+ python -m lidar_slam --no-model /working/c25c745b-27eb-4d15-8486-e0e515b02da3 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/c25c745b-27eb-4d15-8486-e0e515b02da3 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 0.017105681 Adjusted end_distance from 9.223372036854776e+18 to 417.627105681 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017105681 meters Centerline goodness [0,1] 0.7913766159965905 Centerline is valid? [0, False] SLAMing on 0.047105680999999996 meters Centerline goodness [0,1] 0.8389154704944178 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 0.99483171 -0.07333735 -0.07022468 0.01787478] [ 0.07041348 0.99657999 -0.04324649 0.00918134] [ 0.0731561 0.03807821 0.99659331 -0.01707699] [ 0. 0. 0. 1. ]] SLAMing on 0.077105681 meters Centerline goodness [0,1] 0.7399119837508463 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.04 [[ 0.99599347 -0.05199696 -0.07275528 0.0414668 ] [ 0.04713125 0.9966346 -0.06706804 0.00144698] [ 0.07599777 0.06337028 0.99509223 -0.04257498] [ 0. 0. 0. 1. ]] SLAMing on 0.10710568099999998 meters Centerline goodness [0,1] 0.7204686289697908 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.05 [[ 0.9949017 -0.06043243 -0.0807374 0.08565368] [ 0.05842993 0.99792791 -0.02694129 0.00390568] [ 0.08219823 0.02208645 0.99637124 -0.04890077] [ 0. 0. 0. 1. ]] SLAMing on 0.13710568099999998 meters Centerline goodness [0,1] 0.9047199343524907 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.03 [[ 0.98424669 -0.1583994 -0.07853719 0.16100108] [ 0.160059 0.98698938 0.01526692 0.01894042] [ 0.0750971 -0.027597 0.99679428 -0.03138809] [ 0. 0. 0. 1. ]] SLAMing on 0.16710568099999998 meters Centerline goodness [0,1] 0.883298292099882 Centerline is valid? [False, False] Translation: X:0.27, Y:0.06, Z:-0.02 [[ 0.97791196 -0.2026111 -0.05135108 0.26538554] [ 0.20613519 0.97552685 0.07652218 0.05766956] [ 0.03459012 -0.08541722 0.99574466 -0.02376744] [ 0. 0. 0. 1. ]] SLAMing on 0.19710568099999998 meters Centerline goodness [0,1] 0.9331775088470444 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.03 [[ 0.9930477 -0.11148387 -0.03778375 0.18599419] [ 0.11170784 0.99373359 0.00386267 0.01374042] [ 0.03711635 -0.00805656 0.99927847 -0.0277522 ] [ 0. 0. 0. 1. ]] SLAMing on 0.22710568099999998 meters Centerline goodness [0,1] 0.929108327192336 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.02 [[ 0.99468486 -0.09840541 -0.03030529 0.22147833] [ 0.09862344 0.99510803 0.00578201 0.01008834] [ 0.02958805 -0.00874009 0.99952397 -0.01727185] [ 0. 0. 0. 1. ]] SLAMing on 0.257105681 meters Centerline goodness [0,1] 0.9321340795968525 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.02 [[ 9.94421399e-01 -9.28335890e-02 -5.00800011e-02 2.60855823e-01] [ 9.27070262e-02 9.95681622e-01 -4.84919807e-03 -1.94639732e-02] [ 5.03139052e-02 1.79378353e-04 9.98733437e-01 -2.24903482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.28710568099999995 meters Centerline goodness [0,1] 0.9367860639686684 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.05, Z:-0.00 [[ 0.9956328 -0.06666097 -0.06535788 0.31281899] [ 0.0672171 0.9977182 0.00634488 -0.04703705] [ 0.06478579 -0.01071034 0.99784172 -0.00199638] [ 0. 0. 0. 1. ]] SLAMing on 0.3171056809999999 meters Centerline goodness [0,1] 0.9413955548397488 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:-0.00 [[ 9.95756256e-01 -7.49226131e-02 -5.34423066e-02 3.34792742e-01] [ 7.59794619e-02 9.96946485e-01 1.80229649e-02 -7.80767581e-02] [ 5.19287921e-02 -2.20069978e-02 9.98408280e-01 -7.83457021e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.34710568099999994 meters Centerline goodness [0,1] 0.9129223616177001 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.14, Z:0.01 [[ 0.99092695 -0.12583251 -0.04722243 0.33047285] [ 0.12801694 0.99068165 0.04649232 -0.13975131] [ 0.04093215 -0.05211576 0.99780184 0.00929297] [ 0. 0. 0. 1. ]] SLAMing on 0.3771056809999999 meters Centerline goodness [0,1] 0.9302871698939282 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:0.01 [[ 0.9980621 -0.04512963 -0.04284123 0.33408055] [ 0.04530934 0.99896777 0.00323266 -0.11124025] [ 0.04265112 -0.00516751 0.99907666 0.01167273] [ 0. 0. 0. 1. ]] SLAMing on 0.40710568099999994 meters Centerline goodness [0,1] 0.9320289797380678 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.08, Z:0.02 [[ 0.99443619 -0.08852155 -0.05710161 0.33493719] [ 0.08946372 0.99588949 0.01415505 -0.07731089] [ 0.05561386 -0.01918482 0.99826802 0.01540007] [ 0. 0. 0. 1. ]] SLAMing on 0.4371056809999999 meters Centerline goodness [0,1] 0.9369162177974137 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.09, Z:0.00 [[ 0.9939406 -0.07991466 -0.07547008 0.34511383] [ 0.08040672 0.996756 0.00349925 -0.08585592] [ 0.07494561 -0.00954635 0.99714193 0.0031326 ] [ 0. 0. 0. 1. ]] SLAMing on 0.46710568099999994 meters Centerline goodness [0,1] 0.9437645392940225 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.10, Z:-0.01 [[ 0.99456669 -0.05698694 -0.08711828 0.36314886] [ 0.05666355 0.99837419 -0.00618248 -0.09544308] [ 0.08732896 0.00121246 0.99617879 -0.00594828] [ 0. 0. 0. 1. ]] SLAMing on 0.4971056809999999 meters Centerline goodness [0,1] 0.9457061817304018 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.13, Z:-0.00 [[ 9.95394460e-01 -3.79960794e-02 -8.80123087e-02 3.84814235e-01] [ 3.81831782e-02 9.99270659e-01 4.42628437e-04 -1.27470703e-01] [ 8.79312996e-02 -3.80117956e-03 9.96119289e-01 -3.68523109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5271056809999999 meters Centerline goodness [0,1] 0.9465545196595054 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.15, Z:-0.01 [[ 0.99417982 -0.03899342 -0.10042908 0.4035791 ] [ 0.04010152 0.99915474 0.00903785 -0.15452759] [ 0.09999177 -0.01301261 0.99490317 -0.00837099] [ 0. 0. 0. 1. ]] SLAMing on 0.5571056809999999 meters Centerline goodness [0,1] 0.9496155402670984 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.19, Z:-0.02 [[ 0.99175605 -0.0585432 -0.1139852 0.44198508] [ 0.06073076 0.99802894 0.01581161 -0.19191954] [ 0.11283487 -0.02260367 0.99335662 -0.01556559] [ 0. 0. 0. 1. ]] SLAMing on 0.5871056809999999 meters Centerline goodness [0,1] 0.9537220092798063 Centerline is valid? [False, True] Translation: X:0.46, Y:-0.22, Z:-0.01 [[ 0.99203674 -0.05906916 -0.1112382 0.45881389] [ 0.0613375 0.99797097 0.01707816 -0.22251385] [ 0.1100037 -0.02376523 0.99364702 -0.00766021] [ 0. 0. 0. 1. ]] SLAMing on 0.6171056809999999 meters Centerline goodness [0,1] 0.9615639629503124 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.19, Z:0.02 [[ 0.99491126 -0.0290592 -0.09647356 0.48296331] [ 0.02876062 0.99957627 -0.00448438 -0.18632747] [ 0.09656299 0.00168692 0.99532545 0.02341661] [ 0. 0. 0. 1. ]] SLAMing on 0.6471056809999999 meters Centerline goodness [0,1] 0.9629325042623609 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.15, Z:0.04 [[ 0.99635483 -0.0204826 -0.0828101 0.50880957] [ 0.02023318 0.99978788 -0.00385006 -0.14805124] [ 0.0828714 0.00216051 0.99655791 0.04364364] [ 0. 0. 0. 1. ]] SLAMing on 0.6771056809999999 meters Centerline goodness [0,1] 0.9660384964224529 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.15, Z:0.05 [[ 0.99459787 -0.05959036 -0.08499447 0.53888979] [ 0.05946985 0.99822228 -0.00395131 -0.1461227 ] [ 0.08507883 -0.00112465 0.99637359 0.04551799] [ 0. 0. 0. 1. ]] SLAMing on 0.7071056809999999 meters Centerline goodness [0,1] 0.9679189531447868 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.04, Z:0.07 [[ 0.99775662 -0.02332028 -0.06275257 0.5618225 ] [ 0.02318281 0.99972698 -0.00291811 -0.03720917] [ 0.06280349 0.00145678 0.99802485 0.06930577] [ 0. 0. 0. 1. ]] SLAMing on 0.7371056809999998 meters Centerline goodness [0,1] 0.9657900624402547 Centerline is valid? [True, True] Translation: X:0.59, Y:0.02, Z:0.06 [[ 9.95418607e-01 -5.95236188e-02 -7.48247033e-02 5.89865961e-01] [ 5.94301440e-02 9.98226411e-01 -3.47715764e-03 2.15557701e-02] [ 7.48989680e-02 -9.85615477e-04 9.97190640e-01 5.88450779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7671056809999999 meters Centerline goodness [0,1] 0.9658046954746512 Centerline is valid? [True, True] Translation: X:0.62, Y:0.09, Z:0.05 [[ 9.95208438e-01 -4.33565681e-02 -8.76377404e-02 6.16599488e-01] [ 4.31654520e-02 9.99059625e-01 -4.07557953e-03 8.83833486e-02] [ 8.77320311e-02 2.73128467e-04 9.96144074e-01 5.46772408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7971056809999999 meters Centerline goodness [0,1] 0.9640646492434664 Centerline is valid? [True, True] Translation: X:0.64, Y:0.21, Z:0.05 [[ 9.94878908e-01 -5.28167486e-02 -8.61762698e-02 6.42839999e-01] [ 5.26669892e-02 9.98604072e-01 -4.01204946e-03 2.14119982e-01] [ 8.62678773e-02 -5.47141290e-04 9.96271827e-01 4.89043542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8271056809999998 meters Centerline goodness [0,1] 0.9850709576488993 Centerline is valid? [True, True] Translation: X:0.67, Y:0.14, Z:0.07 [[ 9.96328969e-01 -4.09768564e-02 -7.51630434e-02 6.74895853e-01] [ 4.08297269e-02 9.99160011e-01 -3.49369338e-03 1.37545643e-01] [ 7.52430678e-02 4.11981389e-04 9.97165137e-01 7.16415111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8571056809999998 meters Centerline goodness [0,1] 0.9811646106910731 Centerline is valid? [True, True] Translation: X:0.70, Y:0.16, Z:0.10 [[ 0.99815921 -0.00516768 -0.06042748 0.70127126] [ 0.00500714 0.99998352 -0.00280778 0.16064301] [ 0.060441 0.00250004 0.99816864 0.10065146] [ 0. 0. 0. 1. ]] SLAMing on 0.8871056809999999 meters Centerline goodness [0,1] 0.8050125736987807 Centerline is valid? [True, False] Translation: X:0.68, Y:0.13, Z:0.12 [[ 0.99723351 0.04235905 -0.06108215 0.67563895] [-0.04504197 0.99804903 -0.04323611 0.12783085] [ 0.05913154 0.04586776 0.99719587 0.12252785] [ 0. 0. 0. 1. ]] SLAMing on 0.9171056809999999 meters Centerline goodness [0,1] 0.9889230491002803 Centerline is valid? [False, True] Translation: X:0.64, Y:0.18, Z:0.10 [[ 0.99458232 -0.07960106 -0.06685567 0.63963942] [ 0.07926736 0.99682416 -0.0076335 0.17962965] [ 0.06725099 0.00229267 0.99773346 0.10247813] [ 0. 0. 0. 1. ]] SLAMing on 0.9471056809999998 meters Centerline goodness [0,1] 0.9889230491002803 Centerline is valid? [True, True] Translation: X:0.67, Y:0.18, Z:0.10 [[ 0.99463475 -0.07876191 -0.06706924 0.67234108] [ 0.07871683 0.99689149 -0.00331865 0.18078687] [ 0.06712214 -0.00197863 0.9977428 0.10461357] [ 0. 0. 0. 1. ]] SLAMing on 0.9771056809999998 meters Centerline goodness [0,1] 0.678029238122013 Centerline is valid? [True, False] Translation: X:0.68, Y:0.21, Z:0.07 [[ 9.83274133e-01 -1.47395490e-01 -1.06988547e-01 6.77716150e-01] [ 1.48150040e-01 9.88964482e-01 -9.04788774e-04 2.12391550e-01] [ 1.05941235e-01 -1.49607021e-02 9.94259841e-01 7.35888415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0071056809999999 meters Centerline goodness [0,1] 0.9542207646345299 Centerline is valid? [False, True] Translation: X:0.60, Y:0.18, Z:0.10 [[ 0.99761666 0.00415707 -0.06887466 0.59889752] [-0.00699511 0.999134 -0.0410161 0.17642907] [ 0.06864451 0.04140013 0.9967818 0.10422514] [ 0. 0. 0. 1. ]] SLAMing on 1.037105681 meters Centerline goodness [0,1] 0.9965156063054932 Centerline is valid? [True, True] Translation: X:0.64, Y:0.07, Z:0.07 [[ 0.99627623 -0.02834813 -0.0814252 0.63877856] [ 0.02810095 0.99959635 -0.0041803 0.07300104] [ 0.08151083 0.00187661 0.99667069 0.07011723] [ 0. 0. 0. 1. ]] SLAMing on 1.067105681 meters Centerline goodness [0,1] 0.9971860784936 Centerline is valid? [True, True] Translation: X:0.67, Y:0.06, Z:0.10 [[ 9.96332216e-01 -5.46611571e-02 -6.58351993e-02 6.67055826e-01] [ 5.45567900e-02 9.98504937e-01 -3.38341515e-03 6.44760754e-02] [ 6.59217129e-02 -2.20751624e-04 9.97824774e-01 9.66398844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.097105681 meters Centerline goodness [0,1] 0.9934493976962983 Centerline is valid? [True, True] Translation: X:0.70, Y:0.14, Z:0.09 [[ 0.99713283 -0.00809204 -0.07523723 0.69502872] [ 0.00782361 0.99996194 -0.00386181 0.13654967] [ 0.07526562 0.00326211 0.99715818 0.08747141] [ 0. 0. 0. 1. ]] SLAMing on 1.127105681 meters Centerline goodness [0,1] 0.9550761879000992 Centerline is valid? [True, True] Translation: X:0.72, Y:0.18, Z:0.08 [[ 0.99631609 0.01505565 -0.08442494 0.72328994] [-0.0154762 0.99987087 -0.00432904 0.17736516] [ 0.08434886 0.00561967 0.99642044 0.08411019] [ 0. 0. 0. 1. ]] SLAMing on 1.157105681 meters Centerline goodness [0,1] 0.9957108531135613 Centerline is valid? [True, True] Translation: X:0.76, Y:0.15, Z:0.06 [[ 0.99518778 -0.00720106 -0.09772114 0.75800231] [ 0.00674371 0.99996471 -0.00500972 0.15122915] [ 0.09775377 0.00432661 0.99520123 0.0607909 ] [ 0. 0. 0. 1. ]] SLAMing on 1.187105681 meters Centerline goodness [0,1] 0.9977818108489614 Centerline is valid? [True, True] Translation: X:0.79, Y:0.14, Z:0.07 [[ 0.99538563 -0.02258667 -0.09325922 0.78610588] [ 0.02223762 0.99974128 -0.00478044 0.136272 ] [ 0.09334306 0.00268452 0.99563039 0.07372222] [ 0. 0. 0. 1. ]] SLAMing on 1.2171056809999998 meters Centerline goodness [0,1] 0.9982493462748748 Centerline is valid? [True, True] Translation: X:0.81, Y:0.13, Z:0.09 [[ 0.99640405 -0.01782747 -0.08283211 0.81457939] [ 0.01753543 0.9998372 -0.00425191 0.13485886] [ 0.08289442 0.00278413 0.99655445 0.09451514] [ 0. 0. 0. 1. ]] SLAMing on 1.2471056809999999 meters Centerline goodness [0,1] 0.9967794233634213 Centerline is valid? [True, True] Translation: X:0.84, Y:0.14, Z:0.09 [[ 0.99575581 -0.01170728 -0.09128692 0.84344115] [ 0.0113275 0.9999249 -0.00467735 0.13811839] [ 0.09133483 0.00362345 0.99581365 0.08738195] [ 0. 0. 0. 1. ]] SLAMing on 1.2771056809999999 meters Centerline goodness [0,1] 0.9982401545230175 Centerline is valid? [True, True] Translation: X:0.87, Y:0.08, Z:0.10 [[ 9.95211645e-01 -5.75144963e-02 -7.90307848e-02 8.74237475e-01] [ 5.73716872e-02 9.98344558e-01 -4.07832468e-03 8.19206180e-02] [ 7.91345167e-02 -4.75333253e-04 9.96863833e-01 1.04663193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.307105681 meters Centerline goodness [0,1] 0.9988423196484082 Centerline is valid? [True, True] Translation: X:0.90, Y:0.08, Z:0.12 [[ 9.95673561e-01 -5.62003316e-02 -7.39978500e-02 9.03114241e-01] [ 5.60712598e-02 9.98419453e-01 -3.82218388e-03 8.40473042e-02] [ 7.40957010e-02 -3.43505238e-04 9.97251076e-01 1.21132407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.337105681 meters Centerline goodness [0,1] 0.9977257467131625 Centerline is valid? [True, True] Translation: X:0.93, Y:0.13, Z:0.12 [[ 0.9969182 -0.01702384 -0.07657872 0.931091 ] [ 0.0167702 0.99985155 -0.00395408 0.13145231] [ 0.07663467 0.00265766 0.9970557 0.12395184] [ 0. 0. 0. 1. ]] SLAMing on 1.367105681 meters Centerline goodness [0,1] 0.9991393036966906 Centerline is valid? [True, True] Translation: X:0.96, Y:0.12, Z:0.11 [[ 0.99587488 -0.0248117 -0.08727888 0.96371219] [ 0.02451205 0.99968939 -0.00450341 0.11675933] [ 0.08736351 0.00234545 0.99617374 0.11447328] [ 0. 0. 0. 1. ]] SLAMing on 1.397105681 meters Centerline goodness [0,1] 0.9992450551109769 Centerline is valid? [True, True] Translation: X:1.00, Y:0.11, Z:0.10 [[ 0.99506745 -0.03233864 -0.0937816 0.99594171] [ 0.03202579 0.99947533 -0.00483944 0.11164898] [ 0.0938889 0.00181214 0.99558103 0.10419435] [ 0. 0. 0. 1. ]] SLAMing on 1.4271056809999998 meters Centerline goodness [0,1] 0.999047763325903 Centerline is valid? [True, True] Translation: X:1.03, Y:0.09, Z:0.10 [[ 9.93836335e-01 -5.78842625e-02 -9.45449741e-02 1.02705962e+00] [ 5.76814674e-02 9.98323117e-01 -4.87872844e-03 9.21741754e-02] [ 9.46688348e-02 -6.04835252e-04 9.95508637e-01 1.04177200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4571056809999998 meters Centerline goodness [0,1] 0.9992803558967202 Centerline is valid? [True, True] Translation: X:1.05, Y:0.11, Z:0.14 [[ 9.95678375e-01 -5.09328737e-02 -7.76557587e-02 1.05315000e+00] [ 5.07748534e-02 9.98702078e-01 -4.00927454e-03 1.14512387e-01] [ 7.77591714e-02 4.89881957e-05 9.96972171e-01 1.37227658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4871056809999998 meters Centerline goodness [0,1] 0.9876342630201281 Centerline is valid? [True, True] Translation: X:1.08, Y:0.18, Z:0.15 [[ 0.99773638 -0.00316387 -0.06717216 1.0789658 ] [ 0.00293754 0.99998967 -0.00346802 0.18075436] [ 0.06718243 0.00326285 0.99773537 0.15363283] [ 0. 0. 0. 1. ]] SLAMing on 1.5171056809999999 meters Centerline goodness [0,1] 0.998850237842956 Centerline is valid? [True, True] Translation: X:1.11, Y:0.17, Z:0.12 [[ 0.99564081 -0.01072933 -0.09265129 1.11472063] [ 0.01033059 0.9999352 -0.00478218 0.17148337] [ 0.0926966 0.0038042 0.99568713 0.11723961] [ 0. 0. 0. 1. ]] SLAMing on 1.547105681 meters Centerline goodness [0,1] 0.9992561871703557 Centerline is valid? [True, True] Translation: X:1.14, Y:0.14, Z:0.14 [[ 9.95007116e-01 -5.38331667e-02 -8.40406407e-02 1.14436406e+00] [ 5.36584628e-02 9.98549925e-01 -4.33780873e-03 1.37731975e-01] [ 8.41522934e-02 -1.93341042e-04 9.96452886e-01 1.40940785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.577105681 meters Centerline goodness [0,1] 0.9994795393923622 Centerline is valid? [True, True] Translation: X:1.18, Y:0.12, Z:0.15 [[ 9.95788858e-01 -4.20754204e-02 -8.14506574e-02 1.17563432e+00] [ 4.18717240e-02 9.99114133e-01 -4.20808091e-03 1.19980068e-01] [ 8.15555597e-02 7.79880639e-04 9.96668492e-01 1.46481360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.607105681 meters Centerline goodness [0,1] 0.9958889586083043 Centerline is valid? [True, True] Translation: X:1.21, Y:0.15, Z:0.11 [[ 0.9940615 -0.00999164 -0.10836003 1.20837078] [ 0.00944141 0.99993981 -0.00558971 0.14834633] [ 0.10840935 0.00453345 0.994096 0.10717266] [ 0. 0. 0. 1. ]] SLAMing on 1.6371056809999998 meters Centerline goodness [0,1] 0.9993609519612164 Centerline is valid? [True, True] Translation: X:1.24, Y:0.11, Z:0.13 [[ 0.99275115 -0.07857031 -0.09094973 1.23704772] [ 0.07846929 0.99690549 -0.00469149 0.11203121] [ 0.0910369 -0.00247927 0.99584443 0.12927136] [ 0. 0. 0. 1. ]] SLAMing on 1.6671056809999998 meters Centerline goodness [0,1] 0.999932801720276 Centerline is valid? [True, True] Translation: X:1.26, Y:0.15, Z:0.13 [[ 9.95040205e-01 -4.32751626e-02 -8.95670199e-02 1.26480540e+00] [ 4.30334599e-02 9.99062909e-01 -4.62879169e-03 1.49119551e-01] [ 8.96833992e-02 7.51455074e-04 9.95970041e-01 1.31136212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6971056809999998 meters Centerline goodness [0,1] 0.9999541851834883 Centerline is valid? [True, True] Translation: X:1.29, Y:0.17, Z:0.13 [[ 0.99567951 -0.02574529 -0.08921595 1.29401932] [ 0.0254352 0.99966584 -0.00461105 0.17475392] [ 0.08930485 0.0023219 0.99600163 0.13439715] [ 0. 0. 0. 1. ]] SLAMing on 1.7271056809999998 meters Centerline goodness [0,1] 0.9995935051150606 Centerline is valid? [True, True] Translation: X:1.33, Y:0.15, Z:0.13 [[ 9.94111968e-01 -5.48176105e-02 -9.34688481e-02 1.32531740e+00] [ 5.46053782e-02 9.98496338e-01 -4.82859617e-03 1.51721547e-01] [ 9.35929947e-02 -3.03736571e-04 9.95610496e-01 1.27840636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7571056809999999 meters Centerline goodness [0,1] 0.9993947681065208 Centerline is valid? [True, True] Translation: X:1.36, Y:0.14, Z:0.14 [[ 9.93070325e-01 -6.52918024e-02 -9.77154571e-02 1.35643141e+00] [ 6.51098810e-02 9.97865308e-01 -5.05277084e-03 1.39769007e-01] [ 9.78367692e-02 -1.34448501e-03 9.95201567e-01 1.36396553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.787105681 meters Centerline goodness [0,1] 0.9988297637447561 Centerline is valid? [True, True] Translation: X:1.39, Y:0.12, Z:0.15 [[ 0.99159869 -0.09216159 -0.09076498 1.38639313] [ 0.09211729 0.99573714 -0.00468619 0.11874367] [ 0.09080995 -0.00371421 0.99586131 0.14951113] [ 0. 0. 0. 1. ]] SLAMing on 1.817105681 meters Centerline goodness [0,1] 0.999418370542705 Centerline is valid? [True, True] Translation: X:1.41, Y:0.14, Z:0.16 [[ 0.99339821 -0.07493784 -0.08685808 1.41499735] [ 0.07483155 0.99718611 -0.0044837 0.14068513] [ 0.08694967 -0.00204562 0.99621061 0.15561825] [ 0. 0. 0. 1. ]] SLAMing on 1.8471056809999997 meters Centerline goodness [0,1] 0.9995611806549957 Centerline is valid? [True, True] Translation: X:1.45, Y:0.19, Z:0.16 [[ 0.99581198 -0.0338283 -0.08493614 1.44521882] [ 0.03357687 0.99942651 -0.00438738 0.18854606] [ 0.08503585 0.00151712 0.99637674 0.15773224] [ 0. 0. 0. 1. ]] SLAMing on 1.8771056809999997 meters Centerline goodness [0,1] 0.9996760309159068 Centerline is valid? [True, True] Translation: X:1.48, Y:0.18, Z:0.15 [[ 9.94472366e-01 -4.73572896e-02 -9.37123275e-02 1.47715900e+00] [ 4.71123255e-02 9.98877940e-01 -4.82589807e-03 1.79533463e-01] [ 9.38357181e-02 3.84216599e-04 9.95587621e-01 1.52288645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9071056809999998 meters Centerline goodness [0,1] 0.9996873883529832 Centerline is valid? [True, True] Translation: X:1.51, Y:0.15, Z:0.16 [[ 9.94286185e-01 -5.17659825e-02 -9.33555896e-02 1.51087651e+00] [ 5.15419222e-02 9.98659242e-01 -4.81123504e-03 1.54482468e-01] [ 9.34794807e-02 -2.79820043e-05 9.95621206e-01 1.60536057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9371056809999998 meters Centerline goodness [0,1] 0.9994362165795694 Centerline is valid? [True, True] Translation: X:1.54, Y:0.15, Z:0.16 [[ 0.99471002 -0.02845423 -0.09870322 1.54234231] [ 0.02809071 0.99959252 -0.00507102 0.14953943] [ 0.09880729 0.00227155 0.99510399 0.15769996] [ 0. 0. 0. 1. ]] SLAMing on 1.9671056809999998 meters Centerline goodness [0,1] 0.9987187700192185 Centerline is valid? [True, True] Translation: X:1.57, Y:0.11, Z:0.16 [[ 9.93922396e-01 -6.15910485e-02 -9.12404188e-02 1.57324098e+00] [ 6.14206639e-02 9.98101012e-01 -4.67681294e-03 1.06428357e-01] [ 9.13552041e-02 -9.55657980e-04 9.95817912e-01 1.64227523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9971056809999999 meters Centerline goodness [0,1] 0.9991461384109636 Centerline is valid? [True, True] Translation: X:1.60, Y:0.12, Z:0.17 [[ 9.94572432e-01 -4.49333454e-02 -9.38438719e-02 1.60375054e+00] [ 4.46774226e-02 9.98989802e-01 -4.82739030e-03 1.21211732e-01] [ 9.39659818e-02 6.08486985e-04 9.95575223e-01 1.65182825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0271056809999997 meters Centerline goodness [0,1] 0.9994390385984595 Centerline is valid? [True, True] Translation: X:1.63, Y:0.16, Z:0.17 [[ 0.99525812 -0.02023203 -0.09514165 1.63119565] [ 0.01985847 0.99979093 -0.0048716 0.15771726] [ 0.09522032 0.00295913 0.99545182 0.16966344] [ 0. 0. 0. 1. ]] SLAMing on 2.0571056809999995 meters Centerline goodness [0,1] 0.9996287480072503 Centerline is valid? [True, True] Translation: X:1.66, Y:0.18, Z:0.18 [[ 0.99560618 -0.00281525 -0.09359709 1.65913273] [ 0.00237715 0.99998569 -0.00479183 0.18300403] [ 0.09360924 0.00454828 0.99559863 0.1797469 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0871056809999997 meters Centerline goodness [0,1] 0.9964606049947239 Centerline is valid? [True, True] Translation: X:1.69, Y:0.20, Z:0.16 [[ 0.99414615 0.01742256 -0.10662971 1.69162624] [-0.01810769 0.99982113 -0.00546045 0.1963792 ] [ 0.10651551 0.00735931 0.99428381 0.1596214 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1171056809999995 meters Centerline goodness [0,1] 0.9993393150188615 Centerline is valid? [True, True] Translation: X:1.72, Y:0.16, Z:0.17 [[ 9.94759956e-01 -8.59403699e-04 -1.02234493e-01 1.72254930e+00] [ 3.26225605e-04 9.99986261e-01 -5.23185187e-03 1.61448076e-01] [ 1.02237584e-01 5.17108523e-03 9.94746569e-01 1.66967836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1471056809999998 meters Centerline goodness [0,1] 0.9995983086680761 Centerline is valid? [True, True] Translation: X:1.76, Y:0.14, Z:0.16 [[ 0.99386846 -0.00738756 -0.11032183 1.75539576] [ 0.00680587 0.99996089 -0.00564836 0.13887088] [ 0.11035925 0.00486289 0.99387987 0.16326303] [ 0. 0. 0. 1. ]] SLAMing on 2.1771056809999996 meters Centerline goodness [0,1] 0.9988632296907564 Centerline is valid? [True, True] Translation: X:1.78, Y:0.14, Z:0.17 [[ 0.99419575 0.00569187 -0.10743563 1.78478851] [-0.00631906 0.99996492 -0.00549826 0.14243295] [ 0.10740056 0.00614524 0.99419684 0.1719561 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2071056809999994 meters Centerline goodness [0,1] 0.9987748980841941 Centerline is valid? [True, True] Translation: X:1.82, Y:0.13, Z:0.16 [[ 0.9936747 -0.00694044 -0.11208225 1.81748055] [ 0.00633722 0.99996346 -0.00573732 0.13219161] [ 0.11211797 0.00499073 0.99368237 0.15972371] [ 0. 0. 0. 1. ]] SLAMing on 2.2371056809999996 meters Centerline goodness [0,1] 0.9983244669710551 Centerline is valid? [True, True] Translation: X:1.85, Y:0.10, Z:0.18 [[ 9.93839367e-01 -3.94301275e-02 -1.03578848e-01 1.84749368e+00] [ 3.90910171e-02 9.99221584e-01 -5.30265359e-03 9.79162300e-02] [ 1.03707305e-01 1.22098337e-03 9.94607110e-01 1.82399227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2671056809999994 meters Centerline goodness [0,1] 0.9986793006582533 Centerline is valid? [True, True] Translation: X:1.88, Y:0.11, Z:0.19 [[ 0.99456075 -0.02479659 -0.10116341 1.87671752] [ 0.02439763 0.99968892 -0.00517928 0.11192706] [ 0.10126037 0.00268296 0.99485634 0.18645259] [ 0. 0. 0. 1. ]] SLAMing on 2.2971056809999997 meters Centerline goodness [0,1] 0.9990751445086705 Centerline is valid? [True, True] Translation: X:1.91, Y:0.11, Z:0.19 [[ 9.94191535e-01 -3.30760340e-02 -1.02416635e-01 1.90641821e+00] [ 3.27106884e-02 9.99451099e-01 -5.24513413e-03 1.13986677e-01] [ 1.02533906e-01 1.86454932e-03 9.94727763e-01 1.87427674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3271056809999995 meters Centerline goodness [0,1] 0.9984469768515604 Centerline is valid? [True, True] Translation: X:1.93, Y:0.11, Z:0.20 [[ 9.93920912e-01 -4.73604234e-02 -9.93891934e-02 1.93385680e+00] [ 4.70877431e-02 9.98877794e-01 -5.08891099e-03 1.11820803e-01] [ 9.95186712e-02 3.77962245e-04 9.95035623e-01 1.96673402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3571056809999997 meters Centerline goodness [0,1] 0.9986224435731694 Centerline is valid? [True, True] Translation: X:1.96, Y:0.12, Z:0.19 [[ 9.92934722e-01 -5.16467776e-02 -1.06832804e-01 1.96450968e+00] [ 5.13517704e-02 9.98665415e-01 -5.51230271e-03 1.22055437e-01] [ 1.06974919e-01 -1.26968772e-05 9.94261719e-01 1.93204740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3871056809999995 meters Centerline goodness [0,1] 0.9990133413409978 Centerline is valid? [True, True] Translation: X:1.99, Y:0.15, Z:0.20 [[ 9.93564386e-01 -3.92505360e-02 -1.06250675e-01 1.99376013e+00] [ 3.88879940e-02 9.99228535e-01 -5.48259750e-03 1.47778753e-01] [ 1.06383901e-01 1.31543801e-03 9.94324261e-01 1.97402438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4171056809999993 meters Centerline goodness [0,1] 0.9993012490173814 Centerline is valid? [True, True] Translation: X:2.02, Y:0.17, Z:0.21 [[ 0.99453708 -0.02929077 -0.10019005 2.02173316] [ 0.02891842 0.99956842 -0.00516708 0.17201935] [ 0.10029816 0.00224151 0.9949549 0.20913937] [ 0. 0. 0. 1. ]] SLAMing on 2.4471056809999996 meters Centerline goodness [0,1] 0.9995813410307824 Centerline is valid? [True, True] Translation: X:2.05, Y:0.20, Z:0.22 [[ 0.99490166 -0.01194546 -0.10013987 2.04871173] [ 0.01148594 0.9999207 -0.00516412 0.19768672] [ 0.10019361 0.00398759 0.99495997 0.21510116] [ 0. 0. 0. 1. ]] SLAMing on 2.4771056809999994 meters Centerline goodness [0,1] 0.9992226886090568 Centerline is valid? [True, True] Translation: X:2.08, Y:0.21, Z:0.21 [[ 0.99431808 0.00352338 -0.10639143 2.07854313] [-0.00413107 0.99997639 -0.00549194 0.21361827] [ 0.10636957 0.00590025 0.99430916 0.2133266 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5071056809999996 meters Centerline goodness [0,1] 0.99905610676969 Centerline is valid? [True, True] Translation: X:2.11, Y:0.21, Z:0.20 [[ 0.99298619 0.00837038 -0.11793374 2.10958614] [-0.00915196 0.99993959 -0.00608727 0.20788411] [ 0.11787566 0.0071239 0.99300281 0.20182375] [ 0. 0. 0. 1. ]] SLAMing on 2.5371056809999994 meters Centerline goodness [0,1] 0.999198960814029 Centerline is valid? [True, True] Translation: X:2.14, Y:0.19, Z:0.21 [[ 9.93122636e-01 -3.94165415e-04 -1.17078067e-01 2.13972749e+00] [-3.16542613e-04 9.99981638e-01 -6.05172115e-03 1.94873721e-01] [ 1.17078302e-01 6.04716146e-03 9.93104276e-01 2.06885232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5671056809999997 meters Centerline goodness [0,1] 0.9989521182181733 Centerline is valid? [True, True] Translation: X:2.17, Y:0.17, Z:0.22 [[ 0.99341015 -0.02105971 -0.11266219 2.17039977] [ 0.02053367 0.99977218 -0.00582771 0.16991322] [ 0.11275925 0.00347594 0.99361626 0.21590508] [ 0. 0. 0. 1. ]] SLAMing on 2.5971056809999995 meters Centerline goodness [0,1] 0.9986906295537581 Centerline is valid? [True, True] Translation: X:2.20, Y:0.15, Z:0.22 [[ 9.93126973e-01 -4.27379640e-02 -1.08959998e-01 2.20004663e+00] [ 4.23759562e-02 9.99085834e-01 -5.63683335e-03 1.45298904e-01] [ 1.09101297e-01 9.80807150e-04 9.94030153e-01 2.24703748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6271056809999993 meters Centerline goodness [0,1] 0.9983785718798037 Centerline is valid? [True, True] Translation: X:2.23, Y:0.13, Z:0.23 [[ 9.92747055e-01 -5.38228993e-02 -1.07500606e-01 2.22909080e+00] [ 5.35354196e-02 9.98550470e-01 -5.56044537e-03 1.32998552e-01] [ 1.07644060e-01 -2.34974292e-04 9.94189469e-01 2.29464323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6571056809999996 meters Centerline goodness [0,1] 0.9975518403046598 Centerline is valid? [True, True] Translation: X:2.26, Y:0.11, Z:0.24 [[ 9.91815216e-01 -7.20854582e-02 -1.05386260e-01 2.25928226e+00] [ 7.19075970e-02 9.97396181e-01 -5.49134112e-03 1.14083574e-01] [ 1.05507699e-01 -2.13167702e-03 9.94416201e-01 2.42264253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6871056809999994 meters Centerline goodness [0,1] 0.9972848788638262 Centerline is valid? [True, True] Translation: X:2.29, Y:0.10, Z:0.24 [[ 0.9902419 -0.08888208 -0.10733571 2.29146589] [ 0.08879601 0.99603414 -0.00559045 0.10289708] [ 0.10740692 -0.00399509 0.99420712 0.24327365] [ 0. 0. 0. 1. ]] SLAMing on 2.7171056809999996 meters Centerline goodness [0,1] 0.997406617308738 Centerline is valid? [True, True] Translation: X:2.32, Y:0.10, Z:0.25 [[ 0.99009471 -0.09212936 -0.10594644 2.32275174] [ 0.09206435 0.99573779 -0.00551461 0.10385494] [ 0.10600293 -0.0042939 0.99435655 0.24686433] [ 0. 0. 0. 1. ]] SLAMing on 2.7471056809999994 meters Centerline goodness [0,1] 0.9978892266126309 Centerline is valid? [True, True] Translation: X:2.35, Y:0.12, Z:0.25 [[ 0.99035013 -0.08542155 -0.10913193 2.35250121] [ 0.08531266 0.99633807 -0.00567513 0.12169563] [ 0.10921708 -0.00368997 0.99401107 0.24866756] [ 0. 0. 0. 1. ]] SLAMing on 2.7771056809999997 meters Centerline goodness [0,1] 0.9981893319700068 Centerline is valid? [True, True] Translation: X:2.38, Y:0.14, Z:0.25 [[ 0.99079773 -0.07855092 -0.11022523 2.38203274] [ 0.07839776 0.99690569 -0.00572953 0.14088663] [ 0.11033422 -0.0029646 0.99389012 0.25180359] [ 0. 0. 0. 1. ]] SLAMing on 2.8071056809999995 meters Centerline goodness [0,1] 0.998333225101197 Centerline is valid? [True, True] Translation: X:2.41, Y:0.17, Z:0.25 [[ 9.91270791e-01 -6.97104748e-02 -1.11904733e-01 2.41222040e+00] [ 6.94967505e-02 9.97565234e-01 -5.81429670e-03 1.66688481e-01] [ 1.12037588e-01 -2.01347282e-03 9.93701930e-01 2.51533115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8371056809999993 meters Centerline goodness [0,1] 0.998333225101197 Centerline is valid? [True, True] Translation: X:2.44, Y:0.17, Z:0.26 [[ 9.91280079e-01 -6.95781448e-02 -1.11904815e-01 2.44451802e+00] [ 6.93637575e-02 9.97574499e-01 -5.81272485e-03 1.68249118e-01] [ 1.12037828e-01 -2.00010009e-03 9.93701929e-01 2.55449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8671056809999995 meters Centerline goodness [0,1] 0.999342436928742 Centerline is valid? [True, True] Translation: X:2.47, Y:0.19, Z:0.27 [[ 9.91876625e-01 -6.66773667e-02 -1.08327695e-01 2.47327821e+00] [ 6.64608393e-02 9.97773252e-01 -5.61204644e-03 1.86557960e-01] [ 1.08460673e-01 -1.63309185e-03 9.94099399e-01 2.66355538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8971056809999993 meters Centerline goodness [0,1] 0.9993173159505825 Centerline is valid? [True, True] Translation: X:2.50, Y:0.20, Z:0.27 [[ 9.92192065e-01 -6.38122469e-02 -1.07158308e-01 2.50344925e+00] [ 6.35844708e-02 9.97961059e-01 -5.54441449e-03 1.96309080e-01] [ 1.07293620e-01 -1.31248024e-03 9.94226512e-01 2.74644157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9271056809999996 meters Centerline goodness [0,1] 0.9991714624806861 Centerline is valid? [True, True] Translation: X:2.53, Y:0.21, Z:0.28 [[ 9.92707331e-01 -5.29435387e-02 -1.08301136e-01 2.53468134e+00] [ 5.26471064e-02 9.98597497e-01 -5.59658691e-03 2.13804180e-01] [ 1.08445546e-01 -1.45968569e-04 9.94102380e-01 2.78095064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9571056809999994 meters Centerline goodness [0,1] 0.999501382530257 Centerline is valid? [True, True] Translation: X:2.57, Y:0.23, Z:0.28 [[ 9.92577269e-01 -4.41752044e-02 -1.13308940e-01 2.56683213e+00] [ 4.37948584e-02 9.99023447e-01 -5.84494080e-03 2.25851109e-01] [ 1.13456489e-01 8.39206420e-04 9.93542612e-01 2.76232495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9871056809999996 meters Centerline goodness [0,1] 0.9997051218073765 Centerline is valid? [True, True] Translation: X:2.60, Y:0.23, Z:0.28 [[ 9.92376901e-01 -4.55585077e-02 -1.14509861e-01 2.59825906e+00] [ 4.51804020e-02 9.98961442e-01 -5.89648134e-03 2.27861927e-01] [ 1.14659571e-01 6.77930311e-04 9.93404612e-01 2.77482662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0171056809999994 meters Centerline goodness [0,1] 0.9995708833028435 Centerline is valid? [True, True] Translation: X:2.63, Y:0.21, Z:0.28 [[ 9.91361988e-01 -6.25137385e-02 -1.15297184e-01 2.62917773e+00] [ 6.22451630e-02 9.98043262e-01 -5.93186230e-03 2.13482694e-01] [ 1.15442401e-01 -1.29606923e-03 9.93313330e-01 2.77679375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0471056809999992 meters Centerline goodness [0,1] 0.9990146459443723 Centerline is valid? [True, True] Translation: X:2.66, Y:0.20, Z:0.28 [[ 0.99021267 -0.07672659 -0.11658428 2.66055314] [ 0.07655031 0.99704769 -0.00599554 0.20138483] [ 0.1167001 -0.00298771 0.99316271 0.27922352] [ 0. 0. 0. 1. ]] SLAMing on 3.0771056809999995 meters Centerline goodness [0,1] 0.9991168613251495 Centerline is valid? [True, True] Translation: X:2.69, Y:0.18, Z:0.28 [[ 0.98874018 -0.09303581 -0.11720578 2.69121734] [ 0.09297185 0.99565051 -0.00602491 0.18187036] [ 0.11725653 -0.00493977 0.99308937 0.28304199] [ 0. 0. 0. 1. ]] SLAMing on 3.1071056809999993 meters Centerline goodness [0,1] 0.9989148007884304 Centerline is valid? [True, True] Translation: X:2.72, Y:0.18, Z:0.29 [[ 0.98824948 -0.09720965 -0.11795446 2.72198291] [ 0.09717443 0.9952489 -0.00606349 0.18195005] [ 0.11798347 -0.00546991 0.99300049 0.28778893] [ 0. 0. 0. 1. ]] SLAMing on 3.1371056809999995 meters Centerline goodness [0,1] 0.9986298645333804 Centerline is valid? [True, True] Translation: X:2.75, Y:0.18, Z:0.29 [[ 0.98813704 -0.09832364 -0.11797312 2.75257112] [ 0.09829656 0.9951387 -0.00606235 0.18112174] [ 0.11799569 -0.00560592 0.99299828 0.29230704] [ 0. 0. 0. 1. ]] SLAMing on 3.1671056809999993 meters Centerline goodness [0,1] 0.9990913523336732 Centerline is valid? [True, True] Translation: X:2.78, Y:0.18, Z:0.29 [[ 0.98756749 -0.10156565 -0.11997864 2.78326213] [ 0.10156501 0.99480998 -0.00613625 0.18255736] [ 0.11997918 -0.00612567 0.99275751 0.29407518] [ 0. 0. 0. 1. ]] SLAMing on 3.1971056809999996 meters Centerline goodness [0,1] 0.9988239210029957 Centerline is valid? [True, True] Translation: X:2.81, Y:0.18, Z:0.30 [[ 0.98690319 -0.10718432 -0.12055548 2.81423757] [ 0.10722621 0.99421558 -0.00615841 0.18272798] [ 0.12051822 -0.00684896 0.99268749 0.29571629] [ 0. 0. 0. 1. ]] SLAMing on 3.2271056809999994 meters Centerline goodness [0,1] 0.9992205767731879 Centerline is valid? [True, True] Translation: X:2.85, Y:0.18, Z:0.30 [[ 0.98583741 -0.11477766 -0.12227304 2.84516873] [ 0.11487884 0.99335988 -0.00624553 0.18217825] [ 0.12217798 -0.00788951 0.99247685 0.29541612] [ 0. 0. 0. 1. ]] SLAMing on 3.257105680999999 meters Centerline goodness [0,1] 0.9989546495851961 Centerline is valid? [True, True] Translation: X:2.88, Y:0.18, Z:0.30 [[ 0.98503867 -0.12035943 -0.12333864 2.87556871] [ 0.120506 0.99269262 -0.00629843 0.17763352] [ 0.12319543 -0.00865885 0.99234465 0.29618628] [ 0. 0. 0. 1. ]] SLAMing on 3.2871056809999994 meters Centerline goodness [0,1] 0.9988619881736026 Centerline is valid? [True, True] Translation: X:2.91, Y:0.18, Z:0.30 [[ 0.98433248 -0.12469186 -0.12466558 2.90542262] [ 0.12487586 0.99215194 -0.00636829 0.17800621] [ 0.12448127 -0.00929921 0.99217838 0.30183951] [ 0. 0. 0. 1. ]] SLAMing on 3.3171056809999993 meters Centerline goodness [0,1] 0.9987659584015796 Centerline is valid? [True, True] Translation: X:2.93, Y:0.19, Z:0.32 [[ 0.98554893 -0.12128385 -0.11825196 2.93463262] [ 0.12142464 0.99258227 -0.0060402 0.18733294] [ 0.11810738 -0.00840579 0.99296525 0.31640072] [ 0. 0. 0. 1. ]] SLAMing on 3.3471056809999995 meters Centerline goodness [0,1] 0.9992076966610074 Centerline is valid? [True, True] Translation: X:2.96, Y:0.20, Z:0.32 [[ 0.98668173 -0.11511746 -0.11492233 2.96362481] [ 0.115209 0.99332394 -0.00586763 0.20104909] [ 0.11483056 -0.0074506 0.99335715 0.32417686] [ 0. 0. 0. 1. ]] SLAMing on 3.3771056809999993 meters Centerline goodness [0,1] 0.9994743217607935 Centerline is valid? [True, True] Translation: X:2.99, Y:0.22, Z:0.33 [[ 0.98883047 -0.09798875 -0.11230537 2.99251469] [ 0.09796604 0.99517324 -0.00573417 0.22357105] [ 0.11232519 -0.00533199 0.9936572 0.32859484] [ 0. 0. 0. 1. ]] SLAMing on 3.4071056809999996 meters Centerline goodness [0,1] 0.9996252313025554 Centerline is valid? [True, True] Translation: X:3.02, Y:0.26, Z:0.34 [[ 9.91871667e-01 -7.19772250e-02 -1.04927953e-01 3.01978491e+00] [ 7.18120176e-02 9.97403801e-01 -5.35655375e-03 2.59016496e-01] [ 1.05041089e-01 -2.22207412e-03 9.94465400e-01 3.41935094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4371056809999994 meters Centerline goodness [0,1] 0.9997131176934663 Centerline is valid? [True, True] Translation: X:3.05, Y:0.29, Z:0.35 [[ 9.93767909e-01 -4.17351985e-02 -1.03361094e-01 3.04853406e+00] [ 4.14113932e-02 9.99128242e-01 -5.27763259e-03 2.92378583e-01] [ 1.03491252e-01 9.64414983e-04 9.94629896e-01 3.45522469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.467105680999999 meters Centerline goodness [0,1] 0.9997803860325517 Centerline is valid? [True, True] Translation: X:3.08, Y:0.32, Z:0.34 [[ 0.9940002 -0.0204814 -0.10744358 3.07694204] [ 0.0200094 0.99978483 -0.00546936 0.31989744] [ 0.10753248 0.00328666 0.99419614 0.34412524] [ 0. 0. 0. 1. ]] SLAMing on 3.4971056809999994 meters Centerline goodness [0,1] 0.9997266877034313 Centerline is valid? [True, True] Translation: X:3.11, Y:0.33, Z:0.35 [[ 0.9941021 -0.0133546 -0.10762279 3.10628462] [ 0.01283922 0.99990256 -0.00548033 0.33499486] [ 0.10768549 0.00406621 0.99417669 0.34792903] [ 0. 0. 0. 1. ]] SLAMing on 3.527105680999999 meters Centerline goodness [0,1] 0.9998258663150824 Centerline is valid? [True, True] Translation: X:3.14, Y:0.34, Z:0.35 [[ 0.99426085 -0.01743608 -0.10555259 3.13514034] [ 0.0169635 0.99984167 -0.00537341 0.33544832] [ 0.10562957 0.00355203 0.9943992 0.3512342 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5571056809999995 meters Centerline goodness [0,1] 0.9998028342575478 Centerline is valid? [True, True] Translation: X:3.17, Y:0.33, Z:0.35 [[ 9.93782540e-01 -2.78275051e-02 -1.07804888e-01 3.16627386e+00] [ 2.73916502e-02 9.99609526e-01 -5.52197115e-03 3.27886711e-01] [ 1.07916456e-01 2.53468473e-03 9.94156735e-01 3.51201619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5871056809999993 meters Centerline goodness [0,1] 0.9997554115201174 Centerline is valid? [True, True] Translation: X:3.20, Y:0.32, Z:0.35 [[ 9.93274470e-01 -3.92457768e-02 -1.08929318e-01 3.19669388e+00] [ 3.88691168e-02 9.99228731e-01 -5.57982291e-03 3.17082888e-01] [ 1.09064288e-01 1.30830928e-03 9.94033837e-01 3.54621336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6171056809999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.23, Y:0.30, Z:0.36 [[ 9.92728240e-01 -5.32455616e-02 -1.07960877e-01 3.22822955e+00] [ 5.29577260e-02 9.98581424e-01 -5.53347272e-03 3.00424479e-01] [ 1.08102359e-01 -2.24127899e-04 9.94139744e-01 3.61731997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6471056809999993 meters Centerline goodness [0,1] 0.9997131519816417 Centerline is valid? [True, True] Translation: X:3.26, Y:0.28, Z:0.36 [[ 9.91663378e-01 -6.56333311e-02 -1.10887378e-01 3.26149777e+00] [ 6.54075470e-02 9.97842487e-01 -5.67654707e-03 2.83988676e-01] [ 1.11020708e-01 -1.62364754e-03 9.93816767e-01 3.59682555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677105680999999 meters Centerline goodness [0,1] 0.9995540743522343 Centerline is valid? [True, True] Translation: X:3.29, Y:0.27, Z:0.37 [[ 9.91065723e-01 -7.59210914e-02 -1.09657290e-01 3.29224195e+00] [ 7.57641440e-02 9.97110023e-01 -5.60323130e-03 2.67305494e-01] [ 1.09765787e-01 -2.75492025e-03 9.93953662e-01 3.65272536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7071056809999994 meters Centerline goodness [0,1] 0.9997023877658479 Centerline is valid? [True, True] Translation: X:3.32, Y:0.26, Z:0.37 [[ 9.91567750e-01 -7.58495507e-02 -1.05072560e-01 3.32297327e+00] [ 7.57051849e-02 9.97115799e-01 -5.36739077e-03 2.56966633e-01] [ 1.05176624e-01 -2.63240598e-03 9.94450073e-01 3.74729435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737105680999999 meters Centerline goodness [0,1] 0.999747225222327 Centerline is valid? [True, True] Translation: X:3.35, Y:0.26, Z:0.38 [[ 9.92462262e-01 -6.26578012e-02 -1.05321689e-01 3.35371953e+00] [ 6.24394221e-02 9.98034294e-01 -5.37272367e-03 2.63087283e-01] [ 1.05451301e-01 -1.24399991e-03 9.94423690e-01 3.77328739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7671056809999994 meters Centerline goodness [0,1] 0.9997948577680525 Centerline is valid? [True, True] Translation: X:3.38, Y:0.27, Z:0.39 [[ 9.93687005e-01 -4.61475041e-02 -1.02257243e-01 3.38405321e+00] [ 4.58545005e-02 9.98934515e-01 -5.21540830e-03 2.72214315e-01] [ 1.02388967e-01 4.93528657e-04 9.94744317e-01 3.88711206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7971056809999992 meters Centerline goodness [0,1] 0.9998417327997468 Centerline is valid? [True, True] Translation: X:3.41, Y:0.28, Z:0.39 [[ 9.94267547e-01 -3.28652833e-02 -1.01744376e-01 3.41374655e+00] [ 3.25068941e-02 9.99458094e-01 -5.17889603e-03 2.76207055e-01] [ 1.01859446e-01 1.84181459e-03 9.94797095e-01 3.92002928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8271056809999995 meters Centerline goodness [0,1] 0.9997293029551094 Centerline is valid? [True, True] Translation: X:3.44, Y:0.27, Z:0.39 [[ 9.94262087e-01 -3.05052810e-02 -1.02529652e-01 3.44430289e+00] [ 3.01288045e-02 9.99532400e-01 -5.21886737e-03 2.74626351e-01] [ 1.02640912e-01 2.09982614e-03 9.94716258e-01 3.93903845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8571056809999993 meters Centerline goodness [0,1] 0.9998221273568125 Centerline is valid? [True, True] Translation: X:3.47, Y:0.26, Z:0.40 [[ 9.93900727e-01 -3.34920908e-02 -1.05069615e-01 3.47325873e+00] [ 3.31134160e-02 9.99437298e-01 -5.34689717e-03 2.64325648e-01] [ 1.05189571e-01 1.83507111e-03 9.94450495e-01 3.95213734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.887105680999999 meters Centerline goodness [0,1] 0.9996915959907479 Centerline is valid? [True, True] Translation: X:3.50, Y:0.25, Z:0.40 [[ 9.93496524e-01 -4.26146875e-02 -1.05587147e-01 3.50357130e+00] [ 4.22826003e-02 9.99091191e-01 -5.38268572e-03 2.47746560e-01] [ 1.05720570e-01 8.83180410e-04 9.94395485e-01 3.97370349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9171056809999993 meters Centerline goodness [0,1] 0.9991980058523897 Centerline is valid? [True, True] Translation: X:3.54, Y:0.23, Z:0.40 [[ 9.92986882e-01 -5.18384133e-02 -1.06253619e-01 3.53549129e+00] [ 5.15541304e-02 9.98655481e-01 -5.42231320e-03 2.30141766e-01] [ 1.06391843e-01 -9.35270543e-05 9.94324277e-01 3.97081815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.947105680999999 meters Centerline goodness [0,1] 0.9991650252633382 Centerline is valid? [True, True] Translation: X:3.57, Y:0.21, Z:0.40 [[ 9.92371903e-01 -6.02547373e-02 -1.07551721e-01 3.56838694e+00] [ 6.00128811e-02 9.98182522e-01 -5.48692810e-03 2.14552895e-01] [ 1.07686861e-01 -1.00941535e-03 9.94184350e-01 3.96585005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9771056809999994 meters Centerline goodness [0,1] 0.9982638888888888 Centerline is valid? [True, True] Translation: X:3.60, Y:0.20, Z:0.40 [[ 9.91376220e-01 -7.38693612e-02 -1.08242818e-01 3.59871634e+00] [ 7.37064143e-02 9.97264756e-01 -5.51098021e-03 1.96073501e-01] [ 1.08353841e-01 -2.51473530e-03 9.94109210e-01 4.02499853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.007105681 meters Centerline goodness [0,1] 0.9975056071436058 Centerline is valid? [True, True] Translation: X:3.63, Y:0.18, Z:0.40 [[ 0.99004402 -0.08716847 -0.11051921 3.62980172] [ 0.08708137 0.99618533 -0.00562398 0.17589198] [ 0.11058785 -0.00405617 0.99385808 0.40303947] [ 0. 0. 0. 1. ]] SLAMing on 4.037105681 meters Centerline goodness [0,1] 0.997270054598908 Centerline is valid? [True, True] Translation: X:3.66, Y:0.16, Z:0.40 [[ 0.98900225 -0.09689486 -0.11174051 3.66164009] [ 0.09686731 0.99528105 -0.0056885 0.16138988] [ 0.11176439 -0.00519806 0.99372114 0.40340448] [ 0. 0. 0. 1. ]] SLAMing on 4.067105681 meters Centerline goodness [0,1] 0.9972571189279732 Centerline is valid? [True, True] Translation: X:3.69, Y:0.16, Z:0.41 [[ 0.98836344 -0.09994877 -0.11466454 3.69423116] [ 0.09994061 0.9949763 -0.00583452 0.1574568 ] [ 0.11467165 -0.00569301 0.99338714 0.40590538] [ 0. 0. 0. 1. ]] SLAMing on 4.0971056809999995 meters Centerline goodness [0,1] 0.9973872875864808 Centerline is valid? [True, True] Translation: X:3.72, Y:0.16, Z:0.41 [[ 0.98879185 -0.094512 -0.11557751 3.72345412] [ 0.09446811 0.99551058 -0.00586967 0.15921711] [ 0.11561339 -0.00511451 0.99328112 0.40998474] [ 0. 0. 0. 1. ]] SLAMing on 4.127105681 meters Centerline goodness [0,1] 0.9974235372340425 Centerline is valid? [True, True] Translation: X:3.75, Y:0.17, Z:0.42 [[ 9.90148987e-01 -8.23439218e-02 -1.13245138e-01 3.75182019e+00] [ 8.22224342e-02 9.96597410e-01 -5.75105574e-03 1.74959048e-01] [ 1.13333376e-01 -3.61688894e-03 9.93550434e-01 4.16053372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157105681 meters Centerline goodness [0,1] 0.9979343154029128 Centerline is valid? [True, True] Translation: X:3.78, Y:0.20, Z:0.42 [[ 9.91780248e-01 -6.73966245e-02 -1.08764127e-01 3.78013507e+00] [ 6.71945352e-02 9.97724589e-01 -5.52624010e-03 1.95962310e-01] [ 1.08889094e-01 -1.82753917e-03 9.94052225e-01 4.24044316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.187105680999999 meters Centerline goodness [0,1] 0.9992636229749632 Centerline is valid? [True, True] Translation: X:3.81, Y:0.22, Z:0.43 [[ 9.93145305e-01 -5.13651191e-02 -1.04995371e-01 3.81095236e+00] [ 5.10872021e-02 9.98679939e-01 -5.33641747e-03 2.20388814e-01] [ 1.05130876e-01 -6.40817671e-05 9.94458393e-01 4.30942887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217105681 meters Centerline goodness [0,1] 0.9993841841501742 Centerline is valid? [True, True] Translation: X:3.84, Y:0.24, Z:0.44 [[ 9.93847922e-01 -3.84057483e-02 -1.03881210e-01 3.84141491e+00] [ 3.80646969e-02 9.99261410e-01 -5.26430335e-03 2.43721078e-01] [ 1.04006664e-01 1.27771019e-03 9.94575780e-01 4.38984622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.247105681 meters Centerline goodness [0,1] 0.999547569803516 Centerline is valid? [True, True] Translation: X:3.87, Y:0.26, Z:0.44 [[ 9.93820376e-01 -3.12872913e-02 -1.06499606e-01 3.86998620e+00] [ 3.08892885e-02 9.99508306e-01 -5.38502634e-03 2.62556537e-01] [ 1.06615724e-01 2.06205183e-03 9.94298162e-01 4.40655230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277105681 meters Centerline goodness [0,1] 0.9995659345429291 Centerline is valid? [True, True] Translation: X:3.90, Y:0.27, Z:0.44 [[ 9.93679632e-01 -3.28604499e-02 -1.07335823e-01 3.89888637e+00] [ 3.24654379e-02 9.99458130e-01 -5.42595536e-03 2.68473135e-01] [ 1.07455960e-01 1.90695685e-03 9.94208017e-01 4.39789176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3071056809999995 meters Centerline goodness [0,1] 0.9995004886524053 Centerline is valid? [True, True] Translation: X:3.93, Y:0.26, Z:0.44 [[ 9.93845039e-01 -4.07197735e-02 -1.03023967e-01 3.92767995e+00] [ 4.03947368e-02 9.99170058e-01 -5.24023325e-03 2.63890554e-01] [ 1.03151844e-01 1.04635380e-03 9.94665070e-01 4.43575697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.337105681 meters Centerline goodness [0,1] 0.9992670044195322 Centerline is valid? [True, True] Translation: X:3.96, Y:0.26, Z:0.46 [[ 9.93749238e-01 -5.22457892e-02 -9.86551054e-02 3.95941174e+00] [ 5.20005504e-02 9.98634251e-01 -5.05728696e-03 2.58382852e-01] [ 9.87845892e-02 -1.04444718e-04 9.95108835e-01 4.55549448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.367105681 meters Centerline goodness [0,1] 0.9991765623645662 Centerline is valid? [True, True] Translation: X:3.99, Y:0.26, Z:0.46 [[ 9.93450893e-01 -5.71789192e-02 -9.89236759e-02 3.99070643e+00] [ 5.69575827e-02 9.98363764e-01 -5.06248428e-03 2.57862421e-01] [ 9.90512807e-02 -6.05123923e-04 9.95082146e-01 4.62244778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397105680999999 meters Centerline goodness [0,1] 0.9992434885982925 Centerline is valid? [True, True] Translation: X:4.02, Y:0.26, Z:0.47 [[ 9.93284539e-01 -6.17044441e-02 -9.78692271e-02 4.02153803e+00] [ 6.15106057e-02 9.98093909e-01 -4.99948935e-03 2.58523911e-01] [ 9.79911701e-02 -1.05407996e-03 9.95186726e-01 4.69475225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.427105681 meters Centerline goodness [0,1] 0.9992652620205295 Centerline is valid? [True, True] Translation: X:4.05, Y:0.27, Z:0.47 [[ 9.94083263e-01 -5.57027304e-02 -9.32505860e-02 4.05156409e+00] [ 5.55010148e-02 9.98447298e-01 -4.75718990e-03 2.65079479e-01] [ 9.33707841e-02 -4.46459298e-04 9.95631306e-01 4.74272495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457105681 meters Centerline goodness [0,1] 0.9993674613388008 Centerline is valid? [True, True] Translation: X:4.08, Y:0.28, Z:0.47 [[ 9.94527767e-01 -4.31231495e-02 -9.51573177e-02 4.08414126e+00] [ 4.28558988e-02 9.99069485e-01 -4.85134970e-03 2.77592771e-01] [ 9.52779778e-02 7.46749605e-04 9.95450425e-01 4.71922333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.487105681 meters Centerline goodness [0,1] 0.9997602650161276 Centerline is valid? [True, True] Translation: X:4.11, Y:0.29, Z:0.47 [[ 9.94094208e-01 -3.55662822e-02 -1.02526801e-01 4.11492492e+00] [ 3.52168674e-02 9.99366078e-01 -5.21670520e-03 2.88151439e-01] [ 1.02647345e-01 1.57522368e-03 9.94716563e-01 4.70857652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517105680999999 meters Centerline goodness [0,1] 0.9996263736263736 Centerline is valid? [True, True] Translation: X:4.14, Y:0.29, Z:0.47 [[ 9.93611114e-01 -3.46167294e-02 -1.07418042e-01 4.14452829e+00] [ 3.42284307e-02 9.99399137e-01 -5.45700050e-03 2.92143604e-01] [ 1.07542402e-01 1.74538532e-03 9.94198967e-01 4.70110113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.547105681 meters Centerline goodness [0,1] 0.9995183571600587 Centerline is valid? [True, True] Translation: X:4.17, Y:0.29, Z:0.47 [[ 9.93089974e-01 -3.88726908e-02 -1.10730382e-01 4.17419056e+00] [ 3.84863452e-02 9.99243293e-01 -5.62512323e-03 2.87133819e-01] [ 1.10865255e-01 1.32464578e-03 9.93834564e-01 4.67197260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577105681 meters Centerline goodness [0,1] 0.9995640041855598 Centerline is valid? [True, True] Translation: X:4.20, Y:0.28, Z:0.47 [[ 9.92867278e-01 -4.35701620e-02 -1.10978417e-01 4.20412288e+00] [ 4.32073885e-02 9.99050019e-01 -5.67289530e-03 2.80384775e-01] [ 1.11120158e-01 8.37344553e-04 9.93806626e-01 4.71333591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.607105680999999 meters Centerline goodness [0,1] 0.9994150019499936 Centerline is valid? [True, True] Translation: X:4.23, Y:0.28, Z:0.48 [[ 9.92758840e-01 -4.38688987e-02 -1.11827574e-01 4.23408276e+00] [ 4.35018329e-02 9.99036964e-01 -5.72150660e-03 2.76903580e-01] [ 1.11970876e-01 8.15371837e-04 9.93711154e-01 4.75844920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6371056809999995 meters Centerline goodness [0,1] 0.999526830842026 Centerline is valid? [True, True] Translation: X:4.26, Y:0.28, Z:0.48 [[ 9.92724168e-01 -3.97685362e-02 -1.13653816e-01 4.26333710e+00] [ 3.93625634e-02 9.99208075e-01 -5.81480256e-03 2.76272309e-01] [ 1.13795057e-01 1.29878950e-03 9.93503396e-01 4.77123390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.667105681 meters Centerline goodness [0,1] 0.9994637034494595 Centerline is valid? [True, True] Translation: X:4.29, Y:0.28, Z:0.48 [[ 9.92634592e-01 -3.57626999e-02 -1.15747983e-01 4.29186445e+00] [ 3.53142613e-02 9.99358703e-01 -5.92328297e-03 2.76444653e-01] [ 1.15885586e-01 1.79210107e-03 9.93260952e-01 4.78799505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697105681 meters Centerline goodness [0,1] 0.999190904058255 Centerline is valid? [True, True] Translation: X:4.32, Y:0.27, Z:0.48 [[ 9.92577243e-01 -3.65688072e-02 -1.15987666e-01 4.31871659e+00] [ 3.61198487e-02 9.99329628e-01 -5.97091690e-03 2.73928531e-01] [ 1.16128260e-01 1.73713930e-03 9.93232707e-01 4.81541631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.727105680999999 meters Centerline goodness [0,1] 0.999304897314376 Centerline is valid? [True, True] Translation: X:4.35, Y:0.26, Z:0.49 [[ 9.92825468e-01 -3.94192578e-02 -1.12888049e-01 4.34786147e+00] [ 3.90078402e-02 9.99221769e-01 -5.85184531e-03 2.64600203e-01] [ 1.13030871e-01 1.40634210e-03 9.93590481e-01 4.86879314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757105681 meters Centerline goodness [0,1] 0.999304897314376 Centerline is valid? [True, True] Translation: X:4.37, Y:0.27, Z:0.49 [[ 9.92811172e-01 -3.97829695e-02 -1.12886191e-01 4.37494210e+00] [ 3.93698466e-02 9.99207362e-01 -5.88745597e-03 2.66220691e-01] [ 1.13030934e-01 1.40082004e-03 9.93590482e-01 4.90182770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.787105681 meters Centerline goodness [0,1] 0.9992897727272727 Centerline is valid? [True, True] Translation: X:4.40, Y:0.26, Z:0.50 [[ 9.93118069e-01 -4.01561084e-02 -1.10018127e-01 4.40319679e+00] [ 3.97616963e-02 9.99192488e-01 -5.77743728e-03 2.58278370e-01] [ 1.10161286e-01 1.36316999e-03 9.93912789e-01 4.97599630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817105680999999 meters Centerline goodness [0,1] 0.9992042384771638 Centerline is valid? [True, True] Translation: X:4.43, Y:0.25, Z:0.51 [[ 9.93554846e-01 -4.01718829e-02 -1.05995229e-01 4.43153704e+00] [ 3.98020881e-02 9.99191875e-01 -5.60271984e-03 2.51884919e-01] [ 1.06134644e-01 1.34777799e-03 9.94350854e-01 5.11074104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8471056809999995 meters Centerline goodness [0,1] 0.9991245257848002 Centerline is valid? [True, True] Translation: X:4.46, Y:0.25, Z:0.52 [[ 9.94172262e-01 -3.75450206e-02 -1.01053870e-01 4.46083388e+00] [ 3.71949928e-02 9.99293725e-01 -5.34638984e-03 2.45510600e-01] [ 1.01183229e-01 1.55653450e-03 9.94866590e-01 5.21374455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877105681 meters Centerline goodness [0,1] 0.9990665643344604 Centerline is valid? [True, True] Translation: X:4.49, Y:0.24, Z:0.53 [[ 9.94341221e-01 -3.53696485e-02 -1.00172476e-01 4.49116686e+00] [ 3.50144363e-02 9.99372740e-01 -5.30250657e-03 2.43856132e-01] [ 1.00297190e-01 1.76501806e-03 9.94955958e-01 5.25171850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.907105681 meters Centerline goodness [0,1] 0.9988830513382699 Centerline is valid? [True, True] Translation: X:4.52, Y:0.25, Z:0.52 [[ 9.93981534e-01 -2.69856543e-02 -1.06171959e-01 4.51945689e+00] [ 2.65389222e-02 9.99631991e-01 -5.61847768e-03 2.45144475e-01] [ 1.06284505e-01 2.76697371e-03 9.94331910e-01 5.20465093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937105680999999 meters Centerline goodness [0,1] 0.9992545657845695 Centerline is valid? [True, True] Translation: X:4.55, Y:0.25, Z:0.52 [[ 0.99426974 -0.00872081 -0.10654399 4.54988407] [ 0.00816496 0.99995069 -0.00565214 0.25190261] [ 0.10658803 0.00474983 0.99429192 0.52058386] [ 0. 0. 0. 1. ]] SLAMing on 4.967105681 meters Centerline goodness [0,1] 0.9992561676102318 Centerline is valid? [True, True] Translation: X:4.58, Y:0.25, Z:0.53 [[ 0.99452586 -0.00521889 -0.10436034 4.57746349] [ 0.00466679 0.9999738 -0.00553374 0.25459428] [ 0.10438649 0.00501642 0.99452416 0.52748296] [ 0. 0. 0. 1. ]] SLAMing on 4.997105681 meters Centerline goodness [0,1] 0.9991521918941274 Centerline is valid? [True, True] Translation: X:4.61, Y:0.25, Z:0.53 [[ 9.93853285e-01 2.59879507e-05 -1.10705223e-01 4.60787268e+00] [-6.81561748e-04 9.99982457e-01 -5.88395803e-03 2.53900071e-01] [ 1.10703128e-01 5.92324347e-03 9.93835868e-01 5.25486542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.027105680999999 meters Centerline goodness [0,1] 0.9993551473800262 Centerline is valid? [True, True] Translation: X:4.64, Y:0.25, Z:0.51 [[ 9.92643937e-01 3.27546577e-03 -1.21025972e-01 4.63792941e+00] [-4.08468549e-03 9.99970928e-01 -6.43884722e-03 2.53692678e-01] [ 1.21001363e-01 6.88583568e-03 9.92628458e-01 5.14498818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0571056809999995 meters Centerline goodness [0,1] 0.9986099873446609 Centerline is valid? [True, True] Translation: X:4.67, Y:0.25, Z:0.52 [[ 0.99274543 0.00765171 -0.11999147 4.66817895] [-0.00848025 0.99994359 -0.00639583 0.25355544] [ 0.11993576 0.00736698 0.99275432 0.51643235] [ 0. 0. 0. 1. ]] SLAMing on 5.087105681 meters Centerline goodness [0,1] 0.9967185877466251 Centerline is valid? [True, True] Translation: X:4.70, Y:0.25, Z:0.52 [[ 0.99267279 0.01127247 -0.12030655 4.69710697] [-0.01213213 0.99990582 -0.00641547 0.25431338] [ 0.1202229 0.00782803 0.99271606 0.52062261] [ 0. 0. 0. 1. ]] SLAMing on 5.117105681 meters Centerline goodness [0,1] 0.9984820760209598 Centerline is valid? [True, True] Translation: X:4.73, Y:0.25, Z:0.52 [[ 0.99229271 0.01117552 -0.12341108 4.72597596] [-0.01208059 0.99990533 -0.00658789 0.2475674 ] [ 0.12332577 0.008028 0.99233377 0.52179808] [ 0. 0. 0. 1. ]] SLAMing on 5.147105680999999 meters Centerline goodness [0,1] 0.9993349543820271 Centerline is valid? [True, True] Translation: X:4.76, Y:0.23, Z:0.52 [[ 9.92248433e-01 3.59902994e-03 -1.24217933e-01 4.75587956e+00] [-4.46225322e-03 9.99967788e-01 -6.67173997e-03 2.28706611e-01] [ 1.24189920e-01 7.17431540e-03 9.92232530e-01 5.20800353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177105681 meters Centerline goodness [0,1] 0.9998136800264988 Centerline is valid? [True, True] Translation: X:4.79, Y:0.22, Z:0.52 [[ 9.92147154e-01 -1.49723019e-03 -1.25067113e-01 4.78585646e+00] [ 6.61358808e-04 9.99977171e-01 -6.72463552e-03 2.20665437e-01] [ 1.25074326e-01 6.58911376e-03 9.92125494e-01 5.23760957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.207105681 meters Centerline goodness [0,1] 0.9998554883461673 Centerline is valid? [True, True] Translation: X:4.82, Y:0.20, Z:0.53 [[ 0.99193645 -0.01383459 -0.12597891 4.81716857] [ 0.01308455 0.99989141 -0.00677924 0.19875427] [ 0.12605901 0.0050762 0.99200976 0.52896002] [ 0. 0. 0. 1. ]] SLAMing on 5.237105680999999 meters Centerline goodness [0,1] 0.9998129053716946 Centerline is valid? [True, True] Translation: X:4.85, Y:0.17, Z:0.53 [[ 9.92029923e-01 -2.25519452e-02 -1.23967907e-01 4.84824119e+00] [ 2.18931747e-02 9.99738039e-01 -6.67392938e-03 1.71473396e-01] [ 1.24085942e-01 3.90668660e-03 9.92263784e-01 5.34022738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.267105680999999 meters Centerline goodness [0,1] 0.9998549162659592 Centerline is valid? [True, True] Translation: X:4.88, Y:0.15, Z:0.54 [[ 9.92349374e-01 -2.54030296e-02 -1.20819727e-01 4.87670910e+00] [ 2.47983982e-02 9.99671304e-01 -6.50559974e-03 1.54649073e-01] [ 1.20945276e-01 3.45969213e-03 9.92653147e-01 5.40182715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297105681 meters Centerline goodness [0,1] 0.9999378624689312 Centerline is valid? [True, True] Translation: X:4.90, Y:0.15, Z:0.56 [[ 9.93286825e-01 -2.54010204e-02 -1.12854203e-01 4.90372495e+00] [ 2.48719792e-02 9.99672073e-01 -6.09353878e-03 1.45651469e-01] [ 1.12971977e-01 3.24572441e-03 9.93592873e-01 5.58097255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.327105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.93, Y:0.14, Z:0.57 [[ 9.94115298e-01 -2.29922055e-02 -1.05859027e-01 4.93043646e+00] [ 2.25095753e-02 9.99730081e-01 -5.75186000e-03 1.41745362e-01] [ 1.05962702e-01 3.33517027e-03 9.94364512e-01 5.74456052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.96, Y:0.14, Z:0.58 [[ 9.94273975e-01 -2.21705741e-02 -1.04535772e-01 4.95932904e+00] [ 2.16946409e-02 9.99748464e-01 -5.68781927e-03 1.39613937e-01] [ 1.04635579e-01 3.38738464e-03 9.94504862e-01 5.79497471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3871056809999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.99, Y:0.13, Z:0.57 [[ 9.93674106e-01 -2.33563844e-02 -1.09846490e-01 4.99012374e+00] [ 2.28336142e-02 9.99721185e-01 -6.01476767e-03 1.29266180e-01] [ 1.09956346e-01 3.46852652e-03 9.93930365e-01 5.73659111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417105681 meters Centerline goodness [0,1] 0.9998968817026893 Centerline is valid? [True, True] Translation: X:5.02, Y:0.13, Z:0.58 [[ 9.93656185e-01 -2.19995964e-02 -1.10287824e-01 5.01845947e+00] [ 2.14604438e-02 9.99751251e-01 -6.07339324e-03 1.27404701e-01] [ 1.10394002e-01 3.66803910e-03 9.93881135e-01 5.75812522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.447105680999999 meters Centerline goodness [0,1] 0.9999380254921809 Centerline is valid? [True, True] Translation: X:5.05, Y:0.13, Z:0.58 [[ 9.93560563e-01 -1.67428488e-02 -1.12058402e-01 5.04622184e+00] [ 1.61505026e-02 9.99850400e-01 -6.19178667e-03 1.31488044e-01] [ 1.12145306e-01 4.34211554e-03 9.93682332e-01 5.78239802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477105680999999 meters Centerline goodness [0,1] 0.9999171722609902 Centerline is valid? [True, True] Translation: X:5.08, Y:0.14, Z:0.58 [[ 0.9928104 -0.00681634 -0.11950334 5.07617348] [ 0.00606917 0.9999597 -0.00661506 0.14201855] [ 0.11954361 0.00584222 0.99281176 0.5756869 ] [ 0. 0. 0. 1. ]] SLAMing on 5.507105681 meters Centerline goodness [0,1] 0.9996479092019965 Centerline is valid? [True, True] Translation: X:5.11, Y:0.15, Z:0.58 [[ 9.92580261e-01 4.36161851e-03 -1.21512972e-01 5.10589701e+00] [-5.21786847e-03 9.99963745e-01 -6.72926400e-03 1.54037963e-01] [ 1.21479216e-01 7.31337332e-03 9.92567033e-01 5.76149455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537105681 meters Centerline goodness [0,1] 0.9990898936830348 Centerline is valid? [True, True] Translation: X:5.14, Y:0.16, Z:0.58 [[ 0.99257901 0.01153159 -0.12105344 5.13566242] [-0.01243458 0.9999002 -0.00670665 0.16184694] [ 0.12096402 0.00816213 0.99262334 0.58048029] [ 0. 0. 0. 1. ]] SLAMing on 5.567105680999999 meters Centerline goodness [0,1] 0.9958183248457748 Centerline is valid? [True, True] Translation: X:5.16, Y:0.17, Z:0.58 [[ 0.9926267 0.01200262 -0.12061578 5.16316091] [-0.01290248 0.99989443 -0.00668235 0.16864425] [ 0.12052284 0.00818933 0.99267678 0.58486402] [ 0. 0. 0. 1. ]] SLAMing on 5.5971056809999995 meters Centerline goodness [0,1] 0.9977773161611965 Centerline is valid? [True, True] Translation: X:5.19, Y:0.17, Z:0.59 [[ 0.99240064 0.01014572 -0.12262965 5.19068395] [-0.01106393 0.99991561 -0.006809 0.16891061] [ 0.12255022 0.00811402 0.99242914 0.58739157] [ 0. 0. 0. 1. ]] SLAMing on 5.627105681 meters Centerline goodness [0,1] 0.9992344933173336 Centerline is valid? [True, True] Translation: X:5.22, Y:0.17, Z:0.59 [[ 0.99213223 0.00927943 -0.12485006 5.21942229] [-0.0102266 0.99992357 -0.00694773 0.16823434] [ 0.12477605 0.00816986 0.99215129 0.58821529] [ 0. 0. 0. 1. ]] SLAMing on 5.657105680999999 meters Centerline goodness [0,1] 0.9975823948755037 Centerline is valid? [True, True] Translation: X:5.25, Y:0.18, Z:0.59 [[ 0.99174896 0.01431861 -0.12739302 5.24985728] [-0.01535115 0.99985676 -0.00712694 0.17760634] [ 0.12727273 0.00902376 0.99182671 0.5879972 ] [ 0. 0. 0. 1. ]] SLAMing on 5.687105680999999 meters Centerline goodness [0,1] 0.9922254616132167 Centerline is valid? [True, True] Translation: X:5.28, Y:0.19, Z:0.59 [[ 0.99156666 0.01701402 -0.12847599 5.27804784] [-0.01808694 0.99981057 -0.00718896 0.18677559] [ 0.12832934 0.00945207 0.99168656 0.58847739] [ 0. 0. 0. 1. ]] SLAMing on 5.717105681 meters Centerline goodness [0,1] 0.9915086153464733 Centerline is valid? [True, True] Translation: X:5.31, Y:0.19, Z:0.59 [[ 0.9913399 0.01933753 -0.12988946 5.30688911] [-0.02045536 0.99976428 -0.00727735 0.19208245] [ 0.12971811 0.00987126 0.99150177 0.58980306] [ 0. 0. 0. 1. ]] SLAMing on 5.747105681 meters Centerline goodness [0,1] 0.9942398216202825 Centerline is valid? [True, True] Translation: X:5.34, Y:0.19, Z:0.60 [[ 0.99153067 0.01322807 -0.12919731 5.33529603] [-0.0142837 0.99987172 -0.00724752 0.19487123] [ 0.12908486 0.00903155 0.99159242 0.59501016] [ 0. 0. 0. 1. ]] SLAMing on 5.777105680999999 meters Centerline goodness [0,1] 0.9998549463301422 Centerline is valid? [True, True] Translation: X:5.37, Y:0.18, Z:0.61 [[ 9.92314349e-01 -2.31002482e-03 -1.23721046e-01 5.36504351e+00] [ 1.46171314e-03 9.99974801e-01 -6.94698041e-03 1.75669813e-01] [ 1.23733976e-01 6.71274367e-03 9.92292720e-01 6.07322187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8071056809999995 meters Centerline goodness [0,1] 0.9999586204042786 Centerline is valid? [True, True] Translation: X:5.39, Y:0.17, Z:0.62 [[ 0.99266434 -0.01051247 -0.12044502 5.39406107] [ 0.0097684 0.99992939 -0.00676644 0.17143679] [ 0.12050765 0.00554025 0.99269694 0.61600595] [ 0. 0. 0. 1. ]] SLAMing on 5.837105681 meters Centerline goodness [0,1] 0.9998971193415638 Centerline is valid? [True, True] Translation: X:5.42, Y:0.16, Z:0.63 [[ 9.92948567e-01 -2.45547058e-02 -1.15975041e-01 5.42389307e+00] [ 2.39600768e-02 9.99691663e-01 -6.51873631e-03 1.59476338e-01] [ 1.16099347e-01 3.69399899e-03 9.93230737e-01 6.28936317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.867105680999999 meters Centerline goodness [0,1] 0.9998970155094643 Centerline is valid? [True, True] Translation: X:5.45, Y:0.15, Z:0.64 [[ 9.93099526e-01 -3.35562759e-02 -1.12371297e-01 5.45230718e+00] [ 3.30554367e-02 9.99433552e-01 -6.31771192e-03 1.54673565e-01] [ 1.12519643e-01 2.55963443e-03 9.93646204e-01 6.37081696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897105680999999 meters Centerline goodness [0,1] 0.9998141609366289 Centerline is valid? [True, True] Translation: X:5.48, Y:0.15, Z:0.64 [[ 9.93214145e-01 -4.18144532e-02 -1.08522876e-01 5.48123473e+00] [ 4.13961533e-02 9.99124157e-01 -6.10548980e-03 1.48266741e-01] [ 1.08683124e-01 1.57162924e-03 9.94075203e-01 6.43322148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.927105681 meters Centerline goodness [0,1] 0.9997939928309505 Centerline is valid? [True, True] Translation: X:5.51, Y:0.15, Z:0.65 [[ 9.93167747e-01 -4.62808856e-02 -1.07125655e-01 5.50814529e+00] [ 4.58981844e-02 9.98927884e-01 -6.03656328e-03 1.48015406e-01] [ 1.07290182e-01 1.07844686e-03 9.94227164e-01 6.49028525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957105681 meters Centerline goodness [0,1] 0.9997322789241732 Centerline is valid? [True, True] Translation: X:5.54, Y:0.14, Z:0.65 [[ 9.92045455e-01 -5.98307415e-02 -1.10752417e-01 5.53693755e+00] [ 5.95044137e-02 9.98208461e-01 -6.25240725e-03 1.44142184e-01] [ 1.10928086e-01 -3.87585451e-04 9.93828360e-01 6.49466923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.987105680999999 meters Centerline goodness [0,1] 0.9995262615859938 Centerline is valid? [True, True] Translation: X:5.56, Y:0.14, Z:0.65 [[ 9.91417694e-01 -6.46163789e-02 -1.13647171e-01 5.56376650e+00] [ 6.42996201e-02 9.97909765e-01 -6.45448835e-03 1.44449484e-01] [ 1.13826687e-01 -9.08375959e-04 9.93500206e-01 6.48601115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017105680999999 meters Centerline goodness [0,1] 0.9996081262246056 Centerline is valid? [True, True] Translation: X:5.59, Y:0.14, Z:0.65 [[ 9.90195178e-01 -7.51633219e-02 -1.17745426e-01 5.59414720e+00] [ 7.48951587e-02 9.97168859e-01 -6.70683345e-03 1.41954438e-01] [ 1.17916180e-01 -2.17748821e-03 9.93021164e-01 6.45768526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.047105681 meters Centerline goodness [0,1] 0.9995654153387691 Centerline is valid? [True, True] Translation: X:5.62, Y:0.14, Z:0.65 [[ 9.88961589e-01 -8.79585673e-02 -1.19240371e-01 5.62436640e+00] [ 8.77754142e-02 9.96117098e-01 -6.79736007e-03 1.41911880e-01] [ 1.19375259e-01 -3.74404497e-03 9.92842147e-01 6.49025530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077105680999999 meters Centerline goodness [0,1] 0.9994622543950362 Centerline is valid? [True, True] Translation: X:5.65, Y:0.14, Z:0.65 [[ 9.88417035e-01 -9.37748566e-02 -1.19323260e-01 5.65249490e+00] [ 9.36334804e-02 9.95583492e-01 -6.80313325e-03 1.42205914e-01] [ 1.19434231e-01 -4.44831936e-03 9.92832149e-01 6.53295785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.107105680999999 meters Centerline goodness [0,1] 0.9994010739363899 Centerline is valid? [True, True] Translation: X:5.68, Y:0.15, Z:0.66 [[ 9.87881878e-01 -1.00271843e-01 -1.18469208e-01 5.68245260e+00] [ 1.00177668e-01 9.94946567e-01 -6.76483128e-03 1.46556345e-01] [ 1.18548854e-01 -5.18511468e-03 9.92934683e-01 6.59172716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1371056809999995 meters Centerline goodness [0,1] 0.999216155448751 Centerline is valid? [True, True] Translation: X:5.71, Y:0.16, Z:0.67 [[ 9.88465529e-01 -9.85749092e-02 -1.14973414e-01 5.70992116e+00] [ 9.84747244e-02 9.95117898e-01 -6.56487390e-03 1.60231403e-01] [ 1.15059234e-01 -4.83282372e-03 9.93346876e-01 6.67516332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.167105681 meters Centerline goodness [0,1] 0.9984525872740777 Centerline is valid? [True, True] Translation: X:5.74, Y:0.17, Z:0.67 [[ 9.89025866e-01 -9.37515123e-02 -1.14186207e-01 5.73896673e+00] [ 9.36197530e-02 9.95586625e-01 -6.52788462e-03 1.74977342e-01] [ 1.14294260e-01 -4.23383779e-03 9.93437918e-01 6.72885878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197105680999999 meters Centerline goodness [0,1] 0.998017839444995 Centerline is valid? [True, True] Translation: X:5.77, Y:0.21, Z:0.68 [[ 9.90044135e-01 -8.05934427e-02 -1.15400637e-01 5.76793525e+00] [ 8.03697778e-02 9.96743283e-01 -6.59741165e-03 2.09463083e-01] [ 1.15556518e-01 -2.74299484e-03 9.93297119e-01 6.75913176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.227105680999999 meters Centerline goodness [0,1] 0.9980750921058078 Centerline is valid? [True, True] Translation: X:5.80, Y:0.23, Z:0.68 [[ 9.90318916e-01 -7.55792507e-02 -1.16431186e-01 5.79867980e+00] [ 7.53173289e-02 9.97137415e-01 -6.65391431e-03 2.27403056e-01] [ 1.16600790e-01 -2.17978874e-03 9.93176472e-01 6.77246469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257105681 meters Centerline goodness [0,1] 0.9978241498642684 Centerline is valid? [True, True] Translation: X:5.83, Y:0.25, Z:0.68 [[ 9.90691878e-01 -7.16422376e-02 -1.15745377e-01 5.82732742e+00] [ 7.13572426e-02 9.97428925e-01 -6.60932909e-03 2.52289775e-01] [ 1.15921294e-01 -1.71146231e-03 9.93256928e-01 6.79220751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.287105680999999 meters Centerline goodness [0,1] 0.9977051417230044 Centerline is valid? [True, True] Translation: X:5.86, Y:0.27, Z:0.68 [[ 9.90310710e-01 -7.58174888e-02 -1.16346058e-01 5.85837995e+00] [ 7.55585225e-02 9.97119254e-01 -6.64108212e-03 2.67743166e-01] [ 1.16514405e-01 -2.21420148e-03 9.93186534e-01 6.79573002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317105680999999 meters Centerline goodness [0,1] 0.9977286805698947 Centerline is valid? [True, True] Translation: X:5.89, Y:0.27, Z:0.68 [[ 9.89865464e-01 -7.96934259e-02 -1.17538595e-01 5.88840927e+00] [ 7.94569706e-02 9.96815755e-01 -6.70376709e-03 2.71638203e-01] [ 1.17698570e-01 -2.70343317e-03 9.93045688e-01 6.81039001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3471056809999995 meters Centerline goodness [0,1] 0.9974867125375964 Centerline is valid? [True, True] Translation: X:5.92, Y:0.28, Z:0.69 [[ 9.88962470e-01 -8.80692657e-02 -1.19151320e-01 5.91896431e+00] [ 8.78870876e-02 9.96107280e-01 -6.79308916e-03 2.80127303e-01] [ 1.19285760e-01 -3.75375227e-03 9.92852868e-01 6.86623718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377105681 meters Centerline goodness [0,1] 0.9979922588123279 Centerline is valid? [True, True] Translation: X:5.95, Y:0.29, Z:0.69 [[ 9.88497654e-01 -9.43226850e-02 -1.18218527e-01 5.94852658e+00] [ 9.41884246e-02 9.95531608e-01 -6.73479516e-03 2.92639841e-01] [ 1.18325524e-01 -4.47748758e-03 9.92964764e-01 6.94526409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.407105680999999 meters Centerline goodness [0,1] 0.998092275790565 Centerline is valid? [True, True] Translation: X:5.98, Y:0.30, Z:0.70 [[ 9.88615032e-01 -9.54254372e-02 -1.16337026e-01 5.97949654e+00] [ 9.53032443e-02 9.95426239e-01 -6.62526971e-03 3.01243200e-01] [ 1.16437148e-01 -4.53745479e-03 9.93187697e-01 6.99730081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437105680999999 meters Centerline goodness [0,1] 0.9980658847017719 Centerline is valid? [True, True] Translation: X:6.01, Y:0.31, Z:0.70 [[ 9.89263769e-01 -9.07485528e-02 -1.14550843e-01 6.00970749e+00] [ 9.06000404e-02 9.95866062e-01 -6.51297252e-03 3.12954612e-01] [ 1.14668340e-01 -3.93526324e-03 9.93396037e-01 7.02238465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.467105681 meters Centerline goodness [0,1] 0.9985807313407915 Centerline is valid? [True, True] Translation: X:6.04, Y:0.33, Z:0.70 [[ 9.89943882e-01 -7.86193413e-02 -1.17601485e-01 6.03912366e+00] [ 7.83782044e-02 9.96901309e-01 -6.68104112e-03 3.32742566e-01] [ 1.17762333e-01 -2.60353742e-03 9.93038395e-01 7.02425906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497105680999999 meters Centerline goodness [0,1] 0.9989294710327455 Centerline is valid? [True, True] Translation: X:6.07, Y:0.35, Z:0.71 [[ 9.90357693e-01 -7.09924648e-02 -1.18960956e-01 6.06977344e+00] [ 7.06909662e-02 9.97475374e-01 -6.75762190e-03 3.45087416e-01] [ 1.19140364e-01 -1.71700207e-03 9.92875937e-01 7.05461175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.527105680999999 meters Centerline goodness [0,1] 0.9991759808996599 Centerline is valid? [True, True] Translation: X:6.10, Y:0.37, Z:0.71 [[ 9.91396472e-01 -5.18887414e-02 -1.20169026e-01 6.10105705e+00] [ 5.14417394e-02 9.98652703e-01 -6.82099987e-03 3.69710194e-01] [ 1.20361055e-01 5.80611500e-04 9.92730013e-01 7.05272229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5571056809999995 meters Centerline goodness [0,1] 0.9996151132208608 Centerline is valid? [True, True] Translation: X:6.13, Y:0.39, Z:0.70 [[ 9.91832460e-01 -3.41460588e-02 -1.22891896e-01 6.13075980e+00] [ 3.35440767e-02 9.99412971e-01 -6.96473880e-03 3.93412245e-01] [ 1.23057573e-01 2.78555883e-03 9.92395624e-01 7.04474389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.587105681 meters Centerline goodness [0,1] 0.9996356153813177 Centerline is valid? [True, True] Translation: X:6.16, Y:0.40, Z:0.71 [[ 9.91911118e-01 -2.72093943e-02 -1.23983797e-01 6.15925038e+00] [ 2.65429598e-02 9.99622995e-01 -7.02413772e-03 4.04446526e-01] [ 1.24128177e-01 3.67642336e-03 9.92259381e-01 7.07242492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617105680999999 meters Centerline goodness [0,1] 0.999611675619701 Centerline is valid? [True, True] Translation: X:6.19, Y:0.42, Z:0.71 [[ 9.92011991e-01 -2.00665479e-02 -1.24537318e-01 6.18862631e+00] [ 1.93370349e-02 9.99788067e-01 -7.06394457e-03 4.15858897e-01] [ 1.24652673e-01 4.59933525e-03 9.92189779e-01 7.09624950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.647105680999999 meters Centerline goodness [0,1] 0.999611675619701 Centerline is valid? [True, True] Translation: X:6.22, Y:0.42, Z:0.71 [[ 9.92004523e-01 -2.04341087e-02 -1.24537041e-01 6.21569694e+00] [ 1.97068649e-02 9.99780812e-01 -7.06882598e-03 4.17602790e-01] [ 1.24654189e-01 4.55807271e-03 9.92189779e-01 7.12912867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677105681 meters Centerline goodness [0,1] 0.9996969434583081 Centerline is valid? [True, True] Translation: X:6.24, Y:0.41, Z:0.71 [[ 9.91893758e-01 -2.53545229e-02 -1.24514744e-01 6.24498536e+00] [ 2.46603013e-02 9.99670578e-01 -7.11378888e-03 4.14465775e-01] [ 1.24654093e-01 3.98555168e-03 9.92192256e-01 7.13913472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.707105680999999 meters Centerline goodness [0,1] 0.9997843805252491 Centerline is valid? [True, True] Translation: X:6.27, Y:0.41, Z:0.71 [[ 9.91517368e-01 -3.00602955e-02 -1.26450334e-01 6.27373562e+00] [ 2.93774504e-02 9.99542010e-01 -7.26194963e-03 4.11295236e-01] [ 1.26610717e-01 3.48556079e-03 9.91946358e-01 7.14039273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737105680999999 meters Centerline goodness [0,1] 0.9996990606392812 Centerline is valid? [True, True] Translation: X:6.31, Y:0.40, Z:0.71 [[ 9.90403923e-01 -4.02914189e-02 -1.32199357e-01 6.30543517e+00] [ 3.96336873e-02 9.99185344e-01 -7.60393884e-03 3.99899299e-01] [ 1.32398033e-01 2.29142290e-03 9.91193982e-01 7.09887294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.767105680999999 meters Centerline goodness [0,1] 0.9992533333333333 Centerline is valid? [True, True] Translation: X:6.33, Y:0.39, Z:0.72 [[ 9.90119358e-01 -4.85230252e-02 -1.31564329e-01 6.33364755e+00] [ 4.79434475e-02 9.98821357e-01 -7.57118877e-03 3.91026197e-01] [ 1.31776639e-01 1.18873306e-03 9.91278722e-01 7.18141545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797105681 meters Centerline goodness [0,1] 0.9989990842685862 Centerline is valid? [True, True] Translation: X:6.36, Y:0.39, Z:0.73 [[ 9.90319023e-01 -5.02307343e-02 -1.29402884e-01 6.36116669e+00] [ 4.96828824e-02 9.98737179e-01 -7.46040785e-03 3.89155717e-01] [ 1.29614213e-01 9.59075544e-04 9.91564035e-01 7.27783160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.827105680999999 meters Centerline goodness [0,1] 0.9990260221474094 Centerline is valid? [True, True] Translation: X:6.39, Y:0.39, Z:0.73 [[ 9.90705434e-01 -4.92411266e-02 -1.26799267e-01 6.38828352e+00] [ 4.87021065e-02 9.98786308e-01 -7.34958063e-03 3.86398850e-01] [ 1.27007273e-01 1.10587808e-03 9.91901169e-01 7.33063141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857105680999999 meters Centerline goodness [0,1] 0.9994084465383559 Centerline is valid? [True, True] Translation: X:6.42, Y:0.38, Z:0.74 [[ 9.91183450e-01 -4.66841507e-02 -1.23999831e-01 6.41630810e+00] [ 4.61436895e-02 9.98908658e-01 -7.22856684e-03 3.82658140e-01] [ 1.24201965e-01 1.44302611e-03 9.92255909e-01 7.37001572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8871056809999995 meters Centerline goodness [0,1] 0.9991813258323188 Centerline is valid? [True, True] Translation: X:6.44, Y:0.38, Z:0.74 [[ 9.91114968e-01 -4.69209850e-02 -1.24456986e-01 6.44444143e+00] [ 4.63764194e-02 9.98897574e-01 -7.27074298e-03 3.82834048e-01] [ 1.24660932e-01 1.43427280e-03 9.92198365e-01 7.39275890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917105680999999 meters Centerline goodness [0,1] 0.9989570296203588 Centerline is valid? [True, True] Translation: X:6.47, Y:0.38, Z:0.74 [[ 9.90869682e-01 -5.01361994e-02 -1.25154446e-01 6.47224810e+00] [ 4.96053537e-02 9.98741805e-01 -7.35632894e-03 3.79072388e-01] [ 1.25365796e-01 1.08083276e-03 9.92109998e-01 7.40408225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.947105680999999 meters Centerline goodness [0,1] 0.9988943591455274 Centerline is valid? [True, True] Translation: X:6.50, Y:0.37, Z:0.74 [[ 9.90563864e-01 -5.94387790e-02 -1.23491954e-01 6.50172148e+00] [ 5.89913517e-02 9.98231950e-01 -7.27972101e-03 3.65382554e-01] [ 1.23706311e-01 -7.39286884e-05 9.92318872e-01 7.41455585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977105680999999 meters Centerline goodness [0,1] 0.9987082795116463 Centerline is valid? [True, True] Translation: X:6.53, Y:0.36, Z:0.74 [[ 9.90070046e-01 -6.62803822e-02 -1.23968603e-01 6.53185208e+00] [ 6.58780444e-02 9.97800638e-01 -7.34645019e-03 3.56800876e-01] [ 1.24182877e-01 -8.93308843e-04 9.92258946e-01 7.43350960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.007105681 meters Centerline goodness [0,1] 0.9985689694506087 Centerline is valid? [True, True] Translation: X:6.56, Y:0.34, Z:0.75 [[ 9.88992621e-01 -8.36155904e-02 -1.22073865e-01 6.56198168e+00] [ 8.33561720e-02 9.96493521e-01 -7.23951066e-03 3.35431845e-01] [ 1.22251152e-01 -3.01578751e-03 9.92494615e-01 7.51193976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037105680999999 meters Centerline goodness [0,1] 0.9974769063953125 Centerline is valid? [True, True] Translation: X:6.59, Y:0.32, Z:0.76 [[ 9.87203924e-01 -1.02730450e-01 -1.21962565e-01 6.59297921e+00] [ 1.02616052e-01 9.94694723e-01 -7.23556598e-03 3.16546801e-01] [ 1.22058832e-01 -5.37233770e-03 9.92508327e-01 7.58500527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.067105680999999 meters Centerline goodness [0,1] 0.9977276952632775 Centerline is valid? [True, True] Translation: X:6.62, Y:0.31, Z:0.76 [[ 9.86401659e-01 -1.09193189e-01 -1.22835719e-01 6.62323812e+00] [ 1.09126993e-01 9.94001106e-01 -7.28700045e-03 3.07727845e-01] [ 1.22894532e-01 -6.21678336e-03 9.92400265e-01 7.61300410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0971056809999995 meters Centerline goodness [0,1] 0.9975466245295964 Centerline is valid? [True, True] Translation: X:6.65, Y:0.30, Z:0.76 [[ 0.98543262 -0.11750124 -0.1229472 6.65486294] [ 0.11749883 0.99304622 -0.00729561 0.29529654] [ 0.1229495 -0.00725682 0.9923864 0.76324451] [ 0. 0. 0. 1. ]] SLAMing on 7.127105680999999 meters Centerline goodness [0,1] 0.9969903900039436 Centerline is valid? [True, True] Translation: X:6.69, Y:0.30, Z:0.77 [[ 0.98590984 -0.11708165 -0.11947252 6.68708547] [ 0.1170768 0.9930976 -0.00708395 0.29529615] [ 0.11947727 -0.00700333 0.99281224 0.76974152] [ 0. 0. 0. 1. ]] SLAMing on 7.157105680999999 meters Centerline goodness [0,1] 0.9967959318670415 Centerline is valid? [True, True] Translation: X:6.72, Y:0.30, Z:0.78 [[ 9.86339317e-01 -1.15118578e-01 -1.17823876e-01 6.71727661e+00] [ 1.15101378e-01 9.93329273e-01 -6.97344910e-03 2.95323343e-01] [ 1.17840678e-01 -6.68350340e-03 9.93010023e-01 7.76292443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.187105680999999 meters Centerline goodness [0,1] 0.9977036699904837 Centerline is valid? [True, True] Translation: X:6.75, Y:0.31, Z:0.78 [[ 9.87072282e-01 -1.10447009e-01 -1.16145458e-01 6.74649974e+00] [ 1.10399249e-01 9.93863618e-01 -6.86402341e-03 3.05732740e-01] [ 1.16190856e-01 -6.04708410e-03 9.93208497e-01 7.83520153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.217105681 meters Centerline goodness [0,1] 0.9974510941644562 Centerline is valid? [True, True] Translation: X:6.78, Y:0.31, Z:0.79 [[ 9.86948514e-01 -1.10291948e-01 -1.17338469e-01 6.77806206e+00] [ 1.10242133e-01 9.93880567e-01 -6.93476796e-03 3.13337098e-01] [ 1.17385274e-01 -6.09138418e-03 9.93067768e-01 7.85643286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.247105680999999 meters Centerline goodness [0,1] 0.9970485036119711 Centerline is valid? [True, True] Translation: X:6.81, Y:0.32, Z:0.79 [[ 9.86716728e-01 -1.10671319e-01 -1.18919968e-01 6.80904533e+00] [ 1.10624227e-01 9.93837529e-01 -7.01761649e-03 3.17327060e-01] [ 1.18963776e-01 -6.23102999e-03 9.92879043e-01 7.87051566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277105680999999 meters Centerline goodness [0,1] 0.997322318166722 Centerline is valid? [True, True] Translation: X:6.84, Y:0.33, Z:0.79 [[ 9.86395878e-01 -1.11609288e-01 -1.20691918e-01 6.84063147e+00] [ 1.11568814e-01 9.93731246e-01 -7.11413081e-03 3.26448118e-01] [ 1.20729333e-01 -6.44810489e-03 9.92664520e-01 7.85555586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3071056809999995 meters Centerline goodness [0,1] 0.9972821576763485 Centerline is valid? [True, True] Translation: X:6.87, Y:0.33, Z:0.79 [[ 9.86530898e-01 -1.10425740e-01 -1.20677022e-01 6.87205473e+00] [ 1.10378569e-01 9.93864285e-01 -7.09605455e-03 3.32915630e-01] [ 1.20720169e-01 -6.31967992e-03 9.92666461e-01 7.89029996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337105680999999 meters Centerline goodness [0,1] 0.9978965782951871 Centerline is valid? [True, True] Translation: X:6.90, Y:0.34, Z:0.80 [[ 9.86943089e-01 -1.08304226e-01 -1.19220527e-01 6.90259330e+00] [ 1.08243951e-01 9.94099715e-01 -7.00031192e-03 3.42615338e-01] [ 1.19275255e-01 -5.99599141e-03 9.92843120e-01 7.96352107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.367105680999999 meters Centerline goodness [0,1] 0.9978947368421053 Centerline is valid? [True, True] Translation: X:6.93, Y:0.36, Z:0.80 [[ 9.87335997e-01 -1.01966842e-01 -1.21533505e-01 6.93264885e+00] [ 1.01857551e-01 9.94773458e-01 -7.12792266e-03 3.57300475e-01] [ 1.21625117e-01 -5.34145057e-03 9.92561736e-01 8.01467353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397105680999999 meters Centerline goodness [0,1] 0.998640110464873 Centerline is valid? [True, True] Translation: X:6.96, Y:0.37, Z:0.80 [[ 9.87576473e-01 -9.33959654e-02 -1.26372083e-01 6.96253065e+00] [ 9.32084605e-02 9.95619047e-01 -7.40922602e-03 3.72308959e-01] [ 1.26510444e-01 -4.46176997e-03 9.91955241e-01 7.99959959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.427105681 meters Centerline goodness [0,1] 0.9987416899104503 Centerline is valid? [True, True] Translation: X:6.99, Y:0.38, Z:0.80 [[ 9.88094523e-01 -8.86426655e-02 -1.25744546e-01 6.99298082e+00] [ 8.84188574e-02 9.96056109e-01 -7.37113268e-03 3.81272325e-01] [ 1.25902021e-01 -3.83481329e-03 9.92035269e-01 8.03379581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457105680999999 meters Centerline goodness [0,1] 0.9983793226831681 Centerline is valid? [True, True] Translation: X:7.02, Y:0.40, Z:0.81 [[ 9.89232844e-01 -8.00741213e-02 -1.22501083e-01 7.02108693e+00] [ 7.97968407e-02 9.96785318e-01 -7.17587763e-03 3.97213808e-01] [ 1.22681883e-01 -2.67658554e-03 9.92442437e-01 8.08115669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.487105680999999 meters Centerline goodness [0,1] 0.9989206120764461 Centerline is valid? [True, True] Translation: X:7.05, Y:0.41, Z:0.81 [[ 9.89826097e-01 -7.42803446e-02 -1.21353730e-01 7.05160285e+00] [ 7.39645356e-02 9.97235518e-01 -7.11119759e-03 4.10585353e-01] [ 1.21546472e-01 -1.93702332e-03 9.92583852e-01 8.10542441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517105680999999 meters Centerline goodness [0,1] 0.9991064780342517 Centerline is valid? [True, True] Translation: X:7.08, Y:0.42, Z:0.81 [[ 9.89776457e-01 -7.27324198e-02 -1.22688874e-01 7.08204678e+00] [ 7.23984394e-02 9.97349916e-01 -7.18404141e-03 4.17534964e-01] [ 1.22886251e-01 -1.77188793e-03 9.92419181e-01 8.13261286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.547105680999999 meters Centerline goodness [0,1] 0.9994028832210186 Centerline is valid? [True, True] Translation: X:7.11, Y:0.43, Z:0.82 [[ 9.89565356e-01 -7.08612301e-02 -1.25455542e-01 7.11196369e+00] [ 7.04981092e-02 9.97484926e-01 -7.33743892e-03 4.30857136e-01] [ 1.25659952e-01 -1.58350313e-03 9.92072109e-01 8.16052608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577105680999999 meters Centerline goodness [0,1] 0.9993542832544124 Centerline is valid? [True, True] Translation: X:7.14, Y:0.44, Z:0.82 [[ 9.89586524e-01 -7.14158001e-02 -1.24973180e-01 7.14349168e+00] [ 7.10620927e-02 9.97445242e-01 -7.29165043e-03 4.37182330e-01] [ 1.25174643e-01 -1.66513671e-03 9.92133326e-01 8.20869702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.607105680999999 meters Centerline goodness [0,1] 0.9995451493426325 Centerline is valid? [True, True] Translation: X:7.18, Y:0.44, Z:0.83 [[ 9.89438778e-01 -7.63160724e-02 -1.23234576e-01 7.17554871e+00] [ 7.60112810e-02 9.97081108e-01 -7.17984347e-03 4.41207051e-01] [ 1.23422805e-01 -2.26320246e-03 9.92351595e-01 8.25893902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6371056809999995 meters Centerline goodness [0,1] 0.9992839318650321 Centerline is valid? [True, True] Translation: X:7.21, Y:0.44, Z:0.83 [[ 9.88605651e-01 -8.57229042e-02 -1.23735405e-01 7.20668501e+00] [ 8.54902348e-02 9.96313003e-01 -7.19854509e-03 4.41783986e-01] [ 1.23896273e-01 -3.46164651e-03 9.92289137e-01 8.30188842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.667105680999999 meters Centerline goodness [0,1] 0.9991288629483633 Centerline is valid? [True, True] Translation: X:7.24, Y:0.44, Z:0.83 [[ 9.88108242e-01 -9.12673831e-02 -1.23743148e-01 7.23726393e+00] [ 9.10785910e-02 9.95817725e-01 -7.19370189e-03 4.41653115e-01] [ 1.23882171e-01 -4.16219547e-03 9.92288206e-01 8.34423343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697105680999999 meters Centerline goodness [0,1] 0.9989315074467389 Centerline is valid? [True, True] Translation: X:7.27, Y:0.44, Z:0.84 [[ 9.87208860e-01 -1.02481091e-01 -1.22132279e-01 7.26779496e+00] [ 1.02382739e-01 9.94719760e-01 -7.09738260e-03 4.37156414e-01] [ 1.22214739e-01 -5.49763827e-03 9.92488455e-01 8.39368170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.727105680999999 meters Centerline goodness [0,1] 0.9988835620936495 Centerline is valid? [True, True] Translation: X:7.30, Y:0.43, Z:0.84 [[ 9.86557929e-01 -1.09320327e-01 -1.21459949e-01 7.29743960e+00] [ 1.09275214e-01 9.93986514e-01 -7.05254924e-03 4.34464008e-01] [ 1.21500538e-01 -6.31481354e-03 9.92571278e-01 8.44298485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.757105680999999 meters Centerline goodness [0,1] 0.9988597241409556 Centerline is valid? [True, True] Translation: X:7.33, Y:0.44, Z:0.85 [[ 9.86539236e-01 -1.09993952e-01 -1.21002755e-01 7.32941699e+00] [ 1.09954463e-01 9.93911808e-01 -7.02377630e-03 4.37444359e-01] [ 1.21038640e-01 -6.37556206e-03 9.92627322e-01 8.47296192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.787105680999999 meters Centerline goodness [0,1] 0.9989712834880056 Centerline is valid? [True, True] Translation: X:7.36, Y:0.44, Z:0.85 [[ 9.87078652e-01 -1.06792492e-01 -1.19461706e-01 7.36059717e+00] [ 1.06731857e-01 9.94263731e-01 -6.92408864e-03 4.42363755e-01] [ 1.19515883e-01 -5.91574973e-03 9.92814664e-01 8.50334771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817105680999999 meters Centerline goodness [0,1] 0.9991426875645733 Centerline is valid? [True, True] Translation: X:7.39, Y:0.46, Z:0.86 [[ 9.88300054e-01 -9.70653132e-02 -1.17649171e-01 7.38997039e+00] [ 9.69384266e-02 9.95267055e-01 -6.81395481e-03 4.55118068e-01] [ 1.17753742e-01 -4.67049357e-03 9.93031844e-01 8.59979698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8471056809999995 meters Centerline goodness [0,1] 0.9994245878056878 Centerline is valid? [True, True] Translation: X:7.42, Y:0.46, Z:0.87 [[ 9.89015499e-01 -9.00300166e-02 -1.17230278e-01 7.42019748e+00] [ 8.98550797e-02 9.95931723e-01 -6.78735097e-03 4.64602274e-01] [ 1.17364418e-01 -3.82094067e-03 9.93081565e-01 8.66680283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877105680999999 meters Centerline goodness [0,1] 0.9995976125008383 Centerline is valid? [True, True] Translation: X:7.45, Y:0.48, Z:0.87 [[ 9.90002023e-01 -7.44757473e-02 -1.19788802e-01 7.44937410e+00] [ 7.41799312e-02 9.97220774e-01 -6.93287203e-03 4.82821271e-01] [ 1.19972213e-01 -2.02236776e-03 9.92775190e-01 8.69397251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.907105680999999 meters Centerline goodness [0,1] 0.9997532082922014 Centerline is valid? [True, True] Translation: X:7.48, Y:0.50, Z:0.87 [[ 9.90735431e-01 -6.02047451e-02 -1.21732058e-01 7.47912680e+00] [ 5.97919397e-02 9.98186004e-01 -7.04449403e-03 4.98642608e-01] [ 1.21935348e-01 -2.99366021e-04 9.92538000e-01 8.67959885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937105680999999 meters Centerline goodness [0,1] 0.9998410210987713 Centerline is valid? [True, True] Translation: X:7.51, Y:0.51, Z:0.87 [[ 9.90975200e-01 -5.55416065e-02 -1.21997058e-01 7.51069015e+00] [ 5.50921189e-02 9.98456336e-01 -7.05709947e-03 5.05142996e-01] [ 1.22200698e-01 2.72334162e-04 9.92505373e-01 8.70897842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.967105680999999 meters Centerline goodness [0,1] 0.9998864230061558 Centerline is valid? [True, True] Translation: X:7.54, Y:0.51, Z:0.87 [[ 9.91049067e-01 -4.99954731e-02 -1.23782870e-01 7.54166876e+00] [ 4.94909161e-02 9.98748983e-01 -7.14962992e-03 5.13443181e-01] [ 1.23985465e-01 9.59506410e-04 9.92283570e-01 8.70402326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997105680999999 meters Centerline goodness [0,1] 0.9997950912982104 Centerline is valid? [True, True] Translation: X:7.57, Y:0.52, Z:0.87 [[ 9.90900516e-01 -4.81798714e-02 -1.25677632e-01 7.57213111e+00] [ 4.76461208e-02 9.98837958e-01 -7.25124067e-03 5.16580100e-01] [ 1.25880953e-01 1.19720650e-03 9.92044632e-01 8.71327915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.027105680999998 meters Centerline goodness [0,1] 0.999931645742669 Centerline is valid? [True, True] Translation: X:7.60, Y:0.52, Z:0.87 [[ 9.90642467e-01 -4.81069264e-02 -1.27723238e-01 7.60043085e+00] [ 4.75548807e-02 9.98841438e-01 -7.36989726e-03 5.18749762e-01] [ 1.27929806e-01 1.22706987e-03 9.91782466e-01 8.71626513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057105681 meters Centerline goodness [0,1] 0.9999773268336923 Centerline is valid? [True, True] Translation: X:7.63, Y:0.51, Z:0.88 [[ 9.90911259e-01 -5.60421958e-02 -1.22287158e-01 7.62956738e+00] [ 5.55953606e-02 9.98428381e-01 -7.06574591e-03 5.11940051e-01] [ 1.22490949e-01 2.02928533e-04 9.92469610e-01 8.81574204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.087105680999999 meters Centerline goodness [0,1] 0.9997305732055053 Centerline is valid? [True, True] Translation: X:7.66, Y:0.49, Z:0.89 [[ 9.90362446e-01 -7.27540324e-02 -1.17851928e-01 7.66040676e+00] [ 7.24565952e-02 9.97348303e-01 -6.81210608e-03 4.94675786e-01] [ 1.18035028e-01 -1.79269540e-03 9.93007814e-01 8.93376127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117105681 meters Centerline goodness [0,1] 0.9992618605587492 Centerline is valid? [True, True] Translation: X:7.69, Y:0.49, Z:0.90 [[ 9.89574935e-01 -8.26601363e-02 -1.17935363e-01 7.69184717e+00] [ 8.24338156e-02 9.96573314e-01 -6.80413594e-03 4.85737621e-01] [ 1.18093666e-01 -2.98865958e-03 9.92997963e-01 8.97476782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.147105681 meters Centerline goodness [0,1] 0.9988951741205586 Centerline is valid? [True, True] Translation: X:7.72, Y:0.46, Z:0.90 [[ 9.87581429e-01 -1.02046872e-01 -1.19454410e-01 7.72362117e+00] [ 1.01956309e-01 9.94765048e-01 -6.88550457e-03 4.63312907e-01] [ 1.19531716e-01 -5.37913436e-03 9.92815811e-01 8.97562854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177105680999999 meters Centerline goodness [0,1] 0.9979820773753987 Centerline is valid? [True, True] Translation: X:7.75, Y:0.45, Z:0.91 [[ 9.86588125e-01 -1.15706867e-01 -1.15133799e-01 7.75439214e+00] [ 1.15714971e-01 9.93260293e-01 -6.63593598e-03 4.46885986e-01] [ 1.15125654e-01 -6.77576855e-03 9.93327827e-01 9.05594339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.207105681 meters Centerline goodness [0,1] 0.997823791773502 Centerline is valid? [True, True] Translation: X:7.78, Y:0.44, Z:0.91 [[ 9.86548074e-01 -1.18670927e-01 -1.12428240e-01 7.78371395e+00] [ 1.18697679e-01 9.92909298e-01 -6.47969018e-03 4.40359452e-01] [ 1.12399996e-01 -6.95244537e-03 9.93638719e-01 9.13538243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237105681 meters Centerline goodness [0,1] 0.9978704181724316 Centerline is valid? [True, True] Translation: X:7.81, Y:0.44, Z:0.92 [[ 9.87034263e-01 -1.14184098e-01 -1.12806719e-01 7.81310552e+00] [ 1.14181928e-01 9.93438583e-01 -6.50150171e-03 4.35489363e-01] [ 1.12808916e-01 -6.46328381e-03 9.93595680e-01 9.20263077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.267105680999999 meters Centerline goodness [0,1] 0.9982555510089807 Centerline is valid? [True, True] Translation: X:7.84, Y:0.45, Z:0.92 [[ 9.87651543e-01 -1.08053993e-01 -1.13440579e-01 7.84300695e+00] [ 1.08011604e-01 9.94128134e-01 -6.53810788e-03 4.50008610e-01] [ 1.13480940e-01 -5.79552659e-03 9.93523270e-01 9.22107331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297105681 meters Centerline goodness [0,1] 0.998342803030303 Centerline is valid? [True, True] Translation: X:7.87, Y:0.46, Z:0.93 [[ 9.89245633e-01 -9.24641076e-02 -1.13329022e-01 7.87136032e+00] [ 9.23199722e-02 9.95707975e-01 -6.53071969e-03 4.61732311e-01] [ 1.13446468e-01 -4.00204619e-03 9.93536050e-01 9.25748763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.327105680999999 meters Centerline goodness [0,1] 0.998942369954673 Centerline is valid? [True, True] Translation: X:7.90, Y:0.48, Z:0.93 [[ 9.90350815e-01 -7.62301899e-02 -1.15733407e-01 7.90089180e+00] [ 7.59690958e-02 9.97087852e-01 -6.67171589e-03 4.77995792e-01] [ 1.15904960e-01 -2.18482300e-03 9.93257905e-01 9.26964249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357105680999998 meters Centerline goodness [0,1] 0.9996096460791117 Centerline is valid? [True, True] Translation: X:7.93, Y:0.49, Z:0.93 [[ 9.90534613e-01 -7.00381736e-02 -1.18050134e-01 7.93311469e+00] [ 6.97226315e-02 9.97543200e-01 -6.80578664e-03 4.86572103e-01] [ 1.18236774e-01 -1.48939877e-03 9.92984314e-01 9.28145563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.387105681 meters Centerline goodness [0,1] 0.9994146214552077 Centerline is valid? [True, True] Translation: X:7.97, Y:0.49, Z:0.93 [[ 9.90388175e-01 -6.59502958e-02 -1.21580513e-01 7.96520070e+00] [ 6.55872494e-02 9.97822356e-01 -6.98996326e-03 4.89205412e-01] [ 1.21776744e-01 -1.05135447e-03 9.92556960e-01 9.26129672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417105680999999 meters Centerline goodness [0,1] 0.9991601524646295 Centerline is valid? [True, True] Translation: X:8.00, Y:0.48, Z:0.92 [[ 9.89509006e-01 -7.14490712e-02 -1.25566548e-01 7.99840015e+00] [ 7.11072884e-02 9.97442631e-01 -7.20771045e-03 4.84446539e-01] [ 1.25760412e-01 -1.79660232e-03 9.92059016e-01 9.23867114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.447105680999998 meters Centerline goodness [0,1] 0.999095509852482 Centerline is valid? [True, True] Translation: X:8.03, Y:0.48, Z:0.93 [[ 9.89006483e-01 -7.46545097e-02 -1.27643569e-01 8.03094738e+00] [ 7.43293531e-02 9.97206914e-01 -7.31553615e-03 4.81114948e-01] [ 1.27833187e-01 -2.25255120e-03 9.91793125e-01 9.25298599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477105681 meters Centerline goodness [0,1] 0.9988145274275245 Centerline is valid? [True, True] Translation: X:8.06, Y:0.48, Z:0.93 [[ 9.87973069e-01 -7.94077592e-02 -1.32678645e-01 8.06274986e+00] [ 7.91006194e-02 9.96837723e-01 -7.59254179e-03 4.75028914e-01] [ 1.32861986e-01 -2.99373622e-03 9.91130027e-01 9.27846915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.507105680999999 meters Centerline goodness [0,1] 0.9989143392370572 Centerline is valid? [True, True] Translation: X:8.09, Y:0.47, Z:0.93 [[ 9.87622256e-01 -8.29138184e-02 -1.33144955e-01 8.09360414e+00] [ 8.26371852e-02 9.96550628e-01 -7.61196347e-03 4.68198861e-01] [ 1.33316826e-01 -3.48497978e-03 9.91067343e-01 9.32587109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537105681 meters Centerline goodness [0,1] 0.9986134812286689 Centerline is valid? [True, True] Translation: X:8.13, Y:0.47, Z:0.94 [[ 9.87656646e-01 -8.43831640e-02 -1.31961474e-01 8.12523259e+00] [ 8.41270122e-02 9.96426625e-01 -7.52513997e-03 4.67882269e-01] [ 1.32124922e-01 -3.66927007e-03 9.91226282e-01 9.37469540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.567105681 meters Centerline goodness [0,1] 0.9986134812286689 Centerline is valid? [True, True] Translation: X:8.16, Y:0.47, Z:0.94 [[ 9.87663989e-01 -8.42961555e-02 -1.31962131e-01 8.15667848e+00] [ 8.40407694e-02 9.96433989e-01 -7.51361700e-03 4.69591660e-01] [ 1.32124921e-01 -3.66927005e-03 9.91226282e-01 9.41280401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597105680999999 meters Centerline goodness [0,1] 0.9984083867408005 Centerline is valid? [True, True] Translation: X:8.19, Y:0.46, Z:0.95 [[ 9.88016965e-01 -8.60152169e-02 -1.28155609e-01 8.18892316e+00] [ 8.57900973e-02 9.96286592e-01 -7.28595364e-03 4.64024386e-01] [ 1.28306417e-01 -3.79583633e-03 9.91727309e-01 9.45348777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.627105681 meters Centerline goodness [0,1] 0.9976170392239562 Centerline is valid? [True, True] Translation: X:8.22, Y:0.46, Z:0.95 [[ 9.88208858e-01 -8.87877427e-02 -1.24739684e-01 8.22019229e+00] [ 8.85977208e-02 9.96042319e-01 -7.08111959e-03 4.55247254e-01] [ 1.24874721e-01 -4.05402658e-03 9.92164235e-01 9.49260654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657105680999999 meters Centerline goodness [0,1] 0.9978455559310578 Centerline is valid? [True, True] Translation: X:8.25, Y:0.45, Z:0.95 [[ 9.88176180e-01 -9.11061427e-02 -1.23318724e-01 8.25244226e+00] [ 9.09393628e-02 9.95831883e-01 -6.99236476e-03 4.52608311e-01] [ 1.23441764e-01 -4.30483784e-03 9.92342481e-01 9.53958163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.687105680999998 meters Centerline goodness [0,1] 0.9967432150313152 Centerline is valid? [True, True] Translation: X:8.28, Y:0.44, Z:0.96 [[ 9.87682740e-01 -9.66530511e-02 -1.23048744e-01 8.28233488e+00] [ 9.65310854e-02 9.95305589e-01 -6.96662963e-03 4.44746872e-01] [ 1.23144449e-01 -4.99720899e-03 9.92376175e-01 9.61225822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717105681 meters Centerline goodness [0,1] 0.997028915763485 Centerline is valid? [True, True] Translation: X:8.31, Y:0.44, Z:0.97 [[ 9.87226554e-01 -1.00370693e-01 -1.23731385e-01 8.31313682e+00] [ 1.00276423e-01 9.94934956e-01 -7.00520036e-03 4.41823917e-01] [ 1.23807797e-01 -5.49162088e-03 9.92291022e-01 9.67066453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.747105680999999 meters Centerline goodness [0,1] 0.9960433763188745 Centerline is valid? [True, True] Translation: X:8.34, Y:0.43, Z:0.97 [[ 9.86063067e-01 -1.11087659e-01 -1.23851366e-01 8.34388135e+00] [ 1.11077428e-01 9.93787036e-01 -7.00942164e-03 4.31729975e-01] [ 1.23860542e-01 -6.84535933e-03 9.92276024e-01 9.70916272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777105680999998 meters Centerline goodness [0,1] 0.9959187922956794 Centerline is valid? [True, True] Translation: X:8.38, Y:0.41, Z:0.97 [[ 9.84210059e-01 -1.25154652e-01 -1.25167381e-01 8.37524157e+00] [ 1.25256946e-01 9.92099046e-01 -7.08383302e-03 4.10414567e-01] [ 1.25065013e-01 -8.70610406e-03 9.92110350e-01 9.70376564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.807105681 meters Centerline goodness [0,1] 0.9883311225335765 Centerline is valid? [True, True] Translation: X:8.41, Y:0.40, Z:0.97 [[ 9.83122222e-01 -1.32251780e-01 -1.26412668e-01 8.40590605e+00] [ 1.32414771e-01 9.91168603e-01 -7.15045420e-03 3.98644165e-01] [ 1.26241928e-01 -9.70913401e-03 9.91951969e-01 9.71178509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837105680999999 meters Centerline goodness [0,1] 0.9880843263061412 Centerline is valid? [True, True] Translation: X:8.44, Y:0.40, Z:0.97 [[ 9.81307990e-01 -1.42692400e-01 -1.29125937e-01 8.43691613e+00] [ 1.42951972e-01 9.89702675e-01 -7.30401126e-03 3.96051300e-01] [ 1.28838513e-01 -1.12913228e-02 9.91601303e-01 9.73540567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.867105680999998 meters Centerline goodness [0,1] 0.9594970906068163 Centerline is valid? [True, True] Translation: X:8.47, Y:0.39, Z:0.98 [[ 9.81061367e-01 -1.43822400e-01 -1.29744792e-01 8.46783115e+00] [ 1.44094665e-01 9.89536714e-01 -7.33621367e-03 3.93848294e-01] [ 1.29442347e-01 -1.14982566e-02 9.91520282e-01 9.76874320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897105681 meters Centerline goodness [0,1] 0.9276157876061865 Centerline is valid? [True, False] Translation: X:8.47, Y:0.40, Z:0.98 [[ 9.82164513e-01 -1.35161754e-01 -1.30706426e-01 8.46864571e+00] [ 1.36365274e-01 9.90658591e-01 2.59972290e-04 3.96527855e-01] [ 1.29450305e-01 -1.80791532e-02 9.91421082e-01 9.75335037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.927105680999999 meters Centerline goodness [0,1] 0.9886854125633826 Centerline is valid? [False, True] Translation: X:8.47, Y:0.41, Z:0.97 [[ 9.83016011e-01 -1.27716798e-01 -1.31787486e-01 8.47108236e+00] [ 1.29550697e-01 9.91558090e-01 5.40100694e-03 4.05385493e-01] [ 1.29985149e-01 -2.23824370e-02 9.91263279e-01 9.72762805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957105681 meters Centerline goodness [0,1] 0.9973283968277342 Centerline is valid? [True, True] Translation: X:8.50, Y:0.43, Z:0.98 [[ 9.83813885e-01 -1.20810029e-01 -1.32344912e-01 8.50013116e+00] [ 1.20933492e-01 9.92634973e-01 -7.13447362e-03 4.27341120e-01] [ 1.32232104e-01 -8.98593813e-03 9.91178048e-01 9.77628345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.987105681 meters Centerline goodness [0,1] 0.9975925495744726 Centerline is valid? [True, True] Translation: X:8.53, Y:0.44, Z:0.98 [[ 9.84310710e-01 -1.17270224e-01 -1.31833687e-01 8.53024412e+00] [ 1.17361524e-01 9.93063844e-01 -7.10450936e-03 4.40422924e-01] [ 1.31752415e-01 -8.47915781e-03 9.91246390e-01 9.82235106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017105680999999 meters Centerline goodness [0,1] 0.9977294911513814 Centerline is valid? [True, True] Translation: X:8.56, Y:0.46, Z:0.99 [[ 9.85798905e-01 -1.10666739e-01 -1.26306738e-01 8.55795916e+00] [ 1.10696588e-01 9.93830953e-01 -6.80450646e-03 4.55103235e-01] [ 1.26280578e-01 -7.27384991e-03 9.91967896e-01 9.91363712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.047105681 meters Centerline goodness [0,1] 0.9984811209755055 Centerline is valid? [True, True] Translation: X:8.59, Y:0.48, Z:1.01 [[ 9.87957344e-01 -1.01853691e-01 -1.16473651e-01 8.58553225e+00] [ 1.01817370e-01 9.94783303e-01 -6.27723966e-03 4.80280748e-01] [ 1.16505403e-01 -5.65739578e-03 9.93173945e-01 1.00948100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077105680999999 meters Centerline goodness [0,1] 0.9989601161203665 Centerline is valid? [True, True] Translation: X:8.61, Y:0.50, Z:1.03 [[ 9.89808804e-01 -9.35638814e-02 -1.07351438e-01 8.61178569e+00] [ 9.34844286e-02 9.95603944e-01 -5.78342358e-03 5.03405706e-01] [ 1.07420635e-01 -4.31120430e-03 9.94204315e-01 1.02693830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.107105680999998 meters Centerline goodness [0,1] 0.9992485523582195 Centerline is valid? [True, True] Translation: X:8.64, Y:0.52, Z:1.03 [[ 9.90325775e-01 -8.97869883e-02 -1.05797712e-01 8.64179482e+00] [ 8.96880386e-02 9.95953583e-01 -5.70235770e-03 5.16734915e-01] [ 1.05881608e-01 -3.84159749e-03 9.94371323e-01 1.03183355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137105681 meters Centerline goodness [0,1] 0.9995777683948532 Centerline is valid? [True, True] Translation: X:8.67, Y:0.53, Z:1.03 [[ 9.91105914e-01 -8.05565858e-02 -1.05923103e-01 8.67177682e+00] [ 8.04053691e-02 9.96745925e-01 -5.70424936e-03 5.34846223e-01] [ 1.06037936e-01 -2.86327092e-03 9.94357963e-01 1.03153173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.167105680999999 meters Centerline goodness [0,1] 0.9994830879874144 Centerline is valid? [True, True] Translation: X:8.70, Y:0.54, Z:1.04 [[ 9.91498676e-01 -7.60123139e-02 -1.05605419e-01 8.70154490e+00] [ 7.58364525e-02 9.97104059e-01 -5.68573587e-03 5.43821350e-01] [ 1.05731778e-01 -2.37134079e-03 9.94391858e-01 1.03558832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197105680999998 meters Centerline goodness [0,1] 0.999678825418674 Centerline is valid? [True, True] Translation: X:8.73, Y:0.56, Z:1.04 [[ 9.91791380e-01 -6.87429452e-02 -1.07815885e-01 8.73189104e+00] [ 6.85170577e-02 9.97633070e-01 -5.80256141e-03 5.62531971e-01] [ 1.07959578e-01 -1.63229684e-03 9.94153944e-01 1.03917832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.227105681 meters Centerline goodness [0,1] 0.9998381877022654 Centerline is valid? [True, True] Translation: X:8.76, Y:0.57, Z:1.04 [[ 9.91280464e-01 -6.86427994e-02 -1.12477589e-01 8.76263908e+00] [ 6.83968840e-02 9.97639857e-01 -6.04829579e-03 5.70129546e-01] [ 1.12627298e-01 -1.69755916e-03 9.93635854e-01 1.03930033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257105680999999 meters Centerline goodness [0,1] 0.9998846411185197 Centerline is valid? [True, True] Translation: X:8.79, Y:0.57, Z:1.04 [[ 9.90884237e-01 -7.10839842e-02 -1.14435551e-01 8.79498793e+00] [ 7.08465238e-02 9.97468294e-01 -6.14596415e-03 5.71084240e-01] [ 1.14582714e-01 -2.01742199e-03 9.93411663e-01 1.03950916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.287105680999998 meters Centerline goodness [0,1] 0.9996997205090893 Centerline is valid? [True, True] Translation: X:8.83, Y:0.57, Z:1.03 [[ 9.89792257e-01 -7.84941446e-02 -1.18953597e-01 8.82771038e+00] [ 7.82920784e-02 9.96910061e-01 -6.37819701e-03 5.66773893e-01] [ 1.19086688e-01 -3.00003430e-03 9.92879328e-01 1.03271087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317105681 meters Centerline goodness [0,1] 0.9997931129603237 Centerline is valid? [True, True] Translation: X:8.86, Y:0.56, Z:1.03 [[ 9.88540932e-01 -8.60414252e-02 -1.24031042e-01 8.85912136e+00] [ 8.58815189e-02 9.96283195e-01 -6.64534643e-03 5.61007369e-01] [ 1.24141818e-01 -4.08277734e-03 9.92256086e-01 1.02675754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.347105680999999 meters Centerline goodness [0,1] 0.9995384153799995 Centerline is valid? [True, True] Translation: X:8.89, Y:0.56, Z:1.03 [[ 9.88044448e-01 -8.82418792e-02 -1.26418113e-01 8.89109507e+00] [ 8.80938535e-02 9.96089157e-01 -6.77225893e-03 5.62206198e-01] [ 1.26521309e-01 -4.44536593e-03 9.91953929e-01 1.02982111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377105681 meters Centerline goodness [0,1] 0.9996995886675601 Centerline is valid? [True, True] Translation: X:8.92, Y:0.56, Z:1.03 [[ 9.87687416e-01 -8.91330825e-02 -1.28564624e-01 8.92216416e+00] [ 8.89889688e-02 9.96008875e-01 -6.87635922e-03 5.63894468e-01] [ 1.28664418e-01 -4.64913985e-03 9.91677293e-01 1.03360949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.407105680999999 meters Centerline goodness [0,1] 0.9997001222578488 Centerline is valid? [True, True] Translation: X:8.95, Y:0.57, Z:1.04 [[ 9.87892193e-01 -8.84303323e-02 -1.27471921e-01 8.95416681e+00] [ 8.82838801e-02 9.96072079e-01 -6.80957059e-03 5.67603345e-01] [ 1.27573394e-01 -4.52659420e-03 9.91818804e-01 1.03970091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437105680999998 meters Centerline goodness [0,1] 0.99974551175273 Centerline is valid? [True, True] Translation: X:8.99, Y:0.57, Z:1.04 [[ 9.87826333e-01 -8.74147518e-02 -1.28677103e-01 8.98525636e+00] [ 8.72583778e-02 9.96162071e-01 -6.86320080e-03 5.70824041e-01] [ 1.28783194e-01 -4.44850480e-03 9.91662795e-01 1.04177242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.467105681 meters Centerline goodness [0,1] 0.9998365211705085 Centerline is valid? [True, True] Translation: X:9.02, Y:0.57, Z:1.04 [[ 9.87700480e-01 -8.81439927e-02 -1.29144873e-01 9.01715134e+00] [ 8.79938011e-02 9.96097265e-01 -6.87964190e-03 5.73882074e-01] [ 1.29247254e-01 -4.56892263e-03 9.91601872e-01 1.04483133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497105680999999 meters Centerline goodness [0,1] 0.9997914494264859 Centerline is valid? [True, True] Translation: X:9.05, Y:0.57, Z:1.05 [[ 9.87707738e-01 -9.11609959e-02 -1.26976758e-01 9.04853973e+00] [ 9.10418541e-02 9.95824165e-01 -6.75382482e-03 5.73709869e-01] [ 1.27062209e-01 -4.88939445e-03 9.91882699e-01 1.04942543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.527105680999998 meters Centerline goodness [0,1] 0.9996763080622413 Centerline is valid? [True, True] Translation: X:9.08, Y:0.57, Z:1.05 [[ 9.87428052e-01 -9.44101200e-02 -1.26777643e-01 9.08041611e+00] [ 9.43190442e-02 9.95519242e-01 -6.73479100e-03 5.72450276e-01] [ 1.26845416e-01 -5.30742457e-03 9.91908298e-01 1.05368310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557105681 meters Centerline goodness [0,1] 0.9995398808291347 Centerline is valid? [True, True] Translation: X:9.11, Y:0.56, Z:1.06 [[ 9.86331877e-01 -1.06130675e-01 -1.26038520e-01 9.11032943e+00] [ 1.06136917e-01 9.94329052e-01 -6.68517180e-03 5.59795098e-01] [ 1.26033264e-01 -6.78354189e-03 9.92002823e-01 1.05902371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.587105680999999 meters Centerline goodness [0,1] 0.9993582691602494 Centerline is valid? [True, True] Translation: X:9.14, Y:0.55, Z:1.07 [[ 9.85675987e-01 -1.13159049e-01 -1.25051502e-01 9.14040193e+00] [ 1.13221881e-01 9.93547622e-01 -6.62779191e-03 5.54729981e-01] [ 1.24994617e-01 -7.62571092e-03 9.92128114e-01 1.06531960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617105680999998 meters Centerline goodness [0,1] 0.9988197644068181 Centerline is valid? [True, True] Translation: X:9.17, Y:0.54, Z:1.07 [[ 9.84187707e-01 -1.25432926e-01 -1.25064536e-01 9.17060039e+00] [ 1.25594046e-01 9.92059583e-01 -6.62714007e-03 5.38888674e-01] [ 1.24902733e-01 -9.18501131e-03 9.92126475e-01 1.07045382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.647105681 meters Centerline goodness [0,1] 0.9778324567145985 Centerline is valid? [True, True] Translation: X:9.20, Y:0.53, Z:1.07 [[ 9.82716320e-01 -1.35279110e-01 -1.26365334e-01 9.20228365e+00] [ 1.35524936e-01 9.90751348e-01 -6.69007957e-03 5.28064443e-01] [ 1.26101653e-01 -1.05512035e-02 9.91961212e-01 1.07111702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677105680999999 meters Centerline goodness [0,1] 0.9665674066053059 Centerline is valid? [True, True] Translation: X:9.23, Y:0.53, Z:1.07 [[ 9.82113774e-01 -1.39576805e-01 -1.26375832e-01 9.23279268e+00] [ 1.39858091e-01 9.90148967e-01 -6.68855452e-03 5.25654932e-01] [ 1.26064466e-01 -1.11057610e-02 9.91959884e-01 1.07262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.707105680999998 meters Centerline goodness [0,1] 0.8866077348066298 Centerline is valid? [True, False] Translation: X:9.23, Y:0.52, Z:1.07 [[ 9.81568400e-01 -1.43665942e-01 -1.26030052e-01 9.23364585e+00] [ 1.43631630e-01 9.89586508e-01 -9.40734634e-03 5.21709351e-01] [ 1.26069154e-01 -8.86794798e-03 9.91981818e-01 1.07213499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737105681 meters Centerline goodness [0,1] 0.9222237070693572 Centerline is valid? [False, False] Translation: X:9.23, Y:0.52, Z:1.07 [[ 9.82019646e-01 -1.40657348e-01 -1.25908399e-01 9.23020117e+00] [ 1.40967929e-01 9.89992924e-01 -6.48490269e-03 5.21518811e-01] [ 1.25560573e-01 -1.13807444e-02 9.92020676e-01 1.07455552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.767105680999999 meters Centerline goodness [0,1] 0.919514318237618 Centerline is valid? [False, False] Translation: X:9.23, Y:0.52, Z:1.08 [[ 9.82563811e-01 -1.36583768e-01 -1.26147657e-01 9.22904325e+00] [ 1.37344955e-01 9.90519638e-01 -2.68512329e-03 5.21936023e-01] [ 1.25318475e-01 -1.46874393e-02 9.92007842e-01 1.07502941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797105681 meters Centerline goodness [0,1] 0.9749718405046182 Centerline is valid? [False, True] Translation: X:9.23, Y:0.52, Z:1.07 [[ 9.83223617e-01 -1.31607168e-01 -1.26296763e-01 9.22971770e+00] [ 1.32864407e-01 9.91133018e-01 1.54567112e-03 5.24412418e-01] [ 1.24973470e-01 -1.83000849e-02 9.91991300e-01 1.07324873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.827105680999999 meters Centerline goodness [0,1] 0.9814915131816541 Centerline is valid? [True, True] Translation: X:9.26, Y:0.53, Z:1.08 [[ 9.84370062e-01 -1.25230394e-01 -1.23826208e-01 9.25852225e+00] [ 1.25514391e-01 9.92076353e-01 -5.53601570e-03 5.30632882e-01] [ 1.23538331e-01 -1.00924830e-02 9.92288478e-01 1.07894681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857105680999998 meters Centerline goodness [0,1] 0.9988428551980759 Centerline is valid? [True, True] Translation: X:9.29, Y:0.54, Z:1.08 [[ 9.84777749e-01 -1.21770864e-01 -1.24034839e-01 9.28833042e+00] [ 1.22028453e-01 9.92511102e-01 -5.54706151e-03 5.42009315e-01] [ 1.23781425e-01 -9.67315674e-03 9.92262359e-01 1.08328886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.887105681 meters Centerline goodness [0,1] 0.9996101364522417 Centerline is valid? [True, True] Translation: X:9.32, Y:0.55, Z:1.09 [[ 9.84890122e-01 -1.17533395e-01 -1.27190208e-01 9.31775972e+00] [ 1.17769879e-01 9.93024636e-01 -5.68570761e-03 5.54217987e-01] [ 1.26971271e-01 -9.37937820e-03 9.91862049e-01 1.08782246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917105680999999 meters Centerline goodness [0,1] 0.9994496422674739 Centerline is valid? [True, True] Translation: X:9.35, Y:0.56, Z:1.09 [[ 9.84954324e-01 -1.16095584e-01 -1.28010919e-01 9.34921855e+00] [ 1.16323402e-01 9.93194916e-01 -5.72065411e-03 5.56032416e-01] [ 1.27803936e-01 -9.25608256e-03 9.91756260e-01 1.09057401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.947105680999998 meters Centerline goodness [0,1] 0.9983336419181633 Centerline is valid? [True, True] Translation: X:9.38, Y:0.56, Z:1.09 [[ 9.84599291e-01 -1.18541125e-01 -1.28499952e-01 9.38033706e+00] [ 1.18795658e-01 9.92902310e-01 -5.70923208e-03 5.59342019e-01] [ 1.28264678e-01 -9.64393050e-03 9.91693081e-01 1.09472118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977105681 meters Centerline goodness [0,1] 0.9802678592010328 Centerline is valid? [True, True] Translation: X:9.41, Y:0.56, Z:1.10 [[ 9.84514106e-01 -1.21225698e-01 -1.26634536e-01 9.41079824e+00] [ 1.21495378e-01 9.92576081e-01 -5.62101593e-03 5.56318689e-01] [ 1.26375823e-01 -9.85154131e-03 9.91933515e-01 1.09803534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.007105680999999 meters Centerline goodness [0,1] 0.9978079380625904 Centerline is valid? [True, True] Translation: X:9.44, Y:0.56, Z:1.10 [[ 9.84339009e-01 -1.22543989e-01 -1.26726817e-01 9.44237579e+00] [ 1.22825989e-01 9.92412330e-01 -5.61643825e-03 5.63794410e-01] [ 1.26453517e-01 -1.00368674e-02 9.91921756e-01 1.09930933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037105680999998 meters Centerline goodness [0,1] 0.9909323413159731 Centerline is valid? [True, True] Translation: X:9.47, Y:0.56, Z:1.10 [[ 9.84166315e-01 -1.23703641e-01 -1.26941219e-01 9.47357323e+00] [ 1.24000670e-01 9.92266385e-01 -5.59063560e-03 5.62685503e-01] [ 1.26651087e-01 -1.02386810e-02 9.91894486e-01 1.10102233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.067105681 meters Centerline goodness [0,1] 0.9985058249480541 Centerline is valid? [True, True] Translation: X:9.50, Y:0.57, Z:1.11 [[ 9.84396523e-01 -1.23810351e-01 -1.25037922e-01 9.50479037e+00] [ 1.24103478e-01 9.92254189e-01 -5.47279087e-03 5.70801775e-01] [ 1.24746990e-01 -1.01302448e-02 9.92136869e-01 1.11334237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097105680999999 meters Centerline goodness [0,1] 0.9960988296488946 Centerline is valid? [True, True] Translation: X:9.54, Y:0.57, Z:1.11 [[ 9.84571522e-01 -1.21184976e-01 -1.26226461e-01 9.53523408e+00] [ 1.21467018e-01 9.92580291e-01 -5.48895484e-03 5.69770289e-01] [ 1.25955076e-01 -9.92808323e-03 9.91986266e-01 1.11157256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.127105680999998 meters Centerline goodness [0,1] 0.9989971079391734 Centerline is valid? [True, True] Translation: X:9.57, Y:0.58, Z:1.11 [[ 9.84630318e-01 -1.19534591e-01 -1.27336634e-01 9.56626069e+00] [ 1.19808119e-01 9.92781627e-01 -5.53681400e-03 5.75096372e-01] [ 1.27079312e-01 -9.80424772e-03 9.91844103e-01 1.11271333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157105680999999 meters Centerline goodness [0,1] 0.9991611129235215 Centerline is valid? [True, True] Translation: X:9.59, Y:0.58, Z:1.12 [[ 9.85026741e-01 -1.15847461e-01 -1.27678052e-01 9.59483329e+00] [ 1.16092467e-01 9.93222923e-01 -5.54652498e-03 5.81444166e-01] [ 1.27455318e-01 -9.35898455e-03 9.91800157e-01 1.12030407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.187105680999998 meters Centerline goodness [0,1] 0.9993413624388408 Centerline is valid? [True, True] Translation: X:9.63, Y:0.59, Z:1.13 [[ 9.85291756e-01 -1.12551206e-01 -1.28578312e-01 9.62535678e+00] [ 1.12771978e-01 9.93605195e-01 -5.58541271e-03 5.88034183e-01] [ 1.28384724e-01 -8.99676943e-03 9.91683629e-01 1.12627681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217105681 meters Centerline goodness [0,1] 0.9998089689096901 Centerline is valid? [True, True] Translation: X:9.66, Y:0.61, Z:1.13 [[ 9.86282597e-01 -9.96464178e-02 -1.31594947e-01 9.65520486e+00] [ 9.97642378e-02 9.94994697e-01 -5.71394055e-03 6.05041921e-01] [ 1.31505648e-01 -7.49290947e-03 9.91287103e-01 1.12587291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.247105680999999 meters Centerline goodness [0,1] 0.9999523230589525 Centerline is valid? [True, True] Translation: X:9.68, Y:0.62, Z:1.12 [[ 9.87714395e-01 -8.24307708e-02 -1.32760841e-01 9.68455025e+00] [ 8.23959892e-02 9.96582993e-01 -5.76525143e-03 6.23262058e-01] [ 1.32782431e-01 -5.24453903e-03 9.91131334e-01 1.12253686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.71, Y:0.63, Z:1.13 [[ 9.88379719e-01 -7.42605120e-02 -1.32630719e-01 9.71452853e+00] [ 7.41522433e-02 9.97230285e-01 -5.76230111e-03 6.34410017e-01] [ 1.32691281e-01 -4.13952380e-03 9.91148772e-01 1.12691388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.307105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.74, Y:0.66, Z:1.14 [[ 9.89651690e-01 -5.88112961e-02 -1.30884547e-01 9.74260180e+00] [ 5.85714070e-02 9.98267034e-01 -5.68505753e-03 6.56609590e-01] [ 1.30992074e-01 -2.03986528e-03 9.91381317e-01 1.13774032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:0.67, Z:1.14 [[ 9.90654564e-01 -4.68182717e-02 -1.28107703e-01 9.77185193e+00] [ 4.64885573e-02 9.98903325e-01 -5.56427030e-03 6.70949803e-01] [ 1.28227720e-01 -4.43272498e-04 9.91744652e-01 1.14486618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.367105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.80, Y:0.68, Z:1.15 [[ 9.90962917e-01 -4.36158805e-02 -1.26846962e-01 9.80257444e+00] [ 4.32669019e-02 9.99048374e-01 -5.50647127e-03 6.75052659e-01] [ 1.26966421e-01 -3.15662226e-05 9.91907015e-01 1.15006300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.83, Y:0.68, Z:1.16 [[ 9.91322016e-01 -4.14961048e-02 -1.24734652e-01 9.83314830e+00] [ 4.11429143e-02 9.99138640e-01 -5.40735822e-03 6.78019977e-01] [ 1.24851595e-01 2.28486173e-04 9.92175401e-01 1.15669517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.427105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:0.68, Z:1.16 [[ 9.91223236e-01 -4.33872991e-02 -1.24876091e-01 9.86363002e+00] [ 4.30488761e-02 9.99058328e-01 -5.40853071e-03 6.77235212e-01] [ 1.24993161e-01 -1.47140715e-05 9.92157603e-01 1.16014579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:0.68, Z:1.16 [[ 9.91224964e-01 -4.33474727e-02 -1.24876207e-01 9.89424656e+00] [ 4.30090704e-02 9.99060056e-01 -5.40586746e-03 6.78518513e-01] [ 1.24993161e-01 -1.23787834e-05 9.92157603e-01 1.16378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.487105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.93, Y:0.67, Z:1.17 [[ 9.91019513e-01 -4.95857125e-02 -1.24183663e-01 9.92547359e+00] [ 4.93004292e-02 9.98769552e-01 -5.37117778e-03 6.71275993e-01] [ 1.24297195e-01 -7.99365869e-04 9.92244712e-01 1.16567271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.96, Y:0.66, Z:1.17 [[ 9.90454728e-01 -5.89925817e-02 -1.24576514e-01 9.95781611e+00] [ 5.87796253e-02 9.98256445e-01 -5.38758941e-03 6.61610111e-01] [ 1.24677136e-01 -1.98639741e-03 9.92195377e-01 1.16902577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.547105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.99, Y:0.65, Z:1.17 [[ 9.89260665e-01 -7.04307943e-02 -1.28073570e-01 9.98886691e+00] [ 7.03024011e-02 9.97510405e-01 -5.52846345e-03 6.47031544e-01] [ 1.28144093e-01 -3.53478805e-03 9.91749261e-01 1.16819584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.02, Y:0.64, Z:1.17 [[ 9.88924888e-01 -7.43026168e-02 -1.28478351e-01 1.00213845e+01] [ 7.42061353e-02 9.97227512e-01 -5.54427710e-03 6.42504472e-01] [ 1.28534100e-01 -4.05100825e-03 9.91696816e-01 1.17168974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.607105680999998 meters Centerline goodness [0,1] 0.9999058358247604 Centerline is valid? [True, True] Translation: X:10.05, Y:0.64, Z:1.18 [[ 9.88717268e-01 -7.75619488e-02 -1.28149555e-01 1.00530303e+01] [ 7.74946768e-02 9.96977493e-01 -5.51849090e-03 6.35039859e-01] [ 1.28190247e-01 -4.47468108e-03 9.91739501e-01 1.17620001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637105681 meters Centerline goodness [0,1] 0.9999059089198344 Centerline is valid? [True, True] Translation: X:10.08, Y:0.64, Z:1.18 [[ 9.88665348e-01 -7.65415129e-02 -1.29159691e-01 1.00843355e+01] [ 7.64668966e-02 9.97056708e-01 -5.54397340e-03 6.35192421e-01] [ 1.29203881e-01 -4.39530638e-03 9.91608309e-01 1.18252625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.667105680999999 meters Centerline goodness [0,1] 0.999905580209612 Centerline is valid? [True, True] Translation: X:10.12, Y:0.64, Z:1.19 [[ 9.88771205e-01 -7.51671474e-02 -1.29156510e-01 1.01162230e+01] [ 7.50823256e-02 9.97161990e-01 -5.53267250e-03 6.36401456e-01] [ 1.29205838e-01 -4.22682387e-03 9.91608787e-01 1.18753940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697105680999998 meters Centerline goodness [0,1] 0.9999055668350725 Centerline is valid? [True, True] Translation: X:10.15, Y:0.64, Z:1.19 [[ 9.89198828e-01 -7.16587041e-02 -1.27869888e-01 1.01476542e+01] [ 7.15477278e-02 9.97422195e-01 -5.46691140e-03 6.37711679e-01] [ 1.27932016e-01 -3.74093758e-03 9.91775884e-01 1.19108648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.727105681 meters Centerline goodness [0,1] 0.9999765560895557 Centerline is valid? [True, True] Translation: X:10.18, Y:0.64, Z:1.20 [[ 9.89481156e-01 -6.96233320e-02 -1.26805497e-01 1.01797111e+01] [ 6.94985916e-02 9.97567363e-01 -5.41314828e-03 6.39456503e-01] [ 1.26873906e-01 -3.45659520e-03 9.91912831e-01 1.19556304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757105680999999 meters Centerline goodness [0,1] 0.9999766256836987 Centerline is valid? [True, True] Translation: X:10.21, Y:0.64, Z:1.20 [[ 9.89975293e-01 -6.43789428e-02 -1.25715038e-01 1.02095089e+01] [ 6.42155039e-02 9.97921679e-01 -5.35640327e-03 6.42773768e-01] [ 1.25798602e-01 -2.77014763e-03 9.92051933e-01 1.20284609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.787105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:0.65, Z:1.21 [[ 9.90544297e-01 -5.52236767e-02 -1.25587983e-01 1.02407046e+01] [ 5.49876420e-02 9.98472713e-01 -5.34795690e-03 6.52273770e-01] [ 1.25691508e-01 -1.60839887e-03 9.92068071e-01 1.20837213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817105681 meters Centerline goodness [0,1] 0.9999765571887381 Centerline is valid? [True, True] Translation: X:10.27, Y:0.66, Z:1.21 [[ 9.90721261e-01 -4.98689658e-02 -1.26429702e-01 1.02724037e+01] [ 4.95873845e-02 9.98755323e-01 -5.37546923e-03 6.56675329e-01] [ 1.26540407e-01 -9.43726603e-04 9.91961005e-01 1.21044061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.847105680999999 meters Centerline goodness [0,1] 0.9999765219637029 Centerline is valid? [True, True] Translation: X:10.30, Y:0.66, Z:1.21 [[ 9.91245840e-01 -3.88815306e-02 -1.26174128e-01 1.03032769e+01] [ 3.85137112e-02 9.99243727e-01 -5.35426341e-03 6.64197244e-01] [ 1.26286888e-01 4.47957402e-04 9.91993660e-01 1.21465735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:0.67, Z:1.22 [[ 9.91747290e-01 -2.81181374e-02 -1.25086705e-01 1.03317881e+01] [ 2.76719616e-02 9.99602990e-01 -5.30337144e-03 6.71992778e-01] [ 1.25186165e-01 1.79820975e-03 9.92131640e-01 1.22128851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.907105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:0.67, Z:1.22 [[ 9.91872864e-01 -2.49478367e-02 -1.24763087e-01 1.03599394e+01] [ 2.44786035e-02 9.99686343e-01 -5.29282380e-03 6.72302386e-01] [ 1.24855999e-01 2.19578215e-03 9.92172444e-01 1.22418067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937105680999998 meters Centerline goodness [0,1] 0.999976751214749 Centerline is valid? [True, True] Translation: X:10.39, Y:0.67, Z:1.22 [[ 9.91743761e-01 -2.49625628e-02 -1.25782283e-01 1.03884093e+01] [ 2.44840084e-02 9.99685909e-01 -5.34939961e-03 6.65704315e-01] [ 1.25876311e-01 2.22557921e-03 9.92043447e-01 1.22368000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.967105680999998 meters Centerline goodness [0,1] 0.9999540884256921 Centerline is valid? [True, True] Translation: X:10.42, Y:0.65, Z:1.22 [[ 9.91155579e-01 -3.31801861e-02 -1.28490051e-01 1.04183419e+01] [ 3.27473898e-02 9.99448637e-01 -5.48006302e-03 6.51980392e-01] [ 1.28601035e-01 1.22388125e-03 9.91695657e-01 1.22472609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997105680999999 meters Centerline goodness [0,1] 0.9998855520966856 Centerline is valid? [True, True] Translation: X:10.45, Y:0.64, Z:1.23 [[ 9.90791153e-01 -3.90783156e-02 -1.29637094e-01 1.04477667e+01] [ 3.86834270e-02 9.99236027e-01 -5.56371274e-03 6.44749368e-01] [ 1.29755475e-01 4.97670296e-04 9.91545899e-01 1.22790123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.027105680999998 meters Centerline goodness [0,1] 0.9997305853034283 Centerline is valid? [True, True] Translation: X:10.48, Y:0.63, Z:1.23 [[ 9.90349274e-01 -4.85487679e-02 -1.29812680e-01 1.04767171e+01] [ 4.82309311e-02 9.98820552e-01 -5.59297855e-03 6.28506476e-01] [ 1.29931105e-01 -7.21984188e-04 9.91522762e-01 1.22776344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057105681 meters Centerline goodness [0,1] 0.9996233187830981 Centerline is valid? [True, True] Translation: X:10.51, Y:0.61, Z:1.23 [[ 9.90610505e-01 -5.23509481e-02 -1.26294120e-01 1.05060499e+01] [ 5.20784448e-02 9.98628066e-01 -5.46083660e-03 6.14150994e-01] [ 1.26406733e-01 -1.16763926e-03 9.91977809e-01 1.23254471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.087105680999999 meters Centerline goodness [0,1] 0.9997577892766707 Centerline is valid? [True, True] Translation: X:10.54, Y:0.61, Z:1.24 [[ 9.90670316e-01 -5.24859639e-02 -1.25767836e-01 1.05374290e+01] [ 5.22160102e-02 9.98620972e-01 -5.44442077e-03 6.11209644e-01] [ 1.25880154e-01 -1.17346854e-03 9.92044762e-01 1.23925936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117105680999998 meters Centerline goodness [0,1] 0.9995847811359514 Centerline is valid? [True, True] Translation: X:10.57, Y:0.61, Z:1.24 [[ 9.90528977e-01 -4.85523143e-02 -1.28432931e-01 1.05684374e+01] [ 4.82385545e-02 9.98820400e-01 -5.55430744e-03 6.08733017e-01] [ 1.28551106e-01 -6.93716472e-04 9.91702643e-01 1.24495239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.147105681 meters Centerline goodness [0,1] 0.9994123664221821 Centerline is valid? [True, True] Translation: X:10.60, Y:0.61, Z:1.25 [[ 9.90632449e-01 -4.41792221e-02 -1.29211251e-01 1.05982592e+01] [ 4.38252544e-02 9.99023613e-01 -5.58284980e-03 6.10367601e-01] [ 1.29331736e-01 -1.32163758e-04 9.91601374e-01 1.24863693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177105680999999 meters Centerline goodness [0,1] 0.9994156729499859 Centerline is valid? [True, True] Translation: X:10.63, Y:0.61, Z:1.25 [[ 9.90827211e-01 -3.67461507e-02 -1.30042912e-01 1.06265801e+01] [ 3.63233375e-02 9.99324273e-01 -5.62252222e-03 6.10104686e-01] [ 1.30161645e-01 8.47355412e-04 9.91492425e-01 1.25080474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.207105680999998 meters Centerline goodness [0,1] 0.9994646680942184 Centerline is valid? [True, True] Translation: X:10.66, Y:0.61, Z:1.25 [[ 9.90897697e-01 -3.24788925e-02 -1.30640254e-01 1.06552803e+01] [ 3.20103049e-02 9.99471367e-01 -5.68573377e-03 6.06065752e-01] [ 1.30755860e-01 1.45214614e-03 9.91413535e-01 1.25078152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237105681 meters Centerline goodness [0,1] 0.9997022290284159 Centerline is valid? [True, True] Translation: X:10.68, Y:0.60, Z:1.25 [[ 9.90874617e-01 -3.14764064e-02 -1.31060025e-01 1.06835244e+01] [ 3.09937980e-02 9.99503204e-01 -5.72105294e-03 6.04669973e-01] [ 1.31174993e-01 1.60679820e-03 9.91357927e-01 1.24959865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.267105680999999 meters Centerline goodness [0,1] 0.9993451211525868 Centerline is valid? [True, True] Translation: X:10.71, Y:0.60, Z:1.25 [[ 9.90960150e-01 -3.13671076e-02 -1.30438049e-01 1.07121190e+01] [ 3.08826156e-02 9.99506560e-01 -5.73596737e-03 5.95558821e-01] [ 1.30553607e-01 1.65584695e-03 9.91439869e-01 1.25061670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297105680999998 meters Centerline goodness [0,1] 0.9994745912319785 Centerline is valid? [True, True] Translation: X:10.74, Y:0.59, Z:1.25 [[ 9.91022679e-01 -3.16224595e-02 -1.29900232e-01 1.07394227e+01] [ 3.11379536e-02 9.99498501e-01 -5.75967162e-03 5.92641525e-01] [ 1.30017222e-01 1.66313780e-03 9.91510341e-01 1.25472136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.327105680999999 meters Centerline goodness [0,1] 0.9990130611902062 Centerline is valid? [True, True] Translation: X:10.77, Y:0.58, Z:1.26 [[ 9.91462709e-01 -3.26178493e-02 -1.26244891e-01 1.07678796e+01] [ 3.21627652e-02 9.99466720e-01 -5.64199120e-03 5.78312357e-01] [ 1.26361597e-01 1.53343910e-03 9.91983062e-01 1.26101247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357105680999998 meters Centerline goodness [0,1] 0.9987609987609988 Centerline is valid? [True, True] Translation: X:10.80, Y:0.57, Z:1.26 [[ 9.91394536e-01 -3.42874117e-02 -1.26337830e-01 1.07971327e+01] [ 3.38398906e-02 9.99411084e-01 -5.68742293e-03 5.71742411e-01] [ 1.26458434e-01 1.36322167e-03 9.91970970e-01 1.26389175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.387105680999998 meters Centerline goodness [0,1] 0.9983829644252173 Centerline is valid? [True, True] Translation: X:10.83, Y:0.56, Z:1.26 [[ 9.90897046e-01 -3.89509465e-02 -1.28863760e-01 1.08261097e+01] [ 3.85191483e-02 9.99240783e-01 -5.84232612e-03 5.56799933e-01] [ 1.28993488e-01 8.25421429e-04 9.91645097e-01 1.26450842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417105680999999 meters Centerline goodness [0,1] 0.9988098469504938 Centerline is valid? [True, True] Translation: X:10.85, Y:0.55, Z:1.27 [[ 9.90823476e-01 -4.11559183e-02 -1.28744046e-01 1.08538186e+01] [ 4.07414215e-02 9.99152583e-01 -5.85258260e-03 5.49695621e-01] [ 1.28875815e-01 5.53660788e-04 9.91660586e-01 1.26560311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.447105680999998 meters Centerline goodness [0,1] 0.9981179029256153 Centerline is valid? [True, True] Translation: X:10.88, Y:0.53, Z:1.27 [[ 9.91104109e-01 -4.57053210e-02 -1.24994673e-01 1.08829676e+01] [ 4.53479481e-02 9.98954966e-01 -5.70440031e-03 5.31355963e-01] [ 1.25124771e-01 -1.45973770e-05 9.92141014e-01 1.27191886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477105681 meters Centerline goodness [0,1] 0.9982638888888888 Centerline is valid? [True, True] Translation: X:10.91, Y:0.52, Z:1.28 [[ 9.91194378e-01 -4.88502171e-02 -1.23074617e-01 1.09109235e+01] [ 4.85233926e-02 9.98806047e-01 -5.65330505e-03 5.16210213e-01] [ 1.23203837e-01 -3.68473804e-04 9.92381317e-01 1.28046240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.507105680999999 meters Centerline goodness [0,1] 0.9978782709988767 Centerline is valid? [True, True] Translation: X:10.94, Y:0.51, Z:1.28 [[ 9.91138262e-01 -4.90537405e-02 -1.23445029e-01 1.09388808e+01] [ 4.87208575e-02 9.98796080e-01 -5.71572389e-03 5.12430723e-01] [ 1.23576789e-01 -3.49275015e-04 9.92334951e-01 1.28430870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537105680999998 meters Centerline goodness [0,1] 0.9983640844049616 Centerline is valid? [True, True] Translation: X:10.97, Y:0.50, Z:1.29 [[ 9.91655929e-01 -4.76849311e-02 -1.19769217e-01 1.09670665e+01] [ 4.73565609e-02 9.98862418e-01 -5.58800590e-03 5.03358865e-01] [ 1.19899434e-01 -1.30479061e-04 9.92786034e-01 1.29016048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.567105681 meters Centerline goodness [0,1] 0.9984381182448614 Centerline is valid? [True, True] Translation: X:10.99, Y:0.50, Z:1.30 [[ 9.91823658e-01 -4.83585783e-02 -1.18098596e-01 1.09945125e+01] [ 4.80425043e-02 9.98830020e-01 -5.52341363e-03 4.99333999e-01] [ 1.18227528e-01 -1.95500003e-04 9.92986512e-01 1.29526689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597105680999999 meters Centerline goodness [0,1] 0.9987257154794235 Centerline is valid? [True, True] Translation: X:11.02, Y:0.49, Z:1.30 [[ 9.92007630e-01 -4.84371203e-02 -1.16510545e-01 1.10228935e+01] [ 4.81250486e-02 9.98826221e-01 -5.49178142e-03 4.91646715e-01] [ 1.16639794e-01 -1.59186580e-04 9.93174271e-01 1.30008037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.627105680999998 meters Centerline goodness [0,1] 0.9986905281536447 Centerline is valid? [True, True] Translation: X:11.05, Y:0.49, Z:1.30 [[ 9.91963618e-01 -4.77385441e-02 -1.17171721e-01 1.10499503e+01] [ 4.74127070e-02 9.98859865e-01 -5.56819780e-03 4.88307287e-01] [ 1.17303947e-01 -3.19788381e-05 9.93096059e-01 1.30240343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657105680999999 meters Centerline goodness [0,1] 0.9990198123044839 Centerline is valid? [True, True] Translation: X:11.08, Y:0.49, Z:1.31 [[ 9.91916359e-01 -4.82040119e-02 -1.17381046e-01 1.10782059e+01] [ 4.78779635e-02 9.98837509e-01 -5.59749633e-03 4.87607291e-01] [ 1.17514414e-01 -6.77172670e-05 9.93071175e-01 1.30510302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.687105680999998 meters Centerline goodness [0,1] 0.9989561150778739 Centerline is valid? [True, True] Translation: X:11.11, Y:0.48, Z:1.31 [[ 9.91866814e-01 -5.15498487e-02 -1.16373689e-01 1.11057967e+01] [ 5.12475095e-02 9.98670335e-01 -5.59061673e-03 4.82612529e-01] [ 1.16507147e-01 -4.18714534e-04 9.93189765e-01 1.30962509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717105680999998 meters Centerline goodness [0,1] 0.9985031185031185 Centerline is valid? [True, True] Translation: X:11.13, Y:0.47, Z:1.31 [[ 9.91443213e-01 -6.22211868e-02 -1.14755735e-01 1.11331682e+01] [ 6.19934152e-02 9.98061093e-01 -5.55610599e-03 4.71986141e-01] [ 1.14878942e-01 -1.60553635e-03 9.93378201e-01 1.31478253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.747105680999999 meters Centerline goodness [0,1] 0.9988517265856612 Centerline is valid? [True, True] Translation: X:11.16, Y:0.47, Z:1.32 [[ 9.91086767e-01 -6.90763495e-02 -1.13909955e-01 1.11629609e+01] [ 6.88951735e-02 9.97608571e-01 -5.53124260e-03 4.65974705e-01] [ 1.14019625e-01 -2.36590475e-03 9.93475680e-01 1.31925425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777105680999998 meters Centerline goodness [0,1] 0.999086606327327 Centerline is valid? [True, True] Translation: X:11.19, Y:0.45, Z:1.32 [[ 9.90381601e-01 -7.89947069e-02 -1.13596304e-01 1.11921559e+01] [ 7.88788643e-02 9.96868919e-01 -5.52123717e-03 4.53194894e-01] [ 1.13676773e-01 -3.49221572e-03 9.93511648e-01 1.32409172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.807105680999998 meters Centerline goodness [0,1] 0.9990396258716439 Centerline is valid? [True, True] Translation: X:11.22, Y:0.45, Z:1.33 [[ 9.89952002e-01 -7.99045376e-02 -1.16663182e-01 1.12221239e+01] [ 7.97880583e-02 9.96795692e-01 -5.67574785e-03 4.51297993e-01] [ 1.16742875e-01 -3.68961079e-03 9.93155319e-01 1.32500004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837105680999999 meters Centerline goodness [0,1] 0.9990221168050267 Centerline is valid? [True, True] Translation: X:11.25, Y:0.46, Z:1.33 [[ 9.90033909e-01 -7.65683836e-02 -1.18195357e-01 1.12506505e+01] [ 7.64245473e-02 9.97058755e-01 -5.75558958e-03 4.56540576e-01] [ 1.18288411e-01 -3.33479777e-03 9.92973681e-01 1.32674008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.867105680999998 meters Centerline goodness [0,1] 0.9991648223159477 Centerline is valid? [True, True] Translation: X:11.28, Y:0.47, Z:1.33 [[ 9.91043028e-01 -6.09521491e-02 -1.18821517e-01 1.12804318e+01] [ 6.06935964e-02 9.98139611e-01 -5.79683685e-03 4.71306689e-01] [ 1.18953792e-01 -1.46679044e-03 9.92898708e-01 1.32943442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897105681 meters Centerline goodness [0,1] 0.9991060476913162 Centerline is valid? [True, True] Translation: X:11.31, Y:0.48, Z:1.33 [[ 9.91693496e-01 -5.11595135e-02 -1.18011497e-01 1.13079701e+01] [ 5.08349110e-02 9.98690454e-01 -5.76102447e-03 4.82515182e-01] [ 1.18151687e-01 -2.85933456e-04 9.92995517e-01 1.33356698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.927105680999999 meters Centerline goodness [0,1] 0.9992303211848893 Centerline is valid? [True, True] Translation: X:11.34, Y:0.50, Z:1.34 [[ 9.92631303e-01 -3.26691984e-02 -1.16686846e-01 1.13365068e+01] [ 3.22200830e-02 9.99464353e-01 -5.73360506e-03 5.03148396e-01] [ 1.16811655e-01 1.93169600e-03 9.93152207e-01 1.33774445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957105680999998 meters Centerline goodness [0,1] 0.9995200934774444 Centerline is valid? [True, True] Translation: X:11.37, Y:0.52, Z:1.34 [[ 9.92615867e-01 -2.13618562e-02 -1.19404402e-01 1.13667005e+01] [ 2.08092932e-02 9.99766215e-01 -5.87271057e-03 5.17379648e-01] [ 1.19501939e-01 3.34462450e-03 9.92828334e-01 1.33661827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.987105681 meters Centerline goodness [0,1] 0.9995207434727345 Centerline is valid? [True, True] Translation: X:11.40, Y:0.52, Z:1.34 [[ 9.92381379e-01 -2.07527957e-02 -1.21443483e-01 1.13959330e+01] [ 2.01763889e-02 9.99778587e-01 -5.97420364e-03 5.20429143e-01] [ 1.21540575e-01 3.47839751e-03 9.92580369e-01 1.33540137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017105680999999 meters Centerline goodness [0,1] 0.9994139194139194 Centerline is valid? [True, True] Translation: X:11.43, Y:0.51, Z:1.33 [[ 9.91813133e-01 -2.82443962e-02 -1.24534990e-01 1.14257765e+01] [ 2.76916600e-02 9.99597486e-01 -6.16754682e-03 5.13921726e-01] [ 1.24659062e-01 2.66847334e-03 9.92196048e-01 1.33291220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.047105680999998 meters Centerline goodness [0,1] 0.9989596987287519 Centerline is valid? [True, True] Translation: X:11.46, Y:0.50, Z:1.33 [[ 9.91066758e-01 -4.26945716e-02 -1.26348148e-01 1.14552147e+01] [ 4.22375907e-02 9.99087764e-01 -6.29492432e-03 5.03732422e-01] [ 1.26501647e-01 9.02048898e-04 9.91965987e-01 1.33422927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077105680999999 meters Centerline goodness [0,1] 0.9988944975178341 Centerline is valid? [True, True] Translation: X:11.48, Y:0.50, Z:1.34 [[ 9.90648176e-01 -5.09382655e-02 -1.26575999e-01 1.14836420e+01] [ 5.05455525e-02 9.98701794e-01 -6.31460709e-03 4.96514069e-01] [ 1.26733332e-01 -1.42299802e-04 9.91936814e-01 1.33886211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.107105680999998 meters Centerline goodness [0,1] 0.9986690236040345 Centerline is valid? [True, True] Translation: X:11.51, Y:0.48, Z:1.35 [[ 9.89966021e-01 -6.70996392e-02 -1.24358016e-01 1.15133416e+01] [ 6.68428762e-02 9.97743997e-01 -6.24074026e-03 4.79706762e-01] [ 1.24496215e-01 -2.13432667e-03 9.92217787e-01 1.34652844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137105680999998 meters Centerline goodness [0,1] 0.9989808652246256 Centerline is valid? [True, True] Translation: X:11.54, Y:0.46, Z:1.36 [[ 9.89729989e-01 -7.83276615e-02 -1.19579787e-01 1.15423292e+01] [ 7.81711596e-02 9.96921860e-01 -6.00617429e-03 4.64740951e-01] [ 1.19682153e-01 -3.40319977e-03 9.92806426e-01 1.35674185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.167105680999999 meters Centerline goodness [0,1] 0.9991463313067377 Centerline is valid? [True, True] Translation: X:11.57, Y:0.47, Z:1.36 [[ 9.89783319e-01 -8.05435185e-02 -1.17650854e-01 1.15704403e+01] [ 8.04074058e-02 9.96744557e-01 -5.91074902e-03 4.65660985e-01] [ 1.17743921e-01 -3.60963916e-03 9.93037431e-01 1.36294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197105680999998 meters Centerline goodness [0,1] 0.9988764278729115 Centerline is valid? [True, True] Translation: X:11.60, Y:0.47, Z:1.37 [[ 9.90373605e-01 -7.76650312e-02 -1.14578640e-01 1.15985426e+01] [ 7.75125461e-02 9.96974550e-01 -5.79235208e-03 4.68104036e-01] [ 1.14681851e-01 -3.14468949e-03 9.93397294e-01 1.36882306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.227105680999998 meters Centerline goodness [0,1] 0.9991218900271795 Centerline is valid? [True, True] Translation: X:11.63, Y:0.47, Z:1.37 [[ 9.90720316e-01 -7.32287974e-02 -1.14502395e-01 1.16272741e+01] [ 7.30427421e-02 9.97311798e-01 -5.82533694e-03 4.74439650e-01] [ 1.14621172e-01 -2.59228928e-03 9.93405892e-01 1.37288937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257105680999999 meters Centerline goodness [0,1] 0.9988726278210401 Centerline is valid? [True, True] Translation: X:11.66, Y:0.49, Z:1.37 [[ 9.91483586e-01 -5.81088915e-02 -1.16548944e-01 1.16563432e+01] [ 5.78077387e-02 9.98309912e-01 -5.96537610e-03 4.91350593e-01] [ 1.16698607e-01 -8.22858386e-04 9.93167034e-01 1.37369203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.287105680999998 meters Centerline goodness [0,1] 0.9989811618912963 Centerline is valid? [True, True] Translation: X:11.68, Y:0.51, Z:1.37 [[ 9.92295307e-01 -4.14728960e-02 -1.16747690e-01 1.16832869e+01] [ 4.10550464e-02 9.99138975e-01 -5.98261890e-03 5.06302759e-01] [ 1.16895284e-01 1.14344280e-03 9.93143587e-01 1.37364187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317105681 meters Centerline goodness [0,1] 0.9990833906214195 Centerline is valid? [True, True] Translation: X:11.71, Y:0.51, Z:1.38 [[ 9.92503715e-01 -3.59816543e-02 -1.16797673e-01 1.17110538e+01] [ 3.55239681e-02 9.99350821e-01 -5.99862568e-03 5.12146993e-01] [ 1.16937690e-01 1.80454148e-03 9.93137614e-01 1.37543867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.347105680999999 meters Centerline goodness [0,1] 0.9991637922023623 Centerline is valid? [True, True] Translation: X:11.74, Y:0.52, Z:1.38 [[ 9.92533109e-01 -3.31308118e-02 -1.17389847e-01 1.17395783e+01] [ 3.26461969e-02 9.99448665e-01 -6.04919702e-03 5.15304398e-01] [ 1.17525540e-01 2.17169629e-03 9.93067486e-01 1.37811332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377105680999998 meters Centerline goodness [0,1] 0.9991637922023623 Centerline is valid? [True, True] Translation: X:11.77, Y:0.52, Z:1.38 [[ 9.92520683e-01 -3.35080502e-02 -1.17387836e-01 1.17667127e+01] [ 3.30214802e-02 9.99436100e-01 -6.08796459e-03 5.16926792e-01] [ 1.17525637e-01 2.16611068e-03 9.93067486e-01 1.38135181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.407105680999999 meters Centerline goodness [0,1] 0.9989397530248223 Centerline is valid? [True, True] Translation: X:11.80, Y:0.52, Z:1.38 [[ 9.92320458e-01 -3.57098833e-02 -1.18426824e-01 1.17955472e+01] [ 3.52248291e-02 9.99360261e-01 -6.18710998e-03 5.18115964e-01] [ 1.18572003e-01 1.96803117e-03 9.92943506e-01 1.38402377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437105680999998 meters Centerline goodness [0,1] 0.9988066825775657 Centerline is valid? [True, True] Translation: X:11.82, Y:0.52, Z:1.39 [[ 9.92083828e-01 -3.95691247e-02 -1.19180377e-01 1.18245971e+01] [ 3.91008087e-02 9.99215623e-01 -6.26619629e-03 5.16835506e-01] [ 1.19334843e-01 1.55654288e-03 9.92852845e-01 1.38539323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.467105680999998 meters Centerline goodness [0,1] 0.998874179088919 Centerline is valid? [True, True] Translation: X:11.85, Y:0.52, Z:1.39 [[ 9.92010075e-01 -4.17362045e-02 -1.19055033e-01 1.18525447e+01] [ 4.12796474e-02 9.99127774e-01 -6.29939698e-03 5.17446003e-01] [ 1.19214103e-01 1.33451548e-03 9.92867673e-01 1.38809478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497105680999999 meters Centerline goodness [0,1] 0.9989584635253926 Centerline is valid? [True, True] Translation: X:11.88, Y:0.52, Z:1.39 [[ 9.91847757e-01 -4.33807602e-02 -1.19817097e-01 1.18806960e+01] [ 4.29284712e-02 9.99057939e-01 -6.35456086e-03 5.16377474e-01] [ 1.19979888e-01 1.15919212e-03 9.92775646e-01 1.38950566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.527105680999998 meters Centerline goodness [0,1] 0.9989566596415083 Centerline is valid? [True, True] Translation: X:11.91, Y:0.53, Z:1.39 [[ 9.92143017e-01 -3.58369794e-02 -1.19866363e-01 1.19085160e+01] [ 3.53241865e-02 9.99355408e-01 -6.40074652e-03 5.25995414e-01] [ 1.20018481e-01 2.11627421e-03 9.92769402e-01 1.39426238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557105680999998 meters Centerline goodness [0,1] 0.9987437975001571 Centerline is valid? [True, True] Translation: X:11.94, Y:0.53, Z:1.40 [[ 9.92333758e-01 -2.97456210e-02 -1.19953785e-01 1.19373060e+01] [ 2.91867619e-02 9.99553400e-01 -6.41353257e-03 5.33646695e-01] [ 1.20090988e-01 2.86330232e-03 9.92758760e-01 1.39864210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.587105680999999 meters Centerline goodness [0,1] 0.9993107049608355 Centerline is valid? [True, True] Translation: X:11.97, Y:0.55, Z:1.40 [[ 9.92404022e-01 -1.59441831e-02 -1.21983772e-01 1.19674217e+01] [ 1.52616392e-02 9.99862226e-01 -6.52770655e-03 5.49542858e-01] [ 1.22071045e-01 4.61644992e-03 9.92510629e-01 1.39860103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617105680999998 meters Centerline goodness [0,1] 0.9992919616826322 Centerline is valid? [True, True] Translation: X:12.00, Y:0.56, Z:1.40 [[ 9.92402890e-01 -9.98791667e-03 -1.22624407e-01 1.19963237e+01] [ 9.25290670e-03 9.99935660e-01 -6.56201089e-03 5.57037421e-01] [ 1.22682058e-01 5.37752638e-03 9.92431456e-01 1.39929705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.647105680999998 meters Centerline goodness [0,1] 0.9993521150309312 Centerline is valid? [True, True] Translation: X:12.03, Y:0.56, Z:1.40 [[ 9.92502944e-01 -3.97929544e-03 -1.22155930e-01 1.20258413e+01] [ 3.20440428e-03 9.99973485e-01 -6.53925885e-03 5.60809582e-01] [ 1.22178712e-01 6.09879668e-03 9.92489379e-01 1.40143047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677105680999999 meters Centerline goodness [0,1] 0.9995221871364467 Centerline is valid? [True, True] Translation: X:12.05, Y:0.56, Z:1.41 [[ 9.92561718e-01 -5.30416861e-03 -1.21626893e-01 1.20543950e+01] [ 4.54540674e-03 9.99968446e-01 -6.51504364e-03 5.59463661e-01] [ 1.21657612e-01 5.91373921e-03 9.92554509e-01 1.40583023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.707105680999998 meters Centerline goodness [0,1] 0.9995188485837413 Centerline is valid? [True, True] Translation: X:12.08, Y:0.56, Z:1.41 [[ 9.92570011e-01 -8.08338167e-03 -1.21406061e-01 1.20834460e+01] [ 7.34318197e-03 9.99951632e-01 -6.54307102e-03 5.55258215e-01] [ 1.21453079e-01 5.60294928e-03 9.92581360e-01 1.40869711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737105681 meters Centerline goodness [0,1] 0.999432427319165 Centerline is valid? [True, True] Translation: X:12.11, Y:0.54, Z:1.41 [[ 9.92366309e-01 -1.77840216e-02 -1.22036210e-01 1.21141410e+01] [ 1.71075770e-02 9.99831946e-01 -6.58861659e-03 5.41820389e-01] [ 1.22132873e-01 4.45057727e-03 9.92503780e-01 1.41057465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.767105680999999 meters Centerline goodness [0,1] 0.9992680886658302 Centerline is valid? [True, True] Translation: X:12.14, Y:0.52, Z:1.41 [[ 9.91809589e-01 -3.33161379e-02 -1.23303585e-01 1.21445924e+01] [ 3.27447946e-02 9.99441570e-01 -6.65781041e-03 5.22948255e-01] [ 1.23456541e-01 2.56572963e-03 9.92346663e-01 1.41279677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797105680999998 meters Centerline goodness [0,1] 0.99941825434751 Centerline is valid? [True, True] Translation: X:12.17, Y:0.51, Z:1.42 [[ 9.91630937e-01 -4.22335490e-02 -1.22001690e-01 1.21727721e+01] [ 4.17409641e-02 9.99106722e-01 -6.59164145e-03 5.13392099e-01] [ 1.22171097e-01 1.44400741e-03 9.92508004e-01 1.41787925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.827105680999999 meters Centerline goodness [0,1] 0.9992689905804215 Centerline is valid? [True, True] Translation: X:12.20, Y:0.49, Z:1.43 [[ 9.91275983e-01 -6.00167998e-02 -1.17345254e-01 1.22016390e+01] [ 5.96838066e-02 9.98197117e-01 -6.35281309e-03 4.92602039e-01] [ 1.17514970e-01 -7.06220410e-04 9.93070860e-01 1.42882606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857105680999998 meters Centerline goodness [0,1] 0.9991478571725485 Centerline is valid? [True, True] Translation: X:12.23, Y:0.48, Z:1.43 [[ 9.90452523e-01 -7.23644241e-02 -1.17333665e-01 1.22307665e+01] [ 7.21132281e-02 9.97375980e-01 -6.39040491e-03 4.76755148e-01] [ 1.17488217e-01 -2.13191667e-03 9.93071988e-01 1.43451053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.887105680999998 meters Centerline goodness [0,1] 0.9993315508021391 Centerline is valid? [True, True] Translation: X:12.26, Y:0.47, Z:1.44 [[ 9.90154363e-01 -7.52114523e-02 -1.18057511e-01 1.22594377e+01] [ 7.49759006e-02 9.97164540e-01 -6.44159112e-03 4.74641778e-01] [ 1.18207245e-01 -2.47329863e-03 9.92985866e-01 1.43742504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917105680999999 meters Centerline goodness [0,1] 0.9993331388321594 Centerline is valid? [True, True] Translation: X:12.29, Y:0.48, Z:1.44 [[ 9.90524056e-01 -7.14105423e-02 -1.17314230e-01 1.22872912e+01] [ 7.11469659e-02 9.97445065e-01 -6.43836379e-03 4.77677124e-01] [ 1.17474266e-01 -1.96919729e-03 9.93073975e-01 1.44103337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.947105680999998 meters Centerline goodness [0,1] 0.9992940345923049 Centerline is valid? [True, True] Translation: X:12.31, Y:0.49, Z:1.45 [[ 9.91246155e-01 -6.18688077e-02 -1.16633231e-01 1.23139818e+01] [ 6.15380845e-02 9.98083973e-01 -6.43792319e-03 4.90602286e-01] [ 1.16808065e-01 -7.95819031e-04 9.93154189e-01 1.44501504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977105680999998 meters Centerline goodness [0,1] 0.9992731803551033 Centerline is valid? [True, True] Translation: X:12.34, Y:0.50, Z:1.45 [[ 9.91606128e-01 -5.78828987e-02 -1.15615124e-01 1.23420759e+01] [ 5.75294926e-02 9.98323331e-01 -6.39406644e-03 4.99333656e-01] [ 1.15791383e-01 -3.10883974e-04 9.93273507e-01 1.44970959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.007105680999999 meters Centerline goodness [0,1] 0.9993771669400212 Centerline is valid? [True, True] Translation: X:12.37, Y:0.51, Z:1.46 [[ 9.92242427e-01 -4.97374736e-02 -1.13934848e-01 1.23692539e+01] [ 4.93368124e-02 9.98762104e-01 -6.33542138e-03 5.13863467e-01] [ 1.14108917e-01 6.65091650e-04 9.93468023e-01 1.45542081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037105680999998 meters Centerline goodness [0,1] 0.9993549863714862 Centerline is valid? [True, True] Translation: X:12.40, Y:0.52, Z:1.45 [[ 9.91927063e-01 -4.55052694e-02 -1.18363732e-01 1.23985510e+01] [ 4.50381879e-02 9.98963335e-01 -6.61941174e-03 5.19468796e-01] [ 1.18542247e-01 1.23508563e-03 9.92948241e-01 1.45206187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.067105680999997 meters Centerline goodness [0,1] 0.9993763901303344 Centerline is valid? [True, True] Translation: X:12.43, Y:0.53, Z:1.45 [[ 9.91661861e-01 -4.16417623e-02 -1.21953753e-01 1.24260775e+01] [ 4.11117336e-02 9.99131003e-01 -6.86028477e-03 5.25577601e-01] [ 1.22133450e-01 1.78935255e-03 9.92512075e-01 1.45025174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097105680999999 meters Centerline goodness [0,1] 0.9995812746001173 Centerline is valid? [True, True] Translation: X:12.45, Y:0.53, Z:1.45 [[ 9.91750146e-01 -3.91288767e-02 -1.22067924e-01 1.24539980e+01] [ 3.85771434e-02 9.99231934e-01 -6.88088607e-03 5.28590227e-01] [ 1.22243409e-01 2.11508797e-03 9.92497897e-01 1.45398976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.127105680999998 meters Centerline goodness [0,1] 0.9996249765610351 Centerline is valid? [True, True] Translation: X:12.48, Y:0.54, Z:1.46 [[ 9.91969819e-01 -3.01985777e-02 -1.22816628e-01 1.24813870e+01] [ 2.95700256e-02 9.99538634e-01 -6.93775905e-03 5.37697250e-01] [ 1.22969475e-01 3.25035675e-03 9.92405131e-01 1.45706891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157105680999999 meters Centerline goodness [0,1] 0.9994592795940438 Centerline is valid? [True, True] Translation: X:12.51, Y:0.54, Z:1.46 [[ 9.91774301e-01 -2.36454102e-02 -1.25795986e-01 1.25113772e+01] [ 2.29318472e-02 9.99711693e-01 -7.11768647e-03 5.42903929e-01] [ 1.25928019e-01 4.17440419e-03 9.92030599e-01 1.45784801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.187105680999998 meters Centerline goodness [0,1] 0.9997915754809396 Centerline is valid? [True, True] Translation: X:12.54, Y:0.55, Z:1.46 [[ 9.91722647e-01 -2.14163687e-02 -1.26599881e-01 1.25398493e+01] [ 2.06748032e-02 9.99760552e-01 -7.16880567e-03 5.47501976e-01] [ 1.26723097e-01 4.49203931e-03 9.91927960e-01 1.46111683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217105680999998 meters Centerline goodness [0,1] 0.9994759788714681 Centerline is valid? [True, True] Translation: X:12.57, Y:0.55, Z:1.46 [[ 9.91844602e-01 -1.97142227e-02 -1.25919158e-01 1.25683025e+01] [ 1.89618678e-02 9.99794492e-01 -7.17083203e-03 5.46737913e-01] [ 1.26034648e-01 4.72468863e-03 9.92014589e-01 1.46270765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.247105680999999 meters Centerline goodness [0,1] 0.9998747024182433 Centerline is valid? [True, True] Translation: X:12.60, Y:0.55, Z:1.47 [[ 9.92112660e-01 -2.07927197e-02 -1.23612837e-01 1.25962493e+01] [ 2.00712401e-02 9.99773490e-01 -7.07918786e-03 5.45391526e-01] [ 1.23732033e-01 4.54228896e-03 9.92305271e-01 1.46592392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277105680999998 meters Centerline goodness [0,1] 0.9997280619182094 Centerline is valid? [True, True] Translation: X:12.63, Y:0.54, Z:1.47 [[ 9.91981881e-01 -2.41854009e-02 -1.24044407e-01 1.26250174e+01] [ 2.34833923e-02 9.99698883e-01 -7.11856833e-03 5.44270807e-01] [ 1.24179221e-01 4.14850732e-03 9.92251133e-01 1.46980094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.307105680999998 meters Centerline goodness [0,1] 0.9995194216343843 Centerline is valid? [True, True] Translation: X:12.66, Y:0.54, Z:1.47 [[ 9.91033998e-01 -3.39369641e-02 -1.29228085e-01 1.26550386e+01] [ 3.32554856e-02 9.99419278e-01 -7.42825651e-03 5.41608518e-01] [ 1.29405132e-01 3.06411204e-03 9.91587073e-01 1.46900758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337105680999999 meters Centerline goodness [0,1] 0.9994171766371092 Centerline is valid? [True, True] Translation: X:12.68, Y:0.53, Z:1.47 [[ 9.90199622e-01 -4.62244137e-02 -1.31787753e-01 1.26846737e+01] [ 4.56228470e-02 9.98929961e-01 -7.58208496e-03 5.32093359e-01] [ 1.31997213e-01 1.49524516e-03 9.91248960e-01 1.46902456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.367105680999998 meters Centerline goodness [0,1] 0.9994995516817149 Centerline is valid? [True, True] Translation: X:12.71, Y:0.53, Z:1.48 [[ 9.90089322e-01 -5.34608342e-02 -1.29865595e-01 1.27138110e+01] [ 5.29371818e-02 9.98569804e-01 -7.48340067e-03 5.26046464e-01] [ 1.30079931e-01 5.34516471e-04 9.91503367e-01 1.47509785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397105680999998 meters Centerline goodness [0,1] 0.9995434548020254 Centerline is valid? [True, True] Translation: X:12.74, Y:0.52, Z:1.49 [[ 9.90381983e-01 -6.52391529e-02 -1.22013852e-01 1.27411325e+01] [ 6.48618302e-02 9.97869237e-01 -7.06604706e-03 5.16419591e-01] [ 1.22214852e-01 -9.15956023e-04 9.92503245e-01 1.48961306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.427105680999999 meters Centerline goodness [0,1] 0.999499196627924 Centerline is valid? [True, True] Translation: X:12.77, Y:0.52, Z:1.50 [[ 9.90651454e-01 -7.03158614e-02 -1.16899003e-01 1.27683690e+01] [ 7.00005250e-02 9.97523736e-01 -6.80603650e-03 5.16700153e-01] [ 1.17088102e-01 -1.44058162e-03 9.93120487e-01 1.50225965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457105680999998 meters Centerline goodness [0,1] 0.9996037291175673 Centerline is valid? [True, True] Translation: X:12.80, Y:0.52, Z:1.51 [[ 9.90664595e-01 -6.95319936e-02 -1.17255972e-01 1.27960690e+01] [ 6.92047623e-02 9.97578857e-01 -6.86480114e-03 5.19848084e-01] [ 1.17449402e-01 -1.31395624e-03 9.93077999e-01 1.50666683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.487105680999997 meters Centerline goodness [0,1] 0.9995433410826968 Centerline is valid? [True, True] Translation: X:12.82, Y:0.53, Z:1.51 [[ 9.90836664e-01 -6.49389420e-02 -1.18429892e-01 1.28248390e+01] [ 6.45707737e-02 9.97888947e-01 -6.94725324e-03 5.25635215e-01] [ 1.18631028e-01 -7.63516533e-04 9.92938113e-01 1.50769374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517105680999999 meters Centerline goodness [0,1] 0.9995620346618282 Centerline is valid? [True, True] Translation: X:12.85, Y:0.53, Z:1.51 [[ 9.91253147e-01 -6.21901396e-02 -1.16402685e-01 1.28526638e+01] [ 6.18112813e-02 9.98064244e-01 -6.86519831e-03 5.28964919e-01] [ 1.16604305e-01 -3.89849675e-04 9.93178375e-01 1.51072444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.547105680999998 meters Centerline goodness [0,1] 0.9995822977799127 Centerline is valid? [True, True] Translation: X:12.88, Y:0.53, Z:1.51 [[ 9.91214726e-01 -6.30102619e-02 -1.16288748e-01 1.28803171e+01] [ 6.26362667e-02 9.98012767e-01 -6.87130811e-03 5.30409258e-01] [ 1.16490618e-01 -4.72951259e-04 9.93191679e-01 1.51352260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577105680999999 meters Centerline goodness [0,1] 0.9994568396423498 Centerline is valid? [True, True] Translation: X:12.91, Y:0.53, Z:1.51 [[ 9.90785385e-01 -6.47039274e-02 -1.18986227e-01 1.29087217e+01] [ 6.43193010e-02 9.97904297e-01 -7.07395950e-03 5.30528021e-01] [ 1.19194580e-01 -6.44335234e-04 9.92870705e-01 1.51313726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.607105680999998 meters Centerline goodness [0,1] 0.9994364668559025 Centerline is valid? [True, True] Translation: X:12.94, Y:0.53, Z:1.51 [[ 9.90621072e-01 -6.25458154e-02 -1.21482154e-01 1.29371810e+01] [ 6.21230010e-02 9.98042034e-01 -7.26854853e-03 5.30661169e-01] [ 1.21698913e-01 -3.46458620e-04 9.92567003e-01 1.51313339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637105680999998 meters Centerline goodness [0,1] 0.9995822367046832 Centerline is valid? [True, True] Translation: X:12.97, Y:0.53, Z:1.52 [[ 9.90731630e-01 -6.00427858e-02 -1.21842933e-01 1.29651779e+01] [ 5.95929483e-02 9.98195804e-01 -7.33598516e-03 5.33194542e-01] [ 1.22063578e-01 7.01290115e-06 9.92522283e-01 1.51555555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.667105680999999 meters Centerline goodness [0,1] 0.9995227819736078 Centerline is valid? [True, True] Translation: X:12.99, Y:0.54, Z:1.52 [[ 9.91001084e-01 -5.33848834e-02 -1.22747322e-01 1.29920678e+01] [ 5.28717764e-02 9.98573623e-01 -7.43599672e-03 5.38720912e-01] [ 1.22969208e-01 8.79211845e-04 9.92410097e-01 1.51810451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697105680999998 meters Centerline goodness [0,1] 0.9996877991924406 Centerline is valid? [True, True] Translation: X:13.02, Y:0.55, Z:1.52 [[ 9.91241880e-01 -4.76688744e-02 -1.23155241e-01 1.30199357e+01] [ 4.71053398e-02 9.98861882e-01 -7.48515460e-03 5.46753221e-01] [ 1.23371885e-01 1.61832925e-03 9.92359189e-01 1.52217799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.727105680999998 meters Centerline goodness [0,1] 0.9998749791631939 Centerline is valid? [True, True] Translation: X:13.05, Y:0.56, Z:1.52 [[ 9.91224095e-01 -3.89683295e-02 -1.26318099e-01 1.30478314e+01] [ 3.82998448e-02 9.99236490e-01 -7.71740366e-03 5.58232244e-01] [ 1.26522388e-01 2.81171288e-03 9.91959767e-01 1.52076320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757105680999999 meters Centerline goodness [0,1] 0.9999581432338538 Centerline is valid? [True, True] Translation: X:13.08, Y:0.56, Z:1.52 [[ 9.91273979e-01 -3.35168627e-02 -1.27485367e-01 1.30769037e+01] [ 3.27892559e-02 9.99431833e-01 -7.80233351e-03 5.62685197e-01] [ 1.27674443e-01 3.55409987e-03 9.91809762e-01 1.52206888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.787105680999998 meters Centerline goodness [0,1] 0.9999582245430809 Centerline is valid? [True, True] Translation: X:13.11, Y:0.57, Z:1.52 [[ 9.91524611e-01 -2.16725236e-02 -1.28098588e-01 1.31071077e+01] [ 2.08384135e-02 9.99752052e-01 -7.84825266e-03 5.70476352e-01] [ 1.28236917e-01 5.11236432e-03 9.91730385e-01 1.52120115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817105680999997 meters Centerline goodness [0,1] 0.9999162549200235 Centerline is valid? [True, True] Translation: X:13.14, Y:0.57, Z:1.52 [[ 9.91488037e-01 -1.74732147e-02 -1.29019994e-01 1.31362764e+01] [ 1.65915173e-02 9.99831098e-01 -7.90553905e-03 5.74184887e-01] [ 1.29136338e-01 5.69760993e-03 9.91610480e-01 1.52372580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.847105680999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:0.58, Z:1.53 [[ 9.91409151e-01 -1.12868653e-02 -1.30309255e-01 1.31663035e+01] [ 1.03331007e-02 9.99914665e-01 -7.99307429e-03 5.80945078e-01] [ 1.30388352e-01 6.57790834e-03 9.91441178e-01 1.52700835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877105680999998 meters Centerline goodness [0,1] 0.9999373459755232 Centerline is valid? [True, True] Translation: X:13.19, Y:0.59, Z:1.53 [[ 9.91573624e-01 -8.06417255e-03 -1.29293145e-01 1.31941472e+01] [ 7.09802560e-03 9.99943352e-01 -7.93159423e-03 5.89314446e-01] [ 1.29349783e-01 6.94703358e-03 9.91574693e-01 1.52957544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.907105680999997 meters Centerline goodness [0,1] 0.9997703932537363 Centerline is valid? [True, True] Translation: X:13.22, Y:0.59, Z:1.53 [[ 9.91606206e-01 -9.09130305e-03 -1.28974728e-01 1.32230971e+01] [ 8.13699448e-03 9.99935496e-01 -7.92420661e-03 5.87480749e-01] [ 1.29038450e-01 6.80822580e-03 9.91616219e-01 1.53197888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937105680999998 meters Centerline goodness [0,1] 0.9998740104571321 Centerline is valid? [True, True] Translation: X:13.25, Y:0.57, Z:1.54 [[ 9.91424253e-01 -1.69467268e-02 -1.29579160e-01 1.32544454e+01] [ 1.60450845e-02 9.99839272e-01 -7.99910309e-03 5.67758904e-01] [ 1.29693892e-01 5.85139623e-03 9.91536815e-01 1.53517774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.967105680999998 meters Centerline goodness [0,1] 0.9997917230750005 Centerline is valid? [True, True] Translation: X:13.28, Y:0.55, Z:1.54 [[ 9.90942588e-01 -3.19555479e-02 -1.30428642e-01 1.32840557e+01] [ 3.11709196e-02 9.99481624e-01 -8.05337872e-03 5.50911363e-01] [ 1.30618381e-01 3.91485525e-03 9.91424991e-01 1.53916259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997105680999999 meters Centerline goodness [0,1] 0.9995825244745027 Centerline is valid? [True, True] Translation: X:13.31, Y:0.53, Z:1.55 [[ 9.90904752e-01 -4.81622472e-02 -1.25650986e-01 1.33141395e+01] [ 4.75631131e-02 9.98838047e-01 -7.76571797e-03 5.32290369e-01] [ 1.25879000e-01 1.71873477e-03 9.92044114e-01 1.55078197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.027105680999998 meters Centerline goodness [0,1] 0.9996265327717493 Centerline is valid? [True, True] Translation: X:13.34, Y:0.51, Z:1.56 [[ 9.90924403e-01 -6.27283125e-02 -1.18886441e-01 1.33425807e+01] [ 6.22965400e-02 9.98030632e-01 -7.34832028e-03 5.14305516e-01] [ 1.19113257e-01 -1.24584002e-04 9.92880666e-01 1.56223184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057105680999998 meters Centerline goodness [0,1] 0.9997280505407611 Centerline is valid? [True, True] Translation: X:13.37, Y:0.51, Z:1.57 [[ 9.90697569e-01 -6.97434216e-02 -1.16851109e-01 1.33713917e+01] [ 6.93737156e-02 9.97564519e-01 -7.23306369e-03 5.06884400e-01] [ 1.17070979e-01 -9.40617012e-04 9.93123105e-01 1.56922356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.087105680999999 meters Centerline goodness [0,1] 0.9998330202462952 Centerline is valid? [True, True] Translation: X:13.40, Y:0.50, Z:1.58 [[ 9.90308800e-01 -7.91559251e-02 -1.14117572e-01 1.33992894e+01] [ 7.88613150e-02 9.96860306e-01 -7.10096953e-03 4.97888247e-01] [ 1.14321362e-01 -1.96730922e-03 9.93441873e-01 1.57766453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117105680999998 meters Centerline goodness [0,1] 0.9998545061523113 Centerline is valid? [True, True] Translation: X:13.43, Y:0.50, Z:1.59 [[ 9.90341841e-01 -8.34073874e-02 -1.10753086e-01 1.34269626e+01] [ 8.31553045e-02 9.96512703e-01 -6.90133113e-03 4.96826325e-01] [ 1.10942479e-01 -2.37502959e-03 9.93823991e-01 1.58596279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.147105680999998 meters Centerline goodness [0,1] 0.9997909917441739 Centerline is valid? [True, True] Translation: X:13.45, Y:0.50, Z:1.59 [[ 9.90328077e-01 -8.42282780e-02 -1.10253788e-01 1.34548775e+01] [ 8.39821494e-02 9.96443489e-01 -6.88265542e-03 4.99629660e-01] [ 1.10441383e-01 -2.44326318e-03 9.93879636e-01 1.58988807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177105680999999 meters Centerline goodness [0,1] 0.9998325203592439 Centerline is valid? [True, True] Translation: X:13.48, Y:0.51, Z:1.59 [[ 9.89925063e-01 -8.41320266e-02 -1.13886662e-01 1.34833169e+01] [ 8.38673531e-02 9.96451477e-01 -7.12188247e-03 5.09181728e-01] [ 1.14081711e-01 -2.50124296e-03 9.93468221e-01 1.58907815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.207105680999998 meters Centerline goodness [0,1] 0.9998330028180774 Centerline is valid? [True, True] Translation: X:13.51, Y:0.52, Z:1.59 [[ 9.89621782e-01 -8.19259678e-02 -1.18054498e-01 1.35121389e+01] [ 8.16211958e-02 9.96635786e-01 -7.42231866e-03 5.18137473e-01] [ 1.18265418e-01 -2.29046107e-03 9.92979378e-01 1.58545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237105680999997 meters Centerline goodness [0,1] 0.999749357729181 Centerline is valid? [True, True] Translation: X:13.54, Y:0.53, Z:1.58 [[ 9.89454017e-01 -7.81539317e-02 -1.21953728e-01 1.35397471e+01] [ 7.77952200e-02 9.96939566e-01 -7.70746330e-03 5.26195557e-01] [ 1.22182865e-01 -1.86123658e-03 9.92505861e-01 1.58148189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.267105680999999 meters Centerline goodness [0,1] 0.999749357729181 Centerline is valid? [True, True] Translation: X:13.57, Y:0.53, Z:1.58 [[ 9.89426053e-01 -7.85086321e-02 -1.21952778e-01 1.35669012e+01] [ 7.81507552e-02 9.96911643e-01 -7.72246473e-03 5.28133615e-01] [ 1.22182424e-01 -1.88989391e-03 9.92505861e-01 1.58471597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297105680999998 meters Centerline goodness [0,1] 0.9995195220288705 Centerline is valid? [True, True] Translation: X:13.60, Y:0.54, Z:1.59 [[ 9.89437559e-01 -7.70850292e-02 -1.22764878e-01 1.35951013e+01] [ 7.67059451e-02 9.97023105e-01 -7.81829524e-03 5.35855999e-01] [ 1.23002094e-01 -1.68108107e-03 9.92404987e-01 1.58746353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.327105680999997 meters Centerline goodness [0,1] 0.9995818611360833 Centerline is valid? [True, True] Translation: X:13.62, Y:0.55, Z:1.59 [[ 9.89792834e-01 -7.56721502e-02 -1.20763698e-01 1.36213704e+01] [ 7.52901346e-02 9.97131710e-01 -7.72968104e-03 5.45513571e-01] [ 1.21002235e-01 -1.44153220e-03 9.92651188e-01 1.59368334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357105680999998 meters Centerline goodness [0,1] 0.9994550408719346 Centerline is valid? [True, True] Translation: X:13.65, Y:0.55, Z:1.60 [[ 9.90328396e-01 -7.71313744e-02 -1.15327443e-01 1.36484432e+01] [ 7.67907026e-02 9.97019769e-01 -7.40059474e-03 5.52162767e-01] [ 1.15554558e-01 -1.52705624e-03 9.93299961e-01 1.60351801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.387105680999998 meters Centerline goodness [0,1] 0.9994572025052192 Centerline is valid? [True, True] Translation: X:13.68, Y:0.56, Z:1.61 [[ 9.90393081e-01 -7.84369995e-02 -1.13882321e-01 1.36770859e+01] [ 7.81091485e-02 9.96917755e-01 -7.34510223e-03 5.55463262e-01] [ 1.14107435e-01 -1.62071267e-03 9.93467094e-01 1.60857418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417105680999999 meters Centerline goodness [0,1] 0.9994389960106383 Centerline is valid? [True, True] Translation: X:13.70, Y:0.56, Z:1.61 [[ 9.90392726e-01 -7.73439543e-02 -1.14630538e-01 1.37044285e+01] [ 7.70000410e-02 9.97003392e-01 -7.43173941e-03 5.62765395e-01] [ 1.14861836e-01 -1.46621548e-03 9.93380395e-01 1.61065961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.447105680999998 meters Centerline goodness [0,1] 0.9993965373730648 Centerline is valid? [True, True] Translation: X:13.73, Y:0.58, Z:1.61 [[ 9.90747418e-01 -7.09764338e-02 -1.15680158e-01 1.37325787e+01] [ 7.05813762e-02 9.97477732e-01 -7.51292180e-03 5.79516412e-01] [ 1.15921622e-01 -7.21456862e-04 9.93258102e-01 1.61086669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477105680999998 meters Centerline goodness [0,1] 0.9996068613048067 Centerline is valid? [True, True] Translation: X:13.76, Y:0.59, Z:1.61 [[ 9.91121233e-01 -6.47835957e-02 -1.16111100e-01 1.37596334e+01] [ 6.43387335e-02 9.97899336e-01 -7.57914025e-03 5.90464598e-01] [ 1.16358194e-01 4.14056800e-05 9.93207314e-01 1.61344025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.507105680999999 meters Centerline goodness [0,1] 0.9996252420311882 Centerline is valid? [True, True] Translation: X:13.79, Y:0.61, Z:1.61 [[ 9.91818429e-01 -4.65395239e-02 -1.18870844e-01 1.37882826e+01] [ 4.59408472e-02 9.98913919e-01 -7.77313629e-03 6.14766138e-01] [ 1.19103498e-01 2.24851255e-03 9.92879298e-01 1.61125116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537105680999998 meters Centerline goodness [0,1] 0.9998115617344695 Centerline is valid? [True, True] Translation: X:13.82, Y:0.63, Z:1.61 [[ 9.91899656e-01 -2.89973217e-02 -1.23669832e-01 1.38180449e+01] [ 2.82125501e-02 9.99569188e-01 -8.09260069e-03 6.34643852e-01] [ 1.23851218e-01 4.53800650e-03 9.92290422e-01 1.60850320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.567105680999997 meters Centerline goodness [0,1] 0.9996016353915504 Centerline is valid? [True, True] Translation: X:13.85, Y:0.65, Z:1.61 [[ 9.91594869e-01 -1.68112863e-02 -1.28284822e-01 1.38462874e+01] [ 1.58650687e-02 9.99838905e-01 -8.39426944e-03 6.53260422e-01] [ 1.28405274e-01 6.28846700e-03 9.91701841e-01 1.60811244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597105680999999 meters Centerline goodness [0,1] 0.9996637666540579 Centerline is valid? [True, True] Translation: X:13.88, Y:0.66, Z:1.61 [[ 9.91567649e-01 -1.44524408e-02 -1.28781694e-01 1.38752637e+01] [ 1.34791236e-02 9.99873647e-01 -8.42628912e-03 6.56449759e-01] [ 1.28887203e-01 6.61937132e-03 9.91637168e-01 1.61223435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.627105680999998 meters Centerline goodness [0,1] 0.9995807655221566 Centerline is valid? [True, True] Translation: X:13.90, Y:0.66, Z:1.62 [[ 9.91647888e-01 -1.58258587e-02 -1.28000037e-01 1.39040750e+01] [ 1.48746133e-02 9.99854215e-01 -8.38415908e-03 6.55144625e-01] [ 1.28114063e-01 6.41018259e-03 9.91738724e-01 1.61782208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657105680999997 meters Centerline goodness [0,1] 0.9996860348292029 Centerline is valid? [True, True] Translation: X:13.94, Y:0.64, Z:1.62 [[ 9.91580132e-01 -2.48119431e-02 -1.27095279e-01 1.39351295e+01] [ 2.39427662e-02 9.99678357e-01 -8.36216183e-03 6.43141466e-01] [ 1.27261881e-01 5.24874099e-03 9.91855264e-01 1.62100465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.687105680999998 meters Centerline goodness [0,1] 0.9997063943124384 Centerline is valid? [True, True] Translation: X:13.97, Y:0.64, Z:1.62 [[ 9.91467590e-01 -3.02215215e-02 -1.26801722e-01 1.39650722e+01] [ 2.94002279e-02 9.99532893e-01 -8.34398490e-03 6.38374912e-01] [ 1.26994660e-01 4.54479107e-03 9.91892989e-01 1.62474145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717105680999998 meters Centerline goodness [0,1] 0.999853602426017 Centerline is valid? [True, True] Translation: X:14.00, Y:0.63, Z:1.63 [[ 9.91509625e-01 -3.74639803e-02 -1.24519529e-01 1.39954043e+01] [ 3.67282700e-02 9.99291650e-01 -8.19959225e-03 6.31944622e-01] [ 1.24738515e-01 3.55658776e-03 9.92183276e-01 1.63129791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.747105680999997 meters Centerline goodness [0,1] 0.9997283517218322 Centerline is valid? [True, True] Translation: X:14.02, Y:0.63, Z:1.64 [[ 9.91374078e-01 -4.19733966e-02 -1.24159861e-01 1.40230255e+01] [ 4.12767024e-02 9.99114272e-01 -8.17950949e-03 6.29699687e-01] [ 1.24393211e-01 2.98404405e-03 9.92228514e-01 1.63550901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777105680999998 meters Centerline goodness [0,1] 0.9997289181749938 Centerline is valid? [True, True] Translation: X:14.05, Y:0.63, Z:1.64 [[ 9.91270903e-01 -4.34363707e-02 -1.24480033e-01 1.40510021e+01] [ 4.27456881e-02 9.99052208e-01 -8.21533499e-03 6.29356611e-01] [ 1.24718896e-01 2.82263786e-03 9.92188102e-01 1.63787065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.807105680999998 meters Centerline goodness [0,1] 0.9996240208877285 Centerline is valid? [True, True] Translation: X:14.08, Y:0.62, Z:1.64 [[ 9.91406608e-01 -4.54032260e-02 -1.22684489e-01 1.40795922e+01] [ 4.47456091e-02 9.98965481e-01 -8.11156296e-03 6.24496555e-01] [ 1.22925861e-01 2.55226495e-03 9.92412575e-01 1.64299451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837105680999999 meters Centerline goodness [0,1] 0.9995403643657028 Centerline is valid? [True, True] Translation: X:14.11, Y:0.62, Z:1.65 [[ 9.91452946e-01 -4.73272233e-02 -1.21577920e-01 1.41075260e+01] [ 4.66910182e-02 9.98876716e-01 -8.07806090e-03 6.20679454e-01] [ 1.21823666e-01 2.33242037e-03 9.92549019e-01 1.64767853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.867105680999998 meters Centerline goodness [0,1] 0.9995828466544302 Centerline is valid? [True, True] Translation: X:14.14, Y:0.62, Z:1.65 [[ 9.91246170e-01 -4.90939417e-02 -1.22559433e-01 1.41368996e+01] [ 4.84581368e-02 9.98791842e-01 -8.16490370e-03 6.18794166e-01] [ 1.22812209e-01 2.15442778e-03 9.92427589e-01 1.65020431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897105680999998 meters Centerline goodness [0,1] 0.999540373968453 Centerline is valid? [True, True] Translation: X:14.17, Y:0.61, Z:1.65 [[ 9.90711719e-01 -5.59224734e-02 -1.23947436e-01 1.41652979e+01] [ 5.53225762e-02 9.98434208e-01 -8.27920233e-03 6.10087503e-01] [ 1.24216354e-01 1.34521129e-03 9.92254246e-01 1.65233298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.927105680999999 meters Centerline goodness [0,1] 0.9995214514585328 Centerline is valid? [True, True] Translation: X:14.19, Y:0.60, Z:1.66 [[ 9.90292141e-01 -6.60344266e-02 -1.22314879e-01 1.41944530e+01] [ 6.55252549e-02 9.97817341e-01 -8.18503063e-03 5.97597210e-01] [ 1.22588401e-01 9.08579128e-05 9.92457594e-01 1.65965854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957105680999998 meters Centerline goodness [0,1] 0.9993753383583892 Centerline is valid? [True, True] Translation: X:14.22, Y:0.59, Z:1.66 [[ 9.90077899e-01 -7.02074711e-02 -1.21723722e-01 1.42216783e+01] [ 6.97298782e-02 9.97532337e-01 -8.18420066e-03 5.92325577e-01] [ 1.21997941e-01 -3.84784127e-04 9.92530279e-01 1.66341813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.987105680999997 meters Centerline goodness [0,1] 0.9993538705239902 Centerline is valid? [True, True] Translation: X:14.25, Y:0.58, Z:1.67 [[ 9.89699976e-01 -7.59907479e-02 -1.21323388e-01 1.42511389e+01] [ 7.55571268e-02 9.97107945e-01 -8.17725223e-03 5.83811018e-01] [ 1.21593909e-01 -1.07382025e-03 9.92579351e-01 1.66618788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017105680999999 meters Centerline goodness [0,1] 0.9994994681849465 Centerline is valid? [True, True] Translation: X:14.28, Y:0.58, Z:1.67 [[ 9.89546459e-01 -7.72629272e-02 -1.21771286e-01 1.42788144e+01] [ 7.68309197e-02 9.97010035e-01 -8.24619078e-03 5.82905044e-01] [ 1.22044319e-01 -1.19581104e-03 9.92523931e-01 1.66905544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.047105680999998 meters Centerline goodness [0,1] 0.9994584235960673 Centerline is valid? [True, True] Translation: X:14.31, Y:0.59, Z:1.67 [[ 9.89234560e-01 -7.65879883e-02 -1.24696692e-01 1.43063678e+01] [ 7.61275280e-02 9.97062194e-01 -8.46057610e-03 5.86947215e-01] [ 1.24978336e-01 -1.12335668e-03 9.92158835e-01 1.67026268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077105680999997 meters Centerline goodness [0,1] 0.9994547894648549 Centerline is valid? [True, True] Translation: X:14.33, Y:0.59, Z:1.67 [[ 9.89308640e-01 -7.53781220e-02 -1.24846120e-01 1.43336657e+01] [ 7.49013182e-02 9.97154592e-01 -8.51543632e-03 5.92300821e-01] [ 1.25132759e-01 -9.26744230e-04 9.92139574e-01 1.67411750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.107105680999998 meters Centerline goodness [0,1] 0.9995403355550448 Centerline is valid? [True, True] Translation: X:14.36, Y:0.60, Z:1.68 [[ 9.89360640e-01 -7.47525353e-02 -1.24810186e-01 1.43607813e+01] [ 7.42652086e-02 9.97201794e-01 -8.55930171e-03 5.97291290e-01] [ 1.25100771e-01 -8.00818271e-04 9.92143717e-01 1.67794525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137105680999998 meters Centerline goodness [0,1] 0.9994366784894638 Centerline is valid? [True, True] Translation: X:14.39, Y:0.61, Z:1.68 [[ 9.88598565e-01 -7.93852617e-02 -1.27948650e-01 1.43884413e+01] [ 7.89056677e-02 9.96843061e-01 -8.82086223e-03 6.05819424e-01] [ 1.28244971e-01 -1.37558194e-03 9.91741567e-01 1.67854194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.167105680999997 meters Centerline goodness [0,1] 0.9994550180263269 Centerline is valid? [True, True] Translation: X:14.42, Y:0.61, Z:1.68 [[ 9.88106162e-01 -8.24757698e-02 -1.29784285e-01 1.44161834e+01] [ 8.20068276e-02 9.96591468e-01 -8.96253982e-03 6.08772441e-01] [ 1.30081104e-01 -1.78725667e-03 9.91501746e-01 1.67951075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197105680999998 meters Centerline goodness [0,1] 0.999415692821369 Centerline is valid? [True, True] Translation: X:14.44, Y:0.61, Z:1.68 [[ 9.87867721e-01 -8.65227890e-02 -1.28961902e-01 1.44439034e+01] [ 8.60921313e-02 9.96247240e-01 -8.92086837e-03 6.14289705e-01] [ 1.29249797e-01 -2.28996710e-03 9.91609422e-01 1.68154851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.227105680999998 meters Centerline goodness [0,1] 0.9991630923736793 Centerline is valid? [True, True] Translation: X:14.47, Y:0.62, Z:1.69 [[ 9.88115110e-01 -8.70766618e-02 -1.26673537e-01 1.44711227e+01] [ 8.66628183e-02 9.96198965e-01 -8.78510404e-03 6.22834422e-01] [ 1.26957024e-01 -2.29719171e-03 9.91905558e-01 1.68797033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257105680999999 meters Centerline goodness [0,1] 0.9993943191311613 Centerline is valid? [True, True] Translation: X:14.50, Y:0.64, Z:1.69 [[ 9.88433352e-01 -8.61520652e-02 -1.24809178e-01 1.44981555e+01] [ 8.57380047e-02 9.96279773e-01 -8.69532692e-03 6.36810564e-01] [ 1.25093979e-01 -2.10613873e-03 9.92142661e-01 1.69276477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.287105680999998 meters Centerline goodness [0,1] 0.9992706509960824 Centerline is valid? [True, True] Translation: X:14.53, Y:0.64, Z:1.69 [[ 9.88410300e-01 -8.42077073e-02 -1.26309705e-01 1.45256531e+01] [ 8.37627240e-02 9.96446519e-01 -8.83968266e-03 6.44757602e-01] [ 1.26605235e-01 -1.84281155e-03 9.91951470e-01 1.69368793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317105680999997 meters Centerline goodness [0,1] 0.9992710914884312 Centerline is valid? [True, True] Translation: X:14.55, Y:0.66, Z:1.70 [[ 9.88625681e-01 -7.86951230e-02 -1.28165283e-01 1.45528221e+01] [ 7.81885933e-02 9.96898082e-01 -8.98656711e-03 6.61910017e-01] [ 1.28474924e-01 -1.13671218e-03 9.91712106e-01 1.69551288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.347105680999999 meters Centerline goodness [0,1] 0.9989553080796473 Centerline is valid? [True, True] Translation: X:14.58, Y:0.68, Z:1.70 [[ 9.89372723e-01 -7.41580776e-02 -1.25068758e-01 1.45792608e+01] [ 7.36348397e-02 9.97246376e-01 -8.80773323e-03 6.78344476e-01] [ 1.25377530e-01 -4.95286934e-04 9.92108981e-01 1.70426701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377105680999998 meters Centerline goodness [0,1] 0.9988136369312742 Centerline is valid? [True, True] Translation: X:14.61, Y:0.69, Z:1.71 [[ 9.89780010e-01 -7.23281166e-02 -1.22899045e-01 1.46060646e+01] [ 7.18040806e-02 9.97380868e-01 -8.69360793e-03 6.86937562e-01] [ 1.23205948e-01 -2.19893566e-04 9.92381099e-01 1.71104941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.407105680999997 meters Centerline goodness [0,1] 0.9987920693102299 Centerline is valid? [True, True] Translation: X:14.63, Y:0.70, Z:1.72 [[ 9.90160569e-01 -7.05122752e-02 -1.20872109e-01 1.46323846e+01] [ 6.99901760e-02 9.97510912e-01 -8.56485008e-03 6.99167138e-01] [ 1.21175175e-01 2.07166304e-05 9.92631138e-01 1.71689913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437105680999998 meters Centerline goodness [0,1] 0.998709731124615 Centerline is valid? [True, True] Translation: X:14.66, Y:0.71, Z:1.72 [[ 9.89778039e-01 -6.85390433e-02 -1.25067314e-01 1.46608856e+01] [ 6.79582460e-02 9.97648384e-01 -8.90949251e-03 7.09443609e-01] [ 1.25383851e-01 3.19064760e-04 9.92108254e-01 1.71532119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.467105680999998 meters Centerline goodness [0,1] 0.9989171404177339 Centerline is valid? [True, True] Translation: X:14.69, Y:0.72, Z:1.72 [[ 9.89605986e-01 -6.59941214e-02 -1.27768420e-01 1.46897163e+01] [ 6.53613337e-02 9.97819768e-01 -9.14366665e-03 7.17292516e-01] [ 1.28093283e-01 6.97512927e-04 9.91761879e-01 1.71541154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497105680999997 meters Centerline goodness [0,1] 0.9991890037222649 Centerline is valid? [True, True] Translation: X:14.72, Y:0.73, Z:1.71 [[ 9.89663086e-01 -5.85685535e-02 -1.30907222e-01 1.47181260e+01] [ 5.78340362e-02 9.98281871e-01 -9.40906362e-03 7.32442860e-01] [ 1.31233382e-01 1.74090991e-03 9.91349973e-01 1.71431289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.527105680999998 meters Centerline goodness [0,1] 0.9991848507649862 Centerline is valid? [True, True] Translation: X:14.75, Y:0.75, Z:1.72 [[ 9.89890188e-01 -5.02333698e-02 -1.32642465e-01 1.47462002e+01] [ 4.94029822e-02 9.98733307e-01 -9.54605475e-03 7.46057260e-01] [ 1.32953979e-01 2.89661258e-03 9.91117979e-01 1.71656828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557105680999998 meters Centerline goodness [0,1] 0.9997909567907687 Centerline is valid? [True, True] Translation: X:14.77, Y:0.75, Z:1.72 [[ 9.90029965e-01 -4.60213670e-02 -1.33126641e-01 1.47745020e+01] [ 4.51456300e-02 9.98934376e-01 -9.59086102e-03 7.54297500e-01] [ 1.33426163e-01 3.48515373e-03 9.91052629e-01 1.71889136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.587105680999999 meters Centerline goodness [0,1] 0.9992489203229643 Centerline is valid? [True, True] Translation: X:14.80, Y:0.76, Z:1.72 [[ 9.90177740e-01 -4.07943871e-02 -1.33730556e-01 1.48034474e+01] [ 3.98615800e-02 9.99158647e-01 -9.64637714e-03 7.64561389e-01] [ 1.34011559e-01 4.22091667e-03 9.90970780e-01 1.72245946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617105680999998 meters Centerline goodness [0,1] 0.9997487647600704 Centerline is valid? [True, True] Translation: X:14.83, Y:0.77, Z:1.73 [[ 9.90221775e-01 -4.04093002e-02 -1.33521250e-01 1.48301394e+01] [ 3.94747465e-02 9.99174064e-01 -9.64019707e-03 7.70345183e-01] [ 1.33800524e-01 4.27521557e-03 9.90999063e-01 1.72587831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.647105680999998 meters Centerline goodness [0,1] 0.9996223723408719 Centerline is valid? [True, True] Translation: X:14.86, Y:0.77, Z:1.73 [[ 9.90195356e-01 -4.21326451e-02 -1.33184072e-01 1.48581523e+01] [ 4.12143600e-02 9.99103770e-01 -9.64542262e-03 7.71313753e-01] [ 1.33471096e-01 4.06175639e-03 9.91044383e-01 1.72909673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677105680999999 meters Centerline goodness [0,1] 0.9995604211583949 Centerline is valid? [True, True] Translation: X:14.89, Y:0.77, Z:1.73 [[ 9.89689688e-01 -4.90739897e-02 -1.34558776e-01 1.48874675e+01] [ 4.81943545e-02 9.98790011e-01 -9.78869631e-03 7.67147520e-01] [ 1.34876332e-01 3.20279845e-03 9.90857264e-01 1.73261996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.707105680999998 meters Centerline goodness [0,1] 0.9993324293313862 Centerline is valid? [True, True] Translation: X:14.92, Y:0.76, Z:1.74 [[ 9.89032660e-01 -5.83531410e-02 -1.35680906e-01 1.49165257e+01] [ 5.75404187e-02 9.98294017e-01 -9.90734991e-03 7.62909834e-01] [ 1.36027562e-01 1.99155650e-03 9.90703051e-01 1.73518863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737105680999997 meters Centerline goodness [0,1] 0.9992896391784886 Centerline is valid? [True, True] Translation: X:14.95, Y:0.76, Z:1.74 [[ 9.88937783e-01 -6.31160231e-02 -1.34232738e-01 1.49451180e+01] [ 6.23625078e-02 9.98005303e-01 -9.81493416e-03 7.59352720e-01] [ 1.34584464e-01 1.33526904e-03 9.90901226e-01 1.73983520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.767105680999999 meters Centerline goodness [0,1] 0.9986424961363352 Centerline is valid? [True, True] Translation: X:14.97, Y:0.75, Z:1.75 [[ 9.88623532e-01 -7.25716204e-02 -1.31745481e-01 1.49743084e+01] [ 7.19239635e-02 9.97363200e-01 -9.67426531e-03 7.48444463e-01] [ 1.32100171e-01 8.85491943e-05 9.91236368e-01 1.74566654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797105680999998 meters Centerline goodness [0,1] 0.9986415882967608 Centerline is valid? [True, True] Translation: X:15.00, Y:0.74, Z:1.75 [[ 9.87823080e-01 -8.26462844e-02 -1.31814849e-01 1.50030000e+01] [ 8.20817598e-02 9.96578200e-01 -9.71991094e-03 7.38196876e-01] [ 1.32167119e-01 -1.21804239e-03 9.91226699e-01 1.74772525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.827105680999997 meters Centerline goodness [0,1] 0.9984737612377169 Centerline is valid? [True, True] Translation: X:15.03, Y:0.74, Z:1.75 [[ 9.87379924e-01 -8.75259576e-02 -1.31985200e-01 1.50315350e+01] [ 8.70008949e-02 9.96160512e-01 -9.75083384e-03 7.35309449e-01] [ 1.32331896e-01 -1.85505296e-03 9.91203727e-01 1.75184484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857105680999998 meters Centerline goodness [0,1] 0.9980348705941381 Centerline is valid? [True, True] Translation: X:15.06, Y:0.73, Z:1.76 [[ 9.86880246e-01 -9.53766683e-02 -1.30271530e-01 1.50611393e+01] [ 9.49281933e-02 9.95437229e-01 -9.66233902e-03 7.27567578e-01] [ 1.30598692e-01 -2.83086946e-03 9.91431272e-01 1.75940920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.887105680999998 meters Centerline goodness [0,1] 0.9980370045524788 Centerline is valid? [True, True] Translation: X:15.09, Y:0.72, Z:1.76 [[ 9.85707794e-01 -1.05456829e-01 -1.31373518e-01 1.50926084e+01] [ 1.05088977e-01 9.94415031e-01 -9.74954730e-03 7.16000798e-01] [ 1.31667957e-01 -4.19570384e-03 9.91284997e-01 1.76177569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917105680999997 meters Centerline goodness [0,1] 0.9980586982841397 Centerline is valid? [True, True] Translation: X:15.12, Y:0.71, Z:1.77 [[ 9.85010275e-01 -1.11296239e-01 -1.31787351e-01 1.51219554e+01] [ 1.10977875e-01 9.93774742e-01 -9.78124240e-03 7.12035411e-01] [ 1.32055557e-01 -4.99085594e-03 9.91229752e-01 1.76601661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.947105680999998 meters Centerline goodness [0,1] 0.9980993755090959 Centerline is valid? [True, True] Translation: X:15.15, Y:0.70, Z:1.77 [[ 9.84046975e-01 -1.20566959e-01 -1.30824921e-01 1.51511756e+01] [ 1.20333474e-01 9.92685962e-01 -9.71784454e-03 7.03993030e-01] [ 1.31039714e-01 -6.17980174e-03 9.91357858e-01 1.77356073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977105680999998 meters Centerline goodness [0,1] 0.9987680871943708 Centerline is valid? [True, True] Translation: X:15.18, Y:0.70, Z:1.78 [[ 9.83615127e-01 -1.24691324e-01 -1.30205054e-01 1.51798099e+01] [ 1.24495766e-01 9.92172990e-01 -9.67278213e-03 6.95464494e-01] [ 1.30392050e-01 -6.69568305e-03 9.91439903e-01 1.77509712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.007105681 meters Centerline goodness [0,1] 0.9983635104798271 Centerline is valid? [True, True] Translation: X:15.21, Y:0.70, Z:1.78 [[ 9.83209232e-01 -1.26154732e-01 -1.31850632e-01 1.52089550e+01] [ 1.25965812e-01 9.91986112e-01 -9.80649720e-03 7.01414568e-01] [ 1.32031131e-01 -6.96683326e-03 9.91221087e-01 1.77648345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037105680999996 meters Centerline goodness [0,1] 0.9981454856118855 Centerline is valid? [True, True] Translation: X:15.24, Y:0.70, Z:1.78 [[ 9.83090446e-01 -1.26177856e-01 -1.32711426e-01 1.52369705e+01] [ 1.25985738e-01 9.91982874e-01 -9.87779778e-03 6.98650334e-01] [ 1.32893821e-01 -7.00897839e-03 9.91105497e-01 1.77855737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.067105680999997 meters Centerline goodness [0,1] 0.9980773249738767 Centerline is valid? [True, True] Translation: X:15.26, Y:0.71, Z:1.78 [[ 9.82877255e-01 -1.25764236e-01 -1.34668703e-01 1.52644718e+01] [ 1.25560041e-01 9.92035191e-01 -1.00427098e-02 7.09367041e-01] [ 1.34859106e-01 -7.03825692e-03 9.90839787e-01 1.78449144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097105681 meters Centerline goodness [0,1] 0.9978218526818439 Centerline is valid? [True, True] Translation: X:15.29, Y:0.71, Z:1.79 [[ 9.83225802e-01 -1.25041681e-01 -1.32784039e-01 1.52918955e+01] [ 1.24831317e-01 9.92128177e-01 -9.94098034e-03 7.12472839e-01] [ 1.32981823e-01 -6.80137812e-03 9.91095140e-01 1.78897116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.127105680999996 meters Centerline goodness [0,1] 0.9979970372843164 Centerline is valid? [True, True] Translation: X:15.32, Y:0.71, Z:1.79 [[ 9.83560538e-01 -1.24880244e-01 -1.30436166e-01 1.53193229e+01] [ 1.24673832e-01 9.92149582e-01 -9.77965579e-03 7.11154080e-01] [ 1.30633473e-01 -6.64309307e-03 9.91408475e-01 1.79272089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157105680999997 meters Centerline goodness [0,1] 0.9976451955738013 Centerline is valid? [True, True] Translation: X:15.35, Y:0.72, Z:1.80 [[ 9.83447354e-01 -1.27181521e-01 -1.29058755e-01 1.53473772e+01] [ 1.26997326e-01 9.91855730e-01 -9.68966672e-03 7.21920836e-01] [ 1.29240013e-01 -6.86083972e-03 9.91589607e-01 1.79968044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.187105681 meters Centerline goodness [0,1] 0.9976451955738013 Centerline is valid? [True, True] Translation: X:15.38, Y:0.72, Z:1.80 [[ 9.83447326e-01 -1.27182147e-01 -1.29058356e-01 1.53771279e+01] [ 1.26997262e-01 9.91855687e-01 -9.69498050e-03 7.24156444e-01] [ 1.29240293e-01 -6.85555519e-03 9.91589607e-01 1.80322324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217105681 meters Centerline goodness [0,1] 0.9969092907963243 Centerline is valid? [True, True] Translation: X:15.41, Y:0.72, Z:1.80 [[ 9.82714326e-01 -1.32265774e-01 -1.29531152e-01 1.54062709e+01] [ 1.32123288e-01 9.91185524e-01 -9.73103493e-03 7.24120226e-01] [ 1.29676486e-01 -7.55125431e-03 9.91527603e-01 1.80422216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.247105680999997 meters Centerline goodness [0,1] 0.9971564179229305 Centerline is valid? [True, True] Translation: X:15.44, Y:0.73, Z:1.81 [[ 9.82333523e-01 -1.34826016e-01 -1.29779793e-01 1.54354822e+01] [ 1.34704430e-01 9.90837803e-01 -9.75526337e-03 7.31140070e-01] [ 1.29905989e-01 -7.89899085e-03 9.91494851e-01 1.80803325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277105681 meters Centerline goodness [0,1] 0.9953801972780622 Centerline is valid? [True, True] Translation: X:15.46, Y:0.73, Z:1.81 [[ 9.81546904e-01 -1.38409942e-01 -1.31940755e-01 1.54647186e+01] [ 1.38316063e-01 9.90338447e-01 -9.92100058e-03 7.33770224e-01] [ 1.32039168e-01 -8.51159834e-03 9.91207955e-01 1.80620827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.307105681 meters Centerline goodness [0,1] 0.9914056809905317 Centerline is valid? [True, True] Translation: X:15.49, Y:0.74, Z:1.81 [[ 9.80311231e-01 -1.43900941e-01 -1.35212458e-01 1.54946791e+01] [ 1.43853527e-01 9.89546704e-01 -1.01726851e-02 7.42603630e-01] [ 1.35262901e-01 -9.47839151e-03 9.90764406e-01 1.80503285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337105680999997 meters Centerline goodness [0,1] 0.9849976071079298 Centerline is valid? [True, True] Translation: X:15.52, Y:0.75, Z:1.81 [[ 9.79769758e-01 -1.46740268e-01 -1.36082752e-01 1.55241152e+01] [ 1.46719037e-01 9.89125193e-01 -1.02409748e-02 7.48657230e-01] [ 1.36105641e-01 -9.93213297e-03 9.90644541e-01 1.80776591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.367105680999998 meters Centerline goodness [0,1] 0.946057232717416 Centerline is valid? [True, False] Translation: X:15.52, Y:0.75, Z:1.81 [[ 9.80026969e-01 -1.44891341e-01 -1.36211742e-01 1.55232553e+01] [ 1.45009683e-01 9.89388329e-01 -9.10641945e-03 7.54977212e-01] [ 1.36085749e-01 -1.08274848e-02 9.90637893e-01 1.80756910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397105681 meters Centerline goodness [0,1] 0.9259228362877998 Centerline is valid? [False, False] Translation: X:15.52, Y:0.76, Z:1.81 [[ 9.80490072e-01 -1.41578770e-01 -1.36362280e-01 1.55231904e+01] [ 1.41977324e-01 9.89846220e-01 -6.84833078e-03 7.61890294e-01] [ 1.35947265e-01 -1.26456313e-02 9.90635366e-01 1.80636868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.427105680999997 meters Centerline goodness [0,1] 0.9886887306242145 Centerline is valid? [False, True] Translation: X:15.52, Y:0.76, Z:1.81 [[ 9.81550578e-01 -1.34300845e-01 -1.36094618e-01 1.55211337e+01] [ 1.35520394e-01 9.90774510e-01 -3.06644902e-04 7.64668100e-01] [ 1.34880261e-01 -1.81426087e-02 9.90695796e-01 1.80572124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457105680999998 meters Centerline goodness [0,1] 0.9915364039120622 Centerline is valid? [True, True] Translation: X:15.55, Y:0.78, Z:1.82 [[ 9.82313966e-01 -1.31733652e-01 -1.33062077e-01 1.55492281e+01] [ 1.31865347e-01 9.91236466e-01 -7.86120741e-03 7.82833434e-01] [ 1.32931568e-01 -9.82410302e-03 9.91076528e-01 1.81522909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.487105681 meters Centerline goodness [0,1] 0.997550353837779 Centerline is valid? [True, True] Translation: X:15.58, Y:0.81, Z:1.82 [[ 9.83362320e-01 -1.25140164e-01 -1.31675688e-01 1.55780401e+01] [ 1.25210121e-01 9.92099731e-01 -7.78129928e-03 8.06104607e-01] [ 1.31609168e-01 -8.83529239e-03 9.91262309e-01 1.82118598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517105680999997 meters Centerline goodness [0,1] 0.9975325825635835 Centerline is valid? [True, True] Translation: X:15.61, Y:0.83, Z:1.83 [[ 9.85312186e-01 -1.13007391e-01 -1.28020410e-01 1.56069105e+01] [ 1.12971468e-01 9.93569430e-01 -7.56539353e-03 8.34040020e-01] [ 1.28052111e-01 -7.00837926e-03 9.91742678e-01 1.82627003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.547105680999998 meters Centerline goodness [0,1] 0.9984473370767398 Centerline is valid? [True, True] Translation: X:15.64, Y:0.85, Z:1.83 [[ 9.86233013e-01 -1.05386891e-01 -1.27428596e-01 1.56365804e+01] [ 1.05288170e-01 9.94413249e-01 -7.52933163e-03 8.49098203e-01] [ 1.27510177e-01 -5.99104819e-03 9.91819168e-01 1.82988641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577105681 meters Centerline goodness [0,1] 0.9992474574813477 Centerline is valid? [True, True] Translation: X:15.66, Y:0.88, Z:1.83 [[ 9.87666559e-01 -8.92571547e-02 -1.28638752e-01 1.56641772e+01] [ 8.90203442e-02 9.96000805e-01 -7.60098196e-03 8.78070348e-01] [ 1.28802742e-01 -3.94423025e-03 9.91662390e-01 1.83467420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.607105680999997 meters Centerline goodness [0,1] 0.9993083922280577 Centerline is valid? [True, True] Translation: X:15.69, Y:0.89, Z:1.84 [[ 9.88473785e-01 -8.04145755e-02 -1.28269527e-01 1.56928245e+01] [ 8.01048165e-02 9.96757622e-01 -7.58036518e-03 8.91883690e-01] [ 1.28463200e-01 -2.78201465e-03 9.91710374e-01 1.83868860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637105680999998 meters Centerline goodness [0,1] 0.9996469082402789 Centerline is valid? [True, True] Translation: X:15.72, Y:0.92, Z:1.85 [[ 9.89786204e-01 -6.46481715e-02 -1.27058586e-01 1.57209696e+01] [ 6.42147366e-02 9.97907854e-01 -7.50880198e-03 9.20734329e-01] [ 1.27278191e-01 -7.26924987e-04 9.91866792e-01 1.84717813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.667105681 meters Centerline goodness [0,1] 0.9998891032891964 Centerline is valid? [True, True] Translation: X:15.75, Y:0.93, Z:1.85 [[ 9.90352836e-01 -5.61501176e-02 -1.26682373e-01 1.57513363e+01] [ 5.56500696e-02 9.98422271e-01 -7.48583782e-03 9.34645000e-01] [ 1.26902833e-01 3.63737845e-04 9.91915086e-01 1.84829160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697105680999996 meters Centerline goodness [0,1] 0.9999554118827333 Centerline is valid? [True, True] Translation: X:15.78, Y:0.94, Z:1.85 [[ 9.90355490e-01 -5.61167568e-02 -1.26676410e-01 1.57822763e+01] [ 5.56175071e-02 9.98424148e-01 -7.47749083e-03 9.39238221e-01] [ 1.26896400e-01 3.59947946e-04 9.91915911e-01 1.85182418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.727105680999998 meters Centerline goodness [0,1] 0.9999775007874724 Centerline is valid? [True, True] Translation: X:15.81, Y:0.94, Z:1.85 [[ 9.90110151e-01 -5.83698520e-02 -1.27572916e-01 1.58138301e+01] [ 5.78828198e-02 9.98295025e-01 -7.52483670e-03 9.44169511e-01] [ 1.27794631e-01 6.61370709e-05 9.91800649e-01 1.85415310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757105681 meters Centerline goodness [0,1] 0.9999773888662777 Centerline is valid? [True, True] Translation: X:15.85, Y:0.95, Z:1.85 [[ 9.89255955e-01 -6.24997322e-02 -1.32160660e-01 1.58450623e+01] [ 6.20143212e-02 9.98044861e-01 -7.78976156e-03 9.45907279e-01] [ 1.32389125e-01 -4.89785578e-04 9.91197700e-01 1.85083249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.787105680999996 meters Centerline goodness [0,1] 0.9998866547276313 Centerline is valid? [True, True] Translation: X:15.88, Y:0.95, Z:1.85 [[ 9.88913073e-01 -6.48030711e-02 -1.33609491e-01 1.58752371e+01] [ 6.43282410e-02 9.97897743e-01 -7.87219471e-03 9.47908544e-01] [ 1.33838752e-01 -8.09947265e-04 9.91002791e-01 1.85208087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817105680999997 meters Centerline goodness [0,1] 0.9998403138972534 Centerline is valid? [True, True] Translation: X:15.91, Y:0.95, Z:1.85 [[ 9.88513544e-01 -6.94361895e-02 -1.34237061e-01 1.59053901e+01] [ 6.89997724e-02 9.97585346e-01 -7.90627820e-03 9.48886487e-01] [ 1.34461906e-01 -1.44686355e-03 9.90917707e-01 1.85268287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.847105681 meters Centerline goodness [0,1] 0.9999772871808849 Centerline is valid? [True, True] Translation: X:15.94, Y:0.95, Z:1.86 [[ 9.88366106e-01 -7.22796578e-02 -1.33821119e-01 1.59373191e+01] [ 7.18724260e-02 9.97382722e-01 -7.87777082e-03 9.48459570e-01] [ 1.34040274e-01 -1.83192678e-03 9.90974192e-01 1.85523227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877105680999996 meters Centerline goodness [0,1] 0.9997286173051698 Centerline is valid? [True, True] Translation: X:15.97, Y:0.94, Z:1.86 [[ 9.87987111e-01 -7.92471327e-02 -1.32670116e-01 1.59692075e+01] [ 7.89108230e-02 9.96851170e-01 -7.79920068e-03 9.43794883e-01] [ 1.32870425e-01 -2.76359828e-03 9.91129564e-01 1.85667764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.907105680999997 meters Centerline goodness [0,1] 0.999864314789688 Centerline is valid? [True, True] Translation: X:16.00, Y:0.94, Z:1.86 [[ 9.87745587e-01 -8.46329936e-02 -1.31133187e-01 1.60004790e+01] [ 8.43527256e-02 9.96406201e-01 -7.70062299e-03 9.42757277e-01] [ 1.31313647e-01 -3.45518534e-03 9.91334851e-01 1.86340019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937105681 meters Centerline goodness [0,1] 0.9996615523465704 Centerline is valid? [True, True] Translation: X:16.03, Y:0.94, Z:1.87 [[ 9.87706312e-01 -8.64694689e-02 -1.30227768e-01 1.60327093e+01] [ 8.62100600e-02 9.96247697e-01 -7.63883738e-03 9.43386658e-01] [ 1.30399640e-01 -3.68201577e-03 9.91454677e-01 1.86847096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.967105680999996 meters Centerline goodness [0,1] 0.9998648892091515 Centerline is valid? [True, True] Translation: X:16.06, Y:0.94, Z:1.87 [[ 9.87719299e-01 -8.79897980e-02 -1.29106091e-01 1.60642269e+01] [ 8.77491715e-02 9.96113898e-01 -7.56207974e-03 9.43546389e-01] [ 1.29269757e-01 -3.85974042e-03 9.91601953e-01 1.87351065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997105680999997 meters Centerline goodness [0,1] 0.9998199414809813 Centerline is valid? [True, True] Translation: X:16.09, Y:0.94, Z:1.88 [[ 9.87986403e-01 -8.86126283e-02 -1.26612281e-01 1.60948894e+01] [ 8.83875993e-02 9.96058628e-01 -7.40549598e-03 9.44611342e-01] [ 1.26769476e-01 -3.87442626e-03 9.91924639e-01 1.88130266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.027105681 meters Centerline goodness [0,1] 0.999640578668344 Centerline is valid? [True, True] Translation: X:16.13, Y:0.94, Z:1.89 [[ 9.88039700e-01 -8.89941090e-02 -1.25926961e-01 1.61263447e+01] [ 8.87756050e-02 9.96024478e-01 -7.35735118e-03 9.44991660e-01] [ 1.26081097e-01 -3.90988714e-03 9.92012233e-01 1.88526128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057105681 meters Centerline goodness [0,1] 0.9996388098785498 Centerline is valid? [True, True] Translation: X:16.16, Y:0.94, Z:1.89 [[ 9.87789497e-01 -9.18641067e-02 -1.25828833e-01 1.61584299e+01] [ 9.16701174e-02 9.95762352e-01 -7.34362474e-03 9.44982978e-01] [ 1.25970230e-01 -4.28078853e-03 9.92024786e-01 1.88553016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.087105680999997 meters Centerline goodness [0,1] 0.999707983287659 Centerline is valid? [True, True] Translation: X:16.19, Y:0.94, Z:1.89 [[ 9.87434258e-01 -9.44648780e-02 -1.26688490e-01 1.61900249e+01] [ 9.42907060e-02 9.95517318e-01 -7.38463845e-03 9.41821211e-01] [ 1.26818174e-01 -4.65370214e-03 9.91915064e-01 1.88574656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117105680999998 meters Centerline goodness [0,1] 0.9996649242728857 Centerline is valid? [True, True] Translation: X:16.22, Y:0.94, Z:1.89 [[ 9.86349948e-01 -1.02161134e-01 -1.29139009e-01 1.62205612e+01] [ 1.02047968e-01 9.94751127e-01 -7.51047959e-03 9.35676858e-01] [ 1.29228454e-01 -5.77041227e-03 9.91598058e-01 1.88711089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.147105681 meters Centerline goodness [0,1] 0.9994191371953263 Centerline is valid? [True, True] Translation: X:16.25, Y:0.93, Z:1.89 [[ 9.85480992e-01 -1.09602587e-01 -1.29670691e-01 1.62499527e+01] [ 1.09552588e-01 9.93952400e-01 -7.54034207e-03 9.29625425e-01] [ 1.29712935e-01 -6.77489597e-03 9.91528444e-01 1.88904080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177105680999997 meters Centerline goodness [0,1] 0.9994641661085064 Centerline is valid? [True, True] Translation: X:16.28, Y:0.93, Z:1.89 [[ 9.85448727e-01 -1.11056811e-01 -1.28674751e-01 1.62815674e+01] [ 1.11019401e-01 9.93790046e-01 -7.48573844e-03 9.32198764e-01] [ 1.28707029e-01 -6.90858242e-03 9.91658597e-01 1.89446521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.207105680999998 meters Centerline goodness [0,1] 0.9995086982737443 Centerline is valid? [True, True] Translation: X:16.31, Y:0.94, Z:1.90 [[ 9.85651204e-01 -1.09662753e-01 -1.28319072e-01 1.63122175e+01] [ 1.09615190e-01 9.93946147e-01 -7.45427981e-03 9.35745168e-01] [ 1.28359704e-01 -6.71839964e-03 9.91704921e-01 1.89808986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237105681 meters Centerline goodness [0,1] 0.9995292851859323 Centerline is valid? [True, True] Translation: X:16.34, Y:0.94, Z:1.90 [[ 9.85869763e-01 -1.06014097e-01 -1.29698969e-01 1.63434446e+01] [ 1.05935311e-01 9.94344542e-01 -7.52603461e-03 9.44616924e-01] [ 1.29763328e-01 -6.32001066e-03 9.91524854e-01 1.90042405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.267105680999997 meters Centerline goodness [0,1] 0.9997963616616888 Centerline is valid? [True, True] Translation: X:16.37, Y:0.95, Z:1.91 [[ 9.86205185e-01 -1.04294118e-01 -1.28538201e-01 1.63748943e+01] [ 1.04203254e-01 9.94528117e-01 -7.45026648e-03 9.51870674e-01] [ 1.28611874e-01 -6.04660740e-03 9.91676572e-01 1.90574406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297105680999998 meters Centerline goodness [0,1] 0.9997714390199305 Centerline is valid? [True, True] Translation: X:16.41, Y:0.96, Z:1.91 [[ 9.86717434e-01 -1.01491768e-01 -1.26838977e-01 1.64056355e+01] [ 1.01381553e-01 9.94820530e-01 -7.34118569e-03 9.61367693e-01] [ 1.26927088e-01 -5.61545652e-03 9.91896154e-01 1.91161802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.327105681 meters Centerline goodness [0,1] 0.9997725515170813 Centerline is valid? [True, True] Translation: X:16.44, Y:0.96, Z:1.91 [[ 9.86604833e-01 -1.02277090e-01 -1.27083831e-01 1.64364539e+01] [ 1.02173986e-01 9.94739411e-01 -7.34715047e-03 9.64447042e-01] [ 1.27166740e-01 -5.73592738e-03 9.91864769e-01 1.91253619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357105680999997 meters Centerline goodness [0,1] 0.9998401278976818 Centerline is valid? [True, True] Translation: X:16.47, Y:0.97, Z:1.92 [[ 9.86537608e-01 -1.05284621e-01 -1.25134715e-01 1.64670914e+01] [ 1.05209714e-01 9.94423805e-01 -7.22577106e-03 9.65438482e-01] [ 1.25197702e-01 -6.03689267e-03 9.92113447e-01 1.91657655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.387105680999998 meters Centerline goodness [0,1] 0.9997929606625259 Centerline is valid? [True, True] Translation: X:16.50, Y:0.97, Z:1.92 [[ 9.86364775e-01 -1.06840537e-01 -1.25178391e-01 1.64987327e+01] [ 1.06780275e-01 9.94256497e-01 -7.21048173e-03 9.68736875e-01] [ 1.25229800e-01 -6.25441776e-03 9.92108048e-01 1.92128176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417105681 meters Centerline goodness [0,1] 0.9998606563087856 Centerline is valid? [True, True] Translation: X:16.53, Y:0.98, Z:1.92 [[ 9.86006720e-01 -1.08849507e-01 -1.26263740e-01 1.65301058e+01] [ 1.08805944e-01 9.94036480e-01 -7.26249223e-03 9.75511641e-01] [ 1.26301282e-01 -6.57737919e-03 9.91970123e-01 1.92480553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.447105680999996 meters Centerline goodness [0,1] 0.9998143808441031 Centerline is valid? [True, True] Translation: X:16.56, Y:0.97, Z:1.93 [[ 9.85937759e-01 -1.09552685e-01 -1.26194076e-01 1.65613310e+01] [ 1.09516212e-01 9.93958583e-01 -7.24806065e-03 9.74964694e-01] [ 1.26225730e-01 -6.67416060e-03 9.91979093e-01 1.92558836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477105680999998 meters Centerline goodness [0,1] 0.9997910232892935 Centerline is valid? [True, True] Translation: X:16.59, Y:0.98, Z:1.92 [[ 9.85602971e-01 -1.11728976e-01 -1.26899250e-01 1.65936695e+01] [ 1.11714265e-01 9.93713882e-01 -7.25555097e-03 9.76412530e-01] [ 1.26912201e-01 -7.02536376e-03 9.91889075e-01 1.92484241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.507105681 meters Centerline goodness [0,1] 0.9998600060664038 Centerline is valid? [True, True] Translation: X:16.62, Y:0.98, Z:1.93 [[ 9.85132283e-01 -1.14917697e-01 -1.27703985e-01 1.66235240e+01] [ 1.14930717e-01 9.93346749e-01 -7.29155741e-03 9.80810691e-01] [ 1.27692267e-01 -7.49396198e-03 9.91785524e-01 1.93128185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537105680999996 meters Centerline goodness [0,1] 0.9999059111330652 Centerline is valid? [True, True] Translation: X:16.65, Y:0.98, Z:1.94 [[ 9.85070838e-01 -1.15079167e-01 -1.28032140e-01 1.66542209e+01] [ 1.15094388e-01 9.93327704e-01 -7.30441016e-03 9.81795605e-01] [ 1.28018457e-01 -7.54041929e-03 9.91743120e-01 1.93687252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.567105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.68, Y:0.99, Z:1.94 [[ 9.85386208e-01 -1.12203622e-01 -1.28157593e-01 1.66844908e+01] [ 1.12198880e-01 9.93659107e-01 -7.27949365e-03 9.93598360e-01] [ 1.28161745e-01 -7.20602579e-03 9.91727100e-01 1.94357198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597105681 meters Centerline goodness [0,1] 0.9999761728895137 Centerline is valid? [True, True] Translation: X:16.71, Y:1.00, Z:1.94 [[ 9.86182329e-01 -1.06330979e-01 -1.27035970e-01 1.67136978e+01] [ 1.06278412e-01 9.94310262e-01 -7.21127631e-03 1.00197638e+00] [ 1.27079951e-01 -6.38954797e-03 9.91871897e-01 1.94366580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.627105680999996 meters Centerline goodness [0,1] 0.9999761547082529 Centerline is valid? [True, True] Translation: X:16.74, Y:1.01, Z:1.95 [[ 9.86687823e-01 -1.02642288e-01 -1.26141588e-01 1.67444329e+01] [ 1.02560260e-01 9.94701010e-01 -7.16201594e-03 1.01399805e+00] [ 1.26208291e-01 -5.87044015e-03 9.91986394e-01 1.94734726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657105680999997 meters Centerline goodness [0,1] 0.9999039546666026 Centerline is valid? [True, True] Translation: X:16.77, Y:1.02, Z:1.95 [[ 9.87216653e-01 -9.87282504e-02 -1.25123990e-01 1.67736867e+01] [ 9.86171255e-02 9.95100142e-01 -7.09717961e-03 1.01748456e+00] [ 1.25211592e-01 -5.33291433e-03 9.92115728e-01 1.95088408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.80, Y:1.05, Z:1.96 [[ 9.88534160e-01 -8.38214192e-02 -1.25595318e-01 1.68016126e+01] [ 8.35893157e-02 9.96474807e-01 -7.12636791e-03 1.04703000e+00] [ 1.25749913e-01 -3.45376859e-03 9.92055962e-01 1.95967840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:1.05, Z:1.96 [[ 9.88717177e-01 -7.94259406e-02 -1.27003398e-01 1.68337032e+01] [ 7.91526094e-02 9.96836468e-01 -7.20555150e-03 1.05461135e+00] [ 1.27173926e-01 -2.92839782e-03 9.91876110e-01 1.96155353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.747105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:1.06, Z:1.96 [[ 9.88919338e-01 -7.47512453e-02 -1.28260647e-01 1.68653214e+01] [ 7.44347400e-02 9.97199416e-01 -7.26601915e-03 1.06302163e+00] [ 1.28444587e-01 -2.36154109e-03 9.91713876e-01 1.96199552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.90, Y:1.07, Z:1.96 [[ 9.88982243e-01 -7.25941840e-02 -1.29012429e-01 1.68976128e+01] [ 7.22571296e-02 9.97359340e-01 -7.29750898e-03 1.06780652e+00] [ 1.29201508e-01 -2.10496102e-03 9.91616125e-01 1.96453831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.807105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.93, Y:1.08, Z:1.97 [[ 9.89014610e-01 -6.50895379e-02 -1.32715689e-01 1.69285563e+01] [ 6.46670663e-02 9.97878743e-01 -7.49566948e-03 1.07934609e+00] [ 1.32922055e-01 -1.16900766e-03 9.91125805e-01 1.96530100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.96, Y:1.09, Z:1.97 [[ 9.89061827e-01 -6.00696703e-02 -1.34715765e-01 1.69599676e+01] [ 5.95892055e-02 9.98194056e-01 -7.59955085e-03 1.08850003e+00] [ 1.34928979e-01 -5.11179778e-04 9.90855140e-01 1.96785413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.867105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:1.10, Z:1.97 [[ 9.89899367e-01 -4.92800889e-02 -1.32931244e-01 1.69905163e+01] [ 4.87168203e-02 9.98784559e-01 -7.48839944e-03 1.10272713e+00] [ 1.33138702e-01 9.36774367e-04 9.91096972e-01 1.97122110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:1.11, Z:1.98 [[ 9.90614387e-01 -4.15751845e-02 -1.30209985e-01 1.70204176e+01] [ 4.09694858e-02 9.99133524e-01 -7.32815242e-03 1.11139740e+00] [ 1.30401830e-01 1.92473711e-03 9.91459358e-01 1.97728560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.927105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:1.12, Z:1.98 [[ 9.90955868e-01 -4.15030238e-02 -1.27608649e-01 1.70479056e+01] [ 4.09203754e-02 9.99136575e-01 -7.18527263e-03 1.11510585e+00] [ 1.27796679e-01 1.89849427e-03 9.91798571e-01 1.98330026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:1.11, Z:2.00 [[ 9.91717036e-01 -4.55879030e-02 -1.20079403e-01 1.70772166e+01] [ 4.50983369e-02 9.98959457e-01 -6.79282078e-03 1.11437232e+00] [ 1.20264126e-01 1.32117472e-03 9.92741051e-01 1.99622445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.987105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:1.11, Z:2.00 [[ 9.91864936e-01 -5.45272472e-02 -1.15024900e-01 1.71085833e+01] [ 5.41380849e-02 9.98512257e-01 -6.50690923e-03 1.10512984e+00] [ 1.15208577e-01 2.26747297e-04 9.93341297e-01 2.00274400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:1.10, Z:2.01 [[ 9.91743186e-01 -5.84978590e-02 -1.14120348e-01 1.71406069e+01] [ 5.81415548e-02 9.98287506e-01 -6.45100523e-03 1.10028762e+00] [ 1.14302288e-01 -2.37393999e-04 9.93445988e-01 2.00525932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.047105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:1.10, Z:2.01 [[ 9.91326269e-01 -6.18595581e-02 -1.15955262e-01 1.71724811e+01] [ 6.15157554e-02 9.98084655e-01 -6.54469153e-03 1.09553182e+00] [ 1.16138019e-01 -6.45150872e-04 9.93232875e-01 2.00676833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:1.10, Z:2.01 [[ 9.91333650e-01 -6.17393325e-02 -1.15956237e-01 1.72047921e+01] [ 6.13967376e-02 9.98092097e-01 -6.52735743e-03 1.09722083e+00] [ 1.16137999e-01 -6.48545613e-04 9.93232875e-01 2.01052596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.107105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.24, Y:1.09, Z:2.01 [[ 9.90713502e-01 -6.39067502e-02 -1.20011186e-01 1.72373921e+01] [ 6.35573373e-02 9.97955423e-01 -6.74083636e-03 1.09303596e+00] [ 1.20196599e-01 -9.49353821e-04 9.92749654e-01 2.00980856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.27, Y:1.09, Z:2.01 [[ 9.90916351e-01 -5.88469442e-02 -1.20920727e-01 1.72681340e+01] [ 5.84559090e-02 9.98266956e-01 -6.78166498e-03 1.09430464e+00] [ 1.21110246e-01 -3.48468292e-04 9.92639001e-01 2.01357864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:1.10, Z:2.02 [[ 9.91157608e-01 -5.43565531e-02 -1.21045288e-01 1.72999698e+01] [ 5.39322922e-02 9.98521571e-01 -6.78084315e-03 1.09713691e+00] [ 1.21234914e-01 1.92634462e-04 9.92623825e-01 2.01851542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.33, Y:1.10, Z:2.02 [[ 9.91276667e-01 -4.50802703e-02 -1.23848050e-01 1.73316867e+01] [ 4.45652857e-02 9.98982460e-01 -6.92680558e-03 1.10077380e+00] [ 1.24034292e-01 1.34705702e-03 9.92277018e-01 2.01733955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.227105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.36, Y:1.10, Z:2.01 [[ 9.91117271e-01 -3.73979496e-02 -1.27624246e-01 1.73613645e+01] [ 3.67892647e-02 9.99297652e-01 -7.12409748e-03 1.10426154e+00] [ 1.27801036e-01 2.36561389e-03 9.91797005e-01 2.01488241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:1.11, Z:2.02 [[ 9.91004983e-01 -3.45230908e-02 -1.29295317e-01 1.73903047e+01] [ 3.38724292e-02 9.99400023e-01 -7.22865739e-03 1.10687135e+00] [ 1.29467298e-01 2.78408902e-03 9.91579784e-01 2.01635494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.287105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:1.11, Z:2.01 [[ 9.90549336e-01 -3.10088423e-02 -1.33605629e-01 1.74203714e+01] [ 3.02771854e-02 9.99513365e-01 -7.50497124e-03 1.10613344e+00] [ 1.33773332e-01 3.38884188e-03 9.91006161e-01 2.01430390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:1.10, Z:2.01 [[ 9.90252103e-01 -3.21801075e-02 -1.35518314e-01 1.74494323e+01] [ 3.14365979e-02 9.99476675e-01 -7.62339564e-03 1.10072081e+00] [ 1.35692715e-01 3.28884883e-03 9.90745512e-01 2.01475023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:1.10, Z:2.02 [[ 9.90280420e-01 -3.49213888e-02 -1.34629815e-01 1.74769669e+01] [ 3.42077479e-02 9.99385762e-01 -7.61106182e-03 1.09859539e+00] [ 1.34812909e-01 2.93170273e-03 9.90866734e-01 2.01851174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:1.09, Z:2.03 [[ 9.90226132e-01 -4.42586376e-02 -1.32262546e-01 1.75067748e+01] [ 4.36504194e-02 9.99018745e-01 -7.49586850e-03 1.08803042e+00] [ 1.32464520e-01 1.64928926e-03 9.91186375e-01 2.02700665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.407105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.53, Y:1.08, Z:2.03 [[ 9.90015063e-01 -4.98635033e-02 -1.31847660e-01 1.75345763e+01] [ 4.93075639e-02 9.98755632e-01 -7.48002472e-03 1.08181262e+00] [ 1.32056573e-01 9.04250234e-04 9.91241769e-01 2.02858712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.56, Y:1.07, Z:2.03 [[ 9.89514041e-01 -6.09869933e-02 -1.30929560e-01 1.75646616e+01] [ 6.05335095e-02 9.98138404e-01 -7.44448096e-03 1.06534463e+00] [ 1.31139838e-01 -5.59207314e-04 9.91363722e-01 2.03039438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.467105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:1.05, Z:2.04 [[ 9.89513479e-01 -6.90812180e-02 -1.26849758e-01 1.75953382e+01] [ 6.87176630e-02 9.97609839e-01 -7.24517731e-03 1.05217738e+00] [ 1.27047072e-01 -1.54761830e-03 9.91895482e-01 2.03876565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497105680999997 meters Centerline goodness [0,1] 0.9999771104193371 Centerline is valid? [True, True] Translation: X:17.63, Y:1.05, Z:2.05 [[ 9.89566865e-01 -7.28069970e-02 -1.24324416e-01 1.76270449e+01] [ 7.24871686e-02 9.97344072e-01 -7.10018786e-03 1.04703206e+00] [ 1.24511163e-01 -1.98581425e-03 9.92216220e-01 2.04529369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.527105681 meters Centerline goodness [0,1] 0.9999771250800622 Centerline is valid? [True, True] Translation: X:17.66, Y:1.04, Z:2.05 [[ 9.89489742e-01 -7.65249984e-02 -1.22694640e-01 1.76591863e+01] [ 7.62432374e-02 9.97064699e-01 -6.99682683e-03 1.04271401e+00] [ 1.22869927e-01 -2.43134821e-03 9.92419805e-01 2.05194198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557105680999996 meters Centerline goodness [0,1] 0.9997768504674983 Centerline is valid? [True, True] Translation: X:17.69, Y:1.02, Z:2.06 [[ 9.89133627e-01 -8.41191642e-02 -1.20576255e-01 1.76904396e+01] [ 8.39044029e-02 9.96450153e-01 -6.86609168e-03 1.02447714e+00] [ 1.20725797e-01 -3.32539649e-03 9.92680323e-01 2.05589464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.587105680999997 meters Centerline goodness [0,1] 0.9998217548237601 Centerline is valid? [True, True] Translation: X:17.72, Y:1.02, Z:2.06 [[ 9.88623983e-01 -8.75129978e-02 -1.22327821e-01 1.77232682e+01] [ 8.73182063e-02 9.96156138e-01 -6.96274208e-03 1.01958736e+00] [ 1.22466940e-01 -3.79791206e-03 9.92465327e-01 2.05786645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617105680999998 meters Centerline goodness [0,1] 0.9993381574302859 Centerline is valid? [True, True] Translation: X:17.75, Y:1.01, Z:2.06 [[ 9.87709566e-01 -9.55365184e-02 -1.23703626e-01 1.77531292e+01] [ 9.54011791e-02 9.95414076e-01 -7.03082022e-03 1.00907748e+00] [ 1.23808030e-01 -4.85706335e-03 9.92294301e-01 2.06017853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.647105680999996 meters Centerline goodness [0,1] 0.9996701919482861 Centerline is valid? [True, True] Translation: X:17.78, Y:1.01, Z:2.06 [[ 9.87231057e-01 -9.88660934e-02 -1.24901304e-01 1.77847238e+01] [ 9.87551014e-02 9.95086472e-01 -7.09527355e-03 1.00726459e+00] [ 1.24989080e-01 -5.32996655e-03 9.92143801e-01 2.06353373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677105680999997 meters Centerline goodness [0,1] 0.999252944278432 Centerline is valid? [True, True] Translation: X:17.82, Y:1.00, Z:2.07 [[ 9.86491615e-01 -1.04151949e-01 -1.26438384e-01 1.78151597e+01] [ 1.04082136e-01 9.94542811e-01 -7.17676534e-03 9.97688024e-01] [ 1.26495860e-01 -6.08015822e-03 9.91948501e-01 2.06540384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.707105680999998 meters Centerline goodness [0,1] 0.9994747094486638 Centerline is valid? [True, True] Translation: X:17.85, Y:1.00, Z:2.07 [[ 9.86812565e-01 -1.01714197e-01 -1.25917372e-01 1.78459278e+01] [ 1.01626332e-01 9.94797031e-01 -7.13833003e-03 1.00076787e+00] [ 1.25988297e-01 -5.75232684e-03 9.92015050e-01 2.06914183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737105681 meters Centerline goodness [0,1] 0.999584726684589 Centerline is valid? [True, True] Translation: X:17.88, Y:1.01, Z:2.07 [[ 9.87212043e-01 -9.77671564e-02 -1.25912529e-01 1.78774959e+01] [ 9.76480941e-02 9.95195448e-01 -7.13236845e-03 1.00693960e+00] [ 1.26004887e-01 -5.25395846e-03 9.92015708e-01 2.07257689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.767105680999997 meters Centerline goodness [0,1] 0.9995843996762692 Centerline is valid? [True, True] Translation: X:17.91, Y:1.02, Z:2.07 [[ 9.88118124e-01 -8.58118329e-02 -1.27510401e-01 1.79061585e+01] [ 8.55916414e-02 9.96304175e-01 -7.21537370e-03 1.01616946e+00] [ 1.27658309e-01 -3.78418298e-03 9.91810988e-01 2.07446053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797105680999998 meters Centerline goodness [0,1] 0.9995365159239886 Centerline is valid? [True, True] Translation: X:17.94, Y:1.03, Z:2.08 [[ 9.88639599e-01 -7.91168932e-02 -1.27797733e-01 1.79372877e+01] [ 7.88397775e-02 9.96861057e-01 -7.23349070e-03 1.02637138e+00] [ 1.27968874e-01 -2.92422947e-03 9.91773873e-01 2.07990142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.827105681 meters Centerline goodness [0,1] 0.999757045675413 Centerline is valid? [True, True] Translation: X:17.97, Y:1.04, Z:2.08 [[ 9.89662883e-01 -6.43537094e-02 -1.28163870e-01 1.79668101e+01] [ 6.39526280e-02 9.97926625e-01 -7.24648717e-03 1.04253956e+00] [ 1.28364476e-01 -1.02483689e-03 9.91726530e-01 2.08477690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857105680999997 meters Centerline goodness [0,1] 0.999778452267541 Centerline is valid? [True, True] Translation: X:18.00, Y:1.05, Z:2.09 [[ 9.90432180e-01 -5.12640512e-02 -1.28125303e-01 1.79957848e+01] [ 5.07543441e-02 9.98684909e-01 -7.24211901e-03 1.05449769e+00] [ 1.28328067e-01 6.69912023e-04 9.91731546e-01 2.08539732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.887105680999998 meters Centerline goodness [0,1] 0.9998667081352468 Centerline is valid? [True, True] Translation: X:18.02, Y:1.06, Z:2.09 [[ 9.90684269e-01 -4.74283206e-02 -1.27652782e-01 1.80243705e+01] [ 4.68898973e-02 9.98873961e-01 -7.22139253e-03 1.05810140e+00] [ 1.27851539e-01 1.16849413e-03 9.91792629e-01 2.08783817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917105681 meters Centerline goodness [0,1] 0.9998452936106261 Centerline is valid? [True, True] Translation: X:18.05, Y:1.06, Z:2.09 [[ 9.90874459e-01 -4.54738367e-02 -1.26885525e-01 1.80526236e+01] [ 4.49212074e-02 9.98964479e-01 -7.21493204e-03 1.06006598e+00] [ 1.27082223e-01 1.44924090e-03 9.91891127e-01 2.09139045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.947105680999996 meters Centerline goodness [0,1] 0.9998674940924449 Centerline is valid? [True, True] Translation: X:18.08, Y:1.06, Z:2.10 [[ 9.91087761e-01 -4.47121174e-02 -1.25482572e-01 1.80796939e+01] [ 4.41608804e-02 9.98998684e-01 -7.17261587e-03 1.06151398e+00] [ 1.25677627e-01 1.56727094e-03 9.92069896e-01 2.09722205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977105680999998 meters Centerline goodness [0,1] 0.9999780248758405 Centerline is valid? [True, True] Translation: X:18.11, Y:1.06, Z:2.10 [[ 9.91162098e-01 -4.60931879e-02 -1.24390969e-01 1.81079650e+01] [ 4.55571716e-02 9.98936133e-01 -7.15171722e-03 1.06000434e+00] [ 1.24588279e-01 1.42161033e-03 9.92207508e-01 2.10241012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.007105681 meters Centerline goodness [0,1] 0.9998026705255542 Centerline is valid? [True, True] Translation: X:18.14, Y:1.06, Z:2.10 [[ 9.90691424e-01 -5.02297765e-02 -1.26520638e-01 1.81357428e+01] [ 4.97041276e-02 9.98737233e-01 -7.31023055e-03 1.05507067e+00] [ 1.26728064e-01 9.53584754e-04 9.91937039e-01 2.10367592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037105680999996 meters Centerline goodness [0,1] 0.9998247151621384 Centerline is valid? [True, True] Translation: X:18.16, Y:1.05, Z:2.10 [[ 9.90294897e-01 -5.33794841e-02 -1.28322433e-01 1.81639896e+01] [ 5.28628264e-02 9.98574133e-01 -7.43116210e-03 1.05092420e+00] [ 1.28536134e-01 5.75555422e-04 9.91704659e-01 2.10481568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.067105680999997 meters Centerline goodness [0,1] 0.9994599265500108 Centerline is valid? [True, True] Translation: X:18.19, Y:1.04, Z:2.10 [[ 9.89398056e-01 -5.98245287e-02 -1.32334848e-01 1.81928830e+01] [ 5.93262935e-02 9.98208884e-01 -7.70814765e-03 1.04125506e+00] [ 1.32558958e-01 -2.24509756e-04 9.91175097e-01 2.10031004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097105681 meters Centerline goodness [0,1] 0.9998058419985331 Centerline is valid? [True, True] Translation: X:18.22, Y:1.04, Z:2.10 [[ 9.88636362e-01 -6.63153658e-02 -1.34908915e-01 1.82221808e+01] [ 6.58540585e-02 9.97798118e-01 -7.88406253e-03 1.03504808e+00] [ 1.35134696e-01 -1.08982871e-03 9.90826638e-01 2.10302029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.127105680999996 meters Centerline goodness [0,1] 0.9995264947699195 Centerline is valid? [True, True] Translation: X:18.25, Y:1.03, Z:2.11 [[ 9.88468204e-01 -6.92886145e-02 -1.34646568e-01 1.82500085e+01] [ 6.88515713e-02 9.97595593e-01 -7.90534393e-03 1.03311105e+00] [ 1.34870573e-01 -1.45644665e-03 9.90862154e-01 2.10685074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157105680999997 meters Centerline goodness [0,1] 0.9992710745219107 Centerline is valid? [True, True] Translation: X:18.28, Y:1.03, Z:2.12 [[ 9.88454442e-01 -7.40449869e-02 -1.32193630e-01 1.82792876e+01] [ 7.36643811e-02 9.97252788e-01 -7.77408820e-03 1.03021898e+00] [ 1.32406098e-01 -2.05362990e-03 9.91193426e-01 2.11621629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.187105681 meters Centerline goodness [0,1] 0.9996580758216865 Centerline is valid? [True, True] Translation: X:18.31, Y:1.03, Z:2.12 [[ 9.88455669e-01 -7.61911884e-02 -1.30959132e-01 1.83107460e+01] [ 7.58358443e-02 9.97090540e-01 -7.70578655e-03 1.02873487e+00] [ 1.31165224e-01 -2.31456791e-03 9.91357820e-01 2.12094955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217105680999996 meters Centerline goodness [0,1] 0.9992748677700051 Centerline is valid? [True, True] Translation: X:18.34, Y:1.02, Z:2.12 [[ 9.88038201e-01 -8.23062528e-02 -1.30407800e-01 1.83424812e+01] [ 8.20076203e-02 9.96602206e-01 -7.66772677e-03 1.02121665e+00] [ 1.30595802e-01 -3.11842635e-03 9.91430790e-01 2.12212266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.247105680999997 meters Centerline goodness [0,1] 0.999316764881715 Centerline is valid? [True, True] Translation: X:18.37, Y:1.01, Z:2.13 [[ 9.87636443e-01 -8.87693352e-02 -1.29206277e-01 1.83739002e+01] [ 8.85319003e-02 9.96044413e-01 -7.59149852e-03 1.01477671e+00] [ 1.29369083e-01 -3.94123664e-03 9.91588678e-01 2.12727701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277105681 meters Centerline goodness [0,1] 0.999004216191021 Centerline is valid? [True, True] Translation: X:18.40, Y:1.01, Z:2.13 [[ 9.87593542e-01 -9.23684598e-02 -1.26992379e-01 1.84047271e+01] [ 9.21693781e-02 9.95715430e-01 -7.45570788e-03 1.01167962e+00] [ 1.27136944e-01 -4.34159969e-03 9.91875672e-01 2.13484833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.307105680999996 meters Centerline goodness [0,1] 0.9983435270132518 Centerline is valid? [True, True] Translation: X:18.43, Y:1.01, Z:2.15 [[ 9.87242406e-01 -1.00825555e-01 -1.23234081e-01 1.84343272e+01] [ 1.00704399e-01 9.94890137e-01 -7.22768020e-03 1.00690193e+00] [ 1.23333107e-01 -5.27474172e-03 9.92351310e-01 2.14777951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337105680999997 meters Centerline goodness [0,1] 0.998008432382042 Centerline is valid? [True, True] Translation: X:18.46, Y:1.00, Z:2.15 [[ 9.86938296e-01 -1.08432076e-01 -1.19143968e-01 1.84645335e+01] [ 1.08373834e-01 9.94085656e-01 -6.98721258e-03 1.00115181e+00] [ 1.19196947e-01 -6.01614095e-03 9.92852403e-01 2.15414701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.367105680999998 meters Centerline goodness [0,1] 0.9978286075682513 Centerline is valid? [True, True] Translation: X:18.50, Y:1.00, Z:2.16 [[ 9.86764620e-01 -1.11785195e-01 -1.17471935e-01 1.84956464e+01] [ 1.11752189e-01 9.93712230e-01 -6.88853112e-03 9.98828007e-01] [ 1.17503334e-01 -6.33038701e-03 9.93052311e-01 2.15797869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397105680999996 meters Centerline goodness [0,1] 0.9974086168755926 Centerline is valid? [True, True] Translation: X:18.53, Y:0.99, Z:2.16 [[ 9.85897386e-01 -1.17944537e-01 -1.18724176e-01 1.85252882e+01] [ 1.17956030e-01 9.92994463e-01 -6.95503169e-03 9.93706905e-01] [ 1.18712758e-01 -7.14728488e-03 9.92902914e-01 2.15959558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.427105680999997 meters Centerline goodness [0,1] 0.9979953153685455 Centerline is valid? [True, True] Translation: X:18.56, Y:0.99, Z:2.16 [[ 9.84737407e-01 -1.23578198e-01 -1.22558833e-01 1.85561841e+01] [ 1.23633659e-01 9.92301940e-01 -7.18183248e-03 9.94545183e-01] [ 1.22502886e-01 -8.08017786e-03 9.92435264e-01 2.16051692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457105680999998 meters Centerline goodness [0,1] 0.9974925626859329 Centerline is valid? [True, True] Translation: X:18.59, Y:1.00, Z:2.16 [[ 9.84230909e-01 -1.26793760e-01 -1.23340423e-01 1.85872774e+01] [ 1.26875103e-01 9.91892373e-01 -7.22687688e-03 9.97361464e-01] [ 1.23256748e-01 -8.53591322e-03 9.92338104e-01 2.16405935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.487105680999996 meters Centerline goodness [0,1] 0.996938775510204 Centerline is valid? [True, True] Translation: X:18.62, Y:1.00, Z:2.17 [[ 9.83578284e-01 -1.31215437e-01 -1.23920408e-01 1.86165653e+01] [ 1.31333017e-01 9.91311756e-01 -7.25547921e-03 9.96030916e-01] [ 1.23795788e-01 -9.13850921e-03 9.92265635e-01 2.16573667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517105680999997 meters Centerline goodness [0,1] 0.9975504687895937 Centerline is valid? [True, True] Translation: X:18.65, Y:1.00, Z:2.17 [[ 9.83583406e-01 -1.31030857e-01 -1.24074969e-01 1.86490939e+01] [ 1.31147765e-01 9.91336243e-01 -7.26070864e-03 9.98775777e-01] [ 1.23951391e-01 -9.13064236e-03 9.92246282e-01 2.16843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.547105680999998 meters Centerline goodness [0,1] 0.9982176957352005 Centerline is valid? [True, True] Translation: X:18.68, Y:1.01, Z:2.17 [[ 9.84057715e-01 -1.24581860e-01 -1.26924282e-01 1.86791821e+01] [ 1.24653238e-01 9.92172684e-01 -7.41180439e-03 1.01137435e+00] [ 1.26854182e-01 -8.52787938e-03 9.91884717e-01 2.16892477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577105681 meters Centerline goodness [0,1] 0.9986037119780031 Centerline is valid? [True, True] Translation: X:18.71, Y:1.04, Z:2.18 [[ 9.85269985e-01 -1.11374121e-01 -1.29764643e-01 1.87074477e+01] [ 1.11335135e-01 9.93754027e-01 -7.57767303e-03 1.03563676e+00] [ 1.29798093e-01 -6.98131034e-03 9.91515868e-01 2.17569765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.607105680999997 meters Centerline goodness [0,1] 0.9990985576923077 Centerline is valid? [True, True] Translation: X:18.74, Y:1.05, Z:2.18 [[ 9.86012827e-01 -1.03272915e-01 -1.30818234e-01 1.87363256e+01] [ 1.03162556e-01 9.94635179e-01 -7.63862210e-03 1.04766511e+00] [ 1.30905280e-01 -5.96376401e-03 9.91376942e-01 2.17964935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637105680999998 meters Centerline goodness [0,1] 0.9997588301067725 Centerline is valid? [True, True] Translation: X:18.76, Y:1.08, Z:2.18 [[ 9.87506804e-01 -8.64883829e-02 -1.31719669e-01 1.87647570e+01] [ 8.62274894e-02 9.96245764e-01 -7.69401106e-03 1.07587534e+00] [ 1.31890604e-01 -3.75996805e-03 9.91257147e-01 2.18282133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.667105681 meters Centerline goodness [0,1] 0.9996685009613472 Centerline is valid? [True, True] Translation: X:18.80, Y:1.09, Z:2.19 [[ 9.88230360e-01 -7.88182533e-02 -1.31104685e-01 1.87952026e+01] [ 7.84924398e-02 9.96885287e-01 -7.65910861e-03 1.08795658e+00] [ 1.31300009e-01 -2.72176292e-03 9.91338943e-01 2.18534382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697105680999996 meters Centerline goodness [0,1] 0.9999552902778709 Centerline is valid? [True, True] Translation: X:18.83, Y:1.11, Z:2.19 [[ 9.89160800e-01 -6.59928693e-02 -1.31171080e-01 1.88256324e+01] [ 6.55548906e-02 9.97819570e-01 -7.65906912e-03 1.10808315e+00] [ 1.31390515e-01 -1.02285485e-03 9.91330160e-01 2.18790887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.727105680999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.86, Y:1.13, Z:2.19 [[ 9.89829019e-01 -5.60731912e-02 -1.30745213e-01 1.88551395e+01] [ 5.55531869e-02 9.98426621e-01 -7.62406753e-03 1.12656499e+00] [ 1.30967007e-01 2.83210028e-04 9.91386687e-01 2.19396023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:1.13, Z:2.20 [[ 9.89965310e-01 -5.33083116e-02 -1.30869820e-01 1.88844754e+01] [ 5.27642464e-02 9.98577895e-01 -7.62382123e-03 1.13468436e+00] [ 1.31090122e-01 6.42071133e-04 9.91370247e-01 2.19729918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.787105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.91, Y:1.14, Z:2.20 [[ 9.90168618e-01 -5.13209591e-02 -1.30124047e-01 1.89122827e+01] [ 5.07659194e-02 9.98681805e-01 -7.58113426e-03 1.14027314e+00] [ 1.30341589e-01 9.00734373e-04 9.91468738e-01 2.20007853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817105680999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:1.14, Z:2.21 [[ 9.90280307e-01 -5.17318189e-02 -1.29107446e-01 1.89410279e+01] [ 5.11873688e-02 9.98660650e-01 -7.53394681e-03 1.14205322e+00] [ 1.29324270e-01 8.52048721e-04 9.91601990e-01 2.20514436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.847105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.97, Y:1.14, Z:2.21 [[ 9.90360758e-01 -5.63369243e-02 -1.26537427e-01 1.89706856e+01] [ 5.58475444e-02 9.98411776e-01 -7.41466214e-03 1.14026390e+00] [ 1.26754176e-01 2.76385842e-04 9.91934122e-01 2.21309402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.00, Y:1.13, Z:2.22 [[ 9.89641810e-01 -6.46333179e-02 -1.28185891e-01 1.90027335e+01] [ 6.42003873e-02 9.97908763e-01 -7.51070832e-03 1.13393530e+00] [ 1.28403265e-01 -7.96672844e-04 9.91721718e-01 2.21647827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.907105680999997 meters Centerline goodness [0,1] 0.9999773694215625 Centerline is valid? [True, True] Translation: X:19.03, Y:1.13, Z:2.22 [[ 9.88656711e-01 -7.42234329e-02 -1.30571013e-01 1.90336593e+01] [ 7.38581688e-02 9.97239455e-01 -7.64458693e-03 1.12559695e+00] [ 1.30777973e-01 -2.08586373e-03 9.91409487e-01 2.21699483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937105681 meters Centerline goodness [0,1] 0.9998420506340538 Centerline is valid? [True, True] Translation: X:19.07, Y:1.12, Z:2.22 [[ 9.88151425e-01 -7.94155891e-02 -1.31338969e-01 1.90660926e+01] [ 7.90926484e-02 9.96837670e-01 -7.68193616e-03 1.12213724e+00] [ 1.31533697e-01 -2.79703075e-03 9.91307754e-01 2.21984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.967105680999996 meters Centerline goodness [0,1] 0.9999105725591898 Centerline is valid? [True, True] Translation: X:19.10, Y:1.11, Z:2.22 [[ 9.87298277e-01 -8.80683796e-02 -1.32234915e-01 1.90972817e+01] [ 8.78195222e-02 9.96106454e-01 -7.72427173e-03 1.11115009e+00] [ 1.32400316e-01 -3.98664685e-03 9.91188309e-01 2.21888644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997105680999997 meters Centerline goodness [0,1] 0.9999105725591898 Centerline is valid? [True, True] Translation: X:19.13, Y:1.11, Z:2.22 [[ 9.87305715e-01 -8.79848255e-02 -1.32234998e-01 1.91287477e+01] [ 8.77354137e-02 9.96113876e-01 -7.72284363e-03 1.11290631e+00] [ 1.32400610e-01 -3.97688461e-03 9.91188309e-01 2.22255580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.027105681 meters Centerline goodness [0,1] 0.9999110537902204 Centerline is valid? [True, True] Translation: X:19.16, Y:1.11, Z:2.22 [[ 9.87050189e-01 -9.08368910e-02 -1.32214158e-01 1.91608164e+01] [ 9.06145791e-02 9.95856193e-01 -7.70978750e-03 1.10671033e+00] [ 1.32366621e-01 -4.37058307e-03 9.91191190e-01 2.22389762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057105680999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.19, Y:1.11, Z:2.23 [[ 9.87085553e-01 -9.23420087e-02 -1.30900972e-01 1.91918732e+01] [ 9.21391454e-02 9.95716995e-01 -7.61864527e-03 1.10782322e+00] [ 1.31043843e-01 -4.54084898e-03 9.91366174e-01 2.23109254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.087105680999997 meters Centerline goodness [0,1] 0.9998892702912191 Centerline is valid? [True, True] Translation: X:19.22, Y:1.11, Z:2.24 [[ 9.87063973e-01 -9.19582167e-02 -1.31333164e-01 1.92239524e+01] [ 9.17518537e-02 9.95752634e-01 -7.63468468e-03 1.10835781e+00] [ 1.31477416e-01 -4.51413904e-03 9.91308888e-01 2.23532636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117105680999998 meters Centerline goodness [0,1] 0.9997573136830958 Centerline is valid? [True, True] Translation: X:19.26, Y:1.11, Z:2.24 [[ 9.87031460e-01 -9.04105264e-02 -1.32645520e-01 1.92557460e+01] [ 9.01880205e-02 9.95895013e-01 -7.69704738e-03 1.11178663e+00] [ 1.32796905e-01 -4.36580892e-03 9.91133655e-01 2.23966484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.147105680999996 meters Centerline goodness [0,1] 0.9998250716113091 Centerline is valid? [True, True] Translation: X:19.29, Y:1.11, Z:2.24 [[ 9.87373833e-01 -8.82674407e-02 -1.31536203e-01 1.92872614e+01] [ 8.80312287e-02 9.96088561e-01 -7.62114376e-03 1.11157722e+00] [ 1.31694406e-01 -4.05437567e-03 9.91282072e-01 2.24399961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177105680999997 meters Centerline goodness [0,1] 0.9998242414921897 Centerline is valid? [True, True] Translation: X:19.32, Y:1.11, Z:2.25 [[ 9.87644106e-01 -8.74973873e-02 -1.30012793e-01 1.93193647e+01] [ 8.72614268e-02 9.96157050e-01 -7.52160821e-03 1.11313076e+00] [ 1.30171282e-01 -3.91642985e-03 9.91483787e-01 2.24930665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.207105680999998 meters Centerline goodness [0,1] 0.9997593998118944 Centerline is valid? [True, True] Translation: X:19.35, Y:1.11, Z:2.26 [[ 9.88207891e-01 -8.55280581e-02 -1.27004388e-01 1.93501355e+01] [ 8.52880229e-02 9.96329325e-01 -7.33687342e-03 1.11208096e+00] [ 1.27165704e-01 -3.58159690e-03 9.91875020e-01 2.25561652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237105680999996 meters Centerline goodness [0,1] 0.9998473249143929 Centerline is valid? [True, True] Translation: X:19.38, Y:1.11, Z:2.26 [[ 9.88623923e-01 -8.44903627e-02 -1.24435198e-01 1.93813810e+01] [ 8.42527490e-02 9.96418545e-01 -7.18029245e-03 1.11262123e+00] [ 1.24596204e-01 -3.38539860e-03 9.92201756e-01 2.26271357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.267105680999997 meters Centerline goodness [0,1] 0.9995643745507613 Centerline is valid? [True, True] Translation: X:19.41, Y:1.11, Z:2.27 [[ 9.88860937e-01 -8.40922969e-02 -1.22810960e-01 1.94135719e+01] [ 8.38590718e-02 9.96452500e-01 -7.07607205e-03 1.11207576e+00] [ 1.22970332e-01 -3.30156191e-03 9.92404855e-01 2.26612854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297105680999998 meters Centerline goodness [0,1] 0.9994577712228343 Centerline is valid? [True, True] Translation: X:19.45, Y:1.11, Z:2.27 [[ 9.89347027e-01 -8.38348730e-02 -1.19013336e-01 1.94455699e+01] [ 8.36151472e-02 9.96474596e-01 -6.84733337e-03 1.11053860e+00] [ 1.19167811e-01 -3.17692867e-03 9.92869045e-01 2.27396661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.327105680999995 meters Centerline goodness [0,1] 0.9996778627265699 Centerline is valid? [True, True] Translation: X:19.48, Y:1.11, Z:2.28 [[ 9.89608994e-01 -8.30585870e-02 -1.17368265e-01 1.94777668e+01] [ 8.28406291e-02 9.96539998e-01 -6.74264425e-03 1.10913612e+00] [ 1.17522206e-01 -3.05027956e-03 9.93065570e-01 2.28164544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357105680999997 meters Centerline goodness [0,1] 0.9995908523192213 Centerline is valid? [True, True] Translation: X:19.51, Y:1.11, Z:2.28 [[ 9.89582739e-01 -8.13187724e-02 -1.18799239e-01 1.95100659e+01] [ 8.10845367e-02 9.96683949e-01 -6.81197354e-03 1.11094448e+00] [ 1.18959236e-01 -2.89176979e-03 9.92894928e-01 2.28414248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.387105680999998 meters Centerline goodness [0,1] 0.9994611952843812 Centerline is valid? [True, True] Translation: X:19.54, Y:1.11, Z:2.28 [[ 9.89459257e-01 -7.27241599e-02 -1.25226095e-01 1.95425158e+01] [ 7.23968428e-02 9.97350142e-01 -7.16883206e-03 1.11383490e+00] [ 1.25415611e-01 -1.97270670e-03 9.92102330e-01 2.27972524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417105681 meters Centerline goodness [0,1] 0.9994602297262285 Centerline is valid? [True, True] Translation: X:19.57, Y:1.12, Z:2.28 [[ 9.89946617e-01 -5.83771843e-02 -1.28832447e-01 1.95736236e+01] [ 5.79111093e-02 9.98294583e-01 -7.36398410e-03 1.12281154e+00] [ 1.29042623e-01 -1.70878772e-04 9.91639033e-01 2.27970088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.447105680999996 meters Centerline goodness [0,1] 0.9998708427510494 Centerline is valid? [True, True] Translation: X:19.60, Y:1.13, Z:2.28 [[ 9.90226282e-01 -5.06633750e-02 -1.29942808e-01 1.96013231e+01] [ 5.01230981e-02 9.98715432e-01 -7.42700110e-03 1.13031326e+00] [ 1.30152164e-01 8.41275579e-04 9.91493674e-01 2.28080302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477105680999998 meters Centerline goodness [0,1] 0.9999145445223039 Centerline is valid? [True, True] Translation: X:19.63, Y:1.14, Z:2.29 [[ 9.90772007e-01 -3.89261315e-02 -1.29829068e-01 1.96303128e+01] [ 3.82815090e-02 9.99239163e-01 -7.45801816e-03 1.13912180e+00] [ 1.30020601e-01 2.41914298e-03 9.91508341e-01 2.28503070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.507105681 meters Centerline goodness [0,1] 0.9997444742557813 Centerline is valid? [True, True] Translation: X:19.66, Y:1.14, Z:2.29 [[ 9.90874496e-01 -3.66653838e-02 -1.29704983e-01 1.96589404e+01] [ 3.60014619e-02 9.99323889e-01 -7.46049648e-03 1.13830706e+00] [ 1.29890830e-01 2.72284669e-03 9.91524563e-01 2.28918737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537105680999996 meters Centerline goodness [0,1] 0.9999149912866069 Centerline is valid? [True, True] Translation: X:19.69, Y:1.13, Z:2.29 [[ 9.90572101e-01 -3.78637897e-02 -1.31655790e-01 1.96878797e+01] [ 3.71844388e-02 9.99279400e-01 -7.61559733e-03 1.13310137e+00] [ 1.31849274e-01 2.64825159e-03 9.91266239e-01 2.28995681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.567105680999997 meters Centerline goodness [0,1] 0.9996614473127381 Centerline is valid? [True, True] Translation: X:19.72, Y:1.12, Z:2.29 [[ 9.89955846e-01 -4.51404673e-02 -1.33976716e-01 1.97175169e+01] [ 4.44972143e-02 9.98979111e-01 -7.79319357e-03 1.12307479e+00] [ 1.34191729e-01 1.75332690e-03 9.90953836e-01 2.29128570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597105681 meters Centerline goodness [0,1] 0.9995126086035176 Centerline is valid? [True, True] Translation: X:19.75, Y:1.12, Z:2.29 [[ 9.89678771e-01 -4.94899109e-02 -1.34486728e-01 1.97464722e+01] [ 4.88757230e-02 9.98773888e-01 -7.86668956e-03 1.11802763e+00] [ 1.34711153e-01 1.21235962e-03 9.90884168e-01 2.29339624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.627105680999996 meters Centerline goodness [0,1] 0.9992238467831596 Centerline is valid? [True, True] Translation: X:19.78, Y:1.10, Z:2.29 [[ 9.89109832e-01 -5.75520468e-02 -1.35460334e-01 1.97751027e+01] [ 5.69986233e-02 9.98342495e-01 -7.96362464e-03 1.10451903e+00] [ 1.35694131e-01 1.55846843e-04 9.90750765e-01 2.29101617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657105680999997 meters Centerline goodness [0,1] 0.999307202989524 Centerline is valid? [True, True] Translation: X:19.80, Y:1.09, Z:2.30 [[ 9.89184260e-01 -6.49744106e-02 -1.31502186e-01 1.98043143e+01] [ 6.45159407e-02 9.97886594e-01 -7.74846570e-03 1.09129715e+00] [ 1.31727720e-01 -8.19326903e-04 9.91285598e-01 2.29940441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.687105681 meters Centerline goodness [0,1] 0.9989763516336593 Centerline is valid? [True, True] Translation: X:19.83, Y:1.09, Z:2.31 [[ 9.89212014e-01 -6.84457196e-02 -1.29517468e-01 1.98317252e+01] [ 6.80255613e-02 9.97654092e-01 -7.67039169e-03 1.08742000e+00] [ 1.29738638e-01 -1.22285486e-03 9.91547473e-01 2.30704251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717105680999996 meters Centerline goodness [0,1] 0.9986458333333333 Centerline is valid? [True, True] Translation: X:19.86, Y:1.08, Z:2.32 [[ 9.89036566e-01 -7.58798718e-02 -1.26684321e-01 1.98592684e+01] [ 7.55332455e-02 9.97114741e-01 -7.54471346e-03 1.07569754e+00] [ 1.26891296e-01 -2.10688042e-03 9.91914392e-01 2.31682915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.747105680999997 meters Centerline goodness [0,1] 0.9985255025751786 Centerline is valid? [True, True] Translation: X:19.89, Y:1.07, Z:2.32 [[ 9.88950409e-01 -7.91489247e-02 -1.25349653e-01 1.98895796e+01] [ 7.88340428e-02 9.96859703e-01 -7.47839832e-03 1.06891394e+00] [ 1.25547925e-01 -2.48605483e-03 9.92084441e-01 2.32024975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777105681 meters Centerline goodness [0,1] 0.9979773125364918 Centerline is valid? [True, True] Translation: X:19.92, Y:1.05, Z:2.32 [[ 9.88461383e-01 -8.66613160e-02 -1.24233291e-01 1.99190298e+01] [ 8.64103465e-02 9.96232018e-01 -7.41739353e-03 1.05182382e+00] [ 1.24407984e-01 -3.40323467e-03 9.92225313e-01 2.32338072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.807105680999996 meters Centerline goodness [0,1] 0.9978705192175202 Centerline is valid? [True, True] Translation: X:19.95, Y:1.05, Z:2.33 [[ 9.88121390e-01 -9.04605072e-02 -1.24229691e-01 1.99493067e+01] [ 9.02384777e-02 9.95892510e-01 -7.42472711e-03 1.04654258e+00] [ 1.24391063e-01 -3.87376651e-03 9.92225709e-01 2.32853475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837105680999997 meters Centerline goodness [0,1] 0.9983004124608784 Centerline is valid? [True, True] Translation: X:19.98, Y:1.04, Z:2.33 [[ 9.87136920e-01 -9.73161232e-02 -1.26847438e-01 1.99799248e+01] [ 9.71409171e-02 9.95241762e-01 -7.58142389e-03 1.03750819e+00] [ 1.26981663e-01 -4.83817306e-03 9.91893265e-01 2.33270059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.867105680999998 meters Centerline goodness [0,1] 0.9982428214086371 Centerline is valid? [True, True] Translation: X:20.01, Y:1.03, Z:2.33 [[ 9.86265137e-01 -1.01748267e-01 -1.30109069e-01 2.00098239e+01] [ 1.01601941e-01 9.94794715e-01 -7.77952155e-03 1.02823548e+00] [ 1.30223367e-01 -5.54666300e-03 9.91469167e-01 2.33146257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897105680999996 meters Centerline goodness [0,1] 0.9982657027038322 Centerline is valid? [True, True] Translation: X:20.04, Y:1.02, Z:2.33 [[ 9.85683768e-01 -1.05275086e-01 -1.31699151e-01 2.00390599e+01] [ 1.05155629e-01 9.94424548e-01 -7.88109461e-03 1.01982981e+00] [ 1.31794552e-01 -6.08064000e-03 9.91258403e-01 2.32989822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.927105680999997 meters Centerline goodness [0,1] 0.9980622174067052 Centerline is valid? [True, True] Translation: X:20.07, Y:1.02, Z:2.33 [[ 9.85586066e-01 -1.06072447e-01 -1.31790524e-01 2.00673433e+01] [ 1.05958229e-01 9.94339206e-01 -7.89919738e-03 1.01907639e+00] [ 1.31882372e-01 -6.17895155e-03 9.91246115e-01 2.33252508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957105680999998 meters Centerline goodness [0,1] 0.9977857620320856 Centerline is valid? [True, True] Translation: X:20.09, Y:1.02, Z:2.34 [[ 9.85711445e-01 -1.03056737e-01 -1.33237593e-01 2.00941496e+01] [ 1.02910819e-01 9.94658417e-01 -7.99983506e-03 1.02480421e+00] [ 1.33350330e-01 -5.82606080e-03 9.91051838e-01 2.33721561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.987105680999996 meters Centerline goodness [0,1] 0.9982238381812103 Centerline is valid? [True, True] Translation: X:20.12, Y:1.04, Z:2.35 [[ 9.87102968e-01 -9.27405422e-02 -1.30487247e-01 2.01221179e+01] [ 9.25092231e-02 9.95680911e-01 -7.84642788e-03 1.04484019e+00] [ 1.30651343e-01 -4.32604164e-03 9.91418939e-01 2.34797482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017105680999997 meters Centerline goodness [0,1] 0.9982396579906954 Centerline is valid? [True, True] Translation: X:20.15, Y:1.05, Z:2.35 [[ 9.87917036e-01 -8.60525564e-02 -1.28898751e-01 2.01497974e+01] [ 8.57699153e-02 9.96284808e-01 -7.75255202e-03 1.05404116e+00] [ 1.29086994e-01 -3.39675673e-03 9.91627455e-01 2.35229582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.047105680999998 meters Centerline goodness [0,1] 0.9985599499113013 Centerline is valid? [True, True] Translation: X:20.18, Y:1.07, Z:2.35 [[ 9.88766118e-01 -7.34760424e-02 -1.30164642e-01 2.01793011e+01] [ 7.30787703e-02 9.97295416e-01 -7.83245135e-03 1.07041867e+00] [ 1.30388099e-01 -1.76780948e-03 9.91461456e-01 2.35165322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077105680999995 meters Centerline goodness [0,1] 0.9989095331963259 Centerline is valid? [True, True] Translation: X:20.21, Y:1.09, Z:2.35 [[ 9.89120233e-01 -6.54884218e-02 -1.31728629e-01 2.02075562e+01] [ 6.50099926e-02 9.97853072e-01 -7.93391625e-03 1.08544127e+00] [ 1.31965397e-01 -7.16080102e-04 9.91254065e-01 2.35461749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.107105680999997 meters Centerline goodness [0,1] 0.9993093344495605 Centerline is valid? [True, True] Translation: X:20.23, Y:1.09, Z:2.36 [[ 9.89471843e-01 -6.27092487e-02 -1.30433974e-01 2.02349049e+01] [ 6.22114887e-02 9.98031791e-01 -7.89140605e-03 1.09204717e+00] [ 1.30672117e-01 -3.06167589e-04 9.91425592e-01 2.35866326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137105680999998 meters Centerline goodness [0,1] 0.9989782300442072 Centerline is valid? [True, True] Translation: X:20.26, Y:1.10, Z:2.36 [[ 9.89832382e-01 -5.95613034e-02 -1.29167746e-01 2.02622259e+01] [ 5.90446236e-02 9.98224642e-01 -7.82920194e-03 1.09846668e+00] [ 1.29404744e-01 1.22936678e-04 9.91591850e-01 2.36277842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.167105680999995 meters Centerline goodness [0,1] 0.9994164113466308 Centerline is valid? [True, True] Translation: X:20.29, Y:1.10, Z:2.37 [[ 9.89886504e-01 -5.92803105e-02 -1.28881941e-01 2.02898705e+01] [ 5.87612581e-02 9.98241360e-01 -7.82950226e-03 1.10110769e+00] [ 1.29119419e-01 1.77053621e-04 9.91629036e-01 2.36615132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197105680999996 meters Centerline goodness [0,1] 0.9990599540421976 Centerline is valid? [True, True] Translation: X:20.32, Y:1.10, Z:2.37 [[ 9.90132532e-01 -6.10096847e-02 -1.26156200e-01 2.03183691e+01] [ 6.05208266e-02 9.98137174e-01 -7.70786508e-03 1.10071660e+00] [ 1.26391448e-01 -3.26954539e-06 9.91980444e-01 2.37240584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.227105680999998 meters Centerline goodness [0,1] 0.9988710958732282 Centerline is valid? [True, True] Translation: X:20.35, Y:1.10, Z:2.38 [[ 9.90119978e-01 -6.30292390e-02 -1.25258713e-01 2.03460876e+01] [ 6.25583193e-02 9.98011657e-01 -7.69346473e-03 1.09915154e+00] [ 1.25494569e-01 -2.18521426e-04 9.92094283e-01 2.37600236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257105681 meters Centerline goodness [0,1] 0.9990200779767737 Centerline is valid? [True, True] Translation: X:20.37, Y:1.10, Z:2.38 [[ 9.89921686e-01 -6.48704980e-02 -1.25884370e-01 2.03740430e+01] [ 6.44038713e-02 9.97893607e-01 -7.77750576e-03 1.09928268e+00] [ 1.26123739e-01 -4.08319173e-04 9.92014433e-01 2.38002070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.287105680999996 meters Centerline goodness [0,1] 0.9991851062496082 Centerline is valid? [True, True] Translation: X:20.40, Y:1.10, Z:2.38 [[ 9.89679743e-01 -6.56387080e-02 -1.27379616e-01 2.04021847e+01] [ 6.51649600e-02 9.97843332e-01 -7.88749639e-03 1.10106365e+00] [ 1.27622626e-01 -4.94592203e-04 9.91822676e-01 2.38330794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317105680999997 meters Centerline goodness [0,1] 0.9987868900462237 Centerline is valid? [True, True] Translation: X:20.43, Y:1.10, Z:2.38 [[ 9.89146516e-01 -6.71596721e-02 -1.30685688e-01 2.04307423e+01] [ 6.66687832e-02 9.97742017e-01 -8.13273509e-03 1.10034807e+00] [ 1.30936794e-01 -6.68189254e-04 9.91390493e-01 2.38124007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.347105681 meters Centerline goodness [0,1] 0.9987419009876077 Centerline is valid? [True, True] Translation: X:20.46, Y:1.10, Z:2.38 [[ 9.89028902e-01 -6.80596487e-02 -1.31109556e-01 2.04588254e+01] [ 6.75708712e-02 9.97680956e-01 -8.17843382e-03 1.10129690e+00] [ 1.31362129e-01 -7.70479519e-04 9.91334150e-01 2.38438507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377105680999996 meters Centerline goodness [0,1] 0.9987490878765767 Centerline is valid? [True, True] Translation: X:20.49, Y:1.10, Z:2.38 [[ 9.88943731e-01 -6.75534734e-02 -1.32010698e-01 2.04869556e+01] [ 6.70473368e-02 9.97715435e-01 -8.28038710e-03 1.10233942e+00] [ 1.32268479e-01 -6.62128779e-04 9.91213706e-01 2.38490321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.407105680999997 meters Centerline goodness [0,1] 0.9990413670938835 Centerline is valid? [True, True] Translation: X:20.51, Y:1.11, Z:2.39 [[ 9.88906263e-01 -6.39919901e-02 -1.34050095e-01 2.05144129e+01] [ 6.34351796e-02 9.97950397e-01 -8.42510005e-03 1.10916568e+00] [ 1.34314485e-01 -1.71857685e-04 9.90938742e-01 2.38755282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437105681 meters Centerline goodness [0,1] 0.9990768714333669 Centerline is valid? [True, True] Translation: X:20.54, Y:1.11, Z:2.39 [[ 9.89049519e-01 -6.16934988e-02 -1.34070730e-01 2.05417056e+01] [ 6.11119245e-02 9.98095128e-01 -8.45271060e-03 1.11409845e+00] [ 1.34336819e-01 1.66829047e-04 9.90935715e-01 2.39317749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.467105680999996 meters Centerline goodness [0,1] 0.9990535680484574 Centerline is valid? [True, True] Translation: X:20.57, Y:1.12, Z:2.40 [[ 9.89732976e-01 -5.45876154e-02 -1.32094010e-01 2.05687636e+01] [ 5.39536161e-02 9.98508306e-01 -8.37671920e-03 1.12081861e+00] [ 1.32354232e-01 1.16376571e-03 9.91201797e-01 2.39796572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497105680999997 meters Centerline goodness [0,1] 0.999305847707194 Centerline is valid? [True, True] Translation: X:20.60, Y:1.13, Z:2.40 [[ 9.90195043e-01 -4.74044881e-02 -1.31402401e-01 2.05964675e+01] [ 4.67076530e-02 9.98873435e-01 -8.38186604e-03 1.12550131e+00] [ 1.31651705e-01 2.16218447e-03 9.91293677e-01 2.40323040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.527105681 meters Centerline goodness [0,1] 0.9995387647280809 Centerline is valid? [True, True] Translation: X:20.62, Y:1.13, Z:2.41 [[ 9.90552699e-01 -4.41110059e-02 -1.29844406e-01 2.06242419e+01] [ 4.33971889e-02 9.99023227e-01 -8.32316894e-03 1.12979426e+00] [ 1.30084721e-01 2.60965526e-03 9.91499448e-01 2.40681439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557105680999996 meters Centerline goodness [0,1] 0.9994767247153382 Centerline is valid? [True, True] Translation: X:20.65, Y:1.13, Z:2.41 [[ 9.90999807e-01 -4.06267503e-02 -1.27549401e-01 2.06509239e+01] [ 3.99072740e-02 9.99169803e-01 -8.19228729e-03 1.13111065e+00] [ 1.27776336e-01 3.02840622e-03 9.91798385e-01 2.41278336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.587105680999997 meters Centerline goodness [0,1] 0.999476516531608 Centerline is valid? [True, True] Translation: X:20.68, Y:1.13, Z:2.42 [[ 9.91063225e-01 -4.06647691e-02 -1.27043541e-01 2.06791018e+01] [ 3.99477744e-02 9.99168224e-01 -8.18754756e-03 1.13000442e+00] [ 1.27270814e-01 3.03927059e-03 9.91863349e-01 2.41544649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617105680999998 meters Centerline goodness [0,1] 0.9994556113902847 Centerline is valid? [True, True] Translation: X:20.71, Y:1.12, Z:2.42 [[ 9.91125180e-01 -4.20937319e-02 -1.26091220e-01 2.07085247e+01] [ 4.13933986e-02 9.99109520e-01 -8.17034420e-03 1.11795207e+00] [ 1.26322858e-01 2.87848974e-03 9.91985005e-01 2.41937474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.647105680999996 meters Centerline goodness [0,1] 0.9995807743098497 Centerline is valid? [True, True] Translation: X:20.74, Y:1.11, Z:2.42 [[ 9.90864482e-01 -4.51598389e-02 -1.27075437e-01 2.07365153e+01] [ 4.44683492e-02 9.98976524e-01 -8.27469975e-03 1.11099355e+00] [ 1.27319063e-01 2.54827116e-03 9.91858540e-01 2.42210888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677105680999997 meters Centerline goodness [0,1] 0.9996037786999771 Centerline is valid? [True, True] Translation: X:20.76, Y:1.11, Z:2.42 [[ 9.90593008e-01 -4.63759970e-02 -1.28742999e-01 2.07642056e+01] [ 4.56739428e-02 9.98921068e-01 -8.40179315e-03 1.10616996e+00] [ 1.28993736e-01 2.44255718e-03 9.91642400e-01 2.42452557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.707105680999998 meters Centerline goodness [0,1] 0.9996862318537422 Centerline is valid? [True, True] Translation: X:20.79, Y:1.09, Z:2.43 [[ 9.90482584e-01 -4.76033403e-02 -1.29143998e-01 2.07928377e+01] [ 4.69013205e-02 9.98863587e-01 -8.47350375e-03 1.09006129e+00] [ 1.29400604e-01 2.33583385e-03 9.91589647e-01 2.42668921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737105680999996 meters Centerline goodness [0,1] 0.9995816337203222 Centerline is valid? [True, True] Translation: X:20.82, Y:1.08, Z:2.43 [[ 9.90503960e-01 -4.87721019e-02 -1.28542553e-01 2.08218948e+01] [ 4.80801795e-02 9.98807463e-01 -8.48225884e-03 1.07970192e+00] [ 1.28802959e-01 2.22136194e-03 9.91667718e-01 2.42985375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.767105680999997 meters Centerline goodness [0,1] 0.9994545378257038 Centerline is valid? [True, True] Translation: X:20.85, Y:1.08, Z:2.43 [[ 9.90532049e-01 -4.93458768e-02 -1.28106381e-01 2.08497533e+01] [ 4.86578605e-02 9.98779365e-01 -8.49663606e-03 1.07622717e+00] [ 1.28369284e-01 2.18280789e-03 9.91724035e-01 2.43353694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797105680999998 meters Centerline goodness [0,1] 0.9997288729456911 Centerline is valid? [True, True] Translation: X:20.88, Y:1.07, Z:2.44 [[ 9.90540397e-01 -5.03549112e-02 -1.27648367e-01 2.08777417e+01] [ 4.96742939e-02 9.98729199e-01 -8.51186308e-03 1.06901073e+00] [ 1.27914766e-01 2.09050172e-03 9.91782961e-01 2.43551748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.827105680999995 meters Centerline goodness [0,1] 0.9994987259284014 Centerline is valid? [True, True] Translation: X:20.91, Y:1.07, Z:2.44 [[ 9.90472119e-01 -5.13940694e-02 -1.27763970e-01 2.09060845e+01] [ 5.07184567e-02 9.98676496e-01 -8.53786783e-03 1.06622976e+00] [ 1.28033670e-01 1.97652865e-03 9.91767852e-01 2.43862176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857105680999997 meters Centerline goodness [0,1] 0.9995188183853219 Centerline is valid? [True, True] Translation: X:20.94, Y:1.06, Z:2.44 [[ 9.90418962e-01 -5.37108486e-02 -1.27221949e-01 2.09355050e+01] [ 5.30540353e-02 9.98555055e-01 -8.54818544e-03 1.05918691e+00] [ 1.27497251e-01 1.71664717e-03 9.91837438e-01 2.44198588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.887105680999998 meters Centerline goodness [0,1] 0.9995188183853219 Centerline is valid? [True, True] Translation: X:20.96, Y:1.06, Z:2.45 [[ 9.90399310e-01 -5.40786465e-02 -1.27219128e-01 2.09626276e+01] [ 5.34194867e-02 9.98535213e-01 -8.58998185e-03 1.06124169e+00] [ 1.27497313e-01 1.71153160e-03 9.91837439e-01 2.44516346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917105680999995 meters Centerline goodness [0,1] 0.9995606694560669 Centerline is valid? [True, True] Translation: X:20.99, Y:1.05, Z:2.45 [[ 9.90539706e-01 -5.70570032e-02 -1.24802204e-01 2.09920383e+01] [ 5.64406703e-02 9.98370013e-01 -8.47161404e-03 1.05234721e+00] [ 1.25082143e-01 1.34755002e-03 9.92145474e-01 2.45028908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.947105680999996 meters Centerline goodness [0,1] 0.9997497393117831 Centerline is valid? [True, True] Translation: X:21.02, Y:1.05, Z:2.45 [[ 9.90440629e-01 -5.95657724e-02 -1.24415754e-01 2.10207541e+01] [ 5.89681886e-02 9.98223814e-01 -8.48351318e-03 1.04922575e+00] [ 1.24700095e-01 1.06584449e-03 9.92193908e-01 2.45454115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977105680999998 meters Centerline goodness [0,1] 0.9996861333723923 Centerline is valid? [True, True] Translation: X:21.05, Y:1.04, Z:2.46 [[ 9.89854931e-01 -6.56778162e-02 -1.25990632e-01 2.10496498e+01] [ 6.51090914e-02 9.97840823e-01 -8.63120556e-03 1.04070697e+00] [ 1.26285475e-01 3.40505814e-04 9.91993883e-01 2.45600832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.007105680999995 meters Centerline goodness [0,1] 0.9996248045857218 Centerline is valid? [True, True] Translation: X:21.08, Y:1.03, Z:2.46 [[ 9.89165778e-01 -7.32107600e-02 -1.27244837e-01 2.10784601e+01] [ 7.26906960e-02 9.97316304e-01 -8.73226570e-03 1.02883947e+00] [ 1.27542647e-01 -6.11857412e-04 9.91832899e-01 2.45684562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037105680999996 meters Centerline goodness [0,1] 0.9995388034044694 Centerline is valid? [True, True] Translation: X:21.11, Y:1.02, Z:2.46 [[ 9.88834984e-01 -7.84860322e-02 -1.26670110e-01 2.11072228e+01] [ 7.80115983e-02 9.96914405e-01 -8.70969924e-03 1.02297720e+00] [ 1.26962847e-01 -1.26928243e-03 9.91906661e-01 2.46161124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.067105680999997 meters Centerline goodness [0,1] 0.9994556227884676 Centerline is valid? [True, True] Translation: X:21.13, Y:1.01, Z:2.47 [[ 9.88620750e-01 -8.56619206e-02 -1.23656978e-01 2.11347178e+01] [ 8.52609997e-02 9.96322049e-01 -8.54029274e-03 1.01182190e+00] [ 1.23933752e-01 -2.10000697e-03 9.92288272e-01 2.46858453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097105681 meters Centerline goodness [0,1] 0.9994562716968506 Centerline is valid? [True, True] Translation: X:21.16, Y:1.01, Z:2.47 [[ 9.88370636e-01 -8.74270666e-02 -1.24418620e-01 2.11628280e+01] [ 8.70329721e-02 9.96168224e-01 -8.60989882e-03 1.01033797e+00] [ 1.24694614e-01 -2.31875113e-03 9.92192459e-01 2.47299750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.127105680999996 meters Centerline goodness [0,1] 0.9993712537200822 Centerline is valid? [True, True] Translation: X:21.19, Y:1.01, Z:2.48 [[ 9.88171009e-01 -8.77696067e-02 -1.25755923e-01 2.11912602e+01] [ 8.73676121e-02 9.96137980e-01 -8.71924959e-03 1.01228082e+00] [ 1.26035536e-01 -2.37088502e-03 9.92022894e-01 2.47514059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157105680999997 meters Centerline goodness [0,1] 0.9994334039829601 Centerline is valid? [True, True] Translation: X:21.22, Y:1.01, Z:2.47 [[ 9.87762703e-01 -8.89349016e-02 -1.28122695e-01 2.12192897e+01] [ 8.85221813e-02 9.96034234e-01 -8.92345774e-03 1.01146001e+00] [ 1.28408197e-01 -2.52744166e-03 9.91718179e-01 2.47356907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.187105681 meters Centerline goodness [0,1] 0.9996009744623656 Centerline is valid? [True, True] Translation: X:21.25, Y:1.01, Z:2.47 [[ 9.87134094e-01 -9.20465880e-02 -1.30742902e-01 2.12482132e+01] [ 9.16415150e-02 9.95750259e-01 -9.12439569e-03 1.01321268e+00] [ 1.31027148e-01 -2.97447555e-03 9.91374318e-01 2.47327890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217105680999996 meters Centerline goodness [0,1] 0.999538222576718 Centerline is valid? [True, True] Translation: X:21.28, Y:1.01, Z:2.48 [[ 9.86981482e-01 -9.45087776e-02 -1.30137026e-01 2.12764867e+01] [ 9.41234236e-02 9.95518739e-01 -9.12256208e-03 1.01460586e+00] [ 1.30416011e-01 -3.24514261e-03 9.91454050e-01 2.47668903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.247105680999997 meters Centerline goodness [0,1] 0.9993084080811467 Centerline is valid? [True, True] Translation: X:21.30, Y:1.02, Z:2.48 [[ 9.86822506e-01 -9.97161391e-02 -1.27428543e-01 2.13031028e+01] [ 9.93850202e-02 9.95008621e-01 -8.97007341e-03 1.01552568e+00] [ 1.27686960e-01 -3.81261804e-03 9.91807191e-01 2.48327695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277105681 meters Centerline goodness [0,1] 0.999391918810677 Centerline is valid? [True, True] Translation: X:21.33, Y:1.02, Z:2.49 [[ 9.86518349e-01 -1.01824145e-01 -1.28114757e-01 2.13315952e+01] [ 1.01503710e-01 9.94794043e-01 -9.04486419e-03 1.02126612e+00] [ 1.28368783e-01 -4.08119861e-03 9.91718105e-01 2.48752159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.307105680999996 meters Centerline goodness [0,1] 0.9992445703493862 Centerline is valid? [True, True] Translation: X:21.36, Y:1.03, Z:2.49 [[ 9.86345206e-01 -1.02138490e-01 -1.29193121e-01 2.13587494e+01] [ 1.01810245e-01 9.94761664e-01 -9.15998815e-03 1.02904479e+00] [ 1.29451952e-01 -4.11827295e-03 9.91577144e-01 2.48896905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337105680999997 meters Centerline goodness [0,1] 0.9994756491463568 Centerline is valid? [True, True] Translation: X:21.39, Y:1.04, Z:2.49 [[ 9.86490439e-01 -1.00670184e-01 -1.29236713e-01 2.13856116e+01] [ 1.00327276e-01 9.94912161e-01 -9.17766586e-03 1.03733717e+00] [ 1.29503095e-01 -3.91228779e-03 9.91571300e-01 2.49223960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.367105680999998 meters Centerline goodness [0,1] 0.999222018965916 Centerline is valid? [True, True] Translation: X:21.41, Y:1.06, Z:2.50 [[ 9.87108928e-01 -9.55519137e-02 -1.28397028e-01 2.14134150e+01] [ 9.51686674e-02 9.95419285e-01 -9.13086870e-03 1.05851287e+00] [ 1.28681350e-01 -3.20621206e-03 9.91680811e-01 2.49926066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397105680999996 meters Centerline goodness [0,1] 0.9993122277568204 Centerline is valid? [True, True] Translation: X:21.44, Y:1.07, Z:2.50 [[ 9.88119881e-01 -8.85435221e-02 -1.25615069e-01 2.14409352e+01] [ 8.81195181e-02 9.96069799e-01 -8.93905858e-03 1.07086592e+00] [ 1.25912873e-01 -2.23627789e-03 9.92038783e-01 2.50167138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.427105680999997 meters Centerline goodness [0,1] 0.9990164689141399 Centerline is valid? [True, True] Translation: X:21.47, Y:1.08, Z:2.51 [[ 9.88597764e-01 -8.52317414e-02 -1.24137064e-01 2.14687863e+01] [ 8.47903073e-02 9.96359561e-01 -8.84467680e-03 1.08166231e+00] [ 1.24438998e-01 -1.78179209e-03 9.92225660e-01 2.50684506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457105680999998 meters Centerline goodness [0,1] 0.9990358011235013 Centerline is valid? [True, True] Translation: X:21.50, Y:1.10, Z:2.51 [[ 9.89165840e-01 -7.79019448e-02 -1.24427601e-01 2.14961685e+01] [ 7.73956208e-02 9.96960688e-01 -8.90535742e-03 1.09743410e+00] [ 1.24743171e-01 -8.21276077e-04 9.92188725e-01 2.50968548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.487105680999996 meters Centerline goodness [0,1] 0.9989184467231016 Centerline is valid? [True, True] Translation: X:21.52, Y:1.11, Z:2.51 [[ 9.89363765e-01 -7.19365117e-02 -1.26429736e-01 2.15227063e+01] [ 7.13599823e-02 9.97409213e-01 -9.08930696e-03 1.10961491e+00] [ 1.26756036e-01 -2.93927461e-05 9.91933922e-01 2.50925631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517105680999997 meters Centerline goodness [0,1] 0.9992459311702729 Centerline is valid? [True, True] Translation: X:21.55, Y:1.12, Z:2.51 [[ 9.89710155e-01 -6.67349932e-02 -1.26571125e-01 2.15505543e+01] [ 6.61118951e-02 9.97770517e-01 -9.12210199e-03 1.12061926e+00] [ 1.26897700e-01 6.60380070e-04 9.91915590e-01 2.51374319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.547105680999998 meters Centerline goodness [0,1] 0.9993521827262658 Centerline is valid? [True, True] Translation: X:21.58, Y:1.13, Z:2.52 [[ 9.89937517e-01 -6.37077876e-02 -1.26352798e-01 2.15787089e+01] [ 6.30570717e-02 9.97968003e-01 -9.14718657e-03 1.12679524e+00] [ 1.26678797e-01 1.08770570e-03 9.91943194e-01 2.51818283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577105680999995 meters Centerline goodness [0,1] 0.9995387067013336 Centerline is valid? [True, True] Translation: X:21.61, Y:1.14, Z:2.52 [[ 9.90601705e-01 -5.60010970e-02 -1.24788374e-01 2.16060508e+01] [ 5.53006538e-02 9.98428527e-01 -9.07272629e-03 1.13666731e+00] [ 1.25100355e-01 2.08657947e-03 9.92141899e-01 2.52175306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.607105680999997 meters Centerline goodness [0,1] 0.9996434339408939 Centerline is valid? [True, True] Translation: X:21.63, Y:1.14, Z:2.52 [[ 9.90732865e-01 -5.27791342e-02 -1.25150924e-01 2.16338635e+01] [ 5.20471317e-02 9.98603042e-01 -9.11379726e-03 1.14125190e+00] [ 1.25457112e-01 2.51559185e-03 9.92095855e-01 2.52481602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637105680999998 meters Centerline goodness [0,1] 0.9996223564954683 Centerline is valid? [True, True] Translation: X:21.66, Y:1.15, Z:2.52 [[ 9.90621099e-01 -5.03884091e-02 -1.27007266e-01 2.16626149e+01] [ 4.96125566e-02 9.98725549e-01 -9.26676257e-03 1.14576353e+00] [ 1.27312339e-01 2.87869533e-03 9.91858499e-01 2.52386241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.667105680999995 meters Centerline goodness [0,1] 0.9996430895845143 Centerline is valid? [True, True] Translation: X:21.69, Y:1.14, Z:2.53 [[ 9.90361591e-01 -5.40344572e-02 -1.27531155e-01 2.16916144e+01] [ 5.32767770e-02 9.98536034e-01 -9.34735536e-03 1.14100002e+00] [ 1.27849533e-01 2.46281281e-03 9.91790518e-01 2.52526040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697105680999996 meters Centerline goodness [0,1] 0.9995803256672822 Centerline is valid? [True, True] Translation: X:21.72, Y:1.14, Z:2.53 [[ 9.90240690e-01 -5.67137259e-02 -1.27306437e-01 2.17195953e+01] [ 5.59752555e-02 9.98388153e-01 -9.37373207e-03 1.14043697e+00] [ 1.27632858e-01 2.15624059e-03 9.91819139e-01 2.52975787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.727105680999998 meters Centerline goodness [0,1] 0.9994758140607636 Centerline is valid? [True, True] Translation: X:21.75, Y:1.14, Z:2.54 [[ 9.90094688e-01 -6.00492367e-02 -1.26911773e-01 2.17481520e+01] [ 5.93372365e-02 9.98193859e-01 -9.38681020e-03 1.13799259e+00] [ 1.27246224e-01 1.76323701e-03 9.91869593e-01 2.53518773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757105680999995 meters Centerline goodness [0,1] 0.9994127516778524 Centerline is valid? [True, True] Translation: X:21.78, Y:1.13, Z:2.54 [[ 9.89846363e-01 -6.27090547e-02 -1.27560776e-01 2.17773887e+01] [ 6.20062232e-02 9.98030766e-01 -9.47729634e-03 1.13492241e+00] [ 1.27903892e-01 1.47150533e-03 9.91785475e-01 2.53700695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.787105680999996 meters Centerline goodness [0,1] 0.9994140175376179 Centerline is valid? [True, True] Translation: X:21.81, Y:1.13, Z:2.54 [[ 9.89845885e-01 -6.42888096e-02 -1.26775683e-01 2.18059507e+01] [ 6.36022116e-02 9.97930486e-01 -9.46061265e-03 1.13398910e+00] [ 1.27121530e-01 1.30133470e-03 9.91886295e-01 2.54098222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817105680999997 meters Centerline goodness [0,1] 0.9992499062382798 Centerline is valid? [True, True] Translation: X:21.83, Y:1.13, Z:2.55 [[ 9.89703676e-01 -6.89899214e-02 -1.25407431e-01 2.18335647e+01] [ 6.83507412e-02 9.97617090e-01 -9.39772700e-03 1.12844739e+00] [ 1.25756945e-01 7.29274113e-04 9.92060814e-01 2.54655531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.847105680999995 meters Centerline goodness [0,1] 0.9990772779700116 Centerline is valid? [True, True] Translation: X:21.86, Y:1.12, Z:2.55 [[ 9.89153476e-01 -7.68106641e-02 -1.25201931e-01 2.18616633e+01] [ 7.62334154e-02 9.97045667e-01 -9.40234716e-03 1.12022096e+00] [ 1.25554243e-01 -2.44206412e-04 9.92086726e-01 2.54977544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877105680999996 meters Centerline goodness [0,1] 0.9991866866866866 Centerline is valid? [True, True] Translation: X:21.89, Y:1.11, Z:2.55 [[ 9.88688722e-01 -8.34396295e-02 -1.24629206e-01 2.18912001e+01] [ 8.29180569e-02 9.96512265e-01 -9.37554316e-03 1.11275992e+00] [ 1.24976824e-01 -1.06451781e-03 9.92159090e-01 2.55253426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.907105680999997 meters Centerline goodness [0,1] 0.999054820415879 Centerline is valid? [True, True] Translation: X:21.92, Y:1.11, Z:2.55 [[ 9.88415394e-01 -8.58273349e-02 -1.25174589e-01 2.19191656e+01] [ 8.53152594e-02 9.96309135e-01 -9.45592922e-03 1.10901017e+00] [ 1.25524164e-01 -1.33291653e-03 9.92089667e-01 2.55308862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937105681 meters Centerline goodness [0,1] 0.999163477424347 Centerline is valid? [True, True] Translation: X:21.95, Y:1.10, Z:2.56 [[ 9.88088330e-01 -8.93907860e-02 -1.25262682e-01 2.19477685e+01] [ 8.89046544e-02 9.95995054e-01 -9.47711796e-03 1.10231270e+00] [ 1.25608179e-01 -1.77220584e-03 9.92078346e-01 2.55642000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.967105680999996 meters Centerline goodness [0,1] 0.9993070138597228 Centerline is valid? [True, True] Translation: X:21.98, Y:1.10, Z:2.56 [[ 9.88208164e-01 -9.05579494e-02 -1.23466118e-01 2.19750592e+01] [ 9.00927998e-02 9.95889419e-01 -9.35692634e-03 1.10447740e+00] [ 1.23805944e-01 -1.87681722e-03 9.92304674e-01 2.56457299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997105680999997 meters Centerline goodness [0,1] 0.9991598933064499 Centerline is valid? [True, True] Translation: X:22.00, Y:1.11, Z:2.57 [[ 9.88538810e-01 -8.67467541e-02 -1.23555743e-01 2.20024608e+01] [ 8.62455704e-02 9.96229474e-01 -9.40935357e-03 1.11090056e+00] [ 1.23906104e-01 -1.35462439e-03 9.92293022e-01 2.57078737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.027105681 meters Centerline goodness [0,1] 0.9994556683764263 Centerline is valid? [True, True] Translation: X:22.03, Y:1.12, Z:2.57 [[ 9.88597065e-01 -8.28653765e-02 -1.25734535e-01 2.20307969e+01] [ 8.23097513e-02 9.96560395e-01 -9.61687915e-03 1.11796195e+00] [ 1.26098964e-01 -8.41959820e-04 9.92017309e-01 2.57242280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057105680999996 meters Centerline goodness [0,1] 0.9992864338482202 Centerline is valid? [True, True] Translation: X:22.06, Y:1.13, Z:2.57 [[ 9.88980620e-01 -7.36386741e-02 -1.28431611e-01 2.20587093e+01] [ 7.29761901e-02 9.97284914e-01 -9.86284482e-03 1.12880575e+00] [ 1.28809195e-01 3.81712703e-04 9.91669323e-01 2.57044466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.087105680999997 meters Centerline goodness [0,1] 0.9996454270518302 Centerline is valid? [True, True] Translation: X:22.09, Y:1.13, Z:2.57 [[ 9.89309473e-01 -6.94183866e-02 -1.28249189e-01 2.20866929e+01] [ 6.87202219e-02 9.97587184e-01 -9.86615449e-03 1.13467316e+00] [ 1.28624640e-01 9.47367337e-04 9.91692898e-01 2.57352765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117105680999998 meters Centerline goodness [0,1] 0.9996861727723497 Centerline is valid? [True, True] Translation: X:22.11, Y:1.14, Z:2.58 [[ 9.89899038e-01 -6.44251704e-02 -1.26290505e-01 2.21143895e+01] [ 6.37027162e-02 9.97921239e-01 -9.75519459e-03 1.14240770e+00] [ 1.26656457e-01 1.61160956e-03 9.91945333e-01 2.57832967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.147105680999996 meters Centerline goodness [0,1] 0.9998335621853285 Centerline is valid? [True, True] Translation: X:22.14, Y:1.15, Z:2.58 [[ 9.90326219e-01 -6.23649091e-02 -1.23954016e-01 2.21414382e+01] [ 6.16483759e-02 9.98051649e-01 -9.61160833e-03 1.14995139e+00] [ 1.24311937e-01 1.87706400e-03 9.92241412e-01 2.58354199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177105680999997 meters Centerline goodness [0,1] 0.9996447973255328 Centerline is valid? [True, True] Translation: X:22.17, Y:1.15, Z:2.59 [[ 9.90517256e-01 -6.14694890e-02 -1.22870123e-01 2.21694259e+01] [ 6.07567255e-02 9.98106985e-01 -9.54293210e-03 1.14983836e+00] [ 1.23224128e-01 1.98725256e-03 9.92376877e-01 2.58995191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.207105680999998 meters Centerline goodness [0,1] 0.9995813184282694 Centerline is valid? [True, True] Translation: X:22.20, Y:1.15, Z:2.60 [[ 9.91041674e-01 -5.85085805e-02 -1.20054767e-01 2.21971282e+01] [ 5.78018954e-02 9.98284163e-01 -9.36324501e-03 1.15292439e+00] [ 1.20396603e-01 2.33997289e-03 9.92723115e-01 2.59682195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237105680999996 meters Centerline goodness [0,1] 0.9996658103055747 Centerline is valid? [True, True] Translation: X:22.23, Y:1.16, Z:2.60 [[ 9.91208149e-01 -5.50904183e-02 -1.20297349e-01 2.22258056e+01] [ 5.43508136e-02 9.98477438e-01 -9.42307062e-03 1.15679610e+00] [ 1.20633309e-01 2.80196561e-03 9.92693182e-01 2.60037786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.267105680999997 meters Centerline goodness [0,1] 0.9998132547620036 Centerline is valid? [True, True] Translation: X:22.25, Y:1.16, Z:2.60 [[ 9.91048496e-01 -5.33791842e-02 -1.22366425e-01 2.22535380e+01] [ 5.25958067e-02 9.98569493e-01 -9.62543308e-03 1.16318059e+00] [ 1.22705177e-01 3.10331015e-03 9.92438315e-01 2.59975679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297105680999998 meters Centerline goodness [0,1] 0.9997915059525051 Centerline is valid? [True, True] Translation: X:22.28, Y:1.16, Z:2.60 [[ 9.90716667e-01 -5.16012793e-02 -1.25768811e-01 2.22831640e+01] [ 5.07569864e-02 9.98661859e-01 -9.91054229e-03 1.16008944e+00] [ 1.26111912e-01 3.43489357e-03 9.92010074e-01 2.59744002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.327105680999995 meters Centerline goodness [0,1] 0.9998532525523574 Centerline is valid? [True, True] Translation: X:22.31, Y:1.16, Z:2.60 [[ 9.90661652e-01 -5.16409106e-02 -1.26185212e-01 2.23119220e+01] [ 5.07860886e-02 9.98659646e-01 -9.98423670e-03 1.15952012e+00] [ 1.26531675e-01 3.48254704e-03 9.91956454e-01 2.60054942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357105680999997 meters Centerline goodness [0,1] 0.9999162233485528 Centerline is valid? [True, True] Translation: X:22.34, Y:1.16, Z:2.61 [[ 9.90798603e-01 -5.35369836e-02 -1.24305748e-01 2.23406145e+01] [ 5.27172648e-02 9.98560634e-01 -9.87671115e-03 1.15871079e+00] [ 1.24655596e-01 3.23277257e-03 9.92194805e-01 2.60655649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.387105680999998 meters Centerline goodness [0,1] 0.9998118020994521 Centerline is valid? [True, True] Translation: X:22.37, Y:1.16, Z:2.61 [[ 9.90544339e-01 -5.64634043e-02 -1.25035183e-01 2.23689062e+01] [ 5.56518176e-02 9.98400387e-01 -9.97712631e-03 1.15703002e+00] [ 1.25398518e-01 2.92435077e-03 9.92102142e-01 2.60882300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417105680999995 meters Centerline goodness [0,1] 0.9997696238585909 Centerline is valid? [True, True] Translation: X:22.40, Y:1.15, Z:2.61 [[ 9.90305265e-01 -5.88078085e-02 -1.25845631e-01 2.23981333e+01] [ 5.79990973e-02 9.98265707e-01 -1.00838390e-02 1.15481245e+00] [ 1.26220386e-01 2.68714583e-03 9.91998585e-01 2.61008484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.447105680999996 meters Centerline goodness [0,1] 0.9997083272568178 Centerline is valid? [True, True] Translation: X:22.43, Y:1.14, Z:2.61 [[ 9.90091959e-01 -6.60052805e-02 -1.23940372e-01 2.24276306e+01] [ 6.52724229e-02 9.97817686e-01 -9.96878717e-03 1.14384116e+00] [ 1.24327887e-01 1.78012768e-03 9.92239592e-01 2.61355532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477105680999998 meters Centerline goodness [0,1] 0.9996857059045384 Centerline is valid? [True, True] Translation: X:22.46, Y:1.13, Z:2.62 [[ 9.89712499e-01 -7.61981491e-02 -1.21090925e-01 2.24566165e+01] [ 7.55733893e-02 9.97092570e-01 -9.75036205e-03 1.13426667e+00] [ 1.21481821e-01 4.98803554e-04 9.92593531e-01 2.62278009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.507105680999995 meters Centerline goodness [0,1] 0.9996230997947988 Centerline is valid? [True, True] Translation: X:22.48, Y:1.13, Z:2.63 [[ 9.89414949e-01 -8.09593909e-02 -1.20431043e-01 2.24839474e+01] [ 8.03751919e-02 9.96717398e-01 -9.70860256e-03 1.13167165e+00] [ 1.20821718e-01 -7.38316546e-05 9.92674220e-01 2.62753985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537105680999996 meters Centerline goodness [0,1] 0.9996443961009078 Centerline is valid? [True, True] Translation: X:22.51, Y:1.12, Z:2.63 [[ 9.88597244e-01 -9.01375780e-02 -1.20626305e-01 2.25123459e+01] [ 8.96177430e-02 9.95928621e-01 -9.73867195e-03 1.12098350e+00] [ 1.21013010e-01 -1.18263294e-03 9.92650217e-01 2.63000287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.567105680999997 meters Centerline goodness [0,1] 0.9994978028876333 Centerline is valid? [True, True] Translation: X:22.54, Y:1.12, Z:2.63 [[ 9.88069591e-01 -9.46651087e-02 -1.21478394e-01 2.25414066e+01] [ 9.41692049e-02 9.95507677e-01 -9.82985203e-03 1.11748854e+00] [ 1.21863217e-01 -1.72694585e-03 9.92545401e-01 2.63161178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597105680999995 meters Centerline goodness [0,1] 0.9993708449552251 Centerline is valid? [True, True] Translation: X:22.57, Y:1.11, Z:2.63 [[ 9.86973114e-01 -1.03203332e-01 -1.23422627e-01 2.25709635e+01] [ 1.02753215e-01 9.94656371e-01 -1.00240259e-02 1.11383823e+00] [ 1.23797615e-01 -2.78862759e-03 9.92303570e-01 2.63318887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.627105680999996 meters Centerline goodness [0,1] 0.9994334158727494 Centerline is valid? [True, True] Translation: X:22.60, Y:1.11, Z:2.64 [[ 9.86472287e-01 -1.07562476e-01 -1.23704244e-01 2.25986521e+01] [ 1.07143178e-01 9.94192739e-01 -1.00567035e-02 1.11163048e+00] [ 1.24067585e-01 -3.33340651e-03 9.92268171e-01 2.63523474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657105680999997 meters Centerline goodness [0,1] 0.9993919825561892 Centerline is valid? [True, True] Translation: X:22.63, Y:1.11, Z:2.64 [[ 9.86005111e-01 -1.12568536e-01 -1.22972538e-01 2.26280876e+01] [ 1.12190296e-01 9.93636237e-01 -1.00182680e-02 1.11046053e+00] [ 1.23317712e-01 -3.91826198e-03 9.92359506e-01 2.63916997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.687105681 meters Centerline goodness [0,1] 0.9993733288770054 Centerline is valid? [True, True] Translation: X:22.66, Y:1.12, Z:2.64 [[ 9.85800813e-01 -1.12254376e-01 -1.24882796e-01 2.26554144e+01] [ 1.11860649e-01 9.93671727e-01 -1.01829964e-02 1.11636237e+00] [ 1.25235589e-01 -3.93106452e-03 9.92119244e-01 2.64116687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717105680999996 meters Centerline goodness [0,1] 0.9992896243366345 Centerline is valid? [True, True] Translation: X:22.68, Y:1.12, Z:2.65 [[ 9.86049439e-01 -1.10187332e-01 -1.24760796e-01 2.26822374e+01] [ 1.09772313e-01 9.93904243e-01 -1.02173837e-02 1.12201934e+00] [ 1.25126111e-01 -3.62043576e-03 9.92134239e-01 2.64543321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.747105680999997 meters Centerline goodness [0,1] 0.9995386486599841 Centerline is valid? [True, True] Translation: X:22.71, Y:1.14, Z:2.66 [[ 9.87408613e-01 -1.01547573e-01 -1.21294358e-01 2.27096882e+01] [ 1.01088697e-01 9.94827692e-01 -9.94677034e-03 1.13790698e+00] [ 1.21677056e-01 -2.43996190e-03 9.92566744e-01 2.65623634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777105681 meters Centerline goodness [0,1] 0.9994560669456067 Centerline is valid? [True, True] Translation: X:22.74, Y:1.15, Z:2.66 [[ 9.88266553e-01 -9.47785951e-02 -1.19775782e-01 2.27366020e+01] [ 9.42808654e-02 9.95497123e-01 -9.82830428e-03 1.14806955e+00] [ 1.20167959e-01 -1.57957995e-03 9.92752319e-01 2.66102693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.807105680999996 meters Centerline goodness [0,1] 0.9994560669456067 Centerline is valid? [True, True] Translation: X:22.76, Y:1.15, Z:2.66 [[ 9.88233732e-01 -9.51223842e-02 -1.19774051e-01 2.27637148e+01] [ 9.46246195e-02 9.95464300e-01 -9.84935122e-03 1.15052700e+00] [ 1.20167685e-01 -1.60011288e-03 9.92752319e-01 2.66420105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837105680999997 meters Centerline goodness [0,1] 0.9997064189401724 Centerline is valid? [True, True] Translation: X:22.79, Y:1.17, Z:2.67 [[ 9.89461740e-01 -8.18026939e-02 -1.19472942e-01 2.27912295e+01] [ 8.12056339e-02 9.96648542e-01 -9.86556214e-03 1.17090987e+00] [ 1.19879563e-01 5.97203015e-05 9.92788440e-01 2.66734313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.867105680999998 meters Centerline goodness [0,1] 0.9996649004125914 Centerline is valid? [True, True] Translation: X:22.82, Y:1.18, Z:2.66 [[ 9.89697864e-01 -7.43521274e-02 -1.22351541e-01 2.28192191e+01] [ 7.36663004e-02 9.97231540e-01 -1.01257928e-02 1.18445205e+00] [ 1.22765690e-01 1.00829018e-03 9.92435171e-01 2.66399750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897105680999996 meters Centerline goodness [0,1] 0.9998323624324211 Centerline is valid? [True, True] Translation: X:22.85, Y:1.20, Z:2.66 [[ 9.89852509e-01 -7.00346715e-02 -1.23641239e-01 2.28463357e+01] [ 6.92957137e-02 9.97543274e-01 -1.02722971e-02 1.19520075e+00] [ 1.24056903e-01 1.60025119e-03 9.92273815e-01 2.66357855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.927105680999997 meters Centerline goodness [0,1] 0.9998746291111203 Centerline is valid? [True, True] Translation: X:22.87, Y:1.20, Z:2.67 [[ 9.90079687e-01 -6.81475305e-02 -1.22874439e-01 2.28743992e+01] [ 6.74012826e-02 9.97673556e-01 -1.02246513e-02 1.20169093e+00] [ 1.23285363e-01 1.84132474e-03 9.92369552e-01 2.66821133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957105680999998 meters Centerline goodness [0,1] 0.9999372043370871 Centerline is valid? [True, True] Translation: X:22.90, Y:1.21, Z:2.67 [[ 9.90300189e-01 -6.64371651e-02 -1.22031300e-01 2.29015486e+01] [ 6.56833902e-02 9.97788444e-01 -1.01937929e-02 1.20847400e+00] [ 1.22438668e-01 2.07948558e-03 9.92473903e-01 2.67110116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.987105680999996 meters Centerline goodness [0,1] 0.9999581020215774 Centerline is valid? [True, True] Translation: X:22.93, Y:1.21, Z:2.67 [[ 9.90320651e-01 -6.65480181e-02 -1.21804636e-01 2.29292714e+01] [ 6.57958898e-02 9.97781059e-01 -1.01911025e-02 1.21002747e+00] [ 1.22212556e-01 2.07821489e-03 9.92501774e-01 2.67329589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017105680999997 meters Centerline goodness [0,1] 0.9998535289071164 Centerline is valid? [True, True] Translation: X:22.96, Y:1.21, Z:2.68 [[ 9.90229527e-01 -6.90008427e-02 -1.21179071e-01 2.29576080e+01] [ 6.82692200e-02 9.97614957e-01 -1.01838977e-02 1.20862494e+00] [ 1.21592751e-01 1.81159554e-03 9.92578421e-01 2.67551034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.047105680999998 meters Centerline goodness [0,1] 0.9998534859869812 Centerline is valid? [True, True] Translation: X:22.99, Y:1.21, Z:2.68 [[ 9.90067794e-01 -7.34987563e-02 -1.19848640e-01 2.29857157e+01] [ 7.28141716e-02 9.97294512e-01 -1.00872243e-02 1.20747430e+00] [ 1.20265789e-01 1.26035646e-03 9.92740929e-01 2.68143725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077105680999995 meters Centerline goodness [0,1] 0.999664647565551 Centerline is valid? [True, True] Translation: X:23.01, Y:1.20, Z:2.69 [[ 9.89196827e-01 -8.54187081e-02 -1.19135561e-01 2.30142808e+01] [ 8.48235311e-02 9.96345132e-01 -1.00670716e-02 1.20076684e+00] [ 1.19560052e-01 -1.47183640e-04 9.92826960e-01 2.68945385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.107105680999997 meters Centerline goodness [0,1] 0.9995397489539749 Centerline is valid? [True, True] Translation: X:23.04, Y:1.19, Z:2.69 [[ 9.88248468e-01 -9.57206417e-02 -1.19174345e-01 2.30424050e+01] [ 9.51949461e-02 9.95407316e-01 -1.01092848e-02 1.19209998e+00] [ 1.19594682e-01 -1.35431008e-03 9.92821876e-01 2.69144055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137105680999998 meters Centerline goodness [0,1] 0.999434128348074 Centerline is valid? [True, True] Translation: X:23.07, Y:1.19, Z:2.69 [[ 9.87471071e-01 -1.01029188e-01 -1.21218760e-01 2.30723156e+01] [ 1.00522818e-01 9.94881425e-01 -1.03011126e-02 1.18640077e+00] [ 1.21639006e-01 -2.01320067e-03 9.92572365e-01 2.68989600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.167105680999995 meters Centerline goodness [0,1] 0.9994558050945015 Centerline is valid? [True, True] Translation: X:23.10, Y:1.19, Z:2.69 [[ 9.87482780e-01 -1.00374832e-01 -1.21666155e-01 2.31000394e+01] [ 9.98548266e-02 9.94947880e-01 -1.03792568e-02 1.18882561e+00] [ 1.22093299e-01 -1.89961550e-03 9.92516810e-01 2.69220816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197105680999996 meters Centerline goodness [0,1] 0.9995589069293621 Centerline is valid? [True, True] Translation: X:23.13, Y:1.20, Z:2.70 [[ 9.88422235e-01 -9.13955160e-02 -1.21112943e-01 2.31268571e+01] [ 9.08075544e-02 9.95814395e-01 -1.03767980e-02 1.20176844e+00] [ 1.21554404e-01 -7.41312237e-04 9.92584494e-01 2.69870278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.227105680999998 meters Centerline goodness [0,1] 0.9996445819656709 Centerline is valid? [True, True] Translation: X:23.15, Y:1.21, Z:2.70 [[ 9.89056526e-01 -8.50134851e-02 -1.20581492e-01 2.31536940e+01] [ 8.43786764e-02 9.96379797e-01 -1.03700707e-02 1.21178739e+00] [ 1.21026558e-01 8.20794150e-05 9.92649266e-01 2.70361884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257105680999995 meters Centerline goodness [0,1] 0.9995610551398353 Centerline is valid? [True, True] Translation: X:23.18, Y:1.22, Z:2.70 [[ 9.89744614e-01 -7.50489690e-02 -1.21545262e-01 2.31813231e+01] [ 7.43270563e-02 9.97178966e-01 -1.04689367e-02 1.22462867e+00] [ 1.21988061e-01 1.32747225e-03 9.92530680e-01 2.70483917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.287105680999996 meters Centerline goodness [0,1] 0.9997275432787023 Centerline is valid? [True, True] Translation: X:23.21, Y:1.23, Z:2.70 [[ 9.89595107e-01 -7.37967662e-02 -1.23513403e-01 2.32099604e+01] [ 7.30365513e-02 9.97272103e-01 -1.06777276e-02 1.22502347e+00] [ 1.23964453e-01 1.54563392e-03 9.92285456e-01 2.70387971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317105680999997 meters Centerline goodness [0,1] 0.9998533540034357 Centerline is valid? [True, True] Translation: X:23.24, Y:1.22, Z:2.70 [[ 9.88966826e-01 -7.75929873e-02 -1.26190120e-01 2.32386088e+01] [ 7.68277484e-02 9.96984500e-01 -1.09272517e-02 1.22296821e+00] [ 1.26657472e-01 1.11178667e-03 9.91945890e-01 2.70433449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.347105680999995 meters Centerline goodness [0,1] 0.9998541970422828 Centerline is valid? [True, True] Translation: X:23.27, Y:1.22, Z:2.71 [[ 9.88623484e-01 -7.92861020e-02 -1.27817533e-01 2.32667381e+01] [ 7.85090625e-02 9.96851446e-01 -1.11139883e-02 1.22454247e+00] [ 1.28296277e-01 9.52715204e-04 9.91735427e-01 2.70642083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377105680999996 meters Centerline goodness [0,1] 0.9998118296431036 Centerline is valid? [True, True] Translation: X:23.29, Y:1.23, Z:2.71 [[ 9.88146077e-01 -8.23398843e-02 -1.29566485e-01 2.32945803e+01] [ 8.15649635e-02 9.96604136e-01 -1.12850983e-02 1.22543660e+00] [ 1.30055709e-01 5.83239945e-04 9.91506517e-01 2.70901921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.407105680999997 meters Centerline goodness [0,1] 0.9997486331929869 Centerline is valid? [True, True] Translation: X:23.32, Y:1.22, Z:2.71 [[ 9.88019311e-01 -8.49735535e-02 -1.28830653e-01 2.33233089e+01] [ 8.42235627e-02 9.96383167e-01 -1.12683736e-02 1.22468976e+00] [ 1.29322208e-01 2.82794171e-04 9.91602585e-01 2.71345776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437105680999995 meters Centerline goodness [0,1] 0.9995801230239539 Centerline is valid? [True, True] Translation: X:23.35, Y:1.22, Z:2.72 [[ 9.87747023e-01 -9.15244053e-02 -1.26408475e-01 2.33516851e+01] [ 9.08508227e-02 9.95802695e-01 -1.10959327e-02 1.21815259e+00] [ 1.26893449e-01 -5.24339499e-04 9.91916215e-01 2.71826105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.467105680999996 meters Centerline goodness [0,1] 0.9996024522419601 Centerline is valid? [True, True] Translation: X:23.38, Y:1.21, Z:2.73 [[ 9.87457177e-01 -9.88936077e-02 -1.23078749e-01 2.33803900e+01] [ 9.83101672e-02 9.95097005e-01 -1.08195175e-02 1.21478525e+00] [ 1.23545276e-01 -1.41608226e-03 9.92337926e-01 2.72660781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497105680999997 meters Centerline goodness [0,1] 0.9993517492315092 Centerline is valid? [True, True] Translation: X:23.41, Y:1.22, Z:2.73 [[ 9.87249441e-01 -1.02148248e-01 -1.22083071e-01 2.34083941e+01] [ 1.01594181e-01 9.94767614e-01 -1.07711157e-02 1.21703690e+00] [ 1.22544536e-01 -1.76915168e-03 9.92461438e-01 2.73136249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.527105681 meters Centerline goodness [0,1] 0.9994341046277666 Centerline is valid? [True, True] Translation: X:23.44, Y:1.22, Z:2.74 [[ 9.86909867e-01 -1.05666044e-01 -1.21834320e-01 2.34367146e+01] [ 1.05136037e-01 9.94399324e-01 -1.07888302e-02 1.21950988e+00] [ 1.22291978e-01 -2.16157463e-03 9.92491813e-01 2.73593505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557105680999996 meters Centerline goodness [0,1] 0.9994957983193278 Centerline is valid? [True, True] Translation: X:23.46, Y:1.22, Z:2.74 [[ 9.86605287e-01 -1.07813563e-01 -1.22418309e-01 2.34648683e+01] [ 1.07289948e-01 9.94168235e-01 -1.08806452e-02 1.22191607e+00] [ 1.22877475e-01 -2.39935185e-03 9.92418948e-01 2.73827653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.587105680999997 meters Centerline goodness [0,1] 0.9992453779398818 Centerline is valid? [True, True] Translation: X:23.49, Y:1.22, Z:2.74 [[ 9.86400217e-01 -1.11252840e-01 -1.20985198e-01 2.34926581e+01] [ 1.10762537e-01 9.93788312e-01 -1.07912496e-02 1.22350260e+00] [ 1.21434233e-01 -2.75613651e-03 9.92595653e-01 2.74120133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617105680999998 meters Centerline goodness [0,1] 0.9990350325152088 Centerline is valid? [True, True] Translation: X:23.52, Y:1.23, Z:2.75 [[ 9.86383081e-01 -1.12830582e-01 -1.19656493e-01 2.35193100e+01] [ 1.12360905e-01 9.93609998e-01 -1.06864170e-02 1.22769275e+00] [ 1.20097642e-01 -2.90381082e-03 9.92757838e-01 2.74711681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.647105680999996 meters Centerline goodness [0,1] 0.9991610034398859 Centerline is valid? [True, True] Translation: X:23.55, Y:1.24, Z:2.75 [[ 9.86514467e-01 -1.11779893e-01 -1.19559445e-01 2.35472278e+01] [ 1.11301534e-01 9.93729160e-01 -1.06923063e-02 1.23830656e+00] [ 1.20004892e-01 -2.75903477e-03 9.92769466e-01 2.75071239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677105680999997 meters Centerline goodness [0,1] 0.9992458363883943 Centerline is valid? [True, True] Translation: X:23.57, Y:1.24, Z:2.76 [[ 9.86825548e-01 -1.10205529e-01 -1.18448632e-01 2.35745716e+01] [ 1.09720117e-01 9.93905663e-01 -1.06314830e-02 1.24161269e+00] [ 1.18898414e-01 -2.50477875e-03 9.92903265e-01 2.75509005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.707105680999998 meters Centerline goodness [0,1] 0.9991418824169614 Centerline is valid? [True, True] Translation: X:23.60, Y:1.25, Z:2.76 [[ 9.87368362e-01 -1.06319469e-01 -1.17472922e-01 2.36014806e+01] [ 1.05812230e-01 9.94330012e-01 -1.05640559e-02 1.25255091e+00] [ 1.17930017e-01 -1.99945733e-03 9.93019896e-01 2.76027149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737105680999996 meters Centerline goodness [0,1] 0.9990766002098636 Centerline is valid? [True, True] Translation: X:23.63, Y:1.26, Z:2.76 [[ 9.87415308e-01 -1.03576837e-01 -1.19510869e-01 2.36300368e+01] [ 1.03027470e-01 9.94620061e-01 -1.07831103e-02 1.26487894e+00] [ 1.19984788e-01 -1.66549428e-03 9.92774333e-01 2.76199636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.767105680999997 meters Centerline goodness [0,1] 0.9990556733049336 Centerline is valid? [True, True] Translation: X:23.66, Y:1.27, Z:2.76 [[ 9.87275412e-01 -1.02266418e-01 -1.21773727e-01 2.36579769e+01] [ 1.01685319e-01 9.94755870e-01 -1.09933825e-02 1.26917504e+00] [ 1.22259384e-01 -1.52910401e-03 9.92497005e-01 2.76138711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797105680999998 meters Centerline goodness [0,1] 0.9991464201694669 Centerline is valid? [True, True] Translation: X:23.69, Y:1.28, Z:2.76 [[ 9.87318251e-01 -9.82021971e-02 -1.24735720e-01 2.36861399e+01] [ 9.75580118e-02 9.95165945e-01 -1.12772560e-02 1.27829906e+00] [ 1.25240192e-01 -1.03472817e-03 9.92125911e-01 2.75933529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.827105680999995 meters Centerline goodness [0,1] 0.9991211366632489 Centerline is valid? [True, True] Translation: X:23.71, Y:1.29, Z:2.76 [[ 9.87281388e-01 -9.58760093e-02 -1.26819758e-01 2.37133752e+01] [ 9.51854771e-02 9.95393032e-01 -1.15081558e-02 1.28578879e+00] [ 1.27338860e-01 -7.09611148e-04 9.91859018e-01 2.76009015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857105680999997 meters Centerline goodness [0,1] 0.999098003020641 Centerline is valid? [True, True] Translation: X:23.74, Y:1.30, Z:2.76 [[ 9.87427055e-01 -9.02359532e-02 -1.29789380e-01 2.37412156e+01] [ 8.94575461e-02 9.95920413e-01 -1.18270565e-02 1.30128684e+00] [ 1.30327119e-01 6.77161061e-05 9.91471047e-01 2.75977917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.887105680999998 meters Centerline goodness [0,1] 0.9994972558548745 Centerline is valid? [True, True] Translation: X:23.77, Y:1.31, Z:2.76 [[ 9.88165631e-01 -8.36199178e-02 -1.28593918e-01 2.37682716e+01] [ 8.27945557e-02 9.96497246e-01 -1.17601472e-02 1.31448654e+00] [ 1.29126868e-01 9.74097018e-04 9.91627603e-01 2.76334333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917105680999995 meters Centerline goodness [0,1] 0.9996232102486813 Centerline is valid? [True, True] Translation: X:23.80, Y:1.32, Z:2.76 [[ 9.88418727e-01 -7.86288560e-02 -1.29791842e-01 2.37960172e+01] [ 7.77398571e-02 9.96902540e-01 -1.19096518e-02 1.32323553e+00] [ 1.30326260e-01 1.68172364e-03 9.91469736e-01 2.76366284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.947105680999996 meters Centerline goodness [0,1] 0.9997064435637751 Centerline is valid? [True, True] Translation: X:23.82, Y:1.33, Z:2.77 [[ 9.88425522e-01 -7.70524137e-02 -1.30682488e-01 2.38232494e+01] [ 7.61353470e-02 9.97025198e-01 -1.20067953e-02 1.32848522e+00] [ 1.31218886e-01 1.91826637e-03 9.91351564e-01 2.76531799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977105680999998 meters Centerline goodness [0,1] 0.9998535105158523 Centerline is valid? [True, True] Translation: X:23.85, Y:1.34, Z:2.77 [[ 9.88712918e-01 -7.54313649e-02 -1.29448345e-01 2.38499232e+01] [ 7.45157436e-02 9.97148724e-01 -1.19090813e-02 1.33501737e+00] [ 1.29977570e-01 2.12872283e-03 9.91514649e-01 2.77074297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.007105680999995 meters Centerline goodness [0,1] 0.9997484962169639 Centerline is valid? [True, True] Translation: X:23.88, Y:1.34, Z:2.78 [[ 9.88802579e-01 -7.72836224e-02 -1.27658537e-01 2.38782906e+01] [ 7.64056853e-02 9.97007372e-01 -1.17673503e-02 1.33628714e+00] [ 1.28185926e-01 1.88174828e-03 9.91748369e-01 2.77631726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037105680999996 meters Centerline goodness [0,1] 0.9993511658085311 Centerline is valid? [True, True] Translation: X:23.91, Y:1.33, Z:2.79 [[ 9.88750406e-01 -8.50455551e-02 -1.23044257e-01 2.39064358e+01] [ 8.42856115e-02 9.96376676e-01 -1.13778161e-02 1.32889029e+00] [ 1.23566060e-01 8.78959885e-04 9.92335959e-01 2.78555841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.067105680999997 meters Centerline goodness [0,1] 0.999020139265313 Centerline is valid? [True, True] Translation: X:23.94, Y:1.32, Z:2.79 [[ 9.88090263e-01 -9.56872112e-02 -1.20505563e-01 2.39356387e+01] [ 9.50357712e-02 9.95411358e-01 -1.11548107e-02 1.31931042e+00] [ 1.21019979e-01 -4.30379301e-04 9.92649978e-01 2.79344527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097105680999995 meters Centerline goodness [0,1] 0.9990794208720395 Centerline is valid? [True, True] Translation: X:23.96, Y:1.32, Z:2.80 [[ 9.87480037e-01 -1.01257055e-01 -1.20955301e-01 2.39638748e+01] [ 1.00637795e-01 9.94859710e-01 -1.12334971e-02 1.31516467e+00] [ 1.21471027e-01 -1.07982073e-03 9.92594390e-01 2.79557729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.127105680999996 meters Centerline goodness [0,1] 0.9988044800536935 Centerline is valid? [True, True] Translation: X:23.99, Y:1.30, Z:2.80 [[ 9.86304803e-01 -1.13853054e-01 -1.19332805e-01 2.39942913e+01] [ 1.13339741e-01 9.93494263e-01 -1.11019387e-02 1.30128617e+00] [ 1.19820447e-01 -2.57525372e-03 9.92792238e-01 2.79875650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157105680999997 meters Centerline goodness [0,1] 0.9990161806878363 Centerline is valid? [True, True] Translation: X:24.03, Y:1.29, Z:2.81 [[ 9.84916864e-01 -1.26919596e-01 -1.17601817e-01 2.40250818e+01] [ 1.26512722e-01 9.91904558e-01 -1.09489196e-02 1.28868997e+00] [ 1.18039411e-01 -4.09435044e-03 9.93000470e-01 2.80564050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.187105680999995 meters Centerline goodness [0,1] 0.9988478055933802 Centerline is valid? [True, True] Translation: X:24.05, Y:1.28, Z:2.81 [[ 9.84135951e-01 -1.31747166e-01 -1.18823876e-01 2.40543536e+01] [ 1.31366714e-01 9.91272107e-01 -1.10633088e-02 1.28242173e+00] [ 1.19244354e-01 -4.72170213e-03 9.92853710e-01 2.80964939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217105680999996 meters Centerline goodness [0,1] 0.9987462387161484 Centerline is valid? [True, True] Translation: X:24.08, Y:1.28, Z:2.81 [[ 9.83498197e-01 -1.35068520e-01 -1.20365239e-01 2.40839023e+01] [ 1.34701864e-01 9.90822703e-01 -1.12151612e-02 1.28484548e+00] [ 1.20775427e-01 -5.18333127e-03 9.92666323e-01 2.81273994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.247105680999997 meters Centerline goodness [0,1] 0.9990383610327166 Centerline is valid? [True, True] Translation: X:24.11, Y:1.29, Z:2.81 [[ 9.83584199e-01 -1.33700984e-01 -1.21186513e-01 2.41135386e+01] [ 1.33318314e-01 9.91008879e-01 -1.12972549e-02 1.28809740e+00] [ 1.21607365e-01 -5.04458024e-03 9.92565464e-01 2.81430549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277105680999995 meters Centerline goodness [0,1] 0.999141037459147 Centerline is valid? [True, True] Translation: X:24.14, Y:1.29, Z:2.82 [[ 9.84301872e-01 -1.26902298e-01 -1.22660634e-01 2.41418176e+01] [ 1.26456996e-01 9.91906115e-01 -1.14405690e-02 1.29437541e+00] [ 1.23119667e-01 -4.25032182e-03 9.92382730e-01 2.81505502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.307105680999996 meters Centerline goodness [0,1] 0.9989737145250812 Centerline is valid? [True, True] Translation: X:24.17, Y:1.31, Z:2.82 [[ 9.85302274e-01 -1.19539555e-01 -1.22023453e-01 2.41706234e+01] [ 1.19041629e-01 9.92823941e-01 -1.13891564e-02 1.30697890e+00] [ 1.22509260e-01 -3.30410882e-03 9.92461870e-01 2.82049468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337105680999997 meters Centerline goodness [0,1] 0.9990987025508814 Centerline is valid? [True, True] Translation: X:24.20, Y:1.32, Z:2.83 [[ 9.86563894e-01 -1.11896529e-01 -1.19041379e-01 2.41993605e+01] [ 1.11366874e-01 9.93717218e-01 -1.11135401e-02 1.31777718e+00] [ 1.19537035e-01 -2.29304880e-03 9.92827094e-01 2.82784076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.367105680999998 meters Centerline goodness [0,1] 0.9990985891872629 Centerline is valid? [True, True] Translation: X:24.23, Y:1.32, Z:2.83 [[ 9.86927883e-01 -1.08682977e-01 -1.19001527e-01 2.42287414e+01] [ 1.08130056e-01 9.94074645e-01 -1.11126747e-02 1.32413910e+00] [ 1.19504160e-01 -1.90023330e-03 9.92831882e-01 2.83101908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397105680999996 meters Centerline goodness [0,1] 0.9992257146444565 Centerline is valid? [True, True] Translation: X:24.26, Y:1.33, Z:2.83 [[ 9.87249354e-01 -1.03438271e-01 -1.20992712e-01 2.42575515e+01] [ 1.02826687e-01 9.94635050e-01 -1.13044005e-02 1.33150955e+00] [ 1.21512900e-01 -1.28101762e-03 9.92589026e-01 2.83002309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.427105680999997 meters Centerline goodness [0,1] 0.9994555771928723 Centerline is valid? [True, True] Translation: X:24.29, Y:1.35, Z:2.83 [[ 9.87865644e-01 -9.38871705e-02 -1.23720126e-01 2.42850500e+01] [ 9.31719051e-02 9.95582839e-01 -1.15674929e-02 1.34605914e+00] [ 1.24259674e-01 -1.00111024e-04 9.92249728e-01 2.83111999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457105680999998 meters Centerline goodness [0,1] 0.9997083819363439 Centerline is valid? [True, True] Translation: X:24.31, Y:1.37, Z:2.83 [[ 9.89251816e-01 -7.90995919e-02 -1.22980078e-01 2.43111800e+01] [ 7.82742076e-02 9.96865119e-01 -1.15361943e-02 1.36525245e+00] [ 1.23507058e-01 1.78603303e-03 9.92342086e-01 2.83430327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.487105680999996 meters Centerline goodness [0,1] 0.9998119947358526 Centerline is valid? [True, True] Translation: X:24.34, Y:1.37, Z:2.84 [[ 9.89780601e-01 -7.30914616e-02 -1.22441827e-01 2.43387328e+01] [ 7.22255949e-02 9.97322007e-01 -1.15012212e-02 1.37317264e+00] [ 1.22954570e-01 2.54025185e-03 9.92409049e-01 2.83841771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517105680999997 meters Centerline goodness [0,1] 0.999832285115304 Centerline is valid? [True, True] Translation: X:24.37, Y:1.38, Z:2.84 [[ 9.90299796e-01 -6.39070079e-02 -1.23378310e-01 2.43680628e+01] [ 6.29519326e-02 9.97948819e-01 -1.16279521e-02 1.38459045e+00] [ 1.23868347e-01 3.74825548e-03 9.92291582e-01 2.83956483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.547105680999998 meters Centerline goodness [0,1] 0.9998330028180774 Centerline is valid? [True, True] Translation: X:24.40, Y:1.39, Z:2.84 [[ 9.90382797e-01 -6.15743087e-02 -1.23897213e-01 2.43953449e+01] [ 6.05924934e-02 9.98094240e-01 -1.16806479e-02 1.39000143e+00] [ 1.24380322e-01 4.06107172e-03 9.92226306e-01 2.84115496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577105680999995 meters Centerline goodness [0,1] 0.999853024544901 Centerline is valid? [True, True] Translation: X:24.42, Y:1.39, Z:2.84 [[ 9.90303764e-01 -6.16009013e-02 -1.24514189e-01 2.44245641e+01] [ 6.06073125e-02 9.98092460e-01 -1.17556516e-02 1.39159787e+00] [ 1.25000831e-01 4.09519567e-03 9.92148185e-01 2.84182518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.607105680999997 meters Centerline goodness [0,1] 0.9998108687429076 Centerline is valid? [True, True] Translation: X:24.45, Y:1.39, Z:2.84 [[ 9.89886863e-01 -6.54545819e-02 -1.25855858e-01 2.44536463e+01] [ 6.44652853e-02 9.97848734e-01 -1.19218344e-02 1.38653122e+00] [ 1.26365447e-01 3.68793345e-03 9.91976901e-01 2.84309722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637105680999998 meters Centerline goodness [0,1] 0.9998542031158877 Centerline is valid? [True, True] Translation: X:24.48, Y:1.39, Z:2.85 [[ 9.89640724e-01 -6.87146611e-02 -1.26053689e-01 2.44813130e+01] [ 6.77469694e-02 9.97630932e-01 -1.19529344e-02 1.38516683e+00] [ 1.26576401e-01 3.28935524e-03 9.91951407e-01 2.84551732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.667105680999995 meters Centerline goodness [0,1] 0.9996012759170654 Centerline is valid? [True, True] Translation: X:24.51, Y:1.38, Z:2.85 [[ 9.89298776e-01 -7.57597209e-02 -1.24693209e-01 2.45120124e+01] [ 7.48668757e-02 9.97123273e-01 -1.18376321e-02 1.37683687e+00] [ 1.25231316e-01 2.37556402e-03 9.92124727e-01 2.85210272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697105680999996 meters Centerline goodness [0,1] 0.9996012759170654 Centerline is valid? [True, True] Translation: X:24.54, Y:1.38, Z:2.86 [[ 9.89270849e-01 -7.61244918e-02 -1.24692617e-01 2.45390696e+01] [ 7.52337471e-02 9.97095585e-01 -1.18438596e-02 1.37962665e+00] [ 1.25232066e-01 2.33569224e-03 9.92124727e-01 2.85527042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.727105680999998 meters Centerline goodness [0,1] 0.9996873306374287 Centerline is valid? [True, True] Translation: X:24.57, Y:1.38, Z:2.86 [[ 9.88964387e-01 -8.06126750e-02 -1.24302200e-01 2.45675877e+01] [ 7.97570469e-02 9.96743863e-01 -1.18526458e-02 1.37542016e+00] [ 1.24852929e-01 1.80786823e-03 9.92173613e-01 2.85869898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757105680999995 meters Centerline goodness [0,1] 0.9996850129144705 Centerline is valid? [True, True] Translation: X:24.60, Y:1.38, Z:2.86 [[ 9.88697931e-01 -8.27284530e-02 -1.25029616e-01 2.45967155e+01] [ 8.18744329e-02 9.96570857e-01 -1.19626295e-02 1.37521482e+00] [ 1.25590522e-01 1.59069809e-03 9.92080889e-01 2.86059484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.787105680999996 meters Centerline goodness [0,1] 0.9995403067407748 Centerline is valid? [True, True] Translation: X:24.62, Y:1.37, Z:2.86 [[ 9.88355938e-01 -8.65416764e-02 -1.25152218e-01 2.46243643e+01] [ 8.57115120e-02 9.96247572e-01 -1.20129961e-02 1.37286899e+00] [ 1.25722219e-01 1.14613020e-03 9.92064822e-01 2.86380959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817105680999997 meters Centerline goodness [0,1] 0.9994962005121961 Centerline is valid? [True, True] Translation: X:24.65, Y:1.37, Z:2.87 [[ 9.88190309e-01 -8.95976028e-02 -1.24306812e-01 2.46526946e+01] [ 8.87999262e-02 9.95977746e-01 -1.19542276e-02 1.37248464e+00] [ 1.24877889e-01 7.74616108e-04 9.92171816e-01 2.86898158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.847105680999995 meters Centerline goodness [0,1] 0.9995615591790717 Centerline is valid? [True, True] Translation: X:24.68, Y:1.37, Z:2.88 [[ 9.88351300e-01 -9.19803285e-02 -1.21249032e-01 2.46805795e+01] [ 9.12347208e-02 9.95760699e-01 -1.16985789e-02 1.37139901e+00] [ 1.21811060e-01 5.00184073e-04 9.92553180e-01 2.87570258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877105680999996 meters Centerline goodness [0,1] 0.9997091271737549 Centerline is valid? [True, True] Translation: X:24.71, Y:1.37, Z:2.88 [[ 9.88008924e-01 -9.18303795e-02 -1.24119085e-01 2.47088435e+01] [ 9.10427868e-02 9.95774501e-01 -1.20147875e-02 1.37309553e+00] [ 1.24697942e-01 5.70569855e-04 9.92194587e-01 2.87629107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.907105680999997 meters Centerline goodness [0,1] 0.9995183145196758 Centerline is valid? [True, True] Translation: X:24.74, Y:1.37, Z:2.88 [[ 9.87511346e-01 -9.19197168e-02 -1.27953535e-01 2.47378999e+01] [ 9.10801305e-02 9.95766240e-01 -1.24098838e-02 1.37343895e+00] [ 1.28552524e-01 6.00876339e-04 9.91702520e-01 2.87560678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937105680999995 meters Centerline goodness [0,1] 0.9996012508132385 Centerline is valid? [True, True] Translation: X:24.77, Y:1.37, Z:2.88 [[ 9.87430868e-01 -9.25481650e-02 -1.28121495e-01 2.47655270e+01] [ 9.17061102e-02 9.95708050e-01 -1.24687029e-02 1.37425610e+00] [ 1.28725559e-01 5.62458238e-04 9.91680097e-01 2.87881269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.967105680999996 meters Centerline goodness [0,1] 0.9997694258704174 Centerline is valid? [True, True] Translation: X:24.79, Y:1.37, Z:2.89 [[ 9.87672202e-01 -9.29305432e-02 -1.25966410e-01 2.47930143e+01] [ 9.21141558e-02 9.95672443e-01 -1.23032004e-02 1.37405048e+00] [ 1.26564626e-01 5.48239506e-04 9.91958212e-01 2.88561082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997105680999997 meters Centerline goodness [0,1] 0.9998741874606836 Centerline is valid? [True, True] Translation: X:24.82, Y:1.38, Z:2.89 [[ 9.88043784e-01 -9.10674043e-02 -1.24403410e-01 2.48202100e+01] [ 9.02543908e-02 9.95844414e-01 -1.21674808e-02 1.37598739e+00] [ 1.24994501e-01 7.94049836e-04 9.92157117e-01 2.89254627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.027105680999995 meters Centerline goodness [0,1] 0.9998743639675859 Centerline is valid? [True, True] Translation: X:24.85, Y:1.38, Z:2.90 [[ 9.88175082e-01 -9.02201099e-02 -1.23977175e-01 2.48470491e+01] [ 8.94003118e-02 9.95921403e-01 -1.21714180e-02 1.37879199e+00] [ 1.24569628e-01 9.43893950e-04 9.92210420e-01 2.89582611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057105680999996 meters Centerline goodness [0,1] 0.9998749061796347 Centerline is valid? [True, True] Translation: X:24.87, Y:1.38, Z:2.90 [[ 9.88628645e-01 -8.69444201e-02 -1.22695031e-01 2.48748157e+01] [ 8.61137734e-02 9.96212230e-01 -1.20669232e-02 1.38244183e+00] [ 1.23279442e-01 1.36397381e-03 9.92371059e-01 2.90134137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.087105680999997 meters Centerline goodness [0,1] 0.999895388735459 Centerline is valid? [True, True] Translation: X:24.90, Y:1.39, Z:2.90 [[ 9.88813629e-01 -8.43169913e-02 -1.23037607e-01 2.49020053e+01] [ 8.34564974e-02 9.96437470e-01 -1.21400885e-02 1.38820749e+00] [ 1.23622898e-01 1.73599724e-03 9.92327751e-01 2.90318927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117105680999995 meters Centerline goodness [0,1] 0.9998328667530189 Centerline is valid? [True, True] Translation: X:24.93, Y:1.39, Z:2.90 [[ 9.89325329e-01 -7.93629218e-02 -1.22216692e-01 2.49304156e+01] [ 7.84743146e-02 9.96843007e-01 -1.20748357e-02 1.39322533e+00] [ 1.22789149e-01 2.35506970e-03 9.92429987e-01 2.90431064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.147105680999996 meters Centerline goodness [0,1] 0.999937124054241 Centerline is valid? [True, True] Translation: X:24.96, Y:1.39, Z:2.91 [[ 9.89328568e-01 -7.79030080e-02 -1.23126385e-01 2.49592296e+01] [ 7.69848407e-02 9.96957565e-01 -1.22044597e-02 1.39344669e+00] [ 1.23702545e-01 2.59535552e-03 9.92315950e-01 2.90591081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177105680999997 meters Centerline goodness [0,1] 0.9999370501710138 Centerline is valid? [True, True] Translation: X:24.99, Y:1.40, Z:2.91 [[ 9.89226465e-01 -7.79392867e-02 -1.23921220e-01 2.49871116e+01] [ 7.70044337e-02 9.96954591e-01 -1.23231997e-02 1.39623770e+00] [ 1.24504290e-01 2.64795191e-03 9.92215536e-01 2.90818696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.207105680999998 meters Centerline goodness [0,1] 0.9999371253720082 Centerline is valid? [True, True] Translation: X:25.02, Y:1.40, Z:2.91 [[ 9.89127529e-01 -7.86874335e-02 -1.24237753e-01 2.50150855e+01] [ 7.77514677e-02 9.96896004e-01 -1.23720117e-02 1.39535690e+00] [ 1.24825642e-01 2.57782967e-03 9.92175344e-01 2.91160712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237105680999996 meters Centerline goodness [0,1] 0.9998952462760051 Centerline is valid? [True, True] Translation: X:25.04, Y:1.39, Z:2.92 [[ 9.89121797e-01 -8.12225975e-02 -1.22641596e-01 2.50432607e+01] [ 8.03244163e-02 9.96693393e-01 -1.22584447e-02 1.39210279e+00] [ 1.23231731e-01 2.27398020e-03 9.92375317e-01 2.91546398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.267105680999997 meters Centerline goodness [0,1] 0.9998532463992956 Centerline is valid? [True, True] Translation: X:25.07, Y:1.39, Z:2.92 [[ 9.88863411e-01 -8.43158577e-02 -1.22637638e-01 2.50727354e+01] [ 8.34393781e-02 9.96437257e-01 -1.22744860e-02 1.38670881e+00] [ 1.23235646e-01 1.90498177e-03 9.92375608e-01 2.91992180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297105680999998 meters Centerline goodness [0,1] 0.999748454040457 Centerline is valid? [True, True] Translation: X:25.10, Y:1.39, Z:2.92 [[ 9.88698369e-01 -8.63302745e-02 -1.22566795e-01 2.51015435e+01] [ 8.54651040e-02 9.96265132e-01 -1.23086634e-02 1.38636016e+00] [ 1.23171635e-01 1.69437146e-03 9.92383937e-01 2.92334783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.327105680999995 meters Centerline goodness [0,1] 0.9997485383793299 Centerline is valid? [True, True] Translation: X:25.13, Y:1.38, Z:2.92 [[ 9.88294416e-01 -8.82303763e-02 -1.24457011e-01 2.51297547e+01] [ 8.73477827e-02 9.96098931e-01 -1.25413398e-02 1.38342967e+00] [ 1.25078023e-01 1.52349212e-03 9.92145739e-01 2.92416038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357105680999997 meters Centerline goodness [0,1] 0.9997695756001508 Centerline is valid? [True, True] Translation: X:25.16, Y:1.38, Z:2.92 [[ 9.88089767e-01 -8.77229808e-02 -1.26425043e-01 2.51573770e+01] [ 8.68019517e-02 9.96143525e-01 -1.27866994e-02 1.38445225e+00] [ 1.27059175e-01 1.66046636e-03 9.91893749e-01 2.92483542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.387105680999998 meters Centerline goodness [0,1] 0.9997063450445727 Centerline is valid? [True, True] Translation: X:25.19, Y:1.38, Z:2.93 [[ 9.87873457e-01 -8.75990877e-02 -1.28189054e-01 2.51865928e+01] [ 8.66476291e-02 9.96154315e-01 -1.29910965e-02 1.38301697e+00] [ 1.28834088e-01 1.72628177e-03 9.91664660e-01 2.92522768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417105680999995 meters Centerline goodness [0,1] 0.9997697781498535 Centerline is valid? [True, True] Translation: X:25.22, Y:1.38, Z:2.93 [[ 9.88025965e-01 -8.81969849e-02 -1.26593776e-01 2.52156691e+01] [ 8.72686947e-02 9.96101654e-01 -1.28712974e-02 1.38198586e+00] [ 1.27235479e-01 1.66950242e-03 9.91871134e-01 2.93016327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.447105680999996 meters Centerline goodness [0,1] 0.9997904793831713 Centerline is valid? [True, True] Translation: X:25.24, Y:1.38, Z:2.93 [[ 9.87841828e-01 -9.02871520e-02 -1.26557307e-01 2.52440937e+01] [ 8.93710935e-02 9.95914731e-01 -1.29095689e-02 1.38141515e+00] [ 1.27205855e-01 1.44204722e-03 9.91875290e-01 2.93375471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477105680999998 meters Centerline goodness [0,1] 0.9996865989720446 Centerline is valid? [True, True] Translation: X:25.27, Y:1.37, Z:2.94 [[ 9.87176632e-01 -9.71016868e-02 -1.26702642e-01 2.52726297e+01] [ 9.62342292e-02 9.95274282e-01 -1.29644446e-02 1.37349875e+00] [ 1.27362750e-01 6.05065723e-04 9.91856020e-01 2.93610611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.507105680999995 meters Centerline goodness [0,1] 0.9996447899036753 Centerline is valid? [True, True] Translation: X:25.30, Y:1.36, Z:2.94 [[ 9.86075520e-01 -1.08156906e-01 -1.26321623e-01 2.53005121e+01] [ 1.07382143e-01 9.94133516e-01 -1.29471336e-02 1.36345533e+00] [ 1.26980881e-01 -7.97835043e-04 9.91904844e-01 2.93944983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537105680999996 meters Centerline goodness [0,1] 0.9995604395604396 Centerline is valid? [True, True] Translation: X:25.33, Y:1.36, Z:2.94 [[ 9.85306674e-01 -1.14763819e-01 -1.26491205e-01 2.53297222e+01] [ 1.14038299e-01 9.93391470e-01 -1.29866823e-02 1.36067452e+00] [ 1.27145685e-01 -1.62897713e-03 9.91882715e-01 2.94313077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.567105680999997 meters Centerline goodness [0,1] 0.9996441579101604 Centerline is valid? [True, True] Translation: X:25.36, Y:1.35, Z:2.95 [[ 9.83788899e-01 -1.26703933e-01 -1.26907507e-01 2.53611324e+01] [ 1.26067629e-01 9.91935596e-01 -1.30662665e-02 1.35201331e+00] [ 1.27539621e-01 -3.14448057e-03 9.91828492e-01 2.94556409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597105680999995 meters Centerline goodness [0,1] 0.9997489907335746 Centerline is valid? [True, True] Translation: X:25.39, Y:1.35, Z:2.95 [[ 9.83154033e-01 -1.32025963e-01 -1.26401318e-01 2.53911500e+01] [ 1.31438405e-01 9.91238903e-01 -1.30146811e-02 1.35015268e+00] [ 1.27012180e-01 -3.81855140e-03 9.91893807e-01 2.94949103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.627105680999996 meters Centerline goodness [0,1] 0.9994548580534239 Centerline is valid? [True, True] Translation: X:25.42, Y:1.34, Z:2.95 [[ 9.81899474e-01 -1.41176037e-01 -1.26264599e-01 2.54215320e+01] [ 1.40664212e-01 9.89971931e-01 -1.30060039e-02 1.34086713e+00] [ 1.26834545e-01 -4.99032194e-03 9.91911334e-01 2.95186072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657105680999997 meters Centerline goodness [0,1] 0.9996432543596416 Centerline is valid? [True, True] Translation: X:25.45, Y:1.35, Z:2.96 [[ 9.80733663e-01 -1.48674589e-01 -1.26717594e-01 2.54509240e+01] [ 1.48221183e-01 9.88868089e-01 -1.30530644e-02 1.34715264e+00] [ 1.27247644e-01 -5.98065215e-03 9.91852947e-01 2.95784581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.687105680999995 meters Centerline goodness [0,1] 0.9992754823217687 Centerline is valid? [True, True] Translation: X:25.48, Y:1.35, Z:2.96 [[ 9.80917983e-01 -1.50207017e-01 -1.23441334e-01 2.54775041e+01] [ 1.49788402e-01 9.88636272e-01 -1.27183392e-02 1.34942090e+00] [ 1.23948964e-01 -6.01443252e-03 9.92270367e-01 2.96479312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717105680999996 meters Centerline goodness [0,1] 0.9995805105186988 Centerline is valid? [True, True] Translation: X:25.50, Y:1.36, Z:2.97 [[ 9.81458457e-01 -1.50195677e-01 -1.19082141e-01 2.55049012e+01] [ 1.49803037e-01 9.88639431e-01 -1.22932816e-02 1.35990484e+00] [ 1.19575698e-01 -5.77352125e-03 9.92808299e-01 2.97300551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.747105680999997 meters Centerline goodness [0,1] 0.9994549151973836 Centerline is valid? [True, True] Translation: X:25.53, Y:1.37, Z:2.98 [[ 9.83152602e-01 -1.44541957e-01 -1.11886481e-01 2.55316116e+01] [ 1.44154803e-01 9.89487326e-01 -1.15855330e-02 1.36977765e+00] [ 1.12384851e-01 -4.73862678e-03 9.93653456e-01 2.98388950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777105680999995 meters Centerline goodness [0,1] 0.9993721090855815 Centerline is valid? [True, True] Translation: X:25.56, Y:1.39, Z:2.99 [[ 9.84502261e-01 -1.37631696e-01 -1.08686768e-01 2.55590045e+01] [ 1.37223551e-01 9.90476082e-01 -1.12617863e-02 1.39200515e+00] [ 1.09201623e-01 -3.82713028e-03 9.94012253e-01 2.99093968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.807105680999996 meters Centerline goodness [0,1] 0.9991829209528399 Centerline is valid? [True, True] Translation: X:25.59, Y:1.40, Z:2.99 [[ 9.84843189e-01 -1.34907886e-01 -1.09012637e-01 2.55859058e+01] [ 1.34480482e-01 9.90851842e-01 -1.12972298e-02 1.40100792e+00] [ 1.09539458e-01 -3.53407218e-03 9.93976165e-01 2.99316822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837105680999997 meters Centerline goodness [0,1] 0.9994559872784717 Centerline is valid? [True, True] Translation: X:25.61, Y:1.42, Z:2.99 [[ 9.85257445e-01 -1.27802008e-01 -1.13729568e-01 2.56147730e+01] [ 1.27287261e-01 9.91795624e-01 -1.18065204e-02 1.41617853e+00] [ 1.14305385e-01 -2.84386315e-03 9.93441589e-01 2.98814905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.867105680999995 meters Centerline goodness [0,1] 0.9993286196840316 Centerline is valid? [True, True] Translation: X:25.64, Y:1.43, Z:2.98 [[ 9.85801601e-01 -1.19913465e-01 -1.17541329e-01 2.56440076e+01] [ 1.19307031e-01 9.92782355e-01 -1.22077034e-02 1.43353864e+00] [ 1.18156825e-01 -1.98913339e-03 9.92992955e-01 2.98475813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897105680999996 meters Centerline goodness [0,1] 0.9993932927467102 Centerline is valid? [True, True] Translation: X:25.67, Y:1.44, Z:2.99 [[ 9.86238032e-01 -1.15895764e-01 -1.17909780e-01 2.56719647e+01] [ 1.15256473e-01 9.93260235e-01 -1.22495097e-02 1.44407698e+00] [ 1.18534762e-01 -1.50893304e-03 9.92948757e-01 2.98777736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.927105680999997 meters Centerline goodness [0,1] 0.9993746352038689 Centerline is valid? [True, True] Translation: X:25.70, Y:1.46, Z:2.99 [[ 9.86936160e-01 -1.08243461e-01 -1.19333017e-01 2.56997823e+01] [ 1.07528178e-01 9.94124259e-01 -1.24358195e-02 1.45986931e+00] [ 1.19977943e-01 -5.58301871e-04 9.92776401e-01 2.98899047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957105680999994 meters Centerline goodness [0,1] 0.9996024106470244 Centerline is valid? [True, True] Translation: X:25.73, Y:1.47, Z:2.99 [[ 9.87064842e-01 -1.04978860e-01 -1.21171102e-01 2.57257826e+01] [ 1.04212371e-01 9.94474445e-01 -1.26633010e-02 1.46814961e+00] [ 1.21830943e-01 -1.28028582e-04 9.92550858e-01 2.99024617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.987105680999996 meters Centerline goodness [0,1] 0.999665222940598 Centerline is valid? [True, True] Translation: X:25.75, Y:1.48, Z:2.99 [[ 9.87726503e-01 -9.84073016e-02 -1.21294511e-01 2.57531226e+01] [ 9.75860824e-02 9.95145966e-01 -1.27068341e-02 1.48170830e+00] [ 1.21956188e-01 7.14220651e-04 9.92535228e-01 2.99321782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017105680999997 meters Centerline goodness [0,1] 0.9995389193947269 Centerline is valid? [True, True] Translation: X:25.78, Y:1.49, Z:2.99 [[ 9.88484952e-01 -9.13357974e-02 -1.20645231e-01 2.57797579e+01] [ 9.04664336e-02 9.95818841e-01 -1.26751769e-02 1.49267259e+00] [ 1.21298491e-01 1.61487790e-03 9.92614763e-01 2.99416379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.047105680999998 meters Centerline goodness [0,1] 0.9997064127836263 Centerline is valid? [True, True] Translation: X:25.81, Y:1.50, Z:3.00 [[ 9.89003536e-01 -8.72223898e-02 -1.19433082e-01 2.58079681e+01] [ 8.63388983e-02 9.96186626e-01 -1.25618681e-02 1.49756820e+00] [ 1.20073315e-01 2.11201118e-03 9.92762780e-01 2.99759107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077105680999995 meters Centerline goodness [0,1] 0.9998740104571321 Centerline is valid? [True, True] Translation: X:25.84, Y:1.50, Z:3.00 [[ 9.88986216e-01 -8.65169206e-02 -1.20087834e-01 2.58351497e+01] [ 8.56137598e-02 9.96247843e-01 -1.26696195e-02 1.50287753e+00] [ 1.20733382e-01 2.24890808e-03 9.92682423e-01 2.99971080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.107105680999997 meters Centerline goodness [0,1] 0.9996646264777396 Centerline is valid? [True, True] Translation: X:25.86, Y:1.50, Z:3.00 [[ 9.88682833e-01 -8.79916671e-02 -1.21506060e-01 2.58636649e+01] [ 8.70760436e-02 9.96118976e-01 -1.28354084e-02 1.50202731e+00] [ 1.22163901e-01 2.10988093e-03 9.92507698e-01 3.00115910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137105680999998 meters Centerline goodness [0,1] 0.9999161548619699 Centerline is valid? [True, True] Translation: X:25.89, Y:1.50, Z:3.00 [[ 9.88550592e-01 -8.90302695e-02 -1.21825027e-01 2.58913786e+01] [ 8.81120033e-02 9.96026846e-01 -1.29149611e-02 1.50402069e+00] [ 1.22490820e-01 2.03284527e-03 9.92467564e-01 3.00287053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.167105680999995 meters Centerline goodness [0,1] 0.9997490274814907 Centerline is valid? [True, True] Translation: X:25.92, Y:1.50, Z:3.01 [[ 9.88291934e-01 -9.30868901e-02 -1.20887900e-01 2.59212366e+01] [ 9.22102369e-02 9.95656797e-01 -1.28380212e-02 1.49668085e+00] [ 1.21557911e-01 1.54061089e-03 9.92583146e-01 3.00667913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197105680999996 meters Centerline goodness [0,1] 0.9997904354750827 Centerline is valid? [True, True] Translation: X:25.95, Y:1.49, Z:3.01 [[ 9.87467997e-01 -1.01973218e-01 -1.20450896e-01 2.59505474e+01] [ 1.01164403e-01 9.94787028e-01 -1.28270016e-02 1.48581875e+00] [ 1.21131000e-01 4.80910493e-04 9.92636414e-01 3.01228260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.227105680999998 meters Centerline goodness [0,1] 0.9997693436779199 Centerline is valid? [True, True] Translation: X:25.98, Y:1.48, Z:3.02 [[ 9.86987352e-01 -1.06523246e-01 -1.20452338e-01 2.59784139e+01] [ 1.05743349e-01 9.94310211e-01 -1.28665296e-02 1.48252232e+00] [ 1.21137575e-01 -3.79316913e-05 9.92635727e-01 3.01570282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257105680999995 meters Centerline goodness [0,1] 0.9997082482390697 Centerline is valid? [True, True] Translation: X:26.01, Y:1.47, Z:3.02 [[ 9.85804891e-01 -1.15052108e-01 -1.22277265e-01 2.60068690e+01] [ 1.14311712e-01 9.93358863e-01 -1.30767317e-02 1.47263762e+00] [ 1.22969711e-01 -1.08661744e-03 9.92409829e-01 3.01766976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.287105680999996 meters Centerline goodness [0,1] 0.9995600343592215 Centerline is valid? [True, True] Translation: X:26.04, Y:1.47, Z:3.02 [[ 9.85152350e-01 -1.19382517e-01 -1.23380149e-01 2.60361653e+01] [ 1.18659255e-01 9.92847019e-01 -1.32203762e-02 1.46960774e+00] [ 1.24075894e-01 -1.61611183e-03 9.92271415e-01 3.02023705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317105680999997 meters Centerline goodness [0,1] 0.9996231313596583 Centerline is valid? [True, True] Translation: X:26.07, Y:1.46, Z:3.02 [[ 9.84295628e-01 -1.25383643e-01 -1.24262056e-01 2.60658974e+01] [ 1.24692604e-01 9.92105549e-01 -1.33542149e-02 1.46393938e+00] [ 1.24955475e-01 -2.35006403e-03 9.92159567e-01 3.02260421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.347105680999995 meters Centerline goodness [0,1] 0.9993702109793219 Centerline is valid? [True, True] Translation: X:26.09, Y:1.46, Z:3.03 [[ 9.84090458e-01 -1.29872384e-01 -1.21239983e-01 2.60947718e+01] [ 1.29243723e-01 9.91526739e-01 -1.30685158e-02 1.45920008e+00] [ 1.21909924e-01 -2.80890512e-03 9.92537193e-01 3.02906187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377105680999996 meters Centerline goodness [0,1] 0.9994334515391233 Centerline is valid? [True, True] Translation: X:26.12, Y:1.46, Z:3.03 [[ 9.83905972e-01 -1.31352997e-01 -1.21142184e-01 2.61232924e+01] [ 1.30731665e-01 9.91331269e-01 -1.30975590e-02 1.46047796e+00] [ 1.21812439e-01 -2.95035287e-03 9.92548752e-01 3.03370352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.407105680999997 meters Centerline goodness [0,1] 0.9994776103809265 Centerline is valid? [True, True] Translation: X:26.15, Y:1.47, Z:3.04 [[ 9.83883954e-01 -1.29868934e-01 -1.22908199e-01 2.61505856e+01] [ 1.29212934e-01 9.91527304e-01 -1.33275170e-02 1.46627875e+00] [ 1.23597666e-01 -2.76859893e-03 9.92328550e-01 3.03765556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437105680999995 meters Centerline goodness [0,1] 0.9994764726823445 Centerline is valid? [True, True] Translation: X:26.18, Y:1.48, Z:3.04 [[ 9.84351394e-01 -1.25883173e-01 -1.23311638e-01 2.61771395e+01] [ 1.25189869e-01 9.92042496e-01 -1.33858797e-02 1.47583234e+00] [ 1.24015442e-01 -2.26095849e-03 9.92277712e-01 3.03979483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.467105680999996 meters Centerline goodness [0,1] 0.9996226889699409 Centerline is valid? [True, True] Translation: X:26.21, Y:1.48, Z:3.04 [[ 9.84426102e-01 -1.24479520e-01 -1.24137419e-01 2.62050585e+01] [ 1.23763327e-01 9.92219999e-01 -1.34948787e-02 1.48023712e+00] [ 1.24851465e-01 -2.07894911e-03 9.92173266e-01 3.04014985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497105680999997 meters Centerline goodness [0,1] 0.999495787726633 Centerline is valid? [True, True] Translation: X:26.23, Y:1.49, Z:3.04 [[ 9.84230578e-01 -1.23476736e-01 -1.26663591e-01 2.62323356e+01] [ 1.22720503e-01 9.92345503e-01 -1.37870063e-02 1.48762068e+00] [ 1.27396419e-01 -1.97462642e-03 9.91849915e-01 3.04019981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.527105680999995 meters Centerline goodness [0,1] 0.9995172225603997 Centerline is valid? [True, True] Translation: X:26.26, Y:1.49, Z:3.05 [[ 9.84022935e-01 -1.26574050e-01 -1.25211318e-01 2.62595324e+01] [ 1.25854528e-01 9.91954485e-01 -1.36725172e-02 1.49209718e+00] [ 1.25934514e-01 -2.30434093e-03 9.92035880e-01 3.04664399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557105680999996 meters Centerline goodness [0,1] 0.9993509756301817 Centerline is valid? [True, True] Translation: X:26.29, Y:1.49, Z:3.05 [[ 9.83901281e-01 -1.29451257e-01 -1.23209745e-01 2.62879635e+01] [ 1.28775109e-01 9.91582342e-01 -1.34695979e-02 1.49465825e+00] [ 1.23916264e-01 -2.61359367e-03 9.92289236e-01 3.05331102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.587105680999997 meters Centerline goodness [0,1] 0.9994564308412778 Centerline is valid? [True, True] Translation: X:26.31, Y:1.50, Z:3.06 [[ 9.83820187e-01 -1.33117422e-01 -1.19906594e-01 2.63149087e+01] [ 1.32499723e-01 9.91095869e-01 -1.31454435e-02 1.50052898e+00] [ 1.20588817e-01 -2.95483781e-03 9.92698144e-01 3.06295887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617105680999995 meters Centerline goodness [0,1] 0.9994564308412778 Centerline is valid? [True, True] Translation: X:26.34, Y:1.50, Z:3.07 [[ 9.83770665e-01 -1.33486819e-01 -1.19902239e-01 2.63419491e+01] [ 1.32867027e-01 9.91046168e-01 -1.31850458e-02 1.50371186e+00] [ 1.20588685e-01 -2.95999284e-03 9.92698145e-01 3.06613726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.647105680999996 meters Centerline goodness [0,1] 0.9992877940467961 Centerline is valid? [True, True] Translation: X:26.37, Y:1.51, Z:3.07 [[ 9.83871768e-01 -1.34416591e-01 -1.18019170e-01 2.63688225e+01] [ 1.33817628e-01 9.90920425e-01 -1.30212714e-02 1.50876808e+00] [ 1.18697881e-01 -2.98178409e-03 9.92925940e-01 3.07130825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677105680999997 meters Centerline goodness [0,1] 0.9993708581494841 Centerline is valid? [True, True] Translation: X:26.40, Y:1.52, Z:3.07 [[ 9.83929433e-01 -1.35115249e-01 -1.16733633e-01 2.63957910e+01] [ 1.34531721e-01 9.90825313e-01 -1.29002143e-02 1.51648896e+00] [ 1.17405654e-01 -3.01147596e-03 9.93079475e-01 3.07372756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.707105680999994 meters Centerline goodness [0,1] 0.9992254715203784 Centerline is valid? [True, True] Translation: X:26.42, Y:1.52, Z:3.07 [[ 9.83837132e-01 -1.35343486e-01 -1.17246056e-01 2.64235194e+01] [ 1.34751313e-01 9.90794169e-01 -1.29999358e-02 1.52173830e+00] [ 1.17926166e-01 -3.00924041e-03 9.93017806e-01 3.07448554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737105680999996 meters Centerline goodness [0,1] 0.9993292388957595 Centerline is valid? [True, True] Translation: X:26.45, Y:1.53, Z:3.08 [[ 9.83556898e-01 -1.37290436e-01 -1.17333558e-01 2.64512903e+01] [ 1.36709512e-01 9.90525565e-01 -1.30235777e-02 1.52767594e+00] [ 1.18009902e-01 -3.23118381e-03 9.93007161e-01 3.07787212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.767105680999997 meters Centerline goodness [0,1] 0.9992468146536394 Centerline is valid? [True, True] Translation: X:26.48, Y:1.53, Z:3.08 [[ 9.82858889e-01 -1.41968866e-01 -1.17614817e-01 2.64803938e+01] [ 1.41413984e-01 9.89863966e-01 -1.30925174e-02 1.53396587e+00] [ 1.18281399e-01 -3.76428267e-03 9.92972981e-01 3.08255707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797105680999994 meters Centerline goodness [0,1] 0.9990553759603678 Centerline is valid? [True, True] Translation: X:26.51, Y:1.54, Z:3.09 [[ 9.82498546e-01 -1.43971546e-01 -1.18189683e-01 2.65081698e+01] [ 1.43424963e-01 9.89573664e-01 -1.31621701e-02 1.53818476e+00] [ 1.18852376e-01 -4.01953802e-03 9.92903800e-01 3.08545645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.827105680999995 meters Centerline goodness [0,1] 0.9993077842804103 Centerline is valid? [True, True] Translation: X:26.54, Y:1.54, Z:3.09 [[ 9.82503513e-01 -1.43960922e-01 -1.18161333e-01 2.65367408e+01] [ 1.43413346e-01 9.89575259e-01 -1.31688605e-02 1.54399674e+00] [ 1.18825333e-01 -4.00746041e-03 9.92907086e-01 3.08837280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857105680999997 meters Centerline goodness [0,1] 0.999019934940362 Centerline is valid? [True, True] Translation: X:26.56, Y:1.55, Z:3.09 [[ 9.83003550e-01 -1.39301835e-01 -1.19578506e-01 2.65642906e+01] [ 1.38702039e-01 9.90243966e-01 -1.33653167e-02 1.55445053e+00] [ 1.20273707e-01 -3.44762880e-03 9.92734783e-01 3.08899912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.887105680999998 meters Centerline goodness [0,1] 0.9993706733794839 Centerline is valid? [True, True] Translation: X:26.59, Y:1.57, Z:3.09 [[ 9.84114631e-01 -1.31194132e-01 -1.19609756e-01 2.65925380e+01] [ 1.30533344e-01 9.91353673e-01 -1.33769296e-02 1.57275433e+00] [ 1.20330546e-01 -2.44862926e-03 9.92730862e-01 3.09134937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917105680999995 meters Centerline goodness [0,1] 0.9992687156557531 Centerline is valid? [True, True] Translation: X:26.62, Y:1.59, Z:3.10 [[ 9.85585727e-01 -1.20387416e-01 -1.18859773e-01 2.66205978e+01] [ 1.19656193e-01 9.92726357e-01 -1.32957138e-02 1.59272422e+00] [ 1.19595866e-01 -1.11824210e-03 9.92822028e-01 3.09629410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.947105680999996 meters Centerline goodness [0,1] 0.9993920972644377 Centerline is valid? [True, True] Translation: X:26.65, Y:1.60, Z:3.10 [[ 9.85983985e-01 -1.15051669e-01 -1.20825057e-01 2.66490748e+01] [ 1.14256037e-01 9.93359393e-01 -1.35156885e-02 1.60456553e+00] [ 1.21577708e-01 -4.78739745e-04 9.92581801e-01 3.09761327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977105680999998 meters Centerline goodness [0,1] 0.9995805281151031 Centerline is valid? [True, True] Translation: X:26.68, Y:1.62, Z:3.09 [[ 9.86251382e-01 -1.05226699e-01 -1.27418810e-01 2.66766260e+01] [ 1.04259127e-01 9.94447956e-01 -1.42582364e-02 1.62135947e+00] [ 1.28211722e-01 7.77631441e-04 9.91746515e-01 3.09071589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.007105680999995 meters Centerline goodness [0,1] 0.9998326009625444 Centerline is valid? [True, True] Translation: X:26.70, Y:1.63, Z:3.09 [[ 9.86669557e-01 -9.95848312e-02 -1.28709152e-01 2.67043651e+01] [ 9.85467374e-02 9.95027870e-01 -1.44249005e-02 1.62869951e+00] [ 1.29505695e-01 1.54874317e-03 9.91577469e-01 3.08732155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037105680999996 meters Centerline goodness [0,1] 0.9998536911629462 Centerline is valid? [True, True] Translation: X:26.73, Y:1.63, Z:3.09 [[ 9.86859277e-01 -9.88394016e-02 -1.27826213e-01 2.67316046e+01] [ 9.78061886e-02 9.95102014e-01 -1.43502890e-02 1.63303727e+00] [ 1.28618496e-01 1.65952104e-03 9.91692759e-01 3.09227745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.067105680999997 meters Centerline goodness [0,1] 0.9999370594159114 Centerline is valid? [True, True] Translation: X:26.76, Y:1.64, Z:3.10 [[ 9.86913588e-01 -9.90430519e-02 -1.27247965e-01 2.67589710e+01] [ 9.80148504e-02 9.95081744e-01 -1.43322142e-02 1.63753941e+00] [ 1.28041633e-01 1.67246672e-03 9.91767384e-01 3.09934960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097105680999995 meters Centerline goodness [0,1] 0.9997905276608224 Centerline is valid? [True, True] Translation: X:26.79, Y:1.64, Z:3.10 [[ 9.86838384e-01 -1.00792609e-01 -1.26454947e-01 2.67869057e+01] [ 9.97854584e-02 9.94906351e-01 -1.42903584e-02 1.63904881e+00] [ 1.27251192e-01 1.48390931e-03 9.91869413e-01 3.10332134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.127105680999996 meters Centerline goodness [0,1] 0.9994998020049602 Centerline is valid? [True, True] Translation: X:26.82, Y:1.63, Z:3.11 [[ 9.86302080e-01 -1.07327156e-01 -1.25256092e-01 2.68163486e+01] [ 1.06386318e-01 9.94223528e-01 -1.41960131e-02 1.63201349e+00] [ 1.26056172e-01 6.76022843e-04 9.92022875e-01 3.10833403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157105680999997 meters Centerline goodness [0,1] 0.9993299972781139 Centerline is valid? [True, True] Translation: X:26.85, Y:1.62, Z:3.11 [[ 9.85747825e-01 -1.13619939e-01 -1.24063429e-01 2.68452199e+01] [ 1.12741736e-01 9.93524283e-01 -1.40996210e-02 1.62221332e+00] [ 1.24862027e-01 -8.84554992e-05 9.92174111e-01 3.11175056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.187105680999995 meters Centerline goodness [0,1] 0.9992673532613247 Centerline is valid? [True, True] Translation: X:26.87, Y:1.62, Z:3.12 [[ 9.85704402e-01 -1.15584879e-01 -1.22584536e-01 2.68730577e+01] [ 1.14740709e-01 9.93297556e-01 -1.39475611e-02 1.62150945e+00] [ 1.23375047e-01 -3.17264241e-04 9.92360064e-01 3.11700940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217105680999996 meters Centerline goodness [0,1] 0.9990594038710756 Centerline is valid? [True, True] Translation: X:26.90, Y:1.62, Z:3.13 [[ 9.86305035e-01 -1.16006494e-01 -1.17238525e-01 2.68999486e+01] [ 1.15232686e-01 9.93248406e-01 -1.33803058e-02 1.62330011e+00] [ 1.17999180e-01 -3.12647088e-04 9.93013643e-01 3.12918039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.247105680999997 meters Centerline goodness [0,1] 0.9990229299627882 Centerline is valid? [True, True] Translation: X:26.93, Y:1.63, Z:3.14 [[ 9.86602508e-01 -1.15663448e-01 -1.15054153e-01 2.69292147e+01] [ 1.14913732e-01 9.93288430e-01 -1.31502359e-02 1.62656869e+00] [ 1.15802960e-01 -2.47246283e-04 9.93272175e-01 3.13588143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277105680999995 meters Centerline goodness [0,1] 0.9991004748655942 Centerline is valid? [True, True] Translation: X:26.96, Y:1.62, Z:3.13 [[ 9.86387156e-01 -1.15841784e-01 -1.16709299e-01 2.69579679e+01] [ 1.15070867e-01 9.93267643e-01 -1.33448756e-02 1.62246025e+00] [ 1.17469464e-01 -2.66626233e-04 9.93076459e-01 3.13436852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.307105680999996 meters Centerline goodness [0,1] 0.999038099619422 Centerline is valid? [True, True] Translation: X:26.99, Y:1.62, Z:3.13 [[ 9.85817854e-01 -1.18431864e-01 -1.18899335e-01 2.69867726e+01] [ 1.17648684e-01 9.92962017e-01 -1.36095744e-02 1.62217439e+00] [ 1.19674331e-01 -5.71788855e-04 9.92813038e-01 3.13494809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337105680999997 meters Centerline goodness [0,1] 0.9988159288726397 Centerline is valid? [True, True] Translation: X:27.02, Y:1.62, Z:3.14 [[ 9.85300838e-01 -1.23074235e-01 -1.18469371e-01 2.70163091e+01] [ 1.22325799e-01 9.92396863e-01 -1.35965327e-02 1.61815080e+00] [ 1.19242015e-01 -1.09518537e-03 9.92864614e-01 3.13933140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.367105680999995 meters Centerline goodness [0,1] 0.9988958103293819 Centerline is valid? [True, True] Translation: X:27.04, Y:1.62, Z:3.15 [[ 9.85317957e-01 -1.24571901e-01 -1.16749152e-01 2.70437591e+01] [ 1.23851425e-01 9.92209830e-01 -1.34341991e-02 1.61802789e+00] [ 1.17513180e-01 -1.22259127e-03 9.93070570e-01 3.14538801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397105680999996 meters Centerline goodness [0,1] 0.9987837866174589 Centerline is valid? [True, True] Translation: X:27.07, Y:1.62, Z:3.15 [[ 9.85193993e-01 -1.27190263e-01 -1.14958400e-01 2.70734966e+01] [ 1.26504964e-01 9.91877246e-01 -1.32673816e-02 1.61606770e+00] [ 1.15712103e-01 -1.47186365e-03 9.93281704e-01 3.15201730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.427105680999997 meters Centerline goodness [0,1] 0.9989113367528525 Centerline is valid? [True, True] Translation: X:27.10, Y:1.61, Z:3.16 [[ 9.85084842e-01 -1.28708694e-01 -1.14201251e-01 2.71014801e+01] [ 1.28041958e-01 9.91681099e-01 -1.31853788e-02 1.61043717e+00] [ 1.14948295e-01 -1.63383502e-03 9.93370132e-01 3.15710520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457105680999994 meters Centerline goodness [0,1] 0.9987873972946415 Centerline is valid? [True, True] Translation: X:27.13, Y:1.62, Z:3.16 [[ 9.85215459e-01 -1.27926063e-01 -1.13953592e-01 2.71300549e+01] [ 1.27255479e-01 9.91782534e-01 -1.31700096e-02 1.61536649e+00] [ 1.14701970e-01 -1.52592186e-03 9.93398777e-01 3.16118370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.487105680999996 meters Centerline goodness [0,1] 0.9990784761346263 Centerline is valid? [True, True] Translation: X:27.16, Y:1.62, Z:3.16 [[ 9.85684784e-01 -1.21506774e-01 -1.16882891e-01 2.71570800e+01] [ 1.20751817e-01 9.92590310e-01 -1.35453377e-02 1.62193096e+00] [ 1.17662675e-01 -7.62388099e-04 9.93053329e-01 3.16212802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517105680999997 meters Centerline goodness [0,1] 0.9993499276532388 Centerline is valid? [True, True] Translation: X:27.18, Y:1.63, Z:3.16 [[ 9.85943005e-01 -1.16373399e-01 -1.19890042e-01 2.71840185e+01] [ 1.15539216e-01 9.93205524e-01 -1.39095873e-02 1.63053543e+00] [ 1.20694158e-01 -1.37941053e-04 9.92689731e-01 3.16127071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.547105680999994 meters Centerline goodness [0,1] 0.9996228944942596 Centerline is valid? [True, True] Translation: X:27.21, Y:1.64, Z:3.15 [[ 9.86586580e-01 -1.05757080e-01 -1.24347736e-01 2.72118239e+01] [ 1.04769295e-01 9.94391206e-01 -1.44749675e-02 1.64190705e+00] [ 1.25181126e-01 1.25298401e-03 9.92133114e-01 3.15463891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577105680999995 meters Centerline goodness [0,1] 0.9995178500303964 Centerline is valid? [True, True] Translation: X:27.24, Y:1.65, Z:3.16 [[ 9.87068706e-01 -1.02319459e-01 -1.23394076e-01 2.72404815e+01] [ 1.01315047e-01 9.94750111e-01 -1.44041048e-02 1.64502011e+00] [ 1.24220091e-01 1.71616455e-03 9.92253206e-01 3.15633935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.607105680999997 meters Centerline goodness [0,1] 0.99951992318771 Centerline is valid? [True, True] Translation: X:27.27, Y:1.65, Z:3.16 [[ 9.86905244e-01 -1.03702693e-01 -1.23546713e-01 2.72687264e+01] [ 1.02701760e-01 9.94607082e-01 -1.44603375e-02 1.64612465e+00] [ 1.24380011e-01 1.58251800e-03 9.92233394e-01 3.15976816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637105680999994 meters Centerline goodness [0,1] 0.9995607613469986 Centerline is valid? [True, True] Translation: X:27.30, Y:1.64, Z:3.16 [[ 9.86201210e-01 -1.08346808e-01 -1.25172449e-01 2.72978537e+01] [ 1.07351449e-01 9.94112603e-01 -1.46901147e-02 1.64219032e+00] [ 1.26027136e-01 1.04996514e-03 9.92026239e-01 3.16328882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.667105680999995 meters Centerline goodness [0,1] 0.9996440983126073 Centerline is valid? [True, True] Translation: X:27.33, Y:1.64, Z:3.17 [[ 9.85354266e-01 -1.14655686e-01 -1.26218241e-01 2.73274926e+01] [ 1.13689639e-01 9.93405250e-01 -1.48551456e-02 1.63819034e+00] [ 1.27089090e-01 2.87874906e-04 9.91891264e-01 3.16674470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697105680999996 meters Centerline goodness [0,1] 0.9996853762899572 Centerline is valid? [True, True] Translation: X:27.36, Y:1.64, Z:3.17 [[ 9.84998564e-01 -1.17815991e-01 -1.26084184e-01 2.73553741e+01] [ 1.16872416e-01 9.93035441e-01 -1.48812641e-02 1.63804602e+00] [ 1.26959314e-01 -7.77394748e-05 9.91907922e-01 3.17084010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.727105680999998 meters Centerline goodness [0,1] 0.9994121475509647 Centerline is valid? [True, True] Translation: X:27.38, Y:1.63, Z:3.18 [[ 9.84913440e-01 -1.21784295e-01 -1.22939418e-01 2.73828929e+01] [ 1.20912814e-01 9.92556448e-01 -1.45529482e-02 1.63419271e+00] [ 1.23796633e-01 -5.31556784e-04 9.92307468e-01 3.17693132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757105680999995 meters Centerline goodness [0,1] 0.9993736951983299 Centerline is valid? [True, True] Translation: X:27.41, Y:1.63, Z:3.18 [[ 9.84764039e-01 -1.25381659e-01 -1.20495758e-01 2.74112378e+01] [ 1.24569572e-01 9.92108129e-01 -1.42787457e-02 1.63078701e+00] [ 1.21335114e-01 -9.48909683e-04 9.92611147e-01 3.18329656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.787105680999996 meters Centerline goodness [0,1] 0.9993699199798375 Centerline is valid? [True, True] Translation: X:27.44, Y:1.63, Z:3.19 [[ 9.84556093e-01 -1.27707805e-01 -1.19749807e-01 2.74393271e+01] [ 1.26917691e-01 9.91811127e-01 -1.42333163e-02 1.63054974e+00] [ 1.20586897e-01 -1.18487068e-03 9.92702068e-01 3.18733948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817105680999997 meters Centerline goodness [0,1] 0.9991616891962695 Centerline is valid? [True, True] Translation: X:27.47, Y:1.63, Z:3.19 [[ 9.84095958e-01 -1.33549154e-01 -1.17131414e-01 2.74674017e+01] [ 1.32832885e-01 9.91040474e-01 -1.39357317e-02 1.62987971e+00] [ 1.17943077e-01 -1.84480633e-03 9.93018644e-01 3.19494208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.847105680999995 meters Centerline goodness [0,1] 0.9990987403324181 Centerline is valid? [True, True] Translation: X:27.50, Y:1.63, Z:3.20 [[ 9.83788915e-01 -1.37400331e-01 -1.15241137e-01 2.74961677e+01] [ 1.36728915e-01 9.90513085e-01 -1.37488658e-02 1.63047506e+00] [ 1.16036953e-01 -2.23081385e-03 9.93242392e-01 3.20073870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877105680999996 meters Centerline goodness [0,1] 0.999037757556741 Centerline is valid? [True, True] Translation: X:27.52, Y:1.63, Z:3.21 [[ 9.83192123e-01 -1.43102907e-01 -1.13379041e-01 2.75249469e+01] [ 1.42486461e-01 9.89703801e-01 -1.35644550e-02 1.62502141e+00] [ 1.14152781e-01 -2.81851291e-03 9.93459208e-01 3.20628611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.907105680999997 meters Centerline goodness [0,1] 0.9992243186582809 Centerline is valid? [True, True] Translation: X:27.55, Y:1.63, Z:3.21 [[ 9.82710487e-01 -1.45088400e-01 -1.15019369e-01 2.75535164e+01] [ 1.44466531e-01 9.89413885e-01 -1.37690104e-02 1.63060824e+00] [ 1.15799484e-01 -3.08549820e-03 9.93267818e-01 3.20666795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937105680999995 meters Centerline goodness [0,1] 0.9989718410340341 Centerline is valid? [True, True] Translation: X:27.58, Y:1.64, Z:3.21 [[ 9.83129217e-01 -1.40508801e-01 -1.17107727e-01 2.75803999e+01] [ 1.39827106e-01 9.90076135e-01 -1.40579729e-02 1.63848549e+00] [ 1.17920835e-01 -2.55403076e-03 9.93019715e-01 3.20910955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.967105680999996 meters Centerline goodness [0,1] 0.9991658324991658 Centerline is valid? [True, True] Translation: X:27.61, Y:1.65, Z:3.21 [[ 9.83616868e-01 -1.36787906e-01 -1.17417738e-01 2.76083202e+01] [ 1.36074473e-01 9.90598133e-01 -1.41094311e-02 1.64690757e+00] [ 1.18243791e-01 -2.09928230e-03 9.92982376e-01 3.21256841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997105680999997 meters Centerline goodness [0,1] 0.9994322960470984 Centerline is valid? [True, True] Translation: X:27.64, Y:1.66, Z:3.21 [[ 9.84402275e-01 -1.28692699e-01 -1.19959783e-01 2.76363556e+01] [ 1.27883302e-01 9.91683897e-01 -1.44537157e-02 1.66001581e+00] [ 1.20822273e-01 -1.11258254e-03 9.92673532e-01 3.21374688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.027105680999995 meters Centerline goodness [0,1] 0.9994965915049816 Centerline is valid? [True, True] Translation: X:27.66, Y:1.67, Z:3.22 [[ 9.84763381e-01 -1.24293340e-01 -1.21623389e-01 2.76646174e+01] [ 1.23423097e-01 9.92245368e-01 -1.46924397e-02 1.66774200e+00] [ 1.22506417e-01 -5.42558803e-04 9.92467573e-01 3.21500305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057105680999996 meters Centerline goodness [0,1] 0.9995826899803865 Centerline is valid? [True, True] Translation: X:27.69, Y:1.68, Z:3.21 [[ 9.85540261e-01 -1.15524361e-01 -1.23953684e-01 2.76914424e+01] [ 1.14546072e-01 9.93304467e-01 -1.50144606e-02 1.67908438e+00] [ 1.24858284e-01 5.98947790e-04 9.92174405e-01 3.21450727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.087105680999997 meters Centerline goodness [0,1] 0.999664823194235 Centerline is valid? [True, True] Translation: X:27.72, Y:1.69, Z:3.22 [[ 9.86240024e-01 -1.08816771e-01 -1.24456921e-01 2.77182873e+01] [ 1.07774602e-01 9.94060729e-01 -1.50964055e-02 1.68773547e+00] [ 1.25360480e-01 1.47538422e-03 9.92110162e-01 3.21563550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117105680999995 meters Centerline goodness [0,1] 0.999832165484832 Centerline is valid? [True, True] Translation: X:27.75, Y:1.70, Z:3.22 [[ 9.86917623e-01 -1.01998269e-01 -1.24859754e-01 2.77463916e+01] [ 1.00893200e-01 9.94781769e-01 -1.51589381e-02 1.69608064e+00] [ 1.25754392e-01 2.36312306e-03 9.92058591e-01 3.21855166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.147105680999996 meters Centerline goodness [0,1] 0.9998115538432547 Centerline is valid? [True, True] Translation: X:27.77, Y:1.70, Z:3.22 [[ 9.87182929e-01 -1.00218880e-01 -1.24201611e-01 2.77742840e+01] [ 9.91103096e-02 9.94962056e-01 -1.50881844e-02 1.69970913e+00] [ 1.25088011e-01 2.58513797e-03 9.92142281e-01 3.22181149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177105680999997 meters Centerline goodness [0,1] 0.9998532587049033 Centerline is valid? [True, True] Translation: X:27.80, Y:1.70, Z:3.23 [[ 9.87009844e-01 -1.02548541e-01 -1.23674433e-01 2.78029784e+01] [ 1.01465543e-01 9.94725350e-01 -1.50406508e-02 1.69781964e+00] [ 1.24564491e-01 2.29657683e-03 9.92208856e-01 3.22558383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.207105680999994 meters Centerline goodness [0,1] 0.9997481795479823 Centerline is valid? [True, True] Translation: X:27.83, Y:1.70, Z:3.23 [[ 9.86650121e-01 -1.05920041e-01 -1.23703208e-01 2.78312279e+01] [ 1.04857742e-01 9.94372811e-01 -1.50853388e-02 1.69818389e+00] [ 1.24604946e-01 1.91271238e-03 9.92204590e-01 3.22892850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237105680999996 meters Centerline goodness [0,1] 0.9996439865133715 Centerline is valid? [True, True] Translation: X:27.86, Y:1.69, Z:3.23 [[ 9.85445971e-01 -1.15391318e-01 -1.24824201e-01 2.78607538e+01] [ 1.14379930e-01 9.93319818e-01 -1.52634054e-02 1.69205631e+00] [ 1.25751617e-01 7.63878004e-04 9.92061463e-01 3.23155478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.267105680999997 meters Centerline goodness [0,1] 0.9996224832214765 Centerline is valid? [True, True] Translation: X:27.89, Y:1.68, Z:3.23 [[ 9.84010210e-01 -1.26290679e-01 -1.25596861e-01 2.78893734e+01] [ 1.25349627e-01 9.91993103e-01 -1.53998296e-02 1.68297338e+00] [ 1.26536074e-01 -5.89930095e-04 9.91961831e-01 3.23453125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297105680999994 meters Centerline goodness [0,1] 0.9995800877616579 Centerline is valid? [True, True] Translation: X:27.92, Y:1.68, Z:3.24 [[ 9.83219894e-01 -1.31435493e-01 -1.26504354e-01 2.79183295e+01] [ 1.30517089e-01 9.91323982e-01 -1.55580254e-02 1.68101214e+00] [ 1.27451677e-01 -1.21401994e-03 9.91844038e-01 3.23720017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.327105680999995 meters Centerline goodness [0,1] 0.9993729490207554 Centerline is valid? [True, True] Translation: X:27.95, Y:1.68, Z:3.24 [[ 9.81904646e-01 -1.40175979e-01 -1.27334055e-01 2.79477087e+01] [ 1.39313477e-01 9.90123877e-01 -1.56991239e-02 1.67523795e+00] [ 1.28277128e-01 -2.32430729e-03 9.91735638e-01 3.23859351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357105680999997 meters Centerline goodness [0,1] 0.9994960735732583 Centerline is valid? [True, True] Translation: X:27.98, Y:1.68, Z:3.24 [[ 9.81353149e-01 -1.43915881e-01 -1.27413566e-01 2.79762841e+01] [ 1.43082081e-01 9.89585956e-01 -1.57211257e-02 1.67634893e+00] [ 1.28349195e-01 -2.80262189e-03 9.91725078e-01 3.24263047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.387105680999994 meters Centerline goodness [0,1] 0.9991803106412492 Centerline is valid? [True, True] Translation: X:28.01, Y:1.68, Z:3.25 [[ 9.80509179e-01 -1.49968691e-01 -1.26929675e-01 2.80057318e+01] [ 1.49186724e-01 9.88684400e-01 -1.56996632e-02 1.67754780e+00] [ 1.27847847e-01 -3.54255842e-03 9.91787466e-01 3.24910628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417105680999995 meters Centerline goodness [0,1] 0.9993063583815028 Centerline is valid? [True, True] Translation: X:28.03, Y:1.68, Z:3.26 [[ 9.79950173e-01 -1.55387679e-01 -1.24708973e-01 2.80338888e+01] [ 1.54675702e-01 9.87844776e-01 -1.54313327e-02 1.67767917e+00] [ 1.25590947e-01 -4.16751094e-03 9.92073357e-01 3.25575858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.447105680999996 meters Centerline goodness [0,1] 0.9991421158352862 Centerline is valid? [True, True] Translation: X:28.06, Y:1.67, Z:3.26 [[ 9.79470189e-01 -1.61047650e-01 -1.21250994e-01 2.80625165e+01] [ 1.60416325e-01 9.86935231e-01 -1.50150612e-02 1.67380137e+00] [ 1.22085018e-01 -4.74383411e-03 9.92508309e-01 3.26194894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477105680999994 meters Centerline goodness [0,1] 0.9991400646000251 Centerline is valid? [True, True] Translation: X:28.09, Y:1.67, Z:3.27 [[ 9.79123258e-01 -1.63705194e-01 -1.20491726e-01 2.80908251e+01] [ 1.63100760e-01 9.86496458e-01 -1.49292120e-02 1.67499102e+00] [ 1.21308651e-01 -5.03475339e-03 9.92602067e-01 3.26595945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.507105680999995 meters Centerline goodness [0,1] 0.9991400646000251 Centerline is valid? [True, True] Translation: X:28.12, Y:1.68, Z:3.27 [[ 9.79067681e-01 -1.64038097e-01 -1.20490573e-01 2.81178544e+01] [ 1.63435027e-01 9.86440993e-01 -1.49385090e-02 1.67856189e+00] [ 1.21307325e-01 -5.06656874e-03 9.92602067e-01 3.26913507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537105680999996 meters Centerline goodness [0,1] 0.9988458713671178 Centerline is valid? [True, True] Translation: X:28.15, Y:1.68, Z:3.27 [[ 9.78142312e-01 -1.69497544e-01 -1.20449992e-01 2.81472197e+01] [ 1.68931126e-01 9.85514116e-01 -1.49733530e-02 1.68424860e+00] [ 1.21243114e-01 -5.70168261e-03 9.92606467e-01 3.27331817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.567105680999997 meters Centerline goodness [0,1] 0.9991011142003052 Centerline is valid? [True, True] Translation: X:28.18, Y:1.69, Z:3.27 [[ 9.76927573e-01 -1.74200200e-01 -1.23558923e-01 2.81756084e+01] [ 1.73641181e-01 9.84689154e-01 -1.53626288e-02 1.68954998e+00] [ 1.24343305e-01 -6.44674171e-03 9.92218314e-01 3.27363211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597105680999995 meters Centerline goodness [0,1] 0.9988268074497727 Centerline is valid? [True, True] Translation: X:28.20, Y:1.70, Z:3.28 [[ 9.76452172e-01 -1.75831330e-01 -1.24997995e-01 2.82033617e+01] [ 1.75271785e-01 9.84397320e-01 -1.55472456e-02 1.69759891e+00] [ 1.25781384e-01 -6.72747995e-03 9.92035173e-01 3.27524965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.627105680999996 meters Centerline goodness [0,1] 0.9992216752913459 Centerline is valid? [True, True] Translation: X:28.23, Y:1.71, Z:3.27 [[ 9.76321059e-01 -1.74716017e-01 -1.27559805e-01 2.82310573e+01] [ 1.74118551e-01 9.84596207e-01 -1.59072026e-02 1.71020831e+00] [ 1.28374144e-01 -6.67999158e-03 9.91703311e-01 3.27475081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657105680999997 meters Centerline goodness [0,1] 0.9991816350512003 Centerline is valid? [True, True] Translation: X:28.26, Y:1.72, Z:3.28 [[ 9.76323999e-01 -1.73575291e-01 -1.29085500e-01 2.82589564e+01] [ 1.72947975e-01 9.84798707e-01 -1.61401811e-02 1.71599772e+00] [ 1.29924770e-01 -6.56702974e-03 9.91502107e-01 3.27521364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.687105680999995 meters Centerline goodness [0,1] 0.9990976623158602 Centerline is valid? [True, True] Translation: X:28.29, Y:1.73, Z:3.28 [[ 9.76665362e-01 -1.70387398e-01 -1.30739835e-01 2.82857919e+01] [ 1.69710330e-01 9.85357749e-01 -1.63862958e-02 1.73017955e+00] [ 1.31617527e-01 -6.18397300e-03 9.91281284e-01 3.27863170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717105680999996 meters Centerline goodness [0,1] 0.9988738034161296 Centerline is valid? [True, True] Translation: X:28.31, Y:1.74, Z:3.29 [[ 9.78111119e-01 -1.63667457e-01 -1.28497481e-01 2.83131356e+01] [ 1.62954282e-01 9.86501989e-01 -1.61160921e-02 1.74447191e+00] [ 1.29400700e-01 -5.17588580e-03 9.91578877e-01 3.28520524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.747105680999997 meters Centerline goodness [0,1] 0.9993496958254667 Centerline is valid? [True, True] Translation: X:28.34, Y:1.76, Z:3.29 [[ 9.78693129e-01 -1.60608050e-01 -1.27925034e-01 2.83401283e+01] [ 1.59874659e-01 9.87006857e-01 -1.60485900e-02 1.75784761e+00] [ 1.28840418e-01 -4.74532634e-03 9.91653986e-01 3.29036248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777105680999995 meters Centerline goodness [0,1] 0.9990767358415343 Centerline is valid? [True, True] Translation: X:28.37, Y:1.78, Z:3.29 [[ 9.79866565e-01 -1.53213934e-01 -1.28011736e-01 2.83674694e+01] [ 1.52415375e-01 9.88185872e-01 -1.60697348e-02 1.77789284e+00] [ 1.28961496e-01 -3.76476094e-03 9.91642455e-01 3.29368345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.807105680999996 meters Centerline goodness [0,1] 0.9992297603930304 Centerline is valid? [True, True] Translation: X:28.39, Y:1.80, Z:3.30 [[ 9.81388506e-01 -1.43790375e-01 -1.27282870e-01 2.83945359e+01] [ 1.42921486e-01 9.89604992e-01 -1.59814886e-02 1.79628346e+00] [ 1.28257748e-01 -2.50740772e-03 9.91737699e-01 3.29574262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837105680999997 meters Centerline goodness [0,1] 0.9991407494341521 Centerline is valid? [True, True] Translation: X:28.42, Y:1.81, Z:3.30 [[ 9.81972987e-01 -1.39532682e-01 -1.27513467e-01 2.84226396e+01] [ 1.38624103e-01 9.90215549e-01 -1.60164003e-02 1.80701683e+00] [ 1.28500629e-01 -1.94876763e-03 9.91707513e-01 3.29854213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.867105680999995 meters Centerline goodness [0,1] 0.9991611617909196 Centerline is valid? [True, True] Translation: X:28.45, Y:1.82, Z:3.30 [[ 9.83002370e-01 -1.32429489e-01 -1.27156486e-01 2.84505439e+01] [ 1.31465994e-01 9.91191913e-01 -1.59775990e-02 1.82038589e+00] [ 1.28152386e-01 -1.01073615e-03 9.91753974e-01 3.30148424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897105680999996 meters Centerline goodness [0,1] 0.9992254390922983 Centerline is valid? [True, True] Translation: X:28.48, Y:1.83, Z:3.31 [[ 9.83904750e-01 -1.28675148e-01 -1.23992539e-01 2.84791353e+01] [ 1.27728786e-01 9.91686671e-01 -1.55853711e-02 1.83298196e+00] [ 1.24967198e-01 -5.02895802e-04 9.92160746e-01 3.31096638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.927105680999997 meters Centerline goodness [0,1] 0.9993924029416078 Centerline is valid? [True, True] Translation: X:28.51, Y:1.84, Z:3.32 [[ 9.84198391e-01 -1.27661591e-01 -1.22703081e-01 2.85082918e+01] [ 1.26727033e-01 9.91817716e-01 -1.54232914e-02 1.83993956e+00] [ 1.23668052e-01 -3.70218804e-04 9.92323574e-01 3.31701707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957105680999994 meters Centerline goodness [0,1] 0.9993729359140504 Centerline is valid? [True, True] Translation: X:28.54, Y:1.85, Z:3.32 [[ 9.85142907e-01 -1.22343424e-01 -1.20521948e-01 2.85371125e+01] [ 1.21402235e-01 9.92487784e-01 -1.51491316e-02 1.84738904e+00] [ 1.21469958e-01 2.92425692e-04 9.92595065e-01 3.32262946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.987105680999996 meters Centerline goodness [0,1] 0.9993745960933103 Centerline is valid? [True, True] Translation: X:28.57, Y:1.85, Z:3.32 [[ 9.85558187e-01 -1.19181175e-01 -1.20295086e-01 2.85665144e+01] [ 1.18220078e-01 9.92872290e-01 -1.51204866e-02 1.85238043e+00] [ 1.21239735e-01 6.80824792e-04 9.92623022e-01 3.32496366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017105680999997 meters Centerline goodness [0,1] 0.9996434713309006 Centerline is valid? [True, True] Translation: X:28.60, Y:1.86, Z:3.33 [[ 9.86239924e-01 -1.12792180e-01 -1.20866603e-01 2.85966848e+01] [ 1.11774408e-01 9.93617513e-01 -1.51894863e-02 1.85797244e+00] [ 1.21808429e-01 1.47068476e-03 9.92552540e-01 3.32830032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.047105680999994 meters Centerline goodness [0,1] 0.999664598356532 Centerline is valid? [True, True] Translation: X:28.62, Y:1.87, Z:3.33 [[ 9.86921549e-01 -1.06423193e-01 -1.21078324e-01 2.86247607e+01] [ 1.05354385e-01 9.94318361e-01 -1.52134708e-02 1.86587419e+00] [ 1.22009467e-01 2.25836977e-03 9.92526367e-01 3.33299773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077105680999995 meters Centerline goodness [0,1] 0.9997279481008685 Centerline is valid? [True, True] Translation: X:28.65, Y:1.87, Z:3.33 [[ 9.86843549e-01 -1.04317854e-01 -1.23521642e-01 2.86538949e+01] [ 1.03188402e-01 9.94540679e-01 -1.55239172e-02 1.86840740e+00] [ 1.24466720e-01 2.57367661e-03 9.92220445e-01 3.33431310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.107105680999997 meters Centerline goodness [0,1] 0.9998954696548408 Centerline is valid? [True, True] Translation: X:28.68, Y:1.87, Z:3.33 [[ 9.86204826e-01 -1.03238531e-01 -1.29390286e-01 2.86835844e+01] [ 1.01987978e-01 9.94652541e-01 -1.62719375e-02 1.86630502e+00] [ 1.30378267e-01 2.85120966e-03 9.91460225e-01 3.32693167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137105680999994 meters Centerline goodness [0,1] 0.9998320950342107 Centerline is valid? [True, True] Translation: X:28.71, Y:1.86, Z:3.33 [[ 9.85898165e-01 -1.04510436e-01 -1.30699564e-01 2.87122352e+01] [ 1.03242767e-01 9.94520041e-01 -1.64565818e-02 1.86281552e+00] [ 1.31703221e-01 2.73072905e-03 9.91285431e-01 3.32824110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.167105680999995 meters Centerline goodness [0,1] 0.9997901848471497 Centerline is valid? [True, True] Translation: X:28.74, Y:1.85, Z:3.33 [[ 9.85200493e-01 -1.11922293e-01 -1.29820604e-01 2.87421328e+01] [ 1.10729693e-01 9.93715379e-01 -1.63915075e-02 1.84726192e+00] [ 1.30839305e-01 1.77392565e-03 9.91402002e-01 3.33209849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197105680999996 meters Centerline goodness [0,1] 0.9998323624324211 Centerline is valid? [True, True] Translation: X:28.77, Y:1.84, Z:3.34 [[ 9.84944303e-01 -1.16134762e-01 -1.28052475e-01 2.87712855e+01] [ 1.15007712e-01 9.93232722e-01 -1.61859831e-02 1.84384590e+00] [ 1.29065664e-01 1.21526970e-03 9.91635305e-01 3.33857520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.227105680999994 meters Centerline goodness [0,1] 0.9998539567294653 Centerline is valid? [True, True] Translation: X:28.80, Y:1.84, Z:3.34 [[ 9.84568918e-01 -1.20305122e-01 -1.27085497e-01 2.87998763e+01] [ 1.19224381e-01 9.92736713e-01 -1.61048361e-02 1.84062654e+00] [ 1.28099933e-01 7.04631331e-04 9.91761015e-01 3.34425494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257105680999995 meters Centerline goodness [0,1] 0.9997061724767562 Centerline is valid? [True, True] Translation: X:28.83, Y:1.83, Z:3.35 [[ 9.83480872e-01 -1.27979228e-01 -1.28010514e-01 2.88287483e+01] [ 1.26941809e-01 9.91776816e-01 -1.62642124e-02 1.83071025e+00] [ 1.29039341e-01 -2.54344441e-04 9.91639442e-01 3.34626302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.287105680999996 meters Centerline goodness [0,1] 0.9996012257062502 Centerline is valid? [True, True] Translation: X:28.86, Y:1.82, Z:3.35 [[ 9.82639063e-01 -1.35153911e-01 -1.27097962e-01 2.88579208e+01] [ 1.34185421e-01 9.90823956e-01 -1.61914178e-02 1.81918204e+00] [ 1.28120039e-01 -1.14437389e-03 9.91758008e-01 3.34795074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317105680999994 meters Centerline goodness [0,1] 0.9995202436327987 Centerline is valid? [True, True] Translation: X:28.89, Y:1.82, Z:3.35 [[ 9.82218135e-01 -1.38627601e-01 -1.26609336e-01 2.88861464e+01] [ 1.37693462e-01 9.90343325e-01 -1.61433843e-02 1.81633446e+00] [ 1.27624630e-01 -1.57695304e-03 9.91821288e-01 3.35183455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.347105680999995 meters Centerline goodness [0,1] 0.9996006389776357 Centerline is valid? [True, True] Translation: X:28.92, Y:1.81, Z:3.36 [[ 9.81166231e-01 -1.45626233e-01 -1.26908733e-01 2.89162728e+01] [ 1.44744167e-01 9.89336572e-01 -1.61948589e-02 1.81108217e+00] [ 1.27913847e-01 -2.47945015e-03 9.91782184e-01 3.35693214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377105680999996 meters Centerline goodness [0,1] 0.9993491906871287 Centerline is valid? [True, True] Translation: X:28.94, Y:1.81, Z:3.36 [[ 9.80829610e-01 -1.48841364e-01 -1.25775694e-01 2.89447621e+01] [ 1.48000514e-01 9.88856933e-01 -1.60565872e-02 1.80725385e+00] [ 1.26764051e-01 -2.86609113e-03 9.91928758e-01 3.36057022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.407105680999997 meters Centerline goodness [0,1] 0.9993498322147651 Centerline is valid? [True, True] Translation: X:28.97, Y:1.81, Z:3.36 [[ 9.80798095e-01 -1.49122987e-01 -1.25687832e-01 2.89718408e+01] [ 1.48283474e-01 9.88814451e-01 -1.60621385e-02 1.81070101e+00] [ 1.26677178e-01 -2.88371353e-03 9.91939805e-01 3.36428353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437105680999995 meters Centerline goodness [0,1] 0.9994746905927592 Centerline is valid? [True, True] Translation: X:29.00, Y:1.82, Z:3.37 [[ 9.81069947e-01 -1.46073110e-01 -1.27139320e-01 2.90005307e+01] [ 1.45182479e-01 9.89270708e-01 -1.62945818e-02 1.81526367e+00] [ 1.28155405e-01 -2.47227716e-03 9.91751017e-01 3.36723506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.467105680999996 meters Centerline goodness [0,1] 0.9993284647024259 Centerline is valid? [True, True] Translation: X:29.03, Y:1.82, Z:3.37 [[ 9.81468432e-01 -1.43071515e-01 -1.27476504e-01 2.90275819e+01] [ 1.42146090e-01 9.89710233e-01 -1.63751112e-02 1.82118243e+00] [ 1.28507613e-01 -2.04863207e-03 9.91706406e-01 3.37020497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497105680999997 meters Centerline goodness [0,1] 0.9995162782872045 Centerline is valid? [True, True] Translation: X:29.05, Y:1.83, Z:3.37 [[ 9.82709988e-01 -1.34985145e-01 -1.26728408e-01 2.90544639e+01] [ 1.34000943e-01 9.90847153e-01 -1.62992748e-02 1.83066394e+00] [ 1.27768642e-01 -9.64265983e-04 9.91803531e-01 3.37310659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.527105680999995 meters Centerline goodness [0,1] 0.999412591520339 Centerline is valid? [True, True] Translation: X:29.08, Y:1.84, Z:3.38 [[ 9.83587072e-01 -1.28070524e-01 -1.27100013e-01 2.90820990e+01] [ 1.27020752e-01 9.91765062e-01 -1.63642925e-02 1.84099197e+00] [ 1.28149136e-01 -4.86327126e-05 9.91754907e-01 3.37737915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557105680999996 meters Centerline goodness [0,1] 0.9996427220377454 Centerline is valid? [True, True] Translation: X:29.11, Y:1.85, Z:3.38 [[ 9.84110942e-01 -1.23241316e-01 -1.27817184e-01 2.91099912e+01] [ 1.22133482e-01 9.92376534e-01 -1.64992995e-02 1.84928907e+00] [ 1.28876170e-01 6.26383344e-04 9.91660497e-01 3.37970092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.587105680999997 meters Centerline goodness [0,1] 0.9996222376125418 Centerline is valid? [True, True] Translation: X:29.14, Y:1.85, Z:3.38 [[ 9.84390727e-01 -1.21451283e-01 -1.27375358e-01 2.91376697e+01] [ 1.20330650e-01 9.92596985e-01 -1.64851496e-02 1.85403038e+00] [ 1.28434539e-01 9.00668858e-04 9.91717580e-01 3.38340351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617105680999995 meters Centerline goodness [0,1] 0.9996451754294421 Centerline is valid? [True, True] Translation: X:29.16, Y:1.86, Z:3.38 [[ 9.85056625e-01 -1.16694583e-01 -1.26672097e-01 2.91645604e+01] [ 1.15541212e-01 9.93166625e-01 -1.64403070e-02 1.86423838e+00] [ 1.27724994e-01 1.55878564e-03 9.91808397e-01 3.38391581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.647105680999996 meters Centerline goodness [0,1] 0.9997484382206197 Centerline is valid? [True, True] Translation: X:29.19, Y:1.87, Z:3.39 [[ 9.85278267e-01 -1.13408610e-01 -1.27926636e-01 2.91925577e+01] [ 1.12201322e-01 9.93546359e-01 -1.66281837e-02 1.86872048e+00] [ 1.28986822e-01 2.02985039e-03 9.91644230e-01 3.38607898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677105680999997 meters Centerline goodness [0,1] 0.9997061416397296 Centerline is valid? [True, True] Translation: X:29.22, Y:1.87, Z:3.39 [[ 9.85393536e-01 -1.12131283e-01 -1.28164557e-01 2.92209516e+01] [ 1.10903220e-01 9.93690868e-01 -1.67013062e-02 1.87321044e+00] [ 1.29228689e-01 2.24349706e-03 9.91612279e-01 3.38917199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.707105680999994 meters Centerline goodness [0,1] 0.9997270455833875 Centerline is valid? [True, True] Translation: X:29.25, Y:1.88, Z:3.40 [[ 9.85947955e-01 -1.09397235e-01 -1.26249260e-01 2.92480696e+01] [ 1.08178091e-01 9.93994699e-01 -1.64935965e-02 1.88017893e+00] [ 1.27295449e-01 2.60442384e-03 9.91861425e-01 3.39522045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737105680999996 meters Centerline goodness [0,1] 0.9996427295462665 Centerline is valid? [True, True] Translation: X:29.28, Y:1.88, Z:3.40 [[ 9.86112155e-01 -1.09362844e-01 -1.24990342e-01 2.92756646e+01] [ 1.08162411e-01 9.93998431e-01 -1.63710822e-02 1.88378502e+00] [ 1.26030592e-01 2.62446636e-03 9.92022884e-01 3.39990105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.767105680999997 meters Centerline goodness [0,1] 0.9996859099189648 Centerline is valid? [True, True] Translation: X:29.30, Y:1.88, Z:3.41 [[ 9.85965017e-01 -1.14017633e-01 -1.21954762e-01 2.93034611e+01] [ 1.12905078e-01 9.93476666e-01 -1.60174194e-02 1.88077536e+00] [ 1.22985479e-01 2.02330326e-03 9.92406408e-01 3.40551411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797105680999994 meters Centerline goodness [0,1] 0.9995814761336765 Centerline is valid? [True, True] Translation: X:29.33, Y:1.87, Z:3.41 [[ 9.85015986e-01 -1.23190852e-01 -1.20695984e-01 2.93332356e+01] [ 1.22168047e-01 9.92382605e-01 -1.58661392e-02 1.87365059e+00] [ 1.21731158e-01 8.83208043e-04 9.92562716e-01 3.41148174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.827105680999995 meters Centerline goodness [0,1] 0.9995174555219872 Centerline is valid? [True, True] Translation: X:29.36, Y:1.87, Z:3.41 [[ 9.84175594e-01 -1.29010549e-01 -1.21468839e-01 2.93622603e+01] [ 1.28017030e-01 9.91643205e-01 -1.59810324e-02 1.87144056e+00] [ 1.22515470e-01 1.78062056e-04 9.92466588e-01 3.41406762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857105680999997 meters Centerline goodness [0,1] 0.9993699596774194 Centerline is valid? [True, True] Translation: X:29.39, Y:1.86, Z:3.41 [[ 9.82428495e-01 -1.39844293e-01 -1.23603502e-01 2.93926796e+01] [ 1.38895450e-01 9.90172838e-01 -1.63035231e-02 1.86135958e+00] [ 1.24668785e-01 -1.15091837e-03 9.92197747e-01 3.41296175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.887105680999994 meters Centerline goodness [0,1] 0.9993705149187965 Centerline is valid? [True, True] Translation: X:29.42, Y:1.85, Z:3.42 [[ 9.81008598e-01 -1.49155540e-01 -1.23994978e-01 2.94231924e+01] [ 1.48269710e-01 9.88811067e-01 -1.63941179e-02 1.85346433e+00] [ 1.25052880e-01 -2.30192888e-03 9.92147408e-01 3.41581028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917105680999995 meters Centerline goodness [0,1] 0.999643037124139 Centerline is valid? [True, True] Translation: X:29.45, Y:1.85, Z:3.42 [[ 9.80718654e-01 -1.51955520e-01 -1.22883853e-01 2.94509591e+01] [ 1.51106290e-01 9.88383845e-01 -1.62561948e-02 1.85285844e+00] [ 1.23926634e-01 -2.62576962e-03 9.92287909e-01 3.42149197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.947105680999996 meters Centerline goodness [0,1] 0.9994963696646662 Centerline is valid? [True, True] Translation: X:29.48, Y:1.86, Z:3.43 [[ 9.81072444e-01 -1.51346212e-01 -1.20793971e-01 2.94784919e+01] [ 1.50519239e-01 9.88477681e-01 -1.59947924e-02 1.85700812e+00] [ 1.21822895e-01 -2.48976649e-03 9.92548731e-01 3.43052196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977105680999994 meters Centerline goodness [0,1] 0.9997066957177575 Centerline is valid? [True, True] Translation: X:29.51, Y:1.86, Z:3.44 [[ 9.81948978e-01 -1.46831266e-01 -1.19234153e-01 2.95051213e+01] [ 1.45987824e-01 9.89159793e-01 -1.58259198e-02 1.86188922e+00] [ 1.20265369e-01 -1.86648877e-03 9.92740025e-01 3.43552668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.007105680999995 meters Centerline goodness [0,1] 0.9997071681064235 Centerline is valid? [True, True] Translation: X:29.53, Y:1.87, Z:3.44 [[ 9.82967146e-01 -1.40117561e-01 -1.18922915e-01 2.95319655e+01] [ 1.39227875e-01 9.90134340e-01 -1.57983187e-02 1.87099192e+00] [ 1.19963284e-01 -1.02815652e-03 9.92777797e-01 3.43834151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037105680999996 meters Centerline goodness [0,1] 0.9997478779729388 Centerline is valid? [True, True] Translation: X:29.56, Y:1.88, Z:3.44 [[ 9.83383923e-01 -1.36713024e-01 -1.19438722e-01 2.95600051e+01] [ 1.35788760e-01 9.90610513e-01 -1.58815720e-02 1.87881660e+00] [ 1.20488471e-01 -6.00753365e-04 9.92714545e-01 3.44081186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.067105680999994 meters Centerline goodness [0,1] 0.9996005970023754 Centerline is valid? [True, True] Translation: X:29.59, Y:1.89, Z:3.44 [[ 9.84242233e-01 -1.29031778e-01 -1.20905032e-01 2.95863733e+01] [ 1.28021989e-01 9.91640385e-01 -1.61157383e-02 1.89134406e+00] [ 1.21973755e-01 3.83287574e-04 9.92533252e-01 3.44230910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097105680999995 meters Centerline goodness [0,1] 0.9996005214246667 Centerline is valid? [True, True] Translation: X:29.61, Y:1.90, Z:3.44 [[ 9.84601254e-01 -1.21790358e-01 -1.25409249e-01 2.96141694e+01] [ 1.20639305e-01 9.92554896e-01 -1.67611581e-02 1.90311164e+00] [ 1.26516912e-01 1.37377259e-03 9.91963499e-01 3.43872868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.127105680999996 meters Centerline goodness [0,1] 0.9996236199397792 Centerline is valid? [True, True] Translation: X:29.64, Y:1.91, Z:3.44 [[ 9.84590632e-01 -1.19600186e-01 -1.27581671e-01 2.96411545e+01] [ 1.18387198e-01 9.92820666e-01 -1.70761985e-02 1.91160181e+00] [ 1.28708036e-01 1.70902847e-03 9.91681058e-01 3.43727414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157105680999997 meters Centerline goodness [0,1] 0.999601292651194 Centerline is valid? [True, True] Translation: X:29.67, Y:1.92, Z:3.44 [[ 9.84642313e-01 -1.17634189e-01 -1.29002766e-01 2.96690971e+01] [ 1.16373714e-01 9.93054954e-01 -1.72921225e-02 1.91899104e+00] [ 1.30140981e-01 2.01402448e-03 9.91493454e-01 3.43916241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.187105680999995 meters Centerline goodness [0,1] 0.9997687812670787 Centerline is valid? [True, True] Translation: X:29.70, Y:1.93, Z:3.44 [[ 9.84944853e-01 -1.15839116e-01 -1.28315766e-01 2.96960656e+01] [ 1.14571786e-01 9.93265376e-01 -1.72394409e-02 1.92573420e+00] [ 1.29448609e-01 2.27853211e-03 9.91583514e-01 3.44214661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217105680999996 meters Centerline goodness [0,1] 0.9998109124524655 Centerline is valid? [True, True] Translation: X:29.72, Y:1.93, Z:3.44 [[ 9.84842432e-01 -1.16057102e-01 -1.28903585e-01 2.97233341e+01] [ 1.14777949e-01 9.93239936e-01 -1.73335244e-02 1.93122173e+00] [ 1.30043867e-01 2.27550121e-03 9.91505630e-01 3.44336461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.247105680999997 meters Centerline goodness [0,1] 0.9998317135765072 Centerline is valid? [True, True] Translation: X:29.75, Y:1.93, Z:3.45 [[ 9.84362075e-01 -1.18919190e-01 -1.29959728e-01 2.97524964e+01] [ 1.17641266e-01 9.92902057e-01 -1.74939403e-02 1.93081496e+00] [ 1.31117647e-01 1.93174443e-03 9.91364933e-01 3.44664323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277105680999995 meters Centerline goodness [0,1] 0.9996840974664617 Centerline is valid? [True, True] Translation: X:29.78, Y:1.93, Z:3.45 [[ 9.83922820e-01 -1.25140680e-01 -1.27419362e-01 2.97807840e+01] [ 1.23959233e-01 9.92138375e-01 -1.71916778e-02 1.92781134e+00] [ 1.28569017e-01 1.12047768e-03 9.91699931e-01 3.45161860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.307105680999996 meters Centerline goodness [0,1] 0.9995792662403231 Centerline is valid? [True, True] Translation: X:29.81, Y:1.93, Z:3.46 [[ 9.83626775e-01 -1.30089979e-01 -1.24719545e-01 2.98092622e+01] [ 1.28995760e-01 9.91502076e-01 -1.68442015e-02 1.92588516e+00] [ 1.25850950e-01 4.80115090e-04 9.92049045e-01 3.45945417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337105680999997 meters Centerline goodness [0,1] 0.9997481214054825 Centerline is valid? [True, True] Translation: X:29.84, Y:1.92, Z:3.47 [[ 9.82427457e-01 -1.41620639e-01 -1.21572559e-01 2.98382684e+01] [ 1.40664051e-01 9.89920566e-01 -1.64589537e-02 1.91706125e+00] [ 1.22678104e-01 -9.31160655e-04 9.92446077e-01 3.46782398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.367105680999995 meters Centerline goodness [0,1] 0.9996431570109152 Centerline is valid? [True, True] Translation: X:29.87, Y:1.91, Z:3.47 [[ 9.80801625e-01 -1.52848447e-01 -1.21101298e-01 2.98686221e+01] [ 1.51978930e-01 9.88247008e-01 -1.64394505e-02 1.90753485e+00] [ 1.22190740e-01 -2.28100598e-03 9.92504015e-01 3.47031804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397105680999996 meters Centerline goodness [0,1] 0.9996656217345873 Centerline is valid? [True, True] Translation: X:29.90, Y:1.91, Z:3.47 [[ 9.80075942e-01 -1.57480887e-01 -1.21040977e-01 2.98970780e+01] [ 1.56646301e-01 9.87517928e-01 -1.64401196e-02 1.90765520e+00] [ 1.22119140e-01 -2.84805563e-03 9.92511362e-01 3.47404289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.427105680999997 meters Centerline goodness [0,1] 0.9996656217345873 Centerline is valid? [True, True] Translation: X:29.92, Y:1.91, Z:3.48 [[ 9.80017154e-01 -1.57847970e-01 -1.21038824e-01 2.99240458e+01] [ 1.57014217e-01 9.87459233e-01 -1.64559561e-02 1.91153250e+00] [ 1.22118444e-01 -2.87769690e-03 9.92511362e-01 3.47721730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457105680999994 meters Centerline goodness [0,1] 0.9996852706672262 Centerline is valid? [True, True] Translation: X:29.95, Y:1.91, Z:3.48 [[ 9.78788984e-01 -1.64794294e-01 -1.21716743e-01 2.99534594e+01] [ 1.63999016e-01 9.86320941e-01 -1.65928922e-02 1.91110048e+00] [ 1.22786186e-01 -3.72048601e-03 9.92426174e-01 3.48001175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.487105680999996 meters Centerline goodness [0,1] 0.9998111029488929 Centerline is valid? [True, True] Translation: X:29.98, Y:1.91, Z:3.48 [[ 9.78208560e-01 -1.68223854e-01 -1.21691196e-01 2.99822908e+01] [ 1.67453787e-01 9.85740135e-01 -1.66016640e-02 1.91257881e+00] [ 1.22748692e-01 -4.13776179e-03 9.92429160e-01 3.48370164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517105680999997 meters Centerline goodness [0,1] 0.9998115025342437 Centerline is valid? [True, True] Translation: X:30.01, Y:1.92, Z:3.49 [[ 9.78111301e-01 -1.69489158e-01 -1.20713329e-01 3.00100515e+01] [ 1.68739797e-01 9.85522881e-01 -1.64782202e-02 1.91701161e+00] [ 1.21758627e-01 -4.25160917e-03 9.92550634e-01 3.48839932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.547105680999994 meters Centerline goodness [0,1] 0.999749462388041 Centerline is valid? [True, True] Translation: X:30.04, Y:1.92, Z:3.50 [[ 9.78853213e-01 -1.67384326e-01 -1.17596238e-01 3.00362702e+01] [ 1.66653667e-01 9.85884211e-01 -1.60896925e-02 1.92456517e+00] [ 1.18629437e-01 -3.84839711e-03 9.92931139e-01 3.49748164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577105680999995 meters Centerline goodness [0,1] 0.9995386293096217 Centerline is valid? [True, True] Translation: X:30.06, Y:1.94, Z:3.51 [[ 9.79936353e-01 -1.63046603e-01 -1.14632239e-01 3.00628923e+01] [ 1.62321282e-01 9.86613097e-01 -1.56970510e-02 1.94086280e+00] [ 1.15657019e-01 -3.22514111e-03 9.93283974e-01 3.50610093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.607105680999997 meters Centerline goodness [0,1] 0.999396964025785 Centerline is valid? [True, True] Translation: X:30.09, Y:1.95, Z:3.51 [[ 9.80401512e-01 -1.60850349e-01 -1.13754303e-01 3.00897681e+01] [ 1.60117401e-01 9.86974521e-01 -1.56113113e-02 1.94924718e+00] [ 1.14783684e-01 -2.90869017e-03 9.93386252e-01 3.51082578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637105680999994 meters Centerline goodness [0,1] 0.9996017272460487 Centerline is valid? [True, True] Translation: X:30.12, Y:1.96, Z:3.51 [[ 9.81048622e-01 -1.56014824e-01 -1.14904199e-01 3.01168005e+01] [ 1.55232325e-01 9.87751910e-01 -1.57825533e-02 1.96288197e+00] [ 1.15959155e-01 -2.35339384e-03 9.93251195e-01 3.51204996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.667105680999995 meters Centerline goodness [0,1] 0.999454766598163 Centerline is valid? [True, True] Translation: X:30.14, Y:1.97, Z:3.51 [[ 9.81365558e-01 -1.51980205e-01 -1.17574059e-01 3.01442262e+01] [ 1.51130580e-01 9.88381693e-01 -1.61609312e-02 1.97133296e+00] [ 1.18664189e-01 -1.90925456e-03 9.92932608e-01 3.51044252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697105680999996 meters Centerline goodness [0,1] 0.9996008403361345 Centerline is valid? [True, True] Translation: X:30.17, Y:1.99, Z:3.50 [[ 9.82353631e-01 -1.39847626e-01 -1.24193339e-01 3.01712944e+01] [ 1.38799541e-01 9.90172936e-01 -1.70951295e-02 1.99114125e+00] [ 1.25363596e-01 -4.44515865e-04 9.92110766e-01 3.50440377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.727105680999994 meters Centerline goodness [0,1] 0.999768489287368 Centerline is valid? [True, True] Translation: X:30.20, Y:2.01, Z:3.50 [[ 9.83840431e-01 -1.26302312e-01 -1.26908362e-01 3.01975138e+01] [ 1.25089773e-01 9.91990874e-01 -1.75115662e-02 2.01342358e+00] [ 1.28103689e-01 1.35364853e-03 9.91759856e-01 3.50459126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757105680999995 meters Centerline goodness [0,1] 0.9997483063112192 Centerline is valid? [True, True] Translation: X:30.22, Y:2.03, Z:3.51 [[ 9.84563843e-01 -1.20415786e-01 -1.27019992e-01 3.02236332e+01] [ 1.19147199e-01 9.92721193e-01 -1.75663604e-02 2.02509615e+00] [ 1.28210705e-01 2.16112699e-03 9.91744596e-01 3.50666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.787105680999996 meters Centerline goodness [0,1] 0.9999580475321461 Centerline is valid? [True, True] Translation: X:30.25, Y:2.04, Z:3.51 [[ 9.85205091e-01 -1.13906966e-01 -1.28047380e-01 3.02523443e+01] [ 1.12561054e-01 9.93486747e-01 -1.77226405e-02 2.03522253e+00] [ 1.29232107e-01 3.04728775e-03 9.91609690e-01 3.50673828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817105680999994 meters Centerline goodness [0,1] 0.9998741637130094 Centerline is valid? [True, True] Translation: X:30.28, Y:2.04, Z:3.51 [[ 9.85059304e-01 -1.15742449e-01 -1.27521969e-01 3.02807953e+01] [ 1.14421678e-01 9.93275300e-01 -1.76595268e-02 2.03591270e+00] [ 1.28708379e-01 2.80440354e-03 9.91678521e-01 3.51041328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.847105680999995 meters Centerline goodness [0,1] 0.9998530708198649 Centerline is valid? [True, True] Translation: X:30.31, Y:2.04, Z:3.51 [[ 9.84755119e-01 -1.18625761e-01 -1.27221398e-01 3.03098861e+01] [ 1.17329748e-01 9.92935979e-01 -1.76598953e-02 2.03703744e+00] [ 1.28417622e-01 2.46381779e-03 9.91717119e-01 3.51458773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877105680999996 meters Centerline goodness [0,1] 0.9997690676631746 Centerline is valid? [True, True] Translation: X:30.34, Y:2.03, Z:3.51 [[ 9.83728235e-01 -1.24863207e-01 -1.29181809e-01 3.03399669e+01] [ 1.23574801e-01 9.92172480e-01 -1.79732465e-02 2.03415016e+00] [ 1.30414833e-01 1.71717372e-03 9.91458029e-01 3.51349528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.907105680999994 meters Centerline goodness [0,1] 0.9996003029283069 Centerline is valid? [True, True] Translation: X:30.37, Y:2.03, Z:3.52 [[ 9.82784321e-01 -1.31796198e-01 -1.29478725e-01 3.03694721e+01] [ 1.30555889e-01 9.91276475e-01 -1.80584880e-02 2.02958442e+00] [ 1.30729255e-01 8.43388667e-04 9.91417748e-01 3.51758969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937105680999995 meters Centerline goodness [0,1] 0.9996636818430235 Centerline is valid? [True, True] Translation: X:30.40, Y:2.03, Z:3.52 [[ 9.82536869e-01 -1.34934555e-01 -1.28117006e-01 3.03980683e+01] [ 1.33741300e-01 9.90854404e-01 -1.79112822e-02 2.02988640e+00] [ 1.29362151e-01 4.63960207e-04 9.91597307e-01 3.52291024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.967105680999996 meters Centerline goodness [0,1] 0.9995378733773054 Centerline is valid? [True, True] Translation: X:30.43, Y:2.03, Z:3.53 [[ 9.82152717e-01 -1.39262224e-01 -1.26420228e-01 3.04265051e+01] [ 1.38130802e-01 9.90255537e-01 -1.77158849e-02 2.03045516e+00] [ 1.27655484e-01 -6.28229325e-05 9.91818569e-01 3.52949823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997105680999997 meters Centerline goodness [0,1] 0.9993913700470114 Centerline is valid? [True, True] Translation: X:30.45, Y:2.03, Z:3.53 [[ 9.82003029e-01 -1.40660475e-01 -1.26034451e-01 3.04535704e+01] [ 1.39542010e-01 9.90057872e-01 -1.77041636e-02 2.03363598e+00] [ 1.27271676e-01 -2.01558192e-04 9.91867874e-01 3.53374610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.027105680999995 meters Centerline goodness [0,1] 0.9995369298448715 Centerline is valid? [True, True] Translation: X:30.48, Y:2.04, Z:3.53 [[ 9.82002941e-01 -1.39021760e-01 -1.27840422e-01 3.04817639e+01] [ 1.37850693e-01 9.90289325e-01 -1.80066601e-02 2.03915637e+00] [ 1.29102323e-01 5.97023481e-05 9.91631276e-01 3.53470930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.05710568099999 meters Centerline goodness [0,1] 0.9996843367915992 Centerline is valid? [True, True] Translation: X:30.51, Y:2.04, Z:3.54 [[ 9.81918408e-01 -1.38379542e-01 -1.29179495e-01 3.05091411e+01] [ 1.37172834e-01 9.90379254e-01 -1.82358453e-02 2.04296267e+00] [ 1.30460160e-01 1.86194779e-04 9.91453535e-01 3.53517263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08710568099999 meters Centerline goodness [0,1] 0.9996429546552412 Centerline is valid? [True, True] Translation: X:30.54, Y:2.05, Z:3.53 [[ 9.81481776e-01 -1.39535454e-01 -1.31237880e-01 3.05374463e+01] [ 1.38297984e-01 9.90217075e-01 -1.85421942e-02 2.04545483e+00] [ 1.32541283e-01 4.88915001e-05 9.91177485e-01 3.53458379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11710568099999 meters Centerline goodness [0,1] 0.9994748781717359 Centerline is valid? [True, True] Translation: X:30.57, Y:2.05, Z:3.54 [[ 9.81136495e-01 -1.41352189e-01 -1.31873942e-01 3.05654973e+01] [ 1.40116401e-01 9.89959356e-01 -1.86512079e-02 2.04885568e+00] [ 1.33186232e-01 -1.78321332e-04 9.91091013e-01 3.53991300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14710568099999 meters Centerline goodness [0,1] 0.9994542630452122 Centerline is valid? [True, True] Translation: X:30.59, Y:2.05, Z:3.54 [[ 9.80771703e-01 -1.43794831e-01 -1.31946633e-01 3.05931053e+01] [ 1.42574224e-01 9.89607410e-01 -1.87020022e-02 2.05141223e+00] [ 1.33264617e-01 -4.69794244e-04 9.91080381e-01 3.54458635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17710568099999 meters Centerline goodness [0,1] 0.999329885033401 Centerline is valid? [True, True] Translation: X:30.62, Y:2.05, Z:3.55 [[ 9.80741682e-01 -1.45993983e-01 -1.29736313e-01 3.06219132e+01] [ 1.44830802e-01 9.89285203e-01 -1.84072022e-02 2.05135822e+00] [ 1.31033555e-01 -7.37103812e-04 9.91377660e-01 3.55087757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.207105680999994 meters Centerline goodness [0,1] 0.9993917274939172 Centerline is valid? [True, True] Translation: X:30.65, Y:2.05, Z:3.55 [[ 9.80482120e-01 -1.47405283e-01 -1.30101864e-01 3.06505283e+01] [ 1.46242116e-01 9.89075780e-01 -1.85025446e-02 2.05322870e+00] [ 1.31407975e-01 -8.84957642e-04 9.91327978e-01 3.55470249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23710568099999 meters Centerline goodness [0,1] 0.9993712537200822 Centerline is valid? [True, True] Translation: X:30.68, Y:2.06, Z:3.56 [[ 9.80397084e-01 -1.48864826e-01 -1.29076802e-01 3.06772728e+01] [ 1.47727435e-01 9.88857015e-01 -1.83958774e-02 2.05583490e+00] [ 1.30377001e-01 -1.03292038e-03 9.91463953e-01 3.56038358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26710568099999 meters Centerline goodness [0,1] 0.999517819706499 Centerline is valid? [True, True] Translation: X:30.70, Y:2.06, Z:3.57 [[ 9.80644687e-01 -1.49149240e-01 -1.26848340e-01 3.07040822e+01] [ 1.48051092e-01 9.88814155e-01 -1.80953328e-02 2.06427655e+00] [ 1.28128339e-01 -1.03494319e-03 9.91757056e-01 3.56806768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29710568099999 meters Centerline goodness [0,1] 0.9994550408719346 Centerline is valid? [True, True] Translation: X:30.73, Y:2.07, Z:3.57 [[ 9.80638627e-01 -1.49549114e-01 -1.26423678e-01 3.07310434e+01] [ 1.48456352e-01 9.88753749e-01 -1.80758369e-02 2.07016572e+00] [ 1.27705111e-01 -1.04253421e-03 9.91811634e-01 3.57084704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32710568099999 meters Centerline goodness [0,1] 0.9996044386151187 Centerline is valid? [True, True] Translation: X:30.76, Y:2.07, Z:3.57 [[ 9.80145933e-01 -1.51159949e-01 -1.28314537e-01 3.07584220e+01] [ 1.50041929e-01 9.88508557e-01 -1.83916528e-02 2.07424505e+00] [ 1.29620099e-01 -1.22605696e-03 9.91562972e-01 3.56943167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35710568099999 meters Centerline goodness [0,1] 0.9995810377694451 Centerline is valid? [True, True] Translation: X:30.79, Y:2.08, Z:3.57 [[ 9.79140863e-01 -1.57011047e-01 -1.28960075e-01 3.07870024e+01] [ 1.55928555e-01 9.87594856e-01 -1.85117959e-02 2.07903493e+00] [ 1.30266863e-01 -1.98290229e-03 9.91476985e-01 3.57171783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.387105680999994 meters Centerline goodness [0,1] 0.9995395177494977 Centerline is valid? [True, True] Translation: X:30.81, Y:2.08, Z:3.58 [[ 9.78648429e-01 -1.60702456e-01 -1.28148249e-01 3.08145718e+01] [ 1.59660008e-01 9.86999932e-01 -1.84341023e-02 2.08377147e+00] [ 1.29444719e-01 -2.41964523e-03 9.91583688e-01 3.57642601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417105680999995 meters Centerline goodness [0,1] 0.9995590828924162 Centerline is valid? [True, True] Translation: X:30.84, Y:2.09, Z:3.58 [[ 9.77363049e-01 -1.67305890e-01 -1.29499841e-01 3.08425968e+01] [ 1.66296885e-01 9.85899467e-01 -1.86437070e-02 2.08744786e+00] [ 1.30793027e-01 -3.31374988e-03 9.91404157e-01 3.57798455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44710568099999 meters Centerline goodness [0,1] 0.9995388420743722 Centerline is valid? [True, True] Translation: X:30.87, Y:2.09, Z:3.58 [[ 9.76365431e-01 -1.73097987e-01 -1.29412644e-01 3.08703774e+01] [ 1.72139309e-01 9.84896181e-01 -1.86432747e-02 2.09055973e+00] [ 1.30685132e-01 -4.07435417e-03 9.91415552e-01 3.58025381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47710568099999 meters Centerline goodness [0,1] 0.9993911400377913 Centerline is valid? [True, True] Translation: X:30.90, Y:2.09, Z:3.58 [[ 9.76155011e-01 -1.75350728e-01 -1.27959042e-01 3.08970400e+01] [ 1.74431148e-01 9.84496579e-01 -1.84461572e-02 2.09436537e+00] [ 1.29209786e-01 -4.31373378e-03 9.91607898e-01 3.58466959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50710568099999 meters Centerline goodness [0,1] 0.9993721616474478 Centerline is valid? [True, True] Translation: X:30.92, Y:2.10, Z:3.59 [[ 9.76356120e-01 -1.76717861e-01 -1.24497089e-01 3.09234145e+01] [ 1.75856120e-01 9.84251926e-01 -1.79658465e-02 2.10151656e+00] [ 1.25711386e-01 -4.35251095e-03 9.92057308e-01 3.59175916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53710568099999 meters Centerline goodness [0,1] 0.9994131947355185 Centerline is valid? [True, True] Translation: X:30.95, Y:2.12, Z:3.60 [[ 9.77367859e-01 -1.71714936e-01 -1.23555858e-01 3.09506000e+01] [ 1.70821101e-01 9.85139961e-01 -1.78720056e-02 2.11533957e+00] [ 1.24788703e-01 -3.63842393e-03 9.92176668e-01 3.59767254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.567105680999994 meters Centerline goodness [0,1] 0.9993962735505361 Centerline is valid? [True, True] Translation: X:30.98, Y:2.13, Z:3.60 [[ 9.78184316e-01 -1.67058318e-01 -1.23478590e-01 3.09775241e+01] [ 1.66127891e-01 9.85942341e-01 -1.78668356e-02 2.12614457e+00] [ 1.24727574e-01 -3.03617934e-03 9.92186381e-01 3.60164443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597105680999995 meters Centerline goodness [0,1] 0.9993697478991597 Centerline is valid? [True, True] Translation: X:31.00, Y:2.15, Z:3.61 [[ 9.80621643e-01 -1.54464316e-01 -1.20507129e-01 3.10031040e+01] [ 1.53482059e-01 9.87997395e-01 -1.74472147e-02 2.15119668e+00] [ 1.21755701e-01 -1.38656585e-03 9.92559130e-01 3.60965460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62710568099999 meters Centerline goodness [0,1] 0.9993706601774738 Centerline is valid? [True, True] Translation: X:31.03, Y:2.17, Z:3.61 [[ 9.82912136e-01 -1.39900105e-01 -1.19631493e-01 3.10298573e+01] [ 1.38823747e-01 9.90165533e-01 -1.73258358e-02 2.17496378e+00] [ 1.20878867e-01 4.22082170e-04 9.92667176e-01 3.61261838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65710568099999 meters Centerline goodness [0,1] 0.9996433217238051 Centerline is valid? [True, True] Translation: X:31.06, Y:2.19, Z:3.61 [[ 9.83687131e-01 -1.33585134e-01 -1.20476719e-01 3.10586501e+01] [ 1.32446200e-01 9.91036606e-01 -1.74484743e-02 2.18620212e+00] [ 1.21727696e-01 1.20715592e-03 9.92562799e-01 3.61455346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68710568099999 meters Centerline goodness [0,1] 0.9997284141475338 Centerline is valid? [True, True] Translation: X:31.09, Y:2.20, Z:3.61 [[ 9.84265265e-01 -1.24916127e-01 -1.24971394e-01 3.10869107e+01] [ 1.23619964e-01 9.92164474e-01 -1.81042014e-02 2.20227012e+00] [ 1.26253684e-01 2.37037740e-03 9.91995155e-01 3.61112329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71710568099999 meters Centerline goodness [0,1] 0.9999579160003367 Centerline is valid? [True, True] Translation: X:31.12, Y:2.21, Z:3.61 [[ 9.84262068e-01 -1.20054843e-01 -1.29672730e-01 3.11150112e+01] [ 1.18616201e-01 9.92762382e-01 -1.87896428e-02 2.21329651e+00] [ 1.30989996e-01 3.11264606e-03 9.91378804e-01 3.60806174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.747105680999994 meters Centerline goodness [0,1] 0.9998949359109056 Centerline is valid? [True, True] Translation: X:31.14, Y:2.22, Z:3.61 [[ 9.84222142e-01 -1.18577464e-01 -1.31324634e-01 3.11431788e+01] [ 1.17086790e-01 9.92939099e-01 -1.90428012e-02 2.21790000e+00] [ 1.32655411e-01 3.36596670e-03 9.91156502e-01 3.61079872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777105680999995 meters Centerline goodness [0,1] 0.9999578805492376 Centerline is valid? [True, True] Translation: X:31.17, Y:2.22, Z:3.61 [[ 9.84413956e-01 -1.15597987e-01 -1.32537797e-01 3.11716091e+01] [ 1.14046458e-01 9.93288626e-01 -1.92642499e-02 2.22469895e+00] [ 1.33875195e-01 3.84853022e-03 9.90990727e-01 3.61105497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.80710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.20, Y:2.23, Z:3.62 [[ 9.84725063e-01 -1.13357160e-01 -1.32161663e-01 3.11980389e+01] [ 1.11788678e-01 9.93545495e-01 -1.92520477e-02 2.22984985e+00] [ 1.33490983e-01 4.18379625e-03 9.91041197e-01 3.61521161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.23, Y:2.23, Z:3.62 [[ 9.84718670e-01 -1.14036037e-01 -1.31624174e-01 3.12262499e+01] [ 1.12482410e-01 9.93468135e-01 -1.92034614e-02 2.23175777e+00] [ 1.32954309e-01 4.10460268e-03 9.91113668e-01 3.61839505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.26, Y:2.23, Z:3.62 [[ 9.84683770e-01 -1.16012955e-01 -1.30149404e-01 3.12555252e+01] [ 1.14505635e-01 9.93240290e-01 -1.90312044e-02 2.22638894e+00] [ 1.31477498e-01 3.83687792e-03 9.91311730e-01 3.62202783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89710568099999 meters Centerline goodness [0,1] 0.9998738886436723 Centerline is valid? [True, True] Translation: X:31.29, Y:2.22, Z:3.63 [[ 9.84366385e-01 -1.21464482e-01 -1.27550771e-01 3.12861617e+01] [ 1.20057730e-01 9.92590990e-01 -1.86886913e-02 2.22058986e+00] [ 1.28875758e-01 3.08306361e-03 9.91655955e-01 3.63056465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92710568099999 meters Centerline goodness [0,1] 0.9997911183523416 Centerline is valid? [True, True] Translation: X:31.31, Y:2.22, Z:3.63 [[ 9.84058075e-01 -1.25224773e-01 -1.26287219e-01 3.13141921e+01] [ 1.23875841e-01 9.92125065e-01 -1.85103023e-02 2.22232543e+00] [ 1.27610663e-01 2.57127700e-03 9.91821006e-01 3.63458952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957105680999994 meters Centerline goodness [0,1] 0.9998319857187861 Centerline is valid? [True, True] Translation: X:31.34, Y:2.22, Z:3.64 [[ 9.83163747e-01 -1.32017341e-01 -1.26334743e-01 3.13444886e+01] [ 1.30718078e-01 9.91245897e-01 -1.85568305e-02 2.21519723e+00] [ 1.27678619e-01 1.73016824e-03 9.91814084e-01 3.63684035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98710568099999 meters Centerline goodness [0,1] 0.9996224515479486 Centerline is valid? [True, True] Translation: X:31.38, Y:2.20, Z:3.64 [[ 9.82059484e-01 -1.37552643e-01 -1.28990076e-01 3.13752825e+01] [ 1.36243376e-01 9.90493903e-01 -1.89623491e-02 2.20483266e+00] [ 1.30372205e-01 1.04811131e-03 9.91464568e-01 3.63520933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01710568099999 meters Centerline goodness [0,1] 0.9997056287979141 Centerline is valid? [True, True] Translation: X:31.40, Y:2.20, Z:3.64 [[ 9.81259216e-01 -1.40478763e-01 -1.31894158e-01 3.14045961e+01] [ 1.39129789e-01 9.90083430e-01 -1.94345796e-02 2.20367323e+00] [ 1.33316366e-01 7.19953935e-04 9.91073271e-01 3.63639988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04710568099999 meters Centerline goodness [0,1] 0.9998318797940527 Centerline is valid? [True, True] Translation: X:31.43, Y:2.20, Z:3.64 [[ 9.80706130e-01 -1.42901533e-01 -1.33396546e-01 3.14339660e+01] [ 1.41537555e-01 9.89736812e-01 -1.97018535e-02 2.20216249e+00] [ 1.34842898e-01 4.41107400e-04 9.90866892e-01 3.63984602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07710568099999 meters Centerline goodness [0,1] 0.99957931933869 Centerline is valid? [True, True] Translation: X:31.46, Y:2.20, Z:3.65 [[ 9.81007109e-01 -1.43524153e-01 -1.30483215e-01 3.14622542e+01] [ 1.42219071e-01 9.89646737e-01 -1.93150524e-02 2.20460593e+00] [ 1.31904465e-01 3.91002002e-04 9.91262356e-01 3.64737574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10710568099999 meters Centerline goodness [0,1] 0.9996224357091916 Centerline is valid? [True, True] Translation: X:31.49, Y:2.20, Z:3.66 [[ 9.81653776e-01 -1.43236060e-01 -1.25854265e-01 3.14892924e+01] [ 1.42014938e-01 9.89688449e-01 -1.86690070e-02 2.20458490e+00] [ 1.27230588e-01 4.53315602e-04 9.91873062e-01 3.65809868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137105680999994 meters Centerline goodness [0,1] 0.9996426168853011 Centerline is valid? [True, True] Translation: X:31.52, Y:2.21, Z:3.66 [[ 9.81927481e-01 -1.40428897e-01 -1.26878477e-01 3.15182746e+01] [ 1.39162042e-01 9.90090408e-01 -1.88390534e-02 2.20702696e+00] [ 1.28266710e-01 8.41916308e-04 9.91739352e-01 3.66134081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16710568099999 meters Centerline goodness [0,1] 0.9996860282574568 Centerline is valid? [True, True] Translation: X:31.55, Y:2.21, Z:3.66 [[ 9.82138928e-01 -1.38219056e-01 -1.27666042e-01 3.15467728e+01] [ 1.36912120e-01 9.90400978e-01 -1.89993069e-02 2.21073541e+00] [ 1.29066639e-01 1.18093059e-03 9.91635219e-01 3.66355862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19710568099999 meters Centerline goodness [0,1] 0.9998527989233292 Centerline is valid? [True, True] Translation: X:31.58, Y:2.21, Z:3.66 [[ 9.82284710e-01 -1.34803354e-01 -1.30172213e-01 3.15756388e+01] [ 1.33408575e-01 9.90870901e-01 -1.94167211e-02 2.21370351e+00] [ 1.31601297e-01 1.70665887e-03 9.91301259e-01 3.66388493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22710568099999 meters Centerline goodness [0,1] 0.9997686402355663 Centerline is valid? [True, True] Translation: X:31.60, Y:2.22, Z:3.67 [[ 9.82314074e-01 -1.35484001e-01 -1.29240650e-01 3.16044017e+01] [ 1.34109390e-01 9.90778166e-01 -1.93209269e-02 2.21660465e+00] [ 1.30666490e-01 1.64683374e-03 9.91425013e-01 3.66786765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25710568099999 meters Centerline goodness [0,1] 0.9998108607935441 Centerline is valid? [True, True] Translation: X:31.63, Y:2.22, Z:3.67 [[ 9.82396426e-01 -1.37834274e-01 -1.26091140e-01 3.16323370e+01] [ 1.36540373e-01 9.90454399e-01 -1.88894201e-02 2.21613142e+00] [ 1.27491134e-01 1.34036749e-03 9.91838805e-01 3.67244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28710568099999 meters Centerline goodness [0,1] 0.9997691355174513 Centerline is valid? [True, True] Translation: X:31.66, Y:2.22, Z:3.68 [[ 9.82118511e-01 -1.39612150e-01 -1.26299949e-01 3.16607150e+01] [ 1.38326220e-01 9.90205621e-01 -1.89389961e-02 2.21686486e+00] [ 1.27707034e-01 1.12974405e-03 9.91811291e-01 3.67527499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317105680999994 meters Centerline goodness [0,1] 0.9997691355174513 Centerline is valid? [True, True] Translation: X:31.69, Y:2.22, Z:3.68 [[ 9.82066687e-01 -1.39982666e-01 -1.26292815e-01 3.16875995e+01] [ 1.38693684e-01 9.90153310e-01 -1.89864593e-02 2.22113617e+00] [ 1.27707024e-01 1.12995340e-03 9.91811292e-01 3.67845387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.347105680999995 meters Centerline goodness [0,1] 0.9997270914243729 Centerline is valid? [True, True] Translation: X:31.72, Y:2.22, Z:3.68 [[ 9.81154641e-01 -1.45033626e-01 -1.27674657e-01 3.17166638e+01] [ 1.43752736e-01 9.89426588e-01 -1.92400100e-02 2.21836955e+00] [ 1.29115149e-01 5.23843846e-04 9.91629469e-01 3.67813779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37710568099999 meters Centerline goodness [0,1] 0.9995384260327718 Centerline is valid? [True, True] Translation: X:31.75, Y:2.22, Z:3.68 [[ 9.79658790e-01 -1.52887813e-01 -1.29976810e-01 3.17455157e+01] [ 1.51626316e-01 9.88243424e-01 -1.96059776e-02 2.21604113e+00] [ 1.31446243e-01 -5.00736583e-04 9.91323174e-01 3.68134018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40710568099999 meters Centerline goodness [0,1] 0.9995169183592028 Centerline is valid? [True, True] Translation: X:31.77, Y:2.22, Z:3.68 [[ 9.78897548e-01 -1.56209559e-01 -1.31750388e-01 3.17728094e+01] [ 1.54937408e-01 9.87723510e-01 -1.99164882e-02 2.21831920e+00] [ 1.33244102e-01 -9.16862194e-04 9.91082826e-01 3.68278113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43710568099999 meters Centerline goodness [0,1] 0.9995596376446905 Centerline is valid? [True, True] Translation: X:31.80, Y:2.22, Z:3.69 [[ 9.78024197e-01 -1.61882450e-01 -1.31387760e-01 3.18017700e+01] [ 1.60664269e-01 9.86808661e-01 -1.98912072e-02 2.21885485e+00] [ 1.32874617e-01 -1.65523649e-03 9.91131473e-01 3.68554774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46710568099999 meters Centerline goodness [0,1] 0.9993281263122533 Centerline is valid? [True, True] Translation: X:31.83, Y:2.22, Z:3.69 [[ 9.77511321e-01 -1.67163135e-01 -1.28561671e-01 3.18292836e+01] [ 1.66037324e-01 9.85926608e-01 -1.95020665e-02 2.21844380e+00] [ 1.30012399e-01 -2.28254494e-03 9.91509741e-01 3.69246749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497105680999994 meters Centerline goodness [0,1] 0.9993515322664993 Centerline is valid? [True, True] Translation: X:31.86, Y:2.22, Z:3.70 [[ 9.77291048e-01 -1.69602069e-01 -1.27032854e-01 3.18566400e+01] [ 1.68521561e-01 9.85509300e-01 -1.92848021e-02 2.22021418e+00] [ 1.28462801e-01 -2.56091034e-03 9.91711022e-01 3.69752353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.527105680999995 meters Centerline goodness [0,1] 0.9993275615701437 Centerline is valid? [True, True] Translation: X:31.88, Y:2.23, Z:3.71 [[ 9.76863576e-01 -1.73302937e-01 -1.25314190e-01 3.18844998e+01] [ 1.72279732e-01 9.84864029e-01 -1.90404158e-02 2.22546939e+00] [ 1.26717198e-01 -2.98920632e-03 9.91934381e-01 3.70503681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.55710568099999 meters Centerline goodness [0,1] 0.999201160419601 Centerline is valid? [True, True] Translation: X:31.91, Y:2.24, Z:3.71 [[ 9.76858272e-01 -1.74671546e-01 -1.23441350e-01 3.19109627e+01] [ 1.73684511e-01 9.84621946e-01 -1.87966679e-02 2.23566150e+00] [ 1.24826306e-01 -3.07817004e-03 9.92173835e-01 3.71022160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58710568099999 meters Centerline goodness [0,1] 0.9992432841468029 Centerline is valid? [True, True] Translation: X:31.94, Y:2.24, Z:3.71 [[ 9.77070038e-01 -1.74878083e-01 -1.21456974e-01 3.19384235e+01] [ 1.73918531e-01 9.84585499e-01 -1.85402168e-02 2.24260890e+00] [ 1.22827053e-01 -3.00852818e-03 9.92423530e-01 3.71487607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61710568099999 meters Centerline goodness [0,1] 0.9991009074561954 Centerline is valid? [True, True] Translation: X:31.97, Y:2.25, Z:3.72 [[ 9.76928082e-01 -1.77645327e-01 -1.18548134e-01 3.19663910e+01] [ 1.76746911e-01 9.84089255e-01 -1.81347149e-02 2.24842772e+00] [ 1.19883492e-01 -3.23670421e-03 9.92782691e-01 3.71906277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64710568099999 meters Centerline goodness [0,1] 0.9992228849869781 Centerline is valid? [True, True] Translation: X:32.00, Y:2.25, Z:3.72 [[ 9.75378218e-01 -1.83785184e-01 -1.21902988e-01 3.19956446e+01] [ 1.82877821e-01 9.82958023e-01 -1.86876255e-02 2.25236718e+00] [ 1.23260029e-01 -4.06585007e-03 9.92366079e-01 3.71972366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67710568099999 meters Centerline goodness [0,1] 0.9991851403021249 Centerline is valid? [True, True] Translation: X:32.02, Y:2.25, Z:3.72 [[ 9.74378497e-01 -1.86782611e-01 -1.25294859e-01 3.20242716e+01] [ 1.85847415e-01 9.82390682e-01 -1.92168422e-02 2.25308295e+00] [ 1.26677874e-01 -4.56124787e-03 9.91933421e-01 3.71876283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.707105680999994 meters Centerline goodness [0,1] 0.9992014122394082 Centerline is valid? [True, True] Translation: X:32.05, Y:2.26, Z:3.72 [[ 9.72841643e-01 -1.91423823e-01 -1.30138609e-01 3.20542990e+01] [ 1.90454494e-01 9.81492857e-01 -1.99714130e-02 2.26102487e+00] [ 1.31553120e-01 -5.35646072e-03 9.91294651e-01 3.71620655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73710568099999 meters Centerline goodness [0,1] 0.9994107868100419 Centerline is valid? [True, True] Translation: X:32.08, Y:2.27, Z:3.72 [[ 9.72268899e-01 -1.93022034e-01 -1.32044247e-01 3.20818813e+01] [ 1.92037570e-01 9.81178171e-01 -2.02723667e-02 2.27005281e+00] [ 1.33471946e-01 -5.64726452e-03 9.91036502e-01 3.71645008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76710568099999 meters Centerline goodness [0,1] 0.9992000505231249 Centerline is valid? [True, True] Translation: X:32.11, Y:2.28, Z:3.72 [[ 9.72233820e-01 -1.92631243e-01 -1.32870627e-01 3.21091315e+01] [ 1.91624803e-01 9.81255321e-01 -2.04433315e-02 2.28103248e+00] [ 1.34318034e-01 -5.58560934e-03 9.90922533e-01 3.72077879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79710568099999 meters Centerline goodness [0,1] 0.9992635145087642 Centerline is valid? [True, True] Translation: X:32.13, Y:2.30, Z:3.73 [[ 9.73204044e-01 -1.88090252e-01 -1.32272241e-01 3.21347007e+01] [ 1.87045762e-01 9.82139544e-01 -2.03911443e-02 2.29840012e+00] [ 1.33745174e-01 -4.89621799e-03 9.91003661e-01 3.72800482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82710568099999 meters Centerline goodness [0,1] 0.9991386011723428 Centerline is valid? [True, True] Translation: X:32.16, Y:2.32, Z:3.73 [[ 9.75252996e-01 -1.79380335e-01 -1.29245073e-01 3.21614073e+01] [ 1.78305913e-01 9.83773192e-01 -1.99325905e-02 2.31857703e+00] [ 1.30723352e-01 -3.60584204e-03 9.91412327e-01 3.73443128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85710568099999 meters Centerline goodness [0,1] 0.9991809303790822 Centerline is valid? [True, True] Translation: X:32.19, Y:2.33, Z:3.73 [[ 9.76007258e-01 -1.74798181e-01 -1.29828461e-01 3.21882106e+01] [ 1.73673323e-01 9.84599704e-01 -2.00249863e-02 2.32827819e+00] [ 1.31329395e-01 -3.00320821e-03 9.91334238e-01 3.73467546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.887105680999994 meters Centerline goodness [0,1] 0.9992626456274886 Centerline is valid? [True, True] Translation: X:32.21, Y:2.35, Z:3.73 [[ 9.77244449e-01 -1.65711545e-01 -1.32412128e-01 3.22148499e+01] [ 1.64455577e-01 9.86172627e-01 -2.04429133e-02 2.35008096e+00] [ 1.33968843e-01 -1.79818935e-03 9.90983913e-01 3.73366724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91710568099999 meters Centerline goodness [0,1] 0.9993058769088385 Centerline is valid? [True, True] Translation: X:32.24, Y:2.36, Z:3.74 [[ 9.78006001e-01 -1.61507700e-01 -1.31983045e-01 3.22414298e+01] [ 1.60216209e-01 9.86870750e-01 -2.04178558e-02 2.36291633e+00] [ 1.33547848e-01 -1.17703764e-03 9.91041668e-01 3.73726741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94710568099999 meters Centerline goodness [0,1] 0.9994326539188905 Centerline is valid? [True, True] Translation: X:32.27, Y:2.38, Z:3.75 [[ 9.79342156e-01 -1.56408840e-01 -1.28160898e-01 3.22686538e+01] [ 1.55142901e-01 9.87692306e-01 -1.98642881e-02 2.38075066e+00] [ 1.29690483e-01 -4.29318725e-04 9.91554433e-01 3.74653496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97710568099999 meters Centerline goodness [0,1] 0.9993705809537796 Centerline is valid? [True, True] Translation: X:32.30, Y:2.39, Z:3.75 [[ 9.79385046e-01 -1.57633772e-01 -1.26319140e-01 3.22970898e+01] [ 1.56414243e-01 9.87497471e-01 -1.95788250e-02 2.39230420e+00] [ 1.27826115e-01 -5.82904184e-04 9.91796423e-01 3.75490835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00710568099999 meters Centerline goodness [0,1] 0.9994752419134779 Centerline is valid? [True, True] Translation: X:32.33, Y:2.40, Z:3.76 [[ 9.79111492e-01 -1.59262748e-01 -1.26396452e-01 3.23274969e+01] [ 1.58055345e-01 9.87235910e-01 -1.95899466e-02 2.39684824e+00] [ 1.27903065e-01 -7.96892964e-04 9.91786353e-01 3.75741118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03710568099999 meters Centerline goodness [0,1] 0.999073937659167 Centerline is valid? [True, True] Translation: X:32.36, Y:2.40, Z:3.75 [[ 9.78198346e-01 -1.62835946e-01 -1.28889298e-01 3.23591472e+01] [ 1.61612210e-01 9.86652305e-01 -1.99680261e-02 2.39770780e+00] [ 1.30420436e-01 -1.29739429e-03 9.91457930e-01 3.75464222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.067105680999994 meters Centerline goodness [0,1] 0.999265107294335 Centerline is valid? [True, True] Translation: X:32.39, Y:2.40, Z:3.76 [[ 9.77801665e-01 -1.65459344e-01 -1.28557809e-01 3.23895785e+01] [ 1.64264482e-01 9.86215243e-01 -1.99166704e-02 2.39967232e+00] [ 1.30081070e-01 -1.64292830e-03 9.91502000e-01 3.75773987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097105680999995 meters Centerline goodness [0,1] 0.999096296919003 Centerline is valid? [True, True] Translation: X:32.42, Y:2.40, Z:3.76 [[ 9.77578772e-01 -1.66862507e-01 -1.28439275e-01 3.24195369e+01] [ 1.65681909e-01 9.85978480e-01 -1.98983068e-02 2.40288424e+00] [ 1.29958643e-01 -1.82790196e-03 9.91517731e-01 3.76250991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12710568099999 meters Centerline goodness [0,1] 0.9989271966175141 Centerline is valid? [True, True] Translation: X:32.45, Y:2.40, Z:3.76 [[ 9.76630300e-01 -1.70154604e-01 -1.31303721e-01 3.24489547e+01] [ 1.68950110e-01 9.85414656e-01 -2.03424795e-02 2.40434649e+00] [ 1.32849977e-01 -2.31669622e-03 9.91133450e-01 3.76485243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15710568099999 meters Centerline goodness [0,1] 0.9990949273837086 Centerline is valid? [True, True] Translation: X:32.48, Y:2.41, Z:3.77 [[ 9.76165555e-01 -1.71524788e-01 -1.32966374e-01 3.24786873e+01] [ 1.70301707e-01 9.85176550e-01 -2.06032418e-02 2.40758798e+00] [ 1.34529320e-01 -2.53222555e-03 9.90906378e-01 3.76720801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18710568099999 meters Centerline goodness [0,1] 0.9993166003976143 Centerline is valid? [True, True] Translation: X:32.51, Y:2.41, Z:3.77 [[ 9.77342541e-01 -1.66399180e-01 -1.30816171e-01 3.25062147e+01] [ 1.65169212e-01 9.86056844e-01 -2.02738951e-02 2.41486236e+00] [ 1.32365740e-01 -1.79226379e-03 9.91199323e-01 3.77062227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21710568099999 meters Centerline goodness [0,1] 0.9994532646409421 Centerline is valid? [True, True] Translation: X:32.53, Y:2.42, Z:3.77 [[ 9.78149089e-01 -1.62254638e-01 -1.29991505e-01 3.25333211e+01] [ 1.61002013e-01 9.86748178e-01 -2.01589839e-02 2.42416137e+00] [ 1.31539770e-01 -1.21040228e-03 9.91310155e-01 3.77461879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.247105680999994 meters Centerline goodness [0,1] 0.9997272345782627 Centerline is valid? [True, True] Translation: X:32.56, Y:2.44, Z:3.78 [[ 9.79816668e-01 -1.53090096e-01 -1.28540733e-01 3.25621868e+01] [ 1.51782115e-01 9.88212234e-01 -1.99692341e-02 2.43733705e+00] [ 1.30082617e-01 5.60041011e-05 9.91503157e-01 3.77846261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277105680999995 meters Centerline goodness [0,1] 0.9996641618739768 Centerline is valid? [True, True] Translation: X:32.59, Y:2.45, Z:3.78 [[ 9.80284254e-01 -1.48513625e-01 -1.30332210e-01 3.25907941e+01] [ 1.47128455e-01 9.88910133e-01 -2.02476560e-02 2.44705225e+00] [ 1.31893896e-01 6.72881692e-04 9.91263611e-01 3.77898443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30710568099999 meters Centerline goodness [0,1] 0.9998538378017205 Centerline is valid? [True, True] Translation: X:32.62, Y:2.45, Z:3.78 [[ 9.80236288e-01 -1.47595150e-01 -1.31728857e-01 3.26179012e+01] [ 1.46171365e-01 9.89047531e-01 -2.04673697e-02 2.45278023e+00] [ 1.33306985e-01 8.07871754e-04 9.91074465e-01 3.78022166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33710568099999 meters Centerline goodness [0,1] 0.9996645491330691 Centerline is valid? [True, True] Translation: X:32.64, Y:2.45, Z:3.78 [[ 9.80194784e-01 -1.47933421e-01 -1.31658223e-01 3.26448518e+01] [ 1.46512131e-01 9.88997017e-01 -2.04718344e-02 2.45455641e+00] [ 1.33238059e-01 7.76858400e-04 9.91083758e-01 3.78308803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36710568099999 meters Centerline goodness [0,1] 0.9997065789197912 Centerline is valid? [True, True] Translation: X:32.67, Y:2.46, Z:3.79 [[ 9.80167745e-01 -1.48723761e-01 -1.30967300e-01 3.26731492e+01] [ 1.47321382e-01 9.88878541e-01 -2.03872937e-02 2.45649970e+00] [ 1.32542828e-01 6.88683982e-04 9.91177040e-01 3.78791469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39710568099999 meters Centerline goodness [0,1] 0.9996009157932324 Centerline is valid? [True, True] Translation: X:32.70, Y:2.45, Z:3.79 [[ 9.79988554e-01 -1.50882729e-01 -1.29833880e-01 3.27021820e+01] [ 1.49518133e-01 9.88551574e-01 -2.02512663e-02 2.45389861e+00] [ 1.31403053e-01 4.33489806e-04 9.91328931e-01 3.79260007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42710568099999 meters Centerline goodness [0,1] 0.9993918040350657 Centerline is valid? [True, True] Translation: X:32.73, Y:2.45, Z:3.80 [[ 9.79787496e-01 -1.53403038e-01 -1.28389919e-01 3.27326948e+01] [ 1.52085574e-01 9.88163696e-01 -2.00620859e-02 2.44868284e+00] [ 1.29947842e-01 1.30326501e-04 9.91520823e-01 3.79904959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457105680999994 meters Centerline goodness [0,1] 0.9993287605143373 Centerline is valid? [True, True] Translation: X:32.76, Y:2.45, Z:3.80 [[ 9.79571826e-01 -1.54359143e-01 -1.28888685e-01 3.27609397e+01] [ 1.53038548e-01 9.88014805e-01 -2.01481567e-02 2.44939871e+00] [ 1.30453981e-01 1.16295374e-05 9.91454365e-01 3.80129488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48710568099999 meters Centerline goodness [0,1] 0.9993914722175592 Centerline is valid? [True, True] Translation: X:32.79, Y:2.45, Z:3.80 [[ 9.79318299e-01 -1.54994658e-01 -1.30047396e-01 3.27900243e+01] [ 1.53652239e-01 9.87915307e-01 -2.03552368e-02 2.45079632e+00] [ 1.31630766e-01 -4.78177261e-05 9.91298814e-01 3.80453599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51710568099999 meters Centerline goodness [0,1] 0.9993488352553196 Centerline is valid? [True, True] Translation: X:32.82, Y:2.45, Z:3.81 [[ 9.79255917e-01 -1.55593057e-01 -1.29802350e-01 3.28188121e+01] [ 1.54255223e-01 9.87821235e-01 -2.03600834e-02 2.45328089e+00] [ 1.31389406e-01 -8.49583406e-05 9.91330831e-01 3.80943515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54710568099999 meters Centerline goodness [0,1] 0.9992659088048995 Centerline is valid? [True, True] Translation: X:32.85, Y:2.45, Z:3.81 [[ 9.78377024e-01 -1.59363263e-01 -1.31839861e-01 3.28476651e+01] [ 1.58011366e-01 9.87219853e-01 -2.07212512e-02 2.44975302e+00] [ 1.33457134e-01 -5.59000456e-04 9.91054429e-01 3.80833419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57710568099999 meters Centerline goodness [0,1] 0.9993306419561989 Centerline is valid? [True, True] Translation: X:32.88, Y:2.45, Z:3.81 [[ 9.77595344e-01 -1.62869273e-01 -1.33345201e-01 3.28754453e+01] [ 1.61516204e-01 9.86647118e-01 -2.09757063e-02 2.44894387e+00] [ 1.34980957e-01 -1.03165785e-03 9.90847656e-01 3.80915989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60710568099999 meters Centerline goodness [0,1] 0.9992852037169406 Centerline is valid? [True, True] Translation: X:32.91, Y:2.44, Z:3.81 [[ 9.75694129e-01 -1.72355485e-01 -1.35331274e-01 3.29058852e+01] [ 1.71048814e-01 9.85032005e-01 -2.13132188e-02 2.44456425e+00] [ 1.36979086e-01 -2.35307155e-03 9.90571145e-01 3.81289612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637105680999994 meters Centerline goodness [0,1] 0.9990353360595575 Centerline is valid? [True, True] Translation: X:32.94, Y:2.44, Z:3.82 [[ 9.74241695e-01 -1.82553264e-01 -1.32391187e-01 3.29350789e+01] [ 1.81395608e-01 9.83189018e-01 -2.08563728e-02 2.44316567e+00] [ 1.33972960e-01 -3.69603193e-03 9.90978095e-01 3.82267664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66710568099999 meters Centerline goodness [0,1] 0.9990986836589252 Centerline is valid? [True, True] Translation: X:32.96, Y:2.44, Z:3.83 [[ 9.73612909e-01 -1.87445597e-01 -1.30161636e-01 3.29630048e+01] [ 1.86369051e-01 9.82265635e-01 -2.05133738e-02 2.44484364e+00] [ 1.31698444e-01 -4.28601513e-03 9.91280561e-01 3.82916932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69710568099999 meters Centerline goodness [0,1] 0.9983059709296246 Centerline is valid? [True, True] Translation: X:32.99, Y:2.44, Z:3.83 [[ 9.72146719e-01 -1.95717645e-01 -1.28939363e-01 3.29924200e+01] [ 1.94730771e-01 9.80645785e-01 -2.03413707e-02 2.44301847e+00] [ 1.30425008e-01 -5.33366478e-03 9.91443831e-01 3.83275183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72710568099999 meters Centerline goodness [0,1] 0.9986849246440946 Centerline is valid? [True, True] Translation: X:33.02, Y:2.45, Z:3.83 [[ 9.71319869e-01 -1.99043568e-01 -1.30074476e-01 3.30211517e+01] [ 1.98068305e-01 9.79973313e-01 -2.05244336e-02 2.44703279e+00] [ 1.31554771e-01 -5.82784071e-03 9.91291773e-01 3.83445175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75710568099999 meters Centerline goodness [0,1] 0.9986780813294724 Centerline is valid? [True, True] Translation: X:33.05, Y:2.46, Z:3.84 [[ 9.71230417e-01 -1.99285971e-01 -1.30370928e-01 3.30475772e+01] [ 1.98306585e-01 9.79923852e-01 -2.05850250e-02 2.45722326e+00] [ 1.31855888e-01 -5.86061108e-03 9.91251571e-01 3.83931655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78710568099999 meters Centerline goodness [0,1] 0.9988654985503592 Centerline is valid? [True, True] Translation: X:33.07, Y:2.47, Z:3.85 [[ 9.72115927e-01 -1.95772884e-01 -1.29087577e-01 3.30743104e+01] [ 1.94776209e-01 9.80635010e-01 -2.04255866e-02 2.47045489e+00] [ 1.30586573e-01 -5.28715082e-03 9.91422812e-01 3.84520284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817105680999994 meters Centerline goodness [0,1] 0.9986989822683874 Centerline is valid? [True, True] Translation: X:33.10, Y:2.48, Z:3.85 [[ 9.72890929e-01 -1.93549807e-01 -1.26576903e-01 3.30996381e+01] [ 1.92571939e-01 9.81078299e-01 -2.00354329e-02 2.48200935e+00] [ 1.28059707e-01 -4.88286884e-03 9.91754440e-01 3.85241164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84710568099999 meters Centerline goodness [0,1] 0.9984053379214839 Centerline is valid? [True, True] Translation: X:33.13, Y:2.49, Z:3.86 [[ 9.73167309e-01 -1.92966458e-01 -1.25336888e-01 3.31286437e+01] [ 1.92000612e-01 9.81193901e-01 -1.98568306e-02 2.49243572e+00] [ 1.26811493e-01 -4.74074085e-03 9.91915506e-01 3.85863427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87710568099999 meters Centerline goodness [0,1] 0.998406775397258 Centerline is valid? [True, True] Translation: X:33.16, Y:2.50, Z:3.87 [[ 9.73355663e-01 -1.93376635e-01 -1.23224310e-01 3.31574511e+01] [ 1.92446480e-01 9.81113279e-01 -1.95214179e-02 2.49926607e+00] [ 1.24671993e-01 -4.71280209e-03 9.92186819e-01 3.86528528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90710568099999 meters Centerline goodness [0,1] 0.9984470420347946 Centerline is valid? [True, True] Translation: X:33.19, Y:2.51, Z:3.87 [[ 9.73637137e-01 -1.92801706e-01 -1.21894327e-01 3.31869051e+01] [ 1.91888238e-01 9.81226969e-01 -1.93012997e-02 2.51003860e+00] [ 1.23327324e-01 -4.59762540e-03 9.92355396e-01 3.87176330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93710568099999 meters Centerline goodness [0,1] 0.998805256869773 Centerline is valid? [True, True] Translation: X:33.21, Y:2.53, Z:3.88 [[ 9.75920505e-01 -1.81536796e-01 -1.20927912e-01 3.32129015e+01] [ 1.80552164e-01 9.83379102e-01 -1.91430761e-02 2.53335133e+00] [ 1.22393154e-01 -3.15167568e-03 9.92476691e-01 3.87712500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96710568099999 meters Centerline goodness [0,1] 0.9987002641398683 Centerline is valid? [True, True] Translation: X:33.24, Y:2.55, Z:3.88 [[ 9.76612528e-01 -1.75913103e-01 -1.23622617e-01 3.32426119e+01] [ 1.74838824e-01 9.84402525e-01 -1.95717970e-02 2.54722907e+00] [ 1.25137352e-01 -2.49997075e-03 9.92136278e-01 3.87773815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997105680999994 meters Centerline goodness [0,1] 0.9988901685687362 Centerline is valid? [True, True] Translation: X:33.27, Y:2.56, Z:3.88 [[ 9.77495213e-01 -1.69310084e-01 -1.25845954e-01 3.32737935e+01] [ 1.68143086e-01 9.85561380e-01 -1.99165589e-02 2.56089786e+00] [ 1.27400986e-01 -1.69178606e-03 9.91849851e-01 3.87837188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.027105680999995 meters Centerline goodness [0,1] 0.9996650407184876 Centerline is valid? [True, True] Translation: X:33.30, Y:2.58, Z:3.87 [[ 9.78723203e-01 -1.58412346e-01 -1.30408666e-01 3.33033922e+01] [ 1.57064877e-01 9.87372998e-01 -2.06200560e-02 2.57927018e+00] [ 1.32028467e-01 -3.01293855e-04 9.91245879e-01 3.87443783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05710568099999 meters Centerline goodness [0,1] 0.9995391222373521 Centerline is valid? [True, True] Translation: X:33.33, Y:2.59, Z:3.88 [[ 9.79269545e-01 -1.53062339e-01 -1.32676593e-01 3.33339036e+01] [ 1.51619838e-01 9.88216447e-01 -2.09685147e-02 2.59409584e+00] [ 1.34322682e-01 4.17424282e-04 9.90937558e-01 3.87508338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08710568099999 meters Centerline goodness [0,1] 0.9996222138269739 Centerline is valid? [True, True] Translation: X:33.37, Y:2.60, Z:3.88 [[ 9.79420180e-01 -1.52814400e-01 -1.31847907e-01 3.33651547e+01] [ 1.51389398e-01 9.88254810e-01 -2.08250097e-02 2.60307906e+00] [ 1.33481689e-01 4.36059475e-04 9.91051184e-01 3.87967945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11710568099999 meters Centerline goodness [0,1] 0.9994971715901948 Centerline is valid? [True, True] Translation: X:33.40, Y:2.61, Z:3.88 [[ 9.79214373e-01 -1.53668410e-01 -1.32382894e-01 3.33964705e+01] [ 1.52241269e-01 9.88122424e-01 -2.08966856e-02 2.60836540e+00] [ 1.34021667e-01 3.08195127e-04 9.90978354e-01 3.88273141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14710568099999 meters Centerline goodness [0,1] 0.9994545378257038 Centerline is valid? [True, True] Translation: X:33.43, Y:2.61, Z:3.88 [[ 9.78574575e-01 -1.56749675e-01 -1.33496590e-01 3.34284311e+01] [ 1.55328532e-01 9.87638356e-01 -2.10600047e-02 2.61000583e+00] [ 1.35147502e-01 -1.27044274e-04 9.90825482e-01 3.88324318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17710568099999 meters Centerline goodness [0,1] 0.9993704092339979 Centerline is valid? [True, True] Translation: X:33.46, Y:2.61, Z:3.89 [[ 9.78287715e-01 -1.58452630e-01 -1.33588590e-01 3.34599894e+01] [ 1.57046876e-01 9.87366510e-01 -2.10631035e-02 2.61209812e+00] [ 1.35238404e-01 -3.73895359e-04 9.90813017e-01 3.88535815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.207105680999994 meters Centerline goodness [0,1] 0.999559277214632 Centerline is valid? [True, True] Translation: X:33.49, Y:2.61, Z:3.89 [[ 9.77471854e-01 -1.62368589e-01 -1.34852568e-01 3.34919644e+01] [ 1.60975853e-01 9.86729724e-01 -2.12420690e-02 2.61321890e+00] [ 1.36512082e-01 -9.44482549e-04 9.90637956e-01 3.88921887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23710568099999 meters Centerline goodness [0,1] 0.999559277214632 Centerline is valid? [True, True] Translation: X:33.52, Y:2.62, Z:3.89 [[ 9.77487067e-01 -1.62275309e-01 -1.34854577e-01 3.35230927e+01] [ 1.60883450e-01 9.86745069e-01 -2.12293075e-02 2.61802377e+00] [ 1.36512081e-01 -9.44496071e-04 9.90637956e-01 3.89288249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26710568099999 meters Centerline goodness [0,1] 0.9994329279818537 Centerline is valid? [True, True] Translation: X:33.55, Y:2.62, Z:3.90 [[ 9.76352358e-01 -1.68112884e-01 -1.35919575e-01 3.35540091e+01] [ 1.66756710e-01 9.85766133e-01 -2.13852932e-02 2.61638605e+00] [ 1.37580057e-01 -1.78591975e-03 9.90489040e-01 3.89553125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29710568099999 meters Centerline goodness [0,1] 0.9993281404186525 Centerline is valid? [True, True] Translation: X:33.59, Y:2.62, Z:3.90 [[ 9.75639727e-01 -1.72064498e-01 -1.36091627e-01 3.35854083e+01] [ 1.70743624e-01 9.85082884e-01 -2.14085867e-02 2.61626088e+00] [ 1.37745190e-01 -2.34970990e-03 9.90464912e-01 3.89899430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32710568099999 meters Centerline goodness [0,1] 0.9989904938167746 Centerline is valid? [True, True] Translation: X:33.62, Y:2.61, Z:3.90 [[ 9.74117564e-01 -1.80807729e-01 -1.35659638e-01 3.36164945e+01] [ 1.79580212e-01 9.83511951e-01 -2.13351857e-02 2.60974200e+00] [ 1.37280442e-01 -3.57880748e-03 9.90525756e-01 3.90250425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35710568099999 meters Centerline goodness [0,1] 0.9987856454922324 Centerline is valid? [True, True] Translation: X:33.65, Y:2.61, Z:3.91 [[ 9.73109501e-01 -1.87348818e-01 -1.34008654e-01 3.36462507e+01] [ 1.86212621e-01 9.82283393e-01 -2.10759667e-02 2.60702820e+00] [ 1.35583033e-01 -4.44487916e-03 9.90756017e-01 3.90915971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.387105680999994 meters Centerline goodness [0,1] 0.9983612068241029 Centerline is valid? [True, True] Translation: X:33.68, Y:2.61, Z:3.92 [[ 9.73093125e-01 -1.88540276e-01 -1.32447475e-01 3.36765941e+01] [ 1.87441205e-01 9.82054897e-01 -2.08320561e-02 2.61049093e+00] [ 1.33998373e-01 -4.55458375e-03 9.90971085e-01 3.91525496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41710568099999 meters Centerline goodness [0,1] 0.9982770575504801 Centerline is valid? [True, True] Translation: X:33.70, Y:2.62, Z:3.92 [[ 9.74384419e-01 -1.83626668e-01 -1.29831625e-01 3.37043240e+01] [ 1.82527877e-01 9.82988692e-01 -2.04158174e-02 2.61844125e+00] [ 1.31371907e-01 -3.80503635e-03 9.91325851e-01 3.92336849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44710568099999 meters Centerline goodness [0,1] 0.9991404071534897 Centerline is valid? [True, True] Translation: X:33.73, Y:2.64, Z:3.93 [[ 9.76654297e-01 -1.70391787e-01 -1.30816756e-01 3.37311892e+01] [ 1.69157446e-01 9.85374292e-01 -2.05733571e-02 2.63618707e+00] [ 1.32408999e-01 -2.03557068e-03 9.91193076e-01 3.92708107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47710568099999 meters Centerline goodness [0,1] 0.9992230318556939 Centerline is valid? [True, True] Translation: X:33.76, Y:2.65, Z:3.93 [[ 9.77946354e-01 -1.62455288e-01 -1.31260078e-01 3.37594969e+01] [ 1.61141503e-01 9.86715434e-01 -2.06414222e-02 2.64967867e+00] [ 1.32869653e-01 -9.65242718e-04 9.91133050e-01 3.92947399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50710568099999 meters Centerline goodness [0,1] 0.9997265345618243 Centerline is valid? [True, True] Translation: X:33.79, Y:2.67, Z:3.93 [[ 9.80105362e-01 -1.49080922e-01 -1.31028083e-01 3.37890093e+01] [ 1.47654242e-01 9.88824646e-01 -2.05923479e-02 2.66937334e+00] [ 1.32633724e-01 8.35818317e-04 9.91164768e-01 3.93288461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53710568099999 meters Centerline goodness [0,1] 0.9995796023037794 Centerline is valid? [True, True] Translation: X:33.82, Y:2.68, Z:3.94 [[ 9.80732118e-01 -1.44214007e-01 -1.31783280e-01 3.38195464e+01] [ 1.42728598e-01 9.89545399e-01 -2.06990366e-02 2.67876637e+00] [ 1.33390630e-01 1.49096721e-03 9.91062418e-01 3.93739172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.567105680999994 meters Centerline goodness [0,1] 0.9995605683316244 Centerline is valid? [True, True] Translation: X:33.85, Y:2.68, Z:3.94 [[ 9.80484529e-01 -1.44746544e-01 -1.33035809e-01 3.38517737e+01] [ 1.43239245e-01 9.89467748e-01 -2.08828964e-02 2.68228398e+00] [ 1.34657370e-01 1.41940802e-03 9.90891204e-01 3.93927502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59710568099999 meters Centerline goodness [0,1] 0.999601593625498 Centerline is valid? [True, True] Translation: X:33.88, Y:2.68, Z:3.94 [[ 9.79453202e-01 -1.49989272e-01 -1.34813368e-01 3.38836304e+01] [ 1.48492338e-01 9.88687379e-01 -2.11492673e-02 2.68051951e+00] [ 1.36460439e-01 6.95965300e-04 9.90645277e-01 3.93964045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62710568099999 meters Centerline goodness [0,1] 0.9993699199798375 Centerline is valid? [True, True] Translation: X:33.92, Y:2.68, Z:3.94 [[ 9.78986374e-01 -1.52691959e-01 -1.35169693e-01 3.39150911e+01] [ 1.51213961e-01 9.88273782e-01 -2.11959689e-02 2.68240626e+00] [ 1.36821118e-01 3.11020008e-04 9.90595722e-01 3.94282923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65710568099999 meters Centerline goodness [0,1] 0.9995393924167243 Centerline is valid? [True, True] Translation: X:33.95, Y:2.68, Z:3.95 [[ 9.78562211e-01 -1.56931619e-01 -1.33373409e-01 3.39452172e+01] [ 1.55532782e-01 9.87609430e-01 -2.09085469e-02 2.68282700e+00] [ 1.35002049e-01 -2.83623423e-04 9.90845279e-01 3.94860835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68710568099999 meters Centerline goodness [0,1] 0.9996227047874571 Centerline is valid? [True, True] Translation: X:33.98, Y:2.68, Z:3.95 [[ 9.78113020e-01 -1.60262640e-01 -1.32705717e-01 3.39764464e+01] [ 1.58908811e-01 9.87074128e-01 -2.08003788e-02 2.68223034e+00] [ 1.34323903e-01 -7.42986310e-04 9.90937201e-01 3.95235808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71710568099999 meters Centerline goodness [0,1] 0.9994124436050782 Centerline is valid? [True, True] Translation: X:34.01, Y:2.69, Z:3.96 [[ 9.77593254e-01 -1.62816782e-01 -1.33424603e-01 3.40083626e+01] [ 1.61472832e-01 9.86655700e-01 -2.09058435e-02 2.68526723e+00] [ 1.35047967e-01 -1.10703696e-03 9.90838443e-01 3.95721961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.747105680999994 meters Centerline goodness [0,1] 0.9991382390650945 Centerline is valid? [True, True] Translation: X:34.04, Y:2.68, Z:3.96 [[ 9.76384895e-01 -1.69314120e-01 -1.34183700e-01 3.40400617e+01] [ 1.68017706e-01 9.85560046e-01 -2.10106127e-02 2.68359293e+00] [ 1.35803487e-01 -2.03079260e-03 9.90733712e-01 3.95945241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777105680999995 meters Centerline goodness [0,1] 0.9989302345093761 Centerline is valid? [True, True] Translation: X:34.07, Y:2.68, Z:3.96 [[ 9.74984755e-01 -1.77327138e-01 -1.34014232e-01 3.40720905e+01] [ 1.76111490e-01 9.84146895e-01 -2.09674310e-02 2.67664523e+00] [ 1.35607785e-01 -3.15852043e-03 9.90757565e-01 3.95919784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80710568099999 meters Centerline goodness [0,1] 0.9988248625508876 Centerline is valid? [True, True] Translation: X:34.10, Y:2.68, Z:3.96 [[ 9.73466135e-01 -1.84801039e-01 -1.34952807e-01 3.41027883e+01] [ 1.83640017e-01 9.82766843e-01 -2.11110497e-02 2.67634025e+00] [ 1.36528488e-01 -4.23184395e-03 9.90627106e-01 3.96441688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83710568099999 meters Centerline goodness [0,1] 0.998675273881868 Centerline is valid? [True, True] Translation: X:34.13, Y:2.68, Z:3.97 [[ 9.72680240e-01 -1.88139774e-01 -1.36002116e-01 3.41341437e+01] [ 1.86993530e-01 9.82130819e-01 -2.12714258e-02 2.67837696e+00] [ 1.37573871e-01 -4.74122019e-03 9.90480162e-01 3.96743859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86710568099999 meters Centerline goodness [0,1] 0.9985128086969272 Centerline is valid? [True, True] Translation: X:34.16, Y:2.67, Z:3.97 [[ 9.71314822e-01 -1.94969341e-01 -1.36141373e-01 3.41643321e+01] [ 1.93887981e-01 9.80792667e-01 -2.12883828e-02 2.67180650e+00] [ 1.37677042e-01 -5.71845425e-03 9.90460666e-01 3.96818378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89710568099999 meters Centerline goodness [0,1] 0.9984891724022159 Centerline is valid? [True, True] Translation: X:34.19, Y:2.67, Z:3.97 [[ 9.70651835e-01 -1.98543111e-01 -1.35704268e-01 3.41934952e+01] [ 1.97502705e-01 9.80072544e-01 -2.12247470e-02 2.66965909e+00] [ 1.37214055e-01 -6.20012048e-03 9.90522015e-01 3.97088023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92710568099999 meters Centerline goodness [0,1] 0.9982669701208945 Centerline is valid? [True, True] Translation: X:34.22, Y:2.68, Z:3.98 [[ 9.69435911e-01 -2.04362576e-01 -1.35756960e-01 3.42217238e+01] [ 2.03376836e-01 9.78870106e-01 -2.12409642e-02 2.67667096e+00] [ 1.37229288e-01 -7.01806734e-03 9.90514447e-01 3.97961396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957105680999994 meters Centerline goodness [0,1] 0.9979473000712161 Centerline is valid? [True, True] Translation: X:34.25, Y:2.68, Z:3.98 [[ 9.68379680e-01 -2.08813814e-01 -1.36519544e-01 3.42523211e+01] [ 2.07860368e-01 9.77925186e-01 -2.13634669e-02 2.67724323e+00] [ 1.37966888e-01 -7.68905541e-03 9.90406995e-01 3.98135328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98710568099999 meters Centerline goodness [0,1] 0.9980593464379617 Centerline is valid? [True, True] Translation: X:34.28, Y:2.68, Z:3.98 [[ 9.68095787e-01 -2.10564592e-01 -1.35842187e-01 3.42802988e+01] [ 2.09637053e-01 9.77548074e-01 -2.12619040e-02 2.67944720e+00] [ 1.37269272e-01 -7.89399598e-03 9.90502313e-01 3.98450888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01710568099999 meters Centerline goodness [0,1] 0.997451484197113 Centerline is valid? [True, True] Translation: X:34.31, Y:2.69, Z:3.99 [[ 9.68146692e-01 -2.11609879e-01 -1.33840357e-01 3.43073528e+01] [ 2.10717893e-01 9.77322197e-01 -2.09593019e-02 2.68740208e+00] [ 1.35240348e-01 -7.91087927e-03 9.90781240e-01 3.99207362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04710568099999 meters Centerline goodness [0,1] 0.9976100419801321 Centerline is valid? [True, True] Translation: X:34.34, Y:2.70, Z:4.00 [[ 9.69021523e-01 -2.08942535e-01 -1.31682593e-01 3.43351514e+01] [ 2.08053580e-01 9.77899868e-01 -2.06290047e-02 2.70287831e+00] [ 1.33082667e-01 -7.40708535e-03 9.91077262e-01 3.99832068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07710568099999 meters Centerline goodness [0,1] 0.9978479346440735 Centerline is valid? [True, True] Translation: X:34.37, Y:2.71, Z:4.00 [[ 9.69621144e-01 -2.06230387e-01 -1.31544152e-01 3.43652445e+01] [ 2.05318619e-01 9.78478224e-01 -2.06065261e-02 2.71381648e+00] [ 1.32962780e-01 -7.02794020e-03 9.91096114e-01 4.00057806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10710568099999 meters Centerline goodness [0,1] 0.9981397876431737 Centerline is valid? [True, True] Translation: X:34.39, Y:2.73, Z:4.00 [[ 9.71107370e-01 -1.98478983e-01 -1.32501203e-01 3.43927810e+01] [ 1.97482795e-01 9.80086689e-01 -2.07515956e-02 2.72943920e+00] [ 1.33981421e-01 -6.01468042e-03 9.90965591e-01 3.99841308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137105680999994 meters Centerline goodness [0,1] 0.9979776920671323 Centerline is valid? [True, True] Translation: X:34.42, Y:2.74, Z:4.00 [[ 9.71823406e-01 -1.94994217e-01 -1.32425536e-01 3.44223709e+01] [ 1.93966830e-01 9.80788805e-01 -2.07410100e-02 2.74445956e+00] [ 1.33925860e-01 -5.52956245e-03 9.90975927e-01 4.00348117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16710568099999 meters Centerline goodness [0,1] 0.9982868484278701 Centerline is valid? [True, True] Translation: X:34.45, Y:2.77, Z:4.01 [[ 9.73828566e-01 -1.85181475e-01 -1.31779157e-01 3.44477558e+01] [ 1.84075682e-01 9.82695513e-01 -2.06318406e-02 2.77391017e+00] [ 1.33319421e-01 -4.16546246e-03 9.91064368e-01 4.01165740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19710568099999 meters Centerline goodness [0,1] 0.9986879646791761 Centerline is valid? [True, True] Translation: X:34.48, Y:2.79, Z:4.02 [[ 9.74477164e-01 -1.81671630e-01 -1.31869918e-01 3.44772026e+01] [ 1.80532515e-01 9.83352332e-01 -2.06446442e-02 2.78555725e+00] [ 1.33425138e-01 -3.68907363e-03 9.91052029e-01 4.01552790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22710568099999 meters Centerline goodness [0,1] 0.9987667481867017 Centerline is valid? [True, True] Translation: X:34.51, Y:2.80, Z:4.02 [[ 9.74998483e-01 -1.78788452e-01 -1.31956994e-01 3.45080509e+01] [ 1.77622855e-01 9.83881984e-01 -2.06485684e-02 2.79633093e+00] [ 1.33521835e-01 -3.30625514e-03 9.91040357e-01 4.01827652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25710568099999 meters Centerline goodness [0,1] 0.9989142009980998 Centerline is valid? [True, True] Translation: X:34.54, Y:2.81, Z:4.02 [[ 9.75933146e-01 -1.73198176e-01 -1.32502404e-01 3.45376484e+01] [ 1.71973093e-01 9.84883660e-01 -2.07227336e-02 2.80736869e+00] [ 1.34088592e-01 -2.56284562e-03 9.90966034e-01 4.01514903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28710568099999 meters Centerline goodness [0,1] 0.9989733919966478 Centerline is valid? [True, True] Translation: X:34.57, Y:2.82, Z:4.02 [[ 9.76998173e-01 -1.68640478e-01 -1.30518039e-01 3.45659319e+01] [ 1.67411816e-01 9.85675778e-01 -2.04094106e-02 2.81984895e+00] [ 1.32090323e-01 -1.91030510e-03 9.91235843e-01 4.01869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317105680999994 meters Centerline goodness [0,1] 0.9991800866164908 Centerline is valid? [True, True] Translation: X:34.60, Y:2.84, Z:4.03 [[ 9.78046573e-01 -1.62874633e-01 -1.29987519e-01 3.45960070e+01] [ 1.61605815e-01 9.86646125e-01 -2.03220473e-02 2.83505341e+00] [ 1.31561628e-01 -1.13083016e-03 9.91307349e-01 4.02546149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34710568099999 meters Centerline goodness [0,1] 0.9993909866017052 Centerline is valid? [True, True] Translation: X:34.63, Y:2.84, Z:4.03 [[ 9.78728717e-01 -1.59457560e-01 -1.29086734e-01 3.46273910e+01] [ 1.58178717e-01 9.87204549e-01 -2.01661013e-02 2.84385803e+00] [ 1.30650649e-01 -6.81631556e-04 9.91428234e-01 4.03016779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37710568099999 meters Centerline goodness [0,1] 0.9994312316993533 Centerline is valid? [True, True] Translation: X:34.66, Y:2.85, Z:4.03 [[ 9.80009862e-01 -1.52510801e-01 -1.27754162e-01 3.46571687e+01] [ 1.51201410e-01 9.88301778e-01 -1.99431682e-02 2.85348738e+00] [ 1.29301214e-01 2.27892064e-04 9.91605337e-01 4.03088816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40710568099999 meters Centerline goodness [0,1] 0.999474082800404 Centerline is valid? [True, True] Translation: X:34.69, Y:2.86, Z:4.03 [[ 9.80134171e-01 -1.48776395e-01 -1.31158650e-01 3.46894682e+01] [ 1.47364015e-01 9.88870594e-01 -2.04644993e-02 2.85818056e+00] [ 1.32743566e-01 7.29889917e-04 9.91150147e-01 4.02887982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43710568099999 meters Centerline goodness [0,1] 0.9993700787401575 Centerline is valid? [True, True] Translation: X:34.72, Y:2.86, Z:4.03 [[ 9.80186149e-01 -1.48424852e-01 -1.31168506e-01 3.47219256e+01] [ 1.47011095e-01 9.88923395e-01 -2.04513232e-02 2.86111551e+00] [ 1.32751089e-01 7.62877985e-04 9.91149114e-01 4.03095562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46710568099999 meters Centerline goodness [0,1] 0.9993491633599967 Centerline is valid? [True, True] Translation: X:34.76, Y:2.86, Z:4.04 [[ 9.79765817e-01 -1.50828785e-01 -1.31566031e-01 3.47557850e+01] [ 1.49431833e-01 9.88559816e-01 -2.04845755e-02 2.85910497e+00] [ 1.33150555e-01 4.09933652e-04 9.91095738e-01 4.03588679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497105680999994 meters Centerline goodness [0,1] 0.9992460259283306 Centerline is valid? [True, True] Translation: X:34.79, Y:2.85, Z:4.04 [[ 9.78702854e-01 -1.55572989e-01 -1.33931955e-01 3.47889655e+01] [ 1.54171847e-01 9.87824366e-01 -2.08341807e-02 2.85487437e+00] [ 1.35542485e-01 -2.58064877e-04 9.90771502e-01 4.03752360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52710568099999 meters Centerline goodness [0,1] 0.9992708485239891 Centerline is valid? [True, True] Translation: X:34.82, Y:2.85, Z:4.04 [[ 9.78537102e-01 -1.56954051e-01 -1.33531139e-01 3.48216468e+01] [ 1.55575851e-01 9.87605799e-01 -2.07591166e-02 2.85487547e+00] [ 1.35134355e-01 -4.60654759e-04 9.90827177e-01 4.04082483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55710568099999 meters Centerline goodness [0,1] 0.9992430932256844 Centerline is valid? [True, True] Translation: X:34.86, Y:2.85, Z:4.05 [[ 9.78309601e-01 -1.60054142e-01 -1.31502840e-01 3.48550145e+01] [ 1.58747246e-01 9.87107838e-01 -2.04310625e-02 2.85094137e+00] [ 1.33077560e-01 -8.87809113e-04 9.91105229e-01 4.04553444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58710568099999 meters Centerline goodness [0,1] 0.999265338678869 Centerline is valid? [True, True] Translation: X:34.89, Y:2.85, Z:4.05 [[ 9.78206338e-01 -1.60937249e-01 -1.31192847e-01 3.48864563e+01] [ 1.59646423e-01 9.86964113e-01 -2.03680842e-02 2.84875334e+00] [ 1.32760615e-01 -1.02027964e-03 9.91147607e-01 4.04833828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61710568099999 meters Centerline goodness [0,1] 0.9992034210967634 Centerline is valid? [True, True] Translation: X:34.92, Y:2.85, Z:4.05 [[ 9.78184327e-01 -1.61765058e-01 -1.30336063e-01 3.49184864e+01] [ 1.60499694e-01 9.86828647e-01 -2.02254684e-02 2.85040887e+00] [ 1.31891135e-01 -1.13466202e-03 9.91263558e-01 4.05277834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64710568099999 meters Centerline goodness [0,1] 0.9988727690220227 Centerline is valid? [True, True] Translation: X:34.95, Y:2.85, Z:4.06 [[ 9.77853830e-01 -1.65365422e-01 -1.28281581e-01 3.49508625e+01] [ 1.64172195e-01 9.86231057e-01 -1.98945557e-02 2.84753596e+00] [ 1.29805151e-01 -1.60630129e-03 9.91538220e-01 4.05907925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67710568099999 meters Centerline goodness [0,1] 0.9981782012354727 Centerline is valid? [True, True] Translation: X:34.98, Y:2.84, Z:4.07 [[ 9.77125545e-01 -1.72484235e-01 -1.24397982e-01 3.49831341e+01] [ 1.71421199e-01 9.85009145e-01 -1.92809876e-02 2.84098198e+00] [ 1.25858817e-01 -2.48450584e-03 9.92045052e-01 4.06678368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.707105680999994 meters Centerline goodness [0,1] 0.9979541564026554 Centerline is valid? [True, True] Translation: X:35.02, Y:2.84, Z:4.07 [[ 9.76338557e-01 -1.77482328e-01 -1.23543697e-01 3.50156157e+01] [ 1.76474804e-01 9.84119056e-01 -1.91396661e-02 2.83882444e+00] [ 1.24978659e-01 -3.11555577e-03 9.92154538e-01 4.07151899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73710568099999 meters Centerline goodness [0,1] 0.9972541868410573 Centerline is valid? [True, True] Translation: X:35.05, Y:2.82, Z:4.07 [[ 9.73744938e-01 -1.91134311e-01 -1.23646553e-01 3.50484795e+01] [ 1.90235714e-01 9.81551761e-01 -1.91445341e-02 2.82324761e+00] [ 1.25024670e-01 -4.88009718e-03 9.92141631e-01 4.07306960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76710568099999 meters Centerline goodness [0,1] 0.9967734501037105 Centerline is valid? [True, True] Translation: X:35.08, Y:2.81, Z:4.07 [[ 9.70720801e-01 -2.04382235e-01 -1.26210255e-01 3.50807692e+01] [ 2.03557504e-01 9.78868050e-01 -1.95367365e-02 2.81231892e+00] [ 1.27536148e-01 -6.72632791e-03 9.91811115e-01 4.07458966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79710568099999 meters Centerline goodness [0,1] 0.9969015617803458 Centerline is valid? [True, True] Translation: X:35.11, Y:2.81, Z:4.08 [[ 9.68820737e-01 -2.12316017e-01 -1.27703906e-01 3.51123422e+01] [ 2.11539768e-01 9.77169435e-01 -1.97692296e-02 2.80933242e+00] [ 1.28985678e-01 -7.86161513e-03 9.91615293e-01 4.07682692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82710568099999 meters Centerline goodness [0,1] 0.9949771880624503 Centerline is valid? [True, True] Translation: X:35.14, Y:2.81, Z:4.08 [[ 9.68688365e-01 -2.13537546e-01 -1.26667158e-01 3.51414496e+01] [ 2.12783843e-01 9.76902466e-01 -1.96114200e-02 2.80561573e+00] [ 1.27929233e-01 -7.95537018e-03 9.91751392e-01 4.07939048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85710568099999 meters Centerline goodness [0,1] 0.9964400887883738 Centerline is valid? [True, True] Translation: X:35.17, Y:2.81, Z:4.08 [[ 9.68755241e-01 -2.12638248e-01 -1.27664630e-01 3.51697932e+01] [ 2.11862972e-01 9.77099179e-01 -1.97806820e-02 2.81159953e+00] [ 1.28947134e-01 -7.88476848e-03 9.91620122e-01 4.08340052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.887105680999994 meters Centerline goodness [0,1] 0.994592555331992 Centerline is valid? [True, True] Translation: X:35.20, Y:2.81, Z:4.09 [[ 9.68718336e-01 -2.11679909e-01 -1.29523751e-01 3.51980181e+01] [ 2.10868305e-01 9.77307651e-01 -2.01075187e-02 2.81392368e+00] [ 1.30840911e-01 -7.83393180e-03 9.91372425e-01 4.08510387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91710568099999 meters Centerline goodness [0,1] 0.9961753887309814 Centerline is valid? [True, True] Translation: X:35.23, Y:2.83, Z:4.09 [[ 9.69306129e-01 -2.08421892e-01 -1.30406838e-01 3.52256203e+01] [ 2.07565053e-01 9.78010951e-01 -2.02812541e-02 2.82735784e+00] [ 1.31766373e-01 -7.40915828e-03 9.91253110e-01 4.09023320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94710568099999 meters Centerline goodness [0,1] 0.9970000209788743 Centerline is valid? [True, True] Translation: X:35.25, Y:2.85, Z:4.10 [[ 9.71252293e-01 -2.02116626e-01 -1.25769046e-01 3.52530276e+01] [ 2.01266428e-01 9.79341128e-01 -1.95647836e-02 2.84711083e+00] [ 1.27125168e-01 -6.31074580e-03 9.91866607e-01 4.09953812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97710568099999 meters Centerline goodness [0,1] 0.9969870695066326 Centerline is valid? [True, True] Translation: X:35.28, Y:2.86, Z:4.10 [[ 9.72677040e-01 -1.96552980e-01 -1.23556875e-01 3.52815186e+01] [ 1.95687792e-01 9.80477873e-01 -1.92205045e-02 2.85522131e+00] [ 1.24922630e-01 -5.48322865e-03 9.92151335e-01 4.10378630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00710568099999 meters Centerline goodness [0,1] 0.9969966211988487 Centerline is valid? [True, True] Translation: X:35.31, Y:2.88, Z:4.11 [[ 9.75607632e-01 -1.82447292e-01 -1.22076751e-01 3.53083573e+01] [ 1.81492590e-01 9.83208938e-01 -1.89901190e-02 2.88188740e+00] [ 1.23491648e-01 -3.62912063e-03 9.92338975e-01 4.10766916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03710568099999 meters Centerline goodness [0,1] 0.9979033441660552 Centerline is valid? [True, True] Translation: X:35.34, Y:2.90, Z:4.11 [[ 9.76803530e-01 -1.75386874e-01 -1.22858899e-01 3.53372324e+01] [ 1.74364545e-01 9.84495732e-01 -1.91091263e-02 2.89611004e+00] [ 1.24305551e-01 -2.75637389e-03 9.92240159e-01 4.10934367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.067105680999994 meters Centerline goodness [0,1] 0.9990991368473979 Centerline is valid? [True, True] Translation: X:35.37, Y:2.92, Z:4.11 [[ 9.78864016e-01 -1.60935603e-01 -1.26194175e-01 3.53654316e+01] [ 1.59737772e-01 9.86964451e-01 -1.96218420e-02 2.92373391e+00] [ 1.27707018e-01 -9.50861353e-04 9.91811481e-01 4.11070972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09710568099999 meters Centerline goodness [0,1] 0.9994959042218021 Centerline is valid? [True, True] Translation: X:35.40, Y:2.94, Z:4.11 [[ 9.80172502e-01 -1.52713385e-01 -1.26255645e-01 3.53958185e+01] [ 1.51447551e-01 9.88270514e-01 -1.96221761e-02 2.93920904e+00] [ 1.27771300e-01 1.12009225e-04 9.91803651e-01 4.11352177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12710568099999 meters Centerline goodness [0,1] 0.9994959042218021 Centerline is valid? [True, True] Translation: X:35.43, Y:2.94, Z:4.12 [[ 9.80194336e-01 -1.52571568e-01 -1.26257598e-01 3.54277991e+01] [ 1.51306182e-01 9.88292418e-01 -1.96095994e-02 2.94403497e+00] [ 1.27771294e-01 1.17663051e-04 9.91803651e-01 4.11728349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15710568099999 meters Centerline goodness [0,1] 0.999496559825474 Centerline is valid? [True, True] Translation: X:35.46, Y:2.95, Z:4.12 [[ 9.80447491e-01 -1.51210102e-01 -1.25929432e-01 3.54595632e+01] [ 1.49942472e-01 9.88501608e-01 -1.95403821e-02 2.94804121e+00] [ 1.27436149e-01 2.76148379e-04 9.91846738e-01 4.11908160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18710568099999 meters Centerline goodness [0,1] 0.999264597734961 Centerline is valid? [True, True] Translation: X:35.49, Y:2.95, Z:4.12 [[ 9.80085160e-01 -1.52564563e-01 -1.27110715e-01 3.54923536e+01] [ 1.51286266e-01 9.88293502e-01 -1.97083454e-02 2.94902044e+00] [ 1.28629488e-01 8.57514798e-05 9.91692718e-01 4.12134336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21710568099999 meters Centerline goodness [0,1] 0.9992244649856421 Centerline is valid? [True, True] Translation: X:35.52, Y:2.94, Z:4.12 [[ 9.79064164e-01 -1.58294280e-01 -1.27969857e-01 3.55246500e+01] [ 1.57048868e-01 9.87391743e-01 -1.98292555e-02 2.94458057e+00] [ 1.29495238e-01 -6.83407690e-04 9.91579808e-01 4.12362553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.247105680999994 meters Centerline goodness [0,1] 0.9988285254063552 Centerline is valid? [True, True] Translation: X:35.56, Y:2.94, Z:4.12 [[ 9.77754608e-01 -1.64115447e-01 -1.30621769e-01 3.55564762e+01] [ 1.62870569e-01 9.86440008e-01 -2.02308846e-02 2.94112027e+00] [ 1.32170739e-01 -1.49360105e-03 9.91225839e-01 4.12361623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27710568099999 meters Centerline goodness [0,1] 0.9990352348993289 Centerline is valid? [True, True] Translation: X:35.59, Y:2.94, Z:4.13 [[ 9.77490093e-01 -1.65014151e-01 -1.31466527e-01 3.55887971e+01] [ 1.63762104e-01 9.86289848e-01 -2.03545944e-02 2.94439513e+00] [ 1.33022897e-01 -1.63282059e-03 9.91111620e-01 4.12723542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30710568099999 meters Centerline goodness [0,1] 0.9990128953669088 Centerline is valid? [True, True] Translation: X:35.62, Y:2.94, Z:4.13 [[ 9.77271623e-01 -1.66397736e-01 -1.31346748e-01 3.56202451e+01] [ 1.65162250e-01 9.86057013e-01 -2.03223504e-02 2.94477102e+00] [ 1.32896975e-01 -1.83306808e-03 9.91128162e-01 4.12782108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33710568099999 meters Centerline goodness [0,1] 0.9988680431820564 Centerline is valid? [True, True] Translation: X:35.65, Y:2.95, Z:4.13 [[ 9.77057445e-01 -1.66737990e-01 -1.32503554e-01 3.56516736e+01] [ 1.65486323e-01 9.85999378e-01 -2.04817927e-02 2.94902490e+00] [ 1.34063515e-01 -1.91563792e-03 9.90970890e-01 4.13038871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36710568099999 meters Centerline goodness [0,1] 0.9989520236423466 Centerline is valid? [True, True] Translation: X:35.68, Y:2.95, Z:4.13 [[ 9.76997200e-01 -1.67188808e-01 -1.32379655e-01 3.56830633e+01] [ 1.65945323e-01 9.85922892e-01 -2.04499507e-02 2.95382601e+00] [ 1.33935135e-01 -1.98823991e-03 9.90988106e-01 4.13448148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39710568099999 meters Centerline goodness [0,1] 0.9990557525652055 Centerline is valid? [True, True] Translation: X:35.71, Y:2.96, Z:4.14 [[ 9.76615373e-01 -1.68953526e-01 -1.32955325e-01 3.57149462e+01] [ 1.67717191e-01 9.85621444e-01 -2.05259254e-02 2.95797074e+00] [ 1.34511547e-01 -2.25295937e-03 9.90909465e-01 4.13784757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42710568099999 meters Centerline goodness [0,1] 0.9988669981746082 Centerline is valid? [True, True] Translation: X:35.75, Y:2.96, Z:4.14 [[ 9.75905464e-01 -1.70197726e-01 -1.36532997e-01 3.57465534e+01] [ 1.68907636e-01 9.85406751e-01 -2.10652671e-02 2.96145603e+00] [ 1.38125797e-01 -2.50375640e-03 9.90411528e-01 4.13735419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457105680999994 meters Centerline goodness [0,1] 0.9989925913488782 Centerline is valid? [True, True] Translation: X:35.78, Y:2.96, Z:4.14 [[ 9.75569846e-01 -1.71617714e-01 -1.37152597e-01 3.57772633e+01] [ 1.70331033e-01 9.85159849e-01 -2.11520728e-02 2.96293554e+00] [ 1.38747302e-01 -2.72601907e-03 9.90324066e-01 4.13830296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48710568099999 meters Centerline goodness [0,1] 0.9988058575828044 Centerline is valid? [True, True] Translation: X:35.81, Y:2.96, Z:4.14 [[ 9.75393651e-01 -1.73620047e-01 -1.35879746e-01 3.58086707e+01] [ 1.72377050e-01 9.84808186e-01 -2.09520815e-02 2.96299752e+00] [ 1.37453187e-01 -2.98602246e-03 9.90503763e-01 4.14418760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51710568099999 meters Centerline goodness [0,1] 0.9982230955765532 Centerline is valid? [True, True] Translation: X:35.84, Y:2.96, Z:4.15 [[ 9.75106573e-01 -1.75462554e-01 -1.35573094e-01 3.58392387e+01] [ 1.74243708e-01 9.84480760e-01 -2.08988679e-02 2.96354891e+00] [ 1.37136072e-01 -3.24413522e-03 9.90546906e-01 4.14909641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54710568099999 meters Centerline goodness [0,1] 0.9982012883794863 Centerline is valid? [True, True] Translation: X:35.87, Y:2.97, Z:4.15 [[ 9.74926807e-01 -1.76509599e-01 -1.35506765e-01 3.58685970e+01] [ 1.75302378e-01 9.84293073e-01 -2.08859551e-02 2.96774980e+00] [ 1.37064942e-01 -3.39238064e-03 9.90556255e-01 4.15450231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57710568099999 meters Centerline goodness [0,1] 0.9985275867146253 Centerline is valid? [True, True] Translation: X:35.90, Y:2.97, Z:4.16 [[ 9.74592406e-01 -1.78811160e-01 -1.34893331e-01 3.58995605e+01] [ 1.77636928e-01 9.83876456e-01 -2.07904159e-02 2.96853043e+00] [ 1.36435931e-01 -3.69985544e-03 9.90641988e-01 4.16014225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60710568099999 meters Centerline goodness [0,1] 0.9981103949274601 Centerline is valid? [True, True] Translation: X:35.93, Y:2.97, Z:4.17 [[ 9.74570533e-01 -1.80217418e-01 -1.33168910e-01 3.59302137e+01] [ 1.79087007e-01 9.83619257e-01 -2.05183210e-02 2.97129095e+00] [ 1.34685263e-01 -3.85227045e-03 9.90880941e-01 4.16630067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637105680999994 meters Centerline goodness [0,1] 0.9980932025815104 Centerline is valid? [True, True] Translation: X:35.96, Y:2.98, Z:4.17 [[ 9.74765618e-01 -1.79661769e-01 -1.32490144e-01 3.59612133e+01] [ 1.78538631e-01 9.83721248e-01 -2.04074102e-02 2.97622882e+00] [ 1.33999801e-01 -3.76216716e-03 9.90974217e-01 4.17062488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66710568099999 meters Centerline goodness [0,1] 0.9983204568357407 Centerline is valid? [True, True] Translation: X:35.99, Y:2.98, Z:4.17 [[ 9.75451102e-01 -1.76183720e-01 -1.32115272e-01 3.59916028e+01] [ 1.75036040e-01 9.84351833e-01 -2.03433722e-02 2.98210692e+00] [ 1.33632082e-01 -3.28096921e-03 9.91025581e-01 4.17250964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69710568099999 meters Centerline goodness [0,1] 0.9984625105307497 Centerline is valid? [True, True] Translation: X:36.02, Y:2.99, Z:4.18 [[ 9.75823943e-01 -1.73564831e-01 -1.32826508e-01 3.60213211e+01] [ 1.72381378e-01 9.84818045e-01 -2.04469867e-02 2.98957653e+00] [ 1.34358819e-01 -2.94415721e-03 9.90928373e-01 4.17559246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72710568099999 meters Centerline goodness [0,1] 0.9985352584222641 Centerline is valid? [True, True] Translation: X:36.05, Y:3.01, Z:4.18 [[ 9.77061705e-01 -1.66840151e-01 -1.32343452e-01 3.60493079e+01] [ 1.65604271e-01 9.85981900e-01 -2.03695608e-02 3.00540152e+00] [ 1.33886708e-01 -2.01432296e-03 9.90994597e-01 4.18163660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75710568099999 meters Centerline goodness [0,1] 0.999037233931225 Centerline is valid? [True, True] Translation: X:36.08, Y:3.02, Z:4.19 [[ 9.78410511e-01 -1.60710383e-01 -1.29942469e-01 3.60788241e+01] [ 1.59465714e-01 9.87000929e-01 -1.99962860e-02 3.01917431e+00] [ 1.31466948e-01 -1.15679223e-03 9.91319879e-01 4.18850096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78710568099999 meters Centerline goodness [0,1] 0.9991056014310377 Centerline is valid? [True, True] Translation: X:36.11, Y:3.03, Z:4.19 [[ 9.79109084e-01 -1.57860625e-01 -1.28161712e-01 3.61091947e+01] [ 1.56626829e-01 9.87461101e-01 -1.97131854e-02 3.02549875e+00] [ 1.29666641e-01 -7.72203697e-04 9.91557344e-01 4.19156554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817105680999994 meters Centerline goodness [0,1] 0.9995177489359025 Centerline is valid? [True, True] Translation: X:36.14, Y:3.03, Z:4.20 [[ 9.80231141e-01 -1.53329057e-01 -1.25048432e-01 3.61399924e+01] [ 1.52119087e-01 9.88175171e-01 -1.92253606e-02 3.03424391e+00] [ 1.26517562e-01 -1.76956066e-04 9.91964352e-01 4.19933440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84710568099999 meters Centerline goodness [0,1] 0.9991831605403707 Centerline is valid? [True, True] Translation: X:36.17, Y:3.04, Z:4.20 [[ 9.80875374e-01 -1.48555854e-01 -1.25756346e-01 3.61705866e+01] [ 1.47294500e-01 9.88903925e-01 -1.93224352e-02 3.04235291e+00] [ 1.27231405e-01 4.29682793e-04 9.91872968e-01 4.20174369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87710568099999 meters Centerline goodness [0,1] 0.9994751207222339 Centerline is valid? [True, True] Translation: X:36.20, Y:3.05, Z:4.20 [[ 9.81093007e-01 -1.45452465e-01 -1.27671812e-01 3.62021291e+01] [ 1.44127288e-01 9.89364888e-01 -1.96072040e-02 3.04760848e+00] [ 1.29165925e-01 8.35498641e-04 9.91622643e-01 4.20414141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90710568099999 meters Centerline goodness [0,1] 0.9995587122804068 Centerline is valid? [True, True] Translation: X:36.23, Y:3.05, Z:4.21 [[ 9.81644679e-01 -1.39863921e-01 -1.29660357e-01 3.62345358e+01] [ 1.38450035e-01 9.90169469e-01 -1.99000237e-02 3.05069243e+00] [ 1.31169022e-01 1.58327132e-03 9.91358755e-01 4.20528754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93710568099999 meters Centerline goodness [0,1] 0.999790316831268 Centerline is valid? [True, True] Translation: X:36.27, Y:3.05, Z:4.21 [[ 9.82074142e-01 -1.36456819e-01 -1.30038132e-01 3.62650303e+01] [ 1.35006441e-01 9.90643934e-01 -1.99463390e-02 3.05247182e+00] [ 1.31543300e-01 2.03279837e-03 9.91308341e-01 4.20630002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96710568099999 meters Centerline goodness [0,1] 0.9997064620287667 Centerline is valid? [True, True] Translation: X:36.30, Y:3.05, Z:4.21 [[ 9.81984287e-01 -1.35566642e-01 -1.31637936e-01 3.62962197e+01] [ 1.34072586e-01 9.90765840e-01 -2.01888989e-02 3.05142830e+00] [ 1.33159311e-01 2.17614309e-03 9.91092257e-01 4.20795413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997105680999994 meters Centerline goodness [0,1] 0.9998527462818436 Centerline is valid? [True, True] Translation: X:36.33, Y:3.05, Z:4.20 [[ 9.81372816e-01 -1.35741174e-01 -1.35947527e-01 3.63264477e+01] [ 1.34148572e-01 9.90741833e-01 -2.08514088e-02 3.04700476e+00] [ 1.37519297e-01 2.22583913e-03 9.90496587e-01 4.20434074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02710568099999 meters Centerline goodness [0,1] 0.9997479732851682 Centerline is valid? [True, True] Translation: X:36.36, Y:3.04, Z:4.21 [[ 9.80623847e-01 -1.40322703e-01 -1.36698246e-01 3.63560264e+01] [ 1.38754407e-01 9.90104516e-01 -2.09824346e-02 3.04092291e+00] [ 1.38289863e-01 1.60839168e-03 9.90390492e-01 4.20885355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05710568099999 meters Centerline goodness [0,1] 0.9997267300092492 Centerline is valid? [True, True] Translation: X:36.39, Y:3.04, Z:4.21 [[ 9.80142556e-01 -1.44366926e-01 -1.35936606e-01 3.63853651e+01] [ 1.42848456e-01 9.89523637e-01 -2.09114762e-02 3.03764350e+00] [ 1.37531410e-01 1.07789346e-03 9.90496819e-01 4.21408200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08710568099999 meters Centerline goodness [0,1] 0.9998740342626805 Centerline is valid? [True, True] Translation: X:36.42, Y:3.03, Z:4.22 [[ 9.79410766e-01 -1.51446888e-01 -1.33485551e-01 3.64152821e+01] [ 1.50042780e-01 9.88465389e-01 -2.05752021e-02 3.02518766e+00] [ 1.35061897e-01 1.23031258e-04 9.90837156e-01 4.21684843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11710568099999 meters Centerline goodness [0,1] 0.9994126161656423 Centerline is valid? [True, True] Translation: X:36.44, Y:3.02, Z:4.22 [[ 9.78576386e-01 -1.56665995e-01 -1.33581524e-01 3.64440173e+01] [ 1.55305309e-01 9.87651474e-01 -2.06113319e-02 3.01814514e+00] [ 1.35161084e-01 -5.76157139e-04 9.90823470e-01 4.22084769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14710568099999 meters Centerline goodness [0,1] 0.9995791688584955 Centerline is valid? [True, True] Translation: X:36.47, Y:3.02, Z:4.22 [[ 9.77979597e-01 -1.58436355e-01 -1.35844874e-01 3.64731562e+01] [ 1.57038636e-01 9.87368882e-01 -2.10132694e-02 3.01922387e+00] [ 1.37458267e-01 -7.82345029e-04 9.90507250e-01 4.22409269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17710568099999 meters Centerline goodness [0,1] 0.9995368518557504 Centerline is valid? [True, True] Translation: X:36.50, Y:3.02, Z:4.23 [[ 9.77998307e-01 -1.57988173e-01 -1.36231597e-01 3.65004172e+01] [ 1.56571496e-01 9.87440774e-01 -2.11206952e-02 3.02316879e+00] [ 1.37857454e-01 -6.73980763e-04 9.90451851e-01 4.22734913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20710568099999 meters Centerline goodness [0,1] 0.999579778963735 Centerline is valid? [True, True] Translation: X:36.53, Y:3.03, Z:4.23 [[ 9.78497710e-01 -1.55111682e-01 -1.35950721e-01 3.65279068e+01] [ 1.53666629e-01 9.87896916e-01 -2.11246209e-02 3.02601264e+00] [ 1.37581973e-01 -2.20695815e-04 9.90490359e-01 4.22985218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23710568099999 meters Centerline goodness [0,1] 0.9996226415094339 Centerline is valid? [True, True] Translation: X:36.56, Y:3.03, Z:4.23 [[ 9.78534646e-01 -1.54489234e-01 -1.36392898e-01 3.65556020e+01] [ 1.53026391e-01 9.87994465e-01 -2.12099238e-02 3.02959971e+00] [ 1.38032134e-01 -1.17067786e-04 9.90427744e-01 4.23241954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26710568099999 meters Centerline goodness [0,1] 0.9995372123353948 Centerline is valid? [True, True] Translation: X:36.58, Y:3.03, Z:4.24 [[ 9.78322920e-01 -1.56289982e-01 -1.35859141e-01 3.65831510e+01] [ 1.54852823e-01 9.87711153e-01 -2.11490490e-02 3.03032562e+00] [ 1.37494973e-01 -3.47572247e-04 9.90502404e-01 4.23879479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29710568099999 meters Centerline goodness [0,1] 0.9992478375329071 Centerline is valid? [True, True] Translation: X:36.61, Y:3.03, Z:4.25 [[ 9.78227111e-01 -1.60509325e-01 -1.31561682e-01 3.66106588e+01] [ 1.59193895e-01 9.87033945e-01 -2.05254856e-02 3.02672076e+00] [ 1.33150378e-01 -8.65230159e-04 9.91095469e-01 4.24697590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32710568099999 meters Centerline goodness [0,1] 0.9994119870637154 Centerline is valid? [True, True] Translation: X:36.64, Y:3.03, Z:4.25 [[ 9.78119649e-01 -1.62241018e-01 -1.30229816e-01 3.66382348e+01] [ 1.60964830e-01 9.86750580e-01 -2.03375532e-02 3.02833659e+00] [ 1.31803932e-01 -1.06985974e-03 9.91275229e-01 4.25284798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35710568099999 meters Centerline goodness [0,1] 0.9992242536061724 Centerline is valid? [True, True] Translation: X:36.67, Y:3.03, Z:4.26 [[ 9.78160391e-01 -1.62546993e-01 -1.29540433e-01 3.66655264e+01] [ 1.61280426e-01 9.86700239e-01 -2.02796264e-02 3.03100146e+00] [ 1.31113968e-01 -1.05560890e-03 9.91366740e-01 4.25687287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.387105680999994 meters Centerline goodness [0,1] 0.9992439992439992 Centerline is valid? [True, True] Translation: X:36.69, Y:3.04, Z:4.26 [[ 9.78786836e-01 -1.59447635e-01 -1.28657612e-01 3.66942033e+01] [ 1.58165385e-01 9.87206212e-01 -2.01892331e-02 3.03552099e+00] [ 1.30230720e-01 -5.88225262e-04 9.91483542e-01 4.26068656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41710568099999 meters Centerline goodness [0,1] 0.9996223010260822 Centerline is valid? [True, True] Translation: X:36.72, Y:3.04, Z:4.26 [[ 9.78977679e-01 -1.57678039e-01 -1.29384468e-01 3.67218443e+01] [ 1.56360362e-01 9.87490525e-01 -2.03445217e-02 3.04114427e+00] [ 1.30973821e-01 -3.13769553e-04 9.91385778e-01 4.26352306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44710568099999 meters Centerline goodness [0,1] 0.9994954591321897 Centerline is valid? [True, True] Translation: X:36.75, Y:3.05, Z:4.27 [[ 9.79738841e-01 -1.53156577e-01 -1.29053735e-01 3.67483686e+01] [ 1.51800147e-01 9.88201876e-01 -2.03412677e-02 3.05074900e+00] [ 1.30646542e-01 3.38754120e-04 9.91428952e-01 4.26878761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47710568099999 meters Centerline goodness [0,1] 0.9996639149704876 Centerline is valid? [True, True] Translation: X:36.78, Y:3.06, Z:4.27 [[ 9.80467194e-01 -1.50507788e-01 -1.26615508e-01 3.67755996e+01] [ 1.49174639e-01 9.88608559e-01 -2.00010878e-02 3.05553615e+00] [ 1.28183495e-01 7.22587762e-04 9.91750205e-01 4.27281603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50710568099999 meters Centerline goodness [0,1] 0.9997058947103062 Centerline is valid? [True, True] Translation: X:36.80, Y:3.06, Z:4.28 [[ 9.80538170e-01 -1.49423356e-01 -1.27348180e-01 3.68036003e+01] [ 1.48063210e-01 9.88772913e-01 -2.01348562e-02 3.05891378e+00] [ 1.28927049e-01 8.87414720e-04 9.91653684e-01 4.27630773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53710568099999 meters Centerline goodness [0,1] 0.9996218805142425 Centerline is valid? [True, True] Translation: X:36.83, Y:3.07, Z:4.28 [[ 9.80791036e-01 -1.45863267e-01 -1.29510040e-01 3.68306411e+01] [ 1.44419873e-01 9.89303740e-01 -2.05185543e-02 3.06704114e+00] [ 1.31117670e-01 1.42059069e-03 9.91365795e-01 4.27660088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.567105680999994 meters Centerline goodness [0,1] 0.9998738249952684 Centerline is valid? [True, True] Translation: X:36.86, Y:3.07, Z:4.28 [[ 9.81587967e-01 -1.41004960e-01 -1.28851323e-01 3.68575771e+01] [ 1.39532522e-01 9.90006715e-01 -2.04298465e-02 3.07495512e+00] [ 1.30444384e-01 2.07474152e-03 9.91453457e-01 4.28233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59710568099999 meters Centerline goodness [0,1] 0.9999160809818525 Centerline is valid? [True, True] Translation: X:36.89, Y:3.08, Z:4.28 [[ 9.81934219e-01 -1.37837451e-01 -1.29638059e-01 3.68853389e+01] [ 1.36316855e-01 9.90451632e-01 -2.05737695e-02 3.08098202e+00] [ 1.31236063e-01 2.53023589e-03 9.91347918e-01 4.28390008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62710568099999 meters Centerline goodness [0,1] 0.9997684405523746 Centerline is valid? [True, True] Translation: X:36.92, Y:3.09, Z:4.28 [[ 9.82400276e-01 -1.30307499e-01 -1.33826954e-01 3.69159275e+01] [ 1.28611437e-01 9.91466753e-01 -2.12785372e-02 3.08694862e+00] [ 1.35457729e-01 3.69236386e-03 9.90776246e-01 4.27958829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65710568099999 meters Centerline goodness [0,1] 0.9999789637545491 Centerline is valid? [True, True] Translation: X:36.94, Y:3.09, Z:4.29 [[ 9.82633914e-01 -1.29272303e-01 -1.33113720e-01 3.69442093e+01] [ 1.27584026e-01 9.91601771e-01 -2.11717722e-02 3.08601600e+00] [ 1.34732724e-01 3.82091702e-03 9.90874610e-01 4.28552736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68710568099999 meters Centerline goodness [0,1] 0.999978982765868 Centerline is valid? [True, True] Translation: X:36.97, Y:3.09, Z:4.29 [[ 9.82722227e-01 -1.30214288e-01 -1.31534270e-01 3.69729373e+01] [ 1.28568329e-01 9.91478997e-01 -2.09662220e-02 3.08734724e+00] [ 1.33143568e-01 3.69283105e-03 9.91089882e-01 4.29126939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71710568099999 meters Centerline goodness [0,1] 0.9998529319074732 Centerline is valid? [True, True] Translation: X:37.00, Y:3.08, Z:4.30 [[ 9.82283820e-01 -1.34746758e-01 -1.30237510e-01 3.70011466e+01] [ 1.33167244e-01 9.90875251e-01 -2.08019817e-02 3.08326050e+00] [ 1.31852125e-01 3.09007975e-03 9.91264580e-01 4.29661425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.747105680999994 meters Centerline goodness [0,1] 0.9998739018956748 Centerline is valid? [True, True] Translation: X:37.03, Y:3.07, Z:4.30 [[ 9.81143869e-01 -1.42561349e-01 -1.30510424e-01 3.70310475e+01] [ 1.41040909e-01 9.89783809e-01 -2.08680019e-02 3.07450357e+00] [ 1.32152076e-01 2.06720324e-03 9.91227298e-01 4.29894108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77710568099999 meters Centerline goodness [0,1] 0.9997486121294648 Centerline is valid? [True, True] Translation: X:37.06, Y:3.07, Z:4.30 [[ 9.80566406e-01 -1.47331605e-01 -1.29548914e-01 3.70599638e+01] [ 1.45872873e-01 9.89086120e-01 -2.07304417e-02 3.07131460e+00] [ 1.31189282e-01 1.42990248e-03 9.91356307e-01 4.30344431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80710568099999 meters Centerline goodness [0,1] 0.9997063819970219 Centerline is valid? [True, True] Translation: X:37.09, Y:3.06, Z:4.31 [[ 9.79483156e-01 -1.55520934e-01 -1.28163907e-01 3.70893736e+01] [ 1.54157410e-01 9.87832526e-01 -2.05522063e-02 3.06439151e+00] [ 1.29800774e-01 3.73124016e-04 9.91540024e-01 4.30764284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83710568099999 meters Centerline goodness [0,1] 0.99964254925461 Centerline is valid? [True, True] Translation: X:37.12, Y:3.06, Z:4.31 [[ 9.78655473e-01 -1.60060845e-01 -1.28895275e-01 3.71175746e+01] [ 1.58714974e-01 9.87107133e-01 -2.07138970e-02 3.06183203e+00] [ 1.30548929e-01 -1.85841544e-04 9.91441850e-01 4.30944058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86710568099999 meters Centerline goodness [0,1] 0.999642639423178 Centerline is valid? [True, True] Translation: X:37.15, Y:3.06, Z:4.31 [[ 9.78108425e-01 -1.62175994e-01 -1.30394997e-01 3.71467149e+01] [ 1.60810464e-01 9.86761758e-01 -2.10053978e-02 3.06331773e+00] [ 1.32075368e-01 -4.23323393e-04 9.91239587e-01 4.31125319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89710568099999 meters Centerline goodness [0,1] 0.9996441802540972 Centerline is valid? [True, True] Translation: X:37.17, Y:3.06, Z:4.31 [[ 9.77170884e-01 -1.66422599e-01 -1.32062797e-01 3.71747613e+01] [ 1.65054759e-01 9.86054045e-01 -2.13154015e-02 3.06140232e+00] [ 1.33768420e-01 -9.68803508e-04 9.91012145e-01 4.31337144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92710568099999 meters Centerline goodness [0,1] 0.9996216420734014 Centerline is valid? [True, True] Translation: X:37.20, Y:3.06, Z:4.32 [[ 9.76820287e-01 -1.68960456e-01 -1.31432462e-01 3.72023404e+01] [ 1.67625836e-01 9.85621987e-01 -2.12338985e-02 3.06074901e+00] [ 1.33130413e-01 -1.28977346e-03 9.91097689e-01 4.31903739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95710568099999 meters Centerline goodness [0,1] 0.9996005718129836 Centerline is valid? [True, True] Translation: X:37.23, Y:3.06, Z:4.32 [[ 9.77113285e-01 -1.67930367e-01 -1.30571895e-01 3.72305929e+01] [ 1.66597526e-01 9.85798254e-01 -2.11439564e-02 3.06442591e+00] [ 1.32268258e-01 -1.09291395e-03 9.91213354e-01 4.32317572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98710568099999 meters Centerline goodness [0,1] 0.9995366665262626 Centerline is valid? [True, True] Translation: X:37.26, Y:3.07, Z:4.33 [[ 9.77958621e-01 -1.61894896e-01 -1.31859695e-01 3.72564720e+01] [ 1.60474750e-01 9.86807979e-01 -2.13978217e-02 3.07450582e+00] [ 1.33584397e-01 -2.33967357e-04 9.91037413e-01 4.32839413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01710568099999 meters Centerline goodness [0,1] 0.9995375625341573 Centerline is valid? [True, True] Translation: X:37.28, Y:3.08, Z:4.33 [[ 9.78605799e-01 -1.58132078e-01 -1.31624221e-01 3.72833635e+01] [ 1.56676340e-01 9.87417914e-01 -2.14099788e-02 3.08337487e+00] [ 1.33353718e-01 3.29528265e-04 9.91068452e-01 4.33284713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04710568099999 meters Centerline goodness [0,1] 0.9995375625341573 Centerline is valid? [True, True] Translation: X:37.31, Y:3.09, Z:4.34 [[ 9.78547108e-01 -1.58501505e-01 -1.31616221e-01 3.73101995e+01] [ 1.57042493e-01 9.87358681e-01 -2.14590542e-02 3.08798255e+00] [ 1.33353711e-01 3.29355974e-04 9.91068453e-01 4.33602607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07710568099999 meters Centerline goodness [0,1] 0.9994779812490865 Centerline is valid? [True, True] Translation: X:37.34, Y:3.10, Z:4.34 [[ 9.80097970e-01 -1.51178654e-01 -1.28658398e-01 3.73356578e+01] [ 1.49715923e-01 9.88505546e-01 -2.10220675e-02 3.09769345e+00] [ 1.30357628e-01 1.34147491e-03 9.91466131e-01 4.34306131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10710568099999 meters Centerline goodness [0,1] 0.9995171921575213 Centerline is valid? [True, True] Translation: X:37.36, Y:3.10, Z:4.35 [[ 9.80447109e-01 -1.48294073e-01 -1.29353526e-01 3.73642699e+01] [ 1.46787215e-01 9.88941745e-01 -2.11598340e-02 3.10128051e+00] [ 1.31060980e-01 1.75865419e-03 9.91372749e-01 4.34613592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137105680999994 meters Centerline goodness [0,1] 0.9996008822602668 Centerline is valid? [True, True] Translation: X:37.39, Y:3.11, Z:4.35 [[ 9.80276055e-01 -1.48267476e-01 -1.30673683e-01 3.73921507e+01] [ 1.46723834e-01 9.88945619e-01 -2.14167818e-02 3.10541173e+00] [ 1.32404578e-01 1.82141458e-03 9.91194083e-01 4.34669949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16710568099999 meters Centerline goodness [0,1] 0.9995370857443451 Centerline is valid? [True, True] Translation: X:37.42, Y:3.10, Z:4.35 [[ 9.80083216e-01 -1.50166256e-01 -1.29949934e-01 3.74207202e+01] [ 1.48653836e-01 9.88659504e-01 -2.13171816e-02 3.10444388e+00] [ 1.31677359e-01 1.57505568e-03 9.91291376e-01 4.35151951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19710568099999 meters Centerline goodness [0,1] 0.9995582016704184 Centerline is valid? [True, True] Translation: X:37.45, Y:3.10, Z:4.36 [[ 9.79861947e-01 -1.52428218e-01 -1.28981405e-01 3.74499915e+01] [ 1.50952115e-01 9.88313683e-01 -2.12019712e-02 3.10278096e+00] [ 1.30705866e-01 1.30498904e-03 9.91420331e-01 4.35708622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22710568099999 meters Centerline goodness [0,1] 0.9993901926150223 Centerline is valid? [True, True] Translation: X:37.48, Y:3.11, Z:4.36 [[ 9.79665727e-01 -1.54019527e-01 -1.28580905e-01 3.74779945e+01] [ 1.52560464e-01 9.88067154e-01 -2.11802677e-02 3.10534860e+00] [ 1.30308743e-01 1.13321993e-03 9.91472817e-01 4.36072417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25710568099999 meters Centerline goodness [0,1] 0.99958071278826 Centerline is valid? [True, True] Translation: X:37.51, Y:3.10, Z:4.36 [[ 9.79367538e-01 -1.56649278e-01 -1.27672349e-01 3.75065428e+01] [ 1.55227836e-01 9.87653955e-01 -2.10709344e-02 3.10373041e+00] [ 1.29396847e-01 8.17886681e-04 9.91592551e-01 4.36467806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28710568099999 meters Centerline goodness [0,1] 0.9996018691197117 Centerline is valid? [True, True] Translation: X:37.54, Y:3.10, Z:4.37 [[ 9.78914779e-01 -1.60117112e-01 -1.26839923e-01 3.75354230e+01] [ 1.58740878e-01 9.87097954e-01 -2.09514629e-02 3.10235549e+00] [ 1.28558116e-01 3.75015933e-04 9.91701906e-01 4.36999784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317105680999994 meters Centerline goodness [0,1] 0.9997692469058108 Centerline is valid? [True, True] Translation: X:37.56, Y:3.11, Z:4.37 [[ 9.78404301e-01 -1.62727025e-01 -1.27455638e-01 3.75630432e+01] [ 1.61353700e-01 9.86671125e-01 -2.10967721e-02 3.10536224e+00] [ 1.29189813e-01 7.57337035e-05 9.91619880e-01 4.37480839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34710568099999 meters Centerline goodness [0,1] 0.9995385906040268 Centerline is valid? [True, True] Translation: X:37.59, Y:3.11, Z:4.38 [[ 9.77250097e-01 -1.68130544e-01 -1.29284057e-01 3.75918715e+01] [ 1.66757660e-01 9.85764558e-01 -2.14503802e-02 3.10638138e+00] [ 1.31050105e-01 -5.96720662e-04 9.91375567e-01 4.37506450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37710568099999 meters Centerline goodness [0,1] 0.9996852442504617 Centerline is valid? [True, True] Translation: X:37.62, Y:3.10, Z:4.38 [[ 9.75967804e-01 -1.74503179e-01 -1.30520058e-01 3.76215615e+01] [ 1.73154456e-01 9.84655585e-01 -2.17005352e-02 3.10299972e+00] [ 1.32304116e-01 -1.42110590e-03 9.91208152e-01 4.37699890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40710568099999 meters Centerline goodness [0,1] 0.999706572769953 Centerline is valid? [True, True] Translation: X:37.65, Y:3.10, Z:4.38 [[ 9.75340032e-01 -1.78083693e-01 -1.30376458e-01 3.76488273e+01] [ 1.76764135e-01 9.84013582e-01 -2.17189164e-02 3.10454512e+00] [ 1.32159990e-01 -1.86255317e-03 9.91226648e-01 4.38021190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43710568099999 meters Centerline goodness [0,1] 0.9996647248648423 Centerline is valid? [True, True] Translation: X:37.68, Y:3.11, Z:4.38 [[ 9.73918006e-01 -1.84897251e-01 -1.31517013e-01 3.76782122e+01] [ 1.83612663e-01 9.82753910e-01 -2.19349359e-02 3.10570857e+00] [ 1.33304568e-01 -2.78535999e-03 9.91071205e-01 4.38113344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46710568099999 meters Centerline goodness [0,1] 0.9996855477757746 Centerline is valid? [True, True] Translation: X:37.71, Y:3.10, Z:4.39 [[ 9.72627836e-01 -1.91359656e-01 -1.31820234e-01 3.77073512e+01] [ 1.90126374e-01 9.81513138e-01 -2.19982387e-02 3.10177496e+00] [ 1.33592867e-01 -3.66640381e-03 9.91029517e-01 4.38589698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497105680999994 meters Centerline goodness [0,1] 0.9996224911390281 Centerline is valid? [True, True] Translation: X:37.74, Y:3.11, Z:4.40 [[ 9.71842898e-01 -1.96669722e-01 -1.29778283e-01 3.77353853e+01] [ 1.95520301e-01 9.80460288e-01 -2.16664636e-02 3.10611573e+00] [ 1.31503590e-01 -4.31789004e-03 9.91306291e-01 4.39563719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52710568099999 meters Centerline goodness [0,1] 0.9995385228536069 Centerline is valid? [True, True] Translation: X:37.76, Y:3.11, Z:4.40 [[ 9.71714911e-01 -1.98498931e-01 -1.27938682e-01 3.77626727e+01] [ 1.97396022e-01 9.80090833e-01 -2.13721476e-02 3.11254449e+00] [ 1.29633878e-01 -4.48695237e-03 9.91551776e-01 4.40211795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55710568099999 meters Centerline goodness [0,1] 0.9996223881849459 Centerline is valid? [True, True] Translation: X:37.79, Y:3.12, Z:4.41 [[ 9.72377911e-01 -1.96125138e-01 -1.26554847e-01 3.77896616e+01] [ 1.95020492e-01 9.80570377e-01 -2.11835612e-02 3.12471283e+00] [ 1.28250563e-01 -4.08236154e-03 9.91733395e-01 4.40802440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58710568099999 meters Centerline goodness [0,1] 0.9993722404737492 Centerline is valid? [True, True] Translation: X:37.82, Y:3.14, Z:4.41 [[ 9.73911809e-01 -1.86619503e-01 -1.29108281e-01 3.78170875e+01] [ 1.85381519e-01 9.82428132e-01 -2.16484885e-02 3.14007272e+00] [ 1.30879638e-01 -2.85057080e-03 9.91394167e-01 4.40694246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61710568099999 meters Centerline goodness [0,1] 0.999266139685069 Centerline is valid? [True, True] Translation: X:37.84, Y:3.15, Z:4.41 [[ 9.74949488e-01 -1.80379589e-01 -1.30141080e-01 3.78444530e+01] [ 1.79065328e-01 9.83594996e-01 -2.18287093e-02 3.15267221e+00] [ 1.31943569e-01 -2.02186615e-03 9.91255167e-01 4.40893536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64710568099999 meters Centerline goodness [0,1] 0.9993931657912909 Centerline is valid? [True, True] Translation: X:37.87, Y:3.17, Z:4.41 [[ 9.77340267e-01 -1.68174178e-01 -1.28543570e-01 3.78685834e+01] [ 1.66785141e-01 9.85757232e-01 -2.15730592e-02 3.17465610e+00] [ 1.30340785e-01 -3.54937960e-04 9.91469190e-01 4.41441856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67710568099999 meters Centerline goodness [0,1] 0.9994124312754438 Centerline is valid? [True, True] Translation: X:37.89, Y:3.19, Z:4.42 [[ 9.78513818e-01 -1.62909540e-01 -1.26377175e-01 3.78947656e+01] [ 1.61521125e-01 9.86640945e-01 -2.12266984e-02 3.18787625e+00] [ 1.28146927e-01 3.58034176e-04 9.91755129e-01 4.42099628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70710568099999 meters Centerline goodness [0,1] 0.9994976662410784 Centerline is valid? [True, True] Translation: X:37.92, Y:3.20, Z:4.43 [[ 9.80337672e-01 -1.53805792e-01 -1.23619685e-01 3.79196329e+01] [ 1.52400501e-01 9.88099876e-01 -2.08019603e-02 3.20282473e+00] [ 1.25348057e-01 1.55324346e-03 9.92111613e-01 4.42594095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73710568099999 meters Centerline goodness [0,1] 0.9994978554242075 Centerline is valid? [True, True] Translation: X:37.95, Y:3.21, Z:4.43 [[ 9.80807698e-01 -1.50459562e-01 -1.24008785e-01 3.79473091e+01] [ 1.49016591e-01 9.88614133e-01 -2.08842437e-02 3.21165411e+00] [ 1.25739072e-01 2.00406050e-03 9.92061323e-01 4.42849258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76710568099999 meters Centerline goodness [0,1] 0.9995813008981096 Centerline is valid? [True, True] Translation: X:37.97, Y:3.22, Z:4.43 [[ 9.80684883e-01 -1.50942942e-01 -1.24392072e-01 3.79749276e+01] [ 1.49489573e-01 9.88540474e-01 -2.09904274e-02 3.21706882e+00] [ 1.26134955e-01 1.98967708e-03 9.92011096e-01 4.43129073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79710568099999 meters Centerline goodness [0,1] 0.9995201435396716 Centerline is valid? [True, True] Translation: X:38.00, Y:3.22, Z:4.43 [[ 9.80350044e-01 -1.52306827e-01 -1.25365155e-01 3.80028829e+01] [ 1.50835920e-01 9.88331484e-01 -2.11991271e-02 3.22082319e+00] [ 1.27131102e-01 1.87299673e-03 9.91884154e-01 4.43259734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82710568099999 meters Centerline goodness [0,1] 0.9995392380673132 Centerline is valid? [True, True] Translation: X:38.03, Y:3.22, Z:4.43 [[ 9.79475998e-01 -1.55016825e-01 -1.28827609e-01 3.80327829e+01] [ 1.53484036e-01 9.87910563e-01 -2.18030035e-02 3.22115277e+00] [ 1.30649988e-01 1.58253711e-03 9.91427292e-01 4.43135334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85710568099999 meters Centerline goodness [0,1] 0.9994544233674668 Centerline is valid? [True, True] Translation: X:38.06, Y:3.22, Z:4.43 [[ 9.78634302e-01 -1.58648293e-01 -1.30788464e-01 3.80615169e+01] [ 1.57094629e-01 9.87334480e-01 -2.21788522e-02 3.21667827e+00] [ 1.32650597e-01 1.15882030e-03 9.91162185e-01 4.43194769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.887105680999994 meters Centerline goodness [0,1] 0.9996009241755933 Centerline is valid? [True, True] Translation: X:38.09, Y:3.22, Z:4.43 [[ 9.78348413e-01 -1.60221710e-01 -1.31009108e-01 3.80890908e+01] [ 1.58670555e-01 9.87080552e-01 -2.22629490e-02 3.21831689e+00] [ 1.32883551e-01 9.93632948e-04 9.91131159e-01 4.43283290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91710568099999 meters Centerline goodness [0,1] 0.9994547094230406 Centerline is valid? [True, True] Translation: X:38.12, Y:3.22, Z:4.44 [[ 9.78000469e-01 -1.62086465e-01 -1.31312835e-01 3.81164467e+01] [ 1.60542114e-01 9.86776265e-01 -2.23345545e-02 3.22131956e+00] [ 1.33196518e-01 7.61964580e-04 9.91089354e-01 4.43827330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94710568099999 meters Centerline goodness [0,1] 0.9994332731623358 Centerline is valid? [True, True] Translation: X:38.14, Y:3.23, Z:4.44 [[ 9.77987075e-01 -1.62383890e-01 -1.31044851e-01 3.81431998e+01] [ 1.60842110e-01 9.86727360e-01 -2.23367978e-02 3.22601568e+00] [ 1.32932676e-01 7.67569147e-04 9.91124772e-01 4.44423136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97710568099999 meters Centerline goodness [0,1] 0.9995596191754393 Centerline is valid? [True, True] Translation: X:38.17, Y:3.23, Z:4.45 [[ 9.78311946e-01 -1.61213163e-01 -1.30061725e-01 3.81707222e+01] [ 1.59678104e-01 9.86919138e-01 -2.22152881e-02 3.23029290e+00] [ 1.31941802e-01 9.65472063e-04 9.91256994e-01 4.44787762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00710568099999 meters Centerline goodness [0,1] 0.9996222138269739 Centerline is valid? [True, True] Translation: X:38.20, Y:3.23, Z:4.45 [[ 9.77912361e-01 -1.64204272e-01 -1.29322742e-01 3.81988065e+01] [ 1.62710561e-01 9.86426189e-01 -2.21053545e-02 3.22792175e+00] [ 1.31197133e-01 5.74923498e-04 9.91356133e-01 4.45155733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03710568099999 meters Centerline goodness [0,1] 0.9995593604431575 Centerline is valid? [True, True] Translation: X:38.23, Y:3.23, Z:4.45 [[ 9.77052993e-01 -1.68783691e-01 -1.29921186e-01 3.82258695e+01] [ 1.67313101e-01 9.85653116e-01 -2.22319747e-02 3.22776538e+00] [ 1.31809616e-01 -1.56990842e-05 9.91275050e-01 4.45197773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.067105680999994 meters Centerline goodness [0,1] 0.999685336689742 Centerline is valid? [True, True] Translation: X:38.26, Y:3.22, Z:4.46 [[ 9.74635023e-01 -1.80953838e-01 -1.31690095e-01 3.82556578e+01] [ 1.79548297e-01 9.83490211e-01 -2.25701869e-02 3.22152289e+00] [ 1.33600081e-01 -1.64703766e-03 9.91033958e-01 4.45648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09710568099999 meters Centerline goodness [0,1] 0.9997899247930759 Centerline is valid? [True, True] Translation: X:38.28, Y:3.22, Z:4.46 [[ 9.73537309e-01 -1.87211543e-01 -1.31060850e-01 3.82837549e+01] [ 1.85870389e-01 9.82316558e-01 -2.25028323e-02 3.21876855e+00] [ 1.32956033e-01 -2.45298433e-03 9.91118901e-01 4.45910981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12710568099999 meters Centerline goodness [0,1] 0.9996224040276904 Centerline is valid? [True, True] Translation: X:38.31, Y:3.21, Z:4.46 [[ 9.72185050e-01 -1.95109131e-01 -1.29571044e-01 3.83128866e+01] [ 1.93865765e-01 9.80775386e-01 -2.22645047e-02 3.21375325e+00] [ 1.31424099e-01 -3.47417089e-03 9.91320148e-01 4.46440387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15710568099999 meters Centerline goodness [0,1] 0.9998949998949999 Centerline is valid? [True, True] Translation: X:38.34, Y:3.21, Z:4.47 [[ 9.71223674e-01 -1.99700008e-01 -1.29786292e-01 3.83428277e+01] [ 1.98491762e-01 9.79848545e-01 -2.23125536e-02 3.21390207e+00] [ 1.31626727e-01 -4.09102949e-03 9.91290910e-01 4.46889360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18710568099999 meters Centerline goodness [0,1] 0.9999579637647652 Centerline is valid? [True, True] Translation: X:38.37, Y:3.22, Z:4.47 [[ 9.70811751e-01 -2.00960912e-01 -1.30916980e-01 3.83697872e+01] [ 1.99741423e-01 9.79589871e-01 -2.25177285e-02 3.22377403e+00] [ 1.32770131e-01 -4.28906851e-03 9.91137577e-01 4.47381928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21710568099999 meters Centerline goodness [0,1] 0.9997690288713911 Centerline is valid? [True, True] Translation: X:38.40, Y:3.23, Z:4.48 [[ 9.70773240e-01 -2.01129408e-01 -1.30943795e-01 3.83965082e+01] [ 1.99905195e-01 9.79555370e-01 -2.25652357e-02 3.22879716e+00] [ 1.32805230e-01 -4.27061786e-03 9.91132954e-01 4.47709614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.247105680999994 meters Centerline goodness [0,1] 0.9996635686950671 Centerline is valid? [True, True] Translation: X:38.42, Y:3.24, Z:4.48 [[ 9.71047628e-01 -2.00135505e-01 -1.30431147e-01 3.84230567e+01] [ 1.98907260e-01 9.79759718e-01 -2.25121273e-02 3.24004733e+00] [ 1.32296660e-01 -4.08335434e-03 9.91201755e-01 4.48295606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27710568099999 meters Centerline goodness [0,1] 0.9997265978254012 Centerline is valid? [True, True] Translation: X:38.45, Y:3.25, Z:4.49 [[ 9.71522275e-01 -1.98783962e-01 -1.28955050e-01 3.84503388e+01] [ 1.97565882e-01 9.80035922e-01 -2.23005527e-02 3.24927434e+00] [ 1.30813573e-01 -3.81163443e-03 9.91399657e-01 4.48760689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30710568099999 meters Centerline goodness [0,1] 0.9994967181831527 Centerline is valid? [True, True] Translation: X:38.48, Y:3.26, Z:4.50 [[ 9.73046056e-01 -1.94449262e-01 -1.23979260e-01 3.84772084e+01] [ 1.93283711e-01 9.80907792e-01 -2.14781336e-02 3.26363155e+00] [ 1.25788629e-01 -3.06395823e-03 9.92052334e-01 4.49690725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33710568099999 meters Centerline goodness [0,1] 0.9994540338499013 Centerline is valid? [True, True] Translation: X:38.50, Y:3.28, Z:4.50 [[ 9.73692431e-01 -1.91757099e-01 -1.23094536e-01 3.85046138e+01] [ 1.90585683e-01 9.81438735e-01 -2.13332584e-02 3.27501790e+00] [ 1.24900550e-01 -2.68802396e-03 9.92165625e-01 4.50190579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36710568099999 meters Centerline goodness [0,1] 0.9993714381495139 Centerline is valid? [True, True] Translation: X:38.53, Y:3.29, Z:4.50 [[ 9.75175762e-01 -1.84041289e-01 -1.23130162e-01 3.85295503e+01] [ 1.82803126e-01 9.82917108e-01 -2.13770030e-02 3.29434923e+00] [ 1.24960993e-01 -1.66224323e-03 9.92160263e-01 4.50475390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39710568099999 meters Centerline goodness [0,1] 0.999286673380329 Centerline is valid? [True, True] Translation: X:38.55, Y:3.31, Z:4.51 [[ 9.76058652e-01 -1.79560089e-01 -1.22750484e-01 3.85549012e+01] [ 1.78291772e-01 9.83746431e-01 -2.13308310e-02 3.30772921e+00] [ 1.24585516e-01 -1.06525919e-03 9.92208302e-01 4.50792991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42710568099999 meters Centerline goodness [0,1] 0.9993707657780481 Centerline is valid? [True, True] Translation: X:38.58, Y:3.33, Z:4.51 [[ 9.77448660e-01 -1.72295725e-01 -1.22099554e-01 3.85808260e+01] [ 1.70982338e-01 9.85045262e-01 -2.12337466e-02 3.32790287e+00] [ 1.23932071e-01 -1.21970013e-04 9.92290697e-01 4.51148859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45710568099999 meters Centerline goodness [0,1] 0.999329744674612 Centerline is valid? [True, True] Translation: X:38.61, Y:3.34, Z:4.51 [[ 9.77903909e-01 -1.69262876e-01 -1.22694843e-01 3.86073046e+01] [ 1.67907849e-01 9.85570894e-01 -2.13767884e-02 3.33857603e+00] [ 1.24542762e-01 3.03017812e-04 9.92214195e-01 4.51264797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48710568099999 meters Centerline goodness [0,1] 0.9994970240590159 Centerline is valid? [True, True] Translation: X:38.63, Y:3.35, Z:4.51 [[ 9.78374500e-01 -1.63524036e-01 -1.26661866e-01 3.86333670e+01] [ 1.62025460e-01 9.86538720e-01 -2.21156899e-02 3.35154757e+00] [ 1.28573282e-01 1.11497982e-03 9.91699384e-01 4.50970012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51710568099999 meters Centerline goodness [0,1] 0.9995167864195975 Centerline is valid? [True, True] Translation: X:38.66, Y:3.36, Z:4.51 [[ 9.78366532e-01 -1.60388944e-01 -1.30668725e-01 3.86611704e+01] [ 1.58762710e-01 9.87052598e-01 -2.28379159e-02 3.36336681e+00] [ 1.32639854e-01 1.59853170e-03 9.91163011e-01 4.50859728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54710568099999 meters Centerline goodness [0,1] 0.999958251576003 Centerline is valid? [True, True] Translation: X:38.69, Y:3.37, Z:4.51 [[ 9.78371941e-01 -1.58769344e-01 -1.32592009e-01 3.86883472e+01] [ 1.57073730e-01 9.87313893e-01 -2.32189695e-02 3.37198107e+00] [ 1.34596393e-01 1.89006699e-03 9.90898703e-01 4.51101579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57710568099999 meters Centerline goodness [0,1] 0.9998530399731274 Centerline is valid? [True, True] Translation: X:38.72, Y:3.38, Z:4.51 [[ 9.78240394e-01 -1.59105977e-01 -1.33157876e-01 3.87161740e+01] [ 1.57392788e-01 9.87259688e-01 -2.33627495e-02 3.37642120e+00] [ 1.35178556e-01 1.89629594e-03 9.90819440e-01 4.51417190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60710568099999 meters Centerline goodness [0,1] 0.999559073634703 Centerline is valid? [True, True] Translation: X:38.74, Y:3.38, Z:4.52 [[ 9.78068594e-01 -1.60651141e-01 -1.32563326e-01 3.87446046e+01] [ 1.58961429e-01 9.87009755e-01 -2.33025442e-02 3.37890332e+00] [ 1.34584876e-01 1.71903096e-03 9.90900578e-01 4.51836468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63710568099999 meters Centerline goodness [0,1] 0.9995381644134688 Centerline is valid? [True, True] Translation: X:38.77, Y:3.38, Z:4.52 [[ 9.77561887e-01 -1.63150431e-01 -1.33246740e-01 3.87722939e+01] [ 1.61459911e-01 9.86600170e-01 -2.34691481e-02 3.37877270e+00] [ 1.35290258e-01 1.42853795e-03 9.90804978e-01 4.52322512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66710568099999 meters Centerline goodness [0,1] 0.9996640490488389 Centerline is valid? [True, True] Translation: X:38.80, Y:3.38, Z:4.52 [[ 9.77064015e-01 -1.66692926e-01 -1.32511809e-01 3.88011185e+01] [ 1.65047094e-01 9.86008371e-01 -2.33869293e-02 3.37612550e+00] [ 1.34556189e-01 9.79837984e-04 9.90905481e-01 4.52484706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69710568099999 meters Centerline goodness [0,1] 0.9996221186547424 Centerline is valid? [True, True] Translation: X:38.83, Y:3.37, Z:4.53 [[ 9.77037385e-01 -1.70046027e-01 -1.28383400e-01 3.88302582e+01] [ 1.68528086e-01 9.85435984e-01 -2.26760884e-02 3.37323650e+00] [ 1.30369601e-01 5.19177392e-04 9.91465328e-01 4.53488373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72710568099999 meters Centerline goodness [0,1] 0.9995391029266965 Centerline is valid? [True, True] Translation: X:38.86, Y:3.38, Z:4.54 [[ 9.77028014e-01 -1.71668673e-01 -1.26277974e-01 3.88580806e+01] [ 1.70209010e-01 9.85154686e-01 -2.23413980e-02 3.37649519e+00] [ 1.28238656e-01 3.34522740e-04 9.91743281e-01 4.54366013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75710568099999 meters Centerline goodness [0,1] 0.999582367558312 Centerline is valid? [True, True] Translation: X:38.89, Y:3.38, Z:4.55 [[ 9.76701821e-01 -1.74317313e-01 -1.25167997e-01 3.88851560e+01] [ 1.72899900e-01 9.84689532e-01 -2.21844734e-02 3.37969954e+00] [ 1.27118754e-01 2.60813650e-05 9.91887505e-01 4.54854373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78710568099999 meters Centerline goodness [0,1] 0.999706640403998 Centerline is valid? [True, True] Translation: X:38.91, Y:3.38, Z:4.55 [[ 9.76319037e-01 -1.75748082e-01 -1.26149707e-01 3.89132139e+01] [ 1.74317840e-01 9.84435163e-01 -2.23763222e-02 3.38307026e+00] [ 1.28118803e-01 -1.43715052e-04 9.91758817e-01 4.55075005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817105680999994 meters Centerline goodness [0,1] 0.9996222693219734 Centerline is valid? [True, True] Translation: X:38.94, Y:3.38, Z:4.54 [[ 9.75399921e-01 -1.76841215e-01 -1.31613746e-01 3.89417837e+01] [ 1.75287934e-01 9.84239360e-01 -2.33884952e-02 3.38387533e+00] [ 1.33675479e-01 -2.57165218e-04 9.91025126e-01 4.54356319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84710568099999 meters Centerline goodness [0,1] 0.9996217613314001 Centerline is valid? [True, True] Translation: X:38.97, Y:3.39, Z:4.54 [[ 9.74767370e-01 -1.78074228e-01 -1.34603653e-01 3.89707877e+01] [ 1.76457707e-01 9.84016971e-01 -2.39432373e-02 3.38721416e+00] [ 1.36715953e-01 -4.12765498e-04 9.90610205e-01 4.54262895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87710568099999 meters Centerline goodness [0,1] 0.9995181934348618 Centerline is valid? [True, True] Translation: X:39.00, Y:3.39, Z:4.54 [[ 9.73842772e-01 -1.82455412e-01 -1.35426284e-01 3.89987268e+01] [ 1.80855640e-01 9.83213625e-01 -2.41289184e-02 3.38683529e+00] [ 1.37555420e-01 -9.94834489e-04 9.90493572e-01 4.54404639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90710568099999 meters Centerline goodness [0,1] 0.9993489446602961 Centerline is valid? [True, True] Translation: X:39.03, Y:3.39, Z:4.56 [[ 9.72498806e-01 -1.89897330e-01 -1.34852057e-01 3.90268335e+01] [ 1.88379474e-01 9.81801880e-01 -2.40466595e-02 3.38769037e+00] [ 1.36964399e-01 -2.01801195e-03 9.90573915e-01 4.55571822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93710568099999 meters Centerline goodness [0,1] 0.9993489446602961 Centerline is valid? [True, True] Translation: X:39.05, Y:3.39, Z:4.56 [[ 9.72427898e-01 -1.90265850e-01 -1.34843947e-01 3.90536041e+01] [ 1.88745226e-01 9.81730519e-01 -2.40920585e-02 3.39269672e+00] [ 1.36964314e-01 -2.02336142e-03 9.90573916e-01 4.55889673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96710568099999 meters Centerline goodness [0,1] 0.9995173542619717 Centerline is valid? [True, True] Translation: X:39.08, Y:3.39, Z:4.56 [[ 9.71668691e-01 -1.95120575e-01 -1.33371348e-01 3.90822541e+01] [ 1.93671696e-01 9.80775743e-01 -2.38792159e-02 3.39269404e+00] [ 1.35466709e-01 -2.62756861e-03 9.90778414e-01 4.56459313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997105680999994 meters Centerline goodness [0,1] 0.9991006818086753 Centerline is valid? [True, True] Translation: X:39.11, Y:3.39, Z:4.57 [[ 9.70553485e-01 -2.02924943e-01 -1.29797533e-01 3.91126308e+01] [ 2.01617197e-01 9.79187760e-01 -2.32773812e-02 3.38756666e+00] [ 1.31819717e-01 -3.57747146e-03 9.91267251e-01 4.57179223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02710568099999 meters Centerline goodness [0,1] 0.9992878686327078 Centerline is valid? [True, True] Translation: X:39.14, Y:3.39, Z:4.58 [[ 9.69898499e-01 -2.06678050e-01 -1.28767565e-01 3.91411049e+01] [ 2.05422540e-01 9.78400648e-01 -2.31030659e-02 3.38934459e+00] [ 1.30761165e-01 -4.04413123e-03 9.91405650e-01 4.57644533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05710568099999 meters Centerline goodness [0,1] 0.9993489309866845 Centerline is valid? [True, True] Translation: X:39.17, Y:3.39, Z:4.58 [[ 9.70020010e-01 -2.06245875e-01 -1.28545011e-01 3.91687304e+01] [ 2.04985681e-01 9.78492269e-01 -2.31030491e-02 3.39239112e+00] [ 1.30545208e-01 -3.93946660e-03 9.91434531e-01 4.57827245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08710568099999 meters Centerline goodness [0,1] 0.9994141891750529 Centerline is valid? [True, True] Translation: X:39.20, Y:3.40, Z:4.58 [[ 9.70931182e-01 -2.01676372e-01 -1.28915789e-01 3.91963224e+01] [ 2.00366362e-01 9.79446600e-01 -2.31879121e-02 3.40281882e+00] [ 1.30942585e-01 -3.31652085e-03 9.91384406e-01 4.58192821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11710568099999 meters Centerline goodness [0,1] 0.9992668007373889 Centerline is valid? [True, True] Translation: X:39.22, Y:3.41, Z:4.59 [[ 9.71535915e-01 -1.98572851e-01 -1.29177358e-01 3.92237769e+01] [ 1.97224874e-01 9.80081945e-01 -2.32751127e-02 3.41277621e+00] [ 1.31226201e-01 -2.86438020e-03 9.91348314e-01 4.58556501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14710568099999 meters Centerline goodness [0,1] 0.9994765055699807 Centerline is valid? [True, True] Translation: X:39.25, Y:3.43, Z:4.59 [[ 9.73485773e-01 -1.90236691e-01 -1.27025394e-01 3.92502171e+01] [ 1.88857609e-01 9.81736832e-01 -2.29258977e-02 3.42955626e+00] [ 1.29066855e-01 -1.67167687e-03 9.91634485e-01 4.59270088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17710568099999 meters Centerline goodness [0,1] 0.9993715961457897 Centerline is valid? [True, True] Translation: X:39.28, Y:3.44, Z:4.60 [[ 9.75138329e-01 -1.84159836e-01 -1.23249315e-01 3.92755002e+01] [ 1.82812578e-01 9.82895956e-01 -2.22508850e-02 3.44303890e+00] [ 1.25238973e-01 -8.33834149e-04 9.92126254e-01 4.59911445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20710568099999 meters Centerline goodness [0,1] 0.9992461048751885 Centerline is valid? [True, True] Translation: X:39.30, Y:3.45, Z:4.60 [[ 9.75678656e-01 -1.81835366e-01 -1.22421644e-01 3.93024212e+01] [ 1.80485904e-01 9.83328853e-01 -2.21179665e-02 3.45338146e+00] [ 1.24402563e-01 -5.15353263e-04 9.92231695e-01 4.60318108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23710568099999 meters Centerline goodness [0,1] 0.9994960524105493 Centerline is valid? [True, True] Translation: X:39.33, Y:3.46, Z:4.60 [[ 9.75690875e-01 -1.79020697e-01 -1.26407700e-01 3.93296420e+01] [ 1.77552715e-01 9.83845300e-01 -2.28792078e-02 3.46297383e+00] [ 1.28461473e-01 -1.20996026e-04 9.91714493e-01 4.59986920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26710568099999 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:39.36, Y:3.47, Z:4.60 [[ 9.76090714e-01 -1.76125659e-01 -1.27383949e-01 3.93570613e+01] [ 1.74607864e-01 9.84367652e-01 -2.30742275e-02 3.47244098e+00] [ 1.29456602e-01 2.80299854e-04 9.91585049e-01 4.60358744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29710568099999 meters Centerline goodness [0,1] 0.9994345076027311 Centerline is valid? [True, True] Translation: X:39.38, Y:3.49, Z:4.60 [[ 9.77757315e-01 -1.66531528e-01 -1.27506400e-01 3.93830405e+01] [ 1.64924134e-01 9.86034843e-01 -2.31369623e-02 3.48851903e+00] [ 1.29578787e-01 1.59345145e-03 9.91567849e-01 4.60490273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32710568099999 meters Centerline goodness [0,1] 0.9995388517408347 Centerline is valid? [True, True] Translation: X:39.41, Y:3.50, Z:4.61 [[ 9.78611509e-01 -1.61035839e-01 -1.28011614e-01 3.94095885e+01] [ 1.59366611e-01 9.86945768e-01 -2.32450849e-02 3.50040306e+00] [ 1.30083813e-01 2.34713054e-03 9.91500223e-01 4.60517442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35710568099999 meters Centerline goodness [0,1] 0.9998741267543584 Centerline is valid? [True, True] Translation: X:39.44, Y:3.51, Z:4.61 [[ 9.79788521e-01 -1.51519564e-01 -1.30599679e-01 3.94385407e+01] [ 1.49694704e-01 9.88447309e-01 -2.37362990e-02 3.51321179e+00] [ 1.32687415e-01 3.70647298e-03 9.91151004e-01 4.60528081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38710568099999 meters Centerline goodness [0,1] 0.9998318585930768 Centerline is valid? [True, True] Translation: X:39.47, Y:3.52, Z:4.61 [[ 9.80335344e-01 -1.49208377e-01 -1.29149033e-01 3.94655169e+01] [ 1.47403852e-01 9.88797782e-01 -2.34744813e-02 3.51750292e+00] [ 1.31204866e-01 3.97579881e-03 9.91347303e-01 4.60792307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41710568099999 meters Centerline goodness [0,1] 0.9997483379820901 Centerline is valid? [True, True] Translation: X:39.49, Y:3.52, Z:4.61 [[ 9.80387906e-01 -1.51001827e-01 -1.26641234e-01 3.94934433e+01] [ 1.49279679e-01 9.88526636e-01 -2.30362253e-02 3.52021477e+00] [ 1.28666745e-01 3.67947396e-03 9.91681063e-01 4.61438495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44710568099999 meters Centerline goodness [0,1] 0.9996221027880416 Centerline is valid? [True, True] Translation: X:39.52, Y:3.51, Z:4.62 [[ 9.79679875e-01 -1.57415593e-01 -1.24288669e-01 3.95239930e+01] [ 1.55803716e-01 9.87528417e-01 -2.26457184e-02 3.51465577e+00] [ 1.26303381e-01 2.82091810e-03 9.91987650e-01 4.62242468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47710568099999 meters Centerline goodness [0,1] 0.9994337129553892 Centerline is valid? [True, True] Translation: X:39.56, Y:3.50, Z:4.62 [[ 9.77741751e-01 -1.67813492e-01 -1.25935305e-01 3.95566284e+01] [ 1.66243334e-01 9.85817613e-01 -2.29518443e-02 3.50362212e+00] [ 1.28000871e-01 1.50507135e-03 9.91772913e-01 4.62199940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50710568099999 meters Centerline goodness [0,1] 0.9992855191543909 Centerline is valid? [True, True] Translation: X:39.59, Y:3.50, Z:4.63 [[ 9.76655098e-01 -1.73894740e-01 -1.26116770e-01 3.95861514e+01] [ 1.72369228e-01 9.84763983e-01 -2.29944929e-02 3.50071757e+00] [ 1.28193874e-01 7.19038493e-04 9.91748866e-01 4.62527771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53710568099999 meters Centerline goodness [0,1] 0.9992671998660022 Centerline is valid? [True, True] Translation: X:39.62, Y:3.49, Z:4.63 [[ 9.74793240e-01 -1.83273978e-01 -1.27235172e-01 3.96155330e+01] [ 1.81795338e-01 9.83061758e-01 -2.32386374e-02 3.49462262e+00] [ 1.29339070e-01 -4.77894584e-04 9.91600311e-01 4.62797693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.567105680999994 meters Centerline goodness [0,1] 0.9993703035137064 Centerline is valid? [True, True] Translation: X:39.65, Y:3.49, Z:4.63 [[ 9.73211735e-01 -1.89213562e-01 -1.30603012e-01 3.96453819e+01] [ 1.87706332e-01 9.81935119e-01 -2.38695633e-02 3.49114721e+00] [ 1.32760129e-01 -1.28487311e-03 9.91147364e-01 4.62651799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59710568099999 meters Centerline goodness [0,1] 0.9994535174559136 Centerline is valid? [True, True] Translation: X:39.67, Y:3.49, Z:4.63 [[ 9.72494431e-01 -1.91149158e-01 -1.33103649e-01 3.96736448e+01] [ 1.89599314e-01 9.81559756e-01 -2.43422665e-02 3.49200586e+00] [ 1.35302189e-01 -1.56364179e-03 9.90803145e-01 4.62503234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62710568099999 meters Centerline goodness [0,1] 0.9994322721729257 Centerline is valid? [True, True] Translation: X:39.70, Y:3.49, Z:4.63 [[ 9.71299083e-01 -1.95130896e-01 -1.36022149e-01 3.97039490e+01] [ 1.93548858e-01 9.80774850e-01 -2.48904128e-02 3.49129119e+00] [ 1.38263992e-01 -2.15089653e-03 9.90393075e-01 4.62631710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65710568099999 meters Centerline goodness [0,1] 0.9994331660823379 Centerline is valid? [True, True] Translation: X:39.73, Y:3.49, Z:4.63 [[ 9.70875146e-01 -1.97232031e-01 -1.36018296e-01 3.97326113e+01] [ 1.95668881e-01 9.80353805e-01 -2.49019348e-02 3.49429917e+00] [ 1.38257513e-01 -2.43787819e-03 9.90393314e-01 4.63091712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68710568099999 meters Centerline goodness [0,1] 0.9995793724236561 Centerline is valid? [True, True] Translation: X:39.76, Y:3.50, Z:4.64 [[ 9.70896644e-01 -2.00035792e-01 -1.31701890e-01 3.97591612e+01] [ 1.98590743e-01 9.79784856e-01 -2.41526811e-02 3.50004111e+00] [ 1.33870918e-01 -2.70501914e-03 9.90995086e-01 4.64320253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71710568099999 meters Centerline goodness [0,1] 0.999538996689158 Centerline is valid? [True, True] Translation: X:39.79, Y:3.51, Z:4.65 [[ 9.71688095e-01 -1.98316325e-01 -1.28424617e-01 3.97861262e+01] [ 1.96921962e-01 9.80135220e-01 -2.35942929e-02 3.50928387e+00] [ 1.30552623e-01 -2.36333401e-03 9.91438564e-01 4.65133427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.747105680999994 meters Centerline goodness [0,1] 0.9990354776482429 Centerline is valid? [True, True] Translation: X:39.81, Y:3.52, Z:4.66 [[ 9.72624530e-01 -1.94694923e-01 -1.26867691e-01 3.98130827e+01] [ 1.93298104e-01 9.80862173e-01 -2.33503789e-02 3.51999897e+00] [ 1.28985919e-01 -1.81213275e-03 9.91644769e-01 4.65561357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77710568099999 meters Centerline goodness [0,1] 0.999076367605693 Centerline is valid? [True, True] Translation: X:39.84, Y:3.53, Z:4.66 [[ 9.73197641e-01 -1.93607898e-01 -1.24106139e-01 3.98395312e+01] [ 1.92257716e-01 9.81077695e-01 -2.28806964e-02 3.52660884e+00] [ 1.26187648e-01 -1.59292302e-03 9.92005111e-01 4.66170014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80710568099999 meters Centerline goodness [0,1] 0.9992438880954381 Centerline is valid? [True, True] Translation: X:39.87, Y:3.54, Z:4.67 [[ 9.73915265e-01 -1.92736560e-01 -1.19756731e-01 3.98656393e+01] [ 1.91471247e-01 9.81249521e-01 -2.20938547e-02 3.53790886e+00] [ 1.21769528e-01 -1.41242816e-03 9.92557397e-01 4.67039078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83710568099999 meters Centerline goodness [0,1] 0.9992236024844721 Centerline is valid? [True, True] Translation: X:39.89, Y:3.55, Z:4.67 [[ 9.73689749e-01 -1.93930554e-01 -1.19662914e-01 3.98926685e+01] [ 1.92671270e-01 9.81014081e-01 -2.21168202e-02 3.54629986e+00] [ 1.21680131e-01 -1.52068450e-03 9.92568201e-01 4.67354347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86710568099999 meters Centerline goodness [0,1] 0.9990342424051563 Centerline is valid? [True, True] Translation: X:39.92, Y:3.56, Z:4.67 [[ 9.72565703e-01 -1.98031174e-01 -1.22063947e-01 3.99197370e+01] [ 1.96747068e-01 9.80193622e-01 -2.26065398e-02 3.55506977e+00] [ 1.24123102e-01 -2.02937829e-03 9.92264752e-01 4.67299717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89710568099999 meters Centerline goodness [0,1] 0.9991005877554435 Centerline is valid? [True, True] Translation: X:39.95, Y:3.56, Z:4.67 [[ 9.70855290e-01 -2.04451293e-01 -1.25058681e-01 3.99478508e+01] [ 2.03153278e-01 9.78872448e-01 -2.31835417e-02 3.56066648e+00] [ 1.27156402e-01 -2.89821688e-03 9.91878445e-01 4.67136686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92710568099999 meters Centerline goodness [0,1] 0.9989296956977964 Centerline is valid? [True, True] Translation: X:39.98, Y:3.57, Z:4.67 [[ 9.69713008e-01 -2.08851839e-01 -1.26639616e-01 3.99770706e+01] [ 2.07556298e-01 9.77941007e-01 -2.34897726e-02 3.56568585e+00] [ 1.28751956e-01 -3.50651182e-03 9.91670630e-01 4.67219373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95710568099999 meters Centerline goodness [0,1] 0.9990549196681718 Centerline is valid? [True, True] Translation: X:40.01, Y:3.57, Z:4.67 [[ 9.67269372e-01 -2.18100308e-01 -1.29700495e-01 4.00070790e+01] [ 2.16822972e-01 9.75914323e-01 -2.40630917e-02 3.56933704e+00] [ 1.31824739e-01 -4.84655526e-03 9.91261191e-01 4.67198657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98710568099999 meters Centerline goodness [0,1] 0.9989070578838959 Centerline is valid? [True, True] Translation: X:40.04, Y:3.57, Z:4.68 [[ 9.65062469e-01 -2.27594957e-01 -1.29826680e-01 4.00365566e+01] [ 2.26400169e-01 9.73736490e-01 -2.40875648e-02 3.57352782e+00] [ 1.31899184e-01 -6.14677743e-03 9.91244078e-01 4.67675085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01710568099999 meters Centerline goodness [0,1] 0.9985530647765638 Centerline is valid? [True, True] Translation: X:40.07, Y:3.57, Z:4.68 [[ 9.64056730e-01 -2.32140241e-01 -1.29249872e-01 4.00663703e+01] [ 2.30996428e-01 9.72658999e-01 -2.39817130e-02 3.57417867e+00] [ 1.31283172e-01 -6.73652705e-03 9.91322020e-01 4.68063210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04710568099999 meters Centerline goodness [0,1] 0.9986988457502624 Centerline is valid? [True, True] Translation: X:40.09, Y:3.59, Z:4.69 [[ 9.62869409e-01 -2.37899691e-01 -1.27617548e-01 4.00939851e+01] [ 2.36834368e-01 9.71261373e-01 -2.36817975e-02 3.58632826e+00] [ 1.29583887e-01 -7.42174293e-03 9.91540687e-01 4.68847362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07710568099999 meters Centerline goodness [0,1] 0.9983937921108075 Centerline is valid? [True, True] Translation: X:40.12, Y:3.60, Z:4.70 [[ 9.63719047e-01 -2.36333953e-01 -1.24063938e-01 4.01199751e+01] [ 2.35313549e-01 9.71646666e-01 -2.30280368e-02 3.60184717e+00] [ 1.25988619e-01 -7.00136786e-03 9.92006980e-01 4.69551631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10710568099999 meters Centerline goodness [0,1] 0.9983875696276752 Centerline is valid? [True, True] Translation: X:40.15, Y:3.62, Z:4.70 [[ 9.64674315e-01 -2.32930233e-01 -1.23073039e-01 4.01471618e+01] [ 2.31894227e-01 9.72471927e-01 -2.28783499e-02 3.61719798e+00] [ 1.25014135e-01 -6.46977080e-03 9.92133866e-01 4.69980576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13710568099999 meters Centerline goodness [0,1] 0.9981553296300179 Centerline is valid? [True, True] Translation: X:40.17, Y:3.64, Z:4.70 [[ 9.67320030e-01 -2.21538633e-01 -1.23339342e-01 4.01731178e+01] [ 2.20405494e-01 9.75138760e-01 -2.29307095e-02 3.64316497e+00] [ 1.25353011e-01 -5.00333412e-03 9.92099586e-01 4.70184068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16710568099999 meters Centerline goodness [0,1] 0.9983847622244132 Centerline is valid? [True, True] Translation: X:40.20, Y:3.66, Z:4.70 [[ 9.68749713e-01 -2.15280691e-01 -1.23199909e-01 4.02003802e+01] [ 2.14099422e-01 9.76543242e-01 -2.29070802e-02 3.65561515e+00] [ 1.25241491e-01 -4.18580198e-03 9.92117457e-01 4.70398068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19710568099999 meters Centerline goodness [0,1] 0.9983846266809323 Centerline is valid? [True, True] Translation: X:40.23, Y:3.69, Z:4.71 [[ 9.71855459e-01 -2.02761502e-01 -1.19936401e-01 4.02256079e+01] [ 2.01546320e-01 9.79224973e-01 -2.23054448e-02 3.68508937e+00] [ 1.21967404e-01 -2.49507195e-03 9.92530970e-01 4.71157713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22710568099999 meters Centerline goodness [0,1] 0.9988677583712494 Centerline is valid? [True, True] Translation: X:40.25, Y:3.71, Z:4.72 [[ 9.74572508e-01 -1.89478381e-01 -1.19609235e-01 4.02512787e+01] [ 1.88169979e-01 9.81884544e-01 -2.22441434e-02 3.71266161e+00] [ 1.21657243e-01 -8.28336616e-04 9.92571826e-01 4.71675141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25710568099999 meters Centerline goodness [0,1] 0.9989744019088683 Centerline is valid? [True, True] Translation: X:40.28, Y:3.73, Z:4.72 [[ 9.75310388e-01 -1.84404700e-01 -1.21509481e-01 4.02818093e+01] [ 1.83015751e-01 9.82850378e-01 -2.25913777e-02 3.72685367e+00] [ 1.23591596e-01 -2.04543597e-04 9.92333148e-01 4.71824151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28710568099999 meters Centerline goodness [0,1] 0.9992653078360167 Centerline is valid? [True, True] Translation: X:40.31, Y:3.74, Z:4.71 [[ 9.75299685e-01 -1.80766400e-01 -1.26941062e-01 4.03119491e+01] [ 1.79220843e-01 9.83526026e-01 -2.35891158e-02 3.74074404e+00] [ 1.29113958e-01 2.55973072e-04 9.91629729e-01 4.71430820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31710568099999 meters Centerline goodness [0,1] 0.9988455322096513 Centerline is valid? [True, True] Translation: X:40.34, Y:3.74, Z:4.72 [[ 9.74046533e-01 -1.86757890e-01 -1.27886054e-01 4.03433099e+01] [ 1.85241634e-01 9.82405816e-01 -2.37560388e-02 3.74400761e+00] [ 1.30072631e-01 -5.50334428e-04 9.91504316e-01 4.71526781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34710568099999 meters Centerline goodness [0,1] 0.9988037524397154 Centerline is valid? [True, True] Translation: X:40.37, Y:3.75, Z:4.72 [[ 9.73040076e-01 -1.92655833e-01 -1.26794087e-01 4.03742586e+01] [ 1.91216052e-01 9.81265486e-01 -2.35471337e-02 3.74541605e+00] [ 1.28955154e-01 -1.33275996e-03 9.91649531e-01 4.71950268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37710568099999 meters Centerline goodness [0,1] 0.9982394366197183 Centerline is valid? [True, True] Translation: X:40.41, Y:3.74, Z:4.72 [[ 9.70202548e-01 -2.06524184e-01 -1.26707448e-01 4.04066572e+01] [ 2.05204821e-01 9.78436332e-01 -2.35228805e-02 3.74047414e+00] [ 1.28833214e-01 -3.17902060e-03 9.91661180e-01 4.72292002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40710568099999 meters Centerline goodness [0,1] 0.9979212161935159 Centerline is valid? [True, True] Translation: X:40.44, Y:3.74, Z:4.72 [[ 9.68119238e-01 -2.15486197e-01 -1.27713897e-01 4.04367741e+01] [ 2.14223560e-01 9.76496935e-01 -2.37065863e-02 3.73829654e+00] [ 1.29820671e-01 -4.40852343e-03 9.91527689e-01 4.72403856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43710568099999 meters Centerline