62112332e-02 1.31260773e+02] [ 1.62516130e-02 -4.48811232e-04 9.99867833e-01 2.96887070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.29, Z:2.97 [[-1.01943768e-01 -9.94789535e-01 1.11752261e-03 1.53719070e+02] [ 9.94681231e-01 -1.01949165e-01 -1.46838627e-02 1.31289613e+02] [ 1.47212835e-02 -3.85349528e-04 9.99891562e-01 2.96986411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.32, Z:2.97 [[-1.01071186e-01 -9.94878536e-01 1.14662697e-03 1.53717883e+02] [ 9.94765280e-01 -1.01076986e-01 -1.50160439e-02 1.31316836e+02] [ 1.50550374e-02 -3.77064670e-04 9.99886595e-01 2.97072046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.72, Y:131.34, Z:2.97 [[-9.98438109e-02 -9.95002476e-01 1.13426314e-03 1.53715710e+02] [ 9.94892443e-01 -9.98496424e-02 -1.48012264e-02 1.31344749e+02] [ 1.48405127e-02 -3.49341021e-04 9.99889813e-01 2.97132524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.37, Z:2.97 [[-9.72532212e-02 -9.95259021e-01 1.13640736e-03 1.53714178e+02] [ 9.95149360e-01 -9.72593784e-02 -1.47771351e-02 1.31373358e+02] [ 1.48176033e-02 -3.06228932e-04 9.99890166e-01 2.97173636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.40, Z:2.97 [[-9.60959069e-02 -9.95371423e-01 1.14342199e-03 1.53713046e+02] [ 9.95261152e-01 -9.61022837e-02 -1.48185971e-02 1.31400242e+02] [ 1.48598935e-02 -2.86003042e-04 9.99889545e-01 2.97174486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.43, Z:2.97 [[-9.50886055e-02 -9.95468137e-01 1.16028147e-03 1.53711248e+02] [ 9.95355417e-01 -9.50953015e-02 -1.49825417e-02 1.31427460e+02] [ 1.50249802e-02 -2.69776546e-04 9.99887082e-01 2.97188037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.46, Z:2.97 [[-9.38038648e-02 -9.95589951e-01 1.21874091e-03 1.53708968e+02] [ 9.95466581e-01 -9.38114292e-02 -1.56749108e-02 1.31455323e+02] [ 1.57201155e-02 -2.57151370e-04 9.99876398e-01 2.97224771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.48, Z:2.97 [[-9.16086080e-02 -9.95794303e-01 1.25291970e-03 1.53707137e+02] [ 9.95664856e-01 -9.16169030e-02 -1.60573258e-02 1.31483434e+02] [ 1.61045822e-02 -2.23501157e-04 9.99870288e-01 2.97264320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.51, Z:2.97 [[-9.09622268e-02 -9.95853523e-01 1.27859192e-03 1.53705333e+02] [ 9.95719657e-01 -9.09709649e-02 -1.63293380e-02 1.31511222e+02] [ 1.63779435e-02 -2.12233835e-04 9.99865850e-01 2.97246696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.54, Z:2.97 [[-8.96026529e-02 -9.95976679e-01 1.34865985e-03 1.53706479e+02] [ 9.95828781e-01 -8.96125900e-02 -1.71646054e-02 1.31538121e+02] [ 1.72164036e-02 -1.94959878e-04 9.99851768e-01 2.97297231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88361786499996 meters Centerline goodness [0,1] 0.9999351617713804 Centerline is valid? [True, True] Translation: X:153.71, Y:131.57, Z:2.97 [[-8.92419163e-02 -9.96009041e-01 1.36796567e-03 1.53705123e+02] [ 9.95857731e-01 -8.92522042e-02 -1.73615364e-02 1.31566432e+02] [ 1.74143412e-02 -1.87077586e-04 9.99848341e-01 2.97339819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.59, Z:2.97 [[-8.95440796e-02 -9.95981834e-01 1.42961621e-03 1.53707161e+02] [ 9.95817794e-01 -8.95552788e-02 -1.80768581e-02 1.31593096e+02] [ 1.81322519e-02 -1.95038359e-04 9.99835578e-01 2.97324237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.62, Z:2.97 [[-9.06176164e-02 -9.95884715e-01 1.44300401e-03 1.53705768e+02] [ 9.95718902e-01 -9.06288616e-02 -1.81735418e-02 1.31619876e+02] [ 1.82295303e-02 -2.10016665e-04 9.99833806e-01 2.97395549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97361786499997 meters Centerline goodness [0,1] 0.999978280228492 Centerline is valid? [True, True] Translation: X:153.70, Y:131.65, Z:2.97 [[-9.13890108e-02 -9.95814187e-01 1.46760349e-03 1.53704486e+02] [ 9.95643940e-01 -9.14005253e-02 -1.84143840e-02 1.31648320e+02] [ 1.84714446e-02 -2.21661817e-04 9.99829364e-01 2.97446204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:131.68, Z:2.97 [[-9.26180543e-02 -9.95700599e-01 1.48755802e-03 1.53704854e+02] [ 9.95526920e-01 -9.26296844e-02 -1.85982094e-02 1.31675952e+02] [ 1.86560403e-02 -2.41625912e-04 9.99825932e-01 2.97489740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.70, Z:2.98 [[-9.51793339e-02 -9.95458936e-01 1.54971775e-03 1.53706170e+02] [ 9.95271769e-01 -9.51914921e-02 -1.93050773e-02 1.31704970e+02] [ 1.93649316e-02 -2.95054069e-04 9.99812439e-01 2.97637390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06361786499997 meters Centerline goodness [0,1] 0.9999781711815939 Centerline is valid? [True, True] Translation: X:153.71, Y:131.73, Z:2.98 [[-9.67924758e-02 -9.95303381e-01 1.54782169e-03 1.53706379e+02] [ 9.95117855e-01 -9.68043218e-02 -1.92192041e-02 1.31733585e+02] [ 1.92787747e-02 -3.20009348e-04 9.99814096e-01 2.97706641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.76, Z:2.98 [[-9.86855877e-02 -9.95117420e-01 1.57352692e-03 1.53707056e+02] [ 9.94926947e-01 -9.86974893e-02 -1.94724363e-02 1.31761196e+02] [ 1.95326637e-02 -3.56104480e-04 9.99809156e-01 2.97751681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.79, Z:2.98 [[-1.01455795e-01 -9.94838769e-01 1.59531183e-03 1.53710565e+02] [ 9.94644347e-01 -1.01467512e-01 -1.96714636e-02 1.31788843e+02] [ 1.97318070e-02 -4.09016079e-04 9.99805225e-01 2.97815496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.82, Z:2.98 [[-1.02952683e-01 -9.94684928e-01 1.62455278e-03 1.53708844e+02] [ 9.94484690e-01 -1.02964562e-01 -1.99624565e-02 1.31817276e+02] [ 2.00236260e-02 -4.39595599e-04 9.99799410e-01 2.97896120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.85, Z:2.98 [[-1.03894045e-01 -9.94587002e-01 1.64995775e-03 1.53708309e+02] [ 9.94381820e-01 -1.03906134e-01 -2.02067117e-02 1.31845175e+02] [ 2.02687735e-02 -4.58669031e-04 9.99794462e-01 2.97923208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21361786499995 meters Centerline goodness [0,1] 0.9999780740221014 Centerline is valid? [True, True] Translation: X:153.71, Y:131.87, Z:2.98 [[-1.04903294e-01 -9.94480835e-01 1.77966826e-03 1.53709151e+02] [ 9.94243756e-01 -1.04917154e-01 -2.17196799e-02 1.31873198e+02] [ 2.17865231e-02 -5.09041898e-04 9.99762516e-01 2.97930043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.90, Z:2.98 [[-1.05316617e-01 -9.94437062e-01 1.82758825e-03 1.53708224e+02] [ 9.94188779e-01 -1.05331170e-01 -2.22264876e-02 1.31900454e+02] [ 2.22953451e-02 -5.23850746e-04 9.99751291e-01 2.97957667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.93, Z:2.98 [[-1.05290948e-01 -9.94439724e-01 1.85800386e-03 1.53708382e+02] [ 9.94185034e-01 -1.05306042e-01 -2.25112539e-02 1.31927069e+02] [ 2.25817441e-02 -5.23031643e-04 9.99744863e-01 2.97952106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:131.95, Z:2.98 [[-1.04476482e-01 -9.94525672e-01 1.83075148e-03 1.53707725e+02] [ 9.94280222e-01 -1.04491378e-01 -2.20995881e-02 1.31954700e+02] [ 2.21699055e-02 -4.88607224e-04 9.99754098e-01 2.98086894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:131.98, Z:2.98 [[-1.02955566e-01 -9.94684348e-01 1.78889659e-03 1.53703732e+02] [ 9.94451568e-01 -1.02970180e-01 -2.15225800e-02 1.31982186e+02] [ 2.15923764e-02 -4.36898394e-04 9.99766762e-01 2.98192756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499995 meters Centerline goodness [0,1] 0.9999341686598934 Centerline is valid? [True, True] Translation: X:153.70, Y:132.01, Z:2.98 [[-1.01197730e-01 -9.94864739e-01 1.78045255e-03 1.53699610e+02] [ 9.94635604e-01 -1.01212640e-01 -2.13545576e-02 1.32009697e+02] [ 2.14251007e-02 -3.90131268e-04 9.99770380e-01 2.98229953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.70, Y:132.04, Z:2.98 [[-9.75768414e-02 -9.95226406e-01 1.77765576e-03 1.53695208e+02] [ 9.94999425e-01 -9.75925550e-02 -2.12564684e-02 1.32036253e+02] [ 2.13284846e-02 -3.05372585e-04 9.99772475e-01 2.98242167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:132.06, Z:2.98 [[-9.63037320e-02 -9.95350394e-01 1.78445305e-03 1.53691537e+02] [ 9.95122954e-01 -9.63198748e-02 -2.12788112e-02 1.32063726e+02] [ 2.13517514e-02 -2.73478741e-04 9.99771988e-01 2.98376597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.69, Y:132.09, Z:2.98 [[-9.58451262e-02 -9.95394651e-01 1.78879678e-03 1.53689731e+02] [ 9.95167414e-01 -9.58614689e-02 -2.12696448e-02 1.32090410e+02] [ 2.13431673e-02 -2.58439518e-04 9.99772175e-01 2.98375200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499996 meters Centerline goodness [0,1] 0.9999780451391939 Centerline is valid? [True, True] Translation: X:153.69, Y:132.12, Z:2.98 [[-9.48563102e-02 -9.95489390e-01 1.77647436e-03 1.53687246e+02] [ 9.95266832e-01 -9.48726681e-02 -2.10501865e-02 1.32117230e+02] [ 2.11237762e-02 -2.28677017e-04 9.99776842e-01 2.98420080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:132.14, Z:2.98 [[-9.45505080e-02 -9.95518536e-01 1.74513577e-03 1.53683815e+02] [ 9.95305216e-01 -9.45663749e-02 -2.06089174e-02 1.32144581e+02] [ 2.06815904e-02 -2.11640873e-04 9.99786091e-01 2.98480794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:132.17, Z:2.99 [[-9.34007877e-02 -9.95627221e-01 1.65222194e-03 1.53678292e+02] [ 9.95437295e-01 -9.34152423e-02 -1.94469621e-02 1.32171056e+02] [ 1.95162676e-02 -1.71678241e-04 9.99809525e-01 2.98557198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:132.20, Z:2.99 [[-9.29052511e-02 -9.95673642e-01 1.61640941e-03 1.53673779e+02] [ 9.95493084e-01 -9.29191864e-02 -1.89616681e-02 1.32198662e+02] [ 1.90298286e-02 -1.52514144e-04 9.99818905e-01 2.98677878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:132.23, Z:2.99 [[-9.23440915e-02 -9.95725866e-01 1.60252493e-03 1.53670477e+02] [ 9.95549555e-01 -9.23578969e-02 -1.87377225e-02 1.32226727e+02] [ 1.88056408e-02 -1.34924979e-04 9.99823149e-01 2.98744782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63361786499996 meters Centerline goodness [0,1] 0.999956384254716 Centerline is valid? [True, True] Translation: X:153.67, Y:132.25, Z:2.99 [[-9.18788974e-02 -9.95768898e-01 1.60339119e-03 1.53669218e+02] [ 9.95593472e-01 -9.18928072e-02 -1.86909416e-02 1.32253549e+02] [ 1.87591985e-02 -1.20977309e-04 9.99824023e-01 2.98701547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66361786499996 meters Centerline goodness [0,1] 0.9999562602515035 Centerline is valid? [True, True] Translation: X:153.67, Y:132.28, Z:2.99 [[-9.23507857e-02 -9.95725281e-01 1.58002081e-03 1.53667634e+02] [ 9.95555847e-01 -9.23642186e-02 -1.83686467e-02 1.32279838e+02] [ 1.84360633e-02 -1.23359998e-04 9.99830034e-01 2.98701310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:132.31, Z:2.99 [[-9.29804713e-02 -9.95666583e-01 1.63931971e-03 1.53665115e+02] [ 9.95485478e-01 -9.29948252e-02 -1.89901463e-02 1.32308078e+02] [ 1.90603023e-02 -1.33793786e-04 9.99818327e-01 2.98804895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:132.34, Z:2.99 [[-9.42196089e-02 -9.95550095e-01 1.63544911e-03 1.53664366e+02] [ 9.95370988e-01 -9.42336802e-02 -1.88841346e-02 1.32335078e+02] [ 1.89542164e-02 -1.51377186e-04 9.99820341e-01 2.98760838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75361786499997 meters Centerline goodness [0,1] 0.9999342753861321 Centerline is valid? [True, True] Translation: X:153.66, Y:132.36, Z:2.99 [[-9.66888871e-02 -9.95313449e-01 1.54837140e-03 1.53662806e+02] [ 9.95153933e-01 -9.67011126e-02 -1.78197783e-02 1.32361804e+02] [ 1.78859942e-02 -1.82106638e-04 9.99840016e-01 2.98783296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78361786499997 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:153.66, Y:132.39, Z:2.99 [[-9.85758233e-02 -9.95128367e-01 1.52965036e-03 1.53660725e+02] [ 9.94973749e-01 -9.85874728e-02 -1.75428012e-02 1.32389709e+02] [ 1.76081435e-02 -2.07334116e-04 9.99844943e-01 2.98807191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:132.42, Z:2.99 [[-1.02722571e-01 -9.94708951e-01 1.47536471e-03 1.53662016e+02] [ 9.94565945e-01 -1.02732822e-01 -1.68685621e-02 1.32417188e+02] [ 1.69308781e-02 -2.65434566e-04 9.99856627e-01 2.98840549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:132.44, Z:2.99 [[-1.03016946e-01 -9.94678500e-01 1.48020919e-03 1.53659568e+02] [ 9.94535497e-01 -1.03027238e-01 -1.68681372e-02 1.32443834e+02] [ 1.69308752e-02 -2.65583396e-04 9.99856627e-01 2.98876115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87361786499997 meters Centerline goodness [0,1] 0.9999779725979118 Centerline is valid? [True, True] Translation: X:153.66, Y:132.47, Z:2.99 [[-1.05663434e-01 -9.94400929e-01 1.42498402e-03 1.53658232e+02] [ 9.94269225e-01 -1.05672635e-01 -1.61864661e-02 1.32471571e+02] [ 1.62464187e-02 -2.93499835e-04 9.99867975e-01 2.98942440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:132.50, Z:2.99 [[-1.08421761e-01 -9.94104019e-01 1.38589172e-03 1.53658371e+02] [ 9.93980172e-01 -1.08430134e-01 -1.56947137e-02 1.32498831e+02] [ 1.57524504e-02 -3.24099612e-04 9.99875870e-01 2.98983616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93361786499995 meters Centerline goodness [0,1] 0.9999339861370888 Centerline is valid? [True, True] Translation: X:153.66, Y:132.53, Z:2.99 [[-1.11102868e-01 -9.93807956e-01 1.37787609e-03 1.53657624e+02] [ 9.93686294e-01 -1.11110832e-01 -1.55541677e-02 1.32526888e+02] [ 1.56109526e-02 -3.58936062e-04 9.99878077e-01 2.99024696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:132.55, Z:2.99 [[-1.14228970e-01 -9.93453623e-01 1.28096493e-03 1.53655435e+02] [ 9.93349036e-01 -1.14235537e-01 -1.44199256e-02 1.32554380e+02] [ 1.44718590e-02 -3.74727965e-04 9.99895207e-01 2.99129052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:132.58, Z:2.99 [[-1.14858472e-01 -9.93381126e-01 1.21271149e-03 1.53652815e+02] [ 9.93287785e-01 -1.14864309e-01 -1.36222981e-02 1.32580430e+02] [ 1.36714311e-02 -3.60064841e-04 9.99906477e-01 2.99108738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499995 meters Centerline goodness [0,1] 0.9999559675040179 Centerline is valid? [True, True] Translation: X:153.65, Y:132.61, Z:2.99 [[-1.16273936e-01 -9.93216329e-01 1.30246314e-03 1.53650830e+02] [ 9.93109455e-01 -1.16280538e-01 -1.45755689e-02 1.32608130e+02] [ 1.46281441e-02 -4.01270301e-04 9.99892922e-01 2.99009810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05361786499995 meters Centerline goodness [0,1] 0.9999339832317409 Centerline is valid? [True, True] Translation: X:153.65, Y:132.64, Z:2.99 [[-1.16949991e-01 -9.93136854e-01 1.37412048e-03 1.53648705e+02] [ 9.93018643e-01 -1.16957280e-01 -1.53287340e-02 1.32635505e+02] [ 1.53842441e-02 -4.28168052e-04 9.99881564e-01 2.98988295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:132.66, Z:2.99 [[-1.17484996e-01 -9.93073677e-01 1.39594969e-03 1.53646333e+02] [ 9.92952494e-01 -1.17492475e-01 -1.55197874e-02 1.32662312e+02] [ 1.55763059e-02 -4.37230433e-04 9.99878586e-01 2.98997480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:132.69, Z:2.99 [[-1.17901042e-01 -9.93024297e-01 1.44583699e-03 1.53644422e+02] [ 9.92895179e-01 -1.17909037e-01 -1.60194273e-02 1.32688525e+02] [ 1.60781578e-02 -4.53142597e-04 9.99870635e-01 2.98954745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:132.72, Z:2.99 [[-1.17784061e-01 -9.93038200e-01 1.43115601e-03 1.53637015e+02] [ 9.92912537e-01 -1.17791932e-01 -1.58036456e-02 1.32715672e+02] [ 1.58622024e-02 -4.40404799e-04 9.99874090e-01 2.99010517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:132.74, Z:2.99 [[-1.16419558e-01 -9.93199071e-01 1.44661109e-03 1.53631033e+02] [ 9.93071433e-01 -1.16427796e-01 -1.59278764e-02 1.32742399e+02] [ 1.59879778e-02 -4.17728182e-04 9.99872097e-01 2.98980839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:132.77, Z:2.99 [[-1.15793747e-01 -9.93272262e-01 1.42210145e-03 1.53631423e+02] [ 9.93149453e-01 -1.15801799e-01 -1.56239651e-02 1.32769719e+02] [ 1.56835331e-02 -3.96798188e-04 9.99876927e-01 2.98977543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:132.80, Z:2.99 [[-1.15195284e-01 -9.93341916e-01 1.37255609e-03 1.53625916e+02] [ 9.93228199e-01 -1.15202871e-01 -1.50347669e-02 1.32796706e+02] [ 1.50927866e-02 -3.68672836e-04 9.99886029e-01 2.99088982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:132.82, Z:2.99 [[-1.14498163e-01 -9.93422606e-01 1.30227679e-03 1.53620086e+02] [ 9.93320858e-01 -1.14505079e-01 -1.42218346e-02 1.32824252e+02] [ 1.42774093e-02 -3.34795244e-04 9.99898017e-01 2.99228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:132.85, Z:2.99 [[-1.13171832e-01 -9.93574675e-01 1.22550225e-03 1.53619787e+02] [ 9.93485081e-01 -1.13178088e-01 -1.33459584e-02 1.32851022e+02] [ 1.33989062e-02 -2.92868355e-04 9.99910188e-01 2.99336141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:132.88, Z:2.99 [[-1.13186572e-01 -9.93573050e-01 1.18073965e-03 1.53614303e+02] [ 9.93490351e-01 -1.13192388e-01 -1.28220459e-02 1.32877972e+02] [ 1.28732900e-02 -2.78229972e-04 9.99917097e-01 2.99361805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:132.90, Z:2.99 [[-1.13129440e-01 -9.93579598e-01 1.14529347e-03 1.53608458e+02] [ 9.93502253e-01 -1.13134927e-01 -1.24000340e-02 1.32904705e+02] [ 1.24499935e-02 -2.64957258e-04 9.99922461e-01 2.99392502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:132.93, Z:2.99 [[-1.13191298e-01 -9.93572632e-01 1.07523489e-03 1.53604249e+02] [ 9.93504865e-01 -1.13196138e-01 -1.16067570e-02 1.32930476e+02] [ 1.16538685e-02 -2.45532798e-04 9.99932061e-01 2.99410970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41361786499996 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:153.60, Y:132.96, Z:2.99 [[-1.13120807e-01 -9.93580667e-01 1.06861549e-03 1.53601291e+02] [ 9.93514181e-01 -1.13125603e-01 -1.14965156e-02 1.32956916e+02] [ 1.15436034e-02 -2.38810479e-04 9.99933342e-01 2.99455113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:132.98, Z:3.00 [[-1.13257131e-01 -9.93565206e-01 1.00153636e-03 1.53597895e+02] [ 9.93507168e-01 -1.13261342e-01 -1.07413424e-02 1.32983498e+02] [ 1.07856595e-02 -2.21500076e-04 9.99941809e-01 2.99568959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:133.01, Z:3.00 [[-1.13201063e-01 -9.93571619e-01 9.78194289e-04 1.53594999e+02] [ 9.93516590e-01 -1.13205091e-01 -1.04590555e-02 1.33010919e+02] [ 1.05025573e-02 -2.12123950e-04 9.99944824e-01 2.99631494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:133.04, Z:3.00 [[-1.13604740e-01 -9.93525579e-01 9.41516465e-04 1.53591890e+02] [ 9.93474895e-01 -1.13608457e-01 -1.00374905e-02 1.33036943e+02] [ 1.00794678e-02 -2.04933529e-04 9.99949180e-01 2.99654000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:133.06, Z:3.00 [[-1.14599325e-01 -9.93411327e-01 9.64780163e-04 1.53588036e+02] [ 9.93358460e-01 -1.14603181e-01 -1.02508547e-02 1.33063177e+02] [ 1.02938821e-02 -2.16368489e-04 9.99946993e-01 2.99655654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:133.09, Z:3.00 [[-1.15595037e-01 -9.93295968e-01 9.53010291e-04 1.53583656e+02] [ 9.93244708e-01 -1.15598756e-01 -1.00934676e-02 1.33090265e+02] [ 1.01359674e-02 -2.20182330e-04 9.99948606e-01 2.99583910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59361786499997 meters Centerline goodness [0,1] 0.99997830002387 Centerline is valid? [True, True] Translation: X:153.58, Y:133.12, Z:3.00 [[-1.16393762e-01 -9.93202674e-01 9.70144661e-04 1.53580881e+02] [ 9.93149892e-01 -1.16397581e-01 -1.02418190e-02 1.33117137e+02] [ 1.02851245e-02 -2.28584778e-04 9.99947081e-01 2.99617315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62361786499997 meters Centerline goodness [0,1] 0.999978293900586 Centerline is valid? [True, True] Translation: X:153.58, Y:133.15, Z:3.00 [[-1.17764618e-01 -9.93041072e-01 9.61102658e-04 1.53577161e+02] [ 9.92989595e-01 -1.17768302e-01 -1.01138837e-02 1.33145329e+02] [ 1.01566893e-02 -2.36692712e-04 9.99948392e-01 2.99612236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:133.17, Z:3.00 [[-1.18771683e-01 -9.92921145e-01 9.42403475e-04 1.53575542e+02] [ 9.92871917e-01 -1.18775182e-01 -9.89001966e-03 1.33171991e+02] [ 9.93194379e-03 -2.38968337e-04 9.99950648e-01 2.99647064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:133.20, Z:3.00 [[-1.19291140e-01 -9.92858838e-01 9.75096456e-04 1.53572119e+02] [ 9.92806469e-01 -1.19294866e-01 -1.02004842e-02 1.33199476e+02] [ 1.02439649e-02 -2.48745327e-04 9.99947498e-01 2.99684022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:133.23, Z:3.00 [[-1.20281602e-01 -9.92739372e-01 9.35835227e-04 1.53571767e+02] [ 9.92691384e-01 -1.20284992e-01 -9.76403002e-03 1.33226255e+02] [ 9.80570396e-03 -2.45437602e-04 9.99951893e-01 2.99697145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.57, Y:133.25, Z:3.00 [[-1.20650897e-01 -9.92694584e-01 9.07679446e-04 1.53566774e+02] [ 9.92649691e-01 -1.20654076e-01 -9.44381207e-03 1.33253555e+02] [ 9.48433632e-03 -2.38396675e-04 9.99954994e-01 2.99695503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:133.28, Z:3.00 [[-1.20935825e-01 -9.92659889e-01 9.32903925e-04 1.53564531e+02] [ 9.92612775e-01 -1.20939177e-01 -9.67439494e-03 1.33281072e+02] [ 9.71620844e-03 -2.43968580e-04 9.99952767e-01 2.99715471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499995 meters Centerline goodness [0,1] 0.9999347570788569 Centerline is valid? [True, True] Translation: X:153.56, Y:133.31, Z:3.00 [[-1.21218636e-01 -9.92625407e-01 9.18727538e-04 1.53562970e+02] [ 9.92579985e-01 -1.21221881e-01 -9.49891354e-03 1.33307660e+02] [ 9.54023280e-03 -2.39534777e-04 9.99954462e-01 2.99734336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:133.33, Z:3.00 [[-1.21012137e-01 -9.92650589e-01 9.33394171e-04 1.53559126e+02] [ 9.92604021e-01 -1.21015503e-01 -9.61799094e-03 1.33334785e+02] [ 9.66025954e-03 -2.37402826e-04 9.99953310e-01 2.99742797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.56, Y:133.36, Z:3.00 [[-1.21093745e-01 -9.92640625e-01 9.46203399e-04 1.53557439e+02] [ 9.92593072e-01 -1.21097208e-01 -9.71900529e-03 1.33361504e+02] [ 9.76206207e-03 -2.37715807e-04 9.99952322e-01 2.99767428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:133.39, Z:3.00 [[-1.20829463e-01 -9.92672745e-01 1.03036867e-03 1.53553407e+02] [ 9.92616742e-01 -1.20833594e-01 -1.05473261e-02 1.33388076e+02] [ 1.05945463e-02 -2.51666562e-04 9.99943845e-01 2.99694224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:133.42, Z:3.00 [[-1.21212800e-01 -9.92626030e-01 1.01056205e-03 1.53549568e+02] [ 9.92572489e-01 -1.21216761e-01 -1.03126362e-02 1.33415756e+02] [ 1.03590881e-02 -2.46967419e-04 9.99946313e-01 2.99676937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:133.44, Z:3.00 [[-1.21440617e-01 -9.92598115e-01 1.07613436e-03 1.53546966e+02] [ 9.92537765e-01 -1.21445103e-01 -1.09486280e-02 1.33443479e+02] [ 1.09982787e-02 -2.61504138e-04 9.99939483e-01 2.99695211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:133.47, Z:3.00 [[-1.22355668e-01 -9.92485783e-01 1.03005208e-03 1.53545855e+02] [ 9.92430773e-01 -1.22359735e-01 -1.04525823e-02 1.33470150e+02] [ 1.05000762e-02 -2.56677313e-04 9.99944840e-01 2.99685409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:133.50, Z:3.00 [[-1.23167249e-01 -9.92385380e-01 1.04231771e-03 1.53544204e+02] [ 9.92329380e-01 -1.23171375e-01 -1.05458079e-02 1.33497521e+02] [ 1.05938893e-02 -2.64575651e-04 9.99943848e-01 2.99739698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:133.53, Z:3.00 [[-1.24670061e-01 -9.92197778e-01 9.71964816e-04 1.53541610e+02] [ 9.92149363e-01 -1.24673583e-01 -9.80503691e-03 1.33525298e+02] [ 9.84971418e-03 -2.58060278e-04 9.99951457e-01 2.99771869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:133.55, Z:3.00 [[-1.25313953e-01 -9.92116664e-01 9.68248271e-04 1.53539569e+02] [ 9.92068849e-01 -1.25317423e-01 -9.74379564e-03 1.33553431e+02] [ 9.78832041e-03 -2.60464605e-04 9.99952059e-01 2.99864036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:133.58, Z:3.00 [[-1.26431988e-01 -9.91974843e-01 9.29746685e-04 1.53537441e+02] [ 9.91930980e-01 -1.26435144e-01 -9.33194520e-03 1.33581219e+02] [ 9.37460753e-03 -2.57611840e-04 9.99956024e-01 2.99908234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.54, Y:133.61, Z:3.00 [[-1.27485210e-01 -9.91840048e-01 9.16378887e-04 1.53538528e+02] [ 9.91797656e-01 -1.27488237e-01 -9.17377366e-03 1.33608443e+02] [ 9.21574364e-03 -2.60658032e-04 9.99957500e-01 2.99962651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:133.64, Z:3.00 [[-1.28224492e-01 -9.91744727e-01 9.35971357e-04 1.53533471e+02] [ 9.91700767e-01 -1.28227625e-01 -9.34156101e-03 1.33636517e+02] [ 9.38446126e-03 -2.69613407e-04 9.99955929e-01 2.99936859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:133.66, Z:3.00 [[-1.28677131e-01 -9.91686103e-01 9.32377452e-04 1.53531643e+02] [ 9.91642713e-01 -1.28680226e-01 -9.28055696e-03 1.33664506e+02] [ 9.32337790e-03 -2.69610136e-04 9.99956500e-01 2.99961856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:133.69, Z:3.00 [[-1.29215891e-01 -9.91616031e-01 9.49006735e-04 1.53532905e+02] [ 9.91571339e-01 -1.29219081e-01 -9.41858762e-03 1.33690677e+02] [ 9.46225225e-03 -2.76023309e-04 9.99955194e-01 3.00042787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:133.72, Z:3.00 [[-1.29015519e-01 -9.91642068e-01 1.00285838e-03 1.53527638e+02] [ 9.91592398e-01 -1.29019098e-01 -9.92915345e-03 1.33718085e+02] [ 9.97555414e-03 -2.86588140e-04 9.99950202e-01 2.99971511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:133.74, Z:3.00 [[-1.28567800e-01 -9.91700187e-01 1.02921821e-03 1.53526075e+02] [ 9.91648173e-01 -1.28571602e-01 -1.01608972e-02 1.33744200e+02] [ 1.02088919e-02 -2.85741842e-04 9.99947847e-01 3.00016392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:133.77, Z:3.00 [[-1.27371665e-01 -9.91854461e-01 1.08922217e-03 1.53520062e+02] [ 9.91796491e-01 -1.27376001e-01 -1.07272650e-02 1.33772490e+02] [ 1.07786264e-02 -2.86062870e-04 9.99941868e-01 2.99958939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:133.80, Z:3.00 [[-1.26614248e-01 -9.91951437e-01 1.08558535e-03 1.53519238e+02] [ 9.91894148e-01 -1.26618607e-01 -1.06642746e-02 1.33799690e+02] [ 1.07158978e-02 -2.73463351e-04 9.99942546e-01 2.99970028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37361786499997 meters Centerline goodness [0,1] 0.9999782182531038 Centerline is valid? [True, True] Translation: X:153.51, Y:133.83, Z:3.00 [[-1.26315395e-01 -9.91989521e-01 1.10100521e-03 1.53514682e+02] [ 9.91930913e-01 -1.26319904e-01 -1.07863999e-02 1.33826302e+02] [ 1.08390746e-02 -2.70367271e-04 9.99941219e-01 2.99938646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:133.85, Z:3.00 [[-1.25734667e-01 -9.92063231e-01 1.15737707e-03 1.53513685e+02] [ 9.91998874e-01 -1.25739697e-01 -1.13032055e-02 1.33853104e+02] [ 1.13590228e-02 -2.73088032e-04 9.99935447e-01 2.99991406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:133.88, Z:3.00 [[-1.25894493e-01 -9.92042977e-01 1.14378288e-03 1.53508270e+02] [ 9.91980489e-01 -1.25899404e-01 -1.11377263e-02 1.33881199e+02] [ 1.11931048e-02 -2.67568103e-04 9.99937319e-01 3.00001865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.51, Y:133.91, Z:3.00 [[-1.26046472e-01 -9.92023688e-01 1.13533766e-03 1.53507204e+02] [ 9.91962428e-01 -1.26051309e-01 -1.10276340e-02 1.33907547e+02] [ 1.10827849e-02 -2.63782056e-04 9.99938549e-01 3.00071905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:133.93, Z:3.00 [[-1.26391170e-01 -9.91979900e-01 1.07245106e-03 1.53502605e+02] [ 9.91925556e-01 -1.26395475e-01 -1.03863121e-02 1.33934062e+02] [ 1.04385658e-02 -2.48946533e-04 9.99945486e-01 3.00110436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:133.96, Z:3.00 [[-1.26942967e-01 -9.91909439e-01 1.07157650e-03 1.53503320e+02] [ 9.91855491e-01 -1.26947242e-01 -1.03480468e-02 1.33960420e+02] [ 1.04003590e-02 -2.50762718e-04 9.99945883e-01 3.00198615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:133.99, Z:3.00 [[-1.27321757e-01 -9.91860931e-01 1.03136593e-03 1.53499168e+02] [ 9.91811252e-01 -1.27325706e-01 -9.93001792e-03 1.33987716e+02] [ 9.98051621e-03 -2.41386996e-04 9.99950164e-01 3.00247585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:134.01, Z:3.00 [[-1.28257483e-01 -9.91740378e-01 1.02017509e-03 1.53495235e+02] [ 9.91692028e-01 -1.28261306e-01 -9.79586731e-03 1.34014814e+02] [ 9.84580614e-03 -2.44693780e-04 9.99951499e-01 3.00242380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:134.04, Z:3.00 [[-1.28935497e-01 -9.91652423e-01 1.05331392e-03 1.53491149e+02] [ 9.91601177e-01 -1.28939546e-01 -1.00845590e-02 1.34041589e+02] [ 1.01361911e-02 -2.55790308e-04 9.99948595e-01 3.00223346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:134.07, Z:3.00 [[-1.30048343e-01 -9.91507029e-01 1.11364057e-03 1.53490425e+02] [ 9.91450099e-01 -1.30052814e-01 -1.06285626e-02 1.34068429e+02] [ 1.06831266e-02 -2.78107902e-04 9.99942895e-01 3.00234609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:134.10, Z:3.00 [[-1.30980033e-01 -9.91384387e-01 1.10798566e-03 1.53487077e+02] [ 9.91328339e-01 -1.30984414e-01 -1.05454808e-02 1.34096418e+02] [ 1.05997539e-02 -2.82869838e-04 9.99943781e-01 3.00223270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:134.12, Z:3.00 [[-1.32017511e-01 -9.91246807e-01 1.06950290e-03 1.53481466e+02] [ 9.91194823e-01 -1.32021545e-01 -1.01555626e-02 1.34123977e+02] [ 1.02078664e-02 -2.80626365e-04 9.99947859e-01 3.00210005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:134.15, Z:3.00 [[-1.32285430e-01 -9.91211085e-01 1.07225423e-03 1.53478500e+02] [ 9.91159102e-01 -1.32289478e-01 -1.01552720e-02 1.34151404e+02] [ 1.02078661e-02 -2.80619984e-04 9.99947859e-01 3.00246688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:134.18, Z:3.00 [[-1.33081292e-01 -9.91104537e-01 1.07999405e-03 1.53476064e+02] [ 9.91052070e-01 -1.33085364e-01 -1.02019803e-02 1.34178970e+02] [ 1.02549604e-02 -2.87362380e-04 9.99947375e-01 3.00271737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:134.21, Z:3.00 [[-1.34744972e-01 -9.90879666e-01 1.13108899e-03 1.53473539e+02] [ 9.90822424e-01 -1.34749351e-01 -1.06553896e-02 1.34207265e+02] [ 1.07106224e-02 -3.15051837e-04 9.99942590e-01 3.00270541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:134.24, Z:3.00 [[-1.35850187e-01 -9.90728708e-01 1.16363826e-03 1.53470920e+02] [ 9.90668421e-01 -1.35854763e-01 -1.09344717e-02 1.34235440e+02] [ 1.09911809e-02 -3.32670356e-04 9.99939540e-01 3.00268680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:134.26, Z:3.00 [[-1.36752085e-01 -9.90604535e-01 1.23365187e-03 1.53468580e+02] [ 9.90537123e-01 -1.36757178e-01 -1.15621460e-02 1.34263187e+02] [ 1.16222250e-02 -3.59169607e-04 9.99932395e-01 3.00279061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.47, Y:134.29, Z:3.00 [[-1.38550401e-01 -9.90354627e-01 1.22476805e-03 1.53465360e+02] [ 9.90288511e-01 -1.38555311e-01 -1.14494603e-02 1.34291004e+02] [ 1.15087241e-02 -3.73453587e-04 9.99933703e-01 3.00280601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:134.32, Z:3.00 [[-1.39657159e-01 -9.90199196e-01 1.19616059e-03 1.53462938e+02] [ 9.90136415e-01 -1.39661781e-01 -1.11564447e-02 1.34318215e+02] [ 1.12141605e-02 -3.73715215e-04 9.99937050e-01 3.00348602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:134.35, Z:3.00 [[-1.41063916e-01 -9.89999857e-01 1.12002440e-03 1.53458380e+02] [ 9.89945088e-01 -1.41067901e-01 -1.04196813e-02 1.34346542e+02] [ 1.04734825e-02 -3.61078399e-04 9.99945086e-01 3.00435504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:134.37, Z:3.01 [[-1.41498749e-01 -9.89937837e-01 1.08760070e-03 1.53456944e+02] [ 9.89886421e-01 -1.41502491e-01 -1.00954584e-02 1.34373261e+02] [ 1.01477745e-02 -3.51893575e-04 9.99948448e-01 3.00508088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:134.40, Z:3.01 [[-1.42346052e-01 -9.89816325e-01 1.11521333e-03 1.53454730e+02] [ 9.89762563e-01 -1.42349951e-01 -1.03227599e-02 1.34399821e+02] [ 1.03763869e-02 -3.65607720e-04 9.99946097e-01 3.00543771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:134.43, Z:3.01 [[-1.42538906e-01 -9.89788464e-01 1.20699631e-03 1.53450095e+02] [ 9.89725854e-01 -1.42543473e-01 -1.11396457e-02 1.34427339e+02] [ 1.11979423e-02 -3.93237458e-04 9.99937224e-01 3.00514784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:134.45, Z:3.01 [[-1.42758347e-01 -9.89756827e-01 1.21574498e-03 1.53446752e+02] [ 9.89693616e-01 -1.42762978e-01 -1.11927821e-02 1.34454232e+02] [ 1.12516959e-02 -3.94648025e-04 9.99936620e-01 