goodness [0,1] 0.9980514990886045 Centerline is valid? [True, True] Translation: X:40.47, Y:3.75, Z:4.73 [[ 9.68697735e-01 -2.13556759e-01 -1.26563059e-01 4.04656586e+01] [ 2.12300067e-01 9.76922017e-01 -2.34958456e-02 3.75315638e+00] [ 1.28659935e-01 -4.10897348e-03 9.91680260e-01 4.73019732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46710568099999 meters Centerline goodness [0,1] 0.9984041659667394 Centerline is valid? [True, True] Translation: X:40.50, Y:3.77, Z:4.73 [[ 9.69758490e-01 -2.09208185e-01 -1.25699666e-01 4.04950833e+01] [ 2.07932978e-01 9.77864815e-01 -2.33298347e-02 3.76598978e+00] [ 1.27798073e-01 -3.51280059e-03 9.91793987e-01 4.73457098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497105680999994 meters Centerline goodness [0,1] 0.99796556135825 Centerline is valid? [True, True] Translation: X:40.52, Y:3.78, Z:4.74 [[ 9.70654597e-01 -2.05150800e-01 -1.25470326e-01 4.05246558e+01] [ 2.03847235e-01 9.78725844e-01 -2.32814767e-02 3.77563557e+00] [ 1.27577264e-01 -2.97850661e-03 9.91824163e-01 4.73672205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52710568099999 meters Centerline goodness [0,1] 0.9985380116959064 Centerline is valid? [True, True] Translation: X:40.55, Y:3.79, Z:4.74 [[ 9.71887691e-01 -2.00242235e-01 -1.23844110e-01 4.05539284e+01] [ 1.98933362e-01 9.79743700e-01 -2.29738956e-02 3.79154363e+00] [ 1.25935831e-01 -2.30867885e-03 9.92035703e-01 4.74092029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55710568099999 meters Centerline goodness [0,1] 0.9983048364481092 Centerline is valid? [True, True] Translation: X:40.59, Y:3.80, Z:4.74 [[ 9.71183350e-01 -2.03191314e-01 -1.24564004e-01 4.05855448e+01] [ 2.01892366e-01 9.79135290e-01 -2.30988228e-02 3.79534409e+00] [ 1.26658493e-01 -2.71532940e-03 9.91942666e-01 4.74265889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58710568099999 meters Centerline goodness [0,1] 0.9980097626380072 Centerline is valid? [True, True] Translation: X:40.62, Y:3.80, Z:4.75 [[ 9.70188324e-01 -2.07081906e-01 -1.25903534e-01 4.06177405e+01] [ 2.05788554e-01 9.78318153e-01 -2.33379883e-02 3.79759679e+00] [ 1.28006588e-01 -3.26726245e-03 9.91767936e-01 4.74528282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61710568099999 meters Centerline goodness [0,1] 0.9984268484530676 Centerline is valid? [True, True] Translation: X:40.65, Y:3.80, Z:4.75 [[ 9.68633356e-01 -2.14836899e-01 -1.24878055e-01 4.06486568e+01] [ 2.13629987e-01 9.76640622e-01 -2.31370633e-02 3.79624737e+00] [ 1.26931677e-01 -4.26636606e-03 9.91902287e-01 4.75167263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64710568099999 meters Centerline goodness [0,1] 0.9975621033163802 Centerline is valid? [True, True] Translation: X:40.68, Y:3.80, Z:4.76 [[ 9.67804476e-01 -2.19326693e-01 -1.23492094e-01 4.06795705e+01] [ 2.18183166e-01 9.75639653e-01 -2.28773680e-02 3.79590566e+00] [ 1.25501402e-01 -4.80307694e-03 9.92081815e-01 4.75787655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67710568099999 meters Centerline goodness [0,1] 0.9981929736090099 Centerline is valid? [True, True] Translation: X:40.71, Y:3.80, Z:4.76 [[ 9.68081726e-01 -2.18369600e-01 -1.23014188e-01 4.07116053e+01] [ 2.17227713e-01 9.75854990e-01 -2.27850495e-02 3.80074602e+00] [ 1.25019571e-01 -4.66430076e-03 9.92143312e-01 4.76283675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70710568099999 meters Centerline goodness [0,1] 0.9980745887572726 Centerline is valid? [True, True] Translation: X:40.74, Y:3.81, Z:4.77 [[ 9.70267067e-01 -2.08865606e-01 -1.22298723e-01 4.07398126e+01] [ 2.07663375e-01 9.77938335e-01 -2.26392356e-02 3.80924311e+00] [ 1.24329168e-01 -3.43086096e-03 9.92235097e-01 4.76652943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73710568099999 meters Centerline goodness [0,1] 0.998111505130411 Centerline is valid? [True, True] Translation: X:40.77, Y:3.82, Z:4.77 [[ 9.71737147e-01 -2.01775280e-01 -1.22530212e-01 4.07686867e+01] [ 2.00512082e-01 9.79428586e-01 -2.26837025e-02 3.81938050e+00] [ 1.24586603e-01 -2.52619153e-03 9.92205521e-01 4.76877335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76710568099999 meters Centerline goodness [0,1] 0.9986984086996683 Centerline is valid? [True, True] Translation: X:40.80, Y:3.84, Z:4.77 [[ 9.75246477e-01 -1.83127852e-01 -1.23929411e-01 4.07963199e+01] [ 1.81685525e-01 9.83089095e-01 -2.29390776e-02 3.84303963e+00] [ 1.26034436e-01 -1.44925491e-04 9.92025856e-01 4.77115742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79710568099999 meters Centerline goodness [0,1] 0.9997067694369973 Centerline is valid? [True, True] Translation: X:40.82, Y:3.86, Z:4.78 [[ 9.78122733e-01 -1.67816378e-01 -1.22937308e-01 4.08248632e+01] [ 1.66277811e-01 9.85816619e-01 -2.27438450e-02 3.86465362e+00] [ 1.25010431e-01 1.80452535e-03 9.92153786e-01 4.77690624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82710568099999 meters Centerline goodness [0,1] 0.9996644295302013 Centerline is valid? [True, True] Translation: X:40.86, Y:3.88, Z:4.78 [[ 9.79286040e-01 -1.60150467e-01 -1.23897862e-01 4.08552099e+01] [ 1.58527946e-01 9.87088659e-01 -2.29100439e-02 3.87642311e+00] [ 1.25967229e-01 2.79421258e-03 9.92030468e-01 4.77965589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85710568099999 meters Centerline goodness [0,1] 0.9996644295302013 Centerline is valid? [True, True] Translation: X:40.89, Y:3.88, Z:4.78 [[ 9.79308904e-01 -1.60008848e-01 -1.23900115e-01 4.08870454e+01] [ 1.58386740e-01 9.87111609e-01 -2.28978513e-02 3.88215989e+00] [ 1.25967101e-01 2.79993437e-03 9.92030468e-01 4.78341835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88710568099999 meters Centerline goodness [0,1] 0.9997691500524659 Centerline is valid? [True, True] Translation: X:40.92, Y:3.89, Z:4.78 [[ 9.79464465e-01 -1.58780477e-01 -1.24250237e-01 4.09171481e+01] [ 1.57141704e-01 9.87309511e-01 -2.29437003e-02 3.89049104e+00] [ 1.26316453e-01 2.94764510e-03 9.91985617e-01 4.78407164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91710568099999 meters Centerline goodness [0,1] 0.9997690434198371 Centerline is valid? [True, True] Translation: X:40.95, Y:3.89, Z:4.79 [[ 9.79282584e-01 -1.61905581e-01 -1.21623206e-01 4.09497054e+01] [ 1.60362220e-01 9.86803164e-01 -2.24382398e-02 3.88809847e+00] [ 1.23651040e-01 2.46961023e-03 9.92322690e-01 4.78818004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.94710568099999 meters Centerline goodness [0,1] 0.9996860676838074 Centerline is valid? [True, True] Translation: X:40.98, Y:3.89, Z:4.79 [[ 9.78766548e-01 -1.65685770e-01 -1.20682517e-01 4.09829965e+01] [ 1.64196256e-01 9.86176638e-01 -2.22537038e-02 3.88545372e+00] [ 1.22701400e-01 1.96556340e-03 9.92441687e-01 4.79462459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97710568099999 meters Centerline goodness [0,1] 0.9994753410283316 Centerline is valid? [True, True] Translation: X:41.02, Y:3.88, Z:4.80 [[ 9.77388186e-01 -1.73404262e-01 -1.21009485e-01 4.10155812e+01] [ 1.71967272e-01 9.84850238e-01 -2.22994831e-02 3.88054208e+00] [ 1.23043045e-01 9.85580368e-04 9.92400845e-01 4.80090241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00710568099999 meters Centerline goodness [0,1] 0.9989304364238827 Centerline is valid? [True, True] Translation: X:41.05, Y:3.87, Z:4.80 [[ 9.76330659e-01 -1.78320703e-01 -1.22393506e-01 4.10498434e+01] [ 1.76890446e-01 9.83972356e-01 -2.25426733e-02 3.87483506e+00] [ 1.24451652e-01 3.58861324e-04 9.92225608e-01 4.80260468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03710568099999 meters Centerline goodness [0,1] 0.9986599664991624 Centerline is valid? [True, True] Translation: X:41.08, Y:3.87, Z:4.80 [[ 9.75567938e-01 -1.82677120e-01 -1.22050271e-01 4.10831247e+01] [ 1.81290294e-01 9.83172938e-01 -2.24678146e-02 3.86829109e+00] [ 1.24100879e-01 -2.07649960e-04 9.92269585e-01 4.80428782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06710568099999 meters Centerline goodness [0,1] 0.9987213884463821 Centerline is valid? [True, True] Translation: X:41.12, Y:3.87, Z:4.81 [[ 9.75085296e-01 -1.86302958e-01 -1.20415419e-01 4.11152042e+01] [ 1.84981757e-01 9.82492118e-01 -2.21582622e-02 3.86649601e+00] [ 1.22435350e-01 -6.68460113e-04 9.92476266e-01 4.80849793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09710568099999 meters Centerline goodness [0,1] 0.9979702866708516 Centerline is valid? [True, True] Translation: X:41.15, Y:3.86, Z:4.81 [[ 9.73345341e-01 -1.96011100e-01 -1.19073489e-01 4.11489703e+01] [ 1.94792546e-01 9.80599883e-01 -2.19028201e-02 3.85890609e+00] [ 1.21056645e-01 -1.87562018e-03 9.92643829e-01 4.81443814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.12710568099999 meters Centerline goodness [0,1] 0.9984660642992226 Centerline is valid? [True, True] Translation: X:41.18, Y:3.86, Z:4.82 [[ 9.72290482e-01 -2.00897863e-01 -1.19546089e-01 4.11803063e+01] [ 1.99707733e-01 9.79608990e-01 -2.19783455e-02 3.85698222e+00] [ 1.21523826e-01 -2.50494233e-03 9.92585354e-01 4.81731060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15710568099999 meters Centerline goodness [0,1] 0.9982697158581584 Centerline is valid? [True, True] Translation: X:41.21, Y:3.84, Z:4.81 [[ 9.69830270e-01 -2.09534815e-01 -1.24596986e-01 4.12136289e+01] [ 2.08313150e-01 9.77794018e-01 -2.29017574e-02 3.84205566e+00] [ 1.26628903e-01 -3.74437313e-03 9.91943093e-01 4.81178842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18710568099999 meters Centerline goodness [0,1] 0.998342112442551 Centerline is valid? [True, True] Translation: X:41.24, Y:3.84, Z:4.81 [[ 9.67776587e-01 -2.17281298e-01 -1.27268674e-01 4.12445291e+01] [ 2.16072292e-01 9.76096957e-01 -2.33985935e-02 3.84033771e+00] [ 1.29310642e-01 -4.85462318e-03 9.91592250e-01 4.81251753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21710568099999 meters Centerline goodness [0,1] 0.9984433833273734 Centerline is valid? [True, True] Translation: X:41.27, Y:3.84, Z:4.82 [[ 9.67084156e-01 -2.19916414e-01 -1.28003931e-01 4.12738264e+01] [ 2.18715823e-01 9.75504679e-01 -2.35374370e-02 3.84016138e+00] [ 1.30044702e-01 -5.23380258e-03 9.91494318e-01 4.81502621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.247105680999994 meters Centerline goodness [0,1] 0.9983253087711953 Centerline is valid? [True, True] Translation: X:41.30, Y:3.85, Z:4.82 [[ 9.66743636e-01 -2.20698000e-01 -1.29225134e-01 4.13011180e+01] [ 2.19479530e-01 9.75327367e-01 -2.37752525e-02 3.84804777e+00] [ 1.31283961e-01 -5.37769767e-03 9.91330218e-01 4.82106505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27710568099999 meters Centerline goodness [0,1] 0.9984446592963134 Centerline is valid? [True, True] Translation: X:41.33, Y:3.86, Z:4.83 [[ 9.66913762e-01 -2.19850921e-01 -1.29396095e-01 4.13291724e+01] [ 2.18616228e-01 9.75519465e-01 -2.38478101e-02 3.85580264e+00] [ 1.31471372e-01 -5.22931032e-03 9.91306175e-01 4.82538143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30710568099999 meters Centerline goodness [0,1] 0.9982556428901685 Centerline is valid? [True, True] Translation: X:41.36, Y:3.87, Z:4.83 [[ 9.67912321e-01 -2.16310680e-01 -1.27888343e-01 4.13574690e+01] [ 2.15071057e-01 9.76313411e-01 -2.35916135e-02 3.86649816e+00] [ 1.29962223e-01 -4.67046780e-03 9.91507946e-01 4.82958419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33710568099999 meters Centerline goodness [0,1] 0.9983411725180581 Centerline is valid? [True, True] Translation: X:41.39, Y:3.88, Z:4.84 [[ 9.68384857e-01 -2.15430887e-01 -1.25778781e-01 4.13859887e+01] [ 2.14224148e-01 9.76508845e-01 -2.32053890e-02 3.87554575e+00] [ 1.27823250e-01 -4.47310491e-03 9.91786876e-01 4.83507103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36710568099999 meters Centerline goodness [0,1] 0.9983821490103795 Centerline is valid? [True, True] Translation: X:41.41, Y:3.88, Z:4.84 [[ 9.68128047e-01 -2.16917651e-01 -1.25199111e-01 4.14131067e+01] [ 2.15733909e-01 9.76178861e-01 -2.31022250e-02 3.88118736e+00] [ 1.27228006e-01 -4.64378167e-03 9.91862626e-01 4.84013004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39710568099999 meters Centerline goodness [0,1] 0.9975641510226366 Centerline is valid? [True, True] Translation: X:41.44, Y:3.89, Z:4.85 [[ 9.67317851e-01 -2.20876826e-01 -1.24537557e-01 4.14417317e+01] [ 2.19736888e-01 9.75288238e-01 -2.29903029e-02 3.89454243e+00] [ 1.26538040e-01 -5.12656481e-03 9.91948508e-01 4.84776292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42710568099999 meters Centerline goodness [0,1] 0.9977546480883032 Centerline is valid? [True, True] Translation: X:41.47, Y:3.90, Z:4.85 [[ 9.67001657e-01 -2.22560856e-01 -1.23993797e-01 4.14720762e+01] [ 2.21445383e-01 9.74904235e-01 -2.28839603e-02 3.90250968e+00] [ 1.25975151e-01 -5.32902621e-03 9.92019084e-01 4.85288054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45710568099999 meters Centerline goodness [0,1] 0.996998887699637 Centerline is valid? [True, True] Translation: X:41.50, Y:3.91, Z:4.86 [[ 9.66325335e-01 -2.26376371e-01 -1.22348213e-01 4.15015951e+01] [ 2.25321453e-01 9.74022914e-01 -2.25744455e-02 3.90734711e+00] [ 1.24280284e-01 -5.75341854e-03 9.92230472e-01 4.85746054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48710568099999 meters Centerline goodness [0,1] 0.9966900597046192 Centerline is valid? [True, True] Translation: X:41.53, Y:3.92, Z:4.86 [[ 9.65943645e-01 -2.29011887e-01 -1.20442645e-01 4.15311483e+01] [ 2.28010719e-01 9.73405121e-01 -2.22167021e-02 3.91891362e+00] [ 1.22327376e-01 -6.00213193e-03 9.92471656e-01 4.86235380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51710568099999 meters Centerline goodness [0,1] 0.9967096990527287 Centerline is valid? [True, True] Translation: X:41.56, Y:3.93, Z:4.87 [[ 9.66116939e-01 -2.28943219e-01 -1.19176601e-01 4.15614713e+01] [ 2.27963195e-01 9.73421685e-01 -2.19773827e-02 3.92779807e+00] [ 1.21040660e-01 -5.93515700e-03 9.92629806e-01 4.86703437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54710568099999 meters Centerline goodness [0,1] 0.9971278223862136 Centerline is valid? [True, True] Translation: X:41.59, Y:3.95, Z:4.87 [[ 9.67512486e-01 -2.22312105e-01 -1.20403147e-01 4.15877227e+01] [ 2.21262011e-01 9.74961850e-01 -2.21926342e-02 3.95358734e+00] [ 1.22322166e-01 -5.16899177e-03 9.92476987e-01 4.87381628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57710568099999 meters Centerline goodness [0,1] 0.9970632656485987 Centerline is valid? [True, True] Translation: X:41.62, Y:3.97, Z:4.88 [[ 9.68435203e-01 -2.18240186e-01 -1.20434545e-01 4.16175940e+01] [ 2.17158573e-01 9.75883968e-01 -2.21953913e-02 3.96614862e+00] [ 1.22374068e-01 -4.65859582e-03 9.92473115e-01 4.87722362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60710568099999 meters Centerline goodness [0,1] 0.9971257736284486 Centerline is valid? [True, True] Translation: X:41.65, Y:3.98, Z:4.88 [[ 9.69197520e-01 -2.14659852e-01 -1.20736554e-01 4.16472161e+01] [ 2.13546169e-01 9.76679730e-01 -2.22427143e-02 3.97802242e+00] [ 1.22695562e-01 -4.22524498e-03 9.92435361e-01 4.88033192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63710568099999 meters Centerline goodness [0,1] 0.9971568340510933 Centerline is valid? [True, True] Translation: X:41.67, Y:3.99, Z:4.88 [[ 9.70768729e-01 -2.07375781e-01 -1.20844364e-01 4.16747395e+01] [ 2.06204518e-01 9.78255752e-01 -2.22571575e-02 3.99405816e+00] [ 1.22832289e-01 -3.31210128e-03 9.92421916e-01 4.88219902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66710568099999 meters Centerline goodness [0,1] 0.9978423897105032 Centerline is valid? [True, True] Translation: X:41.70, Y:4.01, Z:4.88 [[ 9.72191621e-01 -1.98685709e-01 -1.23965485e-01 4.17030821e+01] [ 1.97382612e-01 9.80060624e-01 -2.28315065e-02 4.01411985e+00] [ 1.26029985e-01 -2.27203194e-03 9.92023831e-01 4.88185889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69710568099999 meters Centerline goodness [0,1] 0.9984122673240438 Centerline is valid? [True, True] Translation: X:41.73, Y:4.03, Z:4.88 [[ 9.73095815e-01 -1.91308140e-01 -1.28396773e-01 4.17332554e+01] [ 1.89846815e-01 9.81529070e-01 -2.36404685e-02 4.02956644e+00] [ 1.30547779e-01 -1.37127733e-03 9.91441071e-01 4.87663560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72710568099999 meters Centerline goodness [0,1] 0.9984126321066042 Centerline is valid? [True, True] Translation: X:41.76, Y:4.04, Z:4.88 [[ 9.73274156e-01 -1.89392501e-01 -1.29876474e-01 4.17639816e+01] [ 1.87881912e-01 9.81900800e-01 -2.38999302e-02 4.03919472e+00] [ 1.32052281e-01 -1.14025597e-03 9.91242097e-01 4.87729310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75710568099999 meters Centerline goodness [0,1] 0.9986828350407694 Centerline is valid? [True, True] Translation: X:41.79, Y:4.05, Z:4.88 [[ 9.73640625e-01 -1.87279949e-01 -1.30192760e-01 4.17932536e+01] [ 1.85745055e-01 9.82306197e-01 -2.39439030e-02 4.05139781e+00] [ 1.32373367e-01 -8.69904623e-04 9.91199543e-01 4.87949041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78710568099999 meters Centerline goodness [0,1] 0.9987676755018067 Centerline is valid? [True, True] Translation: X:41.83, Y:4.06, Z:4.88 [[ 9.73686454e-01 -1.86964506e-01 -1.30303348e-01 4.18253973e+01] [ 1.85425515e-01 9.82366312e-01 -2.39542595e-02 4.05876011e+00] [ 1.32484216e-01 -8.37627348e-04 9.91184761e-01 4.88270418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81710568099999 meters Centerline goodness [0,1] 0.998889959368324 Centerline is valid? [True, True] Translation: X:41.86, Y:4.06, Z:4.88 [[ 9.73204106e-01 -1.87829221e-01 -1.32642192e-01 4.18569196e+01] [ 1.86244854e-01 9.82201201e-01 -2.43650202e-02 4.06421176e+00] [ 1.34857783e-01 -9.91787989e-04 9.90864468e-01 4.88270056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84710568099999 meters Centerline goodness [0,1] 0.9987618827775796 Centerline is valid? [True, True] Translation: X:41.89, Y:4.07, Z:4.88 [[ 9.72699949e-01 -1.89332827e-01 -1.34193479e-01 4.18883456e+01] [ 1.87728238e-01 9.81912192e-01 -2.46283539e-02 4.06787866e+00] [ 1.36429169e-01 -1.23590684e-03 9.90649057e-01 4.88286012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87710568099999 meters Centerline goodness [0,1] 0.9986188134351784 Centerline is valid? [True, True] Translation: X:41.92, Y:4.07, Z:4.89 [[ 9.72494484e-01 -1.91776198e-01 -1.32198217e-01 4.19196984e+01] [ 1.90242930e-01 9.81437437e-01 -2.42525248e-02 4.07276982e+00] [ 1.34395336e-01 -1.56432950e-03 9.90926560e-01 4.89155268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90710568099999 meters Centerline goodness [0,1] 0.9984370115661144 Centerline is valid? [True, True] Translation: X:41.95, Y:4.07, Z:4.90 [[ 9.72100026e-01 -1.94839906e-01 -1.30609916e-01 4.19511027e+01] [ 1.93372461e-01 9.80833070e-01 -2.39495525e-02 4.07353739e+00] [ 1.32772854e-01 -1.97500028e-03 9.91144525e-01 4.89771109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93710568099999 meters Centerline goodness [0,1] 0.998198915160527 Centerline is valid? [True, True] Translation: X:41.98, Y:4.07, Z:4.90 [[ 9.70986162e-01 -2.01656551e-01 -1.28532132e-01 4.19841192e+01] [ 2.00296134e-01 9.79452095e-01 -2.35595344e-02 4.07020710e+00] [ 1.30642000e-01 -2.86850721e-03 9.91425458e-01 4.90372271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96710568099999 meters Centerline goodness [0,1] 0.9975888963435089 Centerline is valid? [True, True] Translation: X:42.02, Y:4.07, Z:4.91 [[ 9.70147132e-01 -2.06364443e-01 -1.27390186e-01 4.20155414e+01] [ 2.05070003e-01 9.78469005e-01 -2.33388169e-02 4.07279154e+00] [ 1.29463651e-01 -3.48181954e-03 9.91578055e-01 4.91065793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99710568099999 meters Centerline goodness [0,1] 0.9972494015873682 Centerline is valid? [True, True] Translation: X:42.05, Y:4.07, Z:4.91 [[ 9.68320238e-01 -2.14864239e-01 -1.27237083e-01 4.20473616e+01] [ 2.13647292e-01 9.76632985e-01 -2.32990742e-02 4.06643315e+00] [ 1.29270070e-01 -4.62289315e-03 9.91598648e-01 4.91169205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02710568099999 meters Centerline goodness [0,1] 0.9973213351470127 Centerline is valid? [True, True] Translation: X:42.08, Y:4.06, Z:4.92 [[ 9.66906660e-01 -2.21951979e-01 -1.25812676e-01 4.20786238e+01] [ 2.20822908e-01 9.75041999e-01 -2.30291635e-02 4.06434488e+00] [ 1.27784012e-01 -5.51526950e-03 9.91786685e-01 4.91659738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05710568099999 meters Centerline goodness [0,1] 0.9967129215470073 Centerline is valid? [True, True] Translation: X:42.11, Y:4.06, Z:4.92 [[ 9.66588304e-01 -2.24371900e-01 -1.23952820e-01 4.21101544e+01] [ 2.23296181e-01 9.74486624e-01 -2.26855541e-02 4.06447541e+00] [ 1.25880366e-01 -5.75060003e-03 9.92028762e-01 4.92283364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08710568099999 meters Centerline goodness [0,1] 0.9969133871405035 Centerline is valid? [True, True] Translation: X:42.14, Y:4.07, Z:4.93 [[ 9.66180407e-01 -2.26990666e-01 -1.22354642e-01 4.21390711e+01] [ 2.25964401e-01 9.73878329e-01 -2.23850411e-02 4.06863070e+00] [ 1.24239729e-01 -6.01980516e-03 9.92233970e-01 4.93240255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11710568099999 meters Centerline goodness [0,1] 0.9969974353093267 Centerline is valid? [True, True] Translation: X:42.17, Y:4.07, Z:4.93 [[ 9.65662784e-01 -2.27996904e-01 -1.24550392e-01 4.21688138e+01] [ 2.26942598e-01 9.73641682e-01 -2.27800846e-02 4.07261097e+00] [ 1.26461242e-01 -6.26790958e-03 9.91951747e-01 4.93316524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14710568099999 meters Centerline goodness [0,1] 0.9974563195863392 Centerline is valid? [True, True] Translation: X:42.20, Y:4.09, Z:4.94 [[ 9.65611607e-01 -2.27500048e-01 -1.25848928e-01 4.22001089e+01] [ 2.26419645e-01 9.73757882e-01 -2.30159065e-02 4.08532787e+00] [ 1.27782505e-01 -6.27024310e-03 9.91782393e-01 4.93575224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17710568099999 meters Centerline goodness [0,1] 0.9966751704236544 Centerline is valid? [True, True] Translation: X:42.23, Y:4.10, Z:4.94 [[ 9.67326663e-01 -2.21339911e-01 -1.23643725e-01 4.22284607e+01] [ 2.20248936e-01 9.75181916e-01 -2.25972614e-02 4.09510699e+00] [ 1.25576800e-01 -5.37346540e-03 9.92069349e-01 4.93994842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20710568099999 meters Centerline goodness [0,1] 0.9973273756081265 Centerline is valid? [True, True] Translation: X:42.25, Y:4.12, Z:4.95 [[ 9.70926991e-01 -2.06444544e-01 -1.21166942e-01 4.22541206e+01] [ 2.05280919e-01 9.78452496e-01 -2.21462615e-02 4.12162009e+00] [ 1.23128072e-01 -3.37085818e-03 9.92385064e-01 4.94918565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23710568099999 meters Centerline goodness [0,1] 0.9974050977273679 Centerline is valid? [True, True] Translation: X:42.28, Y:4.14, Z:4.95 [[ 9.72857541e-01 -1.96384400e-01 -1.22398419e-01 4.22814020e+01] [ 1.95117792e-01 9.80524692e-01 -2.23690627e-02 4.13584864e+00] [ 1.24407607e-01 -2.12019796e-03 9.92228931e-01 4.95069670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26710568099999 meters Centerline goodness [0,1] 0.9991599462365591 Centerline is valid? [True, True] Translation: X:42.31, Y:4.17, Z:4.95 [[ 9.76355632e-01 -1.76201748e-01 -1.25230280e-01 4.23075144e+01] [ 1.74709407e-01 9.84353963e-01 -2.28888333e-02 4.16569079e+00] [ 1.27303975e-01 4.68733250e-04 9.91863639e-01 4.95078666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29710568099999 meters Centerline goodness [0,1] 0.9994567147961636 Centerline is valid? [True, True] Translation: X:42.34, Y:4.19, Z:4.95 [[ 9.78549105e-01 -1.62372958e-01 -1.26793814e-01 4.23351884e+01] [ 1.60727783e-01 9.86726793e-01 -2.31692706e-02 4.18631275e+00] [ 1.28872917e-01 2.29298041e-03 9.91658466e-01 4.95297470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32710568099999 meters Centerline goodness [0,1] 0.9996432019476976 Centerline is valid? [True, True] Translation: X:42.37, Y:4.20, Z:4.95 [[ 9.78899835e-01 -1.59791349e-01 -1.27364978e-01 4.23661129e+01] [ 1.58110014e-01 9.87147279e-01 -2.32695739e-02 4.19520839e+00] [ 1.29446268e-01 2.64090362e-03 9.91582921e-01 4.95423592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35710568099999 meters Centerline goodness [0,1] 0.9996024688774976 Centerline is valid? [True, True] Translation: X:42.40, Y:4.20, Z:4.95 [[ 9.78627690e-01 -1.59933681e-01 -1.29263534e-01 4.23989954e+01] [ 1.58204503e-01 9.87124207e-01 -2.36037182e-02 4.19762390e+00] [ 1.31374193e-01 2.64917906e-03 9.91329311e-01 4.95368034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38710568099999 meters Centerline goodness [0,1] 0.9993685274059105 Centerline is valid? [True, True] Translation: X:42.43, Y:4.20, Z:4.95 [[ 9.77385502e-01 -1.66054214e-01 -1.30933493e-01 4.24322389e+01] [ 1.64336246e-01 9.86114913e-01 -2.38951232e-02 4.19671589e+00] [ 1.33083356e-01 1.83762827e-03 9.91103145e-01 4.95383494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41710568099999 meters Centerline goodness [0,1] 0.999726430976431 Centerline is valid? [True, True] Translation: X:42.46, Y:4.20, Z:4.96 [[ 9.76681031e-01 -1.69569981e-01 -1.31682136e-01 4.24638524e+01] [ 1.67866069e-01 9.85517222e-01 -2.40163995e-02 4.19810903e+00] [ 1.33847474e-01 1.35139922e-03 9.91001023e-01 4.95619376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.44710568099999 meters Centerline goodness [0,1] 0.9987802313354364 Centerline is valid? [True, True] Translation: X:42.50, Y:4.19, Z:4.96 [[ 9.75177362e-01 -1.77273607e-01 -1.32676977e-01 4.24976433e+01] [ 1.75615994e-01 9.84161565e-01 -2.41875314e-02 4.19189132e+00] [ 1.34863392e-01 2.86933947e-04 9.90864160e-01 4.95884587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47710568099999 meters Centerline goodness [0,1] 0.9985717886247164 Centerline is valid? [True, True] Translation: X:42.53, Y:4.19, Z:4.96 [[ 9.74000332e-01 -1.83349964e-01 -1.33064437e-01 4.25303142e+01] [ 1.81740764e-01 9.83047541e-01 -2.42451469e-02 4.18787768e+00] [ 1.35254015e-01 -5.68451430e-04 9.90810793e-01 4.96368456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50710568099999 meters Centerline goodness [0,1] 0.9984042999916016 Centerline is valid? [True, True] Translation: X:42.56, Y:4.19, Z:4.97 [[ 9.73672876e-01 -1.84949862e-01 -1.33246685e-01 4.25624114e+01] [ 1.83352920e-01 9.82747628e-01 -2.42653200e-02 4.19072559e+00] [ 1.35435731e-01 -8.04684872e-04 9.90785807e-01 4.96797416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53710568099999 meters Centerline goodness [0,1] 0.9981293875320526 Centerline is valid? [True, True] Translation: X:42.59, Y:4.19, Z:4.97 [[ 9.73920002e-01 -1.84431583e-01 -1.32154537e-01 4.25948874e+01] [ 1.82857795e-01 9.82845077e-01 -2.40537281e-02 4.19213084e+00] [ 1.34323703e-01 -7.39080320e-04 9.90937231e-01 4.97256035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56710568099999 meters Centerline goodness [0,1] 0.9987854674903152 Centerline is valid? [True, True] Translation: X:42.63, Y:4.20, Z:4.98 [[ 9.74876993e-01 -1.81766590e-01 -1.28746862e-01 4.26267788e+01] [ 1.80251744e-01 9.83341633e-01 -2.34209776e-02 4.19552967e+00] [ 1.30859301e-01 -3.74274203e-04 9.91400879e-01 4.98028885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59710568099999 meters Centerline goodness [0,1] 0.9984710120643432 Centerline is valid? [True, True] Translation: X:42.66, Y:4.20, Z:4.99 [[ 9.74964043e-01 -1.82171039e-01 -1.27510108e-01 4.26576577e+01] [ 1.80690642e-01 9.83266759e-01 -2.31812842e-02 4.19918189e+00] [ 1.29599409e-01 -4.38964750e-04 9.91566337e-01 4.98543143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62710568099999 meters Centerline goodness [0,1] 0.9978243588134388 Centerline is valid? [True, True] Translation: X:42.69, Y:4.20, Z:4.99 [[ 9.73684334e-01 -1.89201263e-01 -1.27049985e-01 4.26891683e+01] [ 1.87792444e-01 9.81937360e-01 -2.30871975e-02 4.19532290e+00] [ 1.29123254e-01 -1.37938477e-03 9.91627593e-01 4.99050537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65710568099999 meters Centerline goodness [0,1] 0.9976951766332817 Centerline is valid? [True, True] Translation: X:42.72, Y:4.19, Z:4.99 [[ 9.72455634e-01 -1.95645894e-01 -1.26699349e-01 4.27219128e+01] [ 1.94301868e-01 9.80672030e-01 -2.30033540e-02 4.19280382e+00] [ 1.28751019e-01 -2.24817896e-03 9.91674403e-01 4.99471429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68710568099999 meters Centerline goodness [0,1] 0.997006238747226 Centerline is valid? [True, True] Translation: X:42.75, Y:4.18, Z:5.00 [[ 9.68942935e-01 -2.11792616e-01 -1.27645901e-01 4.27548837e+01] [ 2.10568728e-01 9.77304575e-01 -2.31641679e-02 4.17767008e+00] [ 1.29654922e-01 -4.43347813e-03 9.91549265e-01 4.99717963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71710568099999 meters Centerline goodness [0,1] 0.9970135538708936 Centerline is valid? [True, True] Translation: X:42.79, Y:4.17, Z:5.00 [[ 9.66125605e-01 -2.23996583e-01 -1.28167254e-01 4.27866712e+01] [ 2.22869241e-01 9.74570872e-01 -2.32576219e-02 4.16784099e+00] [ 1.30117701e-01 -6.09475459e-03 9.91479822e-01 5.00143163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74710568099999 meters Centerline goodness [0,1] 0.9970135538708936 Centerline is valid? [True, True] Translation: X:42.82, Y:4.17, Z:5.01 [[ 9.66145429e-01 -2.23911009e-01 -1.28167350e-01 4.28177026e+01] [ 2.22782988e-01 9.74590605e-01 -2.32570935e-02 4.17337953e+00] [ 1.30118215e-01 -6.08377064e-03 9.91479822e-01 5.00510192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77710568099999 meters Centerline goodness [0,1] 0.9964840316437152 Centerline is valid? [True, True] Translation: X:42.85, Y:4.17, Z:5.01 [[ 9.65239274e-01 -2.27535497e-01 -1.28610817e-01 4.28485723e+01] [ 2.26433002e-01 9.73747380e-01 -2.33267179e-02 4.17430666e+00] [ 1.30542102e-01 -6.60586896e-03 9.91420759e-01 5.00890251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80710568099999 meters Centerline goodness [0,1] 0.9966962885520125 Centerline is valid? [True, True] Translation: X:42.88, Y:4.17, Z:5.01 [[ 9.64395873e-01 -2.30555527e-01 -1.29555966e-01 4.28778707e+01] [ 2.29464137e-01 9.73033489e-01 -2.34954997e-02 4.17417467e+00] [ 1.31479311e-01 -7.06948501e-03 9.91293707e-01 5.01255965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83710568099999 meters Centerline goodness [0,1] 0.996509562127704 Centerline is valid? [True, True] Translation: X:42.91, Y:4.18, Z:5.02 [[ 9.64493779e-01 -2.29679684e-01 -1.30380183e-01 4.29070557e+01] [ 2.28566459e-01 9.73241135e-01 -2.36446092e-02 4.17990302e+00] [ 1.32322044e-01 -6.99545828e-03 9.91182092e-01 5.01553294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86710568099999 meters Centerline goodness [0,1] 0.9965082484788926 Centerline is valid? [True, True] Translation: X:42.94, Y:4.19, Z:5.02 [[ 9.64986953e-01 -2.28474690e-01 -1.28839036e-01 4.29365796e+01] [ 2.27377189e-01 9.73526455e-01 -2.33635288e-02 4.18754622e+00] [ 1.30766186e-01 -6.74955754e-03 9.91390260e-01 5.02137574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89710568099999 meters Centerline goodness [0,1] 0.9965690376569037 Centerline is valid? [True, True] Translation: X:42.96, Y:4.20, Z:5.03 [[ 9.66329593e-01 -2.24466260e-01 -1.25785596e-01 4.29643420e+01] [ 2.23386755e-01 9.74463022e-01 -2.28073644e-02 4.19864484e+00] [ 1.27692895e-01 -6.05940487e-03 9.91795245e-01 5.02865851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92710568099999 meters Centerline goodness [0,1] 0.9965082202315383 Centerline is valid? [True, True] Translation: X:42.99, Y:4.22, Z:5.04 [[ 9.67787714e-01 -2.19629538e-01 -1.23084554e-01 4.29921036e+01] [ 2.18557048e-01 9.75568937e-01 -2.23174142e-02 4.21541963e+00] [ 1.24979030e-01 -5.30247742e-03 9.92145214e-01 5.03550541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95710568099999 meters Centerline goodness [0,1] 0.9964487152705244 Centerline is valid? [True, True] Translation: X:43.02, Y:4.23, Z:5.04 [[ 9.68825314e-01 -2.16086550e-01 -1.21178027e-01 4.30207178e+01] [ 2.15019854e-01 9.76362552e-01 -2.19688158e-02 4.23207082e+00] [ 1.23060853e-01 -4.77173686e-03 9.92387655e-01 5.04237288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98710568099999 meters Centerline goodness [0,1] 0.996052549134276 Centerline is valid? [True, True] Translation: X:43.05, Y:4.25, Z:5.05 [[ 9.71288330e-01 -2.06184600e-01 -1.18688207e-01 4.30470430e+01] [ 2.05088572e-01 9.78507032e-01 -2.15096739e-02 4.25416426e+00] [ 1.20572209e-01 -3.44949962e-03 9.92698566e-01 5.04775861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01710568099999 meters Centerline goodness [0,1] 0.9967021498643289 Centerline is valid? [True, True] Translation: X:43.07, Y:4.28, Z:5.05 [[ 9.73546817e-01 -1.95100478e-01 -1.18921819e-01 4.30741314e+01] [ 1.93917632e-01 9.80781056e-01 -2.15516332e-02 4.27614885e+00] [ 1.20841001e-01 -2.07951357e-03 9.92669697e-01 5.05143646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04710568099999 meters Centerline goodness [0,1] 0.9980984620528252 Centerline is valid? [True, True] Translation: X:43.10, Y:4.29, Z:5.05 [[ 9.75343998e-01 -1.84617146e-01 -1.20915650e-01 4.31023629e+01] [ 1.83314161e-01 9.82810193e-01 -2.19098654e-02 4.29457783e+00] [ 1.22882071e-01 -7.95895303e-04 9.92420961e-01 5.05199595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07710568099999 meters Centerline goodness [0,1] 0.9980233864591569 Centerline is valid? [True, True] Translation: X:43.13, Y:4.30, Z:5.05 [[ 9.75836125e-01 -1.80923924e-01 -1.22516903e-01 4.31343203e+01] [ 1.79557911e-01 9.83497034e-01 -2.21932371e-02 4.30453635e+00] [ 1.24510298e-01 -3.41916733e-04 9.92218257e-01 5.05350452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10710568099999 meters Centerline goodness [0,1] 0.9987176252943155 Centerline is valid? [True, True] Translation: X:43.17, Y:4.31, Z:5.05 [[ 9.75923751e-01 -1.77614068e-01 -1.26594137e-01 4.31656562e+01] [ 1.76129847e-01 9.84100218e-01 -2.29137172e-02 4.31225844e+00] [ 1.28651116e-01 6.50349214e-05 9.91689914e-01 5.05210848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13710568099999 meters Centerline goodness [0,1] 0.9980953576960108 Centerline is valid? [True, True] Translation: X:43.20, Y:4.31, Z:5.05 [[ 9.75489697e-01 -1.78351082e-01 -1.28882669e-01 4.31979080e+01] [ 1.76820491e-01 9.83966915e-01 -2.33157595e-02 4.31339958e+00] [ 1.30974673e-01 -4.48136573e-05 9.91385714e-01 5.05052228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16710568099999 meters Centerline goodness [0,1] 0.9979236141697603 Centerline is valid? [True, True] Translation: X:43.23, Y:4.31, Z:5.05 [[ 9.74138656e-01 -1.84068466e-01 -1.31044567e-01 4.32312877e+01] [ 1.82538639e-01 9.82913068e-01 -2.36969450e-02 4.31174751e+00] [ 1.33167278e-01 -8.36586824e-04 9.91093223e-01 5.05060291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19710568099999 meters Centerline goodness [0,1] 0.9973328853140685 Centerline is valid? [True, True] Translation: X:43.26, Y:4.31, Z:5.05 [[ 9.73479816e-01 -1.87306719e-01 -1.31351594e-01 4.32638493e+01] [ 1.85800686e-01 9.82300624e-01 -2.37400204e-02 4.31299108e+00] [ 1.33473418e-01 -1.29478556e-03 9.91051548e-01 5.05328731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22710568099999 meters Centerline goodness [0,1] 0.9971471125002622 Centerline is valid? [True, True] Translation: X:43.30, Y:4.31, Z:5.05 [[ 9.72284687e-01 -1.92253702e-01 -1.33045109e-01 4.32960583e+01] [ 1.90756133e-01 9.81343196e-01 -2.40339213e-02 4.31055655e+00] [ 1.35183523e-01 -2.01135674e-03 9.90818535e-01 5.05449415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25710568099999 meters Centerline goodness [0,1] 0.997422410360653 Centerline is valid? [True, True] Translation: X:43.33, Y:4.31, Z:5.06 [[ 9.71980014e-01 -1.93232511e-01 -1.33850843e-01 4.33271254e+01] [ 1.91727197e-01 9.81150594e-01 -2.41701117e-02 4.31351852e+00] [ 1.35998286e-01 -2.16998143e-03 9.90706696e-01 5.05637889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28710568099999 meters Centerline goodness [0,1] 0.9971880049524688 Centerline is valid? [True, True] Translation: X:43.36, Y:4.31, Z:5.05 [[ 9.71275528e-01 -1.95090910e-01 -1.36247515e-01 4.33600467e+01] [ 1.93550578e-01 9.80782017e-01 -2.45928618e-02 4.31493207e+00] [ 1.38426956e-01 -2.48434047e-03 9.90369530e-01 5.05441717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31710568099999 meters Centerline goodness [0,1] 0.9973529411764706 Centerline is valid? [True, True] Translation: X:43.39, Y:4.32, Z:5.05 [[ 9.70832442e-01 -1.95471009e-01 -1.38836073e-01 4.33907467e+01] [ 1.93876942e-01 9.80706035e-01 -2.50480533e-02 4.31827729e+00] [ 1.41053542e-01 -2.59965042e-03 9.89998556e-01 5.05343356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34710568099999 meters Centerline goodness [0,1] 0.9973737840620207 Centerline is valid? [True, True] Translation: X:43.42, Y:4.32, Z:5.05 [[ 9.70341227e-01 -1.95569014e-01 -1.42093858e-01 4.34213639e+01] [ 1.93901131e-01 9.80686268e-01 -2.56280222e-02 4.32295862e+00] [ 1.44361542e-01 -2.68423329e-03 9.89521369e-01 5.05366617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37710568099999 meters Centerline goodness [0,1] 0.9969363130836219 Centerline is valid? [True, True] Translation: X:43.45, Y:4.33, Z:5.06 [[ 9.70788822e-01 -1.95304398e-01 -1.39374516e-01 4.34505589e+01] [ 1.93697801e-01 9.80739236e-01 -2.51339083e-02 4.33006654e+00] [ 1.41598819e-01 -2.59682010e-03 9.89920720e-01 5.06415455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40710568099999 meters Centerline goodness [0,1] 0.9974592108854965 Centerline is valid? [True, True] Translation: X:43.48, Y:4.34, Z:5.07 [[ 9.71380763e-01 -1.94104738e-01 -1.36904212e-01 4.34814000e+01] [ 1.92543982e-01 9.80977910e-01 -2.46810553e-02 4.33566962e+00] [ 1.39090718e-01 -2.38537984e-03 9.90276770e-01 5.07278209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43710568099999 meters Centerline goodness [0,1] 0.9974003647875217 Centerline is valid? [True, True] Translation: X:43.51, Y:4.34, Z:5.08 [[ 9.71660578e-01 -1.93991053e-01 -1.35067360e-01 4.35126886e+01] [ 1.92472683e-01 9.81000486e-01 -2.43374788e-02 4.33816086e+00] [ 1.37222399e-01 -2.34900855e-03 9.90537478e-01 5.07664591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46710568099999 meters Centerline goodness [0,1] 0.9968929756056598 Centerline is valid? [True, True] Translation: X:43.54, Y:4.34, Z:5.09 [[ 9.71740265e-01 -1.96253699e-01 -1.31169139e-01 4.35447054e+01] [ 1.94843817e-01 9.80549707e-01 -2.36254091e-02 4.33863069e+00] [ 1.33254435e-01 -2.59973446e-03 9.91078451e-01 5.08586733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49710568099999 meters Centerline goodness [0,1] 0.9966217633975408 Centerline is valid? [True, True] Translation: X:43.58, Y:4.34, Z:5.09 [[ 9.71107743e-01 -1.99915977e-01 -1.30320195e-01 4.35767583e+01] [ 1.98558807e-01 9.79808159e-01 -2.34599855e-02 4.34049402e+00] [ 1.32378817e-01 -3.09404894e-03 9.91194368e-01 5.09331187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52710568099999 meters Centerline goodness [0,1] 0.9969984992496248 Centerline is valid? [True, True] Translation: X:43.61, Y:4.34, Z:5.10 [[ 9.70871302e-01 -2.01157751e-01 -1.30170943e-01 4.36079501e+01] [ 1.99816446e-01 9.79553396e-01 -2.34207830e-02 4.34270237e+00] [ 1.32220661e-01 -3.27172901e-03 9.91214907e-01 5.09692013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55710568099999 meters Centerline goodness [0,1] 0.9969368273083944 Centerline is valid? [True, True] Translation: X:43.64, Y:4.35, Z:5.10 [[ 9.70473988e-01 -2.02870666e-01 -1.30475024e-01 4.36395546e+01] [ 2.01539789e-01 9.79199203e-01 -2.34655780e-02 4.34571152e+00] [ 1.32521517e-01 -3.52317581e-03 9.91173867e-01 5.10053225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58710568099999 meters Centerline goodness [0,1] 0.9974172143712072 Centerline is valid? [True, True] Translation: X:43.67, Y:4.35, Z:5.10 [[ 9.70461420e-01 -2.03163489e-01 -1.30112368e-01 4.36720067e+01] [ 2.01844301e-01 9.79138338e-01 -2.33878900e-02 4.34889621e+00] [ 1.32149573e-01 -3.56539499e-03 9.91223375e-01 5.10291092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61710568099999 meters Centerline goodness [0,1] 0.9969841668760995 Centerline is valid? [True, True] Translation: X:43.70, Y:4.35, Z:5.11 [[ 9.71240067e-01 -1.99587671e-01 -1.29836409e-01 4.37037515e+01] [ 1.98243922e-01 9.79875119e-01 -2.33259152e-02 4.35467169e+00] [ 1.31879031e-01 -3.08421539e-03 9.91261019e-01 5.10505647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64710568099999 meters Centerline goodness [0,1] 0.997148906731515 Centerline is valid? [True, True] Translation: X:43.73, Y:4.37, Z:5.11 [[ 9.73112805e-01 -1.89745640e-01 -1.30568220e-01 4.37315818e+01] [ 1.88299811e-01 9.81831685e-01 -2.34461647e-02 4.37035183e+00] [ 1.32644823e-01 -1.77020804e-03 9.91162054e-01 5.10886478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677105680999986 meters Centerline goodness [0,1] 0.9978401727861771 Centerline is valid? [True, True] Translation: X:43.76, Y:4.38, Z:5.11 [[ 9.74446999e-01 -1.83154763e-01 -1.30028377e-01 4.37617251e+01] [ 1.81662987e-01 9.83083705e-01 -2.33449819e-02 4.38351790e+00] [ 1.32104523e-01 -8.72895739e-04 9.91235408e-01 5.11385185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70710568099999 meters Centerline goodness [0,1] 0.9981769414525795 Centerline is valid? [True, True] Translation: X:43.79, Y:4.40, Z:5.12 [[ 9.77319027e-01 -1.69415400e-01 -1.27066685e-01 4.37913609e+01] [ 1.67876690e-01 9.85544273e-01 -2.28013632e-02 4.39985398e+00] [ 1.29092745e-01 9.52671658e-04 9.91632067e-01 5.11723228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73710568099999 meters Centerline goodness [0,1] 0.9992016471280306 Centerline is valid? [True, True] Translation: X:43.82, Y:4.41, Z:5.12 [[ 9.78934480e-01 -1.59558745e-01 -1.27390312e-01 4.38208344e+01] [ 1.57930639e-01 9.87185880e-01 -2.28462642e-02 4.41150126e+00] [ 1.29403238e-01 2.24616244e-03 9.91589510e-01 5.11739849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.76710568099999 meters Centerline goodness [0,1] 0.9993275050437121 Centerline is valid? [True, True] Translation: X:43.85, Y:4.42, Z:5.12 [[ 9.79569187e-01 -1.53746988e-01 -1.29638236e-01 4.38525484e+01] [ 1.52012679e-01 9.88105550e-01 -2.32286057e-02 4.41929076e+00] [ 1.31667589e-01 3.04737073e-03 9.91289241e-01 5.11809742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79710568099999 meters Centerline goodness [0,1] 0.9997054987588876 Centerline is valid? [True, True] Translation: X:43.88, Y:4.42, Z:5.12 [[ 9.79631153e-01 -1.52037792e-01 -1.31176651e-01 4.38830664e+01] [ 1.50248198e-01 9.88369156e-01 -2.34923559e-02 4.42417942e+00] [ 1.33222682e-01 3.30478819e-03 9.91080620e-01 5.11804501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82710568099999 meters Centerline goodness [0,1] 0.9992647058823529 Centerline is valid? [True, True] Translation: X:43.92, Y:4.42, Z:5.12 [[ 9.79812944e-01 -1.49990146e-01 -1.32172427e-01 4.39162194e+01] [ 1.48155583e-01 9.88680925e-01 -2.36633173e-02 4.42145564e+00] [ 1.34225622e-01 3.60354165e-03 9.90944245e-01 5.12025742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85710568099999 meters Centerline goodness [0,1] 0.9996221027880416 Centerline is valid? [True, True] Translation: X:43.95, Y:4.42, Z:5.12 [[ 9.79848626e-01 -1.49852832e-01 -1.32063618e-01 4.39472559e+01] [ 1.48021765e-01 9.88701734e-01 -2.36312768e-02 4.42230488e+00] [ 1.34112742e-01 3.60678424e-03 9.90959517e-01 5.12245362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88710568099999 meters Centerline goodness [0,1] 0.9989715173267846 Centerline is valid? [True, True] Translation: X:43.98, Y:4.42, Z:5.13 [[ 9.79642906e-01 -1.51367525e-01 -1.31862235e-01 4.39789888e+01] [ 1.49556963e-01 9.88471757e-01 -2.35860243e-02 4.41906730e+00] [ 1.33912253e-01 3.38496603e-03 9.90987412e-01 5.12802372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91710568099999 meters Centerline goodness [0,1] 0.9988645443458514 Centerline is valid? [True, True] Translation: X:44.01, Y:4.41, Z:5.13 [[ 9.78917448e-01 -1.55633707e-01 -1.32282955e-01 4.40118575e+01] [ 1.53850999e-01 9.87810853e-01 -2.36556319e-02 4.41001813e+00] [ 1.34352153e-01 2.80504590e-03 9.90929680e-01 5.12917261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94710568099999 meters Centerline goodness [0,1] 0.9985498718002606 Centerline is valid? [True, True] Translation: X:44.04, Y:4.40, Z:5.13 [[ 9.77347573e-01 -1.64583886e-01 -1.33055875e-01 4.40437485e+01] [ 1.62862453e-01 9.86361815e-01 -2.37947952e-02 4.39764019e+00] [ 1.35157474e-01 1.58597920e-03 9.90822861e-01 5.12972014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97710568099999 meters Centerline goodness [0,1] 0.9983629609419271 Centerline is valid? [True, True] Translation: X:44.07, Y:4.39, Z:5.13 [[ 9.76323540e-01 -1.70506976e-01 -1.33115425e-01 4.40733506e+01] [ 1.68837071e-01 9.85356161e-01 -2.38176163e-02 4.39288432e+00] [ 1.35227174e-01 7.78880877e-04 9.90814314e-01 5.13290416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00710568099999 meters Centerline goodness [0,1] 0.9980071323683658 Centerline is valid? [True, True] Translation: X:44.10, Y:4.38, Z:5.14 [[ 9.74487316e-01 -1.80556295e-01 -1.33318775e-01 4.41031260e+01] [ 1.78969064e-01 9.83564484e-01 -2.38951817e-02 4.38106147e+00] [ 1.35442038e-01 -5.74384831e-04 9.90785105e-01 5.13566012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03710568099999 meters Centerline goodness [0,1] 0.9978161353996052 Centerline is valid? [True, True] Translation: X:44.13, Y:4.38, Z:5.14 [[ 9.73745043e-01 -1.84927028e-01 -1.32750088e-01 4.41311087e+01] [ 1.83391413e-01 9.82751570e-01 -2.38105122e-02 4.37784921e+00] [ 1.34863564e-01 -1.15985791e-03 9.90863499e-01 5.14001200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06710568099999 meters Centerline goodness [0,1] 0.9981318612119813 Centerline is valid? [True, True] Translation: X:44.16, Y:4.38, Z:5.15 [[ 9.73610067e-01 -1.85964912e-01 -1.32289416e-01 4.41584226e+01] [ 1.84445525e-01 9.82555565e-01 -2.37573007e-02 4.38105848e+00] [ 1.34399726e-01 -1.26984356e-03 9.90926385e-01 5.14537685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09710568099999 meters Centerline goodness [0,1] 0.9977823339888698 Centerline is valid? [True, True] Translation: X:44.19, Y:4.38, Z:5.14 [[ 9.73891866e-01 -1.85001694e-01 -1.31563700e-01 4.41873166e+01] [ 1.83483957e-01 9.82737604e-01 -2.36736132e-02 4.37939939e+00] [ 1.33672253e-01 -1.08428880e-03 9.91025001e-01 5.14449757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.12710568099999 meters Centerline goodness [0,1] 0.9978792650918635 Centerline is valid? [True, True] Translation: X:44.22, Y:4.38, Z:5.15 [[ 9.73861616e-01 -1.84599237e-01 -1.32350574e-01 4.42157446e+01] [ 1.83056813e-01 9.82813355e-01 -2.38351190e-02 4.38359112e+00] [ 1.34475857e-01 -1.01556686e-03 9.90916350e-01 5.14813947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15710568099999 meters Centerline goodness [0,1] 0.9980220103949666 Centerline is valid? [True, True] Translation: X:44.24, Y:4.39, Z:5.15 [[ 9.73635438e-01 -1.84712003e-01 -1.33848833e-01 4.42428918e+01] [ 1.83129922e-01 9.82792180e-01 -2.41446258e-02 4.38724678e+00] [ 1.36005388e-01 -1.00366299e-03 9.90707589e-01 5.15135051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18710568099999 meters Centerline goodness [0,1] 0.9980460953421434 Centerline is valid? [True, True] Translation: X:44.27, Y:4.39, Z:5.16 [[ 9.73187661e-01 -1.87948685e-01 -1.32593621e-01 4.42699975e+01] [ 1.86423741e-01 9.82177816e-01 -2.39358796e-02 4.38703061e+00] [ 1.34729231e-01 -1.42449624e-03 9.90881428e-01 5.15700695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21710568099999 meters Centerline goodness [0,1] 0.9977461347263765 Centerline is valid? [True, True] Translation: X:44.30, Y:4.38, Z:5.16 [[ 9.72550110e-01 -1.92004410e-01 -1.31455661e-01 4.42993000e+01] [ 1.90537838e-01 9.81392156e-01 -2.37648730e-02 4.38464997e+00] [ 1.33572515e-01 -1.93474762e-03 9.91037154e-01 5.16193424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24710568099999 meters Centerline goodness [0,1] 0.997771330053404 Centerline is valid? [True, True] Translation: X:44.33, Y:4.38, Z:5.16 [[ 9.72298592e-01 -1.93822060e-01 -1.30646303e-01 4.43271602e+01] [ 1.92384562e-01 9.81034386e-01 -2.36582818e-02 4.38475325e+00] [ 1.32754013e-01 -2.13141773e-03 9.91146724e-01 5.16349835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27710568099999 meters Centerline goodness [0,1] 0.9975771110736559 Centerline is valid? [True, True] Translation: X:44.35, Y:4.39, Z:5.17 [[ 9.71607266e-01 -1.97627175e-01 -1.30087741e-01 4.43546486e+01] [ 1.96233885e-01 9.80273743e-01 -2.35722554e-02 4.38524840e+00] [ 1.32180115e-01 -2.62464810e-03 9.91222240e-01 5.16848766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30710568099999 meters Centerline goodness [0,1] 0.9978790869574348 Centerline is valid? [True, True] Translation: X:44.38, Y:4.39, Z:5.17 [[ 9.70704166e-01 -2.02239620e-01 -1.29740349e-01 4.43833554e+01] [ 2.00892953e-01 9.79330742e-01 -2.35227613e-02 4.38504083e+00] [ 1.31815947e-01 -3.23027948e-03 9.91268945e-01 5.17144461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33710568099999 meters Centerline goodness [0,1] 0.9975821541954881 Centerline is valid? [True, True] Translation: X:44.41, Y:4.39, Z:5.18 [[ 9.70311131e-01 -2.04991543e-01 -1.28354102e-01 4.44104832e+01] [ 2.03696344e-01 9.78757285e-01 -2.32804100e-02 4.39109570e+00] [ 1.30399800e-01 -3.55602045e-03 9.91455116e-01 5.17759978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36710568099999 meters Centerline goodness [0,1] 0.9975412936577985 Centerline is valid? [True, True] Translation: X:44.44, Y:4.40, Z:5.19 [[ 9.69788335e-01 -2.09638044e-01 -1.24749649e-01 4.44385824e+01] [ 2.08450851e-01 9.77770693e-01 -2.26432043e-02 4.39507195e+00] [ 1.26723428e-01 -4.04505514e-03 9.91929841e-01 5.18580768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39710568099999 meters Centerline goodness [0,1] 0.9976258010295199 Centerline is valid? [True, True] Translation: X:44.47, Y:4.40, Z:5.19 [[ 9.69331442e-01 -2.11755119e-01 -1.24724997e-01 4.44662644e+01] [ 2.10580824e-01 9.77313374e-01 -2.26778574e-02 4.39780292e+00] [ 1.26697560e-01 -4.28233243e-03 9.91932150e-01 5.18892096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.427105680999986 meters Centerline goodness [0,1] 0.9974772426261904 Centerline is valid? [True, True] Translation: X:44.50, Y:4.40, Z:5.19 [[ 9.68157476e-01 -2.15053435e-01 -1.28152730e-01 4.44958443e+01] [ 2.13840340e-01 9.76590335e-01 -2.33157870e-02 4.40022463e+00] [ 1.30166857e-01 -4.83086989e-03 9.91480334e-01 5.18558403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45710568099999 meters Centerline goodness [0,1] 0.997621353092241 Centerline is valid? [True, True] Translation: X:44.52, Y:4.40, Z:5.18 [[ 9.67206077e-01 -2.16107931e-01 -1.33453240e-01 4.45249799e+01] [ 2.14800795e-01 9.76355780e-01 -2.42901044e-02 4.40412954e+00] [ 1.35547126e-01 -5.17232543e-03 9.90757399e-01 5.18050031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48710568099999 meters Centerline goodness [0,1] 0.9977074350615207 Centerline is valid? [True, True] Translation: X:44.55, Y:4.41, Z:5.18 [[ 9.67177351e-01 -2.16215846e-01 -1.33486630e-01 4.45512683e+01] [ 2.14906607e-01 9.76331895e-01 -2.43142254e-02 4.41139205e+00] [ 1.35584375e-01 -5.17099058e-03 9.90752309e-01 5.18426801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51710568099999 meters Centerline goodness [0,1] 0.997601464369122 Centerline is valid? [True, True] Translation: X:44.58, Y:4.42, Z:5.19 [[ 9.67525331e-01 -2.16976055e-01 -1.29677007e-01 4.45766569e+01] [ 2.15741885e-01 9.76163691e-01 -2.36619298e-02 4.42043121e+00] [ 1.31720058e-01 -5.08324539e-03 9.91273921e-01 5.19364806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54710568099999 meters Centerline goodness [0,1] 0.997329183403083 Centerline is valid? [True, True] Translation: X:44.61, Y:4.43, Z:5.20 [[ 9.66607830e-01 -2.22396912e-01 -1.27314244e-01 4.46050156e+01] [ 2.21252277e-01 9.74939547e-01 -2.32445476e-02 4.42554197e+00] [ 1.29293207e-01 -5.70020450e-03 9.91590023e-01 5.20072321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57710568099999 meters Centerline goodness [0,1] 0.9971189434724091 Centerline is valid? [True, True] Translation: X:44.63, Y:4.43, Z:5.21 [[ 9.65804250e-01 -2.25855300e-01 -1.27324523e-01 4.46324686e+01] [ 2.24738714e-01 9.74141439e-01 -2.32586927e-02 4.43433786e+00] [ 1.29285193e-01 -6.15140524e-03 9.91588372e-01 5.20585748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60710568099999 meters Centerline goodness [0,1] 0.99722374121903 Centerline is valid? [True, True] Translation: X:44.66, Y:4.44, Z:5.21 [[ 9.64651089e-01 -2.31154409e-01 -1.26554005e-01 4.46621238e+01] [ 2.30095439e-01 9.72893240e-01 -2.31264562e-02 4.43609661e+00] [ 1.28469318e-01 -6.81053811e-03 9.91690098e-01 5.20843148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63710568099999 meters Centerline goodness [0,1] 0.9970554831110924 Centerline is valid? [True, True] Translation: X:44.69, Y:4.45, Z:5.21 [[ 9.64353177e-01 -2.32534672e-01 -1.26295590e-01 4.46891927e+01] [ 2.31490885e-01 9.72563109e-01 -2.30861122e-02 4.44704089e+00] [ 1.28198754e-01 -6.97311233e-03 9.91723981e-01 5.21163746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66710568099999 meters Centerline goodness [0,1] 0.9970554831110924 Centerline is valid? [True, True] Translation: X:44.72, Y:4.45, Z:5.21 [[ 9.64268882e-01 -2.32888048e-01 -1.26288084e-01 4.47159711e+01] [ 2.31841916e-01 9.72478516e-01 -2.31271058e-02 4.45214460e+00] [ 1.28198475e-01 -6.97812284e-03 9.91723982e-01 5.21481970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69710568099999 meters Centerline goodness [0,1] 0.9969728184321722 Centerline is valid? [True, True] Translation: X:44.74, Y:4.46, Z:5.22 [[ 9.63795024e-01 -2.34351724e-01 -1.27194425e-01 4.47424924e+01] [ 2.33297341e-01 9.72125351e-01 -2.33377750e-02 4.46413464e+00] [ 1.29118173e-01 -7.18128988e-03 9.91603210e-01 5.21631845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72710568099999 meters Centerline goodness [0,1] 0.995860561870942 Centerline is valid? [True, True] Translation: X:44.77, Y:4.48, Z:5.22 [[ 9.63242330e-01 -2.35613781e-01 -1.29036273e-01 4.47680564e+01] [ 2.34537617e-01 9.71818276e-01 -2.36926978e-02 4.47641555e+00] [ 1.30982135e-01 -7.44205059e-03 9.91356796e-01 5.21806215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75710568099999 meters Centerline goodness [0,1] 0.9957330530740935 Centerline is valid? [True, True] Translation: X:44.79, Y:4.49, Z:5.22 [[ 9.62692239e-01 -2.35995306e-01 -1.32400411e-01 4.47948116e+01] [ 2.34861603e-01 9.71723987e-01 -2.43417509e-02 4.49159702e+00] [ 1.34401194e-01 -7.66215795e-03 9.90897376e-01 5.21824437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78710568099999 meters Centerline goodness [0,1] 0.9951503191132012 Centerline is valid? [True, True] Translation: X:44.82, Y:4.50, Z:5.22 [[ 9.62500903e-01 -2.36380034e-01 -1.33103310e-01 4.48220153e+01] [ 2.35232458e-01 9.71630025e-01 -2.45109266e-02 4.49840303e+00] [ 1.35121066e-01 -7.71842977e-03 9.90799033e-01 5.21909355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81710568099999 meters Centerline goodness [0,1] 0.9943887522854801 Centerline is valid? [True, True] Translation: X:44.85, Y:4.51, Z:5.22 [[ 9.61820773e-01 -2.39520726e-01 -1.32403254e-01 4.48487644e+01] [ 2.38412615e-01 9.70857455e-01 -2.43972576e-02 4.50801414e+00] [ 1.34388335e-01 -8.10081689e-03 9.90895631e-01 5.22198050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84710568099999 meters Centerline goodness [0,1] 0.9951138698989221 Centerline is valid? [True, True] Translation: X:44.88, Y:4.52, Z:5.23 [[ 9.60841647e-01 -2.43505489e-01 -1.32243740e-01 4.48758371e+01] [ 2.42435658e-01 9.69861085e-01 -2.43808990e-02 4.52363782e+00] [ 1.34194940e-01 -8.63441506e-03 9.90917335e-01 5.22653883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87710568099999 meters Centerline goodness [0,1] 0.9725051343308605 Centerline is valid? [True, True] Translation: X:44.90, Y:4.52, Z:5.23 [[ 9.60346715e-01 -2.45150908e-01 -1.32797659e-01 4.49049563e+01] [ 2.44087141e-01 9.69444096e-01 -2.44870018e-02 4.52375430e+00] [ 1.34742917e-01 -8.89818925e-03 9.90840637e-01 5.22603284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90710568099999 meters Centerline goodness [0,1] 0.9939808309389484 Centerline is valid? [True, True] Translation: X:44.93, Y:4.54, Z:5.23 [[ 9.59538656e-01 -2.46998943e-01 -1.35192785e-01 4.49318904e+01] [ 2.45913540e-01 9.68970947e-01 -2.49366306e-02 4.54397249e+00] [ 1.37157203e-01 -9.31807541e-03 9.90505465e-01 5.23012147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93710568099999 meters Centerline goodness [0,1] 0.9936404659460594 Centerline is valid? [True, True] Translation: X:44.96, Y:4.55, Z:5.23 [[ 9.59598267e-01 -2.46448255e-01 -1.35773426e-01 4.49616815e+01] [ 2.45348201e-01 9.69111513e-01 -2.50426970e-02 4.55354056e+00] [ 1.37751319e-01 -9.28083715e-03 9.90423364e-01 5.23398790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96710568099999 meters Centerline goodness [0,1] 0.9945092943814573 Centerline is valid? [True, True] Translation: X:44.99, Y:4.57, Z:5.24 [[ 9.61138781e-01 -2.40217449e-01 -1.36043454e-01 4.49882775e+01] [ 2.39051816e-01 9.70682679e-01 -2.50871746e-02 4.57258282e+00] [ 1.38081402e-01 -8.40917847e-03 9.90385184e-01 5.23951192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99710568099999 meters Centerline goodness [0,1] 0.9957199824623671 Centerline is valid? [True, True] Translation: X:45.01, Y:4.59, Z:5.24 [[ 9.64252241e-01 -2.28268097e-01 -1.34578202e-01 4.50140823e+01] [ 2.27011616e-01 9.73575801e-01 -2.48170637e-02 4.59376036e+00] [ 1.36687025e-01 -6.62090592e-03 9.90592157e-01 5.24292018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02710568099999 meters Centerline goodness [0,1] 0.9960300048057836 Centerline is valid? [True, True] Translation: X:45.04, Y:4.61, Z:5.25 [[ 9.65856730e-01 -2.21601373e-01 -1.34214786e-01 4.50425798e+01] [ 2.20287635e-01 9.75120909e-01 -2.47501603e-02 4.60805884e+00] [ 1.36360313e-01 -5.66074876e-03 9.90643135e-01 5.24535186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05710568099999 meters Centerline goodness [0,1] 0.9966755180128379 Centerline is valid? [True, True] Translation: X:45.07, Y:4.64, Z:5.25 [[ 9.69631363e-01 -2.05703882e-01 -1.32291090e-01 4.50674170e+01] [ 2.04280099e-01 9.78608477e-01 -2.43944774e-02 4.63810316e+00] [ 1.34479220e-01 -3.37078649e-03 9.90910681e-01 5.25436615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08710568099999 meters Centerline goodness [0,1] 0.9985519412381951 Centerline is valid? [True, True] Translation: X:45.09, Y:4.67, Z:5.26 [[ 9.73307012e-01 -1.87868251e-01 -1.31829365e-01 4.50926043e+01] [ 1.86291389e-01 9.82193824e-01 -2.43065771e-02 4.66769432e+00] [ 1.34048422e-01 -9.00913620e-04 9.90974373e-01 5.26092621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11710568099999 meters Centerline goodness [0,1] 0.9991765550441282 Centerline is valid? [True, True] Translation: X:45.12, Y:4.69, Z:5.26 [[ 9.76146595e-01 -1.73250983e-01 -1.30850762e-01 4.51198737e+01] [ 1.71566959e-01 9.84877095e-01 -2.41223101e-02 4.68974312e+00] [ 1.33051132e-01 1.09724361e-03 9.91108567e-01 5.26480295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14710568099999 meters Centerline goodness [0,1] 0.9993662730518177 Centerline is valid? [True, True] Translation: X:45.15, Y:4.70, Z:5.27 [[ 9.76815858e-01 -1.69329907e-01 -1.30989171e-01 4.51511086e+01] [ 1.67608487e-01 9.85558089e-01 -2.41381161e-02 4.69907179e+00] [ 1.33184742e-01 1.62359790e-03 9.91089899e-01 5.26815962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177105680999986 meters Centerline goodness [0,1] 0.9995560065964735 Centerline is valid? [True, True] Translation: X:45.18, Y:4.70, Z:5.27 [[ 9.76631061e-01 -1.68395813e-01 -1.33546325e-01 4.51833434e+01] [ 1.66599245e-01 9.85717864e-01 -2.45964337e-02 4.70294374e+00] [ 1.35780934e-01 1.77292429e-03 9.90737299e-01 5.26711477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20710568099999 meters Centerline goodness [0,1] 0.9992396400963123 Centerline is valid? [True, True] Translation: X:45.22, Y:4.70, Z:5.27 [[ 9.76129579e-01 -1.72099710e-01 -1.32486731e-01 4.52166234e+01] [ 1.70367311e-01 9.85078760e-01 -2.43888370e-02 4.70074748e+00] [ 1.34707176e-01 1.23525705e-03 9.90884681e-01 5.27054239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23710568099999 meters Centerline goodness [0,1] 0.9992029532678915 Centerline is valid? [True, True] Translation: X:45.25, Y:4.70, Z:5.28 [[ 9.76000107e-01 -1.74322189e-01 -1.30520362e-01 4.52486003e+01] [ 1.72662491e-01 9.84688255e-01 -2.40146598e-02 4.70157064e+00] [ 1.32708156e-01 9.02339622e-04 9.91154746e-01 5.27602289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26710568099999 meters Centerline goodness [0,1] 0.9986147549585476 Centerline is valid? [True, True] Translation: X:45.28, Y:4.69, Z:5.28 [[ 9.74995080e-01 -1.81270638e-01 -1.28551738e-01 4.52822444e+01] [ 1.79722496e-01 9.83433248e-01 -2.36404673e-02 4.69367614e+00] [ 1.30707376e-01 -5.42999355e-05 9.91420990e-01 5.28279752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29710568099999 meters Centerline goodness [0,1] 0.996727570220889 Centerline is valid? [True, True] Translation: X:45.32, Y:4.68, Z:5.28 [[ 9.73416971e-01 -1.89466605e-01 -1.28692677e-01 4.53171893e+01] [ 1.87987924e-01 9.81886471e-01 -2.36537262e-02 4.68220443e+00] [ 1.30843190e-01 -1.16773065e-03 9.91402389e-01 5.28382555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32710568099999 meters Centerline goodness [0,1] 0.9965805869642744 Centerline is valid? [True, True] Translation: X:45.35, Y:4.68, Z:5.29 [[ 9.72458090e-01 -1.94187791e-01 -1.28904478e-01 4.53494857e+01] [ 1.92747100e-01 9.80962689e-01 -2.36803322e-02 4.67752753e+00] [ 1.31048915e-01 -1.81783377e-03 9.91374237e-01 5.28502504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35710568099999 meters Centerline goodness [0,1] 0.9960901563937442 Centerline is valid? [True, True] Translation: X:45.38, Y:4.67, Z:5.29 [[ 9.70949096e-01 -2.02728511e-01 -1.27118073e-01 4.53830993e+01] [ 2.01401576e-01 9.79230577e-01 -2.33426945e-02 4.66917182e+00] [ 1.29210134e-01 -2.93721222e-03 9.91612885e-01 5.29235175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38710568099999 meters Centerline goodness [0,1] 0.9961966000546345 Centerline is valid? [True, True] Translation: X:45.42, Y:4.66, Z:5.30 [[ 9.69488601e-01 -2.10173090e-01 -1.26171012e-01 4.54154201e+01] [ 2.08929957e-01 9.77656375e-01 -2.31578480e-02 4.66176641e+00] [ 1.28219051e-01 -3.90963451e-03 9.91738166e-01 5.29631239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41710568099999 meters Centerline goodness [0,1] 0.9963270788733577 Centerline is valid? [True, True] Translation: X:45.45, Y:4.66, Z:5.30 [[ 9.68765859e-01 -2.12969440e-01 -1.27030423e-01 4.54472276e+01] [ 2.11733653e-01 9.77049342e-01 -2.33118721e-02 4.66040835e+00] [ 1.29079707e-01 -4.31286971e-03 9.91624843e-01 5.29802470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44710568099999 meters Centerline goodness [0,1] 0.9964550908251877 Centerline is valid? [True, True] Translation: X:45.48, Y:4.66, Z:5.30 [[ 9.68386635e-01 -2.12795227e-01 -1.30174944e-01 4.54793723e+01] [ 2.11497060e-01 9.77086879e-01 -2.38793826e-02 4.66117716e+00] [ 1.32273648e-01 -4.40714296e-03 9.91203440e-01 5.29972340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47710568099999 meters Centerline goodness [0,1] 0.9963263849528727 Centerline is valid? [True, True] Translation: X:45.51, Y:4.67, Z:5.30 [[ 9.69184667e-01 -2.08564275e-01 -1.31080224e-01 4.55097110e+01] [ 2.07210640e-01 9.78001023e-01 -2.40364184e-02 4.66925598e+00] [ 1.33209731e-01 -3.86548901e-03 9.91080332e-01 5.30347830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50710568099999 meters Centerline goodness [0,1] 0.9973748871201462 Centerline is valid? [True, True] Translation: X:45.54, Y:4.68, Z:5.31 [[ 9.71746410e-01 -1.95825803e-01 -1.31761792e-01 4.55387730e+01] [ 1.94342018e-01 9.80636375e-01 -2.41553159e-02 4.68130279e+00] [ 1.33940640e-01 -2.13401108e-03 9.90987059e-01 5.30791293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53710568099999 meters Centerline goodness [0,1] 0.9979454926624738 Centerline is valid? [True, True] Translation: X:45.57, Y:4.69, Z:5.31 [[ 9.74607048e-01 -1.81418037e-01 -1.31257758e-01 4.55688310e+01] [ 1.79815842e-01 9.83406057e-01 -2.40580775e-02 4.69310762e+00] [ 1.33444243e-01 -1.55052310e-04 9.91056310e-01 5.31204589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56710568099999 meters Centerline goodness [0,1] 0.9982558628225603 Centerline is valid? [True, True] Translation: X:45.60, Y:4.70, Z:5.31 [[ 9.76498977e-01 -1.70923865e-01 -1.31281304e-01 4.55989646e+01] [ 1.69227793e-01 9.85283419e-01 -2.40528045e-02 4.70221247e+00] [ 1.33460491e-01 1.27109354e-03 9.91053319e-01 5.31439664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59710568099999 meters Centerline goodness [0,1] 0.9984674168626134 Centerline is valid? [True, True] Translation: X:45.63, Y:4.71, Z:5.32 [[ 9.77136590e-01 -1.66845535e-01 -1.31782593e-01 4.56297515e+01] [ 1.65100723e-01 9.85981355e-01 -2.41354241e-02 4.70654334e+00] [ 1.33962067e-01 1.82620461e-03 9.90984778e-01 5.31610195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62710568099999 meters Centerline goodness [0,1] 0.998928818970406 Centerline is valid? [True, True] Translation: X:45.66, Y:4.71, Z:5.32 [[ 9.78248886e-01 -1.59091025e-01 -1.33113347e-01 4.56596435e+01] [ 1.57239789e-01 9.87259621e-01 -2.43739445e-02 4.70931277e+00] [ 1.35295108e-01 2.91306942e-03 9.90801064e-01 5.31577992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65710568099999 meters Centerline goodness [0,1] 0.9987819987819988 Centerline is valid? [True, True] Translation: X:45.69, Y:4.71, Z:5.33 [[ 9.79497046e-01 -1.52833659e-01 -1.31253227e-01 4.56890256e+01] [ 1.50977782e-01 9.88244901e-01 -2.40359284e-02 4.71377789e+00] [ 1.33383831e-01 3.72679985e-03 9.91057448e-01 5.32558690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68710568099999 meters Centerline goodness [0,1] 0.9990128331688055 Centerline is valid? [True, True] Translation: X:45.72, Y:4.72, Z:5.33 [[ 9.79903482e-01 -1.51301396e-01 -1.29988670e-01 4.57180512e+01] [ 1.49467838e-01 9.88479994e-01 -2.38047489e-02 4.71806750e+00] [ 1.32092892e-01 3.89723077e-03 9.91229681e-01 5.33084528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71710568099999 meters Centerline goodness [0,1] 0.9987644496565589 Centerline is valid? [True, True] Translation: X:45.75, Y:4.71, Z:5.34 [[ 9.80119702e-01 -1.50740168e-01 -1.29006863e-01 4.57492879e+01] [ 1.48929060e-01 9.88565543e-01 -2.36284368e-02 4.71123560e+00] [ 1.31093494e-01 3.94582565e-03 9.91362157e-01 5.33606866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74710568099999 meters Centerline goodness [0,1] 0.998427837752856 Centerline is valid? [True, True] Translation: X:45.78, Y:4.71, Z:5.34 [[ 9.80046779e-01 -1.51599772e-01 -1.28552790e-01 4.57788908e+01] [ 1.49807410e-01 9.88434549e-01 -2.35559453e-02 4.70912717e+00] [ 1.30637095e-01 3.82776777e-03 9.91422865e-01 5.33889972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77710568099999 meters Centerline goodness [0,1] 0.9981365159128979 Centerline is valid? [True, True] Translation: X:45.81, Y:4.70, Z:5.34 [[ 9.80177639e-01 -1.51829290e-01 -1.27277898e-01 4.58086162e+01] [ 1.50069117e-01 9.88399429e-01 -2.33629754e-02 4.70343126e+00] [ 1.29348586e-01 3.79938430e-03 9.91591906e-01 5.34034207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80710568099999 meters Centerline goodness [0,1] 0.9985562135130045 Centerline is valid? [True, True] Translation: X:45.84, Y:4.70, Z:5.34 [[ 9.80539473e-01 -1.49045943e-01 -1.27779688e-01 4.58368522e+01] [ 1.47246225e-01 9.88821357e-01 -2.34706757e-02 4.70091059e+00] [ 1.29849493e-01 4.19884732e-03 9.91524825e-01 5.34351935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83710568099999 meters Centerline goodness [0,1] 0.9984252629810821 Centerline is valid? [True, True] Translation: X:45.87, Y:4.70, Z:5.35 [[ 9.80666385e-01 -1.47460812e-01 -1.28641948e-01 4.58664046e+01] [ 1.45620606e-01 9.89057856e-01 -2.36473465e-02 4.69852197e+00] [ 1.30721387e-01 4.45723923e-03 9.91409124e-01 5.34799032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86710568099999 meters Centerline goodness [0,1] 0.9983621703342852 Centerline is valid? [True, True] Translation: X:45.90, Y:4.70, Z:5.35 [[ 9.80984069e-01 -1.44301903e-01 -1.29796829e-01 4.58964161e+01] [ 1.42395334e-01 9.89521258e-01 -2.39007942e-02 4.69563985e+00] [ 1.31885652e-01 4.96383556e-03 9.91252508e-01 5.35158969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89710568099999 meters Centerline goodness [0,1] 0.9988024203714598 Centerline is valid? [True, True] Translation: X:45.92, Y:4.70, Z:5.35 [[ 9.81066445e-01 -1.43551223e-01 -1.30006451e-01 4.59238531e+01] [ 1.41630438e-01 9.89629829e-01 -2.39503647e-02 4.69628937e+00] [ 1.32096366e-01 5.08402848e-03 9.91223841e-01 5.35473384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.927105680999986 meters Centerline goodness [0,1] 0.9991192752893809 Centerline is valid? [True, True] Translation: X:45.95, Y:4.69, Z:5.36 [[ 9.81568035e-01 -1.41556758e-01 -1.28397342e-01 4.59544431e+01] [ 1.39663661e-01 9.89915916e-01 -2.36757409e-02 4.68909886e+00] [ 1.30454033e-01 5.30690766e-03 9.91440156e-01 5.35829399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95710568099999 meters Centerline goodness [0,1] 0.9991183323886894 Centerline is valid? [True, True] Translation: X:45.98, Y:4.69, Z:5.36 [[ 9.81578558e-01 -1.40342313e-01 -1.29644010e-01 4.59827506e+01] [ 1.38395911e-01 9.90087406e-01 -2.39478671e-02 4.68869872e+00] [ 1.31719800e-01 5.56451200e-03 9.91271371e-01 5.35662354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98710568099999 meters Centerline goodness [0,1] 0.9992229013084661 Centerline is valid? [True, True] Translation: X:46.01, Y:4.68, Z:5.36 [[ 9.81380492e-01 -1.41529328e-01 -1.29852917e-01 4.60126640e+01] [ 1.39583963e-01 9.89919136e-01 -2.40087903e-02 4.68047992e+00] [ 1.31941835e-01 5.43637369e-03 9.91242553e-01 5.36308463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01710568099999 meters Centerline goodness [0,1] 0.9996641336747975 Centerline is valid? [True, True] Translation: X:46.04, Y:4.67, Z:5.37 [[ 9.80774468e-01 -1.47171323e-01 -1.28148528e-01 4.60437332e+01] [ 1.45319695e-01 9.89100067e-01 -2.37327614e-02 4.66955186e+00] [ 1.30244499e-01 4.65398142e-03 9.91470983e-01 5.37078002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04710568099999 meters Centerline goodness [0,1] 0.999726609324725 Centerline is valid? [True, True] Translation: X:46.08, Y:4.65, Z:5.38 [[ 9.79372063e-01 -1.57252573e-01 -1.26893618e-01 4.60778892e+01] [ 1.55520564e-01 9.87552949e-01 -2.35058850e-02 4.65204886e+00] [ 1.29010528e-01 3.28644005e-03 9.91637778e-01 5.37606377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07710568099999 meters Centerline goodness [0,1] 0.9998322182840125 Centerline is valid? [True, True] Translation: X:46.11, Y:4.63, Z:5.38 [[ 9.77566392e-01 -1.69174924e-01 -1.25474277e-01 4.61110865e+01] [ 1.67579020e-01 9.85584582e-01 -2.32444399e-02 4.63229572e+00] [ 1.27597890e-01 1.69612687e-03 9.91824532e-01 5.38427703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.107105680999986 meters Centerline goodness [0,1] 0.9998740289733361 Centerline is valid? [True, True] Translation: X:46.14, Y:4.63, Z:5.39 [[ 9.76478996e-01 -1.75489910e-01 -1.25267959e-01 4.61401555e+01] [ 1.73949917e-01 9.84480838e-01 -2.32143423e-02 4.62776401e+00] [ 1.27397788e-01 8.77966641e-04 9.91851316e-01 5.38806481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.17, Y:4.62, Z:5.39 [[ 9.74702635e-01 -1.84626759e-01 -1.25967192e-01 4.61707778e+01] [ 1.83143282e-01 9.82808664e-01 -2.33595652e-02 4.61618498e+00] [ 1.28114449e-01 -3.01415212e-04 9.91759344e-01 5.39064069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:4.61, Z:5.39 [[ 9.73913204e-01 -1.86855451e-01 -1.28756019e-01 4.62008525e+01] [ 1.85322173e-01 9.82387242e-01 -2.38955839e-02 4.61377948e+00] [ 1.30953290e-01 -5.89120483e-04 9.91388364e-01 5.39282648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19710568099999 meters Centerline goodness [0,1] 0.9999789407181215 Centerline is valid? [True, True] Translation: X:46.23, Y:4.62, Z:5.40 [[ 9.74076226e-01 -1.84948380e-01 -1.30267430e-01 4.62290987e+01] [ 1.83355758e-01 9.82748193e-01 -2.42209527e-02 4.61951819e+00] [ 1.32499707e-01 -2.92229162e-04 9.91183001e-01 5.39527128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.26, Y:4.63, Z:5.40 [[ 9.75906459e-01 -1.73320060e-01 -1.32539578e-01 4.62556300e+01] [ 1.71557839e-01 9.84864618e-01 -2.46899237e-02 4.63317012e+00] [ 1.34812800e-01 1.35685246e-03 9.90870157e-01 5.39924453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:4.65, Z:5.41 [[ 9.78782713e-01 -1.57770938e-01 -1.30739172e-01 4.62812360e+01] [ 1.55912727e-01 9.87469559e-01 -2.43944991e-02 4.65344775e+00] [ 1.32949696e-01 3.49301322e-03 9.91116632e-01 5.40654419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.31, Y:4.66, Z:5.41 [[ 9.80060825e-01 -1.51104160e-01 -1.29028335e-01 4.63089544e+01] [ 1.49236416e-01 9.88508303e-01 -2.40796097e-02 4.66366329e+00] [ 1.31184110e-01 4.34375578e-03 9.91348506e-01 5.41308092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.34, Y:4.67, Z:5.42 [[ 9.81890751e-01 -1.42824570e-01 -1.24465640e-01 4.63373810e+01] [ 1.41020303e-01 9.89734038e-01 -2.32337775e-02 4.67081717e+00] [ 1.26506235e-01 5.26084890e-03 9.91951862e-01 5.42025873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34710568099999 meters Centerline goodness [0,1] 0.9999160915441253 Centerline is valid? [True, True] Translation: X:46.37, Y:4.67, Z:5.42 [[ 9.82628461e-01 -1.40567390e-01 -1.21169786e-01 4.63654463e+01] [ 1.38840383e-01 9.90056354e-01 -2.26221945e-02 4.67306893e+00] [ 1.23144859e-01 5.40595274e-03 9.92373982e-01 5.42363703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:4.67, Z:5.43 [[ 9.82357245e-01 -1.41486889e-01 -1.22293513e-01 4.63935262e+01] [ 1.39732475e-01 9.89925632e-01 -2.28490374e-02 4.67438556e+00] [ 1.24294322e-01 5.35754217e-03 9.92230930e-01 5.42912735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:4.68, Z:5.43 [[ 9.82322003e-01 -1.39022133e-01 -1.25364784e-01 4.64226857e+01] [ 1.37152782e-01 9.90271967e-01 -2.34637307e-02 4.67652498e+00] [ 1.27407209e-01 5.85481008e-03 9.91833214e-01 5.42756546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:4.68, Z:5.43 [[ 9.82499272e-01 -1.35365536e-01 -1.27950582e-01 4.64524118e+01] [ 1.33385797e-01 9.90774596e-01 -2.39567956e-02 4.67677847e+00] [ 1.30013111e-01 6.47074388e-03 9.91491160e-01 5.42578691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46710568099999 meters Centerline goodness [0,1] 0.9999790330020548 Centerline is valid? [True, True] Translation: X:46.48, Y:4.68, Z:5.43 [[ 9.82513168e-01 -1.34275078e-01 -1.28988673e-01 4.64813534e+01] [ 1.32252580e-01 9.90921602e-01 -2.41585040e-02 4.67609104e+00] [ 1.31061547e-01 6.67696352e-03 9.91351748e-01 5.42812378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49710568099999 meters Centerline goodness [0,1] 0.9999790250859971 Centerline is valid? [True, True] Translation: X:46.51, Y:4.67, Z:5.43 [[ 9.82458445e-01 -1.33837907e-01 -1.29856918e-01 4.65108520e+01] [ 1.31781504e-01 9.90979899e-01 -2.43408212e-02 4.67481522e+00] [ 1.31943320e-01 6.80110536e-03 9.91233931e-01 5.43098866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:4.67, Z:5.43 [[ 9.82052539e-01 -1.36497088e-01 -1.30158960e-01 4.65405397e+01] [ 1.34448679e-01 9.90619143e-01 -2.44390515e-02 4.67185718e+00] [ 1.32273817e-01 6.50073231e-03 9.91191898e-01 5.43395502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.57, Y:4.68, Z:5.44 [[ 9.82000095e-01 -1.36876984e-01 -1.30155697e-01 4.65673218e+01] [ 1.34829593e-01 9.90566941e-01 -2.44564159e-02 4.67712969e+00] [ 1.32275451e-01 6.46736301e-03 9.91191898e-01 5.43713419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58710568099999 meters Centerline goodness [0,1] 0.9999369535978481 Centerline is valid? [True, True] Translation: X:46.60, Y:4.68, Z:5.44 [[ 9.81745620e-01 -1.38829540e-01 -1.30007297e-01 4.65972304e+01] [ 1.36797070e-01 9.90296583e-01 -2.44793579e-02 4.67718742e+00] [ 1.32144240e-01 6.24788500e-03 9.91210807e-01 5.43825733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:4.67, Z:5.44 [[ 9.80973691e-01 -1.45200286e-01 -1.28870068e-01 4.66285124e+01] [ 1.43253092e-01 9.89387661e-01 -2.43024378e-02 4.66759400e+00] [ 1.31031176e-01 5.37901633e-03 9.91363655e-01 5.44471537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64710568099999 meters Centerline goodness [0,1] 0.999978984532616 Centerline is valid? [True, True] Translation: X:46.66, Y:4.66, Z:5.45 [[ 9.79768243e-01 -1.54086210e-01 -1.27716993e-01 4.66613721e+01] [ 1.52248144e-01 9.88048656e-01 -2.40905805e-02 4.65538735e+00] [ 1.29902630e-01 4.15851053e-03 9.91518035e-01 5.44900991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:4.65, Z:5.45 [[ 9.79041345e-01 -1.58973979e-01 -1.27300111e-01 4.66903372e+01] [ 1.57188693e-01 9.87276565e-01 -2.40145449e-02 4.65338824e+00] [ 1.29498104e-01 3.50109428e-03 9.91573489e-01 5.45234704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:4.65, Z:5.46 [[ 9.77648063e-01 -1.67759765e-01 -1.26731711e-01 4.67215511e+01] [ 1.66062312e-01 9.85825132e-01 -2.39189919e-02 4.64646373e+00] [ 1.28947950e-01 2.33899529e-03 9.91648605e-01 5.45730223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:4.64, Z:5.46 [[ 9.76272633e-01 -1.74154552e-01 -1.28693195e-01 4.67519515e+01] [ 1.72457715e-01 9.84717144e-01 -2.42998513e-02 4.64223081e+00] [ 1.30958325e-01 1.52914539e-03 9.91386695e-01 5.45777421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:4.64, Z:5.46 [[ 9.75718238e-01 -1.75940089e-01 -1.30456907e-01 4.67805080e+01] [ 1.74206575e-01 9.84399953e-01 -2.46739232e-02 4.64320076e+00] [ 1.32762905e-01 1.34834606e-03 9.91146908e-01 5.46004092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79710568099999 meters Centerline goodness [0,1] 0.9998740369071862 Centerline is valid? [True, True] Translation: X:46.81, Y:4.64, Z:5.46 [[ 9.74743840e-01 -1.78624684e-01 -1.34043532e-01 4.68089067e+01] [ 1.76816965e-01 9.83916748e-01 -2.53691484e-02 4.64338589e+00] [ 1.36419233e-01 1.02725054e-03 9.90650664e-01 5.45878865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:4.65, Z:5.46 [[ 9.74365839e-01 -1.80290623e-01 -1.34560409e-01 4.68353028e+01] [ 1.78482275e-01 9.83613048e-01 -2.54843009e-02 4.64768995e+00] [ 1.36949955e-01 8.14384294e-04 9.90577633e-01 5.46180232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:4.65, Z:5.48 [[ 9.73372730e-01 -1.89053026e-01 -1.29632099e-01 4.68627796e+01] [ 1.87449955e-01 9.81966805e-01 -2.45704654e-02 4.64903408e+00] [ 1.31939539e-01 -3.83310288e-04 9.91257692e-01 5.47625776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:4.65, Z:5.48 [[ 9.72647845e-01 -1.93477343e-01 -1.28540605e-01 4.68902489e+01] [ 1.91937471e-01 9.81104276e-01 -2.43804742e-02 4.65189982e+00] [ 1.30828806e-01 -9.58142942e-04 9.91404512e-01 5.48160267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:4.65, Z:5.49 [[ 9.71089462e-01 -2.02401970e-01 -1.26565003e-01 4.69180404e+01] [ 2.00978723e-01 9.79300317e-01 -2.40508268e-02 4.65153685e+00] [ 1.28813082e-01 -2.08136832e-03 9.91666707e-01 5.48718643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.94710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:4.66, Z:5.49 [[ 9.70430614e-01 -2.06549984e-01 -1.24906071e-01 4.69455369e+01] [ 2.05196214e-01 9.78432643e-01 -2.37503194e-02 4.65514863e+00] [ 1.27117806e-01 -2.58221583e-03 9.91884265e-01 5.49198808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:4.67, Z:5.50 [[ 9.69434823e-01 -2.12106258e-01 -1.23316909e-01 4.69720693e+01] [ 2.10829425e-01 9.77241200e-01 -2.34646497e-02 4.66678597e+00] [ 1.25487364e-01 -3.25138457e-03 9.92089890e-01 5.49788840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00710568099999 meters Centerline goodness [0,1] 0.999979075120318 Centerline is valid? [True, True] Translation: X:47.00, Y:4.68, Z:5.50 [[ 9.69991810e-01 -2.10649292e-01 -1.21419785e-01 4.69966781e+01] [ 2.09395364e-01 9.77557167e-01 -2.31423369e-02 4.68219368e+00] [ 1.23569698e-01 -2.97686283e-03 9.92331430e-01 5.50265465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03710568099999 meters Centerline goodness [0,1] 0.9999791009216493 Centerline is valid? [True, True] Translation: X:47.02, Y:4.69, Z:5.50 [[ 9.70229883e-01 -2.09385477e-01 -1.21703309e-01 4.70238626e+01] [ 2.08113754e-01 9.77829149e-01 -2.32125134e-02 4.69269277e+00] [ 1.23865406e-01 -2.80665835e-03 9.92295059e-01 5.50467455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.05, Y:4.71, Z:5.50 [[ 9.69591229e-01 -2.09296278e-01 -1.26838149e-01 4.70511228e+01] [ 2.07908232e-01 9.77848054e-01 -2.42352955e-02 4.70840689e+00] [ 1.29100794e-01 -2.87236530e-03 9.91627316e-01 5.50225934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:4.72, Z:5.50 [[ 9.68733739e-01 -2.11191990e-01 -1.30203247e-01 4.70769304e+01] [ 2.09740409e-01 9.77439467e-01 -2.49208465e-02 4.72418973e+00] [ 1.32528876e-01 -3.16721756e-03 9.91174084e-01 5.50222551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:4.74, Z:5.51 [[ 9.68248855e-01 -2.12947736e-01 -1.30948142e-01 4.71041052e+01] [ 2.11491853e-01 9.77057672e-01 -2.50898943e-02 4.73513102e+00] [ 1.33286723e-01 -3.40120367e-03 9.91071683e-01 5.50509709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:4.75, Z:5.51 [[ 9.67503406e-01 -2.16621939e-01 -1.30430425e-01 4.71294960e+01] [ 2.15205367e-01 9.76247970e-01 -2.50309931e-02 4.74621026e+00] [ 1.32754700e-01 -3.85175631e-03 9.91141440e-01 5.50866571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18710568099999 meters Centerline goodness [0,1] 0.9999370462080832 Centerline is valid? [True, True] Translation: X:47.16, Y:4.75, Z:5.51 [[ 9.67092640e-01 -2.18508699e-01 -1.30329479e-01 4.71570070e+01] [ 2.17108444e-01 9.75826446e-01 -2.50333961e-02 4.75495679e+00] [ 1.32648967e-01 -4.08601714e-03 9.91154658e-01 5.51176751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21710568099999 meters Centerline goodness [0,1] 0.9999579867238048 Centerline is valid? [True, True] Translation: X:47.18, Y:4.77, Z:5.51 [[ 9.66671430e-01 -2.20351337e-01 -1.30351963e-01 4.71833730e+01] [ 2.18961849e-01 9.75411092e-01 -2.50780631e-02 4.76644460e+00] [ 1.32672735e-01 -4.29985976e-03 9.91150572e-01 5.51245794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:4.78, Z:5.52 [[ 9.66231919e-01 -2.22225771e-01 -1.30428469e-01 4.72091115e+01] [ 2.20849054e-01 9.74984659e-01 -2.51119431e-02 4.78274892e+00] [ 1.32746277e-01 -4.54104291e-03 9.91139650e-01 5.51599465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:4.80, Z:5.53 [[ 9.66488501e-01 -2.23281560e-01 -1.26670129e-01 4.72336180e+01] [ 2.21986866e-01 9.74743567e-01 -2.44296820e-02 4.80075394e+00] [ 1.28925590e-01 -4.50809808e-03 9.91644023e-01 5.52513622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30710568099999 meters Centerline goodness [0,1] 0.9999790021837729 Centerline is valid? [True, True] Translation: X:47.26, Y:4.81, Z:5.53 [[ 9.66808353e-01 -2.22943515e-01 -1.24811048e-01 4.72591465e+01] [ 2.21678830e-01 9.74821623e-01 -2.41101596e-02 4.81108792e+00] [ 1.27043712e-01 -4.35806346e-03 9.91887545e-01 5.53008030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33710568099999 meters Centerline goodness [0,1] 0.9998741848224958 Centerline is valid? [True, True] Translation: X:47.28, Y:4.83, Z:5.54 [[ 9.67049989e-01 -2.23525270e-01 -1.21863746e-01 4.72849243e+01] [ 2.22322348e-01 9.74688594e-01 -2.35566926e-02 4.82623850e+00] [ 1.24044720e-01 -4.31253497e-03 9.92267257e-01 5.53574002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36710568099999 meters Centerline goodness [0,1] 0.999874245472837 Centerline is valid? [True, True] Translation: X:47.31, Y:4.83, Z:5.54 [[ 9.67106804e-01 -2.23863760e-01 -1.20786784e-01 4.73108491e+01] [ 2.22679883e-01 9.74611055e-01 -2.33872017e-02 4.83301770e+00] [ 1.22955682e-01 -4.27886514e-03 9.92402938e-01 5.53886503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39710568099999 meters Centerline goodness [0,1] 0.9998738806911338 Centerline is valid? [True, True] Translation: X:47.34, Y:4.85, Z:5.54 [[ 9.66993320e-01 -2.23413126e-01 -1.22517327e-01 4.73353870e+01] [ 2.22188613e-01 9.74714531e-01 -2.37445230e-02 4.85197490e+00] [ 1.24724257e-01 -4.26115975e-03 9.92182293e-01 5.54192078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.427105680999986 meters Centerline goodness [0,1] 0.9996219440477191 Centerline is valid? [True, True] Translation: X:47.36, Y:4.86, Z:5.54 [[ 9.66911827e-01 -2.22719116e-01 -1.24409461e-01 4.73623539e+01] [ 2.21444761e-01 9.74873646e-01 -2.41576333e-02 4.86471066e+00] [ 1.26663872e-01 -4.19152206e-03 9.91936840e-01 5.54272297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45710568099999 meters Centerline goodness [0,1] 0.9994964436331591 Centerline is valid? [True, True] Translation: X:47.39, Y:4.88, Z:5.54 [[ 9.67256558e-01 -2.20041462e-01 -1.26477296e-01 4.73875565e+01] [ 2.18696442e-01 9.75482854e-01 -2.45981289e-02 4.88062075e+00] [ 1.28789042e-01 -3.86743322e-03 9.91664472e-01 5.54171532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48710568099999 meters Centerline goodness [0,1] 0.9994326300748088 Centerline is valid? [True, True] Translation: X:47.41, Y:4.90, Z:5.54 [[ 9.67626308e-01 -2.18036036e-01 -1.27120472e-01 4.74134624e+01] [ 2.16657728e-01 9.75934073e-01 -2.47409302e-02 4.89586458e+00] [ 1.29455614e-01 -3.60165775e-03 9.91578677e-01 5.54415674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51710568099999 meters Centerline goodness [0,1] 0.9994340215910282 Centerline is valid? [True, True] Translation: X:47.44, Y:4.91, Z:5.55 [[ 9.67784968e-01 -2.17790398e-01 -1.26331303e-01 4.74405445e+01] [ 2.16421589e-01 9.75989274e-01 -2.46299291e-02 4.90576769e+00] [ 1.28662159e-01 -3.50434633e-03 9.91682292e-01 5.54966940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54710568099999 meters Centerline goodness [0,1] 0.9989286389513266 Centerline is valid? [True, True] Translation: X:47.47, Y:4.92, Z:5.56 [[ 9.69057237e-01 -2.14286805e-01 -1.22512192e-01 4.74651957e+01] [ 2.12967037e-01 9.76766456e-01 -2.39234532e-02 4.92187807e+00] [ 1.24792280e-01 -2.90786294e-03 9.92178629e-01 5.55865401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57710568099999 meters Centerline goodness [0,1] 0.9986980260394792 Centerline is valid? [True, True] Translation: X:47.49, Y:4.94, Z:5.57 [[ 9.71444317e-01 -2.05674985e-01 -1.18295137e-01 4.74905233e+01] [ 2.04379754e-01 9.78618833e-01 -2.31105281e-02 4.94497934e+00] [ 1.20519107e-01 -1.72653988e-03 9.92709506e-01 5.56628955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.607105680999986 meters Centerline goodness [0,1] 0.9981933911728252 Centerline is valid? [True, True] Translation: X:47.52, Y:4.96, Z:5.57 [[ 9.72897717e-01 -1.99022725e-01 -1.17728446e-01 4.75161781e+01] [ 1.97690816e-01 9.79994468e-01 -2.30040014e-02 4.96062348e+00] [ 1.19951545e-01 -8.93292086e-04 9.92779346e-01 5.56979736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63710568099999 meters Centerline goodness [0,1] 0.9983263948452962 Centerline is valid? [True, True] Translation: X:47.54, Y:4.99, Z:5.57 [[ 9.75794653e-01 -1.82814775e-01 -1.20014808e-01 4.75403340e+01] [ 1.81302798e-01 9.83146684e-01 -2.34924248e-02 4.98761839e+00] [ 1.22286923e-01 1.16476211e-03 9.92494107e-01 5.56663494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66710568099999 meters Centerline goodness [0,1] 0.9983455150893212 Centerline is valid? [True, True] Translation: X:47.57, Y:5.01, Z:5.56 [[ 9.77738677e-01 -1.69833674e-01 -1.23221763e-01 4.75664262e+01] [ 1.68131439e-01 9.85468458e-01 -2.41606503e-02 5.00773673e+00] [ 1.25534453e-01 2.90534995e-03 9.92085007e-01 5.56237049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69710568099999 meters Centerline goodness [0,1] 0.9984883794167664 Centerline is valid? [True, True] Translation: X:47.60, Y:5.02, Z:5.56 [[ 9.78104490e-01 -1.66177630e-01 -1.25286079e-01 4.75951787e+01] [ 1.64386925e-01 9.86089841e-01 -2.45716301e-02 5.01589658e+00] [ 1.27626585e-01 3.43822841e-03 9.91816330e-01 5.56288450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72710568099999 meters Centerline goodness [0,1] 0.9985963295064108 Centerline is valid? [True, True] Translation: X:47.62, Y:5.02, Z:5.56 [[ 9.77812631e-01 -1.65118916e-01 -1.28911605e-01 4.76235675e+01] [ 1.63211872e-01 9.86266753e-01 -2.52938216e-02 5.02347837e+00] [ 1.31317718e-01 3.69271403e-03 9.91333456e-01 5.56256835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75710568099999 meters Centerline goodness [0,1] 0.9986775818639798 Centerline is valid? [True, True] Translation: X:47.65, Y:5.03, Z:5.56 [[ 9.77149864e-01 -1.67639161e-01 -1.30672318e-01 4.76520191e+01] [ 1.65695630e-01 9.85842398e-01 -2.56850904e-02 5.02576325e+00] [ 1.33128139e-01 3.44635052e-03 9.91092842e-01 5.56302245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.787105680999986 meters Centerline goodness [0,1] 0.9985521539333152 Centerline is valid? [True, True] Translation: X:47.68, Y:5.03, Z:5.57 [[ 9.76868456e-01 -1.69782733e-01 -1.30007092e-01 4.76807780e+01] [ 1.67871993e-01 9.85476381e-01 -2.55987423e-02 5.02611702e+00] [ 1.32465143e-01 3.18205417e-03 9.91182557e-01 5.56555571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81710568099999 meters Centerline goodness [0,1] 0.9988068324541572 Centerline is valid? [True, True] Translation: X:47.71, Y:5.02, Z:5.57 [[ 9.76007458e-01 -1.75015085e-01 -1.29534402e-01 4.77116694e+01] [ 1.73158310e-01 9.84562562e-01 -2.55491841e-02 5.01854962e+00] [ 1.32006216e-01 2.50623605e-03 9.91245720e-01 5.57055852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84710568099999 meters Centerline goodness [0,1] 0.9986143187066975 Centerline is valid? [True, True] Translation: X:47.74, Y:5.02, Z:5.57 [[ 9.75440208e-01 -1.78191756e-01 -1.29476246e-01 4.77400588e+01] [ 1.76359444e-01 9.83993513e-01 -2.55756434e-02 5.01850945e+00] [ 1.31961155e-01 2.11315219e-03 9.91252636e-01 5.57418266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87710568099999 meters Centerline goodness [0,1] 0.9988020176544766 Centerline is valid? [True, True] Translation: X:47.77, Y:5.01, Z:5.58 [[ 9.74620280e-01 -1.83678482e-01 -1.27974701e-01 4.77698115e+01] [ 1.81933234e-01 9.82985417e-01 -2.52975763e-02 5.01255687e+00] [ 1.30443886e-01 1.37267962e-03 9.91454744e-01 5.58237183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90710568099999 meters Centerline goodness [0,1] 0.9990550982697799 Centerline is valid? [True, True] Translation: X:47.80, Y:5.01, Z:5.59 [[ 9.74241714e-01 -1.86831359e-01 -1.26281929e-01 4.77984005e+01] [ 1.85153215e-01 9.82391514e-01 -2.50040194e-02 5.00874220e+00] [ 1.28729830e-01 9.78453634e-04 9.91679219e-01 5.58778816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93710568099999 meters Centerline goodness [0,1] 0.9992037048678779 Centerline is valid? [True, True] Translation: X:47.83, Y:5.00, Z:5.60 [[ 9.73889136e-01 -1.90922804e-01 -1.22834984e-01 4.78280997e+01] [ 1.89364880e-01 9.81604952e-01 -2.43446161e-02 5.00444886e+00] [ 1.25223370e-01 4.48325262e-04 9.92128473e-01 5.59567835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96710568099999 meters Centerline goodness [0,1] 0.9993517221188231 Centerline is valid? [True, True] Translation: X:47.86, Y:5.01, Z:5.60 [[ 9.73604452e-01 -1.92937437e-01 -1.21940628e-01 4.78562408e+01] [ 1.91412774e-01 9.81211034e-01 -2.42086117e-02 5.00627640e+00] [ 1.24320237e-01 2.28618347e-04 9.92242121e-01 5.60103932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99710568099999 meters Centerline goodness [0,1] 0.9990564653093745 Centerline is valid? [True, True] Translation: X:47.88, Y:5.00, Z:5.61 [[ 9.73371232e-01 -1.94554717e-01 -1.21230800e-01 4.78847771e+01] [ 1.93054820e-01 9.80891665e-01 -2.41117953e-02 5.00469068e+00] [ 1.23605345e-01 6.55376173e-05 9.92331454e-01 5.60510125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02710568099999 meters Centerline goodness [0,1] 0.999372594947298 Centerline is valid? [True, True] Translation: X:47.91, Y:5.01, Z:5.61 [[ 9.73571176e-01 -1.93711652e-01 -1.20975046e-01 4.79110508e+01] [ 1.92209793e-01 9.81058490e-01 -2.40755961e-02 5.00821893e+00] [ 1.23347320e-01 1.86717847e-04 9.92363544e-01 5.60836731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05710568099999 meters Centerline goodness [0,1] 0.9992268472082916 Centerline is valid? [True, True] Translation: X:47.94, Y:5.02, Z:5.61 [[ 9.74557413e-01 -1.88754458e-01 -1.20870191e-01 4.79370727e+01] [ 1.87214712e-01 9.82023961e-01 -2.40747135e-02 5.01659636e+00] [ 1.23241633e-01 8.33512651e-04 9.92376343e-01 5.61109519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08710568099999 meters Centerline goodness [0,1] 0.9994531496477022 Centerline is valid? [True, True] Translation: X:47.97, Y:5.02, Z:5.61 [[ 9.75359588e-01 -1.83217760e-01 -1.22902105e-01 4.79651984e+01] [ 1.81578422e-01 9.83071075e-01 -2.45058915e-02 5.02307165e+00] [ 1.25311419e-01 1.58568598e-03 9.92116190e-01 5.61160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11710568099999 meters Centerline goodness [0,1] 0.9995584246272894 Centerline is valid? [True, True] Translation: X:47.99, Y:5.03, Z:5.61 [[ 9.76106774e-01 -1.78797499e-01 -1.23478823e-01 4.79935243e+01] [ 1.77102073e-01 9.83883423e-01 -2.46630333e-02 5.02624668e+00] [ 1.25898456e-01 2.20539826e-03 9.92040682e-01 5.61425471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14710568099999 meters Centerline goodness [0,1] 0.9994108735903047 Centerline is valid? [True, True] Translation: X:48.02, Y:5.03, Z:5.62 [[ 9.76414424e-01 -1.76340073e-01 -1.24575481e-01 4.80218693e+01] [ 1.74588804e-01 9.84325902e-01 -2.49252489e-02 5.03236357e+00] [ 1.27018193e-01 2.58788828e-03 9.91897012e-01 5.61692853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177105680999986 meters Centerline goodness [0,1] 0.9996650547426155 Centerline is valid? [True, True] Translation: X:48.05, Y:5.04, Z:5.62 [[ 9.77420577e-01 -1.69725265e-01 -1.25866399e-01 4.80498773e+01] [ 1.67877471e-01 9.85485117e-01 -2.52237966e-02 5.03991111e+00] [ 1.28320579e-01 3.52412505e-03 9.91726479e-01 5.61810053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20710568099999 meters Centerline goodness [0,1] 0.9997277429893819 Centerline is valid? [True, True] Translation: X:48.08, Y:5.04, Z:5.62 [[ 9.78324971e-01 -1.65421625e-01 -1.24562982e-01 4.80799845e+01] [ 1.63576240e-01 9.86214605e-01 -2.49713237e-02 5.04152548e+00] [ 1.26976629e-01 4.05452542e-03 9.91897422e-01 5.62083221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23710568099999 meters Centerline goodness [0,1] 0.9999371148283235 Centerline is valid? [True, True] Translation: X:48.11, Y:5.04, Z:5.63 [[ 9.78504021e-01 -1.64861752e-01 -1.23897069e-01 4.81082117e+01] [ 1.63030531e-01 9.86308106e-01 -2.48468496e-02 5.04457215e+00] [ 1.26296978e-01 4.11373730e-03 9.91983947e-01 5.62517905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:5.04, Z:5.63 [[ 9.78375069e-01 -1.65277315e-01 -1.24360904e-01 4.81358429e+01] [ 1.63430421e-01 9.86238545e-01 -2.49805920e-02 5.04481814e+00] [ 1.26778242e-01 4.11603351e-03 9.91922545e-01 5.62817426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:5.04, Z:5.63 [[ 9.77882079e-01 -1.67097688e-01 -1.25797463e-01 4.81651312e+01] [ 1.65219587e-01 9.85932436e-01 -2.52926982e-02 5.04307653e+00] [ 1.28254151e-01 3.94907137e-03 9.91733471e-01 5.62865199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:5.04, Z:5.63 [[ 9.77441329e-01 -1.68451771e-01 -1.27406630e-01 4.81939512e+01] [ 1.66530809e-01 9.85702325e-01 -2.56596307e-02 5.04395539e+00] [ 1.29907422e-01 3.86365433e-03 9.91518600e-01 5.62929801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:5.04, Z:5.63 [[ 9.76509273e-01 -1.72481341e-01 -1.29150401e-01 4.82233864e+01] [ 1.70536028e-01 9.85006847e-01 -2.60571350e-02 5.03970511e+00] [ 1.31708399e-01 3.42023768e-03 9.91282603e-01 5.62880884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:5.04, Z:5.63 [[ 9.75965912e-01 -1.75594189e-01 -1.29062853e-01 4.82516899e+01] [ 1.73676564e-01 9.84458024e-01 -2.60547656e-02 5.03831173e+00] [ 1.31632026e-01 3.01337022e-03 9.91294068e-01 5.63147559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.28, Y:5.03, Z:5.64 [[ 9.74220318e-01 -1.84236399e-01 -1.30198779e-01 4.82829061e+01] [ 1.82359389e-01 9.82880167e-01 -2.62988706e-02 5.02725410e+00] [ 1.32815007e-01 1.87792436e-03 9.91139066e-01 5.63695388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44710568099999 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:48.31, Y:5.02, Z:5.64 [[ 9.72204259e-01 -1.94841731e-01 -1.29829039e-01 4.83137700e+01] [ 1.93067137e-01 9.80834594e-01 -2.62407933e-02 5.02053478e+00] [ 1.32453615e-01 4.45690084e-04 9.91189105e-01 5.64084422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47710568099999 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:48.34, Y:5.03, Z:5.64 [[ 9.72129781e-01 -1.95218614e-01 -1.29820577e-01 4.83404448e+01] [ 1.93441784e-01 9.80759655e-01 -2.62825966e-02 5.02618000e+00] [ 1.32453636e-01 4.37370888e-04 9.91189106e-01 5.64402231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:5.02, Z:5.65 [[ 9.71135003e-01 -2.02738600e-01 -1.25673647e-01 4.83693707e+01] [ 2.01130317e-01 9.79232755e-01 -2.54913170e-02 5.02188567e+00] [ 1.28231825e-01 -5.21270225e-04 9.91744084e-01 5.65198467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537105680999986 meters Centerline goodness [0,1] 0.9998948961574036 Centerline is valid? [True, True] Translation: X:48.40, Y:5.02, Z:5.66 [[ 9.70966477e-01 -2.05096563e-01 -1.23123921e-01 4.83976637e+01] [ 2.03566700e-01 9.78741437e-01 -2.50159639e-02 5.02406364e+00] [ 1.25637172e-01 -7.74268022e-04 9.92075956e-01 5.65691822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.43, Y:5.02, Z:5.66 [[ 9.70065696e-01 -2.10414352e-01 -1.21236731e-01 4.84273901e+01] [ 2.08967463e-01 9.77611293e-01 -2.46730493e-02 5.01974110e+00] [ 1.23713961e-01 -1.40005324e-03 9.92316933e-01 5.66496253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:5.02, Z:5.67 [[ 9.69447421e-01 -2.13828872e-01 -1.20203622e-01 4.84566505e+01] [ 2.12427713e-01 9.76869513e-01 -2.45034818e-02 5.02104065e+00] [ 1.22662806e-01 -1.77974335e-03 9.92446809e-01 5.66927789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:5.02, Z:5.67 [[ 9.67440295e-01 -2.23168645e-01 -1.19394436e-01 4.84864058e+01] [ 2.21852298e-01 9.74775522e-01 -2.43770169e-02 5.01752964e+00] [ 1.21822959e-01 -2.90462155e-03 9.92547596e-01 5.67474061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:5.02, Z:5.68 [[ 9.66043262e-01 -2.28794354e-01 -1.20056483e-01 4.85156767e+01] [ 2.27505451e-01 9.73468027e-01 -2.45208001e-02 5.01874641e+00] [ 1.22481368e-01 -3.62535046e-03 9.92464191e-01 5.67838358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:5.02, Z:5.68 [[ 9.63562478e-01 -2.39104016e-01 -1.19902545e-01 4.85460156e+01] [ 2.37896636e-01 9.70981497e-01 -2.44974170e-02 5.01967766e+00] [ 1.22280583e-01 -4.91962033e-03 9.92483378e-01 5.68328330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71710568099999 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:48.58, Y:5.02, Z:5.69 [[ 9.61234320e-01 -2.48072492e-01 -1.20368686e-01 4.85768528e+01] [ 2.46925244e-01 9.68722383e-01 -2.45940761e-02 5.02112625e+00] [ 1.22704954e-01 -6.08139733e-03 9.92424562e-01 5.68577281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74710568099999 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:48.61, Y:5.02, Z:5.69 [[ 9.60271686e-01 -2.51334198e-01 -1.21282358e-01 4.86056208e+01] [ 2.50195047e-01 9.67878229e-01 -2.47824886e-02 5.02400383e+00] [ 1.23615241e-01 -6.54632319e-03 9.92308630e-01 5.68805190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:5.03, Z:5.69 [[ 9.59221199e-01 -2.56268268e-01 -1.19252952e-01 4.86344851e+01] [ 2.55203353e-01 9.66579998e-01 -2.43794074e-02 5.03421609e+00] [ 1.21515187e-01 -7.04850886e-03 9.92564546e-01 5.69222592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80710568099999 meters Centerline goodness [0,1] 0.9999371517157581 Centerline is valid? [True, True] Translation: X:48.66, Y:5.05, Z:5.70 [[ 9.58805094e-01 -2.58179215e-01 -1.18474824e-01 4.86602709e+01] [ 2.57142520e-01 9.66069901e-01 -2.42212653e-02 5.04772696e+00] [ 1.20708388e-01 -7.24144218e-03 9.92661597e-01 5.69687828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83710568099999 meters Centerline goodness [0,1] 0.9998746107709348 Centerline is valid? [True, True] Translation: X:48.69, Y:5.06, Z:5.70 [[ 9.58606447e-01 -2.58782153e-01 -1.18766477e-01 4.86863895e+01] [ 2.57742318e-01 9.65908014e-01 -2.43023780e-02 5.05815685e+00] [ 1.21006514e-01 -7.31473087e-03 9.92624762e-01 5.69917330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86710568099999 meters Centerline goodness [0,1] 0.999686349949816 Centerline is valid? [True, True] Translation: X:48.71, Y:5.08, Z:5.70 [[ 9.58228443e-01 -2.60255733e-01 -1.18596814e-01 4.87118412e+01] [ 2.59227411e-01 9.65510835e-01 -2.42894518e-02 5.07564852e+00] [ 1.20827978e-01 -7.46870154e-03 9.92645364e-01 5.70142554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89710568099999 meters Centerline goodness [0,1] 0.9996858901872094 Centerline is valid? [True, True] Translation: X:48.74, Y:5.09, Z:5.71 [[ 9.58352395e-01 -2.60280276e-01 -1.17536656e-01 4.87363886e+01] [ 2.59265918e-01 9.65504996e-01 -2.41098708e-02 5.09414876e+00] [ 1.19757552e-01 -7.36749658e-03 9.92775830e-01 5.70539609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.927105680999986 meters Centerline goodness [0,1] 0.9995804665212283 Centerline is valid? [True, True] Translation: X:48.76, Y:5.11, Z:5.71 [[ 9.58540798e-01 -2.59722724e-01 -1.17233293e-01 4.87630898e+01] [ 2.58707724e-01 9.65655907e-01 -2.40620631e-02 5.10768808e+00] [ 1.19456486e-01 -7.26468915e-03 9.92812859e-01 5.70909914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95710568099999 meters Centerline goodness [0,1] 0.9994128378803447 Centerline is valid? [True, True] Translation: X:48.79, Y:5.13, Z:5.71 [[ 9.59716847e-01 -2.55456440e-01 -1.16985392e-01 4.87885220e+01] [ 2.54409829e-01 9.66797467e-01 -2.40477879e-02 5.13411273e+00] [ 1.19244343e-01 -6.68316632e-03 9.92842446e-01 5.71260144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98710568099999 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:48.82, Y:5.15, Z:5.72 [[ 9.60697219e-01 -2.51987107e-01 -1.16461803e-01 4.88159656e+01] [ 2.50923838e-01 9.67710612e-01 -2.39457409e-02 5.15032461e+00] [ 1.18735340e-01 -6.21843586e-03 9.92906466e-01 5.71635539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01710568099999 meters Centerline goodness [0,1] 0.999285879313604 Centerline is valid? [True, True] Translation: X:48.84, Y:5.18, Z:5.72 [[ 9.63093378e-01 -2.42653312e-01 -1.16492558e-01 4.88405404e+01] [ 2.41521101e-01 9.70099851e-01 -2.39549088e-02 5.18099323e+00] [ 1.18822151e-01 -5.06459674e-03 9.92902637e-01 5.71844064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04710568099999 meters Centerline goodness [0,1] 0.9987599831862127 Centerline is valid? [True, True] Translation: X:48.87, Y:5.21, Z:5.72 [[ 9.65428965e-01 -2.32484895e-01 -1.17888451e-01 4.88652112e+01] [ 2.31248955e-01 9.72592381e-01 -2.42483253e-02 5.20725824e+00] [ 1.20294779e-01 -3.85154562e-03 9.92730745e-01 5.71848523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07710568099999 meters Centerline goodness [0,1] 0.9989284588717302 Centerline is valid? [True, True] Translation: X:48.89, Y:5.22, Z:5.72 [[ 9.66829982e-01 -2.26694197e-01 -1.17684017e-01 4.88920054e+01] [ 2.25419364e-01 9.73960983e-01 -2.42097707e-02 5.22442355e+00] [ 1.20107856e-01 -3.12152423e-03 9.92755941e-01 5.72211266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.107105680999986 meters Centerline goodness [0,1] 0.9980381926327873 Centerline is valid? [True, True] Translation: X:48.92, Y:5.25, Z:5.72 [[ 9.69749384e-01 -2.13798485e-01 -1.17797880e-01 4.89159935e+01] [ 2.12425781e-01 9.76876602e-01 -2.42361552e-02 5.25262248e+00] [ 1.20255646e-01 -1.52031008e-03 9.92741793e-01 5.72489918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13710568099999 meters Centerline goodness [0,1] 0.9979011879276329 Centerline is valid? [True, True] Translation: X:48.94, Y:5.28, Z:5.72 [[ 9.72020575e-01 -2.00676018e-01 -1.22086595e-01 4.89390655e+01] [ 1.99096717e-01 9.79657656e-01 -2.51271802e-02 5.28258544e+00] [ 1.24645490e-01 1.17095867e-04 9.92201334e-01 5.72365642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16710568099999 meters Centerline goodness [0,1] 0.9980764807961697 Centerline is valid? [True, True] Translation: X:48.96, Y:5.31, Z:5.72 [[ 9.73284186e-01 -1.91434524e-01 -1.26770328e-01 4.89642310e+01] [ 1.89647579e-01 9.81504398e-01 -2.61325944e-02 5.30600452e+00] [ 1.29428315e-01 1.39275507e-03 9.91587803e-01 5.71905763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19710568099999 meters Centerline goodness [0,1] 0.9980492511641565 Centerline is valid? [True, True] Translation: X:48.99, Y:5.32, Z:5.72 [[ 9.73311164e-01 -1.90167076e-01 -1.28459571e-01 4.89911130e+01] [ 1.88319103e-01 9.81750444e-01 -2.64949227e-02 5.31723472e+00] [ 1.31153703e-01 1.59641295e-03 9.91360761e-01 5.71748812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22710568099999 meters Centerline goodness [0,1] 0.9979735093803535 Centerline is valid? [True, True] Translation: X:49.02, Y:5.32, Z:5.72 [[ 9.73036802e-01 -1.91157808e-01 -1.29066161e-01 4.90179996e+01] [ 1.89297382e-01 9.81558176e-01 -2.66467186e-02 5.32448728e+00] [ 1.31779674e-01 1.49635153e-03 9.91277902e-01 5.71745192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25710568099999 meters Centerline goodness [0,1] 0.9976335574124102 Centerline is valid? [True, True] Translation: X:49.05, Y:5.33, Z:5.72 [[ 9.71723054e-01 -1.97640710e-01 -1.29199292e-01 4.90462722e+01] [ 1.95827136e-01 9.80274302e-01 -2.67212489e-02 5.32754467e+00] [ 1.31931952e-01 6.64926308e-04 9.91258552e-01 5.71895314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.287105680999986 meters Centerline goodness [0,1] 0.9974909569908211 Centerline is valid? [True, True] Translation: X:49.07, Y:5.33, Z:5.72 [[ 9.69679175e-01 -2.07259659e-01 -1.29482551e-01 4.90737612e+01] [ 2.05517623e-01 9.78285782e-01 -2.68222893e-02 5.32783262e+00] [ 1.32230118e-01 -6.01930830e-04 9.91218863e-01 5.72427733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31710568099999 meters Centerline goodness [0,1] 0.997266380688031 Centerline is valid? [True, True] Translation: X:49.10, Y:5.33, Z:5.73 [[ 9.68578309e-01 -2.12895643e-01 -1.28574896e-01 4.91014268e+01] [ 2.11221578e-01 9.77074055e-01 -2.66783855e-02 5.33023764e+00] [ 1.31306907e-01 -1.31768682e-03 9.91340890e-01 5.72980199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34710568099999 meters Centerline goodness [0,1] 0.9970190612142077 Centerline is valid? [True, True] Translation: X:49.13, Y:5.34, Z:5.73 [[ 9.68442627e-01 -2.13608484e-01 -1.28414539e-01 4.91284279e+01] [ 2.11942374e-01 9.76918355e-01 -2.66637984e-02 5.33688255e+00] [ 1.31146133e-01 -1.39412310e-03 9.91362067e-01 5.73410279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37710568099999 meters Centerline goodness [0,1] 0.9972677021374976 Centerline is valid? [True, True] Translation: X:49.15, Y:5.35, Z:5.74 [[ 9.68528172e-01 -2.13092284e-01 -1.28626823e-01 4.91542408e+01] [ 2.11409764e-01 9.77031239e-01 -2.67557364e-02 5.34728455e+00] [ 1.31373865e-01 -1.27928194e-03 9.91332069e-01 5.73822934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40710568099999 meters Centerline goodness [0,1] 0.9973023667516702 Centerline is valid? [True, True] Translation: X:49.18, Y:5.36, Z:5.74 [[ 9.68818361e-01 -2.12821530e-01 -1.26877812e-01 4.91817940e+01] [ 2.11175992e-01 9.77090379e-01 -2.64403272e-02 5.35558687e+00] [ 1.29598160e-01 -1.17767329e-03 9.91565898e-01 5.74165496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43710568099999 meters Centerline goodness [0,1] 0.9972488239247311 Centerline is valid? [True, True] Translation: X:49.21, Y:5.36, Z:5.75 [[ 9.69023668e-01 -2.12673716e-01 -1.25550869e-01 4.92089364e+01] [ 2.11056221e-01 9.77122646e-01 -2.62031753e-02 5.36230960e+00] [ 1.28251324e-01 -1.10679493e-03 9.91741082e-01 5.74560216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.467105680999985 meters Centerline goodness [0,1] 0.9971099476439791 Centerline is valid? [True, True] Translation: X:49.23, Y:5.37, Z:5.75 [[ 9.68842307e-01 -2.14519817e-01 -1.23797543e-01 4.92349092e+01] [ 2.12960151e-01 9.76718751e-01 -2.58545027e-02 5.37003425e+00] [ 1.26461685e-01 -1.31500735e-03 9.91970621e-01 5.75156122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49710568099999 meters Centerline goodness [0,1] 0.9970755312434252 Centerline is valid? [True, True] Translation: X:49.26, Y:5.37, Z:5.76 [[ 9.68188611e-01 -2.18102016e-01 -1.22647154e-01 4.92646411e+01] [ 2.16594599e-01 9.75924452e-01 -2.56562533e-02 5.37327392e+00] [ 1.25290037e-01 -1.72461883e-03 9.92118658e-01 5.75622917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52710568099999 meters Centerline goodness [0,1] 0.9972524015269096 Centerline is valid? [True, True] Translation: X:49.29, Y:5.38, Z:5.76 [[ 9.67736063e-01 -2.19634678e-01 -1.23480855e-01 4.92929172e+01] [ 2.18117883e-01 9.75580286e-01 -2.58398003e-02 5.37816791e+00] [ 1.26140804e-01 -1.92727603e-03 9.92010475e-01 5.75882677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55710568099999 meters Centerline goodness [0,1] 0.9968845397900723 Centerline is valid? [True, True] Translation: X:49.32, Y:5.39, Z:5.76 [[ 9.67913768e-01 -2.17772825e-01 -1.25371187e-01 4.93199026e+01] [ 2.16187897e-01 9.75998061e-01 -2.62788667e-02 5.38799051e+00] [ 1.28084859e-01 -1.66805643e-03 9.91761809e-01 5.76257885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58710568099999 meters Centerline goodness [0,1] 0.9971024838851912 Centerline is valid? [True, True] Translation: X:49.35, Y:5.40, Z:5.77 [[ 9.68681746e-01 -2.15094027e-01 -1.24057386e-01 4.93471412e+01] [ 2.13514993e-01 9.76592533e-01 -2.60455592e-02 5.39693013e+00] [ 1.26755761e-01 -1.25825421e-03 9.91933160e-01 5.76788044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61710568099999 meters Centerline goodness [0,1] 0.9975744903293257 Centerline is valid? [True, True] Translation: X:49.38, Y:5.41, Z:5.77 [[ 9.70871176e-01 -2.05438218e-01 -1.23305708e-01 4.93759510e+01] [ 2.03795704e-01 9.78670086e-01 -2.59263223e-02 5.40901715e+00] [ 1.26001866e-01 4.19453475e-05 9.92030004e-01 5.77153385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64710568099999 meters Centerline goodness [0,1] 0.9982860964802274 Centerline is valid? [True, True] Translation: X:49.40, Y:5.42, Z:5.77 [[ 9.72836097e-01 -1.95000644e-01 -1.24758478e-01 4.94029181e+01] [ 1.93233434e-01 9.80802099e-01 -2.62313296e-02 5.42177718e+00] [ 1.27478503e-01 1.41127526e-03 9.91840330e-01 5.77339288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677105680999986 meters Centerline goodness [0,1] 0.99844648780283 Centerline is valid? [True, True] Translation: X:49.43, Y:5.44, Z:5.78 [[ 9.74657665e-01 -1.84611934e-01 -1.26336338e-01 4.94304441e+01] [ 1.82713009e-01 9.82807499e-01 -2.65589353e-02 5.43568325e+00] [ 1.29067397e-01 2.80257742e-03 9.91631863e-01 5.77526118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70710568099999 meters Centerline goodness [0,1] 0.9985930576846349 Centerline is valid? [True, True] Translation: X:49.46, Y:5.45, Z:5.78 [[ 9.75478409e-01 -1.79718659e-01 -1.27055413e-01 4.94583829e+01] [ 1.77756099e-01 9.83711917e-01 -2.67139317e-02 5.44503749e+00] [ 1.29786916e-01 3.47398903e-03 9.91535823e-01 5.77670553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73710568099999 meters Centerline goodness [0,1] 0.9988688967554094 Centerline is valid? [True, True] Translation: X:49.49, Y:5.45, Z:5.77 [[ 9.76759949e-01 -1.71071413e-01 -1.29130067e-01 4.94863631e+01] [ 1.68967403e-01 9.85247377e-01 -2.71591999e-02 5.45351617e+00] [ 1.31871222e-01 4.70924676e-03 9.91255670e-01 5.77439101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76710568099999 meters Centerline goodness [0,1] 0.9989286164446872 Centerline is valid? [True, True] Translation: X:49.52, Y:5.45, Z:5.78 [[ 9.77138438e-01 -1.68228093e-01 -1.29999161e-01 4.95162658e+01] [ 1.66069832e-01 9.85734733e-01 -2.73467753e-02 5.45488926e+00] [ 1.32745185e-01 5.13264638e-03 9.91136909e-01 5.77686873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79710568099999 meters Centerline goodness [0,1] 0.9988007574163686 Centerline is valid? [True, True] Translation: X:49.54, Y:5.46, Z:5.78 [[ 9.76857973e-01 -1.69571045e-01 -1.30361659e-01 4.95444136e+01] [ 1.67411478e-01 9.85505423e-01 -2.74309751e-02 5.45609760e+00] [ 1.33123621e-01 4.97212873e-03 9.91086969e-01 5.77869216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82710568099999 meters Centerline goodness [0,1] 0.9990120031111391 Centerline is valid? [True, True] Translation: X:49.58, Y:5.45, Z:5.78 [[ 9.75707758e-01 -1.74965215e-01 -1.31839085e-01 4.95753338e+01] [ 1.72802248e-01 9.84565200e-01 -2.77623898e-02 5.44955633e+00] [ 1.34661627e-01 4.30588896e-03 9.90882286e-01 5.78159836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857105680999986 meters Centerline goodness [0,1] 0.9989093502244222 Centerline is valid? [True, True] Translation: X:49.61, Y:5.44, Z:5.78 [[ 9.74131210e-01 -1.81916503e-01 -1.34070023e-01 4.96050005e+01] [ 1.79739196e-01 9.83307955e-01 -2.82716711e-02 5.44464127e+00] [ 1.36975203e-01 3.44267905e-03 9.90568494e-01 5.78309894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88710568099999 meters Centerline goodness [0,1] 0.9991207134782063 Centerline is valid? [True, True] Translation: X:49.63, Y:5.44, Z:5.78 [[ 9.73393973e-01 -1.86024431e-01 -1.33787457e-01 4.96336649e+01] [ 1.83892563e-01 9.82540911e-01 -2.82291155e-02 5.44397497e+00] [ 1.36702955e-01 2.87553259e-03 9.90607911e-01 5.78478009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91710568099999 meters Centerline goodness [0,1] 0.9984567257559959 Centerline is valid? [True, True] Translation: X:49.67, Y:5.43, Z:5.79 [[ 9.72049563e-01 -1.94664754e-01 -1.31245120e-01 4.96650778e+01] [ 1.92689210e-01 9.80868451e-01 -2.77119086e-02 5.43251739e+00] [ 1.34128729e-01 1.64783011e-03 9.90962547e-01 5.78913619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94710568099999 meters Centerline goodness [0,1] 0.9987351378699721 Centerline is valid? [True, True] Translation: X:49.69, Y:5.43, Z:5.80 [[ 9.71068427e-01 -1.99908287e-01 -1.30624605e-01 4.96948688e+01] [ 1.97997135e-01 9.79814172e-01 -2.75920965e-02 5.42888023e+00] [ 1.33503728e-01 9.30516227e-04 9.91047874e-01 5.79603390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97710568099999 meters Centerline goodness [0,1] 0.9985289791115034 Centerline is valid? [True, True] Translation: X:49.72, Y:5.42, Z:5.80 [[ 9.69658748e-01 -2.07856550e-01 -1.28676213e-01 4.97238462e+01] [ 2.06066454e-01 9.78159312e-01 -2.72208838e-02 5.42205806e+00] [ 1.31523875e-01 -1.20882655e-04 9.91312996e-01 5.80145830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00710568099999 meters Centerline goodness [0,1] 0.9988435903366203 Centerline is valid? [True, True] Translation: X:49.75, Y:5.42, Z:5.81 [[ 9.68589466e-01 -2.14960975e-01 -1.25004899e-01 4.97534981e+01] [ 2.13328575e-01 9.76622089e-01 -2.64615671e-02 5.41530975e+00] [ 1.27770750e-01 -1.03672175e-03 9.91803187e-01 5.80913119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037105680999986 meters Centerline goodness [0,1] 0.9986960270889856 Centerline is valid? [True, True] Translation: X:49.78, Y:5.41, Z:5.81 [[ 9.67911544e-01 -2.18708814e-01 -1.23748530e-01 4.97825357e+01] [ 2.17134475e-01 9.75789054e-01 -2.62362807e-02 5.41469062e+00] [ 1.26490567e-01 -1.47567328e-03 9.91966713e-01 5.81454513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06710568099999 meters Centerline goodness [0,1] 0.998760556279148 Centerline is valid? [True, True] Translation: X:49.81, Y:5.41, Z:5.82 [[ 9.66311187e-01 -2.25346657e-01 -1.24344581e-01 4.98128324e+01] [ 2.23806359e-01 9.74275899e-01 -2.64042776e-02 5.40997349e+00] [ 1.27096044e-01 -2.31435910e-03 9.91887715e-01 5.81762019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09710568099999 meters Centerline goodness [0,1] 0.9989922952574896 Centerline is valid? [True, True] Translation: X:49.84, Y:5.40, Z:5.82 [[ 9.64342429e-01 -2.32259188e-01 -1.26883214e-01 4.98445471e+01] [ 2.30709325e-01 9.72648495e-01 -2.69835473e-02 5.40336827e+00] [ 1.29679944e-01 -3.25176104e-03 9.91550573e-01 5.81760505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.12710568099999 meters Centerline goodness [0,1] 0.9993269675682497 Centerline is valid? [True, True] Translation: X:49.87, Y:5.40, Z:5.82 [[ 9.63338489e-01 -2.35648747e-01 -1.28252188e-01 4.98738032e+01] [ 2.34093732e-01 9.71831101e-01 -2.72843640e-02 5.40137013e+00] [ 1.31068992e-01 -3.73895535e-03 9.91366199e-01 5.81925321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15710568099999 meters Centerline goodness [0,1] 0.9992649529569892 Centerline is valid? [True, True] Translation: X:49.90, Y:5.40, Z:5.82 [[ 9.61844877e-01 -2.41486036e-01 -1.28603757e-01 4.99033507e+01] [ 2.39972617e-01 9.70393702e-01 -2.73716396e-02 5.39708433e+00] [ 1.31406145e-01 -4.53410884e-03 9.91318247e-01 5.82378275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18710568099999 meters Centerline goodness [0,1] 0.9993475744501736 Centerline is valid? [True, True] Translation: X:49.93, Y:5.40, Z:5.83 [[ 9.61257207e-01 -2.43951770e-01 -1.28343738e-01 4.99316608e+01] [ 2.42464464e-01 9.69775251e-01 -2.73303183e-02 5.39748984e+00] [ 1.31131860e-01 -4.84733022e-03 9.91353085e-01 5.82768970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217105680999985 meters Centerline goodness [0,1] 0.9992008412197687 Centerline is valid? [True, True] Translation: X:49.96, Y:5.40, Z:5.83 [[ 9.60998102e-01 -2.44434224e-01 -1.29362123e-01 4.99590483e+01] [ 2.42925569e-01 9.69653299e-01 -2.75617017e-02 5.40425862e+00] [ 1.32173432e-01 -4.93862435e-03 9.91214303e-01 5.83023115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24710568099999 meters Centerline goodness [0,1] 0.9992248386826448 Centerline is valid? [True, True] Translation: X:49.99, Y:5.41, Z:5.83 [[ 9.60484868e-01 -2.45807562e-01 -1.30565922e-01 4.99857542e+01] [ 2.44281268e-01 9.69304904e-01 -2.78327906e-02 5.41446113e+00] [ 1.33399699e-01 -5.16183479e-03 9.91048877e-01 5.83326796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27710568099999 meters Centerline goodness [0,1] 0.9990167775406886 Centerline is valid? [True, True] Translation: X:50.01, Y:5.42, Z:5.84 [[ 9.60290393e-01 -2.47280947e-01 -1.29207180e-01 5.00134063e+01] [ 2.45797172e-01 9.68929372e-01 -2.75612383e-02 5.42175345e+00] [ 1.32008001e-01 -5.29196708e-03 9.91234525e-01 5.83771434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30710568099999 meters Centerline goodness [0,1] 0.9989367246950902 Centerline is valid? [True, True] Translation: X:50.04, Y:5.43, Z:5.84 [[ 9.59544099e-01 -2.51111883e-01 -1.27349691e-01 5.00409380e+01] [ 2.49699104e-01 9.67941304e-01 -2.72027480e-02 5.42633499e+00] [ 1.30097960e-01 -5.69686754e-03 9.91484779e-01 5.84185192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33710568099999 meters Centerline goodness [0,1] 0.9988670219462045 Centerline is valid? [True, True] Translation: X:50.07, Y:5.44, Z:5.84 [[ 9.58002316e-01 -2.56582091e-01 -1.28051523e-01 5.00694551e+01] [ 2.55200677e-01 9.66500824e-01 -2.73636922e-02 5.43554360e+00] [ 1.30782936e-01 -6.46435491e-03 9.91389951e-01 5.84485340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36710568099999 meters Centerline goodness [0,1] 0.9988670219462045 Centerline is valid? [True, True] Translation: X:50.10, Y:5.44, Z:5.85 [[ 9.57911503e-01 -2.56921853e-01 -1.28049651e-01 5.00960938e+01] [ 2.55542286e-01 9.66410311e-01 -2.73724483e-02 5.44145378e+00] [ 1.30781083e-01 -6.50171748e-03 9.91389952e-01 5.84803075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39710568099999 meters Centerline goodness [0,1] 0.9983603800554949 Centerline is valid? [True, True] Translation: X:50.12, Y:5.45, Z:5.85 [[ 9.56197084e-01 -2.62600397e-01 -1.29337417e-01 5.01246628e+01] [ 2.61238636e-01 9.64876984e-01 -2.76908000e-02 5.44818064e+00] [ 1.32066311e-01 -7.31006808e-03 9.91213929e-01 5.84816485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.427105680999986 meters Centerline goodness [0,1] 0.9982976398142116 Centerline is valid? [True, True] Translation: X:50.15, Y:5.46, Z:5.85 [[ 9.55779713e-01 -2.64684175e-01 -1.28169528e-01 5.01508295e+01] [ 2.63364762e-01 9.64305811e-01 -2.74463949e-02 5.45931803e+00] [ 1.30859247e-01 -7.52262985e-03 9.91372416e-01 5.85283234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45710568099999 meters Centerline goodness [0,1] 0.998278974100659 Centerline is valid? [True, True] Translation: X:50.18, Y:5.46, Z:5.86 [[ 9.55411455e-01 -2.67911829e-01 -1.24145899e-01 5.01785546e+01] [ 2.66699271e-01 9.63412689e-01 -2.65986797e-02 5.46364014e+00] [ 1.26729835e-01 -7.69693741e-03 9.91907408e-01 5.86030217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48710568099999 meters Centerline goodness [0,1] 0.998069579084309 Centerline is valid? [True, True] Translation: X:50.21, Y:5.48, Z:5.87 [[ 9.54775603e-01 -2.70549813e-01 -1.23314013e-01 5.02052495e+01] [ 2.69374169e-01 9.62672872e-01 -2.64291221e-02 5.47592950e+00] [ 1.25861449e-01 -7.98372868e-03 9.92015703e-01 5.86639050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51710568099999 meters Centerline goodness [0,1] 0.9976287405044697 Centerline is valid? [True, True] Translation: X:50.23, Y:5.48, Z:5.87 [[ 9.54557335e-01 -2.71585619e-01 -1.22725490e-01 5.02329330e+01] [ 2.70428307e-01 9.62380444e-01 -2.63137217e-02 5.48497625e+00] [ 1.25255040e-01 -8.07049043e-03 9.92091751e-01 5.86969101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54710568099999 meters Centerline goodness [0,1] 0.9974158035170284 Centerline is valid? [True, True] Translation: X:50.26, Y:5.50, Z:5.88 [[ 9.54792458e-01 -2.71868091e-01 -1.20246015e-01 5.02581471e+01] [ 2.70754678e-01 9.62302060e-01 -2.58195646e-02 5.50281865e+00] [ 1.22732504e-01 -7.90484547e-03 9.92408306e-01 5.87562304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57710568099999 meters Centerline goodness [0,1] 0.9971140574678992 Centerline is valid? [True, True] Translation: X:50.29, Y:5.51, Z:5.88 [[ 9.55422093e-01 -2.69814188e-01 -1.19870464e-01 5.02857366e+01] [ 2.68686961e-01 9.62882576e-01 -2.57771756e-02 5.51018462e+00] [ 1.22376229e-01 -7.57954760e-03 9.92454840e-01 5.87682761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.607105680999986 meters Centerline goodness [0,1] 0.9972093999160722 Centerline is valid? [True, True] Translation: X:50.31, Y:5.53, Z:5.88 [[ 9.55796221e-01 -2.68587125e-01 -1.19643389e-01 5.03116623e+01] [ 2.67453188e-01 9.63226995e-01 -2.57400212e-02 5.52885450e+00] [ 1.22157180e-01 -7.39679084e-03 9.92483204e-01 5.87918483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63710568099999 meters Centerline goodness [0,1] 0.9976825270893793 Centerline is valid? [True, True] Translation: X:50.34, Y:5.54, Z:5.88 [[ 9.56676989e-01 -2.64653435e-01 -1.21357731e-01 5.03400489e+01] [ 2.63452833e-01 9.64318362e-01 -2.61285662e-02 5.53682313e+00] [ 1.23942503e-01 -6.97543989e-03 9.92264884e-01 5.87832138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66710568099999 meters Centerline goodness [0,1] 0.9973725143986211 Centerline is valid? [True, True] Translation: X:50.37, Y:5.56, Z:5.88 [[ 9.57175373e-01 -2.62047962e-01 -1.23069783e-01 5.03653074e+01] [ 2.60791007e-01 9.65031405e-01 -2.65035337e-02 5.55537966e+00] [ 1.25711402e-01 -6.72696277e-03 9.92044047e-01 5.88067277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69710568099999 meters Centerline goodness [0,1] 0.9974971080029446 Centerline is valid? [True, True] Translation: X:50.39, Y:5.58, Z:5.88 [[ 9.58989640e-01 -2.54053182e-01 -1.25681545e-01 5.03902966e+01] [ 2.52672426e-01 9.67172923e-01 -2.70773213e-02 5.57902122e+00] [ 1.28434867e-01 -5.78939022e-03 9.91701048e-01 5.88170922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72710568099999 meters Centerline goodness [0,1] 0.9968065214194172 Centerline is valid? [True, True] Translation: X:50.42, Y:5.61, Z:5.88 [[ 9.61842394e-01 -2.41888964e-01 -1.27862967e-01 5.04154628e+01] [ 2.40352045e-01 9.70294707e-01 -2.75513315e-02 5.60729673e+00] [ 1.30729123e-01 -4.23208699e-03 9.91409091e-01 5.88173739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75710568099999 meters Centerline goodness [0,1] 0.9967580994884534 Centerline is valid? [True, True] Translation: X:50.44, Y:5.62, Z:5.88 [[ 9.63670076e-01 -2.34457236e-01 -1.27944480e-01 5.04412198e+01] [ 2.32852154e-01 9.72121108e-01 -2.75758239e-02 5.62379324e+00] [ 1.30842881e-01 -3.21815155e-03 9.91397894e-01 5.88312379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.787105680999986 meters Centerline goodness [0,1] 0.9968079968079968 Centerline is valid? [True, True] Translation: X:50.47, Y:5.65, Z:5.88 [[ 9.67429752e-01 -2.18056115e-01 -1.28573734e-01 5.04653528e+01] [ 2.16289270e-01 9.75935729e-01 -2.77201092e-02 5.65229861e+00] [ 1.31524240e-01 -9.91860659e-04 9.91312459e-01 5.88436111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81710568099999 meters Centerline goodness [0,1] 0.9972472051777759 Centerline is valid? [True, True] Translation: X:50.49, Y:5.67, Z:5.89 [[ 9.68612009e-01 -2.12020945e-01 -1.29760913e-01 5.04923229e+01] [ 2.10166349e-01 9.77265108e-01 -2.79824011e-02 5.66812291e+00] [ 1.32743668e-01 -1.67287571e-04 9.91150388e-01 5.88653772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84710568099999 meters Centerline goodness [0,1] 0.9971896562572093 Centerline is valid? [True, True] Translation: X:50.52, Y:5.69, Z:5.89 [[ 9.69769704e-01 -2.05404204e-01 -1.31741545e-01 5.05177281e+01] [ 2.03430615e-01 9.78676934e-01 -2.84155558e-02 5.68906602e+00] [ 1.34769086e-01 7.56281548e-04 9.90876744e-01 5.88899417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87710568099999 meters Centerline goodness [0,1] 0.9972948602344455 Centerline is valid? [True, True] Translation: X:50.55, Y:5.70, Z:5.89 [[ 9.69848948e-01 -2.05815497e-01 -1.30510534e-01 5.05462075e+01] [ 2.03882136e-01 9.78590567e-01 -2.81527379e-02 5.69786519e+00] [ 1.33510648e-01 6.95136774e-04 9.91047135e-01 5.89475791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.90710568099999 meters Centerline goodness [0,1] 0.9975941422594142 Centerline is valid? [True, True] Translation: X:50.58, Y:5.70, Z:5.90 [[ 9.69575636e-01 -2.08401133e-01 -1.28421395e-01 5.05762905e+01] [ 2.06551973e-01 9.78043382e-01 -2.77024602e-02 5.69935566e+00] [ 1.31374919e-01 3.33938059e-04 9.91332698e-01 5.89643480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93710568099999 meters Centerline goodness [0,1] 0.9971858789927966 Centerline is valid? [True, True] Translation: X:50.61, Y:5.70, Z:5.90 [[ 9.69150599e-01 -2.10762576e-01 -1.27774230e-01 5.06066114e+01] [ 2.08952150e-01 9.77537281e-01 -2.75656018e-02 5.70212153e+00] [ 1.30713870e-01 1.65194023e-05 9.91420135e-01 5.90231215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.967105680999985 meters Centerline goodness [0,1] 0.9971133330544283 Centerline is valid? [True, True] Translation: X:50.64, Y:5.70, Z:5.91 [[ 9.68069455e-01 -2.14957522e-01 -1.28975942e-01 5.06364330e+01] [ 2.13149660e-01 9.76623242e-01 -2.78256318e-02 5.70363812e+00] [ 1.31942232e-01 -5.54034025e-04 9.91257252e-01 5.90567635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99710568099999 meters Centerline goodness [0,1] 0.996996303142329 Centerline is valid? [True, True] Translation: X:50.67, Y:5.71, Z:5.91 [[ 9.67373515e-01 -2.17820491e-01 -1.29393647e-01 5.06650138e+01] [ 2.16025434e-01 9.75988396e-01 -2.79224535e-02 5.70675192e+00] [ 1.32368780e-01 -9.40876711e-04 9.91200091e-01 5.90817475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02710568099999 meters Centerline goodness [0,1] 0.9967942673958137 Centerline is valid? [True, True] Translation: X:50.69, Y:5.71, Z:5.91 [[ 9.66119239e-01 -2.23291638e-01 -1.29439024e-01 5.06941628e+01] [ 2.21542295e-01 9.74750241e-01 -2.79460132e-02 5.70580387e+00] [ 1.32410830e-01 -1.67703738e-03 9.91193503e-01 5.91162262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05710568099999 meters Centerline goodness [0,1] 0.9966445767972486 Centerline is valid? [True, True] Translation: X:50.72, Y:5.70, Z:5.92 [[ 9.64406362e-01 -2.31231101e-01 -1.28267481e-01 5.07243047e+01] [ 2.29577960e-01 9.72895101e-01 -2.77323621e-02 5.70219691e+00] [ 1.31203388e-01 -2.70212007e-03 9.91351789e-01 5.91719309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08710568099999 meters Centerline goodness [0,1] 0.996410880698514 Centerline is valid? [True, True] Translation: X:50.75, Y:5.70, Z:5.92 [[ 9.63278993e-01 -2.36125154e-01 -1.27822119e-01 5.07534106e+01] [ 2.34524603e-01 9.71716899e-01 -2.76491979e-02 5.70297601e+00] [ 1.30735584e-01 -3.34354010e-03 9.91411634e-01 5.92117260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11710568099999 meters Centerline goodness [0,1] 0.9963660806183965 Centerline is valid? [True, True] Translation: X:50.78, Y:5.70, Z:5.93 [[ 9.61726536e-01 -2.42702080e-01 -1.27191862e-01 5.07842398e+01] [ 2.41169372e-01 9.70091876e-01 -2.75515385e-02 5.69938071e+00] [ 1.30074608e-01 -4.17773570e-03 9.91495407e-01 5.92527220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.147105680999985 meters Centerline goodness [0,1] 0.9962342308416494 Centerline is valid? [True, True] Translation: X:50.81, Y:5.70, Z:5.93 [[ 9.61006965e-01 -2.46114079e-01 -1.26069320e-01 5.08126091e+01] [ 2.44636636e-01 9.69229996e-01 -2.73154164e-02 5.69857048e+00] [ 1.28912875e-01 -4.59086898e-03 9.91645297e-01 5.93028055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177105680999986 meters Centerline goodness [0,1] 0.9962316291923126 Centerline is valid? [True, True] Translation: X:50.84, Y:5.70, Z:5.94 [[ 9.60657450e-01 -2.47538443e-01 -1.25944365e-01 5.08399563e+01] [ 2.46073767e-01 9.68866382e-01 -2.73063274e-02 5.70443973e+00] [ 1.28782627e-01 -4.75957751e-03 9.91661425e-01 5.93529919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20710568099999 meters Centerline goodness [0,1] 0.9966686221924237 Centerline is valid? [True, True] Translation: X:50.87, Y:5.71, Z:5.94 [[ 9.60677744e-01 -2.48214093e-01 -1.24450937e-01 5.08680348e+01] [ 2.46784286e-01 9.68693550e-01 -2.70244648e-02 5.70716742e+00] [ 1.27262673e-01 -4.75073376e-03 9.91857673e-01 5.93914101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23710568099999 meters Centerline goodness [0,1] 0.9968567297416232 Centerline is valid? [True, True] Translation: X:50.90, Y:5.71, Z:5.94 [[ 9.60713105e-01 -2.47922653e-01 -1.24758519e-01 5.08956919e+01] [ 2.46477517e-01 9.68768525e-01 -2.71362841e-02 5.71233059e+00] [ 1.27589826e-01 -4.67998632e-03 9.91815978e-01 5.94153686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26710568099999 meters Centerline goodness [0,1] 0.996341667363492 Centerline is valid? [True, True] Translation: X:50.92, Y:5.72, Z:5.94 [[ 9.60622714e-01 -2.47866438e-01 -1.25563651e-01 5.09228409e+01] [ 2.46400123e-01 9.68782869e-01 -2.73264107e-02 5.71680253e+00] [ 1.28417214e-01 -4.68852814e-03 9.91709149e-01 5.94324305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29710568099999 meters Centerline goodness [0,1] 0.9962875959562062 Centerline is valid? [True, True] Translation: X:50.95, Y:5.73, Z:5.95 [[ 9.60172924e-01 -2.49614355e-01 -1.25541347e-01 5.09498778e+01] [ 2.48161154e-01 9.68332908e-01 -2.73389923e-02 5.72591212e+00] [ 1.28390023e-01 -4.90432541e-03 9.91711626e-01 5.94726761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32710568099999 meters Centerline goodness [0,1] 0.9966191386153168 Centerline is valid? [True, True] Translation: X:50.98, Y:5.73, Z:5.95 [[ 9.59608235e-01 -2.51724202e-01 -1.25646176e-01 5.09779213e+01] [ 2.50281178e-01 9.67785306e-01 -2.74031807e-02 5.73008555e+00] [ 1.28496566e-01 -5.15055501e-03 9.91696579e-01 5.94968849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357105680999986 meters Centerline goodness [0,1] 0.9965105524257967 Centerline is valid? [True, True] Translation: X:51.01, Y:5.73, Z:5.95 [[ 9.58136414e-01 -2.57113056e-01 -1.25966218e-01 5.10072414e+01] [ 2.55704033e-01 9.66363615e-01 -2.75102080e-02 5.73094755e+00] [ 1.28802404e-01 -5.85153811e-03 9.91653014e-01 5.95023619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38710568099999 meters Centerline goodness [0,1] 0.9964139666561812 Centerline is valid? [True, True] Translation: X:51.04, Y:5.73, Z:5.95 [[ 9.55803733e-01 -2.65253754e-01 -1.26805638e-01 5.10373596e+01] [ 2.63896509e-01 9.64153288e-01 -2.76960154e-02 5.73282066e+00] [ 1.29606545e-01 -6.99161040e-03 9.91540852e-01 5.95307515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41710568099999 meters Centerline goodness [0,1] 0.9963777219430485 Centerline is valid? [True, True] Translation: X:51.07, Y:5.74, Z:5.96 [[ 9.54394467e-01 -2.69779980e-01 -1.27866975e-01 5.10659421e+01] [ 2.68439769e-01 9.62891463e-01 -2.79306625e-02 5.74124274e+00] [ 1.30657153e-01 -7.66771157e-03 9.91397960e-01 5.95696438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44710568099999 meters Centerline goodness [0,1] 0.9956436141247434 Centerline is valid? [True, True] Translation: X:51.10, Y:5.74, Z:5.96 [[ 9.51777773e-01 -2.77985490e-01 -1.29781114e-01 5.10957155e+01] [ 2.76679822e-01 9.60543828e-01 -2.83519038e-02 5.74335341e+00] [ 1.32541866e-01 -8.92310369e-03 9.91137242e-01 5.95854529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47710568099999 meters Centerline goodness [0,1] 0.9770976385865014 Centerline is valid? [True, True] Translation: X:51.13, Y:5.74, Z:5.96 [[ 9.50711918e-01 -2.81278109e-01 -1.30497031e-01 5.11260371e+01] [ 2.79988278e-01 9.59579945e-01 -2.85112935e-02 5.74337745e+00] [ 1.33241936e-01 -9.43161243e-03 9.91038663e-01 5.95988493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50710568099999 meters Centerline goodness [0,1] 0.9239043657296525 Centerline is valid? [True, False] Translation: X:51.10, Y:5.74, Z:5.95 [[ 9.49558801e-01 -2.83158699e-01 -1.34756203e-01 5.10957260e+01] [ 2.84824739e-01 9.58552875e-01 -7.15921041e-03 5.73837544e+00] [ 1.31198139e-01 -3.15838092e-02 9.90852921e-01 5.94890062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537105680999986 meters Centerline goodness [0,1] 0.8981417899577585 Centerline is valid? [False, False] Translation: X:51.09, Y:5.74, Z:5.95 [[ 9.50201299e-01 -2.80929182e-01 -1.34893611e-01 5.10935443e+01] [ 2.82870723e-01 9.59145270e-01 -4.95033030e-03 5.74127804e+00] [ 1.30773261e-01 -3.34536430e-02 9.90847722e-01 5.94900244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56710568099999 meters Centerline goodness [0,1] 0.8574772703521789 Centerline is valid? [False, False] Translation: X:51.06, Y:5.73, Z:5.94 [[ 9.51195138e-01 -2.78319514e-01 -1.33289371e-01 5.10625833e+01] [ 2.81780915e-01 9.59449730e-01 7.46536422e-03 5.73359912e+00] [ 1.25806695e-01 -4.46594192e-02 9.91049046e-01 5.93844976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59710568099999 meters Centerline goodness [0,1] 0.8970342522974102 Centerline is valid? [False, False] Translation: X:51.05, Y:5.74, Z:5.94 [[ 9.52151008e-01 -2.76601165e-01 -1.30000978e-01 5.10477026e+01] [ 2.79200183e-01 9.60231149e-01 1.84368314e-03 5.73523761e+00] [ 1.24321024e-01 -3.80517616e-02 9.91512151e-01 5.93516334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62710568099999 meters Centerline goodness [0,1] 0.8992796742875039 Centerline is valid? [False, False] Translation: X:51.04, Y:5.74, Z:5.94 [[ 9.53220508e-01 -2.72781125e-01 -1.30234869e-01 5.10437104e+01] [ 2.75736926e-01 9.61220765e-01 4.87742412e-03 5.74216474e+00] [ 1.23853991e-01 -4.05598230e-02 9.91471174e-01 5.93558304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65710568099999 meters Centerline goodness [0,1] 0.940198712741361 Centerline is valid? [False, False] Translation: X:51.04, Y:5.75, Z:5.94 [[ 9.54794185e-01 -2.67218852e-01 -1.30238815e-01 5.10383535e+01] [ 2.70655546e-01 9.62633140e-01 9.11110180e-03 5.74943413e+00] [ 1.22937541e-01 -4.39490846e-02 9.91440789e-01 5.93644526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68710568099999 meters Centerline goodness [0,1] 0.966343638152249 Centerline is valid? [False, True] Translation: X:51.03, Y:5.75, Z:5.94 [[ 9.55921667e-01 -2.63222345e-01 -1.30106738e-01 5.10271786e+01] [ 2.65657952e-01 9.64066307e-01 1.41728501e-03 5.75182629e+00] [ 1.25058462e-01 -3.59187031e-02 9.91498980e-01 5.93646194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717105680999985 meters Centerline goodness [0,1] 0.9794120723925097 Centerline is valid? [True, True] Translation: X:51.05, Y:5.78, Z:5.95 [[ 9.56118995e-01 -2.64211946e-01 -1.26603774e-01 5.10542731e+01] [ 2.63373865e-01 9.64404620e-01 -2.36206701e-02 5.77591880e+00] [ 1.28338127e-01 -1.07599538e-02 9.91672097e-01 5.94563616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74710568099999 meters Centerline goodness [0,1] 0.8979736935655883 Centerline is valid? [True, False] Translation: X:51.04, Y:5.77, Z:5.94 [[ 9.59228498e-01 -2.54305396e-01 -1.23326618e-01 5.10394297e+01] [ 2.53958012e-01 9.67032625e-01 -1.87944237e-02 5.77357521e+00] [ 1.24040386e-01 -1.32916359e-02 9.92188145e-01 5.93942699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77710568099999 meters Centerline goodness [0,1] 0.9914987405541562 Centerline is valid? [False, True] Translation: X:51.03, Y:5.78, Z:5.94 [[ 9.62683080e-01 -2.39439983e-01 -1.26133985e-01 5.10283005e+01] [ 2.39198969e-01 9.70816803e-01 -1.72797103e-02 5.77979416e+00] [ 1.26590446e-01 -1.35362344e-02 9.91862707e-01 5.93802332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80710568099999 meters Centerline goodness [0,1] 0.9922285762165106 Centerline is valid? [True, True] Translation: X:51.06, Y:5.80, Z:5.94 [[ 9.65013203e-01 -2.31008894e-01 -1.24033903e-01 5.10557777e+01] [ 2.30102150e-01 9.72922600e-01 -2.17856697e-02 5.79527355e+00] [ 1.25708071e-01 -7.51700889e-03 9.92038797e-01 5.94342183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83710568099999 meters Centerline goodness [0,1] 0.9946114338637703 Centerline is valid? [True, True] Translation: X:51.08, Y:5.83, Z:5.95 [[ 9.69318573e-01 -2.13656506e-01 -1.21541766e-01 5.10793015e+01] [ 2.12649696e-01 9.76895261e-01 -2.13484491e-02 5.83263768e+00] [ 1.23294810e-01 -5.15237135e-03 9.92356712e-01 5.95247411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86710568099999 meters Centerline goodness [0,1] 0.9957174802750939 Centerline is valid? [True, True] Translation: X:51.11, Y:5.85, Z:5.95 [[ 9.71430535e-01 -2.03444760e-01 -1.22200434e-01 5.11053492e+01] [ 2.02346354e-01 9.79078757e-01 -2.14648656e-02 5.85254987e+00] [ 1.24010763e-01 -3.87518639e-03 9.92273306e-01 5.95494794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897105680999985 meters Centerline goodness [0,1] 0.9964047795283917 Centerline is valid? [True, True] Translation: X:51.14, Y:5.86, Z:5.96 [[ 9.71880109e-01 -2.01119470e-01 -1.22474536e-01 5.11372540e+01] [ 1.99997671e-01 9.79560156e-01 -2.15135444e-02 5.86075698e+00] [ 1.24297968e-01 -3.58603609e-03 9.92238457e-01 5.95629418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.927105680999986 meters Centerline goodness [0,1] 0.9961099365750529 Centerline is valid? [True, True] Translation: X:51.17, Y:5.87, Z:5.96 [[ 9.71345397e-01 -2.03352904e-01 -1.23027298e-01 5.11688438e+01] [ 2.02240827e-01 9.79097718e-01 -2.15941364e-02 5.86679254e+00] [ 1.24846977e-01 -3.90577743e-03 9.92168321e-01 5.95625887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95710568099999 meters Centerline goodness [0,1] 0.995927592162214 Centerline is valid? [True, True] Translation: X:51.20, Y:5.87, Z:5.96 [[ 9.69108241e-01 -2.12830212e-01 -1.24629525e-01 5.11983187e+01] [ 2.11768026e-01 9.77075344e-01 -2.18649136e-02 5.87269878e+00] [ 1.26425951e-01 -5.20308068e-03 9.91962402e-01 5.96145239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98710568099999 meters Centerline goodness [0,1] 0.9953081544699913 Centerline is valid? [True, True] Translation: X:51.23, Y:5.87, Z:5.96 [[ 9.67609995e-01 -2.18727855e-01 -1.26051668e-01 5.12288881e+01] [ 2.17690961e-01 9.75767192e-01 -2.21140678e-02 5.87193014e+00] [ 1.27834044e-01 -6.04251569e-03 9.91777165e-01 5.96387511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01710568099999 meters Centerline goodness [0,1] 0.9948587210537497 Centerline is valid? [True, True] Translation: X:51.26, Y:5.87, Z:5.96 [[ 9.64784796e-01 -2.29820491e-01 -1.27956399e-01 5.12596426e+01] [ 2.28848376e-01 9.73203178e-01 -2.24498209e-02 5.86744804e+00] [ 1.29687003e-01 -7.62336828e-03 9.91525676e-01 5.96486848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04710568099999 meters Centerline goodness [0,1] 0.9937086866883462 Centerline is valid? [True, True] Translation: X:51.29, Y:5.87, Z:5.97 [[ 9.62699183e-01 -2.37396125e-01 -1.29820503e-01 5.12914470e+01] [ 2.36463458e-01 9.71373348e-01 -2.27783061e-02 5.86706900e+00] [ 1.31511659e-01 -8.76914848e-03 9.91275837e-01 5.96505610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07710568099999 meters Centerline goodness [0,1] 0.9903088007140883 Centerline is valid? [True, True] Translation: X:51.32, Y:5.87, Z:5.97 [[ 9.61850901e-01 -2.40209763e-01 -1.30927899e-01 5.13210903e+01] [ 2.39287551e-01 9.70677051e-01 -2.29680472e-02 5.86948449e+00] [ 1.32605856e-01 -9.23757942e-03 9.91125801e-01 5.96698718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.107105680999986 meters Centerline goodness [0,1] 0.9699232081911263 Centerline is valid? [True, True] Translation: X:51.35, Y:5.87, Z:5.97 [[ 9.60517171e-01 -2.45038167e-01 -1.31768970e-01 5.13502129e+01] [ 2.44150444e-01 9.69462078e-01 -2.31049660e-02 5.87151337e+00] [ 1.33406618e-01 -9.97873586e-03 9.91011150e-01 5.96918909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13710568099999 meters Centerline goodness [0,1] 0.9551532211630733 Centerline is valid? [True, True] Translation: X:51.38, Y:5.88, Z:5.97 [[ 9.60545009e-01 -2.45764509e-01 -1.30204038e-01 5.13808199e+01] [ 2.44905444e-01 9.69278330e-01 -2.28219590e-02 5.87665218e+00] [ 1.31812780e-01 -9.96615892e-03 9.91224529e-01 5.97413081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16710568099999 meters Centerline goodness [0,1] 0.9515935572309802 Centerline is valid? [True, True] Translation: X:51.41, Y:5.89, Z:5.98 [[ 9.60824006e-01 -2.44629878e-01 -1.30282203e-01 5.14109164e+01] [ 2.43760613e-01 9.69566755e-01 -2.28269777e-02 5.88742548e+00] [ 1.31901454e-01 -9.82496147e-03 9.91214143e-01 5.97989191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19710568099999 meters Centerline goodness [0,1] 0.9903393025447691 Centerline is valid? [True, True] Translation: X:51.44, Y:5.90, Z:5.98 [[ 9.61073465e-01 -2.42881437e-01 -1.31705740e-01 5.14406533e+01] [ 2.41978365e-01 9.70007457e-01 -2.30652008e-02 5.90301076e+00] [ 1.33357659e-01 -9.70258719e-03 9.91020481e-01 5.98448247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22710568099999 meters Centerline goodness [0,1] 0.9952236493900471 Centerline is valid? [True, True] Translation: X:51.47, Y:5.92, Z:5.99 [[ 9.62451822e-01 -2.37347548e-01 -1.31729384e-01 5.14690126e+01] [ 2.36394039e-01 9.71383605e-01 -2.30597242e-02 5.91873324e+00] [ 1.33432933e-01 -8.94616762e-03 9.91017466e-01 5.98744271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25710568099999 meters Centerline goodness [0,1] 0.9966818477553676 Centerline is valid? [True, True] Translation: X:51.50, Y:5.93, Z:5.99 [[ 9.65596246e-01 -2.24902215e-01 -1.30548396e-01 5.14966429e+01] [ 2.23852552e-01 9.74355055e-01 -2.28530281e-02 5.93125819e+00] [ 1.32340186e-01 -7.15679348e-03 9.91178518e-01 5.99047331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.287105680999986 meters Centerline goodness [0,1] 0.9966818477553676 Centerline is valid? [True, True] Translation: X:51.53, Y:5.94, Z:5.99 [[ 9.65622517e-01 -2.24789142e-01 -1.30548830e-01 5.15285843e+01] [ 2.23738788e-01 9.74381243e-01 -2.28505479e-02 5.93671391e+00] [ 1.32340886e-01 -7.14383340e-03 9.91178518e-01 5.99409533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31710568099999 meters Centerline goodness [0,1] 0.9973835574968646 Centerline is valid? [True, True] Translation: X:51.55, Y:5.96, Z:6.00 [[ 9.68078445e-01 -2.14896314e-01 -1.29010456e-01 5.15540853e+01] [ 2.13784855e-01 9.76620044e-01 -2.25682308e-02 5.96221621e+00] [ 1.30844027e-01 -5.73266376e-03 9.91386392e-01 6.00440456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34710568099999 meters Centerline goodness [0,1] 0.9988983629673696 Centerline is valid? [True, True] Translation: X:51.58, Y:5.99, Z:6.01 [[ 9.73232888e-01 -1.92415013e-01 -1.25675009e-01 5.15786000e+01] [ 1.91172980e-01 9.81310119e-01 -2.19850221e-02 5.99311187e+00] [ 1.27556406e-01 -2.62911931e-03 9.91827833e-01 6.01463836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37710568099999 meters Centerline goodness [0,1] 0.9993769470404984 Centerline is valid? [True, True] Translation: X:51.61, Y:6.01, Z:6.02 [[ 9.76523181e-01 -1.75098483e-01 -1.25471103e-01 5.16052829e+01] [ 1.73717666e-01 9.84550857e-01 -2.19495445e-02 6.01421404e+00] [ 1.27376014e-01 -3.62308264e-04 9.91854435e-01 6.01733512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40710568099999 meters Centerline goodness [0,1] 0.9992863992150391 Centerline is valid? [True, True] Translation: X:51.64, Y:6.02, Z:6.02 [[ 9.77435288e-01 -1.69234884e-01 -1.26411282e-01 5.16352113e+01] [ 1.67784946e-01 9.85575666e-01 -2.21092358e-02 6.02444745e+00] [ 1.28329538e-01 4.00437101e-04 9.91731501e-01 6.01814998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43710568099999 meters Centerline goodness [0,1] 0.9994876592711396 Centerline is valid? [True, True] Translation: X:51.67, Y:6.03, Z:6.02 [[ 9.78425867e-01 -1.63027521e-01 -1.26904890e-01 5.16659434e+01] [ 1.61518795e-01 9.86620811e-01 -2.21597330e-02 6.03224420e+00] [ 1.28819652e-01 1.18413109e-03 9.91667331e-01 6.02216990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.467105680999985 meters Centerline goodness [0,1] 0.9995107414490949 Centerline is valid? [True, True] Translation: X:51.70, Y:6.04, Z:6.03 [[ 9.78722148e-01 -1.61151294e-01 -1.27016602e-01 5.16974738e+01] [ 1.59628898e-01 9.86928727e-01 -2.21428005e-02 6.03626705e+00] [ 1.28924674e-01 1.39612909e-03 9.91653407e-01 6.02554706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49710568099999 meters Centerline goodness [0,1] 0.999425680899472 Centerline is valid? [True, True] Translation: X:51.73, Y:6.04, Z:6.03 [[ 9.78740168e-01 -1.59309073e-01 -1.29183215e-01 5.17304948e+01] [ 1.57723431e-01 9.87227417e-01 -2.24799180e-02 6.03604640e+00] [ 1.31114467e-01 1.62677881e-03 9.91365901e-01 6.02761758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52710568099999 meters Centerline goodness [0,1] 0.9992751554022887 Centerline is valid? [True, True] Translation: X:51.76, Y:6.03, Z:6.03 [[ 9.78938076e-01 -1.57529458e-01 -1.29864213e-01 5.17634024e+01] [ 1.55916206e-01 9.87512576e-01 -2.25621061e-02 6.03483692e+00] [ 1.31796740e-01 1.83896931e-03 9.91275056e-01 6.02994117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55710568099999 meters Centerline goodness [0,1] 0.9992802931169851 Centerline is valid? [True, True] Translation: X:51.80, Y:6.04, Z:6.03 [[ 9.79094149e-01 -1.55874338e-01 -1.30682200e-01 5.17950921e+01] [ 1.54228044e-01 9.87774747e-01 -2.26883173e-02 6.03705479e+00] [ 1.32621104e-01 2.05913860e-03 9.91164670e-01 6.03312059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58710568099999 meters Centerline goodness [0,1] 0.9993064586042479 Centerline is valid? [True, True] Translation: X:51.83, Y:6.04, Z:6.03 [[ 9.78907300e-01 -1.54934634e-01 -1.33175664e-01 5.18282764e+01] [ 1.53220658e-01 9.87922287e-01 -2.30864798e-02 6.03597371e+00] [ 1.35144102e-01 2.19426069e-03 9.90823525e-01 6.03213791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61710568099999 meters Centerline goodness [0,1] 0.9993161370290428 Centerline is valid? [True, True] Translation: X:51.86, Y:6.03, Z:6.03 [[ 9.78509614e-01 -1.58030313e-01 -1.32458886e-01 5.18625946e+01] [ 1.56365110e-01 9.87432725e-01 -2.29470372e-02 6.02696043e+00] [ 1.34420566e-01 1.74194831e-03 9.90922841e-01 6.03270085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.647105680999985 meters Centerline goodness [0,1] 0.999067678094673 Centerline is valid? [True, True] Translation: X:51.89, Y:6.02, Z:6.04 [[ 9.78372008e-01 -1.60245956e-01 -1.30803084e-01 5.18944896e+01] [ 1.58643975e-01 9.87076117e-01 -2.26457323e-02 6.02403368e+00] [ 1.32741488e-01 1.40482943e-03 9.91149698e-01 6.03596965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677105680999986 meters Centerline goodness [0,1] 0.9982726296054433 Centerline is valid? [True, True] Translation: X:51.93, Y:6.01, Z:6.04 [[ 9.77360238e-01 -1.66883440e-01 -1.30064920e-01 5.19288397e+01] [ 1.65361051e-01 9.85976515e-01 -2.24952014e-02 6.01184929e+00] [ 1.31995033e-01 4.78243607e-04 9.91250262e-01 6.03992083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70710568099999 meters Centerline goodness [0,1] 0.9970102116012212 Centerline is valid? [True, True] Translation: X:51.96, Y:6.00, Z:6.04 [[ 9.75608060e-01 -1.75931965e-01 -1.31289214e-01 5.19634832e+01] [ 1.74463940e-01 9.84402030e-01 -2.26930873e-02 5.99772060e+00] [ 1.33233808e-01 -7.65674539e-04 9.91084339e-01 6.04206959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73710568099999 meters Centerline goodness [0,1] 0.9964615481250393 Centerline is valid? [True, True] Translation: X:52.00, Y:5.99, Z:6.05 [[ 9.74694520e-01 -1.80872726e-01 -1.31360761e-01 5.19954149e+01] [ 1.79450426e-01 9.83505425e-01 -2.26853114e-02 5.99271264e+00] [ 1.33297175e-01 -1.46149575e-03 9.91075036e-01 6.04530466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76710568099999 meters Centerline goodness [0,1] 0.9947276288917601 Centerline is valid? [True, True] Translation: X:52.03, Y:5.98, Z:6.05 [[ 9.72970930e-01 -1.90398656e-01 -1.30674867e-01 5.20285024e+01] [ 1.89079014e-01 9.81702952e-01 -2.25486279e-02 5.97532554e+00] [ 1.32577131e-01 -2.76871548e-03 9.91168824e-01 6.04734918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79710568099999 meters Centerline goodness [0,1] 0.9946806282722513 Centerline is valid? [True, True] Translation: X:52.06, Y:5.97, Z:6.05 [[ 9.72418007e-01 -1.93426798e-01 -1.30342987e-01 5.20606073e+01] [ 1.92141049e-01 9.81109575e-01 -2.24904181e-02 5.97042330e+00] [ 1.32231002e-01 -3.17415067e-03 9.91213845e-01 6.05097762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82710568099999 meters Centerline goodness [0,1] 0.9942590148134179 Centerline is valid? [True, True] Translation: X:52.09, Y:5.96, Z:6.06 [[ 9.72785255e-01 -1.93858671e-01 -1.26915968e-01 5.20915935e+01] [ 1.92644063e-01 9.81024408e-01 -2.18946774e-02 5.96219255e+00] [ 1.28752136e-01 -3.15078839e-03 9.91671801e-01 6.05929083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857105680999986 meters Centerline goodness [0,1] 0.9948925125070647 Centerline is valid? [True, True] Translation: X:52.12, Y:5.97, Z:6.07 [[ 9.74214894e-01 -1.87371584e-01 -1.25687034e-01 5.21220109e+01] [ 1.86126480e-01 9.82286486e-01 -2.16839138e-02 5.96787476e+00] [ 1.27523624e-01 -2.26889336e-03 9.91832938e-01 6.06974409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88710568099999 meters Centerline goodness [0,1] 0.9954174513496548 Centerline is valid? [True, True] Translation: X:52.15, Y:5.97, Z:6.07 [[ 9.75182473e-01 -1.82062477e-01 -1.25985712e-01 5.21523215e+01] [ 1.80768391e-01 9.83285684e-01 -2.17267531e-02 5.97323680e+00] [ 1.27835574e-01 -1.58668563e-03 9.91794106e-01 6.07259834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91710568099999 meters Centerline goodness [0,1] 0.9960806505700872 Centerline is valid? [True, True] Translation: X:52.18, Y:5.98, Z:6.08 [[ 9.77421022e-01 -1.71156331e-01 -1.23909875e-01 5.21829773e+01] [ 1.69817956e-01 9.85243871e-01 -2.13629909e-02 5.97938097e+00] [ 1.25737856e-01 -1.61485370e-04 9.92063489e-01 6.07566878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94710568099999 meters Centerline goodness [0,1] 0.9971043686264636 Centerline is valid? [True, True] Translation: X:52.21, Y:5.98, Z:6.08 [[ 9.78796662e-01 -1.63764150e-01 -1.23038195e-01 5.22139613e+01] [ 1.62387095e-01 9.86499214e-01 -2.12068954e-02 5.98313652e+00] [ 1.24850012e-01 7.77423306e-04 9.92175322e-01 6.07750420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97710568099999 meters Centerline goodness [0,1] 0.9967034120734908 Centerline is valid? [True, True] Translation: X:52.24, Y:5.99, Z:6.08 [[ 9.79052702e-01 -1.61714928e-01 -1.23709692e-01 5.22437817e+01] [ 1.60307243e-01 9.86836969e-01 -2.13162698e-02 5.98762476e+00] [ 1.25528457e-01 1.03819172e-03 9.92089476e-01 6.07881221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00710568099999 meters Centerline goodness [0,1] 0.9975556819857977 Centerline is valid? [True, True] Translation: X:52.27, Y:5.99, Z:6.08 [[ 9.79179556e-01 -1.59747654e-01 -1.25252085e-01 5.22749051e+01] [ 1.58289549e-01 9.87157030e-01 -2.15735219e-02 5.98857212e+00] [ 1.27089796e-01 1.29825552e-03 9.91890366e-01 6.08020168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037105680999986 meters Centerline goodness [0,1] 0.9974371901520881 Centerline is valid? [True, True] Translation: X:52.31, Y:5.99, Z:6.08 [[ 9.79174733e-01 -1.59416073e-01 -1.25711409e-01 5.23054962e+01] [ 1.57944485e-01 9.87210567e-01 -2.16526364e-02 5.98988709e+00] [ 1.27555410e-01 1.34629060e-03 9.91830532e-01 6.08395705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06710568099999 meters Centerline goodness [0,1] 0.9976583734058122 Centerline is valid? [True, True] Translation: X:52.33, Y:5.99, Z:6.09 [[ 9.79136021e-01 -1.58391821e-01 -1.27297617e-01 5.23346946e+01] [ 1.56873898e-01 9.87375198e-01 -2.19271253e-02 5.98814508e+00] [ 1.29163587e-01 1.49996480e-03 9.91622165e-01 6.08590118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09710568099999 meters Centerline goodness [0,1] 0.9977609441700845 Centerline is valid? [True, True] Translation: X:52.36, Y:5.99, Z:6.09 [[ 9.79458261e-01 -1.57048903e-01 -1.26479865e-01 5.23640819e+01] [ 1.55537611e-01 9.87589399e-01 -2.17997802e-02 5.98653089e+00] [ 1.28333806e-01 1.67959860e-03 9.91729607e-01 6.09032164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.12710568099999 meters Centerline goodness [0,1] 0.9979700318098108 Centerline is valid? [True, True] Translation: X:52.39, Y:5.99, Z:6.10 [[ 9.79887868e-01 -1.55257868e-01 -1.25358527e-01 5.23924321e+01] [ 1.53753431e-01 9.87872075e-01 -2.16482306e-02 5.99031807e+00] [ 1.27199247e-01 1.93853476e-03 9.91875291e-01 6.09526677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15710568099999 meters Centerline goodness [0,1] 0.9979626984793749 Centerline is valid? [True, True] Translation: X:52.42, Y:6.00, Z:6.10 [[ 9.80968742e-01 -1.48574775e-01 -1.25003456e-01 5.24211600e+01] [ 1.47020065e-01 9.88897114e-01 -2.16240247e-02 5.99515406e+00] [ 1.26828341e-01 2.83447615e-03 9.91920631e-01 6.09933433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18710568099999 meters Centerline goodness [0,1] 0.9980938017134837 Centerline is valid? [True, True] Translation: X:52.45, Y:6.00, Z:6.10 [[ 9.81488352e-01 -1.44013432e-01 -1.26256665e-01 5.24500879e+01] [ 1.42388745e-01 9.89569664e-01 -2.18477903e-02 5.99535975e+00] [ 1.28086141e-01 3.46582356e-03 9.91756991e-01 6.09728573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217105680999985 meters Centerline goodness [0,1] 0.9980484324505813 Centerline is valid? [True, True] Translation: X:52.48, Y:6.00, Z:6.10 [[ 9.81459015e-01 -1.43997132e-01 -1.26503076e-01 5.24796105e+01] [ 1.42363815e-01 9.89571947e-01 -2.19067653e-02 5.99561437e+00] [ 1.28338406e-01 3.49113184e-03 9.91724289e-01 6.09916416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24710568099999 meters Centerline goodness [0,1] 0.997948030737662 Centerline is valid? [True, True] Translation: X:52.51, Y:5.99, Z:6.10 [[ 9.80748203e-01 -1.47091342e-01 -1.28441035e-01 5.25084192e+01] [ 1.45428343e-01 9.89117816e-01 -2.22832257e-02 5.99264063e+00] [ 1.30320985e-01 3.17526668e-03 9.91466771e-01 6.09987631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27710568099999 meters Centerline goodness [0,1] 0.9978260415142457 Centerline is valid? [True, True] Translation: X:52.54, Y:5.99, Z:6.10 [[ 9.80309191e-01 -1.49708656e-01 -1.28768041e-01 5.25374807e+01] [ 1.48056200e-01 9.88726017e-01 -2.23657161e-02 5.99182115e+00] [ 1.30664653e-01 2.86041029e-03 9.91422496e-01 6.10215343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30710568099999 meters Centerline goodness [0,1] 0.9979867038567204 Centerline is valid? [True, True] Translation: X:52.57, Y:5.98, Z:6.11 [[ 9.79949240e-01 -1.53865178e-01 -1.26589867e-01 5.25680104e+01] [ 1.52298211e-01 9.88089168e-01 -2.20238746e-02 5.98159391e+00] [ 1.28470784e-01 2.30286888e-03 9.91710620e-01 6.10844990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33710568099999 meters Centerline goodness [0,1] 0.9980524375942369 Centerline is valid? [True, True] Translation: X:52.60, Y:5.98, Z:6.11 [[ 9.79903377e-01 -1.55699201e-01 -1.24688133e-01 5.25969462e+01] [ 1.54192416e-01 9.87802402e-01 -2.17051582e-02 5.97556322e+00] [ 1.26546713e-01 2.04299327e-03 9.91958545e-01 6.11489409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36710568099999 meters Centerline goodness [0,1] 0.99821082765008 Centerline is valid? [True, True] Translation: X:52.62, Y:5.97, Z:6.12 [[ 9.80773447e-01 -1.52535977e-01 -1.21721902e-01 5.26246009e+01] [ 1.51074321e-01 9.88294989e-01 -2.12029156e-02 5.97431112e+00] [ 1.23531353e-01 2.40620295e-03 9.92337752e-01 6.12148347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397105680999985 meters Centerline goodness [0,1] 0.9985791299260312 Centerline is valid? [True, True] Translation: X:52.65, Y:5.98, Z:6.13 [[ 9.81385944e-01 -1.49857307e-01 -1.20101690e-01 5.26529108e+01] [ 1.48412520e-01 9.88703887e-01 -2.09367676e-02 5.97610467e+00] [ 1.21882535e-01 2.72245506e-03 9.92540798e-01 6.12576011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.427105680999986 meters Centerline goodness [0,1] 0.9989344810295838 Centerline is valid? [True, True] Translation: X:52.68, Y:5.97, Z:6.13 [[ 9.82029280e-01 -1.44642945e-01 -1.21230818e-01 5.26833784e+01] [ 1.43126618e-01 9.89477941e-01 -2.11701452e-02 5.97391446e+00] [ 1.23017332e-01 3.43834552e-03 9.92398566e-01 6.12716216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45710568099999 meters Centerline goodness [0,1] 0.9990148402783601 Centerline is valid? [True, True] Translation: X:52.71, Y:5.98, Z:6.13 [[ 9.81961111e-01 -1.43417118e-01 -1.23222996e-01 5.27113097e+01] [ 1.41839837e-01 9.89655569e-01 -2.15247576e-02 5.97609347e+00] [ 1.25035343e-01 3.65854521e-03 9.92145543e-01 6.12780561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48710568099999 meters Centerline goodness [0,1] 0.9990367299074423 Centerline is valid? [True, True] Translation: X:52.74, Y:5.97, Z:6.13 [[ 9.81844692e-01 -1.42136097e-01 -1.25611828e-01 5.27400904e+01] [ 1.40484425e-01 9.89839396e-01 -2.19566987e-02 5.97445275e+00] [ 1.27456376e-01 3.91156252e-03 9.91836464e-01 6.12580194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51710568099999 meters Centerline goodness [0,1] 0.9994983487312403 Centerline is valid? [True, True] Translation: X:52.77, Y:5.97, Z:6.13 [[ 9.81822189e-01 -1.42239043e-01 -1.25671176e-01 5.27695509e+01] [ 1.40584290e-01 9.89824581e-01 -2.19853626e-02 5.96620769e+00] [ 1.27519596e-01 3.91832374e-03 9.91828311e-01 6.12865974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54710568099999 meters Centerline goodness [0,1] 0.9994763630270406 Centerline is valid? [True, True] Translation: X:52.80, Y:5.96, Z:6.14 [[ 9.81825416e-01 -1.43767009e-01 -1.23894715e-01 5.27988231e+01] [ 1.42165558e-01 9.89604611e-01 -2.17179294e-02 5.96084760e+00] [ 1.25729103e-01 3.70965387e-03 9.92057675e-01 6.13675751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577105680999985 meters Centerline goodness [0,1] 0.9994145688717906 Centerline is valid? [True, True] Translation: X:52.83, Y:5.96, Z:6.14 [[ 9.81579395e-01 -1.47306388e-01 -1.21666423e-01 5.28272579e+01] [ 1.45784590e-01 9.89085620e-01 -2.13656310e-02 5.95727430e+00] [ 1.23485804e-01 3.23497350e-03 9.92341066e-01 6.14313953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.607105680999986 meters Centerline goodness [0,1] 0.9997692227000944 Centerline is valid? [True, True] Translation: X:52.86, Y:5.94, Z:6.15 [[ 9.80746666e-01 -1.52366802e-01 -1.22148822e-01 5.28589135e+01] [ 1.50869082e-01 9.88320513e-01 -2.14728703e-02 5.94491963e+00] [ 1.23993939e-01 2.63096530e-03 9.92279487e-01 6.14706747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63710568099999 meters Centerline goodness [0,1] 0.9997272002350275 Centerline is valid? [True, True] Translation: X:52.89, Y:5.94, Z:6.15 [[ 9.80093812e-01 -1.55788291e-01 -1.23069608e-01 5.28888002e+01] [ 1.54289611e-01 9.87787894e-01 -2.16746845e-02 5.94250666e+00] [ 1.24943331e-01 2.25486218e-03 9.92161317e-01 6.14810078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66710568099999 meters Centerline goodness [0,1] 0.9998955111594082 Centerline is valid? [True, True] Translation: X:52.92, Y:5.93, Z:6.15 [[ 9.78445481e-01 -1.64935838e-01 -1.24260254e-01 5.29194699e+01] [ 1.63476162e-01 9.86303642e-01 -2.19241933e-02 5.93266694e+00] [ 1.26174427e-01 1.13803841e-03 9.92007419e-01 6.14848567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69710568099999 meters Centerline goodness [0,1] 0.9999162654385597 Centerline is valid? [True, True] Translation: X:52.95, Y:5.92, Z:6.15 [[ 9.76414920e-01 -1.78059089e-01 -1.22101862e-01 5.29496374e+01] [ 1.76750028e-01 9.84019653e-01 -2.15580514e-02 5.92150178e+00] [ 1.23989239e-01 -5.31904552e-04 9.92283420e-01 6.15448382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72710568099999 meters Centerline goodness [0,1] 0.9999582489614429 Centerline is valid? [True, True] Translation: X:52.98, Y:5.92, Z:6.16 [[ 9.75478497e-01 -1.84914267e-01 -1.19366732e-01 5.29788524e+01] [ 1.83709768e-01 9.82753752e-01 -2.11135955e-02 5.91783282e+00] [ 1.21212309e-01 -1.33297628e-03 9.92625710e-01 6.16139411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75710568099999 meters Centerline goodness [0,1] 0.9999371569818594 Centerline is valid? [True, True] Translation: X:53.01, Y:5.91, Z:6.17 [[ 9.74088204e-01 -1.95438435e-01 -1.13824379e-01 5.30088091e+01] [ 1.94410891e-01 9.80712829e-01 -2.01681292e-02 5.90790357e+00] [ 1.15570657e-01 -2.48316229e-03 9.93296158e-01 6.17173899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.787105680999986 meters Centerline goodness [0,1] 0.9999372581825787 Centerline is valid? [True, True] Translation: X:53.04, Y:5.91, Z:6.18 [[ 9.73491065e-01 -1.98532517e-01 -1.13578108e-01 5.30368856e+01] [ 1.97529440e-01 9.80090198e-01 -2.01326524e-02 5.91069847e+00] [ 1.15313777e-01 -2.83606294e-03 9.93325067e-01 6.17566687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81710568099999 meters Centerline goodness [0,1] 0.999791571136771 Centerline is valid? [True, True] Translation: X:53.06, Y:5.91, Z:6.17 [[ 9.72467848e-01 -2.01360315e-01 -1.17304342e-01 5.30646757e+01] [ 2.00308891e-01 9.79511808e-01 -2.08078486e-02 5.91348478e+00] [ 1.19090863e-01 -3.26213879e-03 9.92878001e-01 6.17365701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84710568099999 meters Centerline goodness [0,1] 0.9998747076511861 Centerline is valid? [True, True] Translation: X:53.09, Y:5.92, Z:6.17 [[ 9.72150279e-01 -2.01964613e-01 -1.18887051e-01 5.30925813e+01] [ 2.00886924e-01 9.79387040e-01 -2.11061276e-02 5.91897747e+00] [ 1.20699128e-01 -3.36452621e-03 9.92683434e-01 6.17411079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87710568099999 meters Centerline goodness [0,1] 0.999916282963583 Centerline is valid? [True, True] Translation: X:53.12, Y:5.93, Z:6.17 [[ 9.71361560e-01 -2.03765269e-01 -1.22214707e-01 5.31209737e+01] [ 2.02637421e-01 9.79012908e-01 -2.17210081e-02 5.92597507e+00] [ 1.24075763e-01 -3.66632078e-03 9.92265974e-01 6.17249281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90710568099999 meters Centerline goodness [0,1] 0.9999579937830799 Centerline is valid? [True, True] Translation: X:53.15, Y:5.93, Z:6.17 [[ 9.70390611e-01 -2.07282826e-01 -1.23999566e-01 5.31499880e+01] [ 2.06145519e-01 9.78272299e-01 -2.20756437e-02 5.93203289e+00] [ 1.25881243e-01 -4.13995761e-03 9.92036680e-01 6.17402890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93710568099999 meters Centerline goodness [0,1] 0.9998536605761592 Centerline is valid? [True, True] Translation: X:53.18, Y:5.94, Z:6.18 [[ 9.69994313e-01 -2.09332539e-01 -1.23656462e-01 5.31777918e+01] [ 2.08217206e-01 9.77834672e-01 -2.20215673e-02 5.93567983e+00] [ 1.25525407e-01 -4.38660803e-03 9.92080707e-01 6.17711522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.967105680999985 meters Centerline goodness [0,1] 0.9998538378017205 Centerline is valid? [True, True] Translation: X:53.21, Y:5.94, Z:6.18 [[ 9.69203460e-01 -2.14126745e-01 -1.21632191e-01 5.32061276e+01] [ 2.13083496e-01 9.76793542e-01 -2.16748551e-02 5.94092257e+00] [ 1.23450705e-01 -4.91046796e-03 9.92338557e-01 6.18381109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99710568099999 meters Centerline goodness [0,1] 0.9994789278419276 Centerline is valid? [True, True] Translation: X:53.23, Y:5.95, Z:6.19 [[ 9.68260810e-01 -2.19368619e-01 -1.19784860e-01 5.32338136e+01] [ 2.18395655e-01 9.75626637e-01 -2.13542374e-02 5.94905718e+00] [ 1.21549750e-01 -5.48402171e-03 9.92570191e-01 6.18899513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02710568099999 meters Centerline goodness [0,1] 0.9992087454450806 Centerline is valid? [True, True] Translation: X:53.26, Y:5.96, Z:6.20 [[ 9.67508965e-01 -2.24701045e-01 -1.15913086e-01 5.32630399e+01] [ 2.23826756e-01 9.74409636e-01 -2.06747183e-02 5.95697506e+00] [ 1.17592458e-01 -5.94147471e-03 9.93044164e-01 6.19501168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05710568099999 meters Centerline goodness [0,1] 0.999183622205476 Centerline is valid? [True, True] Translation: X:53.29, Y:5.97, Z:6.20 [[ 9.66865680e-01 -2.27492411e-01 -1.15835914e-01 5.32916992e+01] [ 2.26639144e-01 9.73759627e-01 -2.06612545e-02 5.96561525e+00] [ 1.17496615e-01 -6.27629441e-03 9.93053450e-01 6.19748207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08710568099999 meters Centerline goodness [0,1] 0.9989141329769462 Centerline is valid? [True, True] Translation: X:53.32, Y:5.98, Z:6.20 [[ 9.65508533e-01 -2.32403023e-01 -1.17397221e-01 5.33205938e+01] [ 2.31561956e-01 9.72594656e-01 -2.09450748e-02 5.97581555e+00] [ 1.19047608e-01 -6.96208157e-03 9.92864138e-01 6.19712034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11710568099999 meters Centerline goodness [0,1] 0.9987054205295247 Centerline is valid? [True, True] Translation: X:53.35, Y:5.98, Z:6.20 [[ 9.65088666e-01 -2.34218319e-01 -1.17241828e-01 5.33477582e+01] [ 2.33392377e-01 9.72157562e-01 -2.09206280e-02 5.98362997e+00] [ 1.18877524e-01 -7.17308784e-03 9.92883015e-01 6.19907234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.147105680999985 meters Centerline goodness [0,1] 0.9985398414685023 Centerline is valid? [True, True] Translation: X:53.37, Y:6.00, Z:6.20 [[ 9.64573203e-01 -2.35164795e-01 -1.19566112e-01 5.33741335e+01] [ 2.34311580e-01 9.71927152e-01 -2.13470010e-02 5.99715507e+00] [ 1.21229614e-01 -7.42497961e-03 9.92596721e-01 6.19717863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177105680999986 meters Centerline goodness [0,1] 0.9985398414685023 Centerline is valid? [True, True] Translation: X:53.40, Y:6.00, Z:6.20 [[ 9.64492128e-01 -2.35498500e-01 -1.19563339e-01 5.34009971e+01] [ 2.34645913e-01 9.71846149e-01 -2.13625201e-02 6.00217591e+00] [ 1.21228012e-01 -7.45106648e-03 9.92596721e-01 6.20023464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20710568099999 meters Centerline goodness [0,1] 0.998765199556309 Centerline is valid? [True, True] Translation: X:53.43, Y:6.01, Z:6.20 [[ 9.64125877e-01 -2.35688115e-01 -1.22116359e-01 5.34280297e+01] [ 2.34794761e-01 9.71799076e-01 -2.18626526e-02 6.01485365e+00] [ 1.23825332e-01 -7.59393211e-03 9.92274972e-01 6.19970604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23710568099999 meters Centerline goodness [0,1] 0.999014323763186 Centerline is valid? [True, True] Translation: X:53.45, Y:6.03, Z:6.20 [[ 9.64012071e-01 -2.34922415e-01 -1.24467614e-01 5.34537587e+01] [ 2.33983275e-01 9.71984367e-01 -2.23207752e-02 6.02982716e+00] [ 1.26224225e-01 -7.60584318e-03 9.91972578e-01 6.19853576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26710568099999 meters Centerline goodness [0,1] 0.998680904522613 Centerline is valid? [True, True] Translation: X:53.48, Y:6.04, Z:6.20 [[ 9.64226560e-01 -2.34071195e-01 -1.24409875e-01 5.34803169e+01] [ 2.33123724e-01 9.72190729e-01 -2.23274799e-02 6.04192273e+00] [ 1.26176347e-01 -7.47414417e-03 9.91979671e-01 6.20206629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29710568099999 meters Centerline goodness [0,1] 0.9980333082266298 Centerline is valid? [True, True] Translation: X:53.51, Y:6.07, Z:6.21 [[ 9.65210753e-01 -2.31618096e-01 -1.21331196e-01 5.35057234e+01] [ 2.30693426e-01 9.72782040e-01 -2.18093004e-02 6.06501411e+00] [ 1.23080237e-01 -6.93973802e-03 9.92372458e-01 6.20924858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.327105680999985 meters Centerline goodness [0,1] 0.9976794748505248 Centerline is valid? [True, True] Translation: X:53.53, Y:6.07, Z:6.21 [[ 9.65304107e-01 -2.31353843e-01 -1.21092446e-01 5.35332119e+01] [ 2.30429683e-01 9.72845318e-01 -2.17749622e-02 6.07424689e+00] [ 1.22841940e-01 -6.88383340e-03 9.92402373e-01 6.21206635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357105680999986 meters Centerline goodness [0,1] 0.9973085188508002 Centerline is valid? [True, True] Translation: X:53.56, Y:6.08, Z:6.22 [[ 9.65601887e-01 -2.32051374e-01 -1.17324996e-01 5.35589278e+01] [ 2.31184888e-01 9.72680323e-01 -2.11314060e-02 6.08435755e+00] [ 1.19023287e-01 -6.71924059e-03 9.92868727e-01 6.21771849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38710568099999 meters Centerline goodness [0,1] 0.9973313874700303 Centerline is valid? [True, True] Translation: X:53.59, Y:6.09, Z:6.22 [[ 9.65515855e-01 -2.33028804e-01 -1.16089231e-01 5.35861020e+01] [ 2.32185829e-01 9.72446387e-01 -2.09228619e-02 6.09378277e+00] [ 1.17766183e-01 -6.75291955e-03 9.93018391e-01 6.22332035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41710568099999 meters Centerline goodness [0,1] 0.9957651869158879 Centerline is valid? [True, True] Translation: X:53.61, Y:6.11, Z:6.23 [[ 9.65081196e-01 -2.35518469e-01 -1.14670555e-01 5.36111769e+01] [ 2.34709480e-01 9.71845120e-01 -2.07007777e-02 6.11027081e+00] [ 1.16317435e-01 -6.93633495e-03 9.93187868e-01 6.22882833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44710568099999 meters Centerline goodness [0,1] 0.996145672736364 Centerline is valid? [True, True] Translation: X:53.64, Y:6.13, Z:6.23 [[ 9.64599023e-01 -2.37157961e-01 -1.15346549e-01 5.36373978e+01] [ 2.36349509e-01 9.71444687e-01 -2.08357807e-02 6.12803460e+00] [ 1.16994163e-01 -7.16392645e-03 9.93106764e-01 6.23193956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47710568099999 meters Centerline goodness [0,1] 0.9957984949832775 Centerline is valid? [True, True] Translation: X:53.67, Y:6.14, Z:6.23 [[ 9.63623801e-01 -2.39332996e-01 -1.18949092e-01 5.36655880e+01] [ 2.38485201e-01 9.70907589e-01 -2.15235459e-02 6.14160135e+00] [ 1.20639871e-01 -7.62699699e-03 9.92667039e-01 6.22824619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50710568099999 meters Centerline goodness [0,1] 0.9924937447873228 Centerline is valid? [True, True] Translation: X:53.69, Y:6.15, Z:6.22 [[ 9.63126777e-01 -2.40204743e-01 -1.21196094e-01 5.36931465e+01] [ 2.39330625e-01 9.70690281e-01 -2.19369759e-02 6.14655882e+00] [ 1.22913236e-01 -7.87784797e-03 9.92386153e-01 6.22430409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537105680999986 meters Centerline goodness [0,1] 0.9958668197474168 Centerline is valid? [True, True] Translation: X:53.72, Y:6.16, Z:6.23 [[ 9.62920314e-01 -2.40459982e-01 -1.22325247e-01 5.37189596e+01] [ 2.39569102e-01 9.70626364e-01 -2.21609459e-02 6.16472326e+00] [ 1.24060930e-01 -7.96612452e-03 9.92242625e-01 6.22839886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56710568099999 meters Centerline goodness [0,1] 0.9926387552804383 Centerline is valid? [True, True] Translation: X:53.74, Y:6.18, Z:6.23 [[ 9.62395548e-01 -2.41011418e-01 -1.25332780e-01 5.37435872e+01] [ 2.40075709e-01 9.70487649e-01 -2.27459268e-02 6.18139714e+00] [ 1.27115943e-01 -8.19877734e-03 9.91853980e-01 6.22995619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59710568099999 meters Centerline goodness [0,1] 0.99345582683111 Centerline is valid? [True, True] Translation: X:53.77, Y:6.20, Z:6.23 [[ 9.62014912e-01 -2.42089785e-01 -1.26173866e-01 5.37695874e+01] [ 2.41147455e-01 9.70217716e-01 -2.29235366e-02 6.19539008e+00] [ 1.27965674e-01 -8.37372248e-03 9.91743247e-01 6.23325864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.62710568099999 meters Centerline goodness [0,1] 0.9885787067003529 Centerline is valid? [True, True] Translation: X:53.80, Y:6.20, Z:6.23 [[ 9.61143678e-01 -2.45546355e-01 -1.26134128e-01 5.37982165e+01] [ 2.44632403e-01 9.69344742e-01 -2.29294089e-02 6.20425087e+00] [ 1.27897686e-01 -8.81803840e-03 9.91748166e-01 6.23379324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65710568099999 meters Centerline goodness [0,1] 0.9846045021428869 Centerline is valid? [True, True] Translation: X:53.83, Y:6.22, Z:6.24 [[ 9.59898902e-01 -2.50978777e-01 -1.24914973e-01 5.38271411e+01] [ 2.50127566e-01 9.67946509e-01 -2.27102839e-02 6.21544769e+00] [ 1.26610812e-01 -9.44510173e-03 9.91907502e-01 6.23880896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68710568099999 meters Centerline goodness [0,1] 0.944557540506855 Centerline is valid? [True, False] Translation: X:53.82, Y:6.22, Z:6.24 [[ 9.60838004e-01 -2.47579704e-01 -1.24477391e-01 5.38232152e+01] [ 2.47183515e-01 9.68785034e-01 -1.88644437e-02 6.22170170e+00] [ 1.25262287e-01 -1.26430847e-02 9.92043100e-01 6.23773917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717105680999985 meters Centerline goodness [0,1] 0.9473278947806543 Centerline is valid? [False, False] Translation: X:53.81, Y:6.22, Z:6.23 [[ 9.63327374e-01 -2.41336451e-01 -1.17290611e-01 5.38117693e+01] [ 2.41153024e-01 9.70355729e-01 -1.59680193e-02 6.22149189e+00] [ 1.17667282e-01 -1.29025555e-02 9.92969252e-01 6.23241056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74710568099999 meters Centerline goodness [0,1] 0.9655552780552781 Centerline is valid? [False, True] Translation: X:53.81, Y:6.23, Z:6.23 [[ 9.64727579e-01 -2.35771219e-01 -1.17100939e-01 5.38079804e+01] [ 2.36083720e-01 9.71665904e-01 -1.13951101e-02 6.22913384e+00] [ 1.16469629e-01 -1.66524484e-02 9.93054642e-01 6.23179021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77710568099999 meters Centerline goodness [0,1] 0.9179023883696781 Centerline is valid? [True, False] Translation: X:53.81, Y:6.23, Z:6.23 [[ 9.66304865e-01 -2.28809554e-01 -1.17902910e-01 5.38065239e+01] [ 2.29860607e-01 9.73211775e-01 -4.78977984e-03 6.23138658e+00] [ 1.15840447e-01 -2.24728468e-02 9.93013576e-01 6.23098478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80710568099999 meters Centerline goodness [0,1] 0.9763789420781506 Centerline is valid? [False, True] Translation: X:53.80, Y:6.24, Z:6.23 [[ 9.67798426e-01 -2.22527157e-01 -1.17676979e-01 5.37954045e+01] [ 2.22784923e-01 9.74804108e-01 -1.11278315e-02 6.23818158e+00] [ 1.17188248e-01 -1.54471589e-02 9.92989577e-01 6.22944791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83710568099999 meters Centerline goodness [0,1] 0.9902199974761284 Centerline is valid? [True, True] Translation: X:53.82, Y:6.26, Z:6.23 [[ 9.68486884e-01 -2.19350829e-01 -1.17976140e-01 5.38225243e+01] [ 2.18787512e-01 9.75608948e-01 -1.78662896e-02 6.26141788e+00] [ 1.19017563e-01 -8.50843899e-03 9.92855692e-01 6.23303720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86710568099999 meters Centerline goodness [0,1] 0.9845806222147834 Centerline is valid? [True, True] Translation: X:53.85, Y:6.27, Z:6.23 [[ 9.68880168e-01 -2.17343874e-01 -1.18460374e-01 5.38528572e+01] [ 2.16761141e-01 9.76059835e-01 -1.79389550e-02 6.26685940e+00] [ 1.19523335e-01 -8.29690807e-03 9.92796723e-01 6.23489775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897105680999985 meters Centerline goodness [0,1] 0.9909729820722162 Centerline is valid? [True, True] Translation: X:53.88, Y:6.29, Z:6.24 [[ 9.69117483e-01 -2.16742439e-01 -1.17618109e-01 5.38822056e+01] [ 2.16164283e-01 9.76194640e-01 -1.78052564e-02 6.28772105e+00] [ 1.18677322e-01 -8.16944899e-03 9.92899266e-01 6.24225783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.927105680999986 meters Centerline goodness [0,1] 0.9915304480392987 Centerline is valid? [True, True] Translation: X:53.91, Y:6.30, Z:6.25 [[ 9.69453636e-01 -2.15660223e-01 -1.16834563e-01 5.39129602e+01] [ 2.15083424e-01 9.76435737e-01 -1.76740652e-02 6.29770797e+00] [ 1.17893035e-01 -7.99499101e-03 9.92994115e-01 6.24812533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95710568099999 meters Centerline goodness [0,1] 0.9942775999830448 Centerline is valid? [True, True] Translation: X:53.94, Y:6.32, Z:6.26 [[ 9.70560640e-01 -2.10978891e-01 -1.16189294e-01 5.39407161e+01] [ 2.10376199e-01 9.77462657e-01 -1.75672693e-02 6.31636112e+00] [ 1.17277019e-01 -7.39336194e-03 9.93071719e-01 6.25515145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98710568099999 meters Centerline goodness [0,1] 0.9951050290505885 Centerline is valid? [True, True] Translation: X:53.97, Y:6.33, Z:6.26 [[ 9.71903651e-01 -2.04479960e-01 -1.16581466e-01 5.39685720e+01] [ 2.03826791e-01 9.78848286e-01 -1.76259220e-02 6.33089989e+00] [ 1.17719715e-01 -6.63172804e-03 9.93024717e-01 6.25660202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01710568099999 meters Centerline goodness [0,1] 0.995683731317643 Centerline is valid? [True, True] Translation: X:54.00, Y:6.35, Z:6.26 [[ 9.72911873e-01 -1.99839897e-01 -1.16217482e-01 5.39970074e+01] [ 1.99157635e-01 9.79809894e-01 -1.75729162e-02 6.34740050e+00] [ 1.17382809e-01 -6.04870010e-03 9.93068321e-01 6.26047833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04710568099999 meters Centerline goodness [0,1] 0.9971090159867101 Centerline is valid? [True, True] Translation: X:54.02, Y:6.37, Z:6.26 [[ 9.75716457e-01 -1.86149887e-01 -1.15436626e-01 5.40234852e+01] [ 1.85381504e-01 9.82511635e-01 -1.74523911e-02 6.36885617e+00] [ 1.16666589e-01 -4.37123025e-03 9.93161517e-01 6.26434102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077105680999985 meters Centerline goodness [0,1] 0.9984546404318301 Centerline is valid? [True, True] Translation: X:54.05, Y:6.39, Z:6.27 [[ 9.78532815e-01 -1.70947308e-01 -1.15111020e-01 5.40505850e+01] [ 1.70078376e-01 9.85276874e-01 -1.74019561e-02 6.39462518e+00] [ 1.16391043e-01 -2.54951025e-03 9.93200194e-01 6.27011549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.107105680999986 meters Centerline goodness [0,1] 0.9989877428866932 Centerline is valid? [True, True] Translation: X:54.08, Y:6.41, Z:6.27 [[ 9.79604903e-01 -1.64587179e-01 -1.15261851e-01 5.40807213e+01] [ 1.63672408e-01 9.86360900e-01 -1.74217617e-02 6.40749683e+00] [ 1.16557182e-01 -1.79874153e-03 9.93182354e-01 6.27433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13710568099999 meters Centerline goodness [0,1] 0.9990510658957497 Centerline is valid? [True, True] Translation: X:54.11, Y:6.42, Z:6.28 [[ 9.81535518e-01 -1.53691182e-01 -1.13872943e-01 5.41097935e+01] [ 1.52726037e-01 9.88118801e-01 -1.72044086e-02 6.42279541e+00] [ 1.15164162e-01 -5.04625196e-04 9.93346345e-01 6.27817202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16710568099999 meters Centerline goodness [0,1] 0.9992742627168965 Centerline is valid? [True, True] Translation: X:54.14, Y:6.43, Z:6.28 [[ 9.82828607e-01 -1.47375808e-01 -1.11032880e-01 5.41399983e+01] [ 1.46418894e-01 9.89080543e-01 -1.67686001e-02 6.43041136e+00] [ 1.12291748e-01 2.23348327e-04 9.93675256e-01 6.28234513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19710568099999 meters Centerline goodness [0,1] 0.9993863820648243 Centerline is valid? [True, True] Translation: X:54.17, Y:6.43, Z:6.29 [[ 9.83351146e-01 -1.45572510e-01 -1.08761981e-01 5.41724263e+01] [ 1.44646897e-01 9.89347509e-01 -1.63945907e-02 6.43447380e+00] [ 1.09989997e-01 3.89556540e-04 9.93932618e-01 6.28712130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22710568099999 meters Centerline goodness [0,1] 0.9996276828734122 Centerline is valid? [True, True] Translation: X:54.20, Y:6.44, Z:6.29 [[ 9.83669226e-01 -1.44409420e-01 -1.07427988e-01 5.42045669e+01] [ 1.43503626e-01 9.89517909e-01 -1.61560074e-02 6.43727808e+00] [ 1.08634997e-01 4.75861540e-04 9.94081592e-01 6.29195515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257105680999985 meters Centerline goodness [0,1] 0.9990625885635804 Centerline is valid? [True, True] Translation: X:54.24, Y:6.44, Z:6.30 [[ 9.83662499e-01 -1.44424262e-01 -1.07469630e-01 5.42376080e+01] [ 1.43519529e-01 9.89515751e-01 -1.61469227e-02 6.43971681e+00] [ 1.08674899e-01 4.59131617e-04 9.94077238e-01 6.29610195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.287105680999986 meters Centerline goodness [0,1] 0.9993478827928006 Centerline is valid? [True, True] Translation: X:54.27, Y:6.43, Z:6.30 [[ 9.83129652e-01 -1.47468084e-01 -1.08209299e-01 5.42713177e+01] [ 1.46570882e-01 9.89066809e-01 -1.62426586e-02 6.43452986e+00] [ 1.09421500e-01 1.08306812e-04 9.93995434e-01 6.29743879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31710568099999 meters Centerline goodness [0,1] 0.9990721160070778 Centerline is valid? [True, True] Translation: X:54.30, Y:6.43, Z:6.30 [[ 9.82618637e-01 -1.50228760e-01 -1.09050148e-01 5.43047800e+01] [ 1.49335656e-01 9.88651240e-01 -1.63580749e-02 6.43218552e+00] [ 1.10270018e-01 -2.11326252e-04 9.93901644e-01 6.29864224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34710568099999 meters Centerline goodness [0,1] 0.9986796711955365 Centerline is valid? [True, True] Translation: X:54.34, Y:6.42, Z:6.30 [[ 9.81379943e-01 -1.57009421e-01 -1.10641086e-01 5.43390508e+01] [ 1.56134659e-01 9.87596596e-01 -1.65810624e-02 6.42187291e+00] [ 1.11872143e-01 -1.00258613e-03 9.93722103e-01 6.29937022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37710568099999 meters Centerline goodness [0,1] 0.997465627573972 Centerline is valid? [True, True] Translation: X:54.37, Y:6.42, Z:6.30 [[ 9.80448954e-01 -1.61279206e-01 -1.12733605e-01 5.43718021e+01] [ 1.60400274e-01 9.86907636e-01 -1.68840457e-02 6.41600347e+00] [ 1.13980701e-01 -1.52855614e-03 9.93481788e-01 6.30066890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40710568099999 meters Centerline goodness [0,1] 0.9970911237115575 Centerline is valid? [True, True] Translation: X:54.40, Y:6.41, Z:6.30 [[ 9.79284978e-01 -1.65770480e-01 -1.16280176e-01 5.44043094e+01] [ 1.64867867e-01 9.86162070e-01 -1.74056693e-02 6.40905354e+00] [ 1.17556446e-01 -2.12575415e-03 9.93063927e-01 6.29900824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43710568099999 meters Centerline goodness [0,1] 0.9967799642218247 Centerline is valid? [True, True] Translation: X:54.44, Y:6.41, Z:6.30 [[ 9.78858750e-01 -1.68066340e-01 -1.16572950e-01 5.44363486e+01] [ 1.67177500e-01 9.85772704e-01 -1.74315920e-02 6.40939788e+00] [ 1.17844096e-01 -2.42530801e-03 9.93029147e-01 6.30197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.467105680999985 meters Centerline goodness [0,1] 0.9959352148678945 Centerline is valid? [True, True] Translation: X:54.47, Y:6.40, Z:6.30 [[ 9.78041384e-01 -1.73486935e-01 -1.15487378e-01 5.44692037e+01] [ 1.72653427e-01 9.84831419e-01 -1.72589227e-02 6.39747869e+00] [ 1.16729796e-01 -3.05935094e-03 9.93158998e-01 6.30203809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49710568099999 meters Centerline goodness [0,1] 0.9951513370555393 Centerline is valid? [True, True] Translation: X:54.50, Y:6.40, Z:6.31 [[ 9.77678481e-01 -1.75802214e-01 -1.15058113e-01 5.45012385e+01] [ 1.74991559e-01 9.84419879e-01 -1.71888092e-02 6.39725396e+00] [ 1.16287325e-01 -3.32906978e-03 9.93210036e-01 6.30629501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52710568099999 meters Centerline goodness [0,1] 0.9946308724832215 Centerline is valid? [True, True] Translation: X:54.53, Y:6.40, Z:6.31 [[ 9.77516027e-01 -1.75884310e-01 -1.16306177e-01 5.45336476e+01] [ 1.75057807e-01 9.84405019e-01 -1.73643882e-02 6.39781533e+00] [ 1.17546507e-01 -3.38633646e-03 9.93061605e-01 6.31240426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55710568099999 meters Centerline goodness [0,1] 0.9945947074046247 Centerline is valid? [True, True] Translation: X:54.56, Y:6.40, Z:6.31 [[ 9.77895604e-01 -1.73746048e-01 -1.16329264e-01 5.45647468e+01] [ 1.72905547e-01 9.84785480e-01 -1.73560041e-02 6.39778991e+00] [ 1.17574907e-01 -3.14161479e-03 9.93059047e-01 6.31446844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58710568099999 meters Centerline goodness [0,1] 0.9951747331481211 Centerline is valid? [True, True] Translation: X:54.59, Y:6.40, Z:6.32 [[ 9.79648008e-01 -1.64582407e-01 -1.14901752e-01 5.45942113e+01] [ 1.63701499e-01 9.86361244e-01 -1.71264616e-02 6.40069305e+00] [ 1.16153349e-01 -2.03168498e-03 9.93229214e-01 6.31871190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61710568099999 meters Centerline goodness [0,1] 0.9958977989713262 Centerline is valid? [True, True] Translation: X:54.62, Y:6.41, Z:6.33 [[ 9.81837656e-01 -1.51746152e-01 -1.13876783e-01 5.46242879e+01] [ 1.50794820e-01 9.88419368e-01 -1.69727592e-02 6.41165845e+00] [ 1.15133569e-01 -5.07534804e-04 9.93349890e-01 6.32560929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.647105680999985 meters Centerline goodness [0,1] 0.9979093193673051 Centerline is valid? [True, True] Translation: X:54.66, Y:6.42, Z:6.33 [[ 9.83669191e-01 -1.40625183e-01 -1.12336464e-01 5.46552164e+01] [ 1.39628230e-01 9.90062603e-01 -1.67331866e-02 6.41887592e+00] [ 1.13573239e-01 7.74578498e-04 9.93529325e-01 6.32982804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677105680999986 meters Centerline goodness [0,1] 0.9975144641477118 Centerline is valid? [True, True] Translation: X:54.69, Y:6.42, Z:6.33 [[ 9.84578136e-01 -1.35842277e-01 -1.10239601e-01 5.46863488e+01] [ 1.34853578e-01 9.90729634e-01 -1.64104870e-02 6.42225876e+00] [ 1.11446878e-01 1.29120204e-03 9.93769554e-01 6.33378487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70710568099999 meters Centerline goodness [0,1] 0.9973778057478498 Centerline is valid? [True, True] Translation: X:54.72, Y:6.42, Z:6.34 [[ 9.85169130e-01 -1.33598037e-01 -1.07672423e-01 5.47184471e+01] [ 1.32643312e-01 9.91034477e-01 -1.60130540e-02 6.42069211e+00] [ 1.08846396e-01 1.49353966e-03 9.94057459e-01 6.33912829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73710568099999 meters Centerline goodness [0,1] 0.9964934251721979 Centerline is valid? [True, True] Translation: X:54.75, Y:6.42, Z:6.34 [[ 9.85122598e-01 -1.34001304e-01 -1.07597018e-01 5.47509874e+01] [ 1.33051395e-01 9.90980112e-01 -1.59919991e-02 6.42016998e+00] [ 1.08769454e-01 1.43814626e-03 9.94065962e-01 6.34317560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76710568099999 meters Centerline goodness [0,1] 0.9974786413836216 Centerline is valid? [True, True] Translation: X:54.78, Y:6.42, Z:6.35 [[ 9.85279139e-01 -1.32943035e-01 -1.07476356e-01 5.47835661e+01] [ 1.31990108e-01 9.91122479e-01 -1.59637946e-02 6.41576302e+00] [ 1.08644508e-01 1.54297795e-03 9.94079469e-01 6.34704749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79710568099999 meters Centerline goodness [0,1] 0.9971272201136531 Centerline is valid? [True, True] Translation: X:54.82, Y:6.41, Z:6.35 [[ 9.85253882e-01 -1.31717094e-01 -1.09203462e-01 5.48164301e+01] [ 1.30726862e-01 9.91285900e-01 -1.62096455e-02 6.41285672e+00] [ 1.10386939e-01 1.69479033e-03 9.93887243e-01 6.34957281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.827105680999985 meters Centerline goodness [0,1] 0.9976532707538868 Centerline is valid? [True, True] Translation: X:54.85, Y:6.41, Z:6.35 [[ 9.85084050e-01 -1.32253001e-01 -1.10084328e-01 5.48473461e+01] [ 1.31251164e-01 9.91214639e-01 -1.63300435e-02 6.41226133e+00] [ 1.11276894e-01 1.63776915e-03 9.93788091e-01 6.35158472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857105680999986 meters Centerline goodness [0,1] 0.9975470155355682 Centerline is valid? [True, True] Translation: X:54.88, Y:6.40, Z:6.35 [[ 9.84619785e-01 -1.35920890e-01 -1.09769717e-01 5.48787260e+01] [ 1.34947763e-01 9.90718946e-01 -1.62810196e-02 6.40283416e+00] [ 1.10963869e-01 1.21743627e-03 9.93823695e-01 6.35385699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88710568099999 meters Centerline goodness [0,1] 0.9975832829850622 Centerline is valid? [True, True] Translation: X:54.91, Y:6.40, Z:6.36 [[ 9.84497776e-01 -1.36976255e-01 -1.09551976e-01 5.49091420e+01] [ 1.36013239e-01 9.90573722e-01 -1.62511706e-02 6.40107138e+00] [ 1.10745333e-01 1.09872218e-03 9.93848210e-01 6.35728796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91710568099999 meters Centerline goodness [0,1] 0.9973756014246735 Centerline is valid? [True, True] Translation: X:54.94, Y:6.39, Z:6.36 [[ 9.84349765e-01 -1.37987728e-01 -1.09612622e-01 5.49393761e+01] [ 1.37029859e-01 9.90433448e-01 -1.62604561e-02 6.39476750e+00] [ 1.10807750e-01 9.85774019e-04 9.93841371e-01 6.36152700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94710568099999 meters Centerline goodness [0,1] 0.9978813559322034 Centerline is valid? [True, True] Translation: X:54.97, Y:6.39, Z:6.36 [[ 9.84350202e-01 -1.37637396e-01 -1.10048294e-01 5.49690605e+01] [ 1.36669097e-01 9.90482144e-01 -1.63303771e-02 6.39473569e+00] [ 1.11248541e-01 1.03460897e-03 9.93792077e-01 6.36427532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97710568099999 meters Centerline goodness [0,1] 0.9976549413735344 Centerline is valid? [True, True] Translation: X:55.00, Y:6.39, Z:6.37 [[ 9.85011958e-01 -1.32444857e-01 -1.10497975e-01 5.49985661e+01] [ 1.31435193e-01 9.91189026e-01 -1.64043906e-02 6.39270300e+00] [ 1.11697057e-01 1.63519826e-03 9.93740959e-01 6.36537610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.007105680999985 meters Centerline goodness [0,1] 0.9978412139503688 Centerline is valid? [True, True] Translation: X:55.03, Y:6.39, Z:6.37 [[ 9.85857056e-01 -1.24292373e-01 -1.12415620e-01 5.50279101e+01] [ 1.23190241e-01 9.92242126e-01 -1.67250845e-02 6.39498519e+00] [ 1.13622314e-01 2.64003523e-03 9.93520508e-01 6.36717167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037105680999986 meters Centerline goodness [0,1] 0.9977976340297005 Centerline is valid? [True, True] Translation: X:55.06, Y:6.40, Z:6.37 [[ 9.86277930e-01 -1.20723357e-01 -1.12613124e-01 5.50564778e+01] [ 1.19592947e-01 9.92681451e-01 -1.67649501e-02 6.39781679e+00] [ 1.13812880e-01 3.06716501e-03 9.93497469e-01 6.37063503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06710568099999 meters Centerline goodness [0,1] 0.9981933532204529 Centerline is valid? [True, True] Translation: X:55.09, Y:6.40, Z:6.37 [[ 9.86662761e-01 -1.15665393e-01 -1.14534331e-01 5.50870526e+01] [ 1.14457722e-01 9.93281155e-01 -1.70873045e-02 6.39582536e+00] [ 1.15741203e-01 3.75006829e-03 9.93272325e-01 6.37082979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09710568099999 meters Centerline goodness [0,1] 0.9981933532204529 Centerline is valid? [True, True] Translation: X:55.11, Y:6.40, Z:6.37 [[ 9.86618700e-01 -1.16041969e-01 -1.14532972e-01 5.51139735e+01] [ 1.14835769e-01 9.93237363e-01 -1.70964070e-02 6.40007520e+00] [ 1.15742328e-01 3.71515300e-03 9.93272325e-01 6.37370056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.12710568099999 meters Centerline goodness [0,1] 0.9989108807204943 Centerline is valid? [True, True] Translation: X:55.14, Y:6.39, Z:6.37 [[ 9.85773436e-01 -1.18156787e-01 -1.19539560e-01 5.51439964e+01] [ 1.16852382e-01 9.92988188e-01 -1.78879719e-02 6.38900183e+00] [ 1.20814957e-01 3.66500520e-03 9.92668280e-01 6.36920593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15710568099999 meters Centerline goodness [0,1] 0.9987411354957828 Centerline is valid? [True, True] Translation: X:55.17, Y:6.38, Z:6.37 [[ 9.85179521e-01 -1.21007101e-01 -1.21567240e-01 5.51730665e+01] [ 1.19677594e-01 9.92645861e-01 -1.82062502e-02 6.38446092e+00] [ 1.22876303e-01 3.38755011e-03 9.92416212e-01 6.36885798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18710568099999 meters Centerline goodness [0,1] 0.9988920709910738 Centerline is valid? [True, True] Translation: X:55.20, Y:6.37, Z:6.38 [[ 9.84610458e-01 -1.26573856e-01 -1.20504381e-01 5.52043620e+01] [ 1.25307492e-01 9.91953560e-01 -1.80600928e-02 6.37150705e+00] [ 1.21820685e-01 2.68205453e-03 9.92548501e-01 6.37594124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217105680999985 meters Centerline goodness [0,1] 0.9989948275501016 Centerline is valid? [True, True] Translation: X:55.23, Y:6.37, Z:6.38 [[ 9.84306230e-01 -1.30375116e-01 -1.18926759e-01 5.52329923e+01] [ 1.29168696e-01 9.91462324e-01 -1.78299937e-02 6.36793341e+00] [ 1.20235988e-01 2.18855952e-03 9.92742926e-01 6.38215220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24710568099999 meters Centerline goodness [0,1] 0.9996434040232417 Centerline is valid? [True, True] Translation: X:55.26, Y:6.36, Z:6.39 [[ 9.83797395e-01 -1.35996564e-01 -1.16823032e-01 5.52626613e+01] [ 1.34870790e-01 9.90708195e-01 -1.75254712e-02 6.35663330e+00] [ 1.18120939e-01 1.48549838e-03 9.92998105e-01 6.39329702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27710568099999 meters Centerline goodness [0,1] 0.9995573449126283 Centerline is valid? [True, True] Translation: X:55.29, Y:6.35, Z:6.40 [[ 9.83588325e-01 -1.38718128e-01 -1.15374552e-01 5.52921341e+01] [ 1.37637525e-01 9.90331230e-01 -1.73195232e-02 6.34814506e+00] [ 1.16661554e-01 1.15541300e-03 9.93171056e-01 6.39795763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30710568099999 meters Centerline goodness [0,1] 0.9993295199782094 Centerline is valid? [True, True] Translation: X:55.32, Y:6.35, Z:6.40 [[ 9.83413561e-01 -1.40992177e-01 -1.14100720e-01 5.53202906e+01] [ 1.39949076e-01 9.90010311e-01 -1.71417852e-02 6.34629854e+00] [ 1.15377747e-01 8.89173701e-04 9.93321290e-01 6.40197473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33710568099999 meters Centerline goodness [0,1] 0.9994360784477537 Centerline is valid? [True, True] Translation: X:55.35, Y:6.34, Z:6.41 [[ 9.82806031e-01 -1.46971113e-01 -1.11766706e-01 5.53499422e+01] [ 1.46007277e-01 9.89140765e-01 -1.68054272e-02 6.33818546e+00] [ 1.13022918e-01 1.97722811e-04 9.93592362e-01 6.40933111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36710568099999 meters Centerline goodness [0,1] 0.9994346970394875 Centerline is valid? [True, True] Translation: X:55.38, Y:6.33, Z:6.41 [[ 9.82028189e-01 -1.53423474e-01 -1.09917579e-01 5.53789002e+01] [ 1.52527540e-01 9.88160406e-01 -1.65638579e-02 6.33246816e+00] [ 1.11157485e-01 -4.99282549e-04 9.93802679e-01 6.41439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397105680999985 meters Centerline goodness [0,1] 0.9997907424458022 Centerline is valid? [True, True] Translation: X:55.41, Y:6.33, Z:6.42 [[ 9.81640716e-01 -1.55944912e-01 -1.09830273e-01 5.54074902e+01] [ 1.55061490e-01 9.87765474e-01 -1.65922180e-02 6.33272342e+00] [ 1.11074024e-01 -7.42849078e-04 9.93811858e-01 6.41834935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.427105680999986 meters Centerline goodness [0,1] 0.9997068369804208 Centerline is valid? [True, True] Translation: X:55.44, Y:6.33, Z:6.42 [[ 9.81276170e-01 -1.57290302e-01 -1.11161324e-01 5.54372337e+01] [ 1.56389607e-01 9.87552027e-01 -1.68310496e-02 6.33047926e+00] [ 1.12424952e-01 -8.68568030e-04 9.93659839e-01 6.42085391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45710568099999 meters Centerline goodness [0,1] 0.9996642534886161 Centerline is valid? [True, True] Translation: X:55.46, Y:6.33, Z:6.42 [[ 9.81493421e-01 -1.55037088e-01 -1.12401810e-01 5.54638545e+01] [ 1.54097174e-01 9.87908480e-01 -1.70556934e-02 6.33420010e+00] [ 1.13686967e-01 -5.80750531e-04 9.93516450e-01 6.42349937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48710568099999 meters Centerline goodness [0,1] 0.9997908824759515 Centerline is valid? [True, True] Translation: X:55.49, Y:6.34, Z:6.43 [[ 9.82570010e-01 -1.46572264e-01 -1.14336112e-01 5.54897519e+01] [ 1.45540205e-01 9.89199874e-01 -1.73683094e-02 6.34366613e+00] [ 1.15646980e-01 4.25078864e-04 9.93290288e-01 6.42769556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51710568099999 meters Centerline goodness [0,1] 0.9998323062088627 Centerline is valid? [True, True] Translation: X:55.52, Y:6.35, Z:6.43 [[ 9.84056483e-01 -1.37159055e-01 -1.13226463e-01 5.55166542e+01] [ 1.36083009e-01 9.90547851e-01 -1.72154097e-02 6.35156590e+00] [ 1.14517479e-01 1.53273766e-03 9.93420051e-01 6.43405452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54710568099999 meters Centerline goodness [0,1] 0.9996874544204363 Centerline is valid? [True, True] Translation: X:55.54, Y:6.36, Z:6.44 [[ 9.84701000e-01 -1.33289141e-01 -1.12240568e-01 5.55440601e+01] [ 1.32205240e-01 9.91075219e-01 -1.70787878e-02 6.35570371e+00] [ 1.13515262e-01 1.97870831e-03 9.93534282e-01 6.43854909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577105680999985 meters Centerline goodness [0,1] 0.9998745347329681 Centerline is valid? [True, True] Translation: X:55.57, Y:6.36, Z:6.44 [[ 9.85429008e-01 -1.27542500e-01 -1.12528132e-01 5.55721417e+01] [ 1.26414148e-01 9.91829537e-01 -1.71357137e-02 6.35648586e+00] [ 1.13794257e-01 2.66088141e-03 9.93500773e-01 6.44261789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.607105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:6.36, Z:6.44 [[ 9.85510799e-01 -1.26332616e-01 -1.13174798e-01 5.56008327e+01] [ 1.25181764e-01 9.91983902e-01 -1.72471377e-02 6.35861717e+00] [ 1.14446454e-01 2.82981951e-03 9.93425388e-01 6.44454273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63710568099999 meters Centerline goodness [0,1] 0.999979061099711 Centerline is valid? [True, True] Translation: X:55.63, Y:6.36, Z:6.44 [[ 9.85401318e-01 -1.25801022e-01 -1.14709833e-01 5.56300470e+01] [ 1.24610568e-01 9.92051050e-01 -1.75191457e-02 6.35761411e+00] [ 1.16001937e-01 2.96933178e-03 9.93244549e-01 6.44481891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:6.36, Z:6.44 [[ 9.84917912e-01 -1.26109707e-01 -1.18461165e-01 5.56588702e+01] [ 1.24837540e-01 9.92011560e-01 -1.81287956e-02 6.35714912e+00] [ 1.19801062e-01 3.06697505e-03 9.92793180e-01 6.44177462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69710568099999 meters Centerline goodness [0,1] 0.9999790215658303 Centerline is valid? [True, True] Translation: X:55.69, Y:6.35, Z:6.44 [[ 9.84323448e-01 -1.26660027e-01 -1.22737879e-01 5.56876994e+01] [ 1.25296304e-01 9.91941265e-01 -1.87979295e-02 6.35374139e+00] [ 1.24129713e-01 3.12464024e-03 9.92261080e-01 6.43999734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72710568099999 meters Centerline goodness [0,1] 0.9999367608929361 Centerline is valid? [True, True] Translation: X:55.72, Y:6.35, Z:6.44 [[ 9.83965993e-01 -1.27651686e-01 -1.24563121e-01 5.57167671e+01] [ 1.26252403e-01 9.91814328e-01 -1.90963492e-02 6.35353751e+00] [ 1.25981170e-01 3.06376486e-03 9.92027902e-01 6.44159979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:6.35, Z:6.45 [[ 9.83757501e-01 -1.29750890e-01 -1.24039855e-01 5.57465599e+01] [ 1.28374940e-01 9.91542605e-01 -1.90561771e-02 6.34804851e+00] [ 1.25463357e-01 2.82304823e-03 9.92094238e-01 6.44715272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.787105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.78, Y:6.35, Z:6.45 [[ 9.83969125e-01 -1.30476772e-01 -1.21575376e-01 5.57752354e+01] [ 1.29155785e-01 9.91447648e-01 -1.87174709e-02 6.34908164e+00] [ 1.22977816e-01 2.71525027e-03 9.92405705e-01 6.45344147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:6.35, Z:6.46 [[ 9.84246746e-01 -1.32887243e-01 -1.16616139e-01 5.58041436e+01] [ 1.31685028e-01 9.91128380e-01 -1.79885718e-02 6.34599033e+00] [ 1.17972017e-01 2.34859370e-03 9.93014143e-01 6.46316103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:6.34, Z:6.47 [[ 9.84133606e-01 -1.35728625e-01 -1.14275044e-01 5.58331799e+01] [ 1.34591940e-01 9.90744073e-01 -1.76405928e-02 6.34477584e+00] [ 1.15611656e-01 1.98020036e-03 9.93292517e-01 6.46928012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:6.33, Z:6.48 [[ 9.83537108e-01 -1.43106877e-01 -1.10341195e-01 5.58638847e+01] [ 1.42089678e-01 9.89706619e-01 -1.70684413e-02 6.33384930e+00] [ 1.11648022e-01 1.10910052e-03 9.93747196e-01 6.47788345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:6.32, Z:6.48 [[ 9.82575955e-01 -1.49987786e-01 -1.09764093e-01 5.58934857e+01] [ 1.49020249e-01 9.88687784e-01 -1.70126528e-02 6.32479354e+00] [ 1.11074108e-01 3.59151104e-04 9.93812061e-01 6.47995664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:6.33, Z:6.48 [[ 9.82202882e-01 -1.51490286e-01 -1.11032393e-01 5.59218903e+01] [ 1.50507999e-01 9.88458725e-01 -1.72247469e-02 6.32567208e+00] [ 1.12360319e-01 2.06932801e-04 9.93667508e-01 6.48090044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.967105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.95, Y:6.33, Z:6.48 [[ 9.82311334e-01 -1.47863021e-01 -1.14895471e-01 5.59492512e+01] [ 1.46781231e-01 9.89007612e-01 -1.78665556e-02 6.33079926e+00] [ 1.16274298e-01 6.86021341e-04 9.93216903e-01 6.47866789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.98, Y:6.34, Z:6.48 [[ 9.83454378e-01 -1.36981576e-01 -1.18547605e-01 5.59763818e+01] [ 1.35749033e-01 9.90571472e-01 -1.84487963e-02 6.34220413e+00] [ 1.19957021e-01 2.05082679e-03 9.92776968e-01 6.47702752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.01, Y:6.35, Z:6.48 [[ 9.84093223e-01 -1.31284547e-01 -1.19686662e-01 5.60053777e+01] [ 1.29984592e-01 9.91340816e-01 -1.86384473e-02 6.35022659e+00] [ 1.21097213e-01 2.78454779e-03 9.92636747e-01 6.47962485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:6.36, Z:6.48 [[ 9.84924138e-01 -1.25032740e-01 -1.19546041e-01 5.60324415e+01] [ 1.23689187e-01 9.92146245e-01 -1.86229279e-02 6.35773919e+00] [ 1.20935631e-01 3.55561861e-03 9.92653983e-01 6.48353612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:6.36, Z:6.49 [[ 9.85100401e-01 -1.25734179e-01 -1.17337617e-01 5.60614238e+01] [ 1.24443309e-01 9.92058078e-01 -1.82929820e-02 6.35665984e+00] [ 1.18705784e-01 3.41854266e-03 9.92923587e-01 6.48941618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.09, Y:6.36, Z:6.49 [[ 9.84996076e-01 -1.27182833e-01 -1.16650146e-01 5.60904515e+01] [ 1.25912668e-01 9.91873923e-01 -1.82241721e-02 6.35747812e+00] [ 1.18020039e-01 3.26300697e-03 9.93005852e-01 6.49271520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.147105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:6.35, Z:6.50 [[ 9.84570922e-01 -1.30610863e-01 -1.16451290e-01 5.61197358e+01] [ 1.29364360e-01 9.91429512e-01 -1.82314566e-02 6.35363595e+00] [ 1.17834472e-01 2.88551546e-03 9.93029059e-01 6.49607017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:6.36, Z:6.50 [[ 9.84369461e-01 -1.31940842e-01 -1.16654951e-01 5.61477694e+01] [ 1.30694757e-01 9.91253725e-01 -1.83011758e-02 6.35723668e+00] [ 1.18049328e-01 2.76892798e-03 9.93003872e-01 6.49771724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:6.36, Z:6.50 [[ 9.84071873e-01 -1.33235342e-01 -1.17689818e-01 5.61761701e+01] [ 1.31973264e-01 9.91080855e-01 -1.84877477e-02 6.35873446e+00] [ 1.19103347e-01 2.66136306e-03 9.92878296e-01 6.49842951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:6.36, Z:6.50 [[ 9.83907205e-01 -1.33574639e-01 -1.18677830e-01 5.62053192e+01] [ 1.32288186e-01 9.91035112e-01 -1.86880598e-02 6.36150179e+00] [ 1.20110148e-01 2.68764182e-03 9.92756933e-01 6.49998859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:6.36, Z:6.50 [[ 9.83585140e-01 -1.33709182e-01 -1.21169830e-01 5.62344223e+01] [ 1.32363733e-01 9.91016742e-01 -1.91222280e-02 6.36261694e+00] [ 1.22638147e-01 2.76984821e-03 9.92447587e-01 6.50009920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:6.36, Z:6.50 [[ 9.83529945e-01 -1.34822851e-01 -1.20381253e-01 5.62626943e+01] [ 1.33498255e-01 9.90866164e-01 -1.90384298e-02 6.36414569e+00] [ 1.21848526e-01 2.65417858e-03 9.92545159e-01 6.50416464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.327105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:6.36, Z:6.50 [[ 9.82973777e-01 -1.38317113e-01 -1.20958385e-01 5.62910534e+01] [ 1.37001319e-01 9.90385391e-01 -1.91681105e-02 6.36298635e+00] [ 1.22446695e-01 2.27029166e-03 9.92472495e-01 6.50453705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.32, Y:6.36, Z:6.51 [[ 9.82363592e-01 -1.41883012e-01 -1.21782525e-01 5.63190944e+01] [ 1.40574556e-01 9.89881698e-01 -1.93136971e-02 6.36406459e+00] [ 1.23290578e-01 1.85354851e-03 9.92368882e-01 6.50544913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:6.36, Z:6.51 [[ 9.81591193e-01 -1.46913994e-01 -1.22045108e-01 5.63485654e+01] [ 1.45636233e-01 9.89148489e-01 -1.93740759e-02 6.36365953e+00] [ 1.23567057e-01 1.24323248e-03 9.92335446e-01 6.50826513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:6.35, Z:6.51 [[ 9.80021658e-01 -1.60018227e-01 -1.18117385e-01 5.63789455e+01] [ 1.58912091e-01 9.87113994e-01 -1.87858907e-02 6.35417525e+00] [ 1.19601409e-01 -3.59700950e-04 9.92821924e-01 6.51438872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.44710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:6.35, Z:6.52 [[ 9.78999772e-01 -1.68070709e-01 -1.15376265e-01 5.64081454e+01] [ 1.67069530e-01 9.85774088e-01 -1.83635534e-02 6.35044605e+00] [ 1.16821308e-01 -1.29794382e-03 9.93152102e-01 6.52023667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.44, Y:6.34, Z:6.53 [[ 9.76444119e-01 -1.85074092e-01 -1.10925487e-01 5.64392010e+01] [ 1.84254089e-01 9.82719468e-01 -1.76883747e-02 6.33979565e+00] [ 1.12282295e-01 -3.16676506e-03 9.93671303e-01 6.52900485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.507105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:6.33, Z:6.53 [[ 9.73909763e-01 -1.98448553e-01 -1.10081536e-01 5.64693328e+01] [ 1.97725513e-01 9.80100192e-01 -1.75565973e-02 6.33222219e+00] [ 1.11375016e-01 -4.66738674e-03 9.93767489e-01 6.53409333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:6.34, Z:6.54 [[ 9.72238673e-01 -2.07797485e-01 -1.07574013e-01 5.64989550e+01] [ 2.07163289e-01 9.78155839e-01 -1.71617879e-02 6.33719915e+00] [ 1.08790325e-01 -5.60003244e-03 9.94048945e-01 6.54177257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:6.34, Z:6.54 [[ 9.71402447e-01 -2.11394576e-01 -1.08118546e-01 5.65271798e+01] [ 2.10775905e-01 9.77382192e-01 -1.72501786e-02 6.34138936e+00] [ 1.09319736e-01 -6.03191859e-03 9.93988336e-01 6.54478537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:6.35, Z:6.55 [[ 9.70141616e-01 -2.16991329e-01 -1.08351320e-01 5.65567729e+01] [ 2.16403420e-01 9.76150772e-01 -1.72982635e-02 6.34923311e+00] [ 1.09520798e-01 -6.66583088e-03 9.93962153e-01 6.54694078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.58, Y:6.36, Z:6.55 [[ 9.69915321e-01 -2.18663199e-01 -1.07007829e-01 5.65838948e+01] [ 2.18099583e-01 9.75776935e-01 -1.70864074e-02 6.35502935e+00] [ 1.08151940e-01 -6.76599461e-03 9.94111351e-01 6.55104932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65710568099999 meters Centerline goodness [0,1] 0.9999791362403505 Centerline is valid? [True, True] Translation: X:56.61, Y:6.37, Z:6.56 [[ 9.69826738e-01 -2.21656084e-01 -1.01511963e-01 5.66108317e+01] [ 2.21163300e-01 9.75101791e-01 -1.62262936e-02 6.36827959e+00] [ 1.02581154e-01 -6.71402741e-03 9.94701980e-01 6.56173947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.687105680999984 meters Centerline goodness [0,1] 0.9999792414838188 Centerline is valid? [True, True] Translation: X:56.64, Y:6.38, Z:6.57 [[ 9.69580698e-01 -2.22559268e-01 -1.01885441e-01 5.66375191e+01] [ 2.22067355e-01 9.74895233e-01 -1.62903376e-02 6.38042017e+00] [ 1.02953197e-01 -6.83063350e-03 9.94662748e-01 6.56588912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717105680999985 meters Centerline goodness [0,1] 0.9997897613791653 Centerline is valid? [True, True] Translation: X:56.66, Y:6.40, Z:6.57 [[ 9.69740471e-01 -2.21148956e-01 -1.03424169e-01 5.66630985e+01] [ 2.20630535e-01 9.75216686e-01 -1.65705327e-02 6.40303209e+00] [ 1.04525532e-01 -6.74941353e-03 9.94499300e-01 6.56676190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74710568099999 meters Centerline goodness [0,1] 0.9999163057351494 Centerline is valid? [True, True] Translation: X:56.69, Y:6.42, Z:6.57 [[ 9.71551550e-01 -2.12778183e-01 -1.03985721e-01 5.66889285e+01] [ 2.12205359e-01 9.77082896e-01 -1.66703422e-02 6.42420273e+00] [ 1.05149754e-01 -5.87023033e-03 9.94439073e-01 6.56766338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77710568099999 meters Centerline goodness [0,1] 0.9999791218656701 Centerline is valid? [True, True] Translation: X:56.72, Y:6.44, Z:6.57 [[ 9.72712708e-01 -2.06611367e-01 -1.05554394e-01 5.67156633e+01] [ 2.05984265e-01 9.78408865e-01 -1.69285256e-02 6.44166071e+00] [ 1.06772980e-01 -5.27595229e-03 9.94269428e-01 6.56969095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80710568099999 meters Centerline goodness [0,1] 0.9999791270951178 Centerline is valid? [True, True] Translation: X:56.74, Y:6.48, Z:6.57 [[ 9.75483994e-01 -1.90616915e-01 -1.09982581e-01 5.67408432e+01] [ 1.89834139e-01 9.81657647e-01 -1.76426892e-02 6.47882176e+00] [ 1.11328237e-01 -3.66828773e-03 9.93776920e-01 6.56764195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.77, Y:6.50, Z:6.57 [[ 9.76766513e-01 -1.82198474e-01 -1.12831269e-01 5.67676502e+01] [ 1.81318009e-01 9.83257859e-01 -1.81042211e-02 6.50025785e+00] [ 1.14240793e-01 -2.77474416e-03 9.93449215e-01 6.56763104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:6.53, Z:6.57 [[ 9.78983243e-01 -1.67633096e-01 -1.16150568e-01 5.67935133e+01] [ 1.66596926e-01 9.85848840e-01 -1.86421373e-02 6.53123171e+00] [ 1.17631942e-01 -1.09998747e-03 9.93056653e-01 6.56694573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897105680999985 meters Centerline goodness [0,1] 0.9997690628149143 Centerline is valid? [True, True] Translation: X:56.82, Y:6.56, Z:6.57 [[ 9.80510806e-01 -1.58002361e-01 -1.16763922e-01 5.68181755e+01] [ 1.56886461e-01 9.87438732e-01 -1.87453479e-02 6.55514391e+00] [ 1.18259028e-01 6.13377514e-05 9.92982779e-01 6.56815307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.927105680999986 meters Centerline goodness [0,1] 0.999916177703269 Centerline is valid? [True, True] Translation: X:56.84, Y:6.57, Z:6.57 [[ 9.81332085e-01 -1.52234132e-01 -1.17524926e-01 5.68448583e+01] [ 1.51059596e-01 9.88344147e-01 -1.88903360e-02 6.57303521e+00] [ 1.19030826e-01 7.84425074e-04 9.92890249e-01 6.56878675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95710568099999 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:56.87, Y:6.58, Z:6.57 [[ 9.81616291e-01 -1.50761838e-01 -1.17048385e-01 5.68710989e+01] [ 1.49581916e-01 9.88569611e-01 -1.88513987e-02 6.58270888e+00] [ 1.18552548e-01 9.96518322e-04 9.92947280e-01 6.56998343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98710568099999 meters Centerline goodness [0,1] 0.9998528113040919 Centerline is valid? [True, True] Translation: X:56.90, Y:6.59, Z:6.57 [[ 9.81562925e-01 -1.51112747e-01 -1.17043419e-01 5.68979926e+01] [ 1.49931640e-01 9.88516043e-01 -1.88821868e-02 6.58729966e+00] [ 1.18552636e-01 9.85542709e-04 9.92947280e-01 6.57285998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01710568099999 meters Centerline goodness [0,1] 0.9995364224455823 Centerline is valid? [True, True] Translation: X:56.92, Y:6.60, Z:6.58 [[ 9.81944200e-01 -1.49701925e-01 -1.15649997e-01 5.69244781e+01] [ 1.48534148e-01 9.88730465e-01 -1.86995963e-02 6.59752587e+00] [ 1.17146040e-01 1.18398636e-03 9.93113993e-01 6.57746220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.04710568099999 meters Centerline goodness [0,1] 0.9997480949681969 Centerline is valid? [True, True] Translation: X:56.95, Y:6.60, Z:6.58 [[ 9.81953296e-01 -1.49681014e-01 -1.15599818e-01 5.69508483e+01] [ 1.48509021e-01 9.88733576e-01 -1.87346385e-02 6.60435320e+00] [ 1.17101641e-01 1.22892423e-03 9.93119175e-01 6.57947621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077105680999985 meters Centerline goodness [0,1] 0.999579469711306 Centerline is valid? [True, True] Translation: X:56.98, Y:6.61, Z:6.58 [[ 9.81350035e-01 -1.52574969e-01 -1.16931552e-01 5.69787669e+01] [ 1.51393418e-01 9.88291474e-01 -1.89735392e-02 6.60762178e+00] [ 1.18457343e-01 9.17016075e-04 9.92958719e-01 6.58109743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.107105680999986 meters Centerline goodness [0,1] 0.9996442100416484 Centerline is valid? [True, True] Translation: X:57.01, Y:6.61, Z:6.59 [[ 9.80734944e-01 -1.56359708e-01 -1.17092321e-01 5.70076145e+01] [ 1.55196497e-01 9.87700049e-01 -1.90436384e-02 6.60979925e+00] [ 1.18629749e-01 5.04443626e-04 9.92938431e-01 6.58567967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13710568099999 meters Centerline goodness [0,1] 0.9998523237906374 Centerline is valid? [True, True] Translation: X:57.04, Y:6.61, Z:6.59 [[ 9.80586258e-01 -1.57882781e-01 -1.16291091e-01 5.70357611e+01] [ 1.56741597e-01 9.87457797e-01 -1.89518089e-02 6.61325105e+00] [ 1.17824709e-01 3.56232062e-04 9.93034345e-01 6.59119420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16710568099999 meters Centerline goodness [0,1] 0.9997047908232118 Centerline is valid? [True, True] Translation: X:57.06, Y:6.61, Z:6.60 [[ 9.80548903e-01 -1.60363384e-01 -1.13169930e-01 5.70644069e+01] [ 1.59294924e-01 9.87058041e-01 -1.84810993e-02 6.61450518e+00] [ 1.14668981e-01 9.42262718e-05 9.93403753e-01 6.59620711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19710568099999 meters Centerline goodness [0,1] 0.9999370184535931 Centerline is valid? [True, True] Translation: X:57.09, Y:6.61, Z:6.60 [[ 9.80233069e-01 -1.63033587e-01 -1.12085589e-01 5.70923754e+01] [ 1.61998594e-01 9.86620503e-01 -1.83422383e-02 6.61485397e+00] [ 1.13576341e-01 -1.78039344e-04 9.93529256e-01 6.60006549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.22710568099999 meters Centerline goodness [0,1] 0.9998956616097326 Centerline is valid? [True, True] Translation: X:57.12, Y:6.61, Z:6.61 [[ 9.78977830e-01 -1.71555224e-01 -1.10323225e-01 5.71219965e+01] [ 1.70601792e-01 9.85173884e-01 -1.80955008e-02 6.60796327e+00] [ 1.11791938e-01 -1.10624576e-03 9.93731019e-01 6.60597661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257105680999985 meters Centerline goodness [0,1] 0.9999160334186994 Centerline is valid? [True, True] Translation: X:57.15, Y:6.60, Z:6.61 [[ 9.77436852e-01 -1.80073941e-01 -1.10410944e-01 5.71522104e+01] [ 1.79169129e-01 9.83650948e-01 -1.81448753e-02 6.60363997e+00] [ 1.11873249e-01 -2.04676296e-03 9.93720377e-01 6.61061381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.287105680999986 meters Centerline goodness [0,1] 0.9999790479383172 Centerline is valid? [True, True] Translation: X:57.18, Y:6.60, Z:6.61 [[ 9.76771931e-01 -1.81856180e-01 -1.13335448e-01 5.71812536e+01] [ 1.80913638e-01 9.83322443e-01 -1.86340604e-02 6.60442301e+00] [ 1.14834009e-01 -2.30270110e-03 9.93382025e-01 6.61144445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31710568099999 meters Centerline goodness [0,1] 0.9999583159649854 Centerline is valid? [True, True] Translation: X:57.21, Y:6.61, Z:6.61 [[ 9.77117493e-01 -1.79009236e-01 -1.14878628e-01 5.72087717e+01] [ 1.78016836e-01 9.83845444e-01 -1.89248134e-02 6.60813969e+00] [ 1.16410531e-01 -1.95856370e-03 9.93199251e-01 6.61209704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34710568099999 meters Centerline goodness [0,1] 0.999958256804141 Centerline is valid? [True, True] Translation: X:57.24, Y:6.62, Z:6.61 [[ 9.79090699e-01 -1.67648529e-01 -1.15218808e-01 5.72357517e+01] [ 1.66570093e-01 9.85846650e-01 -1.89943975e-02 6.61885236e+00] [ 1.16772459e-01 -5.94769681e-04 9.93158517e-01 6.61482539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:6.63, Z:6.62 [[ 9.81406103e-01 -1.54554429e-01 -1.13819990e-01 5.72615178e+01] [ 1.53412565e-01 9.87983802e-01 -1.87774069e-02 6.63115926e+00] [ 1.15354438e-01 9.66845043e-04 9.93323924e-01 6.62087298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:6.64, Z:6.63 [[ 9.82413455e-01 -1.48673280e-01 -1.12960434e-01 5.72884919e+01] [ 1.47505220e-01 9.88884935e-01 -1.86760460e-02 6.63996659e+00] [ 1.14481501e-01 1.68534508e-03 9.93423951e-01 6.62549733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:6.65, Z:6.63 [[ 9.83690610e-01 -1.39804509e-01 -1.13170153e-01 5.73163727e+01] [ 1.38571967e-01 9.90175343e-01 -1.87243251e-02 6.64848543e+00] [ 1.14676040e-01 2.73673214e-03 9.93399173e-01 6.62915441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.467105680999985 meters Centerline goodness [0,1] 0.9999790851860373 Centerline is valid? [True, True] Translation: X:57.35, Y:6.66, Z:6.63 [[ 9.84663049e-01 -1.31879592e-01 -1.14221075e-01 5.73454092e+01] [ 1.30569472e-01 9.91258816e-01 -1.89095925e-02 6.65583410e+00] [ 1.15716437e-01 3.70579151e-03 9.93275376e-01 6.62853396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:6.66, Z:6.63 [[ 9.85026717e-01 -1.28419802e-01 -1.15024868e-01 5.73752293e+01] [ 1.27067232e-01 9.91711236e-01 -1.90458173e-02 6.65669596e+00] [ 1.16517314e-01 4.14474733e-03 9.93180012e-01 6.63140987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:6.66, Z:6.63 [[ 9.85800174e-01 -1.20513038e-01 -1.16938549e-01 5.74054736e+01] [ 1.19058818e-01 9.92698279e-01 -1.93681407e-02 6.65945896e+00] [ 1.18418810e-01 5.17055110e-03 9.92950276e-01 6.63316308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55710568099999 meters Centerline goodness [0,1] 0.9999581388534232 Centerline is valid? [True, True] Translation: X:57.43, Y:6.67, Z:6.64 [[ 9.86579106e-01 -1.13138687e-01 -1.17734042e-01 5.74342873e+01] [ 1.11612036e-01 9.93560483e-01 -1.95018062e-02 6.66545734e+00] [ 1.19182301e-01 6.09953842e-03 9.92853652e-01 6.63538677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58710568099999 meters Centerline goodness [0,1] 0.9999165571479233 Centerline is valid? [True, True] Translation: X:57.46, Y:6.67, Z:6.64 [[ 9.86916511e-01 -1.10697084e-01 -1.17226091e-01 5.74634731e+01] [ 1.09166015e-01 9.93833773e-01 -1.94219416e-02 6.66751112e+00] [ 1.18653201e-01 6.37072963e-03 9.92915320e-01 6.63898514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617105680999984 meters Centerline goodness [0,1] 0.9999160739388598 Centerline is valid? [True, True] Translation: X:57.49, Y:6.67, Z:6.64 [[ 9.87161845e-01 -1.07149904e-01 -1.18449946e-01 5.74944392e+01] [ 1.05560227e-01 9.94219095e-01 -1.96323603e-02 6.66563656e+00] [ 1.19868804e-01 6.87671374e-03 9.92765924e-01 6.64172982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.647105680999985 meters Centerline goodness [0,1] 0.9998742032874874 Centerline is valid? [True, True] Translation: X:57.53, Y:6.66, Z:6.65 [[ 9.87528696e-01 -1.04142566e-01 -1.18073709e-01 5.75251466e+01] [ 1.02541590e-01 9.94536178e-01 -1.95707133e-02 6.66198070e+00] [ 1.19466719e-01 7.21917512e-03 9.92811959e-01 6.64528842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677105680999986 meters Centerline goodness [0,1] 0.9998536819882528 Centerline is valid? [True, True] Translation: X:57.55, Y:6.66, Z:6.65 [[ 9.87796295e-01 -1.02957753e-01 -1.16868219e-01 5.75542171e+01] [ 1.01380111e-01 9.94658973e-01 -1.93804154e-02 6.66135651e+00] [ 1.18239387e-01 7.29578954e-03 9.92958317e-01 6.64949374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70710568099999 meters Centerline goodness [0,1] 0.9998952221290863 Centerline is valid? [True, True] Translation: X:57.58, Y:6.65, Z:6.65 [[ 9.88172753e-01 -1.01186077e-01 -1.15221478e-01 5.75846718e+01] [ 9.96363419e-02 9.94839704e-01 -1.91458092e-02 6.65314058e+00] [ 1.16564190e-01 7.43912037e-03 9.93155300e-01 6.65375407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73710568099999 meters Centerline goodness [0,1] 0.9998950109188645 Centerline is valid? [True, True] Translation: X:57.61, Y:6.65, Z:6.65 [[ 9.88015890e-01 -1.01838046e-01 -1.15989716e-01 5.76142608e+01] [ 1.00267556e-01 9.94773102e-01 -1.93104234e-02 6.64758513e+00] [ 1.17349986e-01 7.44899981e-03 9.93062683e-01 6.65450001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.76710568099999 meters Centerline goodness [0,1] 0.9999157717414192 Centerline is valid? [True, True] Translation: X:57.65, Y:6.64, Z:6.66 [[ 9.87730031e-01 -1.03588033e-01 -1.16871322e-01 5.76456868e+01] [ 1.02003622e-01 9.94593400e-01 -1.94738422e-02 6.63664888e+00] [ 1.18256702e-01 7.31360070e-03 9.92956124e-01 6.65664161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79710568099999 meters Centerline goodness [0,1] 0.9999162022876775 Centerline is valid? [True, True] Translation: X:57.67, Y:6.64, Z:6.66 [[ 9.87440869e-01 -1.05431190e-01 -1.17663904e-01 5.76737530e+01] [ 1.03834026e-01 9.94400712e-01 -1.96397503e-02 6.63552944e+00] [ 1.19075712e-01 7.17557526e-03 9.92859248e-01 6.65786320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.827105680999985 meters Centerline goodness [0,1] 0.9999789920379824 Centerline is valid? [True, True] Translation: X:57.71, Y:6.62, Z:6.66 [[ 9.86839622e-01 -1.10884183e-01 -1.17695620e-01 5.77060383e+01] [ 1.09323134e-01 9.93811869e-01 -1.96576279e-02 6.62152729e+00] [ 1.19147024e-01 6.53207208e-03 9.92855135e-01 6.66112047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:6.60, Z:6.67 [[ 9.86325188e-01 -1.19284699e-01 -1.13726795e-01 5.77394150e+01] [ 1.17882686e-01 9.92845772e-01 -1.89985708e-02 6.60077148e+00] [ 1.15179406e-01 5.33234889e-03 9.93330393e-01 6.67008018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:6.59, Z:6.68 [[ 9.85987287e-01 -1.25149011e-01 -1.10303193e-01 5.77692038e+01] [ 1.23866438e-01 9.92127704e-01 -1.84316347e-02 6.59357457e+00] [ 1.11741555e-01 4.51049385e-03 9.93727065e-01 6.67703437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.80, Y:6.57, Z:6.69 [[ 9.84185442e-01 -1.40763052e-01 -1.07539658e-01 5.78031472e+01] [ 1.39637119e-01 9.90039723e-01 -1.79672628e-02 6.56838223e+00] [ 1.08997660e-01 2.66659040e-03 9.94038430e-01 6.68638062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.94710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.83, Y:6.56, Z:6.69 [[ 9.82739573e-01 -1.49929495e-01 -1.08370098e-01 5.78331915e+01] [ 1.48841284e-01 9.88695288e-01 -1.81079997e-02 6.56213350e+00] [ 1.09859928e-01 1.66550340e-03 9.93945684e-01 6.68814441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.87, Y:6.55, Z:6.69 [[ 9.80064591e-01 -1.63725284e-01 -1.12549668e-01 5.78657411e+01] [ 1.62640423e-01 9.86505962e-01 -1.88170224e-02 6.54582169e+00] [ 1.14111741e-01 1.36771762e-04 9.93467912e-01 6.68574149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.007105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.90, Y:6.54, Z:6.69 [[ 9.79070530e-01 -1.69186960e-01 -1.13122368e-01 5.78950739e+01] [ 1.68123263e-01 9.85583865e-01 -1.89476770e-02 6.54134508e+00] [ 1.14697280e-01 -4.67389417e-04 9.93400380e-01 6.69010466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.92, Y:6.54, Z:6.69 [[ 9.79181824e-01 -1.69219735e-01 -1.12105471e-01 5.79228527e+01] [ 1.68171073e-01 9.85578255e-01 -1.88147122e-02 6.54340772e+00] [ 1.13672535e-01 -4.29873254e-04 9.93518178e-01 6.69375471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.95, Y:6.55, Z:6.70 [[ 9.80046803e-01 -1.64928227e-01 -1.10936662e-01 5.79498754e+01] [ 1.63872218e-01 9.86305568e-01 -1.86339197e-02 6.55112085e+00] [ 1.12490707e-01 8.26765307e-05 9.93652773e-01 6.70149778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.98, Y:6.57, Z:6.70 [[ 9.80837964e-01 -1.56983550e-01 -1.15382203e-01 5.79755225e+01] [ 1.55781571e-01 9.87600636e-01 -1.94187212e-02 6.56541959e+00] [ 1.16999957e-01 1.07219813e-03 9.93131341e-01 6.70036500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:6.57, Z:6.70 [[ 9.81214760e-01 -1.52555307e-01 -1.18086717e-01 5.80033444e+01] [ 1.51261689e-01 9.88293544e-01 -1.98940461e-02 6.57450344e+00] [ 1.19739282e-01 1.65833539e-03 9.92803986e-01 6.70128385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.03, Y:6.59, Z:6.71 [[ 9.82872380e-01 -1.42748153e-01 -1.16554064e-01 5.80293295e+01] [ 1.41414949e-01 9.89754933e-01 -1.96719108e-02 6.58811609e+00] [ 1.18168089e-01 2.85249084e-03 9.92989510e-01 6.70602406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.187105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.06, Y:6.60, Z:6.71 [[ 9.84697137e-01 -1.34617815e-01 -1.10677879e-01 5.80553310e+01] [ 1.33363818e-01 9.90890895e-01 -1.86902491e-02 6.60002413e+00] [ 1.12185743e-01 3.64381022e-03 9.93680573e-01 6.71471450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.08, Y:6.61, Z:6.71 [[ 9.85233015e-01 -1.29057354e-01 -1.12517132e-01 5.80849121e+01] [ 1.27723892e-01 9.91627551e-01 -1.90107227e-02 6.61001539e+00] [ 1.14028561e-01 4.35886566e-03 9.93467910e-01 6.71470110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.11, Y:6.62, Z:6.71 [[ 9.85108362e-01 -1.27308954e-01 -1.15559272e-01 5.81121492e+01] [ 1.25889955e-01 9.91852035e-01 -1.95258944e-02 6.61971250e+00] [ 1.17103521e-01 4.68737023e-03 9.93108652e-01 6.71258705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.14, Y:6.63, Z:6.71 [[ 9.84893025e-01 -1.24478086e-01 -1.20378300e-01 5.81406398e+01] [ 1.22915200e-01 9.92208479e-01 -2.03515843e-02 6.62733387e+00] [ 1.21973696e-01 5.24781066e-03 9.92519460e-01 6.70788433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.17, Y:6.63, Z:6.71 [[ 9.84919497e-01 -1.23846219e-01 -1.20812656e-01 5.81698113e+01] [ 1.22265685e-01 9.92286956e-01 -2.04376858e-02 6.62837308e+00] [ 1.22411953e-01 5.35823309e-03 9.92464913e-01 6.71242155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.20, Y:6.63, Z:6.72 [[ 9.84783699e-01 -1.25593502e-01 -1.20113856e-01 5.81979867e+01] [ 1.24039496e-01 9.92068423e-01 -2.03579734e-02 6.63142480e+00] [ 1.21717992e-01 5.14933830e-03 9.92551366e-01 6.71738581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.367105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.23, Y:6.63, Z:6.73 [[ 9.84556087e-01 -1.30492638e-01 -1.16708966e-01 5.82274918e+01] [ 1.29056241e-01 9.91439312e-01 -1.98135857e-02 6.63027070e+00] [ 1.18295384e-01 4.44556596e-03 9.92968499e-01 6.72619211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.26, Y:6.63, Z:6.73 [[ 9.84421490e-01 -1.34742489e-01 -1.12954820e-01 5.82576947e+01] [ 1.33424704e-01 9.90873320e-01 -1.91810433e-02 6.62825694e+00] [ 1.14508419e-01 3.81126784e-03 9.93414967e-01 6.73459107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.427105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.29, Y:6.63, Z:6.74 [[ 9.84160160e-01 -1.37583651e-01 -1.11801245e-01 5.82873290e+01] [ 1.36310577e-01 9.90484148e-01 -1.89889331e-02 6.62753371e+00] [ 1.13349928e-01 3.44845919e-03 9.93549144e-01 6.73910414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:6.63, Z:6.74 [[ 9.83131796e-01 -1.44284297e-01 -1.12400683e-01 5.83167230e+01] [ 1.43039013e-01 9.89532569e-01 -1.91085091e-02 6.62568520e+00] [ 1.13981195e-01 2.70850002e-03 9.93479215e-01 6.74066600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.35, Y:6.62, Z:6.74 [[ 9.82062750e-01 -1.49905536e-01 -1.14372570e-01 5.83471858e+01] [ 1.48652899e-01 9.88698090e-01 -1.94525928e-02 6.62309744e+00] [ 1.15995993e-01 2.10185276e-03 9.93247458e-01 6.74058553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.38, Y:6.62, Z:6.74 [[ 9.81800303e-01 -1.51572005e-01 -1.14429419e-01 5.83762624e+01] [ 1.50325413e-01 9.88444315e-01 -1.94962977e-02 6.62473210e+00] [ 1.16062202e-01 1.93982126e-03 9.93240053e-01 6.74314705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.41, Y:6.62, Z:6.75 [[ 9.81518366e-01 -1.51482673e-01 -1.16938856e-01 5.84056114e+01] [ 1.50175339e-01 9.88457824e-01 -1.99623916e-02 6.62445514e+00] [ 1.18613084e-01 2.03212153e-03 9.92938471e-01 6.74509835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:6.63, Z:6.74 [[ 9.81318081e-01 -1.51195982e-01 -1.18973099e-01 5.84337445e+01] [ 1.49836019e-01 9.88501490e-01 -2.03462696e-02 6.62845848e+00] [ 1.20681360e-01 2.13970664e-03 9.92688990e-01 6.74479511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.607105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.46, Y:6.63, Z:6.75 [[ 9.81375486e-01 -1.49068038e-01 -1.21164665e-01 5.84626312e+01] [ 1.47638897e-01 9.88823871e-01 -2.07390550e-02 6.62996606e+00] [ 1.22902044e-01 2.46418269e-03 9.92415747e-01 6.74611006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:6.64, Z:6.75 [[ 9.81725924e-01 -1.46373963e-01 -1.21609509e-01 5.84899581e+01] [ 1.44909341e-01 9.89225232e-01 -2.08500207e-02 6.63701758e+00] [ 1.23351095e-01 2.84665206e-03 9.92359010e-01 6.74819537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:6.65, Z:6.75 [[ 9.82923322e-01 -1.37397911e-01 -1.22407342e-01 5.85185675e+01] [ 1.35843037e-01 9.90507808e-01 -2.09988596e-02 6.64841802e+00] [ 1.24130627e-01 4.01208379e-03 9.92257774e-01 6.75010766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:6.66, Z:6.75 [[ 9.84127155e-01 -1.28960338e-01 -1.21913795e-01 5.85474559e+01] [ 1.27353204e-01 9.91636848e-01 -2.09170490e-02 6.65980790e+00] [ 1.23591681e-01 5.05892360e-03 9.92320263e-01 6.75330489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.72710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:6.67, Z:6.76 [[ 9.84681200e-01 -1.25489171e-01 -1.21059501e-01 5.85761947e+01] [ 1.23878064e-01 9.92079969e-01 -2.07740178e-02 6.66657670e+00] [ 1.22707620e-01 5.45916822e-03 9.92427850e-01 6.75792102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.60, Y:6.67, Z:6.76 [[ 9.85476107e-01 -1.21347325e-01 -1.18792544e-01 5.86036262e+01] [ 1.19765687e-01 9.92592768e-01 -2.03906236e-02 6.67279036e+00] [ 1.20386968e-01 5.86720177e-03 9.92709703e-01 6.76454224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.787105680999986 meters Centerline goodness [0,1] 0.9999791475519226 Centerline is valid? [True, True] Translation: X:58.63, Y:6.68, Z:6.77 [[ 9.85633514e-01 -1.21466593e-01 -1.17356048e-01 5.86317850e+01] [ 1.19922671e-01 9.92578621e-01 -2.01552414e-02 6.67912281e+00] [ 1.18933293e-01 5.79203067e-03 9.92885353e-01 6.76924588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81710568099999 meters Centerline goodness [0,1] 0.9999582472182209 Centerline is valid? [True, True] Translation: X:58.66, Y:6.68, Z:6.77 [[ 9.85429737e-01 -1.22568228e-01 -1.17920581e-01 5.86600180e+01] [ 1.21012791e-01 9.92443588e-01 -2.02886486e-02 6.68403871e+00] [ 1.19516268e-01 5.72313901e-03 9.92815747e-01 6.77049492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:6.68, Z:6.77 [[ 9.84945934e-01 -1.24250869e-01 -1.20179986e-01 5.86906714e+01] [ 1.22642741e-01 9.92234669e-01 -2.07151808e-02 6.67872082e+00] [ 1.21820627e-01 5.66413018e-03 9.92535970e-01 6.77145477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:6.68, Z:6.77 [[ 9.84908080e-01 -1.25443341e-01 -1.19247814e-01 5.87195906e+01] [ 1.23864098e-01 9.92085470e-01 -2.05937968e-02 6.68031740e+00] [ 1.20887379e-01 5.51247390e-03 9.92650923e-01 6.77458433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:6.69, Z:6.78 [[ 9.84862417e-01 -1.25807759e-01 -1.19241050e-01 5.87465380e+01] [ 1.24226448e-01 9.92039351e-01 -2.06328926e-02 6.68521608e+00] [ 1.20887592e-01 5.50766832e-03 9.92650923e-01 6.77746588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937105680999984 meters Centerline goodness [0,1] 0.999937423082539 Centerline is valid? [True, True] Translation: X:58.77, Y:6.69, Z:6.78 [[ 9.85059324e-01 -1.27456243e-01 -1.15814653e-01 5.87749289e+01] [ 1.25971646e-01 9.91830617e-01 -2.00791501e-02 6.68508732e+00] [ 1.17427732e-01 5.18979156e-03 9.93067870e-01 6.78398821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.967105680999985 meters Centerline goodness [0,1] 0.9999791957059937 Centerline is valid? [True, True] Translation: X:58.80, Y:6.69, Z:6.79 [[ 9.85128192e-01 -1.27099393e-01 -1.15620889e-01 5.88034002e+01] [ 1.25615729e-01 9.91876160e-01 -2.00591993e-02 6.68724188e+00] [ 1.17231116e-01 5.23708047e-03 9.93090851e-01 6.78772202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99710568099999 meters Centerline goodness [0,1] 0.9999166371423213 Centerline is valid? [True, True] Translation: X:58.83, Y:6.69, Z:6.79 [[ 9.85289151e-01 -1.24545355e-01 -1.17020271e-01 5.88337194e+01] [ 1.23003358e-01 9.92197867e-01 -2.03363133e-02 6.68806395e+00] [ 1.18640057e-01 5.64326252e-03 9.92921291e-01 6.78895549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.86, Y:6.69, Z:6.79 [[ 9.85206231e-01 -1.24180588e-01 -1.18101078e-01 5.88626015e+01] [ 1.22606041e-01 9.92242972e-01 -2.05339351e-02 6.69190079e+00] [ 1.19734881e-01 5.75025512e-03 9.92789249e-01 6.79061524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:6.69, Z:6.79 [[ 9.84925245e-01 -1.24852448e-01 -1.19725223e-01 5.88904031e+01] [ 1.23234278e-01 9.92158448e-01 -2.08549107e-02 6.69277089e+00] [ 1.21390178e-01 5.78627660e-03 9.92588003e-01 6.79059228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.08710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:6.69, Z:6.79 [[ 9.84543147e-01 -1.27051529e-01 -1.20551655e-01 5.89206472e+01] [ 1.25423239e-01 9.91880389e-01 -2.10310617e-02 6.68606091e+00] [ 1.22244851e-01 5.58600861e-03 9.92484253e-01 6.79478259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:6.68, Z:6.80 [[ 9.84266005e-01 -1.30182378e-01 -1.19469574e-01 5.89503214e+01] [ 1.28602030e-01 9.91476510e-01 -2.08769770e-02 6.68495954e+00] [ 1.21169091e-01 5.18446907e-03 9.92618342e-01 6.79925756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.147105680999985 meters Centerline goodness [0,1] 0.9999370765778048 Centerline is valid? [True, True] Translation: X:58.98, Y:6.69, Z:6.80 [[ 9.84237247e-01 -1.32006217e-01 -1.17691969e-01 5.89792487e+01] [ 1.30484911e-01 9.91236817e-01 -2.05733034e-02 6.68775417e+00] [ 1.19376416e-01 4.89198542e-03 9.92837016e-01 6.80403347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177105680999986 meters Centerline goodness [0,1] 0.9998957703612599 Centerline is valid? [True, True] Translation: X:59.01, Y:6.68, Z:6.81 [[ 9.83754211e-01 -1.37283246e-01 -1.15676111e-01 5.90100189e+01] [ 1.35848285e-01 9.90522956e-01 -2.02365417e-02 6.68415879e+00] [ 1.17357982e-01 4.19338183e-03 9.93080822e-01 6.80887817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.04, Y:6.68, Z:6.81 [[ 9.82190214e-01 -1.46271984e-01 -1.17927482e-01 5.90423989e+01] [ 1.44844422e-01 9.89239286e-01 -2.06331834e-02 6.67572336e+00] [ 1.19676555e-01 3.18457271e-03 9.92807827e-01 6.80967487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.07, Y:6.67, Z:6.81 [[ 9.81215921e-01 -1.52598093e-01 -1.18021771e-01 5.90716484e+01] [ 1.51213291e-01 9.88285369e-01 -2.06535944e-02 6.67363127e+00] [ 1.19790889e-01 2.41917522e-03 9.92796198e-01 6.81228615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.10, Y:6.66, Z:6.82 [[ 9.79455202e-01 -1.66165055e-01 -1.14265836e-01 5.91035714e+01] [ 1.64957941e-01 9.86097671e-01 -2.00065007e-02 6.66351653e+00] [ 1.16001656e-01 7.46414008e-04 9.93248740e-01 6.82011007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29710568099999 meters Centerline goodness [0,1] 0.9999374452646065 Centerline is valid? [True, True] Translation: X:59.13, Y:6.66, Z:6.83 [[ 9.78374850e-01 -1.73629239e-01 -1.12407924e-01 5.91325411e+01] [ 1.72509217e-01 9.84811084e-01 -1.96900664e-02 6.66081646e+00] [ 1.14119341e-01 -1.27137215e-04 9.93467040e-01 6.82558047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.327105680999985 meters Centerline goodness [0,1] 0.9999790996112528 Centerline is valid? [True, True] Translation: X:59.16, Y:6.65, Z:6.83 [[ 9.76393640e-01 -1.85091487e-01 -1.11340024e-01 5.91621845e+01] [ 1.84062811e-01 9.82720273e-01 -1.95383332e-02 6.65465262e+00] [ 1.13032478e-01 -1.41645348e-03 9.93590284e-01 6.82989438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357105680999986 meters Centerline goodness [0,1] 0.9998955788066746 Centerline is valid? [True, True] Translation: X:59.19, Y:6.66, Z:6.83 [[ 9.75785428e-01 -1.88422812e-01 -1.11083945e-01 5.91899337e+01] [ 1.87418858e-01 9.82086380e-01 -1.95067517e-02 6.65729944e+00] [ 1.12769546e-01 -1.78482202e-03 9.93619567e-01 6.83290567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:6.67, Z:6.84 [[ 9.75635781e-01 -1.89659100e-01 -1.10291654e-01 5.92168037e+01] [ 1.88675633e-01 9.81848165e-01 -1.93826162e-02 6.66564288e+00] [ 1.11965747e-01 -1.89897366e-03 9.93710252e-01 6.83552659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:6.68, Z:6.83 [[ 9.75813664e-01 -1.86902201e-01 -1.13381044e-01 5.92448209e+01] [ 1.85839067e-01 9.82377248e-01 -1.99695589e-02 6.67690246e+00] [ 1.15115313e-01 -1.58405899e-03 9.93350872e-01 6.83402657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.44710568099999 meters Centerline goodness [0,1] 0.9999790961160584 Centerline is valid? [True, True] Translation: X:59.27, Y:6.69, Z:6.84 [[ 9.76456068e-01 -1.81872703e-01 -1.15999424e-01 5.92708268e+01] [ 1.80720014e-01 9.83321597e-01 -2.04673713e-02 6.69021403e+00] [ 1.17787195e-01 -9.77928602e-04 9.93038378e-01 6.83540608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.30, Y:6.70, Z:6.84 [[ 9.77060126e-01 -1.78600488e-01 -1.15997305e-01 5.92974015e+01] [ 1.77422884e-01 9.83921513e-01 -2.04835566e-02 6.70231431e+00] [ 1.17790617e-01 -5.66910049e-04 9.93038292e-01 6.84129160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.507105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:6.72, Z:6.84 [[ 9.78751749e-01 -1.69360310e-01 -1.15594547e-01 5.93207745e+01] [ 1.68122113e-01 9.85554031e-01 -2.04501332e-02 6.72422765e+00] [ 1.17388113e-01 5.81604057e-04 9.93085944e-01 6.84411670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.35, Y:6.74, Z:6.84 [[ 9.79765778e-01 -1.62890809e-01 -1.16299636e-01 5.93466911e+01] [ 1.61589307e-01 9.86643127e-01 -2.05970057e-02 6.74406511e+00] [ 1.18101299e-01 1.38746371e-03 9.93000583e-01 6.84474381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.37, Y:6.75, Z:6.85 [[ 9.79872589e-01 -1.62502095e-01 -1.15942992e-01 5.93723406e+01] [ 1.61201358e-01 9.86707107e-01 -2.05720047e-02 6.75320998e+00] [ 1.17744768e-01 1.46777570e-03 9.93042806e-01 6.84765555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.40, Y:6.76, Z:6.85 [[ 9.79309367e-01 -1.68283889e-01 -1.12399714e-01 5.93988331e+01] [ 1.67096513e-01 9.85738267e-01 -1.99705884e-02 6.75832341e+00] [ 1.14157428e-01 7.75784015e-04 9.93462370e-01 6.85446433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.43, Y:6.76, Z:6.86 [[ 9.78560493e-01 -1.74234444e-01 -1.09825864e-01 5.94272034e+01] [ 1.73136747e-01 9.84704194e-01 -1.95273496e-02 6.76085892e+00] [ 1.11548326e-01 9.38000450e-05 9.93759006e-01 6.86144267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.46, Y:6.76, Z:6.87 [[ 9.76287692e-01 -1.87497638e-01 -1.08198789e-01 5.94563950e+01] [ 1.86509470e-01 9.82264106e-01 -1.92728528e-02 6.75986944e+00] [ 1.09893401e-01 -1.36424989e-03 9.93942443e-01 6.86656944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.687105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:6.76, Z:6.86 [[ 9.73637861e-01 -1.98737408e-01 -1.11949805e-01 5.94861175e+01] [ 1.97749222e-01 9.80049087e-01 -1.99757935e-02 6.76063966e+00] [ 1.13686242e-01 -2.68879804e-03 9.93513064e-01 6.86393075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.51, Y:6.77, Z:6.87 [[ 9.72597532e-01 -2.03068737e-01 -1.13212761e-01 5.95148151e+01] [ 2.02086985e-01 9.79159161e-01 -2.02036558e-02 6.76771341e+00] [ 1.14956043e-01 -3.22879978e-03 9.93365332e-01 6.86557647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:6.78, Z:6.87 [[ 9.72201222e-01 -2.06639395e-01 -1.10113324e-01 5.95410942e+01] [ 2.05732738e-01 9.78410758e-01 -1.96578161e-02 6.78066004e+00] [ 1.11798140e-01 -3.54256286e-03 9.93724623e-01 6.87239138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:6.80, Z:6.88 [[ 9.73859292e-01 -2.00457986e-01 -1.06839486e-01 5.95662673e+01] [ 1.99563637e-01 9.79698544e-01 -1.91080527e-02 6.80121520e+00] [ 1.08500851e-01 -2.71272179e-03 9.94092655e-01 6.88210153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.59, Y:6.82, Z:6.88 [[ 9.74988588e-01 -1.94326303e-01 -1.07863534e-01 5.95930295e+01] [ 1.93376615e-01 9.80934814e-01 -1.92970112e-02 6.81780618e+00] [ 1.09557013e-01 -2.04391944e-03 9.93978412e-01 6.88463139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:6.85, Z:6.88 [[ 9.77036396e-01 -1.81484613e-01 -1.11638774e-01 5.96166954e+01] [ 1.80381249e-01 9.83393598e-01 -1.99909122e-02 6.84693344e+00] [ 1.13412899e-01 -6.05692724e-04 9.93547758e-01 6.88204513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.867105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.64, Y:6.87, Z:6.88 [[ 9.78107214e-01 -1.74984644e-01 -1.12635040e-01 5.96420674e+01] [ 1.73815966e-01 9.84571148e-01 -2.01907145e-02 6.86511741e+00] [ 1.14430276e-01 1.70915190e-04 9.93431267e-01 6.88334774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897105680999985 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:6.89, Z:6.88 [[ 9.80346557e-01 -1.61968612e-01 -1.12635679e-01 5.96656289e+01] [ 1.60709339e-01 9.86794389e-01 -2.02322250e-02 6.89359276e+00] [ 1.14425241e-01 1.73298670e-03 9.93430350e-01 6.88499149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.927105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.69, Y:6.91, Z:6.89 [[ 9.81849793e-01 -1.52629915e-01 -1.12583714e-01 5.96912842e+01] [ 1.51309405e-01 9.88279362e-01 -2.02328231e-02 6.91445489e+00] [ 1.14352295e-01 2.83061833e-03 9.93436229e-01 6.88825242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:6.93, Z:6.89 [[ 9.82549302e-01 -1.47544811e-01 -1.13258106e-01 5.97184547e+01] [ 1.46174040e-01 9.89049358e-01 -2.03596915e-02 6.92768431e+00] [ 1.15021824e-01 3.44900579e-03 9.93356977e-01 6.89049807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:6.94, Z:6.89 [[ 9.82510233e-01 -1.47057061e-01 -1.14227244e-01 5.97454314e+01] [ 1.45658310e-01 9.89121656e-01 -2.05427677e-02 6.93558786e+00] [ 1.16005600e-01 3.54533207e-03 9.93242232e-01 6.89214298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01710568099999 meters Centerline goodness [0,1] 0.9998954762103854 Centerline is valid? [True, True] Translation: X:59.77, Y:6.95, Z:6.89 [[ 9.82356498e-01 -1.46976282e-01 -1.15644647e-01 5.97718002e+01] [ 1.45540240e-01 9.89133416e-01 -2.08116133e-02 6.94863279e+00] [ 1.17446798e-01 3.61347395e-03 9.93072602e-01 6.89175169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.047105680999984 meters Centerline goodness [0,1] 0.9995383969785984 Centerline is valid? [True, True] Translation: X:59.80, Y:6.95, Z:6.89 [[ 9.82179808e-01 -1.47288732e-01 -1.16742682e-01 5.98002526e+01] [ 1.45825362e-01 9.89086888e-01 -2.10259663e-02 6.95301309e+00] [ 1.18565544e-01 3.62723564e-03 9.92939603e-01 6.89460317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077105680999985 meters Centerline goodness [0,1] 0.9997289068690829 Centerline is valid? [True, True] Translation: X:59.83, Y:6.96, Z:6.89 [[ 9.81833939e-01 -1.48485103e-01 -1.18128281e-01 5.98266057e+01] [ 1.46990771e-01 9.88908231e-01 -2.13125316e-02 6.96321176e+00] [ 1.19982623e-01 3.56159974e-03 9.92769603e-01 6.89416513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.107105680999986 meters Centerline goodness [0,1] 0.9996229181941971 Centerline is valid? [True, True] Translation: X:59.85, Y:6.97, Z:6.90 [[ 9.81934108e-01 -1.50741222e-01 -1.14378721e-01 5.98545411e+01] [ 1.49354374e-01 9.88568100e-01 -2.06490258e-02 6.96513717e+00] [ 1.16183814e-01 3.19302047e-03 9.93222596e-01 6.90400903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13710568099999 meters Centerline goodness [0,1] 0.9996237222233836 Centerline is valid? [True, True] Translation: X:59.88, Y:6.97, Z:6.91 [[ 9.81801514e-01 -1.52821111e-01 -1.12745265e-01 5.98832787e+01] [ 1.51485950e-01 9.88249564e-01 -2.03668105e-02 6.96890331e+00] [ 1.14532937e-01 2.91684180e-03 9.93415169e-01 6.90973205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16710568099999 meters Centerline goodness [0,1] 0.9996227601383213 Centerline is valid? [True, True] Translation: X:59.91, Y:6.97, Z:6.91 [[ 9.80934378e-01 -1.58398496e-01 -1.12595122e-01 5.99117836e+01] [ 1.57099612e-01 9.87372596e-01 -2.03732152e-02 6.97127798e+00] [ 1.14400424e-01 2.29613731e-03 9.93432066e-01 6.91260494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19710568099999 meters Centerline goodness [0,1] 0.9997494048364867 Centerline is valid? [True, True] Translation: X:59.94, Y:6.97, Z:6.92 [[ 9.80405793e-01 -1.61596280e-01 -1.12654886e-01 5.99404977e+01] [ 1.60315513e-01 9.86855050e-01 -2.03972309e-02 6.97357740e+00] [ 1.14470159e-01 1.93723755e-03 9.93424798e-01 6.91539790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:6.98, Z:6.92 [[ 9.79759395e-01 -1.67083068e-01 -1.10248703e-01 5.99691957e+01] [ 1.65887297e-01 9.85941961e-01 -1.99963389e-02 6.97512346e+00] [ 1.12039872e-01 1.30274163e-03 9.93702858e-01 6.92014887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257105680999985 meters Centerline goodness [0,1] 0.9998128275517844 Centerline is valid? [True, True] Translation: X:60.00, Y:6.98, Z:6.92 [[ 9.78556371e-01 -1.73568347e-01 -1.10911938e-01 5.99970442e+01] [ 1.72398339e-01 9.84821658e-01 -2.01274514e-02 6.97677644e+00] [ 1.12721967e-01 5.74811892e-04 9.93626402e-01 6.92097992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.287105680999986 meters Centerline goodness [0,1] 0.9998955613577023 Centerline is valid? [True, True] Translation: X:60.02, Y:6.98, Z:6.92 [[ 9.77721954e-01 -1.77254128e-01 -1.12431114e-01 6.00249624e+01] [ 1.76074176e-01 9.84165101e-01 -2.04190732e-02 6.97890415e+00] [ 1.14270144e-01 1.67960299e-04 9.93449700e-01 6.92209764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:6.98, Z:6.92 [[ 9.76092684e-01 -1.83694696e-01 -1.16186617e-01 6.00545370e+01] [ 1.82474361e-01 9.82983186e-01 -2.11462274e-02 6.97933316e+00] [ 1.18093941e-01 -5.60400825e-04 9.93002269e-01 6.92001775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34710568099999 meters Centerline goodness [0,1] 0.9999790624149411 Centerline is valid? [True, True] Translation: X:60.08, Y:6.98, Z:6.92 [[ 9.75240697e-01 -1.87008484e-01 -1.18039868e-01 6.00833374e+01] [ 1.85768165e-01 9.82357851e-01 -2.15230445e-02 6.98247997e+00] [ 1.19982383e-01 -9.37900823e-04 9.92775578e-01 6.91990024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.11, Y:6.99, Z:6.92 [[ 9.74524780e-01 -1.89739932e-01 -1.19583491e-01 6.01123923e+01] [ 1.88482422e-01 9.81833587e-01 -2.18445461e-02 6.98596929e+00] [ 1.21555870e-01 -1.25133443e-03 9.92583802e-01 6.92156425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.40710568099999 meters Centerline goodness [0,1] 0.9999790580301984 Centerline is valid? [True, True] Translation: X:60.14, Y:6.99, Z:6.92 [[ 9.73582617e-01 -1.93715301e-01 -1.20877091e-01 6.01408501e+01] [ 1.92455792e-01 9.81056269e-01 -2.21216150e-02 6.98832409e+00] [ 1.22872523e-01 -1.72627651e-03 9.92420961e-01 6.92423201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:7.00, Z:6.93 [[ 9.74277657e-01 -1.91339631e-01 -1.19047018e-01 6.01679028e+01] [ 1.90095502e-01 9.81522941e-01 -2.18269805e-02 6.99713504e+00] [ 1.21023746e-01 -1.36476334e-03 9.92648674e-01 6.93226279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.467105680999985 meters Centerline goodness [0,1] 0.9999791723075 Centerline is valid? [True, True] Translation: X:60.19, Y:7.02, Z:6.94 [[ 9.77117929e-01 -1.79436254e-01 -1.14206762e-01 6.01917660e+01] [ 1.78206091e-01 9.83769592e-01 -2.09756767e-02 7.01615133e+00] [ 1.16116937e-01 1.43369133e-04 9.93235539e-01 6.94085513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.22, Y:7.03, Z:6.95 [[ 9.78575077e-01 -1.72837079e-01 -1.11884595e-01 6.02172831e+01] [ 1.71611937e-01 9.84949996e-01 -2.05632924e-02 7.03044594e+00] [ 1.13754831e-01 9.21993443e-04 9.93508424e-01 6.94609230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52710568099999 meters Centerline goodness [0,1] 0.9999167100468506 Centerline is valid? [True, True] Translation: X:60.24, Y:7.05, Z:6.95 [[ 9.81065662e-01 -1.59952640e-01 -1.09203109e-01 6.02432376e+01] [ 1.58703889e-01 9.87121826e-01 -2.00892318e-02 7.05167378e+00] [ 1.11010098e-01 2.37789737e-03 9.93816434e-01 6.95283116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55710568099999 meters Centerline goodness [0,1] 0.9999579823105528 Centerline is valid? [True, True] Translation: X:60.27, Y:7.06, Z:6.96 [[ 9.82297336e-01 -1.52237627e-01 -1.09158820e-01 6.02711999e+01] [ 1.50941784e-01 9.88338563e-01 -2.00863770e-02 7.06373834e+00] [ 1.10943774e-01 3.25416757e-03 9.93821357e-01 6.95573884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58710568099999 meters Centerline goodness [0,1] 0.9999167845552135 Centerline is valid? [True, True] Translation: X:60.30, Y:7.08, Z:6.96 [[ 9.82470002e-01 -1.51038302e-01 -1.09270889e-01 6.02976900e+01] [ 1.49731727e-01 9.88522067e-01 -2.01129914e-02 7.07508570e+00] [ 1.11054517e-01 3.39909181e-03 9.93808503e-01 6.95692393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:7.08, Z:6.96 [[ 9.82274192e-01 -1.51973823e-01 -1.09733168e-01 6.03269195e+01] [ 1.50660258e-01 9.88378935e-01 -2.02130484e-02 7.07747701e+00] [ 1.11529806e-01 3.32232827e-03 9.93755536e-01 6.95960957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.647105680999985 meters Centerline goodness [0,1] 0.999979059345814 Centerline is valid? [True, True] Translation: X:60.36, Y:7.08, Z:6.96 [[ 9.81972980e-01 -1.51905569e-01 -1.12488950e-01 6.03560427e+01] [ 1.50520310e-01 9.88388987e-01 -2.07568335e-02 7.08077413e+00] [ 1.14335918e-01 3.45077798e-03 9.93436153e-01 6.96008101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.38, Y:7.09, Z:6.96 [[ 9.81958542e-01 -1.50729590e-01 -1.14184116e-01 6.03834697e+01] [ 1.49289781e-01 9.88568182e-01 -2.11071461e-02 7.08696610e+00] [ 1.16060256e-01 3.67982060e-03 9.93235358e-01 6.96052684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70710568099999 meters Centerline goodness [0,1] 0.9999369191303251 Centerline is valid? [True, True] Translation: X:60.41, Y:7.09, Z:6.96 [[ 9.82730245e-01 -1.46073399e-01 -1.13595017e-01 6.04126865e+01] [ 1.44615968e-01 9.89264751e-01 -2.10112986e-02 7.09197118e+00] [ 1.15444738e-01 4.22078528e-03 9.93304937e-01 6.96490070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73710568099999 meters Centerline goodness [0,1] 0.9999791227374266 Centerline is valid? [True, True] Translation: X:60.44, Y:7.10, Z:6.97 [[ 9.83511075e-01 -1.41179521e-01 -1.13023486e-01 6.04402502e+01] [ 1.39703911e-01 9.89972486e-01 -2.09115621e-02 7.09692015e+00] [ 1.14842425e-01 4.77692995e-03 9.93372236e-01 6.96841191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.47, Y:7.10, Z:6.97 [[ 9.83728485e-01 -1.39429102e-01 -1.13303988e-01 6.04680140e+01] [ 1.37933270e-01 9.90219408e-01 -2.09746955e-02 7.10200673e+00] [ 1.15120291e-01 5.00501596e-03 9.93338949e-01 6.97084749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797105680999984 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.49, Y:7.11, Z:6.97 [[ 9.83676996e-01 -1.39794264e-01 -1.13301062e-01 6.04948611e+01] [ 1.38299026e-01 9.90168056e-01 -2.09904877e-02 7.10721956e+00] [ 1.15121442e-01 4.97843342e-03 9.93338950e-01 6.97372732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.827105680999985 meters Centerline goodness [0,1] 0.9999370765778048 Centerline is valid? [True, True] Translation: X:60.52, Y:7.11, Z:6.97 [[ 9.84037746e-01 -1.36675443e-01 -1.13971649e-01 6.05231164e+01] [ 1.35136785e-01 9.90601074e-01 -2.11556432e-02 7.11191881e+00] [ 1.15791895e-01 5.41618929e-03 9.93258729e-01 6.97466947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857105680999986 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.55, Y:7.11, Z:6.98 [[ 9.83628259e-01 -1.38754290e-01 -1.14989983e-01 6.05533323e+01] [ 1.37200297e-01 9.90313014e-01 -2.13591624e-02 7.10584843e+00] [ 1.16839752e-01 5.23281594e-03 9.93136995e-01 6.97578994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88710568099999 meters Centerline goodness [0,1] 0.9999790101171235 Centerline is valid? [True, True] Translation: X:60.58, Y:7.10, Z:6.98 [[ 9.83189996e-01 -1.41105136e-01 -1.15873948e-01 6.05834977e+01] [ 1.39538771e-01 9.89981838e-01 -2.15613477e-02 7.10427855e+00] [ 1.17755521e-01 5.02999309e-03 9.93029877e-01 6.97770220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:7.09, Z:6.98 [[ 9.82100271e-01 -1.49368691e-01 -1.14752132e-01 6.06165935e+01] [ 1.47885095e-01 9.88773356e-01 -2.13833929e-02 7.09056305e+00] [ 1.16657860e-01 4.03050600e-03 9.93163984e-01 6.98400837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:7.08, Z:6.99 [[ 9.80621875e-01 -1.60871346e-01 -1.11808534e-01 6.06480265e+01] [ 1.59537353e-01 9.86971973e-01 -2.08364376e-02 7.07824239e+00] [ 1.13703876e-01 2.59502893e-03 9.93511296e-01 6.99070303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97710568099999 meters Centerline goodness [0,1] 0.9999792548336238 Centerline is valid? [True, True] Translation: X:60.68, Y:7.07, Z:7.00 [[ 9.79577056e-01 -1.67569899e-01 -1.11126594e-01 6.06777382e+01] [ 1.66294585e-01 9.85858534e-01 -2.07138037e-02 7.07230833e+00] [ 1.13026111e-01 1.81101601e-03 9.93590368e-01 6.99502856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00710568099998 meters Centerline goodness [0,1] 0.9999791775117126 Centerline is valid? [True, True] Translation: X:60.71, Y:7.05, Z:7.00 [[ 9.77050978e-01 -1.82268778e-01 -1.10224671e-01 6.07089781e+01] [ 1.81106006e-01 9.83248736e-01 -2.05557057e-02 7.05470068e+00] [ 1.12124932e-01 1.21622421e-04 9.93694110e-01 6.99951496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:7.05, Z:7.00 [[ 9.75806289e-01 -1.88790554e-01 -1.10273357e-01 6.07383404e+01] [ 1.87666655e-01 9.82017184e-01 -2.05785519e-02 7.05116187e+00] [ 1.12175368e-01 -6.13951572e-04 9.93688236e-01 7.00280294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:7.05, Z:7.01 [[ 9.73965099e-01 -1.97726147e-01 -1.10888942e-01 6.07687501e+01] [ 1.96643294e-01 9.80255965e-01 -2.07282127e-02 7.04551032e+00] [ 1.12798057e-01 -1.61701121e-03 9.93616618e-01 7.00637175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:7.05, Z:7.02 [[ 9.73784543e-01 -2.00986436e-01 -1.06527534e-01 6.07960170e+01] [ 2.00003243e-01 9.79592213e-01 -1.99448945e-02 7.05053121e+00] [ 1.08362196e-01 -1.88382234e-03 9.94109695e-01 7.01646666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:7.06, Z:7.02 [[ 9.73847276e-01 -2.01614347e-01 -1.04752744e-01 6.08228566e+01] [ 2.00663552e-01 9.79463168e-01 -1.96479152e-02 7.05728339e+00] [ 1.06562756e-01 -1.88598893e-03 9.94304190e-01 7.02286140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:7.07, Z:7.03 [[ 9.73940277e-01 -2.01565228e-01 -1.03979788e-01 6.08489849e+01] [ 2.00623865e-01 9.79473390e-01 -1.95433581e-02 7.06827337e+00] [ 1.05784697e-01 -1.82676336e-03 9.94387380e-01 7.02722072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:7.08, Z:7.03 [[ 9.74150671e-01 -2.00989090e-01 -1.03120591e-01 6.08757360e+01] [ 2.00055796e-01 9.79591988e-01 -1.94220536e-02 7.07618223e+00] [ 1.04919726e-01 -1.70986542e-03 9.94479224e-01 7.03143595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:7.09, Z:7.04 [[ 9.74870909e-01 -1.98946593e-01 -1.00234546e-01 6.09022132e+01] [ 1.98052994e-01 9.80009280e-01 -1.88897406e-02 7.09064049e+00] [ 1.01988835e-01 -1.43669346e-03 9.94784506e-01 7.03870938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.93, Y:7.10, Z:7.04 [[ 9.75288997e-01 -1.97043421e-01 -9.99262807e-02 6.09287288e+01] [ 1.96141962e-01 9.80394027e-01 -1.88648681e-02 7.10038214e+00] [ 1.01684327e-01 -1.20103838e-03 9.94815991e-01 7.04187486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.96, Y:7.12, Z:7.04 [[ 9.76125719e-01 -1.92236360e-01 -1.01112618e-01 6.09551036e+01] [ 1.91286300e-01 9.81348407e-01 -1.91011667e-02 7.11667545e+00] [ 1.02898646e-01 -6.96318569e-04 9.94691602e-01 7.04273503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.307105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:7.13, Z:7.04 [[ 9.77560602e-01 -1.83320366e-01 -1.03773370e-01 6.09806183e+01] [ 1.82265434e-01 9.83053184e-01 -1.96405129e-02 7.13458105e+00] [ 1.05615247e-01 2.85493432e-04 9.94407028e-01 7.04243957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.01, Y:7.15, Z:7.04 [[ 9.78054232e-01 -1.78753965e-01 -1.07037090e-01 6.10068949e+01] [ 1.77602658e-01 9.83893466e-01 -2.02717279e-02 7.14713509e+00] [ 1.08936745e-01 8.16777609e-04 9.94048348e-01 7.04053665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.367105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.03, Y:7.17, Z:7.03 [[ 9.78399528e-01 -1.71863043e-01 -1.14880191e-01 6.10336576e+01] [ 1.70487121e-01 9.85119359e-01 -2.17713110e-02 7.16702053e+00] [ 1.16912384e-01 1.71544735e-03 9.93140751e-01 7.03184417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397105681 meters Centerline goodness [0,1] 0.9999790074733395 Centerline is valid? [True, True] Translation: X:61.06, Y:7.18, Z:7.03 [[ 9.78471301e-01 -1.69468829e-01 -1.17788920e-01 6.10605997e+01] [ 1.68003539e-01 9.85533389e-01 -2.23327328e-02 7.17834271e+00] [ 1.19869615e-01 2.06298277e-03 9.92787500e-01 7.03075678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.427105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.09, Y:7.19, Z:7.03 [[ 9.78722546e-01 -1.67405297e-01 -1.18649247e-01 6.10865764e+01] [ 1.65900864e-01 9.85885353e-01 -2.25160677e-02 7.19006086e+00] [ 1.20743864e-01 2.35297054e-03 9.92680907e-01 7.03233643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:7.20, Z:7.04 [[ 9.78937082e-01 -1.67415526e-01 -1.16851321e-01 6.11145352e+01] [ 1.65954642e-01 9.85883667e-01 -2.21912773e-02 7.19673917e+00] [ 1.18916973e-01 2.33184509e-03 9.92901463e-01 7.03709010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.14, Y:7.20, Z:7.04 [[ 9.78890570e-01 -1.67622002e-01 -1.16944932e-01 6.11417084e+01] [ 1.66155529e-01 9.85848545e-01 -2.22483014e-02 7.20250773e+00] [ 1.19019296e-01 2.34760548e-03 9.92889166e-01 7.04093390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:7.21, Z:7.04 [[ 9.78825980e-01 -1.67999531e-01 -1.16943825e-01 6.11686001e+01] [ 1.66530274e-01 9.85784281e-01 -2.22939352e-02 7.21096857e+00] [ 1.19026755e-01 2.34719580e-03 9.92888273e-01 7.04379479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.19, Y:7.22, Z:7.05 [[ 9.78698383e-01 -1.70779689e-01 -1.13946359e-01 6.11947171e+01] [ 1.69399077e-01 9.85307215e-01 -2.17633673e-02 7.21805476e+00] [ 1.15988911e-01 1.99736433e-03 9.93248500e-01 7.04969938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:7.22, Z:7.05 [[ 9.78024365e-01 -1.75690380e-01 -1.12255211e-01 6.12233868e+01] [ 1.74381021e-01 9.84444465e-01 -2.14558902e-02 7.22165926e+00] [ 1.14278614e-01 1.40920519e-03 9.93447740e-01 7.05424154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:7.22, Z:7.06 [[ 9.77345011e-01 -1.78536716e-01 -1.13672211e-01 6.12511730e+01] [ 1.77208754e-01 9.83932604e-01 -2.17643704e-02 7.22459406e+00] [ 1.15731533e-01 1.12758797e-03 9.93279890e-01 7.05522611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:7.23, Z:7.05 [[ 9.75958042e-01 -1.84100141e-01 -1.16674928e-01 6.12792924e+01] [ 1.82737808e-01 9.82907364e-01 -2.23608580e-02 7.22532199e+00] [ 1.18797283e-01 5.02338557e-04 9.92918402e-01 7.05414414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.31, Y:7.23, Z:7.06 [[ 9.75606429e-01 -1.85764524e-01 -1.16977083e-01 6.13066159e+01] [ 1.84404275e-01 9.82594238e-01 -2.24416191e-02 7.23045739e+00] [ 1.19109864e-01 3.23113650e-04 9.92881028e-01 7.05727387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.33, Y:7.24, Z:7.06 [[ 9.75461586e-01 -1.86954557e-01 -1.16287094e-01 6.13329500e+01] [ 1.85613390e-01 9.82368538e-01 -2.23545329e-02 7.23864322e+00] [ 1.18416064e-01 2.21546368e-04 9.92964041e-01 7.06143254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:7.25, Z:7.06 [[ 9.75369216e-01 -1.86742413e-01 -1.17397458e-01 6.13599765e+01] [ 1.85368757e-01 9.82408869e-01 -2.26105674e-02 7.24596478e+00] [ 1.19554655e-01 2.91830629e-04 9.92827578e-01 7.06284862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:7.25, Z:7.06 [[ 9.74703223e-01 -1.88866815e-01 -1.19511306e-01 6.13878453e+01] [ 1.87456695e-01 9.82002711e-01 -2.30361477e-02 7.25267891e+00] [ 1.21711190e-01 5.02130119e-05 9.92565556e-01 7.06398104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.787105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:7.26, Z:7.07 [[ 9.74328982e-01 -1.90958769e-01 -1.19238344e-01 6.14147809e+01] [ 1.89565542e-01 9.81598044e-01 -2.30257489e-02 7.25746977e+00] [ 1.21441094e-01 -1.68826811e-04 9.92598626e-01 7.06723380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:7.26, Z:7.07 [[ 9.73165354e-01 -1.96662668e-01 -1.19469615e-01 6.14423316e+01] [ 1.95301486e-01 9.80470852e-01 -2.31136047e-02 7.25933603e+00] [ 1.21682058e-01 -8.39234130e-04 9.92568775e-01 7.07023637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:7.26, Z:7.07 [[ 9.72043933e-01 -2.02358820e-01 -1.19086105e-01 6.14714514e+01] [ 2.01046693e-01 9.79310253e-01 -2.30576790e-02 7.26125303e+00] [ 1.21288168e-01 -1.52879056e-03 9.92616161e-01 7.07412565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:7.27, Z:7.08 [[ 9.72123183e-01 -2.03071379e-01 -1.17211485e-01 6.14986743e+01] [ 2.01801115e-01 9.79162701e-01 -2.27313711e-02 7.26628824e+00] [ 1.19385205e-01 -1.55571550e-03 9.92846792e-01 7.07894914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:7.28, Z:7.08 [[ 9.72522828e-01 -2.01436705e-01 -1.16715908e-01 6.15263182e+01] [ 2.00163651e-01 9.79500625e-01 -2.26503688e-02 7.27585513e+00] [ 1.18885920e-01 -1.33428153e-03 9.92907024e-01 7.08425740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:7.29, Z:7.09 [[ 9.73830324e-01 -1.94742035e-01 -1.17175252e-01 6.15511831e+01] [ 1.93407941e-01 9.80854369e-01 -2.27612689e-02 7.29196634e+00] [ 1.19364433e-01 -4.97010312e-04 9.92850384e-01 7.08594732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96710568099999 meters Centerline goodness [0,1] 0.99997891585317 Centerline is valid? [True, True] Translation: X:61.58, Y:7.31, Z:7.09 [[ 9.75584415e-01 -1.85193610e-01 -1.18060898e-01 6.15775511e+01] [ 1.83767186e-01 9.82701808e-01 -2.29516590e-02 7.30983511e+00] [ 1.20269159e-01 6.95561840e-04 9.92741077e-01 7.08701312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.60, Y:7.32, Z:7.09 [[ 9.76430621e-01 -1.79595884e-01 -1.19701970e-01 6.16032189e+01] [ 1.78082630e-01 9.83739414e-01 -2.33096962e-02 7.32193817e+00] [ 1.21941871e-01 1.44345945e-03 9.92536194e-01 7.08709924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.63, Y:7.34, Z:7.09 [[ 9.77941430e-01 -1.69735147e-01 -1.21739635e-01 6.16294926e+01] [ 1.68091295e-01 9.85485914e-01 -2.37240253e-02 7.34148396e+00] [ 1.23999496e-01 2.73733433e-03 9.92278505e-01 7.08620997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.66, Y:7.35, Z:7.09 [[ 9.78656888e-01 -1.65984246e-01 -1.21160745e-01 6.16553998e+01] [ 1.64325636e-01 9.86123175e-01 -2.36256148e-02 7.35353760e+00] [ 1.23400898e-01 3.21155424e-03 9.92351704e-01 7.08944558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.087105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.68, Y:7.36, Z:7.10 [[ 9.79935949e-01 -1.62218461e-01 -1.15804608e-01 6.16823005e+01] [ 1.60674996e-01 9.86748507e-01 -2.26037577e-02 7.36354168e+00] [ 1.17936770e-01 3.54332994e-03 9.93014785e-01 7.09812984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.71, Y:7.36, Z:7.10 [[ 9.80316379e-01 -1.62669907e-01 -1.11885207e-01 6.17110252e+01] [ 1.61228280e-01 9.86674668e-01 -2.18755718e-02 7.36476151e+00] [ 1.13952796e-01 3.40592192e-03 9.93480327e-01 7.10437599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.147105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:7.37, Z:7.11 [[ 9.80125025e-01 -1.64277907e-01 -1.11210185e-01 6.17396644e+01] [ 1.62859747e-01 9.86408787e-01 -2.17808946e-02 7.36711554e+00] [ 1.13276823e-01 3.23633728e-03 9.93558195e-01 7.10765176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:7.37, Z:7.11 [[ 9.79799346e-01 -1.65909880e-01 -1.11656408e-01 6.17691041e+01] [ 1.64486482e-01 9.86136053e-01 -2.19061896e-02 7.36899776e+00] [ 1.13742863e-01 3.09770039e-03 9.93505393e-01 7.10973472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:7.38, Z:7.11 [[ 9.79991211e-01 -1.63181533e-01 -1.13969355e-01 6.17963087e+01] [ 1.61675809e-01 9.86589778e-01 -2.23951561e-02 7.37559310e+00] [ 1.16095476e-01 3.52096859e-03 9.93231817e-01 7.10853253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23710568099999 meters Centerline goodness [0,1] 0.9999790589072938 Centerline is valid? [True, True] Translation: X:61.83, Y:7.38, Z:7.11 [[ 9.80835549e-01 -1.56526999e-01 -1.16021227e-01 6.18265862e+01] [ 1.54918419e-01 9.87663879e-01 -2.28110893e-02 7.38193601e+00] [ 1.18160526e-01 4.40010219e-03 9.92984758e-01 7.10779543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.86, Y:7.39, Z:7.11 [[ 9.81274188e-01 -1.53257649e-01 -1.16675027e-01 6.18560060e+01] [ 1.51607716e-01 9.88174500e-01 -2.29403188e-02 7.38638591e+00] [ 1.18811066e-01 4.82190834e-03 9.92905172e-01 7.11002684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:7.39, Z:7.11 [[ 9.82026678e-01 -1.48547358e-01 -1.16435757e-01 6.18848432e+01] [ 1.46870540e-01 9.88890623e-01 -2.28993323e-02 7.38940388e+00] [ 1.18543863e-01 5.38677279e-03 9.92934205e-01 7.11377505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:7.39, Z:7.12 [[ 9.82588185e-01 -1.46498791e-01 -1.14274067e-01 6.19123517e+01] [ 1.44869120e-01 9.89195353e-01 -2.24831231e-02 7.39224211e+00] [ 1.16333126e-01 5.53686764e-03 9.93194818e-01 7.11886773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:7.39, Z:7.12 [[ 9.82666688e-01 -1.46851702e-01 -1.13140432e-01 6.19405274e+01] [ 1.45254760e-01 9.89143471e-01 -2.22766410e-02 7.39255096e+00] [ 1.15183483e-01 5.45632668e-03 9.93329247e-01 7.12270415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:7.39, Z:7.12 [[ 9.82447199e-01 -1.48552694e-01 -1.12825518e-01 6.19698113e+01] [ 1.46971041e-01 9.88890380e-01 -2.22559782e-02 7.38561647e+00] [ 1.14878255e-01 5.28323949e-03 9.93365529e-01 7.12489775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.00, Y:7.39, Z:7.13 [[ 9.82331463e-01 -1.49819437e-01 -1.12156285e-01 6.19993538e+01] [ 1.48263037e-01 9.88700120e-01 -2.21391942e-02 7.38589078e+00] [ 1.14205814e-01 5.11939567e-03 9.93443921e-01 7.12840951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:7.38, Z:7.13 [[ 9.82503925e-01 -1.50076619e-01 -1.10286196e-01 6.20277025e+01] [ 1.48569840e-01 9.88661543e-01 -2.18026382e-02 7.38458163e+00] [ 1.12307787e-01 5.03597506e-03 9.93660707e-01 7.13137289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:7.39, Z:7.13 [[ 9.82489133e-01 -1.49757386e-01 -1.10850477e-01 6.20563180e+01] [ 1.48231553e-01 9.88709560e-01 -2.19274518e-02 7.38576434e+00] [ 1.12882724e-01 5.11194472e-03 9.93595168e-01 7.13331512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.507105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:7.38, Z:7.13 [[ 9.82028033e-01 -1.50020384e-01 -1.14519984e-01 6.20869834e+01] [ 1.48391229e-01 9.88668866e-01 -2.26697199e-02 7.38159667e+00] [ 1.16623263e-01 5.26853928e-03 9.93162251e-01 7.13230480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.12, Y:7.38, Z:7.14 [[ 9.81648585e-01 -1.52366182e-01 -1.14676078e-01 6.21174262e+01] [ 1.50744384e-01 9.88311303e-01 -2.27354166e-02 7.37610692e+00] [ 1.16799772e-01 5.03141481e-03 9.93142738e-01 7.13538294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:7.37, Z:7.14 [[ 9.81479891e-01 -1.54120823e-01 -1.13771681e-01 6.21464271e+01] [ 1.52534820e-01 9.88040364e-01 -2.25692007e-02 7.37476894e+00] [ 1.15889397e-01 4.79707372e-03 9.93250540e-01 7.13969324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.18, Y:7.36, Z:7.15 [[ 9.81302216e-01 -1.56374533e-01 -1.12218386e-01 6.21771162e+01] [ 1.54842487e-01 9.87687571e-01 -2.22949802e-02 7.36431639e+00] [ 1.14323073e-01 4.50193943e-03 9.93433424e-01 7.14609525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:7.36, Z:7.15 [[ 9.81684793e-01 -1.55683187e-01 -1.09807616e-01 6.22058931e+01] [ 1.54211066e-01 9.87796820e-01 -2.18263417e-02 7.36150076e+00] [ 1.11865608e-01 4.49303828e-03 9.93713187e-01 7.15177532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:7.36, Z:7.16 [[ 9.81837586e-01 -1.55352815e-01 -1.08905729e-01 6.22349355e+01] [ 1.53901301e-01 9.87848769e-01 -2.16609817e-02 7.36356851e+00] [ 1.10947484e-01 4.50683267e-03 9.93816051e-01 7.15508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:7.36, Z:7.16 [[ 9.82112555e-01 -1.54431643e-01 -1.07730200e-01 6.22634191e+01] [ 1.53002209e-01 9.87992796e-01 -2.14606508e-02 7.36460302e+00] [ 1.09750865e-01 4.59381592e-03 9.93948512e-01 7.15860086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:7.37, Z:7.16 [[ 9.82058203e-01 -1.54778726e-01 -1.07727578e-01 6.22902218e+01] [ 1.53349930e-01 9.87938599e-01 -2.14738034e-02 7.37018491e+00] [ 1.09751921e-01 4.56850815e-03 9.93948512e-01 7.16148270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.747105681 meters Centerline goodness [0,1] 0.999958251576003 Centerline is valid? [True, True] Translation: X:62.32, Y:7.37, Z:7.17 [[ 9.82140353e-01 -1.54628557e-01 -1.07192984e-01 6.23202439e+01] [ 1.53208784e-01 9.87961963e-01 -2.14062886e-02 7.36510950e+00] [ 1.09212615e-01 4.60107309e-03 9.94007764e-01 7.16502036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:7.36, Z:7.17 [[ 9.82146293e-01 -1.54823501e-01 -1.06856648e-01 6.23501469e+01] [ 1.53410052e-01 9.87931442e-01 -2.13734113e-02 7.35855054e+00] [ 1.08876148e-01 4.59893278e-03 9.94044684e-01 7.16738997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.807105681 meters Centerline goodness [0,1] 0.9999790632916693 Centerline is valid? [True, True] Translation: X:62.38, Y:7.36, Z:7.17 [[ 9.82105240e-01 -1.54789563e-01 -1.07282281e-01 6.23790593e+01] [ 1.53360151e-01 9.87936467e-01 -2.14988537e-02 7.35920604e+00] [ 1.09315876e-01 4.66130996e-03 9.93996133e-01 7.16950492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:7.35, Z:7.17 [[ 9.82137362e-01 -1.53576511e-01 -1.08721922e-01 6.24094663e+01] [ 1.52096900e-01 9.88124623e-01 -2.18234177e-02 7.35446802e+00] [ 1.10782373e-01 4.89732650e-03 9.93832623e-01 7.16995386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.867105681 meters Centerline goodness [0,1] 0.9999373237229708 Centerline is valid? [True, True] Translation: X:62.44, Y:7.36, Z:7.17 [[ 9.82194201e-01 -1.51047854e-01 -1.11709884e-01 6.24388607e+01] [ 1.49465062e-01 9.88511908e-01 -2.24589413e-02 7.35628600e+00] [ 1.13818925e-01 5.36231722e-03 9.93487040e-01 7.16929878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897105681 meters Centerline goodness [0,1] 0.9998737187717046 Centerline is valid? [True, True] Translation: X:62.47, Y:7.36, Z:7.17 [[ 9.82263047e-01 -1.50431611e-01 -1.11935864e-01 6.24684369e+01] [ 1.48837216e-01 9.88605367e-01 -2.25146857e-02 7.35537454e+00] [ 1.14047316e-01 5.45512143e-03 9.93460342e-01 7.17244664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.927105681 meters Centerline goodness [0,1] 0.9993110215671127 Centerline is valid? [True, True] Translation: X:62.50, Y:7.36, Z:7.18 [[ 9.82654620e-01 -1.49216091e-01 -1.10111103e-01 6.24960659e+01] [ 1.47662005e-01 9.88789102e-01 -2.21820815e-02 7.35893201e+00] [ 1.12186582e-01 5.53809865e-03 9.93671727e-01 7.17726888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95710568099999 meters Centerline goodness [0,1] 0.9992720314482414 Centerline is valid? [True, True] Translation: X:62.53, Y:7.35, Z:7.18 [[ 9.83045556e-01 -1.47636074e-01 -1.08742925e-01 6.25261991e+01] [ 1.46109375e-01 9.89025556e-01 -2.19203056e-02 7.35219609e+00] [ 1.10785760e-01 5.66029819e-03 9.93828193e-01 7.18163972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98710568099999 meters Centerline goodness [0,1] 0.9991818239033293 Centerline is valid? [True, True] Translation: X:62.55, Y:7.36, Z:7.18 [[ 9.83230124e-01 -1.46511414e-01 -1.08595254e-01 6.25544356e+01] [ 1.44978338e-01 9.89191904e-01 -2.19239360e-02 7.35539698e+00] [ 1.10633653e-01 5.81231482e-03 9.93844259e-01 7.18316919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01710568099999 meters Centerline goodness [0,1] 0.9993472309959992 Centerline is valid? [True, True] Translation: X:62.58, Y:7.36, Z:7.18 [[ 9.83058539e-01 -1.45295631e-01 -1.11736692e-01 6.25830741e+01] [ 1.43662863e-01 9.89369256e-01 -2.25711572e-02 7.35571510e+00] [ 1.13828338e-01 6.13635577e-03 9.93481482e-01 7.18081184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04710568099999 meters Centerline goodness [0,1] 0.999367422245651 Centerline is valid? [True, True] Translation: X:62.61, Y:7.36, Z:7.18 [[ 9.82838487e-01 -1.46155789e-01 -1.12547742e-01 6.26118704e+01] [ 1.44503030e-01 9.89242805e-01 -2.27496661e-02 7.35763853e+00] [ 1.14662040e-01 6.09575765e-03 9.93385856e-01 7.18215918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07710568099999 meters Centerline goodness [0,1] 0.9995160747348931 Centerline is valid? [True, True] Translation: X:62.64, Y:7.35, Z:7.19 [[ 9.82275436e-01 -1.50549820e-01 -1.11667895e-01 6.26428200e+01] [ 1.48947434e-01 9.88586728e-01 -2.26040601e-02 7.35031201e+00] [ 1.13796437e-01 5.57076645e-03 9.93488469e-01 7.18551983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.107105681 meters Centerline goodness [0,1] 0.9993669684117238 Centerline is valid? [True, True] Translation: X:62.67, Y:7.34, Z:7.19 [[ 9.81131573e-01 -1.57103364e-01 -1.12691477e-01 6.26737481e+01] [ 1.55513732e-01 9.87570205e-01 -2.28160038e-02 7.34321862e+00] [ 1.14875216e-01 4.86042950e-03 9.93368039e-01 7.18827954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137105681 meters Centerline goodness [0,1] 0.9995378442535134 Centerline is valid? [True, True] Translation: X:62.70, Y:7.34, Z:7.19 [[ 9.80547775e-01 -1.60378379e-01 -1.13158459e-01 6.27033415e+01] [ 1.58796623e-01 9.87045350e-01 -2.29152757e-02 7.34356598e+00] [ 1.15367646e-01 4.50034139e-03 9.93312666e-01 7.19128683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.167105681 meters Centerline goodness [0,1] 0.9996841905804578 Centerline is valid? [True, True] Translation: X:62.73, Y:7.34, Z:7.20 [[ 9.79863466e-01 -1.65177124e-01 -1.12178904e-01 6.27341909e+01] [ 1.63650706e-01 9.86256090e-01 -2.27457831e-02 7.34046759e+00] [ 1.14394211e-01 3.92960502e-03 9.93427664e-01 7.19569687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197105681 meters Centerline goodness [0,1] 0.9995635638132053 Centerline is valid? [True, True] Translation: X:62.76, Y:7.34, Z:7.20 [[ 9.79413856e-01 -1.67721409e-01 -1.12329996e-01 6.27633168e+01] [ 1.66206914e-01 9.85827703e-01 -2.27815961e-02 7.34055722e+00] [ 1.14558984e-01 3.64258880e-03 9.93409770e-01 7.19950497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.227105681 meters Centerline goodness [0,1] 0.9996217533832058 Centerline is valid? [True, True] Translation: X:62.79, Y:7.34, Z:7.20 [[ 9.78611702e-01 -1.71948527e-01 -1.12928478e-01 6.27919679e+01] [ 1.70442003e-01 9.85100747e-01 -2.29356122e-02 7.33858145e+00] [ 1.15189673e-01 3.19730262e-03 9.93338370e-01 7.20087722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257105681 meters Centerline goodness [0,1] 0.9997682209907499 Centerline is valid? [True, True] Translation: X:62.82, Y:7.33, Z:7.20 [[ 9.77309251e-01 -1.78147667e-01 -1.14586375e-01 6.28228930e+01] [ 1.76637331e-01 9.84000548e-01 -2.32846593e-02 7.33130109e+00] [ 1.16901164e-01 2.51608136e-03 9.93140366e-01 7.20224756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.287105681 meters Centerline goodness [0,1] 0.9998120222231505 Centerline is valid? [True, True] Translation: X:62.85, Y:7.33, Z:7.20 [[ 9.76257988e-01 -1.83298503e-01 -1.15420966e-01 6.28526858e+01] [ 1.81800171e-01 9.83055412e-01 -2.34681498e-02 7.33155591e+00] [ 1.17766882e-01 1.92741736e-03 9.93039398e-01 7.20394892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.88, Y:7.32, Z:7.21 [[ 9.74051506e-01 -1.94573898e-01 -1.15605628e-01 6.28828078e+01] [ 1.93145645e-01 9.80887679e-01 -2.35397878e-02 7.32265676e+00] [ 1.17976364e-01 6.00242189e-04 9.93016222e-01 7.20719964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.91, Y:7.32, Z:7.21 [[ 9.72940293e-01 -2.01453138e-01 -1.13153966e-01 6.29120042e+01] [ 2.00128990e-01 9.79498131e-01 -2.30607418e-02 7.32116122e+00] [ 1.15479757e-01 -2.08663973e-04 9.93309812e-01 7.21338883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.94, Y:7.31, Z:7.22 [[ 9.70699576e-01 -2.14461978e-01 -1.08390003e-01 6.29420210e+01] [ 2.13324172e-01 9.76730949e-01 -2.21235194e-02 7.31492671e+00] [ 1.10612525e-01 -1.64691684e-03 9.93862242e-01 7.22489036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:7.32, Z:7.23 [[ 9.69584528e-01 -2.19796284e-01 -1.07682108e-01 6.29708522e+01] [ 2.18702132e-01 9.75543300e-01 -2.20146888e-02 7.31633583e+00] [ 1.09887305e-01 -2.20520492e-03 9.93941607e-01 7.22974416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:7.32, Z:7.23 [[ 9.68057976e-01 -2.26953493e-01 -1.06563912e-01 6.30004636e+01] [ 2.25921677e-01 9.73901116e-01 -2.18176954e-02 7.31873564e+00] [ 1.08734315e-01 -2.95430376e-03 9.94066457e-01 7.23347510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:7.33, Z:7.23 [[ 9.67391553e-01 -2.29010825e-01 -1.08201785e-01 6.30276767e+01] [ 2.27959163e-01 9.73418519e-01 -2.21586835e-02 7.32608324e+00] [ 1.10400199e-01 -3.22946503e-03 9.93881968e-01 7.23424577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497105681 meters Centerline goodness [0,1] 0.9999790602227993 Centerline is valid? [True, True] Translation: X:63.05, Y:7.34, Z:7.24 [[ 9.66991923e-01 -2.30364666e-01 -1.08897853e-01 6.30547631e+01] [ 2.29306333e-01 9.73098462e-01 -2.23156796e-02 7.33552573e+00] [ 1.11109077e-01 -3.39188538e-03 9.93802429e-01 7.23666499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.527105681 meters Centerline goodness [0,1] 0.9999578139171887 Centerline is valid? [True, True] Translation: X:63.08, Y:7.35, Z:7.24 [[ 9.66838452e-01 -2.31504524e-01 -1.07838137e-01 6.30811430e+01] [ 2.30469720e-01 9.72827702e-01 -2.21352698e-02 7.34895598e+00] [ 1.10032342e-01 -3.45219535e-03 9.93922012e-01 7.24067937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:7.36, Z:7.24 [[ 9.66789779e-01 -2.32024146e-01 -1.07155584e-01 6.31070491e+01] [ 2.31001645e-01 9.72703895e-01 -2.20311512e-02 7.35856227e+00] [ 1.09342413e-01 -3.45362455e-03 9.93998143e-01 7.24401546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.587105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:7.37, Z:7.25 [[ 9.66281654e-01 -2.34052527e-01 -1.07327444e-01 6.31327857e+01] [ 2.33037740e-01 9.72217003e-01 -2.20796588e-02 7.37284627e+00] [ 1.09513366e-01 -3.67617582e-03 9.93978525e-01 7.24772689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617105681 meters Centerline goodness [0,1] 0.9999582245430809 Centerline is valid? [True, True] Translation: X:63.16, Y:7.38, Z:7.25 [[ 9.65026866e-01 -2.39069555e-01 -1.07558803e-01 6.31597174e+01] [ 2.38079897e-01 9.70993182e-01 -2.21405554e-02 7.38267954e+00] [ 1.09731997e-01 -4.24135799e-03 9.93952162e-01 7.25057761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.647105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:7.39, Z:7.25 [[ 9.64360171e-01 -2.41650324e-01 -1.07770965e-01 6.31864767e+01] [ 2.40671859e-01 9.70352795e-01 -2.21925528e-02 7.39013445e+00] [ 1.09938695e-01 -4.53582454e-03 9.93928020e-01 7.25234236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:7.40, Z:7.25 [[ 9.63578737e-01 -2.44668061e-01 -1.07951643e-01 6.32142624e+01] [ 2.43703697e-01 9.69594641e-01 -2.22427356e-02 7.40145098e+00] [ 1.10111421e-01 -4.87558736e-03 9.93907291e-01 7.25483615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:7.42, Z:7.26 [[ 9.62752428e-01 -2.47827394e-01 -1.08117273e-01 6.32401808e+01] [ 2.46879226e-01 9.68790036e-01 -2.22826100e-02 7.41510026e+00] [ 1.10265178e-01 -5.23927172e-03 9.93888394e-01 7.25701753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:7.44, Z:7.26 [[ 9.62507188e-01 -2.48199343e-01 -1.09439478e-01 6.32651905e+01] [ 2.47228757e-01 9.68694290e-01 -2.25680112e-02 7.43578447e+00] [ 1.11614763e-01 -5.33471318e-03 9.93737232e-01 7.25847337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76710568099999 meters Centerline goodness [0,1] 0.9998739787024007 Centerline is valid? [True, True] Translation: X:63.29, Y:7.45, Z:7.26 [[ 9.62299587e-01 -2.48431461e-01 -1.10730818e-01 6.32893693e+01] [ 2.47434781e-01 9.68634499e-01 -2.28743591e-02 7.45472731e+00] [ 1.12940401e-01 -5.38666944e-03 9.93587163e-01 7.26135099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.32, Y:7.47, Z:7.26 [[ 9.62145306e-01 -2.48952507e-01 -1.10901126e-01 6.33153447e+01] [ 2.47951122e-01 9.68500568e-01 -2.29541128e-02 7.46889320e+00] [ 1.13122288e-01 -5.41286676e-03 9.93566328e-01 7.26471661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:7.49, Z:7.27 [[ 9.61918014e-01 -2.49470029e-01 -1.11706937e-01 6.33395057e+01] [ 2.48453106e-01 9.68367032e-01 -2.31591104e-02 7.48962112e+00] [ 1.13950819e-01 -5.47676999e-03 9.93471296e-01 7.26618688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:7.50, Z:7.27 [[ 9.61888795e-01 -2.49816891e-01 -1.11182136e-01 6.33647327e+01] [ 2.48809956e-01 9.68277614e-01 -2.30665995e-02 7.50397567e+00] [ 1.13417599e-01 -5.47571873e-03 9.93532317e-01 7.26950308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.887105681 meters Centerline goodness [0,1] 0.999979137981391 Centerline is valid? [True, True] Translation: X:63.39, Y:7.52, Z:7.28 [[ 9.61919925e-01 -2.50782510e-01 -1.08711503e-01 6.33893179e+01] [ 2.49821286e-01 9.68028268e-01 -2.25963792e-02 7.52336645e+00] [ 1.10902585e-01 -5.42254017e-03 9.93816488e-01 7.27559822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:7.54, Z:7.28 [[ 9.61923483e-01 -2.51376098e-01 -1.07299905e-01 6.34143242e+01] [ 2.50439284e-01 9.67874519e-01 -2.23401078e-02 7.53885646e+00] [ 1.09468613e-01 -5.38263708e-03 9.93975679e-01 7.28070758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.947105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.44, Y:7.56, Z:7.28 [[ 9.62329637e-01 -2.50486140e-01 -1.05727778e-01 6.34388887e+01] [ 2.49566662e-01 9.68106425e-01 -2.20551890e-02 7.56234127e+00] [ 1.07880260e-01 -5.16176667e-03 9.94150494e-01 7.28483410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:7.59, Z:7.29 [[ 9.63719181e-01 -2.45592018e-01 -1.04546165e-01 6.34631873e+01] [ 2.44660440e-01 9.69362716e-01 -2.18447599e-02 7.58602994e+00] [ 1.06708053e-01 -4.52609661e-03 9.94280094e-01 7.28852185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.007105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:7.61, Z:7.30 [[ 9.66306311e-01 -2.37075956e-01 -1.00235244e-01 6.34864465e+01] [ 2.36173498e-01 9.71485062e-01 -2.09488007e-02 7.61314521e+00] [ 1.02343499e-01 -3.42994987e-03 9.94743205e-01 7.29605580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.51, Y:7.63, Z:7.30 [[ 9.67471107e-01 -2.32496508e-01 -9.97247765e-02 6.35119483e+01] [ 2.31578576e-01 9.72592829e-01 -2.08459299e-02 7.63353401e+00] [ 1.01838208e-01 -2.92628679e-03 9.94796671e-01 7.29916877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.54, Y:7.66, Z:7.30 [[ 9.69507098e-01 -2.22587981e-01 -1.02521110e-01 6.35369383e+01] [ 2.21558901e-01 9.74910745e-01 -2.14637477e-02 7.66351530e+00] [ 1.04726504e-01 -1.90520870e-03 9.94499236e-01 7.29783244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:7.68, Z:7.30 [[ 9.70605792e-01 -2.16555350e-01 -1.05015127e-01 6.35625253e+01] [ 2.15439861e-01 9.76269501e-01 -2.19892802e-02 7.68045664e+00] [ 1.07284961e-01 -1.28152154e-03 9.94227486e-01 7.29704022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.59, Y:7.71, Z:7.30 [[ 9.73122581e-01 -2.03314102e-01 -1.08147204e-01 6.35859658e+01] [ 2.02044986e-01 9.79113541e-01 -2.26825347e-02 7.70829603e+00] [ 1.10500072e-01 2.22286310e-04 9.93876091e-01 7.29604804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:7.72, Z:7.30 [[ 9.74074438e-01 -1.98145763e-01 -1.09166138e-01 6.36120903e+01] [ 1.96815979e-01 9.80172193e-01 -2.29334218e-02 7.72435069e+00] [ 1.11545773e-01 8.53219599e-04 9.93758931e-01 7.29762774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.64, Y:7.75, Z:7.30 [[ 9.75101911e-01 -1.92147840e-01 -1.10704434e-01 6.36359538e+01] [ 1.90737454e-01 9.81364690e-01 -2.32931008e-02 7.74627925e+00] [ 1.13117141e-01 1.59766521e-03 9.93580374e-01 7.29670878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.66, Y:7.76, Z:7.30 [[ 9.75377269e-01 -1.90295373e-01 -1.11475800e-01 6.36626278e+01] [ 1.88850672e-01 9.81725146e-01 -2.34768460e-02 7.75814823e+00] [ 1.13906131e-01 1.84650218e-03 9.93489801e-01 7.29806888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.69, Y:7.77, Z:7.30 [[ 9.75730424e-01 -1.87209181e-01 -1.13590763e-01 6.36885863e+01] [ 1.85683867e-01 9.82317414e-01 -2.39582898e-02 7.77209695e+00] [ 1.16067396e-01 2.28486014e-03 9.93238712e-01 7.29775926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.72, Y:7.78, Z:7.30 [[ 9.75152780e-01 -1.91138088e-01 -1.11996816e-01 6.37162736e+01] [ 1.89679527e-01 9.81561495e-01 -2.36370107e-02 7.77691652e+00] [ 1.14449695e-01 1.80619369e-03 9.93427403e-01 7.30237149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.307105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:7.78, Z:7.31 [[ 9.74359276e-01 -1.95786367e-01 -1.10867934e-01 6.37436968e+01] [ 1.94383273e-01 9.80645735e-01 -2.34325676e-02 7.77888500e+00] [ 1.13309944e-01 1.28086764e-03 9.93558864e-01 7.30657953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:7.77, Z:7.31 [[ 9.72461311e-01 -2.06502753e-01 -1.08053749e-01 6.37732781e+01] [ 2.05234540e-01 9.78446019e-01 -2.28510938e-02 7.77373908e+00] [ 1.10443574e-01 4.54432837e-05 9.93882395e-01 7.31467159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.367105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.80, Y:7.77, Z:7.32 [[ 9.71779671e-01 -2.10832841e-01 -1.05800678e-01 6.38007179e+01] [ 2.09638990e-01 9.77522046e-01 -2.24085722e-02 7.77431023e+00] [ 1.08146958e-01 -4.03752191e-04 9.94134836e-01 7.31989348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.83, Y:7.77, Z:7.33 [[ 9.70989305e-01 -2.15696590e-01 -1.03221848e-01 6.38293960e+01] [ 2.14586001e-01 9.76460015e-01 -2.18789275e-02 7.77368045e+00] [ 1.05511218e-01 -9.05759032e-04 9.94417700e-01 7.32563252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.427105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:7.78, Z:7.33 [[ 9.70618412e-01 -2.17736712e-01 -1.02423745e-01 6.38574226e+01] [ 2.16651254e-01 9.76006937e-01 -2.17414951e-02 7.77716238e+00] [ 1.04700207e-01 -1.08753722e-03 9.94503235e-01 7.32908813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:7.78, Z:7.33 [[ 9.69626971e-01 -2.21419987e-01 -1.03907293e-01 6.38866577e+01] [ 2.20320345e-01 9.75177427e-01 -2.20891589e-02 7.77982177e+00] [ 1.06219028e-01 -1.47464637e-03 9.94341663e-01 7.33005943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:7.79, Z:7.33 [[ 9.69613206e-01 -2.20244718e-01 -1.06501149e-01 6.39139172e+01] [ 2.19078543e-01 9.75443720e-01 -2.26746753e-02 7.78876338e+00] [ 1.08879854e-01 -1.34645191e-03 9.94054005e-01 7.33048258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:7.80, Z:7.33 [[ 9.70067696e-01 -2.17493830e-01 -1.08005088e-01 6.39413660e+01] [ 2.16272697e-01 9.76061172e-01 -2.30371225e-02 7.79658351e+00] [ 1.10430005e-01 -1.01098326e-03 9.93883390e-01 7.33224322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:7.81, Z:7.33 [[ 9.71235355e-01 -2.11338617e-01 -1.09717251e-01 6.39681892e+01] [ 2.10034904e-01 9.77412866e-01 -2.34398714e-02 7.80756184e+00] [ 1.12192802e-01 -2.78820386e-04 9.93686418e-01 7.33408733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.99, Y:7.82, Z:7.34 [[ 9.72441800e-01 -2.05685923e-01 -1.09773615e-01 6.39936370e+01] [ 2.04340703e-01 9.78617971e-01 -2.34892455e-02 7.81932991e+00] [ 1.12257840e-01 4.10706521e-04 9.93679027e-01 7.33773599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:7.83, Z:7.34 [[ 9.72362527e-01 -2.06065214e-01 -1.09764492e-01 6.40203003e+01] [ 2.04717599e-01 9.78538175e-01 -2.35318029e-02 7.82529763e+00] [ 1.12257832e-01 4.10720097e-04 9.93679028e-01 7.34061393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.05, Y:7.83, Z:7.34 [[ 9.72789505e-01 -2.04180184e-01 -1.09503565e-01 6.40475712e+01] [ 2.02822312e-01 9.78933095e-01 -2.35181662e-02 7.83247239e+00] [ 1.11998608e-01 6.68458908e-04 9.93708139e-01 7.34292422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:7.84, Z:7.35 [[ 9.73128601e-01 -2.01975658e-01 -1.10573772e-01 6.40762197e+01] [ 2.00575037e-01 9.79390084e-01 -2.37637897e-02 7.83799370e+00] [ 1.13094563e-01 9.46885058e-04 9.93583778e-01 7.34518850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.10, Y:7.84, Z:7.35 [[ 9.73147577e-01 -2.01230957e-01 -1.11758199e-01 6.41035273e+01] [ 1.99790897e-01 9.79543227e-01 -2.40554488e-02 7.84412722e+00] [ 1.14312688e-01 1.08123090e-03 9.93444231e-01 7.34647686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:7.85, Z:7.35 [[ 9.73459477e-01 -1.99996858e-01 -1.11256027e-01 6.41321079e+01] [ 1.98559931e-01 9.79795759e-01 -2.39629865e-02 7.84787175e+00] [ 1.13800705e-01 1.23600727e-03 9.93502829e-01 7.35074464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:7.85, Z:7.36 [[ 9.73681549e-01 -2.00012947e-01 -1.09266020e-01 6.41590556e+01] [ 1.98623148e-01 9.79792460e-01 -2.35707609e-02 7.85279049e+00] [ 1.11772480e-01 1.24765402e-03 9.93733041e-01 7.35599655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.787105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:7.85, Z:7.36 [[ 9.73508582e-01 -2.01905141e-01 -1.07309619e-01 6.41872805e+01] [ 2.00574712e-01 9.79404544e-01 -2.31629729e-02 7.85420858e+00] [ 1.09776252e-01 1.02575700e-03 9.93955795e-01 7.36193050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:7.86, Z:7.36 [[ 9.72793257e-01 -2.05081597e-01 -1.07772060e-01 6.42163169e+01] [ 2.03754926e-01 9.78744624e-01 -2.33000311e-02 7.85591917e+00] [ 1.10259732e-01 7.07024998e-04 9.93902556e-01 7.36388434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:7.85, Z:7.36 [[ 9.70598416e-01 -2.12963361e-01 -1.12184318e-01 6.42464103e+01] [ 2.11573417e-01 9.77060173e-01 -2.42921211e-02 7.85089821e+00] [ 1.14784161e-01 -1.57325204e-04 9.93390443e-01 7.36080645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:7.85, Z:7.36 [[ 9.67433526e-01 -2.24986304e-01 -1.15989374e-01 6.42780246e+01] [ 2.23584364e-01 9.74360576e-01 -2.51296731e-02 7.84620212e+00] [ 1.18669306e-01 -1.62212229e-03 9.92932508e-01 7.35987359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.31, Y:7.84, Z:7.37 [[ 9.64535960e-01 -2.37974014e-01 -1.14187347e-01 6.43090987e+01] [ 2.36705174e-01 9.71266375e-01 -2.47444735e-02 7.83921147e+00] [ 1.16794872e-01 -3.16180127e-03 9.93151026e-01 7.36516287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93710568099999 meters Centerline goodness [0,1] 0.9998949535694777 Centerline is valid? [True, True] Translation: X:64.34, Y:7.84, Z:7.37 [[ 9.63328518e-01 -2.43656647e-01 -1.12381514e-01 6.43390176e+01] [ 2.42465874e-01 9.69854166e-01 -2.43556339e-02 7.83918255e+00] [ 1.14928091e-01 -3.78620522e-03 9.93366598e-01 7.37107372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.37, Y:7.84, Z:7.38 [[ 9.61508826e-01 -2.51659337e-01 -1.10310274e-01 6.43687281e+01] [ 2.50563878e-01 9.67804717e-01 -2.39117649e-02 7.83822030e+00] [ 1.12776423e-01 -4.64839712e-03 9.93609516e-01 7.37841811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997105681 meters Centerline goodness [0,1] 0.9998953317981997 Centerline is valid? [True, True] Translation: X:64.39, Y:7.85, Z:7.38 [[ 9.61152628e-01 -2.53547307e-01 -1.09084323e-01 6.43949078e+01] [ 2.52487821e-01 9.67311020e-01 -2.36493335e-02 7.84622124e+00] [ 1.11514693e-01 -4.81184400e-03 9.93751136e-01 7.38324698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:7.86, Z:7.39 [[ 9.61374618e-01 -2.52614161e-01 -1.09292863e-01 6.44225484e+01] [ 2.51543022e-01 9.67555686e-01 -2.37086941e-02 7.85561289e+00] [ 1.11736083e-01 -4.69892019e-03 9.93726808e-01 7.38593335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057105681 meters Centerline goodness [0,1] 0.9998325063333543 Centerline is valid? [True, True] Translation: X:64.45, Y:7.87, Z:7.39 [[ 9.62386963e-01 -2.47683215e-01 -1.11643893e-01 6.44492790e+01] [ 2.46528439e-01 9.68832044e-01 -2.42528302e-02 7.87376405e+00] [ 1.14171200e-01 -4.18278699e-03 9.93452284e-01 7.38620944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.087105681 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:64.48, Y:7.89, Z:7.39 [[ 9.63186673e-01 -2.44317509e-01 -1.12162325e-01 6.44756858e+01] [ 2.43128551e-01 9.69687861e-01 -2.43713066e-02 7.88625343e+00] [ 1.14716782e-01 -3.79574578e-03 9.93390987e-01 7.38908705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117105681 meters Centerline goodness [0,1] 0.9999790233260614 Centerline is valid? [True, True] Translation: X:64.50, Y:7.91, Z:7.39 [[ 9.65674661e-01 -2.34841576e-01 -1.11003979e-01 6.45016647e+01] [ 2.33613466e-01 9.72030099e-01 -2.41295447e-02 7.90812136e+00] [ 1.13565829e-01 -2.63073447e-03 9.93526991e-01 7.39375741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.147105681 meters Centerline goodness [0,1] 0.999979081248431 Centerline is valid? [True, True] Translation: X:64.53, Y:7.93, Z:7.40 [[ 9.68007181e-01 -2.24976914e-01 -1.11119244e-01 6.45270167e+01] [ 2.23681000e-01 9.74362985e-01 -2.41574947e-02 7.92663679e+00] [ 1.13705357e-01 -1.47063533e-03 9.93513427e-01 7.39537572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.55, Y:7.94, Z:7.40 [[ 9.68979423e-01 -2.21815879e-01 -1.08979784e-01 6.45532305e+01] [ 2.20548736e-01 9.75087980e-01 -2.36998989e-02 7.93905351e+00] [ 1.11521891e-01 -1.07063932e-03 9.93761401e-01 7.40048068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.58, Y:7.95, Z:7.41 [[ 9.70210756e-01 -2.18454294e-01 -1.04732092e-01 6.45778120e+01] [ 2.17261025e-01 9.75846982e-01 -2.28103886e-02 7.95357098e+00] [ 1.07185523e-01 -6.23317327e-04 9.94238842e-01 7.40789340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:7.96, Z:7.41 [[ 9.70270026e-01 -2.18635030e-01 -1.03801739e-01 6.46043368e+01] [ 2.17461943e-01 9.75806508e-01 -2.26265907e-02 7.96155937e+00] [ 1.06237377e-01 -6.19025014e-04 9.94340604e-01 7.41187395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:7.97, Z:7.42 [[ 9.70353638e-01 -2.18277938e-01 -1.03771666e-01 6.46298069e+01] [ 2.17099012e-01 9.75886495e-01 -2.26620210e-02 7.96839259e+00] [ 1.06215987e-01 -5.38551708e-04 9.94342936e-01 7.41584851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:7.98, Z:7.42 [[ 9.70492342e-01 -2.17582490e-01 -1.03934954e-01 6.46554190e+01] [ 2.16393896e-01 9.76041834e-01 -2.27160723e-02 7.97631495e+00] [ 1.06387482e-01 -4.45115316e-04 9.94324648e-01 7.41831997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.68, Y:7.99, Z:7.42 [[ 9.71629439e-01 -2.11946009e-01 -1.04952954e-01 6.46812161e+01] [ 2.10699106e-01 9.77281358e-01 -2.29572282e-02 7.99009348e+00] [ 1.07434258e-01 1.92425214e-04 9.94212172e-01 7.41923086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:8.00, Z:7.42 [[ 9.72565286e-01 -2.07017005e-01 -1.06116556e-01 6.47072810e+01] [ 2.05708445e-01 9.78337029e-01 -2.32528187e-02 8.00088473e+00] [ 1.08631485e-01 7.85812728e-04 9.94081779e-01 7.41961946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.73, Y:8.02, Z:7.42 [[ 9.73920323e-01 -1.97761471e-01 -1.11218730e-01 6.47347717e+01] [ 1.96261802e-01 9.80248291e-01 -2.43842574e-02 8.01531584e+00] [ 1.13844237e-01 1.92033538e-03 9.93496755e-01 7.41745256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.76, Y:8.03, Z:7.42 [[ 9.75391194e-01 -1.89466074e-01 -1.12759143e-01 6.47613662e+01] [ 1.87868411e-01 9.81882880e-01 -2.47279357e-02 8.02997922e+00] [ 1.15401377e-01 2.93552961e-03 9.93314605e-01 7.41731957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.79, Y:8.04, Z:7.42 [[ 9.76004170e-01 -1.86383246e-01 -1.12592833e-01 6.47881662e+01] [ 1.84768834e-01 9.82471561e-01 -2.47003931e-02 8.03864065e+00] [ 1.15222996e-01 3.30404015e-03 9.93334155e-01 7.41927493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.82, Y:8.04, Z:7.42 [[ 9.76298732e-01 -1.84274064e-01 -1.13507068e-01 6.48165983e+01] [ 1.82617070e-01 9.82868312e-01 -2.49176077e-02 8.04215447e+00] [ 1.16154169e-01 3.59870063e-03 9.93224677e-01 7.42169519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.507105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:8.04, Z:7.42 [[ 9.75555207e-01 -1.86519427e-01 -1.16200441e-01 6.48470386e+01] [ 1.84793437e-01 9.82445207e-01 -2.55499675e-02 8.04062163e+00] [ 1.18926132e-01 3.45232498e-03 9.92897103e-01 7.42202191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.88, Y:8.04, Z:7.42 [[ 9.74980943e-01 -1.89259923e-01 -1.16588347e-01 6.48759242e+01] [ 1.87537201e-01 9.81921918e-01 -2.56738280e-02 8.04152793e+00] [ 1.19339680e-01 3.16684075e-03 9.92848434e-01 7.42430975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:8.04, Z:7.43 [[ 9.74269328e-01 -1.94540320e-01 -1.13812746e-01 6.49065575e+01] [ 1.92930264e-01 9.80891342e-01 -2.51015490e-02 8.03639745e+00] [ 1.16521201e-01 2.49774609e-03 9.93185064e-01 7.43025732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:8.04, Z:7.43 [[ 9.73845223e-01 -1.97564919e-01 -1.12221140e-01 6.49346088e+01] [ 1.96015810e-01 9.80287471e-01 -2.47845856e-02 8.03738372e+00] [ 1.14905542e-01 2.13923267e-03 9.93374119e-01 7.43456730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:8.03, Z:7.44 [[ 9.72885514e-01 -2.04589282e-01 -1.07874939e-01 6.49653691e+01] [ 2.03199817e-01 9.78847082e-01 -2.38374450e-02 8.02907828e+00] [ 1.10469955e-01 1.27093697e-03 9.93878651e-01 7.44324411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:8.02, Z:7.45 [[ 9.70960445e-01 -2.14762104e-01 -1.05418463e-01 6.49971572e+01] [ 2.13493881e-01 9.76666383e-01 -2.33053430e-02 8.01894067e+00] [ 1.07963774e-01 1.22369369e-04 9.94154821e-01 7.44901132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.03, Y:8.02, Z:7.45 [[ 9.69691896e-01 -2.20058947e-01 -1.06168196e-01 6.50255454e+01] [ 2.18800445e-01 9.75486478e-01 -2.35052429e-02 8.01810497e+00] [ 1.08738179e-01 -4.36805009e-04 9.94070328e-01 7.45114719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71710568099999 meters Centerline goodness [0,1] 0.9999789553432383 Centerline is valid? [True, True] Translation: X:65.06, Y:8.01, Z:7.45 [[ 9.67550890e-01 -2.28146822e-01 -1.08601578e-01 6.50562244e+01] [ 2.26875624e-01 9.73625826e-01 -2.40873673e-02 8.01366559e+00] [ 1.11232757e-01 -1.33329707e-03 9.93793488e-01 7.45044361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.09, Y:8.01, Z:7.45 [[ 9.66678545e-01 -2.31568165e-01 -1.09127338e-01 6.50851394e+01] [ 2.30302206e-01 9.72817196e-01 -2.42404136e-02 8.01381478e+00] [ 1.11774259e-01 -1.69957880e-03 9.93732170e-01 7.45231505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:8.02, Z:7.46 [[ 9.66374662e-01 -2.32655577e-01 -1.09505231e-01 6.51129656e+01] [ 2.31386248e-01 9.72557492e-01 -2.43378086e-02 8.01814079e+00] [ 1.12162460e-01 -1.81856298e-03 9.93688218e-01 7.45549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:8.02, Z:7.46 [[ 9.66013947e-01 -2.34341407e-01 -1.09092434e-01 6.51409041e+01] [ 2.33090710e-01 9.72152321e-01 -2.42607690e-02 8.02478230e+00] [ 1.11739765e-01 -1.99219163e-03 9.93735506e-01 7.45890832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837105681 meters Centerline goodness [0,1] 0.9999582602888388 Centerline is valid? [True, True] Translation: X:65.17, Y:8.03, Z:7.46 [[ 9.65426703e-01 -2.36801942e-01 -1.08977615e-01 6.51687738e+01] [ 2.35565403e-01 9.71555365e-01 -2.42716505e-02 8.02786859e+00] [ 1.11625360e-01 -2.23885614e-03 9.93747838e-01 7.46116780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.867105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.20, Y:8.03, Z:7.47 [[ 9.64075419e-01 -2.43193195e-01 -1.06844079e-01 6.51987495e+01] [ 2.42042381e-01 9.69973514e-01 -2.38089771e-02 8.02864816e+00] [ 1.09426108e-01 -2.90714573e-03 9.93990682e-01 7.46724056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:8.03, Z:7.47 [[ 9.62537171e-01 -2.50335007e-01 -1.04185307e-01 6.52287363e+01] [ 2.49281942e-01 9.68152508e-01 -2.32214065e-02 8.02710038e+00] [ 1.06680397e-01 -3.62004870e-03 9.94286774e-01 7.47381191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:8.03, Z:7.48 [[ 9.61334640e-01 -2.55049171e-01 -1.03853885e-01 6.52582098e+01] [ 2.54029783e-01 9.66919281e-01 -2.31510938e-02 8.03048571e+00] [ 1.06322991e-01 -4.12603158e-03 9.94323085e-01 7.47766214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:8.03, Z:7.48 [[ 9.59298029e-01 -2.62396935e-01 -1.04379790e-01 6.52876674e+01] [ 2.61409823e-01 9.64947278e-01 -2.32734759e-02 8.03089517e+00] [ 1.06827883e-01 -4.95970279e-03 9.94265158e-01 7.48083843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:8.04, Z:7.49 [[ 9.58565714e-01 -2.65916145e-01 -1.02178153e-01 6.53149159e+01] [ 2.64989666e-01 9.63981960e-01 -2.27872379e-02 8.03539324e+00] [ 1.04557390e-01 -5.23308961e-03 9.94505086e-01 7.48665073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01710568099999 meters Centerline goodness [0,1] 0.9999789924793075 Centerline is valid? [True, True] Translation: X:65.34, Y:8.05, Z:7.49 [[ 9.58294803e-01 -2.66799497e-01 -1.02416306e-01 6.53414734e+01] [ 2.65872675e-01 9.63737305e-01 -2.28501262e-02 8.04759719e+00] [ 1.04798817e-01 -5.33254015e-03 9.94479146e-01 7.48947949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04710568099999 meters Centerline goodness [0,1] 0.9999579743643623 Centerline is valid? [True, True] Translation: X:65.37, Y:8.07, Z:7.49 [[ 9.57877998e-01 -2.67664467e-01 -1.04045539e-01 6.53668397e+01] [ 2.66709218e-01 9.63496599e-01 -2.32485860e-02 8.06529341e+00] [ 1.06470343e-01 -5.48059530e-03 9.94300774e-01 7.48992505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.39, Y:8.07, Z:7.49 [[ 9.57783726e-01 -2.67602078e-01 -1.05068841e-01 6.53930559e+01] [ 2.66623595e-01 9.63513860e-01 -2.35138292e-02 8.07363797e+00] [ 1.07527634e-01 -5.49266924e-03 9.94186923e-01 7.49085243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.42, Y:8.09, Z:7.49 [[ 9.57826875e-01 -2.66576520e-01 -1.07259669e-01 6.54189193e+01] [ 2.65548741e-01 9.63798196e-01 -2.40187938e-02 8.09117934e+00] [ 1.09779522e-01 -5.47682377e-03 9.93940874e-01 7.49116567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137105681 meters Centerline goodness [0,1] 0.9999372831040683 Centerline is valid? [True, True] Translation: X:65.44, Y:8.11, Z:7.49 [[ 9.58491920e-01 -2.64052339e-01 -1.07562080e-01 6.54437955e+01] [ 2.62998919e-01 9.64494511e-01 -2.41227465e-02 8.10584525e+00] [ 1.10112704e-01 -5.16725313e-03 9.93905676e-01 7.49421460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.167105681 meters Centerline goodness [0,1] 0.9999791109625669 Centerline is valid? [True, True] Translation: X:65.47, Y:8.13, Z:7.50 [[ 9.58984872e-01 -2.62266414e-01 -1.07537633e-01 6.54682249e+01] [ 2.61200169e-01 9.64982850e-01 -2.41364950e-02 8.12640332e+00] [ 1.10102163e-01 -4.94231420e-03 9.93907987e-01 7.49846030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:8.15, Z:7.50 [[ 9.60550100e-01 -2.56992507e-01 -1.06293724e-01 6.54935064e+01] [ 2.55915015e-01 9.66404032e-01 -2.38904245e-02 8.14955178e+00] [ 1.08862343e-01 -4.25421019e-03 9.94047731e-01 7.50259684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.52, Y:8.17, Z:7.51 [[ 9.62523375e-01 -2.49535592e-01 -1.06210836e-01 6.55184055e+01] [ 2.48414200e-01 9.68359642e-01 -2.38744265e-02 8.17408740e+00] [ 1.08807807e-01 -3.40458630e-03 9.94056975e-01 7.50577609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:8.19, Z:7.51 [[ 9.63995322e-01 -2.43883037e-01 -1.05990963e-01 6.55444173e+01] [ 2.42731649e-01 9.69800739e-01 -2.38301029e-02 8.19198491e+00] [ 1.08601872e-01 -2.75525345e-03 9.94081507e-01 7.50994393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.287105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:8.22, Z:7.52 [[ 9.68369571e-01 -2.27471297e-01 -1.02553321e-01 6.55672955e+01] [ 2.26300902e-01 9.73784392e-01 -2.30620625e-02 8.22415017e+00] [ 1.05110781e-01 -8.75309639e-04 9.94460134e-01 7.51724656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.59, Y:8.24, Z:7.52 [[ 9.70392497e-01 -2.19636298e-01 -1.00490285e-01 6.55916454e+01] [ 2.18470428e-01 9.75581824e-01 -2.26003528e-02 8.24139002e+00] [ 1.03000353e-01 -2.29427579e-05 9.94681319e-01 7.52215849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.62, Y:8.27, Z:7.53 [[ 9.73246494e-01 -2.07565511e-01 -9.85282697e-02 6.56151846e+01] [ 2.06381856e-01 9.78220330e-01 -2.21701374e-02 8.26622794e+00] [ 1.00984112e-01 1.24256135e-03 9.94887262e-01 7.52561489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.64, Y:8.28, Z:7.52 [[ 9.74532528e-01 -1.99912536e-01 -1.01593948e-01 6.56418057e+01] [ 1.98608483e-01 9.79811418e-01 -2.28966241e-02 8.28426652e+00] [ 1.04120232e-01 2.13608514e-03 9.94562424e-01 7.52250847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:8.29, Z:7.52 [[ 9.74711951e-01 -1.97827721e-01 -1.03926923e-01 6.56684418e+01] [ 1.96450477e-01 9.80233820e-01 -2.34279490e-02 8.29361667e+00] [ 1.06507382e-01 2.41900820e-03 9.94308969e-01 7.52027676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43710568099999 meters Centerline goodness [0,1] 0.9999789256285432 Centerline is valid? [True, True] Translation: X:65.70, Y:8.30, Z:7.52 [[ 9.74491381e-01 -1.97140243e-01 -1.07248654e-01 6.56974256e+01] [ 1.95667411e-01 9.80371878e-01 -2.41918563e-02 8.29765221e+00] [ 1.09912753e-01 2.58968886e-03 9.93937865e-01 7.51658211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46710568099999 meters Centerline goodness [0,1] 0.9998742718243159 Centerline is valid? [True, True] Translation: X:65.73, Y:8.30, Z:7.52 [[ 9.74277243e-01 -1.97317746e-01 -1.08855692e-01 6.57254726e+01] [ 1.95797188e-01 9.80336018e-01 -2.45917194e-02 8.30226009e+00] [ 1.11567538e-01 2.64551418e-03 9.93753332e-01 7.51744997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.75, Y:8.30, Z:7.52 [[ 9.73124374e-01 -2.00609219e-01 -1.13070309e-01 6.57545183e+01] [ 1.98988264e-01 9.79668466e-01 -2.55610459e-02 8.30356799e+00] [ 1.15899198e-01 2.37441220e-03 9.93258143e-01 7.51604751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:8.31, Z:7.52 [[ 9.73047601e-01 -2.00986169e-01 -1.13061605e-01 6.57810851e+01] [ 1.99363284e-01 9.79591214e-01 -2.55994926e-02 8.30983796e+00] [ 1.15899298e-01 2.36919202e-03 9.93258143e-01 7.51892552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.81, Y:8.31, Z:7.52 [[ 9.71470368e-01 -2.07262185e-01 -1.15272329e-01 6.58108173e+01] [ 2.05613689e-01 9.78283961e-01 -2.61438702e-02 8.30609441e+00] [ 1.18187707e-01 1.69642635e-03 9.92989823e-01 7.51997524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.587105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.84, Y:8.31, Z:7.53 [[ 9.70902958e-01 -2.11227912e-01 -1.12828254e-01 6.58399195e+01] [ 2.09673623e-01 9.77436095e-01 -2.56056922e-02 8.30640180e+00] [ 1.15691045e-01 1.20353349e-03 9.93284518e-01 7.52609235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.87, Y:8.30, Z:7.53 [[ 9.69544305e-01 -2.19316713e-01 -1.09013855e-01 6.58700718e+01] [ 2.17912911e-01 9.75653683e-01 -2.47760911e-02 8.30045214e+00] [ 1.11793580e-01 2.65991476e-04 9.93731415e-01 7.53429953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.647105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:8.30, Z:7.54 [[ 9.68641215e-01 -2.23845959e-01 -1.07829412e-01 6.58974116e+01] [ 2.22496479e-01 9.74624512e-01 -2.45433840e-02 8.29997278e+00] [ 1.10587126e-01 -2.17931312e-04 9.93866410e-01 7.53758451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.93, Y:8.29, Z:7.54 [[ 9.66399518e-01 -2.34699603e-01 -1.04823988e-01 6.59277480e+01] [ 2.33485036e-01 9.72066954e-01 -2.38867319e-02 8.29245417e+00] [ 1.07502141e-01 -1.39070646e-03 9.94203880e-01 7.54385636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70710568099999 meters Centerline goodness [0,1] 0.9999578858707097 Centerline is valid? [True, True] Translation: X:65.96, Y:8.29, Z:7.55 [[ 9.65130202e-01 -2.40394684e-01 -1.03605453e-01 6.59559404e+01] [ 2.39237177e-01 9.70673235e-01 -2.36441228e-02 8.29414816e+00] [ 1.06250962e-01 -1.96661926e-03 9.94337400e-01 7.54886201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73710568099999 meters Centerline goodness [0,1] 0.9999580633662536 Centerline is valid? [True, True] Translation: X:65.99, Y:8.29, Z:7.55 [[ 9.63017669e-01 -2.48445094e-01 -1.04268902e-01 6.59851887e+01] [ 2.47318206e-01 9.68641760e-01 -2.38085470e-02 8.29448843e+00] [ 1.06914329e-01 -2.85954621e-03 9.94264124e-01 7.55111261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76710568099999 meters Centerline goodness [0,1] 0.9999790650449055 Centerline is valid? [True, True] Translation: X:66.01, Y:8.30, Z:7.55 [[ 9.61836770e-01 -2.51803868e-01 -1.07073996e-01 6.60144194e+01] [ 2.50635207e-01 9.67772617e-01 -2.44572079e-02 8.29631768e+00] [ 1.09781700e-01 -3.31267114e-03 9.93950202e-01 7.54936575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79710568099999 meters Centerline goodness [0,1] 0.9999580536912752 Centerline is valid? [True, True] Translation: X:66.04, Y:8.30, Z:7.55 [[ 9.61341204e-01 -2.53270640e-01 -1.08060502e-01 6.60424300e+01] [ 2.52088463e-01 9.67389120e-01 -2.46920414e-02 8.30126171e+00] [ 1.10790323e-01 -3.50332900e-03 9.93837628e-01 7.55084715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82710568099999 meters Centerline goodness [0,1] 0.999874158434531 Centerline is valid? [True, True] Translation: X:66.07, Y:8.31, Z:7.55 [[ 9.60232835e-01 -2.56756717e-01 -1.09676298e-01 6.60718928e+01] [ 2.55557447e-01 9.66468077e-01 -2.50967509e-02 8.30715160e+00] [ 1.12442400e-01 -3.92987035e-03 9.93650473e-01 7.55213287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857105681 meters Centerline goodness [0,1] 0.9996845027763755 Centerline is valid? [True, True] Translation: X:66.10, Y:8.31, Z:7.56 [[ 9.58860406e-01 -2.62484477e-01 -1.08113927e-01 6.60999185e+01] [ 2.61354760e-01 9.64925585e-01 -2.47447939e-02 8.31350890e+00] [ 1.10817018e-01 -4.52928625e-03 9.93830506e-01 7.55791467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.887105681 meters Centerline goodness [0,1] 0.9995003643176851 Centerline is valid? [True, True] Translation: X:66.13, Y:8.32, Z:7.56 [[ 9.58322430e-01 -2.65585219e-01 -1.05273989e-01 6.61278751e+01] [ 2.64531554e-01 9.64075701e-01 -2.41059993e-02 8.31551744e+00] [ 1.07894292e-01 -4.74697204e-03 9.94151039e-01 7.56405578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917105681 meters Centerline goodness [0,1] 0.9985104374278821 Centerline is valid? [True, True] Translation: X:66.15, Y:8.33, Z:7.58 [[ 9.58186368e-01 -2.68198099e-01 -9.97429849e-02 6.61544962e+01] [ 2.67265495e-01 9.63352003e-01 -2.28489442e-02 8.32518243e+00] [ 1.02215648e-01 -4.76431139e-03 9.94750855e-01 7.57513231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.947105681 meters Centerline goodness [0,1] 0.9983301676094262 Centerline is valid? [True, True] Translation: X:66.18, Y:8.34, Z:7.58 [[ 9.58843153e-01 -2.66019231e-01 -9.92651864e-02 6.61805660e+01] [ 2.65083191e-01 9.63957204e-01 -2.27466675e-02 8.33502783e+00] [ 1.01738443e-01 -4.50304595e-03 9.94800991e-01 7.57852209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977105681 meters Centerline goodness [0,1] 0.9990751445086705 Centerline is valid? [True, True] Translation: X:66.20, Y:8.36, Z:7.58 [[ 9.62174086e-01 -2.54198650e-01 -9.80003838e-02 6.62049865e+01] [ 2.53223848e-01 9.67146745e-01 -2.24690169e-02 8.36181647e+00] [ 1.00492346e-01 -3.19692856e-03 9.94932695e-01 7.58037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.007105681 meters Centerline goodness [0,1] 0.999413612565445 Centerline is valid? [True, True] Translation: X:66.23, Y:8.40, Z:7.58 [[ 9.67274579e-01 -2.34153559e-01 -9.77343294e-02 6.62282349e+01] [ 2.33081149e-01 9.72199001e-01 -2.24116259e-02 8.39514250e+00] [ 1.00264979e-01 -1.10183382e-03 9.94960160e-01 7.58076512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037105681 meters Centerline goodness [0,1] 0.9997699226103326 Centerline is valid? [True, True] Translation: X:66.25, Y:8.42, Z:7.58 [[ 9.69191472e-01 -2.25376945e-01 -9.93635957e-02 6.62528840e+01] [ 2.24222024e-01 9.74271623e-01 -2.27879109e-02 8.41523871e+00] [ 1.01943001e-01 -1.93657556e-04 9.94790223e-01 7.58143940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06710568099999 meters Centerline goodness [0,1] 0.9994534140598722 Centerline is valid? [True, True] Translation: X:66.28, Y:8.44, Z:7.58 [[ 9.70919056e-01 -2.15002889e-01 -1.05308805e-01 6.62767661e+01] [ 2.13640156e-01 9.76612914e-01 -2.41888543e-02 8.44156326e+00] [ 1.08046613e-01 9.87229957e-04 9.94145339e-01 7.57571705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09710568099999 meters Centerline goodness [0,1] 0.9995356298547788 Centerline is valid? [True, True] Translation: X:66.30, Y:8.46, Z:7.57 [[ 9.71233423e-01 -2.11142477e-01 -1.10111277e-01 6.63025792e+01] [ 2.09623232e-01 9.77454116e-01 -2.53288682e-02 8.45691211e+00] [ 1.12976721e-01 1.51836158e-03 9.93596475e-01 7.57107158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12710568099999 meters Centerline goodness [0,1] 0.999389319407008 Centerline is valid? [True, True] Translation: X:66.33, Y:8.47, Z:7.57 [[ 9.71241871e-01 -2.10647810e-01 -1.10980756e-01 6.63299554e+01] [ 2.09099418e-01 9.77560703e-01 -2.55441726e-02 8.46586695e+00] [ 1.13871250e-01 1.60355845e-03 9.93494221e-01 7.57246492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15710568099999 meters Centerline goodness [0,1] 0.9994546407970635 Centerline is valid? [True, True] Translation: X:66.36, Y:8.47, Z:7.57 [[ 9.71074179e-01 -2.10762947e-01 -1.12222636e-01 6.63561592e+01] [ 2.09176214e-01 9.77535820e-01 -2.58656354e-02 8.47484463e+00] [ 1.15153164e-01 1.64314455e-03 9.93346389e-01 7.57389172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18710568099999 meters Centerline goodness [0,1] 0.9994308240403061 Centerline is valid? [True, True] Translation: X:66.38, Y:8.48, Z:7.58 [[ 9.70766686e-01 -2.11571446e-01 -1.13355917e-01 6.63829711e+01] [ 2.09955958e-01 9.77361258e-01 -2.61431913e-02 8.48102734e+00] [ 1.16320834e-01 1.57918910e-03 9.93210436e-01 7.57542717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21710568099999 meters Centerline goodness [0,1] 0.9993087123195844 Centerline is valid? [True, True] Translation: X:66.41, Y:8.48, Z:7.58 [[ 9.69992309e-01 -2.15226515e-01 -1.13103792e-01 6.64115522e+01] [ 2.13638077e-01 9.76563442e-01 -2.61269249e-02 8.48198616e+00] [ 1.16076235e-01 1.17963970e-03 9.93239607e-01 7.57879877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.247105681 meters Centerline goodness [0,1] 0.9994530346060797 Centerline is valid? [True, True] Translation: X:66.44, Y:8.48, Z:7.58 [[ 9.69302091e-01 -2.19137773e-01 -1.11499298e-01 6.64390677e+01] [ 2.17616115e-01 9.75693649e-01 -2.57901069e-02 8.48288564e+00] [ 1.14440744e-01 7.34360546e-04 9.93429805e-01 7.58390971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.277105681 meters Centerline goodness [0,1] 0.9992906025705225 Centerline is valid? [True, True] Translation: X:66.47, Y:8.48, Z:7.59 [[ 9.67563961e-01 -2.28562255e-01 -1.07607047e-01 6.64690097e+01] [ 2.27201822e-01 9.73529235e-01 -2.49030391e-02 8.47909605e+00] [ 1.10450501e-01 -3.53233868e-04 9.93881563e-01 7.59358359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.307105681 meters Centerline goodness [0,1] 0.9991621632943739 Centerline is valid? [True, True] Translation: X:66.50, Y:8.48, Z:7.60 [[ 9.66051364e-01 -2.35828932e-01 -1.05496341e-01 6.64982158e+01] [ 2.34560758e-01 9.71793933e-01 -2.44499971e-02 8.47618511e+00] [ 1.08286720e-01 -1.12534857e-03 9.94119067e-01 7.59787591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337105681 meters Centerline goodness [0,1] 0.9993303057572777 Centerline is valid? [True, True] Translation: X:66.53, Y:8.48, Z:7.60 [[ 9.65507394e-01 -2.38385384e-01 -1.04727647e-01 6.65268469e+01] [ 2.37148629e-01 9.71169653e-01 -2.42905806e-02 8.47727733e+00] [ 1.07498832e-01 -1.38328278e-03 9.94204248e-01 7.60096886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.367105681 meters Centerline goodness [0,1] 0.9995800524934383 Centerline is valid? [True, True] Translation: X:66.56, Y:8.48, Z:7.60 [[ 9.64047931e-01 -2.44061529e-01 -1.05097846e-01 6.65563935e+01] [ 2.42848299e-01 9.69757662e-01 -2.43881142e-02 8.47526413e+00] [ 1.07871642e-01 -2.01152205e-03 9.94162795e-01 7.60281064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397105681 meters Centerline goodness [0,1] 0.9996212758794816 Centerline is valid? [True, True] Translation: X:66.59, Y:8.47, Z:7.61 [[ 9.62156407e-01 -2.50669164e-01 -1.06864491e-01 6.65860005e+01] [ 2.49453755e-01 9.68068806e-01 -2.48115110e-02 8.47101065e+00] [ 1.09671661e-01 -2.78519437e-03 9.93963968e-01 7.60559835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42710568099999 meters Centerline goodness [0,1] 0.9994525509022383 Centerline is valid? [True, True] Translation: X:66.61, Y:8.48, Z:7.61 [[ 9.61564203e-01 -2.53093978e-01 -1.06478735e-01 6.66126100e+01] [ 2.51900709e-01 9.67436928e-01 -2.47350487e-02 8.48246711e+00] [ 1.09271752e-01 -3.03773141e-03 9.94007272e-01 7.61098240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45710568099999 meters Centerline goodness [0,1] 0.9993308519091632 Centerline is valid? [True, True] Translation: X:66.64, Y:8.49, Z:7.62 [[ 9.60967159e-01 -2.55842314e-01 -1.05294019e-01 6.66404829e+01] [ 2.54688030e-01 9.66712971e-01 -2.44957042e-02 8.48701377e+00] [ 1.08056132e-01 -3.27755903e-03 9.94139392e-01 7.61530583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48710568099999 meters Centerline goodness [0,1] 0.9993509756301817 Centerline is valid? [True, True] Translation: X:66.67, Y:8.49, Z:7.62 [[ 9.60765459e-01 -2.56640112e-01 -1.05193089e-01 6.66685827e+01] [ 2.55488885e-01 9.66501304e-01 -2.45083293e-02 8.49202938e+00] [ 1.07959078e-01 -3.32890879e-03 9.94149765e-01 7.61886507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51710568099999 meters Centerline goodness [0,1] 0.9993718724482318 Centerline is valid? [True, True] Translation: X:66.70, Y:8.50, Z:7.62 [[ 9.60618056e-01 -2.57563176e-01 -1.04279246e-01 6.66966457e+01] [ 2.56433512e-01 9.66255591e-01 -2.43307878e-02 8.49802953e+00] [ 1.07027120e-01 -3.36809931e-03 9.94250397e-01 7.62458523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54710568099999 meters Centerline goodness [0,1] 0.9995805281151031 Centerline is valid? [True, True] Translation: X:66.72, Y:8.51, Z:7.63 [[ 9.61816265e-01 -2.53641996e-01 -1.02835836e-01 6.67222647e+01] [ 2.52517460e-01 9.67293944e-01 -2.40282673e-02 8.51060187e+00] [ 1.05567059e-01 -2.85706572e-03 9.94408082e-01 7.62986810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57710568099999 meters Centerline goodness [0,1] 0.9999161794597766 Centerline is valid? [True, True] Translation: X:66.75, Y:8.52, Z:7.63 [[ 9.63207021e-01 -2.48702734e-01 -1.01878281e-01 6.67487506e+01] [ 2.47570493e-01 9.68577170e-01 -2.38142340e-02 8.52390854e+00] [ 1.04599642e-01 -2.28401890e-03 9.94511789e-01 7.63407866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.607105681 meters Centerline goodness [0,1] 0.999455303458823 Centerline is valid? [True, True] Translation: X:66.77, Y:8.55, Z:7.64 [[ 9.67229319e-01 -2.32868982e-01 -1.01190322e-01 6.67719141e+01] [ 2.31664228e-01 9.72507959e-01 -2.36633811e-02 8.54902634e+00] [ 1.03918861e-01 -5.54261825e-04 9.94585624e-01 7.63764646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.637105681 meters Centerline goodness [0,1] 0.999580651248611 Centerline is valid? [True, True] Translation: X:66.80, Y:8.58, Z:7.64 [[ 9.71212856e-01 -2.15266104e-01 -1.02010258e-01 6.67956053e+01] [ 2.13943668e-01 9.76554493e-01 -2.38627015e-02 8.57649918e+00] [ 1.04755407e-01 1.35131363e-03 9.94497098e-01 7.63725047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.667105681 meters Centerline goodness [0,1] 0.9996429546552412 Centerline is valid? [True, True] Translation: X:66.82, Y:8.59, Z:7.64 [[ 9.72523892e-01 -2.09674775e-01 -1.01162093e-01 6.68226012e+01] [ 2.08340766e-01 9.77769202e-01 -2.36962813e-02 8.58846246e+00] [ 1.03881691e-01 1.96901188e-03 9.94587712e-01 7.63914174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697105681 meters Centerline goodness [0,1] 0.9995600620103071 Centerline is valid? [True, True] Translation: X:66.85, Y:8.60, Z:7.64 [[ 9.73534878e-01 -2.04224944e-01 -1.02576870e-01 6.68494894e+01] [ 2.02819248e-01 9.78920475e-01 -2.40635858e-02 8.59926427e+00] [ 1.05328983e-01 2.62217637e-03 9.94433974e-01 7.63834573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.727105681 meters Centerline goodness [0,1] 0.9995177893787869 Centerline is valid? [True, True] Translation: X:66.88, Y:8.60, Z:7.63 [[ 9.72636424e-01 -2.05621201e-01 -1.08158720e-01 6.68773378e+01] [ 2.04065222e-01 9.78628158e-01 -2.53833387e-02 8.60400943e+00] [ 1.11066522e-01 2.61732651e-03 9.93809528e-01 7.63443692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757105681 meters Centerline goodness [0,1] 0.9994729074425469 Centerline is valid? [True, True] Translation: X:66.91, Y:8.61, Z:7.63 [[ 9.72066718e-01 -2.07540778e-01 -1.09604383e-01 6.69053467e+01] [ 2.05950235e-01 9.78223246e-01 -2.57639703e-02 8.60840916e+00] [ 1.12564629e-01 2.47124972e-03 9.93641332e-01 7.63492020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.787105681 meters Centerline goodness [0,1] 0.9998100664767331 Centerline is valid? [True, True] Translation: X:66.94, Y:8.60, Z:7.64 [[ 9.70983029e-01 -2.12245202e-01 -1.10199508e-01 6.69360970e+01] [ 2.10665693e-01 9.77214493e-01 -2.59191230e-02 8.60242068e+00] [ 1.13189765e-01 1.95177291e-03 9.93571471e-01 7.63891381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81710568099999 meters Centerline goodness [0,1] 0.9998741478762454 Centerline is valid? [True, True] Translation: X:66.96, Y:8.60, Z:7.64 [[ 9.70444789e-01 -2.15019129e-01 -1.09561338e-01 6.69641271e+01] [ 2.13471425e-01 9.76608436e-01 -2.58052978e-02 8.60235371e+00] [ 1.12547159e-01 1.65440182e-03 9.93645007e-01 7.64384941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:8.60, Z:7.65 [[ 9.69248165e-01 -2.21722824e-01 -1.06756656e-01 6.69943990e+01] [ 2.20292567e-01 9.75109346e-01 -2.51584511e-02 8.59789660e+00] [ 1.09677616e-01 8.67084748e-04 9.93966835e-01 7.65204431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87710568099999 meters Centerline goodness [0,1] 0.9999583368052662 Centerline is valid? [True, True] Translation: X:67.02, Y:8.60, Z:7.65 [[ 9.68508893e-01 -2.24961072e-01 -1.06691326e-01 6.70227245e+01] [ 2.23548455e-01 9.74367606e-01 -2.51765010e-02 8.60027541e+00] [ 1.09620305e-01 5.32983890e-04 9.93973392e-01 7.65483406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90710568099999 meters Centerline goodness [0,1] 0.9999371095551549 Centerline is valid? [True, True] Translation: X:67.05, Y:8.59, Z:7.66 [[ 9.66900491e-01 -2.31674824e-01 -1.06912194e-01 6.70530920e+01] [ 2.30294906e-01 9.72793263e-01 -2.52492311e-02 8.59492079e+00] [ 1.09853073e-01 -2.07839635e-04 9.93947815e-01 7.65612223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:8.60, Z:7.66 [[ 9.66090189e-01 -2.35012817e-01 -1.06951965e-01 6.70814063e+01] [ 2.33647662e-01 9.71992118e-01 -2.53000670e-02 8.59530521e+00] [ 1.09902307e-01 -5.46930091e-04 9.93942244e-01 7.65979474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.11, Y:8.59, Z:7.67 [[ 9.65654306e-01 -2.37833543e-01 -1.04627755e-01 6.71097555e+01] [ 2.36539464e-01 9.71305590e-01 -2.47897703e-02 8.59467617e+00] [ 1.07521363e-01 -8.10244763e-04 9.94202444e-01 7.66647259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997105681 meters Centerline goodness [0,1] 0.9999789495842543 Centerline is valid? [True, True] Translation: X:67.14, Y:8.60, Z:7.67 [[ 9.66413288e-01 -2.34602837e-01 -1.04913614e-01 6.71370318e+01] [ 2.33278287e-01 9.72091219e-01 -2.48978293e-02 8.60182238e+00] [ 1.07826704e-01 -4.12474969e-04 9.94169619e-01 7.67066353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.16, Y:8.61, Z:7.67 [[ 9.68322283e-01 -2.25415238e-01 -1.07424050e-01 6.71641366e+01] [ 2.23965644e-01 9.74262557e-01 -2.55315496e-02 8.61221611e+00] [ 1.10414430e-01 6.63471924e-04 9.93885413e-01 7.67242521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:8.62, Z:7.68 [[ 9.69562901e-01 -2.19907693e-01 -1.07649374e-01 6.71896102e+01] [ 2.18414089e-01 9.75519779e-01 -2.56212078e-02 8.62248945e+00] [ 1.10648395e-01 1.32923255e-03 9.93858725e-01 7.67570671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.087105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:8.64, Z:7.68 [[ 9.71973695e-01 -2.09803189e-01 -1.06064880e-01 6.72146474e+01] [ 2.08291613e-01 9.77740546e-01 -2.52592228e-02 8.63810568e+00] [ 1.09003399e-01 2.45887522e-03 9.94038336e-01 7.68055561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.24, Y:8.64, Z:7.68 [[ 9.72828415e-01 -2.05381688e-01 -1.06879545e-01 6.72439258e+01] [ 2.03818980e-01 9.78677392e-01 -2.54634209e-02 8.64274384e+00] [ 1.09830314e-01 2.98745960e-03 9.93945862e-01 7.68336948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.147105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.27, Y:8.65, Z:7.68 [[ 9.73322006e-01 -2.01100942e-01 -1.10465757e-01 6.72723725e+01] [ 1.99403010e-01 9.79563929e-01 -2.63239111e-02 8.64615337e+00] [ 1.13502034e-01 3.59443750e-03 9.93531262e-01 7.68149492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:8.65, Z:7.68 [[ 9.73487472e-01 -2.00991302e-01 -1.09199996e-01 6.73010756e+01] [ 1.99330079e-01 9.79586492e-01 -2.60350700e-02 8.64518711e+00] [ 1.12203663e-01 3.57797071e-03 9.93678789e-01 7.68384611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.33, Y:8.65, Z:7.69 [[ 9.73295312e-01 -2.02822269e-01 -1.07514481e-01 6.73303989e+01] [ 2.01218684e-01 9.79209821e-01 -2.56742649e-02 8.64607150e+00] [ 1.10486548e-01 3.35471926e-03 9.93871958e-01 7.68815914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:8.64, Z:7.69 [[ 9.71530999e-01 -2.10921220e-01 -1.07887701e-01 6.73633867e+01] [ 2.09352123e-01 9.77499922e-01 -2.57990401e-02 8.63754211e+00] [ 1.10901784e-01 2.47804805e-03 9.93828282e-01 7.69153632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.40, Y:8.62, Z:7.70 [[ 9.68909274e-01 -2.23168901e-01 -1.06819760e-01 6.73959058e+01] [ 2.21704499e-01 9.74779204e-01 -2.55463866e-02 8.62386759e+00] [ 1.09826840e-01 1.06970948e-03 9.93950160e-01 7.69656421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.43, Y:8.62, Z:7.70 [[ 9.67979842e-01 -2.27849593e-01 -1.05354588e-01 6.74258569e+01] [ 2.26452222e-01 9.73696192e-01 -2.52015160e-02 8.62283691e+00] [ 1.08325516e-01 5.36778933e-04 9.94115333e-01 7.70208312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:8.62, Z:7.71 [[ 9.67338888e-01 -2.30862645e-01 -1.04680056e-01 6.74550124e+01] [ 2.29498640e-01 9.72986327e-01 -2.50595717e-02 8.62031600e+00] [ 1.07637582e-01 2.17167755e-04 9.94190175e-01 7.70744775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:8.62, Z:7.71 [[ 9.67524695e-01 -2.30560744e-01 -1.03622916e-01 6.74826312e+01] [ 2.29218313e-01 9.73057892e-01 -2.48456006e-02 8.62429073e+00] [ 1.06559517e-01 2.86462094e-04 9.94306284e-01 7.71104104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:8.63, Z:7.72 [[ 9.67918578e-01 -2.29736663e-01 -1.01758003e-01 6.75102044e+01] [ 2.28433705e-01 9.73252742e-01 -2.44365115e-02 8.62968675e+00] [ 1.04650218e-01 4.07595733e-04 9.94509007e-01 7.71552236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.54, Y:8.64, Z:7.72 [[ 9.67834992e-01 -2.30092501e-01 -1.01749052e-01 6.75367115e+01] [ 2.28787591e-01 9.73168677e-01 -2.44737260e-02 8.63632108e+00] [ 1.04650211e-01 4.07607815e-04 9.94509008e-01 7.71840023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:8.64, Z:7.72 [[ 9.66752742e-01 -2.33765671e-01 -1.03647225e-01 6.75648831e+01] [ 2.32428181e-01 9.72292964e-01 -2.49706301e-02 8.63990348e+00] [ 1.06612743e-01 4.98892803e-05 9.94300619e-01 7.71769002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:8.64, Z:7.72 [[ 9.65786405e-01 -2.37201011e-01 -1.04844174e-01 6.75925093e+01] [ 2.35851058e-01 9.71460539e-01 -2.52725283e-02 8.64299178e+00] [ 1.07846647e-01 -3.19745027e-04 9.94167490e-01 7.71897604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.507105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:8.64, Z:7.72 [[ 9.64097876e-01 -2.42600025e-01 -1.07983860e-01 6.76216856e+01] [ 2.41196648e-01 9.70125972e-01 -2.60725077e-02 8.64168598e+00] [ 1.11083138e-01 -9.08895795e-04 9.93810701e-01 7.71721500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:8.64, Z:7.72 [[ 9.63225974e-01 -2.45094845e-01 -1.10110123e-01 6.76492000e+01] [ 2.43650114e-01 9.69498355e-01 -2.66000179e-02 8.64469256e+00] [ 1.13271111e-01 -1.20651586e-03 9.93563385e-01 7.71715261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:8.65, Z:7.72 [[ 9.61903363e-01 -2.49564272e-01 -1.11622553e-01 6.76774065e+01] [ 2.48107278e-01 9.68356676e-01 -2.69838317e-02 8.64980126e+00] [ 1.14824645e-01 -1.73852932e-03 9.93384255e-01 7.72020516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.70, Y:8.66, Z:7.73 [[ 9.62124316e-01 -2.50528489e-01 -1.07481516e-01 6.77041670e+01] [ 2.49179863e-01 9.68107648e-01 -2.60188071e-02 8.65945644e+00] [ 1.10572130e-01 -1.74890240e-03 9.93866563e-01 7.73000433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:8.67, Z:7.74 [[ 9.62780821e-01 -2.49133663e-01 -1.04811775e-01 6.77297761e+01] [ 2.47839377e-01 9.68467926e-01 -2.54070954e-02 8.66877149e+00] [ 1.07836605e-01 -1.51502075e-03 9.94167476e-01 7.73659305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:8.68, Z:7.74 [[ 9.64394818e-01 -2.44021144e-01 -1.01962323e-01 6.77547890e+01] [ 2.42766640e-01 9.69769489e-01 -2.47284537e-02 8.68373872e+00] [ 1.04914216e-01 -9.05058046e-04 9.94480864e-01 7.74434240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:8.70, Z:7.75 [[ 9.65933180e-01 -2.39192779e-01 -9.87922399e-02 6.77789890e+01] [ 2.37986693e-01 9.70972039e-01 -2.39923451e-02 8.69947502e+00] [ 1.01663298e-01 -3.36236321e-04 9.94818808e-01 7.75003544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:8.71, Z:7.76 [[ 9.66617731e-01 -2.37449118e-01 -9.62708558e-02 6.78045613e+01] [ 2.36293786e-01 9.71399968e-01 -2.33954770e-02 8.71068511e+00] [ 9.90727416e-02 -1.33722067e-04 9.95080185e-01 7.75524622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:8.73, Z:7.76 [[ 9.67693529e-01 -2.33369891e-01 -9.54344147e-02 6.78307355e+01] [ 2.32211148e-01 9.72387985e-01 -2.32290685e-02 8.72523316e+00] [ 9.82202434e-02 3.17684284e-04 9.95164651e-01 7.75885190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.86, Y:8.74, Z:7.76 [[ 9.69497166e-01 -2.24451584e-01 -9.84719871e-02 6.78560718e+01] [ 2.23168059e-01 9.74484379e-01 -2.40044153e-02 8.74351491e+00] [ 1.01347242e-01 1.29641046e-03 9.94850268e-01 7.75795953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:8.76, Z:7.76 [[ 9.70429086e-01 -2.19848978e-01 -9.96685271e-02 6.78807474e+01] [ 2.18506029e-01 9.75532194e-01 -2.43321542e-02 8.75837352e+00] [ 1.02579256e-01 1.83445614e-03 9.94723143e-01 7.75930168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:8.77, Z:7.76 [[ 9.71597061e-01 -2.13010844e-01 -1.03080217e-01 6.79090921e+01] [ 2.11534261e-01 9.77046220e-01 -2.51781954e-02 8.77032401e+00] [ 1.06077365e-01 2.65806324e-03 9.94354327e-01 7.75687331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.867105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.94, Y:8.78, Z:7.75 [[ 9.71842097e-01 -2.08361444e-01 -1.10038391e-01 6.79381453e+01] [ 2.06647592e-01 9.78046028e-01 -2.68838337e-02 8.77833088e+00] [ 1.13224166e-01 3.38767278e-03 9.93563693e-01 7.75180464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:8.79, Z:7.75 [[ 9.72032911e-01 -2.06637263e-01 -1.11593287e-01 6.79658125e+01] [ 2.04861802e-01 9.78410809e-01 -2.72751005e-02 8.78661909e+00] [ 1.14820130e-01 3.65109359e-03 9.93379589e-01 7.75165279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:8.79, Z:7.75 [[ 9.72736591e-01 -2.02854437e-01 -1.12399296e-01 6.79941292e+01] [ 2.01023675e-01 9.79200050e-01 -2.75089782e-02 8.79495544e+00] [ 1.15641715e-01 4.16407003e-03 9.93282263e-01 7.75309811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:8.80, Z:7.76 [[ 9.73144554e-01 -2.01257654e-01 -1.11736452e-01 6.80220966e+01] [ 1.99437039e-01 9.79528740e-01 -2.73553370e-02 8.80082800e+00] [ 1.14954537e-01 4.33631013e-03 9.93361289e-01 7.75698353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:8.80, Z:7.76 [[ 9.73806369e-01 -2.00207260e-01 -1.07787798e-01 6.80517005e+01] [ 1.98503078e-01 9.79743970e-01 -2.64250098e-02 8.79917729e+00] [ 1.10894924e-01 4.33663301e-03 9.93822675e-01 7.76499060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:8.80, Z:7.77 [[ 9.73334643e-01 -2.04531766e-01 -1.03857732e-01 6.80814424e+01] [ 2.02970735e-01 9.78852794e-01 -2.54968292e-02 8.79732335e+00] [ 1.06876342e-01 3.73686698e-03 9.94265298e-01 7.77197022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:8.80, Z:7.77 [[ 9.72752739e-01 -2.07590827e-01 -1.03238356e-01 6.81105845e+01] [ 2.06065009e-01 9.78209889e-01 -2.53500484e-02 8.79853433e+00] [ 1.06251218e-01 3.38551630e-03 9.94333554e-01 7.77486643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:8.79, Z:7.77 [[ 9.71192263e-01 -2.14040646e-01 -1.04748220e-01 6.81419005e+01] [ 2.12505892e-01 9.76820939e-01 -2.57312849e-02 8.79405265e+00] [ 1.07827795e-01 2.73041092e-03 9.94165837e-01 7.77457970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:8.79, Z:7.77 [[ 9.68937941e-01 -2.21943395e-01 -1.09088936e-01 6.81741737e+01] [ 2.20327400e-01 9.75057629e-01 -2.68040316e-02 8.78714982e+00] [ 1.12316978e-01 1.93616139e-03 9.93670543e-01 7.77149969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:8.78, Z:7.77 [[ 9.66239727e-01 -2.31653908e-01 -1.12770815e-01 6.82061732e+01] [ 2.29989886e-01 9.72797889e-01 -2.77294079e-02 8.77802582e+00] [ 1.16126837e-01 8.57108631e-04 9.93234022e-01 7.76950670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:8.78, Z:7.77 [[ 9.64822305e-01 -2.37355640e-01 -1.13049632e-01 6.82358791e+01] [ 2.35717718e-01 9.71422800e-01 -2.78370495e-02 8.77588027e+00] [ 1.16426271e-01 2.10004988e-04 9.93199315e-01 7.77232377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:8.77, Z:7.78 [[ 9.62511924e-01 -2.46995665e-01 -1.12088969e-01 6.82663328e+01] [ 2.45446008e-01 9.69016159e-01 -2.76394821e-02 8.77108623e+00] [ 1.15442854e-01 -9.08458815e-04 9.93313708e-01 7.77840852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:8.77, Z:7.78 [[ 9.61630670e-01 -2.50979732e-01 -1.10795437e-01 6.82943636e+01] [ 2.49487631e-01 9.67991425e-01 -2.73591695e-02 8.77462395e+00] [ 1.14115630e-01 -1.33267454e-03 9.93466581e-01 7.78458040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:8.77, Z:7.80 [[ 9.60408118e-01 -2.57917291e-01 -1.05332413e-01 6.83217273e+01] [ 2.56606734e-01 9.66164899e-01 -2.60455742e-02 8.77471685e+00] [ 1.08486085e-01 -2.01462562e-03 9.94095926e-01 7.79582997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.287105681 meters Centerline goodness [0,1] 0.999580017219294 Centerline is valid? [True, True] Translation: X:68.35, Y:8.77, Z:7.81 [[ 9.59298732e-01 -2.64869876e-01 -9.79279937e-02 6.83506163e+01] [ 2.63772330e-01 9.64280685e-01 -2.42264033e-02 8.77489721e+00] [ 1.00846917e-01 -2.59033712e-03 9.94898582e-01 7.80797625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31710568099999 meters Centerline goodness [0,1] 0.9994760667281415 Centerline is valid? [True, True] Translation: X:68.38, Y:8.78, Z:7.81 [[ 9.58311073e-01 -2.69063712e-01 -9.61488739e-02 6.83792379e+01] [ 2.68026070e-01 9.63117804e-01 -2.37933162e-02 8.77885269e+00] [ 9.90046103e-02 -2.96900640e-03 9.95082545e-01 7.81285736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34710568099999 meters Centerline goodness [0,1] 0.9995376597175522 Centerline is valid? [True, True] Translation: X:68.41, Y:8.78, Z:7.81 [[ 9.55687664e-01 -2.77737110e-01 -9.75868163e-02 6.84086304e+01] [ 2.76712015e-01 9.60649142e-01 -2.41595860e-02 8.78175517e+00] [ 1.00456705e-01 -3.91442632e-03 9.94933730e-01 7.81468984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37710568099999 meters Centerline goodness [0,1] 0.9995168473237543 Centerline is valid? [True, True] Translation: X:68.44, Y:8.79, Z:7.82 [[ 9.53549641e-01 -2.85075408e-01 -9.73400949e-02 6.84369598e+01] [ 2.84092982e-01 9.58493716e-01 -2.41033855e-02 8.78968057e+00] [ 1.00171152e-01 -4.66986327e-03 9.94959262e-01 7.81728239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40710568099999 meters Centerline goodness [0,1] 0.9994374648415526 Centerline is valid? [True, True] Translation: X:68.47, Y:8.80, Z:7.82 [[ 9.52694273e-01 -2.87907636e-01 -9.73797514e-02 6.84653838e+01] [ 2.86938630e-01 9.57645312e-01 -2.41180301e-02 8.79879157e+00] [ 1.00199027e-01 -4.96490335e-03 9.94955026e-01 7.82042150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43710568099999 meters Centerline goodness [0,1] 0.9995164308390976 Centerline is valid? [True, True] Translation: X:68.49, Y:8.81, Z:7.82 [[ 9.51613074e-01 -2.90880432e-01 -9.91016253e-02 6.84925690e+01] [ 2.89892323e-01 9.56744358e-01 -2.45494180e-02 8.81240519e+00] [ 1.01955866e-01 -5.36725330e-03 9.94774444e-01 7.82122100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46710568099999 meters Centerline goodness [0,1] 0.9996423085824899 Centerline is valid? [True, True] Translation: X:68.52, Y:8.83, Z:7.82 [[ 9.51458799e-01 -2.90111138e-01 -1.02770041e-01 6.85180247e+01] [ 2.89043398e-01 9.56977285e-01 -2.54634927e-02 8.82518087e+00] [ 1.05735838e-01 -5.47753782e-03 9.94379168e-01 7.81993059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497105681 meters Centerline goodness [0,1] 0.9996442100416484 Centerline is valid? [True, True] Translation: X:68.54, Y:8.85, Z:7.83 [[ 9.53582274e-01 -2.83528943e-01 -1.01450405e-01 6.85415025e+01] [ 2.82450074e-01 9.58952292e-01 -2.51487021e-02 8.85019472e+00] [ 1.04416483e-01 -4.67331784e-03 9.94522679e-01 7.82619957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.527105681 meters Centerline goodness [0,1] 0.999437171683482 Centerline is valid? [True, True] Translation: X:68.57, Y:8.87, Z:7.83 [[ 9.55379635e-01 -2.77868321e-01 -1.00194554e-01 6.85671833e+01] [ 2.76784515e-01 9.60610851e-01 -2.48420215e-02 8.87064256e+00] [ 1.03150787e-01 -3.99873964e-03 9.94657693e-01 7.83204712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557105681 meters Centerline goodness [0,1] 0.9996631862579993 Centerline is valid? [True, True] Translation: X:68.59, Y:8.91, Z:7.84 [[ 9.59556592e-01 -2.63055217e-01 -1.00265148e-01 6.85871136e+01] [ 2.61888460e-01 9.64777796e-01 -2.48644176e-02 8.90838087e+00] [ 1.03274304e-01 -2.39946947e-03 9.94650019e-01 7.83592458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.587105681 meters Centerline goodness [0,1] 0.9996859296482412 Centerline is valid? [True, True] Translation: X:68.61, Y:8.94, Z:7.83 [[ 9.63165402e-01 -2.48909856e-01 -1.01765865e-01 6.86103848e+01] [ 2.47628149e-01 9.68526250e-01 -2.52428838e-02 8.94101152e+00] [ 1.04846115e-01 -8.87020607e-04 9.94488062e-01 7.83442836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617105681 meters Centerline goodness [0,1] 0.9998534031413613 Centerline is valid? [True, True] Translation: X:68.64, Y:8.96, Z:7.84 [[ 9.63985434e-01 -2.45327498e-01 -1.02696163e-01 6.86371241e+01] [ 2.44001609e-01 9.69440132e-01 -2.54763666e-02 8.95526140e+00] [ 1.05807835e-01 -4.99182767e-04 9.94386471e-01 7.83502399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.647105681 meters Centerline goodness [0,1] 0.9999789047337777 Centerline is valid? [True, True] Translation: X:68.66, Y:8.97, Z:7.83 [[ 9.64219307e-01 -2.43130427e-01 -1.05682185e-01 6.86623871e+01] [ 2.41709255e-01 9.69993578e-01 -2.62506234e-02 8.97322038e+00] [ 1.08893366e-01 -2.33004209e-04 9.94053409e-01 7.83235362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67710568099999 meters Centerline goodness [0,1] 0.9998314369995785 Centerline is valid? [True, True] Translation: X:68.69, Y:8.98, Z:7.83 [[ 9.63832111e-01 -2.44105181e-01 -1.06959439e-01 6.86889362e+01] [ 2.42650591e-01 9.69748713e-01 -2.66105925e-02 8.98370220e+00] [ 1.10219562e-01 -3.05627480e-04 9.93907216e-01 7.83227134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70710568099999 meters Centerline goodness [0,1] 0.9999578556979096 Centerline is valid? [True, True] Translation: X:68.72, Y:9.00, Z:7.83 [[ 9.62812434e-01 -2.46728313e-01 -1.10078862e-01 6.87161067e+01] [ 2.45202593e-01 9.69084501e-01 -2.74028906e-02 8.99519937e+00] [ 1.13436788e-01 -6.07778464e-04 9.93545030e-01 7.83019203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73710568099999 meters Centerline goodness [0,1] 0.999915610033967 Centerline is valid? [True, True] Translation: X:68.74, Y:9.00, Z:7.83 [[ 9.62456419e-01 -2.47357302e-01 -1.11767642e-01 6.87440534e+01] [ 2.45783885e-01 9.68924113e-01 -2.78629614e-02 9.00401684e+00] [ 1.15186471e-01 -6.53799256e-04 9.93343671e-01 7.83183425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76710568099999 meters Centerline goodness [0,1] 0.9998946192593842 Centerline is valid? [True, True] Translation: X:68.77, Y:9.01, Z:7.84 [[ 9.62729610e-01 -2.46639868e-01 -1.10997626e-01 6.87705152e+01] [ 2.45078873e-01 9.69107063e-01 -2.77100561e-02 9.01292331e+00] [ 1.14402988e-01 -5.25881579e-04 9.93434286e-01 7.83621941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79710568099999 meters Centerline goodness [0,1] 0.999936844764431 Centerline is valid? [True, True] Translation: X:68.80, Y:9.03, Z:7.84 [[ 9.63443803e-01 -2.44651440e-01 -1.09186587e-01 6.87964161e+01] [ 2.43123524e-01 9.69611063e-01 -2.73008862e-02 9.02621788e+00] [ 1.12547724e-01 -2.42958192e-04 9.93646291e-01 7.84275245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82710568099999 meters Centerline goodness [0,1] 0.999979072930836 Centerline is valid? [True, True] Translation: X:68.82, Y:9.04, Z:7.84 [[ 9.63377794e-01 -2.44129344e-01 -1.10923804e-01 6.88233704e+01] [ 2.42544282e-01 9.69742668e-01 -2.77746108e-02 9.03661197e+00] [ 1.14348144e-01 -1.46491291e-04 9.93440728e-01 7.84436277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857105681 meters Centerline goodness [0,1] 0.9999789464819572 Centerline is valid? [True, True] Translation: X:68.85, Y:9.04, Z:7.85 [[ 9.63130575e-01 -2.45674215e-01 -1.09652527e-01 6.88506094e+01] [ 2.44131026e-01 9.69352411e-01 -2.74944626e-02 9.04246857e+00] [ 1.13046622e-01 -2.88826265e-04 9.93589643e-01 7.84816811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.887105681 meters Centerline goodness [0,1] 0.9999368008595083 Centerline is valid? [True, True] Translation: X:68.88, Y:9.04, Z:7.85 [[ 9.62079327e-01 -2.51424260e-01 -1.05779060e-01 6.88784565e+01] [ 2.50018578e-01 9.67876567e-01 -2.65642793e-02 9.04442663e+00] [ 1.09059978e-01 -8.89786218e-04 9.94034773e-01 7.85487138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917105681 meters Centerline goodness [0,1] 0.9999370329947108 Centerline is valid? [True, True] Translation: X:68.91, Y:9.05, Z:7.86 [[ 9.60990691e-01 -2.57253800e-01 -1.01574474e-01 6.89065331e+01] [ 2.55986229e-01 9.66342785e-01 -2.55474655e-02 9.04755782e+00] [ 1.04727942e-01 -1.45078998e-03 9.94499851e-01 7.86304534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.947105681 meters Centerline goodness [0,1] 0.9998950902224087 Centerline is valid? [True, True] Translation: X:68.93, Y:9.05, Z:7.87 [[ 9.60381162e-01 -2.59646876e-01 -1.01249804e-01 6.89343802e+01] [ 2.58396952e-01 9.65702182e-01 -2.55011827e-02 9.05331231e+00] [ 1.04398459e-01 -1.67178524e-03 9.94534146e-01 7.86681831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977105681 meters Centerline goodness [0,1] 0.9998956724950966 Centerline is valid? [True, True] Translation: X:68.96, Y:9.06, Z:7.87 [[ 9.60054933e-01 -2.60293297e-01 -1.02673881e-01 6.89605442e+01] [ 2.59007713e-01 9.65528042e-01 -2.58960209e-02 9.06207101e+00] [ 1.05875072e-01 -1.73172442e-03 9.94377931e-01 7.86822841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.007105681 meters Centerline goodness [0,1] 0.9999789438221174 Centerline is valid? [True, True] Translation: X:68.99, Y:9.08, Z:7.87 [[ 9.61023606e-01 -2.54791885e-01 -1.07306685e-01 6.89871422e+01] [ 2.53348208e-01 9.66995248e-01 -2.71085906e-02 9.07710939e+00] [ 1.10672104e-01 -1.13396094e-03 9.93856327e-01 7.86598239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03710568099999 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:69.01, Y:9.09, Z:7.87 [[ 9.62026370e-01 -2.50146078e-01 -1.09234622e-01 6.90133061e+01] [ 2.48615675e-01 9.68207938e-01 -2.76339430e-02 9.08967743e+00] [ 1.12674350e-01 -5.72857369e-04 9.93631804e-01 7.86693257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:9.11, Z:7.87 [[ 9.64577039e-01 -2.39723145e-01 -1.10108808e-01 6.90386323e+01] [ 2.38095780e-01 9.70841047e-01 -2.78937398e-02 9.10803257e+00] [ 1.13584925e-01 6.89218615e-04 9.93528052e-01 7.86990693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:9.13, Z:7.87 [[ 9.66995285e-01 -2.30407442e-01 -1.08777429e-01 6.90634835e+01] [ 2.28756195e-01 9.73092581e-01 -2.75940556e-02 9.12609208e+00] [ 1.12208385e-01 1.79981077e-03 9.93683068e-01 7.87478258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:9.14, Z:7.88 [[ 9.67837088e-01 -2.26954655e-01 -1.08549328e-01 6.90897177e+01] [ 2.25284539e-01 9.73902769e-01 -2.75730335e-02 9.13661389e+00] [ 1.11974320e-01 2.23171895e-03 9.93708595e-01 7.87750165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15710568099999 meters Centerline goodness [0,1] 0.9999163914552067 Centerline is valid? [True, True] Translation: X:69.12, Y:9.14, Z:7.88 [[ 9.68569724e-01 -2.23191703e-01 -1.09809628e-01 6.91160747e+01] [ 2.21456703e-01 9.74770798e-01 -2.79073587e-02 9.14442549e+00] [ 1.13267910e-01 2.71214442e-03 9.93560781e-01 7.87829119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:9.15, Z:7.88 [[ 9.68480092e-01 -2.22228496e-01 -1.12520252e-01 6.91451276e+01] [ 2.20397686e-01 9.74990257e-01 -2.86157157e-02 9.14873372e+00] [ 1.16065377e-01 2.91454775e-03 9.93237300e-01 7.87764751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:9.16, Z:7.88 [[ 9.68553701e-01 -2.21232445e-01 -1.13841704e-01 6.91736113e+01] [ 2.19346577e-01 9.75216148e-01 -2.89921365e-02 9.15501213e+00] [ 1.17434269e-01 3.10965307e-03 9.93075789e-01 7.87842767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:9.16, Z:7.88 [[ 9.69780530e-01 -2.15141263e-01 -1.15065030e-01 6.92014323e+01] [ 2.13167283e-01 9.76575047e-01 -2.93408745e-02 9.16326314e+00] [ 1.18682070e-01 3.92610910e-03 9.92924545e-01 7.87934870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:9.18, Z:7.88 [[ 9.71436823e-01 -2.06351174e-01 -1.17173768e-01 6.92285855e+01] [ 2.04238705e-01 9.78464681e-01 -2.98901146e-02 9.17517657e+00] [ 1.20818254e-01 5.10493929e-03 9.92661518e-01 7.88169663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.307105681 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:69.26, Y:9.19, Z:7.88 [[ 9.72242310e-01 -2.01842952e-01 -1.18339820e-01 6.92571169e+01] [ 1.99654329e-01 9.79401161e-01 -3.01913188e-02 9.18520299e+00] [ 1.21996062e-01 5.72622030e-03 9.92514066e-01 7.88432085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337105681 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:69.28, Y:9.19, Z:7.89 [[ 9.72169907e-01 -2.02192700e-01 -1.18337586e-01 6.92835237e+01] [ 2.00005590e-01 9.79329219e-01 -3.02000691e-02 9.19220721e+00] [ 1.21997689e-01 5.69141969e-03 9.92514066e-01 7.88719757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.367105681 meters Centerline goodness [0,1] 0.9999790052696773 Centerline is valid? [True, True] Translation: X:69.31, Y:9.20, Z:7.89 [[ 9.73580570e-01 -1.95733539e-01 -1.17597854e-01 6.93137070e+01] [ 1.93522168e-01 9.80635585e-01 -3.00503020e-02 9.19619541e+00] [ 1.21202492e-01 6.49859868e-03 9.92606530e-01 7.89122810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:9.20, Z:7.90 [[ 9.74079996e-01 -1.93747372e-01 -1.16748092e-01 6.93426840e+01] [ 1.91552960e-01 9.81028552e-01 -2.98402929e-02 9.19749573e+00] [ 1.20314690e-01 6.70338978e-03 9.92713171e-01 7.89599363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:9.19, Z:7.90 [[ 9.75009037e-01 -1.90075868e-01 -1.15015400e-01 6.93735423e+01] [ 1.87916703e-01 9.81743841e-01 -2.94337059e-02 9.19214089e+00] [ 1.18510298e-01 7.08481447e-03 9.92927548e-01 7.90122446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45710568099999 meters Centerline goodness [0,1] 0.9999789650820362 Centerline is valid? [True, True] Translation: X:69.40, Y:9.19, Z:7.90 [[ 9.74910351e-01 -1.90454944e-01 -1.15224662e-01 6.94013409e+01] [ 1.88288926e-01 9.81670517e-01 -2.95004584e-02 9.19408801e+00] [ 1.18731161e-01 7.06477445e-03 9.92901304e-01 7.90340869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48710568099999 meters Centerline goodness [0,1] 0.9999580888516345 Centerline is valid? [True, True] Translation: X:69.43, Y:9.19, Z:7.91 [[ 9.74546360e-01 -1.92030257e-01 -1.15688255e-01 6.94328681e+01] [ 1.89852190e-01 9.81364422e-01 -2.96650830e-02 9.18675652e+00] [ 1.19228931e-01 6.94633007e-03 9.92842490e-01 7.90542321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51710568099999 meters Centerline goodness [0,1] 0.999979079497908 Centerline is valid? [True, True] Translation: X:69.46, Y:9.19, Z:7.91 [[ 9.74264524e-01 -1.93711454e-01 -1.15258450e-01 6.94628148e+01] [ 1.91556550e-01 9.81035295e-01 -2.95945551e-02 9.18690128e+00] [ 1.18805412e-01 6.75441410e-03 9.92894582e-01 7.90893688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54710568099999 meters Centerline goodness [0,1] 0.9999164071806231 Centerline is valid? [True, True] Translation: X:69.49, Y:9.18, Z:7.91 [[ 9.73745137e-01 -1.96959325e-01 -1.14137775e-01 6.94940061e+01] [ 1.94864561e-01 9.80391238e-01 -2.93397814e-02 9.18275372e+00] [ 1.17678419e-01 6.32806189e-03 9.93031593e-01 7.91220912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57710568099999 meters Centerline goodness [0,1] 0.999979029924298 Centerline is valid? [True, True] Translation: X:69.53, Y:9.17, Z:7.91 [[ 9.72876052e-01 -1.99659225e-01 -1.16826288e-01 6.95262052e+01] [ 1.97482193e-01 9.79846062e-01 -3.00412638e-02 9.17394481e+00] [ 1.20469793e-01 6.15531465e-03 9.92697910e-01 7.91322073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.56, Y:9.17, Z:7.91 [[ 9.72168772e-01 -2.01020813e-01 -1.20326687e-01 6.95565233e+01] [ 1.98715723e-01 9.79567281e-01 -3.09839113e-02 9.17315480e+00] [ 1.24096497e-01 6.21078641e-03 9.92250717e-01 7.91386483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:9.17, Z:7.91 [[ 9.71049344e-01 -2.04968914e-01 -1.22682178e-01 6.95865819e+01] [ 2.02598527e-01 9.78750951e-01 -3.16293091e-02 9.16831243e+00] [ 1.26558324e-01 5.85839119e-03 9.91941868e-01 7.91296024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:9.17, Z:7.92 [[ 9.70546844e-01 -2.07920277e-01 -1.21688054e-01 6.96174945e+01] [ 2.05609696e-01 9.78130639e-01 -3.13864134e-02 9.16609784e+00] [ 1.25552686e-01 5.44174060e-03 9.92072029e-01 7.91730909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:9.16, Z:7.92 [[ 9.69252707e-01 -2.15182687e-01 -1.19354938e-01 6.96494101e+01] [ 2.13014263e-01 9.76563813e-01 -3.07902983e-02 9.15576073e+00] [ 1.23183252e-01 4.41927590e-03 9.92374101e-01 7.92427882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:9.15, Z:7.93 [[ 9.67598836e-01 -2.22858810e-01 -1.18686326e-01 6.96811636e+01] [ 2.20771470e-01 9.74844705e-01 -3.06228535e-02 9.14977683e+00] [ 1.22525310e-01 3.42808266e-03 9.92459469e-01 7.92906354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:9.15, Z:7.93 [[ 9.66613188e-01 -2.27365032e-01 -1.18169738e-01 6.97107005e+01] [ 2.25328592e-01 9.73805430e-01 -3.04960824e-02 9.15024672e+00] [ 1.22008075e-01 2.85089484e-03 9.92525013e-01 7.93225018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:9.14, Z:7.93 [[ 9.64188994e-01 -2.37084823e-01 -1.18871236e-01 6.97427030e+01] [ 2.35096021e-01 9.71487564e-01 -3.06883432e-02 9.14062901e+00] [ 1.22757668e-01 1.64320802e-03 9.92435315e-01 7.93336348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.78, Y:9.13, Z:7.94 [[ 9.61834662e-01 -2.46272344e-01 -1.19264477e-01 6.97752095e+01] [ 2.44338850e-01 9.69200545e-01 -3.08030895e-02 9.13084341e+00] [ 1.23177145e-01 4.86533943e-04 9.92384580e-01 7.93715623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:9.12, Z:7.94 [[ 9.59217776e-01 -2.56253603e-01 -1.19311984e-01 6.98059178e+01] [ 2.54390873e-01 9.66609287e-01 -3.08507540e-02 9.12339727e+00] [ 1.23233689e-01 -7.59288251e-04 9.92377389e-01 7.93904659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:9.13, Z:7.94 [[ 9.57674126e-01 -2.61419800e-01 -1.20498782e-01 6.98344985e+01] [ 2.59558464e-01 9.65224152e-01 -3.11727586e-02 9.12544812e+00] [ 1.24457511e-01 -1.42313436e-03 9.92223918e-01 7.94278650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:9.12, Z:7.94 [[ 9.55304207e-01 -2.69964885e-01 -1.20469220e-01 6.98642689e+01] [ 2.68170115e-01 9.62866870e-01 -3.11797886e-02 9.12222002e+00] [ 1.24413269e-01 -2.52006141e-03 9.92227286e-01 7.94465768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:9.12, Z:7.95 [[ 9.54514901e-01 -2.73371174e-01 -1.19035727e-01 6.98931563e+01] [ 2.71643349e-01 9.61904215e-01 -3.08248617e-02 9.12475155e+00] [ 1.22927596e-01 -2.91247384e-03 9.92411368e-01 7.95046661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.92, Y:9.13, Z:7.96 [[ 9.53545650e-01 -2.77548041e-01 -1.17122920e-01 6.99217684e+01] [ 2.75901929e-01 9.60705899e-01 -3.03694225e-02 9.12630530e+00] [ 1.20949653e-01 -3.35580877e-03 9.92652971e-01 7.95854619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:9.13, Z:7.96 [[ 9.52897751e-01 -2.80042147e-01 -1.16457169e-01 6.99486196e+01] [ 2.78428808e-01 9.59980898e-01 -3.02336669e-02 9.13433777e+00] [ 1.20263359e-01 -3.61543763e-03 9.92735440e-01 7.96251200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:9.14, Z:7.96 [[ 9.52607583e-01 -2.81172874e-01 -1.16106018e-01 6.99755518e+01] [ 2.79575456e-01 9.59649888e-01 -3.01605193e-02 9.14332202e+00] [ 1.19901447e-01 -3.72925341e-03 9.92778795e-01 7.96484859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:9.16, Z:7.97 [[ 9.52358902e-01 -2.82844415e-01 -1.14068224e-01 7.00022819e+01] [ 2.81309907e-01 9.59158152e-01 -2.96711224e-02 9.15509174e+00] [ 1.17801778e-01 -3.83096385e-03 9.93029740e-01 7.96865992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.087105681 meters Centerline goodness [0,1] 0.9999367168712822 Centerline is valid? [True, True] Translation: X:70.03, Y:9.16, Z:7.97 [[ 9.51427385e-01 -2.86025032e-01 -1.13910544e-01 7.00304650e+01] [ 2.84512570e-01 9.58213033e-01 -2.96712074e-02 9.16217391e+00] [ 1.17637276e-01 -4.17898250e-03 9.93047837e-01 7.97060155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:9.17, Z:7.97 [[ 9.49784156e-01 -2.90407041e-01 -1.16506689e-01 7.00587549e+01] [ 2.88852805e-01 9.56891202e-01 -3.03855986e-02 9.16787181e+00] [ 1.20308417e-01 -4.79352368e-03 9.92724991e-01 7.97020461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.147105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:9.18, Z:7.97 [[ 9.48881344e-01 -2.92870981e-01 -1.17689348e-01 7.00869325e+01] [ 2.91302742e-01 9.56138099e-01 -3.07025721e-02 9.17754342e+00] [ 1.21519162e-01 -5.15013176e-03 9.92575725e-01 7.97182581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:9.19, Z:7.98 [[ 9.47165244e-01 -2.98369738e-01 -1.17700892e-01 7.01146022e+01] [ 2.96842629e-01 9.54432437e-01 -3.07111925e-02 9.18869638e+00] [ 1.21500840e-01 -5.85006813e-03 9.92574089e-01 7.97535339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:9.20, Z:7.98 [[ 9.46419517e-01 -3.01239637e-01 -1.16382040e-01 7.01426436e+01] [ 2.99767641e-01 9.53528677e-01 -3.03714095e-02 9.19804371e+00] [ 1.20122685e-01 -6.14347497e-03 9.92740046e-01 7.98042614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:9.21, Z:7.99 [[ 9.45132983e-01 -3.06410144e-01 -1.13298141e-01 7.01693785e+01] [ 3.05051420e-01 9.51876623e-01 -2.95723698e-02 9.20790586e+00] [ 1.16907126e-01 -6.61193660e-03 9.93120842e-01 7.98759879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26710568099999 meters Centerline goodness [0,1] 0.9999789398310974 Centerline is valid? [True, True] Translation: X:70.19, Y:9.23, Z:7.99 [[ 9.45143497e-01 -3.07324262e-01 -1.10704866e-01 7.01933839e+01] [ 3.06032185e-01 9.51582247e-01 -2.89055200e-02 9.22593491e+00] [ 1.14228153e-01 -6.55938791e-03 9.93432888e-01 7.99391451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:9.24, Z:8.00 [[ 9.45532681e-01 -3.06012949e-01 -1.11013620e-01 7.02193580e+01] [ 3.04699675e-01 9.52005988e-01 -2.90294006e-02 9.24099474e+00] [ 1.14569004e-01 -6.37756707e-03 9.93394821e-01 7.99627779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32710568099999 meters Centerline goodness [0,1] 0.9999789287369885 Centerline is valid? [True, True] Translation: X:70.24, Y:9.27, Z:8.00 [[ 9.46948944e-01 -3.01443612e-01 -1.11442569e-01 7.02439749e+01] [ 3.00084616e-01 9.53466283e-01 -2.91765577e-02 9.26619831e+00] [ 1.15051819e-01 -5.81348992e-03 9.93342480e-01 7.99827923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357105681 meters Centerline goodness [0,1] 0.9998738409133918 Centerline is valid? [True, True] Translation: X:70.27, Y:9.29, Z:8.00 [[ 9.48744093e-01 -2.95343647e-01 -1.12502341e-01 7.02673472e+01] [ 2.93915517e-01 9.55377376e-01 -2.94574151e-02 9.29007232e+00] [ 1.16182251e-01 -5.11863500e-03 9.93214722e-01 7.99942629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.387105681 meters Centerline goodness [0,1] 0.9999163424938302 Centerline is valid? [True, True] Translation: X:70.29, Y:9.31, Z:8.00 [[ 9.49821078e-01 -2.91611698e-01 -1.13148300e-01 7.02930943e+01] [ 2.90139761e-01 9.56525329e-01 -2.96346896e-02 9.30762331e+00] [ 1.16871037e-01 -4.68116782e-03 9.93136067e-01 8.00146161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:9.33, Z:8.00 [[ 9.51796720e-01 -2.83859363e-01 -1.16219043e-01 7.03171030e+01] [ 2.82247894e-01 9.58858295e-01 -3.04449706e-02 9.33494983e+00] [ 1.20079683e-01 -3.82515684e-03 9.92756888e-01 8.00044772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:9.36, Z:8.00 [[ 9.53879508e-01 -2.74854177e-01 -1.20702387e-01 7.03412333e+01] [ 2.73042776e-01 9.61481879e-01 -3.16265643e-02 9.35920937e+00] [ 1.24745851e-01 -2.78898330e-03 9.92184808e-01 7.99769873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:9.37, Z:8.00 [[ 9.54714401e-01 -2.71900798e-01 -1.20790600e-01 7.03658127e+01] [ 2.70062107e-01 9.62322302e-01 -3.16582544e-02 9.37366084e+00] [ 1.24847393e-01 -2.39637267e-03 9.92173062e-01 8.00009653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.507105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.39, Y:9.40, Z:8.00 [[ 9.56611701e-01 -2.65455147e-01 -1.20115020e-01 7.03896661e+01] [ 2.63583843e-01 9.64122003e-01 -3.15011373e-02 9.39518968e+00] [ 1.24167672e-01 -1.52602201e-03 9.92260077e-01 8.00396072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:9.42, Z:8.01 [[ 9.59319642e-01 -2.56405360e-01 -1.18161400e-01 7.04133591e+01] [ 2.54524689e-01 9.66569283e-01 -3.10000636e-02 9.41722543e+00] [ 1.22159762e-01 -3.36023657e-04 9.92510393e-01 8.01108012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:9.43, Z:8.02 [[ 9.60690348e-01 -2.52055802e-01 -1.16369790e-01 7.04385619e+01] [ 2.50198282e-01 9.67712674e-01 -3.05450350e-02 9.43304071e+00] [ 1.20311574e-01 2.28798782e-04 9.92736155e-01 8.01731255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:9.45, Z:8.02 [[ 9.63068079e-01 -2.44627485e-01 -1.12504525e-01 7.04616167e+01] [ 2.42836931e-01 9.69616451e-01 -2.95662471e-02 9.45310957e+00] [ 1.16318955e-01 1.15405516e-03 9.93211241e-01 8.02310904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62710568099999 meters Centerline goodness [0,1] 0.9999789796733441 Centerline is valid? [True, True] Translation: X:70.49, Y:9.46, Z:8.03 [[ 9.64787844e-01 -2.39047209e-01 -1.09730799e-01 7.04864739e+01] [ 2.37306621e-01 9.71006287e-01 -2.88506018e-02 9.46498125e+00] [ 1.13445952e-01 1.79486473e-03 9.93542548e-01 8.02843342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:9.48, Z:8.03 [[ 9.65205132e-01 -2.36881505e-01 -1.10752906e-01 7.05135120e+01] [ 2.35092188e-01 9.71536314e-01 -2.91351022e-02 9.47529202e+00] [ 1.14502037e-01 2.08420721e-03 9.93420827e-01 8.03104314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:9.49, Z:8.03 [[ 9.65833663e-01 -2.32776719e-01 -1.13931268e-01 7.05389537e+01] [ 2.30849980e-01 9.72526508e-01 -3.00079795e-02 9.49027882e+00] [ 1.17786337e-01 2.68168584e-03 9.93035340e-01 8.02866305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:9.50, Z:8.02 [[ 9.66161743e-01 -2.28970761e-01 -1.18759748e-01 7.05668558e+01] [ 2.26846439e-01 9.73427733e-01 -3.12912293e-02 9.50075239e+00] [ 1.22768809e-01 3.29216271e-03 9.92429837e-01 8.02351901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:9.51, Z:8.02 [[ 9.66202471e-01 -2.27091492e-01 -1.21992786e-01 7.05942380e+01] [ 2.24833315e-01 9.73866635e-01 -3.21520878e-02 9.50961352e+00] [ 1.26106169e-01 3.63738418e-03 9.92010082e-01 8.02214670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:9.52, Z:8.02 [[ 9.66489483e-01 -2.24247950e-01 -1.24943728e-01 7.06208805e+01] [ 2.21853730e-01 9.74523428e-01 -3.29394990e-02 9.51990849e+00] [ 1.29147205e-01 4.11644718e-03 9.91616889e-01 8.02103409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:9.53, Z:8.03 [[ 9.67420683e-01 -2.21855143e-01 -1.21973431e-01 7.06485688e+01] [ 2.19552911e-01 9.75069954e-01 -3.21730443e-02 9.52504473e+00] [ 1.26070383e-01 4.34524664e-03 9.92011783e-01 8.02871495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:9.53, Z:8.03 [[ 9.67726282e-01 -2.20894338e-01 -1.21291115e-01 7.06754079e+01] [ 2.18605628e-01 9.75287445e-01 -3.20308995e-02 9.53183215e+00] [ 1.25369146e-01 4.48222306e-03 9.92100039e-01 8.03112441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.867105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:9.53, Z:8.04 [[ 9.67504352e-01 -2.22427308e-01 -1.20255649e-01 7.07053071e+01] [ 2.20187057e-01 9.74939946e-01 -3.17767342e-02 9.53059361e+00] [ 1.24310050e-01 4.26539111e-03 9.92234256e-01 8.03774796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:9.53, Z:8.04 [[ 9.67014009e-01 -2.25442932e-01 -1.18572298e-01 7.07350548e+01] [ 2.23282997e-01 9.74248725e-01 -3.13707555e-02 9.53154130e+00] [ 1.22591226e-01 3.86078184e-03 9.92449740e-01 8.04306082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:9.52, Z:8.05 [[ 9.64852733e-01 -2.35640362e-01 -1.16330662e-01 7.07671029e+01] [ 2.33633111e-01 9.71837021e-01 -3.07956772e-02 9.52439465e+00] [ 1.20311149e-01 2.53459889e-03 9.92732997e-01 8.04802906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:9.51, Z:8.05 [[ 9.61923654e-01 -2.47661210e-01 -1.15614917e-01 7.08006922e+01] [ 2.45764255e-01 9.68846149e-01 -3.06116166e-02 9.51213128e+00] [ 1.19594377e-01 1.03202407e-03 9.92822300e-01 8.05070236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:9.51, Z:8.05 [[ 9.60387741e-01 -2.53185803e-01 -1.16414497e-01 7.08299882e+01] [ 2.51301923e-01 9.67417606e-01 -3.08304969e-02 9.51076069e+00] [ 1.20427278e-01 3.54044261e-04 9.92722089e-01 8.05215115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:9.50, Z:8.05 [[ 9.57340028e-01 -2.63860035e-01 -1.17804720e-01 7.08619973e+01] [ 2.62008656e-01 9.64560481e-01 -3.12176615e-02 9.50240019e+00] [ 1.21866871e-01 -9.79939507e-04 9.92545971e-01 8.05230738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:9.49, Z:8.05 [[ 9.54078290e-01 -2.74414950e-01 -1.20129313e-01 7.08940782e+01] [ 2.72567672e-01 9.61608541e-01 -3.18728313e-02 9.49280400e+00] [ 1.24263755e-01 -2.33419076e-03 9.92246477e-01 8.05248401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:9.49, Z:8.05 [[ 9.52529082e-01 -2.78895354e-01 -1.22089024e-01 7.09246996e+01] [ 2.77022226e-01 9.60316952e-01 -3.24042971e-02 9.49313174e+00] [ 1.26281567e-01 -2.95533790e-03 9.91990036e-01 8.05422972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.95, Y:9.49, Z:8.06 [[ 9.50515856e-01 -2.85240043e-01 -1.23116716e-01 7.09544730e+01] [ 2.83387003e-01 9.58448490e-01 -3.26848267e-02 9.49009651e+00] [ 1.27324052e-01 -3.82223128e-03 9.91853808e-01 8.05625351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:9.49, Z:8.06 [[ 9.50181899e-01 -2.87430936e-01 -1.20572866e-01 7.09817112e+01] [ 2.85668978e-01 9.57792970e-01 -3.20290816e-02 9.49392018e+00] [ 1.24689992e-01 -4.01047378e-03 9.92187645e-01 8.06313688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:9.50, Z:8.07 [[ 9.50342721e-01 -2.86630412e-01 -1.21209401e-01 7.10087465e+01] [ 2.84837820e-01 9.58033358e-01 -3.22412897e-02 9.50051222e+00] [ 1.25363983e-01 -3.88474645e-03 9.92103211e-01 8.06524986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.04, Y:9.51, Z:8.07 [[ 9.50970119e-01 -2.84348749e-01 -1.21661919e-01 7.10352786e+01] [ 2.82521603e-01 9.58714235e-01 -3.23814657e-02 9.51109698e+00] [ 1.25846643e-01 -3.57831400e-03 9.92043254e-01 8.06893208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:9.52, Z:8.07 [[ 9.50861962e-01 -2.84714943e-01 -1.21650856e-01 7.10616458e+01] [ 2.82885473e-01 9.58605529e-01 -3.24229784e-02 9.51837245e+00] [ 1.25846490e-01 -3.58348308e-03 9.92043255e-01 8.07181170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:9.53, Z:8.08 [[ 9.52694826e-01 -2.79212224e-01 -1.20054579e-01 7.10874252e+01] [ 2.77381788e-01 9.60225401e-01 -3.20393892e-02 9.53302007e+00] [ 1.24225245e-01 -2.77719349e-03 9.92250158e-01 8.07645669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.11, Y:9.54, Z:8.08 [[ 9.53409392e-01 -2.77623280e-01 -1.18050179e-01 7.11136394e+01] [ 2.75840162e-01 9.60686725e-01 -3.15154010e-02 9.54407573e+00] [ 1.22158649e-01 -2.51590124e-03 9.92507398e-01 8.08114260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:9.55, Z:8.09 [[ 9.53415951e-01 -2.79190643e-01 -1.14239263e-01 7.11406292e+01] [ 2.77527745e-01 9.60232198e-01 -3.05364855e-02 9.55481424e+00] [ 1.18221720e-01 -2.59059278e-03 9.92983844e-01 8.08729835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:9.56, Z:8.09 [[ 9.51012490e-01 -2.87509350e-01 -1.13638096e-01 7.11684805e+01] [ 2.85918987e-01 9.57771171e-01 -3.04091628e-02 9.56047757e+00] [ 1.17582210e-01 -3.57179553e-03 9.93056729e-01 8.09121515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:9.57, Z:8.09 [[ 9.49451234e-01 -2.92418722e-01 -1.14164996e-01 7.11970875e+01] [ 2.90847914e-01 9.56281194e-01 -3.05576415e-02 9.56739569e+00] [ 1.18109465e-01 -4.19166057e-03 9.92991734e-01 8.09366822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:9.57, Z:8.10 [[ 9.46952072e-01 -3.00645877e-01 -1.13551006e-01 7.12261846e+01] [ 2.99150032e-01 9.53721759e-01 -3.03984233e-02 9.57402891e+00] [ 1.17435226e-01 -5.18293729e-03 9.93067019e-01 8.09573005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.26, Y:9.58, Z:8.10 [[ 9.45999026e-01 -3.03236026e-01 -1.14602601e-01 7.12551616e+01] [ 3.01730786e-01 9.52899301e-01 -3.06831427e-02 9.58138589e+00] [ 1.18508972e-01 -5.55290968e-03 9.92937455e-01 8.09669369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.28, Y:9.60, Z:8.09 [[ 9.45298534e-01 -3.03630479e-01 -1.19244346e-01 7.12803068e+01] [ 3.02002770e-01 9.52772058e-01 -3.19332599e-02 9.59926587e+00] [ 1.23308592e-01 -5.82565913e-03 9.92351275e-01 8.09386400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:9.61, Z:8.10 [[ 9.45835697e-01 -3.01601634e-01 -1.20130302e-01 7.13057516e+01] [ 2.99930971e-01 9.53417675e-01 -3.21892921e-02 9.61379405e+00] [ 1.24242696e-01 -5.58501666e-03 9.92236141e-01 8.09567888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:9.63, Z:8.10 [[ 9.46728342e-01 -2.98484950e-01 -1.20880855e-01 7.13313250e+01] [ 2.96762961e-01 9.54400338e-01 -3.24305438e-02 9.63143002e+00] [ 1.25048758e-01 -5.17004544e-03 9.92137127e-01 8.09798584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:9.66, Z:8.10 [[ 9.50339247e-01 -2.86619052e-01 -1.21263491e-01 7.13537687e+01] [ 2.84785598e-01 9.58037922e-01 -3.25653644e-02 9.66396833e+00] [ 1.25508877e-01 -3.58595203e-03 9.92086016e-01 8.09836925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.587105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:9.68, Z:8.11 [[ 9.51663199e-01 -2.83246823e-01 -1.18778758e-01 7.13784710e+01] [ 2.81461128e-01 9.59042131e-01 -3.19033451e-02 9.68039050e+00] [ 1.22950354e-01 -3.07036374e-03 9.92408073e-01 8.10523911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:9.71, Z:8.11 [[ 9.54283603e-01 -2.76022126e-01 -1.14693466e-01 7.14019270e+01] [ 2.74304229e-01 9.61149087e-01 -3.08159435e-02 9.70639518e+00] [ 1.18743402e-01 -2.05375304e-03 9.92922850e-01 8.11351082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.647105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:9.73, Z:8.11 [[ 9.56305615e-01 -2.68657524e-01 -1.15337352e-01 7.14250303e+01] [ 2.66865858e-01 9.63235091e-01 -3.09963428e-02 9.73000585e+00] [ 1.19424386e-01 -1.13762483e-03 9.92842647e-01 8.11487892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67710568099999 meters Centerline goodness [0,1] 0.9999578112475214 Centerline is valid? [True, True] Translation: X:71.45, Y:9.74, Z:8.12 [[ 9.57053693e-01 -2.65527829e-01 -1.16375260e-01 7.14508541e+01] [ 2.63675596e-01 9.64102932e-01 -3.13164134e-02 9.74345493e+00] [ 1.20513108e-01 -7.13826891e-04 9.92711479e-01 8.11560577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70710568099999 meters Centerline goodness [0,1] 0.9996635545462192 Centerline is valid? [True, True] Translation: X:71.48, Y:9.76, Z:8.11 [[ 9.58648849e-01 -2.59182454e-01 -1.17545057e-01 7.14750679e+01] [ 2.57239844e-01 9.65828369e-01 -3.16736980e-02 9.76202531e+00] [ 1.21737618e-01 1.26681909e-04 9.92562309e-01 8.11472898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73710568099999 meters Centerline goodness [0,1] 0.9995580063983835 Centerline is valid? [True, True] Translation: X:71.50, Y:9.77, Z:8.12 [[ 9.59401281e-01 -2.56433518e-01 -1.17435227e-01 7.15003870e+01] [ 2.54471691e-01 9.66561745e-01 -3.16630912e-02 9.77415118e+00] [ 1.21627876e-01 4.93669453e-04 9.92575648e-01 8.11845463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76710568099999 meters Centerline goodness [0,1] 0.9997688007062088 Centerline is valid? [True, True] Translation: X:71.52, Y:9.79, Z:8.12 [[ 9.61414466e-01 -2.49341387e-01 -1.16237242e-01 7.15246269e+01] [ 2.47362648e-01 9.68414611e-01 -3.13824944e-02 9.79090534e+00] [ 1.20390798e-01 1.41883213e-03 9.92725563e-01 8.12196476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79710568099999 meters Centerline goodness [0,1] 0.9996217374858152 Centerline is valid? [True, True] Translation: X:71.55, Y:9.81, Z:8.13 [[ 9.63735657e-01 -2.40387282e-01 -1.15877255e-01 7.15503151e+01] [ 2.38354547e-01 9.70673726e-01 -3.12990068e-02 9.80791999e+00] [ 1.20002890e-01 2.54409820e-03 9.92770283e-01 8.12504908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82710568099999 meters Centerline goodness [0,1] 0.9995578854291669 Centerline is valid? [True, True] Translation: X:71.58, Y:9.82, Z:8.13 [[ 9.64575440e-01 -2.36582619e-01 -1.16717111e-01 7.15767464e+01] [ 2.34490817e-01 9.71606579e-01 -3.15390472e-02 9.82045573e+00] [ 1.20864703e-01 3.05269959e-03 9.92664296e-01 8.12775264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857105681 meters Centerline goodness [0,1] 0.9995575687348572 Centerline is valid? [True, True] Translation: X:71.60, Y:9.83, Z:8.13 [[ 9.65650632e-01 -2.31601053e-01 -1.17812600e-01 7.16033210e+01] [ 2.29428069e-01 9.72803630e-01 -3.18725248e-02 9.83382847e+00] [ 1.21990235e-01 3.74820642e-03 9.92524223e-01 8.13007529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.887105681 meters Centerline goodness [0,1] 0.9997689463955638 Centerline is valid? [True, True] Translation: X:71.63, Y:9.84, Z:8.13 [[ 9.66087738e-01 -2.29670514e-01 -1.18008209e-01 7.16301068e+01] [ 2.27474645e-01 9.73260182e-01 -3.19359257e-02 9.84035994e+00] [ 1.22187432e-01 4.00903069e-03 9.92498947e-01 8.12966562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917105681 meters Centerline goodness [0,1] 0.9997053003831095 Centerline is valid? [True, True] Translation: X:71.66, Y:9.84, Z:8.13 [[ 9.65898145e-01 -2.30255484e-01 -1.18419532e-01 7.16584009e+01] [ 2.28045770e-01 9.73122110e-01 -3.20700127e-02 9.84273763e+00] [ 1.22620961e-01 3.97129241e-03 9.92445630e-01 8.13253324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.947105681 meters Centerline goodness [0,1] 0.999725917648795 Centerline is valid? [True, True] Translation: X:71.69, Y:9.84, Z:8.13 [[ 9.65000373e-01 -2.33040935e-01 -1.20275525e-01 7.16883844e+01] [ 2.30776380e-01 9.72459797e-01 -3.26221609e-02 9.84353888e+00] [ 1.24565412e-01 3.72364705e-03 9.92204411e-01 8.13429230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977105681 meters Centerline goodness [0,1] 0.9998310561104893 Centerline is valid? [True, True] Translation: X:71.72, Y:9.84, Z:8.14 [[ 9.64201424e-01 -2.36013071e-01 -1.20886081e-01 7.17179132e+01] [ 2.33743061e-01 9.71743933e-01 -3.28315524e-02 9.84428290e+00] [ 1.25218991e-01 3.39994691e-03 9.92123301e-01 8.13702823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.007105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:9.84, Z:8.14 [[ 9.63858608e-01 -2.39136554e-01 -1.17432079e-01 7.17462526e+01] [ 2.37013446e-01 9.70981484e-01 -3.19309348e-02 9.84329223e+00] [ 1.21660228e-01 2.94392469e-03 9.92567440e-01 8.14432550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:9.84, Z:8.15 [[ 9.63183096e-01 -2.42485134e-01 -1.16100313e-01 7.17756858e+01] [ 2.40432125e-01 9.70151875e-01 -3.15869004e-02 9.84295592e+00] [ 1.20294290e-01 2.50972365e-03 9.92735103e-01 8.15052441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:9.84, Z:8.15 [[ 9.61007434e-01 -2.51038975e-01 -1.15948886e-01 7.18074232e+01] [ 2.49048687e-01 9.67975856e-01 -3.15831138e-02 9.83509663e+00] [ 1.20164315e-01 1.47468929e-03 9.92752921e-01 8.15344318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.84, Y:9.83, Z:8.16 [[ 9.59087608e-01 -2.58235885e-01 -1.16039595e-01 7.18373784e+01] [ 2.56292994e-01 9.66081715e-01 -3.16231070e-02 9.83209990e+00] [ 1.20269952e-01 5.89194806e-04 9.92741050e-01 8.15633988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:9.84, Z:8.16 [[ 9.58630874e-01 -2.60202248e-01 -1.15419396e-01 7.18645948e+01] [ 2.58289936e-01 9.65554063e-01 -3.14906403e-02 9.83725347e+00] [ 1.19637602e-01 3.76231642e-04 9.92817558e-01 8.15985168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:9.84, Z:8.16 [[ 9.57861299e-01 -2.63372853e-01 -1.14614450e-01 7.18939936e+01] [ 2.61507799e-01 9.64694117e-01 -3.12878729e-02 9.83778162e+00] [ 1.18808262e-01 -3.13010447e-06 9.92917215e-01 8.16297530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:9.84, Z:8.16 [[ 9.57029703e-01 -2.65613600e-01 -1.16376811e-01 7.19230326e+01] [ 2.63702594e-01 9.64079537e-01 -3.18054869e-02 9.83777137e+00] [ 1.20644472e-01 -2.50071342e-04 9.92695748e-01 8.16420545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.95, Y:9.85, Z:8.17 [[ 9.56847698e-01 -2.65424951e-01 -1.18288114e-01 7.19507212e+01] [ 2.63446761e-01 9.64131501e-01 -3.23458455e-02 9.84626364e+00] [ 1.22630692e-01 -2.12572814e-04 9.92452351e-01 8.16607476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:9.86, Z:8.17 [[ 9.58341445e-01 -2.59440130e-01 -1.19467546e-01 7.19755285e+01] [ 2.57371247e-01 9.65759010e-01 -3.27043676e-02 9.86076987e+00] [ 1.23861684e-01 5.94439734e-04 9.92299315e-01 8.16881808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.00, Y:9.88, Z:8.17 [[ 9.61227392e-01 -2.49523985e-01 -1.17386887e-01 7.20004170e+01] [ 2.47451295e-01 9.68366843e-01 -3.21483137e-02 9.87579112e+00] [ 1.21695345e-01 1.85430259e-03 9.92565768e-01 8.17450520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.307105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:9.89, Z:8.18 [[ 9.62306826e-01 -2.45410864e-01 -1.17213823e-01 7.20270869e+01] [ 2.43311792e-01 9.69416219e-01 -3.21179982e-02 9.88674598e+00] [ 1.21511087e-01 2.38786343e-03 9.92587202e-01 8.17759308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:9.90, Z:8.18 [[ 9.63481973e-01 -2.40305364e-01 -1.18134749e-01 7.20545569e+01] [ 2.38130519e-01 9.70692425e-01 -3.24048140e-02 9.89674896e+00] [ 1.22459556e-01 3.08996514e-03 9.92468694e-01 8.17885124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.367105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:9.91, Z:8.18 [[ 9.64921811e-01 -2.35333926e-01 -1.16378010e-01 7.20819694e+01] [ 2.33186544e-01 9.71907635e-01 -3.19309257e-02 9.90598406e+00] [ 1.20623106e-01 3.67306090e-03 9.92691581e-01 8.18356781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:9.92, Z:8.19 [[ 9.65216613e-01 -2.33812445e-01 -1.16998423e-01 7.21094641e+01] [ 2.31629388e-01 9.72273913e-01 -3.21133152e-02 9.91523752e+00] [ 1.21263007e-01 3.89603214e-03 9.92612766e-01 8.18587296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:9.92, Z:8.19 [[ 9.64985436e-01 -2.33217850e-01 -1.20052252e-01 7.21380438e+01] [ 2.30909755e-01 9.72415824e-01 -3.29871113e-02 9.91858494e+00] [ 1.24433892e-01 4.11084587e-03 9.92219385e-01 8.18616080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.17, Y:9.92, Z:8.19 [[ 9.64641876e-01 -2.33403039e-01 -1.22429869e-01 7.21657136e+01] [ 2.31001673e-01 9.72371078e-01 -3.36558204e-02 9.92344070e+00] [ 1.26902634e-01 4.18430920e-03 9.91906353e-01 8.18535966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:9.92, Z:8.19 [[ 9.63824081e-01 -2.36004963e-01 -1.23874122e-01 7.21969173e+01] [ 2.33564972e-01 9.71743990e-01 -3.40737839e-02 9.91853634e+00] [ 1.28415516e-01 3.90847769e-03 9.91712750e-01 8.18884509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:9.92, Z:8.20 [[ 9.63028492e-01 -2.40662503e-01 -1.21068919e-01 7.22276176e+01] [ 2.38364255e-01 9.70603427e-01 -3.33387003e-02 9.91767700e+00] [ 1.25533283e-01 3.24761547e-03 9.92084093e-01 8.19759111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:9.92, Z:8.21 [[ 9.61242592e-01 -2.49554055e-01 -1.17198350e-01 7.22588610e+01] [ 2.47466336e-01 9.68358758e-01 -3.22758204e-02 9.91508026e+00] [ 1.21544611e-01 2.02224703e-03 9.92583910e-01 8.20655940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.29, Y:9.92, Z:8.21 [[ 9.60033802e-01 -2.54460498e-01 -1.16554508e-01 7.22865671e+01] [ 2.52431136e-01 9.67082158e-01 -3.21032975e-02 9.91817082e+00] [ 1.20886806e-01 1.39826397e-03 9.92665314e-01 8.20953951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:9.91, Z:8.21 [[ 9.57865794e-01 -2.62768992e-01 -1.15955068e-01 7.23177800e+01] [ 2.60818770e-01 9.64858706e-01 -3.19569602e-02 9.91340029e+00] [ 1.20277555e-01 3.67220961e-04 9.92740235e-01 8.21342303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:9.91, Z:8.22 [[ 9.57063217e-01 -2.66937184e-01 -1.13024507e-01 7.23473937e+01] [ 2.65108934e-01 9.63713924e-01 -3.11885578e-02 9.91096683e+00] [ 1.17248677e-01 -1.14385115e-04 9.93102580e-01 8.22064626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:9.92, Z:8.22 [[ 9.57140033e-01 -2.66622866e-01 -1.13115892e-01 7.23746020e+01] [ 2.64784649e-01 9.63800937e-01 -3.12544992e-02 9.91747096e+00] [ 1.17354367e-01 -3.64194285e-05 9.93090102e-01 8.22452834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:9.93, Z:8.23 [[ 9.58639885e-01 -2.60497410e-01 -1.14676373e-01 7.23999888e+01] [ 2.58558584e-01 9.65474240e-01 -3.17324984e-02 9.93202148e+00] [ 1.18983317e-01 7.69478093e-04 9.92895955e-01 8.22746064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:9.95, Z:8.23 [[ 9.61698542e-01 -2.48259031e-01 -1.16203990e-01 7.24241296e+01] [ 2.46174112e-01 9.68690825e-01 -3.21930483e-02 9.95158669e+00] [ 1.20557954e-01 2.35359350e-03 9.92703501e-01 8.22844634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:9.96, Z:8.23 [[ 9.63064301e-01 -2.42512477e-01 -1.17024998e-01 7.24515377e+01] [ 2.40354158e-01 9.70143313e-01 -3.24319487e-02 9.96117004e+00] [ 1.21396172e-01 3.10660713e-03 9.92599274e-01 8.23165850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:9.97, Z:8.23 [[ 9.65539690e-01 -2.32316011e-01 -1.17313165e-01 7.24779536e+01] [ 2.30070875e-01 9.72630367e-01 -3.25201839e-02 9.97438923e+00] [ 1.21657306e-01 4.40918574e-03 9.92562370e-01 8.23469543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:9.98, Z:8.24 [[ 9.67075612e-01 -2.26179446e-01 -1.16651697e-01 7.25064461e+01] [ 2.23914609e-01 9.74072002e-01 -3.23416492e-02 9.98497474e+00] [ 1.20942169e-01 5.15680107e-03 9.92646160e-01 8.23694014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.54, Y:9.99, Z:8.24 [[ 9.67136924e-01 -2.25808453e-01 -1.16861935e-01 7.25354958e+01] [ 2.23531719e-01 9.74157732e-01 -3.24080847e-02 9.98871781e+00] [ 1.21159977e-01 5.22070621e-03 9.92619264e-01 8.24062342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.56, Y:9.99, Z:8.24 [[ 9.66795325e-01 -2.27406093e-01 -1.16590174e-01 7.25646404e+01] [ 2.25146516e-01 9.73786925e-01 -3.23739175e-02 9.98895025e+00] [ 1.20896013e-01 5.04908058e-03 9.92652336e-01 8.24396490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.59, Y:9.99, Z:8.24 [[ 9.65814180e-01 -2.30855168e-01 -1.17935838e-01 7.25941767e+01] [ 2.28563816e-01 9.72976733e-01 -3.27850538e-02 9.98809809e+00] [ 1.22317425e-01 4.70840473e-03 9.92479863e-01 8.24466495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.62, Y:9.99, Z:8.25 [[ 9.65175158e-01 -2.32889607e-01 -1.19161009e-01 7.26230804e+01] [ 2.30563539e-01 9.72492703e-01 -3.31420821e-02 9.99120779e+00] [ 1.23601658e-01 4.51373038e-03 9.92321650e-01 8.24597689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.65, Y:9.99, Z:8.25 [[ 9.64231474e-01 -2.35715549e-01 -1.21226418e-01 7.26533382e+01] [ 2.33324962e-01 9.71812741e-01 -3.37558518e-02 9.99181565e+00] [ 1.25766157e-01 4.26330528e-03 9.92050754e-01 8.24734876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:9.99, Z:8.25 [[ 9.63877881e-01 -2.37784257e-01 -1.19991989e-01 7.26810850e+01] [ 2.35455710e-01 9.71309873e-01 -3.34326160e-02 9.99464635e+00] [ 1.24499154e-01 3.97216007e-03 9.92211763e-01 8.25043829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:9.99, Z:8.26 [[ 9.63713431e-01 -2.39062942e-01 -1.18765876e-01 7.27110625e+01] [ 2.36789701e-01 9.70996705e-01 -3.31064241e-02 9.99438278e+00] [ 1.23235794e-01 3.78256925e-03 9.92370209e-01 8.25712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:10.00, Z:8.26 [[ 9.62557443e-01 -2.44176332e-01 -1.17733118e-01 7.27403891e+01] [ 2.41978227e-01 9.69725830e-01 -3.28382781e-02 9.99554958e+00] [ 1.22187176e-01 3.11987784e-03 9.92502171e-01 8.26048710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.087105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:9.99, Z:8.27 [[ 9.60755523e-01 -2.51515988e-01 -1.16998001e-01 7.27724845e+01] [ 2.49398491e-01 9.67850686e-01 -3.26411020e-02 9.99003993e+00] [ 1.21446354e-01 2.18099419e-03 9.92595601e-01 8.26710380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:9.99, Z:8.27 [[ 9.59761090e-01 -2.55341060e-01 -1.16874264e-01 7.28001356e+01] [ 2.53255727e-01 9.66849551e-01 -3.26110894e-02 9.99367444e+00] [ 1.21326780e-01 1.69977794e-03 9.92611164e-01 8.26739130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:10.00, Z:8.27 [[ 9.59674245e-01 -2.55669444e-01 -1.16869494e-01 7.28264000e+01] [ 2.53584456e-01 9.66762807e-01 -3.26281753e-02 1.00012839e+01] [ 1.21327108e-01 1.67613245e-03 9.92611164e-01 8.27027007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:10.00, Z:8.28 [[ 9.57454496e-01 -2.63970853e-01 -1.16620227e-01 7.28567971e+01] [ 2.61950794e-01 9.64530428e-01 -3.26011524e-02 9.99732749e+00] [ 1.21089511e-01 6.65358916e-04 9.92641369e-01 8.27500756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:10.00, Z:8.28 [[ 9.55476472e-01 -2.70027646e-01 -1.18952857e-01 7.28865377e+01] [ 2.67967088e-01 9.62852567e-01 -3.32952469e-02 9.99930047e+00] [ 1.23524701e-01 -6.26255693e-05 9.92341496e-01 8.27768432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:10.00, Z:8.28 [[ 9.54816295e-01 -2.71385110e-01 -1.21144393e-01 7.29144021e+01] [ 2.69253515e-01 9.62470820e-01 -3.39479691e-02 1.00046623e+01] [ 1.25810916e-01 -2.04479479e-04 9.92054218e-01 8.27950909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:10.01, Z:8.28 [[ 9.54917549e-01 -2.70474624e-01 -1.22376271e-01 7.29425810e+01] [ 2.68289127e-01 9.62727102e-01 -3.43142984e-02 1.00114400e+01] [ 1.27096099e-01 -6.48971331e-05 9.91890406e-01 8.28259819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.97, Y:10.02, Z:8.29 [[ 9.56512426e-01 -2.66054554e-01 -1.19578226e-01 7.29680018e+01] [ 2.63928433e-01 9.63957815e-01 -3.35725078e-02 1.00242808e+01] [ 1.24200484e-01 5.52427203e-04 9.92256990e-01 8.29180239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:10.04, Z:8.30 [[ 9.57799256e-01 -2.62664618e-01 -1.16738527e-01 7.29942348e+01] [ 2.60608484e-01 9.64886667e-01 -3.28167272e-02 1.00359724e+01] [ 1.21259242e-01 1.00878629e-03 9.92620360e-01 8.30003850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:10.05, Z:8.31 [[ 9.61119171e-01 -2.52878080e-01 -1.10917158e-01 7.30179683e+01] [ 2.50953056e-01 9.67495720e-01 -3.12185056e-02 1.00527151e+01] [ 1.15206351e-01 2.16970466e-03 9.93339211e-01 8.31154833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:10.07, Z:8.31 [[ 9.63511230e-01 -2.43569293e-01 -1.10995990e-01 7.30427416e+01] [ 2.41575557e-01 9.69877807e-01 -3.12776139e-02 1.00723279e+01] [ 1.15270814e-01 3.32241395e-03 9.93328546e-01 8.31334373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:10.09, Z:8.31 [[ 9.65073791e-01 -2.35162667e-01 -1.15460374e-01 7.30703488e+01] [ 2.32943933e-01 9.71945569e-01 -3.25412707e-02 1.00876685e+01] [ 1.19873691e-01 4.50893388e-03 9.92778912e-01 8.31029910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:10.10, Z:8.31 [[ 9.65596735e-01 -2.32251295e-01 -1.16971284e-01 7.30986869e+01] [ 2.29952216e-01 9.72643281e-01 -3.29700737e-02 1.00963120e+01] [ 1.21428676e-01 4.93798947e-03 9.92587877e-01 8.31145530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:10.10, Z:8.31 [[ 9.65986535e-01 -2.29682489e-01 -1.18810638e-01 7.31261821e+01] [ 2.27289981e-01 9.73250899e-01 -3.34955501e-02 1.01033843e+01] [ 1.23325902e-01 5.35178278e-03 9.92351793e-01 8.31119589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.507105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:10.11, Z:8.31 [[ 9.65559014e-01 -2.29066404e-01 -1.23387089e-01 7.31549301e+01] [ 2.26478467e-01 9.73394372e-01 -3.47979909e-02 1.01102712e+01] [ 1.28075348e-01 5.65499502e-03 9.91748318e-01 8.30878507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:10.12, Z:8.31 [[ 9.65194071e-01 -2.29831292e-01 -1.24811791e-01 7.31831217e+01] [ 2.27187179e-01 9.73214175e-01 -3.52158514e-02 1.01164410e+01] [ 1.29562309e-01 5.63449226e-03 9.91555274e-01 8.31047111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:10.12, Z:8.32 [[ 9.64900278e-01 -2.31882063e-01 -1.23280828e-01 7.32122014e+01] [ 2.29314419e-01 9.72729304e-01 -3.48223777e-02 1.01189444e+01] [ 1.27993559e-01 5.33005043e-03 9.91760676e-01 8.31727410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:10.12, Z:8.33 [[ 9.64611045e-01 -2.35213507e-01 -1.19164334e-01 7.32423854e+01] [ 2.32838501e-01 9.71932176e-01 -3.36760641e-02 1.01195248e+01] [ 1.23740716e-01 4.73825852e-03 9.92303272e-01 8.32721497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62710568099999 meters Centerline goodness [0,1] 0.9999789402746189 Centerline is valid? [True, True] Translation: X:73.27, Y:10.12, Z:8.33 [[ 9.64018692e-01 -2.38084405e-01 -1.18253020e-01 7.32717714e+01] [ 2.35766217e-01 9.71234754e-01 -3.34267015e-02 1.01225851e+01] [ 1.22809819e-01 4.34389784e-03 9.92420717e-01 8.33136439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:10.12, Z:8.33 [[ 9.61942457e-01 -2.45522553e-01 -1.19939091e-01 7.33045664e+01] [ 2.43190602e-01 9.69384640e-01 -3.39374437e-02 1.01158207e+01] [ 1.24599520e-01 3.47780829e-03 9.92201020e-01 8.33291607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:10.12, Z:8.33 [[ 9.60380527e-01 -2.50819392e-01 -1.21486112e-01 7.33335534e+01] [ 2.48467109e-01 9.68029734e-01 -3.43879335e-02 1.01174045e+01] [ 1.26227329e-01 2.84019865e-03 9.91997276e-01 8.33310613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:10.11, Z:8.33 [[ 9.57457011e-01 -2.61663917e-01 -1.21688402e-01 7.33667787e+01] [ 2.59385888e-01 9.65157960e-01 -3.44829520e-02 1.01108383e+01] [ 1.26471474e-01 1.45169000e-03 9.91969182e-01 8.33499869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:10.10, Z:8.34 [[ 9.54812783e-01 -2.71964266e-01 -1.19866541e-01 7.33977170e+01] [ 2.69833738e-01 9.62307346e-01 -3.39753609e-02 1.01040285e+01] [ 1.24588537e-01 9.60720160e-05 9.92208490e-01 8.34100575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:10.11, Z:8.35 [[ 9.53595377e-01 -2.76173751e-01 -1.19932969e-01 7.34260836e+01] [ 2.74071726e-01 9.61107626e-01 -3.40120542e-02 1.01058539e+01] [ 1.24661728e-01 -4.36498289e-04 9.92199205e-01 8.34583660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:10.11, Z:8.35 [[ 9.52592084e-01 -2.80069755e-01 -1.18866541e-01 7.34538528e+01] [ 2.78029340e-01 9.59979238e-01 -3.37572041e-02 1.01092927e+01] [ 1.23563783e-01 -8.91540486e-04 9.92336232e-01 8.35390679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:10.12, Z:8.36 [[ 9.53828833e-01 -2.76722621e-01 -1.16769641e-01 7.34795462e+01] [ 2.74722999e-01 9.60949753e-01 -3.32091158e-02 1.01234501e+01] [ 1.21399472e-01 -4.03493886e-04 9.92603650e-01 8.36143673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.867105681 meters Centerline goodness [0,1] 0.999978928292981 Centerline is valid? [True, True] Translation: X:73.50, Y:10.14, Z:8.37 [[ 9.55104288e-01 -2.72513966e-01 -1.16240857e-01 7.35043944e+01] [ 2.70496133e-01 9.62151812e-01 -3.31018703e-02 1.01380362e+01] [ 1.20862073e-01 1.73036062e-04 9.92669295e-01 8.36617869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:10.16, Z:8.37 [[ 9.58131605e-01 -2.61682307e-01 -1.16216167e-01 7.35273715e+01] [ 2.59580246e-01 9.65152765e-01 -3.31396545e-02 1.01592859e+01] [ 1.20838416e-01 1.58472920e-03 9.92670925e-01 8.36941015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:10.18, Z:8.37 [[ 9.60822586e-01 -2.51567230e-01 -1.16335235e-01 7.35527000e+01] [ 2.49385088e-01 9.67835556e-01 -3.31875789e-02 1.01784631e+01] [ 1.20942284e-01 2.87510267e-03 9.92655377e-01 8.37311007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:10.20, Z:8.38 [[ 9.63084215e-01 -2.42740872e-01 -1.16385842e-01 7.35792057e+01] [ 2.40491851e-01 9.70082953e-01 -3.32074423e-02 1.01951167e+01] [ 1.20964725e-01 3.99171692e-03 9.92648781e-01 8.37671430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:10.21, Z:8.38 [[ 9.64442945e-01 -2.35834530e-01 -1.19297445e-01 7.36063319e+01] [ 2.33417999e-01 9.71780442e-01 -3.40413110e-02 1.02099271e+01] [ 1.23959041e-01 4.98473133e-03 9.92274815e-01 8.37523242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:10.22, Z:8.38 [[ 9.64533358e-01 -2.34706982e-01 -1.20780937e-01 7.36328604e+01] [ 2.32220085e-01 9.72052255e-01 -3.44709402e-02 1.02197035e+01] [ 1.25495952e-01 5.20061222e-03 9.92080501e-01 8.37585511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04710568099999 meters Centerline goodness [0,1] 0.9999790127602418 Centerline is valid? [True, True] Translation: X:73.66, Y:10.23, Z:8.38 [[ 9.64083767e-01 -2.36052507e-01 -1.21744425e-01 7.36600036e+01] [ 2.33533448e-01 9.71726983e-01 -3.47677874e-02 1.02272939e+01] [ 1.26509366e-01 5.08766415e-03 9.91952366e-01 8.37631313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07710568099999 meters Centerline goodness [0,1] 0.9999790330020548 Centerline is valid? [True, True] Translation: X:73.69, Y:10.23, Z:8.38 [[ 9.63478453e-01 -2.37798851e-01 -1.23129916e-01 7.36886616e+01] [ 2.35233369e-01 9.71301887e-01 -3.51839023e-02 1.02323194e+01] [ 1.27963011e-01 4.93466685e-03 9.91766665e-01 8.37820665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:10.23, Z:8.38 [[ 9.61913746e-01 -2.42756899e-01 -1.25662382e-01 7.37192422e+01] [ 2.40121201e-01 9.70077165e-01 -3.59458401e-02 1.02297267e+01] [ 1.30628308e-01 4.40259559e-03 9.91421637e-01 8.37918279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:10.23, Z:8.38 [[ 9.60511702e-01 -2.48353666e-01 -1.25450094e-01 7.37492393e+01] [ 2.45772818e-01 9.68662561e-01 -3.58965882e-02 1.02312884e+01] [ 1.30433858e-01 3.64686998e-03 9.91450306e-01 8.38352110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:10.24, Z:8.39 [[ 9.60107578e-01 -2.50586511e-01 -1.24096088e-01 7.37769154e+01] [ 2.48078163e-01 9.68088518e-01 -3.55224673e-02 1.02374244e+01] [ 1.29037449e-01 3.31986035e-03 9.91634164e-01 8.38783072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:10.24, Z:8.40 [[ 9.59944837e-01 -2.52985948e-01 -1.20432642e-01 7.38056277e+01] [ 2.50638361e-01 9.67465477e-01 -3.45103241e-02 1.02381662e+01] [ 1.25245050e-01 2.94296749e-03 9.92121473e-01 8.39666665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:10.24, Z:8.40 [[ 9.59643889e-01 -2.54414854e-01 -1.19819397e-01 7.38343562e+01] [ 2.52100129e-01 9.67091241e-01 -3.43519358e-02 1.02431411e+01] [ 1.24615932e-01 2.75913987e-03 9.92201218e-01 8.40078294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:10.24, Z:8.40 [[ 9.58470078e-01 -2.59639292e-01 -1.17993842e-01 7.38633378e+01] [ 2.57429585e-01 9.65703418e-01 -3.38661558e-02 1.02439604e+01] [ 1.22740041e-01 2.08459133e-03 9.92436666e-01 8.40497731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:10.24, Z:8.41 [[ 9.56318390e-01 -2.67383771e-01 -1.18156915e-01 7.38935009e+01] [ 2.65225188e-01 9.63589486e-01 -3.39249320e-02 1.02415310e+01] [ 1.22925737e-01 1.10484632e-03 9.92415257e-01 8.40638119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:10.24, Z:8.41 [[ 9.55172298e-01 -2.71003750e-01 -1.19175704e-01 7.39218216e+01] [ 2.68833441e-01 9.62578064e-01 -3.42352495e-02 1.02437685e+01] [ 1.23993800e-01 6.62147267e-04 9.92282772e-01 8.40894285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34710568099999 meters Centerline goodness [0,1] 0.9999790829986613 Centerline is valid? [True, True] Translation: X:73.95, Y:10.25, Z:8.41 [[ 9.54248417e-01 -2.73899321e-01 -1.19954664e-01 7.39496016e+01] [ 2.71717664e-01 9.61758313e-01 -3.45030244e-02 1.02461347e+01] [ 1.24817750e-01 3.30655408e-04 9.92179631e-01 8.41143424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.97, Y:10.26, Z:8.42 [[ 9.55685958e-01 -2.69256312e-01 -1.19018434e-01 7.39747142e+01] [ 2.67070923e-01 9.63068090e-01 -3.42487355e-02 1.02564878e+01] [ 1.23844544e-01 9.44672539e-04 9.92301182e-01 8.41798605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40710568099999 meters Centerline goodness [0,1] 0.9999790382761078 Centerline is valid? [True, True] Translation: X:74.00, Y:10.27, Z:8.42 [[ 9.57116457e-01 -2.64774836e-01 -1.17568591e-01 7.39998845e+01] [ 2.62607059e-01 9.64309066e-01 -3.38460878e-02 1.02687359e+01] [ 1.22334050e-01 1.52030582e-03 9.92487818e-01 8.42276462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:10.29, Z:8.43 [[ 9.59835593e-01 -2.55249177e-01 -1.16462405e-01 7.40251691e+01] [ 2.53050537e-01 9.66871473e-01 -3.35407379e-02 1.02853417e+01] [ 1.21165423e-01 2.72271990e-03 9.92628595e-01 8.43037183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:10.30, Z:8.44 [[ 9.62212911e-01 -2.47061531e-01 -1.14485428e-01 7.40499969e+01] [ 2.44878579e-01 9.68992742e-01 -3.29779899e-02 1.03009834e+01] [ 1.19083142e-01 3.69681866e-03 9.92877404e-01 8.43540272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497105681 meters Centerline goodness [0,1] 0.999958058089546 Centerline is valid? [True, True] Translation: X:74.08, Y:10.31, Z:8.44 [[ 9.63440278e-01 -2.41672980e-01 -1.15658991e-01 7.40778148e+01] [ 2.39404661e-01 9.70347685e-01 -3.33283566e-02 1.03106506e+01] [ 1.20283997e-01 4.42057977e-03 9.92729681e-01 8.43700498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.10, Y:10.32, Z:8.44 [[ 9.63612004e-01 -2.40347267e-01 -1.16983323e-01 7.41045332e+01] [ 2.38015548e-01 9.70675836e-01 -3.37197223e-02 1.03189770e+01] [ 1.21657328e-01 4.64887943e-03 9.92561274e-01 8.43758632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557105681 meters Centerline goodness [0,1] 0.9999162759544541 Centerline is valid? [True, True] Translation: X:74.13, Y:10.32, Z:8.44 [[ 9.63349980e-01 -2.40680985e-01 -1.18446102e-01 7.41332941e+01] [ 2.38290458e-01 9.70592976e-01 -3.41603967e-02 1.03245337e+01] [ 1.23184712e-01 4.68384160e-03 9.92372706e-01 8.43934923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.587105681 meters Centerline goodness [0,1] 0.9999789690634924 Centerline is valid? [True, True] Translation: X:74.16, Y:10.33, Z:8.44 [[ 9.62451432e-01 -2.43862893e-01 -1.19239800e-01 7.41630066e+01] [ 2.41459687e-01 9.69799997e-01 -3.44265216e-02 1.03263198e+01] [ 1.24034109e-01 4.34225016e-03 9.92268454e-01 8.44165553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617105681 meters Centerline goodness [0,1] 0.999979061099711 Centerline is valid? [True, True] Translation: X:74.19, Y:10.33, Z:8.44 [[ 9.62076854e-01 -2.45049168e-01 -1.19829179e-01 7.41902920e+01] [ 2.42629467e-01 9.69501452e-01 -3.46103426e-02 1.03326672e+01] [ 1.24655798e-01 4.22371973e-03 9.92191056e-01 8.44252922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64710568099999 meters Centerline goodness [0,1] 0.9999156491849602 Centerline is valid? [True, True] Translation: X:74.22, Y:10.33, Z:8.45 [[ 9.62156205e-01 -2.44465299e-01 -1.20383369e-01 7.42195624e+01] [ 2.42015265e-01 9.69648308e-01 -3.47961222e-02 1.03345277e+01] [ 1.25235975e-01 4.34469182e-03 9.92117470e-01 8.44684163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:10.34, Z:8.45 [[ 9.62950046e-01 -2.41852833e-01 -1.19308071e-01 7.42479377e+01] [ 2.39421377e-01 9.70301642e-01 -3.45272110e-02 1.03388552e+01] [ 1.24115321e-01 4.68307671e-03 9.92256749e-01 8.45191306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70710568099999 meters Centerline goodness [0,1] 0.9999163197422648 Centerline is valid? [True, True] Translation: X:74.27, Y:10.35, Z:8.45 [[ 9.63119388e-01 -2.41034839e-01 -1.19596202e-01 7.42745639e+01] [ 2.38580545e-01 9.70504408e-01 -3.46484760e-02 1.03465700e+01] [ 1.24420132e-01 4.83729193e-03 9.92217835e-01 8.45455346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:10.35, Z:8.46 [[ 9.62865354e-01 -2.41639464e-01 -1.20418767e-01 7.43023322e+01] [ 2.39153214e-01 9.70354166e-01 -3.49074847e-02 1.03503056e+01] [ 1.25283878e-01 4.81267248e-03 9.92109262e-01 8.45565287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76710568099999 meters Centerline goodness [0,1] 0.9999790154026944 Centerline is valid? [True, True] Translation: X:74.33, Y:10.35, Z:8.46 [[ 9.61462595e-01 -2.46569585e-01 -1.21626965e-01 7.43329306e+01] [ 2.44066668e-01 9.69115749e-01 -3.53005283e-02 1.03486290e+01] [ 1.26574644e-01 4.25504951e-03 9.91947959e-01 8.45534040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.36, Y:10.35, Z:8.46 [[ 9.60355356e-01 -2.50493562e-01 -1.22354267e-01 7.43627040e+01] [ 2.47990314e-01 9.68110907e-01 -3.55257150e-02 1.03488318e+01] [ 1.27351464e-01 3.77463745e-03 9.91850471e-01 8.45801562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82710568099999 meters Centerline goodness [0,1] 0.999831405028345 Centerline is valid? [True, True] Translation: X:74.39, Y:10.34, Z:8.46 [[ 9.57935855e-01 -2.59436042e-01 -1.22685932e-01 7.43937301e+01] [ 2.56987165e-01 9.65756709e-01 -3.56591664e-02 1.03443648e+01] [ 1.27736035e-01 2.63048403e-03 9.91804712e-01 8.46016833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857105681 meters Centerline goodness [0,1] 0.9997488488907492 Centerline is valid? [True, True] Translation: X:74.42, Y:10.34, Z:8.46 [[ 9.56303505e-01 -2.65884394e-01 -1.21610427e-01 7.44227785e+01] [ 2.63529030e-01 9.64003309e-01 -3.53563434e-02 1.03448160e+01] [ 1.26633554e-01 1.76351717e-03 9.91947999e-01 8.46353206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.887105681 meters Centerline goodness [0,1] 0.9997262754511191 Centerline is valid? [True, True] Translation: X:74.45, Y:10.35, Z:8.47 [[ 9.55640379e-01 -2.68361676e-01 -1.21381534e-01 7.44513162e+01] [ 2.66032868e-01 9.63317139e-01 -3.53072737e-02 1.03495819e+01] [ 1.26404031e-01 1.44957876e-03 9.91977782e-01 8.46692324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917105681 meters Centerline goodness [0,1] 0.9998108568186117 Centerline is valid? [True, True] Translation: X:74.48, Y:10.35, Z:8.47 [[ 9.54032564e-01 -2.74166156e-01 -1.21056954e-01 7.44811991e+01] [ 2.71890970e-01 9.61682068e-01 -3.52547836e-02 1.03506763e+01] [ 1.26083970e-01 7.19918969e-04 9.92019311e-01 8.47159873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.947105681 meters Centerline goodness [0,1] 0.9998525322322407 Centerline is valid? [True, True] Translation: X:74.51, Y:10.35, Z:8.48 [[ 9.51946360e-01 -2.82150749e-01 -1.19117935e-01 7.45102891e+01] [ 2.80005386e-01 9.59370037e-01 -3.47291671e-02 1.03522133e+01] [ 1.24077038e-01 -2.93359147e-04 9.92272544e-01 8.47875773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977105681 meters Centerline goodness [0,1] 0.9999790847485986 Centerline is valid? [True, True] Translation: X:74.54, Y:10.35, Z:8.48 [[ 9.49569636e-01 -2.90672647e-01 -1.17587922e-01 7.45383692e+01] [ 2.88642123e-01 9.56821611e-01 -3.43238920e-02 1.03525149e+01] [ 1.22487682e-01 -1.34790191e-03 9.92469118e-01 8.48304725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.007105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:10.35, Z:8.49 [[ 9.47432770e-01 -2.97701472e-01 -1.17238987e-01 7.45669711e+01] [ 2.95733377e-01 9.54656423e-01 -3.42473938e-02 1.03538574e+01] [ 1.22118451e-01 -2.22437842e-03 9.92513041e-01 8.48657051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:10.36, Z:8.49 [[ 9.47325059e-01 -2.98046108e-01 -1.17233743e-01 7.45931993e+01] [ 2.96078421e-01 9.54548823e-01 -3.42653355e-02 1.03617863e+01] [ 1.22117981e-01 -2.24997046e-03 9.92513041e-01 8.48945334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:10.37, Z:8.49 [[ 9.46125926e-01 -3.01872440e-01 -1.17127120e-01 7.46203327e+01] [ 2.99931880e-01 9.53344511e-01 -3.42798976e-02 1.03697014e+01] [ 1.22010654e-01 -2.69705756e-03 9.92525126e-01 8.49418269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:10.38, Z:8.50 [[ 9.44299088e-01 -3.08439273e-01 -1.14736430e-01 7.46480310e+01] [ 3.06621049e-01 9.51237830e-01 -3.36172878e-02 1.03757133e+01] [ 1.19510524e-01 -3.43583029e-03 9.92826989e-01 8.50087420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:10.38, Z:8.51 [[ 9.42121208e-01 -3.15712437e-01 -1.12841868e-01 7.46764699e+01] [ 3.14004645e-01 9.48845285e-01 -3.30712543e-02 1.03815184e+01] [ 1.17510481e-01 -4.27574069e-03 9.93062438e-01 8.50740303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:10.39, Z:8.51 [[ 9.40550208e-01 -3.20244959e-01 -1.13174524e-01 7.47056020e+01] [ 3.18558210e-01 9.47322383e-01 -3.31808590e-02 1.03867266e+01] [ 1.17838763e-01 -4.84441001e-03 9.93020925e-01 8.51202329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18710568099999 meters Centerline goodness [0,1] 0.9998744034162271 Centerline is valid? [True, True] Translation: X:74.73, Y:10.40, Z:8.52 [[ 9.37498075e-01 -3.29202839e-01 -1.12795616e-01 7.47339027e+01] [ 3.27590958e-01 9.44240529e-01 -3.30754856e-02 1.03960709e+01] [ 1.17394736e-01 -5.94261986e-03 9.93067551e-01 8.51787351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21710568099999 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:74.76, Y:10.41, Z:8.52 [[ 9.35189678e-01 -3.36186661e-01 -1.11349878e-01 7.47593167e+01] [ 3.34664396e-01 9.41771365e-01 -3.26563657e-02 1.04122777e+01] [ 1.15844761e-01 -6.72494353e-03 9.93244565e-01 8.52465075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.247105681 meters Centerline goodness [0,1] 0.9999789752538738 Centerline is valid? [True, True] Translation: X:74.79, Y:10.42, Z:8.53 [[ 9.34608111e-01 -3.38313529e-01 -1.09779938e-01 7.47851675e+01] [ 3.36847321e-01 9.41008309e-01 -3.22062780e-02 1.04246369e+01] [ 1.14199653e-01 -6.87882935e-03 9.93434004e-01 8.52998144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.277105681 meters Centerline goodness [0,1] 0.999957951391809 Centerline is valid? [True, True] Translation: X:74.81, Y:10.44, Z:8.54 [[ 9.34139568e-01 -3.41026868e-01 -1.05280302e-01 7.48094351e+01] [ 3.39691762e-01 9.40028388e-01 -3.09214626e-02 1.04422519e+01] [ 1.09511522e-01 -6.87788972e-03 9.93961730e-01 8.53828515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.307105681 meters Centerline goodness [0,1] 0.9998531602022194 Centerline is valid? [True, True] Translation: X:74.83, Y:10.46, Z:8.54 [[ 9.33213019e-01 -3.43656199e-01 -1.04947027e-01 7.48331947e+01] [ 3.42345126e-01 9.39068270e-01 -3.08317868e-02 1.04607322e+01] [ 1.09147958e-01 -7.15547837e-03 9.93999760e-01 8.54126624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337105681 meters Centerline goodness [0,1] 0.9999581931060432 Centerline is valid? [True, True] Translation: X:74.86, Y:10.48, Z:8.54 [[ 9.32963538e-01 -3.44355859e-01 -1.04871728e-01 7.48591511e+01] [ 3.43049594e-01 9.38811441e-01 -3.08229531e-02 1.04753428e+01] [ 1.09068843e-01 -7.21951233e-03 9.94007981e-01 8.54407183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.367105681 meters Centerline goodness [0,1] 0.9999580404909263 Centerline is valid? [True, True] Translation: X:74.88, Y:10.50, Z:8.55 [[ 9.34822570e-01 -3.39573125e-01 -1.03907917e-01 7.48820404e+01] [ 3.38257649e-01 9.40556739e-01 -3.05742460e-02 1.05042909e+01] [ 1.08113483e-01 -6.56615235e-03 9.94116875e-01 8.54667189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39710568099999 meters Centerline goodness [0,1] 0.9999789955680649 Centerline is valid? [True, True] Translation: X:74.90, Y:10.54, Z:8.55 [[ 9.38943860e-01 -3.27692247e-01 -1.04891459e-01 7.49021315e+01] [ 3.26277255e-01 9.44769987e-01 -3.08678582e-02 1.05433846e+01] [ 1.09213461e-01 -5.24051148e-03 9.94004506e-01 8.54697179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:10.56, Z:8.55 [[ 9.41307279e-01 -3.20473856e-01 -1.06005252e-01 7.49262533e+01] [ 3.18982248e-01 9.47246940e-01 -3.12019218e-02 1.05644345e+01] [ 1.10412551e-01 -4.44319742e-03 9.93875911e-01 8.54809709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:10.60, Z:8.55 [[ 9.45609155e-01 -3.06836129e-01 -1.08050522e-01 7.49457727e+01] [ 3.05196546e-01 9.51757951e-01 -3.18099112e-02 1.06044037e+01] [ 1.12598373e-01 -2.89690267e-03 9.93636359e-01 8.54843569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48710568099999 meters Centerline goodness [0,1] 0.9999789637545491 Centerline is valid? [True, True] Translation: X:74.97, Y:10.64, Z:8.55 [[ 9.49507732e-01 -2.94494345e-01 -1.08204197e-01 7.49667983e+01] [ 2.92769396e-01 9.55652155e-01 -3.18596727e-02 1.06366444e+01] [ 1.12788067e-01 -1.42787169e-03 9.93618042e-01 8.55053520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:10.67, Z:8.55 [[ 9.52582947e-01 -2.83981266e-01 -1.09272000e-01 7.49874176e+01] [ 2.82151900e-01 9.58829813e-01 -3.21822220e-02 1.06685561e+01] [ 1.13912399e-01 -1.75066542e-04 9.93490782e-01 8.55165293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54710568099999 meters Centerline goodness [0,1] 0.9999580967545937 Centerline is valid? [True, True] Translation: X:75.01, Y:10.68, Z:8.55 [[ 9.53158733e-01 -2.81154873e-01 -1.11536393e-01 7.50134003e+01] [ 2.79224909e-01 9.59662387e-01 -3.28869813e-02 1.06841009e+01] [ 1.16283616e-01 2.02774142e-04 9.93216029e-01 8.55225615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57710568099999 meters Centerline goodness [0,1] 0.9999582323949545 Centerline is valid? [True, True] Translation: X:75.04, Y:10.70, Z:8.55 [[ 9.52930932e-01 -2.80517485e-01 -1.15032950e-01 7.50384405e+01] [ 2.78454739e-01 9.59848860e-01 -3.39576921e-02 1.06996190e+01] [ 1.19939972e-01 3.27865123e-04 9.92781091e-01 8.54835577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.607105681 meters Centerline goodness [0,1] 0.9999157078433851 Centerline is valid? [True, True] Translation: X:75.06, Y:10.71, Z:8.55 [[ 9.52363405e-01 -2.82305241e-01 -1.15358987e-01 7.50635493e+01] [ 2.80241910e-01 9.59324625e-01 -3.40695679e-02 1.07087185e+01] [ 1.20284735e-01 1.18186931e-04 9.92739426e-01 8.54897435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:10.72, Z:8.55 [[ 9.51207613e-01 -2.85467773e-01 -1.17099220e-01 7.50903066e+01] [ 2.83362353e-01 9.58388273e-01 -3.46077355e-02 1.07196698e+01] [ 1.22105912e-01 -2.62369066e-04 9.92517041e-01 8.55021838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:10.73, Z:8.56 [[ 9.50562855e-01 -2.87606864e-01 -1.17100600e-01 7.51160886e+01] [ 2.85512272e-01 9.57748425e-01 -3.46510675e-02 1.07299497e+01] [ 1.22118800e-01 -4.95640777e-04 9.92515367e-01 8.55502372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.14, Y:10.74, Z:8.56 [[ 9.50738255e-01 -2.87558715e-01 -1.15787549e-01 7.51420089e+01] [ 2.85505439e-01 9.57762909e-01 -3.43053120e-02 1.07388287e+01] [ 1.20761811e-01 -4.42602462e-04 9.92681414e-01 8.55843904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:10.75, Z:8.57 [[ 9.50934300e-01 -2.87998319e-01 -1.13052755e-01 7.51689918e+01] [ 2.86042312e-01 9.57630799e-01 -3.35119127e-02 1.07469580e+01] [ 1.17914174e-01 -4.70244181e-04 9.93023679e-01 8.56611909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:10.76, Z:8.57 [[ 9.50454074e-01 -2.91002804e-01 -1.09336273e-01 7.51959218e+01] [ 2.89189214e-01 9.56721883e-01 -3.24474609e-02 1.07558850e+01] [ 1.14046707e-01 -7.79049452e-04 9.93475084e-01 8.57432887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.22, Y:10.76, Z:8.58 [[ 9.49945414e-01 -2.93156826e-01 -1.07994378e-01 7.52220967e+01] [ 2.91397358e-01 9.56063856e-01 -3.20855662e-02 1.07619390e+01] [ 1.12655624e-01 -9.89740085e-04 9.93633600e-01 8.57802615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:10.76, Z:8.58 [[ 9.48333525e-01 -2.99324242e-01 -1.05207046e-01 7.52514320e+01] [ 2.97690488e-01 9.54150010e-01 -3.12750855e-02 1.07614286e+01] [ 1.09744696e-01 -1.65992483e-03 9.93958423e-01 8.58306615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:10.76, Z:8.58 [[ 9.46907588e-01 -3.03496694e-01 -1.06093243e-01 7.52800178e+01] [ 3.01859821e-01 9.52830068e-01 -3.15516850e-02 1.07649281e+01] [ 1.10664664e-01 -2.14875742e-03 9.93855480e-01 8.58414452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:10.76, Z:8.58 [[ 9.43918852e-01 -3.11801936e-01 -1.08612860e-01 7.53110132e+01] [ 3.10139297e-01 9.50141789e-01 -3.23140399e-02 1.07633313e+01] [ 1.13273197e-01 -3.18328449e-03 9.93558780e-01 8.58252783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:10.77, Z:8.59 [[ 9.42795246e-01 -3.14945133e-01 -1.09300907e-01 7.53399570e+01] [ 3.13281362e-01 9.49103144e-01 -3.25270606e-02 1.07678845e+01] [ 1.13982074e-01 -3.57557903e-03 9.93476372e-01 8.58522127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:10.79, Z:8.60 [[ 9.45429371e-01 -3.07940754e-01 -1.06469695e-01 7.53637969e+01] [ 3.06314260e-01 9.51401909e-01 -3.17172221e-02 1.07889497e+01] [ 1.11062497e-01 -2.62679254e-03 9.93809953e-01 8.59531975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:10.81, Z:8.60 [[ 9.50157712e-01 -2.94075603e-01 -1.03536767e-01 7.53871037e+01] [ 2.92454709e-01 9.55781670e-01 -3.08486946e-02 1.08113996e+01] [ 1.08030393e-01 -9.68690038e-04 9.94147120e-01 8.60297881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997105681 meters Centerline goodness [0,1] 0.999978986299067 Centerline is valid? [True, True] Translation: X:75.41, Y:10.83, Z:8.61 [[ 9.52071513e-01 -2.88054785e-01 -1.02879907e-01 7.54122366e+01] [ 2.86418682e-01 9.57613891e-01 -3.06590061e-02 1.08276268e+01] [ 1.07350702e-01 -2.77161053e-04 9.94221178e-01 8.60731785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.027105681 meters Centerline goodness [0,1] 0.9999790087953148 Centerline is valid? [True, True] Translation: X:75.44, Y:10.85, Z:8.61 [[ 9.55164125e-01 -2.78000319e-01 -1.01869121e-01 7.54356756e+01] [ 2.76335140e-01 9.60580577e-01 -3.03948326e-02 1.08470283e+01] [ 1.06303272e-01 8.82035856e-04 9.94333363e-01 8.61092640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:10.86, Z:8.61 [[ 9.57450833e-01 -2.70389278e-01 -1.00883799e-01 7.54601404e+01] [ 2.68712632e-01 9.62749535e-01 -3.01140345e-02 1.08649197e+01] [ 1.05268343e-01 1.72395621e-03 9.94442358e-01 8.61416242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.087105681 meters Centerline goodness [0,1] 0.999979064168324 Centerline is valid? [True, True] Translation: X:75.49, Y:10.88, Z:8.61 [[ 9.58221039e-01 -2.67116452e-01 -1.02280207e-01 7.54868678e+01] [ 2.65370265e-01 9.63661860e-01 -3.05686371e-02 1.08766184e+01] [ 1.06728920e-01 2.14938562e-03 9.94285833e-01 8.61368352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:10.89, Z:8.61 [[ 9.59220994e-01 -2.61732100e-01 -1.06730463e-01 7.55148608e+01] [ 2.59792542e-01 9.65136186e-01 -3.19370895e-02 1.08876947e+01] [ 1.11368393e-01 2.90694847e-03 9.93774940e-01 8.61044488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14710568099999 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:75.54, Y:10.90, Z:8.61 [[ 9.59991369e-01 -2.57452108e-01 -1.10158902e-01 7.55416624e+01] [ 2.55356626e-01 9.66284647e-01 -3.29693045e-02 1.08973423e+01] [ 1.14932873e-01 3.52044218e-03 9.93367022e-01 8.60846660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:10.91, Z:8.61 [[ 9.60523263e-01 -2.54895408e-01 -1.11460270e-01 7.55694672e+01] [ 2.52731091e-01 9.66960821e-01 -3.33731478e-02 1.09056010e+01] [ 1.16284376e-01 3.88620915e-03 9.93208357e-01 8.61047056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20710568099999 meters Centerline goodness [0,1] 0.9999790567144173 Centerline is valid? [True, True] Translation: X:75.60, Y:10.92, Z:8.61 [[ 9.62270221e-01 -2.47812239e-01 -1.12361537e-01 7.55977387e+01] [ 2.45560156e-01 9.68796101e-01 -3.36797259e-02 1.09161914e+01] [ 1.17201668e-01 4.81748068e-03 9.93096451e-01 8.61400815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23710568099999 meters Centerline goodness [0,1] 0.999979020685604 Centerline is valid? [True, True] Translation: X:75.63, Y:10.92, Z:8.62 [[ 9.63024216e-01 -2.44683148e-01 -1.12758665e-01 7.56265235e+01] [ 2.42393213e-01 9.69589036e-01 -3.38028435e-02 1.09237574e+01] [ 1.17600551e-01 5.22102183e-03 9.93047255e-01 8.61662159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:10.93, Z:8.62 [[ 9.64125505e-01 -2.40432902e-01 -1.12490136e-01 7.56536630e+01] [ 2.38124360e-01 9.70648836e-01 -3.37287128e-02 1.09312490e+01] [ 1.17297912e-01 5.73207054e-03 9.93080230e-01 8.61885133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29710568099999 meters Centerline goodness [0,1] 0.9999581283366482 Centerline is valid? [True, True] Translation: X:75.68, Y:10.93, Z:8.63 [[ 9.64459926e-01 -2.40264922e-01 -1.09953710e-01 7.56824395e+01] [ 2.38057063e-01 9.70691000e-01 -3.29820700e-02 1.09290628e+01] [ 1.14655512e-01 5.63462753e-03 9.93389332e-01 8.62582067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32710568099999 meters Centerline goodness [0,1] 0.9999791266594306 Centerline is valid? [True, True] Translation: X:75.71, Y:10.93, Z:8.63 [[ 9.63989152e-01 -2.43478031e-01 -1.06973657e-01 7.57128944e+01] [ 2.41403819e-01 9.69892751e-01 -3.21286064e-02 1.09266015e+01] [ 1.11575584e-01 5.14777862e-03 9.93742617e-01 8.63235745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357105681 meters Centerline goodness [0,1] 0.9999158797922231 Centerline is valid? [True, True] Translation: X:75.74, Y:10.92, Z:8.64 [[ 9.63183617e-01 -2.47054143e-01 -1.06026267e-01 7.57446567e+01] [ 2.45037610e-01 9.68990297e-01 -3.18492387e-02 1.09248850e+01] [ 1.10606911e-01 4.69624179e-03 9.93853136e-01 8.63581034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:10.91, Z:8.64 [[ 9.60130093e-01 -2.57880984e-01 -1.07924059e-01 7.57785583e+01] [ 2.55858872e-01 9.66170292e-01 -3.24222770e-02 1.09119014e+01] [ 1.12634108e-01 3.51627588e-03 9.93630310e-01 8.63641548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:10.91, Z:8.64 [[ 9.58355635e-01 -2.63689639e-01 -1.09646028e-01 7.58097236e+01] [ 2.61639216e-01 9.64603255e-01 -3.29466343e-02 1.09102520e+01] [ 1.14452602e-01 2.88689183e-03 9.93424515e-01 8.63706819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:10.90, Z:8.63 [[ 9.55790111e-01 -2.71598710e-01 -1.12691635e-01 7.58413839e+01] [ 2.69484802e-01 9.62408482e-01 -3.38800078e-02 1.09047785e+01] [ 1.17657152e-01 2.01349338e-03 9.93052234e-01 8.63498906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:10.90, Z:8.64 [[ 9.54073360e-01 -2.77293424e-01 -1.13368345e-01 7.58725644e+01] [ 2.75192160e-01 9.60784355e-01 -3.40983625e-02 1.09001075e+01] [ 1.18377783e-01 1.33425964e-03 9.92967734e-01 8.63916021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:10.90, Z:8.64 [[ 9.52560548e-01 -2.82974346e-01 -1.12044288e-01 7.59014872e+01] [ 2.80956814e-01 9.59127253e-01 -3.37369297e-02 1.08985078e+01] [ 1.17011416e-01 6.56862072e-04 9.93130353e-01 8.64424755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:10.90, Z:8.65 [[ 9.51933215e-01 -2.85306400e-01 -1.11460361e-01 7.59295895e+01] [ 2.83323899e-01 9.58436284e-01 -3.35776357e-02 1.09027356e+01] [ 1.16407568e-01 3.84282757e-04 9.93201455e-01 8.65048014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:10.91, Z:8.66 [[ 9.52416548e-01 -2.84649809e-01 -1.08982594e-01 7.59559443e+01] [ 2.82746394e-01 9.58631445e-01 -3.28668437e-02 1.09087637e+01] [ 1.13829682e-01 4.88490519e-04 9.93500158e-01 8.65749585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:10.92, Z:8.66 [[ 9.54488536e-01 -2.78190706e-01 -1.07524724e-01 7.59800135e+01] [ 2.76295582e-01 9.60525041e-01 -3.24406669e-02 1.09223813e+01] [ 1.12304882e-01 1.25563834e-03 9.93673003e-01 8.66243883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:10.93, Z:8.66 [[ 9.55762825e-01 -2.73618933e-01 -1.07935641e-01 7.60053136e+01] [ 2.71678366e-01 9.61836464e-01 -3.25803823e-02 1.09344597e+01] [ 1.12731045e-01 1.81533946e-03 9.93623881e-01 8.66498350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:10.95, Z:8.67 [[ 9.57972528e-01 -2.65827811e-01 -1.07815637e-01 7.60320418e+01] [ 2.63840883e-01 9.64016626e-01 -3.25566130e-02 1.09482161e+01] [ 1.12590520e-01 2.74216802e-03 9.93637688e-01 8.66838527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:10.96, Z:8.67 [[ 9.59054827e-01 -2.62032028e-01 -1.07485136e-01 7.60589949e+01] [ 2.60032679e-01 9.65053920e-01 -3.24643886e-02 1.09591666e+01] [ 1.12235661e-01 3.18548076e-03 9.93676511e-01 8.67094049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71710568099999 meters Centerline goodness [0,1] 0.9999789995379899 Centerline is valid? [True, True] Translation: X:76.09, Y:10.97, Z:8.67 [[ 9.59207662e-01 -2.61336401e-01 -1.07814406e-01 7.60865816e+01] [ 2.59315990e-01 9.65242094e-01 -3.26024183e-02 1.09679284e+01] [ 1.12587202e-01 3.31448999e-03 9.93636320e-01 8.67423911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:10.98, Z:8.68 [[ 9.59665601e-01 -2.58972822e-01 -1.09430399e-01 7.61127172e+01] [ 2.56871533e-01 9.65877588e-01 -3.31285494e-02 1.09762417e+01] [ 1.14275764e-01 3.68277498e-03 9.93442241e-01 8.67566933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.777105681 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:76.14, Y:10.99, Z:8.68 [[ 9.60238140e-01 -2.56484394e-01 -1.10265454e-01 7.61395356e+01] [ 2.54332539e-01 9.66539988e-01 -3.33977581e-02 1.09851674e+01] [ 1.15141974e-01 4.02570828e-03 9.93340888e-01 8.67719810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.807105681 meters Centerline goodness [0,1] 0.9999578716771286 Centerline is valid? [True, True] Translation: X:76.17, Y:10.99, Z:8.68 [[ 9.61448990e-01 -2.51476454e-01 -1.11244926e-01 7.61682823e+01] [ 2.49251093e-01 9.67852100e-01 -3.37076283e-02 1.09929246e+01] [ 1.16145310e-01 4.68024573e-03 9.93221205e-01 8.67866608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:11.00, Z:8.68 [[ 9.62227394e-01 -2.48349004e-01 -1.11540195e-01 7.61956592e+01] [ 2.46090158e-01 9.68657315e-01 -3.38029591e-02 1.10021202e+01] [ 1.16439157e-01 5.07718908e-03 9.93184849e-01 8.68089136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.867105681 meters Centerline goodness [0,1] 0.9999789331760344 Centerline is valid? [True, True] Translation: X:76.22, Y:11.01, Z:8.68 [[ 9.62438026e-01 -2.47553936e-01 -1.11490331e-01 7.62215573e+01] [ 2.45290636e-01 9.68860262e-01 -3.37978771e-02 1.10107027e+01] [ 1.16385349e-01 5.18082802e-03 9.93190621e-01 8.68327988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89710568099999 meters Centerline goodness [0,1] 0.9999789748118245 Centerline is valid? [True, True] Translation: X:76.25, Y:11.02, Z:8.69 [[ 9.63125901e-01 -2.44784537e-01 -1.11664805e-01 7.62500158e+01] [ 2.42492897e-01 9.69561635e-01 -3.38737559e-02 1.10172357e+01] [ 1.16557683e-01 5.54676959e-03 9.93168435e-01 8.68572306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92710568099999 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:76.28, Y:11.02, Z:8.69 [[ 9.63555415e-01 -2.43205845e-01 -1.11408617e-01 7.62774290e+01] [ 2.40912789e-01 9.69957735e-01 -3.38085976e-02 1.10214611e+01] [ 1.16284098e-01 5.73669681e-03 9.93199426e-01 8.68829455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95710568099999 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:76.30, Y:11.03, Z:8.69 [[ 9.63469166e-01 -2.43550182e-01 -1.11402316e-01 7.63035521e+01] [ 2.41257020e-01 9.69871448e-01 -3.38293464e-02 1.10296453e+01] [ 1.16285069e-01 5.71694139e-03 9.93199426e-01 8.69117642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:11.02, Z:8.70 [[ 9.63318078e-01 -2.45016081e-01 -1.09477858e-01 7.63349150e+01] [ 2.42806393e-01 9.69503506e-01 -3.32867474e-02 1.10245174e+01] [ 1.14294955e-01 5.48380184e-03 9.93431724e-01 8.69712262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01710568099999 meters Centerline goodness [0,1] 0.9999579876063439 Centerline is valid? [True, True] Translation: X:76.36, Y:11.03, Z:8.70 [[ 9.62921842e-01 -2.46935331e-01 -1.08648369e-01 7.63620909e+01] [ 2.44766952e-01 9.69017725e-01 -3.30724583e-02 1.10287553e+01] [ 1.13448953e-01 5.25266240e-03 9.93529941e-01 8.70126913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.39, Y:11.02, Z:8.71 [[ 9.60927739e-01 -2.55158516e-01 -1.07294044e-01 7.63932602e+01] [ 2.53092820e-01 9.66889908e-01 -3.26791943e-02 1.10242038e+01] [ 1.12079903e-01 4.24699228e-03 9.93690122e-01 8.70580274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07710568099999 meters Centerline goodness [0,1] 0.9999789867406333 Centerline is valid? [True, True] Translation: X:76.43, Y:11.02, Z:8.71 [[ 9.59355682e-01 -2.61085921e-01 -1.07101899e-01 7.64250556e+01] [ 2.59063728e-01 9.65309023e-01 -3.26262822e-02 1.10230833e+01] [ 1.11904692e-01 3.55399210e-03 9.93712589e-01 8.70822966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:11.01, Z:8.71 [[ 9.54918549e-01 -2.76150987e-01 -1.08955019e-01 7.64591653e+01] [ 2.74154394e-01 9.61112523e-01 -3.31976942e-02 1.10130277e+01] [ 1.13885610e-01 1.83059664e-03 9.93492183e-01 8.70564958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:11.00, Z:8.71 [[ 9.50375168e-01 -2.90955751e-01 -1.10144410e-01 7.64933694e+01] [ 2.89013062e-01 9.56736508e-01 -3.35664054e-02 1.09974885e+01] [ 1.15145517e-01 6.75048467e-05 9.93348632e-01 8.70704841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.167105681 meters Centerline goodness [0,1] 0.9999789995379899 Centerline is valid? [True, True] Translation: X:76.52, Y:11.00, Z:8.71 [[ 9.48512033e-01 -2.97261029e-01 -1.09365463e-01 7.65221544e+01] [ 2.95386001e-01 9.54796009e-01 -3.33420467e-02 1.09975837e+01] [ 1.14332999e-01 -6.79694277e-04 9.93442250e-01 8.71239062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:11.00, Z:8.72 [[ 9.46680336e-01 -3.03266114e-01 -1.08747434e-01 7.65500922e+01] [ 3.01446743e-01 9.52904942e-01 -3.31968750e-02 1.09988255e+01] [ 1.13693455e-01 -1.35473101e-03 9.93514954e-01 8.71590859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:11.01, Z:8.72 [[ 9.46340589e-01 -3.04242246e-01 -1.08977730e-01 7.65773453e+01] [ 3.02418649e-01 9.52593592e-01 -3.32927795e-02 1.10074015e+01] [ 1.13940557e-01 -1.45058942e-03 9.93486510e-01 8.71894345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:11.02, Z:8.72 [[ 9.47290430e-01 -3.01293346e-01 -1.08918139e-01 7.66025448e+01] [ 2.99448092e-01 9.53530910e-01 -3.33113230e-02 1.10190801e+01] [ 1.13893293e-01 -1.05983154e-03 9.93492423e-01 8.72129214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:11.04, Z:8.73 [[ 9.49310582e-01 -2.96084002e-01 -1.05563639e-01 7.66261211e+01] [ 2.94317249e-01 9.55161818e-01 -3.22995249e-02 1.10373233e+01] [ 1.10393730e-01 -4.06918972e-04 9.93887850e-01 8.73065656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:11.06, Z:8.74 [[ 9.51684198e-01 -2.89428367e-01 -1.02608030e-01 7.66493875e+01] [ 2.87716920e-01 9.57199597e-01 -3.14309677e-02 1.10556514e+01] [ 1.07313379e-01 3.90288846e-04 9.94225169e-01 8.73899646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:11.07, Z:8.74 [[ 9.52833882e-01 -2.85640299e-01 -1.02553464e-01 7.66748050e+01] [ 2.83904235e-01 9.58336519e-01 -3.14563311e-02 1.10695444e+01] [ 1.07265925e-01 8.57295379e-04 9.94229997e-01 8.74220127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:11.09, Z:8.75 [[ 9.55910879e-01 -2.75975917e-01 -1.00357785e-01 7.66980448e+01] [ 2.74256442e-01 9.61162598e-01 -3.08198601e-02 1.10894619e+01] [ 1.04965688e-01 1.93727048e-03 9.94473957e-01 8.74657885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:11.11, Z:8.75 [[ 9.58474151e-01 -2.67682924e-01 -9.83521955e-02 7.67228637e+01] [ 2.65986998e-01 9.63502993e-01 -3.02142350e-02 1.11071458e+01] [ 1.02850470e-01 2.79915799e-03 9.94692890e-01 8.74983068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:11.12, Z:8.75 [[ 9.59239805e-01 -2.64701911e-01 -9.89540018e-02 7.67480132e+01] [ 2.62968495e-01 9.64325155e-01 -3.04066871e-02 1.11195951e+01] [ 1.03472541e-01 3.14551965e-03 9.94627337e-01 8.75148604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:11.13, Z:8.75 [[ 9.60327039e-01 -2.58850986e-01 -1.03769678e-01 7.67742354e+01] [ 2.56907850e-01 9.65909061e-01 -3.19067943e-02 1.11348239e+01] [ 1.08491177e-01 3.98171247e-03 9.94089438e-01 8.74820609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:11.15, Z:8.75 [[ 9.61441992e-01 -2.52895533e-01 -1.08042328e-01 7.68023011e+01] [ 2.50750421e-01 9.67481422e-01 -3.32253637e-02 1.11477349e+01] [ 1.12931491e-01 4.85260076e-03 9.93590927e-01 8.74547553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:11.16, Z:8.74 [[ 9.61957168e-01 -2.49951382e-01 -1.10284696e-01 7.68298984e+01] [ 2.47696315e-01 9.68243825e-01 -3.39180086e-02 1.11595700e+01] [ 1.15260329e-01 5.31055878e-03 9.93321124e-01 8.74489696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557105681 meters Centerline goodness [0,1] 0.9999790360789081 Centerline is valid? [True, True] Translation: X:76.86, Y:11.17, Z:8.74 [[ 9.63008677e-01 -2.44109033e-01 -1.14127417e-01 7.68585199e+01] [ 2.41651859e-01 9.69727795e-01 -3.51052971e-02 1.11716927e+01] [ 1.19242049e-01 6.22760309e-03 9.92845683e-01 8.74226930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.587105681 meters Centerline goodness [0,1] 0.9998103546368291 Centerline is valid? [True, True] Translation: X:76.89, Y:11.18, Z:8.74 [[ 9.63775447e-01 -2.40875536e-01 -1.14524514e-01 7.68863256e+01] [ 2.38378044e-01 9.70533201e-01 -3.52308791e-02 1.11800424e+01] [ 1.19636100e-01 6.65452668e-03 9.92795508e-01 8.74462537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617105681 meters Centerline goodness [0,1] 0.9997684015496042 Centerline is valid? [True, True] Translation: X:76.91, Y:11.19, Z:8.75 [[ 9.63738210e-01 -2.41501821e-01 -1.13514465e-01 7.69146395e+01] [ 2.39051297e-01 9.70378399e-01 -3.49319453e-02 1.11866310e+01] [ 1.18588113e-01 6.52947035e-03 9.92922064e-01 8.74909779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:11.19, Z:8.76 [[ 9.62804584e-01 -2.46776331e-01 -1.10039882e-01 7.69445597e+01] [ 2.44504669e-01 9.69055533e-01 -3.38945564e-02 1.11858730e+01] [ 1.14999131e-01 5.72856929e-03 9.93349074e-01 8.75610430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67710568099999 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:76.98, Y:11.18, Z:8.76 [[ 9.61043275e-01 -2.55719443e-01 -1.04897045e-01 7.69759274e+01] [ 2.53708323e-01 9.66740828e-01 -3.23149951e-02 1.11810902e+01] [ 1.09671828e-01 4.44285538e-03 9.93957922e-01 8.76480099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70710568099999 meters Centerline goodness [0,1] 0.9998110037799244 Centerline is valid? [True, True] Translation: X:77.01, Y:11.18, Z:8.77 [[ 9.59872460e-01 -2.60345989e-01 -1.04234475e-01 7.70073303e+01] [ 2.58386974e-01 9.65507539e-01 -3.21148480e-02 1.11805401e+01] [ 1.09000143e-01 3.89332754e-03 9.94034109e-01 8.76841527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73710568099999 meters Centerline goodness [0,1] 0.9998744796133973 Centerline is valid? [True, True] Translation: X:77.04, Y:11.17, Z:8.77 [[ 9.56852079e-01 -2.70994115e-01 -1.04863194e-01 7.70413411e+01] [ 2.69074512e-01 9.62577215e-01 -3.23111813e-02 1.11715709e+01] [ 1.09695061e-01 2.70100830e-03 9.93961618e-01 8.77161628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:11.16, Z:8.77 [[ 9.53417279e-01 -2.82456708e-01 -1.05894758e-01 7.70750974e+01] [ 2.80568930e-01 9.59279024e-01 -3.26317356e-02 1.11632092e+01] [ 1.10799672e-01 1.40088177e-03 9.93841773e-01 8.77430572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79710568099999 meters Centerline goodness [0,1] 0.9999159133907926 Centerline is valid? [True, True] Translation: X:77.11, Y:11.15, Z:8.78 [[ 9.49457818e-01 -2.95312489e-01 -1.06397301e-01 7.71078878e+01] [ 2.93486275e-01 9.55400715e-01 -3.27914785e-02 1.11549581e+01] [ 1.11335791e-01 -9.20219252e-05 9.93782840e-01 8.77784931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82710568099999 meters Centerline goodness [0,1] 0.9999368912636473 Centerline is valid? [True, True] Translation: X:77.14, Y:11.16, Z:8.78 [[ 9.48071355e-01 -2.99871742e-01 -1.06007759e-01 7.71367536e+01] [ 2.98083160e-01 9.53979345e-01 -3.27083900e-02 1.11568948e+01] [ 1.10937535e-01 -5.89240241e-04 9.93827206e-01 8.77992871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857105681 meters Centerline goodness [0,1] 0.9997694065362766 Centerline is valid? [True, True] Translation: X:77.16, Y:11.16, Z:8.79 [[ 9.46794455e-01 -3.03831057e-01 -1.06145888e-01 7.71648163e+01] [ 3.02060869e-01 9.52725358e-01 -3.27661960e-02 1.11629244e+01] [ 1.11083267e-01 -1.03966643e-03 9.93810559e-01 8.78596198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.887105681 meters Centerline goodness [0,1] 0.9999369244354737 Centerline is valid? [True, True] Translation: X:77.19, Y:11.17, Z:8.79 [[ 9.47356369e-01 -3.02367542e-01 -1.05308022e-01 7.71904474e+01] [ 3.00612061e-01 9.53191056e-01 -3.25453472e-02 1.11730236e+01] [ 1.10219321e-01 -8.24819570e-04 9.93906948e-01 8.79090750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917105681 meters Centerline goodness [0,1] 0.9997691161345843 Centerline is valid? [True, True] Translation: X:77.21, Y:11.19, Z:8.80 [[ 9.49799447e-01 -2.95203851e-01 -1.03613208e-01 7.72148830e+01] [ 2.93460420e-01 9.55434292e-01 -3.20358496e-02 1.11901676e+01] [ 1.08452719e-01 2.12565585e-05 9.94101608e-01 8.80020591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.947105681 meters Centerline goodness [0,1] 0.9999789668517584 Centerline is valid? [True, True] Translation: X:77.24, Y:11.21, Z:8.80 [[ 9.52994288e-01 -2.85199616e-01 -1.02289127e-01 7.72369044e+01] [ 2.83439013e-01 9.58467413e-01 -3.16629691e-02 1.12120084e+01] [ 1.07071062e-01 1.18189948e-03 9.94250668e-01 8.80444885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977105681 meters Centerline goodness [0,1] 0.9999369111709286 Centerline is valid? [True, True] Translation: X:77.26, Y:11.23, Z:8.81 [[ 9.55565434e-01 -2.75971521e-01 -1.03607052e-01 7.72612431e+01] [ 2.74109436e-01 9.61163158e-01 -3.20842642e-02 1.12320640e+01] [ 1.08437625e-01 2.25894311e-03 9.94100688e-01 8.80546404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00710568099998 meters Centerline goodness [0,1] 0.9999789575573933 Centerline is valid? [True, True] Translation: X:77.29, Y:11.25, Z:8.81 [[ 9.56543043e-01 -2.72325333e-01 -1.04232047e-01 7.72858983e+01] [ 2.70418129e-01 9.62201455e-01 -3.22861437e-02 1.12474788e+01] [ 1.09084562e-01 2.69685098e-03 9.94028815e-01 8.80632632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03710568099999 meters Centerline goodness [0,1] 0.9997898806522104 Centerline is valid? [True, True] Translation: X:77.31, Y:11.27, Z:8.81 [[ 9.58214945e-01 -2.66158458e-01 -1.04803603e-01 7.73112550e+01] [ 2.64191965e-01 9.63923184e-01 -3.24761673e-02 1.12670193e+01] [ 1.09666429e-01 3.43087905e-03 9.93962526e-01 8.80727765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06710568099999 meters Centerline goodness [0,1] 0.999620916959754 Centerline is valid? [True, True] Translation: X:77.34, Y:11.28, Z:8.81 [[ 9.59257315e-01 -2.62415514e-01 -1.04706740e-01 7.73383885e+01] [ 2.60429872e-01 9.64947250e-01 -3.24512992e-02 1.12784900e+01] [ 1.09552205e-01 3.86038327e-03 9.93973547e-01 8.81069377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09710568099999 meters Centerline goodness [0,1] 0.9997473631023811 Centerline is valid? [True, True] Translation: X:77.37, Y:11.29, Z:8.81 [[ 9.59446745e-01 -2.61323086e-01 -1.05698571e-01 7.73652186e+01] [ 2.59292107e-01 9.65242975e-01 -3.27658659e-02 1.12887564e+01] [ 1.10587280e-01 4.03029826e-03 9.93858245e-01 8.81316670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12710568099999 meters Centerline goodness [0,1] 0.9997682600543536 Centerline is valid? [True, True] Translation: X:77.39, Y:11.30, Z:8.81 [[ 9.59693528e-01 -2.59445892e-01 -1.08056286e-01 7.73920467e+01] [ 2.57306628e-01 9.65747710e-01 -3.35359579e-02 1.13008094e+01] [ 1.13055878e-01 4.38064313e-03 9.93578974e-01 8.81321916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15710568099999 meters Centerline goodness [0,1] 0.9997481161184694 Centerline is valid? [True, True] Translation: X:77.42, Y:11.31, Z:8.81 [[ 9.59877205e-01 -2.58674834e-01 -1.08273177e-01 7.74174451e+01] [ 2.56517805e-01 9.65953896e-01 -3.36405539e-02 1.13129713e+01] [ 1.13288862e-01 4.51680326e-03 9.93551827e-01 8.81499122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18710568099999 meters Centerline goodness [0,1] 0.9998105422701247 Centerline is valid? [True, True] Translation: X:77.44, Y:11.32, Z:8.82 [[ 9.60486192e-01 -2.56392027e-01 -1.08302367e-01 7.74444087e+01] [ 2.54217596e-01 9.66560946e-01 -3.36652779e-02 1.13222307e+01] [ 1.13312347e-01 4.80266709e-03 9.93547808e-01 8.81812432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21710568099999 meters Centerline goodness [0,1] 0.9998736097067745 Centerline is valid? [True, True] Translation: X:77.47, Y:11.33, Z:8.82 [[ 9.61206901e-01 -2.53627013e-01 -1.08418780e-01 7.74717636e+01] [ 2.51426244e-01 9.67288279e-01 -3.37376603e-02 1.13338228e+01] [ 1.13428998e-01 5.16954517e-03 9.93532656e-01 8.81946097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.247105681 meters Centerline goodness [0,1] 0.9996443812233285 Centerline is valid? [True, True] Translation: X:77.50, Y:11.34, Z:8.82 [[ 9.61964494e-01 -2.50811362e-01 -1.08249586e-01 7.74980124e+01] [ 2.48599072e-01 9.68020364e-01 -3.36908930e-02 1.13442238e+01] [ 1.13237863e-01 5.49869613e-03 9.93552692e-01 8.82184602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.277105681 meters Centerline goodness [0,1] 0.9995796023037794 Centerline is valid? [True, True] Translation: X:77.53, Y:11.35, Z:8.83 [[ 9.62230002e-01 -2.49896665e-01 -1.08005005e-01 7.75257898e+01] [ 2.47687198e-01 9.68256282e-01 -3.36277221e-02 1.13500358e+01] [ 1.12979980e-01 5.60614607e-03 9.93581449e-01 8.82517353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.307105681 meters Centerline goodness [0,1] 0.9997268218878709 Centerline is valid? [True, True] Translation: X:77.55, Y:11.35, Z:8.83 [[ 9.62446500e-01 -2.48422531e-01 -1.09466805e-01 7.75542930e+01] [ 2.46138793e-01 9.68633829e-01 -3.41203672e-02 1.13537291e+01] [ 1.14509518e-01 5.89500075e-03 9.93404660e-01 8.82728470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337105681 meters Centerline goodness [0,1] 0.9997263733950748 Centerline is valid? [True, True] Translation: X:77.58, Y:11.36, Z:8.83 [[ 9.62122874e-01 -2.49336040e-01 -1.10232093e-01 7.75834484e+01] [ 2.47024118e-01 9.68399396e-01 -3.43757934e-02 1.13583370e+01] [ 1.15319816e-01 5.84375162e-03 9.93311225e-01 8.82822763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.367105681 meters Centerline goodness [0,1] 0.9997893361983611 Centerline is valid? [True, True] Translation: X:77.61, Y:11.36, Z:8.83 [[ 9.61649564e-01 -2.50675728e-01 -1.11318440e-01 7.76107431e+01] [ 2.48322215e-01 9.68053873e-01 -3.47530914e-02 1.13645244e+01] [ 1.16474004e-01 5.77745362e-03 9.93176937e-01 8.82949469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39710568099999 meters Centerline goodness [0,1] 0.9994527237517892 Centerline is valid? [True, True] Translation: X:77.64, Y:11.36, Z:8.83 [[ 9.60209272e-01 -2.55088748e-01 -1.13700851e-01 7.76435034e+01] [ 2.52661975e-01 9.66902731e-01 -3.55110486e-02 1.13614185e+01] [ 1.18996133e-01 5.37015653e-03 9.92880195e-01 8.82978579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42710568099999 meters Centerline goodness [0,1] 0.9994319138192224 Centerline is valid? [True, True] Translation: X:77.68, Y:11.36, Z:8.83 [[ 9.58337756e-01 -2.62389102e-01 -1.12874729e-01 7.76764565e+01] [ 2.60047008e-01 9.64951946e-01 -3.52603974e-02 1.13568240e+01] [ 1.18170633e-01 4.43863451e-03 9.92983384e-01 8.83409465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45710568099999 meters Centerline goodness [0,1] 0.9995159728944821 Centerline is valid? [True, True] Translation: X:77.71, Y:11.36, Z:8.84 [[ 9.57650780e-01 -2.65798468e-01 -1.10707533e-01 7.77061782e+01] [ 2.63568111e-01 9.64020554e-01 -3.45864403e-02 1.13592315e+01] [ 1.15917360e-01 3.94275625e-03 9.93251036e-01 8.83994425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48710568099999 meters Centerline goodness [0,1] 0.9991396676179285 Centerline is valid? [True, True] Translation: X:77.74, Y:11.36, Z:8.85 [[ 9.55918030e-01 -2.73368851e-01 -1.07192308e-01 7.77362584e+01] [ 2.71325110e-01 9.61904812e-01 -3.34935299e-02 1.13575736e+01] [ 1.12264885e-01 2.93310429e-03 9.93673987e-01 8.84707425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51710568099999 meters Centerline goodness [0,1] 0.9993518847609291 Centerline is valid? [True, True] Translation: X:77.77, Y:11.35, Z:8.85 [[ 9.53142804e-01 -2.83755584e-01 -1.04888339e-01 7.77699499e+01] [ 2.81860975e-01 9.58895172e-01 -3.27786590e-02 1.13502707e+01] [ 1.09878050e-01 1.67881332e-03 9.93943658e-01 8.85287985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54710568099999 meters Centerline goodness [0,1] 0.9992459469649365 Centerline is valid? [True, True] Translation: X:77.80, Y:11.35, Z:8.86 [[ 9.51048088e-01 -2.90840366e-01 -1.04496013e-01 7.78001364e+01] [ 2.89002023e-01 9.56771205e-01 -3.26602492e-02 1.13502710e+01] [ 1.09477695e-01 8.61908276e-04 9.93988879e-01 8.85594071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57710568099999 meters Centerline goodness [0,1] 0.9994769327335495 Centerline is valid? [True, True] Translation: X:77.83, Y:11.34, Z:8.86 [[ 9.46737015e-01 -3.04559930e-01 -1.04557510e-01 7.78329607e+01] [ 3.02798309e-01 9.52492929e-01 -3.27170410e-02 1.13406395e+01] [ 1.09554588e-01 -6.85403310e-04 9.93980544e-01 8.86037404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.607105681 meters Centerline goodness [0,1] 0.9995600896579173 Centerline is valid? [True, True] Translation: X:77.86, Y:11.34, Z:8.86 [[ 9.44640001e-01 -3.10821357e-01 -1.05096873e-01 7.78615584e+01] [ 3.09075873e-01 9.50467345e-01 -3.29231171e-02 1.13413785e+01] [ 1.10124354e-01 -1.38241450e-03 9.93916855e-01 8.86366795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.637105681 meters Centerline goodness [0,1] 0.9997703836680165 Centerline is valid? [True, True] Translation: X:77.89, Y:11.34, Z:8.87 [[ 9.41632371e-01 -3.20354412e-01 -1.03448189e-01 7.78912612e+01] [ 3.18719140e-01 9.47294611e-01 -3.24196014e-02 1.13404694e+01] [ 1.08381674e-01 -2.44357158e-03 9.94106353e-01 8.87030526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.667105681 meters Centerline goodness [0,1] 0.9998328772274332 Centerline is valid? [True, True] Translation: X:77.92, Y:11.35, Z:8.88 [[ 9.39252646e-01 -3.27827550e-01 -1.01654140e-01 7.79198793e+01] [ 3.26291321e-01 9.44732027e-01 -3.18649042e-02 1.13465682e+01] [ 1.06482115e-01 -3.23966780e-03 9.94309340e-01 8.87661842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697105681 meters Centerline goodness [0,1] 0.999979079497908 Centerline is valid? [True, True] Translation: X:77.95, Y:11.35, Z:8.88 [[ 9.37921024e-01 -3.31294275e-01 -1.02704706e-01 7.79480504e+01] [ 3.29746140e-01 9.43520358e-01 -3.21996447e-02 1.13544326e+01] [ 1.07571539e-01 -3.66575679e-03 9.94190588e-01 8.87860224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:11.36, Z:8.88 [[ 9.35892478e-01 -3.36607001e-01 -1.03927845e-01 7.79749172e+01] [ 3.35053043e-01 9.41635328e-01 -3.25939691e-02 1.13622664e+01] [ 1.08833488e-01 -4.31689021e-03 9.94050621e-01 8.88007393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:11.37, Z:8.88 [[ 9.34559313e-01 -3.39863369e-01 -1.05317521e-01 7.80018873e+01] [ 3.38286865e-01 9.40462830e-01 -3.30403244e-02 1.13727035e+01] [ 1.10276410e-01 -4.74939103e-03 9.93889610e-01 8.88246616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:11.39, Z:8.88 [[ 9.33699618e-01 -3.41755907e-01 -1.06807880e-01 7.80286034e+01] [ 3.40145554e-01 9.39775267e-01 -3.35178978e-02 1.13850184e+01] [ 1.11830344e-01 -5.03457725e-03 9.93714560e-01 8.88377972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:11.40, Z:8.88 [[ 9.31794626e-01 -3.46045385e-01 -1.09596383e-01 7.80545886e+01] [ 3.44374907e-01 9.38200694e-01 -3.44293531e-02 1.14020368e+01] [ 1.14737522e-01 -5.66115813e-03 9.93379712e-01 8.88009658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:11.41, Z:8.88 [[ 9.31671187e-01 -3.46378439e-01 -1.09593685e-01 7.80806832e+01] [ 3.44709244e-01 9.38077590e-01 -3.44379381e-02 1.14105031e+01] [ 1.14735939e-01 -5.69312173e-03 9.93379712e-01 8.88298389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:11.43, Z:8.89 [[ 9.29366449e-01 -3.52297694e-01 -1.10292055e-01 7.81063187e+01] [ 3.50643729e-01 9.35865930e-01 -3.46977987e-02 1.14265954e+01] [ 1.15442531e-01 -6.42624761e-03 9.93293373e-01 8.88586672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90710568099999 meters Centerline goodness [0,1] 0.9999163337446925 Centerline is valid? [True, True] Translation: X:78.13, Y:11.43, Z:8.89 [[ 9.26115924e-01 -3.61559823e-01 -1.07628018e-01 7.81331907e+01] [ 3.60045844e-01 9.32319661e-01 -3.38679676e-02 1.14334955e+01] [ 1.12589014e-01 -7.38535655e-03 9.93614196e-01 8.89293922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93710568099999 meters Centerline goodness [0,1] 0.999916541478885 Centerline is valid? [True, True] Translation: X:78.16, Y:11.45, Z:8.90 [[ 9.24609183e-01 -3.65535415e-01 -1.07152786e-01 7.81594691e+01] [ 3.64060204e-01 9.30764538e-01 -3.37274821e-02 1.14486402e+01] [ 1.12062602e-01 -7.82532540e-03 9.93670336e-01 8.89805160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96710568099999 meters Centerline goodness [0,1] 0.9998749426820626 Centerline is valid? [True, True] Translation: X:78.18, Y:11.47, Z:8.90 [[ 9.22846394e-01 -3.70048443e-01 -1.06858234e-01 7.81829087e+01] [ 3.68609888e-01 9.28975042e-01 -3.36470313e-02 1.14714980e+01] [ 1.11719664e-01 -8.33796023e-03 9.93704783e-01 8.90314770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997105681 meters Centerline goodness [0,1] 0.9993505133040017 Centerline is valid? [True, True] Translation: X:78.21, Y:11.49, Z:8.91 [[ 9.23312943e-01 -3.69410494e-01 -1.05019509e-01 7.82064499e+01] [ 3.68015009e-01 9.29231013e-01 -3.30859158e-02 1.14885427e+01] [ 1.09809669e-01 -8.10010116e-03 9.93919627e-01 8.90772230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.027105681 meters Centerline goodness [0,1] 0.99997901760423 Centerline is valid? [True, True] Translation: X:78.23, Y:11.52, Z:8.91 [[ 9.23666397e-01 -3.68747770e-01 -1.04237559e-01 7.82273283e+01] [ 3.67367296e-01 9.29495517e-01 -3.28535258e-02 1.15160236e+01] [ 1.09003008e-01 -7.94777234e-03 9.94009646e-01 8.91212944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057105681 meters Centerline goodness [0,1] 0.9991253462171223 Centerline is valid? [True, True] Translation: X:78.25, Y:11.54, Z:8.91 [[ 9.23431046e-01 -3.69348301e-01 -1.04196625e-01 7.82495048e+01] [ 3.67968757e-01 9.29256758e-01 -3.28765995e-02 1.15389403e+01] [ 1.08968334e-01 -7.98182994e-03 9.94013175e-01 8.91354946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.087105681 meters Centerline goodness [0,1] 0.9997061848097547 Centerline is valid? [True, True] Translation: X:78.27, Y:11.56, Z:8.92 [[ 9.22163181e-01 -3.72405590e-01 -1.04542545e-01 7.82730091e+01] [ 3.71034222e-01 9.28032489e-01 -3.30046273e-02 1.15635053e+01] [ 1.09309986e-01 -8.35320983e-03 9.93972611e-01 8.91535271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117105681 meters Centerline goodness [0,1] 0.998867734630546 Centerline is valid? [True, True] Translation: X:78.30, Y:11.58, Z:8.92 [[ 9.21290308e-01 -3.74544253e-01 -1.04598139e-01 7.82984174e+01] [ 3.73184402e-01 9.27169101e-01 -3.30281727e-02 1.15763161e+01] [ 1.09350675e-01 -8.60585864e-03 9.93965980e-01 8.91702392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14710568099999 meters Centerline goodness [0,1] 0.9975231418316156 Centerline is valid? [True, True] Translation: X:78.32, Y:11.60, Z:8.92 [[ 9.20309484e-01 -3.77593044e-01 -1.02244547e-01 7.83227050e+01] [ 3.76311317e-01 9.25930261e-01 -3.22946512e-02 1.15979569e+01] [ 1.06865556e-01 -8.75470633e-03 9.94234936e-01 8.92314648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17710568099999 meters Centerline goodness [0,1] 0.9972237298041999 Centerline is valid? [True, True] Translation: X:78.35, Y:11.62, Z:8.93 [[ 9.20258326e-01 -3.77926955e-01 -1.01468367e-01 7.83459921e+01] [ 3.76666275e-01 9.25794324e-01 -3.20528851e-02 1.16157078e+01] [ 1.06052487e-01 -8.72277738e-03 9.94322273e-01 8.92765382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20710568099999 meters Centerline goodness [0,1] 0.994865051036383 Centerline is valid? [True, True] Translation: X:78.37, Y:11.64, Z:8.93 [[ 9.20613041e-01 -3.76535561e-01 -1.03405034e-01 7.83669400e+01] [ 3.75213260e-01 9.26361398e-01 -3.27042945e-02 1.16442114e+01] [ 1.08104762e-01 -8.69093983e-03 9.94101518e-01 8.92989857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23710568099999 meters Centerline goodness [0,1] 0.990378353395937 Centerline is valid? [True, True] Translation: X:78.39, Y:11.67, Z:8.93 [[ 9.20602614e-01 -3.76225014e-01 -1.04621061e-01 7.83878943e+01] [ 3.74868300e-01 9.26487026e-01 -3.30990543e-02 1.16692328e+01] [ 1.09382748e-01 -8.74804348e-03 9.93961210e-01 8.93083881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26710568099999 meters Centerline goodness [0,1] 0.9990960119410516 Centerline is valid? [True, True] Translation: X:78.41, Y:11.70, Z:8.93 [[ 9.20061647e-01 -3.77650652e-01 -1.04242754e-01 7.84089449e+01] [ 3.76311485e-01 9.25905633e-01 -3.29912747e-02 1.16999509e+01] [ 1.08978130e-01 -8.87373923e-03 9.94004539e-01 8.93378664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29710568099999 meters Centerline goodness [0,1] 0.9933898518487431 Centerline is valid? [True, True] Translation: X:78.44, Y:11.71, Z:8.94 [[ 9.19423470e-01 -3.79053790e-01 -1.04779330e-01 7.84351109e+01] [ 3.77709188e-01 9.25330073e-01 -3.31666452e-02 1.17105985e+01] [ 1.09527408e-01 -9.08192357e-03 9.93942285e-01 8.93657475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32710568099999 meters Centerline goodness [0,1] 0.9806434080979953 Centerline is valid? [True, True] Translation: X:78.46, Y:11.73, Z:8.94 [[ 9.17131831e-01 -3.83960501e-01 -1.06974480e-01 7.84594959e+01] [ 3.82590684e-01 9.23296846e-01 -3.38718654e-02 1.17329653e+01] [ 1.11774658e-01 -9.86247338e-03 9.93684637e-01 8.93850545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357105681 meters Centerline goodness [0,1] 0.9174061146389672 Centerline is valid? [True, False] Translation: X:78.40, Y:11.73, Z:8.93 [[ 9.15139162e-01 -3.85686735e-01 -1.17328839e-01 7.84029273e+01] [ 3.87254633e-01 9.21917980e-01 -1.00542585e-02 1.17265985e+01] [ 1.12045361e-01 -3.62350909e-02 9.93042222e-01 8.93185585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.387105681 meters Centerline goodness [0,1] 0.9054638612406031 Centerline is valid? [False, False] Translation: X:78.35, Y:11.71, Z:8.93 [[ 9.15259245e-01 -3.83497525e-01 -1.23410542e-01 7.83482913e+01] [ 3.87220852e-01 9.21962027e-01 6.78475040e-03 1.17128998e+01] [ 1.11177899e-01 -5.39969409e-02 9.92332507e-01 8.92556558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417105681 meters Centerline goodness [0,1] 0.9210437781235544 Centerline is valid? [False, False] Translation: X:78.29, Y:11.71, Z:8.92 [[ 9.14885197e-01 -3.83919872e-01 -1.24862358e-01 7.82893458e+01] [ 3.88850619e-01 9.21146217e-01 1.68772841e-02 1.17079447e+01] [ 1.08536964e-01 -6.39935824e-02 9.92030518e-01 8.91773420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.447105681 meters Centerline goodness [0,1] 0.8197565641489205 Centerline is valid? [False, False] Translation: X:78.23, Y:11.70, Z:8.91 [[ 9.14293353e-01 -3.84020620e-01 -1.28824796e-01 7.82312457e+01] [ 3.89886030e-01 9.20578534e-01 2.28920716e-02 1.17048863e+01] [ 1.09802315e-01 -7.11570574e-02 9.91403109e-01 8.91025311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477105681 meters Centerline goodness [0,1] 0.7912766046765459 Centerline is valid? [False, False] Translation: X:78.17, Y:11.69, Z:8.90 [[ 9.14737554e-01 -3.82223957e-01 -1.30996387e-01 7.81684586e+01] [ 3.88344029e-01 9.21205422e-01 2.38639116e-02 1.16918982e+01] [ 1.11553223e-01 -7.27008808e-02 9.91095586e-01 8.90130372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50710568099998 meters Centerline goodness [0,1] 0.6823716473492615 Centerline is valid? [False, False] Translation: X:78.11, Y:11.69, Z:8.89 [[ 9.14922521e-01 -3.80406229e-01 -1.34936579e-01 7.81073029e+01] [ 3.86587540e-01 9.21990620e-01 2.19856762e-02 1.16868093e+01] [ 1.16046772e-01 -7.22799907e-02 9.90610291e-01 8.89214487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53710568099999 meters Centerline goodness [0,1] 0.7388182277628033 Centerline is valid? [False, False] Translation: X:78.04, Y:11.68, Z:8.88 [[ 9.16370570e-01 -3.75704187e-01 -1.38243779e-01 7.80430503e+01] [ 3.82091386e-01 9.23863212e-01 2.19758510e-02 1.16795300e+01] [ 1.19461922e-01 -7.29597802e-02 9.90154392e-01 8.88348315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56710568099999 meters Centerline goodness [0,1] 0.7469970919205968 Centerline is valid? [False, False] Translation: X:77.98, Y:11.67, Z:8.88 [[ 9.17726763e-01 -3.72286570e-01 -1.38492953e-01 7.79793915e+01] [ 3.78824714e-01 9.25175005e-01 2.33033409e-02 1.16653248e+01] [ 1.19454697e-01 -7.38506528e-02 9.90089216e-01 8.87519965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59710568099999 meters Centerline goodness [0,1] 0.7294997367035282 Centerline is valid? [False, False] Translation: X:77.91, Y:11.66, Z:8.87 [[ 9.19113500e-01 -3.70106306e-01 -1.35098839e-01 7.79130837e+01] [ 3.76172826e-01 9.26297936e-01 2.15902339e-02 1.16567069e+01] [ 1.17151094e-01 -7.06643875e-02 9.90596873e-01 8.86784916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62710568099999 meters Centerline goodness [0,1] 0.7379459777852575 Centerline is valid? [False, False] Translation: X:77.85, Y:11.65, Z:8.86 [[ 9.19471431e-01 -3.70413303e-01 -1.31781155e-01 7.78489277e+01] [ 3.76640949e-01 9.26020760e-01 2.50429143e-02 1.16509159e+01] [ 1.12755857e-01 -7.26604237e-02 9.90962451e-01 8.86370759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65710568099999 meters Centerline goodness [0,1] 0.7353386303443057 Centerline is valid? [False, False] Translation: X:77.78, Y:11.64, Z:8.86 [[ 9.21234975e-01 -3.66964366e-01 -1.29086310e-01 7.77834163e+01] [ 3.73271417e-01 9.27307089e-01 2.77490755e-02 1.16377034e+01] [ 1.09519728e-01 -7.37476485e-02 9.91245032e-01 8.85615299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68710568099999 meters Centerline goodness [0,1] 0.8618765991359423 Centerline is valid? [False, False] Translation: X:77.72, Y:11.63, Z:8.85 [[ 9.23001062e-01 -3.63123897e-01 -1.27318794e-01 7.77185174e+01] [ 3.69186552e-01 9.28964684e-01 2.69426296e-02 1.16325374e+01] [ 1.08491151e-01 -7.18724624e-02 9.91495849e-01 8.84821145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71710568099999 meters Centerline goodness [0,1] 0.8507823672919996 Centerline is valid? [False, False] Translation: X:77.66, Y:11.63, Z:8.84 [[ 9.24535722e-01 -3.58844228e-01 -1.28314143e-01 7.76564919e+01] [ 3.64830885e-01 9.30714747e-01 2.58550622e-02 1.16251291e+01] [ 1.10145926e-01 -7.07168911e-02 9.91396488e-01 8.83858488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.747105681 meters Centerline goodness [0,1] 0.7369450461629057 Centerline is valid? [False, False] Translation: X:77.59, Y:11.61, Z:8.83 [[ 9.26003724e-01 -3.55685120e-01 -1.26511655e-01 7.75939605e+01] [ 3.61537302e-01 9.31995337e-01 2.59898138e-02 1.16120218e+01] [ 1.08664083e-01 -6.98053469e-02 9.91624592e-01 8.82967247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.777105681 meters Centerline goodness [0,1] 0.8920098172893374 Centerline is valid? [False, False] Translation: X:77.53, Y:11.61, Z:8.82 [[ 9.28726292e-01 -3.49102600e-01 -1.24879337e-01 7.75348337e+01] [ 3.54418875e-01 9.34815692e-01 2.25140447e-02 1.16077015e+01] [ 1.08879452e-01 -6.51689795e-02 9.91916463e-01 8.82266749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.807105681 meters Centerline goodness [0,1] 0.8610098797160372 Centerline is valid? [False, False] Translation: X:77.47, Y:11.60, Z:8.82 [[ 9.30358261e-01 -3.43755530e-01 -1.27536821e-01 7.74743824e+01] [ 3.48904799e-01 9.36949014e-01 1.97986509e-02 1.16013315e+01] [ 1.12689603e-01 -6.29180472e-02 9.91636210e-01 8.81539070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837105681 meters Centerline goodness [0,1] 0.8163003470396466 Centerline is valid? [False, False] Translation: X:77.42, Y:11.60, Z:8.81 [[ 9.30451326e-01 -3.42970532e-01 -1.28963343e-01 7.74245635e+01] [ 3.48493125e-01 9.37045860e-01 2.23069085e-02 1.15951449e+01] [ 1.13193955e-01 -6.56983311e-02 9.91398435e-01 8.80664734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86710568099998 meters Centerline goodness [0,1] 0.7993382228966448 Centerline is valid? [False, False] Translation: X:77.37, Y:11.58, Z:8.80 [[ 9.30475820e-01 -3.42855589e-01 -1.29092186e-01 7.73715337e+01] [ 3.48775516e-01 9.36852955e-01 2.57328724e-02 1.15842464e+01] [ 1.12117737e-01 -6.89680094e-02 9.91298657e-01 8.79990088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89710568099999 meters Centerline goodness [0,1] 0.8859411998910333 Centerline is valid? [False, False] Translation: X:77.32, Y:11.58, Z:8.80 [[ 9.30327964e-01 -3.44417628e-01 -1.25961805e-01 7.73197150e+01] [ 3.49840998e-01 9.36523893e-01 2.31143519e-02 1.15806563e+01] [ 1.10005250e-01 -6.55705315e-02 9.91765774e-01 8.79672468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92710568099999 meters Centerline goodness [0,1] 0.7628485971859466 Centerline is valid? [False, False] Translation: X:77.26, Y:11.57, Z:8.79 [[ 9.31716296e-01 -3.41889010e-01 -1.22542437e-01 7.72585572e+01] [ 3.47077180e-01 9.37550307e-01 2.31700767e-02 1.15702018e+01] [ 1.06968105e-01 -6.41196214e-02 9.92192773e-01 8.78961558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95710568099999 meters Centerline goodness [0,1] 0.8854111963029093 Centerline is valid? [False, False] Translation: X:77.21, Y:11.56, Z:8.78 [[ 9.32171814e-01 -3.40667854e-01 -1.22479069e-01 7.72079583e+01] [ 3.46171230e-01 9.37804956e-01 2.62172314e-02 1.15601595e+01] [ 1.05930110e-01 -6.68376942e-02 9.92124758e-01 8.78210964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98710568099999 meters Centerline goodness [0,1] 0.7385204882849306 Centerline is valid? [False, False] Translation: X:77.16, Y:11.56, Z:8.77 [[ 9.32368871e-01 -3.39717260e-01 -1.23614203e-01 7.71590873e+01] [ 3.45429246e-01 9.38042015e-01 2.74920904e-02 1.15561270e+01] [ 1.06615778e-01 -6.83327302e-02 9.91949451e-01 8.77378299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01710568099999 meters Centerline goodness [0,1] 0.9018447396587547 Centerline is valid? [False, False] Translation: X:77.10, Y:11.55, Z:8.77 [[ 9.33803515e-01 -3.36313557e-01 -1.22082704e-01 7.70978573e+01] [ 3.41456400e-01 9.39607569e-01 2.33482935e-02 1.15455203e+01] [ 1.06857485e-01 -6.34886391e-02 9.92245267e-01 8.76663700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04710568099999 meters Centerline goodness [0,1] 0.8475209299397806 Centerline is valid? [False, False] Translation: X:77.04, Y:11.53, Z:8.76 [[ 9.35141338e-01 -3.32949691e-01 -1.21058587e-01 7.70405968e+01] [ 3.37972715e-01 9.40873979e-01 2.30347614e-02 1.15330950e+01] [ 1.06231458e-01 -6.24552570e-02 9.92378062e-01 8.75975071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07710568099999 meters Centerline goodness [0,1] 0.8386112330427875 Centerline is valid? [False, False] Translation: X:76.99, Y:11.53, Z:8.76 [[ 9.36325276e-01 -3.29669600e-01 -1.20883964e-01 7.69911792e+01] [ 3.34644284e-01 9.42066869e-01 2.28739493e-02 1.15304441e+01] [ 1.06339932e-01 -6.18705845e-02 9.92403068e-01 8.75636675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.107105681 meters Centerline goodness [0,1] 0.8404030690109339 Centerline is valid? [False, False] Translation: X:76.93, Y:11.53, Z:8.75 [[ 9.37007934e-01 -3.27862006e-01 -1.20509907e-01 7.69339327e+01] [ 3.32800623e-01 9.42720117e-01 2.28588319e-02 1.15251799e+01] [ 1.06112571e-01 -6.15246791e-02 9.92448909e-01 8.75375066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.137105681 meters Centerline goodness [0,1] 0.8433286354361682 Centerline is valid? [False, False] Translation: X:76.87, Y:11.51, Z:8.75 [[ 9.38815276e-01 -3.23593504e-01 -1.17953900e-01 7.68733462e+01] [ 3.28047883e-01 9.44449431e-01 1.99964829e-02 1.15115752e+01] [ 1.04930762e-01 -5.74675309e-02 9.92817716e-01 8.74706928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.167105681 meters Centerline goodness [0,1] 0.9013361388742767 Centerline is valid? [False, False] Translation: X:76.85, Y:11.51, Z:8.75 [[ 9.41578152e-01 -3.17902208e-01 -1.11214966e-01 7.68495730e+01] [ 3.20586329e-01 9.47195841e-01 6.66667039e-03 1.15110237e+01] [ 1.03223004e-01 -4.19311887e-02 9.93774012e-01 8.74649750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197105681 meters Centerline goodness [0,1] 0.8863641154275838 Centerline is valid? [False, False] Translation: X:76.83, Y:11.51, Z:8.75 [[ 9.44820831e-01 -3.10388639e-01 -1.04749655e-01 7.68259709e+01] [ 3.11732844e-01 9.50162573e-01 -3.70390570e-03 1.15109394e+01] [ 1.00678852e-01 -2.91543806e-02 9.94491725e-01 8.74511698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.227105681 meters Centerline goodness [0,1] 0.8695661348864692 Centerline is valid? [False, False] Translation: X:76.78, Y:11.50, Z:8.74 [[ 9.46637878e-01 -3.04480409e-01 -1.05680693e-01 7.67776574e+01] [ 3.06661612e-01 9.51807273e-01 4.64446174e-03 1.15000926e+01] [ 9.91735042e-02 -3.68048349e-02 9.94389270e-01 8.73588016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25710568099998 meters Centerline goodness [0,1] 0.974131575066883 Centerline is valid? [False, True] Translation: X:76.73, Y:11.50, Z:8.73 [[ 9.49444409e-01 -2.96360862e-01 -1.03564254e-01 7.67341178e+01] [ 2.98649128e-01 9.54337484e-01 6.97601201e-03 1.14960602e+01] [ 9.67678325e-02 -3.75527097e-02 9.94598301e-01 8.73059507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28710568099999 meters Centerline goodness [0,1] 0.9933943947323991 Centerline is valid? [True, True] Translation: X:76.76, Y:11.53, Z:8.74 [[ 9.51856660e-01 -2.90994633e-01 -9.63899540e-02 7.67572618e+01] [ 2.90206765e-01 9.56701609e-01 -2.24068147e-02 1.15267910e+01] [ 9.87366869e-02 -6.64494090e-03 9.95091409e-01 8.74376698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31710568099999 meters Centerline goodness [0,1] 0.9938913548932572 Centerline is valid? [True, True] Translation: X:76.78, Y:11.54, Z:8.75 [[ 9.55253078e-01 -2.79931193e-01 -9.55514697e-02 7.67841509e+01] [ 2.79101959e-01 9.60004584e-01 -2.22102630e-02 1.15430016e+01] [ 9.79471943e-02 -5.45218021e-03 9.95176678e-01 8.74507767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34710568099999 meters Centerline goodness [0,1] 0.9937954822698019 Centerline is valid? [True, True] Translation: X:76.81, Y:11.56, Z:8.75 [[ 9.57212215e-01 -2.73311180e-01 -9.51092735e-02 7.68124095e+01] [ 2.72456878e-01 9.61913944e-01 -2.21091232e-02 1.15567012e+01] [ 9.75296069e-02 -4.75005297e-03 9.95221288e-01 8.74814199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37710568099999 meters Centerline goodness [0,1] 0.9949367620488255 Centerline is valid? [True, True] Translation: X:76.84, Y:11.58, Z:8.75 [[ 9.61319814e-01 -2.59381307e-01 -9.26582611e-02 7.68378045e+01] [ 2.58505853e-01 9.65769536e-01 -2.15389890e-02 1.15809469e+01] [ 9.50733369e-02 -3.24684599e-03 9.95464976e-01 8.75476862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40710568099999 meters Centerline goodness [0,1] 0.9962970016293193 Centerline is valid? [True, True] Translation: X:76.86, Y:11.60, Z:8.76 [[ 9.65290255e-01 -2.44616603e-01 -9.15283649e-02 7.68626569e+01] [ 2.43696142e-01 9.69618269e-01 -2.12744582e-02 1.16025999e+01] [ 9.39516605e-02 -1.76908216e-03 9.95575188e-01 8.75919348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43710568099999 meters Centerline goodness [0,1] 0.9966121792157195 Centerline is valid? [True, True] Translation: X:76.89, Y:11.62, Z:8.76 [[ 9.67254792e-01 -2.37086543e-01 -9.05987758e-02 7.68916991e+01] [ 2.36151828e-01 9.71487990e-01 -2.10570430e-02 1.16175039e+01] [ 9.30079641e-02 -1.02754071e-03 9.95664835e-01 8.76309551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46710568099999 meters Centerline goodness [0,1] 0.9983708186107526 Centerline is valid? [True, True] Translation: X:76.92, Y:11.64, Z:8.76 [[ 9.70842812e-01 -2.21086458e-01 -9.26553452e-02 7.69209684e+01] [ 2.20036611e-01 9.75254078e-01 -2.15260993e-02 1.16360965e+01] [ 9.51216324e-02 5.10890619e-04 9.95465526e-01 8.76331178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.497105681 meters Centerline goodness [0,1] 0.998511778212433 Centerline is valid? [True, True] Translation: X:76.95, Y:11.65, Z:8.76 [[ 9.71993375e-01 -2.14497865e-01 -9.60184625e-02 7.69518907e+01] [ 2.13341510e-01 9.76723763e-01 -2.22730885e-02 1.16469961e+01] [ 9.85610439e-02 1.16457065e-03 9.95130325e-01 8.76262748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.527105681 meters Centerline goodness [0,1] 0.9989126031427902 Centerline is valid? [True, True] Translation: X:76.98, Y:11.65, Z:8.76 [[ 9.72970367e-01 -2.07803886e-01 -1.00728401e-01 7.69830672e+01] [ 2.06498910e-01 9.78168667e-01 -2.33293666e-02 1.16542797e+01] [ 1.03377299e-01 1.89847740e-03 9.94640402e-01 8.75913694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557105681 meters Centerline goodness [0,1] 0.9987717849353069 Centerline is valid? [True, True] Translation: X:77.02, Y:11.65, Z:8.76 [[ 9.73540015e-01 -2.05722450e-01 -9.94892578e-02 7.70162766e+01] [ 2.04441970e-01 9.78608208e-01 -2.30099160e-02 1.16526098e+01] [ 1.02094661e-01 2.06129410e-03 9.94772553e-01 8.75838296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.587105681 meters Centerline goodness [0,1] 0.9982403697343595 Centerline is valid? [True, True] Translation: X:77.05, Y:11.66, Z:8.76 [[ 9.73938398e-01 -2.04600877e-01 -9.78901354e-02 7.70490374e+01] [ 2.03359351e-01 9.78843214e-01 -2.26039023e-02 1.16553289e+01] [ 1.00443873e-01 2.10793397e-03 9.94940493e-01 8.76195514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61710568099998 meters Centerline goodness [0,1] 0.9983081673222518 Centerline is valid? [True, True] Translation: X:77.08, Y:11.65, Z:8.77 [[ 9.74585759e-01 -2.01603355e-01 -9.76661914e-02 7.70817657e+01] [ 2.00356326e-01 9.79464370e-01 -2.25142447e-02 1.16536512e+01] [ 1.00199502e-01 2.37402295e-03 9.94964534e-01 8.76615941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64710568099999 meters Centerline goodness [0,1] 0.9982904900595163 Centerline is valid? [True, True] Translation: X:77.12, Y:11.65, Z:8.77 [[ 9.75110109e-01 -1.98374333e-01 -9.90348348e-02 7.71161991e+01] [ 1.97078456e-01 9.80122571e-01 -2.27997206e-02 1.16494425e+01] [ 1.01589156e-01 2.71460567e-03 9.94822735e-01 8.76640868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67710568099999 meters Centerline goodness [0,1] 0.9976780512517415 Centerline is valid? [True, True] Translation: X:77.15, Y:11.64, Z:8.77 [[ 9.75050052e-01 -2.00008344e-01 -9.63019148e-02 7.71504801e+01] [ 1.98792067e-01 9.79791095e-01 -2.21613353e-02 1.16385423e+01] [ 9.87882105e-02 2.46435441e-03 9.95105430e-01 8.76965880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70710568099999 meters Centerline goodness [0,1] 0.9970438565003484 Centerline is valid? [True, True] Translation: X:77.18, Y:11.63, Z:8.77 [[ 9.74411052e-01 -2.03917411e-01 -9.45557596e-02 7.71832494e+01] [ 2.02763963e-01 9.78986003e-01 -2.17527235e-02 1.16347129e+01] [ 9.70045242e-02 2.02359363e-03 9.95281883e-01 8.77444722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73710568099999 meters Centerline goodness [0,1] 0.9973031624633926 Centerline is valid? [True, True] Translation: X:77.22, Y:11.63, Z:8.78 [[ 9.73389967e-01 -2.09117328e-01 -9.37118765e-02 7.72174227e+01] [ 2.08008926e-01 9.77889427e-01 -2.15535329e-02 1.16298631e+01] [ 9.61470705e-02 1.48708586e-03 9.95366028e-01 8.77898258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76710568099999 meters Centerline goodness [0,1] 0.9973031624633926 Centerline is valid? [True, True] Translation: X:77.25, Y:11.64, Z:8.78 [[ 9.73419724e-01 -2.08977804e-01 -9.37140215e-02 7.72490612e+01] [ 2.07869656e-01 9.77919247e-01 -2.15442027e-02 1.16369903e+01] [ 9.61470055e-02 1.49125044e-03 9.95366028e-01 8.78184090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79710568099999 meters Centerline goodness [0,1] 0.9973482058297379 Centerline is valid? [True, True] Translation: X:77.29, Y:11.60, Z:8.78 [[ 9.68917160e-01 -2.28783286e-01 -9.41155966e-02 7.72887146e+01] [ 2.27759668e-01 9.73477259e-01 -2.16231477e-02 1.16040442e+01] [ 9.65664077e-02 -4.84698195e-04 9.95326426e-01 8.78399789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82710568099999 meters Centerline goodness [0,1] 0.9972784235954345 Centerline is valid? [True, True] Translation: X:77.32, Y:11.60, Z:8.79 [[ 9.67316126e-01 -2.35338185e-01 -9.44216680e-02 7.73226096e+01] [ 2.34339464e-01 9.71912868e-01 -2.16885425e-02 1.15973274e+01] [ 9.68737764e-02 -1.14704617e-03 9.95296014e-01 8.78666388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857105681 meters Centerline goodness [0,1] 0.9974286015386237 Centerline is valid? [True, True] Translation: X:77.36, Y:11.58, Z:8.79 [[ 9.64585593e-01 -2.46288260e-01 -9.44284233e-02 7.73567056e+01] [ 2.45342126e-01 9.69194009e-01 -2.16844231e-02 1.15796585e+01] [ 9.68600809e-02 -2.25078796e-03 9.95295463e-01 8.78902058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.887105681 meters Centerline goodness [0,1] 0.9969672718082642 Centerline is valid? [True, True] Translation: X:77.39, Y:11.58, Z:8.79 [[ 9.64104325e-01 -2.48653248e-01 -9.31365238e-02 7.73858435e+01] [ 2.47743192e-01 9.68589476e-01 -2.13947953e-02 1.15770491e+01] [ 9.55309422e-02 -2.44712501e-03 9.95423453e-01 8.79284116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917105681 meters Centerline goodness [0,1] 0.9976333095966154 Centerline is valid? [True, True] Translation: X:77.41, Y:11.58, Z:8.80 [[ 9.65268357e-01 -2.44527738e-01 -9.19955691e-02 7.74147111e+01] [ 2.43620031e-01 9.69640232e-01 -2.11447701e-02 1.15785286e+01] [ 9.43730878e-02 -2.00158598e-03 9.95534888e-01 8.80301185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.947105681 meters Centerline goodness [0,1] 0.9979997894515212 Centerline is valid? [True, True] Translation: X:77.44, Y:11.59, Z:8.81 [[ 9.68066211e-01 -2.33885669e-01 -9.02513437e-02 7.74433687e+01] [ 2.32963374e-01 9.72263674e-01 -2.07705427e-02 1.15865995e+01] [ 9.26060352e-02 -9.17996924e-04 9.95702405e-01 8.81067885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977105681 meters Centerline goodness [0,1] 0.9981244599919921 Centerline is valid? [True, True] Translation: X:77.47, Y:11.59, Z:8.81 [[ 9.69411159e-01 -2.28608652e-01 -8.93313493e-02 7.74719050e+01] [ 2.27682134e-01 9.73518321e-01 -2.05651164e-02 1.15927835e+01] [ 9.16670688e-02 -4.03098969e-04 9.95789629e-01 8.81490241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00710568099998 meters Centerline goodness [0,1] 0.9983150090568264 Centerline is valid? [True, True] Translation: X:77.50, Y:11.60, Z:8.81 [[ 9.71347614e-01 -2.19492933e-01 -9.11409054e-02 7.75005158e+01] [ 2.18487847e-01 9.75613976e-01 -2.09864591e-02 1.15980063e+01] [ 9.35247206e-02 4.71966770e-04 9.95616846e-01 8.81372854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03710568099999 meters Centerline goodness [0,1] 0.9985690837927697 Centerline is valid? [True, True] Translation: X:77.53, Y:11.61, Z:8.81 [[ 9.72242254e-01 -2.15020324e-01 -9.22564879e-02 7.75273682e+01] [ 2.13969624e-01 9.76609140e-01 -2.12505844e-02 1.16056068e+01] [ 9.46678368e-02 9.20630068e-04 9.95508490e-01 8.81405150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06710568099999 meters Centerline goodness [0,1] 0.9988848913295041 Centerline is valid? [True, True] Translation: X:77.56, Y:11.61, Z:8.82 [[ 9.73915123e-01 -2.07978950e-01 -9.07418840e-02 7.75555108e+01] [ 2.06930884e-01 9.78132008e-01 -2.09137197e-02 1.16109307e+01] [ 9.31071547e-02 1.59088955e-03 9.95654823e-01 8.81699393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09710568099999 meters Centerline goodness [0,1] 0.9991812055174152 Centerline is valid? [True, True] Translation: X:77.58, Y:11.61, Z:8.82 [[ 9.74567185e-01 -2.04485046e-01 -9.16769803e-02 7.75835899e+01] [ 2.03396870e-01 9.78867695e-01 -2.11600603e-02 1.16144062e+01] [ 9.40665503e-02 1.97508951e-03 9.95563952e-01 8.81846332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12710568099999 meters Centerline goodness [0,1] 0.999033105622701 Centerline is valid? [True, True] Translation: X:77.61, Y:11.62, Z:8.82 [[ 9.74633277e-01 -2.03224758e-01 -9.37532584e-02 7.76117456e+01] [ 2.02078945e-01 9.79129725e-01 -2.16583103e-02 1.16200065e+01] [ 9.61981069e-02 2.16335036e-03 9.95359857e-01 8.81852773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15710568099999 meters Centerline goodness [0,1] 0.9991188503094514 Centerline is valid? [True, True] Translation: X:77.64, Y:11.62, Z:8.82 [[ 9.74963962e-01 -2.00060205e-01 -9.70627950e-02 7.76421108e+01] [ 1.98813140e-01 9.79780173e-01 -2.24532541e-02 1.16227484e+01] [ 9.95922046e-02 2.59375455e-03 9.95024957e-01 8.81591395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18710568099999 meters Centerline goodness [0,1] 0.9994333088466786 Centerline is valid? [True, True] Translation: X:77.67, Y:11.62, Z:8.81 [[ 9.74803050e-01 -1.99300925e-01 -1.00190590e-01 7.76709171e+01] [ 1.97967281e-01 9.79934436e-01 -2.31831152e-02 1.16210972e+01] [ 1.02800625e-01 2.76451281e-03 9.94698140e-01 8.81297502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21710568099999 meters Centerline goodness [0,1] 0.9996843700025251 Centerline is valid? [True, True] Translation: X:77.70, Y:11.61, Z:8.82 [[ 9.74646368e-01 -2.02840968e-01 -9.44457429e-02 7.77007399e+01] [ 2.01671680e-01 9.79209075e-01 -2.18659580e-02 1.16146762e+01] [ 9.69174407e-02 2.26454490e-03 9.95289848e-01 8.82377648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.247105681 meters Centerline goodness [0,1] 0.9994532531437944 Centerline is valid? [True, True] Translation: X:77.73, Y:11.61, Z:8.83 [[ 9.74252001e-01 -2.06113184e-01 -9.13804943e-02 7.77302370e+01] [ 2.05032374e-01 9.78526346e-01 -2.11640368e-02 1.16118179e+01] [ 9.37804082e-02 1.88314553e-03 9.95591125e-01 8.83074377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.277105681 meters Centerline goodness [0,1] 0.9999156811905816 Centerline is valid? [True, True] Translation: X:77.76, Y:11.60, Z:8.84 [[ 9.72942339e-01 -2.12226341e-01 -9.13410355e-02 7.77626713e+01] [ 2.11170554e-01 9.77219644e-01 -2.11840807e-02 1.15983114e+01] [ 9.37560741e-02 1.32235197e-03 9.95594320e-01 8.83554666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.307105681 meters Centerline goodness [0,1] 0.9998947501368248 Centerline is valid? [True, True] Translation: X:77.79, Y:11.60, Z:8.84 [[ 9.72294773e-01 -2.14955801e-01 -9.18524798e-02 7.77914693e+01] [ 2.13899368e-01 9.76623187e-01 -2.13122441e-02 1.15969049e+01] [ 9.42864521e-02 1.07459622e-03 9.95544529e-01 8.83588234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:11.59, Z:8.84 [[ 9.71164810e-01 -2.19985949e-01 -9.18971980e-02 7.78239317e+01] [ 2.18949271e-01 9.75502854e-01 -2.13400831e-02 1.15863803e+01] [ 9.43404973e-02 6.03913218e-04 9.95539806e-01 8.83719792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:11.59, Z:8.84 [[ 9.70695493e-01 -2.22083724e-01 -9.18100165e-02 7.78526963e+01] [ 2.21055658e-01 9.75027505e-01 -2.13485246e-02 1.15863195e+01] [ 9.42584512e-02 4.27792948e-04 9.95547669e-01 8.83846562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:11.58, Z:8.84 [[ 9.70924557e-01 -2.21763118e-01 -9.01477914e-02 7.78822897e+01] [ 2.20769622e-01 9.75100460e-01 -2.09730086e-02 1.15823976e+01] [ 9.25541926e-02 4.61315224e-04 9.95707542e-01 8.84364304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.91, Y:11.59, Z:8.85 [[ 9.72199168e-01 -2.16037360e-01 -9.03140962e-02 7.79104215e+01] [ 2.15014563e-01 9.76384566e-01 -2.10218030e-02 1.15850246e+01] [ 9.27227845e-02 1.01853352e-03 9.95691442e-01 8.84894041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:11.59, Z:8.85 [[ 9.73029947e-01 -2.11484053e-01 -9.21260978e-02 7.79377107e+01] [ 2.10398274e-01 9.77380308e-01 -2.14545976e-02 1.15920661e+01] [ 9.45795391e-02 1.49279405e-03 9.95516189e-01 8.84957371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48710568099999 meters Centerline goodness [0,1] 0.9999368580569119 Centerline is valid? [True, True] Translation: X:77.97, Y:11.60, Z:8.85 [[ 9.74413156e-01 -2.03810336e-01 -9.47647002e-02 7.79674295e+01] [ 2.02624003e-01 9.79007659e-01 -2.20797953e-02 1.15964777e+01] [ 9.72754578e-02 2.31324012e-03 9.95254809e-01 8.84961687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:11.60, Z:8.85 [[ 9.75363751e-01 -1.98719096e-01 -9.57928724e-02 7.79966162e+01] [ 1.97481805e-01 9.80052324e-01 -2.23243925e-02 1.15988413e+01] [ 9.83183103e-02 2.85705377e-03 9.95150917e-01 8.85126097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:11.60, Z:8.85 [[ 9.75966728e-01 -1.95080217e-01 -9.71218571e-02 7.80275986e+01] [ 1.93789570e-01 9.80781819e-01 -2.26412263e-02 1.15965016e+01] [ 9.96722070e-02 3.27588066e-03 9.95014934e-01 8.85162648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:11.60, Z:8.85 [[ 9.76210508e-01 -1.93605866e-01 -9.76207598e-02 7.80561402e+01] [ 1.92293930e-01 9.81073323e-01 -2.27635512e-02 1.15984197e+01] [ 1.00180280e-01 3.45013836e-03 9.94963320e-01 8.85377472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:11.60, Z:8.85 [[ 9.76288511e-01 -1.92431349e-01 -9.91509934e-02 7.80836770e+01] [ 1.91070440e-01 9.81303686e-01 -2.31335712e-02 1.16022800e+01] [ 1.01748860e-01 3.64021583e-03 9.94803457e-01 8.85336891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.637105681 meters Centerline goodness [0,1] 0.9998534092812866 Centerline is valid? [True, True] Translation: X:78.11, Y:11.60, Z:8.85 [[ 9.76370285e-01 -1.91222986e-01 -1.00671921e-01 7.81132516e+01] [ 1.89811755e-01 9.81539107e-01 -2.35048836e-02 1.16026950e+01] [ 1.03308101e-01 3.84075604e-03 9.94641988e-01 8.85355516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:11.60, Z:8.86 [[ 9.76267594e-01 -1.91574401e-01 -1.00999181e-01 7.81415634e+01] [ 1.90152059e-01 9.81470536e-01 -2.36173880e-02 1.16017363e+01] [ 1.03652208e-01 3.85168834e-03 9.94606145e-01 8.85693143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:11.59, Z:8.86 [[ 9.75852554e-01 -1.94573416e-01 -9.92621731e-02 7.81713185e+01] [ 1.93211338e-01 9.80881682e-01 -2.32487550e-02 1.15948327e+01] [ 1.01888037e-01 3.50877964e-03 9.94789685e-01 8.85967841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.727105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:11.59, Z:8.87 [[ 9.75109064e-01 -2.00371853e-01 -9.49391035e-02 7.82034700e+01] [ 1.99152034e-01 9.79715946e-01 -2.22515907e-02 1.15869374e+01] [ 9.74719460e-02 2.79041221e-03 9.95234361e-01 8.86901856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75710568099998 meters Centerline goodness [0,1] 0.999957951391809 Centerline is valid? [True, True] Translation: X:78.23, Y:11.59, Z:8.87 [[ 9.74563922e-01 -2.03547088e-01 -9.37749708e-02 7.82314326e+01] [ 2.02370958e-01 9.79062092e-01 -2.19867124e-02 1.15903232e+01] [ 9.62868504e-02 2.45012603e-03 9.95350611e-01 8.87239939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:11.58, Z:8.88 [[ 9.73483797e-01 -2.09346698e-01 -9.22131073e-02 7.82622901e+01] [ 2.08232587e-01 9.77839683e-01 -2.16505004e-02 1.15840981e+01] [ 9.47020964e-02 1.87463753e-03 9.95503892e-01 8.87649366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:11.58, Z:8.88 [[ 9.72989406e-01 -2.11719576e-01 -9.20132470e-02 7.82919770e+01] [ 2.10619848e-01 9.77329062e-01 -2.16144340e-02 1.15834301e+01] [ 9.45034192e-02 1.65079920e-03 9.95523168e-01 8.87897482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84710568099999 meters Centerline goodness [0,1] 0.9999372450580484 Centerline is valid? [True, True] Translation: X:78.32, Y:11.58, Z:8.88 [[ 9.71714862e-01 -2.16783842e-01 -9.36749286e-02 7.83223343e+01] [ 2.15664235e-01 9.76218878e-01 -2.20372394e-02 1.15757651e+01] [ 9.62245511e-02 1.21158122e-03 9.95358914e-01 8.87811817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:11.57, Z:8.88 [[ 9.70142552e-01 -2.22754421e-01 -9.59369409e-02 7.83538018e+01] [ 2.21607557e-01 9.74874374e-01 -2.25841671e-02 1.15700318e+01] [ 9.85571884e-02 6.49510417e-04 9.95131177e-01 8.87749327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:11.57, Z:8.88 [[ 9.68836531e-01 -2.27183511e-01 -9.87088098e-02 7.83838202e+01] [ 2.25988528e-01 9.73851937e-01 -2.32720925e-02 1.15689331e+01] [ 1.01414801e-01 2.39794709e-04 9.94844199e-01 8.87555147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:11.57, Z:8.88 [[ 9.68347644e-01 -2.28994540e-01 -9.93193886e-02 7.84124635e+01] [ 2.27790510e-01 9.73427703e-01 -2.34518736e-02 1.15706995e+01] [ 1.02050595e-01 8.55523829e-05 9.94779206e-01 8.87712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:11.57, Z:8.88 [[ 9.67692048e-01 -2.32808794e-01 -9.68099446e-02 7.84413185e+01] [ 2.31680419e-01 9.72522488e-01 -2.28952603e-02 1.15662739e+01] [ 9.94800662e-02 -2.73407218e-04 9.95039518e-01 8.88283281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:11.57, Z:8.89 [[ 9.66980726e-01 -2.36901394e-01 -9.39468163e-02 7.84695708e+01] [ 2.35856826e-01 9.71533475e-01 -2.22320430e-02 1.15655059e+01] [ 9.65392789e-02 -6.60040781e-04 9.95328957e-01 8.89063298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:11.57, Z:8.89 [[ 9.66608291e-01 -2.38912532e-01 -9.26780067e-02 7.84973112e+01] [ 2.37902017e-01 9.71040749e-01 -2.19657502e-02 1.15694262e+01] [ 9.52420140e-02 -8.16008454e-04 9.95453813e-01 8.89432095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:11.57, Z:8.90 [[ 9.65422446e-01 -2.43536199e-01 -9.30033368e-02 7.85255017e+01] [ 2.42538853e-01 9.69890983e-01 -2.20541578e-02 1.15710522e+01] [ 9.55740835e-02 -1.26534370e-03 9.95421515e-01 8.89542447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.087105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:11.56, Z:8.90 [[ 9.62499951e-01 -2.54754150e-01 -9.32425175e-02 7.85574906e+01] [ 2.53802980e-01 9.67002942e-01 -2.21214231e-02 1.15627137e+01] [ 9.58013131e-02 -2.37336011e-03 9.95397647e-01 8.89673152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11710568099998 meters Centerline goodness [0,1] 0.999978953571579 Centerline is valid? [True, True] Translation: X:78.59, Y:11.56, Z:8.90 [[ 9.60590410e-01 -2.61977970e-01 -9.29172070e-02 7.85867253e+01] [ 2.61066620e-01 9.65068946e-01 -2.20487888e-02 1.15649856e+01] [ 9.54478079e-02 -3.07772614e-03 9.95429678e-01 8.90050384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14710568099999 meters Centerline goodness [0,1] 0.9999579310489893 Centerline is valid? [True, True] Translation: X:78.62, Y:11.56, Z:8.90 [[ 9.57515890e-01 -2.72928476e-01 -9.31309184e-02 7.86179891e+01] [ 2.72063707e-01 9.62025288e-01 -2.21062284e-02 1.15639985e+01] [ 9.56277178e-02 -4.17047788e-03 9.95408432e-01 8.90371412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17710568099999 meters Centerline goodness [0,1] 0.9999790510107888 Centerline is valid? [True, True] Translation: X:78.65, Y:11.57, Z:8.91 [[ 9.56127321e-01 -2.77154792e-01 -9.48987185e-02 7.86462284e+01] [ 2.76277049e-01 9.60813903e-01 -2.25307849e-02 1.15672356e+01] [ 9.74245231e-02 -4.67603890e-03 9.95231931e-01 8.90547521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20710568099999 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:78.67, Y:11.57, Z:8.91 [[ 9.55923840e-01 -2.77915827e-01 -9.47227765e-02 7.86734815e+01] [ 2.77044064e-01 9.60593761e-01 -2.24991697e-02 1.15740131e+01] [ 9.72429834e-02 -4.73489026e-03 9.95249407e-01 8.90814594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.70, Y:11.59, Z:8.91 [[ 9.56896252e-01 -2.75138470e-01 -9.29966898e-02 7.86995571e+01] [ 2.74283642e-01 9.61394744e-01 -2.21049807e-02 1.15868441e+01] [ 9.54884593e-02 -4.35529758e-03 9.95421009e-01 8.91213539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:11.60, Z:8.91 [[ 9.57731738e-01 -2.72168184e-01 -9.31364469e-02 7.87255880e+01] [ 2.71296125e-01 9.62241138e-01 -2.21450798e-02 1.15994747e+01] [ 9.56469068e-02 -4.05851142e-03 9.95407051e-01 8.91456135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:11.62, Z:8.91 [[ 9.59605979e-01 -2.64553364e-01 -9.57490668e-02 7.87503022e+01] [ 2.63592949e-01 9.64365111e-01 -2.27747772e-02 1.16203065e+01] [ 9.83622033e-02 -3.38396659e-03 9.95144927e-01 8.91407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:11.64, Z:8.92 [[ 9.62284135e-01 -2.54909174e-01 -9.50292384e-02 7.87756660e+01] [ 2.53915785e-01 9.66962085e-01 -2.26075129e-02 1.16440265e+01] [ 9.76525329e-02 -2.37457266e-03 9.95217737e-01 8.91785797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357105681 meters Centerline goodness [0,1] 0.9999582507045194 Centerline is valid? [True, True] Translation: X:78.80, Y:11.66, Z:8.92 [[ 9.63518791e-01 -2.50626827e-01 -9.39027875e-02 7.88020216e+01] [ 2.49636156e-01 9.68081885e-01 -2.23439979e-02 1.16591010e+01] [ 9.65055928e-02 -1.91266911e-03 9.95330605e-01 8.92165913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:11.68, Z:8.92 [[ 9.65614276e-01 -2.42874109e-01 -9.27428575e-02 7.88255503e+01] [ 2.41869489e-01 9.70057197e-01 -2.20949124e-02 1.16818341e+01] [ 9.53321585e-02 -1.09650472e-03 9.95444914e-01 8.92482063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417105681 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:78.85, Y:11.70, Z:8.93 [[ 9.67380840e-01 -2.36104320e-01 -9.18099143e-02 7.88497244e+01] [ 2.35088427e-01 9.71727625e-01 -2.18827164e-02 1.17012857e+01] [ 9.43808338e-02 -4.14527816e-04 9.95536080e-01 8.92861657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:11.71, Z:8.93 [[ 9.68713197e-01 -2.31037746e-01 -9.06438170e-02 7.88749540e+01] [ 2.30022739e-01 9.72944782e-01 -2.16330999e-02 1.17138325e+01] [ 9.31894915e-02 1.06130332e-04 9.95648385e-01 8.93143741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:11.72, Z:8.93 [[ 9.69082827e-01 -2.29519331e-01 -9.05502686e-02 7.89010770e+01] [ 2.28498709e-01 9.73304067e-01 -2.16224981e-02 1.17222738e+01] [ 9.30957260e-02 2.63372031e-04 9.95657128e-01 8.93409421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:11.74, Z:8.94 [[ 9.69782596e-01 -2.26835002e-01 -8.98198140e-02 7.89269852e+01] [ 2.25816340e-01 9.73933047e-01 -2.14802183e-02 1.17353333e+01] [ 9.23509505e-02 5.48360196e-04 9.95726369e-01 8.93726659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:11.75, Z:8.94 [[ 9.70815630e-01 -2.22455399e-01 -8.96136610e-02 7.89528964e+01] [ 2.21420158e-01 9.74942365e-01 -2.14592475e-02 1.17492093e+01] [ 9.21418800e-02 9.90701846e-04 9.95745395e-01 8.94112109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56710568099999 meters Centerline goodness [0,1] 0.9999579761304421 Centerline is valid? [True, True] Translation: X:78.98, Y:11.76, Z:8.94 [[ 9.71733913e-01 -2.18617139e-01 -8.91052683e-02 7.89789056e+01] [ 2.17574761e-01 9.75809742e-01 -2.13675322e-02 1.17590607e+01] [ 9.16210976e-02 1.37649819e-03 9.95792990e-01 8.94346228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:11.77, Z:8.94 [[ 9.73270075e-01 -2.09865770e-01 -9.32830070e-02 7.90062194e+01] [ 2.08681831e-01 9.77727464e-01 -2.23807720e-02 1.17731972e+01] [ 9.59023158e-02 2.31606704e-03 9.95388056e-01 8.94113946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:11.78, Z:8.94 [[ 9.73932107e-01 -2.05240090e-01 -9.66061957e-02 7.90343082e+01] [ 2.03946815e-01 9.78707429e-01 -2.31832945e-02 1.17832268e+01] [ 9.93073429e-02 2.87642899e-03 9.95052651e-01 8.93886938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:11.79, Z:8.94 [[ 9.73854378e-01 -2.05609755e-01 -9.66037234e-02 7.90608696e+01] [ 2.04317272e-01 9.78629915e-01 -2.31935902e-02 1.17898549e+01] [ 9.93081220e-02 2.84937020e-03 9.95052651e-01 8.94128458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.09, Y:11.80, Z:8.94 [[ 9.75279797e-01 -1.96691792e-01 -1.00705790e-01 7.90894742e+01] [ 1.95235650e-01 9.80457394e-01 -2.42144551e-02 1.18019723e+01] [ 1.03500521e-01 3.95450855e-03 9.94621538e-01 8.93708900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:11.81, Z:8.94 [[ 9.76407629e-01 -1.89687162e-01 -1.03183924e-01 7.91177191e+01] [ 1.88119082e-01 9.81832772e-01 -2.48116654e-02 1.18128282e+01] [ 1.06015812e-01 4.81543431e-03 9.94352784e-01 8.93572829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:11.82, Z:8.94 [[ 9.76525874e-01 -1.88906589e-01 -1.03496463e-01 7.91448265e+01] [ 1.87324115e-01 9.81982738e-01 -2.48913304e-02 1.18188823e+01] [ 1.06333876e-01 4.91964495e-03 9.94318311e-01 8.93802639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:11.82, Z:8.94 [[ 9.75584187e-01 -1.93766018e-01 -1.03393536e-01 7.91750169e+01] [ 1.92212092e-01 9.81037896e-01 -2.48828818e-02 1.18154291e+01] [ 1.06254434e-01 4.40185815e-03 9.94329231e-01 8.94229219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.21, Y:11.80, Z:8.95 [[ 9.73869142e-01 -2.03596463e-01 -1.00634856e-01 7.92083893e+01] [ 2.02176343e-01 9.79049516e-01 -2.42233841e-02 1.18019723e+01] [ 1.03458302e-01 3.24441926e-03 9.94628500e-01 8.94958447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:11.79, Z:8.96 [[ 9.71874697e-01 -2.15269870e-01 -9.54906059e-02 7.92427201e+01] [ 2.14047429e-01 9.76552747e-01 -2.29876343e-02 1.17863175e+01] [ 9.82001585e-02 1.90158141e-03 9.95164867e-01 8.96080007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:11.78, Z:8.97 [[ 9.70880074e-01 -2.20702105e-01 -9.31797321e-02 7.92725943e+01] [ 2.19562985e-01 9.75340369e-01 -2.24334822e-02 1.17842603e+01] [ 9.58330710e-02 1.32140083e-03 9.95396542e-01 8.96651629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:11.77, Z:8.97 [[ 9.68952780e-01 -2.29956596e-01 -9.08321211e-02 7.93034384e+01] [ 2.28913885e-01 9.73200801e-01 -2.18777053e-02 1.17740175e+01] [ 9.34288157e-02 4.05729581e-04 9.95625879e-01 8.97106697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:11.77, Z:8.97 [[ 9.67998699e-01 -2.33988723e-01 -9.07071990e-02 7.93325141e+01] [ 2.32964860e-01 9.72239310e-01 -2.18654412e-02 1.17706332e+01] [ 9.33053713e-02 3.41286260e-05 9.95637538e-01 8.97426846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:11.77, Z:8.98 [[ 9.67010029e-01 -2.37907948e-01 -9.10571950e-02 7.93620412e+01] [ 2.36890003e-01 9.71287657e-01 -2.19866720e-02 1.17650589e+01] [ 9.36735336e-02 -3.09206793e-04 9.95602920e-01 8.97860017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:11.77, Z:8.98 [[ 9.67443033e-01 -2.34947459e-01 -9.40939370e-02 7.93904628e+01] [ 2.33842614e-01 9.72008072e-01 -2.27583144e-02 1.17724247e+01] [ 9.68070744e-02 1.42005227e-05 9.95303165e-01 8.97865036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:11.78, Z:8.98 [[ 9.68265884e-01 -2.31186663e-01 -9.49415882e-02 7.94165945e+01] [ 2.30040622e-01 9.72909321e-01 -2.29949011e-02 1.17809120e+01] [ 9.76856705e-02 4.24756193e-04 9.95217227e-01 8.97989513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:11.79, Z:8.98 [[ 9.70199423e-01 -2.22525981e-01 -9.58919523e-02 7.94436425e+01] [ 2.21313348e-01 9.74925863e-01 -2.32371048e-02 1.17898773e+01] [ 9.86584039e-02 1.32245664e-03 9.95120480e-01 8.98182154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:11.80, Z:8.98 [[ 9.71856405e-01 -2.14507503e-01 -9.73738152e-02 7.94718820e+01] [ 2.13215575e-01 9.76719903e-01 -2.36082525e-02 1.17974933e+01] [ 1.00171091e-01 2.18221739e-03 9.94967834e-01 8.98320335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:11.81, Z:8.99 [[ 9.72844047e-01 -2.10348645e-01 -9.65810983e-02 7.94995751e+01] [ 2.09055995e-01 9.77622973e-01 -2.34288875e-02 1.18052832e+01] [ 9.93481353e-02 2.60179606e-03 9.95049335e-01 8.98698252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:11.82, Z:8.99 [[ 9.74437418e-01 -2.02577409e-01 -9.71293599e-02 7.95266666e+01] [ 2.01228406e-01 9.79260196e-01 -2.35923059e-02 1.18177544e+01] [ 9.98941843e-02 3.44403941e-03 9.94992106e-01 8.98724536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:11.82, Z:8.99 [[ 9.75485855e-01 -1.96850039e-01 -9.83738259e-02 7.95564709e+01] [ 1.95436628e-01 9.80425089e-01 -2.38991420e-02 1.18214899e+01] [ 1.01152714e-01 4.08742613e-03 9.94862514e-01 8.98829878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:11.83, Z:8.99 [[ 9.75718453e-01 -1.95456197e-01 -9.88452102e-02 7.95835813e+01] [ 1.94021571e-01 9.80703193e-01 -2.40182507e-02 1.18280995e+01] [ 1.01632329e-01 4.25694743e-03 9.94812921e-01 8.98972678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.227105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:11.82, Z:8.99 [[ 9.75153247e-01 -1.97692982e-01 -9.99681434e-02 7.96146009e+01] [ 1.96234996e-01 9.80255452e-01 -2.43120376e-02 1.18240639e+01] [ 1.02800637e-01 4.09071422e-03 9.94693568e-01 8.99111162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:11.82, Z:8.99 [[ 9.74219255e-01 -2.01221190e-01 -1.02014101e-01 7.96463035e+01] [ 1.99718158e-01 9.79538339e-01 -2.48455380e-02 1.18178557e+01] [ 1.04926172e-01 3.83093320e-03 9.94472635e-01 8.99187697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:11.82, Z:9.00 [[ 9.73977973e-01 -2.02682065e-01 -1.01424299e-01 7.96756547e+01] [ 2.01200771e-01 9.79237662e-01 -2.47356164e-02 1.18198789e+01] [ 1.04331959e-01 3.68529847e-03 9.94535701e-01 8.99511915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31710568099999 meters Centerline goodness [0,1] 0.9999580440118316 Centerline is valid? [True, True] Translation: X:79.70, Y:11.82, Z:9.00 [[ 9.73719311e-01 -2.05224027e-01 -9.87613379e-02 7.97047170e+01] [ 2.03829584e-01 9.78709281e-01 -2.41173143e-02 1.18167774e+01] [ 1.01608090e-01 3.35301225e-03 9.94818855e-01 9.00102083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:11.81, Z:9.00 [[ 9.73317045e-01 -2.07455511e-01 -9.80619275e-02 7.97354368e+01] [ 2.06090563e-01 9.78239502e-01 -2.39615767e-02 1.18129837e+01] [ 1.00899012e-01 3.11257318e-03 9.94891804e-01 9.00468960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37710568099999 meters Centerline goodness [0,1] 0.9999579301640723 Centerline is valid? [True, True] Translation: X:79.76, Y:11.81, Z:9.00 [[ 9.72586759e-01 -2.10212432e-01 -9.94270055e-02 7.97647715e+01] [ 2.08820132e-01 9.77651438e-01 -2.43272997e-02 1.18100438e+01] [ 1.02318856e-01 2.89804911e-03 9.94747432e-01 9.00447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40710568099999 meters Centerline goodness [0,1] 0.9998525011589194 Centerline is valid? [True, True] Translation: X:79.79, Y:11.81, Z:9.00 [[ 9.71843606e-01 -2.12888586e-01 -1.00987399e-01 7.97939786e+01] [ 2.11464796e-01 9.77072822e-01 -2.47252797e-02 1.18116385e+01] [ 1.03935773e-01 2.67382522e-03 9.94580417e-01 9.00460732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43710568099999 meters Centerline goodness [0,1] 0.9995996206932883 Centerline is valid? [True, True] Translation: X:79.82, Y:11.81, Z:9.01 [[ 9.70484269e-01 -2.18767775e-01 -1.01493570e-01 7.98246061e+01] [ 2.17358332e-01 9.75774723e-01 -2.48806215e-02 1.18068387e+01] [ 1.04477938e-01 2.08577871e-03 9.94525017e-01 9.00559611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46710568099999 meters Centerline goodness [0,1] 0.999537338857227 Centerline is valid? [True, True] Translation: X:79.86, Y:11.80, Z:9.01 [[ 9.69226968e-01 -2.25850140e-01 -9.79326222e-02 7.98559066e+01] [ 2.24573236e-01 9.74161211e-01 -2.40166047e-02 1.17997177e+01] [ 1.00826315e-01 1.28449508e-03 9.94903213e-01 9.01274422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.497105681 meters Centerline goodness [0,1] 0.9996212918156954 Centerline is valid? [True, True] Translation: X:79.89, Y:11.80, Z:9.02 [[ 9.68474833e-01 -2.29534579e-01 -9.68006933e-02 7.98855311e+01] [ 2.28304655e-01 9.73300093e-01 -2.37468756e-02 1.18000681e+01] [ 9.96668528e-02 8.98202557e-04 9.95020458e-01 9.01905341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.527105681 meters Centerline goodness [0,1] 0.9992850083065211 Centerline is valid? [True, True] Translation: X:79.91, Y:11.80, Z:9.02 [[ 9.67389413e-01 -2.33460782e-01 -9.82536880e-02 7.99146334e+01] [ 2.32210401e-01 9.72366072e-01 -2.41360981e-02 1.18004885e+01] [ 1.01173385e-01 5.33477479e-04 9.94868665e-01 9.02178789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557105681 meters Centerline goodness [0,1] 0.9993693371733692 Centerline is valid? [True, True] Translation: X:79.94, Y:11.80, Z:9.02 [[ 9.67337017e-01 -2.33351423e-01 -9.90263046e-02 7.99418560e+01] [ 2.32076854e-01 9.72392292e-01 -2.43631573e-02 1.18045154e+01] [ 1.01977593e-01 5.85670668e-04 9.94786524e-01 9.02259658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.587105681 meters Centerline goodness [0,1] 0.9994327016010421 Centerline is valid? [True, True] Translation: X:79.97, Y:11.81, Z:9.03 [[ 9.67579020e-01 -2.32615016e-01 -9.83925524e-02 7.99687819e+01] [ 2.31351093e-01 9.72568659e-01 -2.42255068e-02 1.18090420e+01] [ 1.01328729e-01 6.76867559e-04 9.94852768e-01 9.02778202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61710568099998 meters Centerline goodness [0,1] 0.9991388182906593 Centerline is valid? [True, True] Translation: X:80.00, Y:11.81, Z:9.03 [[ 9.68234430e-01 -2.31175669e-01 -9.52885040e-02 7.99956586e+01] [ 2.29979992e-01 9.72911667e-01 -2.34966371e-02 1.18138328e+01] [ 9.81391480e-02 8.35803605e-04 9.95172351e-01 9.03384390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64710568099999 meters Centerline goodness [0,1] 0.9993698273326892 Centerline is valid? [True, True] Translation: X:80.02, Y:11.82, Z:9.04 [[ 9.68270503e-01 -2.31755221e-01 -9.34973348e-02 8.00238397e+01] [ 2.30605562e-01 9.72773826e-01 -2.30685633e-02 1.18176557e+01] [ 9.62980201e-02 7.75603964e-04 9.95352244e-01 9.03934855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67710568099999 meters Centerline goodness [0,1] 0.9991623212079328 Centerline is valid? [True, True] Translation: X:80.05, Y:11.82, Z:9.04 [[ 9.68024286e-01 -2.32689725e-01 -9.37255232e-02 8.00516852e+01] [ 2.31535511e-01 9.72550758e-01 -2.31588009e-02 1.18234527e+01] [ 9.65416436e-02 7.17494802e-04 9.95328688e-01 9.04143697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70710568099999 meters Centerline goodness [0,1] 0.9994332374734987 Centerline is valid? [True, True] Translation: X:80.08, Y:11.83, Z:9.04 [[ 9.67413429e-01 -2.34896666e-01 -9.45241381e-02 8.00798982e+01] [ 2.33729393e-01 9.72020198e-01 -2.33945530e-02 1.18265889e+01] [ 9.73746739e-02 5.39135285e-04 9.95247649e-01 9.04268007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73710568099999 meters Centerline goodness [0,1] 0.9991456197382679 Centerline is valid? [True, True] Translation: X:80.11, Y:11.83, Z:9.05 [[ 9.67294042e-01 -2.35553159e-01 -9.41113509e-02 8.01080238e+01] [ 2.34395750e-01 9.71861335e-01 -2.33276348e-02 1.18294196e+01] [ 9.69580812e-02 5.05381477e-04 9.95288338e-01 9.04614531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76710568099999 meters Centerline goodness [0,1] 0.9993762604736263 Centerline is valid? [True, True] Translation: X:80.13, Y:11.84, Z:9.05 [[ 9.68220425e-01 -2.31441693e-01 -9.47837101e-02 8.01343520e+01] [ 2.30246810e-01 9.72848327e-01 -2.35061394e-02 1.18403450e+01] [ 9.76504746e-02 9.35477349e-04 9.95220332e-01 9.04945122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79710568099999 meters Centerline goodness [0,1] 0.9990984946957944 Centerline is valid? [True, True] Translation: X:80.16, Y:11.85, Z:9.05 [[ 9.69005719e-01 -2.27674404e-01 -9.58763909e-02 8.01603367e+01] [ 2.26432100e-01 9.73736393e-01 -2.37895211e-02 1.18527215e+01] [ 9.87745960e-02 1.34268948e-03 9.95108927e-01 9.05170272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82710568099999 meters Centerline goodness [0,1] 0.9990969611693303 Centerline is valid? [True, True] Translation: X:80.19, Y:11.87, Z:9.05 [[ 9.71222013e-01 -2.17730366e-01 -9.65468214e-02 8.01862283e+01] [ 2.16419788e-01 9.76006037e-01 -2.39727169e-02 1.18703544e+01] [ 9.94498689e-02 2.38818776e-03 9.95039708e-01 9.05356389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857105681 meters Centerline goodness [0,1] 0.9991191090417165 Centerline is valid? [True, True] Translation: X:80.21, Y:11.88, Z:9.06 [[ 9.72539184e-01 -2.11919717e-01 -9.62162575e-02 8.02136306e+01] [ 2.10589044e-01 9.77282537e-01 -2.38976409e-02 1.18815144e+01] [ 9.90948495e-02 2.97930245e-03 9.95073532e-01 9.05734422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.887105681 meters Centerline goodness [0,1] 0.9988891217774052 Centerline is valid? [True, True] Translation: X:80.24, Y:11.90, Z:9.06 [[ 9.75050738e-01 -1.99245720e-01 -9.78631720e-02 8.02392751e+01] [ 1.97804715e-01 9.79939919e-01 -2.43115124e-02 1.19012026e+01] [ 1.00743994e-01 4.34716128e-03 9.94902885e-01 9.05827688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917105681 meters Centerline goodness [0,1] 0.9989789539487394 Centerline is valid? [True, True] Translation: X:80.27, Y:11.91, Z:9.06 [[ 9.75233498e-01 -1.97393341e-01 -9.97772185e-02 8.02675682e+01] [ 1.95885130e-01 9.80313424e-01 -2.47912395e-02 1.19091175e+01] [ 1.02706572e-01 4.63237380e-03 9.94700910e-01 9.05893825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.947105681 meters Centerline goodness [0,1] 0.9989343697110261 Centerline is valid? [True, True] Translation: X:80.30, Y:11.92, Z:9.06 [[ 9.75739582e-01 -1.94758767e-01 -1.00006456e-01 8.02966693e+01] [ 1.93229112e-01 9.80838794e-01 -2.48550081e-02 1.19152594e+01] [ 1.02930942e-01 4.92785655e-03 9.94676298e-01 9.06009334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97710568099998 meters Centerline goodness [0,1] 0.998824467861791 Centerline is valid? [True, True] Translation: X:80.32, Y:11.92, Z:9.06 [[ 9.75956724e-01 -1.93901922e-01 -9.95515862e-02 8.03246446e+01] [ 1.92380848e-01 9.81008158e-01 -2.47508340e-02 1.19219797e+01] [ 1.02460152e-01 5.00392424e-03 9.94724524e-01 9.06252810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00710568099998 meters Centerline goodness [0,1] 0.9991213940547664 Centerline is valid? [True, True] Translation: X:80.35, Y:11.93, Z:9.06 [[ 9.75984936e-01 -1.93354871e-01 -1.00335930e-01 8.03523659e+01] [ 1.91803495e-01 9.81115461e-01 -2.49774074e-02 1.19252245e+01] [ 1.03270636e-01 5.13279121e-03 9.94640051e-01 9.06232142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03710568099999 meters Centerline goodness [0,1] 0.9988896105256542 Centerline is valid? [True, True] Translation: X:80.38, Y:11.92, Z:9.07 [[ 9.75434120e-01 -1.95915005e-01 -1.00725310e-01 8.03827350e+01] [ 1.94363359e-01 9.80608651e-01 -2.50909868e-02 1.19209550e+01] [ 1.03687811e-01 4.89729519e-03 9.94597836e-01 9.06537623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06710568099999 meters Centerline goodness [0,1] 0.9990159335022298 Centerline is valid? [True, True] Translation: X:80.41, Y:11.92, Z:9.07 [[ 9.75301256e-01 -1.97342679e-01 -9.92135389e-02 8.04126997e+01] [ 1.95843449e-01 9.80323368e-01 -2.47272541e-02 1.19189058e+01] [ 1.02141093e-01 4.68620039e-03 9.94758884e-01 9.07125408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09710568099999 meters Centerline goodness [0,1] 0.9989104471357332 Centerline is valid? [True, True] Translation: X:80.44, Y:11.92, Z:9.08 [[ 9.74935795e-01 -1.99886694e-01 -9.77011000e-02 8.04401978e+01] [ 1.98442546e-01 9.79809219e-01 -2.43813528e-02 1.19218384e+01] [ 1.00601946e-01 4.38219864e-03 9.94917104e-01 9.07507593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12710568099999 meters Centerline goodness [0,1] 0.9990135790291099 Centerline is valid? [True, True] Translation: X:80.47, Y:11.92, Z:9.08 [[ 9.74445252e-01 -2.02615378e-01 -9.69714331e-02 8.04700442e+01] [ 2.01205078e-01 9.79249894e-01 -2.42107772e-02 1.19211806e+01] [ 9.98647413e-02 4.08093210e-03 9.94992653e-01 9.07728993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15710568099999 meters Centerline goodness [0,1] 0.9990123145462951 Centerline is valid? [True, True] Translation: X:80.50, Y:11.92, Z:9.08 [[ 9.73952113e-01 -2.05177393e-01 -9.65376514e-02 8.04999103e+01] [ 2.03791356e-01 9.78717386e-01 -2.41114264e-02 1.19186646e+01] [ 9.94301975e-02 3.80983582e-03 9.95037246e-01 9.08170205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18710568099999 meters Centerline goodness [0,1] 0.9992231134254399 Centerline is valid? [True, True] Translation: X:80.53, Y:11.92, Z:9.09 [[ 9.72704678e-01 -2.11644455e-01 -9.51432283e-02 8.05315885e+01] [ 2.10328212e-01 9.77341773e-01 -2.37718616e-02 1.19159065e+01] [ 9.80186341e-02 3.11169589e-03 9.95179715e-01 9.08608015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21710568099999 meters Centerline goodness [0,1] 0.9992017980549079 Centerline is valid? [True, True] Translation: X:80.56, Y:11.92, Z:9.09 [[ 9.71776543e-01 -2.16012673e-01 -9.48096810e-02 8.05611142e+01] [ 2.14726069e-01 9.76386923e-01 -2.36915968e-02 1.19170765e+01] [ 9.76886178e-02 2.66482791e-03 9.95213461e-01 9.08945682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.247105681 meters Centerline goodness [0,1] 0.999455542991163 Centerline is valid? [True, True] Translation: X:80.59, Y:11.91, Z:9.09 [[ 9.70154061e-01 -2.23190457e-01 -9.48004114e-02 8.05919319e+01] [ 2.21937336e-01 9.74772903e-01 -2.36982374e-02 1.19135921e+01] [ 9.76980927e-02 1.95119055e-03 9.95214186e-01 9.09214326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.277105681 meters Centerline goodness [0,1] 0.9990982678354234 Centerline is valid? [True, True] Translation: X:80.62, Y:11.92, Z:9.10 [[ 9.69618182e-01 -2.25741831e-01 -9.42401584e-02 8.06208966e+01] [ 2.24514818e-01 9.74185694e-01 -2.35654559e-02 1.19161863e+01] [ 9.71271232e-02 1.69118249e-03 9.95270547e-01 9.09525436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.307105681 meters Centerline goodness [0,1] 0.9990137653181131 Centerline is valid? [True, True] Translation: X:80.65, Y:11.92, Z:9.10 [[ 9.69874862e-01 -2.25439915e-01 -9.23016649e-02 8.06482119e+01] [ 2.24258630e-01 9.74255561e-01 -2.31120707e-02 1.19223026e+01] [ 9.51357936e-02 1.71637145e-03 9.95462824e-01 9.10000281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337105681 meters Centerline goodness [0,1] 0.9992433795712484 Centerline is valid? [True, True] Translation: X:80.68, Y:11.93, Z:9.11 [[ 9.71114359e-01 -2.21136594e-01 -8.96410016e-02 8.06757857e+01] [ 2.20001118e-01 9.75240563e-01 -2.24800295e-02 1.19309436e+01] [ 9.23926981e-02 2.10955884e-03 9.95720412e-01 9.10566568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36710568099998 meters Centerline goodness [0,1] 0.9990770457072137 Centerline is valid? [True, True] Translation: X:80.70, Y:11.94, Z:9.11 [[ 9.72015186e-01 -2.16845940e-01 -9.03566034e-02 8.07025414e+01] [ 2.15670907e-01 9.76202462e-01 -2.26894699e-02 1.19423165e+01] [ 9.31264582e-02 2.56721862e-03 9.95650979e-01 9.10585260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39710568099999 meters Centerline goodness [0,1] 0.999266355042237 Centerline is valid? [True, True] Translation: X:80.73, Y:11.95, Z:9.11 [[ 9.72265927e-01 -2.14604464e-01 -9.29725317e-02 8.07309016e+01] [ 2.13349296e-01 9.76696824e-01 -2.33536443e-02 1.19465027e+01] [ 9.58177727e-02 2.87032847e-03 9.95394754e-01 9.10521825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42710568099999 meters Centerline goodness [0,1] 0.9992218389837638 Centerline is valid? [True, True] Translation: X:80.76, Y:11.95, Z:9.10 [[ 9.71838987e-01 -2.15508361e-01 -9.53159444e-02 8.07590886e+01] [ 2.14191866e-01 9.76497789e-01 -2.39564628e-02 1.19504937e+01] [ 9.82386270e-02 2.86592464e-03 9.95158761e-01 9.10468300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45710568099999 meters Centerline goodness [0,1] 0.999267215208425 Centerline is valid? [True, True] Translation: X:80.79, Y:11.96, Z:9.10 [[ 9.71409460e-01 -2.16855459e-01 -9.66300725e-02 8.07859957e+01] [ 2.15505543e-01 9.76199705e-01 -2.43207191e-02 1.19563611e+01] [ 9.96043289e-02 2.80106041e-03 9.95023181e-01 9.10435972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48710568099999 meters Centerline goodness [0,1] 0.9993909993909994 Centerline is valid? [True, True] Translation: X:80.81, Y:11.96, Z:9.10 [[ 9.71398368e-01 -2.16011664e-01 -9.86112153e-02 8.08128936e+01] [ 2.14600125e-01 9.76386300e-01 -2.48310361e-02 1.19640592e+01] [ 1.01646433e-01 2.95884884e-03 9.94816188e-01 9.10329759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51710568099999 meters Centerline goodness [0,1] 0.9994332374734987 Centerline is valid? [True, True] Translation: X:80.84, Y:11.97, Z:9.11 [[ 9.72077136e-01 -2.11745904e-01 -1.01142044e-01 8.08418534e+01] [ 2.10236577e-01 9.77318471e-01 -2.54791525e-02 1.19709103e+01] [ 1.04243094e-01 3.50394452e-03 9.94545675e-01 9.10507718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54710568099999 meters Centerline goodness [0,1] 0.9992430932256844 Centerline is valid? [True, True] Translation: X:80.87, Y:11.98, Z:9.11 [[ 9.72929234e-01 -2.08826124e-01 -9.89967445e-02 8.08703863e+01] [ 2.07364400e-01 9.77945620e-01 -2.49473465e-02 1.19751996e+01] [ 1.02023090e-01 3.74360221e-03 9.94774987e-01 9.11094531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57710568099999 meters Centerline goodness [0,1] 0.9992430932256844 Centerline is valid? [True, True] Translation: X:80.90, Y:11.98, Z:9.11 [[ 9.72851972e-01 -2.09189705e-01 -9.89884214e-02 8.08969801e+01] [ 2.07726504e-01 9.77867927e-01 -2.49803315e-02 1.19821256e+01] [ 1.02023231e-01 3.73964601e-03 9.94774987e-01 9.11336324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.607105681 meters Centerline goodness [0,1] 0.9992654157746715 Centerline is valid? [True, True] Translation: X:80.92, Y:11.99, Z:9.11 [[ 9.73181273e-01 -2.08201318e-01 -9.78285302e-02 8.09220476e+01] [ 2.06763688e-01 9.78078482e-01 -2.47236694e-02 1.19948124e+01] [ 1.00831481e-01 3.83322437e-03 9.94896135e-01 9.11419336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.637105681 meters Centerline goodness [0,1] 0.9990999665103818 Centerline is valid? [True, True] Translation: X:80.95, Y:12.00, Z:9.12 [[ 9.73268046e-01 -2.08043638e-01 -9.72993102e-02 8.09505133e+01] [ 2.06618563e-01 9.78111967e-01 -2.46119606e-02 1.20012404e+01] [ 1.00289982e-01 3.85019115e-03 9.94950801e-01 9.11514211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.667105681 meters Centerline goodness [0,1] 0.9993692045669589 Centerline is valid? [True, True] Translation: X:80.98, Y:12.00, Z:9.12 [[ 9.72983724e-01 -2.09154404e-01 -9.77604665e-02 8.09799869e+01] [ 2.07718128e-01 9.77875305e-01 -2.47602038e-02 1.20025124e+01] [ 1.00776252e-01 3.78465424e-03 9.94901917e-01 9.11785738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697105681 meters Centerline goodness [0,1] 0.9996854950308215 Centerline is valid? [True, True] Translation: X:81.01, Y:12.00, Z:9.12 [[ 9.71819586e-01 -2.13815791e-01 -9.92446461e-02 8.10105861e+01] [ 2.12356081e-01 9.76868130e-01 -2.51704557e-02 1.20020169e+01] [ 1.02330773e-01 3.38593770e-03 9.94744665e-01 9.11870787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72710568099998 meters Centerline goodness [0,1] 0.9996437477734236 Centerline is valid? [True, True] Translation: X:81.04, Y:12.00, Z:9.12 [[ 9.70064573e-01 -2.21383352e-01 -9.98205132e-02 8.10404581e+01] [ 2.19943558e-01 9.75183311e-01 -2.53444561e-02 1.20030078e+01] [ 1.02954139e-01 2.63088016e-03 9.94682625e-01 9.11757369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75710568099998 meters Centerline goodness [0,1] 0.9997496139882318 Centerline is valid? [True, True] Translation: X:81.07, Y:12.00, Z:9.12 [[ 9.69272270e-01 -2.25432323e-01 -9.84455912e-02 8.10702138e+01] [ 2.24052295e-01 9.74256401e-01 -2.50006860e-02 1.20024471e+01] [ 1.01547210e-01 2.17551103e-03 9.94828343e-01 9.12294225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78710568099999 meters Centerline goodness [0,1] 0.9998746736292429 Centerline is valid? [True, True] Translation: X:81.10, Y:12.00, Z:9.13 [[ 9.68189562e-01 -2.31424994e-01 -9.51390803e-02 8.11004439e+01] [ 2.30164361e-01 9.72851589e-01 -2.41692593e-02 1.20014713e+01] [ 9.81495761e-02 1.50279896e-03 9.95170539e-01 9.12937044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81710568099999 meters Centerline goodness [0,1] 0.9998955940697432 Centerline is valid? [True, True] Translation: X:81.13, Y:12.00, Z:9.13 [[ 9.67415042e-01 -2.34229191e-01 -9.61499993e-02 8.11288614e+01] [ 2.32954556e-01 9.72180616e-01 -2.44340897e-02 1.20049969e+01] [ 9.91983427e-02 1.23932552e-03 9.95066909e-01 9.13111203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84710568099999 meters Centerline goodness [0,1] 0.9999374256930105 Centerline is valid? [True, True] Translation: X:81.16, Y:12.01, Z:9.13 [[ 9.67189260e-01 -2.34907042e-01 -9.67657817e-02 8.11566169e+01] [ 2.33615947e-01 9.72017086e-01 -2.46246539e-02 1.20086142e+01] [ 9.98424978e-02 1.21067112e-03 9.95002518e-01 9.13303635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87710568099999 meters Centerline goodness [0,1] 0.9999580272822666 Centerline is valid? [True, True] Translation: X:81.18, Y:12.02, Z:9.14 [[ 9.67257797e-01 -2.34549608e-01 -9.69475919e-02 8.11834212e+01] [ 2.33248271e-01 9.72103303e-01 -2.47065391e-02 1.20153740e+01] [ 1.00037983e-01 1.28473431e-03 9.94982789e-01 9.13538249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90710568099999 meters Centerline goodness [0,1] 0.9999579699485132 Centerline is valid? [True, True] Translation: X:81.21, Y:12.02, Z:9.14 [[ 9.66951726e-01 -2.35235970e-01 -9.83280170e-02 8.12115039e+01] [ 2.33898676e-01 9.71937484e-01 -2.50785924e-02 1.20214227e+01] [ 1.01468073e-01 1.25099514e-03 9.94838010e-01 9.13531961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93710568099999 meters Centerline goodness [0,1] 0.9999579310489893 Centerline is valid? [True, True] Translation: X:81.24, Y:12.03, Z:9.14 [[ 9.67130980e-01 -2.34555355e-01 -9.81908995e-02 8.12394399e+01] [ 2.33214889e-01 9.72101823e-01 -2.50771016e-02 1.20287291e+01] [ 1.01333521e-01 1.35326207e-03 9.94851590e-01 9.14047215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96710568099999 meters Centerline goodness [0,1] 0.9999372384937238 Centerline is valid? [True, True] Translation: X:81.27, Y:12.04, Z:9.14 [[ 9.67424656e-01 -2.33780327e-01 -9.71405881e-02 8.12652796e+01] [ 2.32461405e-01 9.72288361e-01 -2.48402485e-02 1.20375465e+01] [ 1.00255825e-01 1.44963122e-03 9.94960637e-01 9.14271390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.997105681 meters Centerline goodness [0,1] 0.9998528669917606 Centerline is valid? [True, True] Translation: X:81.29, Y:12.05, Z:9.15 [[ 9.68059500e-01 -2.31754126e-01 -9.56599732e-02 8.12923487e+01] [ 2.30463557e-01 9.72772994e-01 -2.44796130e-02 1.20456892e+01] [ 9.87286899e-02 1.65158424e-03 9.95113018e-01 9.14845267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.027105681 meters Centerline goodness [0,1] 0.9998953756015903 Centerline is valid? [True, True] Translation: X:81.32, Y:12.06, Z:9.15 [[ 9.68911162e-01 -2.28152997e-01 -9.56941445e-02 8.13194200e+01] [ 2.26840799e-01 9.73623133e-01 -2.45203419e-02 1.20559624e+01] [ 9.87644222e-02 2.05069678e-03 9.95108730e-01 9.15137991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057105681 meters Centerline goodness [0,1] 0.9998107852412488 Centerline is valid? [True, True] Translation: X:81.35, Y:12.07, Z:9.15 [[ 9.69993699e-01 -2.23932592e-01 -9.46911684e-02 8.13456580e+01] [ 2.22624869e-01 9.74601471e-01 -2.42927972e-02 1.20675934e+01] [ 9.77261010e-02 2.48325131e-03 9.95210250e-01 9.15388547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.087105681 meters Centerline goodness [0,1] 0.9998540906722251 Centerline is valid? [True, True] Translation: X:81.37, Y:12.08, Z:9.16 [[ 9.70182065e-01 -2.23380222e-01 -9.40640111e-02 8.13730864e+01] [ 2.22085907e-01 9.74728090e-01 -2.41453972e-02 1.20754116e+01] [ 9.70804380e-02 2.53514008e-03 9.95273310e-01 9.15726683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11710568099998 meters Centerline goodness [0,1] 0.9998322358763578 Centerline is valid? [True, True] Translation: X:81.40, Y:12.08, Z:9.16 [[ 9.69668728e-01 -2.26485354e-01 -9.19072513e-02 8.14012477e+01] [ 2.25260827e-01 9.74012080e-01 -2.36226291e-02 1.20796019e+01] [ 9.48689525e-02 2.20302123e-03 9.95487332e-01 9.16451356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14710568099999 meters Centerline goodness [0,1] 0.9998324010642532 Centerline is valid? [True, True] Translation: X:81.43, Y:12.08, Z:9.17 [[ 9.68915897e-01 -2.29947225e-01 -9.12483338e-02 8.14299548e+01] [ 2.28752614e-01 9.73201282e-01 -2.34841521e-02 1.20830578e+01] [ 9.42031111e-02 1.88087338e-03 9.95551222e-01 9.16820467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17710568099999 meters Centerline goodness [0,1] 0.999832242912263 Centerline is valid? [True, True] Translation: X:81.46, Y:12.08, Z:9.17 [[ 9.66740066e-01 -2.39921615e-01 -8.86073593e-02 8.14608181e+01] [ 2.38834352e-01 9.70791836e-01 -2.28334025e-02 1.20829854e+01] [ 9.14975278e-02 9.11483809e-04 9.95804886e-01 9.17261362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:12.08, Z:9.18 [[ 9.63781688e-01 -2.52779880e-01 -8.50128849e-02 8.14902129e+01] [ 2.51828797e-01 9.67523770e-01 -2.19091442e-02 1.20803896e+01] [ 8.77901777e-02 -2.93060590e-04 9.96138946e-01 9.17852101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23710568099999 meters Centerline goodness [0,1] 0.9999584139063897 Centerline is valid? [True, True] Translation: X:81.52, Y:12.08, Z:9.18 [[ 9.61917185e-01 -2.60307438e-01 -8.33988412e-02 8.15183378e+01] [ 2.59419510e-01 9.65525315e-01 -2.15031338e-02 1.20831768e+01] [ 8.61211181e-02 -9.51052612e-04 9.96284221e-01 9.18414434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:12.09, Z:9.19 [[ 9.61659527e-01 -2.61026691e-01 -8.41190819e-02 8.15445934e+01] [ 2.60124754e-01 9.65331056e-01 -2.17040367e-02 1.20924351e+01] [ 8.68680950e-02 -1.00956177e-03 9.96219311e-01 9.18554665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29710568099999 meters Centerline goodness [0,1] 0.9998323202682876 Centerline is valid? [True, True] Translation: X:81.57, Y:12.11, Z:9.18 [[ 9.62209415e-01 -2.57940444e-01 -8.72912838e-02 8.15705380e+01] [ 2.56953100e-01 9.66160548e-01 -2.25588222e-02 1.21072280e+01] [ 9.01562272e-02 -7.23454823e-04 9.95927373e-01 9.18339286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32710568099999 meters Centerline goodness [0,1] 0.999853446110041 Centerline is valid? [True, True] Translation: X:81.60, Y:12.12, Z:9.19 [[ 9.62891981e-01 -2.55035980e-01 -8.82931541e-02 8.15968384e+01] [ 2.54010728e-01 9.66931470e-01 -2.28491278e-02 1.21190246e+01] [ 9.12007790e-02 -4.26166376e-04 9.95832434e-01 9.18513631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357105681 meters Centerline goodness [0,1] 0.999664556165877 Centerline is valid? [True, True] Translation: X:81.62, Y:12.14, Z:9.19 [[ 9.64888899e-01 -2.47233661e-01 -8.86844318e-02 8.16206358e+01] [ 2.46163448e-01 9.68955829e-01 -2.29816993e-02 1.21380297e+01] [ 9.16131468e-02 3.43921070e-04 9.95794614e-01 9.18815608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.387105681 meters Centerline goodness [0,1] 0.9994758470311976 Centerline is valid? [True, True] Translation: X:81.65, Y:12.16, Z:9.19 [[ 9.66548585e-01 -2.40954363e-01 -8.78910020e-02 8.16459129e+01] [ 2.39874091e-01 9.70535967e-01 -2.28113436e-02 1.21565266e+01] [ 9.07978713e-02 9.65497685e-04 9.95868874e-01 9.18845193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417105681 meters Centerline goodness [0,1] 0.999413059427733 Centerline is valid? [True, True] Translation: X:81.67, Y:12.17, Z:9.19 [[ 9.66979617e-01 -2.38655753e-01 -8.94083470e-02 8.16724953e+01] [ 2.37524973e-01 9.71103450e-01 -2.32373949e-02 1.21681332e+01] [ 9.23704922e-02 1.23337200e-03 9.95723943e-01 9.18799067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.447105681 meters Centerline goodness [0,1] 0.9993497503880522 Centerline is valid? [True, True] Translation: X:81.70, Y:12.18, Z:9.18 [[ 9.67823290e-01 -2.33188852e-01 -9.45570668e-02 8.16979736e+01] [ 2.31894438e-01 9.72429632e-01 -2.46085442e-02 1.21835638e+01] [ 9.76885318e-02 1.88946441e-03 9.95215243e-01 9.18496783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47710568099998 meters Centerline goodness [0,1] 0.9993735382559304 Centerline is valid? [True, True] Translation: X:81.72, Y:12.20, Z:9.18 [[ 9.69025010e-01 -2.27089360e-01 -9.70615910e-02 8.17237954e+01] [ 2.25693743e-01 9.73870505e-01 -2.52700244e-02 1.21989497e+01] [ 1.00263974e-01 2.58109190e-03 9.94957523e-01 9.18423992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50710568099998 meters Centerline goodness [0,1] 0.9994748561105743 Centerline is valid? [True, True] Translation: X:81.75, Y:12.21, Z:9.19 [[ 9.69722710e-01 -2.23923243e-01 -9.74486917e-02 8.17508201e+01] [ 2.22499415e-01 9.74602377e-01 -2.53814428e-02 1.22093901e+01] [ 1.00657222e-01 2.93068454e-03 9.94916848e-01 9.18698590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53710568099999 meters Centerline goodness [0,1] 0.9992456151379896 Centerline is valid? [True, True] Translation: X:81.78, Y:12.23, Z:9.19 [[ 9.71418259e-01 -2.16115473e-01 -9.81869033e-02 8.17769279e+01] [ 2.14627023e-01 9.76360421e-01 -2.56040765e-02 1.22256319e+01] [ 1.01399243e-01 3.79870460e-03 9.94838561e-01 9.18877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56710568099999 meters Centerline goodness [0,1] 0.9989751955494207 Centerline is valid? [True, True] Translation: X:81.80, Y:12.24, Z:9.19 [[ 9.73048714e-01 -2.09056140e-01 -9.73228122e-02 8.18046625e+01] [ 2.07558196e-01 9.77893292e-01 -2.53831614e-02 1.22392696e+01] [ 1.00477831e-01 4.49890517e-03 9.94929126e-01 9.19181846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59710568099999 meters Centerline goodness [0,1] 0.9991408574661582 Centerline is valid? [True, True] Translation: X:81.83, Y:12.25, Z:9.19 [[ 9.74262980e-01 -2.03598691e-01 -9.67430602e-02 8.18330655e+01] [ 2.02091554e-01 9.79041487e-01 -2.52343207e-02 1.22498520e+01] [ 9.98531441e-02 5.03390908e-03 9.94989452e-01 9.19451111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62710568099999 meters Centerline goodness [0,1] 0.9987831997650317 Centerline is valid? [True, True] Translation: X:81.86, Y:12.26, Z:9.20 [[ 9.74622048e-01 -2.01990267e-01 -9.64976505e-02 8.18614252e+01] [ 2.00482331e-01 9.79373770e-01 -2.51764585e-02 1.22566631e+01] [ 9.95926673e-02 5.19145760e-03 9.95014748e-01 9.19696894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65710568099999 meters Centerline goodness [0,1] 0.9989324513846733 Centerline is valid? [True, True] Translation: X:81.89, Y:12.27, Z:9.20 [[ 9.75127564e-01 -1.99434692e-01 -9.67059375e-02 8.18885917e+01] [ 1.97904614e-01 9.79895714e-01 -2.52616993e-02 1.22652413e+01] [ 9.97997929e-02 5.49482802e-03 9.94992366e-01 9.19983078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68710568099999 meters Centerline goodness [0,1] 0.9989310865191147 Centerline is valid? [True, True] Translation: X:81.92, Y:12.27, Z:9.20 [[ 9.75086811e-01 -1.99351176e-01 -9.72873087e-02 8.19171388e+01] [ 1.97801106e-01 9.79912413e-01 -2.54240953e-02 1.22705847e+01] [ 1.00401365e-01 5.54716272e-03 9.94931553e-01 9.20235561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71710568099999 meters Centerline goodness [0,1] 0.9994143362128469 Centerline is valid? [True, True] Translation: X:81.95, Y:12.27, Z:9.20 [[ 9.74487441e-01 -2.02077960e-01 -9.76664004e-02 8.19471564e+01] [ 2.00526013e-01 9.79354992e-01 -2.55561552e-02 1.22715215e+01] [ 1.00814413e-01 5.31949842e-03 9.94891028e-01 9.20442772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.747105681 meters Centerline goodness [0,1] 0.9989167343707684 Centerline is valid? [True, True] Translation: X:81.98, Y:12.27, Z:9.21 [[ 9.73511171e-01 -2.07298428e-01 -9.64539358e-02 8.19786552e+01] [ 2.05807707e-01 9.78266244e-01 -2.52654590e-02 1.22701375e+01] [ 9.95951195e-02 4.74524321e-03 9.95016731e-01 9.20738445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.777105681 meters Centerline goodness [0,1] 0.9994137230679034 Centerline is valid? [True, True] Translation: X:82.01, Y:12.28, Z:9.21 [[ 9.73056781e-01 -2.09800746e-01 -9.56250323e-02 8.20062730e+01] [ 2.08347344e-01 9.77734021e-01 -2.50513061e-02 1.22756693e+01] [ 9.87516301e-02 4.45312188e-03 9.95102148e-01 