3.00507004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.44, Y:134.48, Z:3.00 [[-1.43051797e-01 -9.89714400e-01 1.26061669e-03 1.53440269e+02] [ 9.89646831e-01 -1.43056771e-01 -1.15719352e-02 1.34481599e+02] [ 1.16332507e-02 -4.07820823e-04 9.99932248e-01 3.00453014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.44, Y:134.51, Z:3.00 [[-1.42887190e-01 -9.89738051e-01 1.35676015e-03 1.53436064e+02] [ 9.89660218e-01 -1.42892978e-01 -1.24197029e-02 1.34508168e+02] [ 1.24861240e-02 -4.31884893e-04 9.99921952e-01 3.00389696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:134.54, Z:3.00 [[-1.42950570e-01 -9.89728771e-01 1.44693589e-03 1.53431406e+02] [ 9.89640595e-01 -1.42957159e-01 -1.32190413e-02 1.34535720e+02] [ 1.32901153e-02 -4.57722980e-04 9.99911578e-01 3.00416553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:134.56, Z:3.00 [[-1.43018208e-01 -9.89718980e-01 1.46054231e-03 1.53427346e+02] [ 9.89629594e-01 -1.43024932e-01 -1.33092552e-02 1.34563663e+02] [ 1.33813164e-02 -4.58069936e-04 9.99910361e-01 3.00435036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:134.59, Z:3.01 [[-1.42631011e-01 -9.89774820e-01 1.48355883e-03 1.53424679e+02] [ 9.89683068e-01 -1.42638000e-01 -1.34842611e-02 1.34591129e+02] [ 1.35579940e-02 -4.55020736e-04 9.99907983e-01 3.00512209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499995 meters Centerline goodness [0,1] 0.9999134742261351 Centerline is valid? [True, True] Translation: X:153.42, Y:134.62, Z:3.01 [[-1.42773905e-01 -9.89754200e-01 1.49557036e-03 1.53420091e+02] [ 9.89661422e-01 -1.42781010e-01 -1.35592169e-02 1.34619198e+02] [ 1.36338309e-02 -4.55794053e-04 9.99906951e-01 3.00538095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.42, Y:134.65, Z:3.01 [[-1.42909996e-01 -9.89734517e-01 1.52253533e-03 1.53416539e+02] [ 9.89638845e-01 -1.42917363e-01 -1.37689753e-02 1.34646102e+02] [ 1.38452269e-02 -4.60964103e-04 9.99904044e-01 3.00515810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:134.67, Z:3.01 [[-1.43194248e-01 -9.89693317e-01 1.59562769e-03 1.53413947e+02] [ 9.89588806e-01 -1.43202328e-01 -1.43905865e-02 1.34671781e+02] [ 1.44707649e-02 -4.81633913e-04 9.99895177e-01 3.00523954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33361786499995 meters Centerline goodness [0,1] 0.999956531188872 Centerline is valid? [True, True] Translation: X:153.41, Y:134.70, Z:3.01 [[-1.43329092e-01 -9.89673690e-01 1.66080115e-03 1.53410744e+02] [ 9.89561127e-01 -1.43337852e-01 -1.49344065e-02 1.34699046e+02] [ 1.50182449e-02 -4.97070682e-04 9.99887096e-01 3.00550084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:134.73, Z:3.01 [[-1.43539754e-01 -9.89643229e-01 1.61812001e-03 1.53407525e+02] [ 9.89536929e-01 -1.43548065e-01 -1.45127285e-02 1.34726457e+02] [ 1.45947015e-02 -4.81963981e-04 9.99893376e-01 3.00625231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:134.75, Z:3.01 [[-1.43734440e-01 -9.89615008e-01 1.59598979e-03 1.53402040e+02] [ 9.89512133e-01 -1.43742523e-01 -1.42767457e-02 1.34753737e+02] [ 1.43578934e-02 -4.72808788e-04 9.99896808e-01 3.00712108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:134.78, Z:3.01 [[-1.44180692e-01 -9.89550139e-01 1.56558878e-03 1.53400312e+02] [ 9.89451664e-01 -1.44188442e-01 -1.39677602e-02 1.34780144e+02] [ 1.40475388e-02 -4.64806905e-04 9.99901220e-01 3.00757400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:134.81, Z:3.01 [[-1.44952697e-01 -9.89437280e-01 1.60759744e-03 1.53394623e+02] [ 9.89334035e-01 -1.44960808e-01 -1.43014457e-02 1.34806484e+02] [ 1.43834222e-02 -4.82582266e-04 9.99896437e-01 3.00755899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:134.83, Z:3.01 [[-1.45908607e-01 -9.89296691e-01 1.65428686e-03 1.53394772e+02] [ 9.89187947e-01 -1.45917110e-01 -1.46766091e-02 1.34833675e+02] [ 1.47609096e-02 -5.05042963e-04 9.99890924e-01 3.00782791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:134.86, Z:3.01 [[-1.47108427e-01 -9.89118973e-01 1.66354763e-03 1.53391991e+02] [ 9.89009544e-01 -1.47116912e-01 -1.47219643e-02 1.34861378e+02] [ 1.48065102e-02 -5.20460526e-04 9.99890242e-01 3.00811310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:134.89, Z:3.01 [[-1.48998184e-01 -9.88835978e-01 1.71777714e-03 1.53389661e+02] [ 9.88719814e-01 -1.49007028e-01 -1.51668869e-02 1.34886951e+02] [ 1.52535243e-02 -5.61438295e-04 9.99883501e-01 3.00852734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:134.91, Z:3.01 [[-1.49940960e-01 -9.88693397e-01 1.75361619e-03 1.53386190e+02] [ 9.88572855e-01 -1.49950082e-01 -1.54493769e-02 1.34913864e+02] [ 1.55376518e-02 -5.82917042e-04 9.99879114e-01 3.00883974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:134.94, Z:3.01 [[-1.50483649e-01 -9.88610870e-01 1.79404598e-03 1.53375537e+02] [ 9.88485335e-01 -1.50493150e-01 -1.57656258e-02 1.34941296e+02] [ 1.58560606e-02 -5.99080747e-04 9.99874105e-01 3.00970135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:134.97, Z:3.01 [[-1.51278689e-01 -9.88489633e-01 1.73300694e-03 1.53372032e+02] [ 9.88373039e-01 -1.51287482e-01 -1.51932417e-02 1.34967727e+02] [ 1.52805441e-02 -5.85556342e-04 9.99883074e-01 3.00990929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:134.99, Z:3.01 [[-1.51531054e-01 -9.88450985e-01 1.72914887e-03 1.53367734e+02] [ 9.88335496e-01 -1.51539801e-01 -1.51207335e-02 1.34994940e+02] [ 1.52081388e-02 -5.82281478e-04 9.99884180e-01 3.01026638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:135.02, Z:3.01 [[-1.51747410e-01 -9.88417749e-01 1.75418006e-03 1.53364422e+02] [ 9.88299504e-01 -1.51756410e-01 -1.52997394e-02 1.35021117e+02] [ 1.53887420e-02 -5.88040541e-04 9.99881413e-01 3.01068436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:135.05, Z:3.01 [[-1.52119596e-01 -9.88360595e-01 1.72103203e-03 1.53357547e+02] [ 9.88247239e-01 -1.52128234e-01 -1.49798419e-02 1.35048588e+02] [ 1.50673030e-02 -5.77922348e-04 9.99886315e-01 3.01130592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:135.08, Z:3.01 [[-1.52391879e-01 -9.88318579e-01 1.76121472e-03 1.53354403e+02] [ 9.88200450e-01 -1.52400915e-01 -1.52915730e-02 1.35075368e+02] [ 1.53813564e-02 -5.89878366e-04 9.99881526e-01 3.01125602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:135.10, Z:3.01 [[-1.52414070e-01 -9.88315107e-01 1.78890011e-03 1.53351914e+02] [ 9.88193866e-01 -1.52423413e-01 -1.54914809e-02 1.35101519e+02] [ 1.55831349e-02 -5.93339545e-04 9.99878400e-01 3.01165831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:135.13, Z:3.01 [[-1.52202063e-01 -9.88347706e-01 1.82890318e-03 1.53346068e+02] [ 9.88221688e-01 -1.52211882e-01 -1.57936081e-02 1.35128044e+02] [ 1.58879572e-02 -5.96457945e-04 9.99873601e-01 3.01180940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:135.16, Z:3.01 [[-1.50552751e-01 -9.88600107e-01 1.92291748e-03 1.53339753e+02] [ 9.88461548e-01 -1.50563864e-01 -1.65617247e-02 1.35156039e+02] [ 1.66624447e-02 -5.92683228e-04 9.99860996e-01 3.01185327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:135.18, Z:3.01 [[-1.49329771e-01 -9.88785583e-01 1.92095331e-03 1.53332236e+02] [ 9.88647924e-01 -1.49341053e-01 -1.65085447e-02 1.35183760e+02] [ 1.66102881e-02 -5.66070683e-04 9.99861879e-01 3.01224839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:135.21, Z:3.01 [[-1.46335263e-01 -9.89233268e-01 1.87971457e-03 1.53326244e+02] [ 9.89102069e-01 -1.46346483e-01 -1.61184656e-02 1.35209914e+02] [ 1.62200120e-02 -4.99470320e-04 9.99868322e-01 3.01230319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:135.24, Z:3.01 [[-1.44518434e-01 -9.89500434e-01 1.82018711e-03 1.53322020e+02] [ 9.89377914e-01 -1.44529194e-01 -1.55773818e-02 1.35236892e+02] [ 1.56768962e-02 -4.50365891e-04 9.99877009e-01 3.01288440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:135.26, Z:3.01 [[-1.43013188e-01 -9.89719104e-01 1.82326209e-03 1.53316009e+02] [ 9.89596628e-01 -1.43024183e-01 -1.55755489e-02 1.35264036e+02] [ 1.56761889e-02 -4.23214880e-04 9.99877031e-01 3.01333937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:135.29, Z:3.01 [[-1.40013961e-01 -9.90147921e-01 1.78463757e-03 1.53308785e+02] [ 9.90031146e-01 -1.40024864e-01 -1.52107928e-02 1.35291608e+02] [ 1.53108285e-02 -3.62876575e-04 9.99882717e-01 3.01410193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:135.32, Z:3.01 [[-1.39071045e-01 -9.90280922e-01 1.71471830e-03 1.53304371e+02] [ 9.90173621e-01 -1.39081224e-01 -1.45812961e-02 1.35319050e+02] [ 1.46780645e-02 -3.29967266e-04 9.99892217e-01 3.01454637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:135.35, Z:3.02 [[-1.38482818e-01 -9.90363356e-01 1.71219547e-03 1.53300250e+02] [ 9.90256875e-01 -1.38493042e-01 -1.45257760e-02 1.35346742e+02] [ 1.46229234e-02 -3.16057057e-04 9.99893029e-01 3.01549430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:135.37, Z:3.02 [[-1.37933366e-01 -9.90440110e-01 1.66564066e-03 1.53296468e+02] [ 9.90339804e-01 -1.37943107e-01 -1.40986407e-02 1.35373823e+02] [ 1.41936229e-02 -2.95122721e-04 9.99899222e-01 3.01595431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:135.40, Z:3.02 [[-1.38007678e-01 -9.90429764e-01 1.66259933e-03 1.53292241e+02] [ 9.90330297e-01 -1.38017386e-01 -1.40393467e-02 1.35401569e+02] [ 1.41344545e-02 -2.91015149e-04 9.99900061e-01 3.01653929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:135.43, Z:3.02 [[-1.38711150e-01 -9.90331521e-01 1.64151958e-03 1.53289555e+02] [ 9.90234996e-01 -1.38720553e-01 -1.38297342e-02 1.35428137e+02] [ 1.39237343e-02 -2.92848207e-04 9.99903017e-01 3.01650971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:135.45, Z:3.02 [[-1.39545723e-01 -9.90214326e-01 1.60605663e-03 1.53287077e+02] [ 9.90122403e-01 -1.39554657e-01 -1.34953308e-02 1.35454245e+02] [ 1.35874025e-02 -2.93023040e-04 9.99907644e-01 3.01695762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:135.48, Z:3.02 [[-1.41607161e-01 -9.89921717e-01 1.55139750e-03 1.53286178e+02] [ 9.89836366e-01 -1.41615330e-01 -1.30025562e-02 1.35481019e+02] [ 1.30912144e-02 -3.05625407e-04 9.99914260e-01 3.01715065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:135.51, Z:3.02 [[-1.43130441e-01 -9.89702669e-01 1.51792401e-03 1.53282708e+02] [ 9.89621324e-01 -1.43138144e-01 -1.26928196e-02 1.35508896e+02] [ 1.27793902e-02 -3.14558900e-04 9.99918291e-01 3.01758248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:135.54, Z:3.02 [[-1.46332700e-01 -9.89234125e-01 1.60823398e-03 1.53278217e+02] [ 9.89143208e-01 -1.46341063e-01 -1.34166749e-02 1.35537324e+02] [ 1.35075834e-02 -3.72524551e-04 9.99908699e-01 3.01696463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:135.56, Z:3.02 [[-1.48035644e-01 -9.88980666e-01 1.64023642e-03 1.53277439e+02] [ 9.88886489e-01 -1.48044193e-01 -1.36538796e-02 1.35564595e+02] [ 1.37462504e-02 -3.99253226e-04 9.99905436e-01 