9.21015642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.807105681 meters Centerline goodness [0,1] 0.9994746905927592 Centerline is valid? [True, True] Translation: X:82.04, Y:12.27, Z:9.21 [[ 9.71606211e-01 -2.16191799e-01 -9.61378062e-02 8.20390086e+01] [ 2.14752988e-01 9.76343390e-01 -2.51940076e-02 1.22690674e+01] [ 9.93102495e-02 3.83277316e-03 9.95049137e-01 9.21311571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837105681 meters Centerline goodness [0,1] 0.9994558848150008 Centerline is valid? [True, True] Translation: X:82.07, Y:12.26, Z:9.22 [[ 9.69418685e-01 -2.26777114e-01 -9.38059328e-02 8.20709466e+01] [ 2.25456480e-01 9.73942983e-01 -2.45853836e-02 1.22609215e+01] [ 9.69370323e-02 2.68437486e-03 9.95286896e-01 9.21905859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86710568099998 meters Centerline goodness [0,1] 0.9997904793831713 Centerline is valid? [True, True] Translation: X:82.10, Y:12.25, Z:9.23 [[ 9.66926787e-01 -2.37664007e-01 -9.25656952e-02 8.21041962e+01] [ 2.36427297e-01 9.71346144e-01 -2.42652547e-02 1.22510772e+01] [ 9.56803087e-02 1.57766763e-03 9.95410865e-01 9.22711422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89710568099999 meters Centerline goodness [0,1] 0.9997698455873122 Centerline is valid? [True, True] Translation: X:82.13, Y:12.25, Z:9.23 [[ 9.65140594e-01 -2.44496415e-01 -9.34084442e-02 8.21345415e+01] [ 2.43268445e-01 9.69649766e-01 -2.44907265e-02 1.22513920e+01] [ 9.65613709e-02 9.13667382e-04 9.95326613e-01 9.22793386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92710568099999 meters Centerline goodness [0,1] 0.9999790488162581 Centerline is valid? [True, True] Translation: X:82.17, Y:12.25, Z:9.22 [[ 9.61528976e-01 -2.57735565e-01 -9.50495021e-02 8.21667157e+01] [ 2.56525329e-01 9.66215413e-01 -2.49505613e-02 1.22456425e+01] [ 9.82689410e-02 -3.91917166e-04 9.95159817e-01 9.22475029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:12.24, Z:9.23 [[ 9.59167492e-01 -2.66714622e-01 -9.41330568e-02 8.21974491e+01] [ 2.65567692e-01 9.63774715e-01 -2.47406368e-02 1.22391489e+01] [ 9.73217496e-02 -1.26828408e-03 9.95252163e-01 9.23122926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:12.24, Z:9.24 [[ 9.58575489e-01 -2.69457222e-01 -9.23354611e-02 8.22247420e+01] [ 2.68363650e-01 9.63011210e-01 -2.42973555e-02 1.22421810e+01] [ 9.54671820e-02 -1.48863195e-03 9.95431465e-01 9.23712499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:12.26, Z:9.25 [[ 9.59092905e-01 -2.69165049e-01 -8.76982075e-02 8.22503658e+01] [ 2.68176149e-01 9.63093089e-01 -2.30923332e-02 1.22556715e+01] [ 9.06771865e-02 -1.37087460e-03 9.95879395e-01 9.24539323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04710568099999 meters Centerline goodness [0,1] 0.9999790474993191 Centerline is valid? [True, True] Translation: X:82.28, Y:12.27, Z:9.25 [[ 9.59259433e-01 -2.68431398e-01 -8.81244872e-02 8.22772587e+01] [ 2.67427123e-01 9.63297953e-01 -2.32333347e-02 1.22653870e+01] [ 9.11266946e-02 -1.28008259e-03 9.95838484e-01 9.24812968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07710568099999 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:82.30, Y:12.28, Z:9.25 [[ 9.59547252e-01 -2.66871371e-01 -8.97147846e-02 8.23025588e+01] [ 2.65820986e-01 9.63731501e-01 -2.36811579e-02 1.22766276e+01] [ 9.27807871e-02 -1.12488257e-03 9.95685924e-01 9.25196465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:12.29, Z:9.25 [[ 9.59733617e-01 -2.65957309e-01 -9.04328200e-02 8.23284209e+01] [ 2.64884829e-01 9.63984254e-01 -2.38827439e-02 1.22899098e+01] [ 9.35276048e-02 -1.03320987e-03 9.95616151e-01 9.25417358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.137105681 meters Centerline goodness [0,1] 0.9999160422307579 Centerline is valid? [True, True] Translation: X:82.35, Y:12.32, Z:9.25 [[ 9.61814536e-01 -2.58291362e-01 -9.05448566e-02 8.23509344e+01] [ 2.57178817e-01 9.66067031e-01 -2.39488393e-02 1.23165913e+01] [ 9.36581791e-02 -2.51877356e-04 9.95604380e-01 9.25490962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.167105681 meters Centerline goodness [0,1] 0.9996645631983899 Centerline is valid? [True, True] Translation: X:82.38, Y:12.33, Z:9.25 [[ 9.62675443e-01 -2.54728764e-01 -9.14836001e-02 8.23754994e+01] [ 2.53573821e-01 9.67012534e-01 -2.42296603e-02 1.23322064e+01] [ 9.46377794e-02 1.27452907e-04 9.95511765e-01 9.25375365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197105681 meters Centerline goodness [0,1] 0.9998113286654647 Centerline is valid? [True, True] Translation: X:82.40, Y:12.35, Z:9.25 [[ 9.63406862e-01 -2.51209035e-01 -9.34945938e-02 8.24011101e+01] [ 2.49983495e-01 9.67932725e-01 -2.47889414e-02 1.23485712e+01] [ 9.67236830e-02 5.09730929e-04 9.95311142e-01 9.25300559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22710568099998 meters Centerline goodness [0,1] 0.9996012089665015 Centerline is valid? [True, True] Translation: X:82.43, Y:12.37, Z:9.25 [[ 9.64798174e-01 -2.43947340e-01 -9.82556778e-02 8.24256275e+01] [ 2.42552911e-01 9.69787568e-01 -2.60798313e-02 1.23720984e+01] [ 1.01649240e-01 1.32957293e-03 9.94819413e-01 9.24870739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25710568099998 meters Centerline goodness [0,1] 0.9994555315896384 Centerline is valid? [True, True] Translation: X:82.45, Y:12.39, Z:9.25 [[ 9.65875501e-01 -2.39002058e-01 -9.98124902e-02 8.24509959e+01] [ 2.37535894e-01 9.71017228e-01 -2.64998474e-02 1.23899036e+01] [ 1.03253166e-01 1.88650429e-03 9.94653319e-01 9.25092445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28710568099999 meters Centerline goodness [0,1] 0.9994129240575335 Centerline is valid? [True, True] Translation: X:82.48, Y:12.40, Z:9.25 [[ 9.65941185e-01 -2.39166391e-01 -9.87778519e-02 8.24772827e+01] [ 2.37730244e-01 9.70976815e-01 -2.62365259e-02 1.24010549e+01] [ 1.02185899e-01 1.86045812e-03 9.94763580e-01 9.25422924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31710568099999 meters Centerline goodness [0,1] 0.9994122215924597 Centerline is valid? [True, True] Translation: X:82.51, Y:12.41, Z:9.26 [[ 9.65092011e-01 -2.43675024e-01 -9.60202789e-02 8.25052602e+01] [ 2.42336852e-01 9.69855959e-01 -2.55395463e-02 1.24087050e+01] [ 9.93491893e-02 1.37876003e-03 9.95051676e-01 9.26062160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34710568099999 meters Centerline goodness [0,1] 0.9995598776040575 Centerline is valid? [True, True] Translation: X:82.53, Y:12.42, Z:9.26 [[ 9.64326236e-01 -2.47078990e-01 -9.50099160e-02 8.25315986e+01] [ 2.45782472e-01 9.68994778e-01 -2.53001459e-02 1.24190371e+01] [ 9.83152470e-02 1.04582241e-03 9.95154771e-01 9.26067287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37710568099999 meters Centerline goodness [0,1] 0.9996227522320493 Centerline is valid? [True, True] Translation: X:82.56, Y:12.42, Z:9.27 [[ 9.62792027e-01 -2.53290764e-01 -9.42088222e-02 8.25600255e+01] [ 2.52044322e-01 9.67390103e-01 -2.51007807e-02 1.24241436e+01] [ 9.74944781e-02 4.22032813e-04 9.95235976e-01 9.26681961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40710568099999 meters Centerline goodness [0,1] 0.9996225307218052 Centerline is valid? [True, True] Translation: X:82.59, Y:12.43, Z:9.27 [[ 9.61295655e-01 -2.59308492e-01 -9.31115986e-02 8.25877378e+01] [ 2.58115946e-01 9.65794534e-01 -2.48410104e-02 1.24311108e+01] [ 9.63681579e-02 -1.54033019e-04 9.95345746e-01 9.27069403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43710568099999 meters Centerline goodness [0,1] 0.9997287088628728 Centerline is valid? [True, True] Translation: X:82.61, Y:12.44, Z:9.27 [[ 9.60126855e-01 -2.63876429e-01 -9.23344583e-02 8.26147318e+01] [ 2.62721785e-01 9.64556322e-01 -2.46650765e-02 1.24366152e+01] [ 9.55703177e-02 -5.76671384e-04 9.95422514e-01 9.27352767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46710568099999 meters Centerline goodness [0,1] 0.9997287088628728 Centerline is valid? [True, True] Translation: X:82.64, Y:12.44, Z:9.28 [[ 9.60028884e-01 -2.64234309e-01 -9.23296902e-02 8.26412010e+01] [ 2.63079601e-01 9.64458334e-01 -2.46829124e-02 1.24439276e+01] [ 9.55702114e-02 -5.93749249e-04 9.95422514e-01 9.27594666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.497105681 meters Centerline goodness [0,1] 0.9996855016249083 Centerline is valid? [True, True] Translation: X:82.67, Y:12.45, Z:9.28 [[ 9.56919842e-01 -2.76147828e-01 -8.97039140e-02 8.26704292e+01] [ 2.75106943e-01 9.61113673e-01 -2.40141189e-02 1.24460593e+01] [ 9.28471051e-02 -1.69858272e-03 9.95678929e-01 9.28026103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.527105681 meters Centerline goodness [0,1] 0.9998120967910308 Centerline is valid? [True, True] Translation: X:82.70, Y:12.45, Z:9.29 [[ 9.53746421e-01 -2.87455364e-01 -8.79612333e-02 8.27002435e+01] [ 2.86501998e-01 9.57790120e-01 -2.35518788e-02 1.24488978e+01] [ 9.10185140e-02 -2.73854901e-03 9.95845435e-01 9.28639891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557105681 meters Centerline goodness [0,1] 0.9998741082668905 Centerline is valid? [True, True] Translation: X:82.73, Y:12.45, Z:9.29 [[ 9.51931935e-01 -2.93604338e-01 -8.73045438e-02 8.27296510e+01] [ 2.92690562e-01 9.55921346e-01 -2.33797842e-02 1.24542554e+01] [ 9.03206831e-02 -3.29725275e-03 9.95907276e-01 9.28918796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.587105681 meters Centerline goodness [0,1] 0.9998740131026373 Centerline is valid? [True, True] Translation: X:82.76, Y:12.46, Z:9.29 [[ 9.48291705e-01 -3.05050184e-01 -8.76768385e-02 8.27588561e+01] [ 3.04176742e-01 9.52326113e-01 -2.34836870e-02 1.24590593e+01] [ 9.06606459e-02 -4.39986951e-03 9.95872125e-01 9.28930582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61710568099998 meters Centerline goodness [0,1] 0.9996008151774272 Centerline is valid? [True, True] Translation: X:82.79, Y:12.47, Z:9.29 [[ 9.45594268e-01 -3.13278002e-01 -8.77973492e-02 8.27866629e+01] [ 3.12436868e-01 9.49647282e-01 -2.35211112e-02 1.24657805e+01] [ 9.07451608e-02 -5.18970092e-03 9.95860624e-01 9.29081219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64710568099999 meters Centerline goodness [0,1] 0.9994544577099813 Centerline is valid? [True, True] Translation: X:82.81, Y:12.48, Z:9.29 [[ 9.44593634e-01 -3.15952972e-01 -8.89751991e-02 8.28125799e+01] [ 3.15100346e-01 9.48758825e-01 -2.38424888e-02 1.24792592e+01] [ 9.19491105e-02 -5.51465289e-03 9.95748437e-01 9.29147426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67710568099999 meters Centerline goodness [0,1] 0.9996847017278345 Centerline is valid? [True, True] Translation: X:82.84, Y:12.50, Z:9.29 [[ 9.44715723e-01 -3.15485838e-01 -8.93358212e-02 8.28386731e+01] [ 3.14623241e-01 9.48914452e-01 -2.39494987e-02 1.24952953e+01] [ 9.23277795e-02 -5.48165758e-03 9.95713580e-01 9.29251633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70710568099999 meters Centerline goodness [0,1] 0.9999372896590648 Centerline is valid? [True, True] Translation: X:82.86, Y:12.52, Z:9.29 [[ 9.46348363e-01 -3.09580889e-01 -9.26523042e-02 8.28621287e+01] [ 3.08622013e-01 9.50859641e-01 -2.48675560e-02 1.25206070e+01] [ 9.57978569e-02 -5.06116972e-03 9.95387942e-01 9.28945990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:12.55, Z:9.29 [[ 9.49098160e-01 -3.00117452e-01 -9.56148382e-02 8.28846725e+01] [ 2.99047638e-01 9.53892873e-01 -2.56689844e-02 1.25512761e+01] [ 9.89100229e-02 -4.23100567e-03 9.95087386e-01 9.28977192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:12.57, Z:9.29 [[ 9.50682539e-01 -2.94898685e-01 -9.61117886e-02 8.29105637e+01] [ 2.93790502e-01 9.55521359e-01 -2.58084036e-02 1.25698009e+01] [ 9.94477311e-02 -3.70113195e-03 9.95035904e-01 9.29194725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:12.60, Z:9.29 [[ 9.54450362e-01 -2.82115865e-01 -9.71346763e-02 8.29317146e+01] [ 2.80916033e-01 9.59377399e-01 -2.60995915e-02 1.26018684e+01] [ 1.00551922e-01 -2.37592338e-03 9.94928975e-01 9.29402057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:12.62, Z:9.30 [[ 9.56518732e-01 -2.74631827e-01 -9.82307206e-02 8.29557740e+01] [ 2.73364272e-01 9.61548132e-01 -2.64038861e-02 1.26245003e+01] [ 1.01704913e-01 -1.59695781e-03 9.94813329e-01 9.29636645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:12.66, Z:9.30 [[ 9.60932890e-01 -2.59086997e-01 -9.73750939e-02 8.29749491e+01] [ 2.57758503e-01 9.65853986e-01 -2.62036710e-02 1.26593512e+01] [ 1.00839153e-01 8.07108336e-05 9.94902738e-01 9.30023382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.887105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:12.69, Z:9.31 [[ 9.64199965e-01 -2.47586206e-01 -9.49710339e-02 8.29956013e+01] [ 2.46265282e-01 9.68865037e-01 -2.55724523e-02 1.26893944e+01] [ 9.83455007e-02 1.26888910e-03 9.95151522e-01 9.30535811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:12.70, Z:9.31 [[ 9.65099133e-01 -2.44138065e-01 -9.47642779e-02 8.30213669e+01] [ 2.42804960e-01 9.69739113e-01 -2.55304479e-02 1.27045888e+01] [ 9.81295809e-02 1.63017650e-03 9.95172311e-01 9.30764776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.947105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:12.72, Z:9.31 [[ 9.66173828e-01 -2.39135532e-01 -9.65522191e-02 8.30464722e+01] [ 2.37723536e-01 9.70983686e-01 -2.60423026e-02 1.27246303e+01] [ 9.99782695e-02 2.20865624e-03 9.94987169e-01 9.30707364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:12.74, Z:9.31 [[ 9.67314579e-01 -2.34596273e-01 -9.62657495e-02 8.30709022e+01] [ 2.33169514e-01 9.72089205e-01 -2.59722105e-02 1.27443950e+01] [ 9.96718796e-02 2.67705986e-03 9.95016759e-01 9.30923963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:12.76, Z:9.31 [[ 9.67805295e-01 -2.32528249e-01 -9.63510440e-02 8.30968062e+01] [ 2.31087777e-01 9.72585313e-01 -2.60047599e-02 1.27572372e+01] [ 9.97564516e-02 2.90199577e-03 9.95007653e-01 9.31092955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:12.77, Z:9.31 [[ 9.68440625e-01 -2.29025742e-01 -9.83359779e-02 8.31237945e+01] [ 2.27506014e-01 9.73414632e-01 -2.65512310e-02 1.27720689e+01] [ 1.01802595e-01 3.34126435e-03 9.94799009e-01 9.30962576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06710568099999 meters Centerline goodness [0,1] 0.9999789469251984 Centerline is valid? [True, True] Translation: X:83.15, Y:12.77, Z:9.31 [[ 9.68138431e-01 -2.29305513e-01 -1.00632799e-01 8.31524819e+01] [ 2.27714219e-01 9.73348563e-01 -2.71810477e-02 1.27749061e+01] [ 1.04183554e-01 3.39949764e-03 9.94552276e-01 9.31130272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:12.79, Z:9.31 [[ 9.67774567e-01 -2.30707264e-01 -1.00928415e-01 8.31783022e+01] [ 2.29110656e-01 9.73017640e-01 -2.72943165e-02 1.27859060e+01] [ 1.04502126e-01 3.29096989e-03 9.94519218e-01 9.31077882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:12.79, Z:9.31 [[ 9.66919623e-01 -2.34421389e-01 -1.00563686e-01 8.32063970e+01] [ 2.32854526e-01 9.72130766e-01 -2.72129453e-02 1.27896858e+01] [ 1.04140350e-01 2.89602127e-03 9.94558395e-01 9.31325622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:12.79, Z:9.32 [[ 9.66478784e-01 -2.37084812e-01 -9.85370578e-02 8.32353100e+01] [ 2.35593192e-01 9.71485562e-01 -2.66767693e-02 1.27900794e+01] [ 1.02051986e-01 2.56787158e-03 9.94775753e-01 9.32007600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:12.79, Z:9.32 [[ 9.65157698e-01 -2.43390883e-01 -9.60806764e-02 8.32655093e+01] [ 2.42001094e-01 9.69926459e-01 -2.60410181e-02 1.27886681e+01] [ 9.95293366e-02 1.88206032e-03 9.95032848e-01 9.32498388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:12.78, Z:9.33 [[ 9.62322940e-01 -2.54592982e-01 -9.54828409e-02 8.32981099e+01] [ 2.53274822e-01 9.67048027e-01 -2.58839170e-02 1.27827968e+01] [ 9.89263565e-02 7.25287553e-04 9.95094493e-01 9.32752749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:12.78, Z:9.33 [[ 9.60663602e-01 -2.60596485e-01 -9.59943531e-02 8.33274181e+01] [ 2.59292969e-01 9.65447802e-01 -2.60326272e-02 1.27830883e+01] [ 9.94615484e-02 1.17936581e-04 9.95041399e-01 9.32959434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:12.78, Z:9.33 [[ 9.57250681e-01 -2.72483443e-01 -9.70768097e-02 8.33576459e+01] [ 2.71207832e-01 9.62159847e-01 -2.63579555e-02 1.27762366e+01] [ 1.00585515e-01 -1.09682021e-03 9.94927812e-01 9.32965197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.307105681 meters Centerline goodness [0,1] 0.9998947257606063 Centerline is valid? [True, True] Translation: X:83.39, Y:12.77, Z:9.33 [[ 9.54267663e-01 -2.82403692e-01 -9.80886449e-02 8.33891179e+01] [ 2.81152019e-01 9.59293245e-01 -2.66460381e-02 1.27742437e+01] [ 1.01620714e-01 -2.15036811e-03 9.94820892e-01 9.33151402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:12.78, Z:9.33 [[ 9.52930196e-01 -2.86667118e-01 -9.87218590e-02 8.34179398e+01] [ 2.85421395e-01 9.58026679e-01 -2.68236610e-02 1.27771439e+01] [ 1.02267636e-01 -2.61625417e-03 9.94753480e-01 9.33284406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:12.78, Z:9.34 [[ 9.50938732e-01 -2.93437553e-01 -9.80302529e-02 8.34480029e+01] [ 2.92244056e-01 9.55972511e-01 -2.66452728e-02 1.27769123e+01] [ 1.01532951e-01 -3.31073680e-03 9.94826668e-01 9.33617335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:12.78, Z:9.34 [[ 9.49132779e-01 -2.99114957e-01 -9.83728089e-02 8.34763631e+01] [ 2.97942330e-01 9.54209027e-01 -2.67488620e-02 1.27835841e+01] [ 1.01869207e-01 -3.92120215e-03 9.94790073e-01 9.34041120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.51, Y:12.79, Z:9.34 [[ 9.47186116e-01 -3.05432672e-01 -9.77207512e-02 8.35053836e+01] [ 3.04307988e-01 9.52202757e-01 -2.65811598e-02 1.27914322e+01] [ 1.01168723e-01 -4.55989969e-03 9.94858833e-01 9.34416224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:12.80, Z:9.35 [[ 9.46611190e-01 -3.07615630e-01 -9.64358830e-02 8.35332508e+01] [ 3.06531139e-01 9.51498976e-01 -2.62366121e-02 1.27950960e+01] [ 9.98294359e-02 -4.72473048e-03 9.94993347e-01 9.34697744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:12.81, Z:9.35 [[ 9.45761495e-01 -3.10669571e-01 -9.49716358e-02 8.35606429e+01] [ 3.09631544e-01 9.50505061e-01 -2.58541208e-02 1.28061797e+01] [ 9.83031091e-02 -4.95438220e-03 9.95144187e-01 9.35364733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:12.82, Z:9.36 [[ 9.44850980e-01 -3.13501502e-01 -9.47282084e-02 8.35868661e+01] [ 3.12482423e-01 9.49573300e-01 -2.57930807e-02 1.28161871e+01] [ 9.80375470e-02 -5.23028254e-03 9.95168972e-01 9.35691930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.61, Y:12.83, Z:9.36 [[ 9.44699631e-01 -3.14153506e-01 -9.40754104e-02 8.36134274e+01] [ 3.13150429e-01 9.49357689e-01 -2.56278585e-02 1.28264746e+01] [ 9.73622958e-02 -5.24912665e-03 9.95235163e-01 9.35916036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:12.85, Z:9.36 [[ 9.44840297e-01 -3.13667043e-01 -9.42857315e-02 8.36380053e+01] [ 3.12653971e-01 9.49518903e-01 -2.57166769e-02 1.28458419e+01] [ 9.75925583e-02 -5.18065573e-03 9.95212969e-01 9.36103967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.607105681 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:83.66, Y:12.86, Z:9.36 [[ 9.45340129e-01 -3.11248332e-01 -9.72446174e-02 8.36638276e+01] [ 3.10154600e-01 9.50315162e-01 -2.65559130e-02 1.28577975e+01] [ 1.00678518e-01 -5.05649522e-03 9.94906160e-01 9.35839072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:12.88, Z:9.36 [[ 9.45948704e-01 -3.09020321e-01 -9.84250506e-02 8.36885686e+01] [ 3.07886606e-01 9.51042982e-01 -2.68902224e-02 1.28757874e+01] [ 1.01916079e-01 -4.86698378e-03 9.94781094e-01 9.36092133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:12.89, Z:9.36 [[ 9.48240667e-01 -3.01150148e-01 -1.00738407e-01 8.37136608e+01] [ 2.99917131e-01 9.53567892e-01 -2.75316168e-02 1.28949247e+01] [ 1.04352061e-01 -4.10657547e-03 9.94531942e-01 9.35871304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697105681 meters Centerline goodness [0,1] 0.9998104744456378 Centerline is valid? [True, True] Translation: X:83.74, Y:12.93, Z:9.36 [[ 9.51647599e-01 -2.89663569e-01 -1.02283252e-01 8.37361532e+01] [ 2.88325516e-01 9.57124182e-01 -2.79588432e-02 1.29272019e+01] [ 1.05996432e-01 -2.88390531e-03 9.94362328e-01 9.36061862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72710568099998 meters Centerline goodness [0,1] 0.9999371582982467 Centerline is valid? [True, True] Translation: X:83.76, Y:12.94, Z:9.36 [[ 9.53882562e-01 -2.82428282e-01 -1.01697213e-01 8.37619582e+01] [ 2.81064103e-01 9.59286197e-01 -2.78021966e-02 1.29427619e+01] [ 1.05408859e-01 -2.06340535e-03 9.94426827e-01 9.36079018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75710568099998 meters Centerline goodness [0,1] 0.9998316462888529 Centerline is valid? [True, True] Translation: X:83.78, Y:12.97, Z:9.37 [[ 9.58717392e-01 -2.67327256e-01 -9.69386383e-02 8.37830688e+01] [ 2.66010224e-01 9.63605727e-01 -2.65059067e-02 1.29744695e+01] [ 1.00496378e-01 -3.74995173e-04 9.94937353e-01 9.37138075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:13.00, Z:9.38 [[ 9.61575450e-01 -2.59104550e-01 -9.07605962e-02 8.38062855e+01] [ 2.57913186e-01 9.65849171e-01 -2.48227373e-02 1.29965519e+01] [ 9.40927308e-02 4.60580230e-04 9.95563331e-01 9.38191588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:13.01, Z:9.39 [[ 9.61818103e-01 -2.58908138e-01 -8.87271816e-02 8.38316072e+01] [ 2.57766007e-01 9.65901821e-01 -2.42972842e-02 1.30071879e+01] [ 9.19925109e-02 4.98716410e-04 9.95759574e-01 9.38717719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:13.01, Z:9.39 [[ 9.60741422e-01 -2.63268272e-01 -8.75541985e-02 8.38597179e+01] [ 2.62171094e-01 9.64722656e-01 -2.40107001e-02 1.30142716e+01] [ 9.07867745e-02 1.13894186e-04 9.95870347e-01 9.39096478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87710568099999 meters Centerline goodness [0,1] 0.9999369721416866 Centerline is valid? [True, True] Translation: X:83.89, Y:13.02, Z:9.40 [[ 9.59017513e-01 -2.70235473e-01 -8.51950683e-02 8.38876983e+01] [ 2.69221454e-01 9.62794131e-01 -2.33938152e-02 1.30163654e+01] [ 8.83471504e-02 -5.01261688e-04 9.96089619e-01 9.39559390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90710568099999 meters Centerline goodness [0,1] 0.9999789973326613 Centerline is valid? [True, True] Translation: X:83.92, Y:13.02, Z:9.40 [[ 9.58106673e-01 -2.73530133e-01 -8.49286089e-02 8.39159177e+01] [ 2.72534398e-01 9.61863108e-01 -2.33315861e-02 1.30216715e+01] [ 8.80715876e-02 -7.91818952e-04 9.96113833e-01 9.39897128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:13.03, Z:9.40 [[ 9.57769044e-01 -2.75026088e-01 -8.38994023e-02 8.39437803e+01] [ 2.74057551e-01 9.61436352e-01 -2.30781197e-02 1.30293454e+01] [ 8.70110202e-02 -8.89756104e-04 9.96206952e-01 9.40292848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:13.04, Z:9.41 [[ 9.59105826e-01 -2.70193824e-01 -8.43286014e-02 8.39707114e+01] [ 2.69193921e-01 9.62805857e-01 -2.32274447e-02 1.30410077e+01] [ 8.74679834e-02 -4.23169390e-04 9.96167241e-01 9.40573914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:13.05, Z:9.41 [[ 9.60115928e-01 -2.65700465e-01 -8.70670282e-02 8.39964392e+01] [ 2.64613007e-01 9.64055632e-01 -2.40144556e-02 1.30525786e+01] [ 9.03181109e-02 1.75932000e-05 9.95912967e-01 9.40595088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:13.07, Z:9.40 [[ 9.62173543e-01 -2.55311964e-01 -9.50677343e-02 8.40221082e+01] [ 2.53962940e-01 9.66858105e-01 -2.62341279e-02 1.30696048e+01] [ 9.86148962e-02 1.09810241e-03 9.95125066e-01 9.39937140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057105681 meters Centerline goodness [0,1] 0.999957884983891 Centerline is valid? [True, True] Translation: X:84.05, Y:13.08, Z:9.40 [[ 9.63341618e-01 -2.50206457e-01 -9.67969849e-02 8.40475808e+01] [ 2.48781173e-01 9.68191085e-01 -2.67198778e-02 1.30809505e+01] [ 1.00403464e-01 1.65910285e-03 9.94945422e-01 9.39933035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:13.09, Z:9.40 [[ 9.65197956e-01 -2.42664708e-01 -9.75025413e-02 8.40751928e+01] [ 2.41178593e-01 9.70107059e-01 -2.69291614e-02 1.30910017e+01] [ 1.01122661e-01 2.47644577e-03 9.94870883e-01 9.40082314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11710568099998 meters Centerline goodness [0,1] 0.9999789641970634 Centerline is valid? [True, True] Translation: X:84.10, Y:13.09, Z:9.40 [[ 9.64993099e-01 -2.42477733e-01 -9.99643304e-02 8.41035820e+01] [ 2.40913192e-01 9.70153565e-01 -2.76205487e-02 1.30944123e+01] [ 1.03678120e-01 2.57091300e-03 9.94607580e-01 9.39729698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14710568099999 meters Centerline goodness [0,1] 0.9999370963683637 Centerline is valid? [True, True] Translation: X:84.13, Y:13.09, Z:9.40 [[ 9.64482263e-01 -2.44655414e-01 -9.95876174e-02 8.41333223e+01] [ 2.43112587e-01 9.69607259e-01 -2.75324072e-02 1.30922372e+01] [ 1.03296829e-01 2.34351510e-03 9.94647814e-01 9.40277574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17710568099999 meters Centerline goodness [0,1] 0.999937064697491 Centerline is valid? [True, True] Translation: X:84.16, Y:13.09, Z:9.41 [[ 9.63626578e-01 -2.49023638e-01 -9.70105449e-02 8.41641931e+01] [ 2.47578501e-01 9.68495623e-01 -2.68535686e-02 1.30886099e+01] [ 1.00641461e-01 1.85908708e-03 9.94921022e-01 9.40924910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:13.09, Z:9.41 [[ 9.63093212e-01 -2.51234337e-01 -9.66062804e-02 8.41936895e+01] [ 2.49809100e-01 9.67924882e-01 -2.67738010e-02 1.30877391e+01] [ 1.00234121e-01 1.65253803e-03 9.94962507e-01 9.41234932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:13.09, Z:9.41 [[ 9.62968938e-01 -2.50736299e-01 -9.91066723e-02 8.42236390e+01] [ 2.49229764e-01 9.68053783e-01 -2.75026987e-02 1.30881838e+01] [ 1.02836514e-01 1.78391201e-03 9.94696672e-01 9.41288711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:13.09, Z:9.41 [[ 9.62968179e-01 -2.50588830e-01 -9.94862989e-02 8.42508995e+01] [ 2.49066557e-01 9.68091865e-01 -2.76403805e-02 1.30938392e+01] [ 1.03238247e-01 1.83809699e-03 9.94654958e-01 9.41489042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:13.10, Z:9.42 [[ 9.63002825e-01 -2.51522065e-01 -9.67585121e-02 8.42801233e+01] [ 2.50085585e-01 9.67850064e-01 -2.68970792e-02 1.30950698e+01] [ 1.00412941e-01 1.70405411e-03 9.94944389e-01 9.42239728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:13.09, Z:9.43 [[ 9.62895871e-01 -2.53177122e-01 -9.34499129e-02 8.43094391e+01] [ 2.51842184e-01 9.67418766e-01 -2.60085728e-02 1.30939794e+01] [ 9.69899750e-02 1.50891712e-03 9.95284215e-01 9.43096144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:13.10, Z:9.43 [[ 9.62178298e-01 -2.55844545e-01 -9.35761284e-02 8.43386792e+01] [ 2.54515308e-01 9.66717097e-01 -2.60770631e-02 1.30958562e+01] [ 9.71333175e-02 1.27422710e-03 9.95270564e-01 9.43375629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.387105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:13.10, Z:9.44 [[ 9.62081791e-01 -2.56210398e-01 -9.35674044e-02 8.43650032e+01] [ 2.54879845e-01 9.66620204e-01 -2.61083304e-02 1.31034540e+01] [ 9.71333692e-02 1.26990371e-03 9.95270564e-01 9.43617197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:13.11, Z:9.44 [[ 9.61744886e-01 -2.57530962e-01 -9.34054475e-02 8.43928927e+01] [ 2.56207518e-01 9.66269337e-01 -2.61012769e-02 1.31083052e+01] [ 9.69767067e-02 1.17159171e-03 9.95285962e-01 9.43920758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.447105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:13.11, Z:9.44 [[ 9.61755637e-01 -2.57771488e-01 -9.26280495e-02 8.44206093e+01] [ 2.56467695e-01 9.66205198e-01 -2.59198037e-02 1.31136214e+01] [ 9.61790893e-02 1.17241503e-03 9.95363355e-01 9.44223323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:13.12, Z:9.44 [[ 9.62588030e-01 -2.53989703e-01 -9.44114095e-02 8.44478953e+01] [ 2.52615506e-01 9.67205608e-01 -2.64332731e-02 1.31227769e+01] [ 9.80290239e-02 1.59456628e-03 9.95182279e-01 9.44277057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:13.13, Z:9.44 [[ 9.63007973e-01 -2.52033223e-01 -9.53671782e-02 8.44752620e+01] [ 2.50618041e-01 9.67716823e-01 -2.67347569e-02 1.31307588e+01] [ 9.90264697e-02 1.84504863e-03 9.95083089e-01 9.44422353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:13.14, Z:9.45 [[ 9.64186024e-01 -2.47187283e-01 -9.61444664e-02 8.45022522e+01] [ 2.45721691e-01 9.68964768e-01 -2.69838522e-02 1.31410193e+01] [ 9.98306658e-02 2.39267226e-03 9.95001564e-01 9.44534885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:13.15, Z:9.45 [[ 9.64638906e-01 -2.45103207e-01 -9.69339913e-02 8.45296480e+01] [ 2.43601859e-01 9.69493398e-01 -2.72155318e-02 1.31481154e+01] [ 1.00647479e-01 2.63986039e-03 9.94918648e-01 9.44686684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:13.15, Z:9.45 [[ 9.65545260e-01 -2.41392379e-01 -9.72217545e-02 8.45592157e+01] [ 2.39862185e-01 9.70422813e-01 -2.73074270e-02 1.31517054e+01] [ 1.00938013e-01 3.04673424e-03 9.94888051e-01 9.45176614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:13.16, Z:9.46 [[ 9.66349674e-01 -2.38642612e-01 -9.60104748e-02 8.45870559e+01] [ 2.37136340e-01 9.71101864e-01 -2.69726939e-02 1.31561638e+01] [ 9.96727852e-02 3.29748144e-03 9.95014805e-01 9.45601123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:13.16, Z:9.46 [[ 9.66470305e-01 -2.37874868e-01 -9.66990045e-02 8.46139539e+01] [ 2.36341818e-01 9.71289813e-01 -2.71780135e-02 1.31635035e+01] [ 1.00387724e-01 3.41272443e-03 9.94942540e-01 9.45647681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:13.17, Z:9.46 [[ 9.66625352e-01 -2.37059915e-01 -9.71495035e-02 8.46432615e+01] [ 2.35506909e-01 9.71488625e-01 -2.73193604e-02 1.31668897e+01] [ 1.00855963e-01 3.52820712e-03 9.94894782e-01 9.45789183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:13.17, Z:9.46 [[ 9.66932583e-01 -2.36050361e-01 -9.65484701e-02 8.46723052e+01] [ 2.34508143e-01 9.71733991e-01 -2.71842219e-02 1.31678213e+01] [ 1.00236276e-01 3.64390746e-03 9.94956990e-01 9.46144083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:13.17, Z:9.46 [[ 9.67029413e-01 -2.35664455e-01 -9.65213946e-02 8.47001396e+01] [ 2.34117985e-01 9.71827388e-01 -2.72084126e-02 1.31728090e+01] [ 1.00214191e-01 3.71394087e-03 9.94958955e-01 9.46426390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:13.18, Z:9.47 [[ 9.67209468e-01 -2.35254067e-01 -9.57150457e-02 8.47291906e+01] [ 2.33729962e-01 9.71926718e-01 -2.69955576e-02 1.31757392e+01] [ 9.93788249e-02 3.73888494e-03 9.95042647e-01 9.46892192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:13.18, Z:9.47 [[ 9.66328069e-01 -2.39771746e-01 -9.33786514e-02 8.47598944e+01] [ 2.38339505e-01 9.70823943e-01 -2.63657499e-02 1.31772404e+01] [ 9.69759924e-02 3.22214262e-03 9.95281505e-01 9.47417961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:13.18, Z:9.48 [[ 9.64700687e-01 -2.46718085e-01 -9.21019629e-02 8.47910314e+01] [ 2.45356111e-01 9.69084092e-01 -2.60077222e-02 1.31750994e+01] [ 9.56711225e-02 2.49188803e-03 9.95409879e-01 9.47629784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:13.18, Z:9.48 [[ 9.63490035e-01 -2.51082873e-01 -9.29749628e-02 8.48209879e+01] [ 2.49714422e-01 9.67963347e-01 -2.62614897e-02 1.31753798e+01] [ 9.65901665e-02 2.08549459e-03 9.95322054e-01 9.47767712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89710568099999 meters Centerline goodness [0,1] 0.9999162759544541 Centerline is valid? [True, True] Translation: X:84.85, Y:13.17, Z:9.48 [[ 9.61386418e-01 -2.58158169e-01 -9.53441928e-02 8.48520751e+01] [ 2.56750256e-01 9.66101588e-01 -2.69634525e-02 1.31684826e+01] [ 9.90730116e-02 1.44265117e-03 9.95079121e-01 9.47693479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92710568099999 meters Centerline goodness [0,1] 0.9996848474661736 Centerline is valid? [True, True] Translation: X:84.88, Y:13.17, Z:9.48 [[ 9.60677575e-01 -2.60417217e-01 -9.63403826e-02 8.48813037e+01] [ 2.58989066e-01 9.65495382e-01 -2.72640953e-02 1.31717051e+01] [ 1.00116234e-01 1.24089929e-03 9.94974974e-01 9.47873101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95710568099999 meters Centerline goodness [0,1] 0.9998530523133764 Centerline is valid? [True, True] Translation: X:84.91, Y:13.18, Z:9.48 [[ 9.60340320e-01 -2.60828861e-01 -9.85635577e-02 8.49076580e+01] [ 2.59332666e-01 9.65384237e-01 -2.79256826e-02 1.31798990e+01] [ 1.02435529e-01 1.25740870e-03 9.94738851e-01 9.47719518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98710568099999 meters Centerline goodness [0,1] 0.9997911008982662 Centerline is valid? [True, True] Translation: X:84.93, Y:13.19, Z:9.48 [[ 9.60734175e-01 -2.58904633e-01 -9.97909654e-02 8.49346772e+01] [ 2.57358575e-01 9.65901726e-01 -2.82916787e-02 1.31890259e+01] [ 1.03713112e-01 1.49872192e-03 9.94606125e-01 9.47870466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01710568099999 meters Centerline goodness [0,1] 0.9995791865676352 Centerline is valid? [True, True] Translation: X:84.96, Y:13.20, Z:9.48 [[ 9.62001211e-01 -2.53461824e-01 -1.01541979e-01 8.49628237e+01] [ 2.51827194e-01 9.67342992e-01 -2.88201375e-02 1.31968945e+01] [ 1.05530726e-01 2.15397551e-03 9.94413710e-01 9.47931970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04710568099999 meters Centerline goodness [0,1] 0.999621673882887 Centerline is valid? [True, True] Translation: X:84.99, Y:13.20, Z:9.48 [[ 9.62388271e-01 -2.51425327e-01 -1.02927748e-01 8.49900601e+01] [ 2.49732935e-01 9.67873674e-01 -2.92234891e-02 1.32009453e+01] [ 1.06968582e-01 2.41989465e-03 9.94259456e-01 9.48268195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07710568099999 meters Centerline goodness [0,1] 0.9996633492541082 Centerline is valid? [True, True] Translation: X:85.02, Y:13.21, Z:9.49 [[ 9.62411169e-01 -2.51521777e-01 -1.02477007e-01 8.50164993e+01] [ 2.49842299e-01 9.67848612e-01 -2.91185649e-02 1.32084571e+01] [ 1.06506182e-01 2.42094108e-03 9.94309093e-01 9.48605638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.107105681 meters Centerline goodness [0,1] 0.9994328088565847 Centerline is valid? [True, True] Translation: X:85.04, Y:13.21, Z:9.50 [[ 9.62701135e-01 -2.52499431e-01 -9.72140015e-02 8.50449690e+01] [ 2.50989845e-01 9.67594478e-01 -2.76590467e-02 1.32126911e+01] [ 1.01047625e-01 2.22766846e-03 9.94879096e-01 9.49558503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.137105681 meters Centerline goodness [0,1] 0.9993699596774194 Centerline is valid? [True, True] Translation: X:85.07, Y:13.22, Z:9.50 [[ 9.62569756e-01 -2.53907575e-01 -9.48177590e-02 8.50721616e+01] [ 2.52475650e-01 9.67226300e-01 -2.70061129e-02 1.32179166e+01] [ 9.85672869e-02 2.05609221e-03 9.95128264e-01 9.50100437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.167105681 meters Centerline goodness [0,1] 0.9993503635868313 Centerline is valid? [True, True] Translation: X:85.10, Y:13.21, Z:9.51 [[ 9.60134765e-01 -2.64872429e-01 -8.93522807e-02 8.51031002e+01] [ 2.63647063e-01 9.64283050e-01 -2.54641922e-02 1.32119635e+01] [ 9.29056523e-02 8.91589861e-04 9.95674518e-01 9.51095863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197105681 meters Centerline goodness [0,1] 0.9993925556649421 Centerline is valid? [True, True] Translation: X:85.13, Y:13.21, Z:9.51 [[ 9.58711255e-01 -2.70080242e-01 -8.90471309e-02 8.51321162e+01] [ 2.68885106e-01 9.62837738e-01 -2.53828747e-02 1.32142503e+01] [ 9.25933510e-02 3.91400459e-04 9.95703931e-01 9.51327084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22710568099998 meters Centerline goodness [0,1] 0.9994547437295529 Centerline is valid? [True, True] Translation: X:85.16, Y:13.21, Z:9.51 [[ 9.56080118e-01 -2.79150129e-01 -8.93645011e-02 8.51627995e+01] [ 2.77983034e-01 9.60247362e-01 -2.55036743e-02 1.32103551e+01] [ 9.29313804e-02 -4.58259181e-04 9.95672410e-01 9.51499373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25710568099998 meters Centerline goodness [0,1] 0.9993702374204925 Centerline is valid? [True, True] Translation: X:85.19, Y:13.22, Z:9.52 [[ 9.54850511e-01 -2.82817763e-01 -9.09649082e-02 8.51916263e+01] [ 2.81621623e-01 9.59173332e-01 -2.59957957e-02 1.32152160e+01] [ 9.46031869e-02 -7.95586244e-04 9.95514743e-01 9.51539707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28710568099999 meters Centerline goodness [0,1] 0.9997273832990815 Centerline is valid? [True, True] Translation: X:85.22, Y:13.22, Z:9.51 [[ 9.53373451e-01 -2.87022634e-01 -9.32580826e-02 8.52201193e+01] [ 2.85782201e-01 9.57923033e-01 -2.66832448e-02 1.32224976e+01] [ 9.69927606e-02 -1.21240299e-03 9.95284349e-01 9.51453733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31710568099999 meters Centerline goodness [0,1] 0.9998530985708589 Centerline is valid? [True, True] Translation: X:85.25, Y:13.23, Z:9.51 [[ 9.52107410e-01 -2.90017683e-01 -9.68567168e-02 8.52479953e+01] [ 2.88691668e-01 9.57020038e-01 -2.77446682e-02 1.32266068e+01] [ 1.00740263e-01 -1.54582300e-03 9.94911559e-01 9.51301299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34710568099999 meters Centerline goodness [0,1] 0.9997269481201428 Centerline is valid? [True, True] Translation: X:85.28, Y:13.23, Z:9.51 [[ 9.51281999e-01 -2.91968279e-01 -9.90811933e-02 8.52760503e+01] [ 2.90589447e-01 9.56426350e-01 -2.83973719e-02 1.32330592e+01] [ 1.03054996e-01 -1.77804045e-03 9.94674070e-01 9.51407830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37710568099999 meters Centerline goodness [0,1] 0.9998106339554359 Centerline is valid? [True, True] Translation: X:85.30, Y:13.24, Z:9.51 [[ 9.49968314e-01 -2.95589448e-01 -1.00931064e-01 8.53025050e+01] [ 2.94175412e-01 9.55312580e-01 -2.89603360e-02 1.32403256e+01] [ 1.04981085e-01 -2.18003586e-03 9.94471829e-01 9.51307759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40710568099999 meters Centerline goodness [0,1] 0.9998955329906816 Centerline is valid? [True, True] Translation: X:85.33, Y:13.25, Z:9.52 [[ 9.50146366e-01 -2.95089976e-01 -1.00716380e-01 8.53290818e+01] [ 2.93676699e-01 9.55467166e-01 -2.89221507e-02 1.32530836e+01] [ 1.04765831e-01 -2.09777757e-03 9.94494706e-01 9.51741866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43710568099999 meters Centerline goodness [0,1] 0.9998333749895859 Centerline is valid? [True, True] Translation: X:85.35, Y:13.27, Z:9.52 [[ 9.52292025e-01 -2.88652279e-01 -9.90947023e-02 8.53535680e+01] [ 2.87246277e-01 9.57433065e-01 -2.84868708e-02 1.32682283e+01] [ 1.03099345e-01 -1.33676438e-03 9.94670166e-01 9.52091388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46710568099999 meters Centerline goodness [0,1] 0.9998953953011569 Centerline is valid? [True, True] Translation: X:85.38, Y:13.28, Z:9.53 [[ 9.54482342e-01 -2.81814305e-01 -9.76942012e-02 8.53780454e+01] [ 2.80410553e-01 9.59468794e-01 -2.80990088e-02 1.32849517e+01] [ 1.01653240e-01 -5.74477284e-04 9.94819727e-01 9.52816821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.497105681 meters Centerline goodness [0,1] 0.9995796288122412 Centerline is valid? [True, True] Translation: X:85.40, Y:13.30, Z:9.53 [[ 9.55217841e-01 -2.79387869e-01 -9.74745838e-02 8.54033378e+01] [ 2.77974673e-01 9.60178284e-01 -2.80667796e-02 1.32964331e+01] [ 1.01434496e-01 -2.85576917e-04 9.94842179e-01 9.53079540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.527105681 meters Centerline goodness [0,1] 0.9996644576797249 Centerline is valid? [True, True] Translation: X:85.43, Y:13.31, Z:9.53 [[ 9.55915810e-01 -2.77561359e-01 -9.58366149e-02 8.54297169e+01] [ 2.76184825e-01 9.60707909e-01 -2.76089810e-02 1.33105172e+01] [ 9.97341802e-02 -7.67573441e-05 9.95014114e-01 9.53342253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557105681 meters Centerline goodness [0,1] 0.9994756381483735 Centerline is valid? [True, True] Translation: X:85.46, Y:13.32, Z:9.54 [[ 9.56164256e-01 -2.77567257e-01 -9.33077399e-02 8.54571814e+01] [ 2.76259740e-01 9.60706207e-01 -2.69098548e-02 1.33189148e+01] [ 9.71106194e-02 -4.69307024e-05 9.95273593e-01 9.54031100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58710568099998 meters Centerline goodness [0,1] 0.9993727392477053 Centerline is valid? [True, True] Translation: X:85.48, Y:13.33, Z:9.55 [[ 9.57361427e-01 -2.75253240e-01 -8.77197321e-02 8.54830487e+01] [ 2.74085653e-01 9.61371735e-01 -2.53267253e-02 1.33289939e+01] [ 9.13025342e-02 2.04109885e-04 9.95823180e-01 9.55253285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61710568099998 meters Centerline goodness [0,1] 0.9995383388592773 Centerline is valid? [True, True] Translation: X:85.51, Y:13.34, Z:9.56 [[ 9.58075134e-01 -2.73429177e-01 -8.56067885e-02 8.55088019e+01] [ 2.72307289e-01 9.61892056e-01 -2.47469971e-02 1.33410166e+01] [ 8.91110408e-02 3.98130156e-04 9.96021618e-01 9.55748065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64710568099999 meters Centerline goodness [0,1] 0.9998536360975202 Centerline is valid? [True, True] Translation: X:85.53, Y:13.36, Z:9.56 [[ 9.59322057e-01 -2.68292395e-01 -8.78657007e-02 8.55325518e+01] [ 2.67085532e-01 9.63337074e-01 -2.54361923e-02 1.33604892e+01] [ 9.14686240e-02 9.33842922e-04 9.95807521e-01 9.55568652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67710568099999 meters Centerline goodness [0,1] 0.9997267587279568 Centerline is valid? [True, True] Translation: X:85.56, Y:13.37, Z:9.56 [[ 9.60148479e-01 -2.64428247e-01 -9.05129848e-02 8.55587768e+01] [ 2.63129117e-01 9.64404413e-01 -2.62144364e-02 1.33722770e+01] [ 9.42229594e-02 1.35314953e-03 9.95550201e-01 9.55502341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70710568099999 meters Centerline goodness [0,1] 0.9997899512686943 Centerline is valid? [True, True] Translation: X:85.58, Y:13.39, Z:9.55 [[ 9.62525562e-01 -2.54172089e-01 -9.45573433e-02 8.55839283e+01] [ 2.52703250e-01 9.67155839e-01 -2.73979948e-02 1.33918906e+01] [ 9.84154923e-02 2.47632241e-03 9.95142331e-01 9.55202789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73710568099999 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:85.61, Y:13.41, Z:9.55 [[ 9.64726414e-01 -2.45420966e-01 -9.52444041e-02 8.56101034e+01] [ 2.43887530e-01 9.69410642e-01 -2.76021892e-02 1.34100101e+01] [ 9.91050948e-02 3.39963859e-03 9.95071165e-01 9.55322805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76710568099999 meters Centerline goodness [0,1] 0.9998533417138068 Centerline is valid? [True, True] Translation: X:85.64, Y:13.42, Z:9.55 [[ 9.65306717e-01 -2.42610925e-01 -9.65550685e-02 8.56375226e+01] [ 2.41020568e-01 9.70116455e-01 -2.79848299e-02 1.34218968e+01] [ 1.00459086e-01 3.74218690e-03 9.94934153e-01 9.55368918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79710568099999 meters Centerline goodness [0,1] 0.9999370039057578 Centerline is valid? [True, True] Translation: X:85.67, Y:13.43, Z:9.55 [[ 9.66072451e-01 -2.39047613e-01 -9.77765729e-02 8.56651810e+01] [ 2.37397851e-01 9.70998888e-01 -2.83446551e-02 1.34315008e+01] [ 1.01716666e-01 4.17104218e-03 9.94804665e-01 9.55499993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82710568099999 meters Centerline goodness [0,1] 0.9999158992472983 Centerline is valid? [True, True] Translation: X:85.69, Y:13.44, Z:9.56 [[ 9.66337626e-01 -2.37793680e-01 -9.82128253e-02 8.56917998e+01] [ 2.36121542e-01 9.71306023e-01 -2.84820623e-02 1.34385557e+01] [ 1.02167563e-01 4.33312470e-03 9.94757766e-01 9.55715058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857105681 meters Centerline goodness [0,1] 0.9997055730809674 Centerline is valid? [True, True] Translation: X:85.72, Y:13.44, Z:9.56 [[ 9.66433524e-01 -2.36708634e-01 -9.98762503e-02 8.57214017e+01] [ 2.34971719e-01 9.71570076e-01 -2.89806555e-02 1.34400406e+01] [ 1.03896747e-01 4.53978281e-03 9.94577728e-01 9.55734122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.887105681 meters Centerline goodness [0,1] 0.9993717277486911 Centerline is valid? [True, True] Translation: X:85.75, Y:13.44, Z:9.56 [[ 9.65983899e-01 -2.38017727e-01 -1.01107208e-01 8.57504334e+01] [ 2.36241325e-01 9.71250454e-01 -2.93699037e-02 1.34400277e+01] [ 1.05190979e-01 4.48515332e-03 9.94441925e-01 9.55776076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917105681 meters Centerline goodness [0,1] 0.9991389087243248 Centerline is valid? [True, True] Translation: X:85.78, Y:13.44, Z:9.56 [[ 9.65662051e-01 -2.40086275e-01 -9.92742852e-02 8.57803851e+01] [ 2.38383567e-01 9.70742498e-01 -2.88492204e-02 1.34392732e+01] [ 1.03296070e-01 4.19323909e-03 9.94641814e-01 9.56258602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.947105681 meters Centerline goodness [0,1] 0.9988868586310461 Centerline is valid? [True, True] Translation: X:85.81, Y:13.44, Z:9.57 [[ 9.65200184e-01 -2.42125851e-01 -9.88113185e-02 8.58091888e+01] [ 2.40448275e-01 9.70236732e-01 -2.87282296e-02 1.34416725e+01] [ 1.02826218e-01 3.96948139e-03 9.94691416e-01 9.56548321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97710568099998 meters Centerline goodness [0,1] 0.9992491552997121 Centerline is valid? [True, True] Translation: X:85.84, Y:13.44, Z:9.57 [[ 9.63629132e-01 -2.48949825e-01 -9.71744838e-02 8.58403371e+01] [ 2.47358992e-01 9.68511041e-01 -2.82823569e-02 1.34380731e+01] [ 1.01155448e-01 3.21672067e-03 9.94865432e-01 9.56848683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00710568099998 meters Centerline goodness [0,1] 0.9991819783538888 Centerline is valid? [True, True] Translation: X:85.87, Y:13.42, Z:9.58 [[ 9.60843331e-01 -2.59986532e-01 -9.58493443e-02 8.58749639e+01] [ 2.58493020e-01 9.65610104e-01 -2.79013644e-02 1.34249889e+01] [ 9.98070743e-02 2.03245342e-03 9.95004732e-01 9.57616823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03710568099999 meters Centerline goodness [0,1] 0.9994150947337637 Centerline is valid? [True, True] Translation: X:85.91, Y:13.42, Z:9.58 [[ 9.58909260e-01 -2.68013719e-01 -9.30681333e-02 8.59050585e+01] [ 2.66643043e-01 9.63414389e-01 -2.70961750e-02 1.34228717e+01] [ 9.69253254e-02 1.16680279e-03 9.95290972e-01 9.58186007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06710568099999 meters Centerline goodness [0,1] 0.999269173748721 Centerline is valid? [True, True] Translation: X:85.93, Y:13.43, Z:9.59 [[ 9.58387614e-01 -2.70446635e-01 -9.13881720e-02 8.59319749e+01] [ 2.69135417e-01 9.62734536e-01 -2.66146617e-02 1.34282102e+01] [ 9.51803951e-02 9.11368298e-04 9.95459623e-01 9.58588640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09710568099999 meters Centerline goodness [0,1] 0.9990768133274585 Centerline is valid? [True, True] Translation: X:85.96, Y:13.43, Z:9.59 [[ 9.58299823e-01 -2.71457649e-01 -8.92871409e-02 8.59601705e+01] [ 2.70208984e-01 9.62450046e-01 -2.60194826e-02 1.34337167e+01] [ 9.29976005e-02 8.08277905e-04 9.95666005e-01 9.59190283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12710568099999 meters Centerline goodness [0,1] 0.9993964620187304 Centerline is valid? [True, True] Translation: X:85.99, Y:13.44, Z:9.59 [[ 9.58567302e-01 -2.70380083e-01 -8.96846642e-02 8.59861901e+01] [ 2.69112606e-01 9.62753194e-01 -2.61666152e-02 1.34441915e+01] [ 9.34191286e-02 9.47188024e-04 9.95626421e-01 9.59306714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15710568099999 meters Centerline goodness [0,1] 0.9991419003767267 Centerline is valid? [True, True] Translation: X:86.01, Y:13.45, Z:9.60 [[ 9.59541762e-01 -2.66967443e-01 -8.94873813e-02 8.60137233e+01] [ 2.65689553e-01 9.63704687e-01 -2.61216080e-02 1.34537583e+01] [ 9.32130277e-02 1.28891149e-03 9.95645354e-01 9.59541664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18710568099999 meters Centerline goodness [0,1] 0.9993094500711476 Centerline is valid? [True, True] Translation: X:86.04, Y:13.46, Z:9.60 [[ 9.60642167e-01 -2.62837826e-01 -8.99049698e-02 8.60407066e+01] [ 2.61526831e-01 9.64838477e-01 -2.62760336e-02 1.34641300e+01] [ 9.36501097e-02 1.72930407e-03 9.95603669e-01 9.59806405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21710568099999 meters Centerline goodness [0,1] 0.9989927816014773 Centerline is valid? [True, True] Translation: X:86.07, Y:13.48, Z:9.60 [[ 9.61305489e-01 -2.60085019e-01 -9.08159616e-02 8.60668196e+01] [ 2.58732015e-01 9.65583547e-01 -2.65736174e-02 1.34752164e+01] [ 9.46017981e-02 2.04836756e-03 9.95513086e-01 9.59817240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.247105681 meters Centerline goodness [0,1] 0.9992019656845245 Centerline is valid? [True, True] Translation: X:86.09, Y:13.49, Z:9.59 [[ 9.62089276e-01 -2.56291458e-01 -9.32679652e-02 8.60942827e+01] [ 2.54845259e-01 9.66596319e-01 -2.73029372e-02 1.34866913e+01] [ 9.71499814e-02 2.49896436e-03 9.95266616e-01 9.59492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.277105681 meters Centerline goodness [0,1] 0.9992019656845245 Centerline is valid? [True, True] Translation: X:86.12, Y:13.49, Z:9.60 [[ 9.61994651e-01 -2.56647599e-01 -9.32646858e-02 8.61205595e+01] [ 2.55201984e-01 9.66501881e-01 -2.73141338e-02 1.34946204e+01] [ 9.71506011e-02 2.47471780e-03 9.95266616e-01 9.59734263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.307105681 meters Centerline goodness [0,1] 0.999140389131164 Centerline is valid? [True, True] Translation: X:86.15, Y:13.50, Z:9.60 [[ 9.62128983e-01 -2.56266272e-01 -9.29269474e-02 8.61482313e+01] [ 2.54825780e-01 9.66602890e-01 -2.72520634e-02 1.35016196e+01] [ 9.68072407e-02 2.53981821e-03 9.95299908e-01 9.59911346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33710568099998 meters Centerline goodness [0,1] 0.9987440604525569 Centerline is valid? [True, True] Translation: X:86.18, Y:13.50, Z:9.60 [[ 9.61590128e-01 -2.58862044e-01 -9.12955003e-02 8.61769354e+01] [ 2.57480458e-01 9.65911639e-01 -2.68052032e-02 1.35040349e+01] [ 9.51222360e-02 2.26881152e-03 9.95463014e-01 9.60272888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36710568099998 meters Centerline goodness [0,1] 0.9988886092937427 Centerline is valid? [True, True] Translation: X:86.21, Y:13.51, Z:9.60 [[ 9.60627085e-01 -2.62522826e-01 -9.09800511e-02 8.62054972e+01] [ 2.61164157e-01 9.64923852e-01 -2.67440339e-02 1.35080382e+01] [ 9.48097407e-02 1.93031497e-03 9.95493539e-01 9.60482125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39710568099999 meters Centerline goodness [0,1] 0.9993159345784706 Centerline is valid? [True, True] Translation: X:86.24, Y:13.50, Z:9.60 [[ 9.56419134e-01 -2.76759576e-01 -9.30944566e-02 8.62386011e+01] [ 2.75400874e-01 9.60939030e-01 -2.73959712e-02 1.34990381e+01] [ 9.70401942e-02 5.63736314e-04 9.95280304e-01 9.60465203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42710568099999 meters Centerline goodness [0,1] 0.9993283519435816 Centerline is valid? [True, True] Translation: X:86.27, Y:13.50, Z:9.61 [[ 9.55279034e-01 -2.80668512e-01 -9.30975488e-02 8.62676985e+01] [ 2.79327509e-01 9.59804749e-01 -2.74041351e-02 1.35021787e+01] [ 9.70469473e-02 1.73889267e-04 9.95279790e-01 9.60831579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45710568099999 meters Centerline goodness [0,1] 0.9995814060570544 Centerline is valid? [True, True] Translation: X:86.29, Y:13.51, Z:9.61 [[ 9.54693873e-01 -2.82422517e-01 -9.37930222e-02 8.62941386e+01] [ 2.81066713e-01 9.59290113e-01 -2.76402142e-02 1.35095943e+01] [ 9.77809377e-02 2.58466474e-05 9.95207962e-01 9.61028831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48710568099999 meters Centerline goodness [0,1] 0.9994746243564149 Centerline is valid? [True, True] Translation: X:86.32, Y:13.52, Z:9.61 [[ 9.55277309e-01 -2.80438750e-01 -9.38049651e-02 8.63200901e+01] [ 2.79071633e-01 9.59871892e-01 -2.76581841e-02 1.35217750e+01] [ 9.77971758e-02 2.42930847e-04 9.95206337e-01 9.61195980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51710568099999 meters Centerline goodness [0,1] 0.9992651690111274 Centerline is valid? [True, True] Translation: X:86.34, Y:13.54, Z:9.61 [[ 9.58108177e-01 -2.70806042e-01 -9.32352372e-02 8.63440269e+01] [ 2.69406281e-01 9.62633113e-01 -2.75271775e-02 1.35423870e+01] [ 9.72058526e-02 1.25585535e-03 9.95263505e-01 9.61460891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54710568099999 meters Centerline goodness [0,1] 0.9988732159252149 Centerline is valid? [True, True] Translation: X:86.37, Y:13.56, Z:9.62 [[ 9.61546716e-01 -2.58983636e-01 -9.14078226e-02 8.63686527e+01] [ 2.57581988e-01 9.65878643e-01 -2.70179077e-02 1.35632386e+01] [ 9.52860596e-02 2.43397178e-03 9.95446956e-01 9.61885313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57710568099999 meters Centerline goodness [0,1] 0.9988892149054784 Centerline is valid? [True, True] Translation: X:86.39, Y:13.58, Z:9.62 [[ 9.63036439e-01 -2.53832700e-01 -9.01652790e-02 8.63927191e+01] [ 2.52445973e-01 9.67243765e-01 -2.66557788e-02 1.35813969e+01] [ 9.39779122e-02 2.90862472e-03 9.95570034e-01 9.62091013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.607105681 meters Centerline goodness [0,1] 0.9988682329763376 Centerline is valid? [True, True] Translation: X:86.42, Y:13.59, Z:9.62 [[ 9.64896209e-01 -2.45964605e-01 -9.20690983e-02 8.64205839e+01] [ 2.44481781e-01 9.69271503e-01 -2.72288853e-02 1.35942573e+01] [ 9.59372953e-02 3.76383105e-03 9.95380263e-01 9.62006927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.637105681 meters Centerline goodness [0,1] 0.9986596297227109 Centerline is valid? [True, True] Translation: X:86.45, Y:13.61, Z:9.61 [[ 9.65322303e-01 -2.41716931e-01 -9.86193478e-02 8.64493854e+01] [ 2.39992397e-01 9.70336416e-01 -2.91700048e-02 1.36055806e+01] [ 1.02744829e-01 4.49056252e-03 9.94697610e-01 9.61222054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.667105681 meters Centerline goodness [0,1] 0.9986821186511589 Centerline is valid? [True, True] Translation: X:86.48, Y:13.61, Z:9.61 [[ 9.65211785e-01 -2.41249883e-01 -1.00820156e-01 8.64758620e+01] [ 2.39444221e-01 9.70451903e-01 -2.98256267e-02 1.36130965e+01] [ 1.05036541e-01 4.64724274e-03 9.94457504e-01 9.61093485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697105681 meters Centerline goodness [0,1] 0.9988226884749611 Centerline is valid? [True, True] Translation: X:86.50, Y:13.62, Z:9.62 [[ 9.65130837e-01 -2.42122507e-01 -9.94945180e-02 8.65047640e+01] [ 2.40366930e-01 9.70235208e-01 -2.94513117e-02 1.36161135e+01] [ 1.03663910e-01 4.50917725e-03 9.94602162e-01 9.61534885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72710568099998 meters Centerline goodness [0,1] 0.9989692456561067 Centerline is valid? [True, True] Translation: X:86.53, Y:13.62, Z:9.62 [[ 9.65534183e-01 -2.41495580e-01 -9.70753654e-02 8.65334798e+01] [ 2.39817954e-01 9.70391496e-01 -2.87696604e-02 1.36175809e+01] [ 1.01148855e-01 4.49767499e-03 9.94861136e-01 9.62254890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75710568099998 meters Centerline goodness [0,1] 0.9989715389136092 Centerline is valid? [True, True] Translation: X:86.56, Y:13.62, Z:9.63 [[ 9.65895623e-01 -2.40472745e-01 -9.60130390e-02 8.65614563e+01] [ 2.38822821e-01 9.70645030e-01 -2.84936039e-02 1.36247165e+01] [ 1.00046514e-01 4.59174252e-03 9.94972166e-01 9.62611254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78710568099999 meters Centerline goodness [0,1] 0.9992448872574725 Centerline is valid? [True, True] Translation: X:86.59, Y:13.64, Z:9.63 [[ 9.66888305e-01 -2.36812353e-01 -9.51152769e-02 8.65871535e+01] [ 2.35172513e-01 9.71542777e-01 -2.82581180e-02 1.36363034e+01] [ 9.91004316e-02 4.95394504e-03 9.95065105e-01 9.62877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81710568099999 meters Centerline goodness [0,1] 0.9992873910127431 Centerline is valid? [True, True] Translation: X:86.61, Y:13.64, Z:9.63 [[ 9.67319899e-01 -2.35750432e-01 -9.33485227e-02 8.66138617e+01] [ 2.34165285e-01 9.71800886e-01 -2.77426808e-02 1.36443798e+01] [ 9.72565260e-02 4.97706372e-03 9.95246903e-01 9.63160601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84710568099999 meters Centerline goodness [0,1] 0.9990567026517136 Centerline is valid? [True, True] Translation: X:86.64, Y:13.65, Z:9.63 [[ 9.67778693e-01 -2.34573632e-01 -9.15402266e-02 8.66421710e+01] [ 2.33043199e-01 9.72085463e-01 -2.72161793e-02 1.36475766e+01] [ 9.53691215e-02 5.00641116e-03 9.95429388e-01 9.63433761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87710568099999 meters Centerline goodness [0,1] 0.9992232765135611 Centerline is valid? [True, True] Translation: X:86.67, Y:13.64, Z:9.64 [[ 9.67256264e-01 -2.36792553e-01 -9.13488189e-02 8.66742435e+01] [ 2.35276763e-01 9.71548405e-01 -2.71761050e-02 1.36422892e+01] [ 9.51848986e-02 4.79400335e-03 9.95448066e-01 9.63787553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90710568099999 meters Centerline goodness [0,1] 0.9991441037095797 Centerline is valid? [True, True] Translation: X:86.70, Y:13.65, Z:9.64 [[ 9.66673708e-01 -2.39336451e-01 -9.08845724e-02 8.67017806e+01] [ 2.37844613e-01 9.70926045e-01 -2.70657628e-02 1.36463844e+01] [ 9.47200220e-02 4.54735534e-03 9.95493566e-01 9.64198555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93710568099999 meters Centerline goodness [0,1] 0.9992266856163524 Centerline is valid? [True, True] Translation: X:86.73, Y:13.64, Z:9.65 [[ 9.65042175e-01 -2.46132176e-01 -9.00697056e-02 8.67341591e+01] [ 2.44695474e-01 9.69228603e-01 -2.68335738e-02 1.36411163e+01] [ 9.39027409e-02 3.85588113e-03 9.95573909e-01 9.64539509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96710568099999 meters Centerline goodness [0,1] 0.9994955227645352 Centerline is valid? [True, True] Translation: X:86.77, Y:13.64, Z:9.65 [[ 9.62885880e-01 -2.54799627e-01 -8.90389363e-02 8.67667030e+01] [ 2.53432191e-01 9.66989280e-01 -2.65302999e-02 1.36358609e+01] [ 9.28596074e-02 2.98031849e-03 9.95674752e-01 9.64941647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.997105681 meters Centerline goodness [0,1] 0.9992861941551898 Centerline is valid? [True, True] Translation: X:86.80, Y:13.64, Z:9.65 [[ 9.61715159e-01 -2.59175584e-01 -8.90615998e-02 8.67951685e+01] [ 2.57825873e-01 9.65826825e-01 -2.65398504e-02 1.36399246e+01] [ 9.28965634e-02 2.56139172e-03 9.95672470e-01 9.65090524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.027105681 meters Centerline goodness [0,1] 0.9996013846637994 Centerline is valid? [True, True] Translation: X:86.83, Y:13.64, Z:9.65 [[ 9.59539097e-01 -2.66880611e-01 -8.97745016e-02 8.68265006e+01] [ 2.65541866e-01 9.63727843e-01 -2.67612031e-02 1.36386126e+01] [ 9.36602331e-02 1.83953204e-03 9.95602520e-01 9.65177588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057105681 meters Centerline goodness [0,1] 0.9995597207371533 Centerline is valid? [True, True] Translation: X:86.86, Y:13.64, Z:9.65 [[ 9.58411748e-01 -2.71031554e-01 -8.93801855e-02 8.68558887e+01] [ 2.69721990e-01 9.62569396e-01 -2.66497099e-02 1.36419138e+01] [ 9.32575434e-02 1.43359365e-03 9.95640987e-01 9.65398612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08710568099998 meters Centerline goodness [0,1] 0.9995597391978868 Centerline is valid? [True, True] Translation: X:86.89, Y:13.64, Z:9.66 [[ 9.56349814e-01 -2.77695234e-01 -9.09966527e-02 8.68856518e+01] [ 2.76364795e-01 9.60668866e-01 -2.71630367e-02 1.36403505e+01] [ 9.49606969e-02 8.29093817e-04 9.95480677e-01 9.65571591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11710568099998 meters Centerline goodness [0,1] 0.999895046179681 Centerline is valid? [True, True] Translation: X:86.92, Y:13.64, Z:9.65 [[ 9.53811323e-01 -2.84530900e-01 -9.63645537e-02 8.69162667e+01] [ 2.83071591e-01 9.58666854e-01 -2.87808586e-02 1.36404702e+01] [ 1.00570547e-01 1.73441321e-04 9.94929915e-01 9.65269408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14710568099999 meters Centerline goodness [0,1] 0.9998319610149554 Centerline is valid? [True, True] Translation: X:86.94, Y:13.65, Z:9.65 [[ 9.52626681e-01 -2.88220947e-01 -9.71138122e-02 8.69438844e+01] [ 2.86754332e-01 9.57563915e-01 -2.90396459e-02 1.36458134e+01] [ 1.01362516e-01 -1.83864775e-04 9.94849540e-01 9.65365945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17710568099999 meters Centerline goodness [0,1] 0.9999157894736842 Centerline is valid? [True, True] Translation: X:86.97, Y:13.65, Z:9.66 [[ 9.51070844e-01 -2.94426765e-01 -9.36863424e-02 8.69721441e+01] [ 2.93088661e-01 9.55673726e-01 -2.80493716e-02 1.36484744e+01] [ 9.77920616e-02 -7.81465077e-04 9.95206562e-01 9.65954776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20710568099999 meters Centerline goodness [0,1] 0.9999159504948415 Centerline is valid? [True, True] Translation: X:87.00, Y:13.65, Z:9.67 [[ 9.50023745e-01 -2.99456892e-01 -8.82068741e-02 8.69993963e+01] [ 2.98291576e-01 9.54109062e-01 -2.64203311e-02 1.36546033e+01] [ 9.20707281e-02 -1.21142558e-03 9.95751733e-01 9.67155234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23710568099999 meters Centerline goodness [0,1] 0.9998534369045874 Centerline is valid? [True, True] Translation: X:87.03, Y:13.66, Z:9.68 [[ 9.49891657e-01 -3.00629455e-01 -8.56023989e-02 8.70258852e+01] [ 2.99534095e-01 9.53740191e-01 -2.56704947e-02 1.36634725e+01] [ 8.93597551e-02 -1.25664836e-03 9.95998622e-01 9.67761788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26710568099999 meters Centerline goodness [0,1] 0.9998530615672033 Centerline is valid? [True, True] Translation: X:87.05, Y:13.67, Z:9.68 [[ 9.49390176e-01 -3.02899672e-01 -8.31269088e-02 8.70529156e+01] [ 3.01872639e-01 9.53021427e-01 -2.49613558e-02 1.36741946e+01] [ 8.67825117e-02 -1.39567332e-03 9.96226303e-01 9.68292457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29710568099999 meters Centerline goodness [0,1] 0.9998110791578328 Centerline is valid? [True, True] Translation: X:87.08, Y:13.69, Z:9.68 [[ 9.48268864e-01 -3.05882814e-01 -8.49815637e-02 8.70791559e+01] [ 3.04818521e-01 9.52067694e-01 -2.55494556e-02 1.36865134e+01] [ 8.87233408e-02 -1.67620129e-03 9.96054898e-01 9.68272853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32710568099999 meters Centerline goodness [0,1] 0.9998123553572545 Centerline is valid? [True, True] Translation: X:87.11, Y:13.70, Z:9.68 [[ 9.47602431e-01 -3.08045665e-01 -8.46020147e-02 8.71052070e+01] [ 3.06996711e-01 9.51369792e-01 -2.54664209e-02 1.36953158e+01] [ 8.83326217e-02 -1.84049786e-03 9.96089334e-01 9.68420079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357105681 meters Centerline goodness [0,1] 0.9998741716298968 Centerline is valid? [True, True] Translation: X:87.13, Y:13.71, Z:9.69 [[ 9.45879734e-01 -3.13314425e-01 -8.45316438e-02 8.71317425e+01] [ 3.12286714e-01 9.49646626e-01 -2.54616212e-02 1.37086828e+01] [ 8.82526836e-02 -2.31447778e-03 9.96095431e-01 9.68552544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.387105681 meters Centerline goodness [0,1] 0.9999160316560657 Centerline is valid? [True, True] Translation: X:87.16, Y:13.72, Z:9.69 [[ 9.44833061e-01 -3.15954032e-01 -8.63917600e-02 8.71585156e+01] [ 3.14890871e-01 9.48770906e-01 -2.60289670e-02 1.37172278e+01] [ 9.01899455e-02 -2.61094791e-03 9.95921160e-01 9.68633296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417105681 meters Centerline goodness [0,1] 0.9999370091966573 Centerline is valid? [True, True] Translation: X:87.19, Y:13.73, Z:9.68 [[ 9.42768044e-01 -3.20906326e-01 -9.05955023e-02 8.71862468e+01] [ 3.19758609e-01 9.47105451e-01 -2.73074528e-02 1.37280331e+01] [ 9.45666284e-02 -3.22409790e-03 9.95513314e-01 9.68406490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44710568099998 meters Centerline goodness [0,1] 0.9999789686211829 Centerline is valid? [True, True] Translation: X:87.21, Y:13.74, Z:9.68 [[ 9.41276552e-01 -3.24707256e-01 -9.25399920e-02 8.72120026e+01] [ 3.23527220e-01 9.45807422e-01 -2.79008758e-02 1.37439586e+01] [ 9.65846281e-02 -3.67676615e-03 9.95317985e-01 9.68394240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47710568099998 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:87.24, Y:13.77, Z:9.68 [[ 9.41579871e-01 -3.23655051e-01 -9.31383610e-02 8.72356222e+01] [ 3.22453568e-01 9.46168364e-01 -2.80913324e-02 1.37657522e+01] [ 9.72164723e-02 -3.58256366e-03 9.95256812e-01 9.68404760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50710568099998 meters Centerline goodness [0,1] 0.9999579407806191 Centerline is valid? [True, True] Translation: X:87.26, Y:13.78, Z:9.69 [[ 9.42003569e-01 -3.22365585e-01 -9.33258003e-02 8.72610501e+01] [ 3.21149549e-01 9.46609059e-01 -2.81825760e-02 1.37803088e+01] [ 9.74281405e-02 -3.42345152e-03 9.95236674e-01 9.68588159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53710568099999 meters Centerline goodness [0,1] 0.9998534246288502 Centerline is valid? [True, True] Translation: X:87.28, Y:13.80, Z:9.69 [[ 9.43385723e-01 -3.18368766e-01 -9.30844042e-02 8.72842395e+01] [ 3.17136434e-01 9.47962288e-01 -2.81421975e-02 1.37989012e+01] [ 9.72001015e-02 -2.97150866e-03 9.95260423e-01 9.68949533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56710568099999 meters Centerline goodness [0,1] 0.9997686061676975 Centerline is valid? [True, True] Translation: X:87.31, Y:13.81, Z:9.69 [[ 9.44141671e-01 -3.16365240e-01 -9.22471701e-02 8.73098394e+01] [ 3.15144121e-01 9.48633544e-01 -2.79030969e-02 1.38145256e+01] [ 9.63363298e-02 -2.72667681e-03 9.95345104e-01 9.69265988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59710568099999 meters Centerline goodness [0,1] 0.9997899645040011 Centerline is valid? [True, True] Translation: X:87.33, Y:13.84, Z:9.70 [[ 9.45927336e-01 -3.11547289e-01 -9.03313988e-02 8.73319242e+01] [ 3.10351538e-01 9.50228197e-01 -2.73549956e-02 1.38370383e+01] [ 9.43578169e-02 -2.15865051e-03 9.95536008e-01 9.69693962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62710568099999 meters Centerline goodness [0,1] 0.999624765478424 Centerline is valid? [True, True] Translation: X:87.35, Y:13.86, Z:9.70 [[ 9.47937295e-01 -3.06175504e-01 -8.75867923e-02 8.73544878e+01] [ 3.05027510e-01 9.51973801e-01 -2.65348840e-02 1.38596556e+01] [ 9.15046631e-02 -1.56297509e-03 9.95803421e-01 9.70157796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65710568099999 meters Centerline goodness [0,1] 0.9997498227911438 Centerline is valid? [True, True] Translation: X:87.38, Y:13.88, Z:9.71 [[ 9.49148031e-01 -3.03251195e-01 -8.45974523e-02 8.73783991e+01] [ 3.02168006e-01 9.52909861e-01 -2.56377280e-02 1.38788013e+01] [ 8.83884182e-02 -1.22864439e-03 9.96085327e-01 9.70845938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68710568099999 meters Centerline goodness [0,1] 0.9996433890625328 Centerline is valid? [True, True] Translation: X:87.40, Y:13.89, Z:9.71 [[ 9.49587624e-01 -3.01936093e-01 -8.43678811e-02 8.74043711e+01] [ 3.00850881e-01 9.53327563e-01 -2.55989130e-02 1.38917711e+01] [ 8.81594622e-02 -1.07374040e-03 9.96105796e-01 9.71186184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71710568099999 meters Centerline goodness [0,1] 0.9996854092825235 Centerline is valid? [True, True] Translation: X:87.43, Y:13.91, Z:9.71 [[ 9.50787571e-01 -2.98038820e-01 -8.47104258e-02 8.74274844e+01] [ 2.96926582e-01 9.54553504e-01 -2.57335003e-02 1.39113810e+01] [ 8.85302158e-02 -6.85685013e-04 9.96073256e-01 9.71460747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.747105681 meters Centerline goodness [0,1] 0.999958180867747 Centerline is valid? [True, True] Translation: X:87.45, Y:13.94, Z:9.72 [[ 9.52671799e-01 -2.91767211e-01 -8.53717638e-02 8.74503244e+01] [ 2.90611310e-01 9.56489355e-01 -2.59457106e-02 1.39370457e+01] [ 8.92272909e-02 -9.22533338e-05 9.96011286e-01 9.71516816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:13.95, Z:9.72 [[ 9.53742427e-01 -2.87794742e-01 -8.68882630e-02 8.74742963e+01] [ 2.86578036e-01 9.57692063e-01 -2.64375033e-02 1.39531844e+01] [ 9.08207743e-02 3.14300773e-04 9.95867204e-01 9.71537779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:13.98, Z:9.71 [[ 9.55501583e-01 -2.80927458e-01 -8.99804918e-02 8.74984466e+01] [ 2.79590737e-01 9.59728469e-01 -2.73913527e-02 1.39750706e+01] [ 9.40518227e-02 1.01476887e-03 9.95566786e-01 9.71404007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:13.99, Z:9.72 [[ 9.56052414e-01 -2.79080373e-01 -8.98772884e-02 8.75245771e+01] [ 2.77735649e-01 9.60266965e-01 -2.73909643e-02 1.39885210e+01] [ 9.39504715e-02 1.22507051e-03 9.95576119e-01 9.71652478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:14.00, Z:9.72 [[ 9.56271606e-01 -2.78794148e-01 -8.84219376e-02 8.75484330e+01] [ 2.77488790e-01 9.60350058e-01 -2.69766256e-02 1.40020886e+01] [ 9.24369382e-02 1.26088463e-03 9.95717742e-01 9.72051675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:14.01, Z:9.72 [[ 9.55643706e-01 -2.80228626e-01 -9.06478085e-02 8.75745692e+01] [ 2.78861334e-01 9.59932578e-01 -2.76731279e-02 1.40115252e+01] [ 9.47705871e-02 1.16748167e-03 9.95498454e-01 9.71997569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:14.02, Z:9.72 [[ 9.54976301e-01 -2.81899442e-01 -9.24822593e-02 8.76018090e+01] [ 2.80480027e-01 9.59443370e-01 -2.82732256e-02 1.40193127e+01] [ 9.67016970e-02 1.06083382e-03 9.95312844e-01 9.71969789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95710568099999 meters Centerline goodness [0,1] 0.99987374800101 Centerline is valid? [True, True] Translation: X:87.63, Y:14.02, Z:9.72 [[ 9.53528854e-01 -2.85972392e-01 -9.48815924e-02 8.76302344e+01] [ 2.84494162e-01 9.58237598e-01 -2.90478452e-02 1.40231643e+01] [ 9.92259909e-02 7.04699421e-04 9.95064674e-01 9.71991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98710568099999 meters Centerline goodness [0,1] 0.9999789451521213 Centerline is valid? [True, True] Translation: X:87.66, Y:14.03, Z:9.72 [[ 9.52285018e-01 -2.90278007e-01 -9.42969933e-02 8.76577389e+01] [ 2.88835320e-01 9.56942315e-01 -2.89061214e-02 1.40272370e+01] [ 9.86275944e-02 2.90564152e-04 9.95124371e-01 9.72143820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01710568099999 meters Centerline goodness [0,1] 0.9999789690634924 Centerline is valid? [True, True] Translation: X:87.69, Y:14.03, Z:9.73 [[ 9.51477043e-01 -2.94315815e-01 -8.98311680e-02 8.76862337e+01] [ 2.93023570e-01 9.55708213e-01 -2.75499187e-02 1.40295741e+01] [ 9.39607618e-02 -1.09534452e-04 9.95575895e-01 9.73027240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:14.03, Z:9.73 [[ 9.50507140e-01 -2.97503103e-01 -8.95995565e-02 8.77147767e+01] [ 2.96228522e-01 9.54720771e-01 -2.75120493e-02 1.40319356e+01] [ 9.37274777e-02 -3.91544900e-04 9.95597814e-01 9.73476437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07710568099999 meters Centerline goodness [0,1] 0.999958058089546 Centerline is valid? [True, True] Translation: X:87.74, Y:14.04, Z:9.74 [[ 9.49784186e-01 -2.99514519e-01 -9.05596690e-02 8.77423757e+01] [ 2.98218045e-01 9.54091577e-01 -2.78434830e-02 1.40381964e+01] [ 9.47417448e-02 -5.61227595e-04 9.95501726e-01 9.73597492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:14.04, Z:9.74 [[ 9.48460472e-01 -3.03878616e-01 -8.98917124e-02 8.77702312e+01] [ 3.02619170e-01 9.52710260e-01 -2.76549944e-02 1.40436223e+01] [ 9.40445181e-02 -9.73286315e-04 9.95567517e-01 9.73842839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:14.05, Z:9.74 [[ 9.48201302e-01 -3.05373395e-01 -8.75293090e-02 8.77969890e+01] [ 3.04184619e-01 9.52232074e-01 -2.69405690e-02 1.40513126e+01] [ 9.15751485e-02 -1.07998692e-03 9.95797583e-01 9.74391383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.167105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:14.06, Z:9.75 [[ 9.49062883e-01 -3.02654707e-01 -8.76343093e-02 8.78226701e+01] [ 3.01448098e-01 9.53099950e-01 -2.70098052e-02 1.40619902e+01] [ 9.16989005e-02 -7.83192201e-04 9.95786472e-01 9.74944955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.85, Y:14.07, Z:9.75 [[ 9.48948060e-01 -3.03016011e-01 -8.76291995e-02 8.78488027e+01] [ 3.01809409e-01 9.52985129e-01 -2.70263729e-02 1.40703021e+01] [ 9.16987477e-02 -8.00692752e-04 9.95786472e-01 9.75186677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:14.09, Z:9.75 [[ 9.51762373e-01 -2.93397700e-01 -8.98118865e-02 8.78715922e+01] [ 2.92083792e-01 9.55990461e-01 -2.77361844e-02 1.40914755e+01] [ 9.39970395e-02 1.65660265e-04 9.95572463e-01 9.75229374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:14.11, Z:9.76 [[ 9.53689029e-01 -2.87195100e-01 -8.94215305e-02 8.78967112e+01] [ 2.85864154e-01 9.57871785e-01 -2.76284187e-02 1.41071610e+01] [ 9.35891075e-02 7.86509631e-04 9.95610597e-01 9.75560500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:14.13, Z:9.76 [[ 9.56753285e-01 -2.76736563e-01 -8.96661925e-02 8.79211086e+01] [ 2.75349339e-01 9.60944048e-01 -2.77358506e-02 1.41269314e+01] [ 9.38397180e-02 1.84683934e-03 9.95585605e-01 9.75773223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:14.14, Z:9.76 [[ 9.58376064e-01 -2.71195352e-01 -8.92659002e-02 8.79469169e+01] [ 2.69795850e-01 9.62521370e-01 -2.76190241e-02 1.41413505e+01] [ 9.34104875e-02 2.38584211e-03 9.95624823e-01 9.75945952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:14.15, Z:9.76 [[ 9.58450578e-01 -2.71130023e-01 -8.86622804e-02 8.79733081e+01] [ 2.69748367e-01 9.62539779e-01 -2.74406893e-02 1.41499682e+01] [ 9.27809666e-02 2.38403919e-03 9.95683689e-01 9.76228497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:14.16, Z:9.76 [[ 9.57964858e-01 -2.72231322e-01 -9.05176088e-02 8.80007440e+01] [ 2.70792396e-01 9.62228938e-01 -2.80526225e-02 1.41563953e+01] [ 9.47354651e-02 2.36194637e-03 9.95499680e-01 9.76139041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:14.16, Z:9.76 [[ 9.57333064e-01 -2.73236449e-01 -9.41023215e-02 8.80297552e+01] [ 2.71681871e-01 9.61943930e-01 -2.92033831e-02 1.41607520e+01] [ 9.85005856e-02 2.39146953e-03 9.95134119e-01 9.75937279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:14.17, Z:9.76 [[ 9.56775036e-01 -2.74717631e-01 -9.54555079e-02 8.80575319e+01] [ 2.73121644e-01 9.61522181e-01 -2.96591021e-02 1.41655239e+01] [ 9.99304664e-02 2.30612319e-03 9.94991751e-01 9.76085247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:14.16, Z:9.76 [[ 9.55264932e-01 -2.78943113e-01 -9.82835140e-02 8.80883639e+01] [ 2.77268856e-01 9.60305627e-01 -3.05791515e-02 1.41641381e+01] [ 1.02912055e-01 1.96023367e-03 9.94688527e-01 9.76322145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.497105681 meters Centerline goodness [0,1] 0.999978984532616 Centerline is valid? [True, True] Translation: X:88.12, Y:14.17, Z:9.77 [[ 9.54276458e-01 -2.82502489e-01 -9.77178841e-02 8.81171388e+01] [ 2.80862341e-01 9.59265227e-01 -3.04396046e-02 1.41657250e+01] [ 1.02336632e-01 1.60252435e-03 9.94748534e-01 9.76854792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:14.17, Z:9.78 [[ 9.54426051e-01 -2.82748000e-01 -9.55221497e-02 8.81452555e+01] [ 2.81178689e-01 9.59192938e-01 -2.97901419e-02 1.41725317e+01] [ 1.00047274e-01 1.57369462e-03 9.94981440e-01 9.77522189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557105681 meters Centerline goodness [0,1] 0.9999791000480699 Centerline is valid? [True, True] Translation: X:88.17, Y:14.18, Z:9.78 [[ 9.55062487e-01 -2.81829176e-01 -9.18039310e-02 8.81711380e+01] [ 2.80372950e-01 9.59463210e-01 -2.86593232e-02 1.41811374e+01] [ 9.61595278e-02 1.63210550e-03 9.95364597e-01 9.78271059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:14.19, Z:9.79 [[ 9.54315030e-01 -2.84575302e-01 -9.11028080e-02 8.81998932e+01] [ 2.83152480e-01 9.58652728e-01 -2.84538095e-02 1.41853008e+01] [ 9.54332069e-02 1.35791202e-03 9.95434910e-01 9.78540863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:14.19, Z:9.79 [[ 9.53065210e-01 -2.88822120e-01 -9.08211925e-02 8.82293764e+01] [ 2.87424262e-01 9.57382296e-01 -2.83977739e-02 1.41880620e+01] [ 9.51525070e-02 9.60716142e-04 9.95462243e-01 9.78775942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:14.18, Z:9.79 [[ 9.49998209e-01 -2.98588563e-01 -9.13688832e-02 8.82600242e+01] [ 2.97215667e-01 9.54381931e-01 -2.86003096e-02 1.41844518e+01] [ 9.57405365e-02 1.39793655e-05 9.95406324e-01 9.78971277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:14.19, Z:9.79 [[ 9.48311653e-01 -3.03630182e-01 -9.22698278e-02 8.82888545e+01] [ 3.02252444e-01 9.52789838e-01 -2.88960905e-02 1.41882956e+01] [ 9.66874795e-02 -4.86281670e-04 9.95314671e-01 9.79114871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:14.19, Z:9.79 [[ 9.45792818e-01 -3.11181872e-01 -9.29612165e-02 8.83184884e+01] [ 3.09816618e-01 9.50349574e-01 -2.91436240e-02 1.41890464e+01] [ 9.74146200e-02 -1.23709950e-03 9.95243117e-01 9.79196902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73710568099999 meters Centerline goodness [0,1] 0.9999791301444194 Centerline is valid? [True, True] Translation: X:88.35, Y:14.19, Z:9.80 [[ 9.44780536e-01 -3.14468703e-01 -9.21909628e-02 8.83458581e+01] [ 3.13140507e-01 9.49266573e-01 -2.89135956e-02 1.41924489e+01] [ 9.66062202e-02 -1.55172252e-03 9.95321471e-01 9.79764917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76710568099999 meters Centerline goodness [0,1] 0.9999790816860161 Centerline is valid? [True, True] Translation: X:88.37, Y:14.20, Z:9.80 [[ 9.44844040e-01 -3.14570919e-01 -9.11859451e-02 8.83720395e+01] [ 3.13270786e-01 9.49232737e-01 -2.86116323e-02 1.42015875e+01] [ 9.55570717e-02 -1.53236241e-03 9.95422773e-01 9.80341628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:14.22, Z:9.81 [[ 9.46255753e-01 -3.11076081e-01 -8.84970203e-02 8.83964450e+01] [ 3.09833209e-01 9.50384362e-01 -2.78019108e-02 1.42183263e+01] [ 9.27546936e-02 -1.11159772e-03 9.95688371e-01 9.81246840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.42, Y:14.23, Z:9.82 [[ 9.47912793e-01 -3.06603349e-01 -8.63465330e-02 8.84202184e+01] [ 3.05399074e-01 9.51837166e-01 -2.71553944e-02 1.42348191e+01] [ 9.05137741e-02 -6.29205429e-04 9.95895005e-01 9.81818548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:14.25, Z:9.82 [[ 9.48548093e-01 -3.04255994e-01 -8.76630202e-02 8.84455389e+01] [ 3.03003520e-01 9.52590221e-01 -2.75814581e-02 1.42472736e+01] [ 9.18987597e-02 -3.99864199e-04 9.95768275e-01 9.81877202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.887105681 meters Centerline goodness [0,1] 0.9999791157613349 Centerline is valid? [True, True] Translation: X:88.47, Y:14.26, Z:9.82 [[ 9.49871849e-01 -2.99343139e-01 -9.02061856e-02 8.84695909e+01] [ 2.97991203e-01 9.54145520e-01 -2.84177757e-02 1.42638265e+01] [ 9.45764940e-02 1.12595387e-04 9.95517591e-01 9.81728155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:14.28, Z:9.82 [[ 9.51896453e-01 -2.93103295e-01 -8.93510006e-02 8.84934608e+01] [ 2.91746235e-01 9.56080479e-01 -2.81824697e-02 1.42824509e+01] [ 9.36871222e-02 7.58974887e-04 9.95601400e-01 9.82064121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:14.30, Z:9.82 [[ 9.53670216e-01 -2.86958495e-01 -9.03766631e-02 8.85175916e+01] [ 2.85539542e-01 9.57941981e-01 -2.85364881e-02 1.42999780e+01] [ 9.47643874e-02 1.40828782e-03 9.95498733e-01 9.82227853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97710568099998 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:88.54, Y:14.31, Z:9.82 [[ 9.54188627e-01 -2.84525251e-01 -9.25713003e-02 8.85439853e+01] [ 2.83023075e-01 9.58667023e-01 -2.92485469e-02 1.43122858e+01] [ 9.70670030e-02 1.70881682e-03 9.95276382e-01 9.82315541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:14.33, Z:9.82 [[ 9.55515920e-01 -2.79045769e-01 -9.55132763e-02 8.85673534e+01] [ 2.77415683e-01 9.60274878e-01 -3.02108797e-02 1.43330438e+01] [ 1.00149218e-01 2.37009570e-03 9.94969606e-01 9.82034328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03710568099999 meters Centerline goodness [0,1] 0.999979064606624 Centerline is valid? [True, True] Translation: X:88.59, Y:14.35, Z:9.82 [[ 9.55846159e-01 -2.77582820e-01 -9.64670799e-02 8.85939995e+01] [ 2.75911035e-01 9.60698293e-01 -3.05268723e-02 1.43452038e+01] [ 1.01149494e-01 2.56266174e-03 9.94867937e-01 9.82109689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06710568099999 meters Centerline goodness [0,1] 0.9999580043675458 Centerline is valid? [True, True] Translation: X:88.62, Y:14.35, Z:9.82 [[ 9.56343052e-01 -2.75232901e-01 -9.82589282e-02 8.86215719e+01] [ 2.73482350e-01 9.61373215e-01 -3.11278924e-02 1.43534839e+01] [ 1.03030922e-01 2.89686100e-03 9.94673935e-01 9.82314389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.65, Y:14.37, Z:9.82 [[ 9.56315523e-01 -2.74390201e-01 -1.00849577e-01 8.86470233e+01] [ 2.72537578e-01 9.61613441e-01 -3.19821769e-02 1.43656906e+01] [ 1.05753905e-01 3.09975275e-03 9.94387501e-01 9.82243858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12710568099999 meters Centerline goodness [0,1] 0.9999789628694646 Centerline is valid? [True, True] Translation: X:88.67, Y:14.37, Z:9.83 [[ 9.56136392e-01 -2.75116547e-01 -1.00568810e-01 8.86741322e+01] [ 2.73276492e-01 9.61406117e-01 -3.19098238e-02 1.43743541e+01] [ 1.05466389e-01 3.02705242e-03 9.94418261e-01 9.82546388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:14.38, Z:9.83 [[ 9.55400293e-01 -2.78927318e-01 -9.70042892e-02 8.87039089e+01] [ 2.77232394e-01 9.60308854e-01 -3.08075350e-02 1.43783930e+01] [ 1.01747141e-01 2.54079670e-03 9.94807048e-01 9.83402770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18710568099999 meters Centerline goodness [0,1] 0.999958180867747 Centerline is valid? [True, True] Translation: X:88.73, Y:14.38, Z:9.84 [[ 9.53805151e-01 -2.85442855e-01 -9.36915661e-02 8.87341120e+01] [ 2.83893067e-01 9.58394069e-01 -2.97579586e-02 1.43791328e+01] [ 9.82876379e-02 1.78490821e-03 9.95156447e-01 9.84133213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:14.39, Z:9.85 [[ 9.52950253e-01 -2.88643675e-01 -9.25777748e-02 8.87620713e+01] [ 2.87144962e-01 9.57435503e-01 -2.94113573e-02 1.43853328e+01] [ 9.71266506e-02 1.44431883e-03 9.95270982e-01 9.84512753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.79, Y:14.39, Z:9.85 [[ 9.51775510e-01 -2.93063628e-01 -9.07584023e-02 8.87908333e+01] [ 2.91640458e-01 9.56092413e-01 -2.88641691e-02 1.43891875e+01] [ 9.52324581e-02 1.00338729e-03 9.95454556e-01 9.85046386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:14.39, Z:9.85 [[ 9.50779317e-01 -2.96229962e-01 -9.09202925e-02 8.88185770e+01] [ 2.94813115e-01 9.55116377e-01 -2.89470749e-02 1.43949478e+01] [ 9.54144513e-02 7.17785468e-04 9.95437375e-01 9.85357653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.307105681 meters Centerline goodness [0,1] 0.9999580554506942 Centerline is valid? [True, True] Translation: X:88.84, Y:14.40, Z:9.86 [[ 9.50464624e-01 -2.97305907e-01 -9.06983746e-02 8.88447077e+01] [ 2.95897884e-01 9.54782064e-01 -2.89076495e-02 1.44034112e+01] [ 9.51915962e-02 6.38241098e-04 9.95458765e-01 9.85581158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:14.41, Z:9.86 [[ 9.49721716e-01 -2.99880571e-01 -9.00016926e-02 8.88709868e+01] [ 2.98502523e-01 9.53976664e-01 -2.87187819e-02 1.44116271e+01] [ 9.44717191e-02 4.09118522e-04 9.95527462e-01 9.85957404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36710568099998 meters Centerline goodness [0,1] 0.9999790624149411 Centerline is valid? [True, True] Translation: X:88.90, Y:14.42, Z:9.86 [[ 9.49149452e-01 -3.01371089e-01 -9.10537435e-02 8.88976569e+01] [ 2.99966149e-01 9.53506891e-01 -2.90674920e-02 1.44210810e+01] [ 9.55804735e-02 2.76353312e-04 9.95421668e-01 9.86134175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:14.43, Z:9.86 [[ 9.49033203e-01 -3.01601635e-01 -9.15010078e-02 8.89231166e+01] [ 3.00180602e-01 9.53433989e-01 -2.92443983e-02 1.44295533e+01] [ 9.60603292e-02 2.87077417e-04 9.95375472e-01 9.86349433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:14.44, Z:9.87 [[ 9.49850684e-01 -2.99978847e-01 -8.82970554e-02 8.89490605e+01] [ 2.98646697e-01 9.53945744e-01 -2.82430094e-02 1.44397813e+01] [ 9.27029056e-02 4.57017854e-04 9.95693709e-01 9.87232365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45710568099999 meters Centerline goodness [0,1] 0.9999790461822144 Centerline is valid? [True, True] Translation: X:88.97, Y:14.46, Z:9.88 [[ 9.51641158e-01 -2.94933200e-01 -8.59855471e-02 8.89735587e+01] [ 2.93646520e-01 9.55517397e-01 -2.75358947e-02 1.44553536e+01] [ 9.02819357e-02 9.54934017e-04 9.95915790e-01 9.87877090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:14.47, Z:9.88 [[ 9.52478635e-01 -2.92238026e-01 -8.59149925e-02 8.89987358e+01] [ 2.90939942e-01 9.56344816e-01 -2.75416761e-02 1.44679298e+01] [ 9.02130827e-02 1.23675515e-03 9.95921719e-01 9.88114017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:14.48, Z:9.88 [[ 9.54019895e-01 -2.87118606e-01 -8.60752281e-02 8.90234211e+01] [ 2.85793917e-01 9.57893469e-01 -2.76032424e-02 1.44840455e+01] [ 9.03763033e-02 1.73426582e-03 9.95906178e-01 9.88112764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:14.49, Z:9.88 [[ 9.54779118e-01 -2.84224796e-01 -8.72530842e-02 8.90499782e+01] [ 2.82850434e-01 9.58755483e-01 -2.79920644e-02 1.44946248e+01] [ 9.16104117e-02 2.04666586e-03 9.95792822e-01 9.88201177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:14.50, Z:9.88 [[ 9.54964417e-01 -2.83284489e-01 -8.82771823e-02 8.90779512e+01] [ 2.81870875e-01 9.59033420e-01 -2.83497601e-02 1.45032453e+01] [ 9.26918154e-02 2.19024547e-03 9.95692438e-01 9.88309011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:14.51, Z:9.88 [[ 9.55228803e-01 -2.80768500e-01 -9.33112141e-02 8.91058336e+01] [ 2.79173731e-01 9.59771991e-01 -2.99958886e-02 1.45121109e+01] [ 9.79793904e-02 2.60289699e-03 9.95185040e-01 9.87887524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.637105681 meters Centerline goodness [0,1] 0.9999790145219508 Centerline is valid? [True, True] Translation: X:89.14, Y:14.52, Z:9.88 [[ 9.55934001e-01 -2.77209172e-01 -9.66708895e-02 8.91357476e+01] [ 2.75478107e-01 9.60804644e-01 -3.10845477e-02 1.45167640e+01] [ 1.01498761e-01 3.08406232e-03 9.94830885e-01 9.87770820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:14.53, Z:9.88 [[ 9.56494251e-01 -2.75479023e-01 -9.60731818e-02 8.91635929e+01] [ 2.73759770e-01 9.61301570e-01 -3.09011452e-02 1.45250185e+01] [ 1.00867918e-01 3.25579561e-03 9.94894498e-01 9.88040365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:14.54, Z:9.88 [[ 9.58128093e-01 -2.70633343e-01 -9.35315527e-02 8.91880099e+01] [ 2.68978057e-01 9.62675406e-01 -3.01142373e-02 1.45411404e+01] [ 9.81904422e-02 3.69536147e-03 9.95160782e-01 9.88301782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72710568099998 meters Centerline goodness [0,1] 0.9999790347603673 Centerline is valid? [True, True] Translation: X:89.22, Y:14.54, Z:9.89 [[ 9.60038111e-01 -2.63995820e-01 -9.29141138e-02 8.92200449e+01] [ 2.62330528e-01 9.64513997e-01 -2.99239619e-02 1.45398271e+01] [ 9.75167641e-02 4.35393530e-03 9.95224359e-01 9.88853379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75710568099998 meters Centerline goodness [0,1] 0.9998738647830474 Centerline is valid? [True, True] Translation: X:89.25, Y:14.55, Z:9.89 [[ 9.60953857e-01 -2.60520123e-01 -9.32574415e-02 8.92471464e+01] [ 2.58826087e-01 9.65456855e-01 -3.00352691e-02 1.45486081e+01] [ 9.78608282e-02 4.72504902e-03 9.95188893e-01 9.89037942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78710568099999 meters Centerline goodness [0,1] 0.9996019858809728 Centerline is valid? [True, True] Translation: X:89.28, Y:14.55, Z:9.89 [[ 9.62528964e-01 -2.55035999e-01 -9.21663348e-02 8.92773570e+01] [ 2.53355803e-01 9.66917431e-01 -2.96903910e-02 1.45523966e+01] [ 9.66893542e-02 5.22698553e-03 9.95300883e-01 9.89390471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81710568099999 meters Centerline goodness [0,1] 0.9996428271283301 Centerline is valid? [True, True] Translation: X:89.31, Y:14.56, Z:9.90 [[ 9.62898179e-01 -2.54019159e-01 -9.11118167e-02 8.93061434e+01] [ 2.52372321e-01 9.67184817e-01 -2.93554198e-02 1.45579616e+01] [ 9.55788049e-02 5.27217961e-03 9.95407904e-01 9.89623374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84710568099999 meters Centerline goodness [0,1] 0.9991187393776622 Centerline is valid? [True, True] Translation: X:89.34, Y:14.56, Z:9.90 [[ 9.62764003e-01 -2.53730194e-01 -9.33084343e-02 8.93362496e+01] [ 2.51998308e-01 9.67259620e-01 -3.00945041e-02 1.45565294e+01] [ 9.78893651e-02 5.46033759e-03 9.95182323e-01 9.89608723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87710568099999 meters Centerline goodness [0,1] 0.9990579664636061 Centerline is valid? [True, True] Translation: X:89.37, Y:14.55, Z:9.89 [[ 9.62125266e-01 -2.55037896e-01 -9.62841830e-02 8.93666391e+01] [ 2.53198675e-01 9.66915354e-01 -3.10665245e-02 1.45549853e+01] [ 1.01021796e-01 5.51086062e-03 9.94868950e-01 9.89368099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90710568099999 meters Centerline goodness [0,1] 0.9989686164726683 Centerline is valid? [True, True] Translation: X:89.40, Y:14.56, Z:9.90 [[ 9.61771622e-01 -2.56429534e-01 -9.61209761e-02 8.93963214e+01] [ 2.54601999e-01 9.66548013e-01 -3.10283922e-02 1.45571470e+01] [ 1.00862135e-01 5.36963444e-03 9.94885922e-01 9.89570124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93710568099999 meters Centerline goodness [0,1] 0.9989076089239948 Centerline is valid? [True, True] Translation: X:89.43, Y:14.55, Z:9.90 [[ 9.61534316e-01 -2.58009631e-01 -9.42485552e-02 8.94266515e+01] [ 2.56257407e-01 9.66128723e-01 -3.04537779e-02 1.45522105e+01] [ 9.89136042e-02 5.13046206e-03 9.95082799e-01 9.89985326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96710568099999 meters Centerline goodness [0,1] 0.9990146130783907 Centerline is valid? [True, True] Translation: X:89.46, Y:14.55, Z:9.90 [[ 9.60141769e-01 -2.63027587e-01 -9.45741574e-02 8.94604014e+01] [ 2.61285959e-01 9.64777137e-01 -3.05732537e-02 1.45450968e+01] [ 9.92845939e-02 4.64375855e-03 9.95048243e-01 9.90343007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.997105681 meters Centerline goodness [0,1] 0.9989735855380297 Centerline is valid? [True, True] Translation: X:89.49, Y:14.55, Z:9.90 [[ 9.59055472e-01 -2.66700687e-01 -9.53065851e-02 8.94911325e+01] [ 2.64949668e-01 9.63769816e-01 -3.08125906e-02 1.45459674e+01] [ 1.00071349e-01 4.29953554e-03 9.94970974e-01 9.90498502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.027105681 meters Centerline goodness [0,1] 0.9993073484037529 Centerline is valid? [True, True] Translation: X:89.53, Y:14.54, Z:9.91 [[ 9.56858585e-01 -2.74036960e-01 -9.65680742e-02 8.95254500e+01] [ 2.72275808e-01 9.61712481e-01 -3.12248157e-02 1.45370177e+01] [ 1.01427476e-01 3.58458251e-03 9.94836478e-01 9.90679911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057105681 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:89.56, Y:14.54, Z:9.91 [[ 9.55702871e-01 -2.77858926e-01 -9.70898509e-02 8.95553480e+01] [ 2.76097894e-01 9.60616561e-01 -3.13970582e-02 1.45378011e+01] [ 1.01990072e-01 3.19995527e-03 9.94780270e-01 9.90876454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08710568099998 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:89.58, Y:14.55, Z:9.91 [[ 9.55599588e-01 -2.78215378e-01 -9.70856930e-02 8.95814162e+01] [ 2.76454875e-01 9.60513467e-01 -3.14099090e-02 1.45464516e+01] [ 1.01990835e-01 3.17548301e-03 9.94780270e-01 9.91118583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11710568099998 meters Centerline goodness [0,1] 0.9994319974755443 Centerline is valid? [True, True] Translation: X:89.61, Y:14.54, Z:9.91 [[ 9.53482954e-01 -2.85526304e-01 -9.66694702e-02 8.96146014e+01] [ 2.83814734e-01 9.58367824e-01 -3.13099090e-02 1.45407497e+01] [ 1.01584712e-01 2.41724460e-03 9.94823956e-01 9.91459639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14710568099999 meters Centerline goodness [0,1] 0.9994342113534922 Centerline is valid? [True, True] Translation: X:89.64, Y:14.54, Z:9.92 [[ 9.51609891e-01 -2.91817855e-01 -9.63377126e-02 8.96436683e+01] [ 2.90149742e-01 9.56472320e-01 -3.12062290e-02 1.45406035e+01] [ 1.01250890e-01 1.74379376e-03 9.94859395e-01 9.91626975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17710568099999 meters Centerline goodness [0,1] 0.9996640208307085 Centerline is valid? [True, True] Translation: X:89.67, Y:14.54, Z:9.92 [[ 9.50107023e-01 -2.96978615e-01 -9.53957377e-02 8.96736547e+01] [ 2.95367781e-01 9.54883384e-01 -3.09127249e-02 1.45398544e+01] [ 1.00272223e-01 1.19356971e-03 9.94959324e-01 9.91992281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20710568099999 meters Centerline goodness [0,1] 0.9996847282357392 Centerline is valid? [True, True] Translation: X:89.70, Y:14.54, Z:9.92 [[ 9.49102973e-01 -3.00173218e-01 -9.53917455e-02 8.97023800e+01] [ 2.98577401e-01 9.53884315e-01 -3.09232817e-02 1.45430474e+01] [ 1.00275031e-01 8.67559229e-04 9.94959379e-01 9.92473691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23710568099999 meters Centerline goodness [0,1] 0.9996010666218742 Centerline is valid? [True, True] Translation: X:89.73, Y:14.55, Z:9.92 [[ 9.47575912e-01 -3.04639612e-01 -9.64084899e-02 8.97299296e+01] [ 3.03029219e-01 9.52467596e-01 -3.12853168e-02 1.45484394e+01] [ 1.01356709e-01 4.30623211e-04 9.94850055e-01 9.92419007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26710568099999 meters Centerline goodness [0,1] 0.9996228707913428 Centerline is valid? [True, True] Translation: X:89.76, Y:14.55, Z:9.93 [[ 9.47022613e-01 -3.06424767e-01 -9.61874840e-02 8.97562017e+01] [ 3.04829501e-01 9.51894846e-01 -3.12278274e-02 1.45548303e+01] [ 1.01129350e-01 2.52675970e-04 9.94873254e-01 9.92647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29710568099999 meters Centerline goodness [0,1] 0.9996445076430857 Centerline is valid? [True, True] Translation: X:89.79, Y:14.56, Z:9.94 [[ 9.45671147e-01 -3.11373001e-01 -9.35571220e-02 8.97851611e+01] [ 3.09885530e-01 9.50287743e-01 -3.04000602e-02 1.45563792e+01] [ 9.83719443e-02 -2.43538530e-04 9.95149688e-01 9.93567646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32710568099999 meters Centerline goodness [0,1] 0.9996237930025499 Centerline is valid? [True, True] Translation: X:89.81, Y:14.56, Z:9.94 [[ 9.44096596e-01 -3.17028394e-01 -9.04135801e-02 8.98132835e+01] [ 3.15662229e-01 9.48415731e-01 -2.94101892e-02 1.45598398e+01] [ 9.50735266e-02 -7.74092726e-04 9.95469952e-01 9.94476676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357105681 meters Centerline goodness [0,1] 0.9997067018624431 Centerline is valid? [True, True] Translation: X:89.84, Y:14.57, Z:9.95 [[ 9.43172656e-01 -3.19948182e-01 -8.97691617e-02 8.98407639e+01] [ 3.18611208e-01 9.47434488e-01 -2.92367949e-02 1.45683167e+01] [ 9.44046591e-02 -1.02611549e-03 9.95533378e-01 9.94791220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.387105681 meters Centerline goodness [0,1] 0.9998318444561219 Centerline is valid? [True, True] Translation: X:89.87, Y:14.58, Z:9.95 [[ 9.41159555e-01 -3.25679580e-01 -9.02856726e-02 8.98684728e+01] [ 3.24350232e-01 9.45478884e-01 -2.94381798e-02 1.45771109e+01] [ 9.49506110e-02 -1.57815461e-03 9.95480734e-01 9.94781062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417105681 meters Centerline goodness [0,1] 0.9999159504948415 Centerline is valid? [True, True] Translation: X:89.90, Y:14.58, Z:9.95 [[ 9.38666022e-01 -3.32670996e-01 -9.07530033e-02 8.98964074e+01] [ 3.31357297e-01 9.43040228e-01 -2.96221189e-02 1.45822033e+01] [ 9.54381528e-02 -2.26639333e-03 9.95432781e-01 9.94852350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:14.59, Z:9.95 [[ 9.37324816e-01 -3.36400042e-01 -9.08691415e-02 8.99236579e+01] [ 3.35099365e-01 9.41715482e-01 -2.96709807e-02 1.45900346e+01] [ 9.55541965e-02 -2.63884513e-03 9.95420731e-01 9.95130737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:14.59, Z:9.95 [[ 9.34917640e-01 -3.42198060e-01 -9.39653885e-02 8.99529691e+01] [ 3.40834946e-01 9.39621944e-01 -3.06943182e-02 1.45936074e+01] [ 9.87954772e-02 -3.33002860e-03 9.95102188e-01 9.95008174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50710568099998 meters Centerline goodness [0,1] 0.9999580598485961 Centerline is valid? [True, True] Translation: X:89.98, Y:14.61, Z:9.95 [[ 9.32578517e-01 -3.47493510e-01 -9.77014357e-02 8.99799665e+01] [ 3.46047668e-01 9.37673690e-01 -3.19227707e-02 1.46070550e+01] [ 1.02705021e-01 -4.03886383e-03 9.94703657e-01 9.94854331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:14.62, Z:9.95 [[ 9.31061353e-01 -3.51686488e-01 -9.71667182e-02 9.00065248e+01] [ 3.50278231e-01 9.36107181e-01 -3.17570030e-02 1.46172989e+01] [ 1.02126972e-01 -4.46766795e-03 9.94761339e-01 9.94942412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56710568099999 meters Centerline goodness [0,1] 0.9998319327731092 Centerline is valid? [True, True] Translation: X:90.03, Y:14.63, Z:9.95 [[ 9.30248034e-01 -3.53950425e-01 -9.67351605e-02 9.00335755e+01] [ 3.52565433e-01 9.35252466e-01 -3.16297286e-02 1.46267074e+01] [ 1.01667153e-01 -4.68198099e-03 9.94807453e-01 9.95293079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:14.64, Z:9.96 [[ 9.29097020e-01 -3.57172333e-01 -9.59513030e-02 9.00596221e+01] [ 3.55823565e-01 9.34025317e-01 -3.14053821e-02 1.46363540e+01] [ 1.00838080e-01 -4.96308780e-03 9.94890471e-01 9.95915176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:14.65, Z:9.96 [[ 9.29057887e-01 -3.57814187e-01 -9.39172490e-02 9.00823744e+01] [ 3.56524312e-01 9.33779872e-01 -3.07500654e-02 1.46519014e+01] [ 9.87008464e-02 -4.91519176e-03 9.95105011e-01 9.96377710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:14.67, Z:9.97 [[ 9.29673402e-01 -3.56153438e-01 -9.41386978e-02 9.01075949e+01] [ 3.54847096e-01 9.34415504e-01 -3.08415936e-02 1.46668627e+01] [ 9.89489983e-02 -4.73223429e-03 9.95081254e-01 9.96537260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68710568099999 meters Centerline goodness [0,1] 0.9999790013019193 Centerline is valid? [True, True] Translation: X:90.13, Y:14.69, Z:9.97 [[ 9.31490255e-01 -3.50912755e-01 -9.58443668e-02 9.01311585e+01] [ 3.49527395e-01 9.36398654e-01 -3.14350215e-02 1.46909369e+01] [ 1.00779486e-01 -4.21881563e-03 9.94899843e-01 9.96514724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:14.71, Z:9.97 [[ 9.33281737e-01 -3.45960224e-01 -9.64195172e-02 9.01544700e+01] [ 3.44529048e-01 9.38241961e-01 -3.16505460e-02 1.47134490e+01] [ 1.01414667e-01 -3.68044788e-03 9.94837434e-01 9.96584383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.747105681 meters Centerline goodness [0,1] 0.9999790943680228 Centerline is valid? [True, True] Translation: X:90.18, Y:14.73, Z:9.97 [[ 9.33512822e-01 -3.45314970e-01 -9.64955049e-02 9.01799170e+01] [ 3.43877060e-01 9.38479933e-01 -3.16856781e-02 1.47297116e+01] [ 1.01500634e-01 -3.60360368e-03 9.94828948e-01 9.96904006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.777105681 meters Centerline goodness [0,1] 0.9999790435475083 Centerline is valid? [True, True] Translation: X:90.20, Y:14.74, Z:9.97 [[ 9.32492700e-01 -3.47773265e-01 -9.75249743e-02 9.02048867e+01] [ 3.46314609e-01 9.37570624e-01 -3.20548895e-02 1.47418524e+01] [ 1.02584385e-01 -3.88337279e-03 9.94716725e-01 9.97096445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:14.76, Z:9.98 [[ 9.30772997e-01 -3.52532233e-01 -9.68640987e-02 9.02307051e+01] [ 3.51117163e-01 9.35789510e-01 -3.18548530e-02 1.47552706e+01] [ 1.01874270e-01 -4.36101056e-03 9.94787723e-01 9.97544885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:14.77, Z:9.98 [[ 9.30205354e-01 -3.54182115e-01 -9.62965665e-02 9.02557763e+01] [ 3.52791595e-01 9.35165608e-01 -3.16761280e-02 1.47665783e+01] [ 1.01272355e-01 -4.50731545e-03 9.94848528e-01 9.97957920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:14.78, Z:9.98 [[ 9.30065388e-01 -3.54916942e-01 -9.49333399e-02 9.02794727e+01] [ 3.53567886e-01 9.34886969e-01 -3.12426706e-02 1.47845964e+01] [ 9.98404955e-02 -4.50765378e-03 9.94993244e-01 9.98388747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89710568099999 meters Centerline goodness [0,1] 0.9999579248537889 Centerline is valid? [True, True] Translation: X:90.30, Y:14.80, Z:9.99 [[ 9.30355244e-01 -3.54373122e-01 -9.41212471e-02 9.03047675e+01] [ 3.53040671e-01 9.35093865e-01 -3.10120556e-02 1.47997236e+01] [ 9.90020398e-02 -4.37639961e-03 9.95077607e-01 9.98867699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92710568099999 meters Centerline goodness [0,1] 0.9999580660041095 Centerline is valid? [True, True] Translation: X:90.33, Y:14.82, Z:10.00 [[ 9.31648455e-01 -3.51937868e-01 -9.03929943e-02 9.03268135e+01] [ 3.50694918e-01 9.36015130e-01 -2.98119338e-02 1.48228687e+01] [ 9.51011587e-02 -3.92612167e-03 9.95459871e-01 9.99707593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:14.85, Z:10.00 [[ 9.33421649e-01 -3.48127260e-01 -8.67838465e-02 9.03486663e+01] [ 3.46964663e-01 9.37441160e-01 -2.86285439e-02 1.48464870e+01] [ 9.13211263e-02 -3.38842540e-03 9.95815731e-01 1.00038559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98710568099999 meters Centerline goodness [0,1] 0.9999374517857516 Centerline is valid? [True, True] Translation: X:90.37, Y:14.87, Z:10.00 [[ 9.35024636e-01 -3.43543520e-01 -8.77882653e-02 9.03720133e+01] [ 3.42332859e-01 9.39132072e-01 -2.89683399e-02 1.48719137e+01] [ 9.23966609e-02 -2.96669637e-03 9.95717860e-01 1.00030128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:14.89, Z:10.00 [[ 9.35608128e-01 -3.41445961e-01 -8.97334256e-02 9.03962559e+01] [ 3.40169139e-01 9.39897239e-01 -2.96333724e-02 1.48878127e+01] [ 9.44583943e-02 -2.79931810e-03 9.95524874e-01 1.00021252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:14.91, Z:10.00 [[ 9.37845936e-01 -3.35310830e-01 -8.95078044e-02 9.04178556e+01] [ 3.34011529e-01 9.42105068e-01 -2.95692385e-02 1.49128425e+01] [ 9.42406421e-02 -2.16524836e-03 9.95547092e-01 1.00036514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07710568099999 meters Centerline goodness [0,1] 0.9999374635203869 Centerline is valid? [True, True] Translation: X:90.44, Y:14.94, Z:10.01 [[ 9.41135711e-01 -3.26033477e-01 -8.92510202e-02 9.04388700e+01] [ 3.24699240e-01 9.45357431e-01 -2.94912028e-02 1.49390027e+01] [ 9.39892346e-02 -1.22451432e-03 9.95572461e-01 1.00091160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.107105681 meters Centerline goodness [0,1] 0.9999374191664233 Centerline is valid? [True, True] Translation: X:90.46, Y:14.96, Z:10.01 [[ 9.42727492e-01 -3.21257549e-01 -8.97689440e-02 9.04630788e+01] [ 3.19885365e-01 9.46991569e-01 -2.96702043e-02 1.49574299e+01] [ 9.45422102e-02 -7.44854127e-04 9.95520575e-01 1.00120693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.137105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:14.98, Z:10.01 [[ 9.45968823e-01 -3.11010276e-01 -9.17365537e-02 9.04838189e+01] [ 3.09525919e-01 9.50406496e-01 -3.03512297e-02 1.49846239e+01] [ 9.66265609e-02 3.16475982e-04 9.95320656e-01 1.00111241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.167105681 meters Centerline goodness [0,1] 0.9999789695057834 Centerline is valid? [True, True] Translation: X:90.51, Y:15.00, Z:10.01 [[ 9.47401064e-01 -3.06237596e-01 -9.30040764e-02 9.05093946e+01] [ 3.04685291e-01 9.51954733e-01 -3.08068211e-02 1.50003682e+01] [ 9.79698775e-02 8.49441001e-04 9.95189018e-01 1.00114083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:15.02, Z:10.01 [[ 9.49431927e-01 -2.99201993e-01 -9.51692401e-02 9.05354494e+01] [ 2.97537982e-01 9.54188383e-01 -3.15543763e-02 1.50176263e+01] [ 1.00250516e-01 1.64226856e-03 9.94960872e-01 1.00104170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:15.03, Z:10.01 [[ 9.50736655e-01 -2.94777378e-01 -9.59484803e-02 9.05600447e+01] [ 2.93062824e-01 9.55563577e-01 -3.18187167e-02 1.50325730e+01] [ 1.01064311e-01 2.13228768e-03 9.94877610e-01 1.00096761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:15.04, Z:10.01 [[ 9.51067094e-01 -2.93446985e-01 -9.67483822e-02 9.05875393e+01] [ 2.91695165e-01 9.55972563e-01 -3.20996939e-02 1.50422500e+01] [ 1.01908357e-01 2.30792726e-03 9.94791114e-01 1.00116981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:15.05, Z:10.01 [[ 9.50676024e-01 -2.93659192e-01 -9.98968292e-02 9.06151344e+01] [ 2.91788735e-01 9.55907189e-01 -3.31780075e-02 1.50497149e+01] [ 1.05235124e-01 2.39276675e-03 9.94444490e-01 1.00092717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31710568099999 meters Centerline goodness [0,1] 0.9999367395567552 Centerline is valid? [True, True] Translation: X:90.64, Y:15.05, Z:10.01 [[ 9.49433346e-01 -2.97379646e-01 -1.00705846e-01 9.06440423e+01] [ 2.95497686e-01 9.54757190e-01 -3.34637893e-02 1.50531599e+01] [ 1.06101081e-01 2.01329296e-03 9.94353311e-01 1.00115322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:15.06, Z:10.02 [[ 9.48561669e-01 -3.01558841e-01 -9.64003402e-02 9.06727811e+01] [ 2.99853241e-01 9.53446376e-01 -3.20630978e-02 1.50561733e+01] [ 1.01581466e-01 1.50787109e-03 9.94826081e-01 1.00196930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:15.06, Z:10.02 [[ 9.47934632e-01 -3.03942076e-01 -9.50744308e-02 9.07018885e+01] [ 3.02293900e-01 9.52689698e-01 -3.16344479e-02 1.50605588e+01] [ 1.00191470e-01 1.24696831e-03 9.94967394e-01 1.00249743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:15.06, Z:10.03 [[ 9.45911431e-01 -3.10530267e-01 -9.39282578e-02 9.07323108e+01] [ 3.08950840e-01 9.50563319e-01 -3.12850563e-02 1.50588080e+01] [ 9.89997134e-02 5.73678229e-04 9.95087296e-01 1.00278661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:15.06, Z:10.03 [[ 9.44653635e-01 -3.14232155e-01 -9.42744042e-02 9.07599517e+01] [ 3.12655827e-01 9.49346146e-01 -3.14361179e-02 1.50631154e+01] [ 9.93772813e-02 2.20801168e-04 9.95049801e-01 1.00294445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46710568099999 meters Centerline goodness [0,1] 0.999979059345814 Centerline is valid? [True, True] Translation: X:90.79, Y:15.06, Z:10.03 [[ 9.41914954e-01 -3.22346347e-01 -9.42817717e-02 9.07907998e+01] [ 3.20806489e-01 9.46621611e-01 -3.14757448e-02 1.50594334e+01] [ 9.93952540e-02 -5.98729432e-04 9.95047851e-01 1.00305887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:15.06, Z:10.03 [[ 9.39278790e-01 -3.29728640e-01 -9.50493469e-02 9.08211502e+01] [ 3.28199862e-01 9.44074745e-01 -3.17446934e-02 1.50558415e+01] [ 1.00200823e-01 -1.37806537e-03 9.94966279e-01 1.00327122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:15.06, Z:10.04 [[ 9.38337438e-01 -3.32457871e-01 -9.48399516e-02 9.08492859e+01] [ 3.30948199e-01 9.43116662e-01 -3.16899341e-02 1.50627216e+01] [ 9.99807066e-02 -1.65125965e-03 9.94988006e-01 1.00362981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:15.07, Z:10.04 [[ 9.38040073e-01 -3.33652917e-01 -9.35764549e-02 9.08752718e+01] [ 3.32186046e-01 9.42694414e-01 -3.12997332e-02 1.50706280e+01] [ 9.86572486e-02 -1.72438854e-03 9.95119980e-01 1.00412946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:15.08, Z:10.05 [[ 9.39303308e-01 -3.30336783e-01 -9.26655600e-02 9.09016205e+01] [ 3.28880871e-01 9.43862167e-01 -3.10093782e-02 1.50812614e+01] [ 9.77070545e-02 -1.34871866e-03 9.95214305e-01 1.00472817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:15.10, Z:10.05 [[ 9.41761157e-01 -3.24335278e-01 -8.88400284e-02 9.09271857e+01] [ 3.22967646e-01 9.45941957e-01 -2.97609530e-02 1.50954613e+01] [ 9.36900372e-02 -6.64745295e-04 9.95601193e-01 1.00547628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64710568099999 meters Centerline goodness [0,1] 0.9999371016437437 Centerline is valid? [True, True] Translation: X:90.95, Y:15.11, Z:10.06 [[ 9.42844141e-01 -3.21329417e-01 -8.82741795e-02 9.09523595e+01] [ 3.19963247e-01 9.46967419e-01 -2.96011366e-02 1.51079656e+01] [ 9.31044879e-02 -3.35234892e-04 9.95656287e-01 1.00564903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:15.12, Z:10.06 [[ 9.44442491e-01 -3.16455771e-01 -8.87925984e-02 9.09774596e+01] [ 3.15050681e-01 9.48607253e-01 -2.97883987e-02 1.51227047e+01] [ 9.36560135e-02 1.59260944e-04 9.95604603e-01 1.00559146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70710568099999 meters Centerline goodness [0,1] 0.9999581957276034 Centerline is valid? [True, True] Translation: X:91.00, Y:15.13, Z:10.06 [[ 9.45797355e-01 -3.11818800e-01 -9.07546101e-02 9.10047190e+01] [ 3.10325794e-01 9.50141352e-01 -3.04846363e-02 1.51331255e+01] [ 9.57353906e-02 6.68791943e-04 9.95406594e-01 1.00550854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:15.14, Z:10.05 [[ 9.46062324e-01 -3.10327704e-01 -9.30741325e-02 9.10319637e+01] [ 3.08746543e-01 9.50629240e-01 -3.12988899e-02 1.51432005e+01] [ 9.81919045e-02 8.74383823e-04 9.95167114e-01 1.00548626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:15.16, Z:10.05 [[ 9.46450467e-01 -3.07097672e-01 -9.96119167e-02 9.10589192e+01] [ 3.05264390e-01 9.51677075e-01 -3.35320325e-02 1.51562028e+01] [ 1.05095987e-01 1.32843679e-03 9.94461195e-01 1.00490167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:15.17, Z:10.05 [[ 9.46603276e-01 -3.06205480e-01 -1.00898174e-01 9.10841628e+01] [ 3.04318254e-01 9.51964329e-01 -3.39752266e-02 1.51680069e+01] [ 1.06454863e-01 1.45590456e-03 9.94316470e-01 1.00483232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:15.18, Z:10.05 [[ 9.46861054e-01 -3.05936284e-01 -9.92831024e-02 9.11116684e+01] [ 3.04105389e-01 9.52050834e-01 -3.34532757e-02 1.51769694e+01] [ 1.04757131e-01 1.48307741e-03 9.94496729e-01 1.00539231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.14, Y:15.18, Z:10.06 [[ 9.45994698e-01 -3.08943157e-01 -9.82250336e-02 9.11383388e+01] [ 3.07164055e-01 9.51079787e-01 -3.31282594e-02 1.51834174e+01] [ 1.03654593e-01 1.16795811e-03 9.94612669e-01 1.00579303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.887105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:15.19, Z:10.06 [[ 9.44945286e-01 -3.12448958e-01 -9.72319616e-02 9.11670641e+01] [ 3.10722634e-01 9.49934221e-01 -3.28088545e-02 1.51883025e+01] [ 1.02615060e-01 7.90401150e-04 9.94720828e-01 1.00632866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:15.19, Z:10.07 [[ 9.42518543e-01 -3.20588201e-01 -9.42443703e-02 9.11960671e+01] [ 3.19003991e-01 9.47218666e-01 -3.18316178e-02 1.51885945e+01] [ 9.94748679e-02 -6.24402248e-05 9.95040073e-01 1.00706274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:15.19, Z:10.08 [[ 9.39433809e-01 -3.30573856e-01 -9.04712316e-02 9.12258618e+01] [ 3.29159035e-01 9.43779530e-01 -3.05700728e-02 1.51875035e+01] [ 9.54905633e-02 -1.06086334e-03 9.95429770e-01 1.00776745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:15.19, Z:10.08 [[ 9.36766809e-01 -3.38965052e-01 -8.70094178e-02 9.12549051e+01] [ 3.37689876e-01 9.40797219e-01 -2.94302635e-02 1.51901622e+01] [ 9.18340491e-02 -1.81290547e-03 9.95772675e-01 1.00831652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:15.20, Z:10.09 [[ 9.36640264e-01 -3.39317045e-01 -8.69997647e-02 9.12808018e+01] [ 3.38040737e-01 9.40670314e-01 -2.94587726e-02 1.51991967e+01] [ 9.18339597e-02 -1.81719212e-03 9.95772676e-01 1.00855813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:15.21, Z:10.09 [[ 9.35409068e-01 -3.42856802e-01 -8.63660207e-02 9.13072958e+01] [ 3.41610879e-01 9.39385298e-01 -2.92791683e-02 1.52056522e+01] [ 9.11695321e-02 -2.11557268e-03 9.95833139e-01 1.00885714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06710568099999 meters Centerline goodness [0,1] 0.99997897657991 Centerline is valid? [True, True] Translation: X:91.34, Y:15.21, Z:10.09 [[ 9.33185704e-01 -3.48947766e-01 -8.60226639e-02 9.13367995e+01] [ 3.47736307e-01 9.37138324e-01 -2.91757306e-02 1.52107429e+01] [ 9.07959411e-02 -2.68682872e-03 9.95865894e-01 1.00901117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:15.21, Z:10.09 [[ 9.32159202e-01 -3.51470096e-01 -8.68791890e-02 9.13646277e+01] [ 3.50244819e-01 9.36194438e-01 -2.94710168e-02 1.52148337e+01] [ 9.16939946e-02 -2.95730624e-03 9.95782841e-01 1.00912778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:15.23, Z:10.09 [[ 9.31253847e-01 -3.53507865e-01 -8.83088945e-02 9.13899850e+01] [ 3.52249794e-01 9.35426085e-01 -2.99686970e-02 1.52297696e+01] [ 9.32006135e-02 -3.19832546e-03 9.95642213e-01 1.00930979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:15.24, Z:10.10 [[ 9.31512392e-01 -3.52904841e-01 -8.79933910e-02 9.14155876e+01] [ 3.51650091e-01 9.35654094e-01 -2.98936267e-02 1.52416949e+01] [ 9.28809822e-02 -3.09660026e-03 9.95672403e-01 1.00965827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:15.26, Z:10.10 [[ 9.32500043e-01 -3.50774071e-01 -8.60303463e-02 9.14394578e+01] [ 3.49564177e-01 9.36455921e-01 -2.92436961e-02 1.52601194e+01] [ 9.08215575e-02 -2.80337935e-03 9.95863236e-01 1.01028817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:15.29, Z:10.11 [[ 9.35359467e-01 -3.43611426e-01 -8.38680787e-02 9.14615917e+01] [ 3.42430336e-01 9.39109728e-01 -2.85373928e-02 1.52877270e+01] [ 8.85671029e-02 -2.02625389e-03 9.96068152e-01 1.01076190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:15.30, Z:10.11 [[ 9.36747576e-01 -3.39593583e-01 -8.47359249e-02 9.14862668e+01] [ 3.38370005e-01 9.40570828e-01 -2.88488741e-02 1.53038826e+01] [ 8.94970316e-02 -1.64798248e-03 9.95985726e-01 1.01090566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:15.33, Z:10.10 [[ 9.39706128e-01 -3.30596477e-01 -8.75120679e-02 9.15086084e+01] [ 3.29249297e-01 9.43771874e-01 -2.98253170e-02 1.53281454e+01] [ 9.24515731e-02 -7.86253663e-04 9.95716872e-01 1.01047828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:15.34, Z:10.10 [[ 9.40114811e-01 -3.29037317e-01 -8.89864334e-02 9.15333491e+01] [ 3.27636249e-01 9.44316707e-01 -3.03388501e-02 1.53413340e+01] [ 9.40139896e-02 -6.33178830e-04 9.95570675e-01 1.01046068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:15.36, Z:10.10 [[ 9.41201617e-01 -3.24969766e-01 -9.23805617e-02 9.15566690e+01] [ 3.23436130e-01 9.45724385e-01 -3.15350255e-02 1.53599232e+01] [ 9.76144797e-02 -1.98394388e-04 9.95224283e-01 1.01029497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:15.37, Z:10.10 [[ 9.41984111e-01 -3.22047604e-01 -9.46111830e-02 9.15829523e+01] [ 3.20420027e-01 9.46723465e-01 -3.23370832e-02 1.53733131e+01] [ 9.99847071e-02 1.45700791e-04 9.94988963e-01 1.01030366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:15.39, Z:10.10 [[ 9.43196501e-01 -3.16727792e-01 -1.00318823e-01 9.16099521e+01] [ 3.14863679e-01 9.48516151e-01 -3.43216286e-02 1.53886224e+01] [ 1.06024637e-01 7.85286354e-04 9.94363193e-01 1.00986990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42710568099999 meters Centerline goodness [0,1] 0.9999367021837746 Centerline is valid? [True, True] Translation: X:91.63, Y:15.41, Z:10.10 [[ 9.45219628e-01 -3.10369107e-01 -1.01147773e-01 9.16341851e+01] [ 3.08436728e-01 9.50614911e-01 -3.46132272e-02 1.54055265e+01] [ 1.06895458e-01 1.51941343e-03 9.94269105e-01 1.00986191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:15.42, Z:10.10 [[ 9.46475872e-01 -3.07071469e-01 -9.94511770e-02 9.16599210e+01] [ 3.05183051e-01 9.51684598e-01 -3.40548297e-02 1.54186104e+01] [ 1.05103420e-01 1.88126099e-03 9.94459518e-01 1.01031014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:15.43, Z:10.11 [[ 9.48629659e-01 -3.01044164e-01 -9.73354056e-02 9.16842287e+01] [ 2.99200446e-01 9.53606853e-01 -3.33625863e-02 1.54320509e+01] [ 1.02863322e-01 2.52594215e-03 9.94692292e-01 1.01091346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:15.44, Z:10.12 [[ 9.49544821e-01 -2.98772806e-01 -9.53910023e-02 9.17116532e+01] [ 2.96989232e-01 9.54320362e-01 -3.27115158e-02 1.54391247e+01] [ 1.00806887e-01 2.73094985e-03 9.94902263e-01 1.01157583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:15.45, Z:10.12 [[ 9.49414619e-01 -2.99473858e-01 -9.44843386e-02 9.17391179e+01] [ 2.97724002e-01 9.54100784e-01 -3.24363026e-02 1.54469445e+01] [ 9.98614062e-02 2.66524444e-03 9.94997787e-01 1.01189814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:15.45, Z:10.12 [[ 9.48055671e-01 -3.04278081e-01 -9.27647249e-02 9.17675518e+01] [ 3.02611197e-01 9.52580822e-01 -3.18785340e-02 1.54507817e+01] [ 9.80658371e-02 2.15098051e-03 9.95177605e-01 1.01220060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:15.45, Z:10.13 [[ 9.45824730e-01 -3.12576950e-01 -8.78136140e-02 9.18003162e+01] [ 3.11118425e-01 9.49891645e-01 -3.01858958e-02 1.54453965e+01] [ 9.28488335e-02 1.23013346e-03 9.95679457e-01 1.01297731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:15.45, Z:10.13 [[ 9.44065999e-01 -3.18261143e-01 -8.63089450e-02 9.18306137e+01] [ 3.16875426e-01 9.48002849e-01 -2.96742692e-02 1.54461758e+01] [ 9.12652926e-02 6.65284938e-04 9.95826392e-01 1.01344163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.667105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:15.44, Z:10.14 [[ 9.41178170e-01 -3.26688755e-01 -8.63603479e-02 9.18629211e+01] [ 3.25333650e-01 9.45131971e-01 -2.97249608e-02 1.54421783e+01] [ 9.13327363e-02 -1.19443008e-04 9.95820424e-01 1.01369126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:15.44, Z:10.14 [[ 9.41001999e-01 -3.26546896e-01 -8.87826729e-02 9.18918536e+01] [ 3.25110961e-01 9.45180998e-01 -3.05899423e-02 1.54442719e+01] [ 9.39047461e-02 -7.90233176e-05 9.95581183e-01 1.01359509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:15.45, Z:10.14 [[ 9.41686108e-01 -3.24299105e-01 -8.97628191e-02 9.19184855e+01] [ 3.22819662e-01 9.45954578e-01 -3.09419001e-02 1.54527531e+01] [ 9.49459802e-02 1.60354563e-04 9.95482413e-01 1.01368436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75710568099998 meters Centerline goodness [0,1] 0.999979185313157 Centerline is valid? [True, True] Translation: X:91.94, Y:15.47, Z:10.14 [[ 9.44272730e-01 -3.16088079e-01 -9.18549817e-02 9.19439515e+01] [ 3.14496124e-01 9.48729272e-01 -3.17010525e-02 1.54653302e+01] [ 9.71658347e-02 1.04640374e-03 9.95267655e-01 1.01356408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:15.47, Z:10.14 [[ 9.46498430e-01 -3.09102465e-01 -9.27167060e-02 9.19718900e+01] [ 3.07445764e-01 9.51027052e-01 -3.20101204e-02 1.54743163e+01] [ 9.80705028e-02 1.79217024e-03 9.95177856e-01 1.01375645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81710568099999 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:92.00, Y:15.48, Z:10.14 [[ 9.47103453e-01 -3.06536133e-01 -9.50297279e-02 9.20004098e+01] [ 3.04781733e-01 9.51856666e-01 -3.28174135e-02 1.54796831e+01] [ 1.00514403e-01 2.11816054e-03 9.94933349e-01 1.01392003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:15.49, Z:10.14 [[ 9.47159035e-01 -3.06097481e-01 -9.58858400e-02 9.20277893e+01] [ 3.04305405e-01 9.51997590e-01 -3.31482789e-02 1.54873428e+01] [ 1.01429693e-01 2.21811251e-03 9.94840237e-01 1.01407586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87710568099999 meters Centerline goodness [0,1] 0.9998529319074732 Centerline is valid? [True, True] Translation: X:92.05, Y:15.49, Z:10.15 [[ 9.47849382e-01 -3.04762288e-01 -9.32818110e-02 9.20539674e+01] [ 3.03056965e-01 9.52425607e-01 -3.22790755e-02 1.54930564e+01] [ 9.86814304e-02 2.32599921e-03 9.95116358e-01 1.01456117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90710568099999 meters Centerline goodness [0,1] 0.9998739124952717 Centerline is valid? [True, True] Translation: X:92.08, Y:15.50, Z:10.15 [[ 9.47278774e-01 -3.06902448e-01 -9.20533066e-02 9.20829157e+01] [ 3.05250195e-01 9.51738678e-01 -3.18717412e-02 1.54963168e+01] [ 9.73922077e-02 2.09213407e-03 9.95243880e-01 1.01502344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93710568099999 meters Centerline goodness [0,1] 0.9999790518884722 Centerline is valid? [True, True] Translation: X:92.11, Y:15.50, Z:10.15 [[ 9.46194563e-01 -3.10426286e-01 -9.13858336e-02 9.21121170e+01] [ 3.08811236e-01 9.50595849e-01 -3.16725873e-02 1.55002782e+01] [ 9.67029977e-02 1.74745768e-03 9.95311748e-01 1.01538441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96710568099999 meters Centerline goodness [0,1] 0.9999579708317572 Centerline is valid? [True, True] Translation: X:92.14, Y:15.50, Z:10.16 [[ 9.42971190e-01 -3.20405280e-01 -9.02540413e-02 9.21430462e+01] [ 3.18872659e-01 9.47280265e-01 -3.13101566e-02 1.54962987e+01] [ 9.55278117e-02 7.45029447e-04 9.95426483e-01 1.01564422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.997105681 meters Centerline goodness [0,1] 0.9999579681819137 Centerline is valid? [True, True] Translation: X:92.17, Y:15.49, Z:10.16 [[ 9.39452512e-01 -3.30056042e-01 -9.21519815e-02 9.21732518e+01] [ 3.28503081e-01 9.43961311e-01 -3.19807500e-02 1.54944833e+01] [ 9.75433451e-02 -2.27813990e-04 9.95231251e-01 1.01557302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.027105681 meters Centerline goodness [0,1] 0.999873907195696 Centerline is valid? [True, True] Translation: X:92.20, Y:15.50, Z:10.16 [[ 9.37784517e-01 -3.34305162e-01 -9.38096891e-02 9.22024671e+01] [ 3.32714921e-01 9.42464651e-01 -3.25754850e-02 1.54991196e+01] [ 9.93024687e-02 -6.63097864e-04 9.95057074e-01 1.01559547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:15.50, Z:10.16 [[ 9.35489837e-01 -3.40267475e-01 -9.52722920e-02 9.22321584e+01] [ 3.38654816e-01 9.40327810e-01 -3.31138296e-02 1.55000085e+01] [ 1.00854745e-01 -1.28676949e-03 9.94900329e-01 1.01554682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08710568099998 meters Centerline goodness [0,1] 0.9999580184718724 Centerline is valid? [True, True] Translation: X:92.26, Y:15.51, Z:10.16 [[ 9.34821196e-01 -3.42245500e-01 -9.47488743e-02 9.22594176e+01] [ 3.40659523e-01 9.39609400e-01 -3.29433634e-02 1.55070690e+01] [ 1.00301651e-01 -1.48095192e-03 9.94955972e-01 1.01599017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:15.51, Z:10.17 [[ 9.34178774e-01 -3.44647384e-01 -9.23482424e-02 9.22868355e+01] [ 3.43151542e-01 9.38730710e-01 -3.21196851e-02 1.55129824e+01] [ 9.77600965e-02 -1.68391376e-03 9.95208585e-01 1.01661986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:15.53, Z:10.17 [[ 9.35736195e-01 -3.40209289e-01 -9.30344683e-02 9.23125291e+01] [ 3.38667813e-01 9.40348957e-01 -3.23720742e-02 1.55270768e+01] [ 9.84981456e-02 -1.21605843e-03 9.95136491e-01 1.01703337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17710568099999 meters Centerline goodness [0,1] 0.9999370184535931 Centerline is valid? [True, True] Translation: X:92.34, Y:15.54, Z:10.17 [[ 9.37588085e-01 -3.34922344e-01 -9.35713992e-02 9.23373151e+01] [ 3.33333528e-01 9.42245521e-01 -3.25904501e-02 1.55410125e+01] [ 9.90825017e-02 -6.34066942e-04 9.95079020e-01 1.01706570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:15.56, Z:10.17 [[ 9.41673723e-01 -3.23784721e-01 -9.17281547e-02 9.23588853e+01] [ 3.22203984e-01 9.46130627e-01 -3.19598218e-02 1.55624497e+01] [ 9.71349184e-02 5.40547494e-04 9.95271076e-01 1.01735859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23710568099999 meters Centerline goodness [0,1] 0.9999160387061564 Centerline is valid? [True, True] Translation: X:92.38, Y:15.58, Z:10.18 [[ 9.45154500e-01 -3.14028168e-01 -8.98291773e-02 9.23836580e+01] [ 3.12467247e-01 9.49412445e-01 -3.13086030e-02 1.55763396e+01] [ 9.51167221e-02 1.52279131e-03 9.95464962e-01 1.01786096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26710568099999 meters Centerline goodness [0,1] 0.9997686791579922 Centerline is valid? [True, True] Translation: X:92.41, Y:15.58, Z:10.18 [[ 9.46034696e-01 -3.11180709e-01 -9.04705494e-02 9.24107552e+01] [ 3.09583226e-01 9.50348991e-01 -3.15439575e-02 1.55846357e+01] [ 9.57944664e-02 1.83351370e-03 9.95399447e-01 1.01807396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29710568099999 meters Centerline goodness [0,1] 0.9994753630487703 Centerline is valid? [True, True] Translation: X:92.44, Y:15.59, Z:10.18 [[ 9.46182199e-01 -3.10301837e-01 -9.19348495e-02 9.24380264e+01] [ 3.08646741e-01 9.50636054e-01 -3.20668546e-02 1.55921587e+01] [ 9.73469864e-02 1.96569532e-03 9.95248562e-01 1.01787262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32710568099999 meters Centerline goodness [0,1] 0.9995408631772268 Centerline is valid? [True, True] Translation: X:92.47, Y:15.59, Z:10.18 [[ 9.45866500e-01 -3.10845562e-01 -9.33359571e-02 9.24682083e+01] [ 3.09140651e-01 9.50458427e-01 -3.25704931e-02 1.55940637e+01] [ 9.88363402e-02 1.95339974e-03 9.95101785e-01 1.01798570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.357105681 meters Centerline goodness [0,1] 0.9991820984417926 Centerline is valid? [True, True] Translation: X:92.50, Y:15.60, Z:10.18 [[ 9.45957717e-01 -3.10571286e-01 -9.33245601e-02 9.24957361e+01] [ 3.08862215e-01 9.50547960e-01 -3.25992002e-02 1.56008366e+01] [ 9.88338458e-02 2.01303465e-03 9.95101914e-01 1.01816003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.387105681 meters Centerline goodness [0,1] 0.9992237816518765 Centerline is valid? [True, True] Translation: X:92.52, Y:15.61, Z:10.18 [[ 9.46976348e-01 -3.07105016e-01 -9.44579583e-02 9.25220077e+01] [ 3.05335579e-01 9.51672565e-01 -3.30077819e-02 1.56089432e+01] [ 1.00029903e-01 2.41621339e-03 9.94981498e-01 1.01832641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417105681 meters Centerline goodness [0,1] 0.9990546417092078 Centerline is valid? [True, True] Translation: X:92.55, Y:15.62, Z:10.18 [[ 9.49014583e-01 -3.00447985e-01 -9.54061281e-02 9.25486441e+01] [ 2.98607926e-01 9.53792961e-01 -3.33510717e-02 1.56218083e+01] [ 1.01017956e-01 3.16162742e-03 9.94879579e-01 1.01847544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44710568099998 meters Centerline goodness [0,1] 0.9989533398924033 Centerline is valid? [True, True] Translation: X:92.57, Y:15.63, Z:10.19 [[ 9.50550410e-01 -2.95717295e-01 -9.48957278e-02 9.25748497e+01] [ 2.93872667e-01 9.55268520e-01 -3.31799814e-02 1.56348762e+01] [ 1.00462796e-01 3.65198432e-03 9.94934113e-01 1.01883728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47710568099998 meters Centerline goodness [0,1] 0.9987798720969371 Centerline is valid? [True, True] Translation: X:92.60, Y:15.65, Z:10.19 [[ 9.52965135e-01 -2.87787414e-01 -9.50571240e-02 9.26009733e+01] [ 2.85896384e-01 9.57683728e-01 -3.32435627e-02 1.56491656e+01] [ 1.00601740e-01 4.50346821e-03 9.94916584e-01 1.01902703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50710568099998 meters Centerline goodness [0,1] 0.9989284813849904 Centerline is valid? [True, True] Translation: X:92.63, Y:15.66, Z:10.19 [[ 9.54245569e-01 -2.83447191e-01 -9.52527403e-02 9.26294968e+01] [ 2.81526259e-01 9.58974933e-01 -3.33173175e-02 1.56558334e+01] [ 1.00788690e-01 4.97675503e-03 9.94895407e-01 1.01940612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53710568099999 meters Centerline goodness [0,1] 0.9981481091773817 Centerline is valid? [True, True] Translation: X:92.66, Y:15.66, Z:10.20 [[ 9.54597475e-01 -2.82688418e-01 -9.39729736e-02 9.26567633e+01] [ 2.80814441e-01 9.59198779e-01 -3.28778457e-02 1.56635592e+01] [ 9.94329477e-02 4.99614043e-03 9.95031722e-01 1.01974093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56710568099999 meters Centerline goodness [0,1] 0.9980666988883519 Centerline is valid? [True, True] Translation: X:92.68, Y:15.67, Z:10.20 [[ 9.54790101e-01 -2.82556806e-01 -9.23986692e-02 9.26834205e+01] [ 2.80741677e-01 9.59237773e-01 -3.23574701e-02 1.56699796e+01] [ 9.77751171e-02 4.95443479e-03 9.95196202e-01 1.02001485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59710568099999 meters Centerline goodness [0,1] 0.9986154233448016 Centerline is valid? [True, True] Translation: X:92.71, Y:15.67, Z:10.20 [[ 9.54292782e-01 -2.84075381e-01 -9.28787634e-02 9.27127411e+01] [ 2.82247267e-01 9.58789756e-01 -3.25374254e-02 1.56701814e+01] [ 9.82942885e-02 4.83545308e-03 9.95145643e-01 1.02012338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62710568099999 meters Centerline goodness [0,1] 0.9978550249195635 Centerline is valid? [True, True] Translation: X:92.74, Y:15.67, Z:10.20 [[ 9.54024154e-01 -2.84597136e-01 -9.40339486e-02 9.27406556e+01] [ 2.82724149e-01 9.58634908e-01 -3.29570583e-02 1.56748413e+01] [ 9.95237102e-02 4.85616152e-03 9.95023341e-01 1.02028008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65710568099999 meters Centerline goodness [0,1] 0.9984840509527318 Centerline is valid? [True, True] Translation: X:92.77, Y:15.67, Z:10.21 [[ 9.54009657e-01 -2.83924191e-01 -9.61905826e-02 9.27718649e+01] [ 2.81956668e-01 9.58833286e-01 -3.37515516e-02 1.56723644e+01] [ 1.01813614e-01 5.07773006e-03 9.94790533e-01 1.02062125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68710568099999 meters Centerline goodness [0,1] 0.9985118735721322 Centerline is valid? [True, True] Translation: X:92.80, Y:15.68, Z:10.21 [[ 9.54860026e-01 -2.81457763e-01 -9.49939892e-02 9.27986317e+01] [ 2.79523724e-01 9.59558959e-01 -3.33630398e-02 1.56805178e+01] [ 1.00542620e-01 5.30395945e-03 9.94918615e-01 1.02096435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71710568099999 meters Centerline goodness [0,1] 0.9984860591278019 Centerline is valid? [True, True] Translation: X:92.83, Y:15.68, Z:10.21 [[ 9.55768414e-01 -2.78580166e-01 -9.43389104e-02 9.28297197e+01] [ 2.76657901e-01 9.60396788e-01 -3.31423478e-02 1.56797907e+01] [ 9.98355873e-02 5.57680424e-03 9.94988319e-01 1.02135301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.747105681 meters Centerline goodness [0,1] 0.9981697696434206 Centerline is valid? [True, True] Translation: X:92.86, Y:15.69, Z:10.22 [[ 9.56009920e-01 -2.77967377e-01 -9.36972233e-02 9.28569667e+01] [ 2.76067502e-01 9.60574133e-01 -3.29252202e-02 1.56870076e+01] [ 9.91552661e-02 5.61007877e-03 9.95056159e-01 1.02166440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.777105681 meters Centerline goodness [0,1] 0.9984428592471014 Centerline is valid? [True, True] Translation: X:92.89, Y:15.68, Z:10.22 [[ 9.55684597e-01 -2.79589437e-01 -9.21775364e-02 9.28887955e+01] [ 2.77756548e-01 9.60104631e-01 -3.24098366e-02 1.56835684e+01] [ 9.75615276e-02 5.37066728e-03 9.95215004e-01 1.02215443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80710568099998 meters Centerline goodness [0,1] 0.9986543030761791 Centerline is valid? [True, True] Translation: X:92.92, Y:15.69, Z:10.23 [[ 9.55466218e-01 -2.80663592e-01 -9.11715668e-02 9.29180587e+01] [ 2.78872345e-01 9.59791932e-01 -3.20883550e-02 1.56871110e+01] [ 9.65117671e-02 5.23411055e-03 9.95318081e-01 1.02260704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83710568099998 meters Centerline goodness [0,1] 0.9988652601496175 Centerline is valid? [True, True] Translation: X:92.95, Y:15.69, Z:10.23 [[ 9.55279087e-01 -2.81603362e-01 -9.02297765e-02 9.29471683e+01] [ 2.79850255e-01 9.59517264e-01 -3.17876401e-02 1.56872851e+01] [ 9.55285346e-02 5.11524184e-03 9.95413549e-01 1.02301276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86710568099998 meters Centerline goodness [0,1] 0.9987423756523927 Centerline is valid? [True, True] Translation: X:92.98, Y:15.69, Z:10.23 [[ 9.54548339e-01 -2.83984057e-01 -9.05015162e-02 9.29764324e+01] [ 2.82229407e-01 9.58816443e-01 -3.18997040e-02 1.56891666e+01] [ 9.58333492e-02 4.90762024e-03 9.95385294e-01 1.02310950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89710568099999 meters Centerline goodness [0,1] 0.9987423756523927 Centerline is valid? [True, True] Translation: X:93.00, Y:15.70, Z:10.23 [[ 9.54448247e-01 -2.84321401e-01 -9.04979791e-02 9.30022880e+01] [ 2.82567311e-01 9.58716581e-01 -3.19097350e-02 1.56985076e+01] [ 9.58345337e-02 4.88441997e-03 9.95385295e-01 1.02335184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92710568099999 meters Centerline goodness [0,1] 0.9991417387117707 Centerline is valid? [True, True] Translation: X:93.03, Y:15.70, Z:10.23 [[ 9.53290719e-01 -2.87495821e-01 -9.26442549e-02 9.30326997e+01] [ 2.85668766e-01 9.57770320e-01 -3.27012286e-02 1.56977614e+01] [ 9.81333842e-02 4.70820774e-03 9.95162133e-01 1.02330320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95710568099999 meters Centerline goodness [0,1] 0.999165066377223 Centerline is valid? [True, True] Translation: X:93.06, Y:15.70, Z:10.23 [[ 9.52467018e-01 -2.89671079e-01 -9.43252115e-02 9.30622285e+01] [ 2.87786327e-01 9.57115306e-01 -3.33064596e-02 1.57026907e+01] [ 9.99280218e-02 4.57779804e-03 9.94984138e-01 1.02334897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98710568099999 meters Centerline goodness [0,1] 0.9992028195015524 Centerline is valid? [True, True] Translation: X:93.09, Y:15.70, Z:10.24 [[ 9.51728170e-01 -2.91958978e-01 -9.47282726e-02 9.30918227e+01] [ 2.90066522e-01 9.56420799e-01 -3.34763723e-02 1.57041291e+01] [ 1.00373818e-01 4.38290601e-03 9.94940142e-01 1.02356402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01710568099999 meters Centerline goodness [0,1] 0.9996007145108753 Centerline is valid? [True, True] Translation: X:93.12, Y:15.70, Z:10.24 [[ 9.51206987e-01 -2.93868985e-01 -9.40547075e-02 9.31224717e+01] [ 2.92011728e-01 9.55836653e-01 -3.32482152e-02 1.57048139e+01] [ 9.96715561e-02 4.16085692e-03 9.95011692e-01 1.02403390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04710568099999 meters Centerline goodness [0,1] 0.9994337485843715 Centerline is valid? [True, True] Translation: X:93.15, Y:15.71, Z:10.24 [[ 9.50833919e-01 -2.94984612e-01 -9.43341757e-02 9.31509143e+01] [ 2.93119913e-01 9.55493321e-01 -3.33651116e-02 1.57116321e+01] [ 9.99778693e-02 4.07345445e-03 9.94981323e-01 1.02424801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07710568099999 meters Centerline goodness [0,1] 0.9996440163333682 Centerline is valid? [True, True] Translation: X:93.18, Y:15.71, Z:10.25 [[ 9.50314383e-01 -2.97073919e-01 -9.30035460e-02 9.31811291e+01] [ 2.95268447e-01 9.54846807e-01 -3.29259571e-02 1.57132553e+01] [ 9.85855821e-02 3.82899805e-03 9.95121210e-01 1.02452383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.107105681 meters Centerline goodness [0,1] 0.9996646335073047 Centerline is valid? [True, True] Translation: X:93.21, Y:15.71, Z:10.25 [[ 9.49216193e-01 -3.01090623e-01 -9.12855696e-02 9.32126419e+01] [ 2.99366914e-01 9.53589549e-01 -3.23484699e-02 1.57128889e+01] [ 9.67887860e-02 3.37781213e-03 9.95299212e-01 1.02519040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.137105681 meters Centerline goodness [0,1] 0.999664767013074 Centerline is valid? [True, True] Translation: X:93.24, Y:15.72, Z:10.26 [[ 9.48140901e-01 -3.04681395e-01 -9.05432496e-02 9.32420462e+01] [ 3.02999951e-01 9.52449582e-01 -3.21064423e-02 1.57173985e+01] [ 9.60201159e-02 3.00683095e-03 9.95374852e-01 1.02559734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.167105681 meters Centerline goodness [0,1] 0.9999166527754626 Centerline is valid? [True, True] Translation: X:93.27, Y:15.71, Z:10.26 [[ 9.45162432e-01 -3.13853410e-01 -9.03549400e-02 9.32745202e+01] [ 3.12217957e-01 9.49469133e-01 -3.20673237e-02 1.57143576e+01] [ 9.58536654e-02 2.09839480e-03 9.95393225e-01 1.02593264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19710568099998 meters Centerline goodness [0,1] 0.999937403497058 Centerline is valid? [True, True] Translation: X:93.31, Y:15.71, Z:10.26 [[ 9.42033984e-01 -3.23037487e-01 -9.06573464e-02 9.33057771e+01] [ 3.21432557e-01 9.46385438e-01 -3.21825080e-02 1.57145113e+01] [ 9.61929490e-02 1.17679352e-03 9.95362010e-01 1.02622587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:15.72, Z:10.27 [[ 9.40412939e-01 -3.28147532e-01 -8.91218378e-02 9.33344592e+01] [ 3.26618774e-01 9.44626262e-01 -3.16449337e-02 1.57192490e+01] [ 9.45710354e-02 6.50439686e-04 9.95517904e-01 1.02668837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:15.72, Z:10.27 [[ 9.37682276e-01 -3.36782001e-01 -8.56144460e-02 9.33634793e+01] [ 3.35404535e-01 9.41582631e-01 -3.04293774e-02 1.57203743e+01] [ 9.08611419e-02 -1.82385592e-04 9.95863555e-01 1.02746308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:15.73, Z:10.28 [[ 9.35409384e-01 -3.43506324e-01 -8.37418081e-02 9.33925466e+01] [ 3.42214418e-01 9.39150018e-01 -2.97747568e-02 1.57250808e+01] [ 8.88739378e-02 -8.06067242e-04 9.96042556e-01 1.02802621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:15.73, Z:10.28 [[ 9.33785747e-01 -3.47960261e-01 -8.34735662e-02 9.34197724e+01] [ 3.46691615e-01 9.37508520e-01 -2.97102528e-02 1.57325762e+01] [ 8.85951668e-02 -1.19657486e-03 9.96066998e-01 1.02846445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34710568099999 meters Centerline goodness [0,1] 0.9999790070326441 Centerline is valid? [True, True] Translation: X:93.45, Y:15.74, Z:10.29 [[ 9.33518028e-01 -3.48865830e-01 -8.26844861e-02 9.34453036e+01] [ 3.47623674e-01 9.37171833e-01 -2.94403799e-02 1.57439645e+01] [ 8.77603140e-02 -1.25995945e-03 9.96140823e-01 1.02871023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:15.76, Z:10.29 [[ 9.33543763e-01 -3.48374738e-01 -8.44457424e-02 9.34698094e+01] [ 3.47073581e-01 9.37354571e-01 -3.01054467e-02 1.57595603e+01] [ 8.96435798e-02 -1.20413418e-03 9.95973182e-01 1.02857012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:15.77, Z:10.28 [[ 9.34109867e-01 -3.45733602e-01 -8.89215008e-02 9.34959217e+01] [ 3.44274766e-01 9.38332217e-01 -3.17417132e-02 1.57738495e+01] [ 9.44120858e-02 -9.63181434e-04 9.95532737e-01 1.02834613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:15.79, Z:10.28 [[ 9.34037709e-01 -3.45391608e-01 -9.09845884e-02 9.35215386e+01] [ 3.43859048e-01 9.38458202e-01 -3.25139674e-02 1.57858255e+01] [ 9.66152847e-02 -9.16602299e-04 9.95321379e-01 1.02836026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:15.80, Z:10.28 [[ 9.34177506e-01 -3.44147150e-01 -9.42078867e-02 9.35460968e+01] [ 3.42493557e-01 9.38915402e-01 -3.37050651e-02 1.58018038e+01] [ 1.00052738e-01 -7.79080514e-04 9.94981830e-01 1.02818293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:15.81, Z:10.28 [[ 9.33951314e-01 -3.44481096e-01 -9.52245668e-02 9.35717695e+01] [ 3.42791936e-01 9.38792904e-01 -3.40818541e-02 1.58139813e+01] [ 1.01136702e-01 -8.11421180e-04 9.94872207e-01 1.02814506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:15.83, Z:10.28 [[ 9.33914005e-01 -3.43961989e-01 -9.74411728e-02 9.35980765e+01] [ 3.42188506e-01 9.38983268e-01 -3.48919676e-02 1.58270543e+01] [ 1.03497141e-01 -7.57152177e-04 9.94629463e-01 1.02823611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:15.84, Z:10.28 [[ 9.32766658e-01 -3.46312934e-01 -1.00068544e-01 9.36243260e+01] [ 3.44452038e-01 9.38118503e-01 -3.58673614e-02 1.58363004e+01] [ 1.06297484e-01 -1.01293525e-03 9.94333857e-01 1.02847656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:15.85, Z:10.29 [[ 9.31820481e-01 -3.49045774e-01 -9.93863083e-02 9.36506856e+01] [ 3.47223768e-01 9.37104777e-01 -3.56411611e-02 1.58458724e+01] [ 1.05575781e-01 -1.29812449e-03 9.94410413e-01 1.02897391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61710568099998 meters Centerline goodness [0,1] 0.9999370765778048 Centerline is valid? [True, True] Translation: X:93.68, Y:15.85, Z:10.30 [[ 9.29016190e-01 -3.57357481e-01 -9.60445203e-02 9.36777521e+01] [ 3.55698753e-01 9.33965206e-01 -3.44585355e-02 1.58546769e+01] [ 1.02016256e-01 -2.15037873e-03 9.94780408e-01 1.02955986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:15.86, Z:10.30 [[ 9.25104651e-01 -3.67140944e-01 -9.68963999e-02 9.37069653e+01] [ 3.65502355e-01 9.30159735e-01 -3.47979304e-02 1.58622224e+01] [ 1.02904875e-01 -3.22413505e-03 9.94685976e-01 1.02964833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:15.87, Z:10.30 [[ 9.20578185e-01 -3.77568281e-01 -9.98899321e-02 9.37364746e+01] [ 3.75885742e-01 9.25970771e-01 -3.58892800e-02 1.58665347e+01] [ 1.06045811e-01 -4.50831305e-03 9.94351025e-01 1.02965748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:15.87, Z:10.30 [[ 9.19043988e-01 -3.81208971e-01 -1.00189167e-01 9.37637214e+01] [ 3.79536637e-01 9.24475737e-01 -3.60076854e-02 1.58745079e+01] [ 1.06348907e-01 -4.93281289e-03 9.94316638e-01 1.02987321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73710568099999 meters Centerline goodness [0,1] 0.9999578725645076 Centerline is valid? [True, True] Translation: X:93.79, Y:15.89, Z:10.30 [[ 9.17714074e-01 -3.84592778e-01 -9.94448209e-02 9.37877286e+01] [ 3.82963846e-01 9.23071271e-01 -3.57508103e-02 1.58939767e+01] [ 1.05544161e-01 -5.27474934e-03 9.94400627e-01 1.03027694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:15.92, Z:10.31 [[ 9.18692658e-01 -3.82649006e-01 -9.78955466e-02 9.38099242e+01] [ 3.81058370e-01 9.23880471e-01 -3.52050364e-02 1.59158771e+01] [ 1.03914956e-01 -4.96130898e-03 9.94573812e-01 1.03050254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79710568099999 meters Centerline goodness [0,1] 0.9999579337035167 Centerline is valid? [True, True] Translation: X:93.83, Y:15.93, Z:10.31 [[ 9.19329146e-01 -3.81376865e-01 -9.68793506e-02 9.38343296e+01] [ 3.79810622e-01 9.24407427e-01 -3.48539886e-02 1.59331402e+01] [ 1.02848496e-01 -4.75351883e-03 9.94685674e-01 1.03095518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:15.96, Z:10.32 [[ 9.20507911e-01 -3.78828022e-01 -9.56792312e-02 9.38568195e+01] [ 3.77283337e-01 9.25456713e-01 -3.44551270e-02 1.59552781e+01] [ 1.01599554e-01 -4.38196270e-03 9.94815726e-01 1.03157662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:15.98, Z:10.32 [[ 9.21594698e-01 -3.76805165e-01 -9.31723115e-02 9.38785657e+01] [ 3.75329215e-01 9.26283731e-01 -3.35623236e-02 1.59788041e+01] [ 9.89504532e-02 -4.03943105e-03 9.95084163e-01 1.03213862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.887105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:16.00, Z:10.32 [[ 9.21383519e-01 -3.77442349e-01 -9.26805481e-02 9.39015574e+01] [ 3.75983845e-01 9.26024125e-01 -3.33986184e-02 1.59969799e+01] [ 9.84304764e-02 -4.07345224e-03 9.95135593e-01 1.03242747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:16.02, Z:10.32 [[ 9.19601923e-01 -3.80849338e-01 -9.63643319e-02 9.39249511e+01] [ 3.79286821e-01 9.24625772e-01 -3.47662134e-02 1.60163467e+01] [ 1.02341634e-01 -4.57864442e-03 9.94738773e-01 1.03206475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94710568099998 meters Centerline goodness [0,1] 0.999978988065221 Centerline is valid? [True, True] Translation: X:93.95, Y:16.03, Z:10.32 [[ 9.17438253e-01 -3.85823170e-01 -9.71984279e-02 9.39507583e+01] [ 3.84259925e-01 9.22558283e-01 -3.50788326e-02 1.60330867e+01] [ 1.03205441e-01 -5.16679775e-03 9.94646641e-01 1.03230010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:16.05, Z:10.33 [[ 9.16623966e-01 -3.88060074e-01 -9.59681444e-02 9.39762997e+01] [ 3.86546462e-01 9.21618659e-01 -3.46537318e-02 1.60472107e+01] [ 1.01893762e-01 -5.33170554e-03 9.94780998e-01 1.03268093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:16.07, Z:10.33 [[ 9.15499630e-01 -3.90929480e-01 -9.50503560e-02 9.39994209e+01] [ 3.89456801e-01 9.20403802e-01 -3.43546524e-02 1.60669647e+01] [ 1.00914955e-01 -5.56633603e-03 9.94879484e-01 1.03303702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03710568099999 meters Centerline goodness [0,1] 0.9999579672985582 Centerline is valid? [True, True] Translation: X:94.02, Y:16.09, Z:10.33 [[ 9.14881131e-01 -3.91581610e-01 -9.82667764e-02 9.40219730e+01] [ 3.90009791e-01 9.20124980e-01 -3.55300391e-02 1.60903371e+01] [ 1.04330626e-01 -5.81924258e-03 9.94525644e-01 1.03293289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:16.10, Z:10.33 [[ 9.14677372e-01 -3.91708740e-01 -9.96472158e-02 9.40467583e+01] [ 3.90089482e-01 9.20070449e-01 -3.60633617e-02 1.61045080e+01] [ 1.05808793e-01 -5.88498984e-03 9.94369080e-01 1.03298699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:16.13, Z:10.33 [[ 9.13505244e-01 -3.93691594e-01 -1.02543155e-01 9.40708802e+01] [ 3.91987559e-01 9.19221122e-01 -3.71252308e-02 1.61263682e+01] [ 1.08875725e-01 -6.28154791e-03 9.94035522e-01 1.03285975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:16.14, Z:10.33 [[ 9.12508420e-01 -3.95414433e-01 -1.04765496e-01 9.40966986e+01] [ 3.93645526e-01 9.18478973e-01 -3.79417416e-02 1.61423904e+01] [ 1.11227617e-01 -6.61831000e-03 9.93772919e-01 1.03290554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15710568099999 meters Centerline goodness [0,1] 0.9997684697958324 Centerline is valid? [True, True] Translation: X:94.12, Y:16.16, Z:10.33 [[ 9.10668932e-01 -3.99162305e-01 -1.06543654e-01 9.41206013e+01] [ 3.97356971e-01 9.16852110e-01 -3.85959427e-02 1.61632591e+01] [ 1.13090820e-01 -7.18773788e-03 9.93558656e-01 1.03300668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18710568099999 meters Centerline goodness [0,1] 0.9999579168858496 Centerline is valid? [True, True] Translation: X:94.14, Y:16.19, Z:10.34 [[ 9.09690184e-01 -4.01611041e-01 -1.05699295e-01 9.41425575e+01] [ 3.99849252e-01 9.15780273e-01 -3.83023255e-02 1.61881049e+01] [ 1.12179966e-01 -7.42053431e-03 9.93660199e-01 1.03370833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21710568099999 meters Centerline goodness [0,1] 0.9997262293355796 Centerline is valid? [True, True] Translation: X:94.17, Y:16.20, Z:10.34 [[ 9.09500904e-01 -4.02767775e-01 -1.02889384e-01 9.41658335e+01] [ 4.01103881e-01 9.15272748e-01 -3.73024453e-02 1.62038281e+01] [ 1.09196072e-01 -7.34272361e-03 9.93993110e-01 1.03405213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:16.23, Z:10.35 [[ 9.09607324e-01 -4.03051255e-01 -1.00817667e-01 9.41865383e+01] [ 4.01453619e-01 9.15149004e-01 -3.65690089e-02 1.62287068e+01] [ 1.07002373e-01 -7.21017906e-03 9.94232621e-01 1.03480998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.277105681 meters Centerline goodness [0,1] 0.9998953843578692 Centerline is valid? [True, True] Translation: X:94.21, Y:16.25, Z:10.35 [[ 9.09775033e-01 -4.03409486e-01 -9.78272722e-02 9.42087397e+01] [ 4.01904072e-01 9.14992738e-01 -3.55162727e-02 1.62471848e+01] [ 1.03838845e-01 -7.00536089e-03 9.94569464e-01 1.03519220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30710568099998 meters Centerline goodness [0,1] 0.9999164700231795 Centerline is valid? [True, True] Translation: X:94.23, Y:16.28, Z:10.36 [[ 9.09354902e-01 -4.04562342e-01 -9.69689302e-02 9.42283314e+01] [ 4.03088090e-01 9.14483179e-01 -3.52208211e-02 1.62776015e+01] [ 1.02925473e-01 -7.05879457e-03 9.94664024e-01 1.03552365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33710568099998 meters Centerline goodness [0,1] 0.9999789942444229 Centerline is valid? [True, True] Translation: X:94.25, Y:16.30, Z:10.36 [[ 9.09027359e-01 -4.05360186e-01 -9.67077073e-02 9.42521645e+01] [ 4.03894594e-01 9.14129512e-01 -3.51623771e-02 1.62955774e+01] [ 1.02656797e-01 -7.09615744e-03 9.94691523e-01 1.03569647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36710568099998 meters Centerline goodness [0,1] 0.9999369655201396 Centerline is valid? [True, True] Translation: X:94.27, Y:16.32, Z:10.36 [[ 9.09104639e-01 -4.04950101e-01 -9.76942729e-02 9.42735818e+01] [ 4.03448142e-01 9.14311312e-01 -3.55586891e-02 1.63207311e+01] [ 1.03722474e-01 -7.08800371e-03 9.94581022e-01 1.03577084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39710568099999 meters Centerline goodness [0,1] 0.9999160422307579 Centerline is valid? [True, True] Translation: X:94.30, Y:16.34, Z:10.36 [[ 9.09178442e-01 -4.04834559e-01 -9.74861060e-02 9.42981930e+01] [ 4.03334842e-01 9.14362936e-01 -3.55165803e-02 1.63354583e+01] [ 1.03516021e-01 -7.02863399e-03 9.94602952e-01 1.03593384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42710568099999 meters Centerline goodness [0,1] 0.9999160387061564 Centerline is valid? [True, True] Translation: X:94.32, Y:16.36, Z:10.36 [[ 9.08987488e-01 -4.05598609e-01 -9.60807756e-02 9.43194272e+01] [ 4.04144798e-01 9.14024489e-01 -3.50173724e-02 1.63578015e+01] [ 1.02023179e-01 -7.00019235e-03 9.94757392e-01 1.03627982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45710568099999 meters Centerline goodness [0,1] 0.9997269366493027 Centerline is valid? [True, True] Translation: X:94.34, Y:16.38, Z:10.37 [[ 9.07431673e-01 -4.09408911e-01 -9.46155499e-02 9.43415040e+01] [ 4.08018526e-01 9.12321766e-01 -3.44946109e-02 1.63824279e+01] [ 1.00442227e-01 -7.30339473e-03 9.94916087e-01 1.03676996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48710568099999 meters Centerline goodness [0,1] 0.9997267300092492 Centerline is valid? [True, True] Translation: X:94.37, Y:16.40, Z:10.37 [[ 9.06222755e-01 -4.12096318e-01 -9.45354021e-02 9.43669629e+01] [ 4.10722281e-01 9.11108673e-01 -3.44701800e-02 1.63970766e+01] [ 1.00337059e-01 -7.59013446e-03 9.94924552e-01 1.03696177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51710568099999 meters Centerline goodness [0,1] 0.9981500945974353 Centerline is valid? [True, True] Translation: X:94.39, Y:16.41, Z:10.37 [[ 9.03521707e-01 -4.18090755e-01 -9.40672400e-02 9.43932654e+01] [ 4.16761658e-01 9.08368191e-01 -3.43067123e-02 1.64127784e+01] [ 9.97910079e-02 -8.20675968e-03 9.94974574e-01 1.03707811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54710568099999 meters Centerline goodness [0,1] 0.9837160927027084 Centerline is valid? [True, True] Translation: X:94.42, Y:16.43, Z:10.37 [[ 9.00931600e-01 -4.23703073e-01 -9.37974311e-02 9.44166595e+01] [ 4.22410966e-01 9.05758431e-01 -3.42146217e-02 1.64314964e+01] [ 9.94546544e-02 -8.79602960e-03 9.95003217e-01 1.03725868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57710568099999 meters Centerline goodness [0,1] 0.9434646654158849 Centerline is valid? [True, False] Translation: X:94.36, Y:16.41, Z:10.37 [[ 9.01660767e-01 -4.19064757e-01 -1.06736083e-01 9.43602383e+01] [ 4.21044402e-01 9.07029569e-01 -4.35567728e-03 1.64130978e+01] [ 9.86380943e-02 -4.10132870e-02 9.94277847e-01 1.03666425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.607105681 meters Centerline goodness [0,1] 0.9171987901193077 Centerline is valid? [False, False] Translation: X:94.29, Y:16.40, Z:10.36 [[ 9.03003598e-01 -4.14463868e-01 -1.13155663e-01 9.42871423e+01] [ 4.18110872e-01 9.08345950e-01 9.53595001e-03 1.63976573e+01] [ 9.88321811e-02 -5.59226100e-02 9.93531510e-01 1.03571149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.637105681 meters Centerline goodness [0,1] 0.9116188563178709 Centerline is valid? [False, False] Translation: X:94.23, Y:16.39, Z:10.35 [[ 9.04085039e-01 -4.10585580e-01 -1.18531526e-01 9.42268019e+01] [ 4.15591082e-01 9.09331534e-01 2.00053503e-02 1.63862995e+01] [ 9.95705464e-02 -6.73471833e-02 9.92748741e-01 1.03507089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66710568099998 meters Centerline goodness [0,1] 0.8962516030020813 Centerline is valid? [False, False] Translation: X:94.16, Y:16.37, Z:10.34 [[ 9.06045446e-01 -4.05620959e-01 -1.20637007e-01 9.41606167e+01] [ 4.11489561e-01 9.11002216e-01 2.74099151e-02 1.63670447e+01] [ 9.87825450e-02 -7.44754980e-02 9.92318199e-01 1.03442777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69710568099998 meters Centerline goodness [0,1] 0.8728733160457909 Centerline is valid? [False, False] Translation: X:94.09, Y:16.36, Z:10.34 [[ 9.08232489e-01 -4.00623299e-01 -1.20891352e-01 9.40932768e+01] [ 4.06919762e-01 9.12910121e-01 3.18028022e-02 1.63554462e+01] [ 9.76219948e-02 -7.80774182e-02 9.92156169e-01 1.03368220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72710568099998 meters Centerline goodness [0,1] 0.8507528415048442 Centerline is valid? [False, False] Translation: X:94.03, Y:16.34, Z:10.33 [[ 9.09624641e-01 -3.96592443e-01 -1.23682849e-01 9.40301832e+01] [ 4.03201038e-01 9.14519570e-01 3.29071415e-02 1.63449661e+01] [ 1.00059662e-01 -7.98021997e-02 9.91776020e-01 1.03288285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75710568099998 meters Centerline goodness [0,1] 0.8578876555667676 Centerline is valid? [False, False] Translation: X:93.97, Y:16.33, Z:10.32 [[ 9.10421119e-01 -3.94421166e-01 -1.24761088e-01 9.39663460e+01] [ 4.01172646e-01 9.15387188e-01 3.35678944e-02 1.63298736e+01] [ 1.00964813e-01 -8.06116557e-02 9.91618812e-01 1.03222467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78710568099999 meters Centerline goodness [0,1] 0.9832164592414766 Centerline is valid? [False, True] Translation: X:93.90, Y:16.32, Z:10.32 [[ 9.14092548e-01 -3.86997816e-01 -1.21109469e-01 9.39039866e+01] [ 3.93498980e-01 9.18680982e-01 3.44064908e-02 1.63225185e+01] [ 9.79457294e-02 -7.91071696e-02 9.92042685e-01 1.03178580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81710568099999 meters Centerline goodness [0,1] 0.9832164592414766 Centerline is valid? [True, True] Translation: X:93.93, Y:16.34, Z:10.33 [[ 9.13724062e-01 -3.94123552e-01 -9.88684244e-02 9.39256214e+01] [ 3.92837379e-01 9.19016271e-01 -3.29831387e-02 1.63428157e+01] [ 1.03861122e-01 -8.70172527e-03 9.94553743e-01 1.03258733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84710568099999 meters Centerline goodness [0,1] 0.9983809583885279 Centerline is valid? [True, True] Translation: X:93.95, Y:16.37, Z:10.33 [[ 9.17070222e-01 -3.87608980e-01 -9.34959186e-02 9.39480031e+01] [ 3.86422071e-01 9.21793416e-01 -3.12230824e-02 1.63703429e+01] [ 9.82862693e-02 -7.49512748e-03 9.95129958e-01 1.03344434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87710568099999 meters Centerline goodness [0,1] 0.9985286389910667 Centerline is valid? [True, True] Translation: X:93.97, Y:16.39, Z:10.34 [[ 9.19286363e-01 -3.82854622e-01 -9.12957906e-02 9.39727324e+01] [ 3.81699464e-01 9.23783444e-01 -3.04904486e-02 1.63875140e+01] [ 9.60109490e-02 -6.81810075e-03 9.95356927e-01 1.03376653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90710568099999 meters Centerline goodness [0,1] 0.9981512216643207 Centerline is valid? [True, True] Translation: X:93.99, Y:16.42, Z:10.34 [[ 9.23899870e-01 -3.71816910e-01 -9.03394450e-02 9.39931254e+01] [ 3.70632721e-01 9.28289174e-01 -3.01760713e-02 1.64210223e+01] [ 9.50811024e-02 -5.60308595e-03 9.95453761e-01 1.03404528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93710568099999 meters Centerline goodness [0,1] 0.9974783028978502 Centerline is valid? [True, True] Translation: X:94.01, Y:16.46, Z:10.34 [[ 9.29432441e-01 -3.57568519e-01 -9.11048382e-02 9.40126475e+01] [ 3.56295406e-01 9.33877580e-01 -3.04343251e-02 1.64559302e+01] [ 9.59631224e-02 -4.17358624e-03 9.95376140e-01 1.03402199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96710568099999 meters Centerline goodness [0,1] 0.9973278347044837 Centerline is valid? [True, True] Translation: X:94.04, Y:16.48, Z:10.34 [[ 9.31980514e-01 -3.50812999e-01 -9.13376172e-02 9.40369976e+01] [ 3.49500748e-01 9.36439054e-01 -3.05143362e-02 1.64767834e+01] [ 9.62369377e-02 -3.48379875e-03 9.95352357e-01 1.03425803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.997105681 meters Centerline goodness [0,1] 0.9968677738070212 Centerline is valid? [True, True] Translation: X:94.06, Y:16.50, Z:10.34 [[ 9.35151654e-01 -3.42051614e-01 -9.21524711e-02 9.40604687e+01] [ 3.40673045e-01 9.39677564e-01 -3.07888175e-02 1.65031042e+01] [ 9.71249744e-02 -2.60164931e-03 9.95268793e-01 1.03397840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.027105681 meters Centerline goodness [0,1] 0.9971302289532668 Centerline is valid? [True, True] Translation: X:94.08, Y:16.52, Z:10.34 [[ 9.35752122e-01 -3.39084352e-01 -9.69008147e-02 9.40838258e+01] [ 3.37543487e-01 9.40752888e-01 -3.23789791e-02 1.65215998e+01] [ 1.02138926e-01 -2.40954048e-03 9.94767226e-01 1.03353044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05710568099998 meters Centerline goodness [0,1] 0.9973660921235619 Centerline is valid? [True, True] Translation: X:94.11, Y:16.53, Z:10.34 [[ 9.35538774e-01 -3.39129819e-01 -9.87834468e-02 9.41096440e+01] [ 3.37527300e-01 9.40736394e-01 -3.30205777e-02 1.65339880e+01] [ 1.04127446e-01 -2.45007934e-03 9.94560944e-01 1.03357196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08710568099998 meters Centerline goodness [0,1] 0.9969624601977544 Centerline is valid? [True, True] Translation: X:94.14, Y:16.54, Z:10.34 [[ 9.34467834e-01 -3.42251920e-01 -9.81503481e-02 9.41371745e+01] [ 3.40685489e-01 9.39604159e-01 -3.28240966e-02 1.65428693e+01] [ 1.03456585e-01 -2.76533689e-03 9.94630126e-01 1.03377616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11710568099998 meters Centerline goodness [0,1] 0.9973828067287195 Centerline is valid? [True, True] Translation: X:94.17, Y:16.55, Z:10.34 [[ 9.33169513e-01 -3.46502123e-01 -9.55559466e-02 9.41658721e+01] [ 3.45036481e-01 9.38044001e-01 -3.19887280e-02 1.65473941e+01] [ 1.00719845e-01 -3.11938187e-03 9.94909937e-01 1.03434236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14710568099999 meters Centerline goodness [0,1] 0.9970869310084668 Centerline is valid? [True, True] Translation: X:94.19, Y:16.56, Z:10.35 [[ 9.32231653e-01 -3.49291379e-01 -9.45498659e-02 9.41929720e+01] [ 3.47867543e-01 9.37008156e-01 -3.16841910e-02 1.65555130e+01] [ 9.96610103e-02 -3.35382385e-03 9.95015796e-01 1.03478913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17710568099999 meters Centerline goodness [0,1] 0.9973073390665442 Centerline is valid? [True, True] Translation: X:94.22, Y:16.56, Z:10.35 [[ 9.30537543e-01 -3.54143292e-01 -9.31794514e-02 9.42233800e+01] [ 3.52781721e-01 9.35183501e-01 -3.12550407e-02 1.65572696e+01] [ 9.82086485e-02 -3.78801839e-03 9.95158637e-01 1.03520421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20710568099999 meters Centerline goodness [0,1] 0.9972109799316375 Centerline is valid? [True, True] Translation: X:94.25, Y:16.56, Z:10.35 [[ 9.30111069e-01 -3.55210810e-01 -9.33738679e-02 9.42522968e+01] [ 3.53848365e-01 9.34778070e-01 -3.13256165e-02 1.65576637e+01] [ 9.84110416e-02 -3.90388789e-03 9.95138195e-01 1.03526708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23710568099999 meters Centerline goodness [0,1] 0.997043232169634 Centerline is valid? [True, True] Translation: X:94.28, Y:16.57, Z:10.35 [[ 9.30334999e-01 -3.54485931e-01 -9.38962942e-02 9.42783460e+01] [ 3.53103117e-01 9.35053480e-01 -3.15147177e-02 1.65691832e+01] [ 9.89695807e-02 -3.83582933e-03 9.95083066e-01 1.03549157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26710568099999 meters Centerline goodness [0,1] 0.9969146238377008 Centerline is valid? [True, True] Translation: X:94.31, Y:16.58, Z:10.36 [[ 9.32416055e-01 -3.49021457e-01 -9.37247248e-02 9.43067383e+01] [ 3.47613221e-01 9.37109196e-01 -3.14865549e-02 1.65796978e+01] [ 9.88197847e-02 -3.22138417e-03 9.95100132e-01 1.03571743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29710568099999 meters Centerline goodness [0,1] 0.9973803739304954 Centerline is valid? [True, True] Translation: X:94.33, Y:16.59, Z:10.36 [[ 9.35606152e-01 -3.40792166e-01 -9.22053580e-02 9.43331788e+01] [ 3.39389102e-01 9.40135822e-01 -3.09785916e-02 1.65934508e+01] [ 9.72428214e-02 -2.30973279e-03 9.95258006e-01 1.03616372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32710568099999 meters Centerline goodness [0,1] 0.9969387970528004 Centerline is valid? [True, True] Translation: X:94.36, Y:16.60, Z:10.36 [[ 9.36709529e-01 -3.37672155e-01 -9.24812092e-02 9.43595853e+01] [ 3.36244956e-01 9.41261690e-01 -3.10766802e-02 1.66020592e+01] [ 9.75427489e-02 -1.98651761e-03 9.95229353e-01 1.03635075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.357105681 meters Centerline goodness [0,1] 0.997400401563986 Centerline is valid? [True, True] Translation: X:94.39, Y:16.61, Z:10.37 [[ 9.37457390e-01 -3.35081943e-01 -9.43065953e-02 9.43874129e+01] [ 3.33583228e-01 9.42187387e-01 -3.17042268e-02 1.66106868e+01] [ 9.94779985e-02 -1.73773682e-03 9.95038245e-01 1.03650752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.387105681 meters Centerline goodness [0,1] 0.9976022715322326 Centerline is valid? [True, True] Translation: X:94.42, Y:16.61, Z:10.36 [[ 9.37234357e-01 -3.35144738e-01 -9.62796224e-02 9.44166105e+01] [ 3.33579434e-01 9.42165030e-01 -3.24008912e-02 1.66142621e+01] [ 1.01570282e-01 -1.74967352e-03 9.94826827e-01 1.03631304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41710568099998 meters Centerline goodness [0,1] 0.9976181944649368 Centerline is valid? [True, True] Translation: X:94.44, Y:16.62, Z:10.37 [[ 9.37387705e-01 -3.34875500e-01 -9.57219428e-02 9.44443916e+01] [ 3.33323807e-01 9.42260884e-01 -3.22438706e-02 1.66185929e+01] [ 1.00992725e-01 -1.68139448e-03 9.94885743e-01 1.03651165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44710568099998 meters Centerline goodness [0,1] 0.9977367430251497 Centerline is valid? [True, True] Translation: X:94.47, Y:16.62, Z:10.37 [[ 9.37786210e-01 -3.33971169e-01 -9.49751647e-02 9.44724838e+01] [ 3.32437603e-01 9.42582002e-01 -3.20064098e-02 1.66243749e+01] [ 1.00211099e-01 -1.55814634e-03 9.94964978e-01 1.03722749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47710568099998 meters Centerline goodness [0,1] 0.9984393124538649 Centerline is valid? [True, True] Translation: X:94.50, Y:16.63, Z:10.38 [[ 9.38884811e-01 -3.31037105e-01 -9.43914565e-02 9.45005375e+01] [ 3.29504234e-01 9.43616968e-01 -3.18430203e-02 1.66311677e+01] [ 9.96106013e-02 -1.20545646e-03 9.95025766e-01 1.03774186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50710568099998 meters Centerline goodness [0,1] 0.9984350878677015 Centerline is valid? [True, True] Translation: X:94.53, Y:16.64, Z:10.38 [[ 9.40582323e-01 -3.26299025e-01 -9.39885078e-02 9.45285592e+01] [ 3.24752276e-01 9.45266364e-01 -3.17405023e-02 1.66370193e+01] [ 9.92010700e-02 -6.68426450e-04 9.95067184e-01 1.03805920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53710568099999 meters Centerline goodness [0,1] 0.9989432079978019 Centerline is valid? [True, True] Translation: X:94.55, Y:16.64, Z:10.38 [[ 9.41501150e-01 -3.23735917e-01 -9.36516975e-02 9.45548133e+01] [ 3.22184380e-01 9.46147410e-01 -3.16591702e-02 1.66444301e+01] [ 9.88575216e-02 -3.65968944e-04 9.95101531e-01 1.03840670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56710568099999 meters Centerline goodness [0,1] 0.9995777027027027 Centerline is valid? [True, True] Translation: X:94.58, Y:16.65, Z:10.39 [[ 9.43240399e-01 -3.19416151e-01 -9.09443391e-02 9.45829747e+01] [ 3.17931882e-01 9.47614538e-01 -3.07572010e-02 1.66505581e+01] [ 9.60045247e-02 9.73296537e-05 9.95380893e-01 1.03912020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59710568099999 meters Centerline goodness [0,1] 0.9995568311315578 Centerline is valid? [True, True] Translation: X:94.61, Y:16.65, Z:10.39 [[ 9.44283158e-01 -3.16613624e-01 -8.99173526e-02 9.46101471e+01] [ 3.15146890e-01 9.48554503e-01 -3.04432692e-02 1.66536932e+01] [ 9.49302635e-02 4.09892361e-04 9.95483841e-01 1.03934850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62710568099999 meters Centerline goodness [0,1] 0.999831897457449 Centerline is valid? [True, True] Translation: X:94.64, Y:16.66, Z:10.40 [[ 9.44241155e-01 -3.16586373e-01 -9.04528049e-02 9.46377721e+01] [ 3.15099304e-01 9.48563584e-01 -3.06521642e-02 1.66586333e+01] [ 9.55042943e-02 4.41419074e-04 9.95428920e-01 1.03959369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65710568099999 meters Centerline goodness [0,1] 0.9997056411765942 Centerline is valid? [True, True] Translation: X:94.67, Y:16.66, Z:10.40 [[ 9.43140217e-01 -3.19199520e-01 -9.27264640e-02 9.46679275e+01] [ 3.17645140e-01 9.47687511e-01 -3.14634315e-02 1.66568483e+01] [ 9.79188241e-02 2.20317025e-04 9.95194381e-01 1.03957841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68710568099999 meters Centerline goodness [0,1] 0.9999789349511291 Centerline is valid? [True, True] Translation: X:94.70, Y:16.66, Z:10.40 [[ 9.42064098e-01 -3.22194525e-01 -9.33055369e-02 9.46971340e+01] [ 3.20631276e-01 9.46673484e-01 -3.17001505e-02 1.66587194e+01] [ 9.85434927e-02 -5.30996599e-05 9.95132744e-01 1.03983064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71710568099999 meters Centerline goodness [0,1] 0.9996846619576185 Centerline is valid? [True, True] Translation: X:94.73, Y:16.65, Z:10.40 [[ 9.38510879e-01 -3.32053869e-01 -9.45386565e-02 9.47292091e+01] [ 3.30494814e-01 9.43259823e-01 -3.21571696e-02 1.66510285e+01] [ 9.98524290e-02 -1.06468221e-03 9.95001688e-01 1.03985836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.747105681 meters Centerline goodness [0,1] 0.9999159805074778 Centerline is valid? [True, True] Translation: X:94.76, Y:16.64, Z:10.40 [[ 9.33696402e-01 -3.44992960e-01 -9.58691120e-02 9.47643250e+01] [ 3.43456082e-01 9.38602027e-01 -3.26213897e-02 1.66412757e+01] [ 1.01237093e-01 -2.46835542e-03 9.94859266e-01 1.03989953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.777105681 meters Centerline goodness [0,1] 0.9999372713016205 Centerline is valid? [True, True] Translation: X:94.80, Y:16.64, Z:10.40 [[ 9.31039372e-01 -3.51992345e-01 -9.62656579e-02 9.47958302e+01] [ 3.50479605e-01 9.35997274e-01 -3.27589724e-02 1.66418059e+01] [ 1.01635301e-01 -3.23925664e-03 9.94816452e-01 1.04015336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80710568099998 meters Centerline goodness [0,1] 0.9999790444258173 Centerline is valid? [True, True] Translation: X:94.83, Y:16.63, Z:10.41 [[ 9.25091195e-01 -3.67630851e-01 -9.51516563e-02 9.48296761e+01] [ 3.66234463e-01 9.29958946e-01 -3.23832675e-02 1.66304922e+01] [ 1.00392222e-01 -4.89034009e-03 9.94935921e-01 1.04060998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83710568099998 meters Centerline goodness [0,1] 0.9999163284943312 Centerline is valid? [True, True] Translation: X:94.86, Y:16.63, Z:10.42 [[ 9.21406009e-01 -3.77565577e-01 -9.19521705e-02 9.48621532e+01] [ 3.76310339e-01 9.25964902e-01 -3.12974169e-02 1.66259092e+01] [ 9.69613099e-02 -5.76492444e-03 9.95271455e-01 1.04153028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:16.63, Z:10.42 [[ 9.20635417e-01 -3.79737220e-01 -9.07197509e-02 9.48901569e+01] [ 3.78525564e-01 9.25075525e-01 -3.08815591e-02 1.66318105e+01] [ 9.56494986e-02 -5.90908788e-03 9.95397537e-01 1.04209325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:16.64, Z:10.43 [[ 9.21248104e-01 -3.79069147e-01 -8.72267879e-02 9.49159205e+01] [ 3.77945461e-01 9.25351367e-01 -2.96997494e-02 1.66428484e+01] [ 9.19736862e-02 -5.60613077e-03 9.95745656e-01 1.04290527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92710568099999 meters Centerline goodness [0,1] 0.9999581756205692 Centerline is valid? [True, True] Translation: X:94.94, Y:16.65, Z:10.43 [[ 9.21980430e-01 -3.77550050e-01 -8.60700082e-02 9.49425701e+01] [ 3.76446694e-01 9.25973702e-01 -2.93358081e-02 1.66519775e+01] [ 9.07743000e-02 -5.35372904e-03 9.95857100e-01 1.04320328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95710568099999 meters Centerline goodness [0,1] 0.9998957616694811 Centerline is valid? [True, True] Translation: X:94.97, Y:16.66, Z:10.43 [[ 9.22595824e-01 -3.75704277e-01 -8.75399488e-02 9.49686811e+01] [ 3.74553765e-01 9.26724719e-01 -2.98458112e-02 1.66648362e+01] [ 9.23386334e-02 -5.25279661e-03 9.95713807e-01 1.04294213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:16.68, Z:10.43 [[ 9.22340100e-01 -3.76049944e-01 -8.87422057e-02 9.49949808e+01] [ 3.74868200e-01 9.26583944e-01 -3.02659520e-02 1.66753662e+01] [ 9.36086125e-02 -5.35112971e-03 9.95594693e-01 1.04300338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01710568099999 meters Centerline goodness [0,1] 0.9999371424979572 Centerline is valid? [True, True] Translation: X:95.02, Y:16.69, Z:10.43 [[ 9.21296351e-01 -3.77845897e-01 -9.18994606e-02 9.50215063e+01] [ 3.76583889e-01 9.25850957e-01 -3.13780114e-02 1.66909033e+01] [ 9.69412564e-02 -5.69940885e-03 9.95273786e-01 1.04289087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04710568099999 meters Centerline goodness [0,1] 0.9998745819397993 Centerline is valid? [True, True] Translation: X:95.05, Y:16.70, Z:10.43 [[ 9.20556214e-01 -3.79289213e-01 -9.33592546e-02 9.50476276e+01] [ 3.77993556e-01 9.25259104e-01 -3.18820100e-02 1.66998603e+01] [ 9.84740027e-02 -5.94001421e-03 9.95121896e-01 1.04293631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07710568099999 meters Centerline goodness [0,1] 0.999853132474508 Centerline is valid? [True, True] Translation: X:95.08, Y:16.71, Z:10.43 [[ 9.19168266e-01 -3.82718805e-01 -9.30377093e-02 9.50751110e+01] [ 3.81448405e-01 9.23843570e-01 -3.17832164e-02 1.67111151e+01] [ 9.81163241e-02 -6.27496196e-03 9.95155170e-01 1.04331804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.107105681 meters Centerline goodness [0,1] 0.9997281301629127 Centerline is valid? [True, True] Translation: X:95.10, Y:16.72, Z:10.44 [[ 9.17358428e-01 -3.87542625e-01 -9.09077974e-02 9.51029139e+01] [ 3.86352973e-01 9.21827938e-01 -3.10585360e-02 1.67216419e+01] [ 9.58378540e-02 -6.63068809e-03 9.95374874e-01 1.04377636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.137105681 meters Centerline goodness [0,1] 0.9996223248006714 Centerline is valid? [True, True] Translation: X:95.13, Y:16.73, Z:10.44 [[ 9.16761748e-01 -3.89132261e-01 -9.01331286e-02 9.51293099e+01] [ 3.87970023e-01 9.21157279e-01 -3.07981973e-02 1.67325529e+01] [ 9.50113597e-02 -6.73434277e-03 9.95453409e-01 1.04405254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16710568099998 meters Centerline goodness [0,1] 0.9991390172196556 Centerline is valid? [True, True] Translation: X:95.16, Y:16.75, Z:10.44 [[ 9.15476034e-01 -3.91620488e-01 -9.23960194e-02 9.51559465e+01] [ 3.90408639e-01 9.20099123e-01 -3.16021783e-02 1.67478122e+01] [ 9.73895569e-02 -7.14116732e-03 9.95220718e-01 1.04385244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19710568099998 meters Centerline goodness [0,1] 0.9959782153330541 Centerline is valid? [True, True] Translation: X:95.18, Y:16.76, Z:10.44 [[ 9.15020473e-01 -3.92411892e-01 -9.35437921e-02 9.51817152e+01] [ 3.91173159e-01 9.19760552e-01 -3.20013675e-02 1.67573267e+01] [ 9.85956069e-02 -7.30991424e-03 9.95100734e-01 1.04386934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22710568099998 meters Centerline goodness [0,1] 0.9974106353416698 Centerline is valid? [True, True] Translation: X:95.21, Y:16.78, Z:10.44 [[ 9.14628138e-01 -3.93254522e-01 -9.38416210e-02 9.52058451e+01] [ 3.92010722e-01 9.19399789e-01 -3.21188827e-02 1.67755891e+01] [ 9.89088624e-02 -7.41008768e-03 9.95068906e-01 1.04391236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25710568099998 meters Centerline goodness [0,1] 0.9967345734931636 Centerline is valid? [True, True] Translation: X:95.23, Y:16.79, Z:10.44 [[ 9.14795006e-01 -3.93025461e-01 -9.31723377e-02 9.52305192e+01] [ 3.91795090e-01 9.19498586e-01 -3.19211114e-02 1.67923084e+01] [ 9.82176423e-02 -7.30319116e-03 9.95138160e-01 1.04419312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28710568099999 meters Centerline goodness [0,1] 0.986808054030171 Centerline is valid? [True, True] Translation: X:95.26, Y:16.80, Z:10.44 [[ 9.15214930e-01 -3.92203493e-01 -9.25097361e-02 9.52568856e+01] [ 3.90983561e-01 9.19850800e-01 -3.17231954e-02 1.68013193e+01] [ 9.75371028e-02 -7.13624397e-03 9.95206304e-01 1.04440021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31710568099999 meters Centerline goodness [0,1] 0.996356207085387 Centerline is valid? [True, True] Translation: X:95.28, Y:16.82, Z:10.45 [[ 9.15841877e-01 -3.90436138e-01 -9.37724835e-02 9.52807756e+01] [ 3.89172144e-01 9.20603160e-01 -3.21693051e-02 1.68215626e+01] [ 9.88873039e-02 -7.03164162e-03 9.95073795e-01 1.04458982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34710568099999 meters Centerline goodness [0,1] 0.9991998652404616 Centerline is valid? [True, True] Translation: X:95.30, Y:16.85, Z:10.45 [[ 9.17363890e-01 -3.86944237e-01 -9.33683576e-02 9.53032632e+01] [ 3.85670585e-01 9.22079483e-01 -3.20566213e-02 1.68486915e+01] [ 9.84971718e-02 -6.60184230e-03 9.95115432e-01 1.04514616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37710568099999 meters Centerline goodness [0,1] 0.9980959554746511 Centerline is valid? [True, True] Translation: X:95.33, Y:16.86, Z:10.46 [[ 9.18314703e-01 -3.85069507e-01 -9.17582772e-02 9.53308692e+01] [ 3.83829917e-01 9.22866160e-01 -3.15062655e-02 1.68571392e+01] [ 9.68127111e-02 -6.28690514e-03 9.95282761e-01 1.04564354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40710568099999 meters Centerline goodness [0,1] 0.9984868545488935 Centerline is valid? [True, True] Translation: X:95.35, Y:16.88, Z:10.47 [[ 9.21398598e-01 -3.78660650e-01 -8.74113002e-02 9.53529187e+01] [ 3.77506731e-01 9.25520176e-01 -3.00178445e-02 1.68791999e+01] [ 9.22674985e-02 -5.33995436e-03 9.95719937e-01 1.04655742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43710568099999 meters Centerline goodness [0,1] 0.9987388864367236 Centerline is valid? [True, True] Translation: X:95.37, Y:16.91, Z:10.47 [[ 9.25796745e-01 -3.68037791e-01 -8.63051036e-02 9.53735941e+01] [ 3.66866321e-01 9.29801261e-01 -2.96431555e-02 1.69107150e+01] [ 9.11563956e-02 -4.21889901e-03 9.95827652e-01 1.04669588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46710568099999 meters Centerline goodness [0,1] 0.9985295353331652 Centerline is valid? [True, True] Translation: X:95.40, Y:16.93, Z:10.47 [[ 9.28443328e-01 -3.61232394e-01 -8.66264639e-02 9.53992945e+01] [ 3.60022266e-01 9.32469027e-01 -2.97570486e-02 1.69281307e+01] [ 9.15257044e-02 -3.55972259e-03 9.95796352e-01 1.04687042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.497105681 meters Centerline goodness [0,1] 0.9981943015516409 Centerline is valid? [True, True] Translation: X:95.42, Y:16.96, Z:10.47 [[ 9.34315696e-01 -3.45433558e-01 -8.79194922e-02 9.54204699e+01] [ 3.44116654e-01 9.38441002e-01 -3.02028986e-02 1.69594716e+01] [ 9.29403510e-02 -2.03551920e-03 9.95669598e-01 1.04700970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.527105681 meters Centerline goodness [0,1] 0.9982339584559751 Centerline is valid? [True, True] Translation: X:95.44, Y:16.98, Z:10.47 [[ 9.37351717e-01 -3.36890382e-01 -8.87503759e-02 9.54440796e+01] [ 3.35509506e-01 9.41543121e-01 -3.04946362e-02 1.69809177e+01] [ 9.38356556e-02 -1.19239520e-03 9.95586987e-01 1.04727847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55710568099998 meters Centerline goodness [0,1] 0.9986380018439359 Centerline is valid? [True, True] Translation: X:95.46, Y:17.01, Z:10.47 [[ 9.42597050e-01 -3.21061699e-01 -9.18160532e-02 9.54646857e+01] [ 3.19505045e-01 9.47058181e-01 -3.15804922e-02 1.70092019e+01] [ 9.70944309e-02 4.31986551e-04 9.95275080e-01 1.04711528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58710568099998 meters Centerline goodness [0,1] 0.9983721852369722 Centerline is valid? [True, True] Translation: X:95.49, Y:17.02, Z:10.47 [[ 9.44382007e-01 -3.14445075e-01 -9.62648430e-02 9.54902603e+01] [ 3.12695613e-01 9.49274910e-01 -3.31451249e-02 1.70207327e+01] [ 1.01804121e-01 1.20006544e-03 9.94803740e-01 1.04651201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61710568099998 meters Centerline goodness [0,1] 0.9985916085092071 Centerline is valid? [True, True] Translation: X:95.52, Y:17.03, Z:10.47 [[ 9.44190282e-01 -3.15029023e-01 -9.62363073e-02 9.55176556e+01] [ 3.13281747e-01 9.49081336e-01 -3.31536510e-02 1.70270228e+01] [ 1.01780445e-01 1.15427661e-03 9.94806217e-01 1.04677691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64710568099999 meters Centerline goodness [0,1] 0.9985936188077246 Centerline is valid? [True, True] Translation: X:95.55, Y:17.03, Z:10.47 [[ 9.43983627e-01 -3.16664842e-01 -9.28347463e-02 9.55466097e+01] [ 3.15043358e-01 9.48536989e-01 -3.20197392e-02 1.70309568e+01] [ 9.81967164e-02 9.79139352e-04 9.95166542e-01 1.04741598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67710568099999 meters Centerline goodness [0,1] 0.9983190098968292 Centerline is valid? [True, True] Translation: X:95.58, Y:17.03, Z:10.48 [[ 9.43013927e-01 -3.19168251e-01 -9.41082421e-02 9.55753139e+01] [ 3.17510920e-01 9.47697763e-01 -3.24925611e-02 1.70333198e+01] [ 9.95567644e-02 7.60543166e-04 9.95031594e-01 1.04750219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70710568099999 meters Centerline goodness [0,1] 0.9983190098968292 Centerline is valid? [True, True] Translation: X:95.60, Y:17.04, Z:10.48 [[ 9.42892988e-01 -3.19526761e-01 -9.41034640e-02 9.56010462e+01] [ 3.17869830e-01 9.47576965e-01 -3.25063929e-02 1.70424438e+01] [ 9.95569372e-02 7.37397828e-04 9.95031594e-01 1.04774645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73710568099999 meters Centerline goodness [0,1] 0.9986535103406198 Centerline is valid? [True, True] Translation: X:95.63, Y:17.04, Z:10.48 [[ 9.41681777e-01 -3.23053234e-01 -9.41915006e-02 9.56315475e+01] [ 3.21406803e-01 9.46380709e-01 -3.25763884e-02 1.70431148e+01] [ 9.96649267e-02 4.02802206e-04 9.95020975e-01 1.04800588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76710568099999 meters Centerline goodness [0,1] 0.9987162759375394 Centerline is valid? [True, True] Translation: X:95.66, Y:17.05, Z:10.48 [[ 9.41188284e-01 -3.25024169e-01 -9.23249926e-02 9.56602108e+01] [ 3.23448663e-01 9.45705684e-01 -3.19643874e-02 1.70462264e+01] [ 9.77014687e-02 2.22111485e-04 9.95215742e-01 1.04843793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79710568099999 meters Centerline goodness [0,1] 0.9987379845613444 Centerline is valid? [True, True] Translation: X:95.69, Y:17.04, Z:10.49 [[ 9.40006457e-01 -3.29423312e-01 -8.87025478e-02 9.56923701e+01] [ 3.27985822e-01 9.44182315e-01 -3.07417836e-02 1.70405353e+01] [ 9.38784371e-02 -1.95703039e-04 9.95583648e-01 1.04905809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82710568099999 meters Centerline goodness [0,1] 0.9988029988029988 Centerline is valid? [True, True] Translation: X:95.72, Y:17.04, Z:10.49 [[ 9.38027152e-01 -3.34876653e-01 -8.92339085e-02 9.57232632e+01] [ 3.33443409e-01 9.42261702e-01 -3.09576690e-02 1.70354577e+01] [ 9.44486951e-02 -7.15324552e-04 9.95529473e-01 1.04933627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.857105681 meters Centerline goodness [0,1] 0.9989492487128296 Centerline is valid? [True, True] Translation: X:95.75, Y:17.04, Z:10.50 [[ 9.36547684e-01 -3.38726408e-01 -9.02377782e-02 9.57528889e+01] [ 3.37277198e-01 9.40884267e-01 -3.13191367e-02 1.70382074e+01] [ 9.55119244e-02 -1.10328007e-03 9.95427674e-01 1.04958150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.887105681 meters Centerline goodness [0,1] 0.9991633549466639 Centerline is valid? [True, True] Translation: X:95.78, Y:17.03, Z:10.50 [[ 9.34217717e-01 -3.44558768e-01 -9.22849590e-02 9.57841248e+01] [ 3.43068069e-01 9.38763197e-01 -3.20618002e-02 1.70345141e+01] [ 9.76808975e-02 -1.70732097e-03 9.95216322e-01 1.04969245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91710568099998 meters Centerline goodness [0,1] 0.9995570741584409 Centerline is valid? [True, True] Translation: X:95.81, Y:17.03, Z:10.50 [[ 9.33117778e-01 -3.46541080e-01 -9.59191930e-02 9.58148206e+01] [ 3.44939505e-01 9.38032710e-01 -3.33372693e-02 1.70328214e+01] [ 1.01528074e-01 -1.97872025e-03 9.94830707e-01 1.04965624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94710568099998 meters Centerline goodness [0,1] 0.9996429546552412 Centerline is valid? [True, True] Translation: X:95.84, Y:17.04, Z:10.50 [[ 9.33440430e-01 -3.45468708e-01 -9.66454129e-02 9.58426381e+01] [ 3.43835374e-01 9.38428424e-01 -3.36054850e-02 1.70388233e+01] [ 1.02304446e-01 -1.86139341e-03 9.94751394e-01 1.04990115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97710568099998 meters Centerline goodness [0,1] 0.9996423236339919 Centerline is valid? [True, True] Translation: X:95.87, Y:17.05, Z:10.50 [[ 9.36290487e-01 -3.38445556e-01 -9.38867947e-02 9.58703491e+01] [ 3.36865861e-01 9.40985410e-01 -3.26779726e-02 1.70457781e+01] [ 9.94058186e-02 -1.03118104e-03 9.95046441e-01 1.05039089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00710568099998 meters Centerline goodness [0,1] 0.9997698600330565 Centerline is valid? [True, True] Translation: X:95.90, Y:17.06, Z:10.51 [[ 9.38364064e-01 -3.32977573e-01 -9.27298188e-02 9.58960223e+01] [ 3.31408976e-01 9.42934646e-01 -3.22853698e-02 1.70567171e+01] [ 9.81884629e-02 -4.36063461e-04 9.95167742e-01 1.05090171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03710568099999 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:95.92, Y:17.07, Z:10.52 [[ 9.42852805e-01 -3.20656207e-01 -9.05990303e-02 9.59193149e+01] [ 3.19100881e-01 9.47195274e-01 -3.15553426e-02 1.70723847e+01] [ 9.59333898e-02 8.41812896e-04 9.95387400e-01 1.05155049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06710568099999 meters Centerline goodness [0,1] 0.9998527927321669 Centerline is valid? [True, True] Translation: X:95.94, Y:17.08, Z:10.52 [[ 9.45984811e-01 -3.12197936e-01 -8.74367513e-02 9.59442044e+01] [ 3.10712336e-01 9.50015642e-01 -3.04651326e-02 1.70828038e+01] [ 9.25774329e-02 1.65187555e-03 9.95704118e-01 1.05237089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09710568099999 meters Centerline goodness [0,1] 0.9999160651334564 Centerline is valid? [True, True] Translation: X:95.97, Y:17.09, Z:10.53 [[ 9.46530217e-01 -3.11143318e-01 -8.52665422e-02 9.59720694e+01] [ 3.09725423e-01 9.50361442e-01 -2.97202142e-02 1.70896000e+01] [ 9.02812801e-02 1.72186490e-03 9.95914818e-01 1.05298672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:17.09, Z:10.54 [[ 9.46340042e-01 -3.12362155e-01 -8.28879328e-02 9.60004941e+01] [ 3.11024438e-01 9.49961767e-01 -2.89212741e-02 1.70905904e+01] [ 8.77742786e-02 1.58918695e-03 9.96139122e-01 1.05366698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:17.09, Z:10.54 [[ 9.45378981e-01 -3.15335691e-01 -8.25953014e-02 9.60301033e+01] [ 3.14017819e-01 9.48979274e-01 -2.88296060e-02 1.70919907e+01] [ 8.74722329e-02 1.31850719e-03 9.96166086e-01 1.05389146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18710568099999 meters Centerline goodness [0,1] 0.9999791074711684 Centerline is valid? [True, True] Translation: X:96.07, Y:17.08, Z:10.54 [[ 9.41271911e-01 -3.27134931e-01 -8.36057819e-02 9.60650242e+01] [ 3.25827905e-01 9.44977603e-01 -2.92148221e-02 1.70766716e+01] [ 8.85627802e-02 2.57994634e-04 9.96070563e-01 1.05393555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:17.08, Z:10.54 [[ 9.39929718e-01 -3.30983236e-01 -8.35596973e-02 9.60939665e+01] [ 3.29691440e-01 9.43636630e-01 -2.92141277e-02 1.70769175e+01] [ 8.85193777e-02 -8.96900971e-05 9.96074451e-01 1.05420980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:17.07, Z:10.55 [[ 9.37817499e-01 -3.37215244e-01 -8.23663570e-02 9.61256177e+01] [ 3.35980961e-01 9.41427362e-01 -2.88325588e-02 1.70717026e+01] [ 8.72647205e-02 -6.33849575e-04 9.96184956e-01 1.05459671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27710568099998 meters Centerline goodness [0,1] 0.9999580783097175 Centerline is valid? [True, True] Translation: X:96.16, Y:17.07, Z:10.55 [[ 9.35954071e-01 -3.41731545e-01 -8.49089349e-02 9.61561921e+01] [ 3.40435259e-01 9.39797018e-01 -2.97556538e-02 1.70727269e+01] [ 8.99656094e-02 -1.05606994e-03 9.95944313e-01 1.05456894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30710568099998 meters Centerline goodness [0,1] 0.9999790259658543 Centerline is valid? [True, True] Translation: X:96.18, Y:17.08, Z:10.55 [[ 9.35090645e-01 -3.43370870e-01 -8.77606442e-02 9.61848863e+01] [ 3.41989907e-01 9.39199100e-01 -3.07888581e-02 1.70784042e+01] [ 9.29967151e-02 -1.22288132e-03 9.95665665e-01 1.05454291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33710568099998 meters Centerline goodness [0,1] 0.9999580703997988 Centerline is valid? [True, True] Translation: X:96.21, Y:17.08, Z:10.54 [[ 9.34791855e-01 -3.43451974e-01 -9.05810672e-02 9.62149194e+01] [ 3.41977817e-01 9.39169423e-01 -3.18114504e-02 1.70788907e+01] [ 9.59966741e-02 -1.23963088e-03 9.95380883e-01 1.05429270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36710568099998 meters Centerline goodness [0,1] 0.9998745216136521 Centerline is valid? [True, True] Translation: X:96.24, Y:17.09, Z:10.54 [[ 9.35285747e-01 -3.42018773e-01 -9.09050604e-02 9.62430490e+01] [ 3.40525955e-01 9.39692495e-01 -3.19388392e-02 1.70853902e+01] [ 9.63464856e-02 -1.08359142e-03 9.95347266e-01 1.05449940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.27, Y:17.09, Z:10.55 [[ 9.37159149e-01 -3.37118162e-01 -8.99114776e-02 9.62694182e+01] [ 3.35632341e-01 9.41462187e-01 -3.16209097e-02 1.70923582e+01] [ 9.53082393e-02 -5.43374948e-04 9.95447660e-01 1.05501226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42710568099999 meters Centerline goodness [0,1] 0.9999790277253471 Centerline is valid? [True, True] Translation: X:96.29, Y:17.11, Z:10.56 [[ 9.41154453e-01 -3.26083239e-01 -8.88707895e-02 9.62921172e+01] [ 3.24581302e-01 9.45340882e-01 -3.12665107e-02 1.71073794e+01] [ 9.42086756e-02 5.80819209e-04 9.95552303e-01 1.05561470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45710568099999 meters Centerline goodness [0,1] 0.9999790956790768 Centerline is valid? [True, True] Translation: X:96.32, Y:17.12, Z:10.56 [[ 9.43449077e-01 -3.19414696e-01 -8.87586119e-02 9.63170047e+01] [ 3.17885532e-01 9.47614194e-01 -3.12430387e-02 1.71216297e+01] [ 9.40884062e-02 1.26113743e-03 9.95563047e-01 1.05591772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:17.14, Z:10.56 [[ 9.47317658e-01 -3.08321224e-01 -8.67598804e-02 9.63423680e+01] [ 3.06812256e-01 9.51279459e-01 -3.05553579e-02 1.71383945e+01] [ 9.19537575e-02 2.32663541e-03 9.95760560e-01 1.05631161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:17.15, Z:10.56 [[ 9.49890444e-01 -3.00105614e-01 -8.74343429e-02 9.63690383e+01] [ 2.98537793e-01 9.53900773e-01 -3.07977438e-02 1.71509067e+01] [ 9.26462631e-02 3.15202678e-03 9.95694097e-01 1.05637816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:17.16, Z:10.56 [[ 9.50471336e-01 -2.97753078e-01 -8.91478799e-02 9.63966563e+01] [ 2.96112366e-01 9.54636679e-01 -3.14050464e-02 1.71603389e+01] [ 9.44547853e-02 3.45180672e-03 9.95523168e-01 1.05638465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57710568099999 meters Centerline goodness [0,1] 0.999978982765868 Centerline is valid? [True, True] Translation: X:96.43, Y:17.17, Z:10.56 [[ 9.50922274e-01 -2.95122586e-01 -9.30026281e-02 9.64252590e+01] [ 2.93320902e-01 9.55451418e-01 -3.27938484e-02 1.71670504e+01] [ 9.85376983e-02 3.90478614e-03 9.95125658e-01 1.05606083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:17.17, Z:10.56 [[ 9.50877907e-01 -2.94578983e-01 -9.51547565e-02 9.64555603e+01] [ 2.92688918e-01 9.55618495e-01 -3.35632101e-02 1.71688610e+01] [ 1.00818662e-01 4.06377227e-03 9.94896519e-01 1.05622865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.637105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:17.17, Z:10.56 [[ 9.50312973e-01 -2.95462030e-01 -9.80175590e-02 9.64860992e+01] [ 2.93456873e-01 9.55345569e-01 -3.46108132e-02 1.71688944e+01] [ 1.03866822e-01 4.12717846e-03 9.94582651e-01 1.05634835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:17.17, Z:10.57 [[ 9.49160518e-01 -2.99352995e-01 -9.73760558e-02 9.65159360e+01] [ 2.97391121e-01 9.54135229e-01 -3.44163488e-02 1.71718907e+01] [ 1.03212562e-01 3.70786500e-03 9.94652411e-01 1.05671514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69710568099998 meters Centerline goodness [0,1] 0.9999790404728469 Centerline is valid? [True, True] Translation: X:96.55, Y:17.16, Z:10.57 [[ 9.47589017e-01 -3.04296800e-01 -9.73576490e-02 9.65511870e+01] [ 3.02361123e-01 9.52571984e-01 -3.44146298e-02 1.71610899e+01] [ 1.03212431e-01 3.17375720e-03 9.94654272e-01 1.05743087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:17.16, Z:10.58 [[ 9.46885499e-01 -3.06585702e-01 -9.70209184e-02 9.65791584e+01] [ 3.04674983e-01 9.51838586e-01 -3.42995898e-02 1.71640417e+01] [ 1.02864018e-01 2.91793758e-03 9.94691148e-01 1.05778959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:17.16, Z:10.59 [[ 9.45751848e-01 -3.10929475e-01 -9.42141348e-02 9.66114819e+01] [ 3.09148280e-01 9.50429992e-01 -3.33192191e-02 1.71562844e+01] [ 9.99038667e-02 2.38557529e-03 9.94994234e-01 1.05866622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78710568099999 meters Centerline goodness [0,1] 0.9999791004848687 Centerline is valid? [True, True] Translation: X:96.64, Y:17.15, Z:10.59 [[ 9.44448099e-01 -3.15626367e-01 -9.16394284e-02 9.66421594e+01] [ 3.13962502e-01 9.48881756e-01 -3.24185069e-02 1.71517315e+01] [ 9.71871173e-02 1.84625292e-03 9.95264415e-01 1.05917295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:17.15, Z:10.60 [[ 9.43554106e-01 -3.18521550e-01 -9.08276994e-02 9.66702979e+01] [ 3.16899301e-01 9.47914359e-01 -3.21434376e-02 1.71545036e+01] [ 9.63352581e-02 1.54583799e-03 9.95347742e-01 1.05955024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:17.15, Z:10.60 [[ 9.41801599e-01 -3.23425164e-01 -9.16837591e-02 9.67004397e+01] [ 3.21794003e-01 9.46253151e-01 -3.24591165e-02 1.71513047e+01] [ 9.72541410e-02 1.06676395e-03 9.95259009e-01 1.05974298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87710568099999 meters Centerline goodness [0,1] 0.9999372253609542 Centerline is valid? [True, True] Translation: X:96.73, Y:17.15, Z:10.60 [[ 9.40582613e-01 -3.26481441e-01 -9.33499724e-02 9.67291409e+01] [ 3.24803260e-01 9.45203287e-01 -3.30694455e-02 1.71543603e+01] [ 9.90312609e-02 7.84170052e-04 9.95084014e-01 1.05984019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:17.15, Z:10.60 [[ 9.38522195e-01 -3.31934467e-01 -9.48451334e-02 9.67591177e+01] [ 3.30225867e-01 9.43302416e-01 -3.36367205e-02 1.71532939e+01] [ 1.00632830e-01 2.48492356e-04 9.94923601e-01 1.05979640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:17.16, Z:10.60 [[ 9.37526638e-01 -3.34872660e-01 -9.43615651e-02 9.67880712e+01] [ 3.33194761e-01 9.42263391e-01 -3.34806329e-02 1.71558869e+01] [ 1.00125197e-01 -5.17939331e-05 9.94974845e-01 1.06025747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96710568099999 meters Centerline goodness [0,1] 0.9999579867238048 Centerline is valid? [True, True] Translation: X:96.82, Y:17.16, Z:10.61 [[ 9.37089707e-01 -3.36323668e-01 -9.35375440e-02 9.68152359e+01] [ 3.34678241e-01 9.41746443e-01 -3.32281908e-02 1.71626810e+01] [ 9.92640763e-02 -1.67185071e-04 9.95061111e-01 1.06072131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:17.17, Z:10.61 [[ 9.36189802e-01 -3.39056122e-01 -9.26801014e-02 9.68417464e+01] [ 3.37450406e-01 9.40766056e-01 -3.29613605e-02 1.71682197e+01] [ 9.83660446e-02 -4.16848270e-04 9.95150214e-01 1.06103946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02710568099998 meters Centerline goodness [0,1] 0.9998739151448925 Centerline is valid? [True, True] Translation: X:96.87, Y:17.17, Z:10.61 [[ 9.33819590e-01 -3.45616631e-01 -9.23586344e-02 9.68709764e+01] [ 3.44052129e-01 9.38375174e-01 -3.28658870e-02 1.71722619e+01] [ 9.80260467e-02 -1.08537566e-03 9.95183258e-01 1.06131533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:17.17, Z:10.62 [[ 9.29559070e-01 -3.57363151e-01 -9.06174055e-02 9.69016591e+01] [ 3.55909617e-01 9.33962807e-01 -3.22772274e-02 1.71716333e+01] [ 9.61679781e-02 -2.24801663e-03 9.95362580e-01 1.06167638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:17.18, Z:10.62 [[ 9.26926039e-01 -3.64104085e-01 -9.07542497e-02 9.69318307e+01] [ 3.62677589e-01 9.31353610e-01 -3.23329515e-02 1.71758352e+01] [ 9.62968578e-02 -2.94427785e-03 9.95348304e-01 1.06191406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11710568099998 meters Centerline goodness [0,1] 0.9999371359121579 Centerline is valid? [True, True] Translation: X:96.96, Y:17.18, Z:10.62 [[ 9.21919359e-01 -3.76150641e-01 -9.26034030e-02 9.69628685e+01] [ 3.74725002e-01 9.26548636e-01 -3.29969501e-02 1.71756300e+01] [ 9.82133806e-02 -4.28028326e-03 9.95156174e-01 1.06185165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14710568099999 meters Centerline goodness [0,1] 0.9999580545710032 Centerline is valid? [True, True] Translation: X:96.99, Y:17.19, Z:10.62 [[ 9.18801380e-01 -3.83531011e-01 -9.33165955e-02 9.69901048e+01] [ 3.82120083e-01 9.23513926e-01 -3.32606439e-02 1.71862631e+01] [ 9.89356639e-02 -5.09821964e-03 9.95080772e-01 1.06209916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:17.20, Z:10.62 [[ 9.17784973e-01 -3.85961662e-01 -9.32970450e-02 9.70166341e+01] [ 3.84561715e-01 9.22499369e-01 -3.32746441e-02 1.71988139e+01] [ 9.89092020e-02 -5.33950326e-03 9.95082137e-01 1.06233786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:17.21, Z:10.63 [[ 9.16597323e-01 -3.88486232e-01 -9.44870147e-02 9.70429944e+01] [ 3.87062617e-01 9.21437053e-01 -3.37088682e-02 1.72131046e+01] [ 1.00159268e-01 -5.67493286e-03 9.94955233e-01 1.06253610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23710568099999 meters Centerline goodness [0,1] 0.9999790013019193 Centerline is valid? [True, True] Translation: X:97.07, Y:17.23, Z:10.63 [[ 9.16045099e-01 -3.89705719e-01 -9.48199790e-02 9.70680758e+01] [ 3.88277642e-01 9.20921045e-01 -3.38364036e-02 1.72271828e+01] [ 1.00507954e-01 -5.82080619e-03 9.94919228e-01 1.06284143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26710568099999 meters Centerline goodness [0,1] 0.9999580325667282 Centerline is valid? [True, True] Translation: X:97.09, Y:17.24, Z:10.63 [[ 9.14913800e-01 -3.92658611e-01 -9.35518751e-02 9.70939476e+01] [ 3.91280605e-01 9.19664521e-01 -3.34164103e-02 1.72402300e+01] [ 9.91575816e-02 -6.03189929e-03 9.95053461e-01 1.06316459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29710568099999 meters Centerline goodness [0,1] 0.9999789938031719 Centerline is valid? [True, True] Translation: X:97.12, Y:17.26, Z:10.64 [[ 9.12834572e-01 -3.98039477e-01 -9.10912718e-02 9.71172947e+01] [ 3.96758953e-01 9.17345728e-01 -3.25445563e-02 1.72612648e+01] [ 9.65162072e-02 -6.43348151e-03 9.95310621e-01 1.06383382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32710568099999 meters Centerline goodness [0,1] 0.9999580343279197 Centerline is valid? [True, True] Translation: X:97.14, Y:17.28, Z:10.64 [[ 9.11746067e-01 -4.00830378e-01 -8.97447355e-02 9.71419631e+01] [ 3.99600382e-01 9.16128341e-01 -3.20686442e-02 1.72781243e+01] [ 9.50717824e-02 -6.62357040e-03 9.95448384e-01 1.06430747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.357105681 meters Centerline goodness [0,1] 0.999874095058231 Centerline is valid? [True, True] Translation: X:97.17, Y:17.30, Z:10.65 [[ 9.09982988e-01 -4.05503208e-01 -8.65916299e-02 9.71651042e+01] [ 4.04378514e-01 9.14067933e-01 -3.09488519e-02 1.72975015e+01] [ 9.17004909e-02 -6.85286588e-03 9.95763053e-01 1.06482960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.387105681 meters Centerline goodness [0,1] 0.9998950219404145 Centerline is valid? [True, True] Translation: X:97.19, Y:17.32, Z:10.65 [[ 9.09370473e-01 -4.07254384e-01 -8.47892113e-02 9.71872885e+01] [ 4.06182975e-01 9.13288889e-01 -3.03116373e-02 1.73227021e+01] [ 8.97815918e-02 -6.87542622e-03 9.95937746e-01 1.06514476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41710568099998 meters Centerline goodness [0,1] 0.999812316226305 Centerline is valid? [True, True] Translation: X:97.21, Y:17.34, Z:10.65 [[ 9.09380547e-01 -4.07284098e-01 -8.45380654e-02 9.72115962e+01] [ 4.06218745e-01 9.13275803e-01 -3.02264706e-02 1.73358897e+01] [ 8.95173304e-02 -6.85358248e-03 9.95961684e-01 1.06533651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44710568099998 meters Centerline goodness [0,1] 0.9998112970184929 Centerline is valid? [True, True] Translation: X:97.23, Y:17.37, Z:10.66 [[ 9.10329068e-01 -4.05340302e-01 -8.36673600e-02 9.72321154e+01] [ 4.04287179e-01 9.14142205e-01 -2.99316920e-02 1.73663542e+01] [ 8.86163860e-02 -6.57795172e-03 9.96044109e-01 1.06566452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47710568099998 meters Centerline goodness [0,1] 0.9996434414195227 Centerline is valid? [True, True] Translation: X:97.25, Y:17.40, Z:10.66 [[ 9.13110547e-01 -3.98857696e-01 -8.45083904e-02 9.72516733e+01] [ 3.97755235e-01 9.16993180e-01 -3.02370769e-02 1.74010984e+01] [ 8.95539085e-02 -6.00386086e-03 9.95963880e-01 1.06586749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50710568099998 meters Centerline goodness [0,1] 0.9998950219404145 Centerline is valid? [True, True] Translation: X:97.27, Y:17.44, Z:10.66 [[ 9.16523741e-01 -3.90122446e-01 -8.82536589e-02 9.72707631e+01] [ 3.88878977e-01 9.20747311e-01 -3.15837146e-02 1.74388058e+01] [ 9.35808351e-02 -5.37276832e-03 9.95597188e-01 1.06570289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53710568099999 meters Centerline goodness [0,1] 0.9999165136082818 Centerline is valid? [True, True] Translation: X:97.30, Y:17.46, Z:10.66 [[ 9.17758213e-01 -3.86853486e-01 -8.98011311e-02 9.72951436e+01] [ 3.85549829e-01 9.22126963e-01 -3.21433407e-02 1.74558853e+01] [ 9.52428076e-02 -5.12299578e-03 9.95440889e-01 1.06579091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56710568099999 meters Centerline goodness [0,1] 0.999811106913487 Centerline is valid? [True, True] Translation: X:97.31, Y:17.49, Z:10.66 [[ 9.21145519e-01 -3.78761753e-01 -8.96128750e-02 9.73142204e+01] [ 3.77424643e-01 9.25484366e-01 -3.20831385e-02 1.74871017e+01] [ 9.50871806e-02 -4.26886810e-03 9.95459796e-01 1.06618296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59710568099999 meters Centerline goodness [0,1] 0.9999160439929476 Centerline is valid? [True, True] Translation: X:97.34, Y:17.51, Z:10.66 [[ 9.23583093e-01 -3.72776297e-01 -8.96219972e-02 9.73378306e+01] [ 3.71410223e-01 9.27914077e-01 -3.20922342e-02 1.75106434e+01] [ 9.51247370e-02 -3.64668108e-03 9.95458681e-01 1.06641966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62710568099999 meters Centerline goodness [0,1] 0.9999160439929476 Centerline is valid? [True, True] Translation: X:97.36, Y:17.52, Z:10.67 [[ 9.23442936e-01 -3.73123895e-01 -8.96197664e-02 9.73635266e+01] [ 3.71758848e-01 9.27774244e-01 -3.20984619e-02 1.75200813e+01] [ 9.51236141e-02 -3.67584323e-03 9.95458681e-01 1.06666438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65710568099999 meters Centerline goodness [0,1] 0.9998948806895827 Centerline is valid? [True, True] Translation: X:97.38, Y:17.56, Z:10.67 [[ 9.29032647e-01 -3.58342666e-01 -9.21350859e-02 9.73829772e+01] [ 3.56823276e-01 9.33587576e-01 -3.30361513e-02 1.75562618e+01] [ 9.78544341e-02 -2.18428009e-03 9.95198341e-01 1.06656961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68710568099999 meters Centerline goodness [0,1] 0.9997898938964177 Centerline is valid? [True, True] Translation: X:97.40, Y:17.59, Z:10.66 [[ 9.34546144e-01 -3.43331282e-01 -9.35261249e-02 9.74023701e+01] [ 3.41690012e-01 9.39214167e-01 -3.35363038e-02 1.75915372e+01] [ 9.93551237e-02 -6.15719373e-04 9.95051848e-01 1.06647307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71710568099999 meters Centerline goodness [0,1] 0.9999369747899159 Centerline is valid? [True, True] Translation: X:97.42, Y:17.61, Z:10.67 [[ 9.36519270e-01 -3.37943973e-01 -9.34105342e-02 9.74249049e+01] [ 3.36279567e-01 9.41166229e-01 -3.34990011e-02 1.76108210e+01] [ 9.92356257e-02 -3.95938853e-05 9.95063962e-01 1.06664543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.747105681 meters Centerline goodness [0,1] 0.9996656496844569 Centerline is valid? [True, True] Translation: X:97.45, Y:17.63, Z:10.67 [[ 9.38531870e-01 -3.32575928e-01 -9.24725973e-02 9.74469443e+01] [ 3.30916822e-01 9.43076327e-01 -3.31828193e-02 1.76323356e+01] [ 9.82445243e-02 5.42395443e-04 9.95162157e-01 1.06674121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77710568099998 meters Centerline goodness [0,1] 0.9996427220377454 Centerline is valid? [True, True] Translation: X:97.47, Y:17.64, Z:10.67 [[ 9.38741517e-01 -3.31943586e-01 -9.26165193e-02 9.74723458e+01] [ 3.30272355e-01 9.43299018e-01 -3.32736238e-02 1.76448810e+01] [ 9.84100377e-02 6.46656096e-04 9.95145741e-01 1.06685901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80710568099998 meters Centerline goodness [0,1] 0.9995578668126408 Centerline is valid? [True, True] Translation: X:97.50, Y:17.65, Z:10.67 [[ 9.38620033e-01 -3.32083990e-01 -9.33416132e-02 9.74990027e+01] [ 3.30383442e-01 9.43249581e-01 -3.35709528e-02 1.76545146e+01] [ 9.91928135e-02 6.71845407e-04 9.95068005e-01 1.06681407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83710568099998 meters Centerline goodness [0,1] 0.9997263273125342 Centerline is valid? [True, True] Translation: X:97.53, Y:17.66, Z:10.67 [[ 9.37492422e-01 -3.35006538e-01 -9.42262047e-02 9.75258722e+01] [ 3.33286652e-01 9.42215726e-01 -3.39047703e-02 1.76625765e+01] [ 1.00139732e-01 3.81128939e-04 9.94973311e-01 1.06718373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86710568099998 meters Centerline goodness [0,1] 0.9997898762371037 Centerline is valid? [True, True] Translation: X:97.55, Y:17.67, Z:10.68 [[ 9.36179608e-01 -3.39400709e-01 -9.15144877e-02 9.75528455e+01] [ 3.37795733e-01 9.40641885e-01 -3.29679533e-02 1.76702351e+01] [ 9.72717070e-02 -4.92779463e-05 9.95257862e-01 1.06764285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89710568099999 meters Centerline goodness [0,1] 0.9996654259545815 Centerline is valid? [True, True] Translation: X:97.58, Y:17.68, Z:10.68 [[ 9.35665876e-01 -3.41365247e-01 -8.94378957e-02 9.75800885e+01] [ 3.39838210e-01 9.39930700e-01 -3.22532108e-02 1.76776533e+01] [ 9.50755492e-02 -2.16185677e-04 9.95470036e-01 1.06814515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92710568099999 meters Centerline goodness [0,1] 0.9999370699781842 Centerline is valid? [True, True] Translation: X:97.61, Y:17.68, Z:10.69 [[ 9.33892427e-01 -3.47043794e-01 -8.60554487e-02 9.76102041e+01] [ 3.45651645e-01 9.37848636e-01 -3.10624649e-02 1.76774289e+01] [ 9.14870208e-02 -7.36206755e-04 9.95805997e-01 1.06885898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95710568099999 meters Centerline goodness [0,1] 0.9998738780400648 Centerline is valid? [True, True] Translation: X:97.64, Y:17.68, Z:10.69 [[ 9.32648948e-01 -3.50830688e-01 -8.41651307e-02 9.76383731e+01] [ 3.49511910e-01 9.36438313e-01 -3.04090608e-02 1.76804746e+01] [ 8.94838847e-02 -1.05573703e-03 9.95987711e-01 1.06929680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98710568099999 meters Centerline goodness [0,1] 0.9997479203428283 Centerline is valid? [True, True] Translation: X:97.67, Y:17.68, Z:10.70 [[ 9.30154441e-01 -3.57685159e-01 -8.29098443e-02 9.76672073e+01] [ 3.56431714e-01 9.33840729e-01 -2.99654191e-02 1.76839020e+01] [ 8.81427751e-02 -1.67923025e-03 9.96106436e-01 1.06968113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01710568099999 meters Centerline goodness [0,1] 0.9998115972367595 Centerline is valid? [True, True] Translation: X:97.69, Y:17.69, Z:10.70 [[ 9.29945684e-01 -3.58308760e-01 -8.25582026e-02 9.76938184e+01] [ 3.57065690e-01 9.33601593e-01 -2.98690205e-02 1.76919312e+01] [ 8.77788012e-02 -1.70213483e-03 9.96138537e-01 1.06996517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04710568099999 meters Centerline goodness [0,1] 0.9996864417408755 Centerline is valid? [True, True] Translation: X:97.72, Y:17.71, Z:10.70 [[ 9.33184953e-01 -3.49385020e-01 -8.42374737e-02 9.77184624e+01] [ 3.48053365e-01 9.36978844e-01 -3.04877271e-02 1.77066991e+01] [ 8.95806859e-02 -8.68447997e-04 9.95979190e-01 1.06994385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07710568099999 meters Centerline goodness [0,1] 0.999706049089802 Centerline is valid? [True, True] Translation: X:97.74, Y:17.72, Z:10.70 [[ 9.35062899e-01 -3.44011537e-01 -8.55186430e-02 9.77447260e+01] [ 3.42615456e-01 9.38965357e-01 -3.09630019e-02 1.77199783e+01] [ 9.09506730e-02 -3.47654562e-04 9.95855338e-01 1.06998813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.107105681 meters Centerline goodness [0,1] 0.9998737612825853 Centerline is valid? [True, True] Translation: X:97.77, Y:17.74, Z:10.70 [[ 9.39008268e-01 -3.32450539e-01 -8.79779034e-02 9.77682812e+01] [ 3.30919049e-01 9.43120330e-01 -3.18845824e-02 1.77368021e+01] [ 9.35737959e-02 8.26322334e-04 9.95612004e-01 1.06984525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.137105681 meters Centerline goodness [0,1] 0.9998529071844334 Centerline is valid? [True, True] Translation: X:97.79, Y:17.75, Z:10.70 [[ 9.40628286e-01 -3.27842112e-01 -8.79657753e-02 9.77939828e+01] [ 3.26289771e-01 9.44731639e-01 -3.18922653e-02 1.77497547e+01] [ 9.35596786e-02 1.29643414e-03 9.95612829e-01 1.07006360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16710568099998 meters Centerline goodness [0,1] 0.9999160052076771 Centerline is valid? [True, True] Translation: X:97.82, Y:17.76, Z:10.70 [[ 9.43356267e-01 -3.19883380e-01 -8.80543976e-02 9.78210692e+01] [ 3.18290406e-01 9.47454558e-01 -3.19543084e-02 1.77598234e+01] [ 9.36491926e-02 2.11742715e-03 9.95603006e-01 1.07031924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19710568099998 meters Centerline goodness [0,1] 0.9999369390200323 Centerline is valid? [True, True] Translation: X:97.85, Y:17.77, Z:10.70 [[ 9.44286571e-01 -3.16466872e-01 -9.03968521e-02 9.78489574e+01] [ 3.14771414e-01 9.48600190e-01 -3.28121539e-02 1.77650011e+01] [ 9.61344308e-02 2.52973131e-03 9.95365145e-01 1.07028344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22710568099998 meters Centerline goodness [0,1] 0.9999582855355095 Centerline is valid? [True, True] Translation: X:97.88, Y:17.77, Z:10.71 [[ 9.44391683e-01 -3.16131904e-01 -9.04708110e-02 9.78783367e+01] [ 3.14430824e-01 9.48711742e-01 -3.28525268e-02 1.77691801e+01] [ 9.62164525e-02 2.57884142e-03 9.95357094e-01 1.07057531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:17.77, Z:10.71 [[ 9.44736766e-01 -3.15429924e-01 -8.93107244e-02 9.79080738e+01] [ 3.13766130e-01 9.48945182e-01 -3.24631548e-02 1.77705676e+01] [ 9.49908321e-02 2.64645553e-03 9.95474630e-01 1.07092523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:17.78, Z:10.71 [[ 9.46538096e-01 -3.10166817e-01 -8.86689278e-02 9.79375869e+01] [ 3.08500882e-01 9.50676822e-01 -3.22612121e-02 1.77758884e+01] [ 9.43018520e-02 3.18202383e-03 9.95538566e-01 1.07130454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31710568099999 meters Centerline goodness [0,1] 0.9998320104153543 Centerline is valid? [True, True] Translation: X:97.97, Y:17.78, Z:10.71 [[ 9.47735670e-01 -3.06332887e-01 -8.92034850e-02 9.79652834e+01] [ 3.04629342e-01 9.51917682e-01 -3.24605945e-02 1.77844334e+01] [ 9.48581223e-02 3.59006431e-03 9.95484328e-01 1.07143551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34710568099999 meters Centerline goodness [0,1] 0.9997896862118281 Centerline is valid? [True, True] Translation: X:98.00, Y:17.79, Z:10.71 [[ 9.49671011e-01 -2.99191293e-01 -9.27876186e-02 9.79959141e+01] [ 2.97312983e-01 9.54182610e-01 -3.37718329e-02 1.77895439e+01] [ 9.86405705e-02 4.48516700e-03 9.95113019e-01 1.07109311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37710568099999 meters Centerline goodness [0,1] 0.9998313125988403 Centerline is valid? [True, True] Translation: X:98.03, Y:17.79, Z:10.71 [[ 9.50651703e-01 -2.95374899e-01 -9.49474041e-02 9.80272697e+01] [ 2.93388716e-01 9.55368354e-01 -3.45596429e-02 1.77932590e+01] [ 1.00917796e-01 4.99768642e-03 9.94882215e-01 1.07093588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40710568099999 meters Centerline goodness [0,1] 0.9998117391122453 Centerline is valid? [True, True] Translation: X:98.06, Y:17.79, Z:10.71 [[ 9.50327619e-01 -2.97209519e-01 -9.24333165e-02 9.80570336e+01] [ 2.95335958e-01 9.54800839e-01 -3.36456554e-02 1.77910052e+01] [ 9.82552172e-02 4.67551345e-03 9.95150266e-01 1.07143441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43710568099999 meters Centerline goodness [0,1] 0.9998115420051931 Centerline is valid? [True, True] Translation: X:98.09, Y:17.79, Z:10.72 [[ 9.49491766e-01 -3.00460979e-01 -9.04908076e-02 9.80878128e+01] [ 2.98679211e-01 9.53784606e-01 -3.29492667e-02 1.77911380e+01] [ 9.62087083e-02 4.25733446e-03 9.95352078e-01 1.07186686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46710568099999 meters Centerline goodness [0,1] 0.9999372253609542 Centerline is valid? [True, True] Translation: X:98.13, Y:17.77, Z:10.73 [[ 9.46510737e-01 -3.10671469e-01 -8.71817772e-02 9.81253745e+01] [ 3.09060579e-01 9.50512279e-01 -3.17484821e-02 1.77733886e+01] [ 9.27306973e-02 3.10582866e-03 9.95686382e-01 1.07265700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.497105681 meters Centerline goodness [0,1] 0.9999579549276825 Centerline is valid? [True, True] Translation: X:98.16, Y:17.76, Z:10.73 [[ 9.42131953e-01 -3.24324125e-01 -8.48601555e-02 9.81627828e+01] [ 3.22852763e-01 9.45944450e-01 -3.09061649e-02 1.77561738e+01] [ 9.02966080e-02 1.72034981e-03 9.95913431e-01 1.07328934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:17.75, Z:10.74 [[ 9.39954182e-01 -3.30654716e-01 -8.45789293e-02 9.81940940e+01] [ 3.29218379e-01 9.43751145e-01 -3.08064286e-02 1.77548357e+01] [ 9.00077522e-02 1.11169338e-03 9.95940444e-01 1.07358234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55710568099998 meters Centerline goodness [0,1] 0.9998740236835475 Centerline is valid? [True, True] Translation: X:98.23, Y:17.74, Z:10.74 [[ 9.36564354e-01 -3.39707044e-01 -8.62921530e-02 9.82281418e+01] [ 3.38249058e-01 9.40531264e-01 -3.14406975e-02 1.77443941e+01] [ 9.18410941e-02 2.57997112e-04 9.95773642e-01 1.07357131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.26, Y:17.75, Z:10.74 [[ 9.35500958e-01 -3.42257336e-01 -8.77375246e-02 9.82571665e+01] [ 3.40757992e-01 9.39606255e-01 -3.20011934e-02 1.77457312e+01] [ 9.33913701e-02 3.98843663e-05 9.95629474e-01 1.07362552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61710568099998 meters Centerline goodness [0,1] 0.9999368607147368 Centerline is valid? [True, True] Translation: X:98.29, Y:17.75, Z:10.73 [[ 9.34640948e-01 -3.43380188e-01 -9.23923394e-02 9.82885924e+01] [ 3.41718533e-01 9.39196489e-01 -3.37401629e-02 1.77453288e+01] [ 9.83602643e-02 -3.72368544e-05 9.95150871e-01 1.07339913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:17.75, Z:10.73 [[ 9.34599237e-01 -3.43077048e-01 -9.39276642e-02 9.83160333e+01] [ 3.41354652e-01 9.39307265e-01 -3.43345752e-02 1.77517423e+01] [ 1.00006342e-01 2.64226741e-05 9.94986799e-01 1.07348071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67710568099999 meters Centerline goodness [0,1] 0.9999578325954037 Centerline is valid? [True, True] Translation: X:98.34, Y:17.76, Z:10.74 [[ 9.35224884e-01 -3.41360876e-01 -9.39530097e-02 9.83438798e+01] [ 3.39627333e-01 9.39932286e-01 -3.43594641e-02 1.77552953e+01] [ 1.00038444e-01 2.24815749e-04 9.94983547e-01 1.07376786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:17.76, Z:10.74 [[ 9.35703486e-01 -3.40512571e-01 -9.22506111e-02 9.83722745e+01] [ 3.38833523e-01 9.40239900e-01 -3.37753504e-02 1.77580819e+01] [ 9.82386368e-02 3.46113499e-04 9.95162826e-01 1.07435925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73710568099999 meters Centerline goodness [0,1] 0.9997476712155939 Centerline is valid? [True, True] Translation: X:98.40, Y:17.76, Z:10.75 [[ 9.35263745e-01 -3.42547343e-01 -8.91237641e-02 9.83995069e+01] [ 3.40986304e-01 9.39500554e-01 -3.26657143e-02 1.77618348e+01] [ 9.49213794e-02 1.61075413e-04 9.95484759e-01 1.07515473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76710568099999 meters Centerline goodness [0,1] 0.9998535197120616 Centerline is valid? [True, True] Translation: X:98.43, Y:17.77, Z:10.76 [[ 9.34909901e-01 -3.44144943e-01 -8.66471904e-02 9.84263319e+01] [ 3.42675455e-01 9.38916534e-01 -3.17690820e-02 1.77680969e+01] [ 9.22876487e-02 9.36394617e-06 9.95732389e-01 1.07568809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79710568099999 meters Centerline goodness [0,1] 0.9998951144301567 Centerline is valid? [True, True] Translation: X:98.46, Y:17.77, Z:10.77 [[ 9.33242210e-01 -3.49362923e-01 -8.36930499e-02 9.84553714e+01] [ 3.48012086e-01 9.36987363e-01 -3.06964050e-02 1.77683246e+01] [ 8.91435159e-02 -4.79012089e-04 9.96018677e-01 1.07650799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:17.77, Z:10.77 [[ 9.30587787e-01 -3.56246263e-01 -8.42316469e-02 9.84842164e+01] [ 3.54902823e-01 9.34391441e-01 -3.09293049e-02 1.77690773e+01] [ 8.97237792e-02 -1.11161588e-03 9.95966068e-01 1.07671952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:17.78, Z:10.77 [[ 9.29099316e-01 -3.59924589e-01 -8.50220594e-02 9.85121204e+01] [ 3.58569870e-01 9.32980244e-01 -3.12331889e-02 1.77769269e+01] [ 9.05654945e-02 -1.46761438e-03 9.95889420e-01 1.07676270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.887105681 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:98.54, Y:17.79, Z:10.77 [[ 9.27760454e-01 -3.63209242e-01 -8.56713827e-02 9.85398698e+01] [ 3.61844768e-01 9.31705912e-01 -3.15033051e-02 1.77861325e+01] [ 9.12628252e-02 -1.77222093e-03 9.95825264e-01 1.07686522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.57, Y:17.80, Z:10.77 [[ 9.27889677e-01 -3.62803363e-01 -8.59910832e-02 9.85663720e+01] [ 3.61423912e-01 9.31864154e-01 -3.16536510e-02 1.77958503e+01] [ 9.16160591e-02 -1.70813770e-03 9.95792940e-01 1.07708374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94710568099998 meters Centerline goodness [0,1] 0.9999789898310782 Centerline is valid? [True, True] Translation: X:98.59, Y:17.81, Z:10.77 [[ 9.30150525e-01 -3.56534278e-01 -8.77684944e-02 9.85899422e+01] [ 3.55068042e-01 9.34281593e-01 -3.23201187e-02 1.78112295e+01] [ 9.35237190e-02 -1.10121204e-03 9.95616443e-01 1.07735361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97710568099998 meters Centerline goodness [0,1] 0.9999369111709286 Centerline is valid? [True, True] Translation: X:98.61, Y:17.83, Z:10.78 [[ 9.34213724e-01 -3.45672264e-01 -8.80647679e-02 9.86122753e+01] [ 3.44146511e-01 9.38355309e-01 -3.24421460e-02 1.78337744e+01] [ 9.38503925e-02 7.15367158e-07 9.95586312e-01 1.07767550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:17.85, Z:10.78 [[ 9.36427747e-01 -3.40024401e-01 -8.65244491e-02 9.86368921e+01] [ 3.38524525e-01 9.40416429e-01 -3.19074507e-02 1.78502383e+01] [ 9.22183253e-02 5.88374103e-04 9.95738638e-01 1.07808717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03710568099999 meters Centerline goodness [0,1] 0.9999790052696773 Centerline is valid? [True, True] Translation: X:98.66, Y:17.87, Z:10.78 [[ 9.40363108e-01 -3.29445125e-01 -8.47533797e-02 9.86587454e+01] [ 3.27960177e-01 9.44173326e-01 -3.12866320e-02 1.78716059e+01] [ 9.03291087e-02 1.62506106e-03 9.95910644e-01 1.07838430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:17.89, Z:10.78 [[ 9.42784197e-01 -3.22397255e-01 -8.49586261e-02 9.86850145e+01] [ 3.20875611e-01 9.46601631e-01 -3.13718837e-02 1.78869756e+01] [ 9.05361832e-02 2.31576514e-03 9.95890474e-01 1.07846191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:17.90, Z:10.79 [[ 9.43138527e-01 -3.21246186e-01 -8.53850465e-02 9.87113506e+01] [ 3.19704007e-01 9.46992565e-01 -3.15345942e-02 1.78977815e+01] [ 9.09893723e-02 2.44354917e-03 9.95848866e-01 1.07866907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12710568099999 meters Centerline goodness [0,1] 0.9999580228775318 Centerline is valid? [True, True] Translation: X:98.74, Y:17.91, Z:10.79 [[ 9.42546483e-01 -3.22642909e-01 -8.66468710e-02 9.87369528e+01] [ 3.21057569e-01 9.46517785e-01 -3.20331054e-02 1.79078547e+01] [ 9.23480587e-02 2.37405705e-03 9.95723958e-01 1.07865779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:17.91, Z:10.79 [[ 9.41484941e-01 -3.25483951e-01 -8.75574339e-02 9.87660769e+01] [ 3.23875568e-01 9.45545155e-01 -3.23879222e-02 1.79129879e+01] [ 9.33312563e-02 2.13502736e-03 9.95632823e-01 1.07879865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:17.91, Z:10.79 [[ 9.39023218e-01 -3.32320540e-01 -8.83088545e-02 9.87968051e+01] [ 3.30711403e-01 9.43165314e-01 -3.26979785e-02 1.79132849e+01] [ 9.41560583e-02 1.49941586e-03 9.95556321e-01 1.07915045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:17.91, Z:10.80 [[ 9.35832543e-01 -3.41498879e-01 -8.71548497e-02 9.88271751e+01] [ 3.39970295e-01 9.39882004e-01 -3.22803053e-02 1.79110202e+01] [ 9.29389628e-02 5.78900287e-04 9.95671640e-01 1.07965864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.247105681 meters Centerline goodness [0,1] 0.9999580140652882 Centerline is valid? [True, True] Translation: X:98.86, Y:17.91, Z:10.80 [[ 9.32592469e-01 -3.50264053e-01 -8.70998282e-02 9.88574158e+01] [ 3.48774216e-01 9.36650957e-01 -3.22727683e-02 1.79114448e+01] [ 9.28861280e-02 -2.80833691e-04 9.95676699e-01 1.08003035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:17.92, Z:10.80 [[ 9.30971802e-01 -3.54331954e-01 -8.79793706e-02 9.88844211e+01] [ 3.52826809e-01 9.35119472e-01 -3.26315109e-02 1.79185627e+01] [ 9.38336096e-02 -6.62464021e-04 9.95587673e-01 1.08007813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:17.93, Z:10.80 [[ 9.28842236e-01 -3.59201662e-01 -9.06987669e-02 9.89129424e+01] [ 3.57623534e-01 9.33259226e-01 -3.36545111e-02 1.79250354e+01] [ 9.67342173e-02 -1.17628219e-03 9.95309554e-01 1.07984644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33710568099998 meters Centerline goodness [0,1] 0.9999579752474207 Centerline is valid? [True, True] Translation: X:98.94, Y:17.93, Z:10.80 [[ 9.28540977e-01 -3.59743627e-01 -9.16306588e-02 9.89399611e+01] [ 3.58132028e-01 9.33050402e-01 -3.40352546e-02 1.79338348e+01] [ 9.77399889e-02 -1.21274513e-03 9.95211246e-01 1.07998663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36710568099998 meters Centerline goodness [0,1] 0.9999789801151889 Centerline is valid? [True, True] Translation: X:98.97, Y:17.94, Z:10.80 [[ 9.28916807e-01 -3.57815647e-01 -9.52970510e-02 9.89659122e+01] [ 3.56058382e-01 9.33791694e-01 -3.54330407e-02 1.79445927e+01] [ 1.01666091e-01 -1.01696671e-03 9.94818060e-01 1.07981037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39710568099999 meters Centerline goodness [0,1] 0.9999789730434417 Centerline is valid? [True, True] Translation: X:98.99, Y:17.96, Z:10.80 [[ 9.30020875e-01 -3.54038320e-01 -9.85801237e-02 9.89896151e+01] [ 3.52134275e-01 9.35230721e-01 -3.66735866e-02 1.79612515e+01] [ 1.05179015e-01 -6.06239257e-04 9.94453120e-01 1.07968374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:17.97, Z:10.80 [[ 9.30912506e-01 -3.51684919e-01 -9.85881498e-02 9.90146972e+01] [ 3.49765989e-01 9.36118374e-01 -3.66898230e-02 1.79741790e+01] [ 1.05193436e-01 -3.27766544e-04 9.94451725e-01 1.07988550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45710568099999 meters Centerline goodness [0,1] 0.9999370541334452 Centerline is valid? [True, True] Translation: X:99.04, Y:17.99, Z:10.81 [[ 9.31938645e-01 -3.49841885e-01 -9.53992527e-02 9.90408969e+01] [ 3.48034243e-01 9.36808756e-01 -3.55178920e-02 1.79863828e+01] [ 1.01796502e-01 -1.01710565e-04 9.94805238e-01 1.08056491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48710568099999 meters Centerline goodness [0,1] 0.9999579831932773 Centerline is valid? [True, True] Translation: X:99.07, Y:17.99, Z:10.81 [[ 9.31280860e-01 -3.52338450e-01 -9.25936072e-02 9.90679880e+01] [ 3.50644998e-01 9.35872590e-01 -3.45047869e-02 1.79944161e+01] [ 9.88131822e-02 -3.33837617e-04 9.95105946e-01 1.08119324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51710568099999 meters Centerline goodness [0,1] 0.9999579831932773 Centerline is valid? [True, True] Translation: X:99.09, Y:18.00, Z:10.81 [[ 9.31150595e-01 -3.52685548e-01 -9.25822545e-02 9.90935817e+01] [ 3.50990781e-01 9.35741839e-01 -3.45352231e-02 1.80042302e+01] [ 9.88131632e-02 -3.38024240e-04 9.95105946e-01 1.08143799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54710568099999 meters Centerline goodness [0,1] 0.9999371187826196 Centerline is valid? [True, True] Translation: X:99.12, Y:18.01, Z:10.82 [[ 9.30116001e-01 -3.55390708e-01 -9.26373036e-02 9.91219482e+01] [ 3.53703445e-01 9.34717657e-01 -3.45944449e-02 1.80115868e+01] [ 9.88842676e-02 -5.89286687e-04 9.95098766e-01 1.08176602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:18.01, Z:10.82 [[ 9.28588535e-01 -3.60122295e-01 -8.96396399e-02 9.91494827e+01] [ 3.58561693e-01 9.32904537e-01 -3.35057735e-02 1.80148386e+01] [ 9.56914028e-02 -1.02826395e-03 9.95410517e-01 1.08244636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.18, Y:18.02, Z:10.83 [[ 9.27227991e-01 -3.63899901e-01 -8.84596771e-02 9.91764725e+01] [ 3.62395628e-01 9.31437036e-01 -3.30825845e-02 1.80245821e+01] [ 9.44333686e-02 -1.38230182e-03 9.95530225e-01 1.08284588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.637105681 meters Centerline goodness [0,1] 0.9999374021909233 Centerline is valid? [True, True] Translation: X:99.20, Y:18.03, Z:10.83 [[ 9.26720743e-01 -3.65214816e-01 -8.83561118e-02 9.92030151e+01] [ 3.63717062e-01 9.30922087e-01 -3.30751636e-02 1.80331816e+01] [ 9.43321958e-02 -1.48518520e-03 9.95539668e-01 1.08299478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:18.04, Z:10.83 [[ 9.25920952e-01 -3.67542771e-01 -8.70787078e-02 9.92302089e+01] [ 3.66097226e-01 9.30005091e-01 -3.26090790e-02 1.80428449e+01] [ 9.29688728e-02 -1.68584385e-03 9.95667588e-01 1.08348440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69710568099998 meters Centerline goodness [0,1] 0.999936993321292 Centerline is valid? [True, True] Translation: X:99.26, Y:18.05, Z:10.84 [[ 9.25928772e-01 -3.67521085e-01 -8.70870899e-02 9.92562765e+01] [ 3.66072116e-01 9.30013720e-01 -3.26448631e-02 1.80509172e+01] [ 9.29898639e-02 -1.65333730e-03 9.95665683e-01 1.08365012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72710568099998 meters Centerline goodness [0,1] 0.9999159469625334 Centerline is valid? [True, True] Translation: X:99.28, Y:18.07, Z:10.83 [[ 9.26414529e-01 -3.65472018e-01 -9.04783084e-02 9.92805061e+01] [ 3.63896157e-01 9.30821140e-01 -3.39351296e-02 1.80695157e+01] [ 9.66214624e-02 -1.48671162e-03 9.95320091e-01 1.08345071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75710568099998 meters Centerline goodness [0,1] 0.9998947479212714 Centerline is valid? [True, True] Translation: X:99.30, Y:18.09, Z:10.83 [[ 9.28169714e-01 -3.60350933e-01 -9.29956276e-02 9.93035327e+01] [ 3.58656919e-01 9.32816330e-01 -3.49128738e-02 1.80873537e+01] [ 9.93287267e-02 -9.48453176e-04 9.95054222e-01 1.08320112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:18.10, Z:10.84 [[ 9.29436988e-01 -3.57085617e-01 -9.29341052e-02 9.93286168e+01] [ 3.55376084e-01 9.34071475e-01 -3.49044327e-02 1.81020677e+01] [ 9.92709676e-02 -5.85087532e-04 9.95060266e-01 1.08354214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:18.12, Z:10.84 [[ 9.31836285e-01 -3.51217613e-01 -9.12541800e-02 9.93509434e+01] [ 3.49538266e-01 9.36293855e-01 -3.43047737e-02 1.81205204e+01] [ 9.74891687e-02 6.96050724e-05 9.95236584e-01 1.08400681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84710568099999 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:99.38, Y:18.13, Z:10.84 [[ 9.32508295e-01 -3.49619393e-01 -9.05238117e-02 9.93751057e+01] [ 3.47958025e-01 9.36891786e-01 -3.40440077e-02 1.81342420e+01] [ 9.67134609e-02 2.47832797e-04 9.95312235e-01 1.08429319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:18.15, Z:10.84 [[ 9.33738595e-01 -3.46105535e-01 -9.13410858e-02 9.93984618e+01] [ 3.44393575e-01 9.38195360e-01 -3.43879688e-02 1.81521286e+01] [ 9.75976492e-02 6.52090634e-04 9.95225740e-01 1.08425542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:18.16, Z:10.84 [[ 9.33604617e-01 -3.46308140e-01 -9.19406969e-02 9.94244099e+01] [ 3.44572863e-01 9.38120594e-01 -3.46308166e-02 1.81628502e+01] [ 9.82443948e-02 6.51221045e-04 9.95162105e-01 1.08444679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:18.17, Z:10.85 [[ 9.32603656e-01 -3.49288377e-01 -9.08187758e-02 9.94523321e+01] [ 3.47608074e-01 9.37015213e-01 -3.42215829e-02 1.81689974e+01] [ 9.70517757e-02 3.45833577e-04 9.95279274e-01 1.08494514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96710568099999 meters Centerline goodness [0,1] 0.9998955439028976 Centerline is valid? [True, True] Translation: X:99.48, Y:18.18, Z:10.85 [[ 9.31775126e-01 -3.51546394e-01 -9.06104131e-02 9.94788080e+01] [ 3.49881182e-01 9.36170451e-01 -3.41766763e-02 1.81764301e+01] [ 9.68414786e-02 1.42098380e-04 9.95299808e-01 1.08524298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.997105681 meters Centerline goodness [0,1] 0.9999371661954132 Centerline is valid? [True, True] Translation: X:99.51, Y:18.18, Z:10.85 [[ 9.29483361e-01 -3.57494921e-01 -9.08738875e-02 9.95072185e+01] [ 3.55846866e-01 9.33914967e-01 -3.42905660e-02 1.81831229e+01] [ 9.71271868e-02 -4.64677550e-04 9.95271869e-01 1.08545732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02710568099998 meters Centerline goodness [0,1] 0.9999790013019193 Centerline is valid? [True, True] Translation: X:99.54, Y:18.19, Z:10.86 [[ 9.27007450e-01 -3.63936920e-01 -9.05930811e-02 9.95351695e+01] [ 3.62326253e-01 9.31422945e-01 -3.42196259e-02 1.81904425e+01] [ 9.68342596e-02 -1.10240349e-03 9.95299910e-01 1.08567966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05710568099998 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:99.56, Y:18.20, Z:10.86 [[ 9.25964550e-01 -3.66766236e-01 -8.98453099e-02 9.95618818e+01] [ 3.65192072e-01 9.30312148e-01 -3.39714185e-02 1.81975435e+01] [ 9.60437526e-02 -1.35446557e-03 9.95376192e-01 1.08599609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08710568099998 meters Centerline goodness [0,1] 0.9999159469625334 Centerline is valid? [True, True] Translation: X:99.59, Y:18.20, Z:10.86 [[ 9.23630988e-01 -3.72688003e-01 -8.94955369e-02 9.95895266e+01] [ 3.71151996e-01 9.27954671e-01 -3.38574233e-02 1.82019188e+01] [ 9.56660569e-02 -1.94468190e-03 9.95411585e-01 1.08638818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:18.21, Z:10.87 [[ 9.22286953e-01 -3.76031626e-01 -8.93699764e-02 9.96168044e+01] [ 3.74514254e-01 9.26604036e-01 -3.38235741e-02 1.82104449e+01] [ 9.55293144e-02 -2.27528890e-03 9.95424017e-01 1.08676839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14710568099999 meters Centerline goodness [0,1] 0.9998108687429076 Centerline is valid? [True, True] Translation: X:99.64, Y:18.22, Z:10.87 [[ 9.19684287e-01 -3.82504169e-01 -8.87207604e-02 9.96449627e+01] [ 3.81035595e-01 9.23949232e-01 -3.36108805e-02 1.82152154e+01] [ 9.48297803e-02 -2.89436914e-03 9.95489294e-01 1.08720820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17710568099999 meters Centerline goodness [0,1] 0.9998956681412237 Centerline is valid? [True, True] Translation: X:99.67, Y:18.22, Z:10.88 [[ 9.17031785e-01 -3.89046631e-01 -8.77235644e-02 9.96724080e+01] [ 3.87639785e-01 9.21211335e-01 -3.32426338e-02 1.82216603e+01] [ 9.37448766e-02 -3.52059181e-03 9.95590028e-01 1.08765063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20710568099999 meters Centerline goodness [0,1] 0.9999580114208935 Centerline is valid? [True, True] Translation: X:99.70, Y:18.23, Z:10.88 [[ 9.15972103e-01 -3.91655004e-01 -8.71863777e-02 9.96981421e+01] [ 3.90276318e-01 9.20104478e-01 -3.30476285e-02 1.82307163e+01] [ 9.31638456e-02 -3.75607271e-03 9.95643706e-01 1.08794108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23710568099999 meters Centerline goodness [0,1] 0.9999160404684941 Centerline is valid? [True, True] Translation: X:99.73, Y:18.24, Z:10.88 [[ 9.14706396e-01 -3.94656136e-01 -8.69410340e-02 9.97252307e+01] [ 3.93297435e-01 9.18820022e-01 -3.29680938e-02 1.82431238e+01] [ 9.28942232e-02 -4.03755938e-03 9.95667797e-01 1.08832866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:18.25, Z:10.89 [[ 9.13301702e-01 -3.97770799e-01 -8.75122447e-02 9.97518647e+01] [ 3.96407886e-01 9.17474372e-01 -3.31898335e-02 1.82527736e+01] [ 9.34921883e-02 -4.37821243e-03 9.95610387e-01 1.08854829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29710568099999 meters Centerline goodness [0,1] 0.999916401939475 Centerline is valid? [True, True] Translation: X:99.78, Y:18.26, Z:10.89 [[ 9.12298805e-01 -3.99998330e-01 -8.78192873e-02 9.97784480e+01] [ 3.98635060e-01 9.16504260e-01 -3.33171101e-02 1.82634887e+01] [ 9.38135393e-02 -4.61268715e-03 9.95579099e-01 1.08864266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32710568099999 meters Centerline goodness [0,1] 0.9998951474227237 Centerline is valid? [True, True] Translation: X:99.80, Y:18.28, Z:10.89 [[ 9.10795835e-01 -4.03336133e-01 -8.81527736e-02 9.98040954e+01] [ 4.01977330e-01 9.15038402e-01 -3.34507029e-02 1.82756562e+01] [ 9.41550502e-02 -4.96865570e-03 9.95545147e-01 1.08864447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:18.29, Z:10.89 [[ 9.09893406e-01 -4.05092587e-01 -8.94090933e-02 9.98293806e+01] [ 4.03702080e-01 9.14260799e-01 -3.39385127e-02 1.82901569e+01] [ 9.54914690e-02 -5.21420809e-03 9.95416592e-01 1.08878710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38710568099998 meters Centerline goodness [0,1] 0.999895002099958 Centerline is valid? [True, True] Translation: X:99.85, Y:18.31, Z:10.89 [[ 9.08383875e-01 -4.07887030e-01 -9.20157879e-02 9.98540299e+01] [ 4.06425111e-01 9.13014986e-01 -3.49608941e-02 1.83074680e+01] [ 9.82718886e-02 -5.63961430e-03 9.95143623e-01 1.08885938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41710568099998 meters Centerline goodness [0,1] 0.9999369257616214 Centerline is valid? [True, True] Translation: X:99.88, Y:18.33, Z:10.89 [[ 9.07019632e-01 -4.10432172e-01 -9.41319270e-02 9.98785251e+01] [ 4.08914979e-01 9.11871088e-01 -3.57723272e-02 1.83275517e+01] [ 1.00518297e-01 -6.04575184e-03 9.94916841e-01 1.08887947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44710568099998 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:99.90, Y:18.34, Z:10.89 [[ 9.06541194e-01 -4.11521578e-01 -9.39843266e-02 9.99040023e+01] [ 4.10014092e-01 9.11379274e-01 -3.57248192e-02 1.83421188e+01] [ 1.00356901e-01 -6.14887799e-03 9.94932502e-01 1.08922664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47710568099998 meters Centerline goodness [0,1] 0.9998740871317049 Centerline is valid? [True, True] Translation: X:99.93, Y:18.36, Z:10.90 [[ 9.06836051e-01 -4.11184597e-01 -9.26045555e-02 9.99257750e+01] [ 4.09715923e-01 9.11532422e-01 -3.52350059e-02 1.83638344e+01] [ 9.89001465e-02 -5.98918729e-03 9.95079339e-01 1.08982772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50710568099998 meters Centerline goodness [0,1] 0.9998122496662216 Centerline is valid? [True, True] Translation: X:99.95, Y:18.38, Z:10.90 [[ 9.07809787e-01 -4.09552992e-01 -9.02648192e-02 9.99492439e+01] [ 4.08146550e-01 9.12268936e-01 -3.43770582e-02 1.83792773e+01] [ 9.64250175e-02 -5.63344472e-03 9.95324309e-01 1.09034538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53710568099999 meters Centerline goodness [0,1] 0.9997065358655096 Centerline is valid? [True, True] Translation: X:99.97, Y:18.41, Z:10.91 [[ 9.12523489e-01 -3.99819946e-01 -8.62837935e-02 9.99693015e+01] [ 3.98490105e-01 9.16583220e-01 -3.28760724e-02 1.84091206e+01] [ 9.22307868e-02 -4.38304972e-03 9.95728010e-01 1.09120911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56710568099999 meters Centerline goodness [0,1] 0.9999374908840872 Centerline is valid? [True, True] Translation: X:99.99, Y:18.44, Z:10.92 [[ 9.18923675e-01 -3.85219633e-01 -8.47650482e-02 9.99867052e+01] [ 3.83873728e-01 9.22820496e-01 -3.23000531e-02 1.84433601e+01] [ 9.06655384e-02 -2.85779154e-03 9.95877298e-01 1.09152907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:18.48, Z:10.91 [[ 9.25660025e-01 -3.68455425e-01 -8.59890597e-02 1.00004823e+02] [ 3.66997156e-01 9.29644612e-01 -3.27716650e-02 1.84812705e+01] [ 9.20141639e-02 -1.22232007e-03 9.95756948e-01 1.09147362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62710568099999 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:100.03, Y:18.50, Z:10.92 [[ 9.28737188e-01 -3.60286372e-01 -8.74126142e-02 1.00027475e+02] [ 3.58742639e-01 9.32841658e-01 -3.33190624e-02 1.85040791e+01] [ 9.35465320e-02 -4.13979569e-04 9.95614823e-01 1.09157088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65710568099999 meters Centerline goodness [0,1] 0.9999580791884131 Centerline is valid? [True, True] Translation: X:100.05, Y:18.53, Z:10.92 [[ 9.33641935e-01 -3.46752595e-01 -8.98630952e-02 1.00046014e+02] [ 3.45055075e-01 9.37956095e-01 -3.42835060e-02 1.85347249e+01] [ 9.61755325e-02 1.00080183e-03 9.95363886e-01 1.09152850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:18.55, Z:10.92 [[ 9.35546239e-01 -3.41085686e-01 -9.17267131e-02 1.00068796e+02] [ 3.39288412e-01 9.40030799e-01 -3.50067254e-02 1.85536645e+01] [ 9.81662283e-02 1.62859938e-03 9.95168699e-01 1.09155233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:18.57, Z:10.92 [[ 9.38269641e-01 -3.33429971e-01 -9.20572337e-02 1.00092029e+02] [ 3.31581694e-01 9.42771685e-01 -3.51444251e-02 1.85739939e+01] [ 9.85071580e-02 2.45045363e-03 9.95133325e-01 1.09170064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.747105681 meters Centerline goodness [0,1] 0.9999580941206051 Centerline is valid? [True, True] Translation: X:100.12, Y:18.59, Z:10.92 [[ 9.38952254e-01 -3.31448755e-01 -9.22517621e-02 1.00117367e+02] [ 3.29582125e-01 9.43469436e-01 -3.52284971e-02 1.85873899e+01] [ 9.87131594e-02 2.67334503e-03 9.95112338e-01 1.09194633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:18.60, Z:10.92 [[ 9.39411145e-01 -3.30405911e-01 -9.13161207e-02 1.00142584e+02] [ 3.28569106e-01 9.43834829e-01 -3.49021159e-02 1.85988262e+01] [ 9.77192005e-02 2.78378048e-03 9.95210133e-01 1.09227924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80710568099998 meters Centerline goodness [0,1] 0.9999791440727455 Centerline is valid? [True, True] Translation: X:100.17, Y:18.60, Z:10.93 [[ 9.38976662e-01 -3.32207621e-01 -8.92240159e-02 1.00171863e+02] [ 3.30461150e-01 9.43202844e-01 -3.41148679e-02 1.86031450e+01] [ 9.54895646e-02 2.54799392e-03 9.95427170e-01 1.09275210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:18.61, Z:10.93 [[ 9.38331698e-01 -3.34190740e-01 -8.86012050e-02 1.00200720e+02] [ 3.32474755e-01 9.42502518e-01 -3.39048760e-02 1.86094346e+01] [ 9.48375545e-02 2.35635593e-03 9.95489973e-01 1.09303025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:18.61, Z:10.93 [[ 9.36726045e-01 -3.38792482e-01 -8.81134029e-02 1.00229966e+02] [ 3.37114141e-01 9.40859215e-01 -3.37341719e-02 1.86102865e+01] [ 9.43311908e-02 1.89540331e-03 9.95539067e-01 1.09333042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:18.61, Z:10.94 [[ 9.35407410e-01 -3.42800708e-01 -8.66063076e-02 1.00261669e+02] [ 3.41195477e-01 9.39406991e-01 -3.31685330e-02 1.86077970e+01] [ 9.27287674e-02 1.47641112e-03 9.95690311e-01 1.09363011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:18.61, Z:10.94 [[ 9.34913283e-01 -3.44188754e-01 -8.64364231e-02 1.00291331e+02] [ 3.42592973e-01 9.38899484e-01 -3.31332762e-02 1.86100617e+01] [ 9.25592141e-02 1.36422883e-03 9.95706247e-01 1.09395593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:18.62, Z:10.94 [[ 9.34072151e-01 -3.46246578e-01 -8.73070648e-02 1.00319478e+02] [ 3.44624361e-01 9.38142772e-01 -3.34990833e-02 1.86154646e+01] [ 9.35054348e-02 1.20241942e-03 9.95618043e-01 1.09401012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:18.62, Z:10.94 [[ 9.32398470e-01 -3.50230392e-01 -8.92847401e-02 1.00350155e+02] [ 3.48550546e-01 9.36663214e-01 -3.42715723e-02 1.86162866e+01] [ 9.56326778e-02 8.34516648e-04 9.95416342e-01 1.09388412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:18.62, Z:10.94 [[ 9.31499820e-01 -3.52522814e-01 -8.96423442e-02 1.00378215e+02] [ 3.50836675e-01 9.35803004e-01 -3.44436470e-02 1.86204098e+01] [ 9.60297464e-02 6.34429083e-04 9.95378262e-01 1.09402428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:18.62, Z:10.94 [[ 9.30547305e-01 -3.54925031e-01 -9.00551774e-02 1.00407044e+02] [ 3.53230893e-01 9.34894669e-01 -3.46394792e-02 1.86221783e+01] [ 9.64865235e-02 4.23403349e-04 9.95334201e-01 1.09431307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07710568099999 meters Centerline goodness [0,1] 0.9999790917454211 Centerline is valid? [True, True] Translation: X:100.43, Y:18.63, Z:10.95 [[ 9.30457983e-01 -3.55226076e-01 -8.97907368e-02 1.00433231e+02] [ 3.53541943e-01 9.34780333e-01 -3.45517461e-02 1.86307681e+01] [ 9.62082960e-02 4.04156508e-04 9.95361141e-01 1.09472762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:18.64, Z:10.95 [[ 9.32654066e-01 -3.49656510e-01 -8.88634824e-02 1.00458913e+02] [ 3.47978223e-01 9.36877429e-01 -3.42321519e-02 1.86418853e+01] [ 9.52236857e-02 1.00419903e-03 9.95455394e-01 1.09537053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:18.66, Z:10.96 [[ 9.36056959e-01 -3.40677232e-01 -8.79567658e-02 1.00485144e+02] [ 3.38990515e-01 9.40178337e-01 -3.39135066e-02 1.86554940e+01] [ 9.42486053e-02 1.92846455e-03 9.95546825e-01 1.09583759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:18.67, Z:10.96 [[ 9.37753270e-01 -3.35733107e-01 -8.88936731e-02 1.00510881e+02] [ 3.33987501e-01 9.41953951e-01 -3.42797800e-02 1.86693998e+01] [ 9.52426037e-02 2.45660009e-03 9.95451059e-01 1.09594154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:18.68, Z:10.96 [[ 9.40680520e-01 -3.27799786e-01 -8.75640256e-02 1.00538693e+02] [ 3.26071153e-01 9.44741734e-01 -3.37736447e-02 1.86813774e+01] [ 9.37963829e-02 3.21810682e-03 9.95586200e-01 1.09635166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:18.69, Z:10.97 [[ 9.42327033e-01 -3.23811458e-01 -8.46516576e-02 1.00567532e+02] [ 3.22180075e-01 9.46115177e-01 -3.26507551e-02 1.86877028e+01] [ 9.06629066e-02 3.49461173e-03 9.95875507e-01 1.09695052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:18.69, Z:10.97 [[ 9.42186228e-01 -3.24126920e-01 -8.50108948e-02 1.00595001e+02] [ 3.22482426e-01 9.46007189e-01 -3.27945708e-02 1.86935607e+01] [ 9.10505208e-02 3.48407332e-03 9.95840180e-01 1.09714903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28710568099999 meters Centerline goodness [0,1] 0.9998745321093243 Centerline is valid? [True, True] Translation: X:100.62, Y:18.70, Z:10.97 [[ 9.41904353e-01 -3.23901530e-01 -8.89043758e-02 1.00624094e+02] [ 3.22097937e-01 9.46083549e-01 -3.43341953e-02 1.86963621e+01] [ 9.52318658e-02 3.70361197e-03 9.95448228e-01 1.09684220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:18.70, Z:10.97 [[ 9.41884289e-01 -3.23427081e-01 -9.08235075e-02 1.00652977e+02] [ 3.21540998e-01 9.46245278e-01 -3.50893174e-02 1.87024152e+01] [ 9.72901507e-02 3.84659552e-03 9.95248627e-01 1.09688135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:18.71, Z:10.97 [[ 9.42638614e-01 -3.20620461e-01 -9.29244994e-02 1.00683800e+02] [ 3.18629050e-01 9.47198154e-01 -3.59330662e-02 1.87051469e+01] [ 9.95387905e-02 4.26345071e-03 9.95024549e-01 1.09697169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:18.71, Z:10.97 [[ 9.43778495e-01 -3.17260939e-01 -9.28851389e-02 1.00713988e+02] [ 3.15254493e-01 9.48327024e-01 -3.59229836e-02 1.87070629e+01] [ 9.94824468e-02 4.62088204e-03 9.95028588e-01 1.09733739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:18.72, Z:10.98 [[ 9.44486872e-01 -3.15538959e-01 -9.15407733e-02 1.00740502e+02] [ 3.13581529e-01 9.48900786e-01 -3.54107671e-02 1.87153497e+01] [ 9.80365883e-02 4.73950908e-03 9.95171525e-01 1.09783829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:18.73, Z:10.98 [[ 9.44371804e-01 -3.15884602e-01 -9.15358577e-02 1.00765986e+02] [ 3.13927560e-01 9.48785890e-01 -3.54234687e-02 1.87254597e+01] [ 9.80376586e-02 4.71729661e-03 9.95171525e-01 1.09808333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:18.73, Z:10.99 [[ 9.46229798e-01 -3.10689070e-01 -9.01192074e-02 1.00797050e+02] [ 3.08765486e-01 9.50497338e-01 -3.49096645e-02 1.87281285e+01] [ 9.65041180e-02 5.20686396e-03 9.95318966e-01 1.09878262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:18.74, Z:10.99 [[ 9.47003450e-01 -3.08104393e-01 -9.08633511e-02 1.00824302e+02] [ 3.06136893e-01 9.51336559e-01 -3.51987813e-02 1.87356010e+01] [ 9.72865270e-02 5.51674336e-03 9.95241125e-01 1.09902441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52710568099998 meters Centerline goodness [0,1] 0.9998739204438001 Centerline is valid? [True, True] Translation: X:100.86, Y:18.73, Z:10.99 [[ 9.48195766e-01 -3.04772504e-01 -8.96577373e-02 1.00855804e+02] [ 3.02841261e-01 9.52407581e-01 -3.47414794e-02 1.87342688e+01] [ 9.59789564e-02 5.78966146e-03 9.95366525e-01 1.09940518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55710568099998 meters Centerline goodness [0,1] 0.9999370250640245 Centerline is valid? [True, True] Translation: X:100.88, Y:18.74, Z:11.00 [[ 9.48096531e-01 -3.05486439e-01 -8.82666658e-02 1.00884036e+02] [ 3.03616915e-01 9.52179736e-01 -3.42128370e-02 1.87376236e+01] [ 9.44972883e-02 5.63781929e-03 9.95509155e-01 1.09977083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58710568099998 meters Centerline goodness [0,1] 0.9998331978065511 Centerline is valid? [True, True] Translation: X:100.91, Y:18.74, Z:11.00 [[ 9.47805106e-01 -3.06149831e-01 -8.90941172e-02 1.00913776e+02] [ 3.04246606e-01 9.51966649e-01 -3.45470916e-02 1.87405733e+01] [ 9.53912145e-02 5.63732707e-03 9.95423898e-01 1.09998097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61710568099998 meters Centerline goodness [0,1] 0.9998528422468886 Centerline is valid? [True, True] Translation: X:100.95, Y:18.74, Z:11.00 [[ 9.47504753e-01 -3.06414178e-01 -9.13514885e-02 1.00945600e+02] [ 3.04410829e-01 9.51880697e-01 -3.54568248e-02 1.87396826e+01] [ 9.78201923e-02 5.78712768e-03 9.95187278e-01 1.09996323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64710568099999 meters Centerline goodness [0,1] 0.9995369103500537 Centerline is valid? [True, True] Translation: X:100.98, Y:18.74, Z:11.00 [[ 9.47327245e-01 -3.06210222e-01 -9.38423694e-02 1.00975304e+02] [ 3.04091388e-01 9.51945007e-01 -3.64572526e-02 1.87397572e+01] [ 1.00496358e-01 6.00029224e-03 9.94919333e-01 1.09983924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67710568099999 meters Centerline goodness [0,1] 0.9993901028412795 Centerline is valid? [True, True] Translation: X:101.00, Y:18.74, Z:11.00 [[ 9.47120196e-01 -3.06855784e-01 -9.38235656e-02 1.01004223e+02] [ 3.04738909e-01 9.51737425e-01 -3.64701416e-02 1.87435789e+01] [ 1.00486473e-01 5.94991669e-03 9.94920634e-01 1.10016517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70710568099999 meters Centerline goodness [0,1] 0.9991430303283657 Centerline is valid? [True, True] Translation: X:101.03, Y:18.74, Z:11.01 [[ 9.46432302e-01 -3.09246650e-01 -9.29107466e-02 1.01034919e+02] [ 3.07179232e-01 9.50964964e-01 -3.61463199e-02 1.87441829e+01] [ 9.95329931e-02 5.66979300e-03 9.95018109e-01 1.10055570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73710568099999 meters Centerline goodness [0,1] 0.9990120654138815 Centerline is valid? [True, True] Translation: X:101.07, Y:18.74, Z:11.01 [[ 9.44597431e-01 -3.15037540e-01 -9.21251482e-02 1.01068469e+02] [ 3.13031912e-01 9.49065928e-01 -3.58453134e-02 1.87406689e+01] [ 9.87254586e-02 5.02127967e-03 9.95102040e-01 1.10088258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76710568099999 meters Centerline goodness [0,1] 0.9992221334566708 Centerline is valid? [True, True] Translation: X:101.10, Y:18.74, Z:11.01 [[ 9.43195981e-01 -3.18980946e-01 -9.29112334e-02 1.01099343e+02] [ 3.16959540e-01 9.47749714e-01 -3.61542459e-02 1.87437319e+01] [ 9.95891105e-02 4.65143763e-03 9.95017775e-01 1.10104821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79710568099999 meters Centerline goodness [0,1] 0.9990125013131631 Centerline is valid? [True, True] Translation: X:101.13, Y:18.74, Z:11.01 [[ 9.38624994e-01 -3.31909087e-01 -9.39120802e-02 1.01132764e+02] [ 3.29907571e-01 9.43305532e-01 -3.65468032e-02 1.87366045e+01] [ 1.00718001e-01 3.32143664e-03 9.94909469e-01 1.10114082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82710568099999 meters Centerline goodness [0,1] 0.9990752805682821 Centerline is valid? [True, True] Translation: X:101.17, Y:18.74, Z:11.02 [[ 9.35862431e-01 -3.39826936e-01 -9.31620256e-02 1.01165350e+02] [ 3.37895569e-01 9.40484776e-01 -3.62625324e-02 1.87356480e+01] [ 9.99404520e-02 2.45770604e-03 9.94990385e-01 1.10159290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.857105681 meters Centerline goodness [0,1] 0.999540153003637 Centerline is valid? [True, True] Translation: X:101.20, Y:18.73, Z:11.02 [[ 9.29744164e-01 -3.56510778e-01 -9.20643989e-02 1.01200609e+02] [ 3.54704543e-01 9.34290967e-01 -3.58479572e-02 1.87260022e+01] [ 9.87951194e-02 6.73768413e-04 9.95107567e-01 1.10199777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88710568099998 meters Centerline goodness [0,1] 0.9994329041608032 Centerline is valid? [True, True] Translation: X:101.23, Y:18.73, Z:11.02 [[ 9.26589096e-01 -3.64478200e-01 -9.26730194e-02 1.01230942e+02] [ 3.62684799e-01 9.31211909e-01 -3.61125556e-02 1.87276889e+01] [ 9.94604586e-02 -1.49595206e-04 9.95041504e-01 1.10212800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91710568099998 meters Centerline goodness [0,1] 0.999915984036967 Centerline is valid? [True, True] Translation: X:101.26, Y:18.72, Z:11.02 [[ 9.21977557e-01 -3.75620937e-01 -9.41610120e-02 1.01263034e+02] [ 3.73823640e-01 9.26772419e-01 -3.67255888e-02 1.87240670e+01] [ 1.01060729e-01 -1.33944364e-03 9.94879357e-01 1.10213634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94710568099998 meters Centerline goodness [0,1] 0.9997909305680417 Centerline is valid? [True, True] Translation: X:101.29, Y:18.73, Z:11.02 [[ 9.19770240e-01 -3.80652944e-01 -9.55303134e-02 1.01292500e+02] [ 3.78828212e-01 9.24716015e-01 -3.72756849e-02 1.87271926e+01] [ 1.02527510e-01 -1.90451216e-03 9.94728346e-01 1.10244867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97710568099998 meters Centerline goodness [0,1] 0.9997270570450776 Centerline is valid? [True, True] Translation: X:101.32, Y:18.74, Z:11.02 [[ 9.20536368e-01 -3.77817380e-01 -9.93318804e-02 1.01317802e+02] [ 3.75823393e-01 9.25878727e-01 -3.87989593e-02 1.87400581e+01] [ 1.06628196e-01 -1.61539131e-03 9.94297651e-01 1.10232035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00710568099998 meters Centerline goodness [0,1] 0.9995819135815373 Centerline is valid? [True, True] Translation: X:101.34, Y:18.75, Z:11.02 [[ 9.22402977e-01 -3.72878661e-01 -1.00669027e-01 1.01341756e+02] [ 3.70796894e-01 9.27879550e-01 -3.93599277e-02 1.87547618e+01] [ 1.08085208e-01 -1.02204799e-03 9.94141108e-01 1.10220136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03710568099999 meters Centerline goodness [0,1] 0.9994753079942074 Centerline is valid? [True, True] Translation: X:101.36, Y:18.78, Z:11.03 [[ 9.27897812e-01 -3.59398481e-01 -9.91886214e-02 1.01361963e+02] [ 3.57298652e-01 9.33184022e-01 -3.87976151e-02 1.87802389e+01] [ 1.06505041e-01 5.60261445e-04 9.94312005e-01 1.10285778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06710568099999 meters Centerline goodness [0,1] 0.999811743050181 Centerline is valid? [True, True] Translation: X:101.39, Y:18.80, Z:11.03 [[ 9.30490905e-01 -3.52988628e-01 -9.79066123e-02 1.01385686e+02] [ 3.50903885e-01 9.35626696e-01 -3.83294859e-02 1.87974382e+01] [ 1.05133913e-01 1.30942737e-03 9.94457212e-01 1.10334696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09710568099999 meters Centerline goodness [0,1] 0.9994962639576862 Centerline is valid? [True, True] Translation: X:101.41, Y:18.82, Z:11.04 [[ 9.34416884e-01 -3.43135134e-01 -9.55163144e-02 1.01408776e+02] [ 3.41096754e-01 9.39283013e-01 -3.74222607e-02 1.88190003e+01] [ 1.02557744e-01 2.38768746e-03 9.94724187e-01 1.10395576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12710568099999 meters Centerline goodness [0,1] 0.9990552768038965 Centerline is valid? [True, True] Translation: X:101.43, Y:18.83, Z:11.04 [[ 9.35582423e-01 -3.40182723e-01 -9.46638545e-02 1.01433451e+02] [ 3.38164725e-01 9.40355492e-01 -3.70967245e-02 1.88341543e+01] [ 1.01637340e-01 2.69506708e-03 9.94817867e-01 1.10422253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15710568099999 meters Centerline goodness [0,1] 0.9989712798118912 Centerline is valid? [True, True] Translation: X:101.46, Y:18.85, Z:11.05 [[ 9.36912388e-01 -3.36807514e-01 -9.35728400e-02 1.01457985e+02] [ 3.34815897e-01 9.41568564e-01 -3.67008864e-02 1.88462974e+01] [ 1.00466379e-01 3.05584074e-03 9.94935761e-01 1.10458229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18710568099999 meters Centerline goodness [0,1] 0.9990355585374036 Centerline is valid? [True, True] Translation: X:101.48, Y:18.86, Z:11.05 [[ 9.37145028e-01 -3.36754856e-01 -9.14076754e-02 1.01484507e+02] [ 3.34852407e-01 9.41587551e-01 -3.58712978e-02 1.88550959e+01] [ 9.81481629e-02 3.00852827e-03 9.95167266e-01 1.10511937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21710568099999 meters Centerline goodness [0,1] 0.9990350325152088 Centerline is valid? [True, True] Translation: X:101.51, Y:18.87, Z:11.05 [[ 9.36914890e-01 -3.37430418e-01 -9.12754244e-02 1.01510538e+02] [ 3.35534831e-01 9.41345847e-01 -3.58381604e-02 1.88650728e+01] [ 9.80146272e-02 2.95122203e-03 9.95180598e-01 1.10536457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.247105681 meters Centerline goodness [0,1] 0.999014075643473 Centerline is valid? [True, True] Translation: X:101.54, Y:18.88, Z:11.05 [[ 9.36858227e-01 -3.36766461e-01 -9.42603469e-02 1.01535355e+02] [ 3.34737429e-01 9.41582921e-01 -3.70466943e-02 1.88778406e+01] [ 1.01230017e-01 3.15503418e-03 9.94858045e-01 1.10505500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27710568099998 meters Centerline goodness [0,1] 0.9987255557412669 Centerline is valid? [True, True] Translation: X:101.56, Y:18.89, Z:11.05 [[ 9.37248469e-01 -3.34983146e-01 -9.67036703e-02 1.01561840e+02] [ 3.32835720e-01 9.42217789e-01 -3.80265842e-02 1.88881960e+01] [ 1.03854183e-01 3.45392203e-03 9.94586537e-01 1.10497784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30710568099998 meters Centerline goodness [0,1] 0.998929381140314 Centerline is valid? [True, True] Translation: X:101.59, Y:18.90, Z:11.05 [[ 9.37566131e-01 -3.33904958e-01 -9.73510629e-02 1.01588417e+02] [ 3.31721449e-01 9.42599835e-01 -3.82940129e-02 1.88987407e+01] [ 1.04549657e-01 3.60973385e-03 9.94513117e-01 1.10522661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33710568099998 meters Centerline goodness [0,1] 0.998490439449849 Centerline is valid? [True, True] Translation: X:101.61, Y:18.91, Z:11.05 [[ 9.38533866e-01 -3.31162479e-01 -9.73940146e-02 1.01613740e+02] [ 3.28959256e-01 9.43565499e-01 -3.83400166e-02 1.89118214e+01] [ 1.04594407e-01 3.94474145e-03 9.94507139e-01 1.10542120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36710568099998 meters Centerline goodness [0,1] 0.9980546374932017 Centerline is valid? [True, True] Translation: X:101.64, Y:18.92, Z:11.05 [[ 9.39237243e-01 -3.28740530e-01 -9.88082220e-02 1.01640650e+02] [ 3.26458566e-01 9.44410568e-01 -3.89035230e-02 1.89244001e+01] [ 1.06104694e-01 4.28284725e-03 9.94345740e-01 1.10529399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39710568099999 meters Centerline goodness [0,1] 0.9984337475201003 Centerline is valid? [True, True] Translation: X:101.67, Y:18.93, Z:11.05 [[ 9.38777207e-01 -3.29578798e-01 -1.00375159e-01 1.01667960e+02] [ 3.27227264e-01 9.44118437e-01 -3.95309182e-02 1.89332815e+01] [ 1.07794591e-01 4.26523622e-03 9.94164038e-01 1.10524376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42710568099999 meters Centerline goodness [0,1] 0.998928728968429 Centerline is valid? [True, True] Translation: X:101.70, Y:18.93, Z:11.06 [[ 9.36574981e-01 -3.35095799e-01 -1.02655304e-01 1.01701436e+02] [ 3.32665074e-01 9.42176615e-01 -4.04620160e-02 1.89301018e+01] [ 1.10278078e-01 3.74587771e-03 9.93893714e-01 1.10560187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45710568099999 meters Centerline goodness [0,1] 0.9988951197648481 Centerline is valid? [True, True] Translation: X:101.73, Y:18.94, Z:11.06 [[ 9.34947731e-01 -3.39831667e-01 -1.01917511e-01 1.01728457e+02] [ 3.37462936e-01 9.40480927e-01 -4.01795100e-02 1.89396134e+01] [ 1.09505745e-01 3.17235923e-03 9.93981100e-01 1.10559122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48710568099999 meters Centerline goodness [0,1] 0.9994548237612967 Centerline is valid? [True, True] Translation: X:101.76, Y:18.93, Z:11.06 [[ 9.31289800e-01 -3.50134215e-01 -1.00525322e-01 1.01762445e+02] [ 3.47888697e-01 9.36697526e-01 -3.96383480e-02 1.89322392e+01] [ 1.08040562e-01 1.94316600e-03 9.94144588e-01 1.10643770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51710568099999 meters Centerline goodness [0,1] 0.9994541943068268 Centerline is valid? [True, True] Translation: X:101.80, Y:18.93, Z:11.07 [[ 9.26760677e-01 -3.61392967e-01 -1.02517175e-01 1.01795434e+02] [ 3.59124750e-01 9.32413372e-01 -4.04316479e-02 1.89287687e+01] [ 1.10200098e-01 6.54006637e-04 9.93909206e-01 1.10652163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54710568099999 meters Centerline goodness [0,1] 0.9996861071002574 Centerline is valid? [True, True] Translation: X:101.82, Y:18.93, Z:11.06 [[ 9.24634382e-01 -3.66432842e-01 -1.03818267e-01 1.01824108e+02] [ 3.64137290e-01 9.30444501e-01 -4.09519836e-02 1.89335765e+01] [ 1.11603287e-01 6.15097583e-05 9.93752838e-01 1.10606846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57710568099999 meters Centerline goodness [0,1] 0.9998324537153389 Centerline is valid? [True, True] Translation: X:101.85, Y:18.93, Z:11.07 [[ 9.21534040e-01 -3.74475018e-01 -1.02681420e-01 1.01852879e+02] [ 3.72277113e-01 9.27236583e-01 -4.05224666e-02 1.89344373e+01] [ 1.10384620e-01 -8.83110147e-04 9.93888553e-01 1.10702458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.607105681 meters Centerline goodness [0,1] 0.9999580175906295 Centerline is valid? [True, True] Translation: X:101.88, Y:18.94, Z:11.08 [[ 9.20031977e-01 -3.78531799e-01 -1.01266174e-01 1.01879091e+02] [ 3.76414785e-01 9.25587350e-01 -3.99995981e-02 1.89435136e+01] [ 1.08871809e-01 -1.31717568e-03 9.94054925e-01 1.10753878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63710568099998 meters Centerline goodness [0,1] 0.999790316831268 Centerline is valid? [True, True] Translation: X:101.90, Y:18.96, Z:11.08 [[ 9.19532506e-01 -3.79765722e-01 -1.01182841e-01 1.01904872e+02] [ 3.77657751e-01 9.25081567e-01 -3.99839694e-02 1.89566620e+01] [ 1.08786922e-01 -1.44592465e-03 9.94064040e-01 1.10802618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66710568099998 meters Centerline goodness [0,1] 0.9998950858197994 Centerline is valid? [True, True] Translation: X:101.93, Y:18.97, Z:11.09 [[ 9.19630478e-01 -3.80178651e-01 -9.87115893e-02 1.01928436e+02] [ 3.78171630e-01 9.24911971e-01 -3.90392704e-02 1.89711243e+01] [ 1.06141428e-01 -1.42821980e-03 9.94350018e-01 1.10865611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69710568099998 meters Centerline goodness [0,1] 0.9997077610320211 Centerline is valid? [True, True] Translation: X:101.95, Y:18.99, Z:11.09 [[ 9.19341226e-01 -3.80893099e-01 -9.86517013e-02 1.01951863e+02] [ 3.78890740e-01 9.24617876e-01 -3.90331955e-02 1.89889830e+01] [ 1.06082601e-01 -1.49339028e-03 9.94356200e-01 1.10898102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72710568099998 meters Centerline goodness [0,1] 0.9997698985461771 Centerline is valid? [True, True] Translation: X:101.98, Y:19.00, Z:11.09 [[ 9.18427752e-01 -3.83138481e-01 -9.84650660e-02 1.01977522e+02] [ 3.81152162e-01 9.23689330e-01 -3.90006665e-02 1.90024804e+01] [ 1.05893787e-01 -1.71087832e-03 9.94375975e-01 1.10917960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75710568099998 meters Centerline goodness [0,1] 0.999812183058912 Centerline is valid? [True, True] Translation: X:102.00, Y:19.01, Z:11.09 [[ 9.15564839e-01 -3.90367934e-01 -9.67155714e-02 1.02004295e+02] [ 3.88488481e-01 9.20655621e-01 -3.83396263e-02 1.90133139e+01] [ 1.04008295e-01 -2.47047170e-03 9.94573361e-01 1.10945862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78710568099999 meters Centerline goodness [0,1] 0.9999162233485528 Centerline is valid? [True, True] Translation: X:102.03, Y:19.02, Z:11.10 [[ 9.13605698e-01 -3.94938439e-01 -9.66863910e-02 1.02031703e+02] [ 3.93084533e-01 9.18702753e-01 -3.83379995e-02 1.90225345e+01] [ 1.03967203e-01 -2.98011005e-03 9.94576261e-01 1.10977699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81710568099999 meters Centerline goodness [0,1] 0.9999790382761078 Centerline is valid? [True, True] Translation: X:102.06, Y:19.03, Z:11.10 [[ 9.09667040e-01 -4.03998721e-01 -9.63893669e-02 1.02059397e+02] [ 4.02205578e-01 9.14750842e-01 -3.82304817e-02 1.90324297e+01] [ 1.03617320e-01 -3.99133189e-03 9.94609230e-01 1.11018884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84710568099999 meters Centerline goodness [0,1] 0.9997903871549249 Centerline is valid? [True, True] Translation: X:102.09, Y:19.04, Z:11.10 [[ 9.07324481e-01 -4.09089685e-01 -9.69944132e-02 1.02086271e+02] [ 4.07300231e-01 9.12482694e-01 -3.84948744e-02 1.90426578e+01] [ 1.04253580e-01 -4.57850501e-03 9.94540210e-01 1.11024697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:19.07, Z:11.10 [[ 9.07418919e-01 -4.08401667e-01 -9.89898165e-02 1.02106779e+02] [ 4.06531802e-01 9.12790843e-01 -3.93035716e-02 1.90667656e+01] [ 1.06408642e-01 -4.57770396e-03 9.94311946e-01 1.11040240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90710568099999 meters Centerline goodness [0,1] 0.9999370580953779 Centerline is valid? [True, True] Translation: X:102.13, Y:19.08, Z:11.11 [[ 9.08431455e-01 -4.06065323e-01 -9.93138738e-02 1.02130521e+02] [ 4.04165154e-01 9.13834016e-01 -3.94704767e-02 1.90845663e+01] [ 1.06783988e-01 -4.28298458e-03 9.94273019e-01 1.11061741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93710568099999 meters Centerline goodness [0,1] 0.9999580299246638 Centerline is valid? [True, True] Translation: X:102.15, Y:19.11, Z:11.10 [[ 9.11287163e-01 -3.99120915e-01 -1.01282783e-01 1.02151281e+02] [ 3.97100457e-01 9.16891516e-01 -4.02638158e-02 1.91109309e+01] [ 1.08935455e-01 -3.52754094e-03 9.94042566e-01 1.11047649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:19.14, Z:11.11 [[ 9.12959201e-01 -3.94903861e-01 -1.02744531e-01 1.02173290e+02] [ 3.92796291e-01 9.18717371e-01 -4.08590969e-02 1.91352321e+01] [ 1.10528600e-01 -3.05498217e-03 9.93868249e-01 1.11065772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:19.17, Z:11.11 [[ 9.16871999e-01 -3.85061403e-01 -1.05230475e-01 1.02192429e+02] [ 3.82781866e-01 9.22889036e-01 -4.18792342e-02 1.91681487e+01] [ 1.13242128e-01 -1.88242048e-03 9.93565638e-01 1.11059932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02710568099998 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:102.21, Y:19.20, Z:11.11 [[ 9.20151167e-01 -3.77168743e-01 -1.05193007e-01 1.02210996e+02] [ 3.74837404e-01 9.26144125e-01 -4.18805434e-02 1.92009029e+01] [ 1.13219917e-01 -8.93842796e-04 9.93569550e-01 1.11084411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05710568099998 meters Centerline goodness [0,1] 0.9998949646030713 Centerline is valid? [True, True] Translation: X:102.23, Y:19.22, Z:11.11 [[ 9.21312195e-01 -3.74808939e-01 -1.03450951e-01 1.02233972e+02] [ 3.72535574e-01 9.27101907e-01 -4.12225749e-02 1.92209245e+01] [ 1.11360164e-01 -5.60298622e-04 9.93779956e-01 1.11122964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08710568099998 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:102.26, Y:19.24, Z:11.12 [[ 9.22011737e-01 -3.74117687e-01 -9.96509586e-02 1.02255875e+02] [ 3.72000834e-01 9.27381138e-01 -3.97442302e-02 1.92413897e+01] [ 1.07283439e-01 -4.25593046e-04 9.94228386e-01 1.11195240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:19.26, Z:11.12 [[ 9.21406965e-01 -3.75599932e-01 -9.96689287e-02 1.02280072e+02] [ 3.73486730e-01 9.26781730e-01 -3.97905340e-02 1.92560107e+01] [ 1.07316664e-01 -5.61747057e-04 9.94224732e-01 1.11212272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14710568099999 meters Centerline goodness [0,1] 0.9999789677365079 Centerline is valid? [True, True] Translation: X:102.30, Y:19.27, Z:11.12 [[ 9.21058610e-01 -3.76126479e-01 -1.00895531e-01 1.02304988e+02] [ 3.73959692e-01 9.26568140e-01 -4.03191144e-02 1.92690512e+01] [ 1.08651671e-01 -5.94594093e-04 9.94079705e-01 1.11191614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:19.29, Z:11.12 [[ 9.21461737e-01 -3.74877600e-01 -1.01857997e-01 1.02328327e+02] [ 3.72660041e-01 9.27074211e-01 -4.07173324e-02 1.92869167e+01] [ 1.09693938e-01 -4.38941557e-04 9.93965315e-01 1.11191313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20710568099999 meters Centerline goodness [0,1] 0.9999790532048597 Centerline is valid? [True, True] Translation: X:102.35, Y:19.30, Z:11.12 [[ 9.22016012e-01 -3.73898388e-01 -1.00431417e-01 1.02353176e+02] [ 3.71735111e-01 9.27469624e-01 -4.01634525e-02 1.93005695e+01] [ 1.08164138e-01 -3.02537564e-04 9.94133003e-01 1.11233608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:19.31, Z:11.13 [[ 9.22052172e-01 -3.74402855e-01 -9.81951809e-02 1.02378439e+02] [ 3.72334325e-01 9.27266088e-01 -3.93033239e-02 1.93129492e+01] [ 1.05768338e-01 -3.21721235e-04 9.94390746e-01 1.11325791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26710568099999 meters Centerline goodness [0,1] 0.9999367981966418 Centerline is valid? [True, True] Translation: X:102.40, Y:19.32, Z:11.13 [[ 9.20346216e-01 -3.78561831e-01 -9.82536609e-02 1.02404628e+02] [ 3.76510675e-01 9.25575687e-01 -3.93619059e-02 1.93218568e+01] [ 1.05842115e-01 -7.66971082e-04 9.94382652e-01 1.11335731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29710568099999 meters Centerline goodness [0,1] 0.9999789451521213 Centerline is valid? [True, True] Translation: X:102.43, Y:19.33, Z:11.13 [[ 9.19239720e-01 -3.80997400e-01 -9.91933344e-02 1.02432055e+02] [ 3.78918327e-01 9.24575529e-01 -3.97617016e-02 1.93317273e+01] [ 1.06860835e-01 -1.03563685e-03 9.94273448e-01 1.11346508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32710568099999 meters Centerline goodness [0,1] 0.9999789451521213 Centerline is valid? [True, True] Translation: X:102.46, Y:19.34, Z:11.14 [[ 9.19097185e-01 -3.81344603e-01 -9.91799277e-02 1.02457398e+02] [ 3.79263940e-01 9.24432373e-01 -3.97951174e-02 1.93421701e+01] [ 1.06860789e-01 -1.03978968e-03 9.94273449e-01 1.11370986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.357105681 meters Centerline goodness [0,1] 0.9999789455954186 Centerline is valid? [True, True] Translation: X:102.49, Y:19.35, Z:11.14 [[ 9.16968878e-01 -3.86383745e-01 -9.93764498e-02 1.02485252e+02] [ 3.84319656e-01 9.22336746e-01 -3.99165299e-02 1.93499037e+01] [ 1.07081650e-01 -1.59010733e-03 9.94248959e-01 1.11376267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38710568099998 meters Centerline goodness [0,1] 0.9999789606564276 Centerline is valid? [True, True] Translation: X:102.52, Y:19.35, Z:11.14 [[ 9.13695557e-01 -3.94393955e-01 -9.80501818e-02 1.02515880e+02] [ 3.92427081e-01 9.18938160e-01 -3.94163014e-02 1.93515406e+01] [ 1.05647605e-01 -2.46304714e-03 9.94400582e-01 1.11420466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:19.35, Z:11.14 [[ 9.08610321e-01 -4.06035586e-01 -9.77874633e-02 1.02547699e+02] [ 4.04144806e-01 9.13849400e-01 -3.93223779e-02 1.93528195e+01] [ 1.05329299e-01 -3.79157697e-03 9.94430170e-01 1.11448819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44710568099998 meters Centerline goodness [0,1] 0.99997891140682 Centerline is valid? [True, True] Translation: X:102.58, Y:19.36, Z:11.15 [[ 9.05978825e-01 -4.11730069e-01 -9.83906399e-02 1.02576048e+02] [ 4.09846170e-01 9.11294961e-01 -3.95930514e-02 1.93608183e+01] [ 1.05964544e-01 -4.45456072e-03 9.94359931e-01 1.11461757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:19.37, Z:11.15 [[ 9.02756144e-01 -4.19291600e-01 -9.60515413e-02 1.02603670e+02] [ 4.17537844e-01 9.07836701e-01 -3.86610081e-02 1.93708255e+01] [ 1.03409350e-01 -5.20369082e-03 9.94625270e-01 1.11515712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:19.38, Z:11.16 [[ 9.02093645e-01 -4.20943471e-01 -9.50455125e-02 1.02629827e+02] [ 4.19232924e-01 9.07071309e-01 -3.82804896e-02 1.93784368e+01] [ 1.02326980e-01 -5.31362171e-03 9.94736626e-01 1.11557792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53710568099999 meters Centerline goodness [0,1] 0.9999374973957248 Centerline is valid? [True, True] Translation: X:102.65, Y:19.40, Z:11.16 [[ 9.03119320e-01 -4.19581992e-01 -9.12493675e-02 1.02653164e+02] [ 4.17997295e-01 9.07704007e-01 -3.67654300e-02 1.93953767e+01] [ 9.82535289e-02 -4.93841867e-03 9.95149163e-01 1.11643246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:19.42, Z:11.17 [[ 9.06270537e-01 -4.13405323e-01 -8.81462033e-02 1.02674010e+02] [ 4.11896730e-01 9.10537822e-01 -3.55240691e-02 1.94206353e+01] [ 9.49462912e-02 -4.11271567e-03 9.95473901e-01 1.11699620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:19.44, Z:11.17 [[ 9.08262814e-01 -4.08933299e-01 -8.84998145e-02 1.02696474e+02] [ 4.07390704e-01 9.12556964e-01 -3.56735482e-02 1.94434523e+01] [ 9.53492238e-02 -3.65304455e-03 9.95437181e-01 1.11712186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:19.47, Z:11.17 [[ 9.11631272e-01 -4.00760958e-01 -9.12089793e-02 1.02716644e+02] [ 3.99080698e-01 9.16178137e-01 -3.67725132e-02 1.94703241e+01] [ 9.83006604e-02 -2.87677008e-03 9.95152604e-01 1.11670315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:19.49, Z:11.17 [[ 9.12638397e-01 -3.98238253e-01 -9.21816125e-02 1.02740485e+02] [ 3.96507969e-01 9.17278264e-01 -3.71754845e-02 1.94899460e+01] [ 9.93608895e-02 -2.62296937e-03 9.95048006e-01 1.11675741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:19.52, Z:11.17 [[ 9.13628636e-01 -3.95925374e-01 -9.23353330e-02 1.02760705e+02] [ 3.94174233e-01 9.18279695e-01 -3.72702969e-02 1.95164380e+01] [ 9.95459177e-02 -2.34499860e-03 9.95030206e-01 1.11691055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71710568099999 meters Centerline goodness [0,1] 0.9999789562289563 Centerline is valid? [True, True] Translation: X:102.78, Y:19.54, Z:11.17 [[ 9.13436639e-01 -3.96127765e-01 -9.33611279e-02 1.02782364e+02] [ 3.94334995e-01 9.18192363e-01 -3.77186514e-02 1.95373838e+01] [ 1.00664880e-01 -2.36196175e-03 9.94917586e-01 1.11697794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74710568099998 meters Centerline goodness [0,1] 0.999873545776429 Centerline is valid? [True, True] Translation: X:102.81, Y:19.56, Z:11.18 [[ 9.12973321e-01 -3.97575167e-01 -9.17262343e-02 1.02805409e+02] [ 3.95850573e-01 9.17566302e-01 -3.70729732e-02 1.95567682e+01] [ 9.89041951e-02 -2.46324694e-03 9.95093911e-01 1.11756152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:19.57, Z:11.18 [[ 9.13031617e-01 -3.97805427e-01 -9.01338367e-02 1.02829685e+02] [ 3.96138241e-01 9.17466628e-01 -3.64620552e-02 1.95702497e+01] [ 9.71995906e-02 -2.41445032e-03 9.95261981e-01 1.11808596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:19.59, Z:11.19 [[ 9.14009167e-01 -3.96174169e-01 -8.73685859e-02 1.02852888e+02] [ 3.94599255e-01 9.18172840e-01 -3.53562456e-02 1.95894470e+01] [ 9.42266938e-02 -2.15964630e-03 9.95548425e-01 1.11866985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:19.60, Z:11.19 [[ 9.14945504e-01 -3.94175792e-01 -8.66035174e-02 1.02877328e+02] [ 3.92616407e-01 9.19033085e-01 -3.50791450e-02 1.96038352e+01] [ 9.34188475e-02 -1.90645576e-03 9.95625072e-01 1.11895588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:19.63, Z:11.19 [[ 9.17557315e-01 -3.88462095e-01 -8.47689466e-02 1.02899745e+02] [ 3.86942718e-01 9.21463809e-01 -3.43479578e-02 1.96260304e+01] [ 9.14543960e-02 -1.28450665e-03 9.95808437e-01 1.11933029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:19.64, Z:11.20 [[ 9.18970366e-01 -3.85107698e-01 -8.47674930e-02 1.02923123e+02] [ 3.83571359e-01 9.22871177e-01 -3.43773512e-02 1.96421620e+01] [ 9.14684587e-02 -9.22615498e-04 9.95807547e-01 1.11950128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:19.66, Z:11.19 [[ 9.21625529e-01 -3.78290251e-01 -8.66191056e-02 1.02946122e+02] [ 3.76654557e-01 9.25687004e-01 -3.51413693e-02 1.96615955e+01] [ 9.34758177e-02 -2.38297735e-04 9.95621522e-01 1.11933314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:19.68, Z:11.19 [[ 9.23777136e-01 -3.72397777e-01 -8.91947270e-02 1.02970856e+02] [ 3.70632170e-01 9.28073129e-01 -3.62223773e-02 1.96773952e+01] [ 9.62683621e-02 4.02968654e-04 9.95355334e-01 1.11924795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:19.69, Z:11.19 [[ 9.24348914e-01 -3.70484823e-01 -9.12144756e-02 1.02996205e+02] [ 3.68625229e-01 9.28838292e-01 -3.70791994e-02 1.96912396e+01] [ 9.84607784e-02 6.50160778e-04 9.95140720e-01 1.11930063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01710568099999 meters Centerline goodness [0,1] 0.9999789162977019 Centerline is valid? [True, True] Translation: X:103.02, Y:19.71, Z:11.20 [[ 9.26276596e-01 -3.65826400e-01 -9.04583432e-02 1.03018875e+02] [ 3.63972134e-01 9.30682375e-01 -3.68049342e-02 1.97088084e+01] [ 9.76522023e-02 1.16723301e-03 9.95219918e-01 1.11973356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:19.72, Z:11.20 [[ 9.27139821e-01 -3.64206077e-01 -8.81231302e-02 1.03043152e+02] [ 3.62437927e-01 9.31317455e-01 -3.58684753e-02 1.97212650e+01] [ 9.51341260e-02 1.31592719e-03 9.95463594e-01 1.12029576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:19.73, Z:11.21 [[ 9.28324806e-01 -3.61815419e-01 -8.54555841e-02 1.03068785e+02] [ 3.60139454e-01 9.32248469e-01 -3.48190359e-02 1.97317330e+01] [ 9.22639015e-02 1.54744731e-03 9.95733387e-01 1.12086615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.107105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.09, Y:19.74, Z:11.21 [[ 9.29513596e-01 -3.58865614e-01 -8.49702643e-02 1.03093972e+02] [ 3.57195283e-01 9.33387424e-01 -3.46330342e-02 1.97426652e+01] [ 9.17387812e-02 1.84089856e-03 9.95781405e-01 1.12106964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:19.75, Z:11.21 [[ 9.30174610e-01 -3.57321513e-01 -8.42409140e-02 1.03120768e+02] [ 3.55672397e-01 9.33979330e-01 -3.43476005e-02 1.97540878e+01] [ 9.09524090e-02 1.98709804e-03 9.95853258e-01 1.12129819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.15, Y:19.77, Z:11.22 [[ 9.31785078e-01 -3.53341155e-01 -8.32261790e-02 1.03146375e+02] [ 3.51712944e-01 9.35491518e-01 -3.39650395e-02 1.97651573e+01] [ 8.98586308e-02 2.37639256e-03 9.95951695e-01 1.12151276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:19.78, Z:11.22 [[ 9.33550425e-01 -3.48510988e-01 -8.38074922e-02 1.03172865e+02] [ 3.46839435e-01 9.37300294e-01 -3.42135304e-02 1.97771768e+01] [ 9.04765784e-02 2.87231259e-03 9.95894441e-01 1.12167531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:19.79, Z:11.22 [[ 9.34400391e-01 -3.46116767e-01 -8.42561097e-02 1.03198861e+02] [ 3.44416887e-01 9.38186230e-01 -3.44035691e-02 1.97883840e+01] [ 9.09555741e-02 3.12748143e-03 9.95850040e-01 1.12183696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:19.80, Z:11.22 [[ 9.35527765e-01 -3.42538740e-01 -8.63424149e-02 1.03225625e+02] [ 3.40737124e-01 9.39496910e-01 -3.52671122e-02 1.97977334e+01] [ 9.31987842e-02 3.57329647e-03 9.95641109e-01 1.12173144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:19.80, Z:11.22 [[ 9.35935424e-01 -3.40897149e-01 -8.83969239e-02 1.03254602e+02] [ 3.39000314e-01 9.40092773e-01 -3.61159984e-02 1.98017310e+01] [ 9.54131502e-02 3.83565730e-03 9.95430368e-01 1.12178223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:19.81, Z:11.22 [[ 9.36941026e-01 -3.37694303e-01 -9.00226167e-02 1.03281488e+02] [ 3.35710866e-01 9.41246240e-01 -3.67930794e-02 1.98118641e+01] [ 9.71582628e-02 4.25137497e-03 9.95259864e-01 1.12166925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:19.82, Z:11.22 [[ 9.37766291e-01 -3.35182720e-01 -9.08125977e-02 1.03309751e+02] [ 3.33151431e-01 9.42142099e-01 -3.71266626e-02 1.98196214e+01] [ 9.80025872e-02 4.56178571e-03 9.95175705e-01 1.12161099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:19.83, Z:11.22 [[ 9.37354940e-01 -3.36180369e-01 -9.13699943e-02 1.03336484e+02] [ 3.34127912e-01 9.41786905e-01 -3.73625988e-02 1.98276416e+01] [ 9.86116364e-02 4.49275112e-03 9.95115853e-01 1.12175212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:19.82, Z:11.23 [[ 9.35789126e-01 -3.41333253e-01 -8.82628038e-02 1.03369705e+02] [ 3.39440109e-01 9.39934562e-01 -3.61030747e-02 1.98229529e+01] [ 9.52844398e-02 3.82492895e-03 9.95442738e-01 1.12252299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:19.83, Z:11.23 [[ 9.34820084e-01 -3.44499968e-01 -8.62043072e-02 1.03398771e+02] [ 3.42707262e-01 9.38780084e-01 -3.52659555e-02 1.98270345e+01] [ 9.30760072e-02 3.42448147e-03 9.95653117e-01 1.12315711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:19.82, Z:11.24 [[ 9.32404421e-01 -3.51566969e-01 -8.38013285e-02 1.03430727e+02] [ 3.49900609e-01 9.36158979e-01 -3.42918247e-02 1.98237974e+01] [ 9.05072390e-02 2.65171310e-03 9.95892267e-01 1.12385092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:19.82, Z:11.24 [[ 9.29630690e-01 -3.58304129e-01 -8.60519055e-02 1.03465394e+02] [ 3.56575101e-01 9.33602660e-01 -3.52174739e-02 1.98187461e+01] [ 9.29568542e-02 2.05527762e-03 9.95668017e-01 1.12401899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:19.82, Z:11.24 [[ 9.28015896e-01 -3.62015394e-01 -8.79281043e-02 1.03493919e+02] [ 3.60226106e-01 9.32170520e-01 -3.59899201e-02 1.98240380e+01] [ 9.49928918e-02 1.72521932e-03 9.95476456e-01 1.12402256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55710568099998 meters Centerline goodness [0,1] 0.9999792694556159 Centerline is valid? [True, True] Translation: X:103.53, Y:19.82, Z:11.24 [[ 9.25227845e-01 -3.68700322e-01 -8.95182023e-02 1.03525452e+02] [ 3.66873187e-01 9.29547675e-01 -3.66767678e-02 1.98219854e+01] [ 9.67341729e-02 1.09253859e-03 9.95309653e-01 1.12405052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:19.82, Z:11.24 [[ 9.23668448e-01 -3.72140632e-01 -9.13671060e-02 1.03555736e+02] [ 3.70250260e-01 9.28176028e-01 -3.74700556e-02 1.98241620e+01] [ 9.87488877e-02 7.81213350e-04 9.95112078e-01 1.12418464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:19.83, Z:11.24 [[ 9.23368651e-01 -3.72871736e-01 -9.14166398e-02 1.03581319e+02] [ 3.70979392e-01 9.27882604e-01 -3.75255208e-02 1.98333407e+01] [ 9.88161158e-02 7.36200172e-04 9.95105438e-01 1.12435134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:19.84, Z:11.25 [[ 9.23229701e-01 -3.73029623e-01 -9.21727719e-02 1.03607791e+02] [ 3.71104439e-01 9.27819134e-01 -3.78569673e-02 1.98414938e+01] [ 9.96414316e-02 7.44951788e-04 9.95023130e-01 1.12452467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:19.85, Z:11.25 [[ 9.22855315e-01 -3.73742361e-01 -9.30307205e-02 1.03632696e+02] [ 3.71780553e-01 9.27532285e-01 -3.82502249e-02 1.98507254e+01] [ 1.00584726e-01 7.12410571e-04 9.94928241e-01 1.12472186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:19.86, Z:11.25 [[ 9.20781397e-01 -3.78817422e-01 -9.30536361e-02 1.03660134e+02] [ 3.76877459e-01 9.25471408e-01 -3.82890941e-02 1.98578480e+01] [ 1.00623056e-01 1.86067695e-04 9.94924603e-01 1.12511505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:19.86, Z:11.26 [[ 9.17651941e-01 -3.87111221e-01 -8.97764884e-02 1.03688393e+02] [ 3.85342168e-01 9.22032786e-01 -3.69723709e-02 1.98614180e+01] [ 9.70892853e-02 -6.66898753e-04 9.95275452e-01 1.12580091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:19.87, Z:11.26 [[ 9.15460704e-01 -3.92581140e-01 -8.83840896e-02 1.03716651e+02] [ 3.90890737e-01 9.19716572e-01 -3.64123328e-02 1.98674322e+01] [ 9.55831071e-02 -1.21446211e-03 9.95420712e-01 1.12634278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:19.87, Z:11.27 [[ 9.10839245e-01 -4.03539409e-01 -8.67629811e-02 1.03746873e+02] [ 4.01956968e-01 9.14959401e-01 -3.57755633e-02 1.98681775e+01] [ 9.38214549e-02 -2.28919772e-03 9.95586407e-01 1.12701202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:19.88, Z:11.27 [[ 9.06960277e-01 -4.12409572e-01 -8.56819754e-02 1.03775041e+02] [ 4.10905042e-01 9.10993068e-01 -3.53366103e-02 1.98752384e+01] [ 9.26288420e-02 -3.15825381e-03 9.95695698e-01 1.12734111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.857105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:19.89, Z:11.27 [[ 9.05461405e-01 -4.15451975e-01 -8.68291469e-02 1.03801953e+02] [ 4.13919932e-01 9.09608349e-01 -3.58181786e-02 1.98878411e+01] [ 9.38612500e-02 -3.50833620e-03 9.95579107e-01 1.12736362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:19.90, Z:11.27 [[ 9.03692949e-01 -4.18215094e-01 -9.18432903e-02 1.03827792e+02] [ 4.16512352e-01 9.08339246e-01 -3.79113990e-02 1.99015306e+01] [ 9.92799843e-02 -3.99360094e-03 9.95051524e-01 1.12665100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:19.91, Z:11.27 [[ 9.03080672e-01 -4.18963869e-01 -9.44170340e-02 1.03853597e+02] [ 4.17166936e-01 9.07993285e-01 -3.89864312e-02 1.99139125e+01] [ 1.02063939e-01 -4.17977222e-03 9.94769060e-01 1.12652155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:19.93, Z:11.27 [[ 9.02862695e-01 -4.18924116e-01 -9.66516401e-02 1.03877548e+02] [ 4.17038456e-01 9.08011275e-01 -3.99305782e-02 1.99318631e+01] [ 1.04488661e-01 -4.25562136e-03 9.94516973e-01 1.12660010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:19.96, Z:11.27 [[ 9.04853191e-01 -4.14466060e-01 -9.72552769e-02 1.03898107e+02] [ 4.12527737e-01 9.10057104e-01 -4.02111158e-02 1.99573636e+01] [ 1.05173998e-01 -3.73534281e-03 9.94446820e-01 1.12686880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:19.98, Z:11.27 [[ 9.06229601e-01 -4.11428800e-01 -9.73357717e-02 1.03920285e+02] [ 4.09468553e-01 9.11435655e-01 -4.02560577e-02 1.99799459e+01] [ 1.05277794e-01 -3.37470647e-03 9.94437126e-01 1.12723407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03710568099999 meters Centerline goodness [0,1] 0.9999789509135304 Centerline is valid? [True, True] Translation: X:103.94, Y:20.00, Z:11.27 [[ 9.10003993e-01 -4.03551324e-01 -9.50739829e-02 1.03941302e+02] [ 4.01635282e-01 9.14953923e-01 -3.93499583e-02 2.00028771e+01] [ 1.02868041e-01 -2.37644678e-03 9.94692173e-01 1.12744408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:20.02, Z:11.28 [[ 9.11489243e-01 -4.00520659e-01 -9.36512781e-02 1.03965503e+02] [ 3.98644511e-01 9.16285562e-01 -3.87727099e-02 2.00198975e+01] [ 1.01340585e-01 -1.99265993e-03 9.94849795e-01 1.12793957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:20.04, Z:11.29 [[ 9.14068019e-01 -3.95047932e-01 -9.17430509e-02 1.03986561e+02] [ 3.93217167e-01 9.18659547e-01 -3.80117913e-02 2.00447308e+01] [ 9.92971091e-02 -1.32957975e-03 9.95056941e-01 1.12854963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:20.07, Z:11.29 [[ 9.16513987e-01 -3.89481176e-01 -9.11401401e-02 1.04006633e+02] [ 3.87643850e-01 9.21034166e-01 -3.77929985e-02 2.00701527e+01] [ 9.86628445e-02 -6.92103094e-04 9.95120678e-01 1.12880955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:20.09, Z:11.29 [[ 9.18050572e-01 -3.85798315e-01 -9.13389677e-02 1.04030364e+02] [ 3.83931433e-01 9.22583107e-01 -3.79086444e-02 2.00886092e+01] [ 9.88928797e-02 -2.65848088e-04 9.95098049e-01 1.12906157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18710568099999 meters Centerline goodness [0,1] 0.9999368939186773 Centerline is valid? [True, True] Translation: X:104.05, Y:20.11, Z:11.29 [[ 9.21657700e-01 -3.76764453e-01 -9.27126208e-02 1.04050584e+02] [ 3.74791912e-01 9.26308799e-01 -3.85101427e-02 2.01128803e+01] [ 1.00389769e-01 7.45229073e-04 9.94947908e-01 1.12898648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:20.13, Z:11.29 [[ 9.23081743e-01 -3.73308315e-01 -9.25256632e-02 1.04074623e+02] [ 3.71325151e-01 9.27706648e-01 -3.84448694e-02 2.01284494e+01] [ 1.00188462e-01 1.13065119e-03 9.94967835e-01 1.12921033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:20.14, Z:11.29 [[ 9.22953715e-01 -3.73626466e-01 -9.25186710e-02 1.04099791e+02] [ 3.71643212e-01 9.27578580e-01 -3.84616891e-02 2.01392007e+01] [ 1.00188642e-01 1.11442278e-03 9.94967836e-01 1.12945501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:20.16, Z:11.30 [[ 9.25149037e-01 -3.68286909e-01 -9.20000665e-02 1.04122825e+02] [ 3.66295842e-01 9.29710601e-01 -3.82825605e-02 2.01570816e+01] [ 9.96324031e-02 1.71783220e-03 9.95022831e-01 1.12995705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:20.17, Z:11.30 [[ 9.25931971e-01 -3.66613106e-01 -9.08009653e-02 1.04147714e+02] [ 3.64662596e-01 9.30371545e-01 -3.78150830e-02 2.01716231e+01] [ 9.83421394e-02 1.90247865e-03 9.95150845e-01 1.13043048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:20.19, Z:11.31 [[ 9.27167017e-01 -3.63903312e-01 -8.90825609e-02 1.04170918e+02] [ 3.62010811e-01 9.31434188e-01 -3.71285020e-02 2.01874096e+01] [ 9.64857277e-02 2.17547231e-03 9.95331991e-01 1.13089782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.20, Y:20.20, Z:11.31 [[ 9.28341529e-01 -3.60730865e-01 -8.97510381e-02 1.04196719e+02] [ 3.58793726e-01 9.32666505e-01 -3.74199504e-02 2.02009001e+01] [ 9.72063181e-02 2.53638459e-03 9.95261020e-01 1.13097831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:20.21, Z:11.31 [[ 9.29196293e-01 -3.58385732e-01 -9.02990361e-02 1.04225252e+02] [ 3.56410845e-01 9.33569321e-01 -3.76780183e-02 2.02055869e+01] [ 9.78036740e-02 2.82671917e-03 9.95201714e-01 1.13136323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:20.23, Z:11.31 [[ 9.30540056e-01 -3.54562131e-01 -9.15472590e-02 1.04248201e+02] [ 3.52512352e-01 9.35026683e-01 -3.82118358e-02 2.02255138e+01] [ 9.91475998e-02 3.28610422e-03 9.95067312e-01 1.13121644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:20.23, Z:11.32 [[ 9.30467458e-01 -3.54702385e-01 -9.17416297e-02 1.04278065e+02] [ 3.52643408e-01 9.34973476e-01 -3.83043823e-02 2.02263571e+01] [ 9.93626462e-02 3.28890028e-03 9.95045852e-01 1.13152417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:20.23, Z:11.32 [[ 9.30014080e-01 -3.55722401e-01 -9.23871436e-02 1.04305209e+02] [ 3.53635182e-01 9.34586043e-01 -3.86145981e-02 2.02347358e+01] [ 1.00079812e-01 3.24077555e-03 9.94974135e-01 1.13171049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:20.24, Z:11.32 [[ 9.27904749e-01 -3.61128443e-01 -9.26230239e-02 1.04336762e+02] [ 3.59053710e-01 9.32512180e-01 -3.87487703e-02 2.02351337e+01] [ 1.00365381e-01 2.69852758e-03 9.94946988e-01 1.13199547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.37, Y:20.24, Z:11.32 [[ 9.26403476e-01 -3.64876710e-01 -9.29601346e-02 1.04365808e+02] [ 3.62802090e-01 9.31052921e-01 -3.89243127e-02 2.02397049e+01] [ 1.00753380e-01 2.33348756e-03 9.94908695e-01 1.13231380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:20.23, Z:11.33 [[ 9.22701128e-01 -3.74363938e-01 -9.20558012e-02 1.04399696e+02] [ 3.72373201e-01 9.27280921e-01 -3.85783913e-02 2.02349087e+01] [ 9.98039466e-02 1.31721180e-03 9.95006250e-01 1.13270212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.607105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:20.23, Z:11.33 [[ 9.17721746e-01 -3.86419314e-01 -9.20158195e-02 1.04434093e+02] [ 3.84489575e-01 9.22323215e-01 -3.85701090e-02 2.02275463e+01] [ 9.97725616e-02 1.75044273e-05 9.95010269e-01 1.13290795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:20.23, Z:11.33 [[ 9.14919303e-01 -3.92982701e-01 -9.21263560e-02 1.04464086e+02] [ 3.91077751e-01 9.19545624e-01 -3.86527811e-02 2.02305470e+01] [ 9.99042618e-02 -6.64392515e-04 9.94996833e-01 1.13312253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66710568099998 meters Centerline goodness [0,1] 0.9999790602227993 Centerline is valid? [True, True] Translation: X:104.50, Y:20.23, Z:11.33 [[ 9.09841787e-01 -4.04449926e-01 -9.27802807e-02 1.04497013e+02] [ 4.02573526e-01 9.14558164e-01 -3.89605008e-02 2.02276042e+01] [ 1.00610535e-01 -1.90299310e-03 9.94924067e-01 1.13327615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:20.23, Z:11.33 [[ 9.07865363e-01 -4.08670077e-01 -9.36442755e-02 1.04525922e+02] [ 4.06779657e-01 9.12679075e-01 -3.93346656e-02 2.02332684e+01] [ 1.01542072e-01 -2.38200585e-03 9.94828394e-01 1.13349401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72710568099998 meters Centerline goodness [0,1] 0.9999579628812241 Centerline is valid? [True, True] Translation: X:104.55, Y:20.24, Z:11.34 [[ 9.06453391e-01 -4.11903389e-01 -9.31549624e-02 1.04553598e+02] [ 4.10046352e-01 9.11223525e-01 -3.91621866e-02 2.02398841e+01] [ 1.01016031e-01 -2.69915569e-03 9.94881137e-01 1.13399569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.58, Y:20.25, Z:11.34 [[ 9.06762754e-01 -4.11507222e-01 -9.18864257e-02 1.04578666e+02] [ 4.09697250e-01 9.11402770e-01 -3.86413451e-02 2.02508742e+01] [ 9.96467355e-02 -2.60708348e-03 9.95019463e-01 1.13444515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:20.27, Z:11.35 [[ 9.07238545e-01 -4.10660861e-01 -9.09718612e-02 1.04604040e+02] [ 4.08881142e-01 9.11784804e-01 -3.82711710e-02 2.02650939e+01] [ 9.86632327e-02 -2.47559700e-03 9.95117801e-01 1.13491758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:20.27, Z:11.35 [[ 9.05769975e-01 -4.14307718e-01 -8.90498018e-02 1.04630752e+02] [ 4.12617015e-01 9.10132614e-01 -3.74943329e-02 2.02727936e+01] [ 9.65813204e-02 -2.78222239e-03 9.95321208e-01 1.13544114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:20.28, Z:11.36 [[ 9.04285709e-01 -4.17984509e-01 -8.69270199e-02 1.04656783e+02] [ 4.16389362e-01 9.08448908e-01 -3.66125733e-02 2.02802821e+01] [ 9.42722448e-02 -3.08725957e-03 9.95541668e-01 1.13594236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:20.29, Z:11.36 [[ 9.00395240e-01 -4.26379214e-01 -8.65400312e-02 1.04685080e+02] [ 4.24834773e-01 9.04535980e-01 -3.64702050e-02 2.02879822e+01] [ 9.38287093e-02 -3.92761554e-03 9.95580608e-01 1.13627234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90710568099999 meters Centerline goodness [0,1] 0.9999790233260614 Centerline is valid? [True, True] Translation: X:104.71, Y:20.30, Z:11.36 [[ 8.97885130e-01 -4.31543935e-01 -8.70179616e-02 1.04710385e+02] [ 4.30003911e-01 9.02080859e-01 -3.66982383e-02 2.03044539e+01] [ 9.43341397e-02 -4.46726132e-03 9.95530569e-01 1.13644551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:20.32, Z:11.37 [[ 8.97532211e-01 -4.32409466e-01 -8.63596207e-02 1.04735731e+02] [ 4.30895808e-01 9.01666051e-01 -3.64298614e-02 2.03184411e+01] [ 9.36201551e-02 -4.51502443e-03 9.95597751e-01 1.13669501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:20.33, Z:11.37 [[ 8.98214528e-01 -4.30905009e-01 -8.67844208e-02 1.04760446e+02] [ 4.29366288e-01 9.02386808e-01 -3.66420364e-02 2.03317570e+01] [ 9.41023535e-02 -4.34989517e-03 9.95553025e-01 1.13671208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:20.35, Z:11.37 [[ 8.98213317e-01 -4.30851044e-01 -8.70644255e-02 1.04783313e+02] [ 4.29300842e-01 9.02412593e-01 -3.67736200e-02 2.03525027e+01] [ 9.44119865e-02 -4.34627598e-03 9.95523725e-01 1.13698255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.81, Y:20.37, Z:11.37 [[ 8.98422460e-01 -4.30228155e-01 -8.79819161e-02 1.04806254e+02] [ 4.28638907e-01 9.02709962e-01 -3.71942373e-02 2.03700219e+01] [ 9.54241603e-02 -4.29633416e-03 9.95427431e-01 1.13708511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.83, Y:20.39, Z:11.37 [[ 8.99097534e-01 -4.28215523e-01 -9.08575320e-02 1.04828042e+02] [ 4.26508771e-01 9.03666860e-01 -3.84249189e-02 2.03919798e+01] [ 9.85590874e-02 -4.20378450e-03 9.95122321e-01 1.13704127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:20.41, Z:11.37 [[ 8.99490398e-01 -4.27365698e-01 -9.09702357e-02 1.04852095e+02] [ 4.25646944e-01 9.04069620e-01 -3.85071563e-02 2.04089539e+01] [ 9.87000642e-02 -4.08438549e-03 9.95108846e-01 1.13725760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:20.43, Z:11.38 [[ 9.00693942e-01 -4.25393006e-01 -8.82678544e-02 1.04874358e+02] [ 4.23762566e-01 9.05001064e-01 -3.73946641e-02 2.04294003e+01] [ 9.57899307e-02 -3.72346511e-03 9.95394608e-01 1.13804412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:20.45, Z:11.39 [[ 9.03041531e-01 -4.20686085e-01 -8.68286318e-02 1.04896059e+02] [ 4.19085837e-01 9.07200762e-01 -3.67945555e-02 2.04545970e+01] [ 9.42499584e-02 -3.16163807e-03 9.95543545e-01 1.13872033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:20.47, Z:11.39 [[ 9.04838958e-01 -4.16902681e-01 -8.63632669e-02 1.04920339e+02] [ 4.15300910e-01 9.08947005e-01 -3.66127980e-02 2.04680487e+01] [ 9.37636064e-02 -2.73805729e-03 9.95590724e-01 1.13907549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:20.50, Z:11.40 [[ 9.09023392e-01 -4.07723237e-01 -8.62451982e-02 1.04937870e+02] [ 4.06083359e-01 9.13103833e-01 -3.65745350e-02 2.05020135e+01] [ 9.36631089e-02 -1.77563183e-03 9.95602365e-01 1.13955193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:20.53, Z:11.40 [[ 9.12917992e-01 -3.98953512e-01 -8.61210491e-02 1.04958270e+02] [ 3.97278076e-01 9.16970749e-01 -3.65345865e-02 2.05279234e+01] [ 9.35460845e-02 -8.60923366e-04 9.95614578e-01 1.13985507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:20.54, Z:11.40 [[ 9.14385063e-01 -3.95623245e-01 -8.59197624e-02 1.04982370e+02] [ 3.93939982e-01 9.18412755e-01 -3.64595876e-02 2.05443352e+01] [ 9.33340660e-02 -5.09127417e-04 9.95634719e-01 1.14011962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.00, Y:20.56, Z:11.40 [[ 9.17285217e-01 -3.88939960e-01 -8.55192333e-02 1.05004216e+02] [ 3.87240227e-01 9.21263082e-01 -3.63227195e-02 2.05642563e+01] [ 9.29130695e-02 2.01806340e-04 9.95674204e-01 1.14037751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.03, Y:20.58, Z:11.41 [[ 9.18576978e-01 -3.85842716e-01 -8.56839225e-02 1.05027080e+02] [ 3.84119521e-01 9.22564413e-01 -3.64293557e-02 2.05801707e+01] [ 9.31049392e-02 5.50300233e-04 9.95656149e-01 1.14057765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.357105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:20.60, Z:11.41 [[ 9.21014235e-01 -3.79448797e-01 -8.80419787e-02 1.05049648e+02] [ 3.77598452e-01 9.25211900e-01 -3.74479657e-02 2.06018575e+01] [ 9.56670718e-02 1.24559461e-03 9.95412608e-01 1.14059118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:20.62, Z:11.40 [[ 9.22238672e-01 -3.75870018e-01 -9.05403873e-02 1.05074403e+02] [ 3.73892370e-01 9.26670847e-01 -3.85439641e-02 2.06156043e+01] [ 9.83886578e-02 1.69437423e-03 9.95146623e-01 1.14031519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:20.63, Z:11.40 [[ 9.22391250e-01 -3.75353513e-01 -9.11269573e-02 1.05101035e+02] [ 3.73346115e-01 9.26880031e-01 -3.88083378e-02 2.06255415e+01] [ 9.90306029e-02 1.77457576e-03 9.95082806e-01 1.14043939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:20.63, Z:11.41 [[ 9.22247641e-01 -3.75441608e-01 -9.22111075e-02 1.05128376e+02] [ 3.73382864e-01 9.26844263e-01 -3.93058346e-02 2.06337017e+01] [ 1.00222382e-01 1.81966582e-03 9.94963398e-01 1.14056985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47710568099998 meters Centerline goodness [0,1] 0.999937014486668 Centerline is valid? [True, True] Translation: X:105.15, Y:20.64, Z:11.41 [[ 9.21760764e-01 -3.76416041e-01 -9.31024089e-02 1.05154989e+02] [ 3.74318244e-01 9.26449051e-01 -3.97241443e-02 2.06429287e+01] [ 1.01207444e-01 1.76622736e-03 9.94863777e-01 1.14071209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.18, Y:20.65, Z:11.41 [[ 9.20224445e-01 -3.80310929e-01 -9.24692827e-02 1.05184403e+02] [ 3.78257022e-01 9.24857679e-01 -3.94955480e-02 2.06455598e+01] [ 1.00541515e-01 1.36761328e-03 9.94931924e-01 1.14118285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:20.65, Z:11.42 [[ 9.18079353e-01 -3.85803299e-01 -9.10281074e-02 1.05214590e+02] [ 3.83836348e-01 9.22580725e-01 -3.89161167e-02 2.06465958e+01] [ 9.89947434e-02 7.88186872e-04 9.95087644e-01 1.14175764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56710568099999 meters Centerline goodness [0,1] 0.9999789686211829 Centerline is valid? [True, True] Translation: X:105.24, Y:20.65, Z:11.42 [[ 9.16852701e-01 -3.88725569e-01 -9.09590934e-02 1.05243371e+02] [ 3.86772435e-01 9.21353448e-01 -3.89218034e-02 2.06496360e+01] [ 9.89353746e-02 5.05090575e-04 9.95093733e-01 1.14197704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59710568099999 meters Centerline goodness [0,1] 0.9999162303664921 Centerline is valid? [True, True] Translation: X:105.27, Y:20.66, Z:11.42 [[ 9.16770279e-01 -3.88910794e-01 -9.09980796e-02 1.05269261e+02] [ 3.86955524e-01 9.21275283e-01 -3.89522296e-02 2.06570886e+01] [ 9.89832240e-02 4.98036810e-04 9.95088978e-01 1.14218299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62710568099999 meters Centerline goodness [0,1] 0.999874205924901 Centerline is valid? [True, True] Translation: X:105.30, Y:20.66, Z:11.42 [[ 9.17144178e-01 -3.87850097e-01 -9.17543366e-02 1.05297244e+02] [ 3.85854788e-01 9.21722245e-01 -3.92961196e-02 2.06638047e+01] [ 9.98130170e-02 6.36357208e-04 9.95006008e-01 1.14230688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65710568099999 meters Centerline goodness [0,1] 0.9999790685504971 Centerline is valid? [True, True] Translation: X:105.32, Y:20.67, Z:11.42 [[ 9.16810717e-01 -3.88307494e-01 -9.31418289e-02 1.05324513e+02] [ 3.86249818e-01 9.21529649e-01 -3.99272378e-02 2.06727865e+01] [ 1.01337003e-01 6.29704999e-04 9.94851957e-01 1.14238189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68710568099999 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:105.35, Y:20.68, Z:11.42 [[ 9.16059577e-01 -3.89481371e-01 -9.55987103e-02 1.05353073e+02] [ 3.87316017e-01 9.21034181e-01 -4.10163414e-02 2.06784240e+01] [ 1.04024781e-01 5.46500684e-04 9.94574555e-01 1.14231296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71710568099999 meters Centerline goodness [0,1] 0.9998529010023746 Centerline is valid? [True, True] Translation: X:105.38, Y:20.69, Z:11.43 [[ 9.15928681e-01 -3.89736621e-01 -9.58124032e-02 1.05379108e+02] [ 3.87561019e-01 9.20926207e-01 -4.11263645e-02 2.06872227e+01] [ 1.04264603e-01 5.35664161e-04 9.94549449e-01 1.14257476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74710568099998 meters Centerline goodness [0,1] 0.9999789933619023 Centerline is valid? [True, True] Translation: X:105.41, Y:20.70, Z:11.43 [[ 9.16106254e-01 -3.89575031e-01 -9.47661672e-02 1.05405149e+02] [ 3.87441432e-01 9.20994544e-01 -4.07208471e-02 2.06956522e+01] [ 1.03142948e-01 5.88283160e-04 9.94666369e-01 1.14321220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:20.70, Z:11.44 [[ 9.15967706e-01 -3.90459765e-01 -9.24355593e-02 1.05432360e+02] [ 3.88430334e-01 9.20619849e-01 -3.97614059e-02 2.07028350e+01] [ 1.00623240e-01 5.15388583e-04 9.94924468e-01 1.14387202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.46, Y:20.71, Z:11.44 [[ 9.15688466e-01 -3.91310336e-01 -9.16016106e-02 1.05458553e+02] [ 3.89317928e-01 9.20258668e-01 -3.94402693e-02 2.07112195e+01] [ 9.97305612e-02 4.52850450e-04 9.95014377e-01 1.14428502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.49, Y:20.72, Z:11.45 [[ 9.14270993e-01 -3.95368395e-01 -8.82744820e-02 1.05487136e+02] [ 3.93533585e-01 9.18522635e-01 -3.80458533e-02 2.07163037e+01] [ 9.61242377e-02 4.52466383e-05 9.95369343e-01 1.14499081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86710568099998 meters Centerline goodness [0,1] 0.9999580800670719 Centerline is valid? [True, True] Translation: X:105.52, Y:20.72, Z:11.46 [[ 9.11599755e-01 -4.02443337e-01 -8.38167507e-02 1.05515663e+02] [ 4.00816401e-01 9.15444677e-01 -3.61559868e-02 2.07189447e+01] [ 9.12803343e-02 -6.35339690e-04 9.95825033e-01 1.14567484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:20.72, Z:11.46 [[ 9.09910553e-01 -4.06522140e-01 -8.24774878e-02 1.05543673e+02] [ 4.04960347e-01 9.13640389e-01 -3.56140001e-02 2.07249578e+01] [ 8.98326436e-02 -9.94557495e-04 9.95956378e-01 1.14610234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:20.73, Z:11.46 [[ 9.06387359e-01 -4.14345619e-01 -8.23387155e-02 1.05574288e+02] [ 4.12819666e-01 9.10117929e-01 -3.55707510e-02 2.07275431e+01] [ 8.96765261e-02 -1.75016205e-03 9.95969406e-01 1.14640944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95710568099999 meters Centerline goodness [0,1] 0.9998953624644232 Centerline is valid? [True, True] Translation: X:105.60, Y:20.74, Z:11.46 [[ 9.03467067e-01 -4.20119713e-01 -8.51274708e-02 1.05603616e+02] [ 4.18513043e-01 9.07465537e-01 -3.67849517e-02 2.07353984e+01] [ 9.27043293e-02 -2.39296438e-03 9.95690806e-01 1.14617147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.63, Y:20.74, Z:11.46 [[ 9.02730825e-01 -4.21307162e-01 -8.70478728e-02 1.05629958e+02] [ 4.19632035e-01 9.06914375e-01 -3.76200855e-02 2.07442984e+01] [ 9.47945787e-02 -2.56726524e-03 9.95493544e-01 1.14599660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01710568099999 meters Centerline goodness [0,1] 0.9999791257880015 Centerline is valid? [True, True] Translation: X:105.65, Y:20.76, Z:11.46 [[ 9.02844452e-01 -4.20410335e-01 -9.01501272e-02 1.05654706e+02] [ 4.18607475e-01 9.07330511e-01 -3.89759612e-02 2.07575565e+01] [ 9.81818579e-02 -2.54828681e-03 9.95165227e-01 1.14577892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04710568099999 meters Centerline goodness [0,1] 0.9999370224200185 Centerline is valid? [True, True] Translation: X:105.68, Y:20.77, Z:11.46 [[ 9.03643132e-01 -4.18591022e-01 -9.06126145e-02 1.05679244e+02] [ 4.16756741e-01 9.08171864e-01 -3.92133207e-02 2.07699505e+01] [ 9.87061710e-02 -2.32856999e-03 9.95113898e-01 1.14601386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.70, Y:20.79, Z:11.46 [[ 9.06013736e-01 -4.13272896e-01 -9.13489085e-02 1.05701761e+02] [ 4.11380123e-01 9.10605542e-01 -3.95466971e-02 2.07905519e+01] [ 9.95264004e-02 -1.74927439e-03 9.95033384e-01 1.14648964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.107105681 meters Centerline goodness [0,1] 0.999979029044773 Centerline is valid? [True, True] Translation: X:105.72, Y:20.81, Z:11.47 [[ 9.09753195e-01 -4.05044056e-01 -9.10408527e-02 1.05722505e+02] [ 4.03119716e-01 9.14296805e-01 -3.94442300e-02 2.08119023e+01] [ 9.92150116e-02 -8.15848478e-04 9.95065684e-01 1.14663713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13710568099998 meters Centerline goodness [0,1] 0.999979029044773 Centerline is valid? [True, True] Translation: X:105.75, Y:20.82, Z:11.47 [[ 9.09605262e-01 -4.05377421e-01 -9.10352328e-02 1.05747523e+02] [ 4.03453449e-01 9.14149027e-01 -3.94571959e-02 2.08230141e+01] [ 9.92148258e-02 -8.38005564e-04 9.95065684e-01 1.14688183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16710568099998 meters Centerline goodness [0,1] 0.999895143024914 Centerline is valid? [True, True] Translation: X:105.77, Y:20.84, Z:11.47 [[ 9.11268633e-01 -4.01602478e-01 -9.11313810e-02 1.05772026e+02] [ 3.99651675e-01 9.15814008e-01 -3.95378513e-02 2.08398760e+01] [ 9.93378943e-02 -3.91205360e-04 9.95053682e-01 1.14712990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19710568099998 meters Centerline goodness [0,1] 0.9999580616074986 Centerline is valid? [True, True] Translation: X:105.79, Y:20.86, Z:11.47 [[ 9.14536838e-01 -3.93962287e-01 -9.17392382e-02 1.05794064e+02] [ 3.91943500e-01 9.19126483e-01 -3.98346604e-02 2.08614301e+01] [ 1.00013317e-01 4.73666261e-04 9.94985986e-01 1.14715141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.82, Y:20.88, Z:11.47 [[ 9.17545285e-01 -3.86918404e-01 -9.16776870e-02 1.05817655e+02] [ 3.84863645e-01 9.22113076e-01 -3.98428141e-02 2.08802034e+01] [ 9.99531120e-02 1.27417744e-03 9.94991333e-01 1.14722897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25710568099998 meters Centerline goodness [0,1] 0.9998530739038264 Centerline is valid? [True, True] Translation: X:105.84, Y:20.89, Z:11.47 [[ 9.18536895e-01 -3.84424233e-01 -9.22387227e-02 1.05843169e+02] [ 3.82328051e-01 9.23155181e-01 -4.01219853e-02 2.08945522e+01] [ 1.00574518e-01 1.58807273e-03 9.94928261e-01 1.14742701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28710568099999 meters Centerline goodness [0,1] 0.9998113326205899 Centerline is valid? [True, True] Translation: X:105.87, Y:20.91, Z:11.48 [[ 9.20122520e-01 -3.80414483e-01 -9.30557375e-02 1.05867215e+02] [ 3.78256676e-01 9.24813765e-01 -4.05140408e-02 2.09109843e+01] [ 1.01471355e-01 2.07892732e-03 9.94836289e-01 1.14768557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:20.92, Z:11.48 [[ 9.21439683e-01 -3.77568467e-01 -9.16021980e-02 1.05891681e+02] [ 3.75460381e-01 9.25978597e-01 -3.99141597e-02 2.09231786e+01] [ 9.98920029e-02 2.38549448e-03 9.94995426e-01 1.14826725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:20.93, Z:11.49 [[ 9.22113137e-01 -3.76211331e-01 -9.04013076e-02 1.05916312e+02] [ 3.74150577e-01 9.26530481e-01 -3.94032203e-02 2.09347900e+01] [ 9.85835050e-02 2.51052567e-03 9.95125615e-01 1.14873061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:20.95, Z:11.50 [[ 9.23528966e-01 -3.73852945e-01 -8.56050464e-02 1.05941893e+02] [ 3.71994327e-01 9.27484275e-01 -3.73247972e-02 2.09455514e+01] [ 9.33513197e-02 2.62593975e-03 9.95629768e-01 1.14971619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:20.95, Z:11.50 [[ 9.24399363e-01 -3.72170108e-01 -8.35178300e-02 1.05969605e+02] [ 3.70391484e-01 9.28160445e-01 -3.64463572e-02 2.09536913e+01] [ 9.10821910e-02 2.75669639e-03 9.95839563e-01 1.15029396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:20.96, Z:11.51 [[ 9.24697013e-01 -3.71457115e-01 -8.33969222e-02 1.05997611e+02] [ 3.69677804e-01 9.28445729e-01 -3.64259391e-02 2.09619799e+01] [ 9.09601905e-02 2.85296606e-03 9.95850443e-01 1.15063398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:20.97, Z:11.51 [[ 9.25927808e-01 -3.68152278e-01 -8.43895443e-02 1.06024823e+02] [ 3.66313495e-01 9.29759839e-01 -3.68926198e-02 2.09717520e+01] [ 9.20441112e-02 3.24687369e-03 9.95749637e-01 1.15080243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:20.98, Z:11.51 [[ 9.26426660e-01 -3.66805192e-01 -8.47796911e-02 1.06052526e+02] [ 3.64942945e-01 9.30291548e-01 -3.70713332e-02 2.09802490e+01] [ 9.24677875e-02 3.40412125e-03 9.95709857e-01 1.15094966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:20.99, Z:11.51 [[ 9.27601915e-01 -3.63311705e-01 -8.69441922e-02 1.06082128e+02] [ 3.61334427e-01 9.31659567e-01 -3.80510623e-02 2.09858031e+01] [ 9.48267848e-02 3.88030836e-03 9.95486225e-01 1.15078240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.11, Y:20.99, Z:11.50 [[ 9.27364328e-01 -3.62478006e-01 -9.27636710e-02 1.06109730e+02] [ 3.60221275e-01 9.31982672e-01 -4.06070516e-02 2.09946312e+01] [ 1.01173297e-01 4.24208319e-03 9.94859773e-01 1.15009402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.14, Y:21.00, Z:11.50 [[ 9.26722163e-01 -3.63526595e-01 -9.50497116e-02 1.06137593e+02] [ 3.61160546e-01 9.31574139e-01 -4.16255114e-02 2.10022556e+01] [ 1.03677834e-01 4.24707821e-03 9.94601865e-01 1.14996865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:21.00, Z:11.50 [[ 9.26036798e-01 -3.65198096e-01 -9.53215623e-02 1.06167698e+02] [ 3.62822960e-01 9.30920758e-01 -4.17856783e-02 2.10038740e+01] [ 1.03996871e-01 4.11022437e-03 9.94569131e-01 1.15033738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:21.01, Z:11.51 [[ 9.25045760e-01 -3.67812436e-01 -9.48912736e-02 1.06197977e+02] [ 3.65468992e-01 9.29892114e-01 -4.16301911e-02 2.10054145e+01] [ 1.03550749e-01 3.83001368e-03 9.94616797e-01 1.15080786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:21.00, Z:11.51 [[ 9.22713509e-01 -3.74016685e-01 -9.33343410e-02 1.06230754e+02] [ 3.71780292e-01 9.27416822e-01 -4.09567113e-02 2.10022980e+01] [ 1.01878331e-01 3.09144225e-03 9.94792063e-01 1.15143857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:21.00, Z:11.52 [[ 9.21519337e-01 -3.77389385e-01 -9.15388686e-02 1.06260276e+02] [ 3.75254451e-01 9.26050818e-01 -4.01743640e-02 2.10049479e+01] [ 9.99310227e-02 2.67108539e-03 9.94990782e-01 1.15203657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.29, Y:21.01, Z:11.52 [[ 9.18903817e-01 -3.83893051e-01 -9.07849092e-02 1.06291509e+02] [ 3.81823841e-01 9.23375490e-01 -3.98529803e-02 2.10062926e+01] [ 9.91278422e-02 1.95721302e-03 9.95072781e-01 1.15239746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.32, Y:21.01, Z:11.53 [[ 9.17534275e-01 -3.86963107e-01 -9.15991712e-02 1.06320474e+02] [ 3.84870894e-01 9.22093725e-01 -4.02188771e-02 2.10120575e+01] [ 1.00026243e-01 1.64834328e-03 9.94983434e-01 1.15254577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79710568099999 meters Centerline goodness [0,1] 0.9999368979008035 Centerline is valid? [True, True] Translation: X:106.35, Y:21.01, Z:11.53 [[ 9.16064306e-01 -3.90690563e-01 -9.04824321e-02 1.06352239e+02] [ 3.88663859e-01 9.20521211e-01 -3.97631047e-02 2.10122359e+01] [ 9.88260677e-02 1.25830973e-03 9.95103927e-01 1.15288419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:21.02, Z:11.54 [[ 9.15506223e-01 -3.92082806e-01 -9.01078667e-02 1.06381487e+02] [ 3.90076396e-01 9.19929230e-01 -3.96310084e-02 2.10151806e+01] [ 9.84314974e-02 1.13348293e-03 9.95143183e-01 1.15355860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:21.03, Z:11.54 [[ 9.15218417e-01 -3.92718287e-01 -9.02640397e-02 1.06407634e+02] [ 3.90704477e-01 9.19658164e-01 -3.97350454e-02 2.10253409e+01] [ 9.86167400e-02 1.09968094e-03 9.95124881e-01 1.15385233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:21.03, Z:11.54 [[ 9.14239976e-01 -3.94955073e-01 -9.04198879e-02 1.06435515e+02] [ 3.92941305e-01 9.18699998e-01 -3.98427407e-02 2.10326611e+01] [ 9.88048435e-02 8.96117523e-04 9.95106426e-01 1.15410322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:21.04, Z:11.55 [[ 9.13648697e-01 -3.96402867e-01 -9.00601250e-02 1.06464309e+02] [ 3.94408750e-01 9.18076346e-01 -3.97185220e-02 2.10388640e+01] [ 9.84266065e-02 7.68274589e-04 9.95144016e-01 1.15450758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:21.05, Z:11.55 [[ 9.13456483e-01 -3.96899002e-01 -8.98244679e-02 1.06490165e+02] [ 3.94914554e-01 9.17861989e-01 -3.96467442e-02 2.10484006e+01] [ 9.81822180e-02 7.42585860e-04 9.95168177e-01 1.15485426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.52, Y:21.06, Z:11.56 [[ 9.13628564e-01 -3.97110549e-01 -8.70979874e-02 1.06517213e+02] [ 3.95244756e-01 9.17770509e-01 -3.84561385e-02 2.10561801e+01] [ 9.52073026e-02 7.09603786e-04 9.95457215e-01 1.15559495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:21.07, Z:11.56 [[ 9.13812066e-01 -3.97142582e-01 -8.50016365e-02 1.06543168e+02] [ 3.95362938e-01 9.17756642e-01 -3.75618607e-02 2.10651877e+01] [ 9.29282308e-02 7.17984752e-04 9.95672551e-01 1.15622307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.57, Y:21.08, Z:11.57 [[ 9.14313874e-01 -3.96489793e-01 -8.26195093e-02 1.06567559e+02] [ 3.94802808e-01 9.18038786e-01 -3.65449204e-02 2.10764911e+01] [ 9.03376019e-02 7.95113443e-04 9.95910882e-01 1.15678602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:21.08, Z:11.57 [[ 9.13434775e-01 -3.98132546e-01 -8.44238577e-02 1.06594155e+02] [ 3.96376375e-01 9.17327661e-01 -3.73594856e-02 2.10848342e+01] [ 9.23183671e-02 6.61830632e-04 9.95729321e-01 1.15663660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09710568099999 meters Centerline goodness [0,1] 0.9999792034938131 Centerline is valid? [True, True] Translation: X:106.62, Y:21.09, Z:11.57 [[ 9.12533039e-01 -3.99879703e-01 -8.59050434e-02 1.06623268e+02] [ 3.98067751e-01 9.16567492e-01 -3.80275964e-02 2.10886561e+01] [ 9.39442342e-02 5.05410669e-04 9.95577333e-01 1.15678378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:21.10, Z:11.57 [[ 9.12481332e-01 -3.99824883e-01 -8.67057246e-02 1.06648861e+02] [ 3.97974938e-01 9.16591380e-01 -3.84212240e-02 2.11002243e+01] [ 9.48354811e-02 5.51944282e-04 9.95492806e-01 1.15698978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:21.12, Z:11.57 [[ 9.14045997e-01 -3.95785544e-01 -8.87339761e-02 1.06671938e+02] [ 3.93824818e-01 9.18342386e-01 -3.93608246e-02 2.11201901e+01] [ 9.70666167e-02 1.03196210e-03 9.95277352e-01 1.15678364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:21.14, Z:11.57 [[ 9.17968882e-01 -3.86289940e-01 -9.00733792e-02 1.06692684e+02] [ 3.84220255e-01 9.22375015e-01 -3.99890780e-02 2.11434269e+01] [ 9.85288131e-02 2.10071252e-03 9.95131981e-01 1.15690382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21710568099999 meters Centerline goodness [0,1] 0.999978981440612 Centerline is valid? [True, True] Translation: X:106.72, Y:21.16, Z:11.57 [[ 9.20201273e-01 -3.80973324e-01 -8.99385579e-02 1.06716764e+02] [ 3.78883493e-01 9.24582158e-01 -3.99391073e-02 2.11601584e+01] [ 9.83713204e-02 2.67578247e-03 9.95146182e-01 1.15728205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:21.18, Z:11.57 [[ 9.23436032e-01 -3.72749421e-01 -9.12346662e-02 1.06738454e+02] [ 3.70557855e-01 9.27925009e-01 -4.05222668e-02 2.11812792e+01] [ 9.97635799e-02 3.61199910e-03 9.95004614e-01 1.15744350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27710568099998 meters Centerline goodness [0,1] 0.9999368912636473 Centerline is valid? [True, True] Translation: X:106.76, Y:21.20, Z:11.58 [[ 9.26027844e-01 -3.65858207e-01 -9.28450582e-02 1.06762748e+02] [ 3.63552963e-01 9.30660011e-01 -4.12454519e-02 2.11999736e+01] [ 1.01497170e-01 4.44034089e-03 9.94825918e-01 1.15754352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30710568099998 meters Centerline goodness [0,1] 0.9999789664093558 Centerline is valid? [True, True] Translation: X:106.79, Y:21.22, Z:11.58 [[ 9.28379035e-01 -3.59918594e-01 -9.25795541e-02 1.06788625e+02] [ 3.57596521e-01 9.32969876e-01 -4.11331905e-02 2.12160654e+01] [ 1.01178535e-01 5.08106523e-03 9.94855309e-01 1.15788737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:21.23, Z:11.58 [[ 9.29032497e-01 -3.58191068e-01 -9.27242049e-02 1.06812568e+02] [ 3.55852840e-01 9.33633373e-01 -4.12004901e-02 2.12300715e+01] [ 1.01328060e-01 5.28042258e-03 9.94839053e-01 1.15795735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36710568099998 meters Centerline goodness [0,1] 0.9999374452646065 Centerline is valid? [True, True] Translation: X:106.84, Y:21.24, Z:11.58 [[ 9.29114533e-01 -3.57972025e-01 -9.27481185e-02 1.06839262e+02] [ 3.55630180e-01 9.33717168e-01 -4.12240896e-02 2.12381457e+01] [ 1.01357581e-01 5.31787076e-03 9.94835846e-01 1.15821429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39710568099999 meters Centerline goodness [0,1] 0.9998737453443596 Centerline is valid? [True, True] Translation: X:106.87, Y:21.25, Z:11.59 [[ 9.28639959e-01 -3.59406627e-01 -9.19494556e-02 1.06867714e+02] [ 3.57110522e-01 9.33166948e-01 -4.08842552e-02 2.12452726e+01] [ 1.00498265e-01 5.13063500e-03 9.94924005e-01 1.15869856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42710568099999 meters Centerline goodness [0,1] 0.9999369429964688 Centerline is valid? [True, True] Translation: X:106.90, Y:21.25, Z:11.59 [[ 9.26122162e-01 -3.66125070e-01 -9.08304708e-02 1.06898326e+02] [ 3.63913552e-01 9.30555353e-01 -4.04185763e-02 2.12481975e+01] [ 9.93210350e-02 4.37810004e-03 9.95045810e-01 1.15907117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45710568099999 meters Centerline goodness [0,1] 0.9999582027168235 Centerline is valid? [True, True] Translation: X:106.93, Y:21.26, Z:11.59 [[ 9.24427146e-01 -3.70208308e-01 -9.15437663e-02 1.06926841e+02] [ 3.67981313e-01 9.28940262e-01 -4.07399369e-02 2.12562084e+01] [ 1.00120953e-01 3.97470820e-03 9.94967334e-01 1.15913733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48710568099999 meters Centerline goodness [0,1] 0.9999370752579915 Centerline is valid? [True, True] Translation: X:106.96, Y:21.25, Z:11.59 [[ 9.21014358e-01 -3.77940448e-01 -9.43057235e-02 1.06961037e+02] [ 3.75616291e-01 9.25824251e-01 -4.19744908e-02 2.12522719e+01] [ 1.03174384e-01 3.23634270e-03 9.94658018e-01 1.15908439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51710568099999 meters Centerline goodness [0,1] 0.9998739787024007 Centerline is valid? [True, True] Translation: X:106.99, Y:21.26, Z:11.59 [[ 9.18784825e-01 -3.83559649e-01 -9.33618808e-02 1.06991139e+02] [ 3.81310180e-01 9.23512487e-01 -4.15599794e-02 2.12560925e+01] [ 1.02161594e-01 2.58484278e-03 9.94764458e-01 1.15941662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54710568099999 meters Centerline goodness [0,1] 0.999705771089908 Centerline is valid? [True, True] Translation: X:107.02, Y:21.26, Z:11.60 [[ 9.17999930e-01 -3.85652169e-01 -9.24582803e-02 1.07019054e+02] [ 3.83455833e-01 9.22641286e-01 -4.11665112e-02 2.12631230e+01] [ 1.01181781e-01 2.33718744e-03 9.94865209e-01 1.15983206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57710568099999 meters Centerline goodness [0,1] 0.9996643309696639 Centerline is valid? [True, True] Translation: X:107.05, Y:21.27, Z:11.60 [[ 9.17207981e-01 -3.87624295e-01 -9.20702155e-02 1.07047527e+02] [ 3.85453038e-01 9.21814962e-01 -4.10259881e-02 2.12680511e+01] [ 1.00774372e-01 2.14061941e-03 9.94907003e-01 1.16019047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60710568099998 meters Centerline goodness [0,1] 0.9996221107215586 Centerline is valid? [True, True] Translation: X:107.08, Y:21.27, Z:11.61 [[ 9.15898998e-01 -3.90682247e-01 -9.21759566e-02 1.07077500e+02] [ 3.88519846e-01 9.20523800e-01 -4.10884712e-02 2.12718780e+01] [ 1.00902698e-01 1.82070117e-03 9.94894633e-01 1.16054574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63710568099998 meters Centerline goodness [0,1] 0.9996443440239335 Centerline is valid? [True, True] Translation: X:107.10, Y:21.28, Z:11.61 [[ 9.14929026e-01 -3.93158631e-01 -9.12752275e-02 1.07104507e+02] [ 3.91047263e-01 9.19469328e-01 -4.07209130e-02 2.12786420e+01] [ 9.99345505e-02 1.56381732e-03 9.94992784e-01 1.16086470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66710568099998 meters Centerline goodness [0,1] 0.999706042917734 Centerline is valid? [True, True] Translation: X:107.13, Y:21.29, Z:11.61 [[ 9.14560874e-01 -3.94026726e-01 -9.12214206e-02 1.07130548e+02] [ 3.91920792e-01 9.19097790e-01 -4.07105131e-02 2.12881091e+01] [ 9.98824362e-02 1.48067105e-03 9.94998144e-01 1.16119538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69710568099998 meters Centerline goodness [0,1] 0.9998109839336343 Centerline is valid? [True, True] Translation: X:107.16, Y:21.30, Z:11.61 [[ 9.15180550e-01 -3.92208396e-01 -9.28285203e-02 1.07156215e+02] [ 3.90016150e-01 9.19874771e-01 -4.14464539e-02 2.12994582e+01] [ 1.01646261e-01 1.72636639e-03 9.94819108e-01 1.16131526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72710568099998 meters Centerline goodness [0,1] 0.9995593789341166 Centerline is valid? [True, True] Translation: X:107.18, Y:21.31, Z:11.62 [[ 9.15949514e-01 -3.90330635e-01 -9.31583780e-02 1.07182183e+02] [ 3.88111434e-01 9.20672671e-01 -4.16094529e-02 2.13120169e+01] [ 1.02009817e-01 1.95632646e-03 9.94781468e-01 1.16154993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75710568099998 meters Centerline goodness [0,1] 0.9990376971674826 Centerline is valid? [True, True] Translation: X:107.21, Y:21.33, Z:11.62 [[ 9.18931334e-01 -3.83352062e-01 -9.27706848e-02 1.07206649e+02] [ 3.81112471e-01 9.23598197e-01 -4.14687190e-02 2.13297555e+01] [ 1.01579956e-01 2.75084037e-03 9.94823575e-01 1.16203410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78710568099999 meters Centerline goodness [0,1] 0.9992446971445356 Centerline is valid? [True, True] Translation: X:107.23, Y:21.35, Z:11.63 [[ 9.22763573e-01 -3.74258477e-01 -9.18584792e-02 1.07228995e+02] [ 3.72017210e-01 9.27316958e-01 -4.10664607e-02 2.13484215e+01] [ 1.00551397e-01 3.72169887e-03 9.94924905e-01 1.16253554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81710568099999 meters Centerline goodness [0,1] 0.9986174536009049 Centerline is valid? [True, True] Translation: X:107.25, Y:21.36, Z:11.63 [[ 9.24285988e-01 -3.70528250e-01 -9.16745831e-02 1.07254384e+02] [ 3.68276914e-01 9.28812031e-01 -4.09917848e-02 2.13626808e+01] [ 1.00337070e-01 4.12649968e-03 9.94944945e-01 1.16282992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84710568099999 meters Centerline goodness [0,1] 0.9980908022826451 Centerline is valid? [True, True] Translation: X:107.28, Y:21.38, Z:11.63 [[ 9.26676807e-01 -3.64107246e-01 -9.32523895e-02 1.07280047e+02] [ 3.61744298e-01 9.31344068e-01 -4.17047986e-02 2.13779311e+01] [ 1.02035079e-01 4.91334945e-03 9.94768667e-01 1.16284197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87710568099999 meters Centerline goodness [0,1] 0.9981650610951249 Centerline is valid? [True, True] Translation: X:107.31, Y:21.39, Z:11.63 [[ 9.27731109e-01 -3.61216784e-01 -9.40075788e-02 1.07306179e+02] [ 3.58800000e-01 9.32466926e-01 -4.20474916e-02 2.13908478e+01] [ 1.02847218e-01 5.27884677e-03 9.94683157e-01 1.16275725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90710568099999 meters Centerline goodness [0,1] 0.9975876318936041 Centerline is valid? [True, True] Translation: X:107.33, Y:21.40, Z:11.63 [[ 9.27879099e-01 -3.60955022e-01 -9.35513262e-02 1.07333779e+02] [ 3.58559195e-01 9.32568206e-01 -4.18550420e-02 2.13985478e+01] [ 1.02350780e-01 5.29273046e-03 9.94734289e-01 1.16298632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93710568099999 meters Centerline goodness [0,1] 0.9976744186046511 Centerline is valid? [True, True] Translation: X:107.36, Y:21.40, Z:11.63 [[ 9.27181663e-01 -3.62498022e-01 -9.44952232e-02 1.07362809e+02] [ 3.60057505e-01 9.31969978e-01 -4.23149212e-02 2.14043944e+01] [ 1.03405786e-01 5.20990476e-03 9.94625608e-01 1.16290012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96710568099999 meters Centerline goodness [0,1] 0.9970884564629983 Centerline is valid? [True, True] Translation: X:107.39, Y:21.41, Z:11.63 [[ 9.26126904e-01 -3.64693902e-01 -9.63707166e-02 1.07391188e+02] [ 3.62163376e-01 9.31113517e-01 -4.31892126e-02 2.14094080e+01] [ 1.05482919e-01 5.09674767e-03 9.94408054e-01 1.16272784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99710568099998 meters Centerline goodness [0,1] 0.9973148730857982 Centerline is valid? [True, True] Translation: X:107.42, Y:21.41, Z:11.63 [[ 9.25777812e-01 -3.66023939e-01 -9.46674112e-02 1.07420440e+02] [ 3.63587589e-01 9.30592682e-01 -4.24420185e-02 2.14137187e+01] [ 1.03631595e-01 4.87198321e-03 9.94603819e-01 1.16334262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02710568099998 meters Centerline goodness [0,1] 0.9964990251776692 Centerline is valid? [True, True] Translation: X:107.45, Y:21.42, Z:11.64 [[ 9.25604498e-01 -3.66742465e-01 -9.35749826e-02 1.07448378e+02] [ 3.64362191e-01 9.30310283e-01 -4.19877541e-02 2.14222834e+01] [ 1.02452461e-01 4.76886839e-03 9.94726471e-01 1.16381083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05710568099998 meters Centerline goodness [0,1] 0.9964990251776692 Centerline is valid? [True, True] Translation: X:107.47, Y:21.43, Z:11.64 [[ 9.25467108e-01 -3.67092386e-01 -9.35618096e-02 1.07473337e+02] [ 3.64710933e-01 9.30172295e-01 -4.20170889e-02 2.14337330e+01] [ 1.02452757e-01 4.76241886e-03 9.94726471e-01 1.16405591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08710568099998 meters Centerline goodness [0,1] 0.9977676242932549 Centerline is valid? [True, True] Translation: X:107.50, Y:21.44, Z:11.64 [[ 9.24526832e-01 -3.69573102e-01 -9.30905976e-02 1.07501705e+02] [ 3.67224230e-01 9.29190760e-01 -4.18437217e-02 2.14388292e+01] [ 1.01963237e-01 4.50052039e-03 9.94777987e-01 1.16425674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11710568099998 meters Centerline goodness [0,1] 0.9979027725347092 Centerline is valid? [True, True] Translation: X:107.53, Y:21.44, Z:11.65 [[ 9.23266016e-01 -3.72641381e-01 -9.33716456e-02 1.07530575e+02] [ 3.70292550e-01 9.27965988e-01 -4.19827697e-02 2.14442521e+01] [ 1.02290229e-01 4.18643980e-03 9.94745788e-01 1.16451429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14710568099999 meters Centerline goodness [0,1] 0.9981963087248322 Centerline is valid? [True, True] Translation: X:107.56, Y:21.44, Z:11.65 [[ 9.19944394e-01 -3.81164557e-01 -9.17381768e-02 1.07563740e+02] [ 3.78938480e-01 9.24501699e-01 -4.12581780e-02 2.14430654e+01] [ 1.00538255e-01 3.19210426e-03 9.94928073e-01 1.16499389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17710568099999 meters Centerline goodness [0,1] 0.9983945288880549 Centerline is valid? [True, True] Translation: X:107.59, Y:21.45, Z:11.65 [[ 9.18301470e-01 -3.85090563e-01 -9.18023355e-02 1.07591555e+02] [ 3.82879913e-01 9.22874621e-01 -4.12965565e-02 2.14498014e+01] [ 1.00624960e-01 2.77341828e-03 9.94920562e-01 1.16529543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20710568099999 meters Centerline goodness [0,1] 0.9985923482572431 Centerline is valid? [True, True] Translation: X:107.62, Y:21.45, Z:11.66 [[ 9.15578372e-01 -3.91478088e-01 -9.19845170e-02 1.07622891e+02] [ 3.89289394e-01 9.20185061e-01 -4.13910759e-02 2.14523307e+01] [ 1.00846478e-01 2.08817701e-03 9.94899808e-01 1.16560788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23710568099999 meters Centerline goodness [0,1] 0.9989928027362193 Centerline is valid? [True, True] Translation: X:107.65, Y:21.46, Z:11.66 [[ 9.14568174e-01 -3.93614819e-01 -9.29108654e-02 1.07650790e+02] [ 3.91389394e-01 9.19273495e-01 -4.18399645e-02 2.14607573e+01] [ 1.01879326e-01 1.90117258e-03 9.94794948e-01 1.16577155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26710568099999 meters Centerline goodness [0,1] 0.9990548402680053 Centerline is valid? [True, True] Translation: X:107.68, Y:21.47, Z:11.66 [[ 9.13254562e-01 -3.95894728e-01 -9.60909462e-02 1.07679174e+02] [ 3.93522316e-01 9.18294254e-01 -4.33110923e-02 2.14699746e+01] [ 1.05386397e-01 1.74012091e-03 9.94429826e-01 1.16555518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29710568099999 meters Centerline goodness [0,1] 0.9990336743482554 Centerline is valid? [True, True] Translation: X:107.71, Y:21.48, Z:11.66 [[ 9.12584522e-01 -3.96601490e-01 -9.94824028e-02 1.07705707e+02] [ 3.94057844e-01 9.17989203e-01 -4.48802618e-02 2.14812135e+01] [ 1.09123350e-01 1.75521107e-03 9.94026666e-01 1.16552447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32710568099999 meters Centerline goodness [0,1] 0.999309493419263 Centerline is valid? [True, True] Translation: X:107.73, Y:21.49, Z:11.66 [[ 9.12427754e-01 -3.96626563e-01 -1.00811527e-01 1.07731777e+02] [ 3.94009913e-01 9.17978258e-01 -4.55204026e-02 2.14941349e+01] [ 1.10597390e-01 1.81333781e-03 9.93863637e-01 1.16553661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35710568099998 meters Centerline goodness [0,1] 0.9993689391867729 Centerline is valid? [True, True] Translation: X:107.76, Y:21.51, Z:11.65 [[ 9.12372129e-01 -3.96211079e-01 -1.02926569e-01 1.07756567e+02] [ 3.93476332e-01 9.18157410e-01 -4.65117868e-02 2.15062242e+01] [ 1.12931277e-01 1.93688906e-03 9.93600913e-01 1.16543476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38710568099998 meters Centerline goodness [0,1] 0.9995159219582009 Centerline is valid? [True, True] Translation: X:107.78, Y:21.52, Z:11.66 [[ 9.12877212e-01 -3.95331319e-01 -1.01825064e-01 1.07782028e+02] [ 3.92646959e-01 9.18536318e-01 -4.60369227e-02 2.15165466e+01] [ 1.11729857e-01 2.04475584e-03 9.93736513e-01 1.16612177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41710568099998 meters Centerline goodness [0,1] 0.999368593858523 Centerline is valid? [True, True] Translation: X:107.81, Y:21.53, Z:11.67 [[ 9.12504650e-01 -3.96768528e-01 -9.95489795e-02 1.07807790e+02] [ 3.94206928e-01 9.17916799e-01 -4.50516148e-02 2.15276885e+01] [ 1.09252743e-01 1.86691058e-03 9.94012250e-01 1.16672367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44710568099998 meters Centerline goodness [0,1] 0.9993488762864944 Centerline is valid? [True, True] Translation: X:107.83, Y:21.54, Z:11.68 [[ 9.10944382e-01 -4.01403923e-01 -9.51589324e-02 1.07834893e+02] [ 3.99085726e-01 9.15900238e-01 -4.30968378e-02 2.15356568e+01] [ 1.04455329e-01 1.28225071e-03 9.94528753e-01 1.16755172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47710568099998 meters Centerline goodness [0,1] 0.9995392959604632 Centerline is valid? [True, True] Translation: X:107.86, Y:21.54, Z:11.69 [[ 9.09422774e-01 -4.05802461e-01 -9.09647253e-02 1.07862234e+02] [ 4.03705711e-01 9.13960502e-01 -4.12055690e-02 2.15435114e+01] [ 9.98594874e-02 7.50303773e-04 9.95001266e-01 1.16852852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50710568099998 meters Centerline goodness [0,1] 0.9993909610215054 Centerline is valid? [True, True] Translation: X:107.89, Y:21.55, Z:11.69 [[ 9.08765298e-01 -4.07801309e-01 -8.85648041e-02 1.07888062e+02] [ 4.05822336e-01 9.13070542e-01 -4.01300049e-02 2.15544297e+01] [ 9.72309822e-02 5.27180184e-04 9.95261703e-01 1.16920344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53710568099999 meters Centerline goodness [0,1] 0.9994381671764779 Centerline is valid? [True, True] Translation: X:107.91, Y:21.56, Z:11.70 [[ 9.07269732e-01 -4.11804119e-01 -8.53170595e-02 1.07914743e+02] [ 4.09982507e-01 9.11272381e-01 -3.86909855e-02 2.15648699e+01] [ 9.36801871e-02 1.24658094e-04 9.95602334e-01 1.16997774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56710568099999 meters Centerline goodness [0,1] 0.9999161882412102 Centerline is valid? [True, True] Translation: X:107.94, Y:21.58, Z:11.70 [[ 9.05529560e-01 -4.15589282e-01 -8.54503632e-02 1.07939902e+02] [ 4.13775514e-01 9.09552359e-01 -3.87857067e-02 2.15777478e+01] [ 9.38405034e-02 -2.35664051e-04 9.95587216e-01 1.17018466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59710568099999 meters Centerline goodness [0,1] 0.9995386293096217 Centerline is valid? [True, True] Translation: X:107.96, Y:21.59, Z:11.70 [[ 9.05051228e-01 -4.16377554e-01 -8.66718325e-02 1.07964155e+02] [ 4.14511375e-01 9.09191757e-01 -3.93785447e-02 2.15917548e+01] [ 9.51976578e-02 -2.86860164e-04 9.95458349e-01 1.17015116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62710568099999 meters Centerline goodness [0,1] 0.9992443483554082 Centerline is valid? [True, True] Translation: X:107.99, Y:21.61, Z:11.70 [[ 9.04835258e-01 -4.16395047e-01 -8.88162153e-02 1.07986879e+02] [ 4.14433990e-01 9.09183746e-01 -4.03656278e-02 2.16097436e+01] [ 9.75583068e-02 -2.84215276e-04 9.95229770e-01 1.17004219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65710568099999 meters Centerline goodness [0,1] 0.9994783733594842 Centerline is valid? [True, True] Translation: X:108.01, Y:21.63, Z:11.70 [[ 9.05656934e-01 -4.14258757e-01 -9.04168123e-02 1.08008987e+02] [ 4.12214058e-01 9.10159151e-01 -4.11082643e-02 2.16310831e+01] [ 9.93231476e-02 -4.10965033e-05 9.95055230e-01 1.17003589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68710568099999 meters Centerline goodness [0,1] 0.9992906469716885 Centerline is valid? [True, True] Translation: X:108.03, Y:21.65, Z:11.70 [[ 9.06135984e-01 -4.13006775e-01 -9.13399289e-02 1.08031865e+02] [ 4.10910315e-01 9.10727944e-01 -4.15611033e-02 2.16473937e+01] [ 1.00350843e-01 1.27492215e-04 9.94952105e-01 1.16998770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71710568099999 meters Centerline goodness [0,1] 0.9993520473214472 Centerline is valid? [True, True] Translation: X:108.06, Y:21.67, Z:11.70 [[ 9.06589452e-01 -4.11393668e-01 -9.40787670e-02 1.08055341e+02] [ 4.09158878e-01 9.11457701e-01 -4.28237316e-02 2.16659177e+01] [ 1.03366229e-01 3.30380602e-04 9.94643310e-01 1.16977280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74710568099998 meters Centerline goodness [0,1] 0.9995592679650772 Centerline is valid? [True, True] Translation: X:108.08, Y:21.68, Z:11.70 [[ 9.06563615e-01 -4.11626863e-01 -9.33045444e-02 1.08079052e+02] [ 4.09426271e-01 9.11352409e-01 -4.25078139e-02 2.16820088e+01] [ 1.02530679e-01 3.34705709e-04 9.94729786e-01 1.17007786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77710568099998 meters Centerline goodness [0,1] 0.9993905386377487 Centerline is valid? [True, True] Translation: X:108.10, Y:21.70, Z:11.70 [[ 9.05737071e-01 -4.13550573e-01 -9.28239233e-02 1.08104075e+02] [ 4.11378337e-01 9.10481136e-01 -4.23316100e-02 2.16950375e+01] [ 1.02020693e-01 1.55557287e-04 9.94782265e-01 1.17035992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80710568099998 meters Centerline goodness [0,1] 0.999726707029936 Centerline is valid? [True, True] Translation: X:108.13, Y:21.71, Z:11.71 [[ 9.03398382e-01 -4.18988579e-01 -9.12136717e-02 1.08130159e+02] [ 4.16914867e-01 9.07991409e-01 -4.16364521e-02 2.17052296e+01] [ 1.00266428e-01 -4.14032406e-04 9.94960538e-01 1.17073802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83710568099998 meters Centerline goodness [0,1] 0.9997495617330328 Centerline is valid? [True, True] Translation: X:108.16, Y:21.71, Z:11.71 [[ 9.01734652e-01 -4.23328986e-01 -8.75624804e-02 1.08156430e+02] [ 4.21437518e-01 9.05975634e-01 -3.99821072e-02 2.17131698e+01] [ 9.62550585e-02 -8.48862920e-04 9.95356340e-01 1.17136804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86710568099998 meters Centerline goodness [0,1] 0.9997913232194654 Centerline is valid? [True, True] Translation: X:108.18, Y:21.72, Z:11.72 [[ 9.01043328e-01 -4.24963015e-01 -8.67603361e-02 1.08181494e+02] [ 4.23112330e-01 9.05210160e-01 -3.96298229e-02 2.17249045e+01] [ 9.53775467e-02 -1.00118045e-03 9.95440667e-01 1.17177722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89710568099999 meters Centerline goodness [0,1] 0.9996639996639997 Centerline is valid? [True, True] Translation: X:108.21, Y:21.74, Z:11.72 [[ 9.00359570e-01 -4.25833854e-01 -8.95442510e-02 1.08205484e+02] [ 4.23862663e-01 9.04800715e-01 -4.09403250e-02 2.17428464e+01] [ 9.84534787e-02 -1.09345119e-03 9.95141054e-01 1.17160749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92710568099999 meters Centerline goodness [0,1] 0.999664183020254 Centerline is valid? [True, True] Translation: X:108.23, Y:21.76, Z:11.72 [[ 9.00876513e-01 -4.24571883e-01 -9.03339610e-02 1.08228824e+02] [ 4.22555944e-01 9.05393752e-01 -4.13355567e-02 2.17582324e+01] [ 9.93377190e-02 -9.32919979e-04 9.95053339e-01 1.17167535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95710568099999 meters Centerline goodness [0,1] 0.9996635545462192 Centerline is valid? [True, True] Translation: X:108.25, Y:21.78, Z:11.72 [[ 9.02955481e-01 -4.19907443e-01 -9.13736188e-02 1.08250694e+02] [ 4.17819237e-01 9.07566841e-01 -4.18271864e-02 2.17801751e+01] [ 1.00491214e-01 -4.09568517e-04 9.94937862e-01 1.17211124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98710568099999 meters Centerline goodness [0,1] 0.9998113603018235 Centerline is valid? [True, True] Translation: X:108.27, Y:21.80, Z:11.72 [[ 9.05158137e-01 -4.14907773e-01 -9.24136732e-02 1.08270336e+02] [ 4.12741990e-01 9.09863455e-01 -4.23384282e-02 2.18045874e+01] [ 1.01650367e-01 1.79969383e-04 9.94820170e-01 1.17221605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01710568099999 meters Centerline goodness [0,1] 0.9998950505856178 Centerline is valid? [True, True] Translation: X:108.29, Y:21.82, Z:11.73 [[ 9.05602498e-01 -4.14029422e-01 -9.19986623e-02 1.08292900e+02] [ 4.11876897e-01 9.10263452e-01 -4.21647929e-02 2.18216412e+01] [ 1.01200485e-01 2.92418256e-04 9.94866009e-01 1.17252438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:21.84, Z:11.73 [[ 9.06402071e-01 -4.12284211e-01 -9.19620355e-02 1.08313935e+02] [ 4.10120306e-01 9.11055133e-01 -4.21886251e-02 2.18417132e+01] [ 1.01176188e-01 5.24359083e-04 9.94868385e-01 1.17289383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07710568099999 meters Centerline goodness [0,1] 0.9998534583821805 Centerline is valid? [True, True] Translation: X:108.34, Y:21.86, Z:11.73 [[ 9.07840692e-01 -4.09415805e-01 -9.05758010e-02 1.08336166e+02] [ 4.07298587e-01 9.12347492e-01 -4.15922578e-02 2.18595104e+01] [ 9.96651326e-02 8.67748364e-04 9.95020657e-01 1.17333555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10710568099998 meters Centerline goodness [0,1] 0.9999163652330274 Centerline is valid? [True, True] Translation: X:108.36, Y:21.87, Z:11.74 [[ 9.08684395e-01 -4.07753987e-01 -8.96066783e-02 1.08361048e+02] [ 4.05670011e-01 9.13091196e-01 -4.11862951e-02 2.18749036e+01] [ 9.86129450e-02 1.07460148e-03 9.95125285e-01 1.17374438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13710568099998 meters Centerline goodness [0,1] 0.999894960189912 Centerline is valid? [True, True] Translation: X:108.38, Y:21.89, Z:11.74 [[ 9.10263693e-01 -4.04352243e-01 -8.89902981e-02 1.08383545e+02] [ 4.02277291e-01 9.14602164e-01 -4.09373075e-02 2.18946520e+01] [ 9.79438113e-02 1.46496867e-03 9.95190868e-01 1.17408557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:21.91, Z:11.74 [[ 9.10484272e-01 -4.03912549e-01 -8.87301758e-02 1.08409107e+02] [ 4.01844294e-01 9.14796307e-01 -4.08519223e-02 2.19081401e+01] [ 9.76706412e-02 1.53931786e-03 9.95217603e-01 1.17436403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:21.92, Z:11.75 [[ 9.09548419e-01 -4.06711418e-01 -8.54838892e-02 1.08436115e+02] [ 4.04801287e-01 9.13555869e-01 -3.93902570e-02 2.19172601e+01] [ 9.41147760e-02 1.22335756e-03 9.95560602e-01 1.17502082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22710568099998 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:108.46, Y:21.93, Z:11.76 [[ 9.08349245e-01 -4.09721262e-01 -8.38459062e-02 1.08463008e+02] [ 4.07893521e-01 9.12210301e-01 -3.86683654e-02 2.19260393e+01] [ 9.23283508e-02 9.24178637e-04 9.95728187e-01 1.17552241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:21.93, Z:11.76 [[ 9.05358341e-01 -4.16989635e-01 -8.02864811e-02 1.08492106e+02] [ 4.15339797e-01 9.08911218e-01 -3.70573955e-02 2.19305144e+01] [ 8.84258332e-02 2.04051349e-04 9.96082743e-01 1.17635253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.52, Y:21.94, Z:11.77 [[ 9.02232213e-01 -4.24126935e-01 -7.80600900e-02 1.08520743e+02] [ 4.22591440e-01 9.05602638e-01 -3.60601791e-02 2.19365766e+01] [ 8.59855167e-02 -4.52870690e-04 9.96296284e-01 1.17714271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.55, Y:21.95, Z:11.78 [[ 9.01509095e-01 -4.25758550e-01 -7.75306946e-02 1.08546213e+02] [ 4.24247228e-01 9.04836629e-01 -3.58464029e-02 2.19490193e+01] [ 8.54145249e-02 -5.76324020e-04 9.96345335e-01 1.17755500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:21.97, Z:11.78 [[ 9.03139297e-01 -4.22187240e-01 -7.80854945e-02 1.08567587e+02] [ 4.20638095e-01 9.06508627e-01 -3.61345142e-02 2.19704415e+01] [ 8.60407051e-02 -2.11233898e-04 9.96291600e-01 1.17769420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:22.00, Z:11.78 [[ 9.07457820e-01 -4.12491321e-01 -7.98198939e-02 1.08586384e+02] [ 4.10831811e-01 9.10961216e-01 -3.69714215e-02 2.19956137e+01] [ 8.79632181e-02 7.57453985e-04 9.96123435e-01 1.17757894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:22.01, Z:11.78 [[ 9.09651592e-01 -4.07156081e-01 -8.22064855e-02 1.08609847e+02] [ 4.05372675e-01 9.13357637e-01 -3.80896490e-02 2.20144404e+01] [ 9.05923535e-02 1.32404693e-03 9.95887179e-01 1.17754645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:22.04, Z:11.77 [[ 9.13924641e-01 -3.96852101e-01 -8.51478799e-02 1.08630358e+02] [ 3.94890411e-01 9.17879261e-01 -3.94870232e-02 2.20378912e+01] [ 9.38259812e-02 2.46408221e-03 9.95585563e-01 1.17732606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:22.05, Z:11.77 [[ 9.16282132e-01 -3.90655512e-01 -8.84043269e-02 1.08655307e+02] [ 3.88510811e-01 9.20531291e-01 -4.10060059e-02 2.20548001e+01] [ 9.73981714e-02 3.22703377e-03 9.95240264e-01 1.17709613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:22.07, Z:11.77 [[ 9.16598863e-01 -3.89367608e-01 -9.07710869e-02 1.08678920e+02] [ 3.87098918e-01 9.21075929e-01 -4.21136679e-02 2.20694530e+01] [ 1.00004761e-01 3.46395062e-03 9.94980929e-01 1.17693334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:22.08, Z:11.77 [[ 9.15934932e-01 -3.90310646e-01 -9.33852181e-02 1.08705694e+02] [ 3.87912212e-01 9.20676671e-01 -4.33426321e-02 2.20796290e+01] [ 1.02894683e-01 3.47376433e-03 9.94686190e-01 1.17670070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:22.08, Z:11.77 [[ 9.14023239e-01 -3.94748553e-01 -9.34617489e-02 1.08735895e+02] [ 3.92367954e-01 9.18784332e-01 -4.33905597e-02 2.20825137e+01] [ 1.02999551e-01 2.98858476e-03 9.94676913e-01 1.17694253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:22.09, Z:11.77 [[ 9.12521239e-01 -3.97879768e-01 -9.48508248e-02 1.08764412e+02] [ 3.95443112e-01 9.17433632e-01 -4.40485544e-02 2.20887627e+01] [ 1.04545365e-01 2.68713601e-03 9.94516488e-01 1.17715886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61710568099998 meters Centerline goodness [0,1] 0.999978935394856 Centerline is valid? [True, True] Translation: X:108.79, Y:22.09, Z:11.77 [[ 9.09821821e-01 -4.03644272e-01 -9.64134611e-02 1.08794857e+02] [ 4.01155214e-01 9.14913624e-01 -4.48057421e-02 2.20923344e+01] [ 1.06295570e-01 2.08847926e-03 9.94332384e-01 1.17726597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64710568099999 meters Centerline goodness [0,1] 0.9999578707897121 Centerline is valid? [True, True] Translation: X:108.82, Y:22.10, Z:11.78 [[ 9.08836096e-01 -4.05928469e-01 -9.61198632e-02 1.08821385e+02] [ 4.03465671e-01 9.13903020e-01 -4.46847064e-02 2.21021889e+01] [ 1.05983028e-01 1.83000902e-03 9.94366255e-01 1.17761262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67710568099999 meters Centerline goodness [0,1] 0.9999367728882145 Centerline is valid? [True, True] Translation: X:108.85, Y:22.11, Z:11.78 [[ 9.09326854e-01 -4.05518808e-01 -9.31620620e-02 1.08846337e+02] [ 4.03200113e-01 9.14084829e-01 -4.33427461e-02 2.21140766e+01] [ 1.02734326e-01 1.84976896e-03 9.94707111e-01 1.17841566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:22.13, Z:11.79 [[ 9.09872555e-01 -4.04939248e-01 -9.03113485e-02 1.08871663e+02] [ 4.02756328e-01 9.14341681e-01 -4.20313055e-02 2.21269448e+01] [ 9.95955554e-02 1.86966421e-03 9.95026246e-01 1.17920324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73710568099999 meters Centerline goodness [0,1] 0.9999789955680649 Centerline is valid? [True, True] Translation: X:108.90, Y:22.14, Z:11.80 [[ 9.08738391e-01 -4.07700194e-01 -8.93033494e-02 1.08899344e+02] [ 4.05575871e-01 9.13114482e-01 -4.15951452e-02 2.21366818e+01] [ 9.85025304e-02 1.57982158e-03 9.95135546e-01 1.17955640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76710568099999 meters Centerline goodness [0,1] 0.9999579275090982 Centerline is valid? [True, True] Translation: X:108.93, Y:22.15, Z:11.80 [[ 9.07639003e-01 -4.10138527e-01 -8.93186875e-02 1.08925094e+02] [ 4.08023528e-01 9.12022267e-01 -4.16195270e-02 2.21469726e+01] [ 9.85304034e-02 1.33138005e-03 9.95133150e-01 1.17969339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79710568099999 meters Centerline goodness [0,1] 0.9999579540437699 Centerline is valid? [True, True] Translation: X:108.95, Y:22.16, Z:11.80 [[ 9.06368936e-01 -4.12940218e-01 -8.93069311e-02 1.08952018e+02] [ 4.10837860e-01 9.10757539e-01 -4.16288235e-02 2.21563976e+01] [ 9.85271762e-02 1.04040403e-03 9.95133817e-01 1.17984976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:22.16, Z:11.80 [[ 9.03207815e-01 -4.19473290e-01 -9.08724469e-02 1.08980561e+02] [ 4.17325666e-01 9.07767605e-01 -4.23941538e-02 2.21632546e+01] [ 1.00274279e-01 3.67326650e-04 9.94959765e-01 1.17989349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:22.17, Z:11.80 [[ 9.01164743e-01 -4.23614507e-01 -9.19394121e-02 1.09007058e+02] [ 4.21433689e-01 9.05842561e-01 -4.29290079e-02 2.21727974e+01] [ 1.01467983e-01 -6.02572492e-05 9.94838803e-01 1.17992584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:22.18, Z:11.80 [[ 8.96912379e-01 -4.32324120e-01 -9.29733292e-02 1.09035823e+02] [ 4.30136238e-01 9.01717703e-01 -4.34511244e-02 2.21764335e+01] [ 1.02620666e-01 -1.01934669e-03 9.94720041e-01 1.18004578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:22.18, Z:11.81 [[ 8.92788485e-01 -4.40775355e-01 -9.29828385e-02 1.09066189e+02] [ 4.38630502e-01 8.97615286e-01 -4.34750599e-02 2.21816455e+01] [ 1.02625552e-01 -1.97107632e-03 9.94718106e-01 1.18051116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:22.19, Z:11.81 [[ 8.92625781e-01 -4.41106600e-01 -9.29740912e-02 1.09090929e+02] [ 4.38961592e-01 8.97452513e-01 -4.34937589e-02 2.21934977e+01] [ 1.02625216e-01 -1.98840455e-03 9.94718106e-01 1.18075616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:22.20, Z:11.81 [[ 8.90660714e-01 -4.45284416e-01 -9.18982152e-02 1.09118314e+02] [ 4.43207164e-01 8.95385949e-01 -4.30280410e-02 2.22004701e+01] [ 1.01444087e-01 -2.40656158e-03 9.94838331e-01 1.18107858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:22.21, Z:11.82 [[ 8.87400491e-01 -4.52207025e-01 -8.96056670e-02 1.09145739e+02] [ 4.50266212e-01 8.91907597e-01 -4.19663610e-02 2.22094820e+01] [ 9.88974584e-02 -3.10543493e-03 9.95092784e-01 1.18174149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:22.23, Z:11.82 [[ 8.85215494e-01 -4.56122123e-01 -9.13571957e-02 1.09171104e+02] [ 4.54124198e-01 8.89909899e-01 -4.27970241e-02 2.22251407e+01] [ 1.00820342e-01 -3.60292437e-03 9.94898124e-01 1.18180438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:22.24, Z:11.82 [[ 8.84524659e-01 -4.57181968e-01 -9.27403617e-02 1.09196017e+02] [ 4.55125606e-01 8.89365257e-01 -4.34755377e-02 2.22403548e+01] [ 1.02356287e-01 -3.75332815e-03 9.94740721e-01 1.18184279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:22.26, Z:11.82 [[ 8.83912621e-01 -4.58118131e-01 -9.39481599e-02 1.09219934e+02] [ 4.56009271e-01 8.88882849e-01 -4.40774981e-02 2.22565108e+01] [ 1.03701609e-01 -3.88057504e-03 9.94600883e-01 1.18167890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:22.28, Z:11.82 [[ 8.84085363e-01 -4.57958134e-01 -9.30989701e-02 1.09241418e+02] [ 4.55884700e-01 8.88965590e-01 -4.36957780e-02 2.22779929e+01] [ 1.02772618e-01 -3.81159829e-03 9.94697573e-01 1.18209440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.27, Y:22.29, Z:11.82 [[ 8.84071868e-01 -4.58207316e-01 -9.19945013e-02 1.09265030e+02] [ 4.56180788e-01 8.88837378e-01 -4.32111449e-02 2.22929746e+01] [ 1.01567814e-01 -3.76436652e-03 9.94821496e-01 1.18244889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:22.32, Z:11.83 [[ 8.83904742e-01 -4.58497595e-01 -9.21540145e-02 1.09284915e+02] [ 4.56463856e-01 8.88687570e-01 -4.33030189e-02 2.23157644e+01] [ 1.01750457e-01 -3.78923302e-03 9.94802737e-01 1.18269847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:22.33, Z:11.83 [[ 8.83882308e-01 -4.58360375e-01 -9.30474745e-02 1.09307754e+02] [ 4.56281618e-01 8.88758429e-01 -4.37668767e-02 2.23328046e+01] [ 1.02757729e-01 -3.77108428e-03 9.94699265e-01 1.18270577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:22.35, Z:11.82 [[ 8.84053323e-01 -4.57676493e-01 -9.47731498e-02 1.09329873e+02] [ 4.55511495e-01 8.89110994e-01 -4.46197173e-02 2.23511616e+01] [ 1.04685245e-01 -3.72404982e-03 9.94498432e-01 1.18235864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:22.38, Z:11.83 [[ 8.85880722e-01 -4.54417871e-01 -9.33795791e-02 1.09348332e+02] [ 4.52296336e-01 8.90782625e-01 -4.39811291e-02 2.23782188e+01] [ 1.03166718e-01 -3.27320708e-03 9.94658692e-01 1.18291504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:22.40, Z:11.83 [[ 8.87530702e-01 -4.51596739e-01 -9.13763497e-02 1.09370797e+02] [ 4.49549467e-01 8.92217540e-01 -4.30480903e-02 2.23966770e+01] [ 1.00967959e-01 -2.87168751e-03 9.94885533e-01 1.18349623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:22.42, Z:11.84 [[ 8.90777958e-01 -4.45871639e-01 -8.78243170e-02 1.09390788e+02] [ 4.43952002e-01 8.95094388e-01 -4.13842595e-02 2.24209496e+01] [ 9.70631209e-02 -2.12559520e-03 9.95275958e-01 1.18425273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:22.45, Z:11.84 [[ 8.94152793e-01 -4.39089645e-01 -8.76987283e-02 1.09409557e+02] [ 4.37142115e-01 8.98442197e-01 -4.13326730e-02 2.24487693e+01] [ 9.69409868e-02 -1.37908257e-03 9.95289176e-01 1.18446101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39710568099999 meters Centerline goodness [0,1] 0.9999790136411333 Centerline is valid? [True, True] Translation: X:109.43, Y:22.47, Z:11.85 [[ 8.96326324e-01 -4.34675250e-01 -8.75017020e-02 1.09430488e+02] [ 4.32714324e-01 9.00586830e-01 -4.12513781e-02 2.24709564e+01] [ 9.67338335e-02 -8.88543665e-04 9.95309889e-01 1.18475531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.45, Y:22.50, Z:11.85 [[ 9.01625168e-01 -4.23904152e-01 -8.58913596e-02 1.09447049e+02] [ 4.21962669e-01 9.05707007e-01 -4.05255927e-02 2.25019145e+01] [ 9.49713732e-02 2.95946958e-04 9.95479960e-01 1.18517030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:22.52, Z:11.85 [[ 9.03641042e-01 -4.19645047e-01 -8.56206906e-02 1.09469227e+02] [ 4.17693492e-01 9.07687963e-01 -4.04315269e-02 2.25216548e+01] [ 9.46837602e-02 7.72381867e-04 9.95507101e-01 1.18546048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.49, Y:22.55, Z:11.85 [[ 9.06209438e-01 -4.13699553e-01 -8.73906969e-02 1.09489724e+02] [ 4.11635232e-01 9.10412303e-01 -4.13022222e-02 2.25459100e+01] [ 9.66482765e-02 1.45537378e-03 9.95317534e-01 1.18548350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51710568099999 meters Centerline goodness [0,1] 0.9999790215658303 Centerline is valid? [True, True] Translation: X:109.51, Y:22.57, Z:11.85 [[ 9.08873465e-01 -4.07274887e-01 -8.98676253e-02 1.09512280e+02] [ 4.05056888e-01 9.13302902e-01 -4.25056127e-02 2.25683281e+01] [ 9.93878316e-02 2.23072281e-03 9.95046272e-01 1.18541844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54710568099999 meters Centerline goodness [0,1] 0.9999580052493439 Centerline is valid? [True, True] Translation: X:109.54, Y:22.59, Z:11.85 [[ 9.10170582e-01 -4.03963147e-01 -9.16694449e-02 1.09535428e+02] [ 4.01637716e-01 9.14771421e-01 -4.33635005e-02 2.25862415e+01] [ 1.01373844e-01 2.65027601e-03 9.94844872e-01 1.18540427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57710568099999 meters Centerline goodness [0,1] 0.9999789796733441 Centerline is valid? [True, True] Translation: X:109.56, Y:22.60, Z:11.85 [[ 9.11888876e-01 -3.99194113e-01 -9.54082666e-02 1.09559879e+02] [ 3.96647591e-01 9.16860426e-01 -4.51403078e-02 2.26038117e+01] [ 1.05495809e-01 3.31948545e-03 9.94414207e-01 1.18512613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60710568099998 meters Centerline goodness [0,1] 0.99993692973973 Centerline is valid? [True, True] Translation: X:109.59, Y:22.62, Z:11.85 [[ 9.12218318e-01 -3.98095047e-01 -9.68404559e-02 1.09585315e+02] [ 3.95463754e-01 9.17337458e-01 -4.58302069e-02 2.26179837e+01] [ 1.07080156e-01 3.51026408e-03 9.94244194e-01 1.18514696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63710568099998 meters Centerline goodness [0,1] 0.9999579124579124 Centerline is valid? [True, True] Translation: X:109.61, Y:22.63, Z:11.85 [[ 9.12245233e-01 -3.98175049e-01 -9.62562449e-02 1.09610770e+02] [ 3.95571795e-01 9.17302716e-01 -4.55925665e-02 2.26294775e+01] [ 1.06449937e-01 3.51534589e-03 9.94311849e-01 1.18530796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66710568099998 meters Centerline goodness [0,1] 0.9999159681519296 Centerline is valid? [True, True] Translation: X:109.64, Y:22.64, Z:11.86 [[ 9.11956989e-01 -3.99136629e-01 -9.49968519e-02 1.09635955e+02] [ 3.96602383e-01 9.16885181e-01 -4.50345955e-02 2.26402243e+01] [ 1.05076162e-01 3.39363626e-03 9.94458387e-01 1.18559845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:22.64, Z:11.86 [[ 9.09744847e-01 -4.04290105e-01 -9.44130530e-02 1.09666657e+02] [ 4.01813313e-01 9.14626542e-01 -4.47699749e-02 2.26436544e+01] [ 1.04452742e-01 2.79283240e-03 9.94525930e-01 1.18607168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:22.65, Z:11.86 [[ 9.07202242e-01 -4.10188229e-01 -9.34329097e-02 1.09698210e+02] [ 4.07793289e-01 9.11998475e-01 -4.43104391e-02 2.26459211e+01] [ 1.03386292e-01 2.09721610e-03 9.94639068e-01 1.18646789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:22.65, Z:11.87 [[ 9.05406126e-01 -4.14563057e-01 -9.15271483e-02 1.09728352e+02] [ 4.12286741e-01 9.10019233e-01 -4.34124205e-02 2.26480810e+01] [ 1.01288651e-01 1.57044175e-03 9.94855840e-01 1.18720815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:22.66, Z:11.87 [[ 9.04914220e-01 -4.15732944e-01 -9.10844342e-02 1.09753833e+02] [ 4.13483405e-01 9.09485589e-01 -4.32138519e-02 2.26601620e+01] [ 1.00805402e-01 1.44292714e-03 9.94905116e-01 1.18734437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81710568099999 meters Centerline goodness [0,1] 0.9999581843651342 Centerline is valid? [True, True] Translation: X:109.78, Y:22.67, Z:11.88 [[ 9.03991225e-01 -4.17918882e-01 -9.02423087e-02 1.09783070e+02] [ 4.15720092e-01 9.08483551e-01 -4.28304018e-02 2.26650783e+01] [ 9.98832866e-02 1.20276647e-03 9.94998433e-01 1.18775169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84710568099999 meters Centerline goodness [0,1] 0.999958077430985 Centerline is valid? [True, True] Translation: X:109.81, Y:22.67, Z:11.88 [[ 9.03131994e-01 -4.19640398e-01 -9.08544863e-02 1.09810435e+02] [ 4.17416486e-01 9.07689829e-01 -4.31584438e-02 2.26737787e+01] [ 1.00578720e-01 1.05361096e-03 9.94928546e-01 1.18792424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:22.68, Z:11.88 [[ 9.01940442e-01 -4.22118341e-01 -9.12115391e-02 1.09838584e+02] [ 4.19885612e-01 9.06540370e-01 -4.33662428e-02 2.26798781e+01] [ 1.00992629e-01 8.15355277e-04 9.94886840e-01 1.18808309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:22.69, Z:11.88 [[ 9.01193119e-01 -4.23721152e-01 -9.11665916e-02 1.09865126e+02] [ 4.21496865e-01 9.05792448e-01 -4.33639675e-02 2.26891927e+01] [ 1.00952240e-01 6.52876610e-04 9.94891059e-01 1.18834483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93710568099999 meters Centerline goodness [0,1] 0.9998949447409338 Centerline is valid? [True, True] Translation: X:109.89, Y:22.70, Z:11.89 [[ 8.99321403e-01 -4.27999595e-01 -8.96513304e-02 1.09894003e+02] [ 4.25868484e-01 9.03778907e-01 -4.26581915e-02 2.26953682e+01] [ 9.92826701e-02 1.83748473e-04 9.95059253e-01 1.18882807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:22.70, Z:11.89 [[ 8.98259539e-01 -4.30118414e-01 -9.01551450e-02 1.09920454e+02] [ 4.27970328e-01 9.02772479e-01 -4.29330733e-02 2.27025363e+01] [ 9.98558892e-02 -1.86843575e-05 9.95001910e-01 1.18912580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99710568099998 meters Centerline goodness [0,1] 0.9998322147651006 Centerline is valid? [True, True] Translation: X:109.95, Y:22.71, Z:11.89 [[ 8.98419934e-01 -4.29732401e-01 -9.03973710e-02 1.09946205e+02] [ 4.27568661e-01 9.02956290e-01 -4.30694603e-02 2.27140880e+01] [ 1.00133217e-01 4.33787982e-05 9.94974038e-01 1.18948399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:22.73, Z:11.90 [[ 8.99911689e-01 -4.26584957e-01 -9.04667139e-02 1.09970422e+02] [ 4.24397752e-01 9.04447394e-01 -4.31446404e-02 2.27295772e+01] [ 1.00227238e-01 4.32496136e-04 9.94964479e-01 1.18987864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:22.75, Z:11.90 [[ 9.01199775e-01 -4.23891535e-01 -9.03046630e-02 1.09994444e+02] [ 4.21694953e-01 9.05712638e-01 -4.31043446e-02 2.27452153e+01] [ 1.00061641e-01 7.64605019e-04 9.94980946e-01 1.19019956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:22.76, Z:11.91 [[ 9.04870475e-01 -4.16212510e-01 -8.93116504e-02 1.10016353e+02] [ 4.14023299e-01 9.09265910e-01 -4.26639428e-02 2.27649834e+01] [ 9.89653058e-02 1.62823801e-03 9.95089552e-01 1.19050903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:22.78, Z:11.91 [[ 9.06583432e-01 -4.12557742e-01 -8.88965177e-02 1.10039355e+02] [ 4.10370032e-01 9.10929190e-01 -4.24788005e-02 2.27811651e+01] [ 9.85033908e-02 2.03010990e-03 9.95134644e-01 1.19067669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:22.80, Z:11.91 [[ 9.08736191e-01 -4.07945789e-01 -8.81973236e-02 1.10064627e+02] [ 4.05769500e-01 9.13002668e-01 -4.21573255e-02 2.27954681e+01] [ 9.77222952e-02 2.52210345e-03 9.95210526e-01 1.19094099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17710568099999 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:110.09, Y:22.81, Z:11.91 [[ 9.09459210e-01 -4.06375535e-01 -8.79935855e-02 1.10089885e+02] [ 4.04200774e-01 9.13702171e-01 -4.20722923e-02 2.28091942e+01] [ 9.74970804e-02 2.69595837e-03 9.95232159e-01 1.19129030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:22.82, Z:11.91 [[ 9.09403088e-01 -4.06595248e-01 -8.75575718e-02 1.10113882e+02] [ 4.04439888e-01 9.13604441e-01 -4.18963335e-02 2.28225698e+01] [ 9.70278366e-02 2.68888044e-03 9.95278036e-01 1.19147876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:22.83, Z:11.92 [[ 9.07932631e-01 -4.09660424e-01 -8.85249962e-02 1.10142504e+02] [ 4.07470127e-01 9.12234932e-01 -4.23736224e-02 2.28305562e+01] [ 9.81143901e-02 2.40110299e-03 9.95172247e-01 1.19173258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:22.83, Z:11.92 [[ 9.05160355e-01 -4.15677650e-01 -8.88640736e-02 1.10172752e+02] [ 4.13496220e-01 9.09510255e-01 -4.25672615e-02 2.28313413e+01] [ 9.85170454e-02 1.78523896e-03 9.95133762e-01 1.19210029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:22.84, Z:11.93 [[ 9.03499367e-01 -4.19591232e-01 -8.73618431e-02 1.10201175e+02] [ 4.17499947e-01 9.07712168e-01 -4.18618593e-02 2.28370993e+01] [ 9.68642771e-02 1.34859858e-03 9.95296686e-01 1.19256812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:22.84, Z:11.93 [[ 9.01542925e-01 -4.24170630e-01 -8.54378792e-02 1.10229011e+02] [ 4.22187914e-01 9.05581870e-01 -4.09736842e-02 2.28429620e+01] [ 9.47508278e-02 8.68695065e-04 9.95500641e-01 1.19307846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:22.85, Z:11.93 [[ 9.01243874e-01 -4.24954621e-01 -8.46938541e-02 1.10254603e+02] [ 4.23008507e-01 9.05214307e-01 -4.06307842e-02 2.28534268e+01] [ 9.39323280e-02 7.92024609e-04 9.95578269e-01 1.19349302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:22.87, Z:11.94 [[ 9.02608997e-01 -4.22487388e-01 -8.24706365e-02 1.10280194e+02] [ 4.20628565e-01 9.06368188e-01 -3.96019926e-02 2.28661517e+01] [ 9.14801038e-02 1.05560932e-03 9.95806345e-01 1.19403798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41710568099998 meters Centerline goodness [0,1] 0.9999790921825671 Centerline is valid? [True, True] Translation: X:110.30, Y:22.88, Z:11.94 [[ 9.04093179e-01 -4.19393349e-01 -8.20045325e-02 1.10304301e+02] [ 4.17539798e-01 9.07803549e-01 -3.94110868e-02 2.28806754e+01] [ 9.09727533e-02 1.39113882e-03 9.95852410e-01 1.19428583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:22.89, Z:11.94 [[ 9.07749175e-01 -4.11100158e-01 -8.35948271e-02 1.10330364e+02] [ 4.09136971e-01 9.11587322e-01 -4.01932025e-02 2.28947637e+01] [ 9.27274164e-02 2.28361206e-03 9.95688913e-01 1.19422289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:22.91, Z:11.94 [[ 9.11477311e-01 -4.02384853e-01 -8.54139369e-02 1.10356336e+02] [ 4.00296081e-01 9.15464843e-01 -4.10751572e-02 2.29089587e+01] [ 9.47214774e-02 3.24820964e-03 9.95498514e-01 1.19423963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:22.92, Z:11.94 [[ 9.12942520e-01 -3.98752462e-01 -8.67895719e-02 1.10381541e+02] [ 3.96578861e-01 9.17051181e-01 -4.17413245e-02 2.29241478e+01] [ 9.62349353e-02 3.68852039e-03 9.95351813e-01 1.19420736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:22.94, Z:11.94 [[ 9.14735943e-01 -3.93463676e-01 -9.18939044e-02 1.10407067e+02] [ 3.90998629e-01 9.19329125e-01 -4.42044297e-02 2.29392233e+01] [ 1.01873580e-01 4.50499010e-03 9.94787152e-01 1.19365900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:22.95, Z:11.93 [[ 9.14559189e-01 -3.92589406e-01 -9.72370752e-02 1.10436728e+02] [ 3.89822606e-01 9.19700899e-01 -4.67823992e-02 2.29457048e+01] [ 1.07795300e-01 4.88006305e-03 9.94161133e-01 1.19321394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59710568099999 meters Centerline goodness [0,1] 0.9999789238518768 Centerline is valid? [True, True] Translation: X:110.47, Y:22.95, Z:11.93 [[ 9.13787484e-01 -3.94262956e-01 -9.77197817e-02 1.10465290e+02] [ 3.91476528e-01 9.18985556e-01 -4.70284560e-02 2.29531800e+01] [ 1.08344646e-01 4.71901370e-03 9.94102192e-01 1.19345187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:22.95, Z:11.94 [[ 9.12707374e-01 -3.97306379e-01 -9.54614634e-02 1.10497778e+02] [ 3.94660532e-01 9.17676008e-01 -4.59761800e-02 2.29539134e+01] [ 1.05869324e-01 4.28792653e-03 9.94370806e-01 1.19428750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65710568099999 meters Centerline goodness [0,1] 0.9999578619134905 Centerline is valid? [True, True] Translation: X:110.53, Y:22.96, Z:11.95 [[ 9.12402276e-01 -3.98404501e-01 -9.37866730e-02 1.10525016e+02] [ 3.95854342e-01 9.17200621e-01 -4.51924907e-02 2.29620843e+01] [ 1.04026086e-01 4.10786967e-03 9.94566086e-01 1.19481393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68710568099999 meters Centerline goodness [0,1] 0.9999368620435652 Centerline is valid? [True, True] Translation: X:110.55, Y:22.97, Z:11.95 [[ 9.12023189e-01 -3.99664602e-01 -9.20972836e-02 1.10554212e+02] [ 3.97208409e-01 9.16653040e-01 -4.44149061e-02 2.29678248e+01] [ 1.02172321e-01 3.92560875e-03 9.94758969e-01 1.19529112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:22.97, Z:11.95 [[ 9.11259253e-01 -4.01282022e-01 -9.26245798e-02 1.10582789e+02] [ 3.98802231e-01 9.15946675e-01 -4.47042393e-02 2.29728804e+01] [ 1.02778183e-01 3.79826261e-03 9.94697048e-01 1.19527183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74710568099998 meters Centerline goodness [0,1] 0.9999789269608463 Centerline is valid? [True, True] Translation: X:110.61, Y:22.98, Z:11.96 [[ 9.10719562e-01 -4.02547095e-01 -9.24430416e-02 1.10611276e+02] [ 4.00081287e-01 9.15391927e-01 -4.46383730e-02 2.29803578e+01] [ 1.02590661e-01 3.66830847e-03 9.94716894e-01 1.19551092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:22.99, Z:11.96 [[ 9.09447864e-01 -4.05592677e-01 -9.16469490e-02 1.10639079e+02] [ 4.03181202e-01 9.14047871e-01 -4.42877783e-02 2.29860538e+01] [ 1.01732497e-01 3.32709834e-03 9.94806227e-01 1.19573905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80710568099998 meters Centerline goodness [0,1] 0.999936816831996 Centerline is valid? [True, True] Translation: X:110.67, Y:22.99, Z:11.96 [[ 9.08052626e-01 -4.08933241e-01 -9.06313025e-02 1.10668358e+02] [ 4.06590358e-01 9.12559593e-01 -4.38094692e-02 2.29894989e+01] [ 1.00621613e-01 2.93148984e-03 9.94920448e-01 1.19622543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83710568099998 meters Centerline goodness [0,1] 0.9999161671626776 Centerline is valid? [True, True] Translation: X:110.70, Y:22.99, Z:11.97 [[ 9.06944437e-01 -4.11636052e-01 -8.94849050e-02 1.10697492e+02] [ 4.09364081e-01 9.11344584e-01 -4.32677501e-02 2.29941012e+01] [ 9.93621494e-02 2.60953933e-03 9.95047915e-01 1.19675558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86710568099998 meters Centerline goodness [0,1] 0.9999161671626776 Centerline is valid? [True, True] Translation: X:110.72, Y:23.01, Z:11.97 [[ 9.06789572e-01 -4.11980235e-01 -8.94704352e-02 1.10722080e+02] [ 4.09706986e-01 9.11189058e-01 -4.32976519e-02 2.30062552e+01] [ 9.93622584e-02 2.60519685e-03 9.95047916e-01 1.19700043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89710568099999 meters Centerline goodness [0,1] 0.9997690143211121 Centerline is valid? [True, True] Translation: X:110.75, Y:23.01, Z:11.98 [[ 9.04236187e-01 -4.18205000e-01 -8.63799526e-02 1.10752536e+02] [ 4.16111184e-01 9.08350710e-01 -4.18386274e-02 2.30090632e+01] [ 9.59604144e-02 1.88833658e-03 9.95383360e-01 1.19760899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92710568099999 meters Centerline goodness [0,1] 0.9996631862579993 Centerline is valid? [True, True] Translation: X:110.78, Y:23.02, Z:11.98 [[ 9.02921497e-01 -4.21301208e-01 -8.50768074e-02 1.10780407e+02] [ 4.19283202e-01 9.06919463e-01 -4.12151049e-02 2.30171651e+01] [ 9.45217859e-02 1.54272800e-03 9.95521598e-01 1.19805933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95710568099999 meters Centerline goodness [0,1] 0.9995385131733512 Centerline is valid? [True, True] Translation: X:110.81, Y:23.02, Z:11.99 [[ 9.01194996e-01 -4.25371775e-01 -8.31049449e-02 1.10810288e+02] [ 4.23460679e-01 9.05018011e-01 -4.02920992e-02 2.30205690e+01] [ 9.23505937e-02 1.11936185e-03 9.95725924e-01 1.19850273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98710568099999 meters Centerline goodness [0,1] 0.9994956075826993 Centerline is valid? [True, True] Translation: X:110.84, Y:23.03, Z:11.99 [[ 9.00628173e-01 -4.26432545e-01 -8.38103680e-02 1.10836008e+02] [ 4.24490069e-01 9.04518755e-01 -4.06694308e-02 2.30310869e+01] [ 9.31508186e-02 1.05136628e-03 9.95651455e-01 1.19862060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01710568099999 meters Centerline goodness [0,1] 0.9991998652404616 Centerline is valid? [True, True] Translation: X:110.86, Y:23.04, Z:11.98 [[ 9.00993937e-01 -4.25076388e-01 -8.67178710e-02 1.10862171e+02] [ 4.22986156e-01 9.05156588e-01 -4.21220142e-02 2.30431212e+01] [ 9.63983259e-02 1.27122052e-03 9.95342025e-01 1.19837870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04710568099999 meters Centerline goodness [0,1] 0.9993297306354991 Centerline is valid? [True, True] Translation: X:110.89, Y:23.06, Z:11.99 [[ 9.01616036e-01 -4.23571358e-01 -8.76118023e-02 1.10887416e+02] [ 4.21427220e-01 9.05861534e-01 -4.25908368e-02 2.30558327e+01] [ 9.74044202e-02 1.47858313e-03 9.95243786e-01 1.19856540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07710568099999 meters Centerline goodness [0,1] 0.9994940338154067 Centerline is valid? [True, True] Translation: X:110.91, Y:23.07, Z:11.99 [[ 9.03550616e-01 -4.19474816e-01 -8.73908665e-02 1.10910845e+02] [ 4.17321047e-01 9.07764926e-01 -4.24968481e-02 2.30710923e+01] [ 9.71567211e-02 1.92800529e-03 9.95267228e-01 1.19898254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10710568099998 meters Centerline goodness [0,1] 0.9990736061984167 Centerline is valid? [True, True] Translation: X:110.93, Y:23.09, Z:11.99 [[ 9.07015007e-01 -4.11925840e-01 -8.74121221e-02 1.10931802e+02] [ 4.09734135e-01 9.11213207e-01 -4.25256481e-02 2.30921941e+01] [ 9.71684934e-02 2.75567079e-03 9.95264131e-01 1.19921906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13710568099998 meters Centerline goodness [0,1] 0.9994522394977458 Centerline is valid? [True, True] Translation: X:110.96, Y:23.11, Z:11.99 [[ 9.09638020e-01 -4.05943222e-01 -8.81406391e-02 1.10956680e+02] [ 4.03685689e-01 9.13891850e-01 -4.28899871e-02 2.31086406e+01] [ 9.79619113e-02 3.43324830e-03 9.95184243e-01 1.19925213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16710568099998 meters Centerline goodness [0,1] 0.9994315310763011 Centerline is valid? [True, True] Translation: X:110.98, Y:23.12, Z:11.99 [[ 9.10601745e-01 -4.03808374e-01 -8.79957910e-02 1.10982102e+02] [ 4.01547389e-01 9.14836247e-01 -4.28291381e-02 2.31219785e+01] [ 9.77965038e-02 3.66580772e-03 9.95199681e-01 1.19940255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19710568099998 meters Centerline goodness [0,1] 0.9992835015699745 Centerline is valid? [True, True] Translation: X:111.01, Y:23.14, Z:12.00 [[ 9.11506547e-01 -4.01918359e-01 -8.72779843e-02 1.11006853e+02] [ 3.99682108e-01 9.15667330e-01 -4.25153378e-02 2.31361179e+01] [ 9.70052937e-02 3.86956005e-03 9.95276343e-01 1.19968009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22710568099998 meters Centerline goodness [0,1] 0.9993048680302488 Centerline is valid? [True, True] Translation: X:111.03, Y:23.15, Z:12.00 [[ 9.12990694e-01 -3.98626695e-01 -8.68605298e-02 1.11034068e+02] [ 3.96393787e-01 9.17103521e-01 -4.23449808e-02 2.31466889e+01] [ 9.65399375e-02 4.22959912e-03 9.95320125e-01 1.20000837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25710568099998 meters Centerline goodness [0,1] 0.9990349312913039 Centerline is valid? [True, True] Translation: X:111.06, Y:23.16, Z:12.00 [[ 9.13231931e-01 -3.97894677e-01 -8.76770506e-02 1.11060116e+02] [ 3.95615308e-01 9.17420763e-01 -4.27512888e-02 2.31566744e+01] [ 9.74472569e-02 4.35545869e-03 9.95231160e-01 1.20008725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28710568099999 meters Centerline goodness [0,1] 0.9991588333017896 Centerline is valid? [True, True] Translation: X:111.09, Y:23.17, Z:12.00 [[ 9.12731832e-01 -3.99106524e-01 -8.73761161e-02 1.11087170e+02] [ 3.96846924e-01 9.16894832e-01 -4.26190762e-02 2.31665709e+01] [ 9.71242607e-02 4.22484461e-03 9.95263296e-01 1.20026709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31710568099999 meters Centerline goodness [0,1] 0.9989474348988485 Centerline is valid? [True, True] Translation: X:111.12, Y:23.17, Z:12.00 [[ 9.12299803e-01 -4.00134393e-01 -8.71867953e-02 1.11116311e+02] [ 3.97885857e-01 9.16447128e-01 -4.25618000e-02 2.31733893e+01] [ 9.69325281e-02 4.13872903e-03 9.95282350e-01 1.20033283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34710568099999 meters Centerline goodness [0,1] 0.9988014634761765 Centerline is valid? [True, True] Translation: X:111.14, Y:23.18, Z:12.00 [[ 9.12618205e-01 -3.99432995e-01 -8.70706300e-02 1.11142910e+02] [ 3.97183988e-01 9.16752592e-01 -4.25389732e-02 2.31833276e+01] [ 9.68136952e-02 4.23878128e-03 9.95293495e-01 1.20048483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37710568099999 meters Centerline goodness [0,1] 0.9984266174372745 Centerline is valid? [True, True] Translation: X:111.17, Y:23.19, Z:12.01 [[ 9.13147403e-01 -3.98254130e-01 -8.69221911e-02 1.11171573e+02] [ 3.96005570e-01 9.17264690e-01 -4.24861978e-02 2.31901329e+01] [ 9.66509604e-02 4.37448941e-03 9.95308724e-01 1.20098505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40710568099999 meters Centerline goodness [0,1] 0.9984474004447987 Centerline is valid? [True, True] Translation: X:111.20, Y:23.20, Z:12.02 [[ 9.15076262e-01 -3.94234089e-01 -8.49406747e-02 1.11199697e+02] [ 3.92066942e-01 9.18997947e-01 -4.15485990e-02 2.31989269e+01] [ 9.44401798e-02 4.71770599e-03 9.95519360e-01 1.20163268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43710568099999 meters Centerline goodness [0,1] 0.9984043334942997 Centerline is valid? [True, True] Translation: X:111.23, Y:23.21, Z:12.02 [[ 9.16266992e-01 -3.91497541e-01 -8.47612737e-02 1.11226570e+02] [ 3.89327441e-01 9.20165603e-01 -4.14657235e-02 2.32106660e+01] [ 9.42281374e-02 4.99378396e-03 9.95538106e-01 1.20193262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46710568099998 meters Centerline goodness [0,1] 0.9980360612581743 Centerline is valid? [True, True] Translation: X:111.25, Y:23.23, Z:12.02 [[ 9.17974219e-01 -3.87274818e-01 -8.56828406e-02 1.11251310e+02] [ 3.85038316e-01 9.21947967e-01 -4.19218502e-02 2.32261640e+01] [ 9.52303975e-02 5.49200099e-03 9.95440108e-01 1.20169846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49710568099998 meters Centerline goodness [0,1] 0.9982348120284952 Centerline is valid? [True, True] Translation: X:111.28, Y:23.23, Z:12.01 [[ 9.18672223e-01 -3.84927415e-01 -8.87255993e-02 1.11280653e+02] [ 3.82517021e-01 9.22927675e-01 -4.34192971e-02 2.32332933e+01] [ 9.86005889e-02 5.94905028e-03 9.95109307e-01 1.20139427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52710568099998 meters Centerline goodness [0,1] 0.998191909847784 Centerline is valid? [True, True] Translation: X:111.31, Y:23.24, Z:12.01 [[ 9.18288674e-01 -3.85451521e-01 -9.04048442e-02 1.11309180e+02] [ 3.82950410e-01 9.22708495e-01 -4.42494916e-02 2.32376523e+01] [ 1.00473352e-01 6.01323480e-03 9.94921578e-01 1.20135460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55710568099998 meters Centerline goodness [0,1] 0.9986407076685 Centerline is valid? [True, True] Translation: X:111.34, Y:23.24, Z:12.02 [[ 9.17505278e-01 -3.87216198e-01 -9.08167394e-02 1.11337647e+02] [ 3.84699177e-01 9.21970315e-01 -4.44666310e-02 2.32449338e+01] [ 1.00948538e-01 5.86124376e-03 9.94874383e-01 1.20161367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58710568099998 meters Centerline goodness [0,1] 0.9983842877226851 Centerline is valid? [True, True] Translation: X:111.37, Y:23.25, Z:12.02 [[ 9.16189309e-01 -3.90179171e-01 -9.14186216e-02 1.11366897e+02] [ 3.87639890e-01 9.20721908e-01 -4.47938013e-02 2.32510416e+01] [ 1.01648736e-01 5.60209752e-03 9.94804579e-01 1.20169522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61710568099998 meters Centerline goodness [0,1] 0.9985936778472776 Centerline is valid? [True, True] Translation: X:111.40, Y:23.26, Z:12.02 [[ 9.15599143e-01 -3.91603653e-01 -9.12402727e-02 1.11396322e+02] [ 3.89080502e-01 9.20117915e-01 -4.47144924e-02 2.32578098e+01] [ 1.01462168e-01 5.44073985e-03 9.94824521e-01 1.20186520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64710568099999 meters Centerline goodness [0,1] 0.9989737575135611 Centerline is valid? [True, True] Translation: X:111.42, Y:23.26, Z:12.02 [[ 9.15536810e-01 -3.91770609e-01 -9.11489980e-02 1.11424348e+02] [ 3.89251225e-01 9.20046869e-01 -4.46905323e-02 2.32637866e+01] [ 1.01369787e-01 5.43596825e-03 9.94833964e-01 1.20221527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67710568099999 meters Centerline goodness [0,1] 0.9987285309321328 Centerline is valid? [True, True] Translation: X:111.45, Y:23.27, Z:12.03 [[ 9.15076276e-01 -3.92893795e-01 -9.09388492e-02 1.11451608e+02] [ 3.90387675e-01 9.19568382e-01 -4.46257155e-02 2.32706117e+01] [ 1.01157657e-01 5.33452761e-03 9.94856106e-01 1.20256042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70710568099999 meters Centerline goodness [0,1] 0.9990751833869307 Centerline is valid? [True, True] Translation: X:111.48, Y:23.28, Z:12.03 [[ 9.14462292e-01 -3.94630053e-01 -8.95870405e-02 1.11480157e+02] [ 3.92205155e-01 9.18826071e-01 -4.39746149e-02 2.32770925e+01] [ 9.96686130e-02 5.07662795e-03 9.95007736e-01 1.20311193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73710568099999 meters Centerline goodness [0,1] 0.9989725309289159 Centerline is valid? [True, True] Translation: X:111.51, Y:23.28, Z:12.04 [[ 9.11953640e-01 -4.01245413e-01 -8.56894213e-02 1.11511644e+02] [ 3.99055532e-01 9.15961087e-01 -4.20710029e-02 2.32798978e+01] [ 9.53689724e-02 4.17196668e-03 9.95433249e-01 1.20395439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76710568099999 meters Centerline goodness [0,1] 0.9988469843399509 Centerline is valid? [True, True] Translation: X:111.54, Y:23.28, Z:12.05 [[ 9.08740458e-01 -4.08865449e-01 -8.37843919e-02 1.11542974e+02] [ 4.06803084e-01 9.12588678e-01 -4.11479761e-02 2.32832276e+01] [ 9.32846731e-02 3.30908161e-03 9.95633979e-01 1.20450553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79710568099999 meters Centerline goodness [0,1] 0.9988884927542311 Centerline is valid? [True, True] Translation: X:111.57, Y:23.29, Z:12.05 [[ 9.07004922e-01 -4.12639956e-01 -8.40853003e-02 1.11569727e+02] [ 4.10578039e-01 9.10889469e-01 -4.13043467e-02 2.32924748e+01] [ 9.36362384e-02 2.93966811e-03 9.95602136e-01 1.20463884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82710568099999 meters Centerline goodness [0,1] 0.9991429228421514 Centerline is valid? [True, True] Translation: X:111.60, Y:23.30, Z:12.05 [[ 9.04382446e-01 -4.18232837e-01 -8.46976178e-02 1.11598269e+02] [ 4.16163981e-01 9.08336714e-01 -4.16167752e-02 2.32998136e+01] [ 9.43394577e-02 2.38938312e-03 9.95537221e-01 1.20474455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85710568099998 meters Centerline goodness [0,1] 0.9994557367440497 Centerline is valid? [True, True] Translation: X:111.63, Y:23.31, Z:12.05 [[ 9.02011204e-01 -4.23225725e-01 -8.51808251e-02 1.11626728e+02] [ 4.21154535e-01 9.06022312e-01 -4.18620052e-02 2.33072150e+01] [ 9.48928056e-02 1.88570692e-03 9.95485710e-01 1.20484874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88710568099998 meters Centerline goodness [0,1] 0.9995817562056923 Centerline is valid? [True, True] Translation: X:111.65, Y:23.32, Z:12.05 [[ 9.00659253e-01 -4.25996721e-01 -8.56720693e-02 1.11652945e+02] [ 4.23913071e-01 9.04723270e-01 -4.21131008e-02 2.33173258e+01] [ 9.54495575e-02 1.61204382e-03 9.95432963e-01 1.20504326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91710568099998 meters Centerline goodness [0,1] 0.9995609909062402 Centerline is valid? [True, True] Translation: X:111.68, Y:23.32, Z:12.05 [[ 8.97438117e-01 -4.32816510e-01 -8.52918230e-02 1.11680972e+02] [ 4.30780876e-01 9.01481597e-01 -4.19376620e-02 2.33246138e+01] [ 9.50403212e-02 8.94370156e-04 9.95473022e-01 1.20535473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94710568099998 meters Centerline goodness [0,1] 0.9998122966547093 Centerline is valid? [True, True] Translation: X:111.71, Y:23.33, Z:12.06 [[ 8.95821704e-01 -4.36397115e-01 -8.40299503e-02 1.11707119e+02] [ 4.34436235e-01 8.99754018e-01 -4.13263212e-02 2.33342656e+01] [ 9.36409727e-02 5.15360228e-04 9.95605897e-01 1.20576697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97710568099998 meters Centerline goodness [0,1] 0.9999161952650325 Centerline is valid? [True, True] Translation: X:111.73, Y:23.34, Z:12.06 [[ 8.92067679e-01 -4.44560173e-01 -8.11264982e-02 1.11734899e+02] [ 4.42765284e-01 8.95748933e-01 -3.99092984e-02 2.33413045e+01] [ 9.04110588e-02 -3.18201808e-04 9.95904483e-01 1.20634409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00710568099998 meters Centerline goodness [0,1] 0.9999790838736666 Centerline is valid? [True, True] Translation: X:111.76, Y:23.35, Z:12.06 [[ 8.87765355e-01 -4.53102508e-01 -8.10604209e-02 1.11763379e+02] [ 4.51343000e-01 8.91457672e-01 -3.99088483e-02 2.33496274e+01] [ 9.03447333e-02 -1.15636060e-03 9.95909881e-01 1.20641425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03710568099999 meters Centerline goodness [0,1] 0.9999372831040683 Centerline is valid? [True, True] Translation: X:111.79, Y:23.36, Z:12.06 [[ 8.85637070e-01 -4.57010882e-01 -8.23895197e-02 1.11789867e+02] [ 4.55206802e-01 8.89459752e-01 -4.05969967e-02 2.33597514e+01] [ 9.18354311e-02 -1.55006462e-03 9.95772992e-01 1.20648851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:23.37, Z:12.07 [[ 8.82331257e-01 -4.63318572e-01 -8.26284101e-02 1.11817196e+02] [ 4.61530315e-01 8.86189064e-01 -4.07272638e-02 2.33716055e+01] [ 9.20940912e-02 -2.20057829e-03 9.95747878e-01 1.20675301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:23.39, Z:12.07 [[ 8.81171971e-01 -4.65716288e-01 -8.15125604e-02 1.11841820e+02] [ 4.63983935e-01 8.84930848e-01 -4.02032643e-02 2.33865453e+01] [ 9.08562942e-02 -2.39452895e-03 9.95861135e-01 1.20715750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:23.40, Z:12.08 [[ 8.79685567e-01 -4.68853165e-01 -7.95613786e-02 1.11863840e+02] [ 4.67212783e-01 8.83272226e-01 -3.92732854e-02 2.34037477e+01] [ 8.86877602e-02 -2.62395079e-03 9.96056021e-01 1.20775748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:23.42, Z:12.08 [[ 8.77529964e-01 -4.72679226e-01 -8.07187147e-02 1.11887308e+02] [ 4.71005134e-01 8.81229323e-01 -3.98628268e-02 2.34228193e+01] [ 8.99740284e-02 -3.03810400e-03 9.95939478e-01 1.20787414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18710568099999 meters Centerline goodness [0,1] 0.9998953186500293 Centerline is valid? [True, True] Translation: X:111.91, Y:23.44, Z:12.08 [[ 8.76074338e-01 -4.75115159e-01 -8.22152051e-02 1.11909483e+02] [ 4.73386147e-01 8.79917353e-01 -4.06325952e-02 2.34403765e+01] [ 9.16477475e-02 -3.32236519e-03 9.95785947e-01 1.20773343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.93, Y:23.46, Z:12.08 [[ 8.75751987e-01 -4.75627588e-01 -8.26852774e-02 1.11931695e+02] [ 4.73879562e-01 8.79640245e-01 -4.08803162e-02 2.34596509e+01] [ 9.21771039e-02 -3.38184487e-03 9.95736885e-01 1.20794991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24710568099998 meters Centerline goodness [0,1] 0.9999161601341437 Centerline is valid? [True, True] Translation: X:111.95, Y:23.49, Z:12.08 [[ 8.78400990e-01 -4.70652474e-01 -8.30538945e-02 1.11949429e+02] [ 4.68863070e-01 8.82314112e-01 -4.11002449e-02 2.34894097e+01] [ 9.26235551e-02 -2.83840815e-03 9.95697153e-01 1.20796146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27710568099998 meters Centerline goodness [0,1] 0.9998533662910051 Centerline is valid? [True, True] Translation: X:111.97, Y:23.51, Z:12.08 [[ 8.80474710e-01 -4.66582889e-01 -8.40517237e-02 1.11968566e+02] [ 4.64730725e-01 8.84474137e-01 -4.16035290e-02 2.35128993e+01] [ 9.37530706e-02 -2.43056340e-03 9.95592514e-01 1.20807253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30710568099998 meters Centerline goodness [0,1] 0.9997064743374706 Centerline is valid? [True, True] Translation: X:111.98, Y:23.55, Z:12.08 [[ 8.85006327e-01 -4.57696484e-01 -8.53096103e-02 1.11983451e+02] [ 4.55745808e-01 8.89107240e-01 -4.22383153e-02 2.35478722e+01] [ 9.51817205e-02 -1.49832096e-03 9.95458786e-01 1.20797277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33710568099998 meters Centerline goodness [0,1] 0.9996646335073047 Centerline is valid? [True, True] Translation: X:112.00, Y:23.58, Z:12.08 [[ 8.88221787e-01 -4.51129664e-01 -8.68566895e-02 1.12000262e+02] [ 4.49075052e-01 8.92458059e-01 -4.30140631e-02 2.35798337e+01] [ 9.69208724e-02 -7.99144411e-04 9.95291769e-01 1.20809707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36710568099998 meters Centerline goodness [0,1] 0.9997485436486316 Centerline is valid? [True, True] Translation: X:112.02, Y:23.60, Z:12.08 [[ 8.89201414e-01 -4.49258948e-01 -8.65288541e-02 1.12022492e+02] [ 4.47209221e-01 8.93401402e-01 -4.28701140e-02 2.36000792e+01] [ 9.65647819e-02 -5.76335458e-04 9.95326535e-01 1.20831066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39710568099999 meters Centerline goodness [0,1] 0.9994963168167222 Centerline is valid? [True, True] Translation: X:112.04, Y:23.62, Z:12.09 [[ 8.90788233e-01 -4.46472849e-01 -8.46068467e-02 1.12042960e+02] [ 4.44497750e-01 8.94797149e-01 -4.19501111e-02 2.36236326e+01] [ 9.44355508e-02 -2.38887650e-04 9.95530949e-01 1.20880568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42710568099999 meters Centerline goodness [0,1] 0.9997696865643517 Centerline is valid? [True, True] Translation: X:112.07, Y:23.64, Z:12.09 [[ 8.91538778e-01 -4.45209151e-01 -8.33511769e-02 1.12065664e+02] [ 4.43283829e-01 8.95426606e-01 -4.13598958e-02 2.36403387e+01] [ 9.30486655e-02 -7.42778276e-05 9.95661559e-01 1.20926298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45710568099999 meters Centerline goodness [0,1] 0.9997063450445727 Centerline is valid? [True, True] Translation: X:112.08, Y:23.66, Z:12.10 [[ 8.93701383e-01 -4.41064722e-01 -8.22176959e-02 1.12084497e+02] [ 4.39172835e-01 8.97475225e-01 -4.08098324e-02 2.36636917e+01] [ 9.17881224e-02 3.64025100e-04 9.95778493e-01 1.20972700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48710568099999 meters Centerline goodness [0,1] 0.9999790149623319 Centerline is valid? [True, True] Translation: X:112.11, Y:23.69, Z:12.10 [[ 8.96389766e-01 -4.35401369e-01 -8.31326398e-02 1.12105398e+02] [ 4.33439020e-01 9.00235895e-01 -4.13031504e-02 2.36870810e+01] [ 9.28224346e-02 9.90791429e-04 9.95682185e-01 1.20962377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51710568099999 meters Centerline goodness [0,1] 0.9999370514918796 Centerline is valid? [True, True] Translation: X:112.13, Y:23.71, Z:12.09 [[ 8.97145602e-01 -4.33534641e-01 -8.47200300e-02 1.12128074e+02] [ 4.31484804e-01 9.01136050e-01 -4.21269933e-02 2.37055414e+01] [ 9.46077841e-02 1.23864126e-03 9.95513854e-01 1.20947898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:23.72, Z:12.09 [[ 8.98112575e-01 -4.30923393e-01 -8.77429856e-02 1.12151084e+02] [ 4.28710510e-01 9.02387130e-01 -4.36436374e-02 2.37235623e+01] [ 9.79852052e-02 1.58055951e-03 9.95186616e-01 1.20923934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57710568099999 meters Centerline goodness [0,1] 0.9997687715462877 Centerline is valid? [True, True] Translation: X:112.17, Y:23.74, Z:12.10 [[ 8.99447574e-01 -4.28043356e-01 -8.81643162e-02 1.12173631e+02] [ 4.25793849e-01 9.03756168e-01 -4.38678431e-02 2.37428942e+01] [ 9.84563833e-02 1.91700161e-03 9.95139521e-01 1.20959941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60710568099998 meters Centerline goodness [0,1] 0.9998530769876585 Centerline is valid? [True, True] Translation: X:112.20, Y:23.76, Z:12.10 [[ 8.99926708e-01 -4.26775214e-01 -8.94138488e-02 1.12198369e+02] [ 4.24451491e-01 9.04355258e-01 -4.45252659e-02 2.37581782e+01] [ 9.98641642e-02 2.11763455e-03 9.94998826e-01 1.20979664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:23.77, Z:12.10 [[ 9.00872693e-01 -4.24538663e-01 -9.05279752e-02 1.12221262e+02] [ 4.22141793e-01 9.05406559e-01 -4.51139631e-02 2.37745057e+01] [ 1.01117244e-01 2.42629565e-03 9.94871558e-01 1.20998977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:23.79, Z:12.10 [[ 9.01141969e-01 -4.24284980e-01 -8.90247525e-02 1.12246711e+02] [ 4.21963972e-01 9.05525449e-01 -4.43854438e-02 2.37865019e+01] [ 9.94462561e-02 2.43234815e-03 9.95039962e-01 1.21048935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69710568099998 meters Centerline goodness [0,1] 0.9999370739381227 Centerline is valid? [True, True] Translation: X:112.27, Y:23.80, Z:12.11 [[ 9.01492905e-01 -4.24441978e-01 -8.46141206e-02 1.12272939e+02] [ 4.22342985e-01 9.05452146e-01 -4.22233913e-02 2.37965286e+01] [ 9.45354168e-02 2.32790745e-03 9.95518777e-01 1.21141951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:23.81, Z:12.12 [[ 9.01118913e-01 -4.25546765e-01 -8.30340636e-02 1.12299566e+02] [ 4.23527179e-01 9.04933759e-01 -4.14683064e-02 2.38075778e+01] [ 9.27870309e-02 2.20069239e-03 9.95683546e-01 1.21196758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:23.82, Z:12.12 [[ 9.00960698e-01 -4.25884281e-01 -8.30204720e-02 1.12323985e+02] [ 4.23863621e-01 9.04774975e-01 -4.14954997e-02 2.38200479e+01] [ 9.27871265e-02 2.19645651e-03 9.95683546e-01 1.21221239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78710568099999 meters Centerline goodness [0,1] 0.9999580862166524 Centerline is valid? [True, True] Translation: X:112.35, Y:23.83, Z:12.13 [[ 8.99407925e-01 -4.29270831e-01 -8.24132202e-02 1.12352512e+02] [ 4.27290332e-01 9.03173883e-01 -4.12299460e-02 2.38281630e+01] [ 9.21322813e-02 1.86816791e-03 9.95745024e-01 1.21250389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81710568099999 meters Centerline goodness [0,1] 0.9999790913082568 Centerline is valid? [True, True] Translation: X:112.38, Y:23.84, Z:12.12 [[ 8.97294307e-01 -4.33306424e-01 -8.43117445e-02 1.12380485e+02] [ 4.31248122e-01 9.01245384e-01 -4.22115523e-02 2.38356052e+01] [ 9.42761074e-02 1.51690409e-03 9.95544933e-01 1.21242349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84710568099999 meters Centerline goodness [0,1] 0.9997901936512599 Centerline is valid? [True, True] Translation: X:112.41, Y:23.85, Z:12.12 [[ 8.95816782e-01 -4.35855968e-01 -8.68439305e-02 1.12408087e+02] [ 4.33682342e-01 9.00015491e-01 -4.34941575e-02 2.38458957e+01] [ 9.71180709e-02 1.30011701e-03 9.95272018e-01 1.21223561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87710568099999 meters Centerline goodness [0,1] 0.9997056040374304 Centerline is valid? [True, True] Translation: X:112.44, Y:23.85, Z:12.12 [[ 8.93229192e-01 -4.40424079e-01 -9.03783256e-02 1.12437697e+02] [ 4.38088763e-01 8.97789435e-01 -4.53030475e-02 2.38501128e+01] [ 1.01093259e-01 8.72275608e-04 9.94876571e-01 1.21207396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90710568099999 meters Centerline goodness [0,1] 0.9994154366479467 Centerline is valid? [True, True] Translation: X:112.46, Y:23.86, Z:12.13 [[ 8.93197216e-01 -4.40641308e-01 -8.96324266e-02 1.12464156e+02] [ 4.38341603e-01 8.97682834e-01 -4.49685306e-02 2.38589485e+01] [ 1.00276483e-01 8.76144779e-04 9.94959225e-01 1.21271286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93710568099999 meters Centerline goodness [0,1] 0.9993949130970017 Centerline is valid? [True, True] Translation: X:112.49, Y:23.87, Z:12.13 [[ 8.94171723e-01 -4.39039013e-01 -8.77591833e-02 1.12486402e+02] [ 4.36825658e-01 8.98467391e-01 -4.40419371e-02 2.38740242e+01] [ 9.81848930e-02 1.04559182e-03 9.95167641e-01 1.21324192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96710568099998 meters Centerline goodness [0,1] 0.9996219599277524 Centerline is valid? [True, True] Translation: X:112.51, Y:23.89, Z:12.14 [[ 8.97697021e-01 -4.32528577e-01 -8.40183785e-02 1.12508081e+02] [ 4.30470160e-01 9.01618624e-01 -4.21817328e-02 2.38928418e+01] [ 9.39973397e-02 1.69901106e-03 9.95570999e-01 1.21418928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99710568099998 meters Centerline goodness [0,1] 0.9991817037347881 Centerline is valid? [True, True] Translation: X:112.53, Y:23.91, Z:12.15 [[ 9.00068904e-01 -4.27965640e-01 -8.19840190e-02 1.12532079e+02] [ 4.25984026e-01 9.03792442e-01 -4.11926119e-02 2.39070106e+01] [ 9.17255593e-02 2.15230650e-03 9.95781999e-01 1.21478922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02710568099998 meters Centerline goodness [0,1] 0.9991623387502094 Centerline is valid? [True, True] Translation: X:112.56, Y:23.92, Z:12.16 [[ 9.03579134e-01 -4.20902013e-01 -7.99139813e-02 1.12557118e+02] [ 4.18990216e-01 9.07101747e-01 -4.01698830e-02 2.39208504e+01] [ 8.93976967e-02 2.81349178e-03 9.95992036e-01 1.21551934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05710568099998 meters Centerline goodness [0,1] 0.9988897268309033 Centerline is valid? [True, True] Translation: X:112.58, Y:23.94, Z:12.16 [[ 9.05721006e-01 -4.16303468e-01 -7.97551388e-02 1.12582237e+02] [ 4.14380836e-01 9.09219855e-01 -4.00971149e-02 2.39351621e+01] [ 8.92075237e-02 3.26779816e-03 9.96007700e-01 1.21575037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08710568099998 meters Centerline goodness [0,1] 0.9986225320365655 Centerline is valid? [True, True] Translation: X:112.61, Y:23.95, Z:12.16 [[ 9.06362415e-01 -4.14809466e-01 -8.02513535e-02 1.12606384e+02] [ 4.12856290e-01 9.09901782e-01 -4.03538136e-02 2.39496433e+01] [ 8.97599934e-02 3.44290389e-03 9.95957474e-01 1.21580318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11710568099998 meters Centerline goodness [0,1] 0.998783939616312 Centerline is valid? [True, True] Translation: X:112.63, Y:23.96, Z:12.16 [[ 9.07118600e-01 -4.12768188e-01 -8.22086897e-02 1.12634166e+02] [ 4.10708236e-01 9.10828385e-01 -4.13569646e-02 2.39594928e+01] [ 9.19488474e-02 3.75188591e-03 9.95756663e-01 1.21569667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14710568099999 meters Centerline goodness [0,1] 0.9989114279135004 Centerline is valid? [True, True] Translation: X:112.66, Y:23.97, Z:12.15 [[ 9.06876949e-01 -4.12553480e-01 -8.58709863e-02 1.12660072e+02] [ 4.10300999e-01 9.10924705e-01 -4.32350771e-02 2.39708062e+01] [ 9.60587843e-02 3.97594337e-03 9.95367722e-01 1.21532034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17710568099999 meters Centerline goodness [0,1] 0.9990346274921301 Centerline is valid? [True, True] Translation: X:112.69, Y:23.98, Z:12.15 [[ 9.06397453e-01 -4.13160413e-01 -8.79893697e-02 1.12686934e+02] [ 4.10796373e-01 9.10649374e-01 -4.43176923e-02 2.39799375e+01] [ 9.84377805e-02 4.02372954e-03 9.95135073e-01 1.21519672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20710568099999 meters Centerline goodness [0,1] 0.9989102187945343 Centerline is valid? [True, True] Translation: X:112.71, Y:23.99, Z:12.15 [[ 9.05699791e-01 -4.14120658e-01 -9.06199176e-02 1.12714409e+02] [ 4.11613185e-01 9.10212866e-01 -4.56850479e-02 2.39851478e+01] [ 1.01402537e-01 4.07658541e-03 9.94837126e-01 1.21506055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23710568099999 meters Centerline goodness [0,1] 0.9991606161077768 Centerline is valid? [True, True] Translation: X:112.74, Y:23.99, Z:12.15 [[ 9.04971125e-01 -4.15561140e-01 -9.13028071e-02 1.12743164e+02] [ 4.13019810e-01 9.09556572e-01 -4.60595243e-02 2.39932741e+01] [ 1.02185617e-01 3.97267144e-03 9.94757416e-01 1.21520625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26710568099999 meters Centerline goodness [0,1] 0.9990354169724674 Centerline is valid? [True, True] Translation: X:112.77, Y:24.00, Z:12.15 [[ 9.04392496e-01 -4.16660466e-01 -9.20232025e-02 1.12770324e+02] [ 4.14080766e-01 9.09053770e-01 -4.64581752e-02 2.40032732e+01] [ 1.03011324e-01 3.91138686e-03 9.94672493e-01 1.21531657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29710568099999 meters Centerline goodness [0,1] 0.9991809303790822 Centerline is valid? [True, True] Translation: X:112.80, Y:24.01, Z:12.15 [[ 9.02809391e-01 -4.19456919e-01 -9.48213873e-02 1.12800913e+02] [ 4.16728568e-01 9.07767543e-01 -4.79102125e-02 2.40077329e+01] [ 1.06172048e-01 3.73900890e-03 9.94340744e-01 1.21526006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32710568099998 meters Centerline goodness [0,1] 0.9990765033056984 Centerline is valid? [True, True] Translation: X:112.83, Y:24.01, Z:12.15 [[ 9.00861455e-01 -4.23524821e-01 -9.52647072e-02 1.12831028e+02] [ 4.20789745e-01 9.05878464e-01 -4.81684479e-02 2.40095465e+01] [ 1.06698780e-01 3.30668622e-03 9.94285893e-01 1.21536969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35710568099998 meters Centerline goodness [0,1] 0.9991179250236271 Centerline is valid? [True, True] Translation: X:112.86, Y:24.02, Z:12.16 [[ 8.99683902e-01 -4.26217562e-01 -9.43793698e-02 1.12859938e+02] [ 4.23546611e-01 9.04615809e-01 -4.77336987e-02 2.40160839e+01] [ 1.05722011e-01 2.97117806e-03 9.94391285e-01 1.21570677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38710568099998 meters Centerline goodness [0,1] 0.9991208607192197 Centerline is valid? [True, True] Translation: X:112.89, Y:24.02, Z:12.16 [[ 8.96725615e-01 -4.33160743e-01 -9.08567069e-02 1.12890930e+02] [ 4.30720379e-01 9.01314283e-01 -4.59621319e-02 2.40156898e+01] [ 1.01799439e-01 2.08158571e-03 9.94802765e-01 1.21648370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41710568099998 meters Centerline goodness [0,1] 0.999374504816313 Centerline is valid? [True, True] Translation: X:112.92, Y:24.02, Z:12.17 [[ 8.93572180e-01 -4.39597997e-01 -9.10074751e-02 1.12920882e+02] [ 4.37181558e-01 8.98193602e-01 -4.60492979e-02 2.40175091e+01] [ 1.01985511e-01 1.36158169e-03 9.94784952e-01 1.21681053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44710568099998 meters Centerline goodness [0,1] 0.9992477746667224 Centerline is valid? [True, True] Translation: X:112.95, Y:24.02, Z:12.17 [[ 8.92378828e-01 -4.41903970e-01 -9.15473025e-02 1.12948961e+02] [ 4.39469124e-01 8.97061664e-01 -4.63385411e-02 2.40249920e+01] [ 1.02600761e-01 1.11932016e-03 9.94721987e-01 1.21711466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47710568099998 meters Centerline goodness [0,1] 0.9992885838634081 Centerline is valid? [True, True] Translation: X:112.98, Y:24.03, Z:12.17 [[ 8.91584219e-01 -4.43460491e-01 -9.17625915e-02 1.12975225e+02] [ 4.41018818e-01 8.96293392e-01 -4.64817969e-02 2.40343648e+01] [ 1.02859045e-01 9.73406964e-04 9.94695466e-01 1.21728977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50710568099998 meters Centerline goodness [0,1] 0.9994548923412374 Centerline is valid? [True, True] Translation: X:113.00, Y:24.04, Z:12.18 [[ 8.90407362e-01 -4.45822966e-01 -9.17420965e-02 1.13003759e+02] [ 4.43393172e-01 8.95120870e-01 -4.64878848e-02 2.40407798e+01] [ 1.02845632e-01 7.15335698e-04 9.94697072e-01 1.21790251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53710568099999 meters Centerline goodness [0,1] 0.9995598868280415 Centerline is valid? [True, True] Translation: X:113.03, Y:24.05, Z:12.18 [[ 8.89350783e-01 -4.47984266e-01 -9.14619152e-02 1.13030964e+02] [ 4.45576829e-01 8.94041302e-01 -4.63836212e-02 2.40509740e+01] [ 1.02549862e-01 4.97999680e-04 9.94727741e-01 1.21833733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56710568099999 meters Centerline goodness [0,1] 0.9995826290198042 Centerline is valid? [True, True] Translation: X:113.05, Y:24.06, Z:12.19 [[ 8.89615987e-01 -4.47567742e-01 -9.09203608e-02 1.13054599e+02] [ 4.45182984e-01 8.94249845e-01 -4.61446113e-02 2.40633268e+01] [ 1.01958358e-01 5.74786438e-04 9.94788502e-01 1.21854356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59710568099999 meters Centerline goodness [0,1] 0.9996217772267866 Centerline is valid? [True, True] Translation: X:113.08, Y:24.08, Z:12.19 [[ 8.90771919e-01 -4.45347747e-01 -9.05028872e-02 1.13079579e+02] [ 4.42971309e-01 8.95357287e-01 -4.59537511e-02 2.40775595e+01] [ 1.01497819e-01 8.44128662e-04 9.94835404e-01 1.21903148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62710568099999 meters Centerline goodness [0,1] 0.9995583503333404 Centerline is valid? [True, True] Translation: X:113.10, Y:24.09, Z:12.19 [[ 8.91401499e-01 -4.44268406e-01 -8.96044156e-02 1.13103813e+02] [ 4.41929828e-01 8.95893186e-01 -4.55348819e-02 2.40916452e+01] [ 1.00505695e-01 9.90997977e-04 9.94935990e-01 1.21949534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65710568099999 meters Centerline goodness [0,1] 0.999267644535582 Centerline is valid? [True, True] Translation: X:113.13, Y:24.11, Z:12.20 [[ 8.92642506e-01 -4.42547724e-01 -8.56788619e-02 1.13126150e+02] [ 4.40398565e-01 8.96744196e-01 -4.35769592e-02 2.41080072e+01] [ 9.61169062e-02 1.16579823e-03 9.95369369e-01 1.22015400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68710568099999 meters Centerline goodness [0,1] 0.9992291666666666 Centerline is valid? [True, True] Translation: X:113.15, Y:24.12, Z:12.21 [[ 8.93493259e-01 -4.41205274e-01 -8.37120257e-02 1.13150350e+02] [ 4.39146770e-01 8.97405281e-01 -4.25896305e-02 2.41225412e+01] [ 9.39143835e-02 1.29168202e-03 9.95579439e-01 1.22065461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71710568099998 meters Centerline goodness [0,1] 0.9992707877575682 Centerline is valid? [True, True] Translation: X:113.17, Y:24.14, Z:12.21 [[ 8.93710097e-01 -4.40653061e-01 -8.43038703e-02 1.13174708e+02] [ 4.38559746e-01 8.97676418e-01 -4.29231528e-02 2.41356134e+01] [ 9.45918150e-02 1.38857105e-03 9.95515173e-01 1.22086471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74710568099998 meters Centerline goodness [0,1] 0.9993695889720098 Centerline is valid? [True, True] Translation: X:113.20, Y:24.15, Z:12.21 [[ 8.93946484e-01 -4.39657435e-01 -8.69541500e-02 1.13200116e+02] [ 4.37423969e-01 8.98164196e-01 -4.42871090e-02 2.41505558e+01] [ 9.75702610e-02 1.55447594e-03 9.95227425e-01 1.22088663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77710568099998 meters Centerline goodness [0,1] 0.9993281404186525 Centerline is valid? [True, True] Translation: X:113.23, Y:24.17, Z:12.21 [[ 8.94292110e-01 -4.38795888e-01 -8.77484469e-02 1.13225034e+02] [ 4.36513548e-01 8.98585160e-01 -4.47284423e-02 2.41661687e+01] [ 9.84761087e-02 1.69690724e-03 9.95137969e-01 1.22098101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80710568099998 meters Centerline goodness [0,1] 0.9991596285558216 Centerline is valid? [True, True] Translation: X:113.25, Y:24.18, Z:12.21 [[ 8.96054202e-01 -4.35070301e-01 -8.83215748e-02 1.13248221e+02] [ 4.32736189e-01 9.00393910e-01 -4.50577240e-02 2.41836291e+01] [ 9.91274856e-02 2.15422126e-03 9.95072410e-01 1.22114538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83710568099998 meters Centerline goodness [0,1] 0.9991792238403906 Centerline is valid? [True, True] Translation: X:113.27, Y:24.20, Z:12.21 [[ 8.98519755e-01 -4.29496265e-01 -9.05273911e-02 1.13272414e+02] [ 4.27011840e-01 9.03064067e-01 -4.62188245e-02 2.42019594e+01] [ 1.01602846e-01 2.87225898e-03 9.94820894e-01 1.22113148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86710568099998 meters Centerline goodness [0,1] 0.9992655853284932 Centerline is valid? [True, True] Translation: X:113.30, Y:24.22, Z:12.21 [[ 8.99505210e-01 -4.26982917e-01 -9.26065034e-02 1.13295960e+02] [ 4.24368057e-01 9.04253881e-01 -4.72934593e-02 2.42183397e+01] [ 1.03933289e-01 3.24147122e-03 9.94578988e-01 1.22115725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89710568099999 meters Centerline goodness [0,1] 0.9990938593163906 Centerline is valid? [True, True] Translation: X:113.32, Y:24.24, Z:12.21 [[ 9.01139186e-01 -4.22878067e-01 -9.55107757e-02 1.13317524e+02] [ 4.20071726e-01 9.06178437e-01 -4.87891877e-02 2.42394430e+01] [ 1.07181683e-01 3.84447251e-03 9.94232019e-01 1.22078587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92710568099999 meters Centerline goodness [0,1] 0.9991789646533757 Centerline is valid? [True, True] Translation: X:113.34, Y:24.25, Z:12.21 [[ 9.01480165e-01 -4.21981027e-01 -9.62575999e-02 1.13344685e+02] [ 4.19123539e-01 9.06595847e-01 -4.91877023e-02 2.42496330e+01] [ 1.08023017e-01 3.99791211e-03 9.94140354e-01 1.22121827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95710568099999 meters Centerline goodness [0,1] 0.9991166449333277 Centerline is valid? [True, True] Translation: X:113.37, Y:24.27, Z:12.21 [[ 9.02049585e-01 -4.20812353e-01 -9.60391041e-02 1.13369292e+02] [ 4.17956983e-01 9.07138149e-01 -4.91155724e-02 2.42656545e+01] [ 1.07789175e-01 4.16446749e-03 9.94165052e-01 1.22137666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98710568099999 meters Centerline goodness [0,1] 0.9994949069787019 Centerline is valid? [True, True] Translation: X:113.40, Y:24.27, Z:12.22 [[ 9.01298504e-01 -4.22425818e-01 -9.60074770e-02 1.13397511e+02] [ 4.19577149e-01 9.06388646e-01 -4.91389686e-02 2.42735505e+01] [ 1.07777656e-01 4.00633536e-03 9.94166951e-01 1.22175566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01710568099999 meters Centerline goodness [0,1] 0.9994735068654704 Centerline is valid? [True, True] Translation: X:113.43, Y:24.28, Z:12.22 [[ 9.00331845e-01 -4.24659684e-01 -9.52193312e-02 1.13425049e+02] [ 4.21865892e-01 9.05345312e-01 -4.87753615e-02 2.42817754e+01] [ 1.06919305e-01 3.74422313e-03 9.94260651e-01 1.22225970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04710568099999 meters Centerline goodness [0,1] 0.9994948219247285 Centerline is valid? [True, True] Translation: X:113.46, Y:24.29, Z:12.23 [[ 8.98260983e-01 -4.29720094e-01 -9.20209085e-02 1.13455019e+02] [ 4.27134254e-01 9.02956941e-01 -4.71708828e-02 2.42861752e+01] [ 1.03361194e-01 3.06648146e-03 9.94639161e-01 1.22311845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07710568099998 meters Centerline goodness [0,1] 0.9997066465510016 Centerline is valid? [True, True] Translation: X:113.48, Y:24.29, Z:12.23 [[ 8.95578166e-01 -4.35484343e-01 -9.10666569e-02 1.13484413e+02] [ 4.32980448e-01 9.00193139e-01 -4.66930822e-02 2.42917890e+01] [ 1.02311686e-01 2.38722303e-03 9.94749526e-01 1.22348572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10710568099998 meters Centerline goodness [0,1] 0.9994320572149769 Centerline is valid? [True, True] Translation: X:113.51, Y:24.30, Z:12.23 [[ 8.94240529e-01 -4.38035747e-01 -9.19704371e-02 1.13511432e+02] [ 4.35493851e-01 8.98955035e-01 -4.71693786e-02 2.43028749e+01] [ 1.03339162e-01 2.12821020e-03 9.94643900e-01 1.22348283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13710568099998 meters Centerline goodness [0,1] 0.9996003281516229 Centerline is valid? [True, True] Translation: X:113.54, Y:24.31, Z:12.23 [[ 8.92026106e-01 -4.42131739e-01 -9.38560189e-02 1.13538098e+02] [ 4.39502998e-01 8.96948474e-01 -4.81720892e-02 2.43136917e+01] [ 1.05482422e-01 1.72075948e-03 9.94419679e-01 1.22309541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16710568099998 meters Centerline goodness [0,1] 0.9998745478495411 Centerline is valid? [True, True] Translation: X:113.57, Y:24.32, Z:12.24 [[ 8.89835144e-01 -4.46620626e-01 -9.33993154e-02 1.13567573e+02] [ 4.44040239e-01 8.94722627e-01 -4.79550614e-02 2.43188762e+01] [ 1.04984200e-01 1.19904472e-03 9.94473167e-01 1.22373530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19710568099998 meters Centerline goodness [0,1] 0.9998950329596507 Centerline is valid? [True, True] Translation: X:113.60, Y:24.33, Z:12.24 [[ 8.88918641e-01 -4.48626452e-01 -9.25092224e-02 1.13595247e+02] [ 4.46102051e-01 8.93718822e-01 -4.75355355e-02 2.43283517e+01] [ 1.04002932e-01 9.86669837e-04 9.94576501e-01 1.22430186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22710568099998 meters Centerline goodness [0,1] 0.9999580061311049 Centerline is valid? [True, True] Translation: X:113.62, Y:24.34, Z:12.25 [[ 8.87370779e-01 -4.52105270e-01 -9.04097673e-02 1.13621592e+02] [ 4.49708829e-01 8.91964387e-01 -4.64919414e-02 2.43391825e+01] [ 1.01661544e-01 5.97519681e-04 9.94818865e-01 1.22511306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25710568099998 meters Centerline goodness [0,1] 0.9997902156583033 Centerline is valid? [True, True] Translation: X:113.65, Y:24.35, Z:12.26 [[ 8.87229870e-01 -4.52562190e-01 -8.95020782e-02 1.13645597e+02] [ 4.50212528e-01 8.91732661e-01 -4.60601924e-02 2.43534815e+01] [ 1.00657028e-01 5.71021670e-04 9.94921020e-01 1.22550714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28710568099999 meters Centerline goodness [0,1] 0.999665719538693 Centerline is valid? [True, True] Translation: X:113.67, Y:24.37, Z:12.26 [[ 8.89246909e-01 -4.49045571e-01 -8.71665690e-02 1.13668433e+02] [ 4.46798822e-01 8.93508342e-01 -4.48737707e-02 2.43700525e+01] [ 9.80344245e-02 9.57941509e-04 9.95182563e-01 1.22617687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31710568099999 meters Centerline goodness [0,1] 0.9994584799950014 Centerline is valid? [True, True] Translation: X:113.69, Y:24.39, Z:12.27 [[ 8.92141742e-01 -4.43689145e-01 -8.49885543e-02 1.13689946e+02] [ 4.41525558e-01 8.96179425e-01 -4.37906340e-02 2.43883962e+01] [ 9.55944228e-02 1.54283366e-03 9.95419171e-01 1.22676931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34710568099999 meters Centerline goodness [0,1] 0.9994555543922102 Centerline is valid? [True, True] Translation: X:113.71, Y:24.40, Z:12.27 [[ 8.92943562e-01 -4.42108216e-01 -8.48063683e-02 1.13714686e+02] [ 4.39945453e-01 8.96960068e-01 -4.37108163e-02 2.44025672e+01] [ 9.53928368e-02 1.72111599e-03 9.95438217e-01 1.22707748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37710568099999 meters Centerline goodness [0,1] 0.9993091030901935 Centerline is valid? [True, True] Translation: X:113.74, Y:24.42, Z:12.27 [[ 8.93407875e-01 -4.41147379e-01 -8.49197229e-02 1.13737730e+02] [ 4.38971114e-01 8.97432749e-01 -4.38043657e-02 2.44189156e+01] [ 9.55339214e-02 1.85785992e-03 9.95424441e-01 1.22695308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40710568099999 meters Centerline goodness [0,1] 0.999225844248232 Centerline is valid? [True, True] Translation: X:113.76, Y:24.43, Z:12.27 [[ 8.93083860e-01 -4.41895511e-01 -8.44368142e-02 1.13763668e+02] [ 4.39745388e-01 8.97064751e-01 -4.35755221e-02 2.44299747e+01] [ 9.50011173e-02 1.78589590e-03 9.95475564e-01 1.22724427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43710568099999 meters Centerline goodness [0,1] 0.9994763959284547 Centerline is valid? [True, True] Translation: X:113.79, Y:24.44, Z:12.28 [[ 8.93528003e-01 -4.41007498e-01 -8.43806513e-02 1.13788993e+02] [ 4.38852488e-01 8.97501376e-01 -4.35864031e-02 2.44439027e+01] [ 9.49536812e-02 1.91501303e-03 9.95479850e-01 1.22756060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46710568099998 meters Centerline goodness [0,1] 0.9991438892485018 Centerline is valid? [True, True] Translation: X:113.81, Y:24.46, Z:12.28 [[ 8.95501550e-01 -4.36810197e-01 -8.52867308e-02 1.13812432e+02] [ 4.34586222e-01 8.99550449e-01 -4.40886040e-02 2.44598304e+01] [ 9.59780688e-02 2.41697504e-03 9.95380514e-01 1.22779285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49710568099998 meters Centerline goodness [0,1] 0.9994142381958536 Centerline is valid? [True, True] Translation: X:113.84, Y:24.48, Z:12.28 [[ 8.98180706e-01 -4.30643781e-01 -8.84157947e-02 1.13835143e+02] [ 4.28222199e-01 9.02516310e-01 -4.57171540e-02 2.44775966e+01] [ 9.94845048e-02 3.20065958e-03 9.95033964e-01 1.22764909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52710568099998 meters Centerline goodness [0,1] 0.9994139562141572 Centerline is valid? [True, True] Translation: X:113.86, Y:24.49, Z:12.28 [[ 8.99344499e-01 -4.27866301e-01 -9.00549860e-02 1.13860671e+02] [ 4.25338445e-01 9.03834919e-01 -4.65794598e-02 2.44931652e+01] [ 1.01324622e-01 3.58713322e-03 9.94846950e-01 1.22767503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55710568099998 meters Centerline goodness [0,1] 0.9992259414225941 Centerline is valid? [True, True] Translation: X:113.88, Y:24.51, Z:12.27 [[ 9.00899296e-01 -4.24114570e-01 -9.22349656e-02 1.13884492e+02] [ 4.21439993e-01 9.05599113e-01 -4.77344527e-02 2.45094741e+01] [ 1.03772780e-01 4.13243160e-03 9.94592446e-01 1.22732466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58710568099998 meters Centerline goodness [0,1] 0.9993495457311315 Centerline is valid? [True, True] Translation: X:113.91, Y:24.52, Z:12.27 [[ 9.01670257e-01 -4.22274864e-01 -9.31380012e-02 1.13910996e+02] [ 4.19536541e-01 9.06457171e-01 -4.82129463e-02 2.45200868e+01] [ 1.04784724e-01 4.39738483e-03 9.94485206e-01 1.22747781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61710568099998 meters Centerline goodness [0,1] 0.9994970029760657 Centerline is valid? [True, True] Translation: X:113.94, Y:24.53, Z:12.28 [[ 9.02422927e-01 -4.20407492e-01 -9.42889287e-02 1.13939238e+02] [ 4.17588947e-01 9.07323302e-01 -4.88251779e-02 2.45300280e+01] [ 1.06077013e-01 4.68694554e-03 9.94346871e-01 1.22765067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64710568099999 meters Centerline goodness [0,1] 0.9992876896002681 Centerline is valid? [True, True] Translation: X:113.97, Y:24.54, Z:12.28 [[ 9.02240796e-01 -4.20836789e-01 -9.41166444e-02 1.13965580e+02] [ 4.18028088e-01 9.07124444e-01 -4.87622849e-02 2.45392415e+01] [ 1.05896472e-01 4.65192186e-03 9.94366279e-01 1.22783518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67710568099999 meters Centerline goodness [0,1] 0.9992876896002681 Centerline is valid? [True, True] Translation: X:113.99, Y:24.55, Z:12.28 [[ 9.02088813e-01 -4.21164166e-01 -9.41090792e-02 1.13989881e+02] [ 4.18355719e-01 9.06972606e-01 -4.87768808e-02 2.45520723e+01] [ 1.05897431e-01 4.63000700e-03 9.94366279e-01 1.22808061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70710568099999 meters Centerline goodness [0,1] 0.9991680878499231 Centerline is valid? [True, True] Translation: X:114.02, Y:24.56, Z:12.28 [[ 9.01202978e-01 -4.23135574e-01 -9.37522146e-02 1.14017178e+02] [ 4.20354584e-01 9.06055599e-01 -4.86340866e-02 2.45614113e+01] [ 1.05523531e-01 4.42001054e-03 9.94406983e-01 1.22829163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73710568099999 meters Centerline goodness [0,1] 0.9995394888326042 Centerline is valid? [True, True] Translation: X:114.05, Y:24.57, Z:12.29 [[ 8.99801540e-01 -4.26234846e-01 -9.31721250e-02 1.14046943e+02] [ 4.23501278e-01 9.04603426e-01 -4.83664045e-02 2.45657410e+01] [ 1.04899270e-01 4.06165122e-03 9.94474558e-01 1.22868112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76710568099999 meters Centerline goodness [0,1] 0.9993737344216438 Centerline is valid? [True, True] Translation: X:114.07, Y:24.58, Z:12.29 [[ 8.99278490e-01 -4.27269468e-01 -9.34826184e-02 1.14072948e+02] [ 4.24521940e-01 9.04115636e-01 -4.85390521e-02 2.45759972e+01] [ 1.05258352e-01 3.96470296e-03 9.94437007e-01 1.22890038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79710568099999 meters Centerline goodness [0,1] 0.9996215863939286 Centerline is valid? [True, True] Translation: X:114.10, Y:24.58, Z:12.29 [[ 8.97533716e-01 -4.30877782e-01 -9.36886660e-02 1.14103304e+02] [ 4.28136088e-01 9.02403259e-01 -4.86605298e-02 2.45806633e+01] [ 1.05511699e-01 3.56296716e-03 9.94411679e-01 1.22923269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82710568099998 meters Centerline goodness [0,1] 0.9995586751849361 Centerline is valid? [True, True] Translation: X:114.13, Y:24.58, Z:12.30 [[ 8.94330646e-01 -4.38014268e-01 -9.11931851e-02 1.14133761e+02] [ 4.35452254e-01 8.98964074e-01 -4.73806799e-02 2.45840632e+01] [ 1.02732811e-01 2.66371610e-03 9.94705421e-01 1.22983623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85710568099998 meters Centerline goodness [0,1] 0.9997294484911551 Centerline is valid? [True, True] Translation: X:114.16, Y:24.59, Z:12.30 [[ 8.92139111e-01 -4.42533808e-01 -9.08385138e-02 1.14161383e+02] [ 4.40014011e-01 8.96749257e-01 -4.72063522e-02 2.45910768e+01] [ 1.02349777e-01 2.14441427e-03 9.94746161e-01 1.23009059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88710568099998 meters Centerline goodness [0,1] 0.9998547235596879 Centerline is valid? [True, True] Translation: X:114.19, Y:24.59, Z:12.31 [[ 8.88188308e-01 -4.50530929e-01 -9.02408506e-02 1.14191484e+02] [ 4.48083928e-01 8.92759975e-01 -4.69086354e-02 2.45937092e+01] [ 1.01697211e-01 1.22822674e-03 9.94814640e-01 1.23050595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91710568099998 meters Centerline goodness [0,1] 0.9999581248298821 Centerline is valid? [True, True] Translation: X:114.22, Y:24.60, Z:12.31 [[ 8.86061929e-01 -4.55039964e-01 -8.85036162e-02 1.14219339e+02] [ 4.52707532e-01 8.90470734e-01 -4.60191520e-02 2.46033792e+01] [ 9.97504333e-02 7.09564906e-04 9.95012235e-01 1.23095478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94710568099998 meters Centerline goodness [0,1] 0.9999790303640329 Centerline is valid? [True, True] Translation: X:114.25, Y:24.62, Z:12.31 [[ 8.85689218e-01 -4.55946140e-01 -8.75655515e-02 1.14245494e+02] [ 4.53664222e-01 8.90007146e-01 -4.55637263e-02 2.46156033e+01] [ 9.87085718e-02 6.29943368e-04 9.95116185e-01 1.23135505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:24.63, Z:12.31 [[ 8.85351282e-01 -4.56214069e-01 -8.95646707e-02 1.14271419e+02] [ 4.53824480e-01 8.89869827e-01 -4.66372424e-02 2.46267564e+01] [ 1.00977464e-01 6.43702255e-04 9.94888505e-01 1.23142298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00710568099998 meters Centerline goodness [0,1] 0.9999581406057054 Centerline is valid? [True, True] Translation: X:114.30, Y:24.64, Z:12.32 [[ 8.84601798e-01 -4.57465550e-01 -9.05810624e-02 1.14297011e+02] [ 4.55026119e-01 8.89227192e-01 -4.71829644e-02 2.46384248e+01] [ 1.02131724e-01 5.21385830e-04 9.94770747e-01 1.23158835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03710568099999 meters Centerline goodness [0,1] 0.9999790781848233 Centerline is valid? [True, True] Translation: X:114.32, Y:24.65, Z:12.32 [[ 8.83490009e-01 -4.60037183e-01 -8.83809657e-02 1.14321192e+02] [ 4.57724274e-01 8.87899616e-01 -4.60734371e-02 2.46514903e+01] [ 9.96689196e-02 2.51307987e-04 9.95020625e-01 1.23206330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:24.67, Z:12.33 [[ 8.84596992e-01 -4.58397662e-01 -8.57889608e-02 1.14342740e+02] [ 4.56209910e-01 8.88747093e-01 -4.47339083e-02 2.46700195e+01] [ 9.67506085e-02 4.33706569e-04 9.95308561e-01 1.23262811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09710568099999 meters Centerline goodness [0,1] 0.9997698985461771 Centerline is valid? [True, True] Translation: X:114.37, Y:24.69, Z:12.33 [[ 8.86083411e-01 -4.55689472e-01 -8.48722221e-02 1.14365983e+02] [ 4.53534665e-01 8.90138510e-01 -4.42689553e-02 2.46869327e+01] [ 9.57209301e-02 7.33492032e-04 9.95407939e-01 1.23309662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12710568099999 meters Centerline goodness [0,1] 0.9994362903730922 Centerline is valid? [True, True] Translation: X:114.39, Y:24.71, Z:12.34 [[ 8.89855819e-01 -4.48026314e-01 -8.61919042e-02 1.14386164e+02] [ 4.45764711e-01 8.94018916e-01 -4.49888865e-02 2.47082046e+01] [ 9.72133978e-02 1.61231318e-03 9.95262255e-01 1.23351357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15710568099999 meters Centerline goodness [0,1] 0.9996440014239943 Centerline is valid? [True, True] Translation: X:114.41, Y:24.74, Z:12.33 [[ 8.93944227e-01 -4.39749448e-01 -8.65109369e-02 1.14405315e+02] [ 4.37431162e-01 8.98116922e-01 -4.51660660e-02 2.47355395e+01] [ 9.75586889e-02 2.53336428e-03 9.95226549e-01 1.23347882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18710568099999 meters Centerline goodness [0,1] 0.9994983801860173 Centerline is valid? [True, True] Translation: X:114.43, Y:24.76, Z:12.34 [[ 8.96064174e-01 -4.35446305e-01 -8.63452994e-02 1.14427367e+02] [ 4.33115010e-01 9.00209658e-01 -4.50994525e-02 2.47562673e+01] [ 9.73672624e-02 3.01455852e-03 9.95243954e-01 1.23355792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21710568099998 meters Centerline goodness [0,1] 0.9993320670437705 Centerline is valid? [True, True] Translation: X:114.45, Y:24.78, Z:12.34 [[ 8.98895850e-01 -4.29341161e-01 -8.74781047e-02 1.14448839e+02] [ 4.26918508e-01 9.03134674e-01 -4.56984537e-02 2.47796710e+01] [ 9.86247367e-02 3.73212843e-03 9.95117698e-01 1.23358319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24710568099998 meters Centerline goodness [0,1] 0.9994325704558351 Centerline is valid? [True, True] Translation: X:114.48, Y:24.79, Z:12.34 [[ 8.99769519e-01 -4.27452585e-01 -8.77445170e-02 1.14475011e+02] [ 4.25005141e-01 9.04029093e-01 -4.58478912e-02 2.47901087e+01] [ 9.89213958e-02 3.96066419e-03 9.95087368e-01 1.23397472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27710568099998 meters Centerline goodness [0,1] 0.9994342824816141 Centerline is valid? [True, True] Translation: X:114.50, Y:24.81, Z:12.34 [[ 9.00657068e-01 -4.25557718e-01 -8.78491559e-02 1.14496778e+02] [ 4.23094138e-01 9.04921603e-01 -4.59155975e-02 2.48085377e+01] [ 9.90363359e-02 4.18574454e-03 9.95075014e-01 1.23424542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30710568099998 meters Centerline goodness [0,1] 0.9995186874816891 Centerline is valid? [True, True] Translation: X:114.52, Y:24.82, Z:12.34 [[ 9.00782934e-01 -4.25079141e-01 -8.88697350e-02 1.14520713e+02] [ 4.22554175e-01 9.05145973e-01 -4.64621995e-02 2.48236380e+01] [ 1.00190195e-01 4.30007886e-03 9.94959011e-01 1.23435769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33710568099998 meters Centerline goodness [0,1] 0.9990577297568943 Centerline is valid? [True, True] Translation: X:114.54, Y:24.85, Z:12.34 [[ 9.00906028e-01 -4.24827108e-01 -8.88271192e-02 1.14540464e+02] [ 4.22302055e-01 9.05264112e-01 -4.64527905e-02 2.48457261e+01] [ 1.00146408e-01 4.33772394e-03 9.94963256e-01 1.23428236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36710568099998 meters Centerline goodness [0,1] 0.9991613200821906 Centerline is valid? [True, True] Translation: X:114.57, Y:24.85, Z:12.35 [[ 9.01177865e-01 -4.24460212e-01 -8.78178996e-02 1.14568692e+02] [ 4.21989397e-01 9.05436191e-01 -4.59374870e-02 2.48520565e+01] [ 9.90121400e-02 4.33962399e-03 9.95076763e-01 1.23485974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39710568099999 meters Centerline goodness [0,1] 0.9990564850924645 Centerline is valid? [True, True] Translation: X:114.59, Y:24.87, Z:12.35 [[ 9.01312128e-01 -4.24301639e-01 -8.72041629e-02 1.14593777e+02] [ 4.21863139e-01 9.05510511e-01 -4.56312040e-02 2.48659268e+01] [ 9.83256808e-02 4.33973571e-03 9.95144827e-01 1.23509245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42710568099999 meters Centerline goodness [0,1] 0.9990746193320434 Centerline is valid? [True, True] Translation: X:114.62, Y:24.88, Z:12.35 [[ 9.01412568e-01 -4.23727082e-01 -8.89423542e-02 1.14615797e+02] [ 4.21183837e-01 9.05778619e-01 -4.65754128e-02 2.48846296e+01] [ 1.00297347e-01 4.52258045e-03 9.94947229e-01 1.23501533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45710568099999 meters Centerline goodness [0,1] 0.9993698405696642 Centerline is valid? [True, True] Translation: X:114.65, Y:24.89, Z:12.35 [[ 9.01238251e-01 -4.24045568e-01 -8.91906388e-02 1.14646347e+02] [ 4.21487421e-01 9.05629576e-01 -4.67271302e-02 2.48874165e+01] [ 1.00588113e-01 4.51954482e-03 9.94917889e-01 1.23525554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48710568099999 meters Centerline goodness [0,1] 0.9992226564141351 Centerline is valid? [True, True] Translation: X:114.67, Y:24.90, Z:12.35 [[ 9.01704545e-01 -4.23089874e-01 -8.90161321e-02 1.14668804e+02] [ 4.20533306e-01 9.06075782e-01 -4.66734986e-02 2.49040586e+01] [ 1.00402446e-01 4.65145750e-03 9.94936035e-01 1.23530095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51710568099999 meters Centerline goodness [0,1] 0.999474491833603 Centerline is valid? [True, True] Translation: X:114.70, Y:24.91, Z:12.36 [[ 9.03391441e-01 -4.19581496e-01 -8.85170714e-02 1.14697350e+02] [ 4.17035569e-01 9.07703764e-01 -4.64242534e-02 2.49120948e+01] [ 9.98260366e-02 5.02450588e-03 9.94992219e-01 1.23576704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54710568099999 meters Centerline goodness [0,1] 0.9993283096492517 Centerline is valid? [True, True] Translation: X:114.72, Y:24.92, Z:12.36 [[ 9.04997067e-01 -4.15996072e-01 -8.90369384e-02 1.14724039e+02] [ 4.13401691e-01 9.09350005e-01 -4.67077168e-02 2.49234757e+01] [ 1.00395967e-01 5.46232585e-03 9.94932567e-01 1.23604777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57710568099998 meters Centerline goodness [0,1] 0.9633986110242132 Centerline is valid? [True, True] Translation: X:114.74, Y:24.95, Z:12.36 [[ 9.05885244e-01 -4.13845843e-01 -9.00196799e-02 1.14740147e+02] [ 4.11182318e-01 9.10328680e-01 -4.72312959e-02 2.49542242e+01] [ 1.01493972e-01 5.77163343e-03 9.94819412e-01 1.23583635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60710568099998 meters Centerline goodness [0,1] 0.9989706747332157 Centerline is valid? [True, True] Translation: X:114.77, Y:24.95, Z:12.36 [[ 9.06901282e-01 -4.11588180e-01 -9.01400853e-02 1.14774948e+02] [ 4.08905226e-01 9.11349905e-01 -4.73060973e-02 2.49504556e+01] [ 1.01619789e-01 6.04320842e-03 9.94804955e-01 1.23645309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63710568099998 meters Centerline goodness [0,1] 0.999206514930048 Centerline is valid? [True, True] Translation: X:114.80, Y:24.96, Z:12.37 [[ 9.06751991e-01 -4.12129062e-01 -8.91653632e-02 1.14800803e+02] [ 4.09505479e-01 9.11106197e-01 -4.68055568e-02 2.49638198e+01] [ 1.00529045e-01 5.92732706e-03 9.94916468e-01 1.23673037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66710568099998 meters Centerline goodness [0,1] 0.9990165512334959 Centerline is valid? [True, True] Translation: X:114.83, Y:24.97, Z:12.37 [[ 9.06225079e-01 -4.13530097e-01 -8.80281990e-02 1.14828187e+02] [ 4.10976279e-01 9.10472422e-01 -4.62435694e-02 2.49733005e+01] [ 9.92703552e-02 5.72958064e-03 9.95044003e-01 1.23707938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69710568099998 meters Centerline goodness [0,1] 0.9994558962017369 Centerline is valid? [True, True] Translation: X:114.86, Y:24.98, Z:12.38 [[ 9.04801351e-01 -4.16871467e-01 -8.69062470e-02 1.14856800e+02] [ 4.14394660e-01 9.08949856e-01 -4.56861520e-02 2.49799056e+01] [ 9.80386739e-02 5.32340730e-03 9.95168368e-01 1.23761732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72710568099998 meters Centerline goodness [0,1] 0.9993548118548119 Centerline is valid? [True, True] Translation: X:114.88, Y:24.99, Z:12.38 [[ 9.03690728e-01 -4.19436044e-01 -8.61189419e-02 1.14883438e+02] [ 4.17014805e-01 9.07771083e-01 -4.52803920e-02 2.49889482e+01] [ 9.71685136e-02 5.00659670e-03 9.95255351e-01 1.23801758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75710568099998 meters Centerline goodness [0,1] 0.9994548466231942 Centerline is valid? [True, True] Translation: X:114.91, Y:25.00, Z:12.38 [[ 9.01880732e-01 -4.23348668e-01 -8.59479574e-02 1.14913056e+02] [ 4.20953489e-01 9.05955220e-01 -4.52028690e-02 2.49962193e+01] [ 9.70015750e-02 4.58750401e-03 9.95273655e-01 1.23828912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78710568099999 meters Centerline goodness [0,1] 0.9997481795479823 Centerline is valid? [True, True] Translation: X:114.94, Y:25.00, Z:12.38 [[ 9.00792535e-01 -4.25482441e-01 -8.68187822e-02 1.14941345e+02] [ 4.23045367e-01 9.04955844e-01 -4.56895789e-02 2.50042919e+01] [ 9.80072779e-02 4.42854808e-03 9.95175844e-01 1.23815875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81710568099999 meters Centerline goodness [0,1] 0.999769903359411 Centerline is valid? [True, True] Translation: X:114.97, Y:25.02, Z:12.38 [[ 9.00160973e-01 -4.26715090e-01 -8.73181283e-02 1.14967943e+02] [ 4.24254407e-01 9.04375742e-01 -4.59642963e-02 2.50159830e+01] [ 9.85820558e-02 4.33016497e-03 9.95119504e-01 1.23815401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84710568099999 meters Centerline goodness [0,1] 0.9998533171283684 Centerline is valid? [True, True] Translation: X:115.00, Y:25.02, Z:12.38 [[ 8.98946141e-01 -4.29139222e-01 -8.79509182e-02 1.14995395e+02] [ 4.26651043e-01 9.03228947e-01 -4.63287838e-02 2.50239727e+01] [ 9.93213135e-02 4.12273039e-03 9.95046873e-01 1.23810778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87710568099999 meters Centerline goodness [0,1] 0.999874129394982 Centerline is valid? [True, True] Translation: X:115.03, Y:25.02, Z:12.38 [[ 8.95980127e-01 -4.34973885e-01 -8.95395561e-02 1.15029657e+02] [ 4.32422155e-01 9.00436055e-01 -4.71803970e-02 2.50222407e+01] [ 1.01146885e-01 3.55381031e-03 9.94865156e-01 1.23831396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90710568099999 meters Centerline goodness [0,1] 0.9999161196971921 Centerline is valid? [True, True] Translation: X:115.06, Y:25.03, Z:12.39 [[ 8.93687861e-01 -4.39680746e-01 -8.94586475e-02 1.15057664e+02] [ 4.37153946e-01 8.98148963e-01 -4.71685057e-02 2.50296125e+01] [ 1.01086275e-01 3.04672015e-03 9.94872998e-01 1.23859600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:25.03, Z:12.39 [[ 8.89475023e-01 -4.48566870e-01 -8.73037556e-02 1.15089409e+02] [ 4.46201865e-01 8.93747034e-01 -4.60449353e-02 2.50321477e+01] [ 9.86817051e-02 2.00072138e-03 9.95117037e-01 1.23914418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96710568099998 meters Centerline goodness [0,1] 0.9999375728316964 Centerline is valid? [True, True] Translation: X:115.12, Y:25.04, Z:12.39 [[ 8.86238581e-01 -4.55329587e-01 -8.51830089e-02 1.15118705e+02] [ 4.53106574e-01 8.90322087e-01 -4.49556921e-02 2.50391112e+01] [ 9.63099710e-02 1.24448746e-03 9.95350612e-01 1.23940059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:25.05, Z:12.40 [[ 8.84801758e-01 -4.58380941e-01 -8.37422370e-02 1.15145216e+02] [ 4.56244847e-01 8.88755357e-01 -4.42103576e-02 2.50484481e+01] [ 9.46915470e-02 9.10437987e-04 9.95506244e-01 1.23972373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.027105681 meters Centerline goodness [0,1] 0.9999790118792763 Centerline is valid? [True, True] Translation: X:115.18, Y:25.05, Z:12.40 [[ 8.81524419e-01 -4.64607910e-01 -8.39892244e-02 1.15175190e+02] [ 4.62485973e-01 8.85516474e-01 -4.43542508e-02 2.50538217e+01] [ 9.49811775e-02 2.55516954e-04 9.95479036e-01 1.24021786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057105681 meters Centerline goodness [0,1] 0.9999790873729558 Centerline is valid? [True, True] Translation: X:115.20, Y:25.06, Z:12.40 [[ 8.79697612e-01 -4.68022813e-01 -8.41828810e-02 1.15199794e+02] [ 4.65903337e-01 8.83716380e-01 -4.44909069e-02 2.50643262e+01] [ 9.52165503e-02 -8.25406222e-05 9.95456580e-01 1.24033847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.087105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:25.08, Z:12.40 [[ 8.77588296e-01 -4.71895826e-01 -8.45760720e-02 1.15225595e+02] [ 4.69772696e-01 8.81654178e-01 -4.47160334e-02 2.50754729e+01] [ 9.56681568e-02 -4.89261819e-04 9.95413163e-01 1.24043254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:25.09, Z:12.41 [[ 8.76021089e-01 -4.74616911e-01 -8.55911154e-02 1.15250975e+02] [ 4.72453960e-01 8.80192124e-01 -4.52667765e-02 2.50892814e+01] [ 9.68210032e-02 -7.83210501e-04 9.95301502e-01 1.24075032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14710568099997 meters Centerline goodness [0,1] 0.9999370382807253 Centerline is valid? [True, True] Translation: X:115.28, Y:25.10, Z:12.41 [[ 8.73260161e-01 -4.79682193e-01 -8.55668476e-02 1.15276036e+02] [ 4.77541311e-01 8.77441319e-01 -4.52882685e-02 2.51025660e+01] [ 9.68038637e-02 -1.31326392e-03 9.95302611e-01 1.24082224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:25.12, Z:12.41 [[ 8.71976542e-01 -4.82040808e-01 -8.54023980e-02 1.15301082e+02] [ 4.79918009e-01 8.76147379e-01 -4.52158816e-02 2.51159007e+01] [ 9.66209872e-02 -1.55896073e-03 9.95320026e-01 1.24109089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:25.13, Z:12.41 [[ 8.70820741e-01 -4.83978325e-01 -8.62335106e-02 1.15327125e+02] [ 4.81820006e-01 8.75078213e-01 -4.56902907e-02 2.51271458e+01] [ 9.75741768e-02 -1.76097775e-03 9.95226697e-01 1.24112109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:25.15, Z:12.41 [[ 8.67676656e-01 -4.89535149e-01 -8.65595691e-02 1.15350901e+02] [ 4.87386470e-01 8.71980314e-01 -4.58776648e-02 2.51454652e+01] [ 9.79369698e-02 -2.38098405e-03 9.95189771e-01 1.24130603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:25.16, Z:12.42 [[ 8.65187363e-01 -4.94300917e-01 -8.43648645e-02 1.15375239e+02] [ 4.92279753e-01 8.69286290e-01 -4.47436216e-02 2.51598730e+01] [ 9.54540333e-02 -2.81949859e-03 9.95429846e-01 1.24178853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:25.18, Z:12.42 [[ 8.63112418e-01 -4.98004347e-01 -8.38368905e-02 1.15396600e+02] [ 4.96024812e-01 8.67168632e-01 -4.44741340e-02 2.51811260e+01] [ 9.48490338e-02 -3.19900055e-03 9.95486528e-01 1.24229915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:25.20, Z:12.42 [[ 8.62359059e-01 -4.99223844e-01 -8.43350872e-02 1.15419203e+02] [ 4.97223017e-01 8.66466687e-01 -4.47744583e-02 2.51973345e+01] [ 9.54260208e-02 -3.32168680e-03 9.95430983e-01 1.24237067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35710568099998 meters Centerline goodness [0,1] 0.9999160069714214 Centerline is valid? [True, True] Translation: X:115.44, Y:25.22, Z:12.42 [[ 8.61420570e-01 -5.00846413e-01 -8.43058196e-02 1.15441559e+02] [ 4.98853438e-01 8.65529145e-01 -4.47721753e-02 2.52157553e+01] [ 9.53931273e-02 -3.48857515e-03 9.95433564e-01 1.24233951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:25.24, Z:12.43 [[ 8.61505088e-01 -5.00909614e-01 -8.30574634e-02 1.15461897e+02] [ 4.98974307e-01 8.65492799e-01 -4.41231805e-02 2.52381821e+01] [ 9.39873618e-02 -3.43119577e-03 9.95567478e-01 1.24298687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:25.26, Z:12.44 [[ 8.62546750e-01 -4.99504048e-01 -8.06771906e-02 1.15481663e+02] [ 4.97669026e-01 8.66305812e-01 -4.28926570e-02 2.52625010e+01] [ 9.13161749e-02 -3.15361692e-03 9.95816957e-01 1.24377231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:25.29, Z:12.44 [[ 8.64288595e-01 -4.96367113e-01 -8.13935660e-02 1.15499243e+02] [ 4.94483682e-01 8.68108101e-01 -4.32921786e-02 2.52881979e+01] [ 9.21472278e-02 -2.83085403e-03 9.95741369e-01 1.24391928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:25.31, Z:12.44 [[ 8.65858911e-01 -4.93479110e-01 -8.22600413e-02 1.15521040e+02] [ 4.91540980e-01 8.69753945e-01 -4.37668852e-02 2.53097800e+01] [ 9.31440390e-02 -2.53823372e-03 9.95649409e-01 1.24409556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50710568099998 meters Centerline goodness [0,1] 0.9999370025828941 Centerline is valid? [True, True] Translation: X:115.54, Y:25.34, Z:12.45 [[ 8.70807315e-01 -4.84980957e-01 -8.05486880e-02 1.15536597e+02] [ 4.83083533e-01 8.74523310e-01 -4.28868244e-02 2.53398788e+01] [ 9.12409984e-02 -1.56558432e-03 9.95827610e-01 1.24455943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53710568099999 meters Centerline goodness [0,1] 0.9996654679267375 Centerline is valid? [True, True] Translation: X:115.55, Y:25.37, Z:12.45 [[ 8.77266504e-01 -4.73395511e-01 -7.93736202e-02 1.15551238e+02] [ 4.71504651e-01 8.80849915e-01 -4.22704583e-02 2.53730483e+01] [ 8.99268918e-02 -3.42573986e-04 9.95948310e-01 1.24494498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.567105681 meters Centerline goodness [0,1] 0.9996654679267375 Centerline is valid? [True, True] Translation: X:115.58, Y:25.39, Z:12.45 [[ 8.77090389e-01 -4.73722413e-01 -7.93695486e-02 1.15575363e+02] [ 4.71832196e-01 8.80674140e-01 -4.22781019e-02 2.53861557e+01] [ 8.99267934e-02 -3.67391620e-04 9.95948310e-01 1.24519021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597105681 meters Centerline goodness [0,1] 0.9993579919645446 Centerline is valid? [True, True] Translation: X:115.59, Y:25.41, Z:12.45 [[ 8.80098264e-01 -4.68077406e-01 -7.95649940e-02 1.15593824e+02] [ 4.66151312e-01 8.83687435e-01 -4.24201834e-02 2.54082030e+01] [ 9.01665148e-02 2.44603440e-04 9.95926674e-01 1.24537627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.627105681 meters Centerline goodness [0,1] 0.999335520578097 Centerline is valid? [True, True] Translation: X:115.61, Y:25.44, Z:12.45 [[ 8.85309973e-01 -4.57947440e-01 -8.06870186e-02 1.15610432e+02] [ 4.55922694e-01 8.88978300e-01 -4.30357793e-02 2.54395010e+01] [ 9.14371336e-02 1.31296165e-03 9.95809985e-01 1.24521518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657105681 meters Centerline goodness [0,1] 0.9993704885009232 Centerline is valid? [True, True] Translation: X:115.63, Y:25.47, Z:12.45 [[ 8.89226369e-01 -4.49626069e-01 -8.43377861e-02 1.15629219e+02] [ 4.47372556e-01 8.93213917e-01 -4.50188337e-02 2.54686038e+01] [ 9.55733255e-02 2.30152319e-03 9.95419732e-01 1.24466364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.687105681 meters Centerline goodness [0,1] 0.9993069993069993 Centerline is valid? [True, True] Translation: X:115.65, Y:25.49, Z:12.45 [[ 8.90541600e-01 -4.46743351e-01 -8.57673423e-02 1.15652489e+02] [ 4.44396530e-01 8.94658142e-01 -4.58097453e-02 2.54872164e+01] [ 9.71976502e-02 2.68077455e-03 9.95261488e-01 1.24463483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717105681 meters Centerline goodness [0,1] 0.9993531829657605 Centerline is valid? [True, True] Translation: X:115.67, Y:25.51, Z:12.45 [[ 8.91952737e-01 -4.43995789e-01 -8.53701072e-02 1.15672405e+02] [ 4.41654838e-01 8.96023859e-01 -4.56316500e-02 2.55095166e+01] [ 9.67539134e-02 2.99715427e-03 9.95303822e-01 1.24486057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.747105681 meters Centerline goodness [0,1] 0.9994560328054062 Centerline is valid? [True, True] Translation: X:115.70, Y:25.52, Z:12.45 [[ 8.92329833e-01 -4.42938394e-01 -8.69082778e-02 1.15696967e+02] [ 4.40505009e-01 8.96546384e-01 -4.64749163e-02 2.55241561e+01] [ 9.85028270e-02 3.18742253e-03 9.95131666e-01 1.24510734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777105681 meters Centerline goodness [0,1] 0.9993483972674724 Centerline is valid? [True, True] Translation: X:115.72, Y:25.54, Z:12.45 [[ 8.91876713e-01 -4.43660047e-01 -8.78731571e-02 1.15721209e+02] [ 4.41171949e-01 8.96189531e-01 -4.70280353e-02 2.55390689e+01] [ 9.96154638e-02 3.17603756e-03 9.95020941e-01 1.24519835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.807105681 meters Centerline goodness [0,1] 0.9992673685973249 Centerline is valid? [True, True] Translation: X:115.75, Y:25.55, Z:12.46 [[ 8.90989818e-01 -4.45850105e-01 -8.57602932e-02 1.15745007e+02] [ 4.43487004e-01 8.95102962e-01 -4.59343594e-02 2.55525009e+01] [ 9.72441314e-02 2.89347108e-03 9.95256352e-01 1.24565354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837105681 meters Centerline goodness [0,1] 0.9993755463969027 Centerline is valid? [True, True] Translation: X:115.77, Y:25.56, Z:12.46 [[ 8.90101538e-01 -4.47920973e-01 -8.41787030e-02 1.15771273e+02] [ 4.45652375e-01 8.94069285e-01 -4.51007095e-02 2.55644440e+01] [ 9.54631464e-02 2.62977193e-03 9.95429491e-01 1.24617171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.867105681 meters Centerline goodness [0,1] 0.9992874208827598 Centerline is valid? [True, True] Translation: X:115.80, Y:25.57, Z:12.47 [[ 8.87671162e-01 -4.53234164e-01 -8.13553916e-02 1.15799071e+02] [ 4.51134841e-01 8.91389210e-01 -4.36191680e-02 2.55714420e+01] [ 9.22890154e-02 2.01722583e-03 9.95730219e-01 1.24704657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89710568099997 meters Centerline goodness [0,1] 0.9994342350648534 Centerline is valid? [True, True] Translation: X:115.83, Y:25.58, Z:12.47 [[ 8.83362222e-01 -4.61847009e-01 -7.98030375e-02 1.15829551e+02] [ 4.59861354e-01 8.86958916e-01 -4.27950420e-02 2.55771765e+01] [ 9.05467778e-02 1.10519048e-03 9.95891590e-01 1.24730656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92710568099997 meters Centerline goodness [0,1] 0.9993130724396336 Centerline is valid? [True, True] Translation: X:115.86, Y:25.59, Z:12.47 [[ 8.80910405e-01 -4.66278508e-01 -8.11246650e-02 1.15856312e+02] [ 4.64242282e-01 8.84637711e-01 -4.35341741e-02 2.55869054e+01] [ 9.20649876e-02 6.88207331e-04 9.95752763e-01 1.24722616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95710568099997 meters Centerline goodness [0,1] 0.999664436568025 Centerline is valid? [True, True] Translation: X:115.89, Y:25.59, Z:12.47 [[ 8.77409754e-01 -4.72264687e-01 -8.43693575e-02 1.15886366e+02] [ 4.70088010e-01 8.81456782e-01 -4.52902147e-02 2.55905264e+01] [ 9.57569115e-02 7.70528419e-05 9.95404746e-01 1.24699144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98710568099997 meters Centerline goodness [0,1] 0.9996435087130665 Centerline is valid? [True, True] Translation: X:115.91, Y:25.60, Z:12.47 [[ 8.77101987e-01 -4.72481040e-01 -8.63352250e-02 1.15912667e+02] [ 4.70198832e-01 8.81340830e-01 -4.63831835e-02 2.56016948e+01] [ 9.80059336e-02 8.80604372e-05 9.95185826e-01 1.24698810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01710568099998 meters Centerline goodness [0,1] 0.9994331303800126 Centerline is valid? [True, True] Translation: X:115.94, Y:25.62, Z:12.47 [[ 8.77377805e-01 -4.71938117e-01 -8.65020329e-02 1.15936932e+02] [ 4.69642948e-01 8.81631662e-01 -4.64877820e-02 2.56163915e+01] [ 9.82022874e-02 1.62278453e-04 9.95166461e-01 1.24727194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04710568099998 meters Centerline goodness [0,1] 0.9994132193302318 Centerline is valid? [True, True] Translation: X:115.96, Y:25.63, Z:12.47 [[ 8.79547472e-01 -4.67833403e-01 -8.67649232e-02 1.15960188e+02] [ 4.65500225e-01 8.83816425e-01 -4.66697755e-02 2.56349513e+01] [ 9.85179441e-02 6.59191711e-04 9.95135056e-01 1.24745022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07710568099998 meters Centerline goodness [0,1] 0.9993916509335011 Centerline is valid? [True, True] Translation: X:115.98, Y:25.65, Z:12.48 [[ 8.80486462e-01 -4.66029958e-01 -8.69463550e-02 1.15984191e+02] [ 4.63674548e-01 8.84768487e-01 -4.68042482e-02 2.56514477e+01] [ 9.87395768e-02 8.95695104e-04 9.95112905e-01 1.24774883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10710568099998 meters Centerline goodness [0,1] 0.9992861491948183 Centerline is valid? [True, True] Translation: X:116.01, Y:25.67, Z:12.48 [[ 8.81383525e-01 -4.64183659e-01 -8.77303381e-02 1.16007861e+02] [ 4.61772566e-01 8.85738233e-01 -4.72639364e-02 2.56674668e+01] [ 9.96452616e-02 1.14619156e-03 9.95022366e-01 1.24787481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13710568099998 meters Centerline goodness [0,1] 0.9996226415094339 Centerline is valid? [True, True] Translation: X:116.03, Y:25.68, Z:12.48 [[ 8.81099082e-01 -4.64721489e-01 -8.77402186e-02 1.16032465e+02] [ 4.62309001e-01 8.85456205e-01 -4.73042992e-02 2.56799281e+01] [ 9.96734453e-02 1.11668172e-03 9.95019576e-01 1.24814490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16710568099998 meters Centerline goodness [0,1] 0.999474911260003 Centerline is valid? [True, True] Translation: X:116.06, Y:25.69, Z:12.48 [[ 8.80692273e-01 -4.65656625e-01 -8.68621269e-02 1.16056466e+02] [ 4.63295548e-01 8.84964905e-01 -4.68439082e-02 2.56928218e+01] [ 9.86831101e-02 1.01223130e-03 9.95118395e-01 1.24848340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19710568099998 meters Centerline goodness [0,1] 0.9994552121529596 Centerline is valid? [True, True] Translation: X:116.08, Y:25.70, Z:12.49 [[ 8.78688902e-01 -4.69686875e-01 -8.54403471e-02 1.16082665e+02] [ 4.67420194e-01 8.82832896e-01 -4.60916485e-02 2.57037105e+01] [ 9.70781914e-02 5.63676407e-04 9.95276598e-01 1.24869314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22710568099998 meters Centerline goodness [0,1] 0.9996643591357248 Centerline is valid? [True, True] Translation: X:116.11, Y:25.71, Z:12.49 [[ 8.76839348e-01 -4.73087257e-01 -8.56808262e-02 1.16108634e+02] [ 4.70820418e-01 8.81015550e-01 -4.62572705e-02 2.57140288e+01] [ 9.73698654e-02 2.19912475e-04 9.95248241e-01 1.24886198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25710568099998 meters Centerline goodness [0,1] 0.9997481636935992 Centerline is valid? [True, True] Translation: X:116.14, Y:25.72, Z:12.49 [[ 8.72637723e-01 -4.81077177e-01 -8.40723105e-02 1.16137198e+02] [ 4.78927906e-01 8.76678026e-01 -4.54279536e-02 2.57201936e+01] [ 9.55586990e-02 -6.22429568e-04 9.95423602e-01 1.24928619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28710568099999 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:116.17, Y:25.72, Z:12.50 [[ 8.66765505e-01 -4.92042594e-01 -8.13120155e-02 1.16168109e+02] [ 4.90076837e-01 8.70569397e-01 -4.39729331e-02 2.57226820e+01] [ 9.24243084e-02 -1.73491375e-03 9.95718202e-01 1.24994988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.317105681 meters Centerline goodness [0,1] 0.9999580008399832 Centerline is valid? [True, True] Translation: X:116.20, Y:25.73, Z:12.50 [[ 8.63275239e-01 -4.98153805e-01 -8.12320666e-02 1.16196565e+02] [ 4.96217664e-01 8.67085432e-01 -4.39418268e-02 2.57325859e+01] [ 9.23249298e-02 -2.37489527e-03 9.95726100e-01 1.25027525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.347105681 meters Centerline goodness [0,1] 0.9999791127078286 Centerline is valid? [True, True] Translation: X:116.22, Y:25.74, Z:12.50 [[ 8.57731043e-01 -5.07526178e-01 -8.19428869e-02 1.16224516e+02] [ 5.05595620e-01 8.61629687e-01 -4.43548379e-02 2.57397111e+01] [ 9.31156653e-02 -3.38544332e-03 9.95649543e-01 1.25043740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:25.75, Z:12.51 [[ 8.54218536e-01 -5.13192535e-01 -8.33313518e-02 1.16250817e+02] [ 5.11221215e-01 8.58263921e-01 -4.51210719e-02 2.57506027e+01] [ 9.46760900e-02 -4.05749889e-03 9.95499862e-01 1.25055085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.407105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:25.76, Z:12.51 [[ 8.52408622e-01 -5.16062211e-01 -8.41387863e-02 1.16276658e+02] [ 5.14065374e-01 8.56539751e-01 -4.55680443e-02 2.57633570e+01] [ 9.55841607e-02 -4.41024283e-03 9.95411582e-01 1.25070045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:25.78, Z:12.51 [[ 8.48820724e-01 -5.21993536e-01 -8.38219987e-02 1.16298783e+02] [ 5.20039302e-01 8.52934504e-01 -4.54076633e-02 2.57840866e+01] [ 9.51971816e-02 -5.04776800e-03 9.95445637e-01 1.25108737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.467105681 meters Centerline goodness [0,1] 0.9999789566717872 Centerline is valid? [True, True] Translation: X:116.33, Y:25.79, Z:12.51 [[ 8.45736037e-01 -5.26752439e-01 -8.52198588e-02 1.16325976e+02] [ 5.24752990e-01 8.49999985e-01 -4.61987471e-02 2.57935757e+01] [ 9.67721814e-02 -5.64743051e-03 9.95290536e-01 1.25088182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497105681 meters Centerline goodness [0,1] 0.9998315363881402 Centerline is valid? [True, True] Translation: X:116.35, Y:25.81, Z:12.51 [[ 8.44235235e-01 -5.29086630e-01 -8.56399767e-02 1.16350329e+02] [ 5.27078038e-01 8.48547072e-01 -4.64392929e-02 2.58101274e+01] [ 9.72399606e-02 -5.93326353e-03 9.95243280e-01 1.25103645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.527105681 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:116.37, Y:25.84, Z:12.52 [[ 8.41867950e-01 -5.33262378e-01 -8.30035602e-02 1.16369337e+02] [ 5.31393055e-01 8.45927250e-01 -4.50389794e-02 2.58361165e+01] [ 9.42325667e-02 -6.19064217e-03 9.95530964e-01 1.25178395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557105681 meters Centerline goodness [0,1] 0.9996642041638684 Centerline is valid? [True, True] Translation: X:116.39, Y:25.86, Z:12.53 [[ 8.40623481e-01 -5.35895984e-01 -7.85344347e-02 1.16390817e+02] [ 5.34231708e-01 8.44261904e-01 -4.26417618e-02 2.58558901e+01] [ 8.91551803e-02 -6.10991893e-03 9.95999007e-01 1.25284295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.587105681 meters Centerline goodness [0,1] 0.9991610738255033 Centerline is valid? [True, True] Translation: X:116.41, Y:25.87, Z:12.53 [[ 8.39577561e-01 -5.37657552e-01 -7.76780226e-02 1.16413764e+02] [ 5.36036254e-01 8.43140350e-01 -4.21839462e-02 2.58718191e+01] [ 8.81739924e-02 -6.22154156e-03 9.96085659e-01 1.25341050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617105681 meters Centerline goodness [0,1] 0.9980093455985584 Centerline is valid? [True, True] Translation: X:116.43, Y:25.90, Z:12.54 [[ 8.38147429e-01 -5.39997906e-01 -7.68839928e-02 1.16432111e+02] [ 5.38418186e-01 8.41642107e-01 -4.17662571e-02 2.58978667e+01] [ 8.72624971e-02 -6.38945894e-03 9.96164862e-01 1.25373487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64710568099997 meters Centerline goodness [0,1] 0.9982455041042672 Centerline is valid? [True, True] Translation: X:116.45, Y:25.92, Z:12.54 [[ 8.36697457e-01 -5.42125515e-01 -7.77000053e-02 1.16452894e+02] [ 5.40520497e-01 8.40271002e-01 -4.22165351e-02 2.59218068e+01] [ 8.81757221e-02 -6.67597790e-03 9.96082564e-01 1.25370596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67710568099997 meters Centerline goodness [0,1] 0.9994123572867697 Centerline is valid? [True, True] Translation: X:116.47, Y:25.94, Z:12.54 [[ 8.36001291e-01 -5.43169717e-01 -7.79005776e-02 1.16472885e+02] [ 5.41558348e-01 8.39595554e-01 -4.23539974e-02 2.59443417e+01] [ 8.84103874e-02 -6.77971163e-03 9.96061062e-01 1.25383717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70710568099997 meters Centerline goodness [0,1] 0.9981524249422633 Centerline is valid? [True, True] Translation: X:116.49, Y:25.97, Z:12.54 [[ 8.34280609e-01 -5.45628996e-01 -7.91508985e-02 1.16494287e+02] [ 5.43975207e-01 8.37996404e-01 -4.30465039e-02 2.59656316e+01] [ 8.98155890e-02 -7.14326289e-03 9.95932796e-01 1.25385914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73710568099997 meters Centerline goodness [0,1] 0.9997481266922738 Centerline is valid? [True, True] Translation: X:116.51, Y:26.00, Z:12.54 [[ 8.34144729e-01 -5.45649906e-01 -8.04285421e-02 1.16507557e+02] [ 5.43941149e-01 8.37981862e-01 -4.37541416e-02 2.60020064e+01] [ 9.12721027e-02 -7.25110708e-03 9.95799591e-01 1.25397103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76710568099998 meters Centerline goodness [0,1] 0.9990594038710756 Centerline is valid? [True, True] Translation: X:116.53, Y:26.02, Z:12.54 [[ 8.35659691e-01 -5.43426849e-01 -7.97504898e-02 1.16530047e+02] [ 5.41733732e-01 8.39428002e-01 -4.34187973e-02 2.60198072e+01] [ 9.05397345e-02 -6.92019169e-03 9.95868800e-01 1.25422471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79710568099998 meters Centerline goodness [0,1] 0.9998950439765738 Centerline is valid? [True, True] Translation: X:116.54, Y:26.06, Z:12.55 [[ 8.41380236e-01 -5.34909561e-01 -7.71431176e-02 1.16538881e+02] [ 5.33288974e-01 8.44889450e-01 -4.20081752e-02 2.60637722e+01] [ 8.76479808e-02 -5.79472574e-03 9.96134656e-01 1.25480211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:26.09, Z:12.55 [[ 8.44314294e-01 -5.30342415e-01 -7.66178516e-02 1.16559011e+02] [ 5.28724235e-01 8.47767127e-01 -4.17322606e-02 2.60857205e+01] [ 8.70864837e-02 -5.27457086e-03 9.96186791e-01 1.25524294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:26.12, Z:12.56 [[ 8.49680893e-01 -5.21756307e-01 -7.62413020e-02 1.16572987e+02] [ 5.20118775e-01 8.53083419e-01 -4.15348096e-02 2.61222520e+01] [ 8.67112394e-02 -4.36319853e-03 9.96223932e-01 1.25565382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:26.16, Z:12.56 [[ 8.56460581e-01 -5.10357141e-01 -7.75297478e-02 1.16585051e+02] [ 5.08614289e-01 8.59956470e-01 -4.22655195e-02 2.61589750e+01] [ 8.82427179e-02 -3.23398620e-03 9.96093753e-01 1.25581133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:26.18, Z:12.56 [[ 8.60437659e-01 -5.03684776e-01 -7.71276966e-02 1.16604476e+02] [ 5.01932369e-01 8.63883823e-01 -4.20551605e-02 2.61845554e+01] [ 8.78119135e-02 -2.52704368e-03 9.96133867e-01 1.25604165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:26.22, Z:12.56 [[ 8.68087478e-01 -4.90502113e-01 -7.63662797e-02 1.16620100e+02] [ 4.88730367e-01 8.71439243e-01 -4.16686310e-02 2.62170825e+01] [ 8.69871245e-02 -1.15050314e-03 9.96208772e-01 1.25621647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:26.24, Z:12.56 [[ 8.70664713e-01 -4.85742121e-01 -7.74438420e-02 1.16640391e+02] [ 4.83900324e-01 8.74101902e-01 -4.22651386e-02 2.62395068e+01] [ 8.82237677e-02 -6.76335526e-04 9.96100451e-01 1.25634206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00710568099998 meters Centerline goodness [0,1] 0.9999790109982369 Centerline is valid? [True, True] Translation: X:116.66, Y:26.27, Z:12.56 [[ 8.74508145e-01 -4.78529074e-01 -7.90280267e-02 1.16657744e+02] [ 4.76578244e-01 8.78071704e-01 -4.31654837e-02 2.62664119e+01] [ 9.00482130e-02 8.55288472e-05 9.95937404e-01 1.25633993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:26.29, Z:12.56 [[ 8.75999049e-01 -4.75766770e-01 -7.91937306e-02 1.16680665e+02] [ 4.73794746e-01 8.79571390e-01 -4.32747973e-02 2.62852201e+01] [ 9.02452503e-02 3.87107865e-04 9.95919497e-01 1.25634424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:26.30, Z:12.57 [[ 8.75293236e-01 -4.77154713e-01 -7.86456074e-02 1.16705484e+02] [ 4.75212546e-01 8.78819268e-01 -4.30084868e-02 2.62982611e+01] [ 8.96369773e-02 2.71658279e-04 9.95974467e-01 1.25657454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:26.31, Z:12.57 [[ 8.72737957e-01 -4.81676485e-01 -7.94746589e-02 1.16731168e+02] [ 4.79708192e-01 8.76349096e-01 -4.35007130e-02 2.63084945e+01] [ 9.06008160e-02 -1.59921542e-04 9.95887276e-01 1.25657756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:26.32, Z:12.57 [[ 8.70606241e-01 -4.85448194e-01 -7.99050987e-02 1.16757822e+02] [ 4.83472757e-01 8.74265268e-01 -4.37531022e-02 2.63182888e+01] [ 9.10981170e-02 -5.40214565e-04 9.95841775e-01 1.25663269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:26.33, Z:12.57 [[ 8.69196930e-01 -4.88128860e-01 -7.89107946e-02 1.16783480e+02] [ 4.86212318e-01 8.72771205e-01 -4.32204321e-02 2.63307541e+01] [ 8.99682095e-02 -8.00333451e-04 9.95944316e-01 1.25713053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.187105681 meters Centerline goodness [0,1] 0.9999789942444229 Centerline is valid? [True, True] Translation: X:116.81, Y:26.35, Z:12.57 [[ 8.68319261e-01 -4.89793525e-01 -7.82557589e-02 1.16808737e+02] [ 4.87912544e-01 8.71837959e-01 -4.28943227e-02 2.63450211e+01] [ 8.92357027e-02 -9.35999836e-04 9.96010097e-01 1.25747524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217105681 meters Centerline goodness [0,1] 0.9998333506926362 Centerline is valid? [True, True] Translation: X:116.83, Y:26.36, Z:12.58 [[ 8.67904989e-01 -4.90461143e-01 -7.86689137e-02 1.16832514e+02] [ 4.88559843e-01 8.71462510e-01 -4.31552224e-02 2.63585506e+01] [ 8.97229688e-02 -9.79839278e-04 9.95966279e-01 1.25762925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:26.37, Z:12.58 [[ 8.67580142e-01 -4.90967006e-01 -7.90954901e-02 1.16857634e+02] [ 4.89045948e-01 8.71177562e-01 -4.34018006e-02 2.63712557e+01] [ 9.02150684e-02 -1.02678864e-03 9.95921778e-01 1.25766030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:26.38, Z:12.58 [[ 8.66207685e-01 -4.93029042e-01 -8.12810521e-02 1.16885856e+02] [ 4.91005357e-01 8.70011969e-01 -4.46420566e-02 2.63802754e+01] [ 9.27253185e-02 -1.24013953e-03 9.95690955e-01 1.25752705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.307105681 meters Centerline goodness [0,1] 0.9999789982148483 Centerline is valid? [True, True] Translation: X:116.91, Y:26.39, Z:12.58 [[ 8.64642764e-01 -4.95620691e-01 -8.21767707e-02 1.16911438e+02] [ 4.93560476e-01 8.68537775e-01 -4.51684571e-02 2.63905149e+01] [ 9.37600515e-02 -1.50462653e-03 9.95593687e-01 1.25764198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:26.40, Z:12.58 [[ 8.64117044e-01 -4.96650677e-01 -8.14852102e-02 1.16936068e+02] [ 4.94628180e-01 8.67949065e-01 -4.48038376e-02 2.64045257e+01] [ 9.29768683e-02 -1.58912147e-03 9.95667001e-01 1.25798433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:26.42, Z:12.58 [[ 8.63671690e-01 -4.97030938e-01 -8.38537932e-02 1.16962386e+02] [ 4.94887114e-01 8.67731259e-01 -4.61433225e-02 2.64167930e+01] [ 9.56972165e-02 -1.64548040e-03 9.95409130e-01 1.25809143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39710568099997 meters Centerline goodness [0,1] 0.999894778930533 Centerline is valid? [True, True] Translation: X:116.99, Y:26.43, Z:12.58 [[ 8.64152038e-01 -4.95958470e-01 -8.52434851e-02 1.16988296e+02] [ 4.93733936e-01 8.68344913e-01 -4.69458532e-02 2.64269283e+01] [ 9.73039402e-02 -1.51924672e-03 9.95253553e-01 1.25813540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:26.44, Z:12.58 [[ 8.67579801e-01 -4.89839131e-01 -8.58074255e-02 1.17011176e+02] [ 4.87551031e-01 8.71812470e-01 -4.72970326e-02 2.64432129e+01] [ 9.79759209e-02 -8.01548654e-04 9.95188463e-01 1.25846868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45710568099997 meters Centerline goodness [0,1] 0.9999158284583982 Centerline is valid? [True, True] Translation: X:117.03, Y:26.46, Z:12.59 [[ 8.70561387e-01 -4.84700262e-01 -8.47851841e-02 1.17033594e+02] [ 4.82440637e-01 8.74680292e-01 -4.67484662e-02 2.64617854e+01] [ 9.68189234e-02 -2.06408638e-04 9.95301991e-01 1.25897509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48710568099997 meters Centerline goodness [0,1] 0.9999158284583982 Centerline is valid? [True, True] Translation: X:117.06, Y:26.48, Z:12.59 [[ 8.70375905e-01 -4.85036018e-01 -8.47693641e-02 1.17057435e+02] [ 4.82775188e-01 8.74494149e-01 -4.67771361e-02 2.64752215e+01] [ 9.68189087e-02 -2.10853543e-04 9.95301992e-01 1.25921978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:26.50, Z:12.60 [[ 8.76744172e-01 -4.73954817e-01 -8.17709452e-02 1.17078303e+02] [ 4.71799321e-01 8.80548578e-01 -4.51619534e-02 2.64955629e+01] [ 9.34080149e-02 1.01600306e-03 9.95627395e-01 1.25995432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:26.51, Z:12.60 [[ 8.79074713e-01 -4.69878733e-01 -8.02597331e-02 1.17102250e+02] [ 4.67782213e-01 8.82729780e-01 -4.43614228e-02 2.65100670e+01] [ 9.16921457e-02 1.45292944e-03 9.95786342e-01 1.26039096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57710568099998 meters Centerline goodness [0,1] 0.9999790974268933 Centerline is valid? [True, True] Translation: X:117.13, Y:26.52, Z:12.61 [[ 8.81694609e-01 -4.65752565e-01 -7.54265517e-02 1.17126654e+02] [ 4.63885369e-01 8.84913208e-01 -4.17010637e-02 2.65221829e+01] [ 8.61683292e-02 1.77832934e-03 9.96279005e-01 1.26137239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:26.53, Z:12.62 [[ 8.82235045e-01 -4.65403812e-01 -7.11380152e-02 1.17153382e+02] [ 4.63741473e-01 8.85096801e-01 -3.93382546e-02 2.65317096e+01] [ 8.12722033e-02 1.71593885e-03 9.96690466e-01 1.26216796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63710568099998 meters Centerline goodness [0,1] 0.9999790501330317 Centerline is valid? [True, True] Translation: X:117.18, Y:26.54, Z:12.62 [[ 8.81808121e-01 -4.66323654e-01 -7.04037534e-02 1.17179780e+02] [ 4.64696081e-01 8.84612661e-01 -3.89614218e-02 2.65421410e+01] [ 8.04486842e-02 1.64014988e-03 9.96757402e-01 1.26247452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:26.55, Z:12.63 [[ 8.82377291e-01 -4.65271407e-01 -7.02341393e-02 1.17207474e+02] [ 4.63645438e-01 8.85166316e-01 -3.89037436e-02 2.65488080e+01] [ 8.02696938e-02 1.76404163e-03 9.96771621e-01 1.26268170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:26.56, Z:12.63 [[ 8.83240442e-01 -4.63501019e-01 -7.10853482e-02 1.17234185e+02] [ 4.61828390e-01 8.86094215e-01 -3.93901133e-02 2.65609687e+01] [ 8.12456735e-02 1.96170916e-03 9.96692175e-01 1.26277324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:26.57, Z:12.62 [[ 8.86312407e-01 -4.57059682e-01 -7.44766049e-02 1.17260461e+02] [ 4.55197617e-01 8.89431910e-01 -4.13038479e-02 2.65740885e+01] [ 8.51201925e-02 2.70653976e-03 9.96367014e-01 1.26247375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75710568099998 meters Centerline goodness [0,1] 0.9999790228860314 Centerline is valid? [True, True] Translation: X:117.29, Y:26.58, Z:12.62 [[ 8.88863123e-01 -4.51246367e-01 -7.93666447e-02 1.17289571e+02] [ 4.49107312e-01 8.92392604e-01 -4.40234341e-02 2.65827223e+01] [ 9.06916214e-02 3.48666663e-03 9.95872920e-01 1.26199355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:26.60, Z:12.62 [[ 8.90085489e-01 -4.48438034e-01 -8.15545962e-02 1.17314643e+02] [ 4.46166727e-01 8.93805485e-01 -4.52438626e-02 2.65958288e+01] [ 9.31830142e-02 3.88395835e-03 9.95641422e-01 1.26184805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:26.60, Z:12.62 [[ 8.92131201e-01 -4.44029148e-01 -8.33068774e-02 1.17344289e+02] [ 4.41638779e-01 8.96001300e-01 -4.62261816e-02 2.66032850e+01] [ 9.51688424e-02 4.44827124e-03 9.95451206e-01 1.26163934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.847105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:26.61, Z:12.62 [[ 8.91399910e-01 -4.45143044e-01 -8.51696546e-02 1.17376020e+02] [ 4.42648278e-01 8.95448482e-01 -4.72706804e-02 2.66060558e+01] [ 9.73072525e-02 4.43687929e-03 9.95244499e-01 1.26163879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:26.61, Z:12.62 [[ 8.90357102e-01 -4.47342223e-01 -8.45527457e-02 1.17406286e+02] [ 4.44890280e-01 8.94353027e-01 -4.69606341e-02 2.66109819e+01] [ 9.66274785e-02 4.19503935e-03 9.95311776e-01 1.26204407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.907105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:26.61, Z:12.63 [[ 8.87242807e-01 -4.54056646e-01 -8.14417797e-02 1.17441692e+02] [ 4.51809443e-01 8.90966540e-01 -4.52421409e-02 2.66074225e+01] [ 9.31043955e-02 3.34459904e-03 9.95650735e-01 1.26282183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:26.60, Z:12.63 [[ 8.83171041e-01 -4.61845785e-01 -8.18986175e-02 1.17476395e+02] [ 4.59605742e-01 8.86956587e-01 -4.55035721e-02 2.66030531e+01] [ 9.36561512e-02 2.54636227e-03 9.95601347e-01 1.26322021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.967105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:26.61, Z:12.63 [[ 8.81123338e-01 -4.65676803e-01 -8.22604254e-02 1.17506034e+02] [ 4.63432749e-01 8.84952239e-01 -4.57123772e-02 2.66090131e+01] [ 9.40837414e-02 2.15606740e-03 9.95561952e-01 1.26340480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997105681 meters Centerline goodness [0,1] 0.9999790799355662 Centerline is valid? [True, True] Translation: X:117.54, Y:26.61, Z:12.64 [[ 8.77476352e-01 -4.72290536e-01 -8.35278442e-02 1.17539165e+02] [ 4.70005426e-01 8.81441694e-01 -4.64267182e-02 2.66090264e+01] [ 9.55518241e-02 1.47980740e-03 9.95423357e-01 1.26354764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.027105681 meters Centerline goodness [0,1] 0.9999371385466432 Centerline is valid? [True, True] Translation: X:117.57, Y:26.61, Z:12.64 [[ 8.75005709e-01 -4.77060234e-01 -8.23319072e-02 1.17569890e+02] [ 4.74860330e-01 8.78870083e-01 -4.57716557e-02 2.66106381e+01] [ 9.41948869e-02 9.54303332e-04 9.95553320e-01 1.26395250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057105681 meters Centerline goodness [0,1] 0.9999791671006854 Centerline is valid? [True, True] Translation: X:117.59, Y:26.62, Z:12.64 [[ 8.74383187e-01 -4.78476787e-01 -8.07094020e-02 1.17594979e+02] [ 4.76367875e-01 8.78099841e-01 -4.48811443e-02 2.66215577e+01] [ 9.23454988e-02 7.95951660e-04 9.95726707e-01 1.26448164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.087105681 meters Centerline goodness [0,1] 0.9999790983006919 Centerline is valid? [True, True] Translation: X:117.62, Y:26.63, Z:12.65 [[ 8.75433470e-01 -4.76823970e-01 -7.90894491e-02 1.17619760e+02] [ 4.74791267e-01 8.78998281e-01 -4.39917541e-02 2.66349225e+01] [ 9.04958126e-02 9.60874193e-04 9.95896372e-01 1.26515174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11710568099997 meters Centerline goodness [0,1] 0.9999790039472579 Centerline is valid? [True, True] Translation: X:117.64, Y:26.65, Z:12.65 [[ 8.76487319e-01 -4.74750417e-01 -7.98875520e-02 1.17644241e+02] [ 4.72664864e-01 8.80119631e-01 -4.44675402e-02 2.66496014e+01] [ 9.14215860e-02 1.21519625e-03 9.95811537e-01 1.26534262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:26.67, Z:12.66 [[ 8.79546697e-01 -4.68909001e-01 -8.07586293e-02 1.17667848e+02] [ 4.66749910e-01 8.83244497e-01 -4.49853292e-02 2.66670052e+01] [ 9.24236407e-02 1.87261483e-03 9.95718014e-01 1.26554786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17710568099997 meters Centerline goodness [0,1] 0.9998117863566021 Centerline is valid? [True, True] Translation: X:117.69, Y:26.68, Z:12.66 [[ 8.83237050e-01 -4.62043338e-01 -8.00516606e-02 1.17691844e+02] [ 4.59893082e-01 8.86853606e-01 -4.45985951e-02 2.66837273e+01] [ 9.16005876e-02 2.57592665e-03 9.95792497e-01 1.26607341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20710568099997 meters Centerline goodness [0,1] 0.9999373669046724 Centerline is valid? [True, True] Translation: X:117.72, Y:26.70, Z:12.66 [[ 8.85295663e-01 -4.58046737e-01 -8.02793671e-02 1.17715793e+02] [ 4.55867116e-01 8.88923032e-01 -4.47327110e-02 2.67002619e+01] [ 9.18518507e-02 3.00495150e-03 9.95768150e-01 1.26641668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23710568099997 meters Centerline goodness [0,1] 0.9997697636938275 Centerline is valid? [True, True] Translation: X:117.74, Y:26.72, Z:12.67 [[ 8.89170934e-01 -4.50620869e-01 -7.94725294e-02 1.17738303e+02] [ 4.48454589e-01 8.92707584e-01 -4.42905390e-02 2.67195953e+01] [ 9.09039709e-02 3.74203945e-03 9.95852632e-01 1.26670771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26710568099998 meters Centerline goodness [0,1] 0.9993928100332907 Centerline is valid? [True, True] Translation: X:117.76, Y:26.74, Z:12.67 [[ 8.92721811e-01 -4.43687167e-01 -7.86731574e-02 1.17762131e+02] [ 4.41535213e-01 8.96170801e-01 -4.38697143e-02 2.67370694e+01] [ 8.99690157e-02 4.42648150e-03 9.95934728e-01 1.26679514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29710568099998 meters Centerline goodness [0,1] 0.9989954376124901 Centerline is valid? [True, True] Translation: X:117.79, Y:26.75, Z:12.67 [[ 8.95219624e-01 -4.38631927e-01 -7.86375021e-02 1.17789018e+02] [ 4.36461755e-01 8.98653230e-01 -4.38578252e-02 2.67500088e+01] [ 8.99052876e-02 4.94012367e-03 9.95938068e-01 1.26696912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32710568099998 meters Centerline goodness [0,1] 0.9987244097781309 Centerline is valid? [True, True] Translation: X:117.81, Y:26.76, Z:12.67 [[ 8.95634377e-01 -4.37551610e-01 -7.99227814e-02 1.17813776e+02] [ 4.35304947e-01 8.99178626e-01 -4.45802813e-02 2.67623832e+01] [ 9.13710306e-02 5.13685030e-03 9.95803669e-01 1.26698069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35710568099998 meters Centerline goodness [0,1] 0.998791490425687 Centerline is valid? [True, True] Translation: X:117.84, Y:26.77, Z:12.67 [[ 8.95263216e-01 -4.37479003e-01 -8.43557695e-02 1.17843841e+02] [ 4.34973746e-01 8.99212138e-01 -4.70677340e-02 2.67693493e+01] [ 9.64448772e-02 5.44546582e-03 9.95323431e-01 1.26652935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38710568099998 meters Centerline goodness [0,1] 0.9990756885070269 Centerline is valid? [True, True] Translation: X:117.87, Y:26.78, Z:12.67 [[ 8.94934229e-01 -4.38034340e-01 -8.49625949e-02 1.17869602e+02] [ 4.35492066e-01 8.98941691e-01 -4.74393899e-02 2.67807363e+01] [ 9.71565006e-02 5.45459782e-03 9.95254169e-01 1.26657841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41710568099998 meters Centerline goodness [0,1] 0.9988673784004866 Centerline is valid? [True, True] Translation: X:117.90, Y:26.79, Z:12.67 [[ 8.94727495e-01 -4.38752245e-01 -8.34216810e-02 1.17898804e+02] [ 4.36303420e-01 8.98592500e-01 -4.65923287e-02 2.67875062e+01] [ 9.54045857e-02 5.29027286e-03 9.95424522e-01 1.26712483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44710568099998 meters Centerline goodness [0,1] 0.9992248711610173 Centerline is valid? [True, True] Translation: X:117.93, Y:26.79, Z:12.67 [[ 8.95244887e-01 -4.37695011e-01 -8.34246352e-02 1.17928373e+02] [ 4.35238365e-01 8.99107095e-01 -4.66261365e-02 2.67922797e+01] [ 9.54157088e-02 5.43220846e-03 9.95422691e-01 1.26744512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47710568099998 meters Centerline goodness [0,1] 0.9991884130353352 Centerline is valid? [True, True] Translation: X:117.95, Y:26.81, Z:12.67 [[ 8.95593598e-01 -4.36584977e-01 -8.54731846e-02 1.17952583e+02] [ 4.33999553e-01 8.99644969e-01 -4.77840784e-02 2.68064937e+01] [ 9.77573313e-02 5.69979082e-03 9.95193959e-01 1.26738212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50710568099998 meters Centerline goodness [0,1] 0.9991011705685618 Centerline is valid? [True, True] Translation: X:117.98, Y:26.81, Z:12.67 [[ 8.96864215e-01 -4.33017630e-01 -9.01682471e-02 1.17983392e+02] [ 4.30119788e-01 9.01362434e-01 -5.04255012e-02 2.68126428e+01] [ 1.03109402e-01 6.44168025e-03 9.94649162e-01 1.26704206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53710568099999 meters Centerline goodness [0,1] 0.9986063732423662 Centerline is valid? [True, True] Translation: X:118.01, Y:26.82, Z:12.67 [[ 8.99051265e-01 -4.28536932e-01 -8.97937696e-02 1.18011727e+02] [ 4.25637614e-01 9.03497485e-01 -5.02485402e-02 2.68224314e+01] [ 1.02661800e-01 6.95640782e-03 9.94691994e-01 1.26734394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.567105681 meters Centerline goodness [0,1] 0.9986590399564188 Centerline is valid? [True, True] Translation: X:118.04, Y:26.83, Z:12.68 [[ 9.00017736e-01 -4.26626628e-01 -8.92064798e-02 1.18038544e+02] [ 4.23752985e-01 9.04399555e-01 -4.99485062e-02 2.68334556e+01] [ 1.01987663e-01 7.15302939e-03 9.94759946e-01 1.26774796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597105681 meters Centerline goodness [0,1] 0.9976826722338205 Centerline is valid? [True, True] Translation: X:118.07, Y:26.84, Z:12.68 [[ 9.01008043e-01 -4.24410425e-01 -8.97791624e-02 1.18066786e+02] [ 4.21487872e-01 9.05439200e-01 -5.02775197e-02 2.68409255e+01] [ 1.02627876e-01 7.45962148e-03 9.94691848e-01 1.26804066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.627105681 meters Centerline goodness [0,1] 0.9982978186861682 Centerline is valid? [True, True] Translation: X:118.10, Y:26.84, Z:12.68 [[ 9.01128750e-01 -4.23693420e-01 -9.19285727e-02 1.18098103e+02] [ 4.20623863e-01 9.05772636e-01 -5.14926992e-02 2.68430697e+01] [ 1.05083503e-01 7.73420033e-03 9.94433326e-01 1.26818552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657105681 meters Centerline goodness [0,1] 0.9946865483566103 Centerline is valid? [True, True] Translation: X:118.12, Y:26.86, Z:12.68 [[ 9.01054606e-01 -4.23636873e-01 -9.29106953e-02 1.18122895e+02] [ 4.20499349e-01 9.05798199e-01 -5.20568927e-02 2.68567462e+01] [ 1.06211560e-01 7.83721606e-03 9.94312668e-01 1.26818800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.687105681 meters Centerline goodness [0,1] 0.9974966622162884 Centerline is valid? [True, True] Translation: X:118.15, Y:26.86, Z:12.69 [[ 9.00805189e-01 -4.24157973e-01 -9.29517408e-02 1.18154006e+02] [ 4.21018492e-01 9.05554660e-01 -5.20978630e-02 2.68591358e+01] [ 1.06270606e-01 7.79562352e-03 9.94306686e-01 1.26856071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717105681 meters Centerline goodness [0,1] 0.9985512419425956 Centerline is valid? [True, True] Translation: X:118.19, Y:26.86, Z:12.69 [[ 8.99568740e-01 -4.26984105e-01 -9.19818259e-02 1.18186331e+02] [ 4.23920687e-01 9.04228710e-01 -5.15915810e-02 2.68610248e+01] [ 1.05201393e-01 7.41717468e-03 9.94423276e-01 1.26916333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.747105681 meters Centerline goodness [0,1] 0.9983854396007632 Centerline is valid? [True, True] Translation: X:118.21, Y:26.87, Z:12.69 [[ 8.98548725e-01 -4.29049089e-01 -9.23421227e-02 1.18212083e+02] [ 4.25969069e-01 9.03252223e-01 -5.18244495e-02 2.68729661e+01] [ 1.05643460e-01 7.23190501e-03 9.94377775e-01 1.26929977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777105681 meters Centerline goodness [0,1] 0.999181789573062 Centerline is valid? [True, True] Translation: X:118.24, Y:26.88, Z:12.70 [[ 8.97183774e-01 -4.31787838e-01 -9.28468613e-02 1.18243046e+02] [ 4.28687312e-01 9.01948366e-01 -5.21184498e-02 2.68773408e+01] [ 1.06247188e-01 6.95755606e-03 9.94315406e-01 1.26960994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.807105681 meters Centerline goodness [0,1] 0.9991811883266849 Centerline is valid? [True, True] Translation: X:118.27, Y:26.88, Z:12.70 [[ 8.95951096e-01 -4.34661778e-01 -9.13278284e-02 1.18274738e+02] [ 4.31675691e-01 9.00570177e-01 -5.12781948e-02 2.68806717e+01] [ 1.04535790e-01 6.51875132e-03 9.94499761e-01 1.27015892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837105681 meters Centerline goodness [0,1] 0.9993060228802153 Centerline is valid? [True, True] Translation: X:118.30, Y:26.89, Z:12.71 [[ 8.95208404e-01 -4.36354752e-01 -9.05342133e-02 1.18302244e+02] [ 4.33425573e-01 8.99752682e-01 -5.08663249e-02 2.68909815e+01] [ 1.03654164e-01 6.29611823e-03 9.94593471e-01 1.27067159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86710568099997 meters Centerline goodness [0,1] 0.9994136002848227 Centerline is valid? [True, True] Translation: X:118.33, Y:26.90, Z:12.71 [[ 8.94547332e-01 -4.38259195e-01 -8.78290941e-02 1.18330798e+02] [ 4.35508947e-01 8.98829145e-01 -4.93773759e-02 2.68994697e+01] [ 1.00583438e-01 5.92004356e-03 9.94911014e-01 1.27125229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89710568099997 meters Centerline goodness [0,1] 0.999097416091182 Centerline is valid? [True, True] Translation: X:118.36, Y:26.91, Z:12.71 [[ 8.94473551e-01 -4.38407266e-01 -8.78415338e-02 1.18356021e+02] [ 4.35655523e-01 8.98756952e-01 -4.93984433e-02 2.69102625e+01] [ 1.00604826e-01 5.91695166e-03 9.94908870e-01 1.27147739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92710568099997 meters Centerline goodness [0,1] 0.9993286478548201 Centerline is valid? [True, True] Translation: X:118.38, Y:26.92, Z:12.72 [[ 8.94677906e-01 -4.37764937e-01 -8.89567565e-02 1.18383054e+02] [ 4.34937386e-01 8.99068872e-01 -5.00463194e-02 2.69215710e+01] [ 1.01886775e-01 6.08471707e-03 9.94777393e-01 1.27171370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95710568099997 meters Centerline goodness [0,1] 0.9993073047858942 Centerline is valid? [True, True] Translation: X:118.41, Y:26.93, Z:12.72 [[ 8.94913576e-01 -4.37210988e-01 -8.93098136e-02 1.18408756e+02] [ 4.34354768e-01 8.99337582e-01 -5.02777173e-02 2.69327856e+01] [ 1.02301642e-01 6.20206840e-03 9.94734089e-01 1.27170088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98710568099997 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:118.44, Y:26.94, Z:12.72 [[ 8.94885089e-01 -4.37198704e-01 -8.96547345e-02 1.18437892e+02] [ 4.34318582e-01 8.99343276e-01 -5.04880337e-02 2.69389593e+01] [ 1.02703685e-01 6.24227134e-03 9.94692408e-01 1.27199841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01710568099998 meters Centerline goodness [0,1] 0.9997274747390047 Centerline is valid? [True, True] Translation: X:118.47, Y:26.95, Z:12.72 [[ 8.94969412e-01 -4.37232709e-01 -8.86414649e-02 1.18465271e+02] [ 4.34413815e-01 8.99327027e-01 -4.99553474e-02 2.69467370e+01] [ 1.01559777e-01 6.20143094e-03 9.94810110e-01 1.27245495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04710568099998 meters Centerline goodness [0,1] 0.9997690337210767 Centerline is valid? [True, True] Translation: X:118.49, Y:26.95, Z:12.73 [[ 8.94452138e-01 -4.38570730e-01 -8.72415475e-02 1.18492858e+02] [ 4.35842863e-01 8.98676727e-01 -4.92050740e-02 2.69540101e+01] [ 9.99818536e-02 5.98797780e-03 9.94971242e-01 1.27297310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07710568099998 meters Centerline goodness [0,1] 0.9998535779279185 Centerline is valid? [True, True] Translation: X:118.52, Y:26.96, Z:12.73 [[ 8.92861446e-01 -4.41631319e-01 -8.80920910e-02 1.18522302e+02] [ 4.38863304e-01 8.97178434e-01 -4.96976657e-02 2.69601551e+01] [ 1.00982370e-01 5.71274353e-03 9.94871814e-01 1.27307990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10710568099998 meters Centerline goodness [0,1] 0.9998117469879518 Centerline is valid? [True, True] Translation: X:118.55, Y:26.97, Z:12.73 [[ 8.91803745e-01 -4.43438831e-01 -8.97111161e-02 1.18550871e+02] [ 4.40575491e-01 8.96287002e-01 -5.06245708e-02 2.69689033e+01] [ 1.02855808e-01 5.62266276e-03 9.94680385e-01 1.27308621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13710568099998 meters Centerline goodness [0,1] 0.9998531078188609 Centerline is valid? [True, True] Translation: X:118.58, Y:26.98, Z:12.73 [[ 8.91407837e-01 -4.44083338e-01 -9.04547259e-02 1.18578170e+02] [ 4.41171761e-01 8.95967816e-01 -5.10798489e-02 2.69784263e+01] [ 1.03728233e-01 5.62690697e-03 9.94589760e-01 1.27297381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16710568099998 meters Centerline goodness [0,1] 0.9999159875661597 Centerline is valid? [True, True] Translation: X:118.61, Y:26.99, Z:12.73 [[ 8.92262219e-01 -4.42058644e-01 -9.19363222e-02 1.18605456e+02] [ 4.39037869e-01 8.96966239e-01 -5.19356860e-02 2.69874355e+01] [ 1.05422396e-01 5.97672339e-03 9.94409572e-01 1.27323964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19710568099998 meters Centerline goodness [0,1] 0.9999579106864767 Centerline is valid? [True, True] Translation: X:118.63, Y:26.99, Z:12.74 [[ 8.92616625e-01 -4.41356534e-01 -9.18693125e-02 1.18634457e+02] [ 4.38334892e-01 8.97311306e-01 -5.19128315e-02 2.69945643e+01] [ 1.05347440e-01 6.06873125e-03 9.94416958e-01 1.27371233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22710568099998 meters Centerline goodness [0,1] 0.9998949910742413 Centerline is valid? [True, True] Translation: X:118.66, Y:27.01, Z:12.74 [[ 8.92213638e-01 -4.42546848e-01 -9.00395042e-02 1.18659935e+02] [ 4.39646983e-01 8.96726358e-01 -5.09153058e-02 2.70067774e+01] [ 1.03273205e-01 5.84173380e-03 9.94635873e-01 1.27400058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25710568099998 meters Centerline goodness [0,1] 0.9999371806683977 Centerline is valid? [True, True] Translation: X:118.69, Y:27.01, Z:12.75 [[ 8.89549760e-01 -4.48110400e-01 -8.88723475e-02 1.18693437e+02] [ 4.45309541e-01 8.93963343e-01 -5.02887119e-02 2.70072100e+01] [ 1.01983516e-01 5.15860735e-03 9.94772713e-01 1.27465225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28710568099999 meters Centerline goodness [0,1] 0.9996853498909213 Centerline is valid? [True, True] Translation: X:118.72, Y:27.01, Z:12.75 [[ 8.87165566e-01 -4.52854758e-01 -8.86556663e-02 1.18723061e+02] [ 4.50088097e-01 8.91572287e-01 -5.01952310e-02 2.70128975e+01] [ 1.01774084e-01 4.62862041e-03 9.94796769e-01 1.27509125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.317105681 meters Centerline goodness [0,1] 0.9998528484338869 Centerline is valid? [True, True] Translation: X:118.76, Y:27.01, Z:12.76 [[ 8.80816789e-01 -4.65474494e-01 -8.65752817e-02 1.18756290e+02] [ 4.62895642e-01 8.85055831e-01 -4.90285637e-02 2.70130081e+01] [ 9.94455038e-02 3.10986144e-03 9.95038150e-01 1.27554634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.347105681 meters Centerline goodness [0,1] 0.9999371530323662 Centerline is valid? [True, True] Translation: X:118.79, Y:27.01, Z:12.76 [[ 8.72827726e-01 -4.80515085e-01 -8.53054168e-02 1.18788869e+02] [ 4.78079684e-01 8.76985331e-01 -4.83378143e-02 2.70118657e+01] [ 9.80386481e-02 1.40779781e-03 9.95181612e-01 1.27575840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377105681 meters Centerline goodness [0,1] 0.9999371530323662 Centerline is valid? [True, True] Translation: X:118.81, Y:27.03, Z:12.76 [[ 8.72668283e-01 -4.80805535e-01 -8.53000914e-02 1.18812710e+02] [ 4.78370600e-01 8.76826161e-01 -4.83472096e-02 2.70255652e+01] [ 9.80389576e-02 1.38602048e-03 9.95181612e-01 1.27600391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.407105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:27.03, Z:12.76 [[ 8.68004176e-01 -4.89120978e-01 -8.56120220e-02 1.18842633e+02] [ 4.86704722e-01 8.72215819e-01 -4.85600388e-02 2.70312479e+01] [ 9.84238936e-02 4.82541025e-04 9.95144464e-01 1.27625633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:27.03, Z:12.77 [[ 8.59538162e-01 -5.03553141e-01 -8.73406109e-02 1.18875307e+02] [ 5.01109754e-01 8.63963464e-01 -4.95595231e-02 2.70289932e+01] [ 1.00414950e-01 -1.16893068e-03 9.94944959e-01 1.27657515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.467105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:27.04, Z:12.77 [[ 8.54173235e-01 -5.12838468e-01 -8.59347989e-02 1.18905008e+02] [ 5.10518320e-01 8.58482285e-01 -4.87771615e-02 2.70356192e+01] [ 9.87883073e-02 -2.20714329e-03 9.95106024e-01 1.27708057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:27.05, Z:12.77 [[ 8.52998036e-01 -5.14857445e-01 -8.55345639e-02 1.18930610e+02] [ 5.12565582e-01 8.57272450e-01 -4.85846737e-02 2.70491750e+01] [ 9.83406062e-02 -2.39944229e-03 9.95149922e-01 1.27742685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:27.06, Z:12.78 [[ 8.52240461e-01 -5.15990181e-01 -8.62573514e-02 1.18954132e+02] [ 5.13661533e-01 8.56590789e-01 -4.90311219e-02 2.70633367e+01] [ 9.91868301e-02 -2.52077738e-03 9.95065635e-01 1.27765482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.98, Y:27.08, Z:12.78 [[ 8.52628319e-01 -5.15418874e-01 -8.58389947e-02 1.18976249e+02] [ 5.13108363e-01 8.56934936e-01 -4.88090479e-02 2.70833138e+01] [ 9.87155380e-02 -2.42872954e-03 9.95112729e-01 1.27771423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.587105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.00, Y:27.10, Z:12.78 [[ 8.53833756e-01 -5.13149640e-01 -8.74377708e-02 1.18997437e+02] [ 5.10736252e-01 8.58296407e-01 -4.97569939e-02 2.71047974e+01] [ 1.00580308e-01 -2.17343829e-03 9.94926569e-01 1.27784672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:27.12, Z:12.78 [[ 8.55109841e-01 -5.10777740e-01 -8.88440214e-02 1.19019274e+02] [ 5.08269303e-01 8.59710717e-01 -5.05944448e-02 2.71232546e+01] [ 1.02222674e-01 -1.89288118e-03 9.94759741e-01 1.27787004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:27.15, Z:12.78 [[ 8.58904021e-01 -5.04083698e-01 -9.04627431e-02 1.19036255e+02] [ 5.01443153e-01 8.63654114e-01 -5.15396569e-02 2.71525143e+01] [ 1.04108821e-01 -1.09430459e-03 9.94565310e-01 1.27806815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:27.18, Z:12.78 [[ 8.62552525e-01 -4.97859458e-01 -9.02169683e-02 1.19052669e+02] [ 4.95195773e-01 8.67257668e-01 -5.14323178e-02 2.71793892e+01] [ 1.03847423e-01 -3.11985758e-04 9.94593191e-01 1.27834631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:27.20, Z:12.79 [[ 8.64045258e-01 -4.95544437e-01 -8.86651246e-02 1.19073427e+02] [ 4.92958310e-01 8.68582587e-01 -5.05607940e-02 2.71983075e+01] [ 1.02068103e-01 -2.13956280e-05 9.94777413e-01 1.27876871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:27.22, Z:12.79 [[ 8.66830797e-01 -4.91003631e-01 -8.67168037e-02 1.19091548e+02] [ 4.88505883e-01 8.71157372e-01 -4.94654879e-02 2.72217802e+01] [ 9.98317170e-02 5.16539438e-04 9.95004202e-01 1.27942947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:27.25, Z:12.79 [[ 8.69046924e-01 -4.87116587e-01 -8.64573570e-02 1.19109828e+02] [ 4.84610737e-01 8.73336386e-01 -4.93557585e-02 2.72469995e+01] [ 9.95483643e-02 9.94306615e-04 9.95032228e-01 1.27932437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79710568099998 meters Centerline goodness [0,1] 0.9999791766445245 Centerline is valid? [True, True] Translation: X:119.13, Y:27.27, Z:12.79 [[ 8.70102354e-01 -4.85105889e-01 -8.71445375e-02 1.19131080e+02] [ 4.82548568e-01 8.74454530e-01 -4.97609785e-02 2.72657575e+01] [ 1.00343279e-01 1.24567280e-03 9.94952097e-01 1.27933044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82710568099998 meters Centerline goodness [0,1] 0.9999581327192799 Centerline is valid? [True, True] Translation: X:119.15, Y:27.29, Z:12.79 [[ 8.72629391e-01 -4.80374913e-01 -8.80788829e-02 1.19151420e+02] [ 4.77736898e-01 8.77061359e-01 -5.03073523e-02 2.72876565e+01] [ 1.01416975e-01 1.82114189e-03 9.94842340e-01 1.27938996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85710568099998 meters Centerline goodness [0,1] 0.999853473719465 Centerline is valid? [True, True] Translation: X:119.17, Y:27.31, Z:12.80 [[ 8.73613596e-01 -4.78532534e-01 -8.83509992e-02 1.19174119e+02] [ 4.75867170e-01 8.78067418e-01 -5.04781656e-02 2.73057204e+01] [ 1.01733578e-01 2.05507181e-03 9.94809558e-01 1.27968431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:27.33, Z:12.80 [[ 8.75255094e-01 -4.75681688e-01 -8.74954337e-02 1.19195661e+02] [ 4.73050108e-01 8.79614234e-01 -5.00239503e-02 2.73254200e+01] [ 1.00757706e-01 2.39399306e-03 9.94908113e-01 1.28024029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91710568099998 meters Centerline goodness [0,1] 0.9997697444163021 Centerline is valid? [True, True] Translation: X:119.22, Y:27.34, Z:12.81 [[ 8.75841805e-01 -4.74862985e-01 -8.60597336e-02 1.19217232e+02] [ 4.72309767e-01 8.80056249e-01 -4.92390384e-02 2.73446520e+01] [ 9.91192031e-02 2.47875555e-03 9.95072479e-01 1.28066865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94710568099998 meters Centerline goodness [0,1] 0.9999581686222836 Centerline is valid? [True, True] Translation: X:119.24, Y:27.36, Z:12.81 [[ 8.75363650e-01 -4.75822449e-01 -8.56240492e-02 1.19241330e+02] [ 4.73296062e-01 8.79538109e-01 -4.90260454e-02 2.73607672e+01] [ 9.86373072e-02 2.39009275e-03 9.95120580e-01 1.28101600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97710568099998 meters Centerline goodness [0,1] 0.9999369972908835 Centerline is valid? [True, True] Translation: X:119.27, Y:27.37, Z:12.81 [[ 8.73598849e-01 -4.79225601e-01 -8.46633036e-02 1.19267014e+02] [ 4.76768153e-01 8.77689446e-01 -4.85114800e-02 2.73733452e+01] [ 9.75560312e-02 2.01480620e-03 9.95227995e-01 1.28144956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00710568099998 meters Centerline goodness [0,1] 0.9999791432027698 Centerline is valid? [True, True] Translation: X:119.29, Y:27.38, Z:12.82 [[ 8.70694767e-01 -4.84473287e-01 -8.47127883e-02 1.19294098e+02] [ 4.82034261e-01 8.74804838e-01 -4.85743360e-02 2.73832456e+01] [ 9.76401253e-02 1.45895383e-03 9.95220718e-01 1.28174815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03710568099999 meters Centerline goodness [0,1] 0.9998952287157136 Centerline is valid? [True, True] Translation: X:119.32, Y:27.40, Z:12.82 [[ 8.69171290e-01 -4.87110498e-01 -8.52328057e-02 1.19319393e+02] [ 4.84652118e-01 8.73339541e-01 -4.88914082e-02 2.73966959e+01] [ 9.82526976e-02 1.18674850e-03 9.95160791e-01 1.28185326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.067105681 meters Centerline goodness [0,1] 0.9999789712747613 Centerline is valid? [True, True] Translation: X:119.35, Y:27.41, Z:12.82 [[ 8.66426785e-01 -4.91584711e-01 -8.74591259e-02 1.19345259e+02] [ 4.89014727e-01 8.70829454e-01 -5.02061683e-02 2.74105708e+01] [ 1.00842568e-01 7.31168432e-04 9.94902127e-01 1.28158694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097105681 meters Centerline goodness [0,1] 0.9999579337035167 Centerline is valid? [True, True] Translation: X:119.37, Y:27.43, Z:12.81 [[ 8.64442946e-01 -4.95219242e-01 -8.65811448e-02 1.19368990e+02] [ 4.92715400e-01 8.68767972e-01 -4.97367559e-02 2.74257270e+01] [ 9.98495242e-02 3.34724433e-04 9.95002493e-01 1.28129119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:27.44, Z:12.82 [[ 8.63742570e-01 -4.96671188e-01 -8.52437851e-02 1.19393595e+02] [ 4.94249840e-01 8.67938765e-01 -4.89836302e-02 2.74394493e+01] [ 9.83151434e-02 1.77519525e-04 9.95155315e-01 1.28172133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:27.45, Z:12.82 [[ 8.63972096e-01 -4.96504963e-01 -8.38751403e-02 1.19417490e+02] [ 4.94156592e-01 8.68033853e-01 -4.82337214e-02 2.74529896e+01] [ 9.67547433e-02 2.25135864e-04 9.95308228e-01 1.28246652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.187105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:27.47, Z:12.83 [[ 8.64585187e-01 -4.95526021e-01 -8.33451657e-02 1.19440334e+02] [ 4.93198755e-01 8.68593015e-01 -4.79704286e-02 2.74694307e+01] [ 9.61636244e-02 3.68790037e-04 9.95365471e-01 1.28288854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217105681 meters Centerline goodness [0,1] 0.9999165136082818 Centerline is valid? [True, True] Translation: X:119.46, Y:27.49, Z:12.83 [[ 8.67479985e-01 -4.90776464e-01 -8.13445679e-02 1.19458930e+02] [ 4.88535273e-01 8.71285049e-01 -4.68577584e-02 2.74924105e+01] [ 9.38709908e-02 9.08476816e-04 9.95583955e-01 1.28321512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.247105681 meters Centerline goodness [0,1] 0.9998119947358526 Centerline is valid? [True, True] Translation: X:119.48, Y:27.52, Z:12.83 [[ 8.70936596e-01 -4.84596646e-01 -8.14588050e-02 1.19478526e+02] [ 4.82320211e-01 8.74736272e-01 -4.69432448e-02 2.75161524e+01] [ 9.40035104e-02 1.59536180e-03 9.95570588e-01 1.28341264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277105681 meters Centerline goodness [0,1] 0.9994973190348525 Centerline is valid? [True, True] Translation: X:119.50, Y:27.54, Z:12.84 [[ 8.72782183e-01 -4.81234010e-01 -8.16399991e-02 1.19500926e+02] [ 4.78929360e-01 8.76589901e-01 -4.70830558e-02 2.75353187e+01] [ 9.42227664e-02 1.99345967e-03 9.95549143e-01 1.28354083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.307105681 meters Centerline goodness [0,1] 0.9995387647280809 Centerline is valid? [True, True] Translation: X:119.52, Y:27.56, Z:12.84 [[ 8.75903931e-01 -4.75576772e-01 -8.13574665e-02 1.19522082e+02] [ 4.73260463e-01 8.79670307e-01 -4.69540799e-02 2.75573475e+01] [ 9.38980172e-02 2.62399086e-03 9.95578363e-01 1.28375615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337105681 meters Centerline goodness [0,1] 0.9993908202919861 Centerline is valid? [True, True] Translation: X:119.55, Y:27.57, Z:12.84 [[ 8.76984451e-01 -4.73494816e-01 -8.18592237e-02 1.19546410e+02] [ 4.71139847e-01 8.80791920e-01 -4.72529245e-02 2.75734764e+01] [ 9.44749575e-02 2.87293792e-03 9.95523093e-01 1.28403731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36710568099997 meters Centerline goodness [0,1] 0.9992459311702729 Centerline is valid? [True, True] Translation: X:119.57, Y:27.59, Z:12.84 [[ 8.78215213e-01 -4.70567344e-01 -8.54658653e-02 1.19567907e+02] [ 4.67982301e-01 8.82357679e-01 -4.93709727e-02 2.75946041e+01] [ 9.86438300e-02 3.36182700e-03 9.95117125e-01 1.28381854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39710568099997 meters Centerline goodness [0,1] 0.9995583689091712 Centerline is valid? [True, True] Translation: X:119.59, Y:27.61, Z:12.83 [[ 8.78321412e-01 -4.69955987e-01 -8.77089940e-02 1.19590426e+02] [ 4.67228848e-01 8.82682783e-01 -5.06784682e-02 2.76137260e+01] [ 1.01235869e-01 3.53181151e-03 9.94856183e-01 1.28339559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42710568099997 meters Centerline goodness [0,1] 0.9995589069293621 Centerline is valid? [True, True] Translation: X:119.62, Y:27.63, Z:12.83 [[ 8.77407277e-01 -4.71320804e-01 -8.95163097e-02 1.19615132e+02] [ 4.68483310e-01 8.81955002e-01 -5.17567700e-02 2.76271966e+01] [ 1.03343400e-01 3.47486962e-03 9.94639667e-01 1.28324569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45710568099997 meters Centerline goodness [0,1] 0.9994753190060444 Centerline is valid? [True, True] Translation: X:119.64, Y:27.64, Z:12.84 [[ 8.76291051e-01 -4.73193485e-01 -9.05644462e-02 1.19642668e+02] [ 4.70297129e-01 8.80952317e-01 -5.23796233e-02 2.76373847e+01] [ 1.04568655e-01 3.30759613e-03 9.94512170e-01 1.28351794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48710568099997 meters Centerline goodness [0,1] 0.9998112020138452 Centerline is valid? [True, True] Translation: X:119.67, Y:27.64, Z:12.84 [[ 8.73343966e-01 -4.78794662e-01 -8.95878860e-02 1.19670832e+02] [ 4.75986446e-01 8.77922953e-01 -5.18477833e-02 2.76441387e+01] [ 1.03475703e-01 2.63832927e-03 9.94628482e-01 1.28402386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51710568099998 meters Centerline goodness [0,1] 0.9997268161472671 Centerline is valid? [True, True] Translation: X:119.70, Y:27.65, Z:12.84 [[ 8.71532512e-01 -4.82109279e-01 -8.94523507e-02 1.19698491e+02] [ 4.79325462e-01 8.76108190e-01 -5.17835935e-02 2.76535252e+01] [ 1.03335288e-01 2.25429599e-03 9.94644025e-01 1.28429910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:27.66, Z:12.84 [[ 8.68708851e-01 -4.87003221e-01 -9.04035108e-02 1.19726280e+02] [ 4.84182273e-01 8.73398475e-01 -5.23701352e-02 2.76610571e+01] [ 1.04462713e-01 1.72262263e-03 9.94527312e-01 1.28434088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:27.67, Z:12.84 [[ 8.66584118e-01 -4.90714179e-01 -9.07279525e-02 1.19754479e+02] [ 4.87891247e-01 8.71319640e-01 -5.25758099e-02 2.76699403e+01] [ 1.04852742e-01 1.29598791e-03 9.94486914e-01 1.28441333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:27.68, Z:12.85 [[ 8.65449895e-01 -4.93075770e-01 -8.87286003e-02 1.19780979e+02] [ 4.90384749e-01 8.69985772e-01 -5.14543882e-02 2.76822343e+01] [ 1.02563532e-01 1.02004248e-03 9.94725933e-01 1.28485524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:27.69, Z:12.86 [[ 8.63266166e-01 -4.97549214e-01 -8.49488428e-02 1.19808149e+02] [ 4.95101645e-01 8.67435608e-01 -4.92932674e-02 2.76890229e+01] [ 9.82134776e-02 4.94898146e-04 9.95165247e-01 1.28583623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66710568099998 meters Centerline goodness [0,1] 0.9999578441498219 Centerline is valid? [True, True] Translation: X:119.83, Y:27.70, Z:12.87 [[ 8.62181932e-01 -4.99743890e-01 -8.30563663e-02 1.19833983e+02] [ 4.97413202e-01 8.66173182e-01 -4.82091798e-02 2.77001594e+01] [ 9.60334401e-02 2.51750713e-04 9.95378076e-01 1.28653718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69710568099998 meters Centerline goodness [0,1] 0.9999790821235828 Centerline is valid? [True, True] Translation: X:119.86, Y:27.71, Z:12.87 [[ 8.56835540e-01 -5.09536938e-01 -7.87716080e-02 1.19860185e+02] [ 5.07479097e-01 8.60448438e-01 -4.57542532e-02 2.77068607e+01] [ 9.10923891e-02 -7.71074241e-04 9.95842147e-01 1.28726373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:27.72, Z:12.87 [[ 8.54545624e-01 -5.13390766e-01 -7.86237674e-02 1.19886862e+02] [ 5.11354141e-01 8.58154177e-01 -4.56984788e-02 2.77189595e+01] [ 9.09324915e-02 -1.15315398e-03 9.95856391e-01 1.28749225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75710568099998 meters Centerline goodness [0,1] 0.999958210576903 Centerline is valid? [True, True] Translation: X:119.91, Y:27.73, Z:12.88 [[ 8.49181301e-01 -5.22217457e-01 -7.86132692e-02 1.19914818e+02] [ 5.20215922e-01 8.52809858e-01 -4.57246226e-02 2.77297111e+01] [ 9.09203670e-02 -2.06737977e-03 9.95856020e-01 1.28772950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78710568099999 meters Centerline goodness [0,1] 0.9999581151832461 Centerline is valid? [True, True] Translation: X:119.94, Y:27.74, Z:12.88 [[ 8.46776546e-01 -5.26174747e-01 -7.81640350e-02 1.19939534e+02] [ 5.24210069e-01 8.50372934e-01 -4.54936994e-02 2.77448419e+01] [ 9.04062155e-02 -2.45137661e-03 9.95901956e-01 1.28798312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:27.76, Z:12.88 [[ 8.44576154e-01 -5.29670283e-01 -7.83614200e-02 1.19962838e+02] [ 5.27707439e-01 8.48198996e-01 -4.56434226e-02 2.77589292e+01] [ 9.06420424e-02 -2.80255796e-03 9.95879594e-01 1.28828696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.847105681 meters Centerline goodness [0,1] 0.9998953120747053 Centerline is valid? [True, True] Translation: X:119.99, Y:27.77, Z:12.88 [[ 8.44045538e-01 -5.30409048e-01 -7.90782672e-02 1.19986751e+02] [ 5.28411914e-01 8.47736903e-01 -4.60759433e-02 2.77748847e+01] [ 9.14766626e-02 -2.89570417e-03 9.95803010e-01 1.28842806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:27.80, Z:12.88 [[ 8.44129904e-01 -5.29786421e-01 -8.22864102e-02 1.20007658e+02] [ 5.27617046e-01 8.48126093e-01 -4.79831563e-02 2.77960497e+01] [ 9.52100763e-02 -2.91169553e-03 9.95452944e-01 1.28824514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.907105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.03, Y:27.82, Z:12.88 [[ 8.45324715e-01 -5.27808901e-01 -8.27278070e-02 1.20028155e+02] [ 5.25603236e-01 8.49358947e-01 -4.82764690e-02 2.78161497e+01] [ 9.57463531e-02 -2.67271073e-03 9.95402176e-01 1.28829036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:27.84, Z:12.89 [[ 8.46593156e-01 -5.25768482e-01 -8.27498148e-02 1.20049032e+02] [ 5.23550472e-01 8.50624241e-01 -4.83042752e-02 2.78370680e+01] [ 9.57858639e-02 -2.42963579e-03 9.95398998e-01 1.28850882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.967105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:27.86, Z:12.88 [[ 8.49076598e-01 -5.21119173e-01 -8.66241217e-02 1.20069135e+02] [ 5.18659761e-01 8.53481675e-01 -5.06071414e-02 2.78595849e+01] [ 1.00304452e-01 -1.95910676e-03 9.94954863e-01 1.28824834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997105681 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:120.09, Y:27.88, Z:12.88 [[ 8.50884281e-01 -5.17823694e-01 -8.86259676e-02 1.20091145e+02] [ 5.15227272e-01 8.55485910e-01 -5.18142426e-02 2.78778755e+01] [ 1.02648909e-01 -1.57459089e-03 9.94716403e-01 1.28813956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.027105681 meters Centerline goodness [0,1] 0.9999789699480558 Centerline is valid? [True, True] Translation: X:120.11, Y:27.91, Z:12.88 [[ 8.54776131e-01 -5.10932998e-01 -9.11330743e-02 1.20109398e+02] [ 5.08146030e-01 8.59620211e-01 -5.32982540e-02 2.79052609e+01] [ 1.05571669e-01 -7.50834630e-04 9.94411413e-01 1.28800462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057105681 meters Centerline goodness [0,1] 0.9997691500524659 Centerline is valid? [True, True] Translation: X:120.13, Y:27.93, Z:12.88 [[ 8.59175119e-01 -5.03549175e-01 -9.08644200e-02 1.20126651e+02] [ 5.00733716e-01 8.63966546e-01 -5.31747345e-02 2.79311964e+01] [ 1.05279913e-01 1.87530179e-04 9.94442610e-01 1.28815845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.087105681 meters Centerline goodness [0,1] 0.9998738170347004 Centerline is valid? [True, True] Translation: X:120.15, Y:27.95, Z:12.89 [[ 8.62336281e-01 -4.98657781e-01 -8.78439277e-02 1.20147280e+02] [ 4.95999805e-01 8.66798603e-01 -5.14234877e-02 2.79527522e+01] [ 1.01785716e-01 7.73768204e-04 9.94806046e-01 1.28892576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11710568099997 meters Centerline goodness [0,1] 0.9996220551799437 Centerline is valid? [True, True] Translation: X:120.17, Y:27.97, Z:12.90 [[ 8.63501238e-01 -4.97010505e-01 -8.57097989e-02 1.20168806e+02] [ 4.94468554e-01 8.67743973e-01 -5.02120130e-02 2.79696773e+01] [ 9.93300593e-02 9.77335045e-04 9.95054061e-01 1.28956416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14710568099997 meters Centerline goodness [0,1] 0.9994543661203332 Centerline is valid? [True, True] Translation: X:120.19, Y:27.99, Z:12.90 [[ 8.66041049e-01 -4.93484149e-01 -8.02888325e-02 1.20187515e+02] [ 4.91235647e-01 8.69753778e-01 -4.70733963e-02 2.79916504e+01] [ 9.30614903e-02 1.32675692e-03 9.95659479e-01 1.29041533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17710568099997 meters Centerline goodness [0,1] 0.9993497094669715 Centerline is valid? [True, True] Translation: X:120.21, Y:28.01, Z:12.91 [[ 8.67040479e-01 -4.92035593e-01 -7.83695269e-02 1.20210507e+02] [ 4.89886491e-01 8.70573863e-01 -4.59605745e-02 2.80089660e+01] [ 9.08407003e-02 1.45750602e-03 9.95864370e-01 1.29092299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20710568099997 meters Centerline goodness [0,1] 0.9994538732986052 Centerline is valid? [True, True] Translation: X:120.23, Y:28.03, Z:12.91 [[ 8.68995036e-01 -4.88422540e-01 -7.93161377e-02 1.20232802e+02] [ 4.86202846e-01 8.72605212e-01 -4.65503622e-02 2.80268121e+01] [ 9.19479213e-02 1.88830178e-03 9.95762027e-01 1.29136042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23710568099997 meters Centerline goodness [0,1] 0.9993907435030148 Centerline is valid? [True, True] Translation: X:120.25, Y:28.05, Z:12.91 [[ 8.71866071e-01 -4.82712246e-01 -8.26948751e-02 1.20252594e+02] [ 4.80269787e-01 8.75775069e-01 -4.85691312e-02 2.80505088e+01] [ 9.58670243e-02 2.62992747e-03 9.95390676e-01 1.29102096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26710568099998 meters Centerline goodness [0,1] 0.9993927591766651 Centerline is valid? [True, True] Translation: X:120.28, Y:28.07, Z:12.91 [[ 8.73531784e-01 -4.79534084e-01 -8.36019400e-02 1.20275374e+02] [ 4.77022313e-01 8.77518062e-01 -4.91097197e-02 2.80696797e+01] [ 9.69119968e-02 3.01891030e-03 9.95288376e-01 1.29100326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29710568099998 meters Centerline goodness [0,1] 0.9993927591766651 Centerline is valid? [True, True] Translation: X:120.30, Y:28.08, Z:12.91 [[ 8.73357050e-01 -4.79853039e-01 -8.35973911e-02 1.20298941e+02] [ 4.77341983e-01 8.77343779e-01 -4.91174613e-02 2.80837741e+01] [ 9.69128141e-02 2.99253670e-03 9.95288376e-01 1.29124860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32710568099998 meters Centerline goodness [0,1] 0.9992881519167557 Centerline is valid? [True, True] Translation: X:120.32, Y:28.10, Z:12.91 [[ 8.76530055e-01 -4.73713891e-01 -8.53827381e-02 1.20320268e+02] [ 4.71061055e-01 8.80670659e-01 -5.02063038e-02 2.81035281e+01] [ 9.89774957e-02 3.78685159e-03 9.95082466e-01 1.29123867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35710568099998 meters Centerline goodness [0,1] 0.9989945117097491 Centerline is valid? [True, True] Translation: X:120.34, Y:28.12, Z:12.91 [[ 8.78849024e-01 -4.69196268e-01 -8.64826894e-02 1.20344230e+02] [ 4.66451372e-01 8.83083137e-01 -5.08654264e-02 2.81200315e+01] [ 1.00237273e-01 4.36306123e-03 9.94953995e-01 1.29138918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38710568099998 meters Centerline goodness [0,1] 0.9993263299720005 Centerline is valid? [True, True] Translation: X:120.37, Y:28.13, Z:12.92 [[ 8.79106527e-01 -4.68679301e-01 -8.66684887e-02 1.20370002e+02] [ 4.65919232e-01 8.83357238e-01 -5.09829414e-02 2.81321084e+01] [ 1.00453886e-01 4.43892086e-03 9.94931813e-01 1.29157113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41710568099998 meters Centerline goodness [0,1] 0.9993481506402843 Centerline is valid? [True, True] Translation: X:120.40, Y:28.14, Z:12.92 [[ 8.78308999e-01 -4.70037695e-01 -8.73948979e-02 1.20396333e+02] [ 4.67236030e-01 8.82635699e-01 -5.14267927e-02 2.81417408e+01] [ 1.01310388e-01 4.33456968e-03 9.94845424e-01 1.29157942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44710568099998 meters Centerline goodness [0,1] 0.9992448714183831 Centerline is valid? [True, True] Translation: X:120.42, Y:28.15, Z:12.92 [[ 8.77071090e-01 -4.72280621e-01 -8.77343630e-02 1.20424186e+02] [ 4.69464393e-01 8.81438597e-01 -5.16641448e-02 2.81511662e+01] [ 1.01732428e-01 4.12496833e-03 9.94803246e-01 1.29173864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47710568099998 meters Centerline goodness [0,1] 0.9992453621213709 Centerline is valid? [True, True] Translation: X:120.46, Y:28.15, Z:12.92 [[ 8.73978583e-01 -4.78331322e-01 -8.57938435e-02 1.20455070e+02] [ 4.75664225e-01 8.78172966e-01 -5.05548005e-02 2.81547926e+01] [ 9.95237785e-02 3.37475084e-03 9.95029461e-01 1.29216266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50710568099998 meters Centerline goodness [0,1] 0.9994538847696864 Centerline is valid? [True, True] Translation: X:120.49, Y:28.15, Z:12.93 [[ 8.68944372e-01 -4.87768547e-01 -8.37706571e-02 1.20489344e+02] [ 4.85268471e-01 8.72970088e-01 -4.93734356e-02 2.81539951e+01] [ 9.72120869e-02 2.25151035e-03 9.95261142e-01 1.29280992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53710568099999 meters Centerline goodness [0,1] 0.9994974874371859 Centerline is valid? [True, True] Translation: X:120.52, Y:28.16, Z:12.93 [[ 8.65774547e-01 -4.93457833e-01 -8.32694491e-02 1.20519725e+02] [ 4.91010888e-01 8.69768193e-01 -4.91080262e-02 2.81589638e+01] [ 9.66578585e-02 1.63027291e-03 9.95316332e-01 1.29326325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.567105681 meters Centerline goodness [0,1] 0.9997903036403288 Centerline is valid? [True, True] Translation: X:120.55, Y:28.16, Z:12.94 [[ 8.59124350e-01 -5.05372647e-01 -8.06463780e-02 1.20554170e+02] [ 5.03128723e-01 8.62901153e-01 -4.75719182e-02 2.81574094e+01] [ 9.36313988e-02 2.94684140e-04 9.95606887e-01 1.29399670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597105681 meters Centerline goodness [0,1] 0.9999789774638412 Centerline is valid? [True, True] Translation: X:120.58, Y:28.16, Z:12.95 [[ 8.54024835e-01 -5.14426323e-01 -7.75057434e-02 1.20584537e+02] [ 5.12388323e-01 8.57534341e-01 -4.57499633e-02 2.81599527e+01] [ 8.99988220e-02 -6.41433048e-04 9.95941665e-01 1.29461416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.627105681 meters Centerline goodness [0,1] 0.9999580290439016 Centerline is valid? [True, True] Translation: X:120.61, Y:28.17, Z:12.95 [[ 8.52558125e-01 -5.16789124e-01 -7.79335888e-02 1.20610595e+02] [ 5.14737194e-01 8.56112270e-01 -4.60152475e-02 2.81725938e+01] [ 9.05000811e-02 -8.84643632e-04 9.95896055e-01 1.29488104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657105681 meters Centerline goodness [0,1] 0.9998955439028976 Centerline is valid? [True, True] Translation: X:120.63, Y:28.19, Z:12.95 [[ 8.53891963e-01 -5.14259836e-01 -8.00333449e-02 1.20634302e+02] [ 5.12081070e-01 8.57634222e-01 -4.72918431e-02 2.81897554e+01] [ 9.29596310e-02 -6.01436156e-04 9.95669697e-01 1.29505541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.687105681 meters Centerline goodness [0,1] 0.9999581090421632 Centerline is valid? [True, True] Translation: X:120.65, Y:28.21, Z:12.95 [[ 8.56842992e-01 -5.09293514e-01 -8.02508774e-02 1.20654873e+02] [ 5.07077777e-01 8.60592886e-01 -4.74553743e-02 2.82092566e+01] [ 9.32320485e-02 -3.16316350e-05 9.95644406e-01 1.29532249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717105681 meters Centerline goodness [0,1] 0.9996236041989043 Centerline is valid? [True, True] Translation: X:120.67, Y:28.24, Z:12.96 [[ 8.64544693e-01 -4.96206802e-01 -7.96321803e-02 1.20670152e+02] [ 4.93968050e-01 8.68203252e-01 -4.71028554e-02 2.82402626e+01] [ 9.25096751e-02 1.38677087e-03 9.95710820e-01 1.29561814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.747105681 meters Centerline goodness [0,1] 0.9994959253969588 Centerline is valid? [True, True] Translation: X:120.69, Y:28.27, Z:12.95 [[ 8.69956840e-01 -4.86373152e-01 -8.13403524e-02 1.20688444e+02] [ 4.83990543e-01 8.73747565e-01 -4.81492095e-02 2.82674462e+01] [ 9.44894176e-02 2.51977287e-03 9.95522677e-01 1.29549755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777105681 meters Centerline goodness [0,1] 0.9992886582839927 Centerline is valid? [True, True] Translation: X:120.71, Y:28.29, Z:12.95 [[ 8.71374280e-01 -4.83497334e-01 -8.32898100e-02 1.20710424e+02] [ 4.80983103e-01 8.75340949e-01 -4.93302872e-02 2.82862446e+01] [ 9.67580437e-02 2.92415216e-03 9.95303637e-01 1.29541405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.807105681 meters Centerline goodness [0,1] 0.9997692130163859 Centerline is valid? [True, True] Translation: X:120.74, Y:28.30, Z:12.95 [[ 8.72521547e-01 -4.80696079e-01 -8.73923867e-02 1.20737582e+02] [ 4.77911879e-01 8.76880644e-01 -5.17742473e-02 2.82997173e+01] [ 1.01520370e-01 3.40828656e-03 9.94827622e-01 1.29523367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837105681 meters Centerline goodness [0,1] 0.9997060182268699 Centerline is valid? [True, True] Translation: X:120.76, Y:28.31, Z:12.95 [[ 8.71741835e-01 -4.81880388e-01 -8.86423426e-02 1.20764349e+02] [ 4.79018631e-01 8.76230622e-01 -5.25456739e-02 2.83106344e+01] [ 1.02991865e-01 3.34492854e-03 9.94676574e-01 1.29533711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86710568099997 meters Centerline goodness [0,1] 0.9996015267815948 Centerline is valid? [True, True] Translation: X:120.79, Y:28.32, Z:12.96 [[ 8.70519439e-01 -4.84404028e-01 -8.68829265e-02 1.20792384e+02] [ 4.81663819e-01 8.74839202e-01 -5.15396575e-02 2.83205007e+01] [ 1.00974608e-01 3.01791159e-03 9.94884426e-01 1.29563059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89710568099997 meters Centerline goodness [0,1] 0.9997902816517417 Centerline is valid? [True, True] Translation: X:120.82, Y:28.33, Z:12.96 [[ 8.69689707e-01 -4.86009420e-01 -8.62244541e-02 1.20817468e+02] [ 4.83315205e-01 8.73948959e-01 -5.11823168e-02 2.83331662e+01] [ 1.00230860e-01 2.83914439e-03 9.94960157e-01 1.29583763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92710568099997 meters Centerline goodness [0,1] 0.9997477984909943 Centerline is valid? [True, True] Translation: X:120.85, Y:28.34, Z:12.96 [[ 8.68044193e-01 -4.89031914e-01 -8.57150258e-02 1.20847077e+02] [ 4.86382048e-01 8.72262326e-01 -5.09012580e-02 2.83397959e+01] [ 9.96583274e-02 2.49429171e-03 9.95018591e-01 1.29642226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95710568099997 meters Centerline goodness [0,1] 0.9997281642724212 Centerline is valid? [True, True] Translation: X:120.87, Y:28.35, Z:12.97 [[ 8.67383073e-01 -4.90404563e-01 -8.45574924e-02 1.20872905e+02] [ 4.87829106e-01 8.71491775e-01 -5.02478736e-02 2.83509959e+01] [ 9.83329456e-02 2.33454904e-03 9.95150834e-01 1.29703947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98710568099997 meters Centerline goodness [0,1] 0.999685204616999 Centerline is valid? [True, True] Translation: X:120.90, Y:28.37, Z:12.97 [[ 8.67174656e-01 -4.90824894e-01 -8.42557932e-02 1.20897233e+02] [ 4.88266168e-01 8.71255176e-01 -5.01055532e-02 2.83650209e+01] [ 9.80013488e-02 2.31101262e-03 9.95183599e-01 1.29735228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01710568099998 meters Centerline goodness [0,1] 0.9996645350665688 Centerline is valid? [True, True] Translation: X:120.92, Y:28.38, Z:12.98 [[ 8.66462294e-01 -4.92365086e-01 -8.25815626e-02 1.20922329e+02] [ 4.89910550e-01 8.70386176e-01 -4.91483215e-02 2.83800655e+01] [ 9.60767680e-02 2.12758860e-03 9.95371653e-01 1.29765131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04710568099998 meters Centerline goodness [0,1] 0.9998531663625113 Centerline is valid? [True, True] Translation: X:120.95, Y:28.39, Z:12.98 [[ 8.65490801e-01 -4.94343296e-01 -8.09344149e-02 1.20947303e+02] [ 4.91992744e-01 8.69264716e-01 -4.81870565e-02 2.83936032e+01] [ 9.41743796e-02 1.88630916e-03 9.95553930e-01 1.29809166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07710568099998 meters Centerline goodness [0,1] 0.9998540359071668 Centerline is valid? [True, True] Translation: X:120.97, Y:28.40, Z:12.99 [[ 8.62887887e-01 -4.98958292e-01 -8.04059542e-02 1.20973688e+02] [ 4.96655099e-01 8.66624862e-01 -4.79067956e-02 2.84042931e+01] [ 9.35852919e-02 1.40416643e-03 9.95610276e-01 1.29864594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10710568099998 meters Centerline goodness [0,1] 0.9999580967545937 Centerline is valid? [True, True] Translation: X:121.00, Y:28.42, Z:12.99 [[ 8.60130155e-01 -5.03820566e-01 -7.96301112e-02 1.21000249e+02] [ 5.01579221e-01 8.63807868e-01 -4.74789720e-02 2.84163995e+01] [ 9.27059991e-02 8.97286429e-04 9.95693122e-01 1.29891681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13710568099998 meters Centerline goodness [0,1] 0.9999162180843265 Centerline is valid? [True, True] Translation: X:121.02, Y:28.43, Z:12.99 [[ 8.59141966e-01 -5.05489665e-01 -7.97200174e-02 1.21023488e+02] [ 5.03247223e-01 8.62832335e-01 -4.75667298e-02 2.84313486e+01] [ 9.28294991e-02 7.47696363e-04 9.95681739e-01 1.29899641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16710568099998 meters Centerline goodness [0,1] 0.9999579337035167 Centerline is valid? [True, True] Translation: X:121.05, Y:28.45, Z:12.99 [[ 8.58183303e-01 -5.06481210e-01 -8.36552628e-02 1.21047777e+02] [ 5.04014523e-01 8.62250725e-01 -4.99304290e-02 2.84472672e+01] [ 9.74206351e-02 6.85993084e-04 9.95243060e-01 1.29862367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.07, Y:28.47, Z:12.98 [[ 8.58795964e-01 -5.04514360e-01 -8.90772270e-02 1.21070071e+02] [ 5.01702076e-01 8.63402720e-01 -5.32049844e-02 2.84650786e+01] [ 1.03752199e-01 1.00199617e-03 9.94602673e-01 1.29805974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22710568099998 meters Centerline goodness [0,1] 0.999874044840037 Centerline is valid? [True, True] Translation: X:121.09, Y:28.48, Z:12.98 [[ 8.59762840e-01 -5.02736370e-01 -8.97997834e-02 1.21092882e+02] [ 4.99866594e-01 8.64438893e-01 -5.36543377e-02 2.84822489e+01] [ 1.04600412e-01 1.24209385e-03 9.94513555e-01 1.29828399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25710568099998 meters Centerline goodness [0,1] 0.9997060861167678 Centerline is valid? [True, True] Translation: X:121.11, Y:28.50, Z:12.99 [[ 8.63405454e-01 -4.96807295e-01 -8.78267179e-02 1.21113218e+02] [ 4.94028149e-01 8.67858692e-01 -5.25117086e-02 2.85035029e+01] [ 1.02309380e-01 1.95002477e-03 9.94750717e-01 1.29906246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28710568099999 meters Centerline goodness [0,1] 0.9997479521109011 Centerline is valid? [True, True] Translation: X:121.13, Y:28.52, Z:13.00 [[ 8.67193111e-01 -4.90808668e-01 -8.41603157e-02 1.21133935e+02] [ 4.88225542e-01 8.71263568e-01 -5.03549052e-02 2.85249801e+01] [ 9.80404409e-02 2.57821122e-03 9.95179092e-01 1.29973056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.317105681 meters Centerline goodness [0,1] 0.9996004290130597 Centerline is valid? [True, True] Translation: X:121.16, Y:28.54, Z:13.00 [[ 8.69344465e-01 -4.87197006e-01 -8.29414205e-02 1.21157045e+02] [ 4.84668833e-01 8.73287040e-01 -4.96575108e-02 2.85413822e+01] [ 9.66246582e-02 2.97036065e-03 9.95316458e-01 1.30013393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.347105681 meters Centerline goodness [0,1] 0.9994556683764263 Centerline is valid? [True, True] Translation: X:121.18, Y:28.56, Z:13.01 [[ 8.71816030e-01 -4.83015196e-01 -8.14440254e-02 1.21180750e+02] [ 4.80558308e-01 8.75605435e-01 -4.87733115e-02 2.85579425e+01] [ 9.48710819e-02 3.38275183e-03 9.95483819e-01 1.30068901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377105681 meters Centerline goodness [0,1] 0.9994779049369309 Centerline is valid? [True, True] Translation: X:121.21, Y:28.57, Z:13.01 [[ 8.71848279e-01 -4.83147288e-01 -8.03073934e-02 1.21205282e+02] [ 4.80757970e-01 8.75532747e-01 -4.81059511e-02 2.85705142e+01] [ 9.35540126e-02 3.33267123e-03 9.95608628e-01 1.30127079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.407105681 meters Centerline goodness [0,1] 0.9993939773890874 Centerline is valid? [True, True] Translation: X:121.23, Y:28.59, Z:13.01 [[ 8.71576443e-01 -4.83621319e-01 -8.04047468e-02 1.21229131e+02] [ 4.81224500e-01 8.75271041e-01 -4.82035777e-02 2.85850150e+01] [ 9.36882243e-02 3.32036874e-03 9.95596048e-01 1.30134179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437105681 meters Centerline goodness [0,1] 0.9994972242589295 Centerline is valid? [True, True] Translation: X:121.25, Y:28.60, Z:13.01 [[ 8.71019242e-01 -4.84257254e-01 -8.25856705e-02 1.21254702e+02] [ 4.81729671e-01 8.74919230e-01 -4.95263950e-02 2.85972689e+01] [ 9.62393073e-02 3.35447505e-03 9.95352572e-01 1.30119972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.467105681 meters Centerline goodness [0,1] 0.9994545378257038 Centerline is valid? [True, True] Translation: X:121.28, Y:28.61, Z:13.01 [[ 8.70384521e-01 -4.85202949e-01 -8.37190730e-02 1.21280007e+02] [ 4.82605542e-01 8.74395217e-01 -5.02483385e-02 2.86105059e+01] [ 9.75841990e-02 3.33208742e-03 9.95221695e-01 1.30134129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497105681 meters Centerline goodness [0,1] 0.9994966865195872 Centerline is valid? [True, True] Translation: X:121.30, Y:28.63, Z:13.01 [[ 8.70076571e-01 -4.85589106e-01 -8.46757380e-02 1.21302202e+02] [ 4.82930076e-01 8.74180725e-01 -5.08586373e-02 2.86252548e+01] [ 9.87182983e-02 3.35844813e-03 9.95109752e-01 1.30144398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.527105681 meters Centerline goodness [0,1] 0.99949609473419 Centerline is valid? [True, True] Translation: X:121.33, Y:28.64, Z:13.02 [[ 8.70903152e-01 -4.84278078e-01 -8.36806050e-02 1.21327526e+02] [ 4.81673367e-01 8.74907202e-01 -5.02807644e-02 2.86386320e+01] [ 9.75626359e-02 3.48295744e-03 9.95223292e-01 1.30173753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557105681 meters Centerline goodness [0,1] 0.9995811781458757 Centerline is valid? [True, True] Translation: X:121.35, Y:28.65, Z:13.02 [[ 8.72162471e-01 -4.81670338e-01 -8.55938676e-02 1.21352276e+02] [ 4.78928735e-01 8.76343841e-01 -5.14658981e-02 2.86529788e+01] [ 9.97992553e-02 3.89326203e-03 9.94999975e-01 1.30190674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.587105681 meters Centerline goodness [0,1] 0.9997908431114179 Centerline is valid? [True, True] Translation: X:121.38, Y:28.67, Z:13.02 [[ 8.72741337e-01 -4.80510963e-01 -8.62077285e-02 1.21377216e+02] [ 4.77722979e-01 8.76979298e-01 -5.18465666e-02 2.86675461e+01] [ 1.00515237e-01 4.06522894e-03 9.94927214e-01 1.30212348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61710568099997 meters Centerline goodness [0,1] 0.9996237615484302 Centerline is valid? [True, True] Translation: X:121.40, Y:28.68, Z:13.02 [[ 8.73220806e-01 -4.79666901e-01 -8.60528231e-02 1.21402102e+02] [ 4.76881141e-01 8.77440670e-01 -5.17904298e-02 2.86819257e+01] [ 1.00348402e-01 4.18751238e-03 9.94943548e-01 1.30233976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64710568099997 meters Centerline goodness [0,1] 0.9994760557476684 Centerline is valid? [True, True] Translation: X:121.43, Y:28.69, Z:13.03 [[ 8.74668685e-01 -4.76995088e-01 -8.61996402e-02 1.21429185e+02] [ 4.74183462e-01 8.78894277e-01 -5.19123712e-02 2.86935052e+01] [ 1.00522316e-01 4.53168169e-03 9.94924483e-01 1.30264225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67710568099997 meters Centerline goodness [0,1] 0.9997490432273041 Centerline is valid? [True, True] Translation: X:121.46, Y:28.71, Z:13.03 [[ 8.74705585e-01 -4.76561324e-01 -8.82011578e-02 1.21455809e+02] [ 4.73613718e-01 8.79128667e-01 -5.31303371e-02 2.87050833e+01] [ 1.02860030e-01 4.70012436e-03 9.94684736e-01 1.30251056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70710568099997 meters Centerline goodness [0,1] 0.9998323589195532 Centerline is valid? [True, True] Translation: X:121.48, Y:28.72, Z:13.03 [[ 8.74640310e-01 -4.76860226e-01 -8.72275910e-02 1.21480779e+02] [ 4.73975451e-01 8.78966872e-01 -5.25786033e-02 2.87175085e+01] [ 1.01742807e-01 4.64362911e-03 9.94799898e-01 1.30268566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73710568099997 meters Centerline goodness [0,1] 0.9996856136820925 Centerline is valid? [True, True] Translation: X:121.51, Y:28.73, Z:13.03 [[ 8.74468248e-01 -4.77205134e-01 -8.70663107e-02 1.21508349e+02] [ 4.74331005e-01 8.78779840e-01 -5.24984812e-02 2.87260839e+01] [ 1.01564663e-01 4.61000429e-03 9.94818258e-01 1.30315240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76710568099998 meters Centerline goodness [0,1] 0.9998531540414105 Centerline is valid? [True, True] Translation: X:121.54, Y:28.74, Z:13.04 [[ 8.73733378e-01 -4.78386187e-01 -8.79581677e-02 1.21535282e+02] [ 4.75454216e-01 8.78137740e-01 -5.30791739e-02 2.87358333e+01] [ 1.02631730e-01 4.55696429e-03 9.94708984e-01 1.30362117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79710568099998 meters Centerline goodness [0,1] 0.9999579168858496 Centerline is valid? [True, True] Translation: X:121.56, Y:28.75, Z:13.04 [[ 8.73387494e-01 -4.79003969e-01 -8.80311434e-02 1.21561823e+02] [ 4.76066374e-01 8.77801092e-01 -5.31606097e-02 2.87476210e+01] [ 1.02737977e-01 4.52114444e-03 9.94698179e-01 1.30394939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82710568099998 meters Centerline goodness [0,1] 0.9998740210384865 Centerline is valid? [True, True] Translation: X:121.59, Y:28.76, Z:13.04 [[ 8.73453735e-01 -4.79437541e-01 -8.49600950e-02 1.21586239e+02] [ 4.76700723e-01 8.77565268e-01 -5.13383006e-02 2.87599451e+01] [ 9.91715371e-02 4.34109164e-03 9.95060883e-01 1.30432979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85710568099998 meters Centerline goodness [0,1] 0.9996845757543896 Centerline is valid? [True, True] Translation: X:121.61, Y:28.77, Z:13.05 [[ 8.73360880e-01 -4.80001674e-01 -8.26992445e-02 1.21612516e+02] [ 4.77410136e-01 8.77257640e-01 -4.99859452e-02 2.87718948e+01] [ 9.65418815e-02 4.17431154e-03 9.95320170e-01 1.30464077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88710568099998 meters Centerline goodness [0,1] 0.9998952550539436 Centerline is valid? [True, True] Translation: X:121.64, Y:28.79, Z:13.05 [[ 8.73506446e-01 -4.79739318e-01 -8.26841886e-02 1.21637493e+02] [ 4.77144266e-01 8.77400862e-01 -5.00107617e-02 2.87860608e+01] [ 9.65393071e-02 4.23243625e-03 9.95320174e-01 1.30487540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91710568099998 meters Centerline goodness [0,1] 0.99993711087353 Centerline is valid? [True, True] Translation: X:121.66, Y:28.80, Z:13.05 [[ 8.73877089e-01 -4.78747963e-01 -8.44939160e-02 1.21664686e+02] [ 4.76029663e-01 8.77941010e-01 -5.11404261e-02 2.87963163e+01] [ 9.86640488e-02 4.46883633e-03 9.95110765e-01 1.30511902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94710568099998 meters Centerline goodness [0,1] 0.9999790514496397 Centerline is valid? [True, True] Translation: X:121.69, Y:28.80, Z:13.05 [[ 8.73256324e-01 -4.79653616e-01 -8.57659635e-02 1.21692069e+02] [ 4.76853647e-01 8.77446579e-01 -5.19432332e-02 2.88047736e+01] [ 1.00169811e-01 4.46194442e-03 9.94960351e-01 1.30538817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97710568099998 meters Centerline goodness [0,1] 0.9998535074501925 Centerline is valid? [True, True] Translation: X:121.72, Y:28.82, Z:13.06 [[ 8.71707217e-01 -4.82619852e-01 -8.48799533e-02 1.21718080e+02] [ 4.79890287e-01 8.75820389e-01 -5.14194417e-02 2.88158985e+01] [ 9.91556370e-02 4.08963334e-03 9.95063533e-01 1.30576505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00710568099998 meters Centerline goodness [0,1] 0.9998950836183562 Centerline is valid? [True, True] Translation: X:121.75, Y:28.82, Z:13.06 [[ 8.66806092e-01 -4.92032713e-01 -8.09383004e-02 1.21750313e+02] [ 4.89590390e-01 8.70571916e-01 -4.90488342e-02 2.88189419e+01] [ 9.45962423e-02 2.88921418e-03 9.95511529e-01 1.30638281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03710568099999 meters Centerline goodness [0,1] 0.9999160968242647 Centerline is valid? [True, True] Translation: X:121.78, Y:28.81, Z:13.07 [[ 8.60038692e-01 -5.04072459e-01 -7.90215430e-02 1.21784791e+02] [ 5.01793698e-01 8.63659986e-01 -4.79010824e-02 2.88148617e+01] [ 9.23933610e-02 1.54427194e-03 9.95721388e-01 1.30714709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.067105681 meters Centerline goodness [0,1] 0.9998113088873514 Centerline is valid? [True, True] Translation: X:121.82, Y:28.82, Z:13.08 [[ 8.56005578e-01 -5.10755087e-01 -7.98980073e-02 1.21816338e+02] [ 5.08453204e-01 8.59725845e-01 -4.84438883e-02 2.88192406e+01] [ 9.34333443e-02 8.43840836e-04 9.95625180e-01 1.30756257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:28.82, Z:13.07 [[ 8.48808031e-01 -5.22366025e-01 -8.16006252e-02 1.21848310e+02] [ 5.20014522e-01 8.52721273e-01 -4.95108816e-02 2.88227277e+01] [ 9.54453914e-02 -4.08276201e-04 9.95434584e-01 1.30735507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:28.83, Z:13.07 [[ 8.44501844e-01 -5.29292683e-01 -8.16449076e-02 1.21877538e+02] [ 5.26967413e-01 8.48438513e-01 -4.95725278e-02 2.88285191e+01] [ 9.55090602e-02 -1.16011459e-03 9.95427885e-01 1.30740871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:28.84, Z:13.08 [[ 8.43385188e-01 -5.31025881e-01 -8.19325212e-02 1.21901316e+02] [ 5.28690891e-01 8.47354527e-01 -4.97619039e-02 2.88449232e+01] [ 9.58507516e-02 -1.34852499e-03 9.95394804e-01 1.30781037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.187105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:28.86, Z:13.08 [[ 8.43183281e-01 -5.31349013e-01 -8.19156908e-02 1.21924724e+02] [ 5.29012854e-01 8.47151932e-01 -4.97895947e-02 2.88593947e+01] [ 9.58506878e-02 -1.35269957e-03 9.95394804e-01 1.30805525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:28.88, Z:13.08 [[ 8.43674243e-01 -5.30434016e-01 -8.27860261e-02 1.21946933e+02] [ 5.28039187e-01 8.47725341e-01 -5.03623161e-02 2.88767721e+01] [ 9.68936978e-02 -1.22487702e-03 9.95293982e-01 1.30836146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:28.90, Z:13.09 [[ 8.46847934e-01 -5.25131260e-01 -8.41768156e-02 1.21966858e+02] [ 5.22624737e-01 8.51021039e-01 -5.12501155e-02 2.88977797e+01] [ 9.85492788e-02 -5.91831674e-04 9.95131996e-01 1.30868372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277105681 meters Centerline goodness [0,1] 0.9999163827163075 Centerline is valid? [True, True] Translation: X:121.99, Y:28.92, Z:13.09 [[ 8.48394873e-01 -5.22529481e-01 -8.47884552e-02 1.21987834e+02] [ 5.19971630e-01 8.52621173e-01 -5.16395038e-02 2.89165092e+01] [ 9.92755953e-02 -2.76901046e-04 9.95059938e-01 1.30886820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.307105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:28.94, Z:13.09 [[ 8.51516150e-01 -5.17618392e-01 -8.36148660e-02 1.22006844e+02] [ 5.15103072e-01 8.55611531e-01 -5.09679713e-02 2.89399656e+01] [ 9.79238028e-02 3.29776335e-04 9.95193861e-01 1.30916609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:28.96, Z:13.09 [[ 8.52877438e-01 -5.15593004e-01 -8.22431208e-02 1.22026863e+02] [ 5.13146658e-01 8.56833421e-01 -5.01696775e-02 2.89579337e+01] [ 9.63357893e-02 5.85803409e-04 9.95348719e-01 1.30948062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36710568099997 meters Centerline goodness [0,1] 0.999937317175094 Centerline is valid? [True, True] Translation: X:122.04, Y:28.98, Z:13.10 [[ 8.56682564e-01 -5.09507221e-01 -8.06062982e-02 1.22044829e+02] [ 5.07128858e-01 8.60465456e-01 -4.91886222e-02 2.89811085e+01] [ 9.44208933e-02 1.26125503e-03 9.95531569e-01 1.30995266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39710568099997 meters Centerline goodness [0,1] 0.9998955569945481 Centerline is valid? [True, True] Translation: X:122.06, Y:29.00, Z:13.10 [[ 8.59570502e-01 -5.04559906e-01 -8.09805747e-02 1.22063474e+02] [ 5.02136167e-01 8.63374756e-01 -4.94297458e-02 2.90036191e+01] [ 9.48568519e-02 1.82507598e-03 9.95489250e-01 1.31022204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42710568099997 meters Centerline goodness [0,1] 0.9998747259630442 Centerline is valid? [True, True] Translation: X:122.09, Y:29.02, Z:13.10 [[ 8.61128796e-01 -5.02009086e-01 -8.02749846e-02 1.22085525e+02] [ 4.99615156e-01 8.64859797e-01 -4.90125121e-02 2.90232144e+01] [ 9.40313334e-02 2.09948653e-03 9.95567025e-01 1.31049789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45710568099997 meters Centerline goodness [0,1] 0.999832404575355 Centerline is valid? [True, True] Translation: X:122.11, Y:29.04, Z:13.11 [[ 8.61925894e-01 -5.00726561e-01 -7.97286943e-02 1.22108600e+02] [ 4.98356477e-01 8.65602583e-01 -4.87133509e-02 2.90407946e+01] [ 9.34054323e-02 2.25398727e-03 9.95625605e-01 1.31075093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48710568099997 meters Centerline goodness [0,1] 0.9999791327573975 Centerline is valid? [True, True] Translation: X:122.13, Y:29.06, Z:13.11 [[ 8.63762377e-01 -4.97521524e-01 -7.99180173e-02 1.22128483e+02] [ 4.95123226e-01 8.67447624e-01 -4.88631938e-02 2.90609448e+01] [ 9.36351849e-02 2.63692195e-03 9.95603083e-01 1.31094949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:29.08, Z:13.11 [[ 8.64899758e-01 -4.95346930e-01 -8.11161391e-02 1.22151484e+02] [ 4.92865104e-01 8.68690304e-01 -4.96099304e-02 2.90784523e+01] [ 9.50389302e-02 2.92830245e-03 9.95469250e-01 1.31120305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54710568099998 meters Centerline goodness [0,1] 0.9999790689886136 Centerline is valid? [True, True] Translation: X:122.17, Y:29.10, Z:13.11 [[ 8.65299652e-01 -4.94546509e-01 -8.17328775e-02 1.22174740e+02] [ 4.92019755e-01 8.69145744e-01 -5.00223571e-02 2.90956342e+01] [ 9.57761647e-02 3.07013783e-03 9.95398162e-01 1.31138449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57710568099998 meters Centerline goodness [0,1] 0.9996244444908093 Centerline is valid? [True, True] Translation: X:122.20, Y:29.12, Z:13.11 [[ 8.66480478e-01 -4.92424643e-01 -8.20338433e-02 1.22196116e+02] [ 4.89866453e-01 8.70348649e-01 -5.02402939e-02 2.91152384e+01] [ 9.61376035e-02 3.34660601e-03 9.95362427e-01 1.31142559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60710568099998 meters Centerline goodness [0,1] 0.9998954718401137 Centerline is valid? [True, True] Translation: X:122.22, Y:29.13, Z:13.12 [[ 8.66715885e-01 -4.91985348e-01 -8.21826749e-02 1.22219816e+02] [ 4.89413952e-01 8.70596766e-01 -5.03513193e-02 2.91323224e+01] [ 9.63200823e-02 3.41894066e-03 9.95344540e-01 1.31150909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:29.14, Z:13.11 [[ 8.64613985e-01 -4.95440417e-01 -8.35550783e-02 1.22247168e+02] [ 4.92794960e-01 8.68636341e-01 -5.12253348e-02 2.91429856e+01] [ 9.79580787e-02 3.11461932e-03 9.95185668e-01 1.31138630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66710568099998 meters Centerline goodness [0,1] 0.9998952813789348 Centerline is valid? [True, True] Translation: X:122.27, Y:29.15, Z:13.12 [[ 8.62841374e-01 -4.98636384e-01 -8.28644650e-02 1.22274374e+02] [ 4.96048066e-01 8.66806928e-01 -5.08140291e-02 2.91544065e+01] [ 9.71652161e-02 2.73968907e-03 9.95264495e-01 1.31168830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69710568099998 meters Centerline goodness [0,1] 0.9999583133584843 Centerline is valid? [True, True] Translation: X:122.30, Y:29.16, Z:13.12 [[ 8.58172658e-01 -5.06807599e-01 -8.17664131e-02 1.22304354e+02] [ 5.04321409e-01 8.62057277e-01 -5.01713866e-02 2.91593664e+01] [ 9.59145714e-02 1.81915953e-03 9.95387907e-01 1.31213367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:29.16, Z:13.12 [[ 8.51901736e-01 -5.16983784e-01 -8.36133873e-02 1.22337539e+02] [ 5.14431034e-01 8.55994902e-01 -5.13170501e-02 2.91617152e+01] [ 9.81027160e-02 7.03762737e-04 9.95176046e-01 1.31211128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:29.16, Z:13.12 [[ 8.44279882e-01 -5.29346198e-01 -8.35708306e-02 1.22369674e+02] [ 5.26852673e-01 8.48405632e-01 -5.13239185e-02 2.91636063e+01] [ 9.80700845e-02 -6.97763666e-04 9.95179266e-01 1.31212151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:29.17, Z:13.12 [[ 8.40666247e-01 -5.35115111e-01 -8.32591054e-02 1.22398173e+02] [ 5.32664280e-01 8.44778107e-01 -5.11733731e-02 2.91729875e+01] [ 9.77191147e-02 -1.32942391e-03 9.95213147e-01 1.31239817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:29.18, Z:13.13 [[ 8.36820247e-01 -5.41238834e-01 -8.24160067e-02 1.22427809e+02] [ 5.38863515e-01 8.40866551e-01 -5.06907813e-02 2.91769142e+01] [ 9.67366826e-02 -1.99190694e-03 9.95308016e-01 1.31307109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.847105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:29.19, Z:13.14 [[ 8.37030346e-01 -5.41039290e-01 -8.15885268e-02 1.22452046e+02] [ 5.38709199e-01 8.40995087e-01 -5.01962420e-02 2.91914759e+01] [ 9.57736893e-02 -1.93671213e-03 9.95401251e-01 1.31367208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877105681 meters Centerline goodness [0,1] 0.9999580572099656 Centerline is valid? [True, True] Translation: X:122.47, Y:29.21, Z:13.14 [[ 8.40461283e-01 -5.36073283e-01 -7.90586323e-02 1.22471282e+02] [ 5.33860691e-01 8.44170450e-01 -4.86725194e-02 2.92134153e+01] [ 9.28309985e-02 -1.29892797e-03 9.95681033e-01 1.31444226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.907105681 meters Centerline goodness [0,1] 0.9999375611380523 Centerline is valid? [True, True] Translation: X:122.49, Y:29.24, Z:13.15 [[ 8.44876957e-01 -5.29151057e-01 -7.86262500e-02 1.22488887e+02] [ 5.26929977e-01 8.48527489e-01 -4.84344930e-02 2.92406437e+01] [ 9.23456977e-02 -5.09341016e-04 9.95726877e-01 1.31460729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937105681 meters Centerline goodness [0,1] 0.9998742691896649 Centerline is valid? [True, True] Translation: X:122.51, Y:29.26, Z:13.15 [[ 8.47141437e-01 -5.25472049e-01 -7.89335866e-02 1.22508164e+02] [ 5.23214618e-01 8.50810860e-01 -4.86553589e-02 2.92626004e+01] [ 9.27245838e-02 -8.12357267e-05 9.95691792e-01 1.31458604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.967105681 meters Centerline goodness [0,1] 0.9999790619765494 Centerline is valid? [True, True] Translation: X:122.52, Y:29.29, Z:13.14 [[ 8.51908522e-01 -5.17448990e-01 -8.06127323e-02 1.22523995e+02] [ 5.15054435e-01 8.55713637e-01 -4.97302795e-02 2.92907868e+01] [ 9.47142972e-02 8.45703587e-04 9.95504137e-01 1.31440319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997105681 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:122.55, Y:29.31, Z:13.15 [[ 8.54254671e-01 -5.13615245e-01 -8.03015335e-02 1.22545806e+02] [ 5.11220940e-01 8.58019665e-01 -4.95520415e-02 2.93095863e+01] [ 9.43509789e-02 1.27823748e-03 9.95538176e-01 1.31488936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.027105681 meters Centerline goodness [0,1] 0.9998955024243438 Centerline is valid? [True, True] Translation: X:122.56, Y:29.33, Z:13.16 [[ 8.58013102e-01 -5.07726227e-01 -7.76375892e-02 1.22564934e+02] [ 5.05461385e-01 8.61516398e-01 -4.79404229e-02 2.93311398e+01] [ 9.12266662e-02 1.89070761e-03 9.95828359e-01 1.31572500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057105681 meters Centerline goodness [0,1] 0.9999581633720322 Centerline is valid? [True, True] Translation: X:122.58, Y:29.35, Z:13.16 [[ 8.58658153e-01 -5.06996015e-01 -7.52410578e-02 1.22584293e+02] [ 5.04865385e-01 8.61946268e-01 -4.64712213e-02 2.93527451e+01] [ 8.84144730e-02 1.91628754e-03 9.96081929e-01 1.31615835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.087105681 meters Centerline goodness [0,1] 0.9999169383474884 Centerline is valid? [True, True] Translation: X:122.61, Y:29.37, Z:13.16 [[ 8.57881774e-01 -5.08394114e-01 -7.46611425e-02 1.22609512e+02] [ 5.06300588e-01 8.61122697e-01 -4.61239067e-02 2.93673461e+01] [ 8.77415271e-02 1.76787856e-03 9.96141706e-01 1.31643759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11710568099997 meters Centerline goodness [0,1] 0.9998326569886625 Centerline is valid? [True, True] Translation: X:122.64, Y:29.38, Z:13.17 [[ 8.56682889e-01 -5.10624733e-01 -7.31902290e-02 1.22635388e+02] [ 5.08618593e-01 8.59802318e-01 -4.52448917e-02 2.93801714e+01] [ 8.60322894e-02 1.53461325e-03 9.96291167e-01 1.31683221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14710568099997 meters Centerline goodness [0,1] 0.9999161232149971 Centerline is valid? [True, True] Translation: X:122.66, Y:29.40, Z:13.17 [[ 8.56230919e-01 -5.10940359e-01 -7.62139282e-02 1.22656745e+02] [ 5.08762783e-01 8.59614683e-01 -4.71489850e-02 2.93984446e+01] [ 8.96049311e-02 1.59560854e-03 9.95976109e-01 1.31670848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17710568099997 meters Centerline goodness [0,1] 0.9998953953011569 Centerline is valid? [True, True] Translation: X:122.68, Y:29.41, Z:13.17 [[ 8.58037548e-01 -5.07902740e-01 -7.61995657e-02 1.22681261e+02] [ 5.05712929e-01 8.61412276e-01 -4.71521477e-02 2.94141820e+01] [ 8.95879462e-02 1.92320762e-03 9.95977059e-01 1.31705115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20710568099997 meters Centerline goodness [0,1] 0.9997901804448175 Centerline is valid? [True, True] Translation: X:122.70, Y:29.43, Z:13.17 [[ 8.59840840e-01 -5.04935748e-01 -7.55884907e-02 1.22701676e+02] [ 5.02766563e-01 8.63154017e-01 -4.68073185e-02 2.94328194e+01] [ 8.88791978e-02 2.24347839e-03 9.96039886e-01 1.31738559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23710568099997 meters Centerline goodness [0,1] 0.9997271372499633 Centerline is valid? [True, True] Translation: X:122.72, Y:29.45, Z:13.17 [[ 8.63270946e-01 -4.98947938e-01 -7.62510885e-02 1.22723514e+02] [ 4.96715206e-01 8.66627093e-01 -4.72386071e-02 2.94530503e+01] [ 8.96508648e-02 2.90464192e-03 9.95969018e-01 1.31748986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26710568099998 meters Centerline goodness [0,1] 0.9996034644683294 Centerline is valid? [True, True] Translation: X:122.74, Y:29.47, Z:13.18 [[ 8.64971253e-01 -4.95942854e-01 -7.65860146e-02 1.22743792e+02] [ 4.93677989e-01 8.68349127e-01 -4.74535161e-02 2.94743337e+01] [ 9.00376311e-02 3.23709768e-03 9.95933103e-01 1.31750741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29710568099998 meters Centerline goodness [0,1] 0.9999160422307579 Centerline is valid? [True, True] Translation: X:122.77, Y:29.49, Z:13.18 [[ 8.64769243e-01 -4.96408676e-01 -7.58457840e-02 1.22769699e+02] [ 4.94188486e-01 8.68083180e-01 -4.70035318e-02 2.94851418e+01] [ 8.91734104e-02 3.16509539e-03 9.96011087e-01 1.31778796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32710568099998 meters Centerline goodness [0,1] 0.9997495721858174 Centerline is valid? [True, True] Translation: X:122.80, Y:29.49, Z:13.18 [[ 8.62509098e-01 -5.00422281e-01 -7.52036952e-02 1.22796739e+02] [ 4.98251435e-01 8.65777064e-01 -4.66431552e-02 2.94943159e+01] [ 8.84509085e-02 2.75979669e-03 9.96076714e-01 1.31827396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:29.50, Z:13.19 [[ 8.60655160e-01 -5.03685110e-01 -7.46592662e-02 1.22824953e+02] [ 5.01557094e-01 8.63883950e-01 -4.63141630e-02 2.95046197e+01] [ 8.78246961e-02 2.41463870e-03 9.96133019e-01 1.31851198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:29.51, Z:13.18 [[ 8.56577545e-01 -5.10478983e-01 -7.54063533e-02 1.22853525e+02] [ 5.08331420e-01 8.59888421e-01 -4.68088763e-02 2.95124590e+01] [ 8.87359976e-02 1.76401367e-03 9.96053619e-01 1.31848711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41710568099998 meters Centerline goodness [0,1] 0.9999790878102847 Centerline is valid? [True, True] Translation: X:122.88, Y:29.52, Z:13.18 [[ 8.52127497e-01 -5.17757276e-01 -7.61979759e-02 1.22883444e+02] [ 5.15592318e-01 8.55526942e-01 -4.73097561e-02 2.95201591e+01] [ 8.96843918e-02 1.02685311e-03 9.95969706e-01 1.31846388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.91, Y:29.53, Z:13.19 [[ 8.49887862e-01 -5.21569382e-01 -7.52063961e-02 1.22910268e+02] [ 5.19472701e-01 8.53208630e-01 -4.67241475e-02 2.95315492e+01] [ 8.85366310e-02 6.42616101e-04 9.96072714e-01 1.31878849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:29.54, Z:13.19 [[ 8.45007718e-01 -5.29822872e-01 -7.24546837e-02 1.22938929e+02] [ 5.27904484e-01 8.48108301e-01 -4.50462528e-02 2.95375864e+01] [ 8.53159537e-02 -1.84721088e-04 9.96353930e-01 1.31948573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:29.54, Z:13.20 [[ 8.39926573e-01 -5.37952796e-01 -7.16250016e-02 1.22968001e+02] [ 5.36106155e-01 8.42974391e-01 -4.45462395e-02 2.95449870e+01] [ 8.43418162e-02 -9.83033885e-04 9.96436396e-01 1.32000322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:29.56, Z:13.20 [[ 8.34679987e-01 -5.45902534e-01 -7.27993286e-02 1.22994985e+02] [ 5.44021927e-01 8.37846784e-01 -4.53090347e-02 2.95570608e+01] [ 8.57290002e-02 -1.78588658e-03 9.96316892e-01 1.32002287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.567105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.02, Y:29.57, Z:13.20 [[ 8.32654614e-01 -5.48900940e-01 -7.34442076e-02 1.23019737e+02] [ 5.46995650e-01 8.35884805e-01 -4.57422358e-02 2.95695190e+01] [ 8.64988533e-02 -2.08617842e-03 9.96249766e-01 1.32010260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.04, Y:29.59, Z:13.20 [[ 8.29757497e-01 -5.53117104e-01 -7.45919866e-02 1.23043780e+02] [ 5.51167563e-01 8.33099600e-01 -4.64690735e-02 2.95856026e+01] [ 8.78453936e-02 -2.55462128e-03 9.96130845e-01 1.32002324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.627105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:29.60, Z:13.20 [[ 8.28633598e-01 -5.54682520e-01 -7.54563568e-02 1.23066540e+02] [ 5.52692580e-01 8.32057568e-01 -4.70225045e-02 2.96031288e+01] [ 8.88665940e-02 -2.73974142e-03 9.96039769e-01 1.32016319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:29.62, Z:13.20 [[ 8.26584907e-01 -5.57632947e-01 -7.61766922e-02 1.23088290e+02] [ 5.55614166e-01 8.30082012e-01 -4.75052807e-02 2.96225651e+01] [ 8.97234117e-02 -3.05770129e-03 9.95962027e-01 1.32044233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.687105681 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:123.11, Y:29.65, Z:13.21 [[ 8.24543722e-01 -5.60740490e-01 -7.54834624e-02 1.23107698e+02] [ 5.58768290e-01 8.27984886e-01 -4.71065398e-02 2.96463749e+01] [ 8.89137102e-02 -3.33636357e-03 9.96033745e-01 1.32086210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:29.67, Z:13.21 [[ 8.24059136e-01 -5.61658134e-01 -7.39370059e-02 1.23128611e+02] [ 5.59766866e-01 8.27362679e-01 -4.61741581e-02 2.96671779e+01] [ 8.71068108e-02 -3.33724920e-03 9.96193388e-01 1.32130443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.747105681 meters Centerline goodness [0,1] 0.9999789549003515 Centerline is valid? [True, True] Translation: X:123.15, Y:29.69, Z:13.22 [[ 8.23572213e-01 -5.62599444e-01 -7.21850173e-02 1.23146573e+02] [ 5.60797561e-01 8.26722929e-01 -4.51142380e-02 2.96895409e+01] [ 8.50582541e-02 -3.32634882e-03 9.96370428e-01 1.32187503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777105681 meters Centerline goodness [0,1] 0.9999790930568042 Centerline is valid? [True, True] Translation: X:123.17, Y:29.71, Z:13.22 [[ 8.23465188e-01 -5.62692657e-01 -7.26777666e-02 1.23166658e+02] [ 5.60865382e-01 8.26659397e-01 -4.54341849e-02 2.97093002e+01] [ 8.56452409e-02 -3.34897372e-03 9.96320068e-01 1.32197574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.807105681 meters Centerline goodness [0,1] 0.9999789951268694 Centerline is valid? [True, True] Translation: X:123.18, Y:29.74, Z:13.22 [[ 8.24646437e-01 -5.61033891e-01 -7.21056660e-02 1.23179931e+02] [ 5.59227677e-01 8.27786882e-01 -4.50919410e-02 2.97427329e+01] [ 8.49862316e-02 -3.13857559e-03 9.96377182e-01 1.32194600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83710568099997 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:123.20, Y:29.77, Z:13.22 [[ 8.29395686e-01 -5.54005595e-01 -7.19763623e-02 1.23195063e+02] [ 5.52176241e-01 8.32509537e-01 -4.50474067e-02 2.97716127e+01] [ 8.48775234e-02 -2.38151237e-03 9.96388546e-01 1.32241130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86710568099997 meters Centerline goodness [0,1] 0.9999371082367245 Centerline is valid? [True, True] Translation: X:123.21, Y:29.79, Z:13.23 [[ 8.32248156e-01 -5.49659094e-01 -7.23732464e-02 1.23214570e+02] [ 5.47792236e-01 8.35386806e-01 -4.53050908e-02 2.97937685e+01] [ 8.53620103e-02 -1.94042421e-03 9.96348113e-01 1.32282444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89710568099997 meters Centerline goodness [0,1] 0.9995411696004004 Centerline is valid? [True, True] Translation: X:123.22, Y:29.83, Z:13.23 [[ 8.38781352e-01 -5.39462542e-01 -7.36614487e-02 1.23224831e+02] [ 5.37486475e-01 8.42009129e-01 -4.61401755e-02 2.98302457e+01] [ 8.69145086e-02 -8.90513669e-04 9.96215376e-01 1.32284028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92710568099997 meters Centerline goodness [0,1] 0.9994763301214914 Centerline is valid? [True, True] Translation: X:123.24, Y:29.87, Z:13.23 [[ 8.45820074e-01 -5.28217363e-01 -7.46647117e-02 1.23236359e+02] [ 5.26141880e-01 8.49109143e-01 -4.67801749e-02 2.98668593e+01] [ 8.81085900e-02 2.83379264e-04 9.96110835e-01 1.32266326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95710568099997 meters Centerline goodness [0,1] 0.9993962484125497 Centerline is valid? [True, True] Translation: X:123.25, Y:29.90, Z:13.23 [[ 8.51368702e-01 -5.18770072e-01 -7.77749690e-02 1.23250478e+02] [ 5.16474707e-01 8.54912740e-01 -4.87656018e-02 2.98976260e+01] [ 9.17889466e-02 1.34870277e-03 9.95777571e-01 1.32256154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98710568099997 meters Centerline goodness [0,1] 0.9993074210879785 Centerline is valid? [True, True] Translation: X:123.27, Y:29.92, Z:13.23 [[ 8.53023250e-01 -5.15960806e-01 -7.83312286e-02 1.23271271e+02] [ 5.13619321e-01 8.56610554e-01 -4.91279158e-02 2.99189484e+01] [ 9.24474362e-02 1.67482193e-03 9.95716158e-01 1.32269422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01710568099998 meters Centerline goodness [0,1] 0.9993082196088297 Centerline is valid? [True, True] Translation: X:123.29, Y:29.94, Z:13.23 [[ 8.54940874e-01 -5.12956733e-01 -7.71459163e-02 1.23288133e+02] [ 5.10670375e-01 8.58412135e-01 -4.84187375e-02 2.99443680e+01] [ 9.10597081e-02 1.99902374e-03 9.95843428e-01 1.32294404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04710568099998 meters Centerline goodness [0,1] 0.9992485911083281 Centerline is valid? [True, True] Translation: X:123.31, Y:29.96, Z:13.23 [[ 8.53765691e-01 -5.14989172e-01 -7.66178669e-02 1.23312043e+02] [ 5.12741082e-01 8.57194833e-01 -4.80999139e-02 2.99612710e+01] [ 9.04473745e-02 1.78092824e-03 9.95899644e-01 1.32324874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07710568099998 meters Centerline goodness [0,1] 0.9991384382617466 Centerline is valid? [True, True] Translation: X:123.33, Y:29.98, Z:13.23 [[ 8.52181272e-01 -5.17533448e-01 -7.71116681e-02 1.23334253e+02] [ 5.15263615e-01 8.55661575e-01 -4.84424983e-02 2.99787027e+01] [ 9.10521046e-02 1.54895294e-03 9.95844925e-01 1.32335765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10710568099998 meters Centerline goodness [0,1] 0.9991384382617466 Centerline is valid? [True, True] Translation: X:123.36, Y:29.99, Z:13.24 [[ 8.52000094e-01 -5.17832536e-01 -7.71057993e-02 1.23357361e+02] [ 5.15563080e-01 8.55480643e-01 -4.84518378e-02 2.99934970e+01] [ 9.10524568e-02 1.52806703e-03 9.95844925e-01 1.32360273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13710568099998 meters Centerline goodness [0,1] 0.9995214813273692 Centerline is valid? [True, True] Translation: X:123.38, Y:30.01, Z:13.23 [[ 8.48493144e-01 -5.23326696e-01 -7.86673599e-02 1.23381956e+02] [ 5.20983986e-01 8.52131553e-01 -4.94722359e-02 3.00098181e+01] [ 9.29250814e-02 9.92418248e-04 9.95672609e-01 1.32340284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16710568099998 meters Centerline goodness [0,1] 0.9995168676217283 Centerline is valid? [True, True] Translation: X:123.41, Y:30.02, Z:13.24 [[ 8.47033468e-01 -5.25673039e-01 -7.87537925e-02 1.23407797e+02] [ 5.23332066e-01 8.50686352e-01 -4.95608594e-02 3.00234286e+01] [ 9.30475841e-02 7.65321770e-04 9.95661369e-01 1.32369403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19710568099998 meters Centerline goodness [0,1] 0.9994569190600522 Centerline is valid? [True, True] Translation: X:123.43, Y:30.04, Z:13.24 [[ 8.44976135e-01 -5.28932204e-01 -7.90319839e-02 1.23434098e+02] [ 5.26585557e-01 8.48663969e-01 -4.97706643e-02 3.00355386e+01] [ 9.33969043e-02 4.37922263e-04 9.95628860e-01 1.32408166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22710568099998 meters Centerline goodness [0,1] 0.9993706601774738 Centerline is valid? [True, True] Translation: X:123.46, Y:30.05, Z:13.24 [[ 8.42889032e-01 -5.32512558e-01 -7.72557838e-02 1.23456950e+02] [ 5.30282272e-01 8.46422100e-01 -4.86861473e-02 3.00529140e+01] [ 9.13169876e-02 6.96469987e-05 9.95821873e-01 1.32424434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25710568099998 meters Centerline goodness [0,1] 0.999580747945665 Centerline is valid? [True, True] Translation: X:123.48, Y:30.07, Z:13.25 [[ 8.41572242e-01 -5.34734374e-01 -7.62581823e-02 1.23480471e+02] [ 5.32567379e-01 8.45020195e-01 -4.80921696e-02 3.00676721e+01] [ 9.01562403e-02 -1.39585279e-04 9.95927624e-01 1.32451346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28710568099999 meters Centerline goodness [0,1] 0.9994982123816095 Centerline is valid? [True, True] Translation: X:123.51, Y:30.08, Z:13.25 [[ 8.38920005e-01 -5.38678403e-01 -7.77097424e-02 1.23506483e+02] [ 5.36441007e-01 8.42511299e-01 -4.90485271e-02 3.00783525e+01] [ 9.18927182e-02 -5.38901797e-04 9.95768767e-01 1.32467300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.317105681 meters Centerline goodness [0,1] 0.9996637101181218 Centerline is valid? [True, True] Translation: X:123.53, Y:30.09, Z:13.25 [[ 8.36362368e-01 -5.42496781e-01 -7.87097884e-02 1.23531209e+02] [ 5.40216816e-01 8.40057334e-01 -4.96937436e-02 3.00928617e+01] [ 9.30794309e-02 -9.58374241e-04 9.95658225e-01 1.32478418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.347105681 meters Centerline goodness [0,1] 0.9997481002560981 Centerline is valid? [True, True] Translation: X:123.55, Y:30.11, Z:13.25 [[ 8.35342383e-01 -5.44133286e-01 -7.82436620e-02 1.23554463e+02] [ 5.41884175e-01 8.38998062e-01 -4.94347249e-02 3.01093261e+01] [ 9.25453601e-02 -1.10408140e-03 9.95707857e-01 1.32504306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377105681 meters Centerline goodness [0,1] 0.9997077061193812 Centerline is valid? [True, True] Translation: X:123.58, Y:30.12, Z:13.25 [[ 8.33907673e-01 -5.46221072e-01 -7.89970501e-02 1.23577864e+02] [ 5.43934299e-01 8.37640020e-01 -4.99467280e-02 3.01235168e+01] [ 9.34530459e-02 -1.31824533e-03 9.95622815e-01 1.32527630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.407105681 meters Centerline goodness [0,1] 0.9998532340916239 Centerline is valid? [True, True] Translation: X:123.60, Y:30.14, Z:13.25 [[ 8.30663499e-01 -5.50922326e-01 -8.05154809e-02 1.23603451e+02] [ 5.48567251e-01 8.34554427e-01 -5.09203219e-02 3.01354700e+01] [ 9.52476932e-02 -1.87050330e-03 9.95451846e-01 1.32539287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437105681 meters Centerline goodness [0,1] 0.99989492266308 Centerline is valid? [True, True] Translation: X:123.63, Y:30.15, Z:13.26 [[ 8.27350990e-01 -5.55738071e-01 -8.15201525e-02 1.23629191e+02] [ 5.53345632e-01 8.31353853e-01 -5.15692073e-02 3.01463757e+01] [ 9.64310646e-02 -2.44298558e-03 9.95336667e-01 1.32551096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.467105681 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:123.66, Y:30.15, Z:13.26 [[ 8.20194906e-01 -5.66377492e-01 -8.06030592e-02 1.23658368e+02] [ 5.64088015e-01 8.24137931e-01 -5.10037527e-02 3.01536493e+01] [ 9.53154159e-02 -3.63420151e-03 9.95440487e-01 1.32589703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497105681 meters Centerline goodness [0,1] 0.9999791305799611 Centerline is valid? [True, True] Translation: X:123.68, Y:30.16, Z:13.26 [[ 8.16515501e-01 -5.71894909e-01 -7.89851234e-02 1.23684606e+02] [ 5.69719057e-01 8.20316332e-01 -5.00131203e-02 3.01647980e+01] [ 9.33950356e-02 -4.16284207e-03 9.95620429e-01 1.32640215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.527105681 meters Centerline goodness [0,1] 0.9999790930568042 Centerline is valid? [True, True] Translation: X:123.71, Y:30.18, Z:13.27 [[ 8.15303347e-01 -5.73645367e-01 -7.88127279e-02 1.23709907e+02] [ 5.71483905e-01 8.19092355e-01 -4.99385653e-02 3.01791293e+01] [ 9.32019295e-02 -4.32512602e-03 9.95637833e-01 1.32670616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.73, Y:30.19, Z:13.27 [[ 8.14342523e-01 -5.75035389e-01 -7.86165118e-02 1.23732956e+02] [ 5.72887942e-01 8.18116462e-01 -4.98483746e-02 3.01935178e+01] [ 9.29820419e-02 -4.44480046e-03 9.95657865e-01 1.32707910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58710568099997 meters Centerline goodness [0,1] 0.9999579646482692 Centerline is valid? [True, True] Translation: X:123.75, Y:30.22, Z:13.27 [[ 8.13284746e-01 -5.76522442e-01 -7.86752586e-02 1.23752107e+02] [ 5.74377199e-01 8.17068337e-01 -4.99015658e-02 3.02174575e+01] [ 9.30524353e-02 -4.60509240e-03 9.95650560e-01 1.32723583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:30.23, Z:13.27 [[ 8.12528229e-01 -5.77489614e-01 -7.93953512e-02 1.23774486e+02] [ 5.75305945e-01 8.16384335e-01 -5.03953159e-02 3.02332497e+01] [ 9.39198925e-02 -4.72900071e-03 9.95568526e-01 1.32732791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64710568099997 meters Centerline goodness [0,1] 0.9999159716824569 Centerline is valid? [True, True] Translation: X:123.80, Y:30.25, Z:13.28 [[ 8.11406206e-01 -5.78955816e-01 -8.01881022e-02 1.23795525e+02] [ 5.76733813e-01 8.15343983e-01 -5.09146204e-02 3.02518194e+01] [ 9.48582023e-02 -4.93475100e-03 9.95478563e-01 1.32752852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67710568099997 meters Centerline goodness [0,1] 0.9998532002348797 Centerline is valid? [True, True] Translation: X:123.82, Y:30.27, Z:13.28 [[ 8.10963350e-01 -5.79625191e-01 -7.98315951e-02 1.23815579e+02] [ 5.77424771e-01 8.14867997e-01 -5.07028850e-02 3.02732853e+01] [ 9.44408814e-02 -4.97855897e-03 9.95518023e-01 1.32790205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70710568099997 meters Centerline goodness [0,1] 0.9999790667978481 Centerline is valid? [True, True] Translation: X:123.84, Y:30.29, Z:13.28 [[ 8.09685116e-01 -5.81224009e-01 -8.11705935e-02 1.23835395e+02] [ 5.78953427e-01 8.13726846e-01 -5.15901976e-02 3.02942382e+01] [ 9.60361525e-02 -5.22217818e-03 9.95364148e-01 1.32801672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:30.32, Z:13.28 [[ 8.08612309e-01 -5.82721615e-01 -8.11273864e-02 1.23852046e+02] [ 5.80459463e-01 8.12654001e-01 -5.15779695e-02 3.03212100e+01] [ 9.59840928e-02 -5.38457812e-03 9.95368304e-01 1.32827708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:30.35, Z:13.29 [[ 8.08735249e-01 -5.82866383e-01 -7.88294082e-02 1.23868048e+02] [ 5.80728183e-01 8.12551257e-01 -5.01520942e-02 3.03474352e+01] [ 9.32849045e-02 -5.21869262e-03 9.95625779e-01 1.32885954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79710568099998 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:123.89, Y:30.37, Z:13.29 [[ 8.09204126e-01 -5.82289176e-01 -7.82815298e-02 1.23886433e+02] [ 5.80176668e-01 8.12965718e-01 -4.98174211e-02 3.03716904e+01] [ 9.26483451e-02 -5.10465438e-03 9.95685807e-01 1.32919559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82710568099998 meters Centerline goodness [0,1] 0.9999160052076771 Centerline is valid? [True, True] Translation: X:123.90, Y:30.40, Z:13.29 [[ 8.09938391e-01 -5.81264771e-01 -7.83011367e-02 1.23902843e+02] [ 5.79143060e-01 8.13699376e-01 -4.98662404e-02 3.03977313e+01] [ 9.26990749e-02 -4.95897735e-03 9.95681822e-01 1.32935024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85710568099998 meters Centerline goodness [0,1] 0.9998739575236855 Centerline is valid? [True, True] Translation: X:123.92, Y:30.42, Z:13.29 [[ 8.10002142e-01 -5.81090088e-01 -7.89356710e-02 1.23922110e+02] [ 5.78931603e-01 8.13824080e-01 -5.02848399e-02 3.04203523e+01] [ 9.34597719e-02 -4.96752657e-03 9.95610664e-01 1.32948110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:30.44, Z:13.29 [[ 8.10262592e-01 -5.80667738e-01 -7.93694549e-02 1.23940798e+02] [ 5.78480079e-01 8.14125788e-01 -5.05964350e-02 3.04434118e+01] [ 9.39964375e-02 -4.91725004e-03 9.95560390e-01 1.32940599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:30.47, Z:13.29 [[ 8.09145640e-01 -5.82181612e-01 -7.96737394e-02 1.23960081e+02] [ 5.79983177e-01 8.13042766e-01 -5.08032960e-02 3.04661822e+01] [ 9.43549022e-02 -5.10216309e-03 9.95525550e-01 1.32946720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94710568099998 meters Centerline goodness [0,1] 0.9999789655244946 Centerline is valid? [True, True] Translation: X:123.98, Y:30.48, Z:13.30 [[ 8.08593693e-01 -5.82943343e-01 -7.97075858e-02 1.23981056e+02] [ 5.80745445e-01 8.12496279e-01 -5.08382293e-02 3.04838817e+01] [ 9.43979241e-02 -5.18234581e-03 9.95521057e-01 1.32975343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:30.51, Z:13.30 [[ 8.08326352e-01 -5.83207183e-01 -8.04853404e-02 1.23994411e+02] [ 5.80965103e-01 8.12306514e-01 -5.13583165e-02 3.05139722e+01] [ 9.53313054e-02 -5.24489343e-03 9.95431782e-01 1.33016417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00710568099998 meters Centerline goodness [0,1] 0.9998737214294734 Centerline is valid? [True, True] Translation: X:124.02, Y:30.53, Z:13.31 [[ 8.09276740e-01 -5.82010908e-01 -7.95893267e-02 1.24015143e+02] [ 5.79808969e-01 8.13165523e-01 -5.08270665e-02 3.05329276e+01] [ 9.43012036e-02 -5.01344280e-03 9.95531089e-01 1.33054746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03710568099999 meters Centerline goodness [0,1] 0.9998737719058338 Centerline is valid? [True, True] Translation: X:124.03, Y:30.56, Z:13.31 [[ 8.12841908e-01 -5.77382272e-01 -7.69268809e-02 1.24031850e+02] [ 5.75303576e-01 8.16462556e-01 -4.91395054e-02 3.05609182e+01] [ 9.11801970e-02 -4.31366033e-03 9.95825067e-01 1.33127250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:30.59, Z:13.32 [[ 8.17626280e-01 -5.70938419e-01 -7.42737389e-02 1.24045382e+02] [ 5.68971609e-01 8.20985668e-01 -4.74746446e-02 3.05933100e+01] [ 8.80827736e-02 -3.44313162e-03 9.96107208e-01 1.33199078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:30.62, Z:13.32 [[ 8.20633130e-01 -5.66781223e-01 -7.29404677e-02 1.24063246e+02] [ 5.64865471e-01 8.23863179e-01 -4.66525696e-02 3.06183032e+01] [ 8.65347660e-02 -2.91690742e-03 9.96244561e-01 1.33235556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:30.65, Z:13.33 [[ 8.26988937e-01 -5.57583286e-01 -7.20428863e-02 1.24074436e+02] [ 5.55678780e-01 8.30118782e-01 -4.60858081e-02 3.06547332e+01] [ 8.55008293e-02 -1.92024967e-03 9.96336249e-01 1.33270719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157105681 meters Centerline goodness [0,1] 0.9999158691765696 Centerline is valid? [True, True] Translation: X:124.09, Y:30.69, Z:13.33 [[ 8.32975303e-01 -5.48332732e-01 -7.40497129e-02 1.24088298e+02] [ 5.46280883e-01 8.36259696e-01 -4.74016652e-02 3.06891234e+01] [ 8.79166750e-02 -9.67526137e-04 9.96127362e-01 1.33261813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.187105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:30.71, Z:13.33 [[ 8.35737566e-01 -5.43916200e-01 -7.54843566e-02 1.24107163e+02] [ 5.41763248e-01 8.39139399e-01 -4.83492827e-02 3.07111049e+01] [ 8.96398557e-02 -4.87338382e-04 9.95974126e-01 1.33259325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:30.74, Z:13.32 [[ 8.41344954e-01 -5.34732686e-01 -7.87376817e-02 1.24123516e+02] [ 5.32347909e-01 8.45021109e-01 -5.04482712e-02 3.07391100e+01] [ 9.35113426e-02 5.28558191e-04 9.95618074e-01 1.33225812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.247105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.14, Y:30.76, Z:13.32 [[ 8.43534154e-01 -5.31063817e-01 -8.01333444e-02 1.24144029e+02] [ 5.28573463e-01 8.47331254e-01 -5.13793713e-02 3.07592271e+01] [ 9.51852123e-02 9.83895150e-04 9.95459094e-01 1.33227811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:30.78, Z:13.33 [[ 8.45917422e-01 -5.27173155e-01 -8.06980708e-02 1.24164057e+02] [ 5.24628302e-01 8.49756656e-01 -5.17568365e-02 3.07809412e+01] [ 9.58585377e-02 1.44551786e-03 9.95393918e-01 1.33261047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.307105681 meters Centerline goodness [0,1] 0.9999579124579124 Centerline is valid? [True, True] Translation: X:124.19, Y:30.80, Z:13.33 [[ 8.46466699e-01 -5.26402976e-01 -7.99627087e-02 1.24187196e+02] [ 5.23897358e-01 8.50233792e-01 -5.13230642e-02 3.07983114e+01] [ 9.50036108e-02 1.55101283e-03 9.95475720e-01 1.33293935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33710568099997 meters Centerline goodness [0,1] 0.9998946880660516 Centerline is valid? [True, True] Translation: X:124.21, Y:30.81, Z:13.33 [[ 8.46215978e-01 -5.26688163e-01 -8.07347350e-02 1.24211506e+02] [ 5.24131254e-01 8.50057128e-01 -5.18585381e-02 3.08119085e+01] [ 9.59424152e-02 1.56792558e-03 9.95385651e-01 1.33307638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.24, Y:30.82, Z:13.33 [[ 8.45443327e-01 -5.27948650e-01 -8.05965507e-02 1.24238344e+02] [ 5.25402155e-01 8.49275041e-01 -5.18119686e-02 3.08220506e+01] [ 9.58026978e-02 1.45848170e-03 9.95399275e-01 1.33325431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39710568099997 meters Centerline goodness [0,1] 0.999979020685604 Centerline is valid? [True, True] Translation: X:124.27, Y:30.83, Z:13.34 [[ 8.44637610e-01 -5.29428812e-01 -7.93249085e-02 1.24265329e+02] [ 5.26967350e-01 8.48353398e-01 -5.10090537e-02 3.08333686e+01] [ 9.43012184e-02 1.28252836e-03 9.95542885e-01 1.33367573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42710568099997 meters Centerline goodness [0,1] 0.9999791344990193 Centerline is valid? [True, True] Translation: X:124.30, Y:30.84, Z:13.34 [[ 8.40972187e-01 -5.35824885e-01 -7.52161806e-02 1.24297016e+02] [ 5.33634791e-01 8.44328949e-01 -4.83997563e-02 3.08372387e+01] [ 8.94409926e-02 5.64878084e-04 9.95991963e-01 1.33449789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45710568099997 meters Centerline goodness [0,1] 0.9999581204455985 Centerline is valid? [True, True] Translation: X:124.33, Y:30.84, Z:13.35 [[ 8.36588240e-01 -5.42997741e-01 -7.26193553e-02 1.24327842e+02] [ 5.40980760e-01 8.39734140e-01 -4.67588663e-02 3.08418441e+01] [ 8.63709106e-02 -1.67756427e-04 9.96263036e-01 1.33526568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:30.85, Z:13.36 [[ 8.35121639e-01 -5.45323624e-01 -7.20693650e-02 1.24353834e+02] [ 5.43342851e-01 8.38225509e-01 -4.64385890e-02 3.08519591e+01] [ 8.57344398e-02 -3.76503685e-04 9.96317953e-01 1.33561569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:30.86, Z:13.36 [[ 8.36316232e-01 -5.43532101e-01 -7.17496644e-02 1.24379497e+02] [ 5.41561408e-01 8.39388362e-01 -4.62430524e-02 3.08630570e+01] [ 8.53604167e-02 -1.83033933e-04 9.96350122e-01 1.33579681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54710568099998 meters Centerline goodness [0,1] 0.9999579257389292 Centerline is valid? [True, True] Translation: X:124.40, Y:30.88, Z:13.36 [[ 8.37843034e-01 -5.41041738e-01 -7.27522414e-02 1.24401828e+02] [ 5.39002644e-01 8.40995735e-01 -4.69289173e-02 3.08780796e+01] [ 8.65748277e-02 1.05416014e-04 9.96245345e-01 1.33590014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:30.90, Z:13.36 [[ 8.40160954e-01 -5.36968517e-01 -7.61208423e-02 1.24425307e+02] [ 5.34717404e-01 8.43602093e-01 -4.91203167e-02 3.08957102e+01] [ 9.05917655e-02 5.65832969e-04 9.95887951e-01 1.33567310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60710568099998 meters Centerline goodness [0,1] 0.9999789433787455 Centerline is valid? [True, True] Translation: X:124.45, Y:30.91, Z:13.36 [[ 8.40875052e-01 -5.35615247e-01 -7.77525216e-02 1.24448453e+02] [ 5.33257179e-01 8.44461800e-01 -5.02100442e-02 3.09122524e+01] [ 9.25522996e-02 7.58283191e-04 9.95707536e-01 1.33576976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63710568099998 meters Centerline goodness [0,1] 0.9998738117270969 Centerline is valid? [True, True] Translation: X:124.47, Y:30.93, Z:13.36 [[ 8.43381754e-01 -5.31347488e-01 -7.98565273e-02 1.24471623e+02] [ 5.28837003e-01 8.47152982e-01 -5.16066726e-02 3.09297835e+01] [ 9.50717712e-02 1.29303947e-03 9.95469581e-01 1.33574767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:30.95, Z:13.36 [[ 8.46261413e-01 -5.26838900e-01 -7.92615573e-02 1.24493293e+02] [ 5.24342561e-01 8.49963216e-01 -5.12582598e-02 3.09462784e+01] [ 9.43742534e-02 1.81767938e-03 9.95535131e-01 1.33610875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:30.96, Z:13.37 [[ 8.49120044e-01 -5.22602716e-01 -7.66912761e-02 1.24518540e+02] [ 5.20247309e-01 8.52573421e-01 -4.96114773e-02 3.09599764e+01] [ 9.13120364e-02 2.22766972e-03 9.95819838e-01 1.33681865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:30.97, Z:13.37 [[ 8.50023153e-01 -5.21318968e-01 -7.54133459e-02 1.24543903e+02] [ 5.19033493e-01 8.53358652e-01 -4.88184849e-02 3.09741208e+01] [ 8.98046333e-02 2.35479020e-03 9.95956617e-01 1.33719614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.57, Y:30.99, Z:13.38 [[ 8.50726481e-01 -5.20408254e-01 -7.37543474e-02 1.24570653e+02] [ 5.18216161e-01 8.53914147e-01 -4.77769775e-02 3.09854636e+01] [ 8.78434141e-02 2.42444520e-03 9.96131345e-01 1.33762821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:30.99, Z:13.38 [[ 8.50196257e-01 -5.21513671e-01 -7.20403778e-02 1.24599445e+02] [ 5.19423740e-01 8.53239872e-01 -4.66979534e-02 3.09934787e+01] [ 8.58213438e-02 2.28294264e-03 9.96307927e-01 1.33805472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.63, Y:31.00, Z:13.38 [[ 8.49619016e-01 -5.22396457e-01 -7.24532296e-02 1.24627885e+02] [ 5.20282838e-01 8.52699801e-01 -4.69980688e-02 3.10023985e+01] [ 8.63324791e-02 2.23428097e-03 9.96263876e-01 1.33822902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.847105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.66, Y:31.01, Z:13.38 [[ 8.47994721e-01 -5.24730370e-01 -7.45854649e-02 1.24657077e+02] [ 5.22495967e-01 8.51265929e-01 -4.84177920e-02 3.10094833e+01] [ 8.88983510e-02 2.08742748e-03 9.96038516e-01 1.33797354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.69, Y:31.02, Z:13.38 [[ 8.46818730e-01 -5.26347111e-01 -7.65294543e-02 1.24685057e+02] [ 5.23999767e-01 8.50267486e-01 -4.96935165e-02 3.10195439e+01] [ 9.12265456e-02 1.97998424e-03 9.95828197e-01 1.33786921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.907105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:31.03, Z:13.38 [[ 8.44148855e-01 -5.30148425e-01 -7.97205016e-02 1.24715778e+02] [ 5.27613918e-01 8.47903215e-01 -5.18043588e-02 3.10265976e+01] [ 9.50592689e-02 1.66894403e-03 9.95470216e-01 1.33766822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:31.03, Z:13.38 [[ 8.40139253e-01 -5.36262729e-01 -8.11684770e-02 1.24747869e+02] [ 5.33660103e-01 8.44050492e-01 -5.27793573e-02 3.10277751e+01] [ 9.68138951e-02 1.02563194e-03 9.95301973e-01 1.33794766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.967105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:31.04, Z:13.38 [[ 8.37415922e-01 -5.40505198e-01 -8.11708315e-02 1.24775870e+02] [ 5.37920740e-01 8.41340496e-01 -5.27962826e-02 3.10365602e+01] [ 9.68289728e-02 5.48973962e-04 9.95300883e-01 1.33826902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.80, Y:31.05, Z:13.39 [[ 8.37213787e-01 -5.40820872e-01 -8.11533069e-02 1.24798701e+02] [ 5.38235284e-01 8.41137615e-01 -5.28232069e-02 3.10517109e+01] [ 9.68289918e-02 5.44743849e-04 9.95300884e-01 1.33851376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.027105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:31.06, Z:13.39 [[ 8.33071816e-01 -5.47290169e-01 -8.04041053e-02 1.24828339e+02] [ 5.44778070e-01 8.36942915e-01 -5.23775870e-02 3.10596443e+01] [ 9.59593847e-02 -1.68101708e-04 9.95385236e-01 1.33883281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:31.07, Z:13.39 [[ 8.31611359e-01 -5.49828372e-01 -7.81748585e-02 1.24855652e+02] [ 5.47462108e-01 8.35277549e-01 -5.09574013e-02 3.10662826e+01] [ 9.33155292e-02 -4.21019021e-04 9.95636497e-01 1.33926066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:31.08, Z:13.40 [[ 8.31195653e-01 -5.50518581e-01 -7.77372319e-02 1.24880440e+02] [ 5.48180100e-01 8.34822772e-01 -5.06904040e-02 3.10784205e+01] [ 9.28028207e-02 -4.80360148e-04 9.95684391e-01 1.33957246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11710568099997 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:124.91, Y:31.09, Z:13.40 [[ 8.29169609e-01 -5.53414523e-01 -7.88043473e-02 1.24907512e+02] [ 5.51020463e-01 8.32905610e-01 -5.14265905e-02 3.10887881e+01] [ 9.40968050e-02 -7.81441929e-04 9.95562746e-01 1.33959835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.93, Y:31.10, Z:13.40 [[ 8.26207859e-01 -5.57811491e-01 -7.89107960e-02 1.24934935e+02] [ 5.55429538e-01 8.29966701e-01 -5.15102404e-02 3.10987362e+01] [ 9.42263370e-02 -1.27122148e-03 9.95549989e-01 1.33981007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.96, Y:31.11, Z:13.40 [[ 8.24588063e-01 -5.60199407e-01 -7.89376415e-02 1.24960986e+02] [ 5.57823196e-01 8.28356405e-01 -5.15649912e-02 3.11092128e+01] [ 9.42751784e-02 -1.51337125e-03 9.95545027e-01 1.34003411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20710568099997 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:124.99, Y:31.12, Z:13.40 [[ 8.22322668e-01 -5.63470407e-01 -7.92876389e-02 1.24989573e+02] [ 5.61086846e-01 8.26134098e-01 -5.18073766e-02 3.11158583e+01] [ 9.46941456e-02 -1.88487109e-03 9.95504629e-01 1.34026343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:31.13, Z:13.41 [[ 8.21383656e-01 -5.64819056e-01 -7.94249590e-02 1.25015297e+02] [ 5.62432070e-01 8.25212280e-01 -5.19120334e-02 3.11284256e+01] [ 9.48633572e-02 -2.03144832e-03 9.95488230e-01 1.34052544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:31.14, Z:13.41 [[ 8.19703477e-01 -5.67428576e-01 -7.81730262e-02 1.25042608e+02] [ 5.65124903e-01 8.23419500e-01 -5.11289634e-02 3.11377182e+01] [ 9.33812290e-02 -2.26693484e-03 9.95627846e-01 1.34089295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:31.15, Z:13.41 [[ 8.18429392e-01 -5.69199801e-01 -7.86442385e-02 1.25066513e+02] [ 5.66875074e-01 8.22195520e-01 -5.14507332e-02 3.11511218e+01] [ 9.39466876e-02 -2.47266624e-03 9.95574159e-01 1.34105557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:31.17, Z:13.41 [[ 8.14942318e-01 -5.74262767e-01 -7.80467377e-02 1.25090454e+02] [ 5.71994453e-01 8.18665490e-01 -5.10799561e-02 3.11674089e+01] [ 9.32274876e-02 -3.01508320e-03 9.95640269e-01 1.34131158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:31.17, Z:13.42 [[ 8.10408500e-01 -5.80936543e-01 -7.58340070e-02 1.25118691e+02] [ 5.78823499e-01 8.13940594e-01 -4.96393613e-02 3.11743756e+01] [ 9.05616957e-02 -3.66634496e-03 9.95884098e-01 1.34195536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:31.19, Z:13.42 [[ 8.07674486e-01 -5.85001788e-01 -7.37213216e-02 1.25144366e+02] [ 5.83020887e-01 8.11022153e-01 -4.82671044e-02 3.11877782e+01] [ 8.80259674e-02 -3.99696152e-03 9.96110161e-01 1.34243232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41710568099998 meters Centerline goodness [0,1] 0.9999789774638412 Centerline is valid? [True, True] Translation: X:125.17, Y:31.20, Z:13.43 [[ 8.03738622e-01 -5.90744193e-01 -7.08909469e-02 1.25167475e+02] [ 5.88932524e-01 8.06846782e-01 -4.64408428e-02 3.12049217e+01] [ 8.46327905e-02 -4.42368530e-03 9.96402389e-01 1.34312050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44710568099998 meters Centerline goodness [0,1] 0.9998133128668921 Centerline is valid? [True, True] Translation: X:125.19, Y:31.22, Z:13.43 [[ 8.02782187e-01 -5.92031547e-01 -7.09887850e-02 1.25188129e+02] [ 5.90218726e-01 8.05901918e-01 -4.65183194e-02 3.12236024e+01] [ 8.47503105e-02 -4.55483207e-03 9.96391810e-01 1.34336084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:31.24, Z:13.44 [[ 8.02614552e-01 -5.92377595e-01 -6.99904705e-02 1.25208226e+02] [ 5.90615933e-01 8.05647796e-01 -4.58742641e-02 3.12444458e+01] [ 8.35625545e-02 -4.51813512e-03 9.96492291e-01 1.34368604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50710568099998 meters Centerline goodness [0,1] 0.9999790439866719 Centerline is valid? [True, True] Translation: X:125.23, Y:31.27, Z:13.44 [[ 8.02707118e-01 -5.92273267e-01 -6.98116034e-02 1.25227204e+02] [ 5.90517282e-01 8.05724780e-01 -4.57921194e-02 3.12653501e+01] [ 8.33703869e-02 -4.46729816e-03 9.96508616e-01 1.34407588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53710568099999 meters Centerline goodness [0,1] 0.9999790013019193 Centerline is valid? [True, True] Translation: X:125.24, Y:31.29, Z:13.44 [[ 8.02711423e-01 -5.92115668e-01 -7.10873159e-02 1.25243477e+02] [ 5.90293247e-01 8.05840289e-01 -4.66402328e-02 3.12930407e+01] [ 8.49014358e-02 -4.52371490e-03 9.96379086e-01 1.34404623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.567105681 meters Centerline goodness [0,1] 0.9999790105576895 Centerline is valid? [True, True] Translation: X:125.26, Y:31.31, Z:13.44 [[ 8.03124722e-01 -5.91492328e-01 -7.16066149e-02 1.25264265e+02] [ 5.89637689e-01 8.06298278e-01 -4.70157735e-02 3.13146912e+01] [ 8.55457596e-02 -4.46242886e-03 9.96324249e-01 1.34418011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:31.34, Z:13.44 [[ 8.05165476e-01 -5.88510019e-01 -7.32428487e-02 1.25280215e+02] [ 5.86554258e-01 8.08478946e-01 -4.81237596e-02 3.13412563e+01] [ 8.75366158e-02 -4.21331495e-03 9.96152392e-01 1.34419926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.627105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.30, Y:31.36, Z:13.44 [[ 8.06598474e-01 -5.86455327e-01 -7.39530263e-02 1.25298780e+02] [ 5.84451721e-01 8.09971601e-01 -4.86023845e-02 3.13633209e+01] [ 8.84029784e-02 -4.01936431e-03 9.96076683e-01 1.34433300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:31.40, Z:13.44 [[ 8.10446379e-01 -5.81097785e-01 -7.41756768e-02 1.25311709e+02] [ 5.79058087e-01 8.13826518e-01 -4.87660746e-02 3.13976555e+01] [ 8.87039907e-02 -3.42973694e-03 9.96052127e-01 1.34443651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:31.43, Z:13.45 [[ 8.13950949e-01 -5.76299968e-01 -7.32270391e-02 1.25327731e+02] [ 5.74289969e-01 8.17233302e-01 -4.81742916e-02 3.14271238e+01] [ 8.76064177e-02 -2.84204364e-03 9.96151112e-01 1.34466995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:31.45, Z:13.45 [[ 8.15594658e-01 -5.74007083e-01 -7.29467105e-02 1.25348509e+02] [ 5.72000511e-01 8.18846335e-01 -4.80218248e-02 3.14485495e+01] [ 8.72970140e-02 -2.55921189e-03 9.96179041e-01 1.34497717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:31.48, Z:13.45 [[ 8.20949851e-01 -5.66394697e-01 -7.23767151e-02 1.25363107e+02] [ 5.64386877e-01 8.24132354e-01 -4.76793159e-02 3.14771640e+01] [ 8.66533042e-02 -1.70614092e-03 9.96237067e-01 1.34533289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:31.50, Z:13.46 [[ 8.24038204e-01 -5.61857027e-01 -7.26479130e-02 1.25381320e+02] [ 5.59815510e-01 8.27233452e-01 -4.78686894e-02 3.15018092e+01] [ 8.69921434e-02 -1.22379962e-03 9.96208246e-01 1.34550646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.807105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:31.54, Z:13.45 [[ 8.31331848e-01 -5.50335654e-01 -7.75759414e-02 1.25393190e+02] [ 5.47953172e-01 8.34943512e-01 -5.11532319e-02 3.15353415e+01] [ 9.29229763e-02 1.73276271e-05 9.95673300e-01 1.34517595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:31.56, Z:13.45 [[ 8.37555406e-01 -5.40307506e-01 -8.10477654e-02 1.25408684e+02] [ 5.37657721e-01 8.41466792e-01 -5.34585175e-02 3.15645183e+01] [ 9.70830414e-02 1.19851359e-03 9.95275563e-01 1.34477256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:31.58, Z:13.45 [[ 8.39913965e-01 -5.36832702e-01 -7.97193879e-02 1.25430288e+02] [ 5.34250108e-01 8.43687189e-01 -5.26189000e-02 3.15836426e+01] [ 9.55057726e-02 1.60525737e-03 9.95427582e-01 1.34508087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:31.60, Z:13.46 [[ 8.39551855e-01 -5.37572690e-01 -7.85384300e-02 1.25454611e+02] [ 5.35066074e-01 8.43216026e-01 -5.18751447e-02 3.15991766e+01] [ 9.41115239e-02 1.52862451e-03 9.95560488e-01 1.34555223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:31.62, Z:13.46 [[ 8.38677785e-01 -5.38871771e-01 -7.89733367e-02 1.25477879e+02] [ 5.36339491e-01 8.42386605e-01 -5.21992080e-02 3.16166308e+01] [ 9.46547607e-02 1.42179690e-03 9.95509143e-01 1.34580211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:31.63, Z:13.46 [[ 8.37787062e-01 -5.40105781e-01 -7.99911524e-02 1.25502010e+02] [ 5.37509611e-01 8.41596087e-01 -5.29097747e-02 3.16312397e+01] [ 9.58971160e-02 1.33111151e-03 9.95390361e-01 1.34580437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98710568099997 meters Centerline goodness [0,1] 0.9999789526856373 Centerline is valid? [True, True] Translation: X:125.53, Y:31.64, Z:13.46 [[ 8.36666041e-01 -5.41691211e-01 -8.09973327e-02 1.25529251e+02] [ 5.39032269e-01 8.40576700e-01 -5.36192508e-02 3.16405352e+01] [ 9.71295476e-02 1.20123030e-03 9.95271022e-01 1.34579507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:31.65, Z:13.46 [[ 8.36202439e-01 -5.42375670e-01 -8.12041532e-02 1.25552999e+02] [ 5.39702186e-01 8.40135279e-01 -5.37983605e-02 3.16532167e+01] [ 9.74013957e-02 1.16026127e-03 9.95244504e-01 1.34607271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:31.66, Z:13.47 [[ 8.35310988e-01 -5.44054747e-01 -7.91200683e-02 1.25579369e+02] [ 5.41521837e-01 8.39049166e-01 -5.24461328e-02 3.16646944e+01] [ 9.49191949e-02 9.63586340e-04 9.95484514e-01 1.34672543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07710568099998 meters Centerline goodness [0,1] 0.9998738912942957 Centerline is valid? [True, True] Translation: X:125.61, Y:31.68, Z:13.47 [[ 8.33968816e-01 -5.46525778e-01 -7.61944092e-02 1.25606086e+02] [ 5.44184212e-01 8.37442000e-01 -5.05414705e-02 3.16759988e+01] [ 9.14306149e-02 6.86215764e-04 9.95811213e-01 1.34746709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10710568099998 meters Centerline goodness [0,1] 0.9999163564886454 Centerline is valid? [True, True] Translation: X:125.63, Y:31.69, Z:13.48 [[ 8.33042530e-01 -5.47969101e-01 -7.59605662e-02 1.25630881e+02] [ 5.45644613e-01 8.36498389e-01 -5.04222242e-02 3.16880079e+01] [ 9.11707121e-02 5.56383434e-04 9.95835123e-01 1.34785018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.66, Y:31.70, Z:13.48 [[ 8.31290223e-01 -5.50521499e-01 -7.66984001e-02 1.25659266e+02] [ 5.48158553e-01 8.34820927e-01 -5.09531209e-02 3.16961997e+01] [ 9.20802180e-02 3.13947214e-04 9.95751543e-01 1.34799324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.69, Y:31.71, Z:13.48 [[ 8.29558266e-01 -5.52806568e-01 -7.89808982e-02 1.25685772e+02] [ 5.50308802e-01 8.33309601e-01 -5.24912437e-02 3.17068682e+01] [ 9.48330450e-02 8.06616450e-05 9.95493188e-01 1.34773942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:31.72, Z:13.47 [[ 8.29686265e-01 -5.51956081e-01 -8.34576888e-02 1.25710517e+02] [ 5.49157778e-01 8.33873153e-01 -5.55094618e-02 3.17216901e+01] [ 1.00231911e-01 2.23999052e-04 9.94964077e-01 1.34741430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.74, Y:31.74, Z:13.48 [[ 8.30529134e-01 -5.50477913e-01 -8.48258487e-02 1.25735080e+02] [ 5.47577390e-01 8.34849620e-01 -5.64368149e-02 3.17367421e+01] [ 1.01884048e-01 4.23702216e-04 9.94796191e-01 1.34755661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.76, Y:31.75, Z:13.48 [[ 8.31985932e-01 -5.48175773e-01 -8.54560181e-02 1.25758557e+02] [ 5.45215892e-01 8.36362822e-01 -5.68934199e-02 3.17514818e+01] [ 1.02659831e-01 7.42545864e-04 9.94716245e-01 1.34770011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.78, Y:31.77, Z:13.48 [[ 8.34684221e-01 -5.44073513e-01 -8.53596097e-02 1.25782558e+02] [ 5.41097009e-01 8.39036603e-01 -5.68472182e-02 3.17676069e+01] [ 1.02548903e-01 1.26164660e-03 9.94727164e-01 1.34821136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.317105681 meters Centerline goodness [0,1] 0.9999789371695769 Centerline is valid? [True, True] Translation: X:125.80, Y:31.79, Z:13.49 [[ 8.37609600e-01 -5.39805736e-01 -8.37849929e-02 1.25803212e+02] [ 5.36913180e-01 8.41787733e-01 -5.58359224e-02 3.17857430e+01] [ 1.00669730e-01 1.78343768e-03 9.94918301e-01 1.34872655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:31.80, Z:13.49 [[ 8.38836342e-01 -5.38196177e-01 -8.18441565e-02 1.25827227e+02] [ 5.35427162e-01 8.42817356e-01 -5.45587670e-02 3.18013294e+01] [ 9.83429954e-02 1.94429210e-03 9.95150680e-01 1.34922336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:31.81, Z:13.50 [[ 8.38848193e-01 -5.38550423e-01 -7.93545928e-02 1.25853852e+02] [ 5.35945919e-01 8.42591200e-01 -5.29343116e-02 3.18110139e+01] [ 9.53712775e-02 1.87408143e-03 9.95440007e-01 1.34984360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.407105681 meters Centerline goodness [0,1] 0.9999789633120162 Centerline is valid? [True, True] Translation: X:125.89, Y:31.82, Z:13.50 [[ 8.34361022e-01 -5.45152050e-01 -8.15532194e-02 1.25885910e+02] [ 5.42430791e-01 8.38336380e-01 -5.44146154e-02 3.18152708e+01] [ 9.80332699e-02 1.16445680e-03 9.95182457e-01 1.34970352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437105681 meters Centerline goodness [0,1] 0.9999368620435652 Centerline is valid? [True, True] Translation: X:125.91, Y:31.82, Z:13.50 [[ 8.30960765e-01 -5.50250033e-01 -8.20311410e-02 1.25914997e+02] [ 5.47520064e-01 8.34999740e-01 -5.47468066e-02 3.18245716e+01] [ 9.86204136e-02 5.78752753e-04 9.95124957e-01 1.34977015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.467105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.95, Y:31.83, Z:13.50 [[ 8.24684560e-01 -5.59479391e-01 -8.29348336e-02 1.25946918e+02] [ 5.56731274e-01 8.28844114e-01 -5.53870314e-02 3.18277667e+01] [ 9.97279513e-02 -4.95585950e-04 9.95014618e-01 1.34990579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.98, Y:31.84, Z:13.50 [[ 8.20783445e-01 -5.64938979e-01 -8.46078360e-02 1.25976719e+02] [ 5.62102612e-01 8.25131896e-01 -5.65509327e-02 3.18356308e+01] [ 1.01760450e-01 -1.14221626e-03 9.94808276e-01 1.34981335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:31.85, Z:13.50 [[ 8.19051288e-01 -5.67254865e-01 -8.58889161e-02 1.26003048e+02] [ 5.64340067e-01 8.23541080e-01 -5.74489151e-02 3.18473538e+01] [ 1.03321227e-01 -1.41694876e-03 9.94647031e-01 1.35005000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:31.86, Z:13.50 [[ 8.18361919e-01 -5.67859771e-01 -8.84253944e-02 1.26030264e+02] [ 5.64769091e-01 8.23123936e-01 -5.91849556e-02 3.18563317e+01] [ 1.06393814e-01 -1.50521578e-03 9.94322931e-01 1.35012325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58710568099997 meters Centerline goodness [0,1] 0.9999366741250475 Centerline is valid? [True, True] Translation: X:126.05, Y:31.88, Z:13.50 [[ 8.20019175e-01 -5.65257891e-01 -8.97333280e-02 1.26051812e+02] [ 5.62057086e-01 8.24913421e-01 -6.00806031e-02 3.18760828e+01] [ 1.07983262e-01 -1.16800633e-03 9.94152026e-01 1.35042618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.07, Y:31.90, Z:13.51 [[ 8.21486360e-01 -5.63269180e-01 -8.88143665e-02 1.26072571e+02] [ 5.60117736e-01 8.26273010e-01 -5.95065997e-02 3.18958009e+01] [ 1.06903148e-01 -8.62641882e-04 9.94269065e-01 1.35079753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:31.91, Z:13.51 [[ 8.23635875e-01 -5.60143339e-01 -8.86757310e-02 1.26093911e+02] [ 5.56979566e-01 8.28395594e-01 -5.94516870e-02 3.19134280e+01] [ 1.06760051e-01 -4.24027947e-04 9.94284724e-01 1.35093587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67710568099997 meters Centerline goodness [0,1] 0.9999792013311148 Centerline is valid? [True, True] Translation: X:126.12, Y:31.93, Z:13.51 [[ 8.22891837e-01 -5.61347351e-01 -8.79669011e-02 1.26117505e+02] [ 5.58239077e-01 8.27580109e-01 -5.89940266e-02 3.19262764e+01] [ 1.05915798e-01 -5.60858790e-04 9.94374944e-01 1.35136529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.14, Y:31.94, Z:13.52 [[ 8.21561729e-01 -5.63674572e-01 -8.54827584e-02 1.26141084e+02] [ 5.60749377e-01 8.25996560e-01 -5.73569461e-02 3.19399720e+01] [ 1.02939116e-01 -8.12131680e-04 9.94687327e-01 1.35190068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.17, Y:31.95, Z:13.52 [[ 8.17453136e-01 -5.69917608e-01 -8.34523200e-02 1.26167237e+02] [ 5.67160105e-01 8.21700401e-01 -5.60166601e-02 3.19525381e+01] [ 1.00497686e-01 -1.53983213e-03 9.94936100e-01 1.35241245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.20, Y:31.96, Z:13.52 [[ 8.10939754e-01 -5.78560991e-01 -8.74293743e-02 1.26198097e+02] [ 5.75579139e-01 8.15634657e-01 -5.87261486e-02 3.19589573e+01] [ 1.05287086e-01 -2.69915551e-03 9.94438205e-01 1.35189215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:31.97, Z:13.52 [[ 8.06549058e-01 -5.84448295e-01 -8.88752327e-02 1.26226394e+02] [ 5.81399884e-01 8.11423377e-01 -5.97183277e-02 3.19701912e+01] [ 1.07017716e-01 -3.50628905e-03 9.94250931e-01 1.35195409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.26, Y:31.97, Z:13.52 [[ 7.97880858e-01 -5.96132980e-01 -8.95075772e-02 1.26258274e+02] [ 5.93109676e-01 8.02869679e-01 -6.01763284e-02 3.19732201e+01] [ 1.07736014e-01 -5.07426950e-03 9.94166587e-01 1.35214049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:31.99, Z:13.53 [[ 7.94335479e-01 -6.00983159e-01 -8.86024190e-02 1.26285155e+02] [ 5.98048759e-01 7.99241662e-01 -5.95856377e-02 3.19853976e+01] [ 1.06624709e-01 -5.65758059e-03 9.94283241e-01 1.35256711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:32.00, Z:13.53 [[ 7.90384537e-01 -6.06169652e-01 -8.86038163e-02 1.26310903e+02] [ 6.03263597e-01 7.95310200e-01 -5.96214544e-02 3.19973077e+01] [ 1.06608235e-01 -6.32758135e-03 9.94280969e-01 1.35301775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:32.01, Z:13.53 [[ 7.90167171e-01 -6.06454675e-01 -8.85921515e-02 1.26333552e+02] [ 6.03548463e-01 7.95092742e-01 -5.96387824e-02 3.20128530e+01] [ 1.06607195e-01 -6.34504895e-03 9.94280970e-01 1.35326313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:32.03, Z:13.54 [[ 7.88175287e-01 -6.09082774e-01 -8.83056748e-02 1.26355122e+02] [ 6.06207169e-01 7.93078827e-01 -5.94881690e-02 3.20317027e+01] [ 1.06266580e-01 -6.64442847e-03 9.94315476e-01 1.35377296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:32.05, Z:13.54 [[ 7.87774495e-01 -6.09912753e-01 -8.61265254e-02 1.26376521e+02] [ 6.07179922e-01 7.92441353e-01 -5.80451891e-02 3.20497336e+01] [ 1.03652721e-01 -6.56777743e-03 9.94591865e-01 1.35443835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:32.08, Z:13.55 [[ 7.88660400e-01 -6.09145606e-01 -8.34050620e-02 1.26392978e+02] [ 6.06574604e-01 7.93033956e-01 -5.62529456e-02 3.20755827e+01] [ 1.00409281e-01 -6.22692187e-03 9.94926732e-01 1.35512239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:32.10, Z:13.55 [[ 7.90091679e-01 -6.06981047e-01 -8.56104395e-02 1.26411510e+02] [ 6.04255998e-01 7.94693013e-01 -5.77728660e-02 3.20989651e+01] [ 1.03101053e-01 -6.08476086e-03 9.94652275e-01 1.35485808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.067105681 meters Centerline goodness [0,1] 0.9999157575502295 Centerline is valid? [True, True] Translation: X:126.43, Y:32.12, Z:13.55 [[ 7.90301873e-01 -6.06610041e-01 -8.62972019e-02 1.26430316e+02] [ 6.03836892e-01 7.94976355e-01 -5.82546444e-02 3.21224395e+01] [ 1.03942087e-01 -6.07067954e-03 9.94564824e-01 1.35502322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:32.15, Z:13.55 [[ 7.91040188e-01 -6.05530480e-01 -8.71106100e-02 1.26447055e+02] [ 6.02693768e-01 7.95799858e-01 -5.88456258e-02 3.21495242e+01] [ 1.04955431e-01 -5.95176689e-03 9.94459116e-01 1.35527169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.47, Y:32.17, Z:13.55 [[ 7.91066492e-01 -6.05490320e-01 -8.71508863e-02 1.26467099e+02] [ 6.02646334e-01 7.95830682e-01 -5.89145267e-02 3.21704653e+01] [ 1.05029525e-01 -5.91585408e-03 9.94451508e-01 1.35547070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:32.20, Z:13.56 [[ 7.90713261e-01 -6.05993104e-01 -8.68613636e-02 1.26482720e+02] [ 6.03166590e-01 7.95447803e-01 -5.87610178e-02 3.21967142e+01] [ 1.04702452e-01 -5.92875643e-03 9.94485921e-01 1.35590383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.187105681 meters Centerline goodness [0,1] 0.9998946858478842 Centerline is valid? [True, True] Translation: X:126.51, Y:32.21, Z:13.56 [[ 7.90148773e-01 -6.06537211e-01 -8.81902900e-02 1.26505966e+02] [ 6.03622012e-01 7.95032015e-01 -5.97039524e-02 3.22131883e+01] [ 1.06326773e-01 -6.05859549e-03 9.94312783e-01 1.35571169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217105681 meters Centerline goodness [0,1] 0.9999788927116533 Centerline is valid? [True, True] Translation: X:126.52, Y:32.24, Z:13.56 [[ 7.89071333e-01 -6.07705477e-01 -8.97801968e-02 1.26523164e+02] [ 6.04689719e-01 7.94137365e-01 -6.07962983e-02 3.22386844e+01] [ 1.08244052e-01 -6.31654577e-03 9.94104283e-01 1.35587989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.247105681 meters Centerline goodness [0,1] 0.9999164281386457 Centerline is valid? [True, True] Translation: X:126.54, Y:32.26, Z:13.56 [[ 7.86857444e-01 -6.10447425e-01 -9.06052087e-02 1.26543402e+02] [ 6.07391857e-01 7.92028092e-01 -6.13729024e-02 3.22602710e+01] [ 1.09226801e-01 -6.74114088e-03 9.93993995e-01 1.35604344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277105681 meters Centerline goodness [0,1] 0.999514819111908 Centerline is valid? [True, True] Translation: X:126.56, Y:32.28, Z:13.56 [[ 7.84027155e-01 -6.14094368e-01 -9.04960040e-02 1.26564491e+02] [ 6.11068126e-01 7.89199538e-01 -6.13174803e-02 3.22814976e+01] [ 1.09074124e-01 -7.22465390e-03 9.94007364e-01 1.35647930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.307105681 meters Centerline goodness [0,1] 0.9974920969441518 Centerline is valid? [True, True] Translation: X:126.59, Y:32.30, Z:13.57 [[ 7.81495665e-01 -6.17067511e-01 -9.21531963e-02 1.26585374e+02] [ 6.13945281e-01 7.86872048e-01 -6.24785745e-02 3.23025496e+01] [ 1.11066273e-01 -7.75028484e-03 9.93782781e-01 1.35678666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33710568099997 meters Centerline goodness [0,1] 0.9972183002128422 Centerline is valid? [True, True] Translation: X:126.61, Y:32.32, Z:13.57 [[ 7.81326626e-01 -6.17376366e-01 -9.15157116e-02 1.26605646e+02] [ 6.14295122e-01 7.86630148e-01 -6.20847236e-02 3.23210921e+01] [ 1.10318659e-01 -7.70920759e-03 9.93866370e-01 1.35718785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36710568099997 meters Centerline goodness [0,1] 0.9906593060599064 Centerline is valid? [True, True] Translation: X:126.63, Y:32.34, Z:13.58 [[ 7.83102295e-01 -6.15336207e-01 -9.00674651e-02 1.26625109e+02] [ 6.12335395e-01 7.88231159e-01 -6.11310376e-02 3.23416270e+01] [ 1.08610123e-01 -7.27964101e-03 9.94057769e-01 1.35757079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.64, Y:32.37, Z:13.58 [[ 7.84193979e-01 -6.14099736e-01 -8.90017791e-02 1.26642156e+02] [ 6.11159811e-01 7.89197309e-01 -6.04259295e-02 3.23678374e+01] [ 1.07347512e-01 -7.00866034e-03 9.94196857e-01 1.35813760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42710568099997 meters Centerline goodness [0,1] 0.9998743560748837 Centerline is valid? [True, True] Translation: X:126.66, Y:32.39, Z:13.59 [[ 7.86129414e-01 -6.11823056e-01 -8.75961833e-02 1.26659761e+02] [ 6.08957419e-01 7.90967451e-01 -5.95092673e-02 3.23929768e+01] [ 1.05694872e-01 -6.56036021e-03 9.94376969e-01 1.35865621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45710568099997 meters Centerline goodness [0,1] 0.9999580791884131 Centerline is valid? [True, True] Translation: X:126.68, Y:32.42, Z:13.59 [[ 7.86135807e-01 -6.11416308e-01 -9.03359882e-02 1.26677450e+02] [ 6.08361042e-01 7.91280915e-01 -6.14113739e-02 3.24189953e+01] [ 1.09029059e-01 -6.67921594e-03 9.94016123e-01 1.35869479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48710568099997 meters Centerline goodness [0,1] 0.9999789220749109 Centerline is valid? [True, True] Translation: X:126.70, Y:32.44, Z:13.59 [[ 7.85001803e-01 -6.12553577e-01 -9.24677487e-02 1.26699798e+02] [ 6.09355655e-01 7.90398333e-01 -6.28980189e-02 3.24382476e+01] [ 1.11614761e-01 -6.97068727e-03 9.93727103e-01 1.35868188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51710568099998 meters Centerline goodness [0,1] 0.9991770589352409 Centerline is valid? [True, True] Translation: X:126.72, Y:32.46, Z:13.59 [[ 7.82403867e-01 -6.15507592e-01 -9.48398238e-02 1.26722285e+02] [ 6.12163281e-01 7.88094551e-01 -6.45220585e-02 3.24562341e+01] [ 1.14456565e-01 -7.57514957e-03 9.93399372e-01 1.35865707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54710568099998 meters Centerline goodness [0,1] 0.9985886119946915 Centerline is valid? [True, True] Translation: X:126.74, Y:32.47, Z:13.59 [[ 7.81809340e-01 -6.16427419e-01 -9.37624299e-02 1.26744031e+02] [ 6.13163220e-01 7.87374998e-01 -6.38081376e-02 3.24745541e+01] [ 1.13159279e-01 -7.60587542e-03 9.93547748e-01 1.35907833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57710568099998 meters Centerline goodness [0,1] 0.9984247337800088 Centerline is valid? [True, True] Translation: X:126.76, Y:32.50, Z:13.60 [[ 7.83864536e-01 -6.14043712e-01 -9.22318201e-02 1.26763015e+02] [ 6.10865070e-01 7.89239970e-01 -6.28023614e-02 3.24969215e+01] [ 1.11356434e-01 -7.11265332e-03 9.93755078e-01 1.35955244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60710568099998 meters Centerline goodness [0,1] 0.9998735697578861 Centerline is valid? [True, True] Translation: X:126.78, Y:32.53, Z:13.60 [[ 7.87872776e-01 -6.09041675e-01 -9.12399367e-02 1.26777578e+02] [ 6.05895966e-01 7.93113034e-01 -6.21433353e-02 3.25259811e+01] [ 1.10211464e-01 -6.32086745e-03 9.93888062e-01 1.36013128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63710568099998 meters Centerline goodness [0,1] 0.999936784878943 Centerline is valid? [True, True] Translation: X:126.79, Y:32.56, Z:13.61 [[ 7.92661744e-01 -6.03018588e-01 -8.97549025e-02 1.26790431e+02] [ 5.99932722e-01 7.97709093e-01 -6.11631545e-02 3.25589261e+01] [ 1.08480821e-01 -5.36521028e-03 9.94084064e-01 1.36071506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66710568099998 meters Centerline goodness [0,1] 0.9999788967205504 Centerline is valid? [True, True] Translation: X:126.81, Y:32.58, Z:13.61 [[ 7.95248319e-01 -5.99812512e-01 -8.83462584e-02 1.26810292e+02] [ 5.96801701e-01 8.00125960e-01 -6.02177477e-02 3.25808823e+01] [ 1.06807493e-01 -4.83713471e-03 9.94267953e-01 1.36110010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69710568099998 meters Centerline goodness [0,1] 0.9999367195410057 Centerline is valid? [True, True] Translation: X:126.83, Y:32.61, Z:13.62 [[ 8.00828703e-01 -5.92711180e-01 -8.58303293e-02 1.26826302e+02] [ 5.89827645e-01 8.05406288e-01 -5.85154767e-02 3.26097300e+01] [ 1.03811064e-01 -3.76422764e-03 9.94589912e-01 1.36172374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72710568099998 meters Centerline goodness [0,1] 0.9998313232689551 Centerline is valid? [True, True] Translation: X:126.84, Y:32.64, Z:13.62 [[ 8.04742388e-01 -5.87758683e-01 -8.32431325e-02 1.26841014e+02] [ 5.85017705e-01 8.09030705e-01 -5.67767796e-02 3.26370699e+01] [ 1.00717295e-01 -3.00802513e-03 9.94910538e-01 1.36229824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75710568099998 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:126.86, Y:32.66, Z:13.63 [[ 8.05132274e-01 -5.87370858e-01 -8.22039925e-02 1.26861359e+02] [ 5.84694477e-01 8.09312677e-01 -5.60835032e-02 3.26582451e+01] [ 9.94705486e-02 -2.90958190e-03 9.95036253e-01 1.36275033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78710568099999 meters Centerline goodness [0,1] 0.999915743354257 Centerline is valid? [True, True] Translation: X:126.88, Y:32.68, Z:13.63 [[ 8.05659107e-01 -5.86626248e-01 -8.23592678e-02 1.26880285e+02] [ 5.83932000e-01 8.09852981e-01 -5.62278198e-02 3.26819934e+01] [ 9.96836135e-02 -2.79175693e-03 9.95015268e-01 1.36286708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.817105681 meters Centerline goodness [0,1] 0.9998312414302288 Centerline is valid? [True, True] Translation: X:126.90, Y:32.70, Z:13.63 [[ 8.06377526e-01 -5.85542528e-01 -8.30375402e-02 1.26903208e+02] [ 5.82794081e-01 8.10637360e-01 -5.67285621e-02 3.26978797e+01] [ 1.00530318e-01 -2.64914938e-03 9.94930469e-01 1.36287364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.847105681 meters Centerline goodness [0,1] 0.9995992406665261 Centerline is valid? [True, True] Translation: X:126.92, Y:32.72, Z:13.63 [[ 8.10568204e-01 -5.79637987e-01 -8.36599733e-02 1.26920236e+02] [ 5.76814561e-01 8.14871857e-01 -5.71735829e-02 3.27235133e+01] [ 1.01312138e-01 -1.91320239e-03 9.94852849e-01 1.36326939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877105681 meters Centerline goodness [0,1] 0.9994733626845864 Centerline is valid? [True, True] Translation: X:126.93, Y:32.75, Z:13.64 [[ 8.18519093e-01 -5.68274765e-01 -8.42038371e-02 1.26933521e+02] [ 5.65352816e-01 8.22838712e-01 -5.75555973e-02 3.27546872e+01] [ 1.01993570e-01 -4.94521156e-04 9.94784935e-01 1.36355537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.907105681 meters Centerline goodness [0,1] 0.999515095294316 Centerline is valid? [True, True] Translation: X:126.95, Y:32.78, Z:13.64 [[ 8.23203912e-01 -5.61461440e-01 -8.42399600e-02 1.26950921e+02] [ 5.58499697e-01 8.27502821e-01 -5.75948776e-02 3.27782701e+01] [ 1.02046107e-01 3.64336413e-04 9.94779603e-01 1.36384676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937105681 meters Centerline goodness [0,1] 0.9997262581596126 Centerline is valid? [True, True] Translation: X:126.97, Y:32.81, Z:13.64 [[ 8.31322569e-01 -5.49040757e-01 -8.63541200e-02 1.26966989e+02] [ 5.45855950e-01 8.35793229e-01 -5.90843418e-02 3.28054022e+01] [ 1.04613901e-01 1.98123658e-03 9.94510938e-01 1.36363028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.967105681 meters Centerline goodness [0,1] 0.9997679863322858 Centerline is valid? [True, True] Translation: X:126.99, Y:32.82, Z:13.64 [[ 8.33592413e-01 -5.45343861e-01 -8.78849311e-02 1.26989973e+02] [ 5.42023000e-01 8.38208700e-01 -6.01435156e-02 3.28240406e+01] [ 1.06464811e-01 2.49952427e-03 9.94313329e-01 1.36356698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997105681 meters Centerline goodness [0,1] 0.999894659222585 Centerline is valid? [True, True] Translation: X:127.02, Y:32.84, Z:13.64 [[ 8.35473699e-01 -5.42296910e-01 -8.88693382e-02 1.27015467e+02] [ 5.38882812e-01 8.40181817e-01 -6.08262272e-02 3.28381512e+01] [ 1.07652277e-01 2.92855417e-03 9.94184294e-01 1.36356360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.027105681 meters Centerline goodness [0,1] 0.9999160263677206 Centerline is valid? [True, True] Translation: X:127.04, Y:32.85, Z:13.64 [[ 8.37169585e-01 -5.39840900e-01 -8.78572036e-02 1.27041187e+02] [ 5.36489821e-01 8.41760929e-01 -6.01432479e-02 3.28499168e+01] [ 1.06422546e-01 3.21560248e-03 9.94315796e-01 1.36413151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057105681 meters Centerline goodness [0,1] 0.9998527060011784 Centerline is valid? [True, True] Translation: X:127.06, Y:32.87, Z:13.64 [[ 8.38196445e-01 -5.38168886e-01 -8.83230945e-02 1.27064809e+02] [ 5.34771155e-01 8.42829925e-01 -6.04775124e-02 3.28651718e+01] [ 1.06988463e-01 3.45939263e-03 9.94254244e-01 1.36442725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08710568099997 meters Centerline goodness [0,1] 0.9997049587996037 Centerline is valid? [True, True] Translation: X:127.09, Y:32.88, Z:13.64 [[ 8.39956322e-01 -5.35348063e-01 -8.87458615e-02 1.27090852e+02] [ 5.31900286e-01 8.44622772e-01 -6.07820653e-02 3.28769920e+01] [ 1.07496336e-01 3.85033094e-03 9.94198025e-01 1.36445440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11710568099997 meters Centerline goodness [0,1] 0.9998735111204806 Centerline is valid? [True, True] Translation: X:127.12, Y:32.88, Z:13.65 [[ 8.39841157e-01 -5.35523764e-01 -8.87757266e-02 1.27119205e+02] [ 5.32072909e-01 8.44511416e-01 -6.08184779e-02 3.28823902e+01] [ 1.07541855e-01 3.84270168e-03 9.94193132e-01 1.36466903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14710568099997 meters Centerline goodness [0,1] 0.9999367515601282 Centerline is valid? [True, True] Translation: X:127.15, Y:32.89, Z:13.65 [[ 8.38674003e-01 -5.37456257e-01 -8.81288186e-02 1.27146212e+02] [ 5.34063061e-01 8.43283971e-01 -6.04052279e-02 3.28915624e+01] [ 1.06782788e-01 3.59394776e-03 9.94275877e-01 1.36498539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:32.89, Z:13.66 [[ 8.35856674e-01 -5.42111599e-01 -8.63633926e-02 1.27181294e+02] [ 5.38876248e-01 8.40301309e-01 -5.92123335e-02 3.28920949e+01] [ 1.04670965e-01 2.95384313e-03 9.94502521e-01 1.36555521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20710568099997 meters Centerline goodness [0,1] 0.9999788882555366 Centerline is valid? [True, True] Translation: X:127.21, Y:32.89, Z:13.66 [[ 8.32609223e-01 -5.47109228e-01 -8.62170148e-02 1.27214141e+02] [ 5.43908240e-01 8.37057929e-01 -5.91426269e-02 3.28944345e+01] [ 1.04526113e-01 2.34855187e-03 9.94519369e-01 1.36571872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:32.90, Z:13.66 [[ 8.30597161e-01 -5.50108174e-01 -8.65410450e-02 1.27243102e+02] [ 5.46897441e-01 8.35091028e-01 -5.93815178e-02 3.29029082e+01] [ 1.04935909e-01 1.99304402e-03 9.94476990e-01 1.36587758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:32.90, Z:13.66 [[ 8.26476456e-01 -5.55954487e-01 -8.86074253e-02 1.27276666e+02] [ 5.52617073e-01 8.31211691e-01 -6.08399189e-02 3.29036178e+01] [ 1.07475754e-01 1.31678456e-03 9.94206834e-01 1.36559760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.30, Y:32.91, Z:13.66 [[ 8.24938660e-01 -5.58141751e-01 -8.91851683e-02 1.27304154e+02] [ 5.54770799e-01 8.29744941e-01 -6.12592298e-02 3.29120609e+01] [ 1.08192276e-01 1.05777988e-03 9.94129424e-01 1.36567927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:32.92, Z:13.66 [[ 8.24082218e-01 -5.59636862e-01 -8.77216089e-02 1.27334905e+02] [ 5.56381706e-01 8.28737491e-01 -6.02790957e-02 3.29180276e+01] [ 1.06432590e-01 8.68232474e-04 9.94319541e-01 1.36630877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35710568099998 meters Centerline goodness [0,1] 0.9999367408906883 Centerline is valid? [True, True] Translation: X:127.36, Y:32.92, Z:13.67 [[ 8.22954626e-01 -5.61797459e-01 -8.44351737e-02 1.27364995e+02] [ 5.58789560e-01 8.27274595e-01 -5.80600681e-02 3.29249581e+01] [ 1.02469073e-01 5.99308025e-04 9.94736010e-01 1.36707922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.40, Y:32.93, Z:13.67 [[ 8.19550585e-01 -5.66802836e-01 -8.40915203e-02 1.27396352e+02] [ 5.63841956e-01 8.23853473e-01 -5.78593382e-02 3.29277858e+01] [ 1.02073928e-01 4.32713566e-06 9.94776816e-01 1.36736092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41710568099998 meters Centerline goodness [0,1] 0.9999578237030788 Centerline is valid? [True, True] Translation: X:127.42, Y:32.94, Z:13.68 [[ 8.17740040e-01 -5.69486115e-01 -8.35870314e-02 1.27423675e+02] [ 5.66572213e-01 8.22000894e-01 -5.75365807e-02 3.29373477e+01] [ 1.01474898e-01 -3.08123536e-04 9.94838052e-01 1.36775350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44710568099998 meters Centerline goodness [0,1] 0.9999789234076635 Centerline is valid? [True, True] Translation: X:127.45, Y:32.94, Z:13.68 [[ 8.14061405e-01 -5.74942162e-01 -8.21312334e-02 1.27453984e+02] [ 5.72152201e-01 8.18193523e-01 -5.65793110e-02 3.29426400e+01] [ 9.97290745e-02 -9.32532613e-04 9.95014192e-01 1.36834250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47710568099998 meters Centerline goodness [0,1] 0.9999788953844205 Centerline is valid? [True, True] Translation: X:127.48, Y:32.95, Z:13.68 [[ 8.10031472e-01 -5.80500749e-01 -8.28727564e-02 1.27483883e+02] [ 5.77684764e-01 8.14258148e-01 -5.71312620e-02 3.29504961e+01] [ 1.00644558e-01 -1.59620843e-03 9.94921165e-01 1.36845625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50710568099998 meters Centerline goodness [0,1] 0.9998950109188645 Centerline is valid? [True, True] Translation: X:127.51, Y:32.96, Z:13.69 [[ 8.08668091e-01 -5.82296166e-01 -8.35888366e-02 1.27508544e+02] [ 5.79436823e-01 8.12974736e-01 -5.76632285e-02 3.29628006e+01] [ 1.01532689e-01 -1.80403696e-03 9.94830568e-01 1.36861184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:32.98, Z:13.69 [[ 8.06637331e-01 -5.85177733e-01 -8.30857208e-02 1.27533829e+02] [ 5.82365984e-01 8.10902247e-01 -5.73359076e-02 3.29760571e+01] [ 1.00926094e-01 -2.13701411e-03 9.94891631e-01 1.36900668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.567105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:32.99, Z:13.69 [[ 8.04718991e-01 -5.87888414e-01 -8.25503379e-02 1.27559101e+02] [ 5.85123303e-01 8.08938382e-01 -5.70036354e-02 3.29890171e+01] [ 1.00289914e-01 -2.43021843e-03 9.94955289e-01 1.36935512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:33.01, Z:13.70 [[ 8.03949326e-01 -5.88879535e-01 -8.29841836e-02 1.27583523e+02] [ 5.86088118e-01 8.08216802e-01 -5.73264328e-02 3.30050077e+01] [ 1.00827575e-01 -2.54849700e-03 9.94900651e-01 1.36956119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.627105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.60, Y:33.03, Z:13.70 [[ 8.03821863e-01 -5.88722404e-01 -8.53014878e-02 1.27604022e+02] [ 5.85767326e-01 8.08331209e-01 -5.89686081e-02 3.30260821e+01] [ 1.03667995e-01 -2.56656797e-03 9.94608646e-01 1.36952770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657105681 meters Centerline goodness [0,1] 0.9999578512570862 Centerline is valid? [True, True] Translation: X:127.63, Y:33.05, Z:13.70 [[ 8.04582446e-01 -5.87549880e-01 -8.62103542e-02 1.27625859e+02] [ 5.84520112e-01 8.09184371e-01 -5.96396929e-02 3.30453505e+01] [ 1.04801366e-01 -2.40663582e-03 9.94490262e-01 1.36955648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:33.07, Z:13.70 [[ 8.07791537e-01 -5.82848256e-01 -8.80950801e-02 1.27644968e+02] [ 5.79651483e-01 8.12579026e-01 -6.09875832e-02 3.30690966e+01] [ 1.07130721e-01 -1.79919022e-03 9.94243316e-01 1.36959109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717105681 meters Centerline goodness [0,1] 0.9998524762908324 Centerline is valid? [True, True] Translation: X:127.66, Y:33.09, Z:13.70 [[ 8.11323694e-01 -5.78193205e-01 -8.62930016e-02 1.27663089e+02] [ 5.75095529e-01 8.15899107e-01 -5.97811028e-02 3.30938508e+01] [ 1.04971410e-01 -1.12489426e-03 9.94474604e-01 1.37010933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.68, Y:33.12, Z:13.71 [[ 8.14269896e-01 -5.74640602e-01 -8.21748992e-02 1.27681456e+02] [ 5.71810532e-01 8.18405653e-01 -5.69640416e-02 3.31174495e+01] [ 9.99862532e-02 -6.04368650e-04 9.94988635e-01 1.37100142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777105681 meters Centerline goodness [0,1] 0.9999578370401602 Centerline is valid? [True, True] Translation: X:127.70, Y:33.13, Z:13.71 [[ 8.15064748e-01 -5.73658581e-01 -8.11497917e-02 1.27702593e+02] [ 5.70890526e-01 8.19094397e-01 -5.62883386e-02 3.31346842e+01] [ 9.87596281e-02 -4.49006739e-04 9.95111217e-01 1.37131524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.807105681 meters Centerline goodness [0,1] 0.9999578370401602 Centerline is valid? [True, True] Translation: X:127.72, Y:33.15, Z:13.72 [[ 8.14851552e-01 -5.73962519e-01 -8.11416911e-02 1.27724938e+02] [ 5.71194804e-01 8.18881435e-01 -5.63000132e-02 3.31504853e+01] [ 9.87595218e-02 -4.71559248e-04 9.95111217e-01 1.37155989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83710568099997 meters Centerline goodness [0,1] 0.9999367955335511 Centerline is valid? [True, True] Translation: X:127.75, Y:33.17, Z:13.72 [[ 8.15235929e-01 -5.73536777e-01 -8.02866397e-02 1.27746671e+02] [ 5.70820844e-01 8.19179725e-01 -5.57507213e-02 3.31673074e+01] [ 9.77442764e-02 -3.79296303e-04 9.95211491e-01 1.37190839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.77, Y:33.19, Z:13.72 [[ 8.13617235e-01 -5.75909485e-01 -7.97198802e-02 1.27768338e+02] [ 5.73238906e-01 8.17513227e-01 -5.54010863e-02 3.31855827e+01] [ 9.70780676e-02 -6.23258295e-04 9.95276575e-01 1.37223717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.79, Y:33.20, Z:13.72 [[ 8.11724660e-01 -5.78489663e-01 -8.03292376e-02 1.27792388e+02] [ 5.75786215e-01 8.15689215e-01 -5.58689416e-02 3.32012983e+01] [ 9.78432980e-02 -9.02270042e-04 9.95201424e-01 1.37232337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92710568099997 meters Centerline goodness [0,1] 0.9999161073825503 Centerline is valid? [True, True] Translation: X:127.82, Y:33.21, Z:13.72 [[ 8.06380625e-01 -5.85545928e-01 -8.29834515e-02 1.27819774e+02] [ 5.82693584e-01 8.10637272e-01 -5.77529234e-02 3.32134745e+01] [ 1.01086468e-01 -1.78308631e-03 9.94876046e-01 1.37209639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.84, Y:33.23, Z:13.72 [[ 8.03231682e-01 -5.89751449e-01 -8.37382420e-02 1.27844836e+02] [ 5.86868260e-01 8.07581473e-01 -5.82907406e-02 3.32268274e+01] [ 1.02002502e-01 -2.32234671e-03 9.94781431e-01 1.37217774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.87, Y:33.24, Z:13.72 [[ 7.97495353e-01 -5.97285591e-01 -8.51533022e-02 1.27870119e+02] [ 5.94344918e-01 8.02021728e-01 -5.92896771e-02 3.32413741e+01] [ 1.03707668e-01 -3.32719049e-03 9.94602257e-01 1.37235148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.89, Y:33.26, Z:13.73 [[ 7.95169154e-01 -6.00321055e-01 -8.55607751e-02 1.27894297e+02] [ 5.97367125e-01 7.99750447e-01 -5.95964801e-02 3.32568451e+01] [ 1.04204290e-01 -3.72191147e-03 9.94548950e-01 1.37254379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.92, Y:33.28, Z:13.73 [[ 7.92997179e-01 -6.03395010e-01 -8.40829125e-02 1.27915950e+02] [ 6.00558236e-01 7.97432204e-01 -5.85805854e-02 3.32760275e+01] [ 1.02397655e-01 -4.04244665e-03 9.94735331e-01 1.37306371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.94, Y:33.30, Z:13.74 [[ 7.90896426e-01 -6.06228292e-01 -8.34871278e-02 1.27937722e+02] [ 6.03443301e-01 7.95278802e-01 -5.82048954e-02 3.32953456e+01] [ 1.01680997e-01 -4.34570422e-03 9.94807564e-01 1.37350545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10710568099998 meters Centerline goodness [0,1] 0.9999788771070086 Centerline is valid? [True, True] Translation: X:127.96, Y:33.31, Z:13.74 [[ 7.89126086e-01 -6.08583695e-01 -8.31017843e-02 1.27960029e+02] [ 6.05834032e-01 7.93476349e-01 -5.79690334e-02 3.33122454e+01] [ 1.01218309e-01 -4.60101259e-03 9.94853600e-01 1.37386062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.98, Y:33.33, Z:13.74 [[ 7.85088988e-01 -6.13538478e-01 -8.48870770e-02 1.27981504e+02] [ 6.10696635e-01 7.89646748e-01 -5.92252811e-02 3.33300619e+01] [ 1.03367793e-01 -5.34313618e-03 9.94628850e-01 1.37394812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.00, Y:33.35, Z:13.74 [[ 7.81904082e-01 -6.17636423e-01 -8.45650965e-02 1.28004401e+02] [ 6.14838678e-01 7.86441988e-01 -5.90118611e-02 3.33464673e+01] [ 1.02953417e-01 -5.85227705e-03 9.94668962e-01 1.37432178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.02, Y:33.37, Z:13.75 [[ 7.81021198e-01 -6.19088114e-01 -8.20718994e-02 1.28023387e+02] [ 6.16460093e-01 7.85299706e-01 -5.72828579e-02 3.33662136e+01] [ 9.99141749e-02 -5.85492445e-03 9.94978833e-01 1.37517383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22710568099998 meters Centerline goodness [0,1] 0.9999789291809773 Centerline is valid? [True, True] Translation: X:128.04, Y:33.39, Z:13.76 [[ 7.81739848e-01 -6.18381542e-01 -8.05423949e-02 1.28043968e+02] [ 6.15845554e-01 7.85857755e-01 -5.62302709e-02 3.33867559e+01] [ 9.80666273e-02 -5.64423234e-03 9.95163845e-01 1.37561231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25710568099998 meters Centerline goodness [0,1] 0.9999790913082568 Centerline is valid? [True, True] Translation: X:128.06, Y:33.41, Z:13.76 [[ 7.84327203e-01 -6.15300196e-01 -7.89715568e-02 1.28061598e+02] [ 6.12843630e-01 7.88276198e-01 -5.51662992e-02 3.34120931e+01] [ 9.61952333e-02 -5.12878637e-03 9.95349272e-01 1.37598867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.07, Y:33.44, Z:13.76 [[ 7.87145367e-01 -6.11602810e-01 -7.96503245e-02 1.28074220e+02] [ 6.09083349e-01 7.91150980e-01 -5.56561020e-02 3.34448195e+01] [ 9.70548607e-02 -4.70424361e-03 9.95267916e-01 1.37634582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:33.47, Z:13.77 [[ 7.90748925e-01 -6.06939690e-01 -7.96263145e-02 1.28090156e+02] [ 6.04394993e-01 7.94737298e-01 -5.56715298e-02 3.34706578e+01] [ 9.70712631e-02 -4.10354350e-03 9.95268974e-01 1.37654967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.347105681 meters Centerline goodness [0,1] 0.9999369178038985 Centerline is valid? [True, True] Translation: X:128.11, Y:33.49, Z:13.77 [[ 7.92460374e-01 -6.04670847e-01 -7.98731724e-02 1.28109389e+02] [ 6.02097357e-01 7.96466279e-01 -5.58590990e-02 3.34912599e+01] [ 9.73926572e-02 -3.82530350e-03 9.95238684e-01 1.37672388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.13, Y:33.52, Z:13.77 [[ 7.94828720e-01 -6.01582385e-01 -7.96614110e-02 1.28126537e+02] [ 5.99005895e-01 7.98803410e-01 -5.57229748e-02 3.35168243e+01] [ 9.71557668e-02 -3.42743404e-03 9.95263287e-01 1.37700497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.407105681 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:128.14, Y:33.54, Z:13.77 [[ 7.95828762e-01 -6.00258983e-01 -7.96601203e-02 1.28144164e+02] [ 5.97674842e-01 7.99799068e-01 -5.57335985e-02 3.35419170e+01] [ 9.71666831e-02 -3.25644920e-03 9.95262795e-01 1.37739383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437105681 meters Centerline goodness [0,1] 0.9997685428721725 Centerline is valid? [True, True] Translation: X:128.16, Y:33.57, Z:13.78 [[ 8.00353982e-01 -5.94125119e-01 -8.03047119e-02 1.28158788e+02] [ 5.91464521e-01 8.04368749e-01 -5.62195402e-02 3.35728535e+01] [ 9.79960416e-02 -2.50185508e-03 9.95183660e-01 1.37776059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.467105681 meters Centerline goodness [0,1] 0.9997686207694411 Centerline is valid? [True, True] Translation: X:128.18, Y:33.60, Z:13.78 [[ 8.03599727e-01 -5.89824483e-01 -7.95899387e-02 1.28177346e+02] [ 5.87188886e-01 8.07529121e-01 -5.57308876e-02 3.35965235e+01] [ 9.71426351e-02 -1.94900133e-03 9.95268562e-01 1.37812484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497105681 meters Centerline goodness [0,1] 0.9997897481182456 Centerline is valid? [True, True] Translation: X:128.19, Y:33.62, Z:13.79 [[ 8.10769545e-01 -5.80093851e-01 -7.83828341e-02 1.28192492e+02] [ 5.77491017e-01 8.14549293e-01 -5.48960361e-02 3.36245660e+01] [ 9.56915350e-02 -7.57348328e-04 9.95410748e-01 1.37857190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.527105681 meters Centerline goodness [0,1] 0.9996840508888701 Centerline is valid? [True, True] Translation: X:128.21, Y:33.65, Z:13.79 [[ 8.16886599e-01 -5.71344115e-01 -7.91339811e-02 1.28208318e+02] [ 5.68648852e-01 8.20710559e-01 -5.54315825e-02 3.36520389e+01] [ 9.66166024e-02 2.81869363e-04 9.95321633e-01 1.37875663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557105681 meters Centerline goodness [0,1] 0.9995175061360633 Centerline is valid? [True, True] Translation: X:128.23, Y:33.67, Z:13.79 [[ 8.19174073e-01 -5.67837323e-01 -8.07131487e-02 1.28229138e+02] [ 5.65012118e-01 8.23140463e-01 -5.65781361e-02 3.36730838e+01] [ 9.85654360e-02 7.43435148e-04 9.95130294e-01 1.37868915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58710568099997 meters Centerline goodness [0,1] 0.9998314227916386 Centerline is valid? [True, True] Translation: X:128.25, Y:33.69, Z:13.78 [[ 8.23287536e-01 -5.61470072e-01 -8.33606131e-02 1.28251175e+02] [ 5.58419374e-01 8.27495518e-01 -5.84719576e-02 3.36937983e+01] [ 1.01810788e-01 1.58905252e-03 9.94802512e-01 1.37831127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61710568099997 meters Centerline goodness [0,1] 0.9998946103745547 Centerline is valid? [True, True] Translation: X:128.27, Y:33.71, Z:13.78 [[ 8.26995280e-01 -5.55713576e-01 -8.52128428e-02 1.28274146e+02] [ 5.52494080e-01 8.31370475e-01 -5.97781236e-02 3.37107676e+01] [ 1.04062956e-01 2.35663484e-03 9.94567920e-01 1.37815590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64710568099997 meters Centerline goodness [0,1] 0.999768489287368 Centerline is valid? [True, True] Translation: X:128.30, Y:33.73, Z:13.78 [[ 8.28244176e-01 -5.53722480e-01 -8.60406901e-02 1.28297325e+02] [ 5.50427447e-01 8.32697070e-01 -6.03756174e-02 3.37271540e+01] [ 1.05077167e-01 2.64659612e-03 9.94460549e-01 1.37831536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67710568099997 meters Centerline goodness [0,1] 0.9997467606466045 Centerline is valid? [True, True] Translation: X:128.32, Y:33.74, Z:13.78 [[ 8.29348659e-01 -5.51899388e-01 -8.71083669e-02 1.28320383e+02] [ 5.48507449e-01 8.33905496e-01 -6.11653659e-02 3.37416326e+01] [ 1.06397274e-01 2.94782605e-03 9.94319330e-01 1.37847916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70710568099997 meters Centerline goodness [0,1] 0.999957796113022 Centerline is valid? [True, True] Translation: X:128.35, Y:33.75, Z:13.79 [[ 8.26732737e-01 -5.55726196e-01 -8.76434636e-02 1.28351379e+02] [ 5.52310501e-01 8.31361633e-01 -6.15706590e-02 3.37468945e+01] [ 1.07079841e-01 2.49607408e-03 9.94247292e-01 1.37878150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73710568099997 meters Centerline goodness [0,1] 0.9997679324894515 Centerline is valid? [True, True] Translation: X:128.38, Y:33.75, Z:13.79 [[ 8.24288405e-01 -5.59495556e-01 -8.66795748e-02 1.28381472e+02] [ 5.56171604e-01 8.28830900e-01 -6.09301744e-02 3.37538480e+01] [ 1.05932872e-01 2.01531818e-03 9.94371241e-01 1.37934744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76710568099998 meters Centerline goodness [0,1] 0.9999369018824271 Centerline is valid? [True, True] Translation: X:128.41, Y:33.75, Z:13.80 [[ 8.18591867e-01 -5.68351051e-01 -8.29725151e-02 1.28414917e+02] [ 5.65349967e-01 8.22785737e-01 -5.83356339e-02 3.37540052e+01] [ 1.01423721e-01 8.44566813e-04 9.94842960e-01 1.38015800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79710568099998 meters Centerline goodness [0,1] 0.9999159681519296 Centerline is valid? [True, True] Translation: X:128.45, Y:33.76, Z:13.81 [[ 8.13969002e-01 -5.75225899e-01 -8.10532523e-02 1.28446971e+02] [ 5.72394796e-01 8.17994600e-01 -5.70002851e-02 3.37570737e+01] [ 9.90891629e-02 2.00534719e-06 9.95078559e-01 1.38080230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82710568099998 meters Centerline goodness [0,1] 0.9999373420497504 Centerline is valid? [True, True] Translation: X:128.47, Y:33.77, Z:13.81 [[ 8.12712920e-01 -5.77199820e-01 -7.96120433e-02 1.28473795e+02] [ 5.74474411e-01 8.16602919e-01 -5.60252155e-02 3.37679763e+01] [ 9.73491712e-02 -2.02665234e-04 9.95250269e-01 1.38118625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85710568099998 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:128.50, Y:33.78, Z:13.81 [[ 8.11247756e-01 -5.79288833e-01 -7.93821558e-02 1.28501783e+02] [ 5.76585270e-01 8.15122243e-01 -5.59030855e-02 3.37770929e+01] [ 9.70901940e-02 -4.19329067e-04 9.95275499e-01 1.38146847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:33.79, Z:13.82 [[ 8.11635498e-01 -5.78542182e-01 -8.08502403e-02 1.28525142e+02] [ 5.75729414e-01 8.15652410e-01 -5.69805989e-02 3.37922764e+01] [ 9.89113734e-02 -3.00384624e-04 9.95096201e-01 1.38153342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91710568099998 meters Centerline goodness [0,1] 0.9997265518184304 Centerline is valid? [True, True] Translation: X:128.55, Y:33.81, Z:13.81 [[ 8.15073359e-01 -5.73189965e-01 -8.43130118e-02 1.28547507e+02] [ 5.70099115e-01 8.19422428e-01 -5.94464795e-02 3.38108349e+01] [ 1.03162098e-01 3.86468306e-04 9.94664482e-01 1.38138161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94710568099998 meters Centerline goodness [0,1] 0.9999368607147368 Centerline is valid? [True, True] Translation: X:128.57, Y:33.83, Z:13.81 [[ 8.21708864e-01 -5.63430435e-01 -8.56778106e-02 1.28570075e+02] [ 5.60181196e-01 8.26161814e-01 -6.04457151e-02 3.38299252e+01] [ 1.04840691e-01 1.67368150e-03 9.94487621e-01 1.38148271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.59, Y:33.85, Z:13.82 [[ 8.26987010e-01 -5.55475621e-01 -8.68292613e-02 1.28593477e+02] [ 5.52093489e-01 8.31528350e-01 -6.12648584e-02 3.38477987e+01] [ 1.06232128e-01 2.72737219e-03 9.94337617e-01 1.38168634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.62, Y:33.86, Z:13.82 [[ 8.28561279e-01 -5.53203943e-01 -8.63226790e-02 1.28617398e+02] [ 5.49847477e-01 8.33040407e-01 -6.09215270e-02 3.38639053e+01] [ 1.05612309e-01 3.01291108e-03 9.94402817e-01 1.38204227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.64, Y:33.87, Z:13.83 [[ 8.30824673e-01 -5.50237970e-01 -8.34777766e-02 1.28644474e+02] [ 5.47080598e-01 8.35001323e-01 -5.89543035e-02 3.38748580e+01] [ 1.02142950e-01 3.31161796e-03 9.94764219e-01 1.38276303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.067105681 meters Centerline goodness [0,1] 0.9998107136096914 Centerline is valid? [True, True] Translation: X:128.67, Y:33.88, Z:13.84 [[ 8.32314355e-01 -5.48505179e-01 -7.99680079e-02 1.28672539e+02] [ 5.45596662e-01 8.36140216e-01 -5.65139117e-02 3.38837391e+01] [ 9.78626407e-02 3.40706181e-03 9.95194099e-01 1.38351032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.70, Y:33.89, Z:13.84 [[ 8.31220440e-01 -5.50250945e-01 -7.93503480e-02 1.28702407e+02] [ 5.47391318e-01 8.34993169e-01 -5.61173098e-02 3.38916837e+01] [ 9.71356013e-02 3.21016335e-03 9.95265979e-01 1.38378503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:33.90, Z:13.84 [[ 8.29714421e-01 -5.52518825e-01 -7.93531873e-02 1.28729590e+02] [ 5.49665415e-01 8.33495098e-01 -5.61591820e-02 3.39033067e+01] [ 9.71694978e-02 2.97838057e-03 9.95263391e-01 1.38400705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157105681 meters Centerline goodness [0,1] 0.9998527710589967 Centerline is valid? [True, True] Translation: X:128.76, Y:33.91, Z:13.84 [[ 8.25771914e-01 -5.58553173e-01 -7.82246733e-02 1.28761449e+02] [ 5.55803892e-01 8.29465618e-01 -5.53969602e-02 3.39074992e+01] [ 9.58268248e-02 2.26767600e-03 9.95395438e-01 1.38414357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.187105681 meters Centerline goodness [0,1] 0.9999369231092702 Centerline is valid? [True, True] Translation: X:128.79, Y:33.92, Z:13.84 [[ 8.23193113e-01 -5.62307159e-01 -7.85096037e-02 1.28790214e+02] [ 5.59553643e-01 8.26926385e-01 -5.56100259e-02 3.39167579e+01] [ 9.61915784e-02 1.84745554e-03 9.95361124e-01 1.38440173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217105681 meters Centerline goodness [0,1] 0.9998950615988415 Centerline is valid? [True, True] Translation: X:128.82, Y:33.92, Z:13.84 [[ 8.19233483e-01 -5.67746440e-01 -8.07494893e-02 1.28822049e+02] [ 5.64855624e-01 8.23202496e-01 -5.72343746e-02 3.39205461e+01] [ 9.89677936e-02 1.27651286e-03 9.95089818e-01 1.38443565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.247105681 meters Centerline goodness [0,1] 0.9999368992280673 Centerline is valid? [True, True] Translation: X:128.85, Y:33.93, Z:13.85 [[ 8.17491390e-01 -5.70216216e-01 -8.10018154e-02 1.28850020e+02] [ 5.67317856e-01 8.21494054e-01 -5.74279489e-02 3.39315644e+01] [ 9.92888574e-02 9.93077535e-04 9.95058157e-01 1.38469958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277105681 meters Centerline goodness [0,1] 0.9999578929639142 Centerline is valid? [True, True] Translation: X:128.88, Y:33.94, Z:13.85 [[ 8.15296390e-01 -5.73524469e-01 -7.97588863e-02 1.28879759e+02] [ 5.70728181e-01 8.19188210e-01 -5.65687079e-02 3.39397428e+01] [ 9.77810775e-02 5.99619151e-04 9.95207768e-01 1.38520210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30710568099997 meters Centerline goodness [0,1] 0.9999157327041375 Centerline is valid? [True, True] Translation: X:128.91, Y:33.95, Z:13.86 [[ 8.16051583e-01 -5.72792794e-01 -7.72543174e-02 1.28906378e+02] [ 5.70163429e-01 8.19699906e-01 -5.48245209e-02 3.39501071e+01] [ 9.47284473e-02 6.92050611e-04 9.95502909e-01 1.38583761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33710568099997 meters Centerline goodness [0,1] 0.9999790510107888 Centerline is valid? [True, True] Translation: X:128.93, Y:33.96, Z:13.86 [[ 8.16779388e-01 -5.71801367e-01 -7.69066170e-02 1.28930864e+02] [ 5.69189927e-01 8.20391695e-01 -5.45920703e-02 3.39646256e+01] [ 9.43093703e-02 8.15206107e-04 9.95542605e-01 1.38618206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.96, Y:33.98, Z:13.87 [[ 8.17361241e-01 -5.71199583e-01 -7.51773760e-02 1.28956700e+02] [ 5.68698737e-01 8.20810720e-01 -5.33995237e-02 3.39766207e+01] [ 9.22081818e-02 8.93422170e-04 9.95739350e-01 1.38667537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:33.99, Z:13.87 [[ 8.17207781e-01 -5.71312597e-01 -7.59826292e-02 1.28982915e+02] [ 5.68754517e-01 8.20732030e-01 -5.40114352e-02 3.39862300e+01] [ 9.32187908e-02 9.23101589e-04 9.95645220e-01 1.38678875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42710568099997 meters Centerline goodness [0,1] 0.9999579955475281 Centerline is valid? [True, True] Translation: X:129.01, Y:34.00, Z:13.87 [[ 8.16866999e-01 -5.71582646e-01 -7.75988766e-02 1.29008496e+02] [ 5.68913842e-01 8.20543979e-01 -5.51780609e-02 3.39985669e+01] [ 9.52121130e-02 9.26061973e-04 9.95456577e-01 1.38684678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45710568099997 meters Centerline goodness [0,1] 0.9999369509478374 Centerline is valid? [True, True] Translation: X:129.03, Y:34.01, Z:13.87 [[ 8.17803886e-01 -5.69993085e-01 -7.94020612e-02 1.29034968e+02] [ 5.67189538e-01 8.21648685e-01 -5.64753631e-02 3.40106290e+01] [ 9.74311655e-02 1.14975297e-03 9.95241602e-01 1.38697436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48710568099997 meters Centerline goodness [0,1] 0.9999579062572349 Centerline is valid? [True, True] Translation: X:129.06, Y:34.03, Z:13.87 [[ 8.19353641e-01 -5.67644056e-01 -8.02485948e-02 1.29057762e+02] [ 5.64765403e-01 8.23272768e-01 -5.71138238e-02 3.40284964e+01] [ 9.84868054e-02 1.47478954e-03 9.95137264e-01 1.38716493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51710568099998 meters Centerline goodness [0,1] 0.9999789659669345 Centerline is valid? [True, True] Translation: X:129.08, Y:34.05, Z:13.87 [[ 8.23802774e-01 -5.60848835e-01 -8.24473986e-02 1.29078870e+02] [ 5.57772199e-01 8.27914799e-01 -5.87133765e-02 3.40478976e+01] [ 1.01188750e-01 2.38137564e-03 9.94864396e-01 1.38694447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.10, Y:34.07, Z:13.87 [[ 8.25416435e-01 -5.58281296e-01 -8.37239688e-02 1.29102499e+02] [ 5.55093752e-01 8.29647173e-01 -5.96363609e-02 3.40656985e+01] [ 1.02755219e-01 2.75018046e-03 9.94702871e-01 1.38705733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.13, Y:34.08, Z:13.87 [[ 8.28438150e-01 -5.53806624e-01 -8.35969764e-02 1.29127324e+02] [ 5.50602521e-01 8.32638661e-01 -5.95795657e-02 3.40816372e+01] [ 1.02601633e-01 3.32927921e-03 9.94716955e-01 1.38740735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60710568099998 meters Centerline goodness [0,1] 0.9999789385004212 Centerline is valid? [True, True] Translation: X:129.16, Y:34.09, Z:13.88 [[ 8.31206567e-01 -5.49759808e-01 -8.28238886e-02 1.29155581e+02] [ 5.46591653e-01 8.35314051e-01 -5.90593033e-02 3.40916496e+01] [ 1.01652389e-01 3.81963468e-03 9.94812647e-01 1.38831557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.18, Y:34.11, Z:13.89 [[ 8.31981912e-01 -5.48541631e-01 -8.31154490e-02 1.29179063e+02] [ 5.45341706e-01 8.36113629e-01 -5.92994290e-02 3.41081281e+01] [ 1.02022165e-01 4.00973157e-03 9.94774045e-01 1.38864978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66710568099998 meters Centerline goodness [0,1] 0.999957969065232 Centerline is valid? [True, True] Translation: X:129.20, Y:34.13, Z:13.89 [[ 8.33347062e-01 -5.46477518e-01 -8.30361138e-02 1.29201968e+02] [ 5.43269330e-01 8.37462772e-01 -5.92835678e-02 3.41257043e+01] [ 1.01936791e-01 4.29281315e-03 9.94781615e-01 1.38894828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69710568099998 meters Centerline goodness [0,1] 0.9999790571530294 Centerline is valid? [True, True] Translation: X:129.23, Y:34.14, Z:13.89 [[ 8.33334526e-01 -5.46602914e-01 -8.23336030e-02 1.29225956e+02] [ 5.43445817e-01 8.37381040e-01 -5.88186833e-02 3.41388415e+01] [ 1.01095062e-01 4.27178736e-03 9.94867599e-01 1.38929601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72710568099998 meters Centerline goodness [0,1] 0.9999790571530294 Centerline is valid? [True, True] Translation: X:129.25, Y:34.15, Z:13.90 [[ 8.33138968e-01 -5.46902211e-01 -8.23251587e-02 1.29248126e+02] [ 5.43745403e-01 8.37185708e-01 -5.88304997e-02 3.41549706e+01] [ 1.01095977e-01 4.25005524e-03 9.94867600e-01 1.38954103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:34.17, Z:13.90 [[ 8.32059512e-01 -5.48508288e-01 -8.25568076e-02 1.29274100e+02] [ 5.45336985e-01 8.36135047e-01 -5.90402919e-02 3.41674898e+01] [ 1.01412730e-01 4.10375599e-03 9.94835975e-01 1.38982249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:34.18, Z:13.90 [[ 8.30320762e-01 -5.51045275e-01 -8.31657257e-02 1.29302166e+02] [ 5.47835427e-01 8.34466439e-01 -5.95156075e-02 3.41778888e+01] [ 1.02194801e-01 3.85591370e-03 9.94756932e-01 1.39011555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.817105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:34.18, Z:13.91 [[ 8.26681442e-01 -5.56597907e-01 -8.24412698e-02 1.29331749e+02] [ 5.53467515e-01 8.30775961e-01 -5.90339939e-02 3.41844178e+01] [ 1.01348423e-01 3.17374252e-03 9.94845930e-01 1.39050504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.847105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:34.19, Z:13.91 [[ 8.23326873e-01 -5.61967436e-01 -7.95327623e-02 1.29361990e+02] [ 5.59077738e-01 8.27155761e-01 -5.69686723e-02 3.41913266e+01] [ 9.78005212e-02 2.43884200e-03 9.95203050e-01 1.39130224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877105681 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:129.39, Y:34.21, Z:13.91 [[ 8.21842933e-01 -5.64077870e-01 -7.99396668e-02 1.29387129e+02] [ 5.61164755e-01 8.25718587e-01 -5.72968814e-02 3.42053572e+01] [ 9.83275715e-02 2.22971354e-03 9.95151605e-01 1.39143588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.907105681 meters Centerline goodness [0,1] 0.9999580721578164 Centerline is valid? [True, True] Translation: X:129.41, Y:34.22, Z:13.91 [[ 8.20526508e-01 -5.65336484e-01 -8.44447112e-02 1.29413239e+02] [ 5.62087346e-01 8.24857374e-01 -6.05650688e-02 3.42185234e+01] [ 1.03894486e-01 2.22994076e-03 9.94585825e-01 1.39061897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937105681 meters Centerline goodness [0,1] 0.9999160316560657 Centerline is valid? [True, True] Translation: X:129.44, Y:34.23, Z:13.91 [[ 8.20132197e-01 -5.65634497e-01 -8.62600412e-02 1.29440039e+02] [ 5.62243769e-01 8.24652983e-01 -6.18821586e-02 3.42299263e+01] [ 1.06137284e-01 2.25237999e-03 9.94348935e-01 1.39066826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.967105681 meters Centerline goodness [0,1] 0.9999579372423656 Centerline is valid? [True, True] Translation: X:129.47, Y:34.24, Z:13.91 [[ 8.19891417e-01 -5.65850617e-01 -8.71271627e-02 1.29469108e+02] [ 5.62390259e-01 8.24504673e-01 -6.25239223e-02 3.42382167e+01] [ 1.07215953e-01 2.26335970e-03 9.94233180e-01 1.39112680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997105681 meters Centerline goodness [0,1] 0.9998316285726312 Centerline is valid? [True, True] Translation: X:129.50, Y:34.25, Z:13.92 [[ 8.18917067e-01 -5.67455082e-01 -8.58461868e-02 1.29495361e+02] [ 5.64100402e-01 8.23401784e-01 -6.16460689e-02 3.42511456e+01] [ 1.05667278e-01 2.05714943e-03 9.94399414e-01 1.39188063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.027105681 meters Centerline goodness [0,1] 0.9998737294021087 Centerline is valid? [True, True] Translation: X:129.52, Y:34.27, Z:13.92 [[ 8.17887642e-01 -5.69073485e-01 -8.49421755e-02 1.29518940e+02] [ 5.65793839e-01 8.22284564e-01 -6.10362751e-02 3.42665695e+01] [ 1.04580766e-01 1.86105556e-03 9.94514655e-01 1.39233823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05710568099997 meters Centerline goodness [0,1] 0.9999790294845448 Centerline is valid? [True, True] Translation: X:129.55, Y:34.28, Z:13.93 [[ 8.15266229e-01 -5.73041138e-01 -8.34555517e-02 1.29545730e+02] [ 5.69892409e-01 8.19525476e-01 -6.00053041e-02 3.42769799e+01] [ 1.02779458e-01 1.35961254e-03 9.94703239e-01 1.39264087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08710568099997 meters Centerline goodness [0,1] 0.9999161601341437 Centerline is valid? [True, True] Translation: X:129.58, Y:34.28, Z:13.93 [[ 8.09370566e-01 -5.81520877e-01 -8.21751535e-02 1.29577854e+02] [ 5.78510105e-01 8.13531427e-01 -5.90988581e-02 3.42798971e+01] [ 1.01219290e-01 2.93719603e-04 9.94864096e-01 1.39293980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11710568099997 meters Centerline goodness [0,1] 0.9998954696548408 Centerline is valid? [True, True] Translation: X:129.61, Y:34.29, Z:13.93 [[ 8.05269973e-01 -5.87307154e-01 -8.13054554e-02 1.29605023e+02] [ 5.84387461e-01 8.09364032e-01 -5.84906719e-02 3.42895692e+01] [ 1.00157701e-01 -4.13106879e-04 9.94971489e-01 1.39344276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:34.30, Z:13.94 [[ 7.97960250e-01 -5.97492562e-01 -7.91332937e-02 1.29634510e+02] [ 5.94772740e-01 8.01872840e-01 -5.69678533e-02 3.42960905e+01] [ 9.74927076e-02 -1.60824348e-03 9.95234940e-01 1.39398335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17710568099997 meters Centerline goodness [0,1] 0.9999370065513187 Centerline is valid? [True, True] Translation: X:129.66, Y:34.30, Z:13.94 [[ 7.90465950e-01 -6.07249812e-01 -8.00702703e-02 1.29663136e+02] [ 6.04513119e-01 7.94505926e-01 -5.76560692e-02 3.43047829e+01] [ 9.86279414e-02 -2.82836935e-03 9.95120359e-01 1.39408203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.69, Y:34.32, Z:13.94 [[ 7.87165809e-01 -6.11361169e-01 -8.12865998e-02 1.29689549e+02] [ 6.08560635e-01 7.91344483e-01 -5.85479492e-02 3.43186432e+01] [ 1.00119645e-01 -3.38088101e-03 9.94969661e-01 1.39397665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23710568099997 meters Centerline goodness [0,1] 0.999937160930856 Centerline is valid? [True, True] Translation: X:129.72, Y:34.33, Z:13.94 [[ 7.82224186e-01 -6.17447279e-01 -8.29709608e-02 1.29717059e+02] [ 6.14559313e-01 7.86600971e-01 -5.97976776e-02 3.43287611e+01] [ 1.02186952e-01 -4.21538704e-03 9.94756280e-01 1.39392499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26710568099998 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:129.74, Y:34.35, Z:13.95 [[ 7.78397568e-01 -6.22415734e-01 -8.18283602e-02 1.29736733e+02] [ 6.19631628e-01 7.82672227e-01 -5.89985720e-02 3.43506138e+01] [ 1.00766424e-01 -4.77909504e-03 9.94898632e-01 1.39490091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29710568099998 meters Centerline goodness [0,1] 0.9998949910742413 Centerline is valid? [True, True] Translation: X:129.76, Y:34.36, Z:13.95 [[ 7.77240785e-01 -6.24010118e-01 -8.06730102e-02 1.29762757e+02] [ 6.21309261e-01 7.81400979e-01 -5.82006241e-02 3.43618127e+01] [ 9.93557474e-02 -4.88698961e-03 9.95039975e-01 1.39523547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:34.39, Z:13.96 [[ 7.75649463e-01 -6.26303907e-01 -7.81749790e-02 1.29777089e+02] [ 6.23778080e-01 7.79562925e-01 -5.64141178e-02 3.43898143e+01] [ 9.62746976e-02 -5.00625819e-03 9.95342212e-01 1.39609158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.79, Y:34.42, Z:13.97 [[ 7.75228374e-01 -6.27241831e-01 -7.47572995e-02 1.29792577e+02] [ 6.24933450e-01 7.78809334e-01 -5.39833686e-02 3.44163411e+01] [ 9.20823096e-02 -4.86889802e-03 9.95739495e-01 1.39685602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.81, Y:34.44, Z:13.97 [[ 7.75449136e-01 -6.27116999e-01 -7.35044698e-02 1.29813376e+02] [ 6.24881602e-01 7.78910630e-01 -5.31151070e-02 3.44371583e+01] [ 9.05627993e-02 -4.74352703e-03 9.95879450e-01 1.39726816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.83, Y:34.46, Z:13.97 [[ 7.76830176e-01 -6.25285358e-01 -7.45191181e-02 1.29830659e+02] [ 6.22975865e-01 7.80382852e-01 -5.38857764e-02 3.44614970e+01] [ 9.18474289e-02 -4.56351485e-03 9.95762634e-01 1.39731519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:34.48, Z:13.98 [[ 7.77593536e-01 -6.24322459e-01 -7.46308271e-02 1.29849899e+02] [ 6.21998769e-01 7.81154160e-01 -5.39973123e-02 3.44841040e+01] [ 9.20099159e-02 -4.43232159e-03 9.95748226e-01 1.39761220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47710568099998 meters Centerline goodness [0,1] 0.9999790869356087 Centerline is valid? [True, True] Translation: X:129.86, Y:34.52, Z:13.98 [[ 7.79673590e-01 -6.21636816e-01 -7.53442956e-02 1.29862721e+02] [ 6.19252449e-01 7.83294740e-01 -5.45504849e-02 3.45152011e+01] [ 9.29273801e-02 -4.12556719e-03 9.95664342e-01 1.39779675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50710568099998 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:129.88, Y:34.54, Z:13.98 [[ 7.81230695e-01 -6.19627357e-01 -7.57663536e-02 1.29880506e+02] [ 6.17204444e-01 7.84886497e-01 -5.48804186e-02 3.45404286e+01] [ 9.34733966e-02 -3.88906260e-03 9.95614182e-01 1.39789761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.89, Y:34.57, Z:13.98 [[ 7.86742403e-01 -6.12431664e-01 -7.72259625e-02 1.29892840e+02] [ 6.09876213e-01 7.90517602e-01 -5.59725396e-02 3.45723053e+01] [ 9.53278382e-02 -3.06230725e-03 9.95441222e-01 1.39794807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.567105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.91, Y:34.60, Z:13.98 [[ 7.89960805e-01 -6.08137683e-01 -7.82974153e-02 1.29910137e+02] [ 6.05488203e-01 7.93827416e-01 -5.67632769e-02 3.45981648e+01] [ 9.66745226e-02 -2.56739736e-03 9.95312737e-01 1.39811563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597105681 meters Centerline goodness [0,1] 0.9999579177713251 Centerline is valid? [True, True] Translation: X:129.92, Y:34.64, Z:13.98 [[ 7.98686923e-01 -5.96266190e-01 -8.10298109e-02 1.29917964e+02] [ 5.93362881e-01 8.02785991e-01 -5.87804748e-02 3.46366733e+01] [ 1.00098407e-01 -1.13288552e-03 9.94976897e-01 1.39798492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.627105681 meters Centerline goodness [0,1] 0.9997685818273621 Centerline is valid? [True, True] Translation: X:129.92, Y:34.68, Z:13.98 [[ 8.08677322e-01 -5.82631733e-01 -8.11249207e-02 1.29923909e+02] [ 5.79651054e-01 8.12736077e-01 -5.88619050e-02 3.46751882e+01] [ 1.00227964e-01 5.76141907e-04 9.94964333e-01 1.39827449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657105681 meters Centerline goodness [0,1] 0.9999579487395135 Centerline is valid? [True, True] Translation: X:129.94, Y:34.71, Z:13.99 [[ 8.14809706e-01 -5.74183290e-01 -7.99918271e-02 1.29935020e+02] [ 5.71243133e-01 8.18725206e-01 -5.80544636e-02 3.47066289e+01] [ 9.88252280e-02 1.60855856e-03 9.95103506e-01 1.39856589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.687105681 meters Centerline goodness [0,1] 0.9999369071904772 Centerline is valid? [True, True] Translation: X:129.96, Y:34.73, Z:13.99 [[ 8.16239369e-01 -5.72142133e-01 -8.00416940e-02 1.29955257e+02] [ 5.69186811e-01 8.20152351e-01 -5.81076150e-02 3.47277059e+01] [ 9.88921983e-02 1.87104648e-03 9.95096393e-01 1.39872662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717105681 meters Centerline goodness [0,1] 0.9998536207942117 Centerline is valid? [True, True] Translation: X:129.98, Y:34.75, Z:13.98 [[ 8.17029761e-01 -5.70801943e-01 -8.15322685e-02 1.29976387e+02] [ 5.67724371e-01 8.21085079e-01 -5.92311609e-02 3.47479309e+01] [ 1.00754191e-01 2.10576537e-03 9.94909121e-01 1.39846440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.747105681 meters Centerline goodness [0,1] 0.999873644308729 Centerline is valid? [True, True] Translation: X:130.00, Y:34.76, Z:13.98 [[ 8.14265891e-01 -5.74111084e-01 -8.58342697e-02 1.30000359e+02] [ 5.70713062e-01 8.18775394e-01 -6.23975615e-02 3.47616114e+01] [ 1.06102120e-01 1.82146711e-03 9.94353570e-01 1.39785253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:34.78, Z:13.98 [[ 8.11876560e-01 -5.77350761e-01 -8.67326386e-02 1.30025644e+02] [ 5.73896671e-01 8.16494973e-01 -6.30759043e-02 3.47756428e+01] [ 1.07233685e-01 1.43427567e-03 9.94232810e-01 1.39798317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:34.78, Z:13.99 [[ 8.06872785e-01 -5.84745262e-01 -8.38408480e-02 1.30053403e+02] [ 5.81554031e-01 8.11216838e-01 -6.10094249e-02 3.47842636e+01] [ 1.03688080e-01 4.68861442e-04 9.94609754e-01 1.39880332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83710568099997 meters Centerline goodness [0,1] 0.9998948276224733 Centerline is valid? [True, True] Translation: X:130.08, Y:34.80, Z:13.99 [[ 8.04271421e-01 -5.88624157e-01 -8.16644562e-02 1.30080143e+02] [ 5.85615256e-01 8.08406830e-01 -5.94404701e-02 3.47960513e+01] [ 1.01006201e-01 -1.76800433e-05 9.94885796e-01 1.39948494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.11, Y:34.80, Z:14.00 [[ 8.00104888e-01 -5.94738589e-01 -7.82187926e-02 1.30109391e+02] [ 5.92004184e-01 8.03918831e-01 -5.69698140e-02 3.48033612e+01] [ 9.67637071e-02 -7.24025820e-04 9.95307119e-01 1.40042240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89710568099997 meters Centerline goodness [0,1] 0.9999790017428554 Centerline is valid? [True, True] Translation: X:130.14, Y:34.81, Z:14.01 [[ 7.98193975e-01 -5.97253380e-01 -7.85797548e-02 1.30136155e+02] [ 5.94502090e-01 8.02051989e-01 -5.72701578e-02 3.48144451e+01] [ 9.72298440e-02 -1.00313355e-03 9.95261449e-01 1.40054104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92710568099997 meters Centerline goodness [0,1] 0.9999790698647913 Centerline is valid? [True, True] Translation: X:130.16, Y:34.83, Z:14.01 [[ 7.96714339e-01 -5.99079140e-01 -7.96896817e-02 1.30160583e+02] [ 5.96256836e-01 8.00688873e-01 -5.80957278e-02 3.48298731e+01] [ 9.86105801e-02 -1.22981807e-03 9.95125339e-01 1.40059858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:34.84, Z:14.01 [[ 7.94968296e-01 -6.01447696e-01 -7.92847900e-02 1.30185019e+02] [ 5.98662237e-01 7.98910796e-01 -5.78365477e-02 3.48434593e+01] [ 9.81271329e-02 -1.48658803e-03 9.95172777e-01 1.40083934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:34.85, Z:14.02 [[ 7.90940229e-01 -6.07227525e-01 -7.54207361e-02 1.30213607e+02] [ 6.04732315e-01 7.94525264e-01 -5.50312001e-02 3.48526705e+01] [ 9.33401397e-02 -2.08296630e-03 9.95632101e-01 1.40152857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:34.86, Z:14.02 [[ 7.87659546e-01 -6.11485850e-01 -7.53491591e-02 1.30242677e+02] [ 6.09011347e-01 7.91251241e-01 -5.50150295e-02 3.48616924e+01] [ 9.32610277e-02 -2.55537972e-03 9.95638414e-01 1.40184791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.27, Y:34.88, Z:14.02 [[ 7.86499824e-01 -6.12897539e-01 -7.59910063e-02 1.30265903e+02] [ 6.10383819e-01 7.90157718e-01 -5.55191285e-02 3.48777513e+01] [ 9.40724174e-02 -2.71789586e-03 9.95561647e-01 1.40205970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.29, Y:34.89, Z:14.02 [[ 7.87052898e-01 -6.12252753e-01 -7.54605963e-02 1.30288611e+02] [ 6.09769831e-01 7.90657794e-01 -5.51453161e-02 3.48934777e+01] [ 9.34263802e-02 -2.61131418e-03 9.95622766e-01 1.40234583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10710568099998 meters Centerline goodness [0,1] 0.9999582350115898 Centerline is valid? [True, True] Translation: X:130.31, Y:34.92, Z:14.03 [[ 7.89786276e-01 -6.08719699e-01 -7.54848794e-02 1.30308609e+02] [ 6.06217667e-01 7.93382360e-01 -5.51776343e-02 3.49151778e+01] [ 9.34760847e-02 -2.18172925e-03 9.95619135e-01 1.40266170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:34.94, Z:14.03 [[ 7.93859244e-01 -6.03652324e-01 -7.34259604e-02 1.30328472e+02] [ 6.01260762e-01 7.97246243e-01 -5.37021752e-02 3.49357587e+01] [ 9.09560140e-02 -1.51618064e-03 9.95853757e-01 1.40333487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:34.96, Z:14.04 [[ 7.95750587e-01 -6.01294014e-01 -7.22946192e-02 1.30349584e+02] [ 5.98965053e-01 7.99026923e-01 -5.28851662e-02 3.49560361e+01] [ 8.95648810e-02 -1.21854836e-03 9.95980244e-01 1.40385523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.37, Y:34.98, Z:14.04 [[ 7.97547049e-01 -5.99026825e-01 -7.13131567e-02 1.30370213e+02] [ 5.96748799e-01 8.00728424e-01 -5.22002136e-02 3.49755087e+01] [ 8.83717999e-02 -9.23914237e-04 9.96087130e-01 1.40422206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:35.00, Z:14.04 [[ 8.02357982e-01 -5.92592537e-01 -7.11038279e-02 1.30385999e+02] [ 5.90299389e-01 8.05502360e-01 -5.20824354e-02 3.50028270e+01] [ 8.81379636e-02 -1.83788452e-04 9.96108260e-01 1.40433288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25710568099998 meters Centerline goodness [0,1] 0.999937014486668 Centerline is valid? [True, True] Translation: X:130.40, Y:35.03, Z:14.04 [[ 8.08003530e-01 -5.84773371e-01 -7.19054897e-02 1.30404156e+02] [ 5.82393753e-01 8.11196401e-01 -5.27059294e-02 3.50274431e+01] [ 8.91504985e-02 7.09269058e-04 9.96017914e-01 1.40424724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28710568099999 meters Centerline goodness [0,1] 0.9999789867406333 Centerline is valid? [True, True] Translation: X:130.42, Y:35.05, Z:14.03 [[ 8.12079573e-01 -5.78349659e-01 -7.77073870e-02 1.30423798e+02] [ 5.75536274e-01 8.15787489e-01 -5.69979880e-02 3.50510814e+01] [ 9.63574810e-02 1.56348185e-03 9.95345564e-01 1.40326514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:35.07, Z:14.03 [[ 8.13336769e-01 -5.76146963e-01 -8.08577573e-02 1.30446146e+02] [ 5.73087997e-01 8.17343886e-01 -5.93221783e-02 3.50693795e+01] [ 1.00266886e-01 1.91029867e-03 9.94958744e-01 1.40299303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.47, Y:35.09, Z:14.03 [[ 8.14252657e-01 -5.74598046e-01 -8.26419714e-02 1.30467531e+02] [ 5.71390183e-01 8.18432851e-01 -6.06706473e-02 3.50868372e+01] [ 1.02498140e-01 2.18042458e-03 9.94730806e-01 1.40283462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:35.11, Z:14.03 [[ 8.16112523e-01 -5.71670745e-01 -8.45748742e-02 1.30490262e+02] [ 5.68292399e-01 8.20478915e-01 -6.21135977e-02 3.51053933e+01] [ 1.04900428e-01 2.62842674e-03 9.94479257e-01 1.40277477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.407105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:35.12, Z:14.03 [[ 8.16319654e-01 -5.71470652e-01 -8.39256592e-02 1.30512865e+02] [ 5.68141692e-01 8.20618243e-01 -6.16499544e-02 3.51206444e+01] [ 1.04102067e-01 2.64440352e-03 9.94563104e-01 1.40308165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.54, Y:35.13, Z:14.04 [[ 8.15026988e-01 -5.73718194e-01 -8.11075992e-02 1.30539736e+02] [ 5.70617921e-01 8.19049536e-01 -5.96074274e-02 3.51303517e+01] [ 1.00629007e-01 2.30021239e-03 9.94921360e-01 1.40369800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.467105681 meters Centerline goodness [0,1] 0.999894924871283 Centerline is valid? [True, True] Translation: X:130.57, Y:35.14, Z:14.04 [[ 8.11018749e-01 -5.79709723e-01 -7.86462078e-02 1.30569216e+02] [ 5.76821929e-01 8.14821651e-01 -5.78112391e-02 3.51372708e+01] [ 9.75963703e-02 1.52114154e-03 9.95224917e-01 1.40409810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:35.15, Z:14.05 [[ 8.08668159e-01 -5.83102897e-01 -7.77613072e-02 1.30596637e+02] [ 5.80294087e-01 8.12397549e-01 -5.71751266e-02 3.51477104e+01] [ 9.65120772e-02 1.11127754e-03 9.95331193e-01 1.40455153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.527105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:35.16, Z:14.05 [[ 8.04653804e-01 -5.88825947e-01 -7.62644083e-02 1.30625026e+02] [ 5.86146559e-01 8.08259738e-01 -5.61106743e-02 3.51553791e+01] [ 9.46808716e-02 4.47547052e-04 9.95507575e-01 1.40479725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:35.16, Z:14.05 [[ 8.01420456e-01 -5.93058715e-01 -7.75023401e-02 1.30654141e+02] [ 5.90309726e-01 8.05159213e-01 -5.70356713e-02 3.51617911e+01] [ 9.62272252e-02 -4.08314529e-05 9.95359392e-01 1.40477161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.68, Y:35.17, Z:14.05 [[ 7.99520633e-01 -5.95521038e-01 -7.82397002e-02 1.30680609e+02] [ 5.92729234e-01 8.03339647e-01 -5.75974558e-02 3.51744739e+01] [ 9.71535498e-02 -3.24603322e-04 9.95269352e-01 1.40484863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.70, Y:35.19, Z:14.05 [[ 7.99323670e-01 -5.95787601e-01 -7.82227866e-02 1.30702505e+02] [ 5.92994824e-01 8.03141971e-01 -5.76204176e-02 3.51909434e+01] [ 9.71535334e-02 -3.28343832e-04 9.95269352e-01 1.40509336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.73, Y:35.20, Z:14.05 [[ 7.96716862e-01 -5.99305032e-01 -7.79469049e-02 1.30729686e+02] [ 5.96544824e-01 8.00520429e-01 -5.74570715e-02 3.52017264e+01] [ 9.68324018e-02 -7.21804958e-04 9.95300440e-01 1.40548248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:35.22, Z:14.06 [[ 7.95852790e-01 -6.00358488e-01 -7.86639838e-02 1.30754252e+02] [ 5.97548454e-01 7.99730582e-01 -5.80244972e-02 3.52153775e+01] [ 9.77454929e-02 -8.26583861e-04 9.95211101e-01 1.40564059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.78, Y:35.23, Z:14.06 [[ 7.93114564e-01 -6.03793390e-01 -8.00176897e-02 1.30781996e+02] [ 6.00901191e-01 7.97139864e-01 -5.90406318e-02 3.52268326e+01] [ 9.94336335e-02 -1.25674007e-03 9.95043403e-01 1.40577475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.81, Y:35.24, Z:14.07 [[ 7.91452897e-01 -6.06329843e-01 -7.72426848e-02 1.30807957e+02] [ 6.03643688e-01 7.95211858e-01 -5.70298100e-02 3.52376427e+01] [ 9.60031746e-02 -1.49065077e-03 9.95379912e-01 1.40653706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.83, Y:35.25, Z:14.07 [[ 7.90210137e-01 -6.08142477e-01 -7.57011702e-02 1.30833014e+02] [ 6.05568980e-01 7.93826161e-01 -5.59127609e-02 3.52513356e+01] [ 9.40964943e-02 -1.65944999e-03 9.95561699e-01 1.40699400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.86, Y:35.26, Z:14.07 [[ 7.88223201e-01 -6.10762817e-01 -7.53191049e-02 1.30859252e+02] [ 6.08223752e-01 7.91811244e-01 -5.56670610e-02 3.52618244e+01] [ 9.36378851e-02 -1.93279959e-03 9.95604445e-01 1.40732578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.88, Y:35.28, Z:14.08 [[ 7.86880410e-01 -6.12494371e-01 -7.52985181e-02 1.30883297e+02] [ 6.09962627e-01 7.90472103e-01 -5.56726900e-02 3.52779258e+01] [ 9.36205871e-02 -2.12153276e-03 9.95605687e-01 1.40750156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:35.29, Z:14.08 [[ 7.86720312e-01 -6.12761610e-01 -7.47954533e-02 1.30907489e+02] [ 6.10261371e-01 7.90264994e-01 -5.53380470e-02 3.52900971e+01] [ 9.30172592e-02 -2.10921026e-03 9.95662262e-01 1.40780797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.93, Y:35.31, Z:14.09 [[ 7.89447201e-01 -6.09526163e-01 -7.24636025e-02 1.30927710e+02] [ 6.07164420e-01 7.92764218e-01 -5.36307903e-02 3.53095744e+01] [ 9.01359210e-02 -1.65864388e-03 9.95928092e-01 1.40850958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:35.34, Z:14.09 [[ 7.94944309e-01 -6.02339472e-01 -7.24617555e-02 1.30942949e+02] [ 5.99944817e-01 7.98239624e-01 -5.36630098e-02 3.53370840e+01] [ 9.01651935e-02 -8.13950460e-04 9.95926491e-01 1.40875961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:35.36, Z:14.09 [[ 7.97932645e-01 -5.98359302e-01 -7.25922833e-02 1.30963107e+02] [ 5.95936759e-01 8.01227827e-01 -5.37898566e-02 3.53591262e+01] [ 9.03486184e-02 -3.39727500e-04 9.95910142e-01 1.40889227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97710568099998 meters Centerline goodness [0,1] 0.9999158266871488 Centerline is valid? [True, True] Translation: X:130.98, Y:35.39, Z:14.09 [[ 8.04166632e-01 -5.89780458e-01 -7.39935133e-02 1.30978451e+02] [ 5.87223618e-01 8.07563351e-01 -5.48621582e-02 3.53858258e+01] [ 9.21110784e-02 6.67578399e-04 9.95748514e-01 1.40879877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.00, Y:35.41, Z:14.09 [[ 8.07425638e-01 -5.85285482e-01 -7.41939595e-02 1.30997155e+02] [ 5.82694446e-01 8.10826414e-01 -5.50246230e-02 3.54083338e+01] [ 9.23635352e-02 1.19588325e-03 9.95724634e-01 1.40901028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.01, Y:35.44, Z:14.09 [[ 8.15004734e-01 -5.75001814e-01 -7.16951693e-02 1.31013801e+02] [ 5.72539652e-01 8.18148861e-01 -5.32051558e-02 3.54352860e+01] [ 8.92503822e-02 2.31412662e-03 9.96006533e-01 1.40945069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:35.45, Z:14.10 [[ 8.19075081e-01 -5.69285554e-01 -7.09222796e-02 1.31038131e+02] [ 5.66852266e-01 8.22134642e-01 -5.26605963e-02 3.54518021e+01] [ 8.82865797e-02 2.93052728e-03 9.96090805e-01 1.40983767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:35.47, Z:14.10 [[ 8.19520539e-01 -5.68518721e-01 -7.19204373e-02 1.31057353e+02] [ 5.66010528e-01 8.22664552e-01 -5.34332985e-02 3.54718536e+01] [ 8.95442249e-02 3.08196096e-03 9.95978079e-01 1.40992774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.127105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:35.48, Z:14.10 [[ 8.18612426e-01 -5.69765262e-01 -7.23964186e-02 1.31084691e+02] [ 5.67227104e-01 8.21802090e-01 -5.38027670e-02 3.54839065e+01] [ 9.01504758e-02 2.97840280e-03 9.95923702e-01 1.40985337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157105681 meters Centerline goodness [0,1] 0.9998954281172878 Centerline is valid? [True, True] Translation: X:131.11, Y:35.49, Z:14.09 [[ 8.16489776e-01 -5.72416254e-01 -7.53928189e-02 1.31112492e+02] [ 5.69670825e-01 8.19958309e-01 -5.60671292e-02 3.54934916e+01] [ 9.39127043e-02 2.82914842e-03 9.95576416e-01 1.40940338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.187105681 meters Centerline goodness [0,1] 0.9998525943396226 Centerline is valid? [True, True] Translation: X:131.14, Y:35.50, Z:14.09 [[ 8.14567954e-01 -5.75093434e-01 -7.58062637e-02 1.31139522e+02] [ 5.72327882e-01 8.18083770e-01 -5.63891802e-02 3.55041104e+01] [ 9.44449214e-02 2.54678080e-03 9.95526831e-01 1.40946104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217105681 meters Centerline goodness [0,1] 0.9999579363577092 Centerline is valid? [True, True] Translation: X:131.17, Y:35.51, Z:14.10 [[ 8.10483238e-01 -5.80888791e-01 -7.53998228e-02 1.31171974e+02] [ 5.78174617e-01 8.13980736e-01 -5.61201683e-02 3.55083713e+01] [ 9.39735800e-02 1.89019206e-03 9.95572897e-01 1.40979477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.247105681 meters Centerline goodness [0,1] 0.9998316958744451 Centerline is valid? [True, True] Translation: X:131.20, Y:35.52, Z:14.10 [[ 8.08309345e-01 -5.84014533e-01 -7.45857130e-02 1.31198671e+02] [ 5.81370894e-01 8.11741778e-01 -5.55263054e-02 3.55200910e+01] [ 9.29725086e-02 1.52046892e-03 9.95667515e-01 1.41012342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277105681 meters Centerline goodness [0,1] 0.9999159098553649 Centerline is valid? [True, True] Translation: X:131.23, Y:35.53, Z:14.10 [[ 8.04742689e-01 -5.89038756e-01 -7.36379536e-02 1.31230472e+02] [ 5.86479689e-01 8.08104218e-01 -5.48556970e-02 3.55259452e+01] [ 9.18192724e-02 9.57556933e-04 9.95775228e-01 1.41046395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30710568099997 meters Centerline goodness [0,1] 0.9999789955680649 Centerline is valid? [True, True] Translation: X:131.26, Y:35.53, Z:14.11 [[ 8.01755343e-01 -5.93104126e-01 -7.35925640e-02 1.31262541e+02] [ 5.90561873e-01 8.05125595e-01 -5.48584649e-02 3.55305253e+01] [ 9.17880387e-02 5.22104951e-04 9.95778431e-01 1.41076246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33710568099997 meters Centerline goodness [0,1] 0.9996870240156905 Centerline is valid? [True, True] Translation: X:131.29, Y:35.54, Z:14.11 [[ 7.99969631e-01 -5.95508870e-01 -7.36055455e-02 1.31288527e+02] [ 5.92972413e-01 8.03348685e-01 -5.49054480e-02 3.55429328e+01] [ 9.18275995e-02 2.76633007e-04 9.95774882e-01 1.41096238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36710568099997 meters Centerline goodness [0,1] 0.999790061511977 Centerline is valid? [True, True] Translation: X:131.32, Y:35.55, Z:14.11 [[ 7.96668716e-01 -5.99920877e-01 -7.35792020e-02 1.31315738e+02] [ 5.97403013e-01 8.00059308e-01 -5.49066829e-02 3.55533941e+01] [ 9.18073908e-02 -2.14000465e-04 9.95776761e-01 1.41119673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39710568099997 meters Centerline goodness [0,1] 0.9998109521708992 Centerline is valid? [True, True] Translation: X:131.34, Y:35.57, Z:14.11 [[ 7.95569721e-01 -6.01312211e-01 -7.41110210e-02 1.31339816e+02] [ 5.98759648e-01 7.99014085e-01 -5.53477722e-02 3.55677525e+01] [ 9.24970409e-02 -3.41677158e-04 9.95712901e-01 1.41148160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42710568099997 meters Centerline goodness [0,1] 0.9996223644183363 Centerline is valid? [True, True] Translation: X:131.36, Y:35.58, Z:14.12 [[ 7.95844044e-01 -6.00950462e-01 -7.40999314e-02 1.31363880e+02] [ 5.98393036e-01 7.99286227e-01 -5.53832316e-02 3.55820594e+01] [ 9.25096332e-02 -2.64467894e-04 9.95711754e-01 1.41172603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45710568099997 meters Centerline goodness [0,1] 0.999330907874378 Centerline is valid? [True, True] Translation: X:131.39, Y:35.60, Z:14.12 [[ 7.97499089e-01 -5.98717315e-01 -7.43826620e-02 1.31386387e+02] [ 5.96126513e-01 8.00960409e-01 -5.56381515e-02 3.55974316e+01] [ 9.28890920e-02 2.98981984e-05 9.95676461e-01 1.41214861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48710568099997 meters Centerline goodness [0,1] 0.9997065481680222 Centerline is valid? [True, True] Translation: X:131.41, Y:35.61, Z:14.13 [[ 7.98479472e-01 -5.97469169e-01 -7.38994303e-02 1.31408869e+02] [ 5.94903870e-01 8.01891859e-01 -5.53067077e-02 3.56142771e+01] [ 9.23034042e-02 1.98213623e-04 9.95730909e-01 1.41263055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51710568099998 meters Centerline goodness [0,1] 0.9993495730261639 Centerline is valid? [True, True] Translation: X:131.43, Y:35.63, Z:14.13 [[ 8.01425744e-01 -5.93859151e-01 -7.10498777e-02 1.31431370e+02] [ 5.91470454e-01 8.04568779e-01 -5.32144945e-02 3.56310105e+01] [ 8.87664279e-02 6.23562391e-04 9.96052274e-01 1.41341844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54710568099998 meters Centerline goodness [0,1] 0.9992862690765582 Centerline is valid? [True, True] Translation: X:131.45, Y:35.65, Z:14.14 [[ 8.04728974e-01 -5.89457115e-01 -7.03675187e-02 1.31451988e+02] [ 5.87094354e-01 8.07798886e-01 -5.27368836e-02 3.56503666e+01] [ 8.79289345e-02 1.12652536e-03 9.96126113e-01 1.41362318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57710568099998 meters Centerline goodness [0,1] 0.9994151069518716 Centerline is valid? [True, True] Translation: X:131.47, Y:35.67, Z:14.14 [[ 8.06136416e-01 -5.87413005e-01 -7.13445194e-02 1.31473787e+02] [ 5.84974851e-01 8.09286142e-01 -5.34823702e-02 3.56688781e+01] [ 8.91543706e-02 1.37933665e-03 9.96016865e-01 1.41362537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60710568099998 meters Centerline goodness [0,1] 0.9991186839012925 Centerline is valid? [True, True] Translation: X:131.50, Y:35.69, Z:14.14 [[ 8.10010085e-01 -5.81877944e-01 -7.28129171e-02 1.31495483e+02] [ 5.79312392e-01 8.13273515e-01 -5.46199861e-02 3.56861818e+01] [ 9.09989822e-02 2.06131441e-03 9.95848852e-01 1.41356409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63710568099998 meters Centerline goodness [0,1] 0.9992844364937388 Centerline is valid? [True, True] Translation: X:131.52, Y:35.70, Z:14.14 [[ 8.11897615e-01 -5.79048004e-01 -7.43348602e-02 1.31521414e+02] [ 5.76360595e-01 8.15289795e-01 -5.57764680e-02 3.56993207e+01] [ 9.29017054e-02 2.44109711e-03 9.95672293e-01 1.41366520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66710568099998 meters Centerline goodness [0,1] 0.9990740156154639 Centerline is valid? [True, True] Translation: X:131.55, Y:35.71, Z:14.14 [[ 8.11854734e-01 -5.79009336e-01 -7.51004704e-02 1.31545230e+02] [ 5.76262461e-01 8.15317074e-01 -5.63883337e-02 3.57140515e+01] [ 9.38800674e-02 2.50155371e-03 9.95580371e-01 1.41378802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69710568099998 meters Centerline goodness [0,1] 0.9991575932438979 Centerline is valid? [True, True] Translation: X:131.57, Y:35.72, Z:14.14 [[ 8.10921190e-01 -5.80156932e-01 -7.63200972e-02 1.31573510e+02] [ 5.77323469e-01 8.14501121e-01 -5.73196000e-02 3.57247560e+01] [ 9.54171680e-02 2.42029498e-03 9.95434431e-01 1.41394156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72710568099998 meters Centerline goodness [0,1] 0.9995385131733512 Centerline is valid? [True, True] Translation: X:131.60, Y:35.74, Z:14.14 [[ 8.10629710e-01 -5.80402108e-01 -7.75426755e-02 1.31598336e+02] [ 5.77474354e-01 8.14326308e-01 -5.82755076e-02 3.57385586e+01] [ 9.69682681e-02 2.46095142e-03 9.95284431e-01 1.41400401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75710568099998 meters Centerline goodness [0,1] 0.9988643055438715 Centerline is valid? [True, True] Translation: X:131.62, Y:35.75, Z:14.14 [[ 8.11418063e-01 -5.79111293e-01 -7.89356515e-02 1.31624854e+02] [ 5.76069371e-01 8.15244103e-01 -5.93391311e-02 3.57514603e+01] [ 9.87157853e-02 2.67643170e-03 9.95112069e-01 1.41387885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78710568099999 meters Centerline goodness [0,1] 0.9990749500683276 Centerline is valid? [True, True] Translation: X:131.65, Y:35.77, Z:14.14 [[ 8.12101861e-01 -5.78105980e-01 -7.92719532e-02 1.31649088e+02] [ 5.75029521e-01 8.15956741e-01 -5.96292515e-02 3.57662930e+01] [ 9.91545114e-02 2.84131287e-03 9.95067993e-01 1.41408102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.817105681 meters Centerline goodness [0,1] 0.9990333291304165 Centerline is valid? [True, True] Translation: X:131.67, Y:35.78, Z:14.14 [[ 8.13388977e-01 -5.76400079e-01 -7.84940869e-02 1.31673345e+02] [ 5.73373957e-01 8.17162000e-01 -5.90641263e-02 3.57794823e+01] [ 9.81869520e-02 3.03564403e-03 9.95163357e-01 1.41440424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.847105681 meters Centerline goodness [0,1] 0.9990806903179976 Centerline is valid? [True, True] Translation: X:131.70, Y:35.79, Z:14.15 [[ 8.12218947e-01 -5.78202383e-01 -7.73458909e-02 1.31701063e+02] [ 5.75271011e-01 8.15888612e-01 -5.82154340e-02 3.57902980e+01] [ 9.67659342e-02 2.78882958e-03 9.95303259e-01 1.41462133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877105681 meters Centerline goodness [0,1] 0.9991176470588236 Centerline is valid? [True, True] Translation: X:131.73, Y:35.80, Z:14.15 [[ 8.09557906e-01 -5.81734749e-01 -7.87443879e-02 1.31731928e+02] [ 5.78708912e-01 8.13374894e-01 -5.93066405e-02 3.57978433e+01] [ 9.85494418e-02 2.44208062e-03 9.95129159e-01 1.41462249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.907105681 meters Centerline goodness [0,1] 0.9991594519626796 Centerline is valid? [True, True] Translation: X:131.76, Y:35.81, Z:14.15 [[ 8.07781570e-01 -5.84013536e-01 -8.01069640e-02 1.31758726e+02] [ 5.80888981e-01 8.11740844e-01 -6.03721257e-02 3.58095919e+01] [ 1.00284233e-01 2.23423774e-03 9.94956321e-01 1.41475200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937105681 meters Centerline goodness [0,1] 0.9993699332129206 Centerline is valid? [True, True] Translation: X:131.79, Y:35.82, Z:14.15 [[ 8.03662571e-01 -5.89575272e-01 -8.07927688e-02 1.31788217e+02] [ 5.86420780e-01 8.07711880e-01 -6.09277216e-02 3.58180161e+01] [ 1.01178757e-01 1.58677077e-03 9.94866997e-01 1.41476123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.967105681 meters Centerline goodness [0,1] 0.9994342587742273 Centerline is valid? [True, True] Translation: X:131.81, Y:35.83, Z:14.15 [[ 8.01690234e-01 -5.92388140e-01 -7.98063954e-02 1.31814550e+02] [ 5.89320768e-01 8.05651750e-01 -6.02186915e-02 3.58314970e+01] [ 9.99690007e-02 1.24517062e-03 9.94989773e-01 1.41512812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997105681 meters Centerline goodness [0,1] 0.9997055545039645 Centerline is valid? [True, True] Translation: X:131.84, Y:35.84, Z:14.16 [[ 7.98976213e-01 -5.96170990e-01 -7.88489769e-02 1.31843630e+02] [ 5.93191830e-01 8.02857101e-01 -5.95308985e-02 3.58406173e+01] [ 9.87950557e-02 7.91202977e-04 9.95107487e-01 1.41565049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.027105681 meters Centerline goodness [0,1] 0.9998951540187465 Centerline is valid? [True, True] Translation: X:131.87, Y:35.85, Z:14.16 [[ 7.97624625e-01 -5.97863166e-01 -7.97156911e-02 1.31870896e+02] [ 5.94822483e-01 8.01597936e-01 -6.02242769e-02 3.58506095e+01] [ 9.99058103e-02 6.19681014e-04 9.94996706e-01 1.41616798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05710568099997 meters Centerline goodness [0,1] 0.9997068308413954 Centerline is valid? [True, True] Translation: X:131.89, Y:35.87, Z:14.16 [[ 7.97063752e-01 -5.98543298e-01 -8.02202942e-02 1.31893567e+02] [ 5.95462807e-01 8.01090252e-01 -6.06502548e-02 3.58661085e+01] [ 1.00565499e-01 5.73918034e-04 9.94930274e-01 1.41613314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08710568099997 meters Centerline goodness [0,1] 0.9997267414974566 Centerline is valid? [True, True] Translation: X:131.92, Y:35.88, Z:14.16 [[ 7.96292181e-01 -5.99600574e-01 -7.99869554e-02 1.31919413e+02] [ 5.96540984e-01 8.00299282e-01 -6.04972154e-02 3.58790177e+01] [ 1.00287668e-01 4.57962571e-04 9.94958378e-01 1.41641360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11710568099997 meters Centerline goodness [0,1] 0.9998742533794405 Centerline is valid? [True, True] Translation: X:131.94, Y:35.89, Z:14.16 [[ 7.95670803e-01 -6.00497773e-01 -7.94380167e-02 1.31944241e+02] [ 5.97480261e-01 7.99626339e-01 -6.01253342e-02 3.58922720e+01] [ 9.96258598e-02 3.77325953e-04 9.95024897e-01 1.41630794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14710568099997 meters Centerline goodness [0,1] 0.9998740765614507 Centerline is valid? [True, True] Translation: X:131.97, Y:35.91, Z:14.17 [[ 7.94846256e-01 -6.01561075e-01 -7.96473627e-02 1.31969331e+02] [ 5.98530694e-01 7.98826767e-01 -6.03059203e-02 3.59059441e+01] [ 9.99021395e-02 2.62543719e-04 9.94997233e-01 1.41674070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17710568099997 meters Centerline goodness [0,1] 0.9998324887976884 Centerline is valid? [True, True] Translation: X:131.99, Y:35.92, Z:14.17 [[ 7.93433150e-01 -6.03400886e-01 -7.98198482e-02 1.31993898e+02] [ 6.00361848e-01 7.97438002e-01 -6.04837621e-02 3.59192199e+01] [ 1.00147336e-01 6.90303415e-05 9.94972616e-01 1.41704509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20710568099997 meters Centerline goodness [0,1] 0.9999789531286174 Centerline is valid? [True, True] Translation: X:132.02, Y:35.93, Z:14.17 [[ 7.90251972e-01 -6.07513049e-01 -8.01855104e-02 1.32021432e+02] [ 6.04462335e-01 7.94309588e-01 -6.08075921e-02 3.59301926e+01] [ 1.00633525e-01 -4.15801273e-04 9.94923475e-01 1.41745658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.05, Y:35.94, Z:14.18 [[ 7.87652493e-01 -6.11078998e-01 -7.86511898e-02 1.32046310e+02] [ 6.08157795e-01 7.91569191e-01 -5.96851071e-02 3.59429667e+01] [ 9.87301741e-02 -8.21210791e-04 9.95113902e-01 1.41782695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26710568099998 meters Centerline goodness [0,1] 0.9999160104986876 Centerline is valid? [True, True] Translation: X:132.07, Y:35.95, Z:14.18 [[ 7.85930856e-01 -6.13434303e-01 -7.75309352e-02 1.32072361e+02] [ 6.10603110e-01 7.89745034e-01 -5.88780376e-02 3.59536733e+01] [ 9.73474790e-02 -1.06656370e-03 9.95249884e-01 1.41842004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29710568099998 meters Centerline goodness [0,1] 0.999915991095056 Centerline is valid? [True, True] Translation: X:132.10, Y:35.97, Z:14.19 [[ 7.85193925e-01 -6.14394823e-01 -7.73918744e-02 1.32095139e+02] [ 6.11576822e-01 7.88997866e-01 -5.87891051e-02 3.59701376e+01] [ 9.71817456e-02 -1.17022838e-03 9.95265964e-01 1.41881899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32710568099998 meters Centerline goodness [0,1] 0.9999159045516661 Centerline is valid? [True, True] Translation: X:132.12, Y:35.99, Z:14.19 [[ 7.83528816e-01 -6.16694987e-01 -7.59597742e-02 1.32116474e+02] [ 6.13987282e-01 7.87200958e-01 -5.77431361e-02 3.59891740e+01] [ 9.54055095e-02 -1.39492430e-03 9.95437513e-01 1.41910739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35710568099998 meters Centerline goodness [0,1] 0.999979019365126 Centerline is valid? [True, True] Translation: X:132.14, Y:36.01, Z:14.19 [[ 7.81976306e-01 -6.18756657e-01 -7.51881427e-02 1.32138945e+02] [ 6.16109700e-01 7.85581085e-01 -5.71943805e-02 3.60064847e+01] [ 9.44557864e-02 -1.59949364e-03 9.95527773e-01 1.41943613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.16, Y:36.02, Z:14.20 [[ 7.78705826e-01 -6.22788670e-01 -7.58387026e-02 1.32162410e+02] [ 6.20110761e-01 7.82387353e-01 -5.77293202e-02 3.60229607e+01] [ 9.52884083e-02 -2.07423767e-03 9.95447546e-01 1.41968817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.18, Y:36.04, Z:14.20 [[ 7.76013239e-01 -6.26116605e-01 -7.60358522e-02 1.32184861e+02] [ 6.23436698e-01 7.79725568e-01 -5.79199649e-02 3.60407661e+01] [ 9.55517498e-02 -2.45688111e-03 9.95421432e-01 1.41992678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44710568099998 meters Centerline goodness [0,1] 0.9999160140256577 Centerline is valid? [True, True] Translation: X:132.21, Y:36.06, Z:14.20 [[ 7.75314015e-01 -6.27086348e-01 -7.51724093e-02 1.32207082e+02] [ 6.24467906e-01 7.78945686e-01 -5.73014223e-02 3.60592964e+01] [ 9.44881636e-02 -2.51616131e-03 9.95522805e-01 1.42021296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.23, Y:36.08, Z:14.21 [[ 7.75043819e-01 -6.27631503e-01 -7.33878407e-02 1.32226807e+02] [ 6.25135019e-01 7.78506578e-01 -5.59795948e-02 3.60784901e+01] [ 9.22674740e-02 -2.49067033e-03 9.95731143e-01 1.42070369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:36.10, Z:14.21 [[ 7.75616067e-01 -6.26868707e-01 -7.38602849e-02 1.32245924e+02] [ 6.24332242e-01 7.79121274e-01 -5.63852060e-02 3.61004166e+01] [ 9.28922405e-02 -2.38008563e-03 9.95673323e-01 1.42089849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.27, Y:36.12, Z:14.21 [[ 7.75375476e-01 -6.27168515e-01 -7.38412146e-02 1.32267629e+02] [ 6.24631031e-01 7.78879945e-01 -5.64101696e-02 3.61172880e+01] [ 9.28921234e-02 -2.38445184e-03 9.95673324e-01 1.42114339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.567105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.29, Y:36.14, Z:14.21 [[ 7.75612065e-01 -6.26847894e-01 -7.40786264e-02 1.32287573e+02] [ 6.24288421e-01 7.79138204e-01 -5.66359177e-02 3.61367718e+01] [ 9.32195937e-02 -2.31892761e-03 9.95642873e-01 1.42130400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:36.16, Z:14.21 [[ 7.76227037e-01 -6.26023543e-01 -7.46063705e-02 1.32307034e+02] [ 6.23421394e-01 7.79801004e-01 -5.70627694e-02 3.61575689e+01] [ 9.39007597e-02 -2.21754300e-03 9.95579093e-01 1.42143414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.627105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.33, Y:36.18, Z:14.22 [[ 7.77040092e-01 -6.24880002e-01 -7.57210533e-02 1.32328384e+02] [ 6.22192405e-01 7.80717990e-01 -5.79312607e-02 3.61768672e+01] [ 9.53168749e-02 -2.09815214e-03 9.95444771e-01 1.42170824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.35, Y:36.20, Z:14.22 [[ 7.78322977e-01 -6.23339741e-01 -7.52390209e-02 1.32348452e+02] [ 6.20675456e-01 7.81948901e-01 -5.76011752e-02 3.61984004e+01] [ 9.47381713e-02 -1.86669538e-03 9.95500474e-01 1.42190897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:36.22, Z:14.22 [[ 7.78623497e-01 -6.22954797e-01 -7.53177993e-02 1.32368010e+02] [ 6.20279505e-01 7.82255783e-01 -5.76994457e-02 3.62167208e+01] [ 9.48619306e-02 -1.79194306e-03 9.95488826e-01 1.42205456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717105681 meters Centerline goodness [0,1] 0.9999579761304421 Centerline is valid? [True, True] Translation: X:132.39, Y:36.24, Z:14.22 [[ 7.81034125e-01 -6.19798659e-01 -7.63892519e-02 1.32385748e+02] [ 6.17029082e-01 7.84759605e-01 -5.85446460e-02 3.62412651e+01] [ 9.62330922e-02 -1.40902363e-03 9.95357828e-01 1.42212950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.747105681 meters Centerline goodness [0,1] 0.999811300974945 Centerline is valid? [True, True] Translation: X:132.40, Y:36.26, Z:14.22 [[ 7.83768538e-01 -6.16185089e-01 -7.76067970e-02 1.32404066e+02] [ 6.13304941e-01 7.87600807e-01 -5.95148502e-02 3.62633896e+01] [ 9.77953393e-02 -9.50764939e-04 9.95206093e-01 1.42212849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777105681 meters Centerline goodness [0,1] 0.9998537553535987 Centerline is valid? [True, True] Translation: X:132.42, Y:36.29, Z:14.22 [[ 7.90654576e-01 -6.07002619e-01 -8.00822231e-02 1.32417046e+02] [ 6.03886095e-01 7.94699803e-01 -6.14313269e-02 3.62925322e+01] [ 1.00930303e-01 2.10418719e-04 9.94893477e-01 1.42212588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80710568099997 meters Centerline goodness [0,1] 0.9994123079506338 Centerline is valid? [True, True] Translation: X:132.44, Y:36.31, Z:14.22 [[ 7.94065340e-01 -6.02418475e-01 -8.09457638e-02 1.32435096e+02] [ 5.99205952e-01 7.98179980e-01 -6.21365181e-02 3.63143756e+01] [ 1.02041475e-01 8.37271951e-04 9.94779793e-01 1.42233157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83710568099997 meters Centerline goodness [0,1] 0.999433118478238 Centerline is valid? [True, True] Translation: X:132.45, Y:36.34, Z:14.22 [[ 7.99764032e-01 -5.94690862e-01 -8.19772623e-02 1.32449841e+02] [ 5.91352505e-01 8.03952290e-01 -6.29518040e-02 3.63417491e+01] [ 1.03342670e-01 1.86912920e-03 9.94644056e-01 1.42244639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86710568099997 meters Centerline goodness [0,1] 0.9992043384492976 Centerline is valid? [True, True] Translation: X:132.47, Y:36.37, Z:14.23 [[ 8.03850850e-01 -5.89263423e-01 -8.11937710e-02 1.32466324e+02] [ 5.85957652e-01 8.07936886e-01 -6.23828418e-02 3.63677903e+01] [ 1.02359369e-01 2.57038900e-03 9.94744164e-01 1.42254498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89710568099997 meters Centerline goodness [0,1] 0.9990171681897074 Centerline is valid? [True, True] Translation: X:132.49, Y:36.39, Z:14.23 [[ 8.05497661e-01 -5.86978818e-01 -8.14210373e-02 1.32485333e+02] [ 5.83640910e-01 8.09597152e-01 -6.25758692e-02 3.63880346e+01] [ 1.02648950e-01 2.88406792e-03 9.94713464e-01 1.42264402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92710568099997 meters Centerline goodness [0,1] 0.9991802761838704 Centerline is valid? [True, True] Translation: X:132.51, Y:36.40, Z:14.23 [[ 8.08057308e-01 -5.83236887e-01 -8.29344372e-02 1.32510637e+02] [ 5.79750788e-01 8.12294811e-01 -6.37664689e-02 3.64030456e+01] [ 1.04558170e-01 3.44565579e-03 9.94512804e-01 1.42307504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95710568099997 meters Centerline goodness [0,1] 0.9989263383928759 Centerline is valid? [True, True] Translation: X:132.53, Y:36.42, Z:14.23 [[ 8.09681503e-01 -5.80981877e-01 -8.29211771e-02 1.32534560e+02] [ 5.77480865e-01 8.13907765e-01 -6.37965642e-02 3.64191468e+01] [ 1.04554838e-01 3.76950490e-03 9.94511979e-01 1.42347470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98710568099997 meters Centerline goodness [0,1] 0.9992665702730454 Centerline is valid? [True, True] Translation: X:132.56, Y:36.44, Z:14.24 [[ 8.09742357e-01 -5.80988890e-01 -8.22753011e-02 1.32556217e+02] [ 5.77538360e-01 8.13902753e-01 -6.33383827e-02 3.64356870e+01] [ 1.03762991e-01 3.77062875e-03 9.94594905e-01 1.42375204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01710568099998 meters Centerline goodness [0,1] 0.9992220680375089 Centerline is valid? [True, True] Translation: X:132.58, Y:36.45, Z:14.24 [[ 8.09211524e-01 -5.81712911e-01 -8.23820263e-02 1.32582218e+02] [ 5.78255140e-01 8.13385771e-01 -6.34395836e-02 3.64495185e+01] [ 1.03911993e-01 3.69821205e-03 9.94579620e-01 1.42394093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04710568099998 meters Centerline goodness [0,1] 0.9992214951501251 Centerline is valid? [True, True] Translation: X:132.61, Y:36.46, Z:14.24 [[ 8.07878129e-01 -5.83527371e-01 -8.26361689e-02 1.32609961e+02] [ 5.80053111e-01 8.12085883e-01 -6.36781482e-02 3.64601628e+01] [ 1.04265609e-01 3.51081632e-03 9.94543291e-01 1.42423070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07710568099998 meters Centerline goodness [0,1] 0.9993900771867836 Centerline is valid? [True, True] Translation: X:132.64, Y:36.47, Z:14.25 [[ 8.07107385e-01 -5.84590206e-01 -8.26556758e-02 1.32635442e+02] [ 5.81115367e-01 8.11321557e-01 -6.37358721e-02 3.64749928e+01] [ 1.04319698e-01 3.40920966e-03 9.94537972e-01 1.42455009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10710568099998 meters Centerline goodness [0,1] 0.9994331660823379 Centerline is valid? [True, True] Translation: X:132.66, Y:36.48, Z:14.25 [[ 8.05253477e-01 -5.87329626e-01 -8.13065114e-02 1.32664104e+02] [ 5.83977761e-01 8.09342145e-01 -6.27317138e-02 3.64848884e+01] [ 1.02648980e-01 3.03373615e-03 9.94713016e-01 1.42528694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13710568099998 meters Centerline goodness [0,1] 0.9992849180810567 Centerline is valid? [True, True] Translation: X:132.69, Y:36.50, Z:14.26 [[ 8.04656300e-01 -5.88321869e-01 -8.00351021e-02 1.32689022e+02] [ 5.85076953e-01 8.08621722e-01 -6.17727323e-02 3.64987211e+01] [ 1.01060371e-01 2.87912456e-03 9.94876129e-01 1.42584008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16710568099998 meters Centerline goodness [0,1] 0.9992881519167557 Centerline is valid? [True, True] Translation: X:132.71, Y:36.51, Z:14.26 [[ 8.04545030e-01 -5.88773976e-01 -7.77978177e-02 1.32714476e+02] [ 5.85706905e-01 8.08292967e-01 -6.00824591e-02 3.65111370e+01] [ 9.82584172e-02 2.77232490e-03 9.95157072e-01 1.42635239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19710568099998 meters Centerline goodness [0,1] 0.9994323795908928 Centerline is valid? [True, True] Translation: X:132.74, Y:36.53, Z:14.26 [[ 8.04461244e-01 -5.88847611e-01 -7.81063278e-02 1.32739386e+02] [ 5.85754791e-01 8.08239270e-01 -6.03374370e-02 3.65265809e+01] [ 9.86581570e-02 2.78797391e-03 9.95117478e-01 1.42646630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22710568099998 meters Centerline goodness [0,1] 0.9996649144484702 Centerline is valid? [True, True] Translation: X:132.77, Y:36.54, Z:14.26 [[ 8.04923736e-01 -5.88006148e-01 -7.96652316e-02 1.32765100e+02] [ 5.84780354e-01 8.08850968e-01 -6.15796163e-02 3.65403335e+01] [ 1.00646493e-01 2.98023248e-03 9.94917786e-01 1.42614232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25710568099998 meters Centerline goodness [0,1] 0.999769285624397 Centerline is valid? [True, True] Translation: X:132.79, Y:36.55, Z:14.26 [[ 8.06317812e-01 -5.85872697e-01 -8.12697258e-02 1.32792525e+02] [ 5.82502563e-01 8.10396266e-01 -6.28383303e-02 3.65521177e+01] [ 1.02675944e-01 3.32784145e-03 9.94709292e-01 1.42624293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28710568099999 meters Centerline goodness [0,1] 0.9997051327955517 Centerline is valid? [True, True] Translation: X:132.82, Y:36.57, Z:14.27 [[ 8.07370392e-01 -5.84247347e-01 -8.25111416e-02 1.32817897e+02] [ 5.80760276e-01 8.11567562e-01 -6.38403849e-02 3.65658828e+01] [ 1.04261941e-01 3.62364324e-03 9.94543270e-01 1.42655334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.317105681 meters Centerline goodness [0,1] 0.9999159063196401 Centerline is valid? [True, True] Translation: X:132.84, Y:36.58, Z:14.27 [[ 8.08724187e-01 -5.82273201e-01 -8.32052235e-02 1.32841855e+02] [ 5.78712356e-01 8.12983617e-01 -6.44177501e-02 3.65809412e+01] [ 1.05153213e-01 3.94430161e-03 9.94448211e-01 1.42670295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.347105681 meters Centerline goodness [0,1] 0.9998740633461369 Centerline is valid? [True, True] Translation: X:132.87, Y:36.59, Z:14.27 [[ 8.10137959e-01 -5.80401841e-01 -8.25238704e-02 1.32867663e+02] [ 5.76887060e-01 8.14319528e-01 -6.39142134e-02 3.65940558e+01] [ 1.04296726e-01 4.17237752e-03 9.94537472e-01 1.42699894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377105681 meters Centerline goodness [0,1] 0.9998948519515478 Centerline is valid? [True, True] Translation: X:132.89, Y:36.61, Z:14.27 [[ 8.10562143e-01 -5.79816686e-01 -8.24719485e-02 1.32891120e+02] [ 5.76299428e-01 8.14735743e-01 -6.39111773e-02 3.66085282e+01] [ 1.04249611e-01 4.27544414e-03 9.94541975e-01 1.42730193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.407105681 meters Centerline goodness [0,1] 0.9998534031413613 Centerline is valid? [True, True] Translation: X:132.92, Y:36.62, Z:14.28 [[ 8.12042502e-01 -5.77590233e-01 -8.35254303e-02 1.32919925e+02] [ 5.73969003e-01 8.16313705e-01 -6.47419411e-02 3.66184162e+01] [ 1.05577266e-01 4.63219992e-03 9.94400314e-01 1.42762275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.95, Y:36.63, Z:14.28 [[ 8.14717770e-01 -5.73782094e-01 -8.37201530e-02 1.32949346e+02] [ 5.70122096e-01 8.18991797e-01 -6.49094096e-02 3.66278237e+01] [ 1.05809976e-01 5.15214027e-03 9.94373021e-01 1.42796029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.467105681 meters Centerline goodness [0,1] 0.9999790624149411 Centerline is valid? [True, True] Translation: X:132.97, Y:36.64, Z:14.28 [[ 8.16586581e-01 -5.71121576e-01 -8.37048438e-02 1.32972857e+02] [ 5.67444951e-01 8.20846874e-01 -6.49356441e-02 3.66442024e+01] [ 1.05795007e-01 5.52768471e-03 9.94372597e-01 1.42814600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497105681 meters Centerline goodness [0,1] 0.9998534123510565 Centerline is valid? [True, True] Translation: X:133.00, Y:36.66, Z:14.28 [[ 8.18975508e-01 -5.67646309e-01 -8.40046691e-02 1.32998745e+02] [ 5.63923360e-01 8.23250586e-01 -6.51837101e-02 3.66586201e+01] [ 1.06158186e-01 6.01166689e-03 9.94331081e-01 1.42819508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.527105681 meters Centerline goodness [0,1] 0.9998324572242351 Centerline is valid? [True, True] Translation: X:133.02, Y:36.67, Z:14.28 [[ 8.18911735e-01 -5.67727664e-01 -8.40765712e-02 1.33024572e+02] [ 5.63996360e-01 8.23194389e-01 -6.52618146e-02 3.66730835e+01] [ 1.06262299e-01 6.02478571e-03 9.94319881e-01 1.42843542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55710568099997 meters Centerline goodness [0,1] 0.9998531940774297 Centerline is valid? [True, True] Translation: X:133.05, Y:36.68, Z:14.29 [[ 8.17464142e-01 -5.69864402e-01 -8.37074610e-02 1.33053374e+02] [ 5.66172632e-01 8.21718587e-01 -6.50162678e-02 3.66829855e+01] [ 1.05834433e-01 5.75559414e-03 9.94367108e-01 1.42884566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58710568099997 meters Centerline goodness [0,1] 0.9999159027836179 Centerline is valid? [True, True] Translation: X:133.09, Y:36.69, Z:14.29 [[ 8.14157204e-01 -5.74569504e-01 -8.37730943e-02 1.33085115e+02] [ 5.70893275e-01 8.18439435e-01 -6.50980852e-02 3.66885914e+01] [ 1.05966578e-01 5.17457894e-03 9.94356228e-01 1.42937661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61710568099997 meters Centerline goodness [0,1] 0.9998946880660516 Centerline is valid? [True, True] Translation: X:133.11, Y:36.70, Z:14.30 [[ 8.10673550e-01 -5.79404348e-01 -8.42555409e-02 1.33114603e+02] [ 5.75709434e-01 8.15027348e-01 -6.54909865e-02 3.66969984e+01] [ 1.06616332e-01 4.58510078e-03 9.94289663e-01 1.42956580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64710568099997 meters Centerline goodness [0,1] 0.9998944991876437 Centerline is valid? [True, True] Translation: X:133.14, Y:36.71, Z:14.30 [[ 8.08752693e-01 -5.82035328e-01 -8.45810806e-02 1.33140664e+02] [ 5.78324058e-01 8.13152289e-01 -6.57619869e-02 3.67103094e+01] [ 1.07053099e-01 4.26991027e-03 9.94244136e-01 1.42962176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.17, Y:36.71, Z:14.30 [[ 8.05375019e-01 -5.86963554e-01 -8.27337002e-02 1.33173983e+02] [ 5.83435106e-01 8.09605505e-01 -6.43615010e-02 3.67134473e+01] [ 1.04759515e-01 3.56539983e-03 9.94491193e-01 1.43030537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70710568099997 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:133.20, Y:36.73, Z:14.30 [[ 8.03334128e-01 -5.89773976e-01 -8.25889559e-02 1.33198217e+02] [ 5.86270841e-01 8.07561990e-01 -6.42661105e-02 3.67275444e+01] [ 1.04598181e-01 3.20766317e-03 9.94509392e-01 1.43049190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:36.73, Z:14.31 [[ 8.00390480e-01 -5.93785135e-01 -8.24274995e-02 1.33228826e+02] [ 5.90312524e-01 8.04619076e-01 -6.41815146e-02 3.67349221e+01] [ 1.04432768e-01 2.71228804e-03 9.94528250e-01 1.43088891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76710568099998 meters Centerline goodness [0,1] 0.9997659873207676 Centerline is valid? [True, True] Translation: X:133.25, Y:36.75, Z:14.31 [[ 7.99224042e-01 -5.95443584e-01 -8.17793895e-02 1.33254770e+02] [ 5.92030343e-01 8.03393217e-01 -6.37135159e-02 3.67463940e+01] [ 1.03638811e-01 2.50549364e-03 9.94611844e-01 1.43126029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79710568099998 meters Centerline goodness [0,1] 0.999871835950016 Centerline is valid? [True, True] Translation: X:133.28, Y:36.76, Z:14.32 [[ 7.98261726e-01 -5.96732645e-01 -8.17824406e-02 1.33280979e+02] [ 5.93324057e-01 8.02436675e-01 -6.37334054e-02 3.67587114e+01] [ 1.03657033e-01 2.35244880e-03 9.94610318e-01 1.43173682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82710568099998 meters Centerline goodness [0,1] 0.999957221081451 Centerline is valid? [True, True] Translation: X:133.31, Y:36.77, Z:14.32 [[ 7.95442451e-01 -6.00527546e-01 -8.14737628e-02 1.33307699e+02] [ 5.97160313e-01 7.99601850e-01 -6.35330103e-02 3.67706147e+01] [ 1.03299894e-01 1.88395575e-03 9.94648472e-01 1.43218685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.33, Y:36.79, Z:14.33 [[ 7.94008268e-01 -6.02553056e-01 -8.05027043e-02 1.33331556e+02] [ 5.99272318e-01 7.98077160e-01 -6.28135019e-02 3.67862194e+01] [ 1.02095837e-01 1.63139764e-03 9.94773230e-01 1.43259213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88710568099998 meters Centerline goodness [0,1] 0.9997003552930097 Centerline is valid? [True, True] Translation: X:133.36, Y:36.80, Z:14.33 [[ 7.92177915e-01 -6.05264051e-01 -7.81637930e-02 1.33355599e+02] [ 6.02181293e-01 7.96023748e-01 -6.10236167e-02 3.67999427e+01] [ 9.91556369e-02 1.27278746e-03 9.95071123e-01 1.43320970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91710568099998 meters Centerline goodness [0,1] 0.9997860504920839 Centerline is valid? [True, True] Translation: X:133.38, Y:36.82, Z:14.34 [[ 7.91757003e-01 -6.05872175e-01 -7.77158606e-02 1.33378011e+02] [ 6.02826038e-01 7.95561098e-01 -6.06902537e-02 3.68158697e+01] [ 9.85982514e-02 1.20278898e-03 9.95126594e-01 1.43359361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94710568099998 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:133.40, Y:36.83, Z:14.34 [[ 7.91999958e-01 -6.05513798e-01 -7.80327365e-02 1.33401957e+02] [ 6.02436752e-01 7.95833768e-01 -6.09801092e-02 3.68314070e+01] [ 9.90253842e-02 1.28645554e-03 9.95084076e-01 1.43385356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97710568099998 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:133.42, Y:36.85, Z:14.34 [[ 7.93844130e-01 -6.02878308e-01 -7.96821435e-02 1.33423090e+02] [ 5.99652439e-01 7.97831389e-01 -6.23059132e-02 3.68499760e+01] [ 1.01135799e-01 1.67959172e-03 9.94871212e-01 1.43382160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00710568099998 meters Centerline goodness [0,1] 0.9998711865862299 Centerline is valid? [True, True] Translation: X:133.44, Y:36.87, Z:14.34 [[ 7.94913664e-01 -6.01203206e-01 -8.16515314e-02 1.33444703e+02] [ 5.97805130e-01 7.99093797e-01 -6.38602388e-02 3.68688111e+01] [ 1.03640213e-01 1.95167207e-03 9.94612938e-01 1.43369296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03710568099999 meters Centerline goodness [0,1] 0.999743123193835 Centerline is valid? [True, True] Translation: X:133.47, Y:36.88, Z:14.34 [[ 7.94808440e-01 -6.01251026e-01 -8.23209993e-02 1.33468981e+02] [ 5.97795225e-01 7.99057757e-01 -6.44016239e-02 3.68849175e+01] [ 1.04500776e-01 1.97585399e-03 9.94522842e-01 1.43390139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.067105681 meters Centerline goodness [0,1] 0.9997844688234153 Centerline is valid? [True, True] Translation: X:133.50, Y:36.90, Z:14.34 [[ 7.92283635e-01 -6.04308662e-01 -8.42477448e-02 1.33495038e+02] [ 6.00701360e-01 7.96748604e-01 -6.59510318e-02 3.68983093e+01] [ 1.06979053e-01 1.64418838e-03 9.94259915e-01 1.43404870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097105681 meters Centerline goodness [0,1] 0.999719954331014 Centerline is valid? [True, True] Translation: X:133.52, Y:36.91, Z:14.34 [[ 7.90183675e-01 -6.07014195e-01 -8.45193814e-02 1.33518509e+02] [ 6.03394765e-01 7.94689903e-01 -6.62020816e-02 3.69129668e+01] [ 1.07352302e-01 1.31325189e-03 9.94220176e-01 1.43426195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.127105681 meters Centerline goodness [0,1] 0.9997842037116962 Centerline is valid? [True, True] Translation: X:133.55, Y:36.92, Z:14.35 [[ 7.84912980e-01 -6.13837114e-01 -8.43540837e-02 1.33545525e+02] [ 6.10268182e-01 7.89432604e-01 -6.60977304e-02 3.69246174e+01] [ 1.07165104e-01 4.02353290e-04 9.94241157e-01 1.43450972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157105681 meters Centerline goodness [0,1] 0.9998273145250071 Centerline is valid? [True, True] Translation: X:133.57, Y:36.94, Z:14.35 [[ 7.81611495e-01 -6.17962061e-01 -8.48902976e-02 1.33569504e+02] [ 6.14367246e-01 7.86207908e-01 -6.65583481e-02 3.69377463e+01] [ 1.07871957e-01 -1.31048351e-04 9.94164787e-01 1.43468601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.187105681 meters Centerline goodness [0,1] 0.9998264717365841 Centerline is valid? [True, True] Translation: X:133.60, Y:36.95, Z:14.35 [[ 7.74797840e-01 -6.26517001e-01 -8.46448742e-02 1.33598841e+02] [ 6.22989805e-01 7.79406692e-01 -6.63996346e-02 3.69471414e+01] [ 1.07573281e-01 -1.28660022e-03 9.94196326e-01 1.43514196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217105681 meters Centerline goodness [0,1] 0.9998480573041024 Centerline is valid? [True, True] Translation: X:133.62, Y:36.96, Z:14.36 [[ 7.71139586e-01 -6.31068331e-01 -8.42407335e-02 1.33624516e+02] [ 6.27597426e-01 7.75724971e-01 -6.61229195e-02 3.69611501e+01] [ 1.07075721e-01 -1.87926682e-03 9.94249093e-01 1.43552699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.247105681 meters Centerline goodness [0,1] 0.9998697492673396 Centerline is valid? [True, True] Translation: X:133.65, Y:36.97, Z:14.36 [[ 7.65562966e-01 -6.37985377e-01 -8.29939963e-02 1.33651069e+02] [ 6.34652809e-01 7.70043494e-01 -6.51830543e-02 3.69738218e+01] [ 1.05494822e-01 -2.77064047e-03 9.94415992e-01 1.43580285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:36.99, Z:14.36 [[ 7.62420198e-01 -6.41981299e-01 -8.10891705e-02 1.33674674e+02] [ 6.38819265e-01 7.66713536e-01 -6.37204857e-02 3.69884083e+01] [ 1.03079525e-01 -3.21953903e-03 9.94667907e-01 1.43630567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:37.01, Z:14.37 [[ 7.61334133e-01 -6.43339350e-01 -8.05283742e-02 1.33697710e+02] [ 6.40226285e-01 7.65573755e-01 -6.33018905e-02 3.70054324e+01] [ 1.02375007e-01 -3.36249192e-03 9.94740193e-01 1.43679737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:37.02, Z:14.37 [[ 7.60757271e-01 -6.44048040e-01 -8.03149882e-02 1.33719878e+02] [ 6.40951603e-01 7.64977403e-01 -6.31713222e-02 3.70237583e+01] [ 1.02124517e-01 -3.41997780e-03 9.94765745e-01 1.43743419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36710568099997 meters Centerline goodness [0,1] 0.9999355905275136 Centerline is valid? [True, True] Translation: X:133.74, Y:37.05, Z:14.38 [[ 7.60767449e-01 -6.44144546e-01 -7.94398671e-02 1.33739820e+02] [ 6.41112209e-01 7.64896376e-01 -6.25193480e-02 3.70452040e+01] [ 1.01034763e-01 -3.36718378e-03 9.94877198e-01 1.43779750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.76, Y:37.07, Z:14.38 [[ 7.61396011e-01 -6.43349494e-01 -7.98595232e-02 1.33757795e+02] [ 6.40277124e-01 7.65565705e-01 -6.28836735e-02 3.70685524e+01] [ 1.01593892e-01 -3.25284769e-03 9.94820637e-01 1.43754009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.78, Y:37.09, Z:14.38 [[ 7.61190738e-01 -6.43593351e-01 -7.98514791e-02 1.33779323e+02] [ 6.40521247e-01 7.65360628e-01 -6.28938863e-02 3.70857162e+01] [ 1.01593265e-01 -3.27232524e-03 9.94820637e-01 1.43778579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:37.11, Z:14.38 [[ 7.60454752e-01 -6.44374569e-01 -8.05604439e-02 1.33797938e+02] [ 6.41247593e-01 7.64702573e-01 -6.34940859e-02 3.71082047e+01] [ 1.02518753e-01 -3.37481139e-03 9.94725347e-01 1.43801930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.82, Y:37.13, Z:14.38 [[ 7.60106241e-01 -6.44721137e-01 -8.10750118e-02 1.33817930e+02] [ 6.41552214e-01 7.64410221e-01 -6.39356685e-02 3.71273662e+01] [ 1.03195245e-01 -3.41595269e-03 9.94655253e-01 1.43837248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.84, Y:37.15, Z:14.39 [[ 7.59859151e-01 -6.45098474e-01 -8.03867488e-02 1.33838491e+02] [ 6.41983549e-01 7.64091772e-01 -6.34104586e-02 3.71468349e+01] [ 1.02328843e-01 -3.42395302e-03 9.94744733e-01 1.43880413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.86, Y:37.17, Z:14.39 [[ 7.58866940e-01 -6.46571170e-01 -7.78889517e-02 1.33856363e+02] [ 6.43651156e-01 7.62845735e-01 -6.14782429e-02 3.71690158e+01] [ 9.91673141e-02 -3.47950772e-03 9.95064690e-01 1.43932955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57710568099998 meters Centerline goodness [0,1] 0.9999788873640874 Centerline is valid? [True, True] Translation: X:133.87, Y:37.20, Z:14.40 [[ 7.59595877e-01 -6.45791594e-01 -7.72484346e-02 1.33869207e+02] [ 6.42913986e-01 7.63506434e-01 -6.09879588e-02 3.71990144e+01] [ 9.83651880e-02 -3.33789700e-03 9.95144788e-01 1.43972804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:37.23, Z:14.40 [[ 7.64075321e-01 -6.40581966e-01 -7.64437666e-02 1.33882111e+02] [ 6.37734350e-01 7.67885370e-01 -6.03900454e-02 3.72267359e+01] [ 9.73848240e-02 -2.60827248e-03 9.95243384e-01 1.44016382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:37.25, Z:14.41 [[ 7.67028659e-01 -6.37159930e-01 -7.54603224e-02 1.33897769e+02] [ 6.34365485e-01 7.70728703e-01 -5.96464390e-02 3.72534101e+01] [ 9.61637573e-02 -2.11889589e-03 9.95363271e-01 1.44073954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:37.28, Z:14.41 [[ 7.73761110e-01 -6.29122603e-01 -7.41518387e-02 1.33907711e+02] [ 6.26385483e-01 7.77305334e-01 -5.86314290e-02 3.72849304e+01] [ 9.45249770e-02 -1.08091572e-03 9.95521904e-01 1.44137790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.92, Y:37.31, Z:14.42 [[ 7.76554293e-01 -6.25818667e-01 -7.29001120e-02 1.33922008e+02] [ 6.23155374e-01 7.79968326e-01 -5.76783281e-02 3.73107886e+01] [ 9.29559527e-02 -6.37743216e-04 9.95670018e-01 1.44178273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:37.35, Z:14.42 [[ 7.80289066e-01 -6.21331088e-01 -7.13908515e-02 1.33930777e+02] [ 6.18757160e-01 7.83548130e-01 -5.64969537e-02 3.73462284e+01] [ 9.10414819e-02 -8.96452558e-05 9.95847097e-01 1.44208767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.94, Y:37.38, Z:14.42 [[ 7.82278799e-01 -6.18859538e-01 -7.10827117e-02 1.33942502e+02] [ 6.16294290e-01 7.85501636e-01 -5.62896786e-02 3.73770070e+01] [ 9.06709909e-02 2.26352829e-04 9.95880876e-01 1.44230724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78710568099999 meters Centerline goodness [0,1] 0.9999371806683977 Centerline is valid? [True, True] Translation: X:133.96, Y:37.40, Z:14.43 [[ 7.82753554e-01 -6.18262536e-01 -7.10514610e-02 1.33960425e+02] [ 6.15693191e-01 7.85971583e-01 -5.63077821e-02 3.73998277e+01] [ 9.06574214e-02 3.29215796e-04 9.95882083e-01 1.44259468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.817105681 meters Centerline goodness [0,1] 0.9997912840207046 Centerline is valid? [True, True] Translation: X:133.97, Y:37.43, Z:14.43 [[ 7.83137537e-01 -6.17617177e-01 -7.24197553e-02 1.33974521e+02] [ 6.14940832e-01 7.86478749e-01 -5.74364921e-02 3.74278537e+01] [ 9.24303626e-02 4.46808361e-04 9.95719051e-01 1.44278936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.847105681 meters Centerline goodness [0,1] 0.9998951759994968 Centerline is valid? [True, True] Translation: X:133.99, Y:37.45, Z:14.43 [[ 7.83630087e-01 -6.16823960e-01 -7.38382648e-02 1.33992499e+02] [ 6.14033776e-01 7.87100920e-01 -5.86059980e-02 3.74523305e+01] [ 9.42677499e-02 5.86234798e-04 9.95546708e-01 1.44281494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877105681 meters Centerline goodness [0,1] 0.9997700668896321 Centerline is valid? [True, True] Translation: X:134.00, Y:37.48, Z:14.42 [[ 7.85570405e-01 -6.14078337e-01 -7.60719085e-02 1.34003249e+02] [ 6.11099607e-01 7.89244477e-01 -6.04187571e-02 3.74835797e+01] [ 9.71411835e-02 9.75674091e-04 9.95270133e-01 1.44242168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.907105681 meters Centerline goodness [0,1] 0.9997274861646822 Centerline is valid? [True, True] Translation: X:134.02, Y:37.51, Z:14.42 [[ 7.87421236e-01 -6.11355676e-01 -7.88164605e-02 1.34016235e+02] [ 6.08141074e-01 7.91354742e-01 -6.26267245e-02 3.75137825e+01] [ 1.00658983e-01 1.38208585e-03 9.94920026e-01 1.44225072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937105681 meters Centerline goodness [0,1] 0.9996843500768081 Centerline is valid? [True, True] Translation: X:134.04, Y:37.54, Z:14.42 [[ 7.87314165e-01 -6.11385476e-01 -7.96505159e-02 1.34035112e+02] [ 6.08098630e-01 7.91331647e-01 -6.33267768e-02 3.75354846e+01] [ 1.01747045e-01 1.42269883e-03 9.94809286e-01 1.44242352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.967105681 meters Centerline goodness [0,1] 0.9996217692792604 Centerline is valid? [True, True] Translation: X:134.05, Y:37.56, Z:14.43 [[ 7.84666291e-01 -6.14898819e-01 -7.87289924e-02 1.34054571e+02] [ 6.11703684e-01 7.88605416e-01 -6.26107060e-02 3.75577845e+01] [ 1.00585359e-01 9.69695744e-04 9.94927960e-01 1.44285637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997105681 meters Centerline goodness [0,1] 0.9996244601614821 Centerline is valid? [True, True] Translation: X:134.07, Y:37.58, Z:14.43 [[ 7.80330929e-01 -6.20556368e-01 -7.74172797e-02 1.34074445e+02] [ 6.17491083e-01 7.84161797e-01 -6.16038881e-02 3.75787926e+01] [ 9.89363581e-02 2.66939340e-04 9.95093727e-01 1.44322882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.027105681 meters Centerline goodness [0,1] 0.9996844032064635 Centerline is valid? [True, True] Translation: X:134.09, Y:37.60, Z:14.43 [[ 7.78158338e-01 -6.23169497e-01 -7.82903587e-02 1.34094772e+02] [ 6.20043424e-01 7.82086809e-01 -6.23407922e-02 3.75991202e+01] [ 1.00078737e-01 -3.24148563e-05 9.94979520e-01 1.44328283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05710568099997 meters Centerline goodness [0,1] 0.9996637737197134 Centerline is valid? [True, True] Translation: X:134.11, Y:37.62, Z:14.43 [[ 7.74115703e-01 -6.27809421e-01 -8.12416703e-02 1.34113964e+02] [ 6.24462738e-01 7.78366849e-01 -6.47405360e-02 3.76216658e+01] [ 1.03880541e-01 -6.15730339e-04 9.94589591e-01 1.44298092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08710568099997 meters Centerline goodness [0,1] 0.9998107653490328 Centerline is valid? [True, True] Translation: X:134.13, Y:37.64, Z:14.43 [[ 7.70468307e-01 -6.32142018e-01 -8.23107333e-02 1.34134853e+02] [ 6.28726684e-01 7.74851644e-01 -6.56329678e-02 3.76405363e+01] [ 1.05267964e-01 -1.18283288e-03 9.94443189e-01 1.44309177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11710568099997 meters Centerline goodness [0,1] 0.9997469795686001 Centerline is valid? [True, True] Translation: X:134.15, Y:37.66, Z:14.43 [[ 7.68848516e-01 -6.34117078e-01 -8.22647611e-02 1.34154488e+02] [ 6.30715158e-01 7.73235706e-01 -6.56119776e-02 3.76598125e+01] [ 1.05215726e-01 -1.43996020e-03 9.94448378e-01 1.44337402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14710568099997 meters Centerline goodness [0,1] 0.9997687423790103 Centerline is valid? [True, True] Translation: X:134.17, Y:37.69, Z:14.44 [[ 7.66374862e-01 -6.37164690e-01 -8.17968686e-02 1.34170362e+02] [ 6.33816690e-01 7.70725503e-01 -6.52579677e-02 3.76864068e+01] [ 1.04623005e-01 -1.83215457e-03 9.94510266e-01 1.44354946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17710568099997 meters Centerline goodness [0,1] 0.9996642393973098 Centerline is valid? [True, True] Translation: X:134.19, Y:37.71, Z:14.44 [[ 7.66076783e-01 -6.37585528e-01 -8.13084049e-02 1.34187263e+02] [ 6.34275371e-01 7.70377369e-01 -6.49111932e-02 3.77095231e+01] [ 1.04024592e-01 -1.84496070e-03 9.94573014e-01 1.44393271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20710568099997 meters Centerline goodness [0,1] 0.9998316250289394 Centerline is valid? [True, True] Translation: X:134.20, Y:37.74, Z:14.44 [[ 7.66053601e-01 -6.37765690e-01 -8.01049562e-02 1.34201807e+02] [ 6.34549099e-01 7.70228322e-01 -6.39982300e-02 3.77364149e+01] [ 1.02514981e-01 -1.80445319e-03 9.94729824e-01 1.44439864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23710568099997 meters Centerline goodness [0,1] 0.9998535197120616 Centerline is valid? [True, True] Translation: X:134.22, Y:37.76, Z:14.45 [[ 7.65782174e-01 -6.38294319e-01 -7.84730813e-02 1.34217858e+02] [ 6.35206283e-01 7.69790301e-01 -6.27365163e-02 3.77613173e+01] [ 1.00452179e-01 -1.80408844e-03 9.94940252e-01 1.44497034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.24, Y:37.78, Z:14.45 [[ 7.64908847e-01 -6.39573130e-01 -7.65550024e-02 1.34236507e+02] [ 6.36636851e-01 7.68727933e-01 -6.12444684e-02 3.77829738e+01] [ 9.80202851e-02 -1.89130003e-03 9.95182620e-01 1.44540296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29710568099998 meters Centerline goodness [0,1] 0.999916072177927 Centerline is valid? [True, True] Translation: X:134.25, Y:37.81, Z:14.46 [[ 7.63910798e-01 -6.41083668e-01 -7.38378149e-02 1.34251506e+02] [ 6.38355543e-01 7.67468449e-01 -5.91132882e-02 3.78080413e+01] [ 9.45647569e-02 -1.97749932e-03 9.95516748e-01 1.44602364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32710568099998 meters Centerline goodness [0,1] 0.9998741927367273 Centerline is valid? [True, True] Translation: X:134.27, Y:37.83, Z:14.46 [[ 7.63151018e-01 -6.42026657e-01 -7.35003092e-02 1.34270489e+02] [ 6.39326352e-01 7.66679513e-01 -5.88586447e-02 3.78305150e+01] [ 9.41400001e-02 -2.07264997e-03 9.95556811e-01 1.44628614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35710568099998 meters Centerline goodness [0,1] 0.9998542668582017 Centerline is valid? [True, True] Translation: X:134.29, Y:37.85, Z:14.46 [[ 7.60495299e-01 -6.45088661e-01 -7.42126571e-02 1.34288966e+02] [ 6.42346312e-01 7.64103818e-01 -5.94690722e-02 3.78521363e+01] [ 9.50689988e-02 -2.44427674e-03 9.95467685e-01 1.44639443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.31, Y:37.87, Z:14.47 [[ 7.56415018e-01 -6.50044658e-01 -7.26516530e-02 1.34307369e+02] [ 6.47437944e-01 7.59890129e-01 -5.82331634e-02 3.78738463e+01] [ 9.30614308e-02 -2.98899745e-03 9.95655882e-01 1.44684263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.33, Y:37.90, Z:14.47 [[ 7.53959574e-01 -6.52886136e-01 -7.26956279e-02 1.34326937e+02] [ 6.50285965e-01 7.57448819e-01 -5.83047978e-02 3.78952795e+01] [ 9.31296117e-02 -3.31348610e-03 9.95648480e-01 1.44697850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44710568099998 meters Centerline goodness [0,1] 0.999978998655914 Centerline is valid? [True, True] Translation: X:134.35, Y:37.92, Z:14.47 [[ 7.48892349e-01 -6.58427037e-01 -7.50605480e-02 1.34346063e+02] [ 6.55678017e-01 7.52633397e-01 -6.02437282e-02 3.79177652e+01] [ 9.61591747e-02 -4.09948420e-03 9.95357527e-01 1.44666862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47710568099998 meters Centerline goodness [0,1] 0.9999584760718364 Centerline is valid? [True, True] Translation: X:134.37, Y:37.94, Z:14.47 [[ 7.44520360e-01 -6.63228833e-01 -7.62689261e-02 1.34365094e+02] [ 6.60411233e-01 7.48401514e-01 -6.12550188e-02 3.79382229e+01] [ 9.77058744e-02 -4.76324686e-03 9.95203936e-01 1.44663354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50710568099998 meters Centerline goodness [0,1] 0.999937106918239 Centerline is valid? [True, True] Translation: X:134.38, Y:37.96, Z:14.47 [[ 7.43897090e-01 -6.63969657e-01 -7.59039768e-02 1.34382102e+02] [ 6.61180259e-01 7.47744000e-01 -6.09883259e-02 3.79623194e+01] [ 9.72511411e-02 -4.81717292e-03 9.95248215e-01 1.44689306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53710568099999 meters Centerline goodness [0,1] 0.9999161548619699 Centerline is valid? [True, True] Translation: X:134.40, Y:37.99, Z:14.47 [[ 7.43569541e-01 -6.64477034e-01 -7.46633097e-02 1.34396044e+02] [ 6.61777122e-01 7.47293435e-01 -6.00296818e-02 3.79885587e+01] [ 9.56837461e-02 -4.77422730e-03 9.95400335e-01 1.44722933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.567105681 meters Centerline goodness [0,1] 0.9999370712982191 Centerline is valid? [True, True] Translation: X:134.41, Y:38.01, Z:14.48 [[ 7.44341197e-01 -6.63730150e-01 -7.36102580e-02 1.34412244e+02] [ 6.61100348e-01 7.47958000e-01 -5.92043947e-02 3.80140662e+01] [ 9.43531232e-02 -4.59549716e-03 9.95528186e-01 1.44755511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597105681 meters Centerline goodness [0,1] 0.9998952353015128 Centerline is valid? [True, True] Translation: X:134.42, Y:38.05, Z:14.48 [[ 7.48902213e-01 -6.58473348e-01 -7.45541830e-02 1.34422263e+02] [ 6.55745772e-01 7.52593665e-01 -6.00021410e-02 3.80462701e+01] [ 9.56188165e-02 -3.95285416e-03 9.95410175e-01 1.44754806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.627105681 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:134.43, Y:38.09, Z:14.48 [[ 7.57115795e-01 -6.49108909e-01 -7.37109051e-02 1.34426918e+02] [ 6.46396743e-01 7.60690622e-01 -5.93382422e-02 3.80873722e+01] [ 9.45881759e-02 -2.72056859e-03 9.95512770e-01 1.44765636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:38.11, Z:14.48 [[ 7.61921103e-01 -6.43550215e-01 -7.29338944e-02 1.34441430e+02] [ 6.40866146e-01 7.65401335e-01 -5.87484356e-02 3.81134328e+01] [ 9.36312685e-02 -1.97919097e-03 9.95604976e-01 1.44785915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:38.16, Z:14.48 [[ 7.70504367e-01 -6.33388912e-01 -7.17042948e-02 1.34444656e+02] [ 6.30748515e-01 7.73833305e-01 -5.77782577e-02 3.81554854e+01] [ 9.20832792e-02 -7.08977564e-04 9.95751057e-01 1.44809193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.45, Y:38.19, Z:14.48 [[ 7.76977956e-01 -6.25444833e-01 -7.15822341e-02 1.34452361e+02] [ 6.22776393e-01 7.80268346e-01 -5.77137116e-02 3.81915398e+01] [ 9.19500941e-02 2.62556132e-04 9.95763582e-01 1.44807100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.747105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.47, Y:38.22, Z:14.48 [[ 7.79730291e-01 -6.22066915e-01 -7.10874549e-02 1.34468524e+02] [ 6.19417747e-01 7.82963780e-01 -5.73530659e-02 3.82175006e+01] [ 9.13363472e-02 6.87091663e-04 9.95819863e-01 1.44823983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77710568099997 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:134.48, Y:38.25, Z:14.48 [[ 7.84877933e-01 -6.15499280e-01 -7.16049434e-02 1.34479533e+02] [ 6.12780240e-01 7.88136029e-01 -5.78098376e-02 3.82496341e+01] [ 9.20163491e-02 1.49557141e-03 9.95756373e-01 1.44818717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:38.28, Z:14.48 [[ 7.90115161e-01 -6.08478407e-01 -7.39733805e-02 1.34491226e+02] [ 6.05541315e-01 7.93566724e-01 -5.97626155e-02 3.82807526e+01] [ 9.50670743e-02 2.42541052e-03 9.95467914e-01 1.44805653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:38.30, Z:14.48 [[ 7.92358114e-01 -6.05523246e-01 -7.42308350e-02 1.34509205e+02] [ 6.02551353e-01 7.95822689e-01 -5.99842903e-02 3.83038134e+01] [ 9.53964649e-02 2.80114907e-03 9.95435416e-01 1.44823311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:38.33, Z:14.48 [[ 7.95941804e-01 -6.00805258e-01 -7.42272702e-02 1.34524137e+02] [ 5.97809487e-01 7.99388200e-01 -6.00193486e-02 3.83310104e+01] [ 9.53963441e-02 3.39814221e-03 9.95433569e-01 1.44836179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.54, Y:38.35, Z:14.48 [[ 7.97108865e-01 -5.99179730e-01 -7.48405616e-02 1.34543762e+02] [ 5.96125917e-01 8.00606310e-01 -6.05262555e-02 3.83520946e+01] [ 9.61839312e-02 3.63161634e-03 9.95356952e-01 1.44842898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92710568099997 meters Centerline goodness [0,1] 0.9999157735149817 Centerline is valid? [True, True] Translation: X:134.56, Y:38.38, Z:14.48 [[ 7.99930322e-01 -5.95291158e-01 -7.57622385e-02 1.34561313e+02] [ 5.92140296e-01 8.03499190e-01 -6.13100419e-02 3.83764155e+01] [ 9.73722231e-02 4.18188727e-03 9.95239249e-01 1.44834567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95710568099997 meters Centerline goodness [0,1] 0.9999580501719942 Centerline is valid? [True, True] Translation: X:134.58, Y:38.40, Z:14.49 [[ 8.00642591e-01 -5.94423317e-01 -7.50490670e-02 1.34582653e+02] [ 5.91326807e-01 8.04141040e-01 -6.07436853e-02 3.83959670e+01] [ 9.64574977e-02 4.25545637e-03 9.95328007e-01 1.44862699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98710568099997 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:134.61, Y:38.41, Z:14.49 [[ 7.99931163e-01 -5.95610120e-01 -7.32032738e-02 1.34605635e+02] [ 5.92665760e-01 8.03263503e-01 -5.92877958e-02 3.84129526e+01] [ 9.41139293e-02 4.04108154e-03 9.95553232e-01 1.44899398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:38.42, Z:14.49 [[ 7.94666124e-01 -6.02693686e-01 -7.25677115e-02 1.34635077e+02] [ 5.99825995e-01 7.97966187e-01 -5.88110573e-02 3.84231005e+01] [ 9.33516329e-02 3.20715512e-03 9.95628036e-01 1.44928857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.66, Y:38.44, Z:14.49 [[ 7.91963876e-01 -6.06225033e-01 -7.26940816e-02 1.34660873e+02] [ 6.03358918e-01 7.95288148e-01 -5.89472492e-02 3.84369035e+01] [ 9.35480396e-02 2.82346951e-03 9.95610763e-01 1.44944126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:38.45, Z:14.49 [[ 7.85940757e-01 -6.13661398e-01 -7.56096203e-02 1.34691163e+02] [ 6.10593026e-01 7.89566696e-01 -6.13236456e-02 3.84469257e+01] [ 9.73307922e-02 2.03004561e-03 9.95250017e-01 1.44926561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10710568099998 meters Centerline goodness [0,1] 0.9999790215658303 Centerline is valid? [True, True] Translation: X:134.72, Y:38.46, Z:14.49 [[ 7.80372180e-01 -6.20525037e-01 -7.72524417e-02 1.34718928e+02] [ 6.17353287e-01 7.84185694e-01 -6.26714983e-02 3.84580948e+01] [ 9.94694934e-02 1.21504493e-03 9.95039870e-01 1.44916046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:38.47, Z:14.50 [[ 7.77502624e-01 -6.24257784e-01 -7.61044522e-02 1.34744257e+02] [ 6.21196194e-01 7.81218070e-01 -6.17544757e-02 3.84727911e+01] [ 9.80048855e-02 7.38470901e-04 9.95185660e-01 1.44953289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:38.48, Z:14.50 [[ 7.71391469e-01 -6.32127820e-01 -7.32776895e-02 1.34772134e+02] [ 6.29321484e-01 7.74864098e-01 -5.94987252e-02 3.84828906e+01] [ 9.43910503e-02 -2.18415263e-04 9.95535174e-01 1.45034247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19710568099998 meters Centerline goodness [0,1] 0.9999158797922231 Centerline is valid? [True, True] Translation: X:134.80, Y:38.50, Z:14.51 [[ 7.68221452e-01 -6.36040065e-01 -7.27243886e-02 1.34797015e+02] [ 6.33289724e-01 7.71655751e-01 -5.90891499e-02 3.84971114e+01] [ 9.37012594e-02 -6.62055436e-04 9.95600138e-01 1.45076781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.82, Y:38.51, Z:14.51 [[ 7.62862568e-01 -6.42632216e-01 -7.11655689e-02 1.34823902e+02] [ 6.40023729e-01 7.66173513e-01 -5.78599551e-02 3.85080991e+01] [ 9.17078450e-02 -1.40845890e-03 9.95784960e-01 1.45127621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25710568099998 meters Centerline goodness [0,1] 0.9999158709460312 Centerline is valid? [True, True] Translation: X:134.85, Y:38.53, Z:14.52 [[ 7.60252175e-01 -6.45939001e-01 -6.91334695e-02 1.34845240e+02] [ 6.43489484e-01 7.63387044e-01 -5.62272613e-02 3.85264616e+01] [ 8.90949760e-02 -1.73976287e-03 9.96021615e-01 1.45191808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28710568099999 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:134.87, Y:38.55, Z:14.52 [[ 7.59423017e-01 -6.46790365e-01 -7.02773399e-02 1.34866149e+02] [ 6.44259103e-01 7.62665611e-01 -5.71959281e-02 3.85454572e+01] [ 9.05918856e-02 -1.84091163e-03 9.95886400e-01 1.45180885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.89, Y:38.57, Z:14.52 [[ 7.58843820e-01 -6.47363720e-01 -7.12479581e-02 1.34886326e+02] [ 6.44763092e-01 7.62178791e-01 -5.80003932e-02 3.85670182e+01] [ 9.18510328e-02 -1.92481391e-03 9.95770899e-01 1.45187861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.91, Y:38.58, Z:14.52 [[ 7.58610484e-01 -6.47639163e-01 -7.12295459e-02 1.34907396e+02] [ 6.45037625e-01 7.61944745e-01 -5.80229964e-02 3.85845006e+01] [ 9.18509430e-02 -1.92888378e-03 9.95770899e-01 1.45212335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377105681 meters Centerline goodness [0,1] 0.9999368301362364 Centerline is valid? [True, True] Translation: X:134.93, Y:38.61, Z:14.52 [[ 7.58172822e-01 -6.48109309e-01 -7.16121175e-02 1.34925115e+02] [ 6.45477759e-01 7.61544791e-01 -5.83780215e-02 3.86074714e+01] [ 9.23711742e-02 -1.96339985e-03 9.95722708e-01 1.45225892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.407105681 meters Centerline goodness [0,1] 0.9999789287369885 Centerline is valid? [True, True] Translation: X:134.95, Y:38.63, Z:14.53 [[ 7.57562227e-01 -6.48809317e-01 -7.17352259e-02 1.34945378e+02] [ 6.46167728e-01 7.60948353e-01 -5.85224034e-02 3.86277804e+01] [ 9.25566826e-02 -2.01862564e-03 9.95705371e-01 1.45253892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437105681 meters Centerline goodness [0,1] 0.9998736283409507 Centerline is valid? [True, True] Translation: X:134.96, Y:38.65, Z:14.53 [[ 7.56986915e-01 -6.49589598e-01 -7.07401198e-02 1.34961775e+02] [ 6.47020860e-01 7.60282269e-01 -5.77483955e-02 3.86528788e+01] [ 9.12952158e-02 -2.05555341e-03 9.95821750e-01 1.45313025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.467105681 meters Centerline goodness [0,1] 0.9987564024197458 Centerline is valid? [True, True] Translation: X:134.97, Y:38.69, Z:14.54 [[ 7.58799303e-01 -6.47716973e-01 -6.84568494e-02 1.34971425e+02] [ 6.45300908e-01 7.61879048e-01 -5.59200691e-02 3.86850935e+01] [ 8.83762171e-02 -1.74315759e-03 9.96085642e-01 1.45397543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497105681 meters Centerline goodness [0,1] 0.9982728479053015 Centerline is valid? [True, True] Translation: X:134.99, Y:38.71, Z:14.54 [[ 7.60593996e-01 -6.45731281e-01 -6.72895663e-02 1.34987138e+02] [ 6.43386106e-01 7.63563348e-01 -5.50030211e-02 3.87103427e+01] [ 8.68970178e-02 -1.45820434e-03 9.96216233e-01 1.45444058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52710568099997 meters Centerline goodness [0,1] 0.9978136102760317 Centerline is valid? [True, True] Translation: X:135.00, Y:38.74, Z:14.55 [[ 7.63584243e-01 -6.42191760e-01 -6.72967107e-02 1.34998014e+02] [ 6.39829102e-01 7.66543339e-01 -5.50457070e-02 3.87419319e+01] [ 8.69357447e-02 -1.02635945e-03 9.96213392e-01 1.45462360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55710568099997 meters Centerline goodness [0,1] 0.9978815336857119 Centerline is valid? [True, True] Translation: X:135.01, Y:38.77, Z:14.55 [[ 7.65510259e-01 -6.39935357e-01 -6.69087601e-02 1.35013767e+02] [ 6.37588058e-01 7.68428394e-01 -5.47656084e-02 3.87671792e+01] [ 8.64610402e-02 -7.36591402e-04 9.96254960e-01 1.45481208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58710568099997 meters Centerline goodness [0,1] 0.9977908689248896 Centerline is valid? [True, True] Translation: X:135.02, Y:38.80, Z:14.55 [[ 7.72248851e-01 -6.32029879e-01 -6.45751054e-02 1.35022750e+02] [ 6.29815034e-01 7.74944003e-01 -5.28660058e-02 3.88020200e+01] [ 8.34549860e-02 1.55340037e-04 9.96511536e-01 1.45519635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61710568099997 meters Centerline goodness [0,1] 0.9981255265374894 Centerline is valid? [True, True] Translation: X:135.03, Y:38.84, Z:14.55 [[ 7.79352518e-01 -6.23091132e-01 -6.60839873e-02 1.35031386e+02] [ 6.20735883e-01 7.82148367e-01 -5.41377353e-02 3.88368818e+01] [ 8.54202256e-02 1.17167813e-03 9.96344324e-01 1.45518901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64710568099997 meters Centerline goodness [0,1] 0.9978936725924678 Centerline is valid? [True, True] Translation: X:135.05, Y:38.86, Z:14.55 [[ 7.82176212e-01 -6.19303069e-01 -6.82940831e-02 1.35046302e+02] [ 6.16769419e-01 7.85150252e-01 -5.59871853e-02 3.88643649e+01] [ 8.82941523e-02 1.67014252e-03 9.96093044e-01 1.45510850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67710568099997 meters Centerline goodness [0,1] 0.9978473049511987 Centerline is valid? [True, True] Translation: X:135.06, Y:38.90, Z:14.54 [[ 7.85817511e-01 -6.14106638e-01 -7.32384935e-02 1.35056462e+02] [ 6.11165389e-01 7.89219248e-01 -6.00819901e-02 3.88975167e+01] [ 9.46979777e-02 2.45264751e-03 9.95503027e-01 1.45441173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70710568099997 meters Centerline goodness [0,1] 0.9980376848901736 Centerline is valid? [True, True] Translation: X:135.07, Y:38.92, Z:14.54 [[ 7.86745620e-01 -6.12424180e-01 -7.72525333e-02 1.35074912e+02] [ 6.09141119e-01 7.90524320e-01 -6.33908218e-02 3.89215965e+01] [ 9.98920784e-02 2.81475679e-03 9.94994296e-01 1.45382215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73710568099997 meters Centerline goodness [0,1] 0.9976102131941388 Centerline is valid? [True, True] Translation: X:135.09, Y:38.94, Z:14.54 [[ 7.86599343e-01 -6.12574285e-01 -7.75513905e-02 1.35094221e+02] [ 6.09262098e-01 7.90407917e-01 -6.36790426e-02 3.89416077e+01] [ 1.00305377e-01 2.84077013e-03 9.94952643e-01 1.45394869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76710568099998 meters Centerline goodness [0,1] 0.9978535353535354 Centerline is valid? [True, True] Translation: X:135.12, Y:38.96, Z:14.54 [[ 7.86218336e-01 -6.13211292e-01 -7.63717193e-02 1.35115683e+02] [ 6.09997804e-01 7.89914128e-01 -6.27562698e-02 3.89610481e+01] [ 9.88099533e-02 2.75354895e-03 9.95102513e-01 1.45445209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79710568099998 meters Centerline goodness [0,1] 0.9978677588245228 Centerline is valid? [True, True] Translation: X:135.14, Y:38.98, Z:14.55 [[ 7.83538517e-01 -6.16894635e-01 -7.42186047e-02 1.35139226e+02] [ 6.13873068e-01 7.87042521e-01 -6.10239937e-02 3.89778250e+01] [ 9.60585721e-02 2.25384702e-03 9.95373131e-01 1.45509752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82710568099998 meters Centerline goodness [0,1] 0.9979428187581343 Centerline is valid? [True, True] Translation: X:135.16, Y:38.99, Z:14.55 [[ 7.78927793e-01 -6.22570880e-01 -7.53458247e-02 1.35163067e+02] [ 6.19479186e-01 7.82561760e-01 -6.19889456e-02 3.89922703e+01] [ 9.75552736e-02 1.60974237e-03 9.95228807e-01 1.45517723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85710568099998 meters Centerline goodness [0,1] 0.9977215670555474 Centerline is valid? [True, True] Translation: X:135.19, Y:39.01, Z:14.55 [[ 7.76147567e-01 -6.26050395e-01 -7.52054280e-02 1.35187464e+02] [ 6.22984801e-01 7.79781700e-01 -6.18905314e-02 3.90083161e+01] [ 9.73904082e-02 1.18434676e-03 9.95245550e-01 1.45539540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88710568099998 meters Centerline goodness [0,1] 0.9974018841620549 Centerline is valid? [True, True] Translation: X:135.21, Y:39.02, Z:14.56 [[ 7.71605018e-01 -6.31786098e-01 -7.39731200e-02 1.35213863e+02] [ 6.28842814e-01 7.75142627e-01 -6.09148880e-02 3.90215405e+01] [ 9.58248979e-02 4.84768371e-04 9.95398088e-01 1.45578286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91710568099998 meters Centerline goodness [0,1] 0.9975253234905522 Centerline is valid? [True, True] Translation: X:135.24, Y:39.04, Z:14.56 [[ 7.70245921e-01 -6.33552239e-01 -7.30258965e-02 1.35237450e+02] [ 6.30688289e-01 7.73699862e-01 -6.01731307e-02 3.90375522e+01] [ 9.46229477e-02 2.91530702e-04 9.95513140e-01 1.45616461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94710568099998 meters Centerline goodness [0,1] 0.9977415678162861 Centerline is valid? [True, True] Translation: X:135.26, Y:39.06, Z:14.57 [[ 7.68517780e-01 -6.35818911e-01 -7.15173678e-02 1.35259272e+02] [ 6.33078515e-01 7.71838267e-01 -5.89685015e-02 3.90561314e+01] [ 9.26931297e-02 4.22329201e-05 9.95694723e-01 1.45677774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97710568099998 meters Centerline goodness [0,1] 0.9976377288450181 Centerline is valid? [True, True] Translation: X:135.28, Y:39.08, Z:14.57 [[ 7.66231576e-01 -6.38744156e-01 -6.99648089e-02 1.35278891e+02] [ 6.36130355e-01 7.69419149e-01 -5.77264641e-02 3.90753698e+01] [ 9.07047054e-02 -2.74899118e-04 9.95877794e-01 1.45724985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00710568099998 meters Centerline goodness [0,1] 0.9969063703516636 Centerline is valid? [True, True] Translation: X:135.30, Y:39.09, Z:14.58 [[ 7.65012240e-01 -6.40251404e-01 -6.95299445e-02 1.35300071e+02] [ 6.37672259e-01 7.68165325e-01 -5.74118720e-02 3.90919877e+01] [ 9.01685240e-02 -4.16532016e-04 9.95926435e-01 1.45751224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03710568099999 meters Centerline goodness [0,1] 0.9970069280197584 Centerline is valid? [True, True] Translation: X:135.32, Y:39.11, Z:14.58 [[ 7.62714479e-01 -6.42893727e-01 -7.03866432e-02 1.35321356e+02] [ 6.40258909e-01 7.65955055e-01 -5.81496710e-02 3.91097860e+01] [ 9.12970638e-02 -7.14079334e-04 9.95823446e-01 1.45765635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.067105681 meters Centerline goodness [0,1] 0.9967962229154371 Centerline is valid? [True, True] Translation: X:135.34, Y:39.13, Z:14.58 [[ 7.61361916e-01 -6.44444088e-01 -7.08509019e-02 1.35342473e+02] [ 6.41779667e-01 7.64650912e-01 -5.85477750e-02 3.91288837e+01] [ 9.19069742e-02 -8.94622042e-04 9.95767196e-01 1.45781553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097105681 meters Centerline goodness [0,1] 0.9973767601939099 Centerline is valid? [True, True] Translation: X:135.36, Y:39.15, Z:14.58 [[ 7.63024558e-01 -6.42541742e-01 -7.02398280e-02 1.35359964e+02] [ 6.39911723e-01 7.66250424e-01 -5.80798998e-02 3.91525790e+01] [ 9.11400579e-02 -6.30899454e-04 9.95837884e-01 1.45817461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.127105681 meters Centerline goodness [0,1] 0.9971901277024051 Centerline is valid? [True, True] Translation: X:135.38, Y:39.18, Z:14.59 [[ 7.65418228e-01 -6.39778293e-01 -6.94166592e-02 1.35377840e+02] [ 6.37194845e-01 7.68559474e-01 -5.74374879e-02 3.91751706e+01] [ 9.00980889e-02 -2.68237174e-04 9.95932860e-01 1.45861651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157105681 meters Centerline goodness [0,1] 0.9971540972629112 Centerline is valid? [True, True] Translation: X:135.39, Y:39.21, Z:14.59 [[ 7.71641575e-01 -6.32333450e-01 -6.87290873e-02 1.35389087e+02] [ 6.29767888e-01 7.74696078e-01 -5.69068911e-02 3.92050393e+01] [ 8.92282851e-02 6.28350934e-04 9.96011003e-01 1.45917485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.187105681 meters Centerline goodness [0,1] 0.9973290148902162 Centerline is valid? [True, True] Translation: X:135.40, Y:39.23, Z:14.60 [[ 7.78097239e-01 -6.24550036e-01 -6.70964956e-02 1.35402356e+02] [ 6.22074882e-01 7.80983359e-01 -5.55682753e-02 3.92344140e+01] [ 8.71064148e-02 1.49847697e-03 9.96197885e-01 1.45965226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217105681 meters Centerline goodness [0,1] 0.9977956458757584 Centerline is valid? [True, True] Translation: X:135.42, Y:39.26, Z:14.60 [[ 7.80885106e-01 -6.21155751e-01 -6.62116595e-02 1.35421331e+02] [ 6.18732779e-01 7.83684937e-01 -5.48422105e-02 3.92559700e+01] [ 8.59546347e-02 1.85814134e-03 9.96297319e-01 1.45995211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.247105681 meters Centerline goodness [0,1] 0.9982991054554617 Centerline is valid? [True, True] Translation: X:135.44, Y:39.28, Z:14.60 [[ 7.86085266e-01 -6.14367210e-01 -6.79917996e-02 1.35438907e+02] [ 6.11782840e-01 7.89015596e-01 -5.63572954e-02 3.92808551e+01] [ 8.82706647e-02 2.70542331e-03 9.96092852e-01 1.45957895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27710568099997 meters Centerline goodness [0,1] 0.9982505322176085 Centerline is valid? [True, True] Translation: X:135.46, Y:39.30, Z:14.59 [[ 7.88962605e-01 -6.10131772e-01 -7.26445347e-02 1.35458550e+02] [ 6.07161951e-01 7.92292634e-01 -6.02224778e-02 3.93036859e+01] [ 9.42993769e-02 3.40628553e-03 9.95538058e-01 1.45902374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30710568099997 meters Centerline goodness [0,1] 0.9983163565956731 Centerline is valid? [True, True] Translation: X:135.48, Y:39.32, Z:14.59 [[ 7.89671635e-01 -6.09107317e-01 -7.35322093e-02 1.35478277e+02] [ 6.06058962e-01 7.93079733e-01 -6.09677925e-02 3.93232374e+01] [ 9.54528334e-02 3.57968188e-03 9.95427517e-01 1.45911660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33710568099997 meters Centerline goodness [0,1] 0.9984422692348174 Centerline is valid? [True, True] Translation: X:135.50, Y:39.34, Z:14.60 [[ 7.90472176e-01 -6.08283732e-01 -7.17261526e-02 1.35499352e+02] [ 6.05378813e-01 7.93711496e-01 -5.94857384e-02 3.93417173e+01] [ 9.31140788e-02 3.60032789e-03 9.95648937e-01 1.45970143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36710568099997 meters Centerline goodness [0,1] 0.9982556062293773 Centerline is valid? [True, True] Translation: X:135.52, Y:39.36, Z:14.60 [[ 7.89865594e-01 -6.09034291e-01 -7.20387112e-02 1.35519478e+02] [ 6.06103131e-01 7.93135900e-01 -5.97866099e-02 3.93612972e+01] [ 9.35485836e-02 3.56049768e-03 9.95608349e-01 1.45991553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39710568099997 meters Centerline goodness [0,1] 0.9981498612395929 Centerline is valid? [True, True] Translation: X:135.54, Y:39.38, Z:14.59 [[ 7.86683572e-01 -6.12612203e-01 -7.63887847e-02 1.35544951e+02] [ 6.09330465e-01 7.90376576e-01 -6.34133462e-02 3.93760472e+01] [ 9.92236958e-02 3.34022403e-03 9.95059547e-01 1.45927883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42710568099997 meters Centerline goodness [0,1] 0.9984186556464536 Centerline is valid? [True, True] Translation: X:135.57, Y:39.39, Z:14.59 [[ 7.84151592e-01 -6.15651047e-01 -7.79747974e-02 1.35571552e+02] [ 6.12244496e-01 7.88013071e-01 -6.47462584e-02 3.93898878e+01] [ 1.01306261e-01 3.03124110e-03 9.94850669e-01 1.45926205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45710568099997 meters Centerline goodness [0,1] 0.9986518084725411 Centerline is valid? [True, True] Translation: X:135.60, Y:39.40, Z:14.60 [[ 7.79279241e-01 -6.21954156e-01 -7.67912249e-02 1.35600654e+02] [ 6.18677121e-01 7.83050540e-01 -6.38002527e-02 3.94003498e+01] [ 9.98122424e-02 2.20923860e-03 9.95003837e-01 1.45973062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48710568099997 meters Centerline goodness [0,1] 0.9989256146116413 Centerline is valid? [True, True] Translation: X:135.62, Y:39.42, Z:14.60 [[ 7.76818897e-01 -6.25233704e-01 -7.50680795e-02 1.35624229e+02] [ 6.22116551e-01 7.80435602e-01 -6.23800313e-02 3.94163866e+01] [ 9.75878999e-02 1.75689246e-03 9.95225359e-01 1.46039817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51710568099998 meters Centerline goodness [0,1] 0.9988639471525046 Centerline is valid? [True, True] Translation: X:135.65, Y:39.43, Z:14.61 [[ 7.71474603e-01 -6.32122371e-01 -7.24447749e-02 1.35649300e+02] [ 6.29246105e-01 7.74868066e-01 -6.02396818e-02 3.94307448e+01] [ 9.42139931e-02 8.87792163e-04 9.95551573e-01 1.46122412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54710568099998 meters Centerline goodness [0,1] 0.9987594878156473 Centerline is valid? [True, True] Translation: X:135.67, Y:39.44, Z:14.62 [[ 7.68024472e-01 -6.36402800e-01 -7.16232278e-02 1.35673303e+02] [ 6.33606662e-01 7.71356809e-01 -5.95925504e-02 3.94443606e+01] [ 9.31719303e-02 3.87582737e-04 9.95649959e-01 1.46159455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57710568099998 meters Centerline goodness [0,1] 0.9990933625706334 Centerline is valid? [True, True] Translation: X:135.70, Y:39.46, Z:14.62 [[ 7.66180592e-01 -6.38584385e-01 -7.19533430e-02 1.35696838e+02] [ 6.35770441e-01 7.69551795e-01 -5.98830654e-02 3.94599477e+01] [ 9.36122148e-02 1.35433902e-04 9.95608726e-01 1.46172683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60710568099998 meters Centerline goodness [0,1] 0.9992013451029844 Centerline is valid? [True, True] Translation: X:135.72, Y:39.48, Z:14.62 [[ 7.64465870e-01 -6.40482826e-01 -7.33054171e-02 1.35720451e+02] [ 6.37566175e-01 7.67972490e-01 -6.10542882e-02 3.94751497e+01] [ 9.54007668e-02 -6.31348643e-05 9.95438943e-01 1.46153686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63710568099998 meters Centerline goodness [0,1] 0.9989877475273624 Centerline is valid? [True, True] Translation: X:135.74, Y:39.49, Z:14.62 [[ 7.64511046e-01 -6.40387740e-01 -7.36641222e-02 1.35740960e+02] [ 6.37439678e-01 7.68051783e-01 -6.13768338e-02 3.94942657e+01] [ 9.58828323e-02 -3.31669469e-05 9.95392627e-01 1.46166181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66710568099998 meters Centerline goodness [0,1] 0.9988842575049471 Centerline is valid? [True, True] Translation: X:135.76, Y:39.52, Z:14.62 [[ 7.66627313e-01 -6.37965611e-01 -7.26804160e-02 1.35757829e+02] [ 6.35080838e-01 7.70064795e-01 -6.06014859e-02 3.95165507e+01] [ 9.46302936e-02 3.00814779e-04 9.95512439e-01 1.46215299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69710568099998 meters Centerline goodness [0,1] 0.9991368421052632 Centerline is valid? [True, True] Translation: X:135.78, Y:39.54, Z:14.63 [[ 7.68545255e-01 -6.35987545e-01 -6.96995989e-02 1.35775539e+02] [ 6.33323129e-01 7.71699122e-01 -5.81573588e-02 3.95386464e+01] [ 9.07744752e-02 5.54194040e-04 9.95871321e-01 1.46296712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72710568099998 meters Centerline goodness [0,1] 0.9986531986531987 Centerline is valid? [True, True] Translation: X:135.79, Y:39.56, Z:14.63 [[ 7.69724856e-01 -6.34579472e-01 -6.95164694e-02 1.35794134e+02] [ 6.31919437e-01 7.72857250e-01 -5.80473621e-02 3.95601646e+01] [ 9.05619718e-02 7.51689287e-04 9.95890538e-01 1.46324239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75710568099998 meters Centerline goodness [0,1] 0.9986534253492678 Centerline is valid? [True, True] Translation: X:135.81, Y:39.59, Z:14.63 [[ 7.72786808e-01 -6.30575658e-01 -7.19366971e-02 1.35810970e+02] [ 6.27707270e-01 7.76126727e-01 -6.00906607e-02 3.95856142e+01] [ 9.37237011e-02 1.28208210e-03 9.95597421e-01 1.46315957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78710568099999 meters Centerline goodness [0,1] 0.9988457987072945 Centerline is valid? [True, True] Translation: X:135.83, Y:39.61, Z:14.63 [[ 7.74955780e-01 -6.27803543e-01 -7.28440131e-02 1.35828184e+02] [ 6.24846193e-01 7.78370044e-01 -6.08876742e-02 3.96085066e+01] [ 9.49250953e-02 1.66895072e-03 9.95483019e-01 1.46322349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.817105681 meters Centerline goodness [0,1] 0.9985271219963809 Centerline is valid? [True, True] Translation: X:135.84, Y:39.64, Z:14.63 [[ 7.79645960e-01 -6.22003159e-01 -7.25551258e-02 1.35841537e+02] [ 6.19042775e-01 7.83011119e-01 -6.06599579e-02 3.96371672e+01] [ 9.45421557e-02 2.37856472e-03 9.95518018e-01 1.46334227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.847105681 meters Centerline goodness [0,1] 0.9989727894008636 Centerline is valid? [True, True] Translation: X:135.86, Y:39.66, Z:14.63 [[ 7.81631056e-01 -6.19280296e-01 -7.44634671e-02 1.35859028e+02] [ 6.16148377e-01 7.85165040e-01 -6.22658571e-02 3.96629586e+01] [ 9.70261295e-02 2.78838321e-03 9.95277929e-01 1.46330064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877105681 meters Centerline goodness [0,1] 0.9986936917955417 Centerline is valid? [True, True] Translation: X:135.88, Y:39.68, Z:14.63 [[ 7.81850812e-01 -6.18890710e-01 -7.53896263e-02 1.35878597e+02] [ 6.15675584e-01 7.85471775e-01 -6.30687468e-02 3.96836555e+01] [ 9.82490851e-02 2.89479874e-03 9.95157645e-01 1.46330046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.907105681 meters Centerline goodness [0,1] 0.9986528017513577 Centerline is valid? [True, True] Translation: X:135.90, Y:39.70, Z:14.64 [[ 7.81697984e-01 -6.19124043e-01 -7.50578501e-02 1.35899429e+02] [ 6.15936611e-01 7.85287975e-01 -6.28083470e-02 3.97015584e+01] [ 9.78281849e-02 2.86628048e-03 9.95199191e-01 1.46372595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937105681 meters Centerline goodness [0,1] 0.9987370282274192 Centerline is valid? [True, True] Translation: X:135.92, Y:39.72, Z:14.64 [[ 7.81394779e-01 -6.19586617e-01 -7.43950508e-02 1.35919490e+02] [ 6.16452820e-01 7.84923224e-01 -6.23013150e-02 3.97203691e+01] [ 9.69954640e-02 2.82088343e-03 9.95280826e-01 1.46415927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.967105681 meters Centerline goodness [0,1] 0.9985907494268347 Centerline is valid? [True, True] Translation: X:135.94, Y:39.74, Z:14.65 [[ 7.82015667e-01 -6.18954602e-01 -7.31211139e-02 1.35938705e+02] [ 6.15920312e-01 7.85421463e-01 -6.12804582e-02 3.97410161e+01] [ 9.53607139e-02 2.88549911e-03 9.95438601e-01 1.46464550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997105681 meters Centerline goodness [0,1] 0.9986329028730072 Centerline is valid? [True, True] Translation: X:135.96, Y:39.76, Z:14.65 [[ 7.82681984e-01 -6.18088506e-01 -7.33178716e-02 1.35957717e+02] [ 6.15030152e-01 7.86102672e-01 -6.14857858e-02 3.97606906e+01] [ 9.56390323e-02 3.03111514e-03 9.95411467e-01 1.46480203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02710568099997 meters Centerline goodness [0,1] 0.9987389129429568 Centerline is valid? [True, True] Translation: X:135.98, Y:39.78, Z:14.65 [[ 7.84113839e-01 -6.16161503e-01 -7.42326682e-02 1.35976855e+02] [ 6.13015084e-01 7.87612805e-01 -6.22782227e-02 3.97811595e+01] [ 9.68400433e-02 3.32747100e-03 9.95294396e-01 1.46464903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05710568099997 meters Centerline goodness [0,1] 0.9988265124368727 Centerline is valid? [True, True] Translation: X:135.99, Y:39.81, Z:14.65 [[ 7.85055190e-01 -6.14968698e-01 -7.41744544e-02 1.35993194e+02] [ 6.11820459e-01 7.88543825e-01 -6.22443753e-02 3.98054264e+01] [ 9.67681504e-02 3.48382113e-03 9.95300853e-01 1.46504789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08710568099997 meters Centerline goodness [0,1] 0.9988235788412252 Centerline is valid? [True, True] Translation: X:136.01, Y:39.83, Z:14.65 [[ 7.85246325e-01 -6.14789928e-01 -7.36312058e-02 1.36012582e+02] [ 6.11684801e-01 7.88683150e-01 -6.18109487e-02 3.98266347e+01] [ 9.60724400e-02 3.49773079e-03 9.95368199e-01 1.46544215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11710568099997 meters Centerline goodness [0,1] 0.9985287936107609 Centerline is valid? [True, True] Translation: X:136.04, Y:39.84, Z:14.66 [[ 7.85073567e-01 -6.15156222e-01 -7.24038492e-02 1.36035641e+02] [ 6.12151901e-01 7.88397800e-01 -6.08190796e-02 3.98437617e+01] [ 9.44962706e-02 3.42529783e-03 9.95519323e-01 1.46585604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14710568099997 meters Centerline goodness [0,1] 0.9987245164662834 Centerline is valid? [True, True] Translation: X:136.06, Y:39.86, Z:14.66 [[ 7.85410359e-01 -6.14849071e-01 -7.13525559e-02 1.36055131e+02] [ 6.11926711e-01 7.88637289e-01 -5.99743939e-02 3.98626777e+01] [ 9.31464865e-02 3.44197543e-03 9.95646466e-01 1.46629511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17710568099997 meters Centerline goodness [0,1] 0.9990964678195458 Centerline is valid? [True, True] Translation: X:136.08, Y:39.88, Z:14.66 [[ 7.85475922e-01 -6.14694703e-01 -7.19583063e-02 1.36075478e+02] [ 6.11720262e-01 7.88757349e-01 -6.04992983e-02 3.98832765e+01] [ 9.39462411e-02 3.50238815e-03 9.95571111e-01 1.46647053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20710568099997 meters Centerline goodness [0,1] 0.9990333088158033 Centerline is valid? [True, True] Translation: X:136.10, Y:39.90, Z:14.66 [[ 7.86361079e-01 -6.13352157e-01 -7.37250579e-02 1.36096250e+02] [ 6.10219565e-01 7.89800476e-01 -6.20265345e-02 3.99035965e+01] [ 9.62721946e-02 3.78677987e-03 9.95347841e-01 1.46645351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23710568099997 meters Centerline goodness [0,1] 0.9990333088158033 Centerline is valid? [True, True] Translation: X:136.12, Y:39.92, Z:14.67 [[ 7.86128108e-01 -6.13653239e-01 -7.37041332e-02 1.36116981e+02] [ 6.10519640e-01 7.89566587e-01 -6.20513894e-02 3.99213603e+01] [ 9.62723570e-02 3.78252052e-03 9.95347842e-01 1.46669829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26710568099998 meters Centerline goodness [0,1] 0.9985366669453968 Centerline is valid? [True, True] Translation: X:136.14, Y:39.94, Z:14.67 [[ 7.86511997e-01 -6.13192934e-01 -7.34391185e-02 1.36135818e+02] [ 6.10075516e-01 7.89923743e-01 -6.18736197e-02 3.99418340e+01] [ 9.59517697e-02 3.86093607e-03 9.95378496e-01 1.46691609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29710568099998 meters Centerline goodness [0,1] 0.9987619347392719 Centerline is valid? [True, True] Translation: X:136.16, Y:39.96, Z:14.67 [[ 7.85017978e-01 -6.15200254e-01 -7.26321022e-02 1.36159596e+02] [ 6.12158139e-01 7.88362715e-01 -6.12098224e-02 3.99577903e+01] [ 9.49167396e-02 3.58847847e-03 9.95478747e-01 1.46738006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32710568099998 meters Centerline goodness [0,1] 0.9986988730561793 Centerline is valid? [True, True] Translation: X:136.18, Y:39.98, Z:14.68 [[ 7.82236558e-01 -6.18723807e-01 -7.27105071e-02 1.36181444e+02] [ 6.15686475e-01 7.85602085e-01 -6.13149981e-02 3.99756452e+01] [ 9.50585751e-02 3.19595729e-03 9.95466550e-01 1.46758467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35710568099998 meters Centerline goodness [0,1] 0.9985925848125197 Centerline is valid? [True, True] Translation: X:136.21, Y:39.99, Z:14.68 [[ 7.80794622e-01 -6.20549628e-01 -7.26492758e-02 1.36205030e+02] [ 6.17524159e-01 7.84161511e-01 -6.12750905e-02 3.99920021e+01] [ 9.49930005e-02 2.98057815e-03 9.95473478e-01 1.46784356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38710568099998 meters Centerline goodness [0,1] 0.9988875595575426 Centerline is valid? [True, True] Translation: X:136.22, Y:40.01, Z:14.68 [[ 7.79469283e-01 -6.22139642e-01 -7.32796267e-02 1.36224979e+02] [ 6.19064596e-01 7.82901138e-01 -6.18452434e-02 4.00109596e+01] [ 9.58470807e-02 2.84164494e-03 9.95392014e-01 1.46797152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41710568099998 meters Centerline goodness [0,1] 0.9986801583809943 Centerline is valid? [True, True] Translation: X:136.25, Y:40.03, Z:14.68 [[ 7.81005434e-01 -6.19940327e-01 -7.55281597e-02 1.36246693e+02] [ 6.16661487e-01 7.84642355e-01 -6.37572333e-02 4.00310373e+01] [ 9.87882731e-02 3.21943837e-03 9.95103267e-01 1.46779629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44710568099998 meters Centerline goodness [0,1] 0.9988433957899607 Centerline is valid? [True, True] Translation: X:136.27, Y:40.05, Z:14.68 [[ 7.82122486e-01 -6.18410947e-01 -7.65004397e-02 1.36266977e+02] [ 6.15038649e-01 7.85847248e-01 -6.45876473e-02 4.00511270e+01] [ 1.00059368e-01 3.46472421e-03 9.94975436e-01 1.46786179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47710568099998 meters Centerline goodness [0,1] 0.9987582084526014 Centerline is valid? [True, True] Translation: X:136.29, Y:40.07, Z:14.68 [[ 7.85618132e-01 -6.14107624e-01 -7.53390787e-02 1.36285717e+02] [ 6.10816085e-01 7.89212341e-01 -6.36206854e-02 4.00742420e+01] [ 9.85284786e-02 3.96324291e-03 9.95126340e-01 1.46840127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50710568099998 meters Centerline goodness [0,1] 0.9984108729743858 Centerline is valid? [True, True] Translation: X:136.30, Y:40.10, Z:14.69 [[ 7.87627421e-01 -6.11605899e-01 -7.47078983e-02 1.36303100e+02] [ 6.08357598e-01 7.91151188e-01 -6.30938252e-02 4.00980365e+01] [ 9.76937981e-02 4.24530924e-03 9.95207465e-01 1.46882439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53710568099999 meters Centerline goodness [0,1] 0.9983789814951264 Centerline is valid? [True, True] Translation: X:136.32, Y:40.12, Z:14.69 [[ 7.91414002e-01 -6.06735397e-01 -7.44045384e-02 1.36323889e+02] [ 6.03491142e-01 7.94889162e-01 -6.28463267e-02 4.01196272e+01] [ 9.72744522e-02 4.83498304e-03 9.95245851e-01 1.46930467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.567105681 meters Centerline goodness [0,1] 0.9983156476334849 Centerline is valid? [True, True] Translation: X:136.34, Y:40.14, Z:14.69 [[ 7.94468666e-01 -6.02724976e-01 -7.44455587e-02 1.36344263e+02] [ 5.99458870e-01 7.97931158e-01 -6.28882314e-02 4.01423921e+01] [ 9.73067387e-02 5.33567878e-03 9.95240136e-01 1.46949619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597105681 meters Centerline goodness [0,1] 0.9984415803217926 Centerline is valid? [True, True] Translation: X:136.36, Y:40.16, Z:14.70 [[ 7.95277663e-01 -6.01616833e-01 -7.47704794e-02 1.36363273e+02] [ 5.98316841e-01 7.98765894e-01 -6.31664864e-02 4.01620184e+01] [ 9.77261303e-02 5.49845865e-03 9.95198156e-01 1.46960962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.627105681 meters Centerline goodness [0,1] 0.998337297160777 Centerline is valid? [True, True] Translation: X:136.39, Y:40.18, Z:14.70 [[ 7.95515801e-01 -6.01243416e-01 -7.52393836e-02 1.36386491e+02] [ 5.97897263e-01 7.99046284e-01 -6.35916587e-02 4.01793258e+01] [ 9.83538160e-02 5.60274779e-03 9.95135738e-01 1.46981912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657105681 meters Centerline goodness [0,1] 0.998188443957618 Centerline is valid? [True, True] Translation: X:136.40, Y:40.20, Z:14.70 [[ 7.95834507e-01 -6.00856409e-01 -7.49600768e-02 1.36403848e+02] [ 5.97529304e-01 7.99336917e-01 -6.33973501e-02 4.02008878e+01] [ 9.80110608e-02 5.66295638e-03 9.95169213e-01 1.47015627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.687105681 meters Centerline goodness [0,1] 0.998003110942952 Centerline is valid? [True, True] Translation: X:136.43, Y:40.22, Z:14.71 [[ 7.95313638e-01 -6.01723595e-01 -7.35182434e-02 1.36426421e+02] [ 5.98525594e-01 7.98685721e-01 -6.21951114e-02 4.02176996e+01] [ 9.61422372e-02 5.46207006e-03 9.95352619e-01 1.47058811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717105681 meters Centerline goodness [0,1] 0.9985063008857005 Centerline is valid? [True, True] Translation: X:136.45, Y:40.23, Z:14.71 [[ 7.94196348e-01 -6.03227861e-01 -7.32687348e-02 1.36449440e+02] [ 6.00053857e-01 7.97551315e-01 -6.20263477e-02 4.02345198e+01] [ 9.58515969e-02 5.29591193e-03 9.95381547e-01 1.47091617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.747105681 meters Centerline goodness [0,1] 0.9983796637276151 Centerline is valid? [True, True] Translation: X:136.47, Y:40.25, Z:14.71 [[ 7.91913672e-01 -6.06022021e-01 -7.49002345e-02 1.36474755e+02] [ 6.02713065e-01 7.95431504e-01 -6.34482798e-02 4.02502012e+01] [ 9.80290610e-02 5.10221038e-03 9.95170473e-01 1.47099982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77710568099997 meters Centerline goodness [0,1] 0.9979822182987578 Centerline is valid? [True, True] Translation: X:136.50, Y:40.27, Z:14.71 [[ 7.90516574e-01 -6.07936815e-01 -7.41375474e-02 1.36495923e+02] [ 6.04702707e-01 7.93970773e-01 -6.28096188e-02 4.02681897e+01] [ 9.70473254e-02 4.82086908e-03 9.95268092e-01 1.47123314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80710568099997 meters Centerline goodness [0,1] 0.998085782199878 Centerline is valid? [True, True] Translation: X:136.52, Y:40.29, Z:14.72 [[ 7.90506020e-01 -6.07969084e-01 -7.39852989e-02 1.36518591e+02] [ 6.04746173e-01 7.93946036e-01 -6.27037235e-02 4.02856716e+01] [ 9.68622602e-02 4.82534454e-03 9.95286099e-01 1.47154377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83710568099997 meters Centerline goodness [0,1] 0.9986511549485753 Centerline is valid? [True, True] Translation: X:136.54, Y:40.31, Z:14.72 [[ 7.91168203e-01 -6.06890464e-01 -7.57419204e-02 1.36536882e+02] [ 6.03503204e-01 7.94769059e-01 -6.42341505e-02 4.03071252e+01] [ 9.91804283e-02 5.10952581e-03 9.95056348e-01 1.47167989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86710568099997 meters Centerline goodness [0,1] 0.9982504953416804 Centerline is valid? [True, True] Translation: X:136.56, Y:40.33, Z:14.72 [[ 7.90427263e-01 -6.07793845e-01 -7.62324339e-02 1.36557920e+02] [ 6.04364738e-01 7.94078838e-01 -6.46688620e-02 4.03262227e+01] [ 9.98398989e-02 5.04383658e-03 9.94990731e-01 1.47190428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89710568099997 meters Centerline goodness [0,1] 0.9981681896660631 Centerline is valid? [True, True] Translation: X:136.58, Y:40.35, Z:14.72 [[ 7.86579604e-01 -6.12411667e-01 -7.90220075e-02 1.36578176e+02] [ 6.08744945e-01 7.90525307e-01 -6.70770541e-02 4.03477826e+01] [ 1.03547667e-01 4.65719505e-03 9.94613589e-01 1.47169100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92710568099997 meters Centerline goodness [0,1] 0.9981461975984832 Centerline is valid? [True, True] Translation: X:136.61, Y:40.36, Z:14.72 [[ 7.79587293e-01 -6.21014884e-01 -8.11428748e-02 1.36609438e+02] [ 6.17193309e-01 7.83790410e-01 -6.88840492e-02 4.03578143e+01] [ 1.06377027e-01 3.62029001e-03 9.94319276e-01 1.47155357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95710568099997 meters Centerline goodness [0,1] 0.9979541475966507 Centerline is valid? [True, True] Translation: X:136.63, Y:40.38, Z:14.71 [[ 7.75707074e-01 -6.25865055e-01 -8.10645849e-02 1.36632267e+02] [ 6.22076445e-01 7.79925752e-01 -6.88238265e-02 4.03754407e+01] [ 1.06298785e-01 2.95876035e-03 9.94329832e-01 1.47149716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98710568099997 meters Centerline goodness [0,1] 0.9977086398990961 Centerline is valid? [True, True] Translation: X:136.66, Y:40.39, Z:14.72 [[ 7.66815744e-01 -6.36977149e-01 -7.90805086e-02 1.36659396e+02] [ 6.33429057e-01 7.70881409e-01 -6.71526797e-02 4.03886778e+01] [ 1.03736416e-01 1.40183999e-03 9.94603836e-01 1.47235184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01710568099998 meters Centerline goodness [0,1] 0.9973510490686625 Centerline is valid? [True, True] Translation: X:136.68, Y:40.41, Z:14.73 [[ 7.62321242e-01 -6.42451914e-01 -7.82423322e-02 1.36681072e+02] [ 6.39004016e-01 7.66325701e-01 -6.64739667e-02 4.04059129e+01] [ 1.02665437e-01 6.77352397e-04 9.94715713e-01 1.47294288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04710568099998 meters Centerline goodness [0,1] 0.9964081666946731 Centerline is valid? [True, True] Translation: X:136.71, Y:40.42, Z:14.73 [[ 7.53184922e-01 -6.52893694e-01 -8.02639230e-02 1.36705948e+02] [ 6.49321140e-01 7.57449190e-01 -6.82113090e-02 4.04212943e+01] [ 1.05330577e-01 -7.41332507e-04 9.94436986e-01 1.47313256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07710568099998 meters Centerline goodness [0,1] 0.9967538626926077 Centerline is valid? [True, True] Translation: X:136.73, Y:40.44, Z:14.73 [[ 7.48931482e-01 -6.57466155e-01 -8.27036286e-02 1.36729963e+02] [ 6.53695269e-01 7.53482793e-01 -7.03290537e-02 4.04388022e+01] [ 1.08554734e-01 -1.39132834e-03 9.94089500e-01 1.47298353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10710568099998 meters Centerline goodness [0,1] 0.9962096485501906 Centerline is valid? [True, True] Translation: X:136.75, Y:40.46, Z:14.73 [[ 7.41647051e-01 -6.65403984e-01 -8.48362527e-02 1.36752806e+02] [ 6.61483387e-01 7.46478951e-01 -7.21727413e-02 4.04564286e+01] [ 1.11352507e-01 -2.59107108e-03 9.93777594e-01 1.47284469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13710568099998 meters Centerline goodness [0,1] 0.9961185308848081 Centerline is valid? [True, True] Translation: X:136.77, Y:40.48, Z:14.73 [[ 7.38996302e-01 -6.68391358e-01 -8.44834740e-02 1.36773326e+02] [ 6.64521407e-01 7.43803657e-01 -7.18847614e-02 4.04750650e+01] [ 1.10886270e-01 -3.01850417e-03 9.93828518e-01 1.47315963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16710568099998 meters Centerline goodness [0,1] 0.9945442672677101 Centerline is valid? [True, True] Translation: X:136.79, Y:40.50, Z:14.74 [[ 7.37707447e-01 -6.70050049e-01 -8.25872586e-02 1.36785499e+02] [ 6.66360342e-01 7.42309124e-01 -7.02926597e-02 4.05034046e+01] [ 1.08404876e-01 -3.17745536e-03 9.94101749e-01 1.47404493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19710568099998 meters Centerline goodness [0,1] 0.993836639390816 Centerline is valid? [True, True] Translation: X:136.79, Y:40.54, Z:14.75 [[ 7.39970573e-01 -6.67842702e-01 -8.01852581e-02 1.36793463e+02] [ 6.64347311e-01 7.44297415e-01 -6.82935512e-02 4.05377941e+01] [ 1.05291030e-01 -2.73564235e-03 9.94437688e-01 1.47509215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22710568099998 meters Centerline goodness [0,1] 0.9933284226033884 Centerline is valid? [True, True] Translation: X:136.80, Y:40.57, Z:14.76 [[ 7.44570213e-01 -6.62953094e-01 -7.81562098e-02 1.36800223e+02] [ 6.59602385e-01 7.48658357e-01 -6.65984915e-02 4.05730952e+01] [ 1.02663976e-01 -1.96476936e-03 9.94714154e-01 1.47579808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25710568099998 meters Centerline goodness [0,1] 0.9934860973501697 Centerline is valid? [True, True] Translation: X:136.81, Y:40.60, Z:14.76 [[ 7.46768432e-01 -6.60629581e-01 -7.68470352e-02 1.36813658e+02] [ 6.57377024e-01 7.50710310e-01 -6.54941102e-02 4.06010821e+01] [ 1.00957208e-01 -1.60854132e-03 9.94889469e-01 1.47634436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28710568099999 meters Centerline goodness [0,1] 0.9944547524668972 Centerline is valid? [True, True] Translation: X:136.82, Y:40.64, Z:14.77 [[ 7.49007942e-01 -6.58396428e-01 -7.41703852e-02 1.36820201e+02] [ 6.55352734e-01 7.52670324e-01 -6.32469566e-02 4.06356069e+01] [ 9.74674182e-02 -1.23529193e-03 9.95237950e-01 1.47715760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.317105681 meters Centerline goodness [0,1] 0.9951037291855729 Centerline is valid? [True, True] Translation: X:136.84, Y:40.66, Z:14.77 [[ 7.48756546e-01 -6.58566849e-01 -7.51886909e-02 1.36836405e+02] [ 6.55438086e-01 7.52521169e-01 -6.41311613e-02 4.06605619e+01] [ 9.88157384e-02 -1.26290481e-03 9.95104947e-01 1.47726262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.347105681 meters Centerline goodness [0,1] 0.9958560615670853 Centerline is valid? [True, True] Translation: X:136.85, Y:40.69, Z:14.77 [[ 7.46385058e-01 -6.60916031e-01 -7.80983087e-02 1.36848624e+02] [ 6.57548431e-01 7.50458144e-01 -6.66530968e-02 4.06906171e+01] [ 1.02661612e-01 -1.60454483e-03 9.94715044e-01 1.47720990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377105681 meters Centerline goodness [0,1] 0.9966487793496935 Centerline is valid? [True, True] Translation: X:136.87, Y:40.72, Z:14.77 [[ 7.43324736e-01 -6.64025063e-01 -8.08644088e-02 1.36865286e+02] [ 6.60428088e-01 7.47707432e-01 -6.90531389e-02 4.07156582e+01] [ 1.06315934e-01 -2.07622062e-03 9.94330233e-01 1.47698529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.407105681 meters Centerline goodness [0,1] 0.9970856024506467 Centerline is valid? [True, True] Translation: X:136.88, Y:40.74, Z:14.77 [[ 7.42750533e-01 -6.64453654e-01 -8.26013826e-02 1.36882117e+02] [ 6.60701546e-01 7.47326305e-01 -7.05468701e-02 4.07387247e+01] [ 1.08605312e-01 -2.17613584e-03 9.94082567e-01 1.47705084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437105681 meters Centerline goodness [0,1] 0.9982427190707841 Centerline is valid? [True, True] Translation: X:136.89, Y:40.78, Z:14.78 [[ 7.45839756e-01 -6.60623220e-01 -8.54401514e-02 1.36888518e+02] [ 6.56580505e-01 7.50715800e-01 -7.29919715e-02 4.07754410e+01] [ 1.12361463e-01 -1.65802349e-03 9.93666017e-01 1.47774117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.467105681 meters Centerline goodness [0,1] 0.9982491786270102 Centerline is valid? [True, True] Translation: X:136.90, Y:40.80, Z:14.78 [[ 7.49577252e-01 -6.56290235e-01 -8.61224155e-02 1.36901011e+02] [ 6.52148982e-01 7.54507894e-01 -7.36175518e-02 4.08047796e+01] [ 1.13294523e-01 -9.82603424e-04 9.93560962e-01 1.47816819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497105681 meters Centerline goodness [0,1] 0.9995375773456939 Centerline is valid? [True, True] Translation: X:136.90, Y:40.85, Z:14.79 [[ 7.59783708e-01 -6.44629859e-01 -8.47411416e-02 1.36902062e+02] [ 6.40542575e-01 7.64494422e-01 -7.24809563e-02 4.08457931e+01] [ 1.11507519e-01 7.89540738e-04 9.93763277e-01 1.47917871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52710568099997 meters Centerline goodness [0,1] 0.9998440041896017 Centerline is valid? [True, True] Translation: X:136.91, Y:40.89, Z:14.80 [[ 7.69866209e-01 -6.32636764e-01 -8.41233964e-02 1.36905327e+02] [ 6.28532524e-01 7.74444464e-01 -7.19905423e-02 4.08858077e+01] [ 1.10692762e-01 2.54879521e-03 9.93851405e-01 1.47964517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55710568099997 meters Centerline goodness [0,1] 0.999728297785627 Centerline is valid? [True, True] Translation: X:136.92, Y:40.91, Z:14.80 [[ 7.73858072e-01 -6.27620175e-01 -8.50682116e-02 1.36919410e+02] [ 6.23391749e-01 7.78512654e-01 -7.28064137e-02 4.09141298e+01] [ 1.11921453e-01 3.31100971e-03 9.93711540e-01 1.47983801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58710568099997 meters Centerline goodness [0,1] 0.9997701413630617 Centerline is valid? [True, True] Translation: X:136.93, Y:40.95, Z:14.80 [[ 7.79393028e-01 -6.20582092e-01 -8.61648181e-02 1.36931096e+02] [ 6.16199577e-01 7.84129209e-01 -7.37527293e-02 4.09472504e+01] [ 1.13333974e-01 4.38763851e-03 9.93547261e-01 1.47999957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61710568099997 meters Centerline goodness [0,1] 0.9999769143754185 Centerline is valid? [True, True] Translation: X:136.95, Y:40.97, Z:14.80 [[ 7.81533554e-01 -6.17901665e-01 -8.60397434e-02 1.36951642e+02] [ 6.13516114e-01 7.86240935e-01 -7.36421763e-02 4.09730447e+01] [ 1.13151592e-01 4.76706271e-03 9.93566300e-01 1.48028578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64710568099997 meters Centerline goodness [0,1] 0.9997906733341086 Centerline is valid? [True, True] Translation: X:136.97, Y:41.00, Z:14.80 [[ 7.84118687e-01 -6.14618447e-01 -8.60351656e-02 1.36966998e+02] [ 6.10215005e-01 7.88807196e-01 -7.36264631e-02 4.10019635e+01] [ 1.13117340e-01 5.23193655e-03 9.93567861e-01 1.48047096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67710568099997 meters Centerline goodness [0,1] 0.9998833873638547 Centerline is valid? [True, True] Translation: X:136.99, Y:41.02, Z:14.81 [[ 7.84659141e-01 -6.13881635e-01 -8.63676433e-02 1.36990114e+02] [ 6.09440195e-01 7.89379926e-01 -7.39052194e-02 4.10240103e+01] [ 1.13545941e-01 5.35449263e-03 9.93518318e-01 1.48089938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70710568099997 meters Centerline goodness [0,1] 0.9998123651374425 Centerline is valid? [True, True] Translation: X:137.01, Y:41.04, Z:14.82 [[ 7.86062947e-01 -6.12404920e-01 -8.40550845e-02 1.37013860e+02] [ 6.08191939e-01 7.90525760e-01 -7.19137594e-02 4.10432796e+01] [ 1.10488050e-01 5.40711681e-03 9.93862744e-01 1.48195718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73710568099997 meters Centerline goodness [0,1] 0.9995531724754245 Centerline is valid? [True, True] Translation: X:137.03, Y:41.07, Z:14.82 [[ 7.89017561e-01 -6.08579187e-01 -8.41585481e-02 1.37027292e+02] [ 6.04335085e-01 7.93470881e-01 -7.19935076e-02 4.10739276e+01] [ 1.10591108e-01 5.94417844e-03 9.93848215e-01 1.48220794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76710568099998 meters Centerline goodness [0,1] 0.9994107664749694 Centerline is valid? [True, True] Translation: X:137.05, Y:41.09, Z:14.82 [[ 7.91046214e-01 -6.05953717e-01 -8.40593837e-02 1.37050412e+02] [ 6.01705343e-01 7.95474946e-01 -7.19047287e-02 4.10947829e+01] [ 1.10438071e-01 6.30098310e-03 9.93863034e-01 1.48249005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79710568099998 meters Centerline goodness [0,1] 0.9981444073847888 Centerline is valid? [True, True] Translation: X:137.07, Y:41.12, Z:14.82 [[ 7.95174694e-01 -6.00380727e-01 -8.50893033e-02 1.37069337e+02] [ 5.95996013e-01 7.99682255e-01 -7.27807853e-02 4.11183791e+01] [ 1.11740587e-01 7.16055308e-03 9.93711612e-01 1.48242216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82710568099998 meters Centerline goodness [0,1] 0.9962842763745826 Centerline is valid? [True, True] Translation: X:137.09, Y:41.14, Z:14.82 [[ 7.98457402e-01 -5.95598117e-01 -8.79127943e-02 1.37088798e+02] [ 5.90887820e-01 8.03241799e-01 -7.51943956e-02 4.11416176e+01] [ 1.15400871e-01 8.09292237e-03 9.93286033e-01 1.48220545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85710568099998 meters Centerline goodness [0,1] 0.9971271134554702 Centerline is valid? [True, True] Translation: X:137.11, Y:41.16, Z:14.82 [[ 7.99057018e-01 -5.94501284e-01 -8.98671574e-02 1.37113862e+02] [ 5.89573245e-01 8.04050518e-01 -7.68515009e-02 4.11606947e+01] [ 1.17946050e-01 8.42545949e-03 9.92984260e-01 1.48241073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88710568099998 meters Centerline goodness [0,1] 0.9969957988124017 Centerline is valid? [True, True] Translation: X:137.14, Y:41.18, Z:14.82 [[ 7.99098997e-01 -5.94234142e-01 -9.12500809e-02 1.37140541e+02] [ 5.89152053e-01 8.04246236e-01 -7.80246735e-02 4.11797945e+01] [ 1.19752459e-01 8.58926578e-03 9.92766626e-01 1.48219060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91710568099998 meters Centerline goodness [0,1] 0.9921421889616464 Centerline is valid? [True, True] Translation: X:137.16, Y:41.20, Z:14.82 [[ 7.99441750e-01 -5.94028349e-01 -8.95723671e-02 1.37164273e+02] [ 5.89132480e-01 8.04399740e-01 -7.65766204e-02 4.12000438e+01] [ 1.17540672e-01 8.44855660e-03 9.93032131e-01 1.48229919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94710568099998 meters Centerline goodness [0,1] 0.9957313801870729 Centerline is valid? [True, True] Translation: X:137.19, Y:41.22, Z:14.83 [[ 8.00079699e-01 -5.93376003e-01 -8.81895420e-02 1.37193111e+02] [ 5.88628334e-01 8.04881580e-01 -7.53812092e-02 4.12158008e+01] [ 1.15711538e-01 8.40011196e-03 9.93247340e-01 1.48307778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97710568099998 meters Centerline goodness [0,1] 0.9947245564892624 Centerline is valid? [True, True] Translation: X:137.22, Y:41.24, Z:14.84 [[ 8.01071758e-01 -5.92435857e-01 -8.54622394e-02 1.37216654e+02] [ 5.87975238e-01 8.05575348e-01 -7.30306708e-02 4.12362602e+01] [ 1.12112261e-01 8.25312728e-03 9.93661274e-01 1.48404521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00710568099998 meters Centerline goodness [0,1] 0.9893699220304853 Centerline is valid? [True, True] Translation: X:137.24, Y:41.26, Z:14.84 [[ 8.01092837e-01 -5.92490415e-01 -8.48844804e-02 1.37237954e+02] [ 5.88092759e-01 8.05536047e-01 -7.25160881e-02 4.12603067e+01] [ 1.11342596e-01 8.17217044e-03 9.93748480e-01 1.48430345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03710568099999 meters Centerline goodness [0,1] 0.9941987791808397 Centerline is valid? [True, True] Translation: X:137.27, Y:41.27, Z:14.85 [[ 7.99370375e-01 -5.94915016e-01 -8.41613200e-02 1.37265980e+02] [ 5.90609794e-01 8.03751380e-01 -7.18595242e-02 4.12745771e+01] [ 1.10395087e-01 7.73587496e-03 9.93857676e-01 1.48456940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.067105681 meters Centerline goodness [0,1] 0.9973492070873832 Centerline is valid? [True, True] Translation: X:137.30, Y:41.29, Z:14.84 [[ 7.96122704e-01 -5.99123951e-01 -8.50830837e-02 1.37295122e+02] [ 5.94747660e-01 8.00623646e-01 -7.26429603e-02 4.12884576e+01] [ 1.11641666e-01 7.22974503e-03 9.93722229e-01 1.48423381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097105681 meters Centerline goodness [0,1] 0.9985355988935636 Centerline is valid? [True, True] Translation: X:137.32, Y:41.31, Z:14.84 [[ 7.93547548e-01 -6.02516329e-01 -8.51842871e-02 1.37318968e+02] [ 5.98149070e-01 7.98077926e-01 -7.27276634e-02 4.13060067e+01] [ 1.11803304e-01 6.75995684e-03 9.93707363e-01 1.48442510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.127105681 meters Centerline goodness [0,1] 0.9994432071269488 Centerline is valid? [True, True] Translation: X:137.35, Y:41.32, Z:14.85 [[ 7.90606385e-01 -6.06446774e-01 -8.46395590e-02 1.37345999e+02] [ 6.02157708e-01 7.95100189e-01 -7.22619068e-02 4.13212227e+01] [ 1.11119930e-01 6.16436200e-03 9.93787886e-01 1.48500975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157105681 meters Centerline goodness [0,1] 0.9994432071269488 Centerline is valid? [True, True] Translation: X:137.37, Y:41.34, Z:14.85 [[ 7.90691267e-01 -6.06335626e-01 -8.46429449e-02 1.37370819e+02] [ 6.02046351e-01 7.95184872e-01 -7.22579403e-02 4.13422181e+01] [ 1.11119353e-01 6.17474625e-03 9.93787886e-01 1.48530022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.187105681 meters Centerline goodness [0,1] 0.999930407348984 Centerline is valid? [True, True] Translation: X:137.40, Y:41.36, Z:14.86 [[ 7.84543751e-01 -6.14334031e-01 -8.41712639e-02 1.37398769e+02] [ 6.10139674e-01 7.89030194e-01 -7.18396192e-02 4.13550492e+01] [ 1.10547192e-01 5.00509684e-03 9.93858273e-01 1.48550562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217105681 meters Centerline goodness [0,1] 0.9999306550783598 Centerline is valid? [True, True] Translation: X:137.43, Y:41.37, Z:14.86 [[ 7.80678845e-01 -6.19208735e-01 -8.43865161e-02 1.37428669e+02] [ 6.15020596e-01 7.85214487e-01 -7.20269186e-02 4.13659945e+01] [ 1.10861212e-01 4.33044621e-03 9.93826463e-01 1.48591727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.247105681 meters Centerline goodness [0,1] 0.9998376510425122 Centerline is valid? [True, True] Translation: X:137.45, Y:41.39, Z:14.87 [[ 7.80776972e-01 -6.19286018e-01 -8.28984221e-02 1.37450032e+02] [ 6.15245677e-01 7.85154036e-01 -7.07523635e-02 4.13885409e+01] [ 1.08903980e-01 4.23892026e-03 9.94043236e-01 1.48653668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27710568099997 meters Centerline goodness [0,1] 0.9998840714120102 Centerline is valid? [True, True] Translation: X:137.47, Y:41.41, Z:14.87 [[ 7.83147265e-01 -6.16486204e-01 -8.13948489e-02 1.37470598e+02] [ 6.12580113e-01 7.87352752e-01 -6.94352136e-02 4.14127075e+01] [ 1.06892310e-01 4.51713192e-03 9.94260343e-01 1.48683778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30710568099997 meters Centerline goodness [0,1] 0.9996742595220922 Centerline is valid? [True, True] Translation: X:137.49, Y:41.44, Z:14.87 [[ 7.89287448e-01 -6.08869605e-01 -7.93922452e-02 1.37489766e+02] [ 6.05117065e-01 7.93251933e-01 -6.77104825e-02 4.14372463e+01] [ 1.04204907e-01 5.40143158e-03 9.94541182e-01 1.48737248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33710568099997 meters Centerline goodness [0,1] 0.9978978347698129 Centerline is valid? [True, True] Translation: X:137.50, Y:41.47, Z:14.88 [[ 7.92030993e-01 -6.05339287e-01 -7.90648738e-02 1.37502045e+02] [ 6.01600696e-01 7.95946141e-01 -6.74265714e-02 4.14688474e+01] [ 1.03747334e-01 5.83845119e-03 9.94586549e-01 1.48751833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36710568099997 meters Centerline goodness [0,1] 0.9969748534694649 Centerline is valid? [True, True] Translation: X:137.52, Y:41.49, Z:14.88 [[ 7.96820445e-01 -5.99125090e-01 -7.82707131e-02 1.37520343e+02] [ 5.95431835e-01 8.00628396e-01 -6.67465415e-02 4.14932031e+01] [ 1.02655283e-01 6.58013461e-03 9.94695227e-01 1.48799106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39710568099997 meters Centerline goodness [0,1] 0.991840413672051 Centerline is valid? [True, True] Translation: X:137.54, Y:41.52, Z:14.88 [[ 7.98706421e-01 -5.96808081e-01 -7.67343934e-02 1.37539489e+02] [ 5.93248398e-01 8.02355708e-01 -6.54343620e-02 4.15184638e+01] [ 1.00620035e-01 6.74028916e-03 9.94902094e-01 1.48821930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42710568099997 meters Centerline goodness [0,1] 0.9820200199250438 Centerline is valid? [True, True] Translation: X:137.56, Y:41.54, Z:14.89 [[ 8.00705103e-01 -5.94575150e-01 -7.31555169e-02 1.37558557e+02] [ 5.91332131e-01 8.04012256e-01 -6.23746883e-02 4.15442881e+01] [ 9.59043719e-02 6.68452349e-03 9.95368107e-01 1.48870394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45710568099997 meters Centerline goodness [0,1] 0.975890384799007 Centerline is valid? [True, True] Translation: X:137.58, Y:41.57, Z:14.89 [[ 8.02162434e-01 -5.92639643e-01 -7.28950133e-02 1.37578587e+02] [ 5.89415147e-01 8.05438483e-01 -6.21179109e-02 4.15673880e+01] [ 9.55259855e-02 6.86322965e-03 9.95403276e-01 1.48900520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48710568099997 meters Centerline goodness [0,1] 0.9759401729822718 Centerline is valid? [True, True] Translation: X:137.60, Y:41.59, Z:14.89 [[ 8.02958921e-01 -5.91505203e-01 -7.33387066e-02 1.37601743e+02] [ 5.88236882e-01 8.06270461e-01 -6.24925167e-02 4.15892550e+01] [ 9.60954815e-02 7.03839165e-03 9.95347236e-01 1.48930865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51710568099998 meters Centerline goodness [0,1] 0.9960668633235005 Centerline is valid? [True, True] Translation: X:137.63, Y:41.60, Z:14.90 [[ 8.06186027e-01 -5.87055096e-01 -7.36912680e-02 1.37630387e+02] [ 5.83737781e-01 8.09511326e-01 -6.27822923e-02 4.16018848e+01] [ 9.65105807e-02 7.59782952e-03 9.95302959e-01 1.48991214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54710568099998 meters Centerline goodness [0,1] 0.953308514470998 Centerline is valid? [True, True] Translation: X:137.64, Y:41.64, Z:14.90 [[ 8.08151331e-01 -5.84375315e-01 -7.34637207e-02 1.37640550e+02] [ 5.81067648e-01 8.11445128e-01 -6.25874798e-02 4.16361784e+01] [ 9.61863565e-02 7.89276364e-03 9.95332050e-01 1.48989094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57710568099998 meters Centerline goodness [0,1] 0.9257373679430183 Centerline is valid? [True, False] Translation: X:137.48, Y:41.46, Z:14.85 [[ 8.30076411e-01 -5.42182409e-01 -1.30427708e-01 1.37483727e+02] [ 5.45852770e-01 8.37833961e-01 -8.88865706e-03 4.14626524e+01] [ 1.14096037e-01 -6.38160611e-02 9.91417977e-01 1.48521670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60710568099998 meters Centerline goodness [0,1] 0.8932806324110671 Centerline is valid? [False, False] Translation: X:137.35, Y:41.33, Z:14.82 [[ 8.46471390e-01 -5.05459708e-01 -1.67322052e-01 1.37349991e+02] [ 5.16234343e-01 8.56067047e-01 2.55208551e-02 4.13257863e+01] [ 1.30339131e-01 -1.07980063e-01 9.85571924e-01 1.48196396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63710568099998 meters Centerline goodness [0,1] 0.8142349438094323 Centerline is valid? [False, False] Translation: X:137.24, Y:41.23, Z:14.80 [[ 8.54545797e-01 -4.83641394e-01 -1.89321108e-01 1.37241971e+02] [ 5.00005552e-01 8.64694407e-01 4.79377831e-02 4.12279441e+01] [ 1.40520207e-01 -1.35626636e-01 9.80744353e-01 1.47972304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66710568099998 meters Centerline goodness [0,1] 0.7866053683882863 Centerline is valid? [False, False] Translation: X:137.15, Y:41.15, Z:14.78 [[ 8.62576189e-01 -4.62337977e-01 -2.05440778e-01 1.37148206e+02] [ 4.83122156e-01 8.73268834e-01 6.32022598e-02 4.11456038e+01] [ 1.50184224e-01 -1.53769756e-01 9.76626623e-01 1.47797403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69710568099998 meters Centerline goodness [0,1] 0.8622071812596006 Centerline is valid? [False, False] Translation: X:137.06, Y:41.08, Z:14.77 [[ 8.64699893e-01 -4.54470347e-01 -2.13894363e-01 1.37063241e+02] [ 4.76731510e-01 8.76675880e-01 6.45481924e-02 4.10756360e+01] [ 1.58180790e-01 -1.57784998e-01 9.74721874e-01 1.47686919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72710568099998 meters Centerline goodness [0,1] 0.8973854641400816 Centerline is valid? [False, False] Translation: X:136.97, Y:41.01, Z:14.76 [[ 8.67504731e-01 -4.49464746e-01 -2.13112607e-01 1.36971684e+02] [ 4.70801841e-01 8.80189313e-01 6.01032429e-02 4.10057765e+01] [ 1.60565150e-01 -1.52473655e-01 9.75177223e-01 1.47587172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75710568099998 meters Centerline goodness [0,1] 0.9272115659891211 Centerline is valid? [False, False] Translation: X:136.88, Y:40.94, Z:14.75 [[ 8.68134826e-01 -4.47455490e-01 -2.14768499e-01 1.36883636e+02] [ 4.69234823e-01 8.80939108e-01 6.13593322e-02 4.09353511e+01] [ 1.61742400e-01 -1.54045032e-01 9.74735618e-01 1.47483068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78710568099999 meters Centerline goodness [0,1] 0.9503814072859486 Centerline is valid? [False, True] Translation: X:136.81, Y:40.88, Z:14.74 [[ 8.71780836e-01 -4.41474495e-01 -2.12363942e-01 1.36805180e+02] [ 4.63329928e-01 8.83821723e-01 6.46880227e-02 4.08772527e+01] [ 1.59133753e-01 -1.54788348e-01 9.75047187e-01 1.47374014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.817105681 meters Centerline goodness [0,1] 0.9717212043440032 Centerline is valid? [True, True] Translation: X:136.80, Y:40.91, Z:14.84 [[ 8.72558706e-01 -4.73123074e-01 -1.21638237e-01 1.36802769e+02] [ 4.66830524e-01 8.80927605e-01 -7.76905195e-02 4.09133234e+01] [ 1.43911658e-01 1.10050974e-02 9.89529344e-01 1.48375459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.847105681 meters Centerline goodness [0,1] 0.9667732849572731 Centerline is valid? [True, True] Translation: X:136.83, Y:40.93, Z:14.84 [[ 8.70279976e-01 -4.77697176e-01 -1.20075688e-01 1.36827706e+02] [ 4.71609204e-01 8.78466335e-01 -7.66919645e-02 4.09301413e+01] [ 1.42117985e-01 1.01146813e-02 9.89798046e-01 1.48406536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877105681 meters Centerline goodness [0,1] 0.9751932067550806 Centerline is valid? [True, True] Translation: X:136.85, Y:40.94, Z:14.85 [[ 8.69250654e-01 -4.79960257e-01 -1.18496629e-01 1.36854757e+02] [ 4.74053239e-01 8.77237562e-01 -7.56821348e-02 4.09434119e+01] [ 1.40274111e-01 9.61303433e-03 9.90066040e-01 1.48451106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.907105681 meters Centerline goodness [0,1] 0.9867582731076455 Centerline is valid? [True, True] Translation: X:136.88, Y:40.96, Z:14.85 [[ 8.68122463e-01 -4.82705626e-01 -1.15579703e-01 1.36882502e+02] [ 4.77111490e-01 8.75737039e-01 -7.38191351e-02 4.09553530e+01] [ 1.36850339e-01 8.93964493e-03 9.90551396e-01 1.48516398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937105681 meters Centerline goodness [0,1] 0.9867448624421876 Centerline is valid? [True, True] Translation: X:136.91, Y:40.97, Z:14.86 [[ 8.67970913e-01 -4.83143719e-01 -1.14885342e-01 1.36908807e+02] [ 4.77620999e-01 8.75496685e-01 -7.33739417e-02 4.09736380e+01] [ 1.36031895e-01 8.81479517e-03 9.90665243e-01 1.48582276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.967105681 meters Centerline goodness [0,1] 0.9682509232171119 Centerline is valid? [True, True] Translation: X:136.93, Y:41.00, Z:14.87 [[ 8.68105418e-01 -4.83085987e-01 -1.14109211e-01 1.36928881e+02] [ 4.77644215e-01 8.75529492e-01 -7.28293347e-02 4.09979883e+01] [ 1.35088811e-01 8.71993532e-03 9.90795123e-01 1.48673406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997105681 meters Centerline goodness [0,1] 0.9994935243470082 Centerline is valid? [True, True] Translation: X:136.96, Y:41.00, Z:14.87 [[ 8.68938875e-01 -4.81629401e-01 -1.13922570e-01 1.36963637e+02] [ 4.76199175e-01 8.76329874e-01 -7.26656537e-02 4.10023829e+01] [ 1.34831666e-01 8.89217777e-03 9.90828618e-01 1.48727243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02710568099997 meters Centerline goodness [0,1] 0.9783008815266879 Centerline is valid? [True, True] Translation: X:136.98, Y:41.03, Z:14.87 [[ 8.72333764e-01 -4.75027109e-01 -1.15685131e-01 1.36980933e+02] [ 4.69370989e-01 8.79913686e-01 -7.37751925e-02 4.10330630e+01] [ 1.36838146e-01 1.00573471e-02 9.90542362e-01 1.48706799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05710568099997 meters Centerline goodness [0,1] 0.989558232931727 Centerline is valid? [True, True] Translation: X:137.01, Y:41.05, Z:14.87 [[ 8.76975962e-01 -4.66054289e-01 -1.17075029e-01 1.37005901e+02] [ 4.60182220e-01 8.84680147e-01 -7.46549573e-02 4.10498336e+01] [ 1.38367217e-01 1.15947562e-02 9.90313120e-01 1.48721765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08710568099997 meters Centerline goodness [0,1] 0.9678661662619276 Centerline is valid? [True, True] Translation: X:137.02, Y:41.08, Z:14.88 [[ 8.81929629e-01 -4.57006514e-01 -1.15521323e-01 1.37024250e+02] [ 4.51214349e-01 8.89370736e-01 -7.36566731e-02 4.10780985e+01] [ 1.36402864e-01 1.28351237e-02 9.90570300e-01 1.48772953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11710568099997 meters Centerline goodness [0,1] 0.9623911810402229 Centerline is valid? [True, True] Translation: X:137.05, Y:41.10, Z:14.88 [[ 8.83621452e-01 -4.53734647e-01 -1.15490256e-01 1.37048583e+02] [ 4.47919191e-01 8.91037142e-01 -7.36288686e-02 4.10980992e+01] [ 1.36314077e-01 1.33297455e-02 9.90575989e-01 1.48799817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14710568099997 meters Centerline goodness [0,1] 0.9550331762906688 Centerline is valid? [True, True] Translation: X:137.07, Y:41.12, Z:14.88 [[ 8.84722056e-01 -4.51414726e-01 -1.16153470e-01 1.37072857e+02] [ 4.45513354e-01 8.92208163e-01 -7.40435342e-02 4.11186203e+01] [ 1.37057416e-01 1.37600259e-02 9.90467529e-01 1.48825879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17710568099997 meters Centerline goodness [0,1] 0.9408292828092452 Centerline is valid? [True, False] Translation: X:137.03, Y:41.09, Z:14.87 [[ 8.85998287e-01 -4.43715111e-01 -1.34625165e-01 1.37033907e+02] [ 4.40385201e-01 8.96108155e-01 -5.52363009e-02 4.10909342e+01] [ 1.45147889e-01 -1.03476622e-02 9.89355859e-01 1.48675937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20710568099997 meters Centerline goodness [0,1] 0.9556553675120354 Centerline is valid? [False, True] Translation: X:136.99, Y:41.06, Z:14.86 [[ 8.84506445e-01 -4.42456312e-01 -1.47921469e-01 1.36994506e+02] [ 4.41204877e-01 8.96376226e-01 -4.29874152e-02 4.10622329e+01] [ 1.51613341e-01 -2.72410276e-02 9.88064432e-01 1.48551419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23710568099997 meters Centerline goodness [0,1] 0.9704761433379528 Centerline is valid? [True, True] Translation: X:137.02, Y:41.08, Z:14.88 [[ 8.84139629e-01 -4.50305639e-01 -1.24587109e-01 1.37016346e+02] [ 4.43697643e-01 8.92768498e-01 -7.80820761e-02 4.10793501e+01] [ 1.46388245e-01 1.37564513e-02 9.89131559e-01 1.48833473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26710568099998 meters Centerline goodness [0,1] 0.9916964108665477 Centerline is valid? [True, True] Translation: X:137.04, Y:41.09, Z:14.89 [[ 8.81401144e-01 -4.55950933e-01 -1.23453516e-01 1.37044662e+02] [ 4.49518503e-01 8.89914351e-01 -7.73664173e-02 4.10913612e+01] [ 1.45138345e-01 1.26962092e-02 9.89329908e-01 1.48926595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29710568099998 meters Centerline goodness [0,1] 0.9966910484151863 Centerline is valid? [True, True] Translation: X:137.07, Y:41.11, Z:14.90 [[ 8.79588241e-01 -4.59340467e-01 -1.23817861e-01 1.37070698e+02] [ 4.52903598e-01 8.88176926e-01 -7.75891713e-02 4.11076540e+01] [ 1.45612013e-01 1.21689680e-02 9.89266930e-01 1.48999950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32710568099998 meters Centerline goodness [0,1] 0.99113435437679 Centerline is valid? [True, True] Translation: X:137.09, Y:41.13, Z:14.90 [[ 8.76270036e-01 -4.65239421e-01 -1.25312030e-01 1.37091766e+02] [ 4.58705277e-01 8.85112455e-01 -7.85201250e-02 4.11301380e+01] [ 1.47445896e-01 1.13235433e-02 9.89005301e-01 1.49015938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35710568099998 meters Centerline goodness [0,1] 0.9967806641737451 Centerline is valid? [True, True] Translation: X:137.12, Y:41.14, Z:14.90 [[ 8.72717451e-01 -4.71756516e-01 -1.25737983e-01 1.37121556e+02] [ 4.65244125e-01 8.81669169e-01 -7.87869243e-02 4.11424397e+01] [ 1.48027548e-01 1.02598658e-02 9.88930018e-01 1.48993828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38710568099998 meters Centerline goodness [0,1] 0.9995041035431802 Centerline is valid? [True, True] Translation: X:137.15, Y:41.15, Z:14.90 [[ 8.71340352e-01 -4.74272594e-01 -1.25823278e-01 1.37152683e+02] [ 4.67777818e-01 8.80323101e-01 -7.88362229e-02 4.11512767e+01] [ 1.48154999e-01 9.83584364e-03 9.88915240e-01 1.49044926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41710568099998 meters Centerline goodness [0,1] 0.9998253405858576 Centerline is valid? [True, True] Translation: X:137.17, Y:41.17, Z:14.91 [[ 8.69243505e-01 -4.77965401e-01 -1.26351909e-01 1.37174640e+02] [ 4.71455166e-01 8.78330060e-01 -7.91601679e-02 4.11721254e+01] [ 1.48814501e-01 9.24020134e-03 9.88821957e-01 1.49132488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44710568099998 meters Centerline goodness [0,1] 0.9998499962499062 Centerline is valid? [True, True] Translation: X:137.20, Y:41.19, Z:14.92 [[ 8.68464354e-01 -4.79440665e-01 -1.26120240e-01 1.37200542e+02] [ 4.72970180e-01 8.77528469e-01 -7.90126220e-02 4.11883691e+01] [ 1.48555965e-01 8.96853304e-03 9.88863333e-01 1.49194593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47710568099998 meters Centerline goodness [0,1] 0.9995474202956854 Centerline is valid? [True, True] Translation: X:137.23, Y:41.21, Z:14.92 [[ 8.67010726e-01 -4.81889511e-01 -1.26786832e-01 1.37226929e+02] [ 4.75377037e-01 8.76189896e-01 -7.94225317e-02 4.12053917e+01] [ 1.49362226e-01 8.58863838e-03 9.88745246e-01 1.49229939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50710568099998 meters Centerline goodness [0,1] 0.9996466966133347 Centerline is valid? [True, True] Translation: X:137.25, Y:41.23, Z:14.93 [[ 8.66606580e-01 -4.82355006e-01 -1.27775913e-01 1.37250462e+02] [ 4.75747045e-01 8.75933967e-01 -8.00277173e-02 4.12267320e+01] [ 1.50525032e-01 8.56353361e-03 9.88569108e-01 1.49250244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53710568099999 meters Centerline goodness [0,1] 0.9996690764687913 Centerline is valid? [True, True] Translation: X:137.27, Y:41.25, Z:14.93 [[ 8.65792205e-01 -4.83596157e-01 -1.28602544e-01 1.37274288e+02] [ 4.76922968e-01 8.75251324e-01 -8.04959788e-02 4.12487597e+01] [ 1.51487093e-01 8.35928391e-03 9.88423888e-01 1.49293745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.567105681 meters Centerline goodness [0,1] 0.999717201840759 Centerline is valid? [True, True] Translation: X:137.30, Y:41.27, Z:14.93 [[ 8.64431372e-01 -4.86152330e-01 -1.28118361e-01 1.37295469e+02] [ 4.79564548e-01 8.73838915e-01 -8.01460812e-02 4.12712781e+01] [ 1.50918014e-01 7.83976280e-03 9.88515195e-01 1.49344609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597105681 meters Centerline goodness [0,1] 0.9997406773507598 Centerline is valid? [True, True] Translation: X:137.32, Y:41.29, Z:14.94 [[ 8.62039850e-01 -4.90226263e-01 -1.28707064e-01 1.37320675e+02] [ 4.83622882e-01 8.71565822e-01 -8.05104155e-02 4.12905038e+01] [ 1.51644998e-01 7.15750538e-03 9.88409108e-01 1.49365399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.627105681 meters Centerline goodness [0,1] 0.9995334853825419 Centerline is valid? [True, True] Translation: X:137.35, Y:41.31, Z:14.94 [[ 8.60067335e-01 -4.93435369e-01 -1.29636865e-01 1.37347399e+02] [ 4.86772761e-01 8.69757159e-01 -8.10849112e-02 4.13069931e+01] [ 1.52762755e-01 6.63478865e-03 9.88240619e-01 1.49403680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657105681 meters Centerline goodness [0,1] 0.9996327965168127 Centerline is valid? [True, True] Translation: X:137.37, Y:41.33, Z:14.95 [[ 8.54156193e-01 -5.03310056e-01 -1.30752382e-01 1.37371925e+02] [ 4.96647255e-01 8.64091951e-01 -8.17716616e-02 4.13251302e+01] [ 1.54138580e-01 4.90795952e-03 9.88037049e-01 1.49456639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.687105681 meters Centerline goodness [0,1] 0.9996301091178103 Centerline is valid? [True, True] Translation: X:137.40, Y:41.34, Z:14.95 [[ 8.51135775e-01 -5.08435390e-01 -1.30619088e-01 1.37396197e+02] [ 5.01846857e-01 8.61090980e-01 -8.16826611e-02 4.13429759e+01] [ 1.54005274e-01 3.97225642e-03 9.88062041e-01 1.49508124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717105681 meters Centerline goodness [0,1] 0.9996267363425494 Centerline is valid? [True, True] Translation: X:137.42, Y:41.36, Z:14.96 [[ 8.45293503e-01 -5.18111062e-01 -1.30536664e-01 1.37420674e+02] [ 5.11645382e-01 8.55310495e-01 -8.16269612e-02 4.13622992e+01] [ 1.53941211e-01 2.21025846e-03 9.88077537e-01 1.49554765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.747105681 meters Centerline goodness [0,1] 0.9994645964395663 Centerline is valid? [True, True] Translation: X:137.45, Y:41.38, Z:14.96 [[ 8.42868963e-01 -5.22064241e-01 -1.30463941e-01 1.37445777e+02] [ 5.15654475e-01 8.52904884e-01 -8.15703437e-02 4.13813165e+01] [ 1.53858292e-01 1.47879613e-03 9.88091817e-01 1.49579016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77710568099997 meters Centerline goodness [0,1] 0.9994325704558351 Centerline is valid? [True, True] Translation: X:137.47, Y:41.40, Z:14.96 [[ 8.39312523e-01 -5.28181737e-01 -1.28757687e-01 1.37469166e+02] [ 5.22018178e-01 8.49131294e-01 -8.04553770e-02 4.14032259e+01] [ 1.51827242e-01 3.13352446e-04 9.88406996e-01 1.49641890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80710568099997 meters Centerline goodness [0,1] 0.9998639529821506 Centerline is valid? [True, True] Translation: X:137.49, Y:41.43, Z:14.97 [[ 8.38580105e-01 -5.29458229e-01 -1.28286364e-01 1.37492617e+02] [ 5.23362525e-01 8.48336008e-01 -8.01104559e-02 4.14271246e+01] [ 1.51245082e-01 3.87590516e-05 9.88496294e-01 1.49684413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83710568099997 meters Centerline goodness [0,1] 0.99967205946655 Centerline is valid? [True, True] Translation: X:137.52, Y:41.45, Z:14.98 [[ 8.40361675e-01 -5.27094280e-01 -1.26348232e-01 1.37518370e+02] [ 5.21164283e-01 8.49806715e-01 -7.88437498e-02 4.14450191e+01] [ 1.48929665e-01 4.09079962e-04 9.88847707e-01 1.49809002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86710568099997 meters Centerline goodness [0,1] 0.9996713499301618 Centerline is valid? [True, True] Translation: X:137.54, Y:41.46, Z:14.99 [[ 8.41438340e-01 -5.25241438e-01 -1.26897410e-01 1.37544900e+02] [ 5.19246415e-01 8.50952965e-01 -7.91341398e-02 4.14645357e+01] [ 1.49548257e-01 6.95473971e-04 9.88754183e-01 1.49859538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89710568099997 meters Centerline goodness [0,1] 0.9996439039088394 Centerline is valid? [True, True] Translation: X:137.57, Y:41.48, Z:14.99 [[ 8.42794263e-01 -5.22919598e-01 -1.27486961e-01 1.37571718e+02] [ 5.16851005e-01 8.52381351e-01 -7.94422555e-02 4.14834411e+01] [ 1.50209421e-01 1.06171307e-03 9.88653631e-01 1.49871767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92710568099997 meters Centerline goodness [0,1] 0.999726663933306 Centerline is valid? [True, True] Translation: X:137.60, Y:41.50, Z:14.98 [[ 8.44810429e-01 -5.19323968e-01 -1.28833054e-01 1.37600326e+02] [ 5.13092284e-01 8.54575809e-01 -8.02277666e-02 4.15017884e+01] [ 1.51761813e-01 1.67400821e-03 9.88415677e-01 1.49804761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95710568099997 meters Centerline goodness [0,1] 0.9998093941456774 Centerline is valid? [True, True] Translation: X:137.63, Y:41.52, Z:14.98 [[ 8.46823922e-01 -5.16302585e-01 -1.27753224e-01 1.37626114e+02] [ 5.10149114e-01 8.56403531e-01 -7.95039254e-02 4.15193204e+01] [ 1.50456394e-01 2.15263181e-03 9.88614303e-01 1.49834011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98710568099997 meters Centerline goodness [0,1] 0.9999180327868853 Centerline is valid? [True, True] Translation: X:137.65, Y:41.54, Z:14.99 [[ 8.47984027e-01 -5.14746977e-01 -1.26327507e-01 1.37652238e+02] [ 5.08720859e-01 8.57338894e-01 -7.85691291e-02 4.15377109e+01] [ 1.48748707e-01 2.35992880e-03 9.88872213e-01 1.49922132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01710568099998 meters Centerline goodness [0,1] 0.9998356614626129 Centerline is valid? [True, True] Translation: X:137.68, Y:41.56, Z:15.00 [[ 8.49364883e-01 -5.12752599e-01 -1.25156173e-01 1.37676325e+02] [ 5.06825138e-01 8.58532368e-01 -7.77846499e-02 4.15582624e+01] [ 1.47334907e-01 2.63525562e-03 9.89083152e-01 1.50042310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04710568099998 meters Centerline goodness [0,1] 0.9998356614626129 Centerline is valid? [True, True] Translation: X:137.70, Y:41.58, Z:15.01 [[ 8.49529610e-01 -5.12474191e-01 -1.25178456e-01 1.37703953e+02] [ 5.06549009e-01 8.58698567e-01 -7.77487742e-02 4.15752229e+01] [ 1.47334801e-01 2.64086316e-03 9.89083152e-01 1.50087536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07710568099998 meters Centerline goodness [0,1] 0.999945006599208 Centerline is valid? [True, True] Translation: X:137.73, Y:41.59, Z:15.02 [[ 8.50599556e-01 -5.11207280e-01 -1.23075233e-01 1.37731620e+02] [ 5.05475436e-01 8.59453011e-01 -7.63878661e-02 4.15927078e+01] [ 1.44827413e-01 2.76397799e-03 9.89453072e-01 1.50163585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10710568099998 meters Centerline goodness [0,1] 0.9998076341751628 Centerline is valid? [True, True] Translation: X:137.76, Y:41.61, Z:15.02 [[ 8.51186649e-01 -5.10511896e-01 -1.21897058e-01 1.37758375e+02] [ 5.04890798e-01 8.59866111e-01 -7.56012744e-02 4.16092912e+01] [ 1.43410499e-01 2.80609244e-03 9.89659312e-01 1.50204209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.79, Y:41.62, Z:15.02 [[ 8.51504813e-01 -5.10417076e-01 -1.20058166e-01 1.37787633e+02] [ 5.04969148e-01 8.59922585e-01 -7.44265192e-02 4.16233179e+01] [ 1.41229295e-01 2.74886929e-03 9.89973096e-01 1.50231913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16710568099998 meters Centerline goodness [0,1] 0.999863938173506 Centerline is valid? [True, True] Translation: X:137.82, Y:41.64, Z:15.03 [[ 8.51690349e-01 -5.10434230e-01 -1.18661053e-01 1.37816504e+02] [ 5.05119807e-01 8.59912643e-01 -7.35134465e-02 4.16388001e+01] [ 1.39561919e-01 2.67264484e-03 9.90209739e-01 1.50284977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19710568099998 meters Centerline goodness [0,1] 0.9997828211532197 Centerline is valid? [True, True] Translation: X:137.84, Y:41.65, Z:15.03 [[ 8.50884668e-01 -5.11470653e-01 -1.19971053e-01 1.37844316e+02] [ 5.06055703e-01 8.59297158e-01 -7.42699137e-02 4.16534381e+01] [ 1.41077666e-01 2.48309541e-03 9.89995417e-01 1.50325645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22710568099998 meters Centerline goodness [0,1] 0.9998104419410745 Centerline is valid? [True, True] Translation: X:137.88, Y:41.67, Z:15.03 [[ 8.49986193e-01 -5.12103479e-01 -1.23585995e-01 1.37875081e+02] [ 5.06368980e-01 8.58920378e-01 -7.64607035e-02 4.16678399e+01] [ 1.45306322e-01 2.41042819e-03 9.89383779e-01 1.50327155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25710568099998 meters Centerline goodness [0,1] 0.9998372660699756 Centerline is valid? [True, True] Translation: X:137.90, Y:41.69, Z:15.04 [[ 8.50794040e-01 -5.10519221e-01 -1.24577794e-01 1.37900361e+02] [ 5.04683174e-01 8.59862244e-01 -7.70182750e-02 4.16853032e+01] [ 1.46439051e-01 2.65437277e-03 9.89216133e-01 1.50374586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28710568099999 meters Centerline goodness [0,1] 0.9997015978081003 Centerline is valid? [True, True] Translation: X:137.93, Y:41.70, Z:15.04 [[ 8.51671029e-01 -5.08968284e-01 -1.24930955e-01 1.37927171e+02] [ 5.03086491e-01 8.60780371e-01 -7.72083948e-02 4.17025677e+01] [ 1.46834738e-01 2.90507735e-03 9.89156772e-01 1.50423649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.317105681 meters Centerline goodness [0,1] 0.9998099375509096 Centerline is valid? [True, True] Translation: X:137.95, Y:41.72, Z:15.04 [[ 8.53475338e-01 -5.05799726e-01 -1.25484996e-01 1.37954226e+02] [ 4.99838900e-01 8.62644151e-01 -7.74993085e-02 4.17207178e+01] [ 1.47448027e-01 3.42146614e-03 9.89063887e-01 1.50435489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.347105681 meters Centerline goodness [0,1] 0.9997559917579438 Centerline is valid? [True, True] Translation: X:137.98, Y:41.74, Z:15.05 [[ 8.53777996e-01 -5.05190081e-01 -1.25881359e-01 1.37983243e+02] [ 4.99192543e-01 8.63001034e-01 -7.76918324e-02 4.17371941e+01] [ 1.47884886e-01 3.49254115e-03 9.88998414e-01 1.50474798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377105681 meters Centerline goodness [0,1] 0.999782324771441 Centerline is valid? [True, True] Translation: X:138.01, Y:41.75, Z:15.05 [[ 8.55012914e-01 -5.02966965e-01 -1.26400749e-01 1.38009117e+02] [ 4.96903909e-01 8.64297089e-01 -7.79554224e-02 4.17537480e+01] [ 1.48456801e-01 3.84386676e-03 9.88911423e-01 1.50504384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.407105681 meters Centerline goodness [0,1] 0.9997822536744693 Centerline is valid? [True, True] Translation: X:138.03, Y:41.77, Z:15.06 [[ 8.58663170e-01 -4.97191646e-01 -1.24491073e-01 1.38033168e+02] [ 4.91253208e-01 8.67627711e-01 -7.67622342e-02 4.17738880e+01] [ 1.46177446e-01 4.75626434e-03 9.89246952e-01 1.50572426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437105681 meters Centerline goodness [0,1] 0.9998085967406759 Centerline is valid? [True, True] Translation: X:138.06, Y:41.79, Z:15.06 [[ 8.61477716e-01 -4.92813804e-01 -1.22436511e-01 1.38057364e+02] [ 4.87028365e-01 8.70118044e-01 -7.54848385e-02 4.17930468e+01] [ 1.43734188e-01 5.39845276e-03 9.89601607e-01 1.50644350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.467105681 meters Centerline goodness [0,1] 0.999863249733337 Centerline is valid? [True, True] Translation: X:138.08, Y:41.81, Z:15.07 [[ 8.65910044e-01 -4.85843051e-01 -1.18980362e-01 1.38080867e+02] [ 4.80321426e-01 8.74023115e-01 -7.33138598e-02 4.18129510e+01] [ 1.39610616e-01 6.33439034e-03 9.90186221e-01 1.50715667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497105681 meters Centerline goodness [0,1] 0.9998630287091825 Centerline is valid? [True, True] Translation: X:138.11, Y:41.83, Z:15.08 [[ 8.67857349e-01 -4.82659779e-01 -1.17741919e-01 1.38106581e+02] [ 4.77225575e-01 8.75781811e-01 -7.25394365e-02 4.18304930e+01] [ 1.38128099e-01 6.76442804e-03 9.90391271e-01 1.50774146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.13, Y:41.85, Z:15.09 [[ 8.70539937e-01 -4.78354170e-01 -1.15488123e-01 1.38129671e+02] [ 4.73090588e-01 8.78136696e-01 -7.11423811e-02 4.18486180e+01] [ 1.35445614e-01 7.29593977e-03 9.90757919e-01 1.50853633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.15, Y:41.87, Z:15.09 [[ 8.72493025e-01 -4.74832673e-01 -1.15281633e-01 1.38153791e+02] [ 4.69559898e-01 8.80041414e-01 -7.09972663e-02 4.18674250e+01] [ 1.35164433e-01 7.81298789e-03 9.90792377e-01 1.50884409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58710568099997 meters Centerline goodness [0,1] 0.9998633730462345 Centerline is valid? [True, True] Translation: X:138.18, Y:41.88, Z:15.09 [[ 8.74063700e-01 -4.71630733e-01 -1.16520817e-01 1.38179094e+02] [ 4.66215459e-01 8.81756167e-01 -7.17579772e-02 4.18842172e+01] [ 1.36586216e-01 8.39723669e-03 9.90592596e-01 1.50891482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61710568099997 meters Centerline goodness [0,1] 0.9998906685617449 Centerline is valid? [True, True] Translation: X:138.21, Y:41.89, Z:15.09 [[ 8.74069615e-01 -4.71301891e-01 -1.17799979e-01 1.38211799e+02] [ 4.65765918e-01 8.81930731e-01 -7.25279001e-02 4.18936871e+01] [ 1.38073958e-01 8.52721845e-03 9.90385212e-01 1.50925735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64710568099997 meters Centerline goodness [0,1] 0.9998909725250763 Centerline is valid? [True, True] Translation: X:138.24, Y:41.91, Z:15.09 [[ 8.72195122e-01 -4.73977428e-01 -1.20917601e-01 1.38240946e+02] [ 4.68176336e-01 8.80498136e-01 -7.43905381e-02 4.19069177e+01] [ 1.41727159e-01 8.27230494e-03 9.89871194e-01 1.50940528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67710568099997 meters Centerline goodness [0,1] 0.9998368545558365 Centerline is valid? [True, True] Translation: X:138.27, Y:41.92, Z:15.10 [[ 8.70381557e-01 -4.76859459e-01 -1.22641762e-01 1.38269653e+02] [ 4.70920586e-01 8.78943984e-01 -7.54405322e-02 4.19198175e+01] [ 1.43769771e-01 7.90751718e-03 9.89579569e-01 1.50952239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70710568099997 meters Centerline goodness [0,1] 0.9999457715354789 Centerline is valid? [True, True] Translation: X:138.30, Y:41.93, Z:15.10 [[ 8.69347489e-01 -4.78682298e-01 -1.22874736e-01 1.38297567e+02] [ 4.72739803e-01 8.77955169e-01 -7.55764535e-02 4.19343626e+01] [ 1.44055620e-01 7.61442175e-03 9.89540297e-01 1.50997879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73710568099997 meters Centerline goodness [0,1] 0.9998919298624808 Centerline is valid? [True, True] Translation: X:138.33, Y:41.95, Z:15.10 [[ 8.66845013e-01 -4.82989103e-01 -1.23698219e-01 1.38326488e+02] [ 4.77011614e-01 8.75598903e-01 -7.60689224e-02 4.19472083e+01] [ 1.45050485e-01 6.93447923e-03 9.89399954e-01 1.51043645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76710568099998 meters Centerline goodness [0,1] 0.9997300070198175 Centerline is valid? [True, True] Translation: X:138.35, Y:41.96, Z:15.11 [[ 8.65702295e-01 -4.84828536e-01 -1.24502317e-01 1.38354096e+02] [ 4.78792767e-01 8.74583844e-01 -7.65544581e-02 4.19615967e+01] [ 1.46003501e-01 6.66256101e-03 9.89261638e-01 1.51083049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79710568099998 meters Centerline goodness [0,1] 0.9997854652721909 Centerline is valid? [True, True] Translation: X:138.39, Y:41.97, Z:15.11 [[ 8.63242227e-01 -4.88716129e-01 -1.26370103e-01 1.38385211e+02] [ 4.82543270e-01 8.72421766e-01 -7.76675940e-02 4.19721384e+01] [ 1.48205434e-01 6.06690427e-03 9.88937987e-01 1.51109769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82710568099998 meters Centerline goodness [0,1] 0.9999732118939191 Centerline is valid? [True, True] Translation: X:138.41, Y:41.99, Z:15.11 [[ 8.62384753e-01 -4.90084046e-01 -1.26925827e-01 1.38413658e+02] [ 4.83873197e-01 8.71655581e-01 -7.79953703e-02 4.19866817e+01] [ 1.48859892e-01 5.84601235e-03 9.88841017e-01 1.51149860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.44, Y:42.00, Z:15.12 [[ 8.59517237e-01 -4.95080365e-01 -1.26986423e-01 1.38443342e+02] [ 4.88924740e-01 8.68833129e-01 -7.79845608e-02 4.19971699e+01] [ 1.48938636e-01 4.94227017e-03 9.88834089e-01 1.51200245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88710568099998 meters Centerline goodness [0,1] 0.9997337522298251 Centerline is valid? [True, True] Translation: X:138.47, Y:42.01, Z:15.13 [[ 8.57321442e-01 -4.99151125e-01 -1.25889236e-01 1.38471813e+02] [ 4.93146662e-01 8.66504808e-01 -7.73032159e-02 4.20097670e+01] [ 1.47669616e-01 4.19184786e-03 9.89027863e-01 1.51257225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91710568099998 meters Centerline goodness [0,1] 0.9997871321377255 Centerline is valid? [True, True] Translation: X:138.50, Y:42.03, Z:15.13 [[ 8.56439680e-01 -5.00636806e-01 -1.25991519e-01 1.38499571e+02] [ 4.94639963e-01 8.65648509e-01 -7.73561021e-02 4.20260707e+01] [ 1.47791682e-01 3.93039523e-03 9.89010703e-01 1.51310576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94710568099998 meters Centerline goodness [0,1] 0.9996805622105095 Centerline is valid? [True, True] Translation: X:138.53, Y:42.04, Z:15.14 [[ 8.53456281e-01 -5.05796566e-01 -1.25627269e-01 1.38526111e+02] [ 4.99896998e-01 8.62647614e-01 -7.70849237e-02 4.20394377e+01] [ 1.47361354e-01 2.98791750e-03 9.89078209e-01 1.51392072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97710568099998 meters Centerline goodness [0,1] 0.9995221408091749 Centerline is valid? [True, True] Translation: X:138.56, Y:42.05, Z:15.15 [[ 8.51076594e-01 -5.10189976e-01 -1.23995242e-01 1.38555357e+02] [ 5.04490381e-01 8.60058934e-01 -7.60794652e-02 4.20517414e+01] [ 1.45458197e-01 2.19504500e-03 9.89361964e-01 1.51454964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00710568099998 meters Centerline goodness [0,1] 0.9995764058032405 Centerline is valid? [True, True] Translation: X:138.58, Y:42.07, Z:15.15 [[ 8.49895788e-01 -5.12470823e-01 -1.22681722e-01 1.38583216e+02] [ 5.06917896e-01 8.58702811e-01 -7.52577542e-02 4.20661315e+01] [ 1.43914542e-01 1.77168818e-03 9.89588533e-01 1.51505873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03710568099999 meters Centerline goodness [0,1] 0.9993642552515165 Centerline is valid? [True, True] Translation: X:138.61, Y:42.08, Z:15.16 [[ 8.46312807e-01 -5.18410745e-01 -1.22494621e-01 1.38611235e+02] [ 5.12943153e-01 8.55131438e-01 -7.50969062e-02 4.20802942e+01] [ 1.43680045e-01 7.22696202e-04 9.89623930e-01 1.51557203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.067105681 meters Centerline goodness [0,1] 0.9994697632492908 Centerline is valid? [True, True] Translation: X:138.64, Y:42.10, Z:15.16 [[ 8.44442789e-01 -5.21274232e-01 -1.23245898e-01 1.38640064e+02] [ 5.15776091e-01 8.53389205e-01 -7.55108481e-02 4.20954426e+01] [ 1.44538578e-01 1.97303618e-04 9.89499146e-01 1.51607274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097105681 meters Centerline goodness [0,1] 0.9992568213186113 Centerline is valid? [True, True] Translation: X:138.67, Y:42.11, Z:15.16 [[ 8.41544004e-01 -5.25589676e-01 -1.24736450e-01 1.38667977e+02] [ 5.20012456e-01 8.50737994e-01 -7.63669502e-02 4.21110109e+01] [ 1.46255718e-01 -5.98358904e-04 9.89246636e-01 1.51632060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.127105681 meters Centerline goodness [0,1] 0.9992541487973149 Centerline is valid? [True, True] Translation: X:138.70, Y:42.13, Z:15.16 [[ 8.40636085e-01 -5.26612281e-01 -1.26532518e-01 1.38695296e+02] [ 5.20891737e-01 8.50105178e-01 -7.74143740e-02 4.21295073e+01] [ 1.48333309e-01 -8.32426682e-04 9.88937074e-01 1.51635522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157105681 meters Centerline goodness [0,1] 0.9993874507297326 Centerline is valid? [True, True] Translation: X:138.72, Y:42.15, Z:15.17 [[ 8.41122194e-01 -5.25625436e-01 -1.27402336e-01 1.38721936e+02] [ 5.19822318e-01 8.50715815e-01 -7.78932557e-02 4.21484336e+01] [ 1.49325859e-01 -7.08831550e-04 9.88787786e-01 1.51658026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.187105681 meters Centerline goodness [0,1] 0.9993836258877127 Centerline is valid? [True, True] Translation: X:138.75, Y:42.17, Z:15.16 [[ 8.41142488e-01 -5.24798919e-01 -1.30634642e-01 1.38745958e+02] [ 5.18694929e-01 8.51225999e-01 -7.98114532e-02 4.21701682e+01] [ 1.53084568e-01 -6.26722224e-04 9.88212893e-01 1.51646849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217105681 meters Centerline goodness [0,1] 0.999215410421514 Centerline is valid? [True, True] Translation: X:138.77, Y:42.19, Z:15.17 [[ 8.41137161e-01 -5.24387818e-01 -1.32309085e-01 1.38769418e+02] [ 5.18128224e-01 8.51479333e-01 -8.07842186e-02 4.21920356e+01] [ 1.55020712e-01 -6.02462921e-04 9.87911036e-01 1.51711629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24710568099997 meters Centerline goodness [0,1] 0.9993496639930631 Centerline is valid? [True, True] Translation: X:138.79, Y:42.21, Z:15.18 [[ 8.42029818e-01 -5.23265198e-01 -1.31069899e-01 1.38794625e+02] [ 5.17117628e-01 8.52169784e-01 -7.99751085e-02 4.22092600e+01] [ 1.53541999e-01 -4.37129203e-04 9.88142026e-01 1.51819795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27710568099997 meters Centerline goodness [0,1] 0.9995909574323034 Centerline is valid? [True, True] Translation: X:138.82, Y:42.23, Z:15.19 [[ 8.45975656e-01 -5.17926344e-01 -1.26797048e-01 1.38818257e+02] [ 5.12122337e-01 8.55425084e-01 -7.73216491e-02 4.22304589e+01] [ 1.48512295e-01 4.76632275e-04 9.88910446e-01 1.51924113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30710568099997 meters Centerline goodness [0,1] 0.9996730156135044 Centerline is valid? [True, True] Translation: X:138.84, Y:42.25, Z:15.20 [[ 8.50206772e-01 -5.11654376e-01 -1.23928385e-01 1.38844726e+02] [ 5.06052100e-01 8.59190061e-01 -7.55229153e-02 4.22487255e+01] [ 1.45119667e-01 1.49587458e-03 9.89412980e-01 1.51950101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33710568099997 meters Centerline goodness [0,1] 0.9995377420056558 Centerline is valid? [True, True] Translation: X:138.87, Y:42.27, Z:15.20 [[ 8.52228862e-01 -5.08389511e-01 -1.23474989e-01 1.38871957e+02] [ 5.02801504e-01 8.61124904e-01 -7.51967252e-02 4.22658578e+01] [ 1.44556614e-01 2.00140959e-03 9.89494507e-01 1.51980679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36710568099997 meters Centerline goodness [0,1] 0.9996195548792087 Centerline is valid? [True, True] Translation: X:138.90, Y:42.29, Z:15.21 [[ 8.56598194e-01 -5.01386342e-01 -1.21865787e-01 1.38896966e+02] [ 4.95879922e-01 8.65217958e-01 -7.41686522e-02 4.22852972e+01] [ 1.42627617e-01 3.10193654e-03 9.89771560e-01 1.52062350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39710568099997 meters Centerline goodness [0,1] 0.9995084518965565 Centerline is valid? [True, True] Translation: X:138.92, Y:42.31, Z:15.21 [[ 8.59954835e-01 -4.95879792e-01 -1.20751457e-01 1.38920966e+02] [ 4.90422029e-01 8.68382114e-01 -7.34761072e-02 4.23056809e+01] [ 1.41293723e-01 3.96695897e-03 9.89959770e-01 1.52139121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42710568099997 meters Centerline goodness [0,1] 0.9999452489802623 Centerline is valid? [True, True] Translation: X:138.94, Y:42.33, Z:15.22 [[ 8.65696584e-01 -4.86095918e-01 -1.19499722e-01 1.38943516e+02] [ 4.80664299e-01 8.73888335e-01 -7.26705554e-02 4.23273411e+01] [ 1.39754273e-01 5.47140144e-03 9.90171100e-01 1.52239587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45710568099997 meters Centerline goodness [0,1] 0.9998639566838081 Centerline is valid? [True, True] Translation: X:138.97, Y:42.34, Z:15.22 [[ 8.69941951e-01 -4.78659922e-01 -1.18683109e-01 1.38968696e+02] [ 4.73234689e-01 8.77975461e-01 -7.21666047e-02 4.23439889e+01] [ 1.38744119e-01 6.61579252e-03 9.90306165e-01 1.52249920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48710568099997 meters Centerline goodness [0,1] 0.9999184228416044 Centerline is valid? [True, True] Translation: X:139.00, Y:42.36, Z:15.23 [[ 8.71353637e-01 -4.75982715e-01 -1.19093639e-01 1.38997200e+02] [ 4.70496862e-01 8.79426342e-01 -7.24017358e-02 4.23590886e+01] [ 1.39196058e-01 7.05433260e-03 9.90239715e-01 1.52252539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51710568099998 meters Centerline goodness [0,1] 0.9998918129445812 Centerline is valid? [True, True] Translation: X:139.02, Y:42.38, Z:15.23 [[ 8.73421732e-01 -4.71471110e-01 -1.21858404e-01 1.39020872e+02] [ 4.65689031e-01 8.81845969e-01 -7.40365641e-02 4.23793083e+01] [ 1.42366443e-01 7.91702192e-03 9.89782358e-01 1.52255117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.05, Y:42.39, Z:15.23 [[ 8.73634745e-01 -4.70044707e-01 -1.25778792e-01 1.39049319e+02] [ 4.63870208e-01 8.82602626e-01 -7.64004931e-02 4.23940090e+01] [ 1.46924340e-01 8.40109085e-03 9.89112056e-01 1.52311359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57710568099998 meters Centerline goodness [0,1] 0.9999729437229438 Centerline is valid? [True, True] Translation: X:139.08, Y:42.41, Z:15.23 [[ 8.73397099e-01 -4.70323893e-01 -1.26384113e-01 1.39077666e+02] [ 4.64094829e-01 8.82454082e-01 -7.67514356e-02 4.24089849e+01] [ 1.47626210e-01 8.38026804e-03 9.89007722e-01 1.52340384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60710568099998 meters Centerline goodness [0,1] 0.9998925943826862 Centerline is valid? [True, True] Translation: X:139.11, Y:42.42, Z:15.23 [[ 8.71187482e-01 -4.74141157e-01 -1.27367712e-01 1.39108575e+02] [ 4.67861742e-01 8.80414710e-01 -7.73002495e-02 4.24199721e+01] [ 1.48787637e-01 7.75253006e-03 9.88838782e-01 1.52335873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63710568099998 meters Centerline goodness [0,1] 0.9999733027204528 Centerline is valid? [True, True] Translation: X:139.14, Y:42.43, Z:15.24 [[ 8.66283374e-01 -4.82665539e-01 -1.28790889e-01 1.39137612e+02] [ 4.76338202e-01 8.75781687e-01 -7.81559589e-02 4.24308162e+01] [ 1.50515890e-01 6.35718706e-03 9.88587150e-01 1.52356223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66710568099998 meters Centerline goodness [0,1] 0.9999199124375985 Centerline is valid? [True, True] Translation: X:139.17, Y:42.44, Z:15.24 [[ 8.63209435e-01 -4.87867232e-01 -1.29826946e-01 1.39166632e+02] [ 4.81496098e-01 8.72900572e-01 -7.87787996e-02 4.24432052e+01] [ 1.51759610e-01 5.49143526e-03 9.88402178e-01 1.52388737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69710568099998 meters Centerline goodness [0,1] 0.9996301091178103 Centerline is valid? [True, True] Translation: X:139.20, Y:42.45, Z:15.24 [[ 8.57149893e-01 -4.97679990e-01 -1.32697731e-01 1.39200657e+02] [ 4.91139111e-01 8.67352227e-01 -8.05138947e-02 4.24475464e+01] [ 1.55165827e-01 3.83943043e-03 9.87880977e-01 1.52396019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72710568099998 meters Centerline goodness [0,1] 0.9997626331891549 Centerline is valid? [True, True] Translation: X:139.23, Y:42.46, Z:15.25 [[ 8.55454958e-01 -5.00595654e-01 -1.32668028e-01 1.39228729e+02] [ 4.94094258e-01 8.65674938e-01 -8.04845678e-02 4.24611032e+01] [ 1.55137612e-01 3.30041154e-03 9.87887356e-01 1.52450579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75710568099998 meters Centerline goodness [0,1] 0.9996565389696169 Centerline is valid? [True, True] Translation: X:139.25, Y:42.48, Z:15.26 [[ 8.55018214e-01 -5.01291977e-01 -1.32854082e-01 1.39253068e+02] [ 4.94788347e-01 8.65272514e-01 -8.05479274e-02 4.24794229e+01] [ 1.55333015e-01 3.13529365e-03 9.87857188e-01 1.52555824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78710568099999 meters Centerline goodness [0,1] 0.9999204476147543 Centerline is valid? [True, True] Translation: X:139.28, Y:42.50, Z:15.27 [[ 8.58342912e-01 -4.96135367e-01 -1.30756044e-01 1.39275033e+02] [ 4.89784016e-01 8.68236126e-01 -7.92316036e-02 4.25032113e+01] [ 1.52836722e-01 3.96566495e-03 9.88243497e-01 1.52655839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.817105681 meters Centerline goodness [0,1] 0.9997861362846526 Centerline is valid? [True, True] Translation: X:139.30, Y:42.52, Z:15.27 [[ 8.61186406e-01 -4.91698859e-01 -1.28802974e-01 1.39299788e+02] [ 4.85489746e-01 8.70752796e-01 -7.80338113e-02 4.25239359e+01] [ 1.50524686e-01 4.66913441e-03 9.88595225e-01 1.52719827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.847105681 meters Centerline goodness [0,1] 0.999838117850205 Centerline is valid? [True, True] Translation: X:139.32, Y:42.55, Z:15.28 [[ 8.67333513e-01 -4.81340554e-01 -1.26664313e-01 1.39318327e+02] [ 4.75228883e-01 8.76510661e-01 -7.67239846e-02 4.25504846e+01] [ 1.47952986e-01 6.35074313e-03 9.88974005e-01 1.52778571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.34, Y:42.57, Z:15.28 [[ 8.70095792e-01 -4.76482672e-01 -1.26085589e-01 1.39339742e+02] [ 4.70378172e-01 8.79154922e-01 -7.63609724e-02 4.25725336e+01] [ 1.47233446e-01 7.13345194e-03 9.89076047e-01 1.52818783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.907105681 meters Centerline goodness [0,1] 0.9999728415849651 Centerline is valid? [True, True] Translation: X:139.36, Y:42.59, Z:15.29 [[ 8.73740655e-01 -4.70542784e-01 -1.23153388e-01 1.39364758e+02] [ 4.64662465e-01 8.82341458e-01 -7.45811346e-02 4.25905928e+01] [ 1.43756955e-01 7.93981253e-03 9.89581173e-01 1.52884545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.39, Y:42.61, Z:15.29 [[ 8.74573051e-01 -4.68869372e-01 -1.23626412e-01 1.39390423e+02] [ 4.62933142e-01 8.83229371e-01 -7.48250292e-02 4.26081418e+01] [ 1.44273642e-01 8.20919087e-03 9.89503777e-01 1.52947009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.967105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.42, Y:42.62, Z:15.30 [[ 8.74725146e-01 -4.68580216e-01 -1.23646678e-01 1.39418287e+02] [ 4.62645839e-01 8.83382735e-01 -7.47915248e-02 4.26248093e+01] [ 1.44273170e-01 8.21740630e-03 9.89503778e-01 1.52992317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99710568099997 meters Centerline goodness [0,1] 0.9999183006535948 Centerline is valid? [True, True] Translation: X:139.45, Y:42.64, Z:15.30 [[ 8.74362880e-01 -4.68803764e-01 -1.25349852e-01 1.39446311e+02] [ 4.62714372e-01 8.83263862e-01 -7.57651658e-02 4.26409052e+01] [ 1.46235989e-01 8.24507066e-03 9.89215373e-01 1.53011542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02710568099997 meters Centerline goodness [0,1] 0.9998370893293511 Centerline is valid? [True, True] Translation: X:139.48, Y:42.65, Z:15.30 [[ 8.73033721e-01 -4.70326977e-01 -1.28859056e-01 1.39477228e+02] [ 4.63913806e-01 8.82454384e-01 -7.78347019e-02 4.26535016e+01] [ 1.50319999e-01 8.17282441e-03 9.88603613e-01 1.52960133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05710568099997 meters Centerline goodness [0,1] 0.9999189692893606 Centerline is valid? [True, True] Translation: X:139.51, Y:42.67, Z:15.30 [[ 8.71912020e-01 -4.71913135e-01 -1.30642344e-01 1.39507364e+02] [ 4.65345061e-01 8.81609039e-01 -7.88636598e-02 4.26674177e+01] [ 1.52392269e-01 7.96840322e-03 9.88287965e-01 1.52961614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08710568099997 meters Centerline goodness [0,1] 0.9997306034482759 Centerline is valid? [True, True] Translation: X:139.54, Y:42.68, Z:15.30 [[ 8.69692912e-01 -4.75140360e-01 -1.33700696e-01 1.39536358e+02] [ 4.68299425e-01 8.79877492e-01 -8.06923076e-02 4.26800669e+01] [ 1.55980405e-01 7.56556904e-03 9.87731176e-01 1.52983505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11710568099997 meters Centerline goodness [0,1] 0.9998384665087228 Centerline is valid? [True, True] Translation: X:139.57, Y:42.69, Z:15.30 [[ 8.67453020e-01 -4.78574030e-01 -1.35985867e-01 1.39566934e+02] [ 4.71538546e-01 8.78018795e-01 -8.20633605e-02 4.26901362e+01] [ 1.58671540e-01 7.06353212e-03 9.87306158e-01 1.53029716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14710568099997 meters Centerline goodness [0,1] 0.9998927642690545 Centerline is valid? [True, True] Translation: X:139.59, Y:42.71, Z:15.31 [[ 8.66589067e-01 -4.79986741e-01 -1.36514166e-01 1.39592146e+02] [ 4.72916147e-01 8.77249254e-01 -8.23654273e-02 4.27086611e+01] [ 1.59291263e-01 6.81722536e-03 9.87208093e-01 1.53056394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17710568099997 meters Centerline goodness [0,1] 0.9998116304728075 Centerline is valid? [True, True] Translation: X:139.62, Y:42.72, Z:15.31 [[ 8.63802066e-01 -4.84988444e-01 -1.36499819e-01 1.39621773e+02] [ 4.77988271e-01 8.74500952e-01 -8.23121946e-02 4.27199141e+01] [ 1.59289685e-01 5.85613107e-03 9.87214517e-01 1.53105306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20710568099997 meters Centerline goodness [0,1] 0.9997585836909871 Centerline is valid? [True, True] Translation: X:139.65, Y:42.73, Z:15.32 [[ 8.61869073e-01 -4.88404100e-01 -1.36539869e-01 1.39651594e+02] [ 4.81443345e-01 8.72601958e-01 -8.23293916e-02 4.27314720e+01] [ 1.59354970e-01 5.22094500e-03 9.87207544e-01 1.53151032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23710568099997 meters Centerline goodness [0,1] 0.9997319394183085 Centerline is valid? [True, True] Translation: X:139.68, Y:42.74, Z:15.32 [[ 8.57403563e-01 -4.96623934e-01 -1.34995547e-01 1.39681083e+02] [ 4.89923196e-01 8.67958172e-01 -8.13871875e-02 4.27414182e+01] [ 1.57589313e-01 3.64421482e-03 9.87498014e-01 1.53213605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26710568099998 meters Centerline goodness [0,1] 0.999679504299984 Centerline is valid? [True, True] Translation: X:139.71, Y:42.76, Z:15.33 [[ 8.55550798e-01 -5.00203020e-01 -1.33528167e-01 1.39707547e+02] [ 4.93692650e-01 8.65903150e-01 -8.04941082e-02 4.27554587e+01] [ 1.55885856e-01 2.94492408e-03 9.87770686e-01 1.53274047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29710568099998 meters Centerline goodness [0,1] 0.9996271439224459 Centerline is valid? [True, True] Translation: X:139.74, Y:42.76, Z:15.34 [[ 8.50654252e-01 -5.09737190e-01 -1.28667554e-01 1.39736865e+02] [ 5.03803255e-01 8.60329393e-01 -7.75603956e-02 4.27647548e+01] [ 1.50231897e-01 1.15394764e-03 9.88650113e-01 1.53381240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32710568099998 meters Centerline goodness [0,1] 0.9997074390276337 Centerline is valid? [True, True] Translation: X:139.77, Y:42.78, Z:15.34 [[ 8.49495794e-01 -5.12030830e-01 -1.27205838e-01 1.39765682e+02] [ 5.06258139e-01 8.58966757e-01 -7.66733852e-02 4.27794717e+01] [ 1.48524724e-01 7.34727150e-04 9.88908422e-01 1.53439659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35710568099998 meters Centerline goodness [0,1] 0.9994676178560971 Centerline is valid? [True, True] Translation: X:139.79, Y:42.79, Z:15.35 [[ 8.47434044e-01 -5.15785787e-01 -1.25779822e-01 1.39793314e+02] [ 5.10186417e-01 8.56717584e-01 -7.57944690e-02 4.27942766e+01] [ 1.46851495e-01 5.96567156e-05 9.89158549e-01 1.53476811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38710568099998 meters Centerline goodness [0,1] 0.9994131142293122 Centerline is valid? [True, True] Translation: X:139.82, Y:42.81, Z:15.35 [[ 8.47038379e-01 -5.16352443e-01 -1.26119545e-01 1.39820411e+02] [ 5.10735904e-01 8.56376172e-01 -7.59518754e-02 4.28119712e+01] [ 1.47223710e-01 -7.96264922e-05 9.89103217e-01 1.53528163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41710568099998 meters Centerline goodness [0,1] 0.9993565338624055 Centerline is valid? [True, True] Translation: X:139.85, Y:42.83, Z:15.36 [[ 8.45898467e-01 -5.17710881e-01 -1.28184348e-01 1.39845635e+02] [ 5.11932117e-01 8.55555554e-01 -7.71375473e-02 4.28306604e+01] [ 1.49603778e-01 -3.71151636e-04 9.88745959e-01 1.53588786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44710568099998 meters Centerline goodness [0,1] 0.9995163500550823 Centerline is valid? [True, True] Translation: X:139.87, Y:42.85, Z:15.36 [[ 8.46042454e-01 -5.17231162e-01 -1.29166914e-01 1.39872046e+02] [ 5.11362085e-01 8.55845679e-01 -7.76980813e-02 4.28474809e+01] [ 1.50734814e-01 -3.15187039e-04 9.88574184e-01 1.53638286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47710568099998 meters Centerline goodness [0,1] 0.9995431581210362 Centerline is valid? [True, True] Translation: X:139.90, Y:42.87, Z:15.37 [[ 8.46772562e-01 -5.16059685e-01 -1.29068310e-01 1.39900142e+02] [ 5.10194075e-01 8.56552612e-01 -7.75862588e-02 4.28656205e+01] [ 1.50592939e-01 -1.51972114e-04 9.88595844e-01 1.53679172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50710568099998 meters Centerline goodness [0,1] 0.9995423587369101 Centerline is valid? [True, True] Translation: X:139.93, Y:42.88, Z:15.37 [[ 8.48311236e-01 -5.13482851e-01 -1.29241664e-01 1.39928660e+02] [ 5.07580389e-01 8.58099817e-01 -7.76328055e-02 4.28820681e+01] [ 1.50765363e-01 2.56247089e-04 9.88569542e-01 1.53698419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53710568099999 meters Centerline goodness [0,1] 0.999705370295969 Centerline is valid? [True, True] Translation: X:139.96, Y:42.90, Z:15.37 [[ 8.49930288e-01 -5.10654594e-01 -1.29809056e-01 1.39956546e+02] [ 5.04675937e-01 8.59785659e-01 -7.79154605e-02 4.28984856e+01] [ 1.51395853e-01 7.11202921e-04 9.88472959e-01 1.53737675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.567105681 meters Centerline goodness [0,1] 0.9997579148398203 Centerline is valid? [True, True] Translation: X:139.98, Y:42.92, Z:15.38 [[ 8.56372407e-01 -4.99652429e-01 -1.30283350e-01 1.39980515e+02] [ 4.93510213e-01 8.66221996e-01 -7.81480923e-02 4.29193924e+01] [ 1.51901188e-01 2.62770602e-03 9.88392192e-01 1.53757690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597105681 meters Centerline goodness [0,1] 0.9998114427324641 Centerline is valid? [True, True] Translation: X:140.00, Y:42.94, Z:15.38 [[ 8.63843598e-01 -4.86490895e-01 -1.30770204e-01 1.40000449e+02] [ 4.80158238e-01 8.73671734e-01 -7.83949523e-02 4.29434641e+01] [ 1.52388662e-01 4.93058674e-03 9.88308345e-01 1.53834080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.627105681 meters Centerline goodness [0,1] 0.999864901378006 Centerline is valid? [True, True] Translation: X:140.02, Y:42.96, Z:15.39 [[ 8.67333550e-01 -4.80098185e-01 -1.31294503e-01 1.40024402e+02] [ 4.73643738e-01 8.77193780e-01 -7.86935972e-02 4.29629481e+01] [ 1.52951374e-01 6.06677779e-03 9.88215094e-01 1.53904244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.05, Y:42.99, Z:15.39 [[ 8.74019009e-01 -4.67780693e-01 -1.31422963e-01 1.40047653e+02] [ 4.61180378e-01 8.83806497e-01 -7.87320440e-02 4.29853380e+01] [ 1.52981798e-01 8.20361146e-03 9.88194956e-01 1.53944102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.687105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:43.00, Z:15.40 [[ 8.77499028e-01 -4.61983498e-01 -1.28711709e-01 1.40070780e+02] [ 4.55596487e-01 8.86842870e-01 -7.70815459e-02 4.30047917e+01] [ 1.49757464e-01 8.99837924e-03 9.88681815e-01 1.53980955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.10, Y:43.02, Z:15.41 [[ 8.78530442e-01 -4.60721379e-01 -1.26174769e-01 1.40099491e+02] [ 4.54573831e-01 8.87498992e-01 -7.55524350e-02 4.30174980e+01] [ 1.46788602e-01 9.01936607e-03 9.89126765e-01 1.54077365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74710568099997 meters Centerline goodness [0,1] 0.9999729875742842 Centerline is valid? [True, True] Translation: X:140.13, Y:43.03, Z:15.42 [[ 8.79425090e-01 -4.59994928e-01 -1.22540513e-01 1.40128324e+02] [ 4.54198466e-01 8.87877646e-01 -7.33283000e-02 4.30324573e+01] [ 1.42531628e-01 8.82903404e-03 9.89750869e-01 1.54184924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:43.04, Z:15.42 [[ 8.77295154e-01 -4.63511165e-01 -1.24541610e-01 1.40157871e+02] [ 4.57565825e-01 8.86051772e-01 -7.44699534e-02 4.30429890e+01] [ 1.44867969e-01 8.34614484e-03 9.89415794e-01 1.54167614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80710568099997 meters Centerline goodness [0,1] 0.9999466011640946 Centerline is valid? [True, True] Translation: X:140.19, Y:43.05, Z:15.42 [[ 8.74819679e-01 -4.67714983e-01 -1.26226871e-01 1.40187923e+02] [ 4.61650570e-01 8.83845345e-01 -7.54728897e-02 4.30546811e+01] [ 1.46864834e-01 7.75246225e-03 9.89126190e-01 1.54158742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83710568099997 meters Centerline goodness [0,1] 0.9999736196480861 Centerline is valid? [True, True] Translation: X:140.22, Y:43.06, Z:15.42 [[ 8.68400203e-01 -4.79270763e-01 -1.27203081e-01 1.40221386e+02] [ 4.73234753e-01 8.77647640e-01 -7.60492446e-02 4.30590063e+01] [ 1.48087664e-01 5.84426062e-03 9.88956970e-01 1.54169241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86710568099997 meters Centerline goodness [0,1] 0.9997114299955403 Centerline is valid? [True, True] Translation: X:140.25, Y:43.07, Z:15.42 [[ 8.65198957e-01 -4.85217366e-01 -1.26470834e-01 1.40252015e+02] [ 4.79315258e-01 8.74380436e-01 -7.56024967e-02 4.30679489e+01] [ 1.47267267e-01 4.79180103e-03 9.89085128e-01 1.54219895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89710568099997 meters Centerline goodness [0,1] 0.9998695402598758 Centerline is valid? [True, True] Translation: X:140.28, Y:43.07, Z:15.43 [[ 8.59988803e-01 -4.94550880e-01 -1.25851845e-01 1.40283360e+02] [ 4.88806493e-01 8.69142877e-01 -7.52254656e-02 4.30747157e+01] [ 1.46586055e-01 3.17585905e-03 9.89192824e-01 1.54265770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92710568099997 meters Centerline goodness [0,1] 0.9996101465848841 Centerline is valid? [True, True] Translation: X:140.31, Y:43.09, Z:15.43 [[ 8.57587996e-01 -4.98458896e-01 -1.26813086e-01 1.40311618e+02] [ 4.92669022e-01 8.66909660e-01 -7.57949631e-02 4.30883565e+01] [ 1.47716163e-01 2.52397125e-03 9.89026574e-01 1.54290319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95710568099997 meters Centerline goodness [0,1] 0.9995861141290289 Centerline is valid? [True, True] Translation: X:140.34, Y:43.10, Z:15.43 [[ 8.53856698e-01 -5.03437426e-01 -1.32210047e-01 1.40342767e+02] [ 4.97208246e-01 8.64030031e-01 -7.89687622e-02 4.31018068e+01] [ 1.53989282e-01 1.69208086e-03 9.88071069e-01 1.54305014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98710568099997 meters Centerline goodness [0,1] 0.9996104199672753 Centerline is valid? [True, True] Translation: X:140.37, Y:43.12, Z:15.43 [[ 8.51736651e-01 -5.06303708e-01 -1.34911943e-01 1.40370435e+02] [ 4.99861024e-01 8.62354476e-01 -8.05215153e-02 4.31185460e+01] [ 1.57110260e-01 1.14590375e-03 9.87580403e-01 1.54346748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01710568099998 meters Centerline goodness [0,1] 0.9996354926057072 Centerline is valid? [True, True] Translation: X:140.39, Y:43.14, Z:15.44 [[ 8.52665854e-01 -5.04964149e-01 -1.34060245e-01 1.40394248e+02] [ 4.98594511e-01 8.63139278e-01 -7.99631207e-02 4.31380302e+01] [ 1.56091172e-01 1.34012038e-03 9.87741743e-01 1.54395369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04710568099998 meters Centerline goodness [0,1] 0.9997383500353227 Centerline is valid? [True, True] Translation: X:140.42, Y:43.16, Z:15.45 [[ 8.54571424e-01 -5.01909046e-01 -1.33397866e-01 1.40419422e+02] [ 4.95570543e-01 8.64918404e-01 -7.95361014e-02 4.31577432e+01] [ 1.55298158e-01 1.86122684e-03 9.87865891e-01 1.54465944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07710568099998 meters Centerline goodness [0,1] 0.9994991564740616 Centerline is valid? [True, True] Translation: X:140.44, Y:43.19, Z:15.45 [[ 8.59762573e-01 -4.93577152e-01 -1.31110309e-01 1.40439016e+02] [ 4.87366711e-01 8.69695882e-01 -7.81201721e-02 4.31853403e+01] [ 1.52584428e-01 3.26600010e-03 9.88285043e-01 1.54526869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10710568099998 meters Centerline goodness [0,1] 0.9998410132753915 Centerline is valid? [True, True] Translation: X:140.46, Y:43.21, Z:15.46 [[ 8.62760097e-01 -4.88805845e-01 -1.29282103e-01 1.40462883e+02] [ 4.82722297e-01 8.72383379e-01 -7.69832687e-02 4.32066854e+01] [ 1.50413429e-01 4.01073877e-03 9.88615049e-01 1.54584649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.48, Y:43.23, Z:15.47 [[ 8.67144347e-01 -4.81709330e-01 -1.26557508e-01 1.40483185e+02] [ 4.75812316e-01 8.76316263e-01 -7.53156472e-02 4.32313499e+01] [ 1.47184653e-01 5.09191656e-03 9.89095926e-01 1.54690755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16710568099998 meters Centerline goodness [0,1] 0.9998924731182796 Centerline is valid? [True, True] Translation: X:140.51, Y:43.25, Z:15.48 [[ 8.68608530e-01 -4.79470345e-01 -1.25009636e-01 1.40508403e+02] [ 4.73700492e-01 8.77541670e-01 -7.43536188e-02 4.32508172e+01] [ 1.45351520e-01 5.36706165e-03 9.89365519e-01 1.54774524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19710568099998 meters Centerline goodness [0,1] 0.9998646526988252 Centerline is valid? [True, True] Translation: X:140.53, Y:43.27, Z:15.49 [[ 8.69825549e-01 -4.77646907e-01 -1.23519013e-01 1.40531581e+02] [ 4.72003342e-01 8.78534300e-01 -7.34188596e-02 4.32720353e+01] [ 1.43583981e-01 5.56021282e-03 9.89622516e-01 1.54855942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22710568099998 meters Centerline goodness [0,1] 0.9997549219834981 Centerline is valid? [True, True] Translation: X:140.56, Y:43.29, Z:15.49 [[ 8.70990988e-01 -4.75423264e-01 -1.23884700e-01 1.40557325e+02] [ 4.69730082e-01 8.79737371e-01 -7.35921728e-02 4.32918179e+01] [ 1.43973432e-01 5.90574880e-03 9.89563931e-01 1.54886287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25710568099998 meters Centerline goodness [0,1] 0.9999187542315504 Centerline is valid? [True, True] Translation: X:140.59, Y:43.30, Z:15.49 [[ 8.70454937e-01 -4.76785056e-01 -1.22410019e-01 1.40587883e+02] [ 4.71242730e-01 8.79002081e-01 -7.27023424e-02 4.33045575e+01] [ 1.42262052e-01 5.59928128e-03 9.89813193e-01 1.54908295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28710568099999 meters Centerline goodness [0,1] 0.9998107954699029 Centerline is valid? [True, True] Translation: X:140.61, Y:43.32, Z:15.49 [[ 8.71024458e-01 -4.75725702e-01 -1.22480404e-01 1.40614216e+02] [ 4.70169059e-01 8.79574827e-01 -7.27267500e-02 4.33212460e+01] [ 1.42328665e-01 5.76028151e-03 9.89802693e-01 1.54944817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.317105681 meters Centerline goodness [0,1] 0.9999729941397283 Centerline is valid? [True, True] Translation: X:140.64, Y:43.34, Z:15.50 [[ 8.73645036e-01 -4.70932820e-01 -1.22338180e-01 1.40641717e+02] [ 4.65346076e-01 8.82145045e-01 -7.26164502e-02 4.33350710e+01] [ 1.42117489e-01 6.51140904e-03 9.89828379e-01 1.54996102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.347105681 meters Centerline goodness [0,1] 0.9999190239689052 Centerline is valid? [True, True] Translation: X:140.66, Y:43.36, Z:15.50 [[ 8.75731780e-01 -4.67086944e-01 -1.22162337e-01 1.40664453e+02] [ 4.61484674e-01 8.84182957e-01 -7.24734078e-02 4.33551190e+01] [ 1.41865239e-01 7.09122005e-03 9.89860580e-01 1.55045136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377105681 meters Centerline goodness [0,1] 0.9998652872076732 Centerline is valid? [True, True] Translation: X:140.69, Y:43.37, Z:15.51 [[ 8.80553769e-01 -4.56942632e-01 -1.25811330e-01 1.40691309e+02] [ 4.50898313e-01 8.89450865e-01 -7.46181640e-02 4.33718136e+01] [ 1.45999216e-01 8.97718917e-03 9.89243973e-01 1.55075347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.407105681 meters Centerline goodness [0,1] 0.9996759471793902 Centerline is valid? [True, True] Translation: X:140.71, Y:43.40, Z:15.51 [[ 8.83188031e-01 -4.51153210e-01 -1.28217324e-01 1.40712057e+02] [ 4.44814643e-01 8.92389113e-01 -7.60368693e-02 4.33963543e+01] [ 1.48724022e-01 1.01219095e-02 9.88826937e-01 1.55085639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437105681 meters Centerline goodness [0,1] 0.9993808549585442 Centerline is valid? [True, True] Translation: X:140.74, Y:43.41, Z:15.51 [[ 8.87348867e-01 -4.41995766e-01 -1.31345847e-01 1.40739937e+02] [ 4.35245254e-01 8.96937761e-01 -7.78731165e-02 4.34108682e+01] [ 1.52228637e-01 1.19329653e-02 9.88273265e-01 1.55075552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.467105681 meters Centerline goodness [0,1] 0.9996492174851592 Centerline is valid? [True, True] Translation: X:140.77, Y:43.42, Z:15.51 [[ 8.89017627e-01 -4.38360475e-01 -1.32241269e-01 1.40769841e+02] [ 4.31479083e-01 8.98710474e-01 -7.83918685e-02 4.34208683e+01] [ 1.53210510e-01 1.26324114e-02 9.88112828e-01 1.55104316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49710568099997 meters Centerline goodness [0,1] 0.9998115239633818 Centerline is valid? [True, True] Translation: X:140.80, Y:43.44, Z:15.51 [[ 8.89105210e-01 -4.38178091e-01 -1.32256894e-01 1.40798584e+02] [ 4.31295634e-01 8.98799160e-01 -7.83846061e-02 4.34363498e+01] [ 1.53218803e-01 1.26503404e-02 9.88111313e-01 1.55145992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52710568099997 meters Centerline goodness [0,1] 0.9993314971789181 Centerline is valid? [True, True] Translation: X:140.82, Y:43.45, Z:15.51 [[ 8.86904178e-01 -4.41960933e-01 -1.34430328e-01 1.40824912e+02] [ 4.34900188e-01 8.96952025e-01 -7.96171546e-02 4.34514184e+01] [ 1.55765227e-01 1.21490122e-02 9.87719391e-01 1.55145293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55710568099997 meters Centerline goodness [0,1] 0.9998403236108154 Centerline is valid? [True, True] Translation: X:140.86, Y:43.46, Z:15.52 [[ 8.84841778e-01 -4.45830652e-01 -1.35240740e-01 1.40858682e+02] [ 4.38729070e-01 8.95042997e-01 -8.00926788e-02 4.34555568e+01] [ 1.56754049e-01 1.15353042e-02 9.87570304e-01 1.55193475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58710568099997 meters Centerline goodness [0,1] 0.9997374363283096 Centerline is valid? [True, True] Translation: X:140.89, Y:43.47, Z:15.52 [[ 8.80443340e-01 -4.54895075e-01 -1.33753486e-01 1.40886275e+02] [ 4.48054388e-01 8.90491076e-01 -7.92016962e-02 4.34675733e+01] [ 1.55134748e-01 9.80376950e-03 9.87844672e-01 1.55228323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61710568099997 meters Centerline goodness [0,1] 0.9998177557927623 Centerline is valid? [True, True] Translation: X:140.92, Y:43.46, Z:15.53 [[ 8.75018524e-01 -4.65634601e-01 -1.32389581e-01 1.40923262e+02] [ 4.59055037e-01 8.84942523e-01 -7.83913446e-02 4.34645098e+01] [ 1.53658893e-01 7.81977443e-03 9.88093010e-01 1.55336426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64710568099997 meters Centerline goodness [0,1] 0.999818568244259 Centerline is valid? [True, True] Translation: X:140.95, Y:43.48, Z:15.54 [[ 8.72070587e-01 -4.71096799e-01 -1.32516781e-01 1.40951030e+02] [ 4.64568339e-01 8.82054868e-01 -7.84567854e-02 4.34752399e+01] [ 1.53847813e-01 6.85675387e-03 9.88070764e-01 1.55379731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67710568099997 meters Centerline goodness [0,1] 0.9996672979474842 Centerline is valid? [True, True] Translation: X:140.99, Y:43.48, Z:15.54 [[ 8.66567960e-01 -4.81569672e-01 -1.30960381e-01 1.40986108e+02] [ 4.75312503e-01 8.76393872e-01 -7.75358350e-02 4.34770041e+01] [ 1.52111782e-01 4.94296360e-03 9.88350936e-01 1.55433552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70710568099997 meters Centerline goodness [0,1] 0.999592626540381 Centerline is valid? [True, True] Translation: X:141.01, Y:43.49, Z:15.55 [[ 8.63989870e-01 -4.86448899e-01 -1.29957581e-01 1.41014575e+02] [ 4.80343692e-01 8.73699662e-01 -7.69339862e-02 4.34886205e+01] [ 1.50968347e-01 4.04588063e-03 9.88530318e-01 1.55483977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73710568099997 meters Centerline goodness [0,1] 0.9994445706783812 Centerline is valid? [True, True] Translation: X:141.05, Y:43.50, Z:15.55 [[ 8.59296685e-01 -4.94739797e-01 -1.29775734e-01 1.41046246e+02] [ 4.88746341e-01 8.69037319e-01 -7.68189515e-02 4.34966056e+01] [ 1.50785348e-01 2.58285535e-03 9.88563153e-01 1.55524689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76710568099998 meters Centerline goodness [0,1] 0.9994960566432333 Centerline is valid? [True, True] Translation: X:141.08, Y:43.51, Z:15.56 [[ 8.57549941e-01 -4.97593674e-01 -1.30417157e-01 1.41075454e+02] [ 4.91574743e-01 8.67407745e-01 -7.71885799e-02 4.35099514e+01] [ 1.51533401e-01 2.08328173e-03 9.88449942e-01 1.55565439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79710568099998 meters Centerline goodness [0,1] 0.9992958809032843 Centerline is valid? [True, True] Translation: X:141.10, Y:43.52, Z:15.56 [[ 8.54733600e-01 -5.01915483e-01 -1.32330353e-01 1.41104882e+02] [ 4.95777228e-01 8.64915707e-01 -7.82672316e-02 4.35229135e+01] [ 1.53738136e-01 1.29125714e-03 9.88110782e-01 1.55596256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82710568099998 meters Centerline goodness [0,1] 0.9995465195374499 Centerline is valid? [True, True] Translation: X:141.13, Y:43.54, Z:15.56 [[ 8.54002689e-01 -5.03032895e-01 -1.32805550e-01 1.41132507e+02] [ 4.96872019e-01 8.64266631e-01 -7.84944985e-02 4.35388935e+01] [ 1.54264720e-01 1.04715108e-03 9.88028997e-01 1.55634790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85710568099998 meters Centerline goodness [0,1] 0.9995465195374499 Centerline is valid? [True, True] Translation: X:141.16, Y:43.56, Z:15.57 [[ 8.54169188e-01 -5.02743522e-01 -1.32830529e-01 1.41160484e+02] [ 4.96585745e-01 8.64434988e-01 -7.84522070e-02 4.35552287e+01] [ 1.54264696e-01 1.04971070e-03 9.88028998e-01 1.55679992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88710568099998 meters Centerline goodness [0,1] 0.9994456762749445 Centerline is valid? [True, True] Translation: X:141.19, Y:43.57, Z:15.57 [[ 8.54156030e-01 -5.02625660e-01 -1.33360120e-01 1.41187957e+02] [ 4.96426442e-01 8.64503557e-01 -7.87044291e-02 4.35725174e+01] [ 1.54849164e-01 1.02237288e-03 9.87937595e-01 1.55727261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91710568099998 meters Centerline goodness [0,1] 0.9993164730006835 Centerline is valid? [True, True] Translation: X:141.21, Y:43.59, Z:15.58 [[ 8.54504931e-01 -5.02172046e-01 -1.32832828e-01 1.41214290e+02] [ 4.96026067e-01 8.64767102e-01 -7.83326265e-02 4.35921576e+01] [ 1.54205915e-01 1.04707012e-03 9.88038177e-01 1.55794725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94710568099998 meters Centerline goodness [0,1] 0.9996443721899052 Centerline is valid? [True, True] Translation: X:141.24, Y:43.61, Z:15.59 [[ 8.56157751e-01 -4.99649697e-01 -1.31696947e-01 1.41238397e+02] [ 4.93588561e-01 8.66226366e-01 -7.76029264e-02 4.36143224e+01] [ 1.52853647e-01 1.43624019e-03 9.88247793e-01 1.55872648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97710568099998 meters Centerline goodness [0,1] 0.9993593193408677 Centerline is valid? [True, True] Translation: X:141.27, Y:43.63, Z:15.59 [[ 8.56913924e-01 -4.98331061e-01 -1.31775112e-01 1.41265029e+02] [ 4.92256511e-01 8.66985312e-01 -7.75886387e-02 4.36342614e+01] [ 1.52911915e-01 1.61962789e-03 9.88238495e-01 1.55915425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00710568099998 meters Centerline goodness [0,1] 0.9994577146546159 Centerline is valid? [True, True] Translation: X:141.29, Y:43.66, Z:15.59 [[ 8.57913832e-01 -4.96269532e-01 -1.33042883e-01 1.41288034e+02] [ 4.90061534e-01 8.68166305e-01 -7.82748910e-02 4.36566920e+01] [ 1.54348792e-01 1.95391219e-03 9.88014490e-01 1.55913646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03710568099999 meters Centerline goodness [0,1] 0.9995297068506035 Centerline is valid? [True, True] Translation: X:141.31, Y:43.68, Z:15.60 [[ 8.61214155e-01 -4.90976404e-01 -1.31348199e-01 1.41310391e+02] [ 4.84871553e-01 8.71168274e-01 -7.72360961e-02 4.36805374e+01] [ 1.52347484e-01 2.82981422e-03 9.88322941e-01 1.55976355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.067105681 meters Centerline goodness [0,1] 0.9996055434296683 Centerline is valid? [True, True] Translation: X:141.33, Y:43.70, Z:15.60 [[ 8.62994963e-01 -4.88150326e-01 -1.30188144e-01 1.41333330e+02] [ 4.82128814e-01 8.72753489e-01 -7.65059057e-02 4.37019819e+01] [ 1.50968540e-01 3.25675552e-03 9.88533203e-01 1.56033542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097105681 meters Centerline goodness [0,1] 0.9997614061133056 Centerline is valid? [True, True] Translation: X:141.36, Y:43.72, Z:15.61 [[ 8.64492579e-01 -4.85982648e-01 -1.28348925e-01 1.41357713e+02] [ 4.80114367e-01 8.73961282e-01 -7.53781944e-02 4.37238521e+01] [ 1.48804485e-01 3.54172683e-03 9.88860294e-01 1.56102127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.127105681 meters Centerline goodness [0,1] 0.9996810800754777 Centerline is valid? [True, True] Translation: X:141.38, Y:43.74, Z:15.61 [[ 8.64089138e-01 -4.86939545e-01 -1.27435633e-01 1.41383486e+02] [ 4.81172752e-01 8.73429410e-01 -7.47920371e-02 4.37406591e+01] [ 1.47725230e-01 3.30843254e-03 9.89022907e-01 1.56147314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157105681 meters Centerline goodness [0,1] 0.999494034938219 Centerline is valid? [True, True] Translation: X:141.41, Y:43.76, Z:15.62 [[ 8.61816791e-01 -4.91597426e-01 -1.24915131e-01 1.41409544e+02] [ 4.86112576e-01 8.70819214e-01 -7.32697753e-02 4.37568459e+01] [ 1.44797729e-01 2.42230652e-03 9.89458311e-01 1.56228273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.187105681 meters Centerline goodness [0,1] 0.999812989233523 Centerline is valid? [True, True] Translation: X:141.44, Y:43.77, Z:15.63 [[ 8.60470146e-01 -4.94288731e-01 -1.23570945e-01 1.41437193e+02] [ 4.88950660e-01 8.69295625e-01 -7.24732271e-02 4.37721358e+01] [ 1.43242381e-01 1.94095331e-03 9.89685734e-01 1.56306282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217105681 meters Centerline goodness [0,1] 0.9996256183981815 Centerline is valid? [True, True] Translation: X:141.46, Y:43.79, Z:15.64 [[ 8.57583957e-01 -4.99720135e-01 -1.21776612e-01 1.41464671e+02] [ 4.94597875e-01 8.66186372e-01 -7.13730443e-02 4.37882165e+01] [ 1.41147789e-01 9.77924339e-04 9.89988053e-01 1.56386110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24710568099997 meters Centerline goodness [0,1] 0.9995990912735534 Centerline is valid? [True, True] Translation: X:141.49, Y:43.80, Z:15.64 [[ 8.56158423e-01 -5.02122748e-01 -1.21924158e-01 1.41491622e+02] [ 4.97014770e-01 8.64796175e-01 -7.14415487e-02 4.38038686e+01] [ 1.41311972e-01 5.67176291e-04 9.89964951e-01 1.56403541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27710568099997 meters Centerline goodness [0,1] 0.9995474149406315 Centerline is valid? [True, True] Translation: X:141.52, Y:43.82, Z:15.65 [[ 8.54197018e-01 -5.04973967e-01 -1.23890063e-01 1.41521717e+02] [ 4.99735615e-01 8.63134572e-01 -7.25467115e-02 4.38175466e+01] [ 1.43567997e-01 5.69077832e-05 9.89640453e-01 1.56474289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30710568099997 meters Centerline goodness [0,1] 0.99957346982299 Centerline is valid? [True, True] Translation: X:141.55, Y:43.84, Z:15.65 [[ 8.56639294e-01 -5.00104383e-01 -1.26746702e-01 1.41546145e+02] [ 4.94575717e-01 8.65964718e-01 -7.41617577e-02 4.38385779e+01] [ 1.46846792e-01 8.44034653e-04 9.89158889e-01 1.56510461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33710568099997 meters Centerline goodness [0,1] 0.9996788524326928 Centerline is valid? [True, True] Translation: X:141.57, Y:43.86, Z:15.65 [[ 8.62203138e-01 -4.89589772e-01 -1.30029243e-01 1.41569886e+02] [ 4.83656932e-01 8.71948817e-01 -7.60344233e-02 4.38603861e+01] [ 1.50604521e-01 2.66757347e-03 9.88590493e-01 1.56525414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36710568099997 meters Centerline goodness [0,1] 0.9996781806479297 Centerline is valid? [True, True] Translation: X:141.59, Y:43.88, Z:15.65 [[ 8.66708098e-01 -4.81120408e-01 -1.31682292e-01 1.41594087e+02] [ 4.74943389e-01 8.76644650e-01 -7.69606085e-02 4.38820778e+01] [ 1.52465896e-01 4.16074844e-03 9.88299974e-01 1.56544339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39710568099997 meters Centerline goodness [0,1] 0.9997852579588768 Centerline is valid? [True, True] Translation: X:141.62, Y:43.91, Z:15.65 [[ 8.73163585e-01 -4.68277122e-01 -1.35284480e-01 1.41616641e+02] [ 4.61602549e-01 8.83557143e-01 -7.90560749e-02 4.39050259e+01] [ 1.56551720e-01 6.58122490e-03 9.87647835e-01 1.56502347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42710568099997 meters Centerline goodness [0,1] 0.9999730958594528 Centerline is valid? [True, True] Translation: X:141.64, Y:43.92, Z:15.65 [[ 8.76816686e-01 -4.61064611e-01 -1.36425527e-01 1.41642043e+02] [ 4.54189792e-01 8.87331077e-01 -7.97194598e-02 4.39229876e+01] [ 1.57810432e-01 7.93627068e-03 9.87437534e-01 1.56535477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45710568099997 meters Centerline goodness [0,1] 0.9999731752461171 Centerline is valid? [True, True] Translation: X:141.67, Y:43.94, Z:15.66 [[ 8.77854099e-01 -4.59266690e-01 -1.35817111e-01 1.41665959e+02] [ 4.52434190e-01 8.88260489e-01 -7.93511688e-02 4.39434787e+01] [ 1.57084322e-01 8.21044423e-03 9.87551064e-01 1.56572750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48710568099997 meters Centerline goodness [0,1] 0.9998389694041868 Centerline is valid? [True, True] Translation: X:141.70, Y:43.95, Z:15.67 [[ 8.77059223e-01 -4.60933834e-01 -1.35303805e-01 1.41697477e+02] [ 4.54179901e-01 8.87399860e-01 -7.90070011e-02 4.39500731e+01] [ 1.56485577e-01 7.84155041e-03 9.87649115e-01 1.56661670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51710568099998 meters Centerline goodness [0,1] 0.9997868315169602 Centerline is valid? [True, True] Translation: X:141.73, Y:43.96, Z:15.67 [[ 8.73600275e-01 -4.68053548e-01 -1.33223256e-01 1.41727236e+02] [ 4.61590048e-01 8.83676507e-01 -7.77847000e-02 4.39587794e+01] [ 1.54133666e-01 6.45820629e-03 9.88028899e-01 1.56728430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54710568099998 meters Centerline goodness [0,1] 0.9997344098587061 Centerline is valid? [True, True] Translation: X:141.76, Y:43.97, Z:15.68 [[ 8.71590569e-01 -4.72333924e-01 -1.31265171e-01 1.41755806e+02] [ 4.66109217e-01 8.81401827e-01 -7.66356081e-02 4.39696624e+01] [ 1.51894959e-01 5.61096712e-03 9.88380715e-01 1.56799404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57710568099998 meters Centerline goodness [0,1] 0.9998154495122594 Centerline is valid? [True, True] Translation: X:141.79, Y:43.98, Z:15.69 [[ 8.67364364e-01 -4.80934362e-01 -1.27989060e-01 1.41785442e+02] [ 4.75111547e-01 8.76747482e-01 -7.47186128e-02 4.39764942e+01] [ 1.48148835e-01 3.99918154e-03 9.88956991e-01 1.56891949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60710568099998 meters Centerline goodness [0,1] 0.9997904552359997 Centerline is valid? [True, True] Translation: X:141.82, Y:43.99, Z:15.69 [[ 8.65838358e-01 -4.83879758e-01 -1.27217599e-01 1.41816218e+02] [ 4.78159601e-01 8.75127613e-01 -7.42634213e-02 4.39865838e+01] [ 1.47266200e-01 3.46980230e-03 9.89090808e-01 1.56945521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63710568099998 meters Centerline goodness [0,1] 0.9995838859847598 Centerline is valid? [True, True] Translation: X:141.85, Y:44.00, Z:15.69 [[ 8.63721486e-01 -4.87413800e-01 -1.28113161e-01 1.41846530e+02] [ 4.81658627e-01 8.73166482e-01 -7.47346108e-02 4.39977940e+01] [ 1.48290799e-01 2.84307984e-03 9.88939713e-01 1.56936117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66710568099998 meters Centerline goodness [0,1] 0.9995622956306806 Centerline is valid? [True, True] Translation: X:141.88, Y:44.01, Z:15.70 [[ 8.63789870e-01 -4.87108518e-01 -1.28811304e-01 1.41876133e+02] [ 4.81294020e-01 8.73336740e-01 -7.50933018e-02 4.40122436e+01] [ 1.49074231e-01 2.86872312e-03 9.88821846e-01 1.56964013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69710568099998 meters Centerline goodness [0,1] 0.9995855351777018 Centerline is valid? [True, True] Translation: X:141.90, Y:44.03, Z:15.70 [[ 8.64810315e-01 -4.85023108e-01 -1.29829517e-01 1.41902472e+02] [ 4.79100678e-01 8.74495458e-01 -7.56322391e-02 4.40275874e+01] [ 1.50218707e-01 3.20613075e-03 9.88647592e-01 1.56998910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72710568099998 meters Centerline goodness [0,1] 0.9995867555142312 Centerline is valid? [True, True] Translation: X:141.93, Y:44.04, Z:15.71 [[ 8.66139918e-01 -4.82479906e-01 -1.30440725e-01 1.41930098e+02] [ 4.76474190e-01 8.75899411e-01 -7.59774192e-02 4.40428592e+01] [ 1.50910532e-01 3.65543687e-03 9.88540666e-01 1.57064380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75710568099998 meters Centerline goodness [0,1] 0.9998185447287243 Centerline is valid? [True, True] Translation: X:141.95, Y:44.06, Z:15.71 [[ 8.70399663e-01 -4.74516385e-01 -1.31295949e-01 1.41954142e+02] [ 4.68348111e-01 8.80232297e-01 -7.64274148e-02 4.40626763e+01] [ 1.51836996e-01 5.03018627e-03 9.88392748e-01 1.57130090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78710568099999 meters Centerline goodness [0,1] 0.9998700724995453 Centerline is valid? [True, True] Translation: X:141.98, Y:44.08, Z:15.72 [[ 8.74550841e-01 -4.66935389e-01 -1.30889914e-01 1.41980467e+02] [ 4.60721847e-01 8.84268829e-01 -7.61841028e-02 4.40794293e+01] [ 1.51314925e-01 6.32302833e-03 9.88465383e-01 1.57167845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.817105681 meters Centerline goodness [0,1] 0.9998703386753799 Centerline is valid? [True, True] Translation: X:142.01, Y:44.10, Z:15.72 [[ 8.76108247e-01 -4.63980089e-01 -1.30984030e-01 1.42007120e+02] [ 4.57728524e-01 8.85819400e-01 -7.62140984e-02 4.40961528e+01] [ 1.51390019e-01 6.81667360e-03 9.88450603e-01 1.57197565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.847105681 meters Centerline goodness [0,1] 0.9996888773658283 Centerline is valid? [True, True] Translation: X:142.03, Y:44.11, Z:15.72 [[ 8.77802146e-01 -4.60630890e-01 -1.31463210e-01 1.42032762e+02] [ 4.54297438e-01 8.87560829e-01 -7.64827558e-02 4.41119829e+01] [ 1.51911915e-01 7.41332787e-03 9.88366234e-01 1.57212671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877105681 meters Centerline goodness [0,1] 0.9997934417764007 Centerline is valid? [True, True] Translation: X:142.06, Y:44.13, Z:15.72 [[ 8.78066942e-01 -4.59904272e-01 -1.32236551e-01 1.42060478e+02] [ 4.53488140e-01 8.87936147e-01 -7.69279260e-02 4.41263077e+01] [ 1.52797095e-01 7.58016126e-03 9.88228510e-01 1.57231059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.907105681 meters Centerline goodness [0,1] 0.9996907136781876 Centerline is valid? [True, True] Translation: X:142.09, Y:44.14, Z:15.73 [[ 8.77715273e-01 -4.60419032e-01 -1.32778816e-01 1.42089926e+02] [ 4.53963184e-01 8.87670203e-01 -7.71948106e-02 4.41397893e+01] [ 1.53405759e-01 7.47837014e-03 9.88134984e-01 1.57281520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937105681 meters Centerline goodness [0,1] 0.9998204713908337 Centerline is valid? [True, True] Translation: X:142.12, Y:44.15, Z:15.73 [[ 8.75424024e-01 -4.65185917e-01 -1.31281535e-01 1.42117658e+02] [ 4.58935984e-01 8.85188952e-01 -7.62776591e-02 4.41514004e+01] [ 1.51692258e-01 6.52547457e-03 9.88406231e-01 1.57347268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.967105681 meters Centerline goodness [0,1] 0.999744878434574 Centerline is valid? [True, True] Translation: X:142.15, Y:44.16, Z:15.74 [[ 8.72746707e-01 -4.70539544e-01 -1.30022011e-01 1.42147128e+02] [ 4.64468850e-01 8.82361521e-01 -7.55435878e-02 4.41606587e+01] [ 1.50272665e-01 5.53924366e-03 9.88629073e-01 1.57391858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99710568099997 meters Centerline goodness [0,1] 0.9998216787670361 Centerline is valid? [True, True] Translation: X:142.18, Y:44.17, Z:15.74 [[ 8.71499266e-01 -4.72911780e-01 -1.29782427e-01 1.42175308e+02] [ 4.66890024e-01 8.81094914e-01 -7.54019713e-02 4.41737806e+01] [ 1.50009117e-01 5.11864232e-03 9.88671363e-01 1.57428209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02710568099997 meters Centerline goodness [0,1] 0.999821058820522 Centerline is valid? [True, True] Translation: X:142.20, Y:44.19, Z:15.75 [[ 8.69838098e-01 -4.75741998e-01 -1.30580372e-01 1.42203763e+02] [ 4.69678237e-01 8.79572564e-01 -7.58581453e-02 4.41871204e+01] [ 1.50943818e-01 4.65354601e-03 9.88531390e-01 1.57495962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05710568099997 meters Centerline goodness [0,1] 0.999717528632325 Centerline is valid? [True, True] Translation: X:142.23, Y:44.20, Z:15.75 [[ 8.69088476e-01 -4.76922134e-01 -1.31264998e-01 1.42229350e+02] [ 4.70809704e-01 8.78934233e-01 -7.62419647e-02 4.42044998e+01] [ 1.51734781e-01 4.46017781e-03 9.88411181e-01 1.57536562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08710568099997 meters Centerline goodness [0,1] 0.9998976013107033 Centerline is valid? [True, True] Translation: X:142.26, Y:44.22, Z:15.76 [[ 8.69527872e-01 -4.75980123e-01 -1.31773299e-01 1.42258516e+02] [ 4.69816478e-01 8.79444003e-01 -7.64900235e-02 4.42184173e+01] [ 1.52294968e-01 4.60094003e-03 9.88324377e-01 1.57555275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11710568099997 meters Centerline goodness [0,1] 0.999641218830886 Centerline is valid? [True, True] Translation: X:142.28, Y:44.24, Z:15.76 [[ 8.71543879e-01 -4.72532286e-01 -1.30860634e-01 1.42282953e+02] [ 4.66423105e-01 8.81298467e-01 -7.59111227e-02 4.42381844e+01] [ 1.51197732e-01 5.12345110e-03 9.88490261e-01 1.57569319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14710568099997 meters Centerline goodness [0,1] 0.9997429107643263 Centerline is valid? [True, True] Translation: X:142.31, Y:44.25, Z:15.76 [[ 8.72792471e-01 -4.70228679e-01 -1.30836889e-01 1.42310254e+02] [ 4.64100229e-01 8.82527491e-01 -7.58696609e-02 4.42536607e+01] [ 1.51143242e-01 5.49703844e-03 9.88496587e-01 1.57645254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17710568099997 meters Centerline goodness [0,1] 0.9997157402382614 Centerline is valid? [True, True] Translation: X:142.34, Y:44.27, Z:15.77 [[ 8.74698180e-01 -4.67068863e-01 -1.29420909e-01 1.42335168e+02] [ 4.61046343e-01 8.84201045e-01 -7.49985400e-02 4.42721834e+01] [ 1.49463586e-01 5.93204973e-03 9.88749436e-01 1.57738448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20710568099997 meters Centerline goodness [0,1] 0.9997693194925029 Centerline is valid? [True, True] Translation: X:142.36, Y:44.29, Z:15.78 [[ 8.74694100e-01 -4.67546710e-01 -1.27711808e-01 1.42360854e+02] [ 4.61695080e-01 8.83949793e-01 -7.39622688e-02 4.42900607e+01] [ 1.47471642e-01 5.73044658e-03 9.89049684e-01 1.57781464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23710568099997 meters Centerline goodness [0,1] 0.9997949033482029 Centerline is valid? [True, True] Translation: X:142.39, Y:44.30, Z:15.78 [[ 8.73843148e-01 -4.69217741e-01 -1.27408254e-01 1.42392219e+02] [ 4.63418259e-01 8.83066020e-01 -7.37422631e-02 4.43006699e+01] [ 1.47111078e-01 5.39585994e-03 9.89105260e-01 1.57826105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26710568099998 meters Centerline goodness [0,1] 0.9998468019915742 Centerline is valid? [True, True] Translation: X:142.42, Y:44.31, Z:15.79 [[ 8.70082200e-01 -4.76473655e-01 -1.26213398e-01 1.42423291e+02] [ 4.70861026e-01 8.79179111e-01 -7.30341352e-02 4.43084899e+01] [ 1.45763025e-01 4.11673086e-03 9.89310969e-01 1.57869207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29710568099998 meters Centerline goodness [0,1] 0.9998226456206136 Centerline is valid? [True, True] Translation: X:142.45, Y:44.32, Z:15.79 [[ 8.65270951e-01 -4.85361093e-01 -1.25422450e-01 1.42453324e+02] [ 4.79912091e-01 8.74309922e-01 -7.25709639e-02 4.43160683e+01] [ 1.44881215e-01 2.60179669e-03 9.89445635e-01 1.57891948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32710568099998 meters Centerline goodness [0,1] 0.999722145040289 Centerline is valid? [True, True] Translation: X:142.48, Y:44.33, Z:15.79 [[ 8.62947972e-01 -4.89429101e-01 -1.25618279e-01 1.42484419e+02] [ 4.84005688e-01 8.72040972e-01 -7.26844989e-02 4.43274293e+01] [ 1.45118195e-01 1.92297921e-03 9.89412458e-01 1.57920221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35710568099998 meters Centerline goodness [0,1] 0.9994968806600926 Centerline is valid? [True, True] Translation: X:142.51, Y:44.34, Z:15.80 [[ 8.60645822e-01 -4.93089656e-01 -1.27088005e-01 1.42514352e+02] [ 4.87580381e-01 8.69977522e-01 -7.35151946e-02 4.43399020e+01] [ 1.46813289e-01 1.30492729e-03 9.89163361e-01 1.57966825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38710568099998 meters Centerline goodness [0,1] 0.999647257426491 Centerline is valid? [True, True] Translation: X:142.54, Y:44.36, Z:15.80 [[ 8.61068377e-01 -4.92301021e-01 -1.27282973e-01 1.42540321e+02] [ 4.86773577e-01 8.70423892e-01 -7.35780804e-02 4.43573067e+01] [ 1.47012705e-01 1.39777039e-03 9.89133616e-01 1.58027542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41710568099998 meters Centerline goodness [0,1] 0.9995933409581904 Centerline is valid? [True, True] Translation: X:142.56, Y:44.38, Z:15.81 [[ 8.65169874e-01 -4.85126828e-01 -1.27015944e-01 1.42562836e+02] [ 4.79553185e-01 8.74440030e-01 -7.33714943e-02 4.43809780e+01] [ 1.46662306e-01 2.56790598e-03 9.89183286e-01 1.58084505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44710568099998 meters Centerline goodness [0,1] 0.9996424101555516 Centerline is valid? [True, True] Translation: X:142.59, Y:44.40, Z:15.81 [[ 8.67956657e-01 -4.80161294e-01 -1.26871480e-01 1.42587763e+02] [ 4.74553933e-01 8.77173759e-01 -7.32445259e-02 4.44014956e+01] [ 1.46457520e-01 3.36571394e-03 9.89211235e-01 1.58120388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47710568099998 meters Centerline goodness [0,1] 0.9997162535145871 Centerline is valid? [True, True] Translation: X:142.61, Y:44.43, Z:15.82 [[ 8.76517060e-01 -4.64458099e-01 -1.26477339e-01 1.42605320e+02] [ 4.58723705e-01 8.85574968e-01 -7.30036900e-02 4.44316652e+01] [ 1.45912320e-01 5.97082637e-03 9.89279508e-01 1.58159070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50710568099998 meters Centerline goodness [0,1] 0.999818096772517 Centerline is valid? [True, True] Translation: X:142.63, Y:44.45, Z:15.82 [[ 8.78318768e-01 -4.60758937e-01 -1.27504290e-01 1.42631214e+02] [ 4.54892412e-01 8.87500514e-01 -7.35916499e-02 4.44489378e+01] [ 1.47068133e-01 6.63619337e-03 9.89104102e-01 1.58203998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53710568099999 meters Centerline goodness [0,1] 0.9998179785214655 Centerline is valid? [True, True] Translation: X:142.66, Y:44.47, Z:15.82 [[ 8.79762375e-01 -4.57952102e-01 -1.27663760e-01 1.42656809e+02] [ 4.52042835e-01 8.88948464e-01 -7.36743120e-02 4.44679575e+01] [ 1.47225809e-01 7.10639988e-03 9.89077378e-01 1.58237872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.567105681 meters Centerline goodness [0,1] 0.9997919105215243 Centerline is valid? [True, True] Translation: X:142.68, Y:44.48, Z:15.82 [[ 8.80521876e-01 -4.56471622e-01 -1.27729733e-01 1.42683213e+02] [ 4.50547575e-01 8.89707887e-01 -7.36665374e-02 4.44849537e+01] [ 1.47268835e-01 7.31667638e-03 9.89069440e-01 1.58240533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597105681 meters Centerline goodness [0,1] 0.9997136237015438 Centerline is valid? [True, True] Translation: X:142.71, Y:44.50, Z:15.83 [[ 8.79762201e-01 -4.57807810e-01 -1.28181428e-01 1.42709442e+02] [ 4.51862405e-01 8.89023012e-01 -7.38813307e-02 4.45030127e+01] [ 1.47779689e-01 7.07763396e-03 9.88994980e-01 1.58251584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.627105681 meters Centerline goodness [0,1] 0.9997397392186972 Centerline is valid? [True, True] Translation: X:142.74, Y:44.51, Z:15.83 [[ 8.79825661e-01 -4.57982205e-01 -1.27118474e-01 1.42740103e+02] [ 4.52144027e-01 8.88934204e-01 -7.32240426e-02 4.45139817e+01] [ 1.46535268e-01 6.94853274e-03 9.89181042e-01 1.58309259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657105681 meters Centerline goodness [0,1] 0.9998440667394355 Centerline is valid? [True, True] Translation: X:142.77, Y:44.53, Z:15.83 [[ 8.79584578e-01 -4.58631000e-01 -1.26445941e-01 1.42766760e+02] [ 4.52868637e-01 8.88601098e-01 -7.27879512e-02 4.45292271e+01] [ 1.45742813e-01 6.75975860e-03 9.89299418e-01 1.58347691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.687105681 meters Centerline goodness [0,1] 0.9998961227828707 Centerline is valid? [True, True] Translation: X:142.80, Y:44.54, Z:15.84 [[ 8.78537479e-01 -4.60299598e-01 -1.27656482e-01 1.42795636e+02] [ 4.54449747e-01 8.87739795e-01 -7.34403441e-02 4.45446351e+01] [ 1.47130300e-01 6.50663869e-03 9.89095717e-01 1.58366001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:44.56, Z:15.84 [[ 8.77570077e-01 -4.61835929e-01 -1.28756884e-01 1.42824436e+02] [ 4.55903276e-01 8.86943086e-01 -7.40551509e-02 4.45599278e+01] [ 1.48401358e-01 6.28789906e-03 9.88907225e-01 1.58398007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74710568099997 meters Centerline goodness [0,1] 0.9997409192186124 Centerline is valid? [True, True] Translation: X:142.85, Y:44.57, Z:15.84 [[ 8.74637289e-01 -4.67062643e-01 -1.29854148e-01 1.42854929e+02] [ 4.61088641e-01 8.84207576e-01 -7.46607531e-02 4.45701236e+01] [ 1.49689270e-01 5.42680620e-03 9.88718197e-01 1.58413641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77710568099997 meters Centerline goodness [0,1] 0.9997409192186124 Centerline is valid? [True, True] Translation: X:142.88, Y:44.59, Z:15.85 [[ 8.74791864e-01 -4.66771786e-01 -1.29858747e-01 1.42883112e+02] [ 4.60795788e-01 8.84360904e-01 -7.46527518e-02 4.45861497e+01] [ 1.49687797e-01 5.46725616e-03 9.88718197e-01 1.58459093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80710568099997 meters Centerline goodness [0,1] 0.9998453528532398 Centerline is valid? [True, True] Translation: X:142.91, Y:44.60, Z:15.85 [[ 8.73359924e-01 -4.69351182e-01 -1.30199505e-01 1.42910556e+02] [ 4.63380389e-01 8.82997493e-01 -7.47933393e-02 4.45990640e+01] [ 1.50070179e-01 4.98960786e-03 9.88662756e-01 1.58486708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83710568099997 meters Centerline goodness [0,1] 0.9997668635374573 Centerline is valid? [True, True] Translation: X:142.94, Y:44.61, Z:15.85 [[ 8.70835954e-01 -4.73743581e-01 -1.31193597e-01 1.42938552e+02] [ 4.67733186e-01 8.80652581e-01 -7.53438605e-02 4.46133920e+01] [ 1.51229651e-01 4.24854330e-03 9.88489526e-01 1.58525638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86710568099997 meters Centerline goodness [0,1] 0.9996115700339229 Centerline is valid? [True, True] Translation: X:142.97, Y:44.63, Z:15.86 [[ 8.67755198e-01 -4.79007483e-01 -1.32486780e-01 1.42966718e+02] [ 4.72939642e-01 8.77804398e-01 -7.60758389e-02 4.46275435e+01] [ 1.52738374e-01 3.35695450e-03 9.88260957e-01 1.58552077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89710568099997 meters Centerline goodness [0,1] 0.9997673637139091 Centerline is valid? [True, True] Translation: X:142.99, Y:44.64, Z:15.86 [[ 8.64275996e-01 -4.85393651e-01 -1.31984869e-01 1.42994736e+02] [ 4.79446987e-01 8.74292914e-01 -7.57792016e-02 4.46394926e+01] [ 1.52176179e-01 2.21439704e-03 9.88350903e-01 1.58564915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92710568099997 meters Centerline goodness [0,1] 0.999663822084303 Centerline is valid? [True, True] Translation: X:143.02, Y:44.65, Z:15.86 [[ 8.62636873e-01 -4.88304081e-01 -1.31972536e-01 1.43023781e+02] [ 4.82395992e-01 8.72671932e-01 -7.57483061e-02 4.46531205e+01] [ 1.52156935e-01 1.68025942e-03 9.88354918e-01 1.58626153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95710568099997 meters Centerline goodness [0,1] 0.9991957243669572 Centerline is valid? [True, True] Translation: X:143.05, Y:44.67, Z:15.87 [[ 8.58358275e-01 -4.95424040e-01 -1.33327011e-01 1.43052943e+02] [ 4.89486094e-01 8.68651182e-01 -7.64754119e-02 4.46674011e+01] [ 1.53702423e-01 3.81584862e-04 9.88117108e-01 1.58667205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98710568099997 meters Centerline goodness [0,1] 0.999506313984306 Centerline is valid? [True, True] Translation: X:143.08, Y:44.68, Z:15.87 [[ 8.56290022e-01 -4.98788513e-01 -1.34079894e-01 1.43083163e+02] [ 4.92831740e-01 8.66723686e-01 -7.68565415e-02 4.46822227e+01] [ 1.54545380e-01 -2.67337841e-04 9.87985655e-01 1.58692040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01710568099998 meters Centerline goodness [0,1] 0.9992474959779958 Centerline is valid? [True, True] Translation: X:143.11, Y:44.70, Z:15.87 [[ 8.52924144e-01 -5.04756193e-01 -1.33197561e-01 1.43112907e+02] [ 4.98958688e-01 8.63260832e-01 -7.62952384e-02 4.46953705e+01] [ 1.53494731e-01 -1.38602910e-03 9.88148494e-01 1.58730341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04710568099998 meters Centerline goodness [0,1] 0.9991931915779612 Centerline is valid? [True, True] Translation: X:143.14, Y:44.71, Z:15.88 [[ 8.52143374e-01 -5.06039692e-01 -1.33324794e-01 1.43139482e+02] [ 5.00254415e-01 8.62508590e-01 -7.63181055e-02 4.47110529e+01] [ 1.53613770e-01 -1.66234874e-03 9.88129570e-01 1.58770602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07710568099998 meters Centerline goodness [0,1] 0.9988461740179367 Centerline is valid? [True, True] Translation: X:143.16, Y:44.73, Z:15.88 [[ 8.53377813e-01 -5.03981563e-01 -1.33224965e-01 1.43163019e+02] [ 4.98187290e-01 8.63713385e-01 -7.62142562e-02 4.47333661e+01] [ 1.53478766e-01 -1.33142912e-03 9.88151049e-01 1.58822936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10710568099998 meters Centerline goodness [0,1] 0.9991786556447553 Centerline is valid? [True, True] Translation: X:143.19, Y:44.76, Z:15.89 [[ 8.57571930e-01 -4.97326245e-01 -1.31289719e-01 1.43185390e+02] [ 4.91629620e-01 8.67563585e-01 -7.50582632e-02 4.47569687e+01] [ 1.51230624e-01 -1.78055183e-04 9.88498491e-01 1.58890148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13710568099998 meters Centerline goodness [0,1] 0.999439446920962 Centerline is valid? [True, True] Translation: X:143.21, Y:44.78, Z:15.90 [[ 8.61027450e-01 -4.91838846e-01 -1.29330121e-01 1.43209313e+02] [ 4.86257368e-01 8.70685943e-01 -7.38901954e-02 4.47780589e+01] [ 1.48947987e-01 7.33762404e-04 9.88844760e-01 1.58965212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16710568099998 meters Centerline goodness [0,1] 0.9993338839892356 Centerline is valid? [True, True] Translation: X:143.24, Y:44.80, Z:15.90 [[ 8.61974014e-01 -4.90437396e-01 -1.28343134e-01 1.43236944e+02] [ 4.84933128e-01 8.71475935e-01 -7.32772587e-02 4.47950902e+01] [ 1.47785860e-01 9.25255356e-04 9.89018950e-01 1.58999049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19710568099998 meters Centerline goodness [0,1] 0.9989867477268485 Centerline is valid? [True, True] Translation: X:143.27, Y:44.81, Z:15.90 [[ 8.62439940e-01 -4.89806746e-01 -1.27619361e-01 1.43265829e+02] [ 4.84365578e-01 8.71830481e-01 -7.28120814e-02 4.48101872e+01] [ 1.46926297e-01 9.81621623e-04 9.89146955e-01 1.59042410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22710568099998 meters Centerline goodness [0,1] 0.9992821630819132 Centerline is valid? [True, True] Translation: X:143.30, Y:44.82, Z:15.91 [[ 8.61440185e-01 -4.92149769e-01 -1.25337192e-01 1.43295571e+02] [ 4.86934965e-01 8.70510385e-01 -7.14563463e-02 4.48206526e+01] [ 1.44274552e-01 5.24306821e-04 9.89537558e-01 1.59094310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25710568099998 meters Centerline goodness [0,1] 0.9989418549283107 Centerline is valid? [True, True] Translation: X:143.33, Y:44.83, Z:15.91 [[ 8.59195581e-01 -4.96106517e-01 -1.25145027e-01 1.43326746e+02] [ 4.90955873e-01 8.68261649e-01 -7.13024481e-02 4.48305586e+01] [ 1.44032237e-01 -1.77937581e-04 9.89572980e-01 1.59138358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28710568099999 meters Centerline goodness [0,1] 0.9986072057393636 Centerline is valid? [True, True] Translation: X:143.36, Y:44.84, Z:15.92 [[ 8.57407021e-01 -4.99147618e-01 -1.25319018e-01 1.43357795e+02] [ 4.94022139e-01 8.66516657e-01 -7.13513054e-02 4.48416116e+01] [ 1.44205850e-01 -7.33258922e-04 9.89547440e-01 1.59171118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.317105681 meters Centerline goodness [0,1] 0.9985807028149394 Centerline is valid? [True, True] Translation: X:143.39, Y:44.86, Z:15.92 [[ 8.56761002e-01 -5.00182695e-01 -1.25609940e-01 1.43386165e+02] [ 4.95051128e-01 8.65919378e-01 -7.14703589e-02 4.48557896e+01] [ 1.44516318e-01 -9.50326425e-04 9.89501961e-01 1.59219807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.347105681 meters Centerline goodness [0,1] 0.9987621480681609 Centerline is valid? [True, True] Translation: X:143.41, Y:44.87, Z:15.93 [[ 8.55995844e-01 -5.01303903e-01 -1.26354707e-01 1.43414991e+02] [ 4.96130445e-01 8.65270467e-01 -7.18442845e-02 4.48707975e+01] [ 1.45346817e-01 -1.19000827e-03 9.89380052e-01 1.59266803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377105681 meters Centerline goodness [0,1] 0.9985029153753218 Centerline is valid? [True, True] Translation: X:143.44, Y:44.89, Z:15.93 [[ 8.55838467e-01 -5.01628509e-01 -1.26132298e-01 1.43443842e+02] [ 4.96483762e-01 8.65082187e-01 -7.16706658e-02 4.48860076e+01] [ 1.45066854e-01 -1.28412519e-03 9.89421022e-01 1.59310033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.407105681 meters Centerline goodness [0,1] 0.9984563863743394 Centerline is valid? [True, True] Translation: X:143.47, Y:44.90, Z:15.93 [[ 8.54965601e-01 -5.03076587e-01 -1.26284475e-01 1.43473626e+02] [ 4.97943233e-01 8.64240389e-01 -7.17013692e-02 4.48981405e+01] [ 1.45211424e-01 -1.58029564e-03 9.89399386e-01 1.59314389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437105681 meters Centerline goodness [0,1] 0.9986923660329001 Centerline is valid? [True, True] Translation: X:143.50, Y:44.91, Z:15.94 [[ 8.54850451e-01 -5.03159603e-01 -1.26732472e-01 1.43501962e+02] [ 4.97997102e-01 8.64191950e-01 -7.19107819e-02 4.49122075e+01] [ 1.45703782e-01 -1.63943928e-03 9.89326903e-01 1.59351365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.467105681 meters Centerline goodness [0,1] 0.9983528550512445 Centerline is valid? [True, True] Translation: X:143.53, Y:44.93, Z:15.94 [[ 8.54642374e-01 -5.03546230e-01 -1.26600190e-01 1.43530216e+02] [ 4.98403944e-01 8.63966543e-01 -7.18005689e-02 4.49280313e+01] [ 1.45533234e-01 -1.73422519e-03 9.89351844e-01 1.59401919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49710568099997 meters Centerline goodness [0,1] 0.9986614173228346 Centerline is valid? [True, True] Translation: X:143.56, Y:44.94, Z:15.94 [[ 8.55164950e-01 -5.02620046e-01 -1.26751714e-01 1.43559094e+02] [ 4.97463190e-01 8.64505898e-01 -7.18326348e-02 4.49449636e+01] [ 1.45682126e-01 -1.62556031e-03 9.89330115e-01 1.59435628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52710568099997 meters Centerline goodness [0,1] 0.9986100548110461 Centerline is valid? [True, True] Translation: X:143.59, Y:44.96, Z:15.94 [[ 8.57614497e-01 -4.98313425e-01 -1.27204974e-01 1.43585220e+02] [ 4.93080071e-01 8.66996448e-01 -7.20361198e-02 4.49631894e+01] [ 1.46182826e-01 -9.43016774e-04 9.89257142e-01 1.59448949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55710568099997 meters Centerline goodness [0,1] 0.9989740891753255 Centerline is valid? [True, True] Translation: X:143.61, Y:44.98, Z:15.95 [[ 8.59462765e-01 -4.94884277e-01 -1.28114437e-01 1.43612552e+02] [ 4.89544035e-01 8.68958798e-01 -7.25068684e-02 4.49818042e+01] [ 1.47208676e-01 -4.00704628e-04 9.89105376e-01 1.59480662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58710568099997 meters Centerline goodness [0,1] 0.9991270764998413 Centerline is valid? [True, True] Translation: X:143.64, Y:45.00, Z:15.95 [[ 8.63793817e-01 -4.86893830e-01 -1.29594136e-01 1.43636305e+02] [ 4.81347005e-01 8.73460667e-01 -7.32906822e-02 4.50043966e+01] [ 1.48880162e-01 9.28288802e-04 9.88854810e-01 1.59529084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61710568099997 meters Centerline goodness [0,1] 0.9994428378127405 Centerline is valid? [True, True] Translation: X:143.66, Y:45.02, Z:15.96 [[ 8.66646840e-01 -4.81851461e-01 -1.29392520e-01 1.43662761e+02] [ 4.76273247e-01 8.76251167e-01 -7.31278809e-02 4.50231842e+01] [ 1.48617123e-01 1.74985139e-03 9.88893265e-01 1.59585034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64710568099997 meters Centerline goodness [0,1] 0.9996013289036545 Centerline is valid? [True, True] Translation: X:143.69, Y:45.04, Z:15.96 [[ 8.71452814e-01 -4.73932189e-01 -1.26326057e-01 1.43686880e+02] [ 4.68540322e-01 8.80556274e-01 -7.13485394e-02 4.50438038e+01] [ 1.45051571e-01 2.98803413e-03 9.89419584e-01 1.59635440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67710568099997 meters Centerline goodness [0,1] 0.9995501574448943 Centerline is valid? [True, True] Translation: X:143.71, Y:45.06, Z:15.97 [[ 8.74293224e-01 -4.69489789e-01 -1.23250545e-01 1.43714177e+02] [ 4.64317767e-01 8.82930504e-01 -6.95897805e-02 4.50595784e+01] [ 1.41493357e-01 3.61445598e-03 9.89932607e-01 1.59694338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70710568099997 meters Centerline goodness [0,1] 0.9996037825558667 Centerline is valid? [True, True] Translation: X:143.74, Y:45.07, Z:15.97 [[ 8.74594867e-01 -4.69032077e-01 -1.22852471e-01 1.43744130e+02] [ 4.63891031e-01 8.83173530e-01 -6.93514810e-02 4.50734863e+01] [ 1.41028120e-01 3.66428980e-03 9.89998809e-01 1.59742886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73710568099997 meters Centerline goodness [0,1] 0.9997641941991773 Centerline is valid? [True, True] Translation: X:143.77, Y:45.09, Z:15.98 [[ 8.74758688e-01 -4.69174393e-01 -1.21130619e-01 1.43773746e+02] [ 4.64185815e-01 8.83098428e-01 -6.83278508e-02 4.50855923e+01] [ 1.39027937e-01 3.54326581e-03 9.90282120e-01 1.59809293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76710568099998 meters Centerline goodness [0,1] 0.9998164271478024 Centerline is valid? [True, True] Translation: X:143.80, Y:45.10, Z:15.99 [[ 8.75654896e-01 -4.67677092e-01 -1.20443517e-01 1.43802281e+02] [ 4.62737477e-01 8.83891570e-01 -6.78949131e-02 4.51004844e+01] [ 1.38211905e-01 3.71878384e-03 9.90395699e-01 1.59875396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79710568099998 meters Centerline goodness [0,1] 0.9997632700299858 Centerline is valid? [True, True] Translation: X:143.82, Y:45.12, Z:15.99 [[ 8.79658690e-01 -4.59868598e-01 -1.21332034e-01 1.43824171e+02] [ 4.54787928e-01 8.87973221e-01 -6.83483727e-02 4.51209895e+01] [ 1.39170867e-01 4.94289579e-03 9.90256046e-01 1.59944813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82710568099998 meters Centerline goodness [0,1] 0.9997632887088714 Centerline is valid? [True, True] Translation: X:143.85, Y:45.14, Z:16.00 [[ 8.82491814e-01 -4.54452744e-01 -1.21164767e-01 1.43848996e+02] [ 4.49335460e-01 8.90752037e-01 -6.82528634e-02 4.51388604e+01] [ 1.38945464e-01 5.78896695e-03 9.90283114e-01 1.59992105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85710568099998 meters Centerline goodness [0,1] 0.9998947783769565 Centerline is valid? [True, True] Translation: X:143.87, Y:45.16, Z:16.00 [[ 8.89727210e-01 -4.39840039e-01 -1.22172959e-01 1.43874878e+02] [ 4.34500252e-01 8.98039248e-01 -6.88116290e-02 4.51579180e+01] [ 1.39982222e-01 8.13939717e-03 9.90120562e-01 1.59987498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88710568099998 meters Centerline goodness [0,1] 0.9998425816607635 Centerline is valid? [True, True] Translation: X:143.90, Y:45.18, Z:16.00 [[ 8.91190682e-01 -4.36393069e-01 -1.23855794e-01 1.43899534e+02] [ 4.30872370e-01 8.99713133e-01 -6.97515510e-02 4.51760632e+01] [ 1.41873778e-01 8.79589264e-03 9.89845677e-01 1.60002467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91710568099998 meters Centerline goodness [0,1] 0.9997124032629157 Centerline is valid? [True, True] Translation: X:143.93, Y:45.19, Z:16.00 [[ 8.93013205e-01 -4.31480616e-01 -1.27874522e-01 1.43928089e+02] [ 4.25543993e-01 9.02067982e-01 -7.20115642e-02 4.51894237e+01] [ 1.46423106e-01 9.89104311e-03 9.89172604e-01 1.60000938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94710568099998 meters Centerline goodness [0,1] 0.9999217078135602 Centerline is valid? [True, True] Translation: X:143.96, Y:45.20, Z:16.01 [[ 8.93673520e-01 -4.30093245e-01 -1.27935293e-01 1.43956365e+02] [ 4.24138183e-01 9.02727801e-01 -7.20369349e-02 4.52044636e+01] [ 1.46473345e-01 1.01152586e-02 9.89162899e-01 1.60052329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97710568099998 meters Centerline goodness [0,1] 0.9997135864187887 Centerline is valid? [True, True] Translation: X:143.99, Y:45.21, Z:16.01 [[ 8.92128403e-01 -4.33602506e-01 -1.26869147e-01 1.43985286e+02] [ 4.27788831e-01 9.01055055e-01 -7.13897980e-02 4.52145438e+01] [ 1.45270881e-01 9.41566246e-03 9.89347116e-01 1.60124602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00710568099998 meters Centerline goodness [0,1] 0.9997410198637765 Centerline is valid? [True, True] Translation: X:144.01, Y:45.22, Z:16.02 [[ 8.90266113e-01 -4.37521876e-01 -1.26494488e-01 1.44014320e+02] [ 4.31782662e-01 8.99165244e-01 -7.11729986e-02 4.52241462e+01] [ 1.44879191e-01 8.74478213e-03 9.89410708e-01 1.60158022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03710568099999 meters Centerline goodness [0,1] 0.9998725790010193 Centerline is valid? [True, True] Translation: X:144.05, Y:45.22, Z:16.02 [[ 8.85251605e-01 -4.47610098e-01 -1.26391440e-01 1.44050263e+02] [ 4.41981958e-01 8.94200723e-01 -7.11126953e-02 4.52244921e+01] [ 1.44850078e-01 7.08989139e-03 9.89428213e-01 1.60152607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.067105681 meters Centerline goodness [0,1] 0.9997989292985145 Centerline is valid? [True, True] Translation: X:144.08, Y:45.23, Z:16.02 [[ 8.79874210e-01 -4.57851105e-01 -1.27254628e-01 1.44082068e+02] [ 4.52251757e-01 8.89012233e-01 -7.15932783e-02 4.52287770e+01] [ 1.45909982e-01 5.44195016e-03 9.89282903e-01 1.60166213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097105681 meters Centerline goodness [0,1] 0.9999250112483128 Centerline is valid? [True, True] Translation: X:144.11, Y:45.24, Z:16.02 [[ 8.77245254e-01 -4.62703326e-01 -1.27853029e-01 1.44113615e+02] [ 4.57101925e-01 8.86500949e-01 -7.19298022e-02 4.52368484e+01] [ 1.46623990e-01 4.65821191e-03 9.89181331e-01 1.60207040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.127105681 meters Centerline goodness [0,1] 0.9995557091375821 Centerline is valid? [True, True] Translation: X:144.15, Y:45.24, Z:16.02 [[ 8.72444657e-01 -4.71674103e-01 -1.27921306e-01 1.44146344e+02] [ 4.66163473e-01 8.81767336e-01 -7.19581927e-02 4.52396739e+01] [ 1.46737646e-01 3.14730033e-03 9.89170439e-01 1.60226747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157105681 meters Centerline goodness [0,1] 0.9998775470219435 Centerline is valid? [True, True] Translation: X:144.18, Y:45.25, Z:16.03 [[ 8.70147842e-01 -4.75751034e-01 -1.28466678e-01 1.44178626e+02] [ 4.70237293e-01 8.79576518e-01 -7.22636604e-02 4.52483981e+01] [ 1.47375784e-01 2.47024540e-03 9.89077487e-01 1.60260594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.187105681 meters Centerline goodness [0,1] 0.9999028229920801 Centerline is valid? [True, True] Translation: X:144.21, Y:45.26, Z:16.03 [[ 8.67048972e-01 -4.81013819e-01 -1.29814429e-01 1.44211322e+02] [ 4.75444596e-01 8.76711595e-01 -7.30014714e-02 4.52556289e+01] [ 1.48924532e-01 1.57628182e-03 9.88847308e-01 1.60327132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217105681 meters Centerline goodness [0,1] 0.9994902541447193 Centerline is valid? [True, True] Translation: X:144.24, Y:45.27, Z:16.04 [[ 8.65294928e-01 -4.83924749e-01 -1.30696310e-01 1.44239874e+02] [ 4.78319948e-01 8.75109000e-01 -7.34456671e-02 4.52682906e+01] [ 1.49915693e-01 1.03751111e-03 9.88698239e-01 1.60387215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24710568099997 meters Centerline goodness [0,1] 0.999418942475305 Centerline is valid? [True, True] Translation: X:144.27, Y:45.28, Z:16.04 [[ 8.65458353e-01 -4.83753505e-01 -1.30247402e-01 1.44269441e+02] [ 4.78192686e-01 8.75203693e-01 -7.31454107e-02 4.52826641e+01] [ 1.49377356e-01 1.02095151e-03 9.88779734e-01 1.60426795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27710568099997 meters Centerline goodness [0,1] 0.9997828656903665 Centerline is valid? [True, True] Translation: X:144.30, Y:45.30, Z:16.04 [[ 8.66047704e-01 -4.82757028e-01 -1.30027024e-01 1.44299902e+02] [ 4.77212591e-01 8.75753591e-01 -7.29643116e-02 4.52956415e+01] [ 1.49095668e-01 1.14004136e-03 9.88822119e-01 1.60442802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30710568099997 meters Centerline goodness [0,1] 0.9995657104253625 Centerline is valid? [True, True] Translation: X:144.33, Y:45.31, Z:16.05 [[ 8.66347253e-01 -4.81907541e-01 -1.31177588e-01 1.44327201e+02] [ 4.76263156e-01 8.76221187e-01 -7.35515944e-02 4.53114560e+01] [ 1.50385650e-01 1.24616971e-03 9.88626625e-01 1.60476903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33710568099997 meters Centerline goodness [0,1] 0.9998544713672415 Centerline is valid? [True, True] Translation: X:144.35, Y:45.33, Z:16.05 [[ 8.67815366e-01 -4.79127403e-01 -1.31656458e-01 1.44352626e+02] [ 4.73416934e-01 8.77743737e-01 -7.37722073e-02 4.53313173e+01] [ 1.50906917e-01 1.69225866e-03 9.88546528e-01 1.60544070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36710568099997 meters Centerline goodness [0,1] 0.9998052769934768 Centerline is valid? [True, True] Translation: X:144.38, Y:45.35, Z:16.06 [[ 8.70073934e-01 -4.75562456e-01 -1.29659938e-01 1.44378268e+02] [ 4.69992978e-01 8.79679131e-01 -7.26032165e-02 4.53514025e+01] [ 1.48586505e-01 2.23090593e-03 9.88896897e-01 1.60603109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39710568099997 meters Centerline goodness [0,1] 0.999585739698321 Centerline is valid? [True, True] Translation: X:144.41, Y:45.37, Z:16.06 [[ 8.70907470e-01 -4.74128024e-01 -1.29316650e-01 1.44405006e+02] [ 4.68579939e-01 8.80452576e-01 -7.23609161e-02 4.53676917e+01] [ 1.48165516e-01 2.42447429e-03 9.88959606e-01 1.60647436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42710568099997 meters Centerline goodness [0,1] 0.9995850419839875 Centerline is valid? [True, True] Translation: X:144.43, Y:45.38, Z:16.07 [[ 8.71371563e-01 -4.74259954e-01 -1.25654670e-01 1.44432455e+02] [ 4.69031127e-01 8.80381870e-01 -7.02678151e-02 4.53830814e+01] [ 1.43949304e-01 2.29342440e-03 9.89582406e-01 1.60744824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45710568099997 meters Centerline goodness [0,1] 0.9996598804722803 Centerline is valid? [True, True] Translation: X:144.46, Y:45.40, Z:16.08 [[ 8.70532791e-01 -4.76272365e-01 -1.23843831e-01 1.44458551e+02] [ 4.71220977e-01 8.79295776e-01 -6.92078661e-02 4.53986598e+01] [ 1.41857152e-01 1.88990572e-03 9.89885335e-01 1.60822805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48710568099997 meters Centerline goodness [0,1] 0.9996326140733303 Centerline is valid? [True, True] Translation: X:144.48, Y:45.42, Z:16.09 [[ 8.69782966e-01 -4.79036244e-01 -1.18329493e-01 1.44484285e+02] [ 4.74455622e-01 8.77794081e-01 -6.61015371e-02 4.54150540e+01] [ 1.35533961e-01 1.35189769e-03 9.90771779e-01 1.60930643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51710568099998 meters Centerline goodness [0,1] 0.9995828630318496 Centerline is valid? [True, True] Translation: X:144.51, Y:45.43, Z:16.10 [[ 8.71270403e-01 -4.76773745e-01 -1.16510433e-01 1.44510488e+02] [ 4.72318718e-01 8.79024516e-01 -6.50455889e-02 4.54330166e+01] [ 1.33427556e-01 1.64223807e-03 9.91057208e-01 1.60979728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54710568099998 meters Centerline goodness [0,1] 0.9996820038648762 Centerline is valid? [True, True] Translation: X:144.54, Y:45.45, Z:16.10 [[ 8.73714085e-01 -4.72531407e-01 -1.15489252e-01 1.44535045e+02] [ 4.68123197e-01 8.81311003e-01 -6.44328205e-02 4.54526339e+01] [ 1.32228480e-01 2.23266505e-03 9.91216749e-01 1.61037867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57710568099998 meters Centerline goodness [0,1] 0.9998753614517898 Centerline is valid? [True, True] Translation: X:144.55, Y:45.48, Z:16.11 [[ 8.80248034e-01 -4.60147451e-01 -1.15878046e-01 1.44552528e+02] [ 4.55607369e-01 8.87833153e-01 -6.46081910e-02 4.54826042e+01] [ 1.32609665e-01 4.07634150e-03 9.91159957e-01 1.61097578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60710568099998 meters Centerline goodness [0,1] 0.9997978470713095 Centerline is valid? [True, True] Translation: X:144.57, Y:45.52, Z:16.11 [[ 8.87749168e-01 -4.44757549e-01 -1.18710310e-01 1.44568349e+02] [ 4.39853891e-01 8.95627115e-01 -6.61862877e-02 4.55154062e+01] [ 1.35757023e-01 6.54163005e-03 9.90720565e-01 1.61129573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63710568099998 meters Centerline goodness [0,1] 0.9998469192499043 Centerline is valid? [True, True] Translation: X:144.59, Y:45.54, Z:16.11 [[ 8.92751598e-01 -4.33498590e-01 -1.22774411e-01 1.44593018e+02] [ 4.28145512e-01 9.01113742e-01 -6.84503068e-02 4.55354307e+01] [ 1.40306820e-01 8.54380771e-03 9.90071209e-01 1.61116839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66710568099998 meters Centerline goodness [0,1] 0.9998469192499043 Centerline is valid? [True, True] Translation: X:144.62, Y:45.55, Z:16.12 [[ 8.92892821e-01 -4.33206271e-01 -1.22779218e-01 1.44621438e+02] [ 4.27851636e-01 9.01253967e-01 -6.84416830e-02 4.55510967e+01] [ 1.40304624e-01 8.57979803e-03 9.90071209e-01 1.61162313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69710568099998 meters Centerline goodness [0,1] 0.9999236738328456 Centerline is valid? [True, True] Translation: X:144.65, Y:45.57, Z:16.12 [[ 8.93825929e-01 -4.30610173e-01 -1.25100313e-01 1.44647220e+02] [ 4.25032417e-01 9.02492023e-01 -6.96820906e-02 4.55681051e+01] [ 1.42907851e-01 9.11197105e-03 9.89694053e-01 1.61169531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72710568099998 meters Centerline goodness [0,1] 0.999821914671687 Centerline is valid? [True, True] Translation: X:144.68, Y:45.58, Z:16.11 [[ 8.92861144e-01 -4.31319569e-01 -1.29469713e-01 1.44678652e+02] [ 4.25351095e-01 9.02151144e-01 -7.21093511e-02 4.55799616e+01] [ 1.47903424e-01 9.31355343e-03 9.88957954e-01 1.61133200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75710568099998 meters Centerline goodness [0,1] 0.999695385084023 Centerline is valid? [True, True] Translation: X:144.70, Y:45.60, Z:16.11 [[ 8.91730266e-01 -4.33140404e-01 -1.31173640e-01 1.44702365e+02] [ 4.27039467e-01 9.01280631e-01 -7.30103972e-02 4.56020717e+01] [ 1.49848014e-01 9.08925961e-03 9.88667264e-01 1.61112556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78710568099999 meters Centerline goodness [0,1] 0.9997218569839182 Centerline is valid? [True, True] Translation: X:144.74, Y:45.60, Z:16.11 [[ 8.88955708e-01 -4.37912222e-01 -1.34129172e-01 1.44737901e+02] [ 4.31586055e-01 8.98977828e-01 -7.46481254e-02 4.56016695e+01] [ 1.53268478e-01 8.47059693e-03 9.88148280e-01 1.61125425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.817105681 meters Centerline goodness [0,1] 0.9997476149613851 Centerline is valid? [True, True] Translation: X:144.77, Y:45.61, Z:16.12 [[ 8.86174358e-01 -4.43415829e-01 -1.34452261e-01 1.44768096e+02] [ 4.37122282e-01 8.96284352e-01 -7.48229250e-02 4.56092435e+01] [ 1.53685127e-01 7.53407821e-03 9.88091149e-01 1.61188809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.847105681 meters Centerline goodness [0,1] 0.999899568143015 Centerline is valid? [True, True] Translation: X:144.80, Y:45.62, Z:16.12 [[ 8.84783481e-01 -4.46433227e-01 -1.33624721e-01 1.44795407e+02] [ 4.40252274e-01 8.94789869e-01 -7.43574226e-02 4.56218470e+01] [ 1.52761670e-01 6.96163208e-03 9.88238538e-01 1.61229690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877105681 meters Centerline goodness [0,1] 0.9999751311830096 Centerline is valid? [True, True] Translation: X:144.83, Y:45.63, Z:16.13 [[ 8.81328611e-01 -4.53841552e-01 -1.31482795e-01 1.44828275e+02] [ 4.47940482e-01 8.91064910e-01 -7.31618127e-02 4.56250773e+01] [ 1.50363575e-01 5.58313236e-03 9.88615003e-01 1.61284087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.907105681 meters Centerline goodness [0,1] 0.9997779093870299 Centerline is valid? [True, True] Translation: X:144.86, Y:45.63, Z:16.13 [[ 8.75951125e-01 -4.63552077e-01 -1.33525650e-01 1.44859145e+02] [ 4.57577027e-01 8.86060739e-01 -7.42942240e-02 4.56311090e+01] [ 1.52751078e-01 3.97983924e-03 9.88256682e-01 1.61328064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937105681 meters Centerline goodness [0,1] 0.9996079872595859 Centerline is valid? [True, True] Translation: X:144.89, Y:45.64, Z:16.14 [[ 8.73077182e-01 -4.68854160e-01 -1.33835758e-01 1.44889046e+02] [ 4.62913000e-01 8.83270294e-01 -7.44657040e-02 4.56414855e+01] [ 1.53126704e-01 3.05999489e-03 9.88201826e-01 1.61370928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.967105681 meters Centerline goodness [0,1] 0.9994420319739938 Centerline is valid? [True, True] Translation: X:144.92, Y:45.64, Z:16.14 [[ 8.66182913e-01 -4.81846248e-01 -1.32481523e-01 1.44924644e+02] [ 4.76176396e-01 8.76255453e-01 -7.37049560e-02 4.56415744e+01] [ 1.51602114e-01 7.57399320e-04 9.88441311e-01 1.61397640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99710568099997 meters Centerline goodness [0,1] 0.998987781071506 Centerline is valid? [True, True] Translation: X:144.96, Y:45.65, Z:16.15 [[ 8.60663734e-01 -4.92120717e-01 -1.30671870e-01 1.44960153e+02] [ 4.86724253e-01 8.70526343e-01 -7.26869147e-02 4.56452437e+01] [ 1.49524042e-01 -1.04217680e-03 9.88757541e-01 1.61460088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02710568099997 meters Centerline goodness [0,1] 0.9989893642619952 Centerline is valid? [True, True] Translation: X:144.99, Y:45.66, Z:16.15 [[ 8.58677109e-01 -4.95547713e-01 -1.30790237e-01 1.44989634e+02] [ 4.90189673e-01 8.68579072e-01 -7.26944285e-02 4.56583614e+01] [ 1.49625220e-01 -1.69098158e-03 9.88741338e-01 1.61522481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05710568099997 meters Centerline goodness [0,1] 0.9988432898763766 Centerline is valid? [True, True] Translation: X:145.02, Y:45.67, Z:16.16 [[ 8.57016942e-01 -4.98193534e-01 -1.31625091e-01 1.45017005e+02] [ 4.92805332e-01 8.67063037e-01 -7.31067320e-02 4.56728213e+01] [ 1.50548552e-01 -2.21183867e-03 9.88600142e-01 1.61576188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08710568099997 meters Centerline goodness [0,1] 0.9987246125709885 Centerline is valid? [True, True] Translation: X:145.04, Y:45.69, Z:16.16 [[ 8.57903585e-01 -4.96687807e-01 -1.31539580e-01 1.45043543e+02] [ 4.91296263e-01 8.67926996e-01 -7.30117214e-02 4.56898980e+01] [ 1.50430784e-01 -1.98788626e-03 9.88618545e-01 1.61613543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11710568099997 meters Centerline goodness [0,1] 0.9987993756753512 Centerline is valid? [True, True] Translation: X:145.07, Y:45.72, Z:16.17 [[ 8.62161331e-01 -4.89683012e-01 -1.29955330e-01 1.45065442e+02] [ 4.84348711e-01 8.71900177e-01 -7.20861165e-02 4.57150686e+01] [ 1.48607422e-01 -7.93834524e-04 9.88895952e-01 1.61689893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14710568099997 meters Centerline goodness [0,1] 0.9993208993233247 Centerline is valid? [True, True] Translation: X:145.08, Y:45.74, Z:16.18 [[ 8.68535052e-01 -4.78806594e-01 -1.28027764e-01 1.45084804e+02] [ 4.73519020e-01 8.77919823e-01 -7.09684636e-02 4.57437288e+01] [ 1.46378280e-01 1.01501689e-03 9.89228168e-01 1.61773828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17710568099997 meters Centerline goodness [0,1] 0.9997314453125 Centerline is valid? [True, True] Translation: X:145.11, Y:45.77, Z:16.18 [[ 8.72396135e-01 -4.71986006e-01 -1.27099153e-01 1.45105842e+02] [ 4.66709401e-01 8.81603523e-01 -7.04099711e-02 4.57680471e+01] [ 1.45283582e-01 2.10701686e-03 9.89387811e-01 1.61838231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20710568099997 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:145.12, Y:45.80, Z:16.19 [[ 8.80253503e-01 -4.57794566e-01 -1.24811483e-01 1.45122405e+02] [ 4.52567421e-01 8.89047326e-01 -6.91200545e-02 4.58000657e+01] [ 1.42606101e-01 4.35755890e-03 9.89769929e-01 1.61932922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23710568099997 meters Centerline goodness [0,1] 0.9999497512687805 Centerline is valid? [True, True] Translation: X:145.14, Y:45.82, Z:16.20 [[ 8.85326924e-01 -4.47663398e-01 -1.25673063e-01 1.45144966e+02] [ 4.42262157e-01 8.94181807e-01 -6.95922492e-02 4.58233849e+01] [ 1.43528469e-01 6.03145213e-03 9.89627809e-01 1.61960918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26710568099998 meters Centerline goodness [0,1] 0.9997730195959749 Centerline is valid? [True, True] Translation: X:145.17, Y:45.84, Z:16.20 [[ 8.86714620e-01 -4.44328652e-01 -1.27707599e-01 1.45168696e+02] [ 4.38716754e-01 8.95839001e-01 -7.07113454e-02 4.58431058e+01] [ 1.45824525e-01 6.67332051e-03 9.89287964e-01 1.61985594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29710568099998 meters Centerline goodness [0,1] 0.9998473088179157 Centerline is valid? [True, True] Translation: X:145.19, Y:45.86, Z:16.20 [[ 8.88191517e-01 -4.41337078e-01 -1.27817888e-01 1.45193090e+02] [ 4.35688113e-01 8.97312913e-01 -7.07488873e-02 4.58641167e+01] [ 1.45916748e-01 7.14982725e-03 9.89271036e-01 1.62011981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32710568099998 meters Centerline goodness [0,1] 0.9997712368461187 Centerline is valid? [True, True] Translation: X:145.22, Y:45.88, Z:16.20 [[ 8.88156615e-01 -4.41146064e-01 -1.28716653e-01 1.45221042e+02] [ 4.35416327e-01 8.97406243e-01 -7.12366272e-02 4.58802289e+01] [ 1.46936886e-01 7.22394917e-03 9.89119490e-01 1.62036402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.25, Y:45.90, Z:16.21 [[ 8.87362927e-01 -4.42342623e-01 -1.30077056e-01 1.45246652e+02] [ 4.36511096e-01 8.96818406e-01 -7.19361480e-02 4.58990294e+01] [ 1.48475922e-01 7.05339263e-03 9.88890869e-01 1.62066788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38710568099998 meters Centerline goodness [0,1] 0.999872504271107 Centerline is valid? [True, True] Translation: X:145.28, Y:45.91, Z:16.21 [[ 8.85103106e-01 -4.46268651e-01 -1.32048413e-01 1.45277403e+02] [ 4.40307765e-01 8.94875758e-01 -7.29825304e-02 4.59071946e+01] [ 1.50736739e-01 6.45512286e-03 9.88552865e-01 1.62136288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41710568099998 meters Centerline goodness [0,1] 0.9998730867832576 Centerline is valid? [True, True] Translation: X:145.31, Y:45.92, Z:16.22 [[ 8.84080149e-01 -4.48438725e-01 -1.31548471e-01 1.45306011e+02] [ 4.42548148e-01 8.93793068e-01 -7.26986145e-02 4.59209159e+01] [ 1.50177986e-01 6.05486970e-03 9.88640436e-01 1.62181557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44710568099998 meters Centerline goodness [0,1] 0.999949368370421 Centerline is valid? [True, True] Translation: X:145.34, Y:45.93, Z:16.22 [[ 8.81256349e-01 -4.53949950e-01 -1.31592900e-01 1.45335074e+02] [ 4.48117741e-01 8.91012534e-01 -7.27128227e-02 4.59323549e+01] [ 1.50258905e-01 5.10952367e-03 9.88633478e-01 1.62171546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47710568099998 meters Centerline goodness [0,1] 0.9996734078633338 Centerline is valid? [True, True] Translation: X:145.37, Y:45.94, Z:16.22 [[ 8.77358663e-01 -4.61187533e-01 -1.32468245e-01 1.45367040e+02] [ 4.55358928e-01 8.87294130e-01 -7.31940739e-02 4.59379198e+01] [ 1.51294490e-01 3.89685685e-03 9.88481053e-01 1.62199708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50710568099998 meters Centerline goodness [0,1] 0.9996988858777477 Centerline is valid? [True, True] Translation: X:145.40, Y:45.95, Z:16.22 [[ 8.75057336e-01 -4.65499869e-01 -1.32606674e-01 1.45395933e+02] [ 4.59708408e-01 8.85042330e-01 -7.32683638e-02 4.59497397e+01] [ 1.51468933e-01 3.15361630e-03 9.88456988e-01 1.62248820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53710568099999 meters Centerline goodness [0,1] 0.999526338094882 Centerline is valid? [True, True] Translation: X:145.43, Y:45.96, Z:16.23 [[ 8.69591009e-01 -4.75643791e-01 -1.32568702e-01 1.45426802e+02] [ 4.69973182e-01 8.79636894e-01 -7.32403117e-02 4.59554261e+01] [ 1.51448620e-01 1.38538203e-03 9.88464160e-01 1.62303061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.567105681 meters Centerline goodness [0,1] 0.9991306291760849 Centerline is valid? [True, True] Translation: X:145.46, Y:45.96, Z:16.24 [[ 8.64784734e-01 -4.84226261e-01 -1.32937174e-01 1.45459017e+02] [ 4.78625285e-01 8.74942806e-01 -7.34365214e-02 4.59611111e+01] [ 1.51872316e-01 -1.20310089e-04 9.88400114e-01 1.62365767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597105681 meters Centerline goodness [0,1] 0.9990097784379255 Centerline is valid? [True, True] Translation: X:145.49, Y:45.97, Z:16.24 [[ 8.62895541e-01 -4.87382408e-01 -1.33677502e-01 1.45489065e+02] [ 4.81763409e-01 8.73188335e-01 -7.37980282e-02 4.59736164e+01] [ 1.52693496e-01 -7.20939779e-04 9.88273331e-01 1.62413420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.627105681 meters Centerline goodness [0,1] 0.9983956163301575 Centerline is valid? [True, True] Translation: X:145.52, Y:45.98, Z:16.24 [[ 8.60431435e-01 -4.91282611e-01 -1.35274321e-01 1.45518677e+02] [ 4.85583094e-01 8.70998984e-01 -7.46312881e-02 4.59840459e+01] [ 1.54488850e-01 -1.47181726e-03 9.87993436e-01 1.62418128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657105681 meters Centerline goodness [0,1] 0.9985710062087316 Centerline is valid? [True, True] Translation: X:145.55, Y:46.00, Z:16.24 [[ 8.59852790e-01 -4.91909257e-01 -1.36669169e-01 1.45547664e+02] [ 4.86100733e-01 8.70644982e-01 -7.53882875e-02 4.59992787e+01] [ 1.56074522e-01 -1.61215371e-03 9.87743967e-01 1.62442766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.687105681 meters Centerline goodness [0,1] 0.9988124396942032 Centerline is valid? [True, True] Translation: X:145.57, Y:46.02, Z:16.25 [[ 8.59589373e-01 -4.91719203e-01 -1.38990417e-01 1.45574686e+02] [ 4.85716691e-01 8.70752257e-01 -7.66146313e-02 4.60172416e+01] [ 1.58699105e-01 -1.65284279e-03 9.87325611e-01 1.62479957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71710568099996 meters Centerline goodness [0,1] 0.9987348994121004 Centerline is valid? [True, True] Translation: X:145.60, Y:46.04, Z:16.26 [[ 8.59927275e-01 -4.91459506e-01 -1.37813770e-01 1.45600292e+02] [ 4.85563827e-01 8.70898888e-01 -7.59137426e-02 4.60359913e+01] [ 1.57330389e-01 -1.63708361e-03 9.87544667e-01 1.62555018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74710568099997 meters Centerline goodness [0,1] 0.9986783042394015 Centerline is valid? [True, True] Translation: X:145.63, Y:46.05, Z:16.26 [[ 8.59705437e-01 -4.92060923e-01 -1.37049664e-01 1.45627849e+02] [ 4.86246710e-01 8.70558940e-01 -7.54404997e-02 4.60521962e+01] [ 1.56431132e-01 -1.78334047e-03 9.87687259e-01 1.62605430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77710568099997 meters Centerline goodness [0,1] 0.9986009094088842 Centerline is valid? [True, True] Translation: X:145.66, Y:46.07, Z:16.27 [[ 8.58952907e-01 -4.93877155e-01 -1.35222994e-01 1.45656113e+02] [ 4.88248675e-01 8.69529070e-01 -7.43802840e-02 4.60683461e+01] [ 1.54315047e-01 -2.13328653e-03 9.88019390e-01 1.62651099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80710568099997 meters Centerline goodness [0,1] 0.9983754467521432 Centerline is valid? [True, True] Translation: X:145.68, Y:46.08, Z:16.27 [[ 8.57941174e-01 -4.95485579e-01 -1.35760756e-01 1.45684004e+02] [ 4.89841358e-01 8.68612610e-01 -7.46162022e-02 4.60840276e+01] [ 1.54894757e-01 -2.48492114e-03 9.87927851e-01 1.62686844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83710568099997 meters Centerline goodness [0,1] 0.9981833320717584 Centerline is valid? [True, True] Translation: X:145.71, Y:46.10, Z:16.27 [[ 8.55771500e-01 -4.98966342e-01 -1.36703067e-01 1.45710394e+02] [ 4.93294823e-01 8.66615532e-01 -7.50848630e-02 4.61018661e+01] [ 1.55933821e-01 -3.17942963e-03 9.87762388e-01 1.62734290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86710568099997 meters Centerline goodness [0,1] 0.9981475842468535 Centerline is valid? [True, True] Translation: X:145.74, Y:46.12, Z:16.28 [[ 8.53880984e-01 -5.02700722e-01 -1.34830445e-01 1.45736794e+02] [ 4.97233347e-01 8.64452065e-01 -7.40380058e-02 4.61186871e+01] [ 1.53773416e-01 -3.82254821e-03 9.88098742e-01 1.62810472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89710568099997 meters Centerline goodness [0,1] 0.9982943407754385 Centerline is valid? [True, True] Translation: X:145.77, Y:46.13, Z:16.29 [[ 8.52709719e-01 -5.04852954e-01 -1.34199966e-01 1.45765164e+02] [ 4.99471291e-01 8.63194970e-01 -7.36401537e-02 4.61338919e+01] [ 1.53018185e-01 -4.23535574e-03 9.88214297e-01 1.62866471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92710568099997 meters Centerline goodness [0,1] 0.9982389423445037 Centerline is valid? [True, True] Translation: X:145.79, Y:46.15, Z:16.29 [[ 8.50311814e-01 -5.09094887e-01 -1.33387461e-01 1.45791795e+02] [ 5.03838011e-01 8.60695815e-01 -7.31435045e-02 4.61502034e+01] [ 1.52043013e-01 -5.01088683e-03 9.88361175e-01 1.62920985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95710568099997 meters Centerline goodness [0,1] 0.9981011034128817 Centerline is valid? [True, True] Translation: X:145.82, Y:46.17, Z:16.30 [[ 8.47738157e-01 -5.13559123e-01 -1.32653851e-01 1.45817592e+02] [ 5.08421033e-01 8.58034499e-01 -7.26969870e-02 4.61670916e+01] [ 1.51155781e-01 -5.81599798e-03 9.88492845e-01 1.62974768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98710568099997 meters Centerline goodness [0,1] 0.9977621730071765 Centerline is valid? [True, True] Translation: X:145.84, Y:46.18, Z:16.30 [[ 8.47014864e-01 -5.15131652e-01 -1.31168599e-01 1.45844267e+02] [ 5.10128779e-01 8.57089815e-01 -7.18726424e-02 4.61842024e+01] [ 1.49447143e-01 -6.03568072e-03 9.88751294e-01 1.63034227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01710568099998 meters Centerline goodness [0,1] 0.9980380008261049 Centerline is valid? [True, True] Translation: X:145.87, Y:46.20, Z:16.31 [[ 8.46427457e-01 -5.16101982e-01 -1.31146120e-01 1.45870379e+02] [ 5.11120128e-01 8.56504336e-01 -7.18090340e-02 4.62004721e+01] [ 1.49388005e-01 -6.25028345e-03 9.88758898e-01 1.63078305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04710568099998 meters Centerline goodness [0,1] 0.9976465720123102 Centerline is valid? [True, True] Translation: X:145.90, Y:46.22, Z:16.31 [[ 8.47272908e-01 -5.14798027e-01 -1.30811356e-01 1.45897718e+02] [ 5.09833180e-01 8.57290183e-01 -7.15798235e-02 4.62179661e+01] [ 1.48992443e-01 -6.04432419e-03 9.88819861e-01 1.63131636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07710568099998 meters Centerline goodness [0,1] 0.998164663306191 Centerline is valid? [True, True] Translation: X:145.92, Y:46.23, Z:16.32 [[ 8.48548697e-01 -5.12981754e-01 -1.29672004e-01 1.45923686e+02] [ 5.08086571e-01 8.58380595e-01 -7.09280705e-02 4.62348432e+01] [ 1.47692738e-01 -5.69868219e-03 9.89016876e-01 1.63175229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10710568099998 meters Centerline goodness [0,1] 0.998445716654146 Centerline is valid? [True, True] Translation: X:145.95, Y:46.25, Z:16.32 [[ 8.49199478e-01 -5.11860804e-01 -1.29841303e-01 1.45951959e+02] [ 5.06946444e-01 8.59050474e-01 -7.09759575e-02 4.62520072e+01] [ 1.47870043e-01 -5.54984070e-03 9.88991228e-01 1.63177965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13710568099998 meters Centerline goodness [0,1] 0.9980582021541011 Centerline is valid? [True, True] Translation: X:145.98, Y:46.27, Z:16.32 [[ 8.49981196e-01 -5.10700003e-01 -1.29296070e-01 1.45980081e+02] [ 5.05816632e-01 8.59742385e-01 -7.06580885e-02 4.62669116e+01] [ 1.47246398e-01 -5.34205619e-03 9.89085416e-01 1.63204360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16710568099998 meters Centerline goodness [0,1] 0.9982589262512344 Centerline is valid? [True, True] Translation: X:146.01, Y:46.28, Z:16.32 [[ 8.50246283e-01 -5.10194872e-01 -1.29547100e-01 1.46008409e+02] [ 5.05294152e-01 8.60042445e-01 -7.07446968e-02 4.62842140e+01] [ 1.47509586e-01 -5.30897677e-03 9.89046377e-01 1.63239511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19710568099998 meters Centerline goodness [0,1] 0.9979198627109389 Centerline is valid? [True, True] Translation: X:146.03, Y:46.30, Z:16.33 [[ 8.51007852e-01 -5.08907518e-01 -1.29610084e-01 1.46034868e+02] [ 5.03995615e-01 8.60805869e-01 -7.07225248e-02 4.63003296e+01] [ 1.47560346e-01 -5.13749029e-03 9.89039711e-01 1.63301494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22710568099998 meters Centerline goodness [0,1] 0.9981228980368642 Centerline is valid? [True, True] Translation: X:146.06, Y:46.32, Z:16.34 [[ 8.51733602e-01 -5.07590511e-01 -1.30006712e-01 1.46060131e+02] [ 5.02640067e-01 8.61584135e-01 -7.08924640e-02 4.63196662e+01] [ 1.47996062e-01 -4.96508855e-03 9.88975487e-01 1.63364642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25710568099998 meters Centerline goodness [0,1] 0.9982796371598374 Centerline is valid? [True, True] Translation: X:146.09, Y:46.34, Z:16.34 [[ 8.52905398e-01 -5.05461103e-01 -1.30619509e-01 1.46086984e+02] [ 5.00446400e-01 8.62836801e-01 -7.11762371e-02 4.63359880e+01] [ 1.48680138e-01 -4.66146599e-03 9.88874354e-01 1.63378803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28710568099999 meters Centerline goodness [0,1] 0.9982843328394292 Centerline is valid? [True, True] Translation: X:146.12, Y:46.35, Z:16.34 [[ 8.53080140e-01 -5.04947258e-01 -1.31463076e-01 1.46116178e+02] [ 4.99868415e-01 8.63137707e-01 -7.15881705e-02 4.63517210e+01] [ 1.49618989e-01 -4.64379305e-03 9.88732822e-01 1.63381397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.317105681 meters Centerline goodness [0,1] 0.9981004423627374 Centerline is valid? [True, True] Translation: X:146.14, Y:46.37, Z:16.34 [[ 8.53249745e-01 -5.04414742e-01 -1.32403328e-01 1.46144696e+02] [ 4.99265161e-01 8.63449064e-01 -7.20417361e-02 4.63673568e+01] [ 1.50662443e-01 -4.63477606e-03 9.88574401e-01 1.63425953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.347105681 meters Centerline goodness [0,1] 0.9984842149278695 Centerline is valid? [True, True] Translation: X:146.17, Y:46.38, Z:16.35 [[ 8.53139289e-01 -5.04393375e-01 -1.33194131e-01 1.46172684e+02] [ 4.99190454e-01 8.63461138e-01 -7.24137673e-02 4.63807414e+01] [ 1.51532981e-01 -4.71020893e-03 9.88440979e-01 1.63467153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377105681 meters Centerline goodness [0,1] 0.9983281960190168 Centerline is valid? [True, True] Translation: X:146.20, Y:46.40, Z:16.35 [[ 8.52741605e-01 -5.04997536e-01 -1.33451282e-01 1.46199682e+02] [ 4.99789083e-01 8.63107052e-01 -7.25057879e-02 4.63982162e+01] [ 1.51797987e-01 -4.86879164e-03 9.88399548e-01 1.63535927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.407105681 meters Centerline goodness [0,1] 0.998276672411092 Centerline is valid? [True, True] Translation: X:146.23, Y:46.41, Z:16.36 [[ 8.52895079e-01 -5.04651229e-01 -1.33780122e-01 1.46228070e+02] [ 4.99420611e-01 8.63309607e-01 -7.26331569e-02 4.64128463e+01] [ 1.52148077e-01 -4.86408836e-03 9.88345741e-01 1.63578726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437105681 meters Centerline goodness [0,1] 0.998094044541918 Centerline is valid? [True, True] Translation: X:146.26, Y:46.43, Z:16.36 [[ 8.52799752e-01 -5.04642636e-01 -1.34418720e-01 1.46256016e+02] [ 4.99370000e-01 8.63314235e-01 -7.29255497e-02 4.64290892e+01] [ 1.52846936e-01 -4.93378529e-03 9.88237558e-01 1.63630975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46710568099996 meters Centerline goodness [0,1] 0.9979106270730497 Centerline is valid? [True, True] Translation: X:146.28, Y:46.44, Z:16.37 [[ 8.53179301e-01 -5.04376110e-01 -1.33003079e-01 1.46283410e+02] [ 4.99218885e-01 8.63470299e-01 -7.21078907e-02 4.64428556e+01] [ 1.51213706e-01 -4.87668910e-03 9.88489066e-01 1.63691820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49710568099997 meters Centerline goodness [0,1] 0.9980921516870084 Centerline is valid? [True, True] Translation: X:146.31, Y:46.46, Z:16.37 [[ 8.53532520e-01 -5.03740825e-01 -1.33144355e-01 1.46310593e+02] [ 4.98572068e-01 8.63841446e-01 -7.21377106e-02 4.64588639e+01] [ 1.51354322e-01 -4.81017441e-03 9.88467871e-01 1.63746308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52710568099997 meters Centerline goodness [0,1] 0.9982535710561985 Centerline is valid? [True, True] Translation: X:146.34, Y:46.47, Z:16.38 [[ 8.53398491e-01 -5.03950614e-01 -1.33209589e-01 1.46338708e+02] [ 4.98786984e-01 8.63718606e-01 -7.21229061e-02 4.64734723e+01] [ 1.51401984e-01 -4.89363009e-03 9.88460162e-01 1.63787814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55710568099997 meters Centerline goodness [0,1] 0.9978659171351238 Centerline is valid? [True, True] Translation: X:146.37, Y:46.49, Z:16.38 [[ 8.53214295e-01 -5.04364838e-01 -1.32821220e-01 1.46366870e+02] [ 4.99244136e-01 8.63476198e-01 -7.18620029e-02 4.64883019e+01] [ 1.50932629e-01 -4.99652697e-03 9.88531424e-01 1.63847187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58710568099997 meters Centerline goodness [0,1] 0.9978659171351238 Centerline is valid? [True, True] Translation: X:146.40, Y:46.50, Z:16.39 [[ 8.53385021e-01 -5.04070194e-01 -1.32842935e-01 1.46395464e+02] [ 4.98952192e-01 8.63648269e-01 -7.18218395e-02 4.65035746e+01] [ 1.50932820e-01 -4.99059157e-03 9.88531425e-01 1.63892430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61710568099997 meters Centerline goodness [0,1] 0.9980198535733826 Centerline is valid? [True, True] Translation: X:146.42, Y:46.52, Z:16.40 [[ 8.53580851e-01 -5.03738957e-01 -1.32841238e-01 1.46423069e+02] [ 4.98625699e-01 8.63841566e-01 -7.17646232e-02 4.65178857e+01] [ 1.50904419e-01 -4.98114689e-03 9.88535808e-01 1.63959671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64710568099997 meters Centerline goodness [0,1] 0.9980432060112712 Centerline is valid? [True, True] Translation: X:146.45, Y:46.53, Z:16.40 [[ 8.54206055e-01 -5.02558088e-01 -1.33294351e-01 1.46450667e+02] [ 4.97400119e-01 8.64530032e-01 -7.19787862e-02 4.65344362e+01] [ 1.51410490e-01 -4.81591089e-03 9.88459241e-01 1.64001739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67710568099997 meters Centerline goodness [0,1] 0.998216346658273 Centerline is valid? [True, True] Translation: X:146.47, Y:46.56, Z:16.40 [[ 8.57645805e-01 -4.96496192e-01 -1.33922385e-01 1.46474437e+02] [ 4.91222816e-01 8.68030569e-01 -7.22708525e-02 4.65561708e+01] [ 1.52130927e-01 -3.80293754e-03 9.88353033e-01 1.64040911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70710568099997 meters Centerline goodness [0,1] 0.998891820580475 Centerline is valid? [True, True] Translation: X:146.50, Y:46.57, Z:16.41 [[ 8.59396726e-01 -4.93591183e-01 -1.33435418e-01 1.46499783e+02] [ 4.88323047e-01 8.69687847e-01 -7.19975657e-02 4.65738383e+01] [ 1.51584525e-01 -3.28511785e-03 9.88438840e-01 1.64088131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73710568099997 meters Centerline goodness [0,1] 0.9991780022803808 Centerline is valid? [True, True] Translation: X:146.52, Y:46.60, Z:16.42 [[ 8.63103823e-01 -4.87349050e-01 -1.32448835e-01 1.46522168e+02] [ 4.82089658e-01 8.73204497e-01 -7.14385662e-02 4.65965798e+01] [ 1.50470435e-01 -2.19331375e-03 9.88612076e-01 1.64160271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76710568099998 meters Centerline goodness [0,1] 0.9989873687576614 Centerline is valid? [True, True] Translation: X:146.55, Y:46.62, Z:16.42 [[ 8.65201340e-01 -4.83563537e-01 -1.32638406e-01 1.46548037e+02] [ 4.78245944e-01 8.75307902e-01 -7.15324680e-02 4.66166211e+01] [ 1.50689938e-01 -1.54379237e-03 9.88579870e-01 1.64215075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79710568099998 meters Centerline goodness [0,1] 0.9992229784041584 Centerline is valid? [True, True] Translation: X:146.57, Y:46.64, Z:16.43 [[ 8.68553588e-01 -4.77636967e-01 -1.32202844e-01 1.46571665e+02] [ 4.72289046e-01 8.78557139e-01 -7.12769938e-02 4.66388098e+01] [ 1.50192280e-01 -5.30066426e-04 9.88656663e-01 1.64251815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82710568099998 meters Centerline goodness [0,1] 0.99905967061605 Centerline is valid? [True, True] Translation: X:146.60, Y:46.66, Z:16.43 [[ 8.69726538e-01 -4.75906477e-01 -1.30724039e-01 1.46598390e+02] [ 4.70665725e-01 8.79495851e-01 -7.04331096e-02 4.66566133e+01] [ 1.48490823e-01 -2.69780135e-04 9.88913749e-01 1.64316852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85710568099998 meters Centerline goodness [0,1] 0.9991113504779857 Centerline is valid? [True, True] Translation: X:146.63, Y:46.67, Z:16.44 [[ 8.69810337e-01 -4.75863880e-01 -1.30320932e-01 1.46625538e+02] [ 4.70662431e-01 8.79518888e-01 -7.01669518e-02 4.66720596e+01] [ 1.48009639e-01 -3.05226863e-04 9.88985871e-01 1.64376757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88710568099998 meters Centerline goodness [0,1] 0.9990865617108162 Centerline is valid? [True, True] Translation: X:146.65, Y:46.69, Z:16.45 [[ 8.70221015e-01 -4.75604115e-01 -1.28515022e-01 1.46652997e+02] [ 4.70548969e-01 8.79659390e-01 -6.91594169e-02 4.66883270e+01] [ 1.45941949e-01 -2.88633177e-04 9.89293113e-01 1.64461848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91710568099998 meters Centerline goodness [0,1] 0.9991915925626516 Centerline is valid? [True, True] Translation: X:146.68, Y:46.70, Z:16.45 [[ 8.70096152e-01 -4.75972768e-01 -1.27994572e-01 1.46683242e+02] [ 4.70969809e-01 8.79459931e-01 -6.88307250e-02 4.67023093e+01] [ 1.45327648e-01 -3.92230138e-04 9.89383505e-01 1.64494308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94710568099998 meters Centerline goodness [0,1] 0.9993045153006633 Centerline is valid? [True, True] Translation: X:146.71, Y:46.71, Z:16.45 [[ 8.70436283e-01 -4.75220815e-01 -1.28475112e-01 1.46714205e+02] [ 4.70180198e-01 8.79866510e-01 -6.90326382e-02 4.67137565e+01] [ 1.45846695e-01 -3.17940611e-04 9.89307152e-01 1.64481580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97710568099998 meters Centerline goodness [0,1] 0.9994923722247455 Centerline is valid? [True, True] Translation: X:146.74, Y:46.73, Z:16.46 [[ 8.71268040e-01 -4.73633408e-01 -1.28698865e-01 1.46741841e+02] [ 4.68565654e-01 8.80722081e-01 -6.91002414e-02 4.67281984e+01] [ 1.46076115e-01 -9.90360814e-05 9.89273349e-01 1.64552186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00710568099998 meters Centerline goodness [0,1] 0.9993843188692882 Centerline is valid? [True, True] Translation: X:146.77, Y:46.74, Z:16.46 [[ 8.71727461e-01 -4.72520403e-01 -1.29675376e-01 1.46770607e+02] [ 4.67370656e-01 8.81319730e-01 -6.95715707e-02 4.67441771e+01] [ 1.47159454e-01 4.09833043e-05 9.89112781e-01 1.64617055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03710568099999 meters Centerline goodness [0,1] 0.9990893019767504 Centerline is valid? [True, True] Translation: X:146.80, Y:46.76, Z:16.46 [[ 8.73813942e-01 -4.68420905e-01 -1.30503070e-01 1.46799012e+02] [ 4.63167799e-01 8.83505170e-01 -6.99585892e-02 4.67594523e+01] [ 1.48070202e-01 6.85970974e-04 9.88976615e-01 1.64633859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.067105681 meters Centerline goodness [0,1] 0.9995189995189995 Centerline is valid? [True, True] Translation: X:146.82, Y:46.78, Z:16.47 [[ 8.77753485e-01 -4.60730210e-01 -1.31440077e-01 1.46824869e+02] [ 4.55322359e-01 8.87538083e-01 -7.04109412e-02 4.67777121e+01] [ 1.49098521e-01 1.95584313e-03 9.88820411e-01 1.64674054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097105681 meters Centerline goodness [0,1] 0.9996255683337791 Centerline is valid? [True, True] Translation: X:146.85, Y:46.80, Z:16.47 [[ 8.80173512e-01 -4.55914365e-01 -1.32048020e-01 1.46851457e+02] [ 4.50408704e-01 8.90019410e-01 -7.06926368e-02 4.67950197e+01] [ 1.49755090e-01 2.74620863e-03 9.88719309e-01 1.64720527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.127105681 meters Centerline goodness [0,1] 0.9996785082784119 Centerline is valid? [True, True] Translation: X:146.88, Y:46.81, Z:16.48 [[ 8.83826693e-01 -4.48483705e-01 -1.33089232e-01 1.46876984e+02] [ 4.42808645e-01 8.93781942e-01 -7.12344360e-02 4.68133108e+01] [ 1.50900236e-01 4.02583342e-03 9.88540799e-01 1.64753764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157105681 meters Centerline goodness [0,1] 0.9997058272938786 Centerline is valid? [True, True] Translation: X:146.91, Y:46.83, Z:16.48 [[ 8.85021658e-01 -4.45872201e-01 -1.33920295e-01 1.46905074e+02] [ 4.40100049e-01 8.95085445e-01 -7.16518940e-02 4.68293570e+01] [ 1.51817695e-01 4.47514960e-03 9.88398382e-01 1.64790714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.187105681 meters Centerline goodness [0,1] 0.9997865243495664 Centerline is valid? [True, True] Translation: X:146.93, Y:46.84, Z:16.48 [[ 8.86824214e-01 -4.42346684e-01 -1.33687038e-01 1.46933636e+02] [ 4.36557091e-01 8.96829881e-01 -7.15127269e-02 4.68442711e+01] [ 1.51527948e-01 5.05719355e-03 9.88440037e-01 1.64815378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21710568099996 meters Centerline goodness [0,1] 0.9996306166064219 Centerline is valid? [True, True] Translation: X:146.97, Y:46.86, Z:16.49 [[ 8.87539191e-01 -4.41305662e-01 -1.32376349e-01 1.46965138e+02] [ 4.35620894e-01 8.97341974e-01 -7.07942008e-02 4.68550578e+01] [ 1.50028736e-01 5.16672404e-03 9.88668136e-01 1.64852176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24710568099997 meters Centerline goodness [0,1] 0.9996585148020699 Centerline is valid? [True, True] Translation: X:147.00, Y:46.87, Z:16.49 [[ 8.86727095e-01 -4.42960765e-01 -1.32290665e-01 1.46995165e+02] [ 4.37309957e-01 8.96527965e-01 -7.06937650e-02 4.68673375e+01] [ 1.49916845e-01 4.83405193e-03 9.88686791e-01 1.64908710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27710568099997 meters Centerline goodness [0,1] 0.9997127787351819 Centerline is valid? [True, True] Translation: X:147.03, Y:46.87, Z:16.50 [[ 8.82942169e-01 -4.50515265e-01 -1.32095123e-01 1.47027845e+02] [ 4.44967459e-01 8.92761733e-01 -7.05722860e-02 4.68714197e+01] [ 1.49723363e-01 3.53321605e-03 9.88721614e-01 1.64978089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30710568099997 meters Centerline goodness [0,1] 0.9994808431107881 Centerline is valid? [True, True] Translation: X:147.06, Y:46.88, Z:16.50 [[ 8.81098202e-01 -4.54132138e-01 -1.32022572e-01 1.47059253e+02] [ 4.48631870e-01 8.90929587e-01 -7.05259985e-02 4.68812826e+01] [ 1.49650938e-01 2.91079715e-03 9.88734607e-01 1.65026352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33710568099997 meters Centerline goodness [0,1] 0.9996904823316998 Centerline is valid? [True, True] Translation: X:147.09, Y:46.89, Z:16.50 [[ 8.78213694e-01 -4.59740886e-01 -1.31829533e-01 1.47090293e+02] [ 4.54321968e-01 8.88050990e-01 -7.04058858e-02 4.68879635e+01] [ 1.49439812e-01 1.93836006e-03 9.88768924e-01 1.65048056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36710568099997 meters Centerline goodness [0,1] 0.9997434910863152 Centerline is valid? [True, True] Translation: X:147.12, Y:46.90, Z:16.51 [[ 8.76825222e-01 -4.62255417e-01 -1.32277962e-01 1.47121069e+02] [ 4.56828819e-01 8.86745540e-01 -7.06383587e-02 4.68976922e+01] [ 1.49949857e-01 1.50910953e-03 9.88692451e-01 1.65102208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39710568099997 meters Centerline goodness [0,1] 0.9995399478607575 Centerline is valid? [True, True] Translation: X:147.15, Y:46.91, Z:16.52 [[ 8.77143820e-01 -4.61736952e-01 -1.31976156e-01 1.47149998e+02] [ 4.56336925e-01 8.87015550e-01 -7.04274400e-02 4.69122988e+01] [ 1.49583854e-01 1.54940056e-03 9.88747829e-01 1.65152456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42710568099997 meters Centerline goodness [0,1] 0.9994619523443505 Centerline is valid? [True, True] Translation: X:147.18, Y:46.93, Z:16.52 [[ 8.77955919e-01 -4.60091643e-01 -1.32321896e-01 1.47178908e+02] [ 4.54653073e-01 8.87869640e-01 -7.05555533e-02 4.69256684e+01] [ 1.49946614e-01 1.78410911e-03 9.88692485e-01 1.65182359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45710568099997 meters Centerline goodness [0,1] 0.9993364977287806 Centerline is valid? [True, True] Translation: X:147.21, Y:46.94, Z:16.52 [[ 8.79043058e-01 -4.57621345e-01 -1.33663785e-01 1.47208214e+02] [ 4.52050673e-01 8.89144500e-01 -7.12197127e-02 4.69397020e+01] [ 1.51438080e-01 2.18239015e-03 9.88464337e-01 1.65189890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48710568099997 meters Centerline goodness [0,1] 0.9998208343997952 Centerline is valid? [True, True] Translation: X:147.23, Y:46.96, Z:16.52 [[ 8.79638189e-01 -4.56156715e-01 -1.34750541e-01 1.47234249e+02] [ 4.50485152e-01 8.89896199e-01 -7.17487493e-02 4.69560572e+01] [ 1.52642668e-01 2.40982187e-03 9.88278508e-01 1.65219491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51710568099998 meters Centerline goodness [0,1] 0.999795730773159 Centerline is valid? [True, True] Translation: X:147.26, Y:46.97, Z:16.53 [[ 8.80878110e-01 -4.53569597e-01 -1.35382333e-01 1.47261137e+02] [ 4.47818378e-01 8.91216314e-01 -7.20567982e-02 4.69729803e+01] [ 1.53337717e-01 2.84655926e-03 9.88169743e-01 1.65269394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54710568099998 meters Centerline goodness [0,1] 0.9998720802312789 Centerline is valid? [True, True] Translation: X:147.29, Y:46.99, Z:16.53 [[ 8.81815839e-01 -4.51760015e-01 -1.35328175e-01 1.47289557e+02] [ 4.46000071e-01 8.92134065e-01 -7.19774114e-02 4.69882290e+01] [ 1.53247391e-01 3.11444602e-03 9.88182947e-01 1.65321602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57710568099998 meters Centerline goodness [0,1] 0.9996679098758494 Centerline is valid? [True, True] Translation: X:147.32, Y:47.00, Z:16.54 [[ 8.83408790e-01 -4.48671622e-01 -1.35213476e-01 1.47316496e+02] [ 4.42893366e-01 8.93689434e-01 -7.18655845e-02 4.70042628e+01] [ 1.53082903e-01 3.60153739e-03 9.88206787e-01 1.65366850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60710568099998 meters Centerline goodness [0,1] 0.9998726114649682 Centerline is valid? [True, True] Translation: X:147.34, Y:47.02, Z:16.54 [[ 8.85572309e-01 -4.44684775e-01 -1.34227931e-01 1.47344228e+02] [ 4.38952081e-01 8.95677198e-01 -7.12981663e-02 4.70198884e+01] [ 1.51930106e-01 4.22005233e-03 9.88382231e-01 1.65428602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63710568099998 meters Centerline goodness [0,1] 0.9998470168281489 Centerline is valid? [True, True] Translation: X:147.37, Y:47.03, Z:16.55 [[ 8.86625647e-01 -4.42822066e-01 -1.33430055e-01 1.47372318e+02] [ 4.37139385e-01 8.96598238e-01 -7.08573056e-02 4.70347748e+01] [ 1.51010330e-01 4.49637240e-03 9.88521959e-01 1.65508138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66710568099998 meters Centerline goodness [0,1] 0.9998980242192479 Centerline is valid? [True, True] Translation: X:147.40, Y:47.05, Z:16.56 [[ 8.88561476e-01 -4.39828184e-01 -1.30421134e-01 1.47400486e+02] [ 4.34375538e-01 8.98068860e-01 -6.92113818e-02 4.70484925e+01] [ 1.47568276e-01 4.84681732e-03 9.89039995e-01 1.65603557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69710568099998 meters Centerline goodness [0,1] 0.9998494127095673 Centerline is valid? [True, True] Translation: X:147.43, Y:47.06, Z:16.57 [[ 8.90874322e-01 -4.36289799e-01 -1.26467993e-01 1.47428741e+02] [ 4.31135663e-01 8.99791041e-01 -6.70680448e-02 4.70599433e+01] [ 1.43055871e-01 5.22433684e-03 9.89700826e-01 1.65655332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72710568099998 meters Centerline goodness [0,1] 0.9999245510789195 Centerline is valid? [True, True] Translation: X:147.46, Y:47.07, Z:16.57 [[ 8.92540213e-01 -4.33479655e-01 -1.24367825e-01 1.47457404e+02] [ 4.28470055e-01 9.01146121e-01 -6.59475626e-02 4.70736909e+01] [ 1.40660510e-01 5.57296269e-03 9.90042203e-01 1.65719829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75710568099998 meters Centerline goodness [0,1] 0.9998498385764697 Centerline is valid? [True, True] Translation: X:147.48, Y:47.09, Z:16.58 [[ 8.95807374e-01 -4.27628259e-01 -1.21091785e-01 1.47484332e+02] [ 4.22829008e-01 9.03932678e-01 -6.41976965e-02 4.70875328e+01] [ 1.36911571e-01 6.30765063e-03 9.90563191e-01 1.65807052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78710568099999 meters Centerline goodness [0,1] 0.9997504865512251 Centerline is valid? [True, True] Translation: X:147.51, Y:47.10, Z:16.59 [[ 8.97237018e-01 -4.24549974e-01 -1.21338586e-01 1.47512312e+02] [ 4.19703969e-01 9.05379077e-01 -6.43218876e-02 4.71011889e+01] [ 1.37165272e-01 6.78569271e-03 9.90524933e-01 1.65852483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.817105681 meters Centerline goodness [0,1] 0.9999008428358949 Centerline is valid? [True, True] Translation: X:147.54, Y:47.11, Z:16.59 [[ 8.99214027e-01 -4.19148582e-01 -1.25413715e-01 1.47541680e+02] [ 4.13918371e-01 9.07883591e-01 -6.64753098e-02 4.71128588e+01] [ 1.41724086e-01 7.86449045e-03 9.89874958e-01 1.65861072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.847105681 meters Centerline goodness [0,1] 0.9998035556428642 Centerline is valid? [True, True] Translation: X:147.57, Y:47.12, Z:16.58 [[ 9.00094715e-01 -4.16219302e-01 -1.28806041e-01 1.47574842e+02] [ 4.10671464e-01 9.09224049e-01 -6.82684182e-02 4.71189665e+01] [ 1.45528184e-01 8.55107702e-03 9.89317152e-01 1.65842303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877105681 meters Centerline goodness [0,1] 0.9998782002874473 Centerline is valid? [True, True] Translation: X:147.60, Y:47.13, Z:16.59 [[ 9.00218464e-01 -4.15758204e-01 -1.29428870e-01 1.47603252e+02] [ 4.10152842e-01 9.09433956e-01 -6.85895426e-02 4.71326536e+01] [ 1.46223674e-01 8.65995402e-03 9.89213648e-01 1.65859250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.907105681 meters Centerline goodness [0,1] 0.9999275257283664 Centerline is valid? [True, True] Translation: X:147.64, Y:47.14, Z:16.59 [[ 8.99454405e-01 -4.16890465e-01 -1.31088191e-01 1.47635191e+02] [ 4.11158312e-01 9.08916570e-01 -6.94227042e-02 4.71404719e+01] [ 1.48089892e-01 8.54455774e-03 9.88936992e-01 1.65871704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:47.15, Z:16.59 [[ 8.98463039e-01 -4.18216140e-01 -1.33639173e-01 1.47667632e+02] [ 4.12279183e-01 9.08308270e-01 -7.07245525e-02 4.71479104e+01] [ 1.50963715e-01 8.44674754e-03 9.88503217e-01 1.65892441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96710568099996 meters Centerline goodness [0,1] 0.9999761757278315 Centerline is valid? [True, True] Translation: X:147.70, Y:47.15, Z:16.59 [[ 8.95723671e-01 -4.22843904e-01 -1.37412295e-01 1.47701448e+02] [ 4.16625754e-01 9.06168565e-01 -7.26740198e-02 4.71515437e+01] [ 1.55248469e-01 7.84633862e-03 9.87844293e-01 1.65861049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99710568099997 meters Centerline goodness [0,1] 0.9998822115950906 Centerline is valid? [True, True] Translation: X:147.73, Y:47.15, Z:16.59 [[ 8.93054222e-01 -4.27884124e-01 -1.39173750e-01 1.47733748e+02] [ 4.21565476e-01 9.03806031e-01 -7.36016909e-02 4.71539654e+01] [ 1.57279070e-01 7.05945263e-03 9.87528966e-01 1.65873545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02710568099997 meters Centerline goodness [0,1] 0.9999069052994158 Centerline is valid? [True, True] Translation: X:147.77, Y:47.15, Z:16.59 [[ 8.89931052e-01 -4.33940011e-01 -1.40423608e-01 1.47768262e+02] [ 4.27581117e-01 9.00921482e-01 -7.42621874e-02 4.71533884e+01] [ 1.58735979e-01 6.04574358e-03 9.87302556e-01 1.65935906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05710568099997 meters Centerline goodness [0,1] 0.9998840633477868 Centerline is valid? [True, True] Translation: X:147.80, Y:47.16, Z:16.60 [[ 8.88581909e-01 -4.36716066e-01 -1.40361206e-01 1.47798373e+02] [ 4.30397875e-01 8.99582317e-01 -7.42248195e-02 4.71630521e+01] [ 1.58681630e-01 5.54366686e-03 9.87314240e-01 1.65993959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08710568099997 meters Centerline goodness [0,1] 0.9998621925170537 Centerline is valid? [True, True] Translation: X:147.83, Y:47.17, Z:16.60 [[ 8.86326616e-01 -4.41668685e-01 -1.39118303e-01 1.47829387e+02] [ 4.35524157e-01 8.97166387e-01 -7.35607398e-02 4.71676108e+01] [ 1.57301741e-01 4.60945976e-03 9.87539830e-01 1.66047750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11710568099997 meters Centerline goodness [0,1] 0.9999083073537502 Centerline is valid? [True, True] Translation: X:147.86, Y:47.18, Z:16.61 [[ 8.85468168e-01 -4.43539717e-01 -1.38631321e-01 1.47860752e+02] [ 4.37462211e-01 8.96244613e-01 -7.32967120e-02 4.71773832e+01] [ 1.56757577e-01 4.25594130e-03 9.87627941e-01 1.66094461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14710568099997 meters Centerline goodness [0,1] 0.9997498749374687 Centerline is valid? [True, True] Translation: X:147.89, Y:47.18, Z:16.61 [[ 8.83261133e-01 -4.48278171e-01 -1.37464368e-01 1.47891692e+02] [ 4.42367481e-01 8.93887857e-01 -7.26327162e-02 4.71849303e+01] [ 1.55437390e-01 3.34388919e-03 9.87840086e-01 1.66100941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17710568099997 meters Centerline goodness [0,1] 0.9997963017450151 Centerline is valid? [True, True] Translation: X:147.92, Y:47.19, Z:16.62 [[ 8.82103898e-01 -4.50684946e-01 -1.37024786e-01 1.47923471e+02] [ 4.44842905e-01 8.92678369e-01 -7.23886718e-02 4.71925115e+01] [ 1.54943547e-01 2.89982593e-03 9.87919070e-01 1.66161347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20710568099997 meters Centerline goodness [0,1] 0.999457271432125 Centerline is valid? [True, True] Translation: X:147.96, Y:47.20, Z:16.62 [[ 8.79415496e-01 -4.55719605e-01 -1.37651834e-01 1.47957650e+02] [ 4.49892647e-01 8.90121187e-01 -7.26696505e-02 4.71971482e+01] [ 1.55643798e-01 1.97826894e-03 9.87811265e-01 1.66194480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23710568099997 meters Centerline goodness [0,1] 0.9992337337450137 Centerline is valid? [True, True] Translation: X:147.99, Y:47.21, Z:16.62 [[ 8.78165637e-01 -4.57916145e-01 -1.38339865e-01 1.47988551e+02] [ 4.52065705e-01 8.88994038e-01 -7.29808082e-02 4.72069839e+01] [ 1.56402405e-01 1.55052950e-03 9.87692201e-01 1.66242907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26710568099998 meters Centerline goodness [0,1] 0.999439838673538 Centerline is valid? [True, True] Translation: X:148.02, Y:47.22, Z:16.63 [[ 8.77531166e-01 -4.59121812e-01 -1.38369846e-01 1.48019424e+02] [ 4.53292169e-01 8.88372390e-01 -7.29431759e-02 4.72169593e+01] [ 1.56413754e-01 1.28794258e-03 9.87690781e-01 1.66310299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29710568099998 meters Centerline goodness [0,1] 0.9994850784695637 Centerline is valid? [True, True] Translation: X:148.05, Y:47.23, Z:16.64 [[ 8.79208232e-01 -4.55951665e-01 -1.38206237e-01 1.48047737e+02] [ 4.50105257e-01 8.90002713e-01 -7.28040344e-02 4.72306694e+01] [ 1.56199047e-01 1.80255251e-03 9.87723954e-01 1.66372444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32710568099998 meters Centerline goodness [0,1] 0.9994419269147488 Centerline is valid? [True, True] Translation: X:148.07, Y:47.25, Z:16.64 [[ 8.82315170e-01 -4.50045707e-01 -1.37763571e-01 1.48073725e+02] [ 4.44172931e-01 8.93001145e-01 -7.25214672e-02 4.72467461e+01] [ 1.55661002e-01 2.79594150e-03 9.87806578e-01 1.66407596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35710568099998 meters Centerline goodness [0,1] 0.9995791432242059 Centerline is valid? [True, True] Translation: X:148.10, Y:47.27, Z:16.65 [[ 8.84361066e-01 -4.46387440e-01 -1.36542150e-01 1.48097988e+02] [ 4.40579438e-01 8.94833382e-01 -7.18538652e-02 4.72665089e+01] [ 1.54257137e-01 3.38709704e-03 9.88024930e-01 1.66456889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38710568099998 meters Centerline goodness [0,1] 0.9998676051987025 Centerline is valid? [True, True] Translation: X:148.12, Y:47.28, Z:16.66 [[ 8.87963044e-01 -4.40040943e-01 -1.33737060e-01 1.48122524e+02] [ 4.34401580e-01 8.97967022e-01 -7.03597503e-02 4.72849058e+01] [ 1.51052641e-01 4.38126786e-03 9.88516011e-01 1.66589030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41710568099998 meters Centerline goodness [0,1] 0.9997556478663616 Centerline is valid? [True, True] Translation: X:148.15, Y:47.30, Z:16.66 [[ 8.89596753e-01 -4.37191959e-01 -1.32215004e-01 1.48150106e+02] [ 4.31657465e-01 8.99355609e-01 -6.95077032e-02 4.73011897e+01] [ 1.49296514e-01 4.76223368e-03 9.88781003e-01 1.66648591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44710568099998 meters Centerline goodness [0,1] 0.9998236759163343 Centerline is valid? [True, True] Translation: X:148.18, Y:47.32, Z:16.67 [[ 8.92291190e-01 -4.32246478e-01 -1.30305082e-01 1.48176187e+02] [ 4.26826876e-01 9.01738963e-01 -6.84518899e-02 4.73157974e+01] [ 1.47089258e-01 5.46130711e-03 9.89108146e-01 1.66687916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47710568099998 meters Centerline goodness [0,1] 0.9998236759163343 Centerline is valid? [True, True] Translation: X:148.20, Y:47.33, Z:16.67 [[ 8.92350577e-01 -4.32121457e-01 -1.30313061e-01 1.48204832e+02] [ 4.26702746e-01 9.01798860e-01 -6.84366979e-02 4.73306749e+01] [ 1.47089135e-01 5.46458593e-03 9.89108146e-01 1.66733128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50710568099998 meters Centerline goodness [0,1] 0.9999338332598148 Centerline is valid? [True, True] Translation: X:148.23, Y:47.35, Z:16.68 [[ 8.94685830e-01 -4.26646748e-01 -1.32324668e-01 1.48228864e+02] [ 4.21002153e-01 9.04395383e-01 -6.94707035e-02 4.73495776e+01] [ 1.49313268e-01 6.44548399e-03 9.88768933e-01 1.66778178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53710568099999 meters Centerline goodness [0,1] 0.9998012850235146 Centerline is valid? [True, True] Translation: X:148.26, Y:47.37, Z:16.68 [[ 8.95877617e-01 -4.23736133e-01 -1.33607578e-01 1.48255275e+02] [ 4.17949316e-01 9.05758660e-01 -7.01399948e-02 4.73659295e+01] [ 1.50737071e-01 6.99565566e-03 9.88549137e-01 1.66829211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.567105681 meters Centerline goodness [0,1] 0.9997789957567186 Centerline is valid? [True, True] Translation: X:148.28, Y:47.39, Z:16.68 [[ 8.98384242e-01 -4.18674121e-01 -1.32731812e-01 1.48279460e+02] [ 4.12909639e-01 9.08103160e-01 -6.96726717e-02 4.73852557e+01] [ 1.49704323e-01 7.78658581e-03 9.88700149e-01 1.66849051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597105681 meters Centerline goodness [0,1] 0.9998900688169207 Centerline is valid? [True, True] Translation: X:148.31, Y:47.40, Z:16.69 [[ 8.99226126e-01 -4.16950145e-01 -1.32457354e-01 1.48308899e+02] [ 4.11192217e-01 9.08893711e-01 -6.95210963e-02 4.73987443e+01] [ 1.49376487e-01 8.04975303e-03 9.88747625e-01 1.66877034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.627105681 meters Centerline goodness [0,1] 0.9998460726537074 Centerline is valid? [True, True] Translation: X:148.34, Y:47.41, Z:16.69 [[ 8.98939583e-01 -4.17079503e-01 -1.33986245e-01 1.48338596e+02] [ 4.11196926e-01 9.08834163e-01 -7.02677139e-02 4.74128495e+01] [ 1.51078500e-01 8.07169720e-03 9.88488814e-01 1.66877086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657105681 meters Centerline goodness [0,1] 0.9998241642306086 Centerline is valid? [True, True] Translation: X:148.37, Y:47.42, Z:16.69 [[ 8.97288382e-01 -4.20303225e-01 -1.34976879e-01 1.48370026e+02] [ 4.14377296e-01 9.07352418e-01 -7.07322142e-02 4.74208579e+01] [ 1.52200575e-01 7.53584009e-03 9.88320897e-01 1.66906370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.687105681 meters Centerline goodness [0,1] 0.9996939355515718 Centerline is valid? [True, True] Translation: X:148.40, Y:47.43, Z:16.69 [[ 8.96110533e-01 -4.22729601e-01 -1.35224245e-01 1.48398699e+02] [ 4.16810835e-01 9.06227834e-01 -7.08508362e-02 4.74314365e+01] [ 1.52494721e-01 7.12724997e-03 9.88278585e-01 1.66936492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71710568099996 meters Centerline goodness [0,1] 0.9996524308120085 Centerline is valid? [True, True] Translation: X:148.43, Y:47.44, Z:16.69 [[ 8.92995287e-01 -4.28512883e-01 -1.37608602e-01 1.48429350e+02] [ 4.22450437e-01 9.03514058e-01 -7.20969780e-02 4.74366491e+01] [ 1.55225790e-01 6.24944736e-03 9.87859250e-01 1.66946123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74710568099997 meters Centerline goodness [0,1] 0.9998478194704118 Centerline is valid? [True, True] Translation: X:148.46, Y:47.44, Z:16.70 [[ 8.91111016e-01 -4.31840628e-01 -1.39408854e-01 1.48461026e+02] [ 4.25657302e-01 9.01931607e-01 -7.30427099e-02 4.74434588e+01] [ 1.57280061e-01 5.74876672e-03 9.87537308e-01 1.66976385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77710568099997 meters Centerline goodness [0,1] 0.9997421406622687 Centerline is valid? [True, True] Translation: X:148.49, Y:47.45, Z:16.70 [[ 8.88391766e-01 -4.37151509e-01 -1.40209231e-01 1.48492964e+02] [ 4.30963255e-01 8.99374907e-01 -7.34537227e-02 4.74494529e+01] [ 1.58211070e-01 4.83065569e-03 9.87393499e-01 1.66965036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80710568099997 meters Centerline goodness [0,1] 0.999827608498901 Centerline is valid? [True, True] Translation: X:148.52, Y:47.46, Z:16.70 [[ 8.86906338e-01 -4.40199850e-01 -1.40075839e-01 1.48520392e+02] [ 4.34061238e-01 8.97889610e-01 -7.33831688e-02 4.74576903e+01] [ 1.58075900e-01 4.28250541e-03 9.87417678e-01 1.67005286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83710568099997 meters Centerline goodness [0,1] 0.9995259948721263 Centerline is valid? [True, True] Translation: X:148.55, Y:47.46, Z:16.71 [[ 8.83822818e-01 -4.46409463e-01 -1.39913606e-01 1.48552688e+02] [ 4.40354867e-01 8.94823044e-01 -7.33437939e-02 4.74627534e+01] [ 1.57939283e-01 3.21128123e-03 9.87443604e-01 1.67100270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86710568099997 meters Centerline goodness [0,1] 0.9992972443460113 Centerline is valid? [True, True] Translation: X:148.58, Y:47.47, Z:16.71 [[ 8.80883805e-01 -4.51899351e-01 -1.40821516e-01 1.48583149e+02] [ 4.45836534e-01 8.92066133e-01 -7.38092012e-02 4.74688142e+01] [ 1.58976435e-01 2.23395348e-03 9.87279850e-01 1.67093985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89710568099997 meters Centerline goodness [0,1] 0.9991667734905781 Centerline is valid? [True, True] Translation: X:148.61, Y:47.48, Z:16.71 [[ 8.78960472e-01 -4.55472778e-01 -1.41325993e-01 1.48611662e+02] [ 4.49410151e-01 8.90248266e-01 -7.40846914e-02 4.74760370e+01] [ 1.59558780e-01 1.60417957e-03 9.87187126e-01 1.67117547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92710568099997 meters Centerline goodness [0,1] 0.9984040176196455 Centerline is valid? [True, True] Translation: X:148.64, Y:47.48, Z:16.72 [[ 8.74883336e-01 -4.63319900e-01 -1.41116328e-01 1.48640791e+02] [ 4.57367591e-01 8.86191074e-01 -7.40288297e-02 4.74800392e+01] [ 1.59355060e-01 2.24554449e-04 9.87221310e-01 1.67171320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95710568099997 meters Centerline goodness [0,1] 0.9978320474399031 Centerline is valid? [True, True] Translation: X:148.67, Y:47.49, Z:16.73 [[ 8.72866087e-01 -4.67338493e-01 -1.40355005e-01 1.48667053e+02] [ 4.61496902e-01 8.84078337e-01 -7.36620893e-02 4.74895934e+01] [ 1.58509950e-01 -4.76260622e-04 9.87357265e-01 1.67264111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98710568099997 meters Centerline goodness [0,1] 0.9967343130394215 Centerline is valid? [True, True] Translation: X:148.69, Y:47.50, Z:16.74 [[ 8.70089037e-01 -4.73684053e-01 -1.36266230e-01 1.48694253e+02] [ 4.68248423e-01 8.80693514e-01 -7.15705850e-02 4.74962484e+01] [ 1.53910629e-01 -1.53366564e-03 9.88083583e-01 1.67371518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01710568099998 meters Centerline goodness [0,1] 0.997096165666928 Centerline is valid? [True, True] Translation: X:148.72, Y:47.51, Z:16.74 [[ 8.68991791e-01 -4.75937880e-01 -1.35411970e-01 1.48720393e+02] [ 4.70589256e-01 8.79476908e-01 -7.11766779e-02 4.75064895e+01] [ 1.52967378e-01 -1.87146948e-03 9.88229467e-01 1.67419480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04710568099998 meters Centerline goodness [0,1] 0.9969382799467894 Centerline is valid? [True, True] Translation: X:148.75, Y:47.52, Z:16.74 [[ 8.67799794e-01 -4.78254120e-01 -1.34894459e-01 1.48747226e+02] [ 4.72966438e-01 8.78218677e-01 -7.09556428e-02 4.75150044e+01] [ 1.52401661e-01 -2.22525943e-03 9.88316135e-01 1.67435576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07710568099998 meters Centerline goodness [0,1] 0.9964649351199171 Centerline is valid? [True, True] Translation: X:148.77, Y:47.53, Z:16.75 [[ 8.67305241e-01 -4.79173717e-01 -1.34811601e-01 1.48772350e+02] [ 4.73900183e-01 8.77716898e-01 -7.09342260e-02 4.75285750e+01] [ 1.52316237e-01 -2.36561628e-03 9.88328978e-01 1.67480314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10710568099998 meters Centerline goodness [0,1] 0.9965661961083556 Centerline is valid? [True, True] Translation: X:148.79, Y:47.55, Z:16.76 [[ 8.68666764e-01 -4.76920177e-01 -1.34034312e-01 1.48792117e+02] [ 4.71673216e-01 8.78944527e-01 -7.05754590e-02 4.75478140e+01] [ 1.51467586e-01 -1.91383948e-03 9.88460372e-01 1.67566272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13710568099998 meters Centerline goodness [0,1] 0.9980214028891773 Centerline is valid? [True, True] Translation: X:148.81, Y:47.57, Z:16.76 [[ 8.71646483e-01 -4.71484058e-01 -1.33922332e-01 1.48811023e+02] [ 4.66178611e-01 8.81874075e-01 -7.05380566e-02 4.75717388e+01] [ 1.51360202e-01 -9.47477708e-04 9.88478220e-01 1.67637100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16710568099998 meters Centerline goodness [0,1] 0.9985927805377284 Centerline is valid? [True, True] Translation: X:148.83, Y:47.60, Z:16.77 [[ 8.75977391e-01 -4.63938078e-01 -1.32004053e-01 1.48834167e+02] [ 4.58691696e-01 8.85867542e-01 -6.95746006e-02 4.75961960e+01] [ 1.49216413e-01 3.96613985e-04 9.88804483e-01 1.67680839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19710568099998 meters Centerline goodness [0,1] 0.9985909779893682 Centerline is valid? [True, True] Translation: X:148.86, Y:47.62, Z:16.77 [[ 8.78594574e-01 -4.59315079e-01 -1.30771686e-01 1.48859295e+02] [ 4.54117960e-01 8.88272660e-01 -6.89098012e-02 4.76164746e+01] [ 1.47812224e-01 1.15800592e-03 9.89014765e-01 1.67731884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22710568099998 meters Centerline goodness [0,1] 0.9994212714879753 Centerline is valid? [True, True] Translation: X:148.88, Y:47.64, Z:16.78 [[ 8.82778841e-01 -4.51440931e-01 -1.30010011e-01 1.48879102e+02] [ 4.46221472e-01 8.92297640e-01 -6.84932133e-02 4.76435766e+01] [ 1.46928266e-01 2.45110117e-03 9.89144113e-01 1.67816443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25710568099998 meters Centerline goodness [0,1] 0.9995707141170662 Centerline is valid? [True, True] Translation: X:148.90, Y:47.66, Z:16.79 [[ 8.84839707e-01 -4.47407357e-01 -1.29943645e-01 1.48903671e+02] [ 4.42151661e-01 8.94324879e-01 -6.84464726e-02 4.76645056e+01] [ 1.46835290e-01 3.10935803e-03 9.89156069e-01 1.67883459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28710568099999 meters Centerline goodness [0,1] 0.9996980741443637 Centerline is valid? [True, True] Translation: X:148.92, Y:47.69, Z:16.80 [[ 8.90528401e-01 -4.36690291e-01 -1.27517674e-01 1.48922133e+02] [ 4.31522386e-01 8.99599234e-01 -6.71539142e-02 4.76912054e+01] [ 1.44040264e-01 4.77573703e-03 9.89560304e-01 1.67965571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.317105681 meters Centerline goodness [0,1] 0.9997626496925235 Centerline is valid? [True, True] Translation: X:148.95, Y:47.71, Z:16.80 [[ 8.93150919e-01 -4.31570196e-01 -1.26604114e-01 1.48946532e+02] [ 4.26426395e-01 9.02062256e-01 -6.66649531e-02 4.77100135e+01] [ 1.42975399e-01 5.55452821e-03 9.89710656e-01 1.68016583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.347105681 meters Centerline goodness [0,1] 0.9998699271592092 Centerline is valid? [True, True] Translation: X:148.97, Y:47.73, Z:16.80 [[ 8.97308721e-01 -4.22488965e-01 -1.27828531e-01 1.48968864e+02] [ 4.17153320e-01 9.06340496e-01 -6.73053644e-02 4.77314613e+01] [ 1.44291948e-01 7.06959434e-03 9.89509906e-01 1.68032865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377105681 meters Centerline goodness [0,1] 0.9997841711091446 Centerline is valid? [True, True] Translation: X:148.99, Y:47.75, Z:16.80 [[ 8.98581598e-01 -4.19360502e-01 -1.29181580e-01 1.48994083e+02] [ 4.13880914e-01 9.07787650e-01 -6.80012671e-02 4.77486294e+01] [ 1.45786488e-01 7.63889704e-03 9.89286585e-01 1.68044346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.407105681 meters Centerline goodness [0,1] 0.9998271466228772 Centerline is valid? [True, True] Translation: X:149.02, Y:47.76, Z:16.80 [[ 8.98593698e-01 -4.18273492e-01 -1.32576968e-01 1.49022804e+02] [ 4.12489067e-01 9.08285720e-01 -6.97840976e-02 4.77617035e+01] [ 1.49606605e-01 8.02100048e-03 9.88713066e-01 1.68025841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437105681 meters Centerline goodness [0,1] 0.9996975523342478 Centerline is valid? [True, True] Translation: X:149.06, Y:47.77, Z:16.81 [[ 8.97843239e-01 -4.19503642e-01 -1.33769249e-01 1.49056193e+02] [ 4.13629419e-01 9.07719480e-01 -7.03992160e-02 4.77681813e+01] [ 1.50957681e-01 7.87656339e-03 9.88508846e-01 1.68059763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46710568099996 meters Centerline goodness [0,1] 0.9998061222291635 Centerline is valid? [True, True] Translation: X:149.09, Y:47.78, Z:16.81 [[ 8.97094210e-01 -4.20795537e-01 -1.34733421e-01 1.49085620e+02] [ 4.14853855e-01 9.07122881e-01 -7.08826982e-02 4.77796602e+01] [ 1.52046893e-01 7.69377877e-03 9.88343335e-01 1.68076765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49710568099997 meters Centerline goodness [0,1] 0.9997208443385085 Centerline is valid? [True, True] Translation: X:149.12, Y:47.78, Z:16.81 [[ 8.94308926e-01 -4.26016927e-01 -1.36825152e-01 1.49117856e+02] [ 4.19956273e-01 9.04689110e-01 -7.19329107e-02 4.77844195e+01] [ 1.54428863e-01 6.86966312e-03 9.87980027e-01 1.68090663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52710568099997 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:149.15, Y:47.79, Z:16.81 [[ 8.91967941e-01 -4.30562963e-01 -1.37872141e-01 1.49151222e+02] [ 4.24463167e-01 9.02539753e-01 -7.24776836e-02 4.77890821e+01] [ 1.55641294e-01 6.12612474e-03 9.87794644e-01 1.68124159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55710568099997 meters Centerline goodness [0,1] 0.9997016833581931 Centerline is valid? [True, True] Translation: X:149.18, Y:47.80, Z:16.82 [[ 8.91222759e-01 -4.32256003e-01 -1.37392655e-01 1.49182757e+02] [ 4.26221572e-01 9.01732323e-01 -7.22079648e-02 4.77980197e+01] [ 1.55103724e-01 5.79366808e-03 9.87881201e-01 1.68173456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58710568099997 meters Centerline goodness [0,1] 0.9996377352057451 Centerline is valid? [True, True] Translation: X:149.22, Y:47.80, Z:16.82 [[ 8.89775945e-01 -4.35564903e-01 -1.36315747e-01 1.49215079e+02] [ 4.29666365e-01 9.00142536e-01 -7.16256231e-02 4.78039015e+01] [ 1.53901210e-01 5.16046501e-03 9.88072764e-01 1.68239027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61710568099997 meters Centerline goodness [0,1] 0.9994266420335096 Centerline is valid? [True, True] Translation: X:149.24, Y:47.81, Z:16.83 [[ 8.88661252e-01 -4.37964855e-01 -1.35896893e-01 1.49244142e+02] [ 4.32132558e-01 8.98979711e-01 -7.13927944e-02 4.78145180e+01] [ 1.53436085e-01 4.71853797e-03 9.88147309e-01 1.68282852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64710568099997 meters Centerline goodness [0,1] 0.998831229546517 Centerline is valid? [True, True] Translation: X:149.28, Y:47.82, Z:16.83 [[ 8.85424968e-01 -4.44609484e-01 -1.35443833e-01 1.49278396e+02] [ 4.38895152e-01 8.95717498e-01 -7.11421764e-02 4.78171556e+01] [ 1.52949898e-01 3.54541749e-03 9.88227584e-01 1.68318182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67710568099997 meters Centerline goodness [0,1] 0.9982815682281059 Centerline is valid? [True, True] Translation: X:149.31, Y:47.82, Z:16.84 [[ 8.80937942e-01 -4.53443259e-01 -1.35416218e-01 1.49311054e+02] [ 4.47836368e-01 8.91282893e-01 -7.11153455e-02 4.78204574e+01] [ 1.52940933e-01 2.00389877e-03 9.88233300e-01 1.68369080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70710568099997 meters Centerline goodness [0,1] 0.9979010749040643 Centerline is valid? [True, True] Translation: X:149.34, Y:47.83, Z:16.84 [[ 8.78852773e-01 -4.57653351e-01 -1.34800648e-01 1.49339485e+02] [ 4.52147639e-01 8.89129811e-01 -7.07862431e-02 4.78295319e+01] [ 1.52250836e-01 1.26089140e-03 9.88341081e-01 1.68418051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73710568099997 meters Centerline goodness [0,1] 0.9966281412363482 Centerline is valid? [True, True] Translation: X:149.37, Y:47.83, Z:16.85 [[ 8.76708086e-01 -4.62377057e-01 -1.32628767e-01 1.49368469e+02] [ 4.57100236e-01 8.86683292e-01 -6.96571235e-02 4.78344502e+01] [ 1.49807567e-01 4.44322965e-04 9.88715073e-01 1.68469433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76710568099998 meters Centerline goodness [0,1] 0.9963213530655392 Centerline is valid? [True, True] Translation: X:149.40, Y:47.84, Z:16.85 [[ 8.77122019e-01 -4.62091871e-01 -1.30874239e-01 1.49395224e+02] [ 4.56943211e-01 8.86831898e-01 -6.87901592e-02 4.78434345e+01] [ 1.47850823e-01 5.35268515e-04 9.89009529e-01 1.68529980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79710568099998 meters Centerline goodness [0,1] 0.9967538626926077 Centerline is valid? [True, True] Translation: X:149.42, Y:47.86, Z:16.86 [[ 8.77914504e-01 -4.60374026e-01 -1.31612615e-01 1.49419251e+02] [ 4.55139157e-01 8.87724610e-01 -6.92341319e-02 4.78574582e+01] [ 1.48709353e-01 8.79594092e-04 9.88880556e-01 1.68581730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82710568099998 meters Centerline goodness [0,1] 0.9976636497579457 Centerline is valid? [True, True] Translation: X:149.44, Y:47.88, Z:16.86 [[ 8.81627245e-01 -4.53321008e-01 -1.31276291e-01 1.49440709e+02] [ 4.48027007e-01 8.91344824e-01 -6.91101034e-02 4.78753077e+01] [ 1.48341504e-01 2.11402632e-03 9.88933936e-01 1.68645157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85710568099998 meters Centerline goodness [0,1] 0.9981984655165105 Centerline is valid? [True, True] Translation: X:149.46, Y:47.89, Z:16.87 [[ 8.84238668e-01 -4.48509650e-01 -1.30234679e-01 1.49463548e+02] [ 4.43244632e-01 8.93773226e-01 -6.85829141e-02 4.78924661e+01] [ 1.47160368e-01 2.91784227e-03 9.89108342e-01 1.68704568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88710568099998 meters Centerline goodness [0,1] 0.9981972428419936 Centerline is valid? [True, True] Translation: X:149.48, Y:47.92, Z:16.88 [[ 8.90236724e-01 -4.36707061e-01 -1.29481727e-01 1.49484951e+02] [ 4.31370749e-01 8.99590467e-01 -6.82368550e-02 4.79154702e+01] [ 1.46280044e-01 4.89232451e-03 9.89231123e-01 1.68752827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91710568099998 meters Centerline goodness [0,1] 0.9987107137573182 Centerline is valid? [True, True] Translation: X:149.51, Y:47.93, Z:16.88 [[ 8.92738462e-01 -4.31394849e-01 -1.30063534e-01 1.49511552e+02] [ 4.25953917e-01 9.02144639e-01 -6.85442311e-02 4.79319667e+01] [ 1.46905748e-01 5.79099986e-03 9.89133543e-01 1.68789485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94710568099998 meters Centerline goodness [0,1] 0.9985895330722917 Centerline is valid? [True, True] Translation: X:149.54, Y:47.95, Z:16.88 [[ 8.95797840e-01 -4.24607239e-01 -1.31357989e-01 1.49537689e+02] [ 4.18985246e-01 9.05350830e-01 -6.92187700e-02 4.79480070e+01] [ 1.48315855e-01 6.96896532e-03 9.88915487e-01 1.68794674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97710568099998 meters Centerline goodness [0,1] 0.998718621993488 Centerline is valid? [True, True] Translation: X:149.56, Y:47.96, Z:16.88 [[ 8.96503423e-01 -4.22922391e-01 -1.31978271e-01 1.49562676e+02] [ 4.17228821e-01 9.06136647e-01 -6.95448680e-02 4.79643600e+01] [ 1.49002429e-01 7.28207391e-03 9.88810016e-01 1.68820091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00710568099998 meters Centerline goodness [0,1] 0.9986707178123813 Centerline is valid? [True, True] Translation: X:149.59, Y:47.98, Z:16.89 [[ 8.97495831e-01 -4.20337247e-01 -1.33483451e-01 1.49586607e+02] [ 4.14483667e-01 9.07334406e-01 -7.03389296e-02 4.79795557e+01] [ 1.50680200e-01 7.80218570e-03 9.88551771e-01 1.68852210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03710568099999 meters Centerline goodness [0,1] 0.9984352202321795 Centerline is valid? [True, True] Translation: X:149.62, Y:47.99, Z:16.89 [[ 8.99975177e-01 -4.14647654e-01 -1.34580847e-01 1.49615144e+02] [ 4.08631897e-01 9.09939112e-01 -7.09280309e-02 4.79897952e+01] [ 1.51870518e-01 8.83944047e-03 9.88360870e-01 1.68875702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.067105681 meters Centerline goodness [0,1] 0.9980533220482437 Centerline is valid? [True, True] Translation: X:149.64, Y:48.00, Z:16.89 [[ 9.01636721e-01 -4.10717573e-01 -1.35507559e-01 1.49642657e+02] [ 4.04573971e-01 9.11712400e-01 -7.14170917e-02 4.80031801e+01] [ 1.52876176e-01 9.56944120e-03 9.88199019e-01 1.68896384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097105681 meters Centerline goodness [0,1] 0.9907833129455436 Centerline is valid? [True, True] Translation: X:149.67, Y:48.02, Z:16.89 [[ 9.05111375e-01 -4.02886851e-01 -1.35851334e-01 1.49666840e+02] [ 3.96624272e-01 9.15184619e-01 -7.15981871e-02 4.80187052e+01] [ 1.53175020e-01 1.09223970e-02 9.88138712e-01 1.68940853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.127105681 meters Centerline goodness [0,1] 0.9703546850185283 Centerline is valid? [True, True] Translation: X:149.69, Y:48.04, Z:16.90 [[ 9.08113109e-01 -3.96863091e-01 -1.33530030e-01 1.49689188e+02] [ 3.90749778e-01 9.17802850e-01 -7.03742846e-02 4.80375594e+01] [ 1.50483198e-01 1.17309809e-02 9.88542964e-01 1.69045861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157105681 meters Centerline goodness [0,1] 0.9574320050600885 Centerline is valid? [True, True] Translation: X:149.71, Y:48.05, Z:16.91 [[ 9.09156157e-01 -3.94641728e-01 -1.33014993e-01 1.49714924e+02] [ 3.88551664e-01 9.18755995e-01 -7.01072500e-02 4.80507207e+01] [ 1.49875569e-01 1.20552410e-02 9.88631370e-01 1.69086766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.187105681 meters Centerline goodness [0,1] 0.9725610400591903 Centerline is valid? [True, True] Translation: X:149.75, Y:48.05, Z:16.91 [[ 9.09845200e-01 -3.92359862e-01 -1.35038702e-01 1.49748943e+02] [ 3.86055097e-01 9.19725005e-01 -7.11855072e-02 4.80524432e+01] [ 1.52128807e-01 1.26354126e-02 9.88279906e-01 1.69061425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21710568099996 meters Centerline goodness [0,1] 0.9528269970820823 Centerline is valid? [True, True] Translation: X:149.77, Y:48.07, Z:16.91 [[ 9.09067251e-01 -3.93544175e-01 -1.36820015e-01 1.49773641e+02] [ 3.87082806e-01 9.19219192e-01 -7.21316666e-02 4.80655112e+01] [ 1.54154581e-01 1.26118604e-02 9.87966247e-01 1.69053041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24710568099997 meters Centerline goodness [0,1] 0.9829121134129362 Centerline is valid? [True, True] Translation: X:149.81, Y:48.06, Z:16.91 [[ 9.06337945e-01 -3.99844357e-01 -1.36660237e-01 1.49807567e+02] [ 3.93464075e-01 9.16510215e-01 -7.20766845e-02 4.80644262e+01] [ 1.54069958e-01 1.15549405e-02 9.87992374e-01 1.69074930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27710568099997 meters Centerline goodness [0,1] 0.9972822652003539 Centerline is valid? [True, True] Translation: X:149.84, Y:48.06, Z:16.92 [[ 9.02989854e-01 -4.07940220e-01 -1.34885506e-01 1.49844216e+02] [ 4.01813681e-01 9.12953366e-01 -7.11471571e-02 4.80585369e+01] [ 1.52167963e-01 1.00463195e-02 9.88303588e-01 1.69167026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30710568099997 meters Centerline goodness [0,1] 0.997987210399413 Centerline is valid? [True, True] Translation: X:149.87, Y:48.07, Z:16.92 [[ 9.01053950e-01 -4.12252055e-01 -1.34722020e-01 1.49874592e+02] [ 4.06187505e-01 9.11022260e-01 -7.10644210e-02 4.80652659e+01] [ 1.52031213e-01 9.31047590e-03 9.88331840e-01 1.69228992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33710568099997 meters Centerline goodness [0,1] 0.997889404812157 Centerline is valid? [True, True] Translation: X:149.91, Y:48.06, Z:16.93 [[ 8.97364740e-01 -4.19724252e-01 -1.36264728e-01 1.49911022e+02] [ 4.13603538e-01 9.07615132e-01 -7.18810486e-02 4.80597102e+01] [ 1.53846148e-01 8.14394490e-03 9.88061253e-01 1.69278674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36710568099997 meters Centerline goodness [0,1] 0.9982473922040627 Centerline is valid? [True, True] Translation: X:149.94, Y:48.06, Z:16.93 [[ 8.95763614e-01 -4.23026475e-01 -1.36587513e-01 1.49941271e+02] [ 4.16913793e-01 9.06085451e-01 -7.20558431e-02 4.80649050e+01] [ 1.54241488e-01 7.59978421e-03 9.88003951e-01 1.69310428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39710568099997 meters Centerline goodness [0,1] 0.9982473922040627 Centerline is valid? [True, True] Translation: X:149.97, Y:48.08, Z:16.93 [[ 8.95603768e-01 -4.23366681e-01 -1.36581640e-01 1.49965165e+02] [ 4.17256228e-01 9.05926924e-01 -7.20669728e-02 4.80777851e+01] [ 1.54243740e-01 7.55391245e-03 9.88003951e-01 1.69348529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42710568099997 meters Centerline goodness [0,1] 0.9985048854447439 Centerline is valid? [True, True] Translation: X:150.00, Y:48.08, Z:16.94 [[ 8.93596433e-01 -4.28046440e-01 -1.35135711e-01 1.49999637e+02] [ 4.22109277e-01 9.03731694e-01 -7.13637426e-02 4.80757015e+01] [ 1.52673421e-01 6.72834867e-03 9.88253791e-01 1.69424798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45710568099997 meters Centerline goodness [0,1] 0.9988886792057201 Centerline is valid? [True, True] Translation: X:150.03, Y:48.08, Z:16.95 [[ 8.93635063e-01 -4.28311199e-01 -1.34036901e-01 1.50027226e+02] [ 4.22472504e-01 9.03606934e-01 -7.07918930e-02 4.80836951e+01] [ 1.51437634e-01 6.63521248e-03 9.88444544e-01 1.69502884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48710568099997 meters Centerline goodness [0,1] 0.9989673557986133 Centerline is valid? [True, True] Translation: X:150.06, Y:48.09, Z:16.96 [[ 8.94276162e-01 -4.27169039e-01 -1.33404493e-01 1.50055759e+02] [ 4.21364458e-01 9.04145854e-01 -7.05143051e-02 4.80900859e+01] [ 1.50738647e-01 6.84735021e-03 9.88549935e-01 1.69583965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51710568099998 meters Centerline goodness [0,1] 0.9987568740650218 Centerline is valid? [True, True] Translation: X:150.08, Y:48.10, Z:16.96 [[ 8.95469431e-01 -4.24747444e-01 -1.33131913e-01 1.50082329e+02] [ 4.18932087e-01 9.05282545e-01 -7.04231559e-02 4.81020560e+01] [ 1.50434053e-01 7.28855312e-03 9.88593179e-01 1.69633580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54710568099998 meters Centerline goodness [0,1] 0.9989263835968255 Centerline is valid? [True, True] Translation: X:150.11, Y:48.12, Z:16.97 [[ 8.98934747e-01 -4.17813761e-01 -1.31711738e-01 1.50107810e+02] [ 4.12047436e-01 9.08494179e-01 -6.96795329e-02 4.81153284e+01] [ 1.48772415e-01 8.36586921e-03 9.88836074e-01 1.69692439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57710568099998 meters Centerline goodness [0,1] 0.9979157017137563 Centerline is valid? [True, True] Translation: X:150.14, Y:48.13, Z:16.97 [[ 9.02099093e-01 -4.10939334e-01 -1.31704556e-01 1.50135479e+02] [ 4.05100274e-01 9.11613149e-01 -6.96795212e-02 4.81279139e+01] [ 1.48697661e-01 9.50428135e-03 9.88837031e-01 1.69739538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60710568099998 meters Centerline goodness [0,1] 0.996688811557524 Centerline is valid? [True, True] Translation: X:150.16, Y:48.14, Z:16.98 [[ 9.03254000e-01 -4.08302407e-01 -1.31989985e-01 1.50161920e+02] [ 4.02409671e-01 9.12792362e-01 -6.98323701e-02 4.81410845e+01] [ 1.48992175e-01 9.96232132e-03 9.88788190e-01 1.69772394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63710568099998 meters Centerline goodness [0,1] 0.9933876639922505 Centerline is valid? [True, True] Translation: X:150.19, Y:48.15, Z:16.98 [[ 9.04650327e-01 -4.04847290e-01 -1.33065614e-01 1.50190844e+02] [ 3.98819274e-01 9.14322563e-01 -7.04090688e-02 4.81510168e+01] [ 1.50169814e-01 1.06264554e-02 9.88603108e-01 1.69783985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66710568099998 meters Centerline goodness [0,1] 0.9920013471415341 Centerline is valid? [True, True] Translation: X:150.22, Y:48.16, Z:16.98 [[ 9.04524188e-01 -4.05043736e-01 -1.33325037e-01 1.50216024e+02] [ 3.98993254e-01 9.14235626e-01 -7.05521246e-02 4.81607916e+01] [ 1.50467195e-01 1.06203129e-02 9.88557956e-01 1.69808674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69710568099998 meters Centerline goodness [0,1] 0.9969147462536204 Centerline is valid? [True, True] Translation: X:150.25, Y:48.17, Z:16.99 [[ 9.03131293e-01 -4.08038189e-01 -1.33636465e-01 1.50247016e+02] [ 4.01987664e-01 9.12908219e-01 -7.07425016e-02 4.81657484e+01] [ 1.50863469e-01 1.01695565e-02 9.88502298e-01 1.69851857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72710568099998 meters Centerline goodness [0,1] 0.998545132519451 Centerline is valid? [True, True] Translation: X:150.28, Y:48.18, Z:16.99 [[ 9.01960605e-01 -4.10408251e-01 -1.34283780e-01 1.50275365e+02] [ 4.04323897e-01 9.11848962e-01 -7.10890793e-02 4.81757828e+01] [ 1.51622070e-01 9.82540785e-03 9.88389705e-01 1.69891334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75710568099998 meters Centerline goodness [0,1] 0.999514778169237 Centerline is valid? [True, True] Translation: X:150.31, Y:48.18, Z:17.00 [[ 8.99447283e-01 -4.15917294e-01 -1.34191616e-01 1.50307454e+02] [ 4.09901254e-01 9.09358939e-01 -7.10442281e-02 4.81786903e+01] [ 1.51576869e-01 8.89522617e-03 9.88405447e-01 1.69954528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78710568099999 meters Centerline goodness [0,1] 0.9993677688562939 Centerline is valid? [True, True] Translation: X:150.34, Y:48.18, Z:17.00 [[ 8.98125026e-01 -4.18846930e-01 -1.33935382e-01 1.50337906e+02] [ 4.12885434e-01 9.08018098e-01 -7.09136869e-02 4.81833583e+01] [ 1.51317731e-01 8.38938860e-03 9.88449575e-01 1.70013693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.817105681 meters Centerline goodness [0,1] 0.9996860939625406 Centerline is valid? [True, True] Translation: X:150.36, Y:48.19, Z:17.01 [[ 8.95414239e-01 -4.24814719e-01 -1.33288387e-01 1.50364219e+02] [ 4.18975162e-01 9.05250455e-01 -7.05792305e-02 4.81947583e+01] [ 1.50642468e-01 7.35312464e-03 9.88560963e-01 1.70060252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.847105681 meters Centerline goodness [0,1] 0.9998525073746313 Centerline is valid? [True, True] Translation: X:150.39, Y:48.20, Z:17.01 [[ 8.91905181e-01 -4.32319503e-01 -1.32683820e-01 1.50394158e+02] [ 4.26614033e-01 9.01700086e-01 -7.02667965e-02 4.81986737e+01] [ 1.50018718e-01 6.06654038e-03 9.88664544e-01 1.70097987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877105681 meters Centerline goodness [0,1] 0.9997684259278752 Centerline is valid? [True, True] Translation: X:150.42, Y:48.20, Z:17.02 [[ 8.90135136e-01 -4.35844974e-01 -1.33036080e-01 1.50424652e+02] [ 4.30146491e-01 9.00004970e-01 -7.04631160e-02 4.82012598e+01] [ 1.50444128e-01 5.49669229e-03 9.88603232e-01 1.70151280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.907105681 meters Centerline goodness [0,1] 0.9996228865936184 Centerline is valid? [True, True] Translation: X:150.45, Y:48.21, Z:17.02 [[ 8.87124008e-01 -4.41485187e-01 -1.34543019e-01 1.50450730e+02] [ 4.35717752e-01 8.97256700e-01 -7.12773063e-02 4.82132641e+01] [ 1.52187500e-01 4.60902798e-03 9.88340893e-01 1.70151596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937105681 meters Centerline goodness [0,1] 0.999684462955951 Centerline is valid? [True, True] Translation: X:150.48, Y:48.22, Z:17.02 [[ 8.86021489e-01 -4.43477540e-01 -1.35253806e-01 1.50478366e+02] [ 4.37669103e-01 8.96275147e-01 -7.16702026e-02 4.82210511e+01] [ 1.53008750e-01 4.30492776e-03 9.88215457e-01 1.70218971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96710568099996 meters Centerline goodness [0,1] 0.9999581694971974 Centerline is valid? [True, True] Translation: X:150.50, Y:48.23, Z:17.02 [[ 8.85677832e-01 -4.43687645e-01 -1.36806621e-01 1.50504244e+02] [ 4.37737462e-01 8.96170831e-01 -7.25517466e-02 4.82341642e+01] [ 1.54792417e-01 4.37209036e-03 9.87937342e-01 1.70242092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99710568099997 meters Centerline goodness [0,1] 0.9997893228837483 Centerline is valid? [True, True] Translation: X:150.53, Y:48.25, Z:17.03 [[ 8.86345741e-01 -4.41757728e-01 -1.38713148e-01 1.50530124e+02] [ 4.35606413e-01 8.97121382e-01 -7.36225458e-02 4.82470523e+01] [ 1.56965860e-01 4.83069300e-03 9.87592215e-01 1.70260259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02710568099997 meters Centerline goodness [0,1] 0.9995579319636241 Centerline is valid? [True, True] Translation: X:150.55, Y:48.26, Z:17.03 [[ 8.87416395e-01 -4.39552705e-01 -1.38872466e-01 1.50552742e+02] [ 4.33351307e-01 8.98201289e-01 -7.37637360e-02 4.82624751e+01] [ 1.57158478e-01 5.27858388e-03 9.87559289e-01 1.70297356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05710568099997 meters Centerline goodness [0,1] 0.9997896685175837 Centerline is valid? [True, True] Translation: X:150.58, Y:48.28, Z:17.04 [[ 8.88861041e-01 -4.36836356e-01 -1.38202924e-01 1.50575475e+02] [ 4.30656869e-01 8.99522535e-01 -7.34429708e-02 4.82792209e+01] [ 1.56399205e-01 5.76255666e-03 9.87677114e-01 1.70378569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08710568099997 meters Centerline goodness [0,1] 0.999686572777801 Centerline is valid? [True, True] Translation: X:150.60, Y:48.30, Z:17.05 [[ 8.90489689e-01 -4.34365158e-01 -1.35480713e-01 1.50596419e+02] [ 4.28391448e-01 9.00716067e-01 -7.20509136e-02 4.82971964e+01] [ 1.53326061e-01 6.12181680e-03 9.88156689e-01 1.70466888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11710568099997 meters Centerline goodness [0,1] 0.9998316994151555 Centerline is valid? [True, True] Translation: X:150.62, Y:48.31, Z:17.06 [[ 8.91158877e-01 -4.33862850e-01 -1.32660785e-01 1.50620426e+02] [ 4.28127733e-01 9.00958294e-01 -7.05747643e-02 4.83092065e+01] [ 1.50141603e-01 6.09756663e-03 9.88645699e-01 1.70550914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14710568099997 meters Centerline goodness [0,1] 0.9998317418920625 Centerline is valid? [True, True] Translation: X:150.65, Y:48.32, Z:17.06 [[ 8.92692998e-01 -4.31895151e-01 -1.28708157e-01 1.50645289e+02] [ 4.26469495e-01 9.01901897e-01 -6.85327522e-02 4.83221211e+01] [ 1.45681095e-01 6.28860523e-03 9.89311615e-01 1.70642763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17710568099997 meters Centerline goodness [0,1] 0.9998102266736953 Centerline is valid? [True, True] Translation: X:150.67, Y:48.34, Z:17.07 [[ 8.92875741e-01 -4.31616624e-01 -1.28374452e-01 1.50669850e+02] [ 4.26208244e-01 9.02034667e-01 -6.84104640e-02 4.83366539e+01] [ 1.45325300e-01 6.36779401e-03 9.89363436e-01 1.70683953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20710568099997 meters Centerline goodness [0,1] 0.999832299178266 Centerline is valid? [True, True] Translation: X:150.69, Y:48.35, Z:17.07 [[ 8.93088497e-01 -4.30919945e-01 -1.29232108e-01 1.50692607e+02] [ 4.25423093e-01 9.02366196e-01 -6.89234371e-02 4.83539318e+01] [ 1.46315169e-01 6.57640582e-03 9.89216166e-01 1.70714553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23710568099997 meters Centerline goodness [0,1] 0.9998324186182915 Centerline is valid? [True, True] Translation: X:150.72, Y:48.37, Z:17.07 [[ 8.94082611e-01 -4.28602888e-01 -1.30060947e-01 1.50716496e+02] [ 4.23002561e-01 9.03465473e-01 -6.94188201e-02 4.83720898e+01] [ 1.47258682e-01 7.05004640e-03 9.89072888e-01 1.70734900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26710568099998 meters Centerline goodness [0,1] 0.9999367795502919 Centerline is valid? [True, True] Translation: X:150.74, Y:48.39, Z:17.08 [[ 8.94068489e-01 -4.28585647e-01 -1.30214742e-01 1.50741879e+02] [ 4.22970157e-01 9.03473484e-01 -6.95119323e-02 4.83859481e+01] [ 1.47437383e-01 7.07147827e-03 9.89046112e-01 1.70762854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29710568099998 meters Centerline goodness [0,1] 0.9997689997689998 Centerline is valid? [True, True] Translation: X:150.77, Y:48.40, Z:17.08 [[ 8.93200909e-01 -4.30228081e-01 -1.30751425e-01 1.50767406e+02] [ 4.24574661e-01 9.02693988e-01 -6.98564395e-02 4.83979478e+01] [ 1.48082727e-01 6.88209327e-03 9.88951031e-01 1.70781323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32710568099998 meters Centerline goodness [0,1] 0.9997890161824589 Centerline is valid? [True, True] Translation: X:150.79, Y:48.41, Z:17.08 [[ 8.92106926e-01 -4.32077572e-01 -1.32114364e-01 1.50792932e+02] [ 4.26316131e-01 9.01811565e-01 -7.06431741e-02 4.84098229e+01] [ 1.49665592e-01 6.69878056e-03 9.88713981e-01 1.70823031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35710568099998 meters Centerline goodness [0,1] 0.9998314156867704 Centerline is valid? [True, True] Translation: X:150.82, Y:48.42, Z:17.08 [[ 8.90426138e-01 -4.34451263e-01 -1.35622243e-01 1.50819165e+02] [ 4.28395298e-01 9.00671686e-01 -7.25808714e-02 4.84227914e+01] [ 1.53683966e-01 6.52797355e-03 9.88098489e-01 1.70836111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38710568099998 meters Centerline goodness [0,1] 0.999832628980292 Centerline is valid? [True, True] Translation: X:150.84, Y:48.44, Z:17.09 [[ 8.89736185e-01 -4.35534390e-01 -1.36672292e-01 1.50843711e+02] [ 4.29387295e-01 9.00149030e-01 -7.32002430e-02 4.84350591e+01] [ 1.54906654e-01 6.44355938e-03 9.87908097e-01 1.70851488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41710568099998 meters Centerline goodness [0,1] 0.9997047285611844 Centerline is valid? [True, True] Translation: X:150.87, Y:48.44, Z:17.09 [[ 8.87381138e-01 -4.40077211e-01 -1.37429124e-01 1.50874312e+02] [ 4.33912175e-01 8.97941836e-01 -7.36252901e-02 4.84414391e+01] [ 1.55804172e-01 5.70152355e-03 9.87771508e-01 1.70891556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44710568099998 meters Centerline goodness [0,1] 0.9998101786429882 Centerline is valid? [True, True] Translation: X:150.90, Y:48.45, Z:17.09 [[ 8.84271346e-01 -4.46408764e-01 -1.37052552e-01 1.50902102e+02] [ 4.40352107e-01 8.94817436e-01 -7.34287315e-02 4.84497984e+01] [ 1.55416242e-01 4.57954338e-03 9.87838458e-01 1.70927892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47710568099998 meters Centerline goodness [0,1] 0.9997894603869718 Centerline is valid? [True, True] Translation: X:150.93, Y:48.46, Z:17.10 [[ 8.82525040e-01 -4.49512473e-01 -1.38159654e-01 1.50929901e+02] [ 4.43391740e-01 8.93264722e-01 -7.40398601e-02 4.84590610e+01] [ 1.56694986e-01 4.08318098e-03 9.87638602e-01 1.70969914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50710568099998 meters Centerline goodness [0,1] 0.9996838511149517 Centerline is valid? [True, True] Translation: X:150.96, Y:48.46, Z:17.09 [[ 8.77978439e-01 -4.57298141e-01 -1.41535404e-01 1.50960325e+02] [ 4.50963698e-01 8.89308998e-01 -7.59028970e-02 4.84642675e+01] [ 1.60578962e-01 2.81377769e-03 9.87018986e-01 1.70941061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53710568099999 meters Centerline goodness [0,1] 0.9998942694015648 Centerline is valid? [True, True] Translation: X:150.99, Y:48.47, Z:17.10 [[ 8.74874876e-01 -4.62904746e-01 -1.42524201e-01 1.50987715e+02] [ 4.56551447e-01 8.86406170e-01 -7.64518032e-02 4.84723667e+01] [ 1.61724234e-01 1.81613148e-03 9.86834319e-01 1.70959920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.567105681 meters Centerline goodness [0,1] 0.9995789207739436 Centerline is valid? [True, True] Translation: X:151.02, Y:48.47, Z:17.10 [[ 8.67276019e-01 -4.77015547e-01 -1.42437616e-01 1.51018891e+02] [ 4.70852896e-01 8.78894511e-01 -7.64329014e-02 4.84731084e+01] [ 1.61647321e-01 -7.78741609e-04 9.86848285e-01 1.71023500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597105681 meters Centerline goodness [0,1] 0.999244966442953 Centerline is valid? [True, True] Translation: X:151.05, Y:48.48, Z:17.11 [[ 8.63324402e-01 -4.84046197e-01 -1.42724405e-01 1.51046950e+02] [ 4.77943451e-01 8.75040062e-01 -7.66482120e-02 4.84804770e+01] [ 1.61990848e-01 -2.04192272e-03 9.86790148e-01 1.71066984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.627105681 meters Centerline goodness [0,1] 0.9997466804585083 Centerline is valid? [True, True] Translation: X:151.08, Y:48.49, Z:17.11 [[ 8.57809089e-01 -4.93757197e-01 -1.42714392e-01 1.51077575e+02] [ 4.87779088e-01 8.69591410e-01 -7.66964174e-02 4.84850895e+01] [ 1.61972618e-01 -3.82221226e-03 9.86787850e-01 1.71122898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657105681 meters Centerline goodness [0,1] 0.9996409942347898 Centerline is valid? [True, True] Translation: X:151.10, Y:48.50, Z:17.12 [[ 8.54767933e-01 -4.99510503e-01 -1.40929193e-01 1.51104295e+02] [ 4.93757808e-01 8.66294310e-01 -7.57455919e-02 4.84961452e+01] [ 1.59921877e-01 -4.83998646e-03 9.87117808e-01 1.71214849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.687105681 meters Centerline goodness [0,1] 0.9994097932168378 Centerline is valid? [True, True] Translation: X:151.13, Y:48.51, Z:17.13 [[ 8.54529428e-01 -5.00866424e-01 -1.37521934e-01 1.51126777e+02] [ 4.95405256e-01 8.65510410e-01 -7.39280919e-02 4.85134062e+01] [ 1.56054764e-01 -4.95535872e-03 9.87735974e-01 1.71316156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71710568099996 meters Centerline goodness [0,1] 0.9997257673241219 Centerline is valid? [True, True] Translation: X:151.15, Y:48.53, Z:17.14 [[ 8.55552048e-01 -5.00004177e-01 -1.34262861e-01 1.51149955e+02] [ 4.94780854e-01 8.66010605e-01 -7.22325350e-02 4.85291749e+01] [ 1.52389631e-01 -4.63199982e-03 9.88309640e-01 1.71410100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74710568099997 meters Centerline goodness [0,1] 0.9994983067854007 Centerline is valid? [True, True] Translation: X:151.17, Y:48.55, Z:17.15 [[ 8.58644675e-01 -4.95689503e-01 -1.30465471e-01 1.51170207e+02] [ 4.90701642e-01 8.68491892e-01 -7.02405266e-02 4.85508718e+01] [ 1.48125696e-01 -3.70796687e-03 9.88961591e-01 1.71504551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77710568099997 meters Centerline goodness [0,1] 0.9993674889310563 Centerline is valid? [True, True] Translation: X:151.19, Y:48.57, Z:17.15 [[ 8.59099806e-01 -4.94648870e-01 -1.31415443e-01 1.51192042e+02] [ 4.89573918e-01 8.69085686e-01 -7.07633323e-02 4.85709264e+01] [ 1.49214283e-01 -3.54480844e-03 9.88798530e-01 1.71528884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80710568099997 meters Centerline goodness [0,1] 0.9996207332490519 Centerline is valid? [True, True] Translation: X:151.21, Y:48.59, Z:17.15 [[ 8.59870086e-01 -4.92425365e-01 -1.34687395e-01 1.51213443e+02] [ 4.87056909e-01 8.70348838e-01 -7.25842133e-02 4.85925842e+01] [ 1.52967325e-01 -3.18743246e-03 9.88226107e-01 1.71488601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83710568099997 meters Centerline goodness [0,1] 0.9992211510125036 Centerline is valid? [True, True] Translation: X:151.24, Y:48.61, Z:17.15 [[ 8.59647460e-01 -4.92725321e-01 -1.35011120e-01 1.51235288e+02] [ 4.87325487e-01 8.70179025e-01 -7.28171273e-02 4.86101834e+01] [ 1.53362687e-01 -3.19730132e-03 9.88164796e-01 1.71516830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86710568099997 meters Centerline goodness [0,1] 0.9986668610827588 Centerline is valid? [True, True] Translation: X:151.26, Y:48.63, Z:17.16 [[ 8.58999931e-01 -4.94082301e-01 -1.34170780e-01 1.51255298e+02] [ 4.88756691e-01 8.69408633e-01 -7.24260095e-02 4.86308195e+01] [ 1.52433644e-01 -3.36292930e-03 9.88307986e-01 1.71568689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89710568099997 meters Centerline goodness [0,1] 0.9986729578295488 Centerline is valid? [True, True] Translation: X:151.28, Y:48.65, Z:17.16 [[ 8.58324474e-01 -4.95140446e-01 -1.34592110e-01 1.51277055e+02] [ 4.89790345e-01 8.68805732e-01 -7.26774944e-02 4.86502916e+01] [ 1.52919964e-01 -3.54104384e-03 9.88232233e-01 1.71627053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92710568099997 meters Centerline goodness [0,1] 0.9982977471418965 Centerline is valid? [True, True] Translation: X:151.30, Y:48.67, Z:17.16 [[ 8.58604956e-01 -4.94096125e-01 -1.36625580e-01 1.51295628e+02] [ 4.88559634e-01 8.69400811e-01 -7.38357253e-02 4.86747049e+01] [ 1.55264336e-01 -3.35402380e-03 9.87867267e-01 1.71625060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95710568099997 meters Centerline goodness [0,1] 0.9976187967548203 Centerline is valid? [True, True] Translation: X:151.31, Y:48.70, Z:17.16 [[ 8.59660584e-01 -4.91771849e-01 -1.38362310e-01 1.51314186e+02] [ 4.86052230e-01 8.70719222e-01 -7.48416065e-02 4.87011517e+01] [ 1.57279718e-01 -2.91293029e-03 9.87549799e-01 1.71622390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98710568099997 meters Centerline goodness [0,1] 0.9975983314723913 Centerline is valid? [True, True] Translation: X:151.34, Y:48.72, Z:17.17 [[ 8.60619797e-01 -4.89925556e-01 -1.38947886e-01 1.51335030e+02] [ 4.84124313e-01 8.71760581e-01 -7.52139515e-02 4.87214875e+01] [ 1.57978527e-01 -2.53743431e-03 9.87439287e-01 1.71652275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01710568099998 meters Centerline goodness [0,1] 0.997743663278647 Centerline is valid? [True, True] Translation: X:151.35, Y:48.75, Z:17.17 [[ 8.63685760e-01 -4.84283297e-01 -1.39701813e-01 1.51349977e+02] [ 4.78340735e-01 8.74909979e-01 -7.56483266e-02 4.87529507e+01] [ 1.58861731e-01 -1.48868539e-03 9.87299719e-01 1.71698517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04710568099998 meters Centerline goodness [0,1] 0.997133411449615 Centerline is valid? [True, True] Translation: X:151.36, Y:48.79, Z:17.17 [[ 8.69213862e-01 -4.74485929e-01 -1.39033685e-01 1.51363912e+02] [ 4.68465575e-01 8.80263014e-01 -7.53460746e-02 4.87863255e+01] [ 1.58136863e-01 3.59357468e-04 9.87417138e-01 1.71735455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07710568099998 meters Centerline goodness [0,1] 0.9974297933301031 Centerline is valid? [True, True] Translation: X:151.38, Y:48.81, Z:17.18 [[ 8.72559659e-01 -4.68470338e-01 -1.38474489e-01 1.51383277e+02] [ 4.62413603e-01 8.83477955e-01 -7.51023552e-02 4.88103321e+01] [ 1.57522384e-01 1.49879827e-03 9.87514280e-01 1.71773806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10710568099998 meters Centerline goodness [0,1] 0.9969155878218176 Centerline is valid? [True, True] Translation: X:151.40, Y:48.84, Z:17.18 [[ 8.78682786e-01 -4.56926252e-01 -1.38329179e-01 1.51399128e+02] [ 4.50730559e-01 8.89497214e-01 -7.50777608e-02 4.88418847e+01] [ 1.57348419e-01 3.62034802e-03 9.87536515e-01 1.71798844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13710568099998 meters Centerline goodness [0,1] 0.9973461392645014 Centerline is valid? [True, True] Translation: X:151.42, Y:48.86, Z:17.18 [[ 8.80928499e-01 -4.52593373e-01 -1.38290340e-01 1.51420596e+02] [ 4.46346009e-01 8.91706135e-01 -7.50693639e-02 4.88623433e+01] [ 1.57290241e-01 4.40540093e-03 9.87542593e-01 1.71846019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16710568099998 meters Centerline goodness [0,1] 0.9969217794644739 Centerline is valid? [True, True] Translation: X:151.44, Y:48.89, Z:17.19 [[ 8.83809555e-01 -4.47238045e-01 -1.37327353e-01 1.51440064e+02] [ 4.41011551e-01 8.94399064e-01 -7.45595528e-02 4.88859552e+01] [ 1.56171325e-01 5.33349626e-03 9.87715582e-01 1.71889845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19710568099998 meters Centerline goodness [0,1] 0.9968992575092811 Centerline is valid? [True, True] Translation: X:151.46, Y:48.90, Z:17.19 [[ 8.83983078e-01 -4.46861643e-01 -1.37435763e-01 1.51463749e+02] [ 4.40617852e-01 8.94586657e-01 -7.46365965e-02 4.89018470e+01] [ 1.56300432e-01 5.42083739e-03 9.87694684e-01 1.71924410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22710568099998 meters Centerline goodness [0,1] 0.9967492031325861 Centerline is valid? [True, True] Translation: X:151.49, Y:48.92, Z:17.20 [[ 8.83626516e-01 -4.47846957e-01 -1.36518436e-01 1.51488847e+02] [ 4.41689235e-01 8.94094735e-01 -7.41972081e-02 4.89152280e+01] [ 1.55289409e-01 5.26389699e-03 9.87854995e-01 1.71975692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25710568099998 meters Centerline goodness [0,1] 0.997114270668773 Centerline is valid? [True, True] Translation: X:151.51, Y:48.93, Z:17.21 [[ 8.83475217e-01 -4.48887133e-01 -1.34059250e-01 1.51514637e+02] [ 4.42953770e-01 8.93574256e-01 -7.29178126e-02 4.89270754e+01] [ 1.52523762e-01 5.03903014e-03 9.88286957e-01 1.72059203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28710568099999 meters Centerline goodness [0,1] 0.997114270668773 Centerline is valid? [True, True] Translation: X:151.54, Y:48.94, Z:17.21 [[ 8.83301613e-01 -4.49235733e-01 -1.34035502e-01 1.51538344e+02] [ 4.43299745e-01 8.93399107e-01 -7.29614414e-02 4.89402398e+01] [ 1.52524084e-01 5.02905514e-03 9.88286958e-01 1.72097383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.317105681 meters Centerline goodness [0,1] 0.9970482331267795 Centerline is valid? [True, True] Translation: X:151.56, Y:48.95, Z:17.21 [[ 8.83254572e-01 -4.49201452e-01 -1.34459717e-01 1.51562425e+02] [ 4.43217262e-01 8.93415889e-01 -7.32564499e-02 4.89540728e+01] [ 1.53035351e-01 5.10922664e-03 9.88207507e-01 1.72115466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.347105681 meters Centerline goodness [0,1] 0.9968175016334014 Centerline is valid? [True, True] Translation: X:151.59, Y:48.97, Z:17.22 [[ 8.83333859e-01 -4.49074526e-01 -1.34362807e-01 1.51588876e+02] [ 4.43093757e-01 8.93479463e-01 -7.32282119e-02 4.89654759e+01] [ 1.52935333e-01 5.14963804e-03 9.88222781e-01 1.72162445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377105681 meters Centerline goodness [0,1] 0.9978066938018011 Centerline is valid? [True, True] Translation: X:151.61, Y:48.98, Z:17.22 [[ 8.84026488e-01 -4.47898765e-01 -1.33730571e-01 1.51610220e+02] [ 4.41952599e-01 8.94068106e-01 -7.29391663e-02 4.89841667e+01] [ 1.52233601e-01 5.37758137e-03 9.88329911e-01 1.72214492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.407105681 meters Centerline goodness [0,1] 0.9975581517734975 Centerline is valid? [True, True] Translation: X:151.63, Y:49.00, Z:17.23 [[ 8.83881175e-01 -4.48098610e-01 -1.34021281e-01 1.51634085e+02] [ 4.42124796e-01 8.93967961e-01 -7.31228412e-02 4.89968332e+01] [ 1.52576975e-01 5.37777130e-03 9.88276958e-01 1.72264007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437105681 meters Centerline goodness [0,1] 0.9966328549181362 Centerline is valid? [True, True] Translation: X:151.66, Y:49.00, Z:17.23 [[ 8.80930762e-01 -4.53803342e-01 -1.34251700e-01 1.51664109e+02] [ 4.47864887e-01 8.91090728e-01 -7.33100110e-02 4.90035797e+01] [ 1.52898773e-01 4.45442152e-03 9.88231817e-01 1.72291130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46710568099996 meters Centerline goodness [0,1] 0.9970528177167758 Centerline is valid? [True, True] Translation: X:151.69, Y:49.01, Z:17.23 [[ 8.77977164e-01 -4.59489500e-01 -1.34259077e-01 1.51694109e+02] [ 4.53614894e-01 8.88176409e-01 -7.33225339e-02 4.90101459e+01] [ 1.52936679e-01 3.47359344e-03 9.88229885e-01 1.72323771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49710568099997 meters Centerline goodness [0,1] 0.9965306980656014 Centerline is valid? [True, True] Translation: X:151.73, Y:49.01, Z:17.23 [[ 8.70424611e-01 -4.73331565e-01 -1.35344842e-01 1.51728749e+02] [ 4.67524542e-01 8.80883698e-01 -7.39237015e-02 4.90095804e+01] [ 1.54213486e-01 1.06797406e-03 9.88036973e-01 1.72349845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52710568099997 meters Centerline goodness [0,1] 0.9963045395372275 Centerline is valid? [True, True] Translation: X:151.76, Y:49.02, Z:17.24 [[ 8.66596503e-01 -4.80041645e-01 -1.36273697e-01 1.51756467e+02] [ 4.74234517e-01 8.77245693e-01 -7.44420343e-02 4.90171592e+01] [ 1.55280791e-01 -1.14484514e-04 9.87870367e-01 1.72386300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55710568099997 meters Centerline goodness [0,1] 0.9967532467532467 Centerline is valid? [True, True] Translation: X:151.78, Y:49.02, Z:17.24 [[ 8.61511062e-01 -4.89192642e-01 -1.35975178e-01 1.51784758e+02] [ 4.83513849e-01 8.72174105e-01 -7.43416978e-02 4.90216712e+01] [ 1.54961440e-01 -1.69968640e-03 9.87919057e-01 1.72446885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58710568099997 meters Centerline goodness [0,1] 0.9963353762557655 Centerline is valid? [True, True] Translation: X:151.81, Y:49.03, Z:17.25 [[ 8.60749780e-01 -4.90610410e-01 -1.35688028e-01 1.51810211e+02] [ 4.84969241e-01 8.71376903e-01 -7.42100298e-02 4.90319024e+01] [ 1.54643627e-01 -1.92825288e-03 9.87968436e-01 1.72510788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61710568099997 meters Centerline goodness [0,1] 0.9963522012578616 Centerline is valid? [True, True] Translation: X:151.83, Y:49.05, Z:17.26 [[ 8.61692028e-01 -4.88893569e-01 -1.35904113e-01 1.51834232e+02] [ 4.83202862e-01 8.72342037e-01 -7.43933158e-02 4.90462044e+01] [ 1.54925284e-01 -1.56512903e-03 9.87924950e-01 1.72552417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64710568099997 meters Centerline goodness [0,1] 0.9964399317478039 Centerline is valid? [True, True] Translation: X:151.86, Y:49.07, Z:17.26 [[ 8.66023987e-01 -4.80892980e-01 -1.36910173e-01 1.51855104e+02] [ 4.75008171e-01 8.76779297e-01 -7.50020141e-02 4.90669031e+01] [ 1.56107948e-01 -7.99076725e-05 9.87739997e-01 1.72577605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67710568099997 meters Centerline goodness [0,1] 0.9970562879791417 Centerline is valid? [True, True] Translation: X:151.88, Y:49.09, Z:17.26 [[ 8.68912479e-01 -4.75555425e-01 -1.37252110e-01 1.51876739e+02] [ 4.69565566e-01 8.79685265e-01 -7.52463535e-02 4.90861296e+01] [ 1.56522470e-01 9.33631037e-04 9.87673957e-01 1.72618414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70710568099997 meters Centerline goodness [0,1] 0.9975341426403642 Centerline is valid? [True, True] Translation: X:151.89, Y:49.11, Z:17.27 [[ 8.75607563e-01 -4.63351339e-01 -1.36443881e-01 1.51894676e+02] [ 4.57275866e-01 8.86169064e-01 -7.48543328e-02 4.91137970e+01] [ 1.55596202e-01 3.15052610e-03 9.87815720e-01 1.72676107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73710568099997 meters Centerline goodness [0,1] 0.9977416154836531 Centerline is valid? [True, True] Translation: X:151.91, Y:49.14, Z:17.27 [[ 8.81003162e-01 -4.53117684e-01 -1.36080099e-01 1.51912831e+02] [ 4.46951568e-01 8.91436927e-01 -7.46625821e-02 4.91421086e+01] [ 1.55137761e-01 4.95675746e-03 9.87880411e-01 1.72692206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76710568099998 meters Centerline goodness [0,1] 0.9973118844110297 Centerline is valid? [True, True] Translation: X:151.94, Y:49.16, Z:17.27 [[ 8.83281440e-01 -4.48773186e-01 -1.35707500e-01 1.51936513e+02] [ 4.42589235e-01 8.93627458e-01 -7.44629803e-02 4.91608265e+01] [ 1.54688937e-01 5.70908999e-03 9.87946729e-01 1.72725074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79710568099998 meters Centerline goodness [0,1] 0.9975928037501584 Centerline is valid? [True, True] Translation: X:151.96, Y:49.18, Z:17.28 [[ 8.86767564e-01 -4.41846237e-01 -1.35702580e-01 1.51959515e+02] [ 4.35580745e-01 8.97064060e-01 -7.44680279e-02 4.91811522e+01] [ 1.54637325e-01 6.92640074e-03 9.87947024e-01 1.72751047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82710568099998 meters Centerline goodness [0,1] 0.9971492524706479 Centerline is valid? [True, True] Translation: X:151.98, Y:49.19, Z:17.28 [[ 8.87269623e-01 -4.41391107e-01 -1.33889906e-01 1.51983353e+02] [ 4.35286361e-01 8.97288148e-01 -7.34830846e-02 4.91937055e+01] [ 1.52572606e-01 6.91885876e-03 9.88268045e-01 1.72801512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85710568099998 meters Centerline goodness [0,1] 0.9971339458821546 Centerline is valid? [True, True] Translation: X:152.01, Y:49.21, Z:17.29 [[ 8.86353180e-01 -4.43485844e-01 -1.33035129e-01 1.52009034e+02] [ 4.37472530e-01 8.96257255e-01 -7.30802235e-02 4.92058641e+01] [ 1.51643744e-01 6.57567395e-03 9.88413342e-01 1.72858199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88710568099998 meters Centerline goodness [0,1] 0.9975458835867855 Centerline is valid? [True, True] Translation: X:152.04, Y:49.21, Z:17.29 [[ 8.83336643e-01 -4.49580519e-01 -1.32641365e-01 1.52036688e+02] [ 4.43662832e-01 8.93222492e-01 -7.29168816e-02 4.92144534e+01] [ 1.51260260e-01 5.56210978e-03 9.88478324e-01 1.72929437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91710568099998 meters Centerline goodness [0,1] 0.9973681994273202 Centerline is valid? [True, True] Translation: X:152.06, Y:49.22, Z:17.30 [[ 8.81850952e-01 -4.52726671e-01 -1.31823593e-01 1.52064459e+02] [ 4.46915243e-01 8.91635320e-01 -7.24791154e-02 4.92231863e+01] [ 1.50351800e-01 5.00180363e-03 9.88619906e-01 1.72994044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94710568099998 meters Centerline goodness [0,1] 0.9971626137581706 Centerline is valid? [True, True] Translation: X:152.09, Y:49.23, Z:17.31 [[ 8.80363395e-01 -4.56540024e-01 -1.28574879e-01 1.52092069e+02] [ 4.51046048e-01 8.89692548e-01 -7.07434292e-02 4.92317022e+01] [ 1.46689318e-01 4.28673474e-03 9.89173325e-01 1.73058593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97710568099998 meters Centerline goodness [0,1] 0.9972907697154259 Centerline is valid? [True, True] Translation: X:152.12, Y:49.24, Z:17.31 [[ 8.79209807e-01 -4.58758855e-01 -1.28570714e-01 1.52119408e+02] [ 4.53287213e-01 8.88552136e-01 -7.07517058e-02 4.92422761e+01] [ 1.46699754e-01 3.92613284e-03 9.89173275e-01 1.73090851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00710568099998 meters Centerline goodness [0,1] 0.9974763937666926 Centerline is valid? [True, True] Translation: X:152.15, Y:49.25, Z:17.31 [[ 8.76331027e-01 -4.63927900e-01 -1.29672030e-01 1.52148019e+02] [ 4.58410034e-01 8.85867416e-01 -7.14084142e-02 4.92483740e+01] [ 1.48000582e-01 3.13444907e-03 9.88982307e-01 1.73091639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03710568099999 meters Centerline goodness [0,1] 0.9978762773876109 Centerline is valid? [True, True] Translation: X:152.17, Y:49.26, Z:17.31 [[ 8.74489453e-01 -4.67181038e-01 -1.30422677e-01 1.52174847e+02] [ 4.61631214e-01 8.84157799e-01 -7.18443305e-02 4.92578977e+01] [ 1.48878536e-01 2.61993070e-03 9.88852020e-01 1.73131070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.067105681 meters Centerline goodness [0,1] 0.997524129248846 Centerline is valid? [True, True] Translation: X:152.20, Y:49.27, Z:17.32 [[ 8.73190835e-01 -4.69181157e-01 -1.31934862e-01 1.52200662e+02] [ 4.63514846e-01 8.83098794e-01 -7.27358752e-02 4.92690288e+01] [ 1.50637820e-01 2.35853221e-03 9.88586205e-01 1.73167324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097105681 meters Centerline goodness [0,1] 0.997853986955607 Centerline is valid? [True, True] Translation: X:152.23, Y:49.28, Z:17.32 [[ 8.75274690e-01 -4.65119729e-01 -1.32506059e-01 1.52225414e+02] [ 4.59347503e-01 8.85242247e-01 -7.31165851e-02 4.92839695e+01] [ 1.51307928e-01 3.13076882e-03 9.88481719e-01 1.73199302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.127105681 meters Centerline goodness [0,1] 0.9984282990003982 Centerline is valid? [True, True] Translation: X:152.25, Y:49.30, Z:17.32 [[ 8.77193027e-01 -4.61373166e-01 -1.32918003e-01 1.52248884e+02] [ 4.55513316e-01 8.87197867e-01 -7.34000221e-02 4.92996100e+01] [ 1.51789369e-01 3.84006711e-03 9.88405403e-01 1.73229567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157105681 meters Centerline goodness [0,1] 0.9985025204057959 Centerline is valid? [True, True] Translation: X:152.27, Y:49.32, Z:17.33 [[ 8.81066925e-01 -4.53642531e-01 -1.33901189e-01 1.52272030e+02] [ 4.47602994e-01 8.91168382e-01 -7.39626543e-02 4.93200629e+01] [ 1.52881111e-01 5.23147545e-03 9.88230741e-01 1.73266005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18710568099996 meters Centerline goodness [0,1] 0.9986160910863685 Centerline is valid? [True, True] Translation: X:152.29, Y:49.34, Z:17.33 [[ 8.83984489e-01 -4.47852160e-01 -1.34163578e-01 1.52294049e+02] [ 4.41721646e-01 8.94085771e-01 -7.41122144e-02 4.93393187e+01] [ 1.53145061e-01 6.25109147e-03 9.88183947e-01 1.73304889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21710568099996 meters Centerline goodness [0,1] 0.9981031466689148 Centerline is valid? [True, True] Translation: X:152.32, Y:49.35, Z:17.33 [[ 8.84676012e-01 -4.46518459e-01 -1.34050812e-01 1.52318831e+02] [ 4.40381092e-01 8.94750897e-01 -7.40629835e-02 4.93541069e+01] [ 1.53012573e-01 6.48830191e-03 9.88202942e-01 1.73335990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24710568099997 meters Centerline goodness [0,1] 0.998260760236369 Centerline is valid? [True, True] Translation: X:152.34, Y:49.37, Z:17.34 [[ 8.85195256e-01 -4.45512716e-01 -1.33969323e-01 1.52343831e+02] [ 4.39362366e-01 8.95250457e-01 -7.40765175e-02 4.93678517e+01] [ 1.52938128e-01 6.71110333e-03 9.88212978e-01 1.73377026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27710568099997 meters Centerline goodness [0,1] 0.9985647043924267 Centerline is valid? [True, True] Translation: X:152.37, Y:49.38, Z:17.34 [[ 8.84937487e-01 -4.46296211e-01 -1.33061398e-01 1.52369982e+02] [ 4.40229386e-01 8.94861085e-01 -7.36323696e-02 4.93785484e+01] [ 1.51933314e-01 6.58250670e-03 9.88368827e-01 1.73429061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30710568099997 meters Centerline goodness [0,1] 0.9983228511530399 Centerline is valid? [True, True] Translation: X:152.40, Y:49.39, Z:17.35 [[ 8.84532905e-01 -4.47820570e-01 -1.30607336e-01 1.52396987e+02] [ 4.41985104e-01 8.94101595e-01 -7.23291489e-02 4.93862190e+01] [ 1.49166708e-01 6.25101531e-03 9.88792303e-01 1.73476686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33710568099997 meters Centerline goodness [0,1] 0.9985056721318376 Centerline is valid? [True, True] Translation: X:152.43, Y:49.39, Z:17.36 [[ 8.82790172e-01 -4.51917624e-01 -1.28265247e-01 1.52426484e+02] [ 4.46330843e-01 8.92042874e-01 -7.10513161e-02 4.93927624e+01] [ 1.46527442e-01 5.47466767e-03 9.89191456e-01 1.73556468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36710568099997 meters Centerline goodness [0,1] 0.9983597249384897 Centerline is valid? [True, True] Translation: X:152.45, Y:49.40, Z:17.36 [[ 8.81238198e-01 -4.54810234e-01 -1.28712427e-01 1.52453095e+02] [ 4.49213518e-01 8.90574228e-01 -7.13075048e-02 4.94038084e+01] [ 1.47059353e-01 5.01953494e-03 9.89114933e-01 1.73601301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39710568099997 meters Centerline goodness [0,1] 0.9982194851169903 Centerline is valid? [True, True] Translation: X:152.48, Y:49.41, Z:17.36 [[ 8.79587720e-01 -4.57918165e-01 -1.28982161e-01 1.52480160e+02] [ 4.52328253e-01 8.88982827e-01 -7.14750669e-02 4.94138993e+01] [ 1.47392658e-01 4.52631546e-03 9.89067701e-01 1.73640112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42710568099997 meters Centerline goodness [0,1] 0.9979885177890458 Centerline is valid? [True, True] Translation: X:152.51, Y:49.42, Z:17.37 [[ 8.76552905e-01 -4.63858054e-01 -1.28416165e-01 1.52509511e+02] [ 4.58372850e-01 8.85902385e-01 -7.12130230e-02 4.94203169e+01] [ 1.46796921e-01 3.55949861e-03 9.89160247e-01 1.73680741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45710568099997 meters Centerline goodness [0,1] 0.9979299096687856 Centerline is valid? [True, True] Translation: X:152.54, Y:49.43, Z:17.37 [[ 8.73572176e-01 -4.69609040e-01 -1.27824110e-01 1.52539476e+02] [ 4.64234120e-01 8.82870679e-01 -7.08946130e-02 4.94262718e+01] [ 1.46144910e-01 2.59124798e-03 9.89259799e-01 1.73718631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48710568099997 meters Centerline goodness [0,1] 0.9980279000249107 Centerline is valid? [True, True] Translation: X:152.57, Y:49.44, Z:17.37 [[ 8.72178099e-01 -4.72203343e-01 -1.27786410e-01 1.52565554e+02] [ 4.66851803e-01 8.81486901e-01 -7.09241606e-02 4.94371737e+01] [ 1.46132672e-01 2.20118382e-03 9.89262552e-01 1.73748612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51710568099998 meters Centerline goodness [0,1] 0.9977193312828239 Centerline is valid? [True, True] Translation: X:152.60, Y:49.44, Z:17.38 [[ 8.68461669e-01 -4.78911510e-01 -1.28133118e-01 1.52596047e+02] [ 4.73595050e-01 8.77862460e-01 -7.11704274e-02 4.94412086e+01] [ 1.46567591e-01 1.12557768e-03 9.89200017e-01 1.73786836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54710568099998 meters Centerline goodness [0,1] 0.997621102713627 Centerline is valid? [True, True] Translation: X:152.62, Y:49.45, Z:17.38 [[ 8.66135552e-01 -4.83032331e-01 -1.28409395e-01 1.52622784e+02] [ 4.77729504e-01 8.75602385e-01 -7.13791565e-02 4.94520102e+01] [ 1.46914013e-01 4.79068797e-04 9.89149151e-01 1.73829615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57710568099998 meters Centerline goodness [0,1] 0.9972392573391499 Centerline is valid? [True, True] Translation: X:152.65, Y:49.46, Z:17.39 [[ 8.62095669e-01 -4.90005944e-01 -1.29171330e-01 1.52649892e+02] [ 4.84708724e-01 8.71718841e-01 -7.18589966e-02 4.94600520e+01] [ 1.47812418e-01 -6.61140769e-04 9.89015193e-01 1.73857669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60710568099998 meters Centerline goodness [0,1] 0.9970015306871317 Centerline is valid? [True, True] Translation: X:152.68, Y:49.47, Z:17.39 [[ 8.59051944e-01 -4.95019461e-01 -1.30328397e-01 1.52678236e+02] [ 4.89673951e-01 8.68880626e-01 -7.25663750e-02 4.94690759e+01] [ 1.49161587e-01 -1.48013560e-03 9.88811726e-01 1.73877869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63710568099998 meters Centerline goodness [0,1] 0.9970519488723705 Centerline is valid? [True, True] Translation: X:152.70, Y:49.48, Z:17.39 [[ 8.58051220e-01 -4.96711607e-01 -1.30482506e-01 1.52703526e+02] [ 4.91364244e-01 8.67913935e-01 -7.27088774e-02 4.94815453e+01] [ 1.49362928e-01 -1.72649676e-03 9.88780934e-01 1.73916637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66710568099998 meters Centerline goodness [0,1] 0.9968223905723905 Centerline is valid? [True, True] Translation: X:152.73, Y:49.50, Z:17.40 [[ 8.57274550e-01 -4.98187468e-01 -1.29959967e-01 1.52727839e+02] [ 4.92891663e-01 8.67067202e-01 -7.24725907e-02 4.94953778e+01] [ 1.48788961e-01 -1.92727667e-03 9.88867095e-01 1.73956973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69710568099998 meters Centerline goodness [0,1] 0.9967991913746631 Centerline is valid? [True, True] Translation: X:152.75, Y:49.51, Z:17.40 [[ 8.57746317e-01 -4.97420142e-01 -1.29786198e-01 1.52751845e+02] [ 4.92125048e-01 8.67507978e-01 -7.24074976e-02 4.95115782e+01] [ 1.48607510e-01 -1.76377451e-03 9.88894685e-01 1.73995917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72710568099998 meters Centerline goodness [0,1] 0.9969892835336969 Centerline is valid? [True, True] Translation: X:152.77, Y:49.54, Z:17.40 [[ 8.60926380e-01 -4.91700465e-01 -1.30523637e-01 1.52771097e+02] [ 4.86270613e-01 8.70764101e-01 -7.28750386e-02 4.95352386e+01] [ 1.49487988e-01 -7.29765902e-04 9.88763272e-01 1.74032238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75710568099998 meters Centerline goodness [0,1] 0.9973226238286479 Centerline is valid? [True, True] Translation: X:152.79, Y:49.56, Z:17.41 [[ 8.63021078e-01 -4.88040203e-01 -1.30427678e-01 1.52790735e+02] [ 4.82568204e-01 8.72821149e-01 -7.28777744e-02 4.95565341e+01] [ 1.49407320e-01 -4.51949723e-05 9.88775733e-01 1.74087670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78710568099999 meters Centerline goodness [0,1] 0.9974780909148225 Centerline is valid? [True, True] Translation: X:152.81, Y:49.58, Z:17.42 [[ 8.68015033e-01 -4.79598299e-01 -1.28589948e-01 1.52806435e+02] [ 4.74178595e-01 8.77486970e-01 -7.19115984e-02 4.95840838e+01] [ 1.47324684e-01 1.44574732e-03 9.89087128e-01 1.74152805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.817105681 meters Centerline goodness [0,1] 0.997038623905236 Centerline is valid? [True, True] Translation: X:152.83, Y:49.60, Z:17.42 [[ 8.70174885e-01 -4.76018716e-01 -1.27286490e-01 1.52828081e+02] [ 4.70667664e-01 8.79432760e-01 -7.12037290e-02 4.96030258e+01] [ 1.45834217e-01 2.05006174e-03 9.89306918e-01 1.74197553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.847105681 meters Centerline goodness [0,1] 0.9976447827732683 Centerline is valid? [True, True] Translation: X:152.85, Y:49.63, Z:17.43 [[ 8.75183128e-01 -4.67572407e-01 -1.24219709e-01 1.52845036e+02] [ 4.62384847e-01 8.83948145e-01 -6.95408591e-02 4.96283148e+01] [ 1.42319168e-01 3.42367540e-03 9.89814898e-01 1.74282234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877105681 meters Centerline goodness [0,1] 0.9972429178768363 Centerline is valid? [True, True] Translation: X:152.87, Y:49.65, Z:17.43 [[ 8.78988674e-01 -4.61004412e-01 -1.21876339e-01 1.52865117e+02] [ 4.55946643e-01 8.87386853e-01 -6.82439173e-02 4.96510525e+01] [ 1.39612208e-01 4.41652250e-03 9.90196408e-01 1.74339168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.907105681 meters Centerline goodness [0,1] 0.9975839320979873 Centerline is valid? [True, True] Translation: X:152.89, Y:49.67, Z:17.44 [[ 8.80694509e-01 -4.58059180e-01 -1.20660553e-01 1.52887529e+02] [ 4.53073221e-01 8.88908498e-01 -6.75746882e-02 4.96685799e+01] [ 1.38209397e-01 4.84459165e-03 9.90391182e-01 1.74382467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93710568099996 meters Centerline goodness [0,1] 0.9971811431095778 Centerline is valid? [True, True] Translation: X:152.91, Y:49.69, Z:17.44 [[ 8.83194876e-01 -4.53762494e-01 -1.18601896e-01 1.52910411e+02] [ 4.48905959e-01 8.91106105e-01 -6.64330492e-02 4.96870320e+01] [ 1.35831700e-01 5.43223083e-03 9.90717033e-01 1.74438261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96710568099996 meters Centerline goodness [0,1] 0.9973318767200992 Centerline is valid? [True, True] Translation: X:152.93, Y:49.70, Z:17.45 [[ 8.83544815e-01 -4.52972414e-01 -1.19014924e-01 1.52934179e+02] [ 4.48073754e-01 8.91507073e-01 -6.66712040e-02 4.97028388e+01] [ 1.36302862e-01 5.57953294e-03 9.90651502e-01 1.74481098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99710568099997 meters Centerline goodness [0,1] 0.997339812739574 Centerline is valid? [True, True] Translation: X:152.96, Y:49.72, Z:17.45 [[ 8.83851046e-01 -4.52303841e-01 -1.19283540e-01 1.52958424e+02] [ 4.47369449e-01 8.91845412e-01 -6.68755301e-02 4.97156444e+01] [ 1.36630537e-01 5.74419561e-03 9.90605421e-01 1.74498254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02710568099997 meters Centerline goodness [0,1] 0.9972483038208667 Centerline is valid? [True, True] Translation: X:152.98, Y:49.73, Z:17.45 [[ 8.83951003e-01 -4.52055390e-01 -1.19484508e-01 1.52983821e+02] [ 4.47099481e-01 8.91970952e-01 -6.70065248e-02 4.97293536e+01] [ 1.36867371e-01 5.80902314e-03 9.90572349e-01 1.74536123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05710568099997 meters Centerline goodness [0,1] 0.9974981078126314 Centerline is valid? [True, True] Translation: X:153.01, Y:49.74, Z:17.46 [[ 8.84487106e-01 -4.50956450e-01 -1.19669712e-01 1.53008373e+02] [ 4.45967768e-01 8.92525543e-01 -6.71632735e-02 4.97417440e+01] [ 1.37095986e-01 6.03621521e-03 9.90539376e-01 1.74577912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08710568099997 meters Centerline goodness [0,1] 0.9979191188834706 Centerline is valid? [True, True] Translation: X:153.04, Y:49.75, Z:17.46 [[ 8.84623680e-01 -4.50173421e-01 -1.21592912e-01 1.53035085e+02] [ 4.45012136e-01 8.92919092e-01 -6.82619460e-02 4.97523463e+01] [ 1.39302347e-01 6.27581215e-03 9.90230009e-01 1.74602838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11710568099997 meters Centerline goodness [0,1] 0.9978973485565298 Centerline is valid? [True, True] Translation: X:153.06, Y:49.76, Z:17.46 [[ 8.84446913e-01 -4.49894844e-01 -1.23888207e-01 1.53059677e+02] [ 4.44525127e-01 8.93057948e-01 -6.96054117e-02 4.97649880e+01] [ 1.41954464e-01 6.49087056e-03 9.89851908e-01 1.74610460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14710568099997 meters Centerline goodness [0,1] 0.9980520704605911 Centerline is valid? [True, True] Translation: X:153.09, Y:49.77, Z:17.46 [[ 8.82251612e-01 -4.52498504e-01 -1.29912269e-01 1.53089591e+02] [ 4.46614805e-01 8.91742226e-01 -7.30138258e-02 4.97717978e+01] [ 1.48886903e-01 6.39582285e-03 9.88833547e-01 1.74581518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17710568099997 meters Centerline goodness [0,1] 0.9982727387622699 Centerline is valid? [True, True] Translation: X:153.12, Y:49.78, Z:17.46 [[ 8.80686076e-01 -4.55153066e-01 -1.31254420e-01 1.53116600e+02] [ 4.49167163e-01 8.90392589e-01 -7.38234187e-02 4.97827167e+01] [ 1.50468918e-01 6.06008160e-03 9.88596166e-01 1.74603031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20710568099997 meters Centerline goodness [0,1] 0.9982727387622699 Centerline is valid? [True, True] Translation: X:153.14, Y:49.80, Z:17.46 [[ 8.80513546e-01 -4.55489244e-01 -1.31245740e-01 1.53140137e+02] [ 4.49504753e-01 8.90220929e-01 -7.38388451e-02 4.97962300e+01] [ 1.50470505e-01 6.02051922e-03 9.88596167e-01 1.74641143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23710568099997 meters Centerline goodness [0,1] 0.9984842743463433 Centerline is valid? [True, True] Translation: X:153.17, Y:49.81, Z:17.47 [[ 8.79453201e-01 -4.57547496e-01 -1.31195872e-01 1.53166352e+02] [ 4.51580756e-01 8.89166767e-01 -7.38734110e-02 4.98060709e+01] [ 1.50455603e-01 5.72267688e-03 9.88600204e-01 1.74670070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26710568099998 meters Centerline goodness [0,1] 0.9984653225975991 Centerline is valid? [True, True] Translation: X:153.19, Y:49.81, Z:17.47 [[ 8.79730667e-01 -4.57438679e-01 -1.29706623e-01 1.53193115e+02] [ 4.51602838e-01 8.89222929e-01 -7.30579214e-02 4.98126237e+01] [ 1.48757623e-01 5.69541482e-03 9.88857286e-01 1.74749699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29710568099998 meters Centerline goodness [0,1] 0.9982016269003158 Centerline is valid? [True, True] Translation: X:153.22, Y:49.83, Z:17.48 [[ 8.80877250e-01 -4.55528402e-01 -1.28643482e-01 1.53216575e+02] [ 4.49758798e-01 8.90200865e-01 -7.25220157e-02 4.98266197e+01] [ 1.47554377e-01 6.02445611e-03 9.89035597e-01 1.74818922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32710568099998 meters Centerline goodness [0,1] 0.9985083406865835 Centerline is valid? [True, True] Translation: X:153.24, Y:49.84, Z:17.49 [[ 8.81956094e-01 -4.53396954e-01 -1.28781406e-01 1.53242262e+02] [ 4.47589255e-01 8.91285676e-01 -7.26202607e-02 4.98379820e+01] [ 1.47706827e-01 6.40670792e-03 9.89010438e-01 1.74867100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35710568099998 meters Centerline goodness [0,1] 0.998405806221551 Centerline is valid? [True, True] Translation: X:153.27, Y:49.85, Z:17.49 [[ 8.81980658e-01 -4.53601223e-01 -1.27890773e-01 1.53268447e+02] [ 4.47872869e-01 8.91182157e-01 -7.21405331e-02 4.98477519e+01] [ 1.46697009e-01 6.34774742e-03 9.89161106e-01 1.74918402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38710568099998 meters Centerline goodness [0,1] 0.9982010249973852 Centerline is valid? [True, True] Translation: X:153.30, Y:49.85, Z:17.50 [[ 8.80632599e-01 -4.56957604e-01 -1.25203728e-01 1.53297936e+02] [ 4.51493343e-01 8.89470076e-01 -7.06876656e-02 4.98527596e+01] [ 1.43666236e-01 5.72121310e-03 9.89609661e-01 1.75003467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41710568099998 meters Centerline goodness [0,1] 0.9983516598159701 Centerline is valid? [True, True] Translation: X:153.32, Y:49.86, Z:17.51 [[ 8.79162974e-01 -4.60259554e-01 -1.23424506e-01 1.53324289e+02] [ 4.54975363e-01 8.87769450e-01 -6.97339488e-02 4.98614528e+01] [ 1.41668222e-01 5.15239646e-03 9.89900787e-01 1.75070513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44710568099998 meters Centerline goodness [0,1] 0.9984008639488277 Centerline is valid? [True, True] Translation: X:153.36, Y:49.86, Z:17.52 [[ 8.75173243e-01 -4.68420692e-01 -1.21053084e-01 1.53355759e+02] [ 4.63412176e-01 8.83497452e-01 -6.84208137e-02 4.98623935e+01] [ 1.38999816e-01 3.78259249e-03 9.90285183e-01 1.75155661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47710568099998 meters Centerline goodness [0,1] 0.9982270982813282 Centerline is valid? [True, True] Translation: X:153.39, Y:49.86, Z:17.52 [[ 8.70911526e-01 -4.76316443e-01 -1.20978345e-01 1.53388273e+02] [ 4.71388500e-01 8.79270290e-01 -6.83859520e-02 4.98647228e+01] [ 1.38946018e-01 2.53031329e-03 9.90296724e-01 1.75216363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50710568099998 meters Centerline goodness [0,1] 0.9984119023737881 Centerline is valid? [True, True] Translation: X:153.42, Y:49.87, Z:17.52 [[ 8.68588653e-01 -4.80318040e-01 -1.21853733e-01 1.53416690e+02] [ 4.75356639e-01 8.77092320e-01 -6.88848911e-02 4.98732889e+01] [ 1.39963629e-01 1.90865386e-03 9.90154806e-01 1.75236340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53710568099999 meters Centerline goodness [0,1] 0.9984466834592779 Centerline is valid? [True, True] Translation: X:153.45, Y:49.88, Z:17.52 [[ 8.64430033e-01 -4.87008169e-01 -1.24834937e-01 1.53448523e+02] [ 4.81860906e-01 8.73396954e-01 -7.06245599e-02 4.98771819e+01] [ 1.43425191e-01 8.96914931e-04 9.89660755e-01 1.75232434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.567105681 meters Centerline goodness [0,1] 0.9982599215916477 Centerline is valid? [True, True] Translation: X:153.47, Y:49.89, Z:17.53 [[ 8.62852818e-01 -4.89706110e-01 -1.25191616e-01 1.53474826e+02] [ 4.84549792e-01 8.71887423e-01 -7.08789096e-02 4.98880359e+01] [ 1.43862831e-01 4.96495232e-04 9.89597514e-01 1.75263404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597105681 meters Centerline goodness [0,1] 0.9982925204064634 Centerline is valid? [True, True] Translation: X:153.50, Y:49.90, Z:17.53 [[ 8.61090071e-01 -4.92496677e-01 -1.26376077e-01 1.53500354e+02] [ 4.87262395e-01 8.70314320e-01 -7.16124521e-02 4.98972713e+01] [ 1.45255805e-01 8.64612865e-05 9.89394130e-01 1.75289961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.627105681 meters Centerline goodness [0,1] 0.9983658419056798 Centerline is valid? [True, True] Translation: X:153.53, Y:49.91, Z:17.53 [[ 8.60436799e-01 -4.93377896e-01 -1.27384329e-01 1.53525116e+02] [ 4.88064480e-01 8.69815067e-01 -7.22136641e-02 4.99100125e+01] [ 1.46429434e-01 -3.64723257e-05 9.89221118e-01 1.75319906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657105681 meters Centerline goodness [0,1] 0.9983187626092804 Centerline is valid? [True, True] Translation: X:153.55, Y:49.93, Z:17.53 [[ 8.61223084e-01 -4.91514657e-01 -1.29259975e-01 1.53547986e+02] [ 4.86012009e-01 8.70869235e-01 -7.33423653e-02 4.99280210e+01] [ 1.48617383e-01 3.42238083e-04 9.88894715e-01 1.75349828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68710568099996 meters Centerline goodness [0,1] 0.9986532269943814 Centerline is valid? [True, True] Translation: X:153.57, Y:49.95, Z:17.54 [[ 8.65483740e-01 -4.83947714e-01 -1.29354186e-01 1.53567301e+02] [ 4.78343992e-01 8.75095271e-01 -7.34526534e-02 4.99519713e+01] [ 1.48744480e-01 1.69627948e-03 9.88874210e-01 1.75388059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71710568099996 meters Centerline goodness [0,1] 0.998672790090166 Centerline is valid? [True, True] Translation: X:153.59, Y:49.98, Z:17.54 [[ 8.71016273e-01 -4.73782807e-01 -1.29848002e-01 1.53586598e+02] [ 4.68014830e-01 8.80634777e-01 -7.37869181e-02 4.99774107e+01] [ 1.49307640e-01 3.49881567e-03 9.88784601e-01 1.75425536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74710568099997 meters Centerline goodness [0,1] 0.998970804452846 Centerline is valid? [True, True] Translation: X:153.61, Y:50.00, Z:17.55 [[ 8.73520633e-01 -4.69308253e-01 -1.29272838e-01 1.53606957e+02] [ 4.63541474e-01 8.83024165e-01 -7.34685359e-02 4.99979787e+01] [ 1.48630430e-01 4.25296033e-03 9.88883667e-01 1.75470999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77710568099997 meters Centerline goodness [0,1] 0.998888212959661 Centerline is valid? [True, True] Translation: X:153.63, Y:50.02, Z:17.55 [[ 8.77468968e-01 -4.61975146e-01 -1.28946402e-01 1.53626865e+02] [ 4.56156265e-01 8.86875831e-01 -7.32988588e-02 5.00222352e+01] [ 1.48221698e-01 5.49776476e-03 9.88938877e-01 1.75510900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80710568099997 meters Centerline goodness [0,1] 0.9985716986284106 Centerline is valid? [True, True] Translation: X:153.65, Y:50.04, Z:17.55 [[ 8.78988143e-01 -4.59010712e-01 -1.29185954e-01 1.53650656e+02] [ 4.53137266e-01 8.88410370e-01 -7.34413597e-02 5.00391305e+01] [ 1.48480512e-01 6.01511440e-03 9.88897040e-01 1.75546944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83710568099997 meters Centerline goodness [0,1] 0.9989280760015133 Centerline is valid? [True, True] Translation: X:153.67, Y:50.06, Z:17.56 [[ 8.81391373e-01 -4.54406042e-01 -1.29090652e-01 1.53673318e+02] [ 4.48490384e-01 8.90768737e-01 -7.33991253e-02 5.00575653e+01] [ 1.48342923e-01 6.79743975e-03 9.88912621e-01 1.75588398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86710568099997 meters Centerline goodness [0,1] 0.9988876296016455 Centerline is valid? [True, True] Translation: X:153.70, Y:50.07, Z:17.56 [[ 8.82188813e-01 -4.53060096e-01 -1.28372303e-01 1.53697038e+02] [ 4.47194487e-01 8.91452532e-01 -7.30032548e-02 5.00726309e+01] [ 1.47512676e-01 6.99526855e-03 9.89035427e-01 1.75639077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89710568099997 meters Centerline goodness [0,1] 0.9987395222789437 Centerline is valid? [True, True] Translation: X:153.72, Y:50.09, Z:17.57 [[ 8.84155256e-01 -4.49591004e-01 -1.27033116e-01 1.53720346e+02] [ 4.43804869e-01 8.93202711e-01 -7.22921458e-02 5.00889089e+01] [ 1.45968222e-01 7.53956508e-03 9.89260549e-01 1.75707775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92710568099997 meters Centerline goodness [0,1] 0.9991594166351447 Centerline is valid? [True, True] Translation: X:153.75, Y:50.10, Z:17.58 [[ 8.85147181e-01 -4.47856289e-01 -1.26250592e-01 1.53747725e+02] [ 4.42122212e-01 8.94071632e-01 -7.18600527e-02 5.00976148e+01] [ 1.45060049e-01 7.78853223e-03 9.89392198e-01 1.75771929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95710568099997 meters Centerline goodness [0,1] 0.9988229854134264 Centerline is valid? [True, True] Translation: X:153.77, Y:50.12, Z:17.58 [[ 8.87307397e-01 -4.43480365e-01 -1.26533588e-01 1.53768797e+02] [ 4.37668045e-01 8.96243073e-01 -7.20766020e-02 5.01201801e+01] [ 1.45369409e-01 8.57439410e-03 9.89340293e-01 1.75803565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98710568099997 meters Centerline goodness [0,1] 0.9993271373901341 Centerline is valid? [True, True] Translation: X:153.80, Y:50.13, Z:17.59 [[ 8.88274073e-01 -4.41461028e-01 -1.26812190e-01 1.53799022e+02] [ 4.35601887e-01 8.97235997e-01 -7.22396086e-02 5.01258290e+01] [ 1.45671434e-01 8.92894204e-03 9.89292731e-01 1.75859649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01710568099998 meters Centerline goodness [0,1] 0.9994108116070114 Centerline is valid? [True, True] Translation: X:153.82, Y:50.14, Z:17.59 [[ 8.88098507e-01 -4.41712568e-01 -1.27165442e-01 1.53824290e+02] [ 4.35821404e-01 8.97112246e-01 -7.24521996e-02 5.01382620e+01] [ 1.46084722e-01 8.92326895e-03 9.89231838e-01 1.75884630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04710568099998 meters Centerline goodness [0,1] 0.9993685141137095 Centerline is valid? [True, True] Translation: X:153.85, Y:50.14, Z:17.59 [[ 8.87184111e-01 -4.42471489e-01 -1.30856159e-01 1.53854879e+02] [ 4.36228538e-01 8.96736166e-01 -7.46251378e-02 5.01443991e+01] [ 1.50362946e-01 9.12304569e-03 9.88588769e-01 1.75865958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07710568099998 meters Centerline goodness [0,1] 0.9997261197488729 Centerline is valid? [True, True] Translation: X:153.88, Y:50.16, Z:17.59 [[ 8.86274506e-01 -4.43636220e-01 -1.33057901e-01 1.53880361e+02] [ 4.37183627e-01 8.96160411e-01 -7.59407347e-02 5.01557511e+01] [ 1.52931283e-01 9.13360157e-03 9.88194616e-01 1.75884353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10710568099998 meters Centerline goodness [0,1] 0.9993700655131866 Centerline is valid? [True, True] Translation: X:153.91, Y:50.16, Z:17.59 [[ 8.83774191e-01 -4.49342198e-01 -1.30517307e-01 1.53908844e+02] [ 4.43193643e-01 8.93323840e-01 -7.45111517e-02 5.01622474e+01] [ 1.50075227e-01 8.00659200e-03 9.88642160e-01 1.75949456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13710568099998 meters Centerline goodness [0,1] 0.9996459218528702 Centerline is valid? [True, True] Translation: X:153.94, Y:50.16, Z:17.61 [[ 8.80080343e-01 -4.57372709e-01 -1.27549187e-01 1.53941437e+02] [ 4.51584348e-01 8.89251397e-01 -7.28253396e-02 5.01632941e+01] [ 1.46731615e-01 6.49293343e-03 9.89155031e-01 1.76065979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16710568099998 meters Centerline goodness [0,1] 0.9996227285112448 Centerline is valid? [True, True] Translation: X:153.97, Y:50.17, Z:17.61 [[ 8.77689121e-01 -4.61922300e-01 -1.27630700e-01 1.53968967e+02] [ 4.56173125e-01 8.86901803e-01 -7.28784761e-02 5.01726381e+01] [ 1.46860091e-01 5.74295026e-03 9.89140603e-01 1.76110091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19710568099998 meters Centerline goodness [0,1] 0.9995396237470442 Centerline is valid? [True, True] Translation: X:154.00, Y:50.18, Z:17.61 [[ 8.72875114e-01 -4.70348433e-01 -1.29851403e-01 1.54001748e+02] [ 4.64486987e-01 8.82469756e-01 -7.41550314e-02 5.01770199e+01] [ 1.49468639e-01 4.41379434e-03 9.88756615e-01 1.76119947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22710568099998 meters Centerline goodness [0,1] 0.9996429696524205 Centerline is valid? [True, True] Translation: X:154.03, Y:50.19, Z:17.61 [[ 8.70549387e-01 -4.74278160e-01 -1.31163987e-01 1.54030120e+02] [ 4.68339101e-01 8.80366890e-01 -7.49174546e-02 5.01864592e+01] [ 1.51004144e-01 3.79012025e-03 9.88525864e-01 1.76143439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25710568099998 meters Centerline goodness [0,1] 0.9997476393766692 Centerline is valid? [True, True] Translation: X:154.06, Y:50.19, Z:17.62 [[ 8.66843647e-01 -4.80883710e-01 -1.31654658e-01 1.54057944e+02] [ 4.74967050e-01 8.76780229e-01 -7.52511143e-02 5.01933994e+01] [ 1.51619236e-01 2.69932585e-03 9.88435289e-01 1.76176344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28710568099999 meters Centerline goodness [0,1] 0.9996423462088698 Centerline is valid? [True, True] Translation: X:154.08, Y:50.20, Z:17.62 [[ 8.64810199e-01 -4.84735668e-01 -1.30899395e-01 1.54083996e+02] [ 4.78927215e-01 8.74658330e-01 -7.48433573e-02 5.02035028e+01] [ 1.50771491e-01 2.03401621e-03 9.88566548e-01 1.76233773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.317105681 meters Centerline goodness [0,1] 0.9997265345618243 Centerline is valid? [True, True] Translation: X:154.11, Y:50.22, Z:17.63 [[ 8.64708751e-01 -4.84871881e-01 -1.31065000e-01 1.54108267e+02] [ 4.79041157e-01 8.74582754e-01 -7.49971778e-02 5.02170881e+01] [ 1.50991211e-01 2.06518690e-03 9.88532948e-01 1.76284208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.347105681 meters Centerline goodness [0,1] 0.9996220154973646 Centerline is valid? [True, True] Translation: X:154.13, Y:50.24, Z:17.63 [[ 8.66581836e-01 -4.81293514e-01 -1.31880531e-01 1.54128731e+02] [ 4.75338091e-01 8.76555137e-01 -7.55300702e-02 5.02360215e+01] [ 1.51952690e-01 2.76514714e-03 9.88383900e-01 1.76317502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377105681 meters Centerline goodness [0,1] 0.9997687229300702 Centerline is valid? [True, True] Translation: X:154.15, Y:50.25, Z:17.64 [[ 8.68671963e-01 -4.77833636e-01 -1.30705919e-01 1.54150968e+02] [ 4.71939633e-01 8.78443868e-01 -7.48956127e-02 5.02533193e+01] [ 1.50605456e-01 3.37441569e-03 9.88588190e-01 1.76380023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.407105681 meters Centerline goodness [0,1] 0.999664767013074 Centerline is valid? [True, True] Translation: X:154.17, Y:50.27, Z:17.65 [[ 8.73717442e-01 -4.69806406e-01 -1.26094305e-01 1.54170035e+02] [ 4.64231865e-01 8.82757282e-01 -7.23073752e-02 5.02749394e+01] [ 1.45281134e-01 4.63922058e-03 9.89379538e-01 1.76477437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43710568099996 meters Centerline goodness [0,1] 0.9997691597414589 Centerline is valid? [True, True] Translation: X:154.19, Y:50.30, Z:17.66 [[ 8.76951558e-01 -4.64382600e-01 -1.23712427e-01 1.54189294e+02] [ 4.58961783e-01 8.85617938e-01 -7.09573805e-02 5.02964840e+01] [ 1.42513317e-01 5.44690931e-03 9.89777897e-01 1.76561606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46710568099996 meters Centerline goodness [0,1] 0.9995411217487433 Centerline is valid? [True, True] Translation: X:154.21, Y:50.31, Z:17.66 [[ 8.77849099e-01 -4.62723747e-01 -1.23562508e-01 1.54212410e+02] [ 4.57296933e-01 8.86484029e-01 -7.08913325e-02 5.03143707e+01] [ 1.42339293e-01 5.72713630e-03 9.89801357e-01 1.76594362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49710568099997 meters Centerline goodness [0,1] 0.99976927110645 Centerline is valid? [True, True] Translation: X:154.24, Y:50.33, Z:17.66 [[ 8.79730521e-01 -4.58811578e-01 -1.24764364e-01 1.54235304e+02] [ 4.53230886e-01 8.88510006e-01 -7.16361157e-02 5.03333883e+01] [ 1.43721865e-01 6.47341391e-03 9.89596948e-01 1.76591560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52710568099997 meters Centerline goodness [0,1] 0.9995383001049318 Centerline is valid? [True, True] Translation: X:154.26, Y:50.35, Z:17.66 [[ 8.80262959e-01 -4.57570562e-01 -1.25563947e-01 1.54259816e+02] [ 4.51903120e-01 8.89147827e-01 -7.21090250e-02 5.03493441e+01] [ 1.44639878e-01 6.73216441e-03 9.89461461e-01 1.76599332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55710568099997 meters Centerline goodness [0,1] 0.9997478090914822 Centerline is valid? [True, True] Translation: X:154.28, Y:50.36, Z:17.66 [[ 8.79866416e-01 -4.57639552e-01 -1.28066898e-01 1.54284276e+02] [ 4.51734896e-01 8.89110974e-01 -7.36020375e-02 5.03628554e+01] [ 1.47548888e-01 6.90767405e-03 9.89030641e-01 1.76592834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58710568099997 meters Centerline goodness [0,1] 0.9998118886380737 Centerline is valid? [True, True] Translation: X:154.31, Y:50.37, Z:17.66 [[ 8.77277361e-01 -4.62624691e-01 -1.27917269e-01 1.54312614e+02] [ 4.56783459e-01 8.86533375e-01 -7.35353468e-02 5.03722398e+01] [ 1.47422195e-01 6.08040228e-03 9.89054966e-01 1.76642698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61710568099997 meters Centerline goodness [0,1] 0.9997481584083612 Centerline is valid? [True, True] Translation: X:154.34, Y:50.38, Z:17.67 [[ 8.75416867e-01 -4.66133905e-01 -1.27923775e-01 1.54339988e+02] [ 4.60328009e-01 8.84697102e-01 -7.35470118e-02 5.03827944e+01] [ 1.47456548e-01 5.49739822e-03 9.89053257e-01 1.76688540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64710568099997 meters Centerline goodness [0,1] 0.9998118296431036 Centerline is valid? [True, True] Translation: X:154.37, Y:50.39, Z:17.67 [[ 8.73664181e-01 -4.69431021e-01 -1.27849190e-01 1.54366740e+02] [ 4.63665593e-01 8.82955293e-01 -7.35130520e-02 5.03929682e+01] [ 1.47394426e-01 4.94644990e-03 9.89065425e-01 1.76734771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67710568099997 meters Centerline goodness [0,1] 0.999641758334387 Centerline is valid? [True, True] Translation: X:154.40, Y:50.40, Z:17.68 [[ 8.69994019e-01 -4.75995170e-01 -1.28604060e-01 1.54398887e+02] [ 4.70229663e-01 8.79439363e-01 -7.39626325e-02 5.03965962e+01] [ 1.48305328e-01 3.87360434e-03 9.88934035e-01 1.76775829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70710568099997 meters Centerline goodness [0,1] 0.9998525881312387 Centerline is valid? [True, True] Translation: X:154.43, Y:50.40, Z:17.68 [[ 8.68265161e-01 -4.79061648e-01 -1.28901308e-01 1.54425806e+02] [ 4.73301082e-01 8.77774795e-01 -7.41450976e-02 5.04047402e+01] [ 1.48666392e-01 3.36847662e-03 9.88881670e-01 1.76812863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73710568099997 meters Centerline goodness [0,1] 0.9998108727173388 Centerline is valid? [True, True] Translation: X:154.45, Y:50.42, Z:17.68 [[ 8.68088478e-01 -4.79364129e-01 -1.28966764e-01 1.54450591e+02] [ 4.73597381e-01 8.77609753e-01 -7.42067612e-02 5.04171835e+01] [ 1.48754549e-01 3.33971280e-03 9.88868510e-01 1.76844623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76710568099998 meters Centerline goodness [0,1] 0.9997476340694006 Centerline is valid? [True, True] Translation: X:154.47, Y:50.43, Z:17.68 [[ 8.69269503e-01 -4.76355551e-01 -1.32120856e-01 1.54474403e+02] [ 4.70256748e-01 8.79243602e-01 -7.60873161e-02 5.04333671e+01] [ 1.52411032e-01 4.00965957e-03 9.88309061e-01 1.76839694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79710568099998 meters Centerline goodness [0,1] 0.9996843832849388 Centerline is valid? [True, True] Translation: X:154.50, Y:50.45, Z:17.68 [[ 8.70938561e-01 -4.72029071e-01 -1.36581768e-01 1.54499164e+02] [ 4.65453509e-01 8.81569120e-01 -7.86696765e-02 5.04503484e+01] [ 1.57540643e-01 4.94399182e-03 9.87500128e-01 1.76811649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82710568099998 meters Centerline goodness [0,1] 0.9997895667178721 Centerline is valid? [True, True] Translation: X:154.52, Y:50.46, Z:17.68 [[ 8.71071152e-01 -4.71572560e-01 -1.37311211e-01 1.54524485e+02] [ 4.64917729e-01 8.81812692e-01 -7.91067695e-02 5.04642423e+01] [ 1.58387351e-01 5.06920830e-03 9.87364041e-01 1.76844057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85710568099998 meters Centerline goodness [0,1] 0.9997896552449465 Centerline is valid? [True, True] Translation: X:154.55, Y:50.47, Z:17.69 [[ 8.69488817e-01 -4.75315715e-01 -1.34403005e-01 1.54553604e+02] [ 4.68977592e-01 8.79804600e-01 -7.74847344e-02 5.04718189e+01] [ 1.55078094e-01 4.34011225e-03 9.87892680e-01 1.76928438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88710568099998 meters Centerline goodness [0,1] 0.999978947811625 Centerline is valid? [True, True] Translation: X:154.58, Y:50.48, Z:17.70 [[ 8.67225601e-01 -4.79639181e-01 -1.33663808e-01 1.54578920e+02] [ 4.73420957e-01 8.77458621e-01 -7.70646927e-02 5.04823846e+01] [ 1.54247707e-01 3.55322654e-03 9.88025819e-01 1.76987116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91710568099998 meters Centerline goodness [0,1] 0.9998538286454092 Centerline is valid? [True, True] Translation: X:154.61, Y:50.49, Z:17.71 [[ 8.60558322e-01 -4.91953288e-01 -1.31989911e-01 1.54610111e+02] [ 4.86030490e-01 8.70620542e-01 -7.61198762e-02 5.04855808e+01] [ 1.52360552e-01 1.35447161e-03 9.88324050e-01 1.77080242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94710568099998 meters Centerline goodness [0,1] 0.9998739866425841 Centerline is valid? [True, True] Translation: X:154.64, Y:50.49, Z:17.71 [[ 8.57208483e-01 -4.98304023e-01 -1.29948904e-01 1.54636680e+02] [ 4.92634849e-01 8.67002334e-01 -7.49523812e-02 5.04943416e+01] [ 1.50015076e-01 2.32458559e-04 9.88683682e-01 1.77141721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97710568099998 meters Centerline goodness [0,1] 0.9999371214185409 Centerline is valid? [True, True] Translation: X:154.67, Y:50.50, Z:17.72 [[ 8.51876251e-01 -5.08130423e-01 -1.26926459e-01 1.54665346e+02] [ 5.02827848e-01 8.61278935e-01 -7.32308095e-02 5.04991989e+01] [ 1.46529888e-01 -1.43857091e-03 9.89205197e-01 1.77217468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00710568099998 meters Centerline goodness [0,1] 0.9998738170347004 Centerline is valid? [True, True] Translation: X:154.69, Y:50.51, Z:17.73 [[ 8.48619730e-01 -5.13484021e-01 -1.27195576e-01 1.54690533e+02] [ 5.08208898e-01 8.58096043e-01 -7.34499563e-02 5.05121525e+01] [ 1.46861399e-01 -2.31084121e-03 9.89154381e-01 1.77259071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03710568099999 meters Centerline goodness [0,1] 0.9997060182268699 Centerline is valid? [True, True] Translation: X:154.71, Y:50.53, Z:17.73 [[ 8.47560119e-01 -5.15025411e-01 -1.28026052e-01 1.54713322e+02] [ 5.09689908e-01 8.57171127e-01 -7.39855162e-02 5.05298325e+01] [ 1.47844656e-01 -2.54641352e-03 9.89007317e-01 1.77288459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.067105681 meters Centerline goodness [0,1] 0.9998948541627237 Centerline is valid? [True, True] Translation: X:154.73, Y:50.55, Z:17.73 [[ 8.47441268e-01 -5.15069686e-01 -1.28633261e-01 1.54734072e+02] [ 5.09675284e-01 8.57144608e-01 -7.43923850e-02 5.05502426e+01] [ 1.48574568e-01 -2.51801678e-03 9.88898001e-01 1.77298010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097105681 meters Centerline goodness [0,1] 0.9998948541627237 Centerline is valid? [True, True] Translation: X:154.76, Y:50.56, Z:17.73 [[ 8.47256057e-01 -5.15381046e-01 -1.28606184e-01 1.54757475e+02] [ 5.09983111e-01 8.56957430e-01 -7.44391672e-02 5.05640603e+01] [ 1.48574561e-01 -2.51794640e-03 9.88898003e-01 1.77336202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.127105681 meters Centerline goodness [0,1] 0.9997896375454909 Centerline is valid? [True, True] Translation: X:154.78, Y:50.58, Z:17.74 [[ 8.47191879e-01 -5.15171802e-01 -1.29861214e-01 1.54779861e+02] [ 5.09655322e-01 8.57083431e-01 -7.52292815e-02 5.05806042e+01] [ 1.50057899e-01 -2.45082228e-03 9.88674173e-01 1.77355978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157105681 meters Centerline goodness [0,1] 0.9994320213728254 Centerline is valid? [True, True] Translation: X:154.80, Y:50.60, Z:17.74 [[ 8.46717673e-01 -5.15533412e-01 -1.31508494e-01 1.54801689e+02] [ 5.09870084e-01 8.56865849e-01 -7.62457503e-02 5.05994389e+01] [ 1.51992370e-01 -2.49362288e-03 9.88378521e-01 1.77375263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18710568099996 meters Centerline goodness [0,1] 0.9996013093839181 Centerline is valid? [True, True] Translation: X:154.82, Y:50.62, Z:17.74 [[ 8.48711879e-01 -5.12878700e-01 -1.29010023e-01 1.54821720e+02] [ 5.07396136e-01 8.58458848e-01 -7.48169011e-02 5.06199257e+01] [ 1.49121791e-01 -1.96119454e-03 9.88816892e-01 1.77431185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21710568099996 meters Centerline goodness [0,1] 0.9996206852952333 Centerline is valid? [True, True] Translation: X:154.84, Y:50.64, Z:17.75 [[ 8.50458121e-01 -5.10293117e-01 -1.27757267e-01 1.54842873e+02] [ 5.04884783e-01 8.59999281e-01 -7.41120292e-02 5.06389117e+01] [ 1.47690016e-01 -1.47352311e-03 9.89032602e-01 1.77490535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24710568099997 meters Centerline goodness [0,1] 0.9996209409088994 Centerline is valid? [True, True] Translation: X:154.86, Y:50.67, Z:17.76 [[ 8.55853786e-01 -5.01830790e-01 -1.25220425e-01 1.54858367e+02] [ 4.96537946e-01 8.64965812e-01 -7.26925830e-02 5.06662165e+01] [ 1.44790763e-01 3.75296372e-05 9.89462295e-01 1.77562045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27710568099997 meters Centerline goodness [0,1] 0.9991372780069018 Centerline is valid? [True, True] Translation: X:154.88, Y:50.69, Z:17.76 [[ 8.58580150e-01 -4.97386825e-01 -1.24283840e-01 1.54878185e+02] [ 4.92123886e-01 8.67528505e-01 -7.21690673e-02 5.06890390e+01] [ 1.43715717e-01 7.99882233e-04 9.89618691e-01 1.77618244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30710568099997 meters Centerline goodness [0,1] 0.9995583317559468 Centerline is valid? [True, True] Translation: X:154.89, Y:50.72, Z:17.76 [[ 8.64052051e-01 -4.87906899e-01 -1.23939140e-01 1.54894448e+02] [ 4.82567925e-01 8.72892314e-01 -7.20222616e-02 5.07187706e+01] [ 1.43325681e-01 2.42192903e-03 9.89672614e-01 1.77646420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33710568099997 meters Centerline goodness [0,1] 0.9990338570108376 Centerline is valid? [True, True] Translation: X:154.91, Y:50.75, Z:17.77 [[ 8.69230530e-01 -4.78957220e-01 -1.22630612e-01 1.54913462e+02] [ 4.73640289e-01 8.77829712e-01 -7.12732239e-02 5.07456824e+01] [ 1.41785620e-01 3.87006385e-03 9.89889822e-01 1.77679100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36710568099997 meters Centerline goodness [0,1] 0.9990756302521009 Centerline is valid? [True, True] Translation: X:154.93, Y:50.77, Z:17.77 [[ 8.70815379e-01 -4.76131560e-01 -1.22390007e-01 1.54934903e+02] [ 4.70806941e-01 8.79363413e-01 -7.11393764e-02 5.07661183e+01] [ 1.41496997e-01 4.32719802e-03 9.89929227e-01 1.77718382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39710568099997 meters Centerline goodness [0,1] 0.9991585324806462 Centerline is valid? [True, True] Translation: X:154.95, Y:50.79, Z:17.77 [[ 8.72633683e-01 -4.72167074e-01 -1.24774637e-01 1.54954083e+02] [ 4.66583132e-01 8.81494210e-01 -7.25819419e-02 5.07909938e+01] [ 1.44258923e-01 5.11970616e-03 9.89526731e-01 1.77726088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42710568099997 meters Centerline goodness [0,1] 0.9985690837927697 Centerline is valid? [True, True] Translation: X:154.97, Y:50.81, Z:17.77 [[ 8.74190630e-01 -4.69047741e-01 -1.25638207e-01 1.54974246e+02] [ 4.63351930e-01 8.83154511e-01 -7.30964969e-02 5.08135518e+01] [ 1.45243696e-01 5.68556714e-03 9.89379575e-01 1.77738420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45710568099997 meters Centerline goodness [0,1] 0.998739707612166 Centerline is valid? [True, True] Translation: X:155.00, Y:50.83, Z:17.78 [[ 8.75095700e-01 -4.67365052e-01 -1.25608215e-01 1.54998453e+02] [ 4.61652692e-01 8.84044227e-01 -7.30930743e-02 5.08279885e+01] [ 1.45204366e-01 5.97606445e-03 9.89383636e-01 1.77790889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48710568099997 meters Centerline goodness [0,1] 0.9986733490566038 Centerline is valid? [True, True] Translation: X:155.02, Y:50.85, Z:17.78 [[ 8.77591489e-01 -4.62430240e-01 -1.26457312e-01 1.55021653e+02] [ 4.56580783e-01 8.86628898e-01 -7.36422787e-02 5.08488392e+01] [ 1.46175124e-01 6.88985846e-03 9.89234736e-01 1.77819546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51710568099998 meters Centerline goodness [0,1] 0.9987367889174281 Centerline is valid? [True, True] Translation: X:155.05, Y:50.86, Z:17.79 [[ 8.78387148e-01 -4.61112607e-01 -1.25742526e-01 1.55045973e+02] [ 4.55315704e-01 8.87313457e-01 -7.32286766e-02 5.08636776e+01] [ 1.45339702e-01 7.07058158e-03 9.89356547e-01 1.77858483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54710568099998 meters Centerline goodness [0,1] 0.9984894576733452 Centerline is valid? [True, True] Translation: X:155.07, Y:50.88, Z:17.79 [[ 8.79976765e-01 -4.58573100e-01 -1.23901597e-01 1.55071466e+02] [ 4.52912672e-01 8.88625642e-01 -7.22120465e-02 5.08777385e+01] [ 1.43216638e-01 7.42831978e-03 9.89663486e-01 1.77911222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57710568099998 meters Centerline goodness [0,1] 0.99875839138029 Centerline is valid? [True, True] Translation: X:155.10, Y:50.89, Z:17.79 [[ 8.79909127e-01 -4.58546528e-01 -1.24478951e-01 1.55098356e+02] [ 4.52831164e-01 8.88638945e-01 -7.25586804e-02 5.08892807e+01] [ 1.43888375e-01 7.47709665e-03 9.89565677e-01 1.77930353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60710568099998 meters Centerline goodness [0,1] 0.998990515047635 Centerline is valid? [True, True] Translation: X:155.13, Y:50.90, Z:17.80 [[ 8.79010458e-01 -4.60279863e-01 -1.24430954e-01 1.55125176e+02] [ 4.54577697e-01 8.87744327e-01 -7.25887511e-02 5.08992116e+01] [ 1.43874014e-01 7.24273483e-03 9.89569508e-01 1.77963987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63710568099998 meters Centerline goodness [0,1] 0.999074463609592 Centerline is valid? [True, True] Translation: X:155.16, Y:50.90, Z:17.80 [[ 8.75891702e-01 -4.66433652e-01 -1.23504555e-01 1.55157746e+02] [ 4.60869037e-01 8.84534207e-01 -7.21038608e-02 5.09018200e+01] [ 1.42875671e-01 6.23574783e-03 9.89721000e-01 1.78013756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66710568099998 meters Centerline goodness [0,1] 0.9996425868303759 Centerline is valid? [True, True] Translation: X:155.19, Y:50.90, Z:17.81 [[ 8.71696620e-01 -4.74220281e-01 -1.23531888e-01 1.55190300e+02] [ 4.68729902e-01 8.80392217e-01 -7.21236737e-02 5.09030610e+01] [ 1.42959022e-01 4.96687284e-03 9.89716145e-01 1.78063986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69710568099998 meters Centerline goodness [0,1] 0.9998531509608123 Centerline is valid? [True, True] Translation: X:155.23, Y:50.90, Z:17.81 [[ 8.67038139e-01 -4.82112617e-01 -1.25746928e-01 1.55226182e+02] [ 4.76503249e-01 8.76101256e-01 -7.34250842e-02 5.09010132e+01] [ 1.45566201e-01 3.74352882e-03 9.89341431e-01 1.78069210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72710568099998 meters Centerline goodness [0,1] 0.9997055421179935 Centerline is valid? [True, True] Translation: X:155.25, Y:50.91, Z:17.81 [[ 8.64360704e-01 -4.86675520e-01 -1.26599810e-01 1.55254695e+02] [ 4.81036537e-01 8.73577650e-01 -7.39319946e-02 5.09074262e+01] [ 1.46575656e-01 3.00477670e-03 9.89194899e-01 1.78097058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75710568099998 meters Centerline goodness [0,1] 0.9997263733950748 Centerline is valid? [True, True] Translation: X:155.29, Y:50.91, Z:17.81 [[ 8.59071109e-01 -4.95604734e-01 -1.27956152e-01 1.55287109e+02] [ 4.89938367e-01 8.68546853e-01 -7.47446324e-02 5.09082766e+01] [ 1.48179707e-01 1.52032591e-03 9.88959283e-01 1.78147621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78710568099999 meters Centerline goodness [0,1] 0.9995788143624302 Centerline is valid? [True, True] Translation: X:155.31, Y:50.92, Z:17.82 [[ 8.57479721e-01 -4.98380199e-01 -1.27850320e-01 1.55313620e+02] [ 4.92751021e-01 8.66957934e-01 -7.47018823e-02 5.09189331e+01] [ 1.48070789e-01 1.05697336e-03 9.88976200e-01 1.78193416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.817105681 meters Centerline goodness [0,1] 0.9997683722889029 Centerline is valid? [True, True] Translation: X:155.34, Y:50.93, Z:17.82 [[ 8.56890348e-01 -4.99288212e-01 -1.28258386e-01 1.55339282e+02] [ 4.93624421e-01 8.66435441e-01 -7.49970509e-02 5.09281062e+01] [ 1.48572755e-01 9.52777510e-04 9.88901021e-01 1.78226204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.847105681 meters Centerline goodness [0,1] 0.9998736469696331 Centerline is valid? [True, True] Translation: X:155.36, Y:50.94, Z:17.83 [[ 8.57340304e-01 -4.98487882e-01 -1.28364462e-01 1.55364879e+02] [ 4.92801105e-01 8.66895944e-01 -7.50898969e-02 5.09414133e+01] [ 1.48710035e-01 1.11944639e-03 9.88880211e-01 1.78264162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877105681 meters Centerline goodness [0,1] 0.999728453858044 Centerline is valid? [True, True] Translation: X:155.39, Y:50.96, Z:17.83 [[ 8.59523027e-01 -4.94990546e-01 -1.27296994e-01 1.55388479e+02] [ 4.89351842e-01 8.68896576e-01 -7.45219031e-02 5.09572624e+01] [ 1.47495560e-01 1.76027300e-03 9.89061151e-01 1.78330349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.907105681 meters Centerline goodness [0,1] 0.9998737878373546 Centerline is valid? [True, True] Translation: X:155.41, Y:50.98, Z:17.84 [[ 8.64250056e-01 -4.87354472e-01 -1.24729545e-01 1.55409361e+02] [ 4.81854956e-01 8.73198896e-01 -7.30718098e-02 5.09771994e+01] [ 1.44525574e-01 3.05076617e-03 9.89496362e-01 1.78431351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93710568099996 meters Centerline goodness [0,1] 0.9996031580266511 Centerline is valid? [True, True] Translation: X:155.43, Y:51.00, Z:17.85 [[ 8.67280375e-01 -4.82325025e-01 -1.23236847e-01 1.55429679e+02] [ 4.76904673e-01 8.75983858e-01 -7.22095134e-02 5.09974343e+01] [ 1.42781944e-01 3.85366567e-03 9.89746667e-01 1.78490124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96710568099996 meters Centerline goodness [0,1] 0.9997058020047492 Centerline is valid? [True, True] Translation: X:155.45, Y:51.02, Z:17.86 [[ 8.73021820e-01 -4.72408200e-01 -1.21092502e-01 1.55452193e+02] [ 4.67078220e-01 8.81363352e-01 -7.09688591e-02 5.10173313e+01] [ 1.40252764e-01 5.39769242e-03 9.90101019e-01 1.78557657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99710568099997 meters Centerline goodness [0,1] 0.9997689561016593 Centerline is valid? [True, True] Translation: X:155.47, Y:51.04, Z:17.86 [[ 8.75417047e-01 -4.67914127e-01 -1.21249183e-01 1.55473531e+02] [ 4.62526611e-01 8.83752668e-01 -7.10658644e-02 5.10364034e+01] [ 1.40407011e-01 6.13129546e-03 9.90074885e-01 1.78587862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02710568099997 meters Centerline goodness [0,1] 0.999873941634977 Centerline is valid? [True, True] Translation: X:155.49, Y:51.06, Z:17.86 [[ 8.78828606e-01 -4.61232038e-01 -1.22169096e-01 1.55494351e+02] [ 4.55694912e-01 8.87249740e-01 -7.16243393e-02 5.10591543e+01] [ 1.41429939e-01 7.27368273e-03 9.89921545e-01 1.78585376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05710568099997 meters Centerline goodness [0,1] 0.9997895622895623 Centerline is valid? [True, True] Translation: X:155.52, Y:51.07, Z:17.86 [[ 8.79608866e-01 -4.59580416e-01 -1.22776563e-01 1.55521749e+02] [ 4.53970362e-01 8.88103759e-01 -7.19904430e-02 5.10699666e+01] [ 1.42123724e-01 7.58651126e-03 9.89819828e-01 1.78588530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08710568099997 meters Centerline goodness [0,1] 0.9996214829457039 Centerline is valid? [True, True] Translation: X:155.55, Y:51.08, Z:17.86 [[ 8.79171367e-01 -4.60392105e-01 -1.22869102e-01 1.55545736e+02] [ 4.54773407e-01 8.87683894e-01 -7.21002926e-02 5.10836455e+01] [ 1.42263329e-01 7.51091253e-03 9.89800349e-01 1.78608233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11710568099997 meters Centerline goodness [0,1] 0.9998740369071862 Centerline is valid? [True, True] Translation: X:155.58, Y:51.09, Z:17.86 [[ 8.76967373e-01 -4.64444657e-01 -1.23366885e-01 1.55575568e+02] [ 4.58815521e-01 8.85575197e-01 -7.24215963e-02 5.10913863e+01] [ 1.42886477e-01 6.90873555e-03 9.89714971e-01 1.78629363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14710568099997 meters Centerline goodness [0,1] 0.9999160475171053 Centerline is valid? [True, True] Translation: X:155.60, Y:51.10, Z:17.87 [[ 8.75201608e-01 -4.67604700e-01 -1.23967696e-01 1.55604316e+02] [ 4.61950526e-01 8.83914290e-01 -7.27821372e-02 5.11010920e+01] [ 1.43610087e-01 6.43210118e-03 9.89613445e-01 1.78661019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17710568099997 meters Centerline goodness [0,1] 0.999936948297604 Centerline is valid? [True, True] Translation: X:155.64, Y:51.10, Z:17.87 [[ 8.70838987e-01 -4.75394736e-01 -1.25057199e-01 1.55636152e+02] [ 4.69718339e-01 8.79757220e-01 -7.34296674e-02 5.11047903e+01] [ 1.44928051e-01 5.20375725e-03 9.89428512e-01 1.78687345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20710568099997 meters Centerline goodness [0,1] 0.9998948917384907 Centerline is valid? [True, True] Translation: X:155.67, Y:51.11, Z:17.87 [[ 8.66187632e-01 -4.83239895e-01 -1.27272113e-01 1.55666970e+02] [ 4.77441996e-01 8.75478971e-01 -7.47376171e-02 5.11118512e+01] [ 1.47540257e-01 3.97174800e-03 9.89048077e-01 1.78691986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23710568099997 meters Centerline goodness [0,1] 0.9998951320287758 Centerline is valid? [True, True] Translation: X:155.69, Y:51.12, Z:17.87 [[ 8.64244816e-01 -4.86587101e-01 -1.27725845e-01 1.55693998e+02] [ 4.80780177e-01 8.73625318e-01 -7.50281596e-02 5.11227527e+01] [ 1.48092266e-01 3.43464379e-03 9.88967585e-01 1.78717880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26710568099998 meters Centerline goodness [0,1] 0.9998738196883347 Centerline is valid? [True, True] Translation: X:155.72, Y:51.13, Z:17.88 [[ 8.61305375e-01 -4.92311469e-01 -1.25628296e-01 1.55722799e+02] [ 4.86747551e-01 8.70415640e-01 -7.38473845e-02 5.11285248e+01] [ 1.45704748e-01 2.45588396e-03 9.89325070e-01 1.78789874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.75, Y:51.14, Z:17.89 [[ 8.59980021e-01 -4.94949736e-01 -1.24334719e-01 1.55748235e+02] [ 4.89525763e-01 8.68919304e-01 -7.31010970e-02 5.11400016e+01] [ 1.44218206e-01 2.00043459e-03 9.89543888e-01 1.78860493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32710568099998 meters Centerline goodness [0,1] 0.9999579522758331 Centerline is valid? [True, True] Translation: X:155.77, Y:51.15, Z:17.89 [[ 8.57229365e-01 -4.99840662e-01 -1.23762385e-01 1.55774826e+02] [ 4.94509750e-01 8.66116520e-01 -7.28167571e-02 5.11499458e+01] [ 1.43589422e-01 1.21895625e-03 9.89636596e-01 1.78909443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35710568099998 meters Centerline goodness [0,1] 0.9998528143989571 Centerline is valid? [True, True] Translation: X:155.80, Y:51.16, Z:17.89 [[ 8.55948970e-01 -5.01958415e-01 -1.24052852e-01 1.55801106e+02] [ 4.96616192e-01 8.64891272e-01 -7.30441326e-02 5.11627829e+01] [ 1.43957346e-01 9.15394809e-04 9.89583470e-01 1.78929685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38710568099998 meters Centerline goodness [0,1] 0.9998531109012695 Centerline is valid? [True, True] Translation: X:155.82, Y:51.18, Z:17.90 [[ 8.55418266e-01 -5.02924980e-01 -1.23798445e-01 1.55824868e+02] [ 4.97606525e-01 8.64329696e-01 -7.29515092e-02 5.11768947e+01] [ 1.43691809e-01 8.01139396e-04 9.89622161e-01 1.78966416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41710568099998 meters Centerline goodness [0,1] 0.999873593730249 Centerline is valid? [True, True] Translation: X:155.85, Y:51.19, Z:17.90 [[ 8.54154628e-01 -5.04579940e-01 -1.25773429e-01 1.55846943e+02] [ 4.99097499e-01 8.63364776e-01 -7.41818690e-02 5.11916137e+01] [ 1.46019031e-01 5.89582958e-04 9.89281605e-01 1.79003658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44710568099998 meters Centerline goodness [0,1] 0.9999579053712746 Centerline is valid? [True, True] Translation: X:155.87, Y:51.21, Z:17.90 [[ 8.54125638e-01 -5.04620784e-01 -1.25806432e-01 1.55868557e+02] [ 4.99129221e-01 8.63340881e-01 -7.42465029e-02 5.12069022e+01] [ 1.46080164e-01 6.22175398e-04 9.89272560e-01 1.79040028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47710568099998 meters Centerline goodness [0,1] 0.9998738753888842 Centerline is valid? [True, True] Translation: X:155.89, Y:51.23, Z:17.91 [[ 8.55598485e-01 -5.02636632e-01 -1.23724087e-01 1.55888485e+02] [ 4.97299330e-01 8.64497224e-01 -7.30611122e-02 5.12260650e+01] [ 1.43682321e-01 9.83071265e-04 9.89623375e-01 1.79132626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.50710568099998 meters Centerline goodness [0,1] 0.9997694452013163 Centerline is valid? [True, True] Translation: X:155.91, Y:51.25, Z:17.92 [[ 8.59315774e-01 -4.96687081e-01 -1.21976818e-01 1.55906243e+02] [ 4.91431735e-01 8.67927373e-01 -7.20896977e-02 5.12488778e+01] [ 1.41673041e-01 2.00453515e-03 9.89911477e-01 1.79201174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53710568099999 meters Centerline goodness [0,1] 0.9999159858016005 Centerline is valid? [True, True] Translation: X:155.93, Y:51.27, Z:17.93 [[ 8.61603113e-01 -4.92978160e-01 -1.20882624e-01 1.55927665e+02] [ 4.87778082e-01 8.70037776e-01 -7.14619474e-02 5.12674496e+01] [ 1.40401629e-01 2.60794183e-03 9.90091198e-01 1.79257836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.567105681 meters Centerline goodness [0,1] 0.9997267300092492 Centerline is valid? [True, True] Translation: X:155.95, Y:51.29, Z:17.93 [[ 8.65268777e-01 -4.87428013e-01 -1.17148942e-01 1.55945724e+02] [ 4.82492393e-01 8.73156491e-01 -6.92736143e-02 5.12908959e+01] [ 1.36055259e-01 3.41682220e-03 9.90695358e-01 1.79349575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597105681 meters Centerline goodness [0,1] 0.9995386776824844 Centerline is valid? [True, True] Translation: X:155.97, Y:51.31, Z:17.94 [[ 8.67633013e-01 -4.83754335e-01 -1.14868180e-01 1.55967673e+02] [ 4.78976342e-01 8.75195031e-01 -6.79361628e-02 5.13115215e+01] [ 1.33396474e-01 3.92451679e-03 9.91054983e-01 1.79414514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.627105681 meters Centerline goodness [0,1] 0.9994554289544236 Centerline is valid? [True, True] Translation: X:155.99, Y:51.33, Z:17.95 [[ 8.68800939e-01 -4.81717985e-01 -1.14598047e-01 1.55988817e+02] [ 4.76943957e-01 8.76316074e-01 -6.77834879e-02 5.13303115e+01] [ 1.33076636e-01 4.23351179e-03 9.91096709e-01 1.79452464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657105681 meters Centerline goodness [0,1] 0.9995810114383877 Centerline is valid? [True, True] Translation: X:156.01, Y:51.35, Z:17.95 [[ 8.72214611e-01 -4.75433345e-01 -1.14912169e-01 1.56010825e+02] [ 4.70575913e-01 8.79736224e-01 -6.79888702e-02 5.13527880e+01] [ 1.33416574e-01 5.22598722e-03 9.91046269e-01 1.79468871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68710568099996 meters Centerline goodness [0,1] 0.9991835196583344 Centerline is valid? [True, True] Translation: X:156.03, Y:51.38, Z:17.94 [[ 8.75325122e-01 -4.68653678e-01 -1.19036380e-01 1.56032223e+02] [ 4.63376547e-01 8.83358131e-01 -7.04314491e-02 5.13761676e+01] [ 1.38159712e-01 6.49175012e-03 9.90388687e-01 1.79424560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71710568099996 meters Centerline goodness [0,1] 0.9993491360305696 Centerline is valid? [True, True] Translation: X:156.06, Y:51.39, Z:17.94 [[ 8.76522925e-01 -4.65833965e-01 -1.21269447e-01 1.56056961e+02] [ 4.60328276e-01 8.84843873e-01 -7.17579152e-02 5.13937130e+01] [ 1.40731802e-01 7.07370212e-03 9.90022486e-01 1.79419179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74710568099997 meters Centerline goodness [0,1] 0.9993717277486911 Centerline is valid? [True, True] Translation: X:156.08, Y:51.41, Z:17.94 [[ 8.77335023e-01 -4.63733556e-01 -1.23427898e-01 1.56082172e+02] [ 4.58007093e-01 8.85942517e-01 -7.30435391e-02 5.14086526e+01] [ 1.43222763e-01 7.55280246e-03 9.89661657e-01 1.79407493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77710568099997 meters Centerline goodness [0,1] 0.9996002945198275 Centerline is valid? [True, True] Translation: X:156.11, Y:51.42, Z:17.94 [[ 8.76929546e-01 -4.64444944e-01 -1.23634406e-01 1.56108617e+02] [ 4.58703542e-01 8.85570527e-01 -7.31840328e-02 5.14199057e+01] [ 1.43476940e-01 7.46570085e-03 9.89625500e-01 1.79448287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80710568099997 meters Centerline goodness [0,1] 0.9992856992793966 Centerline is valid? [True, True] Translation: X:156.13, Y:51.43, Z:17.95 [[ 8.76119090e-01 -4.65975789e-01 -1.23619998e-01 1.56134690e+02] [ 4.60242527e-01 8.84767640e-01 -7.32327787e-02 5.14321475e+01] [ 1.43499676e-01 7.26545509e-03 9.89623694e-01 1.79489672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83710568099997 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:156.16, Y:51.45, Z:17.95 [[ 8.75672197e-01 -4.66728701e-01 -1.23945645e-01 1.56158248e+02] [ 4.60964354e-01 8.84371142e-01 -7.34816104e-02 5.14466630e+01] [ 1.43909928e-01 7.21127907e-03 9.89564515e-01 1.79528350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86710568099997 meters Centerline goodness [0,1] 0.9998739654665378 Centerline is valid? [True, True] Translation: X:156.19, Y:51.45, Z:17.96 [[ 8.74689221e-01 -4.68298976e-01 -1.24959335e-01 1.56188030e+02] [ 4.62452196e-01 8.83542105e-01 -7.41034084e-02 5.14535945e+01] [ 1.45109384e-01 7.02973368e-03 9.89390646e-01 1.79557173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.22, Y:51.46, Z:17.96 [[ 8.72747686e-01 -4.71711603e-01 -1.25696615e-01 1.56217981e+02] [ 4.65825982e-01 8.81728731e-01 -7.45694305e-02 5.14590761e+01] [ 1.46005583e-01 6.52754866e-03 9.89262231e-01 1.79582421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92710568099997 meters Centerline goodness [0,1] 0.9999580334473425 Centerline is valid? [True, True] Translation: X:156.25, Y:51.47, Z:17.96 [[ 8.71242041e-01 -4.74589188e-01 -1.25309255e-01 1.56245481e+02] [ 4.68767930e-01 8.80186724e-01 -7.43502449e-02 5.14691827e+01] [ 1.45581365e-01 6.03609870e-03 9.89327869e-01 1.79635069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.27, Y:51.48, Z:17.97 [[ 8.68325279e-01 -4.80637445e-01 -1.22469822e-01 1.56273094e+02] [ 4.75134459e-01 8.76905553e-01 -7.26904175e-02 5.14767519e+01] [ 1.42332204e-01 4.92929415e-03 9.89806671e-01 1.79728412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.30, Y:51.49, Z:17.98 [[ 8.66433786e-01 -4.84298748e-01 -1.21438119e-01 1.56301177e+02] [ 4.78923008e-01 8.74892131e-01 -7.20868329e-02 5.14857998e+01] [ 1.41156818e-01 4.29895819e-03 9.89977915e-01 1.79771877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.32, Y:51.50, Z:17.98 [[ 8.66254878e-01 -4.84621521e-01 -1.21426803e-01 1.56324418e+02] [ 4.79246263e-01 8.74713530e-01 -7.21058900e-02 5.14998974e+01] [ 1.41157733e-01 4.26873748e-03 9.89977915e-01 1.79810040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.36, Y:51.50, Z:17.98 [[ 8.62104265e-01 -4.91475750e-01 -1.23401065e-01 1.56357825e+02] [ 4.85983830e-01 8.70885175e-01 -7.33398228e-02 5.15017410e+01] [ 1.43512903e-01 3.25565167e-03 9.89643091e-01 1.79829640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.39, Y:51.51, Z:17.99 [[ 8.59868768e-01 -4.95062122e-01 -1.24656314e-01 1.56385017e+02] [ 4.89493029e-01 8.68853400e-01 -7.40968517e-02 5.15118051e+01] [ 1.44990607e-01 2.69517184e-03 9.89429361e-01 1.79850975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.41, Y:51.52, Z:17.99 [[ 8.55227277e-01 -5.02725954e-01 -1.25908379e-01 1.56414405e+02] [ 4.97117840e-01 8.64444607e-01 -7.48957568e-02 5.15189889e+01] [ 1.46492860e-01 1.46159295e-03 9.89210648e-01 1.79885008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.44, Y:51.53, Z:17.99 [[ 8.53181696e-01 -5.06232357e-01 -1.25737004e-01 1.56441125e+02] [ 5.00673224e-01 8.62396672e-01 -7.48218050e-02 5.15302931e+01] [ 1.46312392e-01 8.83443411e-04 9.89238042e-01 1.79946590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.47, Y:51.54, Z:18.00 [[ 8.51111153e-01 -5.10203177e-01 -1.23703366e-01 1.56466405e+02] [ 5.04857827e-01 8.60053870e-01 -7.36608045e-02 5.15397877e+01] [ 1.43973535e-01 2.40919812e-04 9.89581509e-01 1.80036551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19710568099998 meters Centerline goodness [0,1] 0.9999162461525576 Centerline is valid? [True, True] Translation: X:156.49, Y:51.55, Z:18.01 [[ 8.50906865e-01 -5.11333218e-01 -1.20398701e-01 1.56489094e+02] [ 5.06279707e-01 8.59382532e-01 -7.17113834e-02 5.15538325e+01] [ 1.40136953e-01 6.42892919e-05 9.90132128e-01 1.80144004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.51, Y:51.57, Z:18.02 [[ 8.50964783e-01 -5.11467641e-01 -1.19414364e-01 1.56511584e+02] [ 5.06495578e-01 8.59302536e-01 -7.11433801e-02 5.15686802e+01] [ 1.39000603e-01 5.76637255e-05 9.90292295e-01 1.80213517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.53, Y:51.59, Z:18.03 [[ 8.53336783e-01 -5.08292302e-01 -1.15996854e-01 1.56532163e+02] [ 5.03564633e-01 8.61184395e-01 -6.91671803e-02 5.15860046e+01] [ 1.35051826e-01 6.10986169e-04 9.90838348e-01 1.80307289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28710568099999 meters Centerline goodness [0,1] 0.999958071278826 Centerline is valid? [True, True] Translation: X:156.55, Y:51.60, Z:18.04 [[ 8.55232890e-01 -5.05488089e-01 -1.14273779e-01 1.56554138e+02] [ 5.00873268e-01 8.62832941e-01 -6.81563335e-02 5.16036417e+01] [ 1.33051395e-01 1.05285712e-03 9.91108580e-01 1.80366497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:51.63, Z:18.04 [[ 8.59577587e-01 -4.98118597e-01 -1.14036111e-01 1.56572873e+02] [ 4.93450891e-01 8.67106020e-01 -6.80688529e-02 5.16278557e+01] [ 1.32787760e-01 2.23923988e-03 9.91141966e-01 1.80395388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:51.65, Z:18.04 [[ 8.63022200e-01 -4.91377139e-01 -1.17222815e-01 1.56593518e+02] [ 4.86379835e-01 8.70940337e-01 -6.99827584e-02 5.16512713e+01] [ 1.36482006e-01 3.38186053e-03 9.90636778e-01 1.80373614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377105681 meters Centerline goodness [0,1] 0.9999789876237104 Centerline is valid? [True, True] Translation: X:156.61, Y:51.67, Z:18.04 [[ 8.64942083e-01 -4.87921685e-01 -1.17505843e-01 1.56614531e+02] [ 4.82866727e-01 8.72878483e-01 -7.01632180e-02 5.16703407e+01] [ 1.36802478e-01 3.94745802e-03 9.90590480e-01 1.80393963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.407105681 meters Centerline goodness [0,1] 0.9998954915034592 Centerline is valid? [True, True] Translation: X:156.63, Y:51.69, Z:18.04 [[ 8.68415493e-01 -4.81757183e-01 -1.17322407e-01 1.56633746e+02] [ 4.76659296e-01 8.76290886e-01 -7.00728108e-02 5.16936905e+01] [ 1.36566635e-01 4.92949886e-03 9.90618622e-01 1.80434715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.66, Y:51.71, Z:18.05 [[ 8.70051415e-01 -4.78481588e-01 -1.18599767e-01 1.56657996e+02] [ 4.73239464e-01 8.78080264e-01 -7.08481494e-02 5.17103393e+01] [ 1.38039650e-01 5.51544254e-03 9.90411346e-01 1.80466144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46710568099996 meters Centerline goodness [0,1] 0.9997493001295282 Centerline is valid? [True, True] Translation: X:156.68, Y:51.74, Z:18.04 [[ 8.72899491e-01 -4.71942014e-01 -1.23762735e-01 1.56678113e+02] [ 4.66164068e-01 8.81602986e-01 -7.39407640e-02 5.17353547e+01] [ 1.44005350e-01 6.84911524e-03 9.89553207e-01 1.80403161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49710568099997 meters Centerline goodness [0,1] 0.9999160475171053 Centerline is valid? [True, True] Translation: X:156.70, Y:51.76, Z:18.04 [[ 8.75439170e-01 -4.66276924e-01 -1.27248142e-01 1.56701727e+02] [ 4.60105817e-01 8.84602505e-01 -7.60331772e-02 5.17550421e+01] [ 1.48016541e-01 8.01481116e-03 9.88952409e-01 1.80386723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52710568099997 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:156.73, Y:51.77, Z:18.04 [[ 8.76543102e-01 -4.64105627e-01 -1.27585883e-01 1.56727666e+02] [ 4.57877764e-01 8.85739940e-01 -7.62411502e-02 5.17686770e+01] [ 1.48391859e-01 8.40991546e-03 9.88892881e-01 1.80425496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55710568099997 meters Centerline goodness [0,1] 0.9999160210787092 Centerline is valid? [True, True] Translation: X:156.75, Y:51.78, Z:18.05 [[ 8.76759153e-01 -4.63497802e-01 -1.28308906e-01 1.56752264e+02] [ 4.57190368e-01 8.86056594e-01 -7.66855890e-02 5.17827459e+01] [ 1.49232555e-01 8.57319593e-03 9.88764959e-01 1.80456714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58710568099997 meters Centerline goodness [0,1] 0.9998319009896829 Centerline is valid? [True, True] Translation: X:156.78, Y:51.79, Z:18.05 [[ 8.73986048e-01 -4.69353429e-01 -1.25919603e-01 1.56780870e+02] [ 4.63332004e-01 8.82978714e-01 -7.53129785e-02 5.17909866e+01] [ 1.46532734e-01 7.47991033e-03 9.89177542e-01 1.80521323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61710568099997 meters Centerline goodness [0,1] 0.9999581230762788 Centerline is valid? [True, True] Translation: X:156.81, Y:51.80, Z:18.06 [[ 8.72053497e-01 -4.73575712e-01 -1.23485801e-01 1.56808055e+02] [ 4.67826768e-01 8.80728042e-01 -7.38663047e-02 5.18011913e+01] [ 1.43738696e-01 6.64540593e-03 9.89593364e-01 1.80602206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.84, Y:51.81, Z:18.07 [[ 8.67239912e-01 -4.83089800e-01 -1.20495557e-01 1.56836844e+02] [ 4.77706963e-01 8.75556796e-01 -7.20857523e-02 5.18067083e+01] [ 1.40324596e-01 4.95407480e-03 9.90093160e-01 1.80685329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.86, Y:51.82, Z:18.07 [[ 8.64578801e-01 -4.87682924e-01 -1.21115078e-01 1.56864850e+02] [ 4.82287371e-01 8.73010524e-01 -7.24673450e-02 5.18158893e+01] [ 1.41075824e-01 4.24145778e-03 9.89989708e-01 1.80723437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:51.82, Z:18.07 [[ 8.60101149e-01 -4.95010293e-01 -1.23251059e-01 1.56898684e+02] [ 4.89494921e-01 8.68881564e-01 -7.37533092e-02 5.18184751e+01] [ 1.43599220e-01 3.10453875e-03 9.89631055e-01 1.80727805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:51.82, Z:18.07 [[ 8.56466701e-01 -5.00928624e-01 -1.24640696e-01 1.56929178e+02] [ 4.95347753e-01 8.65485929e-01 -7.45969865e-02 5.18245317e+01] [ 1.45242535e-01 2.14934622e-03 9.89393747e-01 1.80736535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.96, Y:51.84, Z:18.08 [[ 8.54609950e-01 -5.04101298e-01 -1.24594201e-01 1.56955131e+02] [ 4.98555637e-01 8.63643006e-01 -7.45857562e-02 5.18357646e+01] [ 1.45203687e-01 1.62458828e-03 9.89400450e-01 1.80770570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.98, Y:51.85, Z:18.08 [[ 8.50602009e-01 -5.10856906e-01 -1.24504792e-01 1.56982169e+02] [ 5.05387694e-01 8.59665620e-01 -7.45540107e-02 5.18461323e+01] [ 1.45118920e-01 4.92601692e-04 9.89414097e-01 1.80823809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.01, Y:51.86, Z:18.09 [[ 8.48909813e-01 -5.13590666e-01 -1.24806883e-01 1.57005930e+02] [ 5.08115701e-01 8.58035327e-01 -7.47917934e-02 5.18601510e+01] [ 1.45501081e-01 7.51506546e-05 9.89358090e-01 1.80872774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.03, Y:51.87, Z:18.09 [[ 8.46203702e-01 -5.17588710e-01 -1.26653947e-01 1.57030428e+02] [ 5.11984182e-01 8.55629365e-01 -7.59643854e-02 5.18742696e+01] [ 1.47687144e-01 -5.63473275e-04 9.89033968e-01 1.80881943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.06, Y:51.89, Z:18.09 [[ 8.44201092e-01 -5.20808607e-01 -1.26818414e-01 1.57056010e+02] [ 5.15222032e-01 8.53672752e-01 -7.60860710e-02 5.18869242e+01] [ 1.47887705e-01 -1.10769689e-03 9.89003539e-01 1.80908351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91710568099998 meters Centerline goodness [0,1] 0.9999581782443226 Centerline is valid? [True, True] Translation: X:157.08, Y:51.90, Z:18.10 [[ 8.39380082e-01 -5.29468492e-01 -1.22899118e-01 1.57080956e+02] [ 5.24307613e-01 8.48325917e-01 -7.37879729e-02 5.18962240e+01] [ 1.43326914e-01 -2.50078877e-03 9.89672240e-01 1.81002281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94710568099998 meters Centerline goodness [0,1] 0.9998527431841131 Centerline is valid? [True, True] Translation: X:157.10, Y:51.91, Z:18.11 [[ 8.36673439e-01 -5.34072218e-01 -1.21426615e-01 1.57104477e+02] [ 5.29078074e-01 8.45432731e-01 -7.29375678e-02 5.19106046e+01] [ 1.41611963e-01 -3.21923378e-03 9.89917011e-01 1.81072603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97710568099998 meters Centerline goodness [0,1] 0.9999159540268527 Centerline is valid? [True, True] Translation: X:157.13, Y:51.93, Z:18.11 [[ 8.31251299e-01 -5.42736488e-01 -1.20243013e-01 1.57127049e+02] [ 5.37925234e-01 8.39890325e-01 -7.22543080e-02 5.19304833e+01] [ 1.40205992e-01 -4.62026331e-03 9.90111576e-01 1.81135384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00710568099998 meters Centerline goodness [0,1] 0.9997060737754824 Centerline is valid? [True, True] Translation: X:157.15, Y:51.95, Z:18.12 [[ 8.26858993e-01 -5.49695108e-01 -1.18909607e-01 1.57150847e+02] [ 5.45060898e-01 8.35345725e-01 -7.14572442e-02 5.19456169e+01] [ 1.38610329e-01 -5.72791224e-03 9.90330434e-01 1.81179874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03710568099999 meters Centerline goodness [0,1] 0.9995393056079072 Centerline is valid? [True, True] Translation: X:157.17, Y:51.96, Z:18.12 [[ 8.25344705e-01 -5.52105937e-01 -1.18258839e-01 1.57174244e+02] [ 5.47545471e-01 8.33751739e-01 -7.10773876e-02 5.19632764e+01] [ 1.37840760e-01 -6.08874628e-03 9.90435688e-01 1.81217194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.067105681 meters Centerline goodness [0,1] 0.9991424029451138 Centerline is valid? [True, True] Translation: X:157.19, Y:51.99, Z:18.13 [[ 8.24076618e-01 -5.54288884e-01 -1.16882675e-01 1.57192027e+02] [ 5.49855090e-01 8.32299973e-01 -7.02576325e-02 5.19877042e+01] [ 1.36224472e-01 -6.37086180e-03 9.90657512e-01 1.81275096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097105681 meters Centerline goodness [0,1] 0.9985294426587676 Centerline is valid? [True, True] Translation: X:157.21, Y:52.01, Z:18.13 [[ 8.24782228e-01 -5.53644162e-01 -1.14945283e-01 1.57210930e+02] [ 5.49349193e-01 8.32730636e-01 -6.91024770e-02 5.20107917e+01] [ 1.33976642e-01 -6.15060381e-03 9.90965403e-01 1.81340418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.127105681 meters Centerline goodness [0,1] 0.9984464551886297 Centerline is valid? [True, True] Translation: X:157.23, Y:52.04, Z:18.14 [[ 8.27349829e-01 -5.50171176e-01 -1.13154489e-01 1.57225519e+02] [ 5.45970309e-01 8.35034081e-01 -6.80771985e-02 5.20410477e+01] [ 1.31941967e-01 -5.45533270e-03 9.91242431e-01 1.81398606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157105681 meters Centerline goodness [0,1] 0.9984570153672929 Centerline is valid? [True, True] Translation: X:157.24, Y:52.06, Z:18.14 [[ 8.28720955e-01 -5.47776623e-01 -1.14727286e-01 1.57244798e+02] [ 5.43433480e-01 8.36608860e-01 -6.90338196e-02 5.20624114e+01] [ 1.33796977e-01 -5.13687540e-03 9.90995450e-01 1.81413967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18710568099996 meters Centerline goodness [0,1] 0.9981418072490396 Centerline is valid? [True, True] Translation: X:157.26, Y:52.09, Z:18.14 [[ 8.31257406e-01 -5.43433807e-01 -1.17007787e-01 1.57260400e+02] [ 5.38869200e-01 8.39439933e-01 -7.04314227e-02 5.20949680e+01] [ 1.36495825e-01 -4.50525064e-03 9.90630402e-01 1.81402086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21710568099996 meters Centerline goodness [0,1] 0.9972990380420104 Centerline is valid? [True, True] Translation: X:157.27, Y:52.13, Z:18.14 [[ 8.34983588e-01 -5.37524022e-01 -1.17772377e-01 1.57274873e+02] [ 5.32835410e-01 8.43241054e-01 -7.09291963e-02 5.21259889e+01] [ 1.37436650e-01 -3.52857800e-03 9.90504274e-01 1.81423594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24710568099997 meters Centerline goodness [0,1] 0.9972584965678888 Centerline is valid? [True, True] Translation: X:157.29, Y:52.15, Z:18.14 [[ 8.37619057e-01 -5.33164374e-01 -1.18869954e-01 1.57293489e+02] [ 5.28342241e-01 8.46006941e-01 -7.16011968e-02 5.21507993e+01] [ 1.38740014e-01 -2.82949119e-03 9.90324796e-01 1.81442800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27710568099997 meters Centerline goodness [0,1] 0.9976219537859338 Centerline is valid? [True, True] Translation: X:157.31, Y:52.19, Z:18.14 [[ 8.44848747e-01 -5.20663347e-01 -1.23045823e-01 1.57305215e+02] [ 5.15359501e-01 8.53761715e-01 -7.41317612e-02 5.21908833e+01] [ 1.43649503e-01 -7.82708158e-04 9.89628318e-01 1.81430553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30710568099997 meters Centerline goodness [0,1] 0.9979900760002512 Centerline is valid? [True, True] Translation: X:157.32, Y:52.23, Z:18.14 [[ 8.51955641e-01 -5.08323779e-01 -1.25612583e-01 1.57315362e+02] [ 5.02658751e-01 8.61164983e-01 -7.56905091e-02 5.22287252e+01] [ 1.46648443e-01 1.34469220e-03 9.89187761e-01 1.81402703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33710568099997 meters Centerline goodness [0,1] 0.997963083513576 Centerline is valid? [True, True] Translation: X:157.34, Y:52.25, Z:18.14 [[ 8.54061891e-01 -5.04892720e-01 -1.25146425e-01 1.57335089e+02] [ 4.99230167e-01 8.63179911e-01 -7.54299766e-02 5.22504598e+01] [ 1.46107926e-01 1.94499775e-03 9.89266744e-01 1.81437090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36710568099997 meters Centerline goodness [0,1] 0.9978756520275955 Centerline is valid? [True, True] Translation: X:157.35, Y:52.28, Z:18.15 [[ 8.55955229e-01 -5.02304055e-01 -1.22602127e-01 1.57352434e+02] [ 4.96841232e-01 8.64687855e-01 -7.39168688e-02 5.22755574e+01] [ 1.43141313e-01 2.35573838e-03 9.89699457e-01 1.81507474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39710568099997 meters Centerline goodness [0,1] 0.9974348731103215 Centerline is valid? [True, True] Translation: X:157.37, Y:52.29, Z:18.15 [[ 8.56134590e-01 -5.02169178e-01 -1.21900285e-01 1.57371667e+02] [ 4.96759735e-01 8.64766035e-01 -7.35491066e-02 5.22942592e+01] [ 1.42349321e-01 2.41278077e-03 9.89813543e-01 1.81549411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42710568099997 meters Centerline goodness [0,1] 0.9971416561580496 Centerline is valid? [True, True] Translation: X:157.39, Y:52.31, Z:18.15 [[ 8.55684916e-01 -5.02443384e-01 -1.23911139e-01 1.57392531e+02] [ 4.96851638e-01 8.64606691e-01 -7.47911722e-02 5.23143095e+01] [ 1.44712730e-01 2.43222542e-03 9.89470722e-01 1.81548727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45710568099997 meters Centerline goodness [0,1] 0.9970336397870952 Centerline is valid? [True, True] Translation: X:157.42, Y:52.33, Z:18.16 [[ 8.54917266e-01 -5.03346343e-01 -1.25534565e-01 1.57415829e+02] [ 4.97611213e-01 8.64081590e-01 -7.58029456e-02 5.23292348e+01] [ 1.46627242e-01 2.33783996e-03 9.89189055e-01 1.81557849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48710568099997 meters Centerline goodness [0,1] 0.9974240837696335 Centerline is valid? [True, True] Translation: X:157.44, Y:52.35, Z:18.16 [[ 8.54144540e-01 -5.04384183e-01 -1.26624249e-01 1.57438685e+02] [ 4.98550132e-01 8.63476461e-01 -7.65255920e-02 5.23451426e+01] [ 1.47935356e-01 2.23538056e-03 9.88994506e-01 1.81592868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51710568099998 meters Centerline goodness [0,1] 0.9971007794281392 Centerline is valid? [True, True] Translation: X:157.46, Y:52.36, Z:18.17 [[ 8.53828171e-01 -5.05118691e-01 -1.25827514e-01 1.57461762e+02] [ 4.99356457e-01 8.63047206e-01 -7.61094611e-02 5.23608540e+01] [ 1.47039396e-01 2.15162046e-03 9.89128296e-01 1.81656596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54710568099998 meters Centerline goodness [0,1] 0.9965314273701913 Centerline is valid? [True, True] Translation: X:157.48, Y:52.38, Z:18.17 [[ 8.54540271e-01 -5.04537168e-01 -1.23301142e-01 1.57483475e+02] [ 4.98990988e-01 8.63387029e-01 -7.46380085e-02 5.23770231e+01] [ 1.44114256e-01 2.25502555e-03 9.89558485e-01 1.81737629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57710568099998 meters Centerline goodness [0,1] 0.9965952796284231 Centerline is valid? [True, True] Translation: X:157.51, Y:52.39, Z:18.18 [[ 8.54642060e-01 -5.04598839e-01 -1.22339536e-01 1.57508324e+02] [ 4.99130653e-01 8.63350914e-01 -7.41201075e-02 5.23899053e+01] [ 1.43022870e-01 2.28274880e-03 9.89716751e-01 1.81779677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60710568099998 meters Centerline goodness [0,1] 0.996407940342401 Centerline is valid? [True, True] Translation: X:157.53, Y:52.40, Z:18.18 [[ 8.54190675e-01 -5.05428213e-01 -1.22068069e-01 1.57532743e+02] [ 4.99983738e-01 8.62865869e-01 -7.40186015e-02 5.24030211e+01] [ 1.42739460e-01 2.19394994e-03 9.89757866e-01 1.81813644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63710568099998 meters Centerline goodness [0,1] 0.9965780744846119 Centerline is valid? [True, True] Translation: X:157.56, Y:52.42, Z:18.18 [[ 8.52783441e-01 -5.07702973e-01 -1.22466706e-01 1.57558700e+02] [ 5.02242947e-01 8.61530216e-01 -7.42812813e-02 5.24151560e+01] [ 1.43221595e-01 1.83780736e-03 9.89688940e-01 1.81839513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66710568099998 meters Centerline goodness [0,1] 0.9962876738186623 Centerline is valid? [True, True] Translation: X:157.58, Y:52.43, Z:18.19 [[ 8.52141508e-01 -5.08551824e-01 -1.23409451e-01 1.57582943e+02] [ 5.03007597e-01 8.61029590e-01 -7.49092989e-02 5.24286851e+01] [ 1.44354450e-01 1.75743148e-03 9.89524484e-01 1.81850997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69710568099998 meters Centerline goodness [0,1] 0.9968487394957983 Centerline is valid? [True, True] Translation: X:157.61, Y:52.44, Z:18.18 [[ 8.51337727e-01 -5.08982436e-01 -1.27125744e-01 1.57608677e+02] [ 5.03092066e-01 8.60775035e-01 -7.72315477e-02 5.24429886e+01] [ 1.48736168e-01 1.79417717e-03 9.88875287e-01 1.81842348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72710568099998 meters Centerline goodness [0,1] 0.9970151763568336 Centerline is valid? [True, True] Translation: X:157.63, Y:52.46, Z:18.19 [[ 8.51750231e-01 -5.08065104e-01 -1.28028881e-01 1.57633036e+02] [ 5.02071498e-01 8.61316308e-01 -7.78359142e-02 5.24570669e+01] [ 1.49819075e-01 2.01710603e-03 9.88711372e-01 1.81857775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75710568099998 meters Centerline goodness [0,1] 0.9970429712895581 Centerline is valid? [True, True] Translation: X:157.66, Y:52.47, Z:18.19 [[ 8.52733551e-01 -5.06656454e-01 -1.27061907e-01 1.57656546e+02] [ 5.00734974e-01 8.62145062e-01 -7.72682191e-02 5.24719334e+01] [ 1.48694237e-01 2.26486238e-03 9.88880627e-01 1.81905396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78710568099999 meters Centerline goodness [0,1] 0.9976435439415936 Centerline is valid? [True, True] Translation: X:157.68, Y:52.49, Z:18.20 [[ 8.53652732e-01 -5.05267446e-01 -1.26419228e-01 1.57680886e+02] [ 4.99387628e-01 8.62959149e-01 -7.68993142e-02 5.24865133e+01] [ 1.47949350e-01 2.51311100e-03 9.88991746e-01 1.81964927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.817105681 meters Centerline goodness [0,1] 0.997983066159632 Centerline is valid? [True, True] Translation: X:157.70, Y:52.51, Z:18.20 [[ 8.56459339e-01 -5.00499047e-01 -1.26404525e-01 1.57701618e+02] [ 4.94560744e-01 8.65730470e-01 -7.69442956e-02 5.25052506e+01] [ 1.47942796e-01 3.38494453e-03 9.88990127e-01 1.82030957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.847105681 meters Centerline goodness [0,1] 0.9975167305021255 Centerline is valid? [True, True] Translation: X:157.72, Y:52.52, Z:18.21 [[ 8.59867947e-01 -4.95044452e-01 -1.24732132e-01 1.57723059e+02] [ 4.89203491e-01 8.68857101e-01 -7.59426331e-02 5.25244700e+01] [ 1.45969378e-01 4.28124136e-03 9.89279845e-01 1.82083183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877105681 meters Centerline goodness [0,1] 0.9976865969841637 Centerline is valid? [True, True] Translation: X:157.75, Y:52.54, Z:18.21 [[ 8.61289648e-01 -4.92752192e-01 -1.23997664e-01 1.57746543e+02] [ 4.86954626e-01 8.70157239e-01 -7.55087475e-02 5.25406321e+01] [ 1.45104566e-01 4.65366635e-03 9.89405381e-01 1.82124180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.907105681 meters Centerline goodness [0,1] 0.9976865969841637 Centerline is valid? [True, True] Translation: X:157.77, Y:52.55, Z:18.22 [[ 8.61114639e-01 -4.93063964e-01 -1.23973811e-01 1.57769583e+02] [ 4.87263981e-01 8.69980649e-01 -7.55478912e-02 5.25549590e+01] [ 1.45104759e-01 4.64742236e-03 9.89405382e-01 1.82162368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93710568099996 meters Centerline goodness [0,1] 0.9980060029805008 Centerline is valid? [True, True] Translation: X:157.79, Y:52.57, Z:18.22 [[ 8.62507851e-01 -4.90357362e-01 -1.25019454e-01 1.57793807e+02] [ 4.84421414e-01 8.71505950e-01 -7.62448172e-02 5.25702591e+01] [ 1.46342405e-01 5.19965282e-03 9.89220331e-01 1.82174865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96710568099996 meters Centerline goodness [0,1] 0.9980827978510481 Centerline is valid? [True, True] Translation: X:157.82, Y:52.58, Z:18.22 [[ 8.62471463e-01 -4.90398129e-01 -1.25110550e-01 1.57818643e+02] [ 4.84451348e-01 8.71482939e-01 -7.63176217e-02 5.25847749e+01] [ 1.46457729e-01 5.21179632e-03 9.89203200e-01 1.82205548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99710568099997 meters Centerline goodness [0,1] 0.9979360599806243 Centerline is valid? [True, True] Translation: X:157.84, Y:52.60, Z:18.23 [[ 8.62390089e-01 -4.91121398e-01 -1.22813297e-01 1.57843160e+02] [ 4.85392094e-01 8.71076566e-01 -7.49675351e-02 5.25981783e+01] [ 1.43797945e-01 5.03865609e-03 9.89594242e-01 1.82265057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02710568099997 meters Centerline goodness [0,1] 0.9983158249300015 Centerline is valid? [True, True] Translation: X:157.87, Y:52.61, Z:18.23 [[ 8.61788350e-01 -4.92281306e-01 -1.22392629e-01 1.57867610e+02] [ 4.86595692e-01 8.70422525e-01 -7.47613583e-02 5.26102357e+01] [ 1.43336920e-01 4.87274153e-03 9.89661954e-01 1.82312796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05710568099997 meters Centerline goodness [0,1] 0.9980000842069807 Centerline is valid? [True, True] Translation: X:157.90, Y:52.62, Z:18.23 [[ 8.60716606e-01 -4.93842358e-01 -1.23639189e-01 1.57896241e+02] [ 4.88052665e-01 8.69538863e-01 -7.55431096e-02 5.26182416e+01] [ 1.44815467e-01 4.67877346e-03 9.89447618e-01 1.82349801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08710568099997 meters Centerline goodness [0,1] 0.9981692689701612 Centerline is valid? [True, True] Translation: X:157.93, Y:52.63, Z:18.24 [[ 8.58176159e-01 -4.97859460e-01 -1.25178426e-01 1.57925341e+02] [ 4.91957607e-01 8.67248015e-01 -7.65414532e-02 5.26268289e+01] [ 1.46667628e-01 4.10357139e-03 9.89177319e-01 1.82356643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11710568099997 meters Centerline goodness [0,1] 0.9981787351629718 Centerline is valid? [True, True] Translation: X:157.95, Y:52.64, Z:18.24 [[ 8.56140403e-01 -5.01269376e-01 -1.25509455e-01 1.57952733e+02] [ 4.95367975e-01 8.65283982e-01 -7.67736894e-02 5.26372807e+01] [ 1.47085621e-01 3.55569260e-03 9.89117373e-01 1.82389018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14710568099997 meters Centerline goodness [0,1] 0.9977850217318622 Centerline is valid? [True, True] Translation: X:157.98, Y:52.65, Z:18.24 [[ 8.51931352e-01 -5.08187875e-01 -1.26325200e-01 1.57980488e+02] [ 5.02275804e-01 8.61242813e-01 -7.73293835e-02 5.26456406e+01] [ 1.48094525e-01 2.42923488e-03 9.88970227e-01 1.82414129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17710568099997 meters Centerline goodness [0,1] 0.9975843381086418 Centerline is valid? [True, True] Translation: X:158.01, Y:52.65, Z:18.24 [[ 8.49082051e-01 -5.12589948e-01 -1.27715368e-01 1.58008324e+02] [ 5.06592673e-01 8.58631854e-01 -7.81997614e-02 5.26545564e+01] [ 1.49744895e-01 1.69834433e-03 9.88723208e-01 1.82439731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20710568099997 meters Centerline goodness [0,1] 0.9971361789045884 Centerline is valid? [True, True] Translation: X:158.04, Y:52.65, Z:18.25 [[ 8.43123175e-01 -5.22284227e-01 -1.27915981e-01 1.58042725e+02] [ 5.16370606e-01 8.52771473e-01 -7.83722634e-02 5.26536797e+01] [ 1.50015696e-01 2.54191451e-05 9.88683615e-01 1.82493039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23710568099997 meters Centerline goodness [0,1] 0.9970305787212534 Centerline is valid? [True, True] Translation: X:158.07, Y:52.66, Z:18.25 [[ 8.40298559e-01 -5.27351482e-01 -1.25693061e-01 1.58071217e+02] [ 5.21694611e-01 8.49646817e-01 -7.70390775e-02 5.26602267e+01] [ 1.47421381e-01 -8.37566969e-04 9.89073422e-01 1.82547338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26710568099998 meters Centerline goodness [0,1] 0.9970186857022885 Centerline is valid? [True, True] Translation: X:158.10, Y:52.67, Z:18.27 [[ 8.36352151e-01 -5.34369276e-01 -1.22329707e-01 1.58099618e+02] [ 5.29084085e-01 8.45248769e-01 -7.49969951e-02 5.26653844e+01] [ 1.43475124e-01 -1.99880280e-03 9.89651905e-01 1.82667023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29710568099998 meters Centerline goodness [0,1] 0.9972604458572086 Centerline is valid? [True, True] Translation: X:158.13, Y:52.67, Z:18.27 [[ 8.33776307e-01 -5.38397381e-01 -1.22251094e-01 1.58127462e+02] [ 5.33157819e-01 8.42686868e-01 -7.49772080e-02 5.26738158e+01] [ 1.43386924e-01 -2.66490685e-03 9.89663119e-01 1.82696435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32710568099998 meters Centerline goodness [0,1] 0.9971649971649972 Centerline is valid? [True, True] Translation: X:158.15, Y:52.69, Z:18.27 [[ 8.33169263e-01 -5.39288735e-01 -1.22460768e-01 1.58152836e+02] [ 5.34036412e-01 8.42116281e-01 -7.51350852e-02 5.26874713e+01] [ 1.43645711e-01 -2.79826538e-03 9.89625222e-01 1.82722380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35710568099998 meters Centerline goodness [0,1] 0.9973940417370275 Centerline is valid? [True, True] Translation: X:158.18, Y:52.70, Z:18.28 [[ 8.34683052e-01 -5.36647377e-01 -1.23748920e-01 1.58175104e+02] [ 5.31246749e-01 8.43803410e-01 -7.59782646e-02 5.27046302e+01] [ 1.45193297e-01 -2.32344147e-03 9.89400580e-01 1.82752887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38710568099998 meters Centerline goodness [0,1] 0.9974767652130031 Centerline is valid? [True, True] Translation: X:158.20, Y:52.73, Z:18.28 [[ 8.36963568e-01 -5.33104321e-01 -1.23659892e-01 1.58195465e+02] [ 5.27669929e-01 8.46047830e-01 -7.59441632e-02 5.27253661e+01] [ 1.45108344e-01 -1.68910838e-03 9.89414329e-01 1.82817714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41710568099998 meters Centerline goodness [0,1] 0.9976468610807631 Centerline is valid? [True, True] Translation: X:158.21, Y:52.75, Z:18.29 [[ 8.44668546e-01 -5.21122168e-01 -1.22338602e-01 1.58210736e+02] [ 5.15669858e-01 8.53481991e-01 -7.51870291e-02 5.27531290e+01] [ 1.43595421e-01 4.21788888e-04 9.89636386e-01 1.82903258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44710568099998 meters Centerline goodness [0,1] 0.9978290366350068 Centerline is valid? [True, True] Translation: X:158.23, Y:52.78, Z:18.29 [[ 8.52132715e-01 -5.08431375e-01 -1.23965208e-01 1.58227940e+02] [ 5.02689454e-01 8.61098429e-01 -7.62417843e-02 5.27815102e+01] [ 1.45509961e-01 2.65211580e-03 9.89353232e-01 1.82929002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47710568099998 meters Centerline goodness [0,1] 0.9979620992478676 Centerline is valid? [True, True] Translation: X:158.25, Y:52.80, Z:18.30 [[ 8.54925138e-01 -5.03456838e-01 -1.25036876e-01 1.58249496e+02] [ 4.97560276e-01 8.64013131e-01 -7.69095646e-02 5.28017462e+01] [ 1.46754149e-01 3.53853748e-03 9.89166669e-01 1.82959146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50710568099998 meters Centerline goodness [0,1] 0.9982557528632973 Centerline is valid? [True, True] Translation: X:158.27, Y:52.82, Z:18.30 [[ 8.59726354e-01 -4.95782628e-01 -1.22760670e-01 1.58270951e+02] [ 4.90019561e-01 8.68433519e-01 -7.55251754e-02 5.28235411e+01] [ 1.44053550e-01 4.77585413e-03 9.89558369e-01 1.83008220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53710568099999 meters Centerline goodness [0,1] 0.998192593838006 Centerline is valid? [True, True] Translation: X:158.29, Y:52.84, Z:18.31 [[ 8.61747016e-01 -4.92727450e-01 -1.20879032e-01 1.58293857e+02] [ 4.87109663e-01 8.70168089e-01 -7.43752201e-02 5.28407185e+01] [ 1.41831789e-01 5.21127930e-03 9.89877056e-01 1.83071106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.567105681 meters Centerline goodness [0,1] 0.9984662898922201 Centerline is valid? [True, True] Translation: X:158.32, Y:52.86, Z:18.31 [[ 8.64622285e-01 -4.87881332e-01 -1.20000462e-01 1.58316139e+02] [ 4.82297161e-01 8.72889525e-01 -7.38466353e-02 5.28598917e+01] [ 1.40775541e-01 5.97356421e-03 9.90023517e-01 1.83122124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597105681 meters Centerline goodness [0,1] 0.9981842846707711 Centerline is valid? [True, True] Translation: X:158.34, Y:52.88, Z:18.31 [[ 8.65548422e-01 -4.86101993e-01 -1.20543688e-01 1.58337745e+02] [ 4.80447925e-01 8.73879353e-01 -7.41934486e-02 5.28769447e+01] [ 1.41406223e-01 6.30305771e-03 9.89931589e-01 1.83142006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.627105681 meters Centerline goodness [0,1] 0.9984317169562763 Centerline is valid? [True, True] Translation: X:158.36, Y:52.89, Z:18.31 [[ 8.67105889e-01 -4.82650595e-01 -1.23190015e-01 1.58360723e+02] [ 4.76705731e-01 8.75784681e-01 -7.58474669e-02 5.28938500e+01] [ 1.44495753e-01 7.04239929e-03 9.89480360e-01 1.83133179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65710568099996 meters Centerline goodness [0,1] 0.9983221476510067 Centerline is valid? [True, True] Translation: X:158.38, Y:52.91, Z:18.31 [[ 8.67288697e-01 -4.81728126e-01 -1.25492348e-01 1.58384863e+02] [ 4.75545164e-01 8.76289899e-01 -7.72839554e-02 5.29096925e+01] [ 1.47197532e-01 7.35022197e-03 9.89079805e-01 1.83141560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68710568099996 meters Centerline goodness [0,1] 0.9982063726524584 Centerline is valid? [True, True] Translation: X:158.41, Y:52.92, Z:18.31 [[ 8.65742199e-01 -4.83953711e-01 -1.27590167e-01 1.58414587e+02] [ 4.77576012e-01 8.75064444e-01 -7.86344203e-02 5.29161620e+01] [ 1.49705038e-01 7.14313269e-03 9.88704899e-01 1.83144534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71710568099996 meters Centerline goodness [0,1] 0.9984617005584238 Centerline is valid? [True, True] Translation: X:158.44, Y:52.92, Z:18.32 [[ 8.64024942e-01 -4.86915411e-01 -1.27962038e-01 1.58444418e+02] [ 4.80523764e-01 8.73423430e-01 -7.89203684e-02 5.29234208e+01] [ 1.50192585e-01 6.70036679e-03 9.88634054e-01 1.83182584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74710568099997 meters Centerline goodness [0,1] 0.9985723283644762 Centerline is valid? [True, True] Translation: X:158.48, Y:52.93, Z:18.32 [[ 8.59423766e-01 -4.94728181e-01 -1.28976038e-01 1.58475009e+02] [ 4.88316851e-01 8.69030958e-01 -7.95729072e-02 5.29288187e+01] [ 1.51451129e-01 5.40567506e-03 9.88449965e-01 1.83224625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77710568099997 meters Centerline goodness [0,1] 0.9989045482314773 Centerline is valid? [True, True] Translation: X:158.51, Y:52.93, Z:18.33 [[ 8.55024588e-01 -5.02570027e-01 -1.27891837e-01 1.58509238e+02] [ 4.96352085e-01 8.64527285e-01 -7.89124932e-02 5.29279206e+01] [ 1.50225036e-01 3.99274217e-03 9.88643766e-01 1.83306960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80710568099997 meters Centerline goodness [0,1] 0.9988211519029977 Centerline is valid? [True, True] Translation: X:158.54, Y:52.94, Z:18.34 [[ 8.53018224e-01 -5.06131072e-01 -1.27244836e-01 1.58537391e+02] [ 5.00013744e-01 8.62450030e-01 -7.85251719e-02 5.29365327e+01] [ 1.49486342e-01 3.35923574e-03 9.88758084e-01 1.83356220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83710568099997 meters Centerline goodness [0,1] 0.9992843913116687 Centerline is valid? [True, True] Translation: X:158.57, Y:52.94, Z:18.34 [[ 8.49592415e-01 -5.11647496e-01 -1.28099838e-01 1.58565933e+02] [ 5.05500845e-01 8.59191953e-01 -7.91080431e-02 5.29421391e+01] [ 1.50537782e-01 2.45501727e-03 9.88601208e-01 1.83391770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86710568099997 meters Centerline goodness [0,1] 0.9993880307250781 Centerline is valid? [True, True] Translation: X:158.59, Y:52.95, Z:18.34 [[ 8.47489448e-01 -5.14775015e-01 -1.29492549e-01 1.58593276e+02] [ 5.08525529e-01 8.57323107e-01 -7.99929816e-02 5.29527129e+01] [ 1.52195343e-01 1.94294077e-03 9.88348523e-01 1.83415458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89710568099997 meters Centerline goodness [0,1] 0.9992604488019271 Centerline is valid? [True, True] Translation: X:158.62, Y:52.96, Z:18.34 [[ 8.43603346e-01 -5.20644693e-01 -1.31386827e-01 1.58622222e+02] [ 5.14270686e-01 8.53772918e-01 -8.12247888e-02 5.29600653e+01] [ 1.54463770e-01 9.53110053e-04 9.87997994e-01 1.83426896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92710568099997 meters Centerline goodness [0,1] 0.9993036064743495 Centerline is valid? [True, True] Translation: X:158.65, Y:52.97, Z:18.35 [[ 8.41994246e-01 -5.23483734e-01 -1.30424196e-01 1.58648609e+02] [ 5.17227780e-01 8.52035533e-01 -8.06899890e-02 5.29712447e+01] [ 1.53365946e-01 4.81489230e-04 9.88169345e-01 1.83483469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95710568099997 meters Centerline goodness [0,1] 0.9993044138105476 Centerline is valid? [True, True] Translation: X:158.68, Y:52.98, Z:18.36 [[ 8.37466262e-01 -5.30827846e-01 -1.29892484e-01 1.58677379e+02] [ 5.24700986e-01 8.47479293e-01 -8.04221586e-02 5.29772219e+01] [ 1.52771511e-01 -8.03869715e-04 9.88261210e-01 1.83552578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98710568099997 meters Centerline goodness [0,1] 0.9991151374697145 Centerline is valid? [True, True] Translation: X:158.71, Y:52.98, Z:18.36 [[ 8.31442919e-01 -5.39996957e-01 -1.30789754e-01 1.58707931e+02] [ 5.33886586e-01 8.41663417e-01 -8.10419985e-02 5.29831182e+01] [ 1.53843384e-01 -2.44509946e-03 9.88092220e-01 1.83596733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01710568099998 meters Centerline goodness [0,1] 0.9991788090625789 Centerline is valid? [True, True] Translation: X:158.73, Y:52.99, Z:18.36 [[ 8.28263742e-01 -5.44870242e-01 -1.30750117e-01 1.58734512e+02] [ 5.38821566e-01 8.38513739e-01 -8.10310422e-02 5.29938941e+01] [ 1.53787173e-01 -3.33590835e-03 9.88098364e-01 1.83646966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04710568099998 meters Centerline goodness [0,1] 0.9990981921899249 Centerline is valid? [True, True] Translation: X:158.76, Y:53.00, Z:18.37 [[ 8.24516647e-01 -5.50120841e-01 -1.32436246e-01 1.58761253e+02] [ 5.43972128e-01 8.35073882e-01 -8.21336446e-02 5.30035395e+01] [ 1.55777480e-01 -4.32106915e-03 9.87782722e-01 1.83683438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07710568099998 meters Centerline goodness [0,1] 0.9992200345714406 Centerline is valid? [True, True] Translation: X:158.78, Y:53.02, Z:18.37 [[ 8.23738951e-01 -5.51200097e-01 -1.32787775e-01 1.58784614e+02] [ 5.45028488e-01 8.34360867e-01 -8.23765259e-02 5.30204104e+01] [ 1.56198872e-01 -4.51636723e-03 9.87715300e-01 1.83737368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10710568099998 meters Centerline goodness [0,1] 0.9989047328179961 Centerline is valid? [True, True] Translation: X:158.81, Y:53.04, Z:18.38 [[ 8.25938030e-01 -5.48302577e-01 -1.31113137e-01 1.58805392e+02] [ 5.42241464e-01 8.36271077e-01 -8.13933706e-02 5.30408674e+01] [ 1.54274319e-01 -3.86909884e-03 9.88020478e-01 1.83807222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13710568099998 meters Centerline goodness [0,1] 0.9990307219014708 Centerline is valid? [True, True] Translation: X:158.83, Y:53.06, Z:18.39 [[ 8.28467926e-01 -5.44831993e-01 -1.29610937e-01 1.58826219e+02] [ 5.38862800e-01 8.38539279e-01 -8.04907398e-02 5.30610410e+01] [ 1.52537792e-01 -3.15851592e-03 9.88292591e-01 1.83880785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16710568099998 meters Centerline goodness [0,1] 0.9988634928652608 Centerline is valid? [True, True] Translation: X:158.84, Y:53.09, Z:18.40 [[ 8.35896430e-01 -5.34252522e-01 -1.25902349e-01 1.58839269e+02] [ 5.28494243e-01 8.45324163e-01 -7.82361447e-02 5.30936406e+01] [ 1.48226156e-01 -1.14135270e-03 9.88952832e-01 1.83984173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19710568099998 meters Centerline goodness [0,1] 0.9991576642028345 Centerline is valid? [True, True] Translation: X:158.86, Y:53.12, Z:18.40 [[ 8.39486998e-01 -5.29028048e-01 -1.24060087e-01 1.58857882e+02] [ 5.23379467e-01 8.48604315e-01 -7.71015571e-02 5.31180926e+01] [ 1.46066812e-01 -2.04747753e-04 9.89274706e-01 1.84043676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.22710568099998 meters Centerline goodness [0,1] 0.9992424242424243 Centerline is valid? [True, True] Translation: X:158.87, Y:53.15, Z:18.41 [[ 8.46242518e-01 -5.18204963e-01 -1.23843518e-01 1.58872520e+02] [ 5.12452693e-01 8.55254752e-01 -7.70165372e-02 5.31471867e+01] [ 1.45828109e-01 1.71072408e-03 9.89308464e-01 1.84058009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25710568099998 meters Centerline goodness [0,1] 0.9990950416701743 Centerline is valid? [True, True] Translation: X:158.89, Y:53.18, Z:18.40 [[ 8.51309615e-01 -5.08738442e-01 -1.28285376e-01 1.58890719e+02] [ 5.02453046e-01 8.60914116e-01 -7.97986280e-02 5.31757989e+01] [ 1.51039321e-01 3.47596136e-03 9.88521644e-01 1.84020700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.28710568099999 meters Centerline goodness [0,1] 0.9992211674069085 Centerline is valid? [True, True] Translation: X:158.91, Y:53.20, Z:18.40 [[ 8.53492342e-01 -5.04579993e-01 -1.30191598e-01 1.58909989e+02] [ 4.98055878e-01 8.63354322e-01 -8.09917090e-02 5.31995960e+01] [ 1.53268275e-01 4.28311243e-03 9.88175334e-01 1.84018316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.317105681 meters Centerline goodness [0,1] 0.9993899232144735 Centerline is valid? [True, True] Translation: X:158.93, Y:53.22, Z:18.41 [[ 8.57279294e-01 -4.98441339e-01 -1.28951324e-01 1.58928489e+02] [ 4.91970565e-01 8.66906974e-01 -8.02325541e-02 5.32232154e+01] [ 1.51780024e-01 5.34145172e-03 9.88399865e-01 1.84055525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.347105681 meters Centerline goodness [0,1] 0.9992662319964779 Centerline is valid? [True, True] Translation: X:158.95, Y:53.23, Z:18.41 [[ 8.58010118e-01 -4.97417366e-01 -1.28041408e-01 1.58954628e+02] [ 4.91024469e-01 8.67493950e-01 -7.96819816e-02 5.32345600e+01] [ 1.50710348e-01 5.49648218e-03 9.88562684e-01 1.84127192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377105681 meters Centerline goodness [0,1] 0.9985270600117835 Centerline is valid? [True, True] Translation: X:158.98, Y:53.25, Z:18.42 [[ 8.56906552e-01 -4.99456060e-01 -1.27494339e-01 1.58980121e+02] [ 4.93131197e-01 8.66323801e-01 -7.94021020e-02 5.32473327e+01] [ 1.50109241e-01 5.16874564e-03 9.88655906e-01 1.84169132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40710568099996 meters Centerline goodness [0,1] 0.999221347699819 Centerline is valid? [True, True] Translation: X:159.00, Y:53.26, Z:18.42 [[ 8.55642806e-01 -5.01497558e-01 -1.27967136e-01 1.59004280e+02] [ 4.95139183e-01 8.65145297e-01 -7.97546510e-02 5.32610285e+01] [ 1.50706929e-01 4.87995007e-03 9.88566441e-01 1.84202708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43710568099996 meters Centerline goodness [0,1] 0.999117387466902 Centerline is valid? [True, True] Translation: X:159.03, Y:53.27, Z:18.42 [[ 8.53528920e-01 -5.04879036e-01 -1.28784865e-01 1.59031380e+02] [ 4.98473470e-01 8.63179244e-01 -8.02856913e-02 5.32713058e+01] [ 1.51698985e-01 4.33032062e-03 9.88417253e-01 1.84228274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46710568099996 meters Centerline goodness [0,1] 0.9996002777018071 Centerline is valid? [True, True] Translation: X:159.06, Y:53.28, Z:18.43 [[ 8.53011100e-01 -5.05807263e-01 -1.28573229e-01 1.59056164e+02] [ 4.99430180e-01 8.62636407e-01 -8.01743350e-02 5.32846228e+01] [ 1.51464709e-01 4.17624688e-03 9.88453844e-01 1.84269343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49710568099997 meters Centerline goodness [0,1] 0.9989508141682055 Centerline is valid? [True, True] Translation: X:159.08, Y:53.30, Z:18.43 [[ 8.52091863e-01 -5.07288798e-01 -1.28831410e-01 1.59080591e+02] [ 5.00893981e-01 8.61766969e-01 -8.03922326e-02 5.32988356e+01] [ 1.51804733e-01 3.97068935e-03 9.88402528e-01 1.84284954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52710568099997 meters Centerline goodness [0,1] 0.9991998146939292 Centerline is valid? [True, True] Translation: X:159.11, Y:53.31, Z:18.43 [[ 8.49466623e-01 -5.10902574e-01 -1.31852251e-01 1.59106455e+02] [ 5.04241992e-01 8.59631798e-01 -8.22993666e-02 5.33101786e+01] [ 1.55391346e-01 3.42512338e-03 9.87847052e-01 1.84281965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55710568099997 meters Centerline goodness [0,1] 0.9991158453150327 Centerline is valid? [True, True] Translation: X:159.13, Y:53.32, Z:18.43 [[ 8.47459980e-01 -5.14275660e-01 -1.31651536e-01 1.59132929e+02] [ 5.07671863e-01 8.57620292e-01 -8.21992356e-02 5.33213319e+01] [ 1.55180095e-01 2.82478214e-03 9.87882158e-01 1.84317587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58710568099997 meters Centerline goodness [0,1] 0.9988693467336683 Centerline is valid? [True, True] Translation: X:159.16, Y:53.33, Z:18.44 [[ 8.41938969e-01 -5.23984576e-01 -1.28759218e-01 1.59164242e+02] [ 5.17773579e-01 8.51727090e-01 -8.04455419e-02 5.33250263e+01] [ 1.51819938e-01 1.06211534e-03 9.88407597e-01 1.84406118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61710568099997 meters Centerline goodness [0,1] 0.998589265786537 Centerline is valid? [True, True] Translation: X:159.19, Y:53.33, Z:18.45 [[ 8.38644823e-01 -5.29553135e-01 -1.27468972e-01 1.59191468e+02] [ 5.23528608e-01 8.48276767e-01 -7.96512625e-02 5.33340731e+01] [ 1.50308543e-01 6.54655386e-05 9.88639134e-01 1.84471855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64710568099997 meters Centerline goodness [0,1] 0.9984639663335086 Centerline is valid? [True, True] Translation: X:159.22, Y:53.34, Z:18.45 [[ 8.33934072e-01 -5.37168583e-01 -1.26506430e-01 1.59220132e+02] [ 5.31313437e-01 8.43473984e-01 -7.91054330e-02 5.33404867e+01] [ 1.49197836e-01 -1.24585034e-03 9.88806581e-01 1.84529726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67710568099997 meters Centerline goodness [0,1] 0.9978573679235374 Centerline is valid? [True, True] Translation: X:159.24, Y:53.35, Z:18.46 [[ 8.32210938e-01 -5.40068186e-01 -1.25504219e-01 1.59244466e+02] [ 5.34335270e-01 8.41619484e-01 -7.85013590e-02 5.33536841e+01] [ 1.48022882e-01 -1.73164091e-03 9.88982420e-01 1.84598502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70710568099997 meters Centerline goodness [0,1] 0.9978155390787457 Centerline is valid? [True, True] Translation: X:159.27, Y:53.37, Z:18.47 [[ 8.32448946e-01 -5.39901364e-01 -1.24640564e-01 1.59267157e+02] [ 5.34237399e-01 8.41726689e-01 -7.80165595e-02 5.33680165e+01] [ 1.47034536e-01 -1.64284817e-03 9.89129995e-01 1.84654101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73710568099997 meters Centerline goodness [0,1] 0.9974548819990745 Centerline is valid? [True, True] Translation: X:159.29, Y:53.39, Z:18.47 [[ 8.34984970e-01 -5.36273294e-01 -1.23333105e-01 1.59290265e+02] [ 5.30685516e-01 8.44043841e-01 -7.72196641e-02 5.33855884e+01] [ 1.45509391e-01 -9.73833422e-04 9.89356391e-01 1.84703117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76710568099998 meters Centerline goodness [0,1] 0.9973933699102394 Centerline is valid? [True, True] Translation: X:159.31, Y:53.40, Z:18.47 [[ 8.36817579e-01 -5.33311597e-01 -1.23754113e-01 1.59312751e+02] [ 5.27645318e-01 8.45918772e-01 -7.75361194e-02 5.34019789e+01] [ 1.46036839e-01 -4.14690534e-04 9.89279066e-01 1.84730613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79710568099998 meters Centerline goodness [0,1] 0.9981283647375505 Centerline is valid? [True, True] Translation: X:159.33, Y:53.42, Z:18.48 [[ 8.41737880e-01 -5.25342667e-01 -1.24468563e-01 1.59332565e+02] [ 5.19519857e-01 8.50890174e-01 -7.80066030e-02 5.34242717e+01] [ 1.46889274e-01 9.97222609e-04 9.89152439e-01 1.84757371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82710568099998 meters Centerline goodness [0,1] 0.9981283647375505 Centerline is valid? [True, True] Translation: X:159.36, Y:53.44, Z:18.48 [[ 8.41540099e-01 -5.25665585e-01 -1.24442578e-01 1.59355438e+02] [ 5.19840160e-01 8.50690727e-01 -7.80480348e-02 5.34388920e+01] [ 1.46889313e-01 9.90301064e-04 9.89152440e-01 1.84795545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85710568099998 meters Centerline goodness [0,1] 0.9979207359334635 Centerline is valid? [True, True] Translation: X:159.38, Y:53.46, Z:18.48 [[ 8.44901274e-01 -5.20437819e-01 -1.23637830e-01 1.59375758e+02] [ 5.14622733e-01 8.53897360e-01 -7.76063254e-02 5.34590117e+01] [ 1.45963284e-01 1.94284504e-03 9.89288100e-01 1.84839477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88710568099998 meters Centerline goodness [0,1] 0.9984455740873 Centerline is valid? [True, True] Translation: X:159.39, Y:53.49, Z:18.49 [[ 8.52270208e-01 -5.08605826e-01 -1.22293122e-01 1.59392784e+02] [ 5.02792216e-01 8.60990420e-01 -7.67820547e-02 5.34855137e+01] [ 1.44345006e-01 3.95102808e-03 9.89519534e-01 1.84881713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91710568099998 meters Centerline goodness [0,1] 0.9983202805131544 Centerline is valid? [True, True] Translation: X:159.41, Y:53.51, Z:18.49 [[ 8.55094361e-01 -5.03673346e-01 -1.22991032e-01 1.59414722e+02] [ 4.97740800e-01 8.63880740e-01 -7.72279989e-02 5.35051713e+01] [ 1.45147268e-01 4.81957185e-03 9.89398323e-01 1.84899831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94710568099998 meters Centerline goodness [0,1] 0.9984835081511437 Centerline is valid? [True, True] Translation: X:159.44, Y:53.53, Z:18.49 [[ 8.58025250e-01 -4.98363458e-01 -1.24203599e-01 1.59436323e+02] [ 4.92255392e-01 8.66948884e-01 -7.80016765e-02 5.35260644e+01] [ 1.46551356e-01 5.78751688e-03 9.89186132e-01 1.84912838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97710568099998 meters Centerline goodness [0,1] 0.9987425601475396 Centerline is valid? [True, True] Translation: X:159.46, Y:53.54, Z:18.49 [[ 8.58672161e-01 -4.97053784e-01 -1.24978617e-01 1.59463268e+02] [ 4.90853077e-01 8.67698567e-01 -7.85012957e-02 5.35378591e+01] [ 1.47463133e-01 6.06073855e-03 9.89048984e-01 1.84934378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00710568099998 meters Centerline goodness [0,1] 0.99904046725073 Centerline is valid? [True, True] Translation: X:159.49, Y:53.55, Z:18.50 [[ 8.58499921e-01 -4.97391305e-01 -1.24818972e-01 1.59487551e+02] [ 4.91201608e-01 8.67505245e-01 -7.84578196e-02 5.35514966e+01] [ 1.47305350e-01 6.04475210e-03 9.89072593e-01 1.84968957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03710568099999 meters Centerline goodness [0,1] 0.9993488899624037 Centerline is valid? [True, True] Translation: X:159.52, Y:53.56, Z:18.50 [[ 8.56614255e-01 -5.00980382e-01 -1.23412620e-01 1.59516978e+02] [ 4.94962954e-01 8.65441853e-01 -7.76020180e-02 5.35598651e+01] [ 1.45683535e-01 5.39032010e-03 9.89316558e-01 1.85045212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.067105681 meters Centerline goodness [0,1] 0.9995611376982717 Centerline is valid? [True, True] Translation: X:159.54, Y:53.57, Z:18.51 [[ 8.55012995e-01 -5.03459239e-01 -1.24424969e-01 1.59543258e+02] [ 4.97367076e-01 8.64004418e-01 -7.82454922e-02 5.35716650e+01] [ 1.46897139e-01 5.01602959e-03 9.89139055e-01 1.85083617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097105681 meters Centerline goodness [0,1] 0.999603489294211 Centerline is valid? [True, True] Translation: X:159.57, Y:53.58, Z:18.51 [[ 8.51272401e-01 -5.09498810e-01 -1.25484108e-01 1.59573981e+02] [ 5.03358649e-01 8.60461793e-01 -7.89656435e-02 5.35784571e+01] [ 1.48207182e-01 4.05776179e-03 9.88948010e-01 1.85100590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.127105681 meters Centerline goodness [0,1] 0.9995161765324583 Centerline is valid? [True, True] Translation: X:159.60, Y:53.59, Z:18.51 [[ 8.48912850e-01 -5.13361306e-01 -1.25726464e-01 1.59602543e+02] [ 5.07237545e-01 8.58165837e-01 -7.91294432e-02 5.35872507e+01] [ 1.48516150e-01 3.40081818e-03 9.88904135e-01 1.85130327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15710568099996 meters Centerline goodness [0,1] 0.9996422257765806 Centerline is valid? [True, True] Translation: X:159.63, Y:53.59, Z:18.52 [[ 8.43620318e-01 -5.21957516e-01 -1.25956785e-01 1.59633985e+02] [ 5.15897618e-01 8.52969271e-01 -7.93288726e-02 5.35918362e+01] [ 1.48843569e-01 1.94264337e-03 9.88858846e-01 1.85170569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18710568099996 meters Centerline goodness [0,1] 0.9994745028797242 Centerline is valid? [True, True] Translation: X:159.66, Y:53.60, Z:18.52 [[ 8.40347738e-01 -5.27501076e-01 -1.24732889e-01 1.59662425e+02] [ 5.21617882e-01 8.49553817e-01 -7.85690612e-02 5.35992732e+01] [ 1.47412566e-01 9.62427765e-04 9.89074623e-01 1.85223144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21710568099996 meters Centerline goodness [0,1] 0.9994571798404944 Centerline is valid? [True, True] Translation: X:159.70, Y:53.60, Z:18.53 [[ 8.33193576e-01 -5.39004708e-01 -1.23541047e-01 1.59695221e+02] [ 5.33350658e-01 8.42302149e-01 -7.78727538e-02 5.35992417e+01] [ 1.46032671e-01 -1.00762082e-03 9.89279255e-01 1.85274023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24710568099997 meters Centerline goodness [0,1] 0.9992685169704063 Centerline is valid? [True, True] Translation: X:159.73, Y:53.60, Z:18.53 [[ 8.27302475e-01 -5.48124694e-01 -1.23003798e-01 1.59726434e+02] [ 5.42616431e-01 8.36392641e-01 -7.75548756e-02 5.36041631e+01] [ 1.45389214e-01 -2.58254119e-03 9.89371167e-01 1.85323785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27710568099997 meters Centerline goodness [0,1] 0.9995998989218329 Centerline is valid? [True, True] Translation: X:159.75, Y:53.62, Z:18.54 [[ 8.24640274e-01 -5.52240384e-01 -1.22470308e-01 1.59752045e+02] [ 5.46819043e-01 8.33678561e-01 -7.72592388e-02 5.36158900e+01] [ 1.44766542e-01 -3.25801670e-03 9.89460476e-01 1.85379852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30710568099997 meters Centerline goodness [0,1] 0.9993910377556592 Centerline is valid? [True, True] Translation: X:159.78, Y:53.63, Z:18.54 [[ 8.21898063e-01 -5.56504402e-01 -1.21599442e-01 1.59778407e+02] [ 5.51198460e-01 8.30835355e-01 -7.67650405e-02 5.36268044e+01] [ 1.43749198e-01 -3.93238678e-03 9.89606338e-01 1.85433241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33710568099997 meters Centerline goodness [0,1] 0.9993925047656954 Centerline is valid? [True, True] Translation: X:159.80, Y:53.64, Z:18.55 [[ 8.21904135e-01 -5.56513664e-01 -1.21515981e-01 1.59801546e+02] [ 5.51207081e-01 8.30829375e-01 -7.67678513e-02 5.36393185e+01] [ 1.43681405e-01 -3.88465472e-03 9.89616372e-01 1.85474634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36710568099997 meters Centerline goodness [0,1] 0.9996000505199343 Centerline is valid? [True, True] Translation: X:159.82, Y:53.66, Z:18.55 [[ 8.24752458e-01 -5.52316431e-01 -1.21366974e-01 1.59820719e+02] [ 5.46973626e-01 8.33628691e-01 -7.67010977e-02 5.36614072e+01] [ 1.43538268e-01 -3.12511489e-03 9.89639833e-01 1.85543150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39710568099997 meters Centerline goodness [0,1] 0.9994763739946381 Centerline is valid? [True, True] Translation: X:159.84, Y:53.68, Z:18.56 [[ 8.27242030e-01 -5.48505642e-01 -1.21705323e-01 1.59841256e+02] [ 5.43089274e-01 8.36143248e-01 -7.69318457e-02 5.36823648e+01] [ 1.43960635e-01 -2.45559942e-03 9.89580368e-01 1.85576570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42710568099997 meters Centerline goodness [0,1] 0.9992656931856327 Centerline is valid? [True, True] Translation: X:159.86, Y:53.71, Z:18.56 [[ 8.32953000e-01 -5.40044770e-01 -1.20585848e-01 1.59858806e+02] [ 5.34631776e-01 8.41635773e-01 -7.62764054e-02 5.37074653e+01] [ 1.42682037e-01 -9.34365348e-04 9.89768136e-01 1.85612060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45710568099997 meters Centerline goodness [0,1] 0.9996209009919758 Centerline is valid? [True, True] Translation: X:159.88, Y:53.73, Z:18.56 [[ 8.38131366e-01 -5.31824830e-01 -1.21235987e-01 1.59876122e+02] [ 5.26264602e-01 8.46854247e-01 -7.67036762e-02 5.37317179e+01] [ 1.43462130e-01 4.85548487e-04 9.89655688e-01 1.85636289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48710568099997 meters Centerline goodness [0,1] 0.999494779386999 Centerline is valid? [True, True] Translation: X:159.90, Y:53.75, Z:18.57 [[ 8.40273607e-01 -5.28354128e-01 -1.21581992e-01 1.59896865e+02] [ 5.22722676e-01 8.49023384e-01 -7.69434732e-02 5.37529623e+01] [ 1.43879356e-01 1.09990549e-03 9.89594625e-01 1.85668247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51710568099998 meters Centerline goodness [0,1] 0.9995373096660217 Centerline is valid? [True, True] Translation: X:159.91, Y:53.78, Z:18.57 [[ 8.44460352e-01 -5.21719777e-01 -1.21223710e-01 1.59913461e+02] [ 5.16045549e-01 8.53113890e-01 -7.67703138e-02 5.37776311e+01] [ 1.43470222e-01 2.27253037e-03 9.89652025e-01 1.85707396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54710568099998 meters Centerline goodness [0,1] 0.9993063292203561 Centerline is valid? [True, True] Translation: X:159.93, Y:53.80, Z:18.57 [[ 8.46991508e-01 -5.17492065e-01 -1.21685447e-01 1.59934691e+02] [ 5.11727722e-01 8.55682678e-01 -7.70836766e-02 5.37978821e+01] [ 1.44014320e-01 3.01940312e-03 9.89570997e-01 1.85745495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57710568099998 meters Centerline goodness [0,1] 0.9993489856776849 Centerline is valid? [True, True] Translation: X:159.96, Y:53.82, Z:18.58 [[ 8.47008671e-01 -5.17240207e-01 -1.22633107e-01 1.59957876e+02] [ 5.11374160e-01 8.55834523e-01 -7.77414722e-02 5.38153665e+01] [ 1.45164662e-01 3.13629889e-03 9.89402539e-01 1.85768811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60710568099998 meters Centerline goodness [0,1] 0.9993469422149193 Centerline is valid? [True, True] Translation: X:159.98, Y:53.83, Z:18.58 [[ 8.46346930e-01 -5.18253404e-01 -1.22923895e-01 1.59980241e+02] [ 5.12361700e-01 8.55221784e-01 -7.79819819e-02 5.38329468e+01] [ 1.45541621e-01 3.01831503e-03 9.89347526e-01 1.85779705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63710568099998 meters Centerline goodness [0,1] 0.999288955810695 Centerline is valid? [True, True] Translation: X:160.01, Y:53.85, Z:18.58 [[ 8.45628517e-01 -5.19412060e-01 -1.22977737e-01 1.60006108e+02] [ 5.13522703e-01 8.54519166e-01 -7.80476049e-02 5.38464773e+01] [ 1.45625700e-01 2.84742045e-03 9.89335660e-01 1.85801896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66710568099998 meters Centerline goodness [0,1] 0.9995164816683485 Centerline is valid? [True, True] Translation: X:160.03, Y:53.86, Z:18.58 [[ 8.43719879e-01 -5.22424768e-01 -1.23325295e-01 1.60033327e+02] [ 5.16525967e-01 8.52682060e-01 -7.83213267e-02 5.38558999e+01] [ 1.46074268e-01 2.38054298e-03 9.89270762e-01 1.85826519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69710568099998 meters Centerline goodness [0,1] 0.9995790714315781 Centerline is valid? [True, True] Translation: X:160.06, Y:53.87, Z:18.59 [[ 8.42379960e-01 -5.24493189e-01 -1.23704882e-01 1.60059111e+02] [ 5.18575544e-01 8.51412166e-01 -7.85921731e-02 5.38674667e+01] [ 1.46544901e-01 2.05414510e-03 9.89201887e-01 1.85874902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72710568099998 meters Centerline goodness [0,1] 0.999283622342555 Centerline is valid? [True, True] Translation: X:160.09, Y:53.88, Z:18.59 [[ 8.40760888e-01 -5.26984969e-01 -1.24128848e-01 1.60085104e+02] [ 5.21045225e-01 8.49872957e-01 -7.89166067e-02 5.38792054e+01] [ 1.47081616e-01 1.67325297e-03 9.89122944e-01 1.85943233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75710568099998 meters Centerline goodness [0,1] 0.9995804577206268 Centerline is valid? [True, True] Translation: X:160.11, Y:53.89, Z:18.60 [[ 8.40229075e-01 -5.27658180e-01 -1.24867717e-01 1.60108193e+02] [ 5.21645913e-01 8.49455261e-01 -7.94436993e-02 5.38936318e+01] [ 1.47988657e-01 1.61417159e-03 9.88987741e-01 1.85973499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78710568099999 meters Centerline goodness [0,1] 0.9994970872972633 Centerline is valid? [True, True] Translation: X:160.14, Y:53.90, Z:18.60 [[ 8.39876818e-01 -5.27988526e-01 -1.25837382e-01 1.60136129e+02] [ 5.21880915e-01 8.49250005e-01 -8.00920645e-02 5.39028127e+01] [ 1.49155089e-01 1.59534009e-03 9.88812527e-01 1.85981733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.817105681 meters Centerline goodness [0,1] 0.9997047970479704 Centerline is valid? [True, True] Translation: X:160.16, Y:53.91, Z:18.60 [[ 8.38274951e-01 -5.30388846e-01 -1.26423014e-01 1.60162560e+02] [ 5.24242362e-01 8.47753606e-01 -8.05218588e-02 5.39134936e+01] [ 1.49883462e-01 1.22315790e-03 9.88702914e-01 1.86009886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.847105681 meters Centerline goodness [0,1] 0.999577675950757 Centerline is valid? [True, True] Translation: X:160.19, Y:53.93, Z:18.61 [[ 8.36427526e-01 -5.33260542e-01 -1.26578782e-01 1.60188221e+02] [ 5.27127801e-01 8.45950743e-01 -8.06450286e-02 5.39262285e+01] [ 1.50084226e-01 7.30526852e-04 9.88672945e-01 1.86061960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877105681 meters Centerline goodness [0,1] 0.9995779611302201 Centerline is valid? [True, True] Translation: X:160.22, Y:53.93, Z:18.61 [[ 8.31584497e-01 -5.40989391e-01 -1.25688911e-01 1.60217188e+02] [ 5.35021430e-01 8.41029198e-01 -8.01371143e-02 5.39322556e+01] [ 1.49061373e-01 -6.05478900e-04 9.88827761e-01 1.86123371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90710568099996 meters Centerline goodness [0,1] 0.9997058699945376 Centerline is valid? [True, True] Translation: X:160.24, Y:53.94, Z:18.62 [[ 8.28760009e-01 -5.45370423e-01 -1.25411122e-01 1.60244544e+02] [ 5.39469795e-01 8.38194076e-01 -8.00189504e-02 5.39414687e+01] [ 1.48758829e-01 -1.33900638e-03 9.88872599e-01 1.86172871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93710568099996 meters Centerline goodness [0,1] 0.9996835977050287 Centerline is valid? [True, True] Translation: X:160.28, Y:53.95, Z:18.62 [[ 8.23999576e-01 -5.52392400e-01 -1.26044973e-01 1.60275690e+02] [ 5.46504520e-01 8.33580249e-01 -8.04784279e-02 5.39466057e+01] [ 1.49524272e-01 -2.56995707e-03 9.88754715e-01 1.86204327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96710568099996 meters Centerline goodness [0,1] 0.999809994299829 Centerline is valid? [True, True] Translation: X:160.30, Y:53.96, Z:18.62 [[ 8.22731202e-01 -5.53894045e-01 -1.27729233e-01 1.60301133e+02] [ 5.47862677e-01 8.32582220e-01 -8.15679691e-02 5.39588690e+01] [ 1.51525101e-01 -2.86956645e-03 9.88449245e-01 1.86228202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99710568099997 meters Centerline goodness [0,1] 0.999704734788569 Centerline is valid? [True, True] Translation: X:160.32, Y:53.98, Z:18.63 [[ 8.23856202e-01 -5.52249983e-01 -1.27596690e-01 1.60323908e+02] [ 5.46206535e-01 8.33674710e-01 -8.15162463e-02 5.39758612e+01] [ 1.51391479e-01 -2.53648073e-03 9.88470630e-01 1.86269634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02710568099997 meters Centerline goodness [0,1] 0.9999789278489548 Centerline is valid? [True, True] Translation: X:160.34, Y:54.00, Z:18.64 [[ 8.28614306e-01 -5.45194270e-01 -1.27128044e-01 1.60342455e+02] [ 5.39104204e-01 8.38308883e-01 -8.12703718e-02 5.39988663e+01] [ 1.50880710e-01 -1.19347050e-03 9.88551257e-01 1.86357809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05710568099997 meters Centerline goodness [0,1] 0.9997051576353643 Centerline is valid? [True, True] Translation: X:160.36, Y:54.02, Z:18.64 [[ 8.31658129e-01 -5.40659715e-01 -1.26616859e-01 1.60362406e+02] [ 5.34563767e-01 8.41241314e-01 -8.09606756e-02 5.40186460e+01] [ 1.50287509e-01 -3.53181227e-04 9.88642271e-01 1.86392788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08710568099997 meters Centerline goodness [0,1] 0.9996419545071609 Centerline is valid? [True, True] Translation: X:160.38, Y:54.04, Z:18.64 [[ 8.36751639e-01 -5.32957006e-01 -1.25712067e-01 1.60381593e+02] [ 5.26857894e-01 8.46141675e-01 -8.04053884e-02 5.40419143e+01] [ 1.49222834e-01 1.04694561e-03 9.88803039e-01 1.86438858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11710568099997 meters Centerline goodness [0,1] 0.9997053748053369 Centerline is valid? [True, True] Translation: X:160.40, Y:54.06, Z:18.65 [[ 8.38731672e-01 -5.30160876e-01 -1.24332733e-01 1.60403557e+02] [ 5.24156774e-01 8.47895610e-01 -7.95783315e-02 5.40589530e+01] [ 1.47610497e-01 1.57502269e-03 9.89044317e-01 1.86475489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14710568099997 meters Centerline goodness [0,1] 0.9997054429926991 Centerline is valid? [True, True] Translation: X:160.43, Y:54.08, Z:18.66 [[ 8.41105073e-01 -5.26888363e-01 -1.22192103e-01 1.60425710e+02] [ 5.21052821e-01 8.49931829e-01 -7.82294320e-02 5.40767050e+01] [ 1.45073135e-01 2.13063227e-03 9.89418640e-01 1.86551210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17710568099997 meters Centerline goodness [0,1] 0.9994532301480484 Centerline is valid? [True, True] Translation: X:160.45, Y:54.09, Z:18.66 [[ 8.41685419e-01 -5.26293205e-01 -1.20752301e-01 1.60448968e+02] [ 5.20581110e-01 8.50300174e-01 -7.73622823e-02 5.40918943e+01] [ 1.43390946e-01 2.25333795e-03 9.89663558e-01 1.86603775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20710568099997 meters Centerline goodness [0,1] 0.9997063080828211 Centerline is valid? [True, True] Translation: X:160.47, Y:54.11, Z:18.67 [[ 8.43503681e-01 -5.23680584e-01 -1.19416018e-01 1.60470882e+02] [ 5.18059676e-01 8.51910344e-01 -7.65698234e-02 5.41084557e+01] [ 1.41829871e-01 2.72230461e-03 9.89887305e-01 1.86660383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23710568099997 meters Centerline goodness [0,1] 0.9996639714375722 Centerline is valid? [True, True] Translation: X:160.49, Y:54.13, Z:18.67 [[ 8.45801833e-01 -5.19561475e-01 -1.21140962e-01 1.60493713e+02] [ 5.13730991e-01 8.54425977e-01 -7.76963212e-02 5.41273392e+01] [ 1.43874000e-01 3.48182445e-03 9.89589889e-01 1.86669103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26710568099998 meters Centerline goodness [0,1] 0.999622380263075 Centerline is valid? [True, True] Translation: X:160.52, Y:54.15, Z:18.67 [[ 8.48800770e-01 -5.14003601e-01 -1.23844865e-01 1.60516723e+02] [ 5.07847031e-01 8.57776013e-01 -7.94462396e-02 5.41472091e+01] [ 1.47066808e-01 4.53978246e-03 9.89116143e-01 1.86665002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29710568099998 meters Centerline goodness [0,1] 0.9997897083254474 Centerline is valid? [True, True] Translation: X:160.54, Y:54.16, Z:18.67 [[ 8.50382505e-01 -5.11026697e-01 -1.25304870e-01 1.60542736e+02] [ 5.04689812e-01 8.59549573e-01 -8.03910742e-02 5.41619100e+01] [ 1.48787733e-01 5.12307167e-03 9.88855887e-01 1.86680865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32710568099998 meters Centerline goodness [0,1] 0.99955848033135 Centerline is valid? [True, True] Translation: X:160.57, Y:54.18, Z:18.67 [[ 8.52437567e-01 -5.06684120e-01 -1.28923995e-01 1.60568152e+02] [ 4.99922599e-01 8.62110455e-01 -8.27221730e-02 5.41783311e+01] [ 1.53060735e-01 6.06346929e-03 9.88198181e-01 1.86652046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35710568099998 meters Centerline goodness [0,1] 0.9997688735738449 Centerline is valid? [True, True] Translation: X:160.59, Y:54.19, Z:18.67 [[ 8.52810315e-01 -5.05915630e-01 -1.29475641e-01 1.60591283e+02] [ 4.99085110e-01 8.62560405e-01 -8.30879103e-02 5.41933086e+01] [ 1.53716034e-01 6.23886230e-03 9.88095369e-01 1.86677118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38710568099998 meters Centerline goodness [0,1] 0.9999159310634721 Centerline is valid? [True, True] Translation: X:160.62, Y:54.20, Z:18.67 [[ 8.52461092e-01 -5.06554658e-01 -1.29276698e-01 1.60618112e+02] [ 4.99747437e-01 8.62185969e-01 -8.29930931e-02 5.42025103e+01] [ 1.53501093e-01 6.14268405e-03 9.88129385e-01 1.86742391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41710568099998 meters Centerline goodness [0,1] 0.999643516188559 Centerline is valid? [True, True] Translation: X:160.64, Y:54.21, Z:18.68 [[ 8.51613001e-01 -5.08323121e-01 -1.27917552e-01 1.60644574e+02] [ 5.01673730e-01 8.61146948e-01 -8.21547411e-02 5.42140619e+01] [ 1.51916964e-01 5.79117023e-03 9.88376294e-01 1.86791554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44710568099998 meters Centerline goodness [0,1] 0.9998318868598567 Centerline is valid? [True, True] Translation: X:160.68, Y:54.22, Z:18.68 [[ 8.48994452e-01 -5.12631776e-01 -1.28129162e-01 1.60675892e+02] [ 5.06000139e-01 8.58593542e-01 -8.23467605e-02 5.42201043e+01] [ 1.52224437e-01 5.07856897e-03 9.88332904e-01 1.86844613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.70, Y:54.23, Z:18.69 [[ 8.47356068e-01 -5.15196040e-01 -1.28688514e-01 1.60702198e+02] [ 5.08533070e-01 8.57059743e-01 -8.27206965e-02 5.42301251e+01] [ 1.52911120e-01 4.65151911e-03 9.88228998e-01 1.86872080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.73, Y:54.23, Z:18.69 [[ 8.44579453e-01 -5.19670908e-01 -1.28948417e-01 1.60733764e+02] [ 5.13029189e-01 8.54357758e-01 -8.29088191e-02 5.42331608e+01] [ 1.53253382e-01 3.86878359e-03 9.88179353e-01 1.86913725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.76, Y:54.24, Z:18.70 [[ 8.42395636e-01 -5.23725920e-01 -1.26809909e-01 1.60761524e+02] [ 5.17346873e-01 8.51881206e-01 -8.15513601e-02 5.42397420e+01] [ 1.50737540e-01 3.09379973e-03 9.88568977e-01 1.86988865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.567105681 meters Centerline goodness [0,1] 0.999979059345814 Centerline is valid? [True, True] Translation: X:160.79, Y:54.25, Z:18.70 [[ 8.41692118e-01 -5.24979228e-01 -1.26298017e-01 1.60786266e+02] [ 5.18662553e-01 8.51110178e-01 -8.12442038e-02 5.42521188e+01] [ 1.50145047e-01 2.87655402e-03 9.88659795e-01 1.87040712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597105681 meters Centerline goodness [0,1] 0.9999158603281447 Centerline is valid? [True, True] Translation: X:160.82, Y:54.26, Z:18.71 [[ 8.40382414e-01 -5.26771477e-01 -1.27550809e-01 1.60815091e+02] [ 5.20343338e-01 8.50002934e-01 -8.20842383e-02 5.42605101e+01] [ 1.51658198e-01 2.61193641e-03 9.88429547e-01 1.87091165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.627105681 meters Centerline goodness [0,1] 0.9998739045457411 Centerline is valid? [True, True] Translation: X:160.84, Y:54.27, Z:18.71 [[ 8.39926955e-01 -5.27415084e-01 -1.27890734e-01 1.60839336e+02] [ 5.20950476e-01 8.49603909e-01 -8.23638257e-02 5.42738648e+01] [ 1.52096392e-01 2.55485843e-03 9.88362363e-01 1.87122749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65710568099996 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:160.86, Y:54.29, Z:18.72 [[ 8.39884271e-01 -5.27462265e-01 -1.27976443e-01 1.60864843e+02] [ 5.20978909e-01 8.49574459e-01 -8.24876587e-02 5.42862692e+01] [ 1.52234644e-01 2.60705963e-03 9.88340941e-01 1.87162176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:54.30, Z:18.72 [[ 8.40139735e-01 -5.27054538e-01 -1.27979450e-01 1.60888358e+02] [ 5.20555970e-01 8.49827051e-01 -8.25558309e-02 5.43012946e+01] [ 1.52271824e-01 2.73796749e-03 9.88334860e-01 1.87196531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.91, Y:54.32, Z:18.72 [[ 8.39951020e-01 -5.27358061e-01 -1.27967803e-01 1.60911066e+02] [ 5.20860244e-01 8.49638841e-01 -8.25738797e-02 5.43162551e+01] [ 1.52272417e-01 2.70467332e-03 9.88334860e-01 1.87234695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74710568099997 meters Centerline goodness [0,1] 0.999979157548094 Centerline is valid? [True, True] Translation: X:160.94, Y:54.33, Z:18.73 [[ 8.39957142e-01 -5.27362944e-01 -1.27907486e-01 1.60937277e+02] [ 5.20861212e-01 8.49635635e-01 -8.26007574e-02 5.43257332e+01] [ 1.52235337e-01 2.75904791e-03 9.88340422e-01 1.87307486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.96, Y:54.34, Z:18.74 [[ 8.39220570e-01 -5.28945029e-01 -1.26198220e-01 1.60961688e+02] [ 5.22624668e-01 8.48652421e-01 -8.15630143e-02 5.43389120e+01] [ 1.50240776e-01 2.49505645e-03 9.88646289e-01 1.87386491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80710568099997 meters Centerline goodness [0,1] 0.9999370396020902 Centerline is valid? [True, True] Translation: X:160.99, Y:54.35, Z:18.75 [[ 8.37278420e-01 -5.33068802e-01 -1.21665522e-01 1.60985773e+02] [ 5.27232129e-01 8.46070113e-01 -7.86870171e-02 5.43496740e+01] [ 1.44883156e-01 1.73696939e-03 9.89447247e-01 1.87506138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83710568099997 meters Centerline goodness [0,1] 0.9999790149623319 Centerline is valid? [True, True] Translation: X:161.01, Y:54.36, Z:18.76 [[ 8.33718489e-01 -5.39320857e-01 -1.18517907e-01 1.61014814e+02] [ 5.33843605e-01 8.42100106e-01 -7.66708366e-02 5.43555092e+01] [ 1.41154123e-01 6.51867351e-04 9.89987418e-01 1.87594249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.04, Y:54.36, Z:18.77 [[ 8.28659544e-01 -5.47524606e-01 -1.16362221e-01 1.61044159e+02] [ 5.42318473e-01 8.36789303e-01 -7.53281897e-02 5.43608965e+01] [ 1.38614699e-01 -6.83958745e-04 9.90346150e-01 1.87650498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89710568099997 meters Centerline goodness [0,1] 0.9999370343162977 Centerline is valid? [True, True] Translation: X:161.07, Y:54.37, Z:18.77 [[ 8.25945256e-01 -5.51518396e-01 -1.16798517e-01 1.61068919e+02] [ 5.46304092e-01 8.34161705e-01 -7.56709291e-02 5.43728239e+01] [ 1.39162760e-01 -1.30746302e-03 9.90268659e-01 1.87676993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.09, Y:54.39, Z:18.77 [[ 8.23028621e-01 -5.54979451e-01 -1.20920215e-01 1.61094197e+02] [ 5.49422158e-01 8.31861797e-01 -7.83660800e-02 5.43876592e+01] [ 1.44080472e-01 -1.93871869e-03 9.89564075e-01 1.87650124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95710568099997 meters Centerline goodness [0,1] 0.9999790162833642 Centerline is valid? [True, True] Translation: X:161.12, Y:54.40, Z:18.77 [[ 8.22707944e-01 -5.55076574e-01 -1.22644348e-01 1.61118436e+02] [ 5.49351769e-01 8.31796996e-01 -7.95386194e-02 5.44038612e+01] [ 1.46165225e-01 -1.93783565e-03 9.89258294e-01 1.87659481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.14, Y:54.42, Z:18.77 [[ 8.24029311e-01 -5.52835195e-01 -1.23890845e-01 1.61139574e+02] [ 5.46959604e-01 8.33289244e-01 -8.04004220e-02 5.44229904e+01] [ 1.47685092e-01 -1.51098341e-03 9.89033281e-01 1.87678835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01710568099998 meters Centerline goodness [0,1] 0.9998948917384907 Centerline is valid? [True, True] Translation: X:161.16, Y:54.44, Z:18.77 [[ 8.25286578e-01 -5.50883105e-01 -1.24217019e-01 1.61159662e+02] [ 5.44951057e-01 8.34581626e-01 -8.06340767e-02 5.44440208e+01] [ 1.48089192e-01 -1.14597435e-03 9.88973345e-01 1.87736056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.18, Y:54.47, Z:18.77 [[ 8.28601485e-01 -5.45457808e-01 -1.26076795e-01 1.61176488e+02] [ 5.39274058e-01 8.38138272e-01 -8.19007119e-02 5.44679957e+01] [ 1.50343170e-01 -1.26893542e-04 9.88633863e-01 1.87745216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07710568099998 meters Centerline goodness [0,1] 0.9999789544574459 Centerline is valid? [True, True] Translation: X:161.20, Y:54.49, Z:18.78 [[ 8.30996261e-01 -5.41723284e-01 -1.26416368e-01 1.61196734e+02] [ 5.35458009e-01 8.40556690e-01 -8.21533424e-02 5.44897605e+01] [ 1.50764502e-01 5.78463575e-04 9.88569537e-01 1.87784205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.21, Y:54.52, Z:18.79 [[ 8.37271549e-01 -5.32499974e-01 -1.24177821e-01 1.61210259e+02] [ 5.26346773e-01 8.46427034e-01 -8.07486905e-02 5.45191325e+01] [ 1.48106140e-01 2.24798581e-03 9.88968916e-01 1.87853861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.23, Y:54.54, Z:18.79 [[ 8.42856584e-01 -5.24206181e-01 -1.21657956e-01 1.61228089e+02] [ 5.18212520e-01 8.51583564e-01 -7.91278523e-02 5.45434833e+01] [ 1.45081225e-01 3.64875506e-03 9.89413020e-01 1.87942770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.25, Y:54.56, Z:18.80 [[ 8.44582989e-01 -5.21642673e-01 -1.20700026e-01 1.61250022e+02] [ 5.15715504e-01 8.53154364e-01 -7.85184716e-02 5.45618693e+01] [ 1.43934339e-01 4.06849078e-03 9.89578877e-01 1.87991748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.27, Y:54.58, Z:18.80 [[ 8.45913929e-01 -5.19830094e-01 -1.19190181e-01 1.61268654e+02] [ 5.14025315e-01 8.54258502e-01 -7.75911513e-02 5.45834531e+01] [ 1.42153441e-01 4.36866522e-03 9.89834993e-01 1.88032006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.30, Y:54.59, Z:18.80 [[ 8.43970261e-01 -5.22313587e-01 -1.22076680e-01 1.61297386e+02] [ 5.16245023e-01 8.52743788e-01 -7.94928224e-02 5.45918674e+01] [ 1.45620311e-01 4.06809980e-03 9.89332187e-01 1.88030960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25710568099998 meters Centerline goodness [0,1] 0.9999368713437987 Centerline is valid? [True, True] Translation: X:161.32, Y:54.61, Z:18.80 [[ 8.42763600e-01 -5.23792905e-01 -1.24058486e-01 1.61322303e+02] [ 5.17531747e-01 8.51836593e-01 -8.08412678e-02 5.46051409e+01] [ 1.48021641e-01 3.92587274e-03 9.88976330e-01 1.88038469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.35, Y:54.62, Z:18.81 [[ 8.40842683e-01 -5.26910925e-01 -1.23888897e-01 1.61349572e+02] [ 5.20697071e-01 8.49913740e-01 -8.07539088e-02 5.46151651e+01] [ 1.47844993e-01 3.39274730e-03 9.89004726e-01 1.88084162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.37, Y:54.63, Z:18.82 [[ 8.39821321e-01 -5.28946692e-01 -1.22129220e-01 1.61373976e+02] [ 5.22922364e-01 8.48649615e-01 -7.96619883e-02 5.46277671e+01] [ 1.45781860e-01 3.03773593e-03 9.89312095e-01 1.88158328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.40, Y:54.64, Z:18.83 [[ 8.35292974e-01 -5.36509816e-01 -1.20178468e-01 1.61401811e+02] [ 5.30751863e-01 8.43892346e-01 -7.84102618e-02 5.46362458e+01] [ 1.43485564e-01 1.71059501e-03 9.89650932e-01 1.88256862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.43, Y:54.64, Z:18.83 [[ 8.31074305e-01 -5.43104100e-01 -1.19805822e-01 1.61430618e+02] [ 5.37442253e-01 8.39665145e-01 -7.82193715e-02 5.46445750e+01] [ 1.43078034e-01 6.17398929e-04 9.89711218e-01 1.88297490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.45, Y:54.66, Z:18.83 [[ 8.29347963e-01 -5.45729079e-01 -1.19840432e-01 1.61454528e+02] [ 5.40082972e-01 8.37961650e-01 -7.82985073e-02 5.46563845e+01] [ 1.43151458e-01 2.12930986e-04 9.89700770e-01 1.88321616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.48, Y:54.67, Z:18.83 [[ 8.25437394e-01 -5.51079827e-01 -1.22327974e-01 1.61482119e+02] [ 5.45246951e-01 8.34452245e-01 -7.99700746e-02 5.46675107e+01] [ 1.46146748e-01 -6.88665126e-04 9.89262682e-01 1.88316023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.51, Y:54.68, Z:18.83 [[ 8.23167749e-01 -5.54147072e-01 -1.23757340e-01 1.61507564e+02] [ 5.48202163e-01 8.32417915e-01 -8.09617385e-02 5.46806245e+01] [ 1.47882537e-01 -1.19894934e-03 9.89004205e-01 1.88331392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49710568099997 meters Centerline goodness [0,1] 0.9998743876397438 Centerline is valid? [True, True] Translation: X:161.54, Y:54.69, Z:18.83 [[ 8.18121699e-01 -5.61227955e-01 -1.25299910e-01 1.61536045e+02] [ 5.55206882e-01 8.27657615e-01 -8.20255474e-02 5.46897706e+01] [ 1.49740455e-01 -2.46049221e-03 9.88722278e-01 1.88346385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52710568099997 meters Centerline goodness [0,1] 0.9998737692501893 Centerline is valid? [True, True] Translation: X:161.56, Y:54.70, Z:18.84 [[ 8.15289997e-01 -5.65491165e-01 -1.24587170e-01 1.61560643e+02] [ 5.59585796e-01 8.24748103e-01 -8.15739170e-02 5.47033239e+01] [ 1.48882362e-01 -3.21081237e-03 9.88849702e-01 1.88405762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55710568099997 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:161.59, Y:54.71, Z:18.85 [[ 8.10473674e-01 -5.72391237e-01 -1.24501789e-01 1.61587454e+02] [ 5.66566320e-01 8.19968703e-01 -8.15716295e-02 5.47130646e+01] [ 1.48778457e-01 -4.42686227e-03 9.88860644e-01 1.88466156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.61, Y:54.73, Z:18.85 [[ 8.08920881e-01 -5.74784557e-01 -1.23570714e-01 1.61610866e+02] [ 5.69071887e-01 8.18290615e-01 -8.09793528e-02 5.47296505e+01] [ 1.47662437e-01 -4.81472992e-03 9.89026098e-01 1.88525322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.64, Y:54.74, Z:18.86 [[ 8.06609453e-01 -5.78190434e-01 -1.22788485e-01 1.61637683e+02] [ 5.72581155e-01 8.15884259e-01 -8.05214016e-02 5.47392419e+01] [ 1.46737896e-01 -5.35704871e-03 9.89160903e-01 1.88569472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64710568099997 meters Centerline goodness [0,1] 0.9997056906809056 Centerline is valid? [True, True] Translation: X:161.66, Y:54.76, Z:18.87 [[ 8.06247241e-01 -5.79106410e-01 -1.20835223e-01 1.61657017e+02] [ 5.73682893e-01 8.15233941e-01 -7.92562912e-02 5.47590023e+01] [ 1.44406802e-01 -5.42093435e-03 9.89503557e-01 1.88654653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67710568099997 meters Centerline goodness [0,1] 0.9997490589711417 Centerline is valid? [True, True] Translation: X:161.68, Y:54.78, Z:18.87 [[ 8.07821349e-01 -5.77019888e-01 -1.20302603e-01 1.61676834e+02] [ 5.71618685e-01 8.16714729e-01 -7.89248434e-02 5.47806732e+01] [ 1.43794112e-01 -5.01004240e-03 9.89594944e-01 1.88708575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70710568099997 meters Centerline goodness [0,1] 0.9999159416635145 Centerline is valid? [True, True] Translation: X:161.69, Y:54.82, Z:18.88 [[ 8.12695561e-01 -5.69967408e-01 -1.21091199e-01 1.61688493e+02] [ 5.64414271e-01 8.21658651e-01 -7.94581171e-02 5.48162798e+01] [ 1.44784168e-01 -3.77034152e-03 9.89456077e-01 1.88760624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73710568099997 meters Centerline goodness [0,1] 0.9998326744891343 Centerline is valid? [True, True] Translation: X:161.71, Y:54.84, Z:18.88 [[ 8.16083069e-01 -5.65172459e-01 -1.20782930e-01 1.61707294e+02] [ 5.59588230e-01 8.24967791e-01 -7.93042043e-02 5.48387121e+01] [ 1.44462579e-01 -2.86988777e-03 9.89506103e-01 1.88801891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76710568099998 meters Centerline goodness [0,1] 0.9997685769586805 Centerline is valid? [True, True] Translation: X:161.72, Y:54.87, Z:18.88 [[ 8.23425308e-01 -5.54252081e-01 -1.21554073e-01 1.61719595e+02] [ 5.48474199e-01 8.32348335e-01 -7.98266965e-02 5.48723485e+01] [ 1.45419443e-01 -9.37950714e-04 9.89369651e-01 1.88842458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79710568099998 meters Centerline goodness [0,1] 0.9994741491733625 Centerline is valid? [True, True] Translation: X:161.73, Y:54.91, Z:18.89 [[ 8.29879645e-01 -5.44161822e-01 -1.23238333e-01 1.61730034e+02] [ 5.38107984e-01 8.38979838e-01 -8.09483080e-02 5.49084519e+01] [ 1.47443455e-01 8.61822382e-04 9.89070111e-01 1.88861785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82710568099998 meters Centerline goodness [0,1] 0.9994322721729257 Centerline is valid? [True, True] Translation: X:161.75, Y:54.93, Z:18.89 [[ 8.32635147e-01 -5.39811498e-01 -1.23783112e-01 1.61748049e+02] [ 5.33646862e-01 8.41784228e-01 -8.13654730e-02 5.49334623e+01] [ 1.48120690e-01 1.69128302e-03 9.88967846e-01 1.88875472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85710568099998 meters Centerline goodness [0,1] 0.999894730193486 Centerline is valid? [True, True] Translation: X:161.76, Y:54.96, Z:18.88 [[ 8.36816517e-01 -5.32861287e-01 -1.25685978e-01 1.61764238e+02] [ 5.26417339e-01 8.46197216e-01 -8.26744085e-02 5.49612541e+01] [ 1.50409117e-01 3.02003231e-03 9.88619228e-01 1.88847853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88710568099998 meters Centerline goodness [0,1] 0.9998106180165394 Centerline is valid? [True, True] Translation: X:161.79, Y:54.98, Z:18.89 [[ 8.37692799e-01 -5.31514823e-01 -1.25549860e-01 1.61786658e+02] [ 5.25066390e-01 8.47042648e-01 -8.26077374e-02 5.49799400e+01] [ 1.50253323e-01 3.27789482e-03 9.88642096e-01 1.88877881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91710568099998 meters Centerline goodness [0,1] 0.9999580827028273 Centerline is valid? [True, True] Translation: X:161.81, Y:55.00, Z:18.89 [[ 8.37391951e-01 -5.32561627e-01 -1.23096844e-01 1.61807775e+02] [ 5.26366897e-01 8.46385635e-01 -8.10508857e-02 5.49990401e+01] [ 1.47351992e-01 3.07725527e-03 9.89079330e-01 1.88945173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94710568099998 meters Centerline goodness [0,1] 0.9995397296958032 Centerline is valid? [True, True] Translation: X:161.83, Y:55.02, Z:18.90 [[ 8.34064526e-01 -5.37434064e-01 -1.24502988e-01 1.61831683e+02] [ 5.31141038e-01 8.43302652e-01 -8.20355667e-02 5.50157207e+01] [ 1.49082408e-01 2.29430999e-03 9.88822113e-01 1.88951393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97710568099998 meters Centerline goodness [0,1] 0.9993918678046427 Centerline is valid? [True, True] Translation: X:161.86, Y:55.03, Z:18.90 [[ 8.31624541e-01 -5.40940195e-01 -1.25635697e-01 1.61858209e+02] [ 5.34562450e-01 8.41059279e-01 -8.28388637e-02 5.50285020e+01] [ 1.50477940e-01 1.73070576e-03 9.88611852e-01 1.88979797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.00710568099998 meters Centerline goodness [0,1] 0.9991657803082442 Centerline is valid? [True, True] Translation: X:161.89, Y:55.04, Z:18.90 [[ 8.26778469e-01 -5.48290547e-01 -1.25757068e-01 1.61886232e+02] [ 5.41979171e-01 8.36287806e-01 -8.29535051e-02 5.50382654e+01] [ 1.50651725e-01 4.26460571e-04 9.88586807e-01 1.89011694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03710568099999 meters Centerline goodness [0,1] 0.9990620505658961 Centerline is valid? [True, True] Translation: X:161.91, Y:55.05, Z:18.90 [[ 8.24004058e-01 -5.52335232e-01 -1.26266005e-01 1.61911236e+02] [ 5.46010621e-01 8.33622050e-01 -8.33467446e-02 5.50503541e+01] [ 1.51293470e-01 -2.64524156e-04 9.88488855e-01 1.89044480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.067105681 meters Centerline goodness [0,1] 0.9994371247498333 Centerline is valid? [True, True] Translation: X:161.94, Y:55.06, Z:18.91 [[ 8.19147808e-01 -5.58873417e-01 -1.29063443e-01 1.61937826e+02] [ 5.52340493e-01 8.29251653e-01 -8.52154668e-02 5.50615117e+01] [ 1.54650733e-01 -1.48290312e-03 9.87968092e-01 1.89050771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097105681 meters Centerline goodness [0,1] 0.9991376953330389 Centerline is valid? [True, True] Translation: X:161.96, Y:55.08, Z:18.91 [[ 8.17462072e-01 -5.61022349e-01 -1.30421182e-01 1.61961579e+02] [ 5.54373397e-01 8.27798503e-01 -8.61381159e-02 5.50779662e+01] [ 1.56287867e-01 -1.88739082e-03 9.87709745e-01 1.89074806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.127105681 meters Centerline goodness [0,1] 0.9992411147181585 Centerline is valid? [True, True] Translation: X:161.98, Y:55.10, Z:18.91 [[ 8.16298031e-01 -5.62357220e-01 -1.31954090e-01 1.61983649e+02] [ 5.55557423e-01 8.26891697e-01 -8.72127967e-02 5.50972980e+01] [ 1.58156487e-01 -2.11643998e-03 9.87411792e-01 1.89103899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15710568099996 meters Centerline goodness [0,1] 0.9992413865767569 Centerline is valid? [True, True] Translation: X:162.00, Y:55.11, Z:18.92 [[ 8.17798459e-01 -5.60386212e-01 -1.31045696e-01 1.62004347e+02] [ 5.53645863e-01 8.28229734e-01 -8.66704462e-02 5.51149097e+01] [ 1.57104865e-01 -1.67395019e-03 9.87580508e-01 1.89152658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18710568099996 meters Centerline goodness [0,1] 0.9992211838006231 Centerline is valid? [True, True] Translation: X:162.03, Y:55.13, Z:18.92 [[ 8.18771862e-01 -5.58880864e-01 -1.31395653e-01 1.62025666e+02] [ 5.52080502e-01 8.29246837e-01 -8.69298714e-02 5.51322978e+01] [ 1.57542871e-01 -1.36524524e-03 9.87511205e-01 1.89181088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21710568099996 meters Centerline goodness [0,1] 0.9993683412641596 Centerline is valid? [True, True] Translation: X:162.04, Y:55.16, Z:18.92 [[ 8.22668977e-01 -5.53380697e-01 -1.30328657e-01 1.62044076e+02] [ 5.46611261e-01 8.32928413e-01 -8.62924513e-02 5.51558089e+01] [ 1.56307019e-01 -2.48989163e-04 9.87708486e-01 1.89245030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24710568099997 meters Centerline goodness [0,1] 0.9993893836986504 Centerline is valid? [True, True] Translation: X:162.06, Y:55.18, Z:18.93 [[ 8.25179166e-01 -5.49853733e-01 -1.29383989e-01 1.62064029e+02] [ 5.43130030e-01 8.35260829e-01 -8.57269916e-02 5.51767597e+01] [ 1.55206684e-01 4.67797473e-04 9.87881909e-01 1.89306385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27710568099997 meters Centerline goodness [0,1] 0.9988416175231677 Centerline is valid? [True, True] Translation: X:162.08, Y:55.20, Z:18.93 [[ 8.29050376e-01 -5.43817637e-01 -1.30145504e-01 1.62081938e+02] [ 5.36930776e-01 8.39201780e-01 -8.62885501e-02 5.52006838e+01] [ 1.56143574e-01 1.65842861e-03 9.87732977e-01 1.89327396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30710568099997 meters Centerline goodness [0,1] 0.9993708581494841 Centerline is valid? [True, True] Translation: X:162.10, Y:55.22, Z:18.94 [[ 8.30571366e-01 -5.41455003e-01 -1.30298448e-01 1.62104005e+02] [ 5.34519480e-01 8.40727048e-01 -8.64115536e-02 5.52183252e+01] [ 1.56333398e-01 2.12390327e-03 9.87702059e-01 1.89355989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33710568099997 meters Centerline goodness [0,1] 0.9992435067664117 Centerline is valid? [True, True] Translation: X:162.13, Y:55.24, Z:18.94 [[ 8.33620193e-01 -5.37107445e-01 -1.28813693e-01 1.62125930e+02] [ 5.30274413e-01 8.43508756e-01 -8.54518956e-02 5.52362023e+01] [ 1.54552327e-01 2.92782047e-03 9.87980266e-01 1.89401580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36710568099997 meters Centerline goodness [0,1] 0.9992859393048409 Centerline is valid? [True, True] Translation: X:162.15, Y:55.26, Z:18.95 [[ 8.36036072e-01 -5.33701594e-01 -1.27303947e-01 1.62145427e+02] [ 5.26980701e-01 8.45665362e-01 -8.45070142e-02 5.52550754e+01] [ 1.52758067e-01 3.56418905e-03 9.88257188e-01 1.89463602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39710568099997 meters Centerline goodness [0,1] 0.999075474869726 Centerline is valid? [True, True] Translation: X:162.17, Y:55.27, Z:18.96 [[ 8.36816809e-01 -5.32880434e-01 -1.25602831e-01 1.62167644e+02] [ 5.26325544e-01 8.46182512e-01 -8.34061012e-02 5.52697780e+01] [ 1.50728398e-01 3.68764941e-03 9.88568334e-01 1.89554263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42710568099997 meters Centerline goodness [0,1] 0.9987039321027656 Centerline is valid? [True, True] Translation: X:162.19, Y:55.28, Z:18.97 [[ 8.36962681e-01 -5.33832320e-01 -1.20484543e-01 1.62189623e+02] [ 5.27804658e-01 8.45583435e-01 -8.00680751e-02 5.52846051e+01] [ 1.44622660e-01 3.42168759e-03 9.89480964e-01 1.89662253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45710568099997 meters Centerline goodness [0,1] 0.9986390284757118 Centerline is valid? [True, True] Translation: X:162.22, Y:55.30, Z:18.97 [[ 8.34944911e-01 -5.37268386e-01 -1.19204347e-01 1.62215666e+02] [ 5.31399481e-01 8.43406619e-01 -7.92456089e-02 5.52950395e+01] [ 1.43113895e-01 2.82059006e-03 9.89702206e-01 1.89715459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48710568099997 meters Centerline goodness [0,1] 0.9984535974756024 Centerline is valid? [True, True] Translation: X:162.24, Y:55.31, Z:18.97 [[ 8.33904502e-01 -5.38810018e-01 -1.19528431e-01 1.62241180e+02] [ 5.32921733e-01 8.42423352e-01 -7.94815851e-02 5.53078823e+01] [ 1.43519016e-01 2.58075324e-03 9.89644195e-01 1.89746233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51710568099998 meters Centerline goodness [0,1] 0.9987044466733533 Centerline is valid? [True, True] Translation: X:162.27, Y:55.32, Z:18.98 [[ 8.34137943e-01 -5.38382491e-01 -1.19825648e-01 1.62266407e+02] [ 5.32452654e-01 8.42696251e-01 -7.97320518e-02 5.53198581e+01] [ 1.43902965e-01 2.70604550e-03 9.89588103e-01 1.89774636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54710568099998 meters Centerline goodness [0,1] 0.9990753000021015 Centerline is valid? [True, True] Translation: X:162.29, Y:55.33, Z:18.98 [[ 8.35162987e-01 -5.36581218e-01 -1.20761676e-01 1.62290749e+02] [ 5.30536040e-01 8.43843139e-01 -8.03757896e-02 5.53349041e+01] [ 1.45032051e-01 3.05846287e-03 9.89422230e-01 1.89808247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57710568099998 meters Centerline goodness [0,1] 0.999179292929293 Centerline is valid? [True, True] Translation: X:162.31, Y:55.35, Z:18.98 [[ 8.37760056e-01 -5.31826630e-01 -1.23768027e-01 1.62314271e+02] [ 5.25414616e-01 8.46843666e-01 -8.24335310e-02 5.53539763e+01] [ 1.48652517e-01 4.02998921e-03 9.88881281e-01 1.89811321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60710568099998 meters Centerline goodness [0,1] 0.9992687614908908 Centerline is valid? [True, True] Translation: X:162.34, Y:55.37, Z:18.98 [[ 8.38666337e-01 -5.30000195e-01 -1.25453450e-01 1.62337014e+02] [ 5.23389238e-01 8.47985979e-01 -8.35672463e-02 5.53698168e+01] [ 1.50673424e-01 4.42405064e-03 9.88573693e-01 1.89808748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63710568099998 meters Centerline goodness [0,1] 0.9992687614908908 Centerline is valid? [True, True] Translation: X:162.36, Y:55.39, Z:18.98 [[ 8.38465931e-01 -5.30321617e-01 -1.25434700e-01 1.62359477e+02] [ 5.23710029e-01 8.47785125e-01 -8.35953812e-02 5.53850914e+01] [ 1.50674111e-01 4.40046868e-03 9.88573694e-01 1.89846910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66710568099998 meters Centerline goodness [0,1] 0.9993296604311122 Centerline is valid? [True, True] Translation: X:162.39, Y:55.39, Z:18.99 [[ 8.38384025e-01 -5.30073467e-01 -1.27021043e-01 1.62388483e+02] [ 5.23279390e-01 8.47939460e-01 -8.47192522e-02 5.53929164e+01] [ 1.52613582e-01 4.55977377e-03 9.88275419e-01 1.89854998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69710568099998 meters Centerline goodness [0,1] 0.9997059564815592 Centerline is valid? [True, True] Translation: X:162.42, Y:55.40, Z:18.99 [[ 8.35754836e-01 -5.34554163e-01 -1.25561541e-01 1.62417416e+02] [ 5.27963170e-01 8.45126046e-01 -8.37666834e-02 5.54003013e+01] [ 1.50893158e-01 3.71654170e-03 9.88543091e-01 1.89930694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72710568099998 meters Centerline goodness [0,1] 0.999623423084165 Centerline is valid? [True, True] Translation: X:162.44, Y:55.41, Z:19.00 [[ 8.33961495e-01 -5.37387527e-01 -1.25390875e-01 1.62443563e+02] [ 5.30844170e-01 8.43329313e-01 -8.36668239e-02 5.54128879e+01] [ 1.50707308e-01 3.21189458e-03 9.88573210e-01 1.89989102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75710568099998 meters Centerline goodness [0,1] 0.9997280562296043 Centerline is valid? [True, True] Translation: X:162.47, Y:55.42, Z:19.00 [[ 8.31343305e-01 -5.41500147e-01 -1.25083573e-01 1.62472226e+02] [ 5.35026679e-01 8.40696912e-01 -8.35173904e-02 5.54214028e+01] [ 1.50382053e-01 2.50857453e-03 9.88624775e-01 1.90046342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78710568099999 meters Centerline goodness [0,1] 0.9997485014880328 Centerline is valid? [True, True] Translation: X:162.50, Y:55.43, Z:19.01 [[ 8.28093986e-01 -5.46306093e-01 -1.25737833e-01 1.62500113e+02] [ 5.39810376e-01 8.37583894e-01 -8.40117743e-02 5.54290165e+01] [ 1.51212128e-01 1.69505806e-03 9.88499883e-01 1.90073816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.817105681 meters Centerline goodness [0,1] 0.9995190397524101 Centerline is valid? [True, True] Translation: X:162.53, Y:55.44, Z:19.01 [[ 8.26197088e-01 -5.49082083e-01 -1.26123900e-01 1.62526548e+02] [ 5.42574476e-01 8.35767550e-01 -8.42943723e-02 5.54416100e+01] [ 1.51694793e-01 1.21215586e-03 9.88426639e-01 1.90103442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.847105681 meters Centerline goodness [0,1] 0.9997683674114005 Centerline is valid? [True, True] Translation: X:162.55, Y:55.45, Z:19.01 [[ 8.24096338e-01 -5.52097598e-01 -1.26702283e-01 1.62551551e+02] [ 5.45555688e-01 8.33779188e-01 -8.47422962e-02 5.54543099e+01] [ 1.52427745e-01 7.12664562e-04 9.88314360e-01 1.90143190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877105681 meters Centerline goodness [0,1] 0.9997271315226061 Centerline is valid? [True, True] Translation: X:162.58, Y:55.47, Z:19.02 [[ 8.21407843e-01 -5.55896851e-01 -1.27545472e-01 1.62575192e+02] [ 5.49301648e-01 8.31251278e-01 -8.53757135e-02 5.54665011e+01] [ 1.53482427e-01 6.73427359e-05 9.88151375e-01 1.90183126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90710568099996 meters Centerline goodness [0,1] 0.999747309903346 Centerline is valid? [True, True] Translation: X:162.60, Y:55.48, Z:19.02 [[ 8.20743238e-01 -5.56959001e-01 -1.27189654e-01 1.62598064e+02] [ 5.50405701e-01 8.30539983e-01 -8.51874455e-02 5.54816723e+01] [ 1.53082007e-01 -8.88906450e-05 9.88213485e-01 1.90236347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93710568099996 meters Centerline goodness [0,1] 0.9996424665601077 Centerline is valid? [True, True] Translation: X:162.62, Y:55.50, Z:19.03 [[ 8.21015116e-01 -5.56435554e-01 -1.27724910e-01 1.62621860e+02] [ 5.49809482e-01 8.30890769e-01 -8.56157960e-02 5.54981275e+01] [ 1.53765121e-01 6.74963479e-05 9.88107425e-01 1.90266139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96710568099996 meters Centerline goodness [0,1] 0.9997053810054926 Centerline is valid? [True, True] Translation: X:162.64, Y:55.52, Z:19.03 [[ 8.21569432e-01 -5.55212270e-01 -1.29472020e-01 1.62644215e+02] [ 5.48377549e-01 8.31708609e-01 -8.68495998e-02 5.55167572e+01] [ 1.55902957e-01 3.53427082e-04 9.87772313e-01 1.90278446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99710568099997 meters Centerline goodness [0,1] 0.9998947634281866 Centerline is valid? [True, True] Translation: X:162.67, Y:55.53, Z:19.03 [[ 8.22344197e-01 -5.53823151e-01 -1.30498810e-01 1.62665082e+02] [ 5.46852161e-01 8.32634053e-01 -8.75970743e-02 5.55345671e+01] [ 1.57171041e-01 6.71389271e-04 9.87571169e-01 1.90304515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02710568099997 meters Centerline goodness [0,1] 0.9997902376607304 Centerline is valid? [True, True] Translation: X:162.69, Y:55.56, Z:19.03 [[ 8.25607006e-01 -5.48749402e-01 -1.31328462e-01 1.62685340e+02] [ 5.41619911e-01 8.35985218e-01 -8.81849654e-02 5.55564739e+01] [ 1.58180100e-01 1.67601563e-03 9.87408855e-01 1.90326539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05710568099997 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:162.71, Y:55.57, Z:19.04 [[ 8.27136209e-01 -5.46554896e-01 -1.30856554e-01 1.62707832e+02] [ 5.39439788e-01 8.37420543e-01 -8.79292316e-02 5.55740341e+01] [ 1.57640119e-01 2.14021932e-03 9.87494310e-01 1.90384030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08710568099997 meters Centerline goodness [0,1] 0.9997052631578948 Centerline is valid? [True, True] Translation: X:162.73, Y:55.59, Z:19.05 [[ 8.30542526e-01 -5.41706629e-01 -1.29433538e-01 1.62729079e+02] [ 5.34677999e-01 8.40561978e-01 -8.70344692e-02 5.55922197e+01] [ 1.55944059e-01 3.08056291e-03 9.87761085e-01 1.90451067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11710568099997 meters Centerline goodness [0,1] 0.9997478461861735 Centerline is valid? [True, True] Translation: X:162.75, Y:55.61, Z:19.05 [[ 8.32008113e-01 -5.40051213e-01 -1.26914097e-01 1.62749759e+02] [ 5.33266738e-01 8.41625390e-01 -8.54007582e-02 5.56091565e+01] [ 1.52934910e-01 3.37505690e-03 9.88230501e-01 1.90517450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14710568099997 meters Centerline goodness [0,1] 0.9995608256477821 Centerline is valid? [True, True] Translation: X:162.77, Y:55.62, Z:19.06 [[ 8.32727274e-01 -5.40110533e-01 -1.21843754e-01 1.62773620e+02] [ 5.33854258e-01 8.41587754e-01 -8.20346449e-02 5.56229104e+01] [ 1.46849987e-01 3.26567945e-03 9.89153384e-01 1.90633149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17710568099997 meters Centerline goodness [0,1] 0.9993304318714429 Centerline is valid? [True, True] Translation: X:162.80, Y:55.64, Z:19.07 [[ 8.32749299e-01 -5.40446679e-01 -1.20191485e-01 1.62799741e+02] [ 5.34355010e-01 8.41372141e-01 -8.09792751e-02 5.56354222e+01] [ 1.44890747e-01 3.21051248e-03 9.89442451e-01 1.90686965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20710568099997 meters Centerline goodness [0,1] 0.9998117115420825 Centerline is valid? [True, True] Translation: X:162.83, Y:55.64, Z:19.07 [[ 8.32390010e-01 -5.40793267e-01 -1.21117765e-01 1.62825782e+02] [ 5.34601843e-01 8.41149359e-01 -8.16616484e-02 5.56434445e+01] [ 1.46040200e-01 3.22455963e-03 9.89273401e-01 1.90741709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.85, Y:55.66, Z:19.08 [[ 8.32452485e-01 -5.40322667e-01 -1.22777338e-01 1.62850528e+02] [ 5.33949538e-01 8.41451120e-01 -8.28124591e-02 5.56588812e+01] [ 1.48056577e-01 3.38053438e-03 9.88973115e-01 1.90756875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26710568099998 meters Centerline goodness [0,1] 0.9998734310726717 Centerline is valid? [True, True] Translation: X:162.88, Y:55.67, Z:19.08 [[ 8.33482375e-01 -5.38437336e-01 -1.24065974e-01 1.62875030e+02] [ 5.31899097e-01 8.42656957e-01 -8.37412920e-02 5.56745884e+01] [ 1.49634494e-01 3.80631160e-03 9.88734054e-01 1.90779215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29710568099998 meters Centerline goodness [0,1] 0.9999157770618828 Centerline is valid? [True, True] Translation: X:162.90, Y:55.69, Z:19.08 [[ 8.38013088e-01 -5.31228334e-01 -1.24621512e-01 1.62897585e+02] [ 5.24542565e-01 8.47212917e-01 -8.41746479e-02 5.56931786e+01] [ 1.50296913e-01 5.17016901e-03 9.88627385e-01 1.90779266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.92, Y:55.71, Z:19.08 [[ 8.41603555e-01 -5.25247507e-01 -1.25771670e-01 1.62922306e+02] [ 5.18368078e-01 8.50926091e-01 -8.49666005e-02 5.57101563e+01] [ 1.51650890e-01 6.31217437e-03 9.88413964e-01 1.90799845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35710568099998 meters Centerline goodness [0,1] 0.9999578920773944 Centerline is valid? [True, True] Translation: X:162.95, Y:55.73, Z:19.08 [[ 8.42387659e-01 -5.23821666e-01 -1.26466970e-01 1.62945360e+02] [ 5.16844636e-01 8.51802126e-01 -8.54678971e-02 5.57270702e+01] [ 1.52494770e-01 6.63332670e-03 9.88282016e-01 1.90823722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38710568099998 meters Centerline goodness [0,1] 0.9999789597710823 Centerline is valid? [True, True] Translation: X:162.97, Y:55.74, Z:19.08 [[ 8.43144259e-01 -5.22259276e-01 -1.27878878e-01 1.62969767e+02] [ 5.15097985e-01 8.52757669e-01 -8.64778798e-02 5.57414936e+01] [ 1.54213569e-01 7.04317537e-03 9.88012434e-01 1.90832633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.00, Y:55.75, Z:19.09 [[ 8.42600453e-01 -5.23178660e-01 -1.27705001e-01 1.62996161e+02] [ 5.16044147e-01 8.52195228e-01 -8.63813086e-02 5.57531266e+01] [ 1.54022450e-01 6.88351127e-03 9.88043371e-01 1.90879116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:55.76, Z:19.10 [[ 8.40317934e-01 -5.27437037e-01 -1.25203604e-01 1.63027973e+02] [ 5.20619155e-01 8.49572721e-01 -8.47460170e-02 5.57576174e+01] [ 1.51067755e-01 6.03020348e-03 9.88505018e-01 1.90967020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:55.76, Z:19.10 [[ 8.35273253e-01 -5.35735299e-01 -1.23718561e-01 1.63062836e+02] [ 5.29161476e-01 8.44373880e-01 -8.37907056e-02 5.57580419e+01] [ 1.49354360e-01 4.52103869e-03 9.88773399e-01 1.91030333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.50710568099998 meters Centerline goodness [0,1] 0.9999789854158786 Centerline is valid? [True, True] Translation: X:163.09, Y:55.77, Z:19.11 [[ 8.32272996e-01 -5.40108286e-01 -1.24918772e-01 1.63091598e+02] [ 5.33446646e-01 8.41586875e-01 -8.46534595e-02 5.57668077e+01] [ 1.50852034e-01 3.81728845e-03 9.88548983e-01 1.91050990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53710568099999 meters Centerline goodness [0,1] 0.9999579734812667 Centerline is valid? [True, True] Translation: X:163.12, Y:55.77, Z:19.11 [[ 8.26670777e-01 -5.48011874e-01 -1.27665238e-01 1.63121931e+02] [ 5.41142470e-01 8.36466969e-01 -8.65322862e-02 5.57726349e+01] [ 1.54208475e-01 2.44863022e-03 9.88035298e-01 1.91050703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.567105681 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:163.15, Y:55.78, Z:19.11 [[ 8.23436267e-01 -5.52928751e-01 -1.27367617e-01 1.63151180e+02] [ 5.46146520e-01 8.33227108e-01 -8.63514016e-02 5.57807515e+01] [ 1.53872324e-01 1.54349473e-03 9.88089533e-01 1.91100813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.18, Y:55.79, Z:19.11 [[ 8.22958453e-01 -5.53501138e-01 -1.27968257e-01 1.63175195e+02] [ 5.46652714e-01 8.32847088e-01 -8.68132387e-02 5.57946103e+01] [ 1.54629217e-01 1.48949363e-03 9.87971450e-01 1.91111028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.627105681 meters Centerline goodness [0,1] 0.9999581204455985 Centerline is valid? [True, True] Translation: X:163.20, Y:55.81, Z:19.11 [[ 8.22595843e-01 -5.53890299e-01 -1.28614211e-01 1.63200040e+02] [ 5.46973391e-01 8.32588408e-01 -8.72734344e-02 5.58076751e+01] [ 1.55422610e-01 1.44221322e-03 9.87847019e-01 1.91134634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65710568099996 meters Centerline goodness [0,1] 0.9999578619134905 Centerline is valid? [True, True] Translation: X:163.22, Y:55.82, Z:19.12 [[ 8.21976645e-01 -5.54838929e-01 -1.28484077e-01 1.63223169e+02] [ 5.47943529e-01 8.31956799e-01 -8.72110860e-02 5.58220601e+01] [ 1.55281307e-01 1.28345708e-03 9.87869459e-01 1.91195754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68710568099996 meters Centerline goodness [0,1] 0.9999790483772968 Centerline is valid? [True, True] Translation: X:163.24, Y:55.84, Z:19.12 [[ 8.21436191e-01 -5.55597675e-01 -1.28661602e-01 1.63244297e+02] [ 5.48681842e-01 8.31450412e-01 -8.73982128e-02 5.58381270e+01] [ 1.55533986e-01 1.19777009e-03 9.87829816e-01 1.91217781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71710568099996 meters Centerline goodness [0,1] 0.9999789659669345 Centerline is valid? [True, True] Translation: X:163.27, Y:55.85, Z:19.12 [[ 8.19073829e-01 -5.58828933e-01 -1.29723886e-01 1.63268318e+02] [ 5.51832185e-01 8.29282726e-01 -8.81555449e-02 5.58519879e+01] [ 1.56841647e-01 6.20084434e-04 9.87623569e-01 1.91243222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74710568099997 meters Centerline goodness [0,1] 0.9999578548098198 Centerline is valid? [True, True] Translation: X:163.29, Y:55.86, Z:19.13 [[ 8.16503408e-01 -5.62506628e-01 -1.30032604e-01 1.63292263e+02] [ 5.55511849e-01 8.26792775e-01 -8.84324226e-02 5.58642591e+01] [ 1.57253841e-01 -2.92778280e-05 9.87558215e-01 1.91283972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.32, Y:55.88, Z:19.14 [[ 8.15748607e-01 -5.63864249e-01 -1.28884903e-01 1.63316398e+02] [ 5.57004627e-01 8.25867448e-01 -8.76858302e-02 5.58786733e+01] [ 1.55884751e-01 -2.59893539e-04 9.87775216e-01 1.91353542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.34, Y:55.89, Z:19.15 [[ 8.16124636e-01 -5.64060861e-01 -1.25602246e-01 1.63339119e+02] [ 5.57541483e-01 8.25733182e-01 -8.55114496e-02 5.58937284e+01] [ 1.51947604e-01 -2.40461919e-04 9.88388521e-01 1.91459336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.36, Y:55.91, Z:19.16 [[ 8.18781382e-01 -5.60891721e-01 -1.22464384e-01 1.63359380e+02] [ 5.54651919e-01 8.27889079e-01 -8.34321415e-02 5.59141289e+01] [ 1.48183324e-01 3.87578314e-04 9.88959834e-01 1.91550179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:55.93, Z:19.16 [[ 8.20380778e-01 -5.58580738e-01 -1.22323085e-01 1.63379986e+02] [ 5.52321412e-01 8.29449717e-01 -8.33919882e-02 5.59333548e+01] [ 1.48042007e-01 8.51525074e-04 9.88980707e-01 1.91589745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.40, Y:55.96, Z:19.17 [[ 8.23713689e-01 -5.54032822e-01 -1.20595982e-01 1.63397713e+02] [ 5.47898084e-01 8.32493159e-01 -8.22364290e-02 5.59580931e+01] [ 1.45957011e-01 1.66496474e-03 9.89289532e-01 1.91650724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:55.98, Z:19.17 [[ 8.25461731e-01 -5.51772014e-01 -1.18998215e-01 1.63418626e+02] [ 5.45768133e-01 8.33992386e-01 -8.12024919e-02 5.59774706e+01] [ 1.44048868e-01 2.08411605e-03 9.89568381e-01 1.91709281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:56.00, Z:19.18 [[ 8.27803260e-01 -5.48924659e-01 -1.15859747e-01 1.63439285e+02] [ 5.43199443e-01 8.35867921e-01 -7.91150013e-02 5.59959293e+01] [ 1.40271621e-01 2.55670626e-03 9.90109759e-01 1.91779255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:56.01, Z:19.18 [[ 8.27841805e-01 -5.48972803e-01 -1.15355140e-01 1.63462146e+02] [ 5.43295283e-01 8.35836311e-01 -7.87902038e-02 5.60111111e+01] [ 1.39671694e-01 2.55392108e-03 9.90194575e-01 1.91820278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.48, Y:56.03, Z:19.18 [[ 8.26418229e-01 -5.50847423e-01 -1.16619158e-01 1.63484161e+02] [ 5.45053325e-01 8.34602747e-01 -7.97190571e-02 5.60283970e+01] [ 1.41243707e-01 2.31762221e-03 9.89972143e-01 1.91836137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.51, Y:56.04, Z:19.18 [[ 8.24216819e-01 -5.53444811e-01 -1.19856065e-01 1.63507997e+02] [ 5.47345455e-01 8.32883562e-01 -8.19629431e-02 5.60436862e+01] [ 1.45188112e-01 1.95256397e-03 9.89402143e-01 1.91812108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.53, Y:56.06, Z:19.18 [[ 8.23211781e-01 -5.54617598e-01 -1.21332944e-01 1.63531956e+02] [ 5.48375384e-01 8.32103435e-01 -8.29958540e-02 5.60572216e+01] [ 1.46992521e-01 1.78716492e-03 9.89135989e-01 1.91838823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.55, Y:56.08, Z:19.19 [[ 8.23393734e-01 -5.54318777e-01 -1.21463785e-01 1.63553285e+02] [ 5.48049582e-01 8.32302278e-01 -8.31539164e-02 5.60758924e+01] [ 1.47188362e-01 1.90023714e-03 9.89106655e-01 1.91870919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:56.10, Z:19.19 [[ 8.24873838e-01 -5.52125110e-01 -1.21412578e-01 1.63573647e+02] [ 5.45828871e-01 8.33757990e-01 -8.31772672e-02 5.60953544e+01] [ 1.47152965e-01 2.34026124e-03 9.89110979e-01 1.91904803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.59, Y:56.12, Z:19.19 [[ 8.29517450e-01 -5.45118900e-01 -1.21433874e-01 1.63594373e+02] [ 5.38740788e-01 8.38350958e-01 -8.32228027e-02 5.61169616e+01] [ 1.47170527e-01 3.61338608e-03 9.89104534e-01 1.91935405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.61, Y:56.14, Z:19.20 [[ 8.32273629e-01 -5.40825649e-01 -1.21771192e-01 1.63614859e+02] [ 5.34363452e-01 8.41123207e-01 -8.34712621e-02 5.61381043e+01] [ 1.47567975e-01 4.40085565e-03 9.89042125e-01 1.91957217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22710568099998 meters Centerline goodness [0,1] 0.9999789703903096 Centerline is valid? [True, True] Translation: X:163.63, Y:56.16, Z:19.20 [[ 8.37191613e-01 -5.32969451e-01 -1.22693794e-01 1.63633519e+02] [ 5.26321729e-01 8.46114277e-01 -8.41193625e-02 5.61635317e+01] [ 1.48646021e-01 5.84761516e-03 9.88873180e-01 1.91990126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.66, Y:56.18, Z:19.20 [[ 8.38664568e-01 -5.30426656e-01 -1.23649929e-01 1.63655970e+02] [ 5.23639200e-01 8.47706735e-01 -8.48250003e-02 5.61833553e+01] [ 1.49812319e-01 6.39177242e-03 9.88693792e-01 1.92014904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:56.20, Z:19.20 [[ 8.38866117e-01 -5.29851393e-01 -1.24744297e-01 1.63682650e+02] [ 5.22933123e-01 8.48065051e-01 -8.55956634e-02 5.61960688e+01] [ 1.51144260e-01 6.57037717e-03 9.88489880e-01 1.92029204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:56.21, Z:19.20 [[ 8.35512168e-01 -5.34681439e-01 -1.26630076e-01 1.63709573e+02] [ 5.27596528e-01 8.45033537e-01 -8.69495573e-02 5.62076784e+01] [ 1.53496976e-01 5.83782456e-03 9.88131873e-01 1.92033907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.347105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.74, Y:56.22, Z:19.21 [[ 8.32931482e-01 -5.38681425e-01 -1.26678604e-01 1.63735683e+02] [ 5.31634041e-01 8.42493987e-01 -8.70007387e-02 5.62210646e+01] [ 1.53591644e-01 5.11899610e-03 9.88121148e-01 1.92074057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.76, Y:56.23, Z:19.22 [[ 8.28742188e-01 -5.45589346e-01 -1.24573880e-01 1.63762873e+02] [ 5.38844676e-01 8.38043952e-01 -8.56081151e-02 5.62306894e+01] [ 1.51105262e-01 3.82108482e-03 9.88510293e-01 1.92151239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.79, Y:56.24, Z:19.22 [[ 8.26393644e-01 -5.49148216e-01 -1.24538277e-01 1.63789281e+02] [ 5.42445155e-01 8.35718915e-01 -8.55987687e-02 5.62431599e+01] [ 1.51085405e-01 3.18309348e-03 9.88515588e-01 1.92195725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43710568099996 meters Centerline goodness [0,1] 0.9997688590039925 Centerline is valid? [True, True] Translation: X:163.82, Y:56.25, Z:19.22 [[ 8.21444106e-01 -5.56433376e-01 -1.24945909e-01 1.63817310e+02] [ 5.49764749e-01 8.30890107e-01 -8.59089736e-02 5.62513476e+01] [ 1.51618939e-01 1.87856401e-03 9.88437235e-01 1.92214539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46710568099996 meters Centerline goodness [0,1] 0.9996631720769652 Centerline is valid? [True, True] Translation: X:163.85, Y:56.26, Z:19.23 [[ 8.16100092e-01 -5.64234394e-01 -1.24980750e-01 1.63845265e+02] [ 5.57648547e-01 8.25614524e-01 -8.59578778e-02 5.62610508e+01] [ 1.51686314e-01 4.54898153e-04 9.88428579e-01 1.92267737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49710568099997 meters Centerline goodness [0,1] 0.9997056597426626 Centerline is valid? [True, True] Translation: X:163.87, Y:56.27, Z:19.23 [[ 8.14130862e-01 -5.67147290e-01 -1.24639045e-01 1.63869580e+02] [ 5.60622583e-01 8.23616385e-01 -8.57809370e-02 5.62737150e+01] [ 1.51305186e-01 -3.85552607e-05 9.88487096e-01 1.92304925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52710568099997 meters Centerline goodness [0,1] 0.9997056597426626 Centerline is valid? [True, True] Translation: X:163.89, Y:56.29, Z:19.23 [[ 8.13926775e-01 -5.67442736e-01 -1.24627230e-01 1.63891840e+02] [ 5.60918845e-01 8.23412859e-01 -8.57980982e-02 5.62893471e+01] [ 1.51305172e-01 -7.23928495e-05 9.88487096e-01 1.92343093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55710568099997 meters Centerline goodness [0,1] 0.9997272574689493 Centerline is valid? [True, True] Translation: X:163.92, Y:56.30, Z:19.24 [[ 8.11951166e-01 -5.70340931e-01 -1.24284055e-01 1.63916702e+02] [ 5.63876660e-01 8.21407885e-01 -8.56282545e-02 5.63019441e+01] [ 1.50925202e-01 -5.54917029e-04 9.88545030e-01 1.92390021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58710568099997 meters Centerline goodness [0,1] 0.9998737772167876 Centerline is valid? [True, True] Translation: X:163.94, Y:56.31, Z:19.25 [[ 8.08238538e-01 -5.75831839e-01 -1.23159082e-01 1.63942868e+02] [ 5.69538038e-01 8.17566764e-01 -8.49176637e-02 5.63139179e+01] [ 1.49589067e-01 -1.51005380e-03 9.88747102e-01 1.92453690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61710568099997 meters Centerline goodness [0,1] 0.9998317772731096 Centerline is valid? [True, True] Translation: X:163.97, Y:56.33, Z:19.25 [[ 8.04326424e-01 -5.81509933e-01 -1.22086862e-01 1.63967886e+02] [ 5.75382222e-01 8.13535477e-01 -8.42337614e-02 5.63262181e+01] [ 1.48304762e-01 -2.49516962e-03 9.88938558e-01 1.92511962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64710568099997 meters Centerline goodness [0,1] 0.9998743218617121 Centerline is valid? [True, True] Translation: X:163.99, Y:56.34, Z:19.26 [[ 8.02374380e-01 -5.84148769e-01 -1.22333845e-01 1.63992308e+02] [ 5.78023067e-01 8.11641175e-01 -8.44271150e-02 5.63415440e+01] [ 1.48609181e-01 -2.96963014e-03 9.88891547e-01 1.92559195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.02, Y:56.36, Z:19.26 [[ 7.98535318e-01 -5.89733985e-01 -1.20644818e-01 1.64016429e+02] [ 5.83832292e-01 8.07588115e-01 -8.33144145e-02 5.63565105e+01] [ 1.46564663e-01 -3.90683825e-03 9.89193377e-01 1.92618686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70710568099997 meters Centerline goodness [0,1] 0.9996642112111482 Centerline is valid? [True, True] Translation: X:164.04, Y:56.38, Z:19.27 [[ 7.96077532e-01 -5.93172743e-01 -1.20027746e-01 1.64037764e+02] [ 5.87368188e-01 8.05062615e-01 -8.29023398e-02 5.63755679e+01] [ 1.45805260e-01 -4.50378984e-03 9.89303059e-01 1.92667040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73710568099997 meters Centerline goodness [0,1] 0.9999789854158786 Centerline is valid? [True, True] Translation: X:164.06, Y:56.39, Z:19.27 [[ 7.92220553e-01 -5.98381302e-01 -1.19692997e-01 1.64061941e+02] [ 5.92659325e-01 8.01193292e-01 -8.27298790e-02 5.63920883e+01] [ 1.45401239e-01 -5.39686038e-03 9.89358051e-01 1.92709601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76710568099998 meters Centerline goodness [0,1] 0.9996643098420158 Centerline is valid? [True, True] Translation: X:164.08, Y:56.42, Z:19.27 [[ 7.91832798e-01 -5.98820795e-01 -1.20060300e-01 1.64079065e+02] [ 5.93061961e-01 8.00864443e-01 -8.30280364e-02 5.64159382e+01] [ 1.45870940e-01 -5.45887429e-03 9.89288567e-01 1.92734535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79710568099998 meters Centerline goodness [0,1] 0.9996866513473992 Centerline is valid? [True, True] Translation: X:164.10, Y:56.43, Z:19.27 [[ 7.93124309e-01 -5.96978076e-01 -1.20710427e-01 1.64100096e+02] [ 5.91132035e-01 8.02241143e-01 -8.34988915e-02 5.64345318e+01] [ 1.46685879e-01 -5.13079993e-03 9.89169818e-01 1.92747059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82710568099998 meters Centerline goodness [0,1] 0.9999790606612643 Centerline is valid? [True, True] Translation: X:164.11, Y:56.47, Z:19.28 [[ 7.96569650e-01 -5.92209381e-01 -1.21510661e-01 1.64112970e+02] [ 5.86226448e-01 8.05772854e-01 -8.40753138e-02 5.64676570e+01] [ 1.47700182e-01 -4.26091986e-03 9.89023003e-01 1.92773283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85710568099998 meters Centerline goodness [0,1] 0.9998543638822428 Centerline is valid? [True, True] Translation: X:164.13, Y:56.49, Z:19.28 [[ 7.98337105e-01 -5.89655606e-01 -1.22327977e-01 1.64130366e+02] [ 5.83553692e-01 8.07645992e-01 -8.46938041e-02 5.64934290e+01] [ 1.48737876e-01 -3.77073607e-03 9.88869468e-01 1.92809418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88710568099998 meters Centerline goodness [0,1] 0.9996654329506722 Centerline is valid? [True, True] Translation: X:164.14, Y:56.53, Z:19.28 [[ 8.01477973e-01 -5.85282262e-01 -1.22791421e-01 1.64142724e+02] [ 5.79074508e-01 8.10824344e-01 -8.50681890e-02 5.65266755e+01] [ 1.49351176e-01 -2.92510232e-03 9.88779890e-01 1.92848709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91710568099998 meters Centerline goodness [0,1] 0.9997266783003596 Centerline is valid? [True, True] Translation: X:164.16, Y:56.55, Z:19.29 [[ 8.02237192e-01 -5.84308075e-01 -1.22472694e-01 1.64162952e+02] [ 5.78116764e-01 8.11527401e-01 -8.48780566e-02 5.65485907e+01] [ 1.48984881e-01 -2.71118393e-03 9.88835757e-01 1.92878163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94710568099998 meters Centerline goodness [0,1] 0.999601852433939 Centerline is valid? [True, True] Translation: X:164.18, Y:56.57, Z:19.29 [[ 8.01903447e-01 -5.84502695e-01 -1.23723325e-01 1.64181146e+02] [ 5.78177582e-01 8.11387170e-01 -8.57994389e-02 5.65717139e+01] [ 1.50537522e-01 -2.73118692e-03 9.88600524e-01 1.92877324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97710568099998 meters Centerline goodness [0,1] 0.9995587957224195 Centerline is valid? [True, True] Translation: X:164.20, Y:56.59, Z:19.29 [[ 8.00488292e-01 -5.86232985e-01 -1.24697156e-01 1.64202530e+02] [ 5.79824314e-01 8.10136730e-01 -8.64999583e-02 5.65909928e+01] [ 1.51730875e-01 -3.06023935e-03 9.88417106e-01 1.92903363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.00710568099998 meters Centerline goodness [0,1] 0.999474491833603 Centerline is valid? [True, True] Translation: X:164.22, Y:56.61, Z:19.29 [[ 7.98482679e-01 -5.89219758e-01 -1.23472621e-01 1.64221597e+02] [ 5.82963889e-01 8.07965043e-01 -8.57064409e-02 5.66108773e+01] [ 1.50261490e-01 -3.54497097e-03 9.88639933e-01 1.92948635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03710568099999 meters Centerline goodness [0,1] 0.998990366412856 Centerline is valid? [True, True] Translation: X:164.24, Y:56.64, Z:19.30 [[ 7.98423644e-01 -5.89743331e-01 -1.21336258e-01 1.64238931e+02] [ 5.83705294e-01 8.07582903e-01 -8.42495342e-02 5.66351949e+01] [ 1.47674689e-01 -3.55779611e-03 9.89029589e-01 1.93026410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.067105681 meters Centerline goodness [0,1] 0.9991618824121025 Centerline is valid? [True, True] Translation: X:164.26, Y:56.66, Z:19.31 [[ 7.99864137e-01 -5.87915436e-01 -1.20717866e-01 1.64257689e+02] [ 5.81910105e-01 8.08916231e-01 -8.38758602e-02 5.66559868e+01] [ 1.46962554e-01 -3.15765361e-03 9.89137016e-01 1.93073029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097105681 meters Centerline goodness [0,1] 0.9985286080632279 Centerline is valid? [True, True] Translation: X:164.27, Y:56.68, Z:19.31 [[ 8.04192565e-01 -5.81893972e-01 -1.21135147e-01 1.64274384e+02] [ 5.75775551e-01 8.13262088e-01 -8.41860526e-02 5.66822982e+01] [ 1.47501979e-01 -2.04485808e-03 9.89059647e-01 1.93068600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12710568099996 meters Centerline goodness [0,1] 0.9983833378823825 Centerline is valid? [True, True] Translation: X:164.29, Y:56.70, Z:19.31 [[ 8.06068808e-01 -5.79138357e-01 -1.21868124e-01 1.64294717e+02] [ 5.72911061e-01 8.15227827e-01 -8.47142629e-02 5.67033921e+01] [ 1.48411565e-01 -1.53407101e-03 9.88924494e-01 1.93088882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15710568099996 meters Centerline goodness [0,1] 0.9983400920303406 Centerline is valid? [True, True] Translation: X:164.31, Y:56.73, Z:19.31 [[ 8.08914274e-01 -5.74986879e-01 -1.22669416e-01 1.64310671e+02] [ 5.68620971e-01 8.18162304e-01 -8.53266455e-02 5.67312681e+01] [ 1.49425194e-01 -7.30461177e-04 9.88772763e-01 1.93121977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18710568099996 meters Centerline goodness [0,1] 0.9980225097296729 Centerline is valid? [True, True] Translation: X:164.33, Y:56.76, Z:19.32 [[ 8.10428404e-01 -5.72855176e-01 -1.22648887e-01 1.64326360e+02] [ 5.66458356e-01 8.19656553e-01 -8.53701762e-02 5.67568283e+01] [ 1.49434711e-01 -2.89070980e-04 9.88771553e-01 1.93176671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21710568099996 meters Centerline goodness [0,1] 0.9977509196006306 Centerline is valid? [True, True] Translation: X:164.35, Y:56.78, Z:19.32 [[ 8.11081735e-01 -5.72217487e-01 -1.21299489e-01 1.64347170e+02] [ 5.65944348e-01 8.20101905e-01 -8.44976937e-02 5.67750468e+01] [ 1.47829000e-01 -1.14224399e-04 9.89012929e-01 1.93214737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24710568099997 meters Centerline goodness [0,1] 0.9980918031411856 Centerline is valid? [True, True] Translation: X:164.37, Y:56.79, Z:19.33 [[ 8.11996737e-01 -5.71055593e-01 -1.20651606e-01 1.64368414e+02] [ 5.64833347e-01 8.20911382e-01 -8.40701720e-02 5.67928379e+01] [ 1.47053019e-01 1.16654831e-04 9.89128604e-01 1.93255649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27710568099997 meters Centerline goodness [0,1] 0.9976031789416143 Centerline is valid? [True, True] Translation: X:164.39, Y:56.81, Z:19.33 [[ 8.11799705e-01 -5.71336645e-01 -1.20646909e-01 1.64390606e+02] [ 5.65108539e-01 8.20715800e-01 -8.41303431e-02 5.68084923e+01] [ 1.47083572e-01 1.18389272e-04 9.89124061e-01 1.93301670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30710568099997 meters Centerline goodness [0,1] 0.9979026845637584 Centerline is valid? [True, True] Translation: X:164.41, Y:56.83, Z:19.34 [[ 8.13158887e-01 -5.69513143e-01 -1.20114126e-01 1.64408999e+02] [ 5.63310441e-01 8.21982072e-01 -8.38261274e-02 5.68283811e+01] [ 1.46471740e-01 5.02418971e-04 9.89214727e-01 1.93354306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33710568099997 meters Centerline goodness [0,1] 0.9983714715216302 Centerline is valid? [True, True] Translation: X:164.43, Y:56.85, Z:19.34 [[ 8.16834805e-01 -5.63777769e-01 -1.22211003e-01 1.64426407e+02] [ 5.57284240e-01 8.25924979e-01 -8.53358414e-02 5.68524197e+01] [ 1.49047570e-01 1.59901955e-03 9.88828734e-01 1.93371543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36710568099997 meters Centerline goodness [0,1] 0.9979927655926568 Centerline is valid? [True, True] Translation: X:164.45, Y:56.87, Z:19.34 [[ 8.19108898e-01 -5.60361985e-01 -1.22699062e-01 1.64447644e+02] [ 5.53774343e-01 8.28244759e-01 -8.57006204e-02 5.68721722e+01] [ 1.49648225e-01 2.25054810e-03 9.88736741e-01 1.93392875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39710568099997 meters Centerline goodness [0,1] 0.9986777483944088 Centerline is valid? [True, True] Translation: X:164.47, Y:56.89, Z:19.34 [[ 8.23496076e-01 -5.54181324e-01 -1.21397171e-01 1.64467176e+02] [ 5.47658205e-01 8.32389087e-01 -8.48463221e-02 5.68931134e+01] [ 1.48069927e-01 3.38645682e-03 9.88971096e-01 1.93440276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42710568099997 meters Centerline goodness [0,1] 0.9985736160929667 Centerline is valid? [True, True] Translation: X:164.49, Y:56.91, Z:19.35 [[ 8.25594626e-01 -5.51181379e-01 -1.20799835e-01 1.64488408e+02] [ 5.44687741e-01 8.34376237e-01 -8.44485697e-02 5.69120555e+01] [ 1.47338991e-01 3.92209594e-03 9.89078277e-01 1.93482162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45710568099997 meters Centerline goodness [0,1] 0.9984953606954777 Centerline is valid? [True, True] Translation: X:164.51, Y:56.93, Z:19.35 [[ 8.30375809e-01 -5.43660180e-01 -1.22104972e-01 1.64507955e+02] [ 5.36935026e-01 8.39288283e-01 -8.54163675e-02 5.69345915e+01] [ 1.48918750e-01 5.36524917e-03 9.88834880e-01 1.93487803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48710568099997 meters Centerline goodness [0,1] 0.9986140568236702 Centerline is valid? [True, True] Translation: X:164.53, Y:56.95, Z:19.35 [[ 8.31842799e-01 -5.40810949e-01 -1.24744037e-01 1.64530801e+02] [ 5.33756098e-01 8.41122650e-01 -8.72760877e-02 5.69528185e+01] [ 1.52124899e-01 6.01709472e-03 9.88342962e-01 1.93491617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51710568099998 meters Centerline goodness [0,1] 0.9986775263445149 Centerline is valid? [True, True] Translation: X:164.56, Y:56.97, Z:19.35 [[ 8.32726791e-01 -5.38709532e-01 -1.27898915e-01 1.64555044e+02] [ 5.31264028e-01 8.42465881e-01 -8.94973285e-02 5.69676579e+01] [ 1.55963536e-01 6.57873019e-03 9.87740905e-01 1.93481670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54710568099998 meters Centerline goodness [0,1] 0.9986761090213714 Centerline is valid? [True, True] Translation: X:164.58, Y:56.98, Z:19.35 [[ 8.31931995e-01 -5.40067560e-01 -1.27342789e-01 1.64581867e+02] [ 5.32699565e-01 8.41597983e-01 -8.91291713e-02 5.69796059e+01] [ 1.55307209e-01 6.31396084e-03 9.87846043e-01 1.93526444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57710568099998 meters Centerline goodness [0,1] 0.9985708881509815 Centerline is valid? [True, True] Translation: X:164.62, Y:56.98, Z:19.36 [[ 8.29035788e-01 -5.45354944e-01 -1.23643225e-01 1.64615619e+02] [ 5.38465090e-01 8.38189137e-01 -8.65697234e-02 5.69804668e+01] [ 1.50847635e-01 5.19183835e-03 9.88543391e-01 1.93628459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60710568099998 meters Centerline goodness [0,1] 0.9988936898574321 Centerline is valid? [True, True] Translation: X:164.65, Y:56.98, Z:19.37 [[ 8.24526719e-01 -5.52136961e-01 -1.23695053e-01 1.64649349e+02] [ 5.45310055e-01 8.33743867e-01 -8.66493378e-02 5.69810624e+01] [ 1.50972294e-01 3.99253794e-03 9.88529932e-01 1.93676460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63710568099998 meters Centerline goodness [0,1] 0.9990960499484959 Centerline is valid? [True, True] Translation: X:164.68, Y:56.99, Z:19.37 [[ 8.22078061e-01 -5.55546676e-01 -1.24721899e-01 1.64678501e+02] [ 5.48641074e-01 8.31478350e-01 -8.73883634e-02 5.69893247e+01] [ 1.52251873e-01 3.41249986e-03 9.88335835e-01 1.93720332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66710568099998 meters Centerline goodness [0,1] 0.999284842875773 Centerline is valid? [True, True] Translation: X:164.71, Y:57.00, Z:19.38 [[ 8.19247355e-01 -5.59744670e-01 -1.24577988e-01 1.64708261e+02] [ 5.52893552e-01 8.28660791e-01 -8.73499467e-02 5.69969203e+01] [ 1.52126561e-01 2.68284673e-03 9.88357381e-01 1.93775519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69710568099998 meters Centerline goodness [0,1] 0.9992845418963848 Centerline is valid? [True, True] Translation: X:164.73, Y:57.01, Z:19.38 [[ 8.18475618e-01 -5.61074043e-01 -1.23667219e-01 1.64733786e+02] [ 5.54329613e-01 8.27761946e-01 -8.67689000e-02 5.70096220e+01] [ 1.51050796e-01 2.46582719e-03 9.88522927e-01 1.93828898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72710568099998 meters Centerline goodness [0,1] 0.9997266438168934 Centerline is valid? [True, True] Translation: X:164.76, Y:57.02, Z:19.39 [[ 8.17478966e-01 -5.62553650e-01 -1.23537569e-01 1.64762601e+02] [ 5.55830737e-01 8.26757742e-01 -8.67400038e-02 5.70178637e+01] [ 1.50931547e-01 2.24215052e-03 9.88541674e-01 1.93878007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75710568099998 meters Centerline goodness [0,1] 0.9995586844593884 Centerline is valid? [True, True] Translation: X:164.79, Y:57.03, Z:19.39 [[ 8.15934227e-01 -5.64778512e-01 -1.23598422e-01 1.64789009e+02] [ 5.58064818e-01 8.25240380e-01 -8.68445372e-02 5.70292285e+01] [ 1.51046337e-01 1.88349926e-03 9.88524889e-01 1.93904391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78710568099999 meters Centerline goodness [0,1] 0.9996646264777396 Centerline is valid? [True, True] Translation: X:164.82, Y:57.03, Z:19.39 [[ 8.12012363e-01 -5.70439841e-01 -1.23427347e-01 1.64819887e+02] [ 5.63800726e-01 8.21338915e-01 -8.67820670e-02 5.70325315e+01] [ 1.50879632e-01 8.79683535e-04 9.88551750e-01 1.93947750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.817105681 meters Centerline goodness [0,1] 0.9996871349908226 Centerline is valid? [True, True] Translation: X:164.85, Y:57.04, Z:19.40 [[ 8.09801632e-01 -5.73612773e-01 -1.23246515e-01 1.64847471e+02] [ 5.67025961e-01 8.19126541e-01 -8.66791112e-02 5.70431464e+01] [ 1.50674737e-01 3.08911937e-04 9.88583344e-01 1.93998070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.847105681 meters Centerline goodness [0,1] 0.999852823682772 Centerline is valid? [True, True] Translation: X:164.88, Y:57.05, Z:19.40 [[ 8.05766237e-01 -5.78971931e-01 -1.24628543e-01 1.64875708e+02] [ 5.72290220e-01 8.15347214e-01 -8.77087476e-02 5.70512351e+01] [ 1.52396439e-01 -6.50948958e-04 9.88319231e-01 1.94031719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87710568099996 meters Centerline goodness [0,1] 0.9996214749858053 Centerline is valid? [True, True] Translation: X:164.90, Y:57.06, Z:19.41 [[ 8.04260011e-01 -5.81001269e-01 -1.24913411e-01 1.64901415e+02] [ 5.74309215e-01 8.13902016e-01 -8.79342608e-02 5.70645532e+01] [ 1.52757194e-01 -1.01691356e-03 9.88263227e-01 1.94088890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90710568099996 meters Centerline goodness [0,1] 0.9993908842680109 Centerline is valid? [True, True] Translation: X:164.92, Y:57.08, Z:19.41 [[ 8.04392181e-01 -5.80753803e-01 -1.25212773e-01 1.64924726e+02] [ 5.74017253e-01 8.14078723e-01 -8.82044524e-02 5.70784737e+01] [ 1.53158125e-01 -9.23320090e-04 9.88201263e-01 1.94107243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93710568099996 meters Centerline goodness [0,1] 0.9996846884722106 Centerline is valid? [True, True] Translation: X:164.95, Y:57.09, Z:19.41 [[ 8.05962705e-01 -5.78263665e-01 -1.26630372e-01 1.64947570e+02] [ 5.71337392e-01 8.15849832e-01 -8.92336031e-02 5.70946020e+01] [ 1.54911918e-01 -4.29710021e-04 9.87928192e-01 1.94128131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96710568099996 meters Centerline goodness [0,1] 0.9998318515248965 Centerline is valid? [True, True] Translation: X:164.97, Y:57.11, Z:19.42 [[ 8.06706619e-01 -5.77077084e-01 -1.27304635e-01 1.64969711e+02] [ 5.70057550e-01 8.16689664e-01 -8.97350716e-02 5.71125929e+01] [ 1.55752433e-01 -1.81092243e-04 9.87796106e-01 1.94180767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99710568099997 meters Centerline goodness [0,1] 0.9997684844147917 Centerline is valid? [True, True] Translation: X:164.99, Y:57.13, Z:19.43 [[ 8.09297337e-01 -5.73811673e-01 -1.25610445e-01 1.64990329e+02] [ 5.66929997e-01 8.18987131e-01 -8.86028136e-02 5.71324454e+01] [ 1.53714667e-01 4.93691819e-04 9.88115154e-01 1.94254177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02710568099997 meters Centerline goodness [0,1] 0.9997268563264277 Centerline is valid? [True, True] Translation: X:165.01, Y:57.15, Z:19.44 [[ 8.11774824e-01 -5.70979975e-01 -1.22488789e-01 1.65011061e+02] [ 5.64396655e-01 8.20963309e-01 -8.64619075e-02 5.71518043e+01] [ 1.49926820e-01 1.05533679e-03 9.88696533e-01 1.94352338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05710568099997 meters Centerline goodness [0,1] 0.9997266035751841 Centerline is valid? [True, True] Translation: X:165.03, Y:57.17, Z:19.44 [[ 8.12815520e-01 -5.69773748e-01 -1.21197388e-01 1.65033204e+02] [ 5.63306712e-01 8.21800551e-01 -8.56119332e-02 5.71688397e+01] [ 1.48379512e-01 1.31540598e-03 9.88929618e-01 1.94407328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08710568099997 meters Centerline goodness [0,1] 0.9998107693278107 Centerline is valid? [True, True] Translation: X:165.06, Y:57.18, Z:19.45 [[ 8.14676240e-01 -5.67378930e-01 -1.19932373e-01 1.65055081e+02] [ 5.61011325e-01 8.23454888e-01 -8.47840839e-02 5.71844999e+01] [ 1.46863602e-01 1.78815893e-03 9.89155137e-01 1.94473012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11710568099997 meters Centerline goodness [0,1] 0.9997898453261601 Centerline is valid? [True, True] Translation: X:165.08, Y:57.20, Z:19.45 [[ 8.15058617e-01 -5.66900945e-01 -1.19594190e-01 1.65077285e+02] [ 5.60560772e-01 8.23783802e-01 -8.45687237e-02 5.72011892e+01] [ 1.46461846e-01 1.88865562e-03 9.89214517e-01 1.94523034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14710568099997 meters Centerline goodness [0,1] 0.999958301190501 Centerline is valid? [True, True] Translation: X:165.10, Y:57.22, Z:19.46 [[ 8.15647358e-01 -5.66106193e-01 -1.19344730e-01 1.65097387e+02] [ 5.59774301e-01 8.24329692e-01 -8.44588136e-02 5.72200441e+01] [ 1.46192062e-01 2.08249527e-03 9.89254034e-01 1.94579777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17710568099997 meters Centerline goodness [0,1] 0.9998530060267529 Centerline is valid? [True, True] Translation: X:165.12, Y:57.24, Z:19.46 [[ 8.15471631e-01 -5.66524435e-01 -1.18558359e-01 1.65119976e+02] [ 5.60277176e-01 8.24042482e-01 -8.39254085e-02 5.72350227e+01] [ 1.45242919e-01 2.01324693e-03 9.89393977e-01 1.94633003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20710568099997 meters Centerline goodness [0,1] 0.9999372883481751 Centerline is valid? [True, True] Translation: X:165.15, Y:57.24, Z:19.47 [[ 8.12629882e-01 -5.70716925e-01 -1.17961291e-01 1.65146953e+02] [ 5.64566802e-01 8.21145825e-01 -8.35694960e-02 5.72443549e+01] [ 1.44557947e-01 1.31404098e-03 9.89495464e-01 1.94672451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23710568099997 meters Centerline goodness [0,1] 0.9998950087142767 Centerline is valid? [True, True] Translation: X:165.17, Y:57.26, Z:19.47 [[ 8.09579660e-01 -5.75101475e-01 -1.17639562e-01 1.65173630e+02] [ 5.69027629e-01 8.18081898e-01 -8.33640622e-02 5.72562601e+01] [ 1.44181592e-01 5.49687946e-04 9.89551093e-01 1.94716345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26710568099998 meters Centerline goodness [0,1] 0.999958038730252 Centerline is valid? [True, True] Translation: X:165.20, Y:57.26, Z:19.47 [[ 8.01344762e-01 -5.86318837e-01 -1.18645665e-01 1.65202190e+02] [ 5.80252413e-01 8.10079132e-01 -8.41364228e-02 5.72640243e+01] [ 1.45443146e-01 -1.42215143e-03 9.89365589e-01 1.94746095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29710568099998 meters Centerline goodness [0,1] 0.9999160774605039 Centerline is valid? [True, True] Translation: X:165.23, Y:57.27, Z:19.48 [[ 7.92800482e-01 -5.97609443e-01 -1.19709439e-01 1.65232516e+02] [ 5.91556620e-01 8.01779724e-01 -8.49119488e-02 5.72718338e+01] [ 1.46724783e-01 -3.49667695e-03 9.89171174e-01 1.94775120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32710568099998 meters Centerline goodness [0,1] 0.9999159822722594 Centerline is valid? [True, True] Translation: X:165.26, Y:57.28, Z:19.48 [[ 7.89280076e-01 -6.02329079e-01 -1.19317400e-01 1.65259671e+02] [ 5.96367543e-01 7.98236043e-01 -8.46461719e-02 5.72823491e+01] [ 1.46228300e-01 -4.34748762e-03 9.89241317e-01 1.94808855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35710568099998 meters Centerline goodness [0,1] 0.9998738143809544 Centerline is valid? [True, True] Translation: X:165.29, Y:57.29, Z:19.48 [[ 7.83125477e-01 -6.10138001e-01 -1.20191962e-01 1.65287603e+02] [ 6.04176620e-01 7.92273704e-01 -8.52818278e-02 5.72930861e+01] [ 1.47258615e-01 -5.83080142e-03 9.89080837e-01 1.94841216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38710568099998 meters Centerline goodness [0,1] 0.9997266438168934 Centerline is valid? [True, True] Translation: X:165.31, Y:57.31, Z:19.49 [[ 7.79127067e-01 -6.14966789e-01 -1.21560116e-01 1.65309874e+02] [ 6.08918416e-01 7.88523878e-01 -8.63044401e-02 5.73105037e+01] [ 1.48927418e-01 -6.77806786e-03 9.88824899e-01 1.94879637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41710568099998 meters Centerline goodness [0,1] 0.9999158674070335 Centerline is valid? [True, True] Translation: X:165.33, Y:57.33, Z:19.49 [[ 7.77400850e-01 -6.16937405e-01 -1.22622006e-01 1.65330864e+02] [ 6.10803121e-01 7.86979280e-01 -8.70813488e-02 5.73317315e+01] [ 1.50224719e-01 -7.20078910e-03 9.88625653e-01 1.94923237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44710568099998 meters Centerline goodness [0,1] 0.9999158674070335 Centerline is valid? [True, True] Translation: X:165.35, Y:57.35, Z:19.50 [[ 7.77172944e-01 -6.17229457e-01 -1.22596950e-01 1.65352925e+02] [ 6.11093229e-01 7.86750127e-01 -8.71166091e-02 5.73476805e+01] [ 1.50224104e-01 -7.21349478e-03 9.88625654e-01 1.94961458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47710568099998 meters Centerline goodness [0,1] 0.999957945202599 Centerline is valid? [True, True] Translation: X:165.37, Y:57.37, Z:19.50 [[ 7.75037370e-01 -6.19592880e-01 -1.24184292e-01 1.65373733e+02] [ 6.13315797e-01 7.84885378e-01 -8.83101149e-02 5.73680456e+01] [ 1.52186753e-01 -7.72054873e-03 9.88321600e-01 1.94969612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50710568099998 meters Centerline goodness [0,1] 0.9998106937024105 Centerline is valid? [True, True] Translation: X:165.39, Y:57.39, Z:19.50 [[ 7.74026087e-01 -6.20840612e-01 -1.24260011e-01 1.65394277e+02] [ 6.14569091e-01 7.83896433e-01 -8.83810749e-02 5.73886455e+01] [ 1.52277540e-01 -7.95710452e-03 9.88305740e-01 1.94999466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53710568099999 meters Centerline goodness [0,1] 0.9997054739765221 Centerline is valid? [True, True] Translation: X:165.41, Y:57.41, Z:19.51 [[ 7.72817616e-01 -6.22810147e-01 -1.21903459e-01 1.65412010e+02] [ 6.16790805e-01 7.82330690e-01 -8.67628612e-02 5.74121220e+01] [ 1.49405608e-01 -8.13706534e-03 9.88742511e-01 1.95062755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.567105681 meters Centerline goodness [0,1] 0.9994952893674294 Centerline is valid? [True, True] Translation: X:165.43, Y:57.44, Z:19.52 [[ 7.72061727e-01 -6.24138053e-01 -1.19884861e-01 1.65428331e+02] [ 6.18324769e-01 7.81270971e-01 -8.53823740e-02 5.74362730e+01] [ 1.46952950e-01 -8.20731547e-03 9.89109433e-01 1.95151229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597105681 meters Centerline goodness [0,1] 0.9994741159889775 Centerline is valid? [True, True] Translation: X:165.45, Y:57.46, Z:19.52 [[ 7.71736381e-01 -6.24491270e-01 -1.20139968e-01 1.65447306e+02] [ 6.18653810e-01 7.80987962e-01 -8.55877736e-02 5.74577169e+01] [ 1.47276686e-01 -8.27385015e-03 9.89060727e-01 1.95204265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62710568099996 meters Centerline goodness [0,1] 0.9990104013138502 Centerline is valid? [True, True] Translation: X:165.46, Y:57.49, Z:19.53 [[ 7.73841244e-01 -6.21808987e-01 -1.20512711e-01 1.65461303e+02] [ 6.15892880e-01 7.83130742e-01 -8.59197396e-02 5.74883851e+01] [ 1.47802875e-01 -7.73468238e-03 9.88986595e-01 1.95250126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65710568099996 meters Centerline goodness [0,1] 0.999032658297058 Centerline is valid? [True, True] Translation: X:165.48, Y:57.51, Z:19.53 [[ 7.75724632e-01 -6.19444578e-01 -1.20580722e-01 1.65480441e+02] [ 6.13485645e-01 7.85006944e-01 -8.60201286e-02 5.75118433e+01] [ 1.47941406e-01 -7.24660914e-03 9.88969578e-01 1.95288245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68710568099996 meters Centerline goodness [0,1] 0.9985062066063539 Centerline is valid? [True, True] Translation: X:165.49, Y:57.55, Z:19.53 [[ 7.81975288e-01 -6.11490458e-01 -1.20805915e-01 1.65492462e+02] [ 6.05406974e-01 7.91231222e-01 -8.62296308e-02 5.75463914e+01] [ 1.48314008e-01 -5.70730281e-03 9.88923850e-01 1.95315503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71710568099996 meters Centerline goodness [0,1] 0.999095669730173 Centerline is valid? [True, True] Translation: X:165.51, Y:57.57, Z:19.54 [[ 7.86176008e-01 -6.06127014e-01 -1.20570841e-01 1.65509172e+02] [ 6.00002325e-01 7.95354143e-01 -8.60755292e-02 5.75741528e+01] [ 1.48069222e-01 -4.67226932e-03 9.88965963e-01 1.95361309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74710568099997 meters Centerline goodness [0,1] 0.9980475720613861 Centerline is valid? [True, True] Translation: X:165.52, Y:57.62, Z:19.54 [[ 7.97028368e-01 -5.92095936e-01 -1.19030175e-01 1.65516274e+02] [ 5.85967764e-01 8.05864983e-01 -8.49906379e-02 5.76153840e+01] [ 1.46244861e-01 -2.00789605e-03 9.89246384e-01 1.95419973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77710568099997 meters Centerline goodness [0,1] 0.9981119805324215 Centerline is valid? [True, True] Translation: X:165.53, Y:57.64, Z:19.55 [[ 8.02049462e-01 -5.85551272e-01 -1.17670591e-01 1.65531301e+02] [ 5.79490319e-01 8.10634989e-01 -8.40350182e-02 5.76417935e+01] [ 1.44594710e-01 -7.88727192e-04 9.89490651e-01 1.95467583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80710568099997 meters Centerline goodness [0,1] 0.9978381781928849 Centerline is valid? [True, True] Translation: X:165.54, Y:57.67, Z:19.55 [[ 8.08865616e-01 -5.76553982e-01 -1.15420626e-01 1.65541508e+02] [ 5.70628824e-01 8.17058639e-01 -8.24495365e-02 5.76742771e+01] [ 1.41842029e-01 8.28258838e-04 9.89888960e-01 1.95543279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83710568099997 meters Centerline goodness [0,1] 0.9980372914622179 Centerline is valid? [True, True] Translation: X:165.56, Y:57.70, Z:19.56 [[ 8.12459646e-01 -5.71299534e-01 -1.16302044e-01 1.65558151e+02] [ 5.65219851e-01 8.20739635e-01 -8.31442857e-02 5.76999793e+01] [ 1.42953989e-01 1.81515313e-03 9.89727671e-01 1.95554883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86710568099997 meters Centerline goodness [0,1] 0.9980539047459613 Centerline is valid? [True, True] Translation: X:165.58, Y:57.72, Z:19.56 [[ 8.15033064e-01 -5.67146704e-01 -1.18598989e-01 1.65576299e+02] [ 5.60775835e-01 8.23612637e-01 -8.48097052e-02 5.77242637e+01] [ 1.45779171e-01 2.61526651e-03 9.89313698e-01 1.95551127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89710568099997 meters Centerline goodness [0,1] 0.9976455749421904 Centerline is valid? [True, True] Translation: X:165.60, Y:57.74, Z:19.56 [[ 8.16302820e-01 -5.65200583e-01 -1.19155386e-01 1.65597129e+02] [ 5.58739972e-01 8.24947961e-01 -8.52672646e-02 5.77438528e+01] [ 1.46490100e-01 3.02703166e-03 9.89207505e-01 1.95597156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92710568099997 meters Centerline goodness [0,1] 0.9976865483301085 Centerline is valid? [True, True] Translation: X:165.61, Y:57.77, Z:19.57 [[ 8.18568520e-01 -5.62233435e-01 -1.17639885e-01 1.65614910e+02] [ 5.55897898e-01 8.26970906e-01 -8.42416019e-02 5.77659425e+01] [ 1.44648207e-01 3.56175859e-03 9.89476735e-01 1.95668454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95710568099997 meters Centerline goodness [0,1] 0.9978814448126861 Centerline is valid? [True, True] Translation: X:165.64, Y:57.78, Z:19.57 [[ 8.18851625e-01 -5.61783272e-01 -1.17820083e-01 1.65637376e+02] [ 5.55420166e-01 8.27276322e-01 -8.43938762e-02 5.77839531e+01] [ 1.44880833e-01 3.66641279e-03 9.89442319e-01 1.95707942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98710568099997 meters Centerline goodness [0,1] 0.9979049694125535 Centerline is valid? [True, True] Translation: X:165.66, Y:57.80, Z:19.57 [[ 8.18413703e-01 -5.61739543e-01 -1.21027670e-01 1.65662955e+02] [ 5.55013166e-01 8.27305278e-01 -8.67546151e-02 5.77991140e+01] [ 1.48860328e-01 3.82921567e-03 9.88850818e-01 1.95675820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01710568099998 meters Centerline goodness [0,1] 0.9982568152224136 Centerline is valid? [True, True] Translation: X:165.69, Y:57.81, Z:19.57 [[ 8.17698551e-01 -5.62462247e-01 -1.22496126e-01 1.65687610e+02] [ 5.55569067e-01 8.26814252e-01 -8.78703830e-02 5.78134678e+01] [ 1.50705316e-01 3.79642635e-03 9.88571441e-01 1.95691100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04710568099998 meters Centerline goodness [0,1] 0.9978765452863511 Centerline is valid? [True, True] Translation: X:165.71, Y:57.83, Z:19.57 [[ 8.17319388e-01 -5.62857273e-01 -1.23210019e-01 1.65712903e+02] [ 5.55876568e-01 8.26545347e-01 -8.84535471e-02 5.78260416e+01] [ 1.51625390e-01 3.80523643e-03 9.88430706e-01 1.95714212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07710568099998 meters Centerline goodness [0,1] 0.9983653281918015 Centerline is valid? [True, True] Translation: X:165.74, Y:57.84, Z:19.58 [[ 8.17679621e-01 -5.62139892e-01 -1.24091820e-01 1.65737102e+02] [ 5.55039766e-01 8.27032381e-01 -8.91532373e-02 5.78397306e+01] [ 1.52744544e-01 4.02289056e-03 9.88257517e-01 1.95750145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10710568099998 meters Centerline goodness [0,1] 0.9985306465155331 Centerline is valid? [True, True] Translation: X:165.76, Y:57.85, Z:19.58 [[ 8.17905942e-01 -5.61936384e-01 -1.23520729e-01 1.65760675e+02] [ 5.54895602e-01 8.27170472e-01 -8.87686960e-02 5.78544809e+01] [ 1.52055059e-01 4.06333500e-03 9.88363672e-01 1.95799310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13710568099998 meters Centerline goodness [0,1] 0.9985503288022355 Centerline is valid? [True, True] Translation: X:165.79, Y:57.87, Z:19.58 [[ 8.17328218e-01 -5.62905141e-01 -1.22932446e-01 1.65786752e+02] [ 5.55932626e-01 8.26512219e-01 -8.84107896e-02 5.78658214e+01] [ 1.51372057e-01 3.91847541e-03 9.88469092e-01 1.95840210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16710568099998 meters Centerline goodness [0,1] 0.9986794113947931 Centerline is valid? [True, True] Translation: X:165.82, Y:57.87, Z:19.59 [[ 8.14316693e-01 -5.67657280e-01 -1.21051787e-01 1.65817675e+02] [ 5.60946703e-01 8.23259484e-01 -8.70782300e-02 5.78710393e+01] [ 1.49087623e-01 3.00565526e-03 9.88819421e-01 1.95904141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19710568099998 meters Centerline goodness [0,1] 0.9984072762327891 Centerline is valid? [True, True] Translation: X:165.85, Y:57.88, Z:19.60 [[ 8.12205245e-01 -5.70952418e-01 -1.19732936e-01 1.65845847e+02] [ 5.64421759e-01 8.20979688e-01 -8.61419165e-02 5.78798687e+01] [ 1.47481244e-01 2.38504214e-03 9.89061977e-01 1.95976246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22710568099998 meters Centerline goodness [0,1] 0.9984874585101466 Centerline is valid? [True, True] Translation: X:165.87, Y:57.89, Z:19.61 [[ 8.08962324e-01 -5.75727174e-01 -1.18819946e-01 1.65874913e+02] [ 5.69338348e-01 8.17640389e-01 -8.55455458e-02 5.78871709e+01] [ 1.46402882e-01 1.55437207e-03 9.89223827e-01 1.96050510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25710568099998 meters Centerline goodness [0,1] 0.9987594878156473 Centerline is valid? [True, True] Translation: X:165.90, Y:57.90, Z:19.61 [[ 8.07663385e-01 -5.77942599e-01 -1.16885447e-01 1.65902250e+02] [ 5.71775735e-01 8.16076562e-01 -8.42113669e-02 5.78967546e+01] [ 1.44056810e-01 1.18217524e-03 9.89568713e-01 1.96142040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28710568099999 meters Centerline goodness [0,1] 0.9980969907359 Centerline is valid? [True, True] Translation: X:165.93, Y:57.91, Z:19.62 [[ 8.06356338e-01 -5.79813085e-01 -1.16645803e-01 1.65926989e+02] [ 5.73682350e-01 8.14749032e-01 -8.40986108e-02 5.79088376e+01] [ 1.43798530e-01 8.95809263e-04 9.89606579e-01 1.96177013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.317105681 meters Centerline goodness [0,1] 0.998531694424634 Centerline is valid? [True, True] Translation: X:165.96, Y:57.91, Z:19.62 [[ 8.01469934e-01 -5.86402025e-01 -1.17382325e-01 1.65957528e+02] [ 5.80259617e-01 8.10020120e-01 -8.46533039e-02 5.79133103e+01] [ 1.44722913e-01 -2.65144802e-04 9.89472187e-01 1.96211740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.347105681 meters Centerline goodness [0,1] 0.9984882207197749 Centerline is valid? [True, True] Translation: X:165.99, Y:57.92, Z:19.62 [[ 7.98228945e-01 -5.90775686e-01 -1.17535700e-01 1.65985575e+02] [ 5.84654084e-01 8.06835228e-01 -8.48322892e-02 5.79232975e+01] [ 1.44948797e-01 -1.00213826e-03 9.89438650e-01 1.96245424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37710568099996 meters Centerline goodness [0,1] 0.9987204497304554 Centerline is valid? [True, True] Translation: X:166.02, Y:57.93, Z:19.63 [[ 7.92637695e-01 -5.98159300e-01 -1.18029384e-01 1.66016252e+02] [ 5.92058165e-01 8.01373891e-01 -8.52467940e-02 5.79284416e+01] [ 1.45576830e-01 -2.31043838e-03 9.89344252e-01 1.96291418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40710568099996 meters Centerline goodness [0,1] 0.998996193901878 Centerline is valid? [True, True] Translation: X:166.04, Y:57.94, Z:19.63 [[ 7.90499791e-01 -6.01024217e-01 -1.17813292e-01 1.66041333e+02] [ 5.94973922e-01 7.99225855e-01 -8.51120685e-02 5.79400253e+01] [ 1.45313843e-01 -2.81476406e-03 9.89381607e-01 1.96343225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43710568099996 meters Centerline goodness [0,1] 0.9985528826996078 Centerline is valid? [True, True] Translation: X:166.07, Y:57.95, Z:19.64 [[ 7.88966257e-01 -6.03116087e-01 -1.17402004e-01 1.66065634e+02] [ 5.97127860e-01 7.97647125e-01 -8.48373927e-02 5.79548899e+01] [ 1.44812168e-01 -3.17016735e-03 9.89454085e-01 1.96399795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46710568099996 meters Centerline goodness [0,1] 0.9986569575892389 Centerline is valid? [True, True] Translation: X:166.08, Y:57.98, Z:19.64 [[ 7.91804396e-01 -5.99052828e-01 -1.19086139e-01 1.66084924e+02] [ 5.92836068e-01 8.00705866e-01 -8.61133679e-02 5.79752756e+01] [ 1.46939426e-01 -2.41361492e-03 9.89142548e-01 1.96423225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49710568099997 meters Centerline goodness [0,1] 0.9990612091625986 Centerline is valid? [True, True] Translation: X:166.11, Y:57.99, Z:19.65 [[ 7.94281900e-01 -5.95687822e-01 -1.19466659e-01 1.66105646e+02] [ 5.89388548e-01 8.03214095e-01 -8.64190816e-02 5.79944435e+01] [ 1.47436099e-01 -1.77116826e-03 9.89069997e-01 1.96451623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52710568099997 meters Centerline goodness [0,1] 0.9990983812798793 Centerline is valid? [True, True] Translation: X:166.12, Y:58.02, Z:19.65 [[ 7.99391061e-01 -5.89111575e-01 -1.17989334e-01 1.66123994e+02] [ 5.82893018e-01 8.08051528e-01 -8.53724652e-02 5.80172499e+01] [ 1.45635369e-01 -5.29173665e-04 9.89338193e-01 1.96519769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55710568099997 meters Centerline goodness [0,1] 0.9988888422994675 Centerline is valid? [True, True] Translation: X:166.14, Y:58.04, Z:19.66 [[ 8.04414396e-01 -5.82842058e-01 -1.14946138e-01 1.66139918e+02] [ 5.76869684e-01 8.12585211e-01 -8.32264512e-02 5.80409322e+01] [ 1.41911408e-01 6.39613175e-04 9.89879156e-01 1.96628246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58710568099997 meters Centerline goodness [0,1] 0.9987441393168118 Centerline is valid? [True, True] Translation: X:166.16, Y:58.06, Z:19.67 [[ 8.07227148e-01 -5.79327042e-01 -1.12980128e-01 1.66157826e+02] [ 5.73514850e-01 8.15094176e-01 -8.18669707e-02 5.80630926e+01] [ 1.39517194e-01 1.28946022e-03 9.90218809e-01 1.96701187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61710568099997 meters Centerline goodness [0,1] 0.9987648893633947 Centerline is valid? [True, True] Translation: X:166.17, Y:58.09, Z:19.67 [[ 8.12440636e-01 -5.72025345e-01 -1.12814970e-01 1.66174825e+02] [ 5.66156916e-01 8.20231949e-01 -8.17673344e-02 5.80897298e+01] [ 1.39307431e-01 2.56012953e-03 9.90245871e-01 1.96738123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64710568099997 meters Centerline goodness [0,1] 0.9988041289023162 Centerline is valid? [True, True] Translation: X:166.19, Y:58.11, Z:19.67 [[ 8.17528877e-01 -5.64683450e-01 -1.13044846e-01 1.66193574e+02] [ 5.58719587e-01 8.25298695e-01 -8.19419718e-02 5.81128227e+01] [ 1.39567039e-01 3.82955873e-03 9.90205219e-01 1.96734488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67710568099997 meters Centerline goodness [0,1] 0.9990818796427677 Centerline is valid? [True, True] Translation: X:166.22, Y:58.13, Z:19.68 [[ 8.19445757e-01 -5.62061691e-01 -1.12228813e-01 1.66215603e+02] [ 5.56157437e-01 8.27084352e-01 -8.13657158e-02 5.81311665e+01] [ 1.38555247e-01 4.25790165e-03 9.90345553e-01 1.96777830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70710568099997 meters Centerline goodness [0,1] 0.9989928238700743 Centerline is valid? [True, True] Translation: X:166.24, Y:58.15, Z:19.68 [[ 8.21124810e-01 -5.59667866e-01 -1.11919284e-01 1.66238247e+02] [ 5.53766501e-01 8.28703708e-01 -8.11962266e-02 5.81478101e+01] [ 1.38190844e-01 4.69508611e-03 9.90394490e-01 1.96820636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73710568099997 meters Centerline goodness [0,1] 0.9990809207503029 Centerline is valid? [True, True] Translation: X:166.26, Y:58.17, Z:19.69 [[ 8.21284549e-01 -5.59383506e-01 -1.12168547e-01 1.66258639e+02] [ 5.53450162e-01 8.28895247e-01 -8.13977098e-02 5.81670314e+01] [ 1.38508512e-01 4.77098058e-03 9.90349751e-01 1.96851635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76710568099998 meters Centerline goodness [0,1] 0.999391306172995 Centerline is valid? [True, True] Translation: X:166.28, Y:58.18, Z:19.69 [[ 8.20712634e-01 -5.60098300e-01 -1.12785929e-01 1.66283081e+02] [ 5.54102900e-01 8.28412857e-01 -8.18664363e-02 5.81813663e+01] [ 1.39286565e-01 4.69380840e-03 9.90240991e-01 1.96887870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79710568099998 meters Centerline goodness [0,1] 0.9995625637927802 Centerline is valid? [True, True] Translation: X:166.31, Y:58.19, Z:19.69 [[ 8.18898658e-01 -5.62730592e-01 -1.12868373e-01 1.66312028e+02] [ 5.56743470e-01 8.26629198e-01 -8.19809547e-02 5.81902162e+01] [ 1.39433483e-01 4.29536438e-03 9.90222123e-01 1.96924778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82710568099998 meters Centerline goodness [0,1] 0.9993498049414824 Centerline is valid? [True, True] Translation: X:166.34, Y:58.20, Z:19.70 [[ 8.17532480e-01 -5.64772515e-01 -1.12572867e-01 1.66338882e+02] [ 5.58828101e-01 8.25237016e-01 -8.18231100e-02 5.82025084e+01] [ 1.39110741e-01 3.98416850e-03 9.90268816e-01 1.96968643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85710568099998 meters Centerline goodness [0,1] 0.9994132193302318 Centerline is valid? [True, True] Translation: X:166.37, Y:58.21, Z:19.70 [[ 8.14653283e-01 -5.68855523e-01 -1.12886765e-01 1.66367540e+02] [ 5.62908958e-01 8.22430679e-01 -8.21053161e-02 5.82124580e+01] [ 1.39547602e-01 3.34239379e-03 9.90209723e-01 1.96996407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88710568099998 meters Centerline goodness [0,1] 0.9994347917102784 Centerline is valid? [True, True] Translation: X:166.39, Y:58.22, Z:19.70 [[ 8.11195094e-01 -5.73473991e-01 -1.14411983e-01 1.66394511e+02] [ 5.67406305e-01 8.19219617e-01 -8.32424388e-02 5.82246136e+01] [ 1.41465914e-01 2.60777749e-03 9.89939692e-01 1.97024255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91710568099998 meters Centerline goodness [0,1] 0.9995185363505056 Centerline is valid? [True, True] Translation: X:166.42, Y:58.24, Z:19.71 [[ 8.08941070e-01 -5.76671098e-01 -1.14301309e-01 1.66419669e+02] [ 5.70644388e-01 8.16973802e-01 -8.31792557e-02 5.82387246e+01] [ 1.41348248e-01 2.06171562e-03 9.89957788e-01 1.97068699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94710568099998 meters Centerline goodness [0,1] 0.9994539077104031 Centerline is valid? [True, True] Translation: X:166.45, Y:58.25, Z:19.71 [[ 8.04313829e-01 -5.83239383e-01 -1.13626957e-01 1.66448975e+02] [ 5.77340539e-01 8.12299768e-01 -8.27465279e-02 5.82476168e+01] [ 1.40560184e-01 9.52728335e-04 9.90071678e-01 1.97110239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97710568099998 meters Centerline goodness [0,1] 0.9993276887198773 Centerline is valid? [True, True] Translation: X:166.47, Y:58.26, Z:19.71 [[ 8.01547120e-01 -5.86958290e-01 -1.14027103e-01 1.66474851e+02] [ 5.81047322e-01 8.09617098e-01 -8.30913007e-02 5.82598761e+01] [ 1.41089420e-01 3.46449835e-04 9.89996796e-01 1.97137506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.00710568099998 meters Centerline goodness [0,1] 0.9992862091407217 Centerline is valid? [True, True] Translation: X:166.50, Y:58.27, Z:19.72 [[ 7.96875759e-01 -5.93155438e-01 -1.14698086e-01 1.66503220e+02] [ 5.87234757e-01 8.05087627e-01 -8.36017568e-02 5.82700505e+01] [ 1.41930847e-01 -7.34489448e-04 9.89876303e-01 1.97180271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03710568099999 meters Centerline goodness [0,1] 0.9995383969785984 Centerline is valid? [True, True] Translation: X:166.53, Y:58.29, Z:19.72 [[ 7.95889059e-01 -5.94464615e-01 -1.14771196e-01 1.66526227e+02] [ 5.88541741e-01 8.04121241e-01 -8.37116986e-02 5.82856051e+01] [ 1.42053599e-01 -9.22414224e-04 9.89858537e-01 1.97236141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.067105681 meters Centerline goodness [0,1] 0.9991647525579453 Centerline is valid? [True, True] Translation: X:166.55, Y:58.30, Z:19.73 [[ 7.96852281e-01 -5.93272950e-01 -1.14252565e-01 1.66547838e+02] [ 5.87382247e-01 8.05001105e-01 -8.33985408e-02 5.83024883e+01] [ 1.41451540e-01 -6.53611135e-04 9.89944965e-01 1.97278596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097105681 meters Centerline goodness [0,1] 0.9993909993909994 Centerline is valid? [True, True] Translation: X:166.57, Y:58.32, Z:19.73 [[ 7.96958152e-01 -5.92882266e-01 -1.15534945e-01 1.66570005e+02] [ 5.86849396e-01 8.05288953e-01 -8.43652071e-02 5.83197114e+01] [ 1.43057650e-01 -5.66073021e-04 9.89714195e-01 1.97320074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12710568099996 meters Centerline goodness [0,1] 0.999286164182238 Centerline is valid? [True, True] Translation: X:166.59, Y:58.33, Z:19.73 [[ 7.96166140e-01 -5.93781339e-01 -1.16375252e-01 1.66592890e+02] [ 5.87659444e-01 8.04626164e-01 -8.50477199e-02 5.83349819e+01] [ 1.44138322e-01 -6.76901241e-04 9.89557318e-01 1.97347464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15710568099996 meters Centerline goodness [0,1] 0.9995589810361846 Centerline is valid? [True, True] Translation: X:166.62, Y:58.35, Z:19.74 [[ 7.94315514e-01 -5.96378561e-01 -1.15738829e-01 1.66617950e+02] [ 5.90341355e-01 8.02702580e-01 -8.46501817e-02 5.83494966e+01] [ 1.43387411e-01 -1.08646474e-03 9.89666040e-01 1.97397897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18710568099996 meters Centerline goodness [0,1] 0.9990789776652084 Centerline is valid? [True, True] Translation: X:166.64, Y:58.36, Z:19.75 [[ 7.91618833e-01 -6.00354460e-01 -1.13640424e-01 1.66642852e+02] [ 5.94567737e-01 7.99732170e-01 -8.31724887e-02 5.83618696e+01] [ 1.40814877e-01 -1.72602109e-03 9.90034439e-01 1.97455778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21710568099996 meters Centerline goodness [0,1] 0.9993291123317539 Centerline is valid? [True, True] Translation: X:166.67, Y:58.38, Z:19.75 [[ 7.90212330e-01 -6.02343765e-01 -1.12900233e-01 1.66665546e+02] [ 5.96649800e-01 7.98234168e-01 -8.26512458e-02 5.83785288e+01] [ 1.39905286e-01 -2.04986800e-03 9.90162769e-01 1.97505830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24710568099997 meters Centerline goodness [0,1] 0.9990136825316881 Centerline is valid? [True, True] Translation: X:166.69, Y:58.39, Z:19.76 [[ 7.87915846e-01 -6.05667687e-01 -1.11154276e-01 1.66689076e+02] [ 6.00174306e-01 7.95713602e-01 -8.14289034e-02 5.83942461e+01] [ 1.37765825e-01 -2.55281726e-03 9.90461539e-01 1.97551728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27710568099997 meters Centerline goodness [0,1] 0.999265847212317 Centerline is valid? [True, True] Translation: X:166.71, Y:58.41, Z:19.76 [[ 7.86561063e-01 -6.07462697e-01 -1.10953890e-01 1.66711883e+02] [ 6.01999148e-01 7.94343211e-01 -8.13381122e-02 5.84112122e+01] [ 1.37545338e-01 -2.81675510e-03 9.90491467e-01 1.97593055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30710568099997 meters Centerline goodness [0,1] 0.9989098761032263 Centerline is valid? [True, True] Translation: X:166.73, Y:58.43, Z:19.76 [[ 7.84161681e-01 -6.10473781e-01 -1.11410145e-01 1.66734287e+02] [ 6.04987180e-01 7.92029538e-01 -8.17295732e-02 5.84284385e+01] [ 1.38133888e-01 -3.31251007e-03 9.90408025e-01 1.97607380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33710568099997 meters Centerline goodness [0,1] 0.9989098761032263 Centerline is valid? [True, True] Translation: X:166.76, Y:58.44, Z:19.76 [[ 7.83939738e-01 -6.10760472e-01 -1.11400771e-01 1.66756066e+02] [ 6.05274934e-01 7.91808337e-01 -8.17423493e-02 5.84446951e+01] [ 1.38133055e-01 -3.34701813e-03 9.90408025e-01 1.97645529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36710568099997 meters Centerline goodness [0,1] 0.9988042041664045 Centerline is valid? [True, True] Translation: X:166.78, Y:58.46, Z:19.77 [[ 7.81380599e-01 -6.13853133e-01 -1.12377446e-01 1.66777781e+02] [ 6.08293240e-01 7.89410731e-01 -8.25229140e-02 5.84629314e+01] [ 1.39368911e-01 -3.87663678e-03 9.90232941e-01 1.97669531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39710568099997 meters Centerline goodness [0,1] 0.9988673546438459 Centerline is valid? [True, True] Translation: X:166.80, Y:58.48, Z:19.77 [[ 7.80882311e-01 -6.14442440e-01 -1.12620177e-01 1.66798651e+02] [ 6.08860195e-01 7.88951682e-01 -8.27315359e-02 5.84823845e+01] [ 1.39685645e-01 -3.96635019e-03 9.90187956e-01 1.97692873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42710568099997 meters Centerline goodness [0,1] 0.9988055322715842 Centerline is valid? [True, True] Translation: X:166.82, Y:58.50, Z:19.77 [[ 7.80175116e-01 -6.14861172e-01 -1.15206460e-01 1.66818326e+02] [ 6.09014451e-01 7.88624763e-01 -8.46899212e-02 5.85030451e+01] [ 1.42927211e-01 -4.08942996e-03 9.89724754e-01 1.97689527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45710568099997 meters Centerline goodness [0,1] 0.9986555186756859 Centerline is valid? [True, True] Translation: X:166.84, Y:58.52, Z:19.77 [[ 7.79114547e-01 -6.16127690e-01 -1.15616578e-01 1.66839672e+02] [ 6.10249732e-01 7.87634438e-01 -8.50132718e-02 5.85220895e+01] [ 1.43442630e-01 -4.31990929e-03 9.89649206e-01 1.97711889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48710568099997 meters Centerline goodness [0,1] 0.9983486967245668 Centerline is valid? [True, True] Translation: X:166.86, Y:58.54, Z:19.77 [[ 7.75136895e-01 -6.21298535e-01 -1.14677480e-01 1.66864649e+02] [ 6.15563940e-01 7.83556785e-01 -8.43789177e-02 5.85351472e+01] [ 1.42280815e-01 -5.18610902e-03 9.89812747e-01 1.97744837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51710568099998 meters Centerline goodness [0,1] 0.998047285096376 Centerline is valid? [True, True] Translation: X:166.89, Y:58.55, Z:19.78 [[ 7.69401389e-01 -6.28607425e-01 -1.13464563e-01 1.66888882e+02] [ 6.23069872e-01 7.77696032e-01 -8.35033842e-02 5.85499289e+01] [ 1.40731788e-01 -6.44873126e-03 9.90026756e-01 1.97806576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54710568099998 meters Centerline goodness [0,1] 0.9978259506239939 Centerline is valid? [True, True] Translation: X:166.91, Y:58.57, Z:19.78 [[ 7.66579619e-01 -6.31951519e-01 -1.13986694e-01 1.66909851e+02] [ 6.26397300e-01 7.74975541e-01 -8.39007343e-02 5.85712887e+01] [ 1.41358096e-01 -7.08436426e-03 9.89933180e-01 1.97832652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57710568099998 meters Centerline goodness [0,1] 0.9974389655100028 Centerline is valid? [True, True] Translation: X:166.94, Y:58.58, Z:19.78 [[ 7.62036677e-01 -6.37242690e-01 -1.14986334e-01 1.66936113e+02] [ 6.31643363e-01 7.70620604e-01 -8.46790824e-02 5.85844232e+01] [ 1.42571965e-01 -8.10178833e-03 9.89751280e-01 1.97825292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60710568099998 meters Centerline goodness [0,1] 0.9973854842083246 Centerline is valid? [True, True] Translation: X:166.95, Y:58.61, Z:19.79 [[ 7.60330309e-01 -6.39308070e-01 -1.14817299e-01 1.66954789e+02] [ 6.33746667e-01 7.68904103e-01 -8.45673817e-02 5.86088472e+01] [ 1.42348102e-01 -8.46593737e-03 9.89780453e-01 1.97862204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63710568099998 meters Centerline goodness [0,1] 0.9972068212365591 Centerline is valid? [True, True] Translation: X:166.98, Y:58.63, Z:19.79 [[ 7.57062596e-01 -6.43235169e-01 -1.14475952e-01 1.66975716e+02] [ 6.37749254e-01 7.65613823e-01 -8.43288979e-02 5.86286786e+01] [ 1.41887684e-01 -9.16469886e-03 9.89840337e-01 1.97905956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66710568099998 meters Centerline goodness [0,1] 0.9970384995064165 Centerline is valid? [True, True] Translation: X:166.99, Y:58.65, Z:19.79 [[ 7.55602503e-01 -6.44901828e-01 -1.14745328e-01 1.66994573e+02] [ 6.39406503e-01 7.64206533e-01 -8.45440640e-02 5.86524094e+01] [ 1.42211751e-01 -9.48720260e-03 9.89790791e-01 1.97947327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69710568099998 meters Centerline goodness [0,1] 0.9953728792363167 Centerline is valid? [True, True] Translation: X:167.02, Y:58.67, Z:19.80 [[ 7.54039668e-01 -6.46532119e-01 -1.15846445e-01 1.67016505e+02] [ 6.40947519e-01 7.62822779e-01 -8.53679432e-02 5.86710507e+01] [ 1.43563424e-01 -9.88067583e-03 9.89591792e-01 1.97958977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72710568099998 meters Centerline goodness [0,1] 0.9964750314729333 Centerline is valid? [True, True] Translation: X:167.03, Y:58.70, Z:19.80 [[ 7.52632032e-01 -6.48187983e-01 -1.15746977e-01 1.67029962e+02] [ 6.42630529e-01 7.61412338e-01 -8.53068227e-02 5.87015255e+01] [ 1.43426033e-01 -1.01778936e-02 9.89608702e-01 1.97989109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75710568099998 meters Centerline goodness [0,1] 0.9492084155713266 Centerline is valid? [True, False] Translation: X:166.86, Y:58.57, Z:19.76 [[ 7.61300609e-01 -6.25520145e-01 -1.70721794e-01 1.66860394e+02] [ 6.32839577e-01 7.74148384e-01 -1.44343280e-02 5.85665592e+01] [ 1.41192964e-01 -9.70506454e-02 9.85213540e-01 1.97593903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78710568099999 meters Centerline goodness [0,1] 0.9936948297604036 Centerline is valid? [False, True] Translation: X:166.72, Y:58.45, Z:19.73 [[ 7.69817756e-01 -6.02906768e-01 -2.09485207e-01 1.66720460e+02] [ 6.23072556e-01 7.81047005e-01 4.17871547e-02 5.84543960e+01] [ 1.38424035e-01 -1.62692977e-01 9.76918513e-01 1.97253434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.817105681 meters Centerline goodness [0,1] 0.9942663922375772 Centerline is valid? [True, True] Translation: X:166.72, Y:58.50, Z:19.76 [[ 7.67390580e-01 -6.29511428e-01 -1.21766415e-01 1.66719044e+02] [ 6.23969080e-01 7.76907310e-01 -8.41285867e-02 5.85000973e+01] [ 1.47561125e-01 -1.14189930e-02 9.88987018e-01 1.97581919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.847105681 meters Centerline goodness [0,1] 0.9919483351505494 Centerline is valid? [True, True] Translation: X:166.74, Y:58.52, Z:19.76 [[ 7.67367990e-01 -6.29655061e-01 -1.21164650e-01 1.66738229e+02] [ 6.24163198e-01 7.76791826e-01 -8.37541777e-02 5.85200331e+01] [ 1.46855951e-01 -1.13562403e-02 9.89092698e-01 1.97629373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87710568099996 meters Centerline goodness [0,1] 0.9901141480783328 Centerline is valid? [True, True] Translation: X:166.75, Y:58.55, Z:19.77 [[ 7.68924305e-01 -6.27802526e-01 -1.20910716e-01 1.66752596e+02] [ 6.22308186e-01 7.78295449e-01 -8.35985399e-02 5.85488218e+01] [ 1.46587635e-01 -1.09627792e-02 9.89136938e-01 1.97672209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90710568099996 meters Centerline goodness [0,1] 0.9934725302313905 Centerline is valid? [True, True] Translation: X:166.77, Y:58.58, Z:19.77 [[ 7.70447806e-01 -6.25943940e-01 -1.20848512e-01 1.66769265e+02] [ 6.20430817e-01 7.79796106e-01 -8.35681362e-02 5.85766660e+01] [ 1.46546167e-01 -1.05932537e-02 9.89147109e-01 1.97705780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93710568099996 meters Centerline goodness [0,1] 0.9920302100936763 Centerline is valid? [True, True] Translation: X:166.78, Y:58.61, Z:19.77 [[ 7.75355047e-01 -6.20129599e-01 -1.19431287e-01 1.66783945e+02] [ 6.14675873e-01 7.84443419e-01 -8.25959675e-02 5.86061983e+01] [ 1.44907291e-01 -9.37033047e-03 9.89400866e-01 1.97745366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96710568099996 meters Centerline goodness [0,1] 0.992098166691055 Centerline is valid? [True, True] Translation: X:166.79, Y:58.65, Z:19.78 [[ 7.81773841e-01 -6.11994126e-01 -1.19552714e-01 1.66792328e+02] [ 6.06433262e-01 7.90823271e-01 -8.26876785e-02 5.86467180e+01] [ 1.45149442e-01 -7.85767847e-03 9.89378540e-01 1.97796759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99710568099997 meters Centerline goodness [0,1] 0.9917678276676208 Centerline is valid? [True, True] Translation: X:166.81, Y:58.67, Z:19.78 [[ 7.85937690e-01 -6.06663911e-01 -1.19418786e-01 1.66810055e+02] [ 6.01053654e-01 7.94928834e-01 -8.25993587e-02 5.86715834e+01] [ 1.45039486e-01 -6.85914829e-03 9.89402092e-01 1.97831297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02710568099997 meters Centerline goodness [0,1] 0.9926583503376317 Centerline is valid? [True, True] Translation: X:166.82, Y:58.71, Z:19.79 [[ 7.94815032e-01 -5.94813769e-01 -1.20273211e-01 1.66819422e+02] [ 5.88985097e-01 8.03849729e-01 -8.31995642e-02 5.87108307e+01] [ 1.46169835e-01 -4.71086473e-03 9.89248294e-01 1.97857544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05710568099997 meters Centerline goodness [0,1] 0.9939084588400865 Centerline is valid? [True, True] Translation: X:166.83, Y:58.75, Z:19.79 [[ 8.05130665e-01 -5.80839942e-01 -1.19956549e-01 1.66828766e+02] [ 5.74885563e-01 8.14014953e-01 -8.29834038e-02 5.87487325e+01] [ 1.45846500e-01 -2.14880488e-03 9.89304898e-01 1.97911501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08710568099997 meters Centerline goodness [0,1] 0.9952469083873139 Centerline is valid? [True, True] Translation: X:166.84, Y:58.77, Z:19.79 [[ 8.09881988e-01 -5.74078048e-01 -1.20522030e-01 1.66844733e+02] [ 5.67991352e-01 8.18800058e-01 -8.33803908e-02 5.87735439e+01] [ 1.46550297e-01 -9.27193894e-04 9.89202785e-01 1.97947056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11710568099997 meters Centerline goodness [0,1] 0.9970586381494632 Centerline is valid? [True, True] Translation: X:166.86, Y:58.80, Z:19.80 [[ 8.16514542e-01 -5.64242183e-01 -1.22207859e-01 1.66857747e+02] [ 5.57869375e-01 8.25608862e-01 -8.45681266e-02 5.88049262e+01] [ 1.48612796e-01 8.75083500e-04 9.88895076e-01 1.97952768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14710568099997 meters Centerline goodness [0,1] 0.9979787346036425 Centerline is valid? [True, True] Translation: X:166.88, Y:58.83, Z:19.80 [[ 8.19229797e-01 -5.60146833e-01 -1.22874183e-01 1.66876205e+02] [ 5.53647924e-01 8.28391628e-01 -8.50957499e-02 5.88277391e+01] [ 1.49454059e-01 1.68393774e-03 9.88767237e-01 1.97952448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17710568099997 meters Centerline goodness [0,1] 0.9979924346484648 Centerline is valid? [True, True] Translation: X:166.90, Y:58.84, Z:19.80 [[ 8.18989028e-01 -5.60551189e-01 -1.22634973e-01 1.66899035e+02] [ 5.54078993e-01 8.28118183e-01 -8.49514297e-02 5.88440746e+01] [ 1.49175876e-01 1.62482677e-03 9.88809344e-01 1.97980300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20710568099997 meters Centerline goodness [0,1] 0.9973780474911721 Centerline is valid? [True, True] Translation: X:166.92, Y:58.86, Z:19.80 [[ 8.17391491e-01 -5.63035873e-01 -1.21908806e-01 1.66921752e+02] [ 5.56658150e-01 8.26431557e-01 -8.45138158e-02 5.88592626e+01] [ 1.48333595e-01 1.21934344e-03 9.88936630e-01 1.98029554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23710568099997 meters Centerline goodness [0,1] 0.9970397936313274 Centerline is valid? [True, True] Translation: X:166.95, Y:58.87, Z:19.81 [[ 8.16056762e-01 -5.64970610e-01 -1.21899843e-01 1.66945440e+02] [ 5.58612142e-01 8.25110554e-01 -8.45283909e-02 5.88742961e+01] [ 1.48336904e-01 8.85232567e-04 9.88936489e-01 1.98069228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26710568099998 meters Centerline goodness [0,1] 0.9968953937781156 Centerline is valid? [True, True] Translation: X:166.97, Y:58.89, Z:19.81 [[ 8.13788603e-01 -5.67924210e-01 -1.23329647e-01 1.66968905e+02] [ 5.61439823e-01 8.23080757e-01 -8.55768184e-02 5.88882904e+01] [ 1.50111406e-01 3.99264205e-04 9.88669007e-01 1.98105712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29710568099998 meters Centerline goodness [0,1] 0.9969884592704911 Centerline is valid? [True, True] Translation: X:166.99, Y:58.90, Z:19.82 [[ 8.12127163e-01 -5.70128919e-01 -1.24106755e-01 1.66991787e+02] [ 5.63584299e-01 8.21555242e-01 -8.61378097e-02 5.89033107e+01] [ 1.51070211e-01 1.02365391e-05 9.88523035e-01 1.98152804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32710568099998 meters Centerline goodness [0,1] 0.997039230199852 Centerline is valid? [True, True] Translation: X:167.02, Y:58.92, Z:19.82 [[ 8.11180255e-01 -5.71590514e-01 -1.23575394e-01 1.67015002e+02] [ 5.65108695e-01 8.20538995e-01 -8.58365874e-02 5.89179083e+01] [ 1.50461808e-01 -2.04584579e-04 9.88615801e-01 1.98189294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35710568099998 meters Centerline goodness [0,1] 0.9968466195761857 Centerline is valid? [True, True] Translation: X:167.04, Y:58.93, Z:19.82 [[ 8.09452751e-01 -5.74169641e-01 -1.22944973e-01 1.67040719e+02] [ 5.67773232e-01 8.18736121e-01 -8.54676634e-02 5.89297651e+01] [ 1.49732428e-01 -6.22829531e-04 9.88726359e-01 1.98195568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38710568099998 meters Centerline goodness [0,1] 0.9964844730894785 Centerline is valid? [True, True] Translation: X:167.07, Y:58.94, Z:19.82 [[ 8.08399543e-01 -5.75757922e-01 -1.22445885e-01 1.67065562e+02] [ 5.69421490e-01 8.17619766e-01 -8.51885312e-02 5.89426419e+01] [ 1.49162147e-01 -8.56948332e-04 9.88812378e-01 1.98221899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41710568099998 meters Centerline goodness [0,1] 0.995974336394515 Centerline is valid? [True, True] Translation: X:167.09, Y:58.95, Z:19.83 [[ 8.06613850e-01 -5.78246825e-01 -1.22493694e-01 1.67090678e+02] [ 5.71930674e-01 8.15860846e-01 -8.52430925e-02 5.89547470e+01] [ 1.49229356e-01 -1.29964186e-03 9.88801755e-01 1.98266147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44710568099998 meters Centerline goodness [0,1] 0.9962260194988992 Centerline is valid? [True, True] Translation: X:167.11, Y:58.97, Z:19.84 [[ 8.05272595e-01 -5.80149130e-01 -1.22323480e-01 1.67113272e+02] [ 5.73867684e-01 8.14508656e-01 -8.51559246e-02 5.89708762e+01] [ 1.49036669e-01 -1.62375957e-03 9.88830337e-01 1.98355345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47710568099998 meters Centerline goodness [0,1] 0.9957618184118416 Centerline is valid? [True, True] Translation: X:167.14, Y:58.99, Z:19.84 [[ 8.04785280e-01 -5.80744650e-01 -1.22704131e-01 1.67137161e+02] [ 5.74422271e-01 8.14084015e-01 -8.54767349e-02 5.89855374e+01] [ 1.49531628e-01 -1.69356737e-03 9.88755493e-01 1.98393284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.50710568099998 meters Centerline goodness [0,1] 0.9958555729984302 Centerline is valid? [True, True] Translation: X:167.16, Y:59.00, Z:19.84 [[ 8.04262856e-01 -5.81131055e-01 -1.24289805e-01 1.67163733e+02] [ 5.74644757e-01 8.13808059e-01 -8.66016522e-02 5.89967901e+01] [ 1.51474955e-01 -1.77199292e-03 9.88459508e-01 1.98384207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53710568099999 meters Centerline goodness [0,1] 0.9958234516338909 Centerline is valid? [True, True] Translation: X:167.19, Y:59.01, Z:19.84 [[ 8.04618231e-01 -5.80410286e-01 -1.25353114e-01 1.67187501e+02] [ 5.73799849e-01 8.14322562e-01 -8.73641738e-02 5.90110524e+01] [ 1.52784934e-01 -1.63279108e-03 9.88258113e-01 1.98402722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.567105681 meters Centerline goodness [0,1] 0.995707251378309 Centerline is valid? [True, True] Translation: X:167.21, Y:59.03, Z:19.85 [[ 8.05568664e-01 -5.79060862e-01 -1.25489619e-01 1.67210515e+02] [ 5.72408976e-01 8.15283246e-01 -8.75282401e-02 5.90283325e+01] [ 1.52993762e-01 -1.32137698e-03 9.88226271e-01 1.98454350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597105681 meters Centerline goodness [0,1] 0.9962747821694659 Centerline is valid? [True, True] Translation: X:167.23, Y:59.05, Z:19.85 [[ 8.09966111e-01 -5.73205818e-01 -1.24056394e-01 1.67229083e+02] [ 5.66628951e-01 8.19411413e-01 -8.65827250e-02 5.90481216e+01] [ 1.51282947e-01 -1.64871566e-04 9.88490487e-01 1.98543328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62710568099996 meters Centerline goodness [0,1] 0.9965780190532519 Centerline is valid? [True, True] Translation: X:167.25, Y:59.07, Z:19.86 [[ 8.12088894e-01 -5.70530931e-01 -1.22499328e-01 1.67249810e+02] [ 5.64085479e-01 8.21276041e-01 -8.55174646e-02 5.90653482e+01] [ 1.49396122e-01 3.47691148e-04 9.88777365e-01 1.98619908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65710568099996 meters Centerline goodness [0,1] 0.9972976967086791 Centerline is valid? [True, True] Translation: X:167.27, Y:59.08, Z:19.87 [[ 8.16577296e-01 -5.64462635e-01 -1.20761969e-01 1.67271091e+02] [ 5.58123496e-01 8.25457266e-01 -8.43709983e-02 5.90835275e+01] [ 1.47308121e-01 1.49534929e-03 9.89089521e-01 1.98683238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68710568099996 meters Centerline goodness [0,1] 0.9976735824715014 Centerline is valid? [True, True] Translation: X:167.30, Y:59.10, Z:19.87 [[ 8.19850895e-01 -5.59789978e-01 -1.20331584e-01 1.67295402e+02] [ 5.53437371e-01 8.28631120e-01 -8.41281343e-02 5.90992261e+01] [ 1.46804582e-01 2.37653044e-03 9.89162659e-01 1.98703716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71710568099996 meters Centerline goodness [0,1] 0.9976403665859054 Centerline is valid? [True, True] Translation: X:167.32, Y:59.12, Z:19.88 [[ 8.23700013e-01 -5.54425807e-01 -1.18870991e-01 1.67316828e+02] [ 5.48162841e-01 8.32226439e-01 -8.31664244e-02 5.91166694e+01] [ 1.45037194e-01 3.34352448e-03 9.89420554e-01 1.98767962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74710568099997 meters Centerline goodness [0,1] 0.9975897500951414 Centerline is valid? [True, True] Translation: X:167.34, Y:59.13, Z:19.88 [[ 8.25469756e-01 -5.51788100e-01 -1.18867886e-01 1.67339163e+02] [ 5.45495721e-01 8.33975591e-01 -8.31813195e-02 5.91331211e+01] [ 1.45031377e-01 3.82174065e-03 9.89419675e-01 1.98806058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77710568099997 meters Centerline goodness [0,1] 0.9979302558956347 Centerline is valid? [True, True] Translation: X:167.36, Y:59.15, Z:19.88 [[ 8.28246280e-01 -5.47187606e-01 -1.20804899e-01 1.67362922e+02] [ 5.40633758e-01 8.36996613e-01 -8.45683780e-02 5.91482796e+01] [ 1.47388059e-01 4.73223821e-03 9.89067422e-01 1.98824461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80710568099997 meters Centerline goodness [0,1] 0.9979123613512716 Centerline is valid? [True, True] Translation: X:167.39, Y:59.16, Z:19.89 [[ 8.29103838e-01 -5.45708349e-01 -1.21610956e-01 1.67388970e+02] [ 5.39047906e-01 8.37960000e-01 -8.51492398e-02 5.91601980e+01] [ 1.48371768e-01 5.04343029e-03 9.88918795e-01 1.98850519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83710568099997 meters Centerline goodness [0,1] 0.9978317615358706 Centerline is valid? [True, True] Translation: X:167.42, Y:59.17, Z:19.89 [[ 8.30522314e-01 -5.43351776e-01 -1.22480749e-01 1.67415610e+02] [ 5.36566283e-01 8.39486949e-01 -8.57804552e-02 5.91707726e+01] [ 1.49429953e-01 5.52354183e-03 9.88756886e-01 1.98860327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86710568099997 meters Centerline goodness [0,1] 0.9972425696724763 Centerline is valid? [True, True] Translation: X:167.44, Y:59.18, Z:19.89 [[ 8.30613355e-01 -5.43028891e-01 -1.23292653e-01 1.67441395e+02] [ 5.36145518e-01 8.39695078e-01 -8.63722159e-02 5.91835582e+01] [ 1.50430842e-01 5.63911276e-03 9.88604452e-01 1.98887655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89710568099997 meters Centerline goodness [0,1] 0.9971661873674931 Centerline is valid? [True, True] Translation: X:167.47, Y:59.19, Z:19.89 [[ 8.30409231e-01 -5.42908562e-01 -1.25183074e-01 1.67469609e+02] [ 5.35799877e-01 8.39771759e-01 -8.77603802e-02 5.91932660e+01] [ 1.52771072e-01 5.80395436e-03 9.88244562e-01 1.98887818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92710568099997 meters Centerline goodness [0,1] 0.9965349965349966 Centerline is valid? [True, True] Translation: X:167.50, Y:59.20, Z:19.89 [[ 8.29548882e-01 -5.44287787e-01 -1.24897790e-01 1.67498921e+02] [ 5.37217487e-01 8.38879939e-01 -8.76231668e-02 5.92006316e+01] [ 1.52466470e-01 5.59042288e-03 9.88292832e-01 1.98909932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95710568099997 meters Centerline goodness [0,1] 0.9966239027683997 Centerline is valid? [True, True] Translation: X:167.53, Y:59.21, Z:19.89 [[ 8.28673883e-01 -5.45590292e-01 -1.25023313e-01 1.67525680e+02] [ 5.38510709e-01 8.38034588e-01 -8.77738279e-02 5.92116759e+01] [ 1.52662409e-01 5.40948587e-03 9.88263592e-01 1.98946501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98710568099997 meters Centerline goodness [0,1] 0.9965328122045011 Centerline is valid? [True, True] Translation: X:167.56, Y:59.22, Z:19.90 [[ 8.26777313e-01 -5.48312904e-01 -1.25667157e-01 1.67555865e+02] [ 5.41181453e-01 8.36258401e-01 -8.82865878e-02 5.92179982e+01] [ 1.53498891e-01 4.98461348e-03 9.88136248e-01 1.98994302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01710568099998 meters Centerline goodness [0,1] 0.9966916025708566 Centerline is valid? [True, True] Translation: X:167.58, Y:59.23, Z:19.90 [[ 8.26025031e-01 -5.49486618e-01 -1.25487466e-01 1.67582711e+02] [ 5.42386067e-01 8.35488865e-01 -8.81799848e-02 5.92296145e+01] [ 1.53297103e-01 4.77622129e-03 9.88168602e-01 1.99038475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04710568099998 meters Centerline goodness [0,1] 0.9967097680072091 Centerline is valid? [True, True] Translation: X:167.61, Y:59.24, Z:19.91 [[ 8.26070374e-01 -5.49835856e-01 -1.23645740e-01 1.67612182e+02] [ 5.42938329e-01 8.35259557e-01 -8.69450564e-02 5.92359631e+01] [ 1.51081796e-01 4.69072365e-03 9.88510136e-01 1.99084088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07710568099998 meters Centerline goodness [0,1] 0.9969420241286864 Centerline is valid? [True, True] Translation: X:167.64, Y:59.24, Z:19.91 [[ 8.25621829e-01 -5.50670070e-01 -1.22927087e-01 1.67643215e+02] [ 5.43858794e-01 8.34710701e-01 -8.64618852e-02 5.92413920e+01] [ 1.50220528e-01 4.52984224e-03 9.88642136e-01 1.99138374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10710568099998 meters Centerline goodness [0,1] 0.9976688997626898 Centerline is valid? [True, True] Translation: X:167.67, Y:59.25, Z:19.92 [[ 8.25334747e-01 -5.51091714e-01 -1.22965352e-01 1.67671339e+02] [ 5.44272016e-01 8.34432527e-01 -8.65466958e-02 5.92480676e+01] [ 1.50301456e-01 4.50339539e-03 9.88629957e-01 1.99196397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13710568099998 meters Centerline goodness [0,1] 0.9982163092290259 Centerline is valid? [True, True] Translation: X:167.70, Y:59.26, Z:19.92 [[ 8.25433330e-01 -5.50894862e-01 -1.23185508e-01 1.67697572e+02] [ 5.44043776e-01 8.34562123e-01 -8.67319607e-02 5.92599586e+01] [ 1.50586151e-01 4.57314223e-03 9.88586313e-01 1.99233187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16710568099998 meters Centerline goodness [0,1] 0.9983589657276304 Centerline is valid? [True, True] Translation: X:167.73, Y:59.27, Z:19.92 [[ 8.27619142e-01 -5.47157179e-01 -1.25162205e-01 1.67726150e+02] [ 5.40031522e-01 8.37012532e-01 -8.81814994e-02 5.92693901e+01] [ 1.53011475e-01 5.38916064e-03 9.88209717e-01 1.99230014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19710568099998 meters Centerline goodness [0,1] 0.9984455087807748 Centerline is valid? [True, True] Translation: X:167.75, Y:59.28, Z:19.92 [[ 8.28505843e-01 -5.45503433e-01 -1.26507204e-01 1.67751066e+02] [ 5.38201561e-01 8.38088736e-01 -8.91423059e-02 5.92832886e+01] [ 1.54651697e-01 5.76854647e-03 9.87952214e-01 1.99247987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.22710568099998 meters Centerline goodness [0,1] 0.9984462920970858 Centerline is valid? [True, True] Translation: X:167.78, Y:59.29, Z:19.93 [[ 8.31018204e-01 -5.41706814e-01 -1.26342678e-01 1.67781705e+02] [ 5.34377230e-01 8.40542489e-01 -8.90466197e-02 5.92909408e+01] [ 1.54433549e-01 6.48471191e-03 9.87981896e-01 1.99291640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25710568099998 meters Centerline goodness [0,1] 0.9984462920970858 Centerline is valid? [True, True] Translation: X:167.80, Y:59.31, Z:19.93 [[ 8.30810571e-01 -5.42026554e-01 -1.26336893e-01 1.67803736e+02] [ 5.34699390e-01 8.40336718e-01 -8.90548259e-02 5.93067573e+01] [ 1.54435610e-01 6.43543130e-03 9.87981896e-01 1.99331941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.28710568099999 meters Centerline goodness [0,1] 0.9985339700092151 Centerline is valid? [True, True] Translation: X:167.83, Y:59.32, Z:19.94 [[ 8.31958563e-01 -5.40263351e-01 -1.26334721e-01 1.67826016e+02] [ 5.32905187e-01 8.41468334e-01 -8.91241012e-02 5.93230859e+01] [ 1.54457153e-01 6.82313116e-03 9.87975927e-01 1.99370374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.317105681 meters Centerline goodness [0,1] 0.9988453140745717 Centerline is valid? [True, True] Translation: X:167.86, Y:59.33, Z:19.95 [[ 8.33873116e-01 -5.37437489e-01 -1.25763951e-01 1.67855340e+02] [ 5.30110786e-01 8.43271718e-01 -8.87432516e-02 5.93313568e+01] [ 1.53747134e-01 7.33178453e-03 9.88083025e-01 1.99450110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.347105681 meters Centerline goodness [0,1] 0.9985846896723973 Centerline is valid? [True, True] Translation: X:167.88, Y:59.34, Z:19.95 [[ 8.33156008e-01 -5.38678136e-01 -1.25207551e-01 1.67881638e+02] [ 5.31428936e-01 8.42481901e-01 -8.83602425e-02 5.93415054e+01] [ 1.53082827e-01 7.07895115e-03 9.88188007e-01 1.99508811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37710568099996 meters Centerline goodness [0,1] 0.9988031998656225 Centerline is valid? [True, True] Translation: X:167.91, Y:59.35, Z:19.96 [[ 8.31654690e-01 -5.40989453e-01 -1.25223352e-01 1.67909312e+02] [ 5.33760858e-01 8.41002896e-01 -8.83938618e-02 5.93515555e+01] [ 1.53133348e-01 6.67384614e-03 9.88182998e-01 1.99557195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40710568099996 meters Centerline goodness [0,1] 0.9992224277067921 Centerline is valid? [True, True] Translation: X:167.94, Y:59.36, Z:19.96 [[ 8.27457569e-01 -5.47311698e-01 -1.25554278e-01 1.67941501e+02] [ 5.40113634e-01 8.36910539e-01 -8.86454323e-02 5.93559700e+01] [ 1.53594380e-01 5.53675690e-03 9.88118470e-01 1.99600427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43710568099996 meters Centerline goodness [0,1] 0.9989710205795884 Centerline is valid? [True, True] Translation: X:167.97, Y:59.37, Z:19.96 [[ 8.24521859e-01 -5.51729465e-01 -1.25532075e-01 1.67970756e+02] [ 5.44582767e-01 8.34009759e-01 -8.86415884e-02 5.93662013e+01] [ 1.53601152e-01 4.72432255e-03 9.88121636e-01 1.99633083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46710568099996 meters Centerline goodness [0,1] 0.9992470194519975 Centerline is valid? [True, True] Translation: X:168.00, Y:59.37, Z:19.97 [[ 8.19616606e-01 -5.59103823e-01 -1.25026137e-01 1.68002770e+02] [ 5.52092531e-01 8.29090798e-01 -8.83305563e-02 5.93711914e+01] [ 1.53043971e-01 3.37119432e-03 9.88213630e-01 1.99692431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49710568099997 meters Centerline goodness [0,1] 0.9993282673495949 Centerline is valid? [True, True] Translation: X:168.03, Y:59.38, Z:19.98 [[ 8.16026308e-01 -5.64777210e-01 -1.22994988e-01 1.68031302e+02] [ 5.58049533e-01 8.25240183e-01 -8.69445770e-02 5.93769824e+01] [ 1.50604722e-01 2.31176639e-03 9.88591358e-01 1.99777018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52710568099997 meters Centerline goodness [0,1] 0.9991016775649194 Centerline is valid? [True, True] Translation: X:168.06, Y:59.39, Z:19.98 [[ 8.14578542e-01 -5.67145732e-01 -1.21686142e-01 1.68056416e+02] [ 5.60583095e-01 8.23615317e-01 -8.60488393e-02 5.93892599e+01] [ 1.49024802e-01 1.87834408e-03 9.88831674e-01 1.99836034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55710568099997 meters Centerline goodness [0,1] 0.9996248515037203 Centerline is valid? [True, True] Translation: X:168.08, Y:59.40, Z:19.99 [[ 8.12266713e-01 -5.70582654e-01 -1.21071143e-01 1.68084778e+02] [ 5.64121275e-01 8.21239215e-01 -8.56349177e-02 5.93981101e+01] [ 1.48290169e-01 1.25958563e-03 9.88943092e-01 1.99905137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58710568099997 meters Centerline goodness [0,1] 0.9997298869680851 Centerline is valid? [True, True] Translation: X:168.11, Y:59.41, Z:19.99 [[ 8.11437074e-01 -5.71611980e-01 -1.21776926e-01 1.68109221e+02] [ 5.65077026e-01 8.20523292e-01 -8.61944507e-02 5.94120309e+01] [ 1.49190585e-01 1.12802959e-03 9.88807816e-01 1.99931217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61710568099997 meters Centerline goodness [0,1] 0.9994110594619607 Centerline is valid? [True, True] Translation: X:168.14, Y:59.42, Z:20.00 [[ 8.11484772e-01 -5.71620775e-01 -1.21417274e-01 1.68135398e+02] [ 5.65121401e-01 8.20517146e-01 -8.59617078e-02 5.94229253e+01] [ 1.48762453e-01 1.14111684e-03 9.88872302e-01 1.99964311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64710568099997 meters Centerline goodness [0,1] 0.9993101141447506 Centerline is valid? [True, True] Translation: X:168.16, Y:59.44, Z:20.00 [[ 8.11944099e-01 -5.71004696e-01 -1.21245272e-01 1.68158392e+02] [ 5.64506642e-01 8.20945749e-01 -8.59088410e-02 5.94375627e+01] [ 1.48590142e-01 1.30941520e-03 9.88898000e-01 2.00009568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67710568099997 meters Centerline goodness [0,1] 0.9996252342286072 Centerline is valid? [True, True] Translation: X:168.18, Y:59.45, Z:20.00 [[ 8.11672694e-01 -5.70938523e-01 -1.23355750e-01 1.68182912e+02] [ 5.64199470e-01 8.20991616e-01 -8.74741314e-02 5.94510699e+01] [ 1.51216388e-01 1.40311494e-03 9.88499689e-01 2.00037351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70710568099997 meters Centerline goodness [0,1] 0.9994151069518716 Centerline is valid? [True, True] Translation: X:168.21, Y:59.46, Z:20.01 [[ 8.10865685e-01 -5.72063398e-01 -1.23451647e-01 1.68208375e+02] [ 5.65323238e-01 8.20208508e-01 -8.75650614e-02 5.94633624e+01] [ 1.51348858e-01 1.21341877e-03 9.88479666e-01 2.00090300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73710568099997 meters Centerline goodness [0,1] 0.9997061293031066 Centerline is valid? [True, True] Translation: X:168.23, Y:59.48, Z:20.02 [[ 8.10902539e-01 -5.72296925e-01 -1.22120030e-01 1.68231494e+02] [ 5.65694513e-01 8.20045582e-01 -8.66888764e-02 5.94780584e+01] [ 1.49755768e-01 1.21359931e-03 9.88722275e-01 2.00166173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76710568099998 meters Centerline goodness [0,1] 0.9999580131838602 Centerline is valid? [True, True] Translation: X:168.25, Y:59.49, Z:20.03 [[ 8.11750637e-01 -5.71596926e-01 -1.19740795e-01 1.68253299e+02] [ 5.65232780e-01 8.20533403e-01 -8.50696067e-02 5.94929618e+01] [ 1.46876847e-01 1.37388516e-03 9.89153832e-01 2.00253144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79710568099998 meters Centerline goodness [0,1] 0.9998957377596129 Centerline is valid? [True, True] Translation: X:168.28, Y:59.51, Z:20.03 [[ 8.13516482e-01 -5.69224538e-01 -1.19056120e-01 1.68277138e+02] [ 5.62901043e-01 8.22180072e-01 -8.46306393e-02 5.95091804e+01] [ 1.46059406e-01 1.83160599e-03 9.89274125e-01 2.00300970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82710568099998 meters Centerline goodness [0,1] 0.9999374191664233 Centerline is valid? [True, True] Translation: X:168.30, Y:59.53, Z:20.04 [[ 8.15711148e-01 -5.66334130e-01 -1.17817559e-01 1.68297707e+02] [ 5.60103341e-01 8.24172319e-01 -8.38107164e-02 5.95274087e+01] [ 1.44566840e-01 2.37532752e-03 9.89492186e-01 2.00357331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.32, Y:59.55, Z:20.04 [[ 8.20937469e-01 -5.59158479e-01 -1.15773343e-01 1.68315583e+02] [ 5.53067308e-01 8.29052954e-01 -8.23878135e-02 5.95519237e+01] [ 1.42050076e-01 3.60479205e-03 9.89852909e-01 2.00432827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88710568099998 meters Centerline goodness [0,1] 0.9998326569886625 Centerline is valid? [True, True] Translation: X:168.34, Y:59.57, Z:20.05 [[ 8.23614437e-01 -5.55397622e-01 -1.14859653e-01 1.68337384e+02] [ 5.49363112e-01 8.31574118e-01 -8.17597552e-02 5.95720518e+01] [ 1.40923488e-01 4.23885828e-03 9.90011415e-01 2.00476215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91710568099998 meters Centerline goodness [0,1] 0.9999790654831686 Centerline is valid? [True, True] Translation: X:168.36, Y:59.59, Z:20.05 [[ 8.28029872e-01 -5.48809576e-01 -1.14780573e-01 1.68357524e+02] [ 5.42719029e-01 8.35930173e-01 -8.17116996e-02 5.95937041e+01] [ 1.40792707e-01 5.36612720e-03 9.90024554e-01 2.00504530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94710568099998 meters Centerline goodness [0,1] 0.9998953690334191 Centerline is valid? [True, True] Translation: X:168.38, Y:59.61, Z:20.05 [[ 8.30572739e-01 -5.44337178e-01 -1.17668860e-01 1.68381450e+02] [ 5.37887697e-01 8.38842904e-01 -8.37819058e-02 5.96120829e+01] [ 1.44311294e-01 6.29433497e-03 9.89512320e-01 2.00505458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97710568099998 meters Centerline goodness [0,1] 0.9999161548619699 Centerline is valid? [True, True] Translation: X:168.41, Y:59.63, Z:20.05 [[ 8.30908725e-01 -5.43407370e-01 -1.19578936e-01 1.68405199e+02] [ 5.36734655e-01 8.39443423e-01 -8.51507456e-02 5.96280877e+01] [ 1.46651294e-01 6.57033878e-03 9.89166431e-01 2.00512904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.00710568099998 meters Centerline goodness [0,1] 0.999937106918239 Centerline is valid? [True, True] Translation: X:168.43, Y:59.64, Z:20.05 [[ 8.31181974e-01 -5.42769638e-01 -1.20572158e-01 1.68430441e+02] [ 5.35968945e-01 8.39854143e-01 -8.59203607e-02 5.96403049e+01] [ 1.47897990e-01 6.79252249e-03 9.88979295e-01 2.00508500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.46, Y:59.65, Z:20.05 [[ 8.31205101e-01 -5.42714666e-01 -1.20660147e-01 1.68455801e+02] [ 5.35897620e-01 8.39889280e-01 -8.60217255e-02 5.96537726e+01] [ 1.48026416e-01 6.84021143e-03 9.88959752e-01 2.00539790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.48, Y:59.66, Z:20.06 [[ 8.29731874e-01 -5.44651147e-01 -1.22066148e-01 1.68483779e+02] [ 5.37684555e-01 8.38636531e-01 -8.70866741e-02 5.96633644e+01] [ 1.49800988e-01 6.62550703e-03 9.88693970e-01 2.00561529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:59.67, Z:20.06 [[ 8.27547677e-01 -5.47919853e-01 -1.22264780e-01 1.68514948e+02] [ 5.40956605e-01 8.36508626e-01 -8.72884345e-02 5.96696597e+01] [ 1.50102610e-01 6.09540074e-03 9.88651634e-01 2.00598848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.54, Y:59.68, Z:20.06 [[ 8.25912387e-01 -5.50471533e-01 -1.21859841e-01 1.68542509e+02] [ 5.43580038e-01 8.34834987e-01 -8.70131469e-02 5.96801223e+01] [ 1.49631119e-01 5.62465907e-03 9.88725893e-01 2.00649142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.57, Y:59.68, Z:20.07 [[ 8.22059775e-01 -5.56174689e-01 -1.22014107e-01 1.68573922e+02] [ 5.49325122e-01 8.31052628e-01 -8.71403434e-02 5.96838499e+01] [ 1.49865398e-01 4.60915686e-03 9.88695665e-01 2.00679959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.60, Y:59.70, Z:20.07 [[ 8.20360901e-01 -5.58702055e-01 -1.21901625e-01 1.68600501e+02] [ 5.51889837e-01 8.29358007e-01 -8.70798768e-02 5.96958924e+01] [ 1.49751795e-01 4.16065794e-03 9.88714867e-01 2.00714444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.63, Y:59.70, Z:20.07 [[ 8.16984550e-01 -5.63269973e-01 -1.23544254e-01 1.68630863e+02] [ 5.56314384e-01 8.26265840e-01 -8.83123278e-02 5.97028467e+01] [ 1.51824079e-01 3.42036176e-03 9.88401614e-01 2.00722884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.66, Y:59.71, Z:20.08 [[ 8.13917990e-01 -5.68050232e-01 -1.21886996e-01 1.68660837e+02] [ 5.61331596e-01 8.22990058e-01 -8.71447256e-02 5.97092041e+01] [ 1.49814367e-01 2.50963796e-03 9.88710957e-01 2.00803888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.69, Y:59.72, Z:20.09 [[ 8.12479219e-01 -5.70240426e-01 -1.21257478e-01 1.68687117e+02] [ 5.63612970e-01 8.21475140e-01 -8.67122478e-02 5.97212828e+01] [ 1.49056833e-01 2.10961182e-03 9.88826380e-01 2.00862760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30710568099997 meters Centerline goodness [0,1] 0.9999579752474207 Centerline is valid? [True, True] Translation: X:168.71, Y:59.73, Z:20.09 [[ 8.10435817e-01 -5.73093793e-01 -1.21479587e-01 1.68712182e+02] [ 5.66464278e-01 8.19488142e-01 -8.69333508e-02 5.97341891e+01] [ 1.49372045e-01 1.64005469e-03 9.88779704e-01 2.00914011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.73, Y:59.75, Z:20.10 [[ 8.10237455e-01 -5.73344644e-01 -1.21619019e-01 1.68733135e+02] [ 5.66693369e-01 8.19312644e-01 -8.70942966e-02 5.97501392e+01] [ 1.49579049e-01 1.64636933e-03 9.88748400e-01 2.00950284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.76, Y:59.77, Z:20.10 [[ 8.11306018e-01 -5.71745470e-01 -1.22023206e-01 1.68756105e+02] [ 5.65026896e-01 8.20428681e-01 -8.74150163e-02 5.97664906e+01] [ 1.50090477e-01 1.97393551e-03 9.88670295e-01 2.00986393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39710568099997 meters Centerline goodness [0,1] 0.9999370237420493 Centerline is valid? [True, True] Translation: X:168.78, Y:59.78, Z:20.11 [[ 8.12764676e-01 -5.70168246e-01 -1.19673528e-01 1.68776463e+02] [ 5.63681347e-01 8.21524810e-01 -8.57923420e-02 5.97831242e+01] [ 1.47230842e-01 2.27124929e-03 9.89099550e-01 2.01080503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42710568099997 meters Centerline goodness [0,1] 0.9999789770218849 Centerline is valid? [True, True] Translation: X:168.80, Y:59.80, Z:20.12 [[ 8.13828495e-01 -5.69030911e-01 -1.17843125e-01 1.68798120e+02] [ 5.62724750e-01 8.22312426e-01 -8.45170425e-02 5.98003717e+01] [ 1.44996676e-01 2.46913434e-03 9.89429061e-01 2.01157859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:59.82, Z:20.13 [[ 8.16393856e-01 -5.65803126e-01 -1.15619609e-01 1.68816309e+02] [ 5.59693388e-01 8.24534793e-01 -8.29800401e-02 5.98198456e+01] [ 1.42282757e-01 3.03286424e-03 9.89821408e-01 2.01261359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.84, Y:59.84, Z:20.13 [[ 8.17660720e-01 -5.64339801e-01 -1.13804816e-01 1.68837556e+02] [ 5.58402448e-01 8.25536153e-01 -8.17114854e-02 5.98379212e+01] [ 1.40063033e-01 3.26338438e-03 9.90137211e-01 2.01331715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.86, Y:59.86, Z:20.14 [[ 8.20484257e-01 -5.60464211e-01 -1.12629713e-01 1.68858112e+02] [ 5.54604965e-01 8.28169306e-01 -8.09254824e-02 5.98572898e+01] [ 1.38632308e-01 3.93308621e-03 9.90336112e-01 2.01389914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.88, Y:59.87, Z:20.14 [[ 8.21759471e-01 -5.58521555e-01 -1.12982496e-01 1.68881972e+02] [ 5.52605762e-01 8.29478953e-01 -8.11882911e-02 5.98736991e+01] [ 1.39062013e-01 4.28246902e-03 9.90274415e-01 2.01415407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.91, Y:59.89, Z:20.14 [[ 8.24839314e-01 -5.53605963e-01 -1.14719414e-01 1.68905987e+02] [ 5.47450035e-01 8.32762244e-01 -8.24954779e-02 5.98905742e+01] [ 1.41203985e-01 5.24236639e-03 9.89966642e-01 2.01413237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60710568099998 meters Centerline goodness [0,1] 0.999937699879553 Centerline is valid? [True, True] Translation: X:168.92, Y:59.93, Z:20.14 [[ 8.28256728e-01 -5.47770011e-01 -1.18062726e-01 1.68916192e+02] [ 5.41186807e-01 8.36604204e-01 -8.49131698e-02 5.99262426e+01] [ 1.45284661e-01 6.43591426e-03 9.89368964e-01 2.01412498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63710568099998 meters Centerline goodness [0,1] 0.9999372293013621 Centerline is valid? [True, True] Translation: X:168.95, Y:59.94, Z:20.14 [[ 8.31623036e-01 -5.42114151e-01 -1.20479759e-01 1.68946160e+02] [ 5.35195062e-01 8.40270514e-01 -8.66701148e-02 5.99365501e+01] [ 1.48220685e-01 7.59669201e-03 9.88925133e-01 2.01382658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.97, Y:59.95, Z:20.14 [[ 8.32799247e-01 -5.40197105e-01 -1.20964881e-01 1.68972547e+02] [ 5.33193824e-01 8.41500349e-01 -8.70718586e-02 5.99496970e+01] [ 1.48827955e-01 8.01565094e-03 9.88830617e-01 2.01403089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69710568099998 meters Centerline goodness [0,1] 0.9999370171313403 Centerline is valid? [True, True] Translation: X:169.00, Y:59.97, Z:20.14 [[ 8.33350257e-01 -5.38957992e-01 -1.22685095e-01 1.68995347e+02] [ 5.31737313e-01 8.42291069e-01 -8.83243124e-02 5.99657021e+01] [ 1.50939654e-01 8.36884577e-03 9.88507554e-01 2.01425469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.72710568099998 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:169.02, Y:59.98, Z:20.15 [[ 8.32550522e-01 -5.40007762e-01 -1.23495930e-01 1.69020514e+02] [ 5.32698367e-01 8.41619556e-01 -8.89324035e-02 5.99795436e+01] [ 1.51960778e-01 8.25463892e-03 9.88352054e-01 2.01461589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75710568099998 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:169.05, Y:59.99, Z:20.15 [[ 8.30805297e-01 -5.42581608e-01 -1.23966759e-01 1.69046205e+02] [ 5.35234686e-01 8.39966248e-01 -8.93338313e-02 5.99925457e+01] [ 1.52598787e-01 7.86771101e-03 9.88256905e-01 2.01498350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.78710568099999 meters Centerline goodness [0,1] 0.9999789832075828 Centerline is valid? [True, True] Translation: X:169.07, Y:60.01, Z:20.16 [[ 8.29634458e-01 -5.44448923e-01 -1.23620531e-01 1.69071858e+02] [ 5.37160768e-01 8.38760292e-01 -8.91037696e-02 6.00063361e+01] [ 1.52200444e-01 7.51945851e-03 9.88321042e-01 2.01553474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.817105681 meters Centerline goodness [0,1] 0.9999369959677419 Centerline is valid? [True, True] Translation: X:169.10, Y:60.02, Z:20.16 [[ 8.28635250e-01 -5.46221989e-01 -1.22495554e-01 1.69099089e+02] [ 5.39077219e-01 8.37609727e-01 -8.83498621e-02 6.00173777e+01] [ 1.50862105e-01 7.17524732e-03 9.88528776e-01 2.01599325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.847105681 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:169.13, Y:60.03, Z:20.16 [[ 8.26511986e-01 -5.49377111e-01 -1.22730301e-01 1.69125254e+02] [ 5.42236387e-01 8.35548237e-01 -8.85372480e-02 6.00285457e+01] [ 1.51187424e-01 6.62826147e-03 9.88482893e-01 2.01625147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87710568099996 meters Centerline goodness [0,1] 0.9999370633771791 Centerline is valid? [True, True] Translation: X:169.15, Y:60.04, Z:20.17 [[ 8.25013254e-01 -5.51553969e-01 -1.23050192e-01 1.69150016e+02] [ 5.44395786e-01 8.34115660e-01 -8.87935503e-02 6.00427148e+01] [ 1.51612527e-01 6.26784963e-03 9.88420131e-01 2.01657607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.18, Y:60.05, Z:20.17 [[ 8.21219761e-01 -5.57032527e-01 -1.23745172e-01 1.69178251e+02] [ 5.49844803e-01 8.30473508e-01 -8.93557248e-02 6.00525525e+01] [ 1.52541132e-01 5.34004720e-03 9.88282696e-01 2.01699895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93710568099996 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:169.21, Y:60.06, Z:20.17 [[ 8.16126239e-01 -5.64248209e-01 -1.24747425e-01 1.69208550e+02] [ 5.57023384e-01 8.25595309e-01 -9.00962532e-02 6.00605950e+01] [ 1.53827538e-01 4.04268363e-03 9.88089442e-01 2.01739970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.23, Y:60.07, Z:20.18 [[ 8.12803625e-01 -5.68856685e-01 -1.25508324e-01 1.69234290e+02] [ 5.61588398e-01 8.22430289e-01 -9.07022126e-02 6.00723936e+01] [ 1.54818407e-01 3.23906861e-03 9.87937634e-01 2.01767825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.27, Y:60.08, Z:20.18 [[ 8.05438494e-01 -5.79123420e-01 -1.26035298e-01 1.69266994e+02] [ 5.71913450e-01 8.15238844e-01 -9.11078057e-02 6.00766952e+01] [ 1.55511535e-01 1.30045165e-03 9.87833220e-01 2.01820025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02710568099997 meters Centerline goodness [0,1] 0.9998536422179476 Centerline is valid? [True, True] Translation: X:169.29, Y:60.09, Z:20.19 [[ 8.02011573e-01 -5.84161272e-01 -1.24631638e-01 1.69292558e+02] [ 5.77163420e-01 8.11637525e-01 -9.01494004e-02 6.00876465e+01] [ 1.53817503e-01 3.68039873e-04 9.88099206e-01 2.01879231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.32, Y:60.10, Z:20.20 [[ 7.96382354e-01 -5.92485866e-01 -1.21390464e-01 1.69319000e+02] [ 5.85939826e-01 8.05579988e-01 -8.78373682e-02 6.00963843e+01] [ 1.49832128e-01 -1.17537754e-03 9.88710752e-01 2.01994741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.34, Y:60.11, Z:20.21 [[ 7.92029195e-01 -5.98906468e-01 -1.18324965e-01 1.69343305e+02] [ 5.92749330e-01 8.00815765e-01 -8.56874727e-02 6.01077430e+01] [ 1.46075279e-01 -2.27006390e-03 9.89270873e-01 2.02082621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.37, Y:60.12, Z:20.21 [[ 7.90669659e-01 -6.00997088e-01 -1.16807494e-01 1.69365681e+02] [ 5.95016646e-01 7.99246980e-01 -8.46135715e-02 6.01228104e+01] [ 1.44210547e-01 -2.60101937e-03 9.89543608e-01 2.02146943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:60.14, Z:20.22 [[ 7.90446720e-01 -6.01293098e-01 -1.16792950e-01 1.69387560e+02] [ 5.95312904e-01 7.99024213e-01 -8.46336412e-02 6.01389640e+01] [ 1.44210020e-01 -2.62996634e-03 9.89543609e-01 2.02187336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.41, Y:60.16, Z:20.22 [[ 7.89940362e-01 -6.02120834e-01 -1.15951394e-01 1.69409306e+02] [ 5.96226237e-01 7.98400383e-01 -8.40898495e-02 6.01565536e+01] [ 1.43207888e-01 -2.70729713e-03 9.89688927e-01 2.02239823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.43, Y:60.18, Z:20.23 [[ 7.91214659e-01 -6.00337761e-01 -1.16507234e-01 1.69426518e+02] [ 5.94358488e-01 7.99743119e-01 -8.45513588e-02 6.01809531e+01] [ 1.43935232e-01 -2.34878868e-03 9.89584323e-01 2.02280217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.44, Y:60.21, Z:20.23 [[ 7.94086611e-01 -5.95884529e-01 -1.19783484e-01 1.69440384e+02] [ 5.89502780e-01 8.03068659e-01 -8.69896623e-02 6.02099107e+01] [ 1.48030155e-01 -1.53537041e-03 9.88981656e-01 2.02258926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.46, Y:60.23, Z:20.23 [[ 7.95371616e-01 -5.93575650e-01 -1.22686352e-01 1.69459105e+02] [ 5.86848143e-01 8.04777427e-01 -8.91209855e-02 6.02338920e+01] [ 1.51635254e-01 -1.11395584e-03 9.88435890e-01 2.02257361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.48, Y:60.26, Z:20.22 [[ 7.97310373e-01 -5.89924139e-01 -1.27615360e-01 1.69475581e+02] [ 5.82584814e-01 8.07458583e-01 -9.27662125e-02 6.02616702e+01] [ 1.57769146e-01 -3.83307210e-04 9.87475949e-01 2.02214033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.49, Y:60.28, Z:20.22 [[ 7.98192247e-01 -5.88466065e-01 -1.28828672e-01 1.69494349e+02] [ 5.80957038e-01 8.08521915e-01 -9.37082325e-02 6.02830145e+01] [ 1.59304919e-01 -4.67387719e-05 9.87229426e-01 2.02233089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.51, Y:60.31, Z:20.23 [[ 8.01799256e-01 -5.83673088e-01 -1.28232912e-01 1.69507591e+02] [ 5.76168462e-01 8.11988221e-01 -9.33007623e-02 6.03109312e+01] [ 1.58580758e-01 9.24722068e-04 9.87345577e-01 2.02301688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38710568099998 meters Centerline goodness [0,1] 0.9999371095551549 Centerline is valid? [True, True] Translation: X:169.52, Y:60.34, Z:20.24 [[ 8.08531947e-01 -5.75116430e-01 -1.24567980e-01 1.69519483e+02] [ 5.67924685e-01 8.18067464e-01 -9.07037885e-02 6.03409196e+01] [ 1.54070251e-01 2.59167973e-03 9.88056497e-01 2.02422683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41710568099998 meters Centerline goodness [0,1] 0.9999581257066287 Centerline is valid? [True, True] Translation: X:169.54, Y:60.36, Z:20.25 [[ 8.12264324e-01 -5.70445592e-01 -1.21731237e-01 1.69536879e+02] [ 5.63518146e-01 8.21328152e-01 -8.86981705e-02 6.03640622e+01] [ 1.50578772e-01 3.44859851e-03 9.88591999e-01 2.02511742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44710568099998 meters Centerline goodness [0,1] 0.9998536391577979 Centerline is valid? [True, True] Translation: X:169.55, Y:60.39, Z:20.26 [[ 8.16931160e-01 -5.64443416e-01 -1.18436102e-01 1.69552534e+02] [ 5.57816303e-01 8.25459596e-01 -8.63563932e-02 6.03908043e+01] [ 1.46507515e-01 4.48163957e-03 9.89199405e-01 2.02608646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47710568099998 meters Centerline goodness [0,1] 0.9999790510107888 Centerline is valid? [True, True] Translation: X:169.57, Y:60.41, Z:20.26 [[ 8.18951111e-01 -5.61292043e-01 -1.19458444e-01 1.69572360e+02] [ 5.54508938e-01 8.27601914e-01 -8.71487857e-02 6.04130171e+01] [ 1.47779957e-01 5.12982011e-03 9.89006961e-01 2.02624372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.50710568099998 meters Centerline goodness [0,1] 0.9999580888516345 Centerline is valid? [True, True] Translation: X:169.60, Y:60.43, Z:20.26 [[ 8.19099407e-01 -5.60792416e-01 -1.20780904e-01 1.69595360e+02] [ 5.53849823e-01 8.27939534e-01 -8.81277531e-02 6.04307264e+01] [ 1.49420661e-01 5.29090825e-03 9.88759563e-01 2.02638961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53710568099999 meters Centerline goodness [0,1] 0.9999791497258189 Centerline is valid? [True, True] Translation: X:169.62, Y:60.45, Z:20.27 [[ 8.19563696e-01 -5.59683507e-01 -1.22758785e-01 1.69616354e+02] [ 5.52488090e-01 8.28687264e-01 -8.96344197e-02 6.04490926e+01] [ 1.51895548e-01 5.63834935e-03 9.88380469e-01 2.02656455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.567105681 meters Centerline goodness [0,1] 0.9999790895594171 Centerline is valid? [True, True] Translation: X:169.64, Y:60.47, Z:20.27 [[ 8.19808214e-01 -5.59200655e-01 -1.23325256e-01 1.69639146e+02] [ 5.51929078e-01 8.29012228e-01 -9.00722992e-02 6.04666338e+01] [ 1.52606634e-01 5.77521568e-03 9.88270136e-01 2.02696097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59710568099996 meters Centerline goodness [0,1] 0.9999581721217191 Centerline is valid? [True, True] Translation: X:169.66, Y:60.48, Z:20.27 [[ 8.20829489e-01 -5.57401312e-01 -1.24670476e-01 1.69662441e+02] [ 5.49938590e-01 8.30219816e-01 -9.11186237e-02 6.04833757e+01] [ 1.54293540e-01 6.23174769e-03 9.88005399e-01 2.02715652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62710568099996 meters Centerline goodness [0,1] 0.9999790264057552 Centerline is valid? [True, True] Translation: X:169.68, Y:60.50, Z:20.27 [[ 8.21084031e-01 -5.56819076e-01 -1.25592717e-01 1.69684860e+02] [ 5.49228320e-01 8.30608830e-01 -9.18543623e-02 6.05004214e+01] [ 1.55464681e-01 6.44107290e-03 9.87820452e-01 2.02735159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65710568099996 meters Centerline goodness [0,1] 0.999978998655914 Centerline is valid? [True, True] Translation: X:169.71, Y:60.52, Z:20.28 [[ 8.22539098e-01 -5.54146772e-01 -1.27870198e-01 1.69707813e+02] [ 5.46240150e-01 8.32388726e-01 -9.35452188e-02 6.05196721e+01] [ 1.58275492e-01 7.09676402e-03 9.87369487e-01 2.02753114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68710568099996 meters Centerline goodness [0,1] 0.999937224047375 Centerline is valid? [True, True] Translation: X:169.73, Y:60.54, Z:20.28 [[ 8.23544763e-01 -5.52646596e-01 -1.27889653e-01 1.69727825e+02] [ 5.44712010e-01 8.33382618e-01 -9.36068252e-02 6.05384452e+01] [ 1.58312508e-01 7.42638053e-03 9.87361129e-01 2.02786441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71710568099996 meters Centerline goodness [0,1] 0.9998752391250104 Centerline is valid? [True, True] Translation: X:169.75, Y:60.55, Z:20.29 [[ 8.24427026e-01 -5.51782246e-01 -1.25922325e-01 1.69750647e+02] [ 5.44077330e-01 8.33954537e-01 -9.21937620e-02 6.05529601e+01] [ 1.55884375e-01 7.49554690e-03 9.87746870e-01 2.02853179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74710568099997 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:169.78, Y:60.56, Z:20.29 [[ 8.22367293e-01 -5.55029562e-01 -1.25116828e-01 1.69779393e+02] [ 5.47455467e-01 8.31802304e-01 -9.16375385e-02 6.05632873e+01] [ 1.54934009e-01 6.86382306e-03 9.87900977e-01 2.02903456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.81, Y:60.57, Z:20.29 [[ 8.19142955e-01 -5.59658420e-01 -1.25647415e-01 1.69806495e+02] [ 5.52065037e-01 8.28701231e-01 -9.20785802e-02 6.05732129e+01] [ 1.55656720e-01 6.05997545e-03 9.87792621e-01 2.02935086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80710568099997 meters Centerline goodness [0,1] 0.999958087973344 Centerline is valid? [True, True] Translation: X:169.83, Y:60.59, Z:20.30 [[ 8.17063705e-01 -5.62615721e-01 -1.25977982e-01 1.69833058e+02] [ 5.55013709e-01 8.26700057e-01 -9.23406680e-02 6.05858680e+01] [ 1.56098316e-01 5.52870140e-03 9.87726050e-01 2.02967854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83710568099997 meters Centerline goodness [0,1] 0.9999162461525576 Centerline is valid? [True, True] Translation: X:169.86, Y:60.59, Z:20.30 [[ 8.12843285e-01 -5.68787270e-01 -1.25566061e-01 1.69862935e+02] [ 5.61305196e-01 8.22473192e-01 -9.20561033e-02 6.05914719e+01] [ 1.55635058e-01 4.34630321e-03 9.87805061e-01 2.03020024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.89, Y:60.60, Z:20.31 [[ 8.10715228e-01 -5.72043468e-01 -1.24527466e-01 1.69889582e+02] [ 5.64720515e-01 8.20214932e-01 -9.13137762e-02 6.06031024e+01] [ 1.54374736e-01 3.70625435e-03 9.88005417e-01 2.03077017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89710568099997 meters Centerline goodness [0,1] 0.9999789376132103 Centerline is valid? [True, True] Translation: X:169.92, Y:60.61, Z:20.31 [[ 8.05778118e-01 -5.79017842e-01 -1.24338097e-01 1.69921681e+02] [ 5.71796357e-01 8.15311380e-01 -9.11936374e-02 6.06079900e+01] [ 1.54177008e-01 2.38576682e-03 9.88040363e-01 2.03128771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.95, Y:60.62, Z:20.31 [[ 8.03476128e-01 -5.81943845e-01 -1.25568596e-01 1.69947379e+02] [ 5.74604555e-01 8.13226778e-01 -9.21510318e-02 6.06205711e+01] [ 1.55742470e-01 1.88886717e-03 9.87795887e-01 2.03143938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95710568099997 meters Centerline goodness [0,1] 0.9999578707897121 Centerline is valid? [True, True] Translation: X:169.98, Y:60.63, Z:20.32 [[ 8.00220226e-01 -5.86125900e-01 -1.26901610e-01 1.69976490e+02] [ 5.78677043e-01 8.10219230e-01 -9.31540680e-02 6.06296430e+01] [ 1.57418137e-01 1.10872113e-03 9.87531418e-01 2.03168428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.00, Y:60.64, Z:20.32 [[ 7.99451952e-01 -5.87236624e-01 -1.26608548e-01 1.70003037e+02] [ 5.79826639e-01 8.09414770e-01 -9.29989191e-02 6.06398850e+01] [ 1.57091200e-01 9.37158432e-04 9.87583655e-01 2.03242778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.03, Y:60.65, Z:20.33 [[ 7.99842595e-01 -5.86949775e-01 -1.25466267e-01 1.70025621e+02] [ 5.79658497e-01 8.09622671e-01 -9.22342584e-02 6.06548482e+01] [ 1.55717211e-01 1.04530088e-03 9.87801122e-01 2.03307090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:60.67, Z:20.34 [[ 8.01882718e-01 -5.84628963e-01 -1.23260217e-01 1.70044870e+02] [ 5.77554854e-01 8.11299351e-01 -9.06849131e-02 6.06727242e+01] [ 1.53017961e-01 1.52912796e-03 9.88222225e-01 2.03384333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:60.69, Z:20.35 [[ 8.03380564e-01 -5.82912615e-01 -1.21624634e-01 1.70066861e+02] [ 5.75998920e-01 8.12532694e-01 -8.95313687e-02 6.06898020e+01] [ 1.51012956e-01 1.87210362e-03 9.88530011e-01 2.03469462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10710568099998 meters Centerline goodness [0,1] 0.9998529844163482 Centerline is valid? [True, True] Translation: X:170.08, Y:60.71, Z:20.35 [[ 8.07497603e-01 -5.77643312e-01 -1.19481485e-01 1.70084317e+02] [ 5.70905557e-01 8.16284279e-01 -8.80160284e-02 6.07114967e+01] [ 1.48372728e-01 2.86008791e-03 9.88927375e-01 2.03543821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13710568099998 meters Centerline goodness [0,1] 0.9999789889481867 Centerline is valid? [True, True] Translation: X:170.11, Y:60.73, Z:20.36 [[ 8.09531243e-01 -5.74907712e-01 -1.18912949e-01 1.70105434e+02] [ 5.68199876e-01 8.18211306e-01 -8.76308116e-02 6.07303838e+01] [ 1.47675549e-01 3.37355670e-03 9.89030106e-01 2.03590168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16710568099998 meters Centerline goodness [0,1] 0.9999579981939224 Centerline is valid? [True, True] Translation: X:170.13, Y:60.75, Z:20.36 [[ 8.12325974e-01 -5.70881881e-01 -1.19249277e-01 1.70125128e+02] [ 5.64083167e-01 8.21021610e-01 -8.79414407e-02 6.07510358e+01] [ 1.48110408e-01 4.17060688e-03 9.88962038e-01 2.03619343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19710568099998 meters Centerline goodness [0,1] 0.9999790237660731 Centerline is valid? [True, True] Translation: X:170.15, Y:60.77, Z:20.36 [[ 8.12964109e-01 -5.69606678e-01 -1.20985909e-01 1.70147056e+02] [ 5.62590297e-01 8.21905178e-01 -8.92414518e-02 6.07703944e+01] [ 1.50271472e-01 4.48459890e-03 9.88634600e-01 2.03631151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.22710568099998 meters Centerline goodness [0,1] 0.9999580078945158 Centerline is valid? [True, True] Translation: X:170.17, Y:60.79, Z:20.36 [[ 8.15655012e-01 -5.64934120e-01 -1.24725066e-01 1.70168644e+02] [ 5.57409818e-01 8.25117214e-01 -9.20645336e-02 6.07917726e+01] [ 1.54923195e-01 5.56992204e-03 9.87910816e-01 2.03619260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.19, Y:60.81, Z:20.36 [[ 8.19517490e-01 -5.58661984e-01 -1.27623944e-01 1.70187500e+02] [ 5.50697559e-01 8.29366225e-01 -9.42542473e-02 6.08143863e+01] [ 1.58503253e-01 6.96080968e-03 9.87333918e-01 2.03604195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.21, Y:60.83, Z:20.36 [[ 8.21057901e-01 -5.56414025e-01 -1.27543543e-01 1.70208203e+02] [ 5.48430068e-01 8.30872195e-01 -9.42117577e-02 6.08331751e+01] [ 1.58393127e-01 7.40459398e-03 9.87348363e-01 2.03640104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.317105681 meters Centerline goodness [0,1] 0.9999789933619023 Centerline is valid? [True, True] Translation: X:170.23, Y:60.85, Z:20.37 [[ 8.23532340e-01 -5.53277328e-01 -1.25214548e-01 1.70230178e+02] [ 5.45545427e-01 8.32959899e-01 -9.25094255e-02 6.08511958e+01] [ 1.55482065e-01 7.87427978e-03 9.87807331e-01 2.03713140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34710568099996 meters Centerline goodness [0,1] 0.9999581616216555 Centerline is valid? [True, True] Translation: X:170.25, Y:60.87, Z:20.37 [[ 8.24570420e-01 -5.51593081e-01 -1.25812141e-01 1.70254296e+02] [ 5.43763795e-01 8.34072540e-01 -9.29727520e-02 6.08679410e+01] [ 1.56219579e-01 8.25049381e-03 9.87687892e-01 2.03739788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37710568099996 meters Centerline goodness [0,1] 0.9999579814277911 Centerline is valid? [True, True] Translation: X:170.28, Y:60.88, Z:20.38 [[ 8.23992442e-01 -5.52370339e-01 -1.26188209e-01 1.70278404e+02] [ 5.44493904e-01 8.33558737e-01 -9.33071329e-02 6.08835320e+01] [ 1.56725377e-01 8.17566167e-03 9.87608381e-01 2.03764635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.31, Y:60.89, Z:20.38 [[ 8.21718701e-01 -5.55598018e-01 -1.26843287e-01 1.70307536e+02] [ 5.47667191e-01 8.31415827e-01 -9.38529188e-02 6.08927905e+01] [ 1.57604012e-01 7.65279180e-03 9.87472739e-01 2.03782904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.33, Y:60.90, Z:20.38 [[ 8.20004273e-01 -5.58102783e-01 -1.26942017e-01 1.70334619e+02] [ 5.50186846e-01 8.29740676e-01 -9.39406504e-02 6.09038632e+01] [ 1.57757493e-01 7.18990686e-03 9.87451709e-01 2.03819084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.36, Y:60.91, Z:20.39 [[ 8.16241470e-01 -5.63591287e-01 -1.26943781e-01 1.70362648e+02] [ 5.55737727e-01 8.26030919e-01 -9.39600926e-02 6.09137193e+01] [ 1.57814578e-01 6.14667584e-03 9.87449633e-01 2.03857493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.39, Y:60.92, Z:20.39 [[ 8.12666028e-01 -5.68278810e-01 -1.28969461e-01 1.70391804e+02] [ 5.60226394e-01 8.22818752e-01 -9.54761169e-02 6.09235633e+01] [ 1.60375545e-01 5.33810058e-03 9.87041635e-01 2.03865660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:60.94, Z:20.39 [[ 8.11031834e-01 -5.70325565e-01 -1.30215641e-01 1.70418992e+02] [ 5.62138673e-01 8.21403534e-01 -9.64175675e-02 6.09357689e+01] [ 1.61948992e-01 4.99846883e-03 9.86786471e-01 2.03905111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.44, Y:60.95, Z:20.39 [[ 8.09558847e-01 -5.72266163e-01 -1.30866009e-01 1.70444185e+02] [ 5.64015315e-01 8.20054668e-01 -9.69384672e-02 6.09496097e+01] [ 1.62791886e-01 4.66696049e-03 9.86649391e-01 2.03945135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.47, Y:60.97, Z:20.40 [[ 8.07664590e-01 -5.74774984e-01 -1.31573659e-01 1.70466687e+02] [ 5.66456239e-01 8.18300526e-01 -9.75273183e-02 6.09656585e+01] [ 1.63723057e-01 4.23864146e-03 9.86497235e-01 2.03974676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61710568099997 meters Centerline goodness [0,1] 0.9999582315226698 Centerline is valid? [True, True] Translation: X:170.49, Y:60.98, Z:20.40 [[ 8.07798998e-01 -5.74820802e-01 -1.30544339e-01 1.70488071e+02] [ 5.66628434e-01 8.18268441e-01 -9.67934737e-02 6.09822664e+01] [ 1.62459215e-01 4.21953642e-03 9.86706237e-01 2.04043730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:61.00, Z:20.41 [[ 8.08328134e-01 -5.74258330e-01 -1.29742047e-01 1.70509615e+02] [ 5.66148151e-01 8.18662519e-01 -9.62701965e-02 6.10000878e+01] [ 1.61498913e-01 4.36468812e-03 9.86863238e-01 2.04088273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.53, Y:61.02, Z:20.42 [[ 8.08556936e-01 -5.74395839e-01 -1.27691434e-01 1.70530379e+02] [ 5.66539760e-01 8.18566461e-01 -9.47715658e-02 6.10176956e+01] [ 1.58960318e-01 4.28593266e-03 9.87275670e-01 2.04159666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.55, Y:61.03, Z:20.42 [[ 8.08130568e-01 -5.75427448e-01 -1.25730816e-01 1.70552309e+02] [ 5.67821207e-01 8.17842866e-01 -9.33387607e-02 6.10341285e+01] [ 1.56537735e-01 4.03728216e-03 9.87663727e-01 2.04228093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.58, Y:61.05, Z:20.43 [[ 8.04932893e-01 -5.80561785e-01 -1.22601187e-01 1.70579320e+02] [ 5.73387258e-01 8.14210737e-01 -9.10380612e-02 6.10454428e+01] [ 1.52676422e-01 2.98157154e-03 9.88271734e-01 2.04323205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.61, Y:61.05, Z:20.44 [[ 7.98705328e-01 -5.89561925e-01 -1.20360029e-01 1.70606990e+02] [ 5.82741114e-01 8.07722152e-01 -8.94299678e-02 6.10542446e+01] [ 1.49941965e-01 1.28945443e-03 9.88693959e-01 2.04391032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79710568099998 meters Centerline goodness [0,1] 0.999957931933869 Centerline is valid? [True, True] Translation: X:170.63, Y:61.07, Z:20.44 [[ 7.94870367e-01 -5.94847501e-01 -1.19739513e-01 1.70632240e+02] [ 5.88153350e-01 8.03838512e-01 -8.89903537e-02 6.10675254e+01] [ 1.49186921e-01 3.10599668e-04 9.88808963e-01 2.04439922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:61.08, Z:20.45 [[ 7.90333283e-01 -6.01015036e-01 -1.18971545e-01 1.70655734e+02] [ 5.94466994e-01 7.99237319e-01 -8.84799415e-02 6.10814851e+01] [ 1.48264274e-01 -7.96014042e-04 9.88947456e-01 2.04485686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.68, Y:61.10, Z:20.45 [[ 7.89538749e-01 -6.01933276e-01 -1.19603074e-01 1.70676268e+02] [ 5.95322321e-01 7.98545814e-01 -8.89714383e-02 6.11006289e+01] [ 1.49063404e-01 -9.55981584e-04 9.88827178e-01 2.04498303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.70, Y:61.12, Z:20.45 [[ 7.89717040e-01 -6.01375877e-01 -1.21219022e-01 1.70696449e+02] [ 5.94573979e-01 7.98965796e-01 -9.01966747e-02 6.11199557e+01] [ 1.51091956e-01 -8.43825046e-04 9.88519352e-01 2.04513038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.71, Y:61.15, Z:20.45 [[ 7.92665059e-01 -5.96987726e-01 -1.23643681e-01 1.70711116e+02] [ 5.89844687e-01 8.02250368e-01 -9.20738428e-02 6.11457879e+01] [ 1.54160143e-01 5.31495355e-05 9.88045873e-01 2.04517257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.73, Y:61.17, Z:20.45 [[ 7.94637351e-01 -5.94092628e-01 -1.24921699e-01 1.70728981e+02] [ 5.86756520e-01 8.04396363e-01 -9.30767285e-02 6.11702099e+01] [ 1.55782758e-01 6.63623736e-04 9.87791117e-01 2.04543873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97710568099998 meters Centerline goodness [0,1] 0.9999789078483896 Centerline is valid? [True, True] Translation: X:170.74, Y:61.20, Z:20.46 [[ 7.99866191e-01 -5.86806716e-01 -1.25983944e-01 1.70741294e+02] [ 5.79244237e-01 8.09724169e-01 -9.39302141e-02 6.12012568e+01] [ 1.57131124e-01 2.15612942e-03 9.87575395e-01 2.04558147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.00710568099998 meters Centerline goodness [0,1] 0.9999789011730947 Centerline is valid? [True, True] Translation: X:170.75, Y:61.23, Z:20.46 [[ 8.07488064e-01 -5.76473521e-01 -1.25065211e-01 1.70752171e+02] [ 5.68893871e-01 8.17105223e-01 -9.32674550e-02 6.12331120e+01] [ 1.55957655e-01 4.16352447e-03 9.87754967e-01 2.04598730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:61.26, Z:20.47 [[ 8.11011367e-01 -5.71802905e-01 -1.23701256e-01 1.70768183e+02] [ 5.64331796e-01 8.20375657e-01 -9.22681196e-02 6.12580050e+01] [ 1.54240678e-01 5.02194181e-03 9.88020543e-01 2.04666564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.79, Y:61.27, Z:20.47 [[ 8.10815156e-01 -5.72083793e-01 -1.23688787e-01 1.70789812e+02] [ 5.64613383e-01 8.20180003e-01 -9.22848320e-02 6.12744680e+01] [ 1.54241726e-01 4.98959619e-03 9.88020543e-01 2.04706949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.81, Y:61.30, Z:20.48 [[ 8.15775354e-01 -5.65643732e-01 -1.20655460e-01 1.70806798e+02] [ 5.58457581e-01 8.24627104e-01 -9.00847924e-02 6.12991967e+01] [ 1.50451661e-01 6.10799695e-03 9.88598498e-01 2.04811225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:61.32, Z:20.49 [[ 8.17128366e-01 -5.63953182e-01 -1.19407039e-01 1.70825729e+02] [ 5.56891574e-01 8.25782062e-01 -8.91950732e-02 6.13184341e+01] [ 1.48906036e-01 6.38705069e-03 9.88830723e-01 2.04878952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.85, Y:61.34, Z:20.49 [[ 8.19000328e-01 -5.61577076e-01 -1.17769476e-01 1.70845579e+02] [ 5.54680964e-01 8.27396942e-01 -8.79961797e-02 6.13380151e+01] [ 1.46858742e-01 6.74441332e-03 9.89134482e-01 2.04933326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.87, Y:61.36, Z:20.49 [[ 8.19353226e-01 -5.60526875e-01 -1.20290955e-01 1.70867342e+02] [ 5.53316612e-01 8.28105811e-01 -8.98971242e-02 6.13570257e+01] [ 1.50003393e-01 7.09851480e-03 9.88659999e-01 2.04913315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21710568099996 meters Centerline goodness [0,1] 0.999979049255201 Centerline is valid? [True, True] Translation: X:170.89, Y:61.37, Z:20.49 [[ 8.19404697e-01 -5.60036148e-01 -1.22210702e-01 1.70890587e+02] [ 5.52583526e-01 8.28435795e-01 -9.13541451e-02 6.13744783e+01] [ 1.52405343e-01 7.32439517e-03 9.88290931e-01 2.04915565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24710568099997 meters Centerline goodness [0,1] 0.999979160588505 Centerline is valid? [True, True] Translation: X:170.92, Y:61.39, Z:20.49 [[ 8.18824342e-01 -5.60340291e-01 -1.24681415e-01 1.70915024e+02] [ 5.52575597e-01 8.28228838e-01 -9.32587907e-02 6.13880805e+01] [ 1.55521401e-01 7.46666088e-03 9.87804304e-01 2.04911662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27710568099997 meters Centerline goodness [0,1] 0.9999578707897121 Centerline is valid? [True, True] Translation: X:170.94, Y:61.40, Z:20.50 [[ 8.17870011e-01 -5.62015557e-01 -1.23398375e-01 1.70939883e+02] [ 5.54426642e-01 8.27096275e-01 -9.23192823e-02 6.14017502e+01] [ 1.53947209e-01 7.08982550e-03 9.88053638e-01 2.04963813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:61.41, Z:20.50 [[ 8.13029976e-01 -5.69171539e-01 -1.22580658e-01 1.70968978e+02] [ 5.61761185e-01 8.22198954e-01 -9.17237796e-02 6.14087059e+01] [ 1.52992254e-01 5.71312656e-03 9.88210873e-01 2.05020674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:61.41, Z:20.51 [[ 8.06600296e-01 -5.78655640e-01 -1.20638357e-01 1.71000094e+02] [ 5.71581635e-01 8.15562791e-01 -9.02871416e-02 6.14118414e+01] [ 1.50633319e-01 3.87096604e-03 9.88582126e-01 2.05109473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:61.42, Z:20.52 [[ 8.03342831e-01 -5.83446217e-01 -1.19292952e-01 1.71030761e+02] [ 5.76579671e-01 8.12146403e-01 -8.92978308e-02 6.14186924e+01] [ 1.48983823e-01 2.95488138e-03 9.88835218e-01 2.05175614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.06, Y:61.43, Z:20.52 [[ 7.98814134e-01 -5.89977273e-01 -1.17570391e-01 1.71059776e+02] [ 5.83370246e-01 8.07417933e-01 -8.80649659e-02 6.14258611e+01] [ 1.46884771e-01 1.76047150e-03 9.89152043e-01 2.05237626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.09, Y:61.44, Z:20.53 [[ 7.97293283e-01 -5.92073649e-01 -1.17355084e-01 1.71085686e+02] [ 5.85510914e-01 8.05882667e-01 -8.79209719e-02 6.14382408e+01] [ 1.46630119e-01 1.38611759e-03 9.89190420e-01 2.05292669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.11, Y:61.46, Z:20.53 [[ 7.97744151e-01 -5.91427750e-01 -1.17547801e-01 1.71108464e+02] [ 5.84827277e-01 8.06356492e-01 -8.81264099e-02 6.14560693e+01] [ 1.46905837e-01 1.55716767e-03 9.89149256e-01 2.05332288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.13, Y:61.48, Z:20.53 [[ 7.99271806e-01 -5.88845767e-01 -1.20105133e-01 1.71129265e+02] [ 5.81914395e-01 8.08242615e-01 -9.01083366e-02 6.14771137e+01] [ 1.50133999e-01 2.13014731e-03 9.88663363e-01 2.05323599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51710568099998 meters Centerline goodness [0,1] 0.9999369827332689 Centerline is valid? [True, True] Translation: X:171.15, Y:61.50, Z:20.53 [[ 8.00159839e-01 -5.87164705e-01 -1.22400336e-01 1.71149337e+02] [ 5.79934792e-01 8.09463482e-01 -9.18940033e-02 6.14970875e+01] [ 1.53035518e-01 2.54567743e-03 9.88217410e-01 2.05318652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:61.52, Z:20.53 [[ 8.02767330e-01 -5.82893337e-01 -1.25697936e-01 1.71168340e+02] [ 5.75210126e-01 8.12541259e-01 -9.43928665e-02 6.15209993e+01] [ 1.57155732e-01 3.47278402e-03 9.87567727e-01 2.05296499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.19, Y:61.54, Z:20.53 [[ 8.04441227e-01 -5.80555692e-01 -1.25814944e-01 1.71189635e+02] [ 5.72826937e-01 8.14210971e-01 -9.44975962e-02 6.15405762e+01] [ 1.57301025e-01 3.94757312e-03 9.87542811e-01 2.05345228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60710568099998 meters Centerline goodness [0,1] 0.9999789424919455 Centerline is valid? [True, True] Translation: X:171.21, Y:61.56, Z:20.54 [[ 8.08952387e-01 -5.74576236e-01 -1.24330947e-01 1.71207772e+02] [ 5.66950081e-01 8.18435171e-01 -9.34423743e-02 6.15636115e+01] [ 1.55446588e-01 5.10099105e-03 9.87831128e-01 2.05420588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63710568099998 meters Centerline goodness [0,1] 0.9999578858707097 Centerline is valid? [True, True] Translation: X:171.23, Y:61.58, Z:20.55 [[ 8.10407508e-01 -5.72696430e-01 -1.23525181e-01 1.71227120e+02] [ 5.65145571e-01 8.19749496e-01 -9.28506756e-02 6.15826294e+01] [ 1.54434955e-01 5.43717554e-03 9.87987997e-01 2.05482650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66710568099998 meters Centerline goodness [0,1] 0.9999790488162581 Centerline is valid? [True, True] Translation: X:171.25, Y:61.60, Z:20.56 [[ 8.12318749e-01 -5.70413231e-01 -1.21519528e-01 1.71248598e+02] [ 5.63078188e-01 8.21337435e-01 -9.13661450e-02 6.16004605e+01] [ 1.51924995e-01 5.79343688e-03 9.88375046e-01 2.05558244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69710568099998 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:171.27, Y:61.62, Z:20.57 [[ 8.12976425e-01 -5.70613697e-01 -1.16057496e-01 1.71270340e+02] [ 5.63920439e-01 8.21199924e-01 -8.73179433e-02 6.16153788e+01] [ 1.45131221e-01 5.54023517e-03 9.89396904e-01 2.05669566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72710568099998 meters Centerline goodness [0,1] 0.9999580123023954 Centerline is valid? [True, True] Translation: X:171.29, Y:61.63, Z:20.57 [[ 8.12472756e-01 -5.71767494e-01 -1.13885701e-01 1.71294261e+02] [ 5.65332238e-01 8.20398919e-01 -8.57034078e-02 6.16297154e+01] [ 1.42434129e-01 5.24842557e-03 9.89790368e-01 2.05737975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75710568099998 meters Centerline goodness [0,1] 0.9998956224036073 Centerline is valid? [True, True] Translation: X:171.32, Y:61.64, Z:20.58 [[ 8.12264563e-01 -5.72212480e-01 -1.13133364e-01 1.71316682e+02] [ 5.65858043e-01 8.20089011e-01 -8.51979442e-02 6.16448724e+01] [ 1.41530755e-01 5.18584709e-03 9.89920276e-01 2.05795059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:61.66, Z:20.58 [[ 8.13133309e-01 -5.70859773e-01 -1.13724849e-01 1.71341273e+02] [ 5.64422335e-01 8.21029374e-01 -8.56632630e-02 6.16597198e+01] [ 1.42273153e-01 5.46680756e-03 9.89812338e-01 2.05823986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.817105681 meters Centerline goodness [0,1] 0.9999792082501663 Centerline is valid? [True, True] Translation: X:171.36, Y:61.68, Z:20.58 [[ 8.18127228e-01 -5.62966389e-01 -1.17203600e-01 1.71359136e+02] [ 5.56036086e-01 8.26449194e-01 -8.83493093e-02 6.16835917e+01] [ 1.46600512e-01 7.11154473e-03 9.89170216e-01 2.05818758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84710568099996 meters Centerline goodness [0,1] 0.999958112551574 Centerline is valid? [True, True] Translation: X:171.38, Y:61.70, Z:20.58 [[ 8.20831751e-01 -5.58818424e-01 -1.18140617e-01 1.71382016e+02] [ 5.51730429e-01 8.29252080e-01 -8.90759302e-02 6.17017982e+01] [ 1.47745623e-01 7.93457861e-03 9.88993566e-01 2.05848265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87710568099996 meters Centerline goodness [0,1] 0.9999368088467615 Centerline is valid? [True, True] Translation: X:171.41, Y:61.72, Z:20.59 [[ 8.24554996e-01 -5.53281819e-01 -1.18272088e-01 1.71407259e+02] [ 5.46116409e-01 8.32945876e-01 -8.92078222e-02 6.17176492e+01] [ 1.47871314e-01 8.96642770e-03 9.88965964e-01 2.05871178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.44, Y:61.73, Z:20.59 [[ 8.25439222e-01 -5.52214996e-01 -1.17084114e-01 1.71435163e+02] [ 5.45175269e-01 8.33651989e-01 -8.83645133e-02 6.17272901e+01] [ 1.46403614e-01 9.10817198e-03 9.89183008e-01 2.05919017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93710568099996 meters Centerline goodness [0,1] 0.9999162777068464 Centerline is valid? [True, True] Translation: X:171.46, Y:61.74, Z:20.60 [[ 8.25518747e-01 -5.52009769e-01 -1.17490476e-01 1.71459366e+02] [ 5.44909676e-01 8.33786575e-01 -8.87321442e-02 6.17415396e+01] [ 1.46942992e-01 9.22835118e-03 9.89101913e-01 2.05956963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96710568099996 meters Centerline goodness [0,1] 0.9999791144527986 Centerline is valid? [True, True] Translation: X:171.49, Y:61.75, Z:20.60 [[ 8.24564250e-01 -5.53234127e-01 -1.18430562e-01 1.71486588e+02] [ 5.46028386e-01 8.32976076e-01 -8.94642825e-02 6.17525376e+01] [ 1.48144519e-01 9.10260034e-03 9.88923831e-01 2.05978207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99710568099997 meters Centerline goodness [0,1] 0.9999166232412715 Centerline is valid? [True, True] Translation: X:171.52, Y:61.76, Z:20.61 [[ 8.22793527e-01 -5.56270917e-01 -1.16505273e-01 1.71519279e+02] [ 5.49320475e-01 8.30957907e-01 -8.80680007e-02 6.17556591e+01] [ 1.45800645e-01 8.46304895e-03 9.89277791e-01 2.06051968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02710568099997 meters Centerline goodness [0,1] 0.9998750676716779 Centerline is valid? [True, True] Translation: X:171.55, Y:61.77, Z:20.61 [[ 8.21027475e-01 -5.59009124e-01 -1.15856311e-01 1.71547178e+02] [ 5.52161071e-01 8.29123442e-01 -8.75926291e-02 6.17660851e+01] [ 1.45024262e-01 7.94461018e-03 9.89396203e-01 2.06115538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.58, Y:61.77, Z:20.62 [[ 8.16731983e-01 -5.65272926e-01 -1.15824814e-01 1.71577299e+02] [ 5.58488554e-01 8.24875542e-01 -8.75835373e-02 6.17732488e+01] [ 1.45049659e-01 6.84544317e-03 9.89400696e-01 2.06159288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08710568099997 meters Centerline goodness [0,1] 0.9999790198053038 Centerline is valid? [True, True] Translation: X:171.61, Y:61.78, Z:20.62 [[ 8.14363307e-01 -5.68770729e-01 -1.15378774e-01 1.71605457e+02] [ 5.62071359e-01 8.22472662e-01 -8.72611479e-02 6.17841239e+01] [ 1.44527474e-01 6.21117295e-03 9.89481294e-01 2.06198520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.64, Y:61.79, Z:20.63 [[ 8.09593738e-01 -5.75784842e-01 -1.14148125e-01 1.71637046e+02] [ 5.69289494e-01 8.17586257e-01 -8.63839373e-02 6.17888863e+01] [ 1.43064500e-01 4.95256662e-03 9.89700976e-01 2.06259319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.67, Y:61.80, Z:20.63 [[ 8.06594371e-01 -5.79976233e-01 -1.14162555e-01 1.71665244e+02] [ 5.73518463e-01 8.14622443e-01 -8.64109282e-02 6.17988027e+01] [ 1.43115664e-01 4.22423519e-03 9.89696955e-01 2.06305765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.70, Y:61.81, Z:20.63 [[ 8.00128475e-01 -5.88633578e-01 -1.15347013e-01 1.71695275e+02] [ 5.82126773e-01 8.08395383e-01 -8.73231039e-02 6.18078638e+01] [ 1.44647304e-01 2.72311744e-03 9.89479531e-01 2.06329191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.72, Y:61.82, Z:20.64 [[ 7.98224263e-01 -5.91275945e-01 -1.15025142e-01 1.71718682e+02] [ 5.84824687e-01 8.06466082e-01 -8.71352068e-02 6.18225432e+01] [ 1.44284827e-01 2.28389380e-03 9.89533563e-01 2.06377118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.74, Y:61.84, Z:20.65 [[ 7.98060524e-01 -5.91778238e-01 -1.13568999e-01 1.71742003e+02] [ 5.85492363e-01 8.06097861e-01 -8.60519100e-02 6.18368362e+01] [ 1.42471375e-01 2.18085091e-03 9.89796520e-01 2.06451209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.76, Y:61.86, Z:20.65 [[ 8.01534830e-01 -5.86759196e-01 -1.15132803e-01 1.71759854e+02] [ 5.80235892e-01 8.09755244e-01 -8.73083888e-02 6.18591537e+01] [ 1.44458391e-01 3.17653016e-03 9.89505777e-01 2.06489640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29710568099998 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:171.78, Y:61.88, Z:20.65 [[ 8.03959850e-01 -5.83219694e-01 -1.16203908e-01 1.71780470e+02] [ 5.76534067e-01 8.12305267e-01 -8.81397877e-02 6.18799267e+01] [ 1.45797907e-01 3.86533873e-03 9.89306843e-01 2.06521645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32710568099998 meters Centerline goodness [0,1] 0.9998745714524626 Centerline is valid? [True, True] Translation: X:171.80, Y:61.91, Z:20.66 [[ 8.11161616e-01 -5.73549657e-01 -1.14269957e-01 1.71795875e+02] [ 5.66981800e-01 8.19151915e-01 -8.67281912e-02 6.19059868e+01] [ 1.43347379e-01 5.56159357e-03 9.89656808e-01 2.06594434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35710568099998 meters Centerline goodness [0,1] 0.9999582341394144 Centerline is valid? [True, True] Translation: X:171.82, Y:61.93, Z:20.67 [[ 8.14368883e-01 -5.69104967e-01 -1.13678752e-01 1.71816657e+02] [ 5.62558771e-01 8.22240506e-01 -8.63028353e-02 6.19271638e+01] [ 1.42586647e-01 6.33136476e-03 9.89762073e-01 2.06651204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38710568099998 meters Centerline goodness [0,1] 0.9998950197362896 Centerline is valid? [True, True] Translation: X:171.84, Y:61.95, Z:20.66 [[ 8.17760764e-01 -5.63651647e-01 -1.16465246e-01 1.71837129e+02] [ 5.56715879e-01 8.25978467e-01 -8.84703417e-02 6.19483658e+01] [ 1.46064239e-01 7.50952253e-03 9.89246605e-01 2.06639782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.86, Y:61.96, Z:20.66 [[ 8.17301101e-01 -5.63707303e-01 -1.19385868e-01 1.71861554e+02] [ 5.56413852e-01 8.25938611e-01 -9.07140336e-02 6.19636767e+01] [ 1.49741561e-01 7.71272886e-03 9.88695089e-01 2.06624167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.44710568099998 meters Centerline goodness [0,1] 0.9999370039057578 Centerline is valid? [True, True] Translation: X:171.89, Y:61.98, Z:20.67 [[ 8.16761497e-01 -5.64448018e-01 -1.19578810e-01 1.71885693e+02] [ 5.57135345e-01 8.25433556e-01 -9.08826247e-02 6.19790792e+01] [ 1.50002880e-01 7.60784703e-03 9.88656288e-01 2.06660619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.91, Y:61.99, Z:20.67 [[ 8.16325289e-01 -5.64965693e-01 -1.20111570e-01 1.71910145e+02] [ 5.57584081e-01 8.25079440e-01 -9.13450042e-02 6.19916696e+01] [ 1.50708381e-01 7.59493741e-03 9.88549089e-01 2.06701423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.50710568099998 meters Centerline goodness [0,1] 0.9998107494322483 Centerline is valid? [True, True] Translation: X:171.93, Y:62.01, Z:20.68 [[ 8.16872030e-01 -5.64320945e-01 -1.19423438e-01 1.71933168e+02] [ 5.57014297e-01 8.25519716e-01 -9.08420182e-02 6.20068140e+01] [ 1.49850456e-01 7.68574141e-03 9.88678800e-01 2.06761975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53710568099999 meters Centerline goodness [0,1] 0.9997056473655439 Centerline is valid? [True, True] Translation: X:171.96, Y:62.02, Z:20.68 [[ 8.16688713e-01 -5.64609148e-01 -1.19314947e-01 1.71959584e+02] [ 5.57315685e-01 8.25323020e-01 -9.07807268e-02 6.20173200e+01] [ 1.49729001e-01 7.64350340e-03 9.88697529e-01 2.06806003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.567105681 meters Centerline goodness [0,1] 0.9998737267446755 Centerline is valid? [True, True] Translation: X:171.98, Y:62.03, Z:20.68 [[ 8.16429056e-01 -5.64863410e-01 -1.19887138e-01 1.71980882e+02] [ 5.57491295e-01 8.25148557e-01 -9.12869893e-02 6.20339936e+01] [ 1.50489379e-01 7.69331462e-03 9.88581691e-01 2.06823871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59710568099996 meters Centerline goodness [0,1] 0.9996421052631579 Centerline is valid? [True, True] Translation: X:172.00, Y:62.05, Z:20.69 [[ 8.16169780e-01 -5.65231919e-01 -1.19915670e-01 1.72004067e+02] [ 5.57855348e-01 8.24896536e-01 -9.13406569e-02 6.20489017e+01] [ 1.50546675e-01 7.65388613e-03 9.88573273e-01 2.06856661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62710568099996 meters Centerline goodness [0,1] 0.9997708715214131 Centerline is valid? [True, True] Translation: X:172.03, Y:62.07, Z:20.69 [[ 8.15796296e-01 -5.66261595e-01 -1.17576396e-01 1.72025483e+02] [ 5.59172386e-01 8.24192621e-01 -8.96257048e-02 6.20661606e+01] [ 1.47657193e-01 7.37084419e-03 9.89011134e-01 2.06934013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65710568099996 meters Centerline goodness [0,1] 0.9997688492897369 Centerline is valid? [True, True] Translation: X:172.05, Y:62.08, Z:20.70 [[ 8.15421422e-01 -5.66923697e-01 -1.16984729e-01 1.72052852e+02] [ 5.59904177e-01 8.23738297e-01 -8.92330148e-02 6.20772202e+01] [ 1.46953112e-01 7.26227350e-03 9.89116799e-01 2.06984722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68710568099996 meters Centerline goodness [0,1] 0.9998106578587508 Centerline is valid? [True, True] Translation: X:172.08, Y:62.09, Z:20.70 [[ 8.13589142e-01 -5.69258973e-01 -1.18393114e-01 1.72076116e+02] [ 5.62083366e-01 8.22128663e-01 -9.03700784e-02 6.20926212e+01] [ 1.48778351e-01 6.97731429e-03 9.88845953e-01 2.06990242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71710568099996 meters Centerline goodness [0,1] 0.9996665694160797 Centerline is valid? [True, True] Translation: X:172.10, Y:62.10, Z:20.70 [[ 8.09459320e-01 -5.74958388e-01 -1.19157295e-01 1.72103321e+02] [ 5.67745462e-01 8.18160671e-01 -9.09846485e-02 6.21031230e+01] [ 1.49802200e-01 5.99735804e-03 9.88697796e-01 2.06998382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74710568099997 meters Centerline goodness [0,1] 0.9997478885667465 Centerline is valid? [True, True] Translation: X:172.13, Y:62.12, Z:20.70 [[ 8.06782458e-01 -5.78642744e-01 -1.19476524e-01 1.72129349e+02] [ 5.71427612e-01 8.15563603e-01 -9.12496217e-02 6.21160709e+01] [ 1.50241636e-01 5.34640919e-03 9.88634850e-01 2.07033113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77710568099997 meters Centerline goodness [0,1] 0.9998951276296747 Centerline is valid? [True, True] Translation: X:172.16, Y:62.13, Z:20.71 [[ 8.02747426e-01 -5.84251782e-01 -1.19358387e-01 1.72155876e+02] [ 5.77109704e-01 8.11561021e-01 -9.11761959e-02 6.21290258e+01] [ 1.50136469e-01 4.30857334e-03 9.88655894e-01 2.07078444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80710568099997 meters Centerline goodness [0,1] 0.999663604061981 Centerline is valid? [True, True] Translation: X:172.18, Y:62.15, Z:20.71 [[ 8.03605030e-01 -5.83070801e-01 -1.19362456e-01 1.72176776e+02] [ 5.75906908e-01 8.12408464e-01 -9.12344287e-02 6.21476066e+01] [ 1.50167201e-01 4.57478308e-03 9.88650031e-01 2.07119160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83710568099997 meters Centerline goodness [0,1] 0.9995994940978078 Centerline is valid? [True, True] Translation: X:172.20, Y:62.17, Z:20.72 [[ 8.05214218e-01 -5.80774805e-01 -1.19710854e-01 1.72197879e+02] [ 5.73540086e-01 8.14048681e-01 -9.15232986e-02 6.21664658e+01] [ 1.50604889e-01 5.03688802e-03 9.88581204e-01 2.07163003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86710568099997 meters Centerline goodness [0,1] 0.999288464758078 Centerline is valid? [True, True] Translation: X:172.21, Y:62.19, Z:20.72 [[ 8.10238406e-01 -5.74330717e-01 -1.16867247e-01 1.72212049e+02] [ 5.67361886e-01 8.18600375e-01 -8.94087062e-02 6.21925232e+01] [ 1.47017738e-01 6.13634614e-03 9.89114821e-01 2.07239450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89710568099997 meters Centerline goodness [0,1] 0.999055693121249 Centerline is valid? [True, True] Translation: X:172.23, Y:62.21, Z:20.73 [[ 8.12393983e-01 -5.71537592e-01 -1.15588915e-01 1.72232497e+02] [ 5.64690732e-01 8.20549485e-01 -8.84472689e-02 6.22136774e+01] [ 1.45397363e-01 6.58204029e-03 9.89351446e-01 2.07298823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92710568099997 meters Centerline goodness [0,1] 0.9990353562890576 Centerline is valid? [True, True] Translation: X:172.25, Y:62.24, Z:20.74 [[ 8.14676351e-01 -5.68524467e-01 -1.14378201e-01 1.72252237e+02] [ 5.61784288e-01 8.22635834e-01 -8.75711060e-02 6.22357002e+01] [ 1.43877923e-01 7.08623314e-03 9.89570073e-01 2.07368292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95710568099997 meters Centerline goodness [0,1] 0.9990353562890576 Centerline is valid? [True, True] Translation: X:172.27, Y:62.25, Z:20.74 [[ 8.14468709e-01 -5.68826741e-01 -1.14354100e-01 1.72273725e+02] [ 5.62085115e-01 8.22426966e-01 -8.76025670e-02 6.22524476e+01] [ 1.43878578e-01 7.07281252e-03 9.89570073e-01 2.07408731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98710568099997 meters Centerline goodness [0,1] 0.9990168598083923 Centerline is valid? [True, True] Translation: X:172.30, Y:62.27, Z:20.74 [[ 8.15072374e-01 -5.68069626e-01 -1.13815313e-01 1.72295411e+02] [ 5.61374781e-01 8.22948763e-01 -8.72564588e-02 6.22709393e+01] [ 1.43231915e-01 7.22728233e-03 9.89662763e-01 2.07444868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01710568099998 meters Centerline goodness [0,1] 0.9990984946957944 Centerline is valid? [True, True] Translation: X:172.32, Y:62.29, Z:20.75 [[ 8.14622519e-01 -5.68477889e-01 -1.14991485e-01 1.72316955e+02] [ 5.61638333e-01 8.22666320e-01 -8.82185279e-02 6.22889134e+01] [ 1.44749904e-01 7.28117361e-03 9.89441484e-01 2.07458885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04710568099998 meters Centerline goodness [0,1] 0.9988890984929468 Centerline is valid? [True, True] Translation: X:172.34, Y:62.31, Z:20.75 [[ 8.13725857e-01 -5.69602034e-01 -1.15774578e-01 1.72338900e+02] [ 5.62676626e-01 8.21889549e-01 -8.88402191e-02 6.23075314e+01] [ 1.45757485e-01 7.14793431e-03 9.89294528e-01 2.07472802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07710568099998 meters Centerline goodness [0,1] 0.9993686868686869 Centerline is valid? [True, True] Translation: X:172.36, Y:62.33, Z:20.75 [[ 8.12269292e-01 -5.71293302e-01 -1.17654409e-01 1.72361833e+02] [ 5.64148315e-01 8.20716058e-01 -9.03428518e-02 6.23258799e+01] [ 1.48173129e-01 7.00818758e-03 9.88936605e-01 2.07469619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10710568099998 meters Centerline goodness [0,1] 0.9993899745472139 Centerline is valid? [True, True] Translation: X:172.39, Y:62.34, Z:20.75 [[ 8.10929106e-01 -5.72430453e-01 -1.21315134e-01 1.72386084e+02] [ 5.64833643e-01 8.19922794e-01 -9.32178501e-02 6.23427997e+01] [ 1.52829780e-01 7.07019853e-03 9.88227236e-01 2.07454541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13710568099998 meters Centerline goodness [0,1] 0.9992245300023055 Centerline is valid? [True, True] Translation: X:172.41, Y:62.36, Z:20.75 [[ 8.10033345e-01 -5.73513555e-01 -1.22180941e-01 1.72408502e+02] [ 5.65809942e-01 8.19166449e-01 -9.39438074e-02 6.23592856e+01] [ 1.53964574e-01 6.96642551e-03 9.88051810e-01 2.07485780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16710568099998 meters Centerline goodness [0,1] 0.9992035880454374 Centerline is valid? [True, True] Translation: X:172.43, Y:62.38, Z:20.76 [[ 8.08921793e-01 -5.75362749e-01 -1.20843866e-01 1.72431493e+02] [ 5.67844832e-01 8.17872044e-01 -9.29385022e-02 6.23764110e+01] [ 1.52308172e-01 6.55941529e-03 9.88311284e-01 2.07555469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19710568099998 meters Centerline goodness [0,1] 0.9995799907597968 Centerline is valid? [True, True] Translation: X:172.45, Y:62.39, Z:20.76 [[ 8.08897464e-01 -5.75587636e-01 -1.19932339e-01 1.72452473e+02] [ 5.68177340e-01 8.17714164e-01 -9.22933158e-02 6.23941042e+01] [ 1.51193264e-01 6.51299172e-03 9.88482766e-01 2.07612969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.22710568099998 meters Centerline goodness [0,1] 0.9991850211058637 Centerline is valid? [True, True] Translation: X:172.47, Y:62.41, Z:20.77 [[ 8.08703774e-01 -5.76297352e-01 -1.17811575e-01 1.72474817e+02] [ 5.69145996e-01 8.17215655e-01 -9.07271038e-02 6.24108278e+01] [ 1.48563253e-01 6.31936495e-03 9.88882716e-01 2.07675101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25710568099998 meters Centerline goodness [0,1] 0.9991156777698236 Centerline is valid? [True, True] Translation: X:172.50, Y:62.42, Z:20.77 [[ 8.06086440e-01 -5.80026821e-01 -1.17445894e-01 1.72503080e+02] [ 5.72950568e-01 8.14577695e-01 -9.05031811e-02 6.24214996e+01] [ 1.48163078e-01 5.66269536e-03 9.88946731e-01 2.07705932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.28710568099999 meters Centerline goodness [0,1] 0.9992249198734734 Centerline is valid? [True, True] Translation: X:172.53, Y:62.44, Z:20.77 [[ 8.03819261e-01 -5.83044352e-01 -1.18041856e-01 1.72527774e+02] [ 5.75925331e-01 8.12424018e-01 -9.09792673e-02 6.24358486e+01] [ 1.48944987e-01 5.14759230e-03 9.88832085e-01 2.07726918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.317105681 meters Centerline goodness [0,1] 0.9993047215725934 Centerline is valid? [True, True] Translation: X:172.56, Y:62.45, Z:20.77 [[ 7.98557789e-01 -5.90065935e-01 -1.18859794e-01 1.72555833e+02] [ 5.82921265e-01 8.07345715e-01 -9.16280226e-02 6.24475583e+01] [ 1.50027520e-01 3.88436975e-03 9.88674190e-01 2.07744981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34710568099996 meters Centerline goodness [0,1] 0.9990373548184577 Centerline is valid? [True, True] Translation: X:172.58, Y:62.46, Z:20.78 [[ 7.96192623e-01 -5.93258704e-01 -1.18833569e-01 1.72577696e+02] [ 5.86144029e-01 8.05004990e-01 -9.16632062e-02 6.24645578e+01] [ 1.50041611e-01 3.32798142e-03 9.88674081e-01 2.07768621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37710568099996 meters Centerline goodness [0,1] 0.999262925134253 Centerline is valid? [True, True] Translation: X:172.60, Y:62.48, Z:20.78 [[ 7.92278370e-01 -5.98357733e-01 -1.19427834e-01 1.72603165e+02] [ 5.91225158e-01 8.01225491e-01 -9.21440506e-02 6.24782305e+01] [ 1.50823730e-01 2.39499797e-03 9.88557771e-01 2.07796700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40710568099996 meters Centerline goodness [0,1] 0.9990944699490376 Centerline is valid? [True, True] Translation: X:172.63, Y:62.49, Z:20.78 [[ 7.90619257e-01 -6.00602428e-01 -1.19154998e-01 1.72628200e+02] [ 5.93520302e-01 7.99545316e-01 -9.19833636e-02 6.24921515e+01] [ 1.50515252e-01 2.00290836e-03 9.88605658e-01 2.07845388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43710568099996 meters Centerline goodness [0,1] 0.999073937659167 Centerline is valid? [True, True] Translation: X:172.65, Y:62.51, Z:20.79 [[ 7.89065016e-01 -6.02596171e-01 -1.19391183e-01 1.72649819e+02] [ 5.95498798e-01 7.98044511e-01 -9.22287358e-02 6.25101677e+01] [ 1.50856161e-01 1.67716288e-03 9.88554301e-01 2.07903059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46710568099996 meters Centerline goodness [0,1] 0.9996002692922663 Centerline is valid? [True, True] Translation: X:172.66, Y:62.54, Z:20.79 [[ 7.90865938e-01 -6.00192247e-01 -1.19584007e-01 1.72664985e+02] [ 5.93035025e-01 7.99852782e-01 -9.24390984e-02 6.25361493e+01] [ 1.51130831e-01 2.18942979e-03 9.88511345e-01 2.07942600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49710568099997 meters Centerline goodness [0,1] 0.9995418766398734 Centerline is valid? [True, True] Translation: X:172.68, Y:62.56, Z:20.80 [[ 7.93183451e-01 -5.97319389e-01 -1.18615178e-01 1.72682296e+02] [ 5.90241437e-01 8.01998774e-01 -9.17224739e-02 6.25594049e+01] [ 1.49916839e-01 2.74115523e-03 9.88694810e-01 2.07986294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52710568099997 meters Centerline goodness [0,1] 0.9998530307165803 Centerline is valid? [True, True] Translation: X:172.70, Y:62.58, Z:20.81 [[ 7.97917558e-01 -5.91361038e-01 -1.16703445e-01 1.72697932e+02] [ 5.84443919e-01 8.06397886e-01 -9.02649125e-02 6.25848210e+01] [ 1.47488563e-01 3.81734002e-03 9.89056395e-01 2.08063988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55710568099997 meters Centerline goodness [0,1] 0.9998331978065511 Centerline is valid? [True, True] Translation: X:172.72, Y:62.61, Z:20.81 [[ 7.99308401e-01 -5.89656369e-01 -1.15807803e-01 1.72716293e+02] [ 5.82825354e-01 8.07643762e-01 -8.95888378e-02 6.26053829e+01] [ 1.46358078e-01 4.11338710e-03 9.89223126e-01 2.08113224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58710568099997 meters Centerline goodness [0,1] 0.9997699707235467 Centerline is valid? [True, True] Translation: X:172.74, Y:62.63, Z:20.82 [[ 7.99766446e-01 -5.89379462e-01 -1.14041576e-01 1.72735740e+02] [ 5.82750705e-01 8.07845847e-01 -8.82422977e-02 6.26257960e+01] [ 1.44136211e-01 4.11542028e-03 9.89549299e-01 2.08168228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.75, Y:62.65, Z:20.82 [[ 7.99593997e-01 -5.90008045e-01 -1.11981904e-01 1.72754627e+02] [ 5.83615579e-01 8.07387575e-01 -8.67073211e-02 6.26455514e+01] [ 1.41570815e-01 3.97626981e-03 9.89920145e-01 2.08220689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64710568099997 meters Centerline goodness [0,1] 0.9998949822520006 Centerline is valid? [True, True] Translation: X:172.78, Y:62.66, Z:20.83 [[ 7.99470477e-01 -5.90318865e-01 -1.11223176e-01 1.72775560e+02] [ 5.84013603e-01 8.07160677e-01 -8.61379870e-02 6.26629411e+01] [ 1.40623853e-01 3.90892957e-03 9.90055378e-01 2.08268208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67710568099997 meters Centerline goodness [0,1] 0.9999373799782917 Centerline is valid? [True, True] Translation: X:172.80, Y:62.68, Z:20.83 [[ 8.00426033e-01 -5.88644948e-01 -1.13204642e-01 1.72795458e+02] [ 5.82084962e-01 8.08380057e-01 -8.77426895e-02 6.26849909e+01] [ 1.43161666e-01 4.33681309e-03 9.89689815e-01 2.08273505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70710568099997 meters Centerline goodness [0,1] 0.9999369403455669 Centerline is valid? [True, True] Translation: X:172.82, Y:62.70, Z:20.83 [[ 8.01211371e-01 -5.87079885e-01 -1.15747772e-01 1.72816751e+02] [ 5.80194673e-01 8.09514931e-01 -8.97759289e-02 6.27047546e+01] [ 1.46405192e-01 4.77325450e-03 9.89213190e-01 2.08280518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73710568099997 meters Centerline goodness [0,1] 0.9998739363378506 Centerline is valid? [True, True] Translation: X:172.84, Y:62.73, Z:20.83 [[ 8.03912155e-01 -5.82474649e-01 -1.20202038e-01 1.72835711e+02] [ 5.74984437e-01 8.12827542e-01 -9.32967513e-02 6.27296500e+01] [ 1.52046519e-01 5.88809159e-03 9.88355799e-01 2.08258441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76710568099998 meters Centerline goodness [0,1] 0.9998949314953349 Centerline is valid? [True, True] Translation: X:172.86, Y:62.75, Z:20.83 [[ 8.05896959e-01 -5.79477236e-01 -1.21392853e-01 1.72856185e+02] [ 5.71794634e-01 8.14961987e-01 -9.42754282e-02 6.27509746e+01] [ 1.53561025e-01 6.56449883e-03 9.88117361e-01 2.08286045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79710568099998 meters Centerline goodness [0,1] 0.9998326324818511 Centerline is valid? [True, True] Translation: X:172.87, Y:62.78, Z:20.83 [[ 8.09945046e-01 -5.73536326e-01 -1.22658487e-01 1.72873131e+02] [ 5.65621412e-01 8.19143109e-01 -9.52732126e-02 6.27750766e+01] [ 1.55117502e-01 7.78780019e-03 9.87865330e-01 2.08305638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82710568099998 meters Centerline goodness [0,1] 0.999873790492217 Centerline is valid? [True, True] Translation: X:172.89, Y:62.80, Z:20.83 [[ 8.12102772e-01 -5.70423325e-01 -1.22907759e-01 1.72892660e+02] [ 5.62436345e-01 8.21307666e-01 -9.54938468e-02 6.27982211e+01] [ 1.55417002e-01 8.42302711e-03 9.87813043e-01 2.08338312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85710568099998 meters Centerline goodness [0,1] 0.9996425642858645 Centerline is valid? [True, True] Translation: X:172.91, Y:62.82, Z:20.84 [[ 8.12907441e-01 -5.69619572e-01 -1.21305547e-01 1.72913092e+02] [ 5.61824423e-01 8.21864492e-01 -9.42978039e-02 6.28182886e+01] [ 1.53410596e-01 8.50296768e-03 9.88125948e-01 2.08391350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88710568099998 meters Centerline goodness [0,1] 0.9998122222454047 Centerline is valid? [True, True] Translation: X:172.93, Y:62.84, Z:20.85 [[ 8.14048371e-01 -5.68447545e-01 -1.19132860e-01 1.72931558e+02] [ 5.60909285e-01 8.22674406e-01 -9.26692829e-02 6.28394899e+01] [ 1.50685181e-01 8.61455149e-03 9.88544266e-01 2.08452095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91710568099998 meters Centerline goodness [0,1] 0.9999368593858523 Centerline is valid? [True, True] Translation: X:172.96, Y:62.85, Z:20.85 [[ 8.12823732e-01 -5.70083326e-01 -1.19676991e-01 1.72956833e+02] [ 5.62489505e-01 8.21544245e-01 -9.31161120e-02 6.28530355e+01] [ 1.51403886e-01 8.36993416e-03 9.88436547e-01 2.08490281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94710568099998 meters Centerline goodness [0,1] 0.9999158125144697 Centerline is valid? [True, True] Translation: X:172.98, Y:62.87, Z:20.85 [[ 8.11235294e-01 -5.72315428e-01 -1.19801288e-01 1.72977313e+02] [ 5.64720183e-01 8.19994406e-01 -9.32753387e-02 6.28716188e+01] [ 1.51619302e-01 8.01404138e-03 9.88406476e-01 2.08516579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97710568099998 meters Centerline goodness [0,1] 0.9999789398310974 Centerline is valid? [True, True] Translation: X:173.00, Y:62.88, Z:20.85 [[ 8.06537945e-01 -5.78721929e-01 -1.20737206e-01 1.73004673e+02] [ 5.71073950e-01 8.15495866e-01 -9.40267837e-02 6.28836858e+01] [ 1.52876054e-01 6.88629594e-03 9.88221378e-01 2.08539453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00710568099998 meters Centerline goodness [0,1] 0.999957931933869 Centerline is valid? [True, True] Translation: X:173.03, Y:62.90, Z:20.86 [[ 8.04238528e-01 -5.81661723e-01 -1.21942730e-01 1.73030343e+02] [ 5.73889399e-01 8.13405527e-01 -9.49863540e-02 6.28975114e+01] [ 1.54438817e-01 6.41004581e-03 9.87981560e-01 2.08564308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03710568099999 meters Centerline goodness [0,1] 0.9999789464819572 Centerline is valid? [True, True] Translation: X:173.06, Y:62.91, Z:20.86 [[ 8.00175866e-01 -5.87288888e-01 -1.21697763e-01 1.73056717e+02] [ 5.79609332e-01 8.09359837e-01 -9.48139029e-02 6.29089027e+01] [ 1.54180433e-01 5.33063774e-03 9.88028329e-01 2.08603572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.067105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.08, Y:62.92, Z:20.87 [[ 7.98271551e-01 -5.90048559e-01 -1.20852097e-01 1.73082260e+02] [ 5.82504592e-01 8.07353617e-01 -9.41729167e-02 6.29217665e+01] [ 1.53136971e-01 4.77865890e-03 9.88193419e-01 2.08665710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:62.94, Z:20.87 [[ 7.95227589e-01 -5.94267720e-01 -1.20245410e-01 1.73104949e+02] [ 5.86844587e-01 8.04257530e-01 -9.37190247e-02 6.29367968e+01] [ 1.52402468e-01 3.96258583e-03 9.88310571e-01 2.08727549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.13, Y:62.95, Z:20.88 [[ 7.93130794e-01 -5.97284872e-01 -1.19139941e-01 1.73128532e+02] [ 5.90027205e-01 8.02022051e-01 -9.28898667e-02 6.29528788e+01] [ 1.51034572e-01 3.37800748e-03 9.88522709e-01 2.08785120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15710568099996 meters Centerline goodness [0,1] 0.9999789655244946 Centerline is valid? [True, True] Translation: X:173.15, Y:62.97, Z:20.88 [[ 7.91163829e-01 -5.99705807e-01 -1.20053076e-01 1.73152708e+02] [ 5.92353567e-01 8.00214970e-01 -9.36656472e-02 6.29691203e+01] [ 1.52240101e-01 2.99100428e-03 9.88339013e-01 2.08804493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18710568099996 meters Centerline goodness [0,1] 0.9999578716771286 Centerline is valid? [True, True] Translation: X:173.18, Y:62.98, Z:20.88 [[ 7.86110615e-01 -6.05555441e-01 -1.23825313e-01 1.73182019e+02] [ 5.97791810e-01 7.95800667e-01 -9.66760047e-02 6.29800617e+01] [ 1.57082947e-01 1.97627579e-03 9.87583436e-01 2.08789916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21710568099996 meters Centerline goodness [0,1] 0.9999579230833965 Centerline is valid? [True, True] Translation: X:173.21, Y:62.99, Z:20.88 [[ 7.82830841e-01 -6.09769272e-01 -1.23924610e-01 1.73208644e+02] [ 6.02035696e-01 7.92578095e-01 -9.68141718e-02 6.29933108e+01] [ 1.57254239e-01 1.18208051e-03 9.87557445e-01 2.08827014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.23, Y:63.01, Z:20.88 [[ 7.78394002e-01 -6.15247970e-01 -1.24790678e-01 1.73231919e+02] [ 6.07465172e-01 7.88333635e-01 -9.75507303e-02 6.30084149e+01] [ 1.58394578e-01 1.26912516e-04 9.87375887e-01 2.08845205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.25, Y:63.03, Z:20.89 [[ 7.77324802e-01 -6.16355230e-01 -1.25985648e-01 1.73253720e+02] [ 6.08429877e-01 7.87468238e-01 -9.85233919e-02 6.30271360e+01] [ 1.59935104e-01 -6.87563707e-05 9.87127529e-01 2.08873917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.27, Y:63.05, Z:20.89 [[ 7.79941272e-01 -6.12889874e-01 -1.26718645e-01 1.73274122e+02] [ 6.04814332e-01 7.90168025e-01 -9.91671088e-02 6.30473555e+01] [ 1.60907538e-01 7.03268151e-04 9.86969234e-01 2.08930120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.29, Y:63.08, Z:20.90 [[ 7.88047523e-01 -6.02775425e-01 -1.25071532e-01 1.73285251e+02] [ 5.94771549e-01 7.97905994e-01 -9.79429870e-02 6.30770527e+01] [ 1.58832950e-01 2.79473976e-03 9.87301516e-01 2.08996100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36710568099997 meters Centerline goodness [0,1] 0.9999578903042425 Centerline is valid? [True, True] Translation: X:173.30, Y:63.11, Z:20.90 [[ 7.95392949e-01 -5.93381966e-01 -1.23482381e-01 1.73297936e+02] [ 5.85464128e-01 8.04907650e-01 -9.67234722e-02 6.31073512e+01] [ 1.56785877e-01 4.63866342e-03 9.87621725e-01 2.09043624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39710568099997 meters Centerline goodness [0,1] 0.9999789509135304 Centerline is valid? [True, True] Translation: X:173.32, Y:63.13, Z:20.91 [[ 7.97869692e-01 -5.89996469e-01 -1.23725990e-01 1.73317322e+02] [ 5.81997379e-01 8.07388012e-01 -9.69724077e-02 6.31305020e+01] [ 1.57108260e-01 5.36314301e-03 9.87566824e-01 2.09072154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42710568099997 meters Centerline goodness [0,1] 0.99989510342802 Centerline is valid? [True, True] Translation: X:173.34, Y:63.15, Z:20.91 [[ 8.00814751e-01 -5.85793394e-01 -1.24666897e-01 1.73335870e+02] [ 5.77611978e-01 8.10436081e-01 -9.77638060e-02 6.31531707e+01] [ 1.58303943e-01 6.28160513e-03 9.87370449e-01 2.09093545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45710568099997 meters Centerline goodness [0,1] 0.9999789562289563 Centerline is valid? [True, True] Translation: X:173.36, Y:63.17, Z:20.91 [[ 8.00862687e-01 -5.85677267e-01 -1.24904342e-01 1.73358291e+02] [ 5.77460155e-01 8.10519617e-01 -9.79679556e-02 6.31716406e+01] [ 1.58615024e-01 6.33159936e-03 9.87320204e-01 2.09131018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48710568099997 meters Centerline goodness [0,1] 0.9999371319600159 Centerline is valid? [True, True] Translation: X:173.38, Y:63.19, Z:20.92 [[ 8.00641789e-01 -5.86095046e-01 -1.24359649e-01 1.73379284e+02] [ 5.77944613e-01 8.10218017e-01 -9.76052687e-02 6.31917596e+01] [ 1.57964392e-01 6.27386793e-03 9.87424878e-01 2.09167652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51710568099998 meters Centerline goodness [0,1] 0.9998734097094752 Centerline is valid? [True, True] Translation: X:173.40, Y:63.21, Z:20.92 [[ 8.00496116e-01 -5.86358082e-01 -1.24057120e-01 1.73399329e+02] [ 5.78240925e-01 8.10027812e-01 -9.74288288e-02 6.32107058e+01] [ 1.57617899e-01 6.25649504e-03 9.87480356e-01 2.09203958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.42, Y:63.23, Z:20.92 [[ 8.00642502e-01 -5.86136022e-01 -1.24161782e-01 1.73419854e+02] [ 5.77998352e-01 8.10187965e-01 -9.75364894e-02 6.32302308e+01] [ 1.57764032e-01 6.32655332e-03 9.87456574e-01 2.09236845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57710568099998 meters Centerline goodness [0,1] 0.9999578911908371 Centerline is valid? [True, True] Translation: X:173.44, Y:63.25, Z:20.93 [[ 8.00597744e-01 -5.86026593e-01 -1.24964330e-01 1.73442617e+02] [ 5.77771054e-01 8.10266207e-01 -9.82307671e-02 6.32472439e+01] [ 1.58820215e-01 6.44255803e-03 9.87286500e-01 2.09270725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60710568099998 meters Centerline goodness [0,1] 0.9998737612825853 Centerline is valid? [True, True] Translation: X:173.46, Y:63.26, Z:20.93 [[ 8.01652784e-01 -5.84610581e-01 -1.24833017e-01 1.73463357e+02] [ 5.76345595e-01 8.11285821e-01 -9.81889599e-02 6.32648672e+01] [ 1.58677561e-01 6.76649378e-03 9.87307270e-01 2.09314204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63710568099998 meters Centerline goodness [0,1] 0.9999789442654707 Centerline is valid? [True, True] Translation: X:173.49, Y:63.28, Z:20.94 [[ 8.02714323e-01 -5.83514782e-01 -1.23126828e-01 1.73485012e+02] [ 5.75457812e-01 8.12073102e-01 -9.68792196e-02 6.32818113e+01] [ 1.56518442e-01 6.91204189e-03 9.87650850e-01 2.09392475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.51, Y:63.30, Z:20.94 [[ 8.03215927e-01 -5.82856520e-01 -1.22973378e-01 1.73509061e+02] [ 5.74808506e-01 8.12544505e-01 -9.67812402e-02 6.32964509e+01] [ 1.56330920e-01 7.05008963e-03 9.87679573e-01 2.09435877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69710568099998 meters Centerline goodness [0,1] 0.9998742375652393 Centerline is valid? [True, True] Translation: X:173.53, Y:63.32, Z:20.94 [[ 8.03672771e-01 -5.81848425e-01 -1.24749699e-01 1.73528710e+02] [ 5.73546795e-01 8.13263736e-01 -9.82149168e-02 6.33170400e+01] [ 1.58600601e-01 7.38286432e-03 9.87315220e-01 2.09439057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72710568099998 meters Centerline goodness [0,1] 0.9999791048518534 Centerline is valid? [True, True] Translation: X:173.55, Y:63.33, Z:20.94 [[ 8.03448833e-01 -5.81792586e-01 -1.26441132e-01 1.73551219e+02] [ 5.73256230e-01 8.13302373e-01 -9.95818510e-02 6.33330056e+01] [ 1.60770855e-01 7.52575512e-03 9.86963067e-01 2.09442001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75710568099998 meters Centerline goodness [0,1] 0.9999789540145217 Centerline is valid? [True, True] Translation: X:173.58, Y:63.34, Z:20.95 [[ 8.02617612e-01 -5.82866000e-01 -1.26776160e-01 1.73580000e+02] [ 5.74292373e-01 8.12534999e-01 -9.98756549e-02 6.33422209e+01] [ 1.61224191e-01 7.35537782e-03 9.86890399e-01 2.09497026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.61, Y:63.36, Z:20.95 [[ 8.00519652e-01 -5.85242220e-01 -1.29072966e-01 1.73605338e+02] [ 5.76372168e-01 8.10827785e-01 -1.01751792e-01 6.33554571e+01] [ 1.64205392e-01 7.06024360e-03 9.86400903e-01 2.09524546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.817105681 meters Centerline goodness [0,1] 0.9999581913581538 Centerline is valid? [True, True] Translation: X:173.63, Y:63.37, Z:20.96 [[ 7.99079773e-01 -5.87246460e-01 -1.28891865e-01 1.73627729e+02] [ 5.78421529e-01 8.09380715e-01 -1.01643462e-01 6.33716670e+01] [ 1.64012353e-01 6.66740489e-03 9.86435753e-01 2.09564711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84710568099996 meters Centerline goodness [0,1] 0.9999791179418643 Centerline is valid? [True, True] Translation: X:173.66, Y:63.38, Z:20.96 [[ 7.94665573e-01 -5.93284425e-01 -1.28530999e-01 1.73658050e+02] [ 5.84583082e-01 8.04974610e-01 -1.01382924e-01 6.33794166e+01] [ 1.63613100e-01 5.42847207e-03 9.86509648e-01 2.09636312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87710568099996 meters Centerline goodness [0,1] 0.9999791179418643 Centerline is valid? [True, True] Translation: X:173.68, Y:63.40, Z:20.97 [[ 7.94447594e-01 -5.93579568e-01 -1.28515820e-01 1.73679268e+02] [ 5.84878949e-01 8.04757241e-01 -1.01402161e-01 6.33964637e+01] [ 1.63614288e-01 5.39250491e-03 9.86509648e-01 2.09676733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90710568099996 meters Centerline goodness [0,1] 0.9999158071984845 Centerline is valid? [True, True] Translation: X:173.71, Y:63.41, Z:20.97 [[ 7.90973024e-01 -5.98196580e-01 -1.28539981e-01 1.73706637e+02] [ 5.89540762e-01 8.01336761e-01 -1.01494259e-01 6.34075006e+01] [ 1.63717331e-01 4.49966285e-03 9.86497029e-01 2.09720810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.74, Y:63.41, Z:20.98 [[ 7.83045037e-01 -6.08683824e-01 -1.27845503e-01 1.73739088e+02] [ 6.00254089e-01 7.93409461e-01 -1.00977500e-01 6.34109716e+01] [ 1.62897203e-01 2.33014436e-03 9.86640295e-01 2.09782973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.77, Y:63.42, Z:20.98 [[ 7.75224944e-01 -6.18843594e-01 -1.26723685e-01 1.73769294e+02] [ 6.10692218e-01 7.85514200e-01 -1.00112223e-01 6.34165907e+01] [ 1.61497062e-01 2.20324213e-04 9.86873168e-01 2.09840316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:63.43, Z:20.99 [[ 7.73097954e-01 -6.21710970e-01 -1.25678252e-01 1.73794562e+02] [ 6.13727726e-01 7.83246669e-01 -9.93123056e-02 6.34307761e+01] [ 1.60180622e-01 -3.54087287e-04 9.87087657e-01 2.09908918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.82, Y:63.44, Z:21.00 [[ 7.71910805e-01 -6.23732300e-01 -1.22929765e-01 1.73818029e+02] [ 6.16112737e-01 7.81637713e-01 -9.71986705e-02 6.34448715e+01] [ 1.56712491e-01 -7.09889930e-04 9.87644010e-01 2.10022186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:63.46, Z:21.01 [[ 7.72107717e-01 -6.23695934e-01 -1.21873112e-01 1.73839024e+02] [ 6.16197167e-01 7.81666786e-01 -9.64265878e-02 6.34623566e+01] [ 1.55405034e-01 -6.46153520e-04 9.87850625e-01 2.10067702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.86, Y:63.48, Z:21.01 [[ 7.72367397e-01 -6.23372292e-01 -1.21883509e-01 1.73856613e+02] [ 6.15864502e-01 7.81924977e-01 -9.64585186e-02 6.34826841e+01] [ 1.55433328e-01 -5.62311724e-04 9.87846225e-01 2.10097186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.88, Y:63.50, Z:21.01 [[ 7.71942451e-01 -6.23783324e-01 -1.22471293e-01 1.73877461e+02] [ 6.16202441e-01 7.81597069e-01 -9.69565557e-02 6.35011373e+01] [ 1.56203086e-01 -6.22228741e-04 9.87724764e-01 2.10117926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.90, Y:63.52, Z:21.01 [[ 7.70559840e-01 -6.25310149e-01 -1.23388617e-01 1.73898712e+02] [ 6.17623379e-01 7.80375827e-01 -9.77493209e-02 6.35188537e+01] [ 1.57413136e-01 -8.85993254e-04 9.87532440e-01 2.10139845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.92, Y:63.54, Z:21.02 [[ 7.70687043e-01 -6.25087698e-01 -1.23720861e-01 1.73915729e+02] [ 6.17352335e-01 7.80554094e-01 -9.80377557e-02 6.35410568e+01] [ 1.57853019e-01 -8.22934277e-04 9.87462276e-01 2.10200488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.93, Y:63.56, Z:21.03 [[ 7.71752153e-01 -6.24118835e-01 -1.21960215e-01 1.73934990e+02] [ 6.16579908e-01 7.81329232e-01 -9.67152986e-02 6.35622370e+01] [ 1.55652921e-01 -5.57978131e-04 9.87811651e-01 2.10277883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:63.58, Z:21.04 [[ 7.73835740e-01 -6.22257166e-01 -1.18212802e-01 1.73951412e+02] [ 6.15145864e-01 7.82812879e-01 -9.38059838e-02 6.35838566e+01] [ 1.50909949e-01 -1.27693083e-04 9.88547506e-01 2.10380435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.97, Y:63.61, Z:21.04 [[ 7.74969518e-01 -6.21015990e-01 -1.17308935e-01 1.73967305e+02] [ 6.13994283e-01 7.83797883e-01 -9.31230330e-02 6.36074418e+01] [ 1.49777387e-01 1.40496528e-04 9.88719735e-01 2.10435463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.98, Y:63.63, Z:21.05 [[ 7.76559261e-01 -6.18979779e-01 -1.17557423e-01 1.73984789e+02] [ 6.11894072e-01 7.85406699e-01 -9.33914377e-02 6.36299483e+01] [ 1.50137799e-01 5.91295408e-04 9.88664904e-01 2.10461560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.00, Y:63.66, Z:21.04 [[ 7.82155001e-01 -6.11113345e-01 -1.21548486e-01 1.73999799e+02] [ 6.03428385e-01 7.91539933e-01 -9.66370488e-02 6.36593709e+01] [ 1.55266670e-01 2.23934470e-03 9.87870055e-01 2.10416827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.02, Y:63.68, Z:21.04 [[ 7.85660027e-01 -6.06172343e-01 -1.23666536e-01 1.74017450e+02] [ 5.98144658e-01 7.95326374e-01 -9.83815352e-02 6.36833128e+01] [ 1.57991424e-01 3.32396166e-03 9.87434890e-01 2.10414531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:63.71, Z:21.04 [[ 7.91440484e-01 -5.98261586e-01 -1.25319735e-01 1.74032303e+02] [ 5.89913383e-01 8.01285298e-01 -9.97199674e-02 6.37122105e+01] [ 1.60075487e-01 4.99463017e-03 9.87092140e-01 2.10420984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.05, Y:63.74, Z:21.04 [[ 7.94431617e-01 -5.93830714e-01 -1.27449949e-01 1.74047869e+02] [ 5.85127316e-01 8.04567327e-01 -1.01476305e-01 6.37382555e+01] [ 1.62801811e-01 6.04153908e-03 9.86640294e-01 2.10414482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.07, Y:63.76, Z:21.04 [[ 7.94920491e-01 -5.92896668e-01 -1.28743751e-01 1.74067489e+02] [ 5.83998832e-01 8.05253793e-01 -1.02526552e-01 6.37577403e+01] [ 1.64459045e-01 6.31425656e-03 9.86363702e-01 2.10428386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.09, Y:63.78, Z:21.05 [[ 7.95880440e-01 -5.91386052e-01 -1.29756935e-01 1.74090036e+02] [ 5.82321147e-01 8.06360687e-01 -1.03365973e-01 6.37759334e+01] [ 1.65760086e-01 6.70674876e-03 9.86143303e-01 2.10460237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50710568099998 meters Centerline goodness [0,1] 0.9999788940481216 Centerline is valid? [True, True] Translation: X:174.11, Y:63.79, Z:21.05 [[ 7.96235966e-01 -5.91138030e-01 -1.28701658e-01 1.74112433e+02] [ 5.82207143e-01 8.06542129e-01 -1.02589652e-01 6.37918406e+01] [ 1.64447954e-01 6.75454621e-03 9.86362634e-01 2.10523273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.14, Y:63.81, Z:21.06 [[ 7.96001844e-01 -5.91606284e-01 -1.27996363e-01 1.74137319e+02] [ 5.82767670e-01 8.06199345e-01 -1.02100236e-01 6.38061882e+01] [ 1.63593726e-01 6.67983393e-03 9.86505181e-01 2.10591042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.567105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.16, Y:63.82, Z:21.06 [[ 7.95543207e-01 -5.92332129e-01 -1.27489823e-01 1.74160263e+02] [ 5.83561974e-01 8.05667195e-01 -1.01763418e-01 6.38229206e+01] [ 1.62992110e-01 6.55898350e-03 9.86605570e-01 2.10647206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.18, Y:63.84, Z:21.07 [[ 7.94194177e-01 -5.94734224e-01 -1.24686856e-01 1.74181222e+02] [ 5.86367672e-01 8.03900153e-01 -9.95866267e-02 6.38409632e+01] [ 1.59463358e-01 5.97877727e-03 9.87185743e-01 2.10720624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.21, Y:63.86, Z:21.08 [[ 7.92256042e-01 -5.97708377e-01 -1.22780533e-01 1.74206399e+02] [ 5.89629993e-01 8.01696011e-01 -9.80814846e-02 6.38550042e+01] [ 1.57056789e-01 5.31056379e-03 9.87575295e-01 2.10794169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.23, Y:63.87, Z:21.08 [[ 7.91320287e-01 -5.98921709e-01 -1.22902362e-01 1.74232492e+02] [ 5.90836956e-01 8.00791350e-01 -9.82084782e-02 6.38684440e+01] [ 1.57238338e-01 5.09910384e-03 9.87547520e-01 2.10845485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.26, Y:63.88, Z:21.09 [[ 7.89091346e-01 -6.01830685e-01 -1.23023065e-01 1.74256173e+02] [ 5.93754711e-01 7.98610594e-01 -9.83690086e-02 6.38840039e+01] [ 1.57449011e-01 4.57660879e-03 9.87516513e-01 2.10875941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.28, Y:63.90, Z:21.09 [[ 7.86910253e-01 -6.04729383e-01 -1.22778773e-01 1.74280198e+02] [ 5.96715774e-01 7.96420909e-01 -9.82039761e-02 6.38994702e+01] [ 1.57170412e-01 4.01368495e-03 9.87563341e-01 2.10918798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.31, Y:63.91, Z:21.09 [[ 7.81045687e-01 -6.11939552e-01 -1.24489432e-01 1.74307516e+02] [ 6.03779513e-01 7.90900075e-01 -9.96361919e-02 6.39106094e+01] [ 1.59430028e-01 2.65624921e-03 9.87205658e-01 2.10943423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.33, Y:63.93, Z:21.10 [[ 7.76574278e-01 -6.17279646e-01 -1.26088182e-01 1.74331498e+02] [ 6.08970940e-01 7.86742169e-01 -1.00951249e-01 6.39250511e+01] [ 1.61514041e-01 1.61210482e-03 9.86869098e-01 2.10976594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.35, Y:63.94, Z:21.10 [[ 7.76097979e-01 -6.17897733e-01 -1.25993326e-01 1.74351986e+02] [ 6.09605121e-01 7.86257037e-01 -1.00903263e-01 6.39427992e+01] [ 1.61411037e-01 1.50464166e-03 9.86886120e-01 2.11025307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.37, Y:63.97, Z:21.11 [[ 7.80558522e-01 -6.12535126e-01 -1.24615862e-01 1.74367610e+02] [ 6.04344490e-01 7.90438949e-01 -9.98699383e-02 6.39656173e+01] [ 1.59675076e-01 2.64342175e-03 9.87166086e-01 2.11107339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:63.99, Z:21.12 [[ 7.87425601e-01 -6.04010041e-01 -1.23015416e-01 1.74383966e+02] [ 5.95921478e-01 7.96964872e-01 -9.86133078e-02 6.39905204e+01] [ 1.57602393e-01 4.34311496e-03 9.87493100e-01 2.11203029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.40, Y:64.01, Z:21.12 [[ 7.90866333e-01 -5.99623150e-01 -1.22403107e-01 1.74400649e+02] [ 5.91560706e-01 8.00265574e-01 -9.81373619e-02 6.40144191e+01] [ 1.56800427e-01 5.20466705e-03 9.87616594e-01 2.11241523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92710568099997 meters Centerline goodness [0,1] 0.9999790233260614 Centerline is valid? [True, True] Translation: X:174.41, Y:64.04, Z:21.13 [[ 7.95968350e-01 -5.92764877e-01 -1.22736246e-01 1.74413721e+02] [ 5.84573710e-01 8.05348571e-01 -9.84238607e-02 6.40428969e+01] [ 1.57187668e-01 6.59389546e-03 9.87546737e-01 2.11253479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95710568099997 meters Centerline goodness [0,1] 0.9999791270951178 Centerline is valid? [True, True] Translation: X:174.43, Y:64.06, Z:21.13 [[ 7.97887859e-01 -5.90200558e-01 -1.22630611e-01 1.74434545e+02] [ 5.81990528e-01 8.07225352e-01 -9.83577967e-02 6.40617156e+01] [ 1.57041365e-01 7.10863770e-03 9.87566442e-01 2.11302331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.46, Y:64.07, Z:21.14 [[ 7.97405456e-01 -5.91036730e-01 -1.21737921e-01 1.74462766e+02] [ 5.82953121e-01 8.06615061e-01 -9.76616688e-02 6.40711946e+01] [ 1.55917274e-01 6.90844665e-03 9.87745958e-01 2.11376109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01710568099998 meters Centerline goodness [0,1] 0.9999791188139486 Centerline is valid? [True, True] Translation: X:174.49, Y:64.08, Z:21.15 [[ 7.93337946e-01 -5.97009475e-01 -1.19141051e-01 1.74488220e+02] [ 5.89326019e-01 8.02214198e-01 -9.56411250e-02 6.40828771e+01] [ 1.52675301e-01 5.66281228e-03 9.88260181e-01 2.11456210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.51, Y:64.10, Z:21.15 [[ 7.89840990e-01 -6.01788182e-01 -1.18330865e-01 1.74514110e+02] [ 5.94259572e-01 7.98641767e-01 -9.50099405e-02 6.40966485e+01] [ 1.51679830e-01 4.72349661e-03 9.88418392e-01 2.11517129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.54, Y:64.11, Z:21.16 [[ 7.82502930e-01 -6.11248756e-01 -1.18592254e-01 1.74542158e+02] [ 6.03784544e-01 7.91433034e-01 -9.52784205e-02 6.41070996e+01] [ 1.52096643e-01 2.95147340e-03 9.88361219e-01 2.11554491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.57, Y:64.12, Z:21.16 [[ 7.76410636e-01 -6.19055151e-01 -1.18140779e-01 1.74571123e+02] [ 6.11734117e-01 7.85346198e-01 -9.49353388e-02 6.41171795e+01] [ 1.51551623e-01 1.43806141e-03 9.88448298e-01 2.11616828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.59, Y:64.13, Z:21.17 [[ 7.74114785e-01 -6.22011605e-01 -1.17676943e-01 1.74594201e+02] [ 6.14773162e-01 7.83007502e-01 -9.46214116e-02 6.41331543e+01] [ 1.50997545e-01 9.03207406e-04 9.88533725e-01 2.11670596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.62, Y:64.15, Z:21.17 [[ 7.71677014e-01 -6.25116257e-01 -1.17235875e-01 1.74615338e+02] [ 6.17958245e-01 7.80531579e-01 -9.43295389e-02 6.41515127e+01] [ 1.50473231e-01 3.45061470e-04 9.88614024e-01 2.11714861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:64.17, Z:21.18 [[ 7.71631959e-01 -6.25219446e-01 -1.16981896e-01 1.74635350e+02] [ 6.18084293e-01 7.80448912e-01 -9.41875883e-02 6.41707676e+01] [ 1.50186305e-01 3.73480730e-04 9.88657643e-01 2.11750339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.65, Y:64.20, Z:21.18 [[ 7.74011410e-01 -6.22172761e-01 -1.17504861e-01 1.74651642e+02] [ 6.14927406e-01 7.82879302e-01 -9.46799045e-02 6.41965097e+01] [ 1.50899381e-01 1.02636707e-03 9.88548594e-01 2.11771044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.66, Y:64.23, Z:21.18 [[ 7.79659068e-01 -6.15013890e-01 -1.17854368e-01 1.74662885e+02] [ 6.07633587e-01 7.88512392e-01 -9.50243730e-02 6.42272875e+01] [ 1.51370939e-01 2.47434144e-03 9.88473933e-01 2.11800663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.68, Y:64.26, Z:21.18 [[ 7.84967703e-01 -6.07937813e-01 -1.19320242e-01 1.74676135e+02] [ 6.00286166e-01 7.93975011e-01 -9.62299324e-02 6.42565655e+01] [ 1.53239105e-01 3.91109822e-03 9.88181400e-01 2.11810912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.317105681 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.69, Y:64.28, Z:21.18 [[ 7.86845378e-01 -6.05236588e-01 -1.20677353e-01 1.74693989e+02] [ 5.97368540e-01 7.96032738e-01 -9.73791941e-02 6.42786988e+01] [ 1.55000575e-01 4.53351472e-03 9.87903978e-01 2.11828253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.71, Y:64.30, Z:21.19 [[ 7.88136087e-01 -6.03477772e-01 -1.21062327e-01 1.74714796e+02] [ 5.95534753e-01 7.97364674e-01 -9.77135303e-02 6.42980284e+01] [ 1.55498767e-01 4.91473633e-03 9.87823860e-01 2.11867010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.73, Y:64.32, Z:21.19 [[ 7.89527714e-01 -6.01664674e-01 -1.21019042e-01 1.74731299e+02] [ 5.93696222e-01 7.98731057e-01 -9.77419747e-02 6.43207851e+01] [ 1.55469561e-01 5.32144951e-03 9.87826350e-01 2.11900733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.76, Y:64.34, Z:21.19 [[ 7.89071281e-01 -6.02254502e-01 -1.21062087e-01 1.74755426e+02] [ 5.94280657e-01 7.98286946e-01 -9.78184675e-02 6.43359036e+01] [ 1.55553896e-01 5.24088677e-03 9.87813504e-01 2.11948132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:64.35, Z:21.20 [[ 7.86632367e-01 -6.05053007e-01 -1.22964948e-01 1.74780882e+02] [ 5.96848008e-01 7.96170617e-01 -9.94223574e-02 6.43505933e+01] [ 1.58056875e-01 4.81746031e-03 9.87418258e-01 2.11962778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:64.37, Z:21.20 [[ 7.84655753e-01 -6.07656364e-01 -1.22756234e-01 1.74802169e+02] [ 5.99500587e-01 7.94188216e-01 -9.93182944e-02 6.43683030e+01] [ 1.57842948e-01 4.33823683e-03 9.87454699e-01 2.11986248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.83, Y:64.38, Z:21.21 [[ 7.84435178e-01 -6.08242770e-01 -1.21252565e-01 1.74826489e+02] [ 6.00289764e-01 7.93740003e-01 -9.81275022e-02 6.43835447e+01] [ 1.55928355e-01 4.18799115e-03 9.87759489e-01 2.12050538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52710568099997 meters Centerline goodness [0,1] 0.9999791475519226 Centerline is valid? [True, True] Translation: X:174.85, Y:64.40, Z:21.21 [[ 7.84076408e-01 -6.08423136e-01 -1.22659992e-01 1.74848509e+02] [ 6.00275180e-01 7.93601412e-01 -9.93302917e-02 6.44010873e+01] [ 1.57777990e-01 4.25278982e-03 9.87465452e-01 2.12066557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.87, Y:64.42, Z:21.20 [[ 7.84233518e-01 -6.07453509e-01 -1.26404208e-01 1.74870750e+02] [ 5.98780330e-01 7.94341872e-01 -1.02387042e-01 6.44198362e+01] [ 1.62603523e-01 4.60699699e-03 9.86680733e-01 2.12044696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:64.44, Z:21.21 [[ 7.84528300e-01 -6.06667503e-01 -1.28335061e-01 1.74891855e+02] [ 5.97709984e-01 7.94940777e-01 -1.03980462e-01 6.44393061e+01] [ 1.65100341e-01 4.86846779e-03 9.86264759e-01 2.12058160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.91, Y:64.46, Z:21.21 [[ 7.84605670e-01 -6.06635611e-01 -1.28012412e-01 1.74912725e+02] [ 5.97712251e-01 7.94964832e-01 -1.03783334e-01 6.44563891e+01] [ 1.64724032e-01 4.91440537e-03 9.86327452e-01 2.12100927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64710568099997 meters Centerline goodness [0,1] 0.9999790294845448 Centerline is valid? [True, True] Translation: X:174.94, Y:64.47, Z:21.22 [[ 7.84342181e-01 -6.07232459e-01 -1.26791500e-01 1.74935779e+02] [ 5.98481393e-01 7.94509894e-01 -1.02830201e-01 6.44722922e+01] [ 1.63178937e-01 4.77171092e-03 9.86584951e-01 2.12172486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.96, Y:64.49, Z:21.23 [[ 7.83028211e-01 -6.09708147e-01 -1.22974778e-01 1.74960583e+02] [ 6.01500046e-01 7.92615013e-01 -9.97954686e-02 6.44851177e+01] [ 1.58317765e-01 4.17333263e-03 9.87379394e-01 2.12293077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:64.51, Z:21.23 [[ 7.81707110e-01 -6.11471266e-01 -1.22624979e-01 1.74980475e+02] [ 6.03327930e-01 7.91257398e-01 -9.95346135e-02 6.45052756e+01] [ 1.57890478e-01 3.82384030e-03 9.87449227e-01 2.12321095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:64.51, Z:21.24 [[ 7.75978321e-01 -6.18950903e-01 -1.21480141e-01 1.75012034e+02] [ 6.11040024e-01 7.85426203e-01 -9.86700051e-02 6.45113030e+01] [ 1.56485575e-01 2.33655668e-03 9.87677480e-01 2.12403109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:64.53, Z:21.24 [[ 7.75747022e-01 -6.19243712e-01 -1.21465153e-01 1.75032983e+02] [ 6.11333511e-01 7.85195471e-01 -9.86884517e-02 6.45286407e+01] [ 1.56486091e-01 2.30155389e-03 9.87677481e-01 2.12443499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.06, Y:64.54, Z:21.25 [[ 7.73474737e-01 -6.22202464e-01 -1.20834287e-01 1.75056891e+02] [ 6.14398701e-01 7.82854403e-01 -9.82508009e-02 6.45434745e+01] [ 1.55727544e-01 1.75408326e-03 9.87798489e-01 2.12495345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82710568099998 meters Centerline goodness [0,1] 0.9999375013020562 Centerline is valid? [True, True] Translation: X:175.08, Y:64.56, Z:21.25 [[ 7.72096296e-01 -6.23832339e-01 -1.21245716e-01 1.75079610e+02] [ 6.15984888e-01 7.81556793e-01 -9.86488591e-02 6.45600112e+01] [ 1.56300762e-01 1.48088963e-03 9.87708398e-01 2.12520964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.10, Y:64.57, Z:21.26 [[ 7.71570569e-01 -6.24332898e-01 -1.22013478e-01 1.75103946e+02] [ 6.16387033e-01 7.81157119e-01 -9.93004535e-02 6.45739004e+01] [ 1.57308237e-01 1.40978144e-03 9.87548546e-01 2.12567034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88710568099998 meters Centerline goodness [0,1] 0.9999368434348751 Centerline is valid? [True, True] Translation: X:175.13, Y:64.59, Z:21.26 [[ 7.73966588e-01 -6.21412151e-01 -1.21748340e-01 1.75126583e+02] [ 6.13453204e-01 7.83481142e-01 -9.91587921e-02 6.45913427e+01] [ 1.57006007e-01 2.05868284e-03 9.87595502e-01 2.12633596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91710568099998 meters Centerline goodness [0,1] 0.9999578832101417 Centerline is valid? [True, True] Translation: X:175.15, Y:64.61, Z:21.27 [[ 7.76258986e-01 -6.18888363e-01 -1.19996586e-01 1.75146815e+02] [ 6.11117991e-01 7.85474708e-01 -9.77971566e-02 6.46101034e+01] [ 1.54779806e-01 2.58384898e-03 9.87945614e-01 2.12717411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94710568099998 meters Centerline goodness [0,1] 0.9999789779057789 Centerline is valid? [True, True] Translation: X:175.16, Y:64.63, Z:21.28 [[ 7.81853239e-01 -6.12567088e-01 -1.16047729e-01 1.75162347e+02] [ 6.05223604e-01 7.90409653e-01 -9.46412684e-02 6.46342539e+01] [ 1.49699371e-01 3.76075745e-03 9.88724408e-01 2.12821088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.18, Y:64.65, Z:21.29 [[ 7.84137062e-01 -6.09909774e-01 -1.14626070e-01 1.75184202e+02] [ 6.02715810e-01 7.92459591e-01 -9.34957155e-02 6.46522529e+01] [ 1.47860479e-01 4.22651113e-03 9.88999199e-01 2.12884188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.20, Y:64.67, Z:21.29 [[ 7.88359445e-01 -6.04613701e-01 -1.13717452e-01 1.75203841e+02] [ 5.97469658e-01 7.96501670e-01 -9.28175471e-02 6.46721917e+01] [ 1.46694901e-01 5.23086291e-03 9.89167955e-01 2.12931087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.23, Y:64.69, Z:21.29 [[ 7.90460484e-01 -6.01011336e-01 -1.18142275e-01 1.75225214e+02] [ 5.93253838e-01 7.99216832e-01 -9.64486287e-02 6.46921902e+01] [ 1.52388014e-01 6.15047174e-03 9.88301606e-01 2.12883708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.25, Y:64.71, Z:21.29 [[ 7.90712994e-01 -6.00205379e-01 -1.20525781e-01 1.75246905e+02] [ 5.92115852e-01 7.99819846e-01 -9.84227256e-02 6.47111287e+01] [ 1.55472761e-01 6.45890228e-03 9.87819064e-01 2.12883941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.27, Y:64.73, Z:21.29 [[ 7.91046147e-01 -5.99241682e-01 -1.23107272e-01 1.75267153e+02] [ 5.90777570e-01 8.00538904e-01 -1.00594862e-01 6.47311509e+01] [ 1.58832795e-01 6.84616302e-03 9.87281760e-01 2.12871067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.29, Y:64.75, Z:21.29 [[ 7.90991316e-01 -5.99040794e-01 -1.24430159e-01 1.75290990e+02] [ 5.90385553e-01 8.00688043e-01 -1.01703277e-01 6.47479361e+01] [ 1.60554152e-01 6.98464056e-03 9.87002320e-01 2.12892497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.31, Y:64.76, Z:21.29 [[ 7.90559141e-01 -5.99518079e-01 -1.24877211e-01 1.75313333e+02] [ 5.90795060e-01 8.00330887e-01 -1.02135540e-01 6.47645448e+01] [ 1.61175192e-01 6.96734553e-03 9.86901218e-01 2.12925902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.34, Y:64.78, Z:21.30 [[ 7.89788072e-01 -6.00560316e-01 -1.24748175e-01 1.75338116e+02] [ 5.91856694e-01 7.99550495e-01 -1.02101219e-01 6.47797547e+01] [ 1.61060405e-01 6.80528245e-03 9.86921088e-01 2.12984524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.36, Y:64.80, Z:21.30 [[ 7.89176651e-01 -6.01656775e-01 -1.23326146e-01 1.75360176e+02] [ 5.93159589e-01 7.98728023e-01 -1.00971516e-01 6.47964450e+01] [ 1.59254245e-01 6.53227643e-03 9.87215992e-01 2.13042175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.39, Y:64.81, Z:21.31 [[ 7.86726176e-01 -6.05360540e-01 -1.20832697e-01 1.75386670e+02] [ 5.97243791e-01 7.95931053e-01 -9.89626839e-02 6.48069874e+01] [ 1.56082599e-01 5.68995605e-03 9.87727618e-01 2.13129646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.42, Y:64.81, Z:21.32 [[ 7.81575631e-01 -6.12456918e-01 -1.18473866e-01 1.75415795e+02] [ 6.04731058e-01 7.90492711e-01 -9.70650393e-02 6.48139075e+01] [ 1.53100882e-01 4.21884310e-03 9.88201559e-01 2.13205022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.44, Y:64.83, Z:21.32 [[ 7.78487717e-01 -6.16348241e-01 -1.18624280e-01 1.75442129e+02] [ 6.08644106e-01 7.87466039e-01 -9.72089957e-02 6.48264609e+01] [ 1.53327186e-01 3.47604013e-03 9.88169364e-01 2.13240071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.47, Y:64.83, Z:21.33 [[ 7.73065935e-01 -6.22961609e-01 -1.19531980e-01 1.75473817e+02] [ 6.15208336e-01 7.82249241e-01 -9.80042202e-02 6.48339346e+01] [ 1.54556667e-01 2.22665357e-03 9.87981416e-01 2.13271466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.50, Y:64.85, Z:21.33 [[ 7.70505113e-01 -6.26251229e-01 -1.18875017e-01 1.75499473e+02] [ 6.18612854e-01 7.79619662e-01 -9.75259956e-02 6.48467281e+01] [ 1.53753075e-01 1.60666496e-03 9.88107995e-01 2.13325671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39710568099997 meters Centerline goodness [0,1] 0.9999368527405911 Centerline is valid? [True, True] Translation: X:175.53, Y:64.86, Z:21.34 [[ 7.66173612e-01 -6.31960206e-01 -1.16637452e-01 1.75527487e+02] [ 6.24664234e-01 7.75000674e-01 -9.57525493e-02 6.48565446e+01] [ 1.50905904e-01 5.03832218e-04 9.88548003e-01 2.13413411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.55, Y:64.87, Z:21.35 [[ 7.61971376e-01 -6.37343265e-01 -1.14861587e-01 1.75551637e+02] [ 6.30320061e-01 7.70579853e-01 -9.43573517e-02 6.48685974e+01] [ 1.48648048e-01 -5.01961501e-04 9.88890037e-01 2.13487434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.57, Y:64.89, Z:21.35 [[ 7.60179537e-01 -6.39593487e-01 -1.14224525e-01 1.75573272e+02] [ 6.32666219e-01 7.68712797e-01 -9.38833878e-02 6.48857703e+01] [ 1.47853057e-01 -8.97767994e-04 9.89008932e-01 2.13543183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48710568099997 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:175.59, Y:64.90, Z:21.36 [[ 7.59250265e-01 -6.40740518e-01 -1.13976417e-01 1.75593687e+02] [ 6.33845327e-01 7.67756773e-01 -9.37530722e-02 6.49039299e+01] [ 1.47577558e-01 -1.06137466e-03 9.89049917e-01 2.13597745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51710568099998 meters Centerline goodness [0,1] 0.999957951391809 Centerline is valid? [True, True] Translation: X:175.61, Y:64.93, Z:21.37 [[ 7.61423444e-01 -6.38306096e-01 -1.13135610e-01 1.75610371e+02] [ 6.31480952e-01 7.69782447e-01 -9.30956051e-02 6.49279188e+01] [ 1.46513299e-01 -5.57806175e-04 9.89208543e-01 2.13676066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54710568099998 meters Centerline goodness [0,1] 0.9998108687429076 Centerline is valid? [True, True] Translation: X:175.63, Y:64.95, Z:21.37 [[ 7.63803193e-01 -6.35654605e-01 -1.12017434e-01 1.75626057e+02] [ 6.28927047e-01 7.71973590e-01 -9.22363584e-02 6.49509489e+01] [ 1.45104967e-01 -3.69216505e-07 9.89416267e-01 2.13736898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57710568099998 meters Centerline goodness [0,1] 0.9999789951268694 Centerline is valid? [True, True] Translation: X:175.63, Y:64.98, Z:21.38 [[ 7.70861277e-01 -6.27337279e-01 -1.10547860e-01 1.75634889e+02] [ 6.20696002e-01 7.78746082e-01 -9.10550031e-02 6.49845667e+01] [ 1.43210911e-01 1.57416126e-03 9.89690940e-01 2.13786468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60710568099998 meters Centerline goodness [0,1] 0.9999579345882847 Centerline is valid? [True, True] Translation: X:175.65, Y:65.01, Z:21.38 [[ 7.74321811e-01 -6.23039924e-01 -1.10666108e-01 1.75651852e+02] [ 6.16331807e-01 7.82186291e-01 -9.12124416e-02 6.50093751e+01] [ 1.43390505e-01 2.42074059e-03 9.89663227e-01 2.13811658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63710568099998 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:175.67, Y:65.04, Z:21.38 [[ 7.80386309e-01 -6.14894476e-01 -1.13586939e-01 1.75665850e+02] [ 6.07729202e-01 7.88598838e-01 -9.36861255e-02 6.50396934e+01] [ 1.47181609e-01 4.08126974e-03 9.89101065e-01 2.13783239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.68, Y:65.07, Z:21.37 [[ 7.84224771e-01 -6.09116845e-01 -1.18187045e-01 1.75680221e+02] [ 6.01284241e-01 7.93062024e-01 -9.75186538e-02 6.50687240e+01] [ 1.53129912e-01 5.41253623e-03 9.88191244e-01 2.13737606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:65.09, Z:21.38 [[ 7.85372300e-01 -6.07293951e-01 -1.19935014e-01 1.75702163e+02] [ 5.99200933e-01 7.94455480e-01 -9.89885475e-02 6.50866315e+01] [ 1.55398175e-01 5.87769096e-03 9.87834429e-01 2.13757203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.72710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.72, Y:65.11, Z:21.38 [[ 7.86100525e-01 -6.05954830e-01 -1.21920914e-01 1.75722213e+02] [ 5.97569360e-01 7.95474354e-01 -1.00654913e-01 6.51076290e+01] [ 1.57977291e-01 6.26867743e-03 9.87422847e-01 2.13755964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.74, Y:65.13, Z:21.38 [[ 7.86107045e-01 -6.05807559e-01 -1.22608790e-01 1.75742585e+02] [ 5.97313798e-01 7.95585555e-01 -1.01290923e-01 6.51278696e+01] [ 1.58908589e-01 6.38958616e-03 9.87272624e-01 2.13768013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.76, Y:65.15, Z:21.38 [[ 7.86060814e-01 -6.05818182e-01 -1.22852462e-01 1.75763151e+02] [ 5.97279965e-01 7.95576952e-01 -1.01557651e-01 6.51457456e+01] [ 1.59264059e-01 6.45317551e-03 9.87214929e-01 2.13797773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.79, Y:65.16, Z:21.38 [[ 7.85133137e-01 -6.06797706e-01 -1.23945556e-01 1.75789216e+02] [ 5.98113204e-01 7.94831061e-01 -1.02489902e-01 6.51592331e+01] [ 1.60706416e-01 6.33474475e-03 9.86981924e-01 2.13844740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84710568099996 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:175.81, Y:65.18, Z:21.39 [[ 7.83660995e-01 -6.08755250e-01 -1.23662810e-01 1.75812656e+02] [ 6.00123458e-01 7.93335577e-01 -1.02325445e-01 6.51750247e+01] [ 1.60397259e-01 5.97550633e-03 9.87034454e-01 2.13889265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.84, Y:65.19, Z:21.39 [[ 7.81659809e-01 -6.11507284e-01 -1.22746827e-01 1.75836574e+02] [ 6.03026986e-01 7.91220226e-01 -1.01631732e-01 6.51902457e+01] [ 1.59268317e-01 5.42179116e-03 9.87220445e-01 2.13947200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.86, Y:65.20, Z:21.40 [[ 7.78079566e-01 -6.16859701e-01 -1.18643582e-01 1.75863446e+02] [ 6.08999112e-01 7.87061952e-01 -9.82525587e-02 6.52002950e+01] [ 1.53987893e-01 4.19447235e-03 9.88063832e-01 2.14044509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.89, Y:65.21, Z:21.41 [[ 7.74240638e-01 -6.22089519e-01 -1.16430514e-01 1.75893619e+02] [ 6.14576740e-01 7.82939939e-01 -9.64390044e-02 6.52081723e+01] [ 1.51151793e-01 3.11151065e-03 9.88505667e-01 2.14125244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:65.22, Z:21.42 [[ 7.71997831e-01 -6.24898848e-01 -1.16278883e-01 1.75919444e+02] [ 6.17428112e-01 7.80701375e-01 -9.63737010e-02 6.52216963e+01] [ 1.51002898e-01 2.60643716e-03 9.88529884e-01 2.14174813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.94, Y:65.23, Z:21.42 [[ 7.68708793e-01 -6.29048776e-01 -1.15691093e-01 1.75943478e+02] [ 6.21690612e-01 7.77363669e-01 -9.59505551e-02 6.52348564e+01] [ 1.50291631e-01 1.83396924e-03 9.88640006e-01 2.14234446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.97, Y:65.25, Z:21.43 [[ 7.67720592e-01 -6.30186098e-01 -1.16062806e-01 1.75965497e+02] [ 6.22789652e-01 7.76442405e-01 -9.62820857e-02 6.52520154e+01] [ 1.50791716e-01 1.63502507e-03 9.88564204e-01 2.14265284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.99, Y:65.27, Z:21.43 [[ 7.68250148e-01 -6.29413954e-01 -1.16746666e-01 1.75988500e+02] [ 6.21917080e-01 7.77068064e-01 -9.68729524e-02 6.52684653e+01] [ 1.51693293e-01 1.81591464e-03 9.88425944e-01 2.14309084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08710568099997 meters Centerline goodness [0,1] 0.9999578405952908 Centerline is valid? [True, True] Translation: X:176.01, Y:65.29, Z:21.43 [[ 7.69730524e-01 -6.27091739e-01 -1.19460752e-01 1.76007946e+02] [ 6.19201596e-01 7.78941770e-01 -9.91922442e-02 6.52894520e+01] [ 1.55255607e-01 2.38100964e-03 9.87871463e-01 2.14313724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.03, Y:65.31, Z:21.43 [[ 7.70667524e-01 -6.25738606e-01 -1.20510432e-01 1.76027432e+02] [ 6.17687980e-01 7.80028156e-01 -1.00088142e-01 6.53101965e+01] [ 1.56630544e-01 2.69683494e-03 9.87653583e-01 2.14340352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.04, Y:65.33, Z:21.44 [[ 7.74032196e-01 -6.21671110e-01 -1.19996625e-01 1.76044376e+02] [ 6.13636926e-01 7.83270454e-01 -9.96850952e-02 6.53332059e+01] [ 1.55961155e-01 3.52511308e-03 9.87756899e-01 2.14392219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.06, Y:65.35, Z:21.45 [[ 7.76946195e-01 -6.18288807e-01 -1.18632044e-01 1.76063792e+02] [ 6.10394557e-01 7.85939897e-01 -9.85746595e-02 6.53529513e+01] [ 1.54185265e-01 4.17485287e-03 9.88033134e-01 2.14464771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.08, Y:65.38, Z:21.46 [[ 7.83089536e-01 -6.11070727e-01 -1.15599934e-01 1.76079881e+02] [ 6.03495171e-01 7.91557077e-01 -9.60779502e-02 6.53753446e+01] [ 1.50214369e-01 5.47363515e-03 9.88638297e-01 2.14568670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23710568099997 meters Centerline goodness [0,1] 0.9999579248537889 Centerline is valid? [True, True] Translation: X:176.10, Y:65.40, Z:21.46 [[ 7.88635880e-01 -6.04035328e-01 -1.14868494e-01 1.76098434e+02] [ 5.96477401e-01 7.96928569e-01 -9.54964170e-02 6.53968691e+01] [ 1.49225194e-01 6.79544034e-03 9.88779886e-01 2.14636941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26710568099998 meters Centerline goodness [0,1] 0.9999789730434417 Centerline is valid? [True, True] Translation: X:176.12, Y:65.42, Z:21.46 [[ 7.91946558e-01 -5.99286501e-01 -1.16945882e-01 1.76116779e+02] [ 5.91394830e-01 8.00496057e-01 -9.72533699e-02 6.54205443e+01] [ 1.51897349e-01 7.85828145e-03 9.88365035e-01 2.14626114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.14, Y:65.44, Z:21.46 [[ 7.92468207e-01 -5.98275853e-01 -1.18575481e-01 1.76138475e+02] [ 5.90140762e-01 8.01248100e-01 -9.86679445e-02 6.54390248e+01] [ 1.54039027e-01 8.21498450e-03 9.88030613e-01 2.14637240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32710568099998 meters Centerline goodness [0,1] 0.9999790742445802 Centerline is valid? [True, True] Translation: X:176.16, Y:65.46, Z:21.46 [[ 7.91427433e-01 -5.99245377e-01 -1.20613415e-01 1.76160154e+02] [ 5.90833587e-01 8.00523545e-01 -1.00387877e-01 6.54574860e+01] [ 1.56710850e-01 8.18726348e-03 9.87610590e-01 2.14630761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.19, Y:65.47, Z:21.47 [[ 7.89839652e-01 -6.01189116e-01 -1.21346490e-01 1.76187486e+02] [ 5.92692778e-01 7.99068021e-01 -1.01022614e-01 6.54693141e+01] [ 1.57697796e-01 7.87047799e-03 9.87456055e-01 2.14672998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.21, Y:65.48, Z:21.47 [[ 7.85669704e-01 -6.06339686e-01 -1.22781521e-01 1.76214543e+02] [ 5.97695569e-01 7.95175352e-01 -1.02255396e-01 6.54817372e+01] [ 1.59634344e-01 6.95299555e-03 9.87151727e-01 2.14722030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.24, Y:65.50, Z:21.48 [[ 7.83793486e-01 -6.08887151e-01 -1.22164679e-01 1.76236192e+02] [ 6.00351294e-01 7.93230637e-01 -1.01801181e-01 6.54990430e+01] [ 1.58890197e-01 6.44937927e-03 9.87275195e-01 2.14771580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.44710568099998 meters Centerline goodness [0,1] 0.9999371688273608 Centerline is valid? [True, True] Translation: X:176.26, Y:65.51, Z:21.48 [[ 7.81408752e-01 -6.12187470e-01 -1.20941575e-01 1.76258654e+02] [ 6.03858875e-01 7.90691855e-01 -1.00801038e-01 6.55148624e+01] [ 1.57336650e-01 5.73517019e-03 9.87528372e-01 2.14826749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.28, Y:65.53, Z:21.49 [[ 7.79091743e-01 -6.15396430e-01 -1.19596364e-01 1.76284634e+02] [ 6.07286950e-01 7.88201587e-01 -9.97036531e-02 6.55284311e+01] [ 1.55623316e-01 5.04898193e-03 9.87803569e-01 2.14887434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.31, Y:65.55, Z:21.49 [[ 7.77870164e-01 -6.17062971e-01 -1.18959224e-01 1.76308013e+02] [ 6.09050305e-01 7.86899517e-01 -9.92314254e-02 6.55451550e+01] [ 1.54840994e-01 4.73701365e-03 9.87928048e-01 2.14934895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:65.56, Z:21.50 [[ 7.74222610e-01 -6.21684981e-01 -1.18689234e-01 1.76335289e+02] [ 6.13752616e-01 7.83257885e-01 -9.90697323e-02 6.55574069e+01] [ 1.54554443e-01 3.85619884e-03 9.87976748e-01 2.14986758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56710568099996 meters Centerline goodness [0,1] 0.9999370990061643 Centerline is valid? [True, True] Translation: X:176.36, Y:65.57, Z:21.50 [[ 7.72213605e-01 -6.24175595e-01 -1.18705413e-01 1.76357226e+02] [ 6.16260545e-01 7.81276657e-01 -9.91449700e-02 6.55735635e+01] [ 1.54625639e-01 3.40763246e-03 9.87967257e-01 2.15028259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59710568099996 meters Centerline goodness [0,1] 0.9999789646395592 Centerline is valid? [True, True] Translation: X:176.38, Y:65.59, Z:21.51 [[ 7.67775011e-01 -6.29331829e-01 -1.20262136e-01 1.76381819e+02] [ 6.21264591e-01 7.77132914e-01 -1.00472594e-01 6.55882744e+01] [ 1.56690266e-01 2.42574019e-03 9.87644813e-01 2.15050405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62710568099996 meters Centerline goodness [0,1] 0.9999578512570862 Centerline is valid? [True, True] Translation: X:176.41, Y:65.60, Z:21.50 [[ 7.61108921e-01 -6.36554596e-01 -1.24544997e-01 1.76409236e+02] [ 6.27982220e-01 7.71230948e-01 -1.04120877e-01 6.56007572e+01] [ 1.62331579e-01 1.03528427e-03 9.86735723e-01 2.15030243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.43, Y:65.62, Z:21.51 [[ 7.57340999e-01 -6.40701661e-01 -1.26237841e-01 1.76434435e+02] [ 6.31938098e-01 7.67789906e-01 -1.05607295e-01 6.56162126e+01] [ 1.64586910e-01 2.06233551e-04 9.86362563e-01 2.15051735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.46, Y:65.63, Z:21.51 [[ 7.57102501e-01 -6.40990428e-01 -1.26202515e-01 1.76455141e+02] [ 6.32223815e-01 7.67548846e-01 -1.05649496e-01 6.56338768e+01] [ 1.64586910e-01 1.99262054e-04 9.86362565e-01 2.15092128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71710568099996 meters Centerline goodness [0,1] 0.9999367782179887 Centerline is valid? [True, True] Translation: X:176.48, Y:65.65, Z:21.51 [[ 7.54028008e-01 -6.44565659e-01 -1.26399662e-01 1.76479165e+02] [ 6.35807510e-01 7.64548784e-01 -1.05896015e-01 6.56486610e+01] [ 1.64895642e-01 -5.17293613e-04 9.86310884e-01 2.15137513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.50, Y:65.66, Z:21.52 [[ 7.50073962e-01 -6.49583251e-01 -1.24220174e-01 1.76501789e+02] [ 6.41181643e-01 7.60288933e-01 -1.04148157e-01 6.56622110e+01] [ 1.62096122e-01 -1.52887392e-03 9.86773789e-01 2.15222603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77710568099997 meters Centerline goodness [0,1] 0.9998112059742821 Centerline is valid? [True, True] Translation: X:176.52, Y:65.68, Z:21.53 [[ 7.47272230e-01 -6.53091760e-01 -1.22700315e-01 1.76522351e+02] [ 6.44933554e-01 7.57275535e-01 -1.02929461e-01 6.56808723e+01] [ 1.60140330e-01 -2.21722207e-03 9.87091768e-01 2.15308427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80710568099997 meters Centerline goodness [0,1] 0.9999582210524117 Centerline is valid? [True, True] Translation: X:176.54, Y:65.70, Z:21.54 [[ 7.45194978e-01 -6.55626554e-01 -1.21812426e-01 1.76543874e+02] [ 6.47609670e-01 7.55080515e-01 -1.02250339e-01 6.56980400e+01] [ 1.59016226e-01 -2.69046596e-03 9.87272303e-01 2.15357296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.56, Y:65.72, Z:21.54 [[ 7.44257653e-01 -6.56860872e-01 -1.20889788e-01 1.76564345e+02] [ 6.48977392e-01 7.54006185e-01 -1.01503776e-01 6.57156796e+01] [ 1.57825506e-01 -2.90977725e-03 9.87462730e-01 2.15416962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86710568099997 meters Centerline goodness [0,1] 0.9999582088304741 Centerline is valid? [True, True] Translation: X:176.59, Y:65.73, Z:21.55 [[ 7.43149425e-01 -6.58214528e-01 -1.20343542e-01 1.76585437e+02] [ 6.50408009e-01 7.52823934e-01 -1.01121443e-01 6.57346920e+01] [ 1.57157101e-01 -3.12406118e-03 9.87568674e-01 2.15473403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.60, Y:65.76, Z:21.55 [[ 7.40489983e-01 -6.61156220e-01 -1.20611105e-01 1.76604420e+02] [ 6.53342526e-01 7.50239116e-01 -1.01414067e-01 6.57564557e+01] [ 1.57537710e-01 -3.70426315e-03 9.87506024e-01 2.15509306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92710568099997 meters Centerline goodness [0,1] 0.9999790395942065 Centerline is valid? [True, True] Translation: X:176.62, Y:65.78, Z:21.55 [[ 7.36521028e-01 -6.65565780e-01 -1.20660549e-01 1.76622812e+02] [ 6.57793847e-01 7.46325027e-01 -1.01519496e-01 6.57772583e+01] [ 1.57619890e-01 -4.59852298e-03 9.87489151e-01 2.15543491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.64, Y:65.80, Z:21.56 [[ 7.32692359e-01 -6.69749530e-01 -1.20820009e-01 1.76641388e+02] [ 6.62008378e-01 7.42566844e-01 -1.01682783e-01 6.57991767e+01] [ 1.57818929e-01 -5.48165993e-03 9.87452853e-01 2.15588696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.66, Y:65.82, Z:21.56 [[ 7.30356969e-01 -6.72165911e-01 -1.21538826e-01 1.76660399e+02] [ 6.64354603e-01 7.40376316e-01 -1.02351709e-01 6.58211547e+01] [ 1.58781798e-01 -5.99159451e-03 9.87295519e-01 2.15635842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01710568099998 meters Centerline goodness [0,1] 0.9999790118792763 Centerline is valid? [True, True] Translation: X:176.68, Y:65.85, Z:21.57 [[ 7.27568870e-01 -6.75171851e-01 -1.21599796e-01 1.76677637e+02] [ 6.67383007e-01 7.37630960e-01 -1.02471890e-01 6.58451518e+01] [ 1.58881910e-01 -6.59828079e-03 9.87275545e-01 2.15664384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04710568099998 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:176.70, Y:65.86, Z:21.57 [[ 7.27756838e-01 -6.75181977e-01 -1.20412967e-01 1.76698255e+02] [ 6.67535417e-01 7.37622675e-01 -1.01534505e-01 6.58639239e+01] [ 1.57373603e-01 -6.48748997e-03 9.87517828e-01 2.15710331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07710568099998 meters Centerline goodness [0,1] 0.9998950109188645 Centerline is valid? [True, True] Translation: X:176.71, Y:65.90, Z:21.58 [[ 7.30102391e-01 -6.72846061e-01 -1.19284013e-01 1.76705532e+02] [ 6.65307962e-01 7.39758943e-01 -1.00608263e-01 6.58990862e+01] [ 1.55935289e-01 -5.90626961e-03 9.87749615e-01 2.15799469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.72, Y:65.92, Z:21.58 [[ 7.32156906e-01 -6.70485923e-01 -1.19978715e-01 1.76722865e+02] [ 6.62817727e-01 7.41902688e-01 -1.01257401e-01 6.59220583e+01] [ 1.56904194e-01 -5.38771355e-03 9.87599133e-01 2.15826840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:65.96, Z:21.58 [[ 7.38914357e-01 -6.62710479e-01 -1.21739041e-01 1.76728215e+02] [ 6.54699166e-01 7.48866361e-01 -1.02801632e-01 6.59606160e+01] [ 1.59293992e-01 -3.74084664e-03 9.87224103e-01 2.15840718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16710568099998 meters Centerline goodness [0,1] 0.999937159614579 Centerline is valid? [True, True] Translation: X:176.74, Y:65.99, Z:21.59 [[ 7.47690504e-01 -6.52809721e-01 -1.21648584e-01 1.76736932e+02] [ 6.44673841e-01 7.57520248e-01 -1.02755593e-01 6.59930313e+01] [ 1.59231115e-01 -1.59427835e-03 9.87240047e-01 2.15867403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19710568099998 meters Centerline goodness [0,1] 0.9998958159693282 Centerline is valid? [True, True] Translation: X:176.75, Y:66.03, Z:21.59 [[ 7.53949537e-01 -6.45565934e-01 -1.21674650e-01 1.76746363e+02] [ 6.37327490e-01 7.63704539e-01 -1.02805870e-01 6.60256450e+01] [ 1.59291450e-01 -3.61608399e-05 9.87231600e-01 2.15937711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.76, Y:66.05, Z:21.60 [[ 7.56710818e-01 -6.42424823e-01 -1.21157272e-01 1.76761349e+02] [ 6.34205706e-01 7.66348413e-01 -1.02436481e-01 6.60508052e+01] [ 1.58656421e-01 6.76160041e-04 9.87333623e-01 2.16001773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.77, Y:66.08, Z:21.61 [[ 7.61528268e-01 -6.37133279e-01 -1.18894413e-01 1.76772489e+02] [ 6.29144249e-01 7.70751534e-01 -1.00596157e-01 6.60795728e+01] [ 1.55731211e-01 1.80508073e-03 9.87797819e-01 2.16090837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.28710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.79, Y:66.10, Z:21.62 [[ 7.62636116e-01 -6.35956794e-01 -1.18089420e-01 1.76791873e+02] [ 6.28056506e-01 7.71721914e-01 -9.99515467e-02 6.61003489e+01] [ 1.54697058e-01 2.05983080e-03 9.87959805e-01 2.16154722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.81, Y:66.12, Z:21.62 [[ 7.63305120e-01 -6.35255041e-01 -1.17542875e-01 1.76812405e+02] [ 6.27409803e-01 7.72299168e-01 -9.95536711e-02 6.61201996e+01] [ 1.54020236e-01 2.24227477e-03 9.88065149e-01 2.16201010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.83, Y:66.14, Z:21.62 [[ 7.63468986e-01 -6.35081612e-01 -1.17415726e-01 1.76832913e+02] [ 6.27240926e-01 7.72441538e-01 -9.95132735e-02 6.61390305e+01] [ 1.53895834e-01 2.32734935e-03 9.88084336e-01 2.16241751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.85, Y:66.16, Z:21.63 [[ 7.66127585e-01 -6.31709000e-01 -1.18288896e-01 1.76849430e+02] [ 6.23698428e-01 7.75199457e-01 -1.00329816e-01 6.61616208e+01] [ 1.55076736e-01 3.08884138e-03 9.87897599e-01 2.16266903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40710568099996 meters Centerline goodness [0,1] 0.9999789836492792 Centerline is valid? [True, True] Translation: X:176.86, Y:66.19, Z:21.63 [[ 7.72862893e-01 -6.23021493e-01 -1.20528704e-01 1.76861851e+02] [ 6.14591986e-01 7.82189012e-01 -1.02259674e-01 6.61908536e+01] [ 1.57986203e-01 4.95673205e-03 9.87428879e-01 2.16263673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.88, Y:66.21, Z:21.63 [[ 7.76978591e-01 -6.17833989e-01 -1.20770158e-01 1.76882641e+02] [ 6.09303026e-01 7.86285284e-01 -1.02495243e-01 6.62115982e+01] [ 1.58284843e-01 6.05098727e-03 9.87374951e-01 2.16310703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.90, Y:66.24, Z:21.63 [[ 7.84104704e-01 -6.08662344e-01 -1.21284638e-01 1.76900397e+02] [ 5.99938804e-01 7.93389105e-01 -1.02991062e-01 6.62358281e+01] [ 1.58912692e-01 7.99241605e-03 9.87260289e-01 2.16344308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49710568099997 meters Centerline goodness [0,1] 0.9999158213729534 Centerline is valid? [True, True] Translation: X:176.92, Y:66.26, Z:21.64 [[ 7.86831525e-01 -6.04995472e-01 -1.21969789e-01 1.76920355e+02] [ 5.96118863e-01 7.96179910e-01 -1.03633257e-01 6.62570815e+01] [ 1.59807547e-01 8.83342158e-03 9.87108666e-01 2.16376767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52710568099997 meters Centerline goodness [0,1] 0.9998738011105502 Centerline is valid? [True, True] Translation: X:176.94, Y:66.27, Z:21.64 [[ 7.87104459e-01 -6.04810786e-01 -1.21121773e-01 1.76942286e+02] [ 5.96045916e-01 7.96319943e-01 -1.02974819e-01 6.62749066e+01] [ 1.58731964e-01 8.85780102e-03 9.87281977e-01 2.16433156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55710568099997 meters Centerline goodness [0,1] 0.9998954674694766 Centerline is valid? [True, True] Translation: X:176.97, Y:66.29, Z:21.65 [[ 7.85691342e-01 -6.07289121e-01 -1.17851767e-01 1.76968603e+02] [ 5.99012337e-01 7.94438853e-01 -1.00255315e-01 6.62858284e+01] [ 1.54509985e-01 8.17507096e-03 9.87957404e-01 2.16519492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.00, Y:66.29, Z:21.66 [[ 7.81007653e-01 -6.13525176e-01 -1.16678636e-01 1.77003063e+02] [ 6.05479177e-01 7.89645117e-01 -9.92751512e-02 6.62902177e+01] [ 1.53042520e-01 6.88816841e-03 9.88195598e-01 2.16579095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61710568099997 meters Centerline goodness [0,1] 0.9999789557861066 Centerline is valid? [True, True] Translation: X:177.03, Y:66.30, Z:21.66 [[ 7.78686184e-01 -6.16284070e-01 -1.17651059e-01 1.77028132e+02] [ 6.08130348e-01 7.87497784e-01 -1.00123525e-01 6.63043504e+01] [ 1.54354482e-01 6.41762642e-03 9.87994690e-01 2.16601191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.06, Y:66.31, Z:21.66 [[ 7.74470365e-01 -6.21383298e-01 -1.18652645e-01 1.77057760e+02] [ 6.13144880e-01 7.83487649e-01 -1.00997330e-01 6.63148133e+01] [ 1.55720936e-01 5.46817703e-03 9.87785953e-01 2.16602171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:66.33, Z:21.66 [[ 7.72147752e-01 -6.24144727e-01 -1.19294630e-01 1.77083646e+02] [ 6.15839253e-01 7.81292829e-01 -1.01604777e-01 6.63287368e+01] [ 1.56620124e-01 4.98758431e-03 9.87646324e-01 2.16626049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.12, Y:66.33, Z:21.67 [[ 7.66085879e-01 -6.31353597e-01 -1.20436958e-01 1.77117927e+02] [ 6.22965434e-01 7.75486731e-01 -1.02637222e-01 6.63328963e+01] [ 1.58197642e-01 3.60086437e-03 9.87400901e-01 2.16658804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73710568099997 meters Centerline goodness [0,1] 0.9999580844598135 Centerline is valid? [True, True] Translation: X:177.15, Y:66.34, Z:21.67 [[ 7.59397510e-01 -6.39351366e-01 -1.20603703e-01 1.77146316e+02] [ 6.31035851e-01 7.68912210e-01 -1.02799646e-01 6.63431738e+01] [ 1.58458754e-01 1.96053481e-03 9.87363651e-01 2.16681140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76710568099998 meters Centerline goodness [0,1] 0.9999163354946664 Centerline is valid? [True, True] Translation: X:177.17, Y:66.36, Z:21.67 [[ 7.55868197e-01 -6.43555349e-01 -1.20415043e-01 1.77172981e+02] [ 6.35315291e-01 7.65398792e-01 -1.02660459e-01 6.63567339e+01] [ 1.58233216e-01 1.09625767e-03 9.87401158e-01 2.16721637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79710568099998 meters Centerline goodness [0,1] 0.9999158479372225 Centerline is valid? [True, True] Translation: X:177.20, Y:66.36, Z:21.68 [[ 7.48934262e-01 -6.51603207e-01 -1.20460499e-01 1.77204041e+02] [ 6.43450041e-01 7.58559791e-01 -1.02757428e-01 6.63641599e+01] [ 1.58333560e-01 -5.51754148e-04 9.87385527e-01 2.16780884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.23, Y:66.38, Z:21.68 [[ 7.46620592e-01 -6.54146299e-01 -1.21038468e-01 1.77227724e+02] [ 6.45936370e-01 7.56367325e-01 -1.03318325e-01 6.63785945e+01] [ 1.59134842e-01 -1.04355974e-03 9.87256306e-01 2.16817044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85710568099998 meters Centerline goodness [0,1] 0.9998734444210082 Centerline is valid? [True, True] Translation: X:177.25, Y:66.40, Z:21.69 [[ 7.46394705e-01 -6.54235248e-01 -1.21947468e-01 1.77250467e+02] [ 6.45895399e-01 7.56290393e-01 -1.04134409e-01 6.63952574e+01] [ 1.60356099e-01 -1.03993643e-03 9.87058681e-01 2.16870441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88710568099998 meters Centerline goodness [0,1] 0.9999789695057834 Centerline is valid? [True, True] Translation: X:177.27, Y:66.42, Z:21.70 [[ 7.50828849e-01 -6.49249522e-01 -1.21371736e-01 1.77266143e+02] [ 6.40912396e-01 7.60575474e-01 -1.03712336e-01 6.64198115e+01] [ 1.59647551e-01 8.15638430e-05 9.87174074e-01 2.16954692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91710568099998 meters Centerline goodness [0,1] 0.9999580941206051 Centerline is valid? [True, True] Translation: X:177.28, Y:66.44, Z:21.70 [[ 7.54087667e-01 -6.45621673e-01 -1.20517409e-01 1.77282632e+02] [ 6.37344596e-01 7.63656890e-01 -1.03053487e-01 6.64428281e+01] [ 1.58567515e-01 9.00244148e-04 9.87347726e-01 2.17017975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.94710568099998 meters Centerline goodness [0,1] 0.9999790654831686 Centerline is valid? [True, True] Translation: X:177.29, Y:66.47, Z:21.71 [[ 7.61631556e-01 -6.37265165e-01 -1.17518007e-01 1.77294400e+02] [ 6.29285970e-01 7.70640085e-01 -1.00563550e-01 6.64697224e+01] [ 1.54649734e-01 2.63993946e-03 9.87965835e-01 2.17110607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.31, Y:66.49, Z:21.72 [[ 7.64271294e-01 -6.34484962e-01 -1.15404602e-01 1.77312426e+02] [ 6.26754940e-01 7.72928697e-01 -9.87900466e-02 6.64906813e+01] [ 1.51880327e-01 3.17199251e-03 9.88393800e-01 2.17176879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.00710568099998 meters Centerline goodness [0,1] 0.9998739442833733 Centerline is valid? [True, True] Translation: X:177.33, Y:66.51, Z:21.72 [[ 7.65431149e-01 -6.33534760e-01 -1.12910862e-01 1.77332347e+02] [ 6.26123418e-01 7.73707172e-01 -9.66782150e-02 6.65103382e+01] [ 1.48608954e-01 3.30438231e-03 9.88890520e-01 2.17248380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.36, Y:66.53, Z:21.73 [[ 7.61281338e-01 -6.38395930e-01 -1.13584158e-01 1.77355802e+02] [ 6.30939166e-01 7.69704338e-01 -9.73190645e-02 6.65261383e+01] [ 1.49554314e-01 2.42249391e-03 9.88750544e-01 2.17265472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.38, Y:66.54, Z:21.73 [[ 7.58487121e-01 -6.41812788e-01 -1.13020494e-01 1.77379199e+02] [ 6.34464364e-01 7.66859342e-01 -9.68592768e-02 6.65420113e+01] [ 1.48836344e-01 1.75903839e-03 9.88860278e-01 2.17313519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:66.55, Z:21.74 [[ 7.52714878e-01 -6.48915430e-01 -1.11036379e-01 1.77403921e+02] [ 6.41890986e-01 7.60860436e-01 -9.52226788e-02 6.65548889e+01] [ 1.46274653e-01 4.02276055e-04 9.89243936e-01 2.17377502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12710568099996 meters Centerline goodness [0,1] 0.9999579531598201 Centerline is valid? [True, True] Translation: X:177.43, Y:66.57, Z:21.74 [[ 7.44375139e-01 -6.58222927e-01 -1.12464350e-01 1.77431760e+02] [ 6.51114919e-01 7.52821755e-01 -9.64819603e-02 6.65664913e+01] [ 1.48172248e-01 -1.40844341e-03 9.88960566e-01 2.17395286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.46, Y:66.58, Z:21.74 [[ 7.39359266e-01 -6.63750012e-01 -1.13065456e-01 1.77456873e+02] [ 6.56619263e-01 7.47950393e-01 -9.70636501e-02 6.65814120e+01] [ 1.48993351e-01 -2.47604743e-03 9.88835098e-01 2.17417482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.48, Y:66.60, Z:21.74 [[ 7.31947077e-01 -6.71590642e-01 -1.14976030e-01 1.77481384e+02] [ 6.64300333e-01 7.40911153e-01 -9.87711041e-02 6.65970482e+01] [ 1.51520772e-01 -4.08339386e-03 9.88445639e-01 2.17421885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:66.62, Z:21.75 [[ 7.30480295e-01 -6.73327155e-01 -1.14144996e-01 1.77501868e+02] [ 6.66153792e-01 7.39331797e-01 -9.81204363e-02 6.66174776e+01] [ 1.50458179e-01 -4.36307674e-03 9.88606747e-01 2.17467815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.52, Y:66.64, Z:21.75 [[ 7.30944699e-01 -6.72959321e-01 -1.13338427e-01 1.77522618e+02] [ 6.65873551e-01 7.39667518e-01 -9.74903943e-02 6.66372773e+01] [ 1.49439822e-01 -4.20897401e-03 9.88761864e-01 2.17530009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.54, Y:66.66, Z:21.76 [[ 7.32905713e-01 -6.70877328e-01 -1.13016929e-01 1.77538302e+02] [ 6.63797920e-01 7.41558983e-01 -9.72758808e-02 6.66603997e+01] [ 1.49068902e-01 -3.72635334e-03 9.88819790e-01 2.17585286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30710568099997 meters Centerline goodness [0,1] 0.9999163739755812 Centerline is valid? [True, True] Translation: X:177.56, Y:66.68, Z:21.76 [[ 7.34651808e-01 -6.69015285e-01 -1.12717653e-01 1.77555031e+02] [ 6.61948377e-01 7.43241219e-01 -9.70403871e-02 6.66828546e+01] [ 1.48697908e-01 -3.32237181e-03 9.88877087e-01 2.17630515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.57, Y:66.71, Z:21.77 [[ 7.40720884e-01 -6.62436027e-01 -1.11852949e-01 1.77566261e+02] [ 6.55399319e-01 7.49115915e-01 -9.63175984e-02 6.67124204e+01] [ 1.47595072e-01 -1.96389013e-03 9.89045923e-01 2.17694011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.58, Y:66.74, Z:21.77 [[ 7.43876902e-01 -6.58747704e-01 -1.12688143e-01 1.77583710e+02] [ 6.51557760e-01 7.52362935e-01 -9.70695559e-02 6.67365063e+01] [ 1.48726729e-01 -1.21503374e-03 9.88877588e-01 2.17717692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:66.76, Z:21.77 [[ 7.49661917e-01 -6.51580895e-01 -1.15971324e-01 1.77597911e+02] [ 6.43867604e-01 7.58579110e-01 -9.99611992e-02 6.67635638e+01] [ 1.53106231e-01 2.66925699e-04 9.88209700e-01 2.17692006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42710568099997 meters Centerline goodness [0,1] 0.9999789721591387 Centerline is valid? [True, True] Translation: X:177.61, Y:66.79, Z:21.77 [[ 7.55225651e-01 -6.44923757e-01 -1.17079305e-01 1.77611156e+02] [ 6.36976994e-01 7.64245116e-01 -1.00944107e-01 6.67918012e+01] [ 1.54578540e-01 1.65875534e-03 9.87979111e-01 2.17710198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45710568099997 meters Centerline goodness [0,1] 0.9999789424919455 Centerline is valid? [True, True] Translation: X:177.63, Y:66.81, Z:21.78 [[ 7.57216909e-01 -6.42670879e-01 -1.16604860e-01 1.77629098e+02] [ 6.34758479e-01 7.66139419e-01 -1.00558759e-01 6.68149196e+01] [ 1.53961766e-01 2.12886885e-03 9.88074513e-01 2.17762423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48710568099997 meters Centerline goodness [0,1] 0.9999369959677419 Centerline is valid? [True, True] Translation: X:177.64, Y:66.84, Z:21.78 [[ 7.61277295e-01 -6.38179701e-01 -1.14819640e-01 1.77643888e+02] [ 6.30449150e-01 7.69881446e-01 -9.90778906e-02 6.68396156e+01] [ 1.51627009e-01 3.03780410e-03 9.88433115e-01 2.17828480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.66, Y:66.86, Z:21.79 [[ 7.64339746e-01 -6.34562354e-01 -1.14522366e-01 1.77664738e+02] [ 6.26826469e-01 7.72862462e-01 -9.88543989e-02 6.68592085e+01] [ 1.51239318e-01 3.77269594e-03 9.88489977e-01 2.17875779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.68, Y:66.88, Z:21.79 [[ 7.65158780e-01 -6.33336391e-01 -1.15832021e-01 1.77683727e+02] [ 6.25396920e-01 7.73865672e-01 -1.00053057e-01 6.68799072e+01] [ 1.53005667e-01 4.11548631e-03 9.88216742e-01 2.17892225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.70, Y:66.90, Z:21.79 [[ 7.64922754e-01 -6.33623839e-01 -1.15818870e-01 1.77704122e+02] [ 6.25685337e-01 7.73630531e-01 -1.00068278e-01 6.68978596e+01] [ 1.53006660e-01 4.07833358e-03 9.88216742e-01 2.17932595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.72, Y:66.92, Z:21.79 [[ 7.64430696e-01 -6.34029919e-01 -1.16840797e-01 1.77723127e+02] [ 6.25942387e-01 7.73297680e-01 -1.01028841e-01 6.69184955e+01] [ 1.54408025e-01 4.09393946e-03 9.87998685e-01 2.17945638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.75, Y:66.94, Z:21.80 [[ 7.63207514e-01 -6.35452389e-01 -1.17109146e-01 1.77745977e+02] [ 6.27331953e-01 7.72130327e-01 -1.01337947e-01 6.69357163e+01] [ 1.54818964e-01 3.87557336e-03 9.87935255e-01 2.17973172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.77, Y:66.95, Z:21.80 [[ 7.60935629e-01 -6.37928735e-01 -1.18422541e-01 1.77771612e+02] [ 6.29642347e-01 7.70087600e-01 -1.02545618e-01 6.69500590e+01] [ 1.56612527e-01 3.46676731e-03 9.87654038e-01 2.17996744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69710568099998 meters Centerline goodness [0,1] 0.9999370290296173 Centerline is valid? [True, True] Translation: X:177.79, Y:66.97, Z:21.80 [[ 7.59817192e-01 -6.39220065e-01 -1.18640395e-01 1.77793103e+02] [ 6.30907403e-01 7.69016950e-01 -1.02804569e-01 6.69682297e+01] [ 1.56951217e-01 3.26157542e-03 9.87600971e-01 2.18026718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.72710568099998 meters Centerline goodness [0,1] 0.9999368248152126 Centerline is valid? [True, True] Translation: X:177.82, Y:66.98, Z:21.81 [[ 7.58222397e-01 -6.41288992e-01 -1.17674231e-01 1.77816433e+02] [ 6.33125966e-01 7.67294097e-01 -1.02035682e-01 6.69841432e+01] [ 1.55725103e-01 2.86312846e-03 9.87796282e-01 2.18099511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75710568099998 meters Centerline goodness [0,1] 0.9998738435660218 Centerline is valid? [True, True] Translation: X:177.84, Y:67.00, Z:21.81 [[ 7.57353928e-01 -6.42328555e-01 -1.17596999e-01 1.77839821e+02] [ 6.34177960e-01 7.66424643e-01 -1.02037159e-01 6.70005891e+01] [ 1.55670619e-01 2.70081777e-03 9.87805327e-01 2.18147394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.78710568099999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.87, Y:67.01, Z:21.82 [[ 7.55790821e-01 -6.44324575e-01 -1.16730787e-01 1.77865821e+02] [ 6.36307364e-01 7.64748609e-01 -1.01353362e-01 6.70137169e+01] [ 1.54574169e-01 2.32528167e-03 9.87978451e-01 2.18187817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81710568099996 meters Centerline goodness [0,1] 0.9999789207419899 Centerline is valid? [True, True] Translation: X:177.89, Y:67.03, Z:21.82 [[ 7.54657369e-01 -6.45660828e-01 -1.16680552e-01 1.77889159e+02] [ 6.37655950e-01 7.63621421e-01 -1.01376599e-01 6.70292435e+01] [ 1.54554668e-01 2.10254913e-03 9.87982001e-01 2.18220343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84710568099996 meters Centerline goodness [0,1] 0.9999790228860314 Centerline is valid? [True, True] Translation: X:177.92, Y:67.04, Z:21.82 [[ 7.51296508e-01 -6.49228252e-01 -1.18558987e-01 1.77916924e+02] [ 6.41000053e-01 7.60592307e-01 -1.03045010e-01 6.70403169e+01] [ 1.57074785e-01 1.42103876e-03 9.87585689e-01 2.18235734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.94, Y:67.05, Z:21.83 [[ 7.49167280e-01 -6.51581731e-01 -1.19120254e-01 1.77942545e+02] [ 6.43299983e-01 7.58577839e-01 -1.03560585e-01 6.70530992e+01] [ 1.57840170e-01 9.54144775e-04 9.87464212e-01 2.18280318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.96, Y:67.07, Z:21.83 [[ 7.49115116e-01 -6.51710552e-01 -1.18743000e-01 1.77964335e+02] [ 6.43471005e-01 7.58467133e-01 -1.03308635e-01 6.70695970e+01] [ 1.57389990e-01 9.82382857e-04 9.87536038e-01 2.18330217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.99, Y:67.09, Z:21.84 [[ 7.50282710e-01 -6.50418823e-01 -1.18453410e-01 1.77988308e+02] [ 6.42191606e-01 7.59574646e-01 -1.03132433e-01 6.70850121e+01] [ 1.57053483e-01 1.30869590e-03 9.87589232e-01 2.18384889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.01, Y:67.10, Z:21.85 [[ 7.51085804e-01 -6.49739459e-01 -1.17084372e-01 1.78009620e+02] [ 6.41683947e-01 7.60155531e-01 -1.02006274e-01 6.71024425e+01] [ 1.55279834e-01 1.48430233e-03 9.87869409e-01 2.18452857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99710568099997 meters Centerline goodness [0,1] 0.9999369787618427 Centerline is valid? [True, True] Translation: X:178.03, Y:67.12, Z:21.86 [[ 7.54815858e-01 -6.46069561e-01 -1.13345235e-01 1.78028361e+02] [ 6.38471442e-01 7.63275301e-01 -9.88181794e-02 6.71214146e+01] [ 1.50357036e-01 2.22183352e-03 9.88629266e-01 2.18567772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.04, Y:67.15, Z:21.86 [[ 7.60249750e-01 -6.39777400e-01 -1.12717325e-01 1.78043711e+02] [ 6.32189485e-01 7.68552399e-01 -9.83039384e-02 6.71455366e+01] [ 1.49521809e-01 3.47683676e-03 9.88752315e-01 2.18624351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05710568099997 meters Centerline goodness [0,1] 0.9999790567144173 Centerline is valid? [True, True] Translation: X:178.06, Y:67.17, Z:21.87 [[ 7.63254514e-01 -6.36175874e-01 -1.12795406e-01 1.78061958e+02] [ 6.28533536e-01 7.71532584e-01 -9.84025673e-02 6.71682389e+01] [ 1.49626671e-01 4.21050817e-03 9.88733600e-01 2.18653982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.08, Y:67.19, Z:21.87 [[ 7.67292408e-01 -6.31500802e-01 -1.11665115e-01 1.78083579e+02] [ 6.23959589e-01 7.75358539e-01 -9.74349382e-02 6.71877589e+01] [ 1.48110742e-01 5.08656918e-03 9.88957701e-01 2.18699194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.10, Y:67.21, Z:21.87 [[ 7.68911227e-01 -6.29413938e-01 -1.12310373e-01 1.78103720e+02] [ 6.21754010e-01 7.77050262e-01 -9.80552998e-02 6.72067939e+01] [ 1.48988177e-01 5.56639591e-03 9.88823310e-01 2.18736236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.13, Y:67.22, Z:21.88 [[ 7.67856586e-01 -6.30472370e-01 -1.13581931e-01 1.78127858e+02] [ 6.22644546e-01 7.76192607e-01 -9.91907513e-02 6.72231232e+01] [ 1.50698483e-01 5.44310189e-03 9.88564788e-01 2.18750517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17710568099997 meters Centerline goodness [0,1] 0.9999162864677075 Centerline is valid? [True, True] Translation: X:178.16, Y:67.24, Z:21.88 [[ 7.64940915e-01 -6.33536895e-01 -1.16174003e-01 1.78156451e+02] [ 6.25369621e-01 7.73696277e-01 -1.01522947e-01 6.72353513e+01] [ 1.54201926e-01 5.00736336e-03 9.88026666e-01 2.18751357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20710568099997 meters Centerline goodness [0,1] 0.9999579292791182 Centerline is valid? [True, True] Translation: X:178.18, Y:67.25, Z:21.88 [[ 7.63136153e-01 -6.35682088e-01 -1.16324954e-01 1.78176864e+02] [ 6.27508482e-01 7.71937082e-01 -1.01716502e-01 6.72544432e+01] [ 1.54454904e-01 4.62864517e-03 9.87988997e-01 2.18769488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23710568099997 meters Centerline goodness [0,1] 0.9999789606564276 Centerline is valid? [True, True] Translation: X:178.21, Y:67.26, Z:21.88 [[ 7.60860513e-01 -6.38503952e-01 -1.15775574e-01 1.78207897e+02] [ 6.30434586e-01 7.69607808e-01 -1.01272178e-01 6.72626066e+01] [ 1.53764472e-01 4.06507500e-03 9.88099166e-01 2.18832378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.23, Y:67.28, Z:21.89 [[ 7.60352694e-01 -6.39266843e-01 -1.14898582e-01 1.78230958e+02] [ 6.31319341e-01 7.68974952e-01 -1.00565460e-01 6.72776044e+01] [ 1.52642295e-01 3.92752112e-03 9.88273699e-01 2.18880020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29710568099998 meters Centerline goodness [0,1] 0.9999790404728469 Centerline is valid? [True, True] Translation: X:178.26, Y:67.29, Z:21.89 [[ 7.61556368e-01 -6.37871682e-01 -1.14680493e-01 1.78255466e+02] [ 6.29933229e-01 7.70131059e-01 -1.00410555e-01 6.72925354e+01] [ 1.52368059e-01 4.22724449e-03 9.88314780e-01 2.18929402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32710568099998 meters Centerline goodness [0,1] 0.9999368593858523 Centerline is valid? [True, True] Translation: X:178.28, Y:67.31, Z:21.89 [[ 7.63160919e-01 -6.35763779e-01 -1.15714429e-01 1.78277233e+02] [ 6.27646298e-01 7.71869111e-01 -1.01381461e-01 6.73108207e+01] [ 1.53771054e-01 4.74263558e-03 9.88095122e-01 2.18943540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35710568099998 meters Centerline goodness [0,1] 0.9999578423726313 Centerline is valid? [True, True] Translation: X:178.30, Y:67.33, Z:21.89 [[ 7.67079334e-01 -6.30432068e-01 -1.18931506e-01 1.78299525e+02] [ 6.21785825e-01 7.76221241e-01 -1.04225587e-01 6.73306341e+01] [ 1.58024314e-01 5.99936885e-03 9.87416996e-01 2.18928079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.33, Y:67.35, Z:21.90 [[ 7.69594108e-01 -6.26846245e-01 -1.21608774e-01 1.78325119e+02] [ 6.17753652e-01 7.79112269e-01 -1.06604395e-01 6.73465807e+01] [ 1.61571453e-01 6.91785048e-03 9.86836769e-01 2.18953078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.35, Y:67.36, Z:21.90 [[ 7.70453018e-01 -6.25576634e-01 -1.22702981e-01 1.78345677e+02] [ 6.16292605e-01 7.80128589e-01 -1.07623461e-01 6.73647703e+01] [ 1.63050826e-01 7.29788017e-03 9.86590680e-01 2.18977957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.44710568099998 meters Centerline goodness [0,1] 0.9998950527884474 Centerline is valid? [True, True] Translation: X:178.37, Y:67.38, Z:21.90 [[ 7.72326433e-01 -6.23036003e-01 -1.23846763e-01 1.78368668e+02] [ 6.13540056e-01 7.82152959e-01 -1.08652419e-01 6.73810125e+01] [ 1.64561481e-01 7.93018551e-03 9.86334949e-01 2.19003776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47710568099998 meters Centerline goodness [0,1] 0.9999789300688987 Centerline is valid? [True, True] Translation: X:178.39, Y:67.40, Z:21.91 [[ 7.74558654e-01 -6.20572455e-01 -1.22264956e-01 1.78392902e+02] [ 6.11285588e-01 7.84104552e-01 -1.07284577e-01 6.73958279e+01] [ 1.62446362e-01 8.35939194e-03 9.86681965e-01 2.19086434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.50710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:67.41, Z:21.92 [[ 7.75736051e-01 -6.19337140e-01 -1.21058195e-01 1.78414719e+02] [ 6.10215433e-01 7.85078608e-01 -1.06248317e-01 6.74136937e+01] [ 1.60843728e-01 8.54907068e-03 9.86942860e-01 2.19156142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53710568099999 meters Centerline goodness [0,1] 0.9999371754062657 Centerline is valid? [True, True] Translation: X:178.44, Y:67.43, Z:21.93 [[ 7.80272171e-01 -6.14192578e-01 -1.18079699e-01 1.78435270e+02] [ 6.05448557e-01 7.89099935e-01 -1.03698296e-01 6.74312524e+01] [ 1.56867407e-01 9.42171135e-03 9.87574730e-01 2.19255341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56710568099996 meters Centerline goodness [0,1] 0.9998737984561344 Centerline is valid? [True, True] Translation: X:178.46, Y:67.45, Z:21.93 [[ 7.82925927e-01 -6.11051146e-01 -1.16805349e-01 1.78455918e+02] [ 6.02458092e-01 7.91528474e-01 -1.02600790e-01 6.74507362e+01] [ 1.55149090e-01 9.95849117e-03 9.87840872e-01 2.19319207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59710568099996 meters Centerline goodness [0,1] 0.9990739961276202 Centerline is valid? [True, True] Translation: X:178.48, Y:67.47, Z:21.93 [[ 7.87990231e-01 -6.04267364e-01 -1.18035373e-01 1.78476307e+02] [ 5.95406841e-01 7.96699147e-01 -1.03736022e-01 6.74700168e+01] [ 1.56722974e-01 1.14639040e-02 9.87576067e-01 2.19337493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62710568099996 meters Centerline goodness [0,1] 0.9934735468115118 Centerline is valid? [True, True] Translation: X:178.50, Y:67.49, Z:21.93 [[ 7.89975787e-01 -6.01204703e-01 -1.20379236e-01 1.78500809e+02] [ 5.91946232e-01 7.98999742e-01 -1.05825659e-01 6.74850910e+01] [ 1.59805863e-01 1.23416731e-02 9.87071309e-01 2.19329324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65710568099996 meters Centerline goodness [0,1] 0.9947098868210846 Centerline is valid? [True, True] Translation: X:178.53, Y:67.50, Z:21.94 [[ 7.88997758e-01 -6.02427285e-01 -1.20681001e-01 1.78526737e+02] [ 5.93132180e-01 7.98081373e-01 -1.06114744e-01 6.74992134e+01] [ 1.60239676e-01 1.21445096e-02 9.87003423e-01 2.19365980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68710568099996 meters Centerline goodness [0,1] 0.9978343600849435 Centerline is valid? [True, True] Translation: X:178.56, Y:67.51, Z:21.94 [[ 7.85939405e-01 -6.06497455e-01 -1.20250106e-01 1.78557614e+02] [ 5.97305782e-01 7.95004772e-01 -1.05797993e-01 6.75057523e+01] [ 1.59765622e-01 1.13247280e-02 9.87090014e-01 2.19428379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71710568099996 meters Centerline goodness [0,1] 0.9997475438116676 Centerline is valid? [True, True] Translation: X:178.59, Y:67.51, Z:21.95 [[ 7.84589843e-01 -6.08369441e-01 -1.19605188e-01 1.78591258e+02] [ 5.99294941e-01 7.93579115e-01 -1.05250946e-01 6.75102449e+01] [ 1.58947639e-01 1.09000393e-02 9.87226842e-01 2.19485105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74710568099997 meters Centerline goodness [0,1] 0.999707014900385 Centerline is valid? [True, True] Translation: X:178.62, Y:67.53, Z:21.95 [[ 7.84664253e-01 -6.08282266e-01 -1.19560420e-01 1.78615168e+02] [ 5.99210062e-01 7.93645508e-01 -1.05233595e-01 6.75257296e+01] [ 1.58900320e-01 1.09312337e-02 9.87234114e-01 2.19521781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77710568099997 meters Centerline goodness [0,1] 0.9986980807189955 Centerline is valid? [True, True] Translation: X:178.64, Y:67.54, Z:21.95 [[ 7.86197597e-01 -6.06017223e-01 -1.20981253e-01 1.78643472e+02] [ 5.96688663e-01 7.95367168e-01 -1.06553781e-01 6.75380227e+01] [ 1.60797943e-01 1.15841840e-02 9.86919363e-01 2.19540820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80710568099997 meters Centerline goodness [0,1] 0.9977521480641163 Centerline is valid? [True, True] Translation: X:178.68, Y:67.55, Z:21.96 [[ 7.86509945e-01 -6.05198848e-01 -1.23030327e-01 1.78675814e+02] [ 5.95528030e-01 7.95983735e-01 -1.08426288e-01 6.75465129e+01] [ 1.63549604e-01 1.20103459e-02 9.86462001e-01 2.19570119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83710568099997 meters Centerline goodness [0,1] 0.9967675580370261 Centerline is valid? [True, True] Translation: X:178.70, Y:67.56, Z:21.96 [[ 7.86112707e-01 -6.05669202e-01 -1.23254325e-01 1.78699712e+02] [ 5.95959041e-01 7.95626341e-01 -1.08680938e-01 6.75608099e+01] [ 1.63889085e-01 1.19809372e-02 9.86406014e-01 2.19611298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86710568099997 meters Centerline goodness [0,1] 0.9976305305095408 Centerline is valid? [True, True] Translation: X:178.73, Y:67.57, Z:21.97 [[ 7.85090056e-01 -6.07068912e-01 -1.22885885e-01 1.78727961e+02] [ 5.97429287e-01 7.94563405e-01 -1.08384697e-01 6.75721637e+01] [ 1.63437608e-01 1.16761214e-02 9.86484575e-01 2.19653901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89710568099997 meters Centerline goodness [0,1] 0.9968008082168716 Centerline is valid? [True, True] Translation: X:178.75, Y:67.59, Z:21.97 [[ 7.84643300e-01 -6.07570735e-01 -1.23258647e-01 1.78750272e+02] [ 5.97867780e-01 7.94180013e-01 -1.08776035e-01 6.75884291e+01] [ 1.63978690e-01 1.16580139e-02 9.86394992e-01 2.19680021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92710568099997 meters Centerline goodness [0,1] 0.9949403381540667 Centerline is valid? [True, True] Translation: X:178.78, Y:67.60, Z:21.97 [[ 7.85963144e-01 -6.05542360e-01 -1.24821417e-01 1.78777533e+02] [ 5.95551188e-01 7.95717971e-01 -1.10234721e-01 6.76012557e+01] [ 1.66074438e-01 1.23028845e-02 9.86036470e-01 2.19706502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95710568099997 meters Centerline goodness [0,1] 0.9840652525804621 Centerline is valid? [True, True] Translation: X:178.80, Y:67.62, Z:21.98 [[ 7.89745632e-01 -6.00628364e-01 -1.24689234e-01 1.78802793e+02] [ 5.90586403e-01 7.99416379e-01 -1.10186904e-01 6.76160532e+01] [ 1.65859996e-01 1.33798599e-02 9.86058538e-01 2.19754169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98710568099997 meters Centerline goodness [0,1] 0.9662826695870101 Centerline is valid? [True, True] Translation: X:178.83, Y:67.63, Z:21.98 [[ 7.91384575e-01 -5.98532235e-01 -1.24376916e-01 1.78825154e+02] [ 5.88504202e-01 8.00979188e-01 -1.09977926e-01 6.76342251e+01] [ 1.65448656e-01 1.38384967e-02 9.86121310e-01 2.19809986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01710568099998 meters Centerline goodness [0,1] 0.9499622197968265 Centerline is valid? [True, False] Translation: X:178.79, Y:67.58, Z:21.99 [[ 7.92803948e-01 -5.86947871e-01 -1.64177028e-01 1.78788242e+02] [ 5.84539074e-01 8.08524833e-01 -6.78355797e-02 6.75816620e+01] [ 1.72557153e-01 -4.21875724e-02 9.84095645e-01 2.19869096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04710568099998 meters Centerline goodness [0,1] 0.8493369480696887 Centerline is valid? [False, False] Translation: X:178.75, Y:67.53, Z:21.99 [[ 7.95045156e-01 -5.76943264e-01 -1.87188859e-01 1.78747425e+02] [ 5.80722440e-01 8.13133124e-01 -3.96984924e-02 6.75273516e+01] [ 1.75113239e-01 -7.71426768e-02 9.81521452e-01 2.19876948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07710568099998 meters Centerline goodness [0,1] 0.8523152894896528 Centerline is valid? [False, False] Translation: X:178.70, Y:67.48, Z:21.99 [[ 7.94720915e-01 -5.71057918e-01 -2.05697647e-01 1.78704460e+02] [ 5.80308689e-01 8.14190715e-01 -1.83113545e-02 6.74782677e+01] [ 1.77933958e-01 -1.04815715e-01 9.78444261e-01 2.19860368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10710568099998 meters Centerline goodness [0,1] 0.9051421606741337 Centerline is valid? [False, False] Translation: X:178.66, Y:67.42, Z:21.98 [[ 7.93756183e-01 -5.68464661e-01 -2.16330884e-01 1.78663135e+02] [ 5.80607570e-01 8.14133880e-01 -8.99312689e-03 6.74248598e+01] [ 1.81234576e-01 -1.18464999e-01 9.76278686e-01 2.19827506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13710568099998 meters Centerline goodness [0,1] 0.9117091793925155 Centerline is valid? [False, False] Translation: X:178.63, Y:67.38, Z:21.98 [[ 7.91224965e-01 -5.67920583e-01 -2.26780215e-01 1.78627406e+02] [ 5.82145529e-01 8.13068785e-01 -5.07285337e-03 6.73755515e+01] [ 1.87268892e-01 -1.28005320e-01 9.73932749e-01 2.19780332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.16710568099998 meters Centerline goodness [0,1] 0.9900164286616959 Centerline is valid? [False, True] Translation: X:178.58, Y:67.33, Z:21.97 [[ 7.89851353e-01 -5.68615338e-01 -2.29807390e-01 1.78582204e+02] [ 5.83299774e-01 8.12241997e-01 -4.93083364e-03 6.73306536e+01] [ 1.89462961e-01 -1.30151973e-01 9.73223638e-01 2.19684006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19710568099998 meters Centerline goodness [0,1] 0.9589208043537644 Centerline is valid? [True, True] Translation: X:178.59, Y:67.37, Z:21.95 [[ 7.93264172e-01 -5.93535845e-01 -1.35820301e-01 1.78591201e+02] [ 5.81951902e-01 8.04682102e-01 -1.17552960e-01 6.73675116e+01] [ 1.79064061e-01 1.42096686e-02 9.83734795e-01 2.19460420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.22710568099998 meters Centerline goodness [0,1] 0.993790519491454 Centerline is valid? [True, True] Translation: X:178.62, Y:67.38, Z:21.95 [[ 7.93823778e-01 -5.92774598e-01 -1.35875255e-01 1.78620700e+02] [ 5.81162438e-01 8.05239261e-01 -1.17643330e-01 6.73763664e+01] [ 1.79148067e-01 1.44224785e-02 9.83716403e-01 2.19527316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25710568099998 meters Centerline goodness [0,1] 0.9803314591361847 Centerline is valid? [True, True] Translation: X:178.64, Y:67.40, Z:21.95 [[ 7.93785306e-01 -5.92653354e-01 -1.36626824e-01 1.78640541e+02] [ 5.80895517e-01 8.05325406e-01 -1.18369709e-01 6.73956883e+01] [ 1.80181258e-01 1.45942259e-02 9.83525151e-01 2.19548346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.28710568099999 meters Centerline goodness [0,1] 0.9833896101172375 Centerline is valid? [True, True] Translation: X:178.66, Y:67.41, Z:21.96 [[ 7.93335812e-01 -5.93175068e-01 -1.36973090e-01 1.78664882e+02] [ 5.81355909e-01 8.04941965e-01 -1.18717064e-01 6.74100376e+01] [ 1.80675391e-01 1.45523830e-02 9.83435118e-01 2.19581742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31710568099996 meters Centerline goodness [0,1] 0.9932537842054223 Centerline is valid? [True, True] Translation: X:178.69, Y:67.42, Z:21.96 [[ 7.92598326e-01 -5.94123345e-01 -1.37132579e-01 1.78692332e+02] [ 5.82274321e-01 8.04244604e-01 -1.18942136e-01 6.74221668e+01] [ 1.80954437e-01 1.44245583e-02 9.83385694e-01 2.19643373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34710568099996 meters Centerline goodness [0,1] 0.9917501846186306 Centerline is valid? [True, True] Translation: X:178.72, Y:67.44, Z:21.97 [[ 7.91940871e-01 -5.94951169e-01 -1.37341775e-01 1.78715751e+02] [ 5.83064267e-01 8.03634308e-01 -1.19197145e-01 6.74388985e+01] [ 1.81289043e-01 1.43180094e-02 9.83325621e-01 2.19693471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37710568099996 meters Centerline goodness [0,1] 0.9937728241825512 Centerline is valid? [True, True] Translation: X:178.74, Y:67.45, Z:21.97 [[ 7.90459794e-01 -5.96735746e-01 -1.38129519e-01 1.78741191e+02] [ 5.84722975e-01 8.02314715e-01 -1.19958915e-01 6.74539235e+01] [ 1.82407118e-01 1.40551959e-02 9.83122625e-01 2.19728502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40710568099996 meters Centerline goodness [0,1] 0.9935601995075447 Centerline is valid? [True, True] Translation: X:178.76, Y:67.47, Z:21.98 [[ 7.89239275e-01 -5.98253109e-01 -1.38544522e-01 1.78764147e+02] [ 5.86176658e-01 8.01188235e-01 -1.20392435e-01 6.74710533e+01] [ 1.83025390e-01 1.38068729e-02 9.83011229e-01 2.19772439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43710568099996 meters Centerline goodness [0,1] 0.9872745659868531 Centerline is valid? [True, True] Translation: X:178.79, Y:67.49, Z:21.98 [[ 7.87275345e-01 -6.00749165e-01 -1.38917139e-01 1.78787641e+02] [ 5.88632791e-01 7.99326641e-01 -1.20782279e-01 6.74854979e+01] [ 1.83600023e-01 1.33177270e-02 9.82910815e-01 2.19817893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46710568099996 meters Centerline goodness [0,1] 0.9973565509283542 Centerline is valid? [True, True] Translation: X:178.82, Y:67.49, Z:21.99 [[ 7.85643925e-01 -6.03121412e-01 -1.37870177e-01 1.78816509e+02] [ 5.91218392e-01 7.97548421e-01 -1.19905500e-01 6.74949570e+01] [ 1.82275716e-01 1.26916433e-02 9.83165543e-01 2.19906026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49710568099997 meters Centerline goodness [0,1] 0.9973565509283542 Centerline is valid? [True, True] Translation: X:178.84, Y:67.51, Z:22.00 [[ 7.85426971e-01 -6.03412441e-01 -1.37832867e-01 1.78836955e+02] [ 5.91506370e-01 7.97328415e-01 -1.19948374e-01 6.75130200e+01] [ 1.82276403e-01 1.26816692e-02 9.83165545e-01 2.19950208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52710568099997 meters Centerline goodness [0,1] 0.9972795948688974 Centerline is valid? [True, True] Translation: X:178.86, Y:67.53, Z:22.00 [[ 7.84880597e-01 -6.04571768e-01 -1.35850748e-01 1.78860478e+02] [ 5.93010747e-01 7.96455770e-01 -1.18306635e-01 6.75282987e+01] [ 1.79723964e-01 1.22956285e-02 9.83640236e-01 2.20029270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55710568099997 meters Centerline goodness [0,1] 0.9983423211700275 Centerline is valid? [True, True] Translation: X:178.88, Y:67.54, Z:22.01 [[ 7.85597898e-01 -6.03931014e-01 -1.34548404e-01 1.78882787e+02] [ 5.92572661e-01 7.96940639e-01 -1.17231649e-01 6.75449546e+01] [ 1.78026919e-01 1.23672310e-02 9.83947899e-01 2.20097460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58710568099997 meters Centerline goodness [0,1] 0.9943049280235369 Centerline is valid? [True, True] Translation: X:178.90, Y:67.56, Z:22.02 [[ 7.88091114e-01 -6.00920658e-01 -1.33441966e-01 1.78903746e+02] [ 5.89694103e-01 7.99202985e-01 -1.16341967e-01 6.75639257e+01] [ 1.76559509e-01 1.29981300e-02 9.84204140e-01 2.20158025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61710568099997 meters Centerline goodness [0,1] 0.9949608889076303 Centerline is valid? [True, True] Translation: X:178.93, Y:67.58, Z:22.02 [[ 7.89375496e-01 -5.99307965e-01 -1.33102549e-01 1.78926936e+02] [ 5.88103463e-01 8.00406685e-01 -1.16118280e-01 6.75809549e+01] [ 1.76126780e-01 1.33828545e-02 9.84276514e-01 2.20220273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64710568099997 meters Centerline goodness [0,1] 0.9176608973281801 Centerline is valid? [True, False] Translation: X:178.89, Y:67.53, Z:22.03 [[ 7.91655042e-01 -5.86479963e-01 -1.71241196e-01 1.78894465e+02] [ 5.82211266e-01 8.09132349e-01 -7.95919809e-02 6.75335451e+01] [ 1.85235893e-01 -3.66891602e-02 9.82008946e-01 2.20316577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67710568099997 meters Centerline goodness [0,1] 0.9778971893956886 Centerline is valid? [False, True] Translation: X:178.85, Y:67.49, Z:22.04 [[ 7.92111106e-01 -5.76810543e-01 -1.99623628e-01 1.78854004e+02] [ 5.79362107e-01 8.13441119e-01 -5.15082036e-02 6.74868788e+01] [ 1.92092542e-01 -7.48541454e-02 9.78517916e-01 2.20353681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70710568099997 meters Centerline goodness [0,1] 0.961164845287443 Centerline is valid? [True, True] Translation: X:178.87, Y:67.52, Z:22.02 [[ 7.94677460e-01 -5.90583825e-01 -1.40351275e-01 1.78869786e+02] [ 5.78193151e-01 8.06832256e-01 -1.21302885e-01 6.75169658e+01] [ 1.84879457e-01 1.52465228e-02 9.82642931e-01 2.20172151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73710568099997 meters Centerline goodness [0,1] 0.9826461021928444 Centerline is valid? [True, True] Translation: X:178.89, Y:67.53, Z:22.03 [[ 7.94494112e-01 -5.91278286e-01 -1.38452500e-01 1.78894803e+02] [ 5.79228420e-01 8.06329946e-01 -1.19693170e-01 6.75304013e+01] [ 1.82410369e-01 1.48998963e-02 9.83109582e-01 2.20254953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76710568099998 meters Centerline goodness [0,1] 0.9882654239351765 Centerline is valid? [True, True] Translation: X:178.92, Y:67.55, Z:22.03 [[ 7.94178027e-01 -5.91852874e-01 -1.37809421e-01 1.78918817e+02] [ 5.79910724e-01 8.05910913e-01 -1.19210538e-01 6.75455103e+01] [ 1.81617215e-01 1.47572289e-02 9.83258568e-01 2.20311611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79710568099998 meters Centerline goodness [0,1] 0.9820402147594484 Centerline is valid? [True, True] Translation: X:178.94, Y:67.56, Z:22.03 [[ 7.93095176e-01 -5.93083725e-01 -1.38750630e-01 1.78943111e+02] [ 5.80980872e-01 8.05007705e-01 -1.20099211e-01 6.75595667e+01] [ 1.82924214e-01 1.46386431e-02 9.83018027e-01 2.20348147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82710568099998 meters Centerline goodness [0,1] 0.9950310559006211 Centerline is valid? [True, True] Translation: X:178.97, Y:67.57, Z:22.04 [[ 7.92045011e-01 -5.94288071e-01 -1.39593659e-01 1.78968784e+02] [ 5.82046200e-01 8.04121760e-01 -1.20873550e-01 6.75737090e+01] [ 1.84084008e-01 1.44873332e-02 9.82803742e-01 2.20385309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85710568099998 meters Centerline goodness [0,1] 0.9950921537651396 Centerline is valid? [True, True] Translation: X:178.99, Y:67.59, Z:22.04 [[ 7.90336679e-01 -5.96614149e-01 -1.39353836e-01 1.78991792e+02] [ 5.84435997e-01 8.02406400e-01 -1.20741604e-01 6.75902775e+01] [ 1.83854559e-01 1.39831206e-02 9.82853994e-01 2.20413526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88710568099998 meters Centerline goodness [0,1] 0.995433789954338 Centerline is valid? [True, True] Translation: X:179.01, Y:67.61, Z:22.05 [[ 7.89730493e-01 -5.97694796e-01 -1.38154553e-01 1.79013729e+02] [ 5.85734246e-01 8.01607501e-01 -1.19753107e-01 6.76079569e+01] [ 1.82321535e-01 1.36508276e-02 9.83144197e-01 2.20463069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91710568099998 meters Centerline goodness [0,1] 0.9979403110550652 Centerline is valid? [True, True] Translation: X:179.04, Y:67.62, Z:22.05 [[ 7.87122714e-01 -6.00945185e-01 -1.38934220e-01 1.79040122e+02] [ 5.88884209e-01 7.99183984e-01 -1.20500408e-01 6.76218445e+01] [ 1.83448143e-01 1.30324403e-02 9.82942996e-01 2.20517750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.94710568099998 meters Centerline goodness [0,1] 0.9947246742328709 Centerline is valid? [True, True] Translation: X:179.06, Y:67.64, Z:22.05 [[ 7.83524935e-01 -6.05194093e-01 -1.40814723e-01 1.79061657e+02] [ 5.92854930e-01 7.95983456e-01 -1.22202173e-01 6.76398705e+01] [ 1.86042223e-01 1.22657468e-02 9.82465186e-01 2.20537107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97710568099998 meters Centerline goodness [0,1] 0.9967614550469067 Centerline is valid? [True, True] Translation: X:179.08, Y:67.66, Z:22.06 [[ 7.81600392e-01 -6.07699329e-01 -1.40720831e-01 1.79084432e+02] [ 5.95410684e-01 7.94081183e-01 -1.22152332e-01 6.76566056e+01] [ 1.85975654e-01 1.16876245e-02 9.82484837e-01 2.20588730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.00710568099998 meters Centerline goodness [0,1] 0.9984467160638946 Centerline is valid? [True, True] Translation: X:179.11, Y:67.67, Z:22.06 [[ 7.80825101e-01 -6.08678928e-01 -1.40791065e-01 1.79106037e+02] [ 5.96379326e-01 7.93332987e-01 -1.22288474e-01 6.76745214e+01] [ 1.86128613e-01 1.15210300e-02 9.82457839e-01 2.20643845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03710568099999 meters Centerline goodness [0,1] 0.9980054587444888 Centerline is valid? [True, True] Translation: X:179.13, Y:67.69, Z:22.07 [[ 7.81638630e-01 -6.07605851e-01 -1.40911967e-01 1.79126900e+02] [ 5.95252899e-01 7.94150301e-01 -1.22471570e-01 6.76940407e+01] [ 1.86319724e-01 1.18502532e-02 9.82417697e-01 2.20690107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06710568099996 meters Centerline goodness [0,1] 0.9981507165973186 Centerline is valid? [True, True] Translation: X:179.15, Y:67.72, Z:22.07 [[ 7.82643738e-01 -6.06237704e-01 -1.41225443e-01 1.79146204e+02] [ 5.93793178e-01 7.95188935e-01 -1.22817827e-01 6.77151673e+01] [ 1.86757707e-01 1.22638984e-02 9.82329454e-01 2.20733413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09710568099996 meters Centerline goodness [0,1] 0.9969498085741932 Centerline is valid? [True, True] Translation: X:179.16, Y:67.74, Z:22.08 [[ 7.84818952e-01 -6.03266816e-01 -1.41874455e-01 1.79164326e+02] [ 5.90652671e-01 7.97432521e-01 -1.23413114e-01 6.77388319e+01] [ 1.87586341e-01 1.30584253e-02 9.82161312e-01 2.20773003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12710568099996 meters Centerline goodness [0,1] 0.9947770273104837 Centerline is valid? [True, True] Translation: X:179.18, Y:67.76, Z:22.08 [[ 7.85989656e-01 -6.01420085e-01 -1.43227590e-01 1.79183023e+02] [ 5.88517029e-01 7.98815605e-01 -1.24664894e-01 6.77621329e+01] [ 1.89388405e-01 1.36934416e-02 9.81806764e-01 2.20808475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15710568099996 meters Centerline goodness [0,1] 0.9928892058564417 Centerline is valid? [True, True] Translation: X:179.20, Y:67.78, Z:22.09 [[ 7.86166941e-01 -6.01101121e-01 -1.43593117e-01 1.79203707e+02] [ 5.88111863e-01 7.99052657e-01 -1.25057134e-01 6.77820844e+01] [ 1.89910446e-01 1.38669690e-02 9.81703484e-01 2.20854095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18710568099996 meters Centerline goodness [0,1] 0.9964699949571356 Centerline is valid? [True, True] Translation: X:179.23, Y:67.80, Z:22.09 [[ 7.86179744e-01 -6.01376395e-01 -1.42365173e-01 1.79225762e+02] [ 5.88599920e-01 7.98847652e-01 -1.24066767e-01 6.77992437e+01] [ 1.88338910e-01 1.37426499e-02 9.82007940e-01 2.20942132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21710568099996 meters Centerline goodness [0,1] 0.9965994962216624 Centerline is valid? [True, True] Translation: X:179.24, Y:67.82, Z:22.10 [[ 7.85434521e-01 -6.02739520e-01 -1.40704242e-01 1.79244369e+02] [ 5.90269555e-01 7.97826903e-01 -1.22695090e-01 6.78201568e+01] [ 1.86210809e-01 1.33155286e-02 9.82419580e-01 2.20989574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24710568099997 meters Centerline goodness [0,1] 0.9966055239300021 Centerline is valid? [True, True] Translation: X:179.27, Y:67.84, Z:22.10 [[ 7.84923536e-01 -6.03522071e-01 -1.40200401e-01 1.79265836e+02] [ 5.91144610e-01 7.97238286e-01 -1.22307669e-01 6.78384191e+01] [ 1.85588505e-01 1.31234567e-02 9.82539913e-01 2.21037986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27710568099997 meters Centerline goodness [0,1] 0.9933482086473288 Centerline is valid? [True, True] Translation: X:179.28, Y:67.86, Z:22.11 [[ 7.84627177e-01 -6.03847077e-01 -1.40459609e-01 1.79284468e+02] [ 5.91414320e-01 7.96992004e-01 -1.22608512e-01 6.78579084e+01] [ 1.85981977e-01 1.31321466e-02 9.82465394e-01 2.21083916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30710568099997 meters Centerline goodness [0,1] 0.997940181179982 Centerline is valid? [True, True] Translation: X:179.31, Y:67.87, Z:22.12 [[ 7.84632780e-01 -6.04212176e-01 -1.38849006e-01 1.79310155e+02] [ 5.92063631e-01 7.96718649e-01 -1.21243768e-01 6.78704075e+01] [ 1.83880553e-01 1.29243885e-02 9.82863623e-01 2.21188563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33710568099997 meters Centerline goodness [0,1] 0.9975223617351867 Centerline is valid? [True, True] Translation: X:179.33, Y:67.89, Z:22.13 [[ 7.83980550e-01 -6.05353869e-01 -1.37554319e-01 1.79331773e+02] [ 5.93436352e-01 7.95856798e-01 -1.20188407e-01 6.78893758e+01] [ 1.82230057e-01 1.25956401e-02 9.83175242e-01 2.21251775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36710568099997 meters Centerline goodness [0,1] 0.9975936388365767 Centerline is valid? [True, True] Translation: X:179.35, Y:67.91, Z:22.13 [[ 7.83126498e-01 -6.06755922e-01 -1.36235603e-01 1.79352563e+02] [ 5.95078546e-01 7.94794673e-01 -1.19092197e-01 6.79068161e+01] [ 1.80539228e-01 1.21933710e-02 9.83492201e-01 2.21307905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39710568099997 meters Centerline goodness [0,1] 0.99812816791806 Centerline is valid? [True, True] Translation: X:179.38, Y:67.92, Z:22.14 [[ 7.82803128e-01 -6.07312667e-01 -1.35611901e-01 1.79376580e+02] [ 5.95745543e-01 7.94371785e-01 -1.18577891e-01 6.79224744e+01] [ 1.79740123e-01 1.20329586e-02 9.83640532e-01 2.21365562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42710568099997 meters Centerline goodness [0,1] 0.9977999874284996 Centerline is valid? [True, True] Translation: X:179.39, Y:67.94, Z:22.14 [[ 7.81861100e-01 -6.08342755e-01 -1.36426950e-01 1.79394669e+02] [ 5.96637350e-01 7.93584815e-01 -1.19360857e-01 6.79447191e+01] [ 1.80878669e-01 1.19261971e-02 9.83433106e-01 2.21377256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45710568099997 meters Centerline goodness [0,1] 0.9982977113675052 Centerline is valid? [True, True] Translation: X:179.42, Y:67.96, Z:22.14 [[ 7.79811182e-01 -6.10178052e-01 -1.39918785e-01 1.79419321e+02] [ 5.97882581e-01 7.92175961e-01 -1.22448626e-01 6.79598567e+01] [ 1.85555762e-01 1.18318033e-02 9.82562501e-01 2.21403186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48710568099997 meters Centerline goodness [0,1] 0.9982943777637397 Centerline is valid? [True, True] Translation: X:179.44, Y:67.98, Z:22.14 [[ 7.78485498e-01 -6.11523353e-01 -1.41419653e-01 1.79441810e+02] [ 5.98967161e-01 7.91139858e-01 -1.23838871e-01 6.79771736e+01] [ 1.87613086e-01 1.17010374e-02 9.82173313e-01 2.21442657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51710568099998 meters Centerline goodness [0,1] 0.9986580277201149 Centerline is valid? [True, True] Translation: X:179.46, Y:68.00, Z:22.15 [[ 7.76263734e-01 -6.14190863e-01 -1.42071106e-01 1.79461825e+02] [ 6.01546819e-01 7.89078443e-01 -1.24485484e-01 6.79959449e+01] [ 1.88563094e-01 1.11711446e-02 9.81997538e-01 2.21478701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54710568099998 meters Centerline goodness [0,1] 0.9991403170343034 Centerline is valid? [True, True] Translation: X:179.48, Y:68.02, Z:22.15 [[ 7.75730651e-01 -6.14988893e-01 -1.41529566e-01 1.79482359e+02] [ 6.02448365e-01 7.88459568e-01 -1.24046269e-01 6.80157536e+01] [ 1.87877419e-01 1.09622377e-02 9.82131307e-01 2.21530005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57710568099998 meters Centerline goodness [0,1] 0.99878261234599 Centerline is valid? [True, True] Translation: X:179.50, Y:68.04, Z:22.16 [[ 7.76159174e-01 -6.14507627e-01 -1.41270357e-01 1.79501220e+02] [ 6.01991121e-01 7.88832525e-01 -1.23894865e-01 6.80351850e+01] [ 1.87572992e-01 1.11186356e-02 9.82187736e-01 2.21574397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60710568099998 meters Centerline goodness [0,1] 0.9984733143717585 Centerline is valid? [True, True] Translation: X:179.52, Y:68.05, Z:22.16 [[ 7.76520503e-01 -6.14182340e-01 -1.40698127e-01 1.79520899e+02] [ 6.01756367e-01 7.89084989e-01 -1.23426719e-01 6.80548321e+01] [ 1.86829291e-01 1.11773844e-02 9.82328805e-01 2.21631391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63710568099998 meters Centerline goodness [0,1] 0.9987410298375928 Centerline is valid? [True, True] Translation: X:179.54, Y:68.07, Z:22.17 [[ 7.76514079e-01 -6.14229948e-01 -1.40525640e-01 1.79542657e+02] [ 6.01829029e-01 7.89047906e-01 -1.23309456e-01 6.80729118e+01] [ 1.86621822e-01 1.11791190e-02 9.82368222e-01 2.21686860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.66710568099998 meters Centerline goodness [0,1] 0.9990740935586372 Centerline is valid? [True, True] Translation: X:179.57, Y:68.09, Z:22.18 [[ 7.76206091e-01 -6.14758026e-01 -1.39916664e-01 1.79567137e+02] [ 6.02459073e-01 7.88638146e-01 -1.22853328e-01 6.80881284e+01] [ 1.85868688e-01 1.10654384e-02 9.82512283e-01 2.21752614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69710568099998 meters Centerline goodness [0,1] 0.9993283096492517 Centerline is valid? [True, True] Translation: X:179.59, Y:68.11, Z:22.18 [[ 7.75913969e-01 -6.15272307e-01 -1.39274914e-01 1.79589048e+02] [ 6.03080021e-01 7.88238528e-01 -1.22370387e-01 6.81062936e+01] [ 1.85072964e-01 1.09549744e-02 9.82663720e-01 2.21807919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.72710568099998 meters Centerline goodness [0,1] 0.9985109060402685 Centerline is valid? [True, True] Translation: X:179.61, Y:68.12, Z:22.19 [[ 7.74414857e-01 -6.17278828e-01 -1.38738883e-01 1.79609120e+02] [ 6.05198499e-01 7.86674455e-01 -1.21975731e-01 6.81247143e+01] [ 1.84435371e-01 1.04952545e-02 9.82788606e-01 2.21859900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75710568099998 meters Centerline goodness [0,1] 0.9991414151990451 Centerline is valid? [True, True] Translation: X:179.64, Y:68.13, Z:22.20 [[ 7.71035050e-01 -6.22312499e-01 -1.35026311e-01 1.79637498e+02] [ 6.10943527e-01 7.82716328e-01 -1.18756716e-01 6.81345817e+01] [ 1.79591087e-01 9.07213937e-03 9.83699516e-01 2.21971032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.78710568099999 meters Centerline goodness [0,1] 0.9986564218835285 Centerline is valid? [True, True] Translation: X:179.66, Y:68.15, Z:22.20 [[ 7.68273618e-01 -6.26104155e-01 -1.33226251e-01 1.79660234e+02] [ 6.15082663e-01 7.79697058e-01 -1.17242545e-01 6.81499471e+01] [ 1.77282161e-01 8.12919698e-03 9.84126492e-01 2.22038920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81710568099996 meters Centerline goodness [0,1] 0.99820433048671 Centerline is valid? [True, True] Translation: X:179.69, Y:68.16, Z:22.21 [[ 7.61060324e-01 -6.34793066e-01 -1.33510102e-01 1.79688293e+02] [ 6.23846527e-01 7.72657589e-01 -1.17540467e-01 6.81611980e+01] [ 1.77771467e-01 6.16557178e-03 9.84052484e-01 2.22100991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84710568099996 meters Centerline goodness [0,1] 0.9989730046948356 Centerline is valid? [True, True] Translation: X:179.71, Y:68.18, Z:22.21 [[ 7.53439351e-01 -6.43248299e-01 -1.36237916e-01 1.79712804e+02] [ 6.31966842e-01 7.65645395e-01 -1.20020995e-01 6.81760105e+01] [ 1.81513234e-01 4.33069551e-03 9.83378966e-01 2.22085273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87710568099996 meters Centerline goodness [0,1] 0.9990990235930101 Centerline is valid? [True, True] Translation: X:179.74, Y:68.19, Z:22.21 [[ 7.49851047e-01 -6.47256636e-01 -1.37048366e-01 1.79735837e+02] [ 6.35894274e-01 7.62264444e-01 -1.20794823e-01 6.81935400e+01] [ 1.82652347e-01 3.42985354e-03 9.83171580e-01 2.22103768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90710568099996 meters Centerline goodness [0,1] 0.9989916601894838 Centerline is valid? [True, True] Translation: X:179.76, Y:68.21, Z:22.21 [[ 7.45196017e-01 -6.52509977e-01 -1.37526819e-01 1.79757113e+02] [ 6.41141637e-01 7.57776906e-01 -1.21291234e-01 6.82111961e+01] [ 1.83358387e-01 2.21157457e-03 9.83043646e-01 2.22121968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93710568099996 meters Centerline goodness [0,1] 0.9991191459910657 Centerline is valid? [True, True] Translation: X:179.78, Y:68.23, Z:22.22 [[ 7.43731790e-01 -6.54182533e-01 -1.37507227e-01 1.79777913e+02] [ 6.42839537e-01 7.56334505e-01 -1.21307239e-01 6.82298352e+01] [ 1.83358538e-01 1.82496792e-03 9.83044412e-01 2.22184577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96710568099996 meters Centerline goodness [0,1] 0.9994756161510225 Centerline is valid? [True, True] Translation: X:179.79, Y:68.25, Z:22.22 [[ 7.42063516e-01 -6.55990202e-01 -1.37907917e-01 1.79793905e+02] [ 6.44596578e-01 7.54768025e-01 -1.21739395e-01 6.82524144e+01] [ 1.83948336e-01 1.44339263e-03 9.82934853e-01 2.22222545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99710568099997 meters Centerline goodness [0,1] 0.9992477746667224 Centerline is valid? [True, True] Translation: X:179.81, Y:68.28, Z:22.22 [[ 7.42059315e-01 -6.56002696e-01 -1.37871085e-01 1.79809794e+02] [ 6.44603960e-01 7.54757081e-01 -1.21768154e-01 6.82750393e+01] [ 1.83939415e-01 1.48694528e-03 9.82936458e-01 2.22240666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02710568099997 meters Centerline goodness [0,1] 0.999370554541449 Centerline is valid? [True, True] Translation: X:179.82, Y:68.30, Z:22.23 [[ 7.43246558e-01 -6.54687202e-01 -1.37728797e-01 1.79822516e+02] [ 6.43279916e-01 7.55897639e-01 -1.21695146e-01 6.83045932e+01] [ 1.83781127e-01 1.85132881e-03 9.82965447e-01 2.22259536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05710568099997 meters Centerline goodness [0,1] 0.9992232602078304 Centerline is valid? [True, True] Translation: X:179.84, Y:68.33, Z:22.23 [[ 7.45647632e-01 -6.51709586e-01 -1.38867654e-01 1.79837464e+02] [ 6.40045286e-01 7.58463907e-01 -1.22778390e-01 6.83309786e+01] [ 1.85341957e-01 2.66782874e-03 9.82670464e-01 2.22315716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08710568099997 meters Centerline goodness [0,1] 0.9992656777794096 Centerline is valid? [True, True] Translation: X:179.86, Y:68.35, Z:22.24 [[ 7.46721551e-01 -6.50342428e-01 -1.39505024e-01 1.79855092e+02] [ 6.38532011e-01 7.59634941e-01 -1.23416481e-01 6.83532759e+01] [ 1.86235865e-01 3.07932258e-03 9.82500239e-01 2.22365847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11710568099997 meters Centerline goodness [0,1] 0.998948828995501 Centerline is valid? [True, True] Translation: X:179.87, Y:68.38, Z:22.24 [[ 7.47889092e-01 -6.48869300e-01 -1.40109024e-01 1.79872423e+02] [ 6.36919846e-01 7.60891823e-01 -1.24002996e-01 6.83766101e+01] [ 1.87069548e-01 3.50227038e-03 9.82340429e-01 2.22415483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14710568099997 meters Centerline goodness [0,1] 0.9981811339688911 Centerline is valid? [True, True] Translation: X:179.88, Y:68.40, Z:22.25 [[ 7.50505057e-01 -6.46100416e-01 -1.38911526e-01 1.79884573e+02] [ 6.34294774e-01 7.63240776e-01 -1.23018931e-01 6.84047427e+01] [ 1.85505523e-01 4.21547507e-03 9.82634179e-01 2.22486855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17710568099997 meters Centerline goodness [0,1] 0.9980109294194007 Centerline is valid? [True, True] Translation: X:179.90, Y:68.43, Z:22.26 [[ 7.52976744e-01 -6.43482394e-01 -1.37682357e-01 1.79898605e+02] [ 6.31829171e-01 7.65445387e-01 -1.22005160e-01 6.84307597e+01] [ 1.83896498e-01 4.87531877e-03 9.82933522e-01 2.22564633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20710568099997 meters Centerline goodness [0,1] 0.9976904341983707 Centerline is valid? [True, True] Translation: X:179.92, Y:68.45, Z:22.26 [[ 7.54285207e-01 -6.42058865e-01 -1.37165013e-01 1.79915357e+02] [ 6.30456619e-01 7.66637294e-01 -1.21621174e-01 6.84539759e+01] [ 1.83243767e-01 5.26046255e-03 9.83053432e-01 2.22609858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23710568099997 meters Centerline goodness [0,1] 0.9981351401752968 Centerline is valid? [True, True] Translation: X:179.93, Y:68.48, Z:22.27 [[ 7.57097481e-01 -6.39007344e-01 -1.35915484e-01 1.79929725e+02] [ 6.27560472e-01 7.69177402e-01 -1.20556949e-01 6.84798838e+01] [ 1.81579894e-01 5.97817726e-03 9.83358024e-01 2.22685068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26710568099998 meters Centerline goodness [0,1] 0.997859571074831 Centerline is valid? [True, True] Translation: X:179.95, Y:68.50, Z:22.28 [[ 7.58842870e-01 -6.37211546e-01 -1.34606628e-01 1.79946461e+02] [ 6.25944642e-01 7.70662352e-01 -1.19469007e-01 6.85024787e+01] [ 1.79863291e-01 6.40190684e-03 9.83670784e-01 2.22777121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29710568099998 meters Centerline goodness [0,1] 0.9976364282875609 Centerline is valid? [True, True] Translation: X:179.97, Y:68.52, Z:22.28 [[ 7.60201299e-01 -6.35528523e-01 -1.34898046e-01 1.79965331e+02] [ 6.24172105e-01 7.72046777e-01 -1.19803830e-01 6.85243888e+01] [ 1.80286352e-01 6.87542968e-03 9.83590138e-01 2.22823766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32710568099998 meters Centerline goodness [0,1] 0.998196497850477 Centerline is valid? [True, True] Translation: X:179.98, Y:68.55, Z:22.28 [[ 7.61771865e-01 -6.33205147e-01 -1.36948411e-01 1.79983892e+02] [ 6.21446810e-01 7.73946693e-01 -1.21697899e-01 6.85466013e+01] [ 1.83050506e-01 7.59988263e-03 9.83074135e-01 2.22848085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35710568099998 meters Centerline goodness [0,1] 0.998257876288227 Centerline is valid? [True, True] Translation: X:180.00, Y:68.57, Z:22.29 [[ 7.63410575e-01 -6.31176814e-01 -1.37186456e-01 1.79999407e+02] [ 6.19339053e-01 7.75596422e-01 -1.21939852e-01 6.85708442e+01] [ 1.83366932e-01 8.12524298e-03 9.83010961e-01 2.22877349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38710568099998 meters Centerline goodness [0,1] 0.998257876288227 Centerline is valid? [True, True] Translation: X:180.02, Y:68.59, Z:22.29 [[ 7.63178190e-01 -6.31462943e-01 -1.37162683e-01 1.80019596e+02] [ 6.19624962e-01 7.75363823e-01 -1.21966588e-01 6.85890835e+01] [ 1.83368362e-01 8.09281784e-03 9.83010961e-01 2.22922902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41710568099998 meters Centerline goodness [0,1] 0.9981788495352927 Centerline is valid? [True, True] Translation: X:180.04, Y:68.61, Z:22.30 [[ 7.63494800e-01 -6.31083787e-01 -1.37145703e-01 1.80040173e+02] [ 6.19225779e-01 7.75670753e-01 -1.22042275e-01 6.86083106e+01] [ 1.83398811e-01 8.25448736e-03 9.83003937e-01 2.22977077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.44710568099998 meters Centerline goodness [0,1] 0.9983002119488804 Centerline is valid? [True, True] Translation: X:180.06, Y:68.62, Z:22.30 [[ 7.62736737e-01 -6.31688339e-01 -1.38573128e-01 1.80063628e+02] [ 6.19574210e-01 7.75178428e-01 -1.23394504e-01 6.86246292e+01] [ 1.85365768e-01 8.26118473e-03 9.82634868e-01 2.23024813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47710568099998 meters Centerline goodness [0,1] 0.998403730230409 Centerline is valid? [True, True] Translation: X:180.09, Y:68.64, Z:22.31 [[ 7.61329429e-01 -6.33344750e-01 -1.38751318e-01 1.80087015e+02] [ 6.21210830e-01 7.73829111e-01 -1.23634996e-01 6.86406059e+01] [ 1.85673385e-01 7.93313951e-03 9.82579493e-01 2.23078626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.50710568099998 meters Centerline goodness [0,1] 0.9982979617566715 Centerline is valid? [True, True] Translation: X:180.11, Y:68.66, Z:22.31 [[ 7.57368902e-01 -6.37795631e-01 -1.40032423e-01 1.80112093e+02] [ 6.25493413e-01 7.70174056e-01 -1.24859572e-01 6.86554380e+01] [ 1.87484229e-01 6.97539868e-03 9.82242846e-01 2.23092141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53710568099996 meters Centerline goodness [0,1] 0.9986103507811513 Centerline is valid? [True, True] Translation: X:180.14, Y:68.67, Z:22.31 [[ 7.55436039e-01 -6.39931503e-01 -1.40726906e-01 1.80135128e+02] [ 6.27527557e-01 7.68404130e-01 -1.25555794e-01 6.86722925e+01] [ 1.88482244e-01 6.53936007e-03 9.82054826e-01 2.23126523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56710568099996 meters Centerline goodness [0,1] 0.9989901752466708 Centerline is valid? [True, True] Translation: X:180.16, Y:68.69, Z:22.32 [[ 7.53454368e-01 -6.42715206e-01 -1.38649484e-01 1.80157886e+02] [ 6.30709767e-01 7.66083114e-01 -1.23781475e-01 6.86881534e+01] [ 1.85773264e-01 5.81610933e-03 9.82575426e-01 2.23184573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59710568099996 meters Centerline goodness [0,1] 0.998948298346725 Centerline is valid? [True, True] Translation: X:180.18, Y:68.70, Z:22.32 [[ 7.50082607e-01 -6.46788913e-01 -1.37986177e-01 1.80183802e+02] [ 6.34953311e-01 7.62653693e-01 -1.23262475e-01 6.87026384e+01] [ 1.84960470e-01 4.84225890e-03 9.82734032e-01 2.23245091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62710568099996 meters Centerline goodness [0,1] 0.999226022382596 Centerline is valid? [True, True] Translation: X:180.21, Y:68.72, Z:22.33 [[ 7.47708513e-01 -6.49416104e-01 -1.38530513e-01 1.80207957e+02] [ 6.37516656e-01 7.60421272e-01 -1.23822461e-01 6.87190030e+01] [ 1.85753849e-01 4.26759935e-03 9.82587042e-01 2.23289061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65710568099996 meters Centerline goodness [0,1] 0.9994105635433551 Centerline is valid? [True, True] Translation: X:180.24, Y:68.73, Z:22.33 [[ 7.42180229e-01 -6.55728910e-01 -1.38521133e-01 1.80235715e+02] [ 6.43924380e-01 7.54991400e-01 -1.23892610e-01 6.87301160e+01] [ 1.85822230e-01 2.75351086e-03 9.82579522e-01 2.23344086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68710568099996 meters Centerline goodness [0,1] 0.9996632571452625 Centerline is valid? [True, True] Translation: X:180.26, Y:68.75, Z:22.34 [[ 7.39347477e-01 -6.58797509e-01 -1.39108414e-01 1.80259008e+02] [ 6.46930018e-01 7.52317501e-01 -1.24498713e-01 6.87466929e+01] [ 1.86673136e-01 2.05440020e-03 9.82419930e-01 2.23390012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71710568099996 meters Centerline goodness [0,1] 0.9996843832849388 Centerline is valid? [True, True] Translation: X:180.28, Y:68.76, Z:22.34 [[ 7.35954898e-01 -6.62588246e-01 -1.39094228e-01 1.80281190e+02] [ 6.50774712e-01 7.48982964e-01 -1.24566424e-01 6.87642883e+01] [ 1.86715456e-01 1.15626377e-03 9.82413356e-01 2.23434514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74710568099997 meters Centerline goodness [0,1] 0.9995592679650772 Centerline is valid? [True, True] Translation: X:180.30, Y:68.78, Z:22.35 [[ 7.35678446e-01 -6.63330711e-01 -1.37002160e-01 1.80300962e+02] [ 6.51872148e-01 7.48325699e-01 -1.22765433e-01 6.87827042e+01] [ 1.83956319e-01 1.00799094e-03 9.82933903e-01 2.23523345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77710568099997 meters Centerline goodness [0,1] 0.9996004374158816 Centerline is valid? [True, True] Translation: X:180.32, Y:68.80, Z:22.36 [[ 7.35523094e-01 -6.63626727e-01 -1.36401413e-01 1.80321848e+02] [ 6.52268309e-01 7.48063270e-01 -1.22259548e-01 6.88017604e+01] [ 1.83171591e-01 9.54402177e-04 9.83080494e-01 2.23599244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80710568099997 meters Centerline goodness [0,1] 0.9996845890194924 Centerline is valid? [True, True] Translation: X:180.34, Y:68.82, Z:22.36 [[ 7.36254645e-01 -6.62687251e-01 -1.37020819e-01 1.80340208e+02] [ 6.51193854e-01 7.48895211e-01 -1.22892339e-01 6.88246511e+01] [ 1.84053422e-01 1.25294039e-03 9.82915443e-01 2.23645345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83710568099997 meters Centerline goodness [0,1] 0.9994981494260085 Centerline is valid? [True, True] Translation: X:180.36, Y:68.85, Z:22.37 [[ 7.37345253e-01 -6.61452295e-01 -1.37123446e-01 1.80358030e+02] [ 6.49905938e-01 7.49985489e-01 -1.23061119e-01 6.88472361e+01] [ 1.84239654e-01 1.62119024e-03 9.82880014e-01 2.23681719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86710568099997 meters Centerline goodness [0,1] 0.9993897691644046 Centerline is valid? [True, True] Translation: X:180.37, Y:68.87, Z:22.37 [[ 7.40559776e-01 -6.57890766e-01 -1.36934136e-01 1.80372328e+02] [ 6.46302221e-01 7.53109008e-01 -1.22964475e-01 6.88731049e+01] [ 1.84023524e-01 2.56170802e-03 9.82918501e-01 2.23708488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89710568099997 meters Centerline goodness [0,1] 0.9990012692203658 Centerline is valid? [True, True] Translation: X:180.39, Y:68.90, Z:22.38 [[ 7.45960656e-01 -6.51800041e-01 -1.36745771e-01 1.80386203e+02] [ 6.40132278e-01 7.58379774e-01 -1.22844560e-01 6.88973414e+01] [ 1.83775316e-01 4.10182638e-03 9.82959718e-01 2.23770569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92710568099997 meters Centerline goodness [0,1] 0.9992015968063872 Centerline is valid? [True, True] Translation: X:180.41, Y:68.92, Z:22.39 [[ 7.48989578e-01 -6.48665206e-01 -1.35085391e-01 1.80406023e+02] [ 6.37220948e-01 7.61058407e-01 -1.21406609e-01 6.89164595e+01] [ 1.81560115e-01 4.85304386e-03 9.83367872e-01 2.23878973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95710568099997 meters Centerline goodness [0,1] 0.9988726278210401 Centerline is valid? [True, True] Translation: X:180.42, Y:68.94, Z:22.40 [[ 7.54197666e-01 -6.43344591e-01 -1.31505201e-01 1.80420311e+02] [ 6.32410292e-01 7.65553008e-01 -1.18261634e-01 6.89400268e+01] [ 1.76757185e-01 6.02740610e-03 9.84236033e-01 2.23975166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98710568099997 meters Centerline goodness [0,1] 0.9988230596246401 Centerline is valid? [True, True] Translation: X:180.44, Y:68.96, Z:22.40 [[ 7.55780316e-01 -6.41804261e-01 -1.29936155e-01 1.80440038e+02] [ 6.31103106e-01 7.66842330e-01 -1.16883320e-01 6.89603491e+01] [ 1.74656757e-01 6.33500150e-03 9.84609001e-01 2.24035095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01710568099998 meters Centerline goodness [0,1] 0.998807481484581 Centerline is valid? [True, True] Translation: X:180.46, Y:68.98, Z:22.41 [[ 7.58039552e-01 -6.39240707e-01 -1.29411573e-01 1.80456259e+02] [ 6.28576079e-01 7.68975243e-01 -1.16486861e-01 6.89842663e+01] [ 1.73977440e-01 6.95662892e-03 9.84725066e-01 2.24067331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04710568099998 meters Centerline goodness [0,1] 0.9987423492915234 Centerline is valid? [True, True] Translation: X:180.48, Y:69.00, Z:22.41 [[ 7.59077547e-01 -6.38063349e-01 -1.29137290e-01 1.80476349e+02] [ 6.27417851e-01 7.69949710e-01 -1.16293960e-01 6.90043975e+01] [ 1.73632133e-01 7.25309348e-03 9.84783872e-01 2.24111373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07710568099998 meters Centerline goodness [0,1] 0.9988026719321094 Centerline is valid? [True, True] Translation: X:180.49, Y:69.03, Z:22.42 [[ 7.61207889e-01 -6.35554618e-01 -1.28968511e-01 1.80489656e+02] [ 6.24888857e-01 7.72015781e-01 -1.16213381e-01 6.90304659e+01] [ 1.73425677e-01 7.87155748e-03 9.84815502e-01 2.24150725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10710568099998 meters Centerline goodness [0,1] 0.9989275575649248 Centerline is valid? [True, True] Translation: X:180.52, Y:69.04, Z:22.42 [[ 7.62922961e-01 -6.33565766e-01 -1.28619498e-01 1.80515403e+02] [ 6.22924692e-01 7.73644046e-01 -1.15929798e-01 6.90436424e+01] [ 1.72954860e-01 8.32524394e-03 9.84894566e-01 2.24222263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13710568099998 meters Centerline goodness [0,1] 0.9988437362036706 Centerline is valid? [True, True] Translation: X:180.54, Y:69.06, Z:22.43 [[ 7.63473002e-01 -6.33010050e-01 -1.28090792e-01 1.80535890e+02] [ 6.22436695e-01 7.74097218e-01 -1.15525142e-01 6.90630034e+01] [ 1.72283302e-01 8.47191723e-03 9.85011010e-01 2.24266588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.16710568099998 meters Centerline goodness [0,1] 0.9989068740803028 Centerline is valid? [True, True] Translation: X:180.55, Y:69.09, Z:22.43 [[ 7.64774198e-01 -6.31196705e-01 -1.29271597e-01 1.80554882e+02] [ 6.20387157e-01 7.75570308e-01 -1.16663933e-01 6.90854217e+01] [ 1.73897102e-01 9.02312669e-03 9.84722489e-01 2.24270976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19710568099998 meters Centerline goodness [0,1] 0.9989474127405162 Centerline is valid? [True, True] Translation: X:180.58, Y:69.10, Z:22.43 [[ 7.65268664e-01 -6.30356708e-01 -1.30438848e-01 1.80576170e+02] [ 6.19332651e-01 7.76249672e-01 -1.17743425e-01 6.91047770e+01] [ 1.75473471e-01 9.32031603e-03 9.84440040e-01 2.24302407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.22710568099998 meters Centerline goodness [0,1] 0.999053129931615 Centerline is valid? [True, True] Translation: X:180.60, Y:69.12, Z:22.43 [[ 7.66521384e-01 -6.28627426e-01 -1.31424988e-01 1.80597841e+02] [ 6.17396257e-01 7.77644221e-01 -1.18706894e-01 6.91236683e+01] [ 1.76824292e-01 9.85007720e-03 9.84193145e-01 2.24327889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25710568099998 meters Centerline goodness [0,1] 0.9986736562875008 Centerline is valid? [True, True] Translation: X:180.62, Y:69.14, Z:22.44 [[ 7.66540434e-01 -6.28536419e-01 -1.31748745e-01 1.80619527e+02] [ 6.17243341e-01 7.77716933e-01 -1.19025333e-01 6.91430780e+01] [ 1.77274986e-01 9.91669491e-03 9.84111395e-01 2.24360415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28710568099996 meters Centerline goodness [0,1] 0.9989075171225682 Centerline is valid? [True, True] Translation: X:180.64, Y:69.16, Z:22.44 [[ 7.65734840e-01 -6.29334410e-01 -1.32621096e-01 1.80640482e+02] [ 6.17888244e-01 7.77072091e-01 -1.19887791e-01 6.91610148e+01] [ 1.78505664e-01 9.85724222e-03 9.83889507e-01 2.24372450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31710568099996 meters Centerline goodness [0,1] 0.9989250937908359 Centerline is valid? [True, True] Translation: X:180.67, Y:69.18, Z:22.44 [[ 7.64335155e-01 -6.31056080e-01 -1.32514129e-01 1.80665648e+02] [ 6.19648489e-01 7.75679386e-01 -1.19821700e-01 6.91762988e+01] [ 1.78402690e-01 9.47175794e-03 9.83911971e-01 2.24424328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34710568099996 meters Centerline goodness [0,1] 0.9991042972899785 Centerline is valid? [True, True] Translation: X:180.69, Y:69.19, Z:22.44 [[ 7.59222063e-01 -6.37016454e-01 -1.33386269e-01 1.80691428e+02] [ 6.25534545e-01 7.70806752e-01 -1.20679261e-01 6.91897773e+01] [ 1.79689711e-01 8.18463818e-03 9.83689290e-01 2.24448345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37710568099996 meters Centerline goodness [0,1] 0.9992840145724093 Centerline is valid? [True, True] Translation: X:180.72, Y:69.20, Z:22.45 [[ 7.53496814e-01 -6.43914766e-01 -1.32726504e-01 1.80723561e+02] [ 6.32646599e-01 7.65069313e-01 -1.20113396e-01 6.91961776e+01] [ 1.78887765e-01 6.53608949e-03 9.83847776e-01 2.24520780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40710568099996 meters Centerline goodness [0,1] 0.9993088281495445 Centerline is valid? [True, True] Translation: X:180.75, Y:69.21, Z:22.46 [[ 7.48303981e-01 -6.50618618e-01 -1.29369881e-01 1.80750487e+02] [ 6.40003140e-01 7.59389047e-01 -1.17150566e-01 6.92076577e+01] [ 1.74462411e-01 4.86710469e-03 9.84651806e-01 2.24615381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43710568099996 meters Centerline goodness [0,1] 0.9989435744469302 Centerline is valid? [True, True] Translation: X:180.77, Y:69.22, Z:22.47 [[ 7.46006680e-01 -6.53385872e-01 -1.28689301e-01 1.80771751e+02] [ 6.42910416e-01 7.57013079e-01 -1.16607869e-01 6.92246125e+01] [ 1.73609418e-01 4.25455673e-03 9.84805396e-01 2.24668122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46710568099996 meters Centerline goodness [0,1] 0.9992013618881487 Centerline is valid? [True, True] Translation: X:180.80, Y:69.24, Z:22.47 [[ 7.42960506e-01 -6.56881451e-01 -1.28516324e-01 1.80796572e+02] [ 6.46480978e-01 7.53985949e-01 -1.16479759e-01 6.92402185e+01] [ 1.73412896e-01 3.45650139e-03 9.84843145e-01 2.24727023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49710568099997 meters Centerline goodness [0,1] 0.9993696419566314 Centerline is valid? [True, True] Translation: X:180.82, Y:69.26, Z:22.48 [[ 7.40598867e-01 -6.59651165e-01 -1.27959597e-01 1.80817894e+02] [ 6.49370077e-01 7.51566513e-01 -1.16044303e-01 6.92593034e+01] [ 1.72718908e-01 2.84914618e-03 9.84967036e-01 2.24784779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52710568099997 meters Centerline goodness [0,1] 0.9991199580932425 Centerline is valid? [True, True] Translation: X:180.84, Y:69.28, Z:22.49 [[ 7.40735018e-01 -6.59773789e-01 -1.26531345e-01 1.80836234e+02] [ 6.49711941e-01 7.51458890e-01 -1.14821295e-01 6.92787778e+01] [ 1.70839184e-01 2.84322807e-03 9.85294823e-01 2.24856889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55710568099997 meters Centerline goodness [0,1] 0.9993290841999329 Centerline is valid? [True, True] Translation: X:180.85, Y:69.30, Z:22.50 [[ 7.44178735e-01 -6.56549604e-01 -1.23047255e-01 1.80852415e+02] [ 6.46987541e-01 7.54274661e-01 -1.11699853e-01 6.93017858e+01] [ 1.66147921e-01 3.51461397e-03 9.86094578e-01 2.24971021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58710568099997 meters Centerline goodness [0,1] 0.9993495184338083 Centerline is valid? [True, True] Translation: X:180.87, Y:69.33, Z:22.50 [[ 7.46224740e-01 -6.54300735e-01 -1.22634363e-01 1.80869105e+02] [ 6.44760564e-01 7.56223561e-01 -1.11399017e-01 6.93251827e+01] [ 1.65627453e-01 4.05890187e-03 9.86180040e-01 2.25016897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61710568099997 meters Centerline goodness [0,1] 0.9989498445769974 Centerline is valid? [True, True] Translation: X:180.89, Y:69.35, Z:22.50 [[ 7.49479033e-01 -6.50530622e-01 -1.22845791e-01 1.80885189e+02] [ 6.40900201e-01 7.59464007e-01 -1.11630442e-01 6.93510478e+01] [ 1.65915977e-01 4.93278315e-03 9.86127556e-01 2.25043214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64710568099997 meters Centerline goodness [0,1] 0.9990580256217031 Centerline is valid? [True, True] Translation: X:180.90, Y:69.37, Z:22.51 [[ 7.50361570e-01 -6.49412016e-01 -1.23375637e-01 1.80902538e+02] [ 6.39670488e-01 7.60418554e-01 -1.12184177e-01 6.93732783e+01] [ 1.66670876e-01 5.25894120e-03 9.85998561e-01 2.25073199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67710568099997 meters Centerline goodness [0,1] 0.9992465782093676 Centerline is valid? [True, True] Translation: X:180.92, Y:69.40, Z:22.51 [[ 7.51209365e-01 -6.48068401e-01 -1.25267068e-01 1.80919453e+02] [ 6.38000383e-01 7.61561061e-01 -1.13930950e-01 6.93968092e+01] [ 1.69233569e-01 5.66555948e-03 9.85559689e-01 2.25068424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70710568099997 meters Centerline goodness [0,1] 0.9991382209517403 Centerline is valid? [True, True] Translation: X:180.94, Y:69.42, Z:22.51 [[ 7.51195611e-01 -6.47920574e-01 -1.26111391e-01 1.80940493e+02] [ 6.37708469e-01 7.61686127e-01 -1.14726428e-01 6.94171127e+01] [ 1.70390910e-01 5.75968652e-03 9.85359713e-01 2.25093643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73710568099997 meters Centerline goodness [0,1] 0.9990767939571968 Centerline is valid? [True, True] Translation: X:180.96, Y:69.44, Z:22.51 [[ 7.52521566e-01 -6.45749396e-01 -1.29302014e-01 1.80957126e+02] [ 6.34964552e-01 7.63521987e-01 -1.17703834e-01 6.94400052e+01] [ 1.74732110e-01 6.47247784e-03 9.84594737e-01 2.25093060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76710568099998 meters Centerline goodness [0,1] 0.999009900990099 Centerline is valid? [True, True] Translation: X:180.98, Y:69.46, Z:22.51 [[ 7.53564077e-01 -6.44483157e-01 -1.29547838e-01 1.80976686e+02] [ 6.33632516e-01 7.64588223e-01 -1.17960520e-01 6.94607937e+01] [ 1.75074319e-01 6.80508786e-03 9.84531703e-01 2.25137625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79710568099998 meters Centerline goodness [0,1] 0.9992015464783998 Centerline is valid? [True, True] Translation: X:180.99, Y:69.48, Z:22.52 [[ 7.55422605e-01 -6.42574565e-01 -1.28197567e-01 1.80994509e+02] [ 6.31910828e-01 7.66189081e-01 -1.16803240e-01 6.94827088e+01] [ 1.73278368e-01 7.22637720e-03 9.84846377e-01 2.25181975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82710568099998 meters Centerline goodness [0,1] 0.9990114836158668 Centerline is valid? [True, True] Translation: X:181.01, Y:69.50, Z:22.52 [[ 7.56411960e-01 -6.41522993e-01 -1.27629139e-01 1.81013751e+02] [ 6.30932642e-01 7.67067492e-01 -1.16324823e-01 6.95028765e+01] [ 1.72525212e-01 7.46409725e-03 9.84976821e-01 2.25237334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85710568099998 meters Centerline goodness [0,1] 0.9992020997375328 Centerline is valid? [True, True] Translation: X:181.03, Y:69.53, Z:22.53 [[ 7.57765753e-01 -6.39906610e-01 -1.27712936e-01 1.81029476e+02] [ 6.29274644e-01 7.68412496e-01 -1.16428770e-01 6.95257634e+01] [ 1.72639755e-01 7.85922161e-03 9.84953678e-01 2.25274876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88710568099998 meters Centerline goodness [0,1] 0.9991178694446778 Centerline is valid? [True, True] Translation: X:181.05, Y:69.54, Z:22.53 [[ 7.57834829e-01 -6.39590512e-01 -1.28881142e-01 1.81050572e+02] [ 6.28748774e-01 7.68673728e-01 -1.17540117e-01 6.95446618e+01] [ 1.74245092e-01 8.04213428e-03 9.84669473e-01 2.25303585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91710568099998 meters Centerline goodness [0,1] 0.9992648757640041 Centerline is valid? [True, True] Translation: X:181.07, Y:69.56, Z:22.53 [[ 7.56131707e-01 -6.41397896e-01 -1.29898347e-01 1.81072997e+02] [ 6.30403913e-01 7.67169653e-01 -1.18497383e-01 6.95632386e+01] [ 1.75658042e-01 7.71120225e-03 9.84421043e-01 2.25316745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.94710568099998 meters Centerline goodness [0,1] 0.9991180176396472 Centerline is valid? [True, True] Translation: X:181.10, Y:69.58, Z:22.54 [[ 7.52225253e-01 -6.46430888e-01 -1.27609860e-01 1.81098646e+02] [ 6.35882698e-01 7.62945065e-01 -1.16481852e-01 6.95773885e+01] [ 1.72656780e-01 6.47568865e-03 9.84960762e-01 2.25398014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97710568099998 meters Centerline goodness [0,1] 0.9991417746425806 Centerline is valid? [True, True] Translation: X:181.12, Y:69.59, Z:22.55 [[ 7.49299259e-01 -6.50064756e-01 -1.26358357e-01 1.81120568e+02] [ 6.39762661e-01 7.59857898e-01 -1.15411058e-01 6.95946720e+01] [ 1.71039057e-01 5.63806156e-03 9.85248118e-01 2.25459079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.00710568099998 meters Centerline goodness [0,1] 0.9995384066637293 Centerline is valid? [True, True] Translation: X:181.14, Y:69.61, Z:22.55 [[ 7.43652684e-01 -6.56717824e-01 -1.25309160e-01 1.81144014e+02] [ 6.46668415e-01 7.54125078e-01 -1.14522176e-01 6.96088088e+01] [ 1.69707535e-01 4.13124775e-03 9.85485812e-01 2.25516879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03710568099996 meters Centerline goodness [0,1] 0.9992871818524885 Centerline is valid? [True, True] Translation: X:181.17, Y:69.63, Z:22.56 [[ 7.41762076e-01 -6.58801303e-01 -1.25578125e-01 1.81167118e+02] [ 6.48728367e-01 7.52307857e-01 -1.14823313e-01 6.96264022e+01] [ 1.70119158e-01 3.70548709e-03 9.85416532e-01 2.25565131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06710568099996 meters Centerline goodness [0,1] 0.9992044050834328 Centerline is valid? [True, True] Translation: X:181.19, Y:69.65, Z:22.56 [[ 7.39265011e-01 -6.61404322e-01 -1.26615824e-01 1.81188322e+02] [ 6.51188202e-01 7.50022771e-01 -1.15843725e-01 6.96459090e+01] [ 1.71584292e-01 3.18848202e-03 9.85164283e-01 2.25599431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09710568099996 meters Centerline goodness [0,1] 0.9994779267426805 Centerline is valid? [True, True] Translation: X:181.21, Y:69.67, Z:22.56 [[ 7.38579426e-01 -6.62117848e-01 -1.26887295e-01 1.81206445e+02] [ 6.51854730e-01 7.49393371e-01 -1.16167922e-01 6.96656341e+01] [ 1.72005353e-01 3.08715379e-03 9.85091178e-01 2.25635591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12710568099996 meters Centerline goodness [0,1] 0.9993718461441823 Centerline is valid? [True, True] Translation: X:181.22, Y:69.69, Z:22.56 [[ 7.37559266e-01 -6.62931546e-01 -1.28561635e-01 1.81224603e+02] [ 6.52397398e-01 7.48674111e-01 -1.17748505e-01 6.96877304e+01] [ 1.74309967e-01 2.97322485e-03 9.84686344e-01 2.25649059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15710568099996 meters Centerline goodness [0,1] 0.9993502955107516 Centerline is valid? [True, True] Translation: X:181.24, Y:69.71, Z:22.57 [[ 7.36565360e-01 -6.63821111e-01 -1.29664969e-01 1.81244361e+02] [ 6.53102496e-01 7.47885956e-01 -1.18843285e-01 6.97073565e+01] [ 1.75865291e-01 2.85133199e-03 9.84410112e-01 2.25686635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18710568099996 meters Centerline goodness [0,1] 0.9994125175720191 Centerline is valid? [True, True] Translation: X:181.26, Y:69.73, Z:22.57 [[ 7.36370329e-01 -6.64099716e-01 -1.29345683e-01 1.81263571e+02] [ 6.53422565e-01 7.47638595e-01 -1.18640138e-01 6.97262695e+01] [ 1.75492706e-01 2.84568956e-03 9.84476618e-01 2.25747374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21710568099996 meters Centerline goodness [0,1] 0.9990997969309355 Centerline is valid? [True, True] Translation: X:181.28, Y:69.75, Z:22.58 [[ 7.37426893e-01 -6.63281998e-01 -1.27509092e-01 1.81279923e+02] [ 6.52880751e-01 7.48363288e-01 -1.17043213e-01 6.97487398e+01] [ 1.73055779e-01 3.06258088e-03 9.84907264e-01 2.25833762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24710568099997 meters Centerline goodness [0,1] 0.9994577458913824 Centerline is valid? [True, True] Translation: X:181.29, Y:69.77, Z:22.59 [[ 7.40656833e-01 -6.60115496e-01 -1.25199790e-01 1.81293624e+02] [ 6.50030840e-01 7.51154518e-01 -1.15007816e-01 6.97735972e+01] [ 1.69962830e-01 3.79759966e-03 9.85443157e-01 2.25898747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27710568099997 meters Centerline goodness [0,1] 0.9994126038432491 Centerline is valid? [True, True] Translation: X:181.31, Y:69.80, Z:22.59 [[ 7.42293329e-01 -6.58265895e-01 -1.25246259e-01 1.81312867e+02] [ 6.48142650e-01 7.52773534e-01 -1.15078721e-01 6.97952820e+01] [ 1.70034466e-01 4.24472458e-03 9.85428974e-01 2.25946832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30710568099997 meters Centerline goodness [0,1] 0.9994126038432491 Centerline is valid? [True, True] Translation: X:181.33, Y:69.81, Z:22.60 [[ 7.42060013e-01 -6.58535846e-01 -1.25209734e-01 1.81332716e+02] [ 6.48409716e-01 7.52537429e-01 -1.15118448e-01 6.98138482e+01] [ 1.70034636e-01 4.23758938e-03 9.85428975e-01 2.25992298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33710568099997 meters Centerline goodness [0,1] 0.9994754841281497 Centerline is valid? [True, True] Translation: X:181.35, Y:69.84, Z:22.60 [[ 7.46293883e-01 -6.53475210e-01 -1.26552714e-01 1.81349061e+02] [ 6.43041630e-01 7.56927804e-01 -1.16437807e-01 6.98376507e+01] [ 1.71880488e-01 5.51815928e-03 9.85102354e-01 2.26022495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36710568099997 meters Centerline goodness [0,1] 0.9990807095251029 Centerline is valid? [True, True] Translation: X:181.37, Y:69.86, Z:22.61 [[ 7.47697590e-01 -6.52033246e-01 -1.25701873e-01 1.81367878e+02] [ 6.41707495e-01 7.58167679e-01 -1.15729263e-01 6.98587385e+01] [ 1.70762424e-01 5.86665672e-03 9.85294767e-01 2.26071153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39710568099997 meters Centerline goodness [0,1] 0.9992660627411508 Centerline is valid? [True, True] Translation: X:181.38, Y:69.88, Z:22.61 [[ 7.49778279e-01 -6.50066818e-01 -1.23473333e-01 1.81383073e+02] [ 6.40068393e-01 7.59851315e-01 -1.13747224e-01 6.98824414e+01] [ 1.67764670e-01 6.25382058e-03 9.85807235e-01 2.26127086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42710568099997 meters Centerline goodness [0,1] 0.9989742086752638 Centerline is valid? [True, True] Translation: X:181.40, Y:69.90, Z:22.62 [[ 7.50779770e-01 -6.49120829e-01 -1.22359662e-01 1.81402432e+02] [ 6.39286662e-01 7.60658185e-01 -1.12746130e-01 6.99020606e+01] [ 1.66259740e-01 6.42461369e-03 9.86061065e-01 2.26203513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45710568099997 meters Centerline goodness [0,1] 0.9994398572673333 Centerline is valid? [True, True] Translation: X:181.42, Y:69.92, Z:22.63 [[ 7.50907692e-01 -6.49076764e-01 -1.21807192e-01 1.81421351e+02] [ 6.39327142e-01 7.60695794e-01 -1.12261812e-01 6.99209041e+01] [ 1.65524752e-01 6.42361366e-03 9.86184716e-01 2.26264526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48710568099997 meters Centerline goodness [0,1] 0.9989996874023133 Centerline is valid? [True, True] Translation: X:181.44, Y:69.94, Z:22.63 [[ 7.51145808e-01 -6.48776004e-01 -1.21941263e-01 1.81442034e+02] [ 6.38993076e-01 7.60951391e-01 -1.12431447e-01 6.99405180e+01] [ 1.65734198e-01 6.53278711e-03 9.86148822e-01 2.26299726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51710568099998 meters Centerline goodness [0,1] 0.9993541128427369 Centerline is valid? [True, True] Translation: X:181.46, Y:69.96, Z:22.63 [[ 7.51847466e-01 -6.47604420e-01 -1.23830137e-01 1.81461892e+02] [ 6.37485799e-01 7.61944982e-01 -1.14244038e-01 6.99617968e+01] [ 1.68336696e-01 6.95413660e-03 9.85705025e-01 2.26305139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54710568099998 meters Centerline goodness [0,1] 0.9991855487104522 Centerline is valid? [True, True] Translation: X:181.48, Y:69.98, Z:22.63 [[ 7.53384141e-01 -6.45630178e-01 -1.24795873e-01 1.81481124e+02] [ 6.35312843e-01 7.63613305e-01 -1.15205521e-01 6.99841150e+01] [ 1.69675951e-01 7.50959155e-03 9.85471297e-01 2.26330462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57710568099998 meters Centerline goodness [0,1] 0.9992073425114727 Centerline is valid? [True, True] Translation: X:181.50, Y:70.01, Z:22.63 [[ 7.57280070e-01 -6.40715289e-01 -1.26533843e-01 1.81497699e+02] [ 6.30025892e-01 7.67728235e-01 -1.16879135e-01 7.00073287e+01] [ 1.72029853e-01 8.79064195e-03 9.85052514e-01 2.26335422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60710568099998 meters Centerline goodness [0,1] 0.9989321384451099 Centerline is valid? [True, True] Translation: X:181.52, Y:70.03, Z:22.64 [[ 7.58881763e-01 -6.38656281e-01 -1.27344514e-01 1.81518688e+02] [ 6.27791961e-01 7.69435299e-01 -1.17671469e-01 7.00277644e+01] [ 1.73134987e-01 9.35287014e-03 9.84853695e-01 2.26361692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63710568099998 meters Centerline goodness [0,1] 0.9982396579906954 Centerline is valid? [True, True] Translation: X:181.54, Y:70.05, Z:22.64 [[ 7.61385384e-01 -6.35395677e-01 -1.28703654e-01 1.81539204e+02] [ 6.24237693e-01 7.72118547e-01 -1.18996859e-01 7.00484475e+01] [ 1.74984568e-01 1.02607970e-02 9.84517708e-01 2.26376203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.66710568099998 meters Centerline goodness [0,1] 0.9938334618028791 Centerline is valid? [True, True] Translation: X:181.56, Y:70.07, Z:22.64 [[ 7.61696014e-01 -6.34615905e-01 -1.30697497e-01 1.81558487e+02] [ 6.23082088e-01 7.72754135e-01 -1.20912194e-01 7.00692505e+01] [ 1.77729833e-01 1.06630668e-02 9.84021547e-01 2.26378223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69710568099998 meters Centerline goodness [0,1] 0.9948918458724854 Centerline is valid? [True, True] Translation: X:181.58, Y:70.09, Z:22.64 [[ 7.61215899e-01 -6.35181421e-01 -1.30747537e-01 1.81580519e+02] [ 6.23640266e-01 7.72290724e-01 -1.20995275e-01 7.00875893e+01] [ 1.77829060e-01 1.05640982e-02 9.84004688e-01 2.26420495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.72710568099998 meters Centerline goodness [0,1] 0.9980895196506551 Centerline is valid? [True, True] Translation: X:181.61, Y:70.10, Z:22.65 [[ 7.58304563e-01 -6.38841390e-01 -1.29830147e-01 1.81606947e+02] [ 6.27503741e-01 7.69277448e-01 -1.20213405e-01 7.00988779e+01] [ 1.76672703e-01 9.68947079e-03 9.84221962e-01 2.26497408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75710568099998 meters Centerline goodness [0,1] 0.9992659242014303 Centerline is valid? [True, True] Translation: X:181.64, Y:70.10, Z:22.66 [[ 7.51085838e-01 -6.47512430e-01 -1.28832125e-01 1.81638916e+02] [ 6.36467112e-01 7.62016676e-01 -1.19332311e-01 7.01046693e+01] [ 1.75441382e-01 7.63139804e-03 9.84460300e-01 2.26586885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78710568099996 meters Centerline goodness [0,1] 0.9993914083649871 Centerline is valid? [True, True] Translation: X:181.66, Y:70.12, Z:22.66 [[ 7.46384866e-01 -6.53108136e-01 -1.27903852e-01 1.81664498e+02] [ 6.42291486e-01 7.57238240e-01 -1.18540690e-01 7.01178441e+01] [ 1.74273577e-01 6.32542225e-03 9.84676957e-01 2.26641335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81710568099996 meters Centerline goodness [0,1] 0.9995829771262954 Centerline is valid? [True, True] Translation: X:181.69, Y:70.13, Z:22.67 [[ 7.37428162e-01 -6.63501730e-01 -1.26353314e-01 1.81693967e+02] [ 6.53090838e-01 7.48164780e-01 -1.17140170e-01 7.01250954e+01] [ 1.72255805e-01 3.86226872e-03 9.85044679e-01 2.26725535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84710568099996 meters Centerline goodness [0,1] 0.9996433666191156 Centerline is valid? [True, True] Translation: X:181.72, Y:70.14, Z:22.68 [[ 7.33925954e-01 -6.67431118e-01 -1.26049184e-01 1.81718604e+02] [ 6.57122539e-01 7.44665665e-01 -1.16888903e-01 7.01399912e+01] [ 1.71879790e-01 2.95804008e-03 9.85113490e-01 2.26794020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87710568099996 meters Centerline goodness [0,1] 0.9995615408706545 Centerline is valid? [True, True] Translation: X:181.74, Y:70.15, Z:22.68 [[ 7.27602043e-01 -6.74225268e-01 -1.26552582e-01 1.81742946e+02] [ 6.63922732e-01 7.38524395e-01 -1.17423693e-01 7.01539930e+01] [ 1.72632190e-01 1.41658283e-03 9.84985340e-01 2.26834649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90710568099996 meters Centerline goodness [0,1] 0.999685330088737 Centerline is valid? [True, True] Translation: X:181.76, Y:70.17, Z:22.69 [[ 7.25124725e-01 -6.76903106e-01 -1.26476548e-01 1.81763633e+02] [ 6.66640679e-01 7.36071661e-01 -1.17425361e-01 7.01723387e+01] [ 1.72581394e-01 8.33620402e-04 9.84994907e-01 2.26884059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93710568099996 meters Centerline goodness [0,1] 0.9999790105576895 Centerline is valid? [True, True] Translation: X:181.78, Y:70.19, Z:22.70 [[ 7.22527789e-01 -6.79892740e-01 -1.25297471e-01 1.81782544e+02] [ 6.69854303e-01 7.33311552e-01 -1.16401805e-01 7.01903607e+01] [ 1.71022825e-01 1.72488419e-04 9.85267052e-01 2.26950750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96710568099996 meters Centerline goodness [0,1] 0.9996655867906782 Centerline is valid? [True, True] Translation: X:181.80, Y:70.21, Z:22.70 [[ 7.20927591e-01 -6.81324238e-01 -1.26730782e-01 1.81800732e+02] [ 6.71066273e-01 7.31981738e-01 -1.17782813e-01 7.02105300e+01] [ 1.73012904e-01 -1.31873384e-04 9.84919549e-01 2.26976400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99710568099997 meters Centerline goodness [0,1] 0.9995373193968328 Centerline is valid? [True, True] Translation: X:181.82, Y:70.23, Z:22.70 [[ 7.19908443e-01 -6.82251073e-01 -1.27535517e-01 1.81818713e+02] [ 6.71866854e-01 7.31117892e-01 -1.18581441e-01 7.02322638e+01] [ 1.74145813e-01 -3.19105979e-04 9.84719825e-01 2.27033574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02710568099997 meters Centerline goodness [0,1] 0.9996851187102462 Centerline is valid? [True, True] Translation: X:181.84, Y:70.26, Z:22.71 [[ 7.17658189e-01 -6.84687133e-01 -1.27162310e-01 1.81835159e+02] [ 6.74386662e-01 7.28836620e-01 -1.18320797e-01 7.02555009e+01] [ 1.73693275e-01 -8.42676603e-04 9.84799440e-01 2.27070639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05710568099997 meters Centerline goodness [0,1] 0.9996431045703609 Centerline is valid? [True, True] Translation: X:181.85, Y:70.27, Z:22.71 [[ 7.16301524e-01 -6.86277028e-01 -1.26237741e-01 1.81853971e+02] [ 6.76135958e-01 7.27339336e-01 -1.17548527e-01 7.02735743e+01] [ 1.72488528e-01 -1.15368686e-03 9.85010851e-01 2.27127763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08710568099997 meters Centerline goodness [0,1] 0.9996430895845143 Centerline is valid? [True, True] Translation: X:181.87, Y:70.29, Z:22.72 [[ 7.13731693e-01 -6.89246454e-01 -1.24604959e-01 1.81874937e+02] [ 6.79403869e-01 7.24524712e-01 -1.16078959e-01 7.02921395e+01] [ 1.70286382e-01 -1.80785942e-03 9.85392957e-01 2.27226759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11710568099997 meters Centerline goodness [0,1] 0.9997268678040171 Centerline is valid? [True, True] Translation: X:181.89, Y:70.31, Z:22.73 [[ 7.12013530e-01 -6.91108752e-01 -1.24118602e-01 1.81894668e+02] [ 6.81358342e-01 7.22747471e-01 -1.15701790e-01 7.03120444e+01] [ 1.69668925e-01 -2.18800441e-03 9.85498690e-01 2.27294154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14710568099997 meters Centerline goodness [0,1] 0.999790123197683 Centerline is valid? [True, True] Translation: X:181.91, Y:70.34, Z:22.73 [[ 7.10456966e-01 -6.92740549e-01 -1.23941243e-01 1.81910474e+02] [ 6.83029622e-01 7.21182497e-01 -1.15612896e-01 7.03367871e+01] [ 1.69473996e-01 -2.51755338e-03 9.85531444e-01 2.27334492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17710568099997 meters Centerline goodness [0,1] 0.9996014097507762 Centerline is valid? [True, True] Translation: X:181.93, Y:70.36, Z:22.74 [[ 7.11030837e-01 -6.92182580e-01 -1.23767622e-01 1.81926775e+02] [ 6.82477449e-01 7.21718692e-01 -1.15527748e-01 7.03587009e+01] [ 1.69291701e-01 -2.32481987e-03 9.85563248e-01 2.27374037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20710568099997 meters Centerline goodness [0,1] 0.9998110275899719 Centerline is valid? [True, True] Translation: X:181.94, Y:70.39, Z:22.74 [[ 7.15936372e-01 -6.87243591e-01 -1.23009589e-01 1.81936838e+02] [ 6.77577704e-01 7.26426188e-01 -1.14862739e-01 7.03900654e+01] [ 1.68296068e-01 -1.11414258e-03 9.85735863e-01 2.27439016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23710568099997 meters Centerline goodness [0,1] 0.9993507581469381 Centerline is valid? [True, True] Translation: X:181.94, Y:70.42, Z:22.75 [[ 7.23026581e-01 -6.79471268e-01 -1.24705087e-01 1.81943022e+02] [ 6.69406318e-01 7.33701713e-01 -1.16520285e-01 7.04223725e+01] [ 1.70668522e-01 7.68889859e-04 9.85328201e-01 2.27473729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26710568099998 meters Centerline goodness [0,1] 0.9998108329655085 Centerline is valid? [True, True] Translation: X:181.95, Y:70.46, Z:22.75 [[ 7.31577990e-01 -6.70051228e-01 -1.25797443e-01 1.81948027e+02] [ 6.59658719e-01 7.42308613e-01 -1.17593785e-01 7.04587001e+01] [ 1.72174385e-01 3.04564470e-03 9.85061777e-01 2.27515134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29710568099998 meters Centerline goodness [0,1] 0.9997283346916599 Centerline is valid? [True, True] Translation: X:181.96, Y:70.49, Z:22.76 [[ 7.35885391e-01 -6.65338806e-01 -1.25685975e-01 1.81960626e+02] [ 6.54884135e-01 7.46529725e-01 -1.17559089e-01 7.04870230e+01] [ 1.72044941e-01 4.20026489e-03 9.85080147e-01 2.27569971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32710568099998 meters Centerline goodness [0,1] 0.9999580466521228 Centerline is valid? [True, True] Translation: X:181.97, Y:70.52, Z:22.76 [[ 7.42337559e-01 -6.57930134e-01 -1.26739447e-01 1.81968665e+02] [ 6.47176767e-01 7.53054805e-01 -1.18619955e-01 7.05201000e+01] [ 1.73485393e-01 6.03322206e-03 9.84817962e-01 2.27600214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35710568099998 meters Centerline goodness [0,1] 0.9999789902724961 Centerline is valid? [True, True] Translation: X:181.99, Y:70.54, Z:22.76 [[ 7.44465525e-01 -6.55474210e-01 -1.26982842e-01 1.81985726e+02] [ 6.44629812e-01 7.55188018e-01 -1.18926290e-01 7.05441912e+01] [ 1.73849037e-01 6.67959689e-03 9.84749661e-01 2.27648755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.00, Y:70.57, Z:22.77 [[ 7.48148448e-01 -6.51485908e-01 -1.25857108e-01 1.81997311e+02] [ 6.40765194e-01 7.58622695e-01 -1.17947328e-01 7.05739089e+01] [ 1.72319081e-01 7.59725614e-03 9.85011886e-01 2.27706100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:70.60, Z:22.77 [[ 7.49937965e-01 -6.49349347e-01 -1.26247667e-01 1.82013117e+02] [ 6.38519111e-01 7.60446380e-01 -1.18383475e-01 7.05977324e+01] [ 1.72876814e-01 8.16871440e-03 9.84909579e-01 2.27742702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.03, Y:70.62, Z:22.77 [[ 7.52413986e-01 -6.45864660e-01 -1.29352364e-01 1.82028713e+02] [ 6.34434888e-01 7.63396284e-01 -1.21319770e-01 7.06222840e+01] [ 1.77103266e-01 9.21703913e-03 9.84149114e-01 2.27749460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.05, Y:70.64, Z:22.78 [[ 7.51762664e-01 -6.46171953e-01 -1.31585350e-01 1.82053444e+02] [ 6.34339322e-01 7.63134795e-01 -1.23445978e-01 7.06383870e+01] [ 1.80184688e-01 9.33231504e-03 9.83588525e-01 2.27780293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.50710568099998 meters Centerline goodness [0,1] 0.9999372358676095 Centerline is valid? [True, True] Translation: X:182.07, Y:70.66, Z:22.78 [[ 7.49937273e-01 -6.48414356e-01 -1.30969119e-01 1.82074709e+02] [ 6.36712610e-01 7.61236600e-01 -1.22946703e-01 7.06562321e+01] [ 1.79418894e-01 8.81262552e-03 9.83733296e-01 2.27828548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:70.67, Z:22.79 [[ 7.46389724e-01 -6.52801432e-01 -1.29432107e-01 1.82102970e+02] [ 6.41429133e-01 7.57489804e-01 -1.21564237e-01 7.06677208e+01] [ 1.77400810e-01 7.71277315e-03 9.84108462e-01 2.27901650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.13, Y:70.68, Z:22.79 [[ 7.44075630e-01 -6.55512225e-01 -1.29054949e-01 1.82127283e+02] [ 6.44233276e-01 7.55151145e-01 -1.21285755e-01 7.06835922e+01] [ 1.76960288e-01 7.10428142e-03 9.84192352e-01 2.27946447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.15, Y:70.70, Z:22.80 [[ 7.39915454e-01 -6.60335796e-01 -1.28381299e-01 1.82152753e+02] [ 6.49236128e-01 7.50946757e-01 -1.20712128e-01 7.06958611e+01] [ 1.76118060e-01 5.96699115e-03 9.84350966e-01 2.28007604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62710568099996 meters Centerline goodness [0,1] 0.9999789703903096 Centerline is valid? [True, True] Translation: X:182.18, Y:70.71, Z:22.81 [[ 7.37274202e-01 -6.63445536e-01 -1.27541254e-01 1.82175413e+02] [ 6.52532159e-01 7.48206411e-01 -1.19953945e-01 7.07122529e+01] [ 1.75010093e-01 5.21417942e-03 9.84552832e-01 2.28071600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.20, Y:70.73, Z:22.81 [[ 7.35968325e-01 -6.64775744e-01 -1.28155507e-01 1.82198599e+02] [ 6.53762222e-01 7.47026370e-01 -1.20609120e-01 7.07299471e+01] [ 1.75913561e-01 4.98126295e-03 9.84393014e-01 2.28117902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68710568099996 meters Centerline goodness [0,1] 0.9999580131838602 Centerline is valid? [True, True] Translation: X:182.22, Y:70.75, Z:22.81 [[ 7.34618513e-01 -6.66047463e-01 -1.29291986e-01 1.82218701e+02] [ 6.54842875e-01 7.45894091e-01 -1.21748982e-01 7.07487681e+01] [ 1.77528729e-01 4.77312083e-03 9.84104043e-01 2.28143159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71710568099996 meters Centerline goodness [0,1] 0.9998531417182419 Centerline is valid? [True, True] Translation: X:182.24, Y:70.77, Z:22.82 [[ 7.31716245e-01 -6.69527487e-01 -1.27766511e-01 1.82240191e+02] [ 6.58634952e-01 7.42777015e-01 -1.20342453e-01 7.07667075e+01] [ 1.75474607e-01 3.90503773e-03 9.84476212e-01 2.28231056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74710568099997 meters Centerline goodness [0,1] 0.9999371424979572 Centerline is valid? [True, True] Translation: X:182.26, Y:70.78, Z:22.83 [[ 7.27087874e-01 -6.74795257e-01 -1.26469700e-01 1.82263621e+02] [ 6.64189759e-01 7.38000171e-01 -1.19196102e-01 7.07818311e+01] [ 1.73767625e-01 2.66616075e-03 9.84783075e-01 2.28312765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:70.80, Z:22.83 [[ 7.21055265e-01 -6.81083035e-01 -1.27299661e-01 1.82288336e+02] [ 6.70420099e-01 7.32205170e-01 -1.20051990e-01 7.07957147e+01] [ 1.74974844e-01 1.21986772e-03 9.84572149e-01 2.28345696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80710568099997 meters Centerline goodness [0,1] 0.9999579487395135 Centerline is valid? [True, True] Translation: X:182.31, Y:70.81, Z:22.84 [[ 7.18495373e-01 -6.83764582e-01 -1.27398568e-01 1.82310023e+02] [ 6.73121406e-01 7.29702438e-01 -1.20174561e-01 7.08145983e+01] [ 1.75134154e-01 5.90162830e-04 9.84544402e-01 2.28389840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83710568099997 meters Centerline goodness [0,1] 0.9998320421574185 Centerline is valid? [True, True] Translation: X:182.33, Y:70.84, Z:22.85 [[ 7.16800696e-01 -6.85693073e-01 -1.26577137e-01 1.82329508e+02] [ 6.75204614e-01 7.27890774e-01 -1.19472798e-01 7.08351505e+01] [ 1.74056000e-01 1.72718293e-04 9.84735741e-01 2.28450704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86710568099997 meters Centerline goodness [0,1] 0.9999369999369999 Centerline is valid? [True, True] Translation: X:182.35, Y:70.85, Z:22.85 [[ 7.16031626e-01 -6.86498286e-01 -1.26565452e-01 1.82349649e+02] [ 6.76010832e-01 7.27131420e-01 -1.19537662e-01 7.08540645e+01] [ 1.74092117e-01 3.31296617e-05 9.84729371e-01 2.28515542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89710568099997 meters Centerline goodness [0,1] 0.9999369429964688 Centerline is valid? [True, True] Translation: X:182.37, Y:70.87, Z:22.85 [[ 7.14854899e-01 -6.87287935e-01 -1.28909919e-01 1.82369332e+02] [ 6.76401198e-01 7.26385081e-01 -1.21844710e-01 7.08738878e+01] [ 1.77380641e-01 -9.35356851e-05 9.84142317e-01 2.28524358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92710568099997 meters Centerline goodness [0,1] 0.9998953427524856 Centerline is valid? [True, True] Translation: X:182.39, Y:70.89, Z:22.85 [[ 7.14361288e-01 -6.87517763e-01 -1.30411946e-01 1.82388661e+02] [ 6.76372038e-01 7.26167549e-01 -1.23294597e-01 7.08948177e+01] [ 1.79468148e-01 -1.30106561e-04 9.83763776e-01 2.28534973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95710568099997 meters Centerline goodness [0,1] 0.999789672941424 Centerline is valid? [True, True] Translation: X:182.41, Y:70.92, Z:22.86 [[ 7.13735376e-01 -6.88055458e-01 -1.31001907e-01 1.82406891e+02] [ 6.76810535e-01 7.25658066e-01 -1.23886524e-01 7.09177521e+01] [ 1.80303390e-01 -2.41275908e-04 9.83611015e-01 2.28574462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98710568099997 meters Centerline goodness [0,1] 0.9998739892890895 Centerline is valid? [True, True] Translation: X:182.43, Y:70.94, Z:22.86 [[ 7.13951461e-01 -6.87916495e-01 -1.30553465e-01 1.82425801e+02] [ 6.76731700e-01 7.25789828e-01 -1.23544855e-01 7.09373050e+01] [ 1.79742920e-01 -1.44638889e-04 9.83713608e-01 2.28631103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01710568099998 meters Centerline goodness [0,1] 0.9998948165600808 Centerline is valid? [True, True] Translation: X:182.44, Y:70.96, Z:22.87 [[ 7.15962303e-01 -6.85986741e-01 -1.29692606e-01 1.82442192e+02] [ 6.74901684e-01 7.27613926e-01 -1.22823824e-01 7.09589894e+01] [ 1.78621661e-01 4.07469529e-04 9.83917749e-01 2.28712677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04710568099998 meters Centerline goodness [0,1] 0.9998529473551532 Centerline is valid? [True, True] Translation: X:182.45, Y:70.99, Z:22.88 [[ 7.20431029e-01 -6.81786991e-01 -1.27065461e-01 1.82452703e+02] [ 6.71069007e-01 7.31549236e-01 -1.20424681e-01 7.09854477e+01] [ 1.75058622e-01 1.48798381e-03 9.84556888e-01 2.28803141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07710568099998 meters Centerline goodness [0,1] 0.999894960189912 Centerline is valid? [True, True] Translation: X:182.47, Y:71.01, Z:22.89 [[ 7.22479337e-01 -6.80008804e-01 -1.24946527e-01 1.82468588e+02] [ 6.69612841e-01 7.33201422e-01 -1.18466525e-01 7.10080594e+01] [ 1.72169251e-01 1.92381720e-03 9.85065504e-01 2.28884984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10710568099998 meters Centerline goodness [0,1] 0.9999580299246638 Centerline is valid? [True, True] Translation: X:182.48, Y:71.03, Z:22.90 [[ 7.24866528e-01 -6.78036289e-01 -1.21800271e-01 1.82483795e+02] [ 6.68119120e-01 7.35024530e-01 -1.15567215e-01 7.10306357e+01] [ 1.67884953e-01 2.39371566e-03 9.85803689e-01 2.28971675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13710568099998 meters Centerline goodness [0,1] 0.9999370844955225 Centerline is valid? [True, True] Translation: X:182.50, Y:71.05, Z:22.90 [[ 7.25056170e-01 -6.77721655e-01 -1.22421036e-01 1.82502818e+02] [ 6.67691130e-01 7.35314262e-01 -1.16195919e-01 7.10527720e+01] [ 1.68766424e-01 2.50912857e-03 9.85652879e-01 2.29001613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.16710568099998 meters Centerline goodness [0,1] 0.9998955548128342 Centerline is valid? [True, True] Translation: X:182.52, Y:71.08, Z:22.90 [[ 7.25630082e-01 -6.77008393e-01 -1.22965930e-01 1.82520406e+02] [ 6.66864611e-01 7.35970182e-01 -1.16788191e-01 7.10751472e+01] [ 1.69565843e-01 2.74339744e-03 9.85515042e-01 2.29029591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19710568099998 meters Centerline goodness [0,1] 0.9998955548128342 Centerline is valid? [True, True] Translation: X:182.54, Y:71.09, Z:22.91 [[ 7.25385388e-01 -6.77273132e-01 -1.22951796e-01 1.82539914e+02] [ 6.67130603e-01 7.35726717e-01 -1.16803068e-01 7.10940118e+01] [ 1.69566501e-01 2.70233242e-03 9.85515043e-01 2.29075066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.56, Y:71.12, Z:22.91 [[ 7.28351159e-01 -6.73902628e-01 -1.23934813e-01 1.82555261e+02] [ 6.63532332e-01 7.38811489e-01 -1.17823721e-01 7.11204745e+01] [ 1.70966178e-01 3.58228823e-03 9.85270386e-01 2.29088201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.57, Y:71.14, Z:22.91 [[ 7.30242410e-01 -6.71592576e-01 -1.25337282e-01 1.82573583e+02] [ 6.60936917e-01 7.40908577e-01 -1.19234530e-01 7.11426144e+01] [ 1.72940493e-01 4.23007362e-03 9.84923191e-01 2.29111224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.59, Y:71.17, Z:22.91 [[ 7.34131428e-01 -6.66607957e-01 -1.29169957e-01 1.82589287e+02] [ 6.55192981e-01 7.45387159e-01 -1.22963984e-01 7.11689113e+01] [ 1.78250397e-01 5.64047595e-03 9.83968994e-01 2.29094221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:71.19, Z:22.91 [[ 7.35780608e-01 -6.64614130e-01 -1.30057508e-01 1.82609775e+02] [ 6.52994527e-01 7.47160793e-01 -1.23890662e-01 7.11889930e+01] [ 1.79513356e-01 6.22950580e-03 9.83735812e-01 2.29136318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34710568099996 meters Centerline goodness [0,1] 0.9998948895288948 Centerline is valid? [True, True] Translation: X:182.62, Y:71.21, Z:22.92 [[ 7.39472180e-01 -6.61015946e-01 -1.27431606e-01 1.82623488e+02] [ 6.49797402e-01 7.50339034e-01 -1.21468805e-01 7.12136804e+01] [ 1.75909725e-01 7.01807605e-03 9.84381285e-01 2.29198837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.64, Y:71.23, Z:22.93 [[ 7.41676802e-01 -6.58841967e-01 -1.25868120e-01 1.82644757e+02] [ 6.47862964e-01 7.52244361e-01 -1.20008335e-01 7.12307769e+01] [ 1.73750111e-01 7.46210440e-03 9.84761502e-01 2.29287954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.66, Y:71.25, Z:22.93 [[ 7.41733978e-01 -6.58605577e-01 -1.26765136e-01 1.82664049e+02] [ 6.47459625e-01 7.52450006e-01 -1.20892604e-01 7.12502212e+01] [ 1.75004970e-01 7.59484485e-03 9.84538257e-01 2.29314695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.69, Y:71.26, Z:22.94 [[ 7.40552174e-01 -6.60081994e-01 -1.25993012e-01 1.82690955e+02] [ 6.49088207e-01 7.51158819e-01 -1.20187055e-01 7.12628955e+01] [ 1.73974073e-01 7.22420690e-03 9.84723734e-01 2.29376513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:71.27, Z:22.95 [[ 7.37556879e-01 -6.63687036e-01 -1.24616886e-01 1.82719232e+02] [ 6.52971150e-01 7.47983310e-01 -1.18952276e-01 7.12732279e+01] [ 1.72158435e-01 6.36283798e-03 9.85048723e-01 2.29460378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.74, Y:71.29, Z:22.95 [[ 7.35023116e-01 -6.66587977e-01 -1.24102732e-01 1.82742264e+02] [ 6.55989944e-01 7.45404482e-01 -1.18529964e-01 7.12885851e+01] [ 1.71517381e-01 5.71211930e-03 9.85164534e-01 2.29508113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52710568099997 meters Centerline goodness [0,1] 0.9999790026246719 Centerline is valid? [True, True] Translation: X:182.77, Y:71.30, Z:22.96 [[ 7.28935703e-01 -6.73308936e-01 -1.23724767e-01 1.82769163e+02] [ 6.62866146e-01 7.39349643e-01 -1.18197205e-01 7.13000131e+01] [ 1.71059097e-01 4.14520303e-03 9.85252050e-01 2.29558750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.80, Y:71.31, Z:22.96 [[ 7.26374068e-01 -6.76077678e-01 -1.23691898e-01 1.82795321e+02] [ 6.65672553e-01 7.36821918e-01 -1.18209614e-01 7.13144264e+01] [ 1.71057783e-01 3.52609719e-03 9.85254689e-01 2.29612568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58710568099997 meters Centerline goodness [0,1] 0.9997064374082617 Centerline is valid? [True, True] Translation: X:182.82, Y:71.33, Z:22.97 [[ 7.23028332e-01 -6.79625710e-01 -1.23850415e-01 1.82822602e+02] [ 6.69232368e-01 7.33553917e-01 -1.18434321e-01 7.13258545e+01] [ 1.71341967e-01 2.74666339e-03 9.85207788e-01 2.29674922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.85, Y:71.34, Z:22.97 [[ 7.23275438e-01 -6.79267085e-01 -1.24373905e-01 1.82845592e+02] [ 6.68765983e-01 7.33885414e-01 -1.19013688e-01 7.13421053e+01] [ 1.72118276e-01 2.90263983e-03 9.85072015e-01 2.29747998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.86, Y:71.36, Z:22.98 [[ 7.25256973e-01 -6.77137114e-01 -1.24449397e-01 1.82863597e+02] [ 6.66578074e-01 7.35848684e-01 -1.19165371e-01 7.13647652e+01] [ 1.72267220e-01 3.47027718e-03 9.85044142e-01 2.29796803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67710568099997 meters Centerline goodness [0,1] 0.9999159451962679 Centerline is valid? [True, True] Translation: X:182.88, Y:71.39, Z:22.98 [[ 7.31390890e-01 -6.70527461e-01 -1.24339417e-01 1.82876150e+02] [ 6.59877785e-01 7.41867257e-01 -1.19139758e-01 7.13939689e+01] [ 1.72129822e-01 5.08891457e-03 9.85061129e-01 2.29815804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.89, Y:71.42, Z:22.98 [[ 7.34283835e-01 -6.67249793e-01 -1.24919831e-01 1.82892255e+02] [ 6.56439061e-01 7.44810296e-01 -1.19772212e-01 7.14182053e+01] [ 1.72959560e-01 5.94454258e-03 9.84910987e-01 2.29845150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.91, Y:71.44, Z:22.99 [[ 7.37578373e-01 -6.63516578e-01 -1.25394951e-01 1.82912244e+02] [ 6.52564485e-01 7.48130052e-01 -1.20253976e-01 7.14384479e+01] [ 1.73602238e-01 6.86844076e-03 9.84791901e-01 2.29908258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.93, Y:71.46, Z:23.00 [[ 7.37639806e-01 -6.63489308e-01 -1.25177697e-01 1.82933929e+02] [ 6.52561841e-01 7.48153766e-01 -1.20120718e-01 7.14566230e+01] [ 1.73350977e-01 6.91963518e-03 9.84835802e-01 2.29961662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79710568099998 meters Centerline goodness [0,1] 0.9999165745510668 Centerline is valid? [True, True] Translation: X:182.95, Y:71.48, Z:23.00 [[ 7.37578790e-01 -6.63617188e-01 -1.24858945e-01 1.82952574e+02] [ 6.52734078e-01 7.48040243e-01 -1.19891696e-01 7.14751715e+01] [ 1.72961706e-01 6.92988362e-03 9.84904170e-01 2.30001791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.97, Y:71.49, Z:23.01 [[ 7.37756739e-01 -6.63589876e-01 -1.23949464e-01 1.82973452e+02] [ 6.52858638e-01 7.48064611e-01 -1.19058543e-01 7.14926845e+01] [ 1.71728252e-01 6.91476400e-03 9.85120091e-01 2.30053360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.99, Y:71.51, Z:23.01 [[ 7.37776169e-01 -6.63771362e-01 -1.22857253e-01 1.82993338e+02] [ 6.53217731e-01 7.47903950e-01 -1.18094355e-01 7.15108095e+01] [ 1.70273076e-01 6.87466480e-03 9.85372934e-01 2.30109683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88710568099998 meters Centerline goodness [0,1] 0.9998949954848059 Centerline is valid? [True, True] Translation: X:183.02, Y:71.53, Z:23.02 [[ 7.38197438e-01 -6.63276604e-01 -1.22998732e-01 1.83018230e+02] [ 6.52686711e-01 7.48341421e-01 -1.18258929e-01 7.15267238e+01] [ 1.70483426e-01 7.01880064e-03 9.85335546e-01 2.30152905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91710568099998 meters Centerline goodness [0,1] 0.9999370778975628 Centerline is valid? [True, True] Translation: X:183.04, Y:71.55, Z:23.02 [[ 7.38648154e-01 -6.62775036e-01 -1.22996574e-01 1.83036765e+02] [ 6.52165508e-01 7.48784031e-01 -1.18332685e-01 7.15467879e+01] [ 1.70525820e-01 7.19209597e-03 9.85326960e-01 2.30197414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.94710568099998 meters Centerline goodness [0,1] 0.9999164071806231 Centerline is valid? [True, True] Translation: X:183.06, Y:71.56, Z:23.03 [[ 7.40396964e-01 -6.60839674e-01 -1.22895325e-01 1.83058877e+02] [ 6.50216590e-01 7.50488083e-01 -1.18262516e-01 7.15640343e+01] [ 1.70384040e-01 7.65262849e-03 9.85348018e-01 2.30253010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97710568099998 meters Centerline goodness [0,1] 0.9995805545069418 Centerline is valid? [True, True] Translation: X:183.08, Y:71.58, Z:23.03 [[ 7.42473830e-01 -6.58697646e-01 -1.21860673e-01 1.83077831e+02] [ 6.48221175e-01 7.52364211e-01 -1.17291956e-01 7.15845703e+01] [ 1.68943545e-01 8.09353872e-03 9.85592499e-01 2.30299030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.00710568099998 meters Centerline goodness [0,1] 0.9998744086741742 Centerline is valid? [True, True] Translation: X:183.10, Y:71.60, Z:23.04 [[ 7.42275425e-01 -6.58877838e-01 -1.22095000e-01 1.83098564e+02] [ 6.48358879e-01 7.52206481e-01 -1.17542223e-01 7.16024560e+01] [ 1.69286616e-01 8.08732628e-03 9.85533681e-01 2.30351521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03710568099996 meters Centerline goodness [0,1] 0.9994960206631528 Centerline is valid? [True, True] Translation: X:183.12, Y:71.62, Z:23.04 [[ 7.41688020e-01 -6.59309341e-01 -1.23329127e-01 1.83121403e+02] [ 6.48566007e-01 7.51827761e-01 -1.18815624e-01 7.16199717e+01] [ 1.71058513e-01 8.13704554e-03 9.85227270e-01 2.30366632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06710568099996 meters Centerline goodness [0,1] 0.999578947368421 Centerline is valid? [True, True] Translation: X:183.14, Y:71.64, Z:23.04 [[ 7.41392312e-01 -6.59448646e-01 -1.24358040e-01 1.83140499e+02] [ 6.48511003e-01 7.51704467e-01 -1.19891087e-01 7.16400730e+01] [ 1.72542509e-01 8.23877305e-03 9.84967616e-01 2.30376529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09710568099996 meters Centerline goodness [0,1] 0.9997476075297087 Centerline is valid? [True, True] Translation: X:183.16, Y:71.66, Z:23.04 [[ 7.41728005e-01 -6.58924388e-01 -1.25132801e-01 1.83161740e+02] [ 6.47835324e-01 7.52161816e-01 -1.20673093e-01 7.16593635e+01] [ 1.73634559e-01 8.44116394e-03 9.84773977e-01 2.30387428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12710568099996 meters Centerline goodness [0,1] 0.9993701316424867 Centerline is valid? [True, True] Translation: X:183.18, Y:71.68, Z:23.04 [[ 7.41363434e-01 -6.59296556e-01 -1.25332798e-01 1.83180755e+02] [ 6.48163568e-01 7.51835792e-01 -1.20941848e-01 7.16788404e+01] [ 1.73966227e-01 8.42570991e-03 9.84715573e-01 2.30432885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15710568099996 meters Centerline goodness [0,1] 0.9998117469879518 Centerline is valid? [True, True] Translation: X:183.21, Y:71.69, Z:23.05 [[ 7.40190917e-01 -6.60505223e-01 -1.25897801e-01 1.83205101e+02] [ 6.49282593e-01 7.50776638e-01 -1.21517713e-01 7.16948788e+01] [ 1.74784212e-01 8.20305710e-03 9.84572592e-01 2.30482247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18710568099996 meters Centerline goodness [0,1] 0.9991826640959007 Centerline is valid? [True, True] Translation: X:183.23, Y:71.71, Z:23.05 [[ 7.35740774e-01 -6.65027604e-01 -1.28155376e-01 1.83229406e+02] [ 6.53448179e-01 7.46782852e-01 -1.23777418e-01 7.17108645e+01] [ 1.78019637e-01 7.32519637e-03 9.83999670e-01 2.30465593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21710568099996 meters Centerline goodness [0,1] 0.9995809587663426 Centerline is valid? [True, True] Translation: X:183.26, Y:71.72, Z:23.05 [[ 7.27517575e-01 -6.73812405e-01 -1.29209214e-01 1.83261185e+02] [ 6.62161375e-01 7.38883518e-01 -1.24873777e-01 7.17199340e+01] [ 1.79612059e-01 5.29051653e-03 9.83723294e-01 2.30498530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24710568099997 meters Centerline goodness [0,1] 0.9994951725878716 Centerline is valid? [True, True] Translation: X:183.29, Y:71.73, Z:23.06 [[ 7.22981105e-01 -6.79013314e-01 -1.27433286e-01 1.83286431e+02] [ 6.67754142e-01 7.34115166e-01 -1.23204418e-01 7.17331281e+01] [ 1.77208148e-01 3.98036203e-03 9.84165346e-01 2.30580284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27710568099997 meters Centerline goodness [0,1] 0.9996856005030392 Centerline is valid? [True, True] Translation: X:183.32, Y:71.74, Z:23.07 [[ 7.14203004e-01 -6.88876715e-01 -1.23947332e-01 1.83315753e+02] [ 6.78361763e-01 7.24876843e-01 -1.19911972e-01 7.17407078e+01] [ 1.72451116e-01 1.56035997e-03 9.85016841e-01 2.30696915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30710568099997 meters Centerline goodness [0,1] 0.9992895501180601 Centerline is valid? [True, True] Translation: X:183.34, Y:71.76, Z:23.07 [[ 7.10869207e-01 -6.92364830e-01 -1.23676651e-01 1.83339804e+02] [ 6.81936786e-01 7.21547200e-01 -1.19715742e-01 7.17555051e+01] [ 1.72125510e-01 7.62576392e-04 9.85074732e-01 2.30746891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33710568099997 meters Centerline goodness [0,1] 0.9993727785908426 Centerline is valid? [True, True] Translation: X:183.36, Y:71.77, Z:23.08 [[ 7.08321984e-01 -6.94898364e-01 -1.24081550e-01 1.83363127e+02] [ 6.84431646e-01 7.19107941e-01 -1.20154446e-01 7.17706036e+01] [ 1.72723156e-01 1.82695621e-04 9.84970394e-01 2.30796864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36710568099997 meters Centerline goodness [0,1] 0.9992018651152045 Centerline is valid? [True, True] Translation: X:183.38, Y:71.79, Z:23.09 [[ 7.07681178e-01 -6.95734373e-01 -1.23048900e-01 1.83382927e+02] [ 6.85440184e-01 7.18299158e-01 -1.19239567e-01 7.17898080e+01] [ 1.71344987e-01 4.09365394e-05 9.85211091e-01 2.30861384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39710568099997 meters Centerline goodness [0,1] 0.9994332731623358 Centerline is valid? [True, True] Translation: X:183.40, Y:71.81, Z:23.09 [[ 7.06387706e-01 -6.97557282e-01 -1.20125963e-01 1.83399634e+02] [ 6.87762178e-01 7.16528944e-01 -1.16488019e-01 7.18097711e+01] [ 1.67330796e-01 -3.32389065e-04 9.85900753e-01 2.30942777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42710568099997 meters Centerline goodness [0,1] 0.9995801142089352 Centerline is valid? [True, True] Translation: X:183.42, Y:71.83, Z:23.10 [[ 7.04965809e-01 -6.99145343e-01 -1.19243436e-01 1.83418736e+02] [ 6.89507992e-01 7.14979264e-01 -1.15686564e-01 7.18292294e+01] [ 1.66138306e-01 -6.64229818e-04 9.86102237e-01 2.30999833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45710568099997 meters Centerline goodness [0,1] 0.9995809675459364 Centerline is valid? [True, True] Translation: X:183.44, Y:71.85, Z:23.10 [[ 6.99711007e-01 -7.04280364e-01 -1.19973644e-01 1.83442008e+02] [ 6.94584248e-01 7.09919583e-01 -1.16477075e-01 7.18464095e+01] [ 1.67204156e-01 -1.83151187e-03 9.85920593e-01 2.31039601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48710568099997 meters Centerline goodness [0,1] 0.9998109561418249 Centerline is valid? [True, True] Translation: X:183.47, Y:71.86, Z:23.11 [[ 6.91113652e-01 -7.12246930e-01 -1.22744575e-01 1.83467455e+02] [ 7.02203325e-01 7.01918832e-01 -1.19249498e-01 7.18624669e+01] [ 1.71091818e-01 -3.77669244e-03 9.85247850e-01 2.31058535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51710568099998 meters Centerline goodness [0,1] 0.9999579443182774 Centerline is valid? [True, True] Translation: X:183.49, Y:71.88, Z:23.11 [[ 6.88211934e-01 -7.14870507e-01 -1.23792134e-01 1.83487245e+02] [ 7.04681769e-01 6.99242947e-01 -1.20344945e-01 7.18821444e+01] [ 1.72591828e-01 -4.41123265e-03 9.84983554e-01 2.31079903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.50, Y:71.91, Z:23.11 [[ 6.85714347e-01 -7.17478973e-01 -1.22555117e-01 1.83502131e+02] [ 7.07527141e-01 6.96562355e-01 -1.19189893e-01 7.19076919e+01] [ 1.70883523e-01 -4.98085247e-03 9.85278647e-01 2.31127153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.52, Y:71.93, Z:23.12 [[ 6.85477965e-01 -7.17938994e-01 -1.21175745e-01 1.83515476e+02] [ 7.08205393e-01 6.96088197e-01 -1.17925158e-01 7.19316589e+01] [ 1.69012075e-01 -4.98221908e-03 9.85601388e-01 2.31206232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.53, Y:71.95, Z:23.13 [[ 6.84775208e-01 -7.18604176e-01 -1.21206237e-01 1.83532658e+02] [ 7.08867072e-01 6.95400543e-01 -1.18006609e-01 7.19539600e+01] [ 1.69086925e-01 -5.11111032e-03 9.85587890e-01 2.31258903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:71.98, Z:23.13 [[ 6.82738897e-01 -7.20316186e-01 -1.22524249e-01 1.83546105e+02] [ 7.10376875e-01 6.93623783e-01 -1.19376480e-01 7.19808032e+01] [ 1.70974543e-01 -5.53542694e-03 9.85259897e-01 2.31273393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.66710568099998 meters Centerline goodness [0,1] 0.9999579522758331 Centerline is valid? [True, True] Translation: X:183.56, Y:72.01, Z:23.13 [[ 6.81986868e-01 -7.20833468e-01 -1.23664963e-01 1.83563022e+02] [ 7.10704215e-01 6.93085065e-01 -1.20551283e-01 7.20050052e+01] [ 1.72607738e-01 -5.67481861e-03 9.84974297e-01 2.31287559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.57, Y:72.03, Z:23.13 [[ 6.81953153e-01 -7.20443112e-01 -1.26101620e-01 1.83572755e+02] [ 7.09886870e-01 6.93491161e-01 -1.23006673e-01 7.20342952e+01] [ 1.76069669e-01 -5.63309606e-03 9.84361590e-01 2.31272197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.72710568099998 meters Centerline goodness [0,1] 0.9999580360889635 Centerline is valid? [True, True] Translation: X:183.58, Y:72.07, Z:23.13 [[ 6.84933118e-01 -7.17760546e-01 -1.25245446e-01 1.83581092e+02] [ 7.07289411e-01 6.96273128e-01 -1.22251465e-01 7.20665515e+01] [ 1.74952316e-01 -4.85070051e-03 9.84564959e-01 2.31310776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75710568099998 meters Centerline goodness [0,1] 0.9998950351632203 Centerline is valid? [True, True] Translation: X:183.60, Y:72.09, Z:23.14 [[ 6.86227289e-01 -7.16608864e-01 -1.24755133e-01 1.83595947e+02] [ 7.06187577e-01 6.97460847e-01 -1.21850208e-01 7.20919722e+01] [ 1.74330760e-01 -4.48358776e-03 9.84676944e-01 2.31369230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78710568099996 meters Centerline goodness [0,1] 0.9999789796733441 Centerline is valid? [True, True] Translation: X:183.60, Y:72.13, Z:23.14 [[ 6.89832003e-01 -7.13132505e-01 -1.24795186e-01 1.83600557e+02] [ 7.02634361e-01 7.01020277e-01 -1.21965266e-01 7.21285032e+01] [ 1.74461352e-01 -3.54984194e-03 9.84657623e-01 2.31423327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81710568099996 meters Centerline goodness [0,1] 0.9999790070326441 Centerline is valid? [True, True] Translation: X:183.61, Y:72.16, Z:23.15 [[ 6.92277568e-01 -7.10815814e-01 -1.24469466e-01 1.83611567e+02] [ 7.00322413e-01 7.03372196e-01 -1.21721285e-01 7.21562441e+01] [ 1.74069776e-01 -2.90384106e-03 9.84729039e-01 2.31466581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84710568099996 meters Centerline goodness [0,1] 0.9998947900008417 Centerline is valid? [True, True] Translation: X:183.61, Y:72.19, Z:23.15 [[ 6.98309369e-01 -7.04775775e-01 -1.25120473e-01 1.83614978e+02] [ 6.94066465e-01 7.09428812e-01 -1.22403035e-01 7.21946955e+01] [ 1.75030762e-01 -1.36673824e-03 9.84562017e-01 2.31490073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87710568099996 meters Centerline goodness [0,1] 0.9999370290296173 Centerline is valid? [True, True] Translation: X:183.63, Y:72.22, Z:23.15 [[ 7.01262244e-01 -7.01600849e-01 -1.26441744e-01 1.83627209e+02] [ 6.90596758e-01 7.12569980e-01 -1.23774561e-01 7.22217568e+01] [ 1.76938928e-01 -5.21832169e-04 9.84221694e-01 2.31496058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90710568099996 meters Centerline goodness [0,1] 0.9999367675575416 Centerline is valid? [True, True] Translation: X:183.63, Y:72.26, Z:23.15 [[ 7.07900810e-01 -6.94743499e-01 -1.27310307e-01 1.83632091e+02] [ 6.83463021e-01 7.19256482e-01 -1.24693274e-01 7.22583787e+01] [ 1.78198605e-01 1.25858271e-03 9.83993736e-01 2.31529179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93710568099996 meters Centerline goodness [0,1] 0.9998739469316582 Centerline is valid? [True, True] Translation: X:183.64, Y:72.29, Z:23.16 [[ 7.11263385e-01 -6.91451580e-01 -1.26487590e-01 1.83644172e+02] [ 6.80250425e-01 7.22419656e-01 -1.23972579e-01 7.22859681e+01] [ 1.77098157e-01 2.13391928e-03 9.84190880e-01 2.31587885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96710568099996 meters Centerline goodness [0,1] 0.9999790952420771 Centerline is valid? [True, True] Translation: X:183.65, Y:72.32, Z:23.17 [[ 7.17559110e-01 -6.85493210e-01 -1.23320647e-01 1.83648933e+02] [ 6.74748515e-01 7.28070237e-01 -1.20946977e-01 7.23191438e+01] [ 1.72694424e-01 3.57618185e-03 9.84968957e-01 2.31687858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.66, Y:72.35, Z:23.18 [[ 7.20769102e-01 -6.82838147e-01 -1.19264272e-01 1.83659915e+02] [ 6.72752943e-01 7.30558226e-01 -1.16996396e-01 7.23473774e+01] [ 1.67019097e-01 4.09199698e-03 9.85945169e-01 2.31800621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02710568099997 meters Centerline goodness [0,1] 0.9999369628711311 Centerline is valid? [True, True] Translation: X:183.68, Y:72.37, Z:23.19 [[ 7.20504612e-01 -6.83231313e-01 -1.18608920e-01 1.83678265e+02] [ 6.73249768e-01 7.30190858e-01 -1.16430500e-01 7.23682465e+01] [ 1.66156113e-01 4.03528481e-03 9.86091204e-01 2.31850579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.70, Y:72.39, Z:23.19 [[ 7.19459056e-01 -6.84180159e-01 -1.19482960e-01 1.83698276e+02] [ 6.74047637e-01 7.29302551e-01 -1.17377900e-01 7.23887979e+01] [ 1.67446858e-01 3.91138637e-03 9.85873344e-01 2.31853737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.72, Y:72.41, Z:23.19 [[ 7.19434322e-01 -6.84003156e-01 -1.20639711e-01 1.83716962e+02] [ 6.73656119e-01 7.29467808e-01 -1.18592375e-01 7.24096879e+01] [ 1.69120344e-01 4.04974555e-03 9.85587088e-01 2.31883246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.74, Y:72.43, Z:23.19 [[ 7.19181882e-01 -6.84271137e-01 -1.20625170e-01 1.83736109e+02] [ 6.73925361e-01 7.29216668e-01 -1.18607164e-01 7.24288653e+01] [ 1.69121343e-01 4.00776213e-03 9.85587089e-01 2.31928680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14710568099997 meters Centerline goodness [0,1] 0.9999789761379165 Centerline is valid? [True, True] Translation: X:183.75, Y:72.46, Z:23.19 [[ 7.20578276e-01 -6.82396890e-01 -1.22887890e-01 1.83750156e+02] [ 6.71613460e-01 7.30967388e-01 -1.20921623e-01 7.24552018e+01] [ 1.72343579e-01 4.60033377e-03 9.85026156e-01 2.31925013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.76, Y:72.48, Z:23.19 [[ 7.23919597e-01 -6.78544387e-01 -1.24570993e-01 1.83764703e+02] [ 6.67399077e-01 7.34537909e-01 -1.22607228e-01 7.24819059e+01] [ 1.74696563e-01 5.61920902e-03 9.84606284e-01 2.31925029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.79, Y:72.50, Z:23.20 [[ 7.25341437e-01 -6.76811705e-01 -1.25720786e-01 1.83786356e+02] [ 6.65424573e-01 7.36130688e-01 -1.23781049e-01 7.24999963e+01] [ 1.76323392e-01 6.12582368e-03 9.84313230e-01 2.31963560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.80, Y:72.52, Z:23.20 [[ 7.26042766e-01 -6.75911560e-01 -1.26512704e-01 1.83803847e+02] [ 6.64359889e-01 7.36954866e-01 -1.24593194e-01 7.25213882e+01] [ 1.77448133e-01 6.41002071e-03 9.84109278e-01 2.31999818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.83, Y:72.54, Z:23.21 [[ 7.25546160e-01 -6.76696999e-01 -1.25155671e-01 1.83825937e+02] [ 6.65397066e-01 7.36235645e-01 -1.23303769e-01 7.25396653e+01] [ 1.75583356e-01 6.18435975e-03 9.84445143e-01 2.32070569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29710568099998 meters Centerline goodness [0,1] 0.9999581502406362 Centerline is valid? [True, True] Translation: X:183.85, Y:72.56, Z:23.22 [[ 7.25297285e-01 -6.77480792e-01 -1.22325896e-01 1.83847358e+02] [ 6.66688152e-01 7.35516716e-01 -1.20590502e-01 7.25575915e+01] [ 1.71670490e-01 5.91073869e-03 9.85136694e-01 2.32160540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32710568099998 meters Centerline goodness [0,1] 0.9997685818273621 Centerline is valid? [True, True] Translation: X:183.87, Y:72.58, Z:23.22 [[ 7.27604533e-01 -6.74967184e-01 -1.22519160e-01 1.83867282e+02] [ 6.64090538e-01 7.37818443e-01 -1.20862330e-01 7.25788630e+01] [ 1.71975002e-01 6.57616439e-03 9.85079364e-01 2.32185544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35710568099998 meters Centerline goodness [0,1] 0.9999789973326613 Centerline is valid? [True, True] Translation: X:183.89, Y:72.60, Z:23.22 [[ 7.29055987e-01 -6.73186227e-01 -1.23683756e-01 1.83887332e+02] [ 6.62060657e-01 7.39438666e-01 -1.22090728e-01 7.25999106e+01] [ 1.73646348e-01 7.12482800e-03 9.84782302e-01 2.32218724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.91, Y:72.62, Z:23.22 [[ 7.33312622e-01 -6.68133184e-01 -1.25899352e-01 1.83905050e+02] [ 6.56513370e-01 7.43992696e-01 -1.24358608e-01 7.26223379e+01] [ 1.76756311e-01 8.53912888e-03 9.84217603e-01 2.32218115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41710568099998 meters Centerline goodness [0,1] 0.9996426469351719 Centerline is valid? [True, True] Translation: X:183.92, Y:72.65, Z:23.22 [[ 7.35170577e-01 -6.65802557e-01 -1.27401644e-01 1.83921299e+02] [ 6.53861578e-01 7.46070845e-01 -1.25870298e-01 7.26455473e+01] [ 1.78855418e-01 9.23309954e-03 9.83832043e-01 2.32231420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.44710568099998 meters Centerline goodness [0,1] 0.9998946570032025 Centerline is valid? [True, True] Translation: X:183.94, Y:72.67, Z:23.23 [[ 7.37797295e-01 -6.62738557e-01 -1.28190317e-01 1.83941990e+02] [ 6.50594676e-01 7.48783123e-01 -1.26690182e-01 7.26662824e+01] [ 1.79949214e-01 1.00717361e-02 9.83624339e-01 2.32262190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47710568099998 meters Centerline goodness [0,1] 0.9999368367862557 Centerline is valid? [True, True] Translation: X:183.96, Y:72.69, Z:23.23 [[ 7.38578653e-01 -6.62039771e-01 -1.27298525e-01 1.83960785e+02] [ 6.50050044e-01 7.49399408e-01 -1.25839055e-01 7.26858333e+01] [ 1.78707899e-01 1.01916277e-02 9.83849388e-01 2.32316422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.50710568099998 meters Centerline goodness [0,1] 0.9999157646464221 Centerline is valid? [True, True] Translation: X:183.99, Y:72.70, Z:23.24 [[ 7.37889577e-01 -6.62896892e-01 -1.26833287e-01 1.83987230e+02] [ 6.50999409e-01 7.48644152e-01 -1.25426087e-01 7.26989028e+01] [ 1.78097562e-01 9.98220752e-03 9.83962201e-01 2.32383658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53710568099996 meters Centerline goodness [0,1] 0.9999580809456938 Centerline is valid? [True, True] Translation: X:184.01, Y:72.71, Z:23.24 [[ 7.34525744e-01 -6.66556714e-01 -1.27177355e-01 1.84012973e+02] [ 6.54633618e-01 7.45397773e-01 -1.25845086e-01 7.27122027e+01] [ 1.78680604e-01 9.18188334e-03 9.83864287e-01 2.32425237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.03, Y:72.73, Z:23.25 [[ 7.32637284e-01 -6.68792407e-01 -1.26330231e-01 1.84034480e+02] [ 6.57056883e-01 7.43399479e-01 -1.25033865e-01 7.27300963e+01] [ 1.77535528e-01 8.59832376e-03 9.84076829e-01 2.32480109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.06, Y:72.74, Z:23.26 [[ 7.29785668e-01 -6.72096566e-01 -1.25295988e-01 1.84063178e+02] [ 6.60591667e-01 7.40422702e-01 -1.24068015e-01 7.27414503e+01] [ 1.76157681e-01 7.77357334e-03 9.84331267e-01 2.32555578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.09, Y:72.76, Z:23.26 [[ 7.27430251e-01 -6.74614618e-01 -1.25460540e-01 1.84089908e+02] [ 6.63102682e-01 7.38134698e-01 -1.24306074e-01 7.27553554e+01] [ 1.76465473e-01 7.23077822e-03 9.84280271e-01 2.32614073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65710568099996 meters Centerline goodness [0,1] 0.9999790829986613 Centerline is valid? [True, True] Translation: X:184.11, Y:72.77, Z:23.27 [[ 7.25829972e-01 -6.76336481e-01 -1.25458420e-01 1.84112253e+02] [ 6.64842851e-01 7.36561014e-01 -1.24345710e-01 7.27724927e+01] [ 1.76507321e-01 6.84370972e-03 9.84275535e-01 2.32670161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.13, Y:72.79, Z:23.27 [[ 7.24187758e-01 -6.78241799e-01 -1.24660152e-01 1.84134589e+02] [ 6.66909092e-01 7.34810960e-01 -1.23632990e-01 7.27890400e+01] [ 1.75454707e-01 6.39650950e-03 9.84466724e-01 2.32730455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.16, Y:72.80, Z:23.28 [[ 7.23389660e-01 -6.79018219e-01 -1.25066618e-01 1.84158961e+02] [ 6.67616531e-01 7.34094785e-01 -1.24068586e-01 7.28046952e+01] [ 1.76055582e-01 6.25339015e-03 9.84360364e-01 2.32767738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74710568099997 meters Centerline goodness [0,1] 0.9999789482548104 Centerline is valid? [True, True] Translation: X:184.18, Y:72.82, Z:23.28 [[ 7.19988866e-01 -6.82191692e-01 -1.27399090e-01 1.84184428e+02] [ 6.70390261e-01 7.31151548e-01 -1.26468624e-01 7.28206967e+01] [ 1.79423887e-01 5.64889202e-03 9.83755640e-01 2.32752283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77710568099997 meters Centerline goodness [0,1] 0.9998947745017572 Centerline is valid? [True, True] Translation: X:184.21, Y:72.84, Z:23.28 [[ 7.16961902e-01 -6.85408018e-01 -1.27206446e-01 1.84208340e+02] [ 6.73677409e-01 7.28142737e-01 -1.26360213e-01 7.28371984e+01] [ 1.79232753e-01 4.89934954e-03 9.83794499e-01 2.32790308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80710568099997 meters Centerline goodness [0,1] 0.9998948121344722 Centerline is valid? [True, True] Translation: X:184.24, Y:72.85, Z:23.29 [[ 7.09685631e-01 -6.93335358e-01 -1.25029539e-01 1.84237956e+02] [ 6.82115129e-01 7.20609223e-01 -1.24263017e-01 7.28464518e+01] [ 1.76253382e-01 2.90313690e-03 9.84340549e-01 2.32884054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83710568099997 meters Centerline goodness [0,1] 0.9997489592267944 Centerline is valid? [True, True] Translation: X:184.26, Y:72.86, Z:23.30 [[ 7.05406780e-01 -6.97786785e-01 -1.24478420e-01 1.84263061e+02] [ 6.86729311e-01 7.16303244e-01 -1.23743748e-01 7.28608578e+01] [ 1.75511048e-01 1.80669958e-03 9.84475804e-01 2.32952392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86710568099997 meters Centerline goodness [0,1] 0.9998737426875973 Centerline is valid? [True, True] Translation: X:184.29, Y:72.87, Z:23.30 [[ 6.96696348e-01 -7.06523052e-01 -1.24255281e-01 1.84293275e+02] [ 6.95627116e-01 7.07689956e-01 -1.23603569e-01 7.28710951e+01] [ 1.75262985e-01 -3.21187335e-04 9.84521601e-01 2.33001565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89710568099997 meters Centerline goodness [0,1] 0.9999578903042425 Centerline is valid? [True, True] Translation: X:184.32, Y:72.88, Z:23.30 [[ 6.88654241e-01 -7.14313460e-01 -1.24545643e-01 1.84320453e+02] [ 7.03476503e-01 6.99822309e-01 -1.23973969e-01 7.28827118e+01] [ 1.75716094e-01 -2.23973357e-03 9.84438336e-01 2.33036559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92710568099997 meters Centerline goodness [0,1] 0.99993674755951 Centerline is valid? [True, True] Translation: X:184.34, Y:72.90, Z:23.31 [[ 6.85554777e-01 -7.17129986e-01 -1.25456094e-01 1.84343525e+02] [ 7.06173656e-01 6.96933155e-01 -1.24911749e-01 7.28991538e+01] [ 1.77012472e-01 -2.95994184e-03 9.84204157e-01 2.33060427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95710568099997 meters Centerline goodness [0,1] 0.999915743354257 Centerline is valid? [True, True] Translation: X:184.37, Y:72.92, Z:23.31 [[ 6.80183612e-01 -7.22073161e-01 -1.26335284e-01 1.84365924e+02] [ 7.11036644e-01 6.91803722e-01 -1.25835216e-01 7.29168048e+01] [ 1.78261452e-01 -4.23796497e-03 9.83974031e-01 2.33116825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.39, Y:72.94, Z:23.32 [[ 6.77702336e-01 -7.24443822e-01 -1.26097945e-01 1.84387022e+02] [ 7.13474859e-01 6.89317173e-01 -1.25679995e-01 7.29360539e+01] [ 1.77969574e-01 -4.79408744e-03 9.84024312e-01 2.33177056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.41, Y:72.96, Z:23.32 [[ 6.74926790e-01 -7.27101631e-01 -1.25686303e-01 1.84405370e+02] [ 7.16235825e-01 6.86508446e-01 -1.25349099e-01 7.29562614e+01] [ 1.77426243e-01 -5.41956810e-03 9.84119178e-01 2.33218105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04710568099998 meters Centerline goodness [0,1] 0.9998535718021128 Centerline is valid? [True, True] Translation: X:184.42, Y:72.98, Z:23.33 [[ 6.73251163e-01 -7.28638062e-01 -1.25775376e-01 1.84424515e+02] [ 7.17776747e-01 6.84874365e-01 -1.25473685e-01 7.29773051e+01] [ 1.77565234e-01 -5.80333599e-03 9.84091921e-01 2.33261767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07710568099998 meters Centerline goodness [0,1] 0.9999791336282448 Centerline is valid? [True, True] Translation: X:184.44, Y:73.00, Z:23.33 [[ 6.70200900e-01 -7.31357114e-01 -1.26283513e-01 1.84443555e+02] [ 7.20439975e-01 6.81963793e-01 -1.26062000e-01 7.29985051e+01] [ 1.78317124e-01 -6.49282491e-03 9.83951649e-01 2.33300170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.46, Y:73.02, Z:23.34 [[ 6.67646386e-01 -7.33809585e-01 -1.25585813e-01 1.84457979e+02] [ 7.23041907e-01 6.79318618e-01 -1.25445672e-01 7.30237341e+01] [ 1.77366018e-01 -7.05045632e-03 9.84119701e-01 2.33379721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13710568099998 meters Centerline goodness [0,1] 0.9999791170697072 Centerline is valid? [True, True] Translation: X:184.48, Y:73.04, Z:23.34 [[ 6.66041665e-01 -7.35324213e-01 -1.25246966e-01 1.84480744e+02] [ 7.24626636e-01 6.77675362e-01 -1.25189226e-01 7.30395911e+01] [ 1.76931452e-01 -7.37604720e-03 9.84195537e-01 2.33409973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.49, Y:73.07, Z:23.35 [[ 6.62887153e-01 -7.38253490e-01 -1.24749377e-01 1.84491644e+02] [ 7.27685878e-01 6.74474766e-01 -1.24727917e-01 7.30678415e+01] [ 1.76221126e-01 -8.09782607e-03 9.84317296e-01 2.33480222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.51, Y:73.09, Z:23.35 [[ 6.61300663e-01 -7.39650686e-01 -1.24893136e-01 1.84509251e+02] [ 7.29075638e-01 6.72937914e-01 -1.24913087e-01 7.30887267e+01] [ 1.76437376e-01 -8.45143542e-03 9.84275584e-01 2.33519829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.22710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.52, Y:73.11, Z:23.36 [[ 6.56491486e-01 -7.43807662e-01 -1.25575043e-01 1.84523556e+02] [ 7.33184208e-01 6.68324848e-01 -1.25629677e-01 7.31146481e+01] [ 1.77369238e-01 -9.59482491e-03 9.84097603e-01 2.33563935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.54, Y:73.14, Z:23.37 [[ 6.52386515e-01 -7.47757432e-01 -1.23493554e-01 1.84536382e+02] [ 7.37540390e-01 6.63890116e-01 -1.23628831e-01 7.31401801e+01] [ 1.74430527e-01 -1.04277015e-02 9.84614267e-01 2.33659303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:73.17, Z:23.37 [[ 6.51095174e-01 -7.48943474e-01 -1.23120867e-01 1.84550413e+02] [ 7.38801433e-01 6.62547787e-01 -1.23299928e-01 7.31663619e+01] [ 1.73918134e-01 -1.06818844e-02 9.84702178e-01 2.33723453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.56, Y:73.20, Z:23.38 [[ 6.51387721e-01 -7.48584771e-01 -1.23753295e-01 1.84559970e+02] [ 7.38316481e-01 6.62954574e-01 -1.24016157e-01 7.31950062e+01] [ 1.74879420e-01 -1.05864956e-02 9.84532942e-01 2.33769273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.57, Y:73.22, Z:23.38 [[ 6.51505550e-01 -7.48613169e-01 -1.22958697e-01 1.84574408e+02] [ 7.38471978e-01 6.62923849e-01 -1.23252211e-01 7.32207827e+01] [ 1.73780481e-01 -1.05020528e-02 9.84728415e-01 2.33826097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.58, Y:73.25, Z:23.39 [[ 6.53336551e-01 -7.46884980e-01 -1.23750461e-01 1.84584421e+02] [ 7.36566607e-01 6.64877257e-01 -1.24128430e-01 7.32492846e+01] [ 1.74988527e-01 -1.00528167e-02 9.84519150e-01 2.33866412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.59, Y:73.29, Z:23.39 [[ 6.55928463e-01 -7.44261279e-01 -1.25829250e-01 1.84588893e+02] [ 7.33533928e-01 6.67821298e-01 -1.26264366e-01 7.32863943e+01] [ 1.78005132e-01 -9.47963258e-03 9.83983897e-01 2.33886149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.60, Y:73.31, Z:23.39 [[ 6.58533421e-01 -7.41966322e-01 -1.25776427e-01 1.84600757e+02] [ 7.31192278e-01 6.70379395e-01 -1.26290613e-01 7.33149093e+01] [ 1.78021307e-01 -8.80016228e-03 9.83987282e-01 2.33935442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46710568099996 meters Centerline goodness [0,1] 0.9999790510107888 Centerline is valid? [True, True] Translation: X:184.60, Y:73.35, Z:23.40 [[ 6.66507231e-01 -7.34907123e-01 -1.25218338e-01 1.84604584e+02] [ 7.24091197e-01 6.78133479e-01 -1.25805099e-01 7.33495893e+01] [ 1.77369810e-01 -6.81948779e-03 9.84120646e-01 2.33990975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.62, Y:73.38, Z:23.40 [[ 6.70066516e-01 -7.31681836e-01 -1.25110169e-01 1.84616550e+02] [ 7.20823509e-01 6.81620448e-01 -1.25726024e-01 7.33775093e+01] [ 1.77269097e-01 -5.93755243e-03 9.84144508e-01 2.34040500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52710568099997 meters Centerline goodness [0,1] 0.9999156740803204 Centerline is valid? [True, True] Translation: X:184.62, Y:73.41, Z:23.41 [[ 6.74742757e-01 -7.27368543e-01 -1.25128792e-01 1.84622046e+02] [ 7.16427557e-01 6.86230396e-01 -1.25775191e-01 7.34123174e+01] [ 1.77352098e-01 -4.77981538e-03 9.84135858e-01 2.34096309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55710568099997 meters Centerline goodness [0,1] 0.9998315576704426 Centerline is valid? [True, True] Translation: X:184.64, Y:73.44, Z:23.41 [[ 6.76775287e-01 -7.25500301e-01 -1.24998098e-01 1.84635556e+02] [ 7.14536982e-01 6.88208839e-01 -1.25719908e-01 7.34376586e+01] [ 1.77234627e-01 -4.23163689e-03 9.84159530e-01 2.34141644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58710568099997 meters Centerline goodness [0,1] 0.9997480843917288 Centerline is valid? [True, True] Translation: X:184.64, Y:73.47, Z:23.42 [[ 6.82047538e-01 -7.20490015e-01 -1.25320767e-01 1.84642231e+02] [ 7.09376889e-01 6.93459247e-01 -1.26090054e-01 7.34708602e+01] [ 1.77751470e-01 -2.90024484e-03 9.84071137e-01 2.34186547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61710568099997 meters Centerline goodness [0,1] 0.9995567563003925 Centerline is valid? [True, True] Translation: X:184.66, Y:73.50, Z:23.42 [[ 6.84882133e-01 -7.17802966e-01 -1.25281148e-01 1.84655112e+02] [ 7.06640136e-01 6.96242964e-01 -1.26116823e-01 7.34983171e+01] [ 1.77753147e-01 -2.15352887e-03 9.84072752e-01 2.34230508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64710568099997 meters Centerline goodness [0,1] 0.9990716712028187 Centerline is valid? [True, True] Translation: X:184.66, Y:73.53, Z:23.42 [[ 6.90931442e-01 -7.11859915e-01 -1.25973032e-01 1.84663236e+02] [ 7.00458598e-01 7.02321255e-01 -1.26896050e-01 7.35297002e+01] [ 1.78805749e-01 -5.62422330e-04 9.83884235e-01 2.34236473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67710568099997 meters Centerline goodness [0,1] 0.9986791622114598 Centerline is valid? [True, True] Translation: X:184.67, Y:73.56, Z:23.43 [[ 6.96989953e-01 -7.06009076e-01 -1.25523662e-01 1.84671535e+02] [ 6.94589056e-01 7.08202129e-01 -1.26474457e-01 7.35595107e+01] [ 1.78188239e-01 9.64064404e-04 9.83995946e-01 2.34271235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70710568099997 meters Centerline goodness [0,1] 0.9984404965121916 Centerline is valid? [True, True] Translation: X:184.69, Y:73.58, Z:23.43 [[ 6.99528346e-01 -7.03623157e-01 -1.24798021e-01 1.84687116e+02] [ 6.92290009e-01 7.10571535e-01 -1.25788069e-01 7.35839522e+01] [ 1.77185319e-01 1.59589709e-03 9.84176212e-01 2.34332129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73710568099997 meters Centerline goodness [0,1] 0.9986389714812178 Centerline is valid? [True, True] Translation: X:184.70, Y:73.61, Z:23.44 [[ 7.03476698e-01 -6.99751844e-01 -1.24369982e-01 1.84699028e+02] [ 6.88421608e-01 7.14381176e-01 -1.25440124e-01 7.36109181e+01] [ 1.76624532e-01 2.62522122e-03 9.84274801e-01 2.34382947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76710568099998 meters Centerline goodness [0,1] 0.9988002020712301 Centerline is valid? [True, True] Translation: X:184.72, Y:73.63, Z:23.44 [[ 7.03747032e-01 -6.99496039e-01 -1.24279551e-01 1.84716687e+02] [ 6.88172173e-01 7.14631326e-01 -1.25383923e-01 7.36323881e+01] [ 1.76519618e-01 2.71283518e-03 9.84293384e-01 2.34435161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79710568099998 meters Centerline goodness [0,1] 0.9984192555747586 Centerline is valid? [True, True] Translation: X:184.74, Y:73.65, Z:23.45 [[ 7.02287493e-01 -7.01099215e-01 -1.23499665e-01 1.84736422e+02] [ 6.89925776e-01 7.13059816e-01 -1.24692107e-01 7.36528627e+01] [ 1.75484186e-01 2.36410494e-03 9.84479411e-01 2.34508216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82710568099998 meters Centerline goodness [0,1] 0.9984426626260076 Centerline is valid? [True, True] Translation: X:184.76, Y:73.67, Z:23.46 [[ 7.01238822e-01 -7.02188787e-01 -1.23268087e-01 1.84756626e+02] [ 6.91060028e-01 7.11987574e-01 -1.24538076e-01 7.36726628e+01] [ 1.75214587e-01 2.14528564e-03 9.84527931e-01 2.34569122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85710568099998 meters Centerline goodness [0,1] 0.9988613120215929 Centerline is valid? [True, True] Translation: X:184.78, Y:73.69, Z:23.46 [[ 6.98212659e-01 -7.05342106e-01 -1.22440172e-01 1.84777998e+02] [ 6.94396913e-01 7.08865670e-01 -1.23783639e-01 7.36896697e+01] [ 1.74103447e-01 1.40522671e-03 9.84726366e-01 2.34627676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88710568099998 meters Centerline goodness [0,1] 0.9983762125685365 Centerline is valid? [True, True] Translation: X:184.80, Y:73.71, Z:23.47 [[ 6.94222639e-01 -7.09020703e-01 -1.23873205e-01 1.84800016e+02] [ 6.97868005e-01 7.05187478e-01 -1.25263197e-01 7.37072697e+01] [ 1.76168033e-01 5.13400676e-04 9.84359975e-01 2.34659061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91710568099998 meters Centerline goodness [0,1] 0.9985237673457337 Centerline is valid? [True, True] Translation: X:184.82, Y:73.73, Z:23.47 [[ 6.91977477e-01 -7.11109944e-01 -1.24458105e-01 1.84820590e+02] [ 6.99878012e-01 7.03080826e-01 -1.25889317e-01 7.37250291e+01] [ 1.77025252e-01 7.08113321e-06 9.84206310e-01 2.34704387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.94710568099998 meters Centerline goodness [0,1] 0.9987143820603608 Centerline is valid? [True, True] Translation: X:184.85, Y:73.74, Z:23.47 [[ 6.88262504e-01 -7.14626706e-01 -1.24913556e-01 1.84845782e+02] [ 7.03351141e-01 6.99505529e-01 -1.26448359e-01 7.37409279e+01] [ 1.77741097e-01 -8.28428120e-04 9.84076936e-01 2.34740912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97710568099998 meters Centerline goodness [0,1] 0.9989876834823688 Centerline is valid? [True, True] Translation: X:184.87, Y:73.76, Z:23.48 [[ 6.86374895e-01 -7.16229265e-01 -1.26115592e-01 1.84868321e+02] [ 7.04745509e-01 6.97864033e-01 -1.27748031e-01 7.37582052e+01] [ 1.79508415e-01 -1.19635582e-03 9.83755710e-01 2.34773822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00710568099996 meters Centerline goodness [0,1] 0.9989876834823688 Centerline is valid? [True, True] Translation: X:184.89, Y:73.78, Z:23.48 [[ 6.86101404e-01 -7.16494450e-01 -1.26097447e-01 1.84887160e+02] [ 7.05011843e-01 6.97591690e-01 -1.27765940e-01 7.37776077e+01] [ 1.79508118e-01 -1.23980278e-03 9.83755711e-01 2.34819191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03710568099996 meters Centerline goodness [0,1] 0.9986941595231577 Centerline is valid? [True, True] Translation: X:184.91, Y:73.79, Z:23.48 [[ 6.83957491e-01 -7.18402075e-01 -1.26888174e-01 1.84909736e+02] [ 7.06788929e-01 6.95626065e-01 -1.28661526e-01 7.37946970e+01] [ 1.80697428e-01 -1.68414266e-03 9.83537291e-01 2.34834608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06710568099996 meters Centerline goodness [0,1] 0.9989669857064553 Centerline is valid? [True, True] Translation: X:184.94, Y:73.81, Z:23.49 [[ 6.78042215e-01 -7.23908206e-01 -1.27340741e-01 1.84936676e+02] [ 7.12300192e-01 6.89889197e-01 -1.29156235e-01 7.38075917e+01] [ 1.81348260e-01 -3.13145403e-03 9.83413953e-01 2.34887834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09710568099996 meters Centerline goodness [0,1] 0.9992193269332208 Centerline is valid? [True, True] Translation: X:184.96, Y:73.82, Z:23.50 [[ 6.70317264e-01 -7.30960174e-01 -1.27953075e-01 1.84964318e+02] [ 7.19349272e-01 6.82401852e-01 -1.29862764e-01 7.38210488e+01] [ 1.82239923e-01 -4.99369863e-03 9.83241412e-01 2.34962902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12710568099996 meters Centerline goodness [0,1] 0.9991781341537943 Centerline is valid? [True, True] Translation: X:184.99, Y:73.84, Z:23.50 [[ 6.66854346e-01 -7.34103322e-01 -1.28053090e-01 1.84987971e+02] [ 7.22518143e-01 6.79012957e-01 -1.30034373e-01 7.38368551e+01] [ 1.82408372e-01 -5.80669395e-03 9.83205710e-01 2.35023178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15710568099996 meters Centerline goodness [0,1] 0.9991177211998992 Centerline is valid? [True, True] Translation: X:185.01, Y:73.85, Z:23.51 [[ 6.60890665e-01 -7.40026426e-01 -1.24837560e-01 1.85014001e+02] [ 7.29119535e-01 6.72538972e-01 -1.26791307e-01 7.38501994e+01] [ 1.77787042e-01 -7.22631239e-03 9.84042452e-01 2.35139438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18710568099996 meters Centerline goodness [0,1] 0.999284120099381 Centerline is valid? [True, True] Translation: X:185.03, Y:73.87, Z:23.53 [[ 6.59049438e-01 -7.42314882e-01 -1.20923340e-01 1.85034856e+02] [ 7.32111717e-01 6.70008755e-01 -1.22884916e-01 7.38670739e+01] [ 1.72238999e-01 -7.54215906e-03 9.85026316e-01 2.35260854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21710568099996 meters Centerline goodness [0,1] 0.9992633129867396 Centerline is valid? [True, True] Translation: X:185.05, Y:73.89, Z:23.53 [[ 6.58557165e-01 -7.42838880e-01 -1.20386287e-01 1.85053869e+02] [ 7.32730083e-01 6.69426833e-01 -1.22369693e-01 7.38879182e+01] [ 1.71490777e-01 -7.62321603e-03 9.85156231e-01 2.35326297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24710568099997 meters Centerline goodness [0,1] 0.999473639885464 Centerline is valid? [True, True] Translation: X:185.07, Y:73.91, Z:23.54 [[ 6.58262003e-01 -7.43106703e-01 -1.20347676e-01 1.85072529e+02] [ 7.32995129e-01 6.69129364e-01 -1.22409292e-01 7.39082530e+01] [ 1.71491329e-01 -7.63687455e-03 9.85156029e-01 2.35372807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27710568099997 meters Centerline goodness [0,1] 0.9991415949584407 Centerline is valid? [True, True] Translation: X:185.09, Y:73.93, Z:23.54 [[ 6.58013590e-01 -7.43326934e-01 -1.20346104e-01 1.85091000e+02] [ 7.33213896e-01 6.68884288e-01 -1.22438521e-01 7.39289739e+01] [ 1.71509469e-01 -7.67322514e-03 9.85152589e-01 2.35402711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30710568099997 meters Centerline goodness [0,1] 0.9989532303311979 Centerline is valid? [True, True] Translation: X:185.11, Y:73.95, Z:23.55 [[ 6.57452563e-01 -7.43742114e-01 -1.20846162e-01 1.85108978e+02] [ 7.33535582e-01 6.68421678e-01 -1.23036620e-01 7.39491914e+01] [ 1.72283710e-01 -7.75421817e-03 9.85016850e-01 2.35450736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33710568099997 meters Centerline goodness [0,1] 0.9990522724400825 Centerline is valid? [True, True] Translation: X:185.12, Y:73.97, Z:23.55 [[ 6.57789757e-01 -7.43508370e-01 -1.20448907e-01 1.85123098e+02] [ 7.33360165e-01 6.68682911e-01 -1.22662267e-01 7.39746948e+01] [ 1.71742548e-01 -7.64644750e-03 9.85112191e-01 2.35511204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36710568099997 meters Centerline goodness [0,1] 0.9986113156731963 Centerline is valid? [True, True] Translation: X:185.14, Y:74.00, Z:23.56 [[ 6.61683892e-01 -7.40192495e-01 -1.19538685e-01 1.85137329e+02] [ 7.30130416e-01 6.72361889e-01 -1.21815705e-01 7.39999941e+01] [ 1.70540327e-01 -6.67533989e-03 9.85328086e-01 2.35566536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39710568099997 meters Centerline goodness [0,1] 0.99862588744769 Centerline is valid? [True, True] Translation: X:185.15, Y:74.03, Z:23.56 [[ 6.69008022e-01 -7.33674797e-01 -1.18951921e-01 1.85146654e+02] [ 7.23604899e-01 6.79482641e-01 -1.21240637e-01 7.40293713e+01] [ 1.69776965e-01 -4.96323423e-03 9.85470014e-01 2.35630270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42710568099997 meters Centerline goodness [0,1] 0.9982433760639077 Centerline is valid? [True, True] Translation: X:185.16, Y:74.05, Z:23.57 [[ 6.72952689e-01 -7.30224329e-01 -1.17928401e-01 1.85160313e+02] [ 7.20271573e-01 6.83195522e-01 -1.20219552e-01 7.40549036e+01] [ 1.68355397e-01 -4.03840397e-03 9.85718089e-01 2.35693353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45710568099997 meters Centerline goodness [0,1] 0.9979436820680683 Centerline is valid? [True, True] Translation: X:185.17, Y:74.09, Z:23.57 [[ 6.80052888e-01 -7.23708640e-01 -1.17362153e-01 1.85168309e+02] [ 7.13750841e-01 6.90101512e-01 -1.19664695e-01 7.40873926e+01] [ 1.67594173e-01 -2.38901449e-03 9.85853177e-01 2.35745294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48710568099997 meters Centerline goodness [0,1] 0.998172537652026 Centerline is valid? [True, True] Translation: X:185.18, Y:74.11, Z:23.58 [[ 6.83530750e-01 -7.20251893e-01 -1.18418428e-01 1.85182087e+02] [ 7.10048725e-01 6.93710999e-01 -1.20813316e-01 7.41123089e+01] [ 1.69164186e-01 -1.50323779e-03 9.85586738e-01 2.35765022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51710568099998 meters Centerline goodness [0,1] 0.9979291302346985 Centerline is valid? [True, True] Translation: X:185.19, Y:74.14, Z:23.57 [[ 6.90731395e-01 -7.12826622e-01 -1.21525090e-01 1.85191649e+02] [ 7.01955882e-01 7.01340203e-01 -1.24015561e-01 7.41434640e+01] [ 1.73632025e-01 3.56190028e-04 9.84810537e-01 2.35724209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54710568099998 meters Centerline goodness [0,1] 0.998297604035309 Centerline is valid? [True, True] Translation: X:185.21, Y:74.17, Z:23.57 [[ 6.95216001e-01 -7.08311441e-01 -1.22350377e-01 1.85205769e+02] [ 6.97205327e-01 7.05898335e-01 -1.24949083e-01 7.41679461e+01] [ 1.74869792e-01 1.56326699e-03 9.84590327e-01 2.35738830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57710568099998 meters Centerline goodness [0,1] 0.998404668443922 Centerline is valid? [True, True] Translation: X:185.22, Y:74.20, Z:23.57 [[ 7.03148026e-01 -7.00055072e-01 -1.24522084e-01 1.85218800e+02] [ 6.88408344e-01 7.14079102e-01 -1.27220237e-01 7.41971511e+01] [ 1.77979790e-01 3.73261677e-03 9.84027064e-01 2.35741978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60710568099998 meters Centerline goodness [0,1] 0.9983177373567448 Centerline is valid? [True, True] Translation: X:185.24, Y:74.22, Z:23.58 [[ 7.05677256e-01 -6.97446471e-01 -1.24852038e-01 1.85236497e+02] [ 6.85684965e-01 7.16623058e-01 -1.27622572e-01 7.42202903e+01] [ 1.78481761e-01 4.45118110e-03 9.83933152e-01 2.35774644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63710568099998 meters Centerline goodness [0,1] 0.9983182324623179 Centerline is valid? [True, True] Translation: X:185.26, Y:74.24, Z:23.58 [[ 7.06920603e-01 -6.96068157e-01 -1.25508492e-01 1.85256155e+02] [ 6.84144512e-01 7.17959075e-01 -1.28378558e-01 7.42410227e+01] [ 1.79470187e-01 4.88750211e-03 9.83751272e-01 2.35814737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.66710568099998 meters Centerline goodness [0,1] 0.9982339955849889 Centerline is valid? [True, True] Translation: X:185.28, Y:74.26, Z:23.59 [[ 7.06819323e-01 -6.96098489e-01 -1.25910036e-01 1.85276901e+02] [ 6.84082645e-01 7.17929182e-01 -1.28874454e-01 7.42611328e+01] [ 1.80103802e-01 4.95808438e-03 9.83635114e-01 2.35858376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69710568099998 meters Centerline goodness [0,1] 0.9984431540856686 Centerline is valid? [True, True] Translation: X:185.30, Y:74.28, Z:23.59 [[ 7.06435705e-01 -6.96321560e-01 -1.26826181e-01 1.85301869e+02] [ 6.84116395e-01 7.17712532e-01 -1.29897956e-01 7.42777304e+01] [ 1.81475487e-01 5.00068453e-03 9.83382754e-01 2.35874648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.72710568099998 meters Centerline goodness [0,1] 0.9986361442749533 Centerline is valid? [True, True] Translation: X:185.33, Y:74.29, Z:23.60 [[ 7.05156990e-01 -6.97891082e-01 -1.25306250e-01 1.85330105e+02] [ 6.85988530e-01 7.16189130e-01 -1.28424556e-01 7.42895523e+01] [ 1.79369326e-01 4.60082260e-03 9.83771049e-01 2.35951832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75710568099996 meters Centerline goodness [0,1] 0.9990812469983922 Centerline is valid? [True, True] Translation: X:185.35, Y:74.31, Z:23.60 [[ 7.04346330e-01 -6.98873488e-01 -1.24386880e-01 1.85351501e+02] [ 6.87147126e-01 7.15231920e-01 -1.27562251e-01 7.43065843e+01] [ 1.78115342e-01 4.37591615e-03 9.83999886e-01 2.36038150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78710568099996 meters Centerline goodness [0,1] 0.9992002020542179 Centerline is valid? [True, True] Translation: X:185.37, Y:74.32, Z:23.61 [[ 7.03897324e-01 -6.99384939e-01 -1.24053475e-01 1.85374490e+02] [ 6.87723714e-01 7.14732514e-01 -1.27253788e-01 7.43226705e+01] [ 1.77664434e-01 4.25908428e-03 9.84081912e-01 2.36136102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81710568099996 meters Centerline goodness [0,1] 0.9991204556877199 Centerline is valid? [True, True] Translation: X:185.40, Y:74.34, Z:23.62 [[ 7.03907603e-01 -6.99648468e-01 -1.22499423e-01 1.85398274e+02] [ 6.88269634e-01 7.14474919e-01 -1.25739813e-01 7.43371237e+01] [ 1.75496433e-01 4.19657740e-03 9.84471122e-01 2.36200941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84710568099996 meters Centerline goodness [0,1] 0.9993711482832348 Centerline is valid? [True, True] Translation: X:185.42, Y:74.35, Z:23.63 [[ 7.03261711e-01 -7.00348274e-01 -1.22209906e-01 1.85422109e+02] [ 6.89025924e-01 7.13789836e-01 -1.25488432e-01 7.43532744e+01] [ 1.75117796e-01 4.04541589e-03 9.84539178e-01 2.36271385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87710568099996 meters Centerline goodness [0,1] 0.999455463170461 Centerline is valid? [True, True] Translation: X:185.45, Y:74.37, Z:23.63 [[ 7.01726499e-01 -7.02042095e-01 -1.21312887e-01 1.85445514e+02] [ 6.90897587e-01 7.12126075e-01 -1.24647411e-01 7.43694292e+01] [ 1.73897800e-01 3.65361042e-03 9.84756928e-01 2.36328037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90710568099996 meters Centerline goodness [0,1] 0.9996854158802063 Centerline is valid? [True, True] Translation: X:185.47, Y:74.38, Z:23.64 [[ 6.96074717e-01 -7.07707206e-01 -1.20956599e-01 1.85474493e+02] [ 6.96698640e-01 7.06502120e-01 -1.24361409e-01 7.43810747e+01] [ 1.73467559e-01 2.29453459e-03 9.84836911e-01 2.36404715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93710568099996 meters Centerline goodness [0,1] 0.9994759898551636 Centerline is valid? [True, True] Translation: X:185.50, Y:74.39, Z:23.64 [[ 6.90627565e-01 -7.12792974e-01 -1.22310028e-01 1.85502082e+02] [ 7.01599584e-01 7.01373646e-01 -1.25829379e-01 7.43931922e+01] [ 1.75475328e-01 1.08857319e-03 9.84483227e-01 2.36418526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96710568099996 meters Centerline goodness [0,1] 0.9998111663624347 Centerline is valid? [True, True] Translation: X:185.53, Y:74.41, Z:23.65 [[ 6.88550837e-01 -7.14691716e-01 -1.22936960e-01 1.85525102e+02] [ 7.03406230e-01 6.99439312e-01 -1.26508199e-01 7.44088222e+01] [ 1.76401305e-01 6.32702261e-04 9.84318129e-01 2.36458589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99710568099997 meters Centerline goodness [0,1] 0.9995184557083935 Centerline is valid? [True, True] Translation: X:185.55, Y:74.43, Z:23.65 [[ 6.87962512e-01 -7.15182593e-01 -1.23375201e-01 1.85547540e+02] [ 7.03807280e-01 6.98937429e-01 -1.27050317e-01 7.44254381e+01] [ 1.77095721e-01 5.73491049e-04 9.84193465e-01 2.36526207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02710568099997 meters Centerline goodness [0,1] 0.9995380480430035 Centerline is valid? [True, True] Translation: X:185.57, Y:74.45, Z:23.66 [[ 6.89361325e-01 -7.13622604e-01 -1.24594311e-01 1.85566392e+02] [ 7.01976652e-01 7.00529564e-01 -1.28402146e-01 7.44467470e+01] [ 1.78912672e-01 1.05317631e-03 9.83864394e-01 2.36556384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05710568099997 meters Centerline goodness [0,1] 0.9997267012845039 Centerline is valid? [True, True] Translation: X:185.58, Y:74.47, Z:23.65 [[ 6.96712476e-01 -7.05830790e-01 -1.28041484e-01 1.85582090e+02] [ 6.93378278e-01 7.08373195e-01 -1.32037796e-01 7.44722599e+01] [ 1.83897497e-01 3.21119584e-03 9.82940181e-01 2.36527141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08710568099997 meters Centerline goodness [0,1] 0.9998947545676518 Centerline is valid? [True, True] Translation: X:185.60, Y:74.50, Z:23.66 [[ 7.03705129e-01 -6.98828033e-01 -1.28212602e-01 1.85599243e+02] [ 6.86220202e-01 7.15271692e-01 -1.32243113e-01 7.44954382e+01] [ 1.84122039e-01 5.07807950e-03 9.82890273e-01 2.36594842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11710568099997 meters Centerline goodness [0,1] 0.9999159416635145 Centerline is valid? [True, True] Translation: X:185.62, Y:74.52, Z:23.67 [[ 7.06303317e-01 -6.96517552e-01 -1.26486855e-01 1.85617073e+02] [ 6.84200990e-01 7.17517509e-01 -1.30528271e-01 7.45166508e+01] [ 1.81671765e-01 5.65011961e-03 9.83342995e-01 2.36676634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14710568099997 meters Centerline goodness [0,1] 0.9997485541865728 Centerline is valid? [True, True] Translation: X:185.63, Y:74.54, Z:23.68 [[ 7.10174071e-01 -6.93124518e-01 -1.23414714e-01 1.85634286e+02] [ 6.81338331e-01 7.20789306e-01 -1.27439616e-01 7.45385829e+01] [ 1.77287529e-01 6.41713558e-03 9.84138178e-01 2.36778981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.65, Y:74.56, Z:23.68 [[ 7.11223116e-01 -6.92119100e-01 -1.23015569e-01 1.85653868e+02] [ 6.80380527e-01 7.21752180e-01 -1.27106762e-01 7.45584307e+01] [ 1.76759773e-01 6.70386983e-03 9.84231193e-01 2.36828574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.68, Y:74.58, Z:23.69 [[ 7.10648548e-01 -6.92664389e-01 -1.23266725e-01 1.85675591e+02] [ 6.80880234e-01 7.21229808e-01 -1.27395728e-01 7.45765876e+01] [ 1.77146120e-01 6.60371321e-03 9.84162407e-01 2.36858374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23710568099997 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:185.70, Y:74.59, Z:23.69 [[ 7.08049987e-01 -6.95343248e-01 -1.23138063e-01 1.85701171e+02] [ 6.83618058e-01 7.18653145e-01 -1.27294966e-01 7.45920814e+01] [ 1.77007251e-01 5.95179526e-03 9.84191551e-01 2.36903434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26710568099998 meters Centerline goodness [0,1] 0.9999792039262987 Centerline is valid? [True, True] Translation: X:185.72, Y:74.61, Z:23.69 [[ 7.06141977e-01 -6.97273346e-01 -1.23180312e-01 1.85722688e+02] [ 6.85555436e-01 7.16784032e-01 -1.27414269e-01 7.46102226e+01] [ 1.77136254e-01 5.52563205e-03 9.84170826e-01 2.36946719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29710568099998 meters Centerline goodness [0,1] 0.9999791349343794 Centerline is valid? [True, True] Translation: X:185.75, Y:74.62, Z:23.70 [[ 7.01589991e-01 -7.01929233e-01 -1.22747043e-01 1.85748150e+02] [ 6.90350193e-01 7.12233130e-01 -1.27045582e-01 7.46241919e+01] [ 1.76601519e-01 4.39546424e-03 9.84272616e-01 2.37005342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32710568099998 meters Centerline goodness [0,1] 0.9999789606564276 Centerline is valid? [True, True] Translation: X:185.77, Y:74.64, Z:23.71 [[ 6.98960057e-01 -7.04645528e-01 -1.22186405e-01 1.85772052e+02] [ 6.93201335e-01 7.09549622e-01 -1.26535541e-01 7.46399634e+01] [ 1.75860020e-01 3.74350995e-03 9.84408065e-01 2.37075140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35710568099998 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:185.80, Y:74.65, Z:23.71 [[ 6.93978124e-01 -7.09614607e-01 -1.21825585e-01 1.85799285e+02] [ 6.98299456e-01 7.04585455e-01 -1.26242644e-01 7.46534603e+01] [ 1.75420159e-01 2.53889291e-03 9.84490387e-01 2.37134956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38710568099998 meters Centerline goodness [0,1] 0.9999791275307869 Centerline is valid? [True, True] Translation: X:185.82, Y:74.67, Z:23.72 [[ 6.91923482e-01 -7.11426073e-01 -1.22942416e-01 1.85821447e+02] [ 6.99915942e-01 7.02757647e-01 -1.27472990e-01 7.46700432e+01] [ 1.77086332e-01 2.15219859e-03 9.84192968e-01 2.37160347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41710568099998 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:185.85, Y:74.69, Z:23.72 [[ 6.89122845e-01 -7.13779437e-01 -1.25014479e-01 1.85846574e+02] [ 7.01906657e-01 7.00368727e-01 -1.29656049e-01 7.46856754e+01] [ 1.80102053e-01 1.60045042e-03 9.83646628e-01 2.37154679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.87, Y:74.70, Z:23.72 [[ 6.89698119e-01 -7.13428716e-01 -1.23838493e-01 1.85866230e+02] [ 7.01758700e-01 7.00725658e-01 -1.28523453e-01 7.47043780e+01] [ 1.78469131e-01 1.73764413e-03 9.83943977e-01 2.37213753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47710568099998 meters Centerline goodness [0,1] 0.9999369018824271 Centerline is valid? [True, True] Translation: X:185.89, Y:74.72, Z:23.73 [[ 6.90422933e-01 -7.12677178e-01 -1.24126602e-01 1.85886297e+02] [ 7.00931920e-01 7.01489388e-01 -1.28868471e-01 7.47237219e+01] [ 1.78915112e-01 1.96945084e-03 9.83862543e-01 2.37280020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:74.74, Z:23.73 [[ 6.91641026e-01 -7.11419305e-01 -1.24560282e-01 1.85906076e+02] [ 6.99554802e-01 7.02763811e-01 -1.29406742e-01 7.47448221e+01] [ 1.79598913e-01 2.36626881e-03 9.83737074e-01 2.37318831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.92, Y:74.77, Z:23.73 [[ 6.94963155e-01 -7.07963056e-01 -1.25755815e-01 1.85924724e+02] [ 6.95795774e-01 7.06241502e-01 -1.30733243e-01 7.47663569e+01] [ 1.81368282e-01 3.35442196e-03 9.83409525e-01 2.37327331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.94, Y:74.79, Z:23.74 [[ 6.97638218e-01 -7.04941277e-01 -1.27901186e-01 1.85943873e+02] [ 6.92293968e-01 7.09252993e-01 -1.33000954e-01 7.47887139e+01] [ 1.84472162e-01 4.24132871e-03 9.82828588e-01 2.37354403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59710568099996 meters Centerline goodness [0,1] 0.9999789531286174 Centerline is valid? [True, True] Translation: X:185.96, Y:74.81, Z:23.74 [[ 6.98123505e-01 -7.04451803e-01 -1.27950107e-01 1.85964076e+02] [ 6.91770848e-01 7.09737985e-01 -1.33135595e-01 7.48086052e+01] [ 1.84598661e-01 4.43293411e-03 9.82803990e-01 2.37407941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.98, Y:74.83, Z:23.75 [[ 6.98401417e-01 -7.04666709e-01 -1.25220968e-01 1.85984970e+02] [ 6.92513860e-01 7.09525194e-01 -1.30378501e-01 7.48259706e+01] [ 1.80720821e-01 4.33927426e-03 9.83524863e-01 2.37489899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65710568099996 meters Centerline goodness [0,1] 0.9999790039472579 Centerline is valid? [True, True] Translation: X:186.01, Y:74.84, Z:23.76 [[ 6.97184900e-01 -7.06160988e-01 -1.23571333e-01 1.86007014e+02] [ 6.94345930e-01 7.08040443e-01 -1.28695224e-01 7.48438924e+01] [ 1.78373048e-01 3.92311486e-03 9.83955113e-01 2.37576134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68710568099996 meters Centerline goodness [0,1] 0.9999789801151889 Centerline is valid? [True, True] Translation: X:186.03, Y:74.86, Z:23.77 [[ 6.92926281e-01 -7.10698478e-01 -1.21494210e-01 1.86031384e+02] [ 6.99335609e-01 7.03491314e-01 -1.26608361e-01 7.48586521e+01] [ 1.75450491e-01 2.76503332e-03 9.84484373e-01 2.37674357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.05, Y:74.88, Z:23.77 [[ 6.90690971e-01 -7.13047211e-01 -1.20456035e-01 1.86052917e+02] [ 7.01903572e-01 7.01112586e-01 -1.25588681e-01 7.48755309e+01] [ 1.74003901e-01 2.19444671e-03 9.84742518e-01 2.37735328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.08, Y:74.89, Z:23.78 [[ 6.86556428e-01 -7.17419231e-01 -1.18109772e-01 1.86080735e+02] [ 7.06767313e-01 6.96640841e-01 -1.23172662e-01 7.48884191e+01] [ 1.70646527e-01 1.08885733e-03 9.85331709e-01 2.37808965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.10, Y:74.91, Z:23.78 [[ 6.86588902e-01 -7.17145110e-01 -1.19576633e-01 1.86100614e+02] [ 7.06206646e-01 6.96922794e-01 -1.24782980e-01 7.49079399e+01] [ 1.72823185e-01 1.22879576e-03 9.84952099e-01 2.37829763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80710568099997 meters Centerline goodness [0,1] 0.9999790211257263 Centerline is valid? [True, True] Translation: X:186.12, Y:74.93, Z:23.79 [[ 6.88159841e-01 -7.15471240e-01 -1.20569225e-01 1.86118351e+02] [ 7.04317370e-01 6.98640147e-01 -1.25853042e-01 7.49302546e+01] [ 1.74278733e-01 1.68801040e-03 9.84694914e-01 2.37855093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.14, Y:74.95, Z:23.79 [[ 6.92756895e-01 -7.10818872e-01 -1.21755558e-01 1.86135453e+02] [ 6.99356116e-01 7.03368914e-01 -1.27173877e-01 7.49533293e+01] [ 1.76036666e-01 2.95008596e-03 9.84379190e-01 2.37875474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.15, Y:74.97, Z:23.79 [[ 6.94742143e-01 -7.08815386e-01 -1.22123312e-01 1.86153319e+02] [ 6.97246541e-01 7.05385400e-01 -1.27588000e-01 7.49740275e+01] [ 1.76580339e-01 3.49070375e-03 9.84280041e-01 2.37910096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89710568099997 meters Centerline goodness [0,1] 0.9999791052884515 Centerline is valid? [True, True] Translation: X:186.17, Y:74.99, Z:23.80 [[ 6.97356001e-01 -7.06279565e-01 -1.21917122e-01 1.86172560e+02] [ 6.94705514e-01 7.07920862e-01 -1.27406050e-01 7.49943722e+01] [ 1.76291964e-01 4.15087675e-03 9.84329169e-01 2.37977189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92710568099997 meters Centerline goodness [0,1] 0.9999791052884515 Centerline is valid? [True, True] Translation: X:186.19, Y:75.01, Z:23.80 [[ 6.97087709e-01 -7.06551853e-01 -1.21873724e-01 1.86191092e+02] [ 6.94974681e-01 7.07649146e-01 -1.27447552e-01 7.50141206e+01] [ 1.76292140e-01 4.14296999e-03 9.84329171e-01 2.38022636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:75.03, Z:23.81 [[ 6.99676842e-01 -7.03948505e-01 -1.22101679e-01 1.86213725e+02] [ 6.92270579e-01 7.10234248e-01 -1.27784034e-01 7.50316506e+01] [ 1.76674173e-01 4.88012928e-03 9.84257294e-01 2.38063420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:75.05, Z:23.81 [[ 7.00892594e-01 -7.02526365e-01 -1.23313738e-01 1.86235553e+02] [ 6.90576436e-01 7.11637585e-01 -1.29136105e-01 7.50498876e+01] [ 1.78476209e-01 5.35297855e-03 9.83929666e-01 2.38081085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.26, Y:75.07, Z:23.81 [[ 7.01911591e-01 -7.01120380e-01 -1.25500322e-01 1.86262143e+02] [ 6.88709941e-01 7.13018992e-01 -1.31463053e-01 7.50653770e+01] [ 1.81655538e-01 5.84212093e-03 9.83344871e-01 2.38086645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:75.09, Z:23.81 [[ 7.02897312e-01 -7.00071530e-01 -1.25838078e-01 1.86281560e+02] [ 6.87561354e-01 7.14045880e-01 -1.31900968e-01 7.50854823e+01] [ 1.82194273e-01 6.19143667e-03 9.83243059e-01 2.38116975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:75.10, Z:23.82 [[ 7.06312185e-01 -6.96756380e-01 -1.25114524e-01 1.86304517e+02] [ 6.84332579e-01 7.17273366e-01 -1.31178655e-01 7.51026202e+01] [ 1.81140881e-01 7.03313745e-03 9.83432009e-01 2.38187127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10710568099998 meters Centerline goodness [0,1] 0.9999791087805795 Centerline is valid? [True, True] Translation: X:186.32, Y:75.12, Z:23.82 [[ 7.11742409e-01 -6.91278633e-01 -1.24726080e-01 1.86324630e+02] [ 6.78834650e-01 7.22538752e-01 -1.30848266e-01 7.51218739e+01] [ 1.80572037e-01 8.46187515e-03 9.83525361e-01 2.38227126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:75.14, Z:23.83 [[ 7.13184587e-01 -6.89736565e-01 -1.25024863e-01 1.86347583e+02] [ 6.77202717e-01 7.24005714e-01 -1.31195301e-01 7.51397659e+01] [ 1.81008912e-01 8.89928987e-03 9.83441191e-01 2.38269214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.37, Y:75.16, Z:23.83 [[ 7.14048133e-01 -6.88734125e-01 -1.25620735e-01 1.86366391e+02] [ 6.76048479e-01 7.24954856e-01 -1.31904930e-01 7.51596933e+01] [ 1.81916789e-01 9.26076234e-03 9.83270319e-01 2.38283191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.40, Y:75.17, Z:23.83 [[ 7.11717180e-01 -6.90962262e-01 -1.26608881e-01 1.86398504e+02] [ 6.78097940e-01 7.22837183e-01 -1.33002217e-01 7.51680229e+01] [ 1.83417120e-01 8.80674103e-03 9.82995728e-01 2.38326702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.22710568099998 meters Centerline goodness [0,1] 0.9999580862166524 Centerline is valid? [True, True] Translation: X:186.43, Y:75.18, Z:23.84 [[ 7.08223285e-01 -6.94629037e-01 -1.26135954e-01 1.86425488e+02] [ 6.81903146e-01 7.19324855e-01 -1.32589036e-01 7.51805783e+01] [ 1.82832921e-01 7.89013869e-03 9.83112338e-01 2.38382207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:75.20, Z:23.85 [[ 7.06111986e-01 -6.96851375e-01 -1.25714055e-01 1.86449952e+02] [ 6.84240237e-01 7.17178279e-01 -1.32176448e-01 7.51956075e+01] [ 1.82266730e-01 7.31275943e-03 9.83221930e-01 2.38451486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.48, Y:75.21, Z:23.85 [[ 7.02270900e-01 -7.00905330e-01 -1.24688815e-01 1.86476432e+02] [ 6.88550418e-01 7.13226817e-01 -1.31170993e-01 7.52080621e+01] [ 1.80869854e-01 6.26303544e-03 9.83487097e-01 2.38515158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:75.22, Z:23.86 [[ 6.97637146e-01 -7.05790948e-01 -1.23132251e-01 1.86507468e+02] [ 6.93811468e-01 7.08402737e-01 -1.29580893e-01 7.52170937e+01] [ 1.78684245e-01 4.96987644e-03 9.83893918e-01 2.38587972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:75.23, Z:23.86 [[ 6.94924852e-01 -7.08554345e-01 -1.22597677e-01 1.86532626e+02] [ 6.96714472e-01 7.05643321e-01 -1.29059864e-01 7.52330424e+01] [ 1.77956159e-01 4.27133066e-03 9.84029146e-01 2.38635325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37710568099996 meters Centerline goodness [0,1] 0.999894665880172 Centerline is valid? [True, True] Translation: X:186.56, Y:75.25, Z:23.87 [[ 6.90247929e-01 -7.13184148e-01 -1.22172694e-01 1.86561186e+02] [ 7.01490509e-01 7.00969865e-01 -1.28655796e-01 7.52454304e+01] [ 1.77394651e-01 3.10141178e-03 9.84134909e-01 2.38690599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.58, Y:75.26, Z:23.87 [[ 6.88396225e-01 -7.14974807e-01 -1.22154258e-01 1.86584121e+02] [ 7.03304882e-01 6.99145116e-01 -1.28679255e-01 7.52615590e+01] [ 1.77405978e-01 2.67062723e-03 9.84134130e-01 2.38737518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:75.27, Z:23.88 [[ 6.83934151e-01 -7.19126226e-01 -1.22847661e-01 1.86612871e+02] [ 7.07382022e-01 6.94877551e-01 -1.29444444e-01 7.52735722e+01] [ 1.78450976e-01 1.63124866e-03 9.83947452e-01 2.38772847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46710568099996 meters Centerline goodness [0,1] 0.9999159010154952 Centerline is valid? [True, True] Translation: X:186.64, Y:75.29, Z:23.88 [[ 6.78057342e-01 -7.24592109e-01 -1.23306593e-01 1.86639768e+02] [ 7.12832415e-01 6.89177921e-01 -1.30014388e-01 7.52875903e+01] [ 1.79187581e-01 2.60273388e-04 9.83814893e-01 2.38814258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49710568099997 meters Centerline goodness [0,1] 0.999916142557652 Centerline is valid? [True, True] Translation: X:186.66, Y:75.30, Z:23.88 [[ 6.74871079e-01 -7.27531981e-01 -1.23475680e-01 1.86660549e+02] [ 7.15772090e-01 6.86073617e-01 -1.30281647e-01 7.53046987e+01] [ 1.79497471e-01 -4.57129870e-04 9.83758328e-01 2.38849309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52710568099997 meters Centerline goodness [0,1] 0.9998947700726086 Centerline is valid? [True, True] Translation: X:186.69, Y:75.32, Z:23.89 [[ 6.68234795e-01 -7.33593921e-01 -1.23702136e-01 1.86685086e+02] [ 7.21880920e-01 6.79585026e-01 -1.30583800e-01 7.53198730e+01] [ 1.79861601e-01 -2.03757286e-03 9.83689815e-01 2.38907538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55710568099997 meters Centerline goodness [0,1] 0.9999581677473331 Centerline is valid? [True, True] Translation: X:186.71, Y:75.33, Z:23.90 [[ 6.60606967e-01 -7.40412585e-01 -1.24046919e-01 1.86710688e+02] [ 7.28735351e-01 6.72141726e-01 -1.31035443e-01 7.53333421e+01] [ 1.80397402e-01 -3.83444837e-03 9.83586333e-01 2.38954103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.73, Y:75.35, Z:23.90 [[ 6.56908985e-01 -7.43692358e-01 -1.24065557e-01 1.86732026e+02] [ 7.32061656e-01 6.68505449e-01 -1.31096135e-01 7.53521225e+01] [ 1.80433695e-01 -4.70540828e-03 9.83575895e-01 2.39008249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61710568099997 meters Centerline goodness [0,1] 0.9999581195686316 Centerline is valid? [True, True] Translation: X:186.75, Y:75.37, Z:23.91 [[ 6.52668567e-01 -7.47440536e-01 -1.23920891e-01 1.86750014e+02] [ 7.35887513e-01 6.64304503e-01 -1.31030897e-01 7.53733647e+01] [ 1.80259010e-01 -5.67208815e-03 9.83602825e-01 2.39055802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.77, Y:75.40, Z:23.91 [[ 6.52014081e-01 -7.48047204e-01 -1.23705368e-01 1.86766767e+02] [ 7.36537090e-01 6.63620191e-01 -1.30848602e-01 7.53950772e+01] [ 1.79974311e-01 -5.79846072e-03 9.83654220e-01 2.39105573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:75.42, Z:23.92 [[ 6.52633034e-01 -7.47804247e-01 -1.21897214e-01 1.86780359e+02] [ 7.36620224e-01 6.63895479e-01 -1.28970689e-01 7.54209672e+01] [ 1.77371838e-01 -5.62142065e-03 9.84127853e-01 2.39170037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70710568099997 meters Centerline goodness [0,1] 0.9999578920773944 Centerline is valid? [True, True] Translation: X:186.80, Y:75.44, Z:23.92 [[ 6.52773145e-01 -7.47795958e-01 -1.21195819e-01 1.86797524e+02] [ 7.36725471e-01 6.63905609e-01 -1.28315712e-01 7.54439822e+01] [ 1.76416555e-01 -5.52699607e-03 9.84300082e-01 2.39221806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73710568099997 meters Centerline goodness [0,1] 0.9999789597710823 Centerline is valid? [True, True] Translation: X:186.81, Y:75.47, Z:23.93 [[ 6.52485067e-01 -7.47902725e-01 -1.22085019e-01 1.86811159e+02] [ 7.36653520e-01 6.63785247e-01 -1.29347349e-01 7.54696799e+01] [ 1.77777469e-01 -5.53714571e-03 9.84055136e-01 2.39260080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.82, Y:75.50, Z:23.93 [[ 6.53978870e-01 -7.46532901e-01 -1.22475571e-01 1.86821965e+02] [ 7.35169390e-01 6.65328840e-01 -1.29859551e-01 7.54978306e+01] [ 1.78430957e-01 -5.11488823e-03 9.83939140e-01 2.39302726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79710568099998 meters Centerline goodness [0,1] 0.9999374387421016 Centerline is valid? [True, True] Translation: X:186.84, Y:75.52, Z:23.94 [[ 6.55368481e-01 -7.45433128e-01 -1.21744021e-01 1.86836354e+02] [ 7.34181494e-01 6.66563392e-01 -1.29115370e-01 7.55215780e+01] [ 1.77396981e-01 -4.76406294e-03 9.84127845e-01 2.39362087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.85, Y:75.55, Z:23.94 [[ 6.56500719e-01 -7.44688057e-01 -1.20193607e-01 1.86849869e+02] [ 7.33705421e-01 6.67397642e-01 -1.27501929e-01 7.55478708e+01] [ 1.75166093e-01 -4.48159302e-03 9.84528697e-01 2.39440578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85710568099998 meters Centerline goodness [0,1] 0.9999579955475281 Centerline is valid? [True, True] Translation: X:186.87, Y:75.57, Z:23.95 [[ 6.55706621e-01 -7.45470613e-01 -1.19676198e-01 1.86868570e+02] [ 7.34587803e-01 6.66522354e-01 -1.26998863e-01 7.55683013e+01] [ 1.74440782e-01 -4.63868049e-03 9.84656740e-01 2.39485624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:75.59, Z:23.95 [[ 6.53500878e-01 -7.47414194e-01 -1.19618664e-01 1.86884244e+02] [ 7.36568009e-01 6.64338540e-01 -1.26971939e-01 7.55925740e+01] [ 1.74367918e-01 -5.13100749e-03 9.84667204e-01 2.39526599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91710568099998 meters Centerline goodness [0,1] 0.9999790457431427 Centerline is valid? [True, True] Translation: X:186.90, Y:75.61, Z:23.96 [[ 6.52919602e-01 -7.47780647e-01 -1.20499369e-01 1.86901982e+02] [ 7.36764330e-01 6.63925397e-01 -1.27989797e-01 7.56144603e+01] [ 1.75710884e-01 -5.21258981e-03 9.84428014e-01 2.39550856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.92, Y:75.64, Z:23.96 [[ 6.52857699e-01 -7.47467665e-01 -1.22755509e-01 1.86917122e+02] [ 7.36020285e-01 6.64277799e-01 -1.30419120e-01 7.56389092e+01] [ 1.79027834e-01 -5.20541861e-03 9.83830239e-01 2.39557201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:75.67, Z:23.96 [[ 6.55722935e-01 -7.45125307e-01 -1.21719797e-01 1.86927290e+02] [ 7.33822246e-01 6.66909381e-01 -1.29370742e-01 7.56678195e+01] [ 1.77573489e-01 -4.48933237e-03 9.84097303e-01 2.39631020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00710568099996 meters Centerline goodness [0,1] 0.9999579981939224 Centerline is valid? [True, True] Translation: X:186.94, Y:75.69, Z:23.97 [[ 6.58774567e-01 -7.42602707e-01 -1.20653593e-01 1.86939746e+02] [ 7.31441778e-01 6.69721878e-01 -1.28318088e-01 7.56933493e+01] [ 1.76093710e-01 -3.71838554e-03 9.84366384e-01 2.39698546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03710568099996 meters Centerline goodness [0,1] 0.9999789447088053 Centerline is valid? [True, True] Translation: X:186.94, Y:75.73, Z:23.97 [[ 6.68730291e-01 -7.33649098e-01 -1.20659849e-01 1.86942726e+02] [ 7.22334397e-01 6.79527232e-01 -1.28357936e-01 7.57296030e+01] [ 1.76161337e-01 -1.31991972e-03 9.84360422e-01 2.39747875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06710568099996 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:186.95, Y:75.76, Z:23.98 [[ 6.74207040e-01 -7.28496761e-01 -1.21397431e-01 1.86953535e+02] [ 7.16943496e-01 6.85049240e-01 -1.29226791e-01 7.57583152e+01] [ 1.77304517e-01 9.05131749e-05 9.84156034e-01 2.39779239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.96, Y:75.79, Z:23.99 [[ 6.85092787e-01 -7.18612720e-01 -1.19346683e-01 1.86957517e+02] [ 7.07282947e-01 6.95405314e-01 -1.27130965e-01 7.57922810e+01] [ 1.74352247e-01 2.68463346e-03 9.84679687e-01 2.39862438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12710568099996 meters Centerline goodness [0,1] 0.9999789907138955 Centerline is valid? [True, True] Translation: X:186.96, Y:75.82, Z:23.99 [[ 6.92168578e-01 -7.12035471e-01 -1.17932814e-01 1.86964169e+02] [ 7.00864773e-01 7.02129990e-01 -1.25706190e-01 7.58234973e+01] [ 1.72311432e-01 4.35491955e-03 9.85032896e-01 2.39940349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:75.85, Z:24.00 [[ 6.94140787e-01 -7.10092788e-01 -1.18054226e-01 1.86980045e+02] [ 6.98864253e-01 7.04091267e-01 -1.25873922e-01 7.58473567e+01] [ 1.72503114e-01 4.87034423e-03 9.84996932e-01 2.39990194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18710568099996 meters Centerline goodness [0,1] 0.9999369390200323 Centerline is valid? [True, True] Translation: X:187.00, Y:75.87, Z:24.00 [[ 6.95899941e-01 -7.08333724e-01 -1.18264990e-01 1.86996733e+02] [ 6.97025141e-01 7.05857239e-01 -1.26180472e-01 7.58698144e+01] [ 1.72856083e-01 5.37531219e-03 9.84932424e-01 2.40018923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.02, Y:75.89, Z:24.01 [[ 6.96062193e-01 -7.08106498e-01 -1.18670180e-01 1.87017289e+02] [ 6.96710661e-01 7.06084429e-01 -1.26645308e-01 7.58897839e+01] [ 1.73469531e-01 5.47423102e-03 9.84824022e-01 2.40054975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:75.91, Z:24.01 [[ 6.95324601e-01 -7.08755881e-01 -1.19116753e-01 1.87037991e+02] [ 6.97267760e-01 7.05433204e-01 -1.27207172e-01 7.59092206e+01] [ 1.74187744e-01 5.39400466e-03 9.84697687e-01 2.40076858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27710568099997 meters Centerline goodness [0,1] 0.9999789633120162 Centerline is valid? [True, True] Translation: X:187.06, Y:75.93, Z:24.01 [[ 6.94952404e-01 -7.09144654e-01 -1.18974859e-01 1.87057919e+02] [ 6.97672748e-01 7.05042652e-01 -1.27151857e-01 7.59290271e+01] [ 1.74051410e-01 5.35897149e-03 9.84721985e-01 2.40116250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30710568099997 meters Centerline goodness [0,1] 0.999894845317462 Centerline is valid? [True, True] Translation: X:187.08, Y:75.95, Z:24.02 [[ 6.94375789e-01 -7.09710876e-01 -1.18965272e-01 1.87077876e+02] [ 6.98232667e-01 7.04473251e-01 -1.27234356e-01 7.59485852e+01] [ 1.74107458e-01 5.28301713e-03 9.84712487e-01 2.40152649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.10, Y:75.96, Z:24.02 [[ 6.91734407e-01 -7.12148669e-01 -1.19782233e-01 1.87104011e+02] [ 7.00541206e-01 7.02012769e-01 -1.28140897e-01 7.59639692e+01] [ 1.75344026e-01 4.72707793e-03 9.84495875e-01 2.40185941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.13, Y:75.98, Z:24.02 [[ 6.89924055e-01 -7.13874002e-01 -1.19952937e-01 1.87125567e+02] [ 7.02245339e-01 7.00260658e-01 -1.28399746e-01 7.59809561e+01] [ 1.75659563e-01 4.34968235e-03 9.84441364e-01 2.40227672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39710568099997 meters Centerline goodness [0,1] 0.9999163494918232 Centerline is valid? [True, True] Translation: X:187.15, Y:76.00, Z:24.03 [[ 6.86603632e-01 -7.17066889e-01 -1.19960530e-01 1.87150817e+02] [ 7.05478858e-01 6.96995274e-01 -1.28441301e-01 7.59960912e+01] [ 1.75712926e-01 3.55864625e-03 9.84435017e-01 2.40276875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.17, Y:76.02, Z:24.03 [[ 6.85127850e-01 -7.18577932e-01 -1.19354867e-01 1.87170917e+02] [ 7.07114872e-01 6.95439007e-01 -1.27879420e-01 7.60154220e+01] [ 1.74895359e-01 3.21615055e-03 9.84581774e-01 2.40331394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.19, Y:76.03, Z:24.04 [[ 6.83495627e-01 -7.20272383e-01 -1.18496505e-01 1.87192644e+02] [ 7.08984816e-01 6.93685608e-01 -1.27046478e-01 7.60338500e+01] [ 1.73707390e-01 2.82348934e-03 9.84793263e-01 2.40379011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.21, Y:76.05, Z:24.04 [[ 6.81139669e-01 -7.22210026e-01 -1.20255685e-01 1.87214867e+02] [ 7.10596041e-01 6.91669562e-01 -1.29021256e-01 7.60513162e+01] [ 1.76357641e-01 2.42828150e-03 9.84323161e-01 2.40387633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51710568099998 meters Centerline goodness [0,1] 0.9999372384937238 Centerline is valid? [True, True] Translation: X:187.24, Y:76.07, Z:24.04 [[ 6.78508347e-01 -7.24624803e-01 -1.20603970e-01 1.87237365e+02] [ 7.12971466e-01 6.89141131e-01 -1.29445699e-01 7.60692059e+01] [ 1.76912720e-01 1.84279834e-03 9.84224819e-01 2.40426928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.26, Y:76.08, Z:24.05 [[ 6.72912137e-01 -7.29963214e-01 -1.19762104e-01 1.87263964e+02] [ 7.18540937e-01 6.83486250e-01 -1.28629188e-01 7.60829358e+01] [ 1.75750327e-01 5.02166841e-04 9.84434645e-01 2.40491310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.29, Y:76.09, Z:24.05 [[ 6.67234484e-01 -7.35262495e-01 -1.19110064e-01 1.87289905e+02] [ 7.24032569e-01 6.77781962e-01 -1.28017385e-01 7.60946131e+01] [ 1.74857035e-01 -8.21951268e-04 9.84593491e-01 2.40547032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60710568099998 meters Centerline goodness [0,1] 0.9999789610990721 Centerline is valid? [True, True] Translation: X:187.31, Y:76.11, Z:24.06 [[ 6.64195983e-01 -7.38123579e-01 -1.18394586e-01 1.87311895e+02] [ 7.27061766e-01 6.74663830e-01 -1.27318122e-01 7.61123020e+01] [ 1.73853053e-01 -1.51599166e-03 9.84770439e-01 2.40607299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.33, Y:76.13, Z:24.06 [[ 6.59102692e-01 -7.42555142e-01 -1.19144885e-01 1.87334196e+02] [ 7.31407675e-01 6.69779735e-01 -1.28210447e-01 7.61283116e+01] [ 1.75004156e-01 -2.63963241e-03 9.84564156e-01 2.40649713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.35, Y:76.15, Z:24.07 [[ 6.57229916e-01 -7.44162679e-01 -1.19460224e-01 1.87354189e+02] [ 7.32975183e-01 6.67991472e-01 -1.28587617e-01 7.61467858e+01] [ 1.75488516e-01 -3.04975088e-03 9.84476754e-01 2.40691592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.37, Y:76.17, Z:24.08 [[ 6.54402233e-01 -7.46788195e-01 -1.18596414e-01 1.87374443e+02] [ 7.35797316e-01 6.65051695e-01 -1.27704941e-01 7.61663569e+01] [ 1.74241289e-01 -3.69252476e-03 9.84696064e-01 2.40765218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.72710568099998 meters Centerline goodness [0,1] 0.9999790145219508 Centerline is valid? [True, True] Translation: X:187.40, Y:76.18, Z:24.08 [[ 6.51910647e-01 -7.48981792e-01 -1.18485369e-01 1.87395234e+02] [ 7.38032173e-01 6.62577168e-01 -1.27671484e-01 7.61839404e+01] [ 1.74129317e-01 -4.21561456e-03 9.84713770e-01 2.40801777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:76.20, Z:24.08 [[ 6.45466514e-01 -7.54481074e-01 -1.18875099e-01 1.87416677e+02] [ 7.43543553e-01 6.56297173e-01 -1.28128859e-01 7.62015160e+01] [ 1.74688190e-01 -5.68592552e-03 9.84607387e-01 2.40845017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:76.22, Z:24.09 [[ 6.41955955e-01 -7.57522092e-01 -1.18544640e-01 1.87436348e+02] [ 7.46690599e-01 6.52777471e-01 -1.27807364e-01 7.62218251e+01] [ 1.74200172e-01 -6.46946971e-03 9.84689010e-01 2.40891877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.45, Y:76.24, Z:24.09 [[ 6.41680751e-01 -7.57760979e-01 -1.18507858e-01 1.87454609e+02] [ 7.46927236e-01 6.52500011e-01 -1.27841461e-01 7.62418836e+01] [ 1.74199649e-01 -6.48334169e-03 9.84689011e-01 2.40937348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.47, Y:76.27, Z:24.10 [[ 6.35721813e-01 -7.62817516e-01 -1.18182967e-01 1.87470681e+02] [ 7.52112488e-01 6.46567036e-01 -1.27584769e-01 7.62653758e+01] [ 1.73737107e-01 -7.77846474e-03 9.84761348e-01 2.40991858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.49, Y:76.28, Z:24.10 [[ 6.31509738e-01 -7.66193407e-01 -1.18924825e-01 1.87491215e+02] [ 7.55395272e-01 6.42551123e-01 -1.28475821e-01 7.62847734e+01] [ 1.74852607e-01 -8.70151852e-03 9.84556169e-01 2.41013107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90710568099996 meters Centerline goodness [0,1] 0.9999373106258489 Centerline is valid? [True, True] Translation: X:187.50, Y:76.31, Z:24.11 [[ 6.28587869e-01 -7.68562967e-01 -1.19114470e-01 1.87504839e+02] [ 7.57755868e-01 6.39706321e-01 -1.28770599e-01 7.63112125e+01] [ 1.75166593e-01 -9.31605209e-03 9.84494731e-01 2.41059328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93710568099996 meters Centerline goodness [0,1] 0.9999372201063073 Centerline is valid? [True, True] Translation: X:187.52, Y:76.33, Z:24.11 [[ 6.27965418e-01 -7.69152968e-01 -1.18588133e-01 1.87521707e+02] [ 7.58437842e-01 6.38995804e-01 -1.28282508e-01 7.63329661e+01] [ 1.74446191e-01 -9.38474879e-03 9.84621985e-01 2.41108742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96710568099996 meters Centerline goodness [0,1] 0.9999580264013935 Centerline is valid? [True, True] Translation: X:187.53, Y:76.36, Z:24.12 [[ 6.27800946e-01 -7.69392611e-01 -1.17902432e-01 1.87533454e+02] [ 7.58800174e-01 6.38707408e-01 -1.27574069e-01 7.63593632e+01] [ 1.73459703e-01 -9.37326466e-03 9.84796361e-01 2.41156781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99710568099997 meters Centerline goodness [0,1] 0.999957931933869 Centerline is valid? [True, True] Translation: X:187.55, Y:76.38, Z:24.12 [[ 6.27634226e-01 -7.69397854e-01 -1.18752772e-01 1.87548302e+02] [ 7.58633881e-01 6.38700969e-01 -1.28591239e-01 7.63841311e+01] [ 1.74785334e-01 -9.38161341e-03 9.84561868e-01 2.41190796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.56, Y:76.41, Z:24.12 [[ 6.27956696e-01 -7.69008744e-01 -1.19565633e-01 1.87561654e+02] [ 7.58072215e-01 6.39170921e-01 -1.29564849e-01 7.64098110e+01] [ 1.76059378e-01 -9.27826972e-03 9.84335821e-01 2.41201762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05710568099997 meters Centerline goodness [0,1] 0.9999789968915399 Centerline is valid? [True, True] Translation: X:187.58, Y:76.43, Z:24.12 [[ 6.27407092e-01 -7.69441023e-01 -1.19669769e-01 1.87578582e+02] [ 7.58487084e-01 6.38648893e-01 -1.29710971e-01 7.64331234e+01] [ 1.76231908e-01 -9.38639101e-03 9.84303922e-01 2.41244281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08710568099997 meters Centerline goodness [0,1] 0.9997893850042123 Centerline is valid? [True, True] Translation: X:187.59, Y:76.46, Z:24.13 [[ 6.26908656e-01 -7.70107792e-01 -1.17981039e-01 1.87588710e+02] [ 7.59460233e-01 6.37844787e-01 -1.27961641e-01 7.64620369e+01] [ 1.73797848e-01 -9.38164710e-03 9.84736662e-01 2.41334814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11710568099997 meters Centerline goodness [0,1] 0.9997897657991002 Centerline is valid? [True, True] Translation: X:187.60, Y:76.49, Z:24.14 [[ 6.27932835e-01 -7.69349687e-01 -1.17479420e-01 1.87596548e+02] [ 7.58765419e-01 6.38763381e-01 -1.27500520e-01 7.64932662e+01] [ 1.73134037e-01 -9.07755813e-03 9.84856438e-01 2.41402319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14710568099997 meters Centerline goodness [0,1] 0.9997476499905369 Centerline is valid? [True, True] Translation: X:187.61, Y:76.52, Z:24.14 [[ 6.29865665e-01 -7.67673615e-01 -1.18095150e-01 1.87610532e+02] [ 7.56933605e-01 6.40783197e-01 -1.28251363e-01 7.65180818e+01] [ 1.74128575e-01 -8.60905755e-03 9.84685292e-01 2.41430060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17710568099997 meters Centerline goodness [0,1] 0.9998115735700528 Centerline is valid? [True, True] Translation: X:187.62, Y:76.55, Z:24.15 [[ 6.35327722e-01 -7.63196343e-01 -1.17855959e-01 1.87616753e+02] [ 7.52418042e-01 6.46124950e-01 -1.28022027e-01 7.65515362e+01] [ 1.73855618e-01 -7.34100693e-03 9.84743791e-01 2.41471652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20710568099997 meters Centerline goodness [0,1] 0.9998106618420499 Centerline is valid? [True, True] Translation: X:187.62, Y:76.59, Z:24.15 [[ 6.41604428e-01 -7.58190257e-01 -1.16152024e-01 1.87621479e+02] [ 7.47635015e-01 6.52007024e-01 -1.26209052e-01 7.65852937e+01] [ 1.71422409e-01 -5.86303382e-03 9.85180178e-01 2.41541590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23710568099997 meters Centerline goodness [0,1] 0.9995808709501656 Centerline is valid? [True, True] Translation: X:187.63, Y:76.61, Z:24.16 [[ 6.45427106e-01 -7.54930603e-01 -1.16205148e-01 1.87632891e+02] [ 7.44306614e-01 6.55785834e-01 -1.26303620e-01 7.66120966e+01] [ 1.71556157e-01 -4.97248037e-03 9.85161793e-01 2.41578058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26710568099998 meters Centerline goodness [0,1] 0.9993928100332907 Centerline is valid? [True, True] Translation: X:187.64, Y:76.65, Z:24.16 [[ 6.53235159e-01 -7.48022003e-01 -1.17247219e-01 1.87636798e+02] [ 7.37088157e-01 6.63666427e-01 -1.27467336e-01 7.66484308e+01] [ 1.73161415e-01 -3.15539111e-03 9.84888404e-01 2.41604941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29710568099998 meters Centerline goodness [0,1] 0.9992229013084661 Centerline is valid? [True, True] Translation: X:187.65, Y:76.68, Z:24.17 [[ 6.56781107e-01 -7.44940184e-01 -1.17058531e-01 1.87649207e+02] [ 7.33979715e-01 6.67127348e-01 -1.27337662e-01 7.66763663e+01] [ 1.72951889e-01 -2.28561700e-03 9.84927622e-01 2.41650005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32710568099998 meters Centerline goodness [0,1] 0.9991812398967103 Centerline is valid? [True, True] Translation: X:187.66, Y:76.71, Z:24.17 [[ 6.63090567e-01 -7.39306196e-01 -1.17206013e-01 1.87656220e+02] [ 7.28216545e-01 6.73368973e-01 -1.27573080e-01 7.67090716e+01] [ 1.73238461e-01 -7.58851705e-04 9.84879617e-01 2.41678760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35710568099998 meters Centerline goodness [0,1] 0.9988434930714721 Centerline is valid? [True, True] Translation: X:187.67, Y:76.73, Z:24.17 [[ 6.65446492e-01 -7.37135705e-01 -1.17524119e-01 1.87669755e+02] [ 7.25936872e-01 6.75744725e-01 -1.28002831e-01 7.67336183e+01] [ 1.73771761e-01 -1.36056771e-04 9.84785945e-01 2.41715382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38710568099998 meters Centerline goodness [0,1] 0.9986142605190225 Centerline is valid? [True, True] Translation: X:187.68, Y:76.76, Z:24.17 [[ 6.69154479e-01 -7.33682036e-01 -1.18080286e-01 1.87682836e+02] [ 7.22304936e-01 6.79492437e-01 -1.28707444e-01 7.67607708e+01] [ 1.74665001e-01 8.35189384e-04 9.84627564e-01 2.41729036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41710568099998 meters Centerline goodness [0,1] 0.9986764427824114 Centerline is valid? [True, True] Translation: X:187.70, Y:76.79, Z:24.18 [[ 6.71479997e-01 -7.31501487e-01 -1.18406876e-01 1.87697773e+02] [ 7.20011476e-01 6.81838265e-01 -1.29151286e-01 7.67863968e+01] [ 1.75208697e-01 1.46819597e-03 9.84530222e-01 2.41755084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.44710568099998 meters Centerline goodness [0,1] 0.998554125979632 Centerline is valid? [True, True] Translation: X:187.71, Y:76.81, Z:24.18 [[ 6.71872625e-01 -7.31130670e-01 -1.18469906e-01 1.87714815e+02] [ 7.19606787e-01 6.82235513e-01 -1.29308846e-01 7.68086061e+01] [ 1.75366040e-01 1.62732509e-03 9.84501957e-01 2.41798853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47710568099998 meters Centerline goodness [0,1] 0.9984033613445378 Centerline is valid? [True, True] Translation: X:187.73, Y:76.83, Z:24.18 [[ 6.72593983e-01 -7.30456236e-01 -1.18537000e-01 1.87731578e+02] [ 7.18891682e-01 6.82956943e-01 -1.29478043e-01 7.68303468e+01] [ 1.75533711e-01 1.87088929e-03 9.84471643e-01 2.41840184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50710568099996 meters Centerline goodness [0,1] 0.998253367003367 Centerline is valid? [True, True] Translation: X:187.75, Y:76.85, Z:24.19 [[ 6.71760348e-01 -7.31147809e-01 -1.18999650e-01 1.87751268e+02] [ 7.19496455e-01 6.82216914e-01 -1.30018975e-01 7.68506258e+01] [ 1.76246663e-01 1.72176602e-03 9.84344528e-01 2.41869540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53710568099996 meters Centerline goodness [0,1] 0.9983880084577219 Centerline is valid? [True, True] Translation: X:187.77, Y:76.87, Z:24.19 [[ 6.69378032e-01 -7.33230946e-01 -1.19605309e-01 1.87773356e+02] [ 7.21474842e-01 6.79978545e-01 -1.30779324e-01 7.68687404e+01] [ 1.77220491e-01 1.24858505e-03 9.84170381e-01 2.41884546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56710568099996 meters Centerline goodness [0,1] 0.9984839232696722 Centerline is valid? [True, True] Translation: X:187.80, Y:76.89, Z:24.19 [[ 6.66842910e-01 -7.35560909e-01 -1.19459963e-01 1.87797410e+02] [ 7.23864161e-01 6.77458280e-01 -1.30655870e-01 7.68854741e+01] [ 1.77034491e-01 6.54154345e-04 9.84204430e-01 2.41934925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59710568099996 meters Centerline goodness [0,1] 0.9984421380602514 Centerline is valid? [True, True] Translation: X:187.82, Y:76.90, Z:24.20 [[ 6.65445938e-01 -7.36852234e-01 -1.19291612e-01 1.87817517e+02] [ 7.25193657e-01 6.76053731e-01 -1.30558464e-01 7.69036262e+01] [ 1.76849835e-01 3.70079416e-04 9.84237776e-01 2.41978974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62710568099996 meters Centerline goodness [0,1] 0.9985894736842105 Centerline is valid? [True, True] Translation: X:187.84, Y:76.92, Z:24.20 [[ 6.61564841e-01 -7.40270358e-01 -1.19715316e-01 1.87840334e+02] [ 7.28570598e-01 6.72309119e-01 -1.31092838e-01 7.69198393e+01] [ 1.77529841e-01 -4.94646750e-04 9.84115293e-01 2.42033618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65710568099996 meters Centerline goodness [0,1] 0.9983460000418735 Centerline is valid? [True, True] Translation: X:187.86, Y:76.94, Z:24.21 [[ 6.59111520e-01 -7.42524972e-01 -1.19283991e-01 1.87862203e+02] [ 7.30928485e-01 6.69817593e-01 -1.30720856e-01 7.69372997e+01] [ 1.76962016e-01 -1.02844491e-03 9.84217144e-01 2.42089320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68710568099996 meters Centerline goodness [0,1] 0.9984716202918578 Centerline is valid? [True, True] Translation: X:187.89, Y:76.95, Z:24.21 [[ 6.54020100e-01 -7.47165956e-01 -1.18324736e-01 1.87890846e+02] [ 7.35814438e-01 6.64633892e-01 -1.29764798e-01 7.69486180e+01] [ 1.75598469e-01 -2.19626314e-03 9.84459422e-01 2.42138865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71710568099996 meters Centerline goodness [0,1] 0.9988077059844792 Centerline is valid? [True, True] Translation: X:187.92, Y:76.96, Z:24.22 [[ 6.47971109e-01 -7.52652452e-01 -1.16823493e-01 1.87916410e+02] [ 7.41671593e-01 6.58408131e-01 -1.28148277e-01 7.69622895e+01] [ 1.73368653e-01 -3.60828489e-03 9.84850390e-01 2.42234949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74710568099997 meters Centerline goodness [0,1] 0.9987652770801942 Centerline is valid? [True, True] Translation: X:187.94, Y:76.98, Z:24.23 [[ 6.44637159e-01 -7.55652839e-01 -1.15895299e-01 1.87938470e+02] [ 7.44889419e-01 6.54957868e-01 -1.27161098e-01 7.69802079e+01] [ 1.71996183e-01 -4.35641337e-03 9.85087983e-01 2.42300995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77710568099997 meters Centerline goodness [0,1] 0.9984804646031514 Centerline is valid? [True, True] Translation: X:187.97, Y:76.99, Z:24.24 [[ 6.39253616e-01 -7.60330525e-01 -1.15118663e-01 1.87966311e+02] [ 7.49771895e-01 6.49512946e-01 -1.26392401e-01 7.69925765e+01] [ 1.70871063e-01 -5.51593894e-03 9.85277958e-01 2.42359696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80710568099997 meters Centerline goodness [0,1] 0.9988897500890295 Centerline is valid? [True, True] Translation: X:187.99, Y:77.01, Z:24.24 [[ 6.36423478e-01 -7.62679830e-01 -1.15258988e-01 1.87985276e+02] [ 7.52123888e-01 6.46747285e-01 -1.26600186e-01 7.70134299e+01] [ 1.71098846e-01 -6.11770712e-03 9.85234875e-01 2.42411805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83710568099997 meters Centerline goodness [0,1] 0.9988540234195941 Centerline is valid? [True, True] Translation: X:188.01, Y:77.03, Z:24.24 [[ 6.30001987e-01 -7.67884127e-01 -1.15980447e-01 1.88011321e+02] [ 7.57276011e-01 6.40544229e-01 -1.27421089e-01 7.70276574e+01] [ 1.72135238e-01 -7.55367116e-03 9.85044365e-01 2.42446145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86710568099997 meters Centerline goodness [0,1] 0.9989066902148774 Centerline is valid? [True, True] Translation: X:188.03, Y:77.05, Z:24.25 [[ 6.26536139e-01 -7.70545734e-01 -1.17097132e-01 1.88032796e+02] [ 7.59771515e-01 6.37330060e-01 -1.28676489e-01 7.70468003e+01] [ 1.73780642e-01 -8.34659530e-03 9.84749015e-01 2.42492494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89710568099997 meters Centerline goodness [0,1] 0.9988713318284425 Centerline is valid? [True, True] Translation: X:188.05, Y:77.07, Z:24.25 [[ 6.23311467e-01 -7.73055804e-01 -1.17760521e-01 1.88053909e+02] [ 7.62195497e-01 6.34273132e-01 -1.29443491e-01 7.70670120e+01] [ 1.74759376e-01 -9.07292646e-03 9.84569369e-01 2.42535422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92710568099997 meters Centerline goodness [0,1] 0.9990332478668404 Centerline is valid? [True, True] Translation: X:188.07, Y:77.09, Z:24.26 [[ 6.24434353e-01 -7.72256269e-01 -1.17055518e-01 1.88069490e+02] [ 7.61499115e-01 6.35250961e-01 -1.28745150e-01 7.70908993e+01] [ 1.73783879e-01 -8.74477907e-03 9.84744988e-01 2.42605083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95710568099997 meters Centerline goodness [0,1] 0.9989524188648411 Centerline is valid? [True, True] Translation: X:188.08, Y:77.12, Z:24.27 [[ 6.30822830e-01 -7.67160833e-01 -1.16304829e-01 1.88078753e+02] [ 7.56441366e-01 6.41414036e-01 -1.28001934e-01 7.71202704e+01] [ 1.72797620e-01 -7.23124169e-03 9.84930805e-01 2.42678077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98710568099997 meters Centerline goodness [0,1] 0.9984860591278019 Centerline is valid? [True, True] Translation: X:188.09, Y:77.15, Z:24.27 [[ 6.39995885e-01 -7.59512163e-01 -1.16389614e-01 1.88085456e+02] [ 7.48643772e-01 6.50472864e-01 -1.28131008e-01 7.71534561e+01] [ 1.73025345e-01 -5.13104213e-03 9.84904007e-01 2.42710021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01710568099998 meters Centerline goodness [0,1] 0.9984572405453863 Centerline is valid? [True, True] Translation: X:188.10, Y:77.18, Z:24.27 [[ 6.45862991e-01 -7.54570592e-01 -1.16121571e-01 1.88097857e+02] [ 7.43658415e-01 6.56208239e-01 -1.27917586e-01 7.71793745e+01] [ 1.72722780e-01 -3.73754883e-03 9.84963386e-01 2.42738673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04710568099998 meters Centerline goodness [0,1] 0.9984644832881092 Centerline is valid? [True, True] Translation: X:188.10, Y:77.21, Z:24.28 [[ 6.56733383e-01 -7.45124697e-01 -1.16148398e-01 1.88103999e+02] [ 7.34050972e-01 6.66924087e-01 -1.27989969e-01 7.72120194e+01] [ 1.72830651e-01 -1.20355974e-03 9.84950820e-01 2.42754508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07710568099998 meters Centerline goodness [0,1] 0.9982358870967742 Centerline is valid? [True, True] Translation: X:188.12, Y:77.24, Z:24.28 [[ 6.61043160e-01 -7.41282850e-01 -1.16282745e-01 1.88116881e+02] [ 7.30110205e-01 6.71192756e-01 -1.28216121e-01 7.72387201e+01] [ 1.73092547e-01 -1.42829190e-04 9.84905554e-01 2.42789842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10710568099998 meters Centerline goodness [0,1] 0.9982344039011266 Centerline is valid? [True, True] Translation: X:188.13, Y:77.27, Z:24.28 [[ 6.66641786e-01 -7.36017179e-01 -1.17760098e-01 1.88127138e+02] [ 7.24458284e-01 6.76961595e-01 -1.29935345e-01 7.72676750e+01] [ 1.75353710e-01 1.30805172e-03 9.84504629e-01 2.42813457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13710568099998 meters Centerline goodness [0,1] 0.9985105624200215 Centerline is valid? [True, True] Translation: X:188.14, Y:77.29, Z:24.28 [[ 6.70152601e-01 -7.32628066e-01 -1.18960535e-01 1.88141729e+02] [ 7.20761569e-01 6.80625389e-01 -1.31346265e-01 7.72925163e+01] [ 1.77195520e-01 2.27985895e-03 9.84173028e-01 2.42834917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16710568099998 meters Centerline goodness [0,1] 0.9984868545488935 Centerline is valid? [True, True] Translation: X:188.16, Y:77.31, Z:24.29 [[ 6.71007475e-01 -7.31825724e-01 -1.19080134e-01 1.88160920e+02] [ 7.19916155e-01 6.81487170e-01 -1.31514128e-01 7.73134980e+01] [ 1.77397006e-01 2.51925069e-03 9.84136147e-01 2.42879884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19710568099998 meters Centerline goodness [0,1] 0.9985987660775907 Centerline is valid? [True, True] Translation: X:188.18, Y:77.33, Z:24.30 [[ 6.73189424e-01 -7.30214932e-01 -1.16628264e-01 1.88178734e+02] [ 7.18755539e-01 6.83211170e-01 -1.28891321e-01 7.73316727e+01] [ 1.73800100e-01 2.94106366e-03 9.84776561e-01 2.42967573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.22710568099998 meters Centerline goodness [0,1] 0.9983364218328841 Centerline is valid? [True, True] Translation: X:188.20, Y:77.35, Z:24.30 [[ 6.73694693e-01 -7.29960136e-01 -1.15298137e-01 1.88197535e+02] [ 7.18751050e-01 6.83483125e-01 -1.27466651e-01 7.73505997e+01] [ 1.71849905e-01 3.00294876e-03 9.85118568e-01 2.43039305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25710568099996 meters Centerline goodness [0,1] 0.9987566644890734 Centerline is valid? [True, True] Translation: X:188.22, Y:77.37, Z:24.31 [[ 6.74506148e-01 -7.29126539e-01 -1.15827225e-01 1.88217075e+02] [ 7.17784045e-01 6.84370956e-01 -1.28150140e-01 7.73695310e+01] [ 1.72706456e-01 3.29912344e-03 9.84967815e-01 2.43083898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28710568099996 meters Centerline goodness [0,1] 0.9988608315929371 Centerline is valid? [True, True] Translation: X:188.24, Y:77.38, Z:24.31 [[ 6.73963163e-01 -7.29605087e-01 -1.15974451e-01 1.88241559e+02] [ 7.18234519e-01 6.83861206e-01 -1.28347289e-01 7.73848857e+01] [ 1.72953263e-01 3.20449076e-03 9.84924819e-01 2.43122115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31710568099996 meters Centerline goodness [0,1] 0.9991792756581578 Centerline is valid? [True, True] Translation: X:188.26, Y:77.40, Z:24.32 [[ 6.73364792e-01 -7.30267935e-01 -1.15276193e-01 1.88263912e+02] [ 7.19027506e-01 6.83153890e-01 -1.27672270e-01 7.74015056e+01] [ 1.71986345e-01 3.08325787e-03 9.85094509e-01 2.43182046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34710568099996 meters Centerline goodness [0,1] 0.9991616891962695 Centerline is valid? [True, True] Translation: X:188.29, Y:77.42, Z:24.32 [[ 6.71425376e-01 -7.32062111e-01 -1.15208637e-01 1.88291131e+02] [ 7.20852742e-01 6.81232715e-01 -1.27645256e-01 7.74154313e+01] [ 1.71928148e-01 2.65580262e-03 9.85105912e-01 2.43242793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37710568099996 meters Centerline goodness [0,1] 0.99939157435381 Centerline is valid? [True, True] Translation: X:188.31, Y:77.43, Z:24.33 [[ 6.69978794e-01 -7.33322178e-01 -1.15615737e-01 1.88313497e+02] [ 7.22036097e-01 6.79877059e-01 -1.28183692e-01 7.74332382e+01] [ 1.72604431e-01 2.40162004e-03 9.84988296e-01 2.43288837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40710568099996 meters Centerline goodness [0,1] 0.9994958936335567 Centerline is valid? [True, True] Translation: X:188.34, Y:77.45, Z:24.33 [[ 6.66366852e-01 -7.36385177e-01 -1.17013204e-01 1.88338501e+02] [ 7.24853405e-01 6.76560427e-01 -1.29821149e-01 7.74485817e+01] [ 1.74764873e-01 1.69109097e-03 9.84608744e-01 2.43310948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43710568099996 meters Centerline goodness [0,1] 0.9996654049645538 Centerline is valid? [True, True] Translation: X:188.37, Y:77.46, Z:24.33 [[ 6.61157850e-01 -7.40822485e-01 -1.18542584e-01 1.88366566e+02] [ 7.29048495e-01 6.71700632e-01 -1.31554377e-01 7.74618198e+01] [ 1.77083569e-01 5.54916161e-04 9.84195662e-01 2.43328087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46710568099996 meters Centerline goodness [0,1] 0.9996437477734236 Centerline is valid? [True, True] Translation: X:188.39, Y:77.48, Z:24.34 [[ 6.57403583e-01 -7.44116724e-01 -1.18789015e-01 1.88391860e+02] [ 7.32330053e-01 6.68049571e-01 -1.31918400e-01 7.74767568e+01] [ 1.77519638e-01 -2.69137111e-04 9.84117221e-01 2.43371956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49710568099997 meters Centerline goodness [0,1] 0.9995181227739367 Centerline is valid? [True, True] Translation: X:188.42, Y:77.49, Z:24.34 [[ 6.49407475e-01 -7.51143053e-01 -1.18549760e-01 1.88424453e+02] [ 7.39500709e-01 6.60136107e-01 -1.31753640e-01 7.74850706e+01] [ 1.77224808e-01 -2.10583308e-03 9.84168143e-01 2.43437286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52710568099997 meters Centerline goodness [0,1] 0.9996251405722854 Centerline is valid? [True, True] Translation: X:188.45, Y:77.50, Z:24.35 [[ 6.45469302e-01 -7.54465521e-01 -1.18958636e-01 1.88449235e+02] [ 7.42782151e-01 6.56332968e-01 -1.32294032e-01 7.74996114e+01] [ 1.77887760e-01 -2.96861478e-03 9.84046306e-01 2.43496112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55710568099997 meters Centerline goodness [0,1] 0.9998953734122915 Centerline is valid? [True, True] Translation: X:188.48, Y:77.51, Z:24.36 [[ 6.39333054e-01 -7.59569232e-01 -1.19615338e-01 1.88476952e+02] [ 7.47836574e-01 6.50411696e-01 -1.33060455e-01 7.75126704e+01] [ 1.78867842e-01 -4.38277777e-03 9.83863347e-01 2.43565110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58710568099997 meters Centerline goodness [0,1] 0.9998104225470784 Centerline is valid? [True, True] Translation: X:188.50, Y:77.53, Z:24.36 [[ 6.38128115e-01 -7.60496727e-01 -1.20155056e-01 1.88498553e+02] [ 7.48657702e-01 6.49325418e-01 -1.33746577e-01 7.75313417e+01] [ 1.79733566e-01 -4.60755671e-03 9.83704537e-01 2.43603539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61710568099997 meters Centerline goodness [0,1] 0.9998315895838158 Centerline is valid? [True, True] Translation: X:188.52, Y:77.55, Z:24.37 [[ 6.38859136e-01 -7.59876386e-01 -1.20195186e-01 1.88520245e+02] [ 7.48002466e-01 6.50052863e-01 -1.33878999e-01 7.75497629e+01] [ 1.79864714e-01 -4.37647424e-03 9.83681621e-01 2.43656805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64710568099997 meters Centerline goodness [0,1] 0.9998325308771195 Centerline is valid? [True, True] Translation: X:188.54, Y:77.57, Z:24.37 [[ 6.40247191e-01 -7.58752926e-01 -1.19906342e-01 1.88541110e+02] [ 7.46900195e-01 6.51366317e-01 -1.33648868e-01 7.75685579e+01] [ 1.79509422e-01 -3.98975742e-03 9.83748164e-01 2.43701111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.56, Y:77.59, Z:24.38 [[ 6.46146811e-01 -7.53988212e-01 -1.18305006e-01 1.88555043e+02] [ 7.42356598e-01 6.56882944e-01 -1.31952563e-01 7.75934199e+01] [ 1.77203218e-01 -2.56377423e-03 9.84170944e-01 2.43820293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70710568099997 meters Centerline goodness [0,1] 0.9998317241959572 Centerline is valid? [True, True] Translation: X:188.57, Y:77.62, Z:24.39 [[ 6.55531908e-01 -7.46182367e-01 -1.16145568e-01 1.88565604e+02] [ 7.34837100e-01 6.65741492e-01 -1.29625235e-01 7.76213590e+01] [ 1.74046988e-01 -3.74594766e-04 9.84737277e-01 2.43915865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73710568099997 meters Centerline goodness [0,1] 0.9998317241959572 Centerline is valid? [True, True] Translation: X:188.58, Y:77.64, Z:24.40 [[ 6.55240696e-01 -7.46444104e-01 -1.16106972e-01 1.88583486e+02] [ 7.35096790e-01 6.65448004e-01 -1.29659798e-01 7.76416807e+01] [ 1.74046944e-01 -3.91485932e-04 9.84737279e-01 2.43961289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76710568099998 meters Centerline goodness [0,1] 0.9998530924048773 Centerline is valid? [True, True] Translation: X:188.60, Y:77.67, Z:24.40 [[ 6.59990596e-01 -7.42401831e-01 -1.15117049e-01 1.88596189e+02] [ 7.31169807e-01 6.69954457e-01 -1.28653560e-01 7.76657955e+01] [ 1.72635819e-01 7.40028977e-04 9.84985445e-01 2.44022765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.61, Y:77.69, Z:24.41 [[ 6.66587361e-01 -7.36593485e-01 -1.14417338e-01 1.88607142e+02] [ 7.25404968e-01 6.76331937e-01 -1.27916935e-01 7.76941734e+01] [ 1.71606881e-01 2.26890700e-03 9.85162895e-01 2.44091221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82710568099998 meters Centerline goodness [0,1] 0.9999790908710743 Centerline is valid? [True, True] Translation: X:188.62, Y:77.72, Z:24.41 [[ 6.70052057e-01 -7.33373763e-01 -1.14861506e-01 1.88622144e+02] [ 7.22035259e-01 6.79818278e-01 -1.28499779e-01 7.77178161e+01] [ 1.72323318e-01 3.16748338e-03 9.85035350e-01 2.44119780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:77.74, Z:24.42 [[ 6.70750971e-01 -7.32693532e-01 -1.15123078e-01 1.88640791e+02] [ 7.21287077e-01 6.80550372e-01 -1.28826023e-01 7.77397064e+01] [ 1.72737048e-01 3.37339160e-03 9.84962199e-01 2.44154349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88710568099998 meters Centerline goodness [0,1] 0.9999579575791974 Centerline is valid? [True, True] Translation: X:188.66, Y:77.76, Z:24.42 [[ 6.71133056e-01 -7.32244458e-01 -1.15751780e-01 1.88660645e+02] [ 7.20690255e-01 6.81032541e-01 -1.29615718e-01 7.77608842e+01] [ 1.73741120e-01 3.56821359e-03 9.84784896e-01 2.44184580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.68, Y:77.78, Z:24.42 [[ 6.70910808e-01 -7.32369247e-01 -1.16249614e-01 1.88679929e+02] [ 7.20700723e-01 6.80898106e-01 -1.30262187e-01 7.77820446e+01] [ 1.74554162e-01 3.61312866e-03 9.84640945e-01 2.44224996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.70, Y:77.80, Z:24.43 [[ 6.71539563e-01 -7.31616939e-01 -1.17351057e-01 1.88699303e+02] [ 7.19696965e-01 6.81704762e-01 -1.31586080e-01 7.78027450e+01] [ 1.76269379e-01 3.90805909e-03 9.84334208e-01 2.44251411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:77.82, Z:24.43 [[ 6.70949558e-01 -7.32044901e-01 -1.18054877e-01 1.88719330e+02] [ 7.19970559e-01 6.81245326e-01 -1.32465843e-01 7.78222099e+01] [ 1.77395278e-01 3.88186289e-03 9.84132027e-01 2.44293922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.74, Y:77.84, Z:24.43 [[ 6.68439004e-01 -7.34292429e-01 -1.18338187e-01 1.88742355e+02] [ 7.22175875e-01 6.78824943e-01 -1.32886048e-01 7.78393803e+01] [ 1.77908132e-01 3.36523376e-03 