3.01654053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:135.59, Z:3.02 [[-1.51219075e-01 -9.88498748e-01 1.73700383e-03 1.53272906e+02] [ 9.88393480e-01 -1.51228333e-01 -1.44333107e-02 1.35593090e+02] [ 1.45299938e-02 -4.65748627e-04 9.99894326e-01 3.01664524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:135.62, Z:3.02 [[-1.53103908e-01 -9.88208577e-01 1.73232534e-03 1.53271654e+02] [ 9.88104311e-01 -1.53112933e-01 -1.43631949e-02 1.35620497e+02] [ 1.44590738e-02 -4.87343135e-04 9.99895343e-01 3.01658867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:135.65, Z:3.02 [[-1.54494633e-01 -9.87992074e-01 1.75195041e-03 1.53274118e+02] [ 9.87885878e-01 -1.54503729e-01 -1.44944723e-02 1.35648254e+02] [ 1.45911067e-02 -5.08591109e-04 9.99893415e-01 3.01699725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:135.68, Z:3.02 [[-1.56116331e-01 -9.87737234e-01 1.68761516e-03 1.53267264e+02] [ 9.87639000e-01 -1.56124621e-01 -1.39394433e-02 1.35675573e+02] [ 1.40319854e-02 -5.09420190e-04 9.99901417e-01 3.01748979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:135.70, Z:3.02 [[-1.57771245e-01 -9.87474304e-01 1.65330473e-03 1.53265419e+02] [ 9.87380424e-01 -1.57779059e-01 -1.36259437e-02 1.35703020e+02] [ 1.37161261e-02 -5.17341369e-04 9.99905796e-01 3.01810269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:135.73, Z:3.02 [[-1.59909370e-01 -9.87130472e-01 1.55738687e-03 1.53264719e+02] [ 9.87047522e-01 -1.59916138e-01 -1.28069242e-02 1.35730225e+02] [ 1.28911564e-02 -5.10732325e-04 9.99916775e-01 3.01876486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:135.76, Z:3.02 [[-1.60758048e-01 -9.86992636e-01 1.54470881e-03 1.53257857e+02] [ 9.86911403e-01 -1.60764652e-01 -1.26731981e-02 1.35758159e+02] [ 1.27566878e-02 -5.12827856e-04 9.99918499e-01 3.01910128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.26, Y:135.79, Z:3.02 [[-1.61531758e-01 -9.86866336e-01 1.52493180e-03 1.53255288e+02] [ 9.86787502e-01 -1.61538145e-01 -1.24841337e-02 1.35785674e+02] [ 1.25665060e-02 -5.11800423e-04 9.99920907e-01 3.01905110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.25, Y:135.81, Z:3.02 [[-1.61576979e-01 -9.86858915e-01 1.53682218e-03 1.53251366e+02] [ 9.86779168e-01 -1.61583475e-01 -1.25560471e-02 1.35813116e+02] [ 1.26393721e-02 -5.12264051e-04 9.99919989e-01 3.01924635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.25, Y:135.84, Z:3.02 [[-1.61225786e-01 -9.86916361e-01 1.53044244e-03 1.53247913e+02] [ 9.86837629e-01 -1.61232271e-01 -1.24759442e-02 1.35840625e+02] [ 1.25594701e-02 -5.01145717e-04 9.99921001e-01 3.01927520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:135.87, Z:3.02 [[-1.59841340e-01 -9.87141578e-01 1.50000843e-03 1.53243404e+02] [ 9.87066284e-01 -1.59847689e-01 -1.22011575e-02 1.35868322e+02] [ 1.22840428e-02 -4.69641624e-04 9.99924438e-01 3.01973688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:135.90, Z:3.02 [[-1.60108050e-01 -9.87098350e-01 1.50330138e-03 1.53239964e+02] [ 9.87023057e-01 -1.60114419e-01 -1.22007517e-02 1.35895694e+02] [ 1.22840421e-02 -4.69645447e-04 9.99924438e-01 3.02010385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:135.92, Z:3.02 [[-1.59085507e-01 -9.87263721e-01 1.46487461e-03 1.53236258e+02] [ 9.87192541e-01 -1.59091640e-01 -1.18632599e-02 1.35923617e+02] [ 1.19452154e-02 -4.41159432e-04 9.99928556e-01 3.02051786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:135.95, Z:3.02 [[-1.58224440e-01 -9.87402033e-01 1.50037898e-03 1.53231493e+02] [ 9.87327712e-01 -1.58230951e-01 -1.21225044e-02 1.35951780e+02] [ 1.22071918e-02 -4.36710718e-04 9.99925394e-01 3.02151562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:135.98, Z:3.02 [[-1.56683136e-01 -9.87647944e-01 1.39071557e-03 1.53225538e+02] [ 9.87584241e-01 -1.56688834e-01 -1.12238902e-02 1.35979379e+02] [ 1.13031617e-02 -3.85145532e-04 9.99936043e-01 3.02180893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:136.01, Z:3.02 [[-1.55972231e-01 -9.87760479e-01 1.37789971e-03 1.53222143e+02] [ 9.87698209e-01 -1.55977879e-01 -1.10973010e-02 1.36006343e+02] [ 1.11763973e-02 -3.69921728e-04 9.99937474e-01 3.02206149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:136.03, Z:3.02 [[-1.55516859e-01 -9.87832313e-01 1.35187708e-03 1.53218029e+02] [ 9.87772634e-01 -1.55522332e-01 -1.08640226e-02 1.36034040e+02] [ 1.09420797e-02 -3.54191488e-04 9.99940071e-01 3.02263462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:136.06, Z:3.02 [[-1.54909766e-01 -9.87927831e-01 1.25135360e-03 1.53214033e+02] [ 9.87876888e-01 -1.54914492e-01 -1.00376346e-02 1.36059856e+02] [ 1.01103114e-02 -3.18744329e-04 9.99948839e-01 3.02285465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:136.09, Z:3.02 [[-1.55122920e-01 -9.87894452e-01 1.19630825e-03 1.53208940e+02] [ 9.87848129e-01 -1.55127237e-01 -9.57151780e-03 1.36087255e+02] [ 9.64122933e-03 -3.02990922e-04 9.99953476e-01 3.02268613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:136.11, Z:3.02 [[-1.55581957e-01 -9.87822377e-01 1.09793842e-03 1.53207838e+02] [ 9.87783536e-01 -1.55585581e-01 -8.76426101e-03 1.36113853e+02] [ 8.82835654e-03 -2.79035393e-04 9.99960990e-01 3.02384250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:136.14, Z:3.02 [[-1.56004464e-01 -9.87755803e-01 1.03944733e-03 1.53202873e+02] [ 9.87721042e-01 -1.56007699e-01 -8.29106796e-03 1.36141150e+02] [ 8.35171227e-03 -2.66759613e-04 9.99965088e-01 3.02414559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:136.17, Z:3.02 [[-1.56351835e-01 -9.87700897e-01 1.02101868e-03 1.53198163e+02] [ 9.87667523e-01 -1.56354949e-01 -8.12363560e-03 1.36169061e+02] [ 8.18336349e-03 -2.61718335e-04 9.99966481e-01 3.02418492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.20, Y:136.20, Z:3.03 [[-1.56021018e-01 -9.87753211e-01 1.01742575e-03 1.53197873e+02] [ 9.87720214e-01 -1.56024127e-01 -8.07784893e-03 1.36196579e+02] [ 8.13766418e-03 -2.55382241e-04 9.99966856e-01 3.02532298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:136.22, Z:3.02 [[-1.55723445e-01 -9.87800216e-01 9.70651036e-04 1.53189434e+02] [ 9.87770308e-01 -1.55726287e-01 -7.69040397e-03 1.36223717e+02] [ 7.74773858e-03 -2.38795928e-04 9.99969957e-01 3.02444002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:136.25, Z:3.03 [[-1.55673331e-01 -9.87808104e-01 9.81678233e-04 1.53185787e+02] [ 9.87777649e-01 -1.55676243e-01 -7.76035463e-03 1.36251451e+02] [ 7.81856517e-03 -2.38400435e-04 9.99969406e-01 3.02501784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:136.28, Z:3.03 [[-1.55301907e-01 -9.87866551e-01 9.97289514e-04 1.53182139e+02] [ 9.87835267e-01 -1.55304929e-01 -7.86537122e-03 1.36279807e+02] [ 7.92482112e-03 -2.36349393e-04 9.99968570e-01 3.02539895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:136.31, Z:3.03 [[-1.54523896e-01 -9.87988564e-01 9.81503504e-04 1.53179655e+02] [ 9.87958377e-01 -1.54526851e-01 -7.72639823e-03 1.36306700e+02] [ 7.78526173e-03 -2.24228551e-04 9.99969669e-01 3.02550758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:136.33, Z:3.03 [[-1.54367910e-01 -9.88012916e-01 1.01290749e-03 1.53174482e+02] [ 9.87980906e-01 -1.54371065e-01 -7.95637716e-03 1.36333859e+02] [ 8.01736701e-03 -2.27476056e-04 9.99967835e-01 3.02520041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:136.36, Z:3.03 [[-1.54077968e-01 -9.88058168e-01 1.01796991e-03 1.53170873e+02] [ 9.88025994e-01 -1.54081169e-01 -7.97679992e-03 1.36360436e+02] [ 8.03839231e-03 -2.23268391e-04 9.99967667e-01 3.02545946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:136.39, Z:3.02 [[-1.53162452e-01 -9.88200474e-01 1.04199223e-03 1.53166781e+02] [ 9.88166943e-01 -1.53165841e-01 -8.14358493e-03 1.36388633e+02] [ 8.20709211e-03 -2.17629160e-04 9.99966298e-01 3.02476418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:136.42, Z:3.02 [[-1.52742167e-01 -9.88265433e-01 1.12459172e-03 1.53163190e+02] [ 9.88226548e-01 -1.52746136e-01 -8.76974541e-03 1.36416001e+02] [ 8.83861329e-03 -2.28158517e-04 9.99960913e-01 3.02484260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:136.44, Z:3.02 [[-1.52254458e-01 -9.88340672e-01 1.13881902e-03 1.53159422e+02] [ 9.88300987e-01 -1.52258553e-01 -8.85954647e-03 1.36443132e+02] [ 8.92964504e-03 -2.23409480e-04 9.99960105e-01 3.02496801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:136.47, Z:3.02 [[-1.50033216e-01 -9.88680247e-01 1.18430265e-03 1.53153645e+02] [ 9.88637561e-01 -1.50037746e-01 -9.18949494e-03 1.36470702e+02] [ 9.26316223e-03 -2.07883396e-04 9.99957074e-01 3.02438933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:136.50, Z:3.02 [[-1.49117194e-01 -9.88818783e-01 1.21545575e-03 1.53150577e+02] [ 9.88774012e-01 -1.49122011e-01 -9.41161786e-03 1.36497461e+02] [ 9.48763572e-03 -2.01622989e-04 9.99954971e-01 3.02448823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:136.52, Z:3.02 [[-1.48265997e-01 -9.88946742e-01 1.23943100e-03 1.53148374e+02] [ 9.88900387e-01 -1.48271050e-01 -9.57703562e-03 1.36523826e+02] [ 9.65494991e-03 -1.94274942e-04 9.99953371e-01 3.02496731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:136.55, Z:3.03 [[-1.46095397e-01 -9.89269782e-01 1.19706302e-03 1.53142247e+02] [ 9.89226770e-01 -1.46100209e-01 -9.22644939e-03 1.36551527e+02] [ 9.30233873e-03 -1.63774999e-04 9.99956719e-01 3.02503420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:136.58, Z:3.03 [[-1.45348021e-01 -9.89379848e-01 1.21192208e-03 1.53141845e+02] [ 9.89335945e-01 -1.45352990e-01 -9.32182351e-03 1.36578476e+02] [ 9.39898083e-03 -1.55910525e-04 9.99955816e-01 3.02606963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.14, Y:136.61, Z:3.03 [[-1.44714427e-01 -9.89472605e-01 1.30296250e-03 1.53139396e+02] [ 9.89422108e-01 -1.44720207e-01 -9.99769896e-03 1.36605930e+02] [ 1.00810142e-02 -1.57631373e-04 9.99949173e-01 3.02578660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.63, Z:3.03 [[-1.45143682e-01 -9.89409721e-01 1.30962265e-03 1.53134923e+02] [ 9.89358939e-01 -1.45149502e-01 -1.00255641e-02 1.36633449e+02] [ 1.01094816e-02 -1.59460408e-04 9.99948885e-01 3.02511222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.66, Z:3.03 [[-1.45424955e-01 -9.89368349e-01 1.36118659e-03 1.53134685e+02] [ 9.89313728e-01 -1.45431232e-01 -1.03973439e-02 1.36661134e+02] [ 1.04847620e-02 -1.65392696e-04 9.99945020e-01 3.02572398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.69, Z:3.03 [[-1.46184896e-01 -9.89256350e-01 1.36036931e-03 1.53132960e+02] [ 9.89202030e-01 -1.46191127e-01 -1.03681422e-02 1.36687700e+02] [ 1.04556244e-02 -1.69985711e-04 9.99945324e-01 3.02596061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.71, Z:3.03 [[-1.47977566e-01 -9.88989768e-01 1.37039304e-03 1.53133147e+02] [ 9.88934897e-01 -1.47983793e-01 -1.04195018e-02 1.36714956e+02] [ 1.05075766e-02 -1.86623014e-04 9.99944776e-01 3.02589050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.74, Z:3.03 [[-1.49212686e-01 -9.88804146e-01 1.39123342e-03 1.53129767e+02] [ 9.88747832e-01 -1.49219038e-01 -1.05547479e-02 1.36742050e+02] [ 1.06441770e-02 -1.99323245e-04 9.99943329e-01 3.02607796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.77, Z:3.03 [[-1.51864027e-01 -9.88400490e-01 1.33712540e-03 1.53128727e+02] [ 9.88348692e-01 -1.51869760e-01 -1.01212471e-02 1.36770991e+02] [ 1.02069145e-02 -2.15507199e-04 9.99947885e-01 3.02655156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.80, Z:3.03 [[-1.53229439e-01 -9.88189792e-01 1.29356682e-03 1.53131571e+02] [ 9.88141492e-01 -1.53234742e-01 -9.77269548e-03 1.36799396e+02] [ 9.85549729e-03 -2.19237598e-04 9.99951409e-01 3.02754910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.83, Z:3.03 [[-1.54425509e-01 -9.88003598e-01 1.28519649e-03 1.53124906e+02] [ 9.87956087e-01 -1.54430690e-01 -9.69188649e-03 1.36827000e+02] [ 9.77409251e-03 -2.26956809e-04 9.99952207e-01 3.02716226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:136.85, Z:3.03 [[-1.56539479e-01 -9.87670788e-01 1.34418545e-03 1.53128504e+02] [ 9.87619025e-01 -1.56545041e-01 -1.01149613e-02 1.36854801e+02] [ 1.02006774e-02 -2.55847655e-04 9.99947939e-01 3.02752269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.88, Z:3.03 [[-1.57887300e-01 -9.87456174e-01 1.38005793e-03 1.53123959e+02] [ 9.87401817e-01 -1.57893094e-01 -1.03644786e-02 1.36882083e+02] [ 1.04523700e-02 -2.73747837e-04 9.99945335e-01 3.02736836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.91, Z:3.03 [[-1.58897162e-01 -9.87294042e-01 1.47220199e-03 1.53121753e+02] [ 9.87232450e-01 -1.58903699e-01 -1.10319815e-02 1.36910569e+02] [ 1.11257479e-02 -2.99544963e-04 9.99938062e-01 3.02761442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.94, Z:3.03 [[-1.59724383e-01 -9.87160561e-01 1.46599319e-03 1.53119524e+02] [ 9.87099731e-01 -1.59730821e-01 -1.09629410e-02 1.36938648e+02] [ 1.10563473e-02 -3.03967504e-04 9.99938831e-01 3.02817690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.97, Z:3.03 [[-1.60585303e-01 -9.87020938e-01 1.42410085e-03 1.53119696e+02] [ 9.86963753e-01 -1.60591335e-01 -1.06288811e-02 1.36965553e+02] [ 1.07196265e-02 -3.01306184e-04 9.99942498e-01 3.02934006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:136.99, Z:3.03 [[-1.61008325e-01 -9.86951970e-01 1.45856411e-03 1.53117179e+02] [ 9.86892244e-01 -1.61014634e-01 -1.08621370e-02 1.36992443e+02] [ 1.09552577e-02 -3.09448877e-04 9.99939941e-01 3.02973438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:137.02, Z:3.03 [[-1.59907519e-01 -9.87130799e-01 1.53964883e-03 1.53116057e+02] [ 9.87064578e-01 -1.59914632e-01 -1.14380508e-02 1.37019192e+02] [ 1.15370646e-02 -3.09297506e-04 9.99933398e-01 3.02945507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:137.05, Z:3.03 [[-1.58932306e-01 -9.87288105e-01 1.64913010e-03 1.53110890e+02] [ 9.87212460e-01 -1.58940550e-01 -1.22253925e-02 1.37046475e+02] [ 1.23320982e-02 -3.14968033e-04 9.99923907e-01 3.02978926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94361786499996 meters Centerline goodness [0,1] 0.999978288245256 Centerline is valid? [True, True] Translation: X:153.11, Y:137.07, Z:3.03 [[-1.57658076e-01 -9.87492252e-01 1.72709489e-03 1.53109334e+02] [ 9.87409651e-01 -1.57667233e-01 -1.27759271e-02 1.37073630e+02] [ 1.28884353e-02 -3.08877918e-04 9.99916893e-01 3.03020563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:137.10, Z:3.03 [[-1.54646361e-01 -9.87968337e-01 1.75175345e-03 1.53106151e+02] [ 9.87883737e-01 -1.54656047e-01 -1.29317374e-02 1.37100128e+02] [ 1.30470663e-02 -2.69317377e-04 9.99914847e-01 3.03090348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:137.13, Z:3.03 [[-1.53175737e-01 -9.88197387e-01 1.76569763e-03 1.53101730e+02] [ 9.88111769e-01 -1.53185713e-01 -1.30103664e-02 1.37127518e+02] [ 1.31272897e-02 -2.48165859e-04 9.99913803e-01 3.03143459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03361786499997 meters Centerline goodness [0,1] 0.9999564507348938 Centerline is valid? [True, True] Translation: X:153.10, Y:137.15, Z:3.03 [[-1.51669936e-01 -9.88429609e-01 1.77140109e-03 1.53097313e+02] [ 9.88343787e-01 -1.51680113e-01 -1.30270027e-02 1.37154890e+02] [ 1.31449615e-02 -2.25051396e-04 9.99913576e-01 3.03188653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:137.18, Z:3.03 [[-1.48611610e-01 -9.88894095e-01 1.74886013e-03 1.53092585e+02] [ 9.88810798e-01 -1.48621793e-01 -1.28362147e-02 1.37183157e+02] [ 1.29535756e-02 -1.78318755e-04 9.99916083e-01 3.03360775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:137.21, Z:3.03 [[-1.47408503e-01 -9.89074274e-01 1.67725904e-03 1.53089514e+02] [ 9.88997963e-01 -1.47417966e-01 -1.22871110e-02 1.37209985e+02] [ 1.24001235e-02 -1.52418868e-04 9.99923104e-01 3.03446955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:137.24, Z:3.04 [[-1.46637263e-01 -9.89188911e-01 1.67652597e-03 1.53086062e+02] [ 9.89112895e-01 -1.46646779e-01 -1.22638714e-02 1.37237602e+02] [ 1.23771428e-02 -1.40067080e-04 9.99923390e-01 3.03565222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.08, Y:137.26, Z:3.04 [[-1.45289496e-01 -9.89387812e-01 1.64898249e-03 1.53083251e+02] [ 9.89314573e-01 -1.45298806e-01 -1.20387935e-02 1.37264239e+02] [ 1.21506308e-02 -1.17747836e-04 9.99926171e-01 3.03656940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.08, Y:137.29, Z:3.04 [[-1.45182536e-01 -9.89403540e-01 1.63278679e-03 1.53080415e+02] [ 9.89332052e-01 -1.45191674e-01 -1.18940407e-02 1.37291144e+02] [ 1.20050730e-02 -1.11438684e-04 9.99927930e-01 3.03715998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21361786499995 meters Centerline goodness [0,1] 0.9999343214309171 Centerline is valid? [True, True] Translation: X:153.08, Y:137.32, Z:3.04 [[-1.45125796e-01 -9.89411969e-01 1.56782936e-03 1.53078788e+02] [ 9.89346335e-01 -1.45134228e-01 -1.13967605e-02 1.37317422e+02] [ 1.15036369e-02 -1.02837710e-04 9.99933826e-01 3.03857985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:137.35, Z:3.04 [[-1.45456782e-01 -9.89363446e-01 1.51519813e-03 1.53074572e+02] [ 9.89302423e-01 -1.45464639e-01 -1.09888125e-02 1.37345119e+02] [ 1.10923372e-02 -9.94081242e-05 9.99938473e-01 3.03894728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:137.37, Z:3.04 [[-1.46627612e-01 -9.89190672e-01 1.46907300e-03 1.53073347e+02] [ 9.89133520e-01 -1.46634933e-01 -1.06337268e-02 1.37373201e+02] [ 1.07342008e-02 -1.06088616e-04 9.99942381e-01 3.04044841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:137.40, Z:3.04 [[-1.47637348e-01 -9.89040485e-01 1.46064713e-03 1.53071406e+02] [ 9.88984203e-01 -1.47644530e-01 -1.05517504e-02 1.37400817e+02] [ 1.06517649e-02 -1.13275507e-04 9.99943262e-01 3.04112309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:137.43, Z:3.04 [[-1.48651323e-01 -9.88888567e-01 1.47845929e-03 1.53070125e+02] [ 9.88831135e-01 -1.48658624e-01 -1.06583083e-02 1.37427222e+02] [ 1.07596650e-02 -1.22425054e-04 9.99942106e-01 3.04138160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499995 meters Centerline goodness [0,1] 0.9999346661439958 Centerline is valid? [True, True] Translation: X:153.07, Y:137.45, Z:3.04 [[-1.48809619e-01 -9.88864837e-01 1.42549370e-03 1.53065948e+02] [ 9.88811621e-01 -1.48816400e-01 -1.02594753e-02 1.37452803e+02] [ 1.03573712e-02 -1.17163865e-04 9.99946354e-01 3.04246792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:137.48, Z:3.04 [[-1.48273935e-01 -9.88945309e-01 1.41973409e-03 1.53060014e+02] [ 9.88892684e-01 -1.48280692e-01 -1.02027078e-02 1.37479197e+02] [ 1.03004392e-02 -1.08830983e-04 9.99946943e-01 3.04250470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:137.51, Z:3.04 [[-1.48095359e-01 -9.88971908e-01 1.52672842e-03 1.53055389e+02] [ 9.88911339e-01 -1.48103186e-01 -1.09457787e-02 1.37506120e+02] [ 1.10511810e-02 -1.11219974e-04 9.99938928e-01 3.04242658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:137.53, Z:3.04 [[-1.47092046e-01 -9.89121243e-01 1.75959645e-03 1.53048394e+02] [ 9.89041201e-01 -1.47102528e-01 -1.25836495e-02 1.37533411e+02] [ 1.27055961e-02 -1.10641354e-04 9.99919275e-01 3.04157605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499996 meters Centerline goodness [0,1] 0.9999781047468909 Centerline is valid? [True, True] Translation: X:153.05, Y:137.56, Z:3.04 [[-1.47979356e-01 -9.88988520e-01 1.95369449e-03 1.53046368e+02] [ 9.88890270e-01 -1.47992194e-01 -1.39407191e-02 1.37560476e+02] [ 1.40763427e-02 -1.30949155e-04 9.99900915e-01 3.04107611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:137.59, Z:3.04 [[-1.49495268e-01 -9.88760132e-01 2.13711727e-03 1.53044198e+02] [ 9.88643078e-01 -1.49510455e-01 -1.52147411e-02 1.37588125e+02] [ 1.53632508e-02 -1.61685600e-04 9.99881965e-01 3.04069119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:137.61, Z:3.04 [[-1.49780293e-01 -9.88716986e-01 2.14150827e-03 1.53040348e+02] [ 9.88599936e-01 -1.49795515e-01 -1.52141231e-02 1.37614597e+02] [ 1.53632503e-02 -1.61680883e-04 9.99881965e-01 3.04104677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:137.64, Z:3.04 [[-1.53211507e-01 -9.88190681e-01 2.32652235e-03 1.53036712e+02] [ 9.88053071e-01 -1.53229000e-01 -1.64924922e-02 1.37642740e+02] [ 1.66542178e-02 -2.28112031e-04 9.99861283e-01 3.04172541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:137.67, Z:3.04 [[-1.55457830e-01 -9.87839644e-01 2.38771073e-03 1.53032467e+02] [ 9.87695208e-01 -1.55475935e-01 -1.68941046e-02 1.37671120e+02] [ 1.70598978e-02 -2.67990402e-04 9.99854433e-01 3.04186891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:137.70, Z:3.04 [[-1.57874518e-01 -9.87456345e-01 2.36706528e-03 1.53031423e+02] [ 9.87314853e-01 -1.57891973e-01 -1.67184120e-02 1.37698056e+02] [ 1.68824426e-02 -3.02372524e-04 9.99857436e-01 3.04103135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66361786499996 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:153.02, Y:137.73, Z:3.04 [[-1.63093517e-01 -9.86607801e-01 2.35623955e-03 1.53024945e+02] [ 9.86467943e-01 -1.63110081e-01 -1.66162398e-02 1.37725231e+02] [ 1.67780382e-02 -3.85646200e-04 9.99859164e-01 3.04248122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:137.75, Z:3.04 [[-1.65978814e-01 -9.86126641e-01 2.29793773e-03 1.53023579e+02] [ 9.85994085e-01 -1.65994193e-01 -1.61738051e-02 1.37752619e+02] [ 1.63308644e-02 -4.18755984e-04 9.99866555e-01 3.04281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:137.78, Z:3.04 [[-1.68897911e-01 -9.85630862e-01 2.30216541e-03 1.53018857e+02] [ 9.85498280e-01 -1.68912966e-01 -1.61725233e-02 1.37780135e+02] [ 1.63290037e-02 -4.62725341e-04 9.99866566e-01 3.04389340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:137.81, Z:3.04 [[-1.71766688e-01 -9.85134837e-01 2.35760447e-03 