9.84041347e-01 2.44335413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.77, Y:77.85, Z:24.44 [[ 6.63087815e-01 -7.39145989e-01 -1.18227565e-01 1.88769587e+02] [ 7.27112116e-01 6.73541894e-01 -1.32850624e-01 7.78528577e+01] [ 1.77827223e-01 2.12693510e-03 9.84059426e-01 2.44388695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06710568099996 meters Centerline goodness [0,1] 0.9999578885309414 Centerline is valid? [True, True] Translation: X:188.79, Y:77.87, Z:24.44 [[ 6.59446400e-01 -7.42387147e-01 -1.18286814e-01 1.88794383e+02] [ 7.30377421e-01 6.69969851e-01 -1.33000835e-01 7.78691095e+01] [ 1.77986709e-01 1.31290355e-03 9.84032016e-01 2.44439691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.82, Y:77.88, Z:24.45 [[ 6.52145784e-01 -7.48726230e-01 -1.18806179e-01 1.88822557e+02] [ 7.36696196e-01 6.62879259e-01 -1.33677983e-01 7.78818898e+01] [ 1.78842364e-01 -3.46527137e-04 9.83877680e-01 2.44492685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12710568099996 meters Centerline goodness [0,1] 0.9999579098007029 Centerline is valid? [True, True] Translation: X:188.84, Y:77.90, Z:24.45 [[ 6.49113577e-01 -7.51310242e-01 -1.19098632e-01 1.88844568e+02] [ 7.39246415e-01 6.59948427e-01 -1.34100009e-01 7.79008315e+01] [ 1.79349665e-01 -9.97100598e-04 9.83784887e-01 2.44545194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15710568099996 meters Centerline goodness [0,1] 0.9999790268456376 Centerline is valid? [True, True] Translation: X:188.87, Y:77.92, Z:24.46 [[ 6.45546372e-01 -7.54399009e-01 -1.18962248e-01 1.88867595e+02] [ 7.42397974e-01 6.56413691e-01 -1.34038483e-01 7.79182526e+01] [ 1.79206947e-01 -1.78927539e-03 9.83809773e-01 2.44607217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18710568099996 meters Centerline goodness [0,1] 0.9999789393875574 Centerline is valid? [True, True] Translation: X:188.89, Y:77.94, Z:24.46 [[ 6.44200006e-01 -7.55412489e-01 -1.19826223e-01 1.88888303e+02] [ 7.43236043e-01 6.55246414e-01 -1.35101150e-01 7.79371792e+01] [ 1.80572799e-01 -2.02700652e-03 9.83559533e-01 2.44647213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21710568099996 meters Centerline goodness [0,1] 0.9999789540145217 Centerline is valid? [True, True] Translation: X:188.91, Y:77.96, Z:24.47 [[ 6.41456753e-01 -7.57517481e-01 -1.21245621e-01 1.88910552e+02] [ 7.45078234e-01 6.52809605e-01 -1.36740797e-01 7.79563269e+01] [ 1.82733850e-01 -2.62416505e-03 9.83158916e-01 2.44660090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24710568099997 meters Centerline goodness [0,1] 0.9999164560663338 Centerline is valid? [True, True] Translation: X:188.93, Y:77.97, Z:24.47 [[ 6.38674158e-01 -7.59866536e-01 -1.21235999e-01 1.88930651e+02] [ 7.47454752e-01 6.50071051e-01 -1.36817479e-01 7.79745573e+01] [ 1.82775037e-01 -3.23663493e-03 9.83149434e-01 2.44705224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:77.99, Z:24.48 [[ 6.37739046e-01 -7.60821036e-01 -1.20167636e-01 1.88948569e+02] [ 7.48637445e-01 6.48952584e-01 -1.35655886e-01 7.79944411e+01] [ 1.81192949e-01 -3.44893650e-03 9.83441518e-01 2.44776793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:78.02, Z:24.49 [[ 6.34961155e-01 -7.63192626e-01 -1.19838837e-01 1.88967193e+02] [ 7.51099381e-01 6.46158370e-01 -1.35384935e-01 7.80150353e+01] [ 1.80759652e-01 -4.04670182e-03 9.83518974e-01 2.44857445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.99, Y:78.03, Z:24.49 [[ 6.31330864e-01 -7.66279034e-01 -1.19322174e-01 1.88985770e+02] [ 7.54329649e-01 6.42489615e-01 -1.34884671e-01 7.80346725e+01] [ 1.80022553e-01 -4.85139721e-03 9.83650519e-01 2.44930353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:78.06, Z:24.50 [[ 6.29563113e-01 -7.67779406e-01 -1.19017104e-01 1.89002733e+02] [ 7.55911225e-01 6.40692834e-01 -1.34576787e-01 7.80566015e+01] [ 1.79578691e-01 -5.24178352e-03 9.83729646e-01 2.44998138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.02, Y:78.08, Z:24.51 [[ 6.27405010e-01 -7.69682715e-01 -1.18116345e-01 1.89018004e+02] [ 7.58022308e-01 6.38400974e-01 -1.33590330e-01 7.80799343e+01] [ 1.78227758e-01 -5.71958193e-03 9.83972638e-01 2.45066218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42710568099997 meters Centerline goodness [0,1] 0.9999789929206142 Centerline is valid? [True, True] Translation: X:189.03, Y:78.10, Z:24.51 [[ 6.26162849e-01 -7.70731927e-01 -1.17865950e-01 1.89034286e+02] [ 7.59130595e-01 6.37131562e-01 -1.33357088e-01 7.81032911e+01] [ 1.77878683e-01 -5.97239443e-03 9.84034301e-01 2.45124984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45710568099997 meters Centerline goodness [0,1] 0.9998953646541802 Centerline is valid? [True, True] Translation: X:189.05, Y:78.13, Z:24.52 [[ 6.25840024e-01 -7.71102364e-01 -1.17155489e-01 1.89047755e+02] [ 7.59631654e-01 6.36683100e-01 -1.32643810e-01 7.81274752e+01] [ 1.76872875e-01 -5.98121232e-03 9.84215531e-01 2.45188171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.06, Y:78.15, Z:24.53 [[ 6.26780047e-01 -7.70413103e-01 -1.16663721e-01 1.89063369e+02] [ 7.59009746e-01 6.37519559e-01 -1.32185542e-01 7.81519231e+01] [ 1.76212877e-01 -5.69764132e-03 9.84335593e-01 2.45253611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:78.18, Z:24.53 [[ 6.30483876e-01 -7.67445718e-01 -1.16263288e-01 1.89072897e+02] [ 7.56062105e-01 6.41095837e-01 -1.31780960e-01 7.81816592e+01] [ 1.75670643e-01 -4.81649562e-03 9.84437213e-01 2.45329623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54710568099998 meters Centerline goodness [0,1] 0.9998342278124288 Centerline is valid? [True, True] Translation: X:189.09, Y:78.21, Z:24.54 [[ 6.32673481e-01 -7.65693564e-01 -1.15920803e-01 1.89088009e+02] [ 7.54333217e-01 6.43191426e-01 -1.31476946e-01 7.82055545e+01] [ 1.75230318e-01 -4.26093506e-03 9.84518248e-01 2.45367039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57710568099998 meters Centerline goodness [0,1] 0.9998952177375414 Centerline is valid? [True, True] Translation: X:189.09, Y:78.24, Z:24.54 [[ 6.40999575e-01 -7.58182369e-01 -1.19494938e-01 1.89091928e+02] [ 7.45956491e-01 6.52038838e-01 -1.35625470e-01 7.82417647e+01] [ 1.80744181e-01 -2.20215663e-03 9.83527677e-01 2.45354411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60710568099998 meters Centerline goodness [0,1] 0.9999790373972832 Centerline is valid? [True, True] Translation: X:189.10, Y:78.27, Z:24.54 [[ 6.43506743e-01 -7.55834159e-01 -1.20887532e-01 1.89104706e+02] [ 7.43262363e-01 6.54761378e-01 -1.37290198e-01 7.82671687e+01] [ 1.82921108e-01 -1.50398461e-03 9.83126445e-01 2.45373526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63710568099998 meters Centerline goodness [0,1] 0.9999163214928246 Centerline is valid? [True, True] Translation: X:189.12, Y:78.29, Z:24.54 [[ 6.46922419e-01 -7.52934795e-01 -1.20750064e-01 1.89116763e+02] [ 7.40332020e-01 6.58094807e-01 -1.37185001e-01 7.82944754e+01] [ 1.82756351e-01 -6.47085693e-04 9.83158023e-01 2.45420850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66710568099998 meters Centerline goodness [0,1] 0.9998741267543584 Centerline is valid? [True, True] Translation: X:189.12, Y:78.33, Z:24.55 [[ 6.55217285e-01 -7.45674650e-01 -1.21076944e-01 1.89123416e+02] [ 7.32861158e-01 6.66308632e-01 -1.37649304e-01 7.83261683e+01] [ 1.83316209e-01 1.45761389e-03 9.83052920e-01 2.45462304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69710568099998 meters Centerline goodness [0,1] 0.9996050635016317 Centerline is valid? [True, True] Translation: X:189.13, Y:78.35, Z:24.55 [[ 6.61694134e-01 -7.39903819e-01 -1.21256800e-01 1.89134114e+02] [ 7.26938308e-01 6.72705391e-01 -1.37942571e-01 7.83543402e+01] [ 1.83634338e-01 3.12957729e-03 9.82989642e-01 2.45474608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.72710568099998 meters Centerline goodness [0,1] 0.9999369919979837 Centerline is valid? [True, True] Translation: X:189.15, Y:78.38, Z:24.55 [[ 6.64072809e-01 -7.37989865e-01 -1.19909395e-01 1.89148621e+02] [ 7.25274466e-01 6.74801939e-01 -1.36452529e-01 7.83777381e+01] [ 1.81615676e-01 3.64719140e-03 9.83362824e-01 2.45542541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75710568099996 meters Centerline goodness [0,1] 0.9999161038634171 Centerline is valid? [True, True] Translation: X:189.16, Y:78.40, Z:24.56 [[ 6.66049938e-01 -7.36544081e-01 -1.17814670e-01 1.89163430e+02] [ 7.24243691e-01 6.76377751e-01 -1.34105236e-01 7.84006503e+01] [ 1.78461639e-01 3.99425225e-03 9.83938763e-01 2.45622753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78710568099996 meters Centerline goodness [0,1] 0.99964405360134 Centerline is valid? [True, True] Translation: X:189.18, Y:78.42, Z:24.57 [[ 6.65550718e-01 -7.36945266e-01 -1.18126697e-01 1.89183228e+02] [ 7.24566534e-01 6.75940772e-01 -1.34563779e-01 7.84203301e+01] [ 1.79012790e-01 3.96836851e-03 9.83838743e-01 2.45656481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81710568099996 meters Centerline goodness [0,1] 0.9996441877014526 Centerline is valid? [True, True] Translation: X:189.21, Y:78.44, Z:24.57 [[ 6.62695851e-01 -7.39284174e-01 -1.19553835e-01 1.89205841e+02] [ 7.26620516e-01 6.73384739e-01 -1.36292399e-01 7.84371921e+01] [ 1.81264541e-01 3.45013767e-03 9.83428321e-01 2.45675948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84710568099996 meters Centerline goodness [0,1] 0.9996865793267724 Centerline is valid? [True, True] Translation: X:189.23, Y:78.45, Z:24.58 [[ 6.60048536e-01 -7.41921046e-01 -1.17851995e-01 1.89226841e+02] [ 7.29651443e-01 6.70481745e-01 -1.34398664e-01 7.84545206e+01] [ 1.78730809e-01 2.71876311e-03 9.83894256e-01 2.45760156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87710568099996 meters Centerline goodness [0,1] 0.9999580501719942 Centerline is valid? [True, True] Translation: X:189.25, Y:78.47, Z:24.58 [[ 6.58981582e-01 -7.42950914e-01 -1.17333775e-01 1.89247119e+02] [ 7.30799612e-01 6.69341410e-01 -1.33843204e-01 7.84740190e+01] [ 1.77975285e-01 2.45272920e-03 9.84031901e-01 2.45837784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90710568099996 meters Centerline goodness [0,1] 0.9999161214561315 Centerline is valid? [True, True] Translation: X:189.27, Y:78.49, Z:24.59 [[ 6.58060665e-01 -7.43830303e-01 -1.16930070e-01 1.89269767e+02] [ 7.31761266e-01 6.68364680e-01 -1.33469490e-01 7.84913103e+01] [ 1.77430580e-01 2.26612485e-03 9.84130710e-01 2.45899494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:78.51, Z:24.59 [[ 6.57523652e-01 -7.44270570e-01 -1.17149326e-01 1.89290507e+02] [ 7.32146021e-01 6.67874550e-01 -1.33812518e-01 7.85102930e+01] [ 1.77833773e-01 2.21448234e-03 9.84058050e-01 2.45938263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96710568099996 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:189.31, Y:78.53, Z:24.59 [[ 6.55214327e-01 -7.46162956e-01 -1.18046722e-01 1.89314251e+02] [ 7.33862161e-01 6.65760963e-01 -1.34939500e-01 7.85263585e+01] [ 1.79277755e-01 1.78427111e-03 9.83796881e-01 2.45941511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99710568099997 meters Centerline goodness [0,1] 0.9999373799782917 Centerline is valid? [True, True] Translation: X:189.33, Y:78.54, Z:24.60 [[ 6.53825845e-01 -7.47334515e-01 -1.18333799e-01 1.89334437e+02] [ 7.34983946e-01 6.64446295e-01 -1.35313416e-01 7.85444938e+01] [ 1.79750840e-01 1.49796622e-03 9.83711030e-01 2.45977758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02710568099997 meters Centerline goodness [0,1] 0.9999789955680649 Centerline is valid? [True, True] Translation: X:189.36, Y:78.56, Z:24.60 [[ 6.50943809e-01 -7.49751266e-01 -1.18933580e-01 1.89358206e+02] [ 7.37300575e-01 6.61719167e-01 -1.36072065e-01 7.85600267e+01] [ 1.80720833e-01 8.85471777e-04 9.83534034e-01 2.46030989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.38, Y:78.57, Z:24.61 [[ 6.49389801e-01 -7.51123790e-01 -1.18768422e-01 1.89381570e+02] [ 7.38712131e-01 6.60161136e-01 -1.35984050e-01 7.85749880e+01] [ 1.80547152e-01 5.70980981e-04 9.83566164e-01 2.46062422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08710568099997 meters Centerline goodness [0,1] 0.9999789942444229 Centerline is valid? [True, True] Translation: X:189.40, Y:78.59, Z:24.61 [[ 6.47816593e-01 -7.52346996e-01 -1.19614628e-01 1.89404245e+02] [ 7.39768956e-01 6.58766976e-01 -1.36996217e-01 7.85916278e+01] [ 1.81866859e-01 2.61234281e-04 9.83323130e-01 2.46087401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11710568099997 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:189.42, Y:78.61, Z:24.61 [[ 6.46804785e-01 -7.53217570e-01 -1.19611300e-01 1.89423621e+02] [ 7.40647780e-01 6.57771458e-01 -1.37031294e-01 7.86110910e+01] [ 1.81891278e-01 4.26529143e-05 9.83318647e-01 2.46143801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14710568099997 meters Centerline goodness [0,1] 0.999978998655914 Centerline is valid? [True, True] Translation: X:189.44, Y:78.63, Z:24.62 [[ 6.46469217e-01 -7.53594813e-01 -1.19047924e-01 1.89442682e+02] [ 7.41131600e-01 6.57339225e-01 -1.36488442e-01 7.86310477e+01] [ 1.81111852e-01 5.39798398e-06 9.83462504e-01 2.46200952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.46, Y:78.65, Z:24.63 [[ 6.49251113e-01 -7.51733601e-01 -1.15626925e-01 1.89460057e+02] [ 7.39936070e-01 6.59466653e-01 -1.32658758e-01 7.86506256e+01] [ 1.75976147e-01 5.72314256e-04 9.84394265e-01 2.46314262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.48, Y:78.67, Z:24.64 [[ 6.52813459e-01 -7.49038154e-01 -1.13032878e-01 1.89475791e+02] [ 7.37722145e-01 6.62525602e-01 -1.29714546e-01 7.86726779e+01] [ 1.72048320e-01 1.29254439e-03 9.85087664e-01 2.46416328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.49, Y:78.69, Z:24.65 [[ 6.53991581e-01 -7.48086051e-01 -1.12526764e-01 1.89493605e+02] [ 7.36841318e-01 6.63599804e-01 -1.29229145e-01 7.86948089e+01] [ 1.71347259e-01 1.60040387e-03 9.85209397e-01 2.46478884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.51, Y:78.72, Z:24.65 [[ 6.56876656e-01 -7.45511858e-01 -1.12805714e-01 1.89509721e+02] [ 7.34158542e-01 6.66488272e-01 -1.29632632e-01 7.87167442e+01] [ 1.71826349e-01 2.33537134e-03 9.85124485e-01 2.46514250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.53, Y:78.74, Z:24.65 [[ 6.57861083e-01 -7.44443045e-01 -1.14119884e-01 1.89530178e+02] [ 7.32798589e-01 6.67680619e-01 -1.31182392e-01 7.87374656e+01] [ 1.73853454e-01 2.67290022e-03 9.84767908e-01 2.46546736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32710568099998 meters Centerline goodness [0,1] 0.9999791009216493 Centerline is valid? [True, True] Translation: X:189.55, Y:78.76, Z:24.65 [[ 6.60736690e-01 -7.41473996e-01 -1.16804713e-01 1.89547971e+02] [ 7.29207812e-01 6.70971938e-01 -1.34360058e-01 7.87594718e+01] [ 1.77997174e-01 3.60171089e-03 9.84024407e-01 2.46530991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.57, Y:78.78, Z:24.66 [[ 6.62489570e-01 -7.39873030e-01 -1.17027643e-01 1.89568510e+02] [ 7.27528376e-01 6.72734256e-01 -1.34651711e-01 7.87788519e+01] [ 1.78353674e-01 4.06442314e-03 9.83958052e-01 2.46571158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.59, Y:78.80, Z:24.66 [[ 6.63396869e-01 -7.39113485e-01 -1.16686979e-01 1.89588812e+02] [ 7.26822853e-01 6.73567314e-01 -1.34296738e-01 7.87984667e+01] [ 1.77857065e-01 4.28127250e-03 9.84047019e-01 2.46633333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.61, Y:78.82, Z:24.67 [[ 6.65670917e-01 -7.37184582e-01 -1.15935858e-01 1.89611288e+02] [ 7.25007206e-01 6.75674158e-01 -1.33525212e-01 7.88167542e+01] [ 1.76767591e-01 4.82951753e-03 9.84240771e-01 2.46687771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.63, Y:78.84, Z:24.67 [[ 6.67169740e-01 -7.35866577e-01 -1.15693208e-01 1.89630484e+02] [ 7.23704603e-01 6.77106360e-01 -1.33336507e-01 7.88362762e+01] [ 1.76454486e-01 5.23037597e-03 9.84294904e-01 2.46724028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47710568099995 meters Centerline goodness [0,1] 0.9999374465689443 Centerline is valid? [True, True] Translation: X:189.65, Y:78.85, Z:24.68 [[ 6.68799369e-01 -7.34326950e-01 -1.16066075e-01 1.89652760e+02] [ 7.22053992e-01 6.78772097e-01 -1.33815067e-01 7.88536089e+01] [ 1.77046423e-01 5.68945904e-03 9.84186057e-01 2.46763851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.68, Y:78.87, Z:24.68 [[ 6.68405116e-01 -7.34871592e-01 -1.14884044e-01 1.89678541e+02] [ 7.22851499e-01 6.78183888e-01 -1.32485183e-01 7.88689418e+01] [ 1.75272105e-01 5.50967056e-03 9.84504613e-01 2.46835058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:78.89, Z:24.69 [[ 6.66975555e-01 -7.36293064e-01 -1.14088264e-01 1.89700626e+02] [ 7.24451714e-01 6.76643298e-01 -1.31619000e-01 7.88870080e+01] [ 1.74107216e-01 5.13521732e-03 9.84713312e-01 2.46887196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56710568099996 meters Centerline goodness [0,1] 0.9999580343279197 Centerline is valid? [True, True] Translation: X:189.73, Y:78.90, Z:24.69 [[ 6.61504525e-01 -7.41148478e-01 -1.14501950e-01 1.89728895e+02] [ 7.29275999e-01 6.71329596e-01 -1.32185821e-01 7.88994323e+01] [ 1.74837868e-01 3.93799467e-03 9.84589362e-01 2.46918231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59710568099996 meters Centerline goodness [0,1] 0.9999161214561315 Centerline is valid? [True, True] Translation: X:189.75, Y:78.92, Z:24.70 [[ 6.58034571e-01 -7.44259124e-01 -1.14319116e-01 1.89753420e+02] [ 7.32464816e-01 6.67883630e-01 -1.32010416e-01 7.89154186e+01] [ 1.74601822e-01 3.13268727e-03 9.84634140e-01 2.46968517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62710568099996 meters Centerline goodness [0,1] 0.9999161214561315 Centerline is valid? [True, True] Translation: X:189.77, Y:78.94, Z:24.70 [[ 6.57748171e-01 -7.44519224e-01 -1.14273658e-01 1.89770955e+02] [ 7.32721980e-01 6.67593710e-01 -1.32049756e-01 7.89360713e+01] [ 1.74601957e-01 3.12466481e-03 9.84634142e-01 2.47013960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65710568099996 meters Centerline goodness [0,1] 0.9999790659214135 Centerline is valid? [True, True] Translation: X:189.80, Y:78.95, Z:24.71 [[ 6.50003849e-01 -7.51406876e-01 -1.13501994e-01 1.89799395e+02] [ 7.39854585e-01 6.59837781e-01 -1.31260410e-01 7.89483267e+01] [ 1.73522879e-01 1.34480098e-03 9.84828920e-01 2.47062077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68710568099996 meters Centerline goodness [0,1] 0.9998953427524856 Centerline is valid? [True, True] Translation: X:189.82, Y:78.97, Z:24.71 [[ 6.45878239e-01 -7.54943959e-01 -1.13582216e-01 1.89823232e+02] [ 7.43413304e-01 6.55789150e-01 -1.31442955e-01 7.89658472e+01] [ 1.73718049e-01 4.57614069e-04 9.84795324e-01 2.47102258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.85, Y:78.98, Z:24.71 [[ 6.38882992e-01 -7.60795764e-01 -1.14097887e-01 1.89851755e+02] [ 7.49235476e-01 6.48990489e-01 -1.32127011e-01 7.89780792e+01] [ 1.74570113e-01 -1.07248474e-03 9.84644162e-01 2.47134414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:78.99, Z:24.72 [[ 6.36086069e-01 -7.63296412e-01 -1.13018142e-01 1.89876244e+02] [ 7.51985307e-01 6.46046189e-01 -1.30929065e-01 7.89932996e+01] [ 1.72952625e-01 -1.70582739e-03 9.84928667e-01 2.47215543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77710568099997 meters Centerline goodness [0,1] 0.999958154618684 Centerline is valid? [True, True] Translation: X:189.90, Y:79.01, Z:24.73 [[ 6.36576370e-01 -7.63014801e-01 -1.12155871e-01 1.89895887e+02] [ 7.51857651e-01 6.46379130e-01 -1.30015745e-01 7.90138372e+01] [ 1.71699152e-01 -1.56029876e-03 9.85148195e-01 2.47289143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.91, Y:79.04, Z:24.74 [[ 6.41491248e-01 -7.59010067e-01 -1.11322492e-01 1.89910645e+02] [ 7.47944608e-01 6.51078749e-01 -1.29132978e-01 7.90362396e+01] [ 1.70492940e-01 -4.25382445e-04 9.85358806e-01 2.47361121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83710568099997 meters Centerline goodness [0,1] 0.9999789911552763 Centerline is valid? [True, True] Translation: X:189.92, Y:79.06, Z:24.74 [[ 6.48882869e-01 -7.52778588e-01 -1.10794494e-01 1.89923836e+02] [ 7.41722023e-01 6.58272640e-01 -1.28551822e-01 7.90620628e+01] [ 1.69704043e-01 1.23635882e-03 9.85494297e-01 2.47425222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.94, Y:79.09, Z:24.75 [[ 6.53096595e-01 -7.49182589e-01 -1.10409630e-01 1.89939247e+02] [ 7.38137427e-01 6.62359802e-01 -1.28189824e-01 7.90852374e+01] [ 1.69168485e-01 2.22285702e-03 9.85584640e-01 2.47474568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.95, Y:79.11, Z:24.75 [[ 6.59733009e-01 -7.43530773e-01 -1.09152862e-01 1.89954299e+02] [ 7.32654796e-01 6.68691720e-01 -1.26760933e-01 7.91079241e+01] [ 1.67240270e-01 3.65700411e-03 9.85909387e-01 2.47540180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.97, Y:79.13, Z:24.76 [[ 6.62344649e-01 -7.41170101e-01 -1.09391261e-01 1.89971391e+02] [ 7.30201863e-01 6.71303419e-01 -1.27110024e-01 7.91295595e+01] [ 1.67644877e-01 4.31294179e-03 9.85838016e-01 2.47581570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95710568099997 meters Centerline goodness [0,1] 0.9999789690634924 Centerline is valid? [True, True] Translation: X:189.99, Y:79.15, Z:24.76 [[ 6.64106670e-01 -7.39543489e-01 -1.09716723e-01 1.89993201e+02] [ 7.28482233e-01 6.73091956e-01 -1.27518057e-01 7.91490122e+01] [ 1.68154592e-01 4.75890916e-03 9.85749150e-01 2.47602833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.02, Y:79.17, Z:24.76 [[ 6.64177971e-01 -7.39304941e-01 -1.10886545e-01 1.90016912e+02] [ 7.27986225e-01 6.73352712e-01 -1.28965811e-01 7.91673362e+01] [ 1.70010817e-01 4.93237375e-03 9.85429852e-01 2.47598043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01710568099998 meters Centerline goodness [0,1] 0.9999579398961116 Centerline is valid? [True, True] Translation: X:190.04, Y:79.19, Z:24.76 [[ 6.64306305e-01 -7.39036252e-01 -1.11904208e-01 1.90038421e+02] [ 7.27488088e-01 6.73646289e-01 -1.30237322e-01 7.91863528e+01] [ 1.71633957e-01 5.10849559e-03 9.85147546e-01 2.47622289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.06, Y:79.20, Z:24.76 [[ 6.65238442e-01 -7.38055607e-01 -1.12834996e-01 1.90062991e+02] [ 7.26283526e-01 6.74717736e-01 -1.31408584e-01 7.92032341e+01] [ 1.73118615e-01 5.46784258e-03 9.84885804e-01 2.47640793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07710568099998 meters Centerline goodness [0,1] 0.999979075120318 Centerline is valid? [True, True] Translation: X:190.08, Y:79.22, Z:24.77 [[ 6.65833312e-01 -7.37513771e-01 -1.12869120e-01 1.90082503e+02] [ 7.25711818e-01 6.75308301e-01 -1.31533479e-01 7.92231339e+01] [ 1.73229206e-01 5.66891776e-03 9.84865222e-01 2.47691047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.10, Y:79.24, Z:24.77 [[ 6.69549187e-01 -7.34022549e-01 -1.13643233e-01 1.90104101e+02] [ 7.22000694e-01 6.79092591e-01 -1.32469809e-01 7.92426421e+01] [ 1.74410104e-01 6.64455974e-03 9.84650682e-01 2.47725810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.12, Y:79.26, Z:24.78 [[ 6.71500556e-01 -7.32162300e-01 -1.14128744e-01 1.90122235e+02] [ 7.19995039e-01 6.81091968e-01 -1.33119777e-01 7.92632887e+01] [ 1.75197452e-01 7.21787483e-03 9.84506859e-01 2.47761689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.15, Y:79.28, Z:24.78 [[ 6.72912456e-01 -7.30958444e-01 -1.13527881e-01 1.90146120e+02] [ 7.18894112e-01 6.82380478e-01 -1.32469392e-01 7.92795056e+01] [ 1.74298830e-01 7.52577880e-03 9.84664045e-01 2.47819391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.17, Y:79.30, Z:24.79 [[ 6.71882037e-01 -7.31992289e-01 -1.12968218e-01 1.90168468e+02] [ 7.20056094e-01 6.81274403e-01 -1.31849950e-01 7.92974185e+01] [ 1.73475502e-01 7.24415907e-03 9.84811542e-01 2.47877812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.20, Y:79.31, Z:24.79 [[ 6.66010782e-01 -7.37516405e-01 -1.11799780e-01 1.90195913e+02] [ 7.25889462e-01 6.75304250e-01 -1.30570513e-01 7.93094568e+01] [ 1.71796762e-01 5.80708742e-03 9.85115298e-01 2.47945350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.23, Y:79.32, Z:24.80 [[ 6.54270467e-01 -7.48122676e-01 -1.10646367e-01 1.90231230e+02] [ 7.36875483e-01 6.63553450e-01 -1.29272355e-01 7.93161120e+01] [ 1.70131359e-01 3.04648840e-03 9.85416683e-01 2.48028765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:79.33, Z:24.81 [[ 6.47179840e-01 -7.54195364e-01 -1.11119787e-01 1.90259318e+02] [ 7.42924236e-01 6.56648337e-01 -1.29909747e-01 7.93296624e+01] [ 1.70943952e-01 1.52138637e-03 9.85279580e-01 2.48066287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:79.34, Z:24.81 [[ 6.33252835e-01 -7.65660809e-01 -1.12935259e-01 1.90294811e+02] [ 7.54176553e-01 6.43242768e-01 -1.32122931e-01 7.93381500e+01] [ 1.73806139e-01 -1.50590371e-03 9.84778736e-01 2.48071383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:79.35, Z:24.81 [[ 6.25323317e-01 -7.72112480e-01 -1.13194822e-01 1.90322908e+02] [ 7.60662293e-01 6.35477651e-01 -1.32518042e-01 7.93498166e+01] [ 1.74251613e-01 -3.23641097e-03 9.84695842e-01 2.48122228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.35, Y:79.37, Z:24.82 [[ 6.23499755e-01 -7.73689332e-01 -1.12484989e-01 1.90345754e+02] [ 7.62392942e-01 6.33554965e-01 -1.31776737e-01 7.93660443e+01] [ 1.73219679e-01 -3.59499854e-03 9.84876652e-01 2.48171776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40710568099996 meters Centerline goodness [0,1] 0.9999581554941837 Centerline is valid? [True, True] Translation: X:190.36, Y:79.39, Z:24.83 [[ 6.21966148e-01 -7.75220564e-01 -1.10413709e-01 1.90361329e+02] [ 7.64354174e-01 6.31678540e-01 -1.29402159e-01 7.93884307e+01] [ 1.70061186e-01 -3.91141680e-03 9.85425742e-01 2.48287344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.38, Y:79.41, Z:24.83 [[ 6.21886465e-01 -7.75413902e-01 -1.09501167e-01 1.90376351e+02] [ 7.64714290e-01 6.31441452e-01 -1.28427982e-01 7.94112223e+01] [ 1.68728419e-01 -3.86948360e-03 9.85654984e-01 2.48346623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46710568099996 meters Centerline goodness [0,1] 0.9999791866128294 Centerline is valid? [True, True] Translation: X:190.39, Y:79.44, Z:24.84 [[ 6.22987448e-01 -7.74374533e-01 -1.10592597e-01 1.90390160e+02] [ 7.63425043e-01 6.32717486e-01 -1.29810582e-01 7.94351081e+01] [ 1.70495879e-01 -3.55879475e-03 9.85351963e-01 2.48365159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:79.46, Z:24.84 [[ 6.21226327e-01 -7.75668448e-01 -1.11428495e-01 1.90407051e+02] [ 7.64560609e-01 6.31128543e-01 -1.30858077e-01 7.94577265e+01] [ 1.71828185e-01 -3.90135501e-03 9.85119208e-01 2.48399713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.42, Y:79.48, Z:24.84 [[ 6.19137134e-01 -7.77370998e-01 -1.11191459e-01 1.90424975e+02] [ 7.66328380e-01 6.29027497e-01 -1.30633925e-01 7.94784411e+01] [ 1.71493510e-01 -4.32885640e-03 9.85175739e-01 2.48441929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.44, Y:79.50, Z:24.85 [[ 6.16471212e-01 -7.79508722e-01 -1.11037824e-01 1.90443217e+02] [ 7.68520795e-01 6.26372381e-01 -1.30512178e-01 7.95005449e+01] [ 1.71286407e-01 -4.87787617e-03 9.85209203e-01 2.48492381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.46, Y:79.52, Z:24.85 [[ 6.10412203e-01 -7.84327041e-01 -1.10580449e-01 1.90461175e+02] [ 7.73492579e-01 6.20317149e-01 -1.30061005e-01 7.95223079e+01] [ 1.70605312e-01 -6.14233220e-03 9.85320303e-01 2.48541640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:79.54, Z:24.86 [[ 6.06760386e-01 -7.87407513e-01 -1.08771511e-01 1.90476748e+02] [ 7.76960277e-01 6.16394952e-01 -1.28023401e-01 7.95444061e+01] [ 1.67852798e-01 -6.83161551e-03 9.85788399e-01 2.48612935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.49, Y:79.57, Z:24.87 [[ 6.05321214e-01 -7.88609316e-01 -1.08081332e-01 1.90489165e+02] [ 7.78299020e-01 6.14854021e-01 -1.27299523e-01 7.95707113e+01] [ 1.66843832e-01 -7.06249299e-03 9.85958040e-01 2.48664842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:79.60, Z:24.87 [[ 6.04958201e-01 -7.88753907e-01 -1.09054341e-01 1.90503163e+02] [ 7.78243798e-01 6.14667912e-01 -1.28529955e-01 7.95952814e+01] [ 1.68410708e-01 -7.11561436e-03 9.85691230e-01 2.48679539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.51, Y:79.63, Z:24.87 [[ 6.05170018e-01 -7.88309219e-01 -1.11075759e-01 1.90510590e+02] [ 7.77378629e-01 6.15238711e-01 -1.31010666e-01 7.96263343e+01] [ 1.71615023e-01 -7.06419404e-03 9.85138762e-01 2.48679177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.52, Y:79.65, Z:24.87 [[ 6.05278589e-01 -7.88193077e-01 -1.11308139e-01 1.90523116e+02] [ 7.77197220e-01 6.15388402e-01 -1.31383394e-01 7.96506941e+01] [ 1.72053220e-01 -6.98482117e-03 9.85062892e-01 2.48707617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76710568099998 meters Centerline goodness [0,1] 0.9999369628711311 Centerline is valid? [True, True] Translation: X:190.53, Y:79.68, Z:24.87 [[ 6.03817482e-01 -7.89264507e-01 -1.11651183e-01 1.90533238e+02] [ 7.78203370e-01 6.14010452e-01 -1.31873724e-01 7.96782826e+01] [ 1.72638243e-01 -7.25966711e-03 9.84958545e-01 2.48738760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.55, Y:79.70, Z:24.88 [[ 6.01205286e-01 -7.91235986e-01 -1.11793647e-01 1.90546817e+02] [ 7.80168738e-01 6.11461240e-01 -1.32105612e-01 7.97036771e+01] [ 1.72884196e-01 -7.79531649e-03 9.84911310e-01 2.48793031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.56, Y:79.73, Z:24.89 [[ 5.93401889e-01 -7.97252810e-01 -1.10734616e-01 1.90563363e+02] [ 7.86482290e-01 6.03572525e-01 -1.30942026e-01 7.97261870e+01] [ 1.71230270e-01 -9.38956883e-03 9.85186292e-01 2.48866289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85710568099998 meters Centerline goodness [0,1] 0.9999790316831267 Centerline is valid? [True, True] Translation: X:190.57, Y:79.75, Z:24.89 [[ 5.85824914e-01 -8.02994900e-01 -1.09582665e-01 1.90574795e+02] [ 7.92530992e-01 5.95886495e-01 -1.29668469e-01 7.97536639e+01] [ 1.69421949e-01 -1.08846380e-02 9.85483499e-01 2.48931209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88710568099998 meters Centerline goodness [0,1] 0.9999165832499166 Centerline is valid? [True, True] Translation: X:190.59, Y:79.77, Z:24.90 [[ 5.83088340e-01 -8.04990749e-01 -1.09534846e-01 1.90591776e+02] [ 7.94555217e-01 5.93177736e-01 -1.29700350e-01 7.97749695e+01] [ 1.69381213e-01 -1.14047214e-02 9.85484620e-01 2.48968762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91710568099998 meters Centerline goodness [0,1] 0.9999159434299283 Centerline is valid? [True, True] Translation: X:190.60, Y:79.80, Z:24.90 [[ 5.81262473e-01 -8.06380072e-01 -1.09018880e-01 1.90602065e+02] [ 7.96056510e-01 5.91281619e-01 -1.29151384e-01 7.98033760e+01] [ 1.68605963e-01 -1.17143364e-02 9.85613922e-01 2.49014927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.94710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.61, Y:79.83, Z:24.91 [[ 5.81838430e-01 -8.06019720e-01 -1.08610555e-01 1.90614949e+02] [ 7.95753618e-01 5.91776650e-01 -1.28750047e-01 7.98286353e+01] [ 1.68048267e-01 -1.15155168e-02 9.85711506e-01 2.49068904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97710568099995 meters Centerline goodness [0,1] 0.9999580378498594 Centerline is valid? [True, True] Translation: X:190.62, Y:79.86, Z:24.91 [[ 5.83948927e-01 -8.04483134e-01 -1.08676298e-01 1.90617343e+02] [ 7.94173109e-01 5.93872496e-01 -1.28858567e-01 7.98641299e+01] [ 1.68204408e-01 -1.10609715e-02 9.85690079e-01 2.49114022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00710568099996 meters Centerline goodness [0,1] 0.9999790228860314 Centerline is valid? [True, True] Translation: X:190.63, Y:79.89, Z:24.91 [[ 5.84361846e-01 -8.04112803e-01 -1.09196302e-01 1.90627492e+02] [ 7.93682222e-01 5.94375763e-01 -1.29560728e-01 7.98929152e+01] [ 1.69085075e-01 -1.09568171e-02 9.85540555e-01 2.49147611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03710568099996 meters Centerline goodness [0,1] 0.999790211257264 Centerline is valid? [True, True] Translation: X:190.64, Y:79.92, Z:24.92 [[ 5.84476943e-01 -8.03923611e-01 -1.09970592e-01 1.90636242e+02] [ 7.93325491e-01 5.94632123e-01 -1.30565325e-01 7.99223820e+01] [ 1.70356594e-01 -1.09300519e-02 9.85321859e-01 2.49168747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06710568099996 meters Centerline goodness [0,1] 0.9996865465791783 Centerline is valid? [True, True] Translation: X:190.65, Y:79.95, Z:24.92 [[ 5.83577764e-01 -8.04567614e-01 -1.10036119e-01 1.90649549e+02] [ 7.93962369e-01 5.93757215e-01 -1.30675655e-01 7.99484489e+01] [ 1.70472139e-01 -1.11051315e-02 9.85299917e-01 2.49219913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09710568099996 meters Centerline goodness [0,1] 0.9995405659392294 Centerline is valid? [True, True] Translation: X:190.66, Y:79.98, Z:24.93 [[ 5.80599802e-01 -8.06733660e-01 -1.09930302e-01 1.90658515e+02] [ 7.96172179e-01 5.90799839e-01 -1.30634652e-01 7.99783606e+01] [ 1.70334176e-01 -1.16769953e-02 9.85317165e-01 2.49278387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12710568099996 meters Centerline goodness [0,1] 0.9985930576846349 Centerline is valid? [True, True] Translation: X:190.67, Y:80.00, Z:24.94 [[ 5.76647080e-01 -8.09797091e-01 -1.08198046e-01 1.90669679e+02] [ 7.99606922e-01 5.86580519e-01 -1.28654826e-01 8.00035213e+01] [ 1.67651170e-01 -1.23274771e-02 9.85769303e-01 2.49350563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15710568099996 meters Centerline goodness [0,1] 0.9991607746050396 Centerline is valid? [True, True] Translation: X:190.68, Y:80.04, Z:24.94 [[ 5.74545284e-01 -8.11382369e-01 -1.07500548e-01 1.90676342e+02] [ 8.01342293e-01 5.84378327e-01 -1.27876898e-01 8.00352568e+01] [ 1.66578051e-01 -1.26736674e-02 9.85946820e-01 2.49405158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18710568099996 meters Centerline goodness [0,1] 0.9981818941737023 Centerline is valid? [True, True] Translation: X:190.69, Y:80.06, Z:24.95 [[ 5.72724669e-01 -8.12756384e-01 -1.06834051e-01 1.90691420e+02] [ 8.02850949e-01 5.82459934e-01 -1.27164377e-01 8.00586015e+01] [ 1.65580214e-01 -1.29416436e-02 9.86111407e-01 2.49458808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21710568099996 meters Centerline goodness [0,1] 0.99836789353644 Centerline is valid? [True, True] Translation: X:190.69, Y:80.09, Z:24.95 [[ 5.75881300e-01 -8.10657092e-01 -1.05810240e-01 1.90693621e+02] [ 8.00894349e-01 5.85394718e-01 -1.26020891e-01 8.00932838e+01] [ 1.64100485e-01 -1.21697489e-02 9.86368556e-01 2.49517643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24710568099997 meters Centerline goodness [0,1] 0.9981615726909979 Centerline is valid? [True, True] Translation: X:190.70, Y:80.12, Z:24.96 [[ 5.79297882e-01 -8.08237142e-01 -1.05672547e-01 1.90704045e+02] [ 7.98446659e-01 5.88746428e-01 -1.25938779e-01 8.01222061e+01] [ 1.64002733e-01 -1.14178248e-02 9.86393804e-01 2.49562054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27710568099997 meters Centerline goodness [0,1] 0.9990542840930584 Centerline is valid? [True, True] Translation: X:190.70, Y:80.16, Z:24.96 [[ 5.88353464e-01 -8.01589865e-01 -1.06272720e-01 1.90704230e+02] [ 7.91572481e-01 5.97797516e-01 -1.26693083e-01 8.01600001e+01] [ 1.65085459e-01 -9.58224603e-03 9.86232717e-01 2.49582005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30710568099997 meters Centerline goodness [0,1] 0.9985711584123048 Centerline is valid? [True, True] Translation: X:190.72, Y:80.19, Z:24.96 [[ 5.92823836e-01 -7.98308325e-01 -1.06130666e-01 1.90715279e+02] [ 7.88251809e-01 6.02187530e-01 -1.26606732e-01 8.01886628e+01] [ 1.64981771e-01 -8.60220125e-03 9.86259102e-01 2.49608009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33710568099997 meters Centerline goodness [0,1] 0.9986124542740613 Centerline is valid? [True, True] Translation: X:190.72, Y:80.22, Z:24.96 [[ 5.99954137e-01 -7.92933138e-01 -1.06358226e-01 1.90718983e+02] [ 7.82735116e-01 6.09267520e-01 -1.26959947e-01 8.02233590e+01] [ 1.65471362e-01 -7.08017260e-03 9.86189180e-01 2.49642205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36710568099997 meters Centerline goodness [0,1] 0.9980595893840761 Centerline is valid? [True, True] Translation: X:190.73, Y:80.25, Z:24.97 [[ 6.05400773e-01 -7.88745342e-01 -1.06633434e-01 1.90726025e+02] [ 7.78415324e-01 6.14691828e-01 -1.27371662e-01 8.02538901e+01] [ 1.66010505e-01 -5.89419644e-03 9.86106369e-01 2.49675207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39710568099997 meters Centerline goodness [0,1] 0.998173726856711 Centerline is valid? [True, True] Translation: X:190.74, Y:80.28, Z:24.97 [[ 6.08158910e-01 -7.86571910e-01 -1.06992383e-01 1.90738002e+02] [ 7.76134129e-01 6.17475923e-01 -1.27825267e-01 8.02810813e+01] [ 1.66608985e-01 -5.30236458e-03 9.86008789e-01 2.49718181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42710568099997 meters Centerline goodness [0,1] 0.9975361677932908 Centerline is valid? [True, True] Translation: X:190.74, Y:80.31, Z:24.97 [[ 6.15078314e-01 -7.80961575e-01 -1.08525049e-01 1.90744248e+02] [ 7.70120539e-01 6.24567612e-01 -1.29729157e-01 8.03137990e+01] [ 1.69094718e-01 -3.78377787e-03 9.85592542e-01 2.49698658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45710568099997 meters Centerline goodness [0,1] 0.9975423782216901 Centerline is valid? [True, True] Translation: X:190.75, Y:80.34, Z:24.97 [[ 6.21912820e-01 -7.75601833e-01 -1.08010375e-01 1.90751675e+02] [ 7.64778782e-01 6.31218305e-01 -1.29138939e-01 8.03449134e+01] [ 1.68338524e-01 -2.29088140e-03 9.85726581e-01 2.49734220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48710568099997 meters Centerline goodness [0,1] 0.9971178524845374 Centerline is valid? [True, True] Translation: X:190.76, Y:80.37, Z:24.98 [[ 6.24568577e-01 -7.73670624e-01 -1.06526326e-01 1.90764740e+02] [ 7.63106768e-01 6.33585715e-01 -1.27425279e-01 8.03691558e+01] [ 1.66078754e-01 -1.70513538e-03 9.86111018e-01 2.49794568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51710568099998 meters Centerline goodness [0,1] 0.9972609613816463 Centerline is valid? [True, True] Translation: X:190.78, Y:80.40, Z:24.99 [[ 6.26904896e-01 -7.71967264e-01 -1.05151299e-01 1.90777070e+02] [ 7.61645173e-01 6.35661138e-01 -1.25823477e-01 8.03956221e+01] [ 1.63972200e-01 -1.20862523e-03 9.86464220e-01 2.49854574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54710568099998 meters Centerline goodness [0,1] 0.9972609613816463 Centerline is valid? [True, True] Translation: X:190.79, Y:80.42, Z:24.99 [[ 6.26621005e-01 -7.72203305e-01 -1.05110288e-01 1.90794223e+02] [ 7.61878767e-01 6.35374360e-01 -1.25857728e-01 8.04165076e+01] [ 1.63972135e-01 -1.21620059e-03 9.86464221e-01 2.49899997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57710568099998 meters Centerline goodness [0,1] 0.9973987287335585 Centerline is valid? [True, True] Translation: X:190.81, Y:80.44, Z:24.99 [[ 6.26706064e-01 -7.72164409e-01 -1.04888681e-01 1.90809573e+02] [ 7.61867298e-01 6.35421767e-01 -1.25687705e-01 8.04379580e+01] [ 1.63700124e-01 -1.14200955e-03 9.86509486e-01 2.49936242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60710568099998 meters Centerline goodness [0,1] 0.9976282428007724 Centerline is valid? [True, True] Translation: X:190.83, Y:80.46, Z:25.00 [[ 6.25669421e-01 -7.72939020e-01 -1.05370994e-01 1.90827231e+02] [ 7.62546400e-01 6.34478965e-01 -1.26330637e-01 8.04594137e+01] [ 1.64501559e-01 -1.30905568e-03 9.86375954e-01 2.49951794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63710568099998 meters Centerline goodness [0,1] 0.9976510067114094 Centerline is valid? [True, True] Translation: X:190.85, Y:80.48, Z:25.00 [[ 6.24484490e-01 -7.73831407e-01 -1.05849305e-01 1.90846291e+02] [ 7.63340089e-01 6.33389877e-01 -1.27000675e-01 8.04800850e+01] [ 1.65320989e-01 -1.48906652e-03 9.86238690e-01 2.49977471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66710568099998 meters Centerline goodness [0,1] 0.9975415003151923 Centerline is valid? [True, True] Translation: X:190.87, Y:80.50, Z:25.00 [[ 6.21518687e-01 -7.76096698e-01 -1.06716618e-01 1.90867590e+02] [ 7.65447915e-01 6.30610603e-01 -1.28139595e-01 8.04995750e+01] [ 1.66745347e-01 -2.04485984e-03 9.85997874e-01 2.50002892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69710568099998 meters Centerline goodness [0,1] 0.9974351966699603 Centerline is valid? [True, True] Translation: X:190.89, Y:80.52, Z:25.01 [[ 6.20108459e-01 -7.77213936e-01 -1.06789498e-01 1.90886790e+02] [ 7.66552235e-01 6.29232268e-01 -1.28313769e-01 8.05207128e+01] [ 1.66922648e-01 -2.29127456e-03 9.85967332e-01 2.50058451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72710568099995 meters Centerline goodness [0,1] 0.9973087193288619 Centerline is valid? [True, True] Translation: X:190.91, Y:80.54, Z:25.01 [[ 6.17176958e-01 -7.79449534e-01 -1.07475699e-01 1.90907663e+02] [ 7.68667930e-01 6.26458503e-01 -1.29225991e-01 8.05399052e+01] [ 1.68054204e-01 -2.85781907e-03 9.85773614e-01 2.50101283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75710568099996 meters Centerline goodness [0,1] 0.997393315114568 Centerline is valid? [True, True] Translation: X:190.93, Y:80.56, Z:25.02 [[ 6.13705095e-01 -7.82288877e-01 -1.06724734e-01 1.90931194e+02] [ 7.71686248e-01 6.22905683e-01 -1.28408895e-01 8.05559433e+01] [ 1.66932294e-01 -3.55281677e-03 9.85961960e-01 2.50158430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78710568099996 meters Centerline goodness [0,1] 0.9967431501092621 Centerline is valid? [True, True] Translation: X:190.95, Y:80.58, Z:25.02 [[ 6.11678915e-01 -7.84036211e-01 -1.05527837e-01 1.90950862e+02] [ 7.73692343e-01 6.20702432e-01 -1.26998623e-01 8.05762322e+01] [ 1.65072905e-01 -3.96369908e-03 9.86273403e-01 2.50224047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81710568099996 meters Centerline goodness [0,1] 0.9973314282112165 Centerline is valid? [True, True] Translation: X:190.97, Y:80.60, Z:25.03 [[ 6.07976557e-01 -7.86857876e-01 -1.05920675e-01 1.90972245e+02] [ 7.76464115e-01 6.17116415e-01 -1.27557080e-01 8.05954584e+01] [ 1.65734681e-01 -4.69188861e-03 9.86159217e-01 2.50265916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84710568099996 meters Centerline goodness [0,1] 0.9972669553883026 Centerline is valid? [True, True] Translation: X:190.99, Y:80.62, Z:25.03 [[ 6.06601668e-01 -7.87810189e-01 -1.06721705e-01 1.90991777e+02] [ 7.77267570e-01 6.15898020e-01 -1.28548647e-01 8.06168950e+01] [ 1.67001621e-01 -4.97349607e-03 9.85944077e-01 2.50291900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87710568099996 meters Centerline goodness [0,1] 0.9972870886287276 Centerline is valid? [True, True] Translation: X:191.01, Y:80.64, Z:25.03 [[ 6.07188424e-01 -7.87288762e-01 -1.07231633e-01 1.91010004e+02] [ 7.76621451e-01 6.16565792e-01 -1.29250707e-01 8.06372129e+01] [ 1.67872986e-01 -4.79885349e-03 9.85796952e-01 2.50323842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90710568099996 meters Centerline goodness [0,1] 0.997247783520316 Centerline is valid? [True, True] Translation: X:191.02, Y:80.66, Z:25.04 [[ 6.10771755e-01 -7.84491952e-01 -1.07378961e-01 1.91024345e+02] [ 7.73746572e-01 6.20126012e-01 -1.29460309e-01 8.06626823e+01] [ 1.68149057e-01 -4.01340303e-03 9.85753411e-01 2.50363845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93710568099996 meters Centerline goodness [0,1] 0.9977637518809563 Centerline is valid? [True, True] Translation: X:191.04, Y:80.69, Z:25.04 [[ 6.13088386e-01 -7.82683399e-01 -1.07374707e-01 1.91040227e+02] [ 7.71898862e-01 6.22410358e-01 -1.29527963e-01 8.06859239e+01] [ 1.68210516e-01 -3.47032434e-03 9.85744987e-01 2.50418782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96710568099996 meters Centerline goodness [0,1] 0.9972234492332933 Centerline is valid? [True, True] Translation: X:191.06, Y:80.71, Z:25.05 [[ 6.14941020e-01 -7.81289386e-01 -1.06931930e-01 1.91056129e+02] [ 7.70558658e-01 6.24161654e-01 -1.29079763e-01 8.07090754e+01] [ 1.67591459e-01 -3.02088345e-03 9.85851904e-01 2.50469405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99710568099997 meters Centerline goodness [0,1] 0.9975816965975522 Centerline is valid? [True, True] Translation: X:191.07, Y:80.73, Z:25.06 [[ 6.19946894e-01 -7.77516040e-01 -1.05520879e-01 1.91070082e+02] [ 7.66999693e-01 6.28860190e-01 -1.27461105e-01 8.07332412e+01] [ 1.65460934e-01 -1.91536569e-03 9.86214485e-01 2.50555778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02710568099997 meters Centerline goodness [0,1] 0.9978591218201662 Centerline is valid? [True, True] Translation: X:191.08, Y:80.76, Z:25.06 [[ 6.24654529e-01 -7.73908820e-01 -1.04268202e-01 1.91084759e+02] [ 7.63578154e-01 6.33296412e-01 -1.26031971e-01 8.07557201e+01] [ 1.63569932e-01 -8.90480176e-04 9.86531340e-01 2.50630896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05710568099997 meters Centerline goodness [0,1] 0.9979712630456152 Centerline is valid? [True, True] Translation: X:191.10, Y:80.78, Z:25.07 [[ 6.30411730e-01 -7.69366062e-01 -1.03232321e-01 1.91096844e+02] [ 7.59175370e-01 6.38808083e-01 -1.24807816e-01 8.07814639e+01] [ 1.61968540e-01 3.08875671e-04 9.86795874e-01 2.50698332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08710568099997 meters Centerline goodness [0,1] 0.9982801652719226 Centerline is valid? [True, True] Translation: X:191.11, Y:80.81, Z:25.08 [[ 6.33598271e-01 -7.66797231e-01 -1.02835969e-01 1.91112125e+02] [ 7.56636307e-01 6.41888587e-01 -1.24420818e-01 8.08050495e+01] [ 1.61414773e-01 1.02338719e-03 9.86886125e-01 2.50755929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11710568099997 meters Centerline goodness [0,1] 0.9983019579891829 Centerline is valid? [True, True] Translation: X:191.13, Y:80.83, Z:25.08 [[ 6.39971364e-01 -7.61514690e-01 -1.02625680e-01 1.91128761e+02] [ 7.51314337e-01 6.48143170e-01 -1.24246519e-01 8.08283596e+01] [ 1.61131683e-01 2.41006942e-03 9.86929973e-01 2.50783000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14710568099997 meters Centerline goodness [0,1] 0.9988069822931056 Centerline is valid? [True, True] Translation: X:191.15, Y:80.85, Z:25.08 [[ 6.42003545e-01 -7.59732300e-01 -1.03142041e-01 1.91147283e+02] [ 7.49391946e-01 6.50229395e-01 -1.24953772e-01 8.08499369e+01] [ 1.61997404e-01 2.92695010e-03 9.86786843e-01 2.50828271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17710568099997 meters Centerline goodness [0,1] 0.998678857526318 Centerline is valid? [True, True] Translation: X:191.17, Y:80.87, Z:25.08 [[ 6.43195999e-01 -7.58461960e-01 -1.05044575e-01 1.91170927e+02] [ 7.47702763e-01 6.51708626e-01 -1.27343805e-01 8.08683337e+01] [ 1.65043887e-01 3.36490678e-03 9.86280484e-01 2.50842008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20710568099997 meters Centerline goodness [0,1] 0.9990355787575739 Centerline is valid? [True, True] Translation: X:191.19, Y:80.89, Z:25.09 [[ 6.43235171e-01 -7.58263833e-01 -1.06228406e-01 1.91190593e+02] [ 7.47240876e-01 6.51938342e-01 -1.28869979e-01 8.08881240e+01] [ 1.66971815e-01 3.51549625e-03 9.85955402e-01 2.50862809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23710568099997 meters Centerline goodness [0,1] 0.9991025025568241 Centerline is valid? [True, True] Translation: X:191.21, Y:80.91, Z:25.09 [[ 6.43682673e-01 -7.57672797e-01 -1.07724417e-01 1.91214477e+02] [ 7.46320722e-01 6.52623866e-01 -1.30719045e-01 8.09065977e+01] [ 1.69345790e-01 3.74462027e-03 9.85549583e-01 2.50869401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26710568099998 meters Centerline goodness [0,1] 0.9994534025690079 Centerline is valid? [True, True] Translation: X:191.24, Y:80.92, Z:25.09 [[ 6.42450403e-01 -7.58651595e-01 -1.08190743e-01 1.91239527e+02] [ 7.47198606e-01 6.51486817e-01 -1.31374158e-01 8.09222856e+01] [ 1.70152057e-01 3.56140862e-03 9.85411383e-01 2.50915902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29710568099998 meters Centerline goodness [0,1] 0.9993898076842149 Centerline is valid? [True, True] Translation: X:191.26, Y:80.94, Z:25.09 [[ 6.41664307e-01 -7.59315215e-01 -1.08200378e-01 1.91258771e+02] [ 7.47854140e-01 6.50713869e-01 -1.31474891e-01 8.09423627e+01] [ 1.70238372e-01 3.44464462e-03 9.85396890e-01 2.50941068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32710568099998 meters Centerline goodness [0,1] 0.9997685331313259 Centerline is valid? [True, True] Translation: X:191.29, Y:80.95, Z:25.10 [[ 6.38830076e-01 -7.61734119e-01 -1.07968820e-01 1.91289842e+02] [ 7.50350782e-01 6.47883628e-01 -1.31226937e-01 8.09532809e+01] [ 1.69911266e-01 2.81722544e-03 9.85455339e-01 2.50990870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35710568099998 meters Centerline goodness [0,1] 0.9994740717366152 Centerline is valid? [True, True] Translation: X:191.32, Y:80.97, Z:25.10 [[ 6.34452039e-01 -7.65361019e-01 -1.08134734e-01 1.91316476e+02] [ 7.53978703e-01 6.43598367e-01 -1.31519040e-01 8.09670075e+01] [ 1.70254885e-01 1.91123635e-03 9.85398204e-01 2.51046576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38710568099998 meters Centerline goodness [0,1] 0.9998528267771166 Centerline is valid? [True, True] Translation: X:191.34, Y:80.98, Z:25.11 [[ 6.30884659e-01 -7.68345753e-01 -1.07839469e-01 1.91340863e+02] [ 7.57060660e-01 6.40033994e-01 -1.31208398e-01 8.09835021e+01] [ 1.69834341e-01 1.13634651e-03 9.85471971e-01 2.51102654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41710568099998 meters Centerline goodness [0,1] 0.9995797259813398 Centerline is valid? [True, True] Translation: X:191.37, Y:80.99, Z:25.12 [[ 6.23809652e-01 -7.74210798e-01 -1.07047461e-01 1.91373355e+02] [ 7.63161632e-01 6.32927711e-01 -1.30333557e-01 8.09927441e+01] [ 1.68658952e-01 -3.91184473e-04 9.85674391e-01 2.51155893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.44710568099998 meters Centerline goodness [0,1] 0.9995393924167243 Centerline is valid? [True, True] Translation: X:191.40, Y:81.01, Z:25.12 [[ 6.19513694e-01 -7.77651505e-01 -1.07055684e-01 1.91398261e+02] [ 7.66636177e-01 6.28694304e-01 -1.30431764e-01 8.10088774e+01] [ 1.68735756e-01 -1.26849639e-03 9.85660507e-01 2.51212718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47710568099995 meters Centerline goodness [0,1] 0.9998316533742977 Centerline is valid? [True, True] Translation: X:191.43, Y:81.02, Z:25.12 [[ 6.11293764e-01 -7.83772241e-01 -1.09640358e-01 1.91428501e+02] [ 7.72295039e-01 6.21041302e-01 -1.33671515e-01 8.10202947e+01] [ 1.72859214e-01 -2.96214100e-03 9.84942089e-01 2.51217755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50710568099996 meters Centerline goodness [0,1] 0.9998735963932838 Centerline is valid? [True, True] Translation: X:191.46, Y:81.04, Z:25.12 [[ 6.05246506e-01 -7.88104034e-01 -1.12110208e-01 1.91456176e+02] [ 7.76163547e-01 6.15527336e-01 -1.36734219e-01 8.10359526e+01] [ 1.76767687e-01 -4.25794823e-03 9.84243392e-01 2.51227111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53710568099996 meters Centerline goodness [0,1] 0.9999368939186773 Centerline is valid? [True, True] Translation: X:191.48, Y:81.05, Z:25.13 [[ 6.03909569e-01 -7.89143206e-01 -1.12009968e-01 1.91478241e+02] [ 7.77226686e-01 6.14192729e-01 -1.36696638e-01 8.10538276e+01] [ 1.76668931e-01 -4.50472789e-03 9.84260025e-01 2.51271441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56710568099996 meters Centerline goodness [0,1] 0.9999789447088053 Centerline is valid? [True, True] Translation: X:191.50, Y:81.07, Z:25.13 [[ 6.04841550e-01 -7.88557281e-01 -1.11104072e-01 1.91499237e+02] [ 7.76818442e-01 6.14946443e-01 -1.35624411e-01 8.10716058e+01] [ 1.75270671e-01 -4.27641324e-03 9.84510997e-01 2.51343836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59710568099996 meters Centerline goodness [0,1] 0.999915769967782 Centerline is valid? [True, True] Translation: X:191.52, Y:81.09, Z:25.14 [[ 6.06659031e-01 -7.87036424e-01 -1.11975386e-01 1.91518711e+02] [ 7.75079717e-01 6.16894535e-01 -1.36720754e-01 8.10913634e+01] [ 1.76681217e-01 -3.84697016e-03 9.84260610e-01 2.51391022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:81.11, Z:25.14 [[ 6.07503137e-01 -7.86402292e-01 -1.11854252e-01 1.91537011e+02] [ 7.74454578e-01 6.17703987e-01 -1.36608534e-01 8.11133369e+01] [ 1.76522082e-01 -3.63592495e-03 9.84289965e-01 2.51444992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65710568099996 meters Centerline goodness [0,1] 0.9999789380568251 Centerline is valid? [True, True] Translation: X:191.55, Y:81.14, Z:25.15 [[ 6.08777710e-01 -7.85648763e-01 -1.10207629e-01 1.91553283e+02] [ 7.74025172e-01 6.18663934e-01 -1.34684706e-01 8.11359539e+01] [ 1.73996358e-01 -3.31043247e-03 9.84740732e-01 2.51530223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68710568099996 meters Centerline goodness [0,1] 0.999957881436243 Centerline is valid? [True, True] Translation: X:191.57, Y:81.16, Z:25.16 [[ 6.08320075e-01 -7.86010384e-01 -1.10156085e-01 1.91570125e+02] [ 7.74387500e-01 6.18204190e-01 -1.34712951e-01 8.11571144e+01] [ 1.73984732e-01 -3.35490322e-03 9.84742635e-01 2.51582285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71710568099996 meters Centerline goodness [0,1] 0.9999790558371382 Centerline is valid? [True, True] Translation: X:191.59, Y:81.18, Z:25.16 [[ 6.07126374e-01 -7.86938541e-01 -1.10114937e-01 1.91590107e+02] [ 7.75321249e-01 6.17021150e-01 -1.34765954e-01 8.11777476e+01] [ 1.73995768e-01 -3.55448502e-03 9.84739985e-01 2.51636494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74710568099997 meters Centerline goodness [0,1] 0.9999581239530988 Centerline is valid? [True, True] Translation: X:191.61, Y:81.20, Z:25.17 [[ 6.05877173e-01 -7.88022956e-01 -1.09236773e-01 1.91609185e+02] [ 7.76593418e-01 6.15634263e-01 -1.33780107e-01 8.11981654e+01] [ 1.72671696e-01 -3.77824530e-03 9.84972188e-01 2.51693038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77710568099997 meters Centerline goodness [0,1] 0.9999582236704683 Centerline is valid? [True, True] Translation: X:191.63, Y:81.22, Z:25.18 [[ 6.02430203e-01 -7.90867321e-01 -1.07734541e-01 1.91629244e+02] [ 7.79782068e-01 6.11971304e-01 -1.32026701e-01 8.12182709e+01] [ 1.70346051e-01 -4.47259045e-03 9.85374152e-01 2.51764488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80710568099997 meters Centerline goodness [0,1] 0.9998113523937285 Centerline is valid? [True, True] Translation: X:191.65, Y:81.24, Z:25.18 [[ 5.99951237e-01 -7.92872164e-01 -1.06828112e-01 1.91648469e+02] [ 7.81990613e-01 6.09367941e-01 -1.31001500e-01 8.12384573e+01] [ 1.68965070e-01 -4.94406872e-03 9.85609639e-01 2.51820969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83710568099997 meters Centerline goodness [0,1] 0.9999373459755232 Centerline is valid? [True, True] Translation: X:191.67, Y:81.26, Z:25.19 [[ 5.93142788e-01 -7.97905602e-01 -1.07369839e-01 1.91673052e+02] [ 7.86987770e-01 6.02748626e-01 -1.31697929e-01 8.12555370e+01] [ 1.69799538e-01 -6.38307338e-03 9.85457951e-01 2.51852394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86710568099997 meters Centerline goodness [0,1] 0.9998952747989276 Centerline is valid? [True, True] Translation: X:191.69, Y:81.28, Z:25.19 [[ 5.90504296e-01 -7.99820339e-01 -1.07666624e-01 1.91692005e+02] [ 7.88864794e-01 6.00199544e-01 -1.32109216e-01 8.12762470e+01] [ 1.70285096e-01 -6.92334930e-03 9.85370516e-01 2.51891004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89710568099997 meters Centerline goodness [0,1] 0.9999580457720627 Centerline is valid? [True, True] Translation: X:191.71, Y:81.30, Z:25.19 [[ 5.85495419e-01 -8.03405698e-01 -1.08325426e-01 1.91713242e+02] [ 7.92366362e-01 5.95378506e-01 -1.32966096e-01 8.12960824e+01] [ 1.71320350e-01 -7.98238329e-03 9.85183038e-01 2.51931748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92710568099997 meters Centerline goodness [0,1] 0.9999160897839312 Centerline is valid? [True, True] Translation: X:191.74, Y:81.31, Z:25.20 [[ 5.83395921e-01 -8.04831028e-01 -1.09069776e-01 1.91735847e+02] [ 7.93647420e-01 5.93444477e-01 -1.33968004e-01 8.13132865e+01] [ 1.72548462e-01 -8.40655903e-03 9.84965156e-01 2.51955134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95710568099997 meters Centerline goodness [0,1] 0.9998950593963817 Centerline is valid? [True, True] Translation: X:191.76, Y:81.33, Z:25.20 [[ 5.81086075e-01 -8.06324941e-01 -1.10358789e-01 1.91755320e+02] [ 7.94891571e-01 5.91405417e-01 -1.35598756e-01 8.13349770e+01] [ 1.74603444e-01 -8.92872214e-03 9.84598352e-01 2.51979830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98710568099997 meters Centerline goodness [0,1] 0.9999790527660822 Centerline is valid? [True, True] Translation: X:191.77, Y:81.36, Z:25.20 [[ 5.80997061e-01 -8.06397052e-01 -1.10300537e-01 1.91772118e+02] [ 7.94961277e-01 5.91307643e-01 -1.35616516e-01 8.13570256e+01] [ 1.74582309e-01 -8.89185831e-03 9.84602434e-01 2.52035272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01710568099998 meters Centerline goodness [0,1] 0.9998740474840985 Centerline is valid? [True, True] Translation: X:191.78, Y:81.38, Z:25.21 [[ 5.82225050e-01 -8.05567043e-01 -1.09889631e-01 1.91784140e+02] [ 7.94184349e-01 5.92442965e-01 -1.35212989e-01 8.13836141e+01] [ 1.74026466e-01 -8.54823623e-03 9.84703873e-01 2.52109609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:81.41, Z:25.21 [[ 5.83249268e-01 -8.04677354e-01 -1.10971379e-01 1.91798477e+02] [ 7.93035747e-01 5.93654162e-01 -1.36634697e-01 8.14074773e+01] [ 1.75825468e-01 -8.31218333e-03 9.84386262e-01 2.52137040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07710568099998 meters Centerline goodness [0,1] 0.9999159699172304 Centerline is valid? [True, True] Translation: X:191.81, Y:81.43, Z:25.22 [[ 5.83737278e-01 -8.04231969e-01 -1.11632126e-01 1.91810588e+02] [ 7.92435520e-01 5.94258872e-01 -1.37485779e-01 8.14345706e+01] [ 1.76908840e-01 -8.20568763e-03 9.84193034e-01 2.52178980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10710568099998 meters Centerline goodness [0,1] 0.9999790048288894 Centerline is valid? [True, True] Translation: X:191.82, Y:81.46, Z:25.22 [[ 5.86732593e-01 -8.01966289e-01 -1.12227158e-01 1.91822529e+02] [ 7.89984302e-01 5.97322161e-01 -1.38314995e-01 8.14615076e+01] [ 1.77959732e-01 -7.50377773e-03 9.84009160e-01 2.52189200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.83, Y:81.49, Z:25.22 [[ 5.92694988e-01 -7.97584026e-01 -1.12126593e-01 1.91831412e+02] [ 7.85529266e-01 6.03176807e-01 -1.38280557e-01 8.14898813e+01] [ 1.77922524e-01 -6.12052761e-03 9.84025464e-01 2.52233551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16710568099998 meters Centerline goodness [0,1] 0.9999370488500924 Centerline is valid? [True, True] Translation: X:191.84, Y:81.52, Z:25.23 [[ 5.95408036e-01 -7.95604569e-01 -1.11815204e-01 1.91843616e+02] [ 7.83571993e-01 6.05791536e-01 -1.37954875e-01 8.15170403e+01] [ 1.77494233e-01 -5.47582131e-03 9.84106606e-01 2.52290347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19710568099998 meters Centerline goodness [0,1] 0.9998328807186129 Centerline is valid? [True, True] Translation: X:191.86, Y:81.54, Z:25.23 [[ 5.97852988e-01 -7.93749363e-01 -1.11954243e-01 1.91855940e+02] [ 7.81638829e-01 6.08225419e-01 -1.38212088e-01 8.15440110e+01] [ 1.77799173e-01 -4.87727338e-03 9.84054707e-01 2.52339644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22710568099995 meters Centerline goodness [0,1] 0.9994741712939593 Centerline is valid? [True, True] Translation: X:191.86, Y:81.57, Z:25.24 [[ 6.01244709e-01 -7.91130068e-01 -1.12329934e-01 1.91863905e+02] [ 7.78876227e-01 6.11634470e-01 -1.38762742e-01 8.15744148e+01] [ 1.78484238e-01 -4.06075081e-03 9.83934392e-01 2.52384106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25710568099996 meters Centerline goodness [0,1] 0.9996419167983149 Centerline is valid? [True, True] Translation: X:191.88, Y:81.60, Z:25.24 [[ 6.01419483e-01 -7.91075006e-01 -1.11780772e-01 1.91879531e+02] [ 7.78923984e-01 6.11706304e-01 -1.38176786e-01 8.15984418e+01] [ 1.77685205e-01 -3.96651310e-03 9.84079384e-01 2.52430361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28710568099996 meters Centerline goodness [0,1] 0.9995161867098593 Centerline is valid? [True, True] Translation: X:191.90, Y:81.62, Z:25.25 [[ 5.99149260e-01 -7.93012151e-01 -1.10235622e-01 1.91897539e+02] [ 7.81214234e-01 6.09189769e-01 -1.36353016e-01 8.16193793e+01] [ 1.75284012e-01 -4.42182888e-03 9.84507980e-01 2.52494640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31710568099996 meters Centerline goodness [0,1] 0.9996449160330855 Centerline is valid? [True, True] Translation: X:191.91, Y:81.64, Z:25.26 [[ 5.97718864e-01 -7.94188652e-01 -1.09528737e-01 1.91914506e+02] [ 7.82555991e-01 6.07653001e-01 -1.35513656e-01 8.16417623e+01] [ 1.74178874e-01 -4.71330108e-03 9.84702749e-01 2.52560773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34710568099996 meters Centerline goodness [0,1] 0.9995801406528813 Centerline is valid? [True, True] Translation: X:191.93, Y:81.66, Z:25.26 [[ 5.96682089e-01 -7.95203603e-01 -1.07804055e-01 1.91928804e+02] [ 7.83938557e-01 6.06322899e-01 -1.33464902e-01 8.16643552e+01] [ 1.71495839e-01 -4.87563896e-03 9.85172780e-01 2.52635672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37710568099996 meters Centerline goodness [0,1] 0.9994138948778599 Centerline is valid? [True, True] Translation: X:191.94, Y:81.69, Z:25.27 [[ 5.96419213e-01 -7.95541241e-01 -1.06762618e-01 1.91943899e+02] [ 7.84494069e-01 6.05879602e-01 -1.32208029e-01 8.16876404e+01] [ 1.69862232e-01 -4.90323164e-03 9.85455621e-01 2.52699963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40710568099996 meters Centerline goodness [0,1] 0.9990578283991458 Centerline is valid? [True, True] Translation: X:191.97, Y:81.71, Z:25.27 [[ 5.93424145e-01 -7.97766157e-01 -1.06850095e-01 1.91965042e+02] [ 7.86719057e-01 6.02942041e-01 -1.32416088e-01 8.17057036e+01] [ 1.70061488e-01 -5.48210219e-03 9.85418204e-01 2.52725995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43710568099996 meters Centerline goodness [0,1] 0.9990578283991458 Centerline is valid? [True, True] Translation: X:191.98, Y:81.73, Z:25.28 [[ 5.93145341e-01 -7.97975997e-01 -1.06831234e-01 1.91981863e+02] [ 7.86929531e-01 6.02663973e-01 -1.32431302e-01 8.17269242e+01] [ 1.70060337e-01 -5.51764298e-03 9.85418204e-01 2.52771413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46710568099996 meters Centerline goodness [0,1] 0.9993927464611777 Centerline is valid? [True, True] Translation: X:192.00, Y:81.75, Z:25.28 [[ 5.90638054e-01 -7.99730500e-01 -1.07600257e-01 1.92001015e+02] [ 7.88535092e-01 6.00329110e-01 -1.33481719e-01 8.17484968e+01] [ 1.71344968e-01 -6.00719554e-03 9.85192781e-01 2.52800738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49710568099997 meters Centerline goodness [0,1] 0.9994963696646662 Centerline is valid? [True, True] Translation: X:192.02, Y:81.77, Z:25.28 [[ 5.84617479e-01 -8.03888595e-01 -1.09478448e-01 1.92023003e+02] [ 7.92351431e-01 5.94735161e-01 -1.35901795e-01 8.17678052e+01] [ 1.74360585e-01 -7.29484026e-03 9.84654849e-01 2.52810398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52710568099997 meters Centerline goodness [0,1] 0.9994105387255006 Centerline is valid? [True, True] Translation: X:192.04, Y:81.79, Z:25.28 [[ 5.81002294e-01 -8.06383953e-01 -1.10368726e-01 1.92042138e+02] [ 7.94684458e-01 5.91337531e-01 -1.37100463e-01 8.17894562e+01] [ 1.75820783e-01 -8.05262754e-03 9.84389256e-01 2.52843318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55710568099997 meters Centerline goodness [0,1] 0.9991410734486948 Centerline is valid? [True, True] Translation: X:192.06, Y:81.81, Z:25.29 [[ 5.80490138e-01 -8.06835848e-01 -1.09759343e-01 1.92058515e+02] [ 7.95258621e-01 5.90720287e-01 -1.36430454e-01 8.18117531e+01] [ 1.74914052e-01 -8.09053069e-03 9.84550465e-01 2.52893752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58710568099997 meters Centerline goodness [0,1] 0.999537037037037 Centerline is valid? [True, True] Translation: X:192.07, Y:81.84, Z:25.30 [[ 5.81257327e-01 -8.06269672e-01 -1.09859623e-01 1.92070367e+02] [ 7.94643079e-01 5.91495845e-01 -1.36656662e-01 8.18380851e+01] [ 1.75163632e-01 -7.86650313e-03 9.84507908e-01 2.52960265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61710568099997 meters Centerline goodness [0,1] 0.9992632819735624 Centerline is valid? [True, True] Translation: X:192.08, Y:81.87, Z:25.30 [[ 5.86086430e-01 -8.02568356e-01 -1.11295690e-01 1.92083406e+02] [ 7.90550983e-01 5.96521492e-01 -1.38532497e-01 8.18652389e+01] [ 1.77572069e-01 -6.79290080e-03 9.84084354e-01 2.52967709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64710568099997 meters Centerline goodness [0,1] 0.9993720696584059 Centerline is valid? [True, True] Translation: X:192.09, Y:81.89, Z:25.30 [[ 5.89865834e-01 -7.99851419e-01 -1.10887354e-01 1.92094862e+02] [ 7.87866472e-01 6.00168853e-01 -1.38071610e-01 8.18929427e+01] [ 1.76987910e-01 -5.92070273e-03 9.84195217e-01 2.53022328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67710568099997 meters Centerline goodness [0,1] 0.998808005186223 Centerline is valid? [True, True] Translation: X:192.10, Y:81.92, Z:25.30 [[ 6.00207815e-01 -7.92113043e-01 -1.10939202e-01 1.92100804e+02] [ 7.79968757e-01 6.10363982e-01 -1.38219200e-01 8.19242623e+01] [ 1.77198525e-01 -3.56886780e-03 9.84168657e-01 2.53047495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70710568099997 meters Centerline goodness [0,1] 0.9985747222804443 Centerline is valid? [True, True] Translation: X:192.11, Y:81.95, Z:25.31 [[ 6.05129072e-01 -7.88318346e-01 -1.11233950e-01 1.92110424e+02] [ 7.76038591e-01 6.15262742e-01 -1.38621296e-01 8.19523867e+01] [ 1.77715816e-01 -2.43806148e-03 9.84078830e-01 2.53097598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73710568099997 meters Centerline goodness [0,1] 0.9985043185169581 Centerline is valid? [True, True] Translation: X:192.12, Y:81.98, Z:25.31 [[ 6.15920804e-01 -7.79920403e-01 -1.11201300e-01 1.92115466e+02] [ 7.67493980e-01 6.25878712e-01 -1.38668055e-01 8.19848110e+01] [ 1.77748572e-01 6.22115872e-05 9.84075933e-01 2.53123945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76710568099998 meters Centerline goodness [0,1] 0.9985050743251779 Centerline is valid? [True, True] Translation: X:192.13, Y:82.01, Z:25.32 [[ 6.21542243e-01 -7.75461955e-01 -1.11103540e-01 1.92127019e+02] [ 7.62969456e-01 6.31392741e-01 -1.38639162e-01 8.20115008e+01] [ 1.77659364e-01 1.40148839e-03 9.84091046e-01 2.53171749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79710568099998 meters Centerline goodness [0,1] 0.9987158435434298 Centerline is valid? [True, True] Translation: X:192.14, Y:82.04, Z:25.32 [[ 6.31746673e-01 -7.67497922e-01 -1.08825924e-01 1.92135808e+02] [ 7.55381159e-01 6.41041088e-01 -1.35888290e-01 8.20409210e+01] [ 1.74055869e-01 3.64192287e-03 9.84729044e-01 2.53242028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82710568099998 meters Centerline goodness [0,1] 0.9987802826379543 Centerline is valid? [True, True] Translation: X:192.15, Y:82.06, Z:25.33 [[ 6.36722700e-01 -7.63697042e-01 -1.06541221e-01 1.92150099e+02] [ 7.52020292e-01 6.45558147e-01 -1.33117088e-01 8.20646775e+01] [ 1.70439680e-01 4.63751215e-03 9.85357199e-01 2.53329892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85710568099998 meters Centerline goodness [0,1] 0.9990743078347218 Centerline is valid? [True, True] Translation: X:192.17, Y:82.09, Z:25.33 [[ 6.37602646e-01 -7.62727728e-01 -1.08209425e-01 1.92166855e+02] [ 7.50657798e-01 6.46700366e-01 -1.35246097e-01 8.20863674e+01] [ 1.73135023e-01 5.00502028e-03 9.84885381e-01 2.53349963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88710568099998 meters Centerline goodness [0,1] 0.998764966926233 Centerline is valid? [True, True] Translation: X:192.19, Y:82.11, Z:25.34 [[ 6.36868638e-01 -7.63219780e-01 -1.09059182e-01 1.92187081e+02] [ 7.50957426e-01 6.46120090e-01 -1.36351658e-01 8.21054816e+01] [ 1.74531611e-01 4.93929213e-03 9.84639183e-01 2.53373562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91710568099998 meters Centerline goodness [0,1] 0.9992429181300078 Centerline is valid? [True, True] Translation: X:192.21, Y:82.12, Z:25.34 [[ 6.35516377e-01 -7.64611621e-01 -1.07182105e-01 1.92210015e+02] [ 7.52772915e-01 6.44475314e-01 -1.34106331e-01 8.21214642e+01] [ 1.71615480e-01 4.54298452e-03 9.85153535e-01 2.53434571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.94710568099998 meters Centerline goodness [0,1] 0.9991211734426985 Centerline is valid? [True, True] Translation: X:192.23, Y:82.14, Z:25.35 [[ 6.34961942e-01 -7.65287011e-01 -1.05636747e-01 1.92231977e+02] [ 7.53790938e-01 6.43674662e-01 -1.32220088e-01 8.21403199e+01] [ 1.69182013e-01 4.32670127e-03 9.85575327e-01 2.53510138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97710568099995 meters Centerline goodness [0,1] 0.9993928100332907 Centerline is valid? [True, True] Translation: X:192.26, Y:82.16, Z:25.36 [[ 6.35175294e-01 -7.65153492e-01 -1.05320839e-01 1.92257424e+02] [ 7.53711132e-01 6.43832870e-01 -1.31904374e-01 8.21563208e+01] [ 1.68736111e-01 4.40091028e-03 9.85651438e-01 2.53573785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00710568099996 meters Centerline goodness [0,1] 0.999643605870021 Centerline is valid? [True, True] Translation: X:192.28, Y:82.18, Z:25.36 [[ 6.36293451e-01 -7.64080999e-01 -1.06352581e-01 1.92275703e+02] [ 7.52381619e-01 6.45102537e-01 -1.33283970e-01 8.21767639e+01] [ 1.70448068e-01 4.78999020e-03 9.85355018e-01 2.53605848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03710568099996 meters Centerline goodness [0,1] 0.9996631508031748 Centerline is valid? [True, True] Translation: X:192.30, Y:82.19, Z:25.37 [[ 6.38797082e-01 -7.61952758e-01 -1.06612768e-01 1.92300248e+02] [ 7.50160338e-01 6.47610141e-01 -1.33643454e-01 8.21935560e+01] [ 1.70873508e-01 5.39437886e-03 9.85278207e-01 2.53652345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06710568099996 meters Centerline goodness [0,1] 0.9997053065863978 Centerline is valid? [True, True] Translation: X:192.33, Y:82.21, Z:25.37 [[ 6.39935269e-01 -7.60994108e-01 -1.06634041e-01 1.92325734e+02] [ 7.49168241e-01 6.48733656e-01 -1.33759451e-01 8.22085832e+01] [ 1.70967246e-01 5.71055289e-03 9.85260164e-01 2.53705189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09710568099996 meters Centerline goodness [0,1] 0.9998315363881402 Centerline is valid? [True, True] Translation: X:192.35, Y:82.23, Z:25.38 [[ 6.39270177e-01 -7.61552961e-01 -1.06633622e-01 1.92347999e+02] [ 7.49729170e-01 6.48078638e-01 -1.33791817e-01 8.22261949e+01] [ 1.70996527e-01 5.58278162e-03 9.85255815e-01 2.53751495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12710568099996 meters Centerline goodness [0,1] 0.9998946148171567 Centerline is valid? [True, True] Translation: X:192.38, Y:82.24, Z:25.38 [[ 6.37619492e-01 -7.62988194e-01 -1.06256291e-01 1.92378909e+02] [ 7.51259830e-01 6.46391412e-01 -1.33367203e-01 8.22379043e+01] [ 1.70440755e-01 5.21144544e-03 9.85354144e-01 2.53805917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15710568099996 meters Centerline goodness [0,1] 0.999937159614579 Centerline is valid? [True, True] Translation: X:192.40, Y:82.26, Z:25.39 [[ 6.37527278e-01 -7.63061028e-01 -1.06286581e-01 1.92398102e+02] [ 7.51311492e-01 6.46305101e-01 -1.33494410e-01 8.22571679e+01] [ 1.70557941e-01 5.25199818e-03 9.85333652e-01 2.53850958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18710568099996 meters Centerline goodness [0,1] 0.9999159239952917 Centerline is valid? [True, True] Translation: X:192.43, Y:82.27, Z:25.39 [[ 6.38631749e-01 -7.62189378e-01 -1.05909586e-01 1.92426294e+02] [ 7.50504187e-01 6.47330803e-01 -1.33065008e-01 8.22703873e+01] [ 1.69979273e-01 5.49395105e-03 9.85432323e-01 2.53901390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21710568099996 meters Centerline goodness [0,1] 0.9999791052884515 Centerline is valid? [True, True] Translation: X:192.44, Y:82.29, Z:25.39 [[ 6.39642408e-01 -7.61380830e-01 -1.05625852e-01 1.92444333e+02] [ 7.49742123e-01 6.48279704e-01 -1.32741008e-01 8.22911669e+01] [ 1.69541555e-01 5.71462755e-03 9.85506471e-01 2.53943006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24710568099997 meters Centerline goodness [0,1] 0.9998954936878187 Centerline is valid? [True, True] Translation: X:192.47, Y:82.31, Z:25.40 [[ 6.41847283e-01 -7.59551305e-01 -1.05422389e-01 1.92472629e+02] [ 7.47927447e-01 6.50417765e-01 -1.32518922e-01 8.23051589e+01] [ 1.69223515e-01 6.20861164e-03 9.85558144e-01 2.53988989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27710568099997 meters Centerline goodness [0,1] 0.9999790004199915 Centerline is valid? [True, True] Translation: X:192.49, Y:82.32, Z:25.40 [[ 6.42701201e-01 -7.58793198e-01 -1.05678991e-01 1.92494514e+02] [ 7.47086546e-01 6.51299347e-01 -1.32931759e-01 8.23243050e+01] [ 1.69696372e-01 6.48404858e-03 9.85475062e-01 2.54036177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.52, Y:82.34, Z:25.41 [[ 6.44911419e-01 -7.56955453e-01 -1.05393090e-01 1.92518462e+02] [ 7.45272866e-01 6.53428900e-01 -1.32661327e-01 8.23406622e+01] [ 1.69285605e-01 7.00819404e-03 9.85542119e-01 2.54091340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33710568099997 meters Centerline goodness [0,1] 0.999936913824284 Centerline is valid? [True, True] Translation: X:192.54, Y:82.36, Z:25.41 [[ 6.46582767e-01 -7.55602997e-01 -1.04856260e-01 1.92540394e+02] [ 7.44014745e-01 6.54988572e-01 -1.32030414e-01 8.23579252e+01] [ 1.68442229e-01 7.35398730e-03 9.85684095e-01 2.54146241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:82.38, Z:25.42 [[ 6.47414379e-01 -7.54849016e-01 -1.05155047e-01 1.92562701e+02] [ 7.43178511e-01 6.55854620e-01 -1.32440245e-01 8.23765239e+01] [ 1.68938812e-01 7.59474815e-03 9.85597280e-01 2.54192349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39710568099997 meters Centerline goodness [0,1] 0.9999789447088053 Centerline is valid? [True, True] Translation: X:192.59, Y:82.39, Z:25.42 [[ 6.49383001e-01 -7.53272458e-01 -1.04318368e-01 1.92587474e+02] [ 7.41753179e-01 6.57659958e-01 -1.31474711e-01 8.23926811e+01] [ 1.67642292e-01 7.99896189e-03 9.85815438e-01 2.54235547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42710568099997 meters Centerline goodness [0,1] 0.999894836470712 Centerline is valid? [True, True] Translation: X:192.61, Y:82.41, Z:25.43 [[ 6.50269423e-01 -7.52515807e-01 -1.04257555e-01 1.92611707e+02] [ 7.40992942e-01 6.58522902e-01 -1.31442182e-01 8.24095247e+01] [ 1.67568308e-01 8.21871914e-03 9.85826209e-01 2.54280132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45710568099997 meters Centerline goodness [0,1] 0.9999368832972165 Centerline is valid? [True, True] Translation: X:192.63, Y:82.43, Z:25.43 [[ 6.52310248e-01 -7.50711332e-01 -1.04517154e-01 1.92634712e+02] [ 7.39091760e-01 6.60572196e-01 -1.31862600e-01 8.24267762e+01] [ 1.68031874e-01 8.76755813e-03 9.85742573e-01 2.54303213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48710568099997 meters Centerline goodness [0,1] 0.9999789500273649 Centerline is valid? [True, True] Translation: X:192.66, Y:82.45, Z:25.43 [[ 6.53044747e-01 -7.50062973e-01 -1.04585349e-01 1.92655854e+02] [ 7.38406179e-01 6.61305252e-01 -1.32029082e-01 8.24458095e+01] [ 1.68192966e-01 8.99443061e-03 9.85713055e-01 2.54340928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51710568099998 meters Centerline goodness [0,1] 0.9999790439866719 Centerline is valid? [True, True] Translation: X:192.68, Y:82.46, Z:25.44 [[ 6.51691565e-01 -7.51182200e-01 -1.04992414e-01 1.92683729e+02] [ 7.39442207e-01 6.60036742e-01 -1.32577227e-01 8.24602317e+01] [ 1.68888504e-01 8.76363860e-03 9.85596201e-01 2.54374601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:82.47, Z:25.44 [[ 6.47156570e-01 -7.55028376e-01 -1.05453902e-01 1.92710309e+02] [ 7.43218275e-01 6.55645005e-01 -1.33252478e-01 8.24742430e+01] [ 1.69749726e-01 7.85994926e-03 9.85455860e-01 2.54411848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:82.49, Z:25.45 [[ 6.43874791e-01 -7.57930066e-01 -1.04724731e-01 1.92733957e+02] [ 7.46310110e-01 6.52297271e-01 -1.32398981e-01 8.24911953e+01] [ 1.68660825e-01 7.09124050e-03 9.85648639e-01 2.54469026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.77, Y:82.50, Z:25.45 [[ 6.35988401e-01 -7.64526808e-01 -1.04964344e-01 1.92766189e+02] [ 7.52925637e-01 6.44569115e-01 -1.32791720e-01 8.25023666e+01] [ 1.69179604e-01 5.42364829e-03 9.85570315e-01 2.54517756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:82.52, Z:25.46 [[ 6.31781947e-01 -7.67945829e-01 -1.05407662e-01 1.92789871e+02] [ 7.56283228e-01 6.40498522e-01 -1.33406605e-01 8.25184905e+01] [ 1.69962498e-01 4.56583744e-03 9.85439954e-01 2.54557590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66710568099998 meters Centerline goodness [0,1] 0.999957969065232 Centerline is valid? [True, True] Translation: X:192.82, Y:82.53, Z:25.46 [[ 6.22710622e-01 -7.75374175e-01 -1.05006529e-01 1.92824382e+02] [ 7.63898306e-01 6.31496884e-01 -1.32932555e-01 8.25269020e+01] [ 1.69383766e-01 2.56420406e-03 9.85546835e-01 2.54616762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69710568099998 meters Centerline goodness [0,1] 0.9999790308037493 Centerline is valid? [True, True] Translation: X:192.85, Y:82.54, Z:25.47 [[ 6.17896826e-01 -7.79189540e-01 -1.05200635e-01 1.92848632e+02] [ 7.67709460e-01 6.26786369e-01 -1.33270523e-01 8.25438157e+01] [ 1.69781322e-01 1.58391103e-03 9.85480489e-01 2.54668859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72710568099995 meters Centerline goodness [0,1] 0.9998738674346739 Centerline is valid? [True, True] Translation: X:192.87, Y:82.56, Z:25.47 [[ 6.11518799e-01 -7.84239314e-01 -1.04945019e-01 1.92873465e+02] [ 7.72872698e-01 6.20458410e-01 -1.33038172e-01 8.25585911e+01] [ 1.69447785e-01 2.46203339e-04 9.85539136e-01 2.54719564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.89, Y:82.58, Z:25.48 [[ 6.09418466e-01 -7.85898115e-01 -1.04753457e-01 1.92892770e+02] [ 7.74591587e-01 6.18355979e-01 -1.32829805e-01 8.25781606e+01] [ 1.69165620e-01 -1.92210241e-04 9.85587620e-01 2.54772723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:82.60, Z:25.49 [[ 6.09449699e-01 -7.86005414e-01 -1.03762005e-01 1.92911824e+02] [ 7.74897459e-01 6.18219593e-01 -1.31675597e-01 8.25975572e+01] [ 1.67645437e-01 -1.55260916e-04 9.85847343e-01 2.54855398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:82.62, Z:25.49 [[ 6.11683460e-01 -7.84280117e-01 -1.03672769e-01 1.92927417e+02] [ 7.73149082e-01 6.20406762e-01 -1.31666038e-01 8.26202589e+01] [ 1.67582343e-01 3.83431529e-04 9.85858008e-01 2.54937947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84710568099996 meters Centerline goodness [0,1] 0.9999162531666771 Centerline is valid? [True, True] Translation: X:192.94, Y:82.64, Z:25.50 [[ 6.12552635e-01 -7.83680838e-01 -1.03070914e-01 1.92942211e+02] [ 7.72653841e-01 6.21163403e-01 -1.31004077e-01 8.26428824e+01] [ 1.66689265e-01 6.08754714e-04 9.86009289e-01 2.54993693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.96, Y:82.67, Z:25.51 [[ 6.13194830e-01 -7.83380408e-01 -1.01524559e-01 1.92957534e+02] [ 7.72665053e-01 6.21542109e-01 -1.29128316e-01 8.26651826e+01] [ 1.64258382e-01 7.36336782e-04 9.86417073e-01 2.55065888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:82.69, Z:25.51 [[ 6.12972922e-01 -7.83657260e-01 -1.00724850e-01 1.92973424e+02] [ 7.73098579e-01 6.21193031e-01 -1.28210005e-01 8.26863383e+01] [ 1.63042276e-01 7.19022977e-04 9.86618822e-01 2.55131023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93710568099996 meters Centerline goodness [0,1] 0.9999790198053038 Centerline is valid? [True, True] Translation: X:192.99, Y:82.71, Z:25.52 [[ 6.13313951e-01 -7.83589184e-01 -9.91664731e-02 1.92989742e+02] [ 7.73341829e-01 6.21278829e-01 -1.26313231e-01 8.27092127e+01] [ 1.60587712e-01 7.80085311e-04 9.87021265e-01 2.55208032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.00, Y:82.73, Z:25.53 [[ 6.13687572e-01 -7.83390055e-01 -9.84255328e-02 1.93004961e+02] [ 7.73279585e-01 6.21529762e-01 -1.25456916e-01 8.27322651e+01] [ 1.59456098e-01 8.80894963e-04 9.87204628e-01 2.55264430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.02, Y:82.76, Z:25.53 [[ 6.14913683e-01 -7.82476188e-01 -9.80417158e-02 1.93016335e+02] [ 7.72416882e-01 6.22679393e-01 -1.25070111e-01 8.27583807e+01] [ 1.58912940e-01 1.17824634e-03 9.87291897e-01 2.55323191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:82.78, Z:25.54 [[ 6.16611248e-01 -7.81113112e-01 -9.82490466e-02 1.93030609e+02] [ 7.70986384e-01 6.24387593e-01 -1.25379938e-01 8.27828608e+01] [ 1.59281400e-01 1.56200316e-03 9.87231987e-01 2.55361600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:82.81, Z:25.54 [[ 6.20582390e-01 -7.77774581e-01 -9.97205997e-02 1.93040722e+02] [ 7.67289486e-01 6.28538392e-01 -1.27304103e-01 8.28099637e+01] [ 1.61692120e-01 2.48811668e-03 9.86838116e-01 2.55374413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.05, Y:82.84, Z:25.54 [[ 6.24806694e-01 -7.74120158e-01 -1.01757440e-01 1.93050921e+02] [ 7.63144344e-01 6.33028825e-01 -1.29943130e-01 8.28372591e+01] [ 1.65006989e-01 3.53372281e-03 9.86286067e-01 2.55366288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:82.86, Z:25.54 [[ 6.26966879e-01 -7.72231198e-01 -1.02817849e-01 1.93065323e+02] [ 7.60987926e-01 6.35328296e-01 -1.31359555e-01 8.28631039e+01] [ 1.66763036e-01 4.11494813e-03 9.85988416e-01 2.55383956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:82.89, Z:25.54 [[ 6.32571684e-01 -7.67307959e-01 -1.05316482e-01 1.93075446e+02] [ 7.55423093e-01 6.41254229e-01 -1.34643843e-01 8.28918353e+01] [ 1.70847932e-01 5.61338032e-03 9.85281419e-01 2.55378834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.09, Y:82.92, Z:25.54 [[ 6.35341025e-01 -7.64992240e-01 -1.05492439e-01 1.93088991e+02] [ 7.53018972e-01 6.44008578e-01 -1.34964364e-01 8.29171512e+01] [ 1.71184727e-01 6.31058894e-03 9.85218740e-01 2.55422094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:82.94, Z:25.55 [[ 6.39665488e-01 -7.61452912e-01 -1.04964403e-01 1.93101667e+02] [ 7.49537740e-01 6.48179341e-01 -1.34375291e-01 8.29412450e+01] [ 1.70356214e-01 7.28045452e-03 9.85355649e-01 2.55467957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23710568099997 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:193.12, Y:82.96, Z:25.55 [[ 6.39917843e-01 -7.61149594e-01 -1.05624099e-01 1.93121312e+02] [ 7.49072138e-01 6.48533751e-01 -1.35258664e-01 8.29613809e+01] [ 1.71452870e-01 7.43436230e-03 9.85164272e-01 2.55494434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.14, Y:82.98, Z:25.55 [[ 6.38712911e-01 -7.62167879e-01 -1.05574338e-01 1.93141765e+02] [ 7.50107001e-01 6.47339496e-01 -1.35244460e-01 8.29815670e+01] [ 1.71421422e-01 7.19033257e-03 9.85171556e-01 2.55540726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.17, Y:83.00, Z:25.56 [[ 6.34672211e-01 -7.65627163e-01 -1.04910584e-01 1.93167132e+02] [ 7.53750290e-01 6.43253978e-01 -1.34479810e-01 8.29961511e+01] [ 1.70445546e-01 6.27421562e-03 9.85347122e-01 2.55596328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.19, Y:83.01, Z:25.56 [[ 6.31766395e-01 -7.68023422e-01 -1.04934481e-01 1.93188691e+02] [ 7.56157143e-01 6.40396454e-01 -1.34605930e-01 8.30131280e+01] [ 1.70580176e-01 5.69254591e-03 9.85327356e-01 2.55648046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.21, Y:83.03, Z:25.57 [[ 6.31504632e-01 -7.68241251e-01 -1.04915586e-01 1.93205170e+02] [ 7.56375510e-01 6.40135429e-01 -1.34620655e-01 8.30346861e+01] [ 1.70581324e-01 5.65798682e-03 9.85327356e-01 2.55693523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.24, Y:83.04, Z:25.58 [[ 6.25366560e-01 -7.73384022e-01 -1.03893313e-01 1.93237697e+02] [ 7.61803627e-01 6.33923371e-01 -1.33403125e-01 8.30447707e+01] [ 1.69032245e-01 4.27955020e-03 9.85601231e-01 2.55779849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:83.06, Z:25.58 [[ 6.22332431e-01 -7.75858365e-01 -1.03663603e-01 1.93260023e+02] [ 7.64347636e-01 6.30896508e-01 -1.33200177e-01 8.30629974e+01] [ 1.68745477e-01 3.65976015e-03 9.85652865e-01 2.55832429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.44710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.29, Y:83.08, Z:25.59 [[ 6.17584817e-01 -7.79563760e-01 -1.04256115e-01 1.93285267e+02] [ 7.67956249e-01 6.26316946e-01 -1.34053280e-01 8.30795426e+01] [ 1.69800451e-01 2.72513573e-03 9.85474698e-01 2.55874550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:83.10, Z:25.59 [[ 6.15384277e-01 -7.81296846e-01 -1.04294919e-01 1.93306709e+02] [ 7.69688943e-01 6.24155357e-01 -1.34197696e-01 8.30995259e+01] [ 1.69944469e-01 2.30850658e-03 9.85450936e-01 2.55914373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50710568099996 meters Centerline goodness [0,1] 0.9999789951268694 Centerline is valid? [True, True] Translation: X:193.33, Y:83.12, Z:25.60 [[ 6.10502619e-01 -7.85069622e-01 -1.04652952e-01 1.93332244e+02] [ 7.73419287e-01 6.19406109e-01 -1.34754145e-01 8.31152694e+01] [ 1.70614064e-01 1.32714705e-03 9.85337039e-01 2.55956493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53710568099996 meters Centerline goodness [0,1] 0.9999789995379899 Centerline is valid? [True, True] Translation: X:193.36, Y:83.13, Z:25.60 [[ 6.05973807e-01 -7.88615952e-01 -1.04310235e-01 1.93355956e+02] [ 7.77077821e-01 6.14885947e-01 -1.34407337e-01 8.31316865e+01] [ 1.70134667e-01 3.90155393e-04 9.85420744e-01 2.56022245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56710568099996 meters Centerline goodness [0,1] 0.9999791257880015 Centerline is valid? [True, True] Translation: X:193.37, Y:83.15, Z:25.61 [[ 6.04673988e-01 -7.89693128e-01 -1.03702134e-01 1.93374467e+02] [ 7.78288098e-01 6.13502030e-01 -1.33726941e-01 8.31520755e+01] [ 1.69224716e-01 1.51065953e-04 9.85577482e-01 2.56081658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:83.17, Z:25.62 [[ 6.05034763e-01 -7.89553357e-01 -1.02656868e-01 1.93392595e+02] [ 7.78359020e-01 6.13681866e-01 -1.32483218e-01 8.31712273e+01] [ 1.67601228e-01 2.53052731e-04 9.85854839e-01 2.56160358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.41, Y:83.19, Z:25.62 [[ 6.05429595e-01 -7.89276530e-01 -1.02457621e-01 1.93410029e+02] [ 7.78109791e-01 6.14037799e-01 -1.32297900e-01 8.31925593e+01] [ 1.67332479e-01 3.73785645e-04 9.85900452e-01 2.56214521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65710568099996 meters Centerline goodness [0,1] 0.9999790764337874 Centerline is valid? [True, True] Translation: X:193.43, Y:83.21, Z:25.63 [[ 6.07715879e-01 -7.87464056e-01 -1.02867733e-01 1.93427131e+02] [ 7.76163421e-01 6.16359856e-01 -1.32931832e-01 8.32145233e+01] [ 1.68082581e-01 9.42613536e-04 9.85772467e-01 2.56263758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68710568099996 meters Centerline goodness [0,1] 0.9999581327192799 Centerline is valid? [True, True] Translation: X:193.44, Y:83.24, Z:25.63 [[ 6.09537008e-01 -7.86045708e-01 -1.02940666e-01 1.93443709e+02] [ 7.74691017e-01 6.18166793e-01 -1.33130178e-01 8.32375326e+01] [ 1.68280906e-01 1.40056064e-03 9.85738086e-01 2.56306487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71710568099996 meters Centerline goodness [0,1] 0.999958077430985 Centerline is valid? [True, True] Translation: X:193.46, Y:83.26, Z:25.63 [[ 6.16060027e-01 -7.80837510e-01 -1.03744043e-01 1.93458443e+02] [ 7.69211836e-01 6.24727354e-01 -1.34271682e-01 8.32619390e+01] [ 1.69656108e-01 2.91827010e-03 9.85499005e-01 2.56333137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74710568099997 meters Centerline goodness [0,1] 0.9999375715326189 Centerline is valid? [True, True] Translation: X:193.47, Y:83.29, Z:25.64 [[ 6.19495986e-01 -7.78049503e-01 -1.04229047e-01 1.93472233e+02] [ 7.66265003e-01 6.28191853e-01 -1.34955331e-01 8.32863869e+01] [ 1.70477766e-01 3.73721421e-03 9.85354436e-01 2.56361018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.49, Y:83.31, Z:25.64 [[ 6.26765807e-01 -7.72075559e-01 -1.05185331e-01 1.93486585e+02] [ 7.59972364e-01 6.35507132e-01 -1.36281665e-01 8.33112771e+01] [ 1.72065771e-01 5.47874287e-03 9.85070228e-01 2.56381121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80710568099997 meters Centerline goodness [0,1] 0.9999580510518699 Centerline is valid? [True, True] Translation: X:193.50, Y:83.34, Z:25.64 [[ 6.32273505e-01 -7.67450707e-01 -1.06064261e-01 1.93499233e+02] [ 7.55060540e-01 6.41071209e-01 -1.37518314e-01 8.33359501e+01] [ 1.73533271e-01 6.86424800e-03 9.84804085e-01 2.56398171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83710568099997 meters Centerline goodness [0,1] 0.9999582306503487 Centerline is valid? [True, True] Translation: X:193.51, Y:83.36, Z:25.64 [[ 6.33762277e-01 -7.66138156e-01 -1.06666314e-01 1.93514556e+02] [ 7.53577071e-01 6.42634404e-01 -1.38356864e-01 8.33588773e+01] [ 1.74547916e-01 7.30407277e-03 9.84621590e-01 2.56423457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:83.38, Z:25.65 [[ 6.34587830e-01 -7.65473836e-01 -1.06527427e-01 1.93533412e+02] [ 7.52921342e-01 6.43422929e-01 -1.38262020e-01 8.33787676e+01] [ 1.74378148e-01 7.53262181e-03 9.84649948e-01 2.56460621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89710568099997 meters Centerline goodness [0,1] 0.9996233758081727 Centerline is valid? [True, True] Translation: X:193.56, Y:83.40, Z:25.65 [[ 6.34598418e-01 -7.65593566e-01 -1.05599905e-01 1.93555097e+02] [ 7.53251960e-01 6.43281188e-01 -1.37116001e-01 8.33959451e+01] [ 1.72905560e-01 7.47026139e-03 9.84910078e-01 2.56525744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92710568099997 meters Centerline goodness [0,1] 0.9997269939938679 Centerline is valid? [True, True] Translation: X:193.58, Y:83.42, Z:25.66 [[ 6.34728172e-01 -7.65475848e-01 -1.05673429e-01 1.93576200e+02] [ 7.53097618e-01 6.43420056e-01 -1.37312083e-01 8.34154914e+01] [ 1.73101487e-01 7.57343971e-03 9.84874874e-01 2.56579414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95710568099997 meters Centerline goodness [0,1] 0.9997274061648145 Centerline is valid? [True, True] Translation: X:193.59, Y:83.44, Z:25.66 [[ 6.34306742e-01 -7.65841426e-01 -1.05555042e-01 1.93591955e+02] [ 7.53480026e-01 6.42985446e-01 -1.37250015e-01 8.34366565e+01] [ 1.72982103e-01 7.52499456e-03 9.84896221e-01 2.56620986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98710568099997 meters Centerline goodness [0,1] 0.999538996689158 Centerline is valid? [True, True] Translation: X:193.62, Y:83.45, Z:25.67 [[ 6.32428198e-01 -7.67478825e-01 -1.04932486e-01 1.93618639e+02] [ 7.55270231e-01 6.41035042e-01 -1.36531879e-01 8.34516981e+01] [ 1.72050726e-01 7.09422740e-03 9.85062546e-01 2.56683917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01710568099998 meters Centerline goodness [0,1] 0.9992657085912094 Centerline is valid? [True, True] Translation: X:193.64, Y:83.47, Z:25.67 [[ 6.28001535e-01 -7.71299007e-01 -1.03498379e-01 1.93641323e+02] [ 7.59459300e-01 6.36444442e-01 -1.34759206e-01 8.34678893e+01] [ 1.69810610e-01 6.02618171e-03 9.85458290e-01 2.56745260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04710568099998 meters Centerline goodness [0,1] 0.9991824070774198 Centerline is valid? [True, True] Translation: X:193.68, Y:83.48, Z:25.68 [[ 6.21434559e-01 -7.76675238e-01 -1.02930385e-01 1.93675439e+02] [ 7.65021304e-01 6.29884428e-01 -1.34119397e-01 8.34769589e+01] [ 1.69001461e-01 4.60249105e-03 9.85605054e-01 2.56803393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07710568099998 meters Centerline goodness [0,1] 0.9991396676179285 Centerline is valid? [True, True] Translation: X:193.70, Y:83.49, Z:25.68 [[ 6.17946029e-01 -7.79459766e-01 -1.02884301e-01 1.93698545e+02] [ 7.67837428e-01 6.26440126e-01 -1.34158312e-01 8.34946766e+01] [ 1.69021861e-01 3.90417884e-03 9.85604570e-01 2.56848685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10710568099998 meters Centerline goodness [0,1] 0.999369429964688 Centerline is valid? [True, True] Translation: X:193.73, Y:83.51, Z:25.69 [[ 6.12723163e-01 -7.83497588e-01 -1.03449773e-01 1.93725280e+02] [ 7.71786092e-01 6.21388190e-01 -1.34992394e-01 8.35092453e+01] [ 1.70048682e-01 2.87187051e-03 9.85431478e-01 2.56882802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13710568099998 meters Centerline goodness [0,1] 0.9992069289366586 Centerline is valid? [True, True] Translation: X:193.74, Y:83.53, Z:25.69 [[ 6.11127914e-01 -7.84681228e-01 -1.03913632e-01 1.93742966e+02] [ 7.72863089e-01 6.19893955e-01 -1.35698677e-01 8.35304299e+01] [ 1.70895637e-01 2.61823855e-03 9.85285657e-01 2.56906113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16710568099998 meters Centerline goodness [0,1] 0.9992904989461823 Centerline is valid? [True, True] Translation: X:193.76, Y:83.55, Z:25.70 [[ 6.09785090e-01 -7.85676555e-01 -1.04280850e-01 1.93764958e+02] [ 7.73773077e-01 6.18632826e-01 -1.36266840e-01 8.35490027e+01] [ 1.71573218e-01 2.40377293e-03 9.85168439e-01 2.56954791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19710568099998 meters Centerline goodness [0,1] 0.9994537929875423 Centerline is valid? [True, True] Translation: X:193.78, Y:83.57, Z:25.70 [[ 6.09602871e-01 -7.85627497e-01 -1.05706084e-01 1.93782937e+02] [ 7.73374466e-01 6.18694671e-01 -1.38234724e-01 8.35709042e+01] [ 1.74000791e-01 2.51789858e-03 9.84742294e-01 2.56961737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22710568099995 meters Centerline goodness [0,1] 0.9992865236916103 Centerline is valid? [True, True] Translation: X:193.80, Y:83.59, Z:25.70 [[ 6.13703319e-01 -7.82329681e-01 -1.06435457e-01 1.93800663e+02] [ 7.69846979e-01 6.22854662e-01 -1.39239715e-01 8.35930557e+01] [ 1.75225182e-01 3.51286053e-03 9.84522115e-01 2.57027156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25710568099996 meters Centerline goodness [0,1] 0.9993502001802671 Centerline is valid? [True, True] Translation: X:193.81, Y:83.62, Z:25.71 [[ 6.20954554e-01 -7.76711892e-01 -1.05518143e-01 1.93810562e+02] [ 7.64348219e-01 6.29835245e-01 -1.38128070e-01 8.36192181e+01] [ 1.73744760e-01 5.11864988e-03 9.84777415e-01 2.57095998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28710568099996 meters Centerline goodness [0,1] 0.9991233562930495 Centerline is valid? [True, True] Translation: X:193.82, Y:83.64, Z:25.71 [[ 6.24598380e-01 -7.73845461e-01 -1.05071717e-01 1.93823465e+02] [ 7.61539378e-01 6.33346798e-01 -1.37584916e-01 8.36441643e+01] [ 1.73016298e-01 5.91906582e-03 9.84901175e-01 2.57143191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31710568099996 meters Centerline goodness [0,1] 0.9991385830742079 Centerline is valid? [True, True] Translation: X:193.84, Y:83.67, Z:25.72 [[ 6.31233099e-01 -7.68540977e-01 -1.04352961e-01 1.93837490e+02] [ 7.56315361e-01 6.39757899e-01 -1.36736626e-01 8.36684339e+01] [ 1.71848331e-01 7.38893738e-03 9.85095708e-01 2.57195058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34710568099996 meters Centerline goodness [0,1] 0.9991623036649214 Centerline is valid? [True, True] Translation: X:193.85, Y:83.69, Z:25.73 [[ 6.33382720e-01 -7.66904461e-01 -1.03362850e-01 1.93853542e+02] [ 7.54873558e-01 6.41713651e-01 -1.35534133e-01 8.36917036e+01] [ 1.70271082e-01 7.81909550e-03 9.85366237e-01 2.57254674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37710568099996 meters Centerline goodness [0,1] 0.9988903776903107 Centerline is valid? [True, True] Translation: X:193.87, Y:83.71, Z:25.73 [[ 6.35916096e-01 -7.64946833e-01 -1.02308662e-01 1.93869784e+02] [ 7.53122479e-01 6.44039795e-01 -1.34235891e-01 8.37130631e+01] [ 1.68574169e-01 8.31181094e-03 9.85653927e-01 2.57314285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40710568099996 meters Centerline goodness [0,1] 0.9987686271235965 Centerline is valid? [True, True] Translation: X:193.89, Y:83.73, Z:25.74 [[ 6.36425541e-01 -7.64529187e-01 -1.02262666e-01 1.93887414e+02] [ 7.52703959e-01 6.44533821e-01 -1.34212162e-01 8.37347808e+01] [ 1.68520862e-01 8.44253441e-03 9.85661931e-01 2.57359495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43710568099996 meters Centerline goodness [0,1] 0.9982378484969268 Centerline is valid? [True, True] Translation: X:193.91, Y:83.76, Z:25.74 [[ 6.38379726e-01 -7.62894577e-01 -1.02289736e-01 1.93905118e+02] [ 7.51033748e-01 6.46461508e-01 -1.34297536e-01 8.37560639e+01] [ 1.68581238e-01 8.90978016e-03 9.85647494e-01 2.57406224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46710568099996 meters Centerline goodness [0,1] 0.9976144139619562 Centerline is valid? [True, True] Translation: X:193.92, Y:83.78, Z:25.74 [[ 6.39516038e-01 -7.61855728e-01 -1.02932442e-01 1.93921819e+02] [ 7.49815348e-01 6.47679946e-01 -1.35231771e-01 8.37792681e+01] [ 1.69694377e-01 9.30256149e-03 9.85452830e-01 2.57444024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49710568099997 meters Centerline goodness [0,1] 0.9978767684836763 Centerline is valid? [True, True] Translation: X:193.94, Y:83.80, Z:25.74 [[ 6.42632404e-01 -7.58924091e-01 -1.05156157e-01 1.93940864e+02] [ 7.46299803e-01 6.51096718e-01 -1.38237721e-01 8.38009307e+01] [ 1.73378765e-01 1.03580196e-02 9.84800749e-01 2.57440242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52710568099997 meters Centerline goodness [0,1] 0.9981272226080004 Centerline is valid? [True, True] Translation: X:193.96, Y:83.82, Z:25.74 [[ 6.44138068e-01 -7.57374739e-01 -1.07096475e-01 1.93964399e+02] [ 7.44244297e-01 6.52887481e-01 -1.40848725e-01 8.38193336e+01] [ 1.76597214e-01 1.10200849e-02 9.84221510e-01 2.57444269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55710568099997 meters Centerline goodness [0,1] 0.9982989625771767 Centerline is valid? [True, True] Translation: X:193.98, Y:83.84, Z:25.75 [[ 6.43972931e-01 -7.57572863e-01 -1.06687496e-01 1.93981804e+02] [ 7.44527738e-01 6.52658077e-01 -1.40413254e-01 8.38403147e+01] [ 1.76003727e-01 1.09905348e-02 9.84328145e-01 2.57491093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58710568099997 meters Centerline goodness [0,1] 0.9983431555546234 Centerline is valid? [True, True] Translation: X:194.01, Y:83.86, Z:25.75 [[ 6.42084218e-01 -7.59218954e-01 -1.06369344e-01 1.94005514e+02] [ 7.46255079e-01 6.50749312e-01 -1.40102428e-01 8.38571051e+01] [ 1.75588196e-01 1.05788945e-02 9.84406863e-01 2.57548790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61710568099997 meters Centerline goodness [0,1] 0.9984536621042733 Centerline is valid? [True, True] Translation: X:194.02, Y:83.88, Z:25.76 [[ 6.40525175e-01 -7.60559944e-01 -1.06188844e-01 1.94024105e+02] [ 7.47640330e-01 6.49186630e-01 -1.39966622e-01 8.38768324e+01] [ 1.75389384e-01 1.02610822e-02 9.84445668e-01 2.57587480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64710568099997 meters Centerline goodness [0,1] 0.9986151618791833 Centerline is valid? [True, True] Translation: X:194.05, Y:83.89, Z:25.77 [[ 6.35643050e-01 -7.64745146e-01 -1.05464568e-01 1.94051325e+02] [ 7.52051108e-01 6.44268965e-01 -1.39056218e-01 8.38914051e+01] [ 1.74290116e-01 9.07537349e-03 9.84652524e-01 2.57655334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67710568099997 meters Centerline goodness [0,1] 0.9984227461041829 Centerline is valid? [True, True] Translation: X:194.07, Y:83.91, Z:25.77 [[ 6.32681895e-01 -7.67199340e-01 -1.05445689e-01 1.94073396e+02] [ 7.54525655e-01 6.41352889e-01 -1.39131262e-01 8.39102302e+01] [ 1.74369310e-01 8.46435240e-03 9.84643945e-01 2.57702690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70710568099997 meters Centerline goodness [0,1] 0.9984727713968912 Centerline is valid? [True, True] Translation: X:194.10, Y:83.93, Z:25.78 [[ 6.30028229e-01 -7.69420267e-01 -1.05151715e-01 1.94095122e+02] [ 7.56831117e-01 6.38694126e-01 -1.38839740e-01 8.39294712e+01] [ 1.73985893e-01 7.89086532e-03 9.84716529e-01 2.57755548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73710568099997 meters Centerline goodness [0,1] 0.9987580777569621 Centerline is valid? [True, True] Translation: X:194.12, Y:83.94, Z:25.78 [[ 6.24827612e-01 -7.73848105e-01 -1.03680115e-01 1.94120333e+02] [ 7.61655052e-01 6.33336557e-01 -1.36990464e-01 8.39436794e+01] [ 1.71674218e-01 6.62694066e-03 9.85131487e-01 2.57821080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76710568099998 meters Centerline goodness [0,1] 0.9989947012377741 Centerline is valid? [True, True] Translation: X:194.15, Y:83.96, Z:25.78 [[ 6.18959855e-01 -7.78426294e-01 -1.04600208e-01 1.94145243e+02] [ 7.66061130e-01 6.27712148e-01 -1.38303306e-01 8.39603971e+01] [ 1.73317751e-01 5.47404026e-03 9.84850746e-01 2.57834419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79710568099998 meters Centerline goodness [0,1] 0.9992242373414404 Centerline is valid? [True, True] Translation: X:194.17, Y:83.98, Z:25.79 [[ 6.16103967e-01 -7.80516907e-01 -1.05873793e-01 1.94165745e+02] [ 7.67859168e-01 6.25114586e-01 -1.40085876e-01 8.39800574e+01] [ 1.75522646e-01 5.01130137e-03 9.84462639e-01 2.57853946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82710568099998 meters Centerline goodness [0,1] 0.9990332478668404 Centerline is valid? [True, True] Translation: X:194.19, Y:83.99, Z:25.79 [[ 6.10342146e-01 -7.84883530e-01 -1.06959382e-01 1.94192644e+02] [ 7.72021524e-01 6.19631510e-01 -1.41561150e-01 8.39949929e+01] [ 1.77384418e-01 3.82579146e-03 9.84134204e-01 2.57902983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85710568099998 meters Centerline goodness [0,1] 0.9995796464826919 Centerline is valid? [True, True] Translation: X:194.21, Y:84.01, Z:25.80 [[ 6.07421127e-01 -7.87220477e-01 -1.06411912e-01 1.94212363e+02] [ 7.74507863e-01 6.16663383e-01 -1.40939145e-01 8.40145427e+01] [ 1.76570511e-01 3.19255198e-03 9.84282816e-01 2.57971814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88710568099998 meters Centerline goodness [0,1] 0.9993945973028266 Centerline is valid? [True, True] Translation: X:194.23, Y:84.03, Z:25.80 [[ 6.01737523e-01 -7.91727557e-01 -1.05258867e-01 1.94232515e+02] [ 7.79341369e-01 6.10871348e-01 -1.39510667e-01 8.40321310e+01] [ 1.74754066e-01 1.91621375e-03 9.84610250e-01 2.58035680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91710568099998 meters Centerline goodness [0,1] 0.9995379607266618 Centerline is valid? [True, True] Translation: X:194.25, Y:84.05, Z:25.81 [[ 5.96801913e-01 -7.95503481e-01 -1.04888932e-01 1.94254466e+02] [ 7.83251839e-01 6.05948423e-01 -1.39079347e-01 8.40506912e+01] [ 1.74195388e-01 8.48371133e-04 9.84710743e-01 2.58106298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94710568099995 meters Centerline goodness [0,1] 0.9995579877920437 Centerline is valid? [True, True] Translation: X:194.27, Y:84.07, Z:25.82 [[ 5.94606256e-01 -7.97176076e-01 -1.04659951e-01 1.94271612e+02] [ 7.84987346e-01 6.03746745e-01 -1.38869491e-01 8.40713967e+01] [ 1.73891541e-01 4.15931072e-04 9.84764723e-01 2.58155532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97710568099995 meters Centerline goodness [0,1] 0.9994314712261271 Centerline is valid? [True, True] Translation: X:194.29, Y:84.09, Z:25.82 [[ 5.91301078e-01 -7.99666144e-01 -1.04389141e-01 1.94288705e+02] [ 7.87559995e-01 6.00444832e-01 -1.38619113e-01 8.40933257e+01] [ 1.73528932e-01 -2.47080328e-04 9.84828741e-01 2.58195630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00710568099996 meters Centerline goodness [0,1] 0.9995817562056923 Centerline is valid? [True, True] Translation: X:194.31, Y:84.11, Z:25.82 [[ 5.88909013e-01 -8.01488961e-01 -1.03930836e-01 1.94306711e+02] [ 7.89499790e-01 5.98009139e-01 -1.38112820e-01 8.41137056e+01] [ 1.72847490e-01 -7.17488448e-04 9.84948339e-01 2.58249059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03710568099996 meters Centerline goodness [0,1] 0.9998947013730941 Centerline is valid? [True, True] Translation: X:194.33, Y:84.13, Z:25.83 [[ 5.82053141e-01 -8.06459898e-01 -1.04098863e-01 1.94327908e+02] [ 7.94491757e-01 5.91284961e-01 -1.38437503e-01 8.41312485e+01] [ 1.73196387e-01 -2.12770500e-03 9.84885011e-01 2.58291537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06710568099996 meters Centerline goodness [0,1] 0.9999160968242647 Centerline is valid? [True, True] Translation: X:194.35, Y:84.15, Z:25.83 [[ 5.71508794e-01 -8.13807324e-01 -1.05334414e-01 1.94350186e+02] [ 8.01659221e-01 5.81118566e-01 -1.40156004e-01 8.41486473e+01] [ 1.75271766e-01 -4.34191525e-03 9.84510516e-01 2.58294243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:84.17, Z:25.84 [[ 5.66161123e-01 -8.17580357e-01 -1.04994964e-01 1.94365505e+02] [ 8.05558415e-01 5.75788889e-01 -1.39795549e-01 8.41718720e+01] [ 1.74749028e-01 -5.43277189e-03 9.84598021e-01 2.58351309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12710568099996 meters Centerline goodness [0,1] 0.9999790764337874 Centerline is valid? [True, True] Translation: X:194.39, Y:84.19, Z:25.84 [[ 5.56762690e-01 -8.24058708e-01 -1.04606654e-01 1.94389957e+02] [ 8.12218429e-01 5.66456607e-01 -1.39384848e-01 8.41863598e+01] [ 1.74116428e-01 -7.35916871e-03 9.84697574e-01 2.58401117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15710568099996 meters Centerline goodness [0,1] 0.999937106918239 Centerline is valid? [True, True] Translation: X:194.41, Y:84.21, Z:25.85 [[ 5.53279582e-01 -8.26441036e-01 -1.04292463e-01 1.94407099e+02] [ 8.14698040e-01 5.62966008e-01 -1.39055300e-01 8.42077652e+01] [ 1.73634118e-01 -8.03040743e-03 9.84777490e-01 2.58456496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18710568099996 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:194.42, Y:84.23, Z:25.85 [[ 5.48566634e-01 -8.29561600e-01 -1.04413600e-01 1.94420035e+02] [ 8.17828367e-01 5.58343215e-01 -1.39318398e-01 8.42309082e+01] [ 1.73871818e-01 -8.96697921e-03 9.84727467e-01 2.58506339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21710568099996 meters Centerline goodness [0,1] 0.9997685672207027 Centerline is valid? [True, True] Translation: X:194.43, Y:84.26, Z:25.85 [[ 5.47709823e-01 -8.30133005e-01 -1.04370225e-01 1.94432227e+02] [ 8.18400809e-01 5.57491421e-01 -1.39367972e-01 8.42568169e+01] [ 1.73879459e-01 -9.08346919e-03 9.84725050e-01 2.58543874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24710568099997 meters Centerline goodness [0,1] 0.9997685672207027 Centerline is valid? [True, True] Translation: X:194.45, Y:84.28, Z:25.86 [[ 5.47396987e-01 -8.30345308e-01 -1.04322611e-01 1.94447790e+02] [ 8.18610165e-01 5.57175047e-01 -1.39403605e-01 8.42781768e+01] [ 1.73879085e-01 -9.09043661e-03 9.84725052e-01 2.58588012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27710568099997 meters Centerline goodness [0,1] 0.9999789946856554 Centerline is valid? [True, True] Translation: X:194.45, Y:84.31, Z:25.86 [[ 5.48701809e-01 -8.29391033e-01 -1.05056358e-01 1.94451172e+02] [ 8.17451932e-01 5.58599392e-01 -1.40495757e-01 8.43096667e+01] [ 1.75210339e-01 -8.78824671e-03 9.84491800e-01 2.58607389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30710568099997 meters Centerline goodness [0,1] 0.9999579840759648 Centerline is valid? [True, True] Translation: X:194.46, Y:84.34, Z:25.86 [[ 5.49618554e-01 -8.28590713e-01 -1.06568644e-01 1.94455561e+02] [ 8.16270521e-01 5.59788697e-01 -1.42615047e-01 8.43400702e+01] [ 1.77825426e-01 -8.60496689e-03 9.84024427e-01 2.58614515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33710568099997 meters Centerline goodness [0,1] 0.9999789402746189 Centerline is valid? [True, True] Translation: X:194.47, Y:84.37, Z:25.87 [[ 5.48738498e-01 -8.29137722e-01 -1.06848954e-01 1.94467640e+02] [ 8.16744563e-01 5.58975913e-01 -1.43088253e-01 8.43655720e+01] [ 1.78365859e-01 -8.75026894e-03 9.83925329e-01 2.58659323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:84.40, Z:25.88 [[ 5.47936226e-01 -8.29862639e-01 -1.05327549e-01 1.94462742e+02] [ 8.17818333e-01 5.57898358e-01 -1.41147427e-01 8.44025931e+01] [ 1.75895043e-01 -8.79901158e-03 9.84369601e-01 2.58776473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39710568099997 meters Centerline goodness [0,1] 0.9999159946236559 Centerline is valid? [True, True] Translation: X:194.47, Y:84.43, Z:25.88 [[ 5.47401249e-01 -8.30387579e-01 -1.03963167e-01 1.94471838e+02] [ 8.18645269e-01 5.57116947e-01 -1.39429666e-01 8.44300411e+01] [ 1.73700305e-01 -8.78498177e-03 9.84759376e-01 2.58840918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42710568099997 meters Centerline goodness [0,1] 0.9999579390115668 Centerline is valid? [True, True] Translation: X:194.48, Y:84.46, Z:25.89 [[ 5.44489612e-01 -8.32416642e-01 -1.03022315e-01 1.94475415e+02] [ 8.20903592e-01 5.54072568e-01 -1.38278276e-01 8.44616075e+01] [ 1.72186976e-01 -9.28030332e-03 9.85020569e-01 2.58902337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45710568099997 meters Centerline goodness [0,1] 0.9999579345882847 Centerline is valid? [True, True] Translation: X:194.49, Y:84.48, Z:25.89 [[ 5.43005239e-01 -8.33365230e-01 -1.03187713e-01 1.94488963e+02] [ 8.21812068e-01 5.52640484e-01 -1.38612485e-01 8.44849460e+01] [ 1.72540533e-01 -9.53360226e-03 9.84956281e-01 2.58938426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:84.52, Z:25.90 [[ 5.40057845e-01 -8.35096185e-01 -1.04651259e-01 1.94490425e+02] [ 8.23232987e-01 5.50009323e-01 -1.40631413e-01 8.45197401e+01] [ 1.74999925e-01 -1.02032709e-02 9.84515576e-01 2.58973409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51710568099998 meters Centerline goodness [0,1] 0.9999369959677419 Centerline is valid? [True, True] Translation: X:194.50, Y:84.55, Z:25.90 [[ 5.39271073e-01 -8.35575616e-01 -1.04881357e-01 1.94500613e+02] [ 8.23650244e-01 5.49278431e-01 -1.41044249e-01 8.45463056e+01] [ 1.75462203e-01 -1.03244722e-02 9.84432029e-01 2.59007879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54710568099998 meters Centerline goodness [0,1] 0.9999790654831686 Centerline is valid? [True, True] Translation: X:194.50, Y:84.58, Z:25.91 [[ 5.39669183e-01 -8.35364828e-01 -1.04512097e-01 1.94500596e+02] [ 8.23501302e-01 5.49602022e-01 -1.40652847e-01 8.45810112e+01] [ 1.74936501e-01 -1.01598405e-02 9.84527297e-01 2.59060578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57710568099998 meters Centerline goodness [0,1] 0.9999789756959044 Centerline is valid? [True, True] Translation: X:194.50, Y:84.61, Z:25.91 [[ 5.40357108e-01 -8.34992460e-01 -1.03931647e-01 1.94504148e+02] [ 8.23235272e-01 5.50171945e-01 -1.39980418e-01 8.46120859e+01] [ 1.74062870e-01 -9.92078361e-03 9.84684566e-01 2.59110824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60710568099998 meters Centerline goodness [0,1] 0.9999789960092418 Centerline is valid? [True, True] Translation: X:194.51, Y:84.64, Z:25.91 [[ 5.40048030e-01 -8.35168431e-01 -1.04124045e-01 1.94507172e+02] [ 8.23356718e-01 5.49904202e-01 -1.40317797e-01 8.46448958e+01] [ 1.74447244e-01 -9.95288221e-03 9.84616219e-01 2.59145716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:84.67, Z:25.92 [[ 5.39541954e-01 -8.35546250e-01 -1.03715689e-01 1.94515358e+02] [ 8.23815312e-01 5.49329585e-01 -1.39876153e-01 8.46733239e+01] [ 1.73847091e-01 -9.97351971e-03 9.84722153e-01 2.59186783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66710568099998 meters Centerline goodness [0,1] 0.9999789982148483 Centerline is valid? [True, True] Translation: X:194.52, Y:84.70, Z:25.92 [[ 5.39003240e-01 -8.35990326e-01 -1.02935331e-01 1.94520731e+02] [ 8.24425616e-01 5.48653450e-01 -1.38930903e-01 8.47037181e+01] [ 1.72620715e-01 -9.97831674e-03 9.84937826e-01 2.59247138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69710568099995 meters Centerline goodness [0,1] 0.9999370792172655 Centerline is valid? [True, True] Translation: X:194.53, Y:84.73, Z:25.93 [[ 5.38894288e-01 -8.36000489e-01 -1.03422088e-01 1.94531271e+02] [ 8.24315016e-01 5.48637624e-01 -1.39647813e-01 8.47301077e+01] [ 1.73486889e-01 -9.99697174e-03 9.84785439e-01 2.59284250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:84.77, Z:25.93 [[ 5.41615055e-01 -8.34106044e-01 -1.04499950e-01 1.94532335e+02] [ 8.22119751e-01 5.51523532e-01 -1.41212281e-01 8.47652724e+01] [ 1.75420199e-01 -9.42877575e-03 9.84448502e-01 2.59307883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:84.79, Z:25.93 [[ 5.43390342e-01 -8.32916316e-01 -1.04772836e-01 1.94540551e+02] [ 8.20833729e-01 5.53325238e-01 -1.41644520e-01 8.47941031e+01] [ 1.75951486e-01 -9.03281351e-03 9.84357396e-01 2.59344814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:84.83, Z:25.94 [[ 5.45746443e-01 -8.31346862e-01 -1.04991499e-01 1.94541738e+02] [ 8.19165220e-01 5.55689156e-01 -1.42048946e-01 8.48276989e+01] [ 1.76434583e-01 -8.48267715e-03 9.84275816e-01 2.59384017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:84.86, Z:25.94 [[ 5.44102692e-01 -8.32498527e-01 -1.04395704e-01 1.94548904e+02] [ 8.20457430e-01 5.53958263e-01 -1.41350090e-01 8.48570336e+01] [ 1.75504605e-01 -8.74326670e-03 9.84439784e-01 2.59439886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:84.88, Z:25.95 [[ 5.41777934e-01 -8.34109118e-01 -1.03627450e-01 1.94561334e+02] [ 8.22261008e-01 5.51523576e-01 -1.40387254e-01 8.48827471e+01] [ 1.74251271e-01 -9.15009496e-03 9.84658708e-01 2.59507899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.57, Y:84.91, Z:25.96 [[ 5.38981619e-01 -8.36190148e-01 -1.01414250e-01 1.94568407e+02] [ 8.24865960e-01 5.48356436e-01 -1.37482247e-01 8.49102831e+01] [ 1.70572457e-01 -9.55275912e-03 9.85298829e-01 2.59601004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90710568099996 meters Centerline goodness [0,1] 0.9999370025828941 Centerline is valid? [True, True] Translation: X:194.58, Y:84.94, Z:25.97 [[ 5.37618105e-01 -8.37164180e-01 -1.00612668e-01 1.94579612e+02] [ 8.26028993e-01 5.46864629e-01 -1.36437461e-01 8.49372808e+01] [ 1.69242065e-01 -9.75773169e-03 9.85526210e-01 2.59662244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93710568099996 meters Centerline goodness [0,1] 0.999873997227939 Centerline is valid? [True, True] Translation: X:194.59, Y:84.96, Z:25.97 [[ 5.36064002e-01 -8.38262483e-01 -9.97566805e-02 1.94588720e+02] [ 8.27319893e-01 5.45175876e-01 -1.35370080e-01 8.49638163e+01] [ 1.67860595e-01 -9.96365957e-03 9.85760390e-01 2.59711347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96710568099996 meters Centerline goodness [0,1] 0.9997269079679852 Centerline is valid? [True, True] Translation: X:194.60, Y:84.99, Z:25.98 [[ 5.35648531e-01 -8.38518673e-01 -9.98352906e-02 1.94599933e+02] [ 8.27556027e-01 5.44780552e-01 -1.35518164e-01 8.49905391e+01] [ 1.68022836e-01 -1.00291907e-02 9.85732084e-01 2.59751831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99710568099997 meters Centerline goodness [0,1] 0.9995375333711715 Centerline is valid? [True, True] Translation: X:194.61, Y:85.02, Z:25.97 [[ 5.35505473e-01 -8.38360038e-01 -1.01913369e-01 1.94606136e+02] [ 8.26911209e-01 5.45022720e-01 -1.38448862e-01 8.50197929e+01] [ 1.71615094e-01 -1.01331838e-02 9.85111962e-01 2.59741602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02710568099997 meters Centerline goodness [0,1] 0.9997269481201428 Centerline is valid? [True, True] Translation: X:194.62, Y:85.04, Z:25.98 [[ 5.35710453e-01 -8.38144168e-01 -1.02609282e-01 1.94618067e+02] [ 8.26517127e-01 5.45355552e-01 -1.39487492e-01 8.50444554e+01] [ 1.72869169e-01 -1.00834215e-02 9.84893179e-01 2.59766732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05710568099997 meters Centerline goodness [0,1] 0.9995817474591158 Centerline is valid? [True, True] Translation: X:194.63, Y:85.07, Z:25.98 [[ 5.37695678e-01 -8.36954593e-01 -1.01933146e-01 1.94626634e+02] [ 8.25446222e-01 5.47188313e-01 -1.38648782e-01 8.50715708e+01] [ 1.71819361e-01 -9.58947898e-03 9.85081798e-01 2.59821947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08710568099997 meters Centerline goodness [0,1] 0.999705343800644 Centerline is valid? [True, True] Translation: X:194.63, Y:85.10, Z:25.99 [[ 5.40707941e-01 -8.34864079e-01 -1.03135309e-01 1.94632616e+02] [ 8.23035312e-01 5.50382446e-01 -1.40328325e-01 8.51023810e+01] [ 1.73918941e-01 -9.00736149e-03 9.84718777e-01 2.59862283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11710568099997 meters Centerline goodness [0,1] 0.9995794343391862 Centerline is valid? [True, True] Translation: X:194.64, Y:85.13, Z:25.99 [[ 5.44196429e-01 -8.32524416e-01 -1.03698331e-01 1.94642498e+02] [ 8.20505416e-01 5.53926956e-01 -1.41194156e-01 8.51301821e+01] [ 1.74988883e-01 -8.24768709e-03 9.84535864e-01 2.59892296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14710568099997 meters Centerline goodness [0,1] 0.9997484434941198 Centerline is valid? [True, True] Translation: X:194.64, Y:85.16, Z:25.99 [[ 5.53893433e-01 -8.26173901e-01 -1.03144314e-01 1.94644942e+02] [ 8.14155984e-01 5.63381823e-01 -1.40538090e-01 8.51623705e+01] [ 1.74218534e-01 -6.13243477e-03 9.84687918e-01 2.59942696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17710568099997 meters Centerline goodness [0,1] 0.9995387743977862 Centerline is valid? [True, True] Translation: X:194.65, Y:85.19, Z:26.00 [[ 5.60399895e-01 -8.21845824e-01 -1.02573870e-01 1.94652467e+02] [ 8.09871601e-01 5.69690619e-01 -1.39859175e-01 8.51907401e+01] [ 1.73378051e-01 -4.69459687e-03 9.84844156e-01 2.59995189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20710568099997 meters Centerline goodness [0,1] 0.9996422107168413 Centerline is valid? [True, True] Translation: X:194.65, Y:85.23, Z:26.01 [[ 5.72957557e-01 -8.13230152e-01 -1.01864409e-01 1.94649911e+02] [ 8.01267634e-01 5.81938804e-01 -1.38987077e-01 8.52280368e+01] [ 1.72307334e-01 -1.98695828e-03 9.85041235e-01 2.60065077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23710568099997 meters Centerline goodness [0,1] 0.9994732739186314 Centerline is valid? [True, True] Translation: X:194.66, Y:85.25, Z:26.01 [[ 5.77717767e-01 -8.09934575e-01 -1.01233228e-01 1.94659151e+02] [ 7.98054026e-01 5.86519484e-01 -1.38219632e-01 8.52549531e+01] [ 1.71324119e-01 -9.37648146e-04 9.85214275e-01 2.60114031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26710568099998 meters Centerline goodness [0,1] 0.9994319855261498 Centerline is valid? [True, True] Translation: X:194.66, Y:85.28, Z:26.01 [[ 5.85150492e-01 -8.04643572e-01 -1.00735412e-01 1.94664445e+02] [ 7.92795510e-01 5.93757790e-01 -1.37575312e-01 8.52838116e+01] [ 1.70511527e-01 6.39679109e-04 9.85355474e-01 2.60146769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29710568099998 meters Centerline goodness [0,1] 0.9996010247364664 Centerline is valid? [True, True] Translation: X:194.68, Y:85.31, Z:26.02 [[ 5.89488908e-01 -8.01393864e-01 -1.01344471e-01 1.94675712e+02] [ 7.89343066e-01 5.98134789e-01 -1.38464070e-01 8.53105387e+01] [ 1.71581910e-01 1.62747840e-03 9.85168513e-01 2.60162582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32710568099998 meters Centerline goodness [0,1] 0.9996208690523832 Centerline is valid? [True, True] Translation: X:194.69, Y:85.33, Z:26.02 [[ 5.90590042e-01 -8.00491107e-01 -1.02065617e-01 1.94691819e+02] [ 7.88244109e-01 5.99341505e-01 -1.39502637e-01 8.53345588e+01] [ 1.72842781e-01 1.93624679e-03 9.84947523e-01 2.60202845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35710568099998 meters Centerline goodness [0,1] 0.9996206533192834 Centerline is valid? [True, True] Translation: X:194.71, Y:85.36, Z:26.02 [[ 5.92234185e-01 -7.98985880e-01 -1.04308354e-01 1.94705658e+02] [ 7.86148709e-01 6.01344619e-01 -1.42670446e-01 8.53603032e+01] [ 1.76716940e-01 2.49243749e-03 9.84258559e-01 2.60211752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38710568099998 meters Centerline goodness [0,1] 0.9998733535967579 Centerline is valid? [True, True] Translation: X:194.72, Y:85.38, Z:26.02 [[ 5.92846455e-01 -7.98395684e-01 -1.05344256e-01 1.94721956e+02] [ 7.85271746e-01 6.02126824e-01 -1.44192834e-01 8.53834276e+01] [ 1.78553539e-01 2.76034285e-03 9.83926326e-01 2.60240136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41710568099998 meters Centerline goodness [0,1] 0.9997469262079001 Centerline is valid? [True, True] Translation: X:194.74, Y:85.40, Z:26.03 [[ 5.93192008e-01 -7.98093316e-01 -1.05689641e-01 1.94742132e+02] [ 7.84858504e-01 6.02526763e-01 -1.44770953e-01 8.54046421e+01] [ 1.79221567e-01 2.92555885e-03 9.83804387e-01 2.60265359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44710568099995 meters Centerline goodness [0,1] 0.9997261082083263 Centerline is valid? [True, True] Translation: X:194.76, Y:85.43, Z:26.03 [[ 5.92771622e-01 -7.98474522e-01 -1.05167687e-01 1.94760930e+02] [ 7.85358390e-01 6.02021812e-01 -1.44159414e-01 8.54258921e+01] [ 1.78420861e-01 2.85928451e-03 9.83950111e-01 2.60324875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47710568099995 meters Centerline goodness [0,1] 0.999663086965677 Centerline is valid? [True, True] Translation: X:194.78, Y:85.44, Z:26.04 [[ 5.91192791e-01 -7.99796573e-01 -1.04002526e-01 1.94782878e+02] [ 7.86973814e-01 6.00265957e-01 -1.42663931e-01 8.54446894e+01] [ 1.76531299e-01 2.49462301e-03 9.84291866e-01 2.60402929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50710568099996 meters Centerline goodness [0,1] 0.9996438746438746 Centerline is valid? [True, True] Translation: X:194.80, Y:85.46, Z:26.05 [[ 5.90297989e-01 -8.00512919e-01 -1.03572926e-01 1.94802061e+02] [ 7.87789959e-01 5.99310965e-01 -1.42173651e-01 8.54648812e+01] [ 1.75884235e-01 2.33110935e-03 9.84408097e-01 2.60461504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53710568099996 meters Centerline goodness [0,1] 0.9998104704544497 Centerline is valid? [True, True] Translation: X:194.83, Y:85.48, Z:26.05 [[ 5.88200278e-01 -8.02241920e-01 -1.02119221e-01 1.94825337e+02] [ 7.89895886e-01 5.96996336e-01 -1.40213639e-01 8.54810148e+01] [ 1.73450060e-01 1.81014939e-03 9.84841002e-01 2.60545258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:85.50, Z:26.06 [[ 5.84118300e-01 -8.05362463e-01 -1.00980767e-01 1.94852672e+02] [ 7.93331759e-01 5.92781997e-01 -1.38687505e-01 8.54955367e+01] [ 1.71553292e-01 8.98660009e-04 9.85174432e-01 2.60610187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.87, Y:85.51, Z:26.07 [[ 5.81319066e-01 -8.07396846e-01 -1.00888432e-01 1.94874179e+02] [ 7.95401550e-01 5.90008648e-01 -1.38658466e-01 8.55137614e+01] [ 1.71477455e-01 3.57994234e-04 9.85187979e-01 2.60654607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.90, Y:85.53, Z:26.07 [[ 5.76792336e-01 -8.10526977e-01 -1.01767483e-01 1.94901101e+02] [ 7.98348603e-01 5.85701085e-01 -1.39977664e-01 8.55295772e+01] [ 1.73060998e-01 -5.07884265e-04 9.84910977e-01 2.60676909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:85.55, Z:26.07 [[ 5.74880313e-01 -8.11805179e-01 -1.02396183e-01 1.94921700e+02] [ 7.99477732e-01 5.83927774e-01 -1.40938674e-01 8.55482507e+01] [ 1.74206720e-01 -8.40599102e-04 9.84708745e-01 2.60711230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68710568099996 meters Centerline goodness [0,1] 0.9999581230762788 Centerline is valid? [True, True] Translation: X:194.94, Y:85.57, Z:26.08 [[ 5.73534384e-01 -8.12733054e-01 -1.02583110e-01 1.94943216e+02] [ 8.00364221e-01 5.82635219e-01 -1.41256206e-01 8.55669391e+01] [ 1.74572120e-01 -1.08855968e-03 9.84643788e-01 2.60764880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.96, Y:85.59, Z:26.08 [[ 5.75120093e-01 -8.11612364e-01 -1.02578018e-01 1.94959442e+02] [ 7.99207373e-01 5.84195948e-01 -1.41360070e-01 8.55882856e+01] [ 1.74655243e-01 -6.82091386e-04 9.84629413e-01 2.60806440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:85.61, Z:26.09 [[ 5.81414568e-01 -8.07083649e-01 -1.02825502e-01 1.94974852e+02] [ 7.94536335e-01 5.90436669e-01 -1.41762310e-01 8.56100621e+01] [ 1.75125989e-01 7.24074822e-04 9.84545765e-01 2.60855057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:85.63, Z:26.09 [[ 5.85419537e-01 -8.04327872e-01 -1.01688939e-01 1.94990419e+02] [ 7.92005791e-01 5.94183644e-01 -1.40259129e-01 8.56332749e+01] [ 1.73236231e-01 1.57220582e-03 9.84879047e-01 2.60929638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:85.66, Z:26.11 [[ 5.92034686e-01 -7.99849283e-01 -9.86714479e-02 1.95001916e+02] [ 7.88175577e-01 6.00194110e-01 -1.36184762e-01 8.56569496e+01] [ 1.68149306e-01 2.85567751e-03 9.85757402e-01 2.61054716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.02, Y:85.68, Z:26.11 [[ 5.96114909e-01 -7.96884461e-01 -9.80926650e-02 1.95018964e+02] [ 7.85296194e-01 6.04120309e-01 -1.35456784e-01 8.56791942e+01] [ 1.67203177e-01 3.71601193e-03 9.85915457e-01 2.61114776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:85.70, Z:26.11 [[ 5.97537688e-01 -7.95792252e-01 -9.83026079e-02 1.95037757e+02] [ 7.84123097e-01 6.05555918e-01 -1.35841819e-01 8.57014054e+01] [ 1.67629593e-01 4.08926133e-03 9.85841568e-01 2.61148524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:85.72, Z:26.11 [[ 5.98992629e-01 -7.94563491e-01 -9.93815331e-02 1.95058971e+02] [ 7.82601544e-01 6.07164083e-01 -1.37428525e-01 8.57216333e+01] [ 1.69536586e-01 4.54253247e-03 9.85513425e-01 2.61146988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:85.74, Z:26.12 [[ 5.98672342e-01 -7.94622266e-01 -1.00830958e-01 1.95077930e+02] [ 7.82300391e-01 6.07086599e-01 -1.39470282e-01 8.57437208e+01] [ 1.72039315e-01 4.61690297e-03 9.85079265e-01 2.61159633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.10, Y:85.76, Z:26.12 [[ 5.97677432e-01 -7.95199847e-01 -1.02170892e-01 1.95100923e+02] [ 7.82536252e-01 6.06330180e-01 -1.41423927e-01 8.57613708e+01] [ 1.74409580e-01 4.57346239e-03 9.84662573e-01 2.61165161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98710568099997 meters Centerline goodness [0,1] 0.9999791100898267 Centerline is valid? [True, True] Translation: X:195.12, Y:85.78, Z:26.12 [[ 5.96633281e-01 -7.95949948e-01 -1.02432460e-01 1.95120775e+02] [ 7.83212250e-01 6.05346201e-01 -1.41896258e-01 8.57811955e+01] [ 1.74949420e-01 4.43367262e-03 9.84567440e-01 2.61203654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:85.80, Z:26.12 [[ 5.93562006e-01 -7.98264223e-01 -1.02266198e-01 1.95143288e+02] [ 7.85595800e-01 6.02295632e-01 -1.41701132e-01 8.57985665e+01] [ 1.74709428e-01 3.76851309e-03 9.84612824e-01 2.61246954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.17, Y:85.81, Z:26.13 [[ 5.87507670e-01 -8.02761428e-01 -1.02023663e-01 1.95169184e+02] [ 7.90213292e-01 5.96295282e-01 -1.41403291e-01 8.58141538e+01] [ 1.74349337e-01 2.45506345e-03 9.84680802e-01 2.61292719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:85.83, Z:26.13 [[ 5.83775927e-01 -8.05537302e-01 -1.01564374e-01 1.95191455e+02] [ 7.93126371e-01 5.92542679e-01 -1.40867788e-01 8.58317610e+01] [ 1.73655484e-01 1.68184052e-03 9.84805029e-01 2.61334848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.22, Y:85.85, Z:26.14 [[ 5.74255560e-01 -8.12502729e-01 -1.00348730e-01 1.95221055e+02] [ 8.00486937e-01 5.82957263e-01 -1.39217430e-01 8.58451384e+01] [ 1.71613563e-01 -3.81464471e-04 9.85164270e-01 2.61392461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.24, Y:85.86, Z:26.14 [[ 5.69623401e-01 -8.15795801e-01 -1.00031959e-01 1.95242279e+02] [ 8.03889387e-01 5.78338569e-01 -1.38875317e-01 8.58635339e+01] [ 1.71146240e-01 -1.30799989e-03 9.85244768e-01 2.61437745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.26, Y:85.89, Z:26.15 [[ 5.69321599e-01 -8.16009520e-01 -1.00006901e-01 1.95257914e+02] [ 8.04103208e-01 5.78036906e-01 -1.38893359e-01 8.58856776e+01] [ 1.71145983e-01 -1.34088070e-03 9.85244769e-01 2.61483184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.28, Y:85.90, Z:26.15 [[ 5.61342649e-01 -8.21522300e-01 -9.99776992e-02 1.95283485e+02] [ 8.09689484e-01 5.70168777e-01 -1.38962245e-01 8.59022260e+01] [ 1.71164746e-01 -2.94545692e-03 9.85238019e-01 2.61530269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.30, Y:85.92, Z:26.16 [[ 5.58476592e-01 -8.23545161e-01 -9.93844268e-02 1.95302274e+02] [ 8.11868696e-01 5.67239986e-01 -1.38231757e-01 8.59236849e+01] [ 1.70214916e-01 -3.48790428e-03 9.85400790e-01 2.61589275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.32, Y:85.95, Z:26.16 [[ 5.56295731e-01 -8.24919774e-01 -1.00211910e-01 1.95319484e+02] [ 8.13052129e-01 5.65236464e-01 -1.39477510e-01 8.59450023e+01] [ 1.71701182e-01 -3.88676392e-03 9.85141410e-01 2.61621210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28710568099996 meters Centerline goodness [0,1] 0.9999789911552763 Centerline is valid? [True, True] Translation: X:195.33, Y:85.97, Z:26.16 [[ 5.55610687e-01 -8.25298778e-01 -1.00889503e-01 1.95334392e+02] [ 8.13263809e-01 5.64682184e-01 -1.40484906e-01 8.59688091e+01] [ 1.72912526e-01 -3.99486609e-03 9.84929084e-01 2.61646686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.35, Y:85.99, Z:26.16 [[ 5.54822689e-01 -8.25631186e-01 -1.02493554e-01 1.95351585e+02] [ 8.13194039e-01 5.64195267e-01 -1.42825612e-01 8.59906584e+01] [ 1.75747657e-01 -4.10425689e-03 9.84426694e-01 2.61641431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:86.01, Z:26.17 [[ 5.54896963e-01 -8.25659705e-01 -1.01859769e-01 1.95364463e+02] [ 8.13369550e-01 5.64153842e-01 -1.41987385e-01 8.60146969e+01] [ 1.74697842e-01 -4.06126550e-03 9.84613716e-01 2.61714127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.38, Y:86.04, Z:26.18 [[ 5.55392314e-01 -8.25476234e-01 -1.00639774e-01 1.95377759e+02] [ 8.13459127e-01 5.64423452e-01 -1.40393783e-01 8.60385270e+01] [ 1.72695180e-01 -3.89271455e-03 9.84967625e-01 2.61793503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.39, Y:86.07, Z:26.19 [[ 5.57738830e-01 -8.24119925e-01 -9.87610545e-02 1.95387720e+02] [ 8.12511167e-01 5.66405477e-01 -1.37878349e-01 8.60655580e+01] [ 1.69567097e-01 -3.34435049e-03 9.85512970e-01 2.61887479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.40, Y:86.09, Z:26.19 [[ 5.59719387e-01 -8.22835658e-01 -9.82633639e-02 1.95400192e+02] [ 8.11308180e-01 5.68272088e-01 -1.37280265e-01 8.60916777e+01] [ 1.68799424e-01 -2.88344530e-03 9.85646204e-01 2.61940102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:86.12, Z:26.20 [[ 5.66636472e-01 -8.18269313e-01 -9.67390305e-02 1.95407908e+02] [ 8.07016436e-01 5.74833255e-01 -1.35244966e-01 8.61200115e+01] [ 1.66275617e-01 -1.43525705e-03 9.86078272e-01 2.62018128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:86.15, Z:26.21 [[ 5.75659480e-01 -8.12225692e-01 -9.43694217e-02 1.95414035e+02] [ 8.01422947e-01 5.83343196e-01 -1.32030204e-01 8.61485995e+01] [ 1.62288084e-01 3.74618764e-04 9.86743349e-01 2.62105657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.42, Y:86.18, Z:26.22 [[ 5.80446696e-01 -8.08843969e-01 -9.40907346e-02 1.95423998e+02] [ 7.98055606e-01 5.88021802e-01 -1.31672360e-01 8.61768222e+01] [ 1.61829797e-01 1.33914803e-03 9.86817776e-01 2.62154040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.43, Y:86.20, Z:26.22 [[ 5.84775200e-01 -8.05686021e-01 -9.43822103e-02 1.95434479e+02] [ 7.94773886e-01 5.92338453e-01 -1.32172720e-01 8.62042327e+01] [ 1.62395925e-01 2.27881268e-03 9.86723047e-01 2.62178327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:86.23, Z:26.22 [[ 5.92348100e-01 -8.00039740e-01 -9.51847807e-02 1.95443476e+02] [ 7.88861010e-01 5.99934395e-01 -1.33330524e-01 8.62328025e+01] [ 1.63774342e-01 3.89052044e-03 9.86490156e-01 2.62172301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:86.26, Z:26.22 [[ 5.94745231e-01 -7.98200751e-01 -9.56748233e-02 1.95459056e+02] [ 7.86866651e-01 6.02374893e-01 -1.34109512e-01 8.62553295e+01] [ 1.64678425e-01 4.47766505e-03 9.86337147e-01 2.62194702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:86.28, Z:26.22 [[ 5.94332448e-01 -7.98496625e-01 -9.57709766e-02 1.95477472e+02] [ 7.87136626e-01 6.01983023e-01 -1.34284671e-01 8.62759566e+01] [ 1.64878358e-01 4.42489364e-03 9.86303983e-01 2.62234423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.50, Y:86.30, Z:26.23 [[ 5.94239946e-01 -7.98570751e-01 -9.57269192e-02 1.95495628e+02] [ 7.87204595e-01 6.01884379e-01 -1.34328403e-01 8.62967204e+01] [ 1.64887271e-01 4.46663238e-03 9.86302305e-01 2.62280308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.51, Y:86.32, Z:26.23 [[ 5.94012098e-01 -7.98729651e-01 -9.58153034e-02 1.95513273e+02] [ 7.87326512e-01 6.01673306e-01 -1.34559266e-01 8.63169414e+01] [ 1.65125986e-01 4.49190331e-03 9.86262253e-01 2.62318048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:86.34, Z:26.24 [[ 5.94664699e-01 -7.98304146e-01 -9.53120494e-02 1.95533434e+02] [ 7.87006155e-01 6.02236779e-01 -1.33911073e-01 8.63361555e+01] [ 1.64302186e-01 4.62101832e-03 9.86399228e-01 2.62354528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:86.35, Z:26.24 [[ 5.93596576e-01 -7.99063078e-01 -9.56101615e-02 1.95558399e+02] [ 7.87695590e-01 6.01230702e-01 -1.34377458e-01 8.63539985e+01] [ 1.64859830e-01 4.45429638e-03 9.86306948e-01 2.62379361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:86.37, Z:26.24 [[ 5.93033225e-01 -7.99324866e-01 -9.69089878e-02 1.95576736e+02] [ 7.87631538e-01 6.00882271e-01 -1.36297676e-01 8.63738916e+01] [ 1.67177015e-01 4.50047549e-03 9.85916625e-01 2.62392657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:86.39, Z:26.24 [[ 5.90581288e-01 -8.00973921e-01 -9.82574170e-02 1.95602786e+02] [ 7.88955962e-01 5.98684837e-01 -1.38293006e-01 8.63905463e+01] [ 1.69594317e-01 4.15248652e-03 9.85505213e-01 2.62404916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.63, Y:86.41, Z:26.24 [[ 5.86733252e-01 -8.03832345e-01 -9.79676054e-02 1.95627082e+02] [ 7.91908414e-01 5.94846330e-01 -1.37981547e-01 8.64067128e+01] [ 1.69189701e-01 3.37699100e-03 9.85577719e-01 2.62441552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:86.42, Z:26.25 [[ 5.83521440e-01 -8.06176724e-01 -9.78867628e-02 1.95649380e+02] [ 7.94298527e-01 5.91668565e-01 -1.37906339e-01 8.64244861e+01] [ 1.69093401e-01 2.71999385e-03 9.85596278e-01 2.62494695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.67, Y:86.44, Z:26.26 [[ 5.78885979e-01 -8.09543119e-01 -9.76266420e-02 1.95674334e+02] [ 7.97769903e-01 5.87057796e-01 -1.37572984e-01 8.64413319e+01] [ 1.68683744e-01 1.75547490e-03 9.85668663e-01 2.62551503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.70, Y:86.45, Z:26.26 [[ 5.67963439e-01 -8.17179564e-01 -9.81585099e-02 1.95704975e+02] [ 8.05371120e-01 5.76383007e-01 -1.38419611e-01 8.64545832e+01] [ 1.69690574e-01 -4.36750796e-04 9.85497295e-01 2.62591928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:86.47, Z:26.26 [[ 5.61922937e-01 -8.21308215e-01 -9.84653718e-02 1.95727998e+02] [ 8.09469670e-01 5.70482413e-01 -1.38955636e-01 8.64726928e+01] [ 1.70298168e-01 -1.62237315e-03 9.85391243e-01 2.62639599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00710568099996 meters Centerline goodness [0,1] 0.9999791488563148 Centerline is valid? [True, True] Translation: X:195.75, Y:86.49, Z:26.27 [[ 5.54509404e-01 -8.26434920e-01 -9.75942849e-02 1.95754682e+02] [ 8.14866846e-01 5.63023724e-01 -1.37827102e-01 8.64863610e+01] [ 1.68853027e-01 -3.09992319e-03 9.85636366e-01 2.62716953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:86.51, Z:26.28 [[ 5.52679436e-01 -8.27656103e-01 -9.76258939e-02 1.95773173e+02] [ 8.16091619e-01 5.61224987e-01 -1.37916585e-01 8.65079059e+01] [ 1.68937594e-01 -3.44801339e-03 9.85620718e-01 2.62778630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.79, Y:86.53, Z:26.28 [[ 5.53349401e-01 -8.27165334e-01 -9.79895452e-02 1.95787539e+02] [ 8.15489094e-01 5.61949218e-01 -1.38530195e-01 8.65322112e+01] [ 1.69652523e-01 -3.25380518e-03 9.85498571e-01 2.62808156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.80, Y:86.56, Z:26.28 [[ 5.59042171e-01 -8.23274540e-01 -9.84422814e-02 1.95797318e+02] [ 8.11409494e-01 5.67639836e-01 -1.39282627e-01 8.65609862e+01] [ 1.70547601e-01 -2.01213961e-03 9.85347384e-01 2.62847173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:86.59, Z:26.29 [[ 5.63317808e-01 -8.20311138e-01 -9.88062933e-02 1.95809199e+02] [ 8.08295458e-01 5.71916525e-01 -1.39892604e-01 8.65860852e+01] [ 1.71264413e-01 -1.06068302e-03 9.85224531e-01 2.62883298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.82, Y:86.62, Z:26.29 [[ 5.73766433e-01 -8.13086593e-01 -9.83985445e-02 1.95815029e+02] [ 8.01056522e-01 5.82141655e-01 -1.39354016e-01 8.66157115e+01] [ 1.70588773e-01 1.13386064e-03 9.85341659e-01 2.62939979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:86.64, Z:26.30 [[ 5.79676529e-01 -8.08965876e-01 -9.77206897e-02 1.95825054e+02] [ 7.97023907e-01 5.87850688e-01 -1.38507977e-01 8.66416698e+01] [ 1.69493401e-01 2.40409727e-03 9.85528390e-01 2.62994357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:86.67, Z:26.31 [[ 5.89643229e-01 -8.01857544e-01 -9.66713129e-02 1.95833637e+02] [ 7.90063870e-01 5.97498614e-01 -1.37092990e-01 8.66703548e+01] [ 1.67690024e-01 4.45944180e-03 9.85829686e-01 2.63060968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:86.70, Z:26.31 [[ 5.95404356e-01 -7.97552020e-01 -9.69764362e-02 1.95845699e+02] [ 7.85609831e-01 6.03222730e-01 -1.37620973e-01 8.66955399e+01] [ 1.68258276e-01 5.75448522e-03 9.85726148e-01 2.63104707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.86, Y:86.72, Z:26.32 [[ 5.97025859e-01 -7.96386756e-01 -9.65829117e-02 1.95861493e+02] [ 7.84520369e-01 6.04757101e-01 -1.37100834e-01 8.67182177e+01] [ 1.67594490e-01 6.08148175e-03 9.85837260e-01 2.63158773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.88, Y:86.74, Z:26.32 [[ 5.97917010e-01 -7.95850804e-01 -9.54816573e-02 1.95879195e+02] [ 7.84236638e-01 6.05460999e-01 -1.35609269e-01 8.67397028e+01] [ 1.65735165e-01 6.20287459e-03 9.86150789e-01 2.63221672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:86.76, Z:26.33 [[ 5.98519500e-01 -7.95391174e-01 -9.55368455e-02 1.95897377e+02] [ 7.83741729e-01 6.06062719e-01 -1.35782483e-01 8.67607726e+01] [ 1.65901509e-01 6.39225141e-03 9.86121609e-01 2.63258043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.92, Y:86.78, Z:26.33 [[ 5.98088828e-01 -7.95661972e-01 -9.59780256e-02 1.95916239e+02] [ 7.83898337e-01 6.05707293e-01 -1.36462714e-01 8.67817782e+01] [ 1.66712782e-01 6.37981000e-03 9.85984861e-01 2.63287012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.94, Y:86.80, Z:26.33 [[ 5.98741954e-01 -7.95139802e-01 -9.62328829e-02 1.95938311e+02] [ 7.83288102e-01 6.06390145e-01 -1.36933344e-01 8.68009134e+01] [ 1.67235824e-01 6.60966572e-03 9.85894767e-01 2.63336251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:86.82, Z:26.34 [[ 5.99758970e-01 -7.94401847e-01 -9.59941845e-02 1.95962022e+02] [ 7.82584038e-01 6.07353850e-01 -1.36687690e-01 8.68186863e+01] [ 1.66887391e-01 6.85615157e-03 9.85952125e-01 2.63404248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:86.84, Z:26.35 [[ 6.00238379e-01 -7.94017113e-01 -9.61806251e-02 1.95980015e+02] [ 7.82132175e-01 6.07854697e-01 -1.37047177e-01 8.68388379e+01] [ 1.67281649e-01 7.03501382e-03 9.85884049e-01 2.63457638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.00, Y:86.86, Z:26.35 [[ 6.01527462e-01 -7.93081108e-01 -9.58491976e-02 1.95999593e+02] [ 7.81255863e-01 6.09072184e-01 -1.36639495e-01 8.68596220e+01] [ 1.66745282e-01 7.30966076e-03 9.85972910e-01 2.63499259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.02, Y:86.88, Z:26.35 [[ 6.02686018e-01 -7.92181064e-01 -9.60141951e-02 1.96017683e+02] [ 7.80287857e-01 6.10238442e-01 -1.36966797e-01 8.68812641e+01] [ 1.67094056e-01 7.62926283e-03 9.85911442e-01 2.63537702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54710568099998 meters Centerline goodness [0,1] 0.9998949359109056 Centerline is valid? [True, True] Translation: X:196.04, Y:86.90, Z:26.36 [[ 6.04999206e-01 -7.90384047e-01 -9.62757404e-02 1.96042961e+02] [ 7.78389992e-01 6.12556835e-01 -1.37415955e-01 8.68984634e+01] [ 1.67585741e-01 8.19647080e-03 9.85823431e-01 2.63582317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57710568099998 meters Centerline goodness [0,1] 0.9999579823105528 Centerline is valid? [True, True] Translation: X:196.07, Y:86.92, Z:26.36 [[ 6.06033451e-01 -7.89504865e-01 -9.69820885e-02 1.96067217e+02] [ 7.77305123e-01 6.13684556e-01 -1.38520799e-01 8.69157432e+01] [ 1.68879254e-01 8.56356346e-03 9.85599545e-01 2.63626311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60710568099998 meters Centerline goodness [0,1] 0.9998110950192053 Centerline is valid? [True, True] Translation: X:196.09, Y:86.94, Z:26.37 [[ 6.05432553e-01 -7.89927298e-01 -9.72948477e-02 1.96088372e+02] [ 7.77643458e-01 6.13141453e-01 -1.39025934e-01 8.69350214e+01] [ 1.69475884e-01 8.51012406e-03 9.85497591e-01 2.63664214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63710568099998 meters Centerline goodness [0,1] 0.9996646897332188 Centerline is valid? [True, True] Translation: X:196.12, Y:86.95, Z:26.37 [[ 6.03101866e-01 -7.91605651e-01 -9.81255963e-02 1.96115521e+02] [ 7.79111756e-01 6.10977563e-01 -1.40325650e-01 8.69501411e+01] [ 1.71035116e-01 8.17985586e-03 9.85230978e-01 2.63681796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66710568099998 meters Centerline goodness [0,1] 0.9997895755739327 Centerline is valid? [True, True] Translation: X:196.13, Y:86.97, Z:26.37 [[ 6.01582044e-01 -7.92754168e-01 -9.81828574e-02 1.96134313e+02] [ 7.80243023e-01 6.09490021e-01 -1.40508860e-01 8.69707502e+01] [ 1.71230456e-01 7.92111755e-03 9.85199161e-01 2.63724385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69710568099995 meters Centerline goodness [0,1] 0.999245077274729 Centerline is valid? [True, True] Translation: X:196.17, Y:86.98, Z:26.38 [[ 6.00195428e-01 -7.93892913e-01 -9.74653278e-02 1.96165729e+02] [ 7.81574139e-01 6.08010585e-01 -1.39516998e-01 8.69832998e+01] [ 1.70021507e-01 7.56108460e-03 9.85411344e-01 2.63790785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72710568099995 meters Centerline goodness [0,1] 0.9991174987392839 Centerline is valid? [True, True] Translation: X:196.19, Y:87.00, Z:26.39 [[ 6.03044788e-01 -7.91864524e-01 -9.63719838e-02 1.96185729e+02] [ 7.79781025e-01 6.10643094e-01 -1.38045518e-01 8.70017207e+01] [ 1.68162234e-01 8.09858558e-03 9.85726065e-01 2.63861644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75710568099996 meters Centerline goodness [0,1] 0.9990826644428229 Centerline is valid? [True, True] Translation: X:196.20, Y:87.02, Z:26.39 [[ 6.05423391e-01 -7.90036712e-01 -9.64598969e-02 1.96202871e+02] [ 7.77901069e-01 6.12998641e-01 -1.38212128e-01 8.70241350e+01] [ 1.68322441e-01 8.64059815e-03 9.85694119e-01 2.63911569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78710568099996 meters Centerline goodness [0,1] 0.9980985812490859 Centerline is valid? [True, True] Translation: X:196.22, Y:87.04, Z:26.40 [[ 6.11084209e-01 -7.85678764e-01 -9.63585503e-02 1.96224278e+02] [ 7.73505772e-01 6.18555958e-01 -1.38120772e-01 8.70433521e+01] [ 1.68121713e-01 9.86952797e-03 9.85716837e-01 2.63964033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81710568099996 meters Centerline goodness [0,1] 0.9986813738828306 Centerline is valid? [True, True] Translation: X:196.24, Y:87.06, Z:26.40 [[ 6.12724349e-01 -7.84340979e-01 -9.68405960e-02 1.96243480e+02] [ 7.72018692e-01 6.20243995e-01 -1.38868734e-01 8.70647147e+01] [ 1.68985237e-01 1.03255043e-02 9.85564495e-01 2.64008950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84710568099996 meters Centerline goodness [0,1] 0.9982060161041345 Centerline is valid? [True, True] Translation: X:196.26, Y:87.08, Z:26.40 [[ 6.13055129e-01 -7.84064532e-01 -9.69856587e-02 1.96263739e+02] [ 7.71685561e-01 6.20590888e-01 -1.39170201e-01 8.70845153e+01] [ 1.69306835e-01 1.04765732e-02 9.85507705e-01 2.64047057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87710568099996 meters Centerline goodness [0,1] 0.9979292168674698 Centerline is valid? [True, True] Translation: X:196.28, Y:87.11, Z:26.41 [[ 6.12186054e-01 -7.84784816e-01 -9.66489955e-02 1.96283390e+02] [ 7.72491772e-01 6.19683156e-01 -1.38741662e-01 8.71055209e+01] [ 1.68774104e-01 1.02751569e-02 9.85601199e-01 2.64092145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90710568099996 meters Centerline goodness [0,1] 0.9982625078501152 Centerline is valid? [True, True] Translation: X:196.31, Y:87.12, Z:26.41 [[ 6.10652448e-01 -7.86040513e-01 -9.61452055e-02 1.96308441e+02] [ 7.73876386e-01 6.18095207e-01 -1.38107398e-01 8.71220232e+01] [ 1.67984901e-01 9.93111676e-03 9.85739543e-01 2.64135006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93710568099996 meters Centerline goodness [0,1] 0.9983734072946426 Centerline is valid? [True, True] Translation: X:196.33, Y:87.14, Z:26.42 [[ 6.09768626e-01 -7.86764167e-01 -9.58351104e-02 1.96330596e+02] [ 7.74671459e-01 6.17176550e-01 -1.37757891e-01 8.71411589e+01] [ 1.67530155e-01 9.75971509e-03 9.85818642e-01 2.64191448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96710568099996 meters Centerline goodness [0,1] 0.9982662098930482 Centerline is valid? [True, True] Translation: X:196.35, Y:87.16, Z:26.42 [[ 6.08674327e-01 -7.87577070e-01 -9.61141112e-02 1.96354024e+02] [ 7.75407646e-01 6.16141037e-01 -1.38250520e-01 8.71587169e+01] [ 1.68102788e-01 9.62192555e-03 9.85722512e-01 2.64248023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99710568099997 meters Centerline goodness [0,1] 0.9991418824169614 Centerline is valid? [True, True] Translation: X:196.38, Y:87.18, Z:26.43 [[ 6.08584888e-01 -7.87523576e-01 -9.71136013e-02 1.96378359e+02] [ 7.75081167e-01 6.16206646e-01 -1.39780376e-01 8.71769609e+01] [ 1.69922388e-01 9.79730132e-03 9.85408745e-01 2.64280830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02710568099997 meters Centerline goodness [0,1] 0.9987631545847134 Centerline is valid? [True, True] Translation: X:196.40, Y:87.20, Z:26.43 [[ 6.09091734e-01 -7.87165234e-01 -9.68408627e-02 1.96399150e+02] [ 7.74772990e-01 6.16662282e-01 -1.39479188e-01 8.71972246e+01] [ 1.69511275e-01 9.92593558e-03 9.85478261e-01 2.64326733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05710568099997 meters Centerline goodness [0,1] 0.9987631545847134 Centerline is valid? [True, True] Translation: X:196.41, Y:87.22, Z:26.44 [[ 6.08808518e-01 -7.87389806e-01 -9.67960825e-02 1.96414496e+02] [ 7.74995466e-01 6.16375629e-01 -1.39510258e-01 8.72197075e+01] [ 1.69511701e-01 9.91850835e-03 9.85478263e-01 2.64372263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08710568099997 meters Centerline goodness [0,1] 0.9983965348493368 Centerline is valid? [True, True] Translation: X:196.43, Y:87.24, Z:26.44 [[ 6.09471538e-01 -7.86779206e-01 -9.75854804e-02 1.96429418e+02] [ 7.74153520e-01 6.17149568e-01 -1.40757731e-01 8.72432970e+01] [ 1.70970093e-01 1.02416876e-02 9.85222988e-01 2.64389635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11710568099997 meters Centerline goodness [0,1] 0.9987027117509206 Centerline is valid? [True, True] Translation: X:196.45, Y:87.26, Z:26.44 [[ 6.08958092e-01 -7.87103410e-01 -9.81746596e-02 1.96452358e+02] [ 7.74313078e-01 6.16735622e-01 -1.41691318e-01 8.72611588e+01] [ 1.72073530e-01 1.02661520e-02 9.85030612e-01 2.64430081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14710568099997 meters Centerline goodness [0,1] 0.9989102644704304 Centerline is valid? [True, True] Translation: X:196.48, Y:87.28, Z:26.45 [[ 6.05771458e-01 -7.89565744e-01 -9.81166513e-02 1.96476472e+02] [ 7.76803696e-01 6.13590436e-01 -1.41713781e-01 8.72764386e+01] [ 1.72095786e-01 9.62878660e-03 9.85033160e-01 2.64494732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17710568099997 meters Centerline goodness [0,1] 0.9989941535173195 Centerline is valid? [True, True] Translation: X:196.50, Y:87.30, Z:26.46 [[ 6.02742041e-01 -7.91944400e-01 -9.76017382e-02 1.96497602e+02] [ 7.79339154e-01 6.10527862e-01 -1.41018485e-01 8.72955389e+01] [ 1.71267380e-01 8.93291346e-03 9.85184088e-01 2.64554164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20710568099997 meters Centerline goodness [0,1] 0.9993494774835271 Centerline is valid? [True, True] Translation: X:196.52, Y:87.31, Z:26.46 [[ 5.94854771e-01 -7.98096919e-01 -9.58598425e-02 1.96524317e+02] [ 7.86002504e-01 6.02487271e-01 -1.38597084e-01 8.73086568e+01] [ 1.68368240e-01 7.09906034e-03 9.85698605e-01 2.64637746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23710568099997 meters Centerline goodness [0,1] 0.9990382202893703 Centerline is valid? [True, True] Translation: X:196.55, Y:87.33, Z:26.47 [[ 5.89887595e-01 -8.01947339e-01 -9.44091695e-02 1.96547371e+02] [ 7.90259819e-01 5.97365223e-01 -1.36543800e-01 8.73264470e+01] [ 1.65897692e-01 5.93772062e-03 9.86125093e-01 2.64707936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26710568099998 meters Centerline goodness [0,1] 0.9994129240575335 Centerline is valid? [True, True] Translation: X:196.58, Y:87.34, Z:26.48 [[ 5.78862036e-01 -8.10101630e-01 -9.30273796e-02 1.96575120e+02] [ 7.98842529e-01 5.86278271e-01 -1.34641757e-01 8.73390232e+01] [ 1.63613438e-01 3.62477422e-03 9.86517868e-01 2.64799339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29710568099998 meters Centerline goodness [0,1] 0.9993494228751312 Centerline is valid? [True, True] Translation: X:196.60, Y:87.35, Z:26.48 [[ 5.67832618e-01 -8.17767884e-01 -9.39244684e-02 1.96603011e+02] [ 8.06377030e-01 5.75546207e-01 -1.36024440e-01 8.73533518e+01] [ 1.65294290e-01 1.50057995e-03 9.86243148e-01 2.64840498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32710568099998 meters Centerline goodness [0,1] 0.9997486121294648 Centerline is valid? [True, True] Translation: X:196.62, Y:87.37, Z:26.49 [[ 5.62828885e-01 -8.21188234e-01 -9.41994226e-02 1.96623860e+02] [ 8.09758711e-01 5.70657134e-01 -1.36533018e-01 8.73730723e+01] [ 1.65874881e-01 5.65923473e-04 9.86146644e-01 2.64902083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35710568099998 meters Centerline goodness [0,1] 0.9997690143211121 Centerline is valid? [True, True] Translation: X:196.64, Y:87.39, Z:26.50 [[ 5.55678260e-01 -8.26136675e-01 -9.33802194e-02 1.96644675e+02] [ 8.14958115e-01 5.63469161e-01 -1.35446576e-01 8.73911658e+01] [ 1.64514258e-01 -8.36249635e-04 9.86374351e-01 2.64992438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38710568099998 meters Centerline goodness [0,1] 0.9999374856738003 Centerline is valid? [True, True] Translation: X:196.66, Y:87.42, Z:26.50 [[ 5.50907176e-01 -8.29461733e-01 -9.21657000e-02 1.96658904e+02] [ 8.18602844e-01 5.58560827e-01 -1.33787843e-01 8.74157409e+01] [ 1.62452046e-01 -1.74242128e-03 9.86714901e-01 2.65035978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41710568099998 meters Centerline goodness [0,1] 0.9996846884722106 Centerline is valid? [True, True] Translation: X:196.67, Y:87.44, Z:26.51 [[ 5.48684383e-01 -8.30940033e-01 -9.21092280e-02 1.96672970e+02] [ 8.20098922e-01 5.56357940e-01 -1.33804336e-01 8.74399517e+01] [ 1.62429080e-01 -2.12232893e-03 9.86717938e-01 2.65080643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44710568099995 meters Centerline goodness [0,1] 0.9998327829104134 Centerline is valid? [True, True] Translation: X:196.69, Y:87.46, Z:26.51 [[ 5.45895893e-01 -8.32751692e-01 -9.23162743e-02 1.96685797e+02] [ 8.21869915e-01 5.53640514e-01 -1.34208879e-01 8.74638721e+01] [ 1.62872700e-01 -2.60789288e-03 9.86643645e-01 2.65132633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47710568099995 meters Centerline goodness [0,1] 0.9997078098259381 Centerline is valid? [True, True] Translation: X:196.70, Y:87.49, Z:26.52 [[ 5.45275298e-01 -8.33112282e-01 -9.27295824e-02 1.96698672e+02] [ 8.22126186e-01 5.53097359e-01 -1.34877150e-01 8.74885307e+01] [ 1.63656297e-01 -2.69023992e-03 9.86513750e-01 2.65179691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50710568099996 meters Centerline goodness [0,1] 0.9997283290144613 Centerline is valid? [True, True] Translation: X:196.71, Y:87.52, Z:26.52 [[ 5.46266272e-01 -8.32363703e-01 -9.36153106e-02 1.96705103e+02] [ 8.21136061e-01 5.54224474e-01 -1.36274730e-01 8.75172170e+01] [ 1.65314035e-01 -2.42861865e-03 9.86237989e-01 2.65217208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53710568099996 meters Centerline goodness [0,1] 0.9996636818430235 Centerline is valid? [True, True] Translation: X:196.71, Y:87.54, Z:26.53 [[ 5.48015749e-01 -8.31187269e-01 -9.38427573e-02 1.96714450e+02] [ 8.19869325e-01 5.55988897e-01 -1.36713701e-01 8.75447059e+01] [ 1.65810219e-01 -2.01753679e-03 9.86155617e-01 2.65254978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56710568099996 meters Centerline goodness [0,1] 0.9995592032073214 Centerline is valid? [True, True] Translation: X:196.72, Y:87.58, Z:26.53 [[ 5.53310249e-01 -8.27652563e-01 -9.40159708e-02 1.96716721e+02] [ 8.16223455e-01 5.61240086e-01 -1.37072380e-01 8.75770589e+01] [ 1.66213838e-01 -8.94487756e-04 9.86089327e-01 2.65291863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59710568099996 meters Centerline goodness [0,1] 0.9995385131733512 Centerline is valid? [True, True] Translation: X:196.72, Y:87.61, Z:26.53 [[ 5.60040598e-01 -8.22935654e-01 -9.55585602e-02 1.96717778e+02] [ 8.11038720e-01 5.68134289e-01 -1.39426050e-01 8.76104235e+01] [ 1.69028763e-01 5.82556327e-04 9.85610947e-01 2.65317914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62710568099996 meters Centerline goodness [0,1] 0.9995386389850057 Centerline is valid? [True, True] Translation: X:196.72, Y:87.64, Z:26.53 [[ 5.64451349e-01 -8.19794259e-01 -9.66025224e-02 1.96724125e+02] [ 8.07568818e-01 5.72655906e-01 -1.41059625e-01 8.76389922e+01] [ 1.70959876e-01 1.60811073e-03 9.85276679e-01 2.65346982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65710568099996 meters Centerline goodness [0,1] 0.9992241560075488 Centerline is valid? [True, True] Translation: X:196.72, Y:87.67, Z:26.54 [[ 5.74381596e-01 -8.12787353e-01 -9.72753914e-02 1.96721357e+02] [ 8.00275952e-01 5.82548224e-01 -1.42112517e-01 8.76741227e+01] [ 1.72174863e-01 3.77965796e-03 9.85059151e-01 2.65375446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68710568099996 meters Centerline goodness [0,1] 0.9992639791390658 Centerline is valid? [True, True] Translation: X:196.73, Y:87.70, Z:26.54 [[ 5.78631979e-01 -8.09742533e-01 -9.74785209e-02 1.96728814e+02] [ 7.97115696e-01 5.86765983e-01 -1.42521046e-01 8.77022097e+01] [ 1.72602433e-01 4.76557598e-03 9.84980045e-01 2.65420255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71710568099996 meters Centerline goodness [0,1] 0.9993060374739764 Centerline is valid? [True, True] Translation: X:196.73, Y:87.73, Z:26.55 [[ 5.84232665e-01 -8.05671416e-01 -9.78047125e-02 1.96731094e+02] [ 7.92883080e-01 5.92331702e-01 -1.43106871e-01 8.77327148e+01] [ 1.73229947e-01 6.06000706e-03 9.84862763e-01 2.65451684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74710568099997 meters Centerline goodness [0,1] 0.9989332775569965 Centerline is valid? [True, True] Translation: X:196.75, Y:87.76, Z:26.55 [[ 5.84675929e-01 -8.05344502e-01 -9.78483072e-02 1.96746374e+02] [ 7.92523863e-01 5.92774496e-01 -1.43263129e-01 8.77570516e+01] [ 1.73378155e-01 6.21538492e-03 9.84835714e-01 2.65502683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77710568099997 meters Centerline goodness [0,1] 0.9992080363469634 Centerline is valid? [True, True] Translation: X:196.76, Y:87.78, Z:26.55 [[ 5.82960046e-01 -8.06552941e-01 -9.81322501e-02 1.96759951e+02] [ 7.93656719e-01 5.91132094e-01 -1.43777119e-01 8.77817001e+01] [ 1.73972981e-01 5.93299626e-03 9.84732553e-01 2.65535721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80710568099997 meters Centerline goodness [0,1] 0.9993698273326892 Centerline is valid? [True, True] Translation: X:196.78, Y:87.80, Z:26.56 [[ 5.77911797e-01 -8.10154548e-01 -9.83237701e-02 1.96776619e+02] [ 7.97251616e-01 5.86195980e-01 -1.44097656e-01 8.78029060e+01] [ 1.74378370e-01 4.88695097e-03 9.84666594e-01 2.65579591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83710568099997 meters Centerline goodness [0,1] 0.9992280408929689 Centerline is valid? [True, True] Translation: X:196.80, Y:87.82, Z:26.56 [[ 5.75303328e-01 -8.11990682e-01 -9.84744347e-02 1.96795026e+02] [ 7.99054723e-01 5.83653781e-01 -1.44429270e-01 8.78243222e+01] [ 1.74750197e-01 4.40417741e-03 9.84602951e-01 2.65624645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86710568099997 meters Centerline goodness [0,1] 0.9993684077559527 Centerline is valid? [True, True] Translation: X:196.81, Y:87.85, Z:26.57 [[ 5.72877340e-01 -8.13601584e-01 -9.93177473e-02 1.96812735e+02] [ 8.00445636e-01 5.81408943e-01 -1.45775257e-01 8.78464158e+01] [ 1.76347207e-01 4.01288429e-03 9.84319846e-01 2.65676072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89710568099997 meters Centerline goodness [0,1] 0.9988468392913303 Centerline is valid? [True, True] Translation: X:196.83, Y:87.87, Z:26.57 [[ 5.74342960e-01 -8.12430646e-01 -1.00432120e-01 1.96828266e+02] [ 7.98937296e-01 5.83040556e-01 -1.47522566e-01 8.78700116e+01] [ 1.78407853e-01 4.48958132e-03 9.83946382e-01 2.65720350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92710568099997 meters Centerline goodness [0,1] 0.9990969042718528 Centerline is valid? [True, True] Translation: X:196.84, Y:87.89, Z:26.58 [[ 5.75067129e-01 -8.11868337e-01 -1.00834523e-01 1.96842667e+02] [ 7.98237717e-01 5.83821268e-01 -1.48220356e-01 8.78939778e+01] [ 1.79204753e-01 4.74673530e-03 9.83800348e-01 2.65768517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95710568099997 meters Centerline goodness [0,1] 0.9990397461589846 Centerline is valid? [True, True] Translation: X:196.85, Y:87.92, Z:26.58 [[ 5.75608855e-01 -8.11512512e-01 -1.00607601e-01 1.96854043e+02] [ 7.97926882e-01 5.84314636e-01 -1.47949643e-01 8.79187651e+01] [ 1.78849480e-01 4.88361506e-03 9.83864327e-01 2.65808481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98710568099997 meters Centerline goodness [0,1] 0.9987168160208675 Centerline is valid? [True, True] Translation: X:196.87, Y:87.94, Z:26.59 [[ 5.75525999e-01 -8.11647566e-01 -9.99902645e-02 1.96869232e+02] [ 7.98212616e-01 5.84127110e-01 -1.47146658e-01 8.79422090e+01] [ 1.77838251e-01 4.87323673e-03 9.84047666e-01 2.65866217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01710568099998 meters Centerline goodness [0,1] 0.9991436567943524 Centerline is valid? [True, True] Translation: X:196.89, Y:87.96, Z:26.59 [[ 5.72076744e-01 -8.14069501e-01 -1.00095183e-01 1.96886817e+02] [ 8.00621526e-01 5.80752307e-01 -1.47417535e-01 8.79630836e+01] [ 1.78138628e-01 4.19578568e-03 9.83996456e-01 2.65913643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04710568099998 meters Centerline goodness [0,1] 0.9989071267943086 Centerline is valid? [True, True] Translation: X:196.91, Y:87.98, Z:26.60 [[ 5.69562834e-01 -8.15772348e-01 -1.00566672e-01 1.96907831e+02] [ 8.02201940e-01 5.78360981e-01 -1.48224908e-01 8.79829115e+01] [ 1.79081620e-01 3.74861867e-03 9.83827079e-01 2.65974036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07710568099998 meters Centerline goodness [0,1] 0.9986962464514773 Centerline is valid? [True, True] Translation: X:196.93, Y:88.00, Z:26.60 [[ 5.65356704e-01 -8.18626843e-01 -1.01103363e-01 1.96927614e+02] [ 8.04935456e-01 5.74318321e-01 -1.49122021e-01 8.80041446e+01] [ 1.80140803e-01 2.92545287e-03 9.83636484e-01 2.66037383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10710568099998 meters Centerline goodness [0,1] 0.9988424951595252 Centerline is valid? [True, True] Translation: X:196.94, Y:88.03, Z:26.61 [[ 5.65036348e-01 -8.18878319e-01 -1.00857443e-01 1.96941585e+02] [ 8.05239567e-01 5.73959847e-01 -1.48860116e-01 8.80274532e+01] [ 1.79786445e-01 2.89697258e-03 9.83701399e-01 2.66093672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13710568099998 meters Centerline goodness [0,1] 0.9990122730329523 Centerline is valid? [True, True] Translation: X:196.95, Y:88.05, Z:26.62 [[ 5.66581417e-01 -8.17888710e-01 -1.00217543e-01 1.96951953e+02] [ 8.04386543e-01 5.75367207e-01 -1.48036706e-01 8.80541246e+01] [ 1.78739438e-01 3.26120364e-03 9.83891040e-01 2.66156435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16710568099998 meters Centerline goodness [0,1] 0.9989936895951698 Centerline is valid? [True, True] Translation: X:196.96, Y:88.08, Z:26.62 [[ 5.68839917e-01 -8.16287501e-01 -1.00478180e-01 1.96961631e+02] [ 8.02668793e-01 5.77633060e-01 -1.48535712e-01 8.80812076e+01] [ 1.79287363e-01 3.84234268e-03 9.83789245e-01 2.66187575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19710568099995 meters Centerline goodness [0,1] 0.9987180026060275 Centerline is valid? [True, True] Translation: X:196.97, Y:88.11, Z:26.63 [[ 5.75433327e-01 -8.11676419e-01 -1.00288964e-01 1.96971883e+02] [ 7.98024983e-01 5.84083086e-01 -1.48334336e-01 8.81077155e+01] [ 1.78976570e-01 5.32342218e-03 9.83838934e-01 2.66283537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22710568099995 meters Centerline goodness [0,1] 0.9988477814555663 Centerline is valid? [True, True] Translation: X:196.98, Y:88.14, Z:26.63 [[ 5.78644102e-01 -8.09430982e-01 -9.99624329e-02 1.96979087e+02] [ 7.95816661e-01 5.87183730e-01 -1.47956444e-01 8.81358507e+01] [ 1.78456844e-01 6.06235390e-03 9.83929064e-01 2.66328848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25710568099996 meters Centerline goodness [0,1] 0.9987425074401644 Centerline is valid? [True, True] Translation: X:196.99, Y:88.16, Z:26.64 [[ 5.83817499e-01 -8.05823879e-01 -9.90202218e-02 1.96991127e+02] [ 7.92396795e-01 5.92111961e-01 -1.46665419e-01 8.81607807e+01] [ 1.76817554e-01 7.16253159e-03 9.84217583e-01 2.66423758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28710568099996 meters Centerline goodness [0,1] 0.9988050564977673 Centerline is valid? [True, True] Translation: X:197.00, Y:88.19, Z:26.65 [[ 5.86268777e-01 -8.04009208e-01 -9.92880397e-02 1.96998558e+02] [ 7.90463019e-01 5.94565693e-01 -1.47172864e-01 8.81892323e+01] [ 1.77361600e-01 7.79933105e-03 9.84114848e-01 2.66450133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31710568099996 meters Centerline goodness [0,1] 0.9991207318860301 Centerline is valid? [True, True] Translation: X:197.02, Y:88.21, Z:26.65 [[ 5.85620085e-01 -8.04442162e-01 -9.96088584e-02 1.97016802e+02] [ 7.90793720e-01 5.93980287e-01 -1.47758962e-01 8.82106955e+01] [ 1.78029237e-01 7.76055617e-03 9.83994596e-01 2.66482274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34710568099996 meters Centerline goodness [0,1] 0.9988681143623711 Centerline is valid? [True, True] Translation: X:197.03, Y:88.23, Z:26.65 [[ 5.84610768e-01 -8.05124123e-01 -1.00026977e-01 1.97030377e+02] [ 7.91347861e-01 5.93056910e-01 -1.48499378e-01 8.82345171e+01] [ 1.78882121e-01 7.65820142e-03 9.83840708e-01 2.66504970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37710568099996 meters Centerline goodness [0,1] 0.9982988196748855 Centerline is valid? [True, True] Translation: X:197.05, Y:88.25, Z:26.66 [[ 5.82528599e-01 -8.06543271e-01 -1.00739190e-01 1.97054774e+02] [ 7.92571012e-01 5.91129540e-01 -1.49656470e-01 8.82525447e+01] [ 1.80254330e-01 7.33621222e-03 9.83592678e-01 2.66556790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40710568099996 meters Centerline goodness [0,1] 0.9985590778097982 Centerline is valid? [True, True] Translation: X:197.07, Y:88.28, Z:26.66 [[ 5.82174955e-01 -8.06799531e-01 -1.00731514e-01 1.97066577e+02] [ 7.92813877e-01 5.90779942e-01 -1.49750514e-01 8.82767899e+01] [ 1.80328803e-01 7.31965637e-03 9.83579151e-01 2.66573205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43710568099996 meters Centerline goodness [0,1] 0.9982391044588391 Centerline is valid? [True, True] Translation: X:197.09, Y:88.30, Z:26.66 [[ 5.83369877e-01 -8.05911928e-01 -1.00923488e-01 1.97086484e+02] [ 7.91839481e-01 5.91985702e-01 -1.50143815e-01 8.82981314e+01] [ 1.80747953e-01 7.67417670e-03 9.83499509e-01 2.66619972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46710568099996 meters Centerline goodness [0,1] 0.9985346451747958 Centerline is valid? [True, True] Translation: X:197.10, Y:88.32, Z:26.67 [[ 5.84186385e-01 -8.05308096e-01 -1.01020485e-01 1.97103413e+02] [ 7.91180307e-01 5.92803476e-01 -1.50392021e-01 8.83214420e+01] [ 1.80997207e-01 7.93155306e-03 9.83451626e-01 2.66661316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49710568099997 meters Centerline goodness [0,1] 0.9984031600621928 Centerline is valid? [True, True] Translation: X:197.12, Y:88.34, Z:26.67 [[ 5.86712637e-01 -8.03306765e-01 -1.02306027e-01 1.97124083e+02] [ 7.88764621e-01 5.95501575e-01 -1.52408161e-01 8.83418852e+01] [ 1.83353907e-01 8.72441997e-03 9.83008255e-01 2.66696906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52710568099997 meters Centerline goodness [0,1] 0.9987422965664696 Centerline is valid? [True, True] Translation: X:197.14, Y:88.36, Z:26.67 [[ 5.87734882e-01 -8.02479731e-01 -1.02927111e-01 1.97140057e+02] [ 7.87734176e-01 5.96610314e-01 -1.53398178e-01 8.83638922e+01] [ 1.84506304e-01 9.07825670e-03 9.82789402e-01 2.66725495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55710568099997 meters Centerline goodness [0,1] 0.9983208798589539 Centerline is valid? [True, True] Translation: X:197.16, Y:88.39, Z:26.67 [[ 5.88306515e-01 -8.01900481e-01 -1.04168432e-01 1.97160070e+02] [ 7.86774311e-01 5.97383538e-01 -1.55303224e-01 8.83853327e+01] [ 1.86766237e-01 9.40885211e-03 9.82359326e-01 2.66737876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58710568099997 meters Centerline goodness [0,1] 0.997367146197106 Centerline is valid? [True, True] Translation: X:197.17, Y:88.41, Z:26.67 [[ 5.88726846e-01 -8.01437393e-01 -1.05350871e-01 1.97174192e+02] [ 7.85935170e-01 5.97999502e-01 -1.57170304e-01 8.84097665e+01] [ 1.88961927e-01 9.73142300e-03 9.81936194e-01 2.66707757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61710568099997 meters Centerline goodness [0,1] 0.99815733819126 Centerline is valid? [True, True] Translation: X:197.20, Y:88.43, Z:26.68 [[ 5.88209089e-01 -8.01754075e-01 -1.05832273e-01 1.97197203e+02] [ 7.86102448e-01 5.97575198e-01 -1.57945636e-01 8.84276698e+01] [ 1.89876299e-01 9.71004972e-03 9.81760004e-01 2.66761335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64710568099997 meters Centerline goodness [0,1] 0.9979716024340771 Centerline is valid? [True, True] Translation: X:197.22, Y:88.45, Z:26.68 [[ 5.87302178e-01 -8.02453682e-01 -1.05566286e-01 1.97216990e+02] [ 7.86869408e-01 5.96638273e-01 -1.57668343e-01 8.84479427e+01] [ 1.89506429e-01 9.53208012e-03 9.81833210e-01 2.66826968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67710568099997 meters Centerline goodness [0,1] 0.9986962738665994 Centerline is valid? [True, True] Translation: X:197.24, Y:88.47, Z:26.69 [[ 5.85112895e-01 -8.04196712e-01 -1.04453569e-01 1.97240266e+02] [ 7.88948894e-01 5.94296046e-01 -1.56114871e-01 8.84651422e+01] [ 1.87623409e-01 8.93629642e-03 9.82200386e-01 2.66920372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70710568099997 meters Centerline goodness [0,1] 0.9975770234986945 Centerline is valid? [True, True] Translation: X:197.25, Y:88.49, Z:26.70 [[ 5.83269277e-01 -8.05709984e-01 -1.03093998e-01 1.97252447e+02] [ 7.90861358e-01 5.92250576e-01 -1.54199765e-01 8.84899374e+01] [ 1.85297770e-01 8.40692663e-03 9.82646457e-01 2.66951315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73710568099997 meters Centerline goodness [0,1] 0.997591572598379 Centerline is valid? [True, True] Translation: X:197.28, Y:88.51, Z:26.70 [[ 5.81559759e-01 -8.07103970e-01 -1.01840208e-01 1.97275168e+02] [ 7.92616282e-01 5.90356007e-01 -1.52444135e-01 8.85070069e+01] [ 1.83160245e-01 7.93516751e-03 9.83051045e-01 2.67035405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76710568099998 meters Centerline goodness [0,1] 0.99825736421088 Centerline is valid? [True, True] Translation: X:197.30, Y:88.52, Z:26.71 [[ 5.76112846e-01 -8.11013278e-01 -1.01742084e-01 1.97300512e+02] [ 7.96591032e-01 5.84988657e-01 -1.52417186e-01 8.85238330e+01] [ 1.83130327e-01 6.76266708e-03 9.83065384e-01 2.67082483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79710568099998 meters Centerline goodness [0,1] 0.9981532779316713 Centerline is valid? [True, True] Translation: X:197.32, Y:88.54, Z:26.71 [[ 5.72481312e-01 -8.13527954e-01 -1.02163671e-01 1.97320438e+02] [ 7.99003841e-01 5.81494332e-01 -1.53157446e-01 8.85428397e+01] [ 1.84005459e-01 6.05061030e-03 9.82906598e-01 2.67123152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82710568099998 meters Centerline goodness [0,1] 0.9985953289446098 Centerline is valid? [True, True] Translation: X:197.34, Y:88.56, Z:26.72 [[ 5.68606242e-01 -8.16218793e-01 -1.02341702e-01 1.97343610e+02] [ 8.01673568e-01 5.77719228e-01 -1.53492618e-01 8.85610526e+01] [ 1.84408329e-01 5.23222333e-03 9.82835791e-01 2.67176480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85710568099998 meters Centerline goodness [0,1] 0.998568631991075 Centerline is valid? [True, True] Translation: X:197.36, Y:88.58, Z:26.72 [[ 5.70466539e-01 -8.14865265e-01 -1.02774157e-01 1.97357177e+02] [ 8.00152443e-01 5.79621768e-01 -1.54255223e-01 8.85843840e+01] [ 1.85267362e-01 5.76245088e-03 9.82671257e-01 2.67202636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88710568099998 meters Centerline goodness [0,1] 0.9982832618025751 Centerline is valid? [True, True] Translation: X:197.37, Y:88.61, Z:26.73 [[ 5.72298327e-01 -8.13596634e-01 -1.02640838e-01 1.97371096e+02] [ 7.98884971e-01 5.81396455e-01 -1.54145922e-01 8.86092462e+01] [ 1.85087622e-01 6.21923003e-03 9.82702342e-01 2.67253442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91710568099998 meters Centerline goodness [0,1] 0.998154788115158 Centerline is valid? [True, True] Translation: X:197.38, Y:88.63, Z:26.73 [[ 5.76242214e-01 -8.10904805e-01 -1.01873987e-01 1.97382617e+02] [ 7.96351276e-01 5.85135029e-01 -1.53106643e-01 8.86348348e+01] [ 1.83764950e-01 7.09903170e-03 9.82944580e-01 2.67321980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94710568099995 meters Centerline goodness [0,1] 0.997721000250899 Centerline is valid? [True, True] Translation: X:197.39, Y:88.66, Z:26.74 [[ 5.77906226e-01 -8.09789898e-01 -1.01314935e-01 1.97393658e+02] [ 7.95358660e-01 5.86672277e-01 -1.52381894e-01 8.86605399e+01] [ 1.82835982e-01 7.48073397e-03 9.83114969e-01 2.67362095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97710568099995 meters Centerline goodness [0,1] 0.997721000250899 Centerline is valid? [True, True] Translation: X:197.41, Y:88.68, Z:26.74 [[ 5.77624834e-01 -8.09997322e-01 -1.01261494e-01 1.97408520e+02] [ 7.95563040e-01 5.86385868e-01 -1.52417400e-01 8.86833251e+01] [ 1.82835995e-01 7.48017356e-03 9.83114971e-01 2.67407579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00710568099996 meters Centerline goodness [0,1] 0.9973356270717073 Centerline is valid? [True, True] Translation: X:197.42, Y:88.71, Z:26.75 [[ 5.79532927e-01 -8.08824319e-01 -9.97236559e-02 1.97423995e+02] [ 7.94791006e-01 5.87998682e-01 -1.50215869e-01 8.87061142e+01] [ 1.80135626e-01 7.79557742e-03 9.83610891e-01 2.67479711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03710568099996 meters Centerline goodness [0,1] 0.9976046897653016 Centerline is valid? [True, True] Translation: X:197.44, Y:88.73, Z:26.76 [[ 5.78995112e-01 -8.09427206e-01 -9.79400765e-02 1.97443798e+02] [ 7.95885119e-01 5.87171940e-01 -1.47634649e-01 8.87259013e+01] [ 1.77007166e-01 7.53069055e-03 9.84180752e-01 2.67567599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06710568099996 meters Centerline goodness [0,1] 0.9975602574349052 Centerline is valid? [True, True] Translation: X:197.46, Y:88.75, Z:26.76 [[ 5.77994328e-01 -8.10184654e-01 -9.75878233e-02 1.97460667e+02] [ 7.96732724e-01 5.86128865e-01 -1.47207064e-01 8.87488267e+01] [ 1.76463945e-01 7.33343590e-03 9.84279786e-01 2.67613630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09710568099996 meters Centerline goodness [0,1] 0.997820665954192 Centerline is valid? [True, True] Translation: X:197.48, Y:88.77, Z:26.76 [[ 5.76130250e-01 -8.11440333e-01 -9.81759669e-02 1.97479001e+02] [ 7.97823412e-01 5.84392687e-01 -1.48199160e-01 8.87718546e+01] [ 1.77628093e-01 7.05493404e-03 9.84072400e-01 2.67624122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12710568099996 meters Centerline goodness [0,1] 0.9977998952331063 Centerline is valid? [True, True] Translation: X:197.49, Y:88.79, Z:26.77 [[ 5.75664637e-01 -8.11797330e-01 -9.79557039e-02 1.97493870e+02] [ 7.98228466e-01 5.83897452e-01 -1.47969865e-01 8.87938519e+01] [ 1.77317628e-01 6.98998755e-03 9.84128853e-01 2.67660297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15710568099996 meters Centerline goodness [0,1] 0.9981947185020362 Centerline is valid? [True, True] Translation: X:197.51, Y:88.82, Z:26.77 [[ 5.76109219e-01 -8.11529347e-01 -9.75617129e-02 1.97510343e+02] [ 7.98048329e-01 5.84268484e-01 -1.47476110e-01 8.88171460e+01] [ 1.76683425e-01 7.10338453e-03 9.84242099e-01 2.67702393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18710568099996 meters Centerline goodness [0,1] 0.9981054227012462 Centerline is valid? [True, True] Translation: X:197.52, Y:88.84, Z:26.77 [[ 5.77719378e-01 -8.10342540e-01 -9.79044839e-02 1.97522436e+02] [ 7.96728385e-01 5.85907661e-01 -1.48108385e-01 8.88419258e+01] [ 1.77381512e-01 7.56180277e-03 9.84113113e-01 2.67722322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21710568099996 meters Centerline goodness [0,1] 0.9981911872962457 Centerline is valid? [True, True] Translation: X:197.53, Y:88.87, Z:26.77 [[ 5.80294953e-01 -8.08471977e-01 -9.81367888e-02 1.97532059e+02] [ 7.94745389e-01 5.88477222e-01 -1.48574312e-01 8.88682236e+01] [ 1.77869433e-01 8.22316295e-03 9.84019738e-01 2.67730378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24710568099997 meters Centerline goodness [0,1] 0.9981807155852032 Centerline is valid? [True, True] Translation: X:197.55, Y:88.89, Z:26.78 [[ 5.80933597e-01 -8.08058835e-01 -9.77602939e-02 1.97547929e+02] [ 7.94418865e-01 5.89042440e-01 -1.48079947e-01 8.88915359e+01] [ 1.77242272e-01 8.36199473e-03 9.84131726e-01 2.67781797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27710568099997 meters Centerline goodness [0,1] 0.9985116240068759 Centerline is valid? [True, True] Translation: X:197.56, Y:88.91, Z:26.78 [[ 5.76479532e-01 -8.11362372e-01 -9.67597546e-02 1.97563886e+02] [ 7.98029054e-01 5.84497467e-01 -1.46670853e-01 8.89135832e+01] [ 1.75559043e-01 7.33564921e-03 9.84441573e-01 2.67810113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30710568099997 meters Centerline goodness [0,1] 0.9990539063157009 Centerline is valid? [True, True] Translation: X:197.59, Y:88.93, Z:26.79 [[ 5.72702695e-01 -8.14022229e-01 -9.68474726e-02 1.97585487e+02] [ 8.00680882e-01 5.80796240e-01 -1.46921248e-01 8.89331303e+01] [ 1.75845810e-01 6.59827496e-03 9.84395608e-01 2.67853527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33710568099997 meters Centerline goodness [0,1] 0.9988552398792798 Centerline is valid? [True, True] Translation: X:197.60, Y:88.96, Z:26.79 [[ 5.68783428e-01 -8.16703753e-01 -9.73673087e-02 1.97599679e+02] [ 8.03236653e-01 5.77027339e-01 -1.47818568e-01 8.89564479e+01] [ 1.76907578e-01 5.86776079e-03 9.84209977e-01 2.67867499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36710568099997 meters Centerline goodness [0,1] 0.9993483972674724 Centerline is valid? [True, True] Translation: X:197.62, Y:88.97, Z:26.79 [[ 5.61537135e-01 -8.21722686e-01 -9.72001739e-02 1.97624019e+02] [ 8.08365179e-01 5.69871163e-01 -1.47623152e-01 8.89738813e+01] [ 1.76696869e-01 4.32264613e-03 9.84255826e-01 2.67916724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39710568099997 meters Centerline goodness [0,1] 0.9989906848623756 Centerline is valid? [True, True] Translation: X:197.65, Y:88.99, Z:26.80 [[ 5.53268941e-01 -8.27407589e-01 -9.63854733e-02 1.97646288e+02] [ 8.14339476e-01 5.61596048e-01 -1.46496066e-01 8.89917476e+01] [ 1.75341658e-01 2.56122778e-03 9.84504313e-01 2.67965760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42710568099997 meters Centerline goodness [0,1] 0.999349723107904 Centerline is valid? [True, True] Translation: X:197.66, Y:89.01, Z:26.80 [[ 5.49600173e-01 -8.29857665e-01 -9.63115024e-02 1.97664593e+02] [ 8.16825286e-01 5.57972075e-01 -1.46504660e-01 8.90135633e+01] [ 1.75317144e-01 1.84931610e-03 9.84510274e-01 2.68017939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45710568099997 meters Centerline goodness [0,1] 0.9997692517463448 Centerline is valid? [True, True] Translation: X:197.68, Y:89.03, Z:26.81 [[ 5.43455125e-01 -8.33963279e-01 -9.57171704e-02 1.97682564e+02] [ 8.21136834e-01 5.51819632e-01 -1.45703102e-01 8.90336371e+01] [ 1.74329651e-01 5.86203413e-04 9.84687173e-01 2.68072946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48710568099997 meters Centerline goodness [0,1] 0.9996226019498899 Centerline is valid? [True, True] Translation: X:197.70, Y:89.06, Z:26.81 [[ 5.40957436e-01 -8.35601891e-01 -9.55747503e-02 1.97698242e+02] [ 8.22825709e-01 5.49335481e-01 -1.45562296e-01 8.90564172e+01] [ 1.74134731e-01 1.01644496e-04 9.84721831e-01 2.68120895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51710568099998 meters Centerline goodness [0,1] 0.9997686305029132 Centerline is valid? [True, True] Translation: X:197.71, Y:89.08, Z:26.81 [[ 5.38435049e-01 -8.37233811e-01 -9.55366075e-02 1.97710558e+02] [ 8.24473003e-01 5.46844964e-01 -1.45618857e-01 8.90806340e+01] [ 1.74160744e-01 -3.61057133e-04 9.84717170e-01 2.68146267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54710568099998 meters Centerline goodness [0,1] 0.9999158001094599 Centerline is valid? [True, True] Translation: X:197.72, Y:89.10, Z:26.82 [[ 5.36099488e-01 -8.38888198e-01 -9.41484471e-02 1.97722119e+02] [ 8.26503240e-01 5.44303150e-01 -1.43619201e-01 8.91045178e+01] [ 1.71725749e-01 -8.19816363e-04 9.85144454e-01 2.68197940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57710568099998 meters Centerline goodness [0,1] 0.9998526470897801 Centerline is valid? [True, True] Translation: X:197.74, Y:89.13, Z:26.83 [[ 5.33860241e-01 -8.40446364e-01 -9.29685592e-02 1.97736450e+02] [ 8.28381601e-01 5.41893279e-01 -1.41899959e-01 8.91279253e+01] [ 1.69638342e-01 -1.25869782e-03 9.85505580e-01 2.68277179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60710568099998 meters Centerline goodness [0,1] 0.9998739389864695 Centerline is valid? [True, True] Translation: X:197.75, Y:89.15, Z:26.84 [[ 5.27366829e-01 -8.44754410e-01 -9.09627118e-02 1.97750094e+02] [ 8.33252536e-01 5.35148246e-01 -1.38948065e-01 8.91500275e+01] [ 1.66055526e-01 -2.51830973e-03 9.86113188e-01 2.68367857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63710568099998 meters Centerline goodness [0,1] 0.9998527493794438 Centerline is valid? [True, True] Translation: X:197.76, Y:89.17, Z:26.84 [[ 5.22664948e-01 -8.47797429e-01 -8.97823610e-02 1.97764793e+02] [ 8.36625295e-01 5.30309353e-01 -1.37222834e-01 8.91716877e+01] [ 1.63949592e-01 -3.39262865e-03 9.86462884e-01 2.68430950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66710568099998 meters Centerline goodness [0,1] 0.9999157681940701 Centerline is valid? [True, True] Translation: X:197.78, Y:89.19, Z:26.85 [[ 5.13182025e-01 -8.53783446e-01 -8.77384503e-02 1.97781856e+02] [ 8.43195473e-01 5.20602911e-01 -1.34141729e-01 8.91921416e+01] [ 1.60204881e-01 -5.14153964e-03 9.87070393e-01 2.68515427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69710568099995 meters Centerline goodness [0,1] 0.9999580756734094 Centerline is valid? [True, True] Translation: X:197.80, Y:89.22, Z:26.86 [[ 5.10025967e-01 -8.55691656e-01 -8.75517156e-02 1.97796968e+02] [ 8.45158799e-01 5.17454978e-01 -1.33966230e-01 8.92152647e+01] [ 1.59937856e-01 -5.66884674e-03 9.87110807e-01 2.68573472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:89.24, Z:26.86 [[ 5.06442124e-01 -8.57832147e-01 -8.74092832e-02 1.97806676e+02] [ 8.47348870e-01 5.13891595e-01 -1.33848128e-01 8.92415046e+01] [ 1.59738123e-01 -6.27982702e-03 9.87139451e-01 2.68620437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.82, Y:89.26, Z:26.87 [[ 5.06193653e-01 -8.57996036e-01 -8.72398327e-02 1.97818997e+02] [ 8.47538533e-01 5.13618129e-01 -1.33696868e-01 8.92648207e+01] [ 1.59519342e-01 -6.26261380e-03 9.87174938e-01 2.68659492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78710568099996 meters Centerline goodness [0,1] 0.9999579531598201 Centerline is valid? [True, True] Translation: X:197.82, Y:89.30, Z:26.87 [[ 5.08442607e-01 -8.56677270e-01 -8.71215817e-02 1.97819318e+02] [ 8.46218067e-01 5.15820091e-01 -1.33583742e-01 8.92977410e+01] [ 1.59377218e-01 -5.80419018e-03 9.87200696e-01 2.68682946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81710568099996 meters Centerline goodness [0,1] 0.9999373734421644 Centerline is valid? [True, True] Translation: X:197.82, Y:89.33, Z:26.87 [[ 5.13319123e-01 -8.53700355e-01 -8.77449786e-02 1.97819420e+02] [ 8.43029598e-01 5.20741893e-01 -1.34643889e-01 8.93313506e+01] [ 1.60638022e-01 -4.85633108e-03 9.87001440e-01 2.68718457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84710568099996 meters Centerline goodness [0,1] 0.9999162917233442 Centerline is valid? [True, True] Translation: X:197.83, Y:89.36, Z:26.88 [[ 5.15393367e-01 -8.52397964e-01 -8.82461817e-02 1.97827290e+02] [ 8.41567625e-01 5.22874923e-01 -1.35520284e-01 8.93585284e+01] [ 1.61658930e-01 -4.41887385e-03 9.86836797e-01 2.68760900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87710568099996 meters Centerline goodness [0,1] 0.9999163249937244 Centerline is valid? [True, True] Translation: X:197.82, Y:89.39, Z:26.88 [[ 5.20647866e-01 -8.49159097e-01 -8.86263363e-02 1.97824933e+02] [ 8.38177346e-01 5.28126252e-01 -1.36166805e-01 8.93934230e+01] [ 1.62433176e-01 -3.38963099e-03 9.86713724e-01 2.68777628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:89.42, Z:26.88 [[ 5.23658935e-01 -8.47388364e-01 -8.78309716e-02 1.97831240e+02] [ 8.36561763e-01 5.30966450e-01 -1.35052010e-01 8.94211152e+01] [ 1.61076801e-01 -2.75484051e-03 9.86938030e-01 2.68834500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:89.46, Z:26.89 [[ 5.30849842e-01 -8.43125806e-01 -8.56581577e-02 1.97829503e+02] [ 8.32765880e-01 5.37714576e-01 -1.31772619e-01 8.94555402e+01] [ 1.57160535e-01 -1.38171737e-03 9.87572102e-01 2.68914053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96710568099996 meters Centerline goodness [0,1] 0.9999789933619023 Centerline is valid? [True, True] Translation: X:197.83, Y:89.49, Z:26.89 [[ 5.37260157e-01 -8.39065270e-01 -8.55628173e-02 1.97827919e+02] [ 8.28662935e-01 5.44030746e-01 -1.31712897e-01 8.94904450e+01] [ 1.57064521e-01 -1.38643504e-04 9.87588334e-01 2.68945752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:89.52, Z:26.90 [[ 5.40473400e-01 -8.36932805e-01 -8.62089525e-02 1.97834383e+02] [ 8.26327558e-01 5.47305383e-01 -1.32814100e-01 8.95192760e+01] [ 1.58339101e-01 5.45654853e-04 9.87384642e-01 2.68976463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:89.55, Z:26.90 [[ 5.49247953e-01 -8.31131685e-01 -8.68723668e-02 1.97831134e+02] [ 8.20270118e-01 5.56070837e-01 -1.33948335e-01 8.95536293e+01] [ 1.59635895e-01 2.31204237e-03 9.87173255e-01 2.68999503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:89.58, Z:26.90 [[ 5.54007432e-01 -8.27904038e-01 -8.74681027e-02 1.97836679e+02] [ 8.16843973e-01 5.60860091e-01 -1.34914350e-01 8.95820920e+01] [ 1.60753503e-01 3.29576016e-03 9.86989083e-01 2.69021977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:89.61, Z:26.90 [[ 5.61690732e-01 -8.22524305e-01 -8.92036420e-02 1.97843796e+02] [ 8.10942215e-01 5.68708246e-01 -1.37635951e-01 8.96123837e+01] [ 1.63939762e-01 4.96983904e-03 9.86457832e-01 2.69020344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11710568099997 meters Centerline goodness [0,1] 0.9999789038437197 Centerline is valid? [True, True] Translation: X:197.85, Y:89.64, Z:26.90 [[ 5.65759165e-01 -8.19632026e-01 -9.01105437e-02 1.97851938e+02] [ 8.07758058e-01 5.72859651e-01 -1.39135688e-01 8.96410654e+01] [ 1.65660761e-01 5.92977307e-03 9.86164971e-01 2.69040395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14710568099997 meters Centerline goodness [0,1] 0.9999582341394144 Centerline is valid? [True, True] Translation: X:197.86, Y:89.67, Z:26.91 [[ 5.67000404e-01 -8.18767160e-01 -9.01713845e-02 1.97862892e+02] [ 8.06848127e-01 5.74091700e-01 -1.39337076e-01 8.96666043e+01] [ 1.65851265e-01 6.24956567e-03 9.86130975e-01 2.69086212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:89.69, Z:26.91 [[ 5.69247951e-01 -8.17272836e-01 -8.95649536e-02 1.97877104e+02] [ 8.05484969e-01 5.76212196e-01 -1.38468299e-01 8.96912929e+01] [ 1.64774798e-01 6.67957177e-03 9.86308597e-01 2.69133007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:89.72, Z:26.92 [[ 5.70032501e-01 -8.16719281e-01 -8.96245710e-02 1.97889280e+02] [ 8.04892022e-01 5.76993902e-01 -1.38660988e-01 8.97159264e+01] [ 1.64959933e-01 6.90316766e-03 9.86276111e-01 2.69174296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.90, Y:89.74, Z:26.92 [[ 5.70402752e-01 -8.16421440e-01 -8.99818460e-02 1.97904912e+02] [ 8.04485060e-01 5.77413436e-01 -1.39274947e-01 8.97397279e+01] [ 1.65663780e-01 7.05376245e-03 9.86157065e-01 2.69212218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.92, Y:89.76, Z:26.93 [[ 5.69363980e-01 -8.17222674e-01 -8.92847104e-02 1.97923612e+02] [ 8.05465103e-01 5.76281641e-01 -1.38294754e-01 8.97612084e+01] [ 1.64470748e-01 6.82433311e-03 9.86358354e-01 2.69272618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29710568099998 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:197.94, Y:89.78, Z:26.94 [[ 5.64541554e-01 -8.20725254e-01 -8.77661174e-02 1.97944791e+02] [ 8.09392417e-01 5.71294006e-01 -1.36040707e-01 8.97783465e+01] [ 1.61792301e-01 5.76340242e-03 9.86808003e-01 2.69353714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:89.80, Z:26.94 [[ 5.60584133e-01 -8.23470861e-01 -8.74137923e-02 1.97962656e+02] [ 8.12249502e-01 5.67336549e-01 -1.35572807e-01 8.97992926e+01] [ 1.61233295e-01 4.99815527e-03 9.86903664e-01 2.69400493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35710568099998 meters Centerline goodness [0,1] 0.9999788646066703 Centerline is valid? [True, True] Translation: X:197.99, Y:89.82, Z:26.94 [[ 5.52694487e-01 -8.28727852e-01 -8.79713128e-02 1.97986268e+02] [ 8.17409380e-01 5.59640493e-01 -1.36544587e-01 8.98182219e+01] [ 1.62390611e-01 3.55886395e-03 9.86720135e-01 2.69418012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38710568099998 meters Centerline goodness [0,1] 0.9999790259658543 Centerline is valid? [True, True] Translation: X:198.01, Y:89.84, Z:26.94 [[ 5.45388735e-01 -8.33370621e-01 -8.96913382e-02 1.98011219e+02] [ 8.21645402e-01 5.52709836e-01 -1.39322185e-01 8.98362417e+01] [ 1.65680301e-01 2.29027477e-03 9.86176857e-01 2.69434519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41710568099995 meters Centerline goodness [0,1] 0.9999368487527629 Centerline is valid? [True, True] Translation: X:198.04, Y:89.86, Z:26.95 [[ 5.39699495e-01 -8.36986866e-01 -9.04292067e-02 1.98035182e+02] [ 8.25104642e-01 5.47221584e-01 -1.40537781e-01 8.98550210e+01] [ 1.67113090e-01 1.23461116e-03 9.85936961e-01 2.69465659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44710568099995 meters Centerline goodness [0,1] 0.9999788873640874 Centerline is valid? [True, True] Translation: X:198.05, Y:89.88, Z:26.95 [[ 5.38000337e-01 -8.38051642e-01 -9.06922396e-02 1.98052413e+02] [ 8.26097182e-01 5.45590062e-01 -1.41049390e-01 8.98753582e+01] [ 1.67687458e-01 9.64015866e-04 9.85839737e-01 2.69504189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47710568099995 meters Centerline goodness [0,1] 0.9999155209191324 Centerline is valid? [True, True] Translation: X:198.07, Y:89.90, Z:26.96 [[ 5.38551721e-01 -8.37745251e-01 -9.02493072e-02 1.98069386e+02] [ 8.25886269e-01 5.46060124e-01 -1.40464276e-01 8.98971341e+01] [ 1.66954828e-01 1.11161396e-03 9.85963919e-01 2.69574743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.08, Y:89.92, Z:26.96 [[ 5.39357097e-01 -8.37253912e-01 -8.99989399e-02 1.98083000e+02] [ 8.25434752e-01 5.46812704e-01 -1.40190357e-01 8.99210842e+01] [ 1.66587488e-01 1.32441113e-03 9.86025788e-01 2.69631000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:89.95, Z:26.97 [[ 5.43407368e-01 -8.34495451e-01 -9.12456800e-02 1.98092955e+02] [ 8.22285018e-01 5.51010153e-01 -1.42250345e-01 8.99483048e+01] [ 1.68984562e-01 2.26992995e-03 9.85616084e-01 2.69662234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.11, Y:89.97, Z:26.97 [[ 5.46248282e-01 -8.32674816e-01 -9.09146072e-02 1.98105100e+02] [ 8.20516139e-01 5.53754863e-01 -1.41805564e-01 8.99740370e+01] [ 1.68422328e-01 2.86414315e-03 9.85710767e-01 2.69715987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59710568099996 meters Centerline goodness [0,1] 0.9999159963878447 Centerline is valid? [True, True] Translation: X:198.11, Y:90.00, Z:26.98 [[ 5.53265481e-01 -8.28226287e-01 -8.90984085e-02 1.98114283e+02] [ 8.16477551e-01 5.60378094e-01 -1.39071209e-01 9.00012020e+01] [ 1.65111227e-01 4.19644874e-03 9.86266025e-01 2.69809072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62710568099996 meters Centerline goodness [0,1] 0.9999369522728706 Centerline is valid? [True, True] Translation: X:198.13, Y:90.03, Z:26.99 [[ 5.56567565e-01 -8.26078149e-01 -8.84727989e-02 1.98125008e+02] [ 8.14451253e-01 5.63534640e-01 -1.38195031e-01 9.00262659e+01] [ 1.64017382e-01 4.85809017e-03 9.86445486e-01 2.69869366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65710568099996 meters Centerline goodness [0,1] 0.9999160457550635 Centerline is valid? [True, True] Translation: X:198.14, Y:90.05, Z:26.99 [[ 5.59743102e-01 -8.23906407e-01 -8.86898665e-02 1.98135192e+02] [ 8.12187787e-01 5.66698865e-01 -1.38576316e-01 9.00535830e+01] [ 1.64434362e-01 5.53431091e-03 9.86372502e-01 2.69900613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68710568099996 meters Centerline goodness [0,1] 0.9999370778975628 Centerline is valid? [True, True] Translation: X:198.15, Y:90.08, Z:26.99 [[ 5.60523418e-01 -8.23342024e-01 -8.90022997e-02 1.98149823e+02] [ 8.11516454e-01 5.67516106e-01 -1.39163621e-01 9.00772162e+01] [ 1.65089496e-01 5.77763798e-03 9.86261668e-01 2.69928312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71710568099996 meters Centerline goodness [0,1] 0.9999580906081053 Centerline is valid? [True, True] Translation: X:198.17, Y:90.10, Z:27.00 [[ 5.60697849e-01 -8.23168516e-01 -8.95070775e-02 1.98166040e+02] [ 8.11195567e-01 5.67766532e-01 -1.40010420e-01 9.01000886e+01] [ 1.66071292e-01 5.89579672e-03 9.86096124e-01 2.69965871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74710568099997 meters Centerline goodness [0,1] 0.9999580721578164 Centerline is valid? [True, True] Translation: X:198.18, Y:90.12, Z:27.00 [[ 5.61174841e-01 -8.22694701e-01 -9.08637806e-02 1.98183350e+02] [ 8.10328441e-01 5.68449712e-01 -1.42241846e-01 9.01229599e+01] [ 1.68673103e-01 6.19303963e-03 9.85652591e-01 2.69975142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77710568099997 meters Centerline goodness [0,1] 0.9999161601341437 Centerline is valid? [True, True] Translation: X:198.20, Y:90.15, Z:27.00 [[ 5.61201595e-01 -8.22431615e-01 -9.30537901e-02 1.98200247e+02] [ 8.09442724e-01 5.68827266e-01 -1.45732693e-01 9.01461314e+01] [ 1.72786707e-01 6.46370618e-03 9.84938056e-01 2.69980800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80710568099997 meters Centerline goodness [0,1] 0.9999584752097002 Centerline is valid? [True, True] Translation: X:198.21, Y:90.17, Z:27.00 [[ 5.62087130e-01 -8.21755779e-01 -9.36776262e-02 1.98211812e+02] [ 8.08569948e-01 5.69799794e-01 -1.46774776e-01 9.01721060e+01] [ 1.73990513e-01 6.75529937e-03 9.84724158e-01 2.70000855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83710568099997 meters Centerline goodness [0,1] 0.9998956441884248 Centerline is valid? [True, True] Translation: X:198.23, Y:90.19, Z:27.01 [[ 5.65589984e-01 -8.19258440e-01 -9.44646951e-02 1.98229748e+02] [ 8.05799933e-01 5.73373616e-01 -1.48084990e-01 9.01936285e+01] [ 1.75483441e-01 7.63574188e-03 9.84452770e-01 2.70050586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86710568099997 meters Centerline goodness [0,1] 0.9998956441884248 Centerline is valid? [True, True] Translation: X:198.24, Y:90.22, Z:27.01 [[ 5.65289343e-01 -8.19471922e-01 -9.44125405e-02 1.98244150e+02] [ 8.06010837e-01 5.73068512e-01 -1.48118235e-01 9.02166583e+01] [ 1.75483589e-01 7.63212880e-03 9.84452772e-01 2.70096072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.26, Y:90.24, Z:27.01 [[ 5.66340833e-01 -8.18746065e-01 -9.44083851e-02 1.98261050e+02] [ 8.05254605e-01 5.74101068e-01 -1.48232878e-01 9.02398775e+01] [ 1.75565040e-01 7.92754481e-03 9.84435915e-01 2.70147014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92710568099997 meters Centerline goodness [0,1] 0.9999165014090388 Centerline is valid? [True, True] Translation: X:198.28, Y:90.26, Z:27.02 [[ 5.65174742e-01 -8.19514051e-01 -9.47324252e-02 1.98276316e+02] [ 8.05921034e-01 5.73006317e-01 -1.48845715e-01 9.02624156e+01] [ 1.76263433e-01 7.77698424e-03 9.84312309e-01 2.70183100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95710568099997 meters Centerline goodness [0,1] 0.9999376390130335 Centerline is valid? [True, True] Translation: X:198.29, Y:90.28, Z:27.02 [[ 5.61502579e-01 -8.22005433e-01 -9.49838001e-02 1.98294637e+02] [ 8.08366741e-01 5.69436110e-01 -1.49284053e-01 9.02833470e+01] [ 1.76799508e-01 7.04163565e-03 9.84221697e-01 2.70216401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98710568099997 meters Centerline goodness [0,1] 0.9999164054336468 Centerline is valid? [True, True] Translation: X:198.31, Y:90.31, Z:27.03 [[ 5.59065279e-01 -8.23705653e-01 -9.46309214e-02 1.98312178e+02] [ 8.10172486e-01 5.66979848e-01 -1.48843523e-01 9.03053659e+01] [ 1.76257076e-01 6.54587655e-03 9.84322404e-01 2.70269251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01710568099998 meters Centerline goodness [0,1] 0.9997309602649007 Centerline is valid? [True, True] Translation: X:198.33, Y:90.32, Z:27.03 [[ 5.54083210e-01 -8.27188418e-01 -9.35474102e-02 1.98332520e+02] [ 8.13995292e-01 5.61898321e-01 -1.47247891e-01 9.03234377e+01] [ 1.74365883e-01 5.44043251e-03 9.84665903e-01 2.70344681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04710568099998 meters Centerline goodness [0,1] 0.9999585156914397 Centerline is valid? [True, True] Translation: X:198.36, Y:90.34, Z:27.04 [[ 5.47434871e-01 -8.31734810e-01 -9.23702778e-02 1.98357176e+02] [ 8.18922947e-01 5.55158751e-01 -1.45478409e-01 9.03405570e+01] [ 1.72279625e-01 3.99581394e-03 9.85039981e-01 2.70418123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07710568099998 meters Centerline goodness [0,1] 0.9996493471669313 Centerline is valid? [True, True] Translation: X:198.37, Y:90.36, Z:27.05 [[ 5.44156046e-01 -8.33880508e-01 -9.23985719e-02 1.98374803e+02] [ 8.21072055e-01 5.51934659e-01 -1.45632455e-01 9.03627459e+01] [ 1.72438040e-01 3.38089554e-03 9.85014564e-01 2.70456205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10710568099998 meters Centerline goodness [0,1] 0.9998744507219084 Centerline is valid? [True, True] Translation: X:198.39, Y:90.38, Z:27.05 [[ 5.40882570e-01 -8.35944932e-01 -9.29629848e-02 1.98393970e+02] [ 8.22988476e-01 5.48806163e-01 -1.46634798e-01 9.03846660e+01] [ 1.73597276e-01 2.80474148e-03 9.84812733e-01 2.70492684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13710568099998 meters Centerline goodness [0,1] 0.9998531447992279 Centerline is valid? [True, True] Translation: X:198.41, Y:90.41, Z:27.05 [[ 5.39986085e-01 -8.36538670e-01 -9.28336276e-02 1.98408175e+02] [ 8.23608086e-01 5.47901379e-01 -1.46539409e-01 9.04071840e+01] [ 1.73449555e-01 2.67071551e-03 9.84839134e-01 2.70531761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16710568099995 meters Centerline goodness [0,1] 0.9999377528789294 Centerline is valid? [True, True] Translation: X:198.42, Y:90.43, Z:27.06 [[ 5.38767127e-01 -8.37341528e-01 -9.26776567e-02 1.98420677e+02] [ 8.24447455e-01 5.46674558e-01 -1.46401234e-01 9.04304939e+01] [ 1.73252350e-01 2.46831388e-03 9.84874373e-01 2.70589469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:90.46, Z:27.06 [[ 5.40181047e-01 -8.36190916e-01 -9.48113305e-02 1.98431623e+02] [ 8.22654810e-01 5.48430459e-01 -1.49876934e-01 9.04569120e+01] [ 1.77323152e-01 2.96368176e-03 9.84148219e-01 2.70609955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22710568099995 meters Centerline goodness [0,1] 0.9999581169375105 Centerline is valid? [True, True] Translation: X:198.44, Y:90.48, Z:27.06 [[ 5.41226373e-01 -8.35393913e-01 -9.58698287e-02 1.98443044e+02] [ 8.21517570e-01 5.49641645e-01 -1.51667215e-01 9.04831577e+01] [ 1.79395918e-01 3.32754769e-03 9.83771331e-01 2.70643994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25710568099996 meters Centerline goodness [0,1] 0.9999580765522157 Centerline is valid? [True, True] Translation: X:198.45, Y:90.51, Z:27.07 [[ 5.44204705e-01 -8.33435879e-01 -9.60514103e-02 1.98450002e+02] [ 8.19454697e-01 5.52601345e-01 -1.52071543e-01 9.05120814e+01] [ 1.79820018e-01 4.04826981e-03 9.83691198e-01 2.70691069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28710568099996 meters Centerline goodness [0,1] 0.9999371042811019 Centerline is valid? [True, True] Translation: X:198.46, Y:90.54, Z:27.08 [[ 5.48583225e-01 -8.30833470e-01 -9.36599661e-02 1.98455717e+02] [ 8.17487786e-01 5.56500046e-01 -1.48396150e-01 9.05405596e+01] [ 1.75414264e-01 4.84176033e-03 9.84482805e-01 2.70801991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31710568099996 meters Centerline goodness [0,1] 0.9999579168858496 Centerline is valid? [True, True] Translation: X:198.47, Y:90.57, Z:27.09 [[ 5.50956180e-01 -8.29360097e-01 -9.27853218e-02 1.98465749e+02] [ 8.16224120e-01 5.58689078e-01 -1.47121382e-01 9.05662943e+01] [ 1.73854750e-01 5.32381709e-03 9.84756916e-01 2.70873936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34710568099996 meters Centerline goodness [0,1] 0.9999158320006734 Centerline is valid? [True, True] Translation: X:198.47, Y:90.59, Z:27.09 [[ 5.55127368e-01 -8.26641871e-01 -9.21782105e-02 1.98474206e+02] [ 8.13621906e-01 5.62694216e-01 -1.46268974e-01 9.05934407e+01] [ 1.72780205e-01 6.19969950e-03 9.84940894e-01 2.70940408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37710568099996 meters Centerline goodness [0,1] 0.999853132474508 Centerline is valid? [True, True] Translation: X:198.49, Y:90.62, Z:27.10 [[ 5.56114285e-01 -8.26081023e-01 -9.12526412e-02 1.98485706e+02] [ 8.13305070e-01 5.63515663e-01 -1.44861869e-01 9.06175889e+01] [ 1.71089933e-01 6.34351872e-03 9.85234995e-01 2.71002481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40710568099996 meters Centerline goodness [0,1] 0.9998954106179141 Centerline is valid? [True, True] Translation: X:198.50, Y:90.64, Z:27.11 [[ 5.55630911e-01 -8.26554099e-01 -8.99033494e-02 1.98499500e+02] [ 8.14144809e-01 5.62823558e-01 -1.42821121e-01 9.06416371e+01] [ 1.68649106e-01 6.16148439e-03 9.85656895e-01 2.71061062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43710568099996 meters Centerline goodness [0,1] 0.9998948010688211 Centerline is valid? [True, True] Translation: X:198.52, Y:90.66, Z:27.11 [[ 5.54646787e-01 -8.27171416e-01 -9.03016632e-02 1.98517751e+02] [ 8.14640189e-01 5.61916965e-01 -1.43564228e-01 9.06634150e+01] [ 1.69494262e-01 6.06407372e-03 9.85512517e-01 2.71096584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46710568099996 meters Centerline goodness [0,1] 0.9998317171164728 Centerline is valid? [True, True] Translation: X:198.54, Y:90.69, Z:27.11 [[ 5.54563490e-01 -8.27111532e-01 -9.13556178e-02 1.98535077e+02] [ 8.14263507e-01 5.62003412e-01 -1.45351666e-01 9.06851792e+01] [ 1.71564208e-01 6.21918135e-03 9.85153310e-01 2.71135390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49710568099997 meters Centerline goodness [0,1] 0.9999578716771286 Centerline is valid? [True, True] Translation: X:198.55, Y:90.71, Z:27.11 [[ 5.55819385e-01 -8.26042068e-01 -9.33772676e-02 1.98549885e+02] [ 8.12579263e-01 5.63567881e-01 -1.48681492e-01 9.07081683e+01] [ 1.75441596e-01 6.76362394e-03 9.84466607e-01 2.71132801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52710568099997 meters Centerline goodness [0,1] 0.999957856585962 Centerline is valid? [True, True] Translation: X:198.56, Y:90.73, Z:27.12 [[ 5.58211179e-01 -8.24404094e-01 -9.35850966e-02 1.98562676e+02] [ 8.10842557e-01 5.65954000e-01 -1.49098685e-01 9.07326447e+01] [ 1.75882426e-01 7.34577377e-03 9.84383773e-01 2.71169397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55710568099997 meters Centerline goodness [0,1] 0.9998531940774297 Centerline is valid? [True, True] Translation: X:198.57, Y:90.76, Z:27.12 [[ 5.65577036e-01 -8.19338997e-01 -9.38414850e-02 1.98568918e+02] [ 8.05612233e-01 5.73238341e-01 -1.49621974e-01 9.07599732e+01] [ 1.76384656e-01 9.02290449e-03 9.84279960e-01 2.71204106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58710568099997 meters Centerline goodness [0,1] 0.9991632674406443 Centerline is valid? [True, True] Translation: X:198.58, Y:90.79, Z:27.12 [[ 5.69149256e-01 -8.16802632e-01 -9.43535086e-02 1.98577861e+02] [ 8.02879181e-01 5.76832233e-01 -1.50497824e-01 9.07858598e+01] [ 1.77353164e-01 9.90125700e-03 9.84097465e-01 2.71224625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61710568099997 meters Centerline goodness [0,1] 0.9996840309228403 Centerline is valid? [True, True] Translation: X:198.60, Y:90.80, Z:27.13 [[ 5.74083032e-01 -8.13338400e-01 -9.43891903e-02 1.98600831e+02] [ 7.99342913e-01 5.81686337e-01 -1.50638352e-01 9.08037292e+01] [ 1.77424859e-01 1.10295918e-02 9.84072542e-01 2.71289359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64710568099997 meters Centerline goodness [0,1] 0.999663900850751 Centerline is valid? [True, True] Translation: X:198.62, Y:90.83, Z:27.13 [[ 5.76101055e-01 -8.11963340e-01 -9.39314043e-02 1.98617793e+02] [ 7.98066506e-01 5.83595873e-01 -1.50019028e-01 9.08260525e+01] [ 1.76627931e-01 1.14626125e-02 9.84210944e-01 2.71347270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67710568099997 meters Centerline goodness [0,1] 0.9997061724767562 Centerline is valid? [True, True] Translation: X:198.63, Y:90.85, Z:27.14 [[ 5.75609472e-01 -8.12358753e-01 -9.35253560e-02 1.98632650e+02] [ 7.98576099e-01 5.83047927e-01 -1.49436705e-01 9.08501955e+01] [ 1.75925980e-01 1.13300688e-02 9.84338193e-01 2.71389066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70710568099997 meters Centerline goodness [0,1] 0.9994763849617762 Centerline is valid? [True, True] Translation: X:198.65, Y:90.87, Z:27.14 [[ 5.73017467e-01 -8.14221322e-01 -9.32449537e-02 1.98650522e+02] [ 8.00525551e-01 5.80454249e-01 -1.49103008e-01 9.08709512e+01] [ 1.75527278e-01 1.07936603e-02 9.84415396e-01 2.71416380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73710568099997 meters Centerline goodness [0,1] 0.9995609082925605 Centerline is valid? [True, True] Translation: X:198.68, Y:90.89, Z:27.14 [[ 5.67923438e-01 -8.17678772e-01 -9.41509174e-02 1.98675631e+02] [ 8.03743822e-01 5.75590002e-01 -1.50638702e-01 9.08876777e+01] [ 1.77366396e-01 9.87803144e-03 9.84095314e-01 2.71435475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76710568099998 meters Centerline goodness [0,1] 0.9996003197442046 Centerline is valid? [True, True] Translation: X:198.70, Y:90.91, Z:27.15 [[ 5.64570485e-01 -8.19922191e-01 -9.48038343e-02 1.98697424e+02] [ 8.05802425e-01 5.72399346e-01 -1.51794074e-01 9.09074256e+01] [ 1.78724983e-01 9.30529440e-03 9.83855067e-01 2.71484066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79710568099998 meters Centerline goodness [0,1] 0.9994104766717197 Centerline is valid? [True, True] Translation: X:198.72, Y:90.92, Z:27.15 [[ 5.57366404e-01 -8.24922713e-01 -9.40489747e-02 1.98724355e+02] [ 8.11078745e-01 5.65192956e-01 -1.50692376e-01 9.09236006e+01] [ 1.77465382e-01 7.70974337e-03 9.84096844e-01 2.71546727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82710568099998 meters Centerline goodness [0,1] 0.9993267410056806 Centerline is valid? [True, True] Translation: X:198.74, Y:90.94, Z:27.16 [[ 5.53428829e-01 -8.27602174e-01 -9.37612554e-02 1.98743766e+02] [ 8.13867739e-01 5.61273002e-01 -1.50306088e-01 9.09440229e+01] [ 1.77019307e-01 6.87446138e-03 9.84183371e-01 2.71596311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85710568099998 meters Centerline goodness [0,1] 0.9993682481521259 Centerline is valid? [True, True] Translation: X:198.77, Y:90.96, Z:27.16 [[ 5.46650864e-01 -8.32127152e-01 -9.34731833e-02 1.98767444e+02] [ 8.18522035e-01 5.54557972e-01 -1.49957105e-01 9.09608810e+01] [ 1.76619678e-01 5.46432096e-03 9.84264005e-01 2.71643685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88710568099998 meters Centerline goodness [0,1] 0.9992017309833414 Centerline is valid? [True, True] Translation: X:198.79, Y:90.98, Z:27.17 [[ 5.43821445e-01 -8.33908810e-01 -9.40974598e-02 1.98789107e+02] [ 8.20123906e-01 5.51879696e-01 -1.51081366e-01 9.09800971e+01] [ 1.77918559e-01 4.98971026e-03 9.84032565e-01 2.71683914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91710568099995 meters Centerline goodness [0,1] 0.999056010069226 Centerline is valid? [True, True] Translation: X:198.80, Y:91.00, Z:27.18 [[ 5.45801919e-01 -8.32665199e-01 -9.36425731e-02 1.98804644e+02] [ 8.18976582e-01 5.53750106e-01 -1.50459891e-01 9.10015209e+01] [ 1.77137300e-01 5.43022282e-03 9.84171169e-01 2.71755974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94710568099995 meters Centerline goodness [0,1] 0.9990167569716115 Centerline is valid? [True, True] Translation: X:198.82, Y:91.03, Z:27.18 [[ 5.48696332e-01 -8.30851362e-01 -9.28350695e-02 1.98816111e+02] [ 8.17355294e-01 5.56461804e-01 -1.49266824e-01 9.10260210e+01] [ 1.75677714e-01 6.02292316e-03 9.84429309e-01 2.71816634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97710568099995 meters Centerline goodness [0,1] 0.9988455806729215 Centerline is valid? [True, True] Translation: X:198.82, Y:91.05, Z:27.19 [[ 5.56922529e-01 -8.25417299e-01 -9.23232388e-02 1.98822215e+02] [ 8.11983659e-01 5.64469920e-01 -1.48513456e-01 9.10545320e+01] [ 1.74699267e-01 7.74552819e-03 9.84591374e-01 2.71876614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00710568099996 meters Centerline goodness [0,1] 0.9978559266811006 Centerline is valid? [True, True] Translation: X:198.83, Y:91.08, Z:27.19 [[ 5.64002031e-01 -8.20575921e-01 -9.25033343e-02 1.98827878e+02] [ 8.07004965e-01 5.71461275e-01 -1.48912720e-01 9.10825280e+01] [ 1.75056266e-01 9.33642654e-03 9.84514162e-01 2.71908070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03710568099996 meters Centerline goodness [0,1] 0.9978756967083815 Centerline is valid? [True, True] Translation: X:198.84, Y:91.11, Z:27.20 [[ 5.66330873e-01 -8.19026867e-01 -9.20018174e-02 1.98840730e+02] [ 8.05563873e-01 5.73671008e-01 -1.48217476e-01 9.11064530e+01] [ 1.74172870e-01 9.82679195e-03 9.84666058e-01 2.71959648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06710568099996 meters Centerline goodness [0,1] 0.9921513340627893 Centerline is valid? [True, True] Translation: X:198.85, Y:91.13, Z:27.20 [[ 5.70065782e-01 -8.16488374e-01 -9.14972096e-02 1.98850567e+02] [ 8.03122584e-01 5.77264410e-01 -1.47512427e-01 9.11311346e+01] [ 1.73260265e-01 1.06083120e-02 9.84818940e-01 2.72005530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09710568099996 meters Centerline goodness [0,1] 0.9982750278730252 Centerline is valid? [True, True] Translation: X:198.88, Y:91.15, Z:27.21 [[ 5.71108198e-01 -8.15738322e-01 -9.16865089e-02 1.98877461e+02] [ 8.02288113e-01 5.78317977e-01 -1.47925999e-01 9.11474097e+01] [ 1.73692863e-01 1.09227545e-02 9.84739297e-01 2.72058645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12710568099996 meters Centerline goodness [0,1] 0.9542268213302179 Centerline is valid? [True, True] Translation: X:198.88, Y:91.18, Z:27.21 [[ 5.71555359e-01 -8.15339932e-01 -9.24406150e-02 1.98879062e+02] [ 8.01642611e-01 5.78874277e-01 -1.49243744e-01 9.11789528e+01] [ 1.75195878e-01 1.11967255e-02 9.84469927e-01 2.72071128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15710568099996 meters Centerline goodness [0,1] 0.9983393941941858 Centerline is valid? [True, True] Translation: X:198.91, Y:91.19, Z:27.21 [[ 5.72974899e-01 -8.14315482e-01 -9.26825764e-02 1.98909474e+02] [ 8.00517435e-01 5.80306758e-01 -1.49719415e-01 9.11934407e+01] [ 1.75703163e-01 1.15914483e-02 9.84374947e-01 2.72130114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18710568099996 meters Centerline goodness [0,1] 0.8402276802468621 Centerline is valid? [True, False] Translation: X:198.83, Y:91.02, Z:27.21 [[ 5.75525439e-01 -7.99420558e-01 -1.72328870e-01 1.98829024e+02] [ 7.96752210e-01 5.95616484e-01 -1.02112295e-01 9.10240168e+01] [ 1.84272583e-01 -7.85351849e-02 9.79732535e-01 2.72065913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21710568099996 meters Centerline goodness [0,1] 0.9981057815755688 Centerline is valid? [False, True] Translation: X:198.74, Y:90.85, Z:27.19 [[ 5.74911562e-01 -7.83258374e-01 -2.36607303e-01 1.98738993e+02] [ 7.95766541e-01 6.02522519e-01 -6.10100531e-02 9.08529435e+01] [ 1.90347863e-01 -1.53208790e-01 9.69687969e-01 2.71939415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24710568099997 meters Centerline goodness [0,1] 0.9968459565162539 Centerline is valid? [True, True] Translation: X:198.73, Y:90.90, Z:27.17 [[ 5.79463384e-01 -8.09450301e-01 -9.49336387e-02 1.98731062e+02] [ 7.95140610e-01 5.87052667e-01 -1.52054519e-01 9.08966704e+01] [ 1.78811622e-01 1.26244349e-02 9.83802331e-01 2.71746121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27710568099997 meters Centerline goodness [0,1] 0.9949581950338221 Centerline is valid? [True, True] Translation: X:198.75, Y:90.92, Z:27.18 [[ 5.80326528e-01 -8.08748054e-01 -9.56436427e-02 1.98747291e+02] [ 7.94192752e-01 5.88011472e-01 -1.53298339e-01 9.09204940e+01] [ 1.80219293e-01 1.30036051e-02 9.83540499e-01 2.71782718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30710568099997 meters Centerline goodness [0,1] 0.9919983154348284 Centerline is valid? [True, True] Translation: X:198.76, Y:90.94, Z:27.18 [[ 5.80047668e-01 -8.08869528e-01 -9.63057110e-02 1.98764470e+02] [ 7.94092160e-01 5.87841730e-01 -1.54465991e-01 9.09439550e+01] [ 1.81555349e-01 1.31220281e-02 9.83293175e-01 2.71820770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33710568099997 meters Centerline goodness [0,1] 0.9962694431564305 Centerline is valid? [True, True] Translation: X:198.79, Y:90.96, Z:27.19 [[ 5.79282464e-01 -8.09335860e-01 -9.69912021e-02 1.98785816e+02] [ 7.94331613e-01 5.87199209e-01 -1.55673947e-01 9.09632860e+01] [ 1.82945665e-01 1.31360095e-02 9.83035263e-01 2.71857449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36710568099997 meters Centerline goodness [0,1] 0.9881022574123989 Centerline is valid? [True, True] Translation: X:198.80, Y:90.99, Z:27.19 [[ 5.78451822e-01 -8.09912592e-01 -9.71343532e-02 1.98798268e+02] [ 7.94849206e-01 5.86405512e-01 -1.56023447e-01 9.09880279e+01] [ 1.83325474e-01 1.30448835e-02 9.82965717e-01 2.71875029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39710568099997 meters Centerline goodness [0,1] 0.9929510583964714 Centerline is valid? [True, True] Translation: X:198.82, Y:91.01, Z:27.19 [[ 5.77614754e-01 -8.10471983e-01 -9.74492665e-02 1.98818994e+02] [ 7.95305578e-01 5.85634265e-01 -1.56593565e-01 9.10087876e+01] [ 1.83984327e-01 1.29488083e-02 9.82843882e-01 2.71915561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42710568099997 meters Centerline goodness [0,1] 0.9986543879567722 Centerline is valid? [True, True] Translation: X:198.85, Y:91.02, Z:27.20 [[ 5.75400016e-01 -8.12034027e-01 -9.75477299e-02 1.98846741e+02] [ 7.96844490e-01 5.83476047e-01 -1.56826533e-01 9.10245828e+01] [ 1.84265245e-01 1.25076186e-02 9.82796967e-01 2.71990148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45710568099997 meters Centerline goodness [0,1] 0.9988425925925926 Centerline is valid? [True, True] Translation: X:198.87, Y:91.05, Z:27.20 [[ 5.73543983e-01 -8.13366458e-01 -9.73771305e-02 1.98865722e+02] [ 7.98227493e-01 5.81625259e-01 -1.56668209e-01 9.10452219e+01] [ 1.84065665e-01 1.21270060e-02 9.82839136e-01 2.72041202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48710568099997 meters Centerline goodness [0,1] 0.9986335638756333 Centerline is valid? [True, True] Translation: X:198.88, Y:91.07, Z:27.21 [[ 5.70689225e-01 -8.15444891e-01 -9.67648588e-02 1.98883400e+02] [ 8.00503493e-01 5.78721326e-01 -1.55806881e-01 9.10658406e+01] [ 1.83051813e-01 1.14567009e-02 9.83036509e-01 2.72098930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51710568099998 meters Centerline goodness [0,1] 0.9984858362600155 Centerline is valid? [True, True] Translation: X:198.90, Y:91.09, Z:27.22 [[ 5.70105560e-01 -8.15982716e-01 -9.56653443e-02 1.98900676e+02] [ 8.01366253e-01 5.77967293e-01 -1.54162046e-01 9.10874572e+01] [ 1.81085005e-01 1.12256609e-02 9.83403379e-01 2.72169560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54710568099998 meters Centerline goodness [0,1] 0.9987382499526843 Centerline is valid? [True, True] Translation: X:198.92, Y:91.10, Z:27.23 [[ 5.67392418e-01 -8.18121382e-01 -9.35053417e-02 1.98921677e+02] [ 8.04170849e-01 5.74952130e-01 -1.50795539e-01 9.11048042e+01] [ 1.77130150e-01 1.03659755e-02 9.84132845e-01 2.72281899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57710568099998 meters Centerline goodness [0,1] 0.9990731768968277 Centerline is valid? [True, True] Translation: X:198.94, Y:91.12, Z:27.24 [[ 5.64259772e-01 -8.20491260e-01 -9.16787936e-02 1.98944647e+02] [ 8.07094234e-01 5.71580127e-01 -1.47969777e-01 9.11218362e+01] [ 1.73809685e-01 9.49996690e-03 9.84733438e-01 2.72387554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60710568099998 meters Centerline goodness [0,1] 0.9989118834878319 Centerline is valid? [True, True] Translation: X:198.96, Y:91.14, Z:27.24 [[ 5.62099670e-01 -8.21959580e-01 -9.17954792e-02 1.98961894e+02] [ 8.08526067e-01 5.69472673e-01 -1.48278367e-01 9.11439313e+01] [ 1.74153841e-01 9.12818336e-03 9.84676148e-01 2.72428800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63710568099998 meters Centerline goodness [0,1] 0.9986943245235338 Centerline is valid? [True, True] Translation: X:198.98, Y:91.17, Z:27.24 [[ 5.60767933e-01 -8.22779376e-01 -9.25927860e-02 1.98979553e+02] [ 8.09099079e-01 5.68289268e-01 -1.49686300e-01 9.11655594e+01] [ 1.75778287e-01 9.02253925e-03 9.84388433e-01 2.72446449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66710568099995 meters Centerline goodness [0,1] 0.9989035318924617 Centerline is valid? [True, True] Translation: X:198.99, Y:91.19, Z:27.25 [[ 5.63869545e-01 -8.20676046e-01 -9.24227439e-02 1.98992437e+02] [ 8.07003791e-01 5.71311259e-01 -1.49493565e-01 9.11891370e+01] [ 1.75487942e-01 9.70936369e-03 9.84433700e-01 2.72495829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69710568099995 meters Centerline goodness [0,1] 0.9983119724914036 Centerline is valid? [True, True] Translation: X:199.00, Y:91.21, Z:27.25 [[ 5.66423699e-01 -8.18934301e-01 -9.22540231e-02 1.99002996e+02] [ 8.05275867e-01 5.73795278e-01 -1.49297546e-01 9.12136648e+01] [ 1.75199804e-01 1.02757298e-02 9.84479272e-01 2.72542088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72710568099995 meters Centerline goodness [0,1] 0.9983624110348303 Centerline is valid? [True, True] Translation: X:199.02, Y:91.24, Z:27.26 [[ 5.71464428e-01 -8.15393531e-01 -9.25299787e-02 1.99017092e+02] [ 8.01591113e-01 5.78793779e-01 -1.49831404e-01 9.12370852e+01] [ 1.75727334e-01 1.14521092e-02 9.84372264e-01 2.72595934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75710568099996 meters Centerline goodness [0,1] 0.9984466508532924 Centerline is valid? [True, True] Translation: X:199.03, Y:91.26, Z:27.26 [[ 5.75045970e-01 -8.12778083e-01 -9.33483810e-02 1.99032935e+02] [ 7.98672228e-01 5.82440624e-01 -1.51279845e-01 9.12601754e+01] [ 1.77326831e-01 1.24381055e-02 9.84073416e-01 2.72616101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78710568099996 meters Centerline goodness [0,1] 0.9984466508532924 Centerline is valid? [True, True] Translation: X:199.05, Y:91.28, Z:27.27 [[ 5.74758845e-01 -8.12987234e-01 -9.32953815e-02 1.99047050e+02] [ 7.98878857e-01 5.82148685e-01 -1.51312524e-01 9.12834624e+01] [ 1.77326934e-01 1.24365035e-02 9.84073418e-01 2.72662564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81710568099996 meters Centerline goodness [0,1] 0.9981922139073405 Centerline is valid? [True, True] Translation: X:199.06, Y:91.31, Z:27.27 [[ 5.74746415e-01 -8.12998229e-01 -9.32761416e-02 1.99061530e+02] [ 7.98873965e-01 5.82131919e-01 -1.51402829e-01 9.13074744e+01] [ 1.77389251e-01 1.25023522e-02 9.84061352e-01 2.72700689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84710568099996 meters Centerline goodness [0,1] 0.998211731044349 Centerline is valid? [True, True] Translation: X:199.08, Y:91.33, Z:27.27 [[ 5.72917296e-01 -8.14260185e-01 -9.35207066e-02 1.99079023e+02] [ 8.00056989e-01 5.80371626e-01 -1.51913102e-01 9.13280163e+01] [ 1.77973555e-01 1.22117486e-02 9.83959495e-01 2.72740764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87710568099996 meters Centerline goodness [0,1] 0.9980278616985566 Centerline is valid? [True, True] Translation: X:199.10, Y:91.35, Z:27.28 [[ 5.70920360e-01 -8.15564218e-01 -9.43660357e-02 1.99095866e+02] [ 8.01106430e-01 5.78543098e-01 -1.53350485e-01 9.13504768e+01] [ 1.79661987e-01 1.19536763e-02 9.83655773e-01 2.72765325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90710568099996 meters Centerline goodness [0,1] 0.9993280134397312 Centerline is valid? [True, True] Translation: X:199.12, Y:91.37, Z:27.28 [[ 5.64943808e-01 -8.19482769e-01 -9.63664057e-02 1.99123486e+02] [ 8.04431607e-01 5.72997831e-01 -1.56726751e-01 9.13669542e+01] [ 1.83652614e-01 1.10216251e-02 9.82929418e-01 2.72775828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93710568099996 meters Centerline goodness [0,1] 0.9993059061080263 Centerline is valid? [True, True] Translation: X:199.14, Y:91.39, Z:27.28 [[ 5.61006205e-01 -8.22107743e-01 -9.70097753e-02 1.99142658e+02] [ 8.06867175e-01 5.69238589e-01 -1.57901206e-01 9.13878612e+01] [ 1.85033512e-01 1.03095529e-02 9.82678133e-01 2.72803379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96710568099996 meters Centerline goodness [0,1] 0.9996637454553097 Centerline is valid? [True, True] Translation: X:199.17, Y:91.40, Z:27.29 [[ 5.51864911e-01 -8.28346377e-01 -9.63711568e-02 1.99167926e+02] [ 8.13376089e-01 5.60155530e-01 -1.56987641e-01 9.14049954e+01] [ 1.84022980e-01 8.24997596e-03 9.82887318e-01 2.72869376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99710568099997 meters Centerline goodness [0,1] 0.9994350755324937 Centerline is valid? [True, True] Translation: X:199.19, Y:91.42, Z:27.29 [[ 5.47059880e-01 -8.31653534e-01 -9.52779525e-02 1.99186391e+02] [ 8.17058176e-01 5.55249439e-01 -1.55286822e-01 9.14248311e+01] [ 1.82047864e-01 7.10356030e-03 9.83264011e-01 2.72940090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02710568099997 meters Centerline goodness [0,1] 0.9996446562571852 Centerline is valid? [True, True] Translation: X:199.21, Y:91.44, Z:27.30 [[ 5.36195280e-01 -8.38920992e-01 -9.33069671e-02 1.99211478e+02] [ 8.25012742e-01 5.44233547e-01 -1.52196659e-01 9.14407402e+01] [ 1.78461754e-01 4.62769352e-03 9.83935967e-01 2.73043379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05710568099997 meters Centerline goodness [0,1] 0.9995802640139352 Centerline is valid? [True, True] Translation: X:199.23, Y:91.46, Z:27.31 [[ 5.30850124e-01 -8.42346831e-01 -9.30051740e-02 1.99231648e+02] [ 8.28558523e-01 5.38924211e-01 -1.51827100e-01 9.14610581e+01] [ 1.78013816e-01 3.53720516e-03 9.84021631e-01 2.73107643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08710568099997 meters Centerline goodness [0,1] 0.999790061511977 Centerline is valid? [True, True] Translation: X:199.26, Y:91.48, Z:27.32 [[ 5.21637183e-01 -8.48076949e-01 -9.30598671e-02 1.99255238e+02] [ 8.34347120e-01 5.29870546e-01 -1.51993711e-01 9.14795263e+01] [ 1.78212046e-01 1.64133934e-03 9.83990738e-01 2.73171631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.27, Y:91.50, Z:27.32 [[ 5.17870484e-01 -8.50388084e-01 -9.30068204e-02 1.99270851e+02] [ 8.36690500e-01 5.26155189e-01 -1.52018832e-01 9.15018058e+01] [ 1.78211024e-01 9.08143040e-04 9.83991873e-01 2.73213967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14710568099997 meters Centerline goodness [0,1] 0.9999790154026944 Centerline is valid? [True, True] Translation: X:199.29, Y:91.53, Z:27.33 [[ 5.13146677e-01 -8.53209071e-01 -9.33529256e-02 1.99285606e+02] [ 8.39430450e-01 5.21569057e-01 -1.52716202e-01 9.15253843e+01] [ 1.78988846e-01 2.52318132e-06 9.83851103e-01 2.73262392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17710568099997 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:199.30, Y:91.55, Z:27.33 [[ 5.12151409e-01 -8.53857910e-01 -9.28848936e-02 1.99298865e+02] [ 8.40205722e-01 5.20506143e-01 -1.52077940e-01 9.15497302e+01] [ 1.78200110e-01 -1.55487942e-04 9.83994256e-01 2.73323256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20710568099997 meters Centerline goodness [0,1] 0.9999371148283235 Centerline is valid? [True, True] Translation: X:199.31, Y:91.58, Z:27.34 [[ 5.12746406e-01 -8.53628412e-01 -9.17041849e-02 1.99308494e+02] [ 8.40297820e-01 5.20882457e-01 -1.50269890e-01 9.15760821e+01] [ 1.76041749e-01 -8.48054534e-06 9.84382701e-01 2.73406200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23710568099997 meters Centerline goodness [0,1] 0.9999369363687961 Centerline is valid? [True, True] Translation: X:199.32, Y:91.60, Z:27.35 [[ 5.14086653e-01 -8.52789669e-01 -9.20037677e-02 1.99318430e+02] [ 8.39334740e-01 5.22254401e-01 -1.50889150e-01 9.16020930e+01] [ 1.76726081e-01 3.48139830e-04 9.84260012e-01 2.73454554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26710568099998 meters Centerline goodness [0,1] 0.9996231786970357 Centerline is valid? [True, True] Translation: X:199.32, Y:91.63, Z:27.35 [[ 5.17633076e-01 -8.50509601e-01 -9.32170441e-02 1.99323913e+02] [ 8.36633720e-01 5.25958120e-01 -1.53010050e-01 9.16310762e+01] [ 1.79164778e-01 1.21454049e-03 9.83818330e-01 2.73455444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29710568099998 meters Centerline goodness [0,1] 0.9994554289544236 Centerline is valid? [True, True] Translation: X:199.33, Y:91.66, Z:27.35 [[ 5.21128828e-01 -8.48309247e-01 -9.37878793e-02 1.99332489e+02] [ 8.34204076e-01 5.29497138e-01 -1.54066025e-01 9.16593460e+01] [ 1.80356047e-01 2.05001577e-03 9.83599255e-01 2.73486805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32710568099998 meters Centerline goodness [0,1] 0.9995626275669597 Centerline is valid? [True, True] Translation: X:199.34, Y:91.69, Z:27.35 [[ 5.22851816e-01 -8.47273787e-01 -9.35580424e-02 1.99344152e+02] [ 8.33200062e-01 5.31150684e-01 -1.53807048e-01 9.16850579e+01] [ 1.80010098e-01 2.46572776e-03 9.83661672e-01 2.73537068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35710568099998 meters Centerline goodness [0,1] 0.999663398830311 Centerline is valid? [True, True] Translation: X:199.35, Y:91.71, Z:27.36 [[ 5.26667441e-01 -8.44817519e-01 -9.43650723e-02 1.99350092e+02] [ 8.30436198e-01 5.35043716e-01 -1.55254448e-01 9.17131873e+01] [ 1.81651116e-01 3.40329068e-03 9.83357153e-01 2.73552535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38710568099998 meters Centerline goodness [0,1] 0.9995807303676995 Centerline is valid? [True, True] Translation: X:199.36, Y:91.74, Z:27.36 [[ 5.29167385e-01 -8.43191723e-01 -9.49188926e-02 1.99361869e+02] [ 8.28596226e-01 5.37597818e-01 -1.56259017e-01 9.17386981e+01] [ 1.82784500e-01 4.03773937e-03 9.83144711e-01 2.73594229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41710568099995 meters Centerline goodness [0,1] 0.9992441262309194 Centerline is valid? [True, True] Translation: X:199.37, Y:91.77, Z:27.36 [[ 5.33437497e-01 -8.40406626e-01 -9.57138438e-02 1.99369784e+02] [ 8.25496311e-01 5.41932325e-01 -1.57687017e-01 9.17655495e+01] [ 1.84391640e-01 5.10474279e-03 9.82839593e-01 2.73621952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44710568099995 meters Centerline goodness [0,1] 0.9994748781717359 Centerline is valid? [True, True] Translation: X:199.38, Y:91.79, Z:27.37 [[ 5.36571300e-01 -8.38359068e-01 -9.61525549e-02 1.99381052e+02] [ 8.23259296e-01 5.45086556e-01 -1.58507974e-01 9.17911259e+01] [ 1.85298063e-01 5.89234515e-03 9.82664698e-01 2.73661383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47710568099995 meters Centerline goodness [0,1] 0.9993050729673384 Centerline is valid? [True, True] Translation: X:199.40, Y:91.81, Z:27.37 [[ 5.37384945e-01 -8.37843358e-01 -9.61037367e-02 1.99397042e+02] [ 8.22726627e-01 5.45876199e-01 -1.58556215e-01 9.18142992e+01] [ 1.85306014e-01 6.13861968e-03 9.82661691e-01 2.73722983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50710568099996 meters Centerline goodness [0,1] 0.9991592399529174 Centerline is valid? [True, True] Translation: X:199.40, Y:91.84, Z:27.38 [[ 5.38766793e-01 -8.37011496e-01 -9.56143204e-02 1.99403494e+02] [ 8.22013017e-01 5.47147148e-01 -1.57875259e-01 9.18423189e+01] [ 1.84458510e-01 6.46173129e-03 9.82819060e-01 2.73756491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53710568099996 meters Centerline goodness [0,1] 0.998826069639226 Centerline is valid? [True, True] Translation: X:199.42, Y:91.87, Z:27.38 [[ 5.38900197e-01 -8.36992621e-01 -9.50259473e-02 1.99415716e+02] [ 8.22156891e-01 5.47175632e-01 -1.57025074e-01 9.18675153e+01] [ 1.83424711e-01 6.49460587e-03 9.83012307e-01 2.73802812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56710568099996 meters Centerline goodness [0,1] 0.9991979569007367 Centerline is valid? [True, True] Translation: X:199.43, Y:91.89, Z:27.38 [[ 5.37552114e-01 -8.37790025e-01 -9.56326282e-02 1.99432638e+02] [ 8.22751628e-01 5.45955830e-01 -1.58151793e-01 9.18895459e+01] [ 1.84709186e-01 6.33293018e-03 9.82772817e-01 2.73849072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59710568099996 meters Centerline goodness [0,1] 0.9993269958778498 Centerline is valid? [True, True] Translation: X:199.45, Y:91.91, Z:27.39 [[ 5.36430878e-01 -8.38436803e-01 -9.62581996e-02 1.99447470e+02] [ 8.23184010e-01 5.44963264e-01 -1.59320825e-01 9.19133747e+01] [ 1.86037626e-01 6.22639944e-03 9.82522892e-01 2.73888921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62710568099996 meters Centerline goodness [0,1] 0.9994325346784363 Centerline is valid? [True, True] Translation: X:199.46, Y:91.94, Z:27.39 [[ 5.33162054e-01 -8.40520901e-01 -9.62436448e-02 1.99462223e+02] [ 8.25281607e-01 5.41750468e-01 -1.59426158e-01 9.19375956e+01] [ 1.86141058e-01 5.57186837e-03 9.82507232e-01 2.73933573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65710568099996 meters Centerline goodness [0,1] 0.9992008580261194 Centerline is valid? [True, True] Translation: X:199.48, Y:91.96, Z:27.40 [[ 5.30906455e-01 -8.41960511e-01 -9.61292559e-02 1.99477287e+02] [ 8.26764981e-01 5.39514969e-01 -1.59321263e-01 9.19608116e+01] [ 1.86005385e-01 5.10838451e-03 9.82535445e-01 2.73987915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68710568099996 meters Centerline goodness [0,1] 0.9992666932053887 Centerline is valid? [True, True] Translation: X:199.50, Y:91.98, Z:27.40 [[ 5.23847051e-01 -8.46461230e-01 -9.53291839e-02 1.99495344e+02] [ 8.31568715e-01 5.32438464e-01 -1.58122591e-01 9.19823655e+01] [ 1.84601567e-01 3.55928621e-03 9.82806997e-01 2.74045736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71710568099996 meters Centerline goodness [0,1] 0.9993467495522074 Centerline is valid? [True, True] Translation: X:199.52, Y:92.00, Z:27.41 [[ 5.12949658e-01 -8.53156148e-01 -9.49064587e-02 1.99519187e+02] [ 8.38483603e-01 5.21654152e-01 -1.57550606e-01 9.20001132e+01] [ 1.83923616e-01 1.23801991e-03 9.82939759e-01 2.74113836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74710568099997 meters Centerline goodness [0,1] 0.9998112376517964 Centerline is valid? [True, True] Translation: X:199.54, Y:92.02, Z:27.42 [[ 5.06867750e-01 -8.56798152e-01 -9.47734722e-02 1.99537761e+02] [ 8.42204770e-01 5.15651944e-01 -1.57461733e-01 9.20207998e+01] [ 1.83783047e-01 -6.39614616e-06 9.82966831e-01 2.74169086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77710568099997 meters Centerline goodness [0,1] 0.9996651248456435 Centerline is valid? [True, True] Translation: X:199.56, Y:92.04, Z:27.42 [[ 4.98457937e-01 -8.61799221e-01 -9.40307824e-02 1.99556832e+02] [ 8.47498392e-01 5.07246516e-01 -1.56356797e-01 9.20402215e+01] [ 1.82444953e-01 -1.75365017e-03 9.83214506e-01 2.74214640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80710568099997 meters Centerline goodness [0,1] 0.9998525601870379 Centerline is valid? [True, True] Translation: X:199.57, Y:92.06, Z:27.43 [[ 4.96414246e-01 -8.63067417e-01 -9.32069222e-02 1.99571037e+02] [ 8.49022255e-01 5.05084168e-01 -1.55084474e-01 9.20637385e+01] [ 1.80925697e-01 -2.14860915e-03 9.83494421e-01 2.74292509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83710568099997 meters Centerline goodness [0,1] 0.9995159932659933 Centerline is valid? [True, True] Translation: X:199.58, Y:92.09, Z:27.44 [[ 4.96019261e-01 -8.63428366e-01 -9.19584142e-02 1.99583625e+02] [ 8.49742625e-01 5.04466743e-01 -1.53136465e-01 9.20881585e+01] [ 1.78612329e-01 -2.18234809e-03 9.83917107e-01 2.74384073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86710568099997 meters Centerline goodness [0,1] 0.9995790891489182 Centerline is valid? [True, True] Translation: X:199.59, Y:92.12, Z:27.45 [[ 4.97234113e-01 -8.62807066e-01 -9.12261186e-02 1.99590540e+02] [ 8.49307701e-01 5.05529854e-01 -1.52039456e-01 9.21155377e+01] [ 1.77298243e-01 -1.87984102e-03 9.84155373e-01 2.74454975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89710568099997 meters Centerline goodness [0,1] 0.999748911951791 Centerline is valid? [True, True] Translation: X:199.60, Y:92.14, Z:27.45 [[ 4.98744886e-01 -8.61929650e-01 -9.12733129e-02 1.99599893e+02] [ 8.48377892e-01 5.07025667e-01 -1.52249548e-01 9.21405466e+01] [ 1.77506312e-01 -1.50057760e-03 9.84118518e-01 2.74498261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92710568099997 meters Centerline goodness [0,1] 0.9996866448014372 Centerline is valid? [True, True] Translation: X:199.61, Y:92.17, Z:27.46 [[ 5.00972990e-01 -8.60625894e-01 -9.13735931e-02 1.99608884e+02] [ 8.46997956e-01 5.09236814e-01 -1.52552711e-01 9.21674374e+01] [ 1.77821611e-01 -9.68458919e-04 9.84062263e-01 2.74556609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95710568099997 meters Centerline goodness [0,1] 0.9995391125822265 Centerline is valid? [True, True] Translation: X:199.61, Y:92.20, Z:27.46 [[ 5.06576012e-01 -8.57321597e-01 -9.15446523e-02 1.99611584e+02] [ 8.43564333e-01 5.14781127e-01 -1.52969301e-01 9.21969394e+01] [ 1.78269344e-01 2.66774852e-04 9.83981692e-01 2.74595641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98710568099997 meters Centerline goodness [0,1] 0.9994317225122075 Centerline is valid? [True, True] Translation: X:199.62, Y:92.22, Z:27.46 [[ 5.09436270e-01 -8.55610175e-01 -9.16837728e-02 1.99620132e+02] [ 8.41758312e-01 5.17619883e-01 -1.53338192e-01 9.22239858e+01] [ 1.78655061e-01 9.40458891e-04 9.83911320e-01 2.74642174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01710568099998 meters Centerline goodness [0,1] 0.999391050542805 Centerline is valid? [True, True] Translation: X:199.62, Y:92.26, Z:27.47 [[ 5.16539165e-01 -8.51261205e-01 -9.24210589e-02 1.99620168e+02] [ 8.37089348e-01 5.24736007e-01 -1.54704708e-01 9.22559846e+01] [ 1.80190774e-01 2.54635705e-03 9.83628386e-01 2.74655377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04710568099998 meters Centerline goodness [0,1] 0.9994126038432491 Centerline is valid? [True, True] Translation: X:199.63, Y:92.28, Z:27.47 [[ 5.20095204e-01 -8.49007871e-01 -9.32020055e-02 1.99627487e+02] [ 8.34541330e-01 5.28369227e-01 -1.56098457e-01 9.22848263e+01] [ 1.81773891e-01 3.40513344e-03 9.83334459e-01 2.74673925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07710568099998 meters Centerline goodness [0,1] 0.9993471072639583 Centerline is valid? [True, True] Translation: X:199.63, Y:92.32, Z:27.47 [[ 5.26700022e-01 -8.44749980e-01 -9.47869055e-02 1.99630531e+02] [ 8.29689459e-01 5.35137438e-01 -1.58881479e-01 9.23161738e+01] [ 1.84939148e-01 5.03918204e-03 9.82737054e-01 2.74684633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10710568099998 meters Centerline goodness [0,1] 0.9992234721289456 Centerline is valid? [True, True] Translation: X:199.64, Y:92.35, Z:27.47 [[ 5.33122176e-01 -8.40633002e-01 -9.54824690e-02 1.99635740e+02] [ 8.25257586e-01 5.41564984e-01 -1.60178915e-01 9.23456393e+01] [ 1.86361644e-01 6.59729995e-03 9.82459064e-01 2.74730622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13710568099998 meters Centerline goodness [0,1] 0.9991603870615646 Centerline is valid? [True, True] Translation: X:199.65, Y:92.37, Z:27.48 [[ 5.35130221e-01 -8.39333389e-01 -9.56823284e-02 1.99647381e+02] [ 8.23846581e-01 5.43570113e-01 -1.60649751e-01 9.23706687e+01] [ 1.86848754e-01 7.14097776e-03 9.82362738e-01 2.74780039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16710568099995 meters Centerline goodness [0,1] 0.9990522524799393 Centerline is valid? [True, True] Translation: X:199.66, Y:92.40, Z:27.48 [[ 5.37415909e-01 -8.37784426e-01 -9.64437465e-02 1.99656879e+02] [ 8.21997484e-01 5.45945175e-01 -1.62061724e-01 9.23975142e+01] [ 1.88425787e-01 7.81803190e-03 9.82056313e-01 2.74795701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19710568099995 meters Centerline goodness [0,1] 0.9991356228785866 Centerline is valid? [True, True] Translation: X:199.67, Y:92.42, Z:27.48 [[ 5.37510513e-01 -8.37662033e-01 -9.69781743e-02 1.99670087e+02] [ 8.21677912e-01 5.46130924e-01 -1.63053436e-01 9.24227429e+01] [ 1.89546453e-01 7.95811251e-03 9.81839503e-01 2.74824497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22710568099995 meters Centerline goodness [0,1] 0.9989762019180544 Centerline is valid? [True, True] Translation: X:199.68, Y:92.45, Z:27.48 [[ 5.38066315e-01 -8.37219253e-01 -9.77167487e-02 1.99684058e+02] [ 8.20956065e-01 5.46805140e-01 -1.64424081e-01 9.24467233e+01] [ 1.91091027e-01 8.24990173e-03 9.81537650e-01 2.74849366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25710568099996 meters Centerline goodness [0,1] 0.9991655192556432 Centerline is valid? [True, True] Translation: X:199.70, Y:92.47, Z:27.49 [[ 5.37561396e-01 -8.37548940e-01 -9.76704601e-02 1.99697504e+02] [ 8.21288994e-01 5.46301082e-01 -1.64436969e-01 9.24697674e+01] [ 1.91081488e-01 8.17929286e-03 9.81540098e-01 2.74890037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28710568099996 meters Centerline goodness [0,1] 0.9990730597455127 Centerline is valid? [True, True] Translation: X:199.72, Y:92.49, Z:27.49 [[ 5.35883616e-01 -8.38624413e-01 -9.76618847e-02 1.99715487e+02] [ 8.22361375e-01 5.44653350e-01 -1.64543299e-01 9.24918775e+01] [ 1.91181900e-01 7.86269645e-03 9.81523132e-01 2.74948103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31710568099996 meters Centerline goodness [0,1] 0.9990798059227037 Centerline is valid? [True, True] Translation: X:199.73, Y:92.51, Z:27.50 [[ 5.33859742e-01 -8.39923757e-01 -9.75800111e-02 1.99732455e+02] [ 8.23686350e-01 5.42653172e-01 -1.64524566e-01 9.25149244e+01] [ 1.91140194e-01 7.45771893e-03 9.81534415e-01 2.74999365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34710568099996 meters Centerline goodness [0,1] 0.9990982867448152 Centerline is valid? [True, True] Translation: X:199.75, Y:92.53, Z:27.51 [[ 5.29492199e-01 -8.42827590e-01 -9.63310136e-02 1.99750988e+02] [ 8.27037947e-01 5.38145907e-01 -1.62502976e-01 9.25341117e+01] [ 1.88802132e-01 6.37465454e-03 9.81994460e-01 2.75074457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37710568099996 meters Centerline goodness [0,1] 0.9989278731947276 Centerline is valid? [True, True] Translation: X:199.77, Y:92.55, Z:27.52 [[ 5.24868130e-01 -8.45938221e-01 -9.43502644e-02 1.99772358e+02] [ 8.30820727e-01 5.33255339e-01 -1.59297405e-01 9.25527297e+01] [ 1.85068546e-01 5.22197598e-03 9.82711740e-01 2.75183334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40710568099996 meters Centerline goodness [0,1] 0.9990363868697237 Centerline is valid? [True, True] Translation: X:199.79, Y:92.57, Z:27.52 [[ 5.22158102e-01 -8.47699696e-01 -9.35742573e-02 1.99789410e+02] [ 8.32835591e-01 5.30456205e-01 -1.58117341e-01 9.25747332e+01] [ 1.83673067e-01 4.63027864e-03 9.82976482e-01 2.75249790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43710568099996 meters Centerline goodness [0,1] 0.9990784761346263 Centerline is valid? [True, True] Translation: X:199.81, Y:92.60, Z:27.53 [[ 5.17809484e-01 -8.50445333e-01 -9.28228044e-02 1.99807407e+02] [ 8.35840611e-01 5.26050431e-01 -1.56975849e-01 9.25963134e+01] [ 1.82328854e-01 3.69851379e-03 9.83230649e-01 2.75323003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46710568099996 meters Centerline goodness [0,1] 0.9990322919953718 Centerline is valid? [True, True] Translation: X:199.82, Y:92.62, Z:27.54 [[ 5.15802486e-01 -8.51628729e-01 -9.31466798e-02 1.99821018e+02] [ 8.36916923e-01 5.24134739e-01 -1.57647832e-01 9.26209187e+01] [ 1.83078834e-01 3.35911106e-03 9.83092497e-01 2.75359022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49710568099997 meters Centerline goodness [0,1] 0.9992455202766426 Centerline is valid? [True, True] Translation: X:199.83, Y:92.65, Z:27.54 [[ 5.14557822e-01 -8.52287910e-01 -9.39976885e-02 1.99833580e+02] [ 8.37288429e-01 5.23062994e-01 -1.59226851e-01 9.26454329e+01] [ 1.84873833e-01 3.22824495e-03 9.82756961e-01 2.75363407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52710568099997 meters Centerline goodness [0,1] 0.9991996461593546 Centerline is valid? [True, True] Translation: X:199.85, Y:92.67, Z:27.54 [[ 5.10784180e-01 -8.54271677e-01 -9.65371661e-02 1.99852867e+02] [ 8.38449037e-01 5.19819982e-01 -1.63677727e-01 9.26678426e+01] [ 1.90007194e-01 2.66249975e-03 9.81779088e-01 2.75358080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55710568099997 meters Centerline goodness [0,1] 0.9994114061087638 Centerline is valid? [True, True] Translation: X:199.87, Y:92.69, Z:27.54 [[ 5.08099224e-01 -8.55803332e-01 -9.71382290e-02 1.99869316e+02] [ 8.39783785e-01 5.17296760e-01 -1.64824924e-01 9.26905126e+01] [ 1.91307010e-01 2.17230617e-03 9.81527844e-01 2.75413856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58710568099997 meters Centerline goodness [0,1] 0.9993058623083233 Centerline is valid? [True, True] Translation: X:199.88, Y:92.72, Z:27.55 [[ 5.05415844e-01 -8.57460587e-01 -9.65202876e-02 1.99882190e+02] [ 8.41649233e-01 5.14547135e-01 -1.63914047e-01 9.27152969e+01] [ 1.90214072e-01 1.60853055e-03 9.81741320e-01 2.75464318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61710568099997 meters Centerline goodness [0,1] 0.9992430295639009 Centerline is valid? [True, True] Translation: X:199.89, Y:92.74, Z:27.55 [[ 5.04439280e-01 -8.58125376e-01 -9.57175664e-02 1.99894291e+02] [ 8.42564969e-01 5.13438251e-01 -1.62682007e-01 9.27394749e+01] [ 1.88746619e-01 1.41492623e-03 9.82024802e-01 2.75531293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64710568099997 meters Centerline goodness [0,1] 0.9993267551703099 Centerline is valid? [True, True] Translation: X:199.91, Y:92.76, Z:27.56 [[ 5.03260849e-01 -8.58798616e-01 -9.58825103e-02 1.99908185e+02] [ 8.43170469e-01 5.12311833e-01 -1.63095509e-01 9.27631716e+01] [ 1.89187942e-01 1.23428318e-03 9.81940120e-01 2.75581469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67710568099997 meters Centerline goodness [0,1] 0.9993267551703099 Centerline is valid? [True, True] Translation: X:199.92, Y:92.79, Z:27.56 [[ 5.02952009e-01 -8.58986207e-01 -9.58226143e-02 1.99921730e+02] [ 8.43354732e-01 5.11997239e-01 -1.63130694e-01 9.27867203e+01] [ 1.89187930e-01 1.23445508e-03 9.81940122e-01 2.75627822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70710568099997 meters Centerline goodness [0,1] 0.9993691117092867 Centerline is valid? [True, True] Translation: X:199.94, Y:92.81, Z:27.57 [[ 5.00123473e-01 -8.60619854e-01 -9.59686318e-02 1.99936572e+02] [ 8.44944497e-01 5.09247478e-01 -1.63510865e-01 9.28108366e+01] [ 1.89592481e-01 6.87454313e-04 9.81862627e-01 2.75665032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73710568099997 meters Centerline goodness [0,1] 0.9997907818482331 Centerline is valid? [True, True] Translation: X:199.95, Y:92.83, Z:27.57 [[ 4.98144305e-01 -8.61813345e-01 -9.55510826e-02 1.99950773e+02] [ 8.46279616e-01 5.07225472e-01 -1.62889937e-01 9.28336359e+01] [ 1.88846664e-01 2.79760754e-04 9.82006547e-01 2.75717213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76710568099998 meters Centerline goodness [0,1] 0.9995409206627436 Centerline is valid? [True, True] Translation: X:199.96, Y:92.86, Z:27.58 [[ 4.93768807e-01 -8.64446334e-01 -9.44716882e-02 1.99964224e+02] [ 8.49285900e-01 5.02724696e-01 -1.61187283e-01 9.28569124e+01] [ 1.86831007e-01 -6.44220123e-04 9.82391857e-01 2.75779815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79710568099998 meters Centerline goodness [0,1] 0.9998743218617121 Centerline is valid? [True, True] Translation: X:199.98, Y:92.88, Z:27.58 [[ 4.91520082e-01 -8.65779216e-01 -9.39912647e-02 1.99977775e+02] [ 8.50773469e-01 5.00425007e-01 -1.60497091e-01 9.28811928e+01] [ 1.85990625e-01 -1.07773090e-03 9.82550928e-01 2.75837150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82710568099998 meters Centerline goodness [0,1] 0.9997703644941756 Centerline is valid? [True, True] Translation: X:199.99, Y:92.90, Z:27.59 [[ 4.87752404e-01 -8.67940233e-01 -9.36874773e-02 1.99990618e+02] [ 8.53046773e-01 4.96665295e-01 -1.60108673e-01 9.29046101e+01] [ 1.85496078e-01 -1.82640995e-03 9.82643307e-01 2.75886073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85710568099998 meters Centerline goodness [0,1] 0.9997900174285534 Centerline is valid? [True, True] Translation: X:200.00, Y:92.93, Z:27.60 [[ 4.86009923e-01 -8.68951280e-01 -9.33703810e-02 2.00001390e+02] [ 8.54152052e-01 4.94893034e-01 -1.59703343e-01 9.29294883e+01] [ 1.84982775e-01 -2.13509305e-03 9.82739444e-01 2.75958920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88710568099998 meters Centerline goodness [0,1] 0.9997058699945376 Centerline is valid? [True, True] Translation: X:200.01, Y:92.96, Z:27.60 [[ 4.83489295e-01 -8.70365317e-01 -9.32862068e-02 2.00012173e+02] [ 8.55592311e-01 4.92399683e-01 -1.59700813e-01 9.29551133e+01] [ 1.84932148e-01 -2.60132765e-03 9.82747849e-01 2.76017329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91710568099995 meters Centerline goodness [0,1] 0.9997906022279923 Centerline is valid? [True, True] Translation: X:200.02, Y:92.98, Z:27.61 [[ 4.83153059e-01 -8.70577057e-01 -9.30521807e-02 2.00019992e+02] [ 8.55856890e-01 4.92025194e-01 -1.59437112e-01 9.29815312e+01] [ 1.84586309e-01 -2.60682146e-03 9.82812850e-01 2.76069529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94710568099995 meters Centerline goodness [0,1] 0.9997279537939983 Centerline is valid? [True, True] Translation: X:200.03, Y:93.01, Z:27.61 [[ 4.83828388e-01 -8.70305499e-01 -9.20783890e-02 2.00029667e+02] [ 8.55862315e-01 4.92506412e-01 -1.57914955e-01 9.30074861e+01] [ 1.82783450e-01 -2.40268516e-03 9.83150262e-01 2.76134530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:93.03, Z:27.62 [[ 4.85828198e-01 -8.69353106e-01 -9.05325294e-02 2.00035273e+02] [ 8.55354967e-01 4.94187614e-01 -1.55391384e-01 9.30348088e+01] [ 1.79830037e-01 -1.94393265e-03 9.83695776e-01 2.76191315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00710568099996 meters Centerline goodness [0,1] 0.9998953602745746 Centerline is valid? [True, True] Translation: X:200.05, Y:93.06, Z:27.62 [[ 4.86814999e-01 -8.68773623e-01 -9.07939920e-02 2.00045122e+02] [ 8.54666848e-01 4.95206566e-01 -1.55932796e-01 9.30609154e+01] [ 1.80432081e-01 -1.68819087e-03 9.83585997e-01 2.76238165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03710568099996 meters Centerline goodness [0,1] 0.9998746500647642 Centerline is valid? [True, True] Translation: X:200.05, Y:93.09, Z:27.62 [[ 4.88276859e-01 -8.67740636e-01 -9.28003120e-02 2.00053693e+02] [ 8.52954530e-01 4.97015673e-01 -1.59511726e-01 9.30892879e+01] [ 1.84538016e-01 -1.26856221e-03 9.82824558e-01 2.76249108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06710568099996 meters Centerline goodness [0,1] 0.9999580448919656 Centerline is valid? [True, True] Translation: X:200.06, Y:93.11, Z:27.63 [[ 4.88171559e-01 -8.67787972e-01 -9.29115943e-02 2.00064829e+02] [ 8.52942628e-01 4.96933135e-01 -1.59832199e-01 9.31147556e+01] [ 1.84871310e-01 -1.22272562e-03 9.82761977e-01 2.76297449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.07, Y:93.14, Z:27.64 [[ 4.86672598e-01 -8.68780222e-01 -9.14915696e-02 2.00073899e+02] [ 8.54381000e-01 4.95195577e-01 -1.57526020e-01 9.31396875e+01] [ 1.82161712e-01 -1.50506114e-03 9.83267433e-01 2.76372968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:93.16, Z:27.65 [[ 4.82204916e-01 -8.71459933e-01 -8.96437604e-02 2.00085509e+02] [ 8.57661773e-01 4.90460865e-01 -1.54481142e-01 9.31643758e+01] [ 1.78590882e-01 -2.39246034e-03 9.83920511e-01 2.76468946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:93.19, Z:27.65 [[ 4.74648610e-01 -8.75587397e-01 -8.97519209e-02 2.00102632e+02] [ 8.61803087e-01 4.83044221e-01 -1.54802196e-01 9.31853796e+01] [ 1.78896999e-01 -3.87183512e-03 9.83860190e-01 2.76491678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.12, Y:93.21, Z:27.65 [[ 4.71244625e-01 -8.77363080e-01 -9.03467167e-02 2.00118399e+02] [ 8.63411416e-01 4.79805642e-01 -1.55907901e-01 9.32086632e+01] [ 1.80136701e-01 -4.53562623e-03 9.83631129e-01 2.76518675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:93.23, Z:27.66 [[ 4.68262465e-01 -8.78903673e-01 -9.08768226e-02 2.00132340e+02] [ 8.64790083e-01 4.76972121e-01 -1.56957661e-01 9.32330727e+01] [ 1.81296376e-01 -5.09199385e-03 9.83415322e-01 2.76557716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:93.26, Z:27.66 [[ 4.64842594e-01 -8.80721124e-01 -9.08386698e-02 2.00146302e+02] [ 8.66628730e-01 4.73600525e-01 -1.57026072e-01 9.32568603e+01] [ 1.81317420e-01 -5.73099439e-03 9.83407926e-01 2.76595307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:93.29, Z:27.67 [[ 4.66762550e-01 -8.79810471e-01 -8.98123458e-02 2.00144600e+02] [ 8.65995309e-01 4.75295705e-01 -1.55390210e-01 9.32889357e+01] [ 1.79401356e-01 -5.24673959e-03 9.83761976e-01 2.76680554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:93.32, Z:27.67 [[ 4.69736769e-01 -8.78258774e-01 -8.94924284e-02 2.00153802e+02] [ 8.64490563e-01 4.78163817e-01 -1.54969130e-01 9.33153294e+01] [ 1.78895039e-01 -4.57066160e-03 9.83857548e-01 2.76712197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33710568099997 meters Centerline goodness [0,1] 0.9999790615381394 Centerline is valid? [True, True] Translation: X:200.15, Y:93.35, Z:27.67 [[ 4.77463905e-01 -8.73982029e-01 -9.04634336e-02 2.00154077e+02] [ 8.59808722e-01 4.85949462e-01 -1.56786742e-01 9.33478630e+01] [ 1.80989452e-01 -2.92123910e-03 9.83480699e-01 2.76728578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36710568099997 meters Centerline goodness [0,1] 0.9999578556979096 Centerline is valid? [True, True] Translation: X:200.16, Y:93.38, Z:27.68 [[ 4.81322400e-01 -8.71800633e-01 -9.10626363e-02 2.00158254e+02] [ 8.57374837e-01 4.89856570e-01 -1.57952299e-01 9.33780631e+01] [ 1.82310545e-01 -2.04883306e-03 9.83238866e-01 2.76781621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:93.41, Z:27.68 [[ 4.90538164e-01 -8.66649846e-01 -9.10513795e-02 2.00154341e+02] [ 8.52114343e-01 4.98916868e-01 -1.58060450e-01 9.34117317e+01] [ 1.82410134e-01 -5.15035902e-05 9.83222528e-01 2.76793873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:93.44, Z:27.69 [[ 5.00112246e-01 -8.61372062e-01 -8.90275920e-02 2.00150192e+02] [ 8.47378792e-01 5.07971027e-01 -1.54643521e-01 9.34438330e+01] [ 1.78429046e-01 1.89902519e-03 9.83950949e-01 2.76876962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.16, Y:93.47, Z:27.69 [[ 5.03056361e-01 -8.59764054e-01 -8.79776575e-02 2.00157965e+02] [ 8.46052273e-01 5.10685282e-01 -1.52957821e-01 9.34707016e+01] [ 1.76436532e-01 2.51270799e-03 9.84308812e-01 2.76947115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:93.50, Z:27.70 [[ 5.04678053e-01 -8.58992134e-01 -8.62123883e-02 2.00167202e+02] [ 8.45796822e-01 5.11981188e-01 -1.50009993e-01 9.34961404e+01] [ 1.72996525e-01 2.78858723e-03 9.84918487e-01 2.77028754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.18, Y:93.52, Z:27.71 [[ 5.04297007e-01 -8.59334483e-01 -8.50221960e-02 2.00180664e+02] [ 8.46486762e-01 5.11406847e-01 -1.48064844e-01 9.35196990e+01] [ 1.70718159e-01 2.69849436e-03 9.85316207e-01 2.77104707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:93.54, Z:27.72 [[ 5.02241266e-01 -8.60555704e-01 -8.48386192e-02 2.00193819e+02] [ 8.47758799e-01 5.09350939e-01 -1.47873730e-01 9.35443686e+01] [ 1.70466212e-01 2.34560329e-03 9.85360730e-01 2.77150709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:93.57, Z:27.72 [[ 5.02603786e-01 -8.60222229e-01 -8.60648031e-02 2.00205624e+02] [ 8.47022286e-01 5.09912886e-01 -1.50140257e-01 9.35697573e+01] [ 1.73039539e-01 2.56225557e-03 9.84911546e-01 2.77159946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.22, Y:93.60, Z:27.72 [[ 5.06807079e-01 -8.57591823e-01 -8.76518695e-02 2.00215740e+02] [ 8.43841399e-01 5.14318461e-01 -1.52997434e-01 9.35968337e+01] [ 1.76290323e-01 3.57590640e-03 9.84331720e-01 2.77156737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:93.62, Z:27.72 [[ 5.09426643e-01 -8.56000224e-01 -8.80233626e-02 2.00226167e+02] [ 8.42084622e-01 5.16958265e-01 -1.53777897e-01 9.36225792e+01] [ 1.77138319e-01 4.21543773e-03 9.84176938e-01 2.77192058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:93.65, Z:27.72 [[ 5.14288990e-01 -8.53036100e-01 -8.85225781e-02 2.00233798e+02] [ 8.38893537e-01 5.21824579e-01 -1.54779655e-01 9.36508393e+01] [ 1.78225890e-01 5.34045388e-03 9.83975107e-01 2.77230794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:93.68, Z:27.73 [[ 5.15897085e-01 -8.52083423e-01 -8.83404625e-02 2.00246987e+02] [ 8.37962941e-01 5.23374691e-01 -1.54586684e-01 9.36763297e+01] [ 1.77955913e-01 5.72478600e-03 9.84021809e-01 2.77286041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:93.70, Z:27.73 [[ 5.17164186e-01 -8.51393475e-01 -8.75805616e-02 2.00261521e+02] [ 8.37486755e-01 5.24493574e-01 -1.53370227e-01 9.37000490e+01] [ 1.76513852e-01 5.97002815e-03 9.84280051e-01 2.77342902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:93.72, Z:27.74 [[ 5.16342871e-01 -8.51850703e-01 -8.79796528e-02 2.00276941e+02] [ 8.37810196e-01 5.23751694e-01 -1.54137081e-01 9.37221920e+01] [ 1.77381273e-01 5.87733280e-03 9.84124657e-01 2.77379875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:93.74, Z:27.74 [[ 5.13447763e-01 -8.53541882e-01 -8.85305053e-02 2.00299380e+02] [ 8.39326740e-01 5.20996340e-01 -1.55220608e-01 9.37422399e+01] [ 1.78611359e-01 5.39165358e-03 9.83904931e-01 2.77414289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:93.76, Z:27.75 [[ 5.09714743e-01 -8.55874878e-01 -8.75732528e-02 2.00319135e+02] [ 8.41980955e-01 5.17162598e-01 -1.53658447e-01 9.37614046e+01] [ 1.76802016e-01 4.58696471e-03 9.84235748e-01 2.77481056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.34, Y:93.78, Z:27.75 [[ 5.07580453e-01 -8.57202413e-01 -8.69833666e-02 2.00336875e+02] [ 8.43499173e-01 5.14962948e-01 -1.52716426e-01 9.37837042e+01] [ 1.75702100e-01 4.14547498e-03 9.84434654e-01 2.77537574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.36, Y:93.80, Z:27.76 [[ 5.02206738e-01 -8.60357611e-01 -8.70239797e-02 2.00357504e+02] [ 8.46667120e-01 5.09681385e-01 -1.52904135e-01 9.38022619e+01] [ 1.75906739e-01 3.10914467e-03 9.84401926e-01 2.77586370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:93.82, Z:27.76 [[ 4.99050389e-01 -8.62221268e-01 -8.67363479e-02 2.00376363e+02] [ 8.48636120e-01 5.06525726e-01 -1.52474344e-01 9.38242267e+01] [ 1.75400814e-01 2.48478308e-03 9.84493972e-01 2.77633767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.40, Y:93.84, Z:27.77 [[ 4.92397295e-01 -8.66040419e-01 -8.67115686e-02 2.00400644e+02] [ 8.52506970e-01 4.99972615e-01 -1.52509837e-01 9.38422934e+01] [ 1.75433093e-01 1.17321464e-03 9.84490657e-01 2.77689997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:93.86, Z:27.77 [[ 4.89325487e-01 -8.67843225e-01 -8.60738269e-02 2.00418631e+02] [ 8.54514522e-01 4.96837789e-01 -1.51516149e-01 9.38637101e+01] [ 1.74256993e-01 5.89378515e-04 9.84700032e-01 2.77747125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.44, Y:93.88, Z:27.78 [[ 4.86875212e-01 -8.69220384e-01 -8.60723630e-02 2.00435802e+02] [ 8.55890082e-01 4.94424814e-01 -1.51645213e-01 9.38847200e+01] [ 1.74369423e-01 1.63813516e-04 9.84680292e-01 2.77781247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02710568099997 meters Centerline goodness [0,1] 0.999979029044773 Centerline is valid? [True, True] Translation: X:200.45, Y:93.91, Z:27.78 [[ 4.86816332e-01 -8.69198712e-01 -8.66225016e-02 2.00449106e+02] [ 8.55670483e-01 4.94462880e-01 -1.52756291e-01 9.39084780e+01] [ 1.75607183e-01 2.43939488e-04 9.84460288e-01 2.77821459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:93.93, Z:27.79 [[ 4.88691512e-01 -8.68062180e-01 -8.74566011e-02 2.00459624e+02] [ 8.54233570e-01 4.96454978e-01 -1.54329073e-01 9.39342740e+01] [ 1.77385496e-01 7.10943318e-04 9.84141189e-01 2.77852293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.47, Y:93.96, Z:27.79 [[ 4.89029204e-01 -8.67871025e-01 -8.74661145e-02 2.00470624e+02] [ 8.54012176e-01 4.96788853e-01 -1.54479895e-01 9.39583399e+01] [ 1.77520816e-01 8.48053503e-04 9.84116680e-01 2.77889414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11710568099997 meters Centerline goodness [0,1] 0.9999789933619023 Centerline is valid? [True, True] Translation: X:200.48, Y:93.98, Z:27.79 [[ 4.89419964e-01 -8.67693454e-01 -8.70411957e-02 2.00482676e+02] [ 8.53942211e-01 4.97098696e-01 -1.53868730e-01 9.39831890e+01] [ 1.76778955e-01 9.78277155e-04 9.84250092e-01 2.77949543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14710568099997 meters Centerline goodness [0,1] 0.9999582759627822 Centerline is valid? [True, True] Translation: X:200.50, Y:94.01, Z:27.80 [[ 4.89252813e-01 -8.67815461e-01 -8.67641108e-02 2.00495279e+02] [ 8.54129776e-01 4.96885627e-01 -1.53515474e-01 9.40065911e+01] [ 1.76334941e-01 1.00006696e-03 9.84329715e-01 2.78005223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17710568099997 meters Centerline goodness [0,1] 0.9999370501710138 Centerline is valid? [True, True] Translation: X:200.51, Y:94.03, Z:27.81 [[ 4.90506207e-01 -8.67222924e-01 -8.56040944e-02 2.00507624e+02] [ 8.53869870e-01 4.97918461e-01 -1.51602943e-01 9.40303390e+01] [ 1.74097406e-01 1.26742739e-03 9.84727621e-01 2.78093412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20710568099997 meters Centerline goodness [0,1] 0.9999790158430385 Centerline is valid? [True, True] Translation: X:200.52, Y:94.06, Z:27.82 [[ 4.91521464e-01 -8.66764713e-01 -8.44131689e-02 2.00517722e+02] [ 8.53754079e-01 4.98715106e-01 -1.49623578e-01 9.40550523e+01] [ 1.71786560e-01 1.47511293e-03 9.85133088e-01 2.78165154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23710568099997 meters Centerline goodness [0,1] 0.9999582044637633 Centerline is valid? [True, True] Translation: X:200.52, Y:94.08, Z:27.82 [[ 4.96586574e-01 -8.63983499e-01 -8.32723771e-02 2.00522332e+02] [ 8.51262356e-01 5.03514029e-01 -1.47736331e-01 9.40827012e+01] [ 1.69570562e-01 2.47723842e-03 9.85514935e-01 2.78231371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26710568099998 meters Centerline goodness [0,1] 0.9995025081878861 Centerline is valid? [True, True] Translation: X:200.53, Y:94.11, Z:27.83 [[ 5.04324758e-01 -8.59465376e-01 -8.35212894e-02 2.00526153e+02] [ 8.46584415e-01 5.11177661e-01 -1.48297765e-01 9.41109891e+01] [ 1.70151012e-01 4.08241236e-03 9.85409543e-01 2.78265199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29710568099998 meters Centerline goodness [0,1] 0.9997282551892808 Centerline is valid? [True, True] Translation: X:200.54, Y:94.14, Z:27.83 [[ 5.08006736e-01 -8.57294170e-01 -8.35216273e-02 2.00535370e+02] [ 8.44368690e-01 5.14803949e-01 -1.48386015e-01 9.41379662e+01] [ 1.70207729e-01 4.85804816e-03 9.85396229e-01 2.78293984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32710568099998 meters Centerline goodness [0,1] 0.9992083828094077 Centerline is valid? [True, True] Translation: X:200.55, Y:94.16, Z:27.83 [[ 5.10909052e-01 -8.55554902e-01 -8.36525577e-02 2.00545769e+02] [ 8.42544584e-01 5.17682759e-01 -1.48738645e-01 9.41640454e+01] [ 1.70559564e-01 5.51091084e-03 9.85331957e-01 2.78321640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35710568099998 meters Centerline goodness [0,1] 0.999412122866321 Centerline is valid? [True, True] Translation: X:200.56, Y:94.19, Z:27.83 [[ 5.14550481e-01 -8.53279265e-01 -8.45712610e-02 2.00557618e+02] [ 8.39935042e-01 5.21415182e-01 -1.50450436e-01 9.41907829e+01] [ 1.72472977e-01 6.37997868e-03 9.84993588e-01 2.78322164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38710568099998 meters Centerline goodness [0,1] 0.999059836202574 Centerline is valid? [True, True] Translation: X:200.57, Y:94.22, Z:27.83 [[ 5.15074027e-01 -8.52906688e-01 -8.51406338e-02 2.00566592e+02] [ 8.39355073e-01 5.22021517e-01 -1.51580333e-01 9.42174981e+01] [ 1.73729123e-01 6.61186976e-03 9.84771281e-01 2.78345978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41710568099995 meters Centerline goodness [0,1] 0.9985338778929731 Centerline is valid? [True, True] Translation: X:200.58, Y:94.24, Z:27.84 [[ 5.16574635e-01 -8.52026038e-01 -8.48662286e-02 2.00578916e+02] [ 8.38539027e-01 5.23453663e-01 -1.51157411e-01 9.42408542e+01] [ 1.73213588e-01 6.92043978e-03 9.84859970e-01 2.78394922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44710568099995 meters Centerline goodness [0,1] 0.9981054297135243 Centerline is valid? [True, True] Translation: X:200.59, Y:94.26, Z:27.85 [[ 5.17003861e-01 -8.51803114e-01 -8.44894253e-02 2.00592888e+02] [ 8.38424091e-01 5.23815393e-01 -1.50540620e-01 9.42646093e+01] [ 1.72487830e-01 6.99211220e-03 9.84986832e-01 2.78459089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47710568099995 meters Centerline goodness [0,1] 0.9987653029193262 Centerline is valid? [True, True] Translation: X:200.61, Y:94.29, Z:27.85 [[ 5.20200188e-01 -8.49782628e-01 -8.52129634e-02 2.00607676e+02] [ 8.36124108e-01 5.27075648e-01 -1.51946498e-01 9.42884350e+01] [ 1.74035172e-01 7.79398385e-03 9.84708593e-01 2.78494375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50710568099996 meters Centerline goodness [0,1] 0.9974182444061962 Centerline is valid? [True, True] Translation: X:200.61, Y:94.32, Z:27.85 [[ 5.25196511e-01 -8.46705972e-01 -8.51916762e-02 2.00614426e+02] [ 8.32992687e-01 5.31986951e-01 -1.52029827e-01 9.43161278e+01] [ 1.74045422e-01 8.88149120e-03 9.84697573e-01 2.78523615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53710568099996 meters Centerline goodness [0,1] 0.9973064957300649 Centerline is valid? [True, True] Translation: X:200.63, Y:94.34, Z:27.86 [[ 5.26804982e-01 -8.45685436e-01 -8.53970348e-02 2.00625900e+02] [ 8.31875620e-01 5.33600776e-01 -1.52489884e-01 9.43407906e+01] [ 1.74526398e-01 9.29271926e-03 9.84608644e-01 2.78557606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56710568099996 meters Centerline goodness [0,1] 0.9969227570433516 Centerline is valid? [True, True] Translation: X:200.64, Y:94.36, Z:27.86 [[ 5.29113911e-01 -8.44152299e-01 -8.62865259e-02 2.00641252e+02] [ 8.30007609e-01 5.36010631e-01 -1.54207561e-01 9.43643808e+01] [ 1.76425162e-01 9.97489240e-03 9.84263513e-01 2.78583829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59710568099996 meters Centerline goodness [0,1] 0.9969227570433516 Centerline is valid? [True, True] Translation: X:200.65, Y:94.39, Z:27.86 [[ 5.28821372e-01 -8.44340950e-01 -8.62340790e-02 2.00654287e+02] [ 8.30194001e-01 5.35713453e-01 -1.54236885e-01 9.43881973e+01] [ 1.76425274e-01 9.97274580e-03 9.84263515e-01 2.78630250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62710568099996 meters Centerline goodness [0,1] 0.9964754953076121 Centerline is valid? [True, True] Translation: X:200.67, Y:94.41, Z:27.87 [[ 5.29694439e-01 -8.43828142e-01 -8.58945173e-02 2.00668946e+02] [ 8.29764123e-01 5.36517108e-01 -1.53755952e-01 9.44118748e+01] [ 1.75827477e-01 1.01714837e-02 9.84368447e-01 2.78681778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65710568099996 meters Centerline goodness [0,1] 0.9960895616524755 Centerline is valid? [True, True] Translation: X:200.68, Y:94.43, Z:27.87 [[ 5.29801639e-01 -8.43780999e-01 -8.56962673e-02 2.00684143e+02] [ 8.29760743e-01 5.36590189e-01 -1.53518986e-01 9.44343459e+01] [ 1.75520179e-01 1.02272117e-02 9.84422709e-01 2.78711109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68710568099996 meters Centerline goodness [0,1] 0.9968437000252504 Centerline is valid? [True, True] Translation: X:200.70, Y:94.46, Z:27.87 [[ 5.28940970e-01 -8.44304046e-01 -8.58610957e-02 2.00698832e+02] [ 8.30216128e-01 5.35768578e-01 -1.53925991e-01 9.44565591e+01] [ 1.75962014e-01 1.01344964e-02 9.84344788e-01 2.78738311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71710568099996 meters Centerline goodness [0,1] 0.9980646247054864 Centerline is valid? [True, True] Translation: X:200.72, Y:94.48, Z:27.88 [[ 5.26387445e-01 -8.45866150e-01 -8.61783838e-02 2.00720923e+02] [ 8.31676653e-01 5.33306993e-01 -1.54588473e-01 9.44760360e+01] [ 1.76720691e-01 9.70088161e-03 9.84213234e-01 2.78758800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74710568099997 meters Centerline goodness [0,1] 0.9984636107252599 Centerline is valid? [True, True] Translation: X:200.74, Y:94.50, Z:27.88 [[ 5.24425719e-01 -8.47083422e-01 -8.61820196e-02 2.00740382e+02] [ 8.32886689e-01 5.31377548e-01 -1.54718017e-01 9.44972202e+01] [ 1.76854258e-01 9.35825048e-03 9.84192560e-01 2.78804670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77710568099997 meters Centerline goodness [0,1] 0.9996000673570767 Centerline is valid? [True, True] Translation: X:200.76, Y:94.51, Z:27.89 [[ 5.19343702e-01 -8.50181139e-01 -8.64531635e-02 2.00763422e+02] [ 8.35914916e-01 5.26423317e-01 -1.55321424e-01 9.45143613e+01] [ 1.77562306e-01 8.39771430e-03 9.84073730e-01 2.78851130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80710568099997 meters Centerline goodness [0,1] 0.9998538622129436 Centerline is valid? [True, True] Translation: X:200.79, Y:94.53, Z:27.89 [[ 5.16370539e-01 -8.51988764e-01 -8.64674107e-02 2.00787562e+02] [ 8.37718853e-01 5.23501229e-01 -1.55478573e-01 9.45328257e+01] [ 1.77731793e-01 7.84917420e-03 9.84047662e-01 2.78916122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83710568099997 meters Centerline goodness [0,1] 0.999644232379039 Centerline is valid? [True, True] Translation: X:200.80, Y:94.55, Z:27.89 [[ 5.11339242e-01 -8.55028129e-01 -8.63659546e-02 2.00803875e+02] [ 8.40811423e-01 5.18536296e-01 -1.55422848e-01 9.45549638e+01] [ 1.77674789e-01 6.85632041e-03 9.84065374e-01 2.78949408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86710568099997 meters Centerline goodness [0,1] 0.9997262696875263 Centerline is valid? [True, True] Translation: X:200.83, Y:94.57, Z:27.90 [[ 5.08959636e-01 -8.56441522e-01 -8.64176405e-02 2.00827866e+02] [ 8.42203031e-01 5.16203887e-01 -1.55652184e-01 9.45733050e+01] [ 1.77916115e-01 6.43948013e-03 9.84024588e-01 2.79014032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89710568099997 meters Centerline goodness [0,1] 0.9996848011095001 Centerline is valid? [True, True] Translation: X:200.85, Y:94.59, Z:27.91 [[ 5.05052319e-01 -8.58659431e-01 -8.73277599e-02 2.00850214e+02] [ 8.44125132e-01 5.12513841e-01 -1.57424027e-01 9.45922380e+01] [ 1.79930311e-01 5.79181298e-03 9.83662309e-01 2.79056217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92710568099997 meters Centerline goodness [0,1] 0.9995809938825106 Centerline is valid? [True, True] Translation: X:200.87, Y:94.61, Z:27.91 [[ 5.04147907e-01 -8.59284991e-01 -8.63955555e-02 2.00866714e+02] [ 8.45046937e-01 5.11466721e-01 -1.55876451e-01 9.46136534e+01] [ 1.78130746e-01 5.57648706e-03 9.83991026e-01 2.79110174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95710568099997 meters Centerline goodness [0,1] 0.9998531478800847 Centerline is valid? [True, True] Translation: X:200.88, Y:94.64, Z:27.92 [[ 5.04533135e-01 -8.59132775e-01 -8.56573999e-02 2.00881295e+02] [ 8.45119645e-01 5.11721774e-01 -1.54640264e-01 9.46367572e+01] [ 1.76689276e-01 5.63038578e-03 9.84250577e-01 2.79175372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98710568099997 meters Centerline goodness [0,1] 0.9995592124595944 Centerline is valid? [True, True] Translation: X:200.89, Y:94.66, Z:27.93 [[ 5.08186467e-01 -8.57104615e-01 -8.43693865e-02 2.00893403e+02] [ 8.43461650e-01 5.15103740e-01 -1.52448622e-01 9.46603428e+01] [ 1.74123404e-01 6.30998459e-03 9.84703623e-01 2.79255228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01710568099998 meters Centerline goodness [0,1] 0.9995190196365461 Centerline is valid? [True, True] Translation: X:200.91, Y:94.68, Z:27.93 [[ 5.09933763e-01 -8.56103368e-01 -8.39915456e-02 2.00908686e+02] [ 8.42546414e-01 5.16761304e-01 -1.51898964e-01 9.46835915e+01] [ 1.73444795e-01 6.69163462e-03 9.84820859e-01 2.79327483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04710568099998 meters Centerline goodness [0,1] 0.9992449506071855 Centerline is valid? [True, True] Translation: X:200.92, Y:94.71, Z:27.94 [[ 5.12998860e-01 -8.54343740e-01 -8.32402781e-02 2.00923707e+02] [ 8.40985582e-01 5.19657273e-01 -1.50663763e-01 9.47061102e+01] [ 1.71975059e-01 7.28646502e-03 9.85074356e-01 2.79398575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07710568099998 meters Centerline goodness [0,1] 0.9992436815899494 Centerline is valid? [True, True] Translation: X:200.94, Y:94.73, Z:27.94 [[ 5.14262415e-01 -8.53610687e-01 -8.29636321e-02 2.00936374e+02] [ 8.40309134e-01 5.20856395e-01 -1.50296955e-01 9.47310070e+01] [ 1.71507225e-01 7.57697702e-03 9.85153725e-01 2.79442206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10710568099998 meters Centerline goodness [0,1] 0.9992692958099334 Centerline is valid? [True, True] Translation: X:200.95, Y:94.76, Z:27.95 [[ 5.18165071e-01 -8.51177089e-01 -8.36810800e-02 2.00948406e+02] [ 8.37589013e-01 5.24809349e-01 -1.51722749e-01 9.47561343e+01] [ 1.73059541e-01 8.52707594e-03 9.84874451e-01 2.79462653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13710568099998 meters Centerline goodness [0,1] 0.9988229359340844 Centerline is valid? [True, True] Translation: X:200.96, Y:94.78, Z:27.95 [[ 5.19609641e-01 -8.50276493e-01 -8.38791150e-02 2.00963864e+02] [ 8.36588239e-01 5.26260681e-01 -1.52216338e-01 9.47802422e+01] [ 1.73568255e-01 8.92079588e-03 9.84781438e-01 2.79504301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16710568099995 meters Centerline goodness [0,1] 0.998662347162713 Centerline is valid? [True, True] Translation: X:200.98, Y:94.81, Z:27.95 [[ 5.20892332e-01 -8.49482854e-01 -8.39646279e-02 2.00975078e+02] [ 8.35735187e-01 5.27534971e-01 -1.52491152e-01 9.48053493e+01] [ 1.73832897e-01 9.25927803e-03 9.84731633e-01 2.79538513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19710568099995 meters Centerline goodness [0,1] 0.9989914483222323 Centerline is valid? [True, True] Translation: X:200.99, Y:94.83, Z:27.96 [[ 5.20554659e-01 -8.49719628e-01 -8.36624175e-02 2.00993713e+02] [ 8.36055107e-01 5.27154450e-01 -1.52052764e-01 9.48265335e+01] [ 1.73305234e-01 9.20538336e-03 9.84825140e-01 2.79600148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22710568099995 meters Centerline goodness [0,1] 0.9985984729630791 Centerline is valid? [True, True] Translation: X:201.01, Y:94.85, Z:27.96 [[ 5.21206820e-01 -8.49318903e-01 -8.36710976e-02 2.01007734e+02] [ 8.35623808e-01 5.27796248e-01 -1.52197147e-01 9.48490804e+01] [ 1.73425206e-01 9.40862992e-03 9.84802100e-01 2.79648191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25710568099996 meters Centerline goodness [0,1] 0.998636716374085 Centerline is valid? [True, True] Translation: X:201.02, Y:94.87, Z:27.97 [[ 5.21597280e-01 -8.49023903e-01 -8.42299860e-02 2.01024565e+02] [ 8.35129429e-01 5.28267146e-01 -1.53273155e-01 9.48721285e+01] [ 1.74628507e-01 9.60392086e-03 9.84587553e-01 2.79677950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28710568099996 meters Centerline goodness [0,1] 0.9988423977100522 Centerline is valid? [True, True] Translation: X:201.04, Y:94.90, Z:27.97 [[ 5.22603780e-01 -8.48355587e-01 -8.47235927e-02 2.01038612e+02] [ 8.34265764e-01 5.29333292e-01 -1.54294851e-01 9.48959277e+01] [ 1.75743917e-01 9.95307961e-03 9.84385601e-01 2.79687236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31710568099996 meters Centerline goodness [0,1] 0.9985484990638871 Centerline is valid? [True, True] Translation: X:201.05, Y:94.92, Z:27.97 [[ 5.22622672e-01 -8.48381497e-01 -8.43467664e-02 2.01053839e+02] [ 8.34395397e-01 5.29291492e-01 -1.53736261e-01 9.49189741e+01] [ 1.75071025e-01 9.96750206e-03 9.84505350e-01 2.79738699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34710568099996 meters Centerline goodness [0,1] 0.9987437448964637 Centerline is valid? [True, True] Translation: X:201.07, Y:94.94, Z:27.98 [[ 5.22221047e-01 -8.48665077e-01 -8.39807389e-02 2.01070337e+02] [ 8.34782010e-01 5.28838002e-01 -1.53197141e-01 9.49402622e+01] [ 1.74425270e-01 9.89716141e-03 9.84620674e-01 2.79783171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37710568099996 meters Centerline goodness [0,1] 0.9985430325736289 Centerline is valid? [True, True] Translation: X:201.09, Y:94.96, Z:27.98 [[ 5.21273133e-01 -8.49191810e-01 -8.45434261e-02 2.01086824e+02] [ 8.35103171e-01 5.27992460e-01 -1.54358854e-01 9.49634454e+01] [ 1.75718566e-01 9.86064008e-03 9.84391057e-01 2.79818369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40710568099996 meters Centerline goodness [0,1] 0.9984939128979626 Centerline is valid? [True, True] Translation: X:201.11, Y:94.98, Z:27.98 [[ 5.19529168e-01 -8.50113135e-01 -8.60064025e-02 2.01105099e+02] [ 8.35517677e-01 5.26509123e-01 -1.57157102e-01 9.49845269e+01] [ 1.78884472e-01 9.78782892e-03 9.83821398e-01 2.79832008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43710568099996 meters Centerline goodness [0,1] 0.9990338975931449 Centerline is valid? [True, True] Translation: X:201.12, Y:95.01, Z:27.99 [[ 5.18677782e-01 -8.50596281e-01 -8.63673833e-02 2.01123057e+02] [ 8.35867437e-01 5.25729665e-01 -1.57904867e-01 9.50060620e+01] [ 1.79719189e-01 9.71006301e-03 9.83670030e-01 2.79880689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46710568099996 meters Centerline goodness [0,1] 0.9988429578205533 Centerline is valid? [True, True] Translation: X:201.15, Y:95.02, Z:28.00 [[ 5.17454779e-01 -8.51453530e-01 -8.52492675e-02 2.01147202e+02] [ 8.37095107e-01 5.24346608e-01 -1.55988513e-01 9.50242600e+01] [ 1.77517134e-01 9.35525673e-03 9.84073242e-01 2.79964833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49710568099997 meters Centerline goodness [0,1] 0.9989884514878192 Centerline is valid? [True, True] Translation: X:201.16, Y:95.05, Z:28.00 [[ 5.16471741e-01 -8.52124186e-01 -8.45062879e-02 2.01163610e+02] [ 8.38002416e-01 5.23260291e-01 -1.54759876e-01 9.50469979e+01] [ 1.76093418e-01 9.11262935e-03 9.84331280e-01 2.80035344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52710568099997 meters Centerline goodness [0,1] 0.9987208522060057 Centerline is valid? [True, True] Translation: X:201.18, Y:95.07, Z:28.01 [[ 5.15848050e-01 -8.52638588e-01 -8.31157496e-02 2.01179647e+02] [ 8.38965540e-01 5.22426123e-01 -1.52340962e-01 9.50690043e+01] [ 1.73313622e-01 8.85353870e-03 9.84826890e-01 2.80108462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55710568099997 meters Centerline goodness [0,1] 0.9989536027457464 Centerline is valid? [True, True] Translation: X:201.20, Y:95.09, Z:28.02 [[ 5.15509625e-01 -8.52863296e-01 -8.29097320e-02 2.01195088e+02] [ 8.39238881e-01 5.22059713e-01 -1.52091278e-01 9.50917052e+01] [ 1.72996900e-01 8.82344730e-03 9.84882845e-01 2.80162405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58710568099997 meters Centerline goodness [0,1] 0.998846186120668 Centerline is valid? [True, True] Translation: X:201.21, Y:95.11, Z:28.02 [[ 5.16112654e-01 -8.52484406e-01 -8.30545942e-02 2.01210320e+02] [ 8.38783762e-01 5.22674534e-01 -1.52489779e-01 9.51139402e+01] [ 1.73405680e-01 9.03705965e-03 9.84809018e-01 2.80202580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61710568099997 meters Centerline goodness [0,1] 0.998846234529054 Centerline is valid? [True, True] Translation: X:201.23, Y:95.14, Z:28.02 [[ 5.17403035e-01 -8.51584157e-01 -8.42527337e-02 2.01225478e+02] [ 8.37447737e-01 5.24131011e-01 -1.54815923e-01 9.51383818e+01] [ 1.75998258e-01 9.54496702e-03 9.84344201e-01 2.80217400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64710568099997 meters Centerline goodness [0,1] 0.9989865292850809 Centerline is valid? [True, True] Translation: X:201.24, Y:95.16, Z:28.03 [[ 5.17752762e-01 -8.51361465e-01 -8.43548109e-02 2.01242914e+02] [ 8.37165098e-01 5.24489823e-01 -1.55129057e-01 9.51610265e+01] [ 1.76314141e-01 9.69959440e-03 9.84286158e-01 2.80273588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67710568099997 meters Centerline goodness [0,1] 0.998907356432939 Centerline is valid? [True, True] Translation: X:201.26, Y:95.18, Z:28.04 [[ 5.17764021e-01 -8.51459537e-01 -8.32891032e-02 2.01261963e+02] [ 8.37601331e-01 5.24332281e-01 -1.53296019e-01 9.51815430e+01] [ 1.74196523e-01 9.60809965e-03 9.84664032e-01 2.80358850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70710568099997 meters Centerline goodness [0,1] 0.9986333340341876 Centerline is valid? [True, True] Translation: X:201.28, Y:95.20, Z:28.04 [[ 5.16363396e-01 -8.52358894e-01 -8.27838028e-02 2.01276992e+02] [ 8.38657275e-01 5.22874248e-01 -1.52500810e-01 9.52049226e+01] [ 1.73270940e-01 9.31859760e-03 9.84830110e-01 2.80413553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73710568099997 meters Centerline goodness [0,1] 0.998783021045343 Centerline is valid? [True, True] Translation: X:201.29, Y:95.23, Z:28.04 [[ 5.13040039e-01 -8.54398013e-01 -8.24254423e-02 2.01292367e+02] [ 8.40819025e-01 5.19546941e-01 -1.51968230e-01 9.52273349e+01] [ 1.72665240e-01 8.66090650e-03 9.84942487e-01 2.80442064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76710568099998 meters Centerline goodness [0,1] 0.998631780579704 Centerline is valid? [True, True] Translation: X:201.31, Y:95.25, Z:28.05 [[ 5.10677575e-01 -8.55850790e-01 -8.20234097e-02 2.01307394e+02] [ 8.42400170e-01 5.17157804e-01 -1.51359705e-01 9.52492784e+01] [ 1.71960369e-01 8.19947259e-03 9.85069744e-01 2.80483894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79710568099998 meters Centerline goodness [0,1] 0.9987482788834647 Centerline is valid? [True, True] Translation: X:201.33, Y:95.27, Z:28.06 [[ 5.04613783e-01 -8.59481278e-01 -8.15896018e-02 2.01331222e+02] [ 8.46208678e-01 5.11119774e-01 -1.50623538e-01 9.52660984e+01] [ 1.71160170e-01 6.96488444e-03 9.85218598e-01 2.80558428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82710568099998 meters Centerline goodness [0,1] 0.9990581833403097 Centerline is valid? [True, True] Translation: X:201.36, Y:95.28, Z:28.06 [[ 4.97151259e-01 -8.63890366e-01 -8.08335414e-02 2.01355185e+02] [ 8.50898469e-01 5.03650156e-01 -1.49359687e-01 9.52833517e+01] [ 1.69742221e-01 5.47321999e-03 9.85473299e-01 2.80629848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85710568099998 meters Centerline goodness [0,1] 0.9990762512596574 Centerline is valid? [True, True] Translation: X:201.37, Y:95.31, Z:28.07 [[ 4.93396210e-01 -8.66055177e-01 -8.06759603e-02 2.01372558e+02] [ 8.53119416e-01 4.99925478e-01 -1.49203814e-01 9.53058866e+01] [ 1.69550703e-01 4.79036813e-03 9.85509823e-01 2.80676230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88710568099995 meters Centerline goodness [0,1] 0.9989689853974667 Centerline is valid? [True, True] Translation: X:201.39, Y:95.32, Z:28.07 [[ 4.86183676e-01 -8.70074440e-01 -8.12151649e-02 2.01393521e+02] [ 8.56997765e-01 4.92908046e-01 -1.50321288e-01 9.53249163e+01] [ 1.70822319e-01 3.48254160e-03 9.85295695e-01 2.80727994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91710568099995 meters Centerline goodness [0,1] 0.9991196445040664 Centerline is valid? [True, True] Translation: X:201.41, Y:95.35, Z:28.08 [[ 4.82545588e-01 -8.72056208e-01 -8.16561416e-02 2.01410240e+02] [ 8.58840543e-01 4.89397340e-01 -1.51271825e-01 9.53473942e+01] [ 1.71879833e-01 2.86594672e-03 9.85113755e-01 2.80776431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94710568099995 meters Centerline goodness [0,1] 0.9992433795712484 Centerline is valid? [True, True] Translation: X:201.43, Y:95.37, Z:28.08 [[ 4.77599438e-01 -8.74752742e-01 -8.18927138e-02 2.01426233e+02] [ 8.61476442e-01 4.84565542e-01 -1.51837335e-01 9.53709244e+01] [ 1.72502512e-01 1.96878234e-03 9.85007110e-01 2.80816993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97710568099995 meters Centerline goodness [0,1] 0.9993272505571207 Centerline is valid? [True, True] Translation: X:201.44, Y:95.40, Z:28.09 [[ 4.76026992e-01 -8.75596744e-01 -8.20283201e-02 2.01437904e+02] [ 8.62265685e-01 4.83039698e-01 -1.52218719e-01 9.53965174e+01] [ 1.72905149e-01 1.73001311e-03 9.84936961e-01 2.80855469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00710568099996 meters Centerline goodness [0,1] 0.9996013344803709 Centerline is valid? [True, True] Translation: X:201.45, Y:95.42, Z:28.09 [[ 4.75772300e-01 -8.75744394e-01 -8.19296954e-02 2.01447970e+02] [ 8.62424051e-01 4.82771920e-01 -1.52171057e-01 9.54209737e+01] [ 1.72816306e-01 1.74063391e-03 9.84952534e-01 2.80894063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03710568099996 meters Centerline goodness [0,1] 0.999372699899632 Centerline is valid? [True, True] Translation: X:201.46, Y:95.45, Z:28.09 [[ 4.75730095e-01 -8.75841786e-01 -8.11297909e-02 2.01455918e+02] [ 8.62759332e-01 4.82595152e-01 -1.50825244e-01 9.54466911e+01] [ 1.71251895e-01 1.75662350e-03 9.85225712e-01 2.80949033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06710568099996 meters Centerline goodness [0,1] 0.9993318020463562 Centerline is valid? [True, True] Translation: X:201.47, Y:95.47, Z:28.10 [[ 4.75124222e-01 -8.76227527e-01 -8.05126940e-02 2.01466614e+02] [ 8.63326710e-01 4.81894724e-01 -1.49814772e-01 9.54722056e+01] [ 1.70070470e-01 1.67186769e-03 9.85430485e-01 2.80997593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09710568099996 meters Centerline goodness [0,1] 0.999601660446979 Centerline is valid? [True, True] Translation: X:201.48, Y:95.50, Z:28.11 [[ 4.73793936e-01 -8.76990627e-01 -8.00421572e-02 2.01476114e+02] [ 8.64230210e-01 4.80505289e-01 -1.49066468e-01 9.54985224e+01] [ 1.69190575e-01 1.45193814e-03 9.85582285e-01 2.81059742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12710568099996 meters Centerline goodness [0,1] 0.999666353873423 Centerline is valid? [True, True] Translation: X:201.49, Y:95.52, Z:28.11 [[ 4.73136602e-01 -8.77334669e-01 -8.01600487e-02 2.01486676e+02] [ 8.64519338e-01 4.79877002e-01 -1.49413440e-01 9.55235681e+01] [ 1.69552555e-01 1.39305531e-03 9.85520162e-01 2.81110585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15710568099996 meters Centerline goodness [0,1] 0.9996438074884237 Centerline is valid? [True, True] Translation: X:201.49, Y:95.55, Z:28.11 [[ 4.74088614e-01 -8.76708501e-01 -8.13768406e-02 2.01492009e+02] [ 8.63464708e-01 4.81019001e-01 -1.51820349e-01 9.55517668e+01] [ 1.72245997e-01 1.71026886e-03 9.85052482e-01 2.81138159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18710568099996 meters Centerline goodness [0,1] 0.9995386776824844 Centerline is valid? [True, True] Translation: X:201.50, Y:95.58, Z:28.12 [[ 4.75470450e-01 -8.75890006e-01 -8.21251985e-02 2.01500090e+02] [ 8.62363212e-01 4.82506285e-01 -1.53353762e-01 9.55789350e+01] [ 1.73946952e-01 2.09343233e-03 9.84752799e-01 2.81171713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21710568099996 meters Centerline goodness [0,1] 0.9992264592741261 Centerline is valid? [True, True] Translation: X:201.50, Y:95.61, Z:28.12 [[ 4.81708644e-01 -8.72341127e-01 -8.35328752e-02 2.01503455e+02] [ 8.58265890e-01 4.88885118e-01 -1.56112153e-01 9.56086057e+01] [ 1.77021031e-01 3.50715579e-03 9.84200820e-01 2.81203720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24710568099997 meters Centerline goodness [0,1] 0.9992666010099952 Centerline is valid? [True, True] Translation: X:201.51, Y:95.64, Z:28.12 [[ 4.84667440e-01 -8.70687207e-01 -8.36735269e-02 2.01510134e+02] [ 8.56523367e-01 4.91819518e-01 -1.56464959e-01 9.56362173e+01] [ 1.77384312e-01 4.16514029e-03 9.84132845e-01 2.81246870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27710568099997 meters Centerline goodness [0,1] 0.9992647367757658 Centerline is valid? [True, True] Translation: X:201.52, Y:95.66, Z:28.13 [[ 4.87162557e-01 -8.69315359e-01 -8.34472809e-02 2.01515758e+02] [ 8.55184362e-01 4.94235289e-01 -1.56176778e-01 9.56644408e+01] [ 1.77009463e-01 4.72066863e-03 9.84197828e-01 2.81296589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30710568099997 meters Centerline goodness [0,1] 0.999392250141459 Centerline is valid? [True, True] Translation: X:201.53, Y:95.69, Z:28.14 [[ 4.87246861e-01 -8.69342104e-01 -8.26728655e-02 2.01527154e+02] [ 8.55451172e-01 4.94188136e-01 -1.54859219e-01 9.56895348e+01] [ 1.75481588e-01 4.73206855e-03 9.84471340e-01 2.81361447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33710568099997 meters Centerline goodness [0,1] 0.9994979184535888 Centerline is valid? [True, True] Translation: X:201.54, Y:95.72, Z:28.14 [[ 4.85288256e-01 -8.70506161e-01 -8.19410293e-02 2.01536134e+02] [ 8.56853987e-01 4.92138369e-01 -1.53626401e-01 9.57154414e+01] [ 1.74059053e-01 4.34159041e-03 9.84725645e-01 2.81405426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36710568099997 meters Centerline goodness [0,1] 0.999310445702823 Centerline is valid? [True, True] Translation: X:201.55, Y:95.74, Z:28.14 [[ 4.83636460e-01 -8.71410127e-01 -8.20985126e-02 2.01548188e+02] [ 8.57701299e-01 4.90538292e-01 -1.54015151e-01 9.57406272e+01] [ 1.74482826e-01 4.07134140e-03 9.84651800e-01 2.81445869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39710568099997 meters Centerline goodness [0,1] 0.9993326938315886 Centerline is valid? [True, True] Translation: X:201.56, Y:95.77, Z:28.15 [[ 4.79531556e-01 -8.73682218e-01 -8.20296859e-02 2.01559774e+02] [ 8.60004762e-01 4.86485769e-01 -1.54024043e-01 9.57651636e+01] [ 1.74474342e-01 3.31346855e-03 9.84656145e-01 2.81480304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42710568099997 meters Centerline goodness [0,1] 0.9994541484716157 Centerline is valid? [True, True] Translation: X:201.57, Y:95.79, Z:28.15 [[ 4.77811373e-01 -8.74563669e-01 -8.26721236e-02 2.01572657e+02] [ 8.60666789e-01 4.84901049e-01 -1.55317901e-01 9.57893488e+01] [ 1.75923193e-01 3.05950848e-03 9.84399141e-01 2.81515255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45710568099997 meters Centerline goodness [0,1] 0.9993088136729222 Centerline is valid? [True, True] Translation: X:201.58, Y:95.82, Z:28.15 [[ 4.76663702e-01 -8.75031121e-01 -8.43341696e-02 2.01580256e+02] [ 8.60545698e-01 4.84057251e-01 -1.58586507e-01 9.58170411e+01] [ 1.79590695e-01 3.01902443e-03 9.83736788e-01 2.81514669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48710568099997 meters Centerline goodness [0,1] 0.9993088136729222 Centerline is valid? [True, True] Translation: X:201.59, Y:95.84, Z:28.16 [[ 4.76354181e-01 -8.75204838e-01 -8.42804034e-02 2.01592791e+02] [ 8.60717060e-01 4.83743113e-01 -1.58615076e-01 9.58411383e+01] [ 1.79590747e-01 3.01537370e-03 9.83736790e-01 2.81561027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51710568099998 meters Centerline goodness [0,1] 0.9992663089049136 Centerline is valid? [True, True] Translation: X:201.60, Y:95.87, Z:28.16 [[ 4.76728484e-01 -8.75018050e-01 -8.41032971e-02 2.01603450e+02] [ 8.60563642e-01 4.84080065e-01 -1.58419409e-01 9.58665165e+01] [ 1.79332572e-01 3.14680523e-03 9.83783475e-01 2.81622045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54710568099998 meters Centerline goodness [0,1] 0.9992069289366586 Centerline is valid? [True, True] Translation: X:201.61, Y:95.89, Z:28.17 [[ 4.76121471e-01 -8.75419065e-01 -8.33654971e-02 2.01614130e+02] [ 8.61199746e-01 4.83355181e-01 -1.57171141e-01 9.58911656e+01] [ 1.77885758e-01 3.03820983e-03 9.84046455e-01 2.81691791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57710568099998 meters Centerline goodness [0,1] 0.9994983697015299 Centerline is valid? [True, True] Translation: X:201.62, Y:95.92, Z:28.18 [[ 4.74986428e-01 -8.76262529e-01 -8.09436379e-02 2.01622901e+02] [ 8.62852444e-01 4.81826375e-01 -1.52738350e-01 9.59168186e+01] [ 1.72839673e-01 2.70622766e-03 9.84946254e-01 2.81794185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60710568099998 meters Centerline goodness [0,1] 0.9992908984733462 Centerline is valid? [True, True] Translation: X:201.63, Y:95.94, Z:28.19 [[ 4.73567140e-01 -8.77120220e-01 -7.99642571e-02 2.01633249e+02] [ 8.64024936e-01 4.80264751e-01 -1.51018805e-01 9.59408724e+01] [ 1.70865661e-01 2.42643143e-03 9.85291347e-01 2.81853828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63710568099995 meters Centerline goodness [0,1] 0.9994338079560467 Centerline is valid? [True, True] Translation: X:201.65, Y:95.96, Z:28.19 [[ 4.70593815e-01 -8.78699298e-01 -8.01810749e-02 2.01647108e+02] [ 8.65530754e-01 4.77371792e-01 -1.51567428e-01 9.59647006e+01] [ 1.71458376e-01 1.92750803e-03 9.85189479e-01 2.81901703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66710568099995 meters Centerline goodness [0,1] 0.9991397759221182 Centerline is valid? [True, True] Translation: X:201.66, Y:95.99, Z:28.19 [[ 4.68615321e-01 -8.79686889e-01 -8.09361381e-02 2.01659536e+02] [ 8.66257863e-01 4.75550484e-01 -1.53130832e-01 9.59885223e+01] [ 1.73196405e-01 1.64788804e-03 9.84885927e-01 2.81921857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69710568099995 meters Centerline goodness [0,1] 0.9997273489932886 Centerline is valid? [True, True] Translation: X:201.67, Y:96.01, Z:28.19 [[ 4.63061709e-01 -8.82571407e-01 -8.14957946e-02 2.01671695e+02] [ 8.68972215e-01 4.70177933e-01 -1.54337296e-01 9.60124979e+01] [ 1.74531209e-01 6.50110817e-04 9.84651428e-01 2.81939259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72710568099995 meters Centerline goodness [0,1] 0.9996655028954906 Centerline is valid? [True, True] Translation: X:201.68, Y:96.04, Z:28.20 [[ 4.59104174e-01 -8.84689995e-01 -8.09133419e-02 2.01683062e+02] [ 8.71293742e-01 4.66179799e-01 -1.53374084e-01 9.60363378e+01] [ 1.73408683e-01 -8.46060486e-05 9.84849949e-01 2.81973190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75710568099996 meters Centerline goodness [0,1] 0.9996013846637994 Centerline is valid? [True, True] Translation: X:201.70, Y:96.06, Z:28.20 [[ 4.57271843e-01 -8.85605037e-01 -8.12784086e-02 2.01696125e+02] [ 8.72075740e-01 4.64439000e-01 -1.54208687e-01 9.60611714e+01] [ 1.74316853e-01 -3.65637915e-04 9.84689546e-01 2.82021783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78710568099996 meters Centerline goodness [0,1] 0.9997693098169159 Centerline is valid? [True, True] Translation: X:201.71, Y:96.08, Z:28.21 [[ 4.54840521e-01 -8.86794115e-01 -8.19530272e-02 2.01708532e+02] [ 8.73031500e-01 4.62164060e-01 -1.55628986e-01 9.60845231e+01] [ 1.75886613e-01 -7.61205032e-04 9.84410138e-01 2.82085704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81710568099996 meters Centerline goodness [0,1] 0.9995581365989142 Centerline is valid? [True, True] Translation: X:201.72, Y:96.11, Z:28.22 [[ 4.54659044e-01 -8.86935937e-01 -8.14235710e-02 2.01719669e+02] [ 8.73328537e-01 4.61891863e-01 -1.54768126e-01 9.61099305e+01] [ 1.74878298e-01 -7.42799650e-04 9.84589777e-01 2.82154129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84710568099996 meters Centerline goodness [0,1] 0.9991823727960754 Centerline is valid? [True, True] Translation: X:201.72, Y:96.14, Z:28.23 [[ 4.57675540e-01 -8.85579824e-01 -7.92557579e-02 2.01723378e+02] [ 8.72650322e-01 4.64487191e-01 -1.50774882e-01 9.61375488e+01] [ 1.70336478e-01 -1.56587098e-04 9.85385945e-01 2.82267097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87710568099996 meters Centerline goodness [0,1] 0.9995006657789614 Centerline is valid? [True, True] Translation: X:201.73, Y:96.16, Z:28.23 [[ 4.60330531e-01 -8.84265559e-01 -7.85507733e-02 2.01729776e+02] [ 8.71525004e-01 4.66984228e-01 -1.49565699e-01 9.61649380e+01] [ 1.68937768e-01 3.90694515e-04 9.85626642e-01 2.82332406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90710568099996 meters Centerline goodness [0,1] 0.9993694432183619 Centerline is valid? [True, True] Translation: X:201.73, Y:96.20, Z:28.24 [[ 4.68471964e-01 -8.79947033e-01 -7.89128500e-02 2.01728037e+02] [ 8.67002995e-01 4.75067445e-01 -1.50388593e-01 9.61974489e+01] [ 1.69822922e-01 2.03516216e-03 9.85472492e-01 2.82357901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93710568099996 meters Centerline goodness [0,1] 0.9995800965777871 Centerline is valid? [True, True] Translation: X:201.73, Y:96.23, Z:28.24 [[ 4.71772202e-01 -8.78122602e-01 -7.95718894e-02 2.01734154e+02] [ 8.64911418e-01 4.78427600e-01 -1.51773752e-01 9.62267413e+01] [ 1.71345350e-01 2.78000148e-03 9.85207106e-01 2.82375641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96710568099996 meters Centerline goodness [0,1] 0.999265122724505 Centerline is valid? [True, True] Translation: X:201.73, Y:96.26, Z:28.24 [[ 4.78889534e-01 -8.74164023e-01 -8.06354507e-02 2.01733833e+02] [ 8.60515484e-01 4.85611504e-01 -1.53930404e-01 9.62590845e+01] [ 1.73717924e-01 4.32760571e-03 9.84785944e-01 2.82386983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99710568099997 meters Centerline goodness [0,1] 0.9994110346858501 Centerline is valid? [True, True] Translation: X:201.74, Y:96.29, Z:28.24 [[ 4.84764690e-01 -8.70854018e-01 -8.13417110e-02 2.01736368e+02] [ 8.56893632e-01 4.91509432e-01 -1.55408435e-01 9.62895481e+01] [ 1.75318279e-01 5.63532797e-03 9.84495680e-01 2.82424385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02710568099997 meters Centerline goodness [0,1] 0.9994990711945064 Centerline is valid? [True, True] Translation: X:201.75, Y:96.32, Z:28.25 [[ 4.86282098e-01 -8.69959232e-01 -8.18575393e-02 2.01745781e+02] [ 8.55784029e-01 4.93086389e-01 -1.56523190e-01 9.63167235e+01] [ 1.76531633e-01 6.06205049e-03 9.84276300e-01 2.82463749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05710568099997 meters Centerline goodness [0,1] 0.9997904749931904 Centerline is valid? [True, True] Translation: X:201.75, Y:96.34, Z:28.25 [[ 4.88332869e-01 -8.68702530e-01 -8.29874855e-02 2.01753121e+02] [ 8.54089287e-01 4.95289199e-01 -1.58808372e-01 9.63433584e+01] [ 1.79060039e-01 6.67262550e-03 9.83815520e-01 2.82478781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08710568099997 meters Centerline goodness [0,1] 0.9998524825086403 Centerline is valid? [True, True] Translation: X:201.76, Y:96.37, Z:28.25 [[ 4.88518498e-01 -8.68551334e-01 -8.34760953e-02 2.01763981e+02] [ 8.53748511e-01 4.95552485e-01 -1.59816193e-01 9.63699945e+01] [ 1.80175354e-01 6.80557463e-03 9.83610963e-01 2.82507668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11710568099997 meters Centerline goodness [0,1] 0.9996418639925845 Centerline is valid? [True, True] Translation: X:201.77, Y:96.40, Z:28.25 [[ 4.91340819e-01 -8.67009664e-01 -8.29363706e-02 2.01770289e+02] [ 8.52355389e-01 4.98236596e-01 -1.58904331e-01 9.63965365e+01] [ 1.79093526e-01 7.38492173e-03 9.83804336e-01 2.82549230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14710568099997 meters Centerline goodness [0,1] 0.9995610643145287 Centerline is valid? [True, True] Translation: X:201.78, Y:96.42, Z:28.26 [[ 4.93887054e-01 -8.65618747e-01 -8.23393112e-02 2.01778465e+02] [ 8.51145048e-01 5.00641887e-01 -1.57828415e-01 9.64232018e+01] [ 1.77841743e-01 7.86671390e-03 9.84027657e-01 2.82606359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17710568099997 meters Centerline goodness [0,1] 0.9994106751978448 Centerline is valid? [True, True] Translation: X:201.79, Y:96.45, Z:28.27 [[ 4.98912968e-01 -8.62773366e-01 -8.19021919e-02 2.01785395e+02] [ 8.48392952e-01 5.05512455e-01 -1.57119564e-01 9.64490745e+01] [ 1.76961153e-01 8.90374585e-03 9.84177562e-01 2.82662424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20710568099997 meters Centerline goodness [0,1] 0.9990344451207993 Centerline is valid? [True, True] Translation: X:201.80, Y:96.47, Z:28.27 [[ 4.99029265e-01 -8.62725136e-01 -8.17014855e-02 2.01799395e+02] [ 8.48391726e-01 5.05593677e-01 -1.56864635e-01 9.64728463e+01] [ 1.76638818e-01 8.96517922e-03 9.84234908e-01 2.82714804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23710568099997 meters Centerline goodness [0,1] 0.9991824927682053 Centerline is valid? [True, True] Translation: X:201.81, Y:96.50, Z:28.27 [[ 4.94379274e-01 -8.65387248e-01 -8.18171430e-02 2.01814702e+02] [ 8.51025457e-01 5.01038305e-01 -1.57214148e-01 9.64953293e+01] [ 1.77044642e-01 8.09494484e-03 9.84169532e-01 2.82746407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26710568099998 meters Centerline goodness [0,1] 0.9990093166392647 Centerline is valid? [True, True] Translation: X:201.84, Y:96.51, Z:28.28 [[ 4.86670873e-01 -8.69757581e-01 -8.16897269e-02 2.01835983e+02] [ 8.55476583e-01 4.93435444e-01 -1.57102764e-01 9.65139540e+01] [ 1.76949927e-01 6.57369110e-03 9.84197902e-01 2.82769183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29710568099998 meters Centerline goodness [0,1] 0.9993675289355513 Centerline is valid? [True, True] Translation: X:201.85, Y:96.53, Z:28.28 [[ 4.82559324e-01 -8.72052338e-01 -8.16162914e-02 2.01854652e+02] [ 8.57805442e-01 4.89378300e-01 -1.57094568e-01 9.65349096e+01] [ 1.76935927e-01 5.79654986e-03 9.84205303e-01 2.82810399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32710568099998 meters Centerline goodness [0,1] 0.999284240663551 Centerline is valid? [True, True] Translation: X:201.88, Y:96.55, Z:28.29 [[ 4.74124117e-01 -8.76655343e-01 -8.17418565e-02 2.01884208e+02] [ 8.62406057e-01 4.81100868e-01 -1.57473007e-01 9.65502556e+01] [ 1.77375631e-01 4.16707833e-03 9.84134402e-01 2.82868579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35710568099998 meters Centerline goodness [0,1] 0.9990345261832302 Centerline is valid? [True, True] Translation: X:201.90, Y:96.57, Z:28.29 [[ 4.69479358e-01 -8.79160456e-01 -8.16457272e-02 2.01895447e+02] [ 8.64955531e-01 4.76514481e-01 -1.57435316e-01 9.65746582e+01] [ 1.77316275e-01 3.29270761e-03 9.84148412e-01 2.82887411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38710568099995 meters Centerline goodness [0,1] 0.9992463416165972 Centerline is valid? [True, True] Translation: X:201.91, Y:96.59, Z:28.30 [[ 4.62416673e-01 -8.82948927e-01 -8.10679469e-02 2.01914874e+02] [ 8.68986984e-01 4.69465291e-01 -1.56409596e-01 9.65941598e+01] [ 1.76160273e-01 1.87941449e-03 9.84359704e-01 2.82957056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41710568099995 meters Centerline goodness [0,1] 0.9997901628336411 Centerline is valid? [True, True] Translation: X:201.93, Y:96.62, Z:28.30 [[ 4.60352366e-01 -8.84028523e-01 -8.10510267e-02 2.01928541e+02] [ 8.70069623e-01 4.67430492e-01 -1.56485099e-01 9.66170281e+01] [ 1.76223012e-01 1.51824932e-03 9.84349097e-01 2.83009527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44710568099995 meters Centerline goodness [0,1] 0.9997688541469667 Centerline is valid? [True, True] Translation: X:201.94, Y:96.64, Z:28.31 [[ 4.60659915e-01 -8.83793472e-01 -8.18629367e-02 2.01940192e+02] [ 8.69522492e-01 4.67874171e-01 -1.58191012e-01 9.66422203e+01] [ 1.78109737e-01 1.69059347e-03 9.84009178e-01 2.83072232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47710568099995 meters Centerline goodness [0,1] 0.9999157593243898 Centerline is valid? [True, True] Translation: X:201.95, Y:96.67, Z:28.31 [[ 4.64856853e-01 -8.81549001e-01 -8.23375101e-02 2.01946257e+02] [ 8.67048652e-01 4.72085149e-01 -1.59255287e-01 9.66711231e+01] [ 1.79261655e-01 2.64028420e-03 9.83797890e-01 2.83113275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50710568099996 meters Centerline goodness [0,1] 0.9996836510882403 Centerline is valid? [True, True] Translation: X:201.95, Y:96.70, Z:28.32 [[ 4.67496553e-01 -8.80156419e-01 -8.22900482e-02 2.01954522e+02] [ 8.65626087e-01 4.74672703e-01 -1.59302550e-01 9.66988889e+01] [ 1.79272001e-01 3.24098031e-03 9.83794209e-01 2.83160213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53710568099996 meters Centerline goodness [0,1] 0.9999369363687961 Centerline is valid? [True, True] Translation: X:201.96, Y:96.73, Z:28.32 [[ 4.72534685e-01 -8.77458899e-01 -8.23216303e-02 2.01957979e+02] [ 8.62851017e-01 4.79632204e-01 -1.59502576e-01 9.67290140e+01] [ 1.79441060e-01 4.33919716e-03 9.83759156e-01 2.83209002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56710568099996 meters Centerline goodness [0,1] 0.9998948674278265 Centerline is valid? [True, True] Translation: X:201.97, Y:96.75, Z:28.33 [[ 4.75142536e-01 -8.76082247e-01 -8.19723552e-02 2.01965605e+02] [ 8.61554216e-01 4.82136738e-01 -1.58960684e-01 9.67549334e+01] [ 1.78784517e-01 4.90535420e-03 9.83876026e-01 2.83254880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59710568099996 meters Centerline goodness [0,1] 0.9999790162833642 Centerline is valid? [True, True] Translation: X:201.97, Y:96.78, Z:28.33 [[ 4.81217374e-01 -8.72770174e-01 -8.18661232e-02 2.01972708e+02] [ 8.58220114e-01 4.88092386e-01 -1.58820842e-01 9.67805740e+01] [ 1.78572325e-01 6.16819482e-03 9.83907454e-01 2.83306961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62710568099996 meters Centerline goodness [0,1] 0.9997891096208191 Centerline is valid? [True, True] Translation: X:201.99, Y:96.80, Z:28.34 [[ 4.83463878e-01 -8.71554662e-01 -8.15791058e-02 2.01986172e+02] [ 8.57070648e-01 4.90253277e-01 -1.58371805e-01 9.68045981e+01] [ 1.78024109e-01 6.64798999e-03 9.84003669e-01 2.83366937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65710568099996 meters Centerline goodness [0,1] 0.9997046538120754 Centerline is valid? [True, True] Translation: X:201.99, Y:96.83, Z:28.34 [[ 4.87965121e-01 -8.69039337e-01 -8.16129380e-02 2.01994582e+02] [ 8.54484250e-01 4.94684008e-01 -1.58569855e-01 9.68315869e+01] [ 1.78176057e-01 7.63958835e-03 9.83968968e-01 2.83407345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68710568099996 meters Centerline goodness [0,1] 0.9993520879488359 Centerline is valid? [True, True] Translation: X:202.00, Y:96.86, Z:28.34 [[ 4.90017961e-01 -8.67889386e-01 -8.15500543e-02 2.02002185e+02] [ 8.53323492e-01 4.96691433e-01 -1.58545382e-01 9.68583541e+01] [ 1.78105068e-01 8.10150777e-03 9.83978125e-01 2.83433305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71710568099996 meters Centerline goodness [0,1] 0.9993049851519555 Centerline is valid? [True, True] Translation: X:202.01, Y:96.88, Z:28.35 [[ 4.93111205e-01 -8.66160047e-01 -8.12902951e-02 2.02013561e+02] [ 8.51638343e-01 4.99689718e-01 -1.58184445e-01 9.68835975e+01] [ 1.77632971e-01 8.77258984e-03 9.84057706e-01 2.83471822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74710568099997 meters Centerline goodness [0,1] 0.9987154379093226 Centerline is valid? [True, True] Translation: X:202.03, Y:96.91, Z:28.35 [[ 4.95444303e-01 -8.64842954e-01 -8.11271142e-02 2.02029637e+02] [ 8.50336669e-01 5.01956346e-01 -1.58010682e-01 9.69059155e+01] [ 1.77376695e-01 9.30013212e-03 9.84099088e-01 2.83529775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77710568099997 meters Centerline goodness [0,1] 0.9988627269280991 Centerline is valid? [True, True] Translation: X:202.04, Y:96.93, Z:28.36 [[ 4.96068839e-01 -8.64476373e-01 -8.12176569e-02 2.02043009e+02] [ 8.49915518e-01 5.02583856e-01 -1.58281649e-01 9.69301595e+01] [ 1.77649429e-01 9.49044706e-03 9.84048074e-01 2.83584955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80710568099997 meters Centerline goodness [0,1] 0.9983365269208903 Centerline is valid? [True, True] Translation: X:202.06, Y:96.95, Z:28.36 [[ 4.96742830e-01 -8.64077280e-01 -8.13450387e-02 2.02057102e+02] [ 8.49439937e-01 5.03265315e-01 -1.58668886e-01 9.69549245e+01] [ 1.78040316e-01 9.71990690e-03 9.83975187e-01 2.83618985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83710568099997 meters Centerline goodness [0,1] 0.997787797067251 Centerline is valid? [True, True] Translation: X:202.07, Y:96.98, Z:28.37 [[ 4.96073389e-01 -8.64492121e-01 -8.10220089e-02 2.02070676e+02] [ 8.49952533e-01 5.02554652e-01 -1.58175577e-01 9.69795267e+01] [ 1.77459528e-01 9.60183290e-03 9.84081257e-01 2.83660565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86710568099997 meters Centerline goodness [0,1] 0.9972045903568877 Centerline is valid? [True, True] Translation: X:202.09, Y:97.00, Z:28.37 [[ 4.94446933e-01 -8.65493944e-01 -8.02649537e-02 2.02086723e+02] [ 8.51215584e-01 5.00834468e-01 -1.56833879e-01 9.70014345e+01] [ 1.75938228e-01 9.22325130e-03 9.84358000e-01 2.83698782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89710568099997 meters Centerline goodness [0,1] 0.9973565509283542 Centerline is valid? [True, True] Translation: X:202.10, Y:97.02, Z:28.38 [[ 4.92987985e-01 -8.66400781e-01 -7.94514593e-02 2.02103816e+02] [ 8.52407661e-01 4.99270749e-01 -1.55338013e-01 9.70222518e+01] [ 1.74252766e-01 8.85474156e-03 9.84661143e-01 2.83756438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92710568099997 meters Centerline goodness [0,1] 0.9972340960523007 Centerline is valid? [True, True] Translation: X:202.12, Y:97.05, Z:28.38 [[ 4.92180291e-01 -8.66879168e-01 -7.92405829e-02 2.02116866e+02] [ 8.52951878e-01 4.98442307e-01 -1.55010841e-01 9.70453410e+01] [ 1.73872528e-01 8.70487696e-03 9.84729693e-01 2.83799322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95710568099997 meters Centerline goodness [0,1] 0.9980039081377513 Centerline is valid? [True, True] Translation: X:202.14, Y:97.06, Z:28.39 [[ 4.91188015e-01 -8.67410270e-01 -7.95849106e-02 2.02139575e+02] [ 8.53342620e-01 4.97518859e-01 -1.55824766e-01 9.70645948e+01] [ 1.74758996e-01 8.62606141e-03 9.84573453e-01 2.83851740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98710568099997 meters Centerline goodness [0,1] 0.9978544383676904 Centerline is valid? [True, True] Translation: X:202.16, Y:97.09, Z:28.39 [[ 4.91371573e-01 -8.67197125e-01 -8.07658607e-02 2.02155937e+02] [ 8.52676013e-01 4.97885302e-01 -1.58284058e-01 9.70868513e+01] [ 1.77475615e-01 8.90917452e-03 9.84084871e-01 2.83864747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01710568099998 meters Centerline goodness [0,1] 0.9986095310327392 Centerline is valid? [True, True] Translation: X:202.17, Y:97.11, Z:28.39 [[ 4.91554625e-01 -8.67059712e-01 -8.11264905e-02 2.02170386e+02] [ 8.52380269e-01 4.98121645e-01 -1.59131088e-01 9.71115241e+01] [ 1.78387016e-01 9.07100245e-03 9.83918589e-01 2.83901617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04710568099998 meters Centerline goodness [0,1] 0.9979816475582097 Centerline is valid? [True, True] Translation: X:202.18, Y:97.14, Z:28.39 [[ 4.92427848e-01 -8.66574999e-01 -8.10097853e-02 2.02181869e+02] [ 8.51906622e-01 4.98960140e-01 -1.59040518e-01 9.71364123e+01] [ 1.78241191e-01 9.30320746e-03 9.83942848e-01 2.83927685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07710568099998 meters Centerline goodness [0,1] 0.9985995276018478 Centerline is valid? [True, True] Translation: X:202.20, Y:97.16, Z:28.40 [[ 4.92080476e-01 -8.66736624e-01 -8.13905973e-02 2.02200696e+02] [ 8.51905598e-01 4.98678264e-01 -1.59927613e-01 9.71580662e+01] [ 1.79202841e-01 9.36015036e-03 9.83767620e-01 2.83975941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10710568099998 meters Centerline goodness [0,1] 0.9983268848687651 Centerline is valid? [True, True] Translation: X:202.23, Y:97.18, Z:28.40 [[ 4.90396290e-01 -8.67574073e-01 -8.26238872e-02 2.02225196e+02] [ 8.52271700e-01 4.97221624e-01 -1.62491867e-01 9.71774255e+01] [ 1.82056114e-01 9.26740784e-03 9.83244469e-01 2.84011778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13710568099995 meters Centerline goodness [0,1] 0.9987366027247268 Centerline is valid? [True, True] Translation: X:202.24, Y:97.20, Z:28.41 [[ 4.88580883e-01 -8.68655969e-01 -8.20093171e-02 2.02243289e+02] [ 8.53580728e-01 4.95336876e-01 -1.61373233e-01 9.71976301e+01] [ 1.80800061e-01 8.84230398e-03 9.83480123e-01 2.84079215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16710568099995 meters Centerline goodness [0,1] 0.998483795565102 Centerline is valid? [True, True] Translation: X:202.26, Y:97.22, Z:28.41 [[ 4.87989989e-01 -8.69029407e-01 -8.15699657e-02 2.02259247e+02] [ 8.54106020e-01 4.94683951e-01 -1.60594817e-01 9.72202595e+01] [ 1.79912971e-01 8.69926406e-03 9.83644064e-01 2.84132396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19710568099995 meters Centerline goodness [0,1] 0.9992872864479614 Centerline is valid? [True, True] Translation: X:202.28, Y:97.24, Z:28.42 [[ 4.87684954e-01 -8.69275543e-01 -8.07676705e-02 2.02275801e+02] [ 8.54624020e-01 4.94253157e-01 -1.59159047e-01 9.72408100e+01] [ 1.78272743e-01 8.59348128e-03 9.83943586e-01 2.84201651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22710568099995 meters Centerline goodness [0,1] 0.9988221189239215 Centerline is valid? [True, True] Translation: X:202.29, Y:97.26, Z:28.43 [[ 4.87436028e-01 -8.69448408e-01 -8.04088585e-02 2.02292092e+02] [ 8.54903341e-01 4.93949483e-01 -1.58600716e-01 9.72629605e+01] [ 1.77613054e-01 8.56590111e-03 9.84063122e-01 2.84260584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25710568099996 meters Centerline goodness [0,1] 0.9988078306701247 Centerline is valid? [True, True] Translation: X:202.31, Y:97.29, Z:28.43 [[ 4.88209793e-01 -8.68972258e-01 -8.08604522e-02 2.02306910e+02] [ 8.54228909e-01 4.94781419e-01 -1.59638085e-01 9.72862129e+01] [ 1.78729317e-01 8.86354068e-03 9.83858358e-01 2.84292629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28710568099996 meters Centerline goodness [0,1] 0.9988271023143784 Centerline is valid? [True, True] Translation: X:202.32, Y:97.31, Z:28.43 [[ 4.90853487e-01 -8.67475337e-01 -8.09283254e-02 2.02320573e+02] [ 8.52661569e-01 4.97389690e-01 -1.59911680e-01 9.73108150e+01] [ 1.78972353e-01 9.48873280e-03 9.83808346e-01 2.84339930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31710568099996 meters Centerline goodness [0,1] 0.9986138530684252 Centerline is valid? [True, True] Translation: X:202.33, Y:97.33, Z:28.44 [[ 4.92793277e-01 -8.66416503e-01 -8.04812342e-02 2.02332442e+02] [ 8.51729681e-01 4.99224136e-01 -1.59159708e-01 9.73347328e+01] [ 1.78076772e-01 9.88457805e-03 9.83966950e-01 2.84395964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34710568099996 meters Centerline goodness [0,1] 0.9983784694436255 Centerline is valid? [True, True] Translation: X:202.35, Y:97.36, Z:28.45 [[ 4.94881588e-01 -8.65268709e-01 -8.00142227e-02 2.02345737e+02] [ 8.50723245e-01 5.01202931e-01 -1.58321135e-01 9.73585456e+01] [ 1.77093687e-01 1.02802557e-02 9.84140306e-01 2.84460262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37710568099996 meters Centerline goodness [0,1] 0.9982219805045391 Centerline is valid? [True, True] Translation: X:202.36, Y:97.38, Z:28.45 [[ 4.96203509e-01 -8.64616179e-01 -7.88729381e-02 2.02360926e+02] [ 8.50462819e-01 5.02325235e-01 -1.56148489e-01 9.73802891e+01] [ 1.74628377e-01 1.04029271e-02 9.84579458e-01 2.84543261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40710568099996 meters Centerline goodness [0,1] 0.9982219805045391 Centerline is valid? [True, True] Translation: X:202.37, Y:97.40, Z:28.46 [[ 4.95912337e-01 -8.64788002e-01 -7.88204671e-02 2.02372977e+02] [ 8.50632626e-01 5.02029396e-01 -1.56174972e-01 9.74046719e+01] [ 1.74628433e-01 1.04018345e-02 9.84579460e-01 2.84589688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43710568099996 meters Centerline goodness [0,1] 0.9987415843453092 Centerline is valid? [True, True] Translation: X:202.39, Y:97.42, Z:28.47 [[ 4.92857121e-01 -8.66631155e-01 -7.77322327e-02 2.02393466e+02] [ 8.52866631e-01 4.98855469e-01 -1.54148404e-01 9.74245978e+01] [ 1.72366959e-01 9.67791120e-03 9.84985264e-01 2.84654588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46710568099996 meters Centerline goodness [0,1] 0.9980773249738767 Centerline is valid? [True, True] Translation: X:202.41, Y:97.45, Z:28.47 [[ 4.90193719e-01 -8.68116018e-01 -7.80044638e-02 2.02406634e+02] [ 8.54247836e-01 4.96274941e-01 -1.54828349e-01 9.74485734e+01] [ 1.73120631e-01 9.26073986e-03 9.84857089e-01 2.84684581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49710568099997 meters Centerline goodness [0,1] 0.9988461377082197 Centerline is valid? [True, True] Translation: X:202.43, Y:97.47, Z:28.47 [[ 4.85446407e-01 -8.70674329e-01 -7.91706930e-02 2.02430603e+02] [ 8.56393165e-01 4.91785621e-01 -1.57282074e-01 9.74684449e+01] [ 1.75876473e-01 8.55077728e-03 9.84375107e-01 2.84687929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52710568099997 meters Centerline goodness [0,1] 0.9992875403377897 Centerline is valid? [True, True] Translation: X:202.45, Y:97.49, Z:28.47 [[ 4.83376931e-01 -8.71779211e-01 -7.96727686e-02 2.02446101e+02] [ 8.57305525e-01 4.89829182e-01 -1.58412778e-01 9.74909472e+01] [ 1.77127014e-01 8.26917767e-03 9.84153261e-01 2.84714938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55710568099997 meters Centerline goodness [0,1] 0.9992430613961312 Centerline is valid? [True, True] Translation: X:202.47, Y:97.51, Z:28.48 [[ 4.83993681e-01 -8.71376165e-01 -8.03349017e-02 2.02468215e+02] [ 8.56630125e-01 4.90540958e-01 -1.59857428e-01 9.75110252e+01] [ 1.78703512e-01 8.55268822e-03 9.83865797e-01 2.84766985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58710568099997 meters Centerline goodness [0,1] 0.999141109435227 Centerline is valid? [True, True] Translation: X:202.48, Y:97.54, Z:28.48 [[ 4.87541093e-01 -8.69364108e-01 -8.06829016e-02 2.02478729e+02] [ 8.54436600e-01 4.94082609e-01 -1.60687496e-01 9.75352906e+01] [ 1.79559960e-01 9.40333336e-03 9.83702088e-01 2.84816128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61710568099997 meters Centerline goodness [0,1] 0.9989290888856225 Centerline is valid? [True, True] Translation: X:202.49, Y:97.56, Z:28.49 [[ 4.89080958e-01 -8.68493353e-01 -8.07410207e-02 2.02491158e+02] [ 8.53510239e-01 4.95604087e-01 -1.60925019e-01 9.75604989e+01] [ 1.79777889e-01 9.79207441e-03 9.83658491e-01 2.84865299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64710568099997 meters Centerline goodness [0,1] 0.9990541250656858 Centerline is valid? [True, True] Translation: X:202.50, Y:97.59, Z:28.49 [[ 4.92590156e-01 -8.66526538e-01 -8.05400388e-02 2.02501841e+02] [ 8.51567700e-01 4.99019391e-01 -1.60661447e-01 9.75857502e+01] [ 1.79408448e-01 1.05549515e-02 9.83718050e-01 2.84911542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67710568099997 meters Centerline goodness [0,1] 0.9987375597029057 Centerline is valid? [True, True] Translation: X:202.51, Y:97.61, Z:28.49 [[ 4.93347704e-01 -8.66045048e-01 -8.10803174e-02 2.02514280e+02] [ 8.50849141e-01 4.99847565e-01 -1.61889321e-01 9.76114020e+01] [ 1.80731244e-01 1.08806065e-02 9.83472333e-01 2.84940620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70710568099997 meters Centerline goodness [0,1] 0.9992643504214221 Centerline is valid? [True, True] Translation: X:202.53, Y:97.63, Z:28.49 [[ 4.91143501e-01 -8.67185925e-01 -8.22595483e-02 2.02531186e+02] [ 8.51530113e-01 4.97869763e-01 -1.64384204e-01 9.76348209e+01] [ 1.83506210e-01 1.06897510e-02 9.82960427e-01 2.84934616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73710568099997 meters Centerline goodness [0,1] 0.9991154356479434 Centerline is valid? [True, True] Translation: X:202.55, Y:97.66, Z:28.50 [[ 4.88431366e-01 -8.68709917e-01 -8.23278927e-02 2.02548336e+02] [ 8.53022038e-01 4.95216161e-01 -1.64664378e-01 9.76576291e+01] [ 1.83815681e-01 1.01997400e-02 9.82907809e-01 2.84971914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76710568099998 meters Centerline goodness [0,1] 0.9994090084005235 Centerline is valid? [True, True] Translation: X:202.57, Y:97.68, Z:28.50 [[ 4.80998485e-01 -8.72876279e-01 -8.20210860e-02 2.02574107e+02] [ 8.57337571e-01 4.87864774e-01 -1.64195775e-01 9.76754360e+01] [ 1.83337796e-01 8.65816047e-03 9.83011846e-01 2.85039652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79710568099998 meters Centerline goodness [0,1] 0.9992235861924247 Centerline is valid? [True, True] Translation: X:202.59, Y:97.70, Z:28.51 [[ 4.76500652e-01 -8.75350220e-01 -8.19092227e-02 2.02591877e+02] [ 8.59871752e-01 4.83427315e-01 -1.64068894e-01 9.76969411e+01] [ 1.83214898e-01 7.74750836e-03 9.83042358e-01 2.85102231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82710568099998 meters Centerline goodness [0,1] 0.9990589121023904 Centerline is valid? [True, True] Translation: X:202.61, Y:97.72, Z:28.52 [[ 4.67787063e-01 -8.80180186e-01 -8.03623264e-02 2.02612556e+02] [ 8.65326931e-01 4.74603872e-01 -1.61122521e-01 9.77158389e+01] [ 1.79957122e-01 5.83134549e-03 9.83657171e-01 2.85179148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85710568099998 meters Centerline goodness [0,1] 0.9994332136784432 Centerline is valid? [True, True] Translation: X:202.64, Y:97.73, Z:28.53 [[ 4.58518036e-01 -8.85175147e-01 -7.89060811e-02 2.02635391e+02] [ 8.70907245e-01 4.65241765e-01 -1.58337206e-01 9.77342446e+01] [ 1.76866564e-01 3.88058675e-03 9.84227189e-01 2.85269879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88710568099995 meters Centerline goodness [0,1] 0.9996637454553097 Centerline is valid? [True, True] Translation: X:202.65, Y:97.76, Z:28.53 [[ 4.53263411e-01 -8.87910700e-01 -7.85294186e-02 2.02651993e+02] [ 8.73793538e-01 4.60006877e-01 -1.57729279e-01 9.77566771e+01] [ 1.76173587e-01 2.87441250e-03 9.84354918e-01 2.85319954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91710568099995 meters Centerline goodness [0,1] 0.9997901055768948 Centerline is valid? [True, True] Translation: X:202.67, Y:97.78, Z:28.54 [[ 4.43646312e-01 -8.92797641e-01 -7.80405176e-02 2.02671229e+02] [ 8.78904890e-01 4.50456818e-01 -1.56891205e-01 9.77783505e+01] [ 1.75225981e-01 1.01401200e-03 9.84527718e-01 2.85367794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94710568099995 meters Centerline goodness [0,1] 0.9998738647830474 Centerline is valid? [True, True] Translation: X:202.69, Y:97.80, Z:28.54 [[ 4.40348412e-01 -8.94406722e-01 -7.82936223e-02 2.02686099e+02] [ 8.80423313e-01 4.47254314e-01 -1.57538465e-01 9.78019236e+01] [ 1.75920622e-01 4.40282407e-04 9.84404257e-01 2.85417411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97710568099995 meters Centerline goodness [0,1] 0.9998737107977268 Centerline is valid? [True, True] Translation: X:202.70, Y:97.82, Z:28.55 [[ 4.37596590e-01 -8.95745225e-01 -7.84201296e-02 2.02699605e+02] [ 8.81711088e-01 4.44567758e-01 -1.57940072e-01 9.78249748e+01] [ 1.76337126e-01 -2.98609800e-05 9.84329831e-01 2.85468757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00710568099996 meters Centerline goodness [0,1] 0.9998108448928121 Centerline is valid? [True, True] Translation: X:202.71, Y:97.85, Z:28.55 [[ 4.35300314e-01 -8.96884027e-01 -7.81836204e-02 2.02710358e+02] [ 8.82925796e-01 4.42265605e-01 -1.57617173e-01 9.78506926e+01] [ 1.75942251e-01 -4.19530381e-04 9.84400400e-01 2.85534520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03710568099996 meters Centerline goodness [0,1] 0.9998530615672033 Centerline is valid? [True, True] Translation: X:202.72, Y:97.88, Z:28.56 [[ 4.35591491e-01 -8.96768159e-01 -7.78904545e-02 2.02718946e+02] [ 8.82887593e-01 4.42500594e-01 -1.57170997e-01 9.78771572e+01] [ 1.75412518e-01 -3.06166875e-04 9.84494974e-01 2.85588046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06710568099996 meters Centerline goodness [0,1] 0.9994319974755443 Centerline is valid? [True, True] Translation: X:202.72, Y:97.91, Z:28.56 [[ 4.38960838e-01 -8.95082797e-01 -7.83592272e-02 2.02722159e+02] [ 8.80979908e-01 4.45899757e-01 -1.58264997e-01 9.79072486e+01] [ 1.76600636e-01 4.39230838e-04 9.84282491e-01 2.85619960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09710568099996 meters Centerline goodness [0,1] 0.999412085835468 Centerline is valid? [True, True] Translation: X:202.73, Y:97.94, Z:28.57 [[ 4.42471383e-01 -8.93366435e-01 -7.82015918e-02 2.02725820e+02] [ 8.79267403e-01 4.49327266e-01 -1.58094405e-01 9.79366857e+01] [ 1.76374342e-01 1.19213944e-03 9.84322442e-01 2.85659542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12710568099996 meters Centerline goodness [0,1] 0.9992436498098619 Centerline is valid? [True, True] Translation: X:202.73, Y:97.96, Z:28.57 [[ 4.44192664e-01 -8.92548651e-01 -7.77803517e-02 2.02733148e+02] [ 8.78563783e-01 4.50948359e-01 -1.57388872e-01 9.79635677e+01] [ 1.75552148e-01 1.57598252e-03 9.84468872e-01 2.85716058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15710568099996 meters Centerline goodness [0,1] 0.9992857893078458 Centerline is valid? [True, True] Translation: X:202.74, Y:97.99, Z:28.58 [[ 4.49012573e-01 -8.90160715e-01 -7.74700552e-02 2.02735888e+02] [ 8.76226722e-01 4.55639428e-01 -1.56905843e-01 9.79939395e+01] [ 1.74969829e-01 2.57136389e-03 9.84570438e-01 2.85761410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18710568099996 meters Centerline goodness [0,1] 0.9993284365162645 Centerline is valid? [True, True] Translation: X:202.74, Y:98.02, Z:28.58 [[ 4.51371430e-01 -8.88939481e-01 -7.77845119e-02 2.02743087e+02] [ 8.74848197e-01 4.58014018e-01 -1.57682565e-01 9.80208473e+01] [ 1.75796654e-01 3.12376473e-03 9.84421545e-01 2.85792266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21710568099996 meters Centerline goodness [0,1] 0.9991831947556915 Centerline is valid? [True, True] Translation: X:202.75, Y:98.05, Z:28.58 [[ 4.58503168e-01 -8.85210487e-01 -7.85954133e-02 2.02745901e+02] [ 8.70741003e-01 4.65167168e-01 -1.59466648e-01 9.80503765e+01] [ 1.77721555e-01 4.67971447e-03 9.84069687e-01 2.85808836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24710568099997 meters Centerline goodness [0,1] 0.9993076535750252 Centerline is valid? [True, True] Translation: X:202.75, Y:98.08, Z:28.58 [[ 4.61502333e-01 -8.83565837e-01 -7.95425015e-02 2.02750677e+02] [ 8.68689552e-01 4.68275184e-01 -1.61545085e-01 9.80789165e+01] [ 1.79983498e-01 5.45569369e-03 9.83654500e-01 2.85817641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27710568099997 meters Centerline goodness [0,1] 0.9992674452676964 Centerline is valid? [True, True] Translation: X:202.75, Y:98.11, Z:28.58 [[ 4.67619408e-01 -8.80215769e-01 -8.09462140e-02 2.02752171e+02] [ 8.64725784e-01 4.74522788e-01 -1.64552248e-01 9.81102122e+01] [ 1.83252307e-01 6.95154652e-03 9.83041336e-01 2.85809232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30710568099997 meters Centerline goodness [0,1] 0.998998435054773 Centerline is valid? [True, True] Translation: X:202.76, Y:98.14, Z:28.58 [[ 4.70536223e-01 -8.78643548e-01 -8.11244601e-02 2.02758744e+02] [ 8.63032832e-01 4.77416882e-01 -1.65068022e-01 9.81377421e+01] [ 1.83766139e-01 7.65741079e-03 9.82940166e-01 2.85848961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33710568099997 meters Centerline goodness [0,1] 0.9992665241627897 Centerline is valid? [True, True] Translation: X:202.76, Y:98.17, Z:28.59 [[ 4.75674472e-01 -8.75863896e-01 -8.12171951e-02 2.02762670e+02] [ 8.60148787e-01 4.82477592e-01 -1.65406885e-01 9.81660890e+01] [ 1.84059395e-01 8.82096069e-03 9.82875541e-01 2.85909825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36710568099997 meters Centerline goodness [0,1] 0.9994534140598722 Centerline is valid? [True, True] Translation: X:202.77, Y:98.19, Z:28.60 [[ 4.77332845e-01 -8.74957622e-01 -8.12558572e-02 2.02770245e+02] [ 8.59186179e-01 4.84111143e-01 -1.65636687e-01 9.81936210e+01] [ 1.84261948e-01 9.24992173e-03 9.82833645e-01 2.85958637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39710568099997 meters Centerline goodness [0,1] 0.9988725807461846 Centerline is valid? [True, True] Translation: X:202.77, Y:98.22, Z:28.60 [[ 4.80774383e-01 -8.73119289e-01 -8.07384634e-02 2.02774550e+02] [ 8.57498901e-01 4.87404885e-01 -1.64718283e-01 9.82221618e+01] [ 1.83171031e-01 9.95918726e-03 9.83030614e-01 2.86009342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42710568099997 meters Centerline goodness [0,1] 0.9986596858638743 Centerline is valid? [True, True] Translation: X:202.78, Y:98.25, Z:28.61 [[ 4.81928612e-01 -8.72504967e-01 -8.04977925e-02 2.02782425e+02] [ 8.56942540e-01 4.88498030e-01 -1.64375053e-01 9.82485052e+01] [ 1.82741063e-01 1.02350582e-02 9.83107801e-01 2.86053563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45710568099997 meters Centerline goodness [0,1] 0.9990319254161668 Centerline is valid? [True, True] Translation: X:202.79, Y:98.28, Z:28.61 [[ 4.82104213e-01 -8.72349803e-01 -8.11255194e-02 2.02792606e+02] [ 8.56512356e-01 4.88770555e-01 -1.65800871e-01 9.82755434e+01] [ 1.84288122e-01 1.04482885e-02 9.82816728e-01 2.86073901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48710568099997 meters Centerline goodness [0,1] 0.9988080550385814 Centerline is valid? [True, True] Translation: X:202.81, Y:98.30, Z:28.61 [[ 4.78027086e-01 -8.74529953e-01 -8.17769263e-02 2.02807356e+02] [ 8.58440127e-01 4.84873330e-01 -1.67267459e-01 9.82981375e+01] [ 1.85931853e-01 9.75778084e-03 9.82514189e-01 2.86084060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51710568099998 meters Centerline goodness [0,1] 0.9991624965976424 Centerline is valid? [True, True] Translation: X:202.82, Y:98.32, Z:28.61 [[ 4.74107864e-01 -8.76636236e-01 -8.20404942e-02 2.02823116e+02] [ 8.60450473e-01 4.81069156e-01 -1.67920967e-01 9.83208889e+01] [ 1.86672756e-01 9.02086893e-03 9.82380734e-01 2.86122294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54710568099998 meters Centerline goodness [0,1] 0.9994310998735777 Centerline is valid? [True, True] Translation: X:202.85, Y:98.34, Z:28.62 [[ 4.64947549e-01 -8.81492746e-01 -8.24276357e-02 2.02850391e+02] [ 8.65197822e-01 4.72142741e-01 -1.68860772e-01 9.83375511e+01] [ 1.87767156e-01 7.19519123e-03 9.82187215e-01 2.86182639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57710568099998 meters Centerline goodness [0,1] 0.9992408426646422 Centerline is valid? [True, True] Translation: X:202.86, Y:98.36, Z:28.62 [[ 4.60268025e-01 -8.83962864e-01 -8.22374631e-02 2.02861637e+02] [ 8.67762292e-01 4.67515641e-01 -1.68575591e-01 9.83627817e+01] [ 1.87461863e-01 6.22738490e-03 9.82252142e-01 2.86196381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60710568099998 meters Centerline goodness [0,1] 0.9993900643587262 Centerline is valid? [True, True] Translation: X:202.89, Y:98.38, Z:28.63 [[ 4.51582741e-01 -8.88531635e-01 -8.11453126e-02 2.02886698e+02] [ 8.72803897e-01 4.58794617e-01 -1.66495815e-01 9.83806390e+01] [ 1.85165831e-01 4.36269152e-03 9.82697604e-01 2.86291935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63710568099995 meters Centerline goodness [0,1] 0.9993476705525862 Centerline is valid? [True, True] Translation: X:202.90, Y:98.40, Z:28.63 [[ 4.46845085e-01 -8.90944487e-01 -8.09159493e-02 2.02903464e+02] [ 8.75316114e-01 4.54099285e-01 -1.66179239e-01 9.84023084e+01] [ 1.84800352e-01 3.42934198e-03 9.82770100e-01 2.86337727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66710568099995 meters Centerline goodness [0,1] 0.9994334039829601 Centerline is valid? [True, True] Translation: X:202.93, Y:98.42, Z:28.64 [[ 4.36616930e-01 -8.96065087e-01 -8.02060895e-02 2.02927135e+02] [ 8.80775721e-01 4.43920724e-01 -1.64828761e-01 9.84214626e+01] [ 1.83302444e-01 1.32345139e-03 9.83055676e-01 2.86411098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69710568099995 meters Centerline goodness [0,1] 0.9996629876147949 Centerline is valid? [True, True] Translation: X:202.94, Y:98.44, Z:28.65 [[ 4.31462024e-01 -8.98598585e-01 -7.97565358e-02 2.02943533e+02] [ 8.83496657e-01 4.38771560e-01 -1.64052353e-01 9.84434240e+01] [ 1.82412112e-01 3.17727267e-04 9.83222112e-01 2.86479384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72710568099995 meters Centerline goodness [0,1] 0.99993692973973 Centerline is valid? [True, True] Translation: X:202.96, Y:98.46, Z:28.66 [[ 4.23479027e-01 -9.02477516e-01 -7.87391031e-02 2.02959247e+02] [ 8.87797926e-01 4.30735147e-01 -1.62117473e-01 9.84639972e+01] [ 1.80223074e-01 -1.25106262e-03 9.83624968e-01 2.86550551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75710568099996 meters Centerline goodness [0,1] 0.9998955046082467 Centerline is valid? [True, True] Translation: X:202.97, Y:98.49, Z:28.66 [[ 4.17146873e-01 -9.05434319e-01 -7.85950429e-02 2.02972345e+02] [ 8.90828700e-01 4.24479376e-01 -1.61992245e-01 9.84871796e+01] [ 1.80035313e-01 -2.44016131e-03 9.83657121e-01 2.86581491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:98.51, Z:28.66 [[ 4.13873492e-01 -9.06943407e-01 -7.85008796e-02 2.02984682e+02] [ 8.92379580e-01 4.21241493e-01 -1.61908273e-01 9.85122945e+01] [ 1.79909469e-01 -3.04303962e-03 9.83678465e-01 2.86629556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:98.53, Z:28.67 [[ 4.07251697e-01 -9.10054518e-01 -7.71156944e-02 2.02997249e+02] [ 8.96033272e-01 4.14466602e-01 -1.59191113e-01 9.85347133e+01] [ 1.76834471e-01 -4.26737705e-03 9.84231355e-01 2.86716013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:98.56, Z:28.68 [[ 4.03826452e-01 -9.11667242e-01 -7.60725756e-02 2.03008862e+02] [ 8.98031755e-01 4.10900621e-01 -1.57161210e-01 9.85591029e+01] [ 1.74536995e-01 -4.84973487e-03 9.84638674e-01 2.86797412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:98.58, Z:28.68 [[ 3.97319693e-01 -9.14548238e-01 -7.57534234e-02 2.03018053e+02] [ 9.01053774e-01 4.04432033e-01 -1.56642355e-01 9.85837138e+01] [ 1.73894101e-01 -6.02081563e-03 9.84745953e-01 2.86834504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90710568099996 meters Centerline goodness [0,1] 0.9999790334416605 Centerline is valid? [True, True] Translation: X:203.02, Y:98.61, Z:28.69 [[ 3.94521978e-01 -9.15699758e-01 -7.64615115e-02 2.03022120e+02] [ 9.01949257e-01 4.01809889e-01 -1.58228794e-01 9.86130634e+01] [ 1.75613060e-01 -6.53966650e-03 9.84437548e-01 2.86859454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93710568099996 meters Centerline goodness [0,1] 0.9999578734518494 Centerline is valid? [True, True] Translation: X:203.03, Y:98.64, Z:28.69 [[ 3.92501136e-01 -9.16501552e-01 -7.72512983e-02 2.03029645e+02] [ 9.02449690e-01 3.99971510e-01 -1.60022960e-01 9.86408600e+01] [ 1.77559610e-01 -6.90621655e-03 9.84085814e-01 2.86870163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96710568099996 meters Centerline goodness [0,1] 0.9998735617650778 Centerline is valid? [True, True] Translation: X:203.03, Y:98.67, Z:28.69 [[ 3.91045394e-01 -9.17049219e-01 -7.81295693e-02 2.03033476e+02] [ 9.02654171e-01 3.98709533e-01 -1.62006655e-01 9.86695274e+01] [ 1.79719080e-01 -7.17202546e-03 9.83691829e-01 2.86881721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99710568099997 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:203.03, Y:98.70, Z:28.69 [[ 3.89347919e-01 -9.17671631e-01 -7.92904472e-02 2.03034583e+02] [ 9.02821918e-01 3.97268795e-01 -1.64590674e-01 9.86997106e+01] [ 1.82539812e-01 -7.50211742e-03 9.83169840e-01 2.86879996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:98.73, Z:28.69 [[ 3.88599727e-01 -9.17930921e-01 -7.99567169e-02 2.03040078e+02] [ 9.02801165e-01 3.96667068e-01 -1.66148407e-01 9.87283729e+01] [ 1.84228957e-01 -7.61979155e-03 9.82853819e-01 2.86913104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05710568099997 meters Centerline goodness [0,1] 0.9998737400307233 Centerline is valid? [True, True] Translation: X:203.04, Y:98.76, Z:28.70 [[ 3.86489734e-01 -9.18879225e-01 -7.92884325e-02 2.03041209e+02] [ 9.03992561e-01 3.94459125e-01 -1.64922553e-01 9.87581895e+01] [ 1.82819953e-01 -7.93527960e-03 9.83114386e-01 2.86971725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08710568099997 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:203.05, Y:98.78, Z:28.70 [[ 3.85078509e-01 -9.19553837e-01 -7.83280484e-02 2.03048507e+02] [ 9.05013337e-01 3.92880788e-01 -1.63081410e-01 9.87841170e+01] [ 1.80735722e-01 -8.08878207e-03 9.83498434e-01 2.87037716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11710568099997 meters Centerline goodness [0,1] 0.9999579275090982 Centerline is valid? [True, True] Translation: X:203.05, Y:98.81, Z:28.71 [[ 3.81645497e-01 -9.21080183e-01 -7.71881530e-02 2.03048346e+02] [ 9.06972167e-01 3.89277317e-01 -1.60824932e-01 9.88140324e+01] [ 1.78180255e-01 -8.62939527e-03 9.83960025e-01 2.87132190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:98.84, Z:28.72 [[ 3.78686601e-01 -9.22422278e-01 -7.57205290e-02 2.03049445e+02] [ 9.08848815e-01 3.86077493e-01 -1.57917702e-01 9.88415577e+01] [ 1.74900799e-01 -9.01719523e-03 9.84544768e-01 2.87225611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17710568099997 meters Centerline goodness [0,1] 0.9999581441098299 Centerline is valid? [True, True] Translation: X:203.05, Y:98.87, Z:28.73 [[ 3.77366646e-01 -9.23013987e-01 -7.50972355e-02 2.03054333e+02] [ 9.09654466e-01 3.84657254e-01 -1.56740389e-01 9.88694089e+01] [ 1.73560268e-01 -9.16394070e-03 9.84780613e-01 2.87291800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:98.90, Z:28.74 [[ 3.74709142e-01 -9.24128472e-01 -7.46968929e-02 2.03054101e+02] [ 9.10907800e-01 3.81962062e-01 -1.56051155e-01 9.88983981e+01] [ 1.72742695e-01 -9.56818804e-03 9.84920510e-01 2.87350721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:98.93, Z:28.74 [[ 3.73182391e-01 -9.24800872e-01 -7.40151991e-02 2.03058383e+02] [ 9.11811786e-01 3.80326954e-01 -1.54760054e-01 9.89262924e+01] [ 1.71272208e-01 -9.73420392e-03 9.85175657e-01 2.87411879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:98.96, Z:28.75 [[ 3.71304276e-01 -9.25633028e-01 -7.30522604e-02 2.03055867e+02] [ 9.12973759e-01 3.78292133e-01 -1.52885504e-01 9.89577523e+01] [ 1.69150967e-01 -9.92775553e-03 9.85540151e-01 2.87490560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:98.98, Z:28.75 [[ 3.70937182e-01 -9.25784537e-01 -7.29972423e-02 2.03066947e+02] [ 9.13123048e-01 3.77921010e-01 -1.52911769e-01 9.89816705e+01] [ 1.69150543e-01 -9.93480380e-03 9.85540153e-01 2.87535580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32710568099998 meters Centerline goodness [0,1] 0.999978981440612 Centerline is valid? [True, True] Translation: X:203.07, Y:99.01, Z:28.76 [[ 3.69902672e-01 -9.26219305e-01 -7.27310926e-02 2.03071876e+02] [ 9.13631846e-01 3.76851557e-01 -1.52511485e-01 9.90087157e+01] [ 1.68667907e-01 -1.00350368e-02 9.85621852e-01 2.87586969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:99.04, Z:28.76 [[ 3.69025056e-01 -9.26527049e-01 -7.32675554e-02 2.03068169e+02] [ 9.13731936e-01 3.76089978e-01 -1.53786466e-01 9.90406485e+01] [ 1.70042514e-01 -1.01958459e-02 9.85383980e-01 2.87603066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38710568099995 meters Centerline goodness [0,1] 0.9999790908710743 Centerline is valid? [True, True] Translation: X:203.07, Y:99.07, Z:28.76 [[ 3.69130617e-01 -9.26470297e-01 -7.34532233e-02 2.03069041e+02] [ 9.13583089e-01 3.76231275e-01 -1.54324229e-01 9.90715526e+01] [ 1.70612214e-01 -1.01398249e-02 9.85286078e-01 2.87641984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:99.11, Z:28.77 [[ 3.72872105e-01 -9.24933805e-01 -7.39178548e-02 2.03061963e+02] [ 9.11828610e-01 3.80010909e-01 -1.55435821e-01 9.91058284e+01] [ 1.71857437e-01 -9.44273300e-03 9.85076574e-01 2.87670272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:99.14, Z:28.77 [[ 3.81185073e-01 -9.21497148e-01 -7.44375385e-02 2.03049974e+02] [ 9.08114248e-01 3.88305280e-01 -1.56676490e-01 9.91415356e+01] [ 1.73281428e-01 -7.87504996e-03 9.84840865e-01 2.87716541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:99.17, Z:28.78 [[ 3.86920068e-01 -9.19114127e-01 -7.43107199e-02 2.03052414e+02] [ 9.05706123e-01 3.93933987e-01 -1.56564469e-01 9.91700031e+01] [ 1.73174133e-01 -6.72573902e-03 9.84868257e-01 2.87771939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:99.20, Z:28.78 [[ 3.93457799e-01 -9.16347837e-01 -7.41458202e-02 2.03049949e+02] [ 9.02922680e-01 4.00346423e-01 -1.56375751e-01 9.92002412e+01] [ 1.72978595e-01 -5.42068375e-03 9.84910667e-01 2.87830453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:99.24, Z:28.79 [[ 4.08280948e-01 -9.09849369e-01 -7.40323840e-02 2.03032193e+02] [ 8.96329989e-01 4.14930870e-01 -1.56284753e-01 9.92385929e+01] [ 1.72913905e-01 -2.54935907e-03 9.84933644e-01 2.87903688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:99.27, Z:28.80 [[ 4.14915796e-01 -9.06856711e-01 -7.38633115e-02 2.03032984e+02] [ 8.93325615e-01 4.21437308e-01 -1.56076713e-01 9.92690075e+01] [ 1.72667970e-01 -1.22529461e-03 9.84979325e-01 2.87952672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:99.30, Z:28.80 [[ 4.25065752e-01 -9.02084904e-01 -7.45783665e-02 2.03026469e+02] [ 8.88188037e-01 4.31557846e-01 -1.57733434e-01 9.93024680e+01] [ 1.74473828e-01 8.07467630e-04 9.84661480e-01 2.87981410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62710568099996 meters Centerline goodness [0,1] 0.9999369999369999 Centerline is valid? [True, True] Translation: X:203.03, Y:99.33, Z:28.80 [[ 4.29286832e-01 -9.00030271e-01 -7.52218520e-02 2.03027309e+02] [ 8.85831157e-01 4.35823952e-01 -1.59250253e-01 9.93325093e+01] [ 1.76113533e-01 1.73017641e-03 9.84368341e-01 2.88010101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:99.36, Z:28.80 [[ 4.29765844e-01 -8.99790235e-01 -7.53581592e-02 2.03037488e+02] [ 8.85509914e-01 4.36318623e-01 -1.59681721e-01 9.93589324e+01] [ 1.76560221e-01 1.89535255e-03 9.84288015e-01 2.88046905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68710568099996 meters Centerline goodness [0,1] 0.9999370699781842 Centerline is valid? [True, True] Translation: X:203.05, Y:99.39, Z:28.81 [[ 4.28575333e-01 -9.00286537e-01 -7.62058790e-02 2.03048855e+02] [ 8.85660228e-01 4.35294139e-01 -1.61632215e-01 9.93852783e+01] [ 1.78687279e-01 1.77906411e-03 9.83904310e-01 2.88057331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:99.41, Z:28.81 [[ 4.27598942e-01 -9.00742182e-01 -7.63064048e-02 2.03059278e+02] [ 8.86055976e-01 4.34350974e-01 -1.62000121e-01 9.94102389e+01] [ 1.79064103e-01 1.65933412e-03 9.83836009e-01 2.88087540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:99.43, Z:28.81 [[ 4.24966115e-01 -9.01936942e-01 -7.68996380e-02 2.03072724e+02] [ 8.87008355e-01 4.31865970e-01 -1.63425709e-01 9.94344753e+01] [ 1.80610021e-01 1.23976724e-03 9.83554006e-01 2.88141264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:99.46, Z:28.82 [[ 4.24407571e-01 -9.02215454e-01 -7.67169380e-02 2.03083568e+02] [ 8.87332807e-01 4.31283964e-01 -1.63201198e-01 9.94592348e+01] [ 1.80329428e-01 1.19036817e-03 9.83605551e-01 2.88185534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:99.48, Z:28.83 [[ 4.24285796e-01 -9.02317324e-01 -7.61906167e-02 2.03094779e+02] [ 8.87614690e-01 4.31070758e-01 -1.62228739e-01 9.94840413e+01] [ 1.79225348e-01 1.20343901e-03 9.83807312e-01 2.88271502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:99.51, Z:28.83 [[ 4.24277088e-01 -9.02344981e-01 -7.59110520e-02 2.03106447e+02] [ 8.87721844e-01 4.31012704e-01 -1.61796094e-01 9.95081317e+01] [ 1.78714521e-01 1.25847630e-03 9.83900166e-01 2.88318178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.12, Y:99.53, Z:28.84 [[ 4.22549831e-01 -9.03176848e-01 -7.56519798e-02 2.03122569e+02] [ 8.88646613e-01 4.29267599e-01 -1.61358379e-01 9.95313419e+01] [ 1.78210096e-01 9.54080304e-04 9.83991998e-01 2.88377141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:99.55, Z:28.84 [[ 4.20457594e-01 -9.04167838e-01 -7.54714017e-02 2.03135564e+02] [ 8.89694378e-01 4.27176962e-01 -1.61132732e-01 9.95549561e+01] [ 1.77930678e-01 6.02998973e-04 9.84042840e-01 2.88426421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92710568099997 meters Centerline goodness [0,1] 0.9999158355426503 Centerline is valid? [True, True] Translation: X:203.15, Y:99.58, Z:28.85 [[ 4.20061366e-01 -9.04366724e-01 -7.52946012e-02 2.03147564e+02] [ 8.89938979e-01 4.26755776e-01 -1.60897862e-01 9.95794424e+01] [ 1.77643078e-01 5.79375024e-04 9.84094813e-01 2.88480579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:99.60, Z:28.85 [[ 4.18529635e-01 -9.05010178e-01 -7.60889154e-02 2.03163406e+02] [ 8.90253939e-01 4.25389742e-01 -1.62762068e-01 9.96016738e+01] [ 1.79668772e-01 3.82292263e-04 9.83727089e-01 2.88495611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:99.63, Z:28.85 [[ 4.17093606e-01 -9.05606144e-01 -7.68793647e-02 2.03178473e+02] [ 8.90521095e-01 4.24119647e-01 -1.64604689e-01 9.96254490e+01] [ 1.81673066e-01 1.92866988e-04 9.83358968e-01 2.88520607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01710568099998 meters Centerline goodness [0,1] 0.9998944412776828 Centerline is valid? [True, True] Translation: X:203.20, Y:99.65, Z:28.85 [[ 4.13634067e-01 -9.07034412e-01 -7.87110807e-02 2.03196641e+02] [ 8.91209160e-01 4.21056337e-01 -1.68694384e-01 9.96481970e+01] [ 1.86153411e-01 -3.70291843e-04 9.82520621e-01 2.88523196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.21, Y:99.67, Z:28.85 [[ 4.12772784e-01 -9.07358625e-01 -7.94918510e-02 2.03210860e+02] [ 8.91189460e-01 4.20357136e-01 -1.70532182e-01 9.96727160e+01] [ 1.88148813e-01 -4.51256450e-04 9.82140428e-01 2.88546481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07710568099998 meters Centerline goodness [0,1] 0.9999577809676602 Centerline is valid? [True, True] Translation: X:203.22, Y:99.70, Z:28.86 [[ 4.15521576e-01 -9.06020548e-01 -8.04275189e-02 2.03224066e+02] [ 8.89409020e-01 4.23233640e-01 -1.72698814e-01 9.96975927e+01] [ 1.90508306e-01 2.27122453e-04 9.81685558e-01 2.88579573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10710568099998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:99.72, Z:28.86 [[ 4.18788032e-01 -9.04528913e-01 -8.02747175e-02 2.03232073e+02] [ 8.87935069e-01 4.26411242e-01 -1.72466710e-01 9.97229680e+01] [ 1.90231168e-01 9.48257484e-04 9.81738867e-01 2.88627591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13710568099995 meters Centerline goodness [0,1] 0.9999369814095158 Centerline is valid? [True, True] Translation: X:203.23, Y:99.75, Z:28.87 [[ 4.26639784e-01 -9.00981857e-01 -7.88047450e-02 2.03233531e+02] [ 8.84911498e-01 4.33849270e-01 -1.69429781e-01 9.97517269e+01] [ 1.86842540e-01 2.55026010e-03 9.82386564e-01 2.88720564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16710568099995 meters Centerline goodness [0,1] 0.999895112229914 Centerline is valid? [True, True] Translation: X:203.24, Y:99.78, Z:28.88 [[ 4.33650346e-01 -8.97742198e-01 -7.75004781e-02 2.03240654e+02] [ 8.82122235e-01 4.40503411e-01 -1.66784615e-01 9.97774660e+01] [ 1.83868812e-01 3.96131097e-03 9.82942810e-01 2.88828486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19710568099995 meters Centerline goodness [0,1] 0.9999790838736666 Centerline is valid? [True, True] Translation: X:203.25, Y:99.80, Z:28.89 [[ 4.37604514e-01 -8.95985549e-01 -7.55789999e-02 2.03251199e+02] [ 8.81082563e-01 4.44058836e-01 -1.62804385e-01 9.98018934e+01] [ 1.79431899e-01 4.65259512e-03 9.83759395e-01 2.88940236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:99.83, Z:28.90 [[ 4.38225430e-01 -8.95750664e-01 -7.47610919e-02 2.03261096e+02] [ 8.81140554e-01 4.44531273e-01 -1.61193275e-01 9.98258154e+01] [ 1.77622626e-01 4.76396216e-03 9.84087144e-01 2.89003374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25710568099996 meters Centerline goodness [0,1] 0.9999788998375287 Centerline is valid? [True, True] Translation: X:203.28, Y:99.85, Z:28.91 [[ 4.40757716e-01 -8.94555902e-01 -7.41779923e-02 2.03277293e+02] [ 8.80132130e-01 4.46925013e-01 -1.60079561e-01 9.98497293e+01] [ 1.76352116e-01 5.26986714e-03 9.84313040e-01 2.89067805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28710568099996 meters Centerline goodness [0,1] 0.9999789398310974 Centerline is valid? [True, True] Translation: X:203.29, Y:99.88, Z:28.91 [[ 4.42775422e-01 -8.93493186e-01 -7.49656712e-02 2.03288444e+02] [ 8.78717350e-01 4.49038996e-01 -1.61925290e-01 9.98756861e+01] [ 1.78341653e-01 5.82290266e-03 9.83951395e-01 2.89092208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:99.90, Z:28.91 [[ 4.49255953e-01 -8.90112433e-01 -7.66090364e-02 2.03296584e+02] [ 8.74600413e-01 4.55680879e-01 -1.65617192e-01 9.99039385e+01] [ 1.82327195e-01 7.40221443e-03 9.83210049e-01 2.89092319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34710568099996 meters Centerline goodness [0,1] 0.9999789082932591 Centerline is valid? [True, True] Translation: X:203.31, Y:99.93, Z:28.91 [[ 4.52501394e-01 -8.88409351e-01 -7.72742706e-02 2.03307446e+02] [ 8.72569461e-01 4.58978154e-01 -1.67217196e-01 9.99305180e+01] [ 1.84024523e-01 8.23884561e-03 9.82887123e-01 2.89130320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37710568099996 meters Centerline goodness [0,1] 0.9999370633771791 Centerline is valid? [True, True] Translation: X:203.32, Y:99.95, Z:28.92 [[ 4.56214464e-01 -8.86521947e-01 -7.71180974e-02 2.03321968e+02] [ 8.70693929e-01 4.62598029e-01 -1.67018400e-01 9.99534764e+01] [ 1.83740157e-01 9.04995084e-03 9.82933188e-01 2.89185976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40710568099996 meters Centerline goodness [0,1] 0.9999790882475952 Centerline is valid? [True, True] Translation: X:203.34, Y:99.97, Z:28.93 [[ 4.54626428e-01 -8.87410670e-01 -7.62700118e-02 2.03342923e+02] [ 8.71931886e-01 4.60899049e-01 -1.65247851e-01 9.99745154e+01] [ 1.81795482e-01 8.62378497e-03 9.83298547e-01 2.89269029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43710568099996 meters Centerline goodness [0,1] 0.999978935394856 Centerline is valid? [True, True] Translation: X:203.36, Y:100.00, Z:28.93 [[ 4.51105175e-01 -8.89229866e-01 -7.59892485e-02 2.03363377e+02] [ 8.73865132e-01 4.57391934e-01 -1.64779698e-01 9.99963207e+01] [ 1.81283898e-01 7.92861960e-03 9.83398843e-01 2.89327458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46710568099996 meters Centerline goodness [0,1] 0.9998315718556571 Centerline is valid? [True, True] Translation: X:203.39, Y:100.01, Z:28.94 [[ 4.41391400e-01 -8.94067056e-01 -7.62740551e-02 2.03391219e+02] [ 8.78627456e-01 4.47892211e-01 -1.65548666e-01 1.00013234e+02] [ 1.82174163e-01 6.05527826e-03 9.83247633e-01 2.89363720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:100.03, Z:28.94 [[ 4.35470787e-01 -8.96936160e-01 -7.66206083e-02 2.03412050e+02] [ 8.81372365e-01 4.42132383e-01 -1.66438306e-01 1.00034051e+02] [ 1.83160988e-01 4.94773347e-03 9.83070482e-01 2.89406397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52710568099997 meters Centerline goodness [0,1] 0.99989510342802 Centerline is valid? [True, True] Translation: X:203.44, Y:100.05, Z:28.94 [[ 4.25851222e-01 -9.01535487e-01 -7.67105162e-02 2.03438437e+02] [ 8.85976442e-01 4.32694302e-01 -1.66797438e-01 1.00051395e+02] [ 1.83566012e-01 3.06718238e-03 9.83002600e-01 2.89437251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55710568099997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:100.07, Z:28.95 [[ 4.21496129e-01 -9.03546450e-01 -7.71027029e-02 2.03457044e+02] [ 8.87843899e-01 4.28484281e-01 -1.67733216e-01 1.00073562e+02] [ 1.84592048e-01 2.24373673e-03 9.82812669e-01 2.89471739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58710568099997 meters Centerline goodness [0,1] 0.9999789915966386 Centerline is valid? [True, True] Translation: X:203.48, Y:100.09, Z:28.95 [[ 4.14656090e-01 -9.06535660e-01 -7.90785955e-02 2.03479670e+02] [ 8.90030611e-01 4.22128004e-01 -1.72201798e-01 1.00094164e+02] [ 1.89488360e-01 1.02215332e-03 9.81882435e-01 2.89456379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61710568099997 meters Centerline goodness [0,1] 0.9998314334478181 Centerline is valid? [True, True] Translation: X:203.50, Y:100.12, Z:28.95 [[ 4.10799086e-01 -9.08250366e-01 -7.95322817e-02 2.03498747e+02] [ 8.91554184e-01 4.18427031e-01 -1.73349232e-01 1.00115788e+02] [ 1.90722960e-01 3.04367668e-04 9.81643856e-01 2.89503673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64710568099997 meters Centerline goodness [0,1] 0.9998734310726717 Centerline is valid? [True, True] Translation: X:203.51, Y:100.14, Z:28.95 [[ 4.09832098e-01 -9.08672519e-01 -7.96988328e-02 2.03511720e+02] [ 8.91879843e-01 4.17509545e-01 -1.73885379e-01 1.00138820e+02] [ 1.91279889e-01 1.82027426e-04 9.81535517e-01 2.89540386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67710568099997 meters Centerline goodness [0,1] 0.9999160739388598 Centerline is valid? [True, True] Translation: X:203.52, Y:100.16, Z:28.96 [[ 4.11767353e-01 -9.07756809e-01 -8.01574832e-02 2.03523306e+02] [ 8.90724525e-01 4.19496277e-01 -1.75021983e-01 1.00164620e+02] [ 1.92503163e-01 6.70102730e-04 9.81296124e-01 2.89590158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70710568099997 meters Centerline goodness [0,1] 0.9994093200852266 Centerline is valid? [True, True] Translation: X:203.53, Y:100.19, Z:28.97 [[ 4.14548790e-01 -9.06492918e-01 -8.01242184e-02 2.03532619e+02] [ 8.89418137e-01 4.22218921e-01 -1.75118700e-01 1.00190181e+02] [ 1.92573823e-01 1.33131228e-03 9.81281586e-01 2.89652517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73710568099997 meters Centerline goodness [0,1] 0.9998523487101605 Centerline is valid? [True, True] Translation: X:203.54, Y:100.22, Z:28.97 [[ 4.16449742e-01 -9.05671845e-01 -7.95494883e-02 2.03542794e+02] [ 8.88793360e-01 4.23975648e-01 -1.74043137e-01 1.00216011e+02] [ 1.91353015e-01 1.77716257e-03 9.81519671e-01 2.89712743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76710568099998 meters Centerline goodness [0,1] 0.9999578245924802 Centerline is valid? [True, True] Translation: X:203.55, Y:100.24, Z:28.98 [[ 4.19410212e-01 -9.04308811e-01 -7.95025098e-02 2.03549488e+02] [ 8.87390978e-01 4.26871684e-01 -1.74120125e-01 1.00242559e+02] [ 1.91395734e-01 2.47794867e-03 9.81509823e-01 2.89755999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79710568099998 meters Centerline goodness [0,1] 0.9998745058668507 Centerline is valid? [True, True] Translation: X:203.56, Y:100.27, Z:28.98 [[ 4.20514452e-01 -9.03792398e-01 -7.95417993e-02 2.03558038e+02] [ 8.86816842e-01 4.27962082e-01 -1.74368419e-01 1.00268808e+02] [ 1.91633726e-01 2.78543291e-03 9.81462560e-01 2.89800641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82710568099998 meters Centerline goodness [0,1] 0.9997690919014233 Centerline is valid? [True, True] Translation: X:203.57, Y:100.29, Z:28.99 [[ 4.22132658e-01 -9.03166421e-01 -7.80668654e-02 2.03567873e+02] [ 8.86781257e-01 4.29279575e-01 -1.71283533e-01 1.00293243e+02] [ 1.88210047e-01 3.07614021e-03 9.82123982e-01 2.89899421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85710568099998 meters Centerline goodness [0,1] 0.9996213236840998 Centerline is valid? [True, True] Translation: X:203.58, Y:100.32, Z:29.00 [[ 4.23029990e-01 -9.02866732e-01 -7.66634916e-02 2.03580955e+02] [ 8.87042987e-01 4.29908602e-01 -1.68325081e-01 1.00317214e+02] [ 1.84933410e-01 3.20274473e-03 9.82745835e-01 2.90004798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88710568099995 meters Centerline goodness [0,1] 0.9999582742218143 Centerline is valid? [True, True] Translation: X:203.59, Y:100.34, Z:29.01 [[ 4.23276055e-01 -9.02833872e-01 -7.56860684e-02 2.03591715e+02] [ 8.87384137e-01 4.29977290e-01 -1.66339786e-01 1.00341567e+02] [ 1.82720484e-01 3.24503217e-03 9.83159547e-01 2.90078509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91710568099995 meters Centerline goodness [0,1] 0.9997276517294115 Centerline is valid? [True, True] Translation: X:203.60, Y:100.37, Z:29.02 [[ 4.26213457e-01 -9.01610016e-01 -7.37663060e-02 2.03599966e+02] [ 8.86893658e-01 4.32533667e-01 -1.62278361e-01 1.00366912e+02] [ 1.78218206e-01 3.74235199e-03 9.83983875e-01 2.90175022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94710568099995 meters Centerline goodness [0,1] 0.9995163901680019 Centerline is valid? [True, True] Translation: X:203.61, Y:100.39, Z:29.02 [[ 4.28455673e-01 -9.00559769e-01 -7.36059708e-02 2.03607262e+02] [ 8.85863943e-01 4.34711537e-01 -1.62083171e-01 1.00392907e+02] [ 1.77962947e-01 4.24057849e-03 9.84028052e-01 2.90223886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97710568099995 meters Centerline goodness [0,1] 0.9994112699747687 Centerline is valid? [True, True] Translation: X:203.62, Y:100.42, Z:29.03 [[ 4.34125013e-01 -8.97841178e-01 -7.35981828e-02 2.03615914e+02] [ 8.83090866e-01 4.40286247e-01 -1.62168254e-01 1.00419373e+02] [ 1.78005604e-01 5.40741228e-03 9.84014616e-01 2.90252853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.0071056809999 meters Centerline goodness [0,1] 0.9991879229567934 Centerline is valid? [True, True] Translation: X:203.62, Y:100.45, Z:29.03 [[ 4.36109597e-01 -8.96827845e-01 -7.42174858e-02 2.03623932e+02] [ 8.81780616e-01 4.42339721e-01 -1.63702527e-01 1.00445670e+02] [ 1.79642326e-01 5.94870274e-03 9.83714007e-01 2.90256515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03710568099996 meters Centerline goodness [0,1] 0.9994556455834014 Centerline is valid? [True, True] Translation: X:203.64, Y:100.47, Z:29.03 [[ 4.37687617e-01 -8.95942552e-01 -7.56074974e-02 2.03641958e+02] [ 8.80284821e-01 4.44122509e-01 -1.66894671e-01 1.00469296e+02] [ 1.83107029e-01 6.49159874e-03 9.83071551e-01 2.90270556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06710568099993 meters Centerline goodness [0,1] 0.9994319018663076 Centerline is valid? [True, True] Translation: X:203.65, Y:100.50, Z:29.03 [[ 4.37519305e-01 -8.96002656e-01 -7.58689486e-02 2.03653157e+02] [ 8.80205774e-01 4.44000181e-01 -1.67635423e-01 1.00495338e+02] [ 1.83887611e-01 6.56344718e-03 9.82925362e-01 2.90303868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09710568099996 meters Centerline goodness [0,1] 0.9994993951024154 Centerline is valid? [True, True] Translation: X:203.66, Y:100.52, Z:29.03 [[ 4.39282336e-01 -8.95150571e-01 -7.57395879e-02 2.03660169e+02] [ 8.79364988e-01 4.45709208e-01 -1.67512745e-01 1.00521542e+02] [ 1.83706961e-01 6.98264808e-03 9.82956253e-01 2.90340484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12710568099993 meters Centerline goodness [0,1] 0.9994953212070234 Centerline is valid? [True, True] Translation: X:203.67, Y:100.55, Z:29.04 [[ 4.41876228e-01 -8.93844018e-01 -7.60806868e-02 2.03671829e+02] [ 8.77871511e-01 4.48313281e-01 -1.68394809e-01 1.00546897e+02] [ 1.84626675e-01 7.62059555e-03 9.82779180e-01 2.90379872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15710568099996 meters Centerline goodness [0,1] 0.999431937723543 Centerline is valid? [True, True] Translation: X:203.68, Y:100.57, Z:29.04 [[ 4.42680295e-01 -8.93409747e-01 -7.65060785e-02 2.03682669e+02] [ 8.77219867e-01 4.49172903e-01 -1.69496339e-01 1.00572240e+02] [ 1.85794138e-01 7.92003722e-03 9.82556772e-01 2.90405415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18710568099993 meters Centerline goodness [0,1] 0.9995583689091712 Centerline is valid? [True, True] Translation: X:203.70, Y:100.60, Z:29.05 [[ 4.42202513e-01 -8.93628635e-01 -7.67124461e-02 2.03699590e+02] [ 8.77332001e-01 4.48737581e-01 -1.70068055e-01 1.00595121e+02] [ 1.86401441e-01 7.90223758e-03 9.82441885e-01 2.90463157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21710568099996 meters Centerline goodness [0,1] 0.9995583689091712 Centerline is valid? [True, True] Translation: X:203.71, Y:100.62, Z:29.05 [[ 4.41869481e-01 -8.93798918e-01 -7.66476074e-02 2.03710518e+02] [ 8.77499786e-01 4.48398309e-01 -1.70097274e-01 1.00619953e+02] [ 1.86401417e-01 7.90253504e-03 9.82441887e-01 2.90509550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24710568099994 meters Centerline goodness [0,1] 0.9999374178609425 Centerline is valid? [True, True] Translation: X:203.72, Y:100.64, Z:29.06 [[ 4.40468388e-01 -8.94527750e-01 -7.62082914e-02 2.03723845e+02] [ 8.78395220e-01 4.46947351e-01 -1.69292359e-01 1.00644706e+02] [ 1.85497807e-01 7.62693361e-03 9.82615079e-01 2.90568821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:100.67, Z:29.07 [[ 4.35075287e-01 -8.97322165e-01 -7.43130359e-02 2.03743528e+02] [ 8.81999754e-01 4.41330541e-01 -1.65238576e-01 1.00665343e+02] [ 1.81068849e-01 6.34714142e-03 9.83449941e-01 2.90669722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:100.69, Z:29.07 [[ 4.31872960e-01 -8.98909709e-01 -7.38043380e-02 2.03758602e+02] [ 8.83790973e-01 4.38096629e-01 -1.64270690e-01 1.00687799e+02] [ 1.79997950e-01 5.71646151e-03 9.83650375e-01 2.90735172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.78, Y:100.71, Z:29.08 [[ 4.25462303e-01 -9.01987888e-01 -7.34825062e-02 2.03781453e+02] [ 8.87016379e-01 4.31738129e-01 -1.63719673e-01 1.00707433e+02] [ 1.79398362e-01 4.47636247e-03 9.83766329e-01 2.90792741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:100.73, Z:29.08 [[ 4.22042133e-01 -9.03565922e-01 -7.38177722e-02 2.03798660e+02] [ 8.88448563e-01 4.28431334e-01 -1.64638221e-01 1.00730732e+02] [ 1.80387332e-01 3.90097214e-03 9.83587918e-01 2.90828171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.82, Y:100.75, Z:29.09 [[ 4.16312562e-01 -9.06251466e-01 -7.34311334e-02 2.03819663e+02] [ 8.91305955e-01 4.22729770e-01 -1.63930581e-01 1.00750351e+02] [ 1.79603856e-01 2.79675373e-03 9.83735042e-01 2.90881457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.84, Y:100.77, Z:29.09 [[ 4.12252659e-01 -9.08153857e-01 -7.28307393e-02 2.03838148e+02] [ 8.93465776e-01 4.18631807e-01 -1.62684717e-01 1.00772784e+02] [ 1.78232018e-01 1.99543435e-03 9.83986466e-01 2.90943004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:100.80, Z:29.10 [[ 4.11304079e-01 -9.08618283e-01 -7.24000753e-02 2.03852524e+02] [ 8.94084148e-01 4.17623512e-01 -1.61876922e-01 1.00796489e+02] [ 1.77320304e-01 1.84887847e-03 9.84151458e-01 2.91003299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:100.82, Z:29.11 [[ 4.13869466e-01 -9.07484893e-01 -7.19946842e-02 2.03864796e+02] [ 8.93067943e-01 4.20077905e-01 -1.61134114e-01 1.00820949e+02] [ 1.76470150e-01 2.39234507e-03 9.84303085e-01 2.91069962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5171056809999 meters Centerline goodness [0,1] 0.9999790575916231 Centerline is valid? [True, True] Translation: X:203.87, Y:100.85, Z:29.11 [[ 4.15954844e-01 -9.06546733e-01 -7.17954602e-02 2.03874096e+02] [ 8.92168435e-01 4.22095840e-01 -1.60843354e-01 1.00847503e+02] [ 1.76116583e-01 2.84992904e-03 9.84365190e-01 2.91119035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.88, Y:100.87, Z:29.12 [[ 4.20529072e-01 -9.04507634e-01 -7.08607050e-02 2.03882280e+02] [ 8.90449079e-01 4.26441178e-01 -1.58897323e-01 1.00874133e+02] [ 1.73941764e-01 3.72309408e-03 9.84748903e-01 2.91180026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:100.90, Z:29.12 [[ 4.21555386e-01 -9.04052502e-01 -7.05700415e-02 2.03892931e+02] [ 8.90077760e-01 4.27403095e-01 -1.58392474e-01 1.00899861e+02] [ 1.73356967e-01 3.95837620e-03 9.84851102e-01 2.91223317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60710568099995 meters Centerline goodness [0,1] 0.9999368939186773 Centerline is valid? [True, True] Translation: X:203.91, Y:100.92, Z:29.12 [[ 4.20589018e-01 -9.04499555e-01 -7.06075980e-02 2.03906150e+02] [ 8.90489697e-01 4.26457267e-01 -1.58626284e-01 1.00924515e+02] [ 1.73588527e-01 3.84113462e-03 9.84810778e-01 2.91244984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6371056809999 meters Centerline goodness [0,1] 0.999936834126416 Centerline is valid? [True, True] Translation: X:203.92, Y:100.95, Z:29.13 [[ 4.19061187e-01 -9.05198522e-01 -7.07344106e-02 2.03918913e+02] [ 8.91120062e-01 4.24973511e-01 -1.59067750e-01 1.00947884e+02] [ 1.74048143e-01 3.62626786e-03 9.84730468e-01 2.91280531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66710568099995 meters Centerline goodness [0,1] 0.999789260726629 Centerline is valid? [True, True] Translation: X:203.94, Y:100.97, Z:29.13 [[ 4.17172019e-01 -9.06067615e-01 -7.07741772e-02 2.03935270e+02] [ 8.91957008e-01 4.23119784e-01 -1.59318372e-01 1.00971175e+02] [ 1.74299172e-01 3.33564375e-03 9.84687093e-01 2.91327735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.6971056809999 meters Centerline goodness [0,1] 0.9999580404909263 Centerline is valid? [True, True] Translation: X:203.95, Y:101.00, Z:29.13 [[ 4.17018692e-01 -9.06085540e-01 -7.14451123e-02 2.03946098e+02] [ 8.91674929e-01 4.23080632e-01 -1.60992547e-01 1.00997127e+02] [ 1.76100062e-01 3.43108584e-03 9.84366292e-01 2.91346901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72710568099995 meters Centerline goodness [0,1] 0.9998112455695141 Centerline is valid? [True, True] Translation: X:203.96, Y:101.02, Z:29.14 [[ 4.17050366e-01 -9.06059850e-01 -7.15858933e-02 2.03956027e+02] [ 8.91562902e-01 4.23134936e-01 -1.61469554e-01 1.01022438e+02] [ 1.76591572e-01 3.51760979e-03 9.84277930e-01 2.91382421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.7571056809999 meters Centerline goodness [0,1] 0.9998108528435122 Centerline is valid? [True, True] Translation: X:203.97, Y:101.05, Z:29.14 [[ 4.15502260e-01 -9.06863382e-01 -7.04036807e-02 2.03969190e+02] [ 8.92836320e-01 4.21412801e-01 -1.58916821e-01 1.01045635e+02] [ 1.73784858e-01 3.17133508e-03 9.84778536e-01 2.91437727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78710568099996 meters Centerline goodness [0,1] 0.9997059997059997 Centerline is valid? [True, True] Translation: X:203.98, Y:101.07, Z:29.15 [[ 4.13747242e-01 -9.07735865e-01 -6.94897003e-02 2.03983427e+02] [ 8.94067148e-01 4.19532699e-01 -1.56959388e-01 1.01069472e+02] [ 1.71630867e-01 2.81305568e-03 9.85157313e-01 2.91512824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81710568099993 meters Centerline goodness [0,1] 0.9998112416107383 Centerline is valid? [True, True] Translation: X:204.00, Y:101.09, Z:29.16 [[ 4.08804798e-01 -9.10047808e-01 -6.84954282e-02 2.04001347e+02] [ 8.96776914e-01 4.14499026e-01 -1.54860338e-01 1.01090229e+02] [ 1.69321600e-01 1.88253063e-03 9.85559056e-01 2.91589049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84710568099996 meters Centerline goodness [0,1] 0.9998324782745263 Centerline is valid? [True, True] Translation: X:204.02, Y:101.11, Z:29.16 [[ 4.02409620e-01 -9.12901105e-01 -6.83964212e-02 2.04020212e+02] [ 8.99684646e-01 4.08180121e-01 -1.54778958e-01 1.01112275e+02] [ 1.69215941e-01 7.49331514e-04 9.85578715e-01 2.91629522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87710568099993 meters Centerline goodness [0,1] 0.9997044293374995 Centerline is valid? [True, True] Translation: X:204.04, Y:101.14, Z:29.17 [[ 3.99117545e-01 -9.14405977e-01 -6.75788037e-02 2.04035063e+02] [ 9.01503118e-01 4.04798321e-01 -1.53070074e-01 1.01136114e+02] [ 1.67323977e-01 1.70449860e-04 9.85901951e-01 2.91686751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90710568099996 meters Centerline goodness [0,1] 0.9998310632456974 Centerline is valid? [True, True] Translation: X:204.05, Y:101.16, Z:29.17 [[ 3.93858633e-01 -9.16733511e-01 -6.68958006e-02 2.04052626e+02] [ 9.04100019e-01 3.99498583e-01 -1.51670820e-01 1.01157672e+02] [ 1.65766501e-01 -7.43632710e-04 9.86164750e-01 2.91748813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93710568099993 meters Centerline goodness [0,1] 0.9998946059315782 Centerline is valid? [True, True] Translation: X:204.07, Y:101.18, Z:29.18 [[ 3.91179996e-01 -9.17885681e-01 -6.68138263e-02 2.04066353e+02] [ 9.05273507e-01 3.96843191e-01 -1.51642209e-01 1.01181475e+02] [ 1.65704825e-01 -1.16538811e-03 9.86174707e-01 2.91794628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96710568099996 meters Centerline goodness [0,1] 0.9999578388178004 Centerline is valid? [True, True] Translation: X:204.08, Y:101.20, Z:29.18 [[ 3.88444894e-01 -9.19059830e-01 -6.66302724e-02 2.04081481e+02] [ 9.06507425e-01 3.94114809e-01 -1.51386282e-01 1.01203836e+02] [ 1.65393028e-01 -1.59560841e-03 9.86226445e-01 2.91838662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99710568099994 meters Centerline goodness [0,1] 0.9998524327514967 Centerline is valid? [True, True] Translation: X:204.09, Y:101.23, Z:29.19 [[ 3.87003975e-01 -9.19674328e-01 -6.65361115e-02 2.04091650e+02] [ 9.07147211e-01 3.92677805e-01 -1.51288069e-01 1.01229796e+02] [ 1.65263008e-01 -1.80896388e-03 9.86247872e-01 2.91886919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0271056809999 meters Centerline goodness [0,1] 0.999430451841539 Centerline is valid? [True, True] Translation: X:204.10, Y:101.26, Z:29.19 [[ 3.87949526e-01 -9.19327696e-01 -6.58160491e-02 2.04100440e+02] [ 9.07041593e-01 3.93489627e-01 -1.49804748e-01 1.01255862e+02] [ 1.63617586e-01 -1.58121326e-03 9.86522572e-01 2.91949764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05710568099994 meters Centerline goodness [0,1] 0.9995146757823216 Centerline is valid? [True, True] Translation: X:204.11, Y:101.28, Z:29.20 [[ 3.93438496e-01 -9.17042903e-01 -6.51034881e-02 2.04105194e+02] [ 9.04966697e-01 3.98788171e-01 -1.48335002e-01 1.01284028e+02] [ 1.61992062e-01 -5.55788315e-04 9.86791905e-01 2.92021409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0871056809999 meters Centerline goodness [0,1] 0.9996406679348975 Centerline is valid? [True, True] Translation: X:204.11, Y:101.31, Z:29.21 [[ 3.97076496e-01 -9.15454363e-01 -6.53725130e-02 2.04110963e+02] [ 9.03232063e-01 4.02421776e-01 -1.49092440e-01 1.01310463e+02] [ 1.62794647e-01 1.54553887e-04 9.86659961e-01 2.92067354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11710568099994 meters Centerline goodness [0,1] 0.9994545378257038 Centerline is valid? [True, True] Translation: X:204.11, Y:101.34, Z:29.21 [[ 4.07085344e-01 -9.10961136e-01 -6.65682517e-02 2.04109275e+02] [ 8.98195048e-01 4.12486946e-01 -1.51987417e-01 1.01342512e+02] [ 1.65913165e-01 2.08057591e-03 9.86138171e-01 2.92070974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.1471056809999 meters Centerline goodness [0,1] 0.999515830245874 Centerline is valid? [True, True] Translation: X:204.11, Y:101.37, Z:29.21 [[ 4.17227643e-01 -9.06277262e-01 -6.76950317e-02 2.04108728e+02] [ 8.92983813e-01 4.22663843e-01 -1.54710007e-01 1.01373007e+02] [ 1.68822404e-01 4.09872419e-03 9.85637964e-01 2.92071820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17710568099994 meters Centerline goodness [0,1] 0.999831465408275 Centerline is valid? [True, True] Translation: X:204.12, Y:101.40, Z:29.21 [[ 4.21601937e-01 -9.04213119e-01 -6.81941549e-02 2.04115154e+02] [ 8.90666590e-01 4.27051832e-01 -1.56012045e-01 1.01400874e+02] [ 1.70190577e-01 5.03672513e-03 9.85398295e-01 2.92096243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2071056809999 meters Centerline goodness [0,1] 0.9996195629200659 Centerline is valid? [True, True] Translation: X:204.12, Y:101.43, Z:29.21 [[ 4.27793482e-01 -9.01254480e-01 -6.87975161e-02 2.04121683e+02] [ 8.87400659e-01 4.33243697e-01 -1.57543549e-01 1.01429249e+02] [ 1.71792920e-01 6.34514238e-03 9.85112649e-01 2.92107767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23710568099995 meters Centerline goodness [0,1] 0.9997467446130469 Centerline is valid? [True, True] Translation: X:204.13, Y:101.45, Z:29.22 [[ 4.29451373e-01 -9.00471776e-01 -6.87175274e-02 2.04131264e+02] [ 8.86613601e-01 4.34862548e-01 -1.57514720e-01 1.01454493e+02] [ 1.71720238e-01 6.71901833e-03 9.85122842e-01 2.92154260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.2671056809999 meters Centerline goodness [0,1] 0.9994952681388013 Centerline is valid? [True, True] Translation: X:204.14, Y:101.48, Z:29.22 [[ 4.32443401e-01 -8.99101289e-01 -6.78938656e-02 2.04141987e+02] [ 8.85532980e-01 4.37680717e-01 -1.55778470e-01 1.01479458e+02] [ 1.69776459e-01 7.24311443e-03 9.85455981e-01 2.92230327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29710568099995 meters Centerline goodness [0,1] 0.9994314712261271 Centerline is valid? [True, True] Translation: X:204.15, Y:101.51, Z:29.23 [[ 4.37524814e-01 -8.96658234e-01 -6.76465016e-02 2.04151606e+02] [ 8.83133680e-01 4.42646794e-01 -1.55366404e-01 1.01505751e+02] [ 1.69254073e-01 8.23575335e-03 9.85538041e-01 2.92283012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3271056809999 meters Centerline goodness [0,1] 0.9991568119058158 Centerline is valid? [True, True] Translation: X:204.17, Y:101.53, Z:29.23 [[ 4.40016957e-01 -8.95418032e-01 -6.79089503e-02 2.04165072e+02] [ 8.81747230e-01 4.45139103e-01 -1.56118550e-01 1.01530052e+02] [ 1.70020294e-01 8.81628058e-03 9.85401123e-01 2.92312515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35710568099995 meters Centerline goodness [0,1] 0.9986972326700426 Centerline is valid? [True, True] Translation: X:204.18, Y:101.55, Z:29.23 [[ 4.42501022e-01 -8.94190598e-01 -6.79413052e-02 2.04177329e+02] [ 8.80464243e-01 4.47588446e-01 -1.56356324e-01 1.01554171e+02] [ 1.70222098e-01 9.36794314e-03 9.85361192e-01 2.92345758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.3871056809999 meters Centerline goodness [0,1] 0.9989101502735104 Centerline is valid? [True, True] Translation: X:204.19, Y:101.58, Z:29.24 [[ 4.42569891e-01 -8.94186325e-01 -6.75478143e-02 2.04190143e+02] [ 8.80592068e-01 4.47596585e-01 -1.55611394e-01 1.01578189e+02] [ 1.69379752e-01 9.38684834e-03 9.85506158e-01 2.92396005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41710568099995 meters Centerline goodness [0,1] 0.9980051655712576 Centerline is valid? [True, True] Translation: X:204.21, Y:101.60, Z:29.24 [[ 4.41132248e-01 -8.94921613e-01 -6.72134319e-02 2.04213699e+02] [ 8.81444531e-01 4.46129999e-01 -1.54995365e-01 1.01598690e+02] [ 1.68694630e-01 9.12854173e-03 9.85626091e-01 2.92445531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4471056809999 meters Centerline goodness [0,1] 0.9980488418932527 Centerline is valid? [True, True] Translation: X:204.23, Y:101.62, Z:29.25 [[ 4.37964785e-01 -8.96479267e-01 -6.71697192e-02 2.04231311e+02] [ 8.83010930e-01 4.43002313e-01 -1.55050470e-01 1.01620965e+02] [ 1.68755873e-01 8.59504966e-03 9.85620404e-01 2.92494035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47710568099995 meters Centerline goodness [0,1] 0.9976752953003267 Centerline is valid? [True, True] Translation: X:204.26, Y:101.64, Z:29.26 [[ 4.30975235e-01 -8.99904108e-01 -6.65803550e-02 2.04255098e+02] [ 8.86685009e-01 4.36027230e-01 -1.53850413e-01 1.01640949e+02] [ 1.67481466e-01 7.26991508e-03 9.85848420e-01 2.92555668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.5071056809999 meters Centerline goodness [0,1] 0.9978936831348668 Centerline is valid? [True, True] Translation: X:204.28, Y:101.66, Z:29.26 [[ 4.25693706e-01 -9.02427345e-01 -6.64059951e-02 2.04277063e+02] [ 8.89291475e-01 4.30795885e-01 -1.53543409e-01 1.01661122e+02] [ 1.67169200e-01 6.30817758e-03 9.85908041e-01 2.92615154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53710568099996 meters Centerline goodness [0,1] 0.9980521112600537 Centerline is valid? [True, True] Translation: X:204.29, Y:101.69, Z:29.27 [[ 4.24036605e-01 -9.03172105e-01 -6.68812790e-02 2.04292110e+02] [ 8.89826163e-01 4.29234818e-01 -1.54812373e-01 1.01685402e+02] [ 1.68529991e-01 6.13340133e-03 9.85677444e-01 2.92650659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56710568099993 meters Centerline goodness [0,1] 0.9981820081496187 Centerline is valid? [True, True] Translation: X:204.31, Y:101.71, Z:29.27 [[ 4.23128666e-01 -9.03603405e-01 -6.68058242e-02 2.04307947e+02] [ 8.90266384e-01 4.28327693e-01 -1.54793903e-01 1.01707567e+02] [ 1.68487083e-01 6.02275826e-03 9.85685462e-01 2.92681281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59710568099996 meters Centerline goodness [0,1] 0.9984327001441916 Centerline is valid? [True, True] Translation: X:204.32, Y:101.73, Z:29.27 [[ 4.24061646e-01 -9.03162219e-01 -6.68560181e-02 2.04319632e+02] [ 8.89779191e-01 4.29253867e-01 -1.55029380e-01 1.01732265e+02] [ 1.68714883e-01 6.25492030e-03 9.85645050e-01 2.92725110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62710568099993 meters Centerline goodness [0,1] 0.9984948888935343 Centerline is valid? [True, True] Translation: X:204.33, Y:101.76, Z:29.27 [[ 4.27314435e-01 -9.01535891e-01 -6.80838510e-02 2.04334715e+02] [ 8.87605818e-01 4.32646133e-01 -1.58029225e-01 1.01756184e+02] [ 1.71925233e-01 7.09654663e-03 9.85084440e-01 2.92741263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65710568099996 meters Centerline goodness [0,1] 0.998619853202568 Centerline is valid? [True, True] Translation: X:204.35, Y:101.78, Z:29.28 [[ 4.29070915e-01 -9.00632389e-01 -6.89887597e-02 2.04345961e+02] [ 8.86285011e-01 4.34514659e-01 -1.60299378e-01 1.01781839e+02] [ 1.74347439e-01 7.63609723e-03 9.84654589e-01 2.92767681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68710568099993 meters Centerline goodness [0,1] 0.998521818787475 Centerline is valid? [True, True] Translation: X:204.36, Y:101.81, Z:29.28 [[ 4.33585311e-01 -8.98473166e-01 -6.89184077e-02 2.04356482e+02] [ 8.84099359e-01 4.38944733e-01 -1.60299233e-01 1.01807616e+02] [ 1.74275932e-01 8.57267286e-03 9.84659540e-01 2.92807887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71710568099996 meters Centerline goodness [0,1] 0.99883311454231 Centerline is valid? [True, True] Translation: X:204.37, Y:101.83, Z:29.29 [[ 4.36468999e-01 -8.97152310e-01 -6.79157272e-02 2.04367066e+02] [ 8.83152649e-01 4.41628831e-01 -1.58130876e-01 1.01832216e+02] [ 1.71861024e-01 9.03927100e-03 9.85079733e-01 2.92885143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74710568099994 meters Centerline goodness [0,1] 0.9988058825994051 Centerline is valid? [True, True] Translation: X:204.38, Y:101.86, Z:29.29 [[ 4.37462128e-01 -8.96681979e-01 -6.77371003e-02 2.04378343e+02] [ 8.82722462e-01 4.42578178e-01 -1.57878469e-01 1.01857501e+02] [ 1.71545741e-01 9.27279121e-03 9.85132516e-01 2.92934719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7771056809999 meters Centerline goodness [0,1] 0.9989557008291735 Centerline is valid? [True, True] Translation: X:204.39, Y:101.88, Z:29.30 [[ 4.39348924e-01 -8.95664682e-01 -6.89731874e-02 2.04391074e+02] [ 8.81146788e-01 4.44619292e-01 -1.60916202e-01 1.01883246e+02] [ 1.74793769e-01 9.92285774e-03 9.84555065e-01 2.92955569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80710568099994 meters Centerline goodness [0,1] 0.998890586733092 Centerline is valid? [True, True] Translation: X:204.40, Y:101.91, Z:29.30 [[ 4.39213181e-01 -8.95694409e-01 -6.94500304e-02 2.04400773e+02] [ 8.80945745e-01 4.44556495e-01 -1.62185441e-01 1.01908849e+02] [ 1.76143055e-01 1.00522746e-02 9.84313251e-01 2.92977038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8371056809999 meters Centerline goodness [0,1] 0.9989725955590967 Centerline is valid? [True, True] Translation: X:204.42, Y:101.93, Z:29.30 [[ 4.36486656e-01 -8.97003120e-01 -6.97481298e-02 2.04415140e+02] [ 8.82120677e-01 4.41919454e-01 -1.63004012e-01 1.01933513e+02] [ 1.77038163e-01 9.62280880e-03 9.84156944e-01 2.93004892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86710568099994 meters Centerline goodness [0,1] 0.9987069055415354 Centerline is valid? [True, True] Translation: X:204.43, Y:101.96, Z:29.31 [[ 4.33618298e-01 -8.98442297e-01 -6.91130212e-02 2.04429318e+02] [ 8.83823473e-01 4.38998997e-01 -1.61666163e-01 1.01955832e+02] [ 1.75588266e-01 9.01769600e-03 9.84422390e-01 2.93064169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.8971056809999 meters Centerline goodness [0,1] 0.9990656340192272 Centerline is valid? [True, True] Translation: X:204.45, Y:101.97, Z:29.32 [[ 4.24837518e-01 -9.02723186e-01 -6.78522831e-02 2.04454485e+02] [ 8.88673823e-01 4.30162138e-01 -1.58806078e-01 1.01973770e+02] [ 1.72545412e-01 7.16823202e-03 9.84975481e-01 2.93169428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92710568099994 meters Centerline goodness [0,1] 0.9992251146620872 Centerline is valid? [True, True] Translation: X:204.47, Y:102.00, Z:29.32 [[ 4.20431180e-01 -9.04831622e-01 -6.72113032e-02 2.04471566e+02] [ 8.91046513e-01 4.25722729e-01 -1.57468312e-01 1.01996342e+02] [ 1.71095688e-01 6.31619100e-03 9.85234171e-01 2.93239790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.9571056809999 meters Centerline goodness [0,1] 0.9991020527491804 Centerline is valid? [True, True] Translation: X:204.49, Y:102.02, Z:29.33 [[ 4.12972305e-01 -9.08301433e-01 -6.66511917e-02 2.04490237e+02] [ 8.94772888e-01 4.18287658e-01 -1.56259127e-01 1.02016996e+02] [ 1.69809760e-01 4.89301285e-03 9.85464715e-01 2.93289738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98710568099995 meters Centerline goodness [0,1] 0.9992902767920511 Centerline is valid? [True, True] Translation: X:204.51, Y:102.04, Z:29.33 [[ 4.08757541e-01 -9.10207609e-01 -6.66286856e-02 2.04508274e+02] [ 8.96684538e-01 4.14131251e-01 -1.56371821e-01 1.02039854e+02] [ 1.69923842e-01 4.17324876e-03 9.85448361e-01 2.93315649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0171056809999 meters Centerline goodness [0,1] 0.9990835433546479 Centerline is valid? [True, True] Translation: X:204.52, Y:102.06, Z:29.33 [[ 4.06901813e-01 -9.11001564e-01 -6.71346767e-02 2.04521463e+02] [ 8.97253329e-01 4.12384076e-01 -1.57720759e-01 1.02064043e+02] [ 1.71369130e-01 3.94005094e-03 9.85199014e-01 2.93347008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04710568099995 meters Centerline goodness [0,1] 0.9994344957587182 Centerline is valid? [True, True] Translation: X:204.54, Y:102.09, Z:29.34 [[ 4.05700490e-01 -9.11507634e-01 -6.75347755e-02 2.04537706e+02] [ 8.97573056e-01 4.11265457e-01 -1.58818556e-01 1.02087235e+02] [ 1.72539047e-01 3.81537126e-03 9.84995289e-01 2.93391823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0771056809999 meters Centerline goodness [0,1] 0.9991461179606798 Centerline is valid? [True, True] Translation: X:204.55, Y:102.11, Z:29.34 [[ 4.05918511e-01 -9.11408944e-01 -6.75566394e-02 2.04546889e+02] [ 8.97435030e-01 4.11483064e-01 -1.59034762e-01 1.02111889e+02] [ 1.72744117e-01 3.92745891e-03 9.84958905e-01 2.93433528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10710568099995 meters Centerline goodness [0,1] 0.9991461179606798 Centerline is valid? [True, True] Translation: X:204.56, Y:102.14, Z:29.35 [[ 4.05592180e-01 -9.11558841e-01 -6.74941617e-02 2.04557292e+02] [ 8.97582585e-01 4.11150842e-01 -1.59061273e-01 1.02136993e+02] [ 1.72743991e-01 3.93242455e-03 9.84958908e-01 2.93479873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1371056809999 meters Centerline goodness [0,1] 0.9995639987542821 Centerline is valid? [True, True] Translation: X:204.57, Y:102.16, Z:29.35 [[ 4.07794554e-01 -9.10511460e-01 -6.83555568e-02 2.04566298e+02] [ 8.96129322e-01 4.13459301e-01 -1.61256458e-01 1.02163359e+02] [ 1.75088094e-01 4.50408661e-03 9.84542469e-01 2.93513637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16710568099995 meters Centerline goodness [0,1] 0.999269204267847 Centerline is valid? [True, True] Translation: X:204.58, Y:102.19, Z:29.36 [[ 4.09453279e-01 -9.09741935e-01 -6.86849701e-02 2.04575062e+02] [ 8.95179513e-01 4.15144956e-01 -1.62198353e-01 1.02189220e+02] [ 1.76072863e-01 4.92726948e-03 9.84364805e-01 2.93554237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.1971056809999 meters Centerline goodness [0,1] 0.9992272186135884 Centerline is valid? [True, True] Translation: X:204.58, Y:102.22, Z:29.36 [[ 4.12205436e-01 -9.08524476e-01 -6.83370664e-02 2.04581198e+02] [ 8.94063061e-01 4.17795517e-01 -1.61549217e-01 1.02216271e+02] [ 1.75322338e-01 5.49381870e-03 9.84495757e-01 2.93596578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22710568099995 meters Centerline goodness [0,1] 0.9992240746566006 Centerline is valid? [True, True] Translation: X:204.59, Y:102.24, Z:29.37 [[ 4.13279007e-01 -9.08066039e-01 -6.79450581e-02 2.04591180e+02] [ 8.93735058e-01 4.18787851e-01 -1.60792976e-01 1.02242691e+02] [ 1.74465206e-01 5.72748106e-03 9.84646682e-01 2.93657210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.2571056809999 meters Centerline goodness [0,1] 0.999138347729231 Centerline is valid? [True, True] Translation: X:204.60, Y:102.27, Z:29.37 [[ 4.15946881e-01 -9.06899122e-01 -6.72471167e-02 2.04599473e+02] [ 8.92821744e-01 4.21301942e-01 -1.59292206e-01 1.02267038e+02] [ 1.72793303e-01 6.21740827e-03 9.84938485e-01 2.93726045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28710568099996 meters Centerline goodness [0,1] 0.9989599800316166 Centerline is valid? [True, True] Translation: X:204.61, Y:102.29, Z:29.38 [[ 4.18168503e-01 -9.05919887e-01 -6.66652961e-02 2.04609001e+02] [ 8.92051148e-01 4.23397337e-01 -1.58048866e-01 1.02291365e+02] [ 1.71405520e-01 6.62220386e-03 9.85178306e-01 2.93797200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31710568099993 meters Centerline goodness [0,1] 0.9988494205263379 Centerline is valid? [True, True] Translation: X:204.62, Y:102.32, Z:29.39 [[ 4.19894205e-01 -9.05208357e-01 -6.54727967e-02 2.04619440e+02] [ 8.91798919e-01 4.24912730e-01 -1.55382945e-01 1.02316443e+02] [ 1.68474166e-01 6.85582906e-03 9.85682227e-01 2.93869528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34710568099996 meters Centerline goodness [0,1] 0.9988710250674249 Centerline is valid? [True, True] Translation: X:204.63, Y:102.34, Z:29.39 [[ 4.20843161e-01 -9.04757179e-01 -6.56161642e-02 2.04630856e+02] [ 8.91256969e-01 4.25868261e-01 -1.55875717e-01 1.02341083e+02] [ 1.68973515e-01 7.11836567e-03 9.85594886e-01 2.93918880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37710568099993 meters Centerline goodness [0,1] 0.9992853539599799 Centerline is valid? [True, True] Translation: X:204.64, Y:102.37, Z:29.39 [[ 4.23924321e-01 -9.03266032e-01 -6.63222936e-02 2.04639673e+02] [ 8.89424643e-01 4.29008746e-01 -1.57719056e-01 1.02366662e+02] [ 1.70915109e-01 7.87226122e-03 9.85254309e-01 2.93947780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40710568099996 meters Centerline goodness [0,1] 0.9990538665321055 Centerline is valid? [True, True] Translation: X:204.65, Y:102.39, Z:29.40 [[ 4.26242090e-01 -9.02175876e-01 -6.63051237e-02 2.04647530e+02] [ 8.88300074e-01 4.31286973e-01 -1.57843359e-01 1.02392790e+02] [ 1.70999007e-01 8.38063678e-03 9.85235558e-01 2.93981810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43710568099993 meters Centerline goodness [0,1] 0.9989336790164757 Centerline is valid? [True, True] Translation: X:204.65, Y:102.42, Z:29.40 [[ 4.30332328e-01 -9.00218859e-01 -6.64837773e-02 2.04653437e+02] [ 8.86216242e-01 4.35339262e-01 -1.58431372e-01 1.02418949e+02] [ 1.71565907e-01 9.25913780e-03 9.85129133e-01 2.94000925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46710568099996 meters Centerline goodness [0,1] 0.9987260614414302 Centerline is valid? [True, True] Translation: X:204.66, Y:102.44, Z:29.40 [[ 4.32395233e-01 -8.99211740e-01 -6.67278776e-02 2.04663360e+02] [ 8.85064734e-01 4.37404628e-01 -1.59177915e-01 1.02444781e+02] [ 1.72321733e-01 9.76928053e-03 9.84992275e-01 2.94040944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49710568099994 meters Centerline goodness [0,1] 0.9983410680162114 Centerline is valid? [True, True] Translation: X:204.67, Y:102.47, Z:29.41 [[ 4.35252580e-01 -8.97774162e-01 -6.75036698e-02 2.04674134e+02] [ 8.83249319e-01 4.40330119e-01 -1.61183211e-01 1.02469065e+02] [ 1.74430021e-01 1.05328382e-02 9.84613237e-01 2.94076392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5271056809999 meters Centerline goodness [0,1] 0.9984014807336362 Centerline is valid? [True, True] Translation: X:204.68, Y:102.49, Z:29.41 [[ 4.35805922e-01 -8.97532522e-01 -6.71458943e-02 2.04684879e+02] [ 8.83137763e-01 4.40820179e-01 -1.60453300e-01 1.02493432e+02] [ 1.73611320e-01 1.06274234e-02 9.84756908e-01 2.94118021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55710568099994 meters Centerline goodness [0,1] 0.9976245532898886 Centerline is valid? [True, True] Translation: X:204.70, Y:102.52, Z:29.42 [[ 4.35582301e-01 -8.97662614e-01 -6.68572404e-02 2.04695816e+02] [ 8.83374624e-01 4.40556400e-01 -1.59872866e-01 1.02517858e+02] [ 1.72966280e-01 1.05778010e-02 9.84870944e-01 2.94164183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5871056809999 meters Centerline goodness [0,1] 0.9964678426508 Centerline is valid? [True, True] Translation: X:204.71, Y:102.54, Z:29.42 [[ 4.34356256e-01 -8.98199065e-01 -6.76245709e-02 2.04709917e+02] [ 8.83554899e-01 4.39462042e-01 -1.61876046e-01 1.02541505e+02] [ 1.75115346e-01 1.05618525e-02 9.84491271e-01 2.94182497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61710568099994 meters Centerline goodness [0,1] 0.996810408141853 Centerline is valid? [True, True] Translation: X:204.72, Y:102.57, Z:29.42 [[ 4.32698986e-01 -8.98986665e-01 -6.77832104e-02 2.04723595e+02] [ 8.84255876e-01 4.37854050e-01 -1.62404980e-01 1.02566094e+02] [ 1.75679065e-01 1.03347683e-02 9.84393244e-01 2.94212478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.6471056809999 meters Centerline goodness [0,1] 0.9983237297014144 Centerline is valid? [True, True] Translation: X:204.74, Y:102.59, Z:29.42 [[ 4.26933929e-01 -9.01682776e-01 -6.85243886e-02 2.04742948e+02] [ 8.86631172e-01 4.32295899e-01 -1.64333263e-01 1.02586671e+02] [ 1.77799285e-01 9.40358668e-03 9.84021843e-01 2.94216712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67710568099994 meters Centerline goodness [0,1] 0.9986575491882368 Centerline is valid? [True, True] Translation: X:204.76, Y:102.61, Z:29.42 [[ 4.23293349e-01 -9.03374740e-01 -6.88245649e-02 2.04758438e+02] [ 8.88180132e-01 4.28761538e-01 -1.65225894e-01 1.02609810e+02] [ 1.78770225e-01 8.81041080e-03 9.83851403e-01 2.94245768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7071056809999 meters Centerline goodness [0,1] 0.99903576070096 Centerline is valid? [True, True] Translation: X:204.79, Y:102.63, Z:29.43 [[ 4.12257374e-01 -9.08542079e-01 -6.77875277e-02 2.04785911e+02] [ 8.93845048e-01 4.17741846e-01 -1.62888860e-01 1.02627011e+02] [ 1.76309070e-01 6.56058751e-03 9.84312994e-01 2.94322325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73710568099995 meters Centerline goodness [0,1] 0.9993270241850684 Centerline is valid? [True, True] Translation: X:204.81, Y:102.65, Z:29.44 [[ 4.05233819e-01 -9.11746201e-01 -6.71149489e-02 2.04806292e+02] [ 8.97356524e-01 4.10721224e-01 -1.61429072e-01 1.02646537e+02] [ 1.74747877e-01 5.19048198e-03 9.84599532e-01 2.94395438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.7671056809999 meters Centerline goodness [0,1] 0.9997699370464099 Centerline is valid? [True, True] Translation: X:204.84, Y:102.66, Z:29.45 [[ 3.89276995e-01 -9.18705535e-01 -6.66600331e-02 2.04837824e+02] [ 9.04579398e-01 3.94937192e-01 -1.60501487e-01 1.02660668e+02] [ 1.73780131e-01 2.18024409e-03 9.84782063e-01 2.94453896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79710568099995 meters Centerline goodness [0,1] 0.9999579858412285 Centerline is valid? [True, True] Translation: X:204.87, Y:102.68, Z:29.45 [[ 3.75523523e-01 -9.24441960e-01 -6.62506366e-02 2.04866180e+02] [ 9.10546028e-01 3.81322612e-01 -1.59684053e-01 1.02676540e+02] [ 1.72881505e-01 -3.59135682e-04 9.84942565e-01 2.94510062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:102.70, Z:29.46 [[ 3.71262216e-01 -9.26168761e-01 -6.61497788e-02 2.04881917e+02] [ 9.12313384e-01 3.77107717e-01 -1.59605950e-01 1.02697825e+02] [ 1.72767637e-01 -1.09366974e-03 9.84962003e-01 2.94562101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:102.72, Z:29.46 [[ 3.67609010e-01 -9.27623539e-01 -6.61678512e-02 2.04893408e+02] [ 9.13753158e-01 3.73512583e-01 -1.59823391e-01 1.02722809e+02] [ 1.72970465e-01 -1.70856446e-03 9.84925530e-01 2.94631428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.8871056809999 meters Centerline goodness [0,1] 0.9999369787618427 Centerline is valid? [True, True] Translation: X:204.90, Y:102.75, Z:29.47 [[ 3.67406988e-01 -9.27690612e-01 -6.63493339e-02 2.04901645e+02] [ 9.13714615e-01 3.73346092e-01 -1.60431600e-01 1.02749649e+02] [ 1.73602153e-01 -1.68066533e-03 9.84814433e-01 2.94676865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.90, Y:102.78, Z:29.47 [[ 3.72262311e-01 -9.25727725e-01 -6.67004565e-02 2.04902073e+02] [ 9.11539185e-01 3.78190026e-01 -1.61457790e-01 1.02778532e+02] [ 1.74691400e-01 -6.95429508e-04 9.84622989e-01 2.94711973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9471056809999 meters Centerline goodness [0,1] 0.9997068492577005 Centerline is valid? [True, True] Translation: X:204.90, Y:102.81, Z:29.47 [[ 3.81716579e-01 -9.21826815e-01 -6.72887473e-02 2.04897605e+02] [ 9.07290737e-01 3.87600178e-01 -1.63063242e-01 1.02810267e+02] [ 1.76397199e-01 1.19348575e-03 9.84318345e-01 2.94745804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97710568099995 meters Centerline goodness [0,1] 0.999537251272559 Centerline is valid? [True, True] Translation: X:204.90, Y:102.84, Z:29.48 [[ 3.86294323e-01 -9.19906854e-01 -6.74394252e-02 2.04900947e+02] [ 9.05244650e-01 3.92131051e-01 -1.63601230e-01 1.02839183e+02] [ 1.76942985e-01 2.14904733e-03 9.84218757e-01 2.94796203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.0071056809999 meters Centerline goodness [0,1] 0.9994329518009031 Centerline is valid? [True, True] Translation: X:204.90, Y:102.87, Z:29.49 [[ 3.98376031e-01 -9.14759712e-01 -6.71655271e-02 2.04895600e+02] [ 9.00111966e-01 4.03973048e-01 -1.63108020e-01 1.02870961e+02] [ 1.76337708e-01 4.52183086e-03 9.84319341e-01 2.94852658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03710568099996 meters Centerline goodness [0,1] 0.9992643968053804 Centerline is valid? [True, True] Translation: X:204.89, Y:102.90, Z:29.49 [[ 4.08404280e-01 -9.10403834e-01 -6.61120501e-02 2.04893123e+02] [ 8.96126712e-01 4.13671298e-01 -1.60726394e-01 1.02900715e+02] [ 1.73674583e-01 6.39657306e-03 9.84782323e-01 2.94923346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06710568099993 meters Centerline goodness [0,1] 0.9991403350596524 Centerline is valid? [True, True] Translation: X:204.90, Y:102.93, Z:29.50 [[ 4.11274067e-01 -9.09138339e-01 -6.57352457e-02 2.04896210e+02] [ 8.94978303e-01 4.16436022e-01 -1.59983990e-01 1.02927970e+02] [ 1.72822103e-01 6.96564769e-03 9.84928424e-01 2.94969087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09710568099996 meters Centerline goodness [0,1] 0.9990785147332928 Centerline is valid? [True, True] Translation: X:204.90, Y:102.96, Z:29.50 [[ 4.13036259e-01 -9.08338373e-01 -6.57453387e-02 2.04904760e+02] [ 8.94132803e-01 4.18170985e-01 -1.60186010e-01 1.02955298e+02] [ 1.72995893e-01 7.37756646e-03 9.84894914e-01 2.94985425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12710568099993 meters Centerline goodness [0,1] 0.9991389087243248 Centerline is valid? [True, True] Translation: X:204.91, Y:102.98, Z:29.50 [[ 4.12541017e-01 -9.08513874e-01 -6.64262737e-02 2.04913851e+02] [ 8.93983481e-01 4.17788254e-01 -1.62007751e-01 1.02981685e+02] [ 1.74938406e-01 7.45085070e-03 9.84551187e-01 2.95005160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15710568099996 meters Centerline goodness [0,1] 0.9991367330610182 Centerline is valid? [True, True] Translation: X:204.93, Y:103.01, Z:29.50 [[ 4.10129766e-01 -9.09495858e-01 -6.79033058e-02 2.04926572e+02] [ 8.94287209e-01 4.15649411e-01 -1.65788889e-01 1.03006993e+02] [ 1.79008277e-01 7.26990061e-03 9.83820708e-01 2.95013692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18710568099993 meters Centerline goodness [0,1] 0.9991209895146607 Centerline is valid? [True, True] Translation: X:204.93, Y:103.03, Z:29.50 [[ 4.09232575e-01 -9.09884134e-01 -6.81143337e-02 2.04933192e+02] [ 8.94553018e-01 4.14800023e-01 -1.66480747e-01 1.03033253e+02] [ 1.79732018e-01 7.19746217e-03 9.83689279e-01 2.95047907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21710568099996 meters Centerline goodness [0,1] 0.999206034140532 Centerline is valid? [True, True] Translation: X:204.94, Y:103.06, Z:29.51 [[ 4.07656216e-01 -9.10595978e-01 -6.80542070e-02 2.04943653e+02] [ 8.95267263e-01 4.13239106e-01 -1.66523180e-01 1.03058485e+02] [ 1.79757997e-01 6.95750573e-03 9.83686259e-01 2.95100569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24710568099994 meters Centerline goodness [0,1] 0.9990758826370949 Centerline is valid? [True, True] Translation: X:204.95, Y:103.08, Z:29.52 [[ 4.06682033e-01 -9.11079418e-01 -6.74093335e-02 2.04954041e+02] [ 8.96017978e-01 4.12175617e-01 -1.65115246e-01 1.03084253e+02] [ 1.78217586e-01 6.74942931e-03 9.83967955e-01 2.95158096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2771056809999 meters Centerline goodness [0,1] 0.9992731803551033 Centerline is valid? [True, True] Translation: X:204.96, Y:103.11, Z:29.52 [[ 4.04339187e-01 -9.12228084e-01 -6.59525888e-02 2.04960645e+02] [ 8.97802438e-01 4.09636217e-01 -1.61706375e-01 1.03109880e+02] [ 1.74529665e-01 6.17182898e-03 9.84632573e-01 2.95234945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30710568099994 meters Centerline goodness [0,1] 0.9990591088715579 Centerline is valid? [True, True] Translation: X:204.97, Y:103.13, Z:29.53 [[ 4.02857464e-01 -9.12926729e-01 -6.53502274e-02 2.04973069e+02] [ 8.98758194e-01 4.08081526e-01 -1.60322104e-01 1.03133735e+02] [ 1.73030555e-01 5.85290386e-03 9.84899066e-01 2.95311820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3371056809999 meters Centerline goodness [0,1] 0.999206465220206 Centerline is valid? [True, True] Translation: X:204.98, Y:103.16, Z:29.54 [[ 4.02215861e-01 -9.13204430e-01 -6.54222496e-02 2.04983642e+02] [ 8.98979051e-01 4.07460348e-01 -1.60663405e-01 1.03159674e+02] [ 1.73375506e-01 5.80813810e-03 9.84838667e-01 2.95357765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36710568099994 meters Centerline goodness [0,1] 0.9992466412756874 Centerline is valid? [True, True] Translation: X:204.99, Y:103.19, Z:29.53 [[ 4.01297104e-01 -9.13526981e-01 -6.65513968e-02 2.04990860e+02] [ 8.98776072e-01 4.06736213e-01 -1.63606927e-01 1.03186273e+02] [ 1.76528205e-01 5.84018296e-03 9.84278256e-01 2.95345614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.3971056809999 meters Centerline goodness [0,1] 0.9993684742337487 Centerline is valid? [True, True] Translation: X:205.00, Y:103.21, Z:29.53 [[ 4.01833476e-01 -9.13197409e-01 -6.78258755e-02 2.05000585e+02] [ 8.97833175e-01 4.07470629e-01 -1.66922969e-01 1.03213186e+02] [ 1.80070675e-01 6.17891579e-03 9.83634268e-01 2.95335232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42710568099994 meters Centerline goodness [0,1] 0.9993342764417076 Centerline is valid? [True, True] Translation: X:205.01, Y:103.24, Z:29.54 [[ 4.01132404e-01 -9.13467983e-01 -6.83303612e-02 2.05006587e+02] [ 8.97843777e-01 4.06863726e-01 -1.68340310e-01 1.03240466e+02] [ 1.81574629e-01 6.17676380e-03 9.83357769e-01 2.95350572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.4571056809999 meters Centerline goodness [0,1] 0.9994145076636765 Centerline is valid? [True, True] Translation: X:205.02, Y:103.27, Z:29.54 [[ 3.99978174e-01 -9.13910341e-01 -6.91762132e-02 2.05017801e+02] [ 8.97863502e-01 4.05869774e-01 -1.70619046e-01 1.03265658e+02] [ 1.84007045e-01 6.13309755e-03 9.82905790e-01 2.95373399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48710568099995 meters Centerline goodness [0,1] 0.999388521064395 Centerline is valid? [True, True] Translation: X:205.03, Y:103.29, Z:29.54 [[ 3.99482901e-01 -9.14118635e-01 -6.92858722e-02 2.05029563e+02] [ 8.97987708e-01 4.05400537e-01 -1.71080337e-01 1.03289968e+02] [ 1.84476254e-01 6.12580773e-03 9.82817881e-01 2.95425001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5171056809999 meters Centerline goodness [0,1] 0.999684973222724 Centerline is valid? [True, True] Translation: X:205.04, Y:103.31, Z:29.55 [[ 3.99483715e-01 -9.14193472e-01 -6.82865854e-02 2.05039673e+02] [ 8.98494239e-01 4.05232449e-01 -1.68803921e-01 1.03314527e+02] [ 1.81991383e-01 6.07931388e-03 9.83281332e-01 2.95518890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54710568099995 meters Centerline goodness [0,1] 0.9994373358896345 Centerline is valid? [True, True] Translation: X:205.04, Y:103.34, Z:29.56 [[ 4.02843961e-01 -9.12765530e-01 -6.76448855e-02 2.05042777e+02] [ 8.97310323e-01 4.08428365e-01 -1.67393115e-01 1.03341720e+02] [ 1.80418756e-01 6.73485160e-03 9.83566833e-01 2.95580875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5771056809999 meters Centerline goodness [0,1] 0.9992888814523551 Centerline is valid? [True, True] Translation: X:205.05, Y:103.37, Z:29.56 [[ 4.04599418e-01 -9.11991334e-01 -6.76100386e-02 2.05052075e+02] [ 8.96507627e-01 4.10147077e-01 -1.67491640e-01 1.03367961e+02] [ 1.80480984e-01 7.15410485e-03 9.83552456e-01 2.95632355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60710568099995 meters Centerline goodness [0,1] 0.9990362455478734 Centerline is valid? [True, True] Translation: X:205.06, Y:103.39, Z:29.57 [[ 4.08598389e-01 -9.10203109e-01 -6.76583896e-02 2.05058767e+02] [ 8.94641109e-01 4.14084388e-01 -1.67783807e-01 1.03394622e+02] [ 1.80733625e-01 8.02621643e-03 9.83499332e-01 2.95675682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6371056809999 meters Centerline goodness [0,1] 0.9993053509030438 Centerline is valid? [True, True] Translation: X:205.07, Y:103.42, Z:29.57 [[ 4.11639154e-01 -9.08838244e-01 -6.75740537e-02 2.05070810e+02] [ 8.93263083e-01 4.17058072e-01 -1.67760630e-01 1.03419454e+02] [ 1.80649581e-01 8.69543611e-03 9.83509084e-01 2.95740686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66710568099995 meters Centerline goodness [0,1] 0.9993478901089654 Centerline is valid? [True, True] Translation: X:205.08, Y:103.45, Z:29.58 [[ 4.12748710e-01 -9.08355212e-01 -6.73001538e-02 2.05081153e+02] [ 8.92869195e-01 4.18103842e-01 -1.67253637e-01 1.03445230e+02] [ 1.80064166e-01 8.94348880e-03 9.83614208e-01 2.95793962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.6971056809999 meters Centerline goodness [0,1] 0.9993068537461405 Centerline is valid? [True, True] Translation: X:205.09, Y:103.47, Z:29.59 [[ 4.12861371e-01 -9.08345995e-01 -6.67311141e-02 2.05090475e+02] [ 8.93092112e-01 4.18123908e-01 -1.66008664e-01 1.03470274e+02] [ 1.78695179e-01 8.94153296e-03 9.83863853e-01 2.95851152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72710568099995 meters Centerline goodness [0,1] 0.9992655545063477 Centerline is valid? [True, True] Translation: X:205.10, Y:103.50, Z:29.59 [[ 4.12616288e-01 -9.08502989e-01 -6.61068690e-02 2.05101367e+02] [ 8.93503876e-01 4.17784260e-01 -1.64642446e-01 1.03495766e+02] [ 1.77196564e-01 8.86741123e-03 9.84135533e-01 2.95908652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.7571056809999 meters Centerline goodness [0,1] 0.999161759466879 Centerline is valid? [True, True] Translation: X:205.12, Y:103.52, Z:29.60 [[ 4.11648685e-01 -9.08972725e-01 -6.56806253e-02 2.05115962e+02] [ 8.94142982e-01 4.16765194e-01 -1.63753170e-01 1.03519205e+02] [ 1.76220564e-01 8.68090711e-03 9.84312427e-01 2.95994659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78710568099996 meters Centerline goodness [0,1] 0.9993495457311315 Centerline is valid? [True, True] Translation: X:205.13, Y:103.54, Z:29.61 [[ 4.10504385e-01 -9.09494824e-01 -6.56149063e-02 2.05131548e+02] [ 8.94671907e-01 4.15627966e-01 -1.63754609e-01 1.03542323e+02] [ 1.76205359e-01 8.51817151e-03 9.84316571e-01 2.96059642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81710568099993 meters Centerline goodness [0,1] 0.9995372902031716 Centerline is valid? [True, True] Translation: X:205.15, Y:103.57, Z:29.61 [[ 4.08226320e-01 -9.10489970e-01 -6.60248894e-02 2.05146967e+02] [ 8.95461119e-01 4.13449555e-01 -1.64951055e-01 1.03566919e+02] [ 1.77484242e-01 8.21464082e-03 9.84089357e-01 2.96075327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84710568099996 meters Centerline goodness [0,1] 0.9994543432181158 Centerline is valid? [True, True] Translation: X:205.16, Y:103.59, Z:29.61 [[ 4.06402474e-01 -9.11299515e-01 -6.61076628e-02 2.05158617e+02] [ 8.96211508e-01 4.11667425e-01 -1.65332588e-01 1.03593006e+02] [ 1.77881879e-01 7.94512466e-03 9.84019772e-01 2.96099943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87710568099993 meters Centerline goodness [0,1] 0.999748427672956 Centerline is valid? [True, True] Translation: X:205.17, Y:103.62, Z:29.61 [[ 4.02635581e-01 -9.12922289e-01 -6.67643794e-02 2.05174207e+02] [ 8.97520231e-01 4.08066733e-01 -1.67149561e-01 1.03615960e+02] [ 1.79838882e-01 7.37797929e-03 9.83668411e-01 2.96107503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90710568099996 meters Centerline goodness [0,1] 0.9993909993909994 Centerline is valid? [True, True] Translation: X:205.19, Y:103.64, Z:29.61 [[ 3.98606673e-01 -9.14653060e-01 -6.72495416e-02 2.05189164e+02] [ 8.99024277e-01 4.04184159e-01 -1.68494850e-01 1.03638948e+02] [ 1.81295529e-01 6.70420101e-03 9.83405809e-01 2.96142938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93710568099993 meters Centerline goodness [0,1] 0.9994325466047372 Centerline is valid? [True, True] Translation: X:205.21, Y:103.66, Z:29.62 [[ 3.92723014e-01 -9.17244323e-01 -6.65694091e-02 2.05207850e+02] [ 9.01939531e-01 3.98286752e-01 -1.66951326e-01 1.03660284e+02] [ 1.79648870e-01 5.52404637e-03 9.83715288e-01 2.96218561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96710568099996 meters Centerline goodness [0,1] 0.9993933815839016 Centerline is valid? [True, True] Translation: X:205.22, Y:103.68, Z:29.63 [[ 3.88982994e-01 -9.18897171e-01 -6.57283752e-02 2.05220848e+02] [ 9.03968897e-01 3.94468203e-01 -1.65030513e-01 1.03683646e+02] [ 1.77573825e-01 4.77765609e-03 9.84095885e-01 2.96286675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99710568099994 meters Centerline goodness [0,1] 0.9995812395309883 Centerline is valid? [True, True] Translation: X:205.24, Y:103.71, Z:29.64 [[ 3.79732987e-01 -9.22856392e-01 -6.43345812e-02 2.05239575e+02] [ 9.08583374e-01 3.85132920e-01 -1.61706172e-01 1.03705349e+02] [ 1.74008940e-01 2.95183685e-03 9.84739649e-01 2.96383450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0271056809999 meters Centerline goodness [0,1] 0.9995812395309883 Centerline is valid? [True, True] Translation: X:205.25, Y:103.73, Z:29.64 [[ 3.79391802e-01 -9.23000937e-01 -6.42738700e-02 2.05249415e+02] [ 9.08725895e-01 3.84786378e-01 -1.61730300e-01 1.03730698e+02] [ 1.74008928e-01 2.95182009e-03 9.84739651e-01 2.96429799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05710568099994 meters Centerline goodness [0,1] 0.9997483749213671 Centerline is valid? [True, True] Translation: X:205.26, Y:103.75, Z:29.65 [[ 3.74119123e-01 -9.25182172e-01 -6.38187259e-02 2.05263634e+02] [ 9.11110493e-01 3.79518061e-01 -1.60759795e-01 1.03754405e+02] [ 1.72952455e-01 1.99740251e-03 9.84928149e-01 2.96491045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0871056809999 meters Centerline goodness [0,1] 0.9998113998323555 Centerline is valid? [True, True] Translation: X:205.28, Y:103.78, Z:29.66 [[ 3.66083655e-01 -9.28455581e-01 -6.28728194e-02 2.05280237e+02] [ 9.14818539e-01 3.71443076e-01 -1.58546781e-01 1.03777321e+02] [ 1.70557317e-01 5.24164379e-04 9.85347617e-01 2.96571293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11710568099994 meters Centerline goodness [0,1] 0.9999790549597856 Centerline is valid? [True, True] Translation: X:205.29, Y:103.80, Z:29.66 [[ 3.63632485e-01 -9.29424189e-01 -6.27860948e-02 2.05290854e+02] [ 9.15809119e-01 3.69013088e-01 -1.58502363e-01 1.03801412e+02] [ 1.70484821e-01 1.36530033e-04 9.85360293e-01 2.96621754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:103.83, Z:29.67 [[ 3.63114906e-01 -9.29612373e-01 -6.29952413e-02 2.05297721e+02] [ 9.15876314e-01 3.68538766e-01 -1.59216064e-01 1.03828587e+02] [ 1.71225411e-01 1.17876640e-04 9.85231874e-01 2.96660043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17710568099994 meters Centerline goodness [0,1] 0.9999582018432988 Centerline is valid? [True, True] Translation: X:205.30, Y:103.85, Z:29.67 [[ 3.64095738e-01 -9.29227124e-01 -6.30178238e-02 2.05303425e+02] [ 9.15444935e-01 3.69508889e-01 -1.59448273e-01 1.03854060e+02] [ 1.71449306e-01 3.65088869e-04 9.85192876e-01 2.96688970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2071056809999 meters Centerline goodness [0,1] 0.9998113167990943 Centerline is valid? [True, True] Translation: X:205.31, Y:103.88, Z:29.67 [[ 3.66937381e-01 -9.28085491e-01 -6.33583420e-02 2.05307391e+02] [ 9.14108632e-01 3.72365937e-01 -1.60465006e-01 1.03882238e+02] [ 1.72517732e-01 9.64201515e-04 9.85005940e-01 2.96708748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23710568099995 meters Centerline goodness [0,1] 0.9997276117839333 Centerline is valid? [True, True] Translation: X:205.31, Y:103.91, Z:29.67 [[ 3.70077052e-01 -9.26797984e-01 -6.39411571e-02 2.05310625e+02] [ 9.12506716e-01 3.75556588e-01 -1.62138034e-01 1.03909524e+02] [ 1.74282726e-01 1.65683048e-03 9.84694260e-01 2.96731847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.2671056809999 meters Centerline goodness [0,1] 0.9996422408350519 Centerline is valid? [True, True] Translation: X:205.32, Y:103.94, Z:29.68 [[ 3.71440634e-01 -9.26214666e-01 -6.44844774e-02 2.05317737e+02] [ 9.11645529e-01 3.76991249e-01 -1.63646045e-01 1.03936585e+02] [ 1.75881451e-01 1.99780531e-03 9.84409328e-01 2.96759333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29710568099995 meters Centerline goodness [0,1] 0.9994990398263338 Centerline is valid? [True, True] Translation: X:205.32, Y:103.97, Z:29.68 [[ 3.74894773e-01 -9.24727653e-01 -6.58230707e-02 2.05319642e+02] [ 9.09486016e-01 3.80618939e-01 -1.67225625e-01 1.03965480e+02] [ 1.79691667e-01 2.82685025e-03 9.83718920e-01 2.96753783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3271056809999 meters Centerline goodness [0,1] 0.9997692759459686 Centerline is valid? [True, True] Translation: X:205.33, Y:103.99, Z:29.68 [[ 3.77203879e-01 -9.23780695e-01 -6.59276919e-02 2.05327013e+02] [ 9.08450977e-01 3.82907416e-01 -1.67626766e-01 1.03992435e+02] [ 1.80094572e-01 3.33739021e-03 9.83643638e-01 2.96806907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35710568099995 meters Centerline goodness [0,1] 0.9995164613379305 Centerline is valid? [True, True] Translation: X:205.33, Y:104.02, Z:29.68 [[ 3.82890037e-01 -9.21390141e-01 -6.65990077e-02 2.05327590e+02] [ 9.05674494e-01 3.88611839e-01 -1.69512680e-01 1.04022332e+02] [ 1.82068475e-01 4.58769391e-03 9.83275151e-01 2.96821523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.3871056809999 meters Centerline goodness [0,1] 0.9994979814671492 Centerline is valid? [True, True] Translation: X:205.33, Y:104.05, Z:29.68 [[ 3.88759594e-01 -9.18896885e-01 -6.70409805e-02 2.05327208e+02] [ 9.02899055e-01 3.94454030e-01 -1.70819539e-01 1.04051457e+02] [ 1.83410127e-01 5.87649670e-03 9.83018917e-01 2.96820086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41710568099995 meters Centerline goodness [0,1] 0.9996007396822728 Centerline is valid? [True, True] Translation: X:205.33, Y:104.08, Z:29.69 [[ 3.91614588e-01 -9.17710014e-01 -6.66809137e-02 2.05333765e+02] [ 9.01840816e-01 3.97198470e-01 -1.70048577e-01 1.04078082e+02] [ 1.82540839e-01 6.45793373e-03 9.83177063e-01 2.96869409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4471056809999 meters Centerline goodness [0,1] 0.9995375042045073 Centerline is valid? [True, True] Translation: X:205.34, Y:104.10, Z:29.69 [[ 3.97181947e-01 -9.15340636e-01 -6.63175753e-02 2.05342615e+02] [ 8.99588896e-01 4.02609362e-01 -1.69249871e-01 1.04103457e+02] [ 1.81621362e-01 7.56443891e-03 9.83339443e-01 2.96946773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47710568099995 meters Centerline goodness [0,1] 0.999348438353861 Centerline is valid? [True, True] Translation: X:205.35, Y:104.13, Z:29.70 [[ 4.00809689e-01 -9.13788381e-01 -6.58967999e-02 2.05345028e+02] [ 8.98194018e-01 4.06106426e-01 -1.68300556e-01 1.04131203e+02] [ 1.80552206e-01 8.26838206e-03 9.83530648e-01 2.97007551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.5071056809999 meters Centerline goodness [0,1] 0.9993706337717918 Centerline is valid? [True, True] Translation: X:205.35, Y:104.16, Z:29.71 [[ 4.01993849e-01 -9.13301996e-01 -6.54248376e-02 2.05353043e+02] [ 8.97892556e-01 4.07194319e-01 -1.67277445e-01 1.04157435e+02] [ 1.79415447e-01 8.50002929e-03 9.83736676e-01 2.97069586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53710568099996 meters Centerline goodness [0,1] 0.9995383388592773 Centerline is valid? [True, True] Translation: X:205.37, Y:104.18, Z:29.71 [[ 4.03404577e-01 -9.12699534e-01 -6.51483568e-02 2.05368668e+02] [ 8.97383275e-01 4.08536575e-01 -1.66736694e-01 1.04181186e+02] [ 1.78795989e-01 8.79929966e-03 9.83846821e-01 2.97126773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56710568099993 meters Centerline goodness [0,1] 0.9992877492877493 Centerline is valid? [True, True] Translation: X:205.38, Y:104.21, Z:29.72 [[ 4.02745921e-01 -9.12977672e-01 -6.53260568e-02 2.05378602e+02] [ 8.97549205e-01 4.07915221e-01 -1.67363665e-01 1.04205958e+02] [ 1.79446782e-01 8.77168302e-03 9.83728575e-01 2.97154772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59710568099996 meters Centerline goodness [0,1] 0.9992848579180952 Centerline is valid? [True, True] Translation: X:205.38, Y:104.23, Z:29.72 [[ 4.00750717e-01 -9.13853901e-01 -6.53445457e-02 2.05384952e+02] [ 8.98392928e-01 4.05954977e-01 -1.67602814e-01 1.04233044e+02] [ 1.79691429e-01 8.46187030e-03 9.83686630e-01 2.97170646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62710568099993 meters Centerline goodness [0,1] 0.9993246950576119 Centerline is valid? [True, True] Translation: X:205.41, Y:104.25, Z:29.72 [[ 3.99263684e-01 -9.14511853e-01 -6.52424901e-02 2.05406259e+02] [ 8.99075631e-01 4.04475462e-01 -1.67518987e-01 1.04254492e+02] [ 1.79587085e-01 8.22631484e-03 9.83707683e-01 2.97239452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65710568099996 meters Centerline goodness [0,1] 0.9994974874371859 Centerline is valid? [True, True] Translation: X:205.42, Y:104.28, Z:29.73 [[ 3.97567697e-01 -9.15237416e-01 -6.54247563e-02 2.05417214e+02] [ 8.99690509e-01 4.02835617e-01 -1.68167934e-01 1.04279696e+02] [ 1.80269008e-01 7.99610608e-03 9.83584845e-01 2.97286191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68710568099993 meters Centerline goodness [0,1] 0.9993282814500725 Centerline is valid? [True, True] Translation: X:205.43, Y:104.30, Z:29.73 [[ 3.97387994e-01 -9.15304266e-01 -6.55811185e-02 2.05429222e+02] [ 8.99650032e-01 4.02682442e-01 -1.68750324e-01 1.04304517e+02] [ 1.80866256e-01 8.05929745e-03 9.83474679e-01 2.97339222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7171056809999 meters Centerline goodness [0,1] 0.9989731983822636 Centerline is valid? [True, True] Translation: X:205.44, Y:104.33, Z:29.74 [[ 3.98450267e-01 -9.14819706e-01 -6.58960494e-02 2.05438465e+02] [ 8.98972784e-01 4.03775192e-01 -1.69745479e-01 1.04329908e+02] [ 1.81893699e-01 8.39637646e-03 9.83282352e-01 2.97375133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74710568099994 meters Centerline goodness [0,1] 0.9993453009503696 Centerline is valid? [True, True] Translation: X:205.45, Y:104.36, Z:29.74 [[ 3.99537594e-01 -9.14350070e-01 -6.58305409e-02 2.05449964e+02] [ 8.98493413e-01 4.04831574e-01 -1.69767438e-01 1.04355528e+02] [ 1.81877150e-01 8.68016635e-03 9.83282949e-01 2.97424324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7771056809999 meters Centerline goodness [0,1] 0.9993907307029707 Centerline is valid? [True, True] Translation: X:205.46, Y:104.38, Z:29.75 [[ 3.99845827e-01 -9.14227355e-01 -6.56632173e-02 2.05461255e+02] [ 8.98418425e-01 4.05106382e-01 -1.69508561e-01 1.04381022e+02] [ 1.81569952e-01 8.78424656e-03 9.83338797e-01 2.97478656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80710568099994 meters Centerline goodness [0,1] 0.9993503772003353 Centerline is valid? [True, True] Translation: X:205.47, Y:104.41, Z:29.75 [[ 3.99881660e-01 -9.14239858e-01 -6.52697436e-02 2.05473922e+02] [ 8.98589155e-01 4.05077882e-01 -1.68669616e-01 1.04405329e+02] [ 1.80643816e-01 8.79720235e-03 9.83509238e-01 2.97538807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8371056809999 meters Centerline goodness [0,1] 0.9993706997818426 Centerline is valid? [True, True] Translation: X:205.49, Y:104.43, Z:29.76 [[ 3.99602664e-01 -9.14356003e-01 -6.53514342e-02 2.05488358e+02] [ 8.98632980e-01 4.04814874e-01 -1.69067100e-01 1.04429455e+02] [ 1.81042750e-01 8.83270944e-03 9.83435563e-01 2.97582625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86710568099994 meters Centerline goodness [0,1] 0.9994353000230063 Centerline is valid? [True, True] Translation: X:205.50, Y:104.46, Z:29.76 [[ 3.99760960e-01 -9.14276473e-01 -6.54958510e-02 2.05499225e+02] [ 8.98447856e-01 4.04991542e-01 -1.69626947e-01 1.04455136e+02] [ 1.81611193e-01 8.96562439e-03 9.83329544e-01 2.97629653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.8971056809999 meters Centerline goodness [0,1] 0.9994536896957472 Centerline is valid? [True, True] Translation: X:205.51, Y:104.48, Z:29.77 [[ 4.01676041e-01 -9.13456124e-01 -6.52247433e-02 2.05511019e+02] [ 8.97716651e-01 4.06829341e-01 -1.69099681e-01 1.04480480e+02] [ 1.81000478e-01 9.36995205e-03 9.83438372e-01 2.97684839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92710568099994 meters Centerline goodness [0,1] 0.9995792662403231 Centerline is valid? [True, True] Translation: X:205.52, Y:104.51, Z:29.77 [[ 4.02339942e-01 -9.13170730e-01 -6.51290255e-02 2.05520192e+02] [ 8.97442448e-01 4.07465225e-01 -1.69024093e-01 1.04505303e+02] [ 1.80885667e-01 9.55559157e-03 9.83457709e-01 2.97736339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.9571056809999 meters Centerline goodness [0,1] 0.9995793635770921 Centerline is valid? [True, True] Translation: X:205.53, Y:104.53, Z:29.78 [[ 4.04455504e-01 -9.12242453e-01 -6.50342332e-02 2.05530743e+02] [ 8.96523581e-01 4.09528307e-01 -1.68914283e-01 1.04529356e+02] [ 1.80724140e-01 1.00135880e-02 9.83482849e-01 2.97787525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98710568099995 meters Centerline goodness [0,1] 0.9993682348481657 Centerline is valid? [True, True] Translation: X:205.54, Y:104.55, Z:29.78 [[ 4.05646390e-01 -9.11723627e-01 -6.48924760e-02 2.05541668e+02] [ 8.96035975e-01 4.10675141e-01 -1.68717098e-01 1.04554817e+02] [ 1.80473092e-01 1.02934889e-02 9.83526058e-01 2.97842039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0171056809999 meters Centerline goodness [0,1] 0.9991981938260924 Centerline is valid? [True, True] Translation: X:205.55, Y:104.58, Z:29.79 [[ 4.07410571e-01 -9.10973906e-01 -6.43674595e-02 2.05550804e+02] [ 8.95501161e-01 4.12327526e-01 -1.67522182e-01 1.04579647e+02] [ 1.79148812e-01 1.06091730e-02 9.83764783e-01 2.97883793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04710568099995 meters Centerline goodness [0,1] 0.9991003995899496 Centerline is valid? [True, True] Translation: X:205.56, Y:104.60, Z:29.79 [[ 4.07457879e-01 -9.10986533e-01 -6.38875099e-02 2.05563831e+02] [ 8.95711442e-01 4.12299816e-01 -1.66462833e-01 1.04604195e+02] [ 1.77986207e-01 1.06018192e-02 9.83975869e-01 2.97935382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0771056809999 meters Centerline goodness [0,1] 0.9991824756314852 Centerline is valid? [True, True] Translation: X:205.57, Y:104.63, Z:29.80 [[ 4.07568295e-01 -9.10951182e-01 -6.36869566e-02 2.05573628e+02] [ 8.95739596e-01 4.12376447e-01 -1.66121164e-01 1.04629650e+02] [ 1.77591272e-01 1.06587911e-02 9.84046610e-01 2.97985535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10710568099995 meters Centerline goodness [0,1] 0.9993700655131866 Centerline is valid? [True, True] Translation: X:205.59, Y:104.65, Z:29.81 [[ 4.07701651e-01 -9.10924377e-01 -6.32150627e-02 2.05591020e+02] [ 8.95910364e-01 4.12435728e-01 -1.65049659e-01 1.04652022e+02] [ 1.76419908e-01 1.06559886e-02 9.84257317e-01 2.98073898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1371056809999 meters Centerline goodness [0,1] 0.9996422408350519 Centerline is valid? [True, True] Translation: X:205.60, Y:104.68, Z:29.81 [[ 4.07038309e-01 -9.11199176e-01 -6.35285409e-02 2.05600561e+02] [ 8.96004712e-01 4.11827951e-01 -1.66052085e-01 1.04677443e+02] [ 1.77469352e-01 1.06676877e-02 9.84068509e-01 2.98110973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16710568099995 meters Centerline goodness [0,1] 0.9993087702394169 Centerline is valid? [True, True] Translation: X:205.61, Y:104.70, Z:29.81 [[ 4.07280010e-01 -9.10991538e-01 -6.49416034e-02 2.05610630e+02] [ 8.95068436e-01 4.12275978e-01 -1.69944149e-01 1.04704789e+02] [ 1.81591544e-01 1.10876753e-02 9.83311535e-01 2.98086395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.1971056809999 meters Centerline goodness [0,1] 0.9992229992229992 Centerline is valid? [True, True] Translation: X:205.62, Y:104.73, Z:29.81 [[ 4.07555462e-01 -9.10815894e-01 -6.56730753e-02 2.05621890e+02] [ 8.94491599e-01 4.12656074e-01 -1.72045759e-01 1.04730668e+02] [ 1.83802405e-01 1.13741745e-02 9.82897403e-01 2.98093891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22710568099995 meters Centerline goodness [0,1] 0.9992439516129032 Centerline is valid? [True, True] Translation: X:205.63, Y:104.76, Z:29.81 [[ 4.07073193e-01 -9.10967388e-01 -6.65569971e-02 2.05633036e+02] [ 8.94162282e-01 4.12316842e-01 -1.74552674e-01 1.04755841e+02] [ 1.86454365e-01 1.15429581e-02 9.82395811e-01 2.98102994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.2571056809999 meters Centerline goodness [0,1] 0.9994758690091827 Centerline is valid? [True, True] Translation: X:205.65, Y:104.78, Z:29.82 [[ 4.05539743e-01 -9.11659190e-01 -6.64457486e-02 2.05645307e+02] [ 8.94881778e-01 4.10791997e-01 -1.74460709e-01 1.04780500e+02] [ 1.86344091e-01 1.12896616e-02 9.82419678e-01 2.98160912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28710568099996 meters Centerline goodness [0,1] 0.9997267300092492 Centerline is valid? [True, True] Translation: X:205.66, Y:104.80, Z:29.82 [[ 4.00521473e-01 -9.13906717e-01 -6.60080483e-02 2.05659770e+02] [ 8.97346698e-01 4.05794705e-01 -1.73492252e-01 1.04803076e+02] [ 1.85341451e-01 1.02552682e-02 9.82620667e-01 2.98233857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:104.82, Z:29.83 [[ 3.93170854e-01 -9.17159955e-01 -6.50714681e-02 2.05680741e+02] [ 9.01076039e-01 3.98424556e-01 -1.71230388e-01 1.04824008e+02] [ 1.82971726e-01 8.68845724e-03 9.83079782e-01 2.98312400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34710568099996 meters Centerline goodness [0,1] 0.99997901760423 Centerline is valid? [True, True] Translation: X:205.69, Y:104.85, Z:29.83 [[ 3.90152537e-01 -9.18451055e-01 -6.50281239e-02 2.05691059e+02] [ 9.02369422e-01 3.95450489e-01 -1.71313564e-01 1.04848413e+02] [ 1.83058527e-01 8.15903132e-03 9.83068159e-01 2.98347061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37710568099993 meters Centerline goodness [0,1] 0.9998330585755723 Centerline is valid? [True, True] Translation: X:205.71, Y:104.87, Z:29.84 [[ 3.85881278e-01 -9.20259706e-01 -6.49439198e-02 2.05707275e+02] [ 9.04212681e-01 3.91238845e-01 -1.71264688e-01 1.04871562e+02] [ 1.83016576e-01 7.36472081e-03 9.83082242e-01 2.98401316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40710568099996 meters Centerline goodness [0,1] 0.9998950682056663 Centerline is valid? [True, True] Translation: X:205.72, Y:104.89, Z:29.85 [[ 3.83876138e-01 -9.21214185e-01 -6.32735059e-02 2.05717857e+02] [ 9.05967341e-01 3.88996348e-01 -1.67047949e-01 1.04894931e+02] [ 1.78500103e-01 6.80199176e-03 9.83916382e-01 2.98487387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43710568099993 meters Centerline goodness [0,1] 0.9998745321093243 Centerline is valid? [True, True] Translation: X:205.73, Y:104.92, Z:29.86 [[ 3.83039674e-01 -9.21605757e-01 -6.26373496e-02 2.05727128e+02] [ 9.06645927e-01 3.88071089e-01 -1.65511310e-01 1.04920703e+02] [ 1.76843921e-01 6.60750028e-03 9.84216729e-01 2.98559536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.4671056809999 meters Centerline goodness [0,1] 0.9997481055437771 Centerline is valid? [True, True] Translation: X:205.74, Y:104.95, Z:29.86 [[ 3.85074368e-01 -9.20771296e-01 -6.24335694e-02 2.05735174e+02] [ 9.05866027e-01 3.90039296e-01 -1.65154739e-01 1.04946595e+02] [ 1.76421289e-01 7.04040750e-03 9.84289572e-01 2.98613154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49710568099994 meters Centerline goodness [0,1] 0.9998116642601544 Centerline is valid? [True, True] Translation: X:205.74, Y:104.97, Z:29.87 [[ 3.86837719e-01 -9.20038635e-01 -6.23336899e-02 2.05742533e+02] [ 9.05137697e-01 3.91757020e-01 -1.65082363e-01 1.04973529e+02] [ 1.76301813e-01 7.43951221e-03 9.84308044e-01 2.98661012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5271056809999 meters Centerline goodness [0,1] 0.9998321901285843 Centerline is valid? [True, True] Translation: X:205.75, Y:105.00, Z:29.87 [[ 3.90606032e-01 -9.18477593e-01 -6.18533678e-02 2.05745292e+02] [ 9.03756388e-01 3.95388948e-01 -1.63987717e-01 1.05001176e+02] [ 1.75075182e-01 8.15421519e-03 9.84521300e-01 2.98705354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55710568099994 meters Centerline goodness [0,1] 0.9995807391568664 Centerline is valid? [True, True] Translation: X:205.75, Y:105.03, Z:29.87 [[ 3.91549594e-01 -9.18061692e-01 -6.20616134e-02 2.05751806e+02] [ 9.03201066e-01 3.96347558e-01 -1.64731443e-01 1.05028176e+02] [ 1.75831596e-01 8.44641436e-03 9.84384025e-01 2.98737191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5871056809999 meters Centerline goodness [0,1] 0.9998328807186129 Centerline is valid? [True, True] Translation: X:205.76, Y:105.05, Z:29.88 [[ 3.92073258e-01 -9.17808648e-01 -6.24967636e-02 2.05758626e+02] [ 9.02701882e-01 3.96927832e-01 -1.66065071e-01 1.05054809e+02] [ 1.77222664e-01 8.69372739e-03 9.84132383e-01 2.98760607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61710568099994 meters Centerline goodness [0,1] 0.9996649495330234 Centerline is valid? [True, True] Translation: X:205.77, Y:105.08, Z:29.88 [[ 3.91822161e-01 -9.17925462e-01 -6.23557596e-02 2.05767651e+02] [ 9.02855295e-01 3.96657568e-01 -1.65876732e-01 1.05080518e+02] [ 1.76996360e-01 8.69595168e-03 9.84173089e-01 2.98812870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.6471056809999 meters Centerline goodness [0,1] 0.9997484118498019 Centerline is valid? [True, True] Translation: X:205.78, Y:105.11, Z:29.88 [[ 3.91383785e-01 -9.18089506e-01 -6.26928367e-02 2.05775547e+02] [ 9.02821021e-01 3.96276561e-01 -1.66970330e-01 1.05107033e+02] [ 1.78137409e-01 8.74906890e-03 9.83966726e-01 2.98840905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67710568099994 meters Centerline goodness [0,1] 0.999474834047559 Centerline is valid? [True, True] Translation: X:205.78, Y:105.14, Z:29.88 [[ 3.91879006e-01 -9.17835993e-01 -6.33082532e-02 2.05779658e+02] [ 9.02224291e-01 3.96857004e-01 -1.68807131e-01 1.05136550e+02] [ 1.80061584e-01 9.03372663e-03 9.83613856e-01 2.98822081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7071056809999 meters Centerline goodness [0,1] 0.9994542286781838 Centerline is valid? [True, True] Translation: X:205.79, Y:105.16, Z:29.88 [[ 3.92280847e-01 -9.17625376e-01 -6.38702312e-02 2.05785830e+02] [ 9.01697215e-01 3.97337944e-01 -1.70483696e-01 1.05163614e+02] [ 1.81818232e-01 9.28587882e-03 9.83288311e-01 2.98827470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73710568099995 meters Centerline goodness [0,1] 0.9994545492688862 Centerline is valid? [True, True] Translation: X:205.80, Y:105.19, Z:29.89 [[ 3.91601756e-01 -9.17914989e-01 -6.38759528e-02 2.05795514e+02] [ 9.01953164e-01 3.96669791e-01 -1.70685581e-01 1.05188807e+02] [ 1.82012514e-01 9.22765575e-03 9.83252915e-01 2.98868362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.7671056809999 meters Centerline goodness [0,1] 0.9993291545250623 Centerline is valid? [True, True] Translation: X:205.81, Y:105.21, Z:29.89 [[ 3.88986088e-01 -9.19018867e-01 -6.39855085e-02 2.05805720e+02] [ 9.02980119e-01 3.94115177e-01 -1.71172813e-01 1.05213438e+02] [ 1.82528705e-01 8.80620108e-03 9.83161087e-01 2.98925421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79710568099995 meters Centerline goodness [0,1] 0.9996436805701111 Centerline is valid? [True, True] Translation: X:205.82, Y:105.24, Z:29.90 [[ 3.87109944e-01 -9.19849064e-01 -6.34317842e-02 2.05817555e+02] [ 9.04067804e-01 3.92182317e-01 -1.69865934e-01 1.05237941e+02] [ 1.81127844e-01 8.41015835e-03 9.83423598e-01 2.98990703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8271056809999 meters Centerline goodness [0,1] 0.9999581090421632 Centerline is valid? [True, True] Translation: X:205.83, Y:105.26, Z:29.91 [[ 3.82710919e-01 -9.21776482e-01 -6.21326826e-02 2.05833428e+02] [ 9.06633913e-01 3.87650845e-01 -1.66558609e-01 1.05261152e+02] [ 1.77615596e-01 7.41220130e-03 9.84072030e-01 2.99076623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85710568099995 meters Centerline goodness [0,1] 0.9998114511972849 Centerline is valid? [True, True] Translation: X:205.84, Y:105.29, Z:29.91 [[ 3.78244505e-01 -9.23652064e-01 -6.16275816e-02 2.05841092e+02] [ 9.08747817e-01 3.83176090e-01 -1.65388904e-01 1.05286328e+02] [ 1.76376018e-01 6.55351380e-03 9.84301047e-01 2.99118893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.8871056809999 meters Centerline goodness [0,1] 0.9998952440812906 Centerline is valid? [True, True] Translation: X:205.85, Y:105.31, Z:29.92 [[ 3.75944315e-01 -9.24595302e-01 -6.15581072e-02 2.05853948e+02] [ 9.09710613e-01 3.80900969e-01 -1.65351301e-01 1.05311127e+02] [ 1.76330578e-01 6.16281803e-03 9.84311712e-01 2.99172708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91710568099995 meters Centerline goodness [0,1] 0.9998952440812906 Centerline is valid? [True, True] Translation: X:205.86, Y:105.34, Z:29.92 [[ 3.75610952e-01 -9.24734786e-01 -6.14978731e-02 2.05863228e+02] [ 9.09848305e-01 3.80562216e-01 -1.65373701e-01 1.05336702e+02] [ 1.76330581e-01 6.16243764e-03 9.84311714e-01 2.99219080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9471056809999 meters Centerline goodness [0,1] 0.9998115854041493 Centerline is valid? [True, True] Translation: X:205.88, Y:105.36, Z:29.93 [[ 3.68468005e-01 -9.27631788e-01 -6.10786013e-02 2.05876655e+02] [ 9.12954905e-01 3.73464834e-01 -1.64430410e-01 1.05359100e+02] [ 1.75341585e-01 4.82533643e-03 9.84495833e-01 2.99282098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97710568099995 meters Centerline goodness [0,1] 0.9998739389864695 Centerline is valid? [True, True] Translation: X:205.89, Y:105.38, Z:29.93 [[ 3.63700669e-01 -9.29521976e-01 -6.09156700e-02 2.05887851e+02] [ 9.14913501e-01 3.68745184e-01 -1.64195841e-01 1.05384248e+02] [ 1.75086003e-01 3.98556839e-03 9.84545076e-01 2.99327379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.0071056809999 meters Centerline goodness [0,1] 0.9998948231977955 Centerline is valid? [True, True] Translation: X:205.90, Y:105.41, Z:29.94 [[ 3.54775559e-01 -9.32961159e-01 -6.09735918e-02 2.05901498e+02] [ 9.18340535e-01 3.59969184e-01 -1.64538287e-01 1.05408150e+02] [ 1.75456445e-01 2.37964167e-03 9.84484318e-01 2.99362617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03710568099996 meters Centerline goodness [0,1] 0.9998325554136928 Centerline is valid? [True, True] Translation: X:205.91, Y:105.43, Z:29.94 [[ 3.50695502e-01 -9.34490226e-01 -6.11611221e-02 2.05910819e+02] [ 9.19765752e-01 3.55984746e-01 -1.65244735e-01 1.05432182e+02] [ 1.76192016e-01 1.69667991e-03 9.84354354e-01 2.99393406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06710568099993 meters Centerline goodness [0,1] 0.9999368367862557 Centerline is valid? [True, True] Translation: X:205.92, Y:105.46, Z:29.94 [[ 3.44778629e-01 -9.36675347e-01 -6.13758139e-02 2.05919241e+02] [ 9.21850216e-01 3.50198329e-01 -1.65991895e-01 1.05458239e+02] [ 1.76974224e-01 6.51150809e-04 9.84215271e-01 2.99423379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09710568099996 meters Centerline goodness [0,1] 0.9999370409233997 Centerline is valid? [True, True] Translation: X:205.93, Y:105.48, Z:29.95 [[ 3.42207854e-01 -9.37628422e-01 -6.12105094e-02 2.05926947e+02] [ 9.22860813e-01 3.47639018e-01 -1.65755946e-01 1.05484448e+02] [ 1.76696647e-01 2.34206083e-04 9.84265330e-01 2.99469996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12710568099993 meters Centerline goodness [0,1] 0.9999367208757831 Centerline is valid? [True, True] Translation: X:205.93, Y:105.51, Z:29.95 [[ 3.38386892e-01 -9.39058219e-01 -6.05307563e-02 2.05932774e+02] [ 9.24604787e-01 3.43757874e-01 -1.64123462e-01 1.05510869e+02] [ 1.74929410e-01 -4.29798768e-04 9.84580884e-01 2.99537919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15710568099996 meters Centerline goodness [0,1] 0.9999163424938302 Centerline is valid? [True, True] Translation: X:205.93, Y:105.54, Z:29.96 [[ 3.35844087e-01 -9.39955911e-01 -6.07588217e-02 2.05934423e+02] [ 9.25368410e-01 3.41294896e-01 -1.64957872e-01 1.05537564e+02] [ 1.75789803e-01 -8.24168212e-04 9.84427380e-01 2.99569626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18710568099993 meters Centerline goodness [0,1] 0.9997696769195334 Centerline is valid? [True, True] Translation: X:205.94, Y:105.56, Z:29.96 [[ 3.35261372e-01 -9.40165117e-01 -6.07401433e-02 2.05938068e+02] [ 9.25549857e-01 3.40718096e-01 -1.65132195e-01 1.05563553e+02] [ 1.75946795e-01 -8.55584716e-04 9.84399306e-01 2.99598792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2171056809999 meters Centerline goodness [0,1] 0.9996866644385026 Centerline is valid? [True, True] Translation: X:205.93, Y:105.59, Z:29.97 [[ 3.38660870e-01 -9.38971835e-01 -6.03382792e-02 2.05934978e+02] [ 9.24494548e-01 3.43993994e-01 -1.64249694e-01 1.05593035e+02] [ 1.74981843e-01 -1.57465797e-04 9.84571648e-01 2.99672622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24710568099994 meters Centerline goodness [0,1] 0.999831727735476 Centerline is valid? [True, True] Translation: X:205.94, Y:105.62, Z:29.97 [[ 3.42296791e-01 -9.37659745e-01 -6.02254915e-02 2.05936626e+02] [ 9.23179584e-01 3.47554104e-01 -1.64151153e-01 1.05621818e+02] [ 1.74849545e-01 5.89468557e-04 9.84594987e-01 2.99730608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2771056809999 meters Centerline goodness [0,1] 0.999620916959754 Centerline is valid? [True, True] Translation: X:205.93, Y:105.65, Z:29.98 [[ 3.51055745e-01 -9.34430989e-01 -5.99882581e-02 2.05925291e+02] [ 9.19984022e-01 3.56136968e-01 -1.63694410e-01 1.05654780e+02] [ 1.74325166e-01 2.27762409e-03 9.84685508e-01 2.99758979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30710568099994 meters Centerline goodness [0,1] 0.9994530230992553 Centerline is valid? [True, True] Translation: X:205.92, Y:105.68, Z:29.98 [[ 3.55772364e-01 -9.32657521e-01 -5.97994493e-02 2.05924969e+02] [ 9.18252195e-01 3.60748875e-01 -1.63319185e-01 1.05683997e+02] [ 1.73893451e-01 3.19347702e-03 9.84759295e-01 2.99802781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3371056809999 meters Centerline goodness [0,1] 0.9991846803528871 Centerline is valid? [True, True] Translation: X:205.92, Y:105.71, Z:29.99 [[ 3.64456201e-01 -9.29325382e-01 -5.93802327e-02 2.05920099e+02] [ 9.15045410e-01 3.69230187e-01 -1.62360606e-01 1.05714670e+02] [ 1.72810807e-01 4.83772028e-03 9.84943157e-01 2.99854146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36710568099994 meters Centerline goodness [0,1] 0.9989892821797814 Centerline is valid? [True, True] Translation: X:205.92, Y:105.75, Z:29.99 [[ 3.71644302e-01 -9.26485882e-01 -5.91981645e-02 2.05916560e+02] [ 9.12222780e-01 3.76277986e-01 -1.62063188e-01 1.05745026e+02] [ 1.72424221e-01 6.22794601e-03 9.85003097e-01 2.99889717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.3971056809999 meters Centerline goodness [0,1] 0.9988857353095764 Centerline is valid? [True, True] Translation: X:205.92, Y:105.77, Z:29.99 [[ 3.73984767e-01 -9.25549324e-01 -5.91087295e-02 2.05918835e+02] [ 9.11284717e-01 3.78567346e-01 -1.62009039e-01 1.05773323e+02] [ 1.72323992e-01 6.72403089e-03 9.85017375e-01 2.99918561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42710568099994 meters Centerline goodness [0,1] 0.9990329226758609 Centerline is valid? [True, True] Translation: X:205.92, Y:105.80, Z:29.99 [[ 3.75555544e-01 -9.24879058e-01 -5.96385876e-02 2.05924817e+02] [ 9.10326137e-01 3.80194299e-01 -1.63580619e-01 1.05801219e+02] [ 1.73966539e-01 7.14304311e-03 9.84725657e-01 2.99934249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.4571056809999 meters Centerline goodness [0,1] 0.9991172205057065 Centerline is valid? [True, True] Translation: X:205.93, Y:105.83, Z:30.00 [[ 3.73408719e-01 -9.25725632e-01 -5.99831937e-02 2.05930631e+02] [ 9.10979591e-01 3.78133518e-01 -1.64715597e-01 1.05828339e+02] [ 1.75163106e-01 6.86277480e-03 9.84515510e-01 2.99958643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48710568099995 meters Centerline goodness [0,1] 0.9991362784132802 Centerline is valid? [True, True] Translation: X:205.94, Y:105.86, Z:30.00 [[ 3.71263264e-01 -9.26576216e-01 -6.01673048e-02 2.05939652e+02] [ 9.11727745e-01 3.76050363e-01 -1.65344014e-01 1.05855014e+02] [ 1.75829768e-01 6.52995723e-03 9.84398930e-01 2.99998159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5171056809999 meters Centerline goodness [0,1] 0.9991603341869936 Centerline is valid? [True, True] Translation: X:205.95, Y:105.88, Z:30.00 [[ 3.68079921e-01 -9.27862380e-01 -5.99047226e-02 2.05950141e+02] [ 9.13127721e-01 3.72875123e-01 -1.64808702e-01 1.05881095e+02] [ 1.75256775e-01 5.96211114e-03 9.84504706e-01 3.00045999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54710568099995 meters Centerline goodness [0,1] 0.9992199852429641 Centerline is valid? [True, True] Translation: X:205.96, Y:105.91, Z:30.01 [[ 3.66709463e-01 -9.28413590e-01 -5.97693643e-02 2.05960327e+02] [ 9.13721684e-01 3.71503853e-01 -1.64613399e-01 1.05907515e+02] [ 1.75033865e-01 5.75272668e-03 9.84545607e-01 3.00101707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5771056809999 meters Centerline goodness [0,1] 0.999017435297069 Centerline is valid? [True, True] Translation: X:205.97, Y:105.93, Z:30.01 [[ 3.64434185e-01 -9.29292775e-01 -6.00221950e-02 2.05971129e+02] [ 9.14466302e-01 3.69304476e-01 -1.65425472e-01 1.05932191e+02] [ 1.75895161e-01 5.39842228e-03 9.84394103e-01 3.00149824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60710568099995 meters Centerline goodness [0,1] 0.9993681017777404 Centerline is valid? [True, True] Translation: X:205.98, Y:105.96, Z:30.02 [[ 3.63077488e-01 -9.29837883e-01 -5.98017416e-02 2.05980946e+02] [ 9.15094571e-01 3.67932895e-01 -1.65007004e-01 1.05957703e+02] [ 1.75432792e-01 5.18607957e-03 9.84477750e-01 3.00205493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6371056809999 meters Centerline goodness [0,1] 0.9994343180389692 Centerline is valid? [True, True] Translation: X:205.99, Y:105.98, Z:30.02 [[ 3.59725822e-01 -9.31159363e-01 -5.94943094e-02 2.05991497e+02] [ 9.16552717e-01 3.64583557e-01 -1.64347033e-01 1.05983288e+02] [ 1.74723926e-01 4.59020078e-03 9.84606764e-01 3.00236533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66710568099995 meters Centerline goodness [0,1] 0.9995364322137469 Centerline is valid? [True, True] Translation: X:206.00, Y:106.01, Z:30.03 [[ 3.57821494e-01 -9.31891320e-01 -5.95176113e-02 2.06003172e+02] [ 9.17249342e-01 3.62712049e-01 -1.64601378e-01 1.06009116e+02] [ 1.74978350e-01 4.30542111e-03 9.84562868e-01 3.00273004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.6971056809999 meters Centerline goodness [0,1] 0.9993268543060289 Centerline is valid? [True, True] Translation: X:206.01, Y:106.03, Z:30.03 [[ 3.55189203e-01 -9.32856419e-01 -6.01625425e-02 2.06014083e+02] [ 9.17871529e-01 3.60226782e-01 -1.66578877e-01 1.06033286e+02] [ 1.77066333e-01 3.94553357e-03 9.84191011e-01 3.00289973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72710568099995 meters Centerline goodness [0,1] 0.9995361487697401 Centerline is valid? [True, True] Translation: X:206.03, Y:106.06, Z:30.03 [[ 3.54188372e-01 -9.33212762e-01 -6.05354312e-02 2.06028874e+02] [ 9.18014230e-01 3.59303615e-01 -1.67781961e-01 1.06057128e+02] [ 1.78326866e-01 3.85403219e-03 9.83963757e-01 3.00338000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.7571056809999 meters Centerline goodness [0,1] 0.9993453977236734 Centerline is valid? [True, True] Translation: X:206.04, Y:106.08, Z:30.04 [[ 3.54005832e-01 -9.33278947e-01 -6.05828115e-02 2.06038855e+02] [ 9.18022073e-01 3.59131225e-01 -1.68107810e-01 1.06081579e+02] [ 1.78648659e-01 3.89478700e-03 9.83905223e-01 3.00386926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78710568099996 meters Centerline goodness [0,1] 0.9993035329872103 Centerline is valid? [True, True] Translation: X:206.05, Y:106.11, Z:30.05 [[ 3.56057107e-01 -9.32557997e-01 -5.96566771e-02 2.06046659e+02] [ 9.17732261e-01 3.60995266e-01 -1.65680161e-01 1.06107607e+02] [ 1.76042137e-01 4.24274171e-03 9.84373489e-01 3.00465088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81710568099993 meters Centerline goodness [0,1] 0.999475429098997 Centerline is valid? [True, True] Translation: X:206.05, Y:106.13, Z:30.05 [[ 3.57797236e-01 -9.31913958e-01 -5.93086197e-02 2.06054147e+02] [ 9.17219346e-01 3.62650222e-01 -1.64904480e-01 1.06133653e+02] [ 1.75185070e-01 4.60335356e-03 9.84524759e-01 3.00518639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84710568099996 meters Centerline goodness [0,1] 0.9993709109209864 Centerline is valid? [True, True] Translation: X:206.06, Y:106.16, Z:30.06 [[ 3.62691939e-01 -9.30023001e-01 -5.92602386e-02 2.06058409e+02] [ 9.15291406e-01 3.67458746e-01 -1.64971853e-01 1.06160069e+02] [ 1.75203311e-01 5.59357418e-03 9.84516385e-01 3.00554139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87710568099993 meters Centerline goodness [0,1] 0.9989877261799317 Centerline is valid? [True, True] Translation: X:206.07, Y:106.19, Z:30.06 [[ 3.65875679e-01 -9.28798951e-01 -5.88854581e-02 2.06068275e+02] [ 9.14205972e-01 3.70531942e-01 -1.64114349e-01 1.06185639e+02] [ 1.74248179e-01 6.21201149e-03 9.84682174e-01 3.00618334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90710568099996 meters Centerline goodness [0,1] 0.9992204782471295 Centerline is valid? [True, True] Translation: X:206.08, Y:106.21, Z:30.07 [[ 3.67171331e-01 -9.28315709e-01 -5.84393581e-02 2.06078043e+02] [ 9.13905797e-01 3.71736713e-01 -1.63058302e-01 1.06211328e+02] [ 1.73093638e-01 6.46226561e-03 9.84884172e-01 3.00682925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93710568099993 meters Centerline goodness [0,1] 0.9989289764374816 Centerline is valid? [True, True] Translation: X:206.09, Y:106.24, Z:30.07 [[ 3.67561737e-01 -9.28167116e-01 -5.83453037e-02 2.06086803e+02] [ 9.13770308e-01 3.72105333e-01 -1.62976827e-01 1.06236786e+02] [ 1.72980330e-01 6.58983956e-03 9.84903233e-01 3.00727667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.9671056809999 meters Centerline goodness [0,1] 0.9992874208827598 Centerline is valid? [True, True] Translation: X:206.10, Y:106.26, Z:30.08 [[ 3.67582164e-01 -9.28118220e-01 -5.89908728e-02 2.06095269e+02] [ 9.13366905e-01 3.72224333e-01 -1.64954366e-01 1.06262739e+02] [ 1.75054991e-01 6.75397180e-03 9.84535492e-01 3.00756528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99710568099994 meters Centerline goodness [0,1] 0.9993887401724174 Centerline is valid? [True, True] Translation: X:206.11, Y:106.29, Z:30.08 [[ 3.66114132e-01 -9.28706339e-01 -5.88640733e-02 2.06106253e+02] [ 9.14001240e-01 3.70758854e-01 -1.64741026e-01 1.06288820e+02] [ 1.74820412e-01 6.51218193e-03 9.84578801e-01 3.00798398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0271056809999 meters Centerline goodness [0,1] 0.9991185729275971 Centerline is valid? [True, True] Translation: X:206.11, Y:106.31, Z:30.08 [[ 3.65006238e-01 -9.29140860e-01 -5.88872475e-02 2.06112699e+02] [ 9.14396382e-01 3.69670926e-01 -1.64992915e-01 1.06314552e+02] [ 1.75070563e-01 6.37715730e-03 9.84535236e-01 3.00835989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05710568099994 meters Centerline goodness [0,1] 0.9994561465894116 Centerline is valid? [True, True] Translation: X:206.13, Y:106.34, Z:30.09 [[ 3.63228967e-01 -9.29848545e-01 -5.87060536e-02 2.06125786e+02] [ 9.15168545e-01 3.67892042e-01 -1.64687523e-01 1.06338852e+02] [ 1.74731943e-01 6.09334512e-03 9.84597186e-01 3.00896841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0871056809999 meters Centerline goodness [0,1] 0.9991990219636608 Centerline is valid? [True, True] Translation: X:206.13, Y:106.37, Z:30.09 [[ 3.62675060e-01 -9.30055850e-01 -5.88465550e-02 2.06132912e+02] [ 9.15274113e-01 3.67367891e-01 -1.65269874e-01 1.06365525e+02] [ 1.75328548e-01 6.07853321e-03 9.84491215e-01 3.00930440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11710568099994 meters Centerline goodness [0,1] 0.9993678221472975 Centerline is valid? [True, True] Translation: X:206.14, Y:106.39, Z:30.10 [[ 3.62146268e-01 -9.30246731e-01 -5.90855406e-02 2.06140628e+02] [ 9.15310942e-01 3.66884174e-01 -1.66138140e-01 1.06392596e+02] [ 1.76227012e-01 6.08466558e-03 9.84330746e-01 3.00960791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.1471056809999 meters Centerline goodness [0,1] 0.999391165602956 Centerline is valid? [True, True] Translation: X:206.15, Y:106.42, Z:30.10 [[ 3.59347153e-01 -9.31325214e-01 -5.91858937e-02 2.06151015e+02] [ 9.16317142e-01 3.64144932e-01 -1.66617419e-01 1.06418175e+02] [ 1.76727247e-01 5.64044629e-03 9.84243702e-01 3.00986586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17710568099994 meters Centerline goodness [0,1] 0.9993084515601752 Centerline is valid? [True, True] Translation: X:206.16, Y:106.44, Z:30.11 [[ 3.55569096e-01 -9.32765990e-01 -5.93146348e-02 2.06164037e+02] [ 9.17676151e-01 3.60447633e-01 -1.67176511e-01 1.06442699e+02] [ 1.77316384e-01 5.01117530e-03 9.84141142e-01 3.01051020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2071056809999 meters Centerline goodness [0,1] 0.9994567829011972 Centerline is valid? [True, True] Translation: X:206.18, Y:106.47, Z:30.11 [[ 3.52296607e-01 -9.34006962e-01 -5.93135405e-02 2.06175853e+02] [ 9.18899388e-01 3.57226954e-01 -1.67370303e-01 1.06467801e+02] [ 1.77513423e-01 4.46081368e-03 9.84108269e-01 3.01106698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23710568099995 meters Centerline goodness [0,1] 0.9992046881540394 Centerline is valid? [True, True] Translation: X:206.19, Y:106.49, Z:30.12 [[ 3.45289547e-01 -9.36655773e-01 -5.87459927e-02 2.06189389e+02] [ 9.21840790e-01 3.50237115e-01 -1.65962410e-01 1.06492490e+02] [ 1.76024677e-01 3.15063315e-03 9.84380712e-01 3.01170499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.2671056809999 meters Centerline goodness [0,1] 0.9993077697600269 Centerline is valid? [True, True] Translation: X:206.20, Y:106.52, Z:30.12 [[ 3.41198291e-01 -9.38168657e-01 -5.85089517e-02 2.06198658e+02] [ 9.23461317e-01 3.46169977e-01 -1.65485777e-01 1.06517693e+02] [ 1.75507612e-01 2.43271063e-03 9.84475068e-01 3.01212380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29710568099995 meters Centerline goodness [0,1] 0.9994769655634127 Centerline is valid? [True, True] Translation: X:206.21, Y:106.54, Z:30.13 [[ 3.34870499e-01 -9.40443950e-01 -5.85399493e-02 2.06211660e+02] [ 9.25719833e-01 3.39946224e-01 -1.65768980e-01 1.06542087e+02] [ 1.75796869e-01 1.31954890e-03 9.84425578e-01 3.01269650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3271056809999 meters Centerline goodness [0,1] 0.9996001599360256 Centerline is valid? [True, True] Translation: X:206.22, Y:106.57, Z:30.13 [[ 3.31987648e-01 -9.41471712e-01 -5.84398677e-02 2.06221983e+02] [ 9.26778880e-01 3.37090944e-01 -1.65682233e-01 1.06568115e+02] [ 1.75684686e-01 8.43619791e-04 9.84446128e-01 3.01319720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35710568099995 meters Centerline goodness [0,1] 0.9996444481626336 Centerline is valid? [True, True] Translation: X:206.23, Y:106.59, Z:30.13 [[ 3.27421166e-01 -9.43036072e-01 -5.89775187e-02 2.06230810e+02] [ 9.28058127e-01 3.32690489e-01 -1.67407144e-01 1.06593965e+02] [ 1.77492235e-01 7.80769674e-05 9.84122198e-01 3.01346047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.3871056809999 meters Centerline goodness [0,1] 0.9994958830448664 Centerline is valid? [True, True] Translation: X:206.24, Y:106.62, Z:30.14 [[ 3.25797600e-01 -9.43571918e-01 -5.93966324e-02 2.06238568e+02] [ 9.28359211e-01 3.31167645e-01 -1.68751786e-01 1.06619698e+02] [ 1.78899689e-01 -1.62484141e-04 9.83867306e-01 3.01376031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41710568099995 meters Centerline goodness [0,1] 0.9994143852090436 Centerline is valid? [True, True] Translation: X:206.25, Y:106.65, Z:30.14 [[ 3.22942325e-01 -9.44524037e-01 -5.98548073e-02 2.06245128e+02] [ 9.29047402e-01 3.28441721e-01 -1.70284941e-01 1.06645980e+02] [ 1.80497036e-01 -6.15738551e-04 9.83575336e-01 3.01400515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4471056809999 meters Centerline goodness [0,1] 0.9995800789451583 Centerline is valid? [True, True] Translation: X:206.25, Y:106.67, Z:30.15 [[ 3.18668199e-01 -9.46047636e-01 -5.86894306e-02 2.06251141e+02] [ 9.31160309e-01 3.24024660e-01 -1.67178046e-01 1.06670257e+02] [ 1.77175218e-01 -1.37494153e-03 9.84178364e-01 3.01494232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47710568099995 meters Centerline goodness [0,1] 0.9996641618739768 Centerline is valid? [True, True] Translation: X:206.26, Y:106.70, Z:30.16 [[ 3.16341463e-01 -9.46866173e-01 -5.80734817e-02 2.06257667e+02] [ 9.32264885e-01 3.21623122e-01 -1.65652500e-01 1.06695833e+02] [ 1.75528523e-01 -1.73711353e-03 9.84472813e-01 3.01567147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.5071056809999 meters Centerline goodness [0,1] 0.9997897569590447 Centerline is valid? [True, True] Translation: X:206.26, Y:106.72, Z:30.16 [[ 3.11296002e-01 -9.48575981e-01 -5.74317703e-02 2.06262370e+02] [ 9.34287206e-01 3.16538929e-01 -1.64044272e-01 1.06723125e+02] [ 1.73787847e-01 -2.59144224e-03 9.84779706e-01 3.01625305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53710568099996 meters Centerline goodness [0,1] 0.9997056349873844 Centerline is valid? [True, True] Translation: X:206.27, Y:106.75, Z:30.17 [[ 3.06706922e-01 -9.50103303e-01 -5.68733450e-02 2.06268291e+02] [ 9.36083652e-01 3.11917416e-01 -1.62649689e-01 1.06749228e+02] [ 1.72273794e-01 -3.35242292e-03 9.85043401e-01 3.01682957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56710568099993 meters Centerline goodness [0,1] 0.9998319539553838 Centerline is valid? [True, True] Translation: X:206.27, Y:106.78, Z:30.18 [[ 3.04933501e-01 -9.50700367e-01 -5.64302431e-02 2.06274563e+02] [ 9.36875723e-01 3.10090105e-01 -1.61579719e-01 1.06776324e+02] [ 1.71112358e-01 -3.59705554e-03 9.85244955e-01 3.01753567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59710568099996 meters Centerline goodness [0,1] 0.9999579876063439 Centerline is valid? [True, True] Translation: X:206.28, Y:106.80, Z:30.18 [[ 3.01904013e-01 -9.51692175e-01 -5.59997358e-02 2.06278011e+02] [ 9.38062097e-01 3.07026868e-01 -1.60542843e-01 1.06802581e+02] [ 1.69980791e-01 -4.06270112e-03 9.85439001e-01 3.01834450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62710568099993 meters Centerline goodness [0,1] 0.9999371293249785 Centerline is valid? [True, True] Translation: X:206.28, Y:106.83, Z:30.19 [[ 3.00343542e-01 -9.52180930e-01 -5.60823735e-02 2.06282738e+02] [ 9.38482801e-01 3.05504746e-01 -1.60987211e-01 1.06829820e+02] [ 1.70422383e-01 -4.28087386e-03 9.85361804e-01 3.01884175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:106.86, Z:30.19 [[ 2.95951422e-01 -9.53537199e-01 -5.63876460e-02 2.06285034e+02] [ 9.39677084e-01 3.01233439e-01 -1.62066013e-01 1.06857400e+02] [ 1.71521817e-01 -5.02251171e-03 9.85167519e-01 3.01903961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68710568099993 meters Centerline goodness [0,1] 0.9999790584687552 Centerline is valid? [True, True] Translation: X:206.28, Y:106.89, Z:30.19 [[ 2.91255230e-01 -9.54921430e-01 -5.74060443e-02 2.06284892e+02] [ 9.40539284e-01 2.96800547e-01 -1.65212867e-01 1.06887022e+02] [ 1.74803452e-01 -5.87352824e-03 9.84585829e-01 3.01894444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:106.91, Z:30.19 [[ 2.89365847e-01 -9.55489124e-01 -5.75147068e-02 2.06289230e+02] [ 9.41024499e-01 2.94961956e-01 -1.65741776e-01 1.06914341e+02] [ 1.75329115e-01 -6.16273883e-03 9.84490590e-01 3.01941680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:106.94, Z:30.20 [[ 2.88458029e-01 -9.55787936e-01 -5.71085578e-02 2.06286971e+02] [ 9.41498588e-01 2.93990667e-01 -1.64772258e-01 1.06941608e+02] [ 1.74276719e-01 -6.23774585e-03 9.84676960e-01 3.02025232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:106.97, Z:30.21 [[ 2.89920477e-01 -9.55364646e-01 -5.67847787e-02 2.06287703e+02] [ 9.41189218e-01 2.95370689e-01 -1.64070145e-01 1.06970116e+02] [ 1.73519375e-01 -5.87792669e-03 9.84812914e-01 3.02093475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80710568099994 meters Centerline goodness [0,1] 0.9999789708325447 Centerline is valid? [True, True] Translation: X:206.28, Y:107.00, Z:30.22 [[ 2.94876895e-01 -9.53883804e-01 -5.61543070e-02 2.06275943e+02] [ 9.39963270e-01 3.00136382e-01 -1.62441383e-01 1.07003681e+02] [ 1.71804155e-01 -4.88277527e-03 9.85119024e-01 3.02151298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8371056809999 meters Centerline goodness [0,1] 0.9999789708325447 Centerline is valid? [True, True] Translation: X:206.28, Y:107.03, Z:30.22 [[ 2.94506931e-01 -9.54001746e-01 -5.60922143e-02 2.06284565e+02] [ 9.40079264e-01 2.99761253e-01 -1.62462822e-01 1.07029419e+02] [ 1.71804088e-01 -4.88470037e-03 9.85119026e-01 3.02197659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.28, Y:107.06, Z:30.22 [[ 2.98103173e-01 -9.52890812e-01 -5.59785624e-02 2.06284537e+02] [ 9.38969552e-01 3.03284898e-01 -1.62340543e-01 1.07058087e+02] [ 1.71670264e-01 -4.16793466e-03 9.85145648e-01 3.02233958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:107.09, Z:30.23 [[ 3.06949077e-01 -9.50067760e-01 -5.61561741e-02 2.06273442e+02] [ 9.35972764e-01 3.12033589e-01 -1.63064481e-01 1.07091304e+02] [ 1.72444918e-01 -2.50815766e-03 9.85015969e-01 3.02267690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:107.12, Z:30.23 [[ 3.11792392e-01 -9.48483133e-01 -5.62605695e-02 2.06273728e+02] [ 9.34271288e-01 3.16823798e-01 -1.63584356e-01 1.07120259e+02] [ 1.72981690e-01 -1.55827697e-03 9.84923808e-01 3.02296538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.26, Y:107.15, Z:30.23 [[ 3.22713447e-01 -9.44757844e-01 -5.73467250e-02 2.06264223e+02] [ 9.29888512e-01 3.27768683e-01 -1.66958215e-01 1.07152132e+02] [ 1.76531544e-01 5.53600386e-04 9.84294828e-01 3.02288264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.25, Y:107.19, Z:30.23 [[ 3.33999639e-01 -9.40746815e-01 -5.86487037e-02 2.06254590e+02] [ 9.25083281e-01 3.39097768e-01 -1.70978442e-01 1.07186168e+02] [ 1.80735069e-01 2.85180265e-03 9.83527682e-01 3.02272703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.25, Y:107.21, Z:30.23 [[ 3.38397843e-01 -9.39173237e-01 -5.86560357e-02 2.06254929e+02] [ 9.23445436e-01 3.43423113e-01 -1.71198982e-01 1.07214819e+02] [ 1.80929341e-01 3.76771776e-03 9.83488880e-01 3.02300530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.26, Y:107.24, Z:30.24 [[ 3.43750963e-01 -9.37245182e-01 -5.83673195e-02 2.06257435e+02] [ 9.21620796e-01 3.48637775e-01 -1.70489912e-01 1.07243007e+02] [ 1.80139901e-01 4.81353607e-03 9.83629222e-01 3.02365988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.26, Y:107.27, Z:30.24 [[ 3.45456900e-01 -9.36619042e-01 -5.83463797e-02 2.06259695e+02] [ 9.20961071e-01 3.50310770e-01 -1.70625527e-01 1.07271353e+02] [ 1.80250483e-01 5.20902140e-03 9.83606949e-01 3.02395539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:107.30, Z:30.25 [[ 3.46689487e-01 -9.36154335e-01 -5.84932555e-02 2.06269760e+02] [ 9.20374243e-01 3.51545763e-01 -1.71250779e-01 1.07296502e+02] [ 1.80880216e-01 5.53515918e-03 9.83489557e-01 3.02468181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.28, Y:107.32, Z:30.25 [[ 3.46385481e-01 -9.36276411e-01 -5.83402141e-02 2.06277464e+02] [ 9.20545127e-01 3.51220637e-01 -1.70999221e-01 1.07323147e+02] [ 1.80592824e-01 5.52684757e-03 9.83542417e-01 3.02523601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:107.35, Z:30.26 [[ 3.44523520e-01 -9.36971586e-01 -5.82047305e-02 2.06285117e+02] [ 9.21285639e-01 3.49366497e-01 -1.70809312e-01 1.07348983e+02] [ 1.80378255e-01 5.22464318e-03 9.83583442e-01 3.02572866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:107.37, Z:30.26 [[ 3.43297586e-01 -9.37434368e-01 -5.79963178e-02 2.06295799e+02] [ 9.21841140e-01 3.48125912e-01 -1.70344538e-01 1.07374676e+02] [ 1.79876845e-01 5.01547697e-03 9.83676352e-01 3.02631273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.31, Y:107.40, Z:30.27 [[ 3.38222170e-01 -9.39306875e-01 -5.75183295e-02 2.06311847e+02] [ 9.23962124e-01 3.43054073e-01 -1.69138692e-01 1.07398768e+02] [ 1.78605033e-01 4.06169747e-03 9.83912468e-01 3.02695203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:107.42, Z:30.28 [[ 3.31227463e-01 -9.41830282e-01 -5.69568935e-02 2.06328998e+02] [ 9.26787771e-01 3.36077582e-01 -1.67679118e-01 1.07421092e+02] [ 1.77067206e-01 2.75297666e-03 9.84194912e-01 3.02758058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:107.45, Z:30.28 [[ 3.27015082e-01 -9.43327092e-01 -5.65255077e-02 2.06342316e+02] [ 9.28498300e-01 3.31858386e-01 -1.66616080e-01 1.07445331e+02] [ 1.75931926e-01 2.00213323e-03 9.84400299e-01 3.02817957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31710568099993 meters Centerline goodness [0,1] 0.9999583350693722 Centerline is valid? [True, True] Translation: X:206.36, Y:107.47, Z:30.29 [[ 3.18678375e-01 -9.46218340e-01 -5.58117075e-02 2.06361676e+02] [ 9.31772987e-01 3.23528389e-01 -1.64707265e-01 1.07467766e+02] [ 1.73905706e-01 4.84802113e-04 9.84762190e-01 3.02902343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.37, Y:107.49, Z:30.30 [[ 3.14723641e-01 -9.47546525e-01 -5.57190437e-02 2.06374065e+02] [ 9.33147561e-01 3.19617804e-01 -1.64560289e-01 1.07491175e+02] [ 1.73737328e-01 -2.03076592e-04 9.84792008e-01 3.02953492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37710568099993 meters Centerline goodness [0,1] 0.9999584069876261 Centerline is valid? [True, True] Translation: X:206.39, Y:107.52, Z:30.30 [[ 3.08799565e-01 -9.49484218e-01 -5.58797625e-02 2.06388883e+02] [ 9.35005693e-01 3.13812340e-01 -1.65185256e-01 1.07515228e+02] [ 1.74376553e-01 -1.23876093e-03 9.84678264e-01 3.03005141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.40, Y:107.54, Z:30.31 [[ 3.07414949e-01 -9.49927826e-01 -5.59747686e-02 2.06399666e+02] [ 9.35370771e-01 3.12466137e-01 -1.65669652e-01 1.07540732e+02] [ 1.74864432e-01 -1.42783476e-03 9.84591485e-01 3.03056179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:107.57, Z:30.31 [[ 3.09429384e-01 -9.49285394e-01 -5.57736175e-02 2.06408080e+02] [ 9.34787089e-01 3.14414139e-01 -1.65278091e-01 1.07566636e+02] [ 1.74432092e-01 -9.94559648e-04 9.84668704e-01 3.03139557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.4671056809999 meters Centerline goodness [0,1] 0.9999165884683557 Centerline is valid? [True, True] Translation: X:206.41, Y:107.59, Z:30.32 [[ 3.15717456e-01 -9.47249200e-01 -5.51492590e-02 2.06407552e+02] [ 9.33008618e-01 3.20497909e-01 -1.63633766e-01 1.07594495e+02] [ 1.72677177e-01 2.07302584e-04 9.84978451e-01 3.03224134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49710568099994 meters Centerline goodness [0,1] 0.9998745216136521 Centerline is valid? [True, True] Translation: X:206.41, Y:107.62, Z:30.33 [[ 3.20429938e-01 -9.45680382e-01 -5.48932606e-02 2.06409219e+02] [ 9.31512217e-01 3.25095910e-01 -1.63087824e-01 1.07623094e+02] [ 1.72074530e-01 1.12447816e-03 9.85083292e-01 3.03284486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:107.65, Z:30.34 [[ 3.29167063e-01 -9.42722047e-01 -5.40757536e-02 2.06407060e+02] [ 9.28901847e-01 3.33568230e-01 -1.60852709e-01 1.07652855e+02] [ 1.69677348e-01 2.71634628e-03 9.85495925e-01 3.03356842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:107.68, Z:30.34 [[ 3.37135293e-01 -9.39943823e-01 -5.33423157e-02 2.06407572e+02] [ 9.26430968e-01 3.41304070e-01 -1.58862184e-01 1.07679787e+02] [ 1.67527478e-01 4.14007593e-03 9.85858714e-01 3.03435542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:107.71, Z:30.35 [[ 3.41036985e-01 -9.38513804e-01 -5.37179112e-02 2.06411832e+02] [ 9.24763228e-01 3.45206395e-01 -1.60142179e-01 1.07707821e+02] [ 1.68839412e-01 4.93805716e-03 9.85631203e-01 3.03469279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:107.74, Z:30.34 [[ 3.47330503e-01 -9.36086025e-01 -5.57178208e-02 2.06410741e+02] [ 9.21216499e-01 3.51712287e-01 -1.66308835e-01 1.07738090e+02] [ 1.75276018e-01 6.43595541e-03 9.84498297e-01 3.03417389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.6471056809999 meters Centerline goodness [0,1] 0.9999789251844047 Centerline is valid? [True, True] Translation: X:206.42, Y:107.77, Z:30.34 [[ 3.48831861e-01 -9.35455815e-01 -5.69100291e-02 2.06415859e+02] [ 9.19890253e-01 3.53374740e-01 -1.70082970e-01 1.07766514e+02] [ 1.79215670e-01 6.97937773e-03 9.83785054e-01 3.03404250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.42, Y:107.79, Z:30.34 [[ 3.49992097e-01 -9.34935488e-01 -5.83195124e-02 2.06422697e+02] [ 9.18536256e-01 3.54738331e-01 -1.74504619e-01 1.07793665e+02] [ 1.83838727e-01 7.50665080e-03 9.82927756e-01 3.03377226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7071056809999 meters Centerline goodness [0,1] 0.9999368367862557 Centerline is valid? [True, True] Translation: X:206.43, Y:107.82, Z:30.34 [[ 3.49364760e-01 -9.35171645e-01 -5.82945901e-02 2.06432546e+02] [ 9.18749162e-01 3.54116339e-01 -1.74647060e-01 1.07818078e+02] [ 1.83968046e-01 7.45742253e-03 9.82903935e-01 3.03422641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73710568099995 meters Centerline goodness [0,1] 0.9999791140165835 Centerline is valid? [True, True] Translation: X:206.45, Y:107.84, Z:30.35 [[ 3.47993222e-01 -9.35710421e-01 -5.78508979e-02 2.06445062e+02] [ 9.19505580e-01 3.52695664e-01 -1.73537481e-01 1.07843132e+02] [ 1.82784590e-01 7.19564383e-03 9.83126653e-01 3.03494559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.46, Y:107.87, Z:30.36 [[ 3.46838123e-01 -9.36155615e-01 -5.75845549e-02 2.06455902e+02] [ 9.20072690e-01 3.51516347e-01 -1.72923401e-01 1.07868381e+02] [ 1.82125125e-01 6.99445154e-03 9.83250485e-01 3.03556177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.47, Y:107.89, Z:30.36 [[ 3.44939610e-01 -9.36870684e-01 -5.73584055e-02 2.06469449e+02] [ 9.20888673e-01 3.49612589e-01 -1.72438654e-01 1.07892755e+02] [ 1.81605941e-01 6.66021617e-03 9.83348831e-01 3.03627490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8271056809999 meters Centerline goodness [0,1] 0.9998533140546091 Centerline is valid? [True, True] Translation: X:206.48, Y:107.92, Z:30.37 [[ 3.43171789e-01 -9.37574032e-01 -5.64628959e-02 2.06480464e+02] [ 9.22066626e-01 3.47729530e-01 -1.69933256e-01 1.07916654e+02] [ 1.78958824e-01 6.25374749e-03 9.83836689e-01 3.03706757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:107.94, Z:30.38 [[ 3.41487349e-01 -9.38214927e-01 -5.60280401e-02 2.06492278e+02] [ 9.22923881e-01 3.46002223e-01 -1.68801573e-01 1.07941421e+02] [ 1.77757982e-01 5.93398539e-03 9.84056344e-01 3.03768287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.51, Y:107.96, Z:30.38 [[ 3.37345158e-01 -9.39719057e-01 -5.59136747e-02 2.06513787e+02] [ 9.24477155e-01 3.41907955e-01 -1.68644419e-01 1.07962569e+02] [ 1.77595704e-01 5.20046317e-03 9.84089793e-01 3.03831497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91710568099995 meters Centerline goodness [0,1] 0.9997913667563789 Centerline is valid? [True, True] Translation: X:206.53, Y:107.99, Z:30.39 [[ 3.33966652e-01 -9.40918613e-01 -5.60217766e-02 2.06527974e+02] [ 9.25596401e-01 3.38600917e-01 -1.69176600e-01 1.07987625e+02] [ 1.78150437e-01 4.64578805e-03 9.83992296e-01 3.03871891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.54, Y:108.01, Z:30.39 [[ 3.26701493e-01 -9.43478370e-01 -5.58094896e-02 2.06542820e+02] [ 9.28275229e-01 3.31417519e-01 -1.68723230e-01 1.08010184e+02] [ 1.77682960e-01 3.31556437e-03 9.84082198e-01 3.03899642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.56, Y:108.03, Z:30.40 [[ 3.19532326e-01 -9.45949112e-01 -5.54920764e-02 2.06564235e+02] [ 9.30922144e-01 3.24308880e-01 -1.67951516e-01 1.08031416e+02] [ 1.76870161e-01 2.00713589e-03 9.84232146e-01 3.03987280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.0071056809999 meters Centerline goodness [0,1] 0.9999579275090982 Centerline is valid? [True, True] Translation: X:206.58, Y:108.06, Z:30.40 [[ 3.15678345e-01 -9.47242543e-01 -5.54864618e-02 2.06576114e+02] [ 9.32200052e-01 3.20514784e-01 -1.68146771e-01 1.08055544e+02] [ 1.77060006e-01 1.35581160e-03 9.84199124e-01 3.04035034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:108.08, Z:30.41 [[ 3.11937087e-01 -9.48457535e-01 -5.58888016e-02 2.06589473e+02] [ 9.33174345e-01 3.16903376e-01 -1.69581519e-01 1.08079796e+02] [ 1.78552219e-01 7.44769078e-04 9.83930155e-01 3.04084710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06710568099993 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:206.60, Y:108.11, Z:30.41 [[ 3.12777448e-01 -9.48200883e-01 -5.55459512e-02 2.06595706e+02] [ 9.33063483e-01 3.17669912e-01 -1.68755340e-01 1.08106047e+02] [ 1.77659240e-01 9.54965910e-04 9.84091603e-01 3.04146320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09710568099996 meters Centerline goodness [0,1] 0.9999581195686316 Centerline is valid? [True, True] Translation: X:206.59, Y:108.13, Z:30.42 [[ 3.19221094e-01 -9.46101167e-01 -5.46852293e-02 2.06594889e+02] [ 9.31361699e-01 3.23863934e-01 -1.66365674e-01 1.08133925e+02] [ 1.75109332e-01 2.17570456e-03 9.84546590e-01 3.04241185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:108.16, Z:30.43 [[ 3.27608639e-01 -9.43319935e-01 -5.31044230e-02 2.06592347e+02] [ 9.29353466e-01 3.31864777e-01 -1.61764970e-01 1.08161803e+02] [ 1.70219608e-01 3.64282206e-03 9.85399419e-01 3.04347136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.60, Y:108.19, Z:30.44 [[ 3.30704233e-01 -9.42261746e-01 -5.27021048e-02 2.06598503e+02] [ 9.28469431e-01 3.34850871e-01 -1.60684194e-01 1.08189315e+02] [ 1.69053915e-01 4.20664976e-03 9.85597828e-01 3.04411874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18710568099993 meters Centerline goodness [0,1] 0.9999792311366799 Centerline is valid? [True, True] Translation: X:206.60, Y:108.22, Z:30.45 [[ 3.32774765e-01 -9.41544254e-01 -5.24916489e-02 2.06602768e+02] [ 9.27821783e-01 3.36857678e-01 -1.60229972e-01 1.08215651e+02] [ 1.68545825e-01 4.61759591e-03 9.85683003e-01 3.04468477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2171056809999 meters Centerline goodness [0,1] 0.9999789761379165 Centerline is valid? [True, True] Translation: X:206.61, Y:108.24, Z:30.45 [[ 3.36535231e-01 -9.40199688e-01 -5.26173435e-02 2.06606445e+02] [ 9.26357946e-01 3.40581247e-01 -1.60827142e-01 1.08243188e+02] [ 1.69130109e-01 5.38150503e-03 9.85579041e-01 3.04495941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.61, Y:108.27, Z:30.45 [[ 3.40114145e-01 -9.38877392e-01 -5.32128861e-02 2.06611359e+02] [ 9.24677155e-01 3.44196548e-01 -1.62790955e-01 1.08271772e+02] [ 1.71156439e-01 6.16276654e-03 9.85224590e-01 3.04509961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.62, Y:108.30, Z:30.45 [[ 3.41360124e-01 -9.38430672e-01 -5.31144014e-02 2.06616365e+02] [ 9.24244804e-01 3.45407545e-01 -1.62681193e-01 1.08298039e+02] [ 1.71011137e-01 6.44216281e-03 9.85248035e-01 3.04547426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:108.32, Z:30.46 [[ 3.43107459e-01 -9.37811497e-01 -5.27907901e-02 2.06626314e+02] [ 9.23755757e-01 3.47078638e-01 -1.61900343e-01 1.08324367e+02] [ 1.70154559e-01 6.78341908e-03 9.85394039e-01 3.04609105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3371056809999 meters Centerline goodness [0,1] 0.9999791100898267 Centerline is valid? [True, True] Translation: X:206.63, Y:108.35, Z:30.47 [[ 3.41953759e-01 -9.38233951e-01 -5.27700752e-02 2.06632304e+02] [ 9.24161078e-01 3.45937837e-01 -1.62028747e-01 1.08350036e+02] [ 1.70276037e-01 6.63828947e-03 9.85374043e-01 3.04659823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36710568099994 meters Centerline goodness [0,1] 0.9999164473409367 Centerline is valid? [True, True] Translation: X:206.65, Y:108.37, Z:30.47 [[ 3.39814514e-01 -9.39006974e-01 -5.28393758e-02 2.06648491e+02] [ 9.24869670e-01 3.43839772e-01 -1.62450933e-01 1.08373696e+02] [ 1.70710838e-01 6.33364871e-03 9.85300814e-01 3.04708001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:108.40, Z:30.48 [[ 3.35102711e-01 -9.40712445e-01 -5.25953378e-02 2.06665433e+02] [ 9.26693392e-01 3.39160319e-01 -1.61893899e-01 1.08396962e+02] [ 1.70133857e-01 5.51133265e-03 9.85405549e-01 3.04756883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.68, Y:108.42, Z:30.48 [[ 3.32991299e-01 -9.41448914e-01 -5.28274206e-02 2.06675712e+02] [ 9.27277584e-01 3.37115077e-01 -1.62818020e-01 1.08422448e+02] [ 1.71093768e-01 5.23130110e-03 9.85240862e-01 3.04788778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.4571056809999 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:206.69, Y:108.45, Z:30.48 [[ 3.29336097e-01 -9.42709500e-01 -5.32591215e-02 2.06687434e+02] [ 9.28294595e-01 3.33582095e-01 -1.64292819e-01 1.08448831e+02] [ 1.72646691e-01 4.66740116e-03 9.84972759e-01 3.04802839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.70, Y:108.48, Z:30.48 [[ 3.27692403e-01 -9.43269270e-01 -5.34861899e-02 2.06697310e+02] [ 9.28701464e-01 3.31998764e-01 -1.65198096e-01 1.08475072e+02] [ 1.73583637e-01 4.46145822e-03 9.84809025e-01 3.04828423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.71, Y:108.50, Z:30.49 [[ 3.23355282e-01 -9.44792863e-01 -5.29887504e-02 2.06713066e+02] [ 9.30480247e-01 3.27647490e-01 -1.63870777e-01 1.08498942e+02] [ 1.72185572e-01 3.68349587e-03 9.85057643e-01 3.04873205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:108.52, Z:30.49 [[ 3.16080880e-01 -9.47237312e-01 -5.32386372e-02 2.06730493e+02] [ 9.32784109e-01 3.20523759e-01 -1.64858505e-01 1.08521227e+02] [ 1.73224375e-01 2.44846658e-03 9.84879343e-01 3.04914672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5771056809999 meters Centerline goodness [0,1] 0.9999164316306278 Centerline is valid? [True, True] Translation: X:206.74, Y:108.55, Z:30.50 [[ 3.11663700e-01 -9.48699169e-01 -5.32505888e-02 2.06742105e+02] [ 9.34226242e-01 3.16175558e-01 -1.65088902e-01 1.08546761e+02] [ 1.73456238e-01 1.70412047e-03 9.84840103e-01 3.04953263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:108.57, Z:30.50 [[ 3.03702902e-01 -9.51281388e-01 -5.31814609e-02 2.06754572e+02] [ 9.36848180e-01 3.08323892e-01 -1.65081388e-01 1.08571117e+02] [ 1.73435967e-01 3.12741580e-04 9.84845098e-01 3.04984569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.77, Y:108.59, Z:30.50 [[ 2.99889574e-01 -9.52465601e-01 -5.36238924e-02 2.06765795e+02] [ 9.37770313e-01 3.04645999e-01 -1.66666300e-01 1.08594420e+02] [ 1.75080222e-01 -3.05408757e-04 9.84554124e-01 3.05017387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66710568099995 meters Centerline goodness [0,1] 0.9999367235451688 Centerline is valid? [True, True] Translation: X:206.78, Y:108.62, Z:30.51 [[ 2.91433181e-01 -9.55097971e-01 -5.34281413e-02 2.06782422e+02] [ 9.40510128e-01 2.96284799e-01 -1.66300984e-01 1.08617041e+02] [ 1.74663678e-01 -1.78408344e-03 9.84626537e-01 3.05091689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.6971056809999 meters Centerline goodness [0,1] 0.9999581519919651 Centerline is valid? [True, True] Translation: X:206.79, Y:108.64, Z:30.51 [[ 2.86431835e-01 -9.56623161e-01 -5.31877126e-02 2.06794346e+02] [ 9.42152386e-01 2.91316382e-01 -1.65781925e-01 1.08640841e+02] [ 1.74085281e-01 -2.62570948e-03 9.84727079e-01 3.05149296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72710568099995 meters Centerline goodness [0,1] 0.9999581519919651 Centerline is valid? [True, True] Translation: X:206.80, Y:108.67, Z:30.52 [[ 2.86051447e-01 -9.56740670e-01 -5.31211784e-02 2.06802070e+02] [ 9.42267951e-01 2.90930221e-01 -1.65803242e-01 1.08665994e+02] [ 1.74085261e-01 -2.62612660e-03 9.84727082e-01 3.05194235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.7571056809999 meters Centerline goodness [0,1] 0.9998746945680095 Centerline is valid? [True, True] Translation: X:206.81, Y:108.69, Z:30.53 [[ 2.75201993e-01 -9.59994323e-01 -5.17181095e-02 2.06813452e+02] [ 9.46298405e-01 2.79983999e-01 -1.61642473e-01 1.08689318e+02] [ 1.69656100e-01 -4.45643370e-03 9.85493251e-01 3.05305046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78710568099996 meters Centerline goodness [0,1] 0.9999791653645019 Centerline is valid? [True, True] Translation: X:206.82, Y:108.71, Z:30.54 [[ 2.69511980e-01 -9.61648330e-01 -5.09488164e-02 2.06824145e+02] [ 9.48361435e-01 2.74233059e-01 -1.59395162e-01 1.08714582e+02] [ 1.67253941e-01 -5.35898679e-03 9.85899285e-01 3.05383736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81710568099993 meters Centerline goodness [0,1] 0.9999790070326441 Centerline is valid? [True, True] Translation: X:206.83, Y:108.74, Z:30.55 [[ 2.61509410e-01 -9.63937759e-01 -4.93642119e-02 2.06833283e+02] [ 9.51475329e-01 2.66047678e-01 -1.54639360e-01 1.08739347e+02] [ 1.62195952e-01 -6.52918198e-03 9.86736967e-01 3.05496242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84710568099996 meters Centerline goodness [0,1] 0.9999580281631025 Centerline is valid? [True, True] Translation: X:206.84, Y:108.77, Z:30.56 [[ 2.59673358e-01 -9.64457741e-01 -4.88979836e-02 2.06835232e+02] [ 9.52204738e-01 2.64151466e-01 -1.53395368e-01 1.08766294e+02] [ 1.60859824e-01 -6.72820137e-03 9.86954329e-01 3.05559932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87710568099993 meters Centerline goodness [0,1] 0.9999161407995975 Centerline is valid? [True, True] Translation: X:206.84, Y:108.80, Z:30.56 [[ 2.60706867e-01 -9.64173673e-01 -4.90005831e-02 2.06836957e+02] [ 9.51828442e-01 2.65191947e-01 -1.53934560e-01 1.08795137e+02] [ 1.61414210e-01 -6.50835192e-03 9.86865287e-01 3.05596593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90710568099996 meters Centerline goodness [0,1] 0.9999791148889956 Centerline is valid? [True, True] Translation: X:206.83, Y:108.82, Z:30.56 [[ 2.66167366e-01 -9.62698370e-01 -4.86495691e-02 2.06828607e+02] [ 9.50474352e-01 2.70520779e-01 -1.53026190e-01 1.08824948e+02] [ 1.60478783e-01 -5.50958956e-03 9.87023913e-01 3.05645065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:108.85, Z:30.57 [[ 2.70591250e-01 -9.61484578e-01 -4.82470858e-02 2.06826652e+02] [ 9.49409032e-01 2.74818994e-01 -1.51977005e-01 1.08854817e+02] [ 1.59382762e-01 -4.68257132e-03 9.87205758e-01 3.05696391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.82, Y:108.89, Z:30.57 [[ 2.79448237e-01 -9.58937374e-01 -4.84540519e-02 2.06815847e+02] [ 9.46687180e-01 2.83600235e-01 -1.52821107e-01 1.08885981e+02] [ 1.60287451e-01 -3.16524096e-03 9.87065304e-01 3.05714781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:108.92, Z:30.57 [[ 2.87568915e-01 -9.56491705e-01 -4.92720798e-02 2.06806681e+02] [ 9.43747013e-01 2.91754299e-01 -1.55630987e-01 1.08918805e+02] [ 1.63235090e-01 -1.74574390e-03 9.86585657e-01 3.05726638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:108.95, Z:30.58 [[ 2.91338521e-01 -9.55351218e-01 -4.92536028e-02 2.06806555e+02] [ 9.42567255e-01 2.95470747e-01 -1.55769085e-01 1.08947466e+02] [ 1.63367184e-01 -1.04329843e-03 9.86564785e-01 3.05769923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:108.98, Z:30.58 [[ 2.95327640e-01 -9.54141193e-01 -4.89506877e-02 2.06806605e+02] [ 9.41465277e-01 2.99356795e-01 -1.55011743e-01 1.08976229e+02] [ 1.62556810e-01 -3.06120576e-04 9.86699138e-01 3.05824502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:109.01, Z:30.59 [[ 3.03119140e-01 -9.51725541e-01 -4.83454482e-02 2.06799712e+02] [ 9.39300022e-01 3.06948503e-01 -1.53290849e-01 1.09007898e+02] [ 1.60730379e-01 1.05450975e-03 9.86997788e-01 3.05876653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11710568099994 meters Centerline goodness [0,1] 0.999978950470457 Centerline is valid? [True, True] Translation: X:206.80, Y:109.04, Z:30.59 [[ 3.09282458e-01 -9.49762653e-01 -4.79089114e-02 2.06795347e+02] [ 9.37505807e-01 3.12963847e-01 -1.52106845e-01 1.09037073e+02] [ 1.59459158e-01 2.12909620e-03 9.87202231e-01 3.05929356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:109.07, Z:30.60 [[ 3.11793815e-01 -9.48947174e-01 -4.77899402e-02 2.06796143e+02] [ 9.36709003e-01 3.15424264e-01 -1.51933462e-01 1.09065033e+02] [ 1.59250936e-01 2.60664647e-03 9.87234696e-01 3.05966607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:109.09, Z:30.60 [[ 3.11504247e-01 -9.49026810e-01 -4.80959208e-02 2.06803446e+02] [ 9.36601259e-01 3.15184285e-01 -1.53091304e-01 1.09091659e+02] [ 1.60446830e-01 2.64189137e-03 9.87040949e-01 3.05993070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:109.12, Z:30.60 [[ 3.09941840e-01 -9.49500106e-01 -4.88426546e-02 2.06811448e+02] [ 9.36654551e-01 3.13756737e-01 -1.55675823e-01 1.09118921e+02] [ 1.63138922e-01 2.50175625e-03 9.86599936e-01 3.05987383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23710568099995 meters Centerline goodness [0,1] 0.999895110029579 Centerline is valid? [True, True] Translation: X:206.82, Y:109.14, Z:30.60 [[ 3.08654566e-01 -9.49906500e-01 -4.90917554e-02 2.06818307e+02] [ 9.36899052e-01 3.12525273e-01 -1.56678399e-01 1.09144492e+02] [ 1.64172244e-01 2.36548415e-03 9.86428851e-01 3.06024119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:109.17, Z:30.61 [[ 3.07020384e-01 -9.50441507e-01 -4.89839310e-02 2.06826203e+02] [ 9.37461026e-01 3.10896022e-01 -1.56558259e-01 1.09171183e+02] [ 1.64028377e-01 2.14605073e-03 9.86453286e-01 3.06070389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29710568099995 meters Centerline goodness [0,1] 0.9999582158153139 Centerline is valid? [True, True] Translation: X:206.83, Y:109.20, Z:30.61 [[ 3.07045022e-01 -9.50427381e-01 -4.91034300e-02 2.06832516e+02] [ 9.37347504e-01 3.10938641e-01 -1.57152214e-01 1.09196762e+02] [ 1.64629921e-01 2.22582744e-03 9.86352896e-01 3.06113264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.84, Y:109.22, Z:30.62 [[ 3.09565045e-01 -9.49599658e-01 -4.92947439e-02 2.06837237e+02] [ 9.36368696e-01 3.13453228e-01 -1.57989680e-01 1.09224661e+02] [ 1.65478543e-01 2.75002744e-03 9.86209556e-01 3.06152318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.84, Y:109.25, Z:30.62 [[ 3.16135710e-01 -9.47418642e-01 -4.95593598e-02 2.06840247e+02] [ 9.33982587e-01 3.19971852e-01 -1.59042576e-01 1.09253573e+02] [ 1.66537501e-01 3.99145865e-03 9.86027043e-01 3.06186373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.3871056809999 meters Centerline goodness [0,1] 0.999979210843624 Centerline is valid? [True, True] Translation: X:206.84, Y:109.28, Z:30.62 [[ 3.20753439e-01 -9.45860536e-01 -4.96495467e-02 2.06842500e+02] [ 9.32321423e-01 3.24536590e-01 -1.59539231e-01 1.09281180e+02] [ 1.67014957e-01 4.88342079e-03 9.85942268e-01 3.06230028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.85, Y:109.31, Z:30.62 [[ 3.31315199e-01 -9.42166475e-01 -5.05229909e-02 2.06845550e+02] [ 9.28060886e-01 3.35072678e-01 -1.62570883e-01 1.09309530e+02] [ 1.70097710e-01 6.97379283e-03 9.85402524e-01 3.06245347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4471056809999 meters Centerline goodness [0,1] 0.999978916742215 Centerline is valid? [True, True] Translation: X:206.85, Y:109.34, Z:30.63 [[ 3.35735195e-01 -9.40566589e-01 -5.11504754e-02 2.06849289e+02] [ 9.26047838e-01 3.39515865e-01 -1.64816197e-01 1.09336784e+02] [ 1.72387006e-01 7.96681076e-03 9.84997081e-01 3.06264945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:109.36, Z:30.63 [[ 3.39130736e-01 -9.39356092e-01 -5.09948661e-02 2.06859032e+02] [ 9.24881891e-01 3.42834984e-01 -1.64492130e-01 1.09361764e+02] [ 1.71999509e-01 8.62010906e-03 9.85059319e-01 3.06307944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.5071056809999 meters Centerline goodness [0,1] 0.9999581904841542 Centerline is valid? [True, True] Translation: X:206.87, Y:109.39, Z:30.64 [[ 3.37788020e-01 -9.39864477e-01 -5.05372926e-02 2.06870478e+02] [ 9.25618311e-01 3.41445254e-01 -1.63235661e-01 1.09386315e+02] [ 1.70675118e-01 8.36080737e-03 9.85291886e-01 3.06366154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.89, Y:109.41, Z:30.64 [[ 3.31879629e-01 -9.42008856e-01 -4.97516480e-02 2.06888246e+02] [ 9.28205611e-01 3.35510831e-01 -1.60831669e-01 1.09408102e+02] [ 1.68197074e-01 7.19699596e-03 9.85727116e-01 3.06443668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.90, Y:109.43, Z:30.65 [[ 3.28832309e-01 -9.43085517e-01 -4.95884986e-02 2.06902116e+02] [ 9.29347384e-01 3.32482782e-01 -1.60526135e-01 1.09432380e+02] [ 1.67877195e-01 6.70123836e-03 9.85785139e-01 3.06492232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:109.46, Z:30.65 [[ 3.25908518e-01 -9.44096374e-01 -4.96555536e-02 2.06920811e+02] [ 9.30296516e-01 3.29610122e-01 -1.60952042e-01 1.09455396e+02] [ 1.68321213e-01 6.26125308e-03 9.85712314e-01 3.06536986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.94, Y:109.48, Z:30.66 [[ 3.23919021e-01 -9.44788217e-01 -4.95145774e-02 2.06936394e+02] [ 9.31039765e-01 3.27627486e-01 -1.60702166e-01 1.09479013e+02] [ 1.68051849e-01 5.95444761e-03 9.85760174e-01 3.06590472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:109.50, Z:30.66 [[ 3.22395805e-01 -9.45311452e-01 -4.94692139e-02 2.06948535e+02] [ 9.31560338e-01 3.26118499e-01 -1.60754661e-01 1.09504626e+02] [ 1.68096048e-01 5.74307069e-03 9.85753892e-01 3.06637175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.96, Y:109.53, Z:30.67 [[ 3.18158715e-01 -9.46761575e-01 -4.91686157e-02 2.06964445e+02] [ 9.33162705e-01 3.21896551e-01 -1.59968675e-01 1.09527120e+02] [ 1.67279403e-01 5.01310982e-03 9.85896785e-01 3.06685954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:109.55, Z:30.67 [[ 3.14249613e-01 -9.48073901e-01 -4.90210018e-02 2.06977437e+02] [ 9.34542212e-01 3.18020184e-01 -1.59668456e-01 1.09551951e+02] [ 1.66967164e-01 4.36355503e-03 9.85952801e-01 3.06734409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.00, Y:109.57, Z:30.68 [[ 3.06280358e-01 -9.50660133e-01 -4.93725941e-02 2.06997620e+02] [ 9.36929178e-01 3.10219202e-01 -1.61020996e-01 1.09574684e+02] [ 1.68392568e-01 3.05894423e-03 9.85715266e-01 3.06774739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:109.60, Z:30.68 [[ 3.04153716e-01 -9.51321952e-01 -4.97700859e-02 2.07009051e+02] [ 9.37350223e-01 3.08186486e-01 -1.62467380e-01 1.09600066e+02] [ 1.69897252e-01 2.76305618e-03 9.85457908e-01 3.06802544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:109.63, Z:30.68 [[ 3.06155498e-01 -9.50641237e-01 -5.04980130e-02 2.07016664e+02] [ 9.36206669e-01 3.10275067e-01 -1.65065005e-01 1.09625946e+02] [ 1.72585875e-01 3.25898223e-03 9.84989084e-01 3.06813556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:109.65, Z:30.68 [[ 3.12108888e-01 -9.48673845e-01 -5.10487797e-02 2.07020509e+02] [ 9.33854820e-01 3.16224441e-01 -1.67084646e-01 1.09652875e+02] [ 1.74651706e-01 4.47645414e-03 9.84620101e-01 3.06826818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.03, Y:109.68, Z:30.69 [[ 3.15427734e-01 -9.47552447e-01 -5.14752896e-02 2.07030030e+02] [ 9.32439732e-01 3.19558082e-01 -1.68638011e-01 1.09678798e+02] [ 1.76242705e-01 5.19550053e-03 9.84333031e-01 3.06862162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.04, Y:109.70, Z:30.69 [[ 3.16144570e-01 -9.47314882e-01 -5.14502254e-02 2.07037310e+02] [ 9.32175323e-01 3.20258338e-01 -1.68771336e-01 1.09704431e+02] [ 1.76356962e-01 5.39551103e-03 9.84311491e-01 3.06904401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.05, Y:109.73, Z:30.69 [[ 3.15382124e-01 -9.47539182e-01 -5.19963014e-02 2.07049893e+02] [ 9.32035016e-01 3.19593975e-01 -1.70793503e-01 1.09730335e+02] [ 1.78451241e-01 5.40284419e-03 9.83933923e-01 3.06930483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:109.76, Z:30.70 [[ 3.14268070e-01 -9.47887594e-01 -5.23897804e-02 2.07058197e+02] [ 9.32109826e-01 3.18560552e-01 -1.72309161e-01 1.09755984e+02] [ 1.80019033e-01 5.31823825e-03 9.83648750e-01 3.06952913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.07, Y:109.78, Z:30.70 [[ 3.13870025e-01 -9.47992049e-01 -5.28836728e-02 2.07067951e+02] [ 9.31867706e-01 3.18248350e-01 -1.74185434e-01 1.09780972e+02] [ 1.81956548e-01 5.39099972e-03 9.83291794e-01 3.06973698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:109.80, Z:30.70 [[ 3.13804332e-01 -9.48022643e-01 -5.27248468e-02 2.07076324e+02] [ 9.31952673e-01 3.18156488e-01 -1.73898432e-01 1.09804825e+02] [ 1.81634404e-01 5.43301955e-03 9.83351120e-01 3.07021386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:109.83, Z:30.71 [[ 3.15593176e-01 -9.47463936e-01 -5.20868258e-02 2.07083929e+02] [ 9.31730388e-01 3.19810646e-01 -1.72045441e-01 1.09830554e+02] [ 1.79664773e-01 5.76548889e-03 9.83710999e-01 3.07107467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.09, Y:109.86, Z:30.72 [[ 3.16296391e-01 -9.47247959e-01 -5.17484031e-02 2.07088540e+02] [ 9.31678394e-01 3.20446998e-01 -1.71140563e-01 1.09856909e+02] [ 1.78695169e-01 5.91827330e-03 9.83886686e-01 3.07157711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10710568099995 meters Centerline goodness [0,1] 0.9999374713410313 Centerline is valid? [True, True] Translation: X:207.09, Y:109.88, Z:30.72 [[ 3.17656518e-01 -9.46793153e-01 -5.17403255e-02 2.07089034e+02] [ 9.31181890e-01 3.21782071e-01 -1.71337637e-01 1.09884810e+02] [ 1.78870411e-01 6.24686305e-03 9.83852811e-01 3.07176286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1371056809999 meters Centerline goodness [0,1] 0.9999579425495226 Centerline is valid? [True, True] Translation: X:207.10, Y:109.91, Z:30.72 [[ 3.15847403e-01 -9.47419487e-01 -5.13491424e-02 2.07104140e+02] [ 9.32013984e-01 3.19939512e-01 -1.70260512e-01 1.09908407e+02] [ 1.77736746e-01 5.91822179e-03 9.84060274e-01 3.07244202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.12, Y:109.93, Z:30.73 [[ 3.13523543e-01 -9.48218052e-01 -5.08479465e-02 2.07121517e+02] [ 9.33088815e-01 3.17572880e-01 -1.68797892e-01 1.09931559e+02] [ 1.76205137e-01 5.47646294e-03 9.84338234e-01 3.07334176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.13, Y:109.96, Z:30.74 [[ 3.07085542e-01 -9.50376382e-01 -4.98317404e-02 2.07131155e+02] [ 9.35839892e-01 3.11073670e-01 -1.65640784e-01 1.09955209e+02] [ 1.72922432e-01 4.23135938e-03 9.84926357e-01 3.07414000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.15, Y:109.98, Z:30.75 [[ 3.04176082e-01 -9.51324682e-01 -4.95808501e-02 2.07147516e+02] [ 9.36905353e-01 3.08167612e-01 -1.65048726e-01 1.09978988e+02] [ 1.72294139e-01 3.75131096e-03 9.85038404e-01 3.07481180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:110.01, Z:30.75 [[ 3.00820170e-01 -9.52359813e-01 -5.01797996e-02 2.07160161e+02] [ 9.37562097e-01 3.04959171e-01 -1.67263918e-01 1.10005309e+02] [ 1.74598224e-01 3.26968223e-03 9.84634333e-01 3.07500628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:110.03, Z:30.75 [[ 3.01007501e-01 -9.52284613e-01 -5.04826749e-02 2.07166883e+02] [ 9.37283105e-01 3.05192796e-01 -1.68397560e-01 1.10031302e+02] [ 1.75769354e-01 3.37237041e-03 9.84425600e-01 3.07529693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31710568099993 meters Centerline goodness [0,1] 0.9999367995281031 Centerline is valid? [True, True] Translation: X:207.17, Y:110.06, Z:30.76 [[ 3.02854556e-01 -9.51692377e-01 -5.06037311e-02 2.07172210e+02] [ 9.36578367e-01 3.07029836e-01 -1.68978229e-01 1.10058716e+02] [ 1.76352147e-01 3.78146667e-03 9.84319877e-01 3.07567294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:110.09, Z:30.76 [[ 3.10099101e-01 -9.49357523e-01 -5.05849912e-02 2.07172186e+02] [ 9.34181636e-01 3.14154868e-01 -1.69149018e-01 1.10087188e+02] [ 1.76474414e-01 5.19738874e-03 9.84291506e-01 3.07613783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:110.12, Z:30.76 [[ 3.19244574e-01 -9.46312340e-01 -5.07528977e-02 2.07172264e+02] [ 9.30952971e-01 3.23177752e-01 -1.69949128e-01 1.10116315e+02] [ 1.77227164e-01 7.00677591e-03 9.84145029e-01 3.07641280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.18, Y:110.14, Z:30.77 [[ 3.23021063e-01 -9.45032283e-01 -5.07087464e-02 2.07176292e+02] [ 9.29641212e-01 3.26884331e-01 -1.70040734e-01 1.10143426e+02] [ 1.77269878e-01 7.78579825e-03 9.84131481e-01 3.07685240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43710568099993 meters Centerline goodness [0,1] 0.9998944858294468 Centerline is valid? [True, True] Translation: X:207.18, Y:110.17, Z:30.77 [[ 3.29756495e-01 -9.42692113e-01 -5.09139837e-02 2.07179442e+02] [ 9.27104580e-01 3.33537706e-01 -1.70966944e-01 1.10171940e+02] [ 1.78150923e-01 9.17487283e-03 9.83960401e-01 3.07713426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.4671056809999 meters Centerline goodness [0,1] 0.9999577863143231 Centerline is valid? [True, True] Translation: X:207.18, Y:110.20, Z:30.77 [[ 3.31400409e-01 -9.42113784e-01 -5.09449420e-02 2.07183826e+02] [ 9.26458322e-01 3.35156679e-01 -1.71303761e-01 1.10198592e+02] [ 1.78462173e-01 9.57177117e-03 9.83900216e-01 3.07744732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49710568099994 meters Centerline goodness [0,1] 0.9999789677365079 Centerline is valid? [True, True] Translation: X:207.19, Y:110.23, Z:30.78 [[ 3.32424543e-01 -9.41753130e-01 -5.09407951e-02 2.07191119e+02] [ 9.26065691e-01 3.36161516e-01 -1.71457782e-01 1.10226001e+02] [ 1.78595238e-01 9.82225240e-03 9.83873602e-01 3.07782949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5271056809999 meters Centerline goodness [0,1] 0.9997677021519228 Centerline is valid? [True, True] Translation: X:207.20, Y:110.25, Z:30.78 [[ 3.34136216e-01 -9.41156346e-01 -5.07712693e-02 2.07198423e+02] [ 9.25529274e-01 3.37818156e-01 -1.71097795e-01 1.10251765e+02] [ 1.78181232e-01 1.01796737e-02 9.83945030e-01 3.07826472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55710568099994 meters Centerline goodness [0,1] 0.9998532310143834 Centerline is valid? [True, True] Translation: X:207.21, Y:110.28, Z:30.79 [[ 3.34702836e-01 -9.40970024e-01 -5.04918312e-02 2.07207768e+02] [ 9.25484564e-01 3.38333860e-01 -1.70318879e-01 1.10277542e+02] [ 1.77348056e-01 1.02768014e-02 9.84094535e-01 3.07886832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5871056809999 meters Centerline goodness [0,1] 0.9998520428652956 Centerline is valid? [True, True] Translation: X:207.22, Y:110.30, Z:30.80 [[ 3.34932651e-01 -9.40941473e-01 -4.94900373e-02 2.07220277e+02] [ 9.26030529e-01 3.38416871e-01 -1.67157053e-01 1.10302148e+02] [ 1.74033267e-01 1.01570694e-02 9.84687390e-01 3.07970106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61710568099994 meters Centerline goodness [0,1] 0.9998521147589471 Centerline is valid? [True, True] Translation: X:207.23, Y:110.33, Z:30.80 [[ 3.34089669e-01 -9.41258374e-01 -4.91606125e-02 2.07227648e+02] [ 9.26511311e-01 3.37539154e-01 -1.66265179e-01 1.10327314e+02] [ 1.73092124e-01 9.99961515e-03 9.84854875e-01 3.08019937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.6471056809999 meters Centerline goodness [0,1] 0.9998521147589471 Centerline is valid? [True, True] Translation: X:207.24, Y:110.35, Z:30.81 [[ 3.33761190e-01 -9.41378063e-01 -4.91000067e-02 2.07235104e+02] [ 9.26629712e-01 3.37205154e-01 -1.66283075e-01 1.10353418e+02] [ 1.73092015e-01 1.00013120e-02 9.84854877e-01 3.08066356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67710568099994 meters Centerline goodness [0,1] 0.9996431045703609 Centerline is valid? [True, True] Translation: X:207.25, Y:110.38, Z:30.81 [[ 3.30829519e-01 -9.42402741e-01 -4.92839101e-02 2.07247673e+02] [ 9.27515026e-01 3.34343139e-01 -1.67124333e-01 1.10377652e+02] [ 1.73976167e-01 9.57809566e-03 9.84703282e-01 3.08084621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.27, Y:110.40, Z:30.81 [[ 3.28297773e-01 -9.43280990e-01 -4.94120018e-02 2.07270186e+02] [ 9.28289416e-01 3.31867787e-01 -1.67757363e-01 1.10399676e+02] [ 1.74640583e-01 9.20573026e-03 9.84589215e-01 3.08135186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.29, Y:110.42, Z:30.82 [[ 3.23349356e-01 -9.44963158e-01 -4.98981275e-02 2.07288454e+02] [ 9.29648257e-01 3.27067137e-01 -1.69650249e-01 1.10422466e+02] [ 1.76633273e-01 8.46859141e-03 9.84240301e-01 3.08160124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.7671056809999 meters Centerline goodness [0,1] 0.9999580545710032 Centerline is valid? [True, True] Translation: X:207.29, Y:110.45, Z:30.82 [[ 3.21557602e-01 -9.45568614e-01 -5.00070542e-02 2.07293589e+02] [ 9.30148742e-01 3.25318536e-01 -1.70267931e-01 1.10449239e+02] [ 1.77268233e-01 8.23694918e-03 9.84128105e-01 3.08185509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79710568099995 meters Centerline goodness [0,1] 0.9998736921878618 Centerline is valid? [True, True] Translation: X:207.31, Y:110.47, Z:30.82 [[ 3.22817425e-01 -9.45140203e-01 -4.99890690e-02 2.07309677e+02] [ 9.29699051e-01 3.26553830e-01 -1.70359238e-01 1.10473621e+02] [ 1.77337487e-01 8.52014042e-03 9.84113217e-01 3.08225523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8271056809999 meters Centerline goodness [0,1] 0.9998733910107618 Centerline is valid? [True, True] Translation: X:207.32, Y:110.50, Z:30.82 [[ 3.27137886e-01 -9.43637506e-01 -5.02897671e-02 2.07321594e+02] [ 9.27948955e-01 3.30845075e-01 -1.71616648e-01 1.10499496e+02] [ 1.78582027e-01 9.47597059e-03 9.83879396e-01 3.08246167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85710568099995 meters Centerline goodness [0,1] 0.9996859756735822 Centerline is valid? [True, True] Translation: X:207.33, Y:110.53, Z:30.83 [[ 3.29877547e-01 -9.42657677e-01 -5.07671901e-02 2.07327781e+02] [ 9.26611036e-01 3.33605571e-01 -1.73491528e-01 1.10526368e+02] [ 1.80479338e-01 1.01895208e-02 9.83525995e-01 3.08268180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.8871056809999 meters Centerline goodness [0,1] 0.9974433198808291 Centerline is valid? [True, True] Translation: X:207.34, Y:110.55, Z:30.83 [[ 3.36082546e-01 -9.40422274e-01 -5.15215437e-02 2.07336135e+02] [ 9.23820634e-01 3.39808818e-01 -1.76310529e-01 1.10553003e+02] [ 1.83313824e-01 1.16582263e-02 9.82985314e-01 3.08292786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91710568099995 meters Centerline goodness [0,1] 0.9964855423208048 Centerline is valid? [True, True] Translation: X:207.34, Y:110.58, Z:30.84 [[ 3.40783057e-01 -9.38740652e-01 -5.13117545e-02 2.07344936e+02] [ 9.22223144e-01 3.44394726e-01 -1.75774701e-01 1.10578496e+02] [ 1.82678355e-01 1.25801525e-02 9.83092243e-01 3.08350613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9471056809999 meters Centerline goodness [0,1] 0.9732984624470082 Centerline is valid? [True, True] Translation: X:207.35, Y:110.61, Z:30.84 [[ 3.41825211e-01 -9.38381111e-01 -5.09550383e-02 2.07347577e+02] [ 9.22045882e-01 3.45366332e-01 -1.74795560e-01 1.10605381e+02] [ 1.81623007e-01 1.27666460e-02 9.83285358e-01 3.08394524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97710568099995 meters Centerline goodness [0,1] 0.99930345948456 Centerline is valid? [True, True] Translation: X:207.37, Y:110.63, Z:30.85 [[ 3.40138152e-01 -9.39007323e-01 -5.07078339e-02 2.07372091e+02] [ 9.22792853e-01 3.43671459e-01 -1.74193221e-01 1.10626783e+02] [ 1.80995545e-01 1.24569334e-02 9.83405022e-01 3.08465153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.0071056809999 meters Centerline goodness [0,1] 0.9915325816123992 Centerline is valid? [True, True] Translation: X:207.37, Y:110.65, Z:30.85 [[ 3.38064350e-01 -9.39747776e-01 -5.08587510e-02 2.07374673e+02] [ 9.23399497e-01 3.41651471e-01 -1.74950396e-01 1.10654563e+02] [ 1.81785213e-01 1.21815469e-02 9.83262806e-01 3.08479503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03710568099996 meters Centerline goodness [0,1] 0.9988184906217693 Centerline is valid? [True, True] Translation: X:207.40, Y:110.68, Z:30.86 [[ 3.32195160e-01 -9.41870256e-01 -5.02672428e-02 2.07400997e+02] [ 9.25899222e-01 3.35798408e-01 -1.73060858e-01 1.10675412e+02] [ 1.79880535e-01 1.09475785e-02 9.83627543e-01 3.08550906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06710568099993 meters Centerline goodness [0,1] 0.9990960499484959 Centerline is valid? [True, True] Translation: X:207.42, Y:110.70, Z:30.86 [[ 3.22780816e-01 -9.45191834e-01 -4.92436972e-02 2.07423903e+02] [ 9.29865211e-01 3.26391308e-01 -1.69762786e-01 1.10696306e+02] [ 1.76531114e-01 9.00616968e-03 9.84253857e-01 3.08644463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09710568099996 meters Centerline goodness [0,1] 0.9993066498581784 Centerline is valid? [True, True] Translation: X:207.44, Y:110.72, Z:30.87 [[ 3.17464086e-01 -9.47003913e-01 -4.89912589e-02 2.07440177e+02] [ 9.31813392e-01 3.21121343e-01 -1.69129787e-01 1.10720358e+02] [ 1.75898709e-01 8.04192221e-03 9.84375422e-01 3.08704246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12710568099993 meters Centerline goodness [0,1] 0.9991386735572783 Centerline is valid? [True, True] Translation: X:207.45, Y:110.74, Z:30.87 [[ 3.12719705e-01 -9.48572741e-01 -4.91542604e-02 2.07452671e+02] [ 9.33255627e-01 3.16475806e-01 -1.69932336e-01 1.10744340e+02] [ 1.76749316e-01 7.26770006e-03 9.84229069e-01 3.08738457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15710568099996 meters Centerline goodness [0,1] 0.9993456326254908 Centerline is valid? [True, True] Translation: X:207.47, Y:110.77, Z:30.88 [[ 3.05506642e-01 -9.50897585e-01 -4.95930862e-02 2.07471901e+02] [ 9.35297259e-01 3.09446486e-01 -1.71644719e-01 1.10767322e+02] [ 1.78562955e-01 6.05432409e-03 9.83909862e-01 3.08772185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18710568099993 meters Centerline goodness [0,1] 0.9994107496106739 Centerline is valid? [True, True] Translation: X:207.48, Y:110.79, Z:30.88 [[ 3.02350559e-01 -9.51902202e-01 -4.96622240e-02 2.07480399e+02] [ 9.36224433e-01 3.06351716e-01 -1.72140747e-01 1.10792698e+02] [ 1.79075264e-01 5.55186361e-03 9.83819713e-01 3.08789659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2171056809999 meters Centerline goodness [0,1] 0.9995386389850057 Centerline is valid? [True, True] Translation: X:207.49, Y:110.82, Z:30.88 [[ 3.01155735e-01 -9.52286676e-01 -4.95510880e-02 2.07490288e+02] [ 9.36642862e-01 3.05157521e-01 -1.71985572e-01 1.10818144e+02] [ 1.78900456e-01 5.38276847e-03 9.83852455e-01 3.08840935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24710568099994 meters Centerline goodness [0,1] 0.9992421052631579 Centerline is valid? [True, True] Translation: X:207.50, Y:110.84, Z:30.89 [[ 2.98551841e-01 -9.53108919e-01 -4.94993568e-02 2.07503850e+02] [ 9.37463280e-01 3.02586754e-01 -1.72057706e-01 1.10842693e+02] [ 1.78967584e-01 4.96431547e-03 9.83842446e-01 3.08913198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2771056809999 meters Centerline goodness [0,1] 0.99938877882224 Centerline is valid? [True, True] Translation: X:207.51, Y:110.87, Z:30.90 [[ 2.96637079e-01 -9.53710389e-01 -4.94260704e-02 2.07512234e+02] [ 9.38076544e-01 3.00690378e-01 -1.72039806e-01 1.10868251e+02] [ 1.78938094e-01 4.66794811e-03 9.83849261e-01 3.08964838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30710568099994 meters Centerline goodness [0,1] 0.9993888947423876 Centerline is valid? [True, True] Translation: X:207.52, Y:110.89, Z:30.90 [[ 2.93084496e-01 -9.54833730e-01 -4.89287967e-02 2.07521315e+02] [ 9.39488488e-01 2.97113488e-01 -1.70543122e-01 1.10894086e+02] [ 1.77377731e-01 4.01550373e-03 9.84134654e-01 3.09031332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3371056809999 meters Centerline goodness [0,1] 0.9994553833263511 Centerline is valid? [True, True] Translation: X:207.53, Y:110.92, Z:30.91 [[ 2.92320957e-01 -9.55065688e-01 -4.89692764e-02 2.07526195e+02] [ 9.39652952e-01 2.96367850e-01 -1.70933984e-01 1.10920739e+02] [ 1.77766102e-01 3.95346075e-03 9.84064827e-01 3.09063828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36710568099994 meters Centerline goodness [0,1] 0.999304399148416 Centerline is valid? [True, True] Translation: X:207.53, Y:110.95, Z:30.91 [[ 2.93074826e-01 -9.54823679e-01 -4.91822059e-02 2.07534531e+02] [ 9.39224495e-01 2.97143264e-01 -1.71939610e-01 1.10946889e+02] [ 1.78786172e-01 4.19803878e-03 9.83878997e-01 3.09108311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.3971056809999 meters Centerline goodness [0,1] 0.9994523779434685 Centerline is valid? [True, True] Translation: X:207.54, Y:110.97, Z:30.91 [[ 2.97563640e-01 -9.53430374e-01 -4.92585187e-02 2.07536024e+02] [ 9.37718753e-01 3.01569663e-01 -1.72450803e-01 1.10974698e+02] [ 1.79274708e-01 5.12445187e-03 9.83785708e-01 3.09133496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42710568099994 meters Centerline goodness [0,1] 0.9994953848741616 Centerline is valid? [True, True] Translation: X:207.54, Y:111.00, Z:30.92 [[ 2.99881080e-01 -9.52723266e-01 -4.88847288e-02 2.07541106e+02] [ 9.37195670e-01 3.03788075e-01 -1.71397435e-01 1.11001381e+02] [ 1.78144922e-01 5.58429166e-03 9.83988416e-01 3.09190767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.4571056809999 meters Centerline goodness [0,1] 0.9992036047364561 Centerline is valid? [True, True] Translation: X:207.55, Y:111.03, Z:30.93 [[ 3.05394477e-01 -9.50989515e-01 -4.85093372e-02 2.07545557e+02] [ 9.35636410e-01 3.09152081e-01 -1.70321751e-01 1.11027896e+02] [ 1.76970962e-01 6.62822000e-03 9.84193754e-01 3.09265196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48710568099995 meters Centerline goodness [0,1] 0.9990097549670269 Centerline is valid? [True, True] Translation: X:207.55, Y:111.06, Z:30.93 [[ 3.10778244e-01 -9.49246644e-01 -4.84529749e-02 2.07547379e+02] [ 9.33875780e-01 3.14438946e-01 -1.70306128e-01 1.11055735e+02] [ 1.76898023e-01 7.67837991e-03 9.84199234e-01 3.09295626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5171056809999 meters Centerline goodness [0,1] 0.9990969611693303 Centerline is valid? [True, True] Translation: X:207.55, Y:111.08, Z:30.93 [[ 3.12529980e-01 -9.48667151e-01 -4.85350214e-02 2.07552419e+02] [ 9.33190609e-01 3.16172364e-01 -1.70851760e-01 1.11081910e+02] [ 1.77426885e-01 8.10387103e-03 9.84100619e-01 3.09331447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54710568099995 meters Centerline goodness [0,1] 0.9991631273929326 Centerline is valid? [True, True] Translation: X:207.56, Y:111.11, Z:30.94 [[ 3.15388221e-01 -9.47698994e-01 -4.89580078e-02 2.07557412e+02] [ 9.31891914e-01 3.19043876e-01 -1.72593354e-01 1.11108393e+02] [ 1.79186301e-01 8.81033944e-03 9.83775710e-01 3.09358990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5771056809999 meters Centerline goodness [0,1] 0.998578714154335 Centerline is valid? [True, True] Translation: X:207.56, Y:111.14, Z:30.94 [[ 3.16830717e-01 -9.47229163e-01 -4.87361152e-02 2.07557642e+02] [ 9.31515550e-01 3.20427551e-01 -1.72060935e-01 1.11136233e+02] [ 1.78597530e-01 9.11574035e-03 9.83879985e-01 3.09398968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60710568099995 meters Centerline goodness [0,1] 0.9990361243818624 Centerline is valid? [True, True] Translation: X:207.57, Y:111.16, Z:30.95 [[ 3.19261684e-01 -9.46431758e-01 -4.83622288e-02 2.07568517e+02] [ 9.30909079e-01 3.22762192e-01 -1.70976182e-01 1.11160958e+02] [ 1.77426788e-01 9.56530590e-03 9.84087516e-01 3.09472363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6371056809999 meters Centerline goodness [0,1] 0.9991161244160107 Centerline is valid? [True, True] Translation: X:207.58, Y:111.19, Z:30.95 [[ 3.19336941e-01 -9.46406947e-01 -4.83508905e-02 2.07575481e+02] [ 9.30860579e-01 3.22832930e-01 -1.71106639e-01 1.11188086e+02] [ 1.77545771e-01 9.63273263e-03 9.84065399e-01 3.09512851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66710568099995 meters Centerline goodness [0,1] 0.9992452355494056 Centerline is valid? [True, True] Translation: X:207.59, Y:111.21, Z:30.96 [[ 3.19921096e-01 -9.46220659e-01 -4.81347724e-02 2.07586910e+02] [ 9.30771187e-01 3.23374526e-01 -1.70569380e-01 1.11212986e+02] [ 1.76961830e-01 9.76628375e-03 9.84169259e-01 3.09580376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.6971056809999 meters Centerline goodness [0,1] 0.998902814702283 Centerline is valid? [True, True] Translation: X:207.60, Y:111.24, Z:30.97 [[ 3.20376986e-01 -9.46091923e-01 -4.76304436e-02 2.07596511e+02] [ 9.30923321e-01 3.23749651e-01 -1.69020514e-01 1.11238542e+02] [ 1.75329283e-01 9.80999228e-03 9.84460973e-01 3.09654316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72710568099995 meters Centerline goodness [0,1] 0.9987914652442074 Centerline is valid? [True, True] Translation: X:207.60, Y:111.27, Z:30.97 [[ 3.20603713e-01 -9.46018211e-01 -4.75689421e-02 2.07600803e+02] [ 9.30847391e-01 3.23961849e-01 -1.69032113e-01 1.11265222e+02] [ 1.75317979e-01 9.91289735e-03 9.84461955e-01 3.09692440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.7571056809999 meters Centerline goodness [0,1] 0.9985650981219667 Centerline is valid? [True, True] Translation: X:207.61, Y:111.29, Z:30.97 [[ 3.22017103e-01 -9.45513519e-01 -4.80538311e-02 2.07609369e+02] [ 9.29977326e-01 3.25417320e-01 -1.71013860e-01 1.11292192e+02] [ 1.77333465e-01 1.03804144e-02 9.84096077e-01 3.09711180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78710568099996 meters Centerline goodness [0,1] 0.9986610038286922 Centerline is valid? [True, True] Translation: X:207.61, Y:111.32, Z:30.97 [[ 3.22195552e-01 -9.45430762e-01 -4.84840298e-02 2.07614822e+02] [ 9.29568143e-01 3.25650555e-01 -1.72785367e-01 1.11319051e+02] [ 1.79145452e-01 1.06014670e-02 9.83765478e-01 3.09730512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81710568099993 meters Centerline goodness [0,1] 0.998868778280543 Centerline is valid? [True, True] Translation: X:207.63, Y:111.35, Z:30.97 [[ 3.22575882e-01 -9.45246982e-01 -4.95271980e-02 2.07625275e+02] [ 9.28651217e-01 3.26170323e-01 -1.76691362e-01 1.11345567e+02] [ 1.83171279e-01 1.10028793e-02 9.83019440e-01 3.09735015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84710568099996 meters Centerline goodness [0,1] 0.9987570835703301 Centerline is valid? [True, True] Translation: X:207.64, Y:111.37, Z:30.98 [[ 3.21421710e-01 -9.45666054e-01 -4.90285589e-02 2.07636014e+02] [ 9.29366083e-01 3.24962363e-01 -1.75151784e-01 1.11370085e+02] [ 1.81567532e-01 1.07321061e-02 9.83319914e-01 3.09786856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87710568099993 meters Centerline goodness [0,1] 0.9986707458592678 Centerline is valid? [True, True] Translation: X:207.65, Y:111.40, Z:30.98 [[ 3.20246987e-01 -9.46070932e-01 -4.89045821e-02 2.07646068e+02] [ 9.29816005e-01 3.23787672e-01 -1.74939247e-01 1.11395519e+02] [ 1.81339637e-01 1.05515034e-02 9.83363921e-01 3.09848910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90710568099996 meters Centerline goodness [0,1] 0.9986555469193118 Centerline is valid? [True, True] Translation: X:207.66, Y:111.42, Z:30.99 [[ 3.17042757e-01 -9.47136837e-01 -4.91497976e-02 2.07657926e+02] [ 9.30684151e-01 3.20671642e-01 -1.76058823e-01 1.11420049e+02] [ 1.82512743e-01 1.00752370e-02 9.83151864e-01 3.09880246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93710568099993 meters Centerline goodness [0,1] 0.9988502623492276 Centerline is valid? [True, True] Translation: X:207.67, Y:111.45, Z:30.99 [[ 3.14619907e-01 -9.47960321e-01 -4.88420407e-02 2.07667458e+02] [ 9.31678732e-01 3.18243210e-01 -1.75202741e-01 1.11445174e+02] [ 1.81628894e-01 9.61717940e-03 9.83320118e-01 3.09920800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.9671056809999 meters Centerline goodness [0,1] 0.998672790090166 Centerline is valid? [True, True] Translation: X:207.68, Y:111.47, Z:31.00 [[ 3.13673565e-01 -9.48297856e-01 -4.83742837e-02 2.07677861e+02] [ 9.32295299e-01 3.17242644e-01 -1.73731346e-01 1.11470455e+02] [ 1.80095448e-01 9.39581330e-03 9.83604264e-01 3.09986179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99710568099994 meters Centerline goodness [0,1] 0.9989880462968819 Centerline is valid? [True, True] Translation: X:207.70, Y:111.49, Z:31.01 [[ 3.10979152e-01 -9.49201262e-01 -4.80513435e-02 2.07695274e+02] [ 9.33381431e-01 3.14544060e-01 -1.72803758e-01 1.11493986e+02] [ 1.79139810e-01 8.88813460e-03 9.83783477e-01 3.10076113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0271056809999 meters Centerline goodness [0,1] 0.9989729616432613 Centerline is valid? [True, True] Translation: X:207.70, Y:111.52, Z:31.01 [[ 3.09327608e-01 -9.49742617e-01 -4.80145072e-02 2.07700346e+02] [ 9.33910541e-01 3.12912526e-01 -1.72907061e-01 1.11520136e+02] [ 1.79241546e-01 8.64367330e-03 9.83767125e-01 3.10123557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05710568099994 meters Centerline goodness [0,1] 0.998989218328841 Centerline is valid? [True, True] Translation: X:207.71, Y:111.54, Z:31.02 [[ 3.05621414e-01 -9.50974411e-01 -4.73626485e-02 2.07711488e+02] [ 9.35545062e-01 3.09168968e-01 -1.70792234e-01 1.11543914e+02] [ 1.77062105e-01 7.88787211e-03 9.84168071e-01 3.10199876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0871056809999 meters Centerline goodness [0,1] 0.9990352753659661 Centerline is valid? [True, True] Translation: X:207.72, Y:111.57, Z:31.03 [[ 3.03520315e-01 -9.51656654e-01 -4.71702426e-02 2.07720752e+02] [ 9.36316498e-01 3.07071315e-01 -1.70348533e-01 1.11569690e+02] [ 1.76597943e-01 7.53796392e-03 9.84254208e-01 3.10256918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11710568099994 meters Centerline goodness [0,1] 0.9989565289980591 Centerline is valid? [True, True] Translation: X:207.73, Y:111.59, Z:31.03 [[ 2.96976901e-01 -9.53739266e-01 -4.67561068e-02 2.07731796e+02] [ 9.38654661e-01 3.00568512e-01 -1.69073941e-01 1.11593034e+02] [ 1.75305870e-01 6.32321759e-03 9.84493712e-01 3.10307147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.1471056809999 meters Centerline goodness [0,1] 0.9994334515391233 Centerline is valid? [True, True] Translation: X:207.75, Y:111.62, Z:31.04 [[ 2.92324764e-01 -9.55174149e-01 -4.67822303e-02 2.07746443e+02] [ 9.40052397e-01 2.95992725e-01 -1.69380627e-01 1.11617672e+02] [ 1.75635197e-01 5.53640425e-03 9.84439752e-01 3.10362675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17710568099994 meters Centerline goodness [0,1] 0.9994970451401987 Centerline is valid? [True, True] Translation: X:207.77, Y:111.64, Z:31.04 [[ 2.79269192e-01 -9.59063283e-01 -4.69716598e-02 2.07765651e+02] [ 9.43839919e-01 2.83173683e-01 -1.70231818e-01 1.11639178e+02] [ 1.76564224e-01 3.20677457e-03 9.84283898e-01 3.10408453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2071056809999 meters Centerline goodness [0,1] 0.9996000673570767 Centerline is valid? [True, True] Translation: X:207.79, Y:111.66, Z:31.05 [[ 2.64048235e-01 -9.63389972e-01 -4.64574239e-02 2.07787801e+02] [ 9.48516679e-01 2.68103618e-01 -1.68631433e-01 1.11660341e+02] [ 1.74913235e-01 4.61190964e-04 9.84583743e-01 3.10505211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23710568099995 meters Centerline goodness [0,1] 0.9996638161074107 Centerline is valid? [True, True] Translation: X:207.80, Y:111.68, Z:31.06 [[ 2.56485924e-01 -9.65438733e-01 -4.62927944e-02 2.07798023e+02] [ 9.50654891e-01 2.60628753e-01 -1.68309035e-01 1.11683901e+02] [ 1.74557295e-01 -8.39573099e-04 9.84646661e-01 3.10555379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.2671056809999 meters Centerline goodness [0,1] 0.9998110632937965 Centerline is valid? [True, True] Translation: X:207.81, Y:111.71, Z:31.06 [[ 2.45565182e-01 -9.68272689e-01 -4.63221367e-02 2.07808406e+02] [ 9.53464299e-01 2.49881003e-01 -1.68716672e-01 1.11709253e+02] [ 1.74938768e-01 -2.73556326e-03 9.84575515e-01 3.10571608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:111.74, Z:31.06 [[ 2.40319665e-01 -9.69580403e-01 -4.64790411e-02 2.07817828e+02] [ 9.54646704e-01 2.44746220e-01 -1.69555175e-01 1.11735949e+02] [ 1.75772945e-01 -3.62362050e-03 9.84424066e-01 3.10605600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3271056809999 meters Centerline goodness [0,1] 0.9998952506651583 Centerline is valid? [True, True] Translation: X:207.83, Y:111.76, Z:31.06 [[ 2.31064427e-01 -9.71817843e-01 -4.66830840e-02 2.07829154e+02] [ 9.56749037e-01 2.35674490e-01 -1.70554431e-01 1.11760539e+02] [ 1.76749852e-01 -5.25493378e-03 9.84241777e-01 3.10638386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.83, Y:111.79, Z:31.07 [[ 2.27140684e-01 -9.72751194e-01 -4.64997234e-02 2.07833764e+02] [ 9.57771650e-01 2.31776747e-01 -1.70155827e-01 1.11787762e+02] [ 1.76296838e-01 -5.88680587e-03 9.84319445e-01 3.10708841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.84, Y:111.81, Z:31.08 [[ 2.19842880e-01 -9.74436913e-01 -4.62797001e-02 2.07837012e+02] [ 9.59589106e-01 2.24548377e-01 -1.69607709e-01 1.11814194e+02] [ 1.75664043e-01 -7.12244887e-03 9.84424408e-01 3.10768453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.83, Y:111.84, Z:31.08 [[ 2.16838733e-01 -9.75089973e-01 -4.66959093e-02 2.07831448e+02] [ 9.59934997e-01 2.21677564e-01 -1.71417209e-01 1.11844019e+02] [ 1.77498637e-01 -7.65514712e-03 9.84091272e-01 3.10802531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.83, Y:111.87, Z:31.08 [[ 2.15781178e-01 -9.75316476e-01 -4.68642172e-02 2.07832039e+02] [ 9.60006801e-01 2.20673491e-01 -1.72308304e-01 1.11871658e+02] [ 1.78396818e-01 -7.80907863e-03 9.83927636e-01 3.10846750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47710568099995 meters Centerline goodness [0,1] 0.9999581116742764 Centerline is valid? [True, True] Translation: X:207.82, Y:111.90, Z:31.09 [[ 2.18845885e-01 -9.74634431e-01 -4.68423295e-02 2.07821075e+02] [ 9.59271987e-01 2.23687650e-01 -1.72514029e-01 1.11902142e+02] [ 1.78616163e-01 -7.18054918e-03 9.83892629e-01 3.10894559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:111.93, Z:31.10 [[ 2.22075182e-01 -9.73906654e-01 -4.67807855e-02 2.07817389e+02] [ 9.58525391e-01 2.26855095e-01 -1.72527797e-01 1.11930937e+02] [ 1.78638429e-01 -6.52642870e-03 9.83893143e-01 3.10950442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:111.96, Z:31.10 [[ 2.21665455e-01 -9.74003262e-01 -4.67126417e-02 2.07823975e+02] [ 9.58620267e-01 2.26439785e-01 -1.72546247e-01 1.11956465e+02] [ 1.78638208e-01 -6.53214280e-03 9.83893146e-01 3.10995419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56710568099993 meters Centerline goodness [0,1] 0.9999579505077476 Centerline is valid? [True, True] Translation: X:207.81, Y:111.99, Z:31.11 [[ 2.28849407e-01 -9.72357973e-01 -4.63456641e-02 2.07805665e+02] [ 9.57131697e-01 2.33439068e-01 -1.71479200e-01 1.11989687e+02] [ 1.77558056e-01 -5.11599077e-03 9.84097029e-01 3.11056067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.80, Y:112.02, Z:31.11 [[ 2.32427827e-01 -9.71508923e-01 -4.63434650e-02 2.07800660e+02] [ 9.56215813e-01 2.36962253e-01 -1.71756247e-01 1.12019031e+02] [ 1.77844379e-01 -4.39342265e-03 9.84048817e-01 3.11102172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:112.05, Z:31.11 [[ 2.38738330e-01 -9.69950133e-01 -4.69121477e-02 2.07785475e+02] [ 9.54195809e-01 2.43282886e-01 -1.74137290e-01 1.12051611e+02] [ 1.80317410e-01 -3.19012905e-03 9.83603302e-01 3.11101475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.08, Z:31.11 [[ 2.40514515e-01 -9.69493558e-01 -4.72758822e-02 2.07782581e+02] [ 9.53435804e-01 2.45100733e-01 -1.75743559e-01 1.12080403e+02] [ 1.81969601e-01 -2.80564195e-03 9.83300154e-01 3.11123021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.11, Z:31.11 [[ 2.41144256e-01 -9.69300922e-01 -4.80121883e-02 2.07775058e+02] [ 9.52672730e-01 2.45863433e-01 -1.78789938e-01 1.12112178e+02] [ 1.85105693e-01 -2.62573605e-03 9.82715110e-01 3.11122742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:112.14, Z:31.11 [[ 2.38989989e-01 -9.69780391e-01 -4.90894964e-02 2.07770802e+02] [ 9.52344584e-01 2.43961136e-01 -1.83092208e-01 1.12142498e+02] [ 1.89535163e-01 -2.99291113e-03 9.81869372e-01 3.11097982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:112.17, Z:31.11 [[ 2.36374057e-01 -9.70420104e-01 -4.91134080e-02 2.07773727e+02] [ 9.52924748e-01 2.41398077e-01 -1.83470414e-01 1.12169937e+02] [ 1.89899260e-01 -3.43373592e-03 9.81797576e-01 3.11137156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.20, Z:31.12 [[ 2.33331914e-01 -9.71158026e-01 -4.90745029e-02 2.07776899e+02] [ 9.53665222e-01 2.38403620e-01 -1.83538436e-01 1.12197360e+02] [ 1.89944365e-01 -3.97527212e-03 9.81786808e-01 3.11187640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.22, Z:31.13 [[ 2.29109286e-01 -9.72206910e-01 -4.81939634e-02 2.07777310e+02] [ 9.55313961e-01 2.34076446e-01 -1.80508872e-01 1.12224647e+02] [ 1.86773045e-01 -4.68410713e-03 9.82391922e-01 3.11266324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.25, Z:31.13 [[ 2.28765505e-01 -9.72289724e-01 -4.81563810e-02 2.07778648e+02] [ 9.55385267e-01 2.33731947e-01 -1.80577873e-01 1.12251344e+02] [ 1.86829695e-01 -4.69790864e-03 9.82381084e-01 3.11320102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:112.28, Z:31.14 [[ 2.34106092e-01 -9.71043158e-01 -4.76395172e-02 2.07768648e+02] [ 9.54422366e-01 2.38877312e-01 -1.78928969e-01 1.12280472e+02] [ 1.85127751e-01 -3.57985911e-03 9.82707943e-01 3.11387467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.75, Y:112.31, Z:31.15 [[ 2.47182994e-01 -9.67842594e-01 -4.67041771e-02 2.07750310e+02] [ 9.51770944e-01 2.51554453e-01 -1.75648593e-01 1.12311714e+02] [ 1.81748833e-01 -1.03433369e-03 9.83344442e-01 3.11469865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92710568099994 meters Centerline goodness [0,1] 0.9999578432612453 Centerline is valid? [True, True] Translation: X:207.74, Y:112.34, Z:31.15 [[ 2.55771459e-01 -9.65611704e-01 -4.66368658e-02 2.07743700e+02] [ 9.49496483e-01 2.59987714e-01 -1.75678162e-01 1.12341675e+02] [ 1.81761901e-01 6.51919627e-04 9.83342355e-01 3.11529709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:112.38, Z:31.16 [[ 2.73874595e-01 -9.60628745e-01 -4.67452656e-02 2.07726680e+02] [ 9.44311499e-01 2.77804131e-01 -1.76353785e-01 1.12375362e+02] [ 1.82396543e-01 4.15672960e-03 9.83216264e-01 3.11565785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.72, Y:112.40, Z:31.16 [[ 2.80153094e-01 -9.58805580e-01 -4.69691782e-02 2.07724583e+02] [ 9.42255540e-01 2.84010661e-01 -1.77461099e-01 1.12403984e+02] [ 1.83490440e-01 5.45930760e-03 9.83006335e-01 3.11593384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0171056809999 meters Centerline goodness [0,1] 0.9999369602219 Centerline is valid? [True, True] Translation: X:207.72, Y:112.43, Z:31.16 [[ 2.86495057e-01 -9.56925260e-01 -4.70598419e-02 2.07720563e+02] [ 9.40231950e-01 2.90255323e-01 -1.78089100e-01 1.12432641e+02] [ 1.84077328e-01 6.77447998e-03 9.82888419e-01 3.11616610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:112.46, Z:31.17 [[ 2.86749290e-01 -9.56860550e-01 -4.68266266e-02 2.07725611e+02] [ 9.40292766e-01 2.90466929e-01 -1.77421748e-01 1.12459867e+02] [ 1.83369458e-01 6.84482214e-03 9.83020239e-01 3.11682482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:112.49, Z:31.18 [[ 2.84231224e-01 -9.57653309e-01 -4.59646794e-02 2.07731055e+02] [ 9.41658592e-01 2.87855142e-01 -1.74409042e-01 1.12485406e+02] [ 1.80254566e-01 6.28946024e-03 9.83599885e-01 3.11772088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.74, Y:112.51, Z:31.19 [[ 2.80314691e-01 -9.58842908e-01 -4.52100758e-02 2.07742555e+02] [ 9.43363445e-01 2.83884295e-01 -1.71683190e-01 1.12509747e+02] [ 1.77451639e-01 5.47578740e-03 9.84114288e-01 3.11855315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1371056809999 meters Centerline goodness [0,1] 0.9999791900778291 Centerline is valid? [True, True] Translation: X:207.75, Y:112.54, Z:31.19 [[ 2.78625954e-01 -9.59351133e-01 -4.48662558e-02 2.07746623e+02] [ 9.44068553e-01 2.82167512e-01 -1.70634293e-01 1.12536186e+02] [ 1.76358002e-01 5.18632136e-03 9.84312429e-01 3.11904601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.76, Y:112.56, Z:31.20 [[ 2.76945079e-01 -9.59856421e-01 -4.44642955e-02 2.07762143e+02] [ 9.44822162e-01 2.80449464e-01 -1.69290228e-01 1.12560450e+02] [ 1.74964300e-01 4.87324360e-03 9.84562718e-01 3.11979592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:112.59, Z:31.20 [[ 2.76247201e-01 -9.60059966e-01 -4.44111048e-02 2.07768983e+02] [ 9.45019350e-01 2.79752958e-01 -1.69341992e-01 1.12585733e+02] [ 1.75002605e-01 4.81089795e-03 9.84556217e-01 3.12022278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.61, Z:31.21 [[ 2.77030361e-01 -9.59839867e-01 -4.42900497e-02 2.07775840e+02] [ 9.44830182e-01 2.80503622e-01 -1.69155685e-01 1.12612506e+02] [ 1.74785890e-01 5.01468469e-03 9.84593696e-01 3.12057953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.78, Y:112.64, Z:31.21 [[ 2.78019951e-01 -9.59548439e-01 -4.44038202e-02 2.07780576e+02] [ 9.44414685e-01 2.81494069e-01 -1.69829300e-01 1.12639655e+02] [ 1.75458852e-01 5.28031386e-03 9.84472605e-01 3.12086960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:112.67, Z:31.21 [[ 2.79129878e-01 -9.59183290e-01 -4.53202768e-02 2.07789229e+02] [ 9.43362871e-01 2.82727671e-01 -1.73584441e-01 1.12667231e+02] [ 1.79312592e-01 5.69913744e-03 9.83775642e-01 3.12083770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31710568099993 meters Centerline goodness [0,1] 0.9999166631942997 Centerline is valid? [True, True] Translation: X:207.80, Y:112.69, Z:31.21 [[ 2.76968049e-01 -9.59755676e-01 -4.64515041e-02 2.07801121e+02] [ 9.43086366e-01 2.80781606e-01 -1.78184723e-01 1.12693980e+02] [ 1.84056528e-01 5.54369505e-03 9.82900026e-01 3.12070189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34710568099996 meters Centerline goodness [0,1] 0.9992661704581193 Centerline is valid? [True, True] Translation: X:207.81, Y:112.72, Z:31.21 [[ 2.74319598e-01 -9.60505570e-01 -4.66669927e-02 2.07811591e+02] [ 9.43638168e-01 2.78213178e-01 -1.79288692e-01 1.12720431e+02] [ 1.85191159e-01 5.14564630e-03 9.82689044e-01 3.12109716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37710568099993 meters Centerline goodness [0,1] 0.9987203155156499 Centerline is valid? [True, True] Translation: X:207.83, Y:112.74, Z:31.21 [[ 2.67810623e-01 -9.62323147e-01 -4.70279756e-02 2.07826532e+02] [ 9.45167741e-01 2.71878816e-01 -1.80941565e-01 1.12744864e+02] [ 1.86910167e-01 4.00874791e-03 9.82368831e-01 3.12148607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40710568099996 meters Centerline goodness [0,1] 0.9988251337459352 Centerline is valid? [True, True] Translation: X:207.84, Y:112.77, Z:31.22 [[ 2.63667116e-01 -9.63473414e-01 -4.68895707e-02 2.07838942e+02] [ 9.46383578e-01 2.67784065e-01 -1.80692608e-01 1.12770185e+02] [ 1.86648804e-01 3.26717927e-03 9.82421269e-01 3.12202771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43710568099993 meters Centerline goodness [0,1] 0.9983128413860008 Centerline is valid? [True, True] Translation: X:207.86, Y:112.79, Z:31.23 [[ 2.54701831e-01 -9.65899958e-01 -4.65214708e-02 2.07858069e+02] [ 9.49065623e-01 2.58910740e-01 -1.79554091e-01 1.12793215e+02] [ 1.85476198e-01 1.58082715e-03 9.82647486e-01 3.12272669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.4671056809999 meters Centerline goodness [0,1] 0.9987341772151899 Centerline is valid? [True, True] Translation: X:207.87, Y:112.82, Z:31.23 [[ 2.45195749e-01 -9.68366091e-01 -4.63266553e-02 2.07874453e+02] [ 9.51661712e-01 2.49533732e-01 -1.79089089e-01 1.12816186e+02] [ 1.84983865e-01 -1.75420696e-04 9.82741542e-01 3.12330371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49710568099994 meters Centerline goodness [0,1] 0.9988398093068388 Centerline is valid? [True, True] Translation: X:207.89, Y:112.84, Z:31.24 [[ 2.39952123e-01 -9.69689919e-01 -4.60916402e-02 2.07885696e+02] [ 9.53127220e-01 2.44336306e-01 -1.78460841e-01 1.12841233e+02] [ 1.84313539e-01 -1.10913922e-03 9.82866872e-01 3.12400755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5271056809999 meters Centerline goodness [0,1] 0.9997059811827957 Centerline is valid? [True, True] Translation: X:207.90, Y:112.86, Z:31.25 [[ 2.28558925e-01 -9.72477883e-01 -4.52502471e-02 2.07903849e+02] [ 9.56519744e-01 2.32973572e-01 -1.75480183e-01 1.12863210e+02] [ 1.81192708e-01 -3.17519291e-03 9.83442485e-01 3.12483697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55710568099994 meters Centerline goodness [0,1] 0.999916082742416 Centerline is valid? [True, True] Translation: X:207.92, Y:112.89, Z:31.26 [[ 2.23185119e-01 -9.73757538e-01 -4.45495232e-02 2.07915973e+02] [ 9.58266380e-01 2.27551545e-01 -1.73048664e-01 1.12887733e+02] [ 1.78644754e-01 -4.06842347e-03 9.83905229e-01 3.12562699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:112.91, Z:31.27 [[ 2.12100645e-01 -9.76277729e-01 -4.35328884e-02 2.07931530e+02] [ 9.61493571e-01 2.16440695e-01 -1.69362154e-01 1.12910686e+02] [ 1.74766787e-01 -5.93477029e-03 9.84591971e-01 3.12665596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:112.93, Z:31.27 [[ 2.03545688e-01 -9.78099232e-01 -4.34861608e-02 2.07941823e+02] [ 9.63334755e-01 2.08007620e-01 -1.69466750e-01 1.12934654e+02] [ 1.74800751e-01 -7.39750382e-03 9.84576038e-01 3.12703725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:112.96, Z:31.27 [[ 2.00585209e-01 -9.78713639e-01 -4.34187400e-02 2.07946691e+02] [ 9.63955702e-01 2.05080302e-01 -1.69503610e-01 1.12961649e+02] [ 1.74799823e-01 -7.85382500e-03 9.84572668e-01 3.12741358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:112.99, Z:31.28 [[ 1.98043241e-01 -9.79233825e-01 -4.33588502e-02 2.07949923e+02] [ 9.64479507e-01 2.02566529e-01 -1.69546693e-01 1.12989548e+02] [ 1.74808908e-01 -8.24114596e-03 9.84567890e-01 3.12793695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:113.02, Z:31.29 [[ 1.95771946e-01 -9.79716479e-01 -4.27664140e-02 2.07951150e+02] [ 9.65330977e-01 2.00208572e-01 -1.67489202e-01 1.13016898e+02] [ 1.72654134e-01 -8.49405708e-03 9.84945887e-01 3.12859040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.04, Z:31.29 [[ 1.91562683e-01 -9.80540214e-01 -4.29491350e-02 2.07956591e+02] [ 9.66014242e-01 1.96101285e-01 -1.68406563e-01 1.13043315e+02] [ 1.73551788e-01 -9.22906316e-03 9.84781499e-01 3.12877592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.07, Z:31.29 [[ 1.88303826e-01 -9.81165010e-01 -4.30916761e-02 2.07959837e+02] [ 9.66505358e-01 1.92923922e-01 -1.69256474e-01 1.13070769e+02] [ 1.74381945e-01 -9.77669433e-03 9.84629551e-01 3.12908311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.10, Z:31.29 [[ 1.84837664e-01 -9.81811703e-01 -4.33684085e-02 2.07960979e+02] [ 9.66925678e-01 1.89572540e-01 -1.70636996e-01 1.13099299e+02] [ 1.75754859e-01 -1.03938841e-02 9.84379092e-01 3.12929065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.13, Z:31.30 [[ 1.83226744e-01 -9.82122059e-01 -4.31766404e-02 2.07963315e+02] [ 9.67327653e-01 1.87947170e-01 -1.70156023e-01 1.13127069e+02] [ 1.75228911e-01 -1.05888243e-02 9.84470774e-01 3.12976798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.15, Z:31.30 [[ 1.80726713e-01 -9.82586392e-01 -4.31490090e-02 2.07963700e+02] [ 9.67774603e-01 1.85481761e-01 -1.70319800e-01 1.13153949e+02] [ 1.75357272e-01 -1.09771774e-02 9.84443665e-01 3.13030563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.18, Z:31.31 [[ 1.78697881e-01 -9.82946482e-01 -4.33967844e-02 2.07963103e+02] [ 9.67927358e-01 1.83541289e-01 -1.71549484e-01 1.13181625e+02] [ 1.76589064e-01 -1.13494055e-02 9.84219230e-01 3.13056234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91710568099995 meters Centerline goodness [0,1] 0.9999578982822499 Centerline is valid? [True, True] Translation: X:207.96, Y:113.21, Z:31.31 [[ 1.78395329e-01 -9.82995106e-01 -4.35399697e-02 2.07963886e+02] [ 9.67825304e-01 1.83278611e-01 -1.72403976e-01 1.13209213e+02] [ 1.77452209e-01 -1.13830204e-02 9.84063585e-01 3.13093543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9471056809999 meters Centerline goodness [0,1] 0.9998103346539661 Centerline is valid? [True, True] Translation: X:207.96, Y:113.24, Z:31.31 [[ 1.79605351e-01 -9.82787583e-01 -4.32491092e-02 2.07959200e+02] [ 9.67762582e-01 1.84408791e-01 -1.71548774e-01 1.13238285e+02] [ 1.76571521e-01 -1.10437919e-02 9.84225854e-01 3.13137714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97710568099995 meters Centerline goodness [0,1] 0.999874256014754 Centerline is valid? [True, True] Translation: X:207.96, Y:113.27, Z:31.32 [[ 1.80058151e-01 -9.82692165e-01 -4.35335707e-02 2.07959071e+02] [ 9.67415720e-01 1.84920725e-01 -1.72948404e-01 1.13266701e+02] [ 1.78005301e-01 -1.09742908e-02 9.83968332e-01 3.13169898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.0071056809999 meters Centerline goodness [0,1] 0.9999161214561315 Centerline is valid? [True, True] Translation: X:207.95, Y:113.30, Z:31.32 [[ 1.80530700e-01 -9.82558553e-01 -4.45797815e-02 2.07950714e+02] [ 9.66477274e-01 1.85624147e-01 -1.77384767e-01 1.13296807e+02] [ 1.82566004e-01 -1.10619496e-02 9.83131368e-01 3.13153063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03710568099996 meters Centerline goodness [0,1] 0.9998534000712057 Centerline is valid? [True, True] Translation: X:207.95, Y:113.33, Z:31.32 [[ 1.80271044e-01 -9.82594597e-01 -4.48353493e-02 2.07948661e+02] [ 9.66267730e-01 1.85430724e-01 -1.78723590e-01 1.13325091e+02] [ 1.83926685e-01 -1.11042630e-02 9.82877240e-01 3.13175170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06710568099993 meters Centerline goodness [0,1] 0.9991345281067274 Centerline is valid? [True, True] Translation: X:207.94, Y:113.35, Z:31.32 [[ 1.78953993e-01 -9.82824746e-01 -4.50664668e-02 2.07942996e+02] [ 9.66276706e-01 1.84192397e-01 -1.79951348e-01 1.13354338e+02] [ 1.85161539e-01 -1.13436649e-02 9.82642624e-01 3.13203652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09710568099996 meters Centerline goodness [0,1] 0.9972131320595377 Centerline is valid? [True, True] Translation: X:207.94, Y:113.38, Z:31.33 [[ 1.76084494e-01 -9.83349916e-01 -4.49131857e-02 2.07944682e+02] [ 9.66877293e-01 1.81338859e-01 -1.79623267e-01 1.13382322e+02] [ 1.84777031e-01 -1.17966673e-02 9.82709666e-01 3.13263465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12710568099993 meters Centerline goodness [0,1] 0.9813186813186813 Centerline is valid? [True, True] Translation: X:207.94, Y:113.41, Z:31.33 [[ 1.68218845e-01 -9.84752291e-01 -4.43322276e-02 2.07942656e+02] [ 9.68700707e-01 1.73470300e-01 -1.77558428e-01 1.13409419e+02] [ 1.82541394e-01 -1.30759864e-02 9.83111214e-01 3.13332813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15710568099996 meters Centerline goodness [0,1] 0.9510437951591498 Centerline is valid? [True, True] Translation: X:207.95, Y:113.44, Z:31.34 [[ 1.63787554e-01 -9.85514845e-01 -4.39787276e-02 2.07947274e+02] [ 9.69706502e-01 1.69029791e-01 -1.76346903e-01 1.13435296e+02] [ 1.81226206e-01 -1.37630302e-02 9.83345128e-01 3.13389087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18710568099993 meters Centerline goodness [0,1] 0.8554553670891397 Centerline is valid? [True, False] Translation: X:207.86, Y:112.94, Z:31.33 [[ 1.71447390e-01 -8.75852967e-01 -4.51095746e-01 2.07860822e+02] [ 9.66416890e-01 2.38481527e-01 -9.57337758e-02 1.12942499e+02] [ 1.91426714e-01 -4.19533242e-01 8.87326136e-01 3.13304801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2171056809999 meters Centerline goodness [0,1] 0.9669019837861617 Centerline is valid? [False, True] Translation: X:207.80, Y:112.65, Z:31.29 [[ 1.73063842e-01 -7.73708596e-01 -6.09445580e-01 2.07801312e+02] [ 9.64638755e-01 2.58052093e-01 -5.36767108e-02 1.12646215e+02] [ 1.98798840e-01 -5.78605328e-01 7.91008784e-01 3.12924899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24710568099994 meters Centerline goodness [0,1] 0.981907513231976 Centerline is valid? [True, True] Translation: X:207.66, Y:112.71, Z:31.31 [[ 1.60175757e-01 -9.85097061e-01 -6.26698345e-02 2.07664327e+02] [ 9.55677589e-01 1.70654821e-01 -2.39910979e-01 1.12705582e+02] [ 2.47030510e-01 -2.14642338e-02 9.68769949e-01 3.13146789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2771056809999 meters Centerline goodness [0,1] 0.8165510593264738 Centerline is valid? [True, False] Translation: X:207.58, Y:112.21, Z:31.26 [[ 1.88216029e-01 -8.68870858e-01 -4.57862598e-01 2.07581731e+02] [ 9.45912222e-01 2.85802134e-01 -1.53516149e-01 1.12211943e+02] [ 2.64243815e-01 -4.04203628e-01 8.75668107e-01 3.12561049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30710568099994 meters Centerline goodness [0,1] 0.9903872389547697 Centerline is valid? [False, True] Translation: X:207.52, Y:111.96, Z:31.20 [[ 1.98797865e-01 -7.66470842e-01 -6.10738780e-01 2.07520630e+02] [ 9.40000566e-01 3.25430911e-01 -1.02438555e-01 1.11960603e+02] [ 2.77269443e-01 -5.53730233e-01 7.85177995e-01 3.11968376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3371056809999 meters Centerline goodness [0,1] 0.9970681290866906 Centerline is valid? [True, True] Translation: X:207.38, Y:112.01, Z:31.25 [[ 1.92738996e-01 -9.77433984e-01 -8.64551174e-02 2.07377164e+02] [ 9.29340926e-01 2.10110240e-01 -3.03610162e-01 1.12014594e+02] [ 3.14923996e-01 -2.18287612e-02 9.48865840e-01 3.12493268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36710568099994 meters Centerline goodness [0,1] 0.9965400826186332 Centerline is valid? [True, True] Translation: X:207.38, Y:112.04, Z:31.26 [[ 1.95855204e-01 -9.76855184e-01 -8.59923771e-02 2.07379774e+02] [ 9.29099990e-01 2.12900812e-01 -3.02401145e-01 1.12040390e+02] [ 3.13709973e-01 -2.06686785e-02 9.49293874e-01 3.12593302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.3971056809999 meters Centerline goodness [0,1] 0.9966413890707843 Centerline is valid? [True, True] Translation: X:207.37, Y:112.07, Z:31.27 [[ 2.02444999e-01 -9.75480139e-01 -8.63395695e-02 2.07366697e+02] [ 9.27060729e-01 2.19309954e-01 -3.04074906e-01 1.12072514e+02] [ 3.15554159e-01 -1.84835803e-02 9.48727532e-01 3.12657536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42710568099994 meters Centerline goodness [0,1] 0.9964553138830043 Centerline is valid? [True, True] Translation: X:207.36, Y:112.10, Z:31.27 [[ 2.06881197e-01 -9.74519377e-01 -8.66726829e-02 2.07364786e+02] [ 9.25488157e-01 2.23660269e-01 -3.05692256e-01 1.12101552e+02] [ 3.17288262e-01 -1.69725618e-02 9.48177246e-01 3.12721934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.4571056809999 meters Centerline goodness [0,1] 0.9964553138830043 Centerline is valid? [True, True] Translation: X:207.37, Y:112.13, Z:31.28 [[ 2.06543216e-01 -9.74601104e-01 -8.65597333e-02 2.07371666e+02] [ 9.25563627e-01 2.23303971e-01 -3.05724238e-01 1.12126685e+02] [ 3.17288312e-01 -1.69712732e-02 9.48177253e-01 3.12808457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48710568099995 meters Centerline goodness [0,1] 0.9964894578629837 Centerline is valid? [True, True] Translation: X:207.37, Y:112.16, Z:31.28 [[ 2.18155266e-01 -9.72034683e-01 -8.69301762e-02 2.07368158e+02] [ 9.22219586e-01 2.34472015e-01 -3.07463671e-01 1.12155638e+02] [ 3.19248045e-01 -1.30938923e-02 9.47580728e-01 3.12840944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5171056809999 meters Centerline goodness [0,1] 0.996355715662045 Centerline is valid? [True, True] Translation: X:207.34, Y:112.19, Z:31.29 [[ 2.31306508e-01 -9.69004436e-01 -8.67623287e-02 2.07344005e+02] [ 9.19019911e-01 2.46891813e-01 -3.07322038e-01 1.12189643e+02] [ 3.19217327e-01 -8.65072021e-03 9.47642055e-01 3.12937533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54710568099995 meters Centerline goodness [0,1] 0.9959738617200674 Centerline is valid? [True, True] Translation: X:207.34, Y:112.22, Z:31.30 [[ 2.37495345e-01 -9.67539624e-01 -8.63888679e-02 2.07338822e+02] [ 9.17753808e-01 2.52635589e-01 -3.06436303e-01 1.12217616e+02] [ 3.18314168e-01 -6.50651694e-03 9.47962951e-01 3.13029414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5771056809999 meters Centerline goodness [0,1] 0.9960197119029568 Centerline is valid? [True, True] Translation: X:207.34, Y:112.25, Z:31.31 [[ 2.42791745e-01 -9.66238821e-01 -8.62247599e-02 2.07335314e+02] [ 9.16424316e-01 2.57606005e-01 -3.06277029e-01 1.12246685e+02] [ 3.18148771e-01 -4.65693228e-03 9.48029363e-01 3.13110847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60710568099995 meters Centerline goodness [0,1] 0.9956613778793151 Centerline is valid? [True, True] Translation: X:207.33, Y:112.28, Z:31.32 [[ 2.51077939e-01 -9.64125406e-01 -8.61514377e-02 2.07326628e+02] [ 9.14133750e-01 2.65440964e-01 -3.06432018e-01 1.12276575e+02] [ 3.18307015e-01 -1.81561718e-03 9.47985943e-01 3.13164149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6371056809999 meters Centerline goodness [0,1] 0.9946740475142061 Centerline is valid? [True, True] Translation: X:207.32, Y:112.31, Z:31.32 [[ 2.54990873e-01 -9.63075291e-01 -8.64039226e-02 2.07323477e+02] [ 9.12636533e-01 2.69231877e-01 -3.07585363e-01 1.12306006e+02] [ 3.19490553e-01 -4.23916070e-04 9.47589366e-01 3.13217873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66710568099995 meters Centerline goodness [0,1] 0.9951861428181035 Centerline is valid? [True, True] Translation: X:207.33, Y:112.33, Z:31.33 [[ 2.54676144e-01 -9.63160085e-01 -8.63869924e-02 2.07328393e+02] [ 9.12605316e-01 2.68928395e-01 -3.07943268e-01 1.12331918e+02] [ 3.19830580e-01 -4.11424354e-04 9.47474660e-01 3.13295326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.6971056809999 meters Centerline goodness [0,1] 0.9945748543443385 Centerline is valid? [True, True] Translation: X:207.34, Y:112.36, Z:31.34 [[ 2.50349582e-01 -9.64300721e-01 -8.63087859e-02 2.07336965e+02] [ 9.13753508e-01 2.64803946e-01 -3.08112636e-01 1.12357099e+02] [ 3.19968144e-01 -1.72908643e-03 9.47426724e-01 3.13391916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72710568099995 meters Centerline goodness [0,1] 0.994684985609546 Centerline is valid? [True, True] Translation: X:207.35, Y:112.38, Z:31.35 [[ 2.47624129e-01 -9.65007791e-01 -8.62685049e-02 2.07346214e+02] [ 9.14394410e-01 2.62209211e-01 -3.08430208e-01 1.12380774e+02] [ 3.20257950e-01 -2.50867722e-03 9.47327057e-01 3.13480319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.7571056809999 meters Centerline goodness [0,1] 0.9938271604938271 Centerline is valid? [True, True] Translation: X:207.36, Y:112.41, Z:31.36 [[ 2.43113392e-01 -9.66136874e-01 -8.64605052e-02 2.07355606e+02] [ 9.15286439e-01 2.58000136e-01 -3.09332611e-01 1.12406431e+02] [ 3.21164464e-01 -3.93322741e-03 9.47015267e-01 3.13578637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78710568099996 meters Centerline goodness [0,1] 0.9944894856853306 Centerline is valid? [True, True] Translation: X:207.37, Y:112.43, Z:31.37 [[ 2.40947370e-01 -9.66704068e-01 -8.61835776e-02 2.07366681e+02] [ 9.16088167e-01 2.55856276e-01 -3.08739431e-01 1.12430679e+02] [ 3.20510273e-01 -4.56180180e-03 9.47234055e-01 3.13669690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81710568099993 meters Centerline goodness [0,1] 0.9943449575871819 Centerline is valid? [True, True] Translation: X:207.38, Y:112.45, Z:31.38 [[ 2.36989098e-01 -9.67733661e-01 -8.56021557e-02 2.07378939e+02] [ 9.17811793e-01 2.51907546e-01 -3.06861695e-01 1.12453086e+02] [ 3.18524221e-01 -5.84379174e-03 9.47896709e-01 3.13761162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84710568099996 meters Centerline goodness [0,1] 0.9940030300479757 Centerline is valid? [True, True] Translation: X:207.39, Y:112.48, Z:31.38 [[ 2.32021527e-01 -9.68930688e-01 -8.56699056e-02 2.07388875e+02] [ 9.18900370e-01 2.47221823e-01 -3.07414185e-01 1.12478524e+02] [ 3.19042508e-01 -7.39539940e-03 9.47711552e-01 3.13836661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87710568099993 meters Centerline goodness [0,1] 0.9939969668885331 Centerline is valid? [True, True] Translation: X:207.40, Y:112.50, Z:31.39 [[ 2.25207864e-01 -9.70491408e-01 -8.61849466e-02 2.07401734e+02] [ 9.19805600e-01 2.40947275e-01 -3.09680591e-01 1.12504371e+02] [ 3.21308380e-01 -9.53089205e-03 9.46926653e-01 3.13898540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90710568099996 meters Centerline goodness [0,1] 0.993897963891044 Centerline is valid? [True, True] Translation: X:207.42, Y:112.53, Z:31.40 [[ 2.21691762e-01 -9.71283513e-01 -8.63776531e-02 2.07415597e+02] [ 9.20279238e-01 2.37689173e-01 -3.10789287e-01 1.12528190e+02] [ 3.22395543e-01 -1.05921361e-02 9.46545784e-01 3.13966584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93710568099993 meters Centerline goodness [0,1] 0.994214685475926 Centerline is valid? [True, True] Translation: X:207.43, Y:112.55, Z:31.40 [[ 2.18170861e-01 -9.72057785e-01 -8.66321964e-02 2.07432835e+02] [ 9.20667505e-01 2.34451469e-01 -3.12095905e-01 1.12550349e+02] [ 3.23686300e-01 -1.16692158e-02 9.46092495e-01 3.14046811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.9671056809999 meters Centerline goodness [0,1] 0.9937350208131859 Centerline is valid? [True, True] Translation: X:207.43, Y:112.58, Z:31.42 [[ 2.18059418e-01 -9.72064125e-01 -8.68413866e-02 2.07433213e+02] [ 9.20323430e-01 2.34426549e-01 -3.13127732e-01 1.12577053e+02] [ 3.24738162e-01 -1.16417118e-02 9.45732307e-01 3.14155564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99710568099994 meters Centerline goodness [0,1] 0.9936027854101558 Centerline is valid? [True, True] Translation: X:207.43, Y:112.60, Z:31.43 [[ 2.19329246e-01 -9.71756388e-01 -8.70873410e-02 2.07433898e+02] [ 9.19539135e-01 2.35724555e-01 -3.14454629e-01 1.12604561e+02] [ 3.26101919e-01 -1.11111217e-02 9.45269317e-01 3.14262910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0271056809999 meters Centerline goodness [0,1] 0.9935835604948626 Centerline is valid? [True, True] Translation: X:207.43, Y:112.63, Z:31.44 [[ 2.27820723e-01 -9.69818782e-01 -8.68864118e-02 2.07431198e+02] [ 9.17566208e-01 2.43690423e-01 -3.14145240e-01 1.12631097e+02] [ 3.25837341e-01 -8.15523963e-03 9.45390670e-01 3.14373261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05710568099994 meters Centerline goodness [0,1] 0.9937628627829812 Centerline is valid? [True, True] Translation: X:207.43, Y:112.66, Z:31.45 [[ 2.38272221e-01 -9.67376333e-01 -8.60777535e-02 2.07429158e+02] [ 9.15805919e-01 2.53302506e-01 -3.11668670e-01 1.12659017e+02] [ 3.23304605e-01 -4.56852990e-03 9.46283922e-01 3.14489061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0871056809999 meters Centerline goodness [0,1] 0.9934507012593186 Centerline is valid? [True, True] Translation: X:207.43, Y:112.69, Z:31.46 [[ 2.43227597e-01 -9.66171765e-01 -8.57464612e-02 2.07432696e+02] [ 9.14841397e-01 2.57883544e-01 -3.10743134e-01 1.12685885e+02] [ 3.22343844e-01 -2.86310655e-03 9.46618323e-01 3.14580749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11710568099994 meters Centerline goodness [0,1] 0.9941306708998245 Centerline is valid? [True, True] Translation: X:207.43, Y:112.71, Z:31.47 [[ 2.54039139e-01 -9.63393328e-01 -8.56586951e-02 2.07429337e+02] [ 9.11870811e-01 2.68090592e-01 -3.10836066e-01 1.12713437e+02] [ 3.22421682e-01 8.54862616e-04 9.46595758e-01 3.14680091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.1471056809999 meters Centerline goodness [0,1] 0.9945301366417973 Centerline is valid? [True, True] Translation: X:207.43, Y:112.74, Z:31.48 [[ 2.60043922e-01 -9.61791571e-01 -8.56395457e-02 2.07428699e+02] [ 9.10081807e-01 2.73766614e-01 -3.11131719e-01 1.12739663e+02] [ 3.22689113e-01 2.96891999e-03 9.46500355e-01 3.14775275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17710568099994 meters Centerline goodness [0,1] 0.9959671521407527 Centerline is valid? [True, True] Translation: X:207.42, Y:112.77, Z:31.49 [[ 2.70952246e-01 -9.58811728e-01 -8.52346864e-02 2.07422506e+02] [ 9.07314415e-01 2.83963810e-01 -3.10072744e-01 1.12766741e+02] [ 3.21504950e-01 6.68024666e-03 9.46884334e-01 3.14882024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2071056809999 meters Centerline goodness [0,1] 0.9954563621447654 Centerline is valid? [True, True] Translation: X:207.43, Y:112.79, Z:31.50 [[ 2.75948962e-01 -9.57410568e-01 -8.49539611e-02 2.07427418e+02] [ 9.06095769e-01 2.88608129e-01 -3.09347385e-01 1.12793363e+02] [ 3.20690860e-01 8.38766523e-03 9.47146778e-01 3.14981041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23710568099995 meters Centerline goodness [0,1] 0.9968306261598449 Centerline is valid? [True, True] Translation: X:207.43, Y:112.82, Z:31.51 [[ 2.83937123e-01 -9.55104998e-01 -8.45822311e-02 2.07428007e+02] [ 9.04013969e-01 2.96059461e-01 -3.08395101e-01 1.12819565e+02] [ 3.19591072e-01 1.11012993e-02 9.47490532e-01 3.15072347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.2671056809999 meters Centerline goodness [0,1] 0.9971164572414809 Centerline is valid? [True, True] Translation: X:207.44, Y:112.84, Z:31.52 [[ 2.88808513e-01 -9.53676353e-01 -8.42084072e-02 2.07439764e+02] [ 9.02925635e-01 3.00566580e-01 -3.07221467e-01 1.12843735e+02] [ 3.18300081e-01 1.26942453e-02 9.47905014e-01 3.15179412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29710568099995 meters Centerline goodness [0,1] 0.9974097628774797 Centerline is valid? [True, True] Translation: X:207.45, Y:112.87, Z:31.53 [[ 2.90589043e-01 -9.53156757e-01 -8.39654947e-02 2.07448234e+02] [ 9.02538078e-01 3.02181418e-01 -3.06775827e-01 1.12868991e+02] [ 3.17778264e-01 1.33636375e-02 9.48070877e-01 3.15268559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3271056809999 meters Centerline goodness [0,1] 0.9981876804417003 Centerline is valid? [True, True] Translation: X:207.46, Y:112.89, Z:31.54 [[ 2.91846380e-01 -9.52761628e-01 -8.40890676e-02 2.07460536e+02] [ 9.01892099e-01 3.03401069e-01 -3.07471028e-01 1.12893104e+02] [ 3.18459310e-01 1.38950409e-02 9.47834688e-01 3.15352109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35710568099995 meters Centerline goodness [0,1] 0.9981678810596808 Centerline is valid? [True, True] Translation: X:207.48, Y:112.92, Z:31.54 [[ 2.87162921e-01 -9.54143598e-01 -8.45425955e-02 2.07479461e+02] [ 9.02658315e-01 2.99086190e-01 -3.09443721e-01 1.12915518e+02] [ 3.20539269e-01 1.25476860e-02 9.47152117e-01 3.15420257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.3871056809999 meters Centerline goodness [0,1] 0.9982300884955753 Centerline is valid? [True, True] Translation: X:207.50, Y:112.94, Z:31.55 [[ 2.82160132e-01 -9.55641744e-01 -8.44660709e-02 2.07495735e+02] [ 9.04158876e-01 2.94326347e-01 -3.09626757e-01 1.12939186e+02] [ 3.20752844e-01 1.09935790e-02 9.47099126e-01 3.15505468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41710568099995 meters Centerline goodness [0,1] 0.9988330415937318 Centerline is valid? [True, True] Translation: X:207.52, Y:112.96, Z:31.56 [[ 2.72948291e-01 -9.58321910e-01 -8.43703015e-02 2.07521453e+02] [ 9.06932567e-01 2.85578122e-01 -3.09707046e-01 1.12959589e+02] [ 3.20893360e-01 8.01583486e-03 9.47081410e-01 3.15600127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4471056809999 meters Centerline goodness [0,1] 0.9991684510321601 Centerline is valid? [True, True] Translation: X:207.54, Y:112.98, Z:31.57 [[ 2.68656110e-01 -9.59544498e-01 -8.42511224e-02 2.07537230e+02] [ 9.08209679e-01 2.81477529e-01 -3.09718548e-01 1.12981905e+02] [ 3.20903526e-01 6.69009526e-03 9.47088259e-01 3.15681324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47710568099995 meters Centerline goodness [0,1] 0.9985554578570531 Centerline is valid? [True, True] Translation: X:207.56, Y:113.00, Z:31.58 [[ 2.61019429e-01 -9.61647583e-01 -8.42780158e-02 2.07560386e+02] [ 9.10289260e-01 2.74255527e-01 -3.10092518e-01 1.13003992e+02] [ 3.21313432e-01 4.22279911e-03 9.46963487e-01 3.15755025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.5071056809999 meters Centerline goodness [0,1] 0.998653821883808 Centerline is valid? [True, True] Translation: X:207.57, Y:113.03, Z:31.58 [[ 2.57196587e-01 -9.62670608e-01 -8.43517421e-02 2.07573332e+02] [ 9.11130471e-01 2.70658152e-01 -3.10781963e-01 1.13028219e+02] [ 3.22011148e-01 3.07661775e-03 9.46730878e-01 3.15844771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53710568099996 meters Centerline goodness [0,1] 0.9985865575292182 Centerline is valid? [True, True] Translation: X:207.59, Y:113.05, Z:31.59 [[ 2.53436800e-01 -9.63645243e-01 -8.46027994e-02 2.07585697e+02] [ 9.11692579e-01 2.67177728e-01 -3.12142119e-01 1.13052598e+02] [ 3.23398252e-01 1.97655532e-03 9.46260886e-01 3.15918874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56710568099993 meters Centerline goodness [0,1] 0.9985562135130045 Centerline is valid? [True, True] Translation: X:207.60, Y:113.08, Z:31.59 [[ 2.46999172e-01 -9.65234806e-01 -8.55171201e-02 2.07604003e+02] [ 9.12050471e-01 2.61384327e-01 -3.15978119e-01 1.13076191e+02] [ 3.27345913e-01 5.04040819e-05 9.44904572e-01 3.15946156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59710568099996 meters Centerline goodness [0,1] 0.9983528318621447 Centerline is valid? [True, True] Translation: X:207.62, Y:113.10, Z:31.60 [[ 2.44404078e-01 -9.65895114e-01 -8.55176869e-02 2.07618104e+02] [ 9.12582443e-01 2.58932697e-01 -3.16460336e-01 1.13099391e+02] [ 3.27810818e-01 -6.97742848e-04 9.44743130e-01 3.16046301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62710568099993 meters Centerline goodness [0,1] 0.9989847930458323 Centerline is valid? [True, True] Translation: X:207.62, Y:113.12, Z:31.62 [[ 2.45282075e-01 -9.65699354e-01 -8.52142109e-02 2.07624894e+02] [ 9.12609358e-01 2.59662591e-01 -3.15783944e-01 1.13123017e+02] [ 3.27079294e-01 -3.11145195e-04 9.44996846e-01 3.16179864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65710568099996 meters Centerline goodness [0,1] 0.9992197385069591 Centerline is valid? [True, True] Translation: X:207.63, Y:113.15, Z:31.63 [[ 2.51854211e-01 -9.64055156e-01 -8.46588039e-02 2.07628569e+02] [ 9.11421117e-01 2.65694883e-01 -3.14193852e-01 1.13147832e+02] [ 3.25393614e-01 1.97122295e-03 9.45576602e-01 3.16286868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68710568099993 meters Centerline goodness [0,1] 0.9991594519626796 Centerline is valid? [True, True] Translation: X:207.63, Y:113.17, Z:31.64 [[ 2.56165758e-01 -9.62963921e-01 -8.41403137e-02 2.07634348e+02] [ 9.10766795e-01 2.69607759e-01 -3.12754700e-01 1.13172670e+02] [ 3.23856373e-01 3.48484081e-03 9.46099839e-01 3.16400670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7171056809999 meters Centerline goodness [0,1] 0.9994330232460469 Centerline is valid? [True, True] Translation: X:207.63, Y:113.20, Z:31.65 [[ 2.64418438e-01 -9.60778238e-01 -8.35946628e-02 2.07634755e+02] [ 9.09067642e-01 2.77247510e-01 -3.11014212e-01 1.13197722e+02] [ 3.21992099e-01 6.24468927e-03 9.46721761e-01 3.16537166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74710568099994 meters Centerline goodness [0,1] 0.9992688836898396 Centerline is valid? [True, True] Translation: X:207.64, Y:113.22, Z:31.66 [[ 2.69093502e-01 -9.59536101e-01 -8.29406875e-02 2.07635662e+02] [ 9.08502524e-01 2.81478698e-01 -3.08857422e-01 1.13223269e+02] [ 3.19705883e-01 7.75970131e-03 9.47485058e-01 3.16642935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7771056809999 meters Centerline goodness [0,1] 0.999052112735392 Centerline is valid? [True, True] Translation: X:207.65, Y:113.25, Z:31.68 [[ 2.70391284e-01 -9.59215174e-01 -8.24305944e-02 2.07649775e+02] [ 9.08704337e-01 2.82558582e-01 -3.07273616e-01 1.13246075e+02] [ 3.18032987e-01 8.17906889e-03 9.48044367e-01 3.16751192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80710568099994 meters Centerline goodness [0,1] 0.9994320811072315 Centerline is valid? [True, True] Translation: X:207.66, Y:113.27, Z:31.68 [[ 2.71279531e-01 -9.58991891e-01 -8.21094902e-02 2.07660554e+02] [ 9.08771232e-01 2.83306095e-01 -3.06386201e-01 1.13270093e+02] [ 3.17084002e-01 8.49756231e-03 9.48359387e-01 3.16835897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8371056809999 meters Centerline goodness [0,1] 0.9998530121999875 Centerline is valid? [True, True] Translation: X:207.67, Y:113.30, Z:31.69 [[ 2.70157650e-01 -9.59321382e-01 -8.19593168e-02 2.07665653e+02] [ 9.09157864e-01 2.82196436e-01 -3.06263204e-01 1.13295014e+02] [ 3.16933467e-01 8.22539002e-03 9.48412105e-01 3.16920704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86710568099994 meters Centerline goodness [0,1] 0.9995995869423194 Centerline is valid? [True, True] Translation: X:207.69, Y:113.32, Z:31.70 [[ 2.65602094e-01 -9.60598355e-01 -8.18921759e-02 2.07685456e+02] [ 9.10409693e-01 2.77855732e-01 -3.06513267e-01 1.13317225e+02] [ 3.17190351e-01 6.85513491e-03 9.48337118e-01 3.17016380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.8971056809999 meters Centerline goodness [0,1] 0.9997259638693902 Centerline is valid? [True, True] Translation: X:207.70, Y:113.34, Z:31.71 [[ 2.61992202e-01 -9.61584467e-01 -8.19475414e-02 2.07697477e+02] [ 9.11212415e-01 2.74447694e-01 -3.07197652e-01 1.13342175e+02] [ 3.17886804e-01 5.81177202e-03 9.48110860e-01 3.17095797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92710568099994 meters Centerline goodness [0,1] 0.9995578295748847 Centerline is valid? [True, True] Translation: X:207.72, Y:113.37, Z:31.72 [[ 2.53907567e-01 -9.63731355e-01 -8.21755664e-02 2.07715580e+02] [ 9.13019705e-01 2.66853774e-01 -3.08519174e-01 1.13365557e+02] [ 3.19258461e-01 3.30744127e-03 9.47661910e-01 3.17171343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.9571056809999 meters Centerline goodness [0,1] 0.9994962428109652 Centerline is valid? [True, True] Translation: X:207.73, Y:113.39, Z:31.72 [[ 2.50022159e-01 -9.64726748e-01 -8.24088698e-02 2.07728002e+02] [ 9.13608724e-01 2.63244229e-01 -3.09873482e-01 1.13389576e+02] [ 3.20636896e-01 2.18577452e-03 9.47199664e-01 3.17244252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98710568099995 meters Centerline goodness [0,1] 0.9996627745226152 Centerline is valid? [True, True] Translation: X:207.74, Y:113.41, Z:31.73 [[ 2.46675244e-01 -9.65555172e-01 -8.27921084e-02 2.07743665e+02] [ 9.13822989e-01 2.60195359e-01 -3.11810710e-01 1.13413476e+02] [ 3.22612567e-01 1.25865106e-03 9.46530268e-01 3.17295743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0171056809999 meters Centerline goodness [0,1] 0.9997256052514933 Centerline is valid? [True, True] Translation: X:207.75, Y:113.44, Z:31.74 [[ 2.49095416e-01 -9.64920120e-01 -8.29495973e-02 2.07752189e+02] [ 9.12830108e-01 2.62534525e-01 -3.12756802e-01 1.13439855e+02] [ 3.23562465e-01 2.18739588e-03 9.46204284e-01 3.17369197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04710568099995 meters Centerline goodness [0,1] 0.9998109442285474 Centerline is valid? [True, True] Translation: X:207.76, Y:113.47, Z:31.75 [[ 2.51730951e-01 -9.64233368e-01 -8.29791604e-02 2.07758341e+02] [ 9.11914265e-01 2.65035392e-01 -3.13318711e-01 1.13466339e+02] [ 3.24104770e-01 3.20213718e-03 9.46015774e-01 3.17456668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0771056809999 meters Centerline goodness [0,1] 0.9999578032364917 Centerline is valid? [True, True] Translation: X:207.76, Y:113.49, Z:31.75 [[ 2.60914509e-01 -9.61801274e-01 -8.28367504e-02 2.07762130e+02] [ 9.09384873e-01 2.73673813e-01 -3.13243989e-01 1.13492969e+02] [ 3.23948718e-01 6.39941409e-03 9.46052998e-01 3.17548090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10710568099995 meters Centerline goodness [0,1] 0.9997680792747207 Centerline is valid? [True, True] Translation: X:207.76, Y:113.52, Z:31.76 [[ 2.66422841e-01 -9.60300573e-01 -8.27144407e-02 2.07764099e+02] [ 9.07811334e-01 2.78841866e-01 -3.13250371e-01 1.13519285e+02] [ 3.23878760e-01 8.36794718e-03 9.46061587e-01 3.17627906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1371056809999 meters Centerline goodness [0,1] 0.9999162706968371 Centerline is valid? [True, True] Translation: X:207.77, Y:113.54, Z:31.78 [[ 2.76506835e-01 -9.57492203e-01 -8.21745195e-02 2.07766358e+02] [ 9.05475765e-01 2.88220580e-01 -3.11516511e-01 1.13544498e+02] [ 3.21959018e-01 1.17294087e-02 9.46680945e-01 3.17753459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16710568099995 meters Centerline goodness [0,1] 0.9999578299281 Centerline is valid? [True, True] Translation: X:207.77, Y:113.57, Z:31.79 [[ 2.79271932e-01 -9.56721514e-01 -8.17993405e-02 2.07772559e+02] [ 9.04988768e-01 2.90727159e-01 -3.10601109e-01 1.13570410e+02] [ 3.20940053e-01 1.27146875e-02 9.47014160e-01 3.17856374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.1971056809999 meters Centerline goodness [0,1] 0.9998528731766783 Centerline is valid? [True, True] Translation: X:207.78, Y:113.60, Z:31.79 [[ 2.81011498e-01 -9.56217837e-01 -8.17311841e-02 2.07780379e+02] [ 9.04395632e-01 2.92347854e-01 -3.10807452e-01 1.13596342e+02] [ 3.21093566e-01 1.34231417e-02 9.46952344e-01 3.17938474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22710568099995 meters Centerline goodness [0,1] 0.9998534675849364 Centerline is valid? [True, True] Translation: X:207.80, Y:113.62, Z:31.80 [[ 2.80884489e-01 -9.56243970e-01 -8.18619210e-02 2.07796164e+02] [ 9.04092844e-01 2.92255977e-01 -3.11773271e-01 1.13620119e+02] [ 3.22055946e-01 1.35614989e-02 9.46623501e-01 3.18003985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.2571056809999 meters Centerline goodness [0,1] 0.9998949425335658 Centerline is valid? [True, True] Translation: X:207.81, Y:113.64, Z:31.81 [[ 2.77081831e-01 -9.57405592e-01 -8.12415651e-02 2.07814989e+02] [ 9.05945282e-01 2.88485763e-01 -3.09901777e-01 1.13641230e+02] [ 3.20138729e-01 1.22677390e-02 9.47291242e-01 3.18102763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28710568099996 meters Centerline goodness [0,1] 0.9999579681819137 Centerline is valid? [True, True] Translation: X:207.83, Y:113.66, Z:31.82 [[ 2.71736596e-01 -9.59027186e-01 -8.01628282e-02 2.07834357e+02] [ 9.08863275e-01 2.83124184e-01 -3.06281314e-01 1.13660733e+02] [ 3.16428142e-01 1.03707911e-02 9.48559791e-01 3.18241578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.85, Y:113.68, Z:31.83 [[ 2.67781556e-01 -9.60163975e-01 -7.98635030e-02 2.07847698e+02] [ 9.10266553e-01 2.79287452e-01 -3.05635930e-01 1.13683757e+02] [ 3.15765484e-01 9.14658924e-03 9.48793180e-01 3.18344157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.85, Y:113.71, Z:31.84 [[ 2.67441098e-01 -9.60268538e-01 -7.97470665e-02 2.07854006e+02] [ 9.10366667e-01 2.78927657e-01 -3.05666310e-01 1.13709036e+02] [ 3.15765403e-01 9.14866255e-03 9.48793187e-01 3.18430593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:113.73, Z:31.85 [[ 2.55776183e-01 -9.63455044e-01 -7.95796592e-02 2.07880656e+02] [ 9.13755958e-01 2.67815216e-01 -3.05491505e-01 1.13729260e+02] [ 3.15639975e-01 5.42106343e-03 9.48863540e-01 3.18531890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.90, Y:113.75, Z:31.86 [[ 2.49753560e-01 -9.65037272e-01 -7.95375513e-02 2.07895935e+02] [ 9.15354705e-01 2.62088818e-01 -3.05671744e-01 1.13753080e+02] [ 3.15830528e-01 3.53753432e-03 9.48809024e-01 3.18622485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43710568099993 meters Centerline goodness [0,1] 0.9999579434339186 Centerline is valid? [True, True] Translation: X:207.91, Y:113.78, Z:31.87 [[ 2.44491643e-01 -9.66398839e-01 -7.93544039e-02 2.07910060e+02] [ 9.16861214e-01 2.57040061e-01 -3.05443811e-01 1.13777010e+02] [ 3.15577805e-01 1.92148411e-03 9.48897759e-01 3.18710819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:113.80, Z:31.88 [[ 2.33959819e-01 -9.69050710e-01 -7.87624516e-02 2.07929564e+02] [ 9.20253276e-01 2.46857529e-01 -3.03636739e-01 1.13797764e+02] [ 3.13682502e-01 -1.44260755e-03 9.49526833e-01 3.18827306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:113.82, Z:31.89 [[ 2.21961269e-01 -9.71900017e-01 -7.83808129e-02 2.07947336e+02] [ 9.23581947e-01 2.35336413e-01 -3.02676658e-01 1.13820572e+02] [ 3.12617308e-01 -5.20860858e-03 9.49864879e-01 3.18934940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:113.84, Z:31.90 [[ 2.10771863e-01 -9.74353905e-01 -7.88015818e-02 2.07964254e+02] [ 9.25503669e-01 2.24853006e-01 -3.04768904e-01 1.13843452e+02] [ 3.14671544e-01 -8.69444351e-03 9.49160801e-01 3.18990387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.97, Y:113.87, Z:31.91 [[ 2.06094955e-01 -9.75372672e-01 -7.85685664e-02 2.07974037e+02] [ 9.26754920e-01 2.20331629e-01 -3.04268454e-01 1.13868889e+02] [ 3.14086275e-01 -1.01056122e-02 9.49340660e-01 3.19084705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5871056809999 meters Centerline goodness [0,1] 0.999957955811558 Centerline is valid? [True, True] Translation: X:207.99, Y:113.89, Z:31.92 [[ 1.98486189e-01 -9.76974877e-01 -7.82516558e-02 2.07988213e+02] [ 9.28719278e-01 2.12991843e-01 -3.03504492e-01 1.13892069e+02] [ 3.13183229e-01 -1.24323711e-02 9.49611342e-01 3.19167956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61710568099994 meters Centerline goodness [0,1] 0.9999581230762788 Centerline is valid? [True, True] Translation: X:208.00, Y:113.92, Z:31.92 [[ 1.95335791e-01 -9.77584431e-01 -7.85659596e-02 2.07996296e+02] [ 9.28807787e-01 2.10120090e-01 -3.05230475e-01 1.13918515e+02] [ 3.14896846e-01 -1.33502390e-02 9.49032005e-01 3.19230557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.6471056809999 meters Centerline goodness [0,1] 0.9999159239952917 Centerline is valid? [True, True] Translation: X:208.00, Y:113.95, Z:31.93 [[ 1.89345197e-01 -9.78690734e-01 -7.94534014e-02 2.08002247e+02] [ 9.28699805e-01 2.04772843e-01 -3.09167844e-01 1.13946380e+02] [ 3.18849603e-01 -1.52489121e-02 9.47682648e-01 3.19260890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67710568099994 meters Centerline goodness [0,1] 0.9999159434299283 Centerline is valid? [True, True] Translation: X:208.01, Y:113.97, Z:31.93 [[ 1.86308930e-01 -9.79280227e-01 -7.93676222e-02 2.08010951e+02] [ 9.29281263e-01 2.01866952e-01 -3.09331648e-01 1.13971336e+02] [ 3.18944067e-01 -1.61235959e-02 9.47636382e-01 3.19328730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7071056809999 meters Centerline goodness [0,1] 0.9998737187717046 Centerline is valid? [True, True] Translation: X:208.01, Y:114.00, Z:31.94 [[ 1.82580511e-01 -9.80015771e-01 -7.89521786e-02 2.08012170e+02] [ 9.30442566e-01 1.98176137e-01 -3.08225325e-01 1.13997944e+02] [ 3.17712117e-01 -1.71845303e-02 9.48031488e-01 3.19428712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73710568099995 meters Centerline goodness [0,1] 0.9998738886436723 Centerline is valid? [True, True] Translation: X:208.02, Y:114.02, Z:31.95 [[ 1.81655190e-01 -9.80191213e-01 -7.89086729e-02 2.08016823e+02] [ 9.30519756e-01 1.97289928e-01 -3.08560640e-01 1.14022779e+02] [ 3.18016314e-01 -1.73744375e-02 9.47926027e-01 3.19510822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.7671056809999 meters Centerline goodness [0,1] 0.9996645350665688 Centerline is valid? [True, True] Translation: X:208.02, Y:114.05, Z:31.96 [[ 1.81400347e-01 -9.80189855e-01 -7.95095083e-02 2.08015490e+02] [ 9.29558104e-01 1.97293295e-01 -3.11443553e-01 1.14050084e+02] [ 3.20960504e-01 -1.74127393e-02 9.46932496e-01 3.19557611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79710568099995 meters Centerline goodness [0,1] 0.9998101866497944 Centerline is valid? [True, True] Translation: X:208.01, Y:114.08, Z:31.96 [[ 1.87474354e-01 -9.78987173e-01 -8.02339186e-02 2.08005392e+02] [ 9.27096088e-01 2.03342978e-01 -3.14872160e-01 1.14080897e+02] [ 3.24570809e-01 -1.53540974e-02 9.45736772e-01 3.19607560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8271056809999 meters Centerline goodness [0,1] 0.9998951056286319 Centerline is valid? [True, True] Translation: X:208.00, Y:114.11, Z:31.97 [[ 1.94368466e-01 -9.77636947e-01 -8.02925884e-02 2.08001222e+02] [ 9.25376680e-01 2.09900492e-01 -3.15626018e-01 1.14108981e+02] [ 3.25421111e-01 -1.29531439e-02 9.45480469e-01 3.19689819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85710568099995 meters Centerline goodness [0,1] 0.9996204293365948 Centerline is valid? [True, True] Translation: X:207.98, Y:114.14, Z:31.98 [[ 2.13544482e-01 -9.73659788e-01 -7.99085153e-02 2.07978382e+02] [ 9.21447039e-01 2.27914642e-01 -3.14627193e-01 1.14140258e+02] [ 3.24552167e-01 -6.44456391e-03 9.45845843e-01 3.19797924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.8871056809999 meters Centerline goodness [0,1] 0.9996626749873503 Centerline is valid? [True, True] Translation: X:207.97, Y:114.17, Z:31.99 [[ 2.23593882e-01 -9.71413102e-01 -7.97644038e-02 2.07968329e+02] [ 9.19128973e-01 2.37376292e-01 -3.14411240e-01 1.14170164e+02] [ 3.24357376e-01 -3.01334473e-03 9.45929814e-01 3.19897126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91710568099995 meters Centerline goodness [0,1] 0.9996626394248003 Centerline is valid? [True, True] Translation: X:207.95, Y:114.20, Z:32.00 [[ 2.39202624e-01 -9.67702998e-01 -7.95802218e-02 2.07950190e+02] [ 9.15287313e-01 2.52082452e-01 -3.14171246e-01 1.14202480e+02] [ 3.24085234e-01 2.31181925e-03 9.46025061e-01 3.19958638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9471056809999 meters Centerline goodness [0,1] 0.9996411836717464 Centerline is valid? [True, True] Translation: X:207.95, Y:114.23, Z:32.00 [[ 2.43760935e-01 -9.66600802e-01 -7.91422570e-02 2.07948547e+02] [ 9.14545867e-01 2.56256968e-01 -3.12950832e-01 1.14230173e+02] [ 3.22779280e-01 3.90596342e-03 9.46466206e-01 3.20047438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97710568099995 meters Centerline goodness [0,1] 0.9996209648550191 Centerline is valid? [True, True] Translation: X:207.94, Y:114.26, Z:32.02 [[ 2.49103001e-01 -9.65322640e-01 -7.81018307e-02 2.07944937e+02] [ 9.14448328e-01 2.60999129e-01 -3.09295506e-01 1.14257682e+02] [ 3.18954464e-01 5.62635018e-03 9.47753340e-01 3.20159191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.0071056809999 meters Centerline goodness [0,1] 0.9996658172856009 Centerline is valid? [True, True] Translation: X:207.95, Y:114.28, Z:32.02 [[ 2.49680314e-01 -9.65150745e-01 -7.83822738e-02 2.07946442e+02] [ 9.13734795e-01 2.61625816e-01 -3.10870804e-01 1.14283982e+02] [ 3.20544014e-01 5.99770887e-03 9.47214634e-01 3.20225137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03710568099996 meters Centerline goodness [0,1] 0.9995786546442792 Centerline is valid? [True, True] Translation: X:207.95, Y:114.31, Z:32.03 [[ 2.47574759e-01 -9.65675428e-01 -7.85983891e-02 2.07954289e+02] [ 9.13814676e-01 2.59693898e-01 -3.12252810e-01 1.14309417e+02] [ 3.21946388e-01 5.48155272e-03 9.46742032e-01 3.20296951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06710568099993 meters Centerline goodness [0,1] 0.9993749479123261 Centerline is valid? [True, True] Translation: X:207.96, Y:114.33, Z:32.04 [[ 2.43354429e-01 -9.66751712e-01 -7.85477516e-02 2.07964330e+02] [ 9.14840867e-01 2.55682334e-01 -3.12558367e-01 1.14333948e+02] [ 3.22249608e-01 4.20376972e-03 9.46645403e-01 3.20366397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09710568099996 meters Centerline goodness [0,1] 0.9994943429618861 Centerline is valid? [True, True] Translation: X:207.98, Y:114.36, Z:32.05 [[ 2.39961610e-01 -9.67634300e-01 -7.81171338e-02 2.07975918e+02] [ 9.16237459e-01 2.52337597e-01 -3.11182672e-01 1.14357189e+02] [ 3.20822917e-01 3.09805098e-03 9.47134129e-01 3.20486749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12710568099993 meters Centerline goodness [0,1] 0.9996455379482903 Centerline is valid? [True, True] Translation: X:207.99, Y:114.38, Z:32.06 [[ 2.35384600e-01 -9.68852498e-01 -7.69345636e-02 2.07990474e+02] [ 9.18947326e-01 2.47633666e-01 -3.06941981e-01 1.14377630e+02] [ 3.16433094e-01 1.55060397e-03 9.48613564e-01 3.20629200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15710568099996 meters Centerline goodness [0,1] 0.9995788232321106 Centerline is valid? [True, True] Translation: X:208.00, Y:114.40, Z:32.07 [[ 2.33031839e-01 -9.69451959e-01 -7.65444985e-02 2.08001123e+02] [ 9.19936581e-01 2.45279754e-01 -3.05866848e-01 1.14401994e+02] [ 3.15298031e-01 8.60629899e-04 9.48992313e-01 3.20733700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18710568099993 meters Centerline goodness [0,1] 0.9997277144772118 Centerline is valid? [True, True] Translation: X:208.01, Y:114.43, Z:32.08 [[ 2.31240357e-01 -9.69887014e-01 -7.64661789e-02 2.08012037e+02] [ 9.20339126e-01 2.43554974e-01 -3.06034095e-01 1.14425171e+02] [ 3.15442213e-01 3.92617165e-04 9.48944707e-01 3.20816014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2171056809999 meters Centerline goodness [0,1] 0.9995623723586046 Centerline is valid? [True, True] Translation: X:208.02, Y:114.45, Z:32.09 [[ 2.30156001e-01 -9.70147879e-01 -7.64284444e-02 2.08018923e+02] [ 9.20495620e-01 2.42514050e-01 -3.06389865e-01 1.14449659e+02] [ 3.15778450e-01 1.65417841e-04 9.48832938e-01 3.20895252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24710568099994 meters Centerline goodness [0,1] 0.9996627531985751 Centerline is valid? [True, True] Translation: X:208.03, Y:114.48, Z:32.09 [[ 2.29223998e-01 -9.70311865e-01 -7.71442984e-02 2.08026403e+02] [ 9.19524430e-01 2.41857143e-01 -3.09806302e-01 1.14476115e+02] [ 3.19266630e-01 7.89720988e-05 9.47664926e-01 3.20923603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2771056809999 meters Centerline goodness [0,1] 0.9997280732947058 Centerline is valid? [True, True] Translation: X:208.03, Y:114.50, Z:32.09 [[ 2.33759338e-01 -9.69147238e-01 -7.81677920e-02 2.08030713e+02] [ 9.16711738e-01 2.46475559e-01 -3.14466833e-01 1.14504407e+02] [ 3.24031113e-01 1.85222625e-03 9.46044612e-01 3.20941177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30710568099994 meters Centerline goodness [0,1] 0.9994962216624685 Centerline is valid? [True, True] Translation: X:208.04, Y:114.53, Z:32.10 [[ 2.36680223e-01 -9.68415789e-01 -7.84431744e-02 2.08035666e+02] [ 9.15391363e-01 2.49322801e-01 -3.16064538e-01 1.14531269e+02] [ 3.25639561e-01 3.00002094e-03 9.45489226e-01 3.21014391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3371056809999 meters Centerline goodness [0,1] 0.9996230840103861 Centerline is valid? [True, True] Translation: X:208.04, Y:114.56, Z:32.11 [[ 2.42307629e-01 -9.66986026e-01 -7.88989156e-02 2.08037713e+02] [ 9.13078852e-01 2.54778196e-01 -3.18394537e-01 1.14558461e+02] [ 3.27984791e-01 5.10849414e-03 9.44669191e-01 3.21093286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36710568099994 meters Centerline goodness [0,1] 0.9994786235662148 Centerline is valid? [True, True] Translation: X:208.04, Y:114.58, Z:32.12 [[ 2.44704350e-01 -9.66390845e-01 -7.87941347e-02 2.08041642e+02] [ 9.12432478e-01 2.57006483e-01 -3.18456654e-01 1.14583823e+02] [ 3.28004198e-01 6.03340068e-03 9.44656998e-01 3.21172276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.3971056809999 meters Centerline goodness [0,1] 0.9994947049287324 Centerline is valid? [True, True] Translation: X:208.05, Y:114.61, Z:32.13 [[ 2.50924463e-01 -9.64872875e-01 -7.78283347e-02 2.08047140e+02] [ 9.12063449e-01 2.62594140e-01 -3.14935840e-01 1.14607932e+02] [ 3.24310314e-01 8.04072699e-03 9.45916575e-01 3.21309556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42710568099994 meters Centerline goodness [0,1] 0.9995415520546803 Centerline is valid? [True, True] Translation: X:208.05, Y:114.63, Z:32.14 [[ 2.57115270e-01 -9.63328295e-01 -7.67485142e-02 2.08045714e+02] [ 9.11769811e-01 2.68138794e-01 -3.11090659e-01 1.14633421e+02] [ 3.20261688e-01 1.00091805e-02 9.47276236e-01 3.21431326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.4571056809999 meters Centerline goodness [0,1] 0.9994139439479247 Centerline is valid? [True, True] Translation: X:208.06, Y:114.66, Z:32.15 [[ 2.58849348e-01 -9.62881066e-01 -7.65314883e-02 2.08059499e+02] [ 9.11507231e-01 2.69717315e-01 -3.10494989e-01 1.14656797e+02] [ 3.19611613e-01 1.06124205e-02 9.47489205e-01 3.21540672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48710568099995 meters Centerline goodness [0,1] 0.9995399606875497 Centerline is valid? [True, True] Translation: X:208.07, Y:114.68, Z:32.16 [[ 2.61119614e-01 -9.62282831e-01 -7.63433127e-02 2.08067451e+02] [ 9.10975614e-01 2.71809517e-01 -3.10230586e-01 1.14682793e+02] [ 3.19280405e-01 1.14603945e-02 9.47590989e-01 3.21633332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5171056809999 meters Centerline goodness [0,1] 0.9999791727412838 Centerline is valid? [True, True] Translation: X:208.07, Y:114.71, Z:32.17 [[ 2.66253109e-01 -9.60863336e-01 -7.64913859e-02 2.08069478e+02] [ 9.09121773e-01 2.76700682e-01 -3.11342791e-01 1.14709562e+02] [ 3.20323091e-01 1.33560017e-02 9.47214197e-01 3.21691277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54710568099995 meters Centerline goodness [0,1] 0.9998954303042978 Centerline is valid? [True, True] Translation: X:208.08, Y:114.73, Z:32.17 [[ 2.69552204e-01 -9.59910401e-01 -7.69001348e-02 2.08082087e+02] [ 9.07414289e-01 2.79920890e-01 -3.13438357e-01 1.14734463e+02] [ 3.22398693e-01 1.47077189e-02 9.46489707e-01 3.21744263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.09, Y:114.76, Z:32.18 [[ 2.68834891e-01 -9.60110687e-01 -7.69107952e-02 2.08093778e+02] [ 9.07422624e-01 2.79237239e-01 -3.14023479e-01 1.14758878e+02] [ 3.22973656e-01 1.46298720e-02 9.46294872e-01 3.21832438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:114.78, Z:32.19 [[ 2.62594823e-01 -9.61858335e-01 -7.66322527e-02 2.08114922e+02] [ 9.09450587e-01 2.73257337e-01 -3.13416748e-01 1.14780191e+02] [ 3.22402837e-01 1.26083683e-02 9.46518589e-01 3.21934319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.13, Y:114.80, Z:32.20 [[ 2.56755042e-01 -9.63439249e-01 -7.65614930e-02 2.08129217e+02] [ 9.11069424e-01 2.67711527e-01 -3.13501263e-01 1.14803397e+02] [ 3.22535816e-01 1.07401947e-02 9.46496326e-01 3.22005912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:114.82, Z:32.21 [[ 2.43126211e-01 -9.66978726e-01 -7.64315935e-02 2.08157229e+02] [ 9.14758922e-01 2.54778928e-01 -3.13534388e-01 1.14823600e+02] [ 3.22654242e-01 6.31194551e-03 9.46495853e-01 3.22095700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:114.84, Z:32.22 [[ 2.30232248e-01 -9.70202037e-01 -7.55057603e-02 2.08181892e+02] [ 9.19250250e-01 2.42288865e-01 -3.10282264e-01 1.14842934e+02] [ 3.19330689e-01 2.02829422e-03 9.47641175e-01 3.22227601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.19, Y:114.87, Z:32.23 [[ 2.25496453e-01 -9.71321206e-01 -7.54086435e-02 2.08194629e+02] [ 9.20377063e-01 2.37770386e-01 -3.10437281e-01 1.14866916e+02] [ 3.19464256e-01 5.98119894e-04 9.47598138e-01 3.22314793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:114.89, Z:32.23 [[ 2.19980146e-01 -9.72536774e-01 -7.60326136e-02 2.08214032e+02] [ 9.20606682e-01 2.32747028e-01 -3.13547697e-01 1.14890467e+02] [ 3.22633031e-01 -1.02186377e-03 9.46523578e-01 3.22348012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:114.92, Z:32.24 [[ 2.19135491e-01 -9.72713848e-01 -7.62063389e-02 2.08224363e+02] [ 9.20355754e-01 2.32005292e-01 -3.14831433e-01 1.14915786e+02] [ 3.23921169e-01 -1.14620185e-03 9.46083380e-01 3.22418424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81710568099993 meters Centerline goodness [0,1] 0.9999578770008425 Centerline is valid? [True, True] Translation: X:208.23, Y:114.94, Z:32.25 [[ 2.20690599e-01 -9.72324612e-01 -7.66844779e-02 2.08232804e+02] [ 9.19076177e-01 2.33633590e-01 -3.17355205e-01 1.14941375e+02] [ 3.26488347e-01 -4.41566453e-04 9.45201124e-01 3.22477476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:114.97, Z:32.26 [[ 2.21927927e-01 -9.72045343e-01 -7.66540699e-02 2.08237071e+02] [ 9.18624285e-01 2.34793182e-01 -3.17807465e-01 1.14965747e+02] [ 3.26921120e-01 1.14061726e-04 9.45051622e-01 3.22551254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:114.99, Z:32.27 [[ 2.24195603e-01 -9.71558872e-01 -7.62213162e-02 2.08241697e+02] [ 9.18513053e-01 2.36796112e-01 -3.16640763e-01 1.14990851e+02] [ 3.25684054e-01 9.79193134e-04 9.45478153e-01 3.22660358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90710568099996 meters Centerline goodness [0,1] 0.9999580501719942 Centerline is valid? [True, True] Translation: X:208.25, Y:115.02, Z:32.28 [[ 2.22756163e-01 -9.71907098e-01 -7.60018743e-02 2.08249953e+02] [ 9.19002550e-01 2.35364020e-01 -3.16287987e-01 1.15015706e+02] [ 3.25290647e-01 6.09182202e-04 9.45613887e-01 3.22766645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93710568099993 meters Centerline goodness [0,1] 0.9999791501605437 Centerline is valid? [True, True] Translation: X:208.26, Y:115.04, Z:32.29 [[ 2.15456839e-01 -9.73608487e-01 -7.52652960e-02 2.08264843e+02] [ 9.21664153e-01 2.28217874e-01 -3.13770283e-01 1.15036444e+02] [ 3.22666297e-01 -1.76537170e-03 9.46511143e-01 3.22884467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.28, Y:115.06, Z:32.30 [[ 2.05689336e-01 -9.75810576e-01 -7.40649534e-02 2.08282121e+02] [ 9.25475822e-01 2.18562689e-01 -3.09394335e-01 1.15057204e+02] [ 3.18098099e-01 -4.90620845e-03 9.48045109e-01 3.23026260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:115.08, Z:32.31 [[ 2.01049478e-01 -9.76814835e-01 -7.35655177e-02 2.08290251e+02] [ 9.27048770e-01 2.13993180e-01 -3.07875781e-01 1.15081323e+02] [ 3.16480149e-01 -6.30055760e-03 9.48578209e-01 3.23132857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.30, Y:115.10, Z:32.32 [[ 1.91816567e-01 -9.78691706e-01 -7.32731206e-02 2.08302258e+02] [ 9.29260404e-01 2.05130962e-01 -3.07239956e-01 1.15103828e+02] [ 3.15723782e-01 -9.15609612e-03 9.48806966e-01 3.23225671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05710568099994 meters Centerline goodness [0,1] 0.9999580457720627 Centerline is valid? [True, True] Translation: X:208.31, Y:115.13, Z:32.33 [[ 1.83625021e-01 -9.80247411e-01 -7.34633606e-02 2.08310814e+02] [ 9.30470577e-01 1.97429657e-01 -3.08619566e-01 1.15129011e+02] [ 3.17027377e-01 -1.16852211e-02 9.48344398e-01 3.23308845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0871056809999 meters Centerline goodness [0,1] 0.999978947811625 Centerline is valid? [True, True] Translation: X:208.32, Y:115.15, Z:32.34 [[ 1.80608962e-01 -9.80822578e-01 -7.32630374e-02 2.08315996e+02] [ 9.31173221e-01 1.94499671e-01 -3.08360684e-01 1.15154974e+02] [ 3.16696758e-01 -1.25278755e-02 9.48444103e-01 3.23397911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11710568099994 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:208.32, Y:115.18, Z:32.35 [[ 1.74713277e-01 -9.81931762e-01 -7.26999720e-02 2.08320099e+02] [ 9.32968479e-01 1.88696450e-01 -3.06534610e-01 1.15180628e+02] [ 3.14714296e-01 -1.42711162e-02 9.49079157e-01 3.23518930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.1471056809999 meters Centerline goodness [0,1] 0.9999790532048597 Centerline is valid? [True, True] Translation: X:208.33, Y:115.21, Z:32.36 [[ 1.71340502e-01 -9.82530468e-01 -7.26382231e-02 2.08325446e+02] [ 9.33526980e-01 1.85476528e-01 -3.06799341e-01 1.15205755e+02] [ 3.14912386e-01 -1.52425879e-02 9.48998342e-01 3.23609767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17710568099994 meters Centerline goodness [0,1] 0.9997264194620986 Centerline is valid? [True, True] Translation: X:208.32, Y:115.23, Z:32.37 [[ 1.66537300e-01 -9.83350900e-01 -7.27071885e-02 2.08324212e+02] [ 9.34187771e-01 1.80946610e-01 -3.07492329e-01 1.15233657e+02] [ 3.15528977e-01 -1.67132243e-02 9.48768746e-01 3.23690928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2071056809999 meters Centerline goodness [0,1] 0.9996247185389042 Centerline is valid? [True, True] Translation: X:208.33, Y:115.26, Z:32.38 [[ 1.65159168e-01 -9.83599260e-01 -7.24910022e-02 2.08331483e+02] [ 9.34572503e-01 1.79562652e-01 -3.07134321e-01 1.15258385e+02] [ 3.15113767e-01 -1.70220485e-02 9.48901240e-01 3.23775067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23710568099995 meters Centerline goodness [0,1] 0.9995583503333404 Centerline is valid? [True, True] Translation: X:208.33, Y:115.29, Z:32.39 [[ 1.64275731e-01 -9.83787259e-01 -7.19452027e-02 2.08326645e+02] [ 9.35401526e-01 1.78516719e-01 -3.05214295e-01 1.15286431e+02] [ 3.13109356e-01 -1.71583509e-02 9.49562069e-01 3.23866208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.2671056809999 meters Centerline goodness [0,1] 0.9995583503333404 Centerline is valid? [True, True] Translation: X:208.33, Y:115.31, Z:32.40 [[ 1.63915885e-01 -9.83855899e-01 -7.18272385e-02 2.08332395e+02] [ 9.35464649e-01 1.78138089e-01 -3.05242056e-01 1.15311907e+02] [ 3.13109364e-01 -1.71578208e-02 9.49562076e-01 3.23952734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29710568099995 meters Centerline goodness [0,1] 0.9995399606875497 Centerline is valid? [True, True] Translation: X:208.32, Y:115.34, Z:32.40 [[ 1.64363819e-01 -9.83801303e-01 -7.15508954e-02 2.08324958e+02] [ 9.35614060e-01 1.78465843e-01 -3.04591979e-01 1.15340950e+02] [ 3.12427377e-01 -1.68801228e-02 9.49791659e-01 3.24047670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3271056809999 meters Centerline goodness [0,1] 0.9996424740793708 Centerline is valid? [True, True] Translation: X:208.32, Y:115.37, Z:32.41 [[ 1.64054816e-01 -9.83844869e-01 -7.16609405e-02 2.08324820e+02] [ 9.35334477e-01 1.78224261e-01 -3.05590460e-01 1.15368226e+02] [ 3.13425325e-01 -1.68933615e-02 9.49462574e-01 3.24123735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35710568099995 meters Centerline goodness [0,1] 0.9995396430140827 Centerline is valid? [True, True] Translation: X:208.32, Y:115.40, Z:32.42 [[ 1.65266674e-01 -9.83589478e-01 -7.23786244e-02 2.08318943e+02] [ 9.33874711e-01 1.79665505e-01 -3.09189797e-01 1.15398576e+02] [ 3.17119773e-01 -1.64937975e-02 9.48242060e-01 3.24160368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.3871056809999 meters Centerline goodness [0,1] 0.9996848209783157 Centerline is valid? [True, True] Translation: X:208.32, Y:115.43, Z:32.42 [[ 1.67212280e-01 -9.83246027e-01 -7.25761973e-02 2.08320632e+02] [ 9.33039018e-01 1.81598813e-01 -3.10580201e-01 1.15425427e+02] [ 3.18556500e-01 -1.57836003e-02 9.47772459e-01 3.24226553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41710568099995 meters Centerline goodness [0,1] 0.999831504454601 Centerline is valid? [True, True] Translation: X:208.30, Y:115.46, Z:32.43 [[ 1.75344644e-01 -9.81806883e-01 -7.28663229e-02 2.08304333e+02] [ 9.30879232e-01 1.89432787e-01 -3.12376494e-01 1.15457027e+02] [ 3.20496663e-01 -1.30562014e-02 9.47159662e-01 3.24299504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4471056809999 meters Centerline goodness [0,1] 0.9997908737295579 Centerline is valid? [True, True] Translation: X:208.29, Y:115.49, Z:32.44 [[ 1.88827775e-01 -9.79289737e-01 -7.30457538e-02 2.08287838e+02] [ 9.27718472e-01 2.02284206e-01 -3.13718883e-01 1.15487605e+02] [ 3.21997685e-01 -8.52705664e-03 9.46702055e-01 3.24368649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47710568099995 meters Centerline goodness [0,1] 0.9994361844303374 Centerline is valid? [True, True] Translation: X:208.28, Y:115.52, Z:32.44 [[ 1.95567916e-01 -9.77954103e-01 -7.32049423e-02 2.08282414e+02] [ 9.25859887e-01 2.08728591e-01 -3.14985467e-01 1.15517122e+02] [ 3.23321294e-01 -6.17646833e-03 9.46269091e-01 3.24441906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.5071056809999 meters Centerline goodness [0,1] 0.9991982276611457 Centerline is valid? [True, True] Translation: X:208.27, Y:115.55, Z:32.45 [[ 2.05423889e-01 -9.75902736e-01 -7.35858407e-02 2.08269483e+02] [ 9.22935323e-01 2.18188465e-01 -3.17150095e-01 1.15547781e+02] [ 3.25563227e-01 -2.76476581e-03 9.45516230e-01 3.24506915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53710568099996 meters Centerline goodness [0,1] 0.9990738791833298 Centerline is valid? [True, True] Translation: X:208.27, Y:115.58, Z:32.46 [[ 2.07659197e-01 -9.75430487e-01 -7.35732522e-02 2.08267992e+02] [ 9.22258800e-01 2.20299336e-01 -3.17658477e-01 1.15575702e+02] [ 3.26061901e-01 -1.88887525e-03 9.45346534e-01 3.24586029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56710568099993 meters Centerline goodness [0,1] 0.9990347085239434 Centerline is valid? [True, True] Translation: X:208.26, Y:115.60, Z:32.47 [[ 2.08950938e-01 -9.75194734e-01 -7.30392725e-02 2.08263616e+02] [ 9.22606783e-01 2.21344388e-01 -3.15916739e-01 1.15603497e+02] [ 3.24247174e-01 -1.37542907e-03 9.45971394e-01 3.24675924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59710568099996 meters Centerline goodness [0,1] 0.9988185654008439 Centerline is valid? [True, True] Translation: X:208.26, Y:115.63, Z:32.48 [[ 2.07936525e-01 -9.75445397e-01 -7.25856640e-02 2.08264237e+02] [ 9.23351680e-01 2.20235422e-01 -3.14512374e-01 1.15630476e+02] [ 3.22775582e-01 -1.62348490e-03 9.46474135e-01 3.24770508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62710568099993 meters Centerline goodness [0,1] 0.9985363609752018 Centerline is valid? [True, True] Translation: X:208.27, Y:115.66, Z:32.48 [[ 2.06360595e-01 -9.75775330e-01 -7.26485346e-02 2.08269246e+02] [ 9.23417923e-01 2.18765769e-01 -3.15342475e-01 1.15655524e+02] [ 3.23596421e-01 -2.01069809e-03 9.46193064e-01 3.24840230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.6571056809999 meters Centerline goodness [0,1] 0.9983304463968946 Centerline is valid? [True, True] Translation: X:208.28, Y:115.68, Z:32.49 [[ 1.99595801e-01 -9.77176867e-01 -7.27109816e-02 2.08278588e+02] [ 9.24659302e-01 2.12386835e-01 -3.16064879e-01 1.15679974e+02] [ 3.24294143e-01 -4.14766274e-03 9.45947200e-01 3.24915082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68710568099993 meters Centerline goodness [0,1] 0.9984260561163459 Centerline is valid? [True, True] Translation: X:208.28, Y:115.71, Z:32.50 [[ 1.95421972e-01 -9.78037728e-01 -7.24738320e-02 2.08284879e+02] [ 9.25792769e-01 2.08356562e-01 -3.15428743e-01 1.15705146e+02] [ 3.23601609e-01 -5.45404277e-03 9.46177706e-01 3.25021134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7171056809999 meters Centerline goodness [0,1] 0.998001010015992 Centerline is valid? [True, True] Translation: X:208.29, Y:115.73, Z:32.51 [[ 1.89976629e-01 -9.79157228e-01 -7.18331663e-02 2.08292207e+02] [ 9.27757134e-01 2.02977784e-01 -3.13156061e-01 1.15729801e+02] [ 3.21209558e-01 -7.15139970e-03 9.46981139e-01 3.25128796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74710568099994 meters Centerline goodness [0,1] 0.997973743087509 Centerline is valid? [True, True] Translation: X:208.30, Y:115.75, Z:32.52 [[ 1.88538635e-01 -9.79434816e-01 -7.18374902e-02 2.08298556e+02] [ 9.27861372e-01 2.01621173e-01 -3.13723091e-01 1.15754796e+02] [ 3.21755276e-01 -7.50630889e-03 9.46793112e-01 3.25205965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7771056809999 meters Centerline goodness [0,1] 0.9981004242385867 Centerline is valid? [True, True] Translation: X:208.30, Y:115.78, Z:32.53 [[ 1.87626184e-01 -9.79598481e-01 -7.19946616e-02 2.08303577e+02] [ 9.27630593e-01 2.00817245e-01 -3.14918905e-01 1.15782135e+02] [ 3.22951851e-01 -7.69741828e-03 9.46384093e-01 3.25270001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80710568099994 meters Centerline goodness [0,1] 0.9979721166032953 Centerline is valid? [True, True] Translation: X:208.31, Y:115.81, Z:32.54 [[ 1.86248252e-01 -9.79867668e-01 -7.19092558e-02 2.08308311e+02] [ 9.27854268e-01 1.99486383e-01 -3.15105760e-01 1.15808697e+02] [ 3.23106864e-01 -8.03341275e-03 9.46328388e-01 3.25352596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8371056809999 meters Centerline goodness [0,1] 0.9977192574916056 Centerline is valid? [True, True] Translation: X:208.31, Y:115.84, Z:32.54 [[ 1.87001479e-01 -9.79706793e-01 -7.21460083e-02 2.08309256e+02] [ 9.27144920e-01 2.00289215e-01 -3.16680483e-01 1.15835753e+02] [ 3.24704088e-01 -7.67008632e-03 9.45784555e-01 3.25423917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86710568099994 meters Centerline goodness [0,1] 0.9976556559939174 Centerline is valid? [True, True] Translation: X:208.31, Y:115.86, Z:32.55 [[ 1.89501933e-01 -9.79228110e-01 -7.21202198e-02 2.08311129e+02] [ 9.26479335e-01 2.02650253e-01 -3.17126028e-01 1.15863074e+02] [ 3.25153902e-01 -6.72189789e-03 9.45637222e-01 3.25498358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8971056809999 meters Centerline goodness [0,1] 0.9973591549295775 Centerline is valid? [True, True] Translation: X:208.31, Y:115.89, Z:32.56 [[ 1.92650140e-01 -9.78611344e-01 -7.21509630e-02 2.08313167e+02] [ 9.25587635e-01 2.05642783e-01 -3.17802731e-01 1.15890416e+02] [ 3.25842683e-01 -5.55729856e-03 9.45407670e-01 3.25561833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92710568099994 meters Centerline goodness [0,1] 0.9980575554757933 Centerline is valid? [True, True] Translation: X:208.31, Y:115.92, Z:32.56 [[ 1.98971114e-01 -9.77312369e-01 -7.26018538e-02 2.08307875e+02] [ 9.23328517e-01 2.11777378e-01 -3.20335436e-01 1.15920280e+02] [ 3.28443214e-01 -3.29786338e-03 9.44517961e-01 3.25623572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.9571056809999 meters Centerline goodness [0,1] 0.9973387403370929 Centerline is valid? [True, True] Translation: X:208.30, Y:115.95, Z:32.57 [[ 2.05707517e-01 -9.75906081e-01 -7.27443324e-02 2.08300665e+02] [ 9.21426185e-01 2.18189195e-01 -3.21507791e-01 1.15950121e+02] [ 3.29633436e-01 -8.91963131e-04 9.44108575e-01 3.25692207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98710568099995 meters Centerline goodness [0,1] 0.9977407571630666 Centerline is valid? [True, True] Translation: X:208.30, Y:115.98, Z:32.58 [[ 2.08366380e-01 -9.75353832e-01 -7.25834289e-02 2.08303079e+02] [ 9.20893016e-01 2.20646524e-01 -3.21358312e-01 1.15977224e+02] [ 3.29453342e-01 1.18695428e-04 9.44171849e-01 3.25780969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0171056809999 meters Centerline goodness [0,1] 0.997870770528091 Centerline is valid? [True, True] Translation: X:208.31, Y:116.00, Z:32.59 [[ 2.12145953e-01 -9.74581337e-01 -7.20091089e-02 2.08306993e+02] [ 9.20759912e-01 2.24029240e-01 -3.19393307e-01 1.16002445e+02] [ 3.27406902e-01 1.45489673e-03 9.44882323e-01 3.25869906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04710568099995 meters Centerline goodness [0,1] 0.9983987527126393 Centerline is valid? [True, True] Translation: X:208.31, Y:116.03, Z:32.60 [[ 2.12313550e-01 -9.74577441e-01 -7.15665330e-02 2.08311480e+02] [ 9.21231313e-01 2.24045268e-01 -3.18019789e-01 1.16026801e+02] [ 3.25969055e-01 1.59057929e-03 9.45379101e-01 3.25984394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0771056809999 meters Centerline goodness [0,1] 0.9982597026817353 Centerline is valid? [True, True] Translation: X:208.31, Y:116.05, Z:32.61 [[ 2.14461047e-01 -9.74146212e-01 -7.10325055e-02 2.08312465e+02] [ 9.21456043e-01 2.25906499e-01 -3.16045906e-01 1.16050904e+02] [ 3.23921626e-01 2.32620450e-03 9.46081058e-01 3.26118217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10710568099995 meters Centerline goodness [0,1] 0.9987986848760748 Centerline is valid? [True, True] Translation: X:208.32, Y:116.08, Z:32.62 [[ 2.20662442e-01 -9.72783605e-01 -7.07116938e-02 2.08315134e+02] [ 9.20320126e-01 2.31672325e-01 -3.15180583e-01 1.16076898e+02] [ 3.22984446e-01 4.47112224e-03 9.46393711e-01 3.26238500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1371056809999 meters Centerline goodness [0,1] 0.9984931879538748 Centerline is valid? [True, True] Translation: X:208.32, Y:116.10, Z:32.63 [[ 2.25441603e-01 -9.71709314e-01 -7.04066246e-02 2.08317417e+02] [ 9.19473479e-01 2.36100370e-01 -3.14364655e-01 1.16103035e+02] [ 3.22094093e-01 6.13384744e-03 9.46687790e-01 3.26319623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16710568099995 meters Centerline goodness [0,1] 0.9982226125504464 Centerline is valid? [True, True] Translation: X:208.32, Y:116.13, Z:32.64 [[ 2.32653852e-01 -9.70014036e-01 -7.03203672e-02 2.08323230e+02] [ 9.17642360e-01 2.42894941e-01 -3.14538626e-01 1.16129751e+02] [ 3.22187344e-01 8.64967533e-03 9.46636413e-01 3.26388817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.1971056809999 meters Centerline goodness [0,1] 0.9983809243450104 Centerline is valid? [True, True] Translation: X:208.33, Y:116.16, Z:32.65 [[ 2.34261424e-01 -9.69635685e-01 -7.02013112e-02 2.08330112e+02] [ 9.17237330e-01 2.44377031e-01 -3.14572007e-01 1.16155673e+02] [ 3.22175831e-01 9.30082299e-03 9.46634158e-01 3.26467101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22710568099995 meters Centerline goodness [0,1] 0.9985680291448186 Centerline is valid? [True, True] Translation: X:208.34, Y:116.18, Z:32.66 [[ 2.35561036e-01 -9.69339116e-01 -6.99476749e-02 2.08339142e+02] [ 9.17126143e-01 2.45530753e-01 -3.13997272e-01 1.16181364e+02] [ 3.21544143e-01 9.81468127e-03 9.46843723e-01 3.26559130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.2571056809999 meters Centerline goodness [0,1] 0.9985691741188848 Centerline is valid? [True, True] Translation: X:208.35, Y:116.21, Z:32.67 [[ 2.34881775e-01 -9.69528707e-01 -6.96034394e-02 2.08348606e+02] [ 9.17662140e-01 2.44787674e-01 -3.13009891e-01 1.16206007e+02] [ 3.20510139e-01 9.64787762e-03 9.47195951e-01 3.26660844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28710568099996 meters Centerline goodness [0,1] 0.9987797950897271 Centerline is valid? [True, True] Translation: X:208.36, Y:116.23, Z:32.68 [[ 2.30823604e-01 -9.70546463e-01 -6.89929512e-02 2.08363831e+02] [ 9.19455685e-01 2.40770421e-01 -3.10855028e-01 1.16228058e+02] [ 3.18310710e-01 8.31671661e-03 9.47949959e-01 3.26783005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31710568099993 meters Centerline goodness [0,1] 0.9987988114555455 Centerline is valid? [True, True] Translation: X:208.38, Y:116.25, Z:32.69 [[ 2.23421903e-01 -9.72319945e-01 -6.83855086e-02 2.08382856e+02] [ 9.22034393e-01 2.33578526e-01 -3.08696695e-01 1.16250325e+02] [ 3.16125340e-01 5.91581215e-03 9.48698989e-01 3.26902140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34710568099996 meters Centerline goodness [0,1] 0.9988726984259529 Centerline is valid? [True, True] Translation: X:208.40, Y:116.27, Z:32.70 [[ 2.19506885e-01 -9.73222937e-01 -6.82190832e-02 2.08395828e+02] [ 9.23049534e-01 2.29814260e-01 -3.08488192e-01 1.16274306e+02] [ 3.15905502e-01 4.74568904e-03 9.48778790e-01 3.26982371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37710568099993 meters Centerline goodness [0,1] 0.9989152881787271 Centerline is valid? [True, True] Translation: X:208.42, Y:116.30, Z:32.70 [[ 2.11132944e-01 -9.75058234e-01 -6.84420966e-02 2.08419105e+02] [ 9.24510316e-01 2.21938772e-01 -3.09877165e-01 1.16297517e+02] [ 3.17338237e-01 2.14985374e-03 9.48309982e-01 3.27033122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4071056809999 meters Centerline goodness [0,1] 0.9992422807349877 Centerline is valid? [True, True] Translation: X:208.43, Y:116.32, Z:32.71 [[ 2.05939530e-01 -9.76167081e-01 -6.84597705e-02 2.08432208e+02] [ 9.25461148e-01 2.17019538e-01 -3.10522437e-01 1.16321642e+02] [ 3.17978888e-01 5.91986978e-04 9.48097609e-01 3.27114551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43710568099993 meters Centerline goodness [0,1] 0.999412085835468 Centerline is valid? [True, True] Translation: X:208.45, Y:116.34, Z:32.72 [[ 1.97663291e-01 -9.77896311e-01 -6.81764509e-02 2.08449613e+02] [ 9.27530640e-01 2.09080849e-01 -3.09793659e-01 1.16344342e+02] [ 3.17200466e-01 -2.00091294e-03 9.48356400e-01 3.27210832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.4671056809999 meters Centerline goodness [0,1] 0.9993677555321391 Centerline is valid? [True, True] Translation: X:208.46, Y:116.37, Z:32.73 [[ 1.94797184e-01 -9.78501296e-01 -6.77441623e-02 2.08461336e+02] [ 9.28637327e-01 2.06221173e-01 -3.08391865e-01 1.16368175e+02] [ 3.15732120e-01 -2.83589092e-03 9.48844132e-01 3.27309913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49710568099994 meters Centerline goodness [0,1] 0.999518243894265 Centerline is valid? [True, True] Translation: X:208.48, Y:116.39, Z:32.74 [[ 1.96126423e-01 -9.78304594e-01 -6.67423933e-02 2.08475146e+02] [ 9.29751503e-01 2.07158313e-01 -3.04380645e-01 1.16389332e+02] [ 3.11603225e-01 -2.35675342e-03 9.50209385e-01 3.27441128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5271056809999 meters Centerline goodness [0,1] 0.9998947501368248 Centerline is valid? [True, True] Translation: X:208.48, Y:116.42, Z:32.75 [[ 1.98260593e-01 -9.77883263e-01 -6.66112647e-02 2.08481185e+02] [ 9.29309155e-01 2.09145638e-01 -3.04372463e-01 1.16415157e+02] [ 3.11572193e-01 -1.55739307e-03 9.50221207e-01 3.27544822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55710568099994 meters Centerline goodness [0,1] 0.9997272917977764 Centerline is valid? [True, True] Translation: X:208.48, Y:116.44, Z:32.76 [[ 2.05747876e-01 -9.76247182e-01 -6.78914634e-02 2.08482664e+02] [ 9.25465805e-01 2.16656902e-01 -3.10761694e-01 1.16443513e+02] [ 3.18089382e-01 1.10733063e-03 9.48060082e-01 3.27564415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5871056809999 meters Centerline goodness [0,1] 0.9997481584083612 Centerline is valid? [True, True] Translation: X:208.49, Y:116.47, Z:32.76 [[ 2.14276948e-01 -9.74357968e-01 -6.86435638e-02 2.08486376e+02] [ 9.22108128e-01 2.24964975e-01 -3.14813215e-01 1.16471541e+02] [ 3.22183162e-01 4.16042684e-03 9.46668211e-01 3.27601065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61710568099994 meters Centerline goodness [0,1] 0.999749932273324 Centerline is valid? [True, True] Translation: X:208.49, Y:116.50, Z:32.77 [[ 2.17230881e-01 -9.73712564e-01 -6.85170611e-02 2.08491965e+02] [ 9.21435519e-01 2.27719727e-01 -3.14802019e-01 1.16496862e+02] [ 3.22129367e-01 5.25066628e-03 9.46681098e-01 3.27685750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.6471056809999 meters Centerline goodness [0,1] 0.9999155387571528 Centerline is valid? [True, True] Translation: X:208.50, Y:116.52, Z:32.78 [[ 2.20221421e-01 -9.73067985e-01 -6.81265090e-02 2.08503613e+02] [ 9.21169512e-01 2.30432041e-01 -3.13604535e-01 1.16520908e+02] [ 3.20857064e-01 6.30637343e-03 9.47106633e-01 3.27794925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:116.54, Z:32.79 [[ 2.23169094e-01 -9.72437662e-01 -6.75318402e-02 2.08514692e+02] [ 9.21252057e-01 2.33049167e-01 -3.11420509e-01 1.16543087e+02] [ 3.18575271e-01 7.28558616e-03 9.47869568e-01 3.27915031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7071056809999 meters Centerline goodness [0,1] 0.9999157398045163 Centerline is valid? [True, True] Translation: X:208.52, Y:116.57, Z:32.80 [[ 2.24256199e-01 -9.72194586e-01 -6.74302855e-02 2.08521626e+02] [ 9.20959197e-01 2.34045733e-01 -3.11539328e-01 1.16568961e+02] [ 3.18658619e-01 7.76408394e-03 9.47837752e-01 3.28009348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:116.59, Z:32.81 [[ 2.28161525e-01 -9.71280265e-01 -6.75053008e-02 2.08533909e+02] [ 9.19701600e-01 2.37760315e-01 -3.12440393e-01 1.16593548e+02] [ 3.19517269e-01 9.20214327e-03 9.47535770e-01 3.28079264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:116.62, Z:32.82 [[ 2.29375245e-01 -9.70986265e-01 -6.76215292e-02 2.08543948e+02] [ 9.18997167e-01 2.38934719e-01 -3.13615061e-01 1.16619283e+02] [ 3.20673048e-01 9.79153767e-03 9.47139336e-01 3.28155086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:116.64, Z:32.83 [[ 2.27686358e-01 -9.71392117e-01 -6.75002063e-02 2.08560057e+02] [ 9.19407753e-01 2.37296952e-01 -3.13655128e-01 1.16642894e+02] [ 3.20699712e-01 9.35478086e-03 9.47134722e-01 3.28254011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:116.67, Z:32.84 [[ 2.24804446e-01 -9.72074554e-01 -6.73351523e-02 2.08571595e+02] [ 9.20177382e-01 2.34517772e-01 -3.13488439e-01 1.16667943e+02] [ 3.20525424e-01 8.51331068e-03 9.47201655e-01 3.28356569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:116.69, Z:32.85 [[ 2.16808756e-01 -9.73920353e-01 -6.68813046e-02 2.08583291e+02] [ 9.22636334e-01 2.26812884e-01 -3.11926452e-01 1.16690614e+02] [ 3.18961062e-01 5.92126440e-03 9.47749323e-01 3.28459672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.60, Y:116.71, Z:32.86 [[ 2.11735392e-01 -9.75047133e-01 -6.67174072e-02 2.08598036e+02] [ 9.23907866e-01 2.21955362e-01 -3.11656979e-01 1.16714640e+02] [ 3.18688530e-01 4.34807535e-03 9.47849521e-01 3.28557293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:116.74, Z:32.87 [[ 1.99592663e-01 -9.77645827e-01 -6.61166046e-02 2.08621782e+02] [ 9.27390818e-01 2.10258037e-01 -3.09415300e-01 1.16735620e+02] [ 3.16400124e-01 4.41091651e-04 9.48625725e-01 3.28664141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.64, Y:116.76, Z:32.88 [[ 1.87469693e-01 -9.80090473e-01 -6.54047259e-02 2.08643188e+02] [ 9.30879322e-01 1.98522460e-01 -3.06679833e-01 1.16756847e+02] [ 3.13558290e-01 -3.39073257e-03 9.49562900e-01 3.28780995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:116.78, Z:32.89 [[ 1.82642881e-01 -9.81003571e-01 -6.53725589e-02 2.08653481e+02] [ 9.31696102e-01 1.93930010e-01 -3.07137633e-01 1.16781786e+02] [ 3.13980815e-01 -4.81085629e-03 9.49417139e-01 3.28872300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:116.81, Z:32.89 [[ 1.75356283e-01 -9.82324531e-01 -6.54880918e-02 2.08666238e+02] [ 9.32722435e-01 1.87054005e-01 -3.08285029e-01 1.16805871e+02] [ 3.15085756e-01 -7.02249567e-03 9.49037223e-01 3.28933559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:116.83, Z:32.90 [[ 1.73075232e-01 -9.82727131e-01 -6.55160242e-02 2.08674917e+02] [ 9.32897414e-01 1.84903114e-01 -3.09052185e-01 1.16830652e+02] [ 3.15828084e-01 -7.63045085e-03 9.48785749e-01 3.29006270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06710568099993 meters Centerline goodness [0,1] 0.9999578982822499 Centerline is valid? [True, True] Translation: X:208.68, Y:116.86, Z:32.91 [[ 1.70968157e-01 -9.83074895e-01 -6.58303885e-02 2.08684465e+02] [ 9.32566053e-01 1.83020887e-01 -3.11165408e-01 1.16855899e+02] [ 3.17947237e-01 -8.19180932e-03 9.48073019e-01 3.29077227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:116.88, Z:32.92 [[ 1.74125622e-01 -9.82519803e-01 -6.58415073e-02 2.08686690e+02] [ 9.31807633e-01 1.86023252e-01 -3.11656678e-01 1.16882577e+02] [ 3.18456909e-01 -7.08420623e-03 9.47910867e-01 3.29170124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:116.91, Z:32.93 [[ 1.78135445e-01 -9.81826087e-01 -6.54621893e-02 2.08687896e+02] [ 9.31462475e-01 1.89698154e-01 -3.10471041e-01 1.16908679e+02] [ 3.17246624e-01 -5.66967584e-03 9.48326122e-01 3.29277004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:116.93, Z:32.94 [[ 1.77720263e-01 -9.81909523e-01 -6.53390972e-02 2.08692806e+02] [ 9.31541878e-01 1.89265358e-01 -3.10496947e-01 1.16933493e+02] [ 3.17246336e-01 -5.68450643e-03 9.48326130e-01 3.29360789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:116.96, Z:32.95 [[ 1.89442159e-01 -9.79725530e-01 -6.51885989e-02 2.08684462e+02] [ 9.29233591e-01 2.00336687e-01 -3.10467624e-01 1.16960987e+02] [ 3.17232726e-01 -1.75977881e-03 9.48346087e-01 3.29470147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:116.99, Z:32.96 [[ 2.03584458e-01 -9.76892363e-01 -6.50744237e-02 2.08672748e+02] [ 9.26223255e-01 2.13711530e-01 -3.10544464e-01 1.16989794e+02] [ 3.17275670e-01 2.94858174e-03 9.48328770e-01 3.29564823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:117.02, Z:32.97 [[ 2.09939660e-01 -9.75567564e-01 -6.47554419e-02 2.08670024e+02] [ 9.25135326e-01 2.19640426e-01 -3.09649336e-01 1.17017110e+02] [ 3.16306761e-01 5.10012934e-03 9.48643253e-01 3.29658272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:117.05, Z:32.97 [[ 2.19620124e-01 -9.73442962e-01 -6.46204313e-02 2.08661924e+02] [ 9.22933163e-01 2.28777161e-01 -3.09605213e-01 1.17045211e+02] [ 3.16166694e-01 8.35519612e-03 9.48666860e-01 3.29735547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:117.07, Z:32.98 [[ 2.22287826e-01 -9.72841919e-01 -6.45501553e-02 2.08663965e+02] [ 9.22203743e-01 2.31281087e-01 -3.09918239e-01 1.17071758e+02] [ 3.16430684e-01 9.36265688e-03 9.48569430e-01 3.29809442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:117.10, Z:32.99 [[ 2.27126347e-01 -9.71700783e-01 -6.48938409e-02 2.08661377e+02] [ 9.20239435e-01 2.35949572e-01 -3.12229373e-01 1.17100188e+02] [ 3.18705201e-01 1.11976454e-02 9.47787744e-01 3.29859077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:117.13, Z:32.99 [[ 2.28606739e-01 -9.71342542e-01 -6.50586317e-02 2.08664095e+02] [ 9.19372845e-01 2.37385955e-01 -3.13690102e-01 1.17127752e+02] [ 3.20144546e-01 1.18985320e-02 9.47293985e-01 3.29925501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:117.15, Z:33.00 [[ 2.28351713e-01 -9.71379767e-01 -6.53975874e-02 2.08669331e+02] [ 9.18639208e-01 2.37224839e-01 -3.15953131e-01 1.17154248e+02] [ 3.22424411e-01 1.20716508e-02 9.46518238e-01 3.29972180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:117.18, Z:33.01 [[ 2.26343061e-01 -9.71859050e-01 -6.52595324e-02 2.08680923e+02] [ 9.19143047e-01 2.35280867e-01 -3.15941408e-01 1.17179115e+02] [ 3.22404835e-01 1.15282999e-02 9.46531680e-01 3.30068739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:117.20, Z:33.02 [[ 2.22563017e-01 -9.72774605e-01 -6.46163363e-02 2.08693030e+02] [ 9.20951404e-01 2.31526403e-01 -3.13439047e-01 1.17202126e+02] [ 3.19865933e-01 1.02514342e-02 9.47407353e-01 3.30181145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:117.22, Z:33.03 [[ 2.17469362e-01 -9.73966447e-01 -6.40034051e-02 2.08702628e+02] [ 9.22982112e-01 2.26529688e-01 -3.11108215e-01 1.17224734e+02] [ 3.17507634e-01 8.58250695e-03 9.48216875e-01 3.30296283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:117.25, Z:33.04 [[ 2.13925401e-01 -9.74757630e-01 -6.39021626e-02 2.08716742e+02] [ 9.23804841e-01 2.23138910e-01 -3.11116768e-01 1.17248901e+02] [ 3.17522502e-01 7.52265202e-03 9.48220898e-01 3.30381931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:117.27, Z:33.04 [[ 2.04194688e-01 -9.76856144e-01 -6.36914724e-02 2.08735898e+02] [ 9.26135001e-01 2.13850868e-01 -3.10711708e-01 1.17272519e+02] [ 3.17141118e-01 4.45877853e-03 9.48367877e-01 3.30448254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:117.30, Z:33.05 [[ 1.98672577e-01 -9.77998603e-01 -6.36234161e-02 2.08748296e+02] [ 9.27225418e-01 2.08592637e-01 -3.11033979e-01 1.17297640e+02] [ 3.17462173e-01 2.80067351e-03 9.48266800e-01 3.30525684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:117.32, Z:33.06 [[ 1.88628925e-01 -9.79969804e-01 -6.38616639e-02 2.08766895e+02] [ 9.28693770e-01 1.99145914e-01 -3.12839874e-01 1.17320041e+02] [ 3.19291419e-01 -2.97280318e-04 9.47656531e-01 3.30577985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.34, Z:33.07 [[ 1.85350976e-01 -9.80590988e-01 -6.39244150e-02 2.08776334e+02] [ 9.28992431e-01 1.96060874e-01 -3.13899979e-01 1.17344467e+02] [ 3.20340567e-01 -1.20363023e-03 9.47301680e-01 3.30652557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.37, Z:33.07 [[ 1.85836396e-01 -9.80483440e-01 -6.41643112e-02 2.08782642e+02] [ 9.28240503e-01 1.96599738e-01 -3.15781746e-01 1.17369119e+02] [ 3.22233460e-01 -8.76170890e-04 9.46659828e-01 3.30733627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.40, Z:33.08 [[ 1.89261328e-01 -9.79828218e-01 -6.41623902e-02 2.08783910e+02] [ 9.27312801e-01 1.99841199e-01 -3.16471903e-01 1.17395244e+02] [ 3.22910389e-01 3.97286765e-04 9.46429460e-01 3.30817217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72710568099995 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:208.78, Y:117.42, Z:33.09 [[ 1.98550039e-01 -9.78000525e-01 -6.39754257e-02 2.08780603e+02] [ 9.25464959e-01 2.08571638e-01 -3.16247499e-01 1.17422088e+02] [ 3.22633679e-01 3.58393835e-03 9.46517123e-01 3.30929541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.7571056809999 meters Centerline goodness [0,1] 0.9999789668517584 Centerline is valid? [True, True] Translation: X:208.78, Y:117.45, Z:33.11 [[ 2.06142941e-01 -9.76478738e-01 -6.32009679e-02 2.08779439e+02] [ 9.24955495e-01 2.15528074e-01 -3.13057475e-01 1.17448206e+02] [ 3.19315551e-01 6.07650609e-03 9.47628965e-01 3.31061699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.47, Z:33.12 [[ 2.11249329e-01 -9.75428548e-01 -6.25529194e-02 2.08777883e+02] [ 9.24726954e-01 2.20179827e-01 -3.10484952e-01 1.17473626e+02] [ 3.16628777e-01 7.74536727e-03 9.48517911e-01 3.31181011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.50, Z:33.13 [[ 2.13577945e-01 -9.74927722e-01 -6.24531744e-02 2.08779115e+02] [ 9.24146477e-01 2.22354163e-01 -3.10663669e-01 1.17500089e+02] [ 3.16761347e-01 8.63502701e-03 9.48465964e-01 3.31274398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.53, Z:33.14 [[ 2.19925722e-01 -9.73540806e-01 -6.20562367e-02 2.08776321e+02] [ 9.23159487e-01 2.28260818e-01 -3.09311431e-01 1.17527150e+02] [ 3.15292307e-01 1.07377363e-02 9.48933856e-01 3.31370009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.55, Z:33.14 [[ 2.22695647e-01 -9.72919590e-01 -6.19202777e-02 2.08777745e+02] [ 9.22519077e-01 2.30844575e-01 -3.09304598e-01 1.17553557e+02] [ 3.15222463e-01 1.17581502e-02 9.48944964e-01 3.31449064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.58, Z:33.15 [[ 2.26397720e-01 -9.72036388e-01 -6.23645220e-02 2.08778332e+02] [ 9.20636105e-01 2.34455438e-01 -3.12185537e-01 1.17581874e+02] [ 3.18077403e-01 1.32630633e-02 9.47971971e-01 3.31499119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:117.61, Z:33.16 [[ 2.26668906e-01 -9.71962408e-01 -6.25322662e-02 2.08781772e+02] [ 9.20061151e-01 2.34744781e-01 -3.13659634e-01 1.17607772e+02] [ 3.19544496e-01 1.35633772e-02 9.47474195e-01 3.31564623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:117.63, Z:33.16 [[ 2.25750189e-01 -9.72161001e-01 -6.27681401e-02 2.08791570e+02] [ 9.19639315e-01 2.33924579e-01 -3.15504076e-01 1.17633235e+02] [ 3.21403769e-01 1.35010555e-02 9.46845995e-01 3.31634510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.80, Y:117.66, Z:33.17 [[ 2.26021468e-01 -9.72103973e-01 -6.26750518e-02 2.08800576e+02] [ 9.19516923e-01 2.34148555e-01 -3.15694602e-01 1.17658415e+02] [ 3.21563250e-01 1.37229867e-02 9.46788654e-01 3.31722793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:117.68, Z:33.18 [[ 2.25683902e-01 -9.72201492e-01 -6.23781714e-02 2.08806229e+02] [ 9.19914589e-01 2.33746417e-01 -3.14832911e-01 1.17683120e+02] [ 3.20661700e-01 1.36701299e-02 9.47095139e-01 3.31815325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:117.71, Z:33.20 [[ 2.23418030e-01 -9.72792023e-01 -6.13193597e-02 2.08817280e+02] [ 9.22107023e-01 2.31328769e-01 -3.10170338e-01 1.17706385e+02] [ 3.15916162e-01 1.27546337e-02 9.48701374e-01 3.31954287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:117.73, Z:33.21 [[ 2.20072642e-01 -9.73583350e-01 -6.08563267e-02 2.08827991e+02] [ 9.23496431e-01 2.28032678e-01 -3.08472755e-01 1.17730639e+02] [ 3.14201169e-01 1.16858136e-02 9.49284503e-01 3.32059477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:117.75, Z:33.22 [[ 2.11323364e-01 -9.75550146e-01 -6.03684378e-02 2.08846444e+02] [ 9.26145125e-01 2.19597016e-01 -3.06646961e-01 1.17752770e+02] [ 3.12406216e-01 8.89173301e-03 9.49906992e-01 3.32162531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:117.78, Z:33.23 [[ 2.05069651e-01 -9.76897316e-01 -6.01504094e-02 2.08861047e+02] [ 9.27681651e-01 2.13594538e-01 -3.06241942e-01 1.17777284e+02] [ 3.12014730e-01 7.00049715e-03 9.50051473e-01 3.32254834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:117.80, Z:33.23 [[ 1.89400740e-01 -9.80056990e-01 -6.01303168e-02 2.08884389e+02] [ 9.30806795e-01 1.98705152e-01 -3.06781637e-01 1.17799906e+02] [ 3.12611691e-01 2.13496167e-03 9.49878609e-01 3.32322650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:117.82, Z:33.24 [[ 1.74389515e-01 -9.82800640e-01 -6.07552329e-02 2.08906425e+02] [ 9.32402774e-01 1.84653226e-01 -3.10689964e-01 1.17822667e+02] [ 3.16564945e-01 -2.46727544e-03 9.48567630e-01 3.32352383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:117.85, Z:33.24 [[ 1.68782756e-01 -9.83773515e-01 -6.08444893e-02 2.08917559e+02] [ 9.33014985e-01 1.79367542e-01 -3.11946025e-01 1.17848181e+02] [ 3.17797764e-01 -4.11771040e-03 9.48149580e-01 3.32423900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:117.87, Z:33.25 [[ 1.63180577e-01 -9.84713474e-01 -6.09218694e-02 2.08929076e+02] [ 9.33660014e-01 1.74085302e-01 -3.13006846e-01 1.17873376e+02] [ 3.18827660e-01 -5.80367558e-03 9.47794936e-01 3.32504640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:117.90, Z:33.26 [[ 1.62710141e-01 -9.84807356e-01 -6.06620243e-02 2.08934323e+02] [ 9.33986293e-01 1.73552251e-01 -3.12328705e-01 1.17897063e+02] [ 3.18111637e-01 -5.83845151e-03 9.48035284e-01 3.32604213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:117.92, Z:33.27 [[ 1.70356859e-01 -9.83543968e-01 -6.01648025e-02 2.08929304e+02] [ 9.33307982e-01 1.80639061e-01 -3.10331661e-01 1.17923126e+02] [ 3.16092947e-01 -3.28516351e-03 9.48722539e-01 3.32741997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:117.95, Z:33.29 [[ 1.88241758e-01 -9.80311741e-01 -5.96148493e-02 2.08911526e+02] [ 9.30625135e-01 1.97439875e-01 -3.08146643e-01 1.17952103e+02] [ 3.13850121e-01 2.52698868e-03 9.49469176e-01 3.32862703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:117.98, Z:33.30 [[ 1.97528969e-01 -9.78503437e-01 -5.92733560e-02 2.08904975e+02] [ 9.29095795e-01 2.06154980e-01 -3.07052322e-01 1.17979093e+02] [ 3.12671250e-01 5.58110277e-03 9.49845009e-01 3.32965239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41710568099995 meters Centerline goodness [0,1] 0.9999789641970634 Centerline is valid? [True, True] Translation: X:208.90, Y:118.01, Z:33.31 [[ 2.11001677e-01 -9.75732231e-01 -5.85226899e-02 2.08895065e+02] [ 9.27265235e-01 2.18745562e-01 -3.03857799e-01 1.18006156e+02] [ 3.09285427e-01 9.84844943e-03 9.50918258e-01 3.33080009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:118.03, Z:33.32 [[ 2.13976567e-01 -9.75091042e-01 -5.84079494e-02 2.08896347e+02] [ 9.26561029e-01 2.21535685e-01 -3.03984540e-01 1.18032578e+02] [ 3.09352047e-01 1.09270387e-02 9.50884804e-01 3.33160327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:118.06, Z:33.32 [[ 2.14450144e-01 -9.74969904e-01 -5.86926086e-02 2.08899170e+02] [ 9.25721673e-01 2.22048364e-01 -3.06159938e-01 1.18059497e+02] [ 3.11529323e-01 1.13230230e-02 9.50169075e-01 3.33219714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:118.09, Z:33.33 [[ 2.14588624e-01 -9.74923286e-01 -5.89602331e-02 2.08903606e+02] [ 9.24982101e-01 2.22238155e-01 -3.08250409e-01 1.18086276e+02] [ 3.13623715e-01 1.16098708e-02 9.49476370e-01 3.33284048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:118.11, Z:33.34 [[ 2.15829924e-01 -9.74641890e-01 -5.90815574e-02 2.08909629e+02] [ 9.24262076e-01 2.23437499e-01 -3.09540464e-01 1.18112711e+02] [ 3.14892138e-01 1.22012519e-02 9.49049035e-01 3.33352990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:118.14, Z:33.34 [[ 2.17971790e-01 -9.74140710e-01 -5.94825636e-02 2.08915195e+02] [ 9.22808284e-01 2.25557000e-01 -3.12328209e-01 1.18139261e+02] [ 3.17668332e-01 1.31877365e-02 9.48110180e-01 3.33398682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:118.16, Z:33.35 [[ 2.17894710e-01 -9.74167092e-01 -5.93327256e-02 2.08923224e+02] [ 9.22934701e-01 2.25440477e-01 -3.12038665e-01 1.18163461e+02] [ 3.17353797e-01 1.32313431e-02 9.48214901e-01 3.33489097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:118.19, Z:33.36 [[ 2.17611847e-01 -9.74280605e-01 -5.85011604e-02 2.08930274e+02] [ 9.24278159e-01 2.24960730e-01 -3.08387021e-01 1.18187041e+02] [ 3.13615957e-01 1.30373246e-02 9.49460404e-01 3.33617928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:118.21, Z:33.37 [[ 2.17348420e-01 -9.74359715e-01 -5.81619224e-02 2.08938855e+02] [ 9.24715783e-01 2.24619264e-01 -3.07322154e-01 1.18212247e+02] [ 3.12506615e-01 1.30127372e-02 9.49826450e-01 3.33713231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:118.24, Z:33.38 [[ 2.15542745e-01 -9.74761412e-01 -5.81507929e-02 2.08946238e+02] [ 9.24923370e-01 2.22893765e-01 -3.07953128e-01 1.18237428e+02] [ 3.13142275e-01 1.25920352e-02 9.49622744e-01 3.33793697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:118.26, Z:33.39 [[ 2.11785581e-01 -9.75581481e-01 -5.82034415e-02 2.08960374e+02] [ 9.25454830e-01 2.19333488e-01 -3.08911281e-01 1.18262355e+02] [ 3.14134088e-01 1.15582990e-02 9.49308264e-01 3.33856188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:118.29, Z:33.39 [[ 2.08852846e-01 -9.76210899e-01 -5.82474764e-02 2.08968600e+02] [ 9.25798759e-01 2.16554735e-01 -3.09839804e-01 1.18287482e+02] [ 3.15082761e-01 1.07854837e-02 9.49002912e-01 3.33925671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:118.31, Z:33.40 [[ 2.01738644e-01 -9.77686421e-01 -5.85728739e-02 2.08983245e+02] [ 9.26526791e-01 2.09888520e-01 -3.12241756e-01 1.18311605e+02] [ 3.17568299e-01 8.72189171e-03 9.48195288e-01 3.33976483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:118.34, Z:33.41 [[ 1.97852851e-01 -9.78474508e-01 -5.86675954e-02 2.08993738e+02] [ 9.26924625e-01 2.06226023e-01 -3.13498910e-01 1.18336704e+02] [ 3.18849477e-01 7.64621416e-03 9.47774523e-01 3.34050997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:118.36, Z:33.41 [[ 1.91660814e-01 -9.79682933e-01 -5.90549135e-02 2.09007282e+02] [ 9.27250584e-01 2.00467110e-01 -3.16258267e-01 1.18361048e+02] [ 3.21671395e-01 5.85561392e-03 9.46833262e-01 3.34107196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:118.39, Z:33.42 [[ 1.88541688e-01 -9.80271694e-01 -5.93248426e-02 2.09018811e+02] [ 9.27193621e-01 1.97591668e-01 -3.18228725e-01 1.18385187e+02] [ 3.23672706e-01 4.99376539e-03 9.46155929e-01 3.34183273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:118.41, Z:33.43 [[ 1.88436155e-01 -9.80294369e-01 -5.92854628e-02 2.09025446e+02] [ 9.27024961e-01 1.97476102e-01 -3.18791327e-01 1.18410066e+02] [ 3.24216805e-01 5.11270809e-03 9.45968987e-01 3.34266169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:118.43, Z:33.44 [[ 1.91793754e-01 -9.79665458e-01 -5.89130335e-02 2.09028496e+02] [ 9.26787446e-01 2.00538783e-01 -3.17567672e-01 1.18433991e+02] [ 3.22924427e-01 6.30763632e-03 9.46403734e-01 3.34385057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:118.46, Z:33.45 [[ 1.94618788e-01 -9.79138985e-01 -5.83984263e-02 2.09031456e+02] [ 9.26938835e-01 2.03061427e-01 -3.15516170e-01 1.18459716e+02] [ 3.20792650e-01 7.27360518e-03 9.47121518e-01 3.34498968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:118.48, Z:33.46 [[ 2.00492692e-01 -9.77982206e-01 -5.79092862e-02 2.09034235e+02] [ 9.26403695e-01 2.08484698e-01 -3.13544774e-01 1.18484811e+02] [ 3.18714410e-01 9.21605906e-03 9.47805987e-01 3.34620872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:118.51, Z:33.47 [[ 2.02869940e-01 -9.77503433e-01 -5.77133023e-02 2.09036629e+02] [ 9.26032539e-01 2.10678054e-01 -3.13174863e-01 1.18509819e+02] [ 3.18288430e-01 1.00893699e-02 9.47940230e-01 3.34716545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:118.54, Z:33.48 [[ 2.06606174e-01 -9.76732715e-01 -5.75073255e-02 2.09039555e+02] [ 9.25369036e-01 2.14156732e-01 -3.12776344e-01 1.18535442e+02] [ 3.17814469e-01 1.14060254e-02 9.48084314e-01 3.34810469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:118.56, Z:33.49 [[ 2.06208682e-01 -9.76824216e-01 -5.73797070e-02 2.09043817e+02] [ 9.25457622e-01 2.13739332e-01 -3.12799758e-01 1.18560410e+02] [ 3.17814678e-01 1.13995388e-02 9.48084322e-01 3.34894300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:118.58, Z:33.50 [[ 2.08960935e-01 -9.76276702e-01 -5.67373686e-02 2.09051818e+02] [ 9.25818918e-01 2.16179419e-01 -3.10041594e-01 1.18583242e+02] [ 3.14951836e-01 1.22580521e-02 9.49028493e-01 3.35023195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:118.61, Z:33.51 [[ 2.09886404e-01 -9.76098122e-01 -5.63928549e-02 2.09058407e+02] [ 9.26031179e-01 2.16964542e-01 -3.08856996e-01 1.18608209e+02] [ 3.13709983e-01 1.26033423e-02 9.49435202e-01 3.35135910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:118.63, Z:33.52 [[ 2.11971056e-01 -9.75646783e-01 -5.64059103e-02 2.09064185e+02] [ 9.25325181e-01 2.18936143e-01 -3.09580806e-01 1.18634463e+02] [ 3.14390810e-01 1.34283613e-02 9.49198661e-01 3.35219248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.1971056809999 meters Centerline goodness [0,1] 0.9999580070128289 Centerline is valid? [True, True] Translation: X:209.07, Y:118.66, Z:33.53 [[ 2.14289119e-01 -9.75130368e-01 -5.65768357e-02 2.09068370e+02] [ 9.24259770e-01 2.21164413e-01 -3.11175480e-01 1.18661823e+02] [ 3.15949443e-01 1.43898262e-02 9.48666897e-01 3.35277294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22710568099995 meters Centerline goodness [0,1] 0.9995369298448715 Centerline is valid? [True, True] Translation: X:209.07, Y:118.69, Z:33.53 [[ 2.19936767e-01 -9.73840595e-01 -5.71166754e-02 2.09073574e+02] [ 9.21701427e-01 2.26625505e-01 -3.14813215e-01 1.18688096e+02] [ 3.19521984e-01 1.65944796e-02 9.47433546e-01 3.35310861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.2571056809999 meters Centerline goodness [0,1] 0.9996440983126073 Centerline is valid? [True, True] Translation: X:209.08, Y:118.71, Z:33.54 [[ 2.23278270e-01 -9.73086831e-01 -5.69985364e-02 2.09081203e+02] [ 9.20892080e-01 2.29748323e-01 -3.14918220e-01 1.18713205e+02] [ 3.19538091e-01 1.78248945e-02 9.47405764e-01 3.35393901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28710568099996 meters Centerline goodness [0,1] 0.9994946517308179 Centerline is valid? [True, True] Translation: X:209.09, Y:118.74, Z:33.55 [[ 2.23506570e-01 -9.73038984e-01 -5.69205555e-02 2.09087984e+02] [ 9.20755130e-01 2.29934462e-01 -3.15182699e-01 1.18738649e+02] [ 3.19773050e-01 1.80355104e-02 9.47322499e-01 3.35476907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31710568099993 meters Centerline goodness [0,1] 0.9992846623185356 Centerline is valid? [True, True] Translation: X:209.10, Y:118.76, Z:33.56 [[ 2.23693065e-01 -9.72991124e-01 -5.70060181e-02 2.09095857e+02] [ 9.20312794e-01 2.30116047e-01 -3.16339952e-01 1.18763941e+02] [ 3.20913965e-01 1.82996857e-02 9.46931544e-01 3.35551743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34710568099996 meters Centerline goodness [0,1] 0.9989047097480832 Centerline is valid? [True, True] Translation: X:209.11, Y:118.79, Z:33.56 [[ 2.22523598e-01 -9.73238174e-01 -5.73646745e-02 2.09109498e+02] [ 9.19633814e-01 2.29073398e-01 -3.19059597e-01 1.18788504e+02] [ 3.23661701e-01 1.82437952e-02 9.45996970e-01 3.35602583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37710568099993 meters Centerline goodness [0,1] 0.9989348815838938 Centerline is valid? [True, True] Translation: X:209.12, Y:118.81, Z:33.57 [[ 2.20352294e-01 -9.73740989e-01 -5.72132332e-02 2.09121960e+02] [ 9.20195955e-01 2.26974931e-01 -3.18938528e-01 1.18812455e+02] [ 3.23549487e-01 1.76314503e-02 9.46046966e-01 3.35674792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4071056809999 meters Centerline goodness [0,1] 0.9985364833786327 Centerline is valid? [True, True] Translation: X:209.13, Y:118.84, Z:33.58 [[ 2.18245339e-01 -9.74226648e-01 -5.70211404e-02 2.09131927e+02] [ 9.20821659e-01 2.24928124e-01 -3.18582503e-01 1.18836482e+02] [ 3.23197222e-01 1.70228453e-02 9.46178513e-01 3.35757018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43710568099993 meters Centerline goodness [0,1] 0.997890735945201 Centerline is valid? [True, True] Translation: X:209.15, Y:118.86, Z:33.58 [[ 2.13503086e-01 -9.75272371e-01 -5.70984700e-02 2.09151872e+02] [ 9.21511103e-01 2.20452004e-01 -3.19715813e-01 1.18859574e+02] [ 3.24397471e-01 1.56434387e-02 9.45791501e-01 3.35829666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.4671056809999 meters Centerline goodness [0,1] 0.997999874992187 Centerline is valid? [True, True] Translation: X:209.16, Y:118.88, Z:33.59 [[ 2.10710690e-01 -9.75876708e-01 -5.71459205e-02 2.09163670e+02] [ 9.21853176e-01 2.17816045e-01 -3.20535320e-01 1.18884032e+02] [ 3.25250252e-01 1.48600702e-02 9.45511212e-01 3.35909813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49710568099994 meters Centerline goodness [0,1] 0.9989262705798139 Centerline is valid? [True, True] Translation: X:209.19, Y:118.91, Z:33.60 [[ 2.05078032e-01 -9.77069775e-01 -5.72508205e-02 2.09191304e+02] [ 9.22639566e-01 2.12511129e-01 -3.21831090e-01 1.18905138e+02] [ 3.26617867e-01 1.31786144e-02 9.45064597e-01 3.36008306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5271056809999 meters Centerline goodness [0,1] 0.9986999098324562 Centerline is valid? [True, True] Translation: X:209.20, Y:118.93, Z:33.61 [[ 2.02535561e-01 -9.77609320e-01 -5.70908403e-02 2.09200434e+02] [ 9.23247515e-01 2.10059783e-01 -3.21696929e-01 1.18929974e+02] [ 3.26486406e-01 1.24460916e-02 9.45119951e-01 3.36086814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55710568099994 meters Centerline goodness [0,1] 0.9988887957061389 Centerline is valid? [True, True] Translation: X:209.21, Y:118.95, Z:33.62 [[ 1.97572749e-01 -9.78626455e-01 -5.70549760e-02 2.09213832e+02] [ 9.24134883e-01 2.05355363e-01 -3.22186116e-01 1.18954802e+02] [ 3.27016402e-01 1.09287032e-02 9.44955468e-01 3.36168059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5871056809999 meters Centerline goodness [0,1] 0.9989460815311327 Centerline is valid? [True, True] Translation: X:209.22, Y:118.98, Z:33.63 [[ 1.96505208e-01 -9.78852022e-01 -5.68719719e-02 2.09220753e+02] [ 9.24477566e-01 2.04290922e-01 -3.21879557e-01 1.18978123e+02] [ 3.26690883e-01 1.06741473e-02 9.45070965e-01 3.36263441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61710568099994 meters Centerline goodness [0,1] 0.9984473352916492 Centerline is valid? [True, True] Translation: X:209.23, Y:119.00, Z:33.64 [[ 1.99455478e-01 -9.78276312e-01 -5.65063624e-02 2.09227717e+02] [ 9.24310825e-01 2.06973415e-01 -3.20642330e-01 1.19001624e+02] [ 3.25372111e-01 1.17244267e-02 9.45513367e-01 3.36389476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.6471056809999 meters Centerline goodness [0,1] 0.9985731372096439 Centerline is valid? [True, True] Translation: X:209.23, Y:119.03, Z:33.65 [[ 2.07196469e-01 -9.76692663e-01 -5.60452035e-02 2.09233113e+02] [ 9.23326395e-01 2.14165993e-01 -3.18749580e-01 1.19025441e+02] [ 3.23323353e-01 1.42957719e-02 9.46180554e-01 3.36529507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67710568099994 meters Centerline goodness [0,1] 0.9980057099672517 Centerline is valid? [True, True] Translation: X:209.23, Y:119.05, Z:33.66 [[ 2.14955241e-01 -9.75039251e-01 -5.56120763e-02 2.09230503e+02] [ 9.22272627e-01 2.21394522e-01 -3.16855908e-01 1.19050914e+02] [ 3.21259157e-01 1.68203423e-02 9.46841925e-01 3.36638362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7071056809999 meters Centerline goodness [0,1] 0.9976419523799587 Centerline is valid? [True, True] Translation: X:209.23, Y:119.08, Z:33.67 [[ 2.17999673e-01 -9.74381696e-01 -5.52851985e-02 2.09231676e+02] [ 9.21960964e-01 2.24189384e-01 -3.15795981e-01 1.19076958e+02] [ 3.20100178e-01 1.78726259e-02 9.47215100e-01 3.36731647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73710568099995 meters Centerline goodness [0,1] 0.9977812199104115 Centerline is valid? [True, True] Translation: X:209.23, Y:119.10, Z:33.68 [[ 2.20185257e-01 -9.73922543e-01 -5.47113638e-02 2.09234985e+02] [ 9.22352921e-01 2.26124237e-01 -3.13261741e-01 1.19102055e+02] [ 3.17464237e-01 1.85124307e-02 9.48089525e-01 3.36835334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.7671056809999 meters Centerline goodness [0,1] 0.9970883954754922 Centerline is valid? [True, True] Translation: X:209.24, Y:119.13, Z:33.69 [[ 2.18669098e-01 -9.74268611e-01 -5.46305711e-02 2.09244248e+02] [ 9.22620041e-01 2.24657582e-01 -3.13530271e-01 1.19127767e+02] [ 3.17735874e-01 1.81561218e-02 9.48005417e-01 3.36925978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79710568099995 meters Centerline goodness [0,1] 0.9986403664735289 Centerline is valid? [True, True] Translation: X:209.26, Y:119.15, Z:33.70 [[ 2.14774630e-01 -9.75131663e-01 -5.46817820e-02 2.09256597e+02] [ 9.23191802e-01 2.20968935e-01 -3.14467211e-01 1.19152205e+02] [ 3.18729910e-01 1.70578060e-02 9.47692079e-01 3.37002022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8271056809999 meters Centerline goodness [0,1] 0.9986014861818485 Centerline is valid? [True, True] Translation: X:209.26, Y:119.18, Z:33.71 [[ 2.14199202e-01 -9.75253089e-01 -5.47732997e-02 2.09264028e+02] [ 9.22878032e-01 2.20430121e-01 -3.15763678e-01 1.19177546e+02] [ 3.20023187e-01 1.70872529e-02 9.47255607e-01 3.37064106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85710568099995 meters Centerline goodness [0,1] 0.9987203960479117 Centerline is valid? [True, True] Translation: X:209.27, Y:119.20, Z:33.71 [[ 2.16857913e-01 -9.74635592e-01 -5.53001690e-02 2.09270462e+02] [ 9.20926881e-01 2.23041703e-01 -3.19603002e-01 1.19204764e+02] [ 3.23830704e-01 1.83810279e-02 9.45936474e-01 3.37104049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.8871056809999 meters Centerline goodness [0,1] 0.9981136030182352 Centerline is valid? [True, True] Translation: X:209.27, Y:119.23, Z:33.71 [[ 2.21307226e-01 -9.73604432e-01 -5.58347634e-02 2.09272945e+02] [ 9.18527568e-01 2.27337663e-01 -3.23457407e-01 1.19232617e+02] [ 3.27612909e-01 2.02976921e-02 9.44593979e-01 3.37133815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91710568099995 meters Centerline goodness [0,1] 0.9980852183061547 Centerline is valid? [True, True] Translation: X:209.28, Y:119.26, Z:33.72 [[ 2.23556270e-01 -9.73068726e-01 -5.62125273e-02 2.09283048e+02] [ 9.16925381e-01 2.29516209e-01 -3.26450845e-01 1.19257968e+02] [ 3.30560795e-01 2.14374403e-02 9.43541201e-01 3.37195958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9471056809999 meters Centerline goodness [0,1] 0.998213159554341 Centerline is valid? [True, True] Translation: X:209.29, Y:119.28, Z:33.73 [[ 2.23747735e-01 -9.73016999e-01 -5.63459920e-02 2.09289496e+02] [ 9.16305324e-01 2.29703976e-01 -3.28055844e-01 1.19284602e+02] [ 3.32146812e-01 2.17716197e-02 9.42976401e-01 3.37269255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97710568099995 meters Centerline goodness [0,1] 0.9972444837087987 Centerline is valid? [True, True] Translation: X:209.30, Y:119.31, Z:33.73 [[ 2.21548256e-01 -9.73496033e-01 -5.67612932e-02 2.09299858e+02] [ 9.15656195e-01 2.27699165e-01 -3.31250394e-01 1.19310168e+02] [ 3.35395444e-01 2.14141175e-02 9.41834026e-01 3.37305881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.0071056809999 meters Centerline goodness [0,1] 0.9978702079679278 Centerline is valid? [True, True] Translation: X:209.31, Y:119.34, Z:33.74 [[ 2.18822836e-01 -9.74119671e-01 -5.66341970e-02 2.09308610e+02] [ 9.16263086e-01 2.25090732e-01 -3.31354975e-01 1.19336290e+02] [ 3.35527233e-01 2.06162114e-02 9.41804888e-01 3.37382362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03710568099996 meters Centerline goodness [0,1] 0.9983163565956731 Centerline is valid? [True, True] Translation: X:209.32, Y:119.36, Z:33.75 [[ 2.16304326e-01 -9.74693108e-01 -5.64427513e-02 2.09318571e+02] [ 9.16990981e-01 2.22665498e-01 -3.30979784e-01 1.19361448e+02] [ 3.35171568e-01 1.98348654e-02 9.41948299e-01 3.37472499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06710568099993 meters Centerline goodness [0,1] 0.9983039135624097 Centerline is valid? [True, True] Translation: X:209.33, Y:119.39, Z:33.76 [[ 2.10514813e-01 -9.75993513e-01 -5.58585369e-02 2.09328236e+02] [ 9.19284665e-01 2.17073749e-01 -3.28321019e-01 1.19385057e+02] [ 3.32564607e-01 1.77665415e-02 9.42913110e-01 3.37576169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09710568099996 meters Centerline goodness [0,1] 0.9987378252729453 Centerline is valid? [True, True] Translation: X:209.35, Y:119.41, Z:33.77 [[ 2.04576267e-01 -9.77292026e-01 -5.52163573e-02 2.09347164e+02] [ 9.21755045e-01 2.11320511e-01 -3.25132710e-01 1.19405888e+02] [ 3.29417954e-01 1.56184804e-02 9.44055017e-01 3.37731641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12710568099993 meters Centerline goodness [0,1] 0.9987458718281008 Centerline is valid? [True, True] Translation: X:209.36, Y:119.43, Z:33.78 [[ 2.00080962e-01 -9.78228175e-01 -5.51112200e-02 2.09356194e+02] [ 9.22653663e-01 2.07042794e-01 -3.25335979e-01 1.19431510e+02] [ 3.29663202e-01 1.42449666e-02 9.43991130e-01 3.37812067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.1571056809999 meters Centerline goodness [0,1] 0.9990526914089637 Centerline is valid? [True, True] Translation: X:209.37, Y:119.45, Z:33.79 [[ 1.91125728e-01 -9.80018667e-01 -5.50851056e-02 2.09371290e+02] [ 9.24280121e-01 1.98579044e-01 -3.25994818e-01 1.19454948e+02] [ 3.30419754e-01 1.13919288e-02 9.43765336e-01 3.37893218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18710568099993 meters Centerline goodness [0,1] 0.9991163847513255 Centerline is valid? [True, True] Translation: X:209.38, Y:119.48, Z:33.80 [[ 1.81239353e-01 -9.81919691e-01 -5.46444583e-02 2.09384691e+02] [ 9.26872646e-01 1.89123785e-01 -3.24251897e-01 1.19478251e+02] [ 3.28723889e-01 8.11875036e-03 9.44391175e-01 3.37989238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2171056809999 meters Centerline goodness [0,1] 0.9995578947368421 Centerline is valid? [True, True] Translation: X:209.39, Y:119.50, Z:33.81 [[ 1.76839529e-01 -9.82742047e-01 -5.42756777e-02 2.09391508e+02] [ 9.28210138e-01 1.84859194e-01 -3.22882359e-01 1.19503907e+02] [ 3.27343428e-01 6.71913005e-03 9.44881545e-01 3.38093939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24710568099994 meters Centerline goodness [0,1] 0.9996445596721586 Centerline is valid? [True, True] Translation: X:209.40, Y:119.53, Z:33.82 [[ 1.73694643e-01 -9.83320558e-01 -5.39523055e-02 2.09397173e+02] [ 9.29235765e-01 1.81790405e-01 -3.21672413e-01 1.19528432e+02] [ 3.26115108e-01 5.73836313e-03 9.45312651e-01 3.38190282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2771056809999 meters Centerline goodness [0,1] 0.9993898847092485 Centerline is valid? [True, True] Translation: X:209.40, Y:119.55, Z:33.83 [[ 1.71942155e-01 -9.83624679e-01 -5.40220944e-02 2.09402705e+02] [ 9.29117567e-01 1.80150074e-01 -3.22934200e-01 1.19552495e+02] [ 3.27378133e-01 5.33312549e-03 9.44878360e-01 3.38273471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30710568099994 meters Centerline goodness [0,1] 0.9994760557476684 Centerline is valid? [True, True] Translation: X:209.41, Y:119.58, Z:33.84 [[ 1.72167227e-01 -9.83596693e-01 -5.38144205e-02 2.09406513e+02] [ 9.29216059e-01 1.80296864e-01 -3.22568684e-01 1.19577833e+02] [ 3.26980062e-01 5.53053219e-03 9.45015054e-01 3.38367996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3371056809999 meters Centerline goodness [0,1] 0.9992241234692166 Centerline is valid? [True, True] Translation: X:209.40, Y:119.60, Z:33.85 [[ 1.75311187e-01 -9.83067705e-01 -5.33279986e-02 2.09403835e+02] [ 9.29387367e-01 1.83123057e-01 -3.20476315e-01 1.19602275e+02] [ 3.24815502e-01 6.62071511e-03 9.45754226e-01 3.38474628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36710568099994 meters Centerline goodness [0,1] 0.9990149022238058 Centerline is valid? [True, True] Translation: X:209.40, Y:119.63, Z:33.86 [[ 1.80148902e-01 -9.82208356e-01 -5.30388380e-02 2.09398623e+02] [ 9.28793510e-01 1.87610308e-01 -3.19601295e-01 1.19628182e+02] [ 3.23865695e-01 8.31369389e-03 9.46066538e-01 3.38564433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3971056809999 meters Centerline goodness [0,1] 0.9992668314550254 Centerline is valid? [True, True] Translation: X:209.40, Y:119.65, Z:33.86 [[ 1.82381012e-01 -9.81805170e-01 -5.28750867e-02 2.09398462e+02] [ 9.28424686e-01 1.89669382e-01 -3.19457553e-01 1.19654982e+02] [ 3.23673862e-01 9.17245626e-03 9.46124250e-01 3.38639351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42710568099994 meters Centerline goodness [0,1] 0.9990770069853789 Centerline is valid? [True, True] Translation: X:209.40, Y:119.68, Z:33.87 [[ 1.85715639e-01 -9.81190176e-01 -5.26833845e-02 2.09396844e+02] [ 9.27911297e-01 1.92764580e-01 -3.19096289e-01 1.19681681e+02] [ 3.23249634e-01 1.03756636e-02 9.46256846e-01 3.38717276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.4571056809999 meters Centerline goodness [0,1] 0.9990370122257578 Centerline is valid? [True, True] Translation: X:209.39, Y:119.71, Z:33.88 [[ 1.88973740e-01 -9.80561127e-01 -5.28091003e-02 2.09394467e+02] [ 9.26713222e-01 1.95866971e-01 -3.20684790e-01 1.19708205e+02] [ 3.24794598e-01 1.16621126e-02 9.45712675e-01 3.38773561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48710568099995 meters Centerline goodness [0,1] 0.998867710888847 Centerline is valid? [True, True] Translation: X:209.40, Y:119.73, Z:33.88 [[ 1.90121418e-01 -9.80337360e-01 -5.28441856e-02 2.09396633e+02] [ 9.26109332e-01 1.96949155e-01 -3.21764722e-01 1.19734256e+02] [ 3.25845596e-01 1.22348718e-02 9.45343829e-01 3.38845911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5171056809999 meters Centerline goodness [0,1] 0.9988877696633929 Centerline is valid? [True, True] Translation: X:209.40, Y:119.76, Z:33.89 [[ 1.92574168e-01 -9.79861925e-01 -5.27806473e-02 2.09396603e+02] [ 9.25467057e-01 1.99239398e-01 -3.22202404e-01 1.19761881e+02] [ 3.26229852e-01 1.32011096e-02 9.45198294e-01 3.38923910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54710568099995 meters Centerline goodness [0,1] 0.9986987092034841 Centerline is valid? [True, True] Translation: X:209.40, Y:119.79, Z:33.90 [[ 1.93808858e-01 -9.79621030e-01 -5.27329555e-02 2.09396353e+02] [ 9.25055536e-01 2.00383141e-01 -3.22674528e-01 1.19788907e+02] [ 3.26665549e-01 1.37562696e-02 9.45039885e-01 3.38989855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5771056809999 meters Centerline goodness [0,1] 0.9988921173101445 Centerline is valid? [True, True] Translation: X:209.40, Y:119.82, Z:33.91 [[ 1.95299089e-01 -9.79321371e-01 -5.28007452e-02 2.09398351e+02] [ 9.24320134e-01 2.01793888e-01 -3.23900475e-01 1.19816504e+02] [ 3.27857524e-01 1.44526759e-02 9.44616623e-01 3.39058429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60710568099995 meters Centerline goodness [0,1] 0.998641815370471 Centerline is valid? [True, True] Translation: X:209.40, Y:119.84, Z:33.91 [[ 1.95507948e-01 -9.79293241e-01 -5.25489417e-02 2.09396052e+02] [ 9.24555823e-01 2.01920220e-01 -3.23148194e-01 1.19842761e+02] [ 3.27067536e-01 1.45936102e-02 9.44888276e-01 3.39121478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6371056809999 meters Centerline goodness [0,1] 0.9988616960728515 Centerline is valid? [True, True] Translation: X:209.40, Y:119.87, Z:33.92 [[ 1.95900053e-01 -9.79214245e-01 -5.25607384e-02 2.09402506e+02] [ 9.24127867e-01 2.02278599e-01 -3.24146654e-01 1.19868835e+02] [ 3.28040934e-01 1.49275036e-02 9.44545560e-01 3.39200528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66710568099995 meters Centerline goodness [0,1] 0.998289385847797 Centerline is valid? [True, True] Translation: X:209.40, Y:119.90, Z:33.92 [[ 1.97957329e-01 -9.78787490e-01 -5.28010072e-02 2.09403236e+02] [ 9.22892601e-01 2.04261275e-01 -3.26414733e-01 1.19895906e+02] [ 3.30275858e-01 1.58865297e-02 9.43750749e-01 3.39249205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.6971056809999 meters Centerline goodness [0,1] 0.9983380666877038 Centerline is valid? [True, True] Translation: X:209.41, Y:119.92, Z:33.93 [[ 1.99615719e-01 -9.78472098e-01 -5.24015083e-02 2.09406080e+02] [ 9.23231832e-01 2.05726300e-01 -3.24529928e-01 1.19922200e+02] [ 3.28323848e-01 1.64025345e-02 9.44422791e-01 3.39331862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72710568099995 meters Centerline goodness [0,1] 0.9983420080591001 Centerline is valid? [True, True] Translation: X:209.41, Y:119.95, Z:33.94 [[ 1.99378373e-01 -9.78524147e-01 -5.23331493e-02 2.09413705e+02] [ 9.23165047e-01 2.05473847e-01 -3.24879661e-01 1.19947681e+02] [ 3.28655687e-01 1.64618441e-02 9.44306331e-01 3.39410043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.7571056809999 meters Centerline goodness [0,1] 0.9983363517668365 Centerline is valid? [True, True] Translation: X:209.41, Y:119.97, Z:33.95 [[ 1.98906869e-01 -9.78627303e-01 -5.21982787e-02 2.09414271e+02] [ 9.23250181e-01 2.04983551e-01 -3.24947454e-01 1.19973833e+02] [ 3.28702239e-01 1.64422102e-02 9.44290470e-01 3.39466497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78710568099996 meters Centerline goodness [0,1] 0.997596756666388 Centerline is valid? [True, True] Translation: X:209.42, Y:120.00, Z:33.95 [[ 1.98770216e-01 -9.78654111e-01 -5.22162106e-02 2.09420121e+02] [ 9.22908757e-01 2.04842046e-01 -3.26004849e-01 1.19999727e+02] [ 3.29742061e-01 1.66092561e-02 9.43924947e-01 3.39529031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81710568099993 meters Centerline goodness [0,1] 0.9972071176184331 Centerline is valid? [True, True] Translation: X:209.42, Y:120.02, Z:33.96 [[ 1.98662802e-01 -9.78679241e-01 -5.21539548e-02 2.09424575e+02] [ 9.22775372e-01 2.04712133e-01 -3.26463712e-01 1.20024155e+02] [ 3.30179805e-01 1.67298107e-02 9.43769786e-01 3.39609754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84710568099996 meters Centerline goodness [0,1] 0.9982264636952896 Centerline is valid? [True, True] Translation: X:209.43, Y:120.05, Z:33.97 [[ 1.98450965e-01 -9.78724261e-01 -5.21156054e-02 2.09434442e+02] [ 9.22593961e-01 2.04488155e-01 -3.27116154e-01 1.20048824e+02] [ 3.30813540e-01 1.68349734e-02 9.43545964e-01 3.39702139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87710568099993 meters Centerline goodness [0,1] 0.9988172179275968 Centerline is valid? [True, True] Translation: X:209.44, Y:120.07, Z:33.98 [[ 1.97904955e-01 -9.78872805e-01 -5.13970834e-02 2.09444520e+02] [ 9.24036175e-01 2.03801651e-01 -3.23453296e-01 1.20073006e+02] [ 3.27094446e-01 1.65202458e-02 9.44847239e-01 3.39838869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9071056809999 meters Centerline goodness [0,1] 0.9989011917842955 Centerline is valid? [True, True] Translation: X:209.45, Y:120.10, Z:34.00 [[ 1.96927911e-01 -9.79092659e-01 -5.09604010e-02 2.09450127e+02] [ 9.24964003e-01 2.02771483e-01 -3.21442558e-01 1.20098242e+02] [ 3.25055365e-01 1.61644749e-02 9.45556830e-01 3.39950504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93710568099993 meters Centerline goodness [0,1] 0.9985246074401939 Centerline is valid? [True, True] Translation: X:209.45, Y:120.12, Z:34.00 [[ 1.94920687e-01 -9.79519734e-01 -5.04679817e-02 2.09454044e+02] [ 9.26207735e-01 2.00753847e-01 -3.19119296e-01 1.20123526e+02] [ 3.22715289e-01 1.54591174e-02 9.46369831e-01 3.40045418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.9671056809999 meters Centerline goodness [0,1] 0.9985246074401939 Centerline is valid? [True, True] Translation: X:209.46, Y:120.15, Z:34.01 [[ 1.94527362e-01 -9.79604254e-01 -5.03449103e-02 2.09457721e+02] [ 9.26290232e-01 2.00341929e-01 -3.19138714e-01 1.20148667e+02] [ 3.22715838e-01 1.54472136e-02 9.46369839e-01 3.40129315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99710568099994 meters Centerline goodness [0,1] 0.9987007816265376 Centerline is valid? [True, True] Translation: X:209.46, Y:120.17, Z:34.02 [[ 1.93756401e-01 -9.79770532e-01 -5.00815520e-02 2.09463187e+02] [ 9.26736228e-01 1.99540883e-01 -3.18344782e-01 1.20173895e+02] [ 3.21898154e-01 1.52689509e-02 9.46651170e-01 3.40222113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0271056809999 meters Centerline goodness [0,1] 0.9984667408792086 Centerline is valid? [True, True] Translation: X:209.47, Y:120.20, Z:34.03 [[ 1.93652287e-01 -9.79804736e-01 -4.98143641e-02 2.09470899e+02] [ 9.27057410e-01 1.99369956e-01 -3.17515637e-01 1.20197168e+02] [ 3.21034813e-01 1.53068541e-02 9.46943688e-01 3.40319052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05710568099994 meters Centerline goodness [0,1] 0.998943029278089 Centerline is valid? [True, True] Translation: X:209.48, Y:120.22, Z:34.04 [[ 1.93707510e-01 -9.79797144e-01 -4.97489408e-02 2.09480256e+02] [ 9.26883737e-01 1.99393199e-01 -3.18007689e-01 1.20222815e+02] [ 3.21502626e-01 1.54889935e-02 9.46781998e-01 3.40415037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0871056809999 meters Centerline goodness [0,1] 0.9986516664559896 Centerline is valid? [True, True] Translation: X:209.48, Y:120.25, Z:34.05 [[ 1.94193235e-01 -9.79692360e-01 -4.99186159e-02 2.09478742e+02] [ 9.26128723e-01 1.99875844e-01 -3.19898790e-01 1.20250076e+02] [ 3.23379926e-01 1.58911169e-02 9.46135770e-01 3.40453594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11710568099994 meters Centerline goodness [0,1] 0.9981649053977093 Centerline is valid? [True, True] Translation: X:209.48, Y:120.28, Z:34.05 [[ 1.95378154e-01 -9.79466001e-01 -4.97365974e-02 2.09478382e+02] [ 9.26082325e-01 2.00946466e-01 -3.19361933e-01 1.20275835e+02] [ 3.22798549e-01 1.63361614e-02 9.46326702e-01 3.40515930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.1471056809999 meters Centerline goodness [0,1] 0.9987533279803913 Centerline is valid? [True, True] Translation: X:209.49, Y:120.30, Z:34.06 [[ 1.96385008e-01 -9.79274140e-01 -4.95488375e-02 2.09485036e+02] [ 9.25997106e-01 2.01843548e-01 -3.19043167e-01 1.20301499e+02] [ 3.22431836e-01 1.67732148e-02 9.46444066e-01 3.40621221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17710568099994 meters Centerline goodness [0,1] 0.9989847286264224 Centerline is valid? [True, True] Translation: X:209.49, Y:120.33, Z:34.07 [[ 1.99546495e-01 -9.78632408e-01 -4.95964441e-02 2.09489926e+02] [ 9.24962810e-01 2.04827553e-01 -3.20139771e-01 1.20326876e+02] [ 3.23457873e-01 1.80079029e-02 9.46071202e-01 3.40708398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2071056809999 meters Centerline goodness [0,1] 0.9988020176544766 Centerline is valid? [True, True] Translation: X:209.49, Y:120.35, Z:34.08 [[ 2.01853453e-01 -9.78175706e-01 -4.92693701e-02 2.09487235e+02] [ 9.24924775e-01 2.06927154e-01 -3.18897028e-01 1.20352987e+02] [ 3.22132496e-01 1.88000052e-02 9.46507905e-01 3.40786922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23710568099995 meters Centerline goodness [0,1] 0.997941954723004 Centerline is valid? [True, True] Translation: X:209.49, Y:120.38, Z:34.09 [[ 2.02177071e-01 -9.78117763e-01 -4.90925027e-02 2.09489840e+02] [ 9.25033828e-01 2.07185979e-01 -3.18412292e-01 1.20377615e+02] [ 3.21615997e-01 1.89634390e-02 9.46680273e-01 3.40865665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.2671056809999 meters Centerline goodness [0,1] 0.9987337497889583 Centerline is valid? [True, True] Translation: X:209.50, Y:120.40, Z:34.10 [[ 2.02694365e-01 -9.78023020e-01 -4.88463637e-02 2.09503416e+02] [ 9.25180181e-01 2.07610430e-01 -3.17709839e-01 1.20402253e+02] [ 3.20868550e-01 1.92063065e-02 9.46928979e-01 3.40954001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29710568099995 meters Centerline goodness [0,1] 0.9987325996493526 Centerline is valid? [True, True] Translation: X:209.51, Y:120.43, Z:34.10 [[ 2.02168503e-01 -9.78145355e-01 -4.85753074e-02 2.09510456e+02] [ 9.25633841e-01 2.07045419e-01 -3.16755722e-01 1.20427120e+02] [ 3.19890433e-01 1.90750818e-02 9.47262504e-01 3.41033942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3271056809999 meters Centerline goodness [0,1] 0.9988469118202021 Centerline is valid? [True, True] Translation: X:209.52, Y:120.45, Z:34.11 [[ 2.01926190e-01 -9.78208595e-01 -4.83089971e-02 2.09515946e+02] [ 9.25987583e-01 2.06748009e-01 -3.15914953e-01 1.20452700e+02] [ 3.19018511e-01 1.90579713e-02 9.47556850e-01 3.41126930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35710568099995 meters Centerline goodness [0,1] 0.9984608572814101 Centerline is valid? [True, True] Translation: X:209.52, Y:120.48, Z:34.12 [[ 2.02268166e-01 -9.78147602e-01 -4.81129762e-02 2.09523909e+02] [ 9.26147733e-01 2.07022482e-01 -3.15265077e-01 1.20478477e+02] [ 3.18336247e-01 1.92083651e-02 9.47783241e-01 3.41220218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.3871056809999 meters Centerline goodness [0,1] 0.9981564889494082 Centerline is valid? [True, True] Translation: X:209.53, Y:120.50, Z:34.13 [[ 2.03305621e-01 -9.77930217e-01 -4.81592692e-02 2.09528642e+02] [ 9.25553925e-01 2.07996702e-01 -3.16365776e-01 1.20503515e+02] [ 3.19400621e-01 1.97449399e-02 9.47414049e-01 3.41299336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41710568099995 meters Centerline goodness [0,1] 0.9981882913059049 Centerline is valid? [True, True] Translation: X:209.54, Y:120.53, Z:34.13 [[ 2.04669700e-01 -9.77631251e-01 -4.84505063e-02 2.09537222e+02] [ 9.24363886e-01 2.09325310e-01 -3.18958181e-01 1.20530136e+02] [ 3.21965403e-01 2.04951770e-02 9.46529570e-01 3.41349211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4471056809999 meters Centerline goodness [0,1] 0.9979376236373585 Centerline is valid? [True, True] Translation: X:209.54, Y:120.56, Z:34.14 [[ 2.04206824e-01 -9.77736068e-01 -4.82882449e-02 2.09541540e+02] [ 9.24562021e-01 2.08841021e-01 -3.18701268e-01 1.20555971e+02] [ 3.21690291e-01 2.04354963e-02 9.46624396e-01 3.41421176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47710568099995 meters Centerline goodness [0,1] 0.9981901976051685 Centerline is valid? [True, True] Translation: X:209.55, Y:120.58, Z:34.15 [[ 2.04017687e-01 -9.77795264e-01 -4.78874260e-02 2.09549377e+02] [ 9.25227093e-01 2.08571542e-01 -3.16942800e-01 1.20580716e+02] [ 3.19893123e-01 2.03551930e-02 9.47234953e-01 3.41523467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.5071056809999 meters Centerline goodness [0,1] 0.9984235086391726 Centerline is valid? [True, True] Translation: X:209.56, Y:120.61, Z:34.16 [[ 2.03500023e-01 -9.77914434e-01 -4.76560608e-02 2.09555246e+02] [ 9.25569584e-01 2.08021491e-01 -3.16303658e-01 1.20605146e+02] [ 3.19231398e-01 2.02588013e-02 9.47460234e-01 3.41614180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53710568099996 meters Centerline goodness [0,1] 0.9985748716336582 Centerline is valid? [True, True] Translation: X:209.57, Y:120.63, Z:34.17 [[ 2.01416915e-01 -9.78359526e-01 -4.73694521e-02 2.09570729e+02] [ 9.26358610e-01 2.05978741e-01 -3.15329167e-01 1.20628522e+02] [ 3.18262395e-01 1.96315282e-02 9.47799373e-01 3.41734260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56710568099993 meters Centerline goodness [0,1] 0.9985160413836347 Centerline is valid? [True, True] Translation: X:209.58, Y:120.65, Z:34.18 [[ 1.96413111e-01 -9.79392879e-01 -4.70263554e-02 2.09584776e+02] [ 9.27914331e-01 2.01159680e-01 -3.13862674e-01 1.20652429e+02] [ 3.16854675e-01 1.80103150e-02 9.48303086e-01 3.41826733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59710568099996 meters Centerline goodness [0,1] 0.9990358617509589 Centerline is valid? [True, True] Translation: X:209.59, Y:120.68, Z:34.19 [[ 1.93577833e-01 -9.79963334e-01 -4.68986944e-02 2.09590056e+02] [ 9.28493313e-01 1.98432514e-01 -3.13886453e-01 1.20677592e+02] [ 3.16903441e-01 1.72163352e-02 9.48301538e-01 3.41897499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62710568099993 meters Centerline goodness [0,1] 0.9993295340261482 Centerline is valid? [True, True] Translation: X:209.60, Y:120.70, Z:34.20 [[ 1.86673908e-01 -9.81315391e-01 -4.66149672e-02 2.09603678e+02] [ 9.30279806e-01 1.91819795e-01 -3.12705372e-01 1.20702075e+02] [ 3.15804267e-01 1.50089710e-02 9.48705642e-01 3.41966214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.6571056809999 meters Centerline goodness [0,1] 0.9991412353643466 Centerline is valid? [True, True] Translation: X:209.61, Y:120.73, Z:34.21 [[ 1.82302927e-01 -9.82147327e-01 -4.63925696e-02 2.09612513e+02] [ 9.31339351e-01 1.87614535e-01 -3.12102226e-01 1.20726215e+02] [ 3.15234287e-01 1.36899238e-02 9.48915133e-01 3.42062826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68710568099993 meters Centerline goodness [0,1] 0.9995383679207671 Centerline is valid? [True, True] Translation: X:209.62, Y:120.75, Z:34.22 [[ 1.76594426e-01 -9.83198963e-01 -4.61974881e-02 2.09623790e+02] [ 9.32556498e-01 1.82144612e-01 -3.11707744e-01 1.20750515e+02] [ 3.14885355e-01 1.19640823e-02 9.49054305e-01 3.42159924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7171056809999 meters Centerline goodness [0,1] 0.9996016019794091 Centerline is valid? [True, True] Translation: X:209.64, Y:120.77, Z:34.22 [[ 1.64569680e-01 -9.85275970e-01 -4.63474207e-02 2.09639294e+02] [ 9.34151811e-01 1.70771162e-01 -3.13364971e-01 1.20773271e+02] [ 3.16665778e-01 8.27484599e-03 9.48501087e-01 3.42240383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74710568099994 meters Centerline goodness [0,1] 0.9997682600543536 Centerline is valid? [True, True] Translation: X:209.65, Y:120.80, Z:34.23 [[ 1.54811857e-01 -9.86868147e-01 -4.60928354e-02 2.09653121e+02] [ 9.36066816e-01 1.61442640e-01 -3.12594290e-01 1.20797297e+02] [ 3.15930697e-01 5.24732882e-03 9.48767759e-01 3.42331138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7771056809999 meters Centerline goodness [0,1] 0.9997899645040011 Centerline is valid? [True, True] Translation: X:209.66, Y:120.82, Z:34.24 [[ 1.50405668e-01 -9.87558531e-01 -4.58942566e-02 2.09659772e+02] [ 9.36926336e-01 1.57202139e-01 -3.12180283e-01 1.20821044e+02] [ 3.15510977e-01 3.95414629e-03 9.48913689e-01 3.42418482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80710568099994 meters Centerline goodness [0,1] 0.9999372227337406 Centerline is valid? [True, True] Translation: X:209.67, Y:120.85, Z:34.25 [[ 1.46269986e-01 -9.88185022e-01 -4.57761189e-02 2.09666877e+02] [ 9.37523181e-01 1.53240581e-01 -3.12358143e-01 1.20845574e+02] [ 3.15682397e-01 2.77244873e-03 9.48860863e-01 3.42504036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8371056809999 meters Centerline goodness [0,1] 0.999749169122719 Centerline is valid? [True, True] Translation: X:209.67, Y:120.87, Z:34.26 [[ 1.47072656e-01 -9.88062236e-01 -4.58546796e-02 2.09669213e+02] [ 9.36910947e-01 1.54022197e-01 -3.13807329e-01 1.20870973e+02] [ 3.17123809e-01 3.19072595e-03 9.48378779e-01 3.42568493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86710568099994 meters Centerline goodness [0,1] 0.9998740659894215 Centerline is valid? [True, True] Translation: X:209.67, Y:120.90, Z:34.26 [[ 1.48140640e-01 -9.87899238e-01 -4.59287096e-02 2.09670505e+02] [ 9.36232276e-01 1.55052625e-01 -3.15321754e-01 1.20896590e+02] [ 3.18627487e-01 3.71202599e-03 9.47872747e-01 3.42632383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8971056809999 meters Centerline goodness [0,1] 0.9997899997899998 Centerline is valid? [True, True] Translation: X:209.67, Y:120.92, Z:34.27 [[ 1.53919956e-01 -9.87004615e-01 -4.61577377e-02 2.09667714e+02] [ 9.34419752e-01 1.60587089e-01 -3.17917464e-01 1.20923011e+02] [ 3.21198341e-01 5.80314020e-03 9.46994166e-01 3.42693322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92710568099994 meters Centerline goodness [0,1] 0.9998742111993962 Centerline is valid? [True, True] Translation: X:209.67, Y:120.95, Z:34.28 [[ 1.56499356e-01 -9.86598036e-01 -4.61764735e-02 2.09670206e+02] [ 9.33622470e-01 1.63027234e-01 -3.19015995e-01 1.20948500e+02] [ 3.22268577e-01 6.81440454e-03 9.46623752e-01 3.42780084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.9571056809999 meters Centerline goodness [0,1] 0.9997264482461125 Centerline is valid? [True, True] Translation: X:209.67, Y:120.97, Z:34.29 [[ 1.61722201e-01 -9.85765134e-01 -4.59677200e-02 2.09670329e+02] [ 9.32930714e-01 1.67906843e-01 -3.18508359e-01 1.20973600e+02] [ 3.21692730e-01 8.62517494e-03 9.46804834e-01 3.42881306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98710568099995 meters Centerline goodness [0,1] 0.9997496401076548 Centerline is valid? [True, True] Translation: X:209.67, Y:121.00, Z:34.30 [[ 1.66214482e-01 -9.85031525e-01 -4.56688198e-02 2.09668989e+02] [ 9.32535657e-01 1.72073703e-01 -3.17439585e-01 1.20998369e+02] [ 3.20546401e-01 1.01752534e-02 9.47178161e-01 3.42981032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0171056809999 meters Centerline goodness [0,1] 0.999853135555882 Centerline is valid? [True, True] Translation: X:209.67, Y:121.02, Z:34.30 [[ 1.72811081e-01 -9.83896995e-01 -4.56402642e-02 2.09665846e+02] [ 9.31091812e-01 1.78298750e-01 -3.18241408e-01 1.21024015e+02] [ 3.21254367e-01 1.25003655e-02 9.46910435e-01 3.43044128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04710568099995 meters Centerline goodness [0,1] 0.9994116411010716 Centerline is valid? [True, True] Translation: X:209.67, Y:121.05, Z:34.31 [[ 1.76633517e-01 -9.83223687e-01 -4.55168366e-02 2.09666005e+02] [ 9.30348804e-01 1.81874115e-01 -3.18391126e-01 1.21049758e+02] [ 3.21328031e-01 1.38920098e-02 9.46866046e-01 3.43119111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0771056809999 meters Centerline goodness [0,1] 0.9993495184338083 Centerline is valid? [True, True] Translation: X:209.66, Y:121.08, Z:34.32 [[ 1.83215321e-01 -9.82027069e-01 -4.53319086e-02 2.09661125e+02] [ 9.29313767e-01 1.88051954e-01 -3.17824456e-01 1.21075226e+02] [ 3.20636973e-01 1.61027430e-02 9.47065274e-01 3.43195955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10710568099995 meters Centerline goodness [0,1] 0.9992674146014735 Centerline is valid? [True, True] Translation: X:209.66, Y:121.10, Z:34.33 [[ 1.86124624e-01 -9.81484589e-01 -4.52286053e-02 2.09662597e+02] [ 9.28755712e-01 1.90771750e-01 -3.17834811e-01 1.21100748e+02] [ 3.20578309e-01 1.71505591e-02 9.47066738e-01 3.43286254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1371056809999 meters Centerline goodness [0,1] 0.9988481434166161 Centerline is valid? [True, True] Translation: X:209.67, Y:121.13, Z:34.34 [[ 1.90143320e-01 -9.80705615e-01 -4.54094108e-02 2.09666175e+02] [ 9.27191360e-01 1.94588374e-01 -3.20080532e-01 1.21127456e+02] [ 3.22740919e-01 1.87579616e-02 9.46301452e-01 3.43351355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16710568099995 meters Centerline goodness [0,1] 0.9984501644082351 Centerline is valid? [True, True] Translation: X:209.67, Y:121.15, Z:34.34 [[ 1.90904221e-01 -9.80556953e-01 -4.54273014e-02 2.09666871e+02] [ 9.26678852e-01 1.95292246e-01 -3.21134309e-01 1.21153249e+02] [ 3.23762079e-01 1.92093757e-02 9.45943506e-01 3.43407571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.1971056809999 meters Centerline goodness [0,1] 0.9989514742272365 Centerline is valid? [True, True] Translation: X:209.67, Y:121.18, Z:34.35 [[ 1.90098830e-01 -9.80709521e-01 -4.55112005e-02 2.09672712e+02] [ 9.26376926e-01 1.94531517e-01 -3.22464386e-01 1.21179158e+02] [ 3.25097257e-01 1.91395765e-02 9.45486885e-01 3.43464360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22710568099995 meters Centerline goodness [0,1] 0.9990803828951218 Centerline is valid? [True, True] Translation: X:209.68, Y:121.20, Z:34.36 [[ 1.88731523e-01 -9.80981204e-01 -4.53463336e-02 2.09679311e+02] [ 9.26739741e-01 1.93191107e-01 -3.22227636e-01 1.21204220e+02] [ 3.24859763e-01 1.87902631e-02 9.45575518e-01 3.43552993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.2571056809999 meters Centerline goodness [0,1] 0.9992440309947292 Centerline is valid? [True, True] Translation: X:209.69, Y:121.23, Z:34.36 [[ 1.83168999e-01 -9.82034276e-01 -4.53629582e-02 2.09691262e+02] [ 9.27449114e-01 1.87921966e-01 -3.23300906e-01 1.21227973e+02] [ 3.26017268e-01 1.71468681e-02 9.45208298e-01 3.43626091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28710568099996 meters Centerline goodness [0,1] 0.9995998652177576 Centerline is valid? [True, True] Translation: X:209.70, Y:121.25, Z:34.37 [[ 1.80914561e-01 -9.82447879e-01 -4.54542189e-02 2.09701015e+02] [ 9.27300069e-01 1.85793701e-01 -3.24954278e-01 1.21253061e+02] [ 3.27695749e-01 1.66392600e-02 9.44636772e-01 3.43695561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31710568099993 meters Centerline goodness [0,1] 0.9996013679373937 Centerline is valid? [True, True] Translation: X:209.70, Y:121.28, Z:34.38 [[ 1.79740070e-01 -9.82659688e-01 -4.55350907e-02 2.09704920e+02] [ 9.26983711e-01 1.84685149e-01 -3.26485215e-01 1.21278765e+02] [ 3.29233514e-01 1.64721882e-02 9.44104846e-01 3.43754328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34710568099996 meters Centerline goodness [0,1] 0.9994938951097615 Centerline is valid? [True, True] Translation: X:209.71, Y:121.30, Z:34.38 [[ 1.78268740e-01 -9.82919815e-01 -4.57044139e-02 2.09712275e+02] [ 9.26472973e-01 1.83315245e-01 -3.28699484e-01 1.21303061e+02] [ 3.31463551e-01 1.62529387e-02 9.43328021e-01 3.43805645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37710568099993 meters Centerline goodness [0,1] 0.9995818436513413 Centerline is valid? [True, True] Translation: X:209.72, Y:121.33, Z:34.39 [[ 1.77757301e-01 -9.83032837e-01 -4.52634865e-02 2.09717305e+02] [ 9.27345570e-01 1.82724046e-01 -3.26561045e-01 1.21327369e+02] [ 3.29290958e-01 1.60737163e-02 9.44091680e-01 3.43904125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4071056809999 meters Centerline goodness [0,1] 0.9998946325838198 Centerline is valid? [True, True] Translation: X:209.73, Y:121.35, Z:34.40 [[ 1.77685705e-01 -9.83060714e-01 -4.49379932e-02 2.09731025e+02] [ 9.27854621e-01 1.82572848e-01 -3.25196799e-01 1.21350436e+02] [ 3.27892655e-01 1.60868979e-02 9.44578011e-01 3.44032022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43710568099993 meters Centerline goodness [0,1] 0.9998524762908324 Centerline is valid? [True, True] Translation: X:209.74, Y:121.38, Z:34.41 [[ 1.76517717e-01 -9.83281578e-01 -4.47083226e-02 2.09739355e+02] [ 9.28315457e-01 1.81406312e-01 -3.24533762e-01 1.21375651e+02] [ 3.27218441e-01 1.57825317e-02 9.44816915e-01 3.44139566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.4671056809999 meters Centerline goodness [0,1] 0.9997052259232745 Centerline is valid? [True, True] Translation: X:209.75, Y:121.40, Z:34.43 [[ 1.73318565e-01 -9.83882119e-01 -4.40074018e-02 2.09751207e+02] [ 9.30397881e-01 1.78223660e-01 -3.20306275e-01 1.21398071e+02] [ 3.22986776e-01 1.45706305e-02 9.46291308e-01 3.44290363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49710568099994 meters Centerline goodness [0,1] 0.9996846619576185 Centerline is valid? [True, True] Translation: X:209.76, Y:121.42, Z:34.44 [[ 1.70193227e-01 -9.84446208e-01 -4.35881716e-02 2.09759523e+02] [ 9.31694494e-01 1.75163122e-01 -3.18218871e-01 1.21423064e+02] [ 3.20904401e-01 1.35478372e-02 9.47014689e-01 3.44408003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5271056809999 meters Centerline goodness [0,1] 0.9997051576353643 Centerline is valid? [True, True] Translation: X:209.76, Y:121.45, Z:34.45 [[ 1.69130034e-01 -9.84633549e-01 -4.34948953e-02 2.09763294e+02] [ 9.31828348e-01 1.74124476e-01 -3.18396917e-01 1.21449480e+02] [ 3.21077812e-01 1.33207049e-02 9.46959132e-01 3.44484916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55710568099994 meters Centerline goodness [0,1] 0.9997686596984163 Centerline is valid? [True, True] Translation: X:209.77, Y:121.47, Z:34.46 [[ 1.67909420e-01 -9.84846130e-01 -4.34111450e-02 2.09769298e+02] [ 9.31946916e-01 1.72938319e-01 -3.18696224e-01 1.21474146e+02] [ 3.21374193e-01 1.30552153e-02 9.46862286e-01 3.44559785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5871056809999 meters Centerline goodness [0,1] 0.9998110275899719 Centerline is valid? [True, True] Translation: X:209.77, Y:121.50, Z:34.46 [[ 1.66904896e-01 -9.85018341e-01 -4.33776845e-02 2.09772768e+02] [ 9.31950591e-01 1.71970061e-01 -3.19209014e-01 1.21499141e+02] [ 3.21886396e-01 1.28516884e-02 9.46691070e-01 3.44635087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61710568099994 meters Centerline goodness [0,1] 0.9997474109623642 Centerline is valid? [True, True] Translation: X:209.78, Y:121.52, Z:34.47 [[ 1.63868020e-01 -9.85533272e-01 -4.32601691e-02 2.09782057e+02] [ 9.32436718e-01 1.69057195e-01 -3.19345317e-01 1.21524844e+02] [ 3.22038878e-01 1.19931147e-02 9.46650477e-01 3.44731848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.6471056809999 meters Centerline goodness [0,1] 0.9994309679866804 Centerline is valid? [True, True] Translation: X:209.79, Y:121.55, Z:34.48 [[ 1.61693615e-01 -9.85895987e-01 -4.31772783e-02 2.09787161e+02] [ 9.32745207e-01 1.66970859e-01 -3.19542034e-01 1.21550446e+02] [ 3.22244556e-01 1.13945070e-02 9.46587878e-01 3.44819572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67710568099994 meters Centerline goodness [0,1] 0.9997469955724225 Centerline is valid? [True, True] Translation: X:209.80, Y:121.58, Z:34.49 [[ 1.55833050e-01 -9.86829689e-01 -4.33961551e-02 2.09798943e+02] [ 9.32862795e-01 1.61471716e-01 -3.22015357e-01 1.21575221e+02] [ 3.24781566e-01 9.69797666e-03 9.45739332e-01 3.44893075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7071056809999 meters Centerline goodness [0,1] 0.9998312948123155 Centerline is valid? [True, True] Translation: X:209.80, Y:121.60, Z:34.50 [[ 1.51958141e-01 -9.87435894e-01 -4.33483430e-02 2.09804220e+02] [ 9.33287175e-01 1.57787714e-01 -3.22611356e-01 1.21600264e+02] [ 3.25397868e-01 8.56696937e-03 9.45538383e-01 3.44958221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73710568099995 meters Centerline goodness [0,1] 0.9998736842105264 Centerline is valid? [True, True] Translation: X:209.82, Y:121.62, Z:34.51 [[ 1.44262673e-01 -9.88606320e-01 -4.29630707e-02 2.09815311e+02] [ 9.35155677e-01 1.50400934e-01 -3.20723273e-01 1.21624643e+02] [ 3.23530741e-01 6.09123716e-03 9.46198054e-01 3.45051973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.7671056809999 meters Centerline goodness [0,1] 0.9998945414662954 Centerline is valid? [True, True] Translation: X:209.83, Y:121.65, Z:34.52 [[ 1.36727803e-01 -9.89688545e-01 -4.26859635e-02 2.09828623e+02] [ 9.36677516e-01 1.43187986e-01 -3.19581650e-01 1.21647912e+02] [ 3.22398415e-01 3.71271468e-03 9.46596787e-01 3.45166125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79710568099995 meters Centerline goodness [0,1] 0.9999157681940701 Centerline is valid? [True, True] Translation: X:209.84, Y:121.67, Z:34.53 [[ 1.32542376e-01 -9.90261343e-01 -4.26027208e-02 2.09835652e+02] [ 9.37148159e-01 1.39198795e-01 -3.19964099e-01 1.21670853e+02] [ 3.22778325e-01 2.48374065e-03 9.46471333e-01 3.45250338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:121.69, Z:34.54 [[ 1.23464087e-01 -9.91440668e-01 -4.24502309e-02 2.09848489e+02] [ 9.38386140e-01 1.30557630e-01 -3.19978371e-01 1.21694993e+02] [ 3.22781771e-01 -3.28871071e-04 9.46473359e-01 3.45359690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:121.72, Z:34.55 [[ 1.18723997e-01 -9.92029660e-01 -4.22109743e-02 2.09855119e+02] [ 9.39272725e-01 1.25992424e-01 -3.19206292e-01 1.21719012e+02] [ 3.21980373e-01 -1.75016988e-03 9.46744726e-01 3.45453189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:121.74, Z:34.55 [[ 1.18308122e-01 -9.92085664e-01 -4.20621503e-02 2.09858164e+02] [ 9.39325195e-01 1.25550779e-01 -3.19225906e-01 1.21744296e+02] [ 3.21980381e-01 -1.74302011e-03 9.46744737e-01 3.45536941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:121.77, Z:34.56 [[ 1.12532243e-01 -9.92764106e-01 -4.19037423e-02 2.09865970e+02] [ 9.40084071e-01 1.20030426e-01 -3.19115398e-01 1.21768863e+02] [ 3.21836037e-01 -3.48226921e-03 9.46789015e-01 3.45603466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:121.79, Z:34.57 [[ 1.12167815e-01 -9.92815889e-01 -4.16532228e-02 2.09866131e+02] [ 9.40399902e-01 1.19601922e-01 -3.18344788e-01 1.21794146e+02] [ 3.21039569e-01 -3.46264738e-03 9.47059452e-01 3.45718603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97710568099995 meters Centerline goodness [0,1] 0.9999789730434417 Centerline is valid? [True, True] Translation: X:209.86, Y:121.82, Z:34.58 [[ 1.17567814e-01 -9.92208691e-01 -4.12276797e-02 2.09864626e+02] [ 9.40484969e-01 1.24576672e-01 -3.16178235e-01 1.21818686e+02] [ 3.18850800e-01 -1.60162909e-03 9.47803567e-01 3.45840946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:121.85, Z:34.59 [[ 1.28180430e-01 -9.90898977e-01 -4.10973820e-02 2.09854327e+02] [ 9.39075670e-01 1.34593590e-01 -3.16261682e-01 1.21845721e+02] [ 3.18914822e-01 1.94500698e-03 9.47781385e-01 3.45941858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03710568099996 meters Centerline goodness [0,1] 0.9997909393096815 Centerline is valid? [True, True] Translation: X:209.84, Y:121.87, Z:34.60 [[ 1.40484547e-01 -9.89236016e-01 -4.09413920e-02 2.09840828e+02] [ 9.37370163e-01 1.46204076e-01 -3.16166960e-01 1.21874140e+02] [ 3.18749542e-01 6.03933277e-03 9.47819738e-01 3.46001149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06710568099993 meters Centerline goodness [0,1] 0.9994955227645352 Centerline is valid? [True, True] Translation: X:209.84, Y:121.90, Z:34.61 [[ 1.44937186e-01 -9.88603554e-01 -4.06967367e-02 2.09840345e+02] [ 9.37000164e-01 1.50352029e-01 -3.15317236e-01 1.21900910e+02] [ 3.17842577e-01 7.56834400e-03 9.48113293e-01 3.46088862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09710568099996 meters Centerline goodness [0,1] 0.9996846884722106 Centerline is valid? [True, True] Translation: X:209.84, Y:121.93, Z:34.62 [[ 1.49859998e-01 -9.87866989e-01 -4.07528356e-02 2.09838348e+02] [ 9.35765726e-01 1.55021916e-01 -3.16718662e-01 1.21927754e+02] [ 3.19193493e-01 9.32835119e-03 9.47643654e-01 3.46153809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12710568099993 meters Centerline goodness [0,1] 0.999747506627951 Centerline is valid? [True, True] Translation: X:209.84, Y:121.95, Z:34.62 [[ 1.50504742e-01 -9.87765630e-01 -4.08335983e-02 2.09843285e+02] [ 9.35207003e-01 1.55644864e-01 -3.18060588e-01 1.21954110e+02] [ 3.20524857e-01 9.68175979e-03 9.47190625e-01 3.46230720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.1571056809999 meters Centerline goodness [0,1] 0.9989674645987863 Centerline is valid? [True, True] Translation: X:209.84, Y:121.98, Z:34.63 [[ 1.49555616e-01 -9.87902918e-01 -4.09993081e-02 2.09843816e+02] [ 9.34591050e-01 1.54777227e-01 -3.20286714e-01 1.21980749e+02] [ 3.22757938e-01 9.58309036e-03 9.46433029e-01 3.46281561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18710568099993 meters Centerline goodness [0,1] 0.9991129321815532 Centerline is valid? [True, True] Translation: X:209.85, Y:122.01, Z:34.64 [[ 1.48328880e-01 -9.88088382e-01 -4.09864891e-02 2.09850310e+02] [ 9.34447156e-01 1.53602905e-01 -3.21270386e-01 1.22005913e+02] [ 3.23739180e-01 9.35396856e-03 9.46100125e-01 3.46360678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2171056809999 meters Centerline goodness [0,1] 0.9992184034305752 Centerline is valid? [True, True] Translation: X:209.85, Y:122.03, Z:34.64 [[ 1.45115146e-01 -9.88566107e-01 -4.09712778e-02 2.09854124e+02] [ 9.34608628e-01 1.50550002e-01 -3.22244333e-01 1.22031914e+02] [ 3.24728051e-01 8.47042377e-03 9.45769499e-01 3.46420624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24710568099994 meters Centerline goodness [0,1] 0.9993664470349721 Centerline is valid? [True, True] Translation: X:209.86, Y:122.06, Z:34.65 [[ 1.42251342e-01 -9.88980855e-01 -4.10051781e-02 2.09860114e+02] [ 9.34694244e-01 1.47845428e-01 -3.23246654e-01 1.22058008e+02] [ 3.25747180e-01 7.65496653e-03 9.45425923e-01 3.46498365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2771056809999 meters Centerline goodness [0,1] 0.9991777182736301 Centerline is valid? [True, True] Translation: X:209.87, Y:122.08, Z:34.66 [[ 1.37284649e-01 -9.89681045e-01 -4.10408759e-02 2.09868417e+02] [ 9.34961410e-01 1.43154216e-01 -3.24582860e-01 1.22083362e+02] [ 3.27108679e-01 6.18860897e-03 9.44966462e-01 3.46577512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30710568099994 meters Centerline goodness [0,1] 0.9992604800540906 Centerline is valid? [True, True] Translation: X:209.88, Y:122.11, Z:34.67 [[ 1.30782377e-01 -9.90577931e-01 -4.06365934e-02 2.09876653e+02] [ 9.36628263e-01 1.36888460e-01 -3.22473327e-01 1.22107320e+02] [ 3.24997642e-01 4.11244624e-03 9.45705885e-01 3.46680037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3371056809999 meters Centerline goodness [0,1] 0.999618700616434 Centerline is valid? [True, True] Translation: X:209.88, Y:122.13, Z:34.68 [[ 1.26938191e-01 -9.91087765e-01 -4.03947860e-02 2.09881842e+02] [ 9.37448628e-01 1.33177616e-01 -3.21642336e-01 1.22132179e+02] [ 3.24155465e-01 2.96065942e-03 9.45999191e-01 3.46772533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36710568099994 meters Centerline goodness [0,1] 0.9996821697213688 Centerline is valid? [True, True] Translation: X:209.89, Y:122.16, Z:34.68 [[ 1.21078978e-01 -9.91824752e-01 -4.02932035e-02 2.09887061e+02] [ 9.38126156e-01 1.27602008e-01 -3.21927077e-01 1.22156525e+02] [ 3.24436737e-01 1.17849349e-03 9.45906663e-01 3.46834935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3971056809999 meters Centerline goodness [0,1] 0.9996622620002533 Centerline is valid? [True, True] Translation: X:209.89, Y:122.18, Z:34.69 [[ 1.19100752e-01 -9.92067960e-01 -4.02016525e-02 2.09889801e+02] [ 9.38199199e-01 1.25700788e-01 -3.22461741e-01 1.22181984e+02] [ 3.24957341e-01 6.88277521e-04 9.45728424e-01 3.46909356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42710568099994 meters Centerline goodness [0,1] 0.999113606145664 Centerline is valid? [True, True] Translation: X:209.89, Y:122.21, Z:34.70 [[ 1.19421723e-01 -9.92039746e-01 -3.99448819e-02 2.09889319e+02] [ 9.38460056e-01 1.25921773e-01 -3.21615347e-01 1.22206152e+02] [ 3.24085137e-01 9.21182828e-04 9.46027471e-01 3.47009957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.4571056809999 meters Centerline goodness [0,1] 0.9993892679639458 Centerline is valid? [True, True] Translation: X:209.89, Y:122.23, Z:34.71 [[ 1.20547538e-01 -9.91910760e-01 -3.97659985e-02 2.09889262e+02] [ 9.38386928e-01 1.26929086e-01 -3.21432699e-01 1.22230557e+02] [ 3.23880015e-01 1.43202724e-03 9.46097080e-01 3.47115645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48710568099995 meters Centerline goodness [0,1] 0.9988847270737764 Centerline is valid? [True, True] Translation: X:209.88, Y:122.26, Z:34.72 [[ 1.25274319e-01 -9.91323732e-01 -3.97945206e-02 2.09880648e+02] [ 9.37272559e-01 1.31405225e-01 -3.22882047e-01 1.22257295e+02] [ 3.25309844e-01 3.15051645e-03 9.45602231e-01 3.47188664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5171056809999 meters Centerline goodness [0,1] 0.9992033542976939 Centerline is valid? [True, True] Translation: X:209.88, Y:122.28, Z:34.73 [[ 1.27968497e-01 -9.90986086e-01 -3.96313047e-02 2.09876642e+02] [ 9.36977315e-01 1.33900116e-01 -3.22713913e-01 1.22283839e+02] [ 3.25111634e-01 4.16358078e-03 9.45666479e-01 3.47270813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54710568099995 meters Centerline goodness [0,1] 0.9988055573018169 Centerline is valid? [True, True] Translation: X:209.86, Y:122.31, Z:34.74 [[ 1.36369974e-01 -9.89876491e-01 -3.93416087e-02 2.09864645e+02] [ 9.36255974e-01 1.41758605e-01 -3.21448672e-01 1.22310695e+02] [ 3.23771495e-01 7.00213082e-03 9.46109396e-01 3.47374976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5771056809999 meters Centerline goodness [0,1] 0.9979141027512984 Centerline is valid? [True, True] Translation: X:209.85, Y:122.34, Z:34.75 [[ 1.46357633e-01 -9.88476461e-01 -3.86487980e-02 2.09854173e+02] [ 9.36369811e-01 1.51031593e-01 -3.16861225e-01 1.22335614e+02] [ 3.19047051e-01 1.01854913e-02 9.47684143e-01 3.47527683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60710568099995 meters Centerline goodness [0,1] 0.9975962543371932 Centerline is valid? [True, True] Translation: X:209.85, Y:122.36, Z:34.76 [[ 1.49576567e-01 -9.88007341e-01 -3.83189800e-02 2.09852493e+02] [ 9.36515876e-01 1.53998009e-01 -3.14996233e-01 1.22361118e+02] [ 3.17119637e-01 1.12297218e-02 9.48319054e-01 3.47633606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6371056809999 meters Centerline goodness [0,1] 0.9985532468077076 Centerline is valid? [True, True] Translation: X:209.85, Y:122.39, Z:34.77 [[ 1.50107359e-01 -9.87938141e-01 -3.80264522e-02 2.09852236e+02] [ 9.36884938e-01 1.54424384e-01 -3.13687301e-01 1.22386418e+02] [ 3.15775860e-01 1.14603618e-02 9.48764600e-01 3.47727072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66710568099995 meters Centerline goodness [0,1] 0.9983040911184624 Centerline is valid? [True, True] Translation: X:209.86, Y:122.41, Z:34.78 [[ 1.47140007e-01 -9.88389208e-01 -3.79024089e-02 2.09856795e+02] [ 9.37406496e-01 1.51573037e-01 -3.13519817e-01 1.22412396e+02] [ 3.15624586e-01 1.06013435e-02 9.48824922e-01 3.47804709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.6971056809999 meters Centerline goodness [0,1] 0.9978662873399715 Centerline is valid? [True, True] Translation: X:209.87, Y:122.44, Z:34.79 [[ 1.39638839e-01 -9.89475533e-01 -3.79363194e-02 2.09866153e+02] [ 9.38066174e-01 1.44457072e-01 -3.14903170e-01 1.22438406e+02] [ 3.17069152e-01 8.38593505e-03 9.48365346e-01 3.47865890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72710568099995 meters Centerline goodness [0,1] 0.9979302991658479 Centerline is valid? [True, True] Translation: X:209.87, Y:122.46, Z:34.79 [[ 1.36329680e-01 -9.89938938e-01 -3.78829546e-02 2.09871294e+02] [ 9.38340132e-01 1.41298035e-01 -3.15519670e-01 1.22462953e+02] [ 3.17697994e-01 7.46759891e-03 9.48162549e-01 3.47944389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.7571056809999 meters Centerline goodness [0,1] 0.998075716377327 Centerline is valid? [True, True] Translation: X:209.88, Y:122.49, Z:34.80 [[ 1.31244674e-01 -9.90622710e-01 -3.79668405e-02 2.09878526e+02] [ 9.38419995e-01 1.36492927e-01 -3.17391862e-01 1.22488494e+02] [ 3.19597792e-01 6.02714928e-03 9.47534129e-01 3.48013252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78710568099996 meters Centerline goodness [0,1] 0.9988276425147068 Centerline is valid? [True, True] Translation: X:209.88, Y:122.51, Z:34.81 [[ 1.27484837e-01 -9.91113005e-01 -3.79819294e-02 2.09884089e+02] [ 9.38513560e-01 1.32929593e-01 -3.18625205e-01 1.22514458e+02] [ 3.20842507e-01 4.97332657e-03 9.47119502e-01 3.48089612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81710568099993 meters Centerline goodness [0,1] 0.9986776928889262 Centerline is valid? [True, True] Translation: X:209.89, Y:122.54, Z:34.82 [[ 1.24636852e-01 -9.91480870e-01 -3.78330441e-02 2.09889567e+02] [ 9.38946085e-01 1.30185566e-01 -3.18483858e-01 1.22539505e+02] [ 3.20695969e-01 4.17163675e-03 9.47173001e-01 3.48176167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84710568099996 meters Centerline goodness [0,1] 0.9994154854602009 Centerline is valid? [True, True] Translation: X:209.90, Y:122.56, Z:34.83 [[ 1.17512663e-01 -9.92355230e-01 -3.77077200e-02 2.09898631e+02] [ 9.39824892e-01 1.23398125e-01 -3.18593902e-01 1.22563557e+02] [ 3.20811387e-01 2.00016382e-03 9.47140989e-01 3.48255896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87710568099993 meters Centerline goodness [0,1] 0.9996022941348851 Centerline is valid? [True, True] Translation: X:209.91, Y:122.59, Z:34.83 [[ 1.12540340e-01 -9.92932306e-01 -3.76843094e-02 2.09906154e+02] [ 9.40187735e-01 1.18681000e-01 -3.19314647e-01 1.22587773e+02] [ 3.21530240e-01 5.05453398e-04 9.46899176e-01 3.48331808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9071056809999 meters Centerline goodness [0,1] 0.9997055730809674 Centerline is valid? [True, True] Translation: X:209.92, Y:122.61, Z:34.84 [[ 1.04172838e-01 -9.93837186e-01 -3.78902174e-02 2.09917303e+02] [ 9.40105871e-01 1.10830905e-01 -3.22362314e-01 1.22613387e+02] [ 3.24575062e-01 -2.03941878e-03 9.45857743e-01 3.48377748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93710568099993 meters Centerline goodness [0,1] 0.9996643098420158 Centerline is valid? [True, True] Translation: X:209.92, Y:122.64, Z:34.84 [[ 1.01357846e-01 -9.94129139e-01 -3.78661064e-02 2.09922924e+02] [ 9.40048719e-01 1.08163484e-01 -3.23433249e-01 1.22638495e+02] [ 3.25630147e-01 -2.81348753e-03 9.45493041e-01 3.48443185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.9671056809999 meters Centerline goodness [0,1] 0.9997685233896593 Centerline is valid? [True, True] Translation: X:209.93, Y:122.66, Z:34.85 [[ 9.92348664e-02 -9.94345259e-01 -3.78146522e-02 2.09926873e+02] [ 9.40099377e-01 1.06141105e-01 -3.23955594e-01 1.22663536e+02] [ 3.26137398e-01 -3.40184084e-03 9.45316257e-01 3.48518283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99710568099994 meters Centerline goodness [0,1] 0.9998116366680619 Centerline is valid? [True, True] Translation: X:209.93, Y:122.69, Z:34.86 [[ 9.96134141e-02 -9.94305496e-01 -3.78648755e-02 2.09927884e+02] [ 9.39469046e-01 1.06521189e-01 -3.25654952e-01 1.22689993e+02] [ 3.27833920e-01 -3.13327684e-03 9.44730175e-01 3.48593645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0271056809999 meters Centerline goodness [0,1] 0.9996846619576185 Centerline is valid? [True, True] Translation: X:209.92, Y:122.72, Z:34.87 [[ 1.04282235e-01 -9.93822591e-01 -3.79720002e-02 2.09922424e+02] [ 9.38200366e-01 1.10971099e-01 -3.27819293e-01 1.22715785e+02] [ 3.30008014e-01 -1.43961611e-03 9.43977033e-01 3.48651602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05710568099994 meters Centerline goodness [0,1] 0.999727108610773 Centerline is valid? [True, True] Translation: X:209.91, Y:122.74, Z:34.88 [[ 1.12986541e-01 -9.92882388e-01 -3.76643880e-02 2.09913744e+02] [ 9.37638111e-01 1.19088445e-01 -3.26577272e-01 1.22740721e+02] [ 3.28738215e-01 1.58327052e-03 9.44419758e-01 3.48758453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0871056809999 meters Centerline goodness [0,1] 0.9996217215870881 Centerline is valid? [True, True] Translation: X:209.91, Y:122.77, Z:34.89 [[ 1.21486679e-01 -9.91891515e-01 -3.73123145e-02 2.09905331e+02] [ 9.37198319e-01 1.27007903e-01 -3.24851202e-01 1.22766297e+02] [ 3.26956110e-01 4.49605513e-03 9.45028829e-01 3.48873324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11710568099994 meters Centerline goodness [0,1] 0.9995372026000799 Centerline is valid? [True, True] Translation: X:209.90, Y:122.79, Z:34.90 [[ 1.24574704e-01 -9.91515535e-01 -3.71225856e-02 2.09903111e+02] [ 9.36943362e-01 1.29865947e-01 -3.24456426e-01 1.22792835e+02] [ 3.26524546e-01 5.63730320e-03 9.45171911e-01 3.48966118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.1471056809999 meters Centerline goodness [0,1] 0.9994121475509647 Centerline is valid? [True, True] Translation: X:209.89, Y:122.82, Z:34.90 [[ 1.29596989e-01 -9.90880114e-01 -3.68947172e-02 2.09893567e+02] [ 9.36587608e-01 1.34544211e-01 -3.23576122e-01 1.22819565e+02] [ 3.25589116e-01 7.37935610e-03 9.45482561e-01 3.49031694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17710568099994 meters Centerline goodness [0,1] 0.9993079294507476 Centerline is valid? [True, True] Translation: X:209.89, Y:122.84, Z:34.91 [[ 1.31074870e-01 -9.90691590e-01 -3.67362573e-02 2.09894204e+02] [ 9.36424396e-01 1.35890293e-01 -3.23485980e-01 1.22844913e+02] [ 3.25466940e-01 8.00015528e-03 9.45519576e-01 3.49124387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2071056809999 meters Centerline goodness [0,1] 0.9993478489534028 Centerline is valid? [True, True] Translation: X:209.90, Y:122.87, Z:34.93 [[ 1.32004470e-01 -9.90576833e-01 -3.65014724e-02 2.09897735e+02] [ 9.36610298e-01 1.36700463e-01 -3.22605229e-01 1.22869079e+02] [ 3.24555035e-01 8.39767726e-03 9.45829535e-01 3.49250514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23710568099995 meters Centerline goodness [0,1] 0.9993704620808327 Centerline is valid? [True, True] Translation: X:209.90, Y:122.89, Z:34.94 [[ 1.31616131e-01 -9.90639576e-01 -3.61997795e-02 2.09899910e+02] [ 9.37162997e-01 1.36248057e-01 -3.21188393e-01 1.22894693e+02] [ 3.23114084e-01 8.34847991e-03 9.46323196e-01 3.49357271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.2671056809999 meters Centerline goodness [0,1] 0.999582890154122 Centerline is valid? [True, True] Translation: X:209.90, Y:122.92, Z:34.95 [[ 1.30574786e-01 -9.90798538e-01 -3.56157474e-02 2.09901267e+02] [ 9.38700871e-01 1.35109515e-01 -3.17153109e-01 1.22919758e+02] [ 3.19046863e-01 7.97966617e-03 9.47705347e-01 3.49484332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29710568099995 meters Centerline goodness [0,1] 0.9992858493142053 Centerline is valid? [True, True] Translation: X:209.90, Y:122.95, Z:34.96 [[ 1.29880640e-01 -9.90894837e-01 -3.54745101e-02 2.09901431e+02] [ 9.38858015e-01 1.34408208e-01 -3.16985900e-01 1.22946263e+02] [ 3.18867757e-01 7.86480336e-03 9.47766584e-01 3.49556018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3271056809999 meters Centerline goodness [0,1] 0.9989913847446943 Centerline is valid? [True, True] Translation: X:209.90, Y:122.97, Z:34.96 [[ 1.29947870e-01 -9.90885877e-01 -3.54785867e-02 2.09902078e+02] [ 9.38410346e-01 1.34462265e-01 -3.18285912e-01 1.22972644e+02] [ 3.20155546e-01 8.06710347e-03 9.47330644e-01 3.49623175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35710568099995 meters Centerline goodness [0,1] 0.9994124805908766 Centerline is valid? [True, True] Translation: X:209.90, Y:123.00, Z:34.97 [[ 1.29297482e-01 -9.90972169e-01 -3.54446175e-02 2.09902883e+02] [ 9.38171722e-01 1.33827301e-01 -3.19255500e-01 1.22998647e+02] [ 3.21116773e-01 8.02579450e-03 9.47005599e-01 3.49713052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.3871056809999 meters Centerline goodness [0,1] 0.9993288872111069 Centerline is valid? [True, True] Translation: X:209.91, Y:123.02, Z:34.98 [[ 1.27908375e-01 -9.91159501e-01 -3.52461587e-02 2.09905128e+02] [ 9.38545106e-01 1.32452766e-01 -3.18730842e-01 1.23023488e+02] [ 3.20581553e-01 7.68823436e-03 9.47189716e-01 3.49805690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41710568099995 meters Centerline goodness [0,1] 0.9995171921575213 Centerline is valid? [True, True] Translation: X:209.91, Y:123.05, Z:34.99 [[ 1.22728506e-01 -9.91810800e-01 -3.53419052e-02 2.09912691e+02] [ 9.38471115e-01 1.27564264e-01 -3.20935079e-01 1.23050330e+02] [ 3.22815241e-01 6.22052556e-03 9.46441559e-01 3.49879176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4471056809999 meters Centerline goodness [0,1] 0.9992432364255533 Centerline is valid? [True, True] Translation: X:209.92, Y:123.08, Z:34.99 [[ 1.18391226e-01 -9.92336346e-01 -3.53849487e-02 2.09919270e+02] [ 9.38494344e-01 1.23466149e-01 -3.22466239e-01 1.23077067e+02] [ 3.24363813e-01 4.96859926e-03 9.45919357e-01 3.49944974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47710568099995 meters Centerline goodness [0,1] 0.9995157996673755 Centerline is valid? [True, True] Translation: X:209.93, Y:123.10, Z:35.00 [[ 1.08245377e-01 -9.93500414e-01 -3.52117217e-02 2.09929938e+02] [ 9.39865546e-01 1.13814841e-01 -3.22023195e-01 1.23102960e+02] [ 3.23937794e-01 1.76323806e-03 9.46076739e-01 3.50004019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.5071056809999 meters Centerline goodness [0,1] 0.99951430683138 Centerline is valid? [True, True] Translation: X:209.94, Y:123.13, Z:35.01 [[ 9.81468851e-02 -9.94557381e-01 -3.49686322e-02 2.09943621e+02] [ 9.41435896e-01 1.04180260e-01 -3.20694444e-01 1.23127266e+02] [ 3.22592067e-01 -1.44556488e-03 9.46536987e-01 3.50085801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53710568099996 meters Centerline goodness [0,1] 0.9998946503444933 Centerline is valid? [True, True] Translation: X:209.95, Y:123.15, Z:35.02 [[ 9.40835161e-02 -9.94952038e-01 -3.49103769e-02 2.09951862e+02] [ 9.41587055e-01 1.00317254e-01 -3.21481362e-01 1.23151859e+02] [ 3.23360650e-01 -2.62506205e-03 9.46272159e-01 3.50168301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56710568099993 meters Centerline goodness [0,1] 0.9998518894672253 Centerline is valid? [True, True] Translation: X:209.96, Y:123.18, Z:35.03 [[ 8.86696716e-02 -9.95448117e-01 -3.49390308e-02 2.09960739e+02] [ 9.41553647e-01 9.52104186e-02 -3.23128002e-01 1.23177277e+02] [ 3.24983721e-01 -4.24531803e-03 9.45710081e-01 3.50252900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59710568099996 meters Centerline goodness [0,1] 0.9999578308172388 Centerline is valid? [True, True] Translation: X:209.96, Y:123.20, Z:35.03 [[ 8.67179841e-02 -9.95619951e-01 -3.49414453e-02 2.09964258e+02] [ 9.41419026e-01 9.33699092e-02 -3.24055978e-01 1.23202851e+02] [ 3.25899077e-01 -4.79306028e-03 9.45392415e-01 3.50321352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62710568099993 meters Centerline goodness [0,1] 0.999894820985317 Centerline is valid? [True, True] Translation: X:209.96, Y:123.23, Z:35.04 [[ 8.52392442e-02 -9.95761667e-01 -3.45394384e-02 2.09964569e+02] [ 9.42368269e-01 9.18283000e-02 -3.21729092e-01 1.23227828e+02] [ 3.23537195e-01 -5.12492615e-03 9.46201574e-01 3.50424852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:123.25, Z:35.05 [[ 8.44481797e-02 -9.95838599e-01 -3.42635421e-02 2.09968043e+02] [ 9.42875087e-01 9.09835445e-02 -3.20481771e-01 1.23251950e+02] [ 3.22265536e-01 -5.24213802e-03 9.46634800e-01 3.50525912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:123.28, Z:35.07 [[ 8.32720249e-02 -9.95946451e-01 -3.40064086e-02 2.09969627e+02] [ 9.43337025e-01 8.97811987e-02 -3.19459846e-01 1.23275567e+02] [ 3.21218036e-01 -5.47743608e-03 9.46989425e-01 3.50664914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7171056809999 meters Centerline goodness [0,1] 0.9998734337425642 Centerline is valid? [True, True] Translation: X:209.96, Y:123.30, Z:35.08 [[ 8.66376842e-02 -9.95677755e-01 -3.34622077e-02 2.09960621e+02] [ 9.44306725e-01 9.27781350e-02 -3.15716686e-01 1.23300720e+02] [ 3.17456643e-01 -4.24562518e-03 9.48263283e-01 3.50807858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74710568099994 meters Centerline goodness [0,1] 0.9997695466353809 Centerline is valid? [True, True] Translation: X:209.95, Y:123.33, Z:35.09 [[ 9.12578991e-02 -9.95275003e-01 -3.31611790e-02 2.09954363e+02] [ 9.44390701e-01 9.70601128e-02 -3.14174377e-01 1.23326267e+02] [ 3.15908532e-01 -2.64621550e-03 9.48785960e-01 3.50904729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7771056809999 meters Centerline goodness [0,1] 0.9997695466353809 Centerline is valid? [True, True] Translation: X:209.96, Y:123.35, Z:35.10 [[ 9.08217268e-02 -9.95319641e-01 -3.30185768e-02 2.09956589e+02] [ 9.44432763e-01 9.66012285e-02 -3.14189366e-01 1.23350813e+02] [ 3.15908482e-01 -2.64860490e-03 9.48785969e-01 3.50985890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80710568099994 meters Centerline goodness [0,1] 0.9996858638743455 Centerline is valid? [True, True] Translation: X:209.94, Y:123.38, Z:35.11 [[ 1.02928891e-01 -9.94147946e-01 -3.27948846e-02 2.09940020e+02] [ 9.43441062e-01 1.08019029e-01 -3.13449918e-01 1.23378009e+02] [ 3.15158064e-01 1.32301171e-03 9.49038273e-01 3.51079468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8371056809999 meters Centerline goodness [0,1] 0.9994324034560322 Centerline is valid? [True, True] Translation: X:209.94, Y:123.41, Z:35.12 [[ 1.08107088e-01 -9.93602652e-01 -3.26592512e-02 2.09935028e+02] [ 9.42865235e-01 1.12890179e-01 -3.13466037e-01 1.23405026e+02] [ 3.15147594e-01 3.09462799e-03 9.49037627e-01 3.51162474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86710568099994 meters Centerline goodness [0,1] 0.9990345464467112 Centerline is valid? [True, True] Translation: X:209.92, Y:123.43, Z:35.12 [[ 1.16867309e-01 -9.92606731e-01 -3.27705598e-02 2.09922920e+02] [ 9.41043619e-01 1.21223048e-01 -3.15819378e-01 1.23433637e+02] [ 3.17456988e-01 6.07043470e-03 9.48253242e-01 3.51208495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8971056809999 meters Centerline goodness [0,1] 0.9992642731018246 Centerline is valid? [True, True] Translation: X:209.92, Y:123.46, Z:35.13 [[ 1.20096219e-01 -9.92217479e-01 -3.28842276e-02 2.09916871e+02] [ 9.39969574e-01 1.24305251e-01 -3.17813476e-01 1.23460349e+02] [ 3.19427768e-01 7.25802354e-03 9.47582831e-01 3.51260119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92710568099994 meters Centerline goodness [0,1] 0.9992471769134254 Centerline is valid? [True, True] Translation: X:209.92, Y:123.49, Z:35.13 [[ 1.23763038e-01 -9.91759363e-01 -3.31070436e-02 2.09915101e+02] [ 9.38280965e-01 1.27818070e-01 -3.21389750e-01 1.23488596e+02] [ 3.22972972e-01 8.71246304e-03 9.46368085e-01 3.51310144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.9571056809999 meters Centerline goodness [0,1] 0.9991419183357402 Centerline is valid? [True, True] Translation: X:209.91, Y:123.52, Z:35.14 [[ 1.23294566e-01 -9.91815316e-01 -3.31787439e-02 2.09912979e+02] [ 9.37679137e-01 1.27380470e-01 -3.23314168e-01 1.23515332e+02] [ 3.24894268e-01 8.75186418e-03 9.45709850e-01 3.51355594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98710568099995 meters Centerline goodness [0,1] 0.9993897948448185 Centerline is valid? [True, True] Translation: X:209.92, Y:123.54, Z:35.15 [[ 1.21727951e-01 -9.92013361e-01 -3.30423601e-02 2.09916583e+02] [ 9.37975324e-01 1.25857373e-01 -3.23051409e-01 1.23541810e+02] [ 3.24629938e-01 8.33146766e-03 9.45804414e-01 3.51453740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0171056809999 meters Centerline goodness [0,1] 0.9995793458828478 Centerline is valid? [True, True] Translation: X:209.92, Y:123.57, Z:35.16 [[ 1.17341076e-01 -9.92549934e-01 -3.27978834e-02 2.09921014e+02] [ 9.38932779e-01 1.21638710e-01 -3.21883923e-01 1.23567398e+02] [ 3.23475359e-01 6.97519800e-03 9.46210885e-01 3.51553352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04710568099995 meters Centerline goodness [0,1] 0.9995351785336996 Centerline is valid? [True, True] Translation: X:209.93, Y:123.59, Z:35.16 [[ 1.13753483e-01 -9.92972945e-01 -3.26324250e-02 2.09925221e+02] [ 9.39528104e-01 1.18194183e-01 -3.21429739e-01 1.23592131e+02] [ 3.23027997e-01 5.90467211e-03 9.46370989e-01 3.51636538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0771056809999 meters Centerline goodness [0,1] 0.9993944456045103 Centerline is valid? [True, True] Translation: X:209.93, Y:123.62, Z:35.17 [[ 1.07207110e-01 -9.93703896e-01 -3.25453939e-02 2.09931384e+02] [ 9.40087043e-01 1.11969371e-01 -3.22023619e-01 1.23616679e+02] [ 3.23640212e-01 3.92771844e-03 9.46172070e-01 3.51712880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10710568099995 meters Centerline goodness [0,1] 0.9991591869337649 Centerline is valid? [True, True] Translation: X:209.94, Y:123.64, Z:35.18 [[ 1.00846654e-01 -9.94370332e-01 -3.25206798e-02 2.09937953e+02] [ 9.40502120e-01 1.05942207e-01 -3.22849828e-01 1.23642740e+02] [ 3.24477604e-01 1.97255645e-03 9.45891322e-01 3.51777684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1371056809999 meters Centerline goodness [0,1] 0.9991789300827386 Centerline is valid? [True, True] Translation: X:209.94, Y:123.67, Z:35.18 [[ 9.76920051e-02 -9.94682842e-01 -3.25931790e-02 2.09942447e+02] [ 9.40107516e-01 1.02979728e-01 -3.24950818e-01 1.23668860e+02] [ 3.26579440e-01 1.10400444e-03 9.45169112e-01 3.51834596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16710568099995 meters Centerline goodness [0,1] 0.9995155242869781 Centerline is valid? [True, True] Translation: X:209.95, Y:123.70, Z:35.19 [[ 9.32414768e-02 -9.95103573e-01 -3.27857630e-02 2.09946049e+02] [ 9.39385005e-01 9.88374651e-02 -3.28309256e-01 1.23696287e+02] [ 3.29942175e-01 -1.86414256e-04 9.44001126e-01 3.51873315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.1971056809999 meters Centerline goodness [0,1] 0.9993265284646954 Centerline is valid? [True, True] Translation: X:209.95, Y:123.72, Z:35.19 [[ 9.21374546e-02 -9.95211905e-01 -3.26183041e-02 2.09947737e+02] [ 9.39581450e-01 9.77399014e-02 -3.28075616e-01 1.23721364e+02] [ 3.29692868e-01 -4.19501354e-04 9.44088151e-01 3.51943242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22710568099995 meters Centerline goodness [0,1] 0.9997678933153274 Centerline is valid? [True, True] Translation: X:209.95, Y:123.75, Z:35.20 [[ 9.15942493e-02 -9.95267697e-01 -3.24454206e-02 2.09949699e+02] [ 9.39718388e-01 9.71699547e-02 -3.27852637e-01 1.23746511e+02] [ 3.29453859e-01 -4.60142203e-04 9.44171564e-01 3.52041692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.2571056809999 meters Centerline goodness [0,1] 0.9997049836687388 Centerline is valid? [True, True] Translation: X:209.95, Y:123.77, Z:35.21 [[ 9.09261868e-02 -9.95336427e-01 -3.22153079e-02 2.09952144e+02] [ 9.40090559e-01 9.64629029e-02 -3.26993347e-01 1.23770613e+02] [ 3.28575972e-01 -5.53048640e-04 9.44477382e-01 3.52130674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28710568099996 meters Centerline goodness [0,1] 0.9998739787024007 Centerline is valid? [True, True] Translation: X:209.95, Y:123.80, Z:35.22 [[ 8.92742909e-02 -9.95488209e-01 -3.21454045e-02 2.09953452e+02] [ 9.40094744e-01 9.48801934e-02 -3.27444073e-01 1.23796451e+02] [ 3.29016676e-01 -9.87388357e-04 9.44323595e-01 3.52228800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31710568099993 meters Centerline goodness [0,1] 0.9997471821342041 Centerline is valid? [True, True] Translation: X:209.95, Y:123.82, Z:35.23 [[ 8.76767666e-02 -9.95633828e-01 -3.20322480e-02 2.09952248e+02] [ 9.40132929e-01 9.33348107e-02 -3.27778415e-01 1.23823177e+02] [ 3.29337002e-01 -1.37601963e-03 9.44211441e-01 3.52308513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34710568099996 meters Centerline goodness [0,1] 0.9995201535508638 Centerline is valid? [True, True] Translation: X:209.95, Y:123.85, Z:35.24 [[ 8.46856140e-02 -9.95903748e-01 -3.16870791e-02 2.09951987e+02] [ 9.41135876e-01 9.03920062e-02 -3.25718509e-01 1.23848164e+02] [ 3.27248543e-01 -2.23817497e-03 9.44935650e-01 3.52402210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37710568099993 meters Centerline goodness [0,1] 0.9997270455833875 Centerline is valid? [True, True] Translation: X:209.95, Y:123.87, Z:35.25 [[ 8.29347858e-02 -9.96056372e-01 -3.15202280e-02 2.09953731e+02] [ 9.41355224e-01 8.86823784e-02 -3.25554569e-01 1.23874165e+02] [ 3.27065992e-01 -2.67193286e-03 9.44997724e-01 3.52496718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4071056809999 meters Centerline goodness [0,1] 0.9997046662728883 Centerline is valid? [True, True] Translation: X:209.96, Y:123.90, Z:35.26 [[ 7.70663270e-02 -9.96530785e-01 -3.14193479e-02 2.09955483e+02] [ 9.41714384e-01 8.31050789e-02 -3.25987063e-01 1.23899819e+02] [ 3.27467251e-01 -4.46542626e-03 9.44851978e-01 3.52592800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43710568099993 meters Centerline goodness [0,1] 0.999790061511977 Centerline is valid? [True, True] Translation: X:209.96, Y:123.92, Z:35.27 [[ 7.23453243e-02 -9.96892003e-01 -3.11847485e-02 2.09959174e+02] [ 9.42416500e-01 7.85612421e-02 -3.25083485e-01 1.23924084e+02] [ 3.26523039e-01 -5.87075144e-03 9.45171011e-01 3.52682647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.4671056809999 meters Centerline goodness [0,1] 0.9999159575585671 Centerline is valid? [True, True] Translation: X:209.97, Y:123.95, Z:35.28 [[ 6.11833489e-02 -9.97650960e-01 -3.08084494e-02 2.09965571e+02] [ 9.44049012e-01 6.78628497e-02 -3.22747730e-01 1.23947964e+02] [ 3.24080331e-01 -9.33789929e-03 9.45983479e-01 3.52778597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49710568099994 meters Centerline goodness [0,1] 0.999874095058231 Centerline is valid? [True, True] Translation: X:209.97, Y:123.97, Z:35.29 [[ 5.19568452e-02 -9.98180121e-01 -3.06093336e-02 2.09967149e+02] [ 9.44820555e-01 5.90603302e-02 -3.22220415e-01 1.23973530e+02] [ 3.23441810e-01 -1.21787713e-02 9.46169685e-01 3.52879086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5271056809999 meters Centerline goodness [0,1] 0.9999162145744748 Centerline is valid? [True, True] Translation: X:209.97, Y:124.00, Z:35.30 [[ 4.83356150e-02 -9.98365577e-01 -3.04933132e-02 2.09970558e+02] [ 9.44941096e-01 5.55987475e-02 -3.22482719e-01 1.23997587e+02] [ 3.23651036e-01 -1.32269843e-02 9.46084063e-01 3.52966659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:124.02, Z:35.31 [[ 4.54990279e-02 -9.98506355e-01 -3.02472860e-02 2.09967085e+02] [ 9.45554936e-01 5.28145930e-02 -3.21148691e-01 1.24023533e+02] [ 3.22266507e-01 -1.39885173e-02 9.46545625e-01 3.53064599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5871056809999 meters Centerline goodness [0,1] 0.9998953098827471 Centerline is valid? [True, True] Translation: X:209.96, Y:124.05, Z:35.31 [[ 4.55990863e-02 -9.98505817e-01 -3.01140575e-02 2.09957325e+02] [ 9.45515594e-01 5.28679549e-02 -3.21255724e-01 1.24050114e+02] [ 3.22367778e-01 -1.38243435e-02 9.46513552e-01 3.53116385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61710568099994 meters Centerline goodness [0,1] 0.9999579266240323 Centerline is valid? [True, True] Translation: X:209.95, Y:124.08, Z:35.32 [[ 4.56608349e-02 -9.98504589e-01 -3.00611626e-02 2.09953453e+02] [ 9.45129767e-01 5.29256651e-02 -3.22379587e-01 1.24075854e+02] [ 3.23488504e-01 -1.36915785e-02 9.46133040e-01 3.53183801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.6471056809999 meters Centerline goodness [0,1] 0.9998527865404837 Centerline is valid? [True, True] Translation: X:209.95, Y:124.10, Z:35.33 [[ 4.54405313e-02 -9.98520038e-01 -2.98812817e-02 2.09950149e+02] [ 9.45216598e-01 5.26558992e-02 -3.22169115e-01 1.24100080e+02] [ 3.23265743e-01 -1.36047476e-02 9.46210426e-01 3.53268454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67710568099994 meters Centerline goodness [0,1] 0.9999580554506942 Centerline is valid? [True, True] Translation: X:209.95, Y:124.13, Z:35.34 [[ 4.38349617e-02 -9.98596366e-01 -2.97286867e-02 2.09947414e+02] [ 9.45249673e-01 5.10889724e-02 -3.22324327e-01 1.24125752e+02] [ 3.23390710e-01 -1.39719568e-02 9.46162371e-01 3.53354286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7071056809999 meters Centerline goodness [0,1] 0.999894783358936 Centerline is valid? [True, True] Translation: X:209.94, Y:124.15, Z:35.34 [[ 3.99391806e-02 -9.98761849e-01 -2.96585646e-02 2.09940596e+02] [ 9.45141370e-01 4.73926592e-02 -3.23205394e-01 1.24152822e+02] [ 3.24210815e-01 -1.51229778e-02 9.45863966e-01 3.53418797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73710568099995 meters Centerline goodness [0,1] 0.99997891229624 Centerline is valid? [True, True] Translation: X:209.94, Y:124.18, Z:35.35 [[ 3.77834723e-02 -9.98848417e-01 -2.95677121e-02 2.09939353e+02] [ 9.45040327e-01 4.53330097e-02 -3.23795765e-01 1.24178716e+02] [ 3.24763281e-01 -1.57085520e-02 9.45664873e-01 3.53484486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.7671056809999 meters Centerline goodness [0,1] 0.9999789867406333 Centerline is valid? [True, True] Translation: X:209.93, Y:124.20, Z:35.36 [[ 3.60945255e-02 -9.98915712e-01 -2.94038244e-02 2.09932033e+02] [ 9.45162987e-01 4.36795592e-02 -3.23664986e-01 1.24204094e+02] [ 3.24598386e-01 -1.61088724e-02 9.45714752e-01 3.53564551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:124.23, Z:35.37 [[ 3.64383916e-02 -9.98908633e-01 -2.92196383e-02 2.09926093e+02] [ 9.45284143e-01 4.39385910e-02 -3.23275871e-01 1.24230193e+02] [ 3.24206928e-01 -1.58412080e-02 9.45853543e-01 3.53654792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8271056809999 meters Centerline goodness [0,1] 0.9999581028992793 Centerline is valid? [True, True] Translation: X:209.91, Y:124.26, Z:35.38 [[ 3.95444676e-02 -9.98800484e-01 -2.88760895e-02 2.09912313e+02] [ 9.45923586e-01 4.67314926e-02 -3.21005821e-01 1.24256685e+02] [ 3.21970192e-01 -1.46205698e-02 9.46636907e-01 3.53766637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85710568099995 meters Centerline goodness [0,1] 0.9999789522426386 Centerline is valid? [True, True] Translation: X:209.90, Y:124.28, Z:35.39 [[ 4.35316183e-02 -9.98648600e-01 -2.83896525e-02 2.09897019e+02] [ 9.47059991e-01 5.02971677e-02 -3.17092366e-01 1.24282397e+02] [ 3.18091766e-01 -1.30831602e-02 9.47969651e-01 3.53904132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.8871056809999 meters Centerline goodness [0,1] 0.9999791627596841 Centerline is valid? [True, True] Translation: X:209.89, Y:124.31, Z:35.40 [[ 4.51828762e-02 -9.98582107e-01 -2.81475403e-02 2.09888226e+02] [ 9.47371465e-01 5.17708172e-02 -3.15922601e-01 1.24308304e+02] [ 3.16931878e-01 -1.23918847e-02 9.48367348e-01 3.53989469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:124.34, Z:35.40 [[ 5.16269610e-02 -9.98267718e-01 -2.82173809e-02 2.09865437e+02] [ 9.46201912e-01 5.79328444e-02 -3.18348438e-01 1.24337801e+02] [ 3.19431682e-01 -1.02639773e-02 9.47553720e-01 3.54021749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:124.36, Z:35.41 [[ 5.55903965e-02 -9.98056077e-01 -2.81740194e-02 2.09856917e+02] [ 9.45600306e-01 6.16858088e-02 -3.19429058e-01 1.24364924e+02] [ 3.20546049e-01 -8.88417339e-03 9.47191270e-01 3.54087022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.84, Y:124.39, Z:35.42 [[ 6.39418902e-02 -9.97561055e-01 -2.79888614e-02 2.09838854e+02] [ 9.45233173e-01 6.95353189e-02 -3.18902944e-01 1.24391867e+02] [ 3.20071372e-01 -6.06474324e-03 9.47374021e-01 3.54180203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:124.42, Z:35.43 [[ 6.78740477e-02 -9.97305145e-01 -2.78489074e-02 2.09829570e+02] [ 9.44949261e-01 7.32164248e-02 -3.18920442e-01 1.24418119e+02] [ 3.20099995e-01 -4.66938319e-03 9.47372255e-01 3.54270568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:124.45, Z:35.43 [[ 7.57705010e-02 -9.96738103e-01 -2.77846382e-02 2.09809545e+02] [ 9.44032765e-01 8.06794399e-02 -3.19832717e-01 1.24445777e+02] [ 3.21031104e-01 -1.99572360e-03 9.47066548e-01 3.54332993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:124.47, Z:35.44 [[ 8.46078347e-02 -9.96037474e-01 -2.74018976e-02 2.09792839e+02] [ 9.44209484e-01 8.89293752e-02 -3.17111993e-01 1.24472440e+02] [ 3.18292262e-01 9.57027469e-04 9.47992152e-01 3.54447061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:124.50, Z:35.45 [[ 8.80681438e-02 -9.95745094e-01 -2.71239709e-02 2.09788367e+02] [ 9.44436553e-01 9.21249006e-02 -3.15519573e-01 1.24498472e+02] [ 3.16675860e-01 2.17035356e-03 9.48531333e-01 3.54549496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:124.52, Z:35.46 [[ 9.38731331e-02 -9.95221655e-01 -2.68643407e-02 2.09778861e+02] [ 9.44342229e-01 9.75544012e-02 -3.14166983e-01 1.24524272e+02] [ 3.15286519e-01 4.12270754e-03 9.48987573e-01 3.54638861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:124.55, Z:35.47 [[ 9.52950153e-02 -9.95088749e-01 -2.67813499e-02 2.09777321e+02] [ 9.44128261e-01 9.88762922e-02 -3.14396733e-01 1.24551921e+02] [ 3.15500692e-01 4.67541217e-03 9.48913828e-01 3.54711354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.58, Z:35.47 [[ 9.97266110e-02 -9.94646074e-01 -2.70885671e-02 2.09774637e+02] [ 9.41962413e-01 1.03145224e-01 -3.19480634e-01 1.24581267e+02] [ 3.20564215e-01 6.34430888e-03 9.47205539e-01 3.54729280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.61, Z:35.48 [[ 1.02193324e-01 -9.94392050e-01 -2.72208675e-02 2.09774764e+02] [ 9.40657651e-01 1.05500425e-01 -3.22541227e-01 1.24609214e+02] [ 3.23604245e-01 7.35604290e-03 9.46163929e-01 3.54770757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.64, Z:35.48 [[ 1.07511847e-01 -9.93830463e-01 -2.72436106e-02 2.09772700e+02] [ 9.39466759e-01 1.10521478e-01 -3.24325780e-01 1.24636874e+02] [ 3.25335844e-01 9.27439707e-03 9.45553052e-01 3.54825440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.66, Z:35.49 [[ 1.10196897e-01 -9.93540221e-01 -2.71011749e-02 2.09772544e+02] [ 9.39225720e-01 1.13015052e-01 -3.24164532e-01 1.24663407e+02] [ 3.25133342e-01 1.02678051e-02 9.45612438e-01 3.54918592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.69, Z:35.50 [[ 1.13074384e-01 -9.93221083e-01 -2.69455790e-02 2.09772895e+02] [ 9.39023344e-01 1.15688909e-01 -3.23807404e-01 1.24689272e+02] [ 3.24729645e-01 1.13117949e-02 9.45739235e-01 3.55013161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:124.72, Z:35.51 [[ 1.18280496e-01 -9.92617606e-01 -2.68330496e-02 2.09773456e+02] [ 9.38324516e-01 1.20570897e-01 -3.24052096e-01 1.24715032e+02] [ 3.24895101e-01 1.31509343e-02 9.45658620e-01 3.55109952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:124.74, Z:35.52 [[ 1.22547467e-01 -9.92108391e-01 -2.65152429e-02 2.09775278e+02] [ 9.38578983e-01 1.24536079e-01 -3.21807795e-01 1.24739438e+02] [ 3.22570318e-01 1.45500804e-02 9.46433666e-01 3.55212134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:124.76, Z:35.53 [[ 1.23189423e-01 -9.92033600e-01 -2.63382433e-02 2.09784400e+02] [ 9.38726041e-01 1.25096500e-01 -3.21160840e-01 1.24764615e+02] [ 3.21897166e-01 1.48392235e-02 9.46658340e-01 3.55310992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42710568099994 meters Centerline goodness [0,1] 0.9999369906746198 Centerline is valid? [True, True] Translation: X:209.79, Y:124.79, Z:35.54 [[ 1.22694507e-01 -9.92093789e-01 -2.63812889e-02 2.09789129e+02] [ 9.38071292e-01 1.24609306e-01 -3.23256512e-01 1.24790692e+02] [ 3.23988132e-01 1.49142687e-02 9.45943579e-01 3.55354914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:124.82, Z:35.54 [[ 1.21961530e-01 -9.92186087e-01 -2.63088267e-02 2.09804562e+02] [ 9.37998290e-01 1.23885120e-01 -3.23746328e-01 1.24815211e+02] [ 3.24475874e-01 1.48069629e-02 9.45778072e-01 3.55438776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:124.84, Z:35.55 [[ 1.21368591e-01 -9.92263745e-01 -2.61213727e-02 2.09811004e+02] [ 9.38272606e-01 1.23272522e-01 -3.23184781e-01 1.24840706e+02] [ 3.23904589e-01 1.47155132e-02 9.45975301e-01 3.55529450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:124.87, Z:35.56 [[ 1.19187157e-01 -9.92534213e-01 -2.58893406e-02 2.09824523e+02] [ 9.38931657e-01 1.21151290e-01 -3.22070969e-01 1.24865681e+02] [ 3.22802983e-01 1.40784017e-02 9.46361471e-01 3.55644725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:124.89, Z:35.57 [[ 1.17046508e-01 -9.92793324e-01 -2.57202236e-02 2.09832166e+02] [ 9.39372221e-01 1.19078965e-01 -3.21558753e-01 1.24890555e+02] [ 3.22304121e-01 1.34764656e-02 9.46540247e-01 3.55740507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5771056809999 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:209.85, Y:124.92, Z:35.58 [[ 1.11564524e-01 -9.93428791e-01 -2.55459248e-02 2.09847772e+02] [ 9.40249303e-01 1.13844006e-01 -3.20890622e-01 1.24915125e+02] [ 3.21690233e-01 1.17804714e-02 9.46771680e-01 3.55842234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:124.94, Z:35.59 [[ 1.07727093e-01 -9.93852636e-01 -2.55305930e-02 2.09856772e+02] [ 9.40341304e-01 1.10195769e-01 -3.21893034e-01 1.24941708e+02] [ 3.22727604e-01 1.06691297e-02 9.46431753e-01 3.55925621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:124.97, Z:35.60 [[ 9.89107439e-02 -9.94766466e-01 -2.56191834e-02 2.09869919e+02] [ 9.40356922e-01 1.01860013e-01 -3.24581879e-01 1.24967084e+02] [ 3.25492739e-01 8.01345866e-03 9.45510582e-01 3.55971729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:124.99, Z:35.60 [[ 9.45456052e-02 -9.95192074e-01 -2.55707613e-02 2.09879970e+02] [ 9.40377590e-01 9.77091935e-02 -3.25795797e-01 1.24994044e+02] [ 3.26727893e-01 6.75638989e-03 9.45094300e-01 3.56044596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:125.02, Z:35.61 [[ 9.41313786e-02 -9.95234430e-01 -2.54502060e-02 2.09881639e+02] [ 9.40418995e-01 9.72783331e-02 -3.25805217e-01 1.25019336e+02] [ 3.26728323e-01 6.73463706e-03 9.45094306e-01 3.56128414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:125.04, Z:35.62 [[ 8.24060444e-02 -9.96273730e-01 -2.54538416e-02 2.09900895e+02] [ 9.40835185e-01 8.61933977e-02 -3.27719168e-01 1.25044655e+02] [ 3.28691951e-01 3.05817052e-03 9.44432236e-01 3.56182820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:125.07, Z:35.63 [[ 7.58676839e-02 -9.96795526e-01 -2.53529998e-02 2.09911670e+02] [ 9.41188950e-01 7.99849414e-02 -3.28276970e-01 1.25069677e+02] [ 3.29252873e-01 1.04365015e-03 9.44241207e-01 3.56264339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:125.09, Z:35.64 [[ 6.64567013e-02 -9.97471539e-01 -2.51800811e-02 2.09925909e+02] [ 9.42044262e-01 7.10408428e-02 -3.27880782e-01 1.25093133e+02] [ 3.28840562e-01 -1.93087575e-03 9.44383480e-01 3.56369699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:125.12, Z:35.65 [[ 6.04264046e-02 -9.97858632e-01 -2.50359900e-02 2.09934847e+02] [ 9.42606509e-01 6.52964044e-02 -3.27458926e-01 1.25117960e+02] [ 3.28392475e-01 -3.81192158e-03 9.44533669e-01 3.56491531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:125.14, Z:35.66 [[ 5.70153350e-02 -9.98061854e-01 -2.49356711e-02 2.09941257e+02] [ 9.42672575e-01 6.20434719e-02 -3.27900935e-01 1.25142377e+02] [ 3.28812511e-01 -4.81079167e-03 9.44382967e-01 3.56565023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:125.17, Z:35.67 [[ 5.03403619e-02 -9.98424986e-01 -2.47668224e-02 2.09946679e+02] [ 9.43126199e-01 5.56820538e-02 -3.27738434e-01 1.25166639e+02] [ 3.28601309e-01 -6.85976766e-03 9.44443817e-01 3.56675076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:125.19, Z:35.68 [[ 4.73869982e-02 -9.98577612e-01 -2.44381756e-02 2.09951101e+02] [ 9.44095283e-01 5.27656299e-02 -3.25422624e-01 1.25190370e+02] [ 3.26249242e-01 -7.65116505e-03 9.45252819e-01 3.56779761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93710568099993 meters Centerline goodness [0,1] 0.9999789938031719 Centerline is valid? [True, True] Translation: X:209.95, Y:125.21, Z:35.70 [[ 4.21877530e-02 -9.98824681e-01 -2.38631559e-02 2.09949152e+02] [ 9.46477954e-01 4.76037712e-02 -3.19238725e-01 1.25214271e+02] [ 3.19999494e-01 -9.11798650e-03 9.47373837e-01 3.56964984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:125.24, Z:35.71 [[ 3.63649729e-02 -9.99056568e-01 -2.37394724e-02 2.09950422e+02] [ 9.46706713e-01 4.20476096e-02 -3.19340568e-01 1.25239764e+02] [ 3.20037480e-01 -1.08615067e-02 9.47342620e-01 3.57059361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:125.27, Z:35.71 [[ 3.26487797e-02 -9.99186732e-01 -2.36628985e-02 2.09949552e+02] [ 9.46569968e-01 3.85123157e-02 -3.20190719e-01 1.25266547e+02] [ 3.20841631e-01 -1.19447528e-02 9.47057533e-01 3.57130607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:125.29, Z:35.72 [[ 2.57716332e-02 -9.99389779e-01 -2.35773811e-02 2.09944496e+02] [ 9.46563307e-01 3.19806527e-02 -3.20928563e-01 1.25293624e+02] [ 3.21486746e-01 -1.40466306e-02 9.46809888e-01 3.57201300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:125.32, Z:35.73 [[ 2.22526571e-02 -9.99477552e-01 -2.34401718e-02 2.09942961e+02] [ 9.46640096e-01 2.86049822e-02 -3.21020692e-01 1.25320671e+02] [ 3.21523481e-01 -1.50458431e-02 9.46782063e-01 3.57279804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:125.35, Z:35.74 [[ 1.61286175e-02 -9.99598220e-01 -2.33080800e-02 2.09938410e+02] [ 9.46798477e-01 2.27620807e-02 -3.21021076e-01 1.25346897e+02] [ 3.21422637e-01 -1.68904285e-02 9.46785193e-01 3.57355066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:125.37, Z:35.74 [[ 1.20792320e-02 -9.99658791e-01 -2.31601552e-02 2.09936038e+02] [ 9.46916584e-01 1.88771310e-02 -3.20924660e-01 1.25373496e+02] [ 3.21252355e-01 -1.80542116e-02 9.46821509e-01 3.57443223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:125.40, Z:35.75 [[ 3.66805085e-03 -9.99724360e-01 -2.31894058e-02 2.09932536e+02] [ 9.46272306e-01 1.09684618e-02 -3.23184801e-01 1.25399194e+02] [ 3.23350070e-01 -2.07580342e-02 9.46051709e-01 3.57499819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:125.43, Z:35.76 [[ 5.33549638e-05 -9.99735422e-01 -2.30018143e-02 2.09928517e+02] [ 9.46505257e-01 7.47290582e-03 -3.22601852e-01 1.25425293e+02] [ 3.22688389e-01 -2.17541258e-02 9.46255231e-01 3.57594911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2071056809999 meters Centerline goodness [0,1] 0.9999789907138955 Centerline is valid? [True, True] Translation: X:209.92, Y:125.45, Z:35.77 [[-4.86387387e-03 -9.99729604e-01 -2.27389877e-02 2.09924844e+02] [ 9.47127797e-01 2.68971429e-03 -3.20845292e-01 1.25450031e+02] [ 3.20819698e-01 -2.30972783e-02 9.46858615e-01 3.57684957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23710568099995 meters Centerline goodness [0,1] 0.9996204453441295 Centerline is valid? [True, True] Translation: X:209.92, Y:125.48, Z:35.78 [[-1.04944870e-02 -9.99689089e-01 -2.26183610e-02 2.09917881e+02] [ 9.47003527e-01 -2.67385782e-03 -3.21212034e-01 1.25477233e+02] [ 3.21051688e-01 -2.47906231e-02 9.46737154e-01 3.57753220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.2671056809999 meters Centerline goodness [0,1] 0.9990973781985348 Centerline is valid? [True, True] Translation: X:209.91, Y:125.50, Z:35.78 [[-1.35628520e-02 -9.99655083e-01 -2.24892091e-02 2.09914301e+02] [ 9.46940455e-01 -5.61802010e-03 -3.21359942e-01 1.25503507e+02] [ 3.21122755e-01 -2.56544993e-02 9.46690035e-01 3.57832519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29710568099995 meters Centerline goodness [0,1] 0.9991385830742079 Centerline is valid? [True, True] Translation: X:209.90, Y:125.53, Z:35.79 [[-1.78512659e-02 -9.99594854e-01 -2.21689047e-02 2.09904403e+02] [ 9.47794103e-01 -9.85741087e-03 -3.18730559e-01 1.25528799e+02] [ 3.18382898e-01 -2.67013011e-02 9.47586076e-01 3.57941526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3271056809999 meters Centerline goodness [0,1] 0.9996220631154598 Centerline is valid? [True, True] Translation: X:209.90, Y:125.55, Z:35.80 [[-1.84973186e-02 -9.99587470e-01 -2.19713219e-02 2.09895972e+02] [ 9.48065387e-01 -1.05563331e-02 -3.17900275e-01 1.25554644e+02] [ 3.17537196e-01 -2.67105525e-02 9.47869546e-01 3.58033289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35710568099995 meters Centerline goodness [0,1] 0.9995780857751619 Centerline is valid? [True, True] Translation: X:209.88, Y:125.58, Z:35.81 [[-1.46100011e-02 -9.99653579e-01 -2.18922246e-02 2.09879021e+02] [ 9.47802593e-01 -6.87089325e-03 -3.18783680e-01 1.25580372e+02] [ 3.18522828e-01 -2.54069372e-02 9.47574639e-01 3.58114807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.3871056809999 meters Centerline goodness [0,1] 0.9999578290389238 Centerline is valid? [True, True] Translation: X:209.87, Y:125.61, Z:35.82 [[-9.27002325e-03 -9.99718572e-01 -2.18367397e-02 2.09865348e+02] [ 9.47381927e-01 -1.79280779e-03 -3.20100406e-01 1.25606717e+02] [ 3.19971172e-01 -2.36550707e-02 9.47131927e-01 3.58203670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41710568099995 meters Centerline goodness [0,1] 0.9998529566222035 Centerline is valid? [True, True] Translation: X:209.85, Y:125.63, Z:35.83 [[-1.06523608e-03 -9.99762448e-01 -2.17695466e-02 2.09854851e+02] [ 9.46997060e-01 5.98473020e-03 -3.21186475e-01 1.25632933e+02] [ 3.21240462e-01 -2.09578361e-02 9.46765723e-01 3.58285369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:125.66, Z:35.84 [[ 1.97090423e-02 -9.99567854e-01 -2.18096091e-02 2.09811185e+02] [ 9.45742994e-01 2.57148571e-02 -3.23896490e-01 1.25662115e+02] [ 3.24317350e-01 -1.42425954e-02 9.45841110e-01 3.58358804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:125.69, Z:35.84 [[ 4.16810514e-02 -9.98892481e-01 -2.18288939e-02 2.09774040e+02] [ 9.44120244e-01 4.65262407e-02 -3.26300895e-01 1.25690733e+02] [ 3.26955127e-01 -7.00853623e-03 9.45013876e-01 3.58421877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:125.72, Z:35.85 [[ 4.98318146e-02 -9.98521651e-01 -2.17094899e-02 2.09758069e+02] [ 9.43570117e-01 5.41926066e-02 -3.26708733e-01 1.25718147e+02] [ 3.27402237e-01 -4.20393690e-03 9.44875707e-01 3.58501859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:125.75, Z:35.86 [[ 5.96490832e-02 -9.97984115e-01 -2.16724167e-02 2.09734059e+02] [ 9.42489806e-01 6.34584991e-02 -3.28155426e-01 1.25745887e+02] [ 3.28869202e-01 -8.51861470e-04 9.44375096e-01 3.58573803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:125.77, Z:35.87 [[ 6.13841951e-02 -9.97881834e-01 -2.15366218e-02 2.09726663e+02] [ 9.42416277e-01 6.50524417e-02 -3.28054479e-01 1.25772357e+02] [ 3.28760615e-01 -1.59102801e-04 9.44413274e-01 3.58656759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:125.80, Z:35.87 [[ 6.14755185e-02 -9.97880898e-01 -2.13183871e-02 2.09715958e+02] [ 9.42793555e-01 6.50669885e-02 -3.26965746e-01 1.25797652e+02] [ 3.27659996e-01 1.55081087e-06 9.44795707e-01 3.58749633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62710568099993 meters Centerline goodness [0,1] 0.999937272613223 Centerline is valid? [True, True] Translation: X:209.71, Y:125.82, Z:35.88 [[ 6.07709906e-02 -9.97926876e-01 -2.11857833e-02 2.09712086e+02] [ 9.42731371e-01 6.43579351e-02 -3.27285224e-01 1.25822913e+02] [ 3.27970194e-01 -8.30553181e-05 9.44688068e-01 3.58813954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.6571056809999 meters Centerline goodness [0,1] 0.999957783641161 Centerline is valid? [True, True] Translation: X:209.71, Y:125.85, Z:35.89 [[ 5.94480255e-02 -9.98007109e-01 -2.11599393e-02 2.09706908e+02] [ 9.42141967e-01 6.31005404e-02 -3.29221560e-01 1.25850752e+02] [ 3.29900661e-01 -3.64095127e-04 9.44015583e-01 3.58885952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.70, Y:125.88, Z:35.90 [[ 5.62569353e-02 -9.98194011e-01 -2.10682945e-02 2.09703770e+02] [ 9.42137110e-01 6.00586179e-02 -3.29803924e-01 1.25876745e+02] [ 3.30473635e-01 -1.29546406e-03 9.43814335e-01 3.58961128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7171056809999 meters Centerline goodness [0,1] 0.9999368726721798 Centerline is valid? [True, True] Translation: X:209.70, Y:125.90, Z:35.91 [[ 5.39629753e-02 -9.98325635e-01 -2.08308494e-02 2.09703405e+02] [ 9.42792169e-01 5.78120651e-02 -3.28330155e-01 1.25901865e+02] [ 3.28984685e-01 -1.92148963e-03 9.44333302e-01 3.59070803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74710568099994 meters Centerline goodness [0,1] 0.9999788887012329 Centerline is valid? [True, True] Translation: X:209.70, Y:125.92, Z:35.92 [[ 4.86604645e-02 -9.98607708e-01 -2.03667613e-02 2.09704203e+02] [ 9.44843644e-01 5.26336707e-02 -3.23264883e-01 1.25924188e+02] [ 3.23886781e-01 -3.51318562e-03 9.46089325e-01 3.59222274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7771056809999 meters Centerline goodness [0,1] 0.9997889404812157 Centerline is valid? [True, True] Translation: X:209.71, Y:125.95, Z:35.93 [[ 4.19953891e-02 -9.98917400e-01 -2.00103617e-02 2.09709867e+02] [ 9.46313801e-01 4.61927775e-02 -3.19931896e-01 1.25949291e+02] [ 3.20509872e-01 -5.50041698e-03 9.47229205e-01 3.59344552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80710568099994 meters Centerline goodness [0,1] 0.9996436357538152 Centerline is valid? [True, True] Translation: X:209.72, Y:125.98, Z:35.94 [[ 3.88502420e-02 -9.99046585e-01 -1.99143157e-02 2.09715362e+02] [ 9.46287266e-01 4.31858078e-02 -3.20430017e-01 1.25975519e+02] [ 3.20984530e-01 -6.39587973e-03 9.47062841e-01 3.59413737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8371056809999 meters Centerline goodness [0,1] 0.9996447453660168 Centerline is valid? [True, True] Translation: X:209.72, Y:126.00, Z:35.95 [[ 3.53475736e-02 -9.99175449e-01 -1.99742580e-02 2.09719815e+02] [ 9.45361275e-01 3.99122547e-02 -3.23572358e-01 1.26003275e+02] [ 3.24102774e-01 -7.44539230e-03 9.45992578e-01 3.59463167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86710568099994 meters Centerline goodness [0,1] 0.9997689803633308 Centerline is valid? [True, True] Translation: X:209.72, Y:126.03, Z:35.95 [[ 3.55508242e-02 -9.99169145e-01 -1.99288471e-02 2.09719154e+02] [ 9.44910857e-01 4.00998069e-02 -3.24862244e-01 1.26029602e+02] [ 3.25391473e-01 -7.28186352e-03 9.45551354e-01 3.59532114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8971056809999 meters Centerline goodness [0,1] 0.9997048903878584 Centerline is valid? [True, True] Translation: X:209.71, Y:126.06, Z:35.96 [[ 4.09267760e-02 -9.98965130e-01 -1.98410568e-02 2.09714567e+02] [ 9.44396753e-01 4.51599247e-02 -3.25692115e-01 1.26056759e+02] [ 3.26251087e-01 -5.40830136e-03 9.45267676e-01 3.59602363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92710568099994 meters Centerline goodness [0,1] 0.9997254429871802 Centerline is valid? [True, True] Translation: X:209.71, Y:126.08, Z:35.97 [[ 4.45553115e-02 -9.98812058e-01 -1.97306159e-02 2.09712635e+02] [ 9.44143290e-01 4.85552445e-02 -3.25938394e-01 1.26083352e+02] [ 3.26509222e-01 -4.10624198e-03 9.45185096e-01 3.59691438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.9571056809999 meters Centerline goodness [0,1] 0.9997060922870219 Centerline is valid? [True, True] Translation: X:209.71, Y:126.11, Z:35.98 [[ 5.24904397e-02 -9.98426834e-01 -1.97132241e-02 2.09706693e+02] [ 9.43084456e-01 5.60530010e-02 -3.27795317e-01 1.26109709e+02] [ 3.28384626e-01 -1.38511489e-03 9.44543074e-01 3.59764431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98710568099995 meters Centerline goodness [0,1] 0.999746262660436 Centerline is valid? [True, True] Translation: X:209.70, Y:126.13, Z:35.98 [[ 5.64185453e-02 -9.98215507e-01 -1.95640024e-02 2.09704059e+02] [ 9.42973971e-01 5.97143343e-02 -3.27466470e-01 1.26134561e+02] [ 3.28050360e-01 2.68368260e-05 9.44660236e-01 3.59838351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0171056809999 meters Centerline goodness [0,1] 0.9998096567476683 Centerline is valid? [True, True] Translation: X:209.70, Y:126.16, Z:36.00 [[ 6.49938028e-02 -9.97700154e-01 -1.92408012e-02 2.09700193e+02] [ 9.43677848e-01 6.77203073e-02 -3.23861203e-01 1.26158708e+02] [ 3.24419365e-01 2.89185330e-03 9.45908935e-01 3.59975920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04710568099995 meters Centerline goodness [0,1] 0.9999788864725629 Centerline is valid? [True, True] Translation: X:209.70, Y:126.18, Z:36.01 [[ 6.91100511e-02 -9.97428319e-01 -1.89881203e-02 2.09699154e+02] [ 9.44046948e-01 7.15405001e-02 -3.21958563e-01 1.26183812e+02] [ 3.22489008e-01 4.32489569e-03 9.46563329e-01 3.60103045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0771056809999 meters Centerline goodness [0,1] 0.9995381547181694 Centerline is valid? [True, True] Translation: X:209.70, Y:126.21, Z:36.02 [[ 7.57382869e-02 -9.96949366e-01 -1.88592934e-02 2.09695435e+02] [ 9.43556315e-01 7.77723767e-02 -3.21951763e-01 1.26208654e+02] [ 3.22436338e-01 6.58926962e-03 9.46568217e-01 3.60197538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10710568099995 meters Centerline goodness [0,1] 0.9995805896908946 Centerline is valid? [True, True] Translation: X:209.69, Y:126.24, Z:36.03 [[ 7.83456767e-02 -9.96748590e-01 -1.88202747e-02 2.09694380e+02] [ 9.42915488e-01 8.02173884e-02 -3.23226784e-01 1.26235259e+02] [ 3.23685555e-01 7.57749263e-03 9.46134369e-01 3.60262388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1371056809999 meters Centerline goodness [0,1] 0.999810446503791 Centerline is valid? [True, True] Translation: X:209.70, Y:126.26, Z:36.03 [[ 8.53868781e-02 -9.96171116e-01 -1.87666731e-02 2.09698379e+02] [ 9.41856295e-01 8.68463342e-02 -3.24598881e-01 1.26261773e+02] [ 3.24985846e-01 1.00409759e-02 9.45665574e-01 3.60330774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16710568099995 meters Centerline goodness [0,1] 0.9997493839020927 Centerline is valid? [True, True] Translation: X:209.70, Y:126.29, Z:36.04 [[ 8.87741019e-02 -9.95877225e-01 -1.86470351e-02 2.09700342e+02] [ 9.41700605e-01 9.00148653e-02 -3.24187129e-01 1.26288469e+02] [ 3.24529089e-01 1.12194970e-02 9.45809174e-01 3.60414001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.1971056809999 meters Centerline goodness [0,1] 0.9997898320758286 Centerline is valid? [True, True] Translation: X:209.70, Y:126.31, Z:36.05 [[ 9.47324121e-02 -9.95331288e-01 -1.84769208e-02 2.09701220e+02] [ 9.41420320e-01 9.56048035e-02 -3.23399913e-01 1.26313348e+02] [ 3.23656534e-01 1.32419051e-02 9.46081973e-01 3.60519120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22710568099995 meters Centerline goodness [0,1] 0.9998952243247208 Centerline is valid? [True, True] Translation: X:209.71, Y:126.34, Z:36.07 [[ 9.88871692e-02 -9.94932424e-01 -1.81879146e-02 2.09706951e+02] [ 9.41959050e-01 9.94837520e-02 -3.20649546e-01 1.26337688e+02] [ 3.20834031e-01 1.45758551e-02 9.47023267e-01 3.60663210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:126.36, Z:36.07 [[ 1.00085464e-01 -9.94814612e-01 -1.80772822e-02 2.09708357e+02] [ 9.41731365e-01 1.00577545e-01 -3.20976936e-01 1.26363527e+02] [ 3.21130715e-01 1.51011821e-02 9.46914473e-01 3.60741304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:126.39, Z:36.08 [[ 1.01478242e-01 -9.94673377e-01 -1.80842136e-02 2.09726386e+02] [ 9.40728171e-01 1.01856334e-01 -3.23505479e-01 1.26389858e+02] [ 3.23624279e-01 1.58164382e-02 9.46053469e-01 3.60796692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:126.42, Z:36.09 [[ 9.98809897e-02 -9.94836562e-01 -1.80000524e-02 2.09733975e+02] [ 9.40586286e-01 1.00303853e-01 -3.24401875e-01 1.26416260e+02] [ 3.24532321e-01 1.54709779e-02 9.45748075e-01 3.60861338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:126.44, Z:36.09 [[ 9.59946931e-02 -9.95221808e-01 -1.78485526e-02 2.09753883e+02] [ 9.41099836e-01 9.65857504e-02 -3.24040569e-01 1.26440520e+02] [ 3.24216157e-01 1.43089051e-02 9.45874801e-01 3.60943715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:126.47, Z:36.10 [[ 8.95490467e-02 -9.95823997e-01 -1.77633335e-02 2.09775976e+02] [ 9.41502555e-01 9.04550771e-02 -3.24639520e-01 1.26465684e+02] [ 3.24890608e-01 1.23469357e-02 9.45671003e-01 3.61031740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:126.49, Z:36.11 [[ 8.56572129e-02 -9.96169073e-01 -1.76074055e-02 2.09788002e+02] [ 9.41978738e-01 8.67291633e-02 -3.24274743e-01 1.26491196e+02] [ 3.24559546e-01 1.11906691e-02 9.45799064e-01 3.61124135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:126.51, Z:36.12 [[ 7.58848019e-02 -9.96965709e-01 -1.73456582e-02 2.09812965e+02] [ 9.43624676e-01 7.74241444e-02 -3.21835320e-01 1.26514847e+02] [ 3.22201750e-01 8.05461833e-03 9.46636760e-01 3.61242618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:126.54, Z:36.13 [[ 7.05110480e-02 -9.97362543e-01 -1.72089888e-02 2.09824922e+02] [ 9.44272045e-01 7.22985848e-02 -3.21128043e-01 1.26539844e+02] [ 3.21525267e-01 6.39310783e-03 9.46879417e-01 3.61332561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:126.56, Z:36.14 [[ 5.90261260e-02 -9.98110019e-01 -1.70969912e-02 2.09851197e+02] [ 9.44987116e-01 6.13881386e-02 -3.21295576e-01 1.26564790e+02] [ 3.21737886e-01 2.80839679e-03 9.46824612e-01 3.61411989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:126.59, Z:36.15 [[ 5.40904412e-02 -9.98391749e-01 -1.69747066e-02 2.09864241e+02] [ 9.45206057e-01 5.66754237e-02 -3.21517350e-01 1.26590367e+02] [ 3.21962318e-01 1.34641985e-03 9.46751527e-01 3.61497584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:126.62, Z:36.15 [[ 4.88839584e-02 -9.98659409e-01 -1.70218696e-02 2.09880887e+02] [ 9.44240442e-01 5.17624760e-02 -3.25162474e-01 1.26615788e+02] [ 3.25607658e-01 -1.77508818e-04 9.45504956e-01 3.61534065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:126.64, Z:36.16 [[ 4.84815834e-02 -9.98680929e-01 -1.69097019e-02 2.09881875e+02] [ 9.44261198e-01 5.13455056e-02 -3.25168310e-01 1.26641072e+02] [ 3.25607627e-01 -2.02500833e-04 9.45504962e-01 3.61617844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:126.67, Z:36.17 [[ 4.94173275e-02 -9.98634640e-01 -1.69346921e-02 2.09885913e+02] [ 9.43105509e-01 5.22378280e-02 -3.28364444e-01 1.26668512e+02] [ 3.28800740e-01 2.55691844e-04 9.44399284e-01 3.61677604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:126.69, Z:36.17 [[ 5.64832068e-02 -9.98259825e-01 -1.69401868e-02 2.09888457e+02] [ 9.41764212e-01 5.89048331e-02 -3.31074598e-01 1.26694615e+02] [ 3.31496329e-01 2.74649331e-03 9.43452511e-01 3.61728937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:126.72, Z:36.19 [[ 6.63499648e-02 -9.97656533e-01 -1.67070338e-02 2.09885573e+02] [ 9.41998844e-01 6.81516284e-02 -3.28623696e-01 1.26720198e+02] [ 3.28992188e-01 6.06616412e-03 9.44313159e-01 3.61861974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:126.75, Z:36.20 [[ 7.06956117e-02 -9.97361097e-01 -1.65219055e-02 2.09884615e+02] [ 9.42073165e-01 7.22026220e-02 -3.27543787e-01 1.26745850e+02] [ 3.27872356e-01 7.59106461e-03 9.44691534e-01 3.61971399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:126.77, Z:36.21 [[ 7.72310723e-02 -9.96879698e-01 -1.63165320e-02 2.09887260e+02] [ 9.42112327e-01 7.83242722e-02 -3.26020969e-01 1.26770625e+02] [ 3.26281666e-01 9.80694311e-03 9.45221719e-01 3.62096138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:126.80, Z:36.22 [[ 7.79492907e-02 -9.96825880e-01 -1.61886439e-02 2.09890871e+02] [ 9.41997630e-01 7.89593954e-02 -3.26199139e-01 1.26797368e+02] [ 3.26441990e-01 1.01773273e-02 9.45162446e-01 3.62182794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:126.82, Z:36.23 [[ 7.54867634e-02 -9.97017656e-01 -1.60481476e-02 2.09900119e+02] [ 9.42294367e-01 7.65893720e-02 -3.25907033e-01 1.26821522e+02] [ 3.26164184e-01 9.47958798e-03 9.45265604e-01 3.62262245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:126.85, Z:36.24 [[ 7.23309365e-02 -9.97254597e-01 -1.58589111e-02 2.09906930e+02] [ 9.42833592e-01 7.35528419e-02 -3.25045840e-01 1.26847004e+02] [ 3.25319926e-01 8.55855589e-03 9.45565279e-01 3.62352181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:126.87, Z:36.25 [[ 6.59879373e-02 -9.97697728e-01 -1.56472100e-02 2.09919660e+02] [ 9.43810149e-01 6.74976992e-02 -3.23521966e-01 1.26871060e+02] [ 3.23833282e-01 6.58055159e-03 9.46091276e-01 3.62457766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:126.90, Z:36.26 [[ 6.26711093e-02 -9.97913636e-01 -1.55147189e-02 2.09926003e+02] [ 9.44004698e-01 6.43166095e-02 -3.23602385e-01 1.26896149e+02] [ 3.23925086e-01 5.63455287e-03 9.46065954e-01 3.62555030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:126.92, Z:36.26 [[ 5.77413775e-02 -9.98213129e-01 -1.53779990e-02 2.09934822e+02] [ 9.44321155e-01 5.96089382e-02 -3.23580487e-01 1.26920671e+02] [ 3.23918956e-01 4.16221324e-03 9.46075677e-01 3.62640491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:126.95, Z:36.27 [[ 5.26689659e-02 -9.98494493e-01 -1.53208082e-02 2.09942023e+02] [ 9.43986239e-01 5.47867280e-02 -3.25404970e-01 1.26945277e+02] [ 3.25754448e-01 2.67611121e-03 9.45450622e-01 3.62691986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:126.97, Z:36.28 [[ 4.95709464e-02 -9.98654823e-01 -1.52074039e-02 2.09946021e+02] [ 9.43848964e-01 5.18191869e-02 -3.26288071e-01 1.26971019e+02] [ 3.26637191e-01 1.82091609e-03 9.45148046e-01 3.62763360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:127.00, Z:36.28 [[ 4.53717547e-02 -9.98856307e-01 -1.50824914e-02 2.09950874e+02] [ 9.44096726e-01 4.78096629e-02 -3.26183398e-01 1.26996352e+02] [ 3.26531433e-01 5.60182397e-04 9.45186177e-01 3.62838373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:127.02, Z:36.29 [[ 3.72199567e-02 -9.99195670e-01 -1.49226971e-02 2.09962921e+02] [ 9.44565139e-01 4.00517774e-02 -3.25871989e-01 1.27020791e+02] [ 3.26207561e-01 -1.96651817e-03 9.45296123e-01 3.62930224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:127.04, Z:36.30 [[ 3.32775845e-02 -9.99337306e-01 -1.47496223e-02 2.09969275e+02] [ 9.44932470e-01 3.62664140e-02 -3.25249712e-01 1.27044841e+02] [ 3.25569086e-01 -3.11387223e-03 9.45513127e-01 3.63024105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:127.07, Z:36.31 [[ 2.72389079e-02 -9.99523432e-01 -1.45241279e-02 2.09978149e+02] [ 9.45749899e-01 3.04737389e-02 -3.23463260e-01 1.27068436e+02] [ 3.23751712e-01 -4.92540656e-03 9.46129256e-01 3.63128177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:127.09, Z:36.32 [[ 2.04207380e-02 -9.99688348e-01 -1.43596773e-02 2.09986448e+02] [ 9.46147607e-01 2.39644847e-02 -3.22847346e-01 1.27092767e+02] [ 3.23090852e-01 -6.99359326e-03 9.46342111e-01 3.63210912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:127.12, Z:36.33 [[ 1.56904832e-02 -9.99775785e-01 -1.42192844e-02 2.09991991e+02] [ 9.46294054e-01 1.94410484e-02 -3.22722186e-01 1.27118503e+02] [ 3.22926265e-01 -8.39195725e-03 9.46386920e-01 3.63293633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:127.14, Z:36.34 [[ 3.89779225e-03 -9.99893027e-01 -1.40976113e-02 2.10004401e+02] [ 9.46413523e-01 8.24124935e-03 -3.22852173e-01 1.27142007e+02] [ 3.22933819e-01 -1.20837593e-02 9.46344404e-01 3.63364908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:127.17, Z:36.35 [[-2.80838262e-03 -9.99898102e-01 -1.39963895e-02 2.10002418e+02] [ 9.46317739e-01 1.86665597e-03 -3.23232506e-01 1.27167312e+02] [ 3.23225696e-01 -1.41527922e-02 9.46216068e-01 3.63462960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:127.19, Z:36.36 [[-1.46303470e-02 -9.99797555e-01 -1.38131375e-02 2.10011751e+02] [ 9.46545567e-01 -9.39637762e-03 -3.22433245e-01 1.27192133e+02] [ 3.22238176e-01 -1.77920743e-02 9.46491416e-01 3.63562304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2771056809999 meters Centerline goodness [0,1] 0.9999789216306226 Centerline is valid? [True, True] Translation: X:210.01, Y:127.22, Z:36.37 [[-1.89782252e-02 -9.99726966e-01 -1.36316017e-02 2.10012387e+02] [ 9.46762255e-01 -1.35870167e-02 -3.21646742e-01 1.27217352e+02] [ 3.21373708e-01 -1.90101702e-02 9.46761614e-01 3.63665500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30710568099994 meters Centerline goodness [0,1] 0.9999580096577787 Centerline is valid? [True, True] Translation: X:210.01, Y:127.24, Z:36.38 [[-2.34877920e-02 -9.99634716e-01 -1.33700435e-02 2.10011148e+02] [ 9.47657527e-01 -1.80028478e-02 -3.18780660e-01 1.27241044e+02] [ 3.18423515e-01 -2.01576762e-02 9.47734210e-01 3.63789764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:127.27, Z:36.39 [[-2.56729728e-02 -9.99583948e-01 -1.31464659e-02 2.10006218e+02] [ 9.48240706e-01 -2.01863072e-02 -3.16910203e-01 1.27265984e+02] [ 3.16512973e-01 -2.06020411e-02 9.48364431e-01 3.63900962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:127.29, Z:36.40 [[-2.73522037e-02 -9.99542460e-01 -1.29122878e-02 2.10001746e+02] [ 9.48985543e-01 -2.19052077e-02 -3.14557787e-01 1.27290454e+02] [ 3.14131018e-01 -2.08574231e-02 9.49150500e-01 3.64011275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:127.32, Z:36.41 [[-2.78796107e-02 -9.99530077e-01 -1.27417331e-02 2.09994362e+02] [ 9.49198836e-01 -2.24745652e-02 -3.13873324e-01 1.27316713e+02] [ 3.13439463e-01 -2.08451044e-02 9.49379368e-01 3.64094527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42710568099994 meters Centerline goodness [0,1] 0.9999578130273371 Centerline is valid? [True, True] Translation: X:209.99, Y:127.34, Z:36.41 [[-2.88139300e-02 -9.99504227e-01 -1.26908804e-02 2.09985184e+02] [ 9.48461511e-01 -2.33297403e-02 -3.16032412e-01 1.27343518e+02] [ 3.15579656e-01 -2.11429474e-02 9.48663511e-01 3.64139224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.4571056809999 meters Centerline goodness [0,1] 0.9998527772519823 Centerline is valid? [True, True] Translation: X:209.98, Y:127.37, Z:36.42 [[-2.94935684e-02 -9.99485416e-01 -1.26108409e-02 2.09981318e+02] [ 9.47897960e-01 -2.39631187e-02 -3.17671570e-01 1.27369376e+02] [ 3.17205906e-01 -2.13230586e-02 9.48116944e-01 3.64195212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:127.40, Z:36.43 [[-3.19238705e-02 -9.99412809e-01 -1.24460563e-02 2.09967889e+02] [ 9.48031186e-01 -2.63338202e-02 -3.17085793e-01 1.27395363e+02] [ 3.16571850e-01 -2.19218553e-02 9.48315188e-01 3.64289829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5171056809999 meters Centerline goodness [0,1] 0.9998739945817671 Centerline is valid? [True, True] Translation: X:209.96, Y:127.42, Z:36.44 [[-3.37674638e-02 -9.99354241e-01 -1.22824435e-02 2.09961556e+02] [ 9.48236994e-01 -2.81526393e-02 -3.16313187e-01 1.27420613e+02] [ 3.15763142e-01 -2.23277614e-02 9.48575305e-01 3.64391869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:127.45, Z:36.45 [[-3.48864994e-02 -9.99318275e-01 -1.20795878e-02 2.09948672e+02] [ 9.48794795e-01 -2.93207324e-02 -3.14529382e-01 1.27446082e+02] [ 3.13960777e-01 -2.24338791e-02 9.49170876e-01 3.64507008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5771056809999 meters Centerline goodness [0,1] 0.9999373080057676 Centerline is valid? [True, True] Translation: X:209.94, Y:127.47, Z:36.46 [[-3.18999547e-02 -9.99420432e-01 -1.18824992e-02 2.09938171e+02] [ 9.49421220e-01 -2.65841289e-02 -3.12877980e-01 1.27470271e+02] [ 3.12380760e-01 -2.12622903e-02 9.49718998e-01 3.64617539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:127.50, Z:36.47 [[-2.99837454e-02 -9.99481886e-01 -1.17019280e-02 2.09931281e+02] [ 9.49957277e-01 -2.48522938e-02 -3.11389685e-01 1.27496030e+02] [ 3.10937530e-01 -2.04529607e-02 9.50210255e-01 3.64723156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:127.52, Z:36.49 [[-2.51467350e-02 -9.99618238e-01 -1.14464164e-02 2.09908381e+02] [ 9.51244784e-01 -2.04057276e-02 -3.07761218e-01 1.27521010e+02] [ 3.07410154e-01 -1.86275337e-02 9.51394772e-01 3.64865794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:127.55, Z:36.50 [[-2.15992405e-02 -9.99703155e-01 -1.12727621e-02 2.09897339e+02] [ 9.51722607e-01 -1.71066607e-02 -3.06482367e-01 1.27546537e+02] [ 3.06198550e-01 -1.73483289e-02 9.51809584e-01 3.64972071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:127.57, Z:36.51 [[-1.11566431e-02 -9.99876062e-01 -1.11081340e-02 2.09873848e+02] [ 9.52139577e-01 -7.22917514e-03 -3.05578083e-01 1.27573142e+02] [ 3.05459907e-01 -1.39857197e-02 9.52102224e-01 3.65073155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:127.60, Z:36.52 [[-4.66663402e-03 -9.99928339e-01 -1.10244490e-02 2.09860994e+02] [ 9.52106656e-01 -1.07232800e-03 -3.05764231e-01 1.27599808e+02] [ 3.05730498e-01 -1.19233410e-02 9.52043432e-01 3.65159139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:127.63, Z:36.52 [[ 1.06688604e-02 -9.99881727e-01 -1.10773423e-02 2.09833443e+02] [ 9.50343410e-01 1.35847058e-02 -3.10906510e-01 1.27628347e+02] [ 3.11020221e-01 -7.21026107e-03 9.50375944e-01 3.65186688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:127.66, Z:36.52 [[ 2.50469047e-02 -9.99625167e-01 -1.10534312e-02 2.09805473e+02] [ 9.49002728e-01 2.72515441e-02 -3.14087848e-01 1.27656613e+02] [ 3.14271340e-01 -2.62280796e-03 9.49329577e-01 3.65247137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81710568099993 meters Centerline goodness [0,1] 0.9999373420497504 Centerline is valid? [True, True] Translation: X:209.79, Y:127.68, Z:36.53 [[ 3.04706378e-02 -9.99475237e-01 -1.09904917e-02 2.09794599e+02] [ 9.48642126e-01 3.23813170e-02 -3.14689636e-01 1.27682209e+02] [ 3.14880385e-01 -8.37249496e-04 9.49130993e-01 3.65324970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:127.71, Z:36.54 [[ 3.79999888e-02 -9.99218120e-01 -1.09155404e-02 2.09781165e+02] [ 9.47681900e-01 3.95004244e-02 -3.16762898e-01 1.27709313e+02] [ 3.16946396e-01 1.69252651e-03 9.48441942e-01 3.65381513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87710568099993 meters Centerline goodness [0,1] 0.9999789087381098 Centerline is valid? [True, True] Translation: X:209.78, Y:127.74, Z:36.55 [[ 3.92852161e-02 -9.99169803e-01 -1.07877696e-02 2.09776822e+02] [ 9.47523356e-01 4.06781026e-02 -3.17087970e-01 1.27735678e+02] [ 3.17263551e-01 2.23520572e-03 9.48334774e-01 3.65465936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:127.76, Z:36.55 [[ 3.98857293e-02 -9.99147732e-01 -1.06272312e-02 2.09769463e+02] [ 9.47727994e-01 4.11984805e-02 -3.16408494e-01 1.27760435e+02] [ 3.16576655e-01 2.54845899e-03 9.48563507e-01 3.65541182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:127.79, Z:36.56 [[ 3.96103167e-02 -9.99160823e-01 -1.04246255e-02 2.09769241e+02] [ 9.48334223e-01 4.08780087e-02 -3.14628655e-01 1.27785679e+02] [ 3.14790763e-01 2.57651151e-03 9.49157593e-01 3.65634799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.9671056809999 meters Centerline goodness [0,1] 0.9999790013019193 Centerline is valid? [True, True] Translation: X:209.77, Y:127.81, Z:36.57 [[ 3.82863291e-02 -9.99214744e-01 -1.02005694e-02 2.09767556e+02] [ 9.49276494e-01 3.95573861e-02 -3.11944468e-01 1.27809366e+02] [ 3.12103020e-01 2.26004778e-03 9.50045576e-01 3.65749970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99710568099994 meters Centerline goodness [0,1] 0.9999789818823827 Centerline is valid? [True, True] Translation: X:209.77, Y:127.83, Z:36.58 [[ 3.69140837e-02 -9.99267830e-01 -1.00575247e-02 2.09767736e+02] [ 9.49338669e-01 3.82091191e-02 -3.11923314e-01 1.27833835e+02] [ 3.12079222e-01 1.96636622e-03 9.50054047e-01 3.65832002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:127.86, Z:36.59 [[ 3.42368262e-02 -9.99364343e-01 -9.93724437e-03 2.09772879e+02] [ 9.49227788e-01 3.56272351e-02 -3.12565684e-01 1.27859980e+02] [ 3.12721036e-01 1.26854850e-03 9.49844169e-01 3.65896226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05710568099994 meters Centerline goodness [0,1] 0.9998312912545604 Centerline is valid? [True, True] Translation: X:209.78, Y:127.88, Z:36.60 [[ 2.84095335e-02 -9.99548558e-01 -9.77645149e-03 2.09781902e+02] [ 9.49681303e-01 3.00416066e-02 -3.11773835e-01 1.27884241e+02] [ 3.11926787e-01 -4.27164001e-04 9.50106045e-01 3.65981535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0871056809999 meters Centerline goodness [0,1] 0.9997908124843109 Centerline is valid? [True, True] Translation: X:209.79, Y:127.91, Z:36.61 [[ 2.48590713e-02 -9.99644210e-01 -9.66850803e-03 2.09786894e+02] [ 9.49416224e-01 2.66362495e-02 -3.12888708e-01 1.27909541e+02] [ 3.13034918e-01 -1.40131568e-03 9.49740584e-01 3.66059531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11710568099994 meters Centerline goodness [0,1] 0.9998523424810682 Centerline is valid? [True, True] Translation: X:209.80, Y:127.94, Z:36.61 [[ 1.89038150e-02 -9.99774755e-01 -9.64803092e-03 2.09795010e+02] [ 9.48644376e-01 2.09831042e-02 -3.15647836e-01 1.27936906e+02] [ 3.15779184e-01 -3.18560199e-03 9.48827360e-01 3.66110195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.1471056809999 meters Centerline goodness [0,1] 0.9997888558096324 Centerline is valid? [True, True] Translation: X:209.80, Y:127.96, Z:36.62 [[ 1.61787896e-02 -9.99823482e-01 -9.55257867e-03 2.09799697e+02] [ 9.48377990e-01 1.83712896e-02 -3.16609670e-01 1.27962973e+02] [ 3.16729276e-01 -3.93709414e-03 9.48507810e-01 3.66171863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17710568099994 meters Centerline goodness [0,1] 0.9999788913750158 Centerline is valid? [True, True] Translation: X:209.81, Y:127.99, Z:36.62 [[ 1.23454862e-02 -9.99878697e-01 -9.49632899e-03 2.09807997e+02] [ 9.47593616e-01 1.47309343e-02 -3.19138431e-01 1.27989887e+02] [ 3.19239609e-01 -5.05874164e-03 9.47660531e-01 3.66223095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2071056809999 meters Centerline goodness [0,1] 0.9998097653772987 Centerline is valid? [True, True] Translation: X:209.81, Y:128.02, Z:36.63 [[ 9.72234115e-03 -9.99908175e-01 -9.44023939e-03 2.09813609e+02] [ 9.46752602e-01 1.22429758e-02 -3.21729110e-01 1.28015554e+02] [ 3.21815144e-01 -5.80961103e-03 9.46784696e-01 3.66288558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23710568099995 meters Centerline goodness [0,1] 0.9998740104571321 Centerline is valid? [True, True] Translation: X:209.81, Y:128.04, Z:36.64 [[ 1.18467994e-02 -9.99886496e-01 -9.30853969e-03 2.09812504e+02] [ 9.46738428e-01 1.42118963e-02 -3.21689868e-01 1.28041685e+02] [ 3.21785647e-01 -5.00175687e-03 9.46799334e-01 3.66381786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.2671056809999 meters Centerline goodness [0,1] 0.9999579549276825 Centerline is valid? [True, True] Translation: X:209.80, Y:128.07, Z:36.65 [[ 2.35067096e-02 -9.99682269e-01 -9.09918957e-03 2.09802619e+02] [ 9.47538828e-01 2.51809528e-02 -3.18647280e-01 1.28065937e+02] [ 3.18775162e-01 -1.13148636e-03 9.47829687e-01 3.66515203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29710568099995 meters Centerline goodness [0,1] 0.9998524203069658 Centerline is valid? [True, True] Translation: X:209.80, Y:128.09, Z:36.66 [[ 2.96540661e-02 -9.99520082e-01 -8.95780956e-03 2.09797292e+02] [ 9.47732374e-01 3.09636239e-02 -3.17560390e-01 1.28091208e+02] [ 3.17685353e-01 9.27350651e-04 9.48195737e-01 3.66621367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3271056809999 meters Centerline goodness [0,1] 0.9999159469625334 Centerline is valid? [True, True] Translation: X:209.79, Y:128.12, Z:36.67 [[ 3.95223152e-02 -9.99180120e-01 -8.77918044e-03 2.09790311e+02] [ 9.47907103e-01 4.02706437e-02 -3.15991138e-01 1.28116109e+02] [ 3.16085607e-01 4.16685389e-03 9.48721522e-01 3.66723640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:128.14, Z:36.68 [[ 4.17145275e-02 -9.99092326e-01 -8.62682118e-03 2.09790649e+02] [ 9.48127634e-01 4.23070813e-02 -3.15062057e-01 1.28142183e+02] [ 3.15141059e-01 4.96333730e-03 9.49031864e-01 3.66819476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.3871056809999 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:209.79, Y:128.17, Z:36.69 [[ 4.27227637e-02 -9.99051154e-01 -8.45913668e-03 2.09792029e+02] [ 9.48605370e-01 4.32199596e-02 -3.13496230e-01 1.28165973e+02] [ 3.13564374e-01 5.36904287e-03 9.49551766e-01 3.66915164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:128.19, Z:36.70 [[ 4.22039850e-02 -9.99074455e-01 -8.31001590e-03 2.09796571e+02] [ 9.49034377e-01 4.26874969e-02 -3.12268360e-01 1.28191657e+02] [ 3.12334075e-01 5.29247844e-03 9.49957586e-01 3.67012491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:128.22, Z:36.71 [[ 4.19088188e-02 -9.99088179e-01 -8.15236194e-03 2.09801599e+02] [ 9.49332615e-01 4.23627209e-02 -3.11404860e-01 1.28216594e+02] [ 3.11466270e-01 5.31130676e-03 9.50242365e-01 3.67111702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:128.24, Z:36.72 [[ 4.20086884e-02 -9.99085260e-01 -7.99459330e-03 2.09804965e+02] [ 9.49626835e-01 4.24136927e-02 -3.10499522e-01 1.28241810e+02] [ 3.10554575e-01 5.45179733e-03 9.50539917e-01 3.67206124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:128.27, Z:36.73 [[ 4.15851544e-02 -9.99104077e-01 -7.85611013e-03 2.09805294e+02] [ 9.49645486e-01 4.19681003e-02 -3.10503028e-01 1.28267062e+02] [ 3.10554547e-01 5.45179684e-03 9.50539926e-01 3.67289911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:128.29, Z:36.74 [[ 4.05484288e-02 -9.99147844e-01 -7.70787485e-03 2.09807343e+02] [ 9.49820934e-01 4.09388720e-02 -3.10103533e-01 1.28291332e+02] [ 3.10154828e-01 5.25311013e-03 9.50671545e-01 3.67372420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:128.32, Z:36.75 [[ 3.67184032e-02 -9.99297082e-01 -7.55645909e-03 2.09816052e+02] [ 9.50060968e-01 3.72521466e-02 -3.09832913e-01 1.28316655e+02] [ 3.09896620e-01 4.19747298e-03 9.50760993e-01 3.67453377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.5971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:128.34, Z:36.75 [[ 3.32913111e-02 -9.99418053e-01 -7.43260239e-03 2.09823239e+02] [ 9.50254871e-01 3.39562509e-02 -3.09616947e-01 1.28342914e+02] [ 3.09689149e-01 3.24468746e-03 9.50832321e-01 3.67535291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.84, Y:128.37, Z:36.76 [[ 2.65416875e-02 -9.99620966e-01 -7.31186025e-03 2.09836873e+02] [ 9.50530800e-01 2.75014819e-02 -3.09410516e-01 1.28369728e+02] [ 3.09494326e-01 1.26212887e-03 9.50900452e-01 3.67617553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.84, Y:128.39, Z:36.77 [[ 2.38629119e-02 -9.99689270e-01 -7.20588818e-03 2.09841708e+02] [ 9.50405924e-01 2.49211092e-02 -3.10012124e-01 1.28394981e+02] [ 3.10095373e-01 5.49273174e-04 9.50705295e-01 3.67690432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.42, Z:36.77 [[ 2.13221511e-02 -9.99747472e-01 -7.09632689e-03 2.09847906e+02] [ 9.50009434e-01 2.24717969e-02 -3.11411455e-01 1.28421113e+02] [ 3.11492282e-01 -1.01615382e-04 9.50248677e-01 3.67747936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.45, Z:36.78 [[ 2.43731272e-02 -9.99678242e-01 -7.02586928e-03 2.09848984e+02] [ 9.48937728e-01 2.53459747e-02 -3.14443588e-01 1.28447318e+02] [ 3.14520491e-01 9.96861129e-04 9.49250160e-01 3.67785497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.47, Z:36.78 [[ 2.65964730e-02 -9.99622192e-01 -6.93554659e-03 2.09849198e+02] [ 9.48633986e-01 2.74266578e-02 -3.15184612e-01 1.28474050e+02] [ 3.15255752e-01 1.80350382e-03 9.49005036e-01 3.67848406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.50, Z:36.79 [[ 3.19593997e-02 -9.99466221e-01 -6.77265699e-03 2.09849015e+02] [ 9.48874105e-01 3.24692596e-02 -3.13980382e-01 1.28500968e+02] [ 3.14032689e-01 3.60822568e-03 9.49405314e-01 3.67918623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.53, Z:36.80 [[ 3.48849888e-02 -9.99369187e-01 -6.65320063e-03 2.09846344e+02] [ 9.48725074e-01 3.52084798e-02 -3.14135476e-01 1.28526606e+02] [ 3.14171564e-01 4.64655429e-03 9.49354853e-01 3.67994429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.55, Z:36.81 [[ 3.71164040e-02 -9.99289497e-01 -6.54775758e-03 2.09849624e+02] [ 9.48251736e-01 3.72868428e-02 -3.15322590e-01 1.28553659e+02] [ 3.15342698e-01 5.49471814e-03 9.48961954e-01 3.68056946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:128.58, Z:36.81 [[ 3.74673120e-02 -9.99277206e-01 -6.42382273e-03 2.09852154e+02] [ 9.48231158e-01 3.75805856e-02 -3.15349600e-01 1.28579318e+02] [ 3.15363079e-01 5.72403298e-03 9.48953826e-01 3.68129184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:128.61, Z:36.82 [[ 3.65222235e-02 -9.99313018e-01 -6.29430850e-03 2.09860108e+02] [ 9.48113628e-01 3.66402153e-02 -3.15813305e-01 1.28605023e+02] [ 3.15826972e-01 5.56648444e-03 9.48800473e-01 3.68192276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:128.63, Z:36.83 [[ 3.51157802e-02 -9.99364103e-01 -6.18634102e-03 2.09864983e+02] [ 9.48177862e-01 3.52719342e-02 -3.15776239e-01 1.28631095e+02] [ 3.15793642e-01 5.22297740e-03 9.48813520e-01 3.68271290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:128.66, Z:36.84 [[ 3.20400069e-02 -9.99468358e-01 -6.03651558e-03 2.09873750e+02] [ 9.48526123e-01 3.23097436e-02 -3.15046464e-01 1.28656026e+02] [ 3.15074011e-01 4.36829816e-03 9.49057051e-01 3.68354515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.68, Z:36.84 [[ 3.08957441e-02 -9.99505254e-01 -5.89072947e-03 2.09879518e+02] [ 9.48637397e-01 3.11788346e-02 -3.14825300e-01 1.28681052e+02] [ 3.14853207e-01 4.13859564e-03 9.49131355e-01 3.68436776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.71, Z:36.85 [[ 3.17561873e-02 -9.99479152e-01 -5.74183691e-03 2.09881613e+02] [ 9.48791729e-01 3.19512074e-02 -3.14282317e-01 1.28706333e+02] [ 3.14302082e-01 4.53260074e-03 9.49312202e-01 3.68519588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.73, Z:36.86 [[ 3.46204128e-02 -9.99384622e-01 -5.63958488e-03 2.09881466e+02] [ 9.48677181e-01 3.46376778e-02 -3.14343504e-01 1.28730922e+02] [ 3.14345406e-01 5.53255640e-03 9.49292556e-01 3.68602909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.76, Z:36.87 [[ 4.15583678e-02 -9.99120736e-01 -5.53692480e-03 2.09881325e+02] [ 9.47708324e-01 4.11736877e-02 -3.16470630e-01 1.28757598e+02] [ 3.16420344e-01 7.90461308e-03 9.48586150e-01 3.68669036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.78, Z:36.87 [[ 4.52804435e-02 -9.98959536e-01 -5.43380704e-03 2.09879434e+02] [ 9.46929907e-01 4.46535747e-02 -3.18323436e-01 1.28784709e+02] [ 3.18234871e-01 9.26839195e-03 9.47966594e-01 3.68736752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.81, Z:36.88 [[ 5.18900911e-02 -9.98638430e-01 -5.35769270e-03 2.09881673e+02] [ 9.45615746e-01 5.08586829e-02 -3.21285318e-01 1.28811865e+02] [ 3.21120350e-01 1.16052058e-02 9.46967285e-01 3.68793218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:128.84, Z:36.89 [[ 5.43066840e-02 -9.98510391e-01 -5.27096861e-03 2.09877607e+02] [ 9.45225943e-01 5.31088048e-02 -3.22067340e-01 1.28838000e+02] [ 3.21867520e-01 1.25081530e-02 9.46702089e-01 3.68858979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:128.86, Z:36.90 [[ 5.51636309e-02 -9.98464173e-01 -5.12524077e-03 2.09890645e+02] [ 9.45418278e-01 5.38825760e-02 -3.21373533e-01 1.28862815e+02] [ 3.21156120e-01 1.28826346e-02 9.46938638e-01 3.68955277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:128.89, Z:36.91 [[ 5.00025880e-02 -9.98736710e-01 -4.97242027e-03 2.09907538e+02] [ 9.46063865e-01 4.89599566e-02 -3.20259403e-01 1.28887678e+02] [ 3.20098272e-01 1.13095719e-02 9.47316837e-01 3.69052766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:128.91, Z:36.92 [[ 4.55565634e-02 -9.98950153e-01 -4.81577159e-03 2.09915197e+02] [ 9.46655273e-01 4.47101633e-02 -3.19131313e-01 1.28913352e+02] [ 3.19011588e-01 9.97965034e-03 9.47698271e-01 3.69151513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:128.94, Z:36.92 [[ 3.60342444e-02 -9.99339550e-01 -4.69006103e-03 2.09932687e+02] [ 9.46917238e-01 3.56434407e-02 -3.19495368e-01 1.28939397e+02] [ 3.19451528e-01 7.07167456e-03 9.47576231e-01 3.69237763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:128.97, Z:36.93 [[ 3.23656094e-02 -9.99465695e-01 -4.55972989e-03 2.09941557e+02] [ 9.46975812e-01 3.21243359e-02 -3.19694914e-01 1.28965426e+02] [ 3.19670578e-01 6.02916679e-03 9.47509562e-01 3.69326215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:128.99, Z:36.94 [[ 2.94820454e-02 -9.99555604e-01 -4.40490140e-03 2.09956246e+02] [ 9.47643285e-01 2.93521725e-02 -3.17979015e-01 1.28990749e+02] [ 3.17967000e-01 5.20039651e-03 9.48087519e-01 3.69446154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:129.02, Z:36.95 [[ 2.69094860e-02 -9.99628687e-01 -4.28569710e-03 2.09963610e+02] [ 9.47578923e-01 2.68733620e-02 -3.18389708e-01 1.29017283e+02] [ 3.18386657e-01 4.50666714e-03 9.47950224e-01 3.69514493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.04, Z:36.96 [[ 2.48312384e-02 -9.99683024e-01 -4.15453155e-03 2.09966641e+02] [ 9.47387022e-01 2.48584817e-02 -3.19123623e-01 1.29042601e+02] [ 3.19125744e-01 3.98828549e-03 9.47703990e-01 3.69586373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.07, Z:36.97 [[ 2.24024654e-02 -9.99740997e-01 -4.00863382e-03 2.09971553e+02] [ 9.47425610e-01 2.25099888e-02 -3.19183354e-01 1.29068508e+02] [ 3.19190919e-01 3.35261170e-03 9.47684503e-01 3.69671055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:129.09, Z:36.98 [[ 1.86291124e-02 -9.99819013e-01 -3.85976171e-03 2.09979680e+02] [ 9.47773753e-01 1.88884873e-02 -3.18383634e-01 1.29093866e+02] [ 3.18398916e-01 2.27302365e-03 9.47954094e-01 3.69775628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:129.12, Z:36.99 [[ 1.92829977e-02 -9.99807132e-01 -3.72366002e-03 2.09981582e+02] [ 9.47662231e-01 1.94641816e-02 -3.18680783e-01 1.29119456e+02] [ 3.18691797e-01 2.61634885e-03 9.47854785e-01 3.69863239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5271056809999 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:209.98, Y:129.14, Z:37.00 [[ 2.21175915e-02 -9.99748961e-01 -3.58156972e-03 2.09980222e+02] [ 9.47732198e-01 2.21071174e-02 -3.18300103e-01 1.29144350e+02] [ 3.18299375e-01 3.64566271e-03 9.47983237e-01 3.69956432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.17, Z:37.01 [[ 3.03985445e-02 -9.99531886e-01 -3.45500471e-03 2.09974978e+02] [ 9.48153558e-01 2.99296626e-02 -3.16400135e-01 1.29168939e+02] [ 3.16355431e-01 6.34222857e-03 9.48619533e-01 3.70082589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.20, Z:37.02 [[ 3.46573401e-02 -9.99393720e-01 -3.32581989e-03 2.09970964e+02] [ 9.47811183e-01 3.39235408e-02 -3.17022326e-01 1.29195130e+02] [ 3.16942945e-01 7.83490128e-03 9.48412244e-01 3.70161698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.22, Z:37.02 [[ 3.98683627e-02 -9.99199827e-01 -3.19688529e-03 2.09965089e+02] [ 9.47304196e-01 3.88150559e-02 -3.17975080e-01 1.29221871e+02] [ 3.17844732e-01 9.64872298e-03 9.48093681e-01 3.70223627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.25, Z:37.03 [[ 4.15215257e-02 -9.99132880e-01 -3.07408807e-03 2.09967221e+02] [ 9.46901462e-01 4.03323519e-02 -3.18984204e-01 1.29247113e+02] [ 3.18831592e-01 1.03338524e-02 9.47755046e-01 3.70294742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:129.27, Z:37.04 [[ 4.09457733e-02 -9.99156969e-01 -2.96556156e-03 2.09970856e+02] [ 9.46952722e-01 3.97529562e-02 -3.18904757e-01 1.29272440e+02] [ 3.18753801e-01 1.02495553e-02 9.47782127e-01 3.70380548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:129.30, Z:37.05 [[ 3.89598665e-02 -9.99236828e-01 -2.80898075e-03 2.09978152e+02] [ 9.47853710e-01 3.78460408e-02 -3.16450662e-01 1.29296953e+02] [ 3.16315465e-01 9.66637274e-03 9.48604811e-01 3.70490407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:129.32, Z:37.06 [[ 3.81792519e-02 -9.99267310e-01 -2.68102609e-03 2.09981505e+02] [ 9.47660196e-01 3.70583240e-02 -3.17122741e-01 1.29322980e+02] [ 3.16989743e-01 9.56680731e-03 9.48380714e-01 3.70569503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:129.35, Z:37.06 [[ 3.89194745e-02 -9.99239070e-01 -2.56026677e-03 2.09986153e+02] [ 9.46973442e-01 3.77013583e-02 -3.19092318e-01 1.29349709e+02] [ 3.18946037e-01 9.99440070e-03 9.47720179e-01 3.70622860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:129.38, Z:37.07 [[ 3.81515156e-02 -9.99269028e-01 -2.42300780e-03 2.09990154e+02] [ 9.47059053e-01 3.69314997e-02 -3.18928227e-01 1.29375938e+02] [ 3.18784585e-01 9.87286374e-03 9.47775773e-01 3.70703901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:129.40, Z:37.08 [[ 3.52629588e-02 -9.99375468e-01 -2.27985551e-03 2.09995746e+02] [ 9.47463293e-01 3.41567662e-02 -3.18035571e-01 1.29401317e+02] [ 3.17914820e-01 9.05479584e-03 9.48076040e-01 3.70796620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:129.43, Z:37.09 [[ 2.48355137e-02 -9.99689256e-01 -2.14200525e-03 2.10009473e+02] [ 9.47780627e-01 2.42273080e-02 -3.18001449e-01 1.29427095e+02] [ 3.17954527e-01 5.86757825e-03 9.48087807e-01 3.70890455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.02, Y:129.45, Z:37.10 [[ 1.29271777e-02 -9.99914388e-01 -2.02581359e-03 2.10022046e+02] [ 9.47084731e-01 1.28939647e-02 -3.20724582e-01 1.29452156e+02] [ 3.20723245e-01 2.22744655e-03 9.47170332e-01 3.70956057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.03, Y:129.48, Z:37.10 [[ 2.09221887e-03 -9.99995957e-01 -1.92579889e-03 2.10032306e+02] [ 9.46619459e-01 2.60131287e-03 -3.22342726e-01 1.29478502e+02] [ 3.22346432e-01 -1.14858717e-03 9.46621074e-01 3.71013522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:129.50, Z:37.11 [[-3.44957677e-03 -9.99992462e-01 -1.78224193e-03 2.10036224e+02] [ 9.46814224e-01 -2.69265766e-03 -3.21769443e-01 1.29504054e+02] [ 3.21762218e-01 -2.79742041e-03 9.46816376e-01 3.71095149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:129.53, Z:37.12 [[-1.37313338e-02 -9.99904381e-01 -1.63695997e-03 2.10043974e+02] [ 9.47010572e-01 -1.24795131e-02 -3.20959869e-01 1.29528673e+02] [ 3.20908751e-01 -5.95742549e-03 9.47091380e-01 3.71169897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0071056809999 meters Centerline goodness [0,1] 0.9999788422477996 Centerline is valid? [True, True] Translation: X:210.05, Y:129.55, Z:37.13 [[-1.78387181e-02 -9.99839727e-01 -1.51660230e-03 2.10046328e+02] [ 9.47231625e-01 -1.64145198e-02 -3.20129367e-01 1.29553882e+02] [ 3.20053165e-01 -7.14727120e-03 9.47372624e-01 3.71260054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.05, Y:129.58, Z:37.14 [[-2.33155862e-02 -9.99727231e-01 -1.35898129e-03 2.10045915e+02] [ 9.48347354e-01 -2.16870838e-02 -3.16491652e-01 1.29577879e+02] [ 3.16375851e-01 -8.66797470e-03 9.48594322e-01 3.71397235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:129.60, Z:37.15 [[-2.48639450e-02 -9.99690109e-01 -1.21269458e-03 2.10043946e+02] [ 9.48818744e-01 -2.32166134e-02 -3.14966632e-01 1.29603377e+02] [ 3.14840872e-01 -8.98194037e-03 9.49101970e-01 3.71504018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.0971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.03, Y:129.63, Z:37.16 [[-2.49180428e-02 -9.99688927e-01 -1.06787637e-03 2.10033549e+02] [ 9.49482687e-01 -2.33323154e-02 -3.12950843e-01 1.29627126e+02] [ 3.12828576e-01 -8.81205261e-03 9.49768724e-01 3.71607177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.02, Y:129.65, Z:37.17 [[-2.14063064e-02 -9.99770453e-01 -9.00905161e-04 2.10018167e+02] [ 9.50554022e-01 -2.00732590e-02 -3.09909850e-01 1.29652151e+02] [ 3.09820627e-01 -7.49038422e-03 9.50765520e-01 3.71710373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:129.68, Z:37.18 [[-1.86343365e-02 -9.99826077e-01 -7.60388852e-04 2.10010989e+02] [ 9.51249463e-01 -1.74948019e-02 -3.07925951e-01 1.29677611e+02] [ 3.07859092e-01 -6.46131526e-03 9.51410022e-01 3.71813703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.00, Y:129.70, Z:37.19 [[-1.16530227e-02 -9.99931906e-01 -6.25599996e-04 2.09995558e+02] [ 9.50758588e-01 -1.08861786e-02 -3.09741181e-01 1.29702685e+02] [ 3.09713278e-01 -4.20421558e-03 9.50820703e-01 3.71885693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:129.73, Z:37.19 [[-7.88034346e-03 -9.99968832e-01 -4.85197701e-04 2.09985167e+02] [ 9.50336727e-01 -7.33824555e-03 -3.11137038e-01 1.29729286e+02] [ 3.11123780e-01 -2.91296792e-03 9.50364934e-01 3.71946781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:129.75, Z:37.20 [[ 1.53496122e-03 -9.99998762e-01 -3.47211806e-04 2.09964741e+02] [ 9.50150106e-01 1.56670230e-03 -3.11788907e-01 1.29754337e+02] [ 3.11789065e-01 1.48680548e-04 9.50151334e-01 3.72012616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:129.78, Z:37.21 [[ 6.16645425e-03 -9.99980967e-01 -2.02275198e-04 2.09955303e+02] [ 9.50389068e-01 5.92355252e-03 -3.11007285e-01 1.29780194e+02] [ 3.11002563e-01 1.72557206e-03 9.50407506e-01 3.72103318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:129.81, Z:37.22 [[ 1.57747968e-02 -9.99875568e-01 -6.55976875e-05 2.09939521e+02] [ 9.49786949e-01 1.50050650e-02 -3.12537357e-01 1.29805443e+02] [ 3.12499451e-01 4.86790946e-03 9.49905467e-01 3.72166958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:129.83, Z:37.22 [[ 2.02041387e-02 -9.99795872e-01 7.91272729e-05 2.09932637e+02] [ 9.48831542e-01 1.91492920e-02 -3.15201537e-01 1.29832567e+02] [ 3.15135681e-01 6.44345404e-03 9.49024755e-01 3.72212065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:129.86, Z:37.23 [[ 2.61887132e-02 -9.99656993e-01 2.17230448e-04 2.09922048e+02] [ 9.48047033e-01 2.47677295e-02 -3.17164598e-01 1.29860660e+02] [ 3.17050428e-01 8.51207737e-03 9.48370482e-01 3.72257635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:129.89, Z:37.23 [[ 2.57763624e-02 -9.99667676e-01 3.41119568e-04 2.09921709e+02] [ 9.48058222e-01 2.43373892e-02 -3.17164467e-01 1.29885968e+02] [ 3.17050764e-01 8.49874747e-03 9.48370489e-01 3.72341438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:129.91, Z:37.24 [[ 2.71991993e-02 -9.99629920e-01 4.76040851e-04 2.09915650e+02] [ 9.48530890e-01 2.56585173e-02 -3.15643454e-01 1.29912753e+02] [ 3.15514427e-01 9.03678868e-03 9.48877749e-01 3.72429311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:129.94, Z:37.25 [[ 2.56122790e-02 -9.99671774e-01 5.96739600e-04 2.09914641e+02] [ 9.48835612e-01 2.41218777e-02 -3.14847766e-01 1.29938710e+02] [ 3.14730030e-01 8.63017660e-03 9.49141996e-01 3.72518296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:129.97, Z:37.26 [[ 1.96554208e-02 -9.99806538e-01 7.42520088e-04 2.09917163e+02] [ 9.47988910e-01 1.84007294e-02 -3.17771050e-01 1.29965696e+02] [ 3.17695911e-01 6.94982453e-03 9.48167184e-01 3.72555761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:129.99, Z:37.26 [[ 1.46591790e-02 -9.99892154e-01 8.88100073e-04 2.09922879e+02] [ 9.47222628e-01 1.36025255e-02 -3.20287782e-01 1.29992192e+02] [ 3.20241160e-01 5.53638443e-03 9.47319876e-01 3.72614838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:130.02, Z:37.27 [[ 2.71259721e-03 -9.99995791e-01 1.02916070e-03 2.09935310e+02] [ 9.47127699e-01 2.23898015e-03 -3.20849042e-01 1.30018856e+02] [ 3.20845388e-01 1.84508082e-03 9.47129787e-01 3.72681257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:130.04, Z:37.28 [[-3.72712966e-03 -9.99992369e-01 1.17083942e-03 2.09940577e+02] [ 9.47185147e-01 -3.90575706e-03 -3.20663440e-01 1.30044484e+02] [ 3.20665566e-01 -8.61525113e-05 9.47192476e-01 3.72761594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:130.07, Z:37.28 [[-1.35417552e-02 -9.99907445e-01 1.31259400e-03 2.09950919e+02] [ 9.47101485e-01 -1.32475399e-02 -3.20660693e-01 1.30069205e+02] [ 3.20648403e-01 -3.09914888e-03 9.47193221e-01 3.72839524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:130.09, Z:37.30 [[-2.24867932e-02 -9.99746141e-01 1.41339696e-03 2.09961639e+02] [ 9.47597118e-01 -2.17644313e-02 -3.18725607e-01 1.30092892e+02] [ 3.18675457e-01 -5.82778593e-03 9.47845974e-01 3.72952157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:130.12, Z:37.30 [[-2.72173594e-02 -9.99628388e-01 1.51673585e-03 2.09963878e+02] [ 9.47744042e-01 -2.62871002e-02 -3.17946881e-01 1.30118207e+02] [ 3.17868599e-01 -7.21619715e-03 9.48107315e-01 3.73045945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:130.14, Z:37.31 [[-3.12921083e-02 -9.99508904e-01 1.65991645e-03 2.09967211e+02] [ 9.47417226e-01 -3.01903143e-02 -3.18573611e-01 1.30144054e+02] [ 3.18467274e-01 -8.39620648e-03 9.47896671e-01 3.73118951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:130.17, Z:37.32 [[-3.91907145e-02 -9.99230131e-01 1.79827629e-03 2.09979029e+02] [ 9.47596005e-01 -3.77364920e-02 -3.17234565e-01 1.30168346e+02] [ 3.17058196e-01 -1.07286098e-02 9.48345400e-01 3.73209161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:130.19, Z:37.33 [[-4.34585990e-02 -9.99053400e-01 1.91136884e-03 2.09981478e+02] [ 9.47489765e-01 -4.18221460e-02 -3.17039514e-01 1.30193990e+02] [ 3.16819342e-01 -1.19670907e-02 9.48410403e-01 3.73303912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:130.22, Z:37.34 [[-5.00630345e-02 -9.98743973e-01 2.04174236e-03 2.09987126e+02] [ 9.47427665e-01 -4.81374267e-02 -3.16328324e-01 1.30218837e+02] [ 3.16029291e-01 -1.39019526e-02 9.48647576e-01 3.73397227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:130.24, Z:37.35 [[-5.16191907e-02 -9.98664460e-01 2.18067743e-03 2.09987096e+02] [ 9.47460297e-01 -4.96625424e-02 -3.15994649e-01 1.30243910e+02] [ 3.15680923e-01 -1.42452827e-02 9.48758466e-01 3.73485004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:130.27, Z:37.36 [[-5.02617732e-02 -9.98733396e-01 2.31451313e-03 2.09984097e+02] [ 9.47760995e-01 -4.84272149e-02 -3.15283842e-01 1.30269446e+02] [ 3.14996588e-01 -1.36531197e-02 9.48994595e-01 3.73582431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:130.29, Z:37.37 [[-4.77312692e-02 -9.98857244e-01 2.43551406e-03 2.09979679e+02] [ 9.48251868e-01 -4.60790580e-02 -3.14157786e-01 1.30294945e+02] [ 3.13911007e-01 -1.26856691e-02 9.49367660e-01 3.73688549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:130.32, Z:37.38 [[-3.78269818e-02 -9.99281092e-01 2.53332263e-03 2.09964123e+02] [ 9.49594299e-01 -3.67353738e-02 -3.11321666e-01 1.30318700e+02] [ 3.11190918e-01 -9.37073028e-03 9.50301217e-01 3.73826115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:130.34, Z:37.40 [[-2.54486718e-02 -9.99672626e-01 2.64699233e-03 2.09948056e+02] [ 9.50796621e-01 -2.50221036e-02 -3.08803626e-01 1.30341995e+02] [ 3.08768765e-01 -5.34189077e-03 9.51122134e-01 3.73962702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.94, Y:130.37, Z:37.40 [[-1.88989049e-02 -9.99817527e-01 2.78274470e-03 2.09935214e+02] [ 9.51147188e-01 -1.88366153e-02 -3.08162633e-01 1.30368070e+02] [ 3.08158819e-01 -3.17713648e-03 9.51329621e-01 3.74047735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:130.39, Z:37.41 [[-5.99755453e-03 -9.99977693e-01 2.93991350e-03 2.09916318e+02] [ 9.50345932e-01 -6.61458013e-03 -3.11125148e-01 1.30394374e+02] [ 3.11137654e-01 9.27944795e-04 9.50364403e-01 3.74086177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:130.42, Z:37.41 [[-9.05797449e-04 -9.99994906e-01 3.06048444e-03 2.09907823e+02] [ 9.49881724e-01 -1.81713010e-03 -3.12604235e-01 1.30420846e+02] [ 3.12608204e-01 2.62394212e-03 9.49878532e-01 3.74145459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:130.45, Z:37.42 [[ 9.82789858e-03 -9.99946524e-01 3.21882550e-03 2.09893065e+02] [ 9.48766104e-01 8.30809093e-03 -3.15869997e-01 1.30448533e+02] [ 3.15826363e-01 6.15825082e-03 9.48797020e-01 3.74177118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.48, Z:37.42 [[ 1.88420397e-02 -9.99816671e-01 3.40616495e-03 2.09882535e+02] [ 9.46992712e-01 1.67535870e-02 -3.20817893e-01 1.30476517e+02] [ 3.20702012e-01 9.27047685e-03 9.47134773e-01 3.74190260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.50, Z:37.43 [[ 2.11997347e-02 -9.99768928e-01 3.55828572e-03 2.09879519e+02] [ 9.46489428e-01 1.89232905e-02 -3.22179563e-01 1.30503642e+02] [ 3.22037782e-01 1.01980011e-02 9.46671890e-01 3.74252671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.53, Z:37.43 [[ 2.39494722e-02 -9.99706367e-01 3.68809814e-03 2.09879748e+02] [ 9.46325824e-01 2.14809012e-02 -3.22499622e-01 1.30530332e+02] [ 3.22325702e-01 1.12138382e-02 9.46562408e-01 3.74342202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.56, Z:37.44 [[ 2.88356279e-02 -9.99576839e-01 3.82737110e-03 2.09875457e+02] [ 9.45916751e-01 2.60495005e-02 -3.23361907e-01 1.30556393e+02] [ 3.23125372e-01 1.29447181e-02 9.46267630e-01 3.74412998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.58, Z:37.45 [[ 3.22953538e-02 -9.99470506e-01 3.96454593e-03 2.09876514e+02] [ 9.45837096e-01 2.92798359e-02 -3.23318540e-01 1.30582871e+02] [ 3.23031263e-01 1.41915012e-02 9.46281884e-01 3.74501930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.61, Z:37.46 [[ 3.88769885e-02 -9.99235733e-01 4.06575155e-03 2.09875148e+02] [ 9.46329572e-01 3.55114759e-02 -3.21246443e-01 1.30607208e+02] [ 3.20856544e-01 1.63366352e-02 9.46986902e-01 3.74605814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.63, Z:37.47 [[ 4.10930693e-02 -9.99146534e-01 4.19073846e-03 2.09876442e+02] [ 9.46726668e-01 3.75956414e-02 -3.19836182e-01 1.30632842e+02] [ 3.19405659e-01 1.71105343e-02 9.47463590e-01 3.74710621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:130.66, Z:37.48 [[ 4.36055640e-02 -9.99039685e-01 4.27341895e-03 2.09882691e+02] [ 9.47835517e-01 4.00179151e-02 -3.16237883e-01 1.30657824e+02] [ 3.15763182e-01 1.78402295e-02 9.48670301e-01 3.74828185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3271056809999 meters Centerline goodness [0,1] 0.9999789340636192 Centerline is valid? [True, True] Translation: X:209.89, Y:130.68, Z:37.49 [[ 4.29343308e-02 -9.99068284e-01 4.38248450e-03 2.09887038e+02] [ 9.48399772e-01 3.93767691e-02 -3.14622540e-01 1.30681854e+02] [ 3.14156834e-01 1.76644555e-02 9.49206748e-01 3.74924474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:130.71, Z:37.50 [[ 3.80874138e-02 -9.99264329e-01 4.48873715e-03 2.09899892e+02] [ 9.48578854e-01 3.47421892e-02 -3.14628570e-01 1.30706875e+02] [ 3.14241159e-01 1.62413097e-02 9.49204253e-01 3.75010169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:130.73, Z:37.51 [[ 3.38739053e-02 -9.99415176e-01 4.67605357e-03 2.09913364e+02] [ 9.47593742e-01 3.06295997e-02 -3.18006175e-01 1.30733837e+02] [ 3.17676972e-01 1.52031102e-02 9.48077110e-01 3.75061747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:130.76, Z:37.51 [[ 3.27735167e-02 -9.99451176e-01 4.82110951e-03 2.09920614e+02] [ 9.47390681e-01 2.95289729e-02 -3.18714508e-01 1.30760114e+02] [ 3.18397227e-01 1.50128695e-02 9.47838499e-01 3.75139306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:130.79, Z:37.52 [[ 3.49290526e-02 -9.99377340e-01 4.98931952e-03 2.09929405e+02] [ 9.46688646e-01 3.14869299e-02 -3.20607517e-01 1.30786904e+02] [ 3.20250789e-01 1.59218490e-02 9.47198990e-01 3.75220307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:130.81, Z:37.53 [[ 3.66365956e-02 -9.99315502e-01 5.12710643e-03 2.09931559e+02] [ 9.46383338e-01 3.30472837e-02 -3.21350985e-01 1.30813535e+02] [ 3.20961584e-01 1.66254142e-02 9.46946280e-01 3.75302019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5071056809999 meters Centerline goodness [0,1] 0.9999789385004212 Centerline is valid? [True, True] Translation: X:209.93, Y:130.84, Z:37.54 [[ 4.09835277e-02 -9.99145952e-01 5.26468116e-03 2.09932004e+02] [ 9.45987549e-01 3.71059882e-02 -3.22072512e-01 1.30839113e+02] [ 3.21602096e-01 1.81799906e-02 9.46700364e-01 3.75381610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53710568099996 meters Centerline goodness [0,1] 0.999978935394856 Centerline is valid? [True, True] Translation: X:209.93, Y:130.86, Z:37.55 [[ 4.23992336e-02 -9.99086214e-01 5.38899835e-03 2.09934850e+02] [ 9.46161921e-01 3.84195934e-02 -3.21405592e-01 1.30864400e+02] [ 3.20904853e-01 1.87262158e-02 9.46926293e-01 3.75478182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56710568099993 meters Centerline goodness [0,1] 0.99989457926585 Centerline is valid? [True, True] Translation: X:209.94, Y:130.89, Z:37.56 [[ 4.41784545e-02 -9.99008195e-01 5.55791330e-03 2.09942384e+02] [ 9.45466687e-01 4.00123357e-02 -3.23251847e-01 1.30891703e+02] [ 3.22708859e-01 1.95355889e-02 9.46296652e-01 3.75556672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.5971056809999 meters Centerline goodness [0,1] 0.999894583711075 Centerline is valid? [True, True] Translation: X:209.95, Y:130.92, Z:37.56 [[ 4.34539855e-02 -9.99039150e-01 5.70333832e-03 2.09947435e+02] [ 9.45087991e-01 3.92551107e-02 -3.24449880e-01 1.30918439e+02] [ 3.23914247e-01 1.94887969e-02 9.45885695e-01 3.75628720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:130.95, Z:37.57 [[ 4.20468912e-02 -9.99098344e-01 5.87860181e-03 2.09957854e+02] [ 9.44457081e-01 3.78265177e-02 -3.26450574e-01 1.30945383e+02] [ 3.25933861e-01 1.92783189e-02 9.45195993e-01 3.75697422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:130.97, Z:37.58 [[ 3.73394391e-02 -9.99284489e-01 6.02293017e-03 2.09966081e+02] [ 9.44294961e-01 3.33113105e-02 -3.27410114e-01 1.30972294e+02] [ 3.26975217e-01 1.79127326e-02 9.44863134e-01 3.75756670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68710568099993 meters Centerline goodness [0,1] 0.9998312022618897 Centerline is valid? [True, True] Translation: X:209.97, Y:131.00, Z:37.58 [[ 3.29643610e-02 -9.99437635e-01 6.14524250e-03 2.09967954e+02] [ 9.44030925e-01 2.91166118e-02 -3.28569377e-01 1.30997907e+02] [ 3.28205673e-01 1.66323785e-02 9.44459846e-01 3.75812406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7171056809999 meters Centerline goodness [0,1] 0.9999790242060662 Centerline is valid? [True, True] Translation: X:209.98, Y:131.02, Z:37.59 [[ 2.18516062e-02 -9.99741186e-01 6.33000824e-03 2.09984637e+02] [ 9.43016925e-01 1.85082083e-02 -3.32229628e-01 1.31024209e+02] [ 3.32026485e-01 1.32290559e-02 9.43177293e-01 3.75851301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74710568099994 meters Centerline goodness [0,1] 0.9999577318933999 Centerline is valid? [True, True] Translation: X:209.99, Y:131.05, Z:37.59 [[ 1.59042022e-02 -9.99852450e-01 6.49110997e-03 2.09994530e+02] [ 9.42891418e-01 1.28372458e-02 -3.32852790e-01 1.31049853e+02] [ 3.32720350e-01 1.14141699e-02 9.42956460e-01 3.75931245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7771056809999 meters Centerline goodness [0,1] 0.9998308489269478 Centerline is valid? [True, True] Translation: X:210.01, Y:131.07, Z:37.61 [[ 4.09763507e-03 -9.99969649e-01 6.62647489e-03 2.10012581e+02] [ 9.43191229e-01 1.66328282e-03 -3.32246203e-01 1.31074480e+02] [ 3.32225098e-01 7.61145669e-03 9.43169418e-01 3.76061537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80710568099994 meters Centerline goodness [0,1] 0.9996203492786636 Centerline is valid? [True, True] Translation: X:210.02, Y:131.10, Z:37.62 [[-2.33167627e-03 -9.99974502e-01 6.74969572e-03 2.10019095e+02] [ 9.43546915e-01 -4.43572047e-03 -3.31209214e-01 1.31100148e+02] [ 3.31230709e-01 5.59638191e-03 9.43533199e-01 3.76160276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8371056809999 meters Centerline goodness [0,1] 0.9998523175594421 Centerline is valid? [True, True] Translation: X:210.03, Y:131.12, Z:37.63 [[-1.42913789e-02 -9.99874529e-01 6.83244455e-03 2.10032708e+02] [ 9.44431368e-01 -1.57425084e-02 -3.28331485e-01 1.31124813e+02] [ 3.28397848e-01 1.76046531e-03 9.44537852e-01 3.76283273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:131.15, Z:37.64 [[-2.04016154e-02 -9.99767610e-01 6.96419801e-03 2.10038103e+02] [ 9.44579164e-01 -2.15572488e-02 -3.27575163e-01 1.31149910e+02] [ 3.27649167e-01 -1.04826171e-04 9.44799456e-01 3.76380150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8971056809999 meters Centerline goodness [0,1] 0.9999577943317788 Centerline is valid? [True, True] Translation: X:210.05, Y:131.18, Z:37.65 [[-3.15364698e-02 -9.99477195e-01 7.12652173e-03 2.10051508e+02] [ 9.44205234e-01 -3.21296768e-02 -3.27786759e-01 1.31176026e+02] [ 3.27844364e-01 -3.60833811e-03 9.44724856e-01 3.76459338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.06, Y:131.20, Z:37.66 [[-4.24625414e-02 -9.99071915e-01 7.22781331e-03 2.10062552e+02] [ 9.44421565e-01 -4.24980916e-02 -3.25978249e-01 1.31199899e+02] [ 3.25982882e-01 -7.01576215e-03 9.45349639e-01 3.76572289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.9571056809999 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:210.07, Y:131.22, Z:37.67 [[-4.76155185e-02 -9.98838532e-01 7.37217606e-03 2.10066201e+02] [ 9.44249396e-01 -4.74178424e-02 -3.25798445e-01 1.31224782e+02] [ 3.25769613e-01 -8.55188910e-03 9.45410506e-01 3.76652114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98710568099995 meters Centerline goodness [0,1] 0.9999156705247402 Centerline is valid? [True, True] Translation: X:210.07, Y:131.25, Z:37.67 [[-5.66871273e-02 -9.98363501e-01 7.54245245e-03 2.10070261e+02] [ 9.43429183e-01 -5.60369026e-02 -3.26804594e-01 1.31251315e+02] [ 3.26692434e-01 -1.14098439e-02 9.45061833e-01 3.76723021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.07, Y:131.28, Z:37.68 [[-6.02399568e-02 -9.98154368e-01 7.68153300e-03 2.10071830e+02] [ 9.43218000e-01 -5.94395401e-02 -3.26813013e-01 1.31276151e+02] [ 3.26666423e-01 -1.24418416e-02 9.45057802e-01 3.76799685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04710568099995 meters Centerline goodness [0,1] 0.9999577774024658 Centerline is valid? [True, True] Translation: X:210.07, Y:131.30, Z:37.69 [[-6.87218935e-02 -9.97604997e-01 7.84670957e-03 2.10068359e+02] [ 9.42391401e-01 -6.74954074e-02 -3.27632137e-01 1.31300927e+02] [ 3.27377074e-01 -1.51208292e-02 9.44772783e-01 3.76902470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.07, Y:131.33, Z:37.70 [[-7.88179357e-02 -9.96856902e-01 8.00306027e-03 2.10065226e+02] [ 9.41602260e-01 -7.70807108e-02 -3.27786132e-01 1.31326235e+02] [ 3.27372750e-01 -1.82997267e-02 9.44718054e-01 3.76990019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10710568099995 meters Centerline goodness [0,1] 0.9998941193909747 Centerline is valid? [True, True] Translation: X:210.06, Y:131.35, Z:37.71 [[-8.37989013e-02 -9.96449211e-01 8.16788479e-03 2.10061429e+02] [ 9.41100440e-01 -8.18334355e-02 -3.28075070e-01 1.31352290e+02] [ 3.27578550e-01 -1.98055304e-02 9.44616342e-01 3.77071369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1371056809999 meters Centerline goodness [0,1] 0.9998948652172085 Centerline is valid? [True, True] Translation: X:210.06, Y:131.38, Z:37.71 [[-8.79992154e-02 -9.96085985e-01 8.29753951e-03 2.10059016e+02] [ 9.40959686e-01 -8.58567879e-02 -3.27449969e-01 1.31376756e+02] [ 3.26880725e-01 -2.10076902e-02 9.44832085e-01 3.77141571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16710568099995 meters Centerline goodness [0,1] 0.9910132792015562 Centerline is valid? [True, True] Translation: X:210.06, Y:131.40, Z:37.72 [[-9.56453630e-02 -9.95380249e-01 8.37398981e-03 2.10060464e+02] [ 9.40858286e-01 -9.31468269e-02 -3.25744309e-01 1.31401765e+02] [ 3.25019462e-01 -2.32771950e-02 9.45420817e-01 3.77219626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.1971056809999 meters Centerline goodness [0,1] 0.9968534200578633 Centerline is valid? [True, True] Translation: X:210.04, Y:131.43, Z:37.73 [[-1.01827325e-01 -9.94766330e-01 8.43475278e-03 2.10037140e+02] [ 9.40902885e-01 -9.90597959e-02 -3.23865586e-01 1.31425653e+02] [ 3.23006125e-01 -2.50420829e-02 9.46065504e-01 3.77334759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22710568099995 meters Centerline goodness [0,1] 0.9944281463033705 Centerline is valid? [True, True] Translation: X:210.03, Y:131.45, Z:37.74 [[-1.04237392e-01 -9.94515633e-01 8.55698538e-03 2.10031795e+02] [ 9.40557672e-01 -1.01371007e-01 -3.24153027e-01 1.31450660e+02] [ 3.23242683e-01 -2.57405279e-02 9.45965958e-01 3.77406794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.2571056809999 meters Centerline goodness [0,1] 0.9987160057253516 Centerline is valid? [True, True] Translation: X:210.01, Y:131.48, Z:37.75 [[-1.09167993e-01 -9.93985027e-01 8.72436196e-03 2.10012699e+02] [ 9.39297674e-01 -1.06025834e-01 -3.26310285e-01 1.31476717e+02] [ 3.25272546e-01 -2.74278662e-02 9.45222452e-01 3.77467596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28710568099996 meters Centerline goodness [0,1] 0.99894289519863 Centerline is valid? [True, True] Translation: X:210.00, Y:131.50, Z:37.75 [[-1.11665321e-01 -9.93706199e-01 8.87952438e-03 2.09999238e+02] [ 9.38878694e-01 -1.08423777e-01 -3.26727843e-01 1.31502565e+02] [ 3.25634234e-01 -2.81473733e-02 9.45076754e-01 3.77547917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31710568099993 meters Centerline goodness [0,1] 0.99894289519863 Centerline is valid? [True, True] Translation: X:210.00, Y:131.53, Z:37.76 [[-1.12082544e-01 -9.93657916e-01 9.02491194e-03 2.09998236e+02] [ 9.38828982e-01 -1.08865428e-01 -3.26723831e-01 1.31527995e+02] [ 3.25634222e-01 -2.81471894e-02 9.45076764e-01 3.77632005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3471056809999 meters Centerline goodness [0,1] 0.9966118815631642 Centerline is valid? [True, True] Translation: X:209.98, Y:131.55, Z:37.77 [[-1.15545856e-01 -9.93259951e-01 9.15562525e-03 2.09982197e+02] [ 9.38602513e-01 -1.12194832e-01 -3.26247825e-01 1.31552711e+02] [ 3.25076112e-01 -2.91030913e-02 9.45239933e-01 3.77698368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37710568099993 meters Centerline goodness [0,1] 0.9935957051065268 Centerline is valid? [True, True] Translation: X:209.97, Y:131.58, Z:37.78 [[-1.17271499e-01 -9.93057175e-01 9.21104786e-03 2.09967849e+02] [ 9.39150342e-01 -1.13911452e-01 -3.24069154e-01 1.31576619e+02] [ 3.22868443e-01 -2.93535166e-02 9.45988552e-01 3.77816852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4071056809999 meters Centerline goodness [0,1] 0.9963462797524762 Centerline is valid? [True, True] Translation: X:209.95, Y:131.60, Z:37.79 [[-1.17054671e-01 -9.93081515e-01 9.34391979e-03 2.09954802e+02] [ 9.39332435e-01 -1.13763949e-01 -3.23592863e-01 1.31601975e+02] [ 3.22417091e-01 -2.91010092e-02 9.46150279e-01 3.77917547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43710568099993 meters Centerline goodness [0,1] 0.9975691024539491 Centerline is valid? [True, True] Translation: X:209.93, Y:131.63, Z:37.80 [[-1.10945308e-01 -9.93781462e-01 9.46278001e-03 2.09929761e+02] [ 9.40180544e-01 -1.08037805e-01 -3.23091901e-01 1.31626372e+02] [ 3.22105080e-01 -2.69488089e-02 9.46320284e-01 3.77994818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.4671056809999 meters Centerline goodness [0,1] 0.9998733535967579 Centerline is valid? [True, True] Translation: X:209.90, Y:131.65, Z:37.81 [[-1.00331375e-01 -9.94908130e-01 9.56177508e-03 2.09901225e+02] [ 9.41769615e-01 -9.80638357e-02 -3.21641845e-01 1.31651586e+02] [ 3.20941751e-01 -2.32657794e-02 9.46813126e-01 3.78082179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49710568099994 meters Centerline goodness [0,1] 0.9999578112475214 Centerline is valid? [True, True] Translation: X:209.89, Y:131.68, Z:37.82 [[-9.46764525e-02 -9.95461305e-01 9.65190411e-03 2.09887973e+02] [ 9.42423124e-01 -9.27474304e-02 -3.21304482e-01 1.31675785e+02] [ 3.20741368e-01 -2.13237909e-02 9.46926750e-01 3.78168812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5271056809999 meters Centerline goodness [0,1] 0.9998524700725004 Centerline is valid? [True, True] Translation: X:209.85, Y:131.70, Z:37.83 [[-8.14613925e-02 -9.96628527e-01 9.77859633e-03 2.09853199e+02] [ 9.43801990e-01 -8.02892433e-02 -3.20611043e-01 1.31700343e+02] [ 3.20315228e-01 -1.68883633e-02 9.47160461e-01 3.78256977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55710568099994 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:209.84, Y:131.73, Z:37.83 [[-7.34485249e-02 -9.97248952e-01 9.99212928e-03 2.09836031e+02] [ 9.43621570e-01 -7.27345324e-02 -3.22936558e-01 1.31726697e+02] [ 3.22774917e-01 -1.42904251e-02 9.46367865e-01 3.78316898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5871056809999 meters Centerline goodness [0,1] 0.9998098457637862 Centerline is valid? [True, True] Translation: X:209.80, Y:131.75, Z:37.83 [[-5.61508739e-02 -9.98369788e-01 1.02394159e-02 2.09804432e+02] [ 9.43189239e-01 -5.64055774e-02 -3.27433153e-01 1.31753812e+02] [ 3.27476927e-01 -8.72795073e-03 9.44818864e-01 3.78336804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61710568099994 meters Centerline goodness [0,1] 0.999894392227268 Centerline is valid? [True, True] Translation: X:209.79, Y:131.78, Z:37.84 [[-5.04483379e-02 -9.98672863e-01 1.03671160e-02 2.09793255e+02] [ 9.43204614e-01 -5.10540321e-02 -3.28265963e-01 1.31779717e+02] [ 3.28359592e-01 -6.78216056e-03 9.44528443e-01 3.78408499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.6471056809999 meters Centerline goodness [0,1] 0.999915481648953 Centerline is valid? [True, True] Translation: X:209.77, Y:131.80, Z:37.85 [[-4.60975663e-02 -9.98882080e-01 1.04692277e-02 2.09774072e+02] [ 9.43704012e-01 -4.69829995e-02 -3.27437528e-01 1.31804443e+02] [ 3.27563355e-01 -5.21422092e-03 9.44814829e-01 3.78525345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67710568099994 meters Centerline goodness [0,1] 0.9998943743794495 Centerline is valid? [True, True] Translation: X:209.76, Y:131.83, Z:37.86 [[-4.76740878e-02 -9.98806868e-01 1.05840545e-02 2.09763151e+02] [ 9.43811123e-01 -4.85131998e-02 -3.26905237e-01 1.31829612e+02] [ 3.27028662e-01 -5.59556055e-03 9.44997854e-01 3.78593826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7071056809999 meters Centerline goodness [0,1] 0.9998107733064211 Centerline is valid? [True, True] Translation: X:209.76, Y:131.86, Z:37.87 [[-4.99527741e-02 -9.98693626e-01 1.07592711e-02 2.09759581e+02] [ 9.43457424e-01 -5.07192107e-02 -3.27590677e-01 1.31855368e+02] [ 3.27708423e-01 -6.21314892e-03 9.44758480e-01 3.78660930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73710568099995 meters Centerline goodness [0,1] 0.999412455934195 Centerline is valid? [True, True] Translation: X:209.76, Y:131.88, Z:37.87 [[-5.26387532e-02 -9.98553723e-01 1.09373140e-02 2.09758259e+02] [ 9.42979137e-01 -5.33078570e-02 -3.28555353e-01 1.31880610e+02] [ 3.28663215e-01 -6.98108521e-03 9.44421387e-01 3.78712963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.7671056809999 meters Centerline goodness [0,1] 0.9993250511484677 Centerline is valid? [True, True] Translation: X:209.76, Y:131.91, Z:37.88 [[-5.86163313e-02 -9.98218849e-01 1.11019913e-02 2.09756957e+02] [ 9.42145906e-01 -5.89935480e-02 -3.29970989e-01 1.31907508e+02] [ 3.30038207e-01 -8.88199320e-03 9.43925788e-01 3.78776562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79710568099995 meters Centerline goodness [0,1] 0.9995137523519587 Centerline is valid? [True, True] Translation: X:209.75, Y:131.93, Z:37.89 [[-6.02528441e-02 -9.98120274e-01 1.12032406e-02 2.09754920e+02] [ 9.42394790e-01 -6.05813846e-02 -3.28971057e-01 1.31933261e+02] [ 3.29031390e-01 -9.26356630e-03 9.44273547e-01 3.78870986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8271056809999 meters Centerline goodness [0,1] 0.9995983765959245 Centerline is valid? [True, True] Translation: X:209.75, Y:131.96, Z:37.90 [[-5.90103027e-02 -9.98193460e-01 1.12960423e-02 2.09748184e+02] [ 9.42970733e-01 -5.94521103e-02 -3.27523501e-01 1.31957578e+02] [ 3.27603390e-01 -8.67542362e-03 9.44775505e-01 3.78977220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85710568099995 meters Centerline goodness [0,1] 0.9992815636555732 Centerline is valid? [True, True] Translation: X:209.74, Y:131.98, Z:37.91 [[-5.57270435e-02 -9.98381373e-01 1.13635492e-02 2.09736360e+02] [ 9.43713417e-01 -5.63852654e-02 -3.25922826e-01 1.31982955e+02] [ 3.26036015e-01 -7.43878165e-03 9.45328081e-01 3.79092824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.8871056809999 meters Centerline goodness [0,1] 0.9989867432238453 Centerline is valid? [True, True] Translation: X:209.73, Y:132.01, Z:37.92 [[-5.43103051e-02 -9.98458399e-01 1.14549562e-02 2.09732366e+02] [ 9.44138524e-01 -5.50832288e-02 -3.24912734e-01 1.32008711e+02] [ 3.25042824e-01 -6.83104434e-03 9.45674626e-01 3.79188132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91710568099995 meters Centerline goodness [0,1] 0.9991968890016062 Centerline is valid? [True, True] Translation: X:209.73, Y:132.03, Z:37.93 [[-5.43473712e-02 -9.98454937e-01 1.15802468e-02 2.09729556e+02] [ 9.44131771e-01 -5.51589520e-02 -3.24919513e-01 1.32033666e+02] [ 3.25056246e-01 -6.72524244e-03 9.45670772e-01 3.79258374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9471056809999 meters Centerline goodness [0,1] 0.99917528389266 Centerline is valid? [True, True] Translation: X:209.73, Y:132.06, Z:37.93 [[-5.53208439e-02 -9.98399089e-01 1.17840356e-02 2.09726262e+02] [ 9.43523858e-01 -5.61340598e-02 -3.26514467e-01 1.32060498e+02] [ 3.26653232e-01 -6.94453709e-03 9.45118744e-01 3.79322217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97710568099995 meters Centerline goodness [0,1] 0.9990067834576615 Centerline is valid? [True, True] Translation: X:209.73, Y:132.09, Z:37.93 [[-5.78158884e-02 -9.98255358e-01 1.19818306e-02 2.09725647e+02] [ 9.42702136e-01 -5.85408406e-02 -3.28459516e-01 1.32087654e+02] [ 3.28587898e-01 -7.69488138e-03 9.44442048e-01 3.79340733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0071056809999 meters Centerline goodness [0,1] 0.9993464878994857 Centerline is valid? [True, True] Translation: X:209.72, Y:132.11, Z:37.94 [[-5.87504449e-02 -9.98198854e-01 1.21422050e-02 2.09723841e+02] [ 9.42117344e-01 -5.94634569e-02 -3.29968193e-01 1.32114574e+02] [ 3.30095889e-01 -7.94639625e-03 9.43913957e-01 3.79421391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03710568099996 meters Centerline goodness [0,1] 0.9991336685965432 Centerline is valid? [True, True] Translation: X:209.71, Y:132.14, Z:37.96 [[-5.66544764e-02 -9.98319381e-01 1.21935952e-02 2.09713982e+02] [ 9.42930355e-01 -5.75172056e-02 -3.27984933e-01 1.32139032e+02] [ 3.28135057e-01 -7.08410364e-03 9.44604256e-01 3.79558356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06710568099993 meters Centerline goodness [0,1] 0.9992432841468029 Centerline is valid? [True, True] Translation: X:209.70, Y:132.16, Z:37.97 [[-4.82352270e-02 -9.98761887e-01 1.21678128e-02 2.09698020e+02] [ 9.44753923e-01 -4.95742903e-02 -3.24009899e-01 1.32160532e+02] [ 3.24211949e-01 -4.13310212e-03 9.45975438e-01 3.79723564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.0971056809999 meters Centerline goodness [0,1] 0.9992391258401319 Centerline is valid? [True, True] Translation: X:209.69, Y:132.19, Z:37.98 [[-4.31908885e-02 -9.98991524e-01 1.22671518e-02 2.09691348e+02] [ 9.45296506e-01 -4.48371300e-02 -3.23116305e-01 1.32185796e+02] [ 3.23340474e-01 -2.35958453e-03 9.46279753e-01 3.79825282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12710568099993 meters Centerline goodness [0,1] 0.9992598858109537 Centerline is valid? [True, True] Translation: X:209.68, Y:132.21, Z:37.99 [[-3.39779340e-02 -9.99345692e-01 1.23971068e-02 2.09684599e+02] [ 9.45698326e-01 -3.61611477e-02 -3.23027936e-01 1.32211613e+02] [ 3.23264870e-01 7.48101261e-04 9.46308229e-01 3.79894890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.1571056809999 meters Centerline goodness [0,1] 0.9996210925165772 Centerline is valid? [True, True] Translation: X:209.68, Y:132.24, Z:38.00 [[-3.04131554e-02 -9.99459033e-01 1.25172689e-02 2.09679525e+02] [ 9.45987401e-01 -3.28255057e-02 -3.22537321e-01 1.32236108e+02] [ 3.22773724e-01 2.03180106e-03 9.46473980e-01 3.79985899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18710568099993 meters Centerline goodness [0,1] 0.9994760228034876 Centerline is valid? [True, True] Translation: X:209.67, Y:132.26, Z:38.01 [[-2.27499781e-02 -9.99661391e-01 1.26310119e-02 2.09666993e+02] [ 9.46480044e-01 -2.56050365e-02 -3.21745098e-01 1.32261717e+02] [ 3.21959569e-01 4.63530682e-03 9.46742071e-01 3.80097003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2171056809999 meters Centerline goodness [0,1] 0.9992859543010753 Centerline is valid? [True, True] Translation: X:209.66, Y:132.29, Z:38.02 [[-1.92890904e-02 -9.99731934e-01 1.28058881e-02 2.09662721e+02] [ 9.46115325e-01 -2.23927095e-02 -3.23054731e-01 1.32288622e+02] [ 3.23254889e-01 5.88441512e-03 9.46293638e-01 3.80173018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24710568099994 meters Centerline goodness [0,1] 0.9997690337210767 Centerline is valid? [True, True] Translation: X:209.66, Y:132.31, Z:38.02 [[-1.29131656e-02 -9.99831916e-01 1.30149546e-02 2.09656703e+02] [ 9.45543279e-01 -1.64436324e-02 -3.25080780e-01 1.32314584e+02] [ 3.25240153e-01 8.10838093e-03 9.45596688e-01 3.80223395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2771056809999 meters Centerline goodness [0,1] 0.9996834908845375 Centerline is valid? [True, True] Translation: X:209.65, Y:132.34, Z:38.03 [[-1.09373096e-02 -9.99854172e-01 1.31152950e-02 2.09654774e+02] [ 9.45621112e-01 -1.46063924e-02 -3.24942095e-01 1.32340792e+02] [ 3.25086277e-01 8.84810758e-03 9.45642968e-01 3.80305944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30710568099994 meters Centerline goodness [0,1] 0.9997679961192079 Centerline is valid? [True, True] Translation: X:209.66, Y:132.37, Z:38.04 [[-8.54551624e-03 -9.99875414e-01 1.32714049e-02 2.09656262e+02] [ 9.45379710e-01 -1.24032655e-02 -3.25735112e-01 1.32367828e+02] [ 3.25859138e-01 9.76294219e-03 9.45367921e-01 3.80383708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3371056809999 meters Centerline goodness [0,1] 0.999788802297831 Centerline is valid? [True, True] Translation: X:209.67, Y:132.39, Z:38.05 [[-9.83829361e-03 -9.99861577e-01 1.34177016e-02 2.09665806e+02] [ 9.45187948e-01 -1.36783232e-02 -3.26240167e-01 1.32393238e+02] [ 3.26378540e-01 9.47260332e-03 9.45191683e-01 3.80481950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36710568099994 meters Centerline goodness [0,1] 0.999812049702412 Centerline is valid? [True, True] Translation: X:209.67, Y:132.42, Z:38.06 [[-1.25525203e-02 -9.99828894e-01 1.35873571e-02 2.09667404e+02] [ 9.44962119e-01 -1.63044308e-02 -3.26773253e-01 1.32419262e+02] [ 3.26938875e-01 8.73770989e-03 9.45005092e-01 3.80569081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3971056809999 meters Centerline goodness [0,1] 0.9998098015596272 Centerline is valid? [True, True] Translation: X:209.68, Y:132.45, Z:38.07 [[-2.13912430e-02 -9.99676451e-01 1.37625701e-02 2.09679926e+02] [ 9.44419586e-01 -2.47218383e-02 -3.27811647e-01 1.32445132e+02] [ 3.28045820e-01 5.98534213e-03 9.44642851e-01 3.80661919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42710568099994 meters Centerline goodness [0,1] 0.9999155191349159 Centerline is valid? [True, True] Translation: X:209.69, Y:132.47, Z:38.08 [[-2.59913472e-02 -9.99565980e-01 1.38672574e-02 2.09687895e+02] [ 9.44587189e-01 -2.90978781e-02 -3.26968432e-01 1.32471679e+02] [ 3.27230029e-01 4.60048368e-03 9.44933513e-01 3.80753766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.4571056809999 meters Centerline goodness [0,1] 0.9996621550286112 Centerline is valid? [True, True] Translation: X:209.70, Y:132.50, Z:38.09 [[-3.33089453e-02 -9.99347751e-01 1.39494012e-02 2.09702245e+02] [ 9.44720554e-01 -3.60371231e-02 -3.25890167e-01 1.32498196e+02] [ 3.26180302e-01 2.32322833e-03 9.45304720e-01 3.80850731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48710568099995 meters Centerline goodness [0,1] 0.9997465199298705 Centerline is valid? [True, True] Translation: X:209.71, Y:132.52, Z:38.09 [[-3.61574731e-02 -9.99246999e-01 1.40738148e-02 2.09706201e+02] [ 9.44661783e-01 -3.87702772e-02 -3.25746806e-01 1.32524388e+02] [ 3.26047164e-01 1.51681365e-03 9.45352287e-01 3.80935340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5171056809999 meters Centerline goodness [0,1] 0.9998731420597501 Centerline is valid? [True, True] Translation: X:209.71, Y:132.55, Z:38.10 [[-3.83004626e-02 -9.99165577e-01 1.41853324e-02 2.09713285e+02] [ 9.44826018e-01 -4.08318298e-02 -3.25017779e-01 1.32548868e+02] [ 3.25325790e-01 9.54339868e-04 9.45601512e-01 3.81024989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:132.57, Z:38.11 [[-3.86920617e-02 -9.99149256e-01 1.42719506e-02 2.09714481e+02] [ 9.45004790e-01 -4.12297555e-02 -3.24447304e-01 1.32574617e+02] [ 3.24759712e-01 9.33526556e-04 9.45796097e-01 3.81127743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:132.60, Z:38.12 [[-3.73363853e-02 -9.99199249e-01 1.43824813e-02 2.09716960e+02] [ 9.45232873e-01 -3.99826355e-02 -3.23938582e-01 1.32599872e+02] [ 3.24254237e-01 1.50009844e-03 9.45968784e-01 3.81220323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:132.62, Z:38.13 [[-3.51217373e-02 -9.99276937e-01 1.45625180e-02 2.09721580e+02] [ 9.45015758e-01 -3.79481666e-02 -3.24815569e-01 1.32624689e+02] [ 3.25133328e-01 2.35372191e-03 9.45665258e-01 3.81297563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:132.65, Z:38.14 [[-3.37792448e-02 -9.99321301e-01 1.46935136e-02 2.09722532e+02] [ 9.45182991e-01 -3.67200932e-02 -3.24469950e-01 1.32650285e+02] [ 3.24789280e-01 2.92770925e-03 9.45781873e-01 3.81394346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:132.68, Z:38.15 [[-3.15573653e-02 -9.99392064e-01 1.48201240e-02 2.09723777e+02] [ 9.45353780e-01 -3.46586147e-02 -3.24199029e-01 1.32675251e+02] [ 3.24515582e-01 3.77939310e-03 9.45872800e-01 3.81491548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.6971056809999 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:209.72, Y:132.70, Z:38.16 [[-3.10315686e-02 -9.99406720e-01 1.49415525e-02 2.09724385e+02] [ 9.45498971e-01 -3.41990423e-02 -3.23824212e-01 1.32700204e+02] [ 3.24143081e-01 4.07844927e-03 9.45999276e-01 3.81587650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:132.72, Z:38.17 [[-2.92396889e-02 -9.99459543e-01 1.50220913e-02 2.09726869e+02] [ 9.46019946e-01 -3.25231175e-02 -3.22472492e-01 1.32724064e+02] [ 3.22786775e-01 4.78220269e-03 9.46459629e-01 3.81689643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:132.75, Z:38.18 [[-2.74573499e-02 -9.99508015e-01 1.51598561e-02 2.09727298e+02] [ 9.46156340e-01 -3.08791566e-02 -3.22233857e-01 1.32748723e+02] [ 3.22543447e-01 5.49590616e-03 9.46538705e-01 3.81771562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78710568099996 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:209.73, Y:132.77, Z:38.19 [[-2.12399796e-02 -9.99657502e-01 1.52886343e-02 2.09730796e+02] [ 9.46161802e-01 -2.50390450e-02 -3.22724171e-01 1.32774982e+02] [ 3.22996451e-01 7.61086696e-03 9.46369572e-01 3.81866715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81710568099993 meters Centerline goodness [0,1] 0.9999789455954186 Centerline is valid? [True, True] Translation: X:209.73, Y:132.80, Z:38.20 [[-1.25770159e-02 -9.99803259e-01 1.53382273e-02 2.09728398e+02] [ 9.46912255e-01 -1.68369951e-02 -3.21050926e-01 1.32799955e+02] [ 3.21246012e-01 1.04860928e-02 9.46937718e-01 3.81977265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8471056809999 meters Centerline goodness [0,1] 0.9999575956747588 Centerline is valid? [True, True] Translation: X:209.72, Y:132.82, Z:38.21 [[-8.06081754e-03 -9.99848429e-01 1.54318473e-02 2.09724575e+02] [ 9.47290737e-01 -1.25780135e-02 -3.20128184e-01 1.32824555e+02] [ 3.20273764e-01 1.20379511e-02 9.47248544e-01 3.82069970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87710568099993 meters Centerline goodness [0,1] 0.999915690076722 Centerline is valid? [True, True] Translation: X:209.72, Y:132.85, Z:38.21 [[-7.15708183e-04 -9.99877779e-01 1.56177849e-02 2.09723823e+02] [ 9.46788691e-01 -5.70420717e-03 -3.21805276e-01 1.32850740e+02] [ 3.21855032e-01 1.45564235e-02 9.46677056e-01 3.82131989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9071056809999 meters Centerline goodness [0,1] 0.9998742639200319 Centerline is valid? [True, True] Translation: X:209.72, Y:132.88, Z:38.22 [[ 1.28449378e-03 -9.99874552e-01 1.57870373e-02 2.09715529e+02] [ 9.46333214e-01 -3.88681291e-03 -3.23169215e-01 1.32876940e+02] [ 3.23190035e-01 1.53549066e-02 9.46209505e-01 3.82185811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93710568099993 meters Centerline goodness [0,1] 0.999978980998823 Centerline is valid? [True, True] Translation: X:209.73, Y:132.90, Z:38.23 [[ 2.61979621e-03 -9.99869074e-01 1.59678309e-02 2.09731998e+02] [ 9.46006144e-01 -2.69778216e-03 -3.24137466e-01 1.32904823e+02] [ 3.24138106e-01 1.59548403e-02 9.45875220e-01 3.82265355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.9671056809999 meters Centerline goodness [0,1] 0.9999575416622439 Centerline is valid? [True, True] Translation: X:209.74, Y:132.93, Z:38.23 [[ 2.62238044e-03 -9.99865916e-01 1.61639218e-02 2.09736368e+02] [ 9.45548891e-01 -2.78162678e-03 -3.25468212e-01 1.32931605e+02] [ 3.25469534e-01 1.61372798e-02 9.45414814e-01 3.82341438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:132.96, Z:38.24 [[ 2.12756310e-03 -9.99864184e-01 1.63428077e-02 2.09739438e+02] [ 9.45228313e-01 -3.32359653e-03 -3.26392999e-01 1.32957974e+02] [ 3.26402986e-01 1.61421063e-02 9.45092865e-01 3.82413042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0271056809999 meters Centerline goodness [0,1] 0.9999577952224192 Centerline is valid? [True, True] Translation: X:209.74, Y:132.99, Z:38.25 [[ 2.57422225e-03 -9.99858871e-01 1.66015610e-02 2.09743296e+02] [ 9.44456710e-01 -3.02482243e-03 -3.28621930e-01 1.32985054e+02] [ 3.28625768e-01 1.65254016e-02 9.44315633e-01 3.82457597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05710568099994 meters Centerline goodness [0,1] 0.9997696962083621 Centerline is valid? [True, True] Translation: X:209.75, Y:133.01, Z:38.25 [[ 4.46313511e-03 -9.99849952e-01 1.67377761e-02 2.09750279e+02] [ 9.44199363e-01 -1.29905940e-03 -3.29371941e-01 1.33011095e+02] [ 3.29344263e-01 1.72738290e-02 9.44051890e-01 3.82538102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0871056809999 meters Centerline goodness [0,1] 0.9999576988155668 Centerline is valid? [True, True] Translation: X:209.76, Y:133.04, Z:38.27 [[ 6.12257063e-03 -9.99839659e-01 1.68276493e-02 2.09755145e+02] [ 9.44547168e-01 2.57307386e-04 -3.28375671e-01 1.33036732e+02] [ 3.28318689e-01 1.79050117e-02 9.44397294e-01 3.82651918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11710568099994 meters Centerline goodness [0,1] 0.9996432543596416 Centerline is valid? [True, True] Translation: X:209.76, Y:133.06, Z:38.28 [[ 1.17660057e-02 -9.99787416e-01 1.69317223e-02 2.09759608e+02] [ 9.44696082e-01 5.56457228e-03 -3.27899907e-01 1.33062430e+02] [ 3.27735983e-01 1.98534039e-02 9.44560727e-01 3.82755429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.1471056809999 meters Centerline goodness [0,1] 0.9994517775060093 Centerline is valid? [True, True] Translation: X:209.76, Y:133.09, Z:38.28 [[ 1.44841863e-02 -9.99747794e-01 1.71626433e-02 2.09761352e+02] [ 9.44075480e-01 8.01883285e-03 -3.29631895e-01 1.33088776e+02] [ 3.29411135e-01 2.09772805e-02 9.43953525e-01 3.82827380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17710568099994 meters Centerline goodness [0,1] 0.9976341860121248 Centerline is valid? [True, True] Translation: X:209.77, Y:133.12, Z:38.29 [[ 1.91408085e-02 -9.99663342e-01 1.75166268e-02 2.09767301e+02] [ 9.42598547e-01 1.22008174e-02 -3.33705139e-01 1.33117375e+02] [ 3.33379078e-01 2.28985331e-02 9.42514747e-01 3.82857627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2071056809999 meters Centerline goodness [0,1] 0.9976341860121248 Centerline is valid? [True, True] Translation: X:209.77, Y:133.14, Z:38.29 [[ 1.87307896e-02 -9.99668626e-01 1.76577113e-02 2.09765657e+02] [ 9.42606699e-01 1.17673298e-02 -3.33697679e-01 1.33142675e+02] [ 3.33379316e-01 2.28946980e-02 9.42514756e-01 3.82941614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23710568099995 meters Centerline goodness [0,1] 0.989843552863992 Centerline is valid? [True, True] Translation: X:209.77, Y:133.17, Z:38.30 [[ 2.09684375e-02 -9.99619895e-01 1.78994691e-02 2.09774591e+02] [ 9.41941139e-01 1.37510543e-02 -3.35496347e-01 1.33168490e+02] [ 3.35122686e-01 2.38950804e-02 9.41871440e-01 3.83015288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.2671056809999 meters Centerline goodness [0,1] 0.9974712885891898 Centerline is valid? [True, True] Translation: X:209.78, Y:133.19, Z:38.31 [[ 2.02846965e-02 -9.99631488e-01 1.80393671e-02 2.09783844e+02] [ 9.41948988e-01 1.30597194e-02 -3.35501935e-01 1.33193710e+02] [ 3.35142710e-01 2.37977185e-02 9.41866781e-01 3.83126689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29710568099995 meters Centerline goodness [0,1] 0.9931932896307621 Centerline is valid? [True, True] Translation: X:209.79, Y:133.22, Z:38.32 [[ 1.69638261e-02 -9.99690624e-01 1.81902269e-02 2.09791914e+02] [ 9.41987350e-01 9.87989167e-03 -3.35502935e-01 1.33219558e+02] [ 3.35219421e-01 2.28263771e-02 9.41863523e-01 3.83209217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3271056809999 meters Centerline goodness [0,1] 0.9984287270594151 Centerline is valid? [True, True] Translation: X:209.80, Y:133.25, Z:38.33 [[ 1.49354021e-02 -9.99719467e-01 1.83826085e-02 2.09799630e+02] [ 9.41700219e-01 7.88369535e-03 -3.36360737e-01 1.33246881e+02] [ 3.36121454e-01 2.23345893e-02 9.41553787e-01 3.83302245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35710568099995 meters Centerline goodness [0,1] 0.9990776841487444 Centerline is valid? [True, True] Translation: X:209.81, Y:133.27, Z:38.34 [[ 1.17478983e-02 -9.99760632e-01 1.84571190e-02 2.09813185e+02] [ 9.41801222e-01 4.86126252e-03 -3.36135131e-01 1.33273054e+02] [ 3.35964946e-01 2.13318185e-02 9.41632895e-01 3.83402739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.3871056809999 meters Centerline goodness [0,1] 0.9978756520275955 Centerline is valid? [True, True] Translation: X:209.82, Y:133.30, Z:38.35 [[ 1.01671547e-02 -9.99774787e-01 1.86280477e-02 2.09816423e+02] [ 9.41648565e-01 3.30477596e-03 -3.36581430e-01 1.33299361e+02] [ 3.36444066e-01 2.09631499e-02 9.41470093e-01 3.83490329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41710568099995 meters Centerline goodness [0,1] 0.9992678436950883 Centerline is valid? [True, True] Translation: X:209.83, Y:133.33, Z:38.36 [[ 8.28643838e-03 -9.99788260e-01 1.88353204e-02 2.09827843e+02] [ 9.41168229e-01 1.43411539e-03 -3.37935361e-01 1.33326258e+02] [ 3.37836795e-01 2.05274857e-02 9.40980830e-01 3.83592098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4471056809999 meters Centerline goodness [0,1] 0.9993055409415181 Centerline is valid? [True, True] Translation: X:209.83, Y:133.35, Z:38.37 [[ 7.64125786e-03 -9.99791517e-01 1.89349775e-02 2.09830945e+02] [ 9.41382602e-01 8.05993526e-04 -3.37339811e-01 1.33351657e+02] [ 3.37254220e-01 2.04027588e-02 9.41192498e-01 3.83690243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47710568099995 meters Centerline goodness [0,1] 0.9994535289419479 Centerline is valid? [True, True] Translation: X:209.84, Y:133.38, Z:38.38 [[ 6.79774489e-03 -9.99797333e-01 1.89494825e-02 2.09839114e+02] [ 9.42221697e-01 5.71080201e-05 -3.34989955e-01 1.33376368e+02] [ 3.34920981e-01 2.01317898e-02 9.42031129e-01 3.83821136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5071056809999 meters Centerline goodness [0,1] 0.9996864876162609 Centerline is valid? [True, True] Translation: X:209.85, Y:133.40, Z:38.39 [[ 2.56791097e-03 -9.99813001e-01 1.91668874e-02 2.09849978e+02] [ 9.41772309e-01 -4.02679369e-03 -3.36227160e-01 1.33402230e+02] [ 3.36241467e-01 1.89142452e-02 9.41585858e-01 3.83918012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53710568099996 meters Centerline goodness [0,1] 0.99983197866129 Centerline is valid? [True, True] Translation: X:209.85, Y:133.43, Z:38.40 [[-7.53943181e-04 -9.99812767e-01 1.93355382e-02 2.09854172e+02] [ 9.41624015e-01 -7.21941044e-03 -3.36588910e-01 1.33427495e+02] [ 3.36665481e-01 1.79530382e-02 9.41453155e-01 3.83997861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56710568099993 meters Centerline goodness [0,1] 0.999895591889578 Centerline is valid? [True, True] Translation: X:209.87, Y:133.45, Z:38.41 [[-9.11192605e-03 -9.99769686e-01 1.94306102e-02 2.09865614e+02] [ 9.41858291e-01 -1.51079061e-02 -3.35670539e-01 1.33453150e+02] [ 3.35886785e-01 1.52422762e-02 9.41779030e-01 3.84066349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.5971056809999 meters Centerline goodness [0,1] 0.9996847746138489 Centerline is valid? [True, True] Translation: X:209.88, Y:133.48, Z:38.41 [[-1.81180525e-02 -9.99643817e-01 1.95952700e-02 2.09880296e+02] [ 9.41569319e-01 -2.36515988e-02 -3.35987827e-01 1.33478794e+02] [ 3.36331613e-01 1.23628599e-02 9.41662469e-01 3.84142728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62710568099993 meters Centerline goodness [0,1] 0.9991585324806462 Centerline is valid? [True, True] Translation: X:209.89, Y:133.50, Z:38.42 [[-2.44295990e-02 -9.99507453e-01 1.96988866e-02 2.09888564e+02] [ 9.41698600e-01 -2.96220136e-02 -3.35151135e-01 1.33504832e+02] [ 3.35569578e-01 1.03628060e-02 9.41958423e-01 3.84248719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.6571056809999 meters Centerline goodness [0,1] 0.9990100886707808 Centerline is valid? [True, True] Translation: X:209.90, Y:133.53, Z:38.44 [[-3.67280243e-02 -9.99131705e-01 1.96694963e-02 2.09903096e+02] [ 9.42304437e-01 -4.11792321e-02 -3.32214719e-01 1.33529195e+02] [ 3.32736233e-01 6.33306338e-03 9.42998670e-01 3.84356498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68710568099993 meters Centerline goodness [0,1] 0.9993108201240524 Centerline is valid? [True, True] Translation: X:209.91, Y:133.55, Z:38.45 [[-4.43936405e-02 -9.98819462e-01 1.97201986e-02 2.09912992e+02] [ 9.42561011e-01 -4.84185237e-02 -3.30506258e-01 1.33554542e+02] [ 3.31070906e-01 3.91511430e-03 9.43597757e-01 3.84480229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7171056809999 meters Centerline goodness [0,1] 0.9990397662039453 Centerline is valid? [True, True] Translation: X:209.93, Y:133.58, Z:38.46 [[-6.16597287e-02 -9.97899715e-01 1.98553898e-02 2.09933223e+02] [ 9.41612345e-01 -6.47560496e-02 -3.30413144e-01 1.33580460e+02] [ 3.31004939e-01 -1.67710467e-03 9.43627531e-01 3.84561948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74710568099994 meters Centerline goodness [0,1] 0.9995570741584409 Centerline is valid? [True, True] Translation: X:209.95, Y:133.61, Z:38.47 [[-7.83869636e-02 -9.96721335e-01 2.00515383e-02 2.09949580e+02] [ 9.40063846e-01 -8.05968143e-02 -3.31336868e-01 1.33606933e+02] [ 3.31866615e-01 -7.12276476e-03 9.43299431e-01 3.84655013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7771056809999 meters Centerline goodness [0,1] 0.9995816162165554 Centerline is valid? [True, True] Translation: X:209.96, Y:133.63, Z:38.47 [[-8.52365942e-02 -9.96156736e-01 2.01613732e-02 2.09957398e+02] [ 9.39703558e-01 -8.70994997e-02 -3.30712715e-01 1.33632723e+02] [ 3.31197744e-01 -9.24311130e-03 9.43516094e-01 3.84719058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80710568099994 meters Centerline goodness [0,1] 0.9998737878373546 Centerline is valid? [True, True] Translation: X:209.97, Y:133.66, Z:38.48 [[-9.55281150e-02 -9.95219707e-01 2.03005905e-02 2.09966145e+02] [ 9.38792190e-01 -9.68551721e-02 -3.30587810e-01 1.33658283e+02] [ 3.30973721e-01 -1.25223946e-02 9.43556880e-01 3.84819931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8371056809999 meters Centerline goodness [0,1] 0.9999790360789081 Centerline is valid? [True, True] Translation: X:209.97, Y:133.68, Z:38.49 [[-9.91177671e-02 -9.94865758e-01 2.04399333e-02 2.09967192e+02] [ 9.38455523e-01 -1.00288328e-01 -3.30520019e-01 1.33682946e+02] [ 3.30872936e-01 -1.35784380e-02 9.43577621e-01 3.84901978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86710568099994 meters Centerline goodness [0,1] 0.9999159734476094 Centerline is valid? [True, True] Translation: X:209.96, Y:133.71, Z:38.50 [[-1.03393428e-01 -9.94427941e-01 2.05637994e-02 2.09959933e+02] [ 9.38124695e-01 -1.04367557e-01 -3.30196109e-01 1.33707078e+02] [ 3.30502430e-01 -1.48486996e-02 9.43688328e-01 3.85019154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8971056809999 meters Centerline goodness [0,1] 0.9999156776356009 Centerline is valid? [True, True] Translation: X:209.95, Y:133.73, Z:38.51 [[-1.05279246e-01 -9.94226592e-01 2.07307769e-02 2.09952883e+02] [ 9.37821702e-01 -1.06197250e-01 -3.30473295e-01 1.33732311e+02] [ 3.30766889e-01 -1.53502067e-02 9.43587641e-01 3.85122000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:133.76, Z:38.52 [[-1.09244418e-01 -9.93794931e-01 2.09115301e-02 2.09946616e+02] [ 9.37212559e-01 -1.09988627e-01 -3.30960907e-01 1.33756297e+02] [ 3.31207302e-01 -1.65570831e-02 9.43412734e-01 3.85206461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.9571056809999 meters Centerline goodness [0,1] 0.9999580422514528 Centerline is valid? [True, True] Translation: X:209.95, Y:133.78, Z:38.53 [[-1.09536153e-01 -9.93759091e-01 2.10878938e-02 2.09946079e+02] [ 9.36907867e-01 -1.10308906e-01 -3.31716136e-01 1.33781201e+02] [ 3.31972108e-01 -1.65774960e-02 9.43143523e-01 3.85259946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:133.81, Z:38.53 [[-1.04695237e-01 -9.94275009e-01 2.13568057e-02 2.09923224e+02] [ 9.36890355e-01 -1.05810398e-01 -3.33227584e-01 1.33805269e+02] [ 3.33579631e-01 -1.48783555e-02 9.42604511e-01 3.85346245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0171056809999 meters Centerline goodness [0,1] 0.9997679863322858 Centerline is valid? [True, True] Translation: X:209.90, Y:133.83, Z:38.54 [[-9.64313151e-02 -9.95106176e-01 2.15569043e-02 2.09902297e+02] [ 9.37466228e-01 -9.80804920e-02 -3.33971989e-01 1.33829977e+02] [ 3.34451900e-01 -1.19964883e-02 9.42336464e-01 3.85424708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04710568099995 meters Centerline goodness [0,1] 0.9999368487527629 Centerline is valid? [True, True] Translation: X:209.89, Y:133.85, Z:38.55 [[-9.19696880e-02 -9.95525510e-01 2.16918518e-02 2.09890636e+02] [ 9.37987686e-01 -9.39253207e-02 -3.33702164e-01 1.33854932e+02] [ 3.34246431e-01 -1.03437941e-02 9.42428952e-01 3.85525559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0771056809999 meters Centerline goodness [0,1] 0.9996417507849873 Centerline is valid? [True, True] Translation: X:209.87, Y:133.88, Z:38.56 [[-8.61576360e-02 -9.96046285e-01 2.16485331e-02 2.09870178e+02] [ 9.39515215e-01 -8.84593677e-02 -3.30886840e-01 1.33878280e+02] [ 3.31493624e-01 -8.16930173e-03 9.43422090e-01 3.85644391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10710568099995 meters Centerline goodness [0,1] 0.9997902376607304 Centerline is valid? [True, True] Translation: X:209.86, Y:133.90, Z:38.57 [[-8.54934698e-02 -9.96101313e-01 2.17494986e-02 2.09859672e+02] [ 9.39828001e-01 -8.78724312e-02 -3.30154153e-01 1.33902696e+02] [ 3.30778167e-01 -7.78523633e-03 9.43676425e-01 3.85748639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1371056809999 meters Centerline goodness [0,1] 0.9998946192593842 Centerline is valid? [True, True] Translation: X:209.84, Y:133.93, Z:38.58 [[-8.50219983e-02 -9.96137717e-01 2.19296121e-02 2.09844061e+02] [ 9.39684339e-01 -8.74831034e-02 -3.30666071e-01 1.33927224e+02] [ 3.31307416e-01 -7.50697708e-03 9.43493000e-01 3.85837306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16710568099995 meters Centerline goodness [0,1] 0.9999157593243898 Centerline is valid? [True, True] Translation: X:209.84, Y:133.95, Z:38.59 [[-8.72336728e-02 -9.95942306e-01 2.21180754e-02 2.09840397e+02] [ 9.39291491e-01 -8.96272006e-02 -3.31207577e-01 1.33952327e+02] [ 3.31846019e-01 -8.11713335e-03 9.43298644e-01 3.85900495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.1971056809999 meters Centerline goodness [0,1] 0.9996429471561791 Centerline is valid? [True, True] Translation: X:209.84, Y:133.98, Z:38.60 [[-9.68464149e-02 -9.95049963e-01 2.22787504e-02 2.09837198e+02] [ 9.38352618e-01 -9.87452932e-02 -3.31275915e-01 1.33978762e+02] [ 3.31836008e-01 -1.11775609e-02 9.43270866e-01 3.85952705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22710568099995 meters Centerline goodness [0,1] 0.999957845038361 Centerline is valid? [True, True] Translation: X:209.83, Y:134.00, Z:38.61 [[-1.04542974e-01 -9.94267738e-01 2.24150096e-02 2.09834200e+02] [ 9.37462859e-01 -1.06044475e-01 -3.31538772e-01 1.34003900e+02] [ 3.32015293e-01 -1.36468104e-02 9.43175280e-01 3.86055332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.2571056809999 meters Centerline goodness [0,1] 0.9999581834908422 Centerline is valid? [True, True] Translation: X:209.83, Y:134.03, Z:38.61 [[-1.18473861e-01 -9.92698438e-01 2.26661610e-02 2.09833855e+02] [ 9.35344684e-01 -1.19233159e-01 -3.33037199e-01 1.34028701e+02] [ 3.33308065e-01 -1.82555294e-02 9.42641220e-01 3.86123039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28710568099996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:134.05, Z:38.62 [[-1.28393692e-01 -9.91460973e-01 2.28078718e-02 2.09821898e+02] [ 9.34193079e-01 -1.28632708e-01 -3.32771569e-01 1.34052518e+02] [ 3.32863862e-01 -2.14188143e-02 9.42731608e-01 3.86234633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31710568099993 meters Centerline goodness [0,1] 0.9998534246288502 Centerline is valid? [True, True] Translation: X:209.81, Y:134.08, Z:38.64 [[-1.35120722e-01 -9.90568317e-01 2.27332248e-02 2.09810530e+02] [ 9.34465294e-01 -1.35028791e-01 -3.29456887e-01 1.34075676e+02] [ 3.29419194e-01 -2.32730428e-02 9.43896901e-01 3.86355148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3471056809999 meters Centerline goodness [0,1] 0.999728277908994 Centerline is valid? [True, True] Translation: X:209.80, Y:134.10, Z:38.64 [[-1.37096662e-01 -9.90294543e-01 2.28303357e-02 2.09801563e+02] [ 9.34290341e-01 -1.36932078e-01 -3.29167380e-01 1.34100910e+02] [ 3.29098866e-01 -2.37975871e-02 9.43995557e-01 3.86442952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37710568099993 meters Centerline goodness [0,1] 0.9994958512761265 Centerline is valid? [True, True] Translation: X:209.79, Y:134.13, Z:38.65 [[-1.39720754e-01 -9.89924794e-01 2.29567622e-02 2.09785427e+02] [ 9.34002682e-01 -1.39455637e-01 -3.28924178e-01 1.34125642e+02] [ 3.28811649e-01 -2.45158567e-02 9.44077260e-01 3.86531421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4071056809999 meters Centerline goodness [0,1] 0.9994744697399677 Centerline is valid? [True, True] Translation: X:209.77, Y:134.15, Z:38.66 [[-1.41041015e-01 -9.89732736e-01 2.31634270e-02 2.09774613e+02] [ 9.33494625e-01 -1.40745766e-01 -3.29815729e-01 1.34150932e+02] [ 3.29689578e-01 -2.48946104e-02 9.43761114e-01 3.86604510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43710568099993 meters Centerline goodness [0,1] 0.9978864102456787 Centerline is valid? [True, True] Translation: X:209.76, Y:134.18, Z:38.67 [[-1.42235519e-01 -9.89554460e-01 2.34739809e-02 2.09757660e+02] [ 9.32494711e-01 -1.41912781e-01 -3.32136081e-01 1.34176395e+02] [ 3.31997999e-01 -2.53521848e-02 9.42939338e-01 3.86676428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.4671056809999 meters Centerline goodness [0,1] 0.9972964981202214 Centerline is valid? [True, True] Translation: X:209.75, Y:134.20, Z:38.68 [[-1.42128473e-01 -9.89568083e-01 2.35479709e-02 2.09747972e+02] [ 9.32860947e-01 -1.41863383e-01 -3.31127217e-01 1.34200418e+02] [ 3.31013520e-01 -2.50956234e-02 9.43292245e-01 3.86773799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49710568099994 meters Centerline goodness [0,1] 0.999514972585407 Centerline is valid? [True, True] Translation: X:209.73, Y:134.22, Z:38.69 [[-1.37983960e-01 -9.90155291e-01 2.35143927e-02 2.09728208e+02] [ 9.34345125e-01 -1.38009225e-01 -3.28561472e-01 1.34223050e+02] [ 3.28572083e-01 -2.33656549e-02 9.44189829e-01 3.86911810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5271056809999 meters Centerline goodness [0,1] 0.9998327514477453 Centerline is valid? [True, True] Translation: X:209.71, Y:134.25, Z:38.70 [[-1.33591673e-01 -9.90753833e-01 2.36665982e-02 2.09714064e+02] [ 9.34893494e-01 -1.33911300e-01 -3.28697307e-01 1.34247147e+02] [ 3.28827342e-01 -2.17854746e-02 9.44138746e-01 3.87009461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:134.27, Z:38.71 [[-1.19029527e-01 -9.92603761e-01 2.38693483e-02 2.09683346e+02] [ 9.36308640e-01 -1.20213478e-01 -3.29961894e-01 1.34270690e+02] [ 3.30390834e-01 -1.69261312e-02 9.43692430e-01 3.87094271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:134.29, Z:38.71 [[-9.93484621e-02 -9.94758981e-01 2.41754419e-02 2.09649769e+02] [ 9.37728743e-01 -1.01724678e-01 -3.32139872e-01 1.34294045e+02] [ 3.32858360e-01 -1.03275788e-02 9.42920280e-01 3.87149366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61710568099994 meters Centerline goodness [0,1] 0.9997883911378208 Centerline is valid? [True, True] Translation: X:209.63, Y:134.32, Z:38.72 [[-8.95479087e-02 -9.95685647e-01 2.43159481e-02 2.09631821e+02] [ 9.38741587e-01 -9.25336490e-02 -3.31966499e-01 1.34318685e+02] [ 3.32784322e-01 -6.90051403e-03 9.42977719e-01 3.87233919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.6471056809999 meters Centerline goodness [0,1] 0.9998734070385686 Centerline is valid? [True, True] Translation: X:209.60, Y:134.34, Z:38.73 [[-7.29233141e-02 -9.97038629e-01 2.44164492e-02 2.09601183e+02] [ 9.40354014e-01 -7.68928979e-02 -3.31393739e-01 1.34341372e+02] [ 3.32289811e-01 -1.20622368e-03 9.43176562e-01 3.87347394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67710568099994 meters Centerline goodness [0,1] 0.9998732706727215 Centerline is valid? [True, True] Translation: X:209.59, Y:134.37, Z:38.74 [[-6.77112028e-02 -9.97401623e-01 2.46007024e-02 2.09588601e+02] [ 9.40568069e-01 -7.20385788e-02 -3.31876710e-01 1.34365527e+02] [ 3.32786569e-01 6.66863909e-04 9.43001938e-01 3.87413729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7071056809999 meters Centerline goodness [0,1] 0.9997042420145343 Centerline is valid? [True, True] Translation: X:209.57, Y:134.39, Z:38.75 [[-6.12385116e-02 -9.97815696e-01 2.47725766e-02 2.09573933e+02] [ 9.40927456e-01 -6.59924940e-02 -3.32115210e-01 1.34390520e+02] [ 3.33024574e-01 2.97095631e-03 9.42913467e-01 3.87485655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73710568099995 meters Centerline goodness [0,1] 0.9993238389046191 Centerline is valid? [True, True] Translation: X:209.57, Y:134.42, Z:38.76 [[-6.01666281e-02 -9.97876120e-01 2.49644843e-02 2.09568213e+02] [ 9.40775198e-01 -6.50479161e-02 -3.32732319e-01 1.34416678e+02] [ 3.33649523e-01 3.46658600e-03 9.42690818e-01 3.87558240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.7671056809999 meters Centerline goodness [0,1] 0.99932716568545 Centerline is valid? [True, True] Translation: X:209.56, Y:134.44, Z:38.76 [[-5.98887578e-02 -9.97885020e-01 2.52749670e-02 2.09559848e+02] [ 9.40020417e-01 -6.48981917e-02 -3.34887802e-01 1.34442741e+02] [ 3.35819821e-01 3.70297055e-03 9.41918965e-01 3.87582942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79710568099995 meters Centerline goodness [0,1] 0.9995135981051474 Centerline is valid? [True, True] Translation: X:209.56, Y:134.47, Z:38.77 [[-6.04175994e-02 -9.97846299e-01 2.55436429e-02 2.09557382e+02] [ 9.39442450e-01 -6.54925493e-02 -3.36390560e-01 1.34468275e+02] [ 3.37338993e-01 3.67287241e-03 9.41376075e-01 3.87662057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8271056809999 meters Centerline goodness [0,1] 0.9992249036366684 Centerline is valid? [True, True] Translation: X:209.56, Y:134.50, Z:38.77 [[-6.00047647e-02 -9.97863481e-01 2.58438000e-02 2.09555047e+02] [ 9.38743306e-01 -6.52136997e-02 -3.38390572e-01 1.34495037e+02] [ 3.39352964e-01 3.95564756e-03 9.40650795e-01 3.87722365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85710568099995 meters Centerline goodness [0,1] 0.9994711680839362 Centerline is valid? [True, True] Translation: X:209.55, Y:134.52, Z:38.78 [[-6.19252875e-02 -9.97740165e-01 2.60733810e-02 2.09554744e+02] [ 9.38229229e-01 -6.71022449e-02 -3.39445434e-01 1.34519716e+02] [ 3.40427926e-01 3.44255203e-03 9.40264312e-01 3.87811408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.8871056809999 meters Centerline goodness [0,1] 0.9995984275267362 Centerline is valid? [True, True] Translation: X:209.56, Y:134.54, Z:38.79 [[-6.43762347e-02 -9.97579724e-01 2.62753561e-02 2.09556012e+02] [ 9.37836658e-01 -6.94775316e-02 -3.40051871e-01 1.34544203e+02] [ 3.41054398e-01 2.75073313e-03 9.40039537e-01 3.87924286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91710568099995 meters Centerline goodness [0,1] 0.9992682263898471 Centerline is valid? [True, True] Translation: X:209.56, Y:134.57, Z:38.80 [[-7.04945374e-02 -9.97160982e-01 2.64669065e-02 2.09561562e+02] [ 9.37229051e-01 -7.52949678e-02 -3.40488435e-01 1.34570824e+02] [ 3.41514607e-01 8.02978910e-04 9.39876124e-01 3.87975437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9471056809999 meters Centerline goodness [0,1] 0.9993062417222024 Centerline is valid? [True, True] Translation: X:209.57, Y:134.60, Z:38.81 [[-7.50375664e-02 -9.96825270e-01 2.66222457e-02 2.09565239e+02] [ 9.36905452e-01 -7.96179655e-02 -3.40395583e-01 1.34595595e+02] [ 3.41434528e-01 -5.99929031e-04 9.39905369e-01 3.88081158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97710568099995 meters Centerline goodness [0,1] 0.9998326009625444 Centerline is valid? [True, True] Translation: X:209.57, Y:134.62, Z:38.82 [[-8.41822105e-02 -9.96093574e-01 2.66635903e-02 2.09574823e+02] [ 9.36669347e-01 -8.82323469e-02 -3.38918260e-01 1.34619209e+02] [ 3.39946892e-01 -3.55592053e-03 9.40437912e-01 3.88195964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0071056809999 meters Centerline goodness [0,1] 0.9997252805308425 Centerline is valid? [True, True] Translation: X:209.59, Y:134.65, Z:38.83 [[-9.39159174e-02 -9.95224329e-01 2.66145598e-02 2.09587260e+02] [ 9.36564645e-01 -9.73843701e-02 -3.36694150e-01 1.34645858e+02] [ 3.37678052e-01 -6.69468428e-03 9.41237863e-01 3.88296596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03710568099996 meters Centerline goodness [0,1] 0.9998523611667686 Centerline is valid? [True, True] Translation: X:209.59, Y:134.67, Z:38.84 [[-9.89729811e-02 -9.94732094e-01 2.66910217e-02 2.09589391e+02] [ 9.36333903e-01 -1.02175926e-01 -3.35915021e-01 1.34670676e+02] [ 3.36872632e-01 -8.25480254e-03 9.41514040e-01 3.88436009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06710568099993 meters Centerline goodness [0,1] 0.9999367328862457 Centerline is valid? [True, True] Translation: X:209.60, Y:134.70, Z:38.85 [[-1.02731350e-01 -9.94348638e-01 2.67778903e-02 2.09597475e+02] [ 9.36164417e-01 -1.05749177e-01 -3.35280920e-01 1.34697718e+02] [ 3.36217866e-01 -9.37535358e-03 9.41737569e-01 3.88495814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.0971056809999 meters Centerline goodness [0,1] 0.9998101385988228 Centerline is valid? [True, True] Translation: X:209.60, Y:134.72, Z:38.86 [[-1.07227174e-01 -9.93868605e-01 2.69727360e-02 2.09596189e+02] [ 9.35443404e-01 -1.10040115e-01 -3.35911911e-01 1.34722107e+02] [ 3.36820385e-01 -1.07874169e-02 9.41507121e-01 3.88615592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12710568099993 meters Centerline goodness [0,1] 0.9998101385988228 Centerline is valid? [True, True] Translation: X:209.59, Y:134.75, Z:38.87 [[-1.07631433e-01 -9.93820956e-01 2.71179438e-02 2.09593843e+02] [ 9.35396985e-01 -1.10469637e-01 -3.35900193e-01 1.34747288e+02] [ 3.36820360e-01 -1.07873764e-02 9.41507131e-01 3.88699429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.1571056809999 meters Centerline goodness [0,1] 0.9997675745346208 Centerline is valid? [True, True] Translation: X:209.59, Y:134.77, Z:38.88 [[-1.10854932e-01 -9.93460642e-01 2.73337924e-02 2.09590934e+02] [ 9.34722428e-01 -1.13565740e-01 -3.36744422e-01 1.34772154e+02] [ 3.37646512e-01 -1.17802711e-02 9.41199266e-01 3.88787223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18710568099993 meters Centerline goodness [0,1] 0.9998316781686585 Centerline is valid? [True, True] Translation: X:209.59, Y:134.80, Z:38.89 [[-1.13371409e-01 -9.93172045e-01 2.74993241e-02 2.09592366e+02] [ 9.34394508e-01 -1.15988149e-01 -3.36828818e-01 1.34797518e+02] [ 3.37718562e-01 -1.24915404e-02 9.41164244e-01 3.88864701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2171056809999 meters Centerline goodness [0,1] 0.9999366674407313 Centerline is valid? [True, True] Translation: X:209.59, Y:134.82, Z:38.90 [[-1.20359336e-01 -9.92350131e-01 2.74744994e-02 2.09591807e+02] [ 9.34335595e-01 -1.22588076e-01 -3.34647814e-01 1.34822140e+02] [ 3.35455848e-01 -1.46075860e-02 9.41942669e-01 3.89003749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24710568099994 meters Centerline goodness [0,1] 0.9999789096277549 Centerline is valid? [True, True] Translation: X:209.59, Y:134.85, Z:38.91 [[-1.24353584e-01 -9.91856332e-01 2.75173233e-02 2.09589848e+02] [ 9.34235781e-01 -1.26382172e-01 -3.33513197e-01 1.34847915e+02] [ 3.34274876e-01 -1.57658933e-02 9.42343751e-01 3.89119214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2771056809999 meters Centerline goodness [0,1] 0.9999789633120162 Centerline is valid? [True, True] Translation: X:209.59, Y:134.87, Z:38.92 [[-1.29894231e-01 -9.91147311e-01 2.74681187e-02 2.09588013e+02] [ 9.34284954e-01 -1.31624759e-01 -3.31340530e-01 1.34872119e+02] [ 3.32022759e-01 -1.73761731e-02 9.43111317e-01 3.89225380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30710568099994 meters Centerline goodness [0,1] 0.9996632146164857 Centerline is valid? [True, True] Translation: X:209.59, Y:134.90, Z:38.93 [[-1.32742274e-01 -9.90770625e-01 2.74419082e-02 2.09587221e+02] [ 9.34479628e-01 -1.34332374e-01 -3.29700832e-01 1.34897447e+02] [ 3.30344236e-01 -1.81213339e-02 9.43686549e-01 3.89298056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3371056809999 meters Centerline goodness [0,1] 0.9997288163878343 Centerline is valid? [True, True] Translation: X:209.58, Y:134.92, Z:38.94 [[-1.32565809e-01 -9.90789936e-01 2.75972812e-02 2.09575571e+02] [ 9.34471125e-01 -1.34215878e-01 -3.29772368e-01 1.34922337e+02] [ 3.30439136e-01 -1.79276783e-02 9.43657022e-01 3.89397414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36710568099994 meters Centerline goodness [0,1] 0.9996003953982375 Centerline is valid? [True, True] Translation: X:209.56, Y:134.95, Z:38.95 [[-1.28364403e-01 -9.91338790e-01 2.77485749e-02 2.09558885e+02] [ 9.34949897e-01 -1.30299476e-01 -3.29985965e-01 1.34946434e+02] [ 3.30743512e-01 -1.64149240e-02 9.43577914e-01 3.89488039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3971056809999 meters Centerline goodness [0,1] 0.9993078133193498 Centerline is valid? [True, True] Translation: X:209.54, Y:134.97, Z:38.95 [[-1.22451570e-01 -9.92080529e-01 2.79613322e-02 2.09542393e+02] [ 9.35422961e-01 -1.24781182e-01 -3.30777178e-01 1.34971258e+02] [ 3.31646646e-01 -1.43485128e-02 9.43294558e-01 3.89548659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42710568099994 meters Centerline goodness [0,1] 0.9995143375987161 Centerline is valid? [True, True] Translation: X:209.53, Y:135.00, Z:38.96 [[-1.20815979e-01 -9.92274498e-01 2.81925660e-02 2.09532777e+02] [ 9.35264594e-01 -1.23301158e-01 -3.31778487e-01 1.34996368e+02] [ 3.32691508e-01 -1.37166339e-02 9.42935955e-01 3.89623322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.4571056809999 meters Centerline goodness [0,1] 0.9992852037169406 Centerline is valid? [True, True] Translation: X:209.52, Y:135.02, Z:38.96 [[-1.17763206e-01 -9.92629613e-01 2.86055666e-02 2.09519629e+02] [ 9.34507003e-01 -1.20519406e-01 -3.34920490e-01 1.35022134e+02] [ 3.35899522e-01 -1.27092085e-02 9.41812076e-01 3.89640552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48710568099995 meters Centerline goodness [0,1] 0.9995978069896911 Centerline is valid? [True, True] Translation: X:209.51, Y:135.05, Z:38.97 [[-1.16501570e-01 -9.92768697e-01 2.89430304e-02 2.09513478e+02] [ 9.33868656e-01 -1.19417079e-01 -3.37088852e-01 1.35048271e+02] [ 3.38107553e-01 -1.22423918e-02 9.41027846e-01 3.89690733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5171056809999 meters Centerline goodness [0,1] 0.9994729518910486 Centerline is valid? [True, True] Translation: X:209.50, Y:135.07, Z:38.98 [[-1.13545628e-01 -9.93100973e-01 2.92890445e-02 2.09502429e+02] [ 9.33362542e-01 -1.16725969e-01 -3.39425121e-01 1.35074093e+02] [ 3.40502210e-01 -1.12029414e-02 9.40176972e-01 3.89751432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54710568099995 meters Centerline goodness [0,1] 0.9990333900691336 Centerline is valid? [True, True] Translation: X:209.49, Y:135.10, Z:38.98 [[-1.10710050e-01 -9.93419287e-01 2.93497016e-02 2.09492789e+02] [ 9.34041490e-01 -1.14092041e-01 -3.38451622e-01 1.35098686e+02] [ 3.39572937e-01 -1.00561568e-02 9.40525967e-01 3.89846306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5771056809999 meters Centerline goodness [0,1] 0.9990308852652425 Centerline is valid? [True, True] Translation: X:209.48, Y:135.12, Z:39.00 [[-1.02496320e-01 -9.94307148e-01 2.91170089e-02 2.09476064e+02] [ 9.36512998e-01 -1.06323107e-01 -3.34123931e-01 1.35121083e+02] [ 3.35317624e-01 -6.97801608e-03 9.42079295e-01 3.90002659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60710568099995 meters Centerline goodness [0,1] 0.9991982953226861 Centerline is valid? [True, True] Translation: X:209.47, Y:135.15, Z:39.01 [[-9.80917103e-02 -9.94751024e-01 2.91276004e-02 2.09468736e+02] [ 9.37505603e-01 -1.02186548e-01 -3.32627651e-01 1.35145980e+02] [ 3.33858146e-01 -5.32072661e-03 9.42608311e-01 3.90102898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6371056809999 meters Centerline goodness [0,1] 0.9988508388876121 Centerline is valid? [True, True] Translation: X:209.46, Y:135.17, Z:39.02 [[-9.04657858e-02 -9.95475608e-01 2.90560580e-02 2.09458553e+02] [ 9.39075962e-01 -9.49819299e-02 -3.30325251e-01 1.35169560e+02] [ 3.31590530e-01 -2.59728775e-03 9.43419829e-01 3.90188151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66710568099995 meters Centerline goodness [0,1] 0.9989031618469068 Centerline is valid? [True, True] Translation: X:209.45, Y:135.19, Z:39.03 [[-8.46919176e-02 -9.95980509e-01 2.91565455e-02 2.09449770e+02] [ 9.39776521e-01 -8.95686290e-02 -3.29844738e-01 1.35193591e+02] [ 3.31130442e-01 -5.34546408e-04 9.43584837e-01 3.90260174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.6971056809999 meters Centerline goodness [0,1] 0.9989246404925568 Centerline is valid? [True, True] Translation: X:209.44, Y:135.22, Z:39.03 [[-8.26144784e-02 -9.96149476e-01 2.93439738e-02 2.09443737e+02] [ 9.39787365e-01 -8.76706230e-02 -3.30323432e-01 1.35217906e+02] [ 3.31624119e-01 2.87597727e-04 9.43411555e-01 3.90340081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72710568099995 meters Centerline goodness [0,1] 0.9991350575925066 Centerline is valid? [True, True] Translation: X:209.43, Y:135.24, Z:39.04 [[-7.67206725e-02 -9.96618423e-01 2.94220487e-02 2.09433415e+02] [ 9.40570301e-01 -8.21339964e-02 -3.29517095e-01 1.35242241e+02] [ 3.30819358e-01 2.39273209e-03 9.43691066e-01 3.90449832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.7571056809999 meters Centerline goodness [0,1] 0.9989475678292534 Centerline is valid? [True, True] Translation: X:209.43, Y:135.27, Z:39.06 [[-7.25297010e-02 -9.96931653e-01 2.94401230e-02 2.09426966e+02] [ 9.41381510e-01 -7.81790662e-02 -3.28159848e-01 1.35266873e+02] [ 3.29454541e-01 3.91305175e-03 9.44163330e-01 3.90554795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78710568099996 meters Centerline goodness [0,1] 0.9996424364798923 Centerline is valid? [True, True] Translation: X:209.42, Y:135.29, Z:39.06 [[-6.39453578e-02 -9.97517598e-01 2.94895553e-02 2.09415200e+02] [ 9.42370288e-01 -7.00816696e-02 -3.27149507e-01 1.35290704e+02] [ 3.28404068e-01 6.87038841e-03 9.44512343e-01 3.90641451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81710568099993 meters Centerline goodness [0,1] 0.999515830245874 Centerline is valid? [True, True] Translation: X:209.41, Y:135.32, Z:39.07 [[-6.09134494e-02 -9.97706806e-01 2.95073134e-02 2.09411942e+02] [ 9.42952958e-01 -6.72141172e-02 -3.26070515e-01 1.35315697e+02] [ 3.27306080e-01 7.96192866e-03 9.44884828e-01 3.90740937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8471056809999 meters Centerline goodness [0,1] 0.9995373875010514 Centerline is valid? [True, True] Translation: X:209.41, Y:135.34, Z:39.08 [[-5.71552383e-02 -9.97925816e-01 2.96200098e-02 2.09410395e+02] [ 9.43285380e-01 -6.36964642e-02 -3.25815059e-01 1.35341781e+02] [ 3.27025949e-01 9.31808480e-03 9.44969419e-01 3.90842505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87710568099993 meters Centerline goodness [0,1] 0.9997915363769022 Centerline is valid? [True, True] Translation: X:209.41, Y:135.37, Z:39.09 [[-5.52210503e-02 -9.98028395e-01 2.98321845e-02 2.09411486e+02] [ 9.43074712e-01 -6.19476987e-02 -3.26760723e-01 1.35368326e+02] [ 3.27964515e-01 1.00899086e-02 9.44636158e-01 3.90907338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9071056809999 meters Centerline goodness [0,1] 0.9995154120051408 Centerline is valid? [True, True] Translation: X:209.41, Y:135.39, Z:39.10 [[-5.45052019e-02 -9.98062756e-01 2.99986231e-02 2.09411732e+02] [ 9.43017018e-01 -6.13290063e-02 -3.27043815e-01 1.35393977e+02] [ 3.28250037e-01 1.04636230e-02 9.44532914e-01 3.90990477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93710568099993 meters Centerline goodness [0,1] 0.9997681721427216 Centerline is valid? [True, True] Translation: X:209.41, Y:135.42, Z:39.10 [[-5.16916932e-02 -9.98202513e-01 3.03267519e-02 2.09413703e+02] [ 9.42473987e-01 -5.88033014e-02 -3.29066795e-01 1.35420488e+02] [ 3.30258615e-01 1.15721549e-02 9.43819544e-01 3.91032169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.9671056809999 meters Centerline goodness [0,1] 0.9997488699146158 Centerline is valid? [True, True] Translation: X:209.42, Y:135.45, Z:39.11 [[-5.01255255e-02 -9.98272926e-01 3.06365299e-02 2.09415080e+02] [ 9.41948010e-01 -5.74496473e-02 -3.30807323e-01 1.35447165e+02] [ 3.31996052e-01 1.22761274e-02 9.43200890e-01 3.91101591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99710568099994 meters Centerline goodness [0,1] 0.9999577818588647 Centerline is valid? [True, True] Translation: X:209.42, Y:135.47, Z:39.12 [[-4.97155646e-02 -9.98285491e-01 3.08940167e-02 2.09423961e+02] [ 9.41532552e-01 -5.71647919e-02 -3.32037107e-01 1.35474663e+02] [ 3.33233877e-01 1.25803101e-02 9.42760266e-01 3.91186601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0271056809999 meters Centerline goodness [0,1] 0.9998535779279185 Centerline is valid? [True, True] Translation: X:209.43, Y:135.50, Z:39.13 [[-5.24047801e-02 -9.98143773e-01 3.10281727e-02 2.09427566e+02] [ 9.41365098e-01 -5.97460696e-02 -3.32057464e-01 1.35499848e+02] [ 3.33294902e-01 1.18074405e-02 9.42748690e-01 3.91270738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:135.53, Z:39.14 [[-6.05856419e-02 -9.97681288e-01 3.10068889e-02 2.09444593e+02] [ 9.41495585e-01 -6.74362536e-02 -3.30209653e-01 1.35526325e+02] [ 3.31534981e-01 9.18688519e-03 9.43398197e-01 3.91385916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0871056809999 meters Centerline goodness [0,1] 0.9997468941806754 Centerline is valid? [True, True] Translation: X:209.45, Y:135.55, Z:39.15 [[-6.54495322e-02 -9.97375770e-01 3.09504737e-02 2.09454314e+02] [ 9.41888360e-01 -7.19905861e-02 -3.28121430e-01 1.35552891e+02] [ 3.29488506e-01 7.67649681e-03 9.44128379e-01 3.91496662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11710568099994 meters Centerline goodness [0,1] 0.9999788971658894 Centerline is valid? [True, True] Translation: X:209.47, Y:135.58, Z:39.16 [[-7.52817484e-02 -9.96688401e-01 3.07390705e-02 2.09474729e+02] [ 9.42398972e-01 -8.11887712e-02 -3.24488153e-01 1.35579359e+02] [ 3.25909246e-01 4.54043294e-03 9.45390156e-01 3.91633322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.1471056809999 meters Centerline goodness [0,1] 0.9998735591005837 Centerline is valid? [True, True] Translation: X:209.49, Y:135.61, Z:39.17 [[-8.41624351e-02 -9.95972168e-01 3.09212727e-02 2.09487206e+02] [ 9.41477480e-01 -8.96455694e-02 -3.24936651e-01 1.35605459e+02] [ 3.26399816e-01 1.76422206e-03 9.45230156e-01 3.91703286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:135.63, Z:39.18 [[-8.75746976e-02 -9.95672112e-01 3.11081734e-02 2.09491429e+02] [ 9.41030440e-01 -9.29323942e-02 -3.25307978e-01 1.35632035e+02] [ 3.26791039e-01 7.84990301e-04 9.45096292e-01 3.91756542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2071056809999 meters Centerline goodness [0,1] 0.9999791353697213 Centerline is valid? [True, True] Translation: X:209.50, Y:135.66, Z:39.18 [[-9.14876580e-02 -9.95311560e-01 3.13832145e-02 2.09501934e+02] [ 9.40196211e-01 -9.67199943e-02 -3.26613421e-01 1.35658643e+02] [ 3.28117498e-01 -3.74717586e-04 9.44636844e-01 3.91822216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23710568099995 meters Centerline goodness [0,1] 0.999978916742215 Centerline is valid? [True, True] Translation: X:209.50, Y:135.68, Z:39.19 [[-9.20560340e-02 -9.95254582e-01 3.15278274e-02 2.09502713e+02] [ 9.40176100e-01 -9.73043966e-02 -3.26497710e-01 1.35684343e+02] [ 3.28016138e-01 -4.14374469e-04 9.44672029e-01 3.91918114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.2671056809999 meters Centerline goodness [0,1] 0.9998735111204806 Centerline is valid? [True, True] Translation: X:209.50, Y:135.71, Z:39.20 [[-8.79503529e-02 -9.95625639e-01 3.15328851e-02 2.09500906e+02] [ 9.41069756e-01 -9.34259478e-02 -3.25052774e-01 1.35709223e+02] [ 3.26576865e-01 1.08613832e-03 9.45170022e-01 3.92031262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29710568099995 meters Centerline goodness [0,1] 0.9997914059240718 Centerline is valid? [True, True] Translation: X:209.49, Y:135.73, Z:39.22 [[-7.92462347e-02 -9.96364008e-01 3.12857454e-02 2.09494207e+02] [ 9.43234945e-01 -8.51011695e-02 -3.21038361e-01 1.35731291e+02] [ 3.22533522e-01 4.06872704e-03 9.46549298e-01 3.92177755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3271056809999 meters Centerline goodness [0,1] 0.999790224459828 Centerline is valid? [True, True] Translation: X:209.49, Y:135.76, Z:39.23 [[-7.46297874e-02 -9.96721234e-01 3.12598388e-02 2.09488609e+02] [ 9.44227028e-01 -8.07118187e-02 -3.19250563e-01 1.35755287e+02] [ 3.20726853e-01 5.69078308e-03 9.47154634e-01 3.92290978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35710568099995 meters Centerline goodness [0,1] 0.9997689561016593 Centerline is valid? [True, True] Translation: X:209.48, Y:135.78, Z:39.24 [[-7.02609693e-02 -9.97035853e-01 3.13512966e-02 2.09484759e+02] [ 9.44742817e-01 -7.65984337e-02 -3.18737652e-01 1.35781215e+02] [ 3.20194327e-01 7.22409589e-03 9.47324340e-01 3.92391010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.3871056809999 meters Centerline goodness [0,1] 0.9998738196883347 Centerline is valid? [True, True] Translation: X:209.48, Y:135.81, Z:39.25 [[-6.50300322e-02 -9.97392785e-01 3.12846091e-02 2.09482995e+02] [ 9.45806224e-01 -7.16015560e-02 -3.16739331e-01 1.35805979e+02] [ 3.18153550e-01 8.99160917e-03 9.47996556e-01 3.92493824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41710568099995 meters Centerline goodness [0,1] 0.9998527927321669 Centerline is valid? [True, True] Translation: X:209.49, Y:135.83, Z:39.26 [[-6.43067463e-02 -9.97443745e-01 3.11547287e-02 2.09486644e+02] [ 9.46758840e-01 -7.08482699e-02 -3.14051304e-01 1.35831314e+02] [ 3.15455768e-01 9.30039724e-03 9.48894705e-01 3.92593378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4471056809999 meters Centerline goodness [0,1] 0.9995376985794738 Centerline is valid? [True, True] Translation: X:209.49, Y:135.86, Z:39.27 [[-6.36962405e-02 -9.97479128e-01 3.12758441e-02 2.09487737e+02] [ 9.46841552e-01 -7.03057123e-02 -3.13923848e-01 1.35858307e+02] [ 3.15331356e-01 9.61749984e-03 9.48932895e-01 3.92680711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47710568099995 meters Centerline goodness [0,1] 0.9997706804536357 Centerline is valid? [True, True] Translation: X:209.49, Y:135.89, Z:39.27 [[-6.01240835e-02 -9.97685280e-01 3.17675328e-02 2.09488266e+02] [ 9.45870583e-01 -6.71120677e-02 -3.17529227e-01 1.35885787e+02] [ 3.18926221e-01 1.09568210e-02 9.47716209e-01 3.92706527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5071056809999 meters Centerline goodness [0,1] 0.99964254925461 Centerline is valid? [True, True] Translation: X:209.49, Y:135.91, Z:39.27 [[-5.81333130e-02 -9.97788759e-01 3.22197286e-02 2.09487957e+02] [ 9.44794572e-01 -6.54133893e-02 -3.21067447e-01 1.35914323e+02] [ 3.22465091e-01 1.17763103e-02 9.46508100e-01 3.92748690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53710568099996 meters Centerline goodness [0,1] 0.9992406024553854 Centerline is valid? [True, True] Translation: X:209.49, Y:135.94, Z:39.28 [[-5.38672079e-02 -9.98003599e-01 3.29718216e-02 2.09486680e+02] [ 9.42934349e-01 -6.17051840e-02 -3.27211376e-01 1.35942538e+02] [ 3.28592663e-01 1.34642999e-02 9.44375759e-01 3.92750523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56710568099993 meters Centerline goodness [0,1] 0.9991997472886175 Centerline is valid? [True, True] Translation: X:209.48, Y:135.97, Z:39.28 [[-5.02993058e-02 -9.98179567e-01 3.32796139e-02 2.09484666e+02] [ 9.42568065e-01 -5.84612187e-02 -3.28858221e-01 1.35969115e+02] [ 3.30205123e-01 1.48269611e-02 9.43792741e-01 3.92806404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.5971056809999 meters Centerline goodness [0,1] 0.9995993674222456 Centerline is valid? [True, True] Translation: X:209.49, Y:136.00, Z:39.29 [[-4.99245587e-02 -9.98191980e-01 3.34710314e-02 2.09485312e+02] [ 9.42273070e-01 -5.81848859e-02 -3.29751391e-01 1.35995399e+02] [ 3.31102702e-01 1.50761588e-02 9.43474276e-01 3.92891884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62710568099993 meters Centerline goodness [0,1] 0.999245077274729 Centerline is valid? [True, True] Translation: X:209.49, Y:136.02, Z:39.30 [[-4.99614197e-02 -9.98182642e-01 3.36937653e-02 2.09489113e+02] [ 9.42004014e-01 -5.83055407e-02 -3.30497960e-01 1.36020886e+02] [ 3.31861860e-01 1.52275149e-02 9.43205083e-01 3.92953459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.6571056809999 meters Centerline goodness [0,1] 0.9989469471999326 Centerline is valid? [True, True] Translation: X:209.50, Y:136.05, Z:39.31 [[-5.21707829e-02 -9.98069628e-01 3.36931401e-02 2.09496315e+02] [ 9.42349128e-01 -6.03694137e-02 -3.29140783e-01 1.36047294e+02] [ 3.30539453e-01 1.45791689e-02 9.43679563e-01 3.93062826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68710568099993 meters Centerline goodness [0,1] 0.9988553590010406 Centerline is valid? [True, True] Translation: X:209.50, Y:136.07, Z:39.32 [[-5.31171563e-02 -9.98022871e-01 3.35993474e-02 2.09497066e+02] [ 9.43080325e-01 -6.11978903e-02 -3.26885788e-01 1.36071170e+02] [ 3.28295702e-01 1.43236400e-02 9.44466392e-01 3.93172579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7171056809999 meters Centerline goodness [0,1] 0.9986936642717178 Centerline is valid? [True, True] Translation: X:209.50, Y:136.10, Z:39.33 [[-5.30499102e-02 -9.98036352e-01 3.33038529e-02 2.09503332e+02] [ 9.44578568e-01 -6.09724782e-02 -3.22573536e-01 1.36095349e+02] [ 3.23970734e-01 1.43456086e-02 9.45958333e-01 3.93322632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74710568099994 meters Centerline goodness [0,1] 0.9985762144053602 Centerline is valid? [True, True] Translation: X:209.50, Y:136.12, Z:39.34 [[-5.20296618e-02 -9.98086095e-01 3.34224600e-02 2.09503951e+02] [ 9.44718958e-01 -6.00416149e-02 -3.22336926e-01 1.36120957e+02] [ 3.23726743e-01 1.48037504e-02 9.46034801e-01 3.93422310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7771056809999 meters Centerline goodness [0,1] 0.9983791521071023 Centerline is valid? [True, True] Translation: X:209.51, Y:136.15, Z:39.35 [[-4.82908680e-02 -9.98264214e-01 3.37127699e-02 2.09507242e+02] [ 9.44446511e-01 -5.66209741e-02 -3.23751221e-01 1.36147917e+02] [ 3.25098108e-01 1.62056805e-02 9.45541430e-01 3.93503873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80710568099994 meters Centerline goodness [0,1] 0.9983140502834503 Centerline is valid? [True, True] Translation: X:209.51, Y:136.17, Z:39.36 [[-4.70760565e-02 -9.98315229e-01 3.39197405e-02 2.09506939e+02] [ 9.44259114e-01 -5.55519402e-02 -3.24482214e-01 1.36173021e+02] [ 3.25819843e-01 1.67536811e-02 9.45283420e-01 3.93590226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8371056809999 meters Centerline goodness [0,1] 0.9979649638099234 Centerline is valid? [True, True] Translation: X:209.51, Y:136.20, Z:39.37 [[-4.62520157e-02 -9.98352815e-01 3.39471471e-02 2.09510904e+02] [ 9.44580062e-01 -5.47669738e-02 -3.23680530e-01 1.36198127e+02] [ 3.25006550e-01 1.70949214e-02 9.45557246e-01 3.93682272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86710568099994 meters Centerline goodness [0,1] 0.997796571044845 Centerline is valid? [True, True] Translation: X:209.51, Y:136.22, Z:39.38 [[-4.71715095e-02 -9.98305597e-01 3.40702665e-02 2.09512935e+02] [ 9.44486849e-01 -5.56790598e-02 -3.23796902e-01 1.36223729e+02] [ 3.25145260e-01 1.69049300e-02 9.45512974e-01 3.93777851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8971056809999 meters Centerline goodness [0,1] 0.9977113821991728 Centerline is valid? [True, True] Translation: X:209.52, Y:136.25, Z:39.39 [[-5.11031347e-02 -9.98101807e-01 3.43693448e-02 2.09521933e+02] [ 9.43736763e-01 -5.95211352e-02 -3.25297029e-01 1.36249595e+02] [ 3.26725255e-01 1.58119163e-02 9.44987085e-01 3.93855849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92710568099994 meters Centerline goodness [0,1] 0.9976550395712073 Centerline is valid? [True, True] Translation: X:209.53, Y:136.28, Z:39.39 [[-5.39340821e-02 -9.97940488e-01 3.47260321e-02 2.09532585e+02] [ 9.42865010e-01 -6.23464319e-02 -3.27289620e-01 1.36277080e+02] [ 3.28780607e-01 1.50898954e-02 9.44285766e-01 3.93936178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.9571056809999 meters Centerline goodness [0,1] 0.9978379059174206 Centerline is valid? [True, True] Translation: X:209.54, Y:136.30, Z:39.40 [[-5.42990361e-02 -9.97912922e-01 3.49487543e-02 2.09538513e+02] [ 9.42568520e-01 -6.27768858e-02 -3.28060432e-01 1.36303017e+02] [ 3.29569718e-01 1.51282305e-02 9.44010031e-01 3.94030294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98710568099995 meters Centerline goodness [0,1] 0.9970421648835746 Centerline is valid? [True, True] Translation: X:209.54, Y:136.33, Z:39.41 [[-5.21071861e-02 -9.98024775e-01 3.50911496e-02 2.09537662e+02] [ 9.42713545e-01 -6.07529173e-02 -3.28024777e-01 1.36327899e+02] [ 3.29508744e-01 1.59884539e-02 9.44017138e-01 3.94117169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0171056809999 meters Centerline goodness [0,1] 0.9970421648835746 Centerline is valid? [True, True] Translation: X:209.53, Y:136.35, Z:39.42 [[-5.25343762e-02 -9.97997090e-01 3.52412740e-02 2.09534670e+02] [ 9.42689870e-01 -6.12056565e-02 -3.28008653e-01 1.36352275e+02] [ 3.29508646e-01 1.59898621e-02 9.44017148e-01 3.94198423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04710568099995 meters Centerline goodness [0,1] 0.9976284419073204 Centerline is valid? [True, True] Translation: X:209.54, Y:136.38, Z:39.43 [[-4.98910585e-02 -9.98128892e-01 3.53496435e-02 2.09538364e+02] [ 9.42981070e-01 -5.87375719e-02 -3.27622649e-01 1.36377145e+02] [ 3.29085984e-01 1.69886039e-02 9.44147130e-01 3.94319867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0771056809999 meters Centerline goodness [0,1] 0.9975908662407039 Centerline is valid? [True, True] Translation: X:209.54, Y:136.40, Z:39.44 [[-4.37286112e-02 -9.98411502e-01 3.55286000e-02 2.09536381e+02] [ 9.43212093e-01 -5.29807284e-02 -3.27939003e-01 1.36402284e+02] [ 3.29300403e-01 1.91706880e-02 9.44030576e-01 3.94404946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10710568099995 meters Centerline goodness [0,1] 0.997194481083684 Centerline is valid? [True, True] Translation: X:209.53, Y:136.43, Z:39.45 [[-4.08785171e-02 -9.98522967e-01 3.57887017e-02 2.09534335e+02] [ 9.42880931e-01 -5.04030555e-02 -3.29294824e-01 1.36428003e+02] [ 3.30612305e-01 2.02834003e-02 9.43548667e-01 3.94476273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1371056809999 meters Centerline goodness [0,1] 0.9971674928145957 Centerline is valid? [True, True] Translation: X:209.54, Y:136.45, Z:39.45 [[-3.78574287e-02 -9.98632804e-01 3.60463429e-02 2.09535259e+02] [ 9.42559413e-01 -4.76656942e-02 -3.30620227e-01 1.36453714e+02] [ 3.31886378e-01 2.14593881e-02 9.43075250e-01 3.94544944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16710568099995 meters Centerline goodness [0,1] 0.9978115859688993 Centerline is valid? [True, True] Translation: X:209.55, Y:136.48, Z:39.46 [[-4.04772576e-02 -9.98527939e-01 3.61046727e-02 2.09545873e+02] [ 9.42719281e-01 -5.01397293e-02 -3.29797461e-01 1.36480716e+02] [ 3.31122257e-01 2.06872743e-02 9.43361059e-01 3.94640872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.1971056809999 meters Centerline goodness [0,1] 0.9972048840972616 Centerline is valid? [True, True] Translation: X:209.55, Y:136.51, Z:39.47 [[-4.49425310e-02 -9.98334340e-01 3.61761572e-02 2.09550426e+02] [ 9.42719446e-01 -5.43652954e-02 -3.29126814e-01 1.36506827e+02] [ 3.30545328e-01 1.93121748e-02 9.43592510e-01 3.94734224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22710568099995 meters Centerline goodness [0,1] 0.9970149881230161 Centerline is valid? [True, True] Translation: X:209.57, Y:136.53, Z:39.48 [[-5.60415333e-02 -9.97771187e-01 3.62216011e-02 2.09567133e+02] [ 9.42373728e-01 -6.48451672e-02 -3.28217704e-01 1.36534864e+02] [ 3.29834964e-01 1.57404619e-02 9.43907376e-01 3.94824542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.2571056809999 meters Centerline goodness [0,1] 0.9978563772775991 Centerline is valid? [True, True] Translation: X:209.57, Y:136.56, Z:39.49 [[-6.20332896e-02 -9.97412875e-01 3.63239185e-02 2.09573205e+02] [ 9.42087059e-01 -7.05326696e-02 -3.27867528e-01 1.36560460e+02] [ 3.29581317e-01 1.38815922e-02 9.44025136e-01 3.94915455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28710568099996 meters Centerline goodness [0,1] 0.9976383054318975 Centerline is valid? [True, True] Translation: X:209.58, Y:136.59, Z:39.50 [[-7.14338614e-02 -9.96781139e-01 3.63945725e-02 2.09584656e+02] [ 9.41631478e-01 -7.94262137e-02 -3.27141616e-01 1.36587029e+02] [ 3.28979276e-01 1.09012862e-02 9.44274218e-01 3.94992979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31710568099993 meters Centerline goodness [0,1] 0.9973499905356805 Centerline is valid? [True, True] Translation: X:209.59, Y:136.61, Z:39.51 [[-7.47739638e-02 -9.96530003e-01 3.65623652e-02 2.09590902e+02] [ 9.41304080e-01 -8.26382215e-02 -3.27288182e-01 1.36613269e+02] [ 3.29173942e-01 9.94366889e-03 9.44216945e-01 3.95090149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3471056809999 meters Centerline goodness [0,1] 0.9966585406859448 Centerline is valid? [True, True] Translation: X:209.60, Y:136.64, Z:39.52 [[-7.86024256e-02 -9.96232727e-01 3.66334867e-02 2.09596083e+02] [ 9.41202681e-01 -8.62718411e-02 -3.26641520e-01 1.36639458e+02] [ 3.28571411e-01 8.80472013e-03 9.44438090e-01 3.95152540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37710568099993 meters Centerline goodness [0,1] 0.9963205147074283 Centerline is valid? [True, True] Translation: X:209.60, Y:136.67, Z:39.52 [[-8.06438423e-02 -9.96047461e-01 3.72293707e-02 2.09600575e+02] [ 9.39623042e-01 -8.84319211e-02 -3.30587863e-01 1.36667914e+02] [ 3.32573466e-01 8.32169903e-03 9.43040635e-01 3.95184168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4071056809999 meters Centerline goodness [0,1] 0.9958659475793759 Centerline is valid? [True, True] Translation: X:209.60, Y:136.69, Z:39.52 [[-8.10215171e-02 -9.96002505e-01 3.76101457e-02 2.09600775e+02] [ 9.38846187e-01 -8.89334187e-02 -3.32654002e-01 1.36694389e+02] [ 3.34669018e-01 8.35800998e-03 9.42298674e-01 3.95221709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43710568099993 meters Centerline goodness [0,1] 0.9957352045211034 Centerline is valid? [True, True] Translation: X:209.60, Y:136.72, Z:39.53 [[-8.19958736e-02 -9.95920982e-01 3.76573158e-02 2.09599689e+02] [ 9.39088511e-01 -8.98595987e-02 -3.31719793e-01 1.36718680e+02] [ 3.33750573e-01 8.16389836e-03 9.42626069e-01 3.95318015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.4671056809999 meters Centerline goodness [0,1] 0.9964707365236755 Centerline is valid? [True, True] Translation: X:209.60, Y:136.74, Z:39.55 [[-8.56467613e-02 -9.95618595e-01 3.75265875e-02 2.09601656e+02] [ 9.39639451e-01 -9.32399982e-02 -3.29217262e-01 1.36742866e+02] [ 3.31273807e-01 7.06506978e-03 9.43508214e-01 3.95465115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49710568099994 meters Centerline goodness [0,1] 0.9967726386822306 Centerline is valid? [True, True] Translation: X:209.60, Y:136.77, Z:39.56 [[-8.85655264e-02 -9.95362911e-01 3.75342896e-02 2.09600341e+02] [ 9.39779825e-01 -9.59893641e-02 -3.28024271e-01 1.36767465e+02] [ 3.30106086e-01 6.22232588e-03 9.43923331e-01 3.95573735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5271056809999 meters Centerline goodness [0,1] 0.9975219454828006 Centerline is valid? [True, True] Translation: X:209.60, Y:136.79, Z:39.57 [[-9.42288140e-02 -9.94847921e-01 3.73971250e-02 2.09601594e+02] [ 9.40063078e-01 -1.01279820e-01 -3.25612971e-01 1.36793018e+02] [ 3.27722961e-01 4.47353236e-03 9.44763276e-01 3.95688844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55710568099994 meters Centerline goodness [0,1] 0.99762809344892 Centerline is valid? [True, True] Translation: X:209.60, Y:136.82, Z:39.58 [[-9.72975555e-02 -9.94547882e-01 3.75192895e-02 2.09601294e+02] [ 9.39679356e-01 -1.04220234e-01 -3.25792649e-01 1.36817582e+02] [ 3.27926658e-01 3.55727342e-03 9.44696487e-01 3.95778502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5871056809999 meters Centerline goodness [0,1] 0.9982621804401081 Centerline is valid? [True, True] Translation: X:209.60, Y:136.84, Z:39.59 [[-1.04222049e-01 -9.93840286e-01 3.76729316e-02 2.09604187e+02] [ 9.38931096e-01 -1.10812772e-01 -3.25774350e-01 1.36842607e+02] [ 3.27942315e-01 1.41941670e-03 9.44696683e-01 3.95866671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61710568099994 meters Centerline goodness [0,1] 0.9982613795848259 Centerline is valid? [True, True] Translation: X:209.60, Y:136.87, Z:39.60 [[-1.07874818e-01 -9.93447020e-01 3.77629741e-02 2.09603406e+02] [ 9.38685100e-01 -1.14293002e-01 -3.25280482e-01 1.36867258e+02] [ 3.27464969e-01 3.57968439e-04 9.44863253e-01 3.95957594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.6471056809999 meters Centerline goodness [0,1] 0.9994411789055385 Centerline is valid? [True, True] Translation: X:209.60, Y:136.89, Z:39.60 [[-1.14565144e-01 -9.92700117e-01 3.77001943e-02 2.09601137e+02] [ 9.38542430e-01 -1.20597236e-01 -3.23410597e-01 1.36890566e+02] [ 3.25596277e-01 -1.66834956e-03 9.45507420e-01 3.96049215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67710568099994 meters Centerline goodness [0,1] 0.9989540624215547 Centerline is valid? [True, True] Translation: X:209.59, Y:136.92, Z:39.61 [[-1.16086504e-01 -9.92513894e-01 3.79485789e-02 2.09594266e+02] [ 9.38086984e-01 -1.22114877e-01 -3.24161637e-01 1.36915132e+02] [ 3.26369014e-01 -2.03172308e-03 9.45240254e-01 3.96139760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7071056809999 meters Centerline goodness [0,1] 0.9990149848056167 Centerline is valid? [True, True] Translation: X:209.59, Y:136.94, Z:39.62 [[-1.16947236e-01 -9.92400071e-01 3.82811039e-02 2.09589576e+02] [ 9.37423780e-01 -1.23033434e-01 -3.25729075e-01 1.36940216e+02] [ 3.27963413e-01 -2.20749812e-03 9.44687846e-01 3.96209134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73710568099995 meters Centerline goodness [0,1] 0.9986680818297226 Centerline is valid? [True, True] Translation: X:209.58, Y:136.96, Z:39.63 [[-1.18612211e-01 -9.92196619e-01 3.84319109e-02 2.09581010e+02] [ 9.37111989e-01 -1.24654828e-01 -3.26009654e-01 1.36964726e+02] [ 3.28256399e-01 -2.65372138e-03 9.44584932e-01 3.96292918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.7671056809999 meters Centerline goodness [0,1] 0.9988906099552057 Centerline is valid? [True, True] Translation: X:209.57, Y:136.99, Z:39.64 [[-1.18401283e-01 -9.92215375e-01 3.85977391e-02 2.09573243e+02] [ 9.37123709e-01 -1.24509984e-01 -3.26031314e-01 1.36988961e+02] [ 3.28299086e-01 -2.43166936e-03 9.44570695e-01 3.96361693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79710568099995 meters Centerline goodness [0,1] 0.9982528754757795 Centerline is valid? [True, True] Translation: X:209.55, Y:137.01, Z:39.65 [[-1.12359883e-01 -9.92918479e-01 3.85765442e-02 2.09554534e+02] [ 9.38412246e-01 -1.18797425e-01 -3.24452812e-01 1.37010813e+02] [ 3.26737987e-01 -2.54778595e-04 9.45114926e-01 3.96459387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8271056809999 meters Centerline goodness [0,1] 0.9983576566462933 Centerline is valid? [True, True] Translation: X:209.54, Y:137.03, Z:39.66 [[-1.07158620e-01 -9.93488000e-01 3.87120624e-02 2.09541891e+02] [ 9.38971829e-01 -1.13926008e-01 -3.24580912e-01 1.37033180e+02] [ 3.26877552e-01 1.56789332e-03 9.45065399e-01 3.96566513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85710568099995 meters Centerline goodness [0,1] 0.9975842392436169 Centerline is valid? [True, True] Translation: X:209.52, Y:137.06, Z:39.67 [[-9.48971862e-02 -9.94720735e-01 3.90535890e-02 2.09517697e+02] [ 9.39780391e-01 -1.02457239e-01 -3.26060317e-01 1.37056041e+02] [ 3.28340282e-01 5.75959056e-03 9.44541945e-01 3.96654254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.8871056809999 meters Centerline goodness [0,1] 0.9975039001560062 Centerline is valid? [True, True] Translation: X:209.50, Y:137.08, Z:39.67 [[-8.96334085e-02 -9.95204775e-01 3.91574718e-02 2.09503886e+02] [ 9.40414406e-01 -9.75156075e-02 -3.25747528e-01 1.37080241e+02] [ 3.28003960e-01 7.62638929e-03 9.44645563e-01 3.96734964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91710568099995 meters Centerline goodness [0,1] 0.9978416210892479 Centerline is valid? [True, True] Translation: X:209.49, Y:137.10, Z:39.68 [[-8.08101721e-02 -9.95951429e-01 3.93759745e-02 2.09485926e+02] [ 9.41010854e-01 -8.92566194e-02 -3.26392140e-01 1.37104423e+02] [ 3.28585284e-01 1.06774144e-02 9.44413947e-01 3.96812729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9471056809999 meters Centerline goodness [0,1] 0.9980963936072296 Centerline is valid? [True, True] Translation: X:209.48, Y:137.13, Z:39.69 [[-7.88308477e-02 -9.96100983e-01 3.96046564e-02 2.09477148e+02] [ 9.40934273e-01 -8.74702106e-02 -3.27095790e-01 1.37129578e+02] [ 3.29284666e-01 1.14801402e-02 9.44160905e-01 3.96876927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97710568099995 meters Centerline goodness [0,1] 0.9978718521145862 Centerline is valid? [True, True] Translation: X:209.47, Y:137.15, Z:39.69 [[-8.04628766e-02 -9.95961986e-01 3.98176797e-02 2.09471526e+02] [ 9.40609397e-01 -8.90878775e-02 -3.27593212e-01 1.37154344e+02] [ 3.29817659e-01 1.10937915e-02 9.43979470e-01 3.96935908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0071056809999 meters Centerline goodness [0,1] 0.9984388334963885 Centerline is valid? [True, True] Translation: X:209.47, Y:137.18, Z:39.70 [[-8.51875369e-02 -9.95555460e-01 4.01548163e-02 2.09471318e+02] [ 9.39651865e-01 -9.36762372e-02 -3.29057952e-01 1.37179721e+02] [ 3.31356993e-01 9.69991156e-03 9.43455592e-01 3.97003047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03710568099996 meters Centerline goodness [0,1] 0.9980302998554156 Centerline is valid? [True, True] Translation: X:209.47, Y:137.21, Z:39.71 [[-8.69580587e-02 -9.95390583e-01 4.04460476e-02 2.09471172e+02] [ 9.39053466e-01 -9.54556752e-02 -3.30252635e-01 1.37205086e+02] [ 3.32591168e-01 9.26287315e-03 9.43025617e-01 3.97087609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06710568099993 meters Centerline goodness [0,1] 0.9982396579906954 Centerline is valid? [True, True] Translation: X:209.47, Y:137.23, Z:39.71 [[-8.95152964e-02 -9.95142159e-01 4.09767611e-02 2.09465219e+02] [ 9.37729768e-01 -9.80724151e-02 -3.33233678e-01 1.37229953e+02] [ 3.35633571e-01 8.59561719e-03 9.41953407e-01 3.97112974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.0971056809999 meters Centerline goodness [0,1] 0.9982166086190256 Centerline is valid? [True, True] Translation: X:209.46, Y:137.26, Z:39.72 [[-9.02223086e-02 -9.95067729e-01 4.12328734e-02 2.09461010e+02] [ 9.37402886e-01 -9.88309469e-02 -3.33928545e-01 1.37255465e+02] [ 3.36356602e-01 8.52401030e-03 9.41696117e-01 3.97175911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12710568099993 meters Centerline goodness [0,1] 0.998404902825001 Centerline is valid? [True, True] Translation: X:209.46, Y:137.28, Z:39.72 [[-9.15706206e-02 -9.94931936e-01 4.15363053e-02 2.09458181e+02] [ 9.36840950e-01 -1.00213457e-01 -3.35091476e-01 1.37279562e+02] [ 3.37555708e-01 8.22837724e-03 9.41269588e-01 3.97242317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.1571056809999 meters Centerline goodness [0,1] 0.9983695992976735 Centerline is valid? [True, True] Translation: X:209.46, Y:137.30, Z:39.73 [[-9.36055366e-02 -9.94738572e-01 4.16314448e-02 2.09455411e+02] [ 9.36730702e-01 -1.02159390e-01 -3.34811965e-01 1.37304932e+02] [ 3.37303419e-01 7.65719892e-03 9.41364845e-01 3.97337935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18710568099993 meters Centerline goodness [0,1] 0.9978280391788318 Centerline is valid? [True, True] Translation: X:209.45, Y:137.33, Z:39.75 [[-9.52391435e-02 -9.94591594e-01 4.14374977e-02 2.09451655e+02] [ 9.37530862e-01 -1.03612030e-01 -3.32115085e-01 1.37329167e+02] [ 3.34612295e-01 7.21857670e-03 9.42328236e-01 3.97457150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2171056809999 meters Centerline goodness [0,1] 0.9983891213389121 Centerline is valid? [True, True] Translation: X:209.45, Y:137.35, Z:39.76 [[-9.54660314e-02 -9.94578338e-01 4.12330827e-02 2.09445547e+02] [ 9.38486100e-01 -1.03736780e-01 -3.29366849e-01 1.37353505e+02] [ 3.31858521e-01 7.25332901e-03 9.43301284e-01 3.97580596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24710568099994 meters Centerline goodness [0,1] 0.997983997983998 Centerline is valid? [True, True] Translation: X:209.44, Y:137.38, Z:39.77 [[-9.52774783e-02 -9.94597442e-01 4.12083748e-02 2.09442027e+02] [ 9.38965027e-01 -1.03540466e-01 -3.28061047e-01 1.37377623e+02] [ 3.30555413e-01 7.43639348e-03 9.43757288e-01 3.97668515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2771056809999 meters Centerline goodness [0,1] 0.9978077501252715 Centerline is valid? [True, True] Translation: X:209.44, Y:137.40, Z:39.78 [[-9.72195157e-02 -9.94409363e-01 4.12114503e-02 2.09441568e+02] [ 9.39181372e-01 -1.05366125e-01 -3.26858273e-01 1.37402601e+02] [ 3.29373218e-01 6.92802341e-03 9.44174394e-01 3.97771525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30710568099994 meters Centerline goodness [0,1] 0.9971677331375223 Centerline is valid? [True, True] Translation: X:209.44, Y:137.43, Z:39.78 [[-9.91473044e-02 -9.94213308e-01 4.13486395e-02 2.09439103e+02] [ 9.38982379e-01 -1.07231786e-01 -3.26823250e-01 1.37427332e+02] [ 3.29365913e-01 6.42199967e-03 9.44180520e-01 3.97841675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3371056809999 meters Centerline goodness [0,1] 0.9973035117056857 Centerline is valid? [True, True] Translation: X:209.44, Y:137.45, Z:39.79 [[-1.02169330e-01 -9.93892683e-01 4.16984685e-02 2.09436561e+02] [ 9.38124135e-01 -1.10209953e-01 -3.28293883e-01 1.37452753e+02] [ 3.30884474e-01 5.57677375e-03 9.43654791e-01 3.97890052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36710568099994 meters Centerline goodness [0,1] 0.9971116413412031 Centerline is valid? [True, True] Translation: X:209.43, Y:137.48, Z:39.80 [[-1.03117757e-01 -9.93792430e-01 4.17532655e-02 2.09434335e+02] [ 9.38304799e-01 -1.11118615e-01 -3.27470239e-01 1.37476772e+02] [ 3.30077009e-01 5.40929279e-03 9.43938508e-01 3.97995361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3971056809999 meters Centerline goodness [0,1] 0.9975012598689736 Centerline is valid? [True, True] Translation: X:209.43, Y:137.50, Z:39.81 [[-1.01426975e-01 -9.93968817e-01 4.16960310e-02 2.09430169e+02] [ 9.39060688e-01 -1.09492987e-01 -3.25847066e-01 1.37499818e+02] [ 3.28447246e-01 6.10542129e-03 9.44502584e-01 3.98130419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42710568099994 meters Centerline goodness [0,1] 0.9975421717118669 Centerline is valid? [True, True] Translation: X:209.42, Y:137.52, Z:39.82 [[-9.50731721e-02 -9.94595995e-01 4.17120936e-02 2.09419973e+02] [ 9.40128228e-01 -1.03485384e-01 -3.24730180e-01 1.37523139e+02] [ 3.27291929e-01 8.34158839e-03 9.44886454e-01 3.98245700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.4571056809999 meters Centerline goodness [0,1] 0.9978032094064481 Centerline is valid? [True, True] Translation: X:209.41, Y:137.55, Z:39.83 [[-9.03952503e-02 -9.95027193e-01 4.18280221e-02 2.09411276e+02] [ 9.40696303e-01 -9.90985157e-02 -3.24453310e-01 1.37546990e+02] [ 3.26984962e-01 1.00184275e-02 9.44976437e-01 3.98337305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48710568099995 meters Centerline goodness [0,1] 0.9978705636743215 Centerline is valid? [True, True] Translation: X:209.40, Y:137.57, Z:39.84 [[-8.15239583e-02 -9.95800893e-01 4.16464465e-02 2.09398476e+02] [ 9.42427582e-01 -9.06168778e-02 -3.21898794e-01 1.37570522e+02] [ 3.24320977e-01 1.30062961e-02 9.45857674e-01 3.98443733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5171056809999 meters Centerline goodness [0,1] 0.9976909190142323 Centerline is valid? [True, True] Translation: X:209.39, Y:137.60, Z:39.85 [[-7.76146396e-02 -9.96106353e-01 4.18102894e-02 2.09392124e+02] [ 9.42719884e-01 -8.69724307e-02 -3.22048160e-01 1.37595789e+02] [ 3.24430561e-01 1.44197393e-02 9.45799599e-01 3.98528174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54710568099995 meters Centerline goodness [0,1] 0.9979853518289228 Centerline is valid? [True, True] Translation: X:209.39, Y:137.62, Z:39.86 [[-7.32131803e-02 -9.96425107e-01 4.21525380e-02 2.09385912e+02] [ 9.42553570e-01 -8.29441666e-02 -3.23593933e-01 1.37620428e+02] [ 3.25933426e-01 1.60396842e-02 9.45256648e-01 3.98581197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5771056809999 meters Centerline goodness [0,1] 0.9978375427767631 Centerline is valid? [True, True] Translation: X:209.38, Y:137.65, Z:39.86 [[-7.19081403e-02 -9.96508062e-01 4.24370308e-02 2.09381906e+02] [ 9.42308901e-01 -8.18200756e-02 -3.24591143e-01 1.37646816e+02] [ 3.26929892e-01 1.66480463e-02 9.44901946e-01 3.98644261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60710568099995 meters Centerline goodness [0,1] 0.9975787944501758 Centerline is valid? [True, True] Translation: X:209.38, Y:137.67, Z:39.87 [[-6.97802147e-02 -9.96637700e-01 4.29420093e-02 2.09379378e+02] [ 9.41498070e-01 -8.00253397e-02 -3.27379488e-01 1.37674521e+02] [ 3.29715189e-01 1.75852080e-02 9.43916657e-01 3.98667419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6371056809999 meters Centerline goodness [0,1] 0.9969850508772664 Centerline is valid? [True, True] Translation: X:209.37, Y:137.70, Z:39.87 [[-6.93430482e-02 -9.96649780e-01 4.33677105e-02 2.09374929e+02] [ 9.40754819e-01 -7.97946224e-02 -3.29565151e-01 1.37700786e+02] [ 3.31921546e-01 1.79453304e-02 9.43136285e-01 3.98704414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66710568099995 meters Centerline goodness [0,1] 0.9975574833656194 Centerline is valid? [True, True] Translation: X:209.38, Y:137.73, Z:39.88 [[-6.86096122e-02 -9.96677311e-01 4.38982845e-02 2.09380019e+02] [ 9.39672854e-01 -7.93411949e-02 -3.32746004e-01 1.37728542e+02] [ 3.35123335e-01 1.84204520e-02 9.41994181e-01 3.98765315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.6971056809999 meters Centerline goodness [0,1] 0.9976077052692892 Centerline is valid? [True, True] Translation: X:209.39, Y:137.75, Z:39.89 [[-7.07313304e-02 -9.96530820e-01 4.38566176e-02 2.09385327e+02] [ 9.39996965e-01 -8.13013718e-02 -3.31354482e-01 1.37753750e+02] [ 3.33770557e-01 1.77879441e-02 9.42486501e-01 3.98890779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72710568099995 meters Centerline goodness [0,1] 0.9974321195537782 Centerline is valid? [True, True] Translation: X:209.39, Y:137.78, Z:39.90 [[-7.23810202e-02 -9.96413768e-01 4.38245549e-02 2.09386173e+02] [ 9.40330733e-01 -8.28224534e-02 -3.30028110e-01 1.37780000e+02] [ 3.32474209e-01 1.73218046e-02 9.42953263e-01 3.98987966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.7571056809999 meters Centerline goodness [0,1] 0.9979368421052631 Centerline is valid? [True, True] Translation: X:209.39, Y:137.81, Z:39.91 [[-7.60990575e-02 -9.96137871e-01 4.37981188e-02 2.09388082e+02] [ 9.40366681e-01 -8.63053124e-02 -3.29031758e-01 1.37805701e+02] [ 3.31541005e-01 1.61472849e-02 9.43302617e-01 3.99089357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78710568099996 meters Centerline goodness [0,1] 0.9975825608038511 Centerline is valid? [True, True] Translation: X:209.40, Y:137.83, Z:39.92 [[-8.43000380e-02 -9.95478591e-01 4.37707435e-02 2.09396163e+02] [ 9.40085208e-01 -9.40188550e-02 -3.27719783e-01 1.37832446e+02] [ 3.30353303e-01 1.35214384e-02 9.43760492e-01 3.99195451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81710568099993 meters Centerline goodness [0,1] 0.9980255004516143 Centerline is valid? [True, True] Translation: X:209.40, Y:137.86, Z:39.93 [[-9.39558786e-02 -9.94611468e-01 4.38214688e-02 2.09401820e+02] [ 9.39380060e-01 -1.03145508e-01 -3.26995576e-01 1.37858474e+02] [ 3.29753537e-01 1.04418574e-02 9.44009307e-01 3.99287821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8471056809999 meters Centerline goodness [0,1] 0.9978832208576099 Centerline is valid? [True, True] Translation: X:209.40, Y:137.89, Z:39.94 [[-9.99434701e-02 -9.94020290e-01 4.39882421e-02 2.09404066e+02] [ 9.38684625e-01 -1.08856698e-01 -3.27141245e-01 1.37885743e+02] [ 3.29973450e-01 8.59545531e-03 9.43951079e-01 3.99361693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87710568099993 meters Centerline goodness [0,1] 0.997605912355574 Centerline is valid? [True, True] Translation: X:209.41, Y:137.91, Z:39.94 [[-1.09870072e-01 -9.92963085e-01 4.41913986e-02 2.09414019e+02] [ 9.37379976e-01 -1.18299721e-01 -3.27603352e-01 1.37911706e+02] [ 3.30525865e-01 5.43032831e-03 9.43781312e-01 3.99444759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9071056809999 meters Centerline goodness [0,1] 0.9983748984311519 Centerline is valid? [True, True] Translation: X:209.41, Y:137.94, Z:39.95 [[-1.13606228e-01 -9.92536043e-01 4.43376717e-02 2.09414944e+02] [ 9.36937065e-01 -1.21874796e-01 -3.27559874e-01 1.37937103e+02] [ 3.30518626e-01 4.32876625e-03 9.43789542e-01 3.99549910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93710568099993 meters Centerline goodness [0,1] 0.9983748984311519 Centerline is valid? [True, True] Translation: X:209.41, Y:137.96, Z:39.96 [[-1.14062545e-01 -9.92477252e-01 4.44819112e-02 2.09411284e+02] [ 9.36881565e-01 -1.22353145e-01 -3.27540290e-01 1.37961407e+02] [ 3.30518789e-01 4.31420359e-03 9.43789552e-01 3.99631095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.9671056809999 meters Centerline goodness [0,1] 0.9986831378942748 Centerline is valid? [True, True] Translation: X:209.41, Y:137.99, Z:39.97 [[-1.19394288e-01 -9.91833718e-01 4.48428346e-02 2.09412287e+02] [ 9.35684997e-01 -1.27509600e-01 -3.28990711e-01 1.37985803e+02] [ 3.32021972e-01 2.67915587e-03 9.43267848e-01 3.99731834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99710568099994 meters Centerline goodness [0,1] 0.9983647113086502 Centerline is valid? [True, True] Translation: X:209.41, Y:138.01, Z:39.98 [[-1.20471442e-01 -9.91689449e-01 4.51516140e-02 2.09408053e+02] [ 9.35162415e-01 -1.28631123e-01 -3.30038319e-01 1.38011789e+02] [ 3.33103422e-01 2.46390012e-03 9.42887077e-01 3.99810856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0271056809999 meters Centerline goodness [0,1] 0.9988897966023587 Centerline is valid? [True, True] Translation: X:209.40, Y:138.04, Z:39.99 [[-1.17525621e-01 -9.92028506e-01 4.54661691e-02 2.09398143e+02] [ 9.35109022e-01 -1.25962537e-01 -3.31216780e-01 1.38035647e+02] [ 3.34303522e-01 3.58936707e-03 9.42458631e-01 3.99890141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05710568099994 meters Centerline goodness [0,1] 0.9990168598083923 Centerline is valid? [True, True] Translation: X:209.39, Y:138.06, Z:40.00 [[-1.13182163e-01 -9.92527207e-01 4.56019959e-02 2.09389001e+02] [ 9.35705645e-01 -1.21912630e-01 -3.31047213e-01 1.38059793e+02] [ 3.34132824e-01 5.20140537e-03 9.42511645e-01 3.99992840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0871056809999 meters Centerline goodness [0,1] 0.9980030269906668 Centerline is valid? [True, True] Translation: X:209.37, Y:138.08, Z:40.01 [[-1.00166954e-01 -9.93942675e-01 4.52165903e-02 2.09369709e+02] [ 9.38596931e-01 -1.09473791e-01 -3.27186935e-01 1.38080519e+02] [ 3.30155089e-01 9.66683418e-03 9.43877200e-01 4.00120858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11710568099994 meters Centerline goodness [0,1] 0.9982321372198253 Centerline is valid? [True, True] Translation: X:209.36, Y:138.10, Z:40.02 [[-8.81460812e-02 -9.95088034e-01 4.50563377e-02 2.09356130e+02] [ 9.40664420e-01 -9.80348166e-02 -3.24868626e-01 1.38103281e+02] [ 3.27689972e-01 1.37469975e-02 9.44685293e-01 4.00243324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.1471056809999 meters Centerline goodness [0,1] 0.9980061703779881 Centerline is valid? [True, True] Translation: X:209.35, Y:138.13, Z:40.03 [[-8.52080835e-02 -9.95335590e-01 4.52398785e-02 2.09351085e+02] [ 9.40853329e-01 -9.53217193e-02 -3.25128872e-01 1.38128189e+02] [ 3.27924681e-01 1.48604822e-02 9.44586984e-01 4.00324108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17710568099994 meters Centerline goodness [0,1] 0.9979768906686689 Centerline is valid? [True, True] Translation: X:209.35, Y:138.15, Z:40.04 [[-8.31511472e-02 -9.95499341e-01 4.54637048e-02 2.09346722e+02] [ 9.40866747e-01 -9.34591412e-02 -3.25630394e-01 1.38152994e+02] [ 3.28413841e-01 1.56987473e-02 9.44403462e-01 4.00395432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2071056809999 meters Centerline goodness [0,1] 0.9977056978677724 Centerline is valid? [True, True] Translation: X:209.34, Y:138.18, Z:40.05 [[-8.35362590e-02 -9.95456190e-01 4.57019395e-02 2.09343597e+02] [ 9.40609825e-01 -9.39116291e-02 -3.26241879e-01 1.38177996e+02] [ 3.29051442e-01 1.57346672e-02 9.44180898e-01 4.00461266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23710568099995 meters Centerline goodness [0,1] 0.9976246032246536 Centerline is valid? [True, True] Translation: X:209.34, Y:138.20, Z:40.05 [[-8.41477879e-02 -9.95381923e-01 4.61949907e-02 2.09339298e+02] [ 9.39703380e-01 -9.46918463e-02 -3.28619861e-01 1.38204657e+02] [ 3.31476558e-01 1.57569546e-02 9.43331866e-01 4.00484938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.2671056809999 meters Centerline goodness [0,1] 0.9975040899366584 Centerline is valid? [True, True] Translation: X:209.33, Y:138.23, Z:40.05 [[-8.47763973e-02 -9.95318061e-01 4.64211099e-02 2.09334616e+02] [ 9.39449005e-01 -9.53691630e-02 -3.29150863e-01 1.38229579e+02] [ 3.32036941e-01 1.57060411e-02 9.43135616e-01 4.00537913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29710568099995 meters Centerline goodness [0,1] 0.9973943010843069 Centerline is valid? [True, True] Translation: X:209.34, Y:138.26, Z:40.06 [[-8.26768216e-02 -9.95475893e-01 4.68219022e-02 2.09335213e+02] [ 9.39044099e-01 -9.35502228e-02 -3.30824026e-01 1.38255830e+02] [ 3.33707542e-01 1.66163520e-02 9.42530197e-01 4.00615401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3271056809999 meters Centerline goodness [0,1] 0.9968714567673119 Centerline is valid? [True, True] Translation: X:209.34, Y:138.28, Z:40.07 [[-8.13897147e-02 -9.95575998e-01 4.69483370e-02 2.09336296e+02] [ 9.39199123e-01 -9.23762853e-02 -3.30713819e-01 1.38281240e+02] [ 3.33587653e-01 1.71771336e-02 9.42562584e-01 4.00708202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35710568099995 meters Centerline goodness [0,1] 0.9967548203561268 Centerline is valid? [True, True] Translation: X:209.33, Y:138.31, Z:40.08 [[-8.02126562e-02 -9.95674102e-01 4.68936381e-02 2.09328594e+02] [ 9.39830737e-01 -9.12200553e-02 -3.29237128e-01 1.38305545e+02] [ 3.32090522e-01 1.76630978e-02 9.43082128e-01 4.00791292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.3871056809999 meters Centerline goodness [0,1] 0.9970322068259243 Centerline is valid? [True, True] Translation: X:209.33, Y:138.33, Z:40.09 [[-8.03300341e-02 -9.95659605e-01 4.70003823e-02 2.09329659e+02] [ 9.39930094e-01 -9.13602614e-02 -3.28914458e-01 1.38331211e+02] [ 3.31780807e-01 1.77553642e-02 9.43189400e-01 4.00894748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41710568099995 meters Centerline goodness [0,1] 0.9964470824276876 Centerline is valid? [True, True] Translation: X:209.33, Y:138.36, Z:40.10 [[-8.22856156e-02 -9.95500413e-01 4.69894253e-02 2.09333178e+02] [ 9.40132146e-01 -9.31828927e-02 -3.27823880e-01 1.38358080e+02] [ 3.30727418e-01 1.72010795e-02 9.43569551e-01 4.00982188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4471056809999 meters Centerline goodness [0,1] 0.9966354747134897 Centerline is valid? [True, True] Translation: X:209.33, Y:138.38, Z:40.11 [[-8.62673958e-02 -9.95162824e-01 4.69988388e-02 2.09334538e+02] [ 9.40090263e-01 -9.69298621e-02 -3.26856084e-01 1.38383752e+02] [ 3.29830614e-01 1.59861276e-02 9.43904767e-01 4.01077353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47710568099995 meters Centerline goodness [0,1] 0.9963007335477226 Centerline is valid? [True, True] Translation: X:209.34, Y:138.41, Z:40.12 [[-9.54457412e-02 -9.94327137e-01 4.69431139e-02 2.09342592e+02] [ 9.39649549e-01 -1.05561857e-01 -3.25446493e-01 1.38410179e+02] [ 3.28555682e-01 1.30475940e-02 9.44394475e-01 4.01170370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5071056809999 meters Centerline goodness [0,1] 0.9964017423142478 Centerline is valid? [True, True] Translation: X:209.34, Y:138.44, Z:40.12 [[-1.00013340e-01 -9.93868320e-01 4.71497084e-02 2.09341105e+02] [ 9.39007331e-01 -1.09951016e-01 -3.25846598e-01 1.38435627e+02] [ 3.29032770e-01 1.16849151e-02 9.44246207e-01 4.01235046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53710568099996 meters Centerline goodness [0,1] 0.9969308387639269 Centerline is valid? [True, True] Translation: X:209.35, Y:138.46, Z:40.13 [[-1.08689259e-01 -9.92934428e-01 4.76221335e-02 2.09348116e+02] [ 9.37212190e-01 -1.18324517e-01 -3.28074106e-01 1.38463854e+02] [ 3.31390940e-01 8.97391275e-03 9.43450854e-01 4.01297717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56710568099993 meters Centerline goodness [0,1] 0.9960879989904513 Centerline is valid? [True, True] Translation: X:209.36, Y:138.49, Z:40.14 [[-1.17503753e-01 -9.91925960e-01 4.77048964e-02 2.09355703e+02] [ 9.36190263e-01 -1.26669887e-01 -3.27875786e-01 1.38491575e+02] [ 3.31271278e-01 6.13422413e-03 9.43515613e-01 4.01365329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.5971056809999 meters Centerline goodness [0,1] 0.9964796110808433 Centerline is valid? [True, True] Translation: X:209.36, Y:138.52, Z:40.14 [[-1.21980868e-01 -9.91373130e-01 4.79581572e-02 2.09357271e+02] [ 9.35342662e-01 -1.30982905e-01 -3.28599428e-01 1.38517578e+02] [ 3.32046342e-01 4.77446700e-03 9.43250991e-01 4.01446292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62710568099993 meters Centerline goodness [0,1] 0.9965237786107679 Centerline is valid? [True, True] Translation: X:209.36, Y:138.54, Z:40.15 [[-1.26939123e-01 -9.90740661e-01 4.81601678e-02 2.09359387e+02] [ 9.34536847e-01 -1.35729098e-01 -3.28965795e-01 1.38543049e+02] [ 3.32456525e-01 3.24882174e-03 9.43112986e-01 4.01532010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.6571056809999 meters Centerline goodness [0,1] 0.9965822652912368 Centerline is valid? [True, True] Translation: X:209.35, Y:138.57, Z:40.16 [[-1.26514593e-01 -9.90793864e-01 4.81827404e-02 2.09354280e+02] [ 9.34910601e-01 -1.35332838e-01 -3.28065833e-01 1.38567801e+02] [ 3.31566322e-01 3.54143938e-03 9.43425266e-01 4.01623815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68710568099993 meters Centerline goodness [0,1] 0.9966399966399967 Centerline is valid? [True, True] Translation: X:209.35, Y:138.59, Z:40.18 [[-1.21525350e-01 -9.91424355e-01 4.80555599e-02 2.09345428e+02] [ 9.36258337e-01 -1.30571995e-01 -3.26146103e-01 1.38591238e+02] [ 3.29623900e-01 5.35739914e-03 9.44097126e-01 4.01756677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7171056809999 meters Centerline goodness [0,1] 0.9962443875624187 Centerline is valid? [True, True] Translation: X:209.34, Y:138.62, Z:40.19 [[-1.17983541e-01 -9.91851702e-01 4.80633495e-02 2.09338205e+02] [ 9.37052148e-01 -1.27223031e-01 -3.25188517e-01 1.38615854e+02] [ 3.28653549e-01 6.67097232e-03 9.44426992e-01 4.01855818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74710568099994 meters Centerline goodness [0,1] 0.9960757300603252 Centerline is valid? [True, True] Translation: X:209.33, Y:138.64, Z:40.20 [[-1.10456432e-01 -9.92723033e-01 4.79620331e-02 2.09326619e+02] [ 9.38578891e-01 -1.20061672e-01 -3.23504035e-01 1.38638775e+02] [ 3.26908308e-01 9.28305027e-03 9.45010467e-01 4.01956978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7771056809999 meters Centerline goodness [0,1] 0.9959608709372042 Centerline is valid? [True, True] Translation: X:209.32, Y:138.66, Z:40.20 [[-1.06623928e-01 -9.93138922e-01 4.80251911e-02 2.09318473e+02] [ 9.39247267e-01 -1.16451745e-01 -3.22883203e-01 1.38663009e+02] [ 3.26260493e-01 1.06804542e-02 9.45219561e-01 4.02043740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80710568099994 meters Centerline goodness [0,1] 0.9951452264866442 Centerline is valid? [True, True] Translation: X:209.31, Y:138.69, Z:40.21 [[-9.82450678e-02 -9.93996439e-01 4.81558557e-02 2.09307181e+02] [ 9.40245555e-01 -1.08567377e-01 -3.22724993e-01 1.38688475e+02] [ 3.26015649e-01 1.35721904e-02 9.45266942e-01 4.02108281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8371056809999 meters Centerline goodness [0,1] 0.9951490820892401 Centerline is valid? [True, True] Translation: X:209.30, Y:138.71, Z:40.22 [[-9.50569845e-02 -9.94297732e-01 4.83341395e-02 2.09299381e+02] [ 9.40512715e-01 -1.05612927e-01 -3.22926838e-01 1.38712101e+02] [ 3.26190133e-01 1.47624213e-02 9.45188906e-01 4.02181843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86710568099994 meters Centerline goodness [0,1] 0.9951969060589678 Centerline is valid? [True, True] Translation: X:209.29, Y:138.74, Z:40.22 [[-8.81925597e-02 -9.94909082e-01 4.87646435e-02 2.09287646e+02] [ 9.40572792e-01 -9.92934156e-02 -3.24751658e-01 1.38736657e+02] [ 3.27940382e-01 1.72260169e-02 9.44541354e-01 4.02233300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8971056809999 meters Centerline goodness [0,1] 0.9946700935366984 Centerline is valid? [True, True] Translation: X:209.28, Y:138.76, Z:40.23 [[-8.51994113e-02 -9.95159343e-01 4.89789944e-02 2.09280729e+02] [ 9.40627310e-01 -9.65470453e-02 -3.25421161e-01 1.38762065e+02] [ 3.28574686e-01 1.83452883e-02 9.44299807e-01 4.02300028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92710568099994 meters Centerline goodness [0,1] 0.9946716650520198 Centerline is valid? [True, True] Translation: X:209.27, Y:138.79, Z:40.23 [[-8.20375241e-02 -9.95401326e-01 4.94574981e-02 2.09274869e+02] [ 9.40150776e-01 -9.37613653e-02 -3.27605441e-01 1.38788402e+02] [ 3.30736093e-01 1.96215660e-02 9.43519280e-01 4.02334460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.9571056809999 meters Centerline goodness [0,1] 0.9938535373734397 Centerline is valid? [True, True] Translation: X:209.27, Y:138.81, Z:40.24 [[-8.20056741e-02 -9.95374105e-01 5.00545809e-02 2.09273381e+02] [ 9.39017349e-01 -9.39962971e-02 -3.30773510e-01 1.38814286e+02] [ 3.33948332e-01 1.98768152e-02 9.42381783e-01 4.02381357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98710568099995 meters Centerline goodness [0,1] 0.9937621175082189 Centerline is valid? [True, True] Translation: X:209.27, Y:138.84, Z:40.25 [[-8.26211351e-02 -9.95312889e-01 5.02593369e-02 2.09272038e+02] [ 9.38827312e-01 -9.46527768e-02 -3.31125551e-01 1.38839188e+02] [ 3.34330714e-01 1.98268693e-02 9.42247244e-01 4.02471791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0171056809999 meters Centerline goodness [0,1] 0.9937705194039902 Centerline is valid? [True, True] Translation: X:209.27, Y:138.86, Z:40.26 [[-8.38022328e-02 -9.95229238e-01 4.99594762e-02 2.09270125e+02] [ 9.39778773e-01 -9.56053431e-02 -3.28139414e-01 1.38862683e+02] [ 3.31350332e-01 1.94520396e-02 9.43307254e-01 4.02603417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04710568099995 meters Centerline goodness [0,1] 0.9935581659719591 Centerline is valid? [True, True] Translation: X:209.27, Y:138.89, Z:40.27 [[-8.47721650e-02 -9.95155850e-01 4.97846775e-02 2.09267554e+02] [ 9.40343557e-01 -9.64256099e-02 -3.26276105e-01 1.38887616e+02] [ 3.29496092e-01 1.91555689e-02 9.43962600e-01 4.02701292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0771056809999 meters Centerline goodness [0,1] 0.9935272360457297 Centerline is valid? [True, True] Translation: X:209.27, Y:138.91, Z:40.28 [[-8.62169695e-02 -9.95026318e-01 4.98924821e-02 2.09265098e+02] [ 9.40266382e-01 -9.78225280e-02 -3.26082633e-01 1.38913403e+02] [ 3.29341411e-01 1.87983672e-02 9.44023759e-01 4.02787667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10710568099995 meters Centerline goodness [0,1] 0.9933563199058111 Centerline is valid? [True, True] Translation: X:209.26, Y:138.94, Z:40.28 [[-8.73453633e-02 -9.94912324e-01 5.02021370e-02 2.09264872e+02] [ 9.39751190e-01 -9.90131220e-02 -3.27206512e-01 1.38939965e+02] [ 3.30512462e-01 1.85975464e-02 9.43618378e-01 4.02846653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1371056809999 meters Centerline goodness [0,1] 0.9933878032345014 Centerline is valid? [True, True] Translation: X:209.26, Y:138.96, Z:40.29 [[-8.76675837e-02 -9.94879118e-01 5.02984685e-02 2.09263982e+02] [ 9.39840387e-01 -9.93423281e-02 -3.26850347e-01 1.38964301e+02] [ 3.30173352e-01 1.86183519e-02 9.43736676e-01 4.02938396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16710568099995 meters Centerline goodness [0,1] 0.9915152535949638 Centerline is valid? [True, True] Translation: X:209.26, Y:138.99, Z:40.30 [[-8.77043917e-02 -9.94872385e-01 5.03674159e-02 2.09261367e+02] [ 9.40031959e-01 -9.93886830e-02 -3.26284853e-01 1.38989260e+02] [ 3.29617742e-01 1.87303661e-02 9.43928661e-01 4.03032878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.1971056809999 meters Centerline goodness [0,1] 0.9911924831311879 Centerline is valid? [True, True] Translation: X:209.26, Y:139.01, Z:40.31 [[-8.81308799e-02 -9.94839620e-01 5.02700499e-02 2.09260337e+02] [ 9.40543165e-01 -9.97284279e-02 -3.24704167e-01 1.39013884e+02] [ 3.28041923e-01 1.86646879e-02 9.44478759e-01 4.03137423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22710568099995 meters Centerline goodness [0,1] 0.9922793656107461 Centerline is valid? [True, True] Translation: X:209.26, Y:139.04, Z:40.32 [[-8.81823024e-02 -9.94833837e-01 5.02943167e-02 2.09261201e+02] [ 9.40809045e-01 -9.97694856e-02 -3.23920346e-01 1.39038962e+02] [ 3.27264759e-01 1.87533062e-02 9.44746575e-01 4.03238352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.2571056809999 meters Centerline goodness [0,1] 0.9922700443212132 Centerline is valid? [True, True] Translation: X:209.27, Y:139.06, Z:40.33 [[-8.92740738e-02 -9.94739988e-01 5.02244554e-02 2.09265643e+02] [ 9.41191609e-01 -1.00751447e-01 -3.22501939e-01 1.39064761e+02] [ 3.25865762e-01 1.84797740e-02 9.45235422e-01 4.03346107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28710568099996 meters Centerline goodness [0,1] 0.9926050420168068 Centerline is valid? [True, True] Translation: X:209.26, Y:139.09, Z:40.34 [[-9.03562057e-02 -9.94642372e-01 5.02225869e-02 2.09263554e+02] [ 9.41393816e-01 -1.01757268e-01 -3.21594684e-01 1.39088970e+02] [ 3.24982213e-01 1.82211574e-02 9.45544579e-01 4.03439512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31710568099993 meters Centerline goodness [0,1] 0.9924236082042696 Centerline is valid? [True, True] Translation: X:209.26, Y:139.12, Z:40.35 [[-9.14000540e-02 -9.94546239e-01 5.02375282e-02 2.09263471e+02] [ 9.41570533e-01 -1.02734358e-01 -3.20765620e-01 1.39115339e+02] [ 3.24177361e-01 1.79841813e-02 9.45825358e-01 4.03523388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3471056809999 meters Centerline goodness [0,1] 0.9922995275656101 Centerline is valid? [True, True] Translation: X:209.26, Y:139.14, Z:40.36 [[-9.21039416e-02 -9.94474893e-01 5.03641783e-02 2.09260933e+02] [ 9.41514532e-01 -1.03440663e-01 -3.20703003e-01 1.39139467e+02] [ 3.24140789e-01 1.78805951e-02 9.45839856e-01 4.03597749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37710568099993 meters Centerline goodness [0,1] 0.9925127409240578 Centerline is valid? [True, True] Translation: X:209.26, Y:139.16, Z:40.37 [[-9.10393841e-02 -9.94559190e-01 5.06344648e-02 2.09259892e+02] [ 9.41367131e-01 -1.02534581e-01 -3.21425862e-01 1.39164531e+02] [ 3.24868829e-01 1.84032083e-02 9.45580016e-01 4.03665694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4071056809999 meters Centerline goodness [0,1] 0.9914122538109436 Centerline is valid? [True, True] Translation: X:209.26, Y:139.19, Z:40.37 [[-8.94442382e-02 -9.94692029e-01 5.08674337e-02 2.09256084e+02] [ 9.41317129e-01 -1.01112540e-01 -3.22022231e-01 1.39189440e+02] [ 3.25456281e-01 1.90793536e-02 9.45364579e-01 4.03735057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43710568099993 meters Centerline goodness [0,1] 0.9896234309623431 Centerline is valid? [True, True] Translation: X:209.25, Y:139.22, Z:40.38 [[-8.86283126e-02 -9.94751066e-01 5.11403889e-02 2.09251854e+02] [ 9.41097976e-01 -1.00446861e-01 -3.22869987e-01 1.39215854e+02] [ 3.26312155e-01 1.95126943e-02 9.45060650e-01 4.03802762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.4671056809999 meters Centerline goodness [0,1] 0.9452261306532663 Centerline is valid? [True, False] Translation: X:209.11, Y:137.95, Z:40.17 [[ 3.20496487e-01 8.75146034e-01 -3.62493338e-01 2.09105231e+02] [-9.46832801e-01 3.07322711e-01 -9.51861212e-02 1.37948660e+02] [ 2.81006789e-02 3.73727400e-01 9.27112821e-01 4.01741049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49710568099994 meters Centerline goodness [0,1] 0.9929094379995385 Centerline is valid? [False, True] Translation: X:209.01, Y:138.24, Z:40.18 [[ 3.25118339e-01 7.81563060e-01 -5.32407033e-01 2.09013729e+02] [-9.44368132e-01 2.97896115e-01 -1.39379825e-01 1.38238943e+02] [ 4.96678640e-02 5.48103173e-01 8.34934737e-01 4.01826305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5271056809999 meters Centerline goodness [0,1] 0.9929384727880497 Centerline is valid? [True, True] Translation: X:209.26, Y:138.29, Z:40.58 [[ 4.98616116e-01 -8.66597349e-01 1.97738099e-02 2.09257519e+02] [-8.65124037e-01 -4.98936891e-01 -5.12091770e-02 1.38294909e+02] [ 5.42436203e-02 8.42692271e-03 -9.98492172e-01 4.05807678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55710568099994 meters Centerline goodness [0,1] 0.9931390078589546 Centerline is valid? [True, True] Translation: X:209.27, Y:138.24, Z:40.59 [[ 5.62640084e-01 -8.26371655e-01 2.33671599e-02 2.09272006e+02] [-8.24957587e-01 -5.63063782e-01 -4.90322093e-02 1.38240164e+02] [ 5.36760294e-02 8.31057050e-03 -9.98523820e-01 4.05861767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5871056809999 meters Centerline goodness [0,1] 0.993691780389848 Centerline is valid? [True, True] Translation: X:209.30, Y:138.19, Z:40.59 [[ 6.22442849e-01 -7.82190113e-01 2.72676875e-02 2.09298749e+02] [-7.80798800e-01 -6.22986146e-01 -4.73444370e-02 1.38185553e+02] [ 5.40197420e-02 8.17862853e-03 -9.98506373e-01 4.05894410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61710568099994 meters Centerline goodness [0,1] 0.9937761517273281 Centerline is valid? [True, True] Translation: X:209.32, Y:138.14, Z:40.59 [[ 6.79646204e-01 -7.32878225e-01 3.11535823e-02 2.09317935e+02] [-7.31510715e-01 -6.80311357e-01 -4.54810968e-02 1.38141944e+02] [ 5.45262413e-02 8.12187554e-03 -9.98479306e-01 4.05930442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6471056809999 meters Centerline goodness [0,1] 0.9940697431614116 Centerline is valid? [True, True] Translation: X:209.35, Y:138.08, Z:40.60 [[ 7.33308997e-01 -6.79059226e-01 3.37117406e-02 2.09353892e+02] [-6.77802172e-01 -7.34039916e-01 -4.20668176e-02 1.38082085e+02] [ 5.33116238e-02 7.99808487e-03 -9.98545893e-01 4.05991610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67710568099994 meters Centerline goodness [0,1] 0.9940424815274824 Centerline is valid? [True, True] Translation: X:209.38, Y:138.04, Z:40.61 [[ 7.82665819e-01 -6.21445762e-01 3.52048442e-02 2.09384436e+02] [-6.20337698e-01 -7.83418021e-01 -3.79123272e-02 1.38037530e+02] [ 5.11405645e-02 7.83379066e-03 -9.98660740e-01 4.06054227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7071056809999 meters Centerline goodness [0,1] 0.9940369958216978 Centerline is valid? [True, True] Translation: X:209.41, Y:138.05, Z:40.61 [[ 8.28457123e-01 -5.58703634e-01 3.88464142e-02 2.09406423e+02] [-5.57614419e-01 -8.29329061e-01 -3.57696641e-02 1.38045391e+02] [ 5.22011015e-02 7.97231234e-03 -9.98604770e-01 4.06076835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73710568099995 meters Centerline goodness [0,1] 0.9936928282026649 Centerline is valid? [True, True] Translation: X:209.20, Y:137.68, Z:40.29 [[ 7.67492428e-01 6.37635680e-01 -6.61521982e-02 2.09196228e+02] [-6.35725983e-01 7.70327272e-01 4.94809857e-02 1.37682111e+02] [ 8.25096843e-02 4.07838941e-03 9.96581918e-01 4.02932818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.7671056809999 meters Centerline goodness [0,1] 0.9930795847750865 Centerline is valid? [True, True] Translation: X:209.22, Y:137.67, Z:40.30 [[ 7.67436791e-01 6.37870416e-01 -6.45143625e-02 2.09218304e+02] [-6.36056034e-01 7.70133266e-01 4.82439072e-02 1.37666190e+02] [ 8.04580178e-02 4.01060021e-03 9.96749930e-01 4.02976336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79710568099995 meters Centerline goodness [0,1] 0.9935715478377024 Centerline is valid? [True, True] Translation: X:209.24, Y:137.65, Z:40.30 [[ 7.68470480e-01 6.36646054e-01 -6.43033661e-02 2.09241056e+02] [-6.34840734e-01 7.71146367e-01 4.80678946e-02 1.37648441e+02] [ 8.01895426e-02 3.88363808e-03 9.96772068e-01 4.03019850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8271056809999 meters Centerline goodness [0,1] 0.9935715478377024 Centerline is valid? [True, True] Translation: X:209.26, Y:137.63, Z:40.30 [[ 7.68702006e-01 6.36364906e-01 -6.43189873e-02 2.09263235e+02] [-6.34560351e-01 7.71378408e-01 4.80469842e-02 1.37632132e+02] [ 8.01896925e-02 3.88046598e-03 9.96772068e-01 4.03038639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85710568099995 meters Centerline goodness [0,1] 0.9942322615826674 Centerline is valid? [True, True] Translation: X:209.29, Y:137.61, Z:40.31 [[ 7.70713197e-01 6.34030048e-01 -6.33013837e-02 2.09285345e+02] [-6.32277104e-01 7.73300002e-01 4.72522003e-02 1.37612662e+02] [ 7.89102750e-02 3.60612111e-03 9.96875200e-01 4.03072081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.8871056809999 meters Centerline goodness [0,1] 0.9939851199832338 Centerline is valid? [True, True] Translation: X:209.31, Y:137.59, Z:40.31 [[ 7.74925986e-01 6.28922131e-01 -6.28225181e-02 2.09307136e+02] [-6.27180892e-01 7.77462191e-01 4.68686511e-02 1.37593778e+02] [ 7.83188645e-02 3.08134729e-03 9.96923598e-01 4.03089820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91710568099995 meters Centerline goodness [0,1] 0.9939742650904906 Centerline is valid? [True, True] Translation: X:209.33, Y:137.57, Z:40.31 [[ 7.77206151e-01 6.26107823e-01 -6.27661777e-02 2.09327434e+02] [-6.24360932e-01 7.79731467e-01 4.68216290e-02 1.37572896e+02] [ 7.82561520e-02 2.79869120e-03 9.96929357e-01 4.03129264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9471056809999 meters Centerline goodness [0,1] 0.9948270084610874 Centerline is valid? [True, True] Translation: X:209.35, Y:137.56, Z:40.31 [[ 7.78967352e-01 6.23925392e-01 -6.26655362e-02 2.09349724e+02] [-6.22177758e-01 7.81479646e-01 4.67375689e-02 1.37556202e+02] [ 7.81325971e-02 2.58206252e-03 9.96939632e-01 4.03147288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97710568099995 meters Centerline goodness [0,1] 0.9944224277117276 Centerline is valid? [True, True] Translation: X:209.37, Y:137.54, Z:40.32 [[ 7.80654649e-01 6.21786262e-01 -6.29298346e-02 2.09372494e+02] [-6.20017939e-01 7.83183338e-01 4.69213589e-02 1.37538189e+02] [ 7.84606543e-02 2.38824938e-03 9.96914350e-01 4.03151481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0071056809999 meters Centerline goodness [0,1] 0.9942773294203961 Centerline is valid? [True, True] Translation: X:209.40, Y:137.52, Z:40.32 [[ 7.80759754e-01 6.21669300e-01 -6.27812666e-02 2.09395581e+02] [-6.19911121e-01 7.83276169e-01 4.67829640e-02 1.37524410e+02] [ 7.82586024e-02 2.39254984e-03 9.96930222e-01 4.03165821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03710568099996 meters Centerline goodness [0,1] 0.9939018001215448 Centerline is valid? [True, True] Translation: X:209.42, Y:137.51, Z:40.32 [[ 7.79026283e-01 6.23640365e-01 -6.47359631e-02 2.09420757e+02] [-6.21778841e-01 7.81706782e-01 4.82242619e-02 1.37509287e+02] [ 8.06791377e-02 2.68348459e-03 9.96736513e-01 4.03172914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06710568099993 meters Centerline goodness [0,1] 0.993634295493916 Centerline is valid? [True, True] Translation: X:209.45, Y:137.50, Z:40.32 [[ 7.77867775e-01 6.25028508e-01 -6.52770106e-02 2.09445187e+02] [-6.23141264e-01 7.80596692e-01 4.86186078e-02 1.37495533e+02] [ 8.13430345e-02 2.85795061e-03 9.96682067e-01 4.03176937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.0971056809999 meters Centerline goodness [0,1] 0.9938647737504449 Centerline is valid? [True, True] Translation: X:209.47, Y:137.48, Z:40.32 [[ 7.76468811e-01 6.26788828e-01 -6.50534394e-02 2.09469320e+02] [-6.24922251e-01 7.79183213e-01 4.84324296e-02 1.37480024e+02] [ 8.10454538e-02 3.04707080e-03 9.96705749e-01 4.03193588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12710568099993 meters Centerline goodness [0,1] 0.9936209501426893 Centerline is valid? [True, True] Translation: X:209.50, Y:137.47, Z:40.32 [[ 7.74270756e-01 6.29403614e-01 -6.59991453e-02 2.09495190e+02] [-6.27494145e-01 7.77071159e-01 4.91071456e-02 1.37465973e+02] [ 8.21942473e-02 3.39185049e-03 9.96610556e-01 4.03171025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.1571056809999 meters Centerline goodness [0,1] 0.9930720298952407 Centerline is valid? [True, True] Translation: X:209.52, Y:137.45, Z:40.32 [[ 7.73178417e-01 6.30685432e-01 -6.65659262e-02 2.09518603e+02] [-6.28748872e-01 7.76030376e-01 4.95147595e-02 1.37449233e+02] [ 8.28854183e-02 3.56950763e-03 9.96552691e-01 4.03191968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18710568099993 meters Centerline goodness [0,1] 0.9935337588176016 Centerline is valid? [True, True] Translation: X:209.54, Y:137.43, Z:40.32 [[ 7.71830121e-01 6.32480932e-01 -6.51623707e-02 2.09541045e+02] [-6.30633996e-01 7.74567070e-01 4.84418974e-02 1.37433983e+02] [ 8.11112029e-02 3.70469070e-03 9.96698173e-01 4.03244309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2171056809999 meters Centerline goodness [0,1] 0.9935182077529787 Centerline is valid? [True, True] Translation: X:209.56, Y:137.42, Z:40.33 [[ 7.71524020e-01 6.32989123e-01 -6.38393055e-02 2.09563792e+02] [-6.31219515e-01 7.74151876e-01 4.74425558e-02 1.37415917e+02] [ 7.94519400e-02 3.69354410e-03 9.96831855e-01 4.03282699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24710568099994 meters Centerline goodness [0,1] 0.993060520671237 Centerline is valid? [True, True] Translation: X:209.59, Y:137.40, Z:40.33 [[ 7.70451578e-01 6.34364276e-01 -6.31374013e-02 2.09585421e+02] [-6.32640226e-01 7.73024847e-01 4.68927483e-02 1.37397586e+02] [ 7.85538643e-02 3.81466788e-03 9.96902572e-01 4.03308071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2771056809999 meters Centerline goodness [0,1] 0.9930995546076156 Centerline is valid? [True, True] Translation: X:209.61, Y:137.38, Z:40.33 [[ 7.70029234e-01 6.34786386e-01 -6.40407879e-02 2.09609799e+02] [-6.33014954e-01 7.72677721e-01 4.75521532e-02 1.37384318e+02] [ 7.96683496e-02 3.92222829e-03 9.96813709e-01 4.03309851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30710568099994 meters Centerline goodness [0,1] 0.9940564948020582 Centerline is valid? [True, True] Translation: X:209.63, Y:137.37, Z:40.33 [[ 7.67345783e-01 6.37737304e-01 -6.68698703e-02 2.09634435e+02] [-6.35817650e-01 7.70241233e-01 4.96423141e-02 1.37366185e+02] [ 8.31646870e-02 4.42422338e-03 9.96525996e-01 4.03284318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3371056809999 meters Centerline goodness [0,1] 0.9932144813925065 Centerline is valid? [True, True] Translation: X:209.66, Y:137.35, Z:40.33 [[ 7.65365696e-01 6.39983729e-01 -6.80894751e-02 2.09658606e+02] [-6.38002463e-01 7.68373736e-01 5.05436341e-02 1.37351201e+02] [ 8.46652678e-02 4.75688914e-03 9.96398095e-01 4.03280490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36710568099994 meters Centerline goodness [0,1] 0.9928738610716376 Centerline is valid? [True, True] Translation: X:209.68, Y:137.33, Z:40.33 [[ 7.61953753e-01 6.44087550e-01 -6.76587486e-02 2.09683830e+02] [-6.42148080e-01 7.64934204e-01 5.02146146e-02 1.37334419e+02] [ 8.40970991e-02 5.18572146e-03 9.96444071e-01 4.03331328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3971056809999 meters Centerline goodness [0,1] 0.9869021216052224 Centerline is valid? [True, True] Translation: X:209.71, Y:137.32, Z:40.34 [[ 7.57935047e-01 6.48858322e-01 -6.72111769e-02 2.09707765e+02] [-6.46963134e-01 7.60888066e-01 4.98803919e-02 1.37316906e+02] [ 8.35054898e-02 5.67705653e-03 9.96491146e-01 4.03374566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42710568099994 meters Centerline goodness [0,1] 0.9924479878831226 Centerline is valid? [True, True] Translation: X:209.73, Y:137.29, Z:40.34 [[ 7.56622795e-01 6.50465653e-01 -6.64558511e-02 2.09728267e+02] [-6.48619193e-01 7.59513603e-01 4.93176405e-02 1.37294956e+02] [ 8.25535542e-02 5.78968953e-03 9.96569812e-01 4.03417289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4571056809999 meters Centerline goodness [0,1] 0.9870105342678474 Centerline is valid? [True, True] Translation: X:209.76, Y:137.28, Z:40.34 [[ 7.53648060e-01 6.54083588e-01 -6.47244962e-02 2.09755037e+02] [-6.52345720e-01 7.56398270e-01 4.80283165e-02 1.37281856e+02] [ 8.03720305e-02 6.02630050e-03 9.96746718e-01 4.03412338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48710568099995 meters Centerline goodness [0,1] 0.9575541518127045 Centerline is valid? [True, True] Translation: X:209.78, Y:137.27, Z:40.34 [[ 7.52311854e-01 6.55572891e-01 -6.52001488e-02 2.09781147e+02] [-6.53815300e-01 7.55106158e-01 4.83760699e-02 1.37269444e+02] [ 8.09470738e-02 6.23496396e-03 9.96698900e-01 4.03416399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5171056809999 meters Centerline goodness [0,1] 0.9823178167444598 Centerline is valid? [True, True] Translation: X:209.80, Y:137.24, Z:40.35 [[ 7.51248892e-01 6.56721969e-01 -6.58889864e-02 2.09797029e+02] [-6.54932167e-01 7.54105339e-01 4.88773412e-02 1.37241067e+02] [ 8.17860602e-02 6.43376820e-03 9.96629142e-01 4.03473691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54710568099995 meters Centerline goodness [0,1] 0.9858240676759428 Centerline is valid? [True, True] Translation: X:209.82, Y:137.22, Z:40.35 [[ 7.52731797e-01 6.55115253e-01 -6.49526485e-02 2.09816916e+02] [-6.53370456e-01 7.55503740e-01 4.81782732e-02 1.37218617e+02] [ 8.06342905e-02 6.17282342e-03 9.96724640e-01 4.03509551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5771056809999 meters Centerline goodness [0,1] 0.979730862748386 Centerline is valid? [True, True] Translation: X:209.84, Y:137.20, Z:40.35 [[ 7.53830501e-01 6.53901006e-01 -6.44441599e-02 2.09840127e+02] [-6.52179494e-01 7.56556331e-01 4.77956630e-02 1.37203199e+02] [ 8.00092693e-02 5.99933100e-03 9.96776066e-01 4.03521239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60710568099995 meters Centerline goodness [0,1] 0.9850069295703666 Centerline is valid? [True, True] Translation: X:209.86, Y:137.18, Z:40.35 [[ 7.55729270e-01 6.51444413e-01 -6.70331789e-02 2.09860518e+02] [-6.49572948e-01 7.58672803e-01 4.97047631e-02 1.37182413e+02] [ 8.32361400e-02 5.97959531e-03 9.96511911e-01 4.03487528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6371056809999 meters Centerline goodness [0,1] 0.9939719812648338 Centerline is valid? [True, True] Translation: X:209.88, Y:137.16, Z:40.35 [[ 7.56884373e-01 6.49997319e-01 -6.80406529e-02 2.09878286e+02] [-6.48064321e-01 7.59913460e-01 5.04397532e-02 1.37158085e+02] [ 8.44907123e-02 5.91765854e-03 9.96406695e-01 4.03507538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66710568099995 meters Centerline goodness [0,1] 0.9930222782681799 Centerline is valid? [True, True] Translation: X:209.90, Y:137.14, Z:40.35 [[ 7.57633879e-01 6.49121430e-01 -6.80608205e-02 2.09899259e+02] [-6.47186251e-01 7.60662355e-01 5.04255740e-02 1.37139523e+02] [ 8.45036247e-02 5.84390397e-03 9.96406035e-01 4.03538390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.6971056809999 meters Centerline goodness [0,1] 0.9934715983038751 Centerline is valid? [True, True] Translation: X:209.92, Y:137.11, Z:40.36 [[ 7.59454530e-01 6.47038716e-01 -6.75996829e-02 2.09916785e+02] [-6.45122378e-01 7.62436717e-01 5.00736344e-02 1.37113819e+02] [ 8.39400605e-02 5.58141974e-03 9.96455174e-01 4.03604076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72710568099995 meters Centerline goodness [0,1] 0.9951002973323841 Centerline is valid? [True, True] Translation: X:209.94, Y:137.09, Z:40.36 [[ 7.60487505e-01 6.45866023e-01 -6.71999616e-02 2.09936909e+02] [-6.43968544e-01 7.63431485e-01 4.97682735e-02 1.37092100e+02] [ 8.34462034e-02 5.42651128e-03 9.96497508e-01 4.03648803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.7571056809999 meters Centerline goodness [0,1] 0.9952871870397644 Centerline is valid? [True, True] Translation: X:209.96, Y:137.07, Z:40.36 [[ 7.61140275e-01 6.44993327e-01 -6.81842324e-02 2.09958255e+02] [-6.43038588e-01 7.64168909e-01 5.04703158e-02 1.37072501e+02] [ 8.46572875e-02 5.43010248e-03 9.96395332e-01 4.03637343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78710568099996 meters Centerline goodness [0,1] 0.9955921245959447 Centerline is valid? [True, True] Translation: X:209.98, Y:137.05, Z:40.36 [[ 7.61286205e-01 6.44738384e-01 -6.89618066e-02 2.09980686e+02] [-6.42738942e-01 7.64383701e-01 5.10314661e-02 1.37054620e+02] [ 8.56152259e-02 5.47488746e-03 9.96313233e-01 4.03627256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81710568099993 meters Centerline goodness [0,1] 0.99675550405562 Centerline is valid? [True, True] Translation: X:210.00, Y:137.03, Z:40.37 [[ 7.60321419e-01 6.45555966e-01 -7.18946040e-02 2.09998915e+02] [-6.43388753e-01 7.63690732e-01 5.31730964e-02 1.37030042e+02] [ 8.92314524e-02 5.82753541e-03 9.95993869e-01 4.03659381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8471056809999 meters Centerline goodness [0,1] 0.9962713292605856 Centerline is valid? [True, True] Translation: X:210.02, Y:137.01, Z:40.37 [[ 7.58730164e-01 6.47368411e-01 -7.24063429e-02 2.10019864e+02] [-6.45178868e-01 7.62152920e-01 5.35458151e-02 1.37009739e+02] [ 8.98485749e-02 6.08821733e-03 9.95936829e-01 4.03723087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87710568099993 meters Centerline goodness [0,1] 0.9962987886944819 Centerline is valid? [True, True] Translation: X:210.04, Y:136.99, Z:40.38 [[ 7.58104321e-01 6.48236140e-01 -7.11880990e-02 2.10041707e+02] [-6.46124313e-01 7.61414991e-01 5.26363359e-02 1.36992075e+02] [ 8.83244610e-02 6.09252789e-03 9.96073125e-01 4.03771448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9071056809999 meters Centerline goodness [0,1] 0.9917586460632818 Centerline is valid? [True, True] Translation: X:210.07, Y:136.98, Z:40.38 [[ 7.56284361e-01 6.50594473e-01 -6.89985373e-02 2.10067910e+02] [-6.48621438e-01 7.59400191e-01 5.10056858e-02 1.36980344e+02] [ 8.55815197e-02 6.17912799e-03 9.96312010e-01 4.03786558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93710568099993 meters Centerline goodness [0,1] 0.9935847548535011 Centerline is valid? [True, True] Translation: X:210.09, Y:136.96, Z:40.38 [[ 7.55882276e-01 6.51212208e-01 -6.75621592e-02 2.10091040e+02] [-6.49324269e-01 7.58870932e-01 4.99289696e-02 1.36963857e+02] [ 8.37853133e-02 6.12932643e-03 9.96464978e-01 4.03822677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.9671056809999 meters Centerline goodness [0,1] 0.9947866098189033 Centerline is valid? [True, True] Translation: X:210.11, Y:136.94, Z:40.39 [[ 7.55116474e-01 6.52384414e-01 -6.47586804e-02 2.10109856e+02] [-6.50656489e-01 7.57864342e-01 4.78306749e-02 1.36941191e+02] [ 8.02822815e-02 6.01792499e-03 9.96754002e-01 4.03912070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99710568099994 meters Centerline goodness [0,1] 0.9932100457583872 Centerline is valid? [True, True] Translation: X:210.13, Y:136.92, Z:40.40 [[ 7.55401796e-01 6.52061375e-01 -6.46845394e-02 2.10131684e+02] [-6.50336969e-01 7.58142572e-01 4.77668088e-02 1.36923576e+02] [ 8.01869940e-02 5.98361414e-03 9.96761878e-01 4.03968015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0271056809999 meters Centerline goodness [0,1] 0.9944390613809664 Centerline is valid? [True, True] Translation: X:210.15, Y:136.90, Z:40.40 [[ 7.56471271e-01 6.50641919e-01 -6.64553185e-02 2.10152944e+02] [-6.48817035e-01 7.59360969e-01 4.90649949e-02 1.36903372e+02] [ 8.23873175e-02 6.00108364e-03 9.96582318e-01 4.03985122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05710568099994 meters Centerline goodness [0,1] 0.995396473445254 Centerline is valid? [True, True] Translation: X:210.18, Y:136.89, Z:40.39 [[ 7.58300923e-01 6.48288098e-01 -6.85729702e-02 2.10177582e+02] [-6.46336120e-01 7.61371985e-01 5.06193634e-02 1.36885743e+02] [ 8.50254692e-02 5.93647753e-03 9.96361093e-01 4.03941167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0871056809999 meters Centerline goodness [0,1] 0.9927206360527806 Centerline is valid? [True, True] Translation: X:210.20, Y:136.87, Z:40.39 [[ 7.59505721e-01 6.46812653e-01 -6.91697300e-02 2.10202148e+02] [-6.44821095e-01 7.62626665e-01 5.10521930e-02 1.36871559e+02] [ 8.57718849e-02 5.82766838e-03 9.96297758e-01 4.03924319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11710568099994 meters Centerline goodness [0,1] 0.9965903350732447 Centerline is valid? [True, True] Translation: X:210.22, Y:136.85, Z:40.40 [[ 7.62531249e-01 6.43101591e-01 -7.04729658e-02 2.10220810e+02] [-6.41019309e-01 7.65760976e-01 5.20035883e-02 1.36847076e+02] [ 8.74090374e-02 5.52017073e-03 9.96157210e-01 4.03951460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1471056809999 meters Centerline goodness [0,1] 0.9966327840562325 Centerline is valid? [True, True] Translation: X:210.24, Y:136.83, Z:40.40 [[ 7.64353724e-01 6.40852569e-01 -7.12135492e-02 2.10242605e+02] [-6.38716947e-01 7.67645530e-01 5.25452394e-02 1.36829005e+02] [ 8.83405144e-02 5.32215136e-03 9.96076116e-01 4.03978622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17710568099994 meters Centerline goodness [0,1] 0.9979722022728232 Centerline is valid? [True, True] Translation: X:210.26, Y:136.80, Z:40.40 [[ 7.67388742e-01 6.37211525e-01 -7.12459860e-02 2.10261205e+02] [-6.35058809e-01 7.70673327e-01 5.25636021e-02 1.36803241e+02] [ 8.84015141e-02 4.90867451e-03 9.96072827e-01 4.04023370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2071056809999 meters Centerline goodness [0,1] 0.9980472440944882 Centerline is valid? [True, True] Translation: X:210.29, Y:136.79, Z:40.40 [[ 7.68654487e-01 6.35797716e-01 -7.02249453e-02 2.10286280e+02] [-6.33700626e-01 7.71841548e-01 5.18087090e-02 1.36789321e+02] [ 8.71423893e-02 4.67859513e-03 9.96184880e-01 4.04030625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23710568099995 meters Centerline goodness [0,1] 0.9978585375070858 Centerline is valid? [True, True] Translation: X:210.31, Y:136.77, Z:40.40 [[ 7.69621651e-01 6.34650188e-01 -7.00118029e-02 2.10308644e+02] [-6.32561821e-01 7.72786204e-01 5.16432463e-02 1.36772215e+02] [ 8.68795514e-02 4.54103304e-03 9.96208473e-01 4.04040866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.2671056809999 meters Centerline goodness [0,1] 0.9990539659848214 Centerline is valid? [True, True] Translation: X:210.33, Y:136.75, Z:40.41 [[ 7.69636794e-01 6.34577675e-01 -7.05009211e-02 2.10329234e+02] [-6.32460670e-01 7.72845558e-01 5.19927263e-02 1.36752366e+02] [ 8.74797471e-02 4.57354468e-03 9.96155799e-01 4.04094457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29710568099995 meters Centerline goodness [0,1] 0.9991592576244824 Centerline is valid? [True, True] Translation: X:210.35, Y:136.73, Z:40.41 [[ 7.68587444e-01 6.35860917e-01 -7.03863356e-02 2.10351455e+02] [-6.33756098e-01 7.71789283e-01 5.19086749e-02 1.36728492e+02] [ 8.73301171e-02 4.71141369e-03 9.96168286e-01 4.04149836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3271056809999 meters Centerline goodness [0,1] 0.9985908679832587 Centerline is valid? [True, True] Translation: X:210.38, Y:136.72, Z:40.42 [[ 7.66422321e-01 6.38593581e-01 -6.92464023e-02 2.10378737e+02] [-6.36564970e-01 7.69528465e-01 5.10977591e-02 1.36715180e+02] [ 8.59177786e-02 4.91737090e-03 9.96290096e-01 4.04177822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35710568099995 meters Centerline goodness [0,1] 0.9982803456085899 Centerline is valid? [True, True] Translation: X:210.40, Y:136.70, Z:40.42 [[ 7.65493429e-01 6.39846687e-01 -6.79413472e-02 2.10403625e+02] [-6.37898132e-01 7.68486603e-01 5.01429295e-02 1.36700468e+02] [ 8.42958024e-02 4.95557543e-03 9.96428452e-01 4.04207340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.3871056809999 meters Centerline goodness [0,1] 0.9985719685833089 Centerline is valid? [True, True] Translation: X:210.43, Y:136.68, Z:40.43 [[ 7.65600223e-01 6.39906754e-01 -6.61486612e-02 2.10427227e+02] [-6.38060430e-01 7.68437362e-01 4.88150498e-02 1.36680240e+02] [ 8.20681827e-02 4.83403027e-03 9.96614994e-01 4.04273120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41710568099995 meters Centerline goodness [0,1] 0.9990148196281469 Centerline is valid? [True, True] Translation: X:210.45, Y:136.66, Z:40.43 [[ 7.66899254e-01 6.38370009e-01 -6.59489564e-02 2.10451702e+02] [-6.36528767e-01 7.69715594e-01 4.86727127e-02 1.36660139e+02] [ 8.18331402e-02 4.65134081e-03 9.96635190e-01 4.04300666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4471056809999 meters Centerline goodness [0,1] 0.9990964868045049 Centerline is valid? [True, True] Translation: X:210.48, Y:136.64, Z:40.43 [[ 7.70279190e-01 6.34110893e-01 -6.76265102e-02 2.10475088e+02] [-6.32157763e-01 7.73230159e-01 4.99167642e-02 1.36641561e+02] [ 8.39436211e-02 4.30077874e-03 9.96461224e-01 4.04306092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47710568099995 meters Centerline goodness [0,1] 0.9993871383587988 Centerline is valid? [True, True] Translation: X:210.50, Y:136.62, Z:40.43 [[ 7.71460023e-01 6.32662123e-01 -6.77353002e-02 2.10495536e+02] [-6.30696598e-01 7.74416851e-01 5.00034339e-02 1.36615998e+02] [ 8.40906365e-02 4.14477307e-03 9.96449490e-01 4.04345301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5071056809999 meters Centerline goodness [0,1] 0.9987457407446119 Centerline is valid? [True, True] Translation: X:210.52, Y:136.60, Z:40.43 [[ 7.73494737e-01 6.30060124e-01 -6.87759595e-02 2.10520967e+02] [-6.28020971e-01 7.76536564e-01 5.07998460e-02 1.36598855e+02] [ 8.54140045e-02 3.89933135e-03 9.96337916e-01 4.04325504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5371056809999 meters Centerline goodness [0,1] 0.9993049705139005 Centerline is valid? [True, True] Translation: X:210.55, Y:136.58, Z:40.43 [[ 7.73411922e-01 6.30049896e-01 -6.97934650e-02 2.10546311e+02] [-6.27949556e-01 7.76544587e-01 5.15544400e-02 1.36580835e+02] [ 8.66796070e-02 3.95395685e-03 9.96228393e-01 4.04323108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56710568099993 meters Centerline goodness [0,1] 0.9990730597455127 Centerline is valid? [True, True] Translation: X:210.57, Y:136.57, Z:40.43 [[ 7.71857760e-01 6.31641413e-01 -7.25584114e-02 2.10570834e+02] [-6.29377851e-01 7.75248780e-01 5.35989762e-02 1.36565043e+02] [ 9.01061530e-02 4.29587130e-03 9.95922902e-01 4.04317678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.5971056809999 meters Centerline goodness [0,1] 0.9991389991389992 Centerline is valid? [True, True] Translation: X:210.60, Y:136.55, Z:40.44 [[ 7.70778593e-01 6.32812205e-01 -7.38178450e-02 2.10595100e+02] [-6.30474306e-01 7.74292187e-01 5.45321717e-02 1.36545057e+02] [ 9.16652045e-02 4.50802409e-03 9.95779678e-01 4.04360481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62710568099993 meters Centerline goodness [0,1] 0.9988116334827478 Centerline is valid? [True, True] Translation: X:210.62, Y:136.53, Z:40.44 [[ 7.69192292e-01 6.34625493e-01 -7.47910504e-02 2.10619969e+02] [-6.32231664e-01 7.72805119e-01 5.52754097e-02 1.36531646e+02] [ 9.28780907e-02 4.76785120e-03 9.95666072e-01 4.04380458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.6571056809999 meters Centerline goodness [0,1] 0.9989703286542826 Centerline is valid? [True, True] Translation: X:210.65, Y:136.52, Z:40.44 [[ 7.67986825e-01 6.35975246e-01 -7.57081447e-02 2.10645651e+02] [-6.33529183e-01 7.71693288e-01 5.59485824e-02 1.36516076e+02] [ 9.40053806e-02 4.99554486e-03 9.95559156e-01 4.04387100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68710568099993 meters Centerline goodness [0,1] 0.9987738102788525 Centerline is valid? [True, True] Translation: X:210.67, Y:136.50, Z:40.44 [[ 7.65816622e-01 6.38456906e-01 -7.67963560e-02 2.10673562e+02] [-6.35952747e-01 7.69638764e-01 5.67474770e-02 1.36504184e+02] [ 9.53362711e-02 5.38069234e-03 9.95430582e-01 4.04364341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7171056809999 meters Centerline goodness [0,1] 0.998758025471003 Centerline is valid? [True, True] Translation: X:210.70, Y:136.49, Z:40.44 [[ 7.64525943e-01 6.40016228e-01 -7.66766583e-02 2.10697596e+02] [-6.37528150e-01 7.68341200e-01 5.66538363e-02 1.36487243e+02] [ 9.51732103e-02 5.57020057e-03 9.95445143e-01 4.04411384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74710568099994 meters Centerline goodness [0,1] 0.998758025471003 Centerline is valid? [True, True] Translation: X:210.72, Y:136.47, Z:40.44 [[ 7.64609225e-01 6.39916267e-01 -7.66805334e-02 2.10719817e+02] [-6.37428214e-01 7.68424498e-01 5.66485909e-02 1.36471000e+02] [ 9.51735553e-02 5.56430025e-03 9.95445143e-01 4.04430206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7771056809999 meters Centerline goodness [0,1] 0.9991140922609631 Centerline is valid? [True, True] Translation: X:210.74, Y:136.45, Z:40.45 [[ 7.64289220e-01 6.40351149e-01 -7.62390608e-02 2.10740503e+02] [-6.37895192e-01 7.68061902e-01 5.63084322e-02 1.36451365e+02] [ 9.46134873e-02 5.59660255e-03 9.95498351e-01 4.04487290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80710568099994 meters Centerline goodness [0,1] 0.9989870853380602 Centerline is valid? [True, True] Translation: X:210.77, Y:136.44, Z:40.45 [[ 7.64389129e-01 6.40312196e-01 -7.55615716e-02 2.10765557e+02] [-6.37900670e-01 7.68094710e-01 5.57965133e-02 1.36438439e+02] [ 9.37656314e-02 5.55052894e-03 9.95578826e-01 4.04506110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8371056809999 meters Centerline goodness [0,1] 0.9991369329544258 Centerline is valid? [True, True] Translation: X:210.79, Y:136.42, Z:40.46 [[ 7.65079489e-01 6.39726226e-01 -7.35100770e-02 2.10786968e+02] [-6.37442559e-01 7.68584321e-01 5.42690132e-02 1.36418994e+02] [ 9.12160036e-02 5.33834273e-03 9.95816822e-01 4.04568747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86710568099994 meters Centerline goodness [0,1] 0.9991962944946173 Centerline is valid? [True, True] Translation: X:210.81, Y:136.40, Z:40.46 [[ 7.65770771e-01 6.38865012e-01 -7.38012405e-02 2.10811203e+02] [-6.36559053e-01 7.69300902e-01 5.44857175e-02 1.36398397e+02] [ 9.15843795e-02 5.25527794e-03 9.95783452e-01 4.04604432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8971056809999 meters Centerline goodness [0,1] 0.9992214296235506 Centerline is valid? [True, True] Translation: X:210.84, Y:136.38, Z:40.46 [[ 7.66370292e-01 6.38183976e-01 -7.34696475e-02 2.10836470e+02] [-6.35893049e-01 7.69866813e-01 5.42689654e-02 1.36381771e+02] [ 9.11954274e-02 5.12871538e-03 9.95819808e-01 4.04619106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92710568099994 meters Centerline goodness [0,1] 0.9987153567517479 Centerline is valid? [True, True] Translation: X:210.86, Y:136.37, Z:40.46 [[ 7.67466564e-01 6.36884386e-01 -7.33031506e-02 2.10861240e+02] [-6.34598073e-01 7.70943344e-01 5.41446736e-02 1.36368635e+02] [ 9.09964732e-02 4.96381150e-03 9.95838844e-01 4.04630232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9571056809999 meters Centerline goodness [0,1] 0.9994340927668672 Centerline is valid? [True, True] Translation: X:210.88, Y:136.35, Z:40.47 [[ 7.70102998e-01 6.33669850e-01 -7.35111808e-02 2.10883947e+02] [-6.31356862e-01 7.73589892e-01 5.42880405e-02 1.36348599e+02] [ 9.12682009e-02 4.60440567e-03 9.95815703e-01 4.04678442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98710568099995 meters Centerline goodness [0,1] 0.9992868828390452 Centerline is valid? [True, True] Translation: X:211.23, Y:136.83, Z:40.73 [[ 8.69375898e-01 -4.92907823e-01 3.50346458e-02 2.11225041e+02] [-4.92156240e-01 -8.70051457e-01 -2.81548743e-02 1.36832483e+02] [ 4.43597025e-02 7.23464959e-03 -9.98989428e-01 4.07290940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0171056809999 meters Centerline goodness [0,1] 0.9996404931587963 Centerline is valid? [True, True] Translation: X:211.25, Y:136.85, Z:40.73 [[ 9.03248250e-01 -4.27569764e-01 3.64238425e-02 2.11247087e+02] [-4.26899357e-01 -9.03955512e-01 -2.49273085e-02 1.36853812e+02] [ 4.35836966e-02 6.96623287e-03 -9.99025492e-01 4.07304224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04710568099995 meters Centerline goodness [0,1] 0.9995137420718816 Centerline is valid? [True, True] Translation: X:211.27, Y:136.88, Z:40.73 [[ 9.30608658e-01 -3.63906621e-01 3.92364185e-02 2.11267600e+02] [-3.63276797e-01 -9.31412172e-01 -2.23905039e-02 1.36877520e+02] [ 4.46933303e-02 6.58311633e-03 -9.98979063e-01 4.07315616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0771056809999 meters Centerline goodness [0,1] 0.9994720057445775 Centerline is valid? [True, True] Translation: X:211.28, Y:136.90, Z:40.73 [[ 9.55172669e-01 -2.93147605e-01 4.13479696e-02 2.11284401e+02] [-2.92576311e-01 -9.56045639e-01 -1.93865373e-02 1.36899407e+02] [ 4.52136630e-02 6.42005410e-03 -9.98956710e-01 4.07326020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10710568099995 meters Centerline goodness [0,1] 0.9994332969523969 Centerline is valid? [True, True] Translation: X:211.30, Y:136.93, Z:40.73 [[ 9.73681787e-01 -2.23659931e-01 4.38179436e-02 2.11299918e+02] [-2.23146454e-01 -9.74647943e-01 -1.63415709e-02 1.36926105e+02] [ 4.63620232e-02 6.13367128e-03 -9.98905872e-01 4.07317886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1371056809999 meters Centerline goodness [0,1] 0.9990347692888768 Centerline is valid? [True, True] Translation: X:211.31, Y:136.95, Z:40.74 [[ 9.87673322e-01 -1.50309215e-01 4.36869495e-02 2.11310327e+02] [-1.49894798e-01 -9.88621271e-01 -1.26306393e-02 1.36947903e+02] [ 4.50883490e-02 5.92649907e-03 -9.98965424e-01 4.07392245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16710568099995 meters Centerline goodness [0,1] 0.998900425028018 Centerline is valid? [True, True] Translation: X:211.32, Y:136.97, Z:40.74 [[ 9.96263332e-01 -7.36022999e-02 4.51893175e-02 2.11317559e+02] [-7.32590837e-02 -9.97270443e-01 -9.20703091e-03 1.36970943e+02] [ 4.57436293e-02 5.86209930e-03 -9.98936012e-01 4.07417382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.1971056809999 meters Centerline goodness [0,1] 0.9991777702816664 Centerline is valid? [True, True] Translation: X:211.32, Y:137.00, Z:40.74 [[ 9.98856994e-01 2.45712928e-03 4.77353932e-02 2.11321892e+02] [ 2.72894519e-03 -9.99980428e-01 -5.62988565e-03 1.36995725e+02] [ 4.77206256e-02 5.75371793e-03 -9.98844150e-01 4.07394401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22710568099995 meters Centerline goodness [0,1] 0.9997900923593619 Centerline is valid? [True, True] Translation: X:211.33, Y:137.02, Z:40.74 [[ 9.95613915e-01 7.94435772e-02 4.94130635e-02 2.11325310e+02] [ 7.96272055e-02 -9.96823167e-01 -1.75572038e-03 1.37022275e+02] [ 4.91166057e-02 5.68264380e-03 -9.98776885e-01 4.07367377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2571056809999 meters Centerline goodness [0,1] 0.9997684454267972 Centerline is valid? [True, True] Translation: X:211.33, Y:137.05, Z:40.73 [[ 9.86455167e-01 1.55834866e-01 5.12025216e-02 2.11325779e+02] [ 1.55916952e-01 -9.87767223e-01 2.41180778e-03 1.37048241e+02] [ 5.09520163e-02 5.60420084e-03 -9.98685378e-01 4.07344708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.2871056809999 meters Centerline goodness [0,1] 0.9995800436754577 Centerline is valid? [True, True] Translation: X:211.33, Y:137.07, Z:40.73 [[ 9.71372473e-01 2.31259028e-01 5.43579018e-02 2.11325408e+02] [ 2.31211338e-01 -9.72876528e-01 7.25102455e-03 1.37069703e+02] [ 5.45603917e-02 5.52471759e-03 -9.98495188e-01 4.07325411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31710568099993 meters Centerline goodness [0,1] 0.9996003281516229 Centerline is valid? [True, True] Translation: X:211.32, Y:137.09, Z:40.73 [[ 9.50133854e-01 3.06986167e-01 5.48192741e-02 2.11324265e+02] [ 3.06805503e-01 -9.51697959e-01 1.18902211e-02 1.37094358e+02] [ 5.58215247e-02 5.52155335e-03 -9.98425495e-01 4.07336997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3471056809999 meters Centerline goodness [0,1] 0.9991360782165283 Centerline is valid? [True, True] Translation: X:211.32, Y:137.11, Z:40.74 [[ 9.21684482e-01 3.84468201e-01 5.17872333e-02 2.11324673e+02] [ 3.84202556e-01 -9.23120559e-01 1.53892411e-02 1.37108998e+02] [ 5.37225336e-02 5.71276268e-03 -9.98539560e-01 4.07367931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37710568099993 meters Centerline goodness [0,1] 0.9983368070906756 Centerline is valid? [True, True] Translation: X:211.32, Y:137.13, Z:40.74 [[ 8.86376484e-01 4.60395947e-01 4.87062695e-02 2.11324850e+02] [ 4.60059833e-01 -8.87693740e-01 1.85681047e-02 1.37125129e+02] [ 5.17849307e-02 5.94946685e-03 -9.98640538e-01 4.07413559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4071056809999 meters Centerline goodness [0,1] 0.9981307233470553 Centerline is valid? [True, True] Translation: X:211.32, Y:137.15, Z:40.74 [[ 8.46382324e-01 5.30494075e-01 4.70425195e-02 2.11321023e+02] [ 5.30058947e-01 -8.47667077e-01 2.23167905e-02 1.37147381e+02] [ 5.17153202e-02 6.04677135e-03 -9.98643561e-01 4.07439820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43710568099993 meters Centerline goodness [0,1] 0.9976643871646502 Centerline is valid? [True, True] Translation: X:211.32, Y:137.16, Z:40.75 [[ 7.99463619e-01 5.99094052e-01 4.40935189e-02 2.11318639e+02] [ 5.98595860e-01 -8.00654354e-01 2.52111571e-02 1.37163033e+02] [ 5.04075221e-02 6.23879498e-03 -9.98709247e-01 4.07506406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.4671056809999 meters Centerline goodness [0,1] 0.997184933089641 Centerline is valid? [True, True] Translation: X:211.31, Y:137.18, Z:40.76 [[ 7.47242107e-01 6.63289651e-01 4.09398682e-02 2.11312632e+02] [ 6.62740393e-01 -7.48335355e-01 2.77374691e-02 1.37184263e+02] [ 4.90347270e-02 6.40589951e-03 -9.98776532e-01 4.07555044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49710568099994 meters Centerline goodness [0,1] 0.9977420501348497 Centerline is valid? [True, True] Translation: X:211.31, Y:137.20, Z:40.76 [[ 6.87177128e-01 7.25586266e-01 3.62238221e-02 2.11308778e+02] [ 7.25056363e-01 -6.88098902e-01 2.85161537e-02 1.37200271e+02] [ 4.56165018e-02 6.66866411e-03 -9.98936767e-01 4.07616671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5271056809999 meters Centerline goodness [0,1] 0.9978116320175069 Centerline is valid? [True, True] Translation: X:211.30, Y:137.22, Z:40.76 [[ 6.25936492e-01 7.79164563e-01 3.32579625e-02 2.11297349e+02] [ 7.78593406e-01 -6.26783057e-01 3.05828052e-02 1.37224733e+02] [ 4.46745655e-02 6.75153647e-03 -9.98978779e-01 4.07589264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55710568099994 meters Centerline goodness [0,1] 0.9977983728927283 Centerline is valid? [True, True] Translation: X:211.30, Y:137.24, Z:40.76 [[ 5.59136497e-01 8.28479642e-01 3.14302590e-02 2.11296783e+02] [ 8.27809695e-01 -5.59975587e-01 3.40360120e-02 1.37237061e+02] [ 4.57983208e-02 6.98749664e-03 -9.98926268e-01 4.07605225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5871056809999 meters Centerline goodness [0,1] 0.9976303814456771 Centerline is valid? [True, True] Translation: X:211.28, Y:137.26, Z:40.76 [[ 4.91302509e-01 8.70487197e-01 2.95615461e-02 2.11278653e+02] [ 8.69691772e-01 -4.92139837e-01 3.78761538e-02 1.37263002e+02] [ 4.75191214e-02 7.10078398e-03 -9.98845089e-01 4.07604634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61710568099994 meters Centerline goodness [0,1] 0.9972356020942409 Centerline is valid? [True, True] Translation: X:211.25, Y:137.29, Z:40.76 [[ 4.21542116e-01 9.06427483e-01 2.62956757e-02 2.11254878e+02] [ 9.05584358e-01 -4.22302316e-01 3.97205717e-02 1.37288679e+02] [ 4.71085426e-02 7.06905878e-03 -9.98864762e-01 4.07605272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6471056809999 meters Centerline goodness [0,1] 0.9976250525430853 Centerline is valid? [True, True] Translation: X:211.23, Y:137.31, Z:40.76 [[ 3.50261678e-01 9.36372610e-01 2.28712175e-02 2.11233826e+02] [ 9.35492827e-01 -3.50938323e-01 4.11760144e-02 1.37310553e+02] [ 4.65824787e-02 6.97348002e-03 -9.98890106e-01 4.07613629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67710568099994 meters Centerline goodness [0,1] 0.9970868089030474 Centerline is valid? [True, True] Translation: X:211.21, Y:137.33, Z:40.76 [[ 2.76372755e-01 9.60847973e-01 1.97300258e-02 2.11213054e+02] [ 9.59893349e-01 -2.76988949e-01 4.33806486e-02 1.37329468e+02] [ 4.71472074e-02 6.94949121e-03 -9.98863777e-01 4.07627961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7071056809999 meters Centerline goodness [0,1] 0.997694935143857 Centerline is valid? [True, True] Translation: X:211.64, Y:137.23, Z:40.52 [[ 3.50792965e-01 -9.36126843e-01 -2.47149886e-02 2.11637048e+02] [ 9.33191754e-01 3.51650236e-01 -7.41300328e-02 1.37233302e+02] [ 7.80861451e-02 2.94047040e-03 9.96942279e-01 4.05234940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73710568099995 meters Centerline goodness [0,1] 0.9979620564321281 Centerline is valid? [True, True] Translation: X:211.65, Y:137.26, Z:40.52 [[ 3.47366403e-01 -9.37400777e-01 -2.48267083e-02 2.11645688e+02] [ 9.34434897e-01 3.48242004e-01 -7.45582357e-02 1.37258903e+02] [ 7.85366507e-02 2.70008356e-03 9.96907570e-01 4.05236272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.7671056809999 meters Centerline goodness [0,1] 0.998340963501197 Centerline is valid? [True, True] Translation: X:211.66, Y:137.28, Z:40.52 [[ 3.40871249e-01 -9.39767605e-01 -2.53700796e-02 2.11659694e+02] [ 9.36669109e-01 3.41806721e-01 -7.62833224e-02 1.37283159e+02] [ 8.03602589e-02 2.23942154e-03 9.96763369e-01 4.05234629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79710568099995 meters Centerline goodness [0,1] 0.9983649169880933 Centerline is valid? [True, True] Translation: X:211.67, Y:137.31, Z:40.53 [[ 3.36797983e-01 -9.41232146e-01 -2.54787168e-02 2.11670633e+02] [ 9.38103064e-01 3.37754802e-01 -7.67094144e-02 1.37308427e+02] [ 8.08069257e-02 1.93391375e-03 9.96727897e-01 4.05261956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8271056809999 meters Centerline goodness [0,1] 0.9985520020146059 Centerline is valid? [True, True] Translation: X:211.68, Y:137.33, Z:40.53 [[ 3.29002149e-01 -9.43991426e-01 -2.52541792e-02 2.11683413e+02] [ 9.40917801e-01 3.29967484e-01 -7.61258866e-02 1.37332197e+02] [ 8.01952422e-02 1.28347351e-03 9.96778348e-01 4.05307252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85710568099995 meters Centerline goodness [0,1] 0.9989287964713296 Centerline is valid? [True, True] Translation: X:211.70, Y:137.36, Z:40.53 [[ 3.21716931e-01 -9.46492057e-01 -2.55147429e-02 2.11696557e+02] [ 9.43354258e-01 3.22726336e-01 -7.70094515e-02 1.37357853e+02] [ 8.11231137e-02 7.05803050e-04 9.96703839e-01 4.05330397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.8871056809999 meters Centerline goodness [0,1] 0.9985711283883169 Centerline is valid? [True, True] Translation: X:211.71, Y:137.38, Z:40.53 [[ 3.18411741e-01 -9.47608468e-01 -2.55373147e-02 2.11707189e+02] [ 9.44461143e-01 3.19433853e-01 -7.71697067e-02 1.37383116e+02] [ 8.12841504e-02 4.52739252e-04 9.96690866e-01 4.05347344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91710568099995 meters Centerline goodness [0,1] 0.9991391076115486 Centerline is valid? [True, True] Translation: X:211.72, Y:137.41, Z:40.54 [[ 3.12761594e-01 -9.49491792e-01 -2.54071069e-02 2.11717959e+02] [ 9.46374500e-01 3.13791867e-01 -7.68763288e-02 1.37407179e+02] [ 8.09659867e-02 -6.74911362e-07 9.96716865e-01 4.05390068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9471056809999 meters Centerline goodness [0,1] 0.9988294803728941 Centerline is valid? [True, True] Translation: X:211.73, Y:137.43, Z:40.54 [[ 3.10028750e-01 -9.50392860e-01 -2.52108168e-02 2.11727599e+02] [ 9.47319694e-01 3.11052035e-01 -7.63677186e-02 1.37432744e+02] [ 8.04212104e-02 -2.06514966e-04 9.96760947e-01 4.05412054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97710568099995 meters Centerline goodness [0,1] 0.9992034544920975 Centerline is valid? [True, True] Translation: X:211.74, Y:137.46, Z:40.54 [[ 3.06389025e-01 -9.51570110e-01 -2.53000157e-02 2.11737409e+02] [ 9.48470729e-01 3.07431442e-01 -7.67410210e-02 1.37457614e+02] [ 8.08024821e-02 -4.83717708e-04 9.96730016e-01 4.05433032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0071056809999 meters Centerline goodness [0,1] 0.9990115044061665 Centerline is valid? [True, True] Translation: X:211.74, Y:137.48, Z:40.55 [[ 3.05967785e-01 -9.51705329e-01 -2.53116701e-02 2.11744379e+02] [ 9.48595532e-01 3.07012584e-01 -7.68751533e-02 1.37483980e+02] [ 8.09334943e-02 -4.89216806e-04 9.96719384e-01 4.05450906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0371056809999 meters Centerline goodness [0,1] 0.9991609330424568 Centerline is valid? [True, True] Translation: X:211.75, Y:137.51, Z:40.54 [[ 3.06182908e-01 -9.51637230e-01 -2.52707030e-02 2.11746626e+02] [ 9.48528843e-01 3.07223680e-01 -7.68546917e-02 1.37510566e+02] [ 8.09015443e-02 -4.38397638e-04 9.96722001e-01 4.05449018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06710568099993 meters Centerline goodness [0,1] 0.9990592268935672 Centerline is valid? [True, True] Translation: X:211.75, Y:137.54, Z:40.55 [[ 3.06066112e-01 -9.51668300e-01 -2.55143617e-02 2.11751874e+02] [ 9.48490789e-01 3.07127454e-01 -7.77042457e-02 1.37537972e+02] [ 8.17848283e-02 -4.17500678e-04 9.96649922e-01 4.05460403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.0971056809999 meters Centerline goodness [0,1] 0.9988650693568726 Centerline is valid? [True, True] Translation: X:211.75, Y:137.56, Z:40.55 [[ 3.08939449e-01 -9.50749407e-01 -2.51392503e-02 2.11752396e+02] [ 9.47653578e-01 3.09960555e-01 -7.66625708e-02 1.37564909e+02] [ 8.06790696e-02 -1.39208077e-04 9.96740121e-01 4.05512749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12710568099993 meters Centerline goodness [0,1] 0.9982348120284952 Centerline is valid? [True, True] Translation: X:211.75, Y:137.59, Z:40.56 [[ 3.15836497e-01 -9.48498592e-01 -2.44485004e-02 2.11749896e+02] [ 9.45555999e-01 3.16781010e-01 -7.46568387e-02 1.37593981e+02] [ 7.85567271e-02 4.61928186e-04 9.96909538e-01 4.05609012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.1571056809999 meters Centerline goodness [0,1] 0.9979348421629367 Centerline is valid? [True, True] Translation: X:211.75, Y:137.62, Z:40.56 [[ 3.20112961e-01 -9.47064925e-01 -2.44073855e-02 2.11752081e+02] [ 9.44120145e-01 3.21040980e-01 -7.46313704e-02 1.37621623e+02] [ 7.85165241e-02 8.46964658e-04 9.96912453e-01 4.05633485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18710568099993 meters Centerline goodness [0,1] 0.9968408720030126 Centerline is valid? [True, True] Translation: X:211.75, Y:137.65, Z:40.57 [[ 3.28456473e-01 -9.44212145e-01 -2.40784385e-02 2.11748827e+02] [ 9.41331493e-01 3.29334229e-01 -7.37155776e-02 1.37650351e+02] [ 7.75329976e-02 1.54656617e-03 9.96988587e-01 4.05668034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2171056809999 meters Centerline goodness [0,1] 0.9962721930877614 Centerline is valid? [True, True] Translation: X:211.76, Y:137.68, Z:40.57 [[ 3.31890185e-01 -9.43009409e-01 -2.41279664e-02 2.11755021e+02] [ 9.40107272e-01 3.32760865e-01 -7.39494740e-02 1.37677968e+02] [ 7.77638928e-02 1.86022792e-03 9.96970068e-01 4.05695247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24710568099994 meters Centerline goodness [0,1] 0.9957554999894939 Centerline is valid? [True, True] Translation: X:211.75, Y:137.71, Z:40.56 [[ 3.38777739e-01 -9.40547661e-01 -2.44895933e-02 2.11748509e+02] [ 9.37543549e-01 3.39652533e-01 -7.51548394e-02 1.37708940e+02] [ 7.90046608e-02 2.50072643e-03 9.96871110e-01 4.05646824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2771056809999 meters Centerline goodness [0,1] 0.9948929194426347 Centerline is valid? [True, True] Translation: X:211.75, Y:137.74, Z:40.57 [[ 3.47022864e-01 -9.37516067e-01 -2.52736374e-02 2.11753875e+02] [ 9.34299392e-01 3.47925963e-01 -7.76670515e-02 1.37736673e+02] [ 8.16074632e-02 3.33909862e-03 9.96658955e-01 4.05671280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30710568099994 meters Centerline goodness [0,1] 0.9945039903977764 Centerline is valid? [True, True] Translation: X:211.76, Y:137.76, Z:40.57 [[ 3.51383383e-01 -9.35882191e-01 -2.55781769e-02 2.11758047e+02] [ 9.32574716e-01 3.52292594e-01 -7.87040495e-02 1.37764116e+02] [ 8.26687206e-02 3.80173413e-03 9.96569832e-01 4.05687203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3371056809999 meters Centerline goodness [0,1] 0.9941601546088564 Centerline is valid? [True, True] Translation: X:211.76, Y:137.79, Z:40.57 [[ 3.59558771e-01 -9.32759435e-01 -2.60254952e-02 2.11755201e+02] [ 9.29317936e-01 3.60469488e-01 -8.01867908e-02 1.37793332e+02] [ 8.41763826e-02 4.64590440e-03 9.96440039e-01 4.05680114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36710568099994 meters Centerline goodness [0,1] 0.9936463855928638 Centerline is valid? [True, True] Translation: X:211.76, Y:137.82, Z:40.57 [[ 3.63741820e-01 -9.31127942e-01 -2.63181311e-02 2.11764255e+02] [ 9.27595075e-01 3.64656717e-01 -8.11964025e-02 1.37819204e+02] [ 8.52013224e-02 5.12195839e-03 9.96350591e-01 4.05707508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3971056809999 meters Centerline goodness [0,1] 0.9863365180024198 Centerline is valid? [True, True] Translation: X:211.76, Y:137.85, Z:40.57 [[ 3.70078782e-01 -9.28613008e-01 -2.68249081e-02 2.11761945e+02] [ 9.24927355e-01 3.71003526e-01 -8.28599569e-02 1.37848497e+02] [ 8.68969694e-02 5.85362067e-03 9.96200106e-01 4.05670125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42710568099994 meters Centerline goodness [0,1] 0.9876155151819953 Centerline is valid? [True, True] Translation: X:211.77, Y:137.87, Z:40.57 [[ 3.71257422e-01 -9.28131298e-01 -2.72069952e-02 2.11772024e+02] [ 9.24331043e-01 3.72203287e-01 -8.41239338e-02 1.37873865e+02] [ 8.82045889e-02 6.08336457e-03 9.96083803e-01 4.05695708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4571056809999 meters Centerline goodness [0,1] 0.9611949040855177 Centerline is valid? [True, True] Translation: X:211.78, Y:137.90, Z:40.57 [[ 3.70922713e-01 -9.28250324e-01 -2.77069940e-02 2.11777761e+02] [ 9.24299696e-01 3.71904316e-01 -8.57744238e-02 1.37900181e+02] [ 8.99244873e-02 6.20611588e-03 9.95929250e-01 4.05660938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48710568099995 meters Centerline goodness [0,1] 0.9905791019723038 Centerline is valid? [True, True] Translation: X:211.79, Y:137.92, Z:40.57 [[ 3.69583630e-01 -9.28765865e-01 -2.83179936e-02 2.11794085e+02] [ 9.24631435e-01 3.70614212e-01 -8.77599842e-02 1.37923983e+02] [ 9.20035285e-02 6.25094649e-03 9.95739060e-01 4.05680940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5171056809999 meters Centerline goodness [0,1] 0.9915370202732574 Centerline is valid? [True, True] Translation: X:211.81, Y:137.95, Z:40.57 [[ 3.67108689e-01 -9.29725622e-01 -2.90082347e-02 2.11808814e+02] [ 9.25378901e-01 3.68200790e-01 -9.00114872e-02 1.37948864e+02] [ 9.43668409e-02 6.20039069e-03 9.95518184e-01 4.05675512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54710568099995 meters Centerline goodness [0,1] 0.9903743983999 Centerline is valid? [True, True] Translation: X:211.82, Y:137.97, Z:40.57 [[ 3.62961917e-01 -9.31363970e-01 -2.86322046e-02 2.11820051e+02] [ 9.27123918e-01 3.64044212e-01 -8.89553395e-02 1.37973387e+02] [ 9.32731864e-02 5.74179884e-03 9.95623998e-01 4.05702884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5771056809999 meters Centerline goodness [0,1] 0.9929577464788732 Centerline is valid? [True, True] Translation: X:211.84, Y:138.00, Z:40.58 [[ 3.60323618e-01 -9.32398896e-01 -2.82699259e-02 2.11838663e+02] [ 9.28258257e-01 3.61389869e-01 -8.79429945e-02 1.37996306e+02] [ 9.22144159e-02 5.44614582e-03 9.95724280e-01 4.05760369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60710568099995 meters Centerline goodness [0,1] 0.9948030634573304 Centerline is valid? [True, True] Translation: X:211.85, Y:138.02, Z:40.58 [[ 3.52209853e-01 -9.35499236e-01 -2.80962504e-02 2.11854114e+02] [ 9.31408387e-01 3.53298053e-01 -8.75151518e-02 1.38019878e+02] [ 9.17967082e-02 4.65461542e-03 9.95766890e-01 4.05764441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6371056809999 meters Centerline goodness [0,1] 0.9948030634573304 Centerline is valid? [True, True] Translation: X:211.86, Y:138.05, Z:40.58 [[ 3.51878426e-01 -9.35624945e-01 -2.80630573e-02 2.11862314e+02] [ 9.31533659e-01 3.52964980e-01 -8.75257965e-02 1.38046171e+02] [ 9.17965950e-02 4.65675705e-03 9.95766890e-01 4.05781891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66710568099995 meters Centerline goodness [0,1] 0.9952281289242361 Centerline is valid? [True, True] Translation: X:211.88, Y:138.07, Z:40.58 [[ 3.46872470e-01 -9.37498149e-01 -2.78695384e-02 2.11876481e+02] [ 9.33458974e-01 3.47965228e-01 -8.70318507e-02 1.38070129e+02] [ 9.12898292e-02 4.17388227e-03 9.95815618e-01 4.05799145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.6971056809999 meters Centerline goodness [0,1] 0.9968492028483206 Centerline is valid? [True, True] Translation: X:211.90, Y:138.09, Z:40.59 [[ 3.37270430e-01 -9.41011909e-01 -2.72991404e-02 2.11899322e+02] [ 9.37137454e-01 3.38358236e-01 -8.53644933e-02 1.38091276e+02] [ 8.95658939e-02 3.20787246e-03 9.95975733e-01 4.05870180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72710568099995 meters Centerline goodness [0,1] 0.9966232513265798 Centerline is valid? [True, True] Translation: X:211.91, Y:138.12, Z:40.59 [[ 3.32646158e-01 -9.42665447e-01 -2.69886641e-02 2.11911932e+02] [ 9.38874181e-01 3.33727694e-01 -8.45050163e-02 1.38115702e+02] [ 8.86668236e-02 2.77130907e-03 9.96057485e-01 4.05896583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7571056809999 meters Centerline goodness [0,1] 0.9968043777935587 Centerline is valid? [True, True] Translation: X:211.93, Y:138.14, Z:40.59 [[ 3.24674805e-01 -9.45456020e-01 -2.64421166e-02 2.11926140e+02] [ 9.41816552e-01 3.25743556e-01 -8.29018645e-02 1.38138989e+02] [ 8.69934159e-02 2.01252357e-03 9.96206854e-01 4.05942680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.7871056809999 meters Centerline goodness [0,1] 0.9967466110531804 Centerline is valid? [True, True] Translation: X:211.94, Y:138.17, Z:40.60 [[ 3.20641436e-01 -9.46836864e-01 -2.62492343e-02 2.11936834e+02] [ 9.43246088e-01 3.21709797e-01 -8.23991789e-02 1.38165261e+02] [ 8.64632160e-02 1.66110344e-03 9.96253659e-01 4.05971631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81710568099993 meters Centerline goodness [0,1] 0.9975161761636402 Centerline is valid? [True, True] Translation: X:211.95, Y:138.19, Z:40.60 [[ 3.19426489e-01 -9.47236230e-01 -2.66503800e-02 2.11945553e+02] [ 9.43529027e-01 3.20532301e-01 -8.37378013e-02 1.38191958e+02] [ 8.78617868e-02 1.60266480e-03 9.96131386e-01 4.05992527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8471056809999 meters Centerline goodness [0,1] 0.9969018212267113 Centerline is valid? [True, True] Translation: X:211.95, Y:138.22, Z:40.60 [[ 3.17836141e-01 -9.47744204e-01 -2.75882457e-02 2.11951448e+02] [ 9.43762103e-01 3.19027452e-01 -8.68019462e-02 1.38218642e+02] [ 9.10674491e-02 1.55205480e-03 9.95843517e-01 4.05985168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87710568099993 meters Centerline goodness [0,1] 0.99775332801411 Centerline is valid? [True, True] Translation: X:211.96, Y:138.24, Z:40.60 [[ 3.16841772e-01 -9.48072260e-01 -2.77539292e-02 2.11956941e+02] [ 9.44032918e-01 3.18051459e-01 -8.74363753e-02 1.38244154e+02] [ 9.17231796e-02 1.50287329e-03 9.95783410e-01 4.05990983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9071056809999 meters Centerline goodness [0,1] 0.9981937706088674 Centerline is valid? [True, True] Translation: X:211.96, Y:138.27, Z:40.60 [[ 3.15931129e-01 -9.48365832e-01 -2.81028500e-02 2.11961399e+02] [ 9.44215270e-01 3.17175170e-01 -8.86421814e-02 1.38271636e+02] [ 9.29787424e-02 1.46968439e-03 9.95667009e-01 4.06000342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93710568099993 meters Centerline goodness [0,1] 0.9977761460190916 Centerline is valid? [True, True] Translation: X:211.97, Y:138.30, Z:40.60 [[ 3.14856703e-01 -9.48717388e-01 -2.82944084e-02 2.11967237e+02] [ 9.44499374e-01 3.16122306e-01 -8.93734858e-02 1.38297222e+02] [ 9.37346737e-02 1.41579001e-03 9.95596207e-01 4.06007443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.9671056809999 meters Centerline goodness [0,1] 0.9979703291414701 Centerline is valid? [True, True] Translation: X:211.97, Y:138.32, Z:40.60 [[ 3.12474694e-01 -9.49508574e-01 -2.81608336e-02 2.11972027e+02] [ 9.45321576e-01 3.13738734e-01 -8.90793162e-02 1.38323600e+02] [ 9.34167188e-02 1.21398855e-03 9.95626357e-01 4.06025900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99710568099994 meters Centerline goodness [0,1] 0.9975555741266923 Centerline is valid? [True, True] Translation: X:211.98, Y:138.35, Z:40.61 [[ 3.11213006e-01 -9.49934131e-01 -2.77778770e-02 2.11978812e+02] [ 9.45851938e-01 3.12448271e-01 -8.79783436e-02 1.38351147e+02] [ 9.22527810e-02 1.10624604e-03 9.95735005e-01 4.06058891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0271056809999 meters Centerline goodness [0,1] 0.9974025429941976 Centerline is valid? [True, True] Translation: X:211.98, Y:138.38, Z:40.61 [[ 3.11306449e-01 -9.49926925e-01 -2.69653922e-02 2.11982613e+02] [ 9.46071287e-01 3.12470175e-01 -8.55073683e-02 1.38379660e+02] [ 8.96516322e-02 1.10781188e-03 9.95972569e-01 4.06104633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05710568099994 meters Centerline goodness [0,1] 0.9963669770743726 Centerline is valid? [True, True] Translation: X:211.98, Y:138.41, Z:40.62 [[ 3.13359907e-01 -9.49278092e-01 -2.60129243e-02 2.11981475e+02] [ 9.45679852e-01 3.14435158e-01 -8.25841899e-02 1.38408856e+02] [ 8.65747402e-02 1.27867568e-03 9.96244538e-01 4.06150278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0871056809999 meters Centerline goodness [0,1] 0.9962955254942768 Centerline is valid? [True, True] Translation: X:211.98, Y:138.44, Z:40.62 [[ 3.15597617e-01 -9.48546116e-01 -2.56594925e-02 2.11984034e+02] [ 9.45033389e-01 3.16635487e-01 -8.15712078e-02 1.38436220e+02] [ 8.54987582e-02 1.49460159e-03 9.96337156e-01 4.06181266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11710568099994 meters Centerline goodness [0,1] 0.9961501443695862 Centerline is valid? [True, True] Translation: X:211.99, Y:138.46, Z:40.62 [[ 3.17961497e-01 -9.47755753e-01 -2.56810952e-02 2.11986749e+02] [ 9.44224642e-01 3.18992136e-01 -8.17547649e-02 1.38464322e+02] [ 8.56756162e-02 1.74614448e-03 9.96321554e-01 4.06205501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1471056809999 meters Centerline goodness [0,1] 0.9955052438821375 Centerline is valid? [True, True] Translation: X:211.98, Y:138.49, Z:40.62 [[ 3.23026485e-01 -9.46032487e-01 -2.60081535e-02 2.11984100e+02] [ 9.42395390e-01 3.24063846e-01 -8.29068908e-02 1.38493782e+02] [ 8.68609143e-02 2.27115759e-03 9.96217859e-01 4.06202291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17710568099994 meters Centerline goodness [0,1] 0.9953934340802502 Centerline is valid? [True, True] Translation: X:211.98, Y:138.52, Z:40.62 [[ 3.29102607e-01 -9.43928272e-01 -2.62848155e-02 2.11978771e+02] [ 9.40196799e-01 3.30137876e-01 -8.38985192e-02 1.38523503e+02] [ 8.78717974e-02 2.89832193e-03 9.96127576e-01 4.06205593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2071056809999 meters Centerline goodness [0,1] 0.9948920848248864 Centerline is valid? [True, True] Translation: X:211.98, Y:138.55, Z:40.62 [[ 3.32076979e-01 -9.42887222e-01 -2.62405475e-02 2.11981267e+02] [ 9.39156885e-01 3.33096745e-01 -8.38504886e-02 1.38552191e+02] [ 8.78021952e-02 3.20082611e-03 9.96132787e-01 4.06227254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23710568099995 meters Centerline goodness [0,1] 0.9945179781136009 Centerline is valid? [True, True] Translation: X:211.98, Y:138.58, Z:40.62 [[ 3.37961793e-01 -9.40790079e-01 -2.63790208e-02 2.11977565e+02] [ 9.37004353e-01 3.38968341e-01 -8.43996848e-02 1.38582761e+02] [ 8.83440391e-02 3.80661153e-03 9.96082748e-01 4.06218997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.2671056809999 meters Centerline goodness [0,1] 0.9946962894907185 Centerline is valid? [True, True] Translation: X:211.98, Y:138.61, Z:40.62 [[ 3.40282944e-01 -9.39950748e-01 -2.64595895e-02 2.11979919e+02] [ 9.36130021e-01 3.41285803e-01 -8.47619253e-02 1.38610013e+02] [ 8.87023173e-02 4.07342144e-03 9.96049851e-01 4.06225853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29710568099995 meters Centerline goodness [0,1] 0.9944295526888927 Centerline is valid? [True, True] Translation: X:211.98, Y:138.64, Z:40.62 [[ 3.43052949e-01 -9.38946564e-01 -2.63443462e-02 2.11981647e+02] [ 9.35147290e-01 3.44035506e-01 -8.44932940e-02 1.38638232e+02] [ 8.83980785e-02 4.34982978e-03 9.96075729e-01 4.06233959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3271056809999 meters Centerline goodness [0,1] 0.9952008718066936 Centerline is valid? [True, True] Translation: X:211.99, Y:138.66, Z:40.63 [[ 3.42571245e-01 -9.39128259e-01 -2.61353215e-02 2.11994096e+02] [ 9.35379961e-01 3.43539759e-01 -8.39330873e-02 1.38663291e+02] [ 8.78024562e-02 4.30660615e-03 9.96128597e-01 4.06287619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35710568099995 meters Centerline goodness [0,1] 0.9954452383937152 Centerline is valid? [True, True] Translation: X:212.00, Y:138.69, Z:40.63 [[ 3.39963677e-01 -9.40071539e-01 -2.62716517e-02 2.12003481e+02] [ 9.36277630e-01 3.40952381e-01 -8.44729173e-02 1.38688800e+02] [ 8.83679675e-02 4.12016382e-03 9.96079378e-01 4.06286239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.3871056809999 meters Centerline goodness [0,1] 0.9956212943370136 Centerline is valid? [True, True] Translation: X:212.01, Y:138.71, Z:40.63 [[ 3.37626441e-01 -9.40902215e-01 -2.66722328e-02 2.12012824e+02] [ 9.36986156e-01 3.38654806e-01 -8.58479226e-02 1.38714163e+02] [ 8.98071803e-02 3.99301569e-03 9.95951167e-01 4.06277146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41710568099995 meters Centerline goodness [0,1] 0.9971034569611485 Centerline is valid? [True, True] Translation: X:212.02, Y:138.74, Z:40.63 [[ 3.30787671e-01 -9.43324539e-01 -2.68016951e-02 2.12024591e+02] [ 9.39367504e-01 3.31854301e-01 -8.63794811e-02 1.38738679e+02] [ 9.03781420e-02 3.39662593e-03 9.95901729e-01 4.06258450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4471056809999 meters Centerline goodness [0,1] 0.9974201396899973 Centerline is valid? [True, True] Translation: X:212.04, Y:138.76, Z:40.63 [[ 3.22968151e-01 -9.46028836e-01 -2.68517172e-02 2.12040677e+02] [ 9.42054905e-01 3.24071269e-01 -8.66623862e-02 1.38762166e+02] [ 9.06869864e-02 2.69339874e-03 9.95875804e-01 4.06268639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47710568099995 meters Centerline goodness [0,1] 0.9977949514889327 Centerline is valid? [True, True] Translation: X:212.05, Y:138.79, Z:40.63 [[ 3.20250040e-01 -9.46958208e-01 -2.66470272e-02 2.12051286e+02] [ 9.43038233e-01 3.21347418e-01 -8.61088179e-02 1.38788675e+02] [ 9.01044053e-02 2.44718688e-03 9.95929318e-01 4.06298712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5071056809999 meters Centerline goodness [0,1] 0.9975523012552301 Centerline is valid? [True, True] Translation: X:212.06, Y:138.81, Z:40.63 [[ 3.17881833e-01 -9.47761430e-01 -2.64463864e-02 2.12060071e+02] [ 9.43895995e-01 3.18972261e-01 -8.55397452e-02 1.38814425e+02] [ 8.95069349e-02 2.22889279e-03 9.95983705e-01 4.06325415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5371056809999 meters Centerline goodness [0,1] 0.9974397935183065 Centerline is valid? [True, True] Translation: X:212.07, Y:138.84, Z:40.64 [[ 3.13387010e-01 -9.49285513e-01 -2.54085839e-02 2.12070636e+02] [ 9.45714065e-01 3.14410438e-01 -8.22859843e-02 1.38838973e+02] [ 8.61016168e-02 1.75810340e-03 9.96284809e-01 4.06391291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56710568099993 meters Centerline goodness [0,1] 0.9978191578594195 Centerline is valid? [True, True] Translation: X:212.08, Y:138.86, Z:40.65 [[ 3.07538801e-01 -9.51234992e-01 -2.39139190e-02 2.12083947e+02] [ 9.48069436e-01 3.08464916e-01 -7.75483137e-02 1.38863484e+02] [ 8.11432746e-02 1.17705976e-03 9.96701753e-01 4.06483806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.5971056809999 meters Centerline goodness [0,1] 0.9979542845214487 Centerline is valid? [True, True] Translation: X:212.09, Y:138.89, Z:40.65 [[ 3.04089840e-01 -9.52348556e-01 -2.36980356e-02 2.12094211e+02] [ 9.49235206e-01 3.05010508e-01 -7.69487703e-02 1.38888854e+02] [ 8.05102002e-02 9.04329517e-04 9.96753375e-01 4.06506977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62710568099993 meters Centerline goodness [0,1] 0.9985316020221938 Centerline is valid? [True, True] Translation: X:212.11, Y:138.91, Z:40.65 [[ 2.98441185e-01 -9.54136073e-01 -2.36053665e-02 2.12105290e+02] [ 9.51044916e-01 2.99372926e-01 -7.67425497e-02 1.38913670e+02] [ 8.02896426e-02 4.53373653e-04 9.96771472e-01 4.06518650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.6571056809999 meters Centerline goodness [0,1] 0.9986339646072648 Centerline is valid? [True, True] Translation: X:212.11, Y:138.94, Z:40.65 [[ 2.96415234e-01 -9.54763179e-01 -2.37756577e-02 2.12113675e+02] [ 9.51621656e-01 2.97367070e-01 -7.73889506e-02 1.38938521e+02] [ 8.09582181e-02 3.13833156e-04 9.96717447e-01 4.06532763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68710568099993 meters Centerline goodness [0,1] 0.9984098422396117 Centerline is valid? [True, True] Translation: X:212.12, Y:138.96, Z:40.65 [[ 2.92100082e-01 -9.56087231e-01 -2.39739276e-02 2.12122153e+02] [ 9.52890071e-01 2.93082252e-01 -7.81236643e-02 1.38964665e+02] [ 8.17193706e-02 -2.45887706e-05 9.96655379e-01 4.06529591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7171056809999 meters Centerline goodness [0,1] 0.9992226564141351 Centerline is valid? [True, True] Translation: X:212.13, Y:138.99, Z:40.65 [[ 2.90856366e-01 -9.56453124e-01 -2.44948184e-02 2.12125344e+02] [ 9.53107205e-01 2.91885958e-01 -7.99327407e-02 1.38992800e+02] [ 8.36016131e-02 -9.72414296e-05 9.96499253e-01 4.06534576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74710568099994 meters Centerline goodness [0,1] 0.9985324639929558 Centerline is valid? [True, True] Translation: X:212.13, Y:139.02, Z:40.65 [[ 2.91547882e-01 -9.56240735e-01 -2.45660360e-02 2.12129107e+02] [ 9.52865199e-01 2.92581027e-01 -8.02761168e-02 1.39019248e+02] [ 8.39508490e-02 -3.78893923e-06 9.96469897e-01 4.06534605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7771056809999 meters Centerline goodness [0,1] 0.9983760755863 Centerline is valid? [True, True] Translation: X:212.13, Y:139.05, Z:40.66 [[ 2.94034484e-01 -9.55481013e-01 -2.44899231e-02 2.12130318e+02] [ 9.52113372e-01 2.95052490e-01 -8.01508228e-02 1.39047643e+02] [ 8.38084021e-02 2.49922574e-04 9.96481856e-01 4.06555582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80710568099994 meters Centerline goodness [0,1] 0.9986165262231166 Centerline is valid? [True, True] Translation: X:212.13, Y:139.07, Z:40.66 [[ 2.94911981e-01 -9.55211856e-01 -2.44383556e-02 2.12134213e+02] [ 9.51848092e-01 2.95922592e-01 -8.00938738e-02 1.39073798e+02] [ 8.37384794e-02 3.59040796e-04 9.96487701e-01 4.06582789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8371056809999 meters Centerline goodness [0,1] 0.998756559674598 Centerline is valid? [True, True] Translation: X:212.14, Y:139.10, Z:40.66 [[ 2.96602284e-01 -9.54711214e-01 -2.35283294e-02 2.12135636e+02] [ 9.51584999e-01 2.97533592e-01 -7.71994236e-02 1.39101954e+02] [ 8.07036239e-02 5.08320010e-04 9.96738013e-01 4.06645734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86710568099994 meters Centerline goodness [0,1] 0.9983742583873487 Centerline is valid? [True, True] Translation: X:212.14, Y:139.13, Z:40.67 [[ 2.97550682e-01 -9.54432934e-01 -2.28334372e-02 2.12141374e+02] [ 9.51480499e-01 2.98424898e-01 -7.50162676e-02 1.39128813e+02] [ 7.84120625e-02 5.95571442e-04 9.96920856e-01 4.06678936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8971056809999 meters Centerline goodness [0,1] 0.9974079615619665 Centerline is valid? [True, True] Translation: X:212.14, Y:139.16, Z:40.67 [[ 3.00858962e-01 -9.53409083e-01 -2.22487262e-02 2.12144016e+02] [ 9.50595284e-01 3.01679230e-01 -7.32000500e-02 1.39155564e+02] [ 7.65015712e-02 8.73356792e-04 9.97069078e-01 4.06711724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92710568099994 meters Centerline goodness [0,1] 0.997250440769037 Centerline is valid? [True, True] Translation: X:212.15, Y:139.18, Z:40.67 [[ 3.03357623e-01 -9.52619134e-01 -2.21571291e-02 2.12148689e+02] [ 9.49818145e-01 3.04163726e-01 -7.30062983e-02 1.39183562e+02] [ 7.62865916e-02 1.10177382e-03 9.97085323e-01 4.06749179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9571056809999 meters Centerline goodness [0,1] 0.9969553166470687 Centerline is valid? [True, True] Translation: X:212.15, Y:139.21, Z:40.68 [[ 3.09930561e-01 -9.50515033e-01 -2.15457618e-02 2.12148732e+02] [ 9.47854919e-01 3.10674408e-01 -7.10806868e-02 1.39212904e+02] [ 7.42569781e-02 1.60782087e-03 9.97237843e-01 4.06796446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98710568099995 meters Centerline goodness [0,1] 0.9967370481864304 Centerline is valid? [True, True] Translation: X:212.15, Y:139.24, Z:40.68 [[ 3.17638471e-01 -9.47963199e-01 -2.17157740e-02 2.12146670e+02] [ 9.45247666e-01 3.18371901e-01 -7.17368935e-02 1.39241733e+02] [ 7.49176273e-02 2.25961249e-03 9.97187166e-01 4.06786534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0171056809999 meters Centerline goodness [0,1] 0.9965333949618673 Centerline is valid? [True, True] Translation: X:212.15, Y:139.27, Z:40.68 [[ 3.20702551e-01 -9.46924481e-01 -2.19977713e-02 2.12153097e+02] [ 9.44127728e-01 3.21445843e-01 -7.27695220e-02 1.39269238e+02] [ 7.59783340e-02 2.56866553e-03 9.97106160e-01 4.06794400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04710568099995 meters Centerline goodness [0,1] 0.9960693153000846 Centerline is valid? [True, True] Translation: X:212.16, Y:139.30, Z:40.68 [[ 3.26425490e-01 -9.44961039e-01 -2.22493805e-02 2.12159420e+02] [ 9.42088192e-01 3.27168241e-01 -7.36938343e-02 1.39296492e+02] [ 7.69170929e-02 3.09466735e-03 9.97032689e-01 4.06801903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0771056809999 meters Centerline goodness [0,1] 0.995821021528071 Centerline is valid? [True, True] Translation: X:212.17, Y:139.32, Z:40.68 [[ 3.28974202e-01 -9.44079987e-01 -2.21122655e-02 2.12166092e+02] [ 9.41233249e-01 3.29699872e-01 -7.33346128e-02 1.39323103e+02] [ 7.65241514e-02 3.31239620e-03 9.97062226e-01 4.06815896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10710568099995 meters Centerline goodness [0,1] 0.9950640200814226 Centerline is valid? [True, True] Translation: X:212.17, Y:139.35, Z:40.68 [[ 3.34001277e-01 -9.42312678e-01 -2.21351267e-02 2.12172344e+02] [ 9.39448572e-01 3.34712859e-01 -7.35097456e-02 1.39349269e+02] [ 7.66780768e-02 3.75753576e-03 9.97048822e-01 4.06834837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1371056809999 meters Centerline goodness [0,1] 0.9934395106001477 Centerline is valid? [True, True] Translation: X:212.18, Y:139.37, Z:40.69 [[ 3.35868963e-01 -9.41657566e-01 -2.17501221e-02 2.12181963e+02] [ 9.38883726e-01 3.36550200e-01 -7.23278048e-02 1.39374886e+02] [ 7.54280325e-02 3.87182910e-03 9.97143731e-01 4.06871286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16710568099995 meters Centerline goodness [0,1] 0.9915996387844678 Centerline is valid? [True, True] Translation: X:212.19, Y:139.40, Z:40.69 [[ 3.39254268e-01 -9.40458432e-01 -2.10826882e-02 2.12193470e+02] [ 9.37843661e-01 3.39884681e-01 -7.01973729e-02 1.39400246e+02] [ 7.31833940e-02 4.04249293e-03 9.97310307e-01 4.06909301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.1971056809999 meters Centerline goodness [0,1] 0.9901545938246261 Centerline is valid? [True, True] Translation: X:212.20, Y:139.43, Z:40.69 [[ 3.42067935e-01 -9.39423165e-01 -2.17633877e-02 2.12203606e+02] [ 9.36627428e-01 3.42730862e-01 -7.25576758e-02 1.39425057e+02] [ 7.56213461e-02 4.43546849e-03 9.97126742e-01 4.06884421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22710568099995 meters Centerline goodness [0,1] 0.9930409553443781 Centerline is valid? [True, True] Translation: X:212.23, Y:139.45, Z:40.69 [[ 3.42103480e-01 -9.39398355e-01 -2.22697023e-02 2.12225133e+02] [ 9.36463011e-01 3.42796969e-01 -7.43455963e-02 1.39448193e+02] [ 7.74741173e-02 4.57913468e-03 9.96983848e-01 4.06902086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2571056809999 meters Centerline goodness [0,1] 0.9931260641987766 Centerline is valid? [True, True] Translation: X:212.24, Y:139.47, Z:40.69 [[ 3.38768992e-01 -9.40589833e-01 -2.29420100e-02 2.12244191e+02] [ 9.37468797e-01 3.39515474e-01 -7.66909176e-02 1.39471645e+02] [ 7.99238648e-02 4.47308629e-03 9.96790935e-01 4.06859735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.2871056809999 meters Centerline goodness [0,1] 0.9912170901656444 Centerline is valid? [True, True] Translation: X:212.26, Y:139.50, Z:40.68 [[ 3.30457408e-01 -9.43524843e-01 -2.36383683e-02 2.12255716e+02] [ 9.40208976e-01 3.31278540e-01 -7.91303327e-02 1.39496965e+02] [ 8.24923189e-02 3.92419855e-03 9.96583974e-01 4.06787605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31710568099993 meters Centerline goodness [0,1] 0.9947512072223389 Centerline is valid? [True, True] Translation: X:212.28, Y:139.52, Z:40.68 [[ 3.25622679e-01 -9.45195855e-01 -2.39722042e-02 2.12284207e+02] [ 9.41780274e-01 3.26484149e-01 -8.03617797e-02 1.39517226e+02] [ 8.37841658e-02 3.59106890e-03 9.96477455e-01 4.06848822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3471056809999 meters Centerline goodness [0,1] 0.9962779156327544 Centerline is valid? [True, True] Translation: X:212.31, Y:139.54, Z:40.69 [[ 3.15375754e-01 -9.48674285e-01 -2.35633983e-02 2.12307783e+02] [ 9.45374698e-01 3.16243533e-01 -7.90993498e-02 1.39538044e+02] [ 8.24912915e-02 2.66977656e-03 9.96588209e-01 4.06869541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37710568099993 meters Centerline goodness [0,1] 0.9961889922937635 Centerline is valid? [True, True] Translation: X:212.33, Y:139.56, Z:40.69 [[ 3.10656632e-01 -9.50255117e-01 -2.25315425e-02 2.12325027e+02] [ 9.47234563e-01 3.11464983e-01 -7.57380121e-02 1.39561153e+02] [ 7.89882200e-02 2.18586000e-03 9.96873153e-01 4.06936382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4071056809999 meters Centerline goodness [0,1] 0.9969139663872555 Centerline is valid? [True, True] Translation: X:212.35, Y:139.58, Z:40.70 [[ 3.02748597e-01 -9.52831345e-01 -2.13474783e-02 2.12346133e+02] [ 9.50119465e-01 3.03496731e-01 -7.18521824e-02 1.39583157e+02] [ 7.49419015e-02 1.47049274e-03 9.97186818e-01 4.06985838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43710568099993 meters Centerline goodness [0,1] 0.9971015101552162 Centerline is valid? [True, True] Translation: X:212.36, Y:139.61, Z:40.70 [[ 2.99990522e-01 -9.53703664e-01 -2.13308995e-02 2.12359896e+02] [ 9.50990747e-01 3.00745202e-01 -7.18952277e-02 1.39608544e+02] [ 7.49819078e-02 1.28239888e-03 9.97184070e-01 4.07007217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.4671056809999 meters Centerline goodness [0,1] 0.9978842850559303 Centerline is valid? [True, True] Translation: X:212.38, Y:139.63, Z:40.70 [[ 2.96431507e-01 -9.54818774e-01 -2.12007264e-02 2.12375267e+02] [ 9.52134882e-01 2.97186915e-01 -7.15479168e-02 1.39633345e+02] [ 7.46158726e-02 1.02310566e-03 9.97211825e-01 4.07026270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49710568099994 meters Centerline goodness [0,1] 0.9978261778353748 Centerline is valid? [True, True] Translation: X:212.38, Y:139.66, Z:40.70 [[ 2.97285945e-01 -9.54562508e-01 -2.07722354e-02 2.12383989e+02] [ 9.51978869e-01 2.98008767e-01 -7.01926489e-02 1.39658266e+02] [ 7.31935792e-02 1.09255877e-03 9.97317154e-01 4.07039689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5271056809999 meters Centerline goodness [0,1] 0.9976781308953707 Centerline is valid? [True, True] Translation: X:212.39, Y:139.68, Z:40.71 [[ 2.99170330e-01 -9.53975754e-01 -2.06730126e-02 2.12391355e+02] [ 9.51407717e-01 2.99881088e-01 -6.99620492e-02 1.39684751e+02] [ 7.29415442e-02 1.26210568e-03 9.97335419e-01 4.07062447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55710568099994 meters Centerline goodness [0,1] 0.9976781308953707 Centerline is valid? [True, True] Translation: X:212.40, Y:139.71, Z:40.71 [[ 2.98791832e-01 -9.54094947e-01 -2.06464073e-02 2.12398641e+02] [ 9.51526652e-01 2.99501658e-01 -6.99699005e-02 1.39710430e+02] [ 7.29415617e-02 1.26082800e-03 9.97335419e-01 4.07079349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5871056809999 meters Centerline goodness [0,1] 0.9973514388413596 Centerline is valid? [True, True] Translation: X:212.40, Y:139.74, Z:40.71 [[ 3.05227031e-01 -9.52069257e-01 -2.00147063e-02 2.12401502e+02] [ 9.49644858e-01 3.05877677e-01 -6.79226741e-02 1.39738108e+02] [ 7.07891418e-02 1.72497326e-03 9.97489810e-01 4.07112189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61710568099994 meters Centerline goodness [0,1] 0.9967489163054352 Centerline is valid? [True, True] Translation: X:212.40, Y:139.77, Z:40.71 [[ 3.09073581e-01 -9.50830486e-01 -1.98723246e-02 2.12404341e+02] [ 9.48433213e-01 3.09705214e-01 -6.75064526e-02 1.39765649e+02] [ 7.03417557e-02 2.01688834e-03 9.97520912e-01 4.07121639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6471056809999 meters Centerline goodness [0,1] 0.9957036114570361 Centerline is valid? [True, True] Translation: X:212.40, Y:139.79, Z:40.71 [[ 3.16874210e-01 -9.48267291e-01 -1.94905208e-02 2.12401766e+02] [ 9.45951839e-01 3.17462708e-01 -6.62762973e-02 1.39794658e+02] [ 6.90351584e-02 2.56415540e-03 9.97610932e-01 4.07111241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67710568099994 meters Centerline goodness [0,1] 0.9956840561491724 Centerline is valid? [True, True] Translation: X:212.41, Y:139.82, Z:40.71 [[ 3.20768112e-01 -9.46961683e-01 -1.92714313e-02 2.12409273e+02] [ 9.44689316e-01 3.21333903e-01 -6.56248449e-02 1.39821377e+02] [ 6.83367778e-02 2.84484237e-03 9.97658254e-01 4.07128920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7071056809999 meters Centerline goodness [0,1] 0.9946574481458202 Centerline is valid? [True, True] Translation: X:212.41, Y:139.85, Z:40.71 [[ 3.26746365e-01 -9.44925343e-01 -1.87858973e-02 2.12410048e+02] [ 9.42756967e-01 3.27270110e-01 -6.40591647e-02 1.39849570e+02] [ 6.66791908e-02 3.22056362e-03 9.97769269e-01 4.07139064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73710568099995 meters Centerline goodness [0,1] 0.9935554067626381 Centerline is valid? [True, True] Translation: X:212.42, Y:139.88, Z:40.72 [[ 3.28109739e-01 -9.44468887e-01 -1.79588617e-02 2.12416123e+02] [ 9.42481510e-01 3.28585330e-01 -6.13211584e-02 1.39876424e+02] [ 6.38169447e-02 3.19417418e-03 9.97956509e-01 4.07163509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.7671056809999 meters Centerline goodness [0,1] 0.9938485278171657 Centerline is valid? [True, True] Translation: X:212.43, Y:139.90, Z:40.72 [[ 3.27495754e-01 -9.44677427e-01 -1.81958598e-02 2.12425218e+02] [ 9.42631714e-01 3.27984999e-01 -6.22197151e-02 1.39902704e+02] [ 6.47455295e-02 3.22469796e-03 9.97896597e-01 4.07166077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79710568099995 meters Centerline goodness [0,1] 0.9946742708573585 Centerline is valid? [True, True] Translation: X:212.43, Y:139.93, Z:40.71 [[ 3.26801153e-01 -9.44903525e-01 -1.89297321e-02 2.12431471e+02] [ 9.42683500e-01 3.27331915e-01 -6.48200263e-02 1.39928949e+02] [ 6.74449767e-02 3.33851321e-03 9.97717410e-01 4.07143115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8271056809999 meters Centerline goodness [0,1] 0.9948827649846902 Centerline is valid? [True, True] Translation: X:212.44, Y:139.95, Z:40.71 [[ 3.25655714e-01 -9.45296522e-01 -1.90484131e-02 2.12441956e+02] [ 9.43042882e-01 3.26195560e-01 -6.53190546e-02 1.39954921e+02] [ 6.79593829e-02 3.30805295e-03 9.97682604e-01 4.07147779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85710568099995 meters Centerline goodness [0,1] 0.9957666191633834 Centerline is valid? [True, True] Translation: X:212.45, Y:139.98, Z:40.72 [[ 3.24880725e-01 -9.45568001e-01 -1.88061193e-02 2.12450939e+02] [ 9.43366062e-01 3.25408470e-01 -6.45739990e-02 1.39981310e+02] [ 6.71787776e-02 3.23779295e-03 9.97735701e-01 4.07174521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.8871056809999 meters Centerline goodness [0,1] 0.9953824196121233 Centerline is valid? [True, True] Translation: X:212.46, Y:140.01, Z:40.72 [[ 3.23884513e-01 -9.45925775e-01 -1.79791853e-02 2.12455747e+02] [ 9.43908812e-01 3.24368812e-01 -6.18144671e-02 1.40007595e+02] [ 6.43037846e-02 3.05003708e-03 9.97925709e-01 4.07229218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91710568099995 meters Centerline goodness [0,1] 0.9959076600209864 Centerline is valid? [True, True] Translation: X:212.47, Y:140.03, Z:40.73 [[ 3.24233146e-01 -9.45811552e-01 -1.77023963e-02 2.12468061e+02] [ 9.43852350e-01 3.24701769e-01 -6.09220976e-02 1.40033361e+02] [ 6.33688231e-02 3.04451504e-03 9.97985533e-01 4.07260463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9471056809999 meters Centerline goodness [0,1] 0.9957646664150627 Centerline is valid? [True, True] Translation: X:212.48, Y:140.06, Z:40.73 [[ 3.24226758e-01 -9.45811804e-01 -1.78056241e-02 2.12475542e+02] [ 9.43824375e-01 3.24700613e-01 -6.13600880e-02 1.40060681e+02] [ 6.38165926e-02 3.08920036e-03 9.97956862e-01 4.07269215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97710568099995 meters Centerline goodness [0,1] 0.9968745411448828 Centerline is valid? [True, True] Translation: X:212.48, Y:140.09, Z:40.73 [[ 3.24883324e-01 -9.45586746e-01 -1.77913386e-02 2.12483311e+02] [ 9.43596908e-01 3.25354782e-01 -6.13933284e-02 1.40087533e+02] [ 6.38412147e-02 3.15781649e-03 9.97955073e-01 4.07287523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0071056809999 meters Centerline goodness [0,1] 0.9961868644774129 Centerline is valid? [True, True] Translation: X:212.49, Y:140.11, Z:40.73 [[ 3.25409835e-01 -9.45404121e-01 -1.78742161e-02 2.12489039e+02] [ 9.43390086e-01 3.25884303e-01 -6.17621845e-02 1.40113626e+02] [ 6.42151502e-02 3.23566399e-03 9.97930832e-01 4.07304362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0371056809999 meters Centerline goodness [0,1] 0.997169336576365 Centerline is valid? [True, True] Translation: X:212.50, Y:140.14, Z:40.73 [[ 3.26712101e-01 -9.44954163e-01 -1.79118144e-02 2.12499861e+02] [ 9.42927067e-01 3.27185573e-01 -6.19527720e-02 1.40139485e+02] [ 6.44030171e-02 3.35118570e-03 9.97918344e-01 4.07316233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06710568099993 meters Centerline goodness [0,1] 0.9975111371384352 Centerline is valid? [True, True] Translation: X:212.51, Y:140.17, Z:40.73 [[ 3.26588468e-01 -9.44993033e-01 -1.81146379e-02 2.12507285e+02] [ 9.42914272e-01 3.27072691e-01 -6.27385842e-02 1.40166107e+02] [ 6.52123284e-02 3.40914754e-03 9.97865587e-01 4.07320066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.0971056809999 meters Centerline goodness [0,1] 0.9966200004172839 Centerline is valid? [True, True] Translation: X:212.51, Y:140.19, Z:40.73 [[ 3.27076371e-01 -9.44821296e-01 -1.82692674e-02 2.12514184e+02] [ 9.42700432e-01 3.27567464e-01 -6.33675904e-02 1.40193484e+02] [ 6.58554665e-02 3.50359528e-03 9.97823022e-01 4.07310887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12710568099993 meters Centerline goodness [0,1] 0.9966135000104521 Centerline is valid? [True, True] Translation: X:212.52, Y:140.22, Z:40.73 [[ 3.28112251e-01 -9.44458090e-01 -1.84733903e-02 2.12521742e+02] [ 9.42283334e-01 3.28611676e-01 -6.41598442e-02 1.40219621e+02] [ 6.66668556e-02 3.64446315e-03 9.97768635e-01 4.07306780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.1571056809999 meters Centerline goodness [0,1] 0.9971396358777351 Centerline is valid? [True, True] Translation: X:212.54, Y:140.24, Z:40.73 [[ 3.29035349e-01 -9.44134535e-01 -1.85934977e-02 2.12537635e+02] [ 9.41924861e-01 3.29538788e-01 -6.46664074e-02 1.40244184e+02] [ 6.71810672e-02 3.76385616e-03 9.97733701e-01 4.07337279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18710568099993 meters Centerline goodness [0,1] 0.9973812666289569 Centerline is valid? [True, True] Translation: X:212.54, Y:140.27, Z:40.74 [[ 3.29494424e-01 -9.43973688e-01 -1.86306573e-02 2.12543205e+02] [ 9.41749225e-01 3.29998472e-01 -6.48799374e-02 1.40270284e+02] [ 6.73930422e-02 3.83217051e-03 9.97719145e-01 4.07368054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2171056809999 meters Centerline goodness [0,1] 0.9974816325681104 Centerline is valid? [True, True] Translation: X:212.56, Y:140.29, Z:40.74 [[ 3.30432135e-01 -9.43652899e-01 -1.82704793e-02 2.12558251e+02] [ 9.41509196e-01 3.30914555e-01 -6.36866674e-02 1.40294651e+02] [ 6.61440759e-02 3.84229716e-03 9.97802685e-01 4.07398401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24710568099994 meters Centerline goodness [0,1] 0.99808807462812 Centerline is valid? [True, True] Translation: X:212.57, Y:140.32, Z:40.74 [[ 3.30808722e-01 -9.43530923e-01 -1.77478401e-02 2.12566363e+02] [ 9.41502805e-01 3.31262866e-01 -6.19465961e-02 1.40321475e+02] [ 6.43277295e-02 3.78283303e-03 9.97921657e-01 4.07434845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2771056809999 meters Centerline goodness [0,1] 0.9980361433197534 Centerline is valid? [True, True] Translation: X:212.58, Y:140.35, Z:40.75 [[ 3.30503050e-01 -9.43650188e-01 -1.70896729e-02 2.12580649e+02] [ 9.41765227e-01 3.30924516e-01 -5.97262202e-02 1.40345958e+02] [ 6.20160507e-02 3.64523829e-03 9.98068495e-01 4.07492971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30710568099994 meters Centerline goodness [0,1] 0.9976075061892775 Centerline is valid? [True, True] Translation: X:212.58, Y:140.37, Z:40.75 [[ 3.29504576e-01 -9.44004029e-01 -1.68264229e-02 2.12583331e+02] [ 9.42172257e-01 3.29914824e-01 -5.88867338e-02 1.40372924e+02] [ 6.11406003e-02 3.55005941e-03 9.98122850e-01 4.07518430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3371056809999 meters Centerline goodness [0,1] 0.9978902072192514 Centerline is valid? [True, True] Translation: X:212.60, Y:140.40, Z:40.75 [[ 3.28804277e-01 -9.44241996e-01 -1.71697608e-02 2.12598504e+02] [ 9.42329570e-01 3.29232517e-01 -6.01741741e-02 1.40398261e+02] [ 6.24718258e-02 3.60595246e-03 9.98040214e-01 4.07518739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36710568099994 meters Centerline goodness [0,1] 0.9971648356230065 Centerline is valid? [True, True] Translation: X:212.60, Y:140.43, Z:40.75 [[ 3.28170317e-01 -9.44458255e-01 -1.74025064e-02 2.12599215e+02] [ 9.42488586e-01 3.28611243e-01 -6.10730399e-02 1.40425179e+02] [ 6.33995960e-02 3.64069518e-03 9.97981581e-01 4.07525300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3971056809999 meters Centerline goodness [0,1] 0.9975672671602038 Centerline is valid? [True, True] Translation: X:212.62, Y:140.45, Z:40.75 [[ 3.27937009e-01 -9.44545390e-01 -1.70682448e-02 2.12620190e+02] [ 9.42645050e-01 3.28361322e-01 -5.99929315e-02 1.40448698e+02] [ 6.22705982e-02 3.58460603e-03 9.98052866e-01 4.07546704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42710568099994 meters Centerline goodness [0,1] 0.9974062375802707 Centerline is valid? [True, True] Translation: X:212.63, Y:140.47, Z:40.76 [[ 3.26418511e-01 -9.45078018e-01 -1.66882027e-02 2.12626049e+02] [ 9.43257204e-01 3.26826810e-01 -5.87374104e-02 1.40474950e+02] [ 6.09655874e-02 3.43171065e-03 9.98133969e-01 4.07573632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4571056809999 meters Centerline goodness [0,1] 0.9965975744671969 Centerline is valid? [True, True] Translation: X:212.64, Y:140.50, Z:40.76 [[ 3.25505938e-01 -9.45396528e-01 -1.64708642e-02 2.12635535e+02] [ 9.43618556e-01 3.25905138e-01 -5.80505175e-02 1.40501489e+02] [ 6.02486969e-02 3.35357511e-03 9.98177764e-01 4.07585783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48710568099995 meters Centerline goodness [0,1] 0.9971570717839374 Centerline is valid? [True, True] Translation: X:212.65, Y:140.53, Z:40.76 [[ 3.24806957e-01 -9.45635795e-01 -1.65343149e-02 2.12646246e+02] [ 9.43839625e-01 3.25210296e-01 -5.83525993e-02 1.40528141e+02] [ 6.05574361e-02 3.34758858e-03 9.98159101e-01 4.07598906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5171056809999 meters Centerline goodness [0,1] 0.9973079571777375 Centerline is valid? [True, True] Translation: X:212.66, Y:140.55, Z:40.76 [[ 3.22259469e-01 -9.46491380e-01 -1.74040847e-02 2.12655101e+02] [ 9.44496983e-01 3.22711368e-01 -6.15046515e-02 1.40553447e+02] [ 6.38301185e-02 3.38235083e-03 9.97955047e-01 4.07597727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54710568099995 meters Centerline goodness [0,1] 0.9980535789033068 Centerline is valid? [True, True] Translation: X:212.67, Y:140.58, Z:40.76 [[ 3.18098261e-01 -9.47890768e-01 -1.77929196e-02 2.12671098e+02] [ 9.45803054e-01 3.18579445e-01 -6.29580811e-02 1.40577451e+02] [ 6.53458423e-02 3.19825841e-03 9.97857551e-01 4.07597416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5771056809999 meters Centerline goodness [0,1] 0.9977217147754113 Centerline is valid? [True, True] Translation: X:212.68, Y:140.60, Z:40.76 [[ 3.13820055e-01 -9.49314838e-01 -1.78413073e-02 2.12681314e+02] [ 9.47212025e-01 3.14313053e-01 -6.32193346e-02 1.40602455e+02] [ 6.56228081e-02 2.93999428e-03 9.97840169e-01 4.07603140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60710568099995 meters Centerline goodness [0,1] 0.9984710120643432 Centerline is valid? [True, True] Translation: X:212.70, Y:140.63, Z:40.76 [[ 3.05215210e-01 -9.52118728e-01 -1.77088480e-02 2.12697275e+02] [ 9.50045476e-01 3.05719439e-01 -6.28428013e-02 1.40626416e+02] [ 6.52477471e-02 2.35636789e-03 9.97866313e-01 4.07607088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6371056809999 meters Centerline goodness [0,1] 0.9987029288702929 Centerline is valid? [True, True] Translation: X:212.71, Y:140.65, Z:40.76 [[ 3.00070665e-01 -9.53755816e-01 -1.75339506e-02 2.12709359e+02] [ 9.51720263e-01 3.00575783e-01 -6.23116374e-02 1.40651143e+02] [ 6.47003675e-02 2.01047847e-03 9.97902711e-01 4.07634183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66710568099995 meters Centerline goodness [0,1] 0.998992379872788 Centerline is valid? [True, True] Translation: X:212.72, Y:140.68, Z:40.77 [[ 2.94714142e-01 -9.55429331e-01 -1.72733602e-02 2.12722620e+02] [ 9.53451017e-01 2.95215309e-01 -6.14742189e-02 1.40675936e+02] [ 6.38336321e-02 1.64801882e-03 9.97959193e-01 4.07674494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.6971056809999 meters Centerline goodness [0,1] 0.9991412713373128 Centerline is valid? [True, True] Translation: X:212.74, Y:140.70, Z:40.77 [[ 2.81636827e-01 -9.59373876e-01 -1.68066784e-02 2.12744083e+02] [ 9.57502703e-01 2.82136783e-01 -5.98949923e-02 1.40696911e+02] [ 6.22034730e-02 7.76195598e-04 9.98063187e-01 4.07745583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72710568099995 meters Centerline goodness [0,1] 0.9993265851554115 Centerline is valid? [True, True] Translation: X:212.76, Y:140.72, Z:40.78 [[ 2.70457043e-01 -9.62586820e-01 -1.67212909e-02 2.12759447e+02] [ 9.60734952e-01 2.70973445e-01 -5.96803527e-02 1.40720118e+02] [ 6.19785468e-02 7.62430814e-05 9.98077479e-01 4.07775952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7571056809999 meters Centerline goodness [0,1] 0.9994734846889347 Centerline is valid? [True, True] Translation: X:212.77, Y:140.75, Z:40.78 [[ 2.67033049e-01 -9.63540524e-01 -1.68229098e-02 2.12766014e+02] [ 9.61662407e-01 2.67562413e-01 -6.01312679e-02 1.40745337e+02] [ 6.24400917e-02 -1.20924129e-04 9.98048706e-01 4.07777060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.7871056809999 meters Centerline goodness [0,1] 0.9994526315789474 Centerline is valid? [True, True] Translation: X:212.77, Y:140.77, Z:40.78 [[ 2.63695867e-01 -9.64461822e-01 -1.66698513e-02 2.12770838e+02] [ 9.62613676e-01 2.64222063e-01 -5.96792473e-02 1.40772664e+02] [ 6.19628981e-02 -3.09455934e-04 9.98078405e-01 4.07781581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81710568099993 meters Centerline goodness [0,1] 0.9991787917710724 Centerline is valid? [True, True] Translation: X:212.78, Y:140.80, Z:40.78 [[ 2.63474931e-01 -9.64520701e-01 -1.67564350e-02 2.12776443e+02] [ 9.62647954e-01 2.64007057e-01 -6.00765307e-02 1.40799623e+02] [ 6.23688746e-02 -3.01888066e-04 9.98053121e-01 4.07801832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8471056809999 meters Centerline goodness [0,1] 0.9993687267217979 Centerline is valid? [True, True] Translation: X:212.78, Y:140.83, Z:40.78 [[ 2.63285651e-01 -9.64562726e-01 -1.73035721e-02 2.12778470e+02] [ 9.62559534e-01 2.63853481e-01 -6.21327926e-02 1.40826883e+02] [ 6.44965835e-02 -2.97045483e-04 9.97917884e-01 4.07816944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87710568099993 meters Centerline goodness [0,1] 0.9989695924633049 Centerline is valid? [True, True] Translation: X:212.78, Y:140.85, Z:40.78 [[ 2.64616243e-01 -9.64186376e-01 -1.79687465e-02 2.12777600e+02] [ 9.62018102e-01 2.65225560e-01 -6.46264211e-02 1.40854983e+02] [ 6.70776856e-02 -1.85058719e-04 9.97747739e-01 4.07788632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9071056809999 meters Centerline goodness [0,1] 0.9990570386823687 Centerline is valid? [True, True] Translation: X:212.78, Y:140.88, Z:40.78 [[ 2.65845301e-01 -9.63842892e-01 -1.82525675e-02 2.12779417e+02] [ 9.61597218e-01 2.66471153e-01 -6.57564760e-02 1.40883152e+02] [ 6.82426946e-02 -7.05679671e-05 9.97668747e-01 4.07796469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93710568099993 meters Centerline goodness [0,1] 0.9988439792336633 Centerline is valid? [True, True] Translation: X:212.78, Y:140.91, Z:40.78 [[ 2.67587411e-01 -9.63358490e-01 -1.83683630e-02 2.12780438e+02] [ 9.61075954e-01 2.68217100e-01 -6.62766824e-02 1.40910833e+02] [ 6.87749138e-02 8.14138989e-05 9.97632199e-01 4.07806521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.9671056809999 meters Centerline goodness [0,1] 0.9988088272172532 Centerline is valid? [True, True] Translation: X:212.78, Y:140.94, Z:40.78 [[ 2.74131365e-01 -9.61524977e-01 -1.79363587e-02 2.12776765e+02] [ 9.59338078e-01 2.74716952e-01 -6.48154902e-02 1.40940196e+02] [ 6.72491345e-02 5.60926933e-04 9.97736057e-01 4.07843801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99710568099994 meters Centerline goodness [0,1] 0.9986170770036669 Centerline is valid? [True, True] Translation: X:212.77, Y:140.97, Z:40.79 [[ 2.80654738e-01 -9.59634217e-01 -1.83054236e-02 2.12773703e+02] [ 9.57345474e-01 2.81249053e-01 -6.62466123e-02 1.40968752e+02] [ 6.87208989e-02 1.06781117e-03 9.97635353e-01 4.07870782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0271056809999 meters Centerline goodness [0,1] 0.9980534974255934 Centerline is valid? [True, True] Translation: X:212.77, Y:141.00, Z:40.79 [[ 2.84482808e-01 -9.58502972e-01 -1.84820190e-02 2.12773793e+02] [ 9.56160689e-01 2.85079180e-01 -6.69820681e-02 1.40996863e+02] [ 6.94713501e-02 1.38346673e-03 9.97582988e-01 4.07861855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05710568099994 meters Centerline goodness [0,1] 0.9980937617830659 Centerline is valid? [True, True] Translation: X:212.77, Y:141.02, Z:40.78 [[ 2.89787252e-01 -9.56912795e-01 -1.84730017e-02 2.12769226e+02] [ 9.54562703e-01 2.90369899e-01 -6.70475003e-02 1.41024965e+02] [ 6.95226145e-02 1.79587244e-03 9.97578759e-01 4.07847894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0871056809999 meters Centerline goodness [0,1] 0.998046875 Centerline is valid? [True, True] Translation: X:212.77, Y:141.05, Z:40.79 [[ 2.90944679e-01 -9.56568103e-01 -1.81289434e-02 2.12772823e+02] [ 9.54298635e-01 2.91502967e-01 -6.58796992e-02 1.41051366e+02] [ 6.83030597e-02 1.86692204e-03 9.97662872e-01 4.07877669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11710568099994 meters Centerline goodness [0,1] 0.9977467139578552 Centerline is valid? [True, True] Translation: X:212.78, Y:141.08, Z:40.79 [[ 2.92657240e-01 -9.56042881e-01 -1.82687900e-02 2.12775351e+02] [ 9.53730114e-01 2.93219825e-01 -6.64906228e-02 1.41078142e+02] [ 6.89246580e-02 2.03546697e-03 9.97619792e-01 4.07899067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1471056809999 meters Centerline goodness [0,1] 0.997410678861534 Centerline is valid? [True, True] Translation: X:212.78, Y:141.10, Z:40.79 [[ 2.92178029e-01 -9.56186228e-01 -1.84362894e-02 2.12780714e+02] [ 9.53823930e-01 2.92751933e-01 -6.72028029e-02 1.41104488e+02] [ 6.96556540e-02 2.05020851e-03 9.97568988e-01 4.07900343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17710568099994 meters Centerline goodness [0,1] 0.9975993152829676 Centerline is valid? [True, True] Translation: X:212.79, Y:141.13, Z:40.80 [[ 2.92100120e-01 -9.56213505e-01 -1.82551841e-02 2.12790138e+02] [ 9.53890900e-01 2.92662815e-01 -6.66380412e-02 1.41129792e+02] [ 6.90628086e-02 2.05152584e-03 9.97610204e-01 4.07951284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2071056809999 meters Centerline goodness [0,1] 0.9980623788986812 Centerline is valid? [True, True] Translation: X:212.79, Y:141.16, Z:40.80 [[ 2.92497352e-01 -9.56094242e-01 -1.81411181e-02 2.12793163e+02] [ 9.53793068e-01 2.93051873e-01 -6.63278499e-02 1.41156833e+02] [ 6.87319639e-02 2.09784779e-03 9.97632957e-01 4.07975463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23710568099995 meters Centerline goodness [0,1] 0.9976645745146694 Centerline is valid? [True, True] Translation: X:212.78, Y:141.19, Z:40.80 [[ 2.96809422e-01 -9.54764195e-01 -1.81521020e-02 2.12784234e+02] [ 9.52450808e-01 2.97353965e-01 -6.64686263e-02 1.41187416e+02] [ 6.88594640e-02 2.43953033e-03 9.97623387e-01 4.07980640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.2671056809999 meters Centerline goodness [0,1] 0.997622573043315 Centerline is valid? [True, True] Translation: X:212.79, Y:141.21, Z:40.80 [[ 3.02704964e-01 -9.52913104e-01 -1.80643608e-02 2.12789626e+02] [ 9.50611908e-01 3.03229806e-01 -6.62471532e-02 1.41214087e+02] [ 6.86054330e-02 2.88114563e-03 9.97639711e-01 4.07995713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29710568099995 meters Centerline goodness [0,1] 0.9972006350798028 Centerline is valid? [True, True] Translation: X:212.79, Y:141.24, Z:40.80 [[ 3.05702707e-01 -9.51947421e-01 -1.84922296e-02 2.12792937e+02] [ 9.49526503e-01 3.06244726e-01 -6.79233967e-02 1.41242242e+02] [ 7.03226501e-02 3.20550417e-03 9.97519148e-01 4.07996587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3271056809999 meters Centerline goodness [0,1] 0.9977829833514599 Centerline is valid? [True, True] Translation: X:212.79, Y:141.27, Z:40.80 [[ 3.11430268e-01 -9.50074708e-01 -1.92155474e-02 2.12794466e+02] [ 9.47449211e-01 3.11999278e-01 -7.06855197e-02 1.41271088e+02] [ 7.31517614e-02 3.80785514e-03 9.97313552e-01 4.07984248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35710568099995 meters Centerline goodness [0,1] 0.997596756666388 Centerline is valid? [True, True] Translation: X:212.80, Y:141.30, Z:40.80 [[ 3.13058161e-01 -9.49539978e-01 -1.91942269e-02 2.12798833e+02] [ 9.46911755e-01 3.13621011e-01 -7.07106093e-02 1.41297418e+02] [ 7.31622632e-02 3.96129420e-03 9.97312184e-01 4.07987859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.3871056809999 meters Centerline goodness [0,1] 0.9971118831359089 Centerline is valid? [True, True] Translation: X:212.81, Y:141.32, Z:40.80 [[ 3.15550724e-01 -9.48715346e-01 -1.91555000e-02 2.12807339e+02] [ 9.46089751e-01 3.16104062e-01 -7.06569531e-02 1.41324351e+02] [ 7.30884671e-02 4.17303044e-03 9.97316731e-01 4.08000902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41710568099995 meters Centerline goodness [0,1] 0.9975392058725392 Centerline is valid? [True, True] Translation: X:212.82, Y:141.35, Z:40.80 [[ 3.14518846e-01 -9.49058003e-01 -1.91520803e-02 2.12818079e+02] [ 9.46426510e-01 3.15074423e-01 -7.07458049e-02 1.41350841e+02] [ 7.31762030e-02 4.12485231e-03 9.97310498e-01 4.08017209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4471056809999 meters Centerline goodness [0,1] 0.9975392058725392 Centerline is valid? [True, True] Translation: X:212.83, Y:141.38, Z:40.80 [[ 3.14179822e-01 -9.49170801e-01 -1.91266796e-02 2.12825067e+02] [ 9.46539108e-01 3.14734453e-01 -7.07526722e-02 1.41377485e+02] [ 7.31761955e-02 4.12491171e-03 9.97310498e-01 4.08034662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47710568099995 meters Centerline goodness [0,1] 0.9974063460854651 Centerline is valid? [True, True] Translation: X:212.84, Y:141.40, Z:40.81 [[ 3.11654100e-01 -9.50012608e-01 -1.86485036e-02 2.12840955e+02] [ 9.47505527e-01 3.12187680e-01 -6.90805936e-02 1.41401723e+02] [ 7.14492679e-02 3.85968999e-03 9.97436767e-01 4.08075359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5071056809999 meters Centerline goodness [0,1] 0.9972510308634263 Centerline is valid? [True, True] Translation: X:212.85, Y:141.43, Z:40.81 [[ 3.09900129e-01 -9.50592931e-01 -1.83027013e-02 2.12848465e+02] [ 9.48172180e-01 3.10418239e-01 -6.78972284e-02 1.41427484e+02] [ 7.02241177e-02 3.68724762e-03 9.97524425e-01 4.08105478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5371056809999 meters Centerline goodness [0,1] 0.9978333333333333 Centerline is valid? [True, True] Translation: X:212.86, Y:141.45, Z:40.81 [[ 3.07785074e-01 -9.51282718e-01 -1.81532296e-02 2.12860813e+02] [ 9.48897385e-01 3.08299807e-01 -6.74164797e-02 1.41451775e+02] [ 6.97287692e-02 3.52423409e-03 9.97559762e-01 4.08130508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56710568099993 meters Centerline goodness [0,1] 0.997958163180265 Centerline is valid? [True, True] Translation: X:212.87, Y:141.48, Z:40.82 [[ 3.06393816e-01 -9.51733932e-01 -1.80375180e-02 2.12870490e+02] [ 9.49373539e-01 3.06905160e-01 -6.70753803e-02 1.41477898e+02] [ 6.93737228e-02 3.42713938e-03 9.97584854e-01 4.08153040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.5971056809999 meters Centerline goodness [0,1] 0.9972117605443309 Centerline is valid? [True, True] Translation: X:212.88, Y:141.50, Z:40.82 [[ 3.03392060e-01 -9.52703186e-01 -1.76038835e-02 2.12880739e+02] [ 9.50450589e-01 3.03885961e-01 -6.55515094e-02 1.41503328e+02] [ 6.78007049e-02 3.15618601e-03 9.97693892e-01 4.08176078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62710568099993 meters Centerline goodness [0,1] 0.9978579598627431 Centerline is valid? [True, True] Translation: X:212.89, Y:141.53, Z:40.82 [[ 3.00895250e-01 -9.53496552e-01 -1.75035604e-02 2.12894732e+02] [ 9.51264595e-01 3.01389102e-01 -6.52708169e-02 1.41528389e+02] [ 6.75108812e-02 2.98916141e-03 9.97714060e-01 4.08200899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.6571056809999 meters Centerline goodness [0,1] 0.9981186111169179 Centerline is valid? [True, True] Translation: X:212.91, Y:141.55, Z:40.82 [[ 2.94805347e-01 -9.55400374e-01 -1.73185425e-02 2.12906206e+02] [ 9.53212325e-01 2.95302526e-01 -6.46736468e-02 1.41552518e+02] [ 6.69034357e-02 2.55788879e-03 9.97756176e-01 4.08208913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68710568099993 meters Centerline goodness [0,1] 0.9985358099062919 Centerline is valid? [True, True] Translation: X:212.92, Y:141.58, Z:40.82 [[ 2.87871035e-01 -9.57514031e-01 -1.72379778e-02 2.12917821e+02] [ 9.55344478e-01 2.88379139e-01 -6.44546428e-02 1.41576883e+02] [ 6.66872981e-02 2.08641789e-03 9.97771743e-01 4.08211822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7171056809999 meters Centerline goodness [0,1] 0.9985561833019461 Centerline is valid? [True, True] Translation: X:212.93, Y:141.60, Z:40.82 [[ 2.83128153e-01 -9.58924628e-01 -1.73783234e-02 2.12928479e+02] [ 9.56715127e-01 2.83655274e-01 -6.50834210e-02 1.41602670e+02] [ 6.73395484e-02 1.80084396e-03 9.97728491e-01 4.08227441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74710568099994 meters Centerline goodness [0,1] 0.9989982469321312 Centerline is valid? [True, True] Translation: X:212.94, Y:141.63, Z:40.82 [[ 2.74754564e-01 -9.61347350e-01 -1.79221185e-02 2.12940935e+02] [ 9.58995178e-01 2.75335485e-01 -6.72206778e-02 1.41627307e+02] [ 6.95570156e-02 1.28196275e-03 9.97577154e-01 4.08212441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7771056809999 meters Centerline goodness [0,1] 0.9988929041422095 Centerline is valid? [True, True] Translation: X:212.95, Y:141.65, Z:40.82 [[ 2.70823412e-01 -9.62462130e-01 -1.79256129e-02 2.12950509e+02] [ 9.60104326e-01 2.71414068e-01 -6.73356347e-02 1.41654240e+02] [ 6.96732619e-02 1.02560787e-03 9.97569338e-01 4.08215332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80710568099994 meters Centerline goodness [0,1] 0.9983657391887362 Centerline is valid? [True, True] Translation: X:212.96, Y:141.68, Z:40.82 [[ 2.64189200e-01 -9.64314557e-01 -1.73638092e-02 2.12961566e+02] [ 9.62102418e-01 2.64758650e-01 -6.52824169e-02 1.41680149e+02] [ 6.75500036e-02 5.41146653e-04 9.97715743e-01 4.08249154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8371056809999 meters Centerline goodness [0,1] 0.9991427077888134 Centerline is valid? [True, True] Translation: X:212.97, Y:141.71, Z:40.83 [[ 2.61569679e-01 -9.65032074e-01 -1.71580922e-02 2.12969658e+02] [ 9.62867643e-01 2.62131562e-01 -6.45983412e-02 1.41705866e+02] [ 6.68371487e-02 3.75995538e-04 9.97763827e-01 4.08277674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86710568099994 meters Centerline goodness [0,1] 0.999036427239783 Centerline is valid? [True, True] Translation: X:212.97, Y:141.73, Z:40.83 [[ 2.59788957e-01 -9.65507130e-01 -1.74836844e-02 2.12974344e+02] [ 9.63253605e-01 2.60376457e-01 -6.59287024e-02 1.41733271e+02] [ 6.82069721e-02 2.86326799e-04 9.97671152e-01 4.08283446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8971056809999 meters Centerline goodness [0,1] 0.9987014890987915 Centerline is valid? [True, True] Translation: X:212.98, Y:141.76, Z:40.83 [[ 2.59760572e-01 -9.65515911e-01 -1.74204115e-02 2.12978125e+02] [ 9.63271662e-01 2.60343868e-01 -6.57934375e-02 1.41760226e+02] [ 6.80599080e-02 3.09952258e-04 9.97681188e-01 4.08293376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92710568099994 meters Centerline goodness [0,1] 0.9990581044876088 Centerline is valid? [True, True] Translation: X:212.98, Y:141.79, Z:40.83 [[ 2.62784321e-01 -9.64700622e-01 -1.72369015e-02 2.12977060e+02] [ 9.62494756e-01 2.63348466e-01 -6.52029981e-02 1.41788221e+02] [ 6.74406843e-02 5.43898244e-04 9.97723137e-01 4.08333915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9571056809999 meters Centerline goodness [0,1] 0.9991002490008579 Centerline is valid? [True, True] Translation: X:212.98, Y:141.81, Z:40.83 [[ 2.64624723e-01 -9.64197499e-01 -1.72319194e-02 2.12978307e+02] [ 9.61984675e-01 2.65184261e-01 -6.52900575e-02 1.41814531e+02] [ 6.75221439e-02 7.00521020e-04 9.97717530e-01 4.08341798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98710568099995 meters Centerline goodness [0,1] 0.9992027358747876 Centerline is valid? [True, True] Translation: X:212.98, Y:141.84, Z:40.83 [[ 2.66428808e-01 -9.63697251e-01 -1.74154914e-02 2.12977414e+02] [ 9.61429737e-01 2.66996008e-01 -6.60756546e-02 1.41844062e+02] [ 6.83267934e-02 8.60686542e-04 9.97662623e-01 4.08335631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0171056809999 meters Centerline goodness [0,1] 0.999165588885644 Centerline is valid? [True, True] Translation: X:212.98, Y:141.87, Z:40.83 [[ 2.66066730e-01 -9.63793025e-01 -1.76493446e-02 2.12979955e+02] [ 9.61457625e-01 2.66650036e-01 -6.70596244e-02 1.41870335e+02] [ 6.93377967e-02 8.73237989e-04 9.97592857e-01 4.08336707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04710568099995 meters Centerline goodness [0,1] 0.9991818410673827 Centerline is valid? [True, True] Translation: X:212.98, Y:141.90, Z:40.83 [[ 2.66698667e-01 -9.63612890e-01 -1.79449227e-02 2.12981077e+02] [ 9.61191777e-01 2.67299978e-01 -6.82721775e-02 1.41898407e+02] [ 7.05846276e-02 9.59586612e-04 9.97505333e-01 4.08332635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0771056809999 meters Centerline goodness [0,1] 0.9992854290578171 Centerline is valid? [True, True] Translation: X:212.98, Y:141.93, Z:40.84 [[ 2.67012768e-01 -9.63527187e-01 -1.78757302e-02 2.12983753e+02] [ 9.61116672e-01 2.67608564e-01 -6.81204749e-02 1.41925395e+02] [ 7.04196280e-02 1.00837430e-03 9.97516947e-01 4.08352367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10710568099995 meters Centerline goodness [0,1] 0.9990374555346306 Centerline is valid? [True, True] Translation: X:212.98, Y:141.95, Z:40.84 [[ 2.70147275e-01 -9.62664798e-01 -1.72318258e-02 2.12981640e+02] [ 9.60416207e-01 2.70693558e-01 -6.57701010e-02 1.41953291e+02] [ 6.79791053e-02 1.21788871e-03 9.97686002e-01 4.08409864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1371056809999 meters Centerline goodness [0,1] 0.999517242826858 Centerline is valid? [True, True] Translation: X:212.98, Y:141.98, Z:40.84 [[ 2.74440007e-01 -9.61450673e-01 -1.71838930e-02 2.12978391e+02] [ 9.59205446e-01 2.74973125e-01 -6.56863284e-02 1.41981336e+02] [ 6.78792734e-02 1.54407262e-03 9.97692347e-01 4.08439396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16710568099995 meters Centerline goodness [0,1] 0.9989301447451228 Centerline is valid? [True, True] Translation: X:212.98, Y:142.01, Z:40.84 [[ 2.77308098e-01 -9.60623712e-01 -1.73868363e-02 2.12979406e+02] [ 9.58317724e-01 2.77846854e-01 -6.65452097e-02 1.42009648e+02] [ 6.87557841e-02 1.79141216e-03 9.97631913e-01 4.08441951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.1971056809999 meters Centerline goodness [0,1] 0.9989514522386495 Centerline is valid? [True, True] Translation: X:212.97, Y:142.04, Z:40.84 [[ 2.83281623e-01 -9.58873356e-01 -1.77033480e-02 2.12974604e+02] [ 9.56471820e-01 2.83825014e-01 -6.78602899e-02 1.42039135e+02] [ 7.00940769e-02 2.29081957e-03 9.97537755e-01 4.08425562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22710568099995 meters Centerline goodness [0,1] 0.9988253801782905 Centerline is valid? [True, True] Translation: X:212.98, Y:142.07, Z:40.84 [[ 2.85917760e-01 -9.58084367e-01 -1.80382853e-02 2.12975591e+02] [ 9.55581886e-01 2.86474743e-01 -6.92494155e-02 1.42066349e+02] [ 7.15142956e-02 2.56257904e-03 9.97436283e-01 4.08422346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2571056809999 meters Centerline goodness [0,1] 0.9988875128565731 Centerline is valid? [True, True] Translation: X:212.98, Y:142.09, Z:40.84 [[ 2.87845833e-01 -9.57500940e-01 -1.83501352e-02 2.12978363e+02] [ 9.54903252e-01 2.88416738e-01 -7.05376796e-02 1.42093809e+02] [ 7.28323806e-02 2.78137335e-03 9.97340317e-01 4.08416789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.2871056809999 meters Centerline goodness [0,1] 0.998887536207548 Centerline is valid? [True, True] Translation: X:212.98, Y:142.12, Z:40.84 [[ 2.90091355e-01 -9.56815880e-01 -1.87183946e-02 2.12981432e+02] [ 9.54103370e-01 2.90678692e-01 -7.20600956e-02 1.42121730e+02] [ 7.43892823e-02 3.04472738e-03 9.97224631e-01 4.08428441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31710568099993 meters Centerline goodness [0,1] 0.9988744606790754 Centerline is valid? [True, True] Translation: X:212.99, Y:142.15, Z:40.85 [[ 2.90449901e-01 -9.56711208e-01 -1.85072923e-02 2.12989241e+02] [ 9.54052100e-01 2.91022794e-01 -7.13465108e-02 1.42147119e+02] [ 7.36440504e-02 3.06566596e-03 9.97279878e-01 4.08472489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3471056809999 meters Centerline goodness [0,1] 0.9991381303735469 Centerline is valid? [True, True] Translation: X:213.00, Y:142.17, Z:40.85 [[ 2.89451094e-01 -9.57013752e-01 -1.85133164e-02 2.12998834e+02] [ 9.54345028e-01 2.90026791e-01 -7.14844575e-02 1.42172570e+02] [ 7.37809666e-02 3.02316299e-03 9.97269888e-01 4.08500314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37710568099993 meters Centerline goodness [0,1] 0.999202802777603 Centerline is valid? [True, True] Translation: X:213.00, Y:142.20, Z:40.85 [[ 2.87954910e-01 -9.57463549e-01 -1.85882391e-02 2.13000198e+02] [ 9.54765491e-01 2.88539131e-01 -7.18889895e-02 1.42199945e+02] [ 7.41945214e-02 2.95337824e-03 9.97239415e-01 4.08490897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4071056809999 meters Centerline goodness [0,1] 0.9994125791969118 Centerline is valid? [True, True] Translation: X:213.02, Y:142.23, Z:40.85 [[ 2.84601443e-01 -9.58465210e-01 -1.86134525e-02 2.13015976e+02] [ 9.55755718e-01 2.85196490e-01 -7.20691981e-02 1.42225194e+02] [ 7.43843104e-02 2.72108412e-03 9.97225937e-01 4.08502907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43710568099993 meters Centerline goodness [0,1] 0.9992472713586752 Centerline is valid? [True, True] Translation: X:213.02, Y:142.25, Z:40.85 [[ 2.78096814e-01 -9.60368523e-01 -1.88271357e-02 2.13023058e+02] [ 9.57592579e-01 2.78724116e-01 -7.30021842e-02 1.42251230e+02] [ 7.53565766e-02 2.27294940e-03 9.97154060e-01 4.08486369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.4671056809999 meters Centerline goodness [0,1] 0.9994752749559231 Centerline is valid? [True, True] Translation: X:213.04, Y:142.28, Z:40.85 [[ 2.73376641e-01 -9.61725518e-01 -1.86879786e-02 2.13037316e+02] [ 9.58985247e-01 2.74007934e-01 -7.25737419e-02 1.42276011e+02] [ 7.49166739e-02 1.91847008e-03 9.97187952e-01 4.08527544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49710568099994 meters Centerline goodness [0,1] 0.9996637595881055 Centerline is valid? [True, True] Translation: X:213.05, Y:142.30, Z:40.86 [[ 2.63439645e-01 -9.64507571e-01 -1.80194210e-02 2.13051648e+02] [ 9.61958875e-01 2.64052786e-01 -7.00803028e-02 1.42299040e+02] [ 7.23510609e-02 1.12798809e-03 9.97378590e-01 4.08593753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5271056809999 meters Centerline goodness [0,1] 0.9998955569945481 Centerline is valid? [True, True] Translation: X:213.06, Y:142.32, Z:40.86 [[ 2.58000593e-01 -9.65979675e-01 -1.78595195e-02 2.13061718e+02] [ 9.63471683e-01 2.58616935e-01 -6.95672189e-02 1.42324001e+02] [ 7.18192937e-02 7.41242398e-04 9.97417385e-01 4.08621193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55710568099994 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:213.07, Y:142.35, Z:40.86 [[ 2.46607980e-01 -9.68948756e-01 -1.79669537e-02 2.13074142e+02] [ 9.66412338e-01 2.47261603e-01 -7.00634951e-02 1.42349449e+02] [ 7.23304742e-02 -8.52687051e-05 9.97380717e-01 4.08623883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5871056809999 meters Centerline goodness [0,1] 0.9998327304660547 Centerline is valid? [True, True] Translation: X:213.08, Y:142.37, Z:40.86 [[ 2.40421227e-01 -9.70507837e-01 -1.76683736e-02 2.13083981e+02] [ 9.68051817e-01 2.41069023e-01 -6.90029410e-02 1.42374371e+02] [ 7.12271926e-02 -5.14129420e-04 9.97459986e-01 4.08646841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61710568099994 meters Centerline goodness [0,1] 0.9998742876299028 Centerline is valid? [True, True] Translation: X:213.09, Y:142.40, Z:40.87 [[ 2.29475200e-01 -9.73169322e-01 -1.68108175e-02 2.13094346e+02] [ 9.70945827e-01 2.30086836e-01 -6.57590276e-02 1.42400153e+02] [ 6.78626161e-02 -1.23232712e-03 9.97693914e-01 4.08716586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:142.43, Z:40.88 [[ 2.24020522e-01 -9.74443377e-01 -1.65804099e-02 2.13103089e+02] [ 9.72277149e-01 2.24627787e-01 -6.49576938e-02 1.42425861e+02] [ 6.70220153e-02 -1.56889721e-03 9.97750263e-01 4.08750945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67710568099994 meters Centerline goodness [0,1] 0.9999160651334564 Centerline is valid? [True, True] Translation: X:213.11, Y:142.45, Z:40.88 [[ 2.13371617e-01 -9.76830784e-01 -1.65581472e-02 2.13111867e+02] [ 9.74671974e-01 2.14000973e-01 -6.49471133e-02 1.42452535e+02] [ 6.69857992e-02 -2.28089144e-03 9.97751322e-01 4.08781412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.12, Y:142.48, Z:40.88 [[ 2.08917367e-01 -9.77789681e-01 -1.67593108e-02 2.13120862e+02] [ 9.75573551e-01 2.09572454e-01 -6.58455231e-02 1.42477637e+02] [ 6.78953628e-02 -2.59366703e-03 9.97689076e-01 4.08789454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73710568099995 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:213.13, Y:142.50, Z:40.88 [[ 2.03499906e-01 -9.78922541e-01 -1.72756394e-02 2.13125422e+02] [ 9.76563860e-01 2.04209304e-01 -6.79822621e-02 1.42503768e+02] [ 7.00772150e-02 -3.03638119e-03 9.97536949e-01 4.08755264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.7671056809999 meters Centerline goodness [0,1] 0.9999790250859971 Centerline is valid? [True, True] Translation: X:213.13, Y:142.53, Z:40.88 [[ 2.03114627e-01 -9.79003974e-01 -1.71949700e-02 2.13125749e+02] [ 9.76659693e-01 2.03818684e-01 -6.77774854e-02 1.42531366e+02] [ 6.98590837e-02 -3.02703544e-03 9.97552277e-01 4.08771397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79710568099995 meters Centerline goodness [0,1] 0.999978999979 Centerline is valid? [True, True] Translation: X:213.12, Y:142.56, Z:40.88 [[ 2.02668258e-01 -9.79097817e-01 -1.71184823e-02 2.13119552e+02] [ 9.76766567e-01 2.03367484e-01 -6.75924545e-02 1.42561130e+02] [ 6.96609673e-02 -3.02191617e-03 9.97566147e-01 4.08807320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8271056809999 meters Centerline goodness [0,1] 0.9999580034857107 Centerline is valid? [True, True] Translation: X:213.12, Y:142.59, Z:40.88 [[ 2.03063325e-01 -9.79018980e-01 -1.69447325e-02 2.13117685e+02] [ 9.76726447e-01 2.03747866e-01 -6.70242860e-02 1.42590358e+02] [ 6.90705012e-02 -2.94019402e-03 9.97607448e-01 4.08843189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85710568099995 meters Centerline goodness [0,1] 0.9999791710060404 Centerline is valid? [True, True] Translation: X:213.11, Y:142.62, Z:40.89 [[ 2.04758719e-01 -9.78668071e-01 -1.68129358e-02 2.13113286e+02] [ 9.76402383e-01 2.05429059e-01 -6.66129751e-02 1.42619717e+02] [ 6.86458574e-02 -2.77660317e-03 9.97637227e-01 4.08880962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.8871056809999 meters Centerline goodness [0,1] 0.9999370501710138 Centerline is valid? [True, True] Translation: X:213.11, Y:142.65, Z:40.89 [[ 2.06938578e-01 -9.78209162e-01 -1.68303197e-02 2.13111508e+02] [ 9.75929711e-01 2.07605532e-01 -6.67917840e-02 1.42647644e+02] [ 6.88304026e-02 -2.60341231e-03 9.97624979e-01 4.08900246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91710568099995 meters Centerline goodness [0,1] 0.9999582009697375 Centerline is valid? [True, True] Translation: X:213.10, Y:142.68, Z:40.89 [[ 2.10571157e-01 -9.77428137e-01 -1.71471370e-02 2.13098877e+02] [ 9.75051966e-01 2.11254891e-01 -6.81544855e-02 1.42678716e+02] [ 7.02385284e-02 -2.36798076e-03 9.97527414e-01 4.08899463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9471056809999 meters Centerline goodness [0,1] 0.9999374439602143 Centerline is valid? [True, True] Translation: X:213.10, Y:142.71, Z:40.89 [[ 2.12344487e-01 -9.77048444e-01 -1.69161901e-02 2.13095580e+02] [ 9.74728113e-01 2.13005957e-01 -6.73317707e-02 1.42707226e+02] [ 6.93896511e-02 -2.19115576e-03 9.97587227e-01 4.08919655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.08, Y:142.74, Z:40.90 [[ 2.19605357e-01 -9.75445336e-01 -1.67297349e-02 2.13080674e+02] [ 9.73164227e-01 2.20235609e-01 -6.66908023e-02 1.42739224e+02] [ 6.87377154e-02 -1.63512204e-03 9.97633426e-01 4.08963384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0071056809999 meters Centerline goodness [0,1] 0.9999580325667282 Centerline is valid? [True, True] Translation: X:213.07, Y:142.77, Z:40.90 [[ 2.24188782e-01 -9.74399468e-01 -1.68839484e-02 2.13073848e+02] [ 9.72065115e-01 2.24819915e-01 -6.74197221e-02 1.42769613e+02] [ 6.94895891e-02 -1.29755184e-03 9.97581833e-01 4.08980695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0371056809999 meters Centerline goodness [0,1] 0.9999579478553406 Centerline is valid? [True, True] Translation: X:213.06, Y:142.80, Z:40.90 [[ 2.34447351e-01 -9.71973418e-01 -1.73814180e-02 2.13056084e+02] [ 9.69483723e-01 2.35090133e-01 -6.95265426e-02 1.42802247e+02] [ 7.16641512e-02 -5.50688152e-04 9.97428667e-01 4.08976864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06710568099993 meters Centerline goodness [0,1] 0.9999159310634721 Centerline is valid? [True, True] Translation: X:213.04, Y:142.83, Z:40.90 [[ 2.44724523e-01 -9.69436553e-01 -1.73976529e-02 2.13038423e+02] [ 9.66926989e-01 2.45342034e-01 -6.97099943e-02 1.42834039e+02] [ 7.18477921e-02 2.37484881e-04 9.97415580e-01 4.08981168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.0971056809999 meters Centerline goodness [0,1] 0.9999369628711311 Centerline is valid? [True, True] Translation: X:213.03, Y:142.86, Z:40.90 [[ 2.49476382e-01 -9.68225877e-01 -1.73258875e-02 2.13034345e+02] [ 9.65725495e-01 2.50076530e-01 -6.95413416e-02 1.42864026e+02] [ 7.16645242e-02 6.16870974e-04 9.97428602e-01 4.09009971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:142.90, Z:40.90 [[ 2.57740156e-01 -9.66056139e-01 -1.74799139e-02 2.13023199e+02] [ 9.63497470e-01 2.58329092e-01 -7.02759243e-02 1.42895276e+02] [ 7.24060584e-02 1.27107486e-03 9.97374427e-01 4.09034133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:142.92, Z:40.90 [[ 2.60336252e-01 -9.65353264e-01 -1.78356749e-02 2.13023852e+02] [ 9.62678836e-01 2.60942023e-01 -7.18242310e-02 1.42924375e+02] [ 7.39898330e-02 1.52842440e-03 9.97257825e-01 4.09035625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:142.95, Z:40.90 [[ 2.62312052e-01 -9.64805296e-01 -1.85237500e-02 2.13021102e+02] [ 9.61909782e-01 2.62959263e-01 -7.47127706e-02 1.42953228e+02] [ 7.69542683e-02 1.77988385e-03 9.97033035e-01 4.09003279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2171056809999 meters Centerline goodness [0,1] 0.9999790351998994 Centerline is valid? [True, True] Translation: X:213.03, Y:142.98, Z:40.90 [[ 2.62131573e-01 -9.64854317e-01 -1.85252924e-02 2.13025515e+02] [ 9.61951287e-01 2.62779268e-01 -7.48116210e-02 1.42980913e+02] [ 7.70503782e-02 1.79005901e-03 9.97025594e-01 4.09011287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.03, Y:143.01, Z:40.90 [[ 2.61033382e-01 -9.65156850e-01 -1.82709689e-02 2.13031291e+02] [ 9.62324906e-01 2.61666461e-01 -7.39015450e-02 1.43008639e+02] [ 7.61074821e-02 1.70816175e-03 9.97098156e-01 4.09036802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.04, Y:143.03, Z:40.91 [[ 2.56952714e-01 -9.66257003e-01 -1.79640603e-02 2.13041191e+02] [ 9.63513512e-01 2.57576143e-01 -7.27752898e-02 1.43034555e+02] [ 7.49467467e-02 1.39119337e-03 9.97186567e-01 4.09074886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30710568099994 meters Centerline goodness [0,1] 0.999978999979 Centerline is valid? [True, True] Translation: X:213.05, Y:143.06, Z:40.91 [[ 2.51392709e-01 -9.67718959e-01 -1.79366180e-02 2.13053254e+02] [ 9.64978702e-01 2.52029840e-01 -7.27809359e-02 1.43059032e+02] [ 7.49520545e-02 9.88142278e-04 9.97186649e-01 4.09086623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.06, Y:143.08, Z:40.91 [[ 2.49542301e-01 -9.68197518e-01 -1.79500767e-02 2.13060221e+02] [ 9.65445614e-01 2.50185531e-01 -7.29518033e-02 1.43084505e+02] [ 7.51226044e-02 8.74738062e-04 9.97173921e-01 4.09104188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:143.11, Z:40.91 [[ 2.49149518e-01 -9.68299247e-01 -1.79188732e-02 2.13066267e+02] [ 9.65547055e-01 2.49791514e-01 -7.29594680e-02 1.43110416e+02] [ 7.51225804e-02 8.76301082e-04 9.97173922e-01 4.09121085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:143.14, Z:40.91 [[ 2.47253583e-01 -9.68784935e-01 -1.79280513e-02 2.13073252e+02] [ 9.66021472e-01 2.47901531e-01 -7.31255499e-02 1.43136381e+02] [ 7.52873225e-02 7.61671770e-04 9.97161591e-01 4.09124662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.08, Y:143.16, Z:40.91 [[ 2.46673093e-01 -9.68932045e-01 -1.79743379e-02 2.13081252e+02] [ 9.66144933e-01 2.47325956e-01 -7.34427645e-02 1.43163418e+02] [ 7.56065683e-02 7.50538378e-04 9.97137445e-01 4.09144742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.09, Y:143.19, Z:40.92 [[ 2.45189724e-01 -9.69313080e-01 -1.77243357e-02 2.13090450e+02] [ 9.66595227e-01 2.45828651e-01 -7.25392353e-02 1.43188966e+02] [ 7.46703791e-02 6.53616737e-04 9.97208056e-01 4.09169004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:143.22, Z:40.92 [[ 2.43608273e-01 -9.69709872e-01 -1.78261947e-02 2.13099440e+02] [ 9.66952396e-01 2.44258969e-01 -7.30795491e-02 1.43215432e+02] [ 7.52201681e-02 5.65701119e-04 9.97166790e-01 4.09184279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5171056809999 meters Centerline goodness [0,1] 0.999874631730709 Centerline is valid? [True, True] Translation: X:213.11, Y:143.24, Z:40.92 [[ 2.40595997e-01 -9.70453059e-01 -1.82873257e-02 2.13109693e+02] [ 9.67543020e-01 2.41289701e-01 -7.50985033e-02 1.43240395e+02] [ 7.72921156e-02 3.74625005e-04 9.97008419e-01 4.09164837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54710568099995 meters Centerline goodness [0,1] 0.999958014946679 Centerline is valid? [True, True] Translation: X:213.12, Y:143.27, Z:40.92 [[ 2.39333433e-01 -9.70765632e-01 -1.82646156e-02 2.13117650e+02] [ 9.67852721e-01 2.40029151e-01 -7.51473032e-02 1.43265947e+02] [ 7.73344594e-02 3.07804161e-04 9.97005159e-01 4.09181130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5771056809999 meters Centerline goodness [0,1] 0.9999791244807215 Centerline is valid? [True, True] Translation: X:213.13, Y:143.29, Z:40.92 [[ 2.38443176e-01 -9.70975331e-01 -1.87552346e-02 2.13125859e+02] [ 9.67892942e-01 2.39179490e-01 -7.73073380e-02 1.43292264e+02] [ 7.95493855e-02 2.80348010e-04 9.96830887e-01 4.09175242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60710568099995 meters Centerline goodness [0,1] 0.9999579867238048 Centerline is valid? [True, True] Translation: X:213.13, Y:143.32, Z:40.92 [[ 2.37975308e-01 -9.71083220e-01 -1.91084531e-02 2.13131927e+02] [ 9.67872872e-01 2.38741076e-01 -7.88974160e-02 1.43319474e+02] [ 8.11779295e-02 2.81083504e-04 9.96699586e-01 4.09173843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6371056809999 meters Centerline goodness [0,1] 0.9999579301640723 Centerline is valid? [True, True] Translation: X:213.14, Y:143.34, Z:40.92 [[ 2.35550204e-01 -9.71676850e-01 -1.89789621e-02 2.13141170e+02] [ 9.68501612e-01 2.36313538e-01 -7.84891001e-02 1.43344824e+02] [ 8.07510273e-02 1.06968099e-04 9.96734298e-01 4.09180450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66710568099995 meters Centerline goodness [0,1] 0.9999581554941837 Centerline is valid? [True, True] Translation: X:213.15, Y:143.37, Z:40.92 [[ 2.31719811e-01 -9.72602890e-01 -1.86962083e-02 2.13151960e+02] [ 9.69513882e-01 2.32472767e-01 -7.74547971e-02 1.43369626e+02] [ 7.96791188e-02 -1.78422527e-04 9.96820549e-01 4.09215159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.6971056809999 meters Centerline goodness [0,1] 0.9999790996112528 Centerline is valid? [True, True] Translation: X:213.17, Y:143.39, Z:40.93 [[ 2.20563844e-01 -9.75206757e-01 -1.79825590e-02 2.13171432e+02] [ 9.72347970e-01 2.21293309e-01 -7.46237047e-02 1.43393520e+02] [ 7.67529610e-02 -1.02601358e-03 9.97049613e-01 4.09287081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72710568099995 meters Centerline goodness [0,1] 0.9999789938031719 Centerline is valid? [True, True] Translation: X:213.19, Y:143.42, Z:40.93 [[ 2.13097643e-01 -9.76872820e-01 -1.75751874e-02 2.13185844e+02] [ 9.74138841e-01 2.13815525e-01 -7.30509432e-02 1.43417380e+02] [ 7.51193289e-02 -1.55368887e-03 9.97173341e-01 4.09321994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:143.44, Z:40.94 [[ 1.97969923e-01 -9.80059938e-01 -1.70419333e-02 2.13208982e+02] [ 9.77491655e-01 1.98684918e-01 -7.09532735e-02 1.43439803e+02] [ 7.29244360e-02 -2.61173351e-03 9.97334049e-01 4.09364880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.7871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:143.46, Z:40.94 [[ 1.86738235e-01 -9.82265489e-01 -1.68327183e-02 2.13223833e+02] [ 9.79759435e-01 1.87464842e-01 -7.02024337e-02 1.43464353e+02] [ 7.21129708e-02 -3.38253604e-03 9.97390735e-01 4.09397069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81710568099993 meters Centerline goodness [0,1] 0.9999790781848233 Centerline is valid? [True, True] Translation: X:213.24, Y:143.49, Z:40.94 [[ 1.83748444e-01 -9.82828279e-01 -1.68844187e-02 2.13236220e+02] [ 9.80300099e-01 1.84487632e-01 -7.05409805e-02 1.43489247e+02] [ 7.24446368e-02 -3.59000190e-03 9.97365974e-01 4.09398713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8471056809999 meters Centerline goodness [0,1] 0.9999790008609647 Centerline is valid? [True, True] Translation: X:213.24, Y:143.52, Z:40.94 [[ 1.82550857e-01 -9.83048927e-01 -1.70291227e-02 2.13236713e+02] [ 9.80468955e-01 1.83306353e-01 -7.12699698e-02 1.43518058e+02] [ 7.31834137e-02 -3.68613202e-03 9.97311687e-01 4.09414572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.55, Z:40.94 [[ 1.82980963e-01 -9.82964453e-01 -1.72873434e-02 2.13238253e+02] [ 9.80295820e-01 1.83758826e-01 -7.24762001e-02 1.43545271e+02] [ 7.44182303e-02 -3.68494564e-03 9.97220311e-01 4.09403948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9071056809999 meters Centerline goodness [0,1] 0.9999581397295827 Centerline is valid? [True, True] Translation: X:213.25, Y:143.57, Z:40.94 [[ 1.84270873e-01 -9.82730843e-01 -1.68622287e-02 2.13245019e+02] [ 9.80181847e-01 1.85008091e-01 -7.08205723e-02 1.43571316e+02] [ 7.27172095e-02 -3.47788173e-03 9.97346535e-01 4.09418436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93710568099993 meters Centerline goodness [0,1] 0.9999791814131657 Centerline is valid? [True, True] Translation: X:213.25, Y:143.60, Z:40.95 [[ 1.84507552e-01 -9.82692577e-01 -1.65003533e-02 2.13245254e+02] [ 9.80244196e-01 1.85213265e-01 -6.94072284e-02 1.43599388e+02] [ 7.12620525e-02 -3.36821774e-03 9.97451941e-01 4.09467716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.63, Z:40.95 [[ 1.83641917e-01 -9.82861726e-01 -1.60771392e-02 2.13245468e+02] [ 9.80530614e-01 1.84314326e-01 -6.77343716e-02 1.43627260e+02] [ 6.95367684e-02 -3.32525733e-03 9.97573847e-01 4.09518471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.66, Z:40.95 [[ 1.83373395e-01 -9.82915801e-01 -1.58343675e-02 2.13246940e+02] [ 9.80646526e-01 1.84026680e-01 -6.68324227e-02 1.43655169e+02] [ 6.86045903e-02 -3.27262923e-03 9.97638562e-01 4.09541292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.68, Z:40.96 [[ 1.83091384e-01 -9.82971199e-01 -1.56578125e-02 2.13248877e+02] [ 9.80744317e-01 1.83731220e-01 -6.62074266e-02 1.43681804e+02] [ 6.79568225e-02 -3.23430130e-03 9.97683021e-01 4.09558555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.71, Z:40.95 [[ 1.82776474e-01 -9.83025381e-01 -1.59329863e-02 2.13245979e+02] [ 9.80710551e-01 1.83440152e-01 -6.75020426e-02 1.43709106e+02] [ 6.92789706e-02 -3.28786242e-03 9.97591908e-01 4.09536781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.74, Z:40.95 [[ 1.82363211e-01 -9.83098669e-01 -1.61451337e-02 2.13246039e+02] [ 9.80712776e-01 1.83046105e-01 -6.85315639e-02 1.43736618e+02] [ 7.03285931e-02 -3.33610277e-03 9.97518300e-01 4.09538584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11710568099994 meters Centerline goodness [0,1] 0.9999790821235828 Centerline is valid? [True, True] Translation: X:213.25, Y:143.76, Z:40.95 [[ 1.81294637e-01 -9.83297187e-01 -1.60902701e-02 2.13249724e+02] [ 9.80919458e-01 1.81975901e-01 -6.84235992e-02 1.43763304e+02] [ 7.02087740e-02 -3.37842741e-03 9.97526598e-01 4.09549775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.79, Z:40.96 [[ 1.81075891e-01 -9.83338272e-01 -1.60426118e-02 2.13244289e+02] [ 9.80966486e-01 1.81754053e-01 -6.83389861e-02 1.43791846e+02] [ 7.01161502e-02 -3.36272177e-03 9.97533166e-01 4.09579124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:143.82, Z:40.96 [[ 1.80715013e-01 -9.83405386e-01 -1.59978218e-02 2.13245544e+02] [ 9.81038395e-01 1.81390680e-01 -6.82721587e-02 1.43818442e+02] [ 7.00410644e-02 -3.35667342e-03 9.97538461e-01 4.09592248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.85, Z:40.96 [[ 1.80734206e-01 -9.83397984e-01 -1.62342830e-02 2.13241783e+02] [ 9.80950911e-01 1.81430383e-01 -6.94141670e-02 1.43845957e+02] [ 7.12071441e-02 -3.37952037e-03 9.97455824e-01 4.09602139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.87, Z:40.96 [[ 1.81213286e-01 -9.83308223e-01 -1.63304338e-02 2.13242711e+02] [ 9.80822246e-01 1.81916963e-01 -6.99566979e-02 1.43872372e+02] [ 7.17597793e-02 -3.34016961e-03 9.97416351e-01 4.09609912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:143.90, Z:40.96 [[ 1.82181118e-01 -9.83130367e-01 -1.62702742e-02 2.13233971e+02] [ 9.80652908e-01 1.82877607e-01 -6.98258856e-02 1.43902622e+02] [ 7.16234174e-02 -3.23453379e-03 9.97426500e-01 4.09634682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.93, Z:40.96 [[ 1.83523278e-01 -9.82882150e-01 -1.61828730e-02 2.13240975e+02] [ 9.80422134e-01 1.84209321e-01 -6.95655392e-02 1.43928439e+02] [ 7.13557628e-02 -3.09915110e-03 9.97446114e-01 4.09643676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.96, Z:40.96 [[ 1.86148166e-01 -9.82388010e-01 -1.62067481e-02 2.13237265e+02] [ 9.79912446e-01 1.86829902e-01 -6.97580536e-02 1.43957325e+02] [ 7.15573806e-02 -2.89586046e-03 9.97432281e-01 4.09649051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:143.99, Z:40.97 [[ 1.87758640e-01 -9.82080419e-01 -1.62709561e-02 2.13237813e+02] [ 9.79576038e-01 1.88442001e-01 -7.01455445e-02 1.43985640e+02] [ 7.19546973e-02 -2.76820668e-03 9.97404060e-01 4.09654060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:144.02, Z:40.97 [[ 1.93142638e-01 -9.81038224e-01 -1.61221961e-02 2.13223499e+02] [ 9.78568119e-01 1.93800329e-01 -6.96122744e-02 1.44016872e+02] [ 7.14167890e-02 -2.33156880e-03 9.97443836e-01 4.09701060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:144.04, Z:40.97 [[ 1.96935506e-01 -9.80287158e-01 -1.59215127e-02 2.13227871e+02] [ 9.77866977e-01 1.97567871e-01 -6.88702484e-02 1.44044034e+02] [ 7.06581994e-02 -2.00612426e-03 9.97498569e-01 4.09713939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.08, Z:40.98 [[ 2.06282422e-01 -9.78368552e-01 -1.55736695e-02 2.13210694e+02] [ 9.76039430e-01 2.06865506e-01 -6.74810598e-02 1.44076672e+02] [ 6.92430018e-02 -1.28035901e-03 9.97599001e-01 4.09762847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.10, Z:40.98 [[ 2.10454863e-01 -9.77486265e-01 -1.51443702e-02 2.13209728e+02] [ 9.75274286e-01 2.10996975e-01 -6.57293277e-02 1.44104330e+02] [ 6.74449314e-02 -9.36858239e-04 9.97722558e-01 4.09792702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:144.13, Z:40.99 [[ 2.15011343e-01 -9.76510144e-01 -1.40734435e-02 2.13204825e+02] [ 9.74594309e-01 2.15470682e-01 -6.11417952e-02 1.44132858e+02] [ 6.27379977e-02 -5.69718495e-04 9.98029869e-01 4.09868456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.16, Z:40.99 [[ 2.14034132e-01 -9.76731497e-01 -1.36004752e-02 2.13207495e+02] [ 9.74939015e-01 2.14464969e-01 -5.91497530e-02 1.44161054e+02] [ 6.06902523e-02 -5.99567897e-04 9.98156468e-01 4.09896972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.19, Z:40.99 [[ 2.10977820e-01 -9.77391983e-01 -1.39021702e-02 2.13208778e+02] [ 9.75513814e-01 2.11433908e-01 -6.05681482e-02 1.44189608e+02] [ 6.21382127e-02 -7.83223211e-04 9.98067247e-01 4.09908927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.5971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.22, Z:40.99 [[ 2.10326134e-01 -9.77530660e-01 -1.40259460e-02 2.13212580e+02] [ 9.75612685e-01 2.10791732e-01 -6.12105785e-02 1.44216498e+02] [ 6.27917706e-02 -8.09706504e-04 9.98026321e-01 4.09909684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.25, Z:40.99 [[ 2.12827763e-01 -9.76981368e-01 -1.45516053e-02 2.13212526e+02] [ 9.74907584e-01 2.13323673e-01 -6.36255653e-02 1.44245357e+02] [ 6.52651937e-02 -6.45183621e-04 9.97867746e-01 4.09888301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.6571056809999 meters Centerline goodness [0,1] 0.9999791392869808 Centerline is valid? [True, True] Translation: X:213.21, Y:144.27, Z:40.99 [[ 2.15625637e-01 -9.76361079e-01 -1.49876171e-02 2.13214789e+02] [ 9.74151745e-01 2.16145428e-01 -6.56470279e-02 1.44273100e+02] [ 6.73347079e-02 -4.45031179e-04 9.97730344e-01 4.09881831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.30, Z:40.99 [[ 2.22997073e-01 -9.74703244e-01 -1.50296934e-02 2.13212114e+02] [ 9.72469981e-01 2.23502971e-01 -6.59435990e-02 1.44302182e+02] [ 6.76346210e-02 8.93038515e-05 9.97710153e-01 4.09901918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7171056809999 meters Centerline goodness [0,1] 0.9999583142273542 Centerline is valid? [True, True] Translation: X:213.21, Y:144.33, Z:40.99 [[ 2.27462858e-01 -9.73674858e-01 -1.47621079e-02 2.13212563e+02] [ 9.71510855e-01 2.27940997e-01 -6.48811332e-02 1.44329040e+02] [ 6.65380177e-02 4.16499875e-04 9.97783804e-01 4.09939846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:144.36, Z:41.00 [[ 2.35643654e-01 -9.71731007e-01 -1.45230102e-02 2.13213027e+02] [ 9.69625244e-01 2.36088705e-01 -6.39453592e-02 1.44357679e+02] [ 6.55664070e-02 9.86440829e-04 9.97847720e-01 4.09986215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:144.39, Z:41.00 [[ 2.41697367e-01 -9.70238653e-01 -1.48101070e-02 2.13218251e+02] [ 9.68038494e-01 2.42146343e-01 -6.53193822e-02 1.44386122e+02] [ 6.69616026e-02 1.45076897e-03 9.97754498e-01 4.09969856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.22, Y:144.41, Z:41.00 [[ 2.43748953e-01 -9.69724199e-01 -1.48803968e-02 2.13224804e+02] [ 9.67494788e-01 2.44197321e-01 -6.57381469e-02 1.44413658e+02] [ 6.73816248e-02 1.62689812e-03 9.97725949e-01 4.09977354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8371056809999 meters Centerline goodness [0,1] 0.9999583870833507 Centerline is valid? [True, True] Translation: X:213.23, Y:144.44, Z:41.00 [[ 2.45584450e-01 -9.69259764e-01 -1.49595652e-02 2.13229618e+02] [ 9.66998157e-01 2.46033130e-01 -6.61986675e-02 1.44440806e+02] [ 6.78442534e-02 1.79149129e-03 9.97694316e-01 4.09985777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:144.47, Z:41.00 [[ 2.49039193e-01 -9.68377884e-01 -1.49583997e-02 2.13238447e+02] [ 9.66107655e-01 2.49479515e-01 -6.63021137e-02 1.44468077e+02] [ 6.79373149e-02 2.06040043e-03 9.97687464e-01 4.09989493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8971056809999 meters Centerline goodness [0,1] 0.9999580237585527 Centerline is valid? [True, True] Translation: X:213.25, Y:144.49, Z:41.00 [[ 2.49812095e-01 -9.68176611e-01 -1.50986175e-02 2.13248756e+02] [ 9.65855644e-01 2.50258613e-01 -6.70335821e-02 1.44494299e+02] [ 6.86789054e-02 2.16271461e-03 9.97636472e-01 4.09998896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92710568099994 meters Centerline goodness [0,1] 0.9999164386137166 Centerline is valid? [True, True] Translation: X:213.26, Y:144.52, Z:41.00 [[ 2.52094969e-01 -9.67583992e-01 -1.51441073e-02 2.13255059e+02] [ 9.65240063e-01 2.52538401e-01 -6.73496663e-02 1.44521067e+02] [ 6.89909277e-02 2.36081304e-03 9.97614494e-01 4.09994408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9571056809999 meters Centerline goodness [0,1] 0.999895716013849 Centerline is valid? [True, True] Translation: X:213.27, Y:144.55, Z:41.00 [[ 2.51963960e-01 -9.67619729e-01 -1.50407264e-02 2.13270451e+02] [ 9.65299580e-01 2.52401400e-01 -6.70093605e-02 1.44545922e+02] [ 6.86358796e-02 2.36513699e-03 9.97638974e-01 4.10005133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98710568099995 meters Centerline goodness [0,1] 0.9999370633771791 Centerline is valid? [True, True] Translation: X:213.28, Y:144.57, Z:41.00 [[ 2.50078968e-01 -9.68111768e-01 -1.48362526e-02 2.13281840e+02] [ 9.65847531e-01 2.50508759e-01 -6.62110868e-02 1.44571902e+02] [ 6.78163436e-02 2.22844233e-03 9.97695333e-01 4.10041387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0171056809999 meters Centerline goodness [0,1] 0.9999790004199915 Centerline is valid? [True, True] Translation: X:213.30, Y:144.60, Z:41.01 [[ 2.44648690e-01 -9.69505937e-01 -1.43267717e-02 2.13300416e+02] [ 9.67390088e-01 2.45061151e-01 -6.40425691e-02 1.44596530e+02] [ 6.56005861e-02 1.80835373e-03 9.97844323e-01 4.10100276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04710568099995 meters Centerline goodness [0,1] 0.9998322393943843 Centerline is valid? [True, True] Translation: X:213.31, Y:144.62, Z:41.01 [[ 2.40481536e-01 -9.70550230e-01 -1.41732588e-02 2.13314146e+02] [ 9.68476836e-01 2.40894005e-01 -6.34247357e-02 1.44622788e+02] [ 6.49711450e-02 1.52600500e-03 9.97885976e-01 4.10124021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0771056809999 meters Centerline goodness [0,1] 0.999916511865751 Centerline is valid? [True, True] Translation: X:213.34, Y:144.65, Z:41.01 [[ 2.32446322e-01 -9.72505062e-01 -1.42342033e-02 2.13337118e+02] [ 9.70412808e-01 2.32879554e-01 -6.37659459e-02 1.44646025e+02] [ 6.53275601e-02 1.00910636e-03 9.97863363e-01 4.10126082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10710568099995 meters Centerline goodness [0,1] 0.9999580131838602 Centerline is valid? [True, True] Translation: X:213.35, Y:144.67, Z:41.01 [[ 2.28025501e-01 -9.73550260e-01 -1.42920483e-02 2.13352249e+02] [ 9.71435248e-01 2.28471750e-01 -6.41421797e-02 1.44670980e+02] [ 6.57109650e-02 7.42253157e-04 9.97838423e-01 4.10149595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.37, Y:144.70, Z:41.02 [[ 2.23268390e-01 -9.74653280e-01 -1.42200606e-02 2.13367407e+02] [ 9.72554347e-01 2.23720331e-01 -6.39316465e-02 1.44696434e+02] [ 6.54925056e-02 4.44133986e-04 9.97852962e-01 4.10169667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16710568099995 meters Centerline goodness [0,1] 0.9999372739247705 Centerline is valid? [True, True] Translation: X:213.39, Y:144.72, Z:41.02 [[ 2.15859615e-01 -9.76320379e-01 -1.42528390e-02 2.13388478e+02] [ 9.74207824e-01 2.16329647e-01 -6.41918898e-02 1.44720511e+02] [ 6.57551619e-02 -2.87906481e-05 9.97835787e-01 4.10193503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:144.75, Z:41.02 [[ 2.13449243e-01 -9.76838490e-01 -1.50327854e-02 2.13402080e+02] [ 9.74480696e-01 2.13977883e-01 -6.78294827e-02 1.44746061e+02] [ 6.94751331e-02 -1.71007492e-04 9.97583669e-01 4.10169162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22710568099995 meters Centerline goodness [0,1] 0.9999157096196396 Centerline is valid? [True, True] Translation: X:213.41, Y:144.77, Z:41.02 [[ 2.14067946e-01 -9.76695193e-01 -1.55374959e-02 2.13410013e+02] [ 9.74166539e-01 2.14631054e-01 -7.02357806e-02 1.44772931e+02] [ 7.19337784e-02 -1.00879239e-04 9.97409405e-01 4.10159620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2571056809999 meters Centerline goodness [0,1] 0.9999157096196396 Centerline is valid? [True, True] Translation: X:213.42, Y:144.80, Z:41.02 [[ 2.13693855e-01 -9.76777538e-01 -1.55105511e-02 2.13415688e+02] [ 9.74248669e-01 2.14255993e-01 -7.02417312e-02 1.44799763e+02] [ 7.19337738e-02 -1.00907403e-04 9.97409405e-01 4.10177045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.2871056809999 meters Centerline goodness [0,1] 0.9999368806412927 Centerline is valid? [True, True] Translation: X:213.42, Y:144.83, Z:41.01 [[ 2.19041388e-01 -9.75576370e-01 -1.64808293e-02 2.13422865e+02] [ 9.72706138e-01 2.19660250e-01 -7.47806397e-02 1.44826354e+02] [ 7.65744080e-02 3.49051269e-04 9.97063808e-01 4.10149896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31710568099993 meters Centerline goodness [0,1] 0.9999157823816742 Centerline is valid? [True, True] Translation: X:213.43, Y:144.85, Z:41.02 [[ 2.22293648e-01 -9.74840468e-01 -1.64801637e-02 2.13427796e+02] [ 9.71957455e-01 2.22902796e-01 -7.49202800e-02 1.44854180e+02] [ 7.67087954e-02 6.36284286e-04 9.97053337e-01 4.10178875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3471056809999 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:213.43, Y:144.88, Z:41.02 [[ 2.29693254e-01 -9.73135671e-01 -1.57472309e-02 2.13430742e+02] [ 9.70490416e-01 2.30229344e-01 -7.17133276e-02 1.44881918e+02] [ 7.34122718e-02 1.18953090e-03 9.97300969e-01 4.10249162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37710568099993 meters Centerline goodness [0,1] 0.9999580193530783 Centerline is valid? [True, True] Translation: X:213.44, Y:144.91, Z:41.03 [[ 2.32667755e-01 -9.72436294e-01 -1.52764369e-02 2.13435407e+02] [ 9.69936871e-01 2.33164535e-01 -6.96905025e-02 1.44909102e+02] [ 7.13314973e-02 1.39755331e-03 9.97451685e-01 4.10303981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4071056809999 meters Centerline goodness [0,1] 0.9999792272538429 Centerline is valid? [True, True] Translation: X:213.44, Y:144.94, Z:41.04 [[ 2.38569738e-01 -9.71009613e-01 -1.49937445e-02 2.13437248e+02] [ 9.68591137e-01 2.39033492e-01 -6.85142230e-02 1.44936851e+02] [ 7.01119762e-02 1.82261222e-03 9.97537462e-01 4.10355445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.44, Y:144.96, Z:41.04 [[ 2.41150024e-01 -9.70375664e-01 -1.47558686e-02 2.13442912e+02] [ 9.68023846e-01 2.41592733e-01 -6.75483953e-02 1.44964056e+02] [ 6.91122296e-02 2.00526445e-03 9.97606876e-01 4.10376906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:144.99, Z:41.04 [[ 2.47130241e-01 -9.68863322e-01 -1.51824645e-02 2.13445881e+02] [ 9.66361651e-01 2.47583194e-01 -6.96255876e-02 1.44991091e+02] [ 7.12166011e-02 2.53483677e-03 9.97457653e-01 4.10353029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:145.02, Z:41.03 [[ 2.49261572e-01 -9.68311070e-01 -1.55673002e-02 2.13454968e+02] [ 9.65671942e-01 2.49731649e-01 -7.14968788e-02 1.45018396e+02] [ 7.31188667e-02 2.78851940e-03 9.97319335e-01 4.10344343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.46, Y:145.05, Z:41.03 [[ 2.50062710e-01 -9.68097462e-01 -1.59982997e-02 2.13463837e+02] [ 9.65299650e-01 2.50556427e-01 -7.36074851e-02 1.45045052e+02] [ 7.52676964e-02 2.96333405e-03 9.97158961e-01 4.10314018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:145.07, Z:41.03 [[ 2.48218644e-01 -9.68573477e-01 -1.59035778e-02 2.13473914e+02] [ 9.65800206e-01 2.48711451e-01 -7.32978651e-02 1.45072174e+02] [ 7.49497700e-02 2.83421789e-03 9.97183283e-01 4.10338807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5871056809999 meters Centerline goodness [0,1] 0.9999369602219 Centerline is valid? [True, True] Translation: X:213.49, Y:145.10, Z:41.04 [[ 2.41838119e-01 -9.70191744e-01 -1.55660907e-02 2.13491657e+02] [ 9.67529486e-01 2.42327475e-01 -7.18615928e-02 1.45096903e+02] [ 7.34916155e-02 2.31822076e-03 9.97293141e-01 4.10371302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.50, Y:145.12, Z:41.04 [[ 2.37664643e-01 -9.71226037e-01 -1.53461119e-02 2.13502942e+02] [ 9.68631682e-01 2.38151164e-01 -7.09696223e-02 1.45122067e+02] [ 7.25822394e-02 2.00223985e-03 9.97360421e-01 4.10395673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6471056809999 meters Centerline goodness [0,1] 0.9999789907138955 Centerline is valid? [True, True] Translation: X:213.52, Y:145.15, Z:41.04 [[ 2.29142417e-01 -9.73274811e-01 -1.51622631e-02 2.13520562e+02] [ 9.70740788e-01 2.29639440e-01 -7.02000679e-02 1.45146999e+02] [ 7.18058115e-02 1.36718603e-03 9.97417694e-01 4.10415902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.53, Y:145.17, Z:41.04 [[ 2.24954807e-01 -9.74251244e-01 -1.51607401e-02 2.13531709e+02] [ 9.71710567e-01 2.25462481e-01 -7.03224269e-02 1.45171785e+02] [ 7.19298900e-02 1.08751654e-03 9.97409098e-01 4.10433528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7071056809999 meters Centerline goodness [0,1] 0.9999790294845448 Centerline is valid? [True, True] Translation: X:213.55, Y:145.20, Z:41.04 [[ 2.18256626e-01 -9.75770873e-01 -1.53377845e-02 2.13549364e+02] [ 9.73164366e-01 2.18793979e-01 -7.12763026e-02 1.45196520e+02] [ 7.29051549e-02 6.30339947e-04 9.97338679e-01 4.10448668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73710568099995 meters Centerline goodness [0,1] 0.9999790171639599 Centerline is valid? [True, True] Translation: X:213.56, Y:145.22, Z:41.04 [[ 2.13921325e-01 -9.76722552e-01 -1.58342491e-02 2.13560449e+02] [ 9.73936048e-01 2.14506256e-01 -7.37267926e-02 1.45221964e+02] [ 7.54071665e-02 3.50187207e-04 9.97152765e-01 4.10420102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.7671056809999 meters Centerline goodness [0,1] 0.9998949668095118 Centerline is valid? [True, True] Translation: X:213.57, Y:145.25, Z:41.04 [[ 2.12252042e-01 -9.77083270e-01 -1.60422914e-02 2.13568388e+02] [ 9.74212570e-01 2.12857272e-01 -7.48441790e-02 1.45249097e+02] [ 7.65437135e-02 2.57227810e-04 9.97066193e-01 4.10418923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79710568099995 meters Centerline goodness [0,1] 0.9999368806412927 Centerline is valid? [True, True] Translation: X:213.58, Y:145.27, Z:41.04 [[ 2.11315910e-01 -9.77276230e-01 -1.66360079e-02 2.13577641e+02] [ 9.74176973e-01 2.11969618e-01 -7.77695705e-02 1.45274648e+02] [ 7.95286809e-02 2.27531700e-04 9.96832552e-01 4.10401607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8271056809999 meters Centerline goodness [0,1] 0.9999789942444229 Centerline is valid? [True, True] Translation: X:213.58, Y:145.30, Z:41.04 [[ 2.11448158e-01 -9.77245418e-01 -1.67651488e-02 2.13583887e+02] [ 9.74084934e-01 2.12111571e-01 -7.85316669e-02 1.45301975e+02] [ 8.03007936e-02 2.74697460e-04 9.96770639e-01 4.10416306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85710568099995 meters Centerline goodness [0,1] 0.9999791436377667 Centerline is valid? [True, True] Translation: X:213.59, Y:145.33, Z:41.04 [[ 2.12964326e-01 -9.76917575e-01 -1.66807758e-02 2.13588025e+02] [ 9.73775694e-01 2.13616171e-01 -7.82881216e-02 1.45328832e+02] [ 8.00443254e-02 4.29243074e-04 9.96791213e-01 4.10439839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.8871056809999 meters Centerline goodness [0,1] 0.9999369602219 Centerline is valid? [True, True] Translation: X:213.59, Y:145.36, Z:41.05 [[ 2.13426957e-01 -9.76821200e-01 -1.64096698e-02 2.13593063e+02] [ 9.73768489e-01 2.14056307e-01 -7.71675293e-02 1.45355791e+02] [ 7.88914719e-02 4.90411622e-04 9.96883090e-01 4.10475972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91710568099995 meters Centerline goodness [0,1] 0.9999582193068584 Centerline is valid? [True, True] Translation: X:213.60, Y:145.38, Z:41.05 [[ 2.13691493e-01 -9.76776668e-01 -1.55976651e-02 2.13597078e+02] [ 9.74008960e-01 2.14259378e-01 -7.34810450e-02 1.45382518e+02] [ 7.51165163e-02 5.10008633e-04 9.97174633e-01 