1.53016312e+02] [ 9.84996292e-01 -1.71782090e-01 -1.65293393e-02 1.37808295e+02] [ 1.66886222e-02 -5.16958213e-04 9.99860602e-01 3.04452430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78361786499997 meters Centerline goodness [0,1] 0.9999562679028273 Centerline is valid? [True, True] Translation: X:153.02, Y:137.84, Z:3.04 [[-1.76542958e-01 -9.84289889e-01 2.44932800e-03 1.53018503e+02] [ 9.84140809e-01 -1.76558875e-01 -1.71415235e-02 1.37835789e+02] [ 1.73046788e-02 -6.15731628e-04 9.99850073e-01 3.04486893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:137.86, Z:3.05 [[-1.78169211e-01 -9.83996733e-01 2.48219406e-03 1.53010269e+02] [ 9.83844072e-01 -1.78185321e-01 -1.73445231e-02 1.37863406e+02] [ 1.75092447e-02 -6.48168083e-04 9.99846491e-01 3.04591528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84361786499997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:137.89, Z:3.05 [[-1.79431937e-01 -9.83767079e-01 2.55226432e-03 1.53007297e+02] [ 9.83606201e-01 -1.79448784e-01 -1.78037820e-02 1.37890448e+02] [ 1.79727753e-02 -6.84144069e-04 9.99838243e-01 3.04594011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:137.92, Z:3.05 [[-1.80118619e-01 -9.83641528e-01 2.57427990e-03 1.53002155e+02] [ 9.83478324e-01 -1.80135661e-01 -1.79312322e-02 1.37917717e+02] [ 1.81016243e-02 -6.98000296e-04 9.99835909e-01 3.04614376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:137.94, Z:3.05 [[-1.79982819e-01 -9.83666370e-01 2.58026842e-03 1.53000093e+02] [ 9.83503114e-01 -1.79999991e-01 -1.79339777e-02 1.37943717e+02] [ 1.81054991e-02 -6.90105852e-04 9.99835844e-01 3.04625072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.99, Y:137.97, Z:3.05 [[-1.79015496e-01 -9.83842916e-01 2.56312039e-03 1.52988881e+02] [ 9.83682523e-01 -1.79032624e-01 -1.77767804e-02 1.37970332e+02] [ 1.79484416e-02 -6.61022427e-04 9.99838695e-01 3.04726885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:138.00, Z:3.05 [[-1.78238578e-01 -9.83983933e-01 2.57467511e-03 1.52984078e+02] [ 9.83822712e-01 -1.78256010e-01 -1.78232048e-02 1.37997570e+02] [ 1.79966985e-02 -6.43758825e-04 9.99837839e-01 3.04808880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:138.02, Z:3.05 [[-1.77497374e-01 -9.84118188e-01 2.46480541e-03 1.52978794e+02] [ 9.83970985e-01 -1.77513480e-01 -1.70312769e-02 1.38024849e+02] [ 1.71983255e-02 -5.97709904e-04 9.99851919e-01 3.04877508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.97, Y:138.05, Z:3.05 [[-1.76661374e-01 -9.84268742e-01 2.40882638e-03 1.52974374e+02] [ 9.84128701e-01 -1.76676894e-01 -1.66125056e-02 1.38051263e+02] [ 1.67767539e-02 -5.64192880e-04 9.99859101e-01 3.05011077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.97, Y:138.08, Z:3.05 [[-1.75745796e-01 -9.84432757e-01 2.35825214e-03 1.52967967e+02] [ 9.84299039e-01 -1.75760813e-01 -1.62338438e-02 1.38078317e+02] [ 1.63956159e-02 -5.31804486e-04 9.99865441e-01 3.05120474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:138.11, Z:3.05 [[-1.73893635e-01 -9.84761865e-01 2.25242993e-03 1.52960361e+02] [ 9.84640338e-01 -1.73907577e-01 -1.54776896e-02 1.38106040e+02] [ 1.56335531e-02 -4.73638338e-04 9.99877676e-01 3.05222640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:138.13, Z:3.05 [[-1.73618127e-01 -9.84810621e-01 2.18813757e-03 1.52955071e+02] [ 9.84696217e-01 -1.73631325e-01 -1.50174536e-02 1.38133746e+02] [ 1.51692770e-02 -4.52651366e-04 9.99884837e-01 3.05286160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:138.16, Z:3.05 [[-1.73467115e-01 -9.84837294e-01 2.15978727e-03 1.52950039e+02] [ 9.84726250e-01 -1.73480003e-01 -1.47952779e-02 1.38161576e+02] [ 1.49456213e-02 -4.39694954e-04 9.99888211e-01 3.05336949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17361786499995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:138.19, Z:3.05 [[-1.74084932e-01 -9.84727943e-01 2.30546941e-03 1.52946381e+02] [ 9.84601882e-01 -1.74099551e-01 -1.57632279e-02 1.38187860e+02] [ 1.59238721e-02 -4.74170920e-04 9.99873095e-01 3.05308191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:138.22, Z:3.05 [[-1.75104394e-01 -9.84547039e-01 2.36182824e-03 1.52942303e+02] [ 9.84415095e-01 -1.75119612e-01 -1.61258158e-02 1.38215845e+02] [ 1.62902266e-02 -4.98681832e-04 9.99867181e-01 3.05288630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23361786499996 meters Centerline goodness [0,1] 0.9999350775822892 Centerline is valid? [True, True] Translation: X:152.94, Y:138.24, Z:3.05 [[-1.76306688e-01 -9.84332175e-01 2.47420661e-03 1.52940961e+02] [ 9.84187875e-01 -1.76323228e-01 -1.68625552e-02 1.38243058e+02] [ 1.70346157e-02 -5.37897108e-04 9.99854756e-01 3.05289110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:138.27, Z:3.05 [[-1.79230558e-01 -9.83803920e-01 2.50066447e-03 1.52934952e+02] [ 9.83656898e-01 -1.79247030e-01 -1.70178852e-02 1.38270327e+02] [ 1.71904989e-02 -5.90329215e-04 9.99852058e-01 3.05337769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:138.30, Z:3.05 [[-1.80980104e-01 -9.83483614e-01 2.48651361e-03 1.52932318e+02] [ 9.83338727e-01 -1.80996150e-01 -1.68920475e-02 1.38296759e+02] [ 1.70631013e-02 -6.12039395e-04 9.99854227e-01 3.05378232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:138.32, Z:3.05 [[-1.82779117e-01 -9.83151006e-01 2.42769700e-03 1.52925861e+02] [ 9.83013282e-01 -1.82794176e-01 -1.64674675e-02 1.38323976e+02] [ 1.66337762e-02 -6.23450785e-04 9.99861455e-01 3.05439361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:138.35, Z:3.06 [[-1.86074857e-01 -9.82532746e-01 2.35588990e-03 1.52920993e+02] [ 9.82403475e-01 -1.86088622e-01 -1.59510581e-02 1.38351686e+02] [ 1.61108413e-02 -6.53656423e-04 9.99869998e-01 3.05588921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:138.38, Z:3.06 [[-1.87547184e-01 -9.82252882e-01 2.30865563e-03 1.52922936e+02] [ 9.82129170e-01 -1.87560236e-01 -1.56029436e-02 1.38379244e+02] [ 1.57590483e-02 -6.58890100e-04 9.99875601e-01 3.05598378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41361786499996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:138.41, Z:3.06 [[-1.88865955e-01 -9.82000287e-01 2.25552404e-03 1.52913565e+02] [ 9.81882511e-01 -1.88878269e-01 -1.52228120e-02 1.38406198e+02] [ 1.53748252e-02 -6.60411326e-04 9.99881582e-01 3.05699633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44361786499996 meters Centerline goodness [0,1] 0.9999784045264113 Centerline is valid? [True, True] Translation: X:152.91, Y:138.43, Z:3.06 [[-1.90052609e-01 -9.81771168e-01 2.31954052e-03 1.52909281e+02] [ 9.81647041e-01 -1.90065500e-01 -1.56266495e-02 1.38434654e+02] [ 1.57826586e-02 -6.92915419e-04 9.99875206e-01 3.05707784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47361786499997 meters Centerline goodness [0,1] 0.9997855411868151 Centerline is valid? [True, True] Translation: X:152.91, Y:138.46, Z:3.06 [[-1.89943907e-01 -9.81792322e-01 2.26911763e-03 1.52906360e+02] [ 9.81673932e-01 -1.89956274e-01 -1.52612502e-02 1.38461508e+02] [ 1.54144114e-02 -6.71247861e-04 9.99880966e-01 3.05616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50361786499997 meters Centerline goodness [0,1] 0.9994851663556213 Centerline is valid? [True, True] Translation: X:152.90, Y:138.49, Z:3.06 [[-1.89734095e-01 -9.81833085e-01 2.18304230e-03 1.52900187e+02] [ 9.81723809e-01 -1.89745578e-01 -1.46621378e-02 1.38488783e+02] [ 1.48099946e-02 -6.38762844e-04 9.99890122e-01 3.05572263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53361786499997 meters Centerline goodness [0,1] 0.999399025562877 Centerline is valid? [True, True] Translation: X:152.90, Y:138.52, Z:3.06 [[-1.88649822e-01 -9.82042230e-01 2.07442529e-03 1.52895693e+02] [ 9.81943912e-01 -1.88660314e-01 -1.39082416e-02 1.38515889e+02] [ 1.40498423e-02 -5.86818011e-04 9.99901124e-01 3.05637921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56361786499997 meters Centerline goodness [0,1] 0.9992717146835172 Centerline is valid? [True, True] Translation: X:152.89, Y:138.54, Z:3.06 [[-1.87983073e-01 -9.82170243e-01 1.99443531e-03 1.52889879e+02] [ 9.82079577e-01 -1.87992842e-01 -1.33565238e-02 1.38544063e+02] [ 1.34933198e-02 -5.52106200e-04 9.99908809e-01 3.05718968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59361786499997 meters Centerline goodness [0,1] 0.9992550179859944 Centerline is valid? [True, True] Translation: X:152.89, Y:138.57, Z:3.06 [[-1.86751962e-01 -9.82405154e-01 1.95381283e-03 1.52885220e+02] [ 9.82318458e-01 -1.86761458e-01 -1.30615735e-02 1.38571031e+02] [ 1.31966540e-02 -5.20008062e-04 9.99912785e-01 3.05761301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62361786499994 meters Centerline goodness [0,1] 0.9991879647833148 Centerline is valid? [True, True] Translation: X:152.88, Y:138.60, Z:3.06 [[-1.85422331e-01 -9.82657046e-01 1.92075982e-03 1.52878567e+02] [ 9.82573563e-01 -1.85431633e-01 -1.28180871e-02 1.38598635e+02] [ 1.29519532e-02 -4.89471762e-04 9.99916000e-01 3.05775024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65361786499994 meters Centerline goodness [0,1] 0.9990178704870082 Centerline is valid? [True, True] Translation: X:152.87, Y:138.63, Z:3.06 [[-1.82647960e-01 -9.83176365e-01 1.98951536e-03 1.52870433e+02] [ 9.83087169e-01 -1.82658205e-01 -1.32513399e-02 1.38625820e+02] [ 1.33918055e-02 -4.64463171e-04 9.99910218e-01 3.05712810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499995 meters Centerline goodness [0,1] 0.9989105124863814 Centerline is valid? [True, True] Translation: X:152.87, Y:138.65, Z:3.06 [[-1.81747965e-01 -9.83343137e-01 1.98782531e-03 1.52865103e+02] [ 9.83254424e-01 -1.81758285e-01 -1.32160636e-02 1.38653129e+02] [ 1.33572292e-02 -4.47454647e-04 9.99910688e-01 3.05733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71361786499995 meters Centerline goodness [0,1] 0.9989535281052452 Centerline is valid? [True, True] Translation: X:152.86, Y:138.68, Z:3.06 [[-1.81531244e-01 -9.83383180e-01 1.98223939e-03 1.52864316e+02] [ 9.83295295e-01 -1.81541536e-01 -1.31542362e-02 1.38679123e+02] [ 1.32955134e-02 -4.38778199e-04 9.99911515e-01 3.05789669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499995 meters Centerline goodness [0,1] 0.9988241330653782 Centerline is valid? [True, True] Translation: X:152.86, Y:138.71, Z:3.06 [[-1.82002286e-01 -9.83296252e-01 1.91033719e-03 1.52856237e+02] [ 9.83214953e-01 -1.82011817e-01 -1.26513178e-02 1.38705186e+02] [ 1.27876973e-02 -4.24296668e-04 9.99918144e-01 3.05873741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77361786499995 meters Centerline goodness [0,1] 0.9983761030747206 Centerline is valid? [True, True] Translation: X:152.85, Y:138.73, Z:3.06 [[-1.84111632e-01 -9.82904057e-01 1.58811705e-03 1.52845085e+02] [ 9.82848044e-01 -1.84118105e-01 -1.04997791e-02 1.38731407e+02] [ 1.06126766e-02 -3.72253733e-04 9.99943615e-01 3.06074568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499995 meters Centerline goodness [0,1] 0.9982070437566702 Centerline is valid? [True, True] Translation: X:152.84, Y:138.76, Z:3.06 [[-1.85421921e-01 -9.82657991e-01 1.40842819e-03 1.52843823e+02] [ 9.82614097e-01 -1.85426959e-01 -9.29400200e-03 1.38758660e+02] [ 9.39398589e-03 -3.39370311e-04 9.99955818e-01 3.06196572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83361786499995 meters Centerline goodness [0,1] 0.9977413649826341 Centerline is valid? [True, True] Translation: X:152.84, Y:138.79, Z:3.06 [[-1.86819574e-01 -9.82393532e-01 1.18070908e-03 1.52835804e+02] [ 9.82362755e-01 -1.86823074e-01 -7.78180474e-03 1.38786284e+02] [ 7.86537835e-03 -2.93908824e-04 9.99969024e-01 3.06219388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499995 meters Centerline goodness [0,1] 0.997105212745578 Centerline is valid? [True, True] Translation: X:152.83, Y:138.81, Z:3.06 [[-1.89819535e-01 -9.81818701e-01 7.63584132e-04 1.52829915e+02] [ 9.81805826e-01 -1.89820960e-01 -5.03218063e-03 1.38814307e+02] [ 5.08563332e-03 -2.05514840e-04 9.99987047e-01 3.06288744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89361786499995 meters Centerline goodness [0,1] 0.9969363657638874 Centerline is valid? [True, True] Translation: X:152.82, Y:138.84, Z:3.06 [[-1.91511160e-01 -9.81490226e-01 6.42021821e-04 1.52823939e+02] [ 9.81481139e-01 -1.91512152e-01 -4.22719186e-03 1.38842186e+02] [ 4.27190248e-03 -1.79422109e-04 9.99990859e-01 3.06304489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499995 meters Centerline goodness [0,1] 0.9968274782682262 Centerline is valid? [True, True] Translation: X:152.82, Y:138.87, Z:3.06 [[-1.93257196e-01 -9.81147930e-01 6.28781297e-04 1.52821198e+02] [ 9.81139238e-01 -1.93258133e-01 -4.13392754e-03 1.38869676e+02] [ 4.17751155e-03 -1.81989241e-04 9.99991258e-01 3.06375555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95361786499996 meters Centerline goodness [0,1] 0.9968827667551287 Centerline is valid? [True, True] Translation: X:152.81, Y:138.90, Z:3.06 [[-1.95425581e-01 -9.80718296e-01 6.83491462e-04 1.52813835e+02] [ 9.80708068e-01 -1.95426667e-01 -4.48368451e-03 1.38896645e+02] [ 4.53080389e-03 -2.05921057e-04 9.99989715e-01 3.06323867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499996 meters Centerline goodness [0,1] 0.9968223237020981 Centerline is valid? [True, True] Translation: X:152.81, Y:138.92, Z:3.06 [[-1.96434323e-01 -9.80516712e-01 7.30606006e-04 1.52806582e+02] [ 9.80505073e-01 -1.96435555e-01 -4.78282157e-03 1.38923924e+02] [ 4.83315348e-03 -2.23147422e-04 9.99988295e-01 3.06273215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01361786499996 meters Centerline goodness [0,1] 0.9967694938873757 Centerline is valid? [True, True] Translation: X:152.80, Y:138.95, Z:3.06 [[-1.97441123e-01 -9.80314461e-01 7.49000122e-04 1.52801228e+02] [ 9.80302269e-01 -1.97442407e-01 -4.89461564e-03 1.38950760e+02] [ 4.94614688e-03 -2.32151890e-04 9.99987741e-01 3.06274971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04361786499996 meters Centerline goodness [0,1] 0.9964328430241098 Centerline is valid? [True, True] Translation: X:152.79, Y:138.98, Z:3.06 [[-1.98268074e-01 -9.80147319e-01 1.00233257e-03 1.52792528e+02] [ 9.80125621e-01 -1.98270362e-01 -6.52916709e-03 1.38977066e+02] [ 6.59827846e-03 -3.12113554e-04 9.99978182e-01 3.06179566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07361786499996 meters Centerline goodness [0,1] 0.996189917936694 Centerline is valid? [True, True] Translation: X:152.79, Y:139.00, Z:3.06 [[-1.98927926e-01 -9.80013596e-01 1.01592725e-03 1.52786821e+02] [ 9.79991387e-01 -1.98930265e-01 -6.60534234e-03 1.39003619e+02] [ 6.67542398e-03 -3.18387091e-04 9.99977668e-01 3.06198051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10361786499996 meters Centerline goodness [0,1] 0.9960896658441721 Centerline is valid? [True, True] Translation: X:152.78, Y:139.03, Z:3.06 [[-1.99434778e-01 -9.79910586e-01 1.00651817e-03 1.52778095e+02] [ 9.79888869e-01 -1.99437067e-01 -6.53152588e-03 1.39029390e+02] [ 6.60104839e-03 -3.16337466e-04 9.99978163e-01 3.06232046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13361786499996 meters Centerline goodness [0,1] 0.9955218883401691 Centerline is valid? [True, True] Translation: X:152.77, Y:139.06, Z:3.06 [[-2.00486910e-01 -9.79695863e-01 1.00780923e-03 1.52768176e+02] [ 9.79674188e-01 -2.00489186e-01 -6.52463842e-03 1.39056150e+02] [ 6.59421611e-03 -3.20779904e-04 9.99978206e-01 3.06247196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16361786499996 meters Centerline goodness [0,1] 0.9954958694839968 Centerline is valid? [True, True] Translation: X:152.77, Y:139.08, Z:3.06 [[-2.01556225e-01 -9.79476308e-01 1.11839481e-03 1.52765080e+02] [ 9.79449729e-01 -2.01559005e-01 -7.22471608e-03 1.39082862e+02] [ 7.30186078e-03 -3.60775002e-04 9.99973276e-01 3.06310341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19361786499996 meters Centerline goodness [0,1] 0.9952101295347578 Centerline is valid? [True, True] Translation: X:152.76, Y:139.11, Z:3.06 [[-2.02595315e-01 -9.79261908e-01 1.11945337e-03 1.52755529e+02] [ 9.79235388e-01 -2.02598077e-01 -7.21628683e-03 1.39109859e+02] [ 7.29343392e-03 -3.65777553e-04 9.99973336e-01 3.06308157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22361786499997 meters Centerline goodness [0,1] 0.9943959500843732 Centerline is valid? [True, True] Translation: X:152.75, Y:139.14, Z:3.06 [[-2.03217091e-01 -9.79133169e-01 1.02525356e-03 1.52752813e+02] [ 9.79111017e-01 -2.03219398e-01 -6.59493501e-03 1.39136285e+02] [ 6.66567103e-03 -3.36366448e-04 9.99977728e-01 3.06372248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25361786499997 meters Centerline goodness [0,1] 0.9920242595438873 Centerline is valid? [True, True] Translation: X:152.74, Y:139.16, Z:3.06 [[-2.04409356e-01 -9.78884994e-01 9.91489085e-04 1.52739048e+02] [ 9.78864306e-01 -2.04411491e-01 -6.37287808e-03 1.39162304e+02] [ 6.44098649e-03 -3.32142629e-04 9.99979201e-01 3.06274392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28361786499997 meters Centerline goodness [0,1] 0.9908737500779577 Centerline is valid? [True, True] Translation: X:152.73, Y:139.19, Z:3.06 [[-2.05027271e-01 -9.78755821e-01 9.28385686e-04 1.52732128e+02] [ 9.78737724e-01 -2.05029133e-01 -5.96001822e-03 1.39188507e+02] [ 6.02374864e-03 -3.13320174e-04 9.99981808e-01 3.06302815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31361786499997 meters Centerline goodness [0,1] 0.9875506598773771 Centerline is valid? [True, True] Translation: X:152.72, Y:139.21, Z:3.06 [[-2.06576467e-01 -9.78430036e-01 9.09367208e-04 1.52722932e+02] [ 9.78412732e-01 -2.06578230e-01 -5.82761964e-03 1.39213435e+02] [ 5.88977356e-03 -3.14112622e-04 9.99982606e-01 3.06312040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34361786499997 meters Centerline goodness [0,1] 0.9857745104147198 Centerline is valid? [True, True] Translation: X:152.72, Y:139.24, Z:3.06 [[-2.07308151e-01 -9.78275249e-01 9.31232786e-04 1.52715954e+02] [ 9.78257177e-01 -2.07309990e-01 -5.95516647e-03 1.39239515e+02] [ 6.01884582e-03 -3.23569392e-04 9.99981834e-01 3.06334160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37361786499994 meters Centerline goodness [0,1] 0.983006888538468 Centerline is valid? [True, True] Translation: X:152.71, Y:139.27, Z:3.06 [[-2.07954493e-01 -9.78138081e-01 9.08007654e-04 1.52713773e+02] [ 9.78120970e-01 -2.07956234e-01 -5.79421239e-03 1.39265838e+02] [ 5.85636564e-03 -3.16791170e-04 9.99982801e-01 3.06402803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499994 meters Centerline goodness [0,1] 0.9837919022090573 Centerline is valid? [True, True] Translation: X:152.69, Y:139.29, Z:3.06 [[-2.08229916e-01 -9.78079526e-01 8.62158953e-04 1.52688497e+02] [ 9.78064154e-01 -2.08231485e-01 -5.49174989e-03 1.39289032e+02] [ 5.55089677e-03 -3.00299854e-04 9.99984549e-01 3.06185474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43361786499995 meters Centerline goodness [0,1] 0.9800195641767436 Centerline is valid? [True, True] Translation: X:152.68, Y:139.31, Z:3.06 [[-2.07382991e-01 -9.78259445e-01 8.67688096e-04 1.52677033e+02] [ 9.78243985e-01 -2.07384598e-01 -5.50770955e-03 1.39314541e+02] [ 5.56791404e-03 -2.93394617e-04 9.99984456e-01 3.06163853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499995 meters Centerline goodness [0,1] 0.9800195641767436 Centerline is valid? [True, True] Translation: X:152.67, Y:139.34, Z:3.06 [[-2.07667730e-01 -9.78199039e-01 8.68784777e-04 1.52672745e+02] [ 9.78183578e-01 -2.07669339e-01 -5.50753644e-03 1.39340952e+02] [ 5.56788681e-03 -2.93906588e-04 9.99984456e-01 3.06199471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49361786499995 meters Centerline goodness [0,1] 0.9776396228370117 Centerline is valid? [True, True] Translation: X:152.66, Y:139.37, Z:3.06 [[-2.06901602e-01 -9.78361271e-01 9.75250997e-04 1.52664427e+02] [ 9.78341894e-01 -2.06903650e-01 -6.16582078e-03 1.39367226e+02] [ 6.23418324e-03 -3.21589287e-04 9.99980516e-01 3.06152857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499995 meters Centerline goodness [0,1] 0.9739518472395184 Centerline is valid? [True, True] Translation: X:152.66, Y:139.39, Z:3.06 [[-2.06459641e-01 -9.78454544e-01 1.05901368e-03 1.52655489e+02] [ 9.78431779e-01 -2.06462071e-01 -6.68328574e-03 1.39393989e+02] [ 6.75793746e-03 -3.43656135e-04 9.99977106e-01 3.06130057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55361786499995 meters Centerline goodness [0,1] 0.9711913657119137 Centerline is valid? [True, True] Translation: X:152.65, Y:139.42, Z:3.06 [[-2.06186785e-01 -9.78512082e-01 1.05582860e-03 1.52647498e+02] [ 9.78489515e-01 -2.06189210e-01 -6.65421058e-03 1.39419185e+02] [ 6.72892592e-03 -3.38893071e-04 9.99977303e-01 3.06170168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499995 meters Centerline goodness [0,1] 0.9603345925526173 Centerline is valid? [True, True] Translation: X:152.63, Y:139.44, Z:3.06 [[-2.06578405e-01 -9.78429640e-01 8.95522813e-04 1.52633448e+02] [ 9.78413449e-01 -2.06580145e-01 -5.63620655e-03 1.39444263e+02] [ 5.69962878e-03 -2.88126997e-04 9.99983715e-01 3.06099010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61361786499995 meters Centerline goodness [0,1] 0.9544784639335755 Centerline is valid? [True, True] Translation: X:152.63, Y:139.47, Z:3.06 [[-2.07687453e-01 -9.78194796e-01 9.29178773e-04 1.52628028e+02] [ 9.78177437e-01 -2.07689311e-01 -5.83540837e-03 1.39471145e+02] [ 5.90114660e-03 -3.03039393e-04 9.99982542e-01 3.06168223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3764.26 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%| | 0/8488 [00:00