4.10541443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.60, Y:145.41, Z:41.06 [[ 2.12790305e-01 -9.76981445e-01 -1.50845267e-02 2.13602357e+02] [ 9.74383993e-01 2.13323821e-01 -7.11953791e-02 1.45409270e+02] [ 7.27744532e-02 4.51565051e-04 9.97348322e-01 4.10596489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.61, Y:145.44, Z:41.07 [[ 2.06679942e-01 -9.78308251e-01 -1.40131643e-02 2.13612570e+02] [ 9.76061332e-01 2.07154451e-01 -6.62669550e-02 1.45435890e+02] [ 6.77323982e-02 1.83425455e-05 9.97703524e-01 4.10666551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:145.46, Z:41.07 [[ 1.97679603e-01 -9.80174905e-01 -1.34137949e-02 2.13624784e+02] [ 9.78113372e-01 1.98133395e-01 -6.35404543e-02 1.45461892e+02] [ 6.49384795e-02 -5.59560320e-04 9.97889112e-01 4.10712439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.63, Y:145.49, Z:41.07 [[ 1.92969670e-01 -9.81115666e-01 -1.32195593e-02 2.13633140e+02] [ 9.79108035e-01 1.93420139e-01 -6.27383952e-02 1.45488670e+02] [ 6.41105513e-02 -8.36769305e-04 9.97942452e-01 4.10736748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.65, Y:145.51, Z:41.07 [[ 1.83268784e-01 -9.82975679e-01 -1.30907144e-02 2.13645621e+02] [ 9.81003814e-01 1.83730122e-01 -6.22475606e-02 1.45513571e+02] [ 6.35929967e-02 -1.43400600e-03 9.97974887e-01 4.10743236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.0971056809999 meters Centerline goodness [0,1] 0.9999790764337874 Centerline is valid? [True, True] Translation: X:213.65, Y:145.54, Z:41.07 [[ 1.78617306e-01 -9.83832401e-01 -1.30255564e-02 2.13654314e+02] [ 9.81874173e-01 1.79083516e-01 -6.20661159e-02 1.45539986e+02] [ 6.33953183e-02 -1.70337501e-03 9.97987040e-01 4.10745938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.66, Y:145.57, Z:41.07 [[ 1.74005249e-01 -9.84656961e-01 -1.31469397e-02 2.13663859e+02] [ 9.82656033e-01 1.74489782e-01 -6.27729042e-02 1.45565641e+02] [ 6.41037837e-02 -1.99610482e-03 9.97941241e-01 4.10746051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.67, Y:145.59, Z:41.07 [[ 1.68218093e-01 -9.85658314e-01 -1.34298705e-02 2.13668034e+02] [ 9.83567165e-01 1.68736171e-01 -6.42163226e-02 1.45592788e+02] [ 6.55614572e-02 -2.40683236e-03 9.97845631e-01 4.10739646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.67, Y:145.62, Z:41.08 [[ 1.66668034e-01 -9.85922753e-01 -1.33450688e-02 2.13672516e+02] [ 9.83850257e-01 1.67183165e-01 -6.39410685e-02 1.45618987e+02] [ 6.52720251e-02 -2.47261714e-03 9.97864444e-01 4.10759485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.67, Y:145.65, Z:41.08 [[ 1.67410469e-01 -9.85804976e-01 -1.27390533e-02 2.13672057e+02] [ 9.83908995e-01 1.67878753e-01 -6.11540233e-02 1.45646860e+02] [ 6.24245569e-02 -2.29624540e-03 9.98047044e-01 4.10810005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24710568099994 meters Centerline goodness [0,1] 0.9999790439866719 Centerline is valid? [True, True] Translation: X:213.67, Y:145.68, Z:41.08 [[ 1.68220159e-01 -9.85671162e-01 -1.24233359e-02 2.13668827e+02] [ 9.83861193e-01 1.68664286e-01 -5.97453817e-02 1.45675788e+02] [ 6.09846729e-02 -2.17246049e-03 9.98136338e-01 4.10837947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2771056809999 meters Centerline goodness [0,1] 0.9999580686416336 Centerline is valid? [True, True] Translation: X:213.67, Y:145.70, Z:41.08 [[ 1.68719058e-01 -9.85583263e-01 -1.26297950e-02 2.13669964e+02] [ 9.83705329e-01 1.69177358e-01 -6.08510192e-02 1.45703241e+02] [ 6.21104214e-02 -2.15727002e-03 9.98066953e-01 4.10834411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30710568099994 meters Centerline goodness [0,1] 0.999558526740666 Centerline is valid? [True, True] Translation: X:213.66, Y:145.73, Z:41.08 [[ 1.70957895e-01 -9.85188331e-01 -1.33172925e-02 2.13664442e+02] [ 9.83089907e-01 1.71462956e-01 -6.43015557e-02 1.45733020e+02] [ 6.56325647e-02 -2.09923727e-03 9.97841651e-01 4.10782355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3371056809999 meters Centerline goodness [0,1] 0.9997690337210767 Centerline is valid? [True, True] Translation: X:213.67, Y:145.76, Z:41.08 [[ 1.72200990e-01 -9.84966213e-01 -1.37250734e-02 2.13665574e+02] [ 9.82727641e-01 1.72734885e-01 -6.64006294e-02 1.45760533e+02] [ 6.77731755e-02 -2.05375488e-03 9.97698641e-01 4.10776052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36710568099994 meters Centerline goodness [0,1] 0.9996238165896884 Centerline is valid? [True, True] Translation: X:213.66, Y:145.79, Z:41.08 [[ 1.75866875e-01 -9.84313953e-01 -1.40315414e-02 2.13660030e+02] [ 9.81962907e-01 1.76416386e-01 -6.80154998e-02 1.45788997e+02] [ 6.94239993e-02 -1.81677982e-03 9.97585589e-01 4.10771061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3971056809999 meters Centerline goodness [0,1] 0.9994956075826993 Centerline is valid? [True, True] Translation: X:213.65, Y:145.82, Z:41.08 [[ 1.78373052e-01 -9.83857317e-01 -1.44164254e-02 2.13653326e+02] [ 9.81364816e-01 1.78946982e-01 -7.00076862e-02 1.45818669e+02] [ 7.14573502e-02 -1.66028804e-03 9.97442274e-01 4.10768785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42710568099994 meters Centerline goodness [0,1] 0.9991635823766807 Centerline is valid? [True, True] Translation: X:213.65, Y:145.85, Z:41.08 [[ 1.80391311e-01 -9.83488448e-01 -1.44723158e-02 2.13652965e+02] [ 9.80965896e-01 1.80964739e-01 -7.04107485e-02 1.45847490e+02] [ 7.18671366e-02 -1.49536101e-03 9.97413093e-01 4.10792466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4571056809999 meters Centerline goodness [0,1] 0.9996424289590476 Centerline is valid? [True, True] Translation: X:213.65, Y:145.88, Z:41.08 [[ 1.82656436e-01 -9.83074573e-01 -1.41778129e-02 2.13652173e+02] [ 9.80643562e-01 1.83201373e-01 -6.91047058e-02 1.45876281e+02] [ 7.05324740e-02 -1.28096161e-03 9.97508661e-01 4.10830285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48710568099995 meters Centerline goodness [0,1] 0.9993480820995962 Centerline is valid? [True, True] Translation: X:213.65, Y:145.90, Z:41.09 [[ 1.86404535e-01 -9.82374705e-01 -1.39027979e-02 2.13647249e+02] [ 9.80026709e-01 1.86919759e-01 -6.78870664e-02 1.45904610e+02] [ 6.92892445e-02 -9.70656176e-04 9.97596140e-01 4.10876354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5171056809999 meters Centerline goodness [0,1] 0.9992695398100804 Centerline is valid? [True, True] Translation: X:213.65, Y:145.93, Z:41.09 [[ 1.87817043e-01 -9.82106282e-01 -1.38567665e-02 2.13646492e+02] [ 9.79766396e-01 1.88325593e-01 -6.77589910e-02 1.45932467e+02] [ 6.91561144e-02 -8.50100825e-04 9.97605488e-01 4.10905790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54710568099995 meters Centerline goodness [0,1] 0.999140569320421 Centerline is valid? [True, True] Translation: X:213.64, Y:145.96, Z:41.10 [[ 1.89702574e-01 -9.81750811e-01 -1.33520694e-02 2.13641492e+02] [ 9.79569260e-01 1.90170702e-01 -6.54153557e-02 1.45961139e+02] [ 6.67607509e-02 -6.69815387e-04 9.97768788e-01 4.10952689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5771056809999 meters Centerline goodness [0,1] 0.9989080447701644 Centerline is valid? [True, True] Translation: X:213.64, Y:145.99, Z:41.10 [[ 1.89704867e-01 -9.81749513e-01 -1.34148267e-02 2.13642864e+02] [ 9.79538652e-01 1.90177482e-01 -6.58525294e-02 1.45988093e+02] [ 6.72018866e-02 -6.47795924e-04 9.97739188e-01 4.10965573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60710568099995 meters Centerline goodness [0,1] 0.9992018986411274 Centerline is valid? [True, True] Translation: X:213.65, Y:146.01, Z:41.09 [[ 1.87136161e-01 -9.82235606e-01 -1.39022069e-02 2.13648865e+02] [ 9.79852232e-01 1.87650034e-01 -6.83890897e-02 1.46014654e+02] [ 6.97829485e-02 -8.24036693e-04 9.97561858e-01 4.10939259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6371056809999 meters Centerline goodness [0,1] 0.9993283096492517 Centerline is valid? [True, True] Translation: X:213.65, Y:146.04, Z:41.10 [[ 1.84028876e-01 -9.82825627e-01 -1.36806235e-02 2.13652354e+02] [ 9.80512875e-01 1.84533907e-01 -6.73924264e-02 1.46042451e+02] [ 6.87595426e-02 -1.01187497e-03 9.97632749e-01 4.11003471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66710568099995 meters Centerline goodness [0,1] 0.9998740554156171 Centerline is valid? [True, True] Translation: X:213.66, Y:146.07, Z:41.10 [[ 1.83349981e-01 -9.82954019e-01 -1.35713478e-02 2.13656427e+02] [ 9.80669709e-01 1.83848690e-01 -6.69819523e-02 1.46070303e+02] [ 6.83352537e-02 -1.02786999e-03 9.97661885e-01 4.11037089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.6971056809999 meters Centerline goodness [0,1] 0.999663858484422 Centerline is valid? [True, True] Translation: X:213.66, Y:146.10, Z:41.11 [[ 1.84510712e-01 -9.82733660e-01 -1.37968039e-02 2.13658637e+02] [ 9.80362400e-01 1.85023454e-01 -6.82340495e-02 1.46096931e+02] [ 6.96086294e-02 -9.35954753e-04 9.97573938e-01 4.11057103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72710568099995 meters Centerline goodness [0,1] 0.999644165358451 Centerline is valid? [True, True] Translation: X:213.66, Y:146.12, Z:41.11 [[ 1.85856689e-01 -9.82479405e-01 -1.38386921e-02 2.13663321e+02] [ 9.80082892e-01 1.86369398e-01 -6.85855054e-02 1.46123866e+02] [ 6.99629553e-02 -8.15990420e-04 9.97549256e-01 4.11063907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7571056809999 meters Centerline goodness [0,1] 0.9994323557237464 Centerline is valid? [True, True] Translation: X:213.66, Y:146.15, Z:41.11 [[ 1.92260541e-01 -9.81239810e-01 -1.42940128e-02 2.13660792e+02] [ 9.78668433e-01 1.92790868e-01 -7.09913985e-02 1.46153172e+02] [ 7.24153416e-02 -3.40254467e-04 9.97374505e-01 4.11083612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.7871056809999 meters Centerline goodness [0,1] 0.9991841516222831 Centerline is valid? [True, True] Translation: X:213.66, Y:146.18, Z:41.11 [[ 1.96738723e-01 -9.80349481e-01 -1.44488770e-02 2.13662400e+02] [ 9.77709042e-01 1.97268585e-01 -7.19036437e-02 1.46179899e+02] [ 7.33410093e-02 1.94333204e-05 9.97306922e-01 4.11089875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81710568099993 meters Centerline goodness [0,1] 0.9989907909675791 Centerline is valid? [True, True] Translation: X:213.66, Y:146.21, Z:41.11 [[ 2.07561072e-01 -9.78116955e-01 -1.43395905e-02 2.13658900e+02] [ 9.75500109e-01 2.08054065e-01 -7.15055510e-02 1.46209230e+02] [ 7.29242019e-02 8.53496720e-04 9.97337121e-01 4.11121579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8471056809999 meters Centerline goodness [0,1] 0.998359897388452 Centerline is valid? [True, True] Translation: X:213.66, Y:146.24, Z:41.12 [[ 2.12646692e-01 -9.77027101e-01 -1.41219181e-02 2.13659894e+02] [ 9.74477075e-01 2.13111479e-01 -7.05544347e-02 1.46237639e+02] [ 7.19431376e-02 1.24168170e-03 9.97407962e-01 4.11153898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87710568099993 meters Centerline goodness [0,1] 0.9990539063157009 Centerline is valid? [True, True] Translation: X:213.66, Y:146.27, Z:41.12 [[ 2.22024984e-01 -9.74939080e-01 -1.40959823e-02 2.13658812e+02] [ 9.72384598e-01 2.22463377e-01 -7.05566435e-02 1.46266741e+02] [ 7.19242690e-02 1.95862156e-03 9.97408173e-01 4.11172929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9071056809999 meters Centerline goodness [0,1] 0.9991633899439472 Centerline is valid? [True, True] Translation: X:213.66, Y:146.29, Z:41.12 [[ 2.25042801e-01 -9.74244670e-01 -1.42499657e-02 2.13662495e+02] [ 9.71622548e-01 2.25482414e-01 -7.14654190e-02 1.46294125e+02] [ 7.28379202e-02 2.23719014e-03 9.97341282e-01 4.11177537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93710568099993 meters Centerline goodness [0,1] 0.9997490327303148 Centerline is valid? [True, True] Translation: X:213.67, Y:146.32, Z:41.12 [[ 2.30386166e-01 -9.72989225e-01 -1.46349559e-02 2.13666098e+02] [ 9.70210050e-01 2.30834228e-01 -7.35392253e-02 1.46320101e+02] [ 7.49311226e-02 2.74343883e-03 9.97184938e-01 4.11167929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.9671056809999 meters Centerline goodness [0,1] 0.9998529133659726 Centerline is valid? [True, True] Translation: X:213.67, Y:146.35, Z:41.12 [[ 2.32167690e-01 -9.72563315e-01 -1.47906305e-02 2.13673185e+02] [ 9.69714369e-01 2.32619752e-01 -7.44452365e-02 1.46347913e+02] [ 7.58432988e-02 2.94109170e-03 9.97115412e-01 4.11188270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99710568099994 meters Centerline goodness [0,1] 0.9998101185704038 Centerline is valid? [True, True] Translation: X:213.68, Y:146.38, Z:41.12 [[ 2.35782214e-01 -9.71694619e-01 -1.47076781e-02 2.13679759e+02] [ 9.68865666e-01 2.36218314e-01 -7.41635308e-02 1.46375246e+02] [ 7.55385267e-02 3.23667715e-03 9.97137631e-01 4.11214029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0271056809999 meters Centerline goodness [0,1] 0.9998949932795699 Centerline is valid? [True, True] Translation: X:213.69, Y:146.40, Z:41.13 [[ 2.37063022e-01 -9.71388203e-01 -1.43555769e-02 2.13687383e+02] [ 9.68683324e-01 2.37474567e-01 -7.25151596e-02 1.46400833e+02] [ 7.38494550e-02 3.28465490e-03 9.97263992e-01 4.11261181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05710568099994 meters Centerline goodness [0,1] 0.9999158071984845 Centerline is valid? [True, True] Translation: X:213.70, Y:146.43, Z:41.13 [[ 2.37667176e-01 -9.71251241e-01 -1.36139872e-02 2.13702644e+02] [ 9.68811932e-01 2.38035562e-01 -6.88658965e-02 1.46426039e+02] [ 7.01267005e-02 3.17776992e-03 9.97533031e-01 4.11349790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0871056809999 meters Centerline goodness [0,1] 0.9996228391828182 Centerline is valid? [True, True] Translation: X:213.71, Y:146.45, Z:41.14 [[ 2.37298874e-01 -9.71343327e-01 -1.34679075e-02 2.13714456e+02] [ 9.68946957e-01 2.37659897e-01 -6.82610239e-02 1.46451561e+02] [ 6.95056716e-02 3.14857614e-03 9.97576588e-01 4.11376578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11710568099994 meters Centerline goodness [0,1] 0.9999371832991332 Centerline is valid? [True, True] Translation: X:213.72, Y:146.48, Z:41.14 [[ 2.35979343e-01 -9.71663945e-01 -1.35250832e-02 2.13724923e+02] [ 9.69237724e-01 2.36346276e-01 -6.86925871e-02 1.46478083e+02] [ 6.99427132e-02 3.10101078e-03 9.97546190e-01 4.11380905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1471056809999 meters Centerline goodness [0,1] 0.9998318691942331 Centerline is valid? [True, True] Translation: X:213.74, Y:146.50, Z:41.14 [[ 2.33191086e-01 -9.72330838e-01 -1.39520143e-02 2.13744498e+02] [ 9.69739758e-01 2.33588480e-01 -7.10015772e-02 1.46502378e+02] [ 7.22960529e-02 3.02711200e-03 9.97378623e-01 4.11371262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17710568099994 meters Centerline goodness [0,1] 0.9998318691942331 Centerline is valid? [True, True] Translation: X:213.75, Y:146.53, Z:41.14 [[ 2.32839680e-01 -9.72415417e-01 -1.39262302e-02 2.13749539e+02] [ 9.69824193e-01 2.33236130e-01 -7.10066348e-02 1.46529358e+02] [ 7.22960464e-02 3.02716709e-03 9.97378623e-01 4.11388702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2071056809999 meters Centerline goodness [0,1] 0.9998117627373881 Centerline is valid? [True, True] Translation: X:213.76, Y:146.56, Z:41.14 [[ 2.31070522e-01 -9.72834348e-01 -1.41331209e-02 2.13761870e+02] [ 9.70155858e-01 2.31483252e-01 -7.22019003e-02 1.46555180e+02] [ 7.35120694e-02 2.97240079e-03 9.97289898e-01 4.11391410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23710568099995 meters Centerline goodness [0,1] 0.9999163984450111 Centerline is valid? [True, True] Translation: X:213.78, Y:146.58, Z:41.14 [[ 2.29593166e-01 -9.73178516e-01 -1.45104555e-02 2.13779641e+02] [ 9.70344332e-01 2.30032028e-01 -7.42774726e-02 1.46579726e+02] [ 7.56231101e-02 2.97346186e-03 9.97132039e-01 4.11392192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.2671056809999 meters Centerline goodness [0,1] 0.9999789712747613 Centerline is valid? [True, True] Translation: X:213.79, Y:146.61, Z:41.14 [[ 2.30375121e-01 -9.72986814e-01 -1.49654095e-02 2.13788204e+02] [ 9.69958515e-01 2.30838923e-01 -7.67715547e-02 1.46606485e+02] [ 7.81523094e-02 3.17042983e-03 9.96936390e-01 4.11380772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29710568099995 meters Centerline goodness [0,1] 0.9999579628812241 Centerline is valid? [True, True] Translation: X:213.80, Y:146.63, Z:41.13 [[ 2.34428557e-01 -9.72006990e-01 -1.56736370e-02 2.13799077e+02] [ 9.68669620e-01 2.34922739e-01 -8.05634741e-02 1.46633000e+02] [ 8.19903537e-02 3.70380300e-03 9.96626241e-01 4.11349811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3271056809999 meters Centerline goodness [0,1] 0.9999165641100519 Centerline is valid? [True, True] Translation: X:213.81, Y:146.66, Z:41.14 [[ 2.38709712e-01 -9.70961754e-01 -1.58412483e-02 2.13809421e+02] [ 9.67536796e-01 2.39198788e-01 -8.15873058e-02 1.46657976e+02] [ 8.30073609e-02 4.14869170e-03 9.96540298e-01 4.11361855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35710568099995 meters Centerline goodness [0,1] 0.9998530399731274 Centerline is valid? [True, True] Translation: X:213.82, Y:146.68, Z:41.14 [[ 2.39876709e-01 -9.70674423e-01 -1.58218009e-02 2.13823757e+02] [ 9.67243061e-01 2.40359750e-01 -8.16581427e-02 1.46682980e+02] [ 8.30663946e-02 4.28435946e-03 9.96534805e-01 4.11418228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.3871056809999 meters Centerline goodness [0,1] 0.9995592217114792 Centerline is valid? [True, True] Translation: X:213.84, Y:146.71, Z:41.15 [[ 2.42236880e-01 -9.70094746e-01 -1.54103423e-02 2.13837216e+02] [ 9.66825552e-01 2.42686564e-01 -7.96968189e-02 1.46708470e+02] [ 8.10533483e-02 4.40639600e-03 9.96700024e-01 4.11477246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41710568099995 meters Centerline goodness [0,1] 0.9998742902637809 Centerline is valid? [True, True] Translation: X:213.85, Y:146.73, Z:41.15 [[ 2.42816300e-01 -9.69953779e-01 -1.51628027e-02 2.13846100e+02] [ 9.66776229e-01 2.43249119e-01 -7.85721906e-02 1.46734580e+02] [ 7.98997316e-02 4.41957140e-03 9.96793108e-01 4.11508165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4471056809999 meters Centerline goodness [0,1] 0.999748047367095 Centerline is valid? [True, True] Translation: X:213.86, Y:146.76, Z:41.15 [[ 2.43498039e-01 -9.69784136e-01 -1.50809178e-02 2.13858476e+02] [ 9.66627546e-01 2.43923267e-01 -7.83110888e-02 1.46759451e+02] [ 7.96234384e-02 4.49096603e-03 9.96814897e-01 4.11525990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47710568099995 meters Centerline goodness [0,1] 0.9997486068630327 Centerline is valid? [True, True] Translation: X:213.87, Y:146.79, Z:41.15 [[ 2.42896607e-01 -9.69934850e-01 -1.50872713e-02 2.13870205e+02] [ 9.66762887e-01 2.43323426e-01 -7.85062443e-02 1.46785492e+02] [ 7.98170288e-02 4.48308646e-03 9.96799450e-01 4.11546674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5071056809999 meters Centerline goodness [0,1] 0.9993536280233528 Centerline is valid? [True, True] Translation: X:213.89, Y:146.81, Z:41.16 [[ 2.39442223e-01 -9.70796554e-01 -1.48819258e-02 2.13887616e+02] [ 9.67699604e-01 2.39867866e-01 -7.75943496e-02 1.46809404e+02] [ 7.88980230e-02 4.17812983e-03 9.96873936e-01 4.11559765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5371056809999 meters Centerline goodness [0,1] 0.9995621898845015 Centerline is valid? [True, True] Translation: X:213.90, Y:146.84, Z:41.16 [[ 2.36909719e-01 -9.71417267e-01 -1.49090250e-02 2.13900268e+02] [ 9.68296974e-01 2.37344348e-01 -7.79014219e-02 1.46835846e+02] [ 7.92133591e-02 4.01924013e-03 9.96849582e-01 4.11581546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56710568099993 meters Centerline goodness [0,1] 0.9988317757009346 Centerline is valid? [True, True] Translation: X:213.92, Y:146.86, Z:41.16 [[ 2.30505530e-01 -9.72956495e-01 -1.49285083e-02 2.13921632e+02] [ 9.69819070e-01 2.30961364e-01 -7.81525368e-02 1.46860047e+02] [ 7.94869269e-02 3.53663982e-03 9.96829635e-01 4.11593544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.5971056809999 meters Centerline goodness [0,1] 0.9989156953103823 Centerline is valid? [True, True] Translation: X:213.93, Y:146.89, Z:41.16 [[ 2.27017113e-01 -9.73777257e-01 -1.48689013e-02 2.13934036e+02] [ 9.70653861e-01 2.27479955e-01 -7.79996970e-02 1.46886525e+02] [ 7.93367080e-02 3.27470954e-03 9.96842497e-01 4.11615851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62710568099993 meters Centerline goodness [0,1] 0.9988237271046883 Centerline is valid? [True, True] Translation: X:213.95, Y:146.91, Z:41.16 [[ 2.21408421e-01 -9.75066618e-01 -1.49466140e-02 2.13949701e+02] [ 9.71901410e-01 2.21893840e-01 -7.85542683e-02 1.46910322e+02] [ 7.99122063e-02 2.86594122e-03 9.96797786e-01 4.11617471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.6571056809999 meters Centerline goodness [0,1] 0.9990763288269376 Centerline is valid? [True, True] Translation: X:213.96, Y:146.94, Z:41.16 [[ 2.18777910e-01 -9.75656231e-01 -1.52034567e-02 2.13960187e+02] [ 9.72370730e-01 2.19288553e-01 -8.00480754e-02 1.46936818e+02] [ 8.14333475e-02 2.72935432e-03 9.96675053e-01 4.11623119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68710568099993 meters Centerline goodness [0,1] 0.9990752222619222 Centerline is valid? [True, True] Translation: X:213.97, Y:146.96, Z:41.16 [[ 2.16117338e-01 -9.76243332e-01 -1.55644563e-02 2.13972507e+02] [ 9.72787264e-01 2.16661413e-01 -8.21143831e-02 1.46962308e+02] [ 8.35358361e-02 2.60543705e-03 9.96501368e-01 4.11604316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7171056809999 meters Centerline goodness [0,1] 0.9984449534536743 Centerline is valid? [True, True] Translation: X:213.98, Y:146.99, Z:41.16 [[ 2.14809041e-01 -9.76529690e-01 -1.57111869e-02 2.13980636e+02] [ 9.72994258e-01 2.15367678e-01 -8.30598415e-02 1.46988176e+02] [ 8.44940831e-02 2.55511022e-03 9.96420705e-01 4.11606262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74710568099994 meters Centerline goodness [0,1] 0.9983795614293531 Centerline is valid? [True, True] Translation: X:213.99, Y:147.01, Z:41.16 [[ 2.13167373e-01 -9.76883523e-01 -1.60702934e-02 2.13990655e+02] [ 9.73168911e-01 2.13757517e-01 -8.51469045e-02 1.47014297e+02] [ 8.66137540e-02 2.51143205e-03 9.96238802e-01 4.11624755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7771056809999 meters Centerline goodness [0,1] 0.997774885595533 Centerline is valid? [True, True] Translation: X:214.00, Y:147.04, Z:41.17 [[ 2.12155808e-01 -9.77107386e-01 -1.58451578e-02 2.13997057e+02] [ 9.73481752e-01 2.12732886e-01 -8.41308388e-02 1.47041586e+02] [ 8.55756501e-02 2.42387419e-03 9.96328727e-01 4.11659386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80710568099994 meters Centerline goodness [0,1] 0.998302776322682 Centerline is valid? [True, True] Translation: X:214.00, Y:147.07, Z:41.17 [[ 2.11972269e-01 -9.77149560e-01 -1.57001616e-02 2.14001351e+02] [ 9.73576028e-01 2.12539127e-01 -8.35274642e-02 1.47068692e+02] [ 8.49557235e-02 2.42020519e-03 9.96381788e-01 4.11691116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8371056809999 meters Centerline goodness [0,1] 0.9984406279633337 Centerline is valid? [True, True] Translation: X:214.01, Y:147.10, Z:41.17 [[ 2.12043131e-01 -9.77132124e-01 -1.58279436e-02 2.14005788e+02] [ 9.73484227e-01 2.12618512e-01 -8.43909248e-02 1.47095822e+02] [ 8.58263973e-02 2.48626247e-03 9.96307005e-01 4.11702437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86710568099994 meters Centerline goodness [0,1] 0.9989958789197331 Centerline is valid? [True, True] Translation: X:214.01, Y:147.12, Z:41.17 [[ 2.14237579e-01 -9.76647632e-01 -1.61760043e-02 2.14009707e+02] [ 9.72819810e-01 2.14829409e-01 -8.64288330e-02 1.47123642e+02] [ 8.78855965e-02 2.77996647e-03 9.96126696e-01 4.11703055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8971056809999 meters Centerline goodness [0,1] 0.9991426360803831 Centerline is valid? [True, True] Translation: X:214.01, Y:147.15, Z:41.17 [[ 2.15225966e-01 -9.76426937e-01 -1.63774405e-02 2.14007834e+02] [ 9.72485948e-01 2.15828075e-01 -8.76887828e-02 1.47151475e+02] [ 8.91564010e-02 2.94607225e-03 9.96013281e-01 4.11677969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92710568099994 meters Centerline goodness [0,1] 0.9993284365162645 Centerline is valid? [True, True] Translation: X:214.01, Y:147.18, Z:41.17 [[ 2.16891040e-01 -9.76055686e-01 -1.65400775e-02 2.14011253e+02] [ 9.72017454e-01 2.17497666e-01 -8.87515354e-02 1.47178398e+02] [ 9.02238690e-02 3.17216882e-03 9.95916458e-01 4.11704254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9571056809999 meters Centerline goodness [0,1] 0.999118609921934 Centerline is valid? [True, True] Translation: X:214.02, Y:147.21, Z:41.18 [[ 2.19732929e-01 -9.75420124e-01 -1.65233684e-02 2.14016603e+02] [ 9.71371403e-01 2.20325946e-01 -8.88486079e-02 1.47205502e+02] [ 9.03052469e-02 3.47263731e-03 9.95908080e-01 4.11781321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98710568099995 meters Centerline goodness [0,1] 0.9992877194452592 Centerline is valid? [True, True] Translation: X:214.02, Y:147.23, Z:41.18 [[ 2.22109398e-01 -9.74888784e-01 -1.61020072e-02 2.14015805e+02] [ 9.71028827e-01 2.22662695e-01 -8.67429623e-02 1.47232427e+02] [ 8.81500573e-02 3.63091392e-03 9.96100589e-01 4.11817488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0171056809999 meters Centerline goodness [0,1] 0.9989501753207214 Centerline is valid? [True, True] Translation: X:214.02, Y:147.26, Z:41.19 [[ 2.25764768e-01 -9.74056742e-01 -1.56119339e-02 2.14015252e+02] [ 9.70415212e-01 2.26270866e-01 -8.42366418e-02 1.47260808e+02] [ 8.55837947e-02 3.86760781e-03 9.96323469e-01 4.11878348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04710568099995 meters Centerline goodness [0,1] 0.9988451928527936 Centerline is valid? [True, True] Translation: X:214.02, Y:147.29, Z:41.19 [[ 2.26926080e-01 -9.73790833e-01 -1.53612159e-02 2.14024712e+02] [ 9.70251256e-01 2.27411259e-01 -8.30458813e-02 1.47286906e+02] [ 8.43626315e-02 3.94103728e-03 9.96427325e-01 4.11944490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0771056809999 meters Centerline goodness [0,1] 0.9987210399412937 Centerline is valid? [True, True] Translation: X:214.03, Y:147.31, Z:41.20 [[ 2.27506078e-01 -9.73658985e-01 -1.51382134e-02 2.14030440e+02] [ 9.70207115e-01 2.27974592e-01 -8.20106041e-02 1.47313748e+02] [ 8.33014895e-02 3.97070855e-03 9.96516480e-01 4.11975947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10710568099995 meters Centerline goodness [0,1] 0.9984019176987615 Centerline is valid? [True, True] Translation: X:214.04, Y:147.34, Z:41.20 [[ 2.28151738e-01 -9.73506158e-01 -1.52493928e-02 2.14037296e+02] [ 9.69987989e-01 2.28624087e-01 -8.27908764e-02 1.47340362e+02] [ 8.40838065e-02 4.09715447e-03 9.96450263e-01 4.11957675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1371056809999 meters Centerline goodness [0,1] 0.9986111111111111 Centerline is valid? [True, True] Translation: X:214.05, Y:147.37, Z:41.19 [[ 2.27840075e-01 -9.73572166e-01 -1.56888093e-02 2.14045387e+02] [ 9.69832666e-01 2.28340388e-01 -8.53537729e-02 1.47366527e+02] [ 8.66804464e-02 4.23149027e-03 9.96227180e-01 4.11937684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16710568099995 meters Centerline goodness [0,1] 0.9984524979610615 Centerline is valid? [True, True] Translation: X:214.05, Y:147.39, Z:41.19 [[ 2.27143534e-01 -9.73734563e-01 -1.57103446e-02 2.14053617e+02] [ 9.69972226e-01 2.27647277e-01 -8.56189166e-02 1.47392915e+02] [ 8.69465155e-02 4.20918539e-03 9.96204089e-01 4.11943041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.1971056809999 meters Centerline goodness [0,1] 0.9979007914016416 Centerline is valid? [True, True] Translation: X:214.06, Y:147.42, Z:41.19 [[ 2.28750116e-01 -9.73354456e-01 -1.59526407e-02 2.14060158e+02] [ 9.69457721e-01 2.29262238e-01 -8.71237850e-02 1.47419388e+02] [ 8.84596625e-02 4.46416520e-03 9.96069756e-01 4.11936817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22710568099995 meters Centerline goodness [0,1] 0.9983688150905516 Centerline is valid? [True, True] Translation: X:214.07, Y:147.45, Z:41.20 [[ 2.29651091e-01 -9.73139536e-01 -1.61189553e-02 2.14067186e+02] [ 9.69147185e-01 2.30169539e-01 -8.81800293e-02 1.47446348e+02] [ 8.95215653e-02 4.62899975e-03 9.95974127e-01 4.11951199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2571056809999 meters Centerline goodness [0,1] 0.9978364526225135 Centerline is valid? [True, True] Translation: X:214.07, Y:147.47, Z:41.19 [[ 2.33066411e-01 -9.72318768e-01 -1.66211234e-02 2.14070613e+02] [ 9.68054524e-01 2.33601695e-01 -9.11081037e-02 1.47472566e+02] [ 9.24688417e-02 5.14408502e-03 9.95702291e-01 4.11904436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.2871056809999 meters Centerline goodness [0,1] 0.9979282635081405 Centerline is valid? [True, True] Translation: X:214.08, Y:147.50, Z:41.19 [[ 2.35015106e-01 -9.71848816e-01 -1.66666832e-02 2.14078194e+02] [ 9.67544478e-01 2.35543820e-01 -9.15248130e-02 1.47499364e+02] [ 9.28740154e-02 5.38395631e-03 9.95663312e-01 4.11920651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31710568099993 meters Centerline goodness [0,1] 0.9975948352251149 Centerline is valid? [True, True] Translation: X:214.09, Y:147.53, Z:41.19 [[ 2.37919386e-01 -9.71141501e-01 -1.66898199e-02 2.14085501e+02] [ 9.66807359e-01 2.38435664e-01 -9.18257325e-02 1.47526018e+02] [ 9.31552280e-02 5.71128126e-03 9.95635217e-01 4.11934727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3471056809999 meters Centerline goodness [0,1] 0.9975792021892432 Centerline is valid? [True, True] Translation: X:214.09, Y:147.55, Z:41.20 [[ 2.38179394e-01 -9.71080429e-01 -1.65341043e-02 2.14093179e+02] [ 9.66811776e-01 2.38684057e-01 -9.11312816e-02 1.47552193e+02] [ 9.24422311e-02 5.72022669e-03 9.95701618e-01 4.11950655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37710568099993 meters Centerline goodness [0,1] 0.9970146115841481 Centerline is valid? [True, True] Translation: X:214.10, Y:147.58, Z:41.20 [[ 2.37147212e-01 -9.71336647e-01 -1.63192515e-02 2.14099676e+02] [ 9.67160655e-01 2.37642204e-01 -9.01468222e-02 1.47578737e+02] [ 9.14410550e-02 5.59472956e-03 9.95794774e-01 4.11951482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4071056809999 meters Centerline goodness [0,1] 0.9975734248180068 Centerline is valid? [True, True] Translation: X:214.11, Y:147.61, Z:41.20 [[ 2.34951078e-01 -9.71870879e-01 -1.62783867e-02 2.14110772e+02] [ 9.67700446e-01 2.35452021e-01 -9.01010096e-02 1.47605425e+02] [ 9.13993264e-02 5.41672724e-03 9.95799589e-01 4.11974980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43710568099993 meters Centerline goodness [0,1] 0.9982882074191596 Centerline is valid? [True, True] Translation: X:214.13, Y:147.63, Z:41.20 [[ 2.26584079e-01 -9.73858845e-01 -1.60812196e-02 2.14126757e+02] [ 9.69776857e-01 2.27107153e-01 -8.91918636e-02 1.47629445e+02] [ 9.05124453e-02 4.61426167e-03 9.95884635e-01 4.11994944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.4671056809999 meters Centerline goodness [0,1] 0.9985722384361811 Centerline is valid? [True, True] Translation: X:214.14, Y:147.65, Z:41.20 [[ 2.20570008e-01 -9.75242667e-01 -1.58307126e-02 2.14142605e+02] [ 9.71272559e-01 2.21100573e-01 -8.80008734e-02 1.47654609e+02] [ 8.93223861e-02 4.03441663e-03 9.95994596e-01 4.12036367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49710568099994 meters Centerline goodness [0,1] 0.9988450716055605 Centerline is valid? [True, True] Translation: X:214.16, Y:147.68, Z:41.21 [[ 2.06883205e-01 -9.78246485e-01 -1.52693583e-02 2.14161980e+02] [ 9.74544534e-01 2.07428117e-01 -8.50677790e-02 1.47678947e+02] [ 8.63845501e-02 2.71842511e-03 9.96258159e-01 4.12072142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5271056809999 meters Centerline goodness [0,1] 0.9990548998193809 Centerline is valid? [True, True] Translation: X:214.18, Y:147.70, Z:41.22 [[ 1.94393190e-01 -9.80817270e-01 -1.44488634e-02 2.14181264e+02] [ 9.77495194e-01 1.94923198e-01 -8.06727504e-02 1.47703086e+02] [ 8.19416455e-02 1.55853880e-03 9.96635910e-01 4.12151212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55710568099994 meters Centerline goodness [0,1] 0.9991395953999832 Centerline is valid? [True, True] Translation: X:214.19, Y:147.73, Z:41.22 [[ 1.89004818e-01 -9.81873920e-01 -1.41698056e-02 2.14192560e+02] [ 9.78667468e-01 1.89531927e-01 -7.92946164e-02 1.47729465e+02] [ 8.05429464e-02 1.11953683e-03 9.96750511e-01 4.12197262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5871056809999 meters Centerline goodness [0,1] 0.999243840450335 Centerline is valid? [True, True] Translation: X:214.20, Y:147.76, Z:41.22 [[ 1.81429364e-01 -9.83302584e-01 -1.41213832e-02 2.14202957e+02] [ 9.80108269e-01 1.81977331e-01 -7.91961664e-02 1.47755225e+02] [ 8.04435667e-02 5.28025702e-04 9.96759025e-01 4.12206529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61710568099994 meters Centerline goodness [0,1] 0.999310445702823 Centerline is valid? [True, True] Translation: X:214.21, Y:147.78, Z:41.22 [[ 1.79198274e-01 -9.83710929e-01 -1.41699071e-02 2.14208017e+02] [ 9.80481812e-01 1.79757238e-01 -7.96413943e-02 1.47781800e+02] [ 8.08912533e-02 3.78264181e-04 9.96722861e-01 4.12191184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6471056809999 meters Centerline goodness [0,1] 0.9993504724788903 Centerline is valid? [True, True] Translation: X:214.21, Y:147.81, Z:41.22 [[ 1.76270899e-01 -9.84235269e-01 -1.44742824e-02 2.14214554e+02] [ 9.80851046e-01 1.76864081e-01 -8.15495086e-02 1.47808320e+02] [ 8.28238832e-02 1.77690138e-04 9.96564184e-01 4.12165892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67710568099994 meters Centerline goodness [0,1] 0.9995186471893182 Centerline is valid? [True, True] Translation: X:214.22, Y:147.83, Z:41.22 [[ 1.74204728e-01 -9.84602877e-01 -1.44874836e-02 2.14219922e+02] [ 9.81198057e-01 1.74806102e-01 -8.18119772e-02 1.47834742e+02] [ 8.30848087e-02 3.69425417e-05 9.96542479e-01 4.12170843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7071056809999 meters Centerline goodness [0,1] 0.9997266668068375 Centerline is valid? [True, True] Translation: X:214.22, Y:147.86, Z:41.22 [[ 1.69955336e-01 -9.85347586e-01 -1.43289138e-02 2.14224870e+02] [ 9.82003802e-01 1.70558060e-01 -8.11078347e-02 1.47861687e+02] [ 8.23633209e-02 -2.86338571e-04 9.96602329e-01 4.12193046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73710568099995 meters Centerline goodness [0,1] 0.9997477401723776 Centerline is valid? [True, True] Translation: X:214.23, Y:147.89, Z:41.22 [[ 1.67748506e-01 -9.85727924e-01 -1.41738898e-02 2.14229089e+02] [ 9.82442149e-01 1.68345689e-01 -8.04186107e-02 1.47889000e+02] [ 8.16569834e-02 -4.34924943e-04 9.96660397e-01 4.12211310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.7671056809999 meters Centerline goodness [0,1] 0.9996634908616737 Centerline is valid? [True, True] Translation: X:214.23, Y:147.92, Z:41.22 [[ 1.64244502e-01 -9.86315107e-01 -1.43615023e-02 2.14233070e+02] [ 9.82927050e-01 1.64869704e-01 -8.16847284e-02 1.47915642e+02] [ 8.29346583e-02 -7.00041504e-04 9.96554741e-01 4.12187729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79710568099995 meters Centerline goodness [0,1] 0.999600966082117 Centerline is valid? [True, True] Translation: X:214.23, Y:147.94, Z:41.22 [[ 1.63845230e-01 -9.86375726e-01 -1.47535508e-02 2.14231325e+02] [ 9.82783250e-01 1.64506567e-01 -8.41110792e-02 1.47945000e+02] [ 8.53921828e-02 -7.18343483e-04 9.96347158e-01 4.12172729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8271056809999 meters Centerline goodness [0,1] 0.999541513837946 Centerline is valid? [True, True] Translation: X:214.23, Y:147.97, Z:41.22 [[ 1.65113406e-01 -9.86162909e-01 -1.48418518e-02 2.14231372e+02] [ 9.82509518e-01 1.65778111e-01 -8.48095838e-02 1.47971646e+02] [ 8.60965200e-02 -5.79061358e-04 9.96286632e-01 4.12169212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85710568099995 meters Centerline goodness [0,1] 0.99911838790932 Centerline is valid? [True, True] Translation: X:214.23, Y:148.00, Z:41.22 [[ 1.68667306e-01 -9.85565027e-01 -1.45916829e-02 2.14228796e+02] [ 9.82014337e-01 1.69297147e-01 -8.35842014e-02 1.48000493e+02] [ 8.48479960e-02 -2.31319707e-04 9.96393880e-01 4.12224203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.8871056809999 meters Centerline goodness [0,1] 0.9990368912524601 Centerline is valid? [True, True] Translation: X:214.22, Y:148.03, Z:41.23 [[ 1.77605793e-01 -9.83997152e-01 -1.43452758e-02 2.14215740e+02] [ 9.80544895e-01 1.78183306e-01 -8.23554446e-02 1.48029714e+02] [ 8.35936116e-02 5.60617143e-04 9.96499771e-01 4.12278623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91710568099995 meters Centerline goodness [0,1] 0.9985123101100052 Centerline is valid? [True, True] Translation: X:214.21, Y:148.06, Z:41.23 [[ 1.82570721e-01 -9.83091308e-01 -1.41213075e-02 2.14210918e+02] [ 9.79727249e-01 1.83113288e-01 -8.12652573e-02 1.48058497e+02] [ 8.24769672e-02 1.00162691e-03 9.96592468e-01 4.12309067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9471056809999 meters Centerline goodness [0,1] 0.9991011142003052 Centerline is valid? [True, True] Translation: X:214.20, Y:148.09, Z:41.23 [[ 1.90872583e-01 -9.81519677e-01 -1.36667830e-02 2.14196486e+02] [ 9.78350875e-01 1.91353913e-01 -7.88241372e-02 1.48088201e+02] [ 7.99826341e-02 1.67445760e-03 9.96794851e-01 4.12330970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97710568099995 meters Centerline goodness [0,1] 0.9992233091229691 Centerline is valid? [True, True] Translation: X:214.19, Y:148.12, Z:41.23 [[ 1.94441725e-01 -9.80818173e-01 -1.37159641e-02 2.14187881e+02] [ 9.77610367e-01 1.94914549e-01 -7.92861220e-02 1.48116726e+02] [ 8.04387103e-02 2.00766168e-03 9.96757535e-01 4.12318781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0071056809999 meters Centerline goodness [0,1] 0.9992218062507887 Centerline is valid? [True, True] Translation: X:214.19, Y:148.14, Z:41.23 [[ 1.93998278e-01 -9.80905224e-01 -1.37698615e-02 2.14193431e+02] [ 9.77659618e-01 1.94475965e-01 -7.97544436e-02 1.48143769e+02] [ 8.09094575e-02 2.00998719e-03 9.96719429e-01 4.12343377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0371056809999 meters Centerline goodness [0,1] 0.9993068100659581 Centerline is valid? [True, True] Translation: X:214.20, Y:148.17, Z:41.23 [[ 1.90956016e-01 -9.81500535e-01 -1.38744091e-02 2.14195476e+02] [ 9.78190990e-01 1.91450833e-01 -8.05541189e-02 1.48171280e+02] [ 8.17201780e-02 1.81047169e-03 9.96653668e-01 4.12331293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06710568099993 meters Centerline goodness [0,1] 0.9993068100659581 Centerline is valid? [True, True] Translation: X:214.20, Y:148.20, Z:41.23 [[ 1.90565301e-01 -9.81576820e-01 -1.38496246e-02 2.14199702e+02] [ 9.78267168e-01 1.91059403e-01 -8.05583807e-02 1.48197605e+02] [ 8.17203401e-02 1.80299905e-03 9.96653669e-01 4.12348205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.0971056809999 meters Centerline goodness [0,1] 0.9994327492751797 Centerline is valid? [True, True] Translation: X:214.21, Y:148.22, Z:41.24 [[ 1.88058116e-01 -9.82060290e-01 -1.38467123e-02 2.14207595e+02] [ 9.78737592e-01 1.88560147e-01 -8.07328788e-02 1.48224339e+02] [ 8.18954925e-02 1.63017522e-03 9.96639589e-01 4.12382887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12710568099993 meters Centerline goodness [0,1] 0.9992005049442457 Centerline is valid? [True, True] Translation: X:214.21, Y:148.25, Z:41.24 [[ 1.84094847e-01 -9.82809698e-01 -1.39350048e-02 2.14212798e+02] [ 9.79430969e-01 1.84616609e-01 -8.14351609e-02 1.48251216e+02] [ 8.26078992e-02 1.34341827e-03 9.96581221e-01 4.12373582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.1571056809999 meters Centerline goodness [0,1] 0.9992850083065211 Centerline is valid? [True, True] Translation: X:214.22, Y:148.28, Z:41.24 [[ 1.83850125e-01 -9.82857886e-01 -1.37661632e-02 2.14215529e+02] [ 9.79546355e-01 1.84359932e-01 -8.06247753e-02 1.48277412e+02] [ 8.17806251e-02 1.33827997e-03 9.96649456e-01 4.12383703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18710568099993 meters Centerline goodness [0,1] 0.998952133456283 Centerline is valid? [True, True] Translation: X:214.21, Y:148.31, Z:41.24 [[ 1.90497856e-01 -9.81592481e-01 -1.36663181e-02 2.14212654e+02] [ 9.78312242e-01 1.90977900e-01 -8.02034821e-02 1.48305339e+02] [ 8.13370997e-02 1.90866507e-03 9.96684821e-01 4.12392527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2171056809999 meters Centerline goodness [0,1] 0.9990812278137399 Centerline is valid? [True, True] Translation: X:214.21, Y:148.33, Z:41.24 [[ 1.95639845e-01 -9.80579615e-01 -1.37357120e-02 2.14213006e+02] [ 9.77247967e-01 1.96106945e-01 -8.07989921e-02 1.48333547e+02] [ 8.19235131e-02 2.38430564e-03 9.96635768e-01 4.12405302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24710568099994 meters Centerline goodness [0,1] 0.9984899645561125 Centerline is valid? [True, True] Translation: X:214.21, Y:148.36, Z:41.24 [[ 2.08548293e-01 -9.77916533e-01 -1.36698088e-02 2.14209986e+02] [ 9.74597224e-01 2.08966811e-01 -8.05799105e-02 1.48361494e+02] [ 8.16569630e-02 3.48224512e-03 9.96654411e-01 4.12427729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2771056809999 meters Centerline goodness [0,1] 0.9977681861248553 Centerline is valid? [True, True] Translation: X:214.20, Y:148.39, Z:41.24 [[ 2.19412261e-01 -9.75536073e-01 -1.36977806e-02 2.14203313e+02] [ 9.72187190e-01 2.19794772e-01 -8.08846480e-02 1.48389902e+02] [ 8.19165925e-02 4.43027667e-03 9.96629342e-01 4.12408138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30710568099994 meters Centerline goodness [0,1] 0.9970759618823233 Centerline is valid? [True, True] Translation: X:214.21, Y:148.42, Z:41.24 [[ 2.23049595e-01 -9.74709256e-01 -1.38109865e-02 2.14206227e+02] [ 9.71290964e-01 2.23425019e-01 -8.17014345e-02 1.48417719e+02] [ 8.27208644e-02 4.80898548e-03 9.96561153e-01 4.12410892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3371056809999 meters Centerline goodness [0,1] 0.9952597728032074 Centerline is valid? [True, True] Translation: X:214.21, Y:148.45, Z:41.24 [[ 2.24592102e-01 -9.74355027e-01 -1.38082921e-02 2.14210191e+02] [ 9.70922558e-01 2.24961077e-01 -8.18651358e-02 1.48445396e+02] [ 8.28720349e-02 4.97948065e-03 9.96547756e-01 4.12412915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36710568099994 meters Centerline goodness [0,1] 0.9965499105921952 Centerline is valid? [True, True] Translation: X:214.22, Y:148.47, Z:41.24 [[ 2.24923914e-01 -9.74282972e-01 -1.34878948e-02 2.14219586e+02] [ 9.70994024e-01 2.25274057e-01 -8.01386590e-02 1.48471711e+02] [ 8.11162037e-02 4.92843563e-03 9.96692466e-01 4.12447948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3971056809999 meters Centerline goodness [0,1] 0.9976836741140054 Centerline is valid? [True, True] Translation: X:214.23, Y:148.50, Z:41.25 [[ 2.21743374e-01 -9.75018542e-01 -1.29891636e-02 2.14231554e+02] [ 9.71955655e-01 2.22077325e-01 -7.73554570e-02 1.48497646e+02] [ 7.83076037e-02 4.52816901e-03 9.96918961e-01 4.12494329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42710568099994 meters Centerline goodness [0,1] 0.9986957253450017 Centerline is valid? [True, True] Translation: X:214.25, Y:148.52, Z:41.25 [[ 2.18763998e-01 -9.75693630e-01 -1.28161150e-02 2.14246504e+02] [ 9.72699285e-01 2.19097493e-01 -7.65009160e-02 1.48523134e+02] [ 7.74494351e-02 4.26942033e-03 9.96987140e-01 4.12544339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4571056809999 meters Centerline goodness [0,1] 0.9985373090665942 Centerline is valid? [True, True] Translation: X:214.26, Y:148.55, Z:41.26 [[ 2.13567691e-01 -9.76842447e-01 -1.29489335e-02 2.14259413e+02] [ 9.73772410e-01 2.13923625e-01 -7.74853317e-02 1.48547736e+02] [ 7.84610438e-02 3.93904918e-03 9.96909398e-01 4.12551055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48710568099995 meters Centerline goodness [0,1] 0.9987467624697134 Centerline is valid? [True, True] Translation: X:214.27, Y:148.58, Z:41.26 [[ 2.11117049e-01 -9.77372856e-01 -1.31107471e-02 2.14268926e+02] [ 9.74211606e-01 2.11489091e-01 -7.86391235e-02 1.48575018e+02] [ 7.96325247e-02 3.82941774e-03 9.96816932e-01 4.12560619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5171056809999 meters Centerline goodness [0,1] 0.9989521993335988 Centerline is valid? [True, True] Translation: X:214.28, Y:148.60, Z:41.26 [[ 2.09544549e-01 -9.77708883e-01 -1.32823659e-02 2.14276971e+02] [ 9.74454411e-01 2.09931100e-01 -7.97968254e-02 1.48601505e+02] [ 8.08064467e-02 3.77792982e-03 9.96722652e-01 4.12554068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54710568099995 meters Centerline goodness [0,1] 0.9986554056893147 Centerline is valid? [True, True] Translation: X:214.28, Y:148.63, Z:41.26 [[ 2.10165998e-01 -9.77578108e-01 -1.30880249e-02 2.14281502e+02] [ 9.74403980e-01 2.10538673e-01 -7.88057802e-02 1.48629381e+02] [ 7.97943409e-02 3.80927188e-03 9.96804069e-01 4.12580677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5771056809999 meters Centerline goodness [0,1] 0.998822663723326 Centerline is valid? [True, True] Translation: X:214.29, Y:148.66, Z:41.26 [[ 2.13402140e-01 -9.76877621e-01 -1.30246094e-02 2.14287674e+02] [ 9.73719005e-01 2.13760092e-01 -7.85997644e-02 1.48656404e+02] [ 7.95664925e-02 4.09104818e-03 9.96821166e-01 4.12605768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60710568099995 meters Centerline goodness [0,1] 0.9984745266853345 Centerline is valid? [True, True] Translation: X:214.29, Y:148.68, Z:41.26 [[ 2.13925361e-01 -9.76763980e-01 -1.29640609e-02 2.14289178e+02] [ 9.73619831e-01 2.14277561e-01 -7.84190816e-02 1.48683805e+02] [ 7.93748416e-02 4.15376350e-03 9.96836186e-01 4.12612583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6371056809999 meters Centerline goodness [0,1] 0.998596241278887 Centerline is valid? [True, True] Translation: X:214.30, Y:148.71, Z:41.26 [[ 2.13651760e-01 -9.76826432e-01 -1.27689970e-02 2.14296994e+02] [ 9.73761808e-01 2.13993564e-01 -7.74254167e-02 1.48709741e+02] [ 7.83636767e-02 4.10811495e-03 9.96916374e-01 4.12645433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66710568099995 meters Centerline goodness [0,1] 0.998788182691906 Centerline is valid? [True, True] Translation: X:214.31, Y:148.74, Z:41.27 [[ 2.09933465e-01 -9.77638649e-01 -1.22724089e-02 2.14312546e+02] [ 9.74796017e-01 2.10259392e-01 -7.45903056e-02 1.48735172e+02] [ 7.55027549e-02 3.69590594e-03 9.97138744e-01 4.12688136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.6971056809999 meters Centerline goodness [0,1] 0.9986341381411671 Centerline is valid? [True, True] Translation: X:214.32, Y:148.76, Z:41.27 [[ 2.06533997e-01 -9.78365673e-01 -1.20132268e-02 2.14322108e+02] [ 9.75630189e-01 2.06855214e-01 -7.31891669e-02 1.48761680e+02] [ 7.40907671e-02 3.39558451e-03 9.97245721e-01 4.12712740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72710568099995 meters Centerline goodness [0,1] 0.9990997403902521 Centerline is valid? [True, True] Translation: X:214.34, Y:148.79, Z:41.27 [[ 1.98602728e-01 -9.80008807e-01 -1.18192477e-02 2.14336725e+02] [ 9.77350834e-01 1.98934629e-01 -7.21828318e-02 1.48786053e+02] [ 7.30910685e-02 2.78415570e-03 9.97321385e-01 4.12742289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7571056809999 meters Centerline goodness [0,1] 0.9988274461358069 Centerline is valid? [True, True] Translation: X:214.35, Y:148.81, Z:41.28 [[ 1.95056490e-01 -9.80721418e-01 -1.17671895e-02 2.14347257e+02] [ 9.78075112e-01 1.95394559e-01 -7.20419484e-02 1.48813065e+02] [ 7.29523266e-02 2.54305438e-03 9.97332187e-01 4.12760174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.7871056809999 meters Centerline goodness [0,1] 0.9991195891415994 Centerline is valid? [True, True] Translation: X:214.36, Y:148.84, Z:41.28 [[ 1.87702792e-01 -9.82156223e-01 -1.16968452e-02 2.14359363e+02] [ 9.79535619e-01 1.88056189e-01 -7.17275462e-02 1.48838288e+02] [ 7.26473200e-02 2.00598413e-03 9.97355675e-01 4.12765140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81710568099993 meters Centerline goodness [0,1] 0.9990967525101878 Centerline is valid? [True, True] Translation: X:214.37, Y:148.86, Z:41.28 [[ 1.84332818e-01 -9.82793302e-01 -1.17787225e-02 2.14368110e+02] [ 9.80123424e-01 1.84699951e-01 -7.24154786e-02 1.48864661e+02] [ 7.33449767e-02 1.80394742e-03 9.97304999e-01 4.12767779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8471056809999 meters Centerline goodness [0,1] 0.9992688836898396 Centerline is valid? [True, True] Translation: X:214.38, Y:148.89, Z:41.28 [[ 1.77686148e-01 -9.84016068e-01 -1.18326193e-02 2.14378980e+02] [ 9.81312382e-01 1.78074632e-01 -7.29070255e-02 1.48890829e+02] [ 7.38487739e-02 1.34307274e-03 9.97268547e-01 4.12778582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87710568099993 meters Centerline goodness [0,1] 0.9993928990118908 Centerline is valid? [True, True] Translation: X:214.39, Y:148.92, Z:41.28 [[ 1.74014448e-01 -9.84674252e-01 -1.16442949e-02 2.14385728e+02] [ 9.82045185e-01 1.74400268e-01 -7.19152419e-02 1.48916788e+02] [ 7.28438551e-02 1.07906741e-03 9.97342774e-01 4.12798014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9071056809999 meters Centerline goodness [0,1] 0.9995591754481716 Centerline is valid? [True, True] Translation: X:214.40, Y:148.94, Z:41.28 [[ 1.66253043e-01 -9.86014797e-01 -1.16080403e-02 2.14398185e+02] [ 9.83392072e-01 1.66656941e-01 -7.18713851e-02 1.48940947e+02] [ 7.28008096e-02 5.33581609e-04 9.97346358e-01 4.12814042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93710568099993 meters Centerline goodness [0,1] 0.999414250449772 Centerline is valid? [True, True] Translation: X:214.41, Y:148.97, Z:41.28 [[ 1.57409694e-01 -9.87463083e-01 -1.17833431e-02 2.14411620e+02] [ 9.84749979e-01 1.57850090e-01 -7.31493533e-02 1.48966794e+02] [ 7.40922877e-02 -8.92295241e-05 9.97251385e-01 4.12810649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.9671056809999 meters Centerline goodness [0,1] 0.9996434713309006 Centerline is valid? [True, True] Translation: X:214.42, Y:148.99, Z:41.28 [[ 1.50729274e-01 -9.88502972e-01 -1.19398680e-02 2.14420565e+02] [ 9.85705840e-01 1.51200370e-01 -7.43131572e-02 1.48993472e+02] [ 7.52640892e-02 -5.68029328e-04 9.97163474e-01 4.12801165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99710568099994 meters Centerline goodness [0,1] 0.9998537400752194 Centerline is valid? [True, True] Translation: X:214.42, Y:149.02, Z:41.28 [[ 1.48827224e-01 -9.88790534e-01 -1.19890174e-02 2.14424919e+02] [ 9.85956266e-01 1.49307764e-01 -7.48159992e-02 1.49020158e+02] [ 7.57674052e-02 -6.85989351e-04 9.97125283e-01 4.12815947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0271056809999 meters Centerline goodness [0,1] 0.9998752183678562 Centerline is valid? [True, True] Translation: X:214.43, Y:149.05, Z:41.28 [[ 1.48478741e-01 -9.88842046e-01 -1.20611859e-02 2.14429835e+02] [ 9.85957708e-01 1.48966234e-01 -7.54748965e-02 1.49046364e+02] [ 7.64294604e-02 -6.85401569e-04 9.97074755e-01 4.12807596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05710568099994 meters Centerline goodness [0,1] 0.9997281187911743 Centerline is valid? [True, True] Translation: X:214.43, Y:149.07, Z:41.28 [[ 1.51109750e-01 -9.88439582e-01 -1.23707870e-02 2.14429278e+02] [ 9.85386018e-01 1.51614586e-01 -7.76364184e-02 1.49073518e+02] [ 7.86145007e-02 -4.58380808e-04 9.96904986e-01 4.12836742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0871056809999 meters Centerline goodness [0,1] 0.9996235490954721 Centerline is valid? [True, True] Translation: X:214.43, Y:149.10, Z:41.29 [[ 1.53286731e-01 -9.88102776e-01 -1.24933235e-02 2.14430040e+02] [ 9.84969799e-01 1.53794801e-01 -7.86235014e-02 1.49100953e+02] [ 7.96095082e-02 -2.53606829e-04 9.96826094e-01 4.12858616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11710568099994 meters Centerline goodness [0,1] 0.9988235541270142 Centerline is valid? [True, True] Translation: X:214.42, Y:149.13, Z:41.29 [[ 1.62754652e-01 -9.86592209e-01 -1.21134947e-02 2.14420769e+02] [ 9.83626355e-01 1.63203971e-01 -7.64438249e-02 1.49129036e+02] [ 7.73958525e-02 5.26435489e-04 9.97000303e-01 4.12885450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1471056809999 meters Centerline goodness [0,1] 0.9983481097356975 Centerline is valid? [True, True] Translation: X:214.41, Y:149.16, Z:41.29 [[ 1.72502959e-01 -9.84940814e-01 -1.15897576e-02 2.14412728e+02] [ 9.82207784e-01 1.72887214e-01 -7.33340390e-02 1.49157865e+02] [ 7.42334090e-02 1.26678864e-03 9.97240090e-01 4.12942673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17710568099994 meters Centerline goodness [0,1] 0.9979328489100476 Centerline is valid? [True, True] Translation: X:214.41, Y:149.19, Z:41.30 [[ 1.76895189e-01 -9.84161117e-01 -1.16184059e-02 2.14410074e+02] [ 9.81402176e-01 1.77268854e-01 -7.36581455e-02 1.49185578e+02] [ 7.45510643e-02 1.62744279e-03 9.97215869e-01 4.12955555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2071056809999 meters Centerline goodness [0,1] 0.9977028776677943 Centerline is valid? [True, True] Translation: X:214.41, Y:149.21, Z:41.30 [[ 1.85309037e-01 -9.82610160e-01 -1.17403249e-02 2.14406043e+02] [ 9.79774986e-01 1.85666001e-01 -7.46264890e-02 1.49213525e+02] [ 7.55085254e-02 2.32608614e-03 9.97142443e-01 4.12989008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23710568099995 meters Centerline goodness [0,1] 0.9975420684439402 Centerline is valid? [True, True] Translation: X:214.40, Y:149.24, Z:41.30 [[ 1.88793192e-01 -9.81950048e-01 -1.14557254e-02 2.14404305e+02] [ 9.79235977e-01 1.89123045e-01 -7.30025664e-02 1.49241768e+02] [ 7.38514153e-02 2.56452904e-03 9.97265958e-01 4.13021322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.2671056809999 meters Centerline goodness [0,1] 0.9974860686303264 Centerline is valid? [True, True] Translation: X:214.41, Y:149.27, Z:41.30 [[ 1.87902566e-01 -9.82122851e-01 -1.12841454e-02 2.14407189e+02] [ 9.79477297e-01 1.88224594e-01 -7.20813848e-02 1.49268496e+02] [ 7.29167288e-02 2.49171292e-03 9.97334920e-01 4.13042934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29710568099995 meters Centerline goodness [0,1] 0.996710595235601 Centerline is valid? [True, True] Translation: X:214.41, Y:149.30, Z:41.31 [[ 1.85289952e-01 -9.82623307e-01 -1.09119486e-02 2.14410012e+02] [ 9.80137693e-01 1.85597302e-01 -6.98837898e-02 1.49296165e+02] [ 7.06946688e-02 2.25355193e-03 9.97495456e-01 4.13056008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3271056809999 meters Centerline goodness [0,1] 0.9968796464995497 Centerline is valid? [True, True] Translation: X:214.42, Y:149.32, Z:41.31 [[ 1.83076299e-01 -9.83039759e-01 -1.07657662e-02 2.14415116e+02] [ 9.80609624e-01 1.83380592e-01 -6.91109527e-02 1.49323502e+02] [ 6.99130468e-02 2.09556348e-03 9.97550888e-01 4.13073091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35710568099995 meters Centerline goodness [0,1] 0.9963282081238395 Centerline is valid? [True, True] Translation: X:214.42, Y:149.35, Z:41.31 [[ 1.81404885e-01 -9.83350090e-01 -1.07176627e-02 2.14419658e+02] [ 9.80930681e-01 1.81710237e-01 -6.89665749e-02 1.49350342e+02] [ 6.97657967e-02 1.99758936e-03 9.97561398e-01 4.13080247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.3871056809999 meters Centerline goodness [0,1] 0.9957470879074835 Centerline is valid? [True, True] Translation: X:214.42, Y:149.38, Z:41.31 [[ 1.84361015e-01 -9.82800703e-01 -1.06674040e-02 2.14417469e+02] [ 9.80391616e-01 1.84655943e-01 -6.88074335e-02 1.49379135e+02] [ 6.95937936e-02 2.22717483e-03 9.97572926e-01 4.13079359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41710568099995 meters Centerline goodness [0,1] 0.9960361569597953 Centerline is valid? [True, True] Translation: X:214.42, Y:149.41, Z:41.31 [[ 1.87259084e-01 -9.82252491e-01 -1.06807548e-02 2.14420103e+02] [ 9.79825239e-01 1.87547228e-01 -6.90545973e-02 1.49407229e+02] [ 6.98321962e-02 2.46582749e-03 9.97555705e-01 4.13090229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4471056809999 meters Centerline goodness [0,1] 0.9958611706374217 Centerline is valid? [True, True] Translation: X:214.42, Y:149.43, Z:41.31 [[ 1.89962985e-01 -9.81732405e-01 -1.07494175e-02 2.14422161e+02] [ 9.79260714e-01 1.90247597e-01 -6.96728451e-02 1.49434860e+02] [ 7.04451406e-02 2.70877942e-03 9.97511977e-01 4.13086218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4771056809999 meters Centerline goodness [0,1] 0.995392091152815 Centerline is valid? [True, True] Translation: X:214.42, Y:149.46, Z:41.30 [[ 1.94095203e-01 -9.80918684e-01 -1.12065630e-02 2.14423651e+02] [ 9.78215874e-01 1.94392528e-01 -7.28371372e-02 1.49463312e+02] [ 7.36257809e-02 3.17490112e-03 9.97280885e-01 4.13045087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5071056809999 meters Centerline goodness [0,1] 0.9959204167451202 Centerline is valid? [True, True] Translation: X:214.42, Y:149.49, Z:41.31 [[ 1.96488226e-01 -9.80444132e-01 -1.10309277e-02 2.14424779e+02] [ 9.77811396e-01 1.96769322e-01 -7.18798090e-02 1.49490634e+02] [ 7.26446851e-02 3.33736931e-03 9.97352301e-01 4.13054386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5371056809999 meters Centerline goodness [0,1] 0.9962549167294334 Centerline is valid? [True, True] Translation: X:214.43, Y:149.52, Z:41.31 [[ 1.96773695e-01 -9.80388500e-01 -1.08858361e-02 2.14431154e+02] [ 9.77810901e-01 1.97046082e-01 -7.11244227e-02 1.49517502e+02] [ 7.18745774e-02 3.35112631e-03 9.97408048e-01 4.13084689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56710568099993 meters Centerline goodness [0,1] 0.9959282537428744 Centerline is valid? [True, True] Translation: X:214.44, Y:149.54, Z:41.31 [[ 1.94291799e-01 -9.80885510e-01 -1.06916872e-02 2.14439896e+02] [ 9.78386234e-01 1.94560270e-01 -7.00476850e-02 1.49543376e+02] [ 7.07889368e-02 3.14909113e-03 9.97486346e-01 4.13109086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.5971056809999 meters Centerline goodness [0,1] 0.996745592990508 Centerline is valid? [True, True] Translation: X:214.45, Y:149.57, Z:41.31 [[ 1.91761176e-01 -9.81384257e-01 -1.06109180e-02 2.14445654e+02] [ 9.78911792e-01 1.92031477e-01 -6.96822389e-02 1.49569573e+02] [ 7.04226825e-02 2.97519526e-03 9.97512804e-01 4.13122764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62710568099993 meters Centerline goodness [0,1] 0.9972599874503242 Centerline is valid? [True, True] Translation: X:214.46, Y:149.60, Z:41.31 [[ 1.85920324e-01 -9.82510847e-01 -1.02989655e-02 2.14457750e+02] [ 9.80172575e-01 1.86188455e-01 -6.77907257e-02 1.49595354e+02] [ 6.85226718e-02 2.50891017e-03 9.97646405e-01 4.13132598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.6571056809999 meters Centerline goodness [0,1] 0.9976774355540676 Centerline is valid? [True, True] Translation: X:214.47, Y:149.62, Z:41.32 [[ 1.80844117e-01 -9.83458535e-01 -1.02329984e-02 2.14471544e+02] [ 9.81138923e-01 1.81120349e-01 -6.75413473e-02 1.49621396e+02] [ 6.82775187e-02 2.17446231e-03 9.97663998e-01 4.13151211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68710568099993 meters Centerline goodness [0,1] 0.9974401664932362 Centerline is valid? [True, True] Translation: X:214.48, Y:149.65, Z:41.32 [[ 1.78943986e-01 -9.83805798e-01 -1.02568424e-02 2.14478903e+02] [ 9.81464045e-01 1.79225648e-01 -6.78711687e-02 1.49648255e+02] [ 6.86103385e-02 2.07841543e-03 9.97641369e-01 4.13165718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7171056809999 meters Centerline goodness [0,1] 0.9976892698092598 Centerline is valid? [True, True] Translation: X:214.49, Y:149.67, Z:41.32 [[ 1.77026065e-01 -9.84157323e-01 -9.80489361e-03 2.14486402e+02] [ 9.82007818e-01 1.77287368e-01 -6.50371793e-02 1.49674993e+02] [ 6.57451000e-02 1.88479372e-03 9.97834670e-01 4.13203285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74710568099994 meters Centerline goodness [0,1] 0.9975105644115309 Centerline is valid? [True, True] Translation: X:214.49, Y:149.70, Z:41.32 [[ 1.76523192e-01 -9.84248686e-01 -9.69985726e-03 2.14490381e+02] [ 9.82134620e-01 1.76779713e-01 -6.45021013e-02 1.49701100e+02] [ 6.52008464e-02 1.85955122e-03 9.97870428e-01 4.13226818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7771056809999 meters Centerline goodness [0,1] 0.9969153936545241 Centerline is valid? [True, True] Translation: X:214.49, Y:149.73, Z:41.33 [[ 1.78350652e-01 -9.83920970e-01 -9.51678386e-03 2.14494774e+02] [ 9.81873699e-01 1.78593453e-01 -6.34698249e-02 1.49729106e+02] [ 6.41489269e-02 1.97560489e-03 9.97938381e-01 4.13255830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80710568099994 meters Centerline goodness [0,1] 0.9971936585059373 Centerline is valid? [True, True] Translation: X:214.50, Y:149.76, Z:41.33 [[ 1.79660558e-01 -9.83683639e-01 -9.41183184e-03 2.14496306e+02] [ 9.81670973e-01 1.79895051e-01 -6.29275143e-02 1.49757219e+02] [ 6.35939082e-02 2.06627023e-03 9.97973720e-01 4.13276401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8371056809999 meters Centerline goodness [0,1] 0.9965293023061322 Centerline is valid? [True, True] Translation: X:214.50, Y:149.79, Z:41.33 [[ 1.83230932e-01 -9.83027097e-01 -9.17341974e-03 2.14496293e+02] [ 9.81104967e-01 1.83446427e-01 -6.14853777e-02 1.49785002e+02] [ 6.21246234e-02 2.26593538e-03 9.98065828e-01 4.13283913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86710568099994 meters Centerline goodness [0,1] 0.9966016362492134 Centerline is valid? [True, True] Translation: X:214.50, Y:149.81, Z:41.33 [[ 1.84481891e-01 -9.82793504e-01 -9.13020660e-03 2.14500981e+02] [ 9.80878913e-01 1.84692550e-01 -6.13613848e-02 1.49812329e+02] [ 6.19918515e-02 2.36443715e-03 9.98073855e-01 4.13320356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8971056809999 meters Centerline goodness [0,1] 0.996056964281969 Centerline is valid? [True, True] Translation: X:214.51, Y:149.84, Z:41.33 [[ 1.84637997e-01 -9.82762482e-01 -9.31200850e-03 2.14506731e+02] [ 9.80760427e-01 1.84856400e-01 -6.27462811e-02 1.49838176e+02] [ 6.33860753e-02 2.45249822e-03 9.97986067e-01 4.13336049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92710568099994 meters Centerline goodness [0,1] 0.9969156525388166 Centerline is valid? [True, True] Translation: X:214.51, Y:149.87, Z:41.33 [[ 1.82306169e-01 -9.83198472e-01 -9.23180084e-03 2.14514469e+02] [ 9.81222718e-01 1.82525186e-01 -6.23420801e-02 1.49865728e+02] [ 6.29796740e-02 2.30689306e-03 9.98012144e-01 4.13335271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9571056809999 meters Centerline goodness [0,1] 0.9971903681658307 Centerline is valid? [True, True] Translation: X:214.52, Y:149.89, Z:41.34 [[ 1.80238222e-01 -9.83580301e-01 -9.16372457e-03 2.14521895e+02] [ 9.81624485e-01 1.80457788e-01 -6.20351345e-02 1.49893399e+02] [ 6.26702018e-02 2.18576596e-03 9.98031897e-01 4.13352570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98710568099995 meters Centerline goodness [0,1] 0.9971903681658307 Centerline is valid? [True, True] Translation: X:214.53, Y:149.92, Z:41.34 [[ 1.79846407e-01 -9.83652213e-01 -9.14301817e-03 2.14525522e+02] [ 9.81696337e-01 1.80065446e-01 -6.20381862e-02 1.49919845e+02] [ 6.26703407e-02 2.18167740e-03 9.98031898e-01 4.13369483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0171056809999 meters Centerline goodness [0,1] 0.997625 Centerline is valid? [True, True] Translation: X:214.53, Y:149.95, Z:41.34 [[ 1.77680026e-01 -9.84048366e-01 -8.86684608e-03 2.14534485e+02] [ 9.82199510e-01 1.77889778e-01 -6.03270199e-02 1.49946562e+02] [ 6.09420266e-02 2.00989460e-03 9.98139284e-01 4.13401609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04710568099995 meters Centerline goodness [0,1] 0.9967320941656432 Centerline is valid? [True, True] Translation: X:214.55, Y:149.97, Z:41.35 [[ 1.72553617e-01 -9.84962794e-01 -8.57579057e-03 2.14547043e+02] [ 9.83225986e-01 1.72758608e-01 -5.84903649e-02 1.49971553e+02] [ 5.90923749e-02 1.66078389e-03 9.98251137e-01 4.13451652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0771056809999 meters Centerline goodness [0,1] 0.9977884414771542 Centerline is valid? [True, True] Translation: X:214.56, Y:150.00, Z:41.35 [[ 1.69556128e-01 -9.85484389e-01 -8.44030584e-03 2.14555198e+02] [ 9.83795584e-01 1.69759640e-01 -5.76880627e-02 1.49996896e+02] [ 5.82835085e-02 1.47782893e-03 9.98298978e-01 4.13484021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10710568099995 meters Centerline goodness [0,1] 0.9976186497326203 Centerline is valid? [True, True] Translation: X:214.57, Y:150.02, Z:41.35 [[ 1.64808090e-01 -9.86290312e-01 -8.34952271e-03 2.14568865e+02] [ 9.84629144e-01 1.65015012e-01 -5.72319398e-02 1.50023088e+02] [ 5.78251044e-02 1.21110329e-03 9.98325994e-01 4.13505593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1371056809999 meters Centerline goodness [0,1] 0.9981227707903135 Centerline is valid? [True, True] Translation: X:214.58, Y:150.05, Z:41.35 [[ 1.60866444e-01 -9.86939804e-01 -8.47409114e-03 2.14575724e+02] [ 9.85220357e-01 1.61086257e-01 -5.82414406e-02 1.50050380e+02] [ 5.88458556e-02 1.02024638e-03 9.98266560e-01 4.13519093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16710568099995 meters Centerline goodness [0,1] 0.9981215169793993 Centerline is valid? [True, True] Translation: X:214.58, Y:150.08, Z:41.35 [[ 1.59220422e-01 -9.87206670e-01 -8.47630034e-03 2.14577556e+02] [ 9.85477554e-01 1.59443073e-01 -5.84114492e-02 1.50076829e+02] [ 5.90156596e-02 9.47091860e-04 9.98256608e-01 4.13535107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.1971056809999 meters Centerline goodness [0,1] 0.9983121835344128 Centerline is valid? [True, True] Translation: X:214.58, Y:150.10, Z:41.36 [[ 1.58506872e-01 -9.87320451e-01 -8.59638139e-03 2.14584010e+02] [ 9.85533994e-01 1.58737028e-01 -5.93742596e-02 1.50103645e+02] [ 5.99859848e-02 9.39202070e-04 9.98198778e-01 4.13554852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2271056809999 meters Centerline goodness [0,1] 0.9985359324019075 Centerline is valid? [True, True] Translation: X:214.59, Y:150.13, Z:41.36 [[ 1.59229772e-01 -9.87203984e-01 -8.61245934e-03 2.14586629e+02] [ 9.85400014e-01 1.59459299e-01 -5.96619126e-02 1.50130667e+02] [ 6.02718145e-02 1.01323519e-03 9.98181487e-01 4.13574722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2571056809999 meters Centerline goodness [0,1] 0.9989330767138763 Centerline is valid? [True, True] Translation: X:214.58, Y:150.16, Z:41.36 [[ 1.63865918e-01 -9.86443301e-01 -8.80761018e-03 2.14582592e+02] [ 9.84543753e-01 1.64096831e-01 -6.12031712e-02 1.50158778e+02] [ 6.18187592e-02 1.35763623e-03 9.98086468e-01 4.13575584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.2871056809999 meters Centerline goodness [0,1] 0.9982869915811904 Centerline is valid? [True, True] Translation: X:214.58, Y:150.19, Z:41.36 [[ 1.67577991e-01 -9.85819115e-01 -8.84813810e-03 2.14582460e+02] [ 9.83890242e-01 1.67803529e-01 -6.16600922e-02 1.50186585e+02] [ 6.22704463e-02 1.62727761e-03 9.98057986e-01 4.13580126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31710568099993 meters Centerline goodness [0,1] 0.9983492832964186 Centerline is valid? [True, True] Translation: X:214.58, Y:150.21, Z:41.36 [[ 1.75541311e-01 -9.84430598e-01 -9.03585100e-03 2.14577070e+02] [ 9.82405252e-01 1.75759830e-01 -6.31537965e-02 1.50213822e+02] [ 6.37586693e-02 2.20923278e-03 9.97962901e-01 4.13583920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3471056809999 meters Centerline goodness [0,1] 0.9983517973753938 Centerline is valid? [True, True] Translation: X:214.58, Y:150.24, Z:41.36 [[ 1.78498774e-01 -9.83897350e-01 -9.17566034e-03 2.14578951e+02] [ 9.81795427e-01 1.78717337e-01 -6.43261407e-02 1.50241380e+02] [ 6.49301690e-02 2.47351585e-03 9.97886745e-01 4.13600787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37710568099993 meters Centerline goodness [0,1] 0.998554792225201 Centerline is valid? [True, True] Translation: X:214.58, Y:150.27, Z:41.36 [[ 1.81873556e-01 -9.83274606e-01 -9.64672289e-03 2.14580744e+02] [ 9.80936505e-01 1.82106542e-01 -6.78290515e-02 1.50268968e+02] [ 6.84513152e-02 2.87348815e-03 9.97650320e-01 4.13593415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4071056809999 meters Centerline goodness [0,1] 0.9986690512831178 Centerline is valid? [True, True] Translation: X:214.58, Y:150.30, Z:41.35 [[ 1.82754496e-01 -9.83105818e-01 -1.01855492e-02 2.14584327e+02] [ 9.80483466e-01 1.83011181e-01 -7.18267458e-02 1.50295748e+02] [ 7.24773610e-02 3.13989817e-03 9.97365115e-01 4.13545538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43710568099993 meters Centerline goodness [0,1] 0.9988703401531317 Centerline is valid? [True, True] Translation: X:214.59, Y:150.32, Z:41.36 [[ 1.81934146e-01 -9.83256177e-01 -1.03565138e-02 2.14589564e+02] [ 9.80532557e-01 1.82201222e-01 -7.32025910e-02 1.50322986e+02] [ 7.38638693e-02 3.16315185e-03 9.97263317e-01 4.13550042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.4671056809999 meters Centerline goodness [0,1] 0.998639655100247 Centerline is valid? [True, True] Translation: X:214.60, Y:150.35, Z:41.36 [[ 1.76265772e-01 -9.84286941e-01 -1.04687778e-02 2.14600867e+02] [ 9.81488848e-01 1.76554065e-01 -7.42179417e-02 1.50348219e+02] [ 7.49000561e-02 2.80709414e-03 9.97187095e-01 4.13566394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49710568099994 meters Centerline goodness [0,1] 0.9989802501508813 Centerline is valid? [True, True] Translation: X:214.61, Y:150.37, Z:41.36 [[ 1.71503506e-01 -9.85128123e-01 -1.04464881e-02 2.14609851e+02] [ 9.82327474e-01 1.71803525e-01 -7.42716737e-02 1.50373395e+02] [ 7.49618579e-02 2.47598024e-03 9.97183328e-01 4.13591720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5271056809999 meters Centerline goodness [0,1] 0.9987699620564566 Centerline is valid? [True, True] Translation: X:214.63, Y:150.40, Z:41.36 [[ 1.62258252e-01 -9.86695368e-01 -1.02230314e-02 2.14625422e+02] [ 9.84003352e-01 1.62570431e-01 -7.28577903e-02 1.50397315e+02] [ 7.35504068e-02 1.76228055e-03 9.97289944e-01 4.13638218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55710568099994 meters Centerline goodness [0,1] 0.9992878984626985 Centerline is valid? [True, True] Translation: X:214.64, Y:150.42, Z:41.37 [[ 1.53451273e-01 -9.88106497e-01 -9.91250575e-03 2.14639587e+02] [ 9.85563877e-01 1.53767147e-01 -7.08484873e-02 1.50421082e+02] [ 7.15300684e-02 1.10238294e-03 9.97437835e-01 4.13706509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5871056809999 meters Centerline goodness [0,1] 0.999230032879677 Centerline is valid? [True, True] Translation: X:214.65, Y:150.45, Z:41.38 [[ 1.48785793e-01 -9.88822361e-01 -9.65018701e-03 2.14649586e+02] [ 9.86400097e-01 1.49096414e-01 -6.91744823e-02 1.50448017e+02] [ 6.98400832e-02 7.73234835e-04 9.97557901e-01 4.13751469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61710568099994 meters Centerline goodness [0,1] 0.9994562375823486 Centerline is valid? [True, True] Translation: X:214.66, Y:150.47, Z:41.38 [[ 1.44437779e-01 -9.89468060e-01 -9.52290618e-03 2.14657476e+02] [ 9.87098110e-01 1.44750550e-01 -6.84441356e-02 1.50474158e+02] [ 6.91017320e-02 4.85876271e-04 9.97609500e-01 4.13775181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6471056809999 meters Centerline goodness [0,1] 0.9998331769367115 Centerline is valid? [True, True] Translation: X:214.67, Y:150.50, Z:41.38 [[ 1.37478413e-01 -9.90460456e-01 -9.36858905e-03 2.14667921e+02] [ 9.88156459e-01 1.37797256e-01 -6.75183635e-02 1.50498116e+02] [ 6.81652350e-02 2.46856556e-05 9.97674045e-01 4.13816522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67710568099994 meters Centerline goodness [0,1] 0.9999373786711754 Centerline is valid? [True, True] Translation: X:214.67, Y:150.52, Z:41.39 [[ 1.36027865e-01 -9.90660222e-01 -9.42043227e-03 2.14671739e+02] [ 9.88315096e-01 1.36353668e-01 -6.81245024e-02 1.50524891e+02] [ 6.87727451e-02 -4.35248293e-05 9.97632351e-01 4.13863589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7071056809999 meters Centerline goodness [0,1] 0.9999167325867022 Centerline is valid? [True, True] Translation: X:214.67, Y:150.55, Z:41.39 [[ 1.37176038e-01 -9.90500706e-01 -9.54393443e-03 2.14672705e+02] [ 9.88077908e-01 1.37507627e-01 -6.92365498e-02 1.50551191e+02] [ 6.98912152e-02 6.74448082e-05 9.97554617e-01 4.13871053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73710568099995 meters Centerline goodness [0,1] 0.9994565217391305 Centerline is valid? [True, True] Translation: X:214.67, Y:150.58, Z:41.39 [[ 1.43323247e-01 -9.89627061e-01 -9.83494381e-03 2.14667506e+02] [ 9.87034717e-01 1.43659229e-01 -7.15855639e-02 1.50579754e+02] [ 7.22558917e-02 5.52444472e-04 9.97385974e-01 4.13867217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.7671056809999 meters Centerline goodness [0,1] 0.9994575196127524 Centerline is valid? [True, True] Translation: X:214.67, Y:150.61, Z:41.39 [[ 1.46406323e-01 -9.89175992e-01 -9.80032019e-03 2.14667065e+02] [ 9.86585804e-01 1.46731759e-01 -7.15418945e-02 1.50608403e+02] [ 7.22055427e-02 8.05328944e-04 9.97389448e-01 4.13886681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79710568099995 meters Centerline goodness [0,1] 0.9993727785908426 Centerline is valid? [True, True] Translation: X:214.66, Y:150.64, Z:41.39 [[ 1.51799811e-01 -9.88360708e-01 -9.99646312e-03 2.14663264e+02] [ 9.85648737e-01 1.52123423e-01 -7.31780776e-02 1.50636860e+02] [ 7.38470327e-02 1.25541709e-03 9.97268790e-01 4.13892024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8271056809999 meters Centerline goodness [0,1] 0.9992869127516778 Centerline is valid? [True, True] Translation: X:214.66, Y:150.66, Z:41.39 [[ 1.53813287e-01 -9.88046859e-01 -1.02409196e-02 2.14664805e+02] [ 9.85182716e-01 1.54146762e-01 -7.51916957e-02 1.50664426e+02] [ 7.58715234e-02 1.47630491e-03 9.97116509e-01 4.13899572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85710568099995 meters Centerline goodness [0,1] 0.9992672765716918 Centerline is valid? [True, True] Translation: X:214.66, Y:150.69, Z:41.39 [[ 1.58023192e-01 -9.87377044e-01 -1.07352153e-02 2.14663369e+02] [ 9.84208531e-01 1.58375684e-01 -7.90614340e-02 1.50693153e+02] [ 7.97636420e-02 1.92784965e-03 9.96811941e-01 4.13900012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.8871056809999 meters Centerline goodness [0,1] 0.9994355715360816 Centerline is valid? [True, True] Translation: X:214.66, Y:150.72, Z:41.39 [[ 1.59517130e-01 -9.87136001e-01 -1.08074682e-02 2.14662823e+02] [ 9.83905481e-01 1.59869031e-01 -7.98241687e-02 1.50720643e+02] [ 8.05250902e-02 2.09979515e-03 9.96750370e-01 4.13902743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91710568099995 meters Centerline goodness [0,1] 0.9993300253334171 Centerline is valid? [True, True] Translation: X:214.66, Y:150.75, Z:41.39 [[ 1.62500551e-01 -9.86649361e-01 -1.07986157e-02 2.14660790e+02] [ 9.83404135e-01 1.62841570e-01 -7.99933207e-02 1.50749173e+02] [ 8.06838222e-02 2.37955536e-03 9.96736905e-01 4.13910811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9471056809999 meters Centerline goodness [0,1] 0.9990787462574067 Centerline is valid? [True, True] Translation: X:214.66, Y:150.78, Z:41.40 [[ 1.62672627e-01 -9.86622387e-01 -1.06715843e-02 2.14664521e+02] [ 9.83435227e-01 1.63004603e-01 -7.92758037e-02 1.50775570e+02] [ 7.99548000e-02 2.40119134e-03 9.96795598e-01 4.13951757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9771056809999 meters Centerline goodness [0,1] 0.9991429765886287 Centerline is valid? [True, True] Translation: X:214.67, Y:150.80, Z:41.40 [[ 1.61361586e-01 -9.86841428e-01 -1.03167185e-02 2.14670227e+02] [ 9.83845594e-01 1.61675343e-01 -7.68695644e-02 1.50801374e+02] [ 7.75260297e-02 2.25373674e-03 9.96987781e-01 4.14014359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0071056809999 meters Centerline goodness [0,1] 0.9989759023554245 Centerline is valid? [True, True] Translation: X:214.68, Y:150.83, Z:41.41 [[ 1.60813672e-01 -9.86933091e-01 -1.01012982e-02 2.14675595e+02] [ 9.84045621e-01 1.61115635e-01 -7.54716416e-02 1.50828250e+02] [ 7.61129376e-02 2.19673356e-03 9.97096783e-01 4.14059390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0371056809999 meters Centerline goodness [0,1] 0.998833503447414 Centerline is valid? [True, True] Translation: X:214.68, Y:150.85, Z:41.41 [[ 1.62823469e-01 -9.86604915e-01 -9.96293542e-03 2.14675830e+02] [ 9.83778983e-01 1.63110998e-01 -7.46573159e-02 1.50854902e+02] [ 7.52823392e-02 2.35463669e-03 9.97159478e-01 4.14080920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06710568099993 meters Centerline goodness [0,1] 0.9988114848099419 Centerline is valid? [True, True] Translation: X:214.67, Y:150.88, Z:41.41 [[ 1.68441306e-01 -9.85664236e-01 -9.67161749e-03 2.14673023e+02] [ 9.82988651e-01 1.68696713e-01 -7.26273464e-02 1.50881859e+02] [ 7.32177480e-02 2.72635487e-03 9.97312252e-01 4.14102908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.0971056809999 meters Centerline goodness [0,1] 0.9989168471921347 Centerline is valid? [True, True] Translation: X:214.67, Y:150.91, Z:41.41 [[ 1.70838095e-01 -9.85253717e-01 -9.45823581e-03 2.14673395e+02] [ 9.82682686e-01 1.71075689e-01 -7.11888137e-02 1.50909240e+02] [ 7.17571176e-02 2.86731675e-03 9.97418014e-01 4.14130478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12710568099993 meters Centerline goodness [0,1] 0.9985039893617021 Centerline is valid? [True, True] Translation: X:214.67, Y:150.94, Z:41.41 [[ 1.76336471e-01 -9.84285072e-01 -9.39923026e-03 2.14670111e+02] [ 9.81729528e-01 1.76556239e-01 -7.09579334e-02 1.50936907e+02] [ 7.15023273e-02 3.28496969e-03 9.97435024e-01 4.14124741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.1571056809999 meters Centerline goodness [0,1] 0.9987510148004746 Centerline is valid? [True, True] Translation: X:214.67, Y:150.96, Z:41.41 [[ 1.78013056e-01 -9.83982098e-01 -9.51748271e-03 2.14671151e+02] [ 9.81345776e-01 1.78233162e-01 -7.20653011e-02 1.50963745e+02] [ 7.26072972e-02 3.48862299e-03 9.97354506e-01 4.14123193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18710568099993 meters Centerline goodness [0,1] 0.9984895510035174 Centerline is valid? [True, True] Translation: X:214.67, Y:150.99, Z:41.41 [[ 1.80451892e-01 -9.83536611e-01 -9.63589253e-03 2.14673865e+02] [ 9.80817001e-01 1.80669948e-01 -7.31872922e-02 1.50989349e+02] [ 7.37232975e-02 3.75573812e-03 9.97271663e-01 4.14141631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2171056809999 meters Centerline goodness [0,1] 0.9987903814469541 Centerline is valid? [True, True] Translation: X:214.68, Y:151.02, Z:41.42 [[ 1.80782480e-01 -9.83475821e-01 -9.64389835e-03 2.14678841e+02] [ 9.80737852e-01 1.80999274e-01 -7.34338373e-02 1.51016501e+02] [ 7.39659420e-02 3.81741504e-03 9.97253462e-01 4.14162250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24710568099994 meters Centerline goodness [0,1] 0.9985592282474787 Centerline is valid? [True, True] Translation: X:214.68, Y:151.04, Z:41.41 [[ 1.79926548e-01 -9.83631460e-01 -9.77689192e-03 2.14683910e+02] [ 9.80800429e-01 1.80150919e-01 -7.46737183e-02 1.51041539e+02] [ 7.52127346e-02 3.84660453e-03 9.97160092e-01 4.14148728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2771056809999 meters Centerline goodness [0,1] 0.9986191313080592 Centerline is valid? [True, True] Translation: X:214.69, Y:151.07, Z:41.41 [[ 1.78639234e-01 -9.83864292e-01 -9.95385912e-03 2.14688480e+02] [ 9.80909937e-01 1.78874609e-01 -7.62861042e-02 1.51067910e+02] [ 7.68356665e-02 3.86385186e-03 9.97036284e-01 4.14132974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30710568099994 meters Centerline goodness [0,1] 0.998771524350886 Centerline is valid? [True, True] Translation: X:214.70, Y:151.09, Z:41.41 [[ 1.76335740e-01 -9.84276620e-01 -1.02587182e-02 2.14696175e+02] [ 9.81118259e-01 1.76592056e-01 -7.88809718e-02 1.51093434e+02] [ 7.94523044e-02 3.84451878e-03 9.96831255e-01 4.14100974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3371056809999 meters Centerline goodness [0,1] 0.9990805750585089 Centerline is valid? [True, True] Translation: X:214.71, Y:151.12, Z:41.41 [[ 1.71897980e-01 -9.85061624e-01 -1.02313752e-02 2.14711198e+02] [ 9.81902240e-01 1.72166252e-01 -7.89099019e-02 1.51118794e+02] [ 7.94926137e-02 3.51824249e-03 9.96829246e-01 4.14122297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36710568099994 meters Centerline goodness [0,1] 0.999351192967769 Centerline is valid? [True, True] Translation: X:214.72, Y:151.14, Z:41.41 [[ 1.66924032e-01 -9.85917662e-01 -1.01356722e-02 2.14719678e+02] [ 9.82800052e-01 1.67202241e-01 -7.84057985e-02 1.51144008e+02] [ 7.89963686e-02 3.12647284e-03 9.96870001e-01 4.14144229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3971056809999 meters Centerline goodness [0,1] 0.9993718724482318 Centerline is valid? [True, True] Translation: X:214.75, Y:151.17, Z:41.42 [[ 1.53574587e-01 -9.88086588e-01 -9.98706036e-03 2.14747178e+02] [ 9.85044884e-01 1.53885136e-01 -7.74980108e-02 1.51167908e+02] [ 7.81116052e-02 2.06402231e-03 9.96942484e-01 4.14195376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42710568099994 meters Centerline goodness [0,1] 0.9996450494842778 Centerline is valid? [True, True] Translation: X:214.75, Y:151.19, Z:41.42 [[ 1.45936052e-01 -9.89243577e-01 -9.99070184e-03 2.14754722e+02] [ 9.86183031e-01 1.46269974e-01 -7.77696849e-02 1.51193672e+02] [ 7.83945009e-02 1.49674019e-03 9.96921292e-01 4.14176318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4571056809999 meters Centerline goodness [0,1] 0.999937280481686 Centerline is valid? [True, True] Translation: X:214.77, Y:151.22, Z:41.42 [[ 1.34193150e-01 -9.90905462e-01 -9.92795881e-03 2.14769271e+02] [ 9.87870887e-01 1.34558597e-01 -7.74925431e-02 1.51218205e+02] [ 7.81236765e-02 5.91426978e-04 9.96943500e-01 4.14164145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.78, Y:151.24, Z:41.42 [[ 1.29806441e-01 -9.91489517e-01 -9.94112914e-03 2.14778882e+02] [ 9.88429636e-01 1.30186256e-01 -7.78356776e-02 1.51244571e+02] [ 7.84674567e-02 2.77465656e-04 9.96916637e-01 4.14230009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5171056809999 meters Centerline goodness [0,1] 0.9998740289733361 Centerline is valid? [True, True] Translation: X:214.79, Y:151.27, Z:41.43 [[ 1.23546033e-01 -9.92293278e-01 -9.50935887e-03 2.14785816e+02] [ 9.89479063e-01 1.23911326e-01 -7.46804367e-02 1.51270199e+02] [ 7.52832127e-02 -1.82839837e-04 9.97162176e-01 4.14306366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:151.30, Z:41.43 [[ 1.21986665e-01 -9.92488010e-01 -9.31685198e-03 2.14786617e+02] [ 9.89769481e-01 1.22341649e-01 -7.34090961e-02 1.51295097e+02] [ 7.39974867e-02 -2.66604965e-04 9.97258392e-01 4.14348009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5771056809999 meters Centerline goodness [0,1] 0.9999163687302682 Centerline is valid? [True, True] Translation: X:214.78, Y:151.32, Z:41.44 [[ 1.24337860e-01 -9.92197125e-01 -9.21749918e-03 2.14781745e+02] [ 9.89516238e-01 1.24679037e-01 -7.28886359e-02 1.51321313e+02] [ 7.34691239e-02 -5.80481305e-05 9.97297490e-01 4.14369518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60710568099995 meters Centerline goodness [0,1] 0.9998951825919249 Centerline is valid? [True, True] Translation: X:214.78, Y:151.35, Z:41.44 [[ 1.25645184e-01 -9.92032332e-01 -9.22713620e-03 2.14781065e+02] [ 9.89330006e-01 1.25983523e-01 -7.31730186e-02 1.51346674e+02] [ 7.37524674e-02 6.51546440e-05 9.97276576e-01 4.14386933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6371056809999 meters Centerline goodness [0,1] 0.9998950417733742 Centerline is valid? [True, True] Translation: X:214.78, Y:151.37, Z:41.44 [[ 1.27868183e-01 -9.91750402e-01 -8.99265508e-03 2.14778517e+02] [ 9.89168701e-01 1.28183767e-01 -7.15136543e-02 1.51374420e+02] [ 7.20764078e-02 2.49068109e-04 9.97399082e-01 4.14437984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66710568099995 meters Centerline goodness [0,1] 0.9997916840263311 Centerline is valid? [True, True] Translation: X:214.78, Y:151.40, Z:41.45 [[ 1.29193224e-01 -9.91579894e-01 -8.85577592e-03 2.14778328e+02] [ 9.89059512e-01 1.29495859e-01 -7.06548272e-02 1.51400747e+02] [ 7.12066924e-02 3.69235514e-04 9.97461513e-01 4.14463449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.6971056809999 meters Centerline goodness [0,1] 0.9997287598063762 Centerline is valid? [True, True] Translation: X:214.78, Y:151.43, Z:41.45 [[ 1.30392455e-01 -9.91422094e-01 -8.94640402e-03 2.14776212e+02] [ 9.88831333e-01 1.30698077e-01 -7.16282652e-02 1.51428213e+02] [ 7.21831225e-02 4.93300757e-04 9.97391274e-01 4.14458113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7271056809999 meters Centerline goodness [0,1] 0.9996857914912336 Centerline is valid? [True, True] Translation: X:214.78, Y:151.46, Z:41.44 [[ 1.30670302e-01 -9.91381825e-01 -9.34605056e-03 2.14775418e+02] [ 9.88533217e-01 1.31002848e-01 -7.51021460e-02 1.51456232e+02] [ 7.56792619e-02 5.74738699e-04 9.97132047e-01 4.14409643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7571056809999 meters Centerline goodness [0,1] 0.9997480949681969 Centerline is valid? [True, True] Translation: X:214.78, Y:151.48, Z:41.44 [[ 1.30743825e-01 -9.91370333e-01 -9.53495178e-03 2.14776748e+02] [ 9.88385367e-01 1.31089550e-01 -7.68758427e-02 1.51482784e+02] [ 7.74623623e-02 6.26834907e-04 9.96995080e-01 4.14396921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.7871056809999 meters Centerline goodness [0,1] 0.999727165883143 Centerline is valid? [True, True] Translation: X:214.78, Y:151.51, Z:41.44 [[ 1.31956129e-01 -9.91207808e-01 -9.72942509e-03 2.14779402e+02] [ 9.88078008e-01 1.32312072e-01 -7.87106468e-02 1.51510818e+02] [ 7.93059281e-02 7.72921323e-04 9.96850025e-01 4.14416363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81710568099993 meters Centerline goodness [0,1] 0.9996851385390428 Centerline is valid? [True, True] Translation: X:214.78, Y:151.54, Z:41.44 [[ 1.33186777e-01 -9.91043024e-01 -9.74719855e-03 2.14778707e+02] [ 9.87881656e-01 1.33539898e-01 -7.91007548e-02 1.51538310e+02] [ 7.96938911e-02 9.06095943e-04 9.96818972e-01 4.14415504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8471056809999 meters Centerline goodness [0,1] 0.999287600050287 Centerline is valid? [True, True] Translation: X:214.78, Y:151.57, Z:41.45 [[ 1.35834479e-01 -9.90685995e-01 -9.50024169e-03 2.14776851e+02] [ 9.87662849e-01 1.36161666e-01 -7.73440148e-02 1.51565938e+02] [ 7.79172009e-02 1.12294817e-03 9.96959201e-01 4.14479609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87710568099993 meters Centerline goodness [0,1] 0.999287600050287 Centerline is valid? [True, True] Translation: X:214.78, Y:151.59, Z:41.45 [[ 1.35427591e-01 -9.90742004e-01 -9.46834199e-03 2.14779825e+02] [ 9.87718724e-01 1.35753530e-01 -7.73479209e-02 1.51592475e+02] [ 7.79171950e-02 1.12298393e-03 9.96959202e-01 4.14496507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9071056809999 meters Centerline goodness [0,1] 0.999099702692517 Centerline is valid? [True, True] Translation: X:214.78, Y:151.62, Z:41.45 [[ 1.36733289e-01 -9.90565496e-01 -9.16546690e-03 2.14778180e+02] [ 9.87713306e-01 1.37034708e-01 -7.51259862e-02 1.51618428e+02] [ 7.56731969e-02 1.21936956e-03 9.97131927e-01 4.14535419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93710568099993 meters Centerline goodness [0,1] 0.998742428370816 Centerline is valid? [True, True] Translation: X:214.77, Y:151.65, Z:41.46 [[ 1.40709662e-01 -9.90010499e-01 -8.94437931e-03 2.14770001e+02] [ 9.87274751e-01 1.40985456e-01 -7.35640358e-02 1.51645301e+02] [ 7.40901952e-02 1.52061076e-03 9.97250385e-01 4.14558131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.9671056809999 meters Centerline goodness [0,1] 0.9988893080179387 Centerline is valid? [True, True] Translation: X:214.77, Y:151.67, Z:41.46 [[ 1.42238384e-01 -9.89792959e-01 -8.83970222e-03 2.14773865e+02] [ 9.87105438e-01 1.42503310e-01 -7.29085756e-02 1.51672977e+02] [ 7.34240816e-02 1.64467985e-03 9.97299453e-01 4.14609795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99710568099994 meters Centerline goodness [0,1] 0.9986861861861862 Centerline is valid? [True, True] Translation: X:214.77, Y:151.70, Z:41.47 [[ 1.47440952e-01 -9.89035123e-01 -8.40785570e-03 2.14767431e+02] [ 9.86588029e-01 1.47667471e-01 -6.95584503e-02 1.51700777e+02] [ 7.00373172e-02 1.96067433e-03 9.97542445e-01 4.14662502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0271056809999 meters Centerline goodness [0,1] 0.9984123668268227 Centerline is valid? [True, True] Translation: X:214.76, Y:151.73, Z:41.46 [[ 1.54642618e-01 -9.87932495e-01 -8.66287604e-03 2.14756968e+02] [ 9.85315496e-01 1.54863508e-01 -7.19073496e-02 1.51729187e+02] [ 7.23811707e-02 2.58427478e-03 9.97373695e-01 4.14635664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05710568099994 meters Centerline goodness [0,1] 0.9985486822455462 Centerline is valid? [True, True] Translation: X:214.76, Y:151.76, Z:41.46 [[ 1.58587427e-01 -9.87304197e-01 -8.96945819e-03 2.14755404e+02] [ 9.84482084e-01 1.58812364e-01 -7.46569494e-02 1.51757767e+02] [ 7.51335803e-02 3.00938264e-03 9.97168937e-01 4.14626445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0871056809999 meters Centerline goodness [0,1] 0.998506709292054 Centerline is valid? [True, True] Translation: X:214.75, Y:151.79, Z:41.46 [[ 1.67472359e-01 -9.85832661e-01 -9.32595039e-03 2.14748649e+02] [ 9.82760373e-01 1.67687051e-01 -7.78659303e-02 1.51786161e+02] [ 7.83266184e-02 3.87521655e-03 9.96920219e-01 4.14614112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11710568099994 meters Centerline goodness [0,1] 0.9984675777231984 Centerline is valid? [True, True] Translation: X:214.75, Y:151.81, Z:41.46 [[ 1.70430806e-01 -9.85326207e-01 -9.25232111e-03 2.14747907e+02] [ 9.82286079e-01 1.70632235e-01 -7.74512709e-02 1.51814194e+02] [ 7.78935112e-02 4.11165633e-03 9.96953206e-01 4.14627283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1471056809999 meters Centerline goodness [0,1] 0.9982791185729276 Centerline is valid? [True, True] Translation: X:214.75, Y:151.84, Z:41.47 [[ 1.71712375e-01 -9.85105802e-01 -9.02321413e-03 2.14750815e+02] [ 9.82196528e-01 1.71899261e-01 -7.57669100e-02 1.51841517e+02] [ 7.61895065e-02 4.14754645e-03 9.97084729e-01 4.14671374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17710568099994 meters Centerline goodness [0,1] 0.9982757533065585 Centerline is valid? [True, True] Translation: X:214.76, Y:151.87, Z:41.47 [[ 1.69796426e-01 -9.85439521e-01 -8.83879907e-03 2.14756101e+02] [ 9.82631509e-01 1.69980315e-01 -7.44446728e-02 1.51869289e+02] [ 7.48631445e-02 3.95515689e-03 9.97185974e-01 4.14696762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2071056809999 meters Centerline goodness [0,1] 0.9983166754339821 Centerline is valid? [True, True] Translation: X:214.77, Y:151.90, Z:41.47 [[ 1.64101412e-01 -9.86404709e-01 -8.74504344e-03 2.14765253e+02] [ 9.83640703e-01 1.64296534e-01 -7.38756880e-02 1.51895751e+02] [ 7.43081069e-02 3.52112407e-03 9.97229115e-01 4.14701127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23710568099995 meters Centerline goodness [0,1] 0.9982379593891593 Centerline is valid? [True, True] Translation: X:214.78, Y:151.92, Z:41.47 [[ 1.55927401e-01 -9.87729713e-01 -8.75557090e-03 2.14776939e+02] [ 9.84941854e-01 1.56145186e-01 -7.42174200e-02 1.51921141e+02] [ 7.46738912e-02 2.94880122e-03 9.97203647e-01 4.14697314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.2671056809999 meters Centerline goodness [0,1] 0.9985935892860891 Centerline is valid? [True, True] Translation: X:214.79, Y:151.95, Z:41.47 [[ 1.48274388e-01 -9.88906654e-01 -8.85077796e-03 2.14790914e+02] [ 9.86039610e-01 1.48518337e-01 -7.52873928e-02 1.51945656e+02] [ 7.57667065e-02 2.43597441e-03 9.97122596e-01 4.14694652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29710568099995 meters Centerline goodness [0,1] 0.9982059786803513 Centerline is valid? [True, True] Translation: X:214.80, Y:151.97, Z:41.47 [[ 1.44043738e-01 -9.89531548e-01 -8.87229354e-03 2.14800224e+02] [ 9.86634916e-01 1.44300723e-01 -7.56891295e-02 1.51971631e+02] [ 7.61770598e-02 2.14883054e-03 9.97091991e-01 4.14706265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3271056809999 meters Centerline goodness [0,1] 0.9984460310793785 Centerline is valid? [True, True] Translation: X:214.81, Y:152.00, Z:41.47 [[ 1.39864700e-01 -9.90131476e-01 -8.80490825e-03 2.14807492e+02] [ 9.87260140e-01 1.40129371e-01 -7.53735653e-02 1.51997518e+02] [ 7.58635657e-02 1.84936618e-03 9.97116492e-01 4.14718241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35710568099995 meters Centerline goodness [0,1] 0.9982899922841115 Centerline is valid? [True, True] Translation: X:214.82, Y:152.02, Z:41.47 [[ 1.32121564e-01 -9.91195841e-01 -8.64278339e-03 2.14818580e+02] [ 9.88412592e-01 1.32397897e-01 -7.42384267e-02 1.52022714e+02] [ 7.47291061e-02 1.26586113e-03 9.97203068e-01 4.14724948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.3871056809999 meters Centerline goodness [0,1] 0.9981977073160508 Centerline is valid? [True, True] Translation: X:214.83, Y:152.05, Z:41.47 [[ 1.28986325e-01 -9.91608741e-01 -8.63902927e-03 2.14825063e+02] [ 9.88809186e-01 1.29270937e-01 -7.44675643e-02 1.52049404e+02] [ 7.49594631e-02 1.06294595e-03 9.97186015e-01 4.14725329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41710568099995 meters Centerline goodness [0,1] 0.9984296811205795 Centerline is valid? [True, True] Translation: X:214.83, Y:152.08, Z:41.47 [[ 1.25380532e-01 -9.92072955e-01 -8.42465493e-03 2.14831722e+02] [ 9.89393896e-01 1.25660702e-01 -7.28636216e-02 1.52075441e+02] [ 7.33446765e-02 8.00377515e-04 9.97306331e-01 4.14747684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4471056809999 meters Centerline goodness [0,1] 0.9976702583517078 Centerline is valid? [True, True] Translation: X:214.83, Y:152.10, Z:41.48 [[ 1.24976596e-01 -9.92124931e-01 -8.30486145e-03 2.14834922e+02] [ 9.89503934e-01 1.25249737e-01 -7.20726614e-02 1.52101599e+02] [ 7.25452659e-02 7.89702838e-04 9.97364808e-01 4.14773080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4771056809999 meters Centerline goodness [0,1] 0.9981016751152555 Centerline is valid? [True, True] Translation: X:214.84, Y:152.13, Z:41.48 [[ 1.24896916e-01 -9.92133428e-01 -8.48655684e-03 2.14837211e+02] [ 9.89375336e-01 1.25182107e-01 -7.39316146e-02 1.52128285e+02] [ 7.44123913e-02 8.37440644e-04 9.97227203e-01 4.14787516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5071056809999 meters Centerline goodness [0,1] 0.9977395927080935 Centerline is valid? [True, True] Translation: X:214.84, Y:152.15, Z:41.48 [[ 1.22834540e-01 -9.92390002e-01 -8.58828819e-03 2.14838140e+02] [ 9.89545263e-01 1.23132275e-01 -7.50907141e-02 1.52154384e+02] [ 7.55767694e-02 7.25233462e-04 9.97139722e-01 4.14776022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5371056809999 meters Centerline goodness [0,1] 0.9978185631882538 Centerline is valid? [True, True] Translation: X:214.84, Y:152.18, Z:41.48 [[ 1.18039434e-01 -9.92973759e-01 -8.35496023e-03 2.14841804e+02] [ 9.90263321e-01 1.18334138e-01 -7.33183933e-02 1.52180247e+02] [ 7.37919176e-02 3.80850996e-04 9.97273587e-01 4.14798468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56710568099993 meters Centerline goodness [0,1] 0.9983432250487595 Centerline is valid? [True, True] Translation: X:214.85, Y:152.21, Z:41.48 [[ 1.14290922e-01 -9.93412734e-01 -8.29001530e-03 2.14846550e+02] [ 9.90725627e-01 1.14591107e-01 -7.30178701e-02 1.52207186e+02] [ 7.34868440e-02 1.32149102e-04 9.97296178e-01 4.14833938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.5971056809999 meters Centerline goodness [0,1] 0.998535748650797 Centerline is valid? [True, True] Translation: X:214.85, Y:152.23, Z:41.49 [[ 1.07251253e-01 -9.94198221e-01 -8.18939369e-03 2.14853801e+02] [ 9.91558791e-01 1.07562870e-01 -7.23974673e-02 1.52233136e+02] [ 7.28583079e-02 -3.55546200e-04 9.97342238e-01 4.14858579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62710568099993 meters Centerline goodness [0,1] 0.9988057575059188 Centerline is valid? [True, True] Translation: X:214.86, Y:152.26, Z:41.49 [[ 1.03238765e-01 -9.94623586e-01 -8.10428919e-03 2.14857305e+02] [ 9.92020088e-01 1.03554548e-01 -7.19207905e-02 1.52259794e+02] [ 7.23733506e-02 -6.14604087e-04 9.97377421e-01 4.14893631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.6571056809999 meters Centerline goodness [0,1] 0.9987425601475396 Centerline is valid? [True, True] Translation: X:214.86, Y:152.29, Z:41.49 [[ 9.75798941e-02 -9.95197360e-01 -7.77038773e-03 2.14860364e+02] [ 9.92788259e-01 9.78840725e-02 -6.92111384e-02 1.52287670e+02] [ 6.96393394e-02 -9.60734146e-04 9.97571772e-01 4.14942458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68710568099993 meters Centerline goodness [0,1] 0.9992900396742534 Centerline is valid? [True, True] Translation: X:214.86, Y:152.32, Z:41.50 [[ 9.51319837e-02 -9.95435345e-01 -7.64060900e-03 2.14862502e+02] [ 9.93090804e-01 9.54320814e-02 -6.82888858e-02 1.52315150e+02] [ 6.87063298e-02 -1.09136137e-03 9.97636331e-01 4.14977083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7171056809999 meters Centerline goodness [0,1] 0.9989932674762474 Centerline is valid? [True, True] Translation: X:214.86, Y:152.34, Z:41.50 [[ 9.44737892e-02 -9.95497986e-01 -7.64614208e-03 2.14862329e+02] [ 9.93132137e-01 9.47761694e-02 -6.86005498e-02 1.52341567e+02] [ 6.90163812e-02 -1.11267555e-03 9.97614906e-01 4.14998379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74710568099994 meters Centerline goodness [0,1] 0.9990598951260785 Centerline is valid? [True, True] Translation: X:214.85, Y:152.37, Z:41.50 [[ 9.84206733e-02 -9.95116116e-01 -7.56883148e-03 2.14853691e+02] [ 9.92782586e-01 9.87079500e-02 -6.81137105e-02 1.52369626e+02] [ 6.85281549e-02 -8.10406833e-04 9.97648854e-01 4.15024843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7771056809999 meters Centerline goodness [0,1] 0.9983798267660927 Centerline is valid? [True, True] Translation: X:214.85, Y:152.40, Z:41.50 [[ 1.03140491e-01 -9.94638138e-01 -7.55079367e-03 2.14848894e+02] [ 9.92296679e-01 1.03415502e-01 -6.82094926e-02 1.52396440e+02] [ 6.86246318e-02 -4.57466944e-04 9.97642446e-01 4.15046681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80710568099994 meters Centerline goodness [0,1] 0.9976333591639265 Centerline is valid? [True, True] Translation: X:214.83, Y:152.43, Z:41.51 [[ 1.17870762e-01 -9.92998354e-01 -7.79444069e-03 2.14832843e+02] [ 9.90483450e-01 1.18126643e-01 -7.06302473e-02 1.52426789e+02] [ 7.10564504e-02 6.04976561e-04 9.97472112e-01 4.15066558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8371056809999 meters Centerline goodness [0,1] 0.9967951403435275 Centerline is valid? [True, True] Translation: X:214.82, Y:152.46, Z:41.51 [[ 1.25579804e-01 -9.92051463e-01 -7.97541912e-03 2.14824005e+02] [ 9.89398369e-01 1.25826932e-01 -7.25151760e-02 1.52455634e+02] [ 7.29423089e-02 1.21557491e-03 9.97335421e-01 4.15062838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86710568099994 meters Centerline goodness [0,1] 0.9959724786037926 Centerline is valid? [True, True] Translation: X:214.80, Y:152.49, Z:41.50 [[ 1.40695476e-01 -9.90019576e-01 -8.12539562e-03 2.14804239e+02] [ 9.87246943e-01 1.40909452e-01 -7.40810358e-02 1.52485249e+02] [ 7.44866207e-02 2.40109460e-03 9.97219122e-01 4.15023379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8971056809999 meters Centerline goodness [0,1] 0.9955759634335556 Centerline is valid? [True, True] Translation: X:214.80, Y:152.51, Z:41.50 [[ 1.46387900e-01 -9.89193352e-01 -8.19114646e-03 2.14796102e+02] [ 9.86352156e-01 1.46588282e-01 -7.49753339e-02 1.52513460e+02] [ 7.53658280e-02 2.89612670e-03 9.97151746e-01 4.15012030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92710568099994 meters Centerline goodness [0,1] 0.9951955354145686 Centerline is valid? [True, True] Translation: X:214.79, Y:152.54, Z:41.50 [[ 1.53597229e-01 -9.88099791e-01 -8.16670483e-03 2.14788619e+02] [ 9.85253317e-01 1.53774864e-01 -7.50279441e-02 1.52541601e+02] [ 7.53909298e-02 3.47781131e-03 9.97147989e-01 4.15014847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9571056809999 meters Centerline goodness [0,1] 0.9948285247686446 Centerline is valid? [True, True] Translation: X:214.79, Y:152.57, Z:41.50 [[ 1.54781625e-01 -9.87915673e-01 -8.07904809e-03 2.14788793e+02] [ 9.85110284e-01 1.54951211e-01 -7.44838977e-02 1.52568226e+02] [ 7.48356683e-02 3.56998537e-03 9.97189489e-01 4.15033623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98710568099995 meters Centerline goodness [0,1] 0.9948365247930429 Centerline is valid? [True, True] Translation: X:214.79, Y:152.60, Z:41.51 [[ 1.53869307e-01 -9.88059823e-01 -7.87544639e-03 2.14793782e+02] [ 9.85379625e-01 1.54032251e-01 -7.28083793e-02 1.52595252e+02] [ 7.31521071e-02 3.44267043e-03 9.97314854e-01 4.15078456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0171056809999 meters Centerline goodness [0,1] 0.9961398823185744 Centerline is valid? [True, True] Translation: X:214.80, Y:152.62, Z:41.51 [[ 1.51467112e-01 -9.88430118e-01 -7.97591007e-03 2.14798326e+02] [ 9.85661989e-01 1.51640036e-01 -7.39982675e-02 1.52623525e+02] [ 7.43515836e-02 3.34675253e-03 9.97226474e-01 4.15074433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04710568099995 meters Centerline goodness [0,1] 0.9961096040207769 Centerline is valid? [True, True] Translation: X:214.80, Y:152.65, Z:41.51 [[ 1.50092164e-01 -9.88638367e-01 -8.15610696e-03 2.14801852e+02] [ 9.85724599e-01 1.50276146e-01 -7.59216368e-02 1.52650318e+02] [ 7.62847113e-02 3.35556752e-03 9.97080430e-01 4.15053896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0771056809999 meters Centerline goodness [0,1] 0.996643872970592 Centerline is valid? [True, True] Translation: X:214.81, Y:152.68, Z:41.50 [[ 1.45721618e-01 -9.89289845e-01 -8.41498036e-03 2.14811020e+02] [ 9.86164910e-01 1.45930177e-01 -7.86330343e-02 1.52677223e+02] [ 7.90188619e-02 3.15997465e-03 9.96868113e-01 4.15021236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10710568099995 meters Centerline goodness [0,1] 0.9969640501664538 Centerline is valid? [True, True] Translation: X:214.82, Y:152.70, Z:41.50 [[ 1.42969252e-01 -9.89690482e-01 -8.51719058e-03 2.14818683e+02] [ 9.86467424e-01 1.43190962e-01 -7.98646914e-02 1.52704377e+02] [ 8.02609097e-02 3.01626411e-03 9.96769326e-01 4.15034418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1371056809999 meters Centerline goodness [0,1] 0.9973893087984504 Centerline is valid? [True, True] Translation: X:214.83, Y:152.73, Z:41.50 [[ 1.36778931e-01 -9.90565166e-01 -8.49559870e-03 2.14830962e+02] [ 9.87338021e-01 1.37018877e-01 -7.99340906e-02 1.52729329e+02] [ 8.03439831e-02 2.54527185e-03 9.96763947e-01 4.15045773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16710568099995 meters Centerline goodness [0,1] 0.9977929120948417 Centerline is valid? [True, True] Translation: X:214.84, Y:152.76, Z:41.51 [[ 1.32429371e-01 -9.91155998e-01 -8.49998764e-03 2.14838773e+02] [ 9.87902797e-01 1.32683088e-01 -8.02699348e-02 1.52756077e+02] [ 8.06878320e-02 2.23293538e-03 9.96736920e-01 4.15055224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.1971056809999 meters Centerline goodness [0,1] 0.9979195561719834 Centerline is valid? [True, True] Translation: X:214.85, Y:152.78, Z:41.51 [[ 1.24580218e-01 -9.92173259e-01 -8.48492231e-03 2.14851116e+02] [ 9.88909115e-01 1.24858200e-01 -8.04312839e-02 1.52781532e+02] [ 8.08611812e-02 1.62932989e-03 9.96724041e-01 4.15063677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2271056809999 meters Centerline goodness [0,1] 0.9982130468602182 Centerline is valid? [True, True] Translation: X:214.86, Y:152.81, Z:41.51 [[ 1.21228642e-01 -9.92589599e-01 -8.33688149e-03 2.14856832e+02] [ 9.89415450e-01 1.21507263e-01 -7.93287581e-02 1.52807950e+02] [ 7.97538919e-02 1.36827826e-03 9.96813646e-01 4.15087470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2571056809999 meters Centerline goodness [0,1] 0.9983385210734416 Centerline is valid? [True, True] Translation: X:214.86, Y:152.83, Z:41.51 [[ 1.18363405e-01 -9.92938143e-01 -7.99677362e-03 2.14861588e+02] [ 9.89997719e-01 1.18627925e-01 -7.63670853e-02 1.52834025e+02] [ 7.67764325e-02 1.12228060e-03 9.97047702e-01 4.15134239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.2871056809999 meters Centerline goodness [0,1] 0.9985417881843179 Centerline is valid? [True, True] Translation: X:214.87, Y:152.86, Z:41.52 [[ 1.15943901e-01 -9.93224566e-01 -7.87228370e-03 2.14867191e+02] [ 9.90354593e-01 1.16206944e-01 -7.54567814e-02 1.52859908e+02] [ 7.58603430e-02 9.52401238e-04 9.97117998e-01 4.15172034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31710568099993 meters Centerline goodness [0,1] 0.9987459504650433 Centerline is valid? [True, True] Translation: X:214.87, Y:152.89, Z:41.52 [[ 1.14177612e-01 -9.93429250e-01 -7.86122898e-03 2.14871448e+02] [ 9.90545390e-01 1.14444761e-01 -7.56453972e-02 1.52885969e+02] [ 7.60480266e-02 8.50106697e-04 9.97103793e-01 4.15195418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3471056809999 meters Centerline goodness [0,1] 0.9989134295923271 Centerline is valid? [True, True] Translation: X:214.87, Y:152.91, Z:41.52 [[ 1.09628543e-01 -9.93942719e-01 -7.71069376e-03 2.14874434e+02] [ 9.91147732e-01 1.09898126e-01 -7.44887624e-02 1.52912343e+02] [ 7.48849538e-02 5.23657857e-04 9.97192042e-01 4.15219909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37710568099993 meters Centerline goodness [0,1] 0.9990975108088822 Centerline is valid? [True, True] Translation: X:214.88, Y:152.94, Z:41.52 [[ 1.06644727e-01 -9.94268470e-01 -7.55723056e-03 2.14877064e+02] [ 9.91565172e-01 1.06911678e-01 -7.32693823e-02 1.52939017e+02] [ 7.36573928e-02 3.20306648e-04 9.97283553e-01 4.15241678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4071056809999 meters Centerline goodness [0,1] 0.9996665346699736 Centerline is valid? [True, True] Translation: X:214.89, Y:152.97, Z:41.53 [[ 9.74013638e-02 -9.95217816e-01 -7.38054788e-03 2.14885524e+02] [ 9.92622575e-01 9.76800348e-02 -7.18264146e-02 1.52965574e+02] [ 7.22038597e-02 -3.30107702e-04 9.97389840e-01 4.15300602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43710568099993 meters Centerline goodness [0,1] 0.9998124531132783 Centerline is valid? [True, True] Translation: X:214.89, Y:152.99, Z:41.53 [[ 9.13647401e-02 -9.95791039e-01 -7.25882732e-03 2.14892769e+02] [ 9.93262268e-01 9.16497333e-02 -7.09252701e-02 1.52990813e+02] [ 7.12920180e-02 -7.29850418e-04 9.97455220e-01 4.15326350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.4671056809999 meters Centerline goodness [0,1] 0.9999164525763937 Centerline is valid? [True, True] Translation: X:214.90, Y:153.02, Z:41.54 [[ 8.07218518e-02 -9.96711560e-01 -7.07455195e-03 2.14899925e+02] [ 9.94292890e-01 8.10186269e-02 -6.94091563e-02 1.53017853e+02] [ 6.97540790e-02 -1.43134107e-03 9.97563191e-01 4.15390127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:153.05, Z:41.54 [[ 7.25925116e-02 -9.97337775e-01 -6.90572825e-03 2.14903396e+02] [ 9.95018871e-01 7.28945615e-02 -6.79987432e-02 1.53045149e+02] [ 6.83211053e-02 -1.93513037e-03 9.97661507e-01 4.15405580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5271056809999 meters Centerline goodness [0,1] 0.9999581992225055 Centerline is valid? [True, True] Translation: X:214.90, Y:153.07, Z:41.54 [[ 6.93016568e-02 -9.97571911e-01 -6.89651860e-03 2.14903750e+02] [ 9.95246744e-01 6.96109543e-02 -6.81045796e-02 1.53073105e+02] [ 6.84192889e-02 -2.14397748e-03 9.97654351e-01 4.15411504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55710568099994 meters Centerline goodness [0,1] 0.9999790746824583 Centerline is valid? [True, True] Translation: X:214.90, Y:153.10, Z:41.54 [[ 6.54462144e-02 -9.97832122e-01 -6.91738139e-03 2.14904764e+02] [ 9.95475508e-01 6.57670720e-02 -6.85799159e-02 1.53099764e+02] [ 6.88861789e-02 -2.39778787e-03 9.97621644e-01 4.15396254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:153.13, Z:41.54 [[ 6.46904315e-02 -9.97881467e-01 -6.90836939e-03 2.14904696e+02] [ 9.95510803e-01 6.50129567e-02 -6.87863055e-02 1.53127346e+02] [ 6.90897130e-02 -2.42754058e-03 9.97607497e-01 4.15404399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:153.15, Z:41.54 [[ 6.25228407e-02 -9.98019534e-01 -6.92134881e-03 2.14902809e+02] [ 9.95619348e-01 6.28525362e-02 -6.92219150e-02 1.53154118e+02] [ 6.95198476e-02 -2.56307802e-03 9.97577276e-01 4.15402706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:153.18, Z:41.54 [[ 5.96880702e-02 -9.98192546e-01 -6.99818555e-03 2.14903159e+02] [ 9.95716644e-01 6.00329995e-02 -7.03164585e-02 1.53181690e+02] [ 7.06094868e-02 -2.77115611e-03 9.97500186e-01 4.15405398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:153.21, Z:41.54 [[ 5.50329504e-02 -9.98460842e-01 -6.87898504e-03 2.14896410e+02] [ 9.96049707e-01 5.53782841e-02 -6.94134469e-02 1.53210207e+02] [ 6.96875551e-02 -3.03178425e-03 9.97564260e-01 4.15422655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.89, Y:153.24, Z:41.54 [[ 5.35455226e-02 -9.98542500e-01 -6.76407227e-03 2.14894019e+02] [ 9.96193302e-01 5.38837233e-02 -6.85233478e-02 1.53238863e+02] [ 6.87879484e-02 -3.06920503e-03 9.97626583e-01 4.15437477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:153.27, Z:41.54 [[ 5.11672540e-02 -9.98667294e-01 -6.74892281e-03 2.14884467e+02] [ 9.96310567e-01 5.15103939e-02 -6.86435193e-02 1.53267994e+02] [ 6.88996773e-02 -3.21172272e-03 9.97618424e-01 4.15449551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.7671056809999 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:214.88, Y:153.30, Z:41.55 [[ 4.81487072e-02 -9.98817355e-01 -6.75231241e-03 2.14876668e+02] [ 9.96439744e-01 4.85002874e-02 -6.89605603e-02 1.53296062e+02] [ 6.92064935e-02 -3.40791062e-03 9.97596535e-01 4.15465026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79710568099995 meters Centerline goodness [0,1] 0.9999789517996212 Centerline is valid? [True, True] Translation: X:214.88, Y:153.32, Z:41.55 [[ 4.77144115e-02 -9.98838389e-01 -6.72365978e-03 2.14878962e+02] [ 9.96460640e-01 4.80650520e-02 -6.89633544e-02 1.53322668e+02] [ 6.92064188e-02 -3.40931645e-03 9.97596536e-01 4.15481943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:153.35, Z:41.55 [[ 4.52241921e-02 -9.98954409e-01 -6.69783322e-03 2.14876052e+02] [ 9.96574412e-01 4.55791280e-02 -6.90071310e-02 1.53351107e+02] [ 6.92402591e-02 -3.55409746e-03 9.97593682e-01 4.15495547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85710568099995 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:214.87, Y:153.38, Z:41.55 [[ 4.21981211e-02 -9.99087666e-01 -6.56913709e-03 2.14867115e+02] [ 9.96780881e-01 4.25474892e-02 -6.79528306e-02 1.53378936e+02] [ 6.81703353e-02 -3.68050848e-03 9.97666908e-01 4.15520090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.8871056809999 meters Centerline goodness [0,1] 0.9999789464819572 Centerline is valid? [True, True] Translation: X:214.86, Y:153.41, Z:41.55 [[ 4.14421748e-02 -9.99119370e-01 -6.55979582e-03 2.14862516e+02] [ 9.96799431e-01 4.17933805e-02 -6.81484214e-02 1.53406832e+02] [ 6.83625639e-02 -3.71458195e-03 9.97653628e-01 4.15533464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:153.43, Z:41.55 [[ 4.27009258e-02 -9.99066080e-01 -6.60291066e-03 2.14850465e+02] [ 9.96693716e-01 4.30549283e-02 -6.89050792e-02 1.53434797e+02] [ 6.91250153e-02 -3.63876889e-03 9.97601369e-01 4.15541829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.83, Y:153.46, Z:41.56 [[ 4.76798590e-02 -9.98841311e-01 -6.53193787e-03 2.14834912e+02] [ 9.96500081e-01 4.80155717e-02 -6.84258177e-02 1.53462344e+02] [ 6.86601682e-02 -3.24654328e-03 9.97634824e-01 4.15559101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.83, Y:153.49, Z:41.56 [[ 5.06946605e-02 -9.98692815e-01 -6.53553239e-03 2.14827954e+02] [ 9.96329056e-01 5.10245011e-02 -6.87380039e-02 1.53488978e+02] [ 6.89816229e-02 -3.02689104e-03 9.97613339e-01 4.15581285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:153.52, Z:41.56 [[ 5.53911790e-02 -9.98443274e-01 -6.54573181e-03 2.14817705e+02] [ 9.96049876e-01 5.57117009e-02 -6.91436926e-02 1.53517562e+02] [ 6.94007286e-02 -2.68992471e-03 9.97585236e-01 4.15592016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.80, Y:153.55, Z:41.56 [[ 6.45729209e-02 -9.97891459e-01 -6.55538297e-03 2.14799580e+02] [ 9.95472444e-01 6.48727554e-02 -6.94704178e-02 1.53546970e+02] [ 6.97492024e-02 -2.03979531e-03 9.97562473e-01 4.15610739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:153.58, Z:41.56 [[ 7.05386621e-02 -9.97488199e-01 -6.44899642e-03 2.14785533e+02] [ 9.95124717e-01 7.08153245e-02 -6.86439164e-02 1.53575196e+02] [ 6.89281843e-02 -1.57550571e-03 9.97620380e-01 4.15633017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.0971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.78, Y:153.60, Z:41.57 [[ 7.20299431e-02 -9.97381740e-01 -6.43051254e-03 2.14779909e+02] [ 9.95011081e-01 7.23019392e-02 -6.87413909e-02 1.53603519e+02] [ 6.90263466e-02 -1.44699276e-03 9.97613788e-01 4.15657255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:153.63, Z:41.57 [[ 7.14269502e-02 -9.97426282e-01 -6.24517931e-03 2.14771871e+02] [ 9.95172400e-01 7.16852460e-02 -6.70307420e-02 1.53630144e+02] [ 6.73059110e-02 -1.42722861e-03 9.97731365e-01 4.15668242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:153.66, Z:41.57 [[ 7.03932523e-02 -9.97500442e-01 -6.13661693e-03 2.14770995e+02] [ 9.95303623e-01 7.06453689e-02 -6.61810336e-02 1.53657035e+02] [ 6.64491339e-02 -1.44909887e-03 9.97788762e-01 4.15684671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:153.68, Z:41.57 [[ 6.95396965e-02 -9.97561038e-01 -6.01721432e-03 2.14770026e+02] [ 9.95429775e-01 6.97843468e-02 -6.51897808e-02 1.53683011e+02] [ 6.54506927e-02 -1.45643673e-03 9.97854742e-01 4.15710817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:153.71, Z:41.57 [[ 7.42676853e-02 -9.97219712e-01 -6.09570290e-03 2.14761686e+02] [ 9.95009627e-01 7.45087578e-02 -6.63647969e-02 1.53711677e+02] [ 6.66344669e-02 -1.13652322e-03 9.97776807e-01 4.15706413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.75, Y:153.74, Z:41.57 [[ 7.98519267e-02 -9.96787239e-01 -6.23461295e-03 2.14754623e+02] [ 9.94454080e-01 8.00913706e-02 -6.81649119e-02 1.53740521e+02] [ 6.84452530e-02 -7.56936733e-04 9.97654587e-01 4.15699276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.73, Y:153.77, Z:41.57 [[ 9.53903152e-02 -9.95419110e-01 -6.44077130e-03 2.14734981e+02] [ 9.92903554e-01 9.56068635e-02 -7.07238326e-02 1.53769858e+02] [ 7.10156365e-02 3.51303969e-04 9.97475141e-01 4.15666492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30710568099994 meters Centerline goodness [0,1] 0.9999789482548104 Centerline is valid? [True, True] Translation: X:214.73, Y:153.80, Z:41.57 [[ 1.03145648e-01 -9.94645435e-01 -6.43687665e-03 2.14727029e+02] [ 9.92108139e-01 1.03342046e-01 -7.10060707e-02 1.53798760e+02] [ 7.12910641e-02 9.37889479e-04 9.97455114e-01 4.15673979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.72, Y:153.83, Z:41.57 [[ 1.10195977e-01 -9.93889600e-01 -6.34897462e-03 2.14720913e+02] [ 9.91399487e-01 1.10369131e-01 -7.03257527e-02 1.53827361e+02] [ 7.05967650e-02 1.45524483e-03 9.97503874e-01 4.15700630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.71, Y:153.85, Z:41.57 [[ 1.18971170e-01 -9.92879019e-01 -6.09211337e-03 2.14713946e+02] [ 9.90566728e-01 1.19109817e-01 -6.77525492e-02 1.53854981e+02] [ 6.79957151e-02 2.02595522e-03 9.97683556e-01 4.15749401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3971056809999 meters Centerline goodness [0,1] 0.9999579637647652 Centerline is valid? [True, True] Translation: X:214.72, Y:153.88, Z:41.58 [[ 1.21086792e-01 -9.92623247e-01 -6.08914543e-03 2.14715112e+02] [ 9.90292297e-01 1.21219719e-01 -6.80216602e-02 1.53882698e+02] [ 6.82580058e-02 2.20649081e-03 9.97665263e-01 4.15770201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.72, Y:153.91, Z:41.58 [[ 1.20803523e-01 -9.92657540e-01 -6.12508597e-03 2.14718482e+02] [ 9.90279468e-01 1.20938064e-01 -6.87063269e-02 1.53909175e+02] [ 6.89426095e-02 2.23441948e-03 9.97618125e-01 4.15764565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.73, Y:153.94, Z:41.58 [[ 1.16663474e-01 -9.93153316e-01 -6.01035993e-03 2.14731779e+02] [ 9.90847700e-01 1.16802113e-01 -6.76616637e-02 1.53935560e+02] [ 6.79004284e-02 1.93829346e-03 9.97690220e-01 4.15787742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:153.96, Z:41.58 [[ 1.14330284e-01 -9.93424955e-01 -5.95363513e-03 2.14736698e+02] [ 9.91143545e-01 1.14471124e-01 -6.73114828e-02 1.53962223e+02] [ 6.75504260e-02 1.79483392e-03 9.97714247e-01 4.15816531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.75, Y:153.99, Z:41.59 [[ 1.12622260e-01 -9.93620432e-01 -5.88754991e-03 2.14747408e+02] [ 9.91371220e-01 1.12763370e-01 -6.68395554e-02 1.53986938e+02] [ 6.70770479e-02 1.69087422e-03 9.97746366e-01 4.15866877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.75, Y:154.01, Z:41.59 [[ 1.13320513e-01 -9.93541494e-01 -5.81034861e-03 2.14751224e+02] [ 9.91335386e-01 1.13456012e-01 -6.61958101e-02 1.54012293e+02] [ 6.64275031e-02 1.74133898e-03 9.97789735e-01 4.15891508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:154.04, Z:41.59 [[ 1.17111280e-01 -9.93101521e-01 -5.85806673e-03 2.14756512e+02] [ 9.90837232e-01 1.17239807e-01 -6.70552488e-02 1.54039983e+02] [ 6.72794682e-02 2.04853541e-03 9.97732067e-01 4.15899476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:154.07, Z:41.59 [[ 1.19661635e-01 -9.92796725e-01 -5.97966292e-03 2.14760432e+02] [ 9.90417140e-01 1.19788820e-01 -6.87351960e-02 1.54067740e+02] [ 6.89563742e-02 2.30260529e-03 9.97617019e-01 4.15895973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:154.09, Z:41.59 [[ 1.24950988e-01 -9.92143805e-01 -6.15805451e-03 2.14769268e+02] [ 9.89597301e-01 1.25071545e-01 -7.10935322e-02 1.54094519e+02] [ 7.13052049e-02 2.78921300e-03 9.97450644e-01 4.15887459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:154.12, Z:41.59 [[ 1.29359317e-01 -9.91579625e-01 -6.00115600e-03 2.14773928e+02] [ 9.89138706e-01 1.29462108e-01 -6.96001619e-02 1.54120702e+02] [ 6.97910248e-02 3.06745370e-03 9.97556917e-01 4.15910723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.6971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.78, Y:154.15, Z:41.59 [[ 1.30649911e-01 -9.91410916e-01 -5.91583401e-03 2.14776954e+02] [ 9.89021528e-01 1.30745937e-01 -6.88615738e-02 1.54147547e+02] [ 6.90435872e-02 3.14587133e-03 9.97608684e-01 4.15940227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7271056809999 meters Centerline goodness [0,1] 0.9999582079572049 Centerline is valid? [True, True] Translation: X:214.78, Y:154.18, Z:41.60 [[ 1.31633852e-01 -9.91280690e-01 -5.92637647e-03 2.14783117e+02] [ 9.88860679e-01 1.31726810e-01 -6.93008358e-02 1.54175428e+02] [ 6.94772431e-02 3.26197533e-03 9.97578204e-01 4.15962308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7571056809999 meters Centerline goodness [0,1] 0.9998955329906816 Centerline is valid? [True, True] Translation: X:214.79, Y:154.20, Z:41.59 [[ 1.32793119e-01 -9.91125062e-01 -6.09094758e-03 2.14791979e+02] [ 9.88545675e-01 1.32887195e-01 -7.15432824e-02 1.54202032e+02] [ 7.17177491e-02 3.47927572e-03 9.97418899e-01 4.15936513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.7871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.80, Y:154.23, Z:41.59 [[ 1.30668394e-01 -9.91405824e-01 -6.34534145e-03 2.14803262e+02] [ 9.88580221e-01 1.30775233e-01 -7.48798071e-02 1.54228015e+02] [ 7.50660904e-02 3.51154508e-03 9.97172378e-01 4.15913681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81710568099993 meters Centerline goodness [0,1] 0.9999581248298821 Centerline is valid? [True, True] Translation: X:214.81, Y:154.26, Z:41.59 [[ 1.28800311e-01 -9.91649581e-01 -6.44885052e-03 2.14810815e+02] [ 9.88706000e-01 1.28915013e-01 -7.64288229e-02 1.54255548e+02] [ 7.66219639e-02 3.46803898e-03 9.97054185e-01 4.15915389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:154.28, Z:41.59 [[ 1.22621963e-01 -9.92431474e-01 -6.60484425e-03 2.14824897e+02] [ 9.89317243e-01 1.22760418e-01 -7.86210689e-02 1.54282400e+02] [ 7.88368367e-02 3.10638353e-03 9.96882693e-01 4.15897636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.83, Y:154.31, Z:41.59 [[ 1.18738634e-01 -9.92903734e-01 -6.58110506e-03 2.14834509e+02] [ 9.89784375e-01 1.18887193e-01 -7.86938755e-02 1.54309358e+02] [ 7.89178520e-02 2.83012837e-03 9.96877105e-01 4.15915977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:154.33, Z:41.59 [[ 1.10753255e-01 -9.93826826e-01 -6.47745062e-03 2.14849998e+02] [ 9.90778748e-01 1.10920701e-01 -7.78079037e-02 1.54334530e+02] [ 7.80460653e-02 2.19975817e-03 9.96947327e-01 4.15946864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93710568099993 meters Centerline goodness [0,1] 0.9999582864055395 Centerline is valid? [True, True] Translation: X:214.86, Y:154.36, Z:41.60 [[ 1.05386878e-01 -9.94411031e-01 -6.34883083e-03 2.14859897e+02] [ 9.91455734e-01 1.05562917e-01 -7.66289588e-02 1.54361028e+02] [ 7.68708830e-02 1.78110198e-03 9.97039465e-01 4.15979521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:154.39, Z:41.61 [[ 9.25901186e-02 -9.95685048e-01 -6.19307612e-03 2.14881306e+02] [ 9.92848691e-01 9.27935118e-02 -7.51055302e-02 1.54385882e+02] [ 7.53561307e-02 8.05242418e-04 9.97156359e-01 4.16051514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99710568099994 meters Centerline goodness [0,1] 0.9999789964504001 Centerline is valid? [True, True] Translation: X:214.89, Y:154.41, Z:41.61 [[ 8.49552468e-02 -9.96366348e-01 -6.05858422e-03 2.14892893e+02] [ 9.93626461e-01 8.51706306e-02 -7.38405050e-02 1.54413051e+02] [ 7.40882078e-02 2.53168736e-04 9.97251660e-01 4.16086161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:154.44, Z:41.61 [[ 7.16286953e-02 -9.97414685e-01 -5.76863374e-03 2.14911626e+02] [ 9.94912613e-01 7.18573748e-02 -7.06074341e-02 1.54437383e+02] [ 7.08394104e-02 -6.81768096e-04 9.97487500e-01 4.16144100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:154.46, Z:41.62 [[ 6.51855953e-02 -9.97857773e-01 -5.54095298e-03 2.14920948e+02] [ 9.95532892e-01 6.54117865e-02 -6.80849359e-02 1.54463280e+02] [ 6.83015262e-02 -1.07804387e-03 9.97664142e-01 4.16209080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:154.49, Z:41.62 [[ 6.39565440e-02 -9.97937675e-01 -5.47333534e-03 2.14924313e+02] [ 9.95646413e-01 6.41804350e-02 -6.75950610e-02 1.54488880e+02] [ 6.78069390e-02 -1.12636020e-03 9.97697825e-01 4.16238562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.51, Z:41.63 [[ 6.33253438e-02 -9.97978038e-01 -5.45305702e-03 2.14927163e+02] [ 9.95679323e-01 6.35494367e-02 -6.77063839e-02 1.54514750e+02] [ 6.79160229e-02 -1.14196608e-03 9.97690388e-01 4.16259401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1471056809999 meters Centerline goodness [0,1] 0.9999790978638017 Centerline is valid? [True, True] Translation: X:214.93, Y:154.54, Z:41.63 [[ 6.27566824e-02 -9.98014106e-01 -5.42614764e-03 2.14928323e+02] [ 9.95712758e-01 6.29803039e-02 -6.77464760e-02 1.54540693e+02] [ 6.79536791e-02 -1.15134036e-03 9.97687813e-01 4.16279105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17710568099994 meters Centerline goodness [0,1] 0.9999790632916693 Centerline is valid? [True, True] Translation: X:214.92, Y:154.57, Z:41.63 [[ 6.41317807e-02 -9.97927854e-01 -5.20704543e-03 2.14923729e+02] [ 9.95785721e-01 6.43351501e-02 -6.53588989e-02 1.54568242e+02] [ 6.55584618e-02 -9.93518915e-04 9.97848235e-01 4.16323715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2071056809999 meters Centerline goodness [0,1] 0.9999791883454735 Centerline is valid? [True, True] Translation: X:214.92, Y:154.59, Z:41.64 [[ 6.49952244e-02 -9.97873050e-01 -4.99965455e-03 2.14922951e+02] [ 9.95877711e-01 6.51813067e-02 -6.30791673e-02 1.54594525e+02] [ 6.32708851e-02 -8.79199896e-04 9.97996003e-01 4.16361224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:154.62, Z:41.64 [[ 6.28395651e-02 -9.98011584e-01 -4.90581692e-03 2.14921739e+02] [ 9.96075382e-01 6.30231288e-02 -6.21443449e-02 1.54621969e+02] [ 6.23299561e-02 -9.81439852e-04 9.98055115e-01 4.16393549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.65, Z:41.64 [[ 5.92761250e-02 -9.98228857e-01 -5.04878456e-03 2.14926156e+02] [ 9.96154990e-01 5.94783099e-02 -6.43239234e-02 1.54648828e+02] [ 6.45102897e-02 -1.21649901e-03 9.97916300e-01 4.16383934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:154.67, Z:41.63 [[ 4.91579551e-02 -9.98776448e-01 -5.39473186e-03 2.14935887e+02] [ 9.96384576e-01 4.94135139e-02 -6.91091962e-02 1.54674876e+02] [ 6.92912102e-02 -1.97796085e-03 9.97594515e-01 4.16324932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:154.70, Z:41.63 [[ 4.04741533e-02 -9.99165174e-01 -5.54961435e-03 2.14942372e+02] [ 9.96614620e-01 4.07673842e-02 -7.13955147e-02 1.54700561e+02] [ 7.15621551e-02 -2.64115379e-03 9.97432645e-01 4.16292945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35710568099995 meters Centerline goodness [0,1] 0.9999791127078286 Centerline is valid? [True, True] Translation: X:214.94, Y:154.73, Z:41.63 [[ 3.81345112e-02 -9.99257000e-01 -5.58637830e-03 2.14944211e+02] [ 9.96649870e-01 3.84386006e-02 -7.21907934e-02 1.54726784e+02] [ 7.23518882e-02 -2.81470259e-03 9.97375196e-01 4.16302628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:154.75, Z:41.63 [[ 3.46655783e-02 -9.99383415e-01 -5.57566474e-03 2.14939847e+02] [ 9.96759649e-01 3.49786851e-02 -7.24340599e-02 1.54754576e+02] [ 7.25844275e-02 -3.04662905e-03 9.97357618e-01 4.16332576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:154.78, Z:41.63 [[ 3.34754445e-02 -9.99424072e-01 -5.56039081e-03 2.14940029e+02] [ 9.96786346e-01 3.37911792e-02 -7.26301399e-02 1.54781761e+02] [ 7.27762023e-02 -3.11119542e-03 9.97343444e-01 4.16346305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.81, Z:41.64 [[ 3.37152164e-02 -9.99415824e-01 -5.59420258e-03 2.14934426e+02] [ 9.96716033e-01 3.40354197e-02 -7.34761209e-02 1.54809521e+02] [ 7.36235989e-02 -3.09856809e-03 9.97281287e-01 4.16368561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.84, Z:41.64 [[ 3.41935983e-02 -9.99399987e-01 -5.51934621e-03 2.14933458e+02] [ 9.96741942e-01 3.45052755e-02 -7.29032776e-02 1.54836126e+02] [ 7.30499813e-02 -3.00853847e-03 9.97323743e-01 4.16394435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.86, Z:41.64 [[ 3.46947402e-02 -9.99383323e-01 -5.40824009e-03 2.14927760e+02] [ 9.96801502e-01 3.49939224e-02 -7.18483922e-02 1.54864554e+02] [ 7.19933405e-02 -2.89818054e-03 9.97400902e-01 4.16424967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.93, Y:154.89, Z:41.64 [[ 3.40324368e-02 -9.99406016e-01 -5.42294102e-03 2.14927395e+02] [ 9.96782808e-01 3.43360877e-02 -7.24228363e-02 1.54890523e+02] [ 7.25660209e-02 -2.94076878e-03 9.97359276e-01 4.16433316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:154.92, Z:41.64 [[ 3.47954912e-02 -9.99379109e-01 -5.53801735e-03 2.14921268e+02] [ 9.96609210e-01 3.51114070e-02 -7.44128490e-02 1.54917812e+02] [ 7.45610943e-02 -2.93000746e-03 9.97212143e-01 4.16440491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.5971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:154.94, Z:41.65 [[ 3.80320347e-02 -9.99261775e-01 -5.42860926e-03 2.14912937e+02] [ 9.96569254e-01 3.83280567e-02 -7.33531380e-02 1.54944860e+02] [ 7.35070549e-02 -2.62021599e-03 9.97291255e-01 4.16486318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:154.97, Z:41.65 [[ 4.09257288e-02 -9.99148335e-01 -5.26198402e-03 2.14906204e+02] [ 9.96590135e-01 4.11974452e-02 -7.14903772e-02 1.54973359e+02] [ 7.16462717e-02 -2.31824557e-03 9.97427410e-01 4.16547996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.6571056809999 meters Centerline goodness [0,1] 0.9999582550615738 Centerline is valid? [True, True] Translation: X:214.89, Y:155.00, Z:41.66 [[ 5.14986342e-02 -9.98660311e-01 -5.04714080e-03 2.14891100e+02] [ 9.96281579e-01 5.17241980e-02 -6.89029930e-02 1.55000155e+02] [ 6.90717438e-02 -1.47996337e-03 9.97610597e-01 4.16618879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68710568099993 meters Centerline goodness [0,1] 0.9999582550615738 Centerline is valid? [True, True] Translation: X:214.89, Y:155.03, Z:41.66 [[ 5.10829868e-02 -9.98681807e-01 -5.01758359e-03 2.14892731e+02] [ 9.96302977e-01 5.13075023e-02 -6.89051459e-02 1.55026733e+02] [ 6.90717553e-02 -1.47915281e-03 9.97610598e-01 4.16635777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.89, Y:155.06, Z:41.67 [[ 5.77817792e-02 -9.98316509e-01 -5.04127416e-03 2.14885248e+02] [ 9.95885606e-01 5.79927097e-02 -6.96326468e-02 1.55055413e+02] [ 6.98077780e-02 -9.97034152e-04 9.97559963e-01 4.16658348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74710568099994 meters Centerline goodness [0,1] 0.9999372358676095 Centerline is valid? [True, True] Translation: X:214.87, Y:155.08, Z:41.66 [[ 7.01819750e-02 -9.97520533e-01 -5.22272999e-03 2.14869380e+02] [ 9.94879364e-01 7.03759585e-02 -7.25415452e-02 1.55084608e+02] [ 7.27292355e-02 -1.04877376e-04 9.97351717e-01 4.16640142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.86, Y:155.11, Z:41.66 [[ 7.47550725e-02 -9.97188077e-01 -5.25529412e-03 2.14863261e+02] [ 9.94483322e-01 7.49391162e-02 -7.33965329e-02 1.55111783e+02] [ 7.35839746e-02 2.60460779e-04 9.97288991e-01 4.16643461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80710568099994 meters Centerline goodness [0,1] 0.9999581773697748 Centerline is valid? [True, True] Translation: X:214.86, Y:155.14, Z:41.66 [[ 8.15262986e-02 -9.96656907e-01 -5.33587458e-03 2.14855613e+02] [ 9.93832129e-01 8.16967063e-02 -7.49889867e-02 1.55140146e+02] [ 7.51742149e-02 8.10610926e-04 9.97170086e-01 4.16632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.86, Y:155.17, Z:41.66 [[ 8.32487627e-02 -9.96514071e-01 -5.41752162e-03 2.14857065e+02] [ 9.93569940e-01 8.34189772e-02 -7.65509538e-02 1.55167056e+02] [ 7.67360267e-02 9.90085550e-04 9.97050953e-01 4.16630355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86710568099994 meters Centerline goodness [0,1] 0.9999581922321167 Centerline is valid? [True, True] Translation: X:214.86, Y:155.19, Z:41.66 [[ 8.17820166e-02 -9.96635762e-01 -5.37210001e-03 2.14861055e+02] [ 9.93708324e-01 8.19532742e-02 -7.63375953e-02 1.55193669e+02] [ 7.65210387e-02 9.04741993e-04 9.97067556e-01 4.16643621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8971056809999 meters Centerline goodness [0,1] 0.9999582384999269 Centerline is valid? [True, True] Translation: X:214.87, Y:155.22, Z:41.67 [[ 7.79059125e-02 -9.96946259e-01 -5.36884732e-03 2.14866555e+02] [ 9.93988191e-01 7.80880477e-02 -7.67445908e-02 1.55220078e+02] [ 7.69294756e-02 6.42286541e-04 9.97036330e-01 4.16661750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92710568099994 meters Centerline goodness [0,1] 0.9999372739247705 Centerline is valid? [True, True] Translation: X:214.87, Y:155.25, Z:41.67 [[ 7.66247948e-02 -9.97045383e-01 -5.39853619e-03 2.14869214e+02] [ 9.94018642e-01 7.68125269e-02 -7.76323007e-02 1.55245745e+02] [ 7.78176022e-02 5.82313500e-04 9.96967443e-01 4.16672638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9571056809999 meters Centerline goodness [0,1] 0.9999369628711311 Centerline is valid? [True, True] Translation: X:214.88, Y:155.27, Z:41.67 [[ 7.47812523e-02 -9.97185537e-01 -5.36363859e-03 2.14875748e+02] [ 9.94161226e-01 7.49718769e-02 -7.76058923e-02 1.55272390e+02] [ 7.77895955e-02 4.71144292e-04 9.96969687e-01 4.16686874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98710568099995 meters Centerline goodness [0,1] 0.9999790694267116 Centerline is valid? [True, True] Translation: X:214.88, Y:155.30, Z:41.67 [[ 7.38934767e-02 -9.97252180e-01 -5.27663872e-03 2.14880302e+02] [ 9.94290590e-01 7.40803967e-02 -7.68005000e-02 1.55298778e+02] [ 7.69803616e-02 4.28543738e-04 9.97032517e-01 4.16718340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0171056809999 meters Centerline goodness [0,1] 0.9999159981519593 Centerline is valid? [True, True] Translation: X:214.89, Y:155.32, Z:41.68 [[ 7.11049309e-02 -9.97455798e-01 -5.10094830e-03 2.14888326e+02] [ 9.94656468e-01 7.12872715e-02 -7.46768737e-02 1.55324635e+02] [ 7.48505134e-02 2.36202720e-04 9.97194738e-01 4.16792367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.89, Y:155.35, Z:41.68 [[ 6.96917808e-02 -9.97555982e-01 -5.01185740e-03 2.14892228e+02] [ 9.94821560e-01 6.98715824e-02 -7.38107385e-02 1.55350126e+02] [ 7.39805302e-02 1.58098009e-04 9.97259673e-01 4.16828332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0771056809999 meters Centerline goodness [0,1] 0.9999583281243489 Centerline is valid? [True, True] Translation: X:214.89, Y:155.38, Z:41.69 [[ 6.79808284e-02 -9.97675037e-01 -4.80919549e-03 2.14894928e+02] [ 9.95127247e-01 6.81507007e-02 -7.12547775e-02 1.55376459e+02] [ 7.14168627e-02 5.81973304e-05 9.97446554e-01 4.16889134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10710568099995 meters Centerline goodness [0,1] 0.9997694596973634 Centerline is valid? [True, True] Translation: X:214.90, Y:155.40, Z:41.69 [[ 6.73680403e-02 -9.97716093e-01 -4.91383879e-03 2.14896585e+02] [ 9.95021570e-01 6.75469944e-02 -7.32767219e-02 1.55401621e+02] [ 7.34412797e-02 4.71335642e-05 9.97299542e-01 4.16886681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1371056809999 meters Centerline goodness [0,1] 0.9998740527718886 Centerline is valid? [True, True] Translation: X:214.90, Y:155.43, Z:41.69 [[ 6.64575365e-02 -9.97776673e-01 -5.01064107e-03 2.14900096e+02] [ 9.94935682e-01 6.66461586e-02 -7.52414727e-02 1.55428411e+02] [ 7.54081262e-02 1.50973306e-05 9.97152754e-01 4.16900708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16710568099995 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:214.90, Y:155.46, Z:41.69 [[ 6.50311223e-02 -9.97869916e-01 -5.15605117e-03 2.14904431e+02] [ 9.94821116e-01 6.52351751e-02 -7.79443278e-02 1.55456222e+02] [ 7.81146557e-02 -6.05414660e-05 9.96944380e-01 4.16895418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.1971056809999 meters Centerline goodness [0,1] 0.9998318797940527 Centerline is valid? [True, True] Translation: X:214.91, Y:155.48, Z:41.69 [[ 6.45923602e-02 -9.97898327e-01 -5.17255192e-03 2.14905398e+02] [ 9.94791817e-01 6.47991068e-02 -7.86785693e-02 1.55483108e+02] [ 7.88483894e-02 -6.35778300e-05 9.96886617e-01 4.16908166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2271056809999 meters Centerline goodness [0,1] 0.9998958658752474 Centerline is valid? [True, True] Translation: X:214.90, Y:155.51, Z:41.69 [[ 6.47265066e-02 -9.97889274e-01 -5.24169005e-03 2.14904611e+02] [ 9.94655339e-01 6.49383989e-02 -8.02730413e-02 1.55510303e+02] [ 8.04439939e-02 -1.78814582e-05 9.96759130e-01 4.16909857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2571056809999 meters Centerline goodness [0,1] 0.9998319751323196 Centerline is valid? [True, True] Translation: X:214.91, Y:155.54, Z:41.69 [[ 6.46909606e-02 -9.97891852e-01 -5.18963395e-03 2.14905065e+02] [ 9.94680869e-01 6.48987868e-02 -7.99882276e-02 1.55536286e+02] [ 8.01564015e-02 1.24856703e-05 9.96782299e-01 4.16924942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.2871056809999 meters Centerline goodness [0,1] 0.9996016270390405 Centerline is valid? [True, True] Translation: X:214.91, Y:155.56, Z:41.70 [[ 6.31353951e-02 -9.97992045e-01 -5.07930330e-03 2.14908343e+02] [ 9.94875468e-01 6.33393355e-02 -7.88094661e-02 1.55563077e+02] [ 7.89729400e-02 -7.76074631e-05 9.96876757e-01 4.16975845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31710568099993 meters Centerline goodness [0,1] 0.9998542304408488 Centerline is valid? [True, True] Translation: X:214.91, Y:155.59, Z:41.70 [[ 6.12280894e-02 -9.98111259e-01 -5.00366565e-03 2.14912445e+02] [ 9.95048255e-01 6.14318944e-02 -7.81350982e-02 1.55590189e+02] [ 7.82949058e-02 -1.94826000e-04 9.96930223e-01 4.17012375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3471056809999 meters Centerline goodness [0,1] 0.9996642816676808 Centerline is valid? [True, True] Translation: X:214.92, Y:155.62, Z:41.71 [[ 5.70947845e-02 -9.98356182e-01 -5.01192277e-03 2.14919388e+02] [ 9.95243065e-01 5.73122468e-02 -7.87816497e-02 1.55616532e+02] [ 7.89393915e-02 -4.90060063e-04 9.96879297e-01 4.17052343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37710568099993 meters Centerline goodness [0,1] 0.999685006299874 Centerline is valid? [True, True] Translation: X:214.92, Y:155.64, Z:41.71 [[ 5.54442228e-02 -9.98448979e-01 -5.05715836e-03 2.14922412e+02] [ 9.95238117e-01 5.56711809e-02 -8.00113143e-02 1.55643675e+02] [ 8.01687531e-02 -5.96911631e-04 9.96781127e-01 4.17053477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4071056809999 meters Centerline goodness [0,1] 0.9998320104153543 Centerline is valid? [True, True] Translation: X:214.92, Y:155.67, Z:41.71 [[ 5.63477018e-02 -9.98398659e-01 -5.00537886e-03 2.14921699e+02] [ 9.95221520e-01 5.65673974e-02 -7.95880324e-02 1.55671260e+02] [ 7.97437261e-02 -4.96858038e-04 9.96815274e-01 4.17086918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43710568099993 meters Centerline goodness [0,1] 0.9997699851535872 Centerline is valid? [True, True] Translation: X:214.92, Y:155.70, Z:41.71 [[ 6.06262468e-02 -9.98148375e-01 -4.92734350e-03 2.14918980e+02] [ 9.95025472e-01 6.08260322e-02 -7.88955271e-02 1.55697062e+02] [ 7.90491530e-02 -1.19692593e-04 9.96870712e-01 4.17124238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.4671056809999 meters Centerline goodness [0,1] 0.9997061293031066 Centerline is valid? [True, True] Translation: X:214.92, Y:155.72, Z:41.72 [[ 6.28905688e-02 -9.98008619e-01 -4.85515100e-03 2.14917729e+02] [ 9.94932476e-01 6.30776297e-02 -7.82980260e-02 1.55724512e+02] [ 7.84483562e-02 9.36599892e-05 9.96918174e-01 4.17171769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49710568099994 meters Centerline goodness [0,1] 0.9999376441977926 Centerline is valid? [True, True] Translation: X:214.91, Y:155.75, Z:41.72 [[ 6.70357248e-02 -9.97739783e-01 -4.64077572e-03 2.14912955e+02] [ 9.94891284e-01 6.71947716e-02 -7.53405342e-02 1.55750867e+02] [ 7.54820841e-02 4.33440009e-04 9.97147064e-01 4.17244439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5271056809999 meters Centerline goodness [0,1] 0.9999373812853535 Centerline is valid? [True, True] Translation: X:214.91, Y:155.78, Z:41.73 [[ 6.91790587e-02 -9.97593767e-01 -4.57541139e-03 2.14911495e+02] [ 9.94785389e-01 6.93273970e-02 -7.48046958e-02 1.55778323e+02] [ 7.49418996e-02 6.23366047e-04 9.97187707e-01 4.17280518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55710568099994 meters Centerline goodness [0,1] 0.999958041371208 Centerline is valid? [True, True] Translation: X:214.91, Y:155.80, Z:41.73 [[ 7.39804513e-02 -9.97249332e-01 -4.54565919e-03 2.14907766e+02] [ 9.94438508e-01 7.41130151e-02 -7.48285715e-02 1.55804884e+02] [ 7.49596354e-02 1.01547294e-03 9.97186052e-01 4.17297976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:155.83, Z:41.73 [[ 7.67323718e-02 -9.97041329e-01 -4.55322268e-03 2.14906703e+02] [ 9.94180857e-01 7.68569330e-02 -7.54813556e-02 1.55833436e+02] [ 7.56079779e-02 1.26513662e-03 9.97136818e-01 4.17298941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:155.86, Z:41.73 [[ 8.15691567e-02 -9.96656990e-01 -4.61708656e-03 2.14904099e+02] [ 9.93677838e-01 8.16821446e-02 -7.70219493e-02 1.55860116e+02] [ 7.71415977e-02 1.69471886e-03 9.97018707e-01 4.17306706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6471056809999 meters Centerline goodness [0,1] 0.9999791122715405 Centerline is valid? [True, True] Translation: X:214.90, Y:155.89, Z:41.73 [[ 8.38738426e-02 -9.96465913e-01 -4.56749932e-03 2.14904587e+02] [ 9.93508761e-01 8.39766654e-02 -7.67350026e-02 1.55885828e+02] [ 7.68473778e-02 1.89820894e-03 9.97041061e-01 4.17332157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:155.91, Z:41.74 [[ 8.31067322e-02 -9.96530216e-01 -4.56055636e-03 2.14910828e+02] [ 9.93540083e-01 8.32104979e-02 -7.71629216e-02 1.55912874e+02] [ 7.72746691e-02 1.88166271e-03 9.97008067e-01 4.17351388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:155.94, Z:41.73 [[ 7.93672819e-02 -9.96834578e-01 -4.65388363e-03 2.14918779e+02] [ 9.93676414e-01 7.94860753e-02 -7.93041555e-02 1.55939616e+02] [ 7.94230433e-02 1.66970087e-03 9.96839602e-01 4.17318131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73710568099995 meters Centerline goodness [0,1] 0.9999790382761078 Centerline is valid? [True, True] Translation: X:214.93, Y:155.97, Z:41.74 [[ 7.64666170e-02 -9.97061085e-01 -4.69575366e-03 2.14928410e+02] [ 9.93803101e-01 7.65961174e-02 -8.05508014e-02 1.55966188e+02] [ 8.06737459e-02 1.49279274e-03 9.96739444e-01 4.17351837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.7671056809999 meters Centerline goodness [0,1] 0.9999370594159114 Centerline is valid? [True, True] Translation: X:214.95, Y:155.99, Z:41.74 [[ 6.63066773e-02 -9.97788369e-01 -4.66859843e-03 2.14946545e+02] [ 9.94523334e-01 6.64670911e-02 -8.06564513e-02 1.55993517e+02] [ 8.07883771e-02 7.05031215e-04 9.96731027e-01 4.17388709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79710568099995 meters Centerline goodness [0,1] 0.9998544910304114 Centerline is valid? [True, True] Translation: X:214.96, Y:156.02, Z:41.74 [[ 5.42823035e-02 -9.98515198e-01 -4.56405643e-03 2.14963264e+02] [ 9.95357315e-01 5.44733293e-02 -7.93503172e-02 1.56019116e+02] [ 7.94811170e-02 -2.35548956e-04 9.96836344e-01 4.17440135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8271056809999 meters Centerline goodness [0,1] 0.9999580228775318 Centerline is valid? [True, True] Translation: X:214.97, Y:156.05, Z:41.75 [[ 4.89643891e-02 -9.98790516e-01 -4.47143636e-03 2.14970254e+02] [ 9.95719914e-01 4.91642182e-02 -7.82606701e-02 1.56045483e+02] [ 7.83858497e-02 -6.20312330e-04 9.96922903e-01 4.17464745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85710568099995 meters Centerline goodness [0,1] 0.9999791157613349 Centerline is valid? [True, True] Translation: X:214.98, Y:156.07, Z:41.75 [[ 4.05141507e-02 -9.99169358e-01 -4.38140089e-03 2.14983117e+02] [ 9.96178903e-01 4.07316661e-02 -7.72562330e-02 1.56070641e+02] [ 7.73705225e-02 -1.23468846e-03 9.97001644e-01 4.17489752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.8871056809999 meters Centerline goodness [0,1] 0.999895436864779 Centerline is valid? [True, True] Translation: X:214.99, Y:156.10, Z:41.75 [[ 3.76035988e-02 -9.99283396e-01 -4.32010211e-03 2.14988685e+02] [ 9.96331347e-01 3.78243904e-02 -7.67669388e-02 1.56097713e+02] [ 7.68753325e-02 -1.41753999e-03 9.97039705e-01 4.17528349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:156.12, Z:41.76 [[ 3.50202068e-02 -9.99377709e-01 -4.21657619e-03 2.14992849e+02] [ 9.96524177e-01 3.52386945e-02 -7.54837610e-02 1.56124701e+02] [ 7.55853748e-02 -1.55846319e-03 9.97138116e-01 4.17575094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9471056809999 meters Centerline goodness [0,1] 0.9999790803732062 Centerline is valid? [True, True] Translation: X:214.99, Y:156.15, Z:41.76 [[ 3.51947228e-02 -9.99371795e-01 -4.16499166e-03 2.14992602e+02] [ 9.96546166e-01 3.54082556e-02 -7.51132078e-02 1.56152335e+02] [ 7.52134963e-02 -1.50701794e-03 9.97166315e-01 4.17597860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9771056809999 meters Centerline goodness [0,1] 0.9999582289055974 Centerline is valid? [True, True] Translation: X:214.99, Y:156.18, Z:41.76 [[ 4.02582999e-02 -9.99180708e-01 -4.14523482e-03 2.14985546e+02] [ 9.96340084e-01 4.04562296e-02 -7.52976139e-02 1.56178968e+02] [ 7.54036237e-02 -1.09870969e-03 9.97152489e-01 4.17614545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0071056809999 meters Centerline goodness [0,1] 0.9998531663625113 Centerline is valid? [True, True] Translation: X:214.98, Y:156.21, Z:41.76 [[ 4.42499978e-02 -9.99011929e-01 -4.13561869e-03 2.14980420e+02] [ 9.96138997e-01 4.44361764e-02 -7.57134398e-02 1.56206430e+02] [ 7.58224007e-02 -7.69331510e-04 9.97121042e-01 4.17631920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0371056809999 meters Centerline goodness [0,1] 0.9997068185625733 Centerline is valid? [True, True] Translation: X:214.97, Y:156.23, Z:41.76 [[ 5.15950764e-02 -9.98658917e-01 -4.27963015e-03 2.14970851e+02] [ 9.95531684e-01 5.17719281e-02 -7.89704644e-02 1.56233718e+02] [ 7.90861232e-02 -1.86020262e-04 9.96867770e-01 4.17616658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06710568099993 meters Centerline goodness [0,1] 0.9998117745477361 Centerline is valid? [True, True] Translation: X:214.97, Y:156.26, Z:41.76 [[ 5.45559553e-02 -9.98501441e-01 -4.30338636e-03 2.14968649e+02] [ 9.95285248e-01 5.47253512e-02 -8.00775335e-02 1.56260318e+02] [ 8.01930369e-02 8.56093769e-05 9.96779348e-01 4.17615314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.0971056809999 meters Centerline goodness [0,1] 0.9998315221969506 Centerline is valid? [True, True] Translation: X:214.96, Y:156.29, Z:41.77 [[ 6.04929880e-02 -9.98159408e-01 -4.28878549e-03 2.14963990e+02] [ 9.94911904e-01 6.06418612e-02 -8.04541369e-02 1.56288647e+02] [ 8.05661336e-02 5.99947399e-04 9.96749085e-01 4.17664515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12710568099993 meters Centerline goodness [0,1] 0.9998750728741568 Centerline is valid? [True, True] Translation: X:214.96, Y:156.31, Z:41.77 [[ 6.27166904e-02 -9.98022512e-01 -4.20506591e-03 2.14960716e+02] [ 9.94854997e-01 6.28524166e-02 -7.94550711e-02 1.56314816e+02] [ 7.95622482e-02 7.99728268e-04 9.96829579e-01 4.17672395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.1571056809999 meters Centerline goodness [0,1] 0.9999166961701064 Centerline is valid? [True, True] Translation: X:214.95, Y:156.34, Z:41.77 [[ 6.79500690e-02 -9.97680147e-01 -4.13677075e-03 2.14954176e+02] [ 9.94565919e-01 6.80646058e-02 -7.87771624e-02 1.56340780e+02] [ 7.88759786e-02 1.23862242e-03 9.96883667e-01 4.17684419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18710568099993 meters Centerline goodness [0,1] 0.9999165345129789 Centerline is valid? [True, True] Translation: X:214.95, Y:156.37, Z:41.77 [[ 7.32756807e-02 -9.97302806e-01 -4.21751629e-03 2.14950058e+02] [ 9.94024735e-01 7.33765791e-02 -8.08127679e-02 1.56367589e+02] [ 8.09042672e-02 1.72929507e-03 9.96720377e-01 4.17665786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2171056809999 meters Centerline goodness [0,1] 0.9998544728799817 Centerline is valid? [True, True] Translation: X:214.95, Y:156.39, Z:41.77 [[ 7.44727136e-02 -9.97214009e-01 -4.24687013e-03 2.14953865e+02] [ 9.93848255e-01 7.45700777e-02 -8.18837577e-02 1.56394529e+02] [ 8.19723197e-02 1.87736116e-03 9.96632838e-01 4.17683596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24710568099994 meters Centerline goodness [0,1] 0.9998537370191605 Centerline is valid? [True, True] Translation: X:214.96, Y:156.42, Z:41.77 [[ 7.32207769e-02 -9.97306459e-01 -4.30627452e-03 2.14959710e+02] [ 9.93790402e-01 7.33240041e-02 -8.36912560e-02 1.56421412e+02] [ 8.37815835e-02 1.84840450e-03 9.96482428e-01 4.17681743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2771056809999 meters Centerline goodness [0,1] 0.9999369231092702 Centerline is valid? [True, True] Translation: X:214.96, Y:156.45, Z:41.77 [[ 7.10662816e-02 -9.97462646e-01 -4.22522753e-03 2.14960618e+02] [ 9.94027833e-01 7.11719770e-02 -8.27237406e-02 1.56447976e+02] [ 8.28145590e-02 1.67887488e-03 9.96563561e-01 4.17681519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30710568099994 meters Centerline goodness [0,1] 0.9999163792202362 Centerline is valid? [True, True] Translation: X:214.97, Y:156.48, Z:41.77 [[ 6.56276325e-02 -9.97835492e-01 -4.16458552e-03 2.14970315e+02] [ 9.94460818e-01 6.57479396e-02 -8.20054221e-02 1.56475609e+02] [ 8.21017337e-02 1.24030458e-03 9.96623182e-01 4.17734118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3371056809999 meters Centerline goodness [0,1] 0.9999158762539696 Centerline is valid? [True, True] Translation: X:214.97, Y:156.50, Z:41.78 [[ 6.35545699e-02 -9.97969749e-01 -4.14699150e-03 2.14973488e+02] [ 9.94586582e-01 6.36803264e-02 -8.21117937e-02 1.56502838e+02] [ 8.22091678e-02 1.09403763e-03 9.96614497e-01 4.17762096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36710568099994 meters Centerline goodness [0,1] 0.9998746500647642 Centerline is valid? [True, True] Translation: X:214.98, Y:156.53, Z:41.78 [[ 5.96286772e-02 -9.98212467e-01 -4.03632861e-03 2.14980021e+02] [ 9.94955764e-01 5.97599323e-02 -8.05715678e-02 1.56529223e+02] [ 8.06687542e-02 7.88407590e-04 9.96740654e-01 4.17805368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3971056809999 meters Centerline goodness [0,1] 0.9998739045457411 Centerline is valid? [True, True] Translation: X:214.98, Y:156.56, Z:41.79 [[ 5.79331635e-02 -9.98312663e-01 -3.94660600e-03 2.14984583e+02] [ 9.95151856e-01 5.80635550e-02 -7.93814017e-02 1.56555517e+02] [ 7.94766124e-02 6.71343430e-04 9.96836505e-01 4.17854958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42710568099994 meters Centerline goodness [0,1] 0.9999369946445448 Centerline is valid? [True, True] Translation: X:214.98, Y:156.58, Z:41.79 [[ 5.83818675e-02 -9.98286771e-01 -3.88342989e-03 2.14984699e+02] [ 9.95171635e-01 5.85062520e-02 -7.88063094e-02 1.56582219e+02] [ 7.88985011e-02 7.36180237e-04 9.96882383e-01 4.17887305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4571056809999 meters Centerline goodness [0,1] 0.9998325904534706 Centerline is valid? [True, True] Translation: X:214.98, Y:156.61, Z:41.79 [[ 6.08180565e-02 -9.98141153e-01 -3.92456034e-03 2.14983016e+02] [ 9.94901037e-01 6.09366195e-02 -8.03657553e-02 1.56609429e+02] [ 8.04555171e-02 9.83139885e-04 9.96757715e-01 4.17890879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48710568099995 meters Centerline goodness [0,1] 0.9997479468167784 Centerline is valid? [True, True] Translation: X:214.98, Y:156.64, Z:41.79 [[ 6.10182219e-02 -9.98129130e-01 -3.87515396e-03 2.14984281e+02] [ 9.94915520e-01 6.11325027e-02 -8.00370298e-02 1.56636792e+02] [ 8.01241888e-02 1.02826643e-03 9.96784358e-01 4.17919605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5171056809999 meters Centerline goodness [0,1] 0.9997898099882293 Centerline is valid? [True, True] Translation: X:214.99, Y:156.66, Z:41.80 [[ 5.77030414e-02 -9.98326999e-01 -3.68271487e-03 2.14991292e+02] [ 9.95376285e-01 5.78154414e-02 -7.67034894e-02 1.56663850e+02] [ 7.67880821e-02 7.60337576e-04 9.97047146e-01 4.17978760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54710568099995 meters Centerline goodness [0,1] 0.9997059935318577 Centerline is valid? [True, True] Translation: X:215.00, Y:156.69, Z:41.80 [[ 5.40731530e-02 -9.98530350e-01 -3.63787247e-03 2.14997100e+02] [ 9.95603868e-01 5.41929970e-02 -7.63940945e-02 1.56691198e+02] [ 7.64789691e-02 5.08989664e-04 9.97071065e-01 4.18002325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5771056809999 meters Centerline goodness [0,1] 0.9996848209783157 Centerline is valid? [True, True] Translation: X:215.01, Y:156.72, Z:41.80 [[ 4.65086274e-02 -9.98911099e-01 -3.68295922e-03 2.15008456e+02] [ 9.95857732e-01 4.66542084e-02 -7.80433333e-02 1.56716808e+02] [ 7.81301774e-02 -3.80151091e-05 9.96943165e-01 4.18004899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60710568099995 meters Centerline goodness [0,1] 0.9996848209783157 Centerline is valid? [True, True] Translation: X:215.01, Y:156.74, Z:41.80 [[ 4.60782754e-02 -9.98931172e-01 -3.64774154e-03 2.15009408e+02] [ 9.95877738e-01 4.62224204e-02 -7.80449809e-02 1.56743431e+02] [ 7.81301717e-02 -3.65264683e-05 9.96943165e-01 4.18021794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6371056809999 meters Centerline goodness [0,1] 0.9994324153878494 Centerline is valid? [True, True] Translation: X:215.02, Y:156.77, Z:41.80 [[ 4.16128919e-02 -9.99127273e-01 -3.61373331e-03 2.15015457e+02] [ 9.96077344e-01 4.17680136e-02 -7.80087093e-02 1.56769021e+02] [ 7.80915675e-02 -3.53389888e-04 9.96946128e-01 4.18036222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66710568099995 meters Centerline goodness [0,1] 0.9997485172999141 Centerline is valid? [True, True] Translation: X:215.03, Y:156.80, Z:41.81 [[ 3.28947306e-02 -9.99452429e-01 -3.57486876e-03 2.15025925e+02] [ 9.96424680e-01 3.30731535e-02 -7.77433197e-02 1.56796455e+02] [ 7.78189819e-02 -1.00474190e-03 9.96966999e-01 4.18055895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.6971056809999 meters Centerline goodness [0,1] 0.9997275204359674 Centerline is valid? [True, True] Translation: X:215.03, Y:156.82, Z:41.81 [[ 2.93341938e-02 -9.99563453e-01 -3.52268152e-03 2.15030430e+02] [ 9.96574913e-01 2.95187243e-02 -7.72469250e-02 1.56824537e+02] [ 7.73171882e-02 -1.24463976e-03 9.97005769e-01 4.18080066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7271056809999 meters Centerline goodness [0,1] 0.9999582219251337 Centerline is valid? [True, True] Translation: X:215.04, Y:156.85, Z:41.81 [[ 2.55332540e-02 -9.99667796e-01 -3.51443269e-03 2.15035022e+02] [ 9.96644304e-01 2.57292101e-02 -7.77054643e-02 1.56850383e+02] [ 7.77700738e-02 -1.51856597e-03 9.96970165e-01 4.18089322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7571056809999 meters Centerline goodness [0,1] 0.999958217561159 Centerline is valid? [True, True] Translation: X:215.04, Y:156.88, Z:41.81 [[ 2.48654272e-02 -9.99684610e-01 -3.52001472e-03 2.15036115e+02] [ 9.96603115e-01 2.50650030e-02 -7.84472831e-02 1.56877013e+02] [ 7.85107708e-02 -1.55743243e-03 9.96912049e-01 4.18099559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.7871056809999 meters Centerline goodness [0,1] 0.9999370831760412 Centerline is valid? [True, True] Translation: X:215.03, Y:156.91, Z:41.81 [[ 2.73718082e-02 -9.99619245e-01 -3.48542062e-03 2.15030558e+02] [ 9.96538578e-01 2.75609181e-02 -7.84299585e-02 1.56905419e+02] [ 7.84961574e-02 -1.32658633e-03 9.96913534e-01 4.18138413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.03, Y:156.93, Z:41.82 [[ 3.02191173e-02 -9.99537458e-01 -3.41694107e-03 2.15026447e+02] [ 9.96526789e-01 3.03931272e-02 -7.75281652e-02 1.56932779e+02] [ 7.75961567e-02 -1.06224059e-03 9.96984307e-01 4.18160820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8471056809999 meters Centerline goodness [0,1] 0.9999789946856554 Centerline is valid? [True, True] Translation: X:215.01, Y:156.96, Z:41.82 [[ 4.07244181e-02 -9.99164865e-01 -3.33095683e-03 2.15012304e+02] [ 9.96265735e-01 4.08598170e-02 -7.60595890e-02 1.56960034e+02] [ 7.61321713e-02 -2.21035646e-04 9.97097710e-01 4.18185358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:156.99, Z:41.82 [[ 4.70167310e-02 -9.98888750e-01 -3.26993956e-03 2.15004731e+02] [ 9.96055149e-01 4.71294837e-02 -7.51861114e-02 1.56987355e+02] [ 7.52566713e-02 2.77965037e-04 9.97164157e-01 4.18217003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:157.02, Z:41.82 [[ 5.91614255e-02 -9.98243319e-01 -3.19411074e-03 2.14990435e+02] [ 9.95485999e-01 5.92352842e-02 -7.41539396e-02 1.57015127e+02] [ 7.42128788e-02 1.20736025e-03 9.97241691e-01 4.18246139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:157.04, Z:41.83 [[ 6.89229635e-02 -9.97616811e-01 -3.21310355e-03 2.14980236e+02] [ 9.94772773e-01 6.89690071e-02 -7.53020979e-02 1.57042732e+02] [ 7.53442433e-02 1.99373581e-03 9.97155590e-01 4.18254741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:157.07, Z:41.83 [[ 7.18312625e-02 -9.97411644e-01 -3.20653634e-03 2.14977742e+02] [ 9.94524502e-01 7.18672455e-02 -7.58690553e-02 1.57070762e+02] [ 7.59031241e-02 2.26079107e-03 9.97112634e-01 4.18266897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99710568099994 meters Centerline goodness [0,1] 0.9999790917454211 Centerline is valid? [True, True] Translation: X:214.98, Y:157.10, Z:41.83 [[ 7.56332149e-02 -9.97130650e-01 -3.17534842e-03 2.14975739e+02] [ 9.94247912e-01 7.56559749e-02 -7.58107073e-02 1.57098022e+02] [ 7.58334140e-02 2.57672399e-03 9.97117172e-01 4.18277577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:157.13, Z:41.83 [[ 7.59597705e-02 -9.97105933e-01 -3.14187441e-03 2.14977620e+02] [ 9.94229338e-01 7.59792585e-02 -7.57309419e-02 1.57125383e+02] [ 7.57504888e-02 2.62876125e-03 9.97123339e-01 4.18294095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:157.15, Z:41.83 [[ 7.50135728e-02 -9.97177438e-01 -3.18122188e-03 2.14981532e+02] [ 9.94167829e-01 7.50342899e-02 -7.74608434e-02 1.57152847e+02] [ 7.74809061e-02 2.64794616e-03 9.96990320e-01 4.18287223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:157.18, Z:41.83 [[ 7.45303747e-02 -9.97213866e-01 -3.11923913e-03 2.14984185e+02] [ 9.94262861e-01 7.45497513e-02 -7.67052604e-02 1.57180357e+02] [ 7.67240877e-02 2.61552818e-03 9.97048932e-01 4.18299419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11710568099994 meters Centerline goodness [0,1] 0.9999369350430943 Centerline is valid? [True, True] Translation: X:214.99, Y:157.21, Z:41.83 [[ 7.44694631e-02 -9.97218554e-01 -3.07488322e-03 2.14988257e+02] [ 9.94292425e-01 7.44864715e-02 -7.63828478e-02 1.57206143e+02] [ 7.63994302e-02 2.63085657e-03 9.97073822e-01 4.18300190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.00, Y:157.23, Z:41.83 [[ 7.36583293e-02 -9.97278781e-01 -3.07941287e-03 2.14997779e+02] [ 9.94280481e-01 7.36756237e-02 -7.73189991e-02 1.57233357e+02] [ 7.73354748e-02 2.63338819e-03 9.97001650e-01 4.18316422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17710568099994 meters Centerline goodness [0,1] 0.9999163109883672 Centerline is valid? [True, True] Translation: X:215.00, Y:157.26, Z:41.83 [[ 7.27693385e-02 -9.97344033e-01 -3.08275825e-03 2.15002604e+02] [ 9.94274170e-01 7.27871773e-02 -7.82361860e-02 1.57260634e+02] [ 7.82527785e-02 2.62808860e-03 9.96930086e-01 4.18323806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2071056809999 meters Centerline goodness [0,1] 0.9999370224200185 Centerline is valid? [True, True] Translation: X:215.01, Y:157.29, Z:41.83 [[ 7.23369787e-02 -9.97375494e-01 -3.07998649e-03 2.15009206e+02] [ 9.94243317e-01 7.23538506e-02 -7.90262365e-02 1.57286801e+02] [ 7.90416805e-02 2.65426320e-03 9.96867778e-01 4.18335056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:157.31, Z:41.84 [[ 7.15511066e-02 -9.97432510e-01 -2.97110068e-03 2.15012266e+02] [ 9.94454482e-01 7.15670231e-02 -7.70613092e-02 1.57314396e+02] [ 7.70760879e-02 2.55919756e-03 9.97021929e-01 4.18376259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.2671056809999 meters Centerline goodness [0,1] 0.9997897967334413 Centerline is valid? [True, True] Translation: X:215.02, Y:157.34, Z:41.84 [[ 6.91847051e-02 -9.97600015e-01 -2.77246903e-03 2.15019948e+02] [ 9.94962446e-01 6.92033581e-02 -7.25301736e-02 1.57342199e+02] [ 7.25479664e-02 2.25947609e-03 9.97362365e-01 4.18443868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29710568099995 meters Centerline goodness [0,1] 0.9996430446194225 Centerline is valid? [True, True] Translation: X:215.03, Y:157.37, Z:41.85 [[ 6.78170446e-02 -9.97693981e-01 -2.75111731e-03 2.15025766e+02] [ 9.95061852e-01 6.78379256e-02 -7.24563813e-02 1.57368838e+02] [ 7.24759256e-02 2.17624576e-03 9.97367788e-01 4.18459162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3271056809999 meters Centerline goodness [0,1] 0.9999163599866177 Centerline is valid? [True, True] Translation: X:215.04, Y:157.40, Z:41.85 [[ 6.32973305e-02 -9.97990840e-01 -2.78053743e-03 2.15038792e+02] [ 9.95245173e-01 6.33293695e-02 -7.40029544e-02 1.57396887e+02] [ 7.40303603e-02 1.91687301e-03 9.97254146e-01 4.18462195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35710568099995 meters Centerline goodness [0,1] 0.9999370171313403 Centerline is valid? [True, True] Translation: X:215.05, Y:157.42, Z:41.85 [[ 6.01243233e-02 -9.98187006e-01 -2.78700671e-03 2.15045882e+02] [ 9.95390537e-01 6.01644092e-02 -7.46854859e-02 1.57424570e+02] [ 7.47177602e-02 1.71625420e-03 9.97203244e-01 4.18468360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.3871056809999 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:215.06, Y:157.45, Z:41.85 [[ 5.10892713e-02 -9.98690261e-01 -2.76559213e-03 2.15060660e+02] [ 9.95880634e-01 5.11528658e-02 -7.48675292e-02 1.57450106e+02] [ 7.49109402e-02 1.07072786e-03 9.97189653e-01 4.18467702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41710568099995 meters Centerline goodness [0,1] 0.999917055469155 Centerline is valid? [True, True] Translation: X:215.07, Y:157.48, Z:41.85 [[ 4.27364718e-02 -9.99082590e-01 -2.75175067e-03 2.15072593e+02] [ 9.96237439e-01 4.28222958e-02 -7.53473084e-02 1.57476376e+02] [ 7.53960203e-02 4.78681087e-04 9.97153554e-01 4.18452800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4471056809999 meters Centerline goodness [0,1] 0.9999372568703727 Centerline is valid? [True, True] Translation: X:215.08, Y:157.50, Z:41.85 [[ 3.95029800e-02 -9.99215841e-01 -2.68648293e-03 2.15078110e+02] [ 9.96440251e-01 3.95933503e-02 -7.44257495e-02 1.57503357e+02] [ 7.44737548e-02 2.63119170e-04 9.97222939e-01 4.18484273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4771056809999 meters Centerline goodness [0,1] 0.9998741109082898 Centerline is valid? [True, True] Translation: X:215.09, Y:157.53, Z:41.85 [[ 3.31905120e-02 -9.99445593e-01 -2.62608525e-03 2.15088853e+02] [ 9.96731873e-01 3.32937818e-02 -7.36009355e-02 1.57529938e+02] [ 7.36475629e-02 -1.74650134e-04 9.97284316e-01 4.18506555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5071056809999 meters Centerline goodness [0,1] 0.9997693436779199 Centerline is valid? [True, True] Translation: X:215.09, Y:157.56, Z:41.85 [[ 2.97941412e-02 -9.99552767e-01 -2.56435084e-03 2.15094883e+02] [ 9.96902828e-01 2.99017592e-02 -7.27367591e-02 1.57556538e+02] [ 7.27809074e-02 -3.89279330e-04 9.97347877e-01 4.18537140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5371056809999 meters Centerline goodness [0,1] 0.9996009996009996 Centerline is valid? [True, True] Translation: X:215.10, Y:157.58, Z:41.86 [[ 2.61084819e-02 -9.99655917e-01 -2.52888680e-03 2.15101053e+02] [ 9.97016347e-01 2.62232031e-02 -7.25999148e-02 1.57582054e+02] [ 7.26412499e-02 -6.25867921e-04 9.97357938e-01 4.18552904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56710568099993 meters Centerline goodness [0,1] 0.9996864679570252 Centerline is valid? [True, True] Translation: X:215.10, Y:157.61, Z:41.86 [[ 2.54961923e-02 -9.99671769e-01 -2.50966449e-03 2.15100456e+02] [ 9.97019165e-01 2.56112508e-02 -7.27794446e-02 1.57609350e+02] [ 7.28198318e-02 -6.46584883e-04 9.97344902e-01 4.18574742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.5971056809999 meters Centerline goodness [0,1] 0.9996434937611408 Centerline is valid? [True, True] Translation: X:215.10, Y:157.64, Z:41.86 [[ 3.00470033e-02 -9.99545421e-01 -2.47573379e-03 2.15096883e+02] [ 9.96897454e-01 3.01474935e-02 -7.27089727e-02 1.57635499e+02] [ 7.27505579e-02 -2.83365968e-04 9.97350127e-01 4.18578829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62710568099993 meters Centerline goodness [0,1] 0.9995000833194467 Centerline is valid? [True, True] Translation: X:215.09, Y:157.66, Z:41.86 [[ 3.62965601e-02 -9.99338062e-01 -2.44905646e-03 2.15091379e+02] [ 9.96676927e-01 3.63785151e-02 -7.28814542e-02 1.57662590e+02] [ 7.29223042e-02 2.04428013e-04 9.97337604e-01 4.18594551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.6571056809999 meters Centerline goodness [0,1] 0.9994788192128086 Centerline is valid? [True, True] Translation: X:215.09, Y:157.69, Z:41.86 [[ 3.86065085e-02 -9.99251632e-01 -2.39049069e-03 2.15088742e+02] [ 9.96650810e-01 3.86783875e-02 -7.20496081e-02 1.57688647e+02] [ 7.20881487e-02 3.99099322e-04 9.97398185e-01 4.18612022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68710568099993 meters Centerline goodness [0,1] 0.9993955688947248 Centerline is valid? [True, True] Translation: X:215.09, Y:157.72, Z:41.87 [[ 4.23390130e-02 -9.99100675e-01 -2.29127728e-03 2.15086030e+02] [ 9.96647901e-01 4.23955329e-02 -6.99684203e-02 1.57715892e+02] [ 7.00026358e-02 6.78797160e-04 9.97546575e-01 4.18660639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7171056809999 meters Centerline goodness [0,1] 0.9995189089692101 Centerline is valid? [True, True] Translation: X:215.09, Y:157.74, Z:41.87 [[ 4.32612386e-02 -9.99061289e-01 -2.23763843e-03 2.15085361e+02] [ 9.96661288e-01 4.33123312e-02 -6.92121266e-02 1.57742501e+02] [ 6.92440737e-02 7.64034717e-04 9.97599456e-01 4.18698354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74710568099994 meters Centerline goodness [0,1] 0.999460031982721 Centerline is valid? [True, True] Translation: X:215.08, Y:157.77, Z:41.87 [[ 4.32367539e-02 -9.99062459e-01 -2.18792013e-03 2.15084549e+02] [ 9.96707877e-01 4.32849880e-02 -6.85552215e-02 1.57769666e+02] [ 6.85856522e-02 7.83388007e-04 9.97644924e-01 4.18709423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7771056809999 meters Centerline goodness [0,1] 0.9996022608331588 Centerline is valid? [True, True] Translation: X:215.08, Y:157.80, Z:41.87 [[ 4.38159321e-02 -9.99037110e-01 -2.24003421e-03 2.15082021e+02] [ 9.96500644e-01 4.38642206e-02 -7.11505281e-02 1.57796006e+02] [ 7.11802753e-02 8.85331176e-04 9.97463074e-01 4.18686497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80710568099994 meters Centerline goodness [0,1] 0.9995803873025197 Centerline is valid? [True, True] Translation: X:215.08, Y:157.82, Z:41.87 [[ 4.68551919e-02 -9.98899202e-01 -2.23046945e-03 2.15080870e+02] [ 9.96313923e-01 4.68943150e-02 -7.18295949e-02 1.57823900e+02] [ 7.18551213e-02 1.14334169e-03 9.97414425e-01 4.18695470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8371056809999 meters Centerline goodness [0,1] 0.9993913955928646 Centerline is valid? [True, True] Translation: X:215.08, Y:157.85, Z:41.87 [[ 4.91664676e-02 -9.98788163e-01 -2.20521573e-03 2.15078157e+02] [ 9.96197822e-01 4.91977006e-02 -7.18991372e-02 1.57851053e+02] [ 7.19204987e-02 1.33819549e-03 9.97409470e-01 4.18709084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86710568099994 meters Centerline goodness [0,1] 0.9991386373663312 Centerline is valid? [True, True] Translation: X:215.07, Y:157.88, Z:41.87 [[ 5.60551130e-02 -9.98425189e-01 -2.22865595e-03 2.15073079e+02] [ 9.95707702e-01 5.60669181e-02 -7.36387972e-02 1.57878722e+02] [ 7.36477838e-02 1.90874121e-03 9.97282488e-01 4.18711985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8971056809999 meters Centerline goodness [0,1] 0.9992892085127734 Centerline is valid? [True, True] Translation: X:215.07, Y:157.91, Z:41.87 [[ 5.92266314e-02 -9.98242105e-01 -2.21509905e-03 2.15070920e+02] [ 9.95484920e-01 5.92276383e-02 -7.41745304e-02 1.57906159e+02] [ 7.41753344e-02 2.18800987e-03 9.97242815e-01 4.18727130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92710568099994 meters Centerline goodness [0,1] 0.9985982090551511 Centerline is valid? [True, True] Translation: X:215.07, Y:157.93, Z:41.88 [[ 6.43668806e-02 -9.97924046e-01 -2.12220049e-03 2.15068180e+02] [ 9.95327129e-01 6.43524740e-02 -7.19907297e-02 1.57933283e+02] [ 7.19778491e-02 2.52153499e-03 9.97403043e-01 4.18756172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9571056809999 meters Centerline goodness [0,1] 0.998908342780367 Centerline is valid? [True, True] Translation: X:215.07, Y:157.96, Z:41.88 [[ 6.74797980e-02 -9.97718403e-01 -2.11293838e-03 2.15068449e+02] [ 9.95076057e-01 6.74548751e-02 -7.26187291e-02 1.57960153e+02] [ 7.25955704e-02 2.79776278e-03 9.97357537e-01 4.18761167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98710568099995 meters Centerline goodness [0,1] 0.9987836590890026 Centerline is valid? [True, True] Translation: X:215.07, Y:157.99, Z:41.88 [[ 6.89699883e-02 -9.97616471e-01 -2.12556060e-03 2.15069057e+02] [ 9.94883089e-01 6.89383833e-02 -7.38589078e-02 1.57987339e+02] [ 7.38293957e-02 2.97936372e-03 9.97266436e-01 4.18754816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0171056809999 meters Centerline goodness [0,1] 0.9986132705803252 Centerline is valid? [True, True] Translation: X:215.08, Y:158.01, Z:41.88 [[ 7.02224128e-02 -9.97529088e-01 -2.12858607e-03 2.15079806e+02] [ 9.94712728e-01 7.01841306e-02 -7.49718389e-02 1.58014876e+02] [ 7.49359831e-02 3.14737177e-03 9.97183380e-01 4.18752984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04710568099995 meters Centerline goodness [0,1] 0.9983824209066846 Centerline is valid? [True, True] Translation: X:215.08, Y:158.04, Z:41.87 [[ 7.00818762e-02 -9.97539014e-01 -2.10859246e-03 2.15075813e+02] [ 9.94698969e-01 7.00414910e-02 -7.52871234e-02 1.58041044e+02] [ 7.52495318e-02 3.17884811e-03 9.97159668e-01 4.18742970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0771056809999 meters Centerline goodness [0,1] 0.9987219777917452 Centerline is valid? [True, True] Translation: X:215.09, Y:158.07, Z:41.88 [[ 6.82186786e-02 -9.97668276e-01 -2.05513517e-03 2.15091738e+02] [ 9.94886872e-01 6.81819718e-02 -7.45072585e-02 1.58068455e+02] [ 7.44736513e-02 3.03815973e-03 9.97218354e-01 4.18791870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10710568099995 meters Centerline goodness [0,1] 0.9988042543372003 Centerline is valid? [True, True] Translation: X:215.10, Y:158.10, Z:41.88 [[ 6.64660578e-02 -9.97786624e-01 -2.02885380e-03 2.15095228e+02] [ 9.95001328e-01 6.64321255e-02 -7.45595752e-02 1.58096840e+02] [ 7.45293279e-02 2.93696880e-03 9.97214497e-01 4.18809641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1371056809999 meters Centerline goodness [0,1] 0.9990967145618015 Centerline is valid? [True, True] Translation: X:215.10, Y:158.12, Z:41.88 [[ 6.08922255e-02 -9.98142333e-01 -2.00501981e-03 2.15104593e+02] [ 9.95353512e-01 6.08719560e-02 -7.46055664e-02 1.58124171e+02] [ 7.45890235e-02 2.54719546e-03 9.97211106e-01 4.18826811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16710568099995 meters Centerline goodness [0,1] 0.9988434687526285 Centerline is valid? [True, True] Translation: X:215.11, Y:158.15, Z:41.89 [[ 5.75628272e-02 -9.98339967e-01 -1.95736334e-03 2.15109560e+02] [ 9.95623730e-01 5.75505725e-02 -7.36296102e-02 1.58151881e+02] [ 7.36200300e-02 2.28953114e-03 9.97283736e-01 4.18852206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.1971056809999 meters Centerline goodness [0,1] 0.9988022442161003 Centerline is valid? [True, True] Translation: X:215.12, Y:158.18, Z:41.89 [[ 5.17012439e-02 -9.98660865e-01 -1.85943615e-03 2.15117746e+02] [ 9.96139799e-01 5.17028100e-02 -7.09388446e-02 1.58178617e+02] [ 7.09399860e-02 1.81536816e-03 9.97478934e-01 4.18901000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2271056809999 meters Centerline goodness [0,1] 0.9988667128376252 Centerline is valid? [True, True] Translation: X:215.12, Y:158.21, Z:41.89 [[ 4.89296378e-02 -9.98800539e-01 -1.83674347e-03 2.15121086e+02] [ 9.96262829e-01 4.89362033e-02 -7.11731874e-02 1.58206378e+02] [ 7.11777012e-02 1.65259902e-03 9.97462282e-01 4.18921316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2571056809999 meters Centerline goodness [0,1] 0.9988672358456924 Centerline is valid? [True, True] Translation: X:215.12, Y:158.23, Z:41.89 [[ 4.48768924e-02 -9.98990811e-01 -1.85044980e-03 2.15124334e+02] [ 9.96338025e-01 4.48925132e-02 -7.27681414e-02 1.58234653e+02] [ 7.27777760e-02 1.42193456e-03 9.97347168e-01 4.18912930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.2871056809999 meters Centerline goodness [0,1] 0.9988450958570438 Centerline is valid? [True, True] Translation: X:215.12, Y:158.26, Z:41.89 [[ 4.23335976e-02 -9.99101788e-01 -1.86642796e-03 2.15124595e+02] [ 9.96317788e-01 4.23548925e-02 -7.45448138e-02 1.58261250e+02] [ 7.45569091e-02 1.29619477e-03 9.97215918e-01 4.18893240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31710568099993 meters Centerline goodness [0,1] 0.9989510342801997 Centerline is valid? [True, True] Translation: X:215.13, Y:158.29, Z:41.89 [[ 4.11209266e-02 -9.99152476e-01 -1.84391214e-03 2.15125502e+02] [ 9.96337332e-01 4.11434057e-02 -7.49609342e-02 1.58288513e+02] [ 7.49732678e-02 1.24530457e-03 9.97184766e-01 4.18919396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3471056809999 meters Centerline goodness [0,1] 0.9988469843399509 Centerline is valid? [True, True] Translation: X:215.13, Y:158.32, Z:41.90 [[ 3.87798097e-02 -9.99246184e-01 -1.78586918e-03 2.15128385e+02] [ 9.96515660e-01 3.88057881e-02 -7.38285207e-02 1.58315944e+02] [ 7.38421696e-02 1.08340937e-03 9.97269352e-01 4.18972560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37710568099993 meters Centerline goodness [0,1] 0.9989129071371827 Centerline is valid? [True, True] Translation: X:215.13, Y:158.34, Z:41.90 [[ 3.65457075e-02 -9.99330460e-01 -1.74424631e-03 2.15129976e+02] [ 9.96638903e-01 3.65752187e-02 -7.33017786e-02 1.58342162e+02] [ 7.33164964e-02 9.40481628e-04 9.97308281e-01 4.18999746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4071056809999 meters Centerline goodness [0,1] 0.9990626366988148 Centerline is valid? [True, True] Translation: X:215.13, Y:158.37, Z:41.90 [[ 3.37171633e-02 -9.99429996e-01 -1.68387053e-03 2.15131580e+02] [ 9.96827920e-01 3.37508148e-02 -7.20762079e-02 1.58368222e+02] [ 7.20919562e-02 7.51676109e-04 9.97397706e-01 4.19030660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43710568099993 meters Centerline goodness [0,1] 0.9990168598083923 Centerline is valid? [True, True] Translation: X:215.13, Y:158.39, Z:41.91 [[ 3.27226078e-02 -9.99463145e-01 -1.62864161e-03 2.15131770e+02] [ 9.96957520e-01 3.27558292e-02 -7.07301913e-02 1.58394948e+02] [ 7.07455669e-02 6.90789808e-04 9.97494154e-01 4.19063812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.4671056809999 meters Centerline goodness [0,1] 0.9991621632943739 Centerline is valid? [True, True] Translation: X:215.13, Y:158.42, Z:41.91 [[ 3.32014113e-02 -9.99447469e-01 -1.55670367e-03 2.15131190e+02] [ 9.97074282e-01 3.32297940e-02 -6.88379015e-02 1.58421832e+02] [ 6.88515954e-02 7.33366289e-04 9.97626644e-01 4.19101852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49710568099994 meters Centerline goodness [0,1] 0.9991621632943739 Centerline is valid? [True, True] Translation: X:215.13, Y:158.45, Z:41.91 [[ 3.27671642e-02 -9.99461846e-01 -1.52660077e-03 2.15131511e+02] [ 9.97088648e-01 3.27945050e-02 -6.88385696e-02 1.58448503e+02] [ 6.88515880e-02 7.33488416e-04 9.97626644e-01 4.19118748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5271056809999 meters Centerline goodness [0,1] 0.9991050616050616 Centerline is valid? [True, True] Translation: X:215.13, Y:158.48, Z:41.91 [[ 3.48741241e-02 -9.99390647e-01 -1.45929881e-03 2.15128987e+02] [ 9.97136902e-01 3.48934361e-02 -6.70853624e-02 1.58475160e+02] [ 6.70954038e-02 8.84422564e-04 9.97746172e-01 4.19149499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55710568099994 meters Centerline goodness [0,1] 0.998870954252739 Centerline is valid? [True, True] Translation: X:215.13, Y:158.50, Z:41.92 [[ 3.75279319e-02 -9.99294530e-01 -1.44803579e-03 2.15126514e+02] [ 9.96989331e-01 3.75396739e-02 -6.78457504e-02 1.58502894e+02] [ 6.78522461e-02 1.10243447e-03 9.97694772e-01 4.19165560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5871056809999 meters Centerline goodness [0,1] 0.9991222753965434 Centerline is valid? [True, True] Translation: X:215.12, Y:158.53, Z:41.91 [[ 4.53855005e-02 -9.98968435e-01 -1.49093177e-03 2.15117528e+02] [ 9.96429992e-01 4.53764245e-02 -7.11916488e-02 1.58531059e+02] [ 7.11858631e-02 1.74545948e-03 9.97461541e-01 4.19136357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61710568099994 meters Centerline goodness [0,1] 0.9988373300114191 Centerline is valid? [True, True] Translation: X:215.11, Y:158.56, Z:41.91 [[ 4.94374875e-02 -9.98776117e-01 -1.48414750e-03 2.15105371e+02] [ 9.96156521e-01 4.94152890e-02 -7.23209164e-02 1.58558420e+02] [ 7.23057437e-02 2.09692119e-03 9.97380310e-01 4.19108064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6471056809999 meters Centerline goodness [0,1] 0.998622503287208 Centerline is valid? [True, True] Translation: X:215.10, Y:158.59, Z:41.91 [[ 5.80467093e-02 -9.98312723e-01 -1.51245592e-03 2.15101045e+02] [ 9.95478506e-01 5.79958833e-02 -7.52264744e-02 1.58586360e+02] [ 7.51872627e-02 2.86103193e-03 9.97165327e-01 4.19106573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67710568099994 meters Centerline goodness [0,1] 0.9987325728770595 Centerline is valid? [True, True] Translation: X:215.10, Y:158.61, Z:41.91 [[ 6.12436608e-02 -9.98121717e-01 -1.50083123e-03 2.15099325e+02] [ 9.95220811e-01 6.11801057e-02 -7.61086806e-02 1.58614196e+02] [ 7.60575479e-02 3.16751574e-03 9.97098398e-01 4.19111776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7071056809999 meters Centerline goodness [0,1] 0.9987018425460636 Centerline is valid? [True, True] Translation: X:215.10, Y:158.64, Z:41.91 [[ 6.53829808e-02 -9.97859137e-01 -1.48600814e-03 2.15098076e+02] [ 9.94902726e-01 6.53036931e-02 -7.68374532e-02 1.58642262e+02] [ 7.67699966e-02 3.54542818e-03 9.97042525e-01 4.19127020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73710568099995 meters Centerline goodness [0,1] 0.9988447319778189 Centerline is valid? [True, True] Translation: X:215.09, Y:158.67, Z:41.91 [[ 6.65413738e-02 -9.97782628e-01 -1.43974581e-03 2.15094206e+02] [ 9.94893403e-01 6.64583043e-02 -7.59632219e-02 1.58669413e+02] [ 7.58904663e-02 3.62230354e-03 9.97109581e-01 4.19138257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.7671056809999 meters Centerline goodness [0,1] 0.9984647093463448 Centerline is valid? [True, True] Translation: X:215.10, Y:158.70, Z:41.91 [[ 6.93430775e-02 -9.97591850e-01 -1.42770521e-03 2.15095693e+02] [ 9.94633089e-01 6.92474329e-02 -7.68752923e-02 1.58696946e+02] [ 7.67890300e-02 3.91072651e-03 9.97039694e-01 4.19149805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79710568099995 meters Centerline goodness [0,1] 0.9985537016852519 Centerline is valid? [True, True] Translation: X:215.10, Y:158.72, Z:41.92 [[ 6.97688864e-02 -9.97562174e-01 -1.41858616e-03 2.15098654e+02] [ 9.94546731e-01 6.96683519e-02 -7.76087635e-02 1.58724969e+02] [ 7.75183974e-02 4.00382678e-03 9.96982882e-01 4.19163442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8271056809999 meters Centerline goodness [0,1] 0.9985173738723688 Centerline is valid? [True, True] Translation: X:215.10, Y:158.75, Z:41.92 [[ 6.89281971e-02 -9.97620663e-01 -1.38410526e-03 2.15104625e+02] [ 9.94628756e-01 6.88287335e-02 -7.73061715e-02 1.58752463e+02] [ 7.72175003e-02 3.95190414e-03 9.97006439e-01 4.19173986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85710568099995 meters Centerline goodness [0,1] 0.9986850069924231 Centerline is valid? [True, True] Translation: X:215.11, Y:158.78, Z:41.92 [[ 6.62438298e-02 -9.97802554e-01 -1.34850980e-03 2.15112296e+02] [ 9.94831097e-01 6.61506737e-02 -7.70401002e-02 1.58780659e+02] [ 7.69600136e-02 3.76189181e-03 9.97027083e-01 4.19182391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.8871056809999 meters Centerline goodness [0,1] 0.9986804624664879 Centerline is valid? [True, True] Translation: X:215.12, Y:158.81, Z:41.92 [[ 6.42458095e-02 -9.97933236e-01 -1.31627678e-03 2.15117161e+02] [ 9.94983298e-01 6.41571425e-02 -7.67600068e-02 1.58807747e+02] [ 7.66858105e-02 3.62183537e-03 9.97048729e-01 4.19210712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91710568099995 meters Centerline goodness [0,1] 0.9985921116224338 Centerline is valid? [True, True] Translation: X:215.13, Y:158.83, Z:41.93 [[ 5.87124961e-02 -9.98274158e-01 -1.24420883e-03 2.15131382e+02] [ 9.95511887e-01 5.86426122e-02 -7.42773585e-02 1.58834118e+02] [ 7.42221311e-02 3.12238444e-03 9.97236845e-01 4.19266167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9471056809999 meters Centerline goodness [0,1] 0.9987658969210174 Centerline is valid? [True, True] Translation: X:215.13, Y:158.86, Z:41.93 [[ 5.56357346e-02 -9.98450399e-01 -1.21060846e-03 2.15134155e+02] [ 9.95699102e-01 5.55723063e-02 -7.41283759e-02 1.58861476e+02] [ 7.40807828e-02 2.91878490e-03 9.97247972e-01 4.19289652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9771056809999 meters Centerline goodness [0,1] 0.9986130957384215 Centerline is valid? [True, True] Translation: X:215.14, Y:158.89, Z:41.93 [[ 5.02537032e-02 -9.98735800e-01 -1.16947420e-03 2.15142868e+02] [ 9.96047822e-01 5.02042455e-02 -7.32684756e-02 1.58888327e+02] [ 7.32345622e-02 2.51716000e-03 9.97311568e-01 4.19320488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0071056809999 meters Centerline goodness [0,1] 0.9988735214969647 Centerline is valid? [True, True] Translation: X:215.15, Y:158.91, Z:41.94 [[ 4.68090432e-02 -9.98903214e-01 -1.13268368e-03 2.15148029e+02] [ 9.96260243e-01 4.67675746e-02 -7.26520594e-02 1.58914823e+02] [ 7.26253485e-02 2.27232567e-03 9.97356704e-01 4.19358546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0371056809999 meters Centerline goodness [0,1] 0.9988061577128495 Centerline is valid? [True, True] Translation: X:215.16, Y:158.94, Z:41.94 [[ 4.08146625e-02 -9.99166150e-01 -1.08115323e-03 2.15158708e+02] [ 9.96633499e-01 4.07881623e-02 -7.11195742e-02 1.58940672e+02] [ 7.11043693e-02 1.82520789e-03 9.97467211e-01 4.19408550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06710568099993 meters Centerline goodness [0,1] 0.9992924184720401 Centerline is valid? [True, True] Translation: X:215.16, Y:158.97, Z:41.94 [[ 3.77914585e-02 -9.99285085e-01 -1.06062175e-03 2.15162414e+02] [ 9.96713475e-01 3.77702663e-02 -7.16634923e-02 1.58968339e+02] [ 7.16523190e-02 1.65113190e-03 9.97428303e-01 4.19415564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.0971056809999 meters Centerline goodness [0,1] 0.999105098855359 Centerline is valid? [True, True] Translation: X:215.16, Y:159.00, Z:41.94 [[ 3.85167422e-02 -9.99257406e-01 -1.04709821e-03 2.15161897e+02] [ 9.96619956e-01 3.84911301e-02 -7.25747576e-02 1.58995179e+02] [ 7.25611681e-02 1.75178426e-03 9.97362426e-01 4.19413157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12710568099993 meters Centerline goodness [0,1] 0.9988910277870774 Centerline is valid? [True, True] Translation: X:215.16, Y:159.02, Z:41.94 [[ 4.19756979e-02 -9.99118096e-01 -1.03445552e-03 2.15160668e+02] [ 9.96390915e-01 4.19375314e-02 -7.37996449e-02 1.59021213e+02] [ 7.37779432e-02 2.06706951e-03 9.97272552e-01 4.19394776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.1571056809999 meters Centerline goodness [0,1] 0.9990353765177092 Centerline is valid? [True, True] Translation: X:215.16, Y:159.05, Z:41.94 [[ 4.47594749e-02 -9.98997262e-01 -1.02989686e-03 2.15163807e+02] [ 9.96127056e-01 4.47089287e-02 -7.57099711e-02 1.59048375e+02] [ 7.56800994e-02 2.36283042e-03 9.97129349e-01 4.19424034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18710568099993 meters Centerline goodness [0,1] 0.9986583090501248 Centerline is valid? [True, True] Translation: X:215.16, Y:159.08, Z:41.94 [[ 5.15951219e-02 -9.98667550e-01 -1.03316302e-03 2.15163266e+02] [ 9.95593906e-01 5.15173817e-02 -7.83500723e-02 1.59076289e+02] [ 7.82989007e-02 3.01387073e-03 9.96925373e-01 4.19431969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2171056809999 meters Centerline goodness [0,1] 0.9986349699693393 Centerline is valid? [True, True] Translation: X:215.16, Y:159.10, Z:41.94 [[ 5.39892587e-02 -9.98540995e-01 -1.02057591e-03 2.15162402e+02] [ 9.95355092e-01 5.38985327e-02 -7.97695972e-02 1.59104303e+02] [ 7.97082205e-02 3.29086599e-03 9.96812806e-01 4.19433260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24710568099994 meters Centerline goodness [0,1] 0.9985131824178586 Centerline is valid? [True, True] Translation: X:215.16, Y:159.13, Z:41.94 [[ 5.72794961e-02 -9.98357678e-01 -1.00301275e-03 2.15161962e+02] [ 9.95087635e-01 5.71730782e-02 -8.08197889e-02 1.59132012e+02] [ 8.07444021e-02 3.63123120e-03 9.96728226e-01 4.19416513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2771056809999 meters Centerline goodness [0,1] 0.9988843749342202 Centerline is valid? [True, True] Translation: X:215.16, Y:159.16, Z:41.94 [[ 5.91692267e-02 -9.98247478e-01 -9.87569036e-04 2.15162814e+02] [ 9.94863991e-01 5.90500090e-02 -8.22115282e-02 1.59160219e+02] [ 8.21257667e-02 3.88189568e-03 9.96614414e-01 4.19418558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30710568099994 meters Centerline goodness [0,1] 0.998716870004207 Centerline is valid? [True, True] Translation: X:215.17, Y:159.19, Z:41.94 [[ 6.17597692e-02 -9.98090567e-01 -9.74970029e-04 2.15165620e+02] [ 9.94569529e-01 6.16238206e-02 -8.38686865e-02 1.59187837e+02] [ 8.37686262e-02 4.21003524e-03 9.96476338e-01 4.19433119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3371056809999 meters Centerline goodness [0,1] 0.9988828935165669 Centerline is valid? [True, True] Translation: X:215.16, Y:159.21, Z:41.95 [[ 6.32782680e-02 -9.97995480e-01 -9.39874602e-04 2.15163953e+02] [ 9.94481985e-01 6.31343974e-02 -8.37832284e-02 1.59214615e+02] [ 8.36746216e-02 4.36696922e-03 9.96483561e-01 4.19453049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36710568099994 meters Centerline goodness [0,1] 0.9986774708203879 Centerline is valid? [True, True] Translation: X:215.17, Y:159.24, Z:41.95 [[ 6.25653070e-02 -9.98040468e-01 -8.97708861e-04 2.15170352e+02] [ 9.94592343e-01 6.24238084e-02 -8.30020428e-02 1.59241944e+02] [ 8.28954361e-02 4.30019393e-03 9.96548973e-01 4.19500236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3971056809999 meters Centerline goodness [0,1] 0.9986598542591507 Centerline is valid? [True, True] Translation: X:215.17, Y:159.27, Z:41.95 [[ 5.91108703e-02 -9.98251068e-01 -8.43250463e-04 2.15174964e+02] [ 9.94966562e-01 5.89848101e-02 -8.10082248e-02 1.59269506e+02] [ 8.09162859e-02 3.94946066e-03 9.96713076e-01 4.19526568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42710568099994 meters Centerline goodness [0,1] 0.9986587870405298 Centerline is valid? [True, True] Translation: X:215.18, Y:159.30, Z:41.95 [[ 5.65141726e-02 -9.98401463e-01 -8.16489400e-04 2.15179530e+02] [ 9.95076539e-01 5.63926184e-02 -8.15018617e-02 1.59297611e+02] [ 8.14176220e-02 3.79354083e-03 9.96672855e-01 4.19539594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4571056809999 meters Centerline goodness [0,1] 0.9989684210526316 Centerline is valid? [True, True] Translation: X:215.19, Y:159.33, Z:41.95 [[ 5.02995205e-02 -9.98733853e-01 -8.05854226e-04 2.15189500e+02] [ 9.95227865e-01 5.01904671e-02 -8.36804243e-02 1.59325381e+02] [ 8.36149188e-02 3.40707664e-03 9.96492317e-01 4.19544092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48710568099995 meters Centerline goodness [0,1] 0.9988856415971069 Centerline is valid? [True, True] Translation: X:215.20, Y:159.35, Z:41.96 [[ 4.28852190e-02 -9.99079701e-01 -7.80860492e-04 2.15199079e+02] [ 9.95488514e-01 4.27972540e-02 -8.46818358e-02 1.59352199e+02] [ 8.46373219e-02 2.85426143e-03 9.96407736e-01 4.19562059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5171056809999 meters Centerline goodness [0,1] 0.9990119200285913 Centerline is valid? [True, True] Translation: X:215.20, Y:159.38, Z:41.96 [[ 3.97945312e-02 -9.99207606e-01 -7.45195794e-04 2.15201228e+02] [ 9.95617954e-01 3.97147091e-02 -8.46618612e-02 1.59380531e+02] [ 8.46243709e-02 2.62714877e-03 9.96409461e-01 4.19573824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54710568099995 meters Centerline goodness [0,1] 0.9991624615255763 Centerline is valid? [True, True] Translation: X:215.20, Y:159.41, Z:41.96 [[ 3.70918469e-02 -9.99311604e-01 -7.15968873e-04 2.15202911e+02] [ 9.95695070e-01 3.70184928e-02 -8.49762226e-02 1.59407545e+02] [ 8.49442294e-02 2.43903836e-03 9.96382722e-01 4.19578873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5771056809999 meters Centerline goodness [0,1] 0.9992234721289456 Centerline is valid? [True, True] Translation: X:215.21, Y:159.44, Z:41.96 [[ 3.39133612e-02 -9.99424538e-01 -6.90730907e-04 2.15208151e+02] [ 9.95736006e-01 3.38475076e-02 -8.58146413e-02 1.59435719e+02] [ 8.57886377e-02 2.22247729e-03 9.96310880e-01 4.19606970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60710568099995 meters Centerline goodness [0,1] 0.9991193122247851 Centerline is valid? [True, True] Translation: X:215.21, Y:159.46, Z:41.96 [[ 2.95141294e-02 -9.99564144e-01 -6.61586580e-04 2.15209743e+02] [ 9.95858458e-01 2.94616403e-02 -8.60112947e-02 1.59462898e+02] [ 8.59932976e-02 1.87970189e-03 9.96293942e-01 4.19607991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6371056809999 meters Centerline goodness [0,1] 0.9991800866164908 Centerline is valid? [True, True] Translation: X:215.21, Y:159.49, Z:41.96 [[ 2.60361436e-02 -9.99660798e-01 -6.39134805e-04 2.15212497e+02] [ 9.95907269e-01 2.59937268e-02 -8.65623339e-02 1.59490623e+02] [ 8.65495852e-02 1.61723036e-03 9.96246232e-01 4.19627937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66710568099995 meters Centerline goodness [0,1] 0.9991172947184801 Centerline is valid? [True, True] Translation: X:215.22, Y:159.52, Z:41.97 [[ 1.78759591e-02 -9.99840030e-01 -6.03805370e-04 2.15219316e+02] [ 9.96118230e-01 1.78614705e-02 -8.61942019e-02 1.59518158e+02] [ 8.61911982e-02 9.39342488e-04 9.96278171e-01 4.19656391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.6971056809999 meters Centerline goodness [0,1] 0.9995164410058027 Centerline is valid? [True, True] Translation: X:215.22, Y:159.55, Z:41.97 [[ 1.21492998e-02 -9.99926036e-01 -5.62870673e-04 2.15223696e+02] [ 9.96311170e-01 1.21531974e-02 -8.49491197e-02 1.59545995e+02] [ 8.49496773e-02 4.71277985e-04 9.96385131e-01 4.19692919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7271056809999 meters Centerline goodness [0,1] 0.9997697299560394 Centerline is valid? [True, True] Translation: X:215.23, Y:159.57, Z:41.97 [[ 1.35130464e-03 -9.99998952e-01 -5.19629082e-04 2.15229245e+02] [ 9.96518054e-01 1.38992016e-03 -8.33656719e-02 1.59572210e+02] [ 8.33663068e-02 -4.05167343e-04 9.96518888e-01 4.19724756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7571056809999 meters Centerline goodness [0,1] 0.9999161161790919 Centerline is valid? [True, True] Translation: X:215.23, Y:159.60, Z:41.98 [[-5.74591446e-03 -9.99983376e-01 -4.80986990e-04 2.15230603e+02] [ 9.96523852e-01 -5.68605874e-03 -8.31136663e-02 1.59599628e+02] [ 8.31095498e-02 -9.56879025e-04 9.96539958e-01 4.19770665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.7871056809999 meters Centerline goodness [0,1] 0.9997900306555243 Centerline is valid? [True, True] Translation: X:215.23, Y:159.63, Z:41.98 [[-8.73771723e-03 -9.99961727e-01 -4.43871295e-04 2.15231302e+02] [ 9.96522467e-01 -8.67087884e-03 -8.28721167e-02 1.59626582e+02] [ 8.28650961e-02 -1.16644084e-03 9.96560091e-01 4.19790963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81710568099993 meters Centerline goodness [0,1] 0.9997083758618535 Centerline is valid? [True, True] Translation: X:215.23, Y:159.65, Z:41.98 [[-1.34591829e-02 -9.99909340e-01 -4.03882104e-04 2.15230940e+02] [ 9.96536961e-01 -1.33806408e-02 -8.20673094e-02 1.59652921e+02] [ 8.20544649e-02 -1.50704237e-03 9.96626707e-01 4.19817755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8471056809999 meters Centerline goodness [0,1] 0.999896004492606 Centerline is valid? [True, True] Translation: X:215.23, Y:159.68, Z:41.98 [[-1.66077292e-02 -9.99862018e-01 -3.59490566e-04 2.15225696e+02] [ 9.96639471e-01 -1.65253571e-02 -8.02289087e-02 1.59680064e+02] [ 8.02118978e-02 -1.69070248e-03 9.96776401e-01 4.19848380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87710568099993 meters Centerline goodness [0,1] 0.9996217295366187 Centerline is valid? [True, True] Translation: X:215.22, Y:159.71, Z:41.99 [[-1.72241707e-02 -9.99851600e-01 -3.25714281e-04 2.15220966e+02] [ 9.96617399e-01 -1.71422733e-02 -8.03735144e-02 1.59707294e+02] [ 8.03560035e-02 -1.70897965e-03 9.96764763e-01 4.19861681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9071056809999 meters Centerline goodness [0,1] 0.9997899027249617 Centerline is valid? [True, True] Translation: X:215.22, Y:159.73, Z:41.99 [[-1.70493960e-02 -9.99854606e-01 -2.89970858e-04 2.15216766e+02] [ 9.96668449e-01 -1.69719305e-02 -7.97744044e-02 1.59734092e+02] [ 7.97578843e-02 -1.64911022e-03 9.96812901e-01 4.19889339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93710568099993 meters Centerline goodness [0,1] 0.999600940939259 Centerline is valid? [True, True] Translation: X:215.21, Y:159.76, Z:41.99 [[-1.53417043e-02 -9.99882277e-01 -2.52668359e-04 2.15206690e+02] [ 9.96834390e-01 -1.52752223e-02 -7.80247859e-02 1.59761091e+02] [ 7.80117411e-02 -1.44890171e-03 9.96951387e-01 4.19926874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.9671056809999 meters Centerline goodness [0,1] 0.9996220234345471 Centerline is valid? [True, True] Translation: X:215.20, Y:159.79, Z:42.00 [[-1.46793750e-02 -9.99892229e-01 -2.17415619e-04 2.15196437e+02] [ 9.96910315e-01 -1.46188166e-02 -7.71758616e-02 1.59788132e+02] [ 7.71643659e-02 -1.34963729e-03 9.97017472e-01 4.19962538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99710568099994 meters Centerline goodness [0,1] 0.9996008822602668 Centerline is valid? [True, True] Translation: X:215.19, Y:159.82, Z:42.00 [[-1.49923114e-02 -9.99887592e-01 -1.83627083e-04 2.15190711e+02] [ 9.96935213e-01 -1.49339406e-02 -7.67929647e-02 1.59815776e+02] [ 7.67815903e-02 -1.33436834e-03 9.97047043e-01 4.19975494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0271056809999 meters Centerline goodness [0,1] 0.9997060367454068 Centerline is valid? [True, True] Translation: X:215.18, Y:159.84, Z:42.00 [[-1.37135241e-02 -9.99905954e-01 -1.52018924e-04 2.15177276e+02] [ 9.96898960e-01 -1.36605016e-02 -7.74974519e-02 1.59842880e+02] [ 7.74880869e-02 -1.21431068e-03 9.96992539e-01 4.19957979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05710568099994 meters Centerline goodness [0,1] 0.9997056906809056 Centerline is valid? [True, True] Translation: X:215.17, Y:159.87, Z:42.00 [[-1.27394826e-02 -9.99918842e-01 -1.20344787e-04 2.15171201e+02] [ 9.96791249e-01 -1.26901235e-02 -7.90326910e-02 1.59870433e+02] [ 7.90247497e-02 -1.12679422e-03 9.96872018e-01 4.19952771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0871056809999 meters Centerline goodness [0,1] 0.9993690055527511 Centerline is valid? [True, True] Translation: X:215.16, Y:159.90, Z:41.99 [[-1.10048190e-02 -9.99939441e-01 -8.73436812e-05 2.15160901e+02] [ 9.96690075e-01 -1.09620220e-02 -8.05526456e-02 1.59897595e+02] [ 8.05468100e-02 -9.73521869e-04 9.96750352e-01 4.19946625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11710568099994 meters Centerline goodness [0,1] 0.9995796023037794 Centerline is valid? [True, True] Translation: X:215.15, Y:159.92, Z:42.00 [[-9.87806456e-03 -9.99951209e-01 -5.24678323e-05 2.15152882e+02] [ 9.96648381e-01 -9.84117627e-03 -8.12105623e-02 1.59924300e+02] [ 8.12060837e-02 -8.54495158e-04 9.96696966e-01 4.19952838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1471056809999 meters Centerline goodness [0,1] 0.999370184535931 Centerline is valid? [True, True] Translation: X:215.15, Y:159.95, Z:42.00 [[-1.00374298e-02 -9.99949624e-01 -1.61959387e-05 2.15146688e+02] [ 9.96616867e-01 -1.00026545e-02 -8.15767540e-02 1.59951003e+02] [ 8.15724824e-02 -8.34962085e-04 9.96667062e-01 4.19995856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17710568099994 meters Centerline goodness [0,1] 0.9992229339493857 Centerline is valid? [True, True] Translation: X:215.14, Y:159.98, Z:42.00 [[-8.15286156e-03 -9.99966765e-01 1.72991461e-05 2.15136540e+02] [ 9.96776157e-01 -8.12822897e-03 -7.98199527e-02 1.59978974e+02] [ 7.98174404e-02 -6.33517647e-04 9.96809297e-01 4.20023636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2071056809999 meters Centerline goodness [0,1] 0.9995166239334202 Centerline is valid? [True, True] Translation: X:215.13, Y:160.00, Z:42.01 [[-6.76473844e-03 -9.99977118e-01 4.79770277e-05 2.15132163e+02] [ 9.96903400e-01 -6.74770396e-03 -7.83458918e-02 1.60004795e+02] [ 7.83444228e-02 -4.82161004e-04 9.96926235e-01 4.20062976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23710568099995 meters Centerline goodness [0,1] 0.9988088023238804 Centerline is valid? [True, True] Translation: X:215.12, Y:160.03, Z:42.01 [[ 4.72405103e-05 -9.99999996e-01 8.10582528e-05 2.15120969e+02] [ 9.97062925e-01 4.08937783e-05 -7.65866937e-02 1.60030619e+02] [ 7.65866900e-02 8.44381731e-05 9.97062923e-01 4.20107578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.2671056809999 meters Centerline goodness [0,1] 0.9990742494056261 Centerline is valid? [True, True] Translation: X:215.11, Y:160.06, Z:42.01 [[ 4.52541930e-03 -9.99989754e-01 1.14154613e-04 2.15112524e+02] [ 9.97077844e-01 4.50353610e-03 -7.62593694e-02 1.60058019e+02] [ 7.62580739e-02 4.58926657e-04 9.97088008e-01 4.20148814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29710568099995 meters Centerline goodness [0,1] 0.9989687250073662 Centerline is valid? [True, True] Translation: X:215.10, Y:160.09, Z:42.01 [[ 1.52518490e-02 -9.99883672e-01 1.50386284e-04 2.15096113e+02] [ 9.96820873e-01 1.51933666e-02 -7.82132288e-02 1.60086223e+02] [ 7.82018456e-02 1.34280454e-03 9.96936642e-01 4.20139331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3271056809999 meters Centerline goodness [0,1] 0.9988429334791938 Centerline is valid? [True, True] Translation: X:215.09, Y:160.11, Z:42.02 [[ 2.28984924e-02 -9.99737779e-01 1.82214058e-04 2.15085006e+02] [ 9.96620578e-01 2.28127119e-02 -7.89113682e-02 1.60112533e+02] [ 7.88865192e-02 1.98854964e-03 9.96881619e-01 4.20159807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35710568099995 meters Centerline goodness [0,1] 0.9988858992684773 Centerline is valid? [True, True] Translation: X:215.08, Y:160.14, Z:42.02 [[ 2.45425336e-02 -9.99698764e-01 2.11505953e-04 2.15080629e+02] [ 9.96619481e-01 2.44503433e-02 -7.84333584e-02 1.60139807e+02] [ 7.84045601e-02 2.13574429e-03 9.96919337e-01 4.20186377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.3871056809999 meters Centerline goodness [0,1] 0.9989095331963259 Centerline is valid? [True, True] Translation: X:215.08, Y:160.17, Z:42.02 [[ 2.63417953e-02 -9.99652967e-01 2.36526778e-04 2.15078080e+02] [ 9.96738472e-01 2.62469395e-02 -7.63119744e-02 1.60166983e+02] [ 7.62792835e-02 2.24594975e-03 9.97083962e-01 4.20245233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41710568099995 meters Centerline goodness [0,1] 0.9989095331963259 Centerline is valid? [True, True] Translation: X:215.08, Y:160.19, Z:42.03 [[ 2.59105446e-02 -9.99664230e-01 2.68066280e-04 2.15077715e+02] [ 9.96749772e-01 2.58145406e-02 -7.63118647e-02 1.60193642e+02] [ 7.62793214e-02 2.24447698e-03 9.97083962e-01 4.20262138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4471056809999 meters Centerline goodness [0,1] 0.9983525878967344 Centerline is valid? [True, True] Translation: X:215.08, Y:160.22, Z:42.03 [[ 2.65867863e-02 -9.99646464e-01 2.99255290e-04 2.15075205e+02] [ 9.96758248e-01 2.64872284e-02 -7.59698804e-02 1.60220931e+02] [ 7.59350958e-02 2.31808016e-03 9.97110068e-01 4.20276356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4771056809999 meters Centerline goodness [0,1] 0.9985714885929162 Centerline is valid? [True, True] Translation: X:215.08, Y:160.25, Z:42.03 [[ 2.79969997e-02 -9.99607954e-01 3.24792027e-04 2.15077021e+02] [ 9.96799357e-01 2.78939937e-02 -7.49197415e-02 1.60249235e+02] [ 7.48813098e-02 2.42128047e-03 9.97189514e-01 4.20307824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5071056809999 meters Centerline goodness [0,1] 0.999291105458488 Centerline is valid? [True, True] Translation: X:215.07, Y:160.28, Z:42.03 [[ 2.80784011e-02 -9.99605662e-01 3.53038030e-04 2.15074036e+02] [ 9.96812367e-01 2.79735507e-02 -7.47167045e-02 1.60275563e+02] [ 7.46773651e-02 2.44983827e-03 9.97204738e-01 4.20311496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5371056809999 meters Centerline goodness [0,1] 0.9986132705803252 Centerline is valid? [True, True] Translation: X:215.07, Y:160.30, Z:42.03 [[ 3.14683881e-02 -9.99504674e-01 3.84657994e-04 2.15074590e+02] [ 9.96728991e-01 3.13523322e-02 -7.44872499e-02 1.60303235e+02] [ 7.44382945e-02 2.72739346e-03 9.97221892e-01 4.20313882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56710568099993 meters Centerline goodness [0,1] 0.9979819834813906 Centerline is valid? [True, True] Translation: X:215.07, Y:160.33, Z:42.03 [[ 3.28326947e-02 -9.99460773e-01 4.21359364e-04 2.15074578e+02] [ 9.96602200e-01 3.27069204e-02 -7.55930769e-02 1.60330186e+02] [ 7.55385337e-02 2.90185209e-03 9.97138661e-01 4.20304028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.5971056809999 meters Centerline goodness [0,1] 0.9974342797055731 Centerline is valid? [True, True] Translation: X:215.08, Y:160.36, Z:42.03 [[ 3.31795027e-02 -9.99449301e-01 4.64924227e-04 2.15081810e+02] [ 9.96423696e-01 3.30428828e-02 -7.77688006e-02 1.60358522e+02] [ 7.77106110e-02 3.04359164e-03 9.96971312e-01 4.20299119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62710568099993 meters Centerline goodness [0,1] 0.9971155052046319 Centerline is valid? [True, True] Translation: X:215.09, Y:160.39, Z:42.03 [[ 2.85219109e-02 -9.99593046e-01 4.93155051e-04 2.15091710e+02] [ 9.96582362e-01 2.83977356e-02 -7.75703862e-02 1.60385257e+02] [ 7.75248141e-02 2.70392527e-03 9.96986756e-01 4.20297482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.6571056809999 meters Centerline goodness [0,1] 0.9976638464452582 Centerline is valid? [True, True] Translation: X:215.10, Y:160.41, Z:42.03 [[ 2.46710976e-02 -9.99695489e-01 5.16688411e-04 2.15098231e+02] [ 9.96774061e-01 2.45595093e-02 -7.64087814e-02 1.60412726e+02] [ 7.63728244e-02 2.40011011e-03 9.97076442e-01 4.20334755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68710568099993 meters Centerline goodness [0,1] 0.9972019439126502 Centerline is valid? [True, True] Translation: X:215.11, Y:160.44, Z:42.04 [[ 1.79929920e-02 -9.99837974e-01 5.28002572e-04 2.15107915e+02] [ 9.97102991e-01 1.79047341e-02 -7.39259537e-02 1.60438843e+02] [ 7.39045220e-02 1.85662204e-03 9.97263593e-01 4.20364858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7171056809999 meters Centerline goodness [0,1] 0.9975490196078431 Centerline is valid? [True, True] Translation: X:215.11, Y:160.47, Z:42.04 [[ 1.46554015e-02 -9.99892448e-01 5.58634875e-04 2.15111356e+02] [ 9.97156920e-01 1.45740025e-02 -7.39302119e-02 1.60466351e+02] [ 7.39141190e-02 1.64052357e-03 9.97263261e-01 4.20389412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74710568099994 meters Centerline goodness [0,1] 0.9972252936390378 Centerline is valid? [True, True] Translation: X:215.12, Y:160.49, Z:42.04 [[ 1.04305083e-02 -9.99945426e-01 5.91991814e-04 2.15118836e+02] [ 9.97187133e-01 1.03577887e-02 -7.42329955e-02 1.60493414e+02] [ 7.42228125e-02 1.36461450e-03 9.97240749e-01 4.20398346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7771056809999 meters Centerline goodness [0,1] 0.9968437664387164 Centerline is valid? [True, True] Translation: X:215.13, Y:160.52, Z:42.04 [[ 7.86772210e-03 -9.99968846e-01 6.37520498e-04 2.15125655e+02] [ 9.97084413e-01 7.79663364e-03 -7.59070877e-02 1.60520447e+02] [ 7.58997524e-02 1.23287762e-03 9.97114691e-01 4.20397992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80710568099994 meters Centerline goodness [0,1] 0.9978331299701266 Centerline is valid? [True, True] Translation: X:215.13, Y:160.55, Z:42.04 [[ 5.53309342e-03 -9.99984461e-01 6.80019250e-04 2.15126962e+02] [ 9.97007657e-01 5.46418547e-03 -7.71095035e-02 1.60547568e+02] [ 7.71045896e-02 1.10463849e-03 9.97022398e-01 4.20407279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8371056809999 meters Centerline goodness [0,1] 0.9978733260338584 Centerline is valid? [True, True] Translation: X:215.13, Y:160.57, Z:42.04 [[ 3.62272431e-03 -9.99993180e-01 7.18622846e-04 2.15127289e+02] [ 9.96960331e-01 3.55580652e-03 -7.78296511e-02 1.60574516e+02] [ 7.78265650e-02 9.98393840e-04 9.96966413e-01 4.20405789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86710568099994 meters Centerline goodness [0,1] 0.9982740838963609 Centerline is valid? [True, True] Translation: X:215.13, Y:160.60, Z:42.04 [[ 7.23139878e-04 -9.99999460e-01 7.46217023e-04 2.15128647e+02] [ 9.96999828e-01 6.63212807e-04 -7.74009226e-02 1.60601517e+02] [ 7.74003859e-02 7.99949938e-04 9.96999769e-01 4.20417089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8971056809999 meters Centerline goodness [0,1] 0.9982593377094562 Centerline is valid? [True, True] Translation: X:215.13, Y:160.63, Z:42.04 [[-1.61995036e-03 -9.99998393e-01 7.68144653e-04 2.15130633e+02] [ 9.97076128e-01 -1.67389992e-03 -7.63962926e-02 1.60627040e+02] [ 7.63974557e-02 6.42140495e-04 9.97077237e-01 4.20447501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92710568099994 meters Centerline goodness [0,1] 0.9979280033486815 Centerline is valid? [True, True] Translation: X:215.13, Y:160.65, Z:42.05 [[-2.35057345e-03 -9.99996916e-01 8.02034576e-04 2.15131471e+02] [ 9.97087042e-01 -2.40487617e-03 -7.62341630e-02 1.60652891e+02] [ 7.62358567e-02 6.20504284e-04 9.97089619e-01 4.20480677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9571056809999 meters Centerline goodness [0,1] 0.9985088419372453 Centerline is valid? [True, True] Translation: X:215.13, Y:160.68, Z:42.05 [[-1.41660123e-03 -9.99998632e-01 8.54367903e-04 2.15132864e+02] [ 9.96959257e-01 -1.47886000e-03 -7.79105408e-02 1.60680304e+02] [ 7.79116977e-02 7.41401821e-04 9.96959988e-01 4.20514441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98710568099995 meters Centerline goodness [0,1] 0.9984936923366597 Centerline is valid? [True, True] Translation: X:215.13, Y:160.71, Z:42.05 [[ 2.78400582e-05 -9.99999599e-01 8.95540528e-04 2.15129542e+02] [ 9.96900676e-01 -4.26988281e-05 -7.86704589e-02 1.60706297e+02] [ 7.86704655e-02 8.94955147e-04 9.96900274e-01 4.20516134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0171056809999 meters Centerline goodness [0,1] 0.998365499465644 Centerline is valid? [True, True] Translation: X:215.12, Y:160.73, Z:42.06 [[ 6.33883093e-03 -9.99979501e-01 9.03633606e-04 2.15121514e+02] [ 9.97052932e-01 6.25118485e-03 -7.64615784e-02 1.60732777e+02] [ 7.64543622e-02 1.38564755e-03 9.97072119e-01 4.20557383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04710568099995 meters Centerline goodness [0,1] 0.9976328633973647 Centerline is valid? [True, True] Translation: X:215.12, Y:160.76, Z:42.06 [[ 1.22869235e-02 -9.99924119e-01 8.87219385e-04 2.15117064e+02] [ 9.97289148e-01 1.21901589e-02 -7.25655306e-02 1.60759608e+02] [ 7.25492090e-02 1.77642139e-03 9.97363252e-01 4.20614898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0771056809999 meters Centerline goodness [0,1] 0.9976241037825109 Centerline is valid? [True, True] Translation: X:215.12, Y:160.79, Z:42.06 [[ 1.36521954e-02 -9.99906399e-01 9.00665285e-04 2.15115874e+02] [ 9.97364969e-01 1.35532995e-02 -7.12700905e-02 1.60787120e+02] [ 7.12512125e-02 1.87128520e-03 9.97456647e-01 4.20644214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10710568099995 meters Centerline goodness [0,1] 0.9977787091366304 Centerline is valid? [True, True] Translation: X:215.12, Y:160.81, Z:42.07 [[ 1.44300567e-02 -9.99895454e-01 9.24235627e-04 2.15116420e+02] [ 9.97385063e-01 1.43283518e-02 -7.08359632e-02 1.60813890e+02] [ 7.08153149e-02 1.94398577e-03 9.97487550e-01 4.20658542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1371056809999 meters Centerline goodness [0,1] 0.9981146699625029 Centerline is valid? [True, True] Translation: X:215.12, Y:160.84, Z:42.07 [[ 1.46050875e-02 -9.99892881e-01 9.58479464e-04 2.15115634e+02] [ 9.97360073e-01 1.44998864e-02 -7.11522112e-02 1.60839746e+02] [ 7.11306916e-02 1.99513342e-03 9.97465009e-01 4.20675551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16710568099995 meters Centerline goodness [0,1] 0.9980512541122729 Centerline is valid? [True, True] Translation: X:215.11, Y:160.87, Z:42.07 [[ 1.64181817e-02 -9.99864687e-01 1.02541236e-03 2.15114086e+02] [ 9.97150129e-01 1.62980641e-02 -7.36613427e-02 1.60865948e+02] [ 7.36346631e-02 2.23187538e-03 9.97282786e-01 4.20665288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.1971056809999 meters Centerline goodness [0,1] 0.9980039500777409 Centerline is valid? [True, True] Translation: X:215.11, Y:160.89, Z:42.07 [[ 1.85236278e-02 -9.99827842e-01 1.07755404e-03 2.15113349e+02] [ 9.97006341e-01 1.83904152e-02 -7.51009286e-02 1.60894085e+02] [ 7.50681827e-02 2.46546987e-03 9.97175355e-01 4.20666328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2271056809999 meters Centerline goodness [0,1] 0.9976798628819865 Centerline is valid? [True, True] Translation: X:215.11, Y:160.92, Z:42.06 [[ 2.22555243e-02 -9.99751671e-01 1.13520389e-03 2.15107594e+02] [ 9.96782072e-01 2.21019265e-02 -7.70519671e-02 1.60921101e+02] [ 7.70077426e-02 2.84638281e-03 9.97026432e-01 4.20646240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2571056809999 meters Centerline goodness [0,1] 0.9976317593535119 Centerline is valid? [True, True] Translation: X:215.11, Y:160.95, Z:42.07 [[ 2.38144692e-02 -9.99715720e-01 1.16206364e-03 2.15105591e+02] [ 9.96766213e-01 2.36549415e-02 -7.67955816e-02 1.60946720e+02] [ 7.67462616e-02 2.98715178e-03 9.97046182e-01 4.20665106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.2871056809999 meters Centerline goodness [0,1] 0.9976852334577607 Centerline is valid? [True, True] Translation: X:215.10, Y:160.97, Z:42.07 [[ 2.67190290e-02 -9.99642267e-01 1.19667287e-03 2.15102999e+02] [ 9.96679247e-01 2.65476805e-02 -7.69785682e-02 1.60972875e+02] [ 7.69192615e-02 3.24949160e-03 9.97032030e-01 4.20677563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31710568099993 meters Centerline goodness [0,1] 0.9974462562535323 Centerline is valid? [True, True] Translation: X:215.11, Y:161.00, Z:42.07 [[ 2.78756306e-02 -9.99610629e-01 1.24076755e-03 2.15109337e+02] [ 9.96587100e-01 2.76947911e-02 -7.77634280e-02 1.61000962e+02] [ 7.76987864e-02 3.40423753e-03 9.96971068e-01 4.20696119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3471056809999 meters Centerline goodness [0,1] 0.997717181871492 Centerline is valid? [True, True] Translation: X:215.11, Y:161.03, Z:42.07 [[ 2.80624800e-02 -9.99605355e-01 1.27765670e-03 2.15109548e+02] [ 9.96546226e-01 2.78766204e-02 -7.82209319e-02 1.61028497e+02] [ 7.81544456e-02 3.46831730e-03 9.96935230e-01 4.20703821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37710568099993 meters Centerline goodness [0,1] 0.997774885595533 Centerline is valid? [True, True] Translation: X:215.11, Y:161.06, Z:42.07 [[ 2.82609878e-02 -9.99599666e-01 1.35097795e-03 2.15113269e+02] [ 9.96348615e-01 2.80600928e-02 -8.06354013e-02 1.61055721e+02] [ 8.05652116e-02 3.62488111e-03 9.96742749e-01 4.20670400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4071056809999 meters Centerline goodness [0,1] 0.9976407708207194 Centerline is valid? [True, True] Translation: X:215.11, Y:161.08, Z:42.06 [[ 2.76312095e-02 -9.99617183e-01 1.41582192e-03 2.15109704e+02] [ 9.96218616e-01 2.74205000e-02 -8.24414008e-02 1.61082330e+02] [ 8.23710183e-02 3.68842378e-03 9.96594908e-01 4.20639204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43710568099993 meters Centerline goodness [0,1] 0.9981127327629592 Centerline is valid? [True, True] Translation: X:215.12, Y:161.11, Z:42.07 [[ 2.65282766e-02 -9.99647024e-01 1.44170494e-03 2.15122514e+02] [ 9.96290207e-01 2.63210296e-02 -8.19330584e-02 1.61109390e+02] [ 8.18661908e-02 3.60989935e-03 9.96636792e-01 4.20684851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.4671056809999 meters Centerline goodness [0,1] 0.9983018867924528 Centerline is valid? [True, True] Translation: X:215.13, Y:161.14, Z:42.07 [[ 2.52260592e-02 -9.99680693e-01 1.46913475e-03 2.15125707e+02] [ 9.96351091e-01 2.50221214e-02 -8.15990021e-02 1.61136511e+02] [ 8.15361861e-02 3.52219526e-03 9.96664158e-01 4.20714119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49710568099994 meters Centerline goodness [0,1] 0.9984724837832183 Centerline is valid? [True, True] Translation: X:215.14, Y:161.16, Z:42.08 [[ 2.15296619e-02 -9.99767109e-01 1.48344401e-03 2.15135445e+02] [ 9.96519030e-01 2.13401400e-02 -8.05879665e-02 1.61162568e+02] [ 8.05375414e-02 3.21331186e-03 9.96746397e-01 4.20761415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5271056809999 meters Centerline goodness [0,1] 0.9986808492817957 Centerline is valid? [True, True] Translation: X:215.15, Y:161.19, Z:42.08 [[ 1.55351423e-02 -9.99878252e-01 1.46321226e-03 2.15149065e+02] [ 9.96851328e-01 1.53742778e-02 -7.77885710e-02 1.61190150e+02] [ 7.77566045e-02 2.66706161e-03 9.96968805e-01 4.20834720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55710568099994 meters Centerline goodness [0,1] 0.9990458213196706 Centerline is valid? [True, True] Translation: X:215.15, Y:161.22, Z:42.09 [[ 1.16060523e-02 -9.99931564e-01 1.47210720e-03 2.15150769e+02] [ 9.96994355e-01 1.14591570e-02 -7.66220792e-02 1.61217336e+02] [ 7.65999664e-02 2.35696243e-03 9.97059121e-01 4.20851507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5871056809999 meters Centerline goodness [0,1] 0.9989371014130299 Centerline is valid? [True, True] Translation: X:215.16, Y:161.24, Z:42.09 [[ 4.41690219e-03 -9.99989137e-01 1.48864128e-03 2.15162498e+02] [ 9.97102876e-01 4.29109961e-03 -7.59436701e-02 1.61244452e+02] [ 7.59364573e-02 1.81976426e-03 9.97110998e-01 4.20876030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61710568099994 meters Centerline goodness [0,1] 0.9991640543364682 Centerline is valid? [True, True] Translation: X:215.17, Y:161.27, Z:42.09 [[ 2.13483159e-04 -9.99998819e-01 1.52203473e-03 2.15168950e+02] [ 9.97104769e-01 9.71297789e-05 -7.60399285e-02 1.61272489e+02] [ 7.60396909e-02 1.53386134e-03 9.97103612e-01 4.20906027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6471056809999 meters Centerline goodness [0,1] 0.9994595268781441 Centerline is valid? [True, True] Translation: X:215.18, Y:161.30, Z:42.09 [[-8.53457209e-03 -9.99962361e-01 1.56099953e-03 2.15179293e+02] [ 9.97030022e-01 -8.62901098e-03 -7.65289203e-02 1.61299932e+02] [ 7.65395098e-02 9.03221805e-04 9.97066140e-01 4.20919136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67710568099994 meters Centerline goodness [0,1] 0.9994352055224349 Centerline is valid? [True, True] Translation: X:215.18, Y:161.33, Z:42.09 [[-1.22537085e-02 -9.99923649e-01 1.59437960e-03 2.15183348e+02] [ 9.96977939e-01 -1.23399063e-02 -7.66988696e-02 1.61327087e+02] [ 7.67126881e-02 6.49715692e-04 9.97053028e-01 4.20932456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7071056809999 meters Centerline goodness [0,1] 0.9996656077579 Centerline is valid? [True, True] Translation: X:215.19, Y:161.35, Z:42.09 [[-1.67207575e-02 -9.99858886e-01 1.62008343e-03 2.15187868e+02] [ 9.96937564e-01 -1.67956580e-02 -7.63766962e-02 1.61354443e+02] [ 7.63931287e-02 3.38045811e-04 9.97077718e-01 4.20946478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73710568099995 meters Centerline goodness [0,1] 0.9997275546986336 Centerline is valid? [True, True] Translation: X:215.19, Y:161.38, Z:42.10 [[-1.61073067e-02 -9.99868924e-01 1.64002030e-03 2.15187233e+02] [ 9.96991112e-01 -1.61852887e-02 -7.58073779e-02 1.61381616e+02] [ 7.58239856e-02 4.14032974e-04 9.97121132e-01 4.20977895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7671056809999 meters Centerline goodness [0,1] 0.999518092484338 Centerline is valid? [True, True] Translation: X:215.18, Y:161.41, Z:42.10 [[-1.37130418e-02 -9.99904606e-01 1.65280465e-03 2.15184359e+02] [ 9.97091199e-01 -1.37983610e-02 -7.49583002e-02 1.61409013e+02] [ 7.49739556e-02 6.20090665e-04 9.97185299e-01 4.21000983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79710568099995 meters Centerline goodness [0,1] 0.9993297165957982 Centerline is valid? [True, True] Translation: X:215.18, Y:161.44, Z:42.10 [[-6.99892643e-03 -9.99974107e-01 1.67364803e-03 2.15178901e+02] [ 9.97196586e-01 -7.10415661e-03 -7.44882503e-02 1.61435261e+02] [ 7.44982114e-02 1.14761831e-03 9.97220487e-01 4.21019742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8271056809999 meters Centerline goodness [0,1] 0.9993728310406823 Centerline is valid? [True, True] Translation: X:215.17, Y:161.46, Z:42.10 [[-3.18886880e-03 -9.99993425e-01 1.72647858e-03 2.15174388e+02] [ 9.97150061e-01 -3.30992905e-03 -7.53710856e-02 1.61461044e+02] [ 7.53763046e-02 1.48120972e-03 9.97154060e-01 4.21028266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85710568099995 meters Centerline goodness [0,1] 0.9989537122290114 Centerline is valid? [True, True] Translation: X:215.17, Y:161.49, Z:42.10 [[ 4.41010912e-03 -9.99988680e-01 1.78631096e-03 2.15166619e+02] [ 9.97055053e-01 4.26039075e-03 -7.65706918e-02 1.61488388e+02] [ 7.65622146e-02 2.11873548e-03 9.97062555e-01 4.21017387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.8871056809999 meters Centerline goodness [0,1] 0.9986665555462956 Centerline is valid? [True, True] Translation: X:215.16, Y:161.51, Z:42.10 [[ 7.46087854e-03 -9.99970546e-01 1.80087588e-03 2.15161879e+02] [ 9.97086355e-01 7.30261350e-03 -7.59307075e-02 1.61514885e+02] [ 7.59153199e-02 2.36213855e-03 9.97111470e-01 4.21034203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91710568099995 meters Centerline goodness [0,1] 0.9988707889839192 Centerline is valid? [True, True] Translation: X:215.16, Y:161.54, Z:42.11 [[ 1.18914259e-02 -9.99927729e-01 1.76925432e-03 2.15156323e+02] [ 9.97218895e-01 1.17289858e-02 -7.35996382e-02 1.61540522e+02] [ 7.35735676e-02 2.63953848e-03 9.97286299e-01 4.21055816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9471056809999 meters Centerline goodness [0,1] 0.9985787735651883 Centerline is valid? [True, True] Translation: X:215.16, Y:161.57, Z:42.11 [[ 1.17899030e-02 -9.99928872e-01 1.80227745e-03 2.15156168e+02] [ 9.97215945e-01 1.16251574e-02 -7.36560551e-02 1.61566853e+02] [ 7.36298644e-02 2.66565755e-03 9.97282075e-01 4.21089948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9771056809999 meters Centerline goodness [0,1] 0.9983942610472755 Centerline is valid? [True, True] Translation: X:215.16, Y:161.59, Z:42.11 [[ 7.61651864e-03 -9.99969383e-01 1.79484788e-03 2.15160124e+02] [ 9.97368700e-01 7.46727865e-03 -7.21104419e-02 1.61593365e+02] [ 7.20948315e-02 2.33935563e-03 9.97395038e-01 4.21132874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0071056809999 meters Centerline goodness [0,1] 0.9983690538421328 Centerline is valid? [True, True] Translation: X:215.16, Y:161.62, Z:42.11 [[ 1.81932146e-03 -9.99996682e-01 1.82362235e-03 2.15163884e+02] [ 9.97393835e-01 1.68304813e-03 -7.21297740e-02 1.61619199e+02] [ 7.21264654e-02 1.95009693e-03 9.97393588e-01 4.21141100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0371056809999 meters Centerline goodness [0,1] 0.9987470503476935 Centerline is valid? [True, True] Translation: X:215.17, Y:161.65, Z:42.12 [[-1.11830658e-03 -9.99997646e-01 1.85926074e-03 2.15165665e+02] [ 9.97374740e-01 -1.24998807e-03 -7.24021039e-02 1.61646954e+02] [ 7.24042575e-02 1.77341194e-03 9.97373791e-01 4.21155738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06710568099993 meters Centerline goodness [0,1] 0.9987663613933844 Centerline is valid? [True, True] Translation: X:215.17, Y:161.67, Z:42.12 [[-4.15320638e-03 -9.99989575e-01 1.89765597e-03 2.15166631e+02] [ 9.97333001e-01 -4.28043740e-03 -7.28598866e-02 1.61673755e+02] [ 7.28672498e-02 1.58999277e-03 9.97340381e-01 4.21165340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.0971056809999 meters Centerline goodness [0,1] 0.9986859121438405 Centerline is valid? [True, True] Translation: X:215.17, Y:161.70, Z:42.12 [[-6.93349780e-03 -9.99974011e-01 1.97607518e-03 2.15166803e+02] [ 9.97178717e-01 -7.06179425e-03 -7.47311027e-02 1.61699758e+02] [ 7.47431151e-02 1.45235218e-03 9.97201764e-01 4.21150260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12710568099993 meters Centerline goodness [0,1] 0.9985998787954778 Centerline is valid? [True, True] Translation: X:215.17, Y:161.73, Z:42.12 [[-7.64219395e-03 -9.99968746e-01 2.02597709e-03 2.15165253e+02] [ 9.97125499e-01 -7.77316299e-03 -7.53678766e-02 1.61726375e+02] [ 7.53812693e-02 1.44417749e-03 9.97153739e-01 4.21150451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.1571056809999 meters Centerline goodness [0,1] 0.9988308488872186 Centerline is valid? [True, True] Translation: X:215.16, Y:161.75, Z:42.12 [[-9.68803947e-03 -9.99950915e-01 2.07599148e-03 2.15164317e+02] [ 9.97056783e-01 -9.81785620e-03 -7.60353909e-02 1.61752199e+02] [ 7.60520405e-02 1.33324751e-03 9.97102958e-01 4.21160737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18710568099993 meters Centerline goodness [0,1] 0.9988500940832113 Centerline is valid? [True, True] Translation: X:215.17, Y:161.78, Z:42.12 [[-1.41070579e-02 -9.99898209e-01 2.13603581e-03 2.15165195e+02] [ 9.96929125e-01 -1.42296717e-02 -7.70054322e-02 1.61778130e+02] [ 7.70279888e-02 1.04315622e-03 9.97028385e-01 4.21154382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2171056809999 meters Centerline goodness [0,1] 0.9988027725267801 Centerline is valid? [True, True] Translation: X:215.17, Y:161.81, Z:42.12 [[-1.75709629e-02 -9.99843249e-01 2.17662796e-03 2.15166981e+02] [ 9.96851542e-01 -1.76866516e-02 -7.72928527e-02 1.61805056e+02] [ 7.73192343e-02 8.11665094e-04 9.97006057e-01 4.21171053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24710568099994 meters Centerline goodness [0,1] 0.9990149022238058 Centerline is valid? [True, True] Translation: X:215.17, Y:161.83, Z:42.12 [[-2.19998362e-02 -9.99755560e-01 2.19710262e-03 2.15169863e+02] [ 9.96788170e-01 -2.21036961e-02 -7.69725355e-02 1.61832053e+02] [ 7.70022844e-02 4.96662729e-04 9.97030793e-01 4.21188234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2771056809999 meters Centerline goodness [0,1] 0.9991592046075588 Centerline is valid? [True, True] Translation: X:215.18, Y:161.86, Z:42.12 [[-3.23159953e-02 -9.99475165e-01 2.25184360e-03 2.15177960e+02] [ 9.96442621e-01 -3.23932288e-02 -7.77996207e-02 1.61858097e+02] [ 7.78317333e-02 -2.70339244e-04 9.96966473e-01 4.21230125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30710568099994 meters Centerline goodness [0,1] 0.9991592046075588 Centerline is valid? [True, True] Translation: X:215.18, Y:161.88, Z:42.12 [[-3.27690773e-02 -9.99460333e-01 2.28718778e-03 2.15176870e+02] [ 9.96427825e-01 -3.28476872e-02 -7.77985832e-02 1.61883962e+02] [ 7.78317267e-02 -2.70370246e-04 9.96966473e-01 4.21246493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3371056809999 meters Centerline goodness [0,1] 0.9994596055120237 Centerline is valid? [True, True] Translation: X:215.18, Y:161.91, Z:42.12 [[-4.08941149e-02 -9.99160741e-01 2.34218533e-03 2.15181520e+02] [ 9.96071323e-01 -4.09517250e-02 -7.85167174e-02 1.61910493e+02] [ 7.85467381e-02 -8.77888025e-04 9.96910046e-01 4.21246232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36710568099994 meters Centerline goodness [0,1] 0.9994537356080343 Centerline is valid? [True, True] Translation: X:215.18, Y:161.94, Z:42.13 [[-4.39978696e-02 -9.99028844e-01 2.35739349e-03 2.15177078e+02] [ 9.95968343e-01 -4.40474843e-02 -7.81465188e-02 1.61937884e+02] [ 7.81744635e-02 -1.09039105e-03 9.96939098e-01 4.21284349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3971056809999 meters Centerline goodness [0,1] 0.9996212679108717 Centerline is valid? [True, True] Translation: X:215.17, Y:161.96, Z:42.13 [[-4.40163235e-02 -9.99027967e-01 2.38405595e-03 2.15174511e+02] [ 9.95981315e-01 -4.40681547e-02 -7.79693411e-02 1.61964114e+02] [ 7.79986133e-02 -1.05744856e-03 9.96952907e-01 4.21289538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42710568099994 meters Centerline goodness [0,1] 0.999516166354629 Centerline is valid? [True, True] Translation: X:215.17, Y:161.99, Z:42.13 [[-4.36922783e-02 -9.99042156e-01 2.39905536e-03 2.15169650e+02] [ 9.96023987e-01 -4.37466370e-02 -7.76044424e-02 1.61990773e+02] [ 7.76350601e-02 -1.00119820e-03 9.96981341e-01 4.21315553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4571056809999 meters Centerline goodness [0,1] 0.99899218946838 Centerline is valid? [True, True] Translation: X:215.16, Y:162.02, Z:42.14 [[-3.93511476e-02 -9.99222651e-01 2.36240773e-03 2.15158313e+02] [ 9.96364075e-01 -3.94171455e-02 -7.55309094e-02 1.62017794e+02] [ 7.55653149e-02 -6.18409775e-04 9.97140662e-01 4.21364272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48710568099995 meters Centerline goodness [0,1] 0.9989716468341413 Centerline is valid? [True, True] Translation: X:215.14, Y:162.04, Z:42.14 [[-3.25271629e-02 -9.99468135e-01 2.33047488e-03 2.15144221e+02] [ 9.96757911e-01 -3.26104676e-02 -7.35542223e-02 1.62044045e+02] [ 7.35910992e-02 -6.95909000e-05 9.97288497e-01 4.21414846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5171056809999 meters Centerline goodness [0,1] 0.9990555345674348 Centerline is valid? [True, True] Translation: X:215.14, Y:162.07, Z:42.14 [[-2.84895383e-02 -9.99591336e-01 2.34684828e-03 2.15135010e+02] [ 9.96912530e-01 -2.85848894e-02 -7.31321488e-02 1.62069284e+02] [ 7.31693467e-02 2.56101304e-04 9.97319498e-01 4.21444627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54710568099995 meters Centerline goodness [0,1] 0.9981396321070234 Centerline is valid? [True, True] Translation: X:215.12, Y:162.09, Z:42.15 [[-2.00680297e-02 -9.99795940e-01 2.31372489e-03 2.15117195e+02] [ 9.97251442e-01 -2.01819352e-02 -7.12899055e-02 1.62094940e+02] [ 7.13220535e-02 8.76717537e-04 9.97452954e-01 4.21485486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5771056809999 meters Centerline goodness [0,1] 0.9987188103839368 Centerline is valid? [True, True] Translation: X:215.11, Y:162.12, Z:42.15 [[-1.65047747e-02 -9.99861118e-01 2.31031891e-03 2.15108444e+02] [ 9.97389300e-01 -1.66263455e-02 -7.02719699e-02 1.62120386e+02] [ 7.03006225e-02 1.14446433e-03 9.97525194e-01 4.21514682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60710568099995 meters Centerline goodness [0,1] 0.9979009235936188 Centerline is valid? [True, True] Translation: X:215.09, Y:162.15, Z:42.15 [[-1.06449676e-02 -9.99940651e-01 2.31914684e-03 2.15094588e+02] [ 9.97512804e-01 -1.07806742e-02 -6.96561762e-02 1.62145840e+02] [ 6.96770442e-02 1.57189093e-03 9.97568363e-01 4.21528876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6371056809999 meters Centerline goodness [0,1] 0.9976432310676372 Centerline is valid? [True, True] Translation: X:215.09, Y:162.17, Z:42.15 [[-8.81827024e-03 -9.99958325e-01 2.36339360e-03 2.15088247e+02] [ 9.97498867e-01 -8.96229024e-03 -7.01119621e-02 1.62173268e+02] [ 7.01302217e-02 1.73921621e-03 9.97536329e-01 4.21535659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66710568099995 meters Centerline goodness [0,1] 0.9975612319983181 Centerline is valid? [True, True] Translation: X:215.08, Y:162.20, Z:42.15 [[-7.27491805e-03 -9.99970594e-01 2.42636466e-03 2.15081934e+02] [ 9.97438259e-01 -7.42912574e-03 -7.11458146e-02 1.62199872e+02] [ 7.11617482e-02 1.90256897e-03 9.97462975e-01 4.21540509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.6971056809999 meters Centerline goodness [0,1] 0.9978149424321372 Centerline is valid? [True, True] Translation: X:215.08, Y:162.22, Z:42.16 [[-7.42083168e-03 -9.99969484e-01 2.44163159e-03 2.15075859e+02] [ 9.97467082e-01 -7.57495112e-03 -7.07251033e-02 1.62224752e+02] [ 7.07414403e-02 1.91060805e-03 9.97492856e-01 4.21561726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7271056809999 meters Centerline goodness [0,1] 0.9984287599773741 Centerline is valid? [True, True] Translation: X:215.08, Y:162.25, Z:42.16 [[-7.66114952e-03 -9.99967623e-01 2.46155421e-03 2.15075553e+02] [ 9.97489857e-01 -7.81540846e-03 -7.03768718e-02 1.62250762e+02] [ 7.03938313e-02 1.91620762e-03 9.97517437e-01 4.21590010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7571056809999 meters Centerline goodness [0,1] 0.9978842850559303 Centerline is valid? [True, True] Translation: X:215.07, Y:162.28, Z:42.16 [[-8.01395597e-03 -9.99964618e-01 2.55718688e-03 2.15070460e+02] [ 9.97358819e-01 -8.17763125e-03 -7.21700273e-02 1.62275903e+02] [ 7.21883855e-02 1.97206547e-03 9.97389065e-01 4.21567801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.7871056809999 meters Centerline goodness [0,1] 0.9982348491216273 Centerline is valid? [True, True] Translation: X:215.07, Y:162.30, Z:42.16 [[-9.68239074e-03 -9.99949646e-01 2.63759031e-03 2.15074405e+02] [ 9.97248120e-01 -9.85004947e-03 -7.34790079e-02 1.62303094e+02] [ 7.35012884e-02 1.91887951e-03 9.97293276e-01 4.21566401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81710568099993 meters Centerline goodness [0,1] 0.9984079435238913 Centerline is valid? [True, True] Translation: X:215.07, Y:162.33, Z:42.16 [[-1.12517966e-02 -9.99933071e-01 2.69253803e-03 2.15069019e+02] [ 9.97183394e-01 -1.14204596e-02 -7.41272676e-02 1.62329172e+02] [ 7.41530564e-02 1.85088927e-03 9.97245155e-01 4.21552195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8471056809999 meters Centerline goodness [0,1] 0.9987828678152477 Centerline is valid? [True, True] Translation: X:215.08, Y:162.36, Z:42.16 [[-1.36114220e-02 -9.99903505e-01 2.77677175e-03 2.15077017e+02] [ 9.97047957e-01 -1.37823117e-02 -7.55342199e-02 1.62357092e+02] [ 7.55652015e-02 1.74044646e-03 9.97139344e-01 4.21580893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87710568099993 meters Centerline goodness [0,1] 0.9986592366028407 Centerline is valid? [True, True] Translation: X:215.08, Y:162.38, Z:42.16 [[-1.44357827e-02 -9.99891763e-01 2.84076672e-03 2.15075171e+02] [ 9.96967432e-01 -1.46107236e-02 -7.64360279e-02 1.62383112e+02] [ 7.64692603e-02 1.72873801e-03 9.97070441e-01 4.21580611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9071056809999 meters Centerline goodness [0,1] 0.9988649500788229 Centerline is valid? [True, True] Translation: X:215.07, Y:162.41, Z:42.16 [[-1.40398837e-02 -9.99897185e-01 2.91580931e-03 2.15072236e+02] [ 9.96886794e-01 -1.42237657e-02 -7.75525882e-02 1.62410439e+02] [ 7.75860884e-02 1.81790248e-03 9.96983999e-01 4.21581756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93710568099993 meters Centerline goodness [0,1] 0.9986859669614551 Centerline is valid? [True, True] Translation: X:215.07, Y:162.44, Z:42.16 [[-1.32152543e-02 -9.99908358e-01 2.93810464e-03 2.15069668e+02] [ 9.96915183e-01 -1.34029300e-02 -7.73335578e-02 1.62437849e+02] [ 7.73658500e-02 1.90705849e-03 9.97000947e-01 4.21597047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.9671056809999 meters Centerline goodness [0,1] 0.998752417191691 Centerline is valid? [True, True] Translation: X:215.07, Y:162.46, Z:42.16 [[-1.32860034e-02 -9.99907626e-01 2.86731275e-03 2.15070253e+02] [ 9.97114361e-01 -1.34631275e-02 -7.47107379e-02 1.62463757e+02] [ 7.47424395e-02 1.86643161e-03 9.97201125e-01 4.21641431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99710568099994 meters Centerline goodness [0,1] 0.9985560322276865 Centerline is valid? [True, True] Translation: X:215.07, Y:162.49, Z:42.17 [[-1.46665382e-02 -9.99888473e-01 2.81669485e-03 2.15072608e+02] [ 9.97250553e-01 -1.48323707e-02 -7.26039580e-02 1.62490678e+02] [ 7.26376390e-02 1.74410177e-03 9.97356873e-01 4.21689012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0271056809999 meters Centerline goodness [0,1] 0.9986790514331244 Centerline is valid? [True, True] Translation: X:215.08, Y:162.52, Z:42.18 [[-2.21455660e-02 -9.99751289e-01 2.63324634e-03 2.15079284e+02] [ 9.97489107e-01 -2.22725244e-02 -6.72265956e-02 1.62517423e+02] [ 6.72685246e-02 1.13786354e-03 9.97734259e-01 4.21751414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05710568099994 meters Centerline goodness [0,1] 0.9988109393579072 Centerline is valid? [True, True] Translation: X:215.08, Y:162.54, Z:42.18 [[-2.54774111e-02 -9.99672005e-01 2.60471182e-03 2.15082111e+02] [ 9.97504231e-01 -2.55936226e-02 -6.58048231e-02 1.62544573e+02] [ 6.58499034e-02 9.21674532e-04 9.97829114e-01 4.21787150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0871056809999 meters Centerline goodness [0,1] 0.9991661107404937 Centerline is valid? [True, True] Translation: X:215.08, Y:162.57, Z:42.18 [[-2.88954123e-02 -9.99578960e-01 2.63771312e-03 2.15084031e+02] [ 9.97402408e-01 -2.90064770e-02 -6.59322386e-02 1.62570678e+02] [ 6.59809893e-02 7.25722198e-04 9.97820616e-01 4.21813137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11710568099994 meters Centerline goodness [0,1] 0.9992051871993307 Centerline is valid? [True, True] Translation: X:215.09, Y:162.60, Z:42.18 [[-3.33711286e-02 -9.99439231e-01 2.75518780e-03 2.15087821e+02] [ 9.97116833e-01 -3.34813058e-02 -6.80956999e-02 1.62598572e+02] [ 6.81497612e-02 4.74813769e-04 9.97674989e-01 4.21816206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1471056809999 meters Centerline goodness [0,1] 0.999269173748721 Centerline is valid? [True, True] Translation: X:215.09, Y:162.62, Z:42.18 [[-3.52332313e-02 -9.99375221e-01 2.79055812e-03 2.15087976e+02] [ 9.97041997e-01 -3.53415510e-02 -6.82512368e-02 1.62624699e+02] [ 6.83072175e-02 3.77592035e-04 9.97664263e-01 4.21818831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17710568099994 meters Centerline goodness [0,1] 0.9990583607106238 Centerline is valid? [True, True] Translation: X:215.09, Y:162.65, Z:42.18 [[-3.78706025e-02 -9.99278673e-01 2.81990628e-03 2.15088300e+02] [ 9.96946734e-01 -3.79747636e-02 -6.82284913e-02 1.62651589e+02] [ 6.82863615e-02 2.27442282e-04 9.97665736e-01 4.21831666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2071056809999 meters Centerline goodness [0,1] 0.9991648746268034 Centerline is valid? [True, True] Translation: X:215.09, Y:162.68, Z:42.18 [[-3.83521910e-02 -9.99260163e-01 2.87002252e-03 2.15085625e+02] [ 9.96894137e-01 -3.84587673e-02 -6.87241019e-02 1.62677713e+02] [ 6.87836347e-02 2.25388744e-04 9.97631576e-01 4.21824821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23710568099995 meters Centerline goodness [0,1] 0.9993511522280595 Centerline is valid? [True, True] Translation: X:215.09, Y:162.70, Z:42.18 [[-4.02291998e-02 -9.99186070e-01 2.96805650e-03 2.15085107e+02] [ 9.96709620e-01 -4.03383314e-02 -7.03047099e-02 1.62704606e+02] [ 7.03672132e-02 1.29988243e-04 9.97521147e-01 4.21822066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2671056809999 meters Centerline goodness [0,1] 0.9994390076668952 Centerline is valid? [True, True] Translation: X:215.09, Y:162.73, Z:42.18 [[-4.24388673e-02 -9.99094524e-01 3.01248318e-03 2.15085708e+02] [ 9.96596987e-01 -4.25456516e-02 -7.05996715e-02 1.62731309e+02] [ 7.06639133e-02 6.06156867e-06 9.97500181e-01 4.21840630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29710568099995 meters Centerline goodness [0,1] 0.9992665702730454 Centerline is valid? [True, True] Translation: X:215.09, Y:162.76, Z:42.19 [[-4.77997308e-02 -9.98852270e-01 3.05414072e-03 2.15087719e+02] [ 9.96339275e-01 -4.78959837e-02 -7.08097725e-02 1.62758187e+02] [ 7.08747831e-02 -3.41727716e-04 9.97485162e-01 4.21858087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3271056809999 meters Centerline goodness [0,1] 0.9994761874829761 Centerline is valid? [True, True] Translation: X:215.09, Y:162.79, Z:42.19 [[-5.41475086e-02 -9.98528271e-01 3.05594876e-03 2.15088069e+02] [ 9.96060977e-01 -5.42284218e-02 -7.01556053e-02 1.62785082e+02] [ 7.02180745e-02 -7.54839938e-04 9.97531379e-01 4.21882947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35710568099995 meters Centerline goodness [0,1] 0.9996863105943369 Centerline is valid? [True, True] Translation: X:215.09, Y:162.81, Z:42.19 [[-5.69633011e-02 -9.98371698e-01 3.02248614e-03 2.15086986e+02] [ 9.96004189e-01 -5.70362658e-02 -6.87205923e-02 1.62810604e+02] [ 6.87810858e-02 -9.04142935e-04 9.97631367e-01 4.21918924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.3871056809999 meters Centerline goodness [0,1] 0.9995388324075044 Centerline is valid? [True, True] Translation: X:215.08, Y:162.84, Z:42.20 [[-5.84924981e-02 -9.98283556e-01 2.92737267e-03 2.15082619e+02] [ 9.96101986e-01 -5.85581183e-02 -6.59680244e-02 1.62835354e+02] [ 6.60262154e-02 -9.42672821e-04 9.97817443e-01 4.21976371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4171056809999 meters Centerline goodness [0,1] 0.9997082178362269 Centerline is valid? [True, True] Translation: X:215.08, Y:162.86, Z:42.20 [[-5.86553058e-02 -9.98273965e-01 2.94042694e-03 2.15077612e+02] [ 9.96120719e-01 -5.87218317e-02 -6.55382376e-02 1.62861667e+02] [ 6.55977835e-02 -9.15145163e-04 9.97845726e-01 4.22000990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4471056809999 meters Centerline goodness [0,1] 0.9994344839142091 Centerline is valid? [True, True] Translation: X:215.06, Y:162.89, Z:42.20 [[-5.40355892e-02 -9.98534705e-01 2.93229546e-03 2.15063553e+02] [ 9.96437189e-01 -5.41120513e-02 -6.46901389e-02 1.62887764e+02] [ 6.47540212e-02 -5.73721520e-04 9.97901091e-01 4.22024469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4771056809999 meters Centerline goodness [0,1] 0.999769304978818 Centerline is valid? [True, True] Translation: X:215.05, Y:162.91, Z:42.21 [[-4.65290113e-02 -9.98912711e-01 2.90632085e-03 2.15048526e+02] [ 9.96890610e-01 -4.66196542e-02 -6.35273089e-02 1.62912957e+02] [ 6.35937280e-02 -5.85789032e-05 9.97975869e-01 4.22058983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5071056809999 meters Centerline goodness [0,1] 0.9991427974074848 Centerline is valid? [True, True] Translation: X:215.04, Y:162.94, Z:42.21 [[-4.25322041e-02 -9.99090910e-01 2.89238580e-03 2.15040264e+02] [ 9.97116715e-01 -4.26299013e-02 -6.27769667e-02 1.62939501e+02] [ 6.28431989e-02 2.14003471e-04 9.98023390e-01 4.22081764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5371056809999 meters Centerline goodness [0,1] 0.9991862794191287 Centerline is valid? [True, True] Translation: X:215.02, Y:162.97, Z:42.21 [[-3.42257844e-02 -9.99409812e-01 2.93648883e-03 2.15023856e+02] [ 9.97412671e-01 -3.43429531e-02 -6.31547758e-02 1.62965643e+02] [ 6.32183503e-02 7.67369431e-04 9.97999425e-01 4.22087683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56710568099993 meters Centerline goodness [0,1] 0.9982956080729979 Centerline is valid? [True, True] Translation: X:215.01, Y:162.99, Z:42.21 [[-2.60313111e-02 -9.99656387e-01 3.07874308e-03 2.15006973e+02] [ 9.97503130e-01 -2.61772488e-02 -6.55915968e-02 1.62991127e+02] [ 6.56496517e-02 1.36362060e-03 9.97841803e-01 4.22071441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.5971056809999 meters Centerline goodness [0,1] 0.9982880644689869 Centerline is valid? [True, True] Translation: X:215.00, Y:163.02, Z:42.21 [[-2.23303849e-02 -9.99745569e-01 3.18617272e-03 2.15001675e+02] [ 9.97483836e-01 -2.24941309e-02 -6.72310232e-02 1.63018562e+02] [ 6.72855877e-02 1.67686116e-03 9.97732348e-01 4.22066889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62710568099993 meters Centerline goodness [0,1] 0.9985287626894218 Centerline is valid? [True, True] Translation: X:215.00, Y:163.05, Z:42.21 [[-1.94917748e-02 -9.99804593e-01 3.29355329e-03 2.14995507e+02] [ 9.97431840e-01 -1.96723795e-02 -6.88674169e-02 1.63045032e+02] [ 6.89187517e-02 1.94274674e-03 9.97620384e-01 4.22056872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.6571056809999 meters Centerline goodness [0,1] 0.9983617231312092 Centerline is valid? [True, True] Translation: X:214.99, Y:163.07, Z:42.20 [[-1.66280726e-02 -9.99855715e-01 3.47230359e-03 2.14990797e+02] [ 9.97267775e-01 -1.68348243e-02 -7.19275601e-02 1.63073243e+02] [ 7.19756376e-02 2.26679979e-03 9.97403815e-01 4.22030563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68710568099993 meters Centerline goodness [0,1] 0.9980762796922048 Centerline is valid? [True, True] Translation: X:214.99, Y:163.10, Z:42.20 [[-1.74733614e-02 -9.99841163e-01 3.51160862e-03 2.14989696e+02] [ 9.97235405e-01 -1.76813058e-02 -7.21728372e-02 1.63099936e+02] [ 7.22234632e-02 2.24079839e-03 9.97385958e-01 4.22034641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7171056809999 meters Centerline goodness [0,1] 0.9981622637569176 Centerline is valid? [True, True] Translation: X:214.99, Y:163.12, Z:42.20 [[-1.87903370e-02 -9.99817152e-01 3.54755278e-03 2.14989867e+02] [ 9.97203343e-01 -1.89976822e-02 -7.22812588e-02 1.63124884e+02] [ 7.23354376e-02 2.17944227e-03 9.97377980e-01 4.22046765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74710568099994 meters Centerline goodness [0,1] 0.997694741915879 Centerline is valid? [True, True] Translation: X:214.99, Y:163.15, Z:42.21 [[-2.25564914e-02 -9.99739189e-01 3.57185565e-03 2.14994359e+02] [ 9.97138174e-01 -2.27553856e-02 -7.20947573e-02 1.63152561e+02] [ 7.21572331e-02 1.93542885e-03 9.97391391e-01 4.22057602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7771056809999 meters Centerline goodness [0,1] 0.9977781038422034 Centerline is valid? [True, True] Translation: X:214.99, Y:163.18, Z:42.21 [[-2.38112976e-02 -9.99710099e-01 3.56940767e-03 2.14994673e+02] [ 9.97154748e-01 -2.40055678e-02 -7.14572706e-02 1.63179418e+02] [ 7.15222407e-02 1.85776147e-03 9.97437275e-01 4.22069354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80710568099994 meters Centerline goodness [0,1] 0.9977807736181686 Centerline is valid? [True, True] Translation: X:215.00, Y:163.20, Z:42.21 [[-2.44710400e-02 -9.99694035e-01 3.60607162e-03 2.14995976e+02] [ 9.97132441e-01 -2.46664057e-02 -7.15434451e-02 1.63204688e+02] [ 7.16105041e-02 1.84498849e-03 9.97430966e-01 4.22065786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8371056809999 meters Centerline goodness [0,1] 0.997467930608743 Centerline is valid? [True, True] Translation: X:215.00, Y:163.23, Z:42.21 [[-2.38089766e-02 -9.99709600e-01 3.72131998e-03 2.14997120e+02] [ 9.97030520e-01 -2.40175261e-02 -7.31662547e-02 1.63230569e+02] [ 7.32343841e-02 1.96825594e-03 9.97312815e-01 4.22057522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86710568099994 meters Centerline goodness [0,1] 0.9974121690164172 Centerline is valid? [True, True] Translation: X:215.00, Y:163.26, Z:42.21 [[-2.40101683e-02 -9.99704698e-01 3.74545592e-03 2.14996016e+02] [ 9.97025812e-01 -2.42199411e-02 -7.31636841e-02 1.63255781e+02] [ 7.32327935e-02 1.97764386e-03 9.97312913e-01 4.22075860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8971056809999 meters Centerline goodness [0,1] 0.9974468975619964 Centerline is valid? [True, True] Translation: X:215.00, Y:163.28, Z:42.21 [[-2.25483972e-02 -9.99738697e-01 3.75603384e-03 2.14999008e+02] [ 9.97081672e-01 -2.27622432e-02 -7.28698843e-02 1.63282980e+02] [ 7.29363390e-02 2.10197341e-03 9.97334383e-01 4.22125514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92710568099994 meters Centerline goodness [0,1] 0.9973027787651326 Centerline is valid? [True, True] Translation: X:215.00, Y:163.31, Z:42.22 [[-2.23759857e-02 -9.99742379e-01 3.80679395e-03 2.15001997e+02] [ 9.97054669e-01 -2.25949028e-02 -7.32902288e-02 1.63309042e+02] [ 7.33573618e-02 2.15564057e-03 9.97303389e-01 4.22157677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9571056809999 meters Centerline goodness [0,1] 0.9973616985635915 Centerline is valid? [True, True] Translation: X:215.01, Y:163.34, Z:42.22 [[-2.18521637e-02 -9.99754001e-01 3.79734817e-03 2.15005907e+02] [ 9.97125202e-01 -2.20700276e-02 -7.24861796e-02 1.63336080e+02] [ 7.25521556e-02 2.20245169e-03 9.97362188e-01 4.22191165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98710568099995 meters Centerline goodness [0,1] 0.996588459364993 Centerline is valid? [True, True] Translation: X:215.00, Y:163.36, Z:42.22 [[-2.16470075e-02 -9.99758573e-01 3.76876907e-03 2.15004929e+02] [ 9.97211468e-01 -2.18608386e-02 -7.13539958e-02 1.63362025e+02] [ 7.14191574e-02 2.21365926e-03 9.97443935e-01 4.22205500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0171056809999 meters Centerline goodness [0,1] 0.997344596148619 Centerline is valid? [True, True] Translation: X:215.01, Y:163.39, Z:42.22 [[-2.33534109e-02 -9.99720020e-01 3.80782650e-03 2.15008931e+02] [ 9.97163087e-01 -2.35659682e-02 -7.14872169e-02 1.63390022e+02] [ 7.15569370e-02 2.12755368e-03 9.97434248e-01 4.22222344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04710568099995 meters Centerline goodness [0,1] 0.9978482493523857 Centerline is valid? [True, True] Translation: X:215.02, Y:163.42, Z:42.22 [[-2.86900538e-02 -9.99580365e-01 3.99689938e-03 2.15018155e+02] [ 9.96802766e-01 -2.89081796e-02 -7.44886707e-02 1.63419076e+02] [ 7.45729557e-02 1.84703640e-03 9.97213850e-01 4.22220172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0771056809999 meters Centerline goodness [0,1] 0.9983254139367425 Centerline is valid? [True, True] Translation: X:215.02, Y:163.45, Z:42.22 [[-3.23228306e-02 -9.99469079e-01 4.09823809e-03 2.15022630e+02] [ 9.96588082e-01 -3.25406777e-02 -7.58505116e-02 1.63447023e+02] [ 7.59436004e-02 1.63255200e-03 9.97110778e-01 4.22229051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10710568099995 meters Centerline goodness [0,1] 0.9986596858638743 Centerline is valid? [True, True] Translation: X:215.03, Y:163.47, Z:42.22 [[-4.03056907e-02 -9.99178793e-01 4.14607893e-03 2.15033013e+02] [ 9.96270174e-01 -4.05045155e-02 -7.61913649e-02 1.63474962e+02] [ 7.62967310e-02 1.05966919e-03 9.97084593e-01 4.22235718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1371056809999 meters Centerline goodness [0,1] 0.999203387698629 Centerline is valid? [True, True] Translation: X:215.04, Y:163.50, Z:42.23 [[-4.44364623e-02 -9.99003464e-01 4.18091481e-03 2.15037318e+02] [ 9.96079192e-01 -4.46260686e-02 -7.63855854e-02 1.63502155e+02] [ 7.64960422e-02 7.70217061e-04 9.97069587e-01 4.22268057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1671056809999 meters Centerline goodness [0,1] 0.9991413073072654 Centerline is valid? [True, True] Translation: X:215.04, Y:163.53, Z:42.23 [[-5.01159181e-02 -9.98733947e-01 4.34723877e-03 2.15044731e+02] [ 9.95621912e-01 -5.03026775e-02 -7.87822902e-02 1.63528613e+02] [ 7.89012254e-02 3.79959370e-04 9.96882366e-01 4.22264827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.1971056809999 meters Centerline goodness [0,1] 0.9992252769111581 Centerline is valid? [True, True] Translation: X:215.04, Y:163.56, Z:42.23 [[-5.05314411e-02 -9.98712666e-01 4.42539310e-03 2.15044511e+02] [ 9.95539173e-01 -5.07233862e-02 -7.95543379e-02 1.63556200e+02] [ 7.96763959e-02 3.85656846e-04 9.96820708e-01 4.22274165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2271056809999 meters Centerline goodness [0,1] 0.9992252769111581 Centerline is valid? [True, True] Translation: X:215.04, Y:163.58, Z:42.23 [[-5.09950767e-02 -9.98688949e-01 4.45935164e-03 2.15042733e+02] [ 9.95515531e-01 -5.11882536e-02 -7.95524359e-02 1.63582010e+02] [ 7.96764050e-02 3.82571245e-04 9.96820708e-01 4.22290540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2571056809999 meters Centerline goodness [0,1] 0.9993735251738468 Centerline is valid? [True, True] Translation: X:215.04, Y:163.61, Z:42.23 [[-4.77667314e-02 -9.98848303e-01 4.51734921e-03 2.15039320e+02] [ 9.95645565e-01 -4.79750445e-02 -7.99268616e-02 1.63607993e+02] [ 8.00515301e-02 6.79833779e-04 9.96790495e-01 4.22325889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.2871056809999 meters Centerline goodness [0,1] 0.9989101731148091 Centerline is valid? [True, True] Translation: X:215.03, Y:163.63, Z:42.24 [[-3.99075020e-02 -9.99192890e-01 4.57826269e-03 2.15029206e+02] [ 9.95955341e-01 -4.01465010e-02 -8.03816910e-02 1.63633637e+02] [ 8.05006154e-02 1.35191269e-03 9.96753642e-01 4.22352879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31710568099993 meters Centerline goodness [0,1] 0.9987449536678729 Centerline is valid? [True, True] Translation: X:215.02, Y:163.66, Z:42.24 [[-3.55785854e-02 -9.99356500e-01 4.55515309e-03 2.15024000e+02] [ 9.96199440e-01 -3.58280630e-02 -7.93915971e-02 1.63660338e+02] [ 7.95037109e-02 1.71320025e-03 9.96833098e-01 4.22384454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3471056809999 meters Centerline goodness [0,1] 0.9987281597931696 Centerline is valid? [True, True] Translation: X:215.02, Y:163.69, Z:42.24 [[-2.80347006e-02 -9.99596590e-01 4.55107648e-03 2.15016508e+02] [ 9.96491626e-01 -2.83062079e-02 -7.87603833e-02 1.63687870e+02] [ 7.88574343e-02 2.32708584e-03 9.96883188e-01 4.22418633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37710568099993 meters Centerline goodness [0,1] 0.9984526597524256 Centerline is valid? [True, True] Translation: X:215.01, Y:163.71, Z:42.24 [[-2.49313025e-02 -9.99678321e-01 4.65669402e-03 2.15010121e+02] [ 9.96473077e-01 -2.52241712e-02 -8.00321632e-02 1.63713693e+02] [ 8.01238797e-02 2.64496414e-03 9.96781404e-01 4.22407145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4071056809999 meters Centerline goodness [0,1] 0.9988675446690713 Centerline is valid? [True, True] Translation: X:215.01, Y:163.74, Z:42.24 [[-2.06940533e-02 -9.99774054e-01 4.85774504e-03 2.15005196e+02] [ 9.96337825e-01 -2.10256219e-02 -8.28785990e-02 1.63740490e+02] [ 8.29620100e-02 3.12486098e-03 9.96547811e-01 4.22403425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43710568099993 meters Centerline goodness [0,1] 0.998619506787425 Centerline is valid? [True, True] Translation: X:215.00, Y:163.77, Z:42.24 [[-1.93686947e-02 -9.99801020e-01 4.77231558e-03 2.15002298e+02] [ 9.96523366e-01 -1.96916094e-02 -8.09532062e-02 1.63767203e+02] [ 8.10310727e-02 3.18776604e-03 9.96706478e-01 4.22437997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.4671056809999 meters Centerline goodness [0,1] 0.9987715499292079 Centerline is valid? [True, True] Translation: X:215.00, Y:163.79, Z:42.25 [[-1.88098587e-02 -9.99811511e-01 4.80958408e-03 2.15000026e+02] [ 9.96529764e-01 -1.91378024e-02 -8.10072428e-02 1.63793656e+02] [ 8.10840186e-02 3.26915890e-03 9.96701909e-01 4.22468053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49710568099994 meters Centerline goodness [0,1] 0.9985413019921647 Centerline is valid? [True, True] Translation: X:215.00, Y:163.82, Z:42.25 [[-1.71592603e-02 -9.99840683e-01 4.91605593e-03 2.14999567e+02] [ 9.96462089e-01 -1.75054418e-02 -8.22001461e-02 1.63821011e+02] [ 8.22731080e-02 3.48816966e-03 9.96603717e-01 4.22480398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5271056809999 meters Centerline goodness [0,1] 0.9985308932169241 Centerline is valid? [True, True] Translation: X:215.00, Y:163.85, Z:42.25 [[-1.68961828e-02 -9.99844473e-01 5.05455012e-03 2.14997591e+02] [ 9.96321779e-01 -1.72609697e-02 -8.39343283e-02 1.63848238e+02] [ 8.40085207e-02 3.61778862e-03 9.96458469e-01 4.22480429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55710568099994 meters Centerline goodness [0,1] 0.9986213811254543 Centerline is valid? [True, True] Translation: X:214.99, Y:163.87, Z:42.25 [[-1.73408523e-02 -9.99836313e-01 5.16150009e-03 2.14994330e+02] [ 9.96211789e-01 -1.77174918e-02 -8.51361382e-02 1.63874056e+02] [ 8.52136514e-02 3.66561404e-03 9.96355959e-01 4.22452465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5871056809999 meters Centerline goodness [0,1] 0.9986625428404247 Centerline is valid? [True, True] Translation: X:215.00, Y:163.90, Z:42.25 [[-1.94605546e-02 -9.99797071e-01 5.20619909e-03 2.14996682e+02] [ 9.96156103e-01 -1.98339720e-02 -8.53207612e-02 1.63900176e+02] [ 8.54067067e-02 3.52579766e-03 9.96339934e-01 4.22459863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61710568099994 meters Centerline goodness [0,1] 0.9984740164722605 Centerline is valid? [True, True] Translation: X:215.00, Y:163.93, Z:42.25 [[-2.15310793e-02 -9.99754586e-01 5.21356917e-03 2.14999155e+02] [ 9.96148409e-01 -2.18961835e-02 -8.49052678e-02 1.63927809e+02] [ 8.49985881e-02 3.36538658e-03 9.96375388e-01 4.22490020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6471056809999 meters Centerline goodness [0,1] 0.9989291113724172 Centerline is valid? [True, True] Translation: X:215.00, Y:163.95, Z:42.25 [[-2.78169285e-02 -9.99599477e-01 5.20624893e-03 2.15004927e+02] [ 9.96038458e-01 -2.81571442e-02 -8.43478801e-02 1.63954232e+02] [ 8.44606899e-02 2.83932521e-03 9.96422767e-01 4.22517607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67710568099994 meters Centerline goodness [0,1] 0.9990565246561557 Centerline is valid? [True, True] Translation: X:215.01, Y:163.98, Z:42.26 [[-3.18192308e-02 -9.99480216e-01 5.18023224e-03 2.15008708e+02] [ 9.96000762e-01 -3.21405265e-02 -8.33634788e-02 1.63982008e+02] [ 8.34866432e-02 2.50695348e-03 9.96505743e-01 4.22550253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7071056809999 meters Centerline goodness [0,1] 0.999015005448906 Centerline is valid? [True, True] Translation: X:215.01, Y:164.01, Z:42.26 [[-3.84233283e-02 -9.99248638e-01 5.08017881e-03 2.15013541e+02] [ 9.95941787e-01 -3.87092471e-02 -8.12499256e-02 1.64010061e+02] [ 8.13855274e-02 1.93766980e-03 9.96680812e-01 4.22586225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73710568099995 meters Centerline goodness [0,1] 0.9991651360828185 Centerline is valid? [True, True] Translation: X:215.02, Y:164.04, Z:42.26 [[-4.63770293e-02 -9.98911151e-01 5.06789025e-03 2.15020182e+02] [ 9.95660204e-01 -4.66346856e-02 -8.05354806e-02 1.64036459e+02] [ 8.06841291e-02 1.31090030e-03 9.96738859e-01 4.22619894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7671056809999 meters Centerline goodness [0,1] 0.9993170812466371 Centerline is valid? [True, True] Translation: X:215.02, Y:164.06, Z:42.26 [[-5.12666638e-02 -9.98671944e-01 5.10654603e-03 2.15023762e+02] [ 9.95412042e-01 -5.15116127e-02 -8.06313836e-02 1.64062486e+02] [ 8.07873470e-02 9.49415380e-04 9.96730908e-01 4.22638519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79710568099995 meters Centerline goodness [0,1] 0.9994962533845476 Centerline is valid? [True, True] Translation: X:215.03, Y:164.09, Z:42.27 [[-5.62725237e-02 -9.98402084e-01 5.16547703e-03 2.15026992e+02] [ 9.95100046e-01 -5.65061860e-02 -8.11353797e-02 1.64090056e+02] [ 8.12976136e-02 5.74473852e-04 9.96689705e-01 4.22661728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8271056809999 meters Centerline goodness [0,1] 0.9992891787924402 Centerline is valid? [True, True] Translation: X:215.03, Y:164.12, Z:42.26 [[-6.24642515e-02 -9.98033684e-01 5.19451065e-03 2.15027866e+02] [ 9.94737590e-01 -6.26797790e-02 -8.10454938e-02 1.64116448e+02] [ 8.12117235e-02 1.04728893e-04 9.96696867e-01 4.22634079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85710568099995 meters Centerline goodness [0,1] 0.9993155089087553 Centerline is valid? [True, True] Translation: X:215.02, Y:164.14, Z:42.27 [[-6.13830490e-02 -9.98100379e-01 5.26824775e-03 2.15023800e+02] [ 9.94757549e-01 -6.16082786e-02 -8.16200870e-02 1.64142102e+02] [ 8.17896075e-02 2.30539412e-04 9.96649591e-01 4.22658839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.8871056809999 meters Centerline goodness [0,1] 0.9993071738993513 Centerline is valid? [True, True] Translation: X:215.02, Y:164.17, Z:42.27 [[-5.92073170e-02 -9.98231552e-01 5.31613969e-03 2.15019569e+02] [ 9.94874577e-01 -5.94438304e-02 -8.17985798e-02 1.64167540e+02] [ 8.19699350e-02 4.45817778e-04 9.96634703e-01 4.22679033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9171056809999 meters Centerline goodness [0,1] 0.9991013208493563 Centerline is valid? [True, True] Translation: X:215.01, Y:164.19, Z:42.27 [[-5.22692259e-02 -9.98618456e-01 5.39505476e-03 2.15010219e+02] [ 9.95202914e-01 -5.25363176e-02 -8.25293646e-02 1.64194269e+02] [ 8.26987830e-02 1.05542821e-03 9.96574030e-01 4.22701940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9471056809999 meters Centerline goodness [0,1] 0.9989996874023133 Centerline is valid? [True, True] Translation: X:215.00, Y:164.22, Z:42.27 [[-4.49341119e-02 -9.98975387e-01 5.39454470e-03 2.14997026e+02] [ 9.95605358e-01 -4.52253547e-02 -8.20038906e-02 1.64219882e+02] [ 8.21638386e-02 1.68606561e-03 9.96617409e-01 4.22696618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9771056809999 meters Centerline goodness [0,1] 0.9985728377442441 Centerline is valid? [True, True] Translation: X:214.99, Y:164.25, Z:42.27 [[-4.07702743e-02 -9.99154140e-01 5.36553688e-03 2.14992743e+02] [ 9.95864825e-01 -4.10712101e-02 -8.10333587e-02 1.64246304e+02] [ 8.11851849e-02 2.03959719e-03 9.96696948e-01 4.22738801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0071056809999 meters Centerline goodness [0,1] 0.9987607905736069 Centerline is valid? [True, True] Translation: X:214.99, Y:164.27, Z:42.28 [[-3.32354841e-02 -9.99432933e-01 5.40509688e-03 2.14985183e+02] [ 9.96142152e-01 -3.35645541e-02 -8.10816425e-02 1.64272178e+02] [ 8.12170834e-02 2.68945721e-03 9.96692807e-01 4.22766099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0371056809999 meters Centerline goodness [0,1] 0.9985714285714286 Centerline is valid? [True, True] Translation: X:214.98, Y:164.30, Z:42.28 [[-3.04255820e-02 -9.99522085e-01 5.46677441e-03 2.14982378e+02] [ 9.96200779e-01 -3.07700671e-02 -8.14690799e-02 1.64299423e+02] [ 8.15983576e-02 2.96726075e-03 9.96660877e-01 4.22786374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06710568099993 meters Centerline goodness [0,1] 0.9986149293823844 Centerline is valid? [True, True] Translation: X:214.98, Y:164.33, Z:42.28 [[-2.88967350e-02 -9.99567249e-01 5.50390995e-03 2.14978255e+02] [ 9.96243312e-01 -2.92494554e-02 -8.15090928e-02 1.64325794e+02] [ 8.16348060e-02 3.12788682e-03 9.96657401e-01 4.22802169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.0971056809999 meters Centerline goodness [0,1] 0.9985234787672087 Centerline is valid? [True, True] Translation: X:214.97, Y:164.35, Z:42.28 [[-2.70119954e-02 -9.99620011e-01 5.49415892e-03 2.14972429e+02] [ 9.96350380e-01 -2.73680206e-02 -8.08511679e-02 1.64351369e+02] [ 8.09708096e-02 3.29015595e-03 9.96711043e-01 4.22800294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12710568099993 meters Centerline goodness [0,1] 0.9986823391617167 Centerline is valid? [True, True] Translation: X:214.97, Y:164.38, Z:42.28 [[-2.42836721e-02 -9.99690063e-01 5.48469812e-03 2.14971907e+02] [ 9.96472205e-01 -2.46456421e-02 -8.02230472e-02 1.64378619e+02] [ 8.03333570e-02 3.51723905e-03 9.96761848e-01 4.22823610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.1571056809999 meters Centerline goodness [0,1] 0.9986764983928909 Centerline is valid? [True, True] Translation: X:214.97, Y:164.41, Z:42.28 [[-2.26009602e-02 -9.99729043e-01 5.57112971e-03 2.14970329e+02] [ 9.96449358e-01 -2.29781889e-02 -8.09980230e-02 1.64406690e+02] [ 8.11040905e-02 3.72071553e-03 9.96698692e-01 4.22843424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18710568099993 meters Centerline goodness [0,1] 0.9983852703099442 Centerline is valid? [True, True] Translation: X:214.96, Y:164.43, Z:42.28 [[-1.91956337e-02 -9.99800421e-01 5.53588297e-03 2.14962879e+02] [ 9.96597495e-01 -1.95774497e-02 -8.00634557e-02 1.64432895e+02] [ 8.01558552e-02 3.98017833e-03 9.96774396e-01 4.22844479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2171056809999 meters Centerline goodness [0,1] 0.9986142896134708 Centerline is valid? [True, True] Translation: X:214.96, Y:164.46, Z:42.29 [[-1.88489818e-02 -9.99806770e-01 5.58021098e-03 2.14963406e+02] [ 9.96583747e-01 -1.92364908e-02 -8.03168278e-02 1.64460137e+02] [ 8.04086518e-02 4.04725714e-03 9.96753765e-01 4.22869004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24710568099994 meters Centerline goodness [0,1] 0.9983453764792125 Centerline is valid? [True, True] Translation: X:214.97, Y:164.49, Z:42.29 [[-1.81493326e-02 -9.99819535e-01 5.61238073e-03 2.14966590e+02] [ 9.96597381e-01 -1.85416598e-02 -8.03110601e-02 1.64488684e+02] [ 8.04006296e-02 4.13569179e-03 9.96754049e-01 4.22904773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2771056809999 meters Centerline goodness [0,1] 0.998545001039285 Centerline is valid? [True, True] Translation: X:214.96, Y:164.51, Z:42.29 [[-1.84855798e-02 -9.99813526e-01 5.58530466e-03 2.14961765e+02] [ 9.96657499e-01 -1.88712530e-02 -7.94839893e-02 1.64514880e+02] [ 7.95745693e-02 4.09732815e-03 9.96820495e-01 4.22911954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30710568099994 meters Centerline goodness [0,1] 0.9982584611510942 Centerline is valid? [True, True] Translation: X:214.96, Y:164.54, Z:42.29 [[-1.89140269e-02 -9.99806027e-01 5.49259666e-03 2.14963238e+02] [ 9.96788914e-01 -1.92839031e-02 -7.77173847e-02 1.64542765e+02] [ 7.78082283e-02 4.00501076e-03 9.96960300e-01 4.22925716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3371056809999 meters Centerline goodness [0,1] 0.9986558575208972 Centerline is valid? [True, True] Translation: X:214.97, Y:164.57, Z:42.29 [[-1.98411985e-02 -9.99787941e-01 5.51367264e-03 2.14966354e+02] [ 9.96774444e-01 -2.02097197e-02 -7.76677280e-02 1.64570690e+02] [ 7.77626876e-02 3.95486717e-03 9.96964053e-01 4.22932129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36710568099994 meters Centerline goodness [0,1] 0.9988474192669586 Centerline is valid? [True, True] Translation: X:214.97, Y:164.60, Z:42.29 [[-2.11995566e-02 -9.99759623e-01 5.59246359e-03 2.14967146e+02] [ 9.96695013e-01 -2.15726672e-02 -7.83177632e-02 1.64598578e+02] [ 7.84195817e-02 3.91367871e-03 9.96912761e-01 4.22947762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3971056809999 meters Centerline goodness [0,1] 0.9984557918240438 Centerline is valid? [True, True] Translation: X:214.97, Y:164.63, Z:42.30 [[-2.64620990e-02 -9.99633574e-01 5.69864943e-03 2.14973706e+02] [ 9.96483441e-01 -2.68312215e-02 -7.93778082e-02 1.64626019e+02] [ 7.95016238e-02 3.57810638e-03 9.96828315e-01 4.22961249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42710568099994 meters Centerline goodness [0,1] 0.9987266996472332 Centerline is valid? [True, True] Translation: X:214.98, Y:164.65, Z:42.30 [[-3.10372666e-02 -9.99502127e-01 5.67336536e-03 2.14978008e+02] [ 9.96413958e-01 -3.13873782e-02 -7.85751604e-02 1.64653740e+02] [ 7.87141120e-02 3.21426224e-03 9.96892049e-01 4.22982705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4571056809999 meters Centerline goodness [0,1] 0.9985566363351114 Centerline is valid? [True, True] Translation: X:214.99, Y:164.68, Z:42.30 [[-3.91966350e-02 -9.99217045e-01 5.37783326e-03 2.14985495e+02] [ 9.96469302e-01 -3.94876162e-02 -7.40922258e-02 1.64680923e+02] [ 7.42465727e-02 2.45467983e-03 9.97236893e-01 4.23035938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48710568099995 meters Centerline goodness [0,1] 0.9987370813951041 Centerline is valid? [True, True] Translation: X:214.99, Y:164.71, Z:42.31 [[-4.32993114e-02 -9.99048641e-01 5.19456145e-03 2.14989030e+02] [ 9.96511908e-01 -4.35594689e-02 -7.11799828e-02 1.64709206e+02] [ 7.13385374e-02 2.09439810e-03 9.97449962e-01 4.23078583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5171056809999 meters Centerline goodness [0,1] 0.998952067570683 Centerline is valid? [True, True] Translation: X:215.00, Y:164.74, Z:42.31 [[-5.16430994e-02 -9.98652982e-01 5.02114399e-03 2.14995597e+02] [ 9.96304190e-01 -5.18658892e-02 -6.84681764e-02 1.64735620e+02] [ 6.86363746e-02 1.46667795e-03 9.97640665e-01 4.23113646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54710568099995 meters Centerline goodness [0,1] 0.9993929752585088 Centerline is valid? [True, True] Translation: X:215.00, Y:164.76, Z:42.31 [[-6.06362327e-02 -9.98146600e-01 5.15866142e-03 2.15003123e+02] [ 9.95693608e-01 -6.08486857e-02 -6.99405154e-02 1.64763366e+02] [ 7.01247855e-02 8.95516843e-04 9.97537825e-01 4.23120961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5771056809999 meters Centerline goodness [0,1] 0.9995161154590592 Centerline is valid? [True, True] Translation: X:215.00, Y:164.79, Z:42.31 [[-6.58417627e-02 -9.97816515e-01 5.20244038e-03 2.15004559e+02] [ 9.95348964e-01 -6.60445972e-02 -7.01323866e-02 1.64789467e+02] [ 7.03228466e-02 5.60603687e-04 9.97524127e-01 4.23120693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60710568099995 meters Centerline goodness [0,1] 0.9998957334111858 Centerline is valid? [True, True] Translation: X:215.01, Y:164.82, Z:42.31 [[-7.56523337e-02 -9.97120479e-01 5.24155376e-03 2.15008768e+02] [ 9.94643258e-01 -7.58336295e-02 -7.02427978e-02 1.64816506e+02] [ 7.04380183e-02 -1.00555474e-04 9.97516153e-01 4.23126379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6371056809999 meters Centerline goodness [0,1] 0.9999578076874394 Centerline is valid? [True, True] Translation: X:215.01, Y:164.84, Z:42.31 [[-8.33815037e-02 -9.96504043e-01 5.21696933e-03 2.15008426e+02] [ 9.94077488e-01 -8.35423296e-02 -6.95027116e-02 1.64842746e+02] [ 6.96955709e-02 -6.09168836e-04 9.97568121e-01 4.23123290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6671056809999 meters Centerline goodness [0,1] 0.9998317418920625 Centerline is valid? [True, True] Translation: X:215.01, Y:164.87, Z:42.31 [[-8.60412821e-02 -9.96277505e-01 5.29448492e-03 2.15005582e+02] [ 9.93799683e-01 -8.62004893e-02 -7.02258232e-02 1.64869528e+02] [ 7.04207951e-02 -7.80662429e-04 9.97517069e-01 4.23129371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.6971056809999 meters Centerline goodness [0,1] 0.9999160034438588 Centerline is valid? [True, True] Translation: X:215.00, Y:164.90, Z:42.31 [[-8.75147145e-02 -9.96148700e-01 5.37985766e-03 2.15001131e+02] [ 9.93618358e-01 -8.76756551e-02 -7.09615293e-02 1.64896241e+02] [ 7.11599177e-02 -8.64652645e-04 9.97464545e-01 4.23137872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7271056809999 meters Centerline goodness [0,1] 0.9999789703903096 Centerline is valid? [True, True] Translation: X:214.99, Y:164.92, Z:42.31 [[-8.77939792e-02 -9.96123632e-01 5.47062962e-03 2.14992189e+02] [ 9.93536180e-01 -8.79600095e-02 -7.17558083e-02 1.64922034e+02] [ 7.19588530e-02 -8.64459480e-04 9.97407227e-01 4.23135090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7571056809999 meters Centerline goodness [0,1] 0.9998948497402789 Centerline is valid? [True, True] Translation: X:214.98, Y:164.95, Z:42.32 [[-8.67719248e-02 -9.96213198e-01 5.46775232e-03 2.14984663e+02] [ 9.93652063e-01 -8.69406859e-02 -7.13925462e-02 1.64947623e+02] [ 7.15975669e-02 -7.61825275e-04 9.97433310e-01 4.23155388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.7871056809999 meters Centerline goodness [0,1] 0.9996034396393388 Centerline is valid? [True, True] Translation: X:214.97, Y:164.97, Z:42.32 [[-8.35989348e-02 -9.96484730e-01 5.42219702e-03 2.14972590e+02] [ 9.93996598e-01 -8.37731361e-02 -7.03763120e-02 1.64972780e+02] [ 7.05831547e-02 -4.93739324e-04 9.97505777e-01 4.23183992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81710568099993 meters Centerline goodness [0,1] 0.99917889550919 Centerline is valid? [True, True] Translation: X:214.96, Y:165.00, Z:42.32 [[-7.96780110e-02 -9.96805639e-01 5.47108417e-03 2.14958773e+02] [ 9.94302038e-01 -7.98654100e-02 -7.06043480e-02 1.64997690e+02] [ 7.08157626e-02 -1.85703878e-04 9.97489395e-01 4.23181285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8471056809999 meters Centerline goodness [0,1] 0.9992446337522818 Centerline is valid? [True, True] Translation: X:214.94, Y:165.02, Z:42.32 [[-7.51122891e-02 -9.97159874e-01 5.50722861e-03 2.14943676e+02] [ 9.94654822e-01 -7.53137167e-02 -7.06373054e-02 1.65023284e+02] [ 7.08514564e-02 1.72061791e-04 9.97486863e-01 4.23187334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87710568099993 meters Centerline goodness [0,1] 0.9991807583237055 Centerline is valid? [True, True] Translation: X:214.94, Y:165.05, Z:42.32 [[-7.34644446e-02 -9.97282507e-01 5.52967989e-03 2.14935605e+02] [ 9.94786327e-01 -7.36715641e-02 -7.05171151e-02 1.65048485e+02] [ 7.07328655e-02 3.20349249e-04 9.97495243e-01 4.23204958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9071056809999 meters Centerline goodness [0,1] 0.9993919315608488 Centerline is valid? [True, True] Translation: X:214.93, Y:165.07, Z:42.32 [[-7.19263220e-02 -9.97394547e-01 5.54280943e-03 2.14929063e+02] [ 9.94916542e-01 -7.21381055e-02 -7.02649835e-02 1.65074260e+02] [ 7.04817592e-02 4.60730958e-04 9.97512962e-01 4.23238245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93710568099993 meters Centerline goodness [0,1] 0.9991164033408368 Centerline is valid? [True, True] Translation: X:214.92, Y:165.10, Z:42.33 [[-6.91530818e-02 -9.97589974e-01 5.66522563e-03 2.14919936e+02] [ 9.95032257e-01 -6.93812187e-02 -7.13936553e-02 1.65100570e+02] [ 7.16146550e-02 6.99990969e-04 9.97432129e-01 4.23262160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.9671056809999 meters Centerline goodness [0,1] 0.9991198658843252 Centerline is valid? [True, True] Translation: X:214.91, Y:165.13, Z:42.33 [[-6.76923762e-02 -9.97689678e-01 5.74877170e-03 2.14911445e+02] [ 9.95084989e-01 -6.79308112e-02 -7.20504666e-02 1.65126650e+02] [ 7.22745256e-02 8.43249126e-04 9.97384420e-01 4.23264481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99710568099994 meters Centerline goodness [0,1] 0.9991252369150022 Centerline is valid? [True, True] Translation: X:214.91, Y:165.15, Z:42.33 [[-6.78037568e-02 -9.97681939e-01 5.77912564e-03 2.14906170e+02] [ 9.95078915e-01 -6.80440748e-02 -7.20274718e-02 1.65153577e+02] [ 7.22537431e-02 8.66952892e-04 9.97385906e-01 4.23276107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0271056809999 meters Centerline goodness [0,1] 0.9991188318227593 Centerline is valid? [True, True] Translation: X:214.90, Y:165.18, Z:42.33 [[-6.52750185e-02 -9.97850482e-01 5.79548698e-03 2.14897546e+02] [ 9.95260531e-01 -6.55229302e-02 -7.18555540e-02 1.65180623e+02] [ 7.20808365e-02 1.07764683e-03 9.97398211e-01 4.23279133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05710568099994 meters Centerline goodness [0,1] 0.9988257988761218 Centerline is valid? [True, True] Translation: X:214.89, Y:165.21, Z:42.33 [[-6.32339657e-02 -9.97981684e-01 5.83307567e-03 2.14891301e+02] [ 9.95385865e-01 -6.34899958e-02 -7.19444195e-02 1.65206284e+02] [ 7.21695549e-02 1.25683011e-03 9.97391586e-01 4.23285741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0871056809999 meters Centerline goodness [0,1] 0.9985138670852957 Centerline is valid? [True, True] Translation: X:214.88, Y:165.23, Z:42.33 [[-5.71795286e-02 -9.98346673e-01 5.86710481e-03 2.14882442e+02] [ 9.95750497e-01 -5.74538029e-02 -7.19722764e-02 1.65232499e+02] [ 7.21903701e-02 1.72683169e-03 9.97389377e-01 4.23302873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11710568099994 meters Centerline goodness [0,1] 0.9985138670852957 Centerline is valid? [True, True] Translation: X:214.88, Y:165.26, Z:42.33 [[-5.75912969e-02 -9.98322819e-01 5.89850183e-03 2.14879992e+02] [ 9.95726770e-01 -5.78667625e-02 -7.19697040e-02 1.65259071e+02] [ 7.21903250e-02 1.72846759e-03 9.97389377e-01 4.23319770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1471056809999 meters Centerline goodness [0,1] 0.9984070759363669 Centerline is valid? [True, True] Translation: X:214.87, Y:165.28, Z:42.33 [[-5.28024646e-02 -9.98587388e-01 5.92691151e-03 2.14871325e+02] [ 9.95994324e-01 -5.30923830e-02 -7.19479419e-02 1.65284113e+02] [ 7.21609813e-02 2.10414157e-03 9.97390779e-01 4.23343695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17710568099994 meters Centerline goodness [0,1] 0.9983064313791085 Centerline is valid? [True, True] Translation: X:214.87, Y:165.31, Z:42.34 [[-5.24486314e-02 -9.98606154e-01 5.90685625e-03 2.14867520e+02] [ 9.96058239e-01 -5.27366870e-02 -7.13219869e-02 1.65310245e+02] [ 7.15340830e-02 2.14283223e-03 9.97435854e-01 4.23368357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2071056809999 meters Centerline goodness [0,1] 0.9982434127979924 Centerline is valid? [True, True] Translation: X:214.87, Y:165.34, Z:42.34 [[-5.34532007e-02 -9.98553469e-01 5.80727378e-03 2.14866762e+02] [ 9.96116613e-01 -5.37283938e-02 -6.97492100e-02 1.65337600e+02] [ 6.99603311e-02 2.05640337e-03 9.97547655e-01 4.23394775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23710568099995 meters Centerline goodness [0,1] 0.9985559113455139 Centerline is valid? [True, True] Translation: X:214.87, Y:165.36, Z:42.34 [[-5.55794555e-02 -9.98437368e-01 5.80919376e-03 2.14865878e+02] [ 9.96022862e-01 -5.58489629e-02 -6.94215514e-02 1.65364501e+02] [ 6.96375085e-02 1.92767777e-03 9.97570500e-01 4.23410431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2671056809999 meters Centerline goodness [0,1] 0.9984505862646567 Centerline is valid? [True, True] Translation: X:214.87, Y:165.39, Z:42.34 [[-6.05494327e-02 -9.98148430e-01 5.78592615e-03 2.14868508e+02] [ 9.95775949e-01 -6.08043095e-02 -6.87974921e-02 1.65392282e+02] [ 6.90219180e-02 1.59583699e-03 9.97613867e-01 4.23429397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29710568099995 meters Centerline goodness [0,1] 0.9985754388905183 Centerline is valid? [True, True] Translation: X:214.87, Y:165.42, Z:42.35 [[-6.73333735e-02 -9.97714030e-01 5.73850896e-03 2.14872746e+02] [ 9.95400738e-01 -6.75678578e-02 -6.79113807e-02 1.65419507e+02] [ 6.81438761e-02 1.13941370e-03 9.97674854e-01 4.23456101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3271056809999 meters Centerline goodness [0,1] 0.9987875747313851 Centerline is valid? [True, True] Translation: X:214.87, Y:165.45, Z:42.35 [[-7.07288264e-02 -9.97479227e-01 5.71179897e-03 2.14872964e+02] [ 9.95209293e-01 -7.09530269e-02 -6.72616592e-02 1.65446665e+02] [ 6.74973772e-02 9.27097201e-04 9.97719021e-01 4.23471901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35710568099995 meters Centerline goodness [0,1] 0.9990619919122858 Centerline is valid? [True, True] Translation: X:214.88, Y:165.47, Z:42.35 [[-7.73001862e-02 -9.96992183e-01 5.59172828e-03 2.14876140e+02] [ 9.94836257e-01 -7.75005742e-02 -6.55323086e-02 1.65474347e+02] [ 6.57685616e-02 4.97194371e-04 9.97834780e-01 4.23491115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.3871056809999 meters Centerline goodness [0,1] 0.999122587114565 Centerline is valid? [True, True] Translation: X:214.88, Y:165.50, Z:42.35 [[-8.30085423e-02 -9.96533099e-01 5.60044820e-03 2.14879136e+02] [ 9.94390749e-01 -8.31971229e-02 -6.53090910e-02 1.65499981e+02] [ 6.55486120e-02 1.47821445e-04 9.97849366e-01 4.23511390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4171056809999 meters Centerline goodness [0,1] 0.9995025906735752 Centerline is valid? [True, True] Translation: X:214.88, Y:165.53, Z:42.35 [[-8.62883059e-02 -9.96254187e-01 5.65009773e-03 2.14879191e+02] [ 9.94097613e-01 -8.64730825e-02 -6.55159625e-02 1.65526470e+02] [ 6.57591333e-02 -3.65127444e-05 9.97835525e-01 4.23521161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4471056809999 meters Centerline goodness [0,1] 0.9995213518688087 Centerline is valid? [True, True] Translation: X:214.88, Y:165.55, Z:42.35 [[-9.17644946e-02 -9.95764094e-01 5.75727255e-03 2.14879618e+02] [ 9.93545551e-01 -9.19441523e-02 -6.64342595e-02 1.65553211e+02] [ 6.66821978e-02 -3.76193721e-04 9.97774194e-01 4.23526699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4771056809999 meters Centerline goodness [0,1] 0.9993938000376262 Centerline is valid? [True, True] Translation: X:214.88, Y:165.58, Z:42.35 [[-9.32870623e-02 -9.95622112e-01 5.84252391e-03 2.14877382e+02] [ 9.93361461e-01 -9.34687486e-02 -6.70567023e-02 1.65579865e+02] [ 6.73092289e-02 -4.51784686e-04 9.97732060e-01 4.23543743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5071056809999 meters Centerline goodness [0,1] 0.9995618976092127 Centerline is valid? [True, True] Translation: X:214.87, Y:165.60, Z:42.36 [[-9.21261676e-02 -9.95729869e-01 5.89894435e-03 2.14871407e+02] [ 9.93450432e-01 -9.23141944e-02 -6.73374176e-02 1.65604360e+02] [ 6.75944342e-02 -3.43229399e-04 9.97712822e-01 4.23557997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5371056809999 meters Centerline goodness [0,1] 0.99951992318771 Centerline is valid? [True, True] Translation: X:214.86, Y:165.63, Z:42.36 [[-9.05576033e-02 -9.95873340e-01 5.96743147e-03 2.14864855e+02] [ 9.93566806e-01 -9.07537745e-02 -6.77403485e-02 1.65631334e+02] [ 6.80023741e-02 -2.05361786e-04 9.97685138e-01 4.23569248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56710568099993 meters Centerline goodness [0,1] 0.9993084660519699 Centerline is valid? [True, True] Translation: X:214.86, Y:165.66, Z:42.36 [[-8.63890918e-02 -9.96242214e-01 6.19479887e-03 2.14855135e+02] [ 9.93782077e-01 -8.66108436e-02 -6.99696035e-02 1.65657871e+02] [ 7.02432095e-02 1.11669585e-04 9.97529889e-01 4.23552046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.5971056809999 meters Centerline goodness [0,1] 0.9990207721315916 Centerline is valid? [True, True] Translation: X:214.85, Y:165.68, Z:42.35 [[-8.14523003e-02 -9.96656959e-01 6.35844481e-03 2.14846133e+02] [ 9.94091087e-01 -8.16985785e-02 -7.14720470e-02 1.65683701e+02] [ 7.17525889e-02 4.99310675e-04 9.97422336e-01 4.23547952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62710568099993 meters Centerline goodness [0,1] 0.9989507481165929 Centerline is valid? [True, True] Translation: X:214.84, Y:165.71, Z:42.36 [[-7.97926236e-02 -9.96791122e-01 6.37148231e-03 2.14841421e+02] [ 9.94235161e-01 -8.00440251e-02 -7.13400218e-02 1.65709225e+02] [ 7.16210995e-02 6.42344233e-04 9.97431705e-01 4.23574095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.6571056809999 meters Centerline goodness [0,1] 0.9986688021299166 Centerline is valid? [True, True] Translation: X:214.83, Y:165.73, Z:42.36 [[-7.76351787e-02 -9.96962717e-01 6.17414811e-03 2.14834436e+02] [ 9.94587706e-01 -7.78761800e-02 -6.87793261e-02 1.65734342e+02] [ 6.90512429e-02 8.01036536e-04 9.97612793e-01 4.23598669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68710568099993 meters Centerline goodness [0,1] 0.9988580445570251 Centerline is valid? [True, True] Translation: X:214.83, Y:165.76, Z:42.36 [[-7.72655845e-02 -9.96990793e-01 6.27595594e-03 2.14830108e+02] [ 9.94563432e-01 -7.75151764e-02 -6.95339962e-02 1.65760568e+02] [ 6.98112358e-02 8.69251419e-04 9.97559841e-01 4.23611214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7171056809999 meters Centerline goodness [0,1] 0.998743534437627 Centerline is valid? [True, True] Translation: X:214.83, Y:165.79, Z:42.36 [[-7.59499400e-02 -9.97091286e-01 6.36981950e-03 2.14825623e+02] [ 9.94616224e-01 -7.62099933e-02 -7.02182552e-02 1.65787166e+02] [ 7.04994543e-02 1.00245355e-03 9.97511314e-01 4.23617215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74710568099994 meters Centerline goodness [0,1] 0.9987191601049868 Centerline is valid? [True, True] Translation: X:214.82, Y:165.81, Z:42.36 [[-7.35590858e-02 -9.97270026e-01 6.44637212e-03 2.14821136e+02] [ 9.94758595e-01 -7.38311133e-02 -7.07411068e-02 1.65814142e+02] [ 7.10239283e-02 1.20893293e-03 9.97473879e-01 4.23647906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7771056809999 meters Centerline goodness [0,1] 0.9987675982788152 Centerline is valid? [True, True] Translation: X:214.82, Y:165.84, Z:42.37 [[-7.21773905e-02 -9.97371834e-01 6.31265698e-03 2.14817118e+02] [ 9.94985122e-01 -7.24412020e-02 -6.89701390e-02 1.65840338e+02] [ 6.92461704e-02 1.30291512e-03 9.97598752e-01 4.23682349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80710568099994 meters Centerline goodness [0,1] 0.9985527309338031 Centerline is valid? [True, True] Translation: X:214.81, Y:165.87, Z:42.37 [[-6.86130818e-02 -9.97624182e-01 6.18352209e-03 2.14810947e+02] [ 9.95355880e-01 -6.88739308e-02 -6.72536462e-02 1.65865402e+02] [ 6.75197473e-02 1.54032514e-03 9.97716749e-01 4.23729580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8371056809999 meters Centerline goodness [0,1] 0.9977880722841284 Centerline is valid? [True, True] Translation: X:214.80, Y:165.89, Z:42.38 [[-6.28995920e-02 -9.98000963e-01 6.14160440e-03 2.14803413e+02] [ 9.95784183e-01 -6.31691715e-02 -6.65095157e-02 1.65891426e+02] [ 6.67645207e-02 1.93229112e-03 9.97766889e-01 4.23752185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86710568099994 meters Centerline goodness [0,1] 0.9984279036619365 Centerline is valid? [True, True] Translation: X:214.80, Y:165.92, Z:42.37 [[-5.96701380e-02 -9.98198340e-01 6.28874999e-03 2.14796840e+02] [ 9.95890816e-01 -5.99597856e-02 -6.78697808e-02 1.65917754e+02] [ 6.81245747e-02 2.21310917e-03 9.97674368e-01 4.23748940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8971056809999 meters Centerline goodness [0,1] 0.9982173949092115 Centerline is valid? [True, True] Translation: X:214.79, Y:165.94, Z:42.37 [[-5.31808655e-02 -9.98563475e-01 6.54076015e-03 2.14788082e+02] [ 9.96091773e-01 -5.35095114e-02 -7.02702773e-02 1.65943121e+02] [ 7.05193252e-02 2.77816321e-03 9.97506545e-01 4.23717685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92710568099994 meters Centerline goodness [0,1] 0.9980264539155994 Centerline is valid? [True, True] Translation: X:214.79, Y:165.97, Z:42.37 [[-4.95562011e-02 -9.98749305e-01 6.63394414e-03 2.14791439e+02] [ 9.96231195e-01 -4.99024893e-02 -7.09446809e-02 1.65971042e+02] [ 7.11870010e-02 3.09319323e-03 9.97458191e-01 4.23740220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9571056809999 meters Centerline goodness [0,1] 0.9975251128257389 Centerline is valid? [True, True] Translation: X:214.78, Y:166.00, Z:42.38 [[-4.50913692e-02 -9.98960656e-01 6.66158444e-03 2.14780225e+02] [ 9.96445446e-01 -4.54508174e-02 -7.09274062e-02 1.65997012e+02] [ 7.11564627e-02 3.43969161e-03 9.97459235e-01 4.23764790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98710568099995 meters Centerline goodness [0,1] 0.9981112277019937 Centerline is valid? [True, True] Translation: X:214.79, Y:166.03, Z:42.38 [[-4.39898957e-02 -9.99009426e-01 6.71241205e-03 2.14788749e+02] [ 9.96478194e-01 -4.43565636e-02 -7.11597145e-02 1.66025957e+02] [ 7.13869651e-02 3.55846381e-03 9.97442348e-01 4.23809694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0171056809999 meters Centerline goodness [0,1] 0.9980977465613111 Centerline is valid? [True, True] Translation: X:214.79, Y:166.05, Z:42.38 [[-4.40792720e-02 -9.99004780e-01 6.81671238e-03 2.14790598e+02] [ 9.96415460e-01 -4.44561201e-02 -7.19714169e-02 1.66053178e+02] [ 7.22028341e-02 3.61982993e-03 9.97383400e-01 4.23799891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04710568099995 meters Centerline goodness [0,1] 0.9983014238681401 Centerline is valid? [True, True] Translation: X:214.79, Y:166.08, Z:42.38 [[-4.49855887e-02 -9.98963997e-01 6.87234942e-03 2.14789821e+02] [ 9.96355476e-01 -4.53650546e-02 -7.22341900e-02 1.66080266e+02] [ 7.24711196e-02 3.59780542e-03 9.97364022e-01 4.23799957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0771056809999 meters Centerline goodness [0,1] 0.9975048343833822 Centerline is valid? [True, True] Translation: X:214.79, Y:166.11, Z:42.38 [[-4.60185367e-02 -9.98916854e-01 6.88576595e-03 2.14788472e+02] [ 9.96320956e-01 -4.63956431e-02 -7.20555077e-02 1.66106759e+02] [ 7.22969306e-02 3.54454389e-03 9.97376855e-01 4.23799007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10710568099995 meters Centerline goodness [0,1] 0.9980356918961842 Centerline is valid? [True, True] Translation: X:214.80, Y:166.14, Z:42.38 [[-4.85840453e-02 -9.98795072e-01 6.92781820e-03 2.14802254e+02] [ 9.96190463e-01 -4.89578945e-02 -7.21642989e-02 1.66135069e+02] [ 7.24165175e-02 3.39539285e-03 9.97368698e-01 4.23831477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1371056809999 meters Centerline goodness [0,1] 0.9982850569904842 Centerline is valid? [True, True] Translation: X:214.81, Y:166.16, Z:42.38 [[-5.03694899e-02 -9.98705969e-01 7.02147142e-03 2.14805451e+02] [ 9.96052985e-01 -5.07476713e-02 -7.28225601e-02 1.66163817e+02] [ 7.30846488e-02 3.32572236e-03 9.97320196e-01 4.23840948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1671056809999 meters Centerline goodness [0,1] 0.9981347584616996 Centerline is valid? [True, True] Translation: X:214.81, Y:166.19, Z:42.38 [[-5.40588704e-02 -9.98511006e-01 7.30814022e-03 2.14812019e+02] [ 9.95658314e-01 -5.44569521e-02 -7.54914642e-02 1.66192779e+02] [ 7.57770369e-02 3.19542729e-03 9.97119667e-01 4.23822592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.1971056809999 meters Centerline goodness [0,1] 0.9981294661622531 Centerline is valid? [True, True] Translation: X:214.81, Y:166.22, Z:42.38 [[-5.60690791e-02 -9.98400173e-01 7.30436241e-03 2.14813237e+02] [ 9.95572402e-01 -5.64600929e-02 -7.51521853e-02 1.66219900e+02] [ 7.54443598e-02 3.05830780e-03 9.97145323e-01 4.23832813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2271056809999 meters Centerline goodness [0,1] 0.9985763038335113 Centerline is valid? [True, True] Translation: X:214.82, Y:166.25, Z:42.39 [[-6.19429909e-02 -9.98055415e-01 6.96087084e-03 2.14820902e+02] [ 9.95506826e-01 -6.22822589e-02 -7.13237644e-02 1.66247911e+02] [ 7.16186080e-02 2.51158714e-03 9.97428928e-01 4.23889268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2571056809999 meters Centerline goodness [0,1] 0.9988875128565731 Centerline is valid? [True, True] Translation: X:214.83, Y:166.28, Z:42.39 [[-6.87239557e-02 -9.97612621e-01 6.78796996e-03 2.14829281e+02] [ 9.95206908e-01 -6.90295480e-02 -6.92685433e-02 1.66275071e+02] [ 6.95717436e-02 1.99502629e-03 9.97574956e-01 4.23936467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.2871056809999 meters Centerline goodness [0,1] 0.9988288439016229 Centerline is valid? [True, True] Translation: X:214.83, Y:166.30, Z:42.40 [[-7.20607720e-02 -9.97377512e-01 6.73378853e-03 2.14831429e+02] [ 9.95029392e-01 -7.23530691e-02 -6.84217909e-02 1.66302338e+02] [ 6.87295658e-02 1.76979044e-03 9.97633758e-01 4.23961041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31710568099993 meters Centerline goodness [0,1] 0.9989754741045853 Centerline is valid? [True, True] Translation: X:214.83, Y:166.33, Z:42.40 [[-7.51022225e-02 -9.97152916e-01 6.76154247e-03 2.14832665e+02] [ 9.94804748e-01 -7.53892465e-02 -6.84103366e-02 1.66329547e+02] [ 6.87253142e-02 1.58864623e-03 9.97634356e-01 4.23978618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3471056809999 meters Centerline goodness [0,1] 0.9993099554607615 Centerline is valid? [True, True] Translation: X:214.83, Y:166.36, Z:42.40 [[-7.89842771e-02 -9.96850848e-01 7.06188862e-03 2.14833012e+02] [ 9.94310797e-01 -7.92869254e-02 -7.11310185e-02 1.66356168e+02] [ 7.14669316e-02 1.40348003e-03 9.97441982e-01 4.23960634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37710568099993 meters Centerline goodness [0,1] 0.9991420978845389 Centerline is valid? [True, True] Translation: X:214.83, Y:166.38, Z:42.40 [[-8.01919609e-02 -9.96753105e-01 7.24545809e-03 2.14830556e+02] [ 9.94102917e-01 -8.05068428e-02 -7.26501062e-02 1.66382702e+02] [ 7.29975279e-02 1.37677655e-03 9.97331171e-01 4.23955404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4071056809999 meters Centerline goodness [0,1] 0.9992241722756914 Centerline is valid? [True, True] Translation: X:214.83, Y:166.41, Z:42.40 [[-7.96495259e-02 -9.96796660e-01 7.23689224e-03 2.14828389e+02] [ 9.94175823e-01 -7.99646537e-02 -7.22501719e-02 1.66409651e+02] [ 7.25974256e-02 1.44005136e-03 9.97360286e-01 4.24003584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43710568099993 meters Centerline goodness [0,1] 0.9990781479153572 Centerline is valid? [True, True] Translation: X:214.82, Y:166.44, Z:42.40 [[-7.91490335e-02 -9.96836721e-01 7.20981488e-03 2.14823328e+02] [ 9.94256666e-01 -7.94626838e-02 -7.16893593e-02 1.66435662e+02] [ 7.20354971e-02 1.49426301e-03 9.97400950e-01 4.24020728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.4671056809999 meters Centerline goodness [0,1] 0.9989950169590888 Centerline is valid? [True, True] Translation: X:214.82, Y:166.46, Z:42.40 [[-7.63556954e-02 -9.97054244e-01 7.25551769e-03 2.14817257e+02] [ 9.94459776e-01 -7.66802351e-02 -7.19019873e-02 1.66462528e+02] [ 7.22465364e-02 1.72519426e-03 9.97385313e-01 4.24040108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49710568099994 meters Centerline goodness [0,1] 0.9989389810056796 Centerline is valid? [True, True] Translation: X:214.81, Y:166.49, Z:42.40 [[-7.41458972e-02 -9.97220469e-01 7.32957237e-03 2.14807987e+02] [ 9.94595479e-01 -7.44823776e-02 -7.23340092e-02 1.66487592e+02] [ 7.26788786e-02 1.92668952e-03 9.97353532e-01 4.24034148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5271056809999 meters Centerline goodness [0,1] 0.9988258481150669 Centerline is valid? [True, True] Translation: X:214.80, Y:166.51, Z:42.40 [[-7.03909737e-02 -9.97491047e-01 7.53145264e-03 2.14803849e+02] [ 9.94740940e-01 -7.07560437e-02 -7.40543334e-02 1.66514606e+02] [ 7.44014304e-02 2.27908764e-03 9.97225768e-01 4.24042884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55710568099994 meters Centerline goodness [0,1] 0.9987461077093478 Centerline is valid? [True, True] Translation: X:214.80, Y:166.54, Z:42.40 [[-6.92234093e-02 -9.97572213e-01 7.60264181e-03 2.14796274e+02] [ 9.94793805e-01 -6.95979335e-02 -7.44406686e-02 1.66540050e+02] [ 7.47890707e-02 2.41002409e-03 9.97196463e-01 4.24041101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5871056809999 meters Centerline goodness [0,1] 0.9988962012662446 Centerline is valid? [True, True] Translation: X:214.79, Y:166.57, Z:42.40 [[-6.85899896e-02 -9.97614930e-01 7.73725823e-03 2.14792588e+02] [ 9.94762333e-01 -6.89788856e-02 -7.54308613e-02 1.66566591e+02] [ 7.57846608e-02 2.52293106e-03 9.97121016e-01 4.24047229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61710568099994 meters Centerline goodness [0,1] 0.9987616488959785 Centerline is valid? [True, True] Translation: X:214.79, Y:166.59, Z:42.41 [[-6.93001130e-02 -9.97565322e-01 7.80527560e-03 2.14788231e+02] [ 9.94685342e-01 -6.96930396e-02 -7.57888616e-02 1.66593999e+02] [ 7.61483136e-02 2.51161655e-03 9.97093339e-01 4.24055843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6471056809999 meters Centerline goodness [0,1] 0.9987971297026007 Centerline is valid? [True, True] Translation: X:214.78, Y:166.62, Z:42.41 [[-7.09867027e-02 -9.97446891e-01 7.78374889e-03 2.14784209e+02] [ 9.94599874e-01 -7.13720656e-02 -7.53466590e-02 1.66620076e+02] [ 7.57098330e-02 2.39310479e-03 9.97127020e-01 4.24071150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67710568099994 meters Centerline goodness [0,1] 0.9986995280545359 Centerline is valid? [True, True] Translation: X:214.78, Y:166.65, Z:42.41 [[-7.37242175e-02 -9.97248115e-01 7.80626771e-03 2.14783975e+02] [ 9.94407633e-01 -7.41032494e-02 -7.52473781e-02 1.66647330e+02] [ 7.56187758e-02 2.21505812e-03 9.97134341e-01 4.24102318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7071056809999 meters Centerline goodness [0,1] 0.9989144503361028 Centerline is valid? [True, True] Translation: X:214.78, Y:166.67, Z:42.42 [[-7.98596193e-02 -9.96778044e-01 7.48151661e-03 2.14784381e+02] [ 9.94186861e-01 -8.01912740e-02 -7.18459850e-02 1.66673007e+02] [ 7.22144527e-02 1.70043249e-03 9.97387679e-01 4.24166123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73710568099995 meters Centerline goodness [0,1] 0.9990594825063747 Centerline is valid? [True, True] Translation: X:214.79, Y:166.70, Z:42.42 [[-8.83923098e-02 -9.96059799e-01 7.18864890e-03 2.14786472e+02] [ 9.93680582e-01 -8.86777985e-02 -6.88124132e-02 1.66698958e+02] [ 6.91787520e-02 1.06073268e-03 9.97603716e-01 4.24215727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7671056809999 meters Centerline goodness [0,1] 0.9991226421006455 Centerline is valid? [True, True] Translation: X:214.79, Y:166.73, Z:42.42 [[-9.38443748e-02 -9.95560309e-01 7.27354802e-03 2.14786783e+02] [ 9.93142996e-01 -9.41230981e-02 -6.93385363e-02 1.66725853e+02] [ 6.97153035e-02 7.16641683e-04 9.97566671e-01 4.24212362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79710568099995 meters Centerline goodness [0,1] 0.9994383308023549 Centerline is valid? [True, True] Translation: X:214.79, Y:166.75, Z:42.42 [[-1.03878579e-01 -9.94563238e-01 7.29420363e-03 2.14789575e+02] [ 9.92148939e-01 -1.04134350e-01 -6.92569184e-02 1.66753925e+02] [ 6.96399622e-02 4.26260960e-05 9.97572190e-01 4.24224718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8271056809999 meters Centerline goodness [0,1] 0.9997276631402535 Centerline is valid? [True, True] Translation: X:214.79, Y:166.78, Z:42.42 [[-1.08579967e-01 -9.94061088e-01 7.27625340e-03 2.14788956e+02] [ 9.91674891e-01 -1.08823188e-01 -6.88362101e-02 1.66779750e+02] [ 6.92192230e-02 -2.58555607e-04 9.97601440e-01 4.24246754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85710568099995 meters Centerline goodness [0,1] 0.9997704747000522 Centerline is valid? [True, True] Translation: X:214.79, Y:166.81, Z:42.43 [[-1.16519363e-01 -9.93162094e-01 7.23145814e-03 2.14791091e+02] [ 9.90823557e-01 -1.16740994e-01 -6.81191529e-02 1.66807595e+02] [ 6.84975682e-02 -7.72101223e-04 9.97650985e-01 4.24278024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.8871056809999 meters Centerline goodness [0,1] 0.9999580334473425 Centerline is valid? [True, True] Translation: X:214.79, Y:166.83, Z:42.43 [[-1.23598184e-01 -9.92304146e-01 7.48135624e-03 2.14791134e+02] [ 9.89818061e-01 -1.23817860e-01 -7.02092799e-02 1.66833870e+02] [ 7.05952850e-02 -1.27255796e-03 9.97504229e-01 4.24274294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9171056809999 meters Centerline goodness [0,1] 0.9999369429964688 Centerline is valid? [True, True] Translation: X:214.78, Y:166.86, Z:42.43 [[-1.27696657e-01 -9.91784430e-01 7.56361442e-03 2.14784576e+02] [ 9.89257741e-01 -1.27911018e-01 -7.07664747e-02 1.66859547e+02] [ 7.11525574e-02 -1.55427810e-03 9.97464234e-01 4.24264618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9471056809999 meters Centerline goodness [0,1] 0.9998740236835475 Centerline is valid? [True, True] Translation: X:214.78, Y:166.89, Z:42.43 [[-1.28453837e-01 -9.91686365e-01 7.60034593e-03 2.14779658e+02] [ 9.89155491e-01 -1.28668795e-01 -7.08220005e-02 1.66885843e+02] [ 7.12111396e-02 -1.57943379e-03 9.97460014e-01 4.24284978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9771056809999 meters Centerline goodness [0,1] 0.9996433741005685 Centerline is valid? [True, True] Translation: X:214.77, Y:166.91, Z:42.43 [[-1.30578811e-01 -9.91409343e-01 7.52918981e-03 2.14770074e+02] [ 9.88944954e-01 -1.30784923e-01 -6.98797617e-02 1.66911506e+02] [ 7.02641532e-02 -1.67886195e-03 9.97527007e-01 4.24344169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0071056809999 meters Centerline goodness [0,1] 0.999477348274204 Centerline is valid? [True, True] Translation: X:214.77, Y:166.94, Z:42.44 [[-1.32116491e-01 -9.91205642e-01 7.52381012e-03 2.14767959e+02] [ 9.88763897e-01 -1.32318981e-01 -6.95531691e-02 1.66937174e+02] [ 6.99370365e-02 -1.74984879e-03 9.97549873e-01 4.24356347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0371056809999 meters Centerline goodness [0,1] 0.999477348274204 Centerline is valid? [True, True] Translation: X:214.76, Y:166.96, Z:42.44 [[-1.32534614e-01 -9.91149608e-01 7.55186270e-03 2.14764798e+02] [ 9.88707941e-01 -1.32738042e-01 -6.95501236e-02 1.66962862e+02] [ 6.99369973e-02 -1.75121219e-03 9.97549873e-01 4.24372720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06710568099993 meters Centerline goodness [0,1] 0.9996236592862071 Centerline is valid? [True, True] Translation: X:214.75, Y:166.99, Z:42.44 [[-1.32959649e-01 -9.91092186e-01 7.61650458e-03 2.14750789e+02] [ 9.88627986e-01 -1.33165997e-01 -6.98678934e-02 1.66986564e+02] [ 7.02597826e-02 -1.75972096e-03 9.97527176e-01 4.24366123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.0971056809999 meters Centerline goodness [0,1] 0.9995191201990424 Centerline is valid? [True, True] Translation: X:214.74, Y:167.01, Z:42.44 [[-1.32838786e-01 -9.91106768e-01 7.82505738e-03 2.14739450e+02] [ 9.88527153e-01 -1.33057415e-01 -7.14828162e-02 1.67012413e+02] [ 7.18882848e-02 -1.76040885e-03 9.97411137e-01 4.24364647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12710568099993 meters Centerline goodness [0,1] 0.9992645668298628 Centerline is valid? [True, True] Translation: X:214.72, Y:167.04, Z:42.44 [[-1.27986992e-01 -9.91743508e-01 8.00900375e-03 2.14720922e+02] [ 9.89064321e-01 -1.28229650e-01 -7.28623818e-02 1.67038088e+02] [ 7.32877859e-02 -1.40401726e-03 9.97309846e-01 4.24376222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.1571056809999 meters Centerline goodness [0,1] 0.9989922741014444 Centerline is valid? [True, True] Translation: X:214.70, Y:167.06, Z:42.45 [[-1.18677578e-01 -9.92902640e-01 7.74466493e-03 2.14697057e+02] [ 9.90417915e-01 -1.18928173e-01 -7.02028768e-02 1.67062584e+02] [ 7.06256806e-02 -6.61052500e-04 9.97502670e-01 4.24456545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18710568099993 meters Centerline goodness [0,1] 0.997956247002148 Centerline is valid? [True, True] Translation: X:214.68, Y:167.09, Z:42.45 [[-1.12183799e-01 -9.93657685e-01 7.69416793e-03 2.14680815e+02] [ 9.91224372e-01 -1.12447215e-01 -6.94972471e-02 1.67088104e+02] [ 6.99216614e-02 -1.69818442e-04 9.97552471e-01 4.24496600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2171056809999 meters Centerline goodness [0,1] 0.9980686470032539 Centerline is valid? [True, True] Translation: X:214.66, Y:167.11, Z:42.45 [[-1.05692172e-01 -9.94369411e-01 7.65763285e-03 2.14663823e+02] [ 9.91979284e-01 -1.05968751e-01 -6.89037300e-02 1.67112772e+02] [ 6.93272312e-02 3.13628243e-04 9.97593924e-01 4.24522632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24710568099994 meters Centerline goodness [0,1] 0.998303700446064 Centerline is valid? [True, True] Translation: X:214.64, Y:167.14, Z:42.45 [[-9.50313047e-02 -9.95443078e-01 7.88227830e-03 2.14636458e+02] [ 9.92935533e-01 -9.53511137e-02 -7.06200605e-02 1.67137132e+02] [ 7.10498344e-02 1.11547771e-03 9.97472143e-01 4.24523808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2771056809999 meters Centerline goodness [0,1] 0.9982094897045658 Centerline is valid? [True, True] Translation: X:214.62, Y:167.16, Z:42.45 [[-9.13297685e-02 -9.95787813e-01 8.09349620e-03 2.14624433e+02] [ 9.93165828e-01 -9.16763514e-02 -7.22293928e-02 1.67162696e+02] [ 7.26671313e-02 1.44149013e-03 9.97355208e-01 4.24529237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30710568099994 meters Centerline goodness [0,1] 0.9979735093803535 Centerline is valid? [True, True] Translation: X:214.61, Y:167.19, Z:42.46 [[-8.63953959e-02 -9.96227322e-01 8.18285120e-03 2.14607526e+02] [ 9.93570592e-01 -8.67623964e-02 -7.27307692e-02 1.67186833e+02] [ 7.31663432e-02 1.84663671e-03 9.97318042e-01 4.24560292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3371056809999 meters Centerline goodness [0,1] 0.9987279210894 Centerline is valid? [True, True] Translation: X:214.60, Y:167.21, Z:42.46 [[-8.60137539e-02 -9.96260350e-01 8.18220107e-03 2.14600275e+02] [ 9.93625156e-01 -8.63811716e-02 -7.24385407e-02 1.67212992e+02] [ 7.28744340e-02 1.89933001e-03 9.97339315e-01 4.24599330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36710568099994 meters Centerline goodness [0,1] 0.9989492045478428 Centerline is valid? [True, True] Translation: X:214.59, Y:167.24, Z:42.46 [[-8.68901302e-02 -9.96184496e-01 8.15813213e-03 2.14591694e+02] [ 9.93584031e-01 -8.72525903e-02 -7.19566477e-02 1.67239596e+02] [ 7.23939149e-02 1.85346731e-03 9.97374396e-01 4.24640432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3971056809999 meters Centerline goodness [0,1] 0.999391165602956 Centerline is valid? [True, True] Translation: X:214.58, Y:167.27, Z:42.46 [[-8.77140514e-02 -9.96111077e-01 8.30465250e-03 2.14583745e+02] [ 9.93436766e-01 -8.80868871e-02 -7.29663792e-02 1.67265200e+02] [ 7.34141495e-02 1.84997038e-03 9.97299825e-01 4.24645734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42710568099994 meters Centerline goodness [0,1] 0.9993691515087794 Centerline is valid? [True, True] Translation: X:214.58, Y:167.29, Z:42.47 [[-8.78831762e-02 -9.96094896e-01 8.45604883e-03 2.14578587e+02] [ 9.93343997e-01 -8.82686910e-02 -7.40023125e-02 1.67291590e+02] [ 7.44597302e-02 1.89620707e-03 9.97222218e-01 4.24652155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4571056809999 meters Centerline goodness [0,1] 0.9990845729740976 Centerline is valid? [True, True] Translation: X:214.57, Y:167.32, Z:42.46 [[-8.55765755e-02 -9.96292573e-01 8.81806781e-03 2.14570903e+02] [ 9.93324971e-01 -8.60020493e-02 -7.68709900e-02 1.67316848e+02] [ 7.73443684e-02 2.18085086e-03 9.97002052e-01 4.24622839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48710568099995 meters Centerline goodness [0,1] 0.9989555044913306 Centerline is valid? [True, True] Translation: X:214.57, Y:167.34, Z:42.46 [[-8.08365890e-02 -9.96683223e-01 9.38072481e-03 2.14566362e+02] [ 9.93353363e-01 -8.13331166e-02 -8.14494964e-02 1.67343869e+02] [ 8.19423102e-02 2.73427507e-03 9.96633324e-01 4.24600930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5171056809999 meters Centerline goodness [0,1] 0.9988283293231509 Centerline is valid? [True, True] Translation: X:214.56, Y:167.37, Z:42.46 [[-7.80762498e-02 -9.96899718e-01 9.74941502e-03 2.14558606e+02] [ 9.93329557e-01 -7.86215656e-02 -8.43506955e-02 1.67369244e+02] [ 8.48556988e-02 3.09859614e-03 9.96388433e-01 4.24578050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54710568099995 meters Centerline goodness [0,1] 0.999431937723543 Centerline is valid? [True, True] Translation: X:214.55, Y:167.40, Z:42.46 [[-7.22288328e-02 -9.97335558e-01 1.02362503e-02 2.14549179e+02] [ 9.93429079e-01 -7.28518676e-02 -8.82681780e-02 1.67395757e+02] [ 8.87787224e-02 3.79348121e-03 9.96044150e-01 4.24552113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5771056809999 meters Centerline goodness [0,1] 0.9993465705493023 Centerline is valid? [True, True] Translation: X:214.54, Y:167.42, Z:42.46 [[-6.93916705e-02 -9.97535319e-01 1.03962750e-02 2.14541618e+02] [ 9.93535535e-01 -7.00444888e-02 -8.93359427e-02 1.67420681e+02] [ 8.98439599e-02 4.12989838e-03 9.95947291e-01 4.24553867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60710568099995 meters Centerline goodness [0,1] 0.9993474783194409 Centerline is valid? [True, True] Translation: X:214.54, Y:167.45, Z:42.46 [[-6.72965116e-02 -9.97678504e-01 1.04298680e-02 2.14539828e+02] [ 9.93680020e-01 -6.79607576e-02 -8.93384239e-02 1.67447901e+02] [ 8.98398469e-02 4.35178720e-03 9.95946717e-01 4.24597347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6371056809999 meters Centerline goodness [0,1] 0.9984419412569744 Centerline is valid? [True, True] Translation: X:214.53, Y:167.47, Z:42.46 [[-6.38044179e-02 -9.97908205e-01 1.04024619e-02 2.14534173e+02] [ 9.93961430e-01 -6.44776185e-02 -8.87880196e-02 1.67473949e+02] [ 8.92730192e-02 4.67457795e-03 9.95996223e-01 4.24631636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6671056809999 meters Centerline goodness [0,1] 0.9989510122731564 Centerline is valid? [True, True] Translation: X:214.53, Y:167.50, Z:42.47 [[-6.41188221e-02 -9.97888735e-01 1.03367857e-02 2.14532070e+02] [ 9.94017800e-01 -6.47809548e-02 -8.79320305e-02 1.67500497e+02] [ 8.84160095e-02 4.63685073e-03 9.96072843e-01 4.24664492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.6971056809999 meters Centerline goodness [0,1] 0.9991167006666807 Centerline is valid? [True, True] Translation: X:214.53, Y:167.53, Z:42.47 [[-6.78683444e-02 -9.97643332e-01 1.00831938e-02 2.14533479e+02] [ 9.93984090e-01 -6.84832898e-02 -8.54732023e-02 1.67526679e+02] [ 8.59623006e-02 4.22160945e-03 9.96289446e-01 4.24719211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7271056809999 meters Centerline goodness [0,1] 0.9986118122160526 Centerline is valid? [True, True] Translation: X:214.54, Y:167.55, Z:42.48 [[-7.14028290e-02 -9.97398674e-01 9.87529826e-03 2.14536103e+02] [ 9.93911891e-01 -7.19791158e-02 -8.34155907e-02 1.67554570e+02] [ 8.39094147e-02 3.85906720e-03 9.96465914e-01 4.24773811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7571056809999 meters Centerline goodness [0,1] 0.9986985726280436 Centerline is valid? [True, True] Translation: X:214.54, Y:167.58, Z:42.48 [[-7.96104693e-02 -9.96781562e-01 9.41762527e-03 2.14541718e+02] [ 9.93626450e-01 -8.01077512e-02 -7.93046371e-02 1.67582620e+02] [ 7.98038248e-02 3.04412219e-03 9.96805940e-01 4.24844244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.7871056809999 meters Centerline goodness [0,1] 0.9986371451335597 Centerline is valid? [True, True] Translation: X:214.55, Y:167.61, Z:42.49 [[-8.69475041e-02 -9.96167362e-01 9.52457405e-03 2.14548812e+02] [ 9.92954435e-01 -8.74318016e-02 -7.99823121e-02 1.67609988e+02] [ 8.05085196e-02 2.50320563e-03 9.96750777e-01 4.24852201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81710568099993 meters Centerline goodness [0,1] 0.9986430345921797 Centerline is valid? [True, True] Translation: X:214.55, Y:167.64, Z:42.49 [[-9.04918718e-02 -9.95849685e-01 9.72755513e-03 2.14550636e+02] [ 9.92520842e-01 -9.09844016e-02 -8.13892975e-02 1.67637854e+02] [ 8.19365620e-02 2.28973133e-03 9.96634917e-01 4.24867910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8471056809999 meters Centerline goodness [0,1] 0.9993490540285156 Centerline is valid? [True, True] Translation: X:214.55, Y:167.66, Z:42.49 [[-9.67225004e-02 -9.95261872e-01 9.92794008e-03 2.14553877e+02] [ 9.91816434e-01 -9.72132422e-02 -8.27631927e-02 1.67664494e+02] [ 8.33361774e-02 1.84163120e-03 9.96519789e-01 4.24875207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87710568099993 meters Centerline goodness [0,1] 0.9984941648889447 Centerline is valid? [True, True] Translation: X:214.55, Y:167.69, Z:42.49 [[-9.94763587e-02 -9.94991359e-01 9.83107735e-03 2.14553509e+02] [ 9.91636063e-01 -9.99477535e-02 -8.16600572e-02 1.67691952e+02] [ 8.22336453e-02 1.62560570e-03 9.96611752e-01 4.24885352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9071056809999 meters Centerline goodness [0,1] 0.9991223304216993 Centerline is valid? [True, True] Translation: X:214.56, Y:167.72, Z:42.49 [[-1.04377279e-01 -9.94490944e-01 9.65121867e-03 2.14556460e+02] [ 9.91277312e-01 -1.04815336e-01 -7.98939103e-02 1.67719223e+02] [ 8.04653660e-02 1.22792511e-03 9.96756649e-01 4.24928322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93710568099993 meters Centerline goodness [0,1] 0.999436913451512 Centerline is valid? [True, True] Translation: X:214.56, Y:167.75, Z:42.50 [[-1.09770442e-01 -9.93910261e-01 9.63551473e-03 2.14560355e+02] [ 9.90726820e-01 -1.10189473e-01 -7.94899206e-02 1.67745983e+02] [ 8.00675800e-02 8.20519113e-04 9.96789100e-01 4.24963943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.9671056809999 meters Centerline goodness [0,1] 0.9992462942802111 Centerline is valid? [True, True] Translation: X:214.56, Y:167.77, Z:42.50 [[-1.12963354e-01 -9.93551041e-01 9.77800648e-03 2.14561306e+02] [ 9.90295172e-01 -1.13384143e-01 -8.03710615e-02 1.67772421e+02] [ 8.09614227e-02 6.04127934e-04 9.96717053e-01 4.24974353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99710568099994 meters Centerline goodness [0,1] 0.9996850724333404 Centerline is valid? [True, True] Translation: X:214.57, Y:167.80, Z:42.50 [[-1.21074747e-01 -9.92593467e-01 9.95566467e-03 2.14565794e+02] [ 9.89240797e-01 -1.21483370e-01 -8.15134100e-02 1.67799747e+02] [ 8.21191259e-02 -2.06658697e-05 9.96622521e-01 4.24961290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0271056809999 meters Centerline goodness [0,1] 0.9997270226571194 Centerline is valid? [True, True] Translation: X:214.57, Y:167.83, Z:42.50 [[-1.25456780e-01 -9.92048868e-01 9.98194164e-03 2.14565142e+02] [ 9.88702686e-01 -1.25852787e-01 -8.14129868e-02 1.67826629e+02] [ 8.20219166e-02 -3.44638637e-04 9.96630466e-01 4.24976036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05710568099994 meters Centerline goodness [0,1] 0.999874168991045 Centerline is valid? [True, True] Translation: X:214.56, Y:167.85, Z:42.50 [[-1.30552485e-01 -9.91393936e-01 9.70113435e-03 2.14562011e+02] [ 9.88255487e-01 -1.30910535e-01 -7.88259083e-02 1.67852330e+02] [ 7.94175082e-02 -7.03718972e-04 9.96841193e-01 4.25037983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0871056809999 meters Centerline goodness [0,1] 0.9997272116837335 Centerline is valid? [True, True] Translation: X:214.55, Y:167.88, Z:42.51 [[-1.31449285e-01 -9.91278671e-01 9.36388199e-03 2.14553660e+02] [ 9.88376254e-01 -1.31780475e-01 -7.58042693e-02 1.67877868e+02] [ 7.63771322e-02 -7.09378370e-04 9.97078748e-01 4.25118434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11710568099994 meters Centerline goodness [0,1] 0.99995803520846 Centerline is valid? [True, True] Translation: X:214.55, Y:167.90, Z:42.51 [[-1.31684640e-01 -9.91247874e-01 9.31707126e-03 2.14547367e+02] [ 9.88395139e-01 -1.32012043e-01 -7.51523128e-02 1.67903573e+02] [ 7.57245359e-02 -6.87457302e-04 9.97128538e-01 4.25144487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1471056809999 meters Centerline goodness [0,1] 0.999874657920575 Centerline is valid? [True, True] Translation: X:214.54, Y:167.93, Z:42.51 [[-1.32285249e-01 -9.91166557e-01 9.45878846e-03 2.14537539e+02] [ 9.88248617e-01 -1.32621103e-01 -7.60020672e-02 1.67929486e+02] [ 7.65851423e-02 -7.06317812e-04 9.97062795e-01 4.25141344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17710568099994 meters Centerline goodness [0,1] 0.9999167100468506 Centerline is valid? [True, True] Translation: X:214.53, Y:167.96, Z:42.51 [[-1.34501427e-01 -9.90867065e-01 9.58255249e-03 2.14531410e+02] [ 9.87894210e-01 -1.34839670e-01 -7.67026242e-02 1.67956123e+02] [ 7.72942123e-02 -8.50064298e-04 9.97007965e-01 4.25138217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:167.98, Z:42.51 [[-1.40488390e-01 -9.90034780e-01 9.70295871e-03 2.14523926e+02] [ 9.87005748e-01 -1.40817096e-01 -7.73963737e-02 1.67982635e+02] [ 7.79914442e-02 -1.29641594e-03 9.96953185e-01 4.25132249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:168.01, Z:42.52 [[-1.44661840e-01 -9.89433567e-01 9.70405180e-03 2.14519879e+02] [ 9.86423286e-01 -1.44978270e-01 -7.71388506e-02 1.68009236e+02] [ 7.77306447e-02 -1.58674537e-03 9.96973134e-01 4.25150545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:168.04, Z:42.52 [[-1.49171365e-01 -9.88763801e-01 9.69794617e-03 2.14516978e+02] [ 9.85776481e-01 -1.49474197e-01 -7.68257306e-02 1.68036378e+02] [ 7.74120941e-02 -1.90019189e-03 9.96997371e-01 4.25176706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.51, Y:168.06, Z:42.52 [[-1.55108161e-01 -9.87852484e-01 9.43020591e-03 2.14514332e+02] [ 9.85044589e-01 -1.55378118e-01 -7.44633957e-02 1.68062190e+02] [ 7.50240980e-02 -2.26070704e-03 9.97179158e-01 4.25238916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.51, Y:168.09, Z:42.53 [[-1.60907392e-01 -9.86924460e-01 9.42986474e-03 2.14507949e+02] [ 9.84130657e-01 -1.61161388e-01 -7.42553525e-02 1.68088675e+02] [ 7.48041537e-02 -2.66801614e-03 9.97194675e-01 4.25269965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.50, Y:168.11, Z:42.53 [[-1.63020258e-01 -9.86577025e-01 9.49573690e-03 2.14497213e+02] [ 9.83762572e-01 -1.63272457e-01 -7.45205124e-02 1.68114896e+02] [ 7.50706177e-02 -2.80680256e-03 9.97174270e-01 4.25280459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.3871056809999 meters Centerline goodness [0,1] 0.9999583359373373 Centerline is valid? [True, True] Translation: X:214.49, Y:168.14, Z:42.53 [[-1.62866762e-01 -9.86602452e-01 9.48787572e-03 2.14488597e+02] [ 9.83811769e-01 -1.63119688e-01 -7.42049299e-02 1.68140443e+02] [ 7.47584251e-02 -2.75123284e-03 9.97197878e-01 4.25294208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.48, Y:168.17, Z:42.53 [[-1.59891258e-01 -9.87088716e-01 9.52113362e-03 2.14475343e+02] [ 9.84299728e-01 -1.60155118e-01 -7.41915398e-02 1.68165771e+02] [ 7.47584900e-02 -2.49092944e-03 9.97198558e-01 4.25305584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.46, Y:168.19, Z:42.53 [[-1.58214096e-01 -9.87357879e-01 9.62901282e-03 2.14464253e+02] [ 9.84524634e-01 -1.58489395e-01 -7.47820621e-02 1.68191473e+02] [ 7.53627546e-02 -2.35157604e-03 9.97153411e-01 4.25318183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.44, Y:168.22, Z:42.53 [[-1.53572191e-01 -9.88089541e-01 9.72838731e-03 2.14444804e+02] [ 9.85218085e-01 -1.53867284e-01 -7.53006205e-02 1.68216332e+02] [ 7.59006361e-02 -1.97949820e-03 9.97113421e-01 4.25325437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:168.24, Z:42.53 [[-1.47820257e-01 -9.88966034e-01 9.76498367e-03 2.14424183e+02] [ 9.86094063e-01 -1.48134787e-01 -7.53298335e-02 1.68241009e+02] [ 7.59451805e-02 -1.50608293e-03 9.97110857e-01 4.25337770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.41, Y:168.27, Z:42.54 [[-1.43898985e-01 -9.89545780e-01 9.60371610e-03 2.14411072e+02] [ 9.86787446e-01 -1.44214524e-01 -7.38424503e-02 1.68266643e+02] [ 7.44554804e-02 -1.14902717e-03 9.97223677e-01 4.25364215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.39, Y:168.29, Z:42.54 [[-1.36348714e-01 -9.90616489e-01 9.38078786e-03 2.14389339e+02] [ 9.88004207e-01 -1.36669987e-01 -7.18957731e-02 1.68291573e+02] [ 7.25032105e-02 -5.34638366e-04 9.97368036e-01 4.25405594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.5971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.38, Y:168.32, Z:42.54 [[-1.31707991e-01 -9.91242947e-01 9.50925237e-03 2.14375638e+02] [ 9.88577413e-01 -1.32050721e-01 -7.26450663e-02 1.68317631e+02] [ 7.32646132e-02 -1.67303638e-04 9.97312523e-01 4.25405775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.36, Y:168.34, Z:42.54 [[-1.26550222e-01 -9.91912213e-01 9.75719733e-03 2.14363081e+02] [ 9.89126503e-01 -1.26925566e-01 -7.42877022e-02 1.68342353e+02] [ 7.49253168e-02 2.49977247e-04 9.97189117e-01 4.25389416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.34, Y:168.37, Z:42.54 [[-1.17965552e-01 -9.92968046e-01 9.92913845e-03 2.14344404e+02] [ 9.90101600e-01 -1.18378980e-01 -7.54005220e-02 1.68367611e+02] [ 7.60457103e-02 9.36191644e-04 9.97103893e-01 4.25388382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.33, Y:168.39, Z:42.54 [[-1.14686939e-01 -9.93353214e-01 9.81317645e-03 2.14333587e+02] [ 9.90567804e-01 -1.15099813e-01 -7.43468820e-02 1.68393121e+02] [ 7.49822089e-02 1.19400030e-03 9.97184157e-01 4.25416695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:168.42, Z:42.55 [[-1.09703980e-01 -9.93919271e-01 9.46144782e-03 2.14320559e+02] [ 9.91348050e-01 -1.10100459e-01 -7.14627998e-02 1.68418281e+02] [ 7.20699637e-02 1.53983432e-03 9.97398390e-01 4.25454391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:168.44, Z:42.55 [[-1.08878749e-01 -9.94009811e-01 9.48228278e-03 2.14315001e+02] [ 9.91444168e-01 -1.09278746e-01 -7.13905932e-02 1.68443911e+02] [ 7.19991620e-02 1.62823552e-03 9.97403364e-01 4.25464747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:168.47, Z:42.54 [[-1.10651952e-01 -9.93811743e-01 9.71416948e-03 2.14314195e+02] [ 9.91132593e-01 -1.11066626e-01 -7.29409893e-02 1.68471044e+02] [ 7.35685317e-02 1.55696713e-03 9.97288949e-01 4.25444834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:168.50, Z:42.55 [[-1.15336442e-01 -9.93280173e-01 9.59180502e-03 2.14314625e+02] [ 9.90682944e-01 -1.15728148e-01 -7.17934588e-02 1.68498074e+02] [ 7.24210610e-02 1.22203553e-03 9.97373399e-01 4.25456457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:168.53, Z:42.55 [[-1.18474787e-01 -9.92913545e-01 9.29606490e-03 2.14314497e+02] [ 9.90488111e-01 -1.18834813e-01 -6.93656159e-02 1.68525637e+02] [ 6.99787558e-02 9.89565196e-04 9.97547991e-01 4.25492625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86710568099994 meters Centerline goodness [0,1] 0.9999790847485986 Centerline is valid? [True, True] Translation: X:214.31, Y:168.55, Z:42.55 [[-1.22096705e-01 -9.92476008e-01 9.15247894e-03 2.14314381e+02] [ 9.90138483e-01 -1.22436968e-01 -6.80806440e-02 1.68551550e+02] [ 6.86890075e-02 7.49799313e-04 9.97637839e-01 4.25518330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:168.58, Z:42.55 [[-1.28551278e-01 -9.91660527e-01 9.16339424e-03 2.14322195e+02] [ 9.89327139e-01 -1.28877046e-01 -6.79891030e-02 1.68580264e+02] [ 6.86030609e-02 3.25508513e-04 9.97643982e-01 4.25524549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:168.61, Z:42.55 [[-1.28998162e-01 -9.91602236e-01 9.19127640e-03 2.14318385e+02] [ 9.89268969e-01 -1.29324790e-01 -6.79853340e-02 1.68605760e+02] [ 6.86030691e-02 3.22661400e-04 9.97643982e-01 4.25540915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.33, Y:168.63, Z:42.56 [[-1.36114899e-01 -9.90650560e-01 9.17612438e-03 2.14326932e+02] [ 9.88338442e-01 -1.36423781e-01 -6.76437509e-02 1.68633351e+02] [ 6.82631613e-02 -1.38205865e-04 9.97667340e-01 4.25552435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98710568099995 meters Centerline goodness [0,1] 0.9999578183658835 Centerline is valid? [True, True] Translation: X:214.33, Y:168.66, Z:42.55 [[-1.43004602e-01 -9.89677002e-01 9.44005937e-03 2.14331046e+02] [ 9.87244774e-01 -1.43314600e-01 -6.93446639e-02 1.68661287e+02] [ 6.99817174e-02 -5.96956769e-04 9.97548096e-01 4.25531181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0171056809999 meters Centerline goodness [0,1] 0.9999790035064144 Centerline is valid? [True, True] Translation: X:214.33, Y:168.69, Z:42.55 [[-1.45564145e-01 -9.89301158e-01 9.71070671e-03 2.14329387e+02] [ 9.86743053e-01 -1.45885668e-01 -7.11021752e-02 1.68688202e+02] [ 7.17581172e-02 -7.67954936e-04 9.97421768e-01 4.25527808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.33, Y:168.71, Z:42.55 [[-1.47634968e-01 -9.88993169e-01 9.81980788e-03 2.14328055e+02] [ 9.86393171e-01 -1.47958478e-01 -7.16714806e-02 1.68714267e+02] [ 7.23355285e-02 -8.95025311e-04 9.97379953e-01 4.25529068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.33, Y:168.74, Z:42.56 [[-1.48772588e-01 -9.88823055e-01 9.78181095e-03 2.14328206e+02] [ 9.86259785e-01 -1.49090861e-01 -7.11586315e-02 1.68739519e+02] [ 7.18216740e-02 -9.39046994e-04 9.97417047e-01 4.25550022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10710568099995 meters Centerline goodness [0,1] 0.9999789787895987 Centerline is valid? [True, True] Translation: X:214.32, Y:168.77, Z:42.56 [[-1.46173450e-01 -9.89212268e-01 9.61308472e-03 2.14319447e+02] [ 9.86754638e-01 -1.46487533e-01 -6.96899309e-02 1.68765150e+02] [ 7.03463317e-02 -7.01061709e-04 9.97522382e-01 4.25588491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:168.79, Z:42.56 [[-1.42908309e-01 -9.89689284e-01 9.60919096e-03 2.14310231e+02] [ 9.87250441e-01 -1.43230342e-01 -6.94380000e-02 1.68790401e+02] [ 7.00983722e-02 -4.36589151e-04 9.97539988e-01 4.25613933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1671056809999 meters Centerline goodness [0,1] 0.9999790409121395 Centerline is valid? [True, True] Translation: X:214.30, Y:168.81, Z:42.56 [[-1.38730666e-01 -9.90284907e-01 9.46595630e-03 2.14300841e+02] [ 9.87935730e-01 -1.39053195e-01 -6.81703980e-02 1.68814595e+02] [ 6.88243877e-02 -1.05568289e-04 9.97628785e-01 4.25642128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.1971056809999 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:214.29, Y:168.84, Z:42.57 [[-1.29038133e-01 -9.91597327e-01 9.15979855e-03 2.14286771e+02] [ 9.89415773e-01 -1.29361531e-01 -6.57420905e-02 1.68839304e+02] [ 6.63746068e-02 5.79612569e-04 9.97794606e-01 4.25684823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:168.87, Z:42.57 [[-1.21242531e-01 -9.92580461e-01 9.18021892e-03 2.14275735e+02] [ 9.90401967e-01 -1.21584409e-01 -6.57356515e-02 1.68865502e+02] [ 6.63640948e-02 1.12215014e-03 9.97794842e-01 4.25694658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2571056809999 meters Centerline goodness [0,1] 0.9999579505077476 Centerline is valid? [True, True] Translation: X:214.27, Y:168.89, Z:42.57 [[-1.18736411e-01 -9.92883938e-01 9.11871897e-03 2.14270584e+02] [ 9.90748244e-01 -1.19078900e-01 -6.51009352e-02 1.68892063e+02] [ 6.57235200e-02 1.30450344e-03 9.97837019e-01 4.25713801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.2871056809999 meters Centerline goodness [0,1] 0.9999790991744174 Centerline is valid? [True, True] Translation: X:214.26, Y:168.92, Z:42.57 [[-1.15305360e-01 -9.93289897e-01 8.93616003e-03 2.14261757e+02] [ 9.91252540e-01 -1.15641076e-01 -6.36045872e-02 1.68916976e+02] [ 6.42111810e-02 1.52404149e-03 9.97935169e-01 4.25733209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31710568099993 meters Centerline goodness [0,1] 0.9999371135101143 Centerline is valid? [True, True] Translation: X:214.26, Y:168.95, Z:42.57 [[-1.13734187e-01 -9.93469272e-01 9.12904312e-03 2.14261858e+02] [ 9.91357415e-01 -1.14087547e-01 -6.47650117e-02 1.68945707e+02] [ 6.53835592e-02 1.68414865e-03 9.97858785e-01 4.25732916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3471056809999 meters Centerline goodness [0,1] 0.9999580193530783 Centerline is valid? [True, True] Translation: X:214.26, Y:168.97, Z:42.57 [[-1.09479136e-01 -9.93938851e-01 9.99400740e-03 2.14258294e+02] [ 9.91424303e-01 -1.09912945e-01 -7.06894271e-02 1.68973453e+02] [ 7.13594387e-02 2.16928443e-03 9.97448307e-01 4.25668019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37710568099993 meters Centerline goodness [0,1] 0.9999166649305193 Centerline is valid? [True, True] Translation: X:214.25, Y:169.00, Z:42.57 [[-1.07057885e-01 -9.94199098e-01 1.03326474e-02 2.14253042e+02] [ 9.91528418e-01 -1.07527575e-01 -7.28643689e-02 1.68999987e+02] [ 7.35527344e-02 2.44440825e-03 9.97288334e-01 4.25653102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4071056809999 meters Centerline goodness [0,1] 0.9999790908710743 Centerline is valid? [True, True] Translation: X:214.25, Y:169.03, Z:42.56 [[-9.91809479e-02 -9.95012600e-01 1.06332166e-02 2.14245519e+02] [ 9.92205038e-01 -9.97000201e-02 -7.47600732e-02 1.69025292e+02] [ 7.54473467e-02 3.13555618e-03 9.97144857e-01 4.25640176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43710568099993 meters Centerline goodness [0,1] 0.999769285624397 Centerline is valid? [True, True] Translation: X:214.24, Y:169.05, Z:42.57 [[-9.51279634e-02 -9.95408451e-01 1.06153673e-02 2.14244675e+02] [ 9.92625327e-01 -9.56560970e-02 -7.44638936e-02 1.69052651e+02] [ 7.51374136e-02 3.45348393e-03 9.97167209e-01 4.25677603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.4671056809999 meters Centerline goodness [0,1] 0.9995810465457288 Centerline is valid? [True, True] Translation: X:214.24, Y:169.08, Z:42.57 [[-8.89132728e-02 -9.95985123e-01 1.03954062e-02 2.14240471e+02] [ 9.93330478e-01 -8.94358342e-02 -7.27722004e-02 1.69079721e+02] [ 7.34097508e-02 3.85565933e-03 9.97294411e-01 4.25711086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49710568099994 meters Centerline goodness [0,1] 0.9991668575951345 Centerline is valid? [True, True] Translation: X:214.24, Y:169.11, Z:42.57 [[-8.52536209e-02 -9.96307559e-01 1.01522145e-02 2.14235019e+02] [ 9.93788462e-01 -8.57607223e-02 -7.09196110e-02 1.69105744e+02] [ 7.15284058e-02 4.04300003e-03 9.97430369e-01 4.25722512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5271056809999 meters Centerline goodness [0,1] 0.9984748453952866 Centerline is valid? [True, True] Translation: X:214.24, Y:169.13, Z:42.57 [[-8.44268498e-02 -9.96377210e-01 1.02255963e-02 2.14237524e+02] [ 9.93833786e-01 -8.49427439e-02 -7.12680537e-02 1.69134121e+02] [ 7.18784547e-02 4.14560581e-03 9.97404783e-01 4.25733826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55710568099994 meters Centerline goodness [0,1] 0.9978658409005314 Centerline is valid? [True, True] Translation: X:214.24, Y:169.16, Z:42.57 [[-8.50447350e-02 -9.96321842e-01 1.04966998e-02 2.14240350e+02] [ 9.93656421e-01 -8.55857999e-02 -7.29519543e-02 1.69160732e+02] [ 7.35819939e-02 4.22593351e-03 9.97280217e-01 4.25712835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5871056809999 meters Centerline goodness [0,1] 0.9978622278491521 Centerline is valid? [True, True] Translation: X:214.25, Y:169.19, Z:42.57 [[-8.77650448e-02 -9.96082811e-01 1.07856335e-02 2.14247945e+02] [ 9.93284886e-01 -8.83276118e-02 -7.47219351e-02 1.69188725e+02] [ 7.53819045e-02 4.15523273e-03 9.97146079e-01 4.25702503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61710568099994 meters Centerline goodness [0,1] 0.9974839367033332 Centerline is valid? [True, True] Translation: X:214.25, Y:169.22, Z:42.57 [[-9.01478935e-02 -9.95869641e-01 1.08173324e-02 2.14251863e+02] [ 9.93070243e-01 -9.07061689e-02 -7.47253915e-02 1.69217261e+02] [ 7.53979476e-02 4.00603426e-03 9.97145476e-01 4.25728348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6471056809999 meters Centerline goodness [0,1] 0.9978337846282025 Centerline is valid? [True, True] Translation: X:214.26, Y:169.24, Z:42.58 [[-9.80433452e-02 -9.95125395e-01 1.06278693e-02 2.14261819e+02] [ 9.92434208e-01 -9.85601170e-02 -7.32137045e-02 1.69244906e+02] [ 7.39043006e-02 3.36934455e-03 9.97259646e-01 4.25759456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67710568099994 meters Centerline goodness [0,1] 0.9987026031639742 Centerline is valid? [True, True] Translation: X:214.27, Y:169.27, Z:42.58 [[-1.03157096e-01 -9.94608985e-01 1.05631920e-02 2.14266190e+02] [ 9.91964098e-01 -1.03653272e-01 -7.25481096e-02 1.69272699e+02] [ 7.32519110e-02 2.99445490e-03 9.97308975e-01 4.25787719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7071056809999 meters Centerline goodness [0,1] 0.9991833999874369 Centerline is valid? [True, True] Translation: X:214.28, Y:169.30, Z:42.58 [[-1.14104439e-01 -9.93414570e-01 1.03764037e-02 2.14280408e+02] [ 9.90871932e-01 -1.14554663e-01 -7.10636644e-02 1.69300455e+02] [ 7.17843450e-02 2.17300764e-03 9.97417809e-01 4.25823005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73710568099995 meters Centerline goodness [0,1] 0.999098419088355 Centerline is valid? [True, True] Translation: X:214.29, Y:169.33, Z:42.58 [[-1.25140391e-01 -9.92084426e-01 1.04103156e-02 2.14294364e+02] [ 9.89535987e-01 -1.25564777e-01 -7.10775474e-02 1.69329471e+02] [ 7.18220967e-02 1.40670986e-03 9.97416466e-01 4.25830271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7671056809999 meters Centerline goodness [0,1] 0.9993304178611035 Centerline is valid? [True, True] Translation: X:214.30, Y:169.36, Z:42.58 [[-1.31364316e-01 -9.91277266e-01 1.06206177e-02 2.14302357e+02] [ 9.88638029e-01 -1.31789131e-01 -7.22943501e-02 1.69358591e+02] [ 7.30634277e-02 1.00304873e-03 9.97326792e-01 4.25830334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79710568099995 meters Centerline goodness [0,1] 0.9994337010780654 Centerline is valid? [True, True] Translation: X:214.30, Y:169.39, Z:42.59 [[-1.33241650e-01 -9.91026881e-01 1.06011697e-02 2.14302886e+02] [ 9.88410773e-01 -1.33659759e-01 -7.19667491e-02 1.69385081e+02] [ 7.27379327e-02 8.89341878e-04 9.97350692e-01 4.25859562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8271056809999 meters Centerline goodness [0,1] 0.9993541666666667 Centerline is valid? [True, True] Translation: X:214.30, Y:169.41, Z:42.59 [[-1.34795242e-01 -9.90816740e-01 1.06033017e-02 2.14301159e+02] [ 9.88215792e-01 -1.35209231e-01 -7.17496545e-02 1.69410693e+02] [ 7.25244230e-02 8.06838144e-04 9.97366310e-01 4.25881455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85710568099995 meters Centerline goodness [0,1] 0.9989719920276933 Centerline is valid? [True, True] Translation: X:214.30, Y:169.44, Z:42.59 [[-1.35998347e-01 -9.90650814e-01 1.07430592e-02 2.14297720e+02] [ 9.87998070e-01 -1.36419886e-01 -7.24529353e-02 1.69436365e+02] [ 7.32411263e-02 7.60642262e-04 9.97313972e-01 4.25871298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.8871056809999 meters Centerline goodness [0,1] 0.9988352987666645 Centerline is valid? [True, True] Translation: X:214.30, Y:169.46, Z:42.59 [[-1.36228774e-01 -9.90618515e-01 1.08017799e-02 2.14295105e+02] [ 9.87953791e-01 -1.36654125e-01 -7.26151275e-02 1.69462553e+02] [ 7.34099975e-02 7.79389610e-04 9.97301542e-01 4.25881821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9171056809999 meters Centerline goodness [0,1] 0.9990336134453781 Centerline is valid? [True, True] Translation: X:214.29, Y:169.49, Z:42.59 [[-1.33253850e-01 -9.91021729e-01 1.09244702e-02 2.14289039e+02] [ 9.88313882e-01 -1.33696860e-01 -7.32176215e-02 1.69488198e+02] [ 7.40208212e-02 1.04027564e-03 9.97256154e-01 4.25889414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9471056809999 meters Centerline goodness [0,1] 0.9987047443959304 Centerline is valid? [True, True] Translation: X:214.28, Y:169.51, Z:42.59 [[-1.31216107e-01 -9.91295268e-01 1.07715183e-02 2.14284359e+02] [ 9.88678378e-01 -1.31651984e-01 -7.19918017e-02 1.69514702e+02] [ 7.27832241e-02 1.20308333e-03 9.97347058e-01 4.25940741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9771056809999 meters Centerline goodness [0,1] 0.9986146095717884 Centerline is valid? [True, True] Translation: X:214.28, Y:169.54, Z:42.60 [[-1.25420085e-01 -9.92048850e-01 1.04346613e-02 2.14275757e+02] [ 9.89608889e-01 -1.25843200e-01 -6.95538292e-02 1.69540608e+02] [ 7.03139274e-02 1.60278640e-03 9.97523625e-01 4.25995620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0071056809999 meters Centerline goodness [0,1] 0.9981543237064536 Centerline is valid? [True, True] Translation: X:214.27, Y:169.57, Z:42.60 [[-1.21299753e-01 -9.92557930e-01 1.07296834e-02 2.14266441e+02] [ 9.89995035e-01 -1.21757402e-01 -7.13089452e-02 1.69565732e+02] [ 7.20846774e-02 1.97257591e-03 9.97396565e-01 4.25982968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0371056809999 meters Centerline goodness [0,1] 0.9981733434114386 Centerline is valid? [True, True] Translation: X:214.26, Y:169.59, Z:42.60 [[-1.21190783e-01 -9.92571105e-01 1.07422354e-02 2.14258344e+02] [ 9.90017846e-01 -1.21649354e-01 -7.11765410e-02 1.69590283e+02] [ 7.19545639e-02 2.00906396e-03 9.97405887e-01 4.25985464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06710568099993 meters Centerline goodness [0,1] 0.9984495799199647 Centerline is valid? [True, True] Translation: X:214.26, Y:169.62, Z:42.60 [[-1.22504432e-01 -9.92411440e-01 1.05923534e-02 2.14256302e+02] [ 9.89944201e-01 -1.22946597e-01 -6.99615052e-02 1.69616484e+02] [ 7.07328920e-02 1.91524432e-03 9.97493454e-01 4.26019955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.0971056809999 meters Centerline goodness [0,1] 0.9984323725518884 Centerline is valid? [True, True] Translation: X:214.26, Y:169.64, Z:42.61 [[-1.30448553e-01 -9.91403827e-01 1.00810519e-02 2.14258979e+02] [ 9.89179323e-01 -1.30830930e-01 -6.63892717e-02 1.69642729e+02] [ 6.71374914e-02 1.31158369e-03 9.97742871e-01 4.26072529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12710568099993 meters Centerline goodness [0,1] 0.9987069864442127 Centerline is valid? [True, True] Translation: X:214.26, Y:169.67, Z:42.61 [[-1.36899388e-01 -9.90534097e-01 1.00379874e-02 2.14260655e+02] [ 9.88338768e-01 -1.37263976e-01 -6.59172202e-02 1.69670010e+02] [ 6.66711082e-02 8.96905040e-04 9.97774603e-01 4.26099008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.1571056809999 meters Centerline goodness [0,1] 0.9991428153289708 Centerline is valid? [True, True] Translation: X:214.27, Y:169.70, Z:42.61 [[-1.50445568e-01 -9.88568262e-01 9.94595645e-03 2.14265946e+02] [ 9.86419937e-01 -1.50773972e-01 -6.51376776e-02 1.69698468e+02] [ 6.58926321e-02 1.12148595e-05 9.97826719e-01 4.26109759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18710568099993 meters Centerline goodness [0,1] 0.9993506901535304 Centerline is valid? [True, True] Translation: X:214.27, Y:169.73, Z:42.61 [[-1.61424173e-01 -9.86835539e-01 9.89218413e-03 2.14268013e+02] [ 9.84718234e-01 -1.61725520e-01 -6.46131279e-02 1.69725079e+02] [ 6.53623495e-02 -6.89106631e-04 9.97861357e-01 4.26121484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2171056809999 meters Centerline goodness [0,1] 0.9995412939680157 Centerline is valid? [True, True] Translation: X:214.27, Y:169.75, Z:42.61 [[-1.65471828e-01 -9.86163436e-01 1.00374987e-02 2.14265740e+02] [ 9.83994525e-01 -1.65773314e-01 -6.53757095e-02 1.69751890e+02] [ 6.61350838e-02 -9.40994373e-04 9.97810235e-01 4.26132486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24710568099994 meters Centerline goodness [0,1] 0.9998542274052478 Centerline is valid? [True, True] Translation: X:214.26, Y:169.78, Z:42.61 [[-1.69868540e-01 -9.85412670e-01 1.03222084e-02 2.14263083e+02] [ 9.83129666e-01 -1.70177340e-01 -6.70502296e-02 1.69777637e+02] [ 6.78287517e-02 -1.24165531e-03 9.97696206e-01 4.26137325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2771056809999 meters Centerline goodness [0,1] 0.9999164036865974 Centerline is valid? [True, True] Translation: X:214.26, Y:169.80, Z:42.61 [[-1.71490621e-01 -9.85130054e-01 1.04758685e-02 2.14257102e+02] [ 9.82788408e-01 -1.71805004e-01 -6.78968721e-02 1.69804468e+02] [ 6.86870559e-02 -1.34811463e-03 9.97637344e-01 4.26136723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30710568099994 meters Centerline goodness [0,1] 0.9999376052910713 Centerline is valid? [True, True] Translation: X:214.25, Y:169.83, Z:42.61 [[-1.72240769e-01 -9.84994944e-01 1.08663708e-02 2.14245288e+02] [ 9.82488515e-01 -1.72577342e-01 -7.02380161e-02 1.69829180e+02] [ 7.10593801e-02 -1.42176533e-03 9.97471074e-01 4.26123444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3371056809999 meters Centerline goodness [0,1] 0.9998956812017525 Centerline is valid? [True, True] Translation: X:214.23, Y:169.85, Z:42.61 [[-1.70720679e-01 -9.85258300e-01 1.09786943e-02 2.14234309e+02] [ 9.82714280e-01 -1.71068438e-01 -7.07688726e-02 1.69854530e+02] [ 7.16037272e-02 -1.29279026e-03 9.97432321e-01 4.26123162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36710568099994 meters Centerline goodness [0,1] 0.999958481243902 Centerline is valid? [True, True] Translation: X:214.21, Y:169.88, Z:42.61 [[-1.65232198e-01 -9.86194214e-01 1.09221421e-02 2.14214305e+02] [ 9.83692316e-01 -1.65590576e-01 -7.02081756e-02 1.69877382e+02] [ 7.10475004e-02 -8.56623959e-04 9.97472565e-01 4.26145372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:169.90, Z:42.61 [[-1.56969870e-01 -9.87542120e-01 1.10009645e-02 2.14192139e+02] [ 9.85021290e-01 -1.57354717e-01 -7.05163156e-02 1.69899827e+02] [ 7.13688855e-02 -2.32752588e-04 9.97449963e-01 4.26148712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.18, Y:169.92, Z:42.62 [[-1.51991537e-01 -9.88317914e-01 1.12371499e-02 2.14178531e+02] [ 9.85704841e-01 -1.52406283e-01 -7.18212469e-02 1.69924871e+02] [ 7.26948372e-02 1.60291351e-04 9.97354217e-01 4.26150332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4571056809999 meters Centerline goodness [0,1] 0.9999791527685123 Centerline is valid? [True, True] Translation: X:214.16, Y:169.95, Z:42.62 [[-1.43079119e-01 -9.89647755e-01 1.12109948e-02 2.14158331e+02] [ 9.87064700e-01 -1.43515200e-01 -7.14609384e-02 1.69949268e+02] [ 7.23301054e-02 8.41409144e-04 9.97380393e-01 4.26173971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.15, Y:169.97, Z:42.62 [[-1.38324075e-01 -9.90324726e-01 1.11079484e-02 2.14145925e+02] [ 9.87804860e-01 -1.38764130e-01 -7.06121484e-02 1.69974755e+02] [ 7.14703413e-02 1.20512535e-03 9.97441997e-01 4.26196163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5171056809999 meters Centerline goodness [0,1] 0.9999791723075 Centerline is valid? [True, True] Translation: X:214.13, Y:170.00, Z:42.62 [[-1.29118172e-01 -9.91568652e-01 1.09593261e-02 2.14127297e+02] [ 9.89133314e-01 -1.29568957e-01 -6.94778576e-02 1.69997620e+02] [ 7.03120541e-02 1.86938053e-03 9.97523293e-01 4.26221881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:170.02, Z:42.62 [[-1.24952942e-01 -9.92101812e-01 1.09889363e-02 2.14118948e+02] [ 9.89669693e-01 -1.25415993e-01 -6.94602589e-02 1.70024741e+02] [ 7.02898371e-02 2.19615349e-03 9.97524193e-01 4.26242939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5771056809999 meters Centerline goodness [0,1] 0.9998741082668905 Centerline is valid? [True, True] Translation: X:214.11, Y:170.05, Z:42.63 [[-1.16972450e-01 -9.93073389e-01 1.10765941e-02 2.14105194e+02] [ 9.90618705e-01 -1.17462268e-01 -6.98369359e-02 1.70049394e+02] [ 7.06542844e-02 2.80368381e-03 9.97496923e-01 4.26252542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60710568099995 meters Centerline goodness [0,1] 0.999957972598134 Centerline is valid? [True, True] Translation: X:214.10, Y:170.08, Z:42.63 [[-1.13988969e-01 -9.93421109e-01 1.10006450e-02 2.14098979e+02] [ 9.91015013e-01 -1.14478787e-01 -6.91653946e-02 1.70076843e+02] [ 6.99697036e-02 3.01771235e-03 9.97544552e-01 4.26272755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6371056809999 meters Centerline goodness [0,1] 0.9998126561199001 Centerline is valid? [True, True] Translation: X:214.09, Y:170.10, Z:42.63 [[-1.11251725e-01 -9.93730945e-01 1.10391069e-02 2.14086441e+02] [ 9.91321431e-01 -1.11751088e-01 -6.92352110e-02 1.70102478e+02] [ 7.00348039e-02 3.24076658e-03 9.97539284e-01 4.26281509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6671056809999 meters Centerline goodness [0,1] 0.9999369840569664 Centerline is valid? [True, True] Translation: X:214.09, Y:170.13, Z:42.63 [[-1.11913200e-01 -9.93656796e-01 1.10275284e-02 2.14087888e+02] [ 9.91264592e-01 -1.12409340e-01 -6.89829550e-02 1.70130328e+02] [ 6.97849792e-02 3.21109517e-03 9.97556888e-01 4.26301646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.6971056809999 meters Centerline goodness [0,1] 0.9996244993324432 Centerline is valid? [True, True] Translation: X:214.09, Y:170.16, Z:42.63 [[-1.16678287e-01 -9.93112162e-01 1.06963340e-02 2.14085436e+02] [ 9.90871670e-01 -1.17133783e-01 -6.67308812e-02 1.70156667e+02] [ 6.75241518e-02 2.81264943e-03 9.97713675e-01 4.26317539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7271056809999 meters Centerline goodness [0,1] 0.9998321161756065 Centerline is valid? [True, True] Translation: X:214.09, Y:170.19, Z:42.63 [[-1.20828421e-01 -9.92616370e-01 1.06411846e-02 2.14088777e+02] [ 9.90409187e-01 -1.21269507e-01 -6.62068711e-02 1.70185248e+02] [ 6.70084753e-02 2.53945523e-03 9.97749175e-01 4.26333009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7571056809999 meters Centerline goodness [0,1] 0.9998319221799693 Centerline is valid? [True, True] Translation: X:214.09, Y:170.21, Z:42.63 [[-1.21987320e-01 -9.92473782e-01 1.07185201e-02 2.14087029e+02] [ 9.90245566e-01 -1.22431788e-01 -6.65144828e-02 1.70212868e+02] [ 6.73261679e-02 2.50004350e-03 9.97727887e-01 4.26344751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.7871056809999 meters Centerline goodness [0,1] 0.9998746055298962 Centerline is valid? [True, True] Translation: X:214.09, Y:170.24, Z:42.64 [[-1.24930339e-01 -9.92109120e-01 1.05784618e-02 2.14089589e+02] [ 9.89949317e-01 -1.25356431e-01 -6.54684206e-02 1.70240059e+02] [ 6.62778954e-02 2.29314910e-03 9.97798568e-01 4.26371970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81710568099993 meters Centerline goodness [0,1] 0.9993745178575152 Centerline is valid? [True, True] Translation: X:214.09, Y:170.27, Z:42.64 [[-1.27069931e-01 -9.91839030e-01 1.04197312e-02 2.14089020e+02] [ 9.89753939e-01 -1.27478455e-01 -6.43147187e-02 1.70267428e+02] [ 6.51181395e-02 2.14050310e-03 9.97875266e-01 4.26397767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8471056809999 meters Centerline goodness [0,1] 0.9993745178575152 Centerline is valid? [True, True] Translation: X:214.08, Y:170.29, Z:42.64 [[-1.27485336e-01 -9.91785439e-01 1.04466675e-02 2.14084473e+02] [ 9.89700519e-01 -1.27894731e-01 -6.43103433e-02 1.70293677e+02] [ 6.51181358e-02 2.14044657e-03 9.97875266e-01 4.26414671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87710568099993 meters Centerline goodness [0,1] 0.9994180729902735 Centerline is valid? [True, True] Translation: X:214.09, Y:170.32, Z:42.64 [[-1.34126710e-01 -9.90912512e-01 1.01202502e-02 2.14089464e+02] [ 9.88963505e-01 -1.34497556e-01 -6.21417154e-02 1.70320620e+02] [ 6.29381522e-02 1.67369428e-03 9.98016026e-01 4.26443907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9071056809999 meters Centerline goodness [0,1] 0.9996246246246246 Centerline is valid? [True, True] Translation: X:214.09, Y:170.35, Z:42.65 [[-1.38550696e-01 -9.90304951e-01 9.99046601e-03 2.14092486e+02] [ 9.88414344e-01 -1.38903382e-01 -6.11795382e-02 1.70348826e+02] [ 6.19741091e-02 1.39825233e-03 9.98076778e-01 4.26461795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93710568099993 meters Centerline goodness [0,1] 0.9997689803633308 Centerline is valid? [True, True] Translation: X:214.10, Y:170.38, Z:42.65 [[-1.48378146e-01 -9.88880293e-01 9.98453879e-03 2.14102702e+02] [ 9.86998437e-01 -1.48711518e-01 -6.09833608e-02 1.70377975e+02] [ 6.17900596e-02 8.06126143e-04 9.98088843e-01 4.26472374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.9671056809999 meters Centerline goodness [0,1] 0.9999790799355662 Centerline is valid? [True, True] Translation: X:214.11, Y:170.41, Z:42.65 [[-1.60780702e-01 -9.86937589e-01 1.01863464e-02 2.14113550e+02] [ 9.84985272e-01 -1.61103049e-01 -6.20469273e-02 1.70407676e+02] [ 6.28774962e-02 5.74526580e-05 9.98021251e-01 4.26466610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:170.43, Z:42.65 [[-1.67321261e-01 -9.85848764e-01 1.02863746e-02 2.14116583e+02] [ 9.83866546e-01 -1.67636815e-01 -6.24861463e-02 1.70434729e+02] [ 6.33262652e-02 -3.34840987e-04 9.97992822e-01 4.26475016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:170.46, Z:42.65 [[-1.76324733e-01 -9.84277699e-01 1.03440474e-02 2.14121095e+02] [ 9.82281655e-01 -1.76625658e-01 -6.26588140e-02 1.70463433e+02] [ 6.35006975e-02 -8.87530606e-04 9.97981399e-01 4.26486620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.12, Y:170.49, Z:42.65 [[-1.78048532e-01 -9.83968772e-01 1.02067056e-02 2.14117929e+02] [ 9.82035055e-01 -1.78338281e-01 -6.16652916e-02 1.70490420e+02] [ 6.24969676e-02 -9.56071938e-04 9.98044696e-01 4.26519692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.11, Y:170.52, Z:42.66 [[-1.74129201e-01 -9.84671844e-01 1.00190633e-02 2.14109354e+02] [ 9.82818938e-01 -1.74415925e-01 -6.03822795e-02 1.70516227e+02] [ 6.12042147e-02 -6.67392911e-04 9.98125042e-01 4.26564924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11710568099994 meters Centerline goodness [0,1] 0.9999790202454631 Centerline is valid? [True, True] Translation: X:214.10, Y:170.54, Z:42.66 [[-1.69943477e-01 -9.85399962e-01 1.03019112e-02 2.14099113e+02] [ 9.83453029e-01 -1.70254992e-01 -6.19142678e-02 1.70542271e+02] [ 6.27642689e-02 -3.90480211e-04 9.98028303e-01 4.26560920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.08, Y:170.57, Z:42.65 [[-1.57979377e-01 -9.87381782e-01 1.09422436e-02 2.14079235e+02] [ 9.85202178e-01 -1.58357314e-01 -6.55715589e-02 1.70565339e+02] [ 6.64769469e-02 4.21368187e-04 9.97787872e-01 4.26521054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17710568099994 meters Centerline goodness [0,1] 0.9998744848649667 Centerline is valid? [True, True] Translation: X:214.07, Y:170.59, Z:42.65 [[-1.51089637e-01 -9.88458827e-01 1.10031045e-02 2.14065837e+02] [ 9.86270108e-01 -1.51486977e-01 -6.57492926e-02 1.70590836e+02] [ 6.66572956e-02 9.17996298e-04 9.97775507e-01 4.26530507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2071056809999 meters Centerline goodness [0,1] 0.9993487805390416 Centerline is valid? [True, True] Translation: X:214.05, Y:170.62, Z:42.66 [[-1.38446581e-01 -9.90309978e-01 1.08945411e-02 2.14052441e+02] [ 9.88180212e-01 -1.38863223e-01 -6.49374629e-02 1.70616030e+02] [ 6.58210686e-02 1.77540023e-03 9.97829863e-01 4.26551356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23710568099995 meters Centerline goodness [0,1] 0.9991649617970022 Centerline is valid? [True, True] Translation: X:214.04, Y:170.64, Z:42.66 [[-1.34679343e-01 -9.90828427e-01 1.09773687e-02 2.14043340e+02] [ 9.88675952e-01 -1.35110306e-01 -6.53074805e-02 1.70641375e+02] [ 6.61916639e-02 2.05749181e-03 9.97804806e-01 4.26565760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2671056809999 meters Centerline goodness [0,1] 0.9992017812880729 Centerline is valid? [True, True] Translation: X:214.03, Y:170.67, Z:42.66 [[-1.28949349e-01 -9.91590281e-01 1.09900275e-02 2.14031744e+02] [ 9.89443881e-01 -1.29393455e-01 -6.52544226e-02 1.70666668e+02] [ 6.61276888e-02 2.45950017e-03 9.97808138e-01 4.26572794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29710568099995 meters Centerline goodness [0,1] 0.9991004936825371 Centerline is valid? [True, True] Translation: X:214.02, Y:170.69, Z:42.66 [[-1.24667644e-01 -9.92139693e-01 1.08078055e-02 2.14023064e+02] [ 9.90076884e-01 -1.25105650e-01 -6.40026633e-02 1.70693357e+02] [ 6.48517002e-02 2.72149707e-03 9.97891202e-01 4.26577323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3271056809999 meters Centerline goodness [0,1] 0.9989073334734188 Centerline is valid? [True, True] Translation: X:214.02, Y:170.72, Z:42.66 [[-1.23061471e-01 -9.92340370e-01 1.07918940e-02 2.14015863e+02] [ 9.90294140e-01 -1.23501089e-01 -6.37573379e-02 1.70719091e+02] [ 6.46017909e-02 2.84107753e-03 9.97907078e-01 4.26587726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35710568099995 meters Centerline goodness [0,1] 0.9985725980814039 Centerline is valid? [True, True] Translation: X:214.01, Y:170.74, Z:42.66 [[-1.21704149e-01 -9.92507996e-01 1.07692621e-02 2.14010838e+02] [ 9.90478679e-01 -1.22144361e-01 -6.35038755e-02 1.70744517e+02] [ 6.43435089e-02 2.93803941e-03 9.97923484e-01 4.26606966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.3871056809999 meters Centerline goodness [0,1] 0.9985207100591716 Centerline is valid? [True, True] Translation: X:214.01, Y:170.77, Z:42.66 [[-1.22719578e-01 -9.92380562e-01 1.09875277e-02 2.14008177e+02] [ 9.90276278e-01 -1.23175253e-01 -6.46587159e-02 1.70771793e+02] [ 6.55194444e-02 2.94579766e-03 9.97846945e-01 4.26620107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4171056809999 meters Centerline goodness [0,1] 0.998602915111454 Centerline is valid? [True, True] Translation: X:214.00, Y:170.80, Z:42.66 [[-1.24716930e-01 -9.92127234e-01 1.13683117e-02 2.14003308e+02] [ 9.89885253e-01 -1.25199668e-01 -6.67250298e-02 1.70797470e+02] [ 6.76230281e-02 2.93158320e-03 9.97706636e-01 4.26596174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4471056809999 meters Centerline goodness [0,1] 0.9987707308942412 Centerline is valid? [True, True] Translation: X:214.00, Y:170.82, Z:42.66 [[-1.26777502e-01 -9.91866530e-01 1.13248489e-02 2.14000738e+02] [ 9.89652362e-01 -1.27251452e-01 -6.62968416e-02 1.70824894e+02] [ 6.71987217e-02 2.80271554e-03 9.97735675e-01 4.26606708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4771056809999 meters Centerline goodness [0,1] 0.9992448555786294 Centerline is valid? [True, True] Translation: X:214.00, Y:170.85, Z:42.66 [[-1.31947190e-01 -9.91194292e-01 1.11271637e-02 2.14002093e+02] [ 9.89065056e-01 -1.32393210e-01 -6.49796376e-02 1.70853028e+02] [ 6.58806069e-02 2.43160820e-03 9.97824550e-01 4.26627639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5071056809999 meters Centerline goodness [0,1] 0.9987198858389994 Centerline is valid? [True, True] Translation: X:214.00, Y:170.88, Z:42.67 [[-1.36670833e-01 -9.90555239e-01 1.10183006e-02 2.14002087e+02] [ 9.88475348e-01 -1.37097896e-01 -6.41923203e-02 1.70881084e+02] [ 6.50966249e-02 2.11810064e-03 9.97876717e-01 4.26655958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5371056809999 meters Centerline goodness [0,1] 0.9995190196365461 Centerline is valid? [True, True] Translation: X:214.01, Y:170.91, Z:42.67 [[-1.46926288e-01 -9.89093160e-01 1.03627524e-02 2.14008163e+02] [ 9.87258168e-01 -1.47284811e-01 -6.02369879e-02 1.70909807e+02] [ 6.11062688e-02 1.38031493e-03 9.98130311e-01 4.26718091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56710568099993 meters Centerline goodness [0,1] 0.999436372745491 Centerline is valid? [True, True] Translation: X:214.01, Y:170.94, Z:42.67 [[-1.52673300e-01 -9.88222015e-01 1.03977422e-02 2.14008561e+02] [ 9.86381832e-01 -1.53023343e-01 -6.02887907e-02 1.70936989e+02] [ 6.11698075e-02 1.05165536e-03 9.98126820e-01 4.26741031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.5971056809999 meters Centerline goodness [0,1] 0.9999160563262052 Centerline is valid? [True, True] Translation: X:214.02, Y:170.97, Z:42.67 [[-1.63419687e-01 -9.86496637e-01 1.08807794e-02 2.14016576e+02] [ 9.84488094e-01 -1.63780954e-01 -6.29205158e-02 1.70967434e+02] [ 6.38529417e-02 4.29546733e-04 9.97959226e-01 4.26719709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62710568099993 meters Centerline goodness [0,1] 0.9998741029837593 Centerline is valid? [True, True] Translation: X:214.02, Y:170.99, Z:42.67 [[-1.67444261e-01 -9.85818123e-01 1.11824876e-02 2.14015712e+02] [ 9.83701642e-01 -1.67817140e-01 -6.45638159e-02 1.70994127e+02] [ 6.55247929e-02 1.89391012e-04 9.97850924e-01 4.26704845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.6571056809999 meters Centerline goodness [0,1] 0.9998331247392575 Centerline is valid? [True, True] Translation: X:214.01, Y:171.02, Z:42.67 [[-1.71595777e-01 -9.85098800e-01 1.16294515e-02 2.14013295e+02] [ 9.82820799e-01 -1.71989393e-01 -6.69546627e-02 1.71020635e+02] [ 6.79571002e-02 -5.94705797e-05 9.97688242e-01 4.26683668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68710568099993 meters Centerline goodness [0,1] 0.9999371201006079 Centerline is valid? [True, True] Translation: X:214.01, Y:171.05, Z:42.67 [[-1.71296564e-01 -9.85148954e-01 1.17909432e-02 2.14007143e+02] [ 9.82819937e-01 -1.71701890e-01 -6.77010586e-02 1.71047671e+02] [ 6.87201543e-02 -8.58464846e-06 9.97635976e-01 4.26691200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7171056809999 meters Centerline goodness [0,1] 0.9999791170697072 Centerline is valid? [True, True] Translation: X:214.00, Y:171.07, Z:42.67 [[-1.69084873e-01 -9.85529516e-01 1.19112586e-02 2.13998638e+02] [ 9.83165813e-01 -1.69503809e-01 -6.82161407e-02 1.71073192e+02] [ 6.92480238e-02 1.76424759e-04 9.97599459e-01 4.26704815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74710568099994 meters Centerline goodness [0,1] 0.9999369800857071 Centerline is valid? [True, True] Translation: X:213.99, Y:171.10, Z:42.67 [[-1.68231466e-01 -9.85677843e-01 1.17202655e-02 2.13991620e+02] [ 9.83401742e-01 -1.68639027e-01 -6.69469302e-02 1.71098485e+02] [ 6.79645999e-02 2.63149274e-04 9.97687699e-01 4.26733736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7771056809999 meters Centerline goodness [0,1] 0.99993736821228 Centerline is valid? [True, True] Translation: X:213.98, Y:171.12, Z:42.68 [[-1.67464459e-01 -9.85812579e-01 1.13671927e-02 2.13983912e+02] [ 9.83683442e-01 -1.67849470e-01 -6.47567918e-02 1.71122261e+02] [ 6.57460373e-02 3.37258088e-04 9.97836332e-01 4.26781651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80710568099994 meters Centerline goodness [0,1] 0.9997700332406497 Centerline is valid? [True, True] Translation: X:213.98, Y:171.15, Z:42.68 [[-1.70144593e-01 -9.85356144e-01 1.11394159e-02 2.13977260e+02] [ 9.83321968e-01 -1.70508751e-01 -6.32824838e-02 1.71147258e+02] [ 6.42551521e-02 1.86459894e-04 9.97933485e-01 4.26818059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8371056809999 meters Centerline goodness [0,1] 0.9999582315226698 Centerline is valid? [True, True] Translation: X:213.97, Y:171.17, Z:42.69 [[-1.73092273e-01 -9.84846001e-01 1.08359983e-02 2.13972586e+02] [ 9.82930271e-01 -1.73431120e-01 -6.13981234e-02 1.71171755e+02] [ 6.23469957e-02 2.34899968e-05 9.98054533e-01 4.26853687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:171.20, Z:42.69 [[-1.79609543e-01 -9.83683080e-01 1.03928064e-02 2.13967608e+02] [ 9.81925982e-01 -1.79909631e-01 -5.87698039e-02 1.71197538e+02] [ 5.96806277e-02 -3.50650918e-04 9.98217461e-01 4.26896350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8971056809999 meters Centerline goodness [0,1] 0.9999370937303418 Centerline is valid? [True, True] Translation: X:213.96, Y:171.22, Z:42.69 [[-1.83292991e-01 -9.83003490e-01 1.03835487e-02 2.13961671e+02] [ 9.81257576e-01 -1.83586059e-01 -5.85638856e-02 1.71224085e+02] [ 5.94747787e-02 -5.45413931e-04 9.98229660e-01 4.26913748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92710568099994 meters Centerline goodness [0,1] 0.9999791701383103 Centerline is valid? [True, True] Translation: X:213.96, Y:171.25, Z:42.69 [[-1.87909302e-01 -9.82131636e-01 1.03702939e-02 2.13956333e+02] [ 9.80397779e-01 -1.88193561e-01 -5.83384856e-02 1.71250009e+02] [ 5.92476949e-02 -7.95331003e-04 9.98242996e-01 4.26939244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.95, Y:171.28, Z:42.69 [[-1.89340989e-01 -9.81855664e-01 1.04616060e-02 2.13949445e+02] [ 9.80097464e-01 -1.89627797e-01 -5.87389102e-02 1.71275488e+02] [ 5.96569429e-02 -8.68289842e-04 9.98218561e-01 4.26947244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98710568099995 meters Centerline goodness [0,1] 0.9999790553984711 Centerline is valid? [True, True] Translation: X:213.94, Y:171.30, Z:42.69 [[-1.90868286e-01 -9.81555553e-01 1.08624704e-02 2.13936346e+02] [ 9.79670046e-01 -1.91174688e-01 -6.08180866e-02 1.71300978e+02] [ 6.17729601e-02 -9.66607065e-04 9.98089759e-01 4.26933169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.93, Y:171.33, Z:42.69 [[-1.90544185e-01 -9.81616965e-01 1.10021685e-02 2.13926904e+02] [ 9.79692657e-01 -1.90859299e-01 -6.14412456e-02 1.71326123e+02] [ 6.24116352e-02 -9.28528378e-04 9.98050062e-01 4.26938087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04710568099995 meters Centerline goodness [0,1] 0.9999790580301984 Centerline is valid? [True, True] Translation: X:213.91, Y:171.35, Z:42.70 [[-1.88197950e-01 -9.82068155e-01 1.11207458e-02 2.13910403e+02] [ 9.80113416e-01 -1.88524711e-01 -6.19364554e-02 1.71351160e+02] [ 6.29223558e-02 -7.56721752e-04 9.98018138e-01 4.26957320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0771056809999 meters Centerline goodness [0,1] 0.9998334755729481 Centerline is valid? [True, True] Translation: X:213.90, Y:171.38, Z:42.70 [[-1.87130606e-01 -9.82275339e-01 1.08302600e-02 2.13900563e+02] [ 9.80428103e-01 -1.87442620e-01 -6.02162727e-02 1.71375469e+02] [ 6.11790120e-02 -6.50016309e-04 9.98126598e-01 4.26992305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.89, Y:171.40, Z:42.70 [[-1.83569632e-01 -9.82949656e-01 1.05907913e-02 2.13885241e+02] [ 9.81193442e-01 -1.83874475e-01 -5.87333474e-02 1.71400212e+02] [ 5.96792998e-02 -3.90043973e-04 9.98217526e-01 4.27038216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1371056809999 meters Centerline goodness [0,1] 0.9999580976325162 Centerline is valid? [True, True] Translation: X:213.87, Y:171.42, Z:42.70 [[-1.79746320e-01 -9.83653483e-01 1.08206155e-02 2.13870271e+02] [ 9.81830555e-01 -1.80071672e-01 -5.98577753e-02 1.71422927e+02] [ 6.08277955e-02 -1.35203898e-04 9.98148266e-01 4.27041114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1671056809999 meters Centerline goodness [0,1] 0.999916168919627 Centerline is valid? [True, True] Translation: X:213.86, Y:171.45, Z:42.70 [[-1.77232733e-01 -9.84107523e-01 1.09973450e-02 2.13858403e+02] [ 9.82236206e-01 -1.77573593e-01 -6.06601608e-02 1.71448699e+02] [ 6.16489586e-02 5.10243324e-05 9.98097893e-01 4.27049732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.1971056809999 meters Centerline goodness [0,1] 0.9999791566792421 Centerline is valid? [True, True] Translation: X:213.85, Y:171.47, Z:42.71 [[-1.74174886e-01 -9.84652313e-01 1.10874872e-02 2.13846201e+02] [ 9.82760596e-01 -1.74527219e-01 -6.10070525e-02 1.71473669e+02] [ 6.20058036e-02 2.70449109e-04 9.98075752e-01 4.27059657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2271056809999 meters Centerline goodness [0,1] 0.9999160210787092 Centerline is valid? [True, True] Translation: X:213.83, Y:171.50, Z:42.71 [[-1.66768496e-01 -9.85931282e-01 1.13037996e-02 2.13828590e+02] [ 9.83977400e-01 -1.67149352e-01 -6.20449108e-02 1.71498744e+02] [ 6.30614412e-02 7.75546805e-04 9.98009345e-01 4.27056067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2571056809999 meters Centerline goodness [0,1] 0.9999579778963735 Centerline is valid? [True, True] Translation: X:213.81, Y:171.52, Z:42.70 [[-1.59940413e-01 -9.87056330e-01 1.17841397e-02 2.13812536e+02] [ 9.84945482e-01 -1.60368790e-01 -6.45309876e-02 1.71523586e+02] [ 6.55855280e-02 1.28562230e-03 9.97846123e-01 4.27032561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.2871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.80, Y:171.55, Z:42.70 [[-1.58428880e-01 -9.87297611e-01 1.19882247e-02 2.13804598e+02] [ 9.85124041e-01 -1.58875332e-01 -6.54923904e-02 1.71548899e+02] [ 6.65651137e-02 1.43400233e-03 9.97781053e-01 4.27026033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.80, Y:171.57, Z:42.70 [[-1.55860818e-01 -9.87701013e-01 1.24142534e-02 2.13795770e+02] [ 9.85383330e-01 -1.56345302e-01 -6.76449443e-02 1.71574050e+02] [ 6.87538902e-02 1.68960205e-03 9.97632221e-01 4.27006401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3471056809999 meters Centerline goodness [0,1] 0.9999789938031719 Centerline is valid? [True, True] Translation: X:213.79, Y:171.60, Z:42.70 [[-1.56287506e-01 -9.87629896e-01 1.27045185e-02 2.13791034e+02] [ 9.85211700e-01 -1.56793610e-01 -6.90917508e-02 1.71601335e+02] [ 7.02290660e-02 1.71846286e-03 9.97529411e-01 4.27000123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:171.63, Z:42.70 [[-1.55519196e-01 -9.87744127e-01 1.32408330e-02 2.13784487e+02] [ 9.85130916e-01 -1.56070592e-01 -7.18265175e-02 1.71626503e+02] [ 7.30127255e-02 1.87355173e-03 9.97329249e-01 4.26982709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:171.65, Z:42.70 [[-1.55532375e-01 -9.87739504e-01 1.34295459e-02 2.13778841e+02] [ 9.85065015e-01 -1.56099191e-01 -7.26633229e-02 1.71651807e+02] [ 7.38687758e-02 1.92747667e-03 9.97266107e-01 4.26991698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43710568099993 meters Centerline goodness [0,1] 0.999957921312855 Centerline is valid? [True, True] Translation: X:213.78, Y:171.68, Z:42.70 [[-1.55850216e-01 -9.87685772e-01 1.36939983e-02 2.13776786e+02] [ 9.84918909e-01 -1.56438284e-01 -7.39040393e-02 1.71678725e+02] [ 7.51362337e-02 1.96951737e-03 9.97171333e-01 4.27002008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.4671056809999 meters Centerline goodness [0,1] 0.9999790703028527 Centerline is valid? [True, True] Translation: X:213.77, Y:171.70, Z:42.70 [[-1.56205024e-01 -9.87629577e-01 1.37043471e-02 2.13771814e+02] [ 9.84871687e-01 -1.56792635e-01 -7.37823164e-02 1.71704545e+02] [ 7.50183386e-02 1.97185489e-03 9.97180205e-01 4.27024808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.77, Y:171.73, Z:42.71 [[-1.57198616e-01 -9.87481554e-01 1.29913349e-02 2.13770369e+02] [ 9.85014740e-01 -1.57723936e-01 -6.97790941e-02 1.71731147e+02] [ 7.09546128e-02 1.82747932e-03 9.97477871e-01 4.27101407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5271056809999 meters Centerline goodness [0,1] 0.9999583567576571 Centerline is valid? [True, True] Translation: X:213.77, Y:171.76, Z:42.72 [[-1.59175750e-01 -9.87168991e-01 1.26674608e-02 2.13768805e+02] [ 9.84833495e-01 -1.59670274e-01 -6.78851234e-02 1.71758421e+02] [ 6.90367057e-02 1.66967423e-03 9.97612723e-01 4.27153859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:171.79, Z:42.72 [[-1.66033454e-01 -9.86044686e-01 1.21971137e-02 2.13775897e+02] [ 9.83886161e-01 -1.66476736e-01 -6.52190047e-02 1.71787484e+02] [ 6.63393887e-02 1.17203475e-03 9.97796428e-01 4.27215692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:171.81, Z:42.72 [[-1.70830170e-01 -9.85227295e-01 1.20096174e-02 2.13777032e+02] [ 9.83142002e-01 -1.71249629e-01 -6.40731436e-02 1.71814345e+02] [ 6.51832525e-02 8.61533326e-04 9.97872938e-01 4.27245454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.84, Z:42.73 [[-1.81535720e-01 -9.83317742e-01 1.14455445e-02 2.13785853e+02] [ 9.81428978e-01 -1.81896091e-01 -6.09177648e-02 1.71843262e+02] [ 6.19834187e-02 1.74238757e-04 9.98077164e-01 4.27302523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.87, Z:42.73 [[-1.92151721e-01 -9.81299014e-01 1.14000855e-02 2.13790514e+02] [ 9.79430304e-01 -1.92489035e-01 -6.05330589e-02 1.71871664e+02] [ 6.15954224e-02 -4.65942266e-04 9.98101090e-01 4.27323067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.90, Z:42.73 [[-1.96794528e-01 -9.80374871e-01 1.17058438e-02 2.13789798e+02] [ 9.78412361e-01 -1.97140943e-01 -6.20056439e-02 1.71898886e+02] [ 6.30964762e-02 -7.49229118e-04 9.98007151e-01 4.27316907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.93, Z:42.73 [[-2.04119868e-01 -9.78863674e-01 1.26881189e-02 2.13793497e+02] [ 9.76566337e-01 -2.04509749e-01 -6.70369416e-02 1.71927517e+02] [ 6.82148710e-02 -1.29278186e-03 9.97669815e-01 4.27271624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.95, Z:42.73 [[-2.04545161e-01 -9.78774513e-01 1.27173204e-02 2.13788241e+02] [ 9.76477347e-01 -2.04936043e-01 -6.70314020e-02 1.71953630e+02] [ 6.82148651e-02 -1.29277365e-03 9.97669816e-01 4.27288521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.79, Y:171.98, Z:42.73 [[-2.07090334e-01 -9.78237234e-01 1.28649470e-02 2.13785374e+02] [ 9.75896588e-01 -2.07484455e-01 -6.76465065e-02 1.71980260e+02] [ 6.88436079e-02 -1.45407972e-03 9.97626405e-01 4.27297101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:172.01, Z:42.73 [[-2.09278337e-01 -9.77778643e-01 1.23086655e-02 2.13780252e+02] [ 9.75645595e-01 -2.09634597e-01 -6.45678625e-02 1.72006143e+02] [ 6.57133991e-02 -1.50375968e-03 9.97837406e-01 4.27344646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.77, Y:172.03, Z:42.74 [[-2.10381606e-01 -9.77544868e-01 1.20669259e-02 2.13770541e+02] [ 9.75501824e-01 -2.10721890e-01 -6.31860483e-02 1.72031361e+02] [ 6.43099627e-02 -1.52187408e-03 9.97928811e-01 4.27383365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:172.06, Z:42.74 [[-2.11990941e-01 -9.77196327e-01 1.21317400e-02 2.13764141e+02] [ 9.75141261e-01 -2.12331749e-01 -6.33620546e-02 1.72057186e+02] [ 6.44931206e-02 -1.60202138e-03 9.97916866e-01 4.27387626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:172.08, Z:42.74 [[-2.14000881e-01 -9.76756997e-01 1.22225976e-02 2.13757264e+02] [ 9.74680216e-01 -2.14342779e-01 -6.36839875e-02 1.72083094e+02] [ 6.48236059e-02 -1.71530543e-03 9.97895264e-01 4.27393378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.75, Y:172.11, Z:42.74 [[-2.19303310e-01 -9.75579136e-01 1.23047479e-02 2.13748502e+02] [ 9.73479951e-01 -2.19638612e-01 -6.39973857e-02 1.72108930e+02] [ 6.51371120e-02 -2.05641317e-03 9.97874204e-01 4.27404138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:172.13, Z:42.75 [[-2.22558434e-01 -9.74846153e-01 1.19466373e-02 2.13740627e+02] [ 9.72875320e-01 -2.22868231e-01 -6.19948683e-02 1.72133409e+02] [ 6.30979848e-02 -2.17489222e-03 9.98004967e-01 4.27450538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.73, Y:172.16, Z:42.75 [[-2.22931856e-01 -9.74762084e-01 1.18434437e-02 2.13730129e+02] [ 9.72832295e-01 -2.23235841e-01 -6.13439849e-02 1.72157616e+02] [ 6.24396716e-02 -2.15384384e-03 9.98046416e-01 4.27474609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.71, Y:172.18, Z:42.75 [[-2.18085903e-01 -9.75858039e-01 1.18163862e-02 2.13710705e+02] [ 9.73948094e-01 -2.18398321e-01 -6.10514776e-02 1.72180609e+02] [ 6.21582541e-02 -1.80591983e-03 9.98064672e-01 4.27510391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.70, Y:172.20, Z:42.75 [[-2.13790863e-01 -9.76808922e-01 1.17386841e-02 2.13696456e+02] [ 9.74933804e-01 -2.14107685e-01 -6.05142696e-02 1.72204464e+02] [ 6.16242209e-02 -1.49295795e-03 9.98098305e-01 4.27535104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.67, Y:172.23, Z:42.75 [[-2.04204097e-01 -9.78855966e-01 1.19031705e-02 2.13671633e+02] [ 9.76940046e-01 -2.04548862e-01 -6.12201689e-02 1.72226404e+02] [ 6.23605076e-02 -8.72725345e-04 9.98053308e-01 4.27536514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.0971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.65, Y:172.25, Z:42.75 [[-1.98460466e-01 -9.80033041e-01 1.21935567e-02 2.13654770e+02] [ 9.78033990e-01 -1.98834097e-01 -6.25660932e-02 1.72251416e+02] [ 6.37413334e-02 -4.91183133e-04 9.97966333e-01 4.27535285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12710568099993 meters Centerline goodness [0,1] 0.9999369244354737 Centerline is valid? [True, True] Translation: X:213.63, Y:172.27, Z:42.75 [[-1.87523492e-01 -9.82175688e-01 1.28786193e-02 2.13629092e+02] [ 9.79960240e-01 -1.87965031e-01 -6.59323460e-02 1.72273813e+02] [ 6.71778774e-02 2.56671160e-04 9.97740982e-01 4.27518921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.1571056809999 meters Centerline goodness [0,1] 0.9999580237585527 Centerline is valid? [True, True] Translation: X:213.61, Y:172.30, Z:42.75 [[-1.82678824e-01 -9.83085854e-01 1.30633249e-02 2.13614995e+02] [ 9.80819216e-01 -1.83144243e-01 -6.67222016e-02 1.72297466e+02] [ 6.79861253e-02 6.24026698e-04 9.97686072e-01 4.27522360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:172.32, Z:42.75 [[-1.73406799e-01 -9.84758607e-01 1.34375352e-02 2.13594657e+02] [ 9.82376323e-01 -1.73921599e-01 -6.84692444e-02 1.72320586e+02] [ 6.97627554e-02 1.32768390e-03 9.97562727e-01 4.27537711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.58, Y:172.35, Z:42.76 [[-1.70820836e-01 -9.85210212e-01 1.34565989e-02 2.13584440e+02] [ 9.82831099e-01 -1.71343179e-01 -6.84437454e-02 1.72346546e+02] [ 6.97371734e-02 1.53394609e-03 9.97564220e-01 4.27563875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.57, Y:172.37, Z:42.76 [[-1.67999308e-01 -9.85696033e-01 1.34001029e-02 2.13571414e+02] [ 9.83348490e-01 -1.68523778e-01 -6.80109061e-02 1.72371222e+02] [ 6.92963163e-02 1.75118582e-03 9.97594584e-01 4.27575664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2771056809999 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:213.56, Y:172.40, Z:42.76 [[-1.68265916e-01 -9.85648729e-01 1.35338236e-02 2.13564470e+02] [ 9.83261513e-01 -1.68800056e-01 -6.85808852e-02 1.72397200e+02] [ 6.98811725e-02 1.76746242e-03 9.97553757e-01 4.27575338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.42, Z:42.76 [[-1.68480530e-01 -9.85606852e-01 1.39084058e-02 2.13560130e+02] [ 9.83097119e-01 -1.69043771e-01 -7.03154171e-02 1.72423729e+02] [ 7.16544862e-02 1.82653496e-03 9.97427841e-01 4.27558822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3371056809999 meters Centerline goodness [0,1] 0.9999792388980007 Centerline is valid? [True, True] Translation: X:213.56, Y:172.45, Z:42.75 [[-1.70748881e-01 -9.85209845e-01 1.43659454e-02 2.13556210e+02] [ 9.82543722e-01 -1.71343278e-01 -7.24521637e-02 1.72450166e+02] [ 7.38420932e-02 1.74404359e-03 9.97268421e-01 4.27526949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36710568099994 meters Centerline goodness [0,1] 0.9999158567882536 Centerline is valid? [True, True] Translation: X:213.56, Y:172.48, Z:42.75 [[-1.73307305e-01 -9.84760061e-01 1.45671164e-02 2.13557043e+02] [ 9.82030551e-01 -1.73911039e-01 -7.32867523e-02 1.72477913e+02] [ 7.47032490e-02 1.60422385e-03 9.97204518e-01 4.27545579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.51, Z:42.76 [[-1.78630960e-01 -9.83806986e-01 1.46558412e-02 2.13558569e+02] [ 9.81053454e-01 -1.79226904e-01 -7.35651881e-02 1.72505916e+02] [ 7.50006671e-02 1.23714340e-03 9.97182716e-01 4.27560013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.53, Z:42.76 [[-1.81462513e-01 -9.83287760e-01 1.47152163e-02 2.13556870e+02] [ 9.80522898e-01 -1.82055119e-01 -7.36938218e-02 1.72532417e+02] [ 7.51412134e-02 1.05594040e-03 9.97172344e-01 4.27574110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.56, Z:42.76 [[-1.86025017e-01 -9.82434987e-01 1.47033558e-02 2.13560997e+02] [ 9.79684868e-01 -1.86603723e-01 -7.34616228e-02 1.72560956e+02] [ 7.49149694e-02 7.38955523e-04 9.97189652e-01 4.27604554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48710568099995 meters Centerline goodness [0,1] 0.99997897657991 Centerline is valid? [True, True] Translation: X:213.56, Y:172.59, Z:42.76 [[-1.87771470e-01 -9.82104373e-01 1.45902760e-02 2.13558857e+02] [ 9.79407634e-01 -1.88336403e-01 -7.27329776e-02 1.72588388e+02] [ 7.41792555e-02 6.32649547e-04 9.97244723e-01 4.27635353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.62, Z:42.77 [[-1.91919979e-01 -9.81308723e-01 1.41390448e-02 2.13559538e+02] [ 9.78785206e-01 -1.92439795e-01 -7.03309708e-02 1.72616354e+02] [ 7.17373100e-02 3.41169428e-04 9.97423502e-01 4.27689248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.64, Z:42.77 [[-1.94513732e-01 -9.80798149e-01 1.41208464e-02 2.13557491e+02] [ 9.78290440e-01 -1.95025531e-01 -7.00917783e-02 1.72643298e+02] [ 7.14998120e-02 1.80475682e-04 9.97440597e-01 4.27715721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:172.67, Z:42.77 [[-1.97612025e-01 -9.80179848e-01 1.40339736e-02 2.13557327e+02] [ 9.77712428e-01 -1.98109729e-01 -6.95049906e-02 1.72669538e+02] [ 7.09076579e-02 -1.38315644e-05 9.97482884e-01 4.27735868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60710568099995 meters Centerline goodness [0,1] 0.9999789818823827 Centerline is valid? [True, True] Translation: X:213.56, Y:172.70, Z:42.77 [[-2.01538760e-01 -9.79377874e-01 1.41812594e-02 2.13556844e+02] [ 9.76868062e-01 -2.02036897e-01 -7.00705516e-02 1.72696898e+02] [ 7.14906855e-02 -2.68712650e-04 9.97441231e-01 4.27740832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6371056809999 meters Centerline goodness [0,1] 0.9999790943680228 Centerline is valid? [True, True] Translation: X:213.55, Y:172.72, Z:42.77 [[-2.03226896e-01 -9.79027119e-01 1.43083291e-02 2.13554166e+02] [ 9.76482826e-01 -2.03729643e-01 -7.05373876e-02 1.72723055e+02] [ 7.19730462e-02 -3.63256665e-04 9.97406511e-01 4.27746607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6671056809999 meters Centerline goodness [0,1] 0.9999789783476981 Centerline is valid? [True, True] Translation: X:213.55, Y:172.75, Z:42.78 [[-2.04126304e-01 -9.78836438e-01 1.45492205e-02 2.13550618e+02] [ 9.76217523e-01 -2.04643752e-01 -7.15561511e-02 1.72749980e+02] [ 7.30191751e-02 -4.03288638e-04 9.97330455e-01 4.27760230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.6971056809999 meters Centerline goodness [0,1] 0.9999790527660822 Centerline is valid? [True, True] Translation: X:213.54, Y:172.78, Z:42.78 [[-2.02556473e-01 -9.79160493e-01 1.46834728e-02 2.13543522e+02] [ 9.76505500e-01 -2.03087821e-01 -7.20579378e-02 1.72776286e+02] [ 7.35383204e-02 -2.57309788e-04 9.97292359e-01 4.27785300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7271056809999 meters Centerline goodness [0,1] 0.9999368421052631 Centerline is valid? [True, True] Translation: X:213.53, Y:172.80, Z:42.78 [[-1.96771285e-01 -9.80338245e-01 1.47643495e-02 2.13531605e+02] [ 9.77669043e-01 -1.97324304e-01 -7.22935732e-02 1.72800726e+02] [ 7.37855196e-02 2.09348147e-04 9.97274111e-01 4.27827244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.52, Y:172.82, Z:42.79 [[-1.92825877e-01 -9.81126419e-01 1.44613306e-02 2.13521232e+02] [ 9.78580169e-01 -1.93366667e-01 -7.06412397e-02 1.72823757e+02] [ 7.21043259e-02 5.30112301e-04 9.97396955e-01 4.27871479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.7871056809999 meters Centerline goodness [0,1] 0.9999579310489893 Centerline is valid? [True, True] Translation: X:213.51, Y:172.85, Z:42.79 [[-1.85188363e-01 -9.82597819e-01 1.43804024e-02 2.13507568e+02] [ 9.80096571e-01 -1.85742504e-01 -7.00744832e-02 1.72848440e+02] [ 7.15260863e-02 1.11720422e-03 9.97438104e-01 4.27901382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81710568099993 meters Centerline goodness [0,1] 0.999958151116319 Centerline is valid? [True, True] Translation: X:213.50, Y:172.87, Z:42.79 [[-1.78929397e-01 -9.83758766e-01 1.42464397e-02 2.13497662e+02] [ 9.81317547e-01 -1.79488665e-01 -6.92797966e-02 1.72872897e+02] [ 7.07116817e-02 1.58408907e-03 9.97495538e-01 4.27915699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8471056809999 meters Centerline goodness [0,1] 0.9999790114387659 Centerline is valid? [True, True] Translation: X:213.49, Y:172.90, Z:42.80 [[-1.77631071e-01 -9.84000591e-01 1.37854876e-02 2.13490253e+02] [ 9.81722885e-01 -1.78157609e-01 -6.69331207e-02 1.72897703e+02] [ 6.83182198e-02 1.64412680e-03 9.97662226e-01 4.27954967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87710568099993 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:213.48, Y:172.92, Z:42.80 [[-1.74890348e-01 -9.84497539e-01 1.33402681e-02 2.13482475e+02] [ 9.82372795e-01 -1.75389210e-01 -6.46708283e-02 1.72922035e+02] [ 6.60080103e-02 1.79481288e-03 9.97817479e-01 4.27997833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.48, Y:172.95, Z:42.80 [[-1.73967880e-01 -9.84657365e-01 1.36033296e-02 2.13477873e+02] [ 9.82457700e-01 -1.74488400e-01 -6.58077984e-02 1.72948826e+02] [ 6.71717566e-02 1.91625272e-03 9.97739587e-01 4.27991525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:172.98, Z:42.80 [[-1.72988365e-01 -9.84824502e-01 1.39901824e-02 2.13472426e+02] [ 9.82508225e-01 -1.73540905e-01 -6.75362343e-02 1.72975717e+02] [ 6.89392072e-02 2.06248654e-03 9.97618731e-01 4.27980793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.9671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:173.00, Z:42.80 [[-1.70461077e-01 -9.85260063e-01 1.43397810e-02 2.13468722e+02] [ 9.82838308e-01 -1.71047454e-01 -6.90769820e-02 1.73003822e+02] [ 7.05115746e-02 2.31874931e-03 9.97508266e-01 4.27965536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99710568099994 meters Centerline goodness [0,1] 0.9999579664151658 Centerline is valid? [True, True] Translation: X:213.46, Y:173.03, Z:42.80 [[-1.66770901e-01 -9.85886120e-01 1.46977864e-02 2.13462009e+02] [ 9.83354348e-01 -1.67396040e-01 -7.06596924e-02 1.73029939e+02] [ 7.21227613e-02 2.66915155e-03 9.97392191e-01 4.27954841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.05, Z:42.80 [[-1.64876749e-01 -9.86202788e-01 1.48229016e-02 2.13453682e+02] [ 9.83639694e-01 -1.65517089e-01 -7.11129049e-02 1.73054527e+02] [ 7.25851886e-02 2.85552983e-03 9.97358128e-01 4.27957458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05710568099994 meters Centerline goodness [0,1] 0.9999583081445039 Centerline is valid? [True, True] Translation: X:213.45, Y:173.08, Z:42.80 [[-1.61458138e-01 -9.86776006e-01 1.42963002e-02 2.13450408e+02] [ 9.84404103e-01 -1.62061652e-01 -6.84440178e-02 1.73080631e+02] [ 6.98557966e-02 3.02249286e-03 9.97552521e-01 4.28006709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0871056809999 meters Centerline goodness [0,1] 0.9999790105576895 Centerline is valid? [True, True] Translation: X:213.44, Y:173.11, Z:42.80 [[-1.60016607e-01 -9.87014693e-01 1.40242882e-02 2.13444829e+02] [ 9.84742943e-01 -1.60600284e-01 -6.69991405e-02 1.73107072e+02] [ 6.83814408e-02 3.08934370e-03 9.97654466e-01 4.28039185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.14, Z:42.80 [[-1.58321788e-01 -9.87286418e-01 1.41329594e-02 2.13448046e+02] [ 9.84989822e-01 -1.58918050e-01 -6.73802940e-02 1.73135733e+02] [ 6.87696315e-02 3.25305252e-03 9.97627263e-01 4.28046779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.16, Z:42.81 [[-1.59142797e-01 -9.87152145e-01 1.42902985e-02 2.13447920e+02] [ 9.84813591e-01 -1.59749978e-01 -6.79862878e-02 1.73163566e+02] [ 6.93956847e-02 3.25375221e-03 9.97583907e-01 4.28054072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.19, Z:42.80 [[-1.61293684e-01 -9.86796020e-01 1.47635179e-02 2.13448178e+02] [ 9.84309285e-01 -1.61935782e-01 -7.00859000e-02 1.73191524e+02] [ 7.15512290e-02 3.22745474e-03 9.97431705e-01 4.28024282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.22, Z:42.80 [[-1.62769804e-01 -9.86550562e-01 1.49659311e-02 2.13447543e+02] [ 9.84003889e-01 -1.63425362e-01 -7.09118970e-02 1.73219150e+02] [ 7.24039845e-02 3.18421887e-03 9.97370304e-01 4.28034461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.25, Z:42.81 [[-1.64504507e-01 -9.86260432e-01 1.51204587e-02 2.13452452e+02] [ 9.83670595e-01 -1.65168624e-01 -7.14946539e-02 1.73248105e+02] [ 7.30097736e-02 3.11235782e-03 9.97326369e-01 4.28064335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2671056809999 meters Centerline goodness [0,1] 0.9998744822392368 Centerline is valid? [True, True] Translation: X:213.46, Y:173.28, Z:42.81 [[-1.66533804e-01 -9.85914514e-01 1.54617025e-02 2.13458668e+02] [ 9.83216450e-01 -1.67222161e-01 -7.29531415e-02 1.73277090e+02] [ 7.45111003e-02 3.05303612e-03 9.97215511e-01 4.28059978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29710568099995 meters Centerline goodness [0,1] 0.999874903571503 Centerline is valid? [True, True] Translation: X:213.46, Y:173.30, Z:42.81 [[-1.67830641e-01 -9.85686867e-01 1.59460513e-02 2.13457465e+02] [ 9.82828447e-01 -1.68558481e-01 -7.50751766e-02 1.73303998e+02] [ 7.66884578e-02 3.07231784e-03 9.97050370e-01 4.28053825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3271056809999 meters Centerline goodness [0,1] 0.9999790838736666 Centerline is valid? [True, True] Translation: X:213.46, Y:173.33, Z:42.81 [[-1.68809719e-01 -9.85517362e-01 1.60875019e-02 2.13456960e+02] [ 9.82620001e-01 -1.69547122e-01 -7.55758423e-02 1.73331425e+02] [ 7.72088944e-02 3.04996449e-03 9.97010273e-01 4.28057942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.46, Y:173.36, Z:42.81 [[-1.70113319e-01 -9.85296390e-01 1.58896910e-02 2.13455475e+02] [ 9.82480745e-01 -1.70828527e-01 -7.44929569e-02 1.73358166e+02] [ 7.61120540e-02 2.93907132e-03 9.97094939e-01 4.28082651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.3871056809999 meters Centerline goodness [0,1] 0.9997084123050007 Centerline is valid? [True, True] Translation: X:213.46, Y:173.39, Z:42.81 [[-1.73276628e-01 -9.84753677e-01 1.53429227e-02 2.13457207e+02] [ 9.82137574e-01 -1.73934681e-01 -7.17810049e-02 1.73385413e+02] [ 7.33552749e-02 2.63089042e-03 9.97302403e-01 4.28133883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4171056809999 meters Centerline goodness [0,1] 0.9997295329241652 Centerline is valid? [True, True] Translation: X:213.46, Y:173.41, Z:42.82 [[-1.76052697e-01 -9.84262302e-01 1.52698785e-02 2.13457318e+02] [ 9.81679700e-01 -1.76696849e-01 -7.12964947e-02 1.73413146e+02] [ 7.28725914e-02 2.43818964e-03 9.97338278e-01 4.28162738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4471056809999 meters Centerline goodness [0,1] 0.9999167585790689 Centerline is valid? [True, True] Translation: X:213.47, Y:173.44, Z:42.82 [[-1.83902986e-01 -9.82823627e-01 1.54081002e-02 2.13465242e+02] [ 9.80199583e-01 -1.84537556e-01 -7.17960145e-02 1.73441488e+02] [ 7.34061925e-02 1.89951190e-03 9.97300317e-01 4.28182618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:173.47, Z:42.82 [[-1.89108370e-01 -9.81834018e-01 1.54914353e-02 2.13466104e+02] [ 9.79188863e-01 -1.89735528e-01 -7.20388722e-02 1.73468468e+02] [ 7.36694910e-02 1.54588718e-03 9.97281513e-01 4.28198966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5071056809999 meters Centerline goodness [0,1] 0.9999791065981363 Centerline is valid? [True, True] Translation: X:213.47, Y:173.50, Z:42.82 [[-1.98085149e-01 -9.80070203e-01 1.49890529e-02 2.13470820e+02] [ 9.77596354e-01 -1.98649556e-01 -6.95968552e-02 1.73497519e+02] [ 7.11873727e-02 8.67140030e-04 9.97462584e-01 4.28245191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5371056809999 meters Centerline goodness [0,1] 0.9999792647272275 Centerline is valid? [True, True] Translation: X:213.47, Y:173.52, Z:42.83 [[-2.02308019e-01 -9.79210274e-01 1.47886636e-02 2.13468034e+02] [ 9.76809079e-01 -2.02846992e-01 -6.85355476e-02 1.73524432e+02] [ 7.01105482e-02 5.80410037e-04 9.97539059e-01 4.28272236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:173.55, Z:42.83 [[-2.08594866e-01 -9.77888188e-01 1.49289711e-02 2.13467319e+02] [ 9.75447587e-01 -2.09128350e-01 -6.90459179e-02 1.73550594e+02] [ 7.06412586e-02 1.59804857e-04 9.97501773e-01 4.28268884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.5971056809999 meters Centerline goodness [0,1] 0.9999583281243489 Centerline is valid? [True, True] Translation: X:213.46, Y:173.58, Z:42.83 [[-2.11226741e-01 -9.77322689e-01 1.49541407e-02 2.13464125e+02] [ 9.74883525e-01 -2.11755430e-01 -6.90054408e-02 1.73577308e+02] [ 7.06072034e-02 2.75106411e-06 9.97504197e-01 4.28282228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62710568099993 meters Centerline goodness [0,1] 0.999958210576903 Centerline is valid? [True, True] Translation: X:213.46, Y:173.60, Z:42.83 [[-2.16530462e-01 -9.76166197e-01 1.46326825e-02 2.13464512e+02] [ 9.73838045e-01 -2.17024056e-01 -6.73796827e-02 1.73603325e+02] [ 6.89494127e-02 -3.39890967e-04 9.97620100e-01 4.28320429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.6571056809999 meters Centerline goodness [0,1] 0.999958210576903 Centerline is valid? [True, True] Translation: X:213.46, Y:173.63, Z:42.83 [[-2.16958822e-01 -9.76070614e-01 1.46637890e-02 2.13458669e+02] [ 9.73742701e-01 -2.17453542e-01 -6.73729129e-02 1.73628470e+02] [ 6.89494133e-02 -3.38390287e-04 9.97620100e-01 4.28336793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68710568099993 meters Centerline goodness [0,1] 0.9999789584429247 Centerline is valid? [True, True] Translation: X:213.45, Y:173.65, Z:42.83 [[-2.24548290e-01 -9.74350038e-01 1.48347320e-02 2.13454177e+02] [ 9.71973763e-01 -2.25036166e-01 -6.80127026e-02 1.73654857e+02] [ 6.96065306e-02 -8.53165742e-04 9.97574159e-01 4.28342698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:173.68, Z:42.83 [[-2.28964856e-01 -9.73318876e-01 1.50153481e-02 2.13450695e+02] [ 9.70892684e-01 -2.29453797e-01 -6.86902595e-02 1.73681069e+02] [ 7.03028548e-02 -1.14936378e-03 9.97525031e-01 4.28336812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74710568099994 meters Centerline goodness [0,1] 0.9999579849586152 Centerline is valid? [True, True] Translation: X:213.45, Y:173.71, Z:42.84 [[-2.37418100e-01 -9.71294538e-01 1.48177735e-02 2.13446525e+02] [ 9.68937743e-01 -2.37873964e-01 -6.76433816e-02 1.73708039e+02] [ 6.92264097e-02 -1.70226307e-03 9.97599522e-01 4.28362106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7771056809999 meters Centerline goodness [0,1] 0.9999789730434417 Centerline is valid? [True, True] Translation: X:213.44, Y:173.74, Z:42.84 [[-2.42319714e-01 -9.70083502e-01 1.48038983e-02 2.13442704e+02] [ 9.67738266e-01 -2.42763119e-01 -6.74441745e-02 1.73735267e+02] [ 6.90203215e-02 -2.01675417e-03 9.97613216e-01 4.28387667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80710568099994 meters Centerline goodness [0,1] 0.9999790347603673 Centerline is valid? [True, True] Translation: X:213.44, Y:173.76, Z:42.84 [[-2.51197537e-01 -9.67819150e-01 1.50296267e-02 2.13439237e+02] [ 9.65407585e-01 -2.51632755e-01 -6.83311823e-02 1.73761819e+02] [ 6.99141732e-02 -2.65490900e-03 9.97549477e-01 4.28405009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8371056809999 meters Centerline goodness [0,1] 0.9999581659973227 Centerline is valid? [True, True] Translation: X:213.43, Y:173.79, Z:42.84 [[-2.55478126e-01 -9.66695536e-01 1.51877867e-02 2.13434839e+02] [ 9.64241368e-01 -2.55912073e-01 -6.89027934e-02 1.73787583e+02] [ 7.04947607e-02 -2.95846432e-03 9.97507762e-01 4.28414429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86710568099994 meters Centerline goodness [0,1] 0.9999580052493439 Centerline is valid? [True, True] Translation: X:213.43, Y:173.81, Z:42.84 [[-2.59296762e-01 -9.65676347e-01 1.53095598e-02 2.13426791e+02] [ 9.63191234e-01 -2.59728296e-01 -6.93098793e-02 1.73813103e+02] [ 7.09072369e-02 -3.22579351e-03 9.97477698e-01 4.28426797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8971056809999 meters Centerline goodness [0,1] 0.9998324817823938 Centerline is valid? [True, True] Translation: X:213.41, Y:173.84, Z:42.84 [[-2.62887467e-01 -9.64707998e-01 1.51214328e-02 2.13413270e+02] [ 9.62291953e-01 -2.63299941e-01 -6.83179187e-02 1.73836785e+02] [ 6.98883149e-02 -3.40869146e-03 9.97548998e-01 4.28449676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92710568099994 meters Centerline goodness [0,1] 0.9997685331313259 Centerline is valid? [True, True] Translation: X:213.39, Y:173.86, Z:42.85 [[-2.61354287e-01 -9.65129107e-01 1.48237382e-02 2.13391718e+02] [ 9.62817219e-01 -2.61754831e-01 -6.68386978e-02 1.73859435e+02] [ 6.83881579e-02 -3.19602982e-03 9.97653670e-01 4.28477525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9571056809999 meters Centerline goodness [0,1] 0.9998744586027243 Centerline is valid? [True, True] Translation: X:213.38, Y:173.88, Z:42.85 [[-2.59890921e-01 -9.65524073e-01 1.48314924e-02 2.13376808e+02] [ 9.63219419e-01 -2.60295799e-01 -6.67416496e-02 1.73883549e+02] [ 6.83012446e-02 -3.05956723e-03 9.97660052e-01 4.28501139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98710568099995 meters Centerline goodness [0,1] 0.9999368806412927 Centerline is valid? [True, True] Translation: X:213.36, Y:173.91, Z:42.85 [[-2.56629385e-01 -9.66394740e-01 1.49186183e-02 2.13356527e+02] [ 9.64073655e-01 -2.57047282e-01 -6.69976349e-02 1.73906213e+02] [ 6.85809523e-02 -2.81091492e-03 9.97641595e-01 4.28520236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:173.93, Z:42.86 [[-2.56311561e-01 -9.66481050e-01 1.47907001e-02 2.13341084e+02] [ 9.64208737e-01 -2.56723447e-01 -6.62916536e-02 1.73930070e+02] [ 6.78667464e-02 -2.72999490e-03 9.97690659e-01 4.28552137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.32, Y:173.95, Z:42.86 [[-2.58202464e-01 -9.65982119e-01 1.44925002e-02 2.13323954e+02] [ 9.63808458e-01 -2.58594027e-01 -6.48258133e-02 1.73952312e+02] [ 6.63682505e-02 -2.77019041e-03 9.97791352e-01 4.28591027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0771056809999 meters Centerline goodness [0,1] 0.9999580158280328 Centerline is valid? [True, True] Translation: X:213.31, Y:173.98, Z:42.86 [[-2.61572360e-01 -9.65076845e-01 1.43730277e-02 2.13313340e+02] [ 9.62945945e-01 -2.61950417e-01 -6.41645196e-02 1.73977240e+02] [ 6.56887128e-02 -2.94321603e-03 9.97835823e-01 4.28618585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.30, Y:174.00, Z:42.86 [[-2.68791943e-01 -9.63095713e-01 1.40548228e-02 2.13300279e+02] [ 9.61063632e-01 -2.69138624e-01 -6.26186652e-02 1.74001245e+02] [ 6.40904637e-02 -3.32381360e-03 9.97938558e-01 4.28644622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1371056809999 meters Centerline goodness [0,1] 0.9999373669046724 Centerline is valid? [True, True] Translation: X:213.29, Y:174.03, Z:42.86 [[-2.77606106e-01 -9.60587615e-01 1.43625814e-02 2.13289776e+02] [ 9.58468916e-01 -2.77949054e-01 -6.38878707e-02 1.74026354e+02] [ 6.53619632e-02 -3.96957515e-03 9.97853725e-01 4.28641454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1671056809999 meters Centerline goodness [0,1] 0.9998531694424634 Centerline is valid? [True, True] Translation: X:213.28, Y:174.05, Z:42.87 [[-2.81759981e-01 -9.59371473e-01 1.47542992e-02 2.13280933e+02] [ 9.57140782e-01 -2.82112617e-01 -6.55285830e-02 1.74051927e+02] [ 6.70286272e-02 -4.34139085e-03 9.97741608e-01 4.28650016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.1971056809999 meters Centerline goodness [0,1] 0.9998951474227237 Centerline is valid? [True, True] Translation: X:213.26, Y:174.07, Z:42.87 [[-2.85982509e-01 -9.58126176e-01 1.44303550e-02 2.13256664e+02] [ 9.55999118e-01 -2.86311020e-01 -6.39662891e-02 1.74074128e+02] [ 6.54193456e-02 -4.49783322e-03 9.97847723e-01 4.28700779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2271056809999 meters Centerline goodness [0,1] 0.999104483828644 Centerline is valid? [True, True] Translation: X:213.25, Y:174.10, Z:42.87 [[-2.86004539e-01 -9.58123823e-01 1.41472271e-02 2.13251598e+02] [ 9.56087282e-01 -2.86320798e-01 -6.25900166e-02 1.74099769e+02] [ 6.40196313e-02 -4.37504495e-03 9.97939049e-01 4.28739448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2571056809999 meters Centerline goodness [0,1] 0.9999376959980063 Centerline is valid? [True, True] Translation: X:213.23, Y:174.12, Z:42.88 [[-2.83872946e-01 -9.58762647e-01 1.37963035e-02 2.13231278e+02] [ 9.56834338e-01 -2.84178551e-01 -6.09147067e-02 1.74122963e+02] [ 6.23233590e-02 -4.09126036e-03 9.98047624e-01 4.28775523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.2871056809999 meters Centerline goodness [0,1] 0.9997284708732794 Centerline is valid? [True, True] Translation: X:213.20, Y:174.14, Z:42.88 [[-2.75401904e-01 -9.61229200e-01 1.38642248e-02 2.13201389e+02] [ 9.59291711e-01 -2.75728092e-01 -6.11018146e-02 1.74144298e+02] [ 6.25556046e-02 -3.52772018e-03 9.98035246e-01 4.28788404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31710568099993 meters Centerline goodness [0,1] 0.9998744007870884 Centerline is valid? [True, True] Translation: X:213.17, Y:174.16, Z:42.88 [[-2.60558961e-01 -9.65350693e-01 1.43898473e-02 2.13167964e+02] [ 9.63276955e-01 -2.60942748e-01 -6.32960442e-02 1.74163943e+02] [ 6.48578064e-02 -2.63094323e-03 9.97891048e-01 4.28786997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3471056809999 meters Centerline goodness [0,1] 0.999895121030331 Centerline is valid? [True, True] Translation: X:213.15, Y:174.19, Z:42.88 [[-2.53534737e-01 -9.67216558e-01 1.45694190e-02 2.13147751e+02] [ 9.65101808e-01 -2.53943862e-01 -6.39610496e-02 1.74187295e+02] [ 6.55640007e-02 -2.15537529e-03 9.97846038e-01 4.28793782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37710568099993 meters Centerline goodness [0,1] 0.9999369814095158 Centerline is valid? [True, True] Translation: X:213.12, Y:174.21, Z:42.88 [[-2.41672103e-01 -9.70244729e-01 1.48243369e-02 2.13118045e+02] [ 9.68068987e-01 -2.42122598e-01 -6.49544787e-02 1.74207457e+02] [ 6.66110476e-02 -1.34670465e-03 9.97778109e-01 4.28806722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:174.23, Z:42.88 [[-2.38415601e-01 -9.71047038e-01 1.50217038e-02 2.13102538e+02] [ 9.68823438e-01 -2.38885797e-01 -6.56865350e-02 1.74230270e+02] [ 6.73731869e-02 -1.10731601e-03 9.97727231e-01 4.28816090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43710568099993 meters Centerline goodness [0,1] 0.9998738647830474 Centerline is valid? [True, True] Translation: X:213.08, Y:174.25, Z:42.88 [[-2.34230303e-01 -9.72060551e-01 1.53117656e-02 2.13079306e+02] [ 9.69761278e-01 -2.34728864e-01 -6.68238339e-02 1.74253360e+02] [ 6.85509262e-02 -8.03409441e-04 9.97647295e-01 4.28815034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.4671056809999 meters Centerline goodness [0,1] 0.9997271945103141 Centerline is valid? [True, True] Translation: X:213.07, Y:174.28, Z:42.88 [[-2.32564262e-01 -9.72459473e-01 1.53765307e-02 2.13067548e+02] [ 9.70149895e-01 -2.33071098e-01 -6.69854097e-02 1.74277458e+02] [ 6.87244211e-02 -6.60872731e-04 9.97635463e-01 4.28805103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49710568099994 meters Centerline goodness [0,1] 0.9993967256766033 Centerline is valid? [True, True] Translation: X:213.05, Y:174.30, Z:42.88 [[-2.30091248e-01 -9.73040723e-01 1.58040669e-02 2.13051494e+02] [ 9.70611984e-01 -2.30632891e-01 -6.87084138e-02 1.74301135e+02] [ 7.05010223e-02 -4.69587904e-04 9.97511597e-01 4.28771539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5271056809999 meters Centerline goodness [0,1] 0.9992296320972746 Centerline is valid? [True, True] Translation: X:213.04, Y:174.32, Z:42.88 [[-2.31348131e-01 -9.72749806e-01 1.53576729e-02 2.13039243e+02] [ 9.70464815e-01 -2.31856752e-01 -6.66369974e-02 1.74323762e+02] [ 6.83819065e-02 -5.12263584e-04 9.97659086e-01 4.28809144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55710568099994 meters Centerline goodness [0,1] 0.9992921533112652 Centerline is valid? [True, True] Translation: X:213.03, Y:174.35, Z:42.88 [[-2.32668975e-01 -9.72433980e-01 1.54046274e-02 2.13029118e+02] [ 9.70141876e-01 -2.33177650e-01 -6.67302327e-02 1.74348232e+02] [ 6.84827606e-02 -5.81380775e-04 9.97652131e-01 4.28844099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5871056809999 meters Centerline goodness [0,1] 0.9991016024904414 Centerline is valid? [True, True] Translation: X:213.02, Y:174.37, Z:42.89 [[-2.36855924e-01 -9.71418228e-01 1.56811035e-02 2.13020537e+02] [ 9.69050453e-01 -2.37372883e-01 -6.77889007e-02 1.74373978e+02] [ 6.95736425e-02 -8.60422266e-04 9.97576447e-01 4.28851191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61710568099994 meters Centerline goodness [0,1] 0.9991176470588236 Centerline is valid? [True, True] Translation: X:213.02, Y:174.40, Z:42.89 [[-2.40075328e-01 -9.70625896e-01 1.57862710e-02 2.13015157e+02] [ 9.68233325e-01 -2.40591412e-01 -6.81175511e-02 1.74400437e+02] [ 6.99147003e-02 -1.06854977e-03 9.97552401e-01 4.28867896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6471056809999 meters Centerline goodness [0,1] 0.9989956478071644 Centerline is valid? [True, True] Translation: X:213.01, Y:174.43, Z:42.89 [[-2.45609443e-01 -9.69238314e-01 1.59089028e-02 2.13012605e+02] [ 9.66814547e-01 -2.46119882e-01 -6.85174176e-02 1.74427530e+02] [ 7.03252036e-02 -1.44756608e-03 9.97523068e-01 4.28856220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67710568099994 meters Centerline goodness [0,1] 0.9991253097861175 Centerline is valid? [True, True] Translation: X:213.01, Y:174.45, Z:42.89 [[-2.48187734e-01 -9.68579176e-01 1.60383614e-02 2.13008120e+02] [ 9.66123533e-01 -2.48700155e-01 -6.89460004e-02 1.74452710e+02] [ 7.07684032e-02 -1.61651318e-03 9.97491464e-01 4.28882246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7071056809999 meters Centerline goodness [0,1] 0.9990128953669088 Centerline is valid? [True, True] Translation: X:213.00, Y:174.48, Z:42.89 [[-2.51511502e-01 -9.67727780e-01 1.56495506e-02 2.12998779e+02] [ 9.65396453e-01 -2.51991601e-01 -6.71559544e-02 1.74479124e+02] [ 6.89322380e-02 -1.78247432e-03 9.97619752e-01 4.28933565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73710568099995 meters Centerline goodness [0,1] 0.9987450324199958 Centerline is valid? [True, True] Translation: X:212.99, Y:174.50, Z:42.89 [[-2.52044640e-01 -9.67588600e-01 1.56780560e-02 2.12994237e+02] [ 9.65256599e-01 -2.52525410e-01 -6.71611206e-02 1.74504512e+02] [ 6.89434421e-02 -1.79425347e-03 9.97618957e-01 4.28944823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7671056809999 meters Centerline goodness [0,1] 0.999012335301658 Centerline is valid? [True, True] Translation: X:212.99, Y:174.53, Z:42.89 [[-2.51394768e-01 -9.67754937e-01 1.58446609e-02 2.12985320e+02] [ 9.65382935e-01 -2.51887634e-01 -6.77377989e-02 1.74530212e+02] [ 6.95446634e-02 -1.73276302e-03 9.97577334e-01 4.28946097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79710568099995 meters Centerline goodness [0,1] 0.9990961449531257 Centerline is valid? [True, True] Translation: X:212.98, Y:174.56, Z:42.90 [[-2.50668314e-01 -9.67946014e-01 1.56815384e-02 2.12977643e+02] [ 9.65631599e-01 -2.51153048e-01 -6.69160816e-02 1.74555895e+02] [ 6.87096206e-02 -1.63115238e-03 9.97635368e-01 4.28968564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8271056809999 meters Centerline goodness [0,1] 0.9989265191858385 Centerline is valid? [True, True] Translation: X:212.97, Y:174.58, Z:42.89 [[-2.45519174e-01 -9.69257778e-01 1.61150764e-02 2.12967365e+02] [ 9.66825510e-01 -2.46044195e-01 -6.86344385e-02 1.74580585e+02] [ 7.04894843e-02 -1.27060369e-03 9.97511713e-01 4.28936743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85710568099995 meters Centerline goodness [0,1] 0.9989054475035783 Centerline is valid? [True, True] Translation: X:212.96, Y:174.61, Z:42.89 [[-2.41956660e-01 -9.70147349e-01 1.64650140e-02 2.12955258e+02] [ 9.67620017e-01 -2.42514159e-01 -6.99884643e-02 1.74606645e+02] [ 7.18921221e-02 -1.00229793e-03 9.97411910e-01 4.28933435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.8871056809999 meters Centerline goodness [0,1] 0.9988430795119899 Centerline is valid? [True, True] Translation: X:212.94, Y:174.63, Z:42.89 [[-2.35183411e-01 -9.71803924e-01 1.69084630e-02 2.12943145e+02] [ 9.69151704e-01 -2.35789939e-01 -7.17501155e-02 1.74631611e+02] [ 7.37138893e-02 -4.87571126e-04 9.97279311e-01 4.28922677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9171056809999 meters Centerline goodness [0,1] 0.998714626308697 Centerline is valid? [True, True] Translation: X:212.93, Y:174.66, Z:42.89 [[-2.32129238e-01 -9.72538070e-01 1.69032527e-02 2.12932785e+02] [ 9.69898376e-01 -2.32743746e-01 -7.16064814e-02 1.74655877e+02] [ 7.35741555e-02 -2.27520618e-04 9.97289723e-01 4.28945731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9471056809999 meters Centerline goodness [0,1] 0.9989297630789248 Centerline is valid? [True, True] Translation: X:212.92, Y:174.68, Z:42.90 [[-2.25780448e-01 -9.74043591e-01 1.61948021e-02 2.12920147e+02] [ 9.71633348e-01 -2.26360348e-01 -6.84808710e-02 1.74680670e+02] [ 7.03692146e-02 2.73768076e-04 9.97520977e-01 4.29024877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9771056809999 meters Centerline goodness [0,1] 0.9991428332497073 Centerline is valid? [True, True] Translation: X:212.91, Y:174.71, Z:42.91 [[-2.18773886e-01 -9.75650809e-01 1.56040205e-02 2.12908613e+02] [ 9.73425198e-01 -2.19328273e-01 -6.58672333e-02 1.74705881e+02] [ 6.76858224e-02 7.79316152e-04 9.97706381e-01 4.29081327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0071056809999 meters Centerline goodness [0,1] 0.9988862504465505 Centerline is valid? [True, True] Translation: X:212.90, Y:174.73, Z:42.91 [[-2.16232449e-01 -9.76221407e-01 1.53392690e-02 2.12900362e+02] [ 9.74079786e-01 -2.16773691e-01 -6.46354268e-02 1.74732129e+02] [ 6.64236373e-02 9.65395276e-04 9.97791044e-01 4.29110760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0371056809999 meters Centerline goodness [0,1] 0.9993101429885441 Centerline is valid? [True, True] Translation: X:212.89, Y:174.76, Z:42.91 [[-2.11405061e-01 -9.77279724e-01 1.52394504e-02 2.12892981e+02] [ 9.75175549e-01 -2.11949592e-01 -6.41094360e-02 1.74758845e+02] [ 6.58828472e-02 1.30808016e-03 9.97826508e-01 4.29130314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06710568099993 meters Centerline goodness [0,1] 0.9997266725537194 Centerline is valid? [True, True] Translation: X:212.88, Y:174.78, Z:42.91 [[-2.09293016e-01 -9.77733093e-01 1.53111865e-02 2.12884776e+02] [ 9.75617436e-01 -2.09847109e-01 -6.43024893e-02 1.74784128e+02] [ 6.60836799e-02 1.47979858e-03 9.97812987e-01 4.29135703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.0971056809999 meters Centerline goodness [0,1] 0.9997474588042174 Centerline is valid? [True, True] Translation: X:212.88, Y:174.81, Z:42.92 [[-2.06046790e-01 -9.78425531e-01 1.51062870e-02 2.12879869e+02] [ 9.76373586e-01 -2.06592852e-01 -6.33562431e-02 1.74811298e+02] [ 6.51102168e-02 1.69502913e-03 9.97876639e-01 4.29174077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12710568099993 meters Centerline goodness [0,1] 0.9997263330737006 Centerline is valid? [True, True] Translation: X:212.87, Y:174.84, Z:42.92 [[-2.05480755e-01 -9.78544169e-01 1.51316986e-02 2.12872249e+02] [ 9.76492620e-01 -2.06029657e-01 -6.33556837e-02 1.74837232e+02] [ 6.51139136e-02 1.75761834e-03 9.97876289e-01 4.29193904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.1571056809999 meters Centerline goodness [0,1] 0.9997057092407299 Centerline is valid? [True, True] Translation: X:212.87, Y:174.86, Z:42.92 [[-2.06069095e-01 -9.78416041e-01 1.54136005e-02 2.12872186e+02] [ 9.76294614e-01 -2.06637137e-01 -6.44198770e-02 1.74864673e+02] [ 6.62144633e-02 1.77326938e-03 9.97803839e-01 4.29190788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18710568099993 meters Centerline goodness [0,1] 0.9998114867412341 Centerline is valid? [True, True] Translation: X:212.88, Y:174.89, Z:42.91 [[-2.12830119e-01 -9.76952725e-01 1.63313467e-02 2.12879669e+02] [ 9.74575967e-01 -2.13451075e-01 -6.81199135e-02 1.74894800e+02] [ 7.00358786e-02 1.41816871e-03 9.97543465e-01 4.29147236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2171056809999 meters Centerline goodness [0,1] 0.9997054739765221 Centerline is valid? [True, True] Translation: X:212.88, Y:174.92, Z:42.91 [[-2.18658582e-01 -9.75659310e-01 1.66534160e-02 2.12883330e+02] [ 9.73192680e-01 -2.19289351e-01 -6.93410990e-02 1.74923559e+02] [ 7.13052056e-02 1.04495618e-03 9.97453997e-01 4.29146515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24710568099994 meters Centerline goodness [0,1] 0.9995798937131094 Centerline is valid? [True, True] Translation: X:212.90, Y:174.95, Z:42.92 [[-2.30636831e-01 -9.72892723e-01 1.69233986e-02 2.12895001e+02] [ 9.70347153e-01 -2.31256803e-01 -7.03327365e-02 1.74953802e+02] [ 7.23398586e-02 2.00252180e-04 9.97380020e-01 4.29159595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2771056809999 meters Centerline goodness [0,1] 0.9997280619182094 Centerline is valid? [True, True] Translation: X:212.90, Y:174.98, Z:42.92 [[-2.35728563e-01 -9.71671578e-01 1.69230329e-02 2.12897441e+02] [ 9.69132396e-01 -2.36335191e-01 -7.02002586e-02 1.74981543e+02] [ 7.22111043e-02 -1.47546690e-04 9.97389360e-01 4.29181616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30710568099994 meters Centerline goodness [0,1] 0.9997916493041087 Centerline is valid? [True, True] Translation: X:212.91, Y:175.01, Z:42.92 [[-2.45961999e-01 -9.69140174e-01 1.64322166e-02 2.12911199e+02] [ 9.66749728e-01 -2.46508833e-01 -6.80320388e-02 1.75011673e+02] [ 6.99832685e-02 -8.47455344e-04 9.97547805e-01 4.29224374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3371056809999 meters Centerline goodness [0,1] 0.9999790540823593 Centerline is valid? [True, True] Translation: X:212.91, Y:175.04, Z:42.93 [[-2.51675860e-01 -9.67671868e-01 1.64443508e-02 2.12914190e+02] [ 9.65283640e-01 -2.52209525e-01 -6.79547674e-02 1.75040264e+02] [ 6.99053386e-02 -1.22911169e-03 9.97552872e-01 4.29253998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36710568099994 meters Centerline goodness [0,1] 0.9999579708317572 Centerline is valid? [True, True] Translation: X:212.92, Y:175.07, Z:42.93 [[-2.60474392e-01 -9.65338690e-01 1.65621674e-02 2.12920341e+02] [ 9.62919757e-01 -2.60993870e-01 -6.83208728e-02 1.75070503e+02] [ 7.02754060e-02 -1.84779960e-03 9.97525916e-01 4.29268297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:175.10, Z:42.93 [[-2.63131050e-01 -9.64617436e-01 1.65907558e-02 2.12919567e+02] [ 9.62196817e-01 -2.63645869e-01 -6.83238019e-02 1.75097092e+02] [ 7.02804149e-02 -2.01454129e-03 9.97525240e-01 4.29288491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42710568099994 meters Centerline goodness [0,1] 0.9999791492910759 Centerline is valid? [True, True] Translation: X:212.92, Y:175.12, Z:42.93 [[-2.65404564e-01 -9.63994848e-01 1.65635060e-02 2.12917213e+02] [ 9.61588083e-01 -2.65912225e-01 -6.81105540e-02 1.75124565e+02] [ 7.00626619e-02 -2.14958184e-03 9.97540276e-01 4.29328061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4571056809999 meters Centerline goodness [0,1] 0.9999368912636473 Centerline is valid? [True, True] Translation: X:212.91, Y:175.15, Z:42.94 [[-2.66853230e-01 -9.63593064e-01 1.66661728e-02 2.12909057e+02] [ 9.61164486e-01 -2.67363816e-01 -6.84062976e-02 1.75150762e+02] [ 7.03717654e-02 -2.23550809e-03 9.97518329e-01 4.29353129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.91, Y:175.18, Z:42.94 [[-2.67159608e-01 -9.63507534e-01 1.67025887e-02 2.12906973e+02] [ 9.61077177e-01 -2.67671936e-01 -6.84280304e-02 1.75177293e+02] [ 7.04017370e-02 -2.22872900e-03 9.97516230e-01 4.29362235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.90, Y:175.20, Z:42.94 [[-2.68263189e-01 -9.63198336e-01 1.68471476e-02 2.12898136e+02] [ 9.60734545e-01 -2.68781884e-01 -6.88871005e-02 1.75202800e+02] [ 7.08801487e-02 -2.29423657e-03 9.97482201e-01 4.29376522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.89, Y:175.23, Z:42.94 [[-2.68665978e-01 -9.63085558e-01 1.68760546e-02 2.12891542e+02] [ 9.60621985e-01 -2.69185708e-01 -6.88800188e-02 1.75228554e+02] [ 7.08801440e-02 -2.29420858e-03 9.97482201e-01 4.29393425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5771056809999 meters Centerline goodness [0,1] 0.9999583411443688 Centerline is valid? [True, True] Translation: X:212.89, Y:175.25, Z:42.94 [[-2.69313560e-01 -9.62902152e-01 1.70191681e-02 2.12885509e+02] [ 9.60405310e-01 -2.69840741e-01 -6.93369639e-02 1.75254367e+02] [ 7.13571767e-02 -2.32808521e-03 9.97448111e-01 4.29414070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60710568099995 meters Centerline goodness [0,1] 0.9999789438221174 Centerline is valid? [True, True] Translation: X:212.88, Y:175.28, Z:42.95 [[-2.70424291e-01 -9.62591416e-01 1.69843703e-02 2.12876500e+02] [ 9.60113519e-01 -2.70946767e-01 -6.90643161e-02 1.75279074e+02] [ 7.10825780e-02 -2.36974518e-03 9.97467619e-01 4.29450495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6371056809999 meters Centerline goodness [0,1] 0.9997500468662126 Centerline is valid? [True, True] Translation: X:212.87, Y:175.30, Z:42.95 [[-2.70282984e-01 -9.62634694e-01 1.67795678e-02 2.12867254e+02] [ 9.60225500e-01 -2.70793612e-01 -6.81014647e-02 1.75304306e+02] [ 7.01006325e-02 -2.29449821e-03 9.97537286e-01 4.29475459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6671056809999 meters Centerline goodness [0,1] 0.9998529535333165 Centerline is valid? [True, True] Translation: X:212.86, Y:175.33, Z:42.95 [[-2.69741677e-01 -9.62793135e-01 1.63953570e-02 2.12856068e+02] [ 9.60500426e-01 -2.70230743e-01 -6.64400288e-02 1.75327382e+02] [ 6.83985331e-02 -2.17389742e-03 9.97655710e-01 4.29511859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.6971056809999 meters Centerline goodness [0,1] 0.9997924449979244 Centerline is valid? [True, True] Translation: X:212.85, Y:175.35, Z:42.95 [[-2.69570458e-01 -9.62840680e-01 1.64192807e-02 2.12846402e+02] [ 9.60548571e-01 -2.70061585e-01 -6.64318001e-02 1.75351712e+02] [ 6.83974566e-02 -2.13653415e-03 9.97655864e-01 4.29515139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7271056809999 meters Centerline goodness [0,1] 0.999646885320815 Centerline is valid? [True, True] Translation: X:212.84, Y:175.38, Z:42.95 [[-2.71084340e-01 -9.62409245e-01 1.67846798e-02 2.12839320e+02] [ 9.60022101e-01 -2.71594061e-01 -6.77807533e-02 1.75377092e+02] [ 6.97914430e-02 -2.26063722e-03 9.97559043e-01 4.29491320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7571056809999 meters Centerline goodness [0,1] 0.9995168473237543 Centerline is valid? [True, True] Translation: X:212.83, Y:175.40, Z:42.95 [[-2.73767881e-01 -9.61649634e-01 1.67668817e-02 2.12833693e+02] [ 9.59272540e-01 -2.74270102e-01 -6.76173471e-02 1.75403806e+02] [ 6.96228515e-02 -2.42744866e-03 9.97570432e-01 4.29494139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.7871056809999 meters Centerline goodness [0,1] 0.9992010428493335 Centerline is valid? [True, True] Translation: X:212.83, Y:175.43, Z:42.95 [[-2.79106571e-01 -9.60114419e-01 1.67279673e-02 2.12827172e+02] [ 9.57753536e-01 -2.79593632e-01 -6.73466085e-02 1.75428690e+02] [ 6.93374830e-02 -2.77561117e-03 9.97589399e-01 4.29501649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81710568099993 meters Centerline goodness [0,1] 0.9994357248845326 Centerline is valid? [True, True] Translation: X:212.82, Y:175.45, Z:42.95 [[-2.82234808e-01 -9.59194932e-01 1.69880887e-02 2.12817854e+02] [ 9.56767323e-01 -2.82729554e-01 -6.82663131e-02 1.75453881e+02] [ 7.02837363e-02 -3.01348165e-03 9.97522489e-01 4.29517487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8471056809999 meters Centerline goodness [0,1] 0.999832436168653 Centerline is valid? [True, True] Translation: X:212.81, Y:175.48, Z:42.95 [[-2.88308804e-01 -9.57383862e-01 1.71515176e-02 2.12806109e+02] [ 9.54914917e-01 -2.88797835e-01 -6.87990692e-02 1.75478888e+02] [ 7.08204397e-02 -3.45713739e-03 9.97483089e-01 4.29540629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87710568099993 meters Centerline goodness [0,1] 0.9996237536840785 Centerline is valid? [True, True] Translation: X:212.80, Y:175.51, Z:42.96 [[-2.92721765e-01 -9.56050174e-01 1.67938507e-02 2.12800724e+02] [ 9.53689114e-01 -2.93180153e-01 -6.72493235e-02 1.75505056e+02] [ 6.92173512e-02 -3.66922808e-03 9.97594855e-01 4.29558173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9071056809999 meters Centerline goodness [0,1] 0.9998120025901865 Centerline is valid? [True, True] Translation: X:212.79, Y:175.53, Z:42.96 [[-2.95057929e-01 -9.55336388e-01 1.65289169e-02 2.12790307e+02] [ 9.53055809e-01 -2.95496820e-01 -6.60776401e-02 1.75530968e+02] [ 6.80106164e-02 -3.74375142e-03 9.97677573e-01 4.29578552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93710568099993 meters Centerline goodness [0,1] 0.9995410068640337 Centerline is valid? [True, True] Translation: X:212.79, Y:175.56, Z:42.96 [[-2.96917624e-01 -9.54761220e-01 1.64601565e-02 2.12785406e+02] [ 9.52505929e-01 -2.97348881e-01 -6.56970249e-02 1.75557664e+02] [ 6.76193808e-02 -3.82820787e-03 9.97703846e-01 4.29604802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.9671056809999 meters Centerline goodness [0,1] 0.9992242373414404 Centerline is valid? [True, True] Translation: X:212.77, Y:175.58, Z:42.96 [[-2.98201641e-01 -9.54363043e-01 1.63390240e-02 2.12773919e+02] [ 9.52147550e-01 -2.98624015e-01 -6.51056139e-02 1.75581126e+02] [ 6.70136168e-02 -3.85743921e-03 9.97744604e-01 4.29626972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99710568099994 meters Centerline goodness [0,1] 0.9988116334827478 Centerline is valid? [True, True] Translation: X:212.76, Y:175.60, Z:42.96 [[-2.96161088e-01 -9.54998910e-01 1.63000667e-02 2.12761342e+02] [ 9.52801074e-01 -2.96586508e-01 -6.48579677e-02 1.75604779e+02] [ 6.67736684e-02 -3.67768525e-03 9.97761370e-01 4.29645319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0271056809999 meters Centerline goodness [0,1] 0.9990437981998461 Centerline is valid? [True, True] Translation: X:212.74, Y:175.63, Z:42.97 [[-2.95097959e-01 -9.55327582e-01 1.63219501e-02 2.12741025e+02] [ 9.53131593e-01 -2.95527365e-01 -6.48362736e-02 1.75627764e+02] [ 6.67634634e-02 -3.57608572e-03 9.97762422e-01 4.29663616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05710568099994 meters Centerline goodness [0,1] 0.9981938464769505 Centerline is valid? [True, True] Translation: X:212.73, Y:175.65, Z:42.97 [[-2.93610860e-01 -9.55785103e-01 1.63554325e-02 2.12725077e+02] [ 9.53588167e-01 -2.94045841e-01 -6.48587102e-02 1.75652192e+02] [ 6.68002359e-02 -3.44687477e-03 9.97760416e-01 4.29652197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0871056809999 meters Centerline goodness [0,1] 0.9984041659667394 Centerline is valid? [True, True] Translation: X:212.71, Y:175.68, Z:42.97 [[-2.93106742e-01 -9.55937703e-01 1.64786652e-02 2.12714893e+02] [ 9.53714946e-01 -2.93549834e-01 -6.52403029e-02 1.75677679e+02] [ 6.72029747e-02 -3.40642333e-03 9.97733510e-01 4.29663775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11710568099994 meters Centerline goodness [0,1] 0.99800834399044 Centerline is valid? [True, True] Translation: X:212.70, Y:175.70, Z:42.97 [[-2.90574640e-01 -9.56704982e-01 1.67915609e-02 2.12696262e+02] [ 9.54406048e-01 -2.91041175e-01 -6.63636223e-02 1.75701292e+02] [ 6.83774437e-02 -3.25761837e-03 9.97654205e-01 4.29659968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1471056809999 meters Centerline goodness [0,1] 0.9977611784152491 Centerline is valid? [True, True] Translation: X:212.68, Y:175.72, Z:42.97 [[-2.86475851e-01 -9.57945989e-01 1.64642018e-02 2.12677235e+02] [ 9.55744878e-01 -2.86934164e-01 -6.49654816e-02 1.75724249e+02] [ 6.69575645e-02 -2.87546508e-03 9.97751681e-01 4.29682247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17710568099994 meters Centerline goodness [0,1] 0.9980978658472858 Centerline is valid? [True, True] Translation: X:212.66, Y:175.75, Z:42.97 [[-2.83211586e-01 -9.58918430e-01 1.63291628e-02 2.12664268e+02] [ 9.56762276e-01 -2.83670087e-01 -6.43213009e-02 1.75748090e+02] [ 6.63109759e-02 -2.59341067e-03 9.97795635e-01 4.29707671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2071056809999 meters Centerline goodness [0,1] 0.9972668404675805 Centerline is valid? [True, True] Translation: X:212.64, Y:175.77, Z:42.97 [[-2.75821083e-01 -9.61078516e-01 1.58371917e-02 2.12642683e+02] [ 9.59060488e-01 -2.76268219e-01 -6.22804196e-02 1.75770377e+02] [ 6.42316859e-02 -1.98942798e-03 9.97933030e-01 4.29730268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23710568099995 meters Centerline goodness [0,1] 0.9974604373924358 Centerline is valid? [True, True] Translation: X:212.63, Y:175.79, Z:42.97 [[-2.72274958e-01 -9.62087368e-01 1.59449981e-02 2.12629737e+02] [ 9.60050107e-01 -2.72735915e-01 -6.26012197e-02 1.75793942e+02] [ 6.45766163e-02 -1.73674733e-03 9.97911241e-01 4.29725032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2671056809999 meters Centerline goodness [0,1] 0.9972648853355776 Centerline is valid? [True, True] Translation: X:212.61, Y:175.82, Z:42.97 [[-2.64561568e-01 -9.64231685e-01 1.62614159e-02 2.12609229e+02] [ 9.62124091e-01 -2.65058071e-01 -6.37295285e-02 1.75816761e+02] [ 6.57602502e-02 -1.21488400e-03 9.97834713e-01 4.29694315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29710568099995 meters Centerline goodness [0,1] 0.9974949477938699 Centerline is valid? [True, True] Translation: X:212.60, Y:175.84, Z:42.97 [[-2.60486888e-01 -9.65336989e-01 1.64645016e-02 2.12595262e+02] [ 9.63185960e-01 -2.61005078e-01 -6.44139460e-02 1.75842210e+02] [ 6.64784832e-02 -9.20611569e-04 9.97787434e-01 4.29696048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3271056809999 meters Centerline goodness [0,1] 0.9977629103073384 Centerline is valid? [True, True] Translation: X:212.57, Y:175.86, Z:42.97 [[-2.50502299e-01 -9.67978149e-01 1.63371177e-02 2.12574300e+02] [ 9.65872151e-01 -2.51034381e-01 -6.38179185e-02 1.75864898e+02] [ 6.58755289e-02 -2.06968244e-04 9.97827827e-01 4.29707671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3571056809999 meters Centerline goodness [0,1] 0.9976709540695357 Centerline is valid? [True, True] Translation: X:212.56, Y:175.89, Z:42.97 [[-2.46192951e-01 -9.69080194e-01 1.65108556e-02 2.12560659e+02] [ 9.66937937e-01 -2.46745953e-01 -6.44007882e-02 1.75889025e+02] [ 6.64835152e-02 1.09952559e-04 9.97787518e-01 4.29709728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3871056809999 meters Centerline goodness [0,1] 0.9982718651211802 Centerline is valid? [True, True] Translation: X:212.54, Y:175.91, Z:42.97 [[-2.37105831e-01 -9.71343675e-01 1.65012345e-02 2.12542857e+02] [ 9.69216832e-01 -2.37678120e-01 -6.42483039e-02 1.75911839e+02] [ 6.63291660e-02 7.59626719e-04 9.97797507e-01 4.29707304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4171056809999 meters Centerline goodness [0,1] 0.9983636821347655 Centerline is valid? [True, True] Translation: X:212.53, Y:175.94, Z:42.97 [[-2.33789014e-01 -9.72145934e-01 1.65825267e-02 2.12533019e+02] [ 9.70005571e-01 -2.34374195e-01 -6.44820041e-02 1.75936275e+02] [ 6.65724344e-02 1.00995907e-03 9.97781084e-01 4.29725834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4471056809999 meters Centerline goodness [0,1] 0.9984119355580166 Centerline is valid? [True, True] Translation: X:212.53, Y:175.96, Z:42.97 [[-2.30840036e-01 -9.72848883e-01 1.66712069e-02 2.12527233e+02] [ 9.70694676e-01 -2.31437909e-01 -6.47173812e-02 1.75963904e+02] [ 6.68185812e-02 1.24328914e-03 9.97764367e-01 4.29747042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4771056809999 meters Centerline goodness [0,1] 0.998425626600613 Centerline is valid? [True, True] Translation: X:212.52, Y:175.99, Z:42.98 [[-2.31042458e-01 -9.72800182e-01 1.67089598e-02 2.12521500e+02] [ 9.70642912e-01 -2.31642461e-01 -6.47619335e-02 1.75990641e+02] [ 6.68709253e-02 1.25567715e-03 9.97760844e-01 4.29768823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5071056809999 meters Centerline goodness [0,1] 0.9984524008700016 Centerline is valid? [True, True] Translation: X:212.52, Y:176.02, Z:42.98 [[-2.31228974e-01 -9.72761384e-01 1.63845038e-02 2.12517213e+02] [ 9.70694262e-01 -2.31805390e-01 -6.33948719e-02 1.76016697e+02] [ 6.54660996e-02 1.24561266e-03 9.97854017e-01 4.29815920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5371056809999 meters Centerline goodness [0,1] 0.9981057417073581 Centerline is valid? [True, True] Translation: X:212.51, Y:176.04, Z:42.98 [[-2.30236572e-01 -9.72993523e-01 1.65748561e-02 2.12514024e+02] [ 9.70886435e-01 -2.30828447e-01 -6.40137399e-02 1.76044580e+02] [ 6.61109025e-02 1.35399888e-03 9.97811363e-01 4.29821250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56710568099993 meters Centerline goodness [0,1] 0.9983296795072555 Centerline is valid? [True, True] Translation: X:212.51, Y:176.07, Z:42.98 [[-2.29222014e-01 -9.73225646e-01 1.70032416e-02 2.12507954e+02] [ 9.71015777e-01 -2.29847008e-01 -6.55645781e-02 1.76070375e+02] [ 6.77172731e-02 1.48157125e-03 9.97703451e-01 4.29816698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.5971056809999 meters Centerline goodness [0,1] 0.9984734739967797 Centerline is valid? [True, True] Translation: X:212.50, Y:176.10, Z:42.98 [[-2.27725180e-01 -9.73571785e-01 1.72980239e-02 2.12502259e+02] [ 9.71290897e-01 -2.28375401e-01 -6.66233436e-02 1.76095366e+02] [ 6.88130507e-02 1.62960021e-03 9.97628242e-01 4.29808138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62710568099993 meters Centerline goodness [0,1] 0.9982243947274968 Centerline is valid? [True, True] Translation: X:212.50, Y:176.12, Z:42.98 [[-2.24261619e-01 -9.74371682e-01 1.75086103e-02 2.12499724e+02] [ 9.72045093e-01 -2.24935842e-01 -6.73216425e-02 1.76123623e+02] [ 6.95346160e-02 1.92149821e-03 9.97577689e-01 4.29809628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.6571056809999 meters Centerline goodness [0,1] 0.9985566967180538 Centerline is valid? [True, True] Translation: X:212.50, Y:176.15, Z:42.98 [[-2.22895142e-01 -9.74687922e-01 1.73554182e-02 2.12495041e+02] [ 9.72409875e-01 -2.23560629e-01 -6.66309254e-02 1.76150117e+02] [ 6.88243464e-02 2.02487045e-03 9.97626738e-01 4.29829325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68710568099993 meters Centerline goodness [0,1] 0.9985331405460908 Centerline is valid? [True, True] Translation: X:212.50, Y:176.18, Z:42.99 [[-2.21028229e-01 -9.75115505e-01 1.72126292e-02 2.12499914e+02] [ 9.72883296e-01 -2.21686882e-01 -6.59774059e-02 1.76180072e+02] [ 6.81514055e-02 2.16301027e-03 9.97672645e-01 4.29864073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7171056809999 meters Centerline goodness [0,1] 0.9983406276575885 Centerline is valid? [True, True] Translation: X:212.50, Y:176.21, Z:42.99 [[-2.21993337e-01 -9.74896079e-01 1.72219162e-02 2.12496962e+02] [ 9.72667928e-01 -2.22650268e-01 -6.59087235e-02 1.76206343e+02] [ 6.80886204e-02 2.11990806e-03 9.97677025e-01 4.29887323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74710568099994 meters Centerline goodness [0,1] 0.9987799747580984 Centerline is valid? [True, True] Translation: X:212.51, Y:176.24, Z:43.00 [[-2.25105614e-01 -9.74191459e-01 1.66872477e-02 2.12506030e+02] [ 9.72105190e-01 -2.25715528e-01 -6.37495169e-02 1.76236794e+02] [ 6.58708058e-02 1.87138597e-03 9.97826405e-01 4.29954000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7771056809999 meters Centerline goodness [0,1] 0.999434128348074 Centerline is valid? [True, True] Translation: X:212.52, Y:176.27, Z:43.00 [[-2.28483920e-01 -9.73410833e-01 1.63232340e-02 2.12516211e+02] [ 9.71418834e-01 -2.29060454e-01 -6.22636120e-02 1.76267369e+02] [ 6.43470818e-02 1.63046278e-03 9.97926247e-01 4.30015568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80710568099994 meters Centerline goodness [0,1] 0.9993498185784098 Centerline is valid? [True, True] Translation: X:212.52, Y:176.30, Z:43.00 [[-2.30773324e-01 -9.72871112e-01 1.62933568e-02 2.12519608e+02] [ 9.70891224e-01 -2.31342936e-01 -6.20538257e-02 1.76296773e+02] [ 6.41397274e-02 1.49870953e-03 9.97939802e-01 4.30047263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8371056809999 meters Centerline goodness [0,1] 0.9995791688584955 Centerline is valid? [True, True] Translation: X:212.53, Y:176.33, Z:43.01 [[-2.35562789e-01 -9.71728670e-01 1.59237280e-02 2.12528938e+02] [ 9.69840819e-01 -2.36097442e-01 -6.05539644e-02 1.76327592e+02] [ 6.26015748e-02 1.17922063e-03 9.98037901e-01 4.30110150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86710568099994 meters Centerline goodness [0,1] 0.9996629663176964 Centerline is valid? [True, True] Translation: X:212.53, Y:176.35, Z:43.01 [[-2.38273504e-01 -9.71069937e-01 1.57770445e-02 2.12528714e+02] [ 9.69221197e-01 -2.38793090e-01 -5.99010096e-02 1.76354356e+02] [ 6.19355189e-02 1.01862251e-03 9.98079633e-01 4.30143658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8971056809999 meters Centerline goodness [0,1] 0.9997895091353035 Centerline is valid? [True, True] Translation: X:212.54, Y:176.38, Z:43.02 [[-2.42771994e-01 -9.69956163e-01 1.57099158e-02 2.12535836e+02] [ 9.68125821e-01 -2.43278610e-01 -5.95643625e-02 1.76383643e+02] [ 6.15967070e-02 7.48616084e-04 9.98100839e-01 4.30174482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92710568099994 meters Centerline goodness [0,1] 0.9999789677365079 Centerline is valid? [True, True] Translation: X:212.54, Y:176.41, Z:43.02 [[-2.46280407e-01 -9.69064554e-01 1.61198901e-02 2.12537029e+02] [ 9.67142157e-01 -2.46806749e-01 -6.10121036e-02 1.76411839e+02] [ 6.31031646e-02 5.64139642e-04 9.98006850e-01 4.30187788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:176.44, Z:43.02 [[-2.52134728e-01 -9.67546659e-01 1.67792145e-02 2.12544176e+02] [ 9.65467424e-01 -2.52692336e-01 -6.33974461e-02 1.76442257e+02] [ 6.55799660e-02 2.15087150e-04 9.97847294e-01 4.30171573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.55, Y:176.47, Z:43.02 [[-2.57578022e-01 -9.66112393e-01 1.67453628e-02 2.12546884e+02] [ 9.64045750e-01 -2.58121733e-01 -6.31582398e-02 1.76469495e+02] [ 6.53403002e-02 -1.24878617e-04 9.97863031e-01 4.30185478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:176.50, Z:43.02 [[-2.60629927e-01 -9.65291425e-01 1.68673150e-02 2.12543756e+02] [ 9.63200534e-01 -2.61174986e-01 -6.35008585e-02 1.76496484e+02] [ 6.57021549e-02 -3.03617287e-04 9.97839233e-01 4.30203458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.55, Y:176.53, Z:43.02 [[-2.68860297e-01 -9.63025597e-01 1.72000369e-02 2.12547038e+02] [ 9.60854019e-01 -2.69408561e-01 -6.46419492e-02 1.76525351e+02] [ 6.68856889e-02 -8.52929085e-04 9.97760280e-01 4.30203696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:176.55, Z:43.02 [[-2.72936259e-01 -9.61877258e-01 1.72609230e-02 2.12544749e+02] [ 9.59695244e-01 -2.73479263e-01 -6.47621063e-02 1.76552819e+02] [ 6.70137017e-02 -1.11070128e-03 9.97751437e-01 4.30212106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.55, Y:176.58, Z:43.02 [[-2.79911702e-01 -9.59867659e-01 1.74217036e-02 2.12547366e+02] [ 9.57648483e-01 -2.80448886e-01 -6.52518679e-02 1.76580536e+02] [ 6.75190550e-02 -1.58089341e-03 9.97716732e-01 4.30219653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:176.61, Z:43.03 [[-2.83325386e-01 -9.58869522e-01 1.72036271e-02 2.12542491e+02] [ 9.56711375e-01 -2.83841723e-01 -6.43212279e-02 1.76607403e+02] [ 6.65587722e-02 -1.76493100e-03 9.97780945e-01 4.30252441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1671056809999 meters Centerline goodness [0,1] 0.9999790667978481 Centerline is valid? [True, True] Translation: X:212.54, Y:176.63, Z:43.03 [[-2.87983431e-01 -9.57488141e-01 1.67929190e-02 2.12539513e+02] [ 9.55436278e-01 -2.88465650e-01 -6.26824326e-02 1.76633162e+02] [ 6.48618662e-02 -2.00693800e-03 9.97892234e-01 4.30296809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.53, Y:176.66, Z:43.03 [[-2.88856205e-01 -9.57226016e-01 1.67465424e-02 2.12531290e+02] [ 9.55192119e-01 -2.89334130e-01 -6.24001367e-02 1.76657900e+02] [ 6.45763806e-02 -2.02850134e-03 9.97910706e-01 4.30321558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2271056809999 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:212.52, Y:176.68, Z:43.03 [[-2.91149374e-01 -9.56517939e-01 1.74778093e-02 2.12523547e+02] [ 9.54309439e-01 -2.91664857e-01 -6.50008132e-02 1.76683272e+02] [ 6.72721067e-02 -2.24570769e-03 9.97732139e-01 4.30301912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2571056809999 meters Centerline goodness [0,1] 0.9998738859929376 Centerline is valid? [True, True] Translation: X:212.52, Y:176.71, Z:43.03 [[-2.95442788e-01 -9.55191596e-01 1.79603457e-02 2.12517069e+02] [ 9.52865007e-01 -2.95976906e-01 -6.66779495e-02 1.76709371e+02] [ 6.90060645e-02 -2.58573437e-03 9.97612889e-01 4.30285139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.2871056809999 meters Centerline goodness [0,1] 0.9999374269981646 Centerline is valid? [True, True] Translation: X:212.51, Y:176.74, Z:43.03 [[-2.98554793e-01 -9.54228611e-01 1.76859935e-02 2.12513891e+02] [ 9.51978259e-01 -2.99065682e-01 -6.55523671e-02 1.76735171e+02] [ 6.78412179e-02 -2.73429204e-03 9.97692384e-01 4.30309246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31710568099993 meters Centerline goodness [0,1] 0.9999790913082568 Centerline is valid? [True, True] Translation: X:212.50, Y:176.76, Z:43.04 [[-3.04890270e-01 -9.52230307e-01 1.73021642e-02 2.12501063e+02] [ 9.50078715e-01 -3.05365179e-01 -6.40510949e-02 1.76759050e+02] [ 6.62748723e-02 -3.09013769e-03 9.97796619e-01 4.30372433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3471056809999 meters Centerline goodness [0,1] 0.9999790584687552 Centerline is valid? [True, True] Translation: X:212.49, Y:176.78, Z:43.04 [[-3.07719938e-01 -9.51320495e-01 1.72555881e-02 2.12490941e+02] [ 9.49186322e-01 -3.08186291e-01 -6.37694012e-02 1.76783879e+02] [ 6.59830740e-02 -3.24434794e-03 9.97815468e-01 4.30397714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37710568099993 meters Centerline goodness [0,1] 0.9998750416527824 Centerline is valid? [True, True] Translation: X:212.48, Y:176.81, Z:43.04 [[-3.10376212e-01 -9.50462015e-01 1.69872098e-02 2.12479703e+02] [ 9.48399583e-01 -3.10822780e-01 -6.26692190e-02 1.76807875e+02] [ 6.48447239e-02 -3.34037208e-03 9.97889775e-01 4.30422679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4071056809999 meters Centerline goodness [0,1] 0.9998104105664511 Centerline is valid? [True, True] Translation: X:212.46, Y:176.83, Z:43.05 [[-3.10456279e-01 -9.50436783e-01 1.69357574e-02 2.12463313e+02] [ 9.48393780e-01 -3.10900335e-01 -6.23716241e-02 1.76831055e+02] [ 6.45456184e-02 -3.30189536e-03 9.97909295e-01 4.30457082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43710568099993 meters Centerline goodness [0,1] 0.9994558278741706 Centerline is valid? [True, True] Translation: X:212.44, Y:176.85, Z:43.05 [[-3.05758043e-01 -9.51954591e-01 1.71602879e-02 2.12441827e+02] [ 9.49866333e-01 -3.06224612e-01 -6.30906985e-02 1.76852372e+02] [ 6.53143826e-02 -2.99050875e-03 9.97860255e-01 4.30463636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.4671056809999 meters Centerline goodness [0,1] 0.9994558278741706 Centerline is valid? [True, True] Translation: X:212.43, Y:176.88, Z:43.05 [[-3.06157119e-01 -9.51825832e-01 1.71873157e-02 2.12434584e+02] [ 9.49737778e-01 -3.06624600e-01 -6.30833349e-02 1.76877960e+02] [ 6.53144015e-02 -2.98996900e-03 9.97860255e-01 4.30480547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49710568099994 meters Centerline goodness [0,1] 0.9993694962274857 Centerline is valid? [True, True] Translation: X:212.42, Y:176.90, Z:43.05 [[-3.03336167e-01 -9.52726239e-01 1.73171532e-02 2.12418115e+02] [ 9.50614847e-01 -3.03817300e-01 -6.34543947e-02 1.76902058e+02] [ 6.57159175e-02 -2.78606993e-03 9.97834483e-01 4.30481832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5271056809999 meters Centerline goodness [0,1] 0.9990167569716115 Centerline is valid? [True, True] Translation: X:212.40, Y:176.92, Z:43.04 [[-2.96124127e-01 -9.54980158e-01 1.79832936e-02 2.12399168e+02] [ 9.52714217e-01 -2.96660379e-01 -6.57893578e-02 1.76924847e+02] [ 6.81624620e-02 -2.34887666e-03 9.97671470e-01 4.30442376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55710568099994 meters Centerline goodness [0,1] 0.9993091464818809 Centerline is valid? [True, True] Translation: X:212.38, Y:176.95, Z:43.04 [[-2.92830201e-01 -9.55987906e-01 1.83737800e-02 2.12376585e+02] [ 9.53632469e-01 -2.93398359e-01 -6.71007983e-02 1.76946638e+02] [ 6.95383886e-02 -2.12730708e-03 9.97577008e-01 4.30436842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5871056809999 meters Centerline goodness [0,1] 0.9991158453150327 Centerline is valid? [True, True] Translation: X:212.36, Y:176.97, Z:43.05 [[-2.92422273e-01 -9.56114352e-01 1.82909712e-02 2.12364614e+02] [ 9.53787890e-01 -2.92986550e-01 -6.66898966e-02 1.76970336e+02] [ 6.91221758e-02 -2.05590433e-03 9.97606084e-01 4.30463921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61710568099994 meters Centerline goodness [0,1] 0.9988835759273692 Centerline is valid? [True, True] Translation: X:212.35, Y:176.99, Z:43.05 [[-2.95267141e-01 -9.55245956e-01 1.79576826e-02 2.12350324e+02] [ 9.53009406e-01 -2.95804635e-01 -6.53658112e-02 1.76994467e+02] [ 6.77523926e-02 -2.18653576e-03 9.97699771e-01 4.30483636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6471056809999 meters Centerline goodness [0,1] 0.9990333494441759 Centerline is valid? [True, True] Translation: X:212.34, Y:177.02, Z:43.05 [[-2.98454193e-01 -9.54251759e-01 1.81294057e-02 2.12343357e+02] [ 9.51977631e-01 -2.98994645e-01 -6.58846877e-02 1.77019136e+02] [ 6.82911743e-02 -2.40477262e-03 9.97662534e-01 4.30488838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67710568099994 meters Centerline goodness [0,1] 0.998820456651782 Centerline is valid? [True, True] Translation: X:212.33, Y:177.04, Z:43.05 [[-3.03261036e-01 -9.52728721e-01 1.84588065e-02 2.12334415e+02] [ 9.50374769e-01 -3.03809640e-01 -6.69888098e-02 1.77044291e+02] [ 6.94301265e-02 -2.77231186e-03 9.97582965e-01 4.30501433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7071056809999 meters Centerline goodness [0,1] 0.9981284434537578 Centerline is valid? [True, True] Translation: X:212.33, Y:177.07, Z:43.05 [[-3.13191959e-01 -9.49514024e-01 1.82733597e-02 2.12325899e+02] [ 9.47209341e-01 -3.13705882e-01 -6.62048630e-02 1.77070196e+02] [ 6.85949062e-02 -3.42613372e-03 9.97638712e-01 4.30515682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73710568099995 meters Centerline goodness [0,1] 0.9979612425911135 Centerline is valid? [True, True] Translation: X:212.32, Y:177.10, Z:43.05 [[-3.21714832e-01 -9.46673203e-01 1.75901799e-02 2.12317472e+02] [ 9.44540059e-01 -3.22172270e-01 -6.36325738e-02 1.77095030e+02] [ 6.59063206e-02 -3.85691324e-03 9.97818361e-01 4.30549435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7671056809999 meters Centerline goodness [0,1] 0.997773708959261 Centerline is valid? [True, True] Translation: X:212.31, Y:177.12, Z:43.05 [[-3.24942344e-01 -9.45571241e-01 1.75356841e-02 2.12308732e+02] [ 9.43454920e-01 -3.25390041e-01 -6.33572025e-02 1.77120847e+02] [ 6.56146856e-02 -4.04331046e-03 9.97836843e-01 4.30549262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79710568099995 meters Centerline goodness [0,1] 0.9978129205921938 Centerline is valid? [True, True] Translation: X:212.29, Y:177.15, Z:43.05 [[-3.31358017e-01 -9.43333728e-01 1.79817091e-02 2.12293219e+02] [ 9.41111884e-01 -3.31814069e-01 -6.48679064e-02 1.77145424e+02] [ 6.71586680e-02 -4.57170072e-03 9.97731834e-01 4.30536600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8271056809999 meters Centerline goodness [0,1] 0.9972433820125416 Centerline is valid? [True, True] Translation: X:212.28, Y:177.17, Z:43.05 [[-3.33351352e-01 -9.42627255e-01 1.81861166e-02 2.12284589e+02] [ 9.40358984e-01 -3.33813386e-01 -6.55256015e-02 1.77169728e+02] [ 6.78369870e-02 -4.74156976e-03 9.97685151e-01 4.30535131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8571056809999 meters Centerline goodness [0,1] 0.996969314307362 Centerline is valid? [True, True] Translation: X:212.26, Y:177.19, Z:43.05 [[-3.34595217e-01 -9.42187737e-01 1.81193105e-02 2.12262380e+02] [ 9.39942806e-01 -3.35051414e-01 -6.51772298e-02 1.77192738e+02] [ 6.74800873e-02 -4.77687378e-03 9.97709186e-01 4.30534772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8871056809999 meters Centerline goodness [0,1] 0.9973065106687429 Centerline is valid? [True, True] Translation: X:212.25, Y:177.22, Z:43.06 [[-3.34561325e-01 -9.42197971e-01 1.82127005e-02 2.12250408e+02] [ 9.39936246e-01 -3.35022762e-01 -6.54186748e-02 1.77216534e+02] [ 6.77390119e-02 -4.76778124e-03 9.97691683e-01 4.30552870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9171056809999 meters Centerline goodness [0,1] 0.9964959849827928 Centerline is valid? [True, True] Translation: X:212.23, Y:177.24, Z:43.06 [[-3.33412694e-01 -9.42612830e-01 1.78052634e-02 2.12232054e+02] [ 9.40458703e-01 -3.33856865e-01 -6.38515584e-02 1.77239245e+02] [ 6.61317076e-02 -4.54380520e-03 9.97800557e-01 4.30581326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9471056809999 meters Centerline goodness [0,1] 0.9928050073821456 Centerline is valid? [True, True] Translation: X:212.22, Y:177.26, Z:43.06 [[-3.33887655e-01 -9.42450166e-01 1.75133588e-02 2.12221437e+02] [ 9.40372206e-01 -3.34316789e-01 -6.27088467e-02 1.77263128e+02] [ 6.49549729e-02 -4.46863398e-03 9.97878190e-01 4.30604733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9771056809999 meters Centerline goodness [0,1] 0.9951857380116468 Centerline is valid? [True, True] Translation: X:212.20, Y:177.29, Z:43.06 [[-3.34818951e-01 -9.42108436e-01 1.81098020e-02 2.12204780e+02] [ 9.39891378e-01 -3.35275938e-01 -6.47629809e-02 1.77286882e+02] [ 6.70855315e-02 -4.66262656e-03 9.97736334e-01 4.30590693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0071056809999 meters Centerline goodness [0,1] 0.994305406711635 Centerline is valid? [True, True] Translation: X:212.19, Y:177.31, Z:43.05 [[-3.33958061e-01 -9.42395701e-01 1.90356438e-02 2.12187284e+02] [ 9.39953943e-01 -3.34465624e-01 -6.79656638e-02 1.77310548e+02] [ 7.04173179e-02 -4.80505281e-03 9.97506047e-01 4.30542788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0371056809999 meters Centerline goodness [0,1] 0.9950133533633784 Centerline is valid? [True, True] Translation: X:212.17, Y:177.33, Z:43.06 [[-3.32458400e-01 -9.42922243e-01 1.92108134e-02 2.12171497e+02] [ 9.40443517e-01 -3.32979775e-01 -6.84869309e-02 1.77334882e+02] [ 7.09746628e-02 -4.70237052e-03 9.97467035e-01 4.30551669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06710568099993 meters Centerline goodness [0,1] 0.9955524640613802 Centerline is valid? [True, True] Translation: X:212.15, Y:177.36, Z:43.06 [[-3.30632448e-01 -9.43564877e-01 1.91705023e-02 2.12154568e+02] [ 9.41104505e-01 -3.31156864e-01 -6.82454495e-02 1.77359274e+02] [ 7.07424526e-02 -4.52271389e-03 9.97484361e-01 4.30570922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.0971056809999 meters Centerline goodness [0,1] 0.9952185360716166 Centerline is valid? [True, True] Translation: X:212.13, Y:177.38, Z:43.06 [[-3.23843860e-01 -9.45923371e-01 1.88183596e-02 2.12130443e+02] [ 9.43562645e-01 -3.24366602e-01 -6.69017428e-02 1.77380888e+02] [ 6.93879694e-02 -3.90941742e-03 9.97582090e-01 4.30587842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12710568099993 meters Centerline goodness [0,1] 0.9944162118075162 Centerline is valid? [True, True] Translation: X:212.11, Y:177.40, Z:43.06 [[-3.15149554e-01 -9.48867291e-01 1.82105415e-02 2.12107268e+02] [ 9.46667506e-01 -3.15659685e-01 -6.46498036e-02 1.77401859e+02] [ 6.70924178e-02 -3.13502886e-03 9.97741840e-01 4.30597851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.1571056809999 meters Centerline goodness [0,1] 0.99434172608906 Centerline is valid? [True, True] Translation: X:212.09, Y:177.43, Z:43.06 [[-3.11722629e-01 -9.50002174e-01 1.80241997e-02 2.12090421e+02] [ 9.47853919e-01 -3.12230375e-01 -6.39151049e-02 1.77425203e+02] [ 6.63471912e-02 -2.83947625e-03 9.97792557e-01 4.30627819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18710568099993 meters Centerline goodness [0,1] 0.993836090320146 Centerline is valid? [True, True] Translation: X:212.07, Y:177.45, Z:43.07 [[-3.04328501e-01 -9.52402767e-01 1.76955878e-02 2.12066319e+02] [ 9.50342241e-01 -3.04834222e-01 -6.26555827e-02 1.77446881e+02] [ 6.50675711e-02 -2.25101503e-03 9.97878321e-01 4.30662359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2171056809999 meters Centerline goodness [0,1] 0.9929463289326849 Centerline is valid? [True, True] Translation: X:212.05, Y:177.47, Z:43.07 [[-3.00973248e-01 -9.53474198e-01 1.73798249e-02 2.12051962e+02] [ 9.51494193e-01 -3.01468281e-01 -6.14465304e-02 1.77471482e+02] [ 6.38271472e-02 -1.95695933e-03 9.97959050e-01 4.30693392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24710568099994 meters Centerline goodness [0,1] 0.9929864348410399 Centerline is valid? [True, True] Translation: X:212.03, Y:177.49, Z:43.07 [[-2.93113543e-01 -9.55927288e-01 1.69549672e-02 2.12033929e+02] [ 9.54052040e-01 -2.93600308e-01 -5.98628722e-02 1.77493556e+02] [ 6.22025367e-02 -1.37069748e-03 9.98062606e-01 4.30722193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2771056809999 meters Centerline goodness [0,1] 0.9928685292390301 Centerline is valid? [True, True] Translation: X:212.02, Y:177.52, Z:43.07 [[-2.83127400e-01 -9.58932842e-01 1.69316207e-02 2.12016349e+02] [ 9.57073663e-01 -2.83632371e-01 -5.96882027e-02 1.77516313e+02] [ 6.20393336e-02 -6.94557399e-04 9.98073464e-01 4.30724132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30710568099994 meters Centerline goodness [0,1] 0.9934931793455519 Centerline is valid? [True, True] Translation: X:212.00, Y:177.54, Z:43.07 [[-2.77642629e-01 -9.60531037e-01 1.71667407e-02 2.12003486e+02] [ 9.58628510e-01 -2.78172651e-01 -6.04264543e-02 1.77541996e+02] [ 6.28168026e-02 -3.20432573e-04 9.98025023e-01 4.30731238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3371056809999 meters Centerline goodness [0,1] 0.9939702476579941 Centerline is valid? [True, True] Translation: X:211.99, Y:177.57, Z:43.07 [[-2.72774971e-01 -9.61920586e-01 1.73954683e-02 2.11992028e+02] [ 9.59975018e-01 -2.73329081e-01 -6.11488270e-02 1.77567326e+02] [ 6.35750028e-02 1.93454829e-05 9.97977063e-01 4.30736179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36710568099994 meters Centerline goodness [0,1] 0.9949786751265836 Centerline is valid? [True, True] Translation: X:211.98, Y:177.59, Z:43.07 [[-2.66283777e-01 -9.63728598e-01 1.78924451e-02 2.11981492e+02] [ 9.61680464e-01 -2.66883785e-01 -6.27991327e-02 1.77592435e+02] [ 6.52965236e-02 4.84424691e-04 9.97865787e-01 4.30714608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3971056809999 meters Centerline goodness [0,1] 0.9954817694651676 Centerline is valid? [True, True] Translation: X:211.98, Y:177.62, Z:43.07 [[-2.63055762e-01 -9.64617140e-01 1.77605948e-02 2.11975086e+02] [ 9.62607101e-01 -2.63653656e-01 -6.22440340e-02 1.77617989e+02] [ 6.47243078e-02 7.22822901e-04 9.97902922e-01 4.30729986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42710568099994 meters Centerline goodness [0,1] 0.9953742640874684 Centerline is valid? [True, True] Translation: X:211.97, Y:177.65, Z:43.07 [[-2.61168964e-01 -9.65132811e-01 1.75905959e-02 2.11970406e+02] [ 9.63168384e-01 -2.61759251e-01 -6.15528984e-02 1.77645417e+02] [ 6.40112231e-02 8.66999087e-04 9.97948802e-01 4.30739181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4571056809999 meters Centerline goodness [0,1] 0.9952429064578597 Centerline is valid? [True, True] Translation: X:211.96, Y:177.67, Z:43.07 [[-2.55550101e-01 -9.66624789e-01 1.81841603e-02 2.11964943e+02] [ 9.64535397e-01 -2.56192935e-01 -6.35346148e-02 1.77672338e+02] [ 6.60727871e-02 1.30298911e-03 9.97813955e-01 4.30704737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48710568099995 meters Centerline goodness [0,1] 0.9958112317925402 Centerline is valid? [True, True] Translation: X:211.96, Y:177.70, Z:43.07 [[-2.54455042e-01 -9.66904901e-01 1.86425303e-02 2.11959720e+02] [ 9.64716344e-01 -2.55133003e-01 -6.50348156e-02 1.77700263e+02] [ 6.76388067e-02 1.43631697e-03 9.97708840e-01 4.30700878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5171056809999 meters Centerline goodness [0,1] 0.9956330960928806 Centerline is valid? [True, True] Translation: X:211.96, Y:177.73, Z:43.07 [[-2.56201778e-01 -9.66443056e-01 1.86673160e-02 2.11961638e+02] [ 9.64253833e-01 -2.56877450e-01 -6.50270792e-02 1.77728646e+02] [ 6.76401817e-02 1.33997768e-03 9.97708881e-01 4.30696996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54710568099995 meters Centerline goodness [0,1] 0.9954861329806218 Centerline is valid? [True, True] Translation: X:211.97, Y:177.76, Z:43.07 [[-2.62505783e-01 -9.64737295e-01 1.93045371e-02 2.11966014e+02] [ 9.62398825e-01 -2.63212918e-01 -6.71376389e-02 1.77758809e+02] [ 6.98513877e-02 9.54645354e-04 9.97556952e-01 4.30706435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5771056809999 meters Centerline goodness [0,1] 0.9948918458724854 Centerline is valid? [True, True] Translation: X:211.96, Y:177.79, Z:43.07 [[-2.66711751e-01 -9.63574343e-01 1.97313945e-02 2.11964997e+02] [ 9.61135114e-01 -2.67439734e-01 -6.85221244e-02 1.77787741e+02] [ 7.13031199e-02 6.88880293e-04 9.97454455e-01 4.30701924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6071056809999 meters Centerline goodness [0,1] 0.9955445855209488 Centerline is valid? [True, True] Translation: X:211.97, Y:177.82, Z:43.07 [[-2.74841979e-01 -9.61277051e-01 2.02068757e-02 2.11974441e+02] [ 9.58719684e-01 -2.75583777e-01 -7.00724574e-02 1.77819136e+02] [ 7.29277323e-02 1.13876592e-04 9.97337221e-01 4.30684926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6371056809999 meters Centerline goodness [0,1] 0.9952101846599861 Centerline is valid? [True, True] Translation: X:211.98, Y:177.85, Z:43.07 [[-2.79914019e-01 -9.59813474e-01 2.01553028e-02 2.11975677e+02] [ 9.57272497e-01 -2.80638621e-01 -6.97949167e-02 1.77847300e+02] [ 7.26464579e-02 -2.42458529e-04 9.97357726e-01 4.30703951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6671056809999 meters Centerline goodness [0,1] 0.9957268555550878 Centerline is valid? [True, True] Translation: X:211.98, Y:177.88, Z:43.08 [[-2.88415380e-01 -9.57310453e-01 1.93200674e-02 2.11981229e+02] [ 9.54977095e-01 -2.89060598e-01 -6.68035886e-02 1.77877535e+02] [ 6.95364439e-02 -8.16960629e-04 9.97579077e-01 4.30781887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6971056809999 meters Centerline goodness [0,1] 0.9952249731799154 Centerline is valid? [True, True] Translation: X:211.98, Y:177.91, Z:43.08 [[-2.91731594e-01 -9.56315187e-01 1.88132873e-02 2.11978028e+02] [ 9.54106662e-01 -2.92335866e-01 -6.49632129e-02 1.77905685e+02] [ 6.76251058e-02 -1.00193887e-03 9.97710299e-01 4.30827887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7271056809999 meters Centerline goodness [0,1] 0.9954589412605642 Centerline is valid? [True, True] Translation: X:211.98, Y:177.94, Z:43.09 [[-2.98742162e-01 -9.54159490e-01 1.82425092e-02 2.11982962e+02] [ 9.52084552e-01 -2.99295237e-01 -6.29076024e-02 1.77936079e+02] [ 6.54837819e-02 -1.42474195e-03 9.97852617e-01 4.30864656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7571056809999 meters Centerline goodness [0,1] 0.9957596139786519 Centerline is valid? [True, True] Translation: X:211.98, Y:177.96, Z:43.09 [[-3.02264025e-01 -9.53045966e-01 1.84349149e-02 2.11983443e+02] [ 9.50930776e-01 -3.02821131e-01 -6.34824572e-02 1.77963423e+02] [ 6.60841816e-02 -1.65813517e-03 9.97812674e-01 4.30875784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.7871056809999 meters Centerline goodness [0,1] 0.995734180920915 Centerline is valid? [True, True] Translation: X:211.99, Y:177.99, Z:43.09 [[-3.09660772e-01 -9.50663093e-01 1.87053380e-02 2.11987883e+02] [ 9.48487944e-01 -3.10217609e-01 -6.43090688e-02 1.77992537e+02] [ 6.69389835e-02 -2.17220832e-03 9.97754706e-01 4.30889778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81710568099993 meters Centerline goodness [0,1] 0.9958361959486186 Centerline is valid? [True, True] Translation: X:211.98, Y:178.02, Z:43.09 [[-3.13060934e-01 -9.49552120e-01 1.85370991e-02 2.11984068e+02] [ 9.47420645e-01 -3.13600402e-01 -6.36310469e-02 1.78019068e+02] [ 6.62342372e-02 -2.35796458e-03 9.97801316e-01 4.30920128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8471056809999 meters Centerline goodness [0,1] 0.9960281601344961 Centerline is valid? [True, True] Translation: X:211.98, Y:178.05, Z:43.10 [[-3.18468341e-01 -9.47760752e-01 1.80962207e-02 2.11982258e+02] [ 9.45732852e-01 -3.18971156e-01 -6.20223672e-02 1.78047170e+02] [ 6.45545378e-02 -2.63796993e-03 9.97910694e-01 4.30960865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87710568099993 meters Centerline goodness [0,1] 0.9960647227513449 Centerline is valid? [True, True] Translation: X:211.98, Y:178.07, Z:43.10 [[-3.20616389e-01 -9.47034417e-01 1.81918841e-02 2.11980958e+02] [ 9.44989507e-01 -3.21120122e-01 -6.22631411e-02 1.78073676e+02] [ 6.48071175e-02 -2.77144392e-03 9.97893961e-01 4.30969478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9071056809999 meters Centerline goodness [0,1] 0.9963974213120971 Centerline is valid? [True, True] Translation: X:211.98, Y:178.10, Z:43.10 [[-3.24264327e-01 -9.45789148e-01 1.83175909e-02 2.11975544e+02] [ 9.43720451e-01 -3.24767344e-01 -6.25929949e-02 1.78100763e+02] [ 6.51487307e-02 -3.00999022e-03 9.97871025e-01 4.30974993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93710568099993 meters Centerline goodness [0,1] 0.9963037564632349 Centerline is valid? [True, True] Translation: X:211.97, Y:178.13, Z:43.10 [[-3.25538904e-01 -9.45341894e-01 1.87916423e-02 2.11972768e+02] [ 9.43170241e-01 -3.26065617e-01 -6.41179385e-02 1.78127121e+02] [ 6.67406819e-02 -3.14916564e-03 9.97765385e-01 4.30976769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.9671056809999 meters Centerline goodness [0,1] 0.9963552858888467 Centerline is valid? [True, True] Translation: X:211.96, Y:178.15, Z:43.10 [[-3.28726766e-01 -9.44234688e-01 1.89622596e-02 2.11963367e+02] [ 9.42028402e-01 -3.29255950e-01 -6.45988260e-02 1.78152200e+02] [ 6.72398892e-02 -3.37237602e-03 9.97731138e-01 4.30993131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99710568099994 meters Centerline goodness [0,1] 0.9963746732990473 Centerline is valid? [True, True] Translation: X:211.96, Y:178.18, Z:43.10 [[-3.29870799e-01 -9.43841135e-01 1.86860134e-02 2.11956586e+02] [ 9.41703047e-01 -3.30382358e-01 -6.35835626e-02 1.78177030e+02] [ 6.61863111e-02 -3.37768487e-03 9.97801565e-01 4.31017405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0271056809999 meters Centerline goodness [0,1] 0.9961041148970223 Centerline is valid? [True, True] Translation: X:211.95, Y:178.20, Z:43.11 [[-3.29549146e-01 -9.43964536e-01 1.81194708e-02 2.11947318e+02] [ 9.41960426e-01 -3.30031189e-01 -6.15627329e-02 1.78201156e+02] [ 6.40930270e-02 -3.22012159e-03 9.97938733e-01 4.31054581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05710568099994 meters Centerline goodness [0,1] 0.9960619142887227 Centerline is valid? [True, True] Translation: X:211.94, Y:178.23, Z:43.11 [[-3.28035092e-01 -9.44489049e-01 1.82596424e-02 2.11936753e+02] [ 9.42460749e-01 -3.28528172e-01 -6.19433358e-02 1.78225522e+02] [ 6.45036093e-02 -3.11059154e-03 9.97912626e-01 4.31052154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0871056809999 meters Centerline goodness [0,1] 0.9956755395079352 Centerline is valid? [True, True] Translation: X:211.93, Y:178.25, Z:43.11 [[-3.27842521e-01 -9.44558770e-01 1.81110664e-02 2.11926633e+02] [ 9.42569370e-01 -3.28328311e-01 -6.13473906e-02 1.78249530e+02] [ 6.38925916e-02 -3.04134679e-03 9.97952147e-01 4.31060050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11710568099994 meters Centerline goodness [0,1] 0.9954931458259436 Centerline is valid? [True, True] Translation: X:211.92, Y:178.27, Z:43.11 [[-3.29974412e-01 -9.43818690e-01 1.79768714e-02 2.11919476e+02] [ 9.41863759e-01 -3.30448918e-01 -6.07961482e-02 1.78274937e+02] [ 6.33209787e-02 -3.12940953e-03 9.97988307e-01 4.31078225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1471056809999 meters Centerline goodness [0,1] 0.9951685791041046 Centerline is valid? [True, True] Translation: X:211.91, Y:178.30, Z:43.11 [[-3.33072158e-01 -9.42730642e-01 1.79408356e-02 2.11912923e+02] [ 9.40787793e-01 -3.33538673e-01 -6.05828473e-02 1.78300443e+02] [ 6.30972691e-02 -3.29994056e-03 9.98001926e-01 4.31095979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17710568099994 meters Centerline goodness [0,1] 0.9954634778609357 Centerline is valid? [True, True] Translation: X:211.90, Y:178.32, Z:43.11 [[-3.39873168e-01 -9.40304569e-01 1.77072588e-02 2.11899665e+02] [ 9.38414196e-01 -3.40314270e-01 -5.97075754e-02 1.78324403e+02] [ 6.21693389e-02 -3.67625973e-03 9.98058845e-01 4.31119873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2071056809999 meters Centerline goodness [0,1] 0.9952209520200426 Centerline is valid? [True, True] Translation: X:211.89, Y:178.35, Z:43.11 [[-3.43186813e-01 -9.39103612e-01 1.75276349e-02 2.11891964e+02] [ 9.37253995e-01 -3.43612745e-01 -5.90358327e-02 1.78349936e+02] [ 6.14634824e-02 -3.83247348e-03 9.98101975e-01 4.31140725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23710568099995 meters Centerline goodness [0,1] 0.9950249805004532 Centerline is valid? [True, True] Translation: X:211.88, Y:178.38, Z:43.12 [[-3.46888186e-01 -9.37741892e-01 1.75707382e-02 2.11880759e+02] [ 9.35887165e-01 -3.47309253e-01 -5.90888836e-02 1.78375574e+02] [ 6.15126015e-02 -4.05300723e-03 9.98098078e-01 4.31152981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2671056809999 meters Centerline goodness [0,1] 0.9947121157857037 Centerline is valid? [True, True] Translation: X:211.87, Y:178.40, Z:43.12 [[-3.48885963e-01 -9.36999213e-01 1.76368660e-02 2.11871882e+02] [ 9.35134488e-01 -3.49306550e-01 -5.92319440e-02 1.78400140e+02] [ 6.16609577e-02 -4.17235220e-03 9.98088432e-01 4.31162928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29710568099995 meters Centerline goodness [0,1] 0.9938792563191978 Centerline is valid? [True, True] Translation: X:211.86, Y:178.42, Z:43.12 [[-3.49600721e-01 -9.36730338e-01 1.77654297e-02 2.11862290e+02] [ 9.34843695e-01 -3.50026398e-01 -5.95716872e-02 1.78424459e+02] [ 6.20209761e-02 -4.21840480e-03 9.98065931e-01 4.31164727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3271056809999 meters Centerline goodness [0,1] 0.9939669126148284 Centerline is valid? [True, True] Translation: X:211.85, Y:178.45, Z:43.12 [[-3.51786172e-01 -9.35895033e-01 1.86273190e-02 2.11846037e+02] [ 9.33825898e-01 -3.52249680e-01 -6.23646933e-02 1.78447882e+02] [ 6.49282738e-02 -4.54436387e-03 9.97879586e-01 4.31151198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3571056809999 meters Centerline goodness [0,1] 0.9939669126148284 Centerline is valid? [True, True] Translation: X:211.84, Y:178.47, Z:43.12 [[-3.52158993e-01 -9.35754315e-01 1.86522075e-02 2.11838185e+02] [ 9.33685366e-01 -3.52623326e-01 -6.23572488e-02 1.78473279e+02] [ 6.49282682e-02 -4.54437273e-03 9.97879586e-01 4.31168132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3871056809999 meters Centerline goodness [0,1] 0.9935671905901946 Centerline is valid? [True, True] Translation: X:211.83, Y:178.50, Z:43.12 [[-3.53572247e-01 -9.35217867e-01 1.88204012e-02 2.11829443e+02] [ 9.33116673e-01 -3.54042220e-01 -6.28281897e-02 1.78497768e+02] [ 6.54212622e-02 -4.65267405e-03 9.97846888e-01 4.31193310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4171056809999 meters Centerline goodness [0,1] 0.9929238901954255 Centerline is valid? [True, True] Translation: X:211.81, Y:178.52, Z:43.12 [[-3.54699899e-01 -9.34792631e-01 1.87274919e-02 2.11814200e+02] [ 9.32716162e-01 -3.55163073e-01 -6.24480016e-02 1.78521076e+02] [ 6.50272453e-02 -4.68286556e-03 9.97872501e-01 4.31223343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4471056809999 meters Centerline goodness [0,1] 0.9919390482604761 Centerline is valid? [True, True] Translation: X:211.80, Y:178.54, Z:43.12 [[-3.54961795e-01 -9.34693279e-01 1.87242653e-02 2.11804171e+02] [ 9.32623078e-01 -3.55424637e-01 -6.23499856e-02 1.78544625e+02] [ 6.49331777e-02 -4.66918083e-03 9.97878691e-01 4.31234141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4771056809999 meters Centerline goodness [0,1] 0.9929107852830427 Centerline is valid? [True, True] Translation: X:211.79, Y:178.57, Z:43.12 [[-3.53230686e-01 -9.35342878e-01 1.90205820e-02 2.11785930e+02] [ 9.33214253e-01 -3.53712696e-01 -6.32335886e-02 1.78567224e+02] [ 6.58729081e-02 -4.58576563e-03 9.97817484e-01 4.31204515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5071056809999 meters Centerline goodness [0,1] 0.993372188440255 Centerline is valid? [True, True] Translation: X:211.77, Y:178.59, Z:43.12 [[-3.51943660e-01 -9.35828555e-01 1.89888472e-02 2.11767443e+02] [ 9.33713574e-01 -3.52427383e-01 -6.30388880e-02 1.78591239e+02] [ 6.56857811e-02 -4.45599264e-03 9.97830408e-01 4.31226930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5371056809999 meters Centerline goodness [0,1] 0.9922721213131145 Centerline is valid? [True, True] Translation: X:211.75, Y:178.61, Z:43.13 [[-3.48493656e-01 -9.37128812e-01 1.84867966e-02 2.11749941e+02] [ 9.35130797e-01 -3.48959869e-01 -6.12976545e-02 1.78612830e+02] [ 6.38949483e-02 -4.07427082e-03 9.97948313e-01 4.31274566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56710568099993 meters Centerline goodness [0,1] 0.9919354838709677 Centerline is valid? [True, True] Translation: X:211.73, Y:178.63, Z:43.13 [[-3.43789369e-01 -9.38866662e-01 1.83918748e-02 2.11727040e+02] [ 9.36897183e-01 -3.44261060e-01 -6.08932793e-02 1.78633965e+02] [ 6.35022762e-02 -3.70316636e-03 9.97974823e-01 4.31285401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.5971056809999 meters Centerline goodness [0,1] 0.9913485477178423 Centerline is valid? [True, True] Translation: X:211.72, Y:178.66, Z:43.13 [[-3.40739293e-01 -9.39967758e-01 1.89036305e-02 2.11715933e+02] [ 9.37893036e-01 -3.41244549e-01 -6.25204801e-02 1.78657602e+02] [ 6.52179964e-02 -3.57360075e-03 9.97864641e-01 4.31284893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62710568099993 meters Centerline goodness [0,1] 0.9917747548244227 Centerline is valid? [True, True] Translation: X:211.69, Y:178.68, Z:43.13 [[-3.32130802e-01 -9.43030689e-01 1.95512050e-02 2.11692371e+02] [ 9.40822461e-01 -3.32691761e-01 -6.45700335e-02 1.78678872e+02] [ 6.73960480e-02 -3.05148422e-03 9.97721635e-01 4.31263047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.6571056809999 meters Centerline goodness [0,1] 0.9922264469792987 Centerline is valid? [True, True] Translation: X:211.68, Y:178.70, Z:43.13 [[-3.27127134e-01 -9.44780721e-01 1.94223409e-02 2.11676648e+02] [ 9.42610574e-01 -3.27692520e-01 -6.40540337e-02 1.78701856e+02] [ 6.68815719e-02 -2.64610854e-03 9.97757412e-01 4.31290242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68710568099993 meters Centerline goodness [0,1] 0.9917993447822548 Centerline is valid? [True, True] Translation: X:211.65, Y:178.72, Z:43.14 [[-3.16391938e-01 -9.48446499e-01 1.85843806e-02 2.11652617e+02] [ 9.46471311e-01 -3.16932307e-01 -6.12043327e-02 1.78721523e+02] [ 6.39390257e-02 -1.77497431e-03 9.97952229e-01 4.31360960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7171056809999 meters Centerline goodness [0,1] 0.9920126782884311 Centerline is valid? [True, True] Translation: X:211.63, Y:178.74, Z:43.14 [[-3.07905575e-01 -9.51231852e-01 1.87648513e-02 2.11631214e+02] [ 9.49229011e-01 -3.08474557e-01 -6.17068242e-02 1.78741844e+02] [ 6.44859759e-02 -1.18773392e-03 9.97917907e-01 4.31388961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74710568099994 meters Centerline goodness [0,1] 0.9933021185462028 Centerline is valid? [True, True] Translation: X:211.62, Y:178.77, Z:43.14 [[-3.04717442e-01 -9.52251419e-01 1.90922980e-02 2.11618827e+02] [ 9.50185937e-01 -3.05313461e-01 -6.26927073e-02 1.78765921e+02] [ 6.55283550e-02 -9.62328350e-04 9.97850244e-01 4.31393735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7771056809999 meters Centerline goodness [0,1] 0.9930954391891892 Centerline is valid? [True, True] Translation: X:211.61, Y:178.79, Z:43.14 [[-3.02324761e-01 -9.53014868e-01 1.90368375e-02 2.11608010e+02] [ 9.50968370e-01 -3.02922547e-01 -6.24266751e-02 1.78791092e+02] [ 6.52602368e-02 -7.69699297e-04 9.97867982e-01 4.31393555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80710568099994 meters Centerline goodness [0,1] 0.9939020530458085 Centerline is valid? [True, True] Translation: X:211.60, Y:178.81, Z:43.14 [[-2.99264122e-01 -9.53985944e-01 1.87564462e-02 2.11596727e+02] [ 9.52006466e-01 -2.99850866e-01 -6.14259402e-02 1.78813598e+02] [ 6.42236202e-02 -5.26321942e-04 9.97935394e-01 4.31427350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8371056809999 meters Centerline goodness [0,1] 0.993412996664274 Centerline is valid? [True, True] Translation: X:211.59, Y:178.84, Z:43.15 [[-2.98218557e-01 -9.54317149e-01 1.85599559e-02 2.11586943e+02] [ 9.52384143e-01 -2.98795241e-01 -6.07111847e-02 1.78836357e+02] [ 6.34833511e-02 -4.28994204e-04 9.97982806e-01 4.31453493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86710568099994 meters Centerline goodness [0,1] 0.9938812110982171 Centerline is valid? [True, True] Translation: X:211.58, Y:178.86, Z:43.15 [[-2.98576898e-01 -9.54200905e-01 1.87741545e-02 2.11577624e+02] [ 9.52228870e-01 -2.99166254e-01 -6.13166517e-02 1.78862097e+02] [ 6.41249980e-02 -4.30443738e-04 9.97941782e-01 4.31462673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8971056809999 meters Centerline goodness [0,1] 0.9935808100004223 Centerline is valid? [True, True] Translation: X:211.57, Y:178.89, Z:43.14 [[-3.00072839e-01 -9.53717596e-01 1.94689308e-02 2.11571180e+02] [ 9.51602299e-01 -3.00703298e-01 -6.34869330e-02 1.78889065e+02] [ 6.64029768e-02 -5.24024869e-04 9.97792749e-01 4.31448910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92710568099994 meters Centerline goodness [0,1] 0.9934781232191477 Centerline is valid? [True, True] Translation: X:211.57, Y:178.91, Z:43.15 [[-3.01824894e-01 -9.53160591e-01 1.96627015e-02 2.11565907e+02] [ 9.51007685e-01 -3.02464040e-01 -6.40303549e-02 1.78914411e+02] [ 6.69784710e-02 -6.26574826e-04 9.97754224e-01 4.31456783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9571056809999 meters Centerline goodness [0,1] 0.9927082674759226 Centerline is valid? [True, True] Translation: X:211.56, Y:178.94, Z:43.15 [[-3.05080906e-01 -9.52132729e-01 1.92069324e-02 2.11562717e+02] [ 9.50082887e-01 -3.05683855e-01 -6.24490807e-02 1.78940806e+02] [ 6.53310628e-02 -8.03844290e-04 9.97863320e-01 4.31493907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98710568099995 meters Centerline goodness [0,1] 0.992955964231483 Centerline is valid? [True, True] Translation: X:211.56, Y:178.97, Z:43.15 [[-3.09770591e-01 -9.50631012e-01 1.85164955e-02 2.11561437e+02] [ 9.48728470e-01 -3.10321708e-01 -6.01226024e-02 1.78966194e+02] [ 6.29004809e-02 -1.05708764e-03 9.98019244e-01 4.31540843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0171056809999 meters Centerline goodness [0,1] 0.9923835501468737 Centerline is valid? [True, True] Translation: X:211.56, Y:178.99, Z:43.15 [[-3.13017583e-01 -9.49563407e-01 1.86903552e-02 2.11557244e+02] [ 9.47628686e-01 -3.13572571e-01 -6.05979862e-02 1.78992364e+02] [ 6.34024130e-02 -1.25671849e-03 9.97987252e-01 4.31548483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04710568099995 meters Centerline goodness [0,1] 0.9916926709960361 Centerline is valid? [True, True] Translation: X:211.55, Y:179.02, Z:43.15 [[-3.22867117e-01 -9.46253606e-01 1.89983394e-02 2.11553583e+02] [ 9.44254216e-01 -3.23419888e-01 -6.15105848e-02 1.79020081e+02] [ 6.43490535e-02 -1.92048319e-03 9.97925604e-01 4.31542773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0771056809999 meters Centerline goodness [0,1] 0.9914943787106826 Centerline is valid? [True, True] Translation: X:211.55, Y:179.05, Z:43.16 [[-3.29310334e-01 -9.44026389e-01 1.92062517e-02 2.11553368e+02] [ 9.41984979e-01 -3.29861523e-01 -6.20940849e-02 1.79048546e+02] [ 6.49538582e-02 -2.35622330e-03 9.97885487e-01 4.31552883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1071056809999 meters Centerline goodness [0,1] 0.9915035016509285 Centerline is valid? [True, True] Translation: X:211.56, Y:179.08, Z:43.15 [[-3.41887089e-01 -9.39534356e-01 1.97081549e-02 2.11559359e+02] [ 9.37381471e-01 -3.42438876e-01 -6.36521409e-02 1.79078917e+02] [ 6.65522117e-02 -3.28778597e-03 9.97777527e-01 4.31549478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1371056809999 meters Centerline goodness [0,1] 0.9917970721857647 Centerline is valid? [True, True] Translation: X:211.56, Y:179.11, Z:43.16 [[-3.46822350e-01 -9.37713137e-01 2.02071696e-02 2.11556483e+02] [ 9.35451397e-01 -3.47390733e-01 -6.51948069e-02 1.79106484e+02] [ 6.81538104e-02 -3.70819111e-03 9.97667934e-01 4.31561163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1671056809999 meters Centerline goodness [0,1] 0.9921474762744604 Centerline is valid? [True, True] Translation: X:211.55, Y:179.13, Z:43.16 [[-3.52446180e-01 -9.35608580e-01 2.04517746e-02 2.11553768e+02] [ 9.33294589e-01 -3.53014845e-01 -6.58918033e-02 1.79133938e+02] [ 6.88687166e-02 -4.13578384e-03 9.97617159e-01 4.31592159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1971056809999 meters Centerline goodness [0,1] 0.992500576073067 Centerline is valid? [True, True] Translation: X:211.55, Y:179.16, Z:43.16 [[-3.53574848e-01 -9.35181928e-01 2.04838693e-02 2.11546794e+02] [ 9.32866288e-01 -3.54142879e-01 -6.59037929e-02 1.79160997e+02] [ 6.88862525e-02 -4.19321247e-03 9.97615708e-01 4.31617019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2271056809999 meters Centerline goodness [0,1] 0.9927889625276145 Centerline is valid? [True, True] Translation: X:211.54, Y:179.19, Z:43.16 [[-3.54184683e-01 -9.34957071e-01 2.02110160e-02 2.11540763e+02] [ 9.32708018e-01 -3.54736582e-01 -6.49439064e-02 1.79185725e+02] [ 6.78893512e-02 -4.15116028e-03 9.97684221e-01 4.31645558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2571056809999 meters Centerline goodness [0,1] 0.9929713655929631 Centerline is valid? [True, True] Translation: X:211.53, Y:179.21, Z:43.17 [[-3.53720343e-01 -9.35146893e-01 1.95501193e-02 2.11533116e+02] [ 9.33048224e-01 -3.54238162e-01 -6.27402307e-02 1.79210861e+02] [ 6.55967301e-02 -3.95129183e-03 9.97838392e-01 4.31701527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.2871056809999 meters Centerline goodness [0,1] 0.9928510389962275 Centerline is valid? [True, True] Translation: X:211.52, Y:179.24, Z:43.17 [[-3.53058637e-01 -9.35402565e-01 1.92779583e-02 2.11524273e+02] [ 9.33367146e-01 -3.53563891e-01 -6.17927695e-02 1.79235429e+02] [ 6.46171051e-02 -3.82305813e-03 9.97902808e-01 4.31742084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31710568099993 meters Centerline goodness [0,1] 0.9929484354341119 Centerline is valid? [True, True] Translation: X:211.50, Y:179.26, Z:43.18 [[-3.51886477e-01 -9.35841031e-01 1.94286371e-02 2.11503003e+02] [ 9.33780125e-01 -3.52402574e-01 -6.21860374e-02 1.79258293e+02] [ 6.50429471e-02 -3.74035037e-03 9.97875456e-01 4.31772662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3471056809999 meters Centerline goodness [0,1] 0.9928498039462372 Centerline is valid? [True, True] Translation: X:211.49, Y:179.28, Z:43.18 [[-3.51715341e-01 -9.35901212e-01 1.96275354e-02 2.11491777e+02] [ 9.33802989e-01 -3.52242715e-01 -6.27458942e-02 1.79283662e+02] [ 6.56376149e-02 -3.74044233e-03 9.97836516e-01 4.31781502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37710568099993 meters Centerline goodness [0,1] 0.9922680412371134 Centerline is valid? [True, True] Translation: X:211.48, Y:179.31, Z:43.18 [[-3.52310198e-01 -9.35675292e-01 1.97299677e-02 2.11483700e+02] [ 9.33560458e-01 -3.52842062e-01 -6.29869057e-02 1.79308261e+02] [ 6.58968539e-02 -3.77181154e-03 9.97819311e-01 4.31785662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4071056809999 meters Centerline goodness [0,1] 0.9923598967441086 Centerline is valid? [True, True] Translation: X:211.47, Y:179.33, Z:43.18 [[-3.53904301e-01 -9.35085706e-01 1.91433371e-02 2.11472486e+02] [ 9.33099767e-01 -3.54401998e-01 -6.10249845e-02 1.79333560e+02] [ 6.38480277e-02 -3.73436107e-03 9.97952646e-01 4.31808567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43710568099993 meters Centerline goodness [0,1] 0.9922469249628062 Centerline is valid? [True, True] Translation: X:211.46, Y:179.36, Z:43.18 [[-3.55080968e-01 -9.34645595e-01 1.88445649e-02 2.11461789e+02] [ 9.32725241e-01 -3.55561127e-01 -5.99992572e-02 1.79358792e+02] [ 6.27784362e-02 -3.72779302e-03 9.98020527e-01 4.31848992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.4671056809999 meters Centerline goodness [0,1] 0.9916860379887332 Centerline is valid? [True, True] Translation: X:211.45, Y:179.38, Z:43.19 [[-3.55682790e-01 -9.34419188e-01 1.87225354e-02 2.11445636e+02] [ 9.32526651e-01 -3.56155737e-01 -5.95578312e-02 1.79382260e+02] [ 6.23201187e-02 -3.72443238e-03 9.98049263e-01 4.31886375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49710568099994 meters Centerline goodness [0,1] 0.991102650582466 Centerline is valid? [True, True] Translation: X:211.43, Y:179.41, Z:43.19 [[-3.52753230e-01 -9.35535393e-01 1.84034450e-02 2.11430542e+02] [ 9.33713193e-01 -3.53216219e-01 -5.84634623e-02 1.79405318e+02] [ 6.11950334e-02 -3.43963582e-03 9.98119901e-01 4.31917162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5271056809999 meters Centerline goodness [0,1] 0.9904505182213307 Centerline is valid? [True, True] Translation: X:211.42, Y:179.43, Z:43.19 [[-3.50645999e-01 -9.36330242e-01 1.82499734e-02 2.11417177e+02] [ 9.34544176e-01 -3.51105600e-01 -5.78968112e-02 1.79429559e+02] [ 6.06182031e-02 -3.24587886e-03 9.98155748e-01 4.31939961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55710568099994 meters Centerline goodness [0,1] 0.9913936409738442 Centerline is valid? [True, True] Translation: X:211.40, Y:179.45, Z:43.20 [[-3.43941787e-01 -9.38817129e-01 1.80678139e-02 2.11395718e+02] [ 9.37074404e-01 -3.44404988e-01 -5.72430373e-02 1.79450823e+02] [ 5.99633892e-02 -2.75738665e-03 9.98196769e-01 4.31982767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5871056809999 meters Centerline goodness [0,1] 0.9917777684316776 Centerline is valid? [True, True] Translation: X:211.38, Y:179.47, Z:43.20 [[-3.40126288e-01 -9.40203914e-01 1.81853726e-02 2.11379971e+02] [ 9.38445073e-01 -3.40602892e-01 -5.75370669e-02 1.79474079e+02] [ 6.02905660e-02 -2.50389569e-03 9.98177729e-01 4.32013082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61710568099994 meters Centerline goodness [0,1] 0.9926764594469464 Centerline is valid? [True, True] Translation: X:211.36, Y:179.49, Z:43.20 [[-3.31273560e-01 -9.43354300e-01 1.84524742e-02 2.11358038e+02] [ 9.41552898e-01 -3.31781405e-01 -5.83030026e-02 1.79494194e+02] [ 6.11225760e-02 -1.94026267e-03 9.98128382e-01 4.32021441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6471056809999 meters Centerline goodness [0,1] 0.9939023108139364 Centerline is valid? [True, True] Translation: X:211.34, Y:179.52, Z:43.20 [[-3.26611891e-01 -9.44975766e-01 1.85869204e-02 2.11342993e+02] [ 9.43155681e-01 -3.27136309e-01 -5.86446666e-02 1.79517320e+02] [ 6.14982453e-02 -1.62368583e-03 9.98105871e-01 4.32034573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67710568099994 meters Centerline goodness [0,1] 0.9954692011042505 Centerline is valid? [True, True] Translation: X:211.32, Y:179.54, Z:43.20 [[-3.17402981e-01 -9.48096577e-01 1.91892650e-02 2.11319739e+02] [ 9.46167320e-01 -3.17980833e-01 -6.04614977e-02 1.79538548e+02] [ 6.34251575e-02 -1.03440415e-03 9.97986062e-01 4.32039240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7071056809999 meters Centerline goodness [0,1] 0.9960326671872033 Centerline is valid? [True, True] Translation: X:211.30, Y:179.56, Z:43.21 [[-3.10905417e-01 -9.50248201e-01 1.91357892e-02 2.11301968e+02] [ 9.48337190e-01 -3.11493209e-01 -6.02374853e-02 1.79561918e+02] [ 6.32012304e-02 -5.80979926e-04 9.98000635e-01 4.32062805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73710568099995 meters Centerline goodness [0,1] 0.995950819326402 Centerline is valid? [True, True] Translation: X:211.29, Y:179.59, Z:43.21 [[-3.08979154e-01 -9.50878221e-01 1.90392037e-02 2.11290427e+02] [ 9.48992325e-01 -3.09564899e-01 -5.98593372e-02 1.79585565e+02] [ 6.28128092e-02 -4.27229214e-04 9.98025234e-01 4.32097614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7671056809999 meters Centerline goodness [0,1] 0.9963043201223397 Centerline is valid? [True, True] Translation: X:211.28, Y:179.61, Z:43.21 [[-3.07161457e-01 -9.51469271e-01 1.89226259e-02 2.11279500e+02] [ 9.49612960e-01 -3.07743641e-01 -5.94060325e-02 1.79610796e+02] [ 6.23463323e-02 -2.78072666e-04 9.98054536e-01 4.32118919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79710568099995 meters Centerline goodness [0,1] 0.9959612619470524 Centerline is valid? [True, True] Translation: X:211.27, Y:179.64, Z:43.21 [[-3.08444650e-01 -9.51055226e-01 1.88641023e-02 2.11273818e+02] [ 9.49214876e-01 -3.09020783e-01 -5.91377588e-02 1.79636386e+02] [ 6.20726742e-02 -3.34638762e-04 9.98071576e-01 4.32132383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8271056809999 meters Centerline goodness [0,1] 0.9949640136810962 Centerline is valid? [True, True] Translation: X:211.27, Y:179.66, Z:43.22 [[-3.13515125e-01 -9.49407343e-01 1.82746411e-02 2.11272216e+02] [ 9.47681133e-01 -3.14046664e-01 -5.72290382e-02 1.79664781e+02] [ 6.00727592e-02 -6.23636516e-04 9.98193806e-01 4.32159593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8571056809999 meters Centerline goodness [0,1] 0.9955334569357829 Centerline is valid? [True, True] Translation: X:211.27, Y:179.69, Z:43.22 [[-3.16574437e-01 -9.48391490e-01 1.82813422e-02 2.11265721e+02] [ 9.46666489e-01 -3.17100850e-01 -5.71805045e-02 1.79691843e+02] [ 6.00265330e-02 -7.95552026e-04 9.98196465e-01 4.32184445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8871056809999 meters Centerline goodness [0,1] 0.9949428181722799 Centerline is valid? [True, True] Translation: X:211.26, Y:179.72, Z:43.22 [[-3.19706720e-01 -9.47337914e-01 1.83980806e-02 2.11261024e+02] [ 9.45593511e-01 -3.20234167e-01 -5.74716492e-02 1.79718249e+02] [ 6.03367663e-02 -9.76966811e-04 9.98177600e-01 4.32210833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9171056809999 meters Centerline goodness [0,1] 0.9948921679909194 Centerline is valid? [True, True] Translation: X:211.26, Y:179.74, Z:43.22 [[-3.19450357e-01 -9.47427762e-01 1.82237686e-02 2.11255684e+02] [ 9.45720932e-01 -3.19968400e-01 -5.68519322e-02 1.79743546e+02] [ 5.96941290e-02 -9.26770573e-04 9.98216285e-01 4.32232320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9471056809999 meters Centerline goodness [0,1] 0.9948954839798351 Centerline is valid? [True, True] Translation: X:211.25, Y:179.77, Z:43.22 [[-3.15144620e-01 -9.48875269e-01 1.78771212e-02 2.11247684e+02] [ 9.47239884e-01 -3.15650667e-01 -5.56889525e-02 1.79770433e+02] [ 5.84847950e-02 -6.16151525e-04 9.98288109e-01 4.32239190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9771056809999 meters Centerline goodness [0,1] 0.9956399022664083 Centerline is valid? [True, True] Translation: X:211.23, Y:179.80, Z:43.23 [[-3.06642639e-01 -9.51649839e-01 1.82448859e-02 2.11234523e+02] [ 9.49955429e-01 -3.07184925e-01 -5.67635924e-02 1.79795743e+02] [ 5.96236175e-02 -7.43094214e-05 9.98220927e-01 4.32257138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0071056809999 meters Centerline goodness [0,1] 0.9961226500115272 Centerline is valid? [True, True] Translation: X:211.22, Y:179.82, Z:43.23 [[-3.01628490e-01 -9.53245086e-01 1.85488606e-02 2.11222819e+02] [ 9.51500950e-01 -3.02198175e-01 -5.76385750e-02 1.79819187e+02] [ 6.05491201e-02 2.63822127e-04 9.98165184e-01 4.32264988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0371056809999 meters Centerline goodness [0,1] 0.9969100529100529 Centerline is valid? [True, True] Translation: X:211.21, Y:179.84, Z:43.22 [[-2.90039471e-01 -9.56820574e-01 1.92741779e-02 2.11210946e+02] [ 9.54950429e-01 -2.90677250e-01 -5.98031313e-02 1.79844540e+02] [ 6.28234315e-02 1.06061589e-03 9.98024094e-01 4.32246695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06710568099993 meters Centerline goodness [0,1] 0.9978075723079518 Centerline is valid? [True, True] Translation: X:211.20, Y:179.87, Z:43.22 [[-2.84952218e-01 -9.58342512e-01 1.95413043e-02 2.11199968e+02] [ 9.56428726e-01 -2.85617871e-01 -6.05518246e-02 1.79869398e+02] [ 6.36107334e-02 1.43548806e-03 9.97973754e-01 4.32243102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.0971056809999 meters Centerline goodness [0,1] 0.9975365827981892 Centerline is valid? [True, True] Translation: X:211.20, Y:179.90, Z:43.22 [[-2.78386008e-01 -9.60261064e-01 1.99979776e-02 2.11198911e+02] [ 9.58265448e-01 -2.79096696e-01 -6.19060960e-02 1.79898404e+02] [ 6.50273830e-02 1.92957997e-03 9.97881614e-01 4.32211389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12710568099993 meters Centerline goodness [0,1] 0.9973019118484012 Centerline is valid? [True, True] Translation: X:211.20, Y:179.93, Z:43.22 [[-2.76820870e-01 -9.60723810e-01 1.94927358e-02 2.11200282e+02] [ 9.58833784e-01 -2.77499066e-01 -6.02664252e-02 1.79928323e+02] [ 6.33086056e-02 2.00728935e-03 9.97991980e-01 4.32236023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.1571056809999 meters Centerline goodness [0,1] 0.9971521390599949 Centerline is valid? [True, True] Translation: X:211.20, Y:179.96, Z:43.23 [[-2.77710944e-01 -9.60472149e-01 1.92323221e-02 2.11198034e+02] [ 9.58636419e-01 -2.78369304e-01 -5.93864277e-02 1.79955566e+02] [ 6.23926980e-02 1.94454351e-03 9.98049783e-01 4.32250163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18710568099993 meters Centerline goodness [0,1] 0.9968673786897654 Centerline is valid? [True, True] Translation: X:211.20, Y:179.98, Z:43.23 [[-2.78817118e-01 -9.60142928e-01 1.96614608e-02 2.11196243e+02] [ 9.58229142e-01 -2.79502781e-01 -6.06226692e-02 1.79982576e+02] [ 6.37018601e-02 1.93754674e-03 9.97967093e-01 4.32251908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2171056809999 meters Centerline goodness [0,1] 0.9961346738763096 Centerline is valid? [True, True] Translation: X:211.21, Y:180.02, Z:43.22 [[-2.82893939e-01 -9.58933458e-01 2.04363004e-02 2.11208102e+02] [ 9.56868950e-01 -2.83625700e-01 -6.29148208e-02 1.80015529e+02] [ 6.61273867e-02 1.75663977e-03 9.97809643e-01 4.32227943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24710568099994 meters Centerline goodness [0,1] 0.9965632840667102 Centerline is valid? [True, True] Translation: X:211.21, Y:180.05, Z:43.22 [[-2.86797113e-01 -9.57757564e-01 2.11628105e-02 2.11212657e+02] [ 9.55546319e-01 -2.87572614e-01 -6.50632251e-02 1.80045180e+02] [ 6.84006408e-02 1.56210057e-03 9.97656711e-01 4.32217852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2771056809999 meters Centerline goodness [0,1] 0.9965632840667102 Centerline is valid? [True, True] Translation: X:211.20, Y:180.07, Z:43.22 [[-2.87212857e-01 -9.57632439e-01 2.11869619e-02 2.11204399e+02] [ 9.55421433e-01 -2.87989038e-01 -6.50553600e-02 1.80069452e+02] [ 6.84007358e-02 1.55774168e-03 9.97656711e-01 4.32234208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30710568099994 meters Centerline goodness [0,1] 0.9963538263746917 Centerline is valid? [True, True] Translation: X:211.21, Y:180.10, Z:43.22 [[-2.88367188e-01 -9.57279371e-01 2.14609141e-02 2.11205029e+02] [ 9.55016588e-01 -2.89160667e-01 -6.57983731e-02 1.80097549e+02] [ 6.91930775e-02 1.52143709e-03 9.97602127e-01 4.32249427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3371056809999 meters Centerline goodness [0,1] 0.9970071238882098 Centerline is valid? [True, True] Translation: X:211.21, Y:180.13, Z:43.23 [[-2.89504088e-01 -9.56922600e-01 2.20572248e-02 2.11209195e+02] [ 9.54538341e-01 -2.90339235e-01 -6.75254258e-02 1.80126346e+02] [ 7.10206838e-02 1.50557991e-03 9.97473707e-01 4.32259782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36710568099994 meters Centerline goodness [0,1] 0.9975630764059579 Centerline is valid? [True, True] Translation: X:211.21, Y:180.15, Z:43.23 [[-2.90971939e-01 -9.56473483e-01 2.22217812e-02 2.11206759e+02] [ 9.54059529e-01 -2.91815720e-01 -6.79264353e-02 1.80154425e+02] [ 7.14544992e-02 1.43621551e-03 9.97442826e-01 4.32286009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3971056809999 meters Centerline goodness [0,1] 0.9975515329078163 Centerline is valid? [True, True] Translation: X:211.21, Y:180.18, Z:43.23 [[-2.94703226e-01 -9.55346086e-01 2.15375076e-02 2.11209136e+02] [ 9.53081548e-01 -2.95486941e-01 -6.57497613e-02 1.80184759e+02] [ 6.91778294e-02 1.15033436e-03 9.97603681e-01 4.32346222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42710568099994 meters Centerline goodness [0,1] 0.9976002020882452 Centerline is valid? [True, True] Translation: X:211.21, Y:180.21, Z:43.24 [[-3.01171629e-01 -9.53330408e-01 2.13724838e-02 2.11212657e+02] [ 9.51100605e-01 -3.01928207e-01 -6.51689799e-02 1.80214667e+02] [ 6.85805260e-02 7.00334467e-04 9.97645338e-01 4.32382903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4571056809999 meters Centerline goodness [0,1] 0.9979371991748797 Centerline is valid? [True, True] Translation: X:211.21, Y:180.24, Z:43.24 [[-3.04981967e-01 -9.52110314e-01 2.17244150e-02 2.11211814e+02] [ 9.49809231e-01 -3.05754381e-01 -6.61565125e-02 1.80242169e+02] [ 6.96306329e-02 4.57506537e-04 9.97572737e-01 4.32395959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48710568099995 meters Centerline goodness [0,1] 0.9979560444191584 Centerline is valid? [True, True] Translation: X:211.22, Y:180.27, Z:43.24 [[-3.13206638e-01 -9.49437463e-01 2.16819402e-02 2.11220727e+02] [ 9.47145522e-01 -3.13956194e-01 -6.59307905e-02 1.80273486e+02] [ 6.94043419e-02 -1.14008728e-04 9.97588605e-01 4.32435406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5171056809999 meters Centerline goodness [0,1] 0.9978710398178791 Centerline is valid? [True, True] Translation: X:211.22, Y:180.30, Z:43.25 [[-3.15180365e-01 -9.48784970e-01 2.16429538e-02 2.11217673e+02] [ 9.46506170e-01 -3.15922503e-01 -6.57194248e-02 1.80301138e+02] [ 6.91910987e-02 -2.28283011e-04 9.97603398e-01 4.32470487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54710568099995 meters Centerline goodness [0,1] 0.9979126254533187 Centerline is valid? [True, True] Translation: X:211.21, Y:180.33, Z:43.25 [[-3.14775043e-01 -9.48919805e-01 2.16304574e-02 2.11214999e+02] [ 9.46650436e-01 -3.15517315e-01 -6.55879325e-02 1.80328568e+02] [ 6.90624719e-02 -1.68962333e-04 9.97612323e-01 4.32490415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5771056809999 meters Centerline goodness [0,1] 0.9981424017900492 Centerline is valid? [True, True] Translation: X:211.21, Y:180.35, Z:43.25 [[-3.13001572e-01 -9.49501336e-01 2.18455645e-02 2.11208201e+02] [ 9.47194618e-01 -3.13762988e-01 -6.61448622e-02 1.80354415e+02] [ 6.96589646e-02 -1.14446762e-05 9.97570864e-01 4.32516091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6071056809999 meters Centerline goodness [0,1] 0.998195589685487 Centerline is valid? [True, True] Translation: X:211.20, Y:180.38, Z:43.25 [[-3.10521574e-01 -9.50310627e-01 2.20468529e-02 2.11201142e+02] [ 9.47970046e-01 -3.11303182e-01 -6.66567353e-02 1.80379790e+02] [ 7.02078594e-02 2.01401750e-04 9.97532363e-01 4.32534520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6371056809999 meters Centerline goodness [0,1] 0.9986522911051213 Centerline is valid? [True, True] Translation: X:211.19, Y:180.41, Z:43.26 [[-3.02952974e-01 -9.52755219e-01 2.18400505e-02 2.11192337e+02] [ 9.50471457e-01 -3.03738173e-01 -6.59327804e-02 1.80405359e+02] [ 6.94514577e-02 7.83812681e-04 9.97585024e-01 4.32575429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6671056809999 meters Centerline goodness [0,1] 0.9981504056496701 Centerline is valid? [True, True] Translation: X:211.18, Y:180.43, Z:43.26 [[-2.94531101e-01 -9.55404293e-01 2.13088420e-02 2.11182195e+02] [ 9.53243006e-01 -2.95297648e-01 -6.42422726e-02 1.80430912e+02] [ 6.76697940e-02 1.39115730e-03 9.97706802e-01 4.32605547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6971056809999 meters Centerline goodness [0,1] 0.9985563041385948 Centerline is valid? [True, True] Translation: X:211.17, Y:180.46, Z:43.26 [[-2.90686902e-01 -9.56583936e-01 2.11730629e-02 2.11171612e+02] [ 9.54458946e-01 -2.91452152e-01 -6.37476606e-02 1.80455020e+02] [ 6.71509229e-02 1.67820936e-03 9.97741418e-01 4.32628225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7271056809999 meters Centerline goodness [0,1] 0.9987563993616183 Centerline is valid? [True, True] Translation: X:211.16, Y:180.48, Z:43.26 [[-2.85233567e-01 -9.58226247e-01 2.10777438e-02 2.11162727e+02] [ 9.56130957e-01 -2.86003739e-01 -6.33676188e-02 1.80480500e+02] [ 6.67488291e-02 2.07851138e-03 9.97767645e-01 4.32631161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7571056809999 meters Centerline goodness [0,1] 0.9990426638917794 Centerline is valid? [True, True] Translation: X:211.16, Y:180.51, Z:43.26 [[-2.84913313e-01 -9.58311313e-01 2.15367538e-02 2.11157078e+02] [ 9.56130134e-01 -2.85717897e-01 -6.46564062e-02 1.80506972e+02] [ 6.81144016e-02 2.17046838e-03 9.97675156e-01 4.32642169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.7871056809999 meters Centerline goodness [0,1] 0.9993127863390254 Centerline is valid? [True, True] Translation: X:211.16, Y:180.53, Z:43.26 [[-2.86428536e-01 -9.57834468e-01 2.26235470e-02 2.11156782e+02] [ 9.55433009e-01 -2.87312261e-01 -6.78191005e-02 1.80534785e+02] [ 7.14594945e-02 2.18995786e-03 9.97441098e-01 4.32614236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81710568099993 meters Centerline goodness [0,1] 0.9990973024036948 Centerline is valid? [True, True] Translation: X:211.15, Y:180.56, Z:43.26 [[-2.88186321e-01 -9.57298070e-01 2.30010745e-02 2.11151917e+02] [ 9.54821394e-01 -2.89094982e-01 -6.88490949e-02 1.80561486e+02] [ 7.25586009e-02 2.12055059e-03 9.97361897e-01 4.32613048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8471056809999 meters Centerline goodness [0,1] 0.9992421212185006 Centerline is valid? [True, True] Translation: X:211.15, Y:180.59, Z:43.26 [[-2.93259942e-01 -9.55754252e-01 2.30741583e-02 2.11152619e+02] [ 9.53263853e-01 -2.94160980e-01 -6.89734987e-02 1.80590488e+02] [ 7.27092317e-02 1.76859686e-03 9.97351613e-01 4.32639067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87710568099993 meters Centerline goodness [0,1] 0.9993715566541677 Centerline is valid? [True, True] Translation: X:211.15, Y:180.62, Z:43.27 [[-2.96074492e-01 -9.54893707e-01 2.27575160e-02 2.11149700e+02] [ 9.52475098e-01 -2.96943718e-01 -6.79383175e-02 1.80617493e+02] [ 7.16315733e-02 1.56116448e-03 9.97429938e-01 4.32672067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9071056809999 meters Centerline goodness [0,1] 0.9995159321463147 Centerline is valid? [True, True] Translation: X:211.15, Y:180.65, Z:43.27 [[-3.01293844e-01 -9.53261978e-01 2.26632146e-02 2.11152253e+02] [ 9.50865400e-01 -3.02142645e-01 -6.75634012e-02 1.80647112e+02] [ 7.12531451e-02 1.19322980e-03 9.97457551e-01 4.32719617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93710568099993 meters Centerline goodness [0,1] 0.9995993843169503 Centerline is valid? [True, True] Translation: X:211.16, Y:180.68, Z:43.27 [[-3.08095115e-01 -9.51070982e-01 2.32677205e-02 2.11155128e+02] [ 9.48545153e-01 -3.08971611e-01 -6.92721876e-02 1.80677371e+02] [ 7.30718326e-02 7.28060937e-04 9.97326415e-01 4.32708558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.9671056809999 meters Centerline goodness [0,1] 0.9997273604295122 Centerline is valid? [True, True] Translation: X:211.15, Y:180.70, Z:43.27 [[-3.11455183e-01 -9.49965745e-01 2.36802158e-02 2.11153583e+02] [ 9.47353352e-01 -3.12353690e-01 -7.04045352e-02 1.80703746e+02] [ 7.42784995e-02 5.05674417e-04 9.97237408e-01 4.32709504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99710568099994 meters Centerline goodness [0,1] 0.9998112336926884 Centerline is valid? [True, True] Translation: X:211.16, Y:180.73, Z:43.27 [[-3.17842005e-01 -9.47853496e-01 2.34565641e-02 2.11159496e+02] [ 9.45292226e-01 -3.18706367e-01 -6.96337523e-02 1.80732090e+02] [ 7.34783519e-02 4.07762589e-05 9.97296811e-01 4.32727768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0271056809999 meters Centerline goodness [0,1] 0.9994761984579282 Centerline is valid? [True, True] Translation: X:211.16, Y:180.76, Z:43.27 [[-3.21421263e-01 -9.46646085e-01 2.34427383e-02 2.11157470e+02] [ 9.44090952e-01 -3.22274955e-01 -6.95063171e-02 1.80757581e+02] [ 7.33528904e-02 -2.08731107e-04 9.97306026e-01 4.32741351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05710568099994 meters Centerline goodness [0,1] 0.9997696962083621 Centerline is valid? [True, True] Translation: X:211.16, Y:180.79, Z:43.28 [[-3.28951521e-01 -9.44053184e-01 2.35474618e-02 2.11162042e+02] [ 9.41476137e-01 -3.29792367e-01 -6.97113901e-02 1.80787676e+02] [ 7.35770329e-02 -7.62294462e-04 9.97289245e-01 4.32750384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0871056809999 meters Centerline goodness [0,1] 0.9998325694313639 Centerline is valid? [True, True] Translation: X:211.16, Y:180.81, Z:43.28 [[-3.33623002e-01 -9.42411893e-01 2.35694108e-02 2.11161381e+02] [ 9.39832679e-01 -3.34452718e-01 -6.96843987e-02 1.80814562e+02] [ 7.35542596e-02 -1.09701580e-03 9.97290613e-01 4.32767217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11710568099994 meters Centerline goodness [0,1] 0.9998742006499634 Centerline is valid? [True, True] Translation: X:211.17, Y:180.84, Z:43.28 [[-3.45186671e-01 -9.38222269e-01 2.41895656e-02 2.11168986e+02] [ 9.35502309e-01 -3.46027282e-01 -7.14181316e-02 1.80844761e+02] [ 7.53763312e-02 -2.02319263e-03 9.97153105e-01 4.32760593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1471056809999 meters Centerline goodness [0,1] 0.9998531078188609 Centerline is valid? [True, True] Translation: X:211.18, Y:180.88, Z:43.27 [[-3.57976661e-01 -9.33390787e-01 2.51862735e-02 2.11176826e+02] [ 9.30437632e-01 -3.58847779e-01 -7.42568804e-02 1.80875712e+02] [ 7.83487264e-02 -3.14797338e-03 9.96921044e-01 4.32737950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17710568099994 meters Centerline goodness [0,1] 0.9997490484754695 Centerline is valid? [True, True] Translation: X:211.18, Y:180.90, Z:43.27 [[-3.63556690e-01 -9.31226350e-01 2.53775313e-02 2.11175941e+02] [ 9.28230556e-01 -3.64423454e-01 -7.47233611e-02 1.80902365e+02] [ 7.88325304e-02 -3.60997780e-03 9.96881337e-01 4.32746151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2071056809999 meters Centerline goodness [0,1] 0.9993922756134873 Centerline is valid? [True, True] Translation: X:211.17, Y:180.93, Z:43.28 [[-3.72457158e-01 -9.27717644e-01 2.48120614e-02 2.11173920e+02] [ 9.24852439e-01 -3.73258686e-01 -7.29789000e-02 1.80928887e+02] [ 7.69651306e-02 -4.23401816e-03 9.97024795e-01 4.32796426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23710568099995 meters Centerline goodness [0,1] 0.9988049813409368 Centerline is valid? [True, True] Translation: X:211.17, Y:180.95, Z:43.28 [[-3.75437563e-01 -9.26522490e-01 2.45501948e-02 2.11167637e+02] [ 9.23722799e-01 -3.76213726e-01 -7.21070220e-02 1.80953168e+02] [ 7.60448979e-02 -4.39410997e-03 9.97094712e-01 4.32821845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2671056809999 meters Centerline goodness [0,1] 0.9988422027618726 Centerline is valid? [True, True] Translation: X:211.15, Y:180.97, Z:43.29 [[-3.77717662e-01 -9.25614965e-01 2.37971450e-02 2.11146880e+02] [ 9.22989974e-01 -3.78440982e-01 -6.97992154e-02 1.80974197e+02] [ 7.36130133e-02 -4.39987015e-03 9.97277176e-01 4.32883917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29710568099995 meters Centerline goodness [0,1] 0.9990211799987504 Centerline is valid? [True, True] Translation: X:211.13, Y:181.00, Z:43.29 [[-3.76060009e-01 -9.26301390e-01 2.33367714e-02 2.11131170e+02] [ 9.23784820e-01 -3.76760558e-01 -6.83599857e-02 1.80995892e+02] [ 7.21143248e-02 -4.14930166e-03 9.97387742e-01 4.32925623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3271056809999 meters Centerline goodness [0,1] 0.9985209565869511 Centerline is valid? [True, True] Translation: X:211.12, Y:181.02, Z:43.29 [[-3.74475298e-01 -9.26938601e-01 2.35176841e-02 2.11124661e+02] [ 9.24390773e-01 -3.75191475e-01 -6.87972057e-02 1.81021112e+02] [ 7.25944202e-02 -4.02332391e-03 9.97353429e-01 4.32926937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3571056809999 meters Centerline goodness [0,1] 0.9991364057629117 Centerline is valid? [True, True] Translation: X:211.09, Y:181.04, Z:43.29 [[-3.70289263e-01 -9.28601957e-01 2.41716430e-02 2.11093777e+02] [ 9.25920916e-01 -3.71058245e-01 -7.06132909e-02 1.81038865e+02] [ 7.45407275e-02 -3.76631356e-03 9.97210858e-01 4.32925973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3871056809999 meters Centerline goodness [0,1] 0.9993246808061623 Centerline is valid? [True, True] Translation: X:211.07, Y:181.06, Z:43.29 [[-3.65731317e-01 -9.30412654e-01 2.39352473e-02 2.11071961e+02] [ 9.27794328e-01 -3.66498548e-01 -6.98319364e-02 1.81059527e+02] [ 7.37447507e-02 -3.33273938e-03 9.97271580e-01 4.32937524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4171056809999 meters Centerline goodness [0,1] 0.9990185022762395 Centerline is valid? [True, True] Translation: X:211.06, Y:181.08, Z:43.29 [[-3.64300931e-01 -9.30976950e-01 2.38065162e-02 2.11064860e+02] [ 9.28393576e-01 -3.65064172e-01 -6.93795235e-02 1.81084600e+02] [ 7.32816433e-02 -3.17320832e-03 9.97306238e-01 4.32938833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4471056809999 meters Centerline goodness [0,1] 0.9985525791361625 Centerline is valid? [True, True] Translation: X:211.05, Y:181.10, Z:43.29 [[-3.63784909e-01 -9.31154470e-01 2.47364716e-02 2.11048825e+02] [ 9.28373032e-01 -3.64610694e-01 -7.19899678e-02 1.81104928e+02] [ 7.60529623e-02 -3.22419077e-03 9.97098567e-01 4.32895264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4771056809999 meters Centerline goodness [0,1] 0.9988421783887333 Centerline is valid? [True, True] Translation: X:211.03, Y:181.13, Z:43.29 [[-3.63693780e-01 -9.31173858e-01 2.53393188e-02 2.11029389e+02] [ 9.28263471e-01 -3.64560863e-01 -7.36363086e-02 1.81125702e+02] [ 7.78059294e-02 -3.25950346e-03 9.96963195e-01 4.32924023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5071056809999 meters Centerline goodness [0,1] 0.9983755616970106 Centerline is valid? [True, True] Translation: X:211.01, Y:181.15, Z:43.30 [[-3.58480826e-01 -9.33205859e-01 2.48660686e-02 2.11010254e+02] [ 9.30415730e-01 -3.59331820e-01 -7.21610111e-02 1.81146279e+02] [ 7.62762481e-02 -2.73255745e-03 9.97082979e-01 4.32964408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5371056809999 meters Centerline goodness [0,1] 0.9978107212109839 Centerline is valid? [True, True] Translation: X:210.99, Y:181.17, Z:43.30 [[-3.53933555e-01 -9.34958755e-01 2.41488360e-02 2.10990124e+02] [ 9.32338475e-01 -3.54749265e-01 -6.99851854e-02 1.81168092e+02] [ 7.40000436e-02 -2.25521653e-03 9.97255688e-01 4.33015794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56710568099993 meters Centerline goodness [0,1] 0.9976768036166517 Centerline is valid? [True, True] Translation: X:210.96, Y:181.19, Z:43.31 [[-3.43286882e-01 -9.38935423e-01 2.35454653e-02 2.10963113e+02] [ 9.36459863e-01 -3.44090775e-01 -6.81503025e-02 1.81187515e+02] [ 7.20905105e-02 -1.34572165e-03 9.97397186e-01 4.33051863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.5971056809999 meters Centerline goodness [0,1] 0.9977724072711989 Centerline is valid? [True, True] Translation: X:210.95, Y:181.21, Z:43.31 [[-3.38872573e-01 -9.40540751e-01 2.34195513e-02 2.10947389e+02] [ 9.38101803e-01 -3.39679487e-01 -6.76967811e-02 1.81210458e+02] [ 7.16267225e-02 -9.70659100e-04 9.97431035e-01 4.33060299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62710568099993 meters Centerline goodness [0,1] 0.9982074695797043 Centerline is valid? [True, True] Translation: X:210.93, Y:181.23, Z:43.31 [[-3.31214752e-01 -9.43269571e-01 2.32229295e-02 2.10929264e+02] [ 9.40884407e-01 -3.32027696e-01 -6.70383647e-02 1.81232737e+02] [ 7.09459053e-02 -3.54003048e-04 9.97480102e-01 4.33068881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.6571056809999 meters Centerline goodness [0,1] 0.9975655312808244 Centerline is valid? [True, True] Translation: X:210.91, Y:181.25, Z:43.31 [[-3.23127603e-01 -9.46077742e-01 2.29228657e-02 2.10908867e+02] [ 9.43766997e-01 -3.23939542e-01 -6.60835036e-02 1.81253974e+02] [ 6.99457545e-02 2.80440022e-04 9.97550757e-01 4.33083030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68710568099993 meters Centerline goodness [0,1] 0.9976160337552743 Centerline is valid? [True, True] Translation: X:210.89, Y:181.28, Z:43.31 [[-3.19326772e-01 -9.47362830e-01 2.31102004e-02 2.10894127e+02] [ 9.45023828e-01 -3.20161390e-01 -6.65330700e-02 1.81277647e+02] [ 7.04299513e-02 5.93899588e-04 9.97516551e-01 4.33085942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7171056809999 meters Centerline goodness [0,1] 0.9982590456213949 Centerline is valid? [True, True] Translation: X:210.88, Y:181.30, Z:43.31 [[-3.11727783e-01 -9.49866747e-01 2.40614303e-02 2.10876124e+02] [ 9.47345384e-01 -3.12652599e-01 -6.91742453e-02 1.81299064e+02] [ 7.32291840e-02 1.23095084e-03 9.97314379e-01 4.33056088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74710568099994 meters Centerline goodness [0,1] 0.9983805497718048 Centerline is valid? [True, True] Translation: X:210.87, Y:181.32, Z:43.31 [[-3.09677699e-01 -9.50531010e-01 2.43006487e-02 2.10865953e+02] [ 9.47968520e-01 -3.10626380e-01 -6.97634399e-02 1.81324547e+02] [ 7.38607355e-02 1.43206841e-03 9.97267537e-01 4.33064816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7771056809999 meters Centerline goodness [0,1] 0.9985128086969272 Centerline is valid? [True, True] Translation: X:210.86, Y:181.35, Z:43.31 [[-3.07592445e-01 -9.51210077e-01 2.42131440e-02 2.10857653e+02] [ 9.48674669e-01 -3.08539748e-01 -6.94233095e-02 1.81348923e+02] [ 7.35068690e-02 1.61631085e-03 9.97293401e-01 4.33063223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80710568099994 meters Centerline goodness [0,1] 0.9984706917501153 Centerline is valid? [True, True] Translation: X:210.85, Y:181.37, Z:43.31 [[-3.07185666e-01 -9.51341023e-01 2.42327338e-02 2.10850633e+02] [ 9.48807444e-01 -3.08135462e-01 -6.94044053e-02 1.81374516e+02] [ 7.34942225e-02 1.67215978e-03 9.97294241e-01 4.33074433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8371056809999 meters Centerline goodness [0,1] 0.9987437448964637 Centerline is valid? [True, True] Translation: X:210.84, Y:181.40, Z:43.31 [[-3.05619945e-01 -9.51837393e-01 2.45362111e-02 2.10843795e+02] [ 9.49249044e-01 -3.06597737e-01 -7.01717941e-02 1.81399877e+02] [ 7.43148844e-02 1.84507510e-03 9.97233119e-01 4.33100990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86710568099994 meters Centerline goodness [0,1] 0.9988043045037863 Centerline is valid? [True, True] Translation: X:210.84, Y:181.43, Z:43.31 [[-3.06236759e-01 -9.51648230e-01 2.41804291e-02 2.10837939e+02] [ 9.49140729e-01 -3.07184636e-01 -6.90613996e-02 1.81426261e+02] [ 7.31500150e-02 1.80149095e-03 9.97319322e-01 4.33144066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8971056809999 meters Centerline goodness [0,1] 0.9990564059551269 Centerline is valid? [True, True] Translation: X:210.84, Y:181.45, Z:43.32 [[-3.07906121e-01 -9.51132347e-01 2.32610947e-02 2.10835383e+02] [ 9.48816801e-01 -3.08779150e-01 -6.63484310e-02 1.81453366e+02] [ 7.02886800e-02 1.64142946e-03 9.97525342e-01 4.33206183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92710568099994 meters Centerline goodness [0,1] 0.9990547807091246 Centerline is valid? [True, True] Translation: X:210.84, Y:181.48, Z:43.32 [[-3.12002089e-01 -9.49801500e-01 2.30609572e-02 2.10839189e+02] [ 9.47528248e-01 -3.12850239e-01 -6.56882547e-02 1.81483527e+02] [ 6.96054288e-02 1.35603569e-03 9.97573679e-01 4.33219323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9571056809999 meters Centerline goodness [0,1] 0.9994134283020845 Centerline is valid? [True, True] Translation: X:210.84, Y:181.51, Z:43.32 [[-3.14480002e-01 -9.48985441e-01 2.29991662e-02 2.10835921e+02] [ 9.46728423e-01 -3.15317607e-01 -6.54224752e-02 1.81509499e+02] [ 6.93370186e-02 1.19990419e-03 9.97592571e-01 4.33234920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98710568099995 meters Centerline goodness [0,1] 0.9994302114548601 Centerline is valid? [True, True] Translation: X:210.84, Y:181.54, Z:43.32 [[-3.19301225e-01 -9.47369952e-01 2.31711574e-02 2.10841115e+02] [ 9.45081311e-01 -3.20139649e-01 -6.58173248e-02 1.81539807e+02] [ 6.97713620e-02 8.83075387e-04 9.97562618e-01 4.33243905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0171056809999 meters Centerline goodness [0,1] 0.9993669149766814 Centerline is valid? [True, True] Translation: X:210.84, Y:181.57, Z:43.32 [[-3.21966634e-01 -9.46464507e-01 2.32899980e-02 2.10836358e+02] [ 9.44156341e-01 -3.22807095e-01 -6.60634786e-02 1.81566344e+02] [ 7.00449143e-02 7.19163424e-04 9.97543579e-01 4.33249842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04710568099995 meters Centerline goodness [0,1] 0.9996412972379888 Centerline is valid? [True, True] Translation: X:210.83, Y:181.59, Z:43.33 [[-3.25733931e-01 -9.45167345e-01 2.35817051e-02 2.10832805e+02] [ 9.42804017e-01 -3.26586077e-01 -6.67990970e-02 1.81594200e+02] [ 7.08377817e-02 4.74193884e-04 9.97487736e-01 4.33265355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0771056809999 meters Centerline goodness [0,1] 0.9997468888420165 Centerline is valid? [True, True] Translation: X:210.84, Y:181.62, Z:43.33 [[-3.32554013e-01 -9.42783440e-01 2.38162437e-02 2.10835923e+02] [ 9.40373179e-01 -3.33405736e-01 -6.73713524e-02 1.81622885e+02] [ 7.14570676e-02 -8.45684390e-06 9.97443676e-01 4.33285222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1071056809999 meters Centerline goodness [0,1] 0.9995820359031159 Centerline is valid? [True, True] Translation: X:210.84, Y:181.65, Z:43.33 [[-3.37827364e-01 -9.40914457e-01 2.35086415e-02 2.10840351e+02] [ 9.38568081e-01 -3.38644130e-01 -6.64086608e-02 1.81652739e+02] [ 7.04459325e-02 -3.70202215e-04 9.97515530e-01 4.33305244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1371056809999 meters Centerline goodness [0,1] 0.9996226256866116 Centerline is valid? [True, True] Translation: X:210.84, Y:181.68, Z:43.33 [[-3.39458506e-01 -9.40325724e-01 2.35681192e-02 2.10836857e+02] [ 9.37972819e-01 -3.40275360e-01 -6.64805922e-02 1.81679972e+02] [ 7.05330612e-02 -4.61147294e-04 9.97509336e-01 4.33321273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1671056809999 meters Centerline goodness [0,1] 0.9996226256866116 Centerline is valid? [True, True] Translation: X:210.83, Y:181.70, Z:43.33 [[-3.39857412e-01 -9.40180912e-01 2.35964455e-02 2.10827720e+02] [ 9.37828357e-01 -3.40675271e-01 -6.64705374e-02 1.81704897e+02] [ 7.05330559e-02 -4.61089123e-04 9.97509336e-01 4.33338167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1971056809999 meters Centerline goodness [0,1] 0.9998954805802919 Centerline is valid? [True, True] Translation: X:210.82, Y:181.73, Z:43.34 [[-3.37911178e-01 -9.40860384e-01 2.44494266e-02 2.10823244e+02] [ 9.38343246e-01 -3.38794406e-01 -6.87772033e-02 1.81730519e+02] [ 7.29930748e-02 -2.98631505e-04 9.97332403e-01 4.33351469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2271056809999 meters Centerline goodness [0,1] 0.9997691306720397 Centerline is valid? [True, True] Translation: X:210.81, Y:181.75, Z:43.34 [[-3.34945929e-01 -9.41921932e-01 2.43782636e-02 2.10813221e+02] [ 9.39429254e-01 -3.35831913e-01 -6.84806783e-02 1.81754318e+02] [ 7.26904517e-02 -3.56703860e-05 9.97354549e-01 4.33366851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2571056809999 meters Centerline goodness [0,1] 0.999916177703269 Centerline is valid? [True, True] Translation: X:210.80, Y:181.78, Z:43.34 [[-3.26260281e-01 -9.44964270e-01 2.44286026e-02 2.10802146e+02] [ 9.42476683e-01 -3.27172864e-01 -6.85245858e-02 1.81778875e+02] [ 7.27456611e-02 6.66537705e-04 9.97350302e-01 4.33396799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.2871056809999 meters Centerline goodness [0,1] 0.9999791183779156 Centerline is valid? [True, True] Translation: X:210.79, Y:181.80, Z:43.34 [[-3.22568818e-01 -9.46233980e-01 2.43025274e-02 2.10792189e+02] [ 9.43782106e-01 -3.23481535e-01 -6.80810808e-02 1.81802612e+02] [ 7.22820509e-02 9.75456749e-04 9.97383754e-01 4.33432622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31710568099993 meters Centerline goodness [0,1] 0.9998540937135234 Centerline is valid? [True, True] Translation: X:210.78, Y:181.83, Z:43.35 [[-3.15873355e-01 -9.48524779e-01 2.29077960e-02 2.10783500e+02] [ 9.46358171e-01 -3.16699677e-01 -6.40899923e-02 1.81828041e+02] [ 6.80458373e-02 1.43465898e-03 9.97681164e-01 4.33495130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.77, Y:181.85, Z:43.35 [[-3.08473936e-01 -9.50967042e-01 2.24836695e-02 2.10773907e+02] [ 9.48891726e-01 -3.09286050e-01 -6.28222314e-02 1.81851878e+02] [ 6.66957569e-02 1.95554700e-03 9.97771443e-01 4.33515179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:181.88, Z:43.35 [[-3.04962399e-01 -9.52100937e-01 2.23995899e-02 2.10764120e+02] [ 9.50048716e-01 -3.05775898e-01 -6.25182997e-02 1.81877316e+02] [ 6.63729865e-02 2.21497101e-03 9.97792424e-01 4.33519976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:181.90, Z:43.35 [[-2.99311977e-01 -9.53881608e-01 2.28520954e-02 2.10756116e+02] [ 9.51756325e-01 -3.00171070e-01 -6.36963632e-02 1.81902918e+02] [ 6.76183272e-02 2.68454191e-03 9.97707650e-01 4.33511589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:181.93, Z:43.35 [[-2.99695253e-01 -9.53759431e-01 2.29282006e-02 2.10754089e+02] [ 9.51625558e-01 -3.00558977e-01 -6.38208251e-02 1.81930505e+02] [ 6.77609904e-02 2.69226332e-03 9.97697950e-01 4.33526259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:181.96, Z:43.35 [[-3.02381929e-01 -9.52906446e-01 2.31186855e-02 2.10751062e+02] [ 9.50740763e-01 -3.03253699e-01 -6.42588162e-02 1.81957990e+02] [ 6.82434671e-02 2.54917193e-03 9.97665440e-01 4.33542192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49710568099994 meters Centerline goodness [0,1] 0.9999161302497221 Centerline is valid? [True, True] Translation: X:210.76, Y:181.99, Z:43.35 [[-3.10057045e-01 -9.50421434e-01 2.37429149e-02 2.10757654e+02] [ 9.48135837e-01 -3.10957850e-01 -6.59063735e-02 1.81987480e+02] [ 7.00218758e-02 2.07677309e-03 9.97543294e-01 4.33521766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:182.02, Z:43.35 [[-3.14482402e-01 -9.48962717e-01 2.38868151e-02 2.10756591e+02] [ 9.46651685e-01 -3.15383190e-01 -6.62120062e-02 1.82016247e+02] [ 7.03662253e-02 1.78998301e-03 9.97519619e-01 4.33540779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55710568099994 meters Centerline goodness [0,1] 0.9998308954088103 Centerline is valid? [True, True] Translation: X:210.76, Y:182.05, Z:43.36 [[-3.22188684e-01 -9.46380743e-01 2.36207711e-02 2.10760218e+02] [ 9.44119488e-01 -3.23051037e-01 -6.53943463e-02 1.82045389e+02] [ 6.95186647e-02 1.23151190e-03 9.97579891e-01 4.33569628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5871056809999 meters Centerline goodness [0,1] 0.9999788695192816 Centerline is valid? [True, True] Translation: X:210.76, Y:182.07, Z:43.36 [[-3.26544826e-01 -9.44889295e-01 2.35095113e-02 2.10760890e+02] [ 9.42651368e-01 -3.27388676e-01 -6.50004101e-02 1.82074008e+02] [ 6.91149394e-02 9.35725374e-04 9.97608265e-01 4.33602771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61710568099994 meters Centerline goodness [0,1] 0.9997254197908966 Centerline is valid? [True, True] Translation: X:210.77, Y:182.10, Z:43.36 [[-3.35467749e-01 -9.41773929e-01 2.28747775e-02 2.10765819e+02] [ 9.39653557e-01 -3.36246595e-01 -6.31618589e-02 1.82103844e+02] [ 6.71757581e-02 3.05599425e-04 9.97741111e-01 4.33634810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6471056809999 meters Centerline goodness [0,1] 0.9999155779742935 Centerline is valid? [True, True] Translation: X:210.76, Y:182.13, Z:43.37 [[-3.40319138e-01 -9.40037230e-01 2.26470902e-02 2.10763584e+02] [ 9.37960555e-01 -3.41071849e-01 -6.24499066e-02 1.82130228e+02] [ 6.64295222e-02 -1.08211009e-05 9.97791120e-01 4.33663396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67710568099994 meters Centerline goodness [0,1] 0.9997479785781791 Centerline is valid? [True, True] Translation: X:210.77, Y:182.16, Z:43.37 [[-3.48657993e-01 -9.36970022e-01 2.29080993e-02 2.10767970e+02] [ 9.34844738e-01 -3.49409280e-01 -6.30751199e-02 1.82158523e+02] [ 6.71037990e-02 -5.76128620e-04 9.97745833e-01 4.33670416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7071056809999 meters Centerline goodness [0,1] 0.9996832904015878 Centerline is valid? [True, True] Translation: X:210.76, Y:182.19, Z:43.37 [[-3.52906422e-01 -9.35365809e-01 2.34064441e-02 2.10763163e+02] [ 9.33149773e-01 -3.53680715e-01 -6.43541201e-02 1.82185696e+02] [ 6.84730515e-02 -8.69264258e-04 9.97652588e-01 4.33671804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73710568099995 meters Centerline goodness [0,1] 0.9997887398331045 Centerline is valid? [True, True] Translation: X:210.76, Y:182.21, Z:43.37 [[-3.59898140e-01 -9.32676943e-01 2.42291118e-02 2.10761941e+02] [ 9.30302369e-01 -3.60710070e-01 -6.65262884e-02 1.82213881e+02] [ 7.07872199e-02 -1.40228732e-03 9.97490453e-01 4.33659485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7671056809999 meters Centerline goodness [0,1] 0.9999579071431578 Centerline is valid? [True, True] Translation: X:210.76, Y:182.24, Z:43.37 [[-3.63330476e-01 -9.31346752e-01 2.41700879e-02 2.10757190e+02] [ 9.28987190e-01 -3.64129902e-01 -6.62737855e-02 1.82240414e+02] [ 7.05249266e-02 -1.62558396e-03 9.97508693e-01 4.33671143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.76, Y:182.27, Z:43.37 [[-3.70097018e-01 -9.28682535e-01 2.40197044e-02 2.10755428e+02] [ 9.26352844e-01 -3.70869754e-01 -6.57725987e-02 1.82267957e+02] [ 6.99900456e-02 -2.09152115e-03 9.97545497e-01 4.33700731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8271056809999 meters Centerline goodness [0,1] 0.9998313161556952 Centerline is valid? [True, True] Translation: X:210.75, Y:182.29, Z:43.38 [[-3.75632419e-01 -9.26477373e-01 2.32371012e-02 2.10745584e+02] [ 9.24298696e-01 -3.76342873e-01 -6.35449698e-02 1.82292185e+02] [ 6.76180941e-02 -2.39152845e-03 9.97708411e-01 4.33765067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8571056809999 meters Centerline goodness [0,1] 0.9998313125988403 Centerline is valid? [True, True] Translation: X:210.74, Y:182.32, Z:43.38 [[-3.77318051e-01 -9.25799472e-01 2.29439722e-02 2.10740061e+02] [ 9.23680174e-01 -3.78007072e-01 -6.26545218e-02 1.82317967e+02] [ 6.66785069e-02 -2.44778985e-03 9.97771509e-01 4.33783291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8871056809999 meters Centerline goodness [0,1] 0.9998947457056248 Centerline is valid? [True, True] Translation: X:210.72, Y:182.34, Z:43.38 [[-3.77975485e-01 -9.25525793e-01 2.31633267e-02 2.10724754e+02] [ 9.23369876e-01 -3.78676362e-01 -6.31845215e-02 1.82339966e+02] [ 6.72503086e-02 -2.49388204e-03 9.97733019e-01 4.33792512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9171056809999 meters Centerline goodness [0,1] 0.9998950792151925 Centerline is valid? [True, True] Translation: X:210.71, Y:182.36, Z:43.38 [[-3.78294371e-01 -9.25387673e-01 2.34738934e-02 2.10714780e+02] [ 9.23179820e-01 -3.79013623e-01 -6.39350749e-02 1.82363026e+02] [ 6.80616555e-02 -2.51565429e-03 9.97677945e-01 4.33796888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.70, Y:182.39, Z:43.38 [[-3.75086237e-01 -9.26693699e-01 2.34329648e-02 2.10696548e+02] [ 9.24502638e-01 -3.75810823e-01 -6.37267363e-02 1.82385653e+02] [ 6.78615268e-02 -2.23918392e-03 9.97692237e-01 4.33804866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9771056809999 meters Centerline goodness [0,1] 0.9999790294845448 Centerline is valid? [True, True] Translation: X:210.68, Y:182.41, Z:43.38 [[-3.72811014e-01 -9.27610258e-01 2.34767379e-02 2.10683242e+02] [ 9.25418217e-01 -3.73543866e-01 -6.37660166e-02 1.82408483e+02] [ 6.79196025e-02 -2.04687237e-03 9.97688698e-01 4.33810646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0071056809999 meters Centerline goodness [0,1] 0.9999789990969612 Centerline is valid? [True, True] Translation: X:210.66, Y:182.43, Z:43.38 [[-3.67093866e-01 -9.29899824e-01 2.29872069e-02 2.10661754e+02] [ 9.27808305e-01 -3.67809569e-01 -6.23527814e-02 1.82429166e+02] [ 6.64367551e-02 -1.56160211e-03 9.97789416e-01 4.33845239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0371056809999 meters Centerline goodness [0,1] 0.9998951869864162 Centerline is valid? [True, True] Translation: X:210.65, Y:182.45, Z:43.39 [[-3.64340418e-01 -9.30994984e-01 2.24588576e-02 2.10646578e+02] [ 9.29005782e-01 -3.65029648e-01 -6.08408846e-02 1.82452693e+02] [ 6.48407073e-02 -1.30238476e-03 9.97894777e-01 4.33878323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06710568099993 meters Centerline goodness [0,1] 0.9999789336198361 Centerline is valid? [True, True] Translation: X:210.63, Y:182.48, Z:43.39 [[-3.60413213e-01 -9.32551605e-01 2.12089583e-02 2.10631021e+02] [ 9.30784767e-01 -3.61035479e-01 -5.73855390e-02 1.82475187e+02] [ 6.11721629e-02 -9.41531171e-04 9.98126786e-01 4.33922600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.0971056809999 meters Centerline goodness [0,1] 0.9999163827163075 Centerline is valid? [True, True] Translation: X:210.62, Y:182.50, Z:43.39 [[-3.61511671e-01 -9.32123407e-01 2.13369507e-02 2.10619264e+02] [ 9.30338946e-01 -3.62139430e-01 -5.76583001e-02 1.82498094e+02] [ 6.14716023e-02 -9.93552152e-04 9.98108338e-01 4.33912002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12710568099993 meters Centerline goodness [0,1] 0.9997702925637438 Centerline is valid? [True, True] Translation: X:210.61, Y:182.52, Z:43.39 [[-3.64194132e-01 -9.31080874e-01 2.12376920e-02 2.10608790e+02] [ 9.29315921e-01 -3.64811065e-01 -5.73132292e-02 1.82522702e+02] [ 6.11109966e-02 -1.13661650e-03 9.98130329e-01 4.33925276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.1571056809999 meters Centerline goodness [0,1] 0.9998114906897346 Centerline is valid? [True, True] Translation: X:210.60, Y:182.55, Z:43.39 [[-3.67506040e-01 -9.29787960e-01 2.08244909e-02 2.10600094e+02] [ 9.28093079e-01 -3.68093271e-01 -5.61300436e-02 1.82547805e+02] [ 5.98543937e-02 -1.30106418e-03 9.98206271e-01 4.33944180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18710568099993 meters Centerline goodness [0,1] 0.9997901980530379 Centerline is valid? [True, True] Translation: X:210.59, Y:182.57, Z:43.40 [[-3.74107922e-01 -9.27153434e-01 2.07309703e-02 2.10594453e+02] [ 9.25474197e-01 -3.74678068e-01 -5.58019354e-02 1.82574167e+02] [ 5.95043959e-02 -1.68996801e-03 9.98226613e-01 4.33955230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2171056809999 meters Centerline goodness [0,1] 0.9997058761738692 Centerline is valid? [True, True] Translation: X:210.59, Y:182.60, Z:43.40 [[-3.77127232e-01 -9.25925846e-01 2.08896572e-02 2.10587688e+02] [ 9.24223520e-01 -3.77700716e-01 -5.61520670e-02 1.82599240e+02] [ 5.98826886e-02 -1.86976115e-03 9.98203670e-01 4.33962228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24710568099994 meters Centerline goodness [0,1] 0.9997901187927632 Centerline is valid? [True, True] Translation: X:210.58, Y:182.62, Z:43.40 [[-3.82272726e-01 -9.23803449e-01 2.13248957e-02 2.10577558e+02] [ 9.22030864e-01 -3.82860624e-01 -5.72435812e-02 1.82624092e+02] [ 6.10462806e-02 -2.22044775e-03 9.98132467e-01 4.33965853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2771056809999 meters Centerline goodness [0,1] 0.9996659847188009 Centerline is valid? [True, True] Translation: X:210.57, Y:182.65, Z:43.39 [[-3.86094439e-01 -9.22183556e-01 2.25515726e-02 2.10568866e+02] [ 9.20203629e-01 -3.86743830e-01 -6.04523788e-02 1.82649071e+02] [ 6.44698712e-02 -2.58828830e-03 9.97916297e-01 4.33940509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30710568099994 meters Centerline goodness [0,1] 0.999728181323966 Centerline is valid? [True, True] Translation: X:210.56, Y:182.67, Z:43.39 [[-3.87774477e-01 -9.21465546e-01 2.30695236e-02 2.10557544e+02] [ 9.19396308e-01 -3.88450389e-01 -6.17796459e-02 1.82673795e+02] [ 6.58891805e-02 -2.74653505e-03 9.97823167e-01 4.33931958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3371056809999 meters Centerline goodness [0,1] 0.9998529010023746 Centerline is valid? [True, True] Translation: X:210.54, Y:182.70, Z:43.39 [[-3.88958268e-01 -9.20964477e-01 2.31494796e-02 2.10541417e+02] [ 9.18884982e-01 -3.89636402e-01 -6.19182027e-02 1.82696562e+02] [ 6.60443451e-02 -2.81188770e-03 9.97812727e-01 4.33932817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36710568099994 meters Centerline goodness [0,1] 0.9996049074651695 Centerline is valid? [True, True] Translation: X:210.53, Y:182.72, Z:43.40 [[-3.88949328e-01 -9.20967638e-01 2.31738850e-02 2.10530054e+02] [ 9.18888709e-01 -3.89629121e-01 -6.19087151e-02 1.82719631e+02] [ 6.60451436e-02 -2.78513188e-03 9.97812749e-01 4.33950869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3971056809999 meters Centerline goodness [0,1] 0.9996856993190152 Centerline is valid? [True, True] Translation: X:210.51, Y:182.74, Z:43.40 [[-3.86456609e-01 -9.22020484e-01 2.30112139e-02 2.10514827e+02] [ 9.19976804e-01 -3.87132617e-01 -6.14086017e-02 1.82741010e+02] [ 6.55283802e-02 -2.56197696e-03 9.97847417e-01 4.33971404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42710568099994 meters Centerline goodness [0,1] 0.9996885834700105 Centerline is valid? [True, True] Translation: X:210.50, Y:182.76, Z:43.40 [[-3.84726991e-01 -9.22735076e-01 2.33478255e-02 2.10498816e+02] [ 9.20638105e-01 -3.85427048e-01 -6.22211395e-02 1.82763580e+02] [ 6.64125113e-02 -2.44325399e-03 9.97789261e-01 4.33981784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4571056809999 meters Centerline goodness [0,1] 0.9996679809089023 Centerline is valid? [True, True] Translation: X:210.48, Y:182.78, Z:43.40 [[-3.80872443e-01 -9.24333115e-01 2.33339826e-02 2.10477723e+02] [ 9.22246606e-01 -3.81580570e-01 -6.21084980e-02 1.82782782e+02] [ 6.63127358e-02 -2.13572912e-03 9.97796602e-01 4.33998742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48710568099995 meters Centerline goodness [0,1] 0.9995015058676914 Centerline is valid? [True, True] Translation: X:210.46, Y:182.80, Z:43.40 [[-3.78778267e-01 -9.25199782e-01 2.30735096e-02 2.10460227e+02] [ 9.23165325e-01 -3.79475434e-01 -6.13529015e-02 1.82804229e+02] [ 6.55195212e-02 -1.93848175e-03 9.97849405e-01 4.34030045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5171056809999 meters Centerline goodness [0,1] 0.9994156196518763 Centerline is valid? [True, True] Translation: X:210.44, Y:182.82, Z:43.41 [[-3.76134162e-01 -9.26295915e-01 2.23376185e-02 2.10438204e+02] [ 9.24395884e-01 -3.76793188e-01 -5.93223680e-02 1.82824829e+02] [ 6.33667297e-02 -1.66436653e-03 9.97988922e-01 4.34055420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54710568099995 meters Centerline goodness [0,1] 0.9995579784882864 Centerline is valid? [True, True] Translation: X:210.42, Y:182.85, Z:43.41 [[-3.76469099e-01 -9.26174389e-01 2.17259962e-02 2.10424964e+02] [ 9.24381026e-01 -3.77092030e-01 -5.76308869e-02 1.82848131e+02] [ 6.15689514e-02 -1.61314939e-03 9.98101529e-01 4.34097562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5771056809999 meters Centerline goodness [0,1] 0.9992461206625761 Centerline is valid? [True, True] Translation: X:210.41, Y:182.87, Z:43.42 [[-3.77265479e-01 -9.25890328e-01 1.99464149e-02 2.10410988e+02] [ 9.24382318e-01 -3.77789434e-01 -5.28438617e-02 1.82870463e+02] [ 5.64631652e-02 -1.49805157e-03 9.98403559e-01 4.34176627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6071056809999 meters Centerline goodness [0,1] 0.9986013986013986 Centerline is valid? [True, True] Translation: X:210.40, Y:182.89, Z:43.42 [[-3.76820261e-01 -9.26083569e-01 1.93833683e-02 2.10399482e+02] [ 9.24663257e-01 -3.77315854e-01 -5.12894514e-02 1.82893404e+02] [ 5.48119703e-02 -1.40381598e-03 9.98495707e-01 4.34217071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6371056809999 meters Centerline goodness [0,1] 0.9989110631792767 Centerline is valid? [True, True] Translation: X:210.38, Y:182.91, Z:43.42 [[-3.71522821e-01 -9.28220360e-01 1.94359903e-02 2.10379890e+02] [ 9.26799260e-01 -3.72029336e-01 -5.13546921e-02 1.82914002e+02] [ 5.48992293e-02 -1.06617865e-03 9.98491331e-01 4.34233025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6671056809999 meters Centerline goodness [0,1] 0.9990843062579343 Centerline is valid? [True, True] Translation: X:210.36, Y:182.94, Z:43.42 [[-3.67522686e-01 -9.29800872e-01 1.99352406e-02 2.10361569e+02] [ 9.28311669e-01 -3.68062020e-01 -5.26098360e-02 1.82935859e+02] [ 5.62540764e-02 -8.29191714e-04 9.98416141e-01 4.34231708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6971056809999 meters Centerline goodness [0,1] 0.9992855491815336 Centerline is valid? [True, True] Translation: X:210.33, Y:182.95, Z:43.42 [[-3.57498642e-01 -9.33698850e-01 2.00294500e-02 2.10334364e+02] [ 9.32204990e-01 -3.58059236e-01 -5.27962096e-02 1.82954306e+02] [ 5.64674898e-02 -2.03019940e-04 9.98404418e-01 4.34245958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7271056809999 meters Centerline goodness [0,1] 0.9992880922967399 Centerline is valid? [True, True] Translation: X:210.32, Y:182.98, Z:43.43 [[-3.52591728e-01 -9.35561395e-01 2.00985030e-02 2.10317056e+02] [ 9.34063824e-01 -3.53164074e-01 -5.29141613e-02 1.82975153e+02] [ 5.66025157e-02 1.16188988e-04 9.98396786e-01 4.34259856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7571056809999 meters Centerline goodness [0,1] 0.999271258432581 Centerline is valid? [True, True] Translation: X:210.29, Y:183.00, Z:43.42 [[-3.43075743e-01 -9.39081151e-01 2.06307230e-02 2.10293997e+02] [ 9.37512715e-01 -3.43694724e-01 -5.42572190e-02 1.82995586e+02] [ 5.80426023e-02 7.27229434e-04 9.98313842e-01 4.34247295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.7871056809999 meters Centerline goodness [0,1] 0.9994577119616227 Centerline is valid? [True, True] Translation: X:210.28, Y:183.02, Z:43.42 [[-3.39926257e-01 -9.40212929e-01 2.12081930e-02 2.10279488e+02] [ 9.38561635e-01 -3.40585832e-01 -5.57077118e-02 1.83017598e+02] [ 5.96003210e-02 9.68682306e-04 9.98221851e-01 4.34242961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81710568099993 meters Centerline goodness [0,1] 0.9993074356229932 Centerline is valid? [True, True] Translation: X:210.26, Y:183.04, Z:43.42 [[-3.36786510e-01 -9.41304798e-01 2.28062490e-02 2.10264426e+02] [ 9.39401527e-01 -3.37555425e-01 -5.98423444e-02 1.83040968e+02] [ 6.40282589e-02 1.27013080e-03 9.97947278e-01 4.34191363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8471056809999 meters Centerline goodness [0,1] 0.9994104642593957 Centerline is valid? [True, True] Translation: X:210.26, Y:183.07, Z:43.42 [[-3.37635165e-01 -9.40982501e-01 2.35463012e-02 2.10258465e+02] [ 9.38957610e-01 -3.38452822e-01 -6.17113842e-02 1.83066446e+02] [ 6.60386447e-02 1.27304524e-03 9.97816254e-01 4.34177892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87710568099993 meters Centerline goodness [0,1] 0.9995577271387052 Centerline is valid? [True, True] Translation: X:210.25, Y:183.09, Z:43.42 [[-3.39783586e-01 -9.40207479e-01 2.36011065e-02 2.10251012e+02] [ 9.38176897e-01 -3.40600303e-01 -6.17700860e-02 1.83090348e+02] [ 6.61152408e-02 1.15355155e-03 9.97811327e-01 4.34191751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9071056809999 meters Centerline goodness [0,1] 0.9996050224513554 Centerline is valid? [True, True] Translation: X:210.24, Y:183.12, Z:43.42 [[-3.42264830e-01 -9.39304535e-01 2.37018108e-02 2.10244226e+02] [ 9.37260294e-01 -3.43083027e-01 -6.19449612e-02 1.83115095e+02] [ 6.63168720e-02 1.01318449e-03 9.97798099e-01 4.34216260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93710568099993 meters Centerline goodness [0,1] 0.9996857388280154 Centerline is valid? [True, True] Translation: X:210.24, Y:183.14, Z:43.42 [[-3.47194734e-01 -9.37486087e-01 2.39927715e-02 2.10241924e+02] [ 9.35392756e-01 -3.48022045e-01 -6.26182812e-02 1.83142305e+02] [ 6.70537808e-02 7.01927185e-04 9.97749116e-01 4.34231324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.9671056809999 meters Centerline goodness [0,1] 0.9994764726823445 Centerline is valid? [True, True] Translation: X:210.24, Y:183.17, Z:43.42 [[-3.49782290e-01 -9.36517598e-01 2.42309331e-02 2.10237907e+02] [ 9.34384196e-01 -3.50620157e-01 -6.31797382e-02 1.83168508e+02] [ 6.76647903e-02 5.41847453e-04 9.97707965e-01 4.34229511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99710568099994 meters Centerline goodness [0,1] 0.9995993589743589 Centerline is valid? [True, True] Translation: X:210.24, Y:183.20, Z:43.42 [[-3.56216247e-01 -9.34068446e-01 2.50224499e-02 2.10240121e+02] [ 9.31793350e-01 -3.57094002e-01 -6.51538763e-02 1.83197631e+02] [ 6.97935468e-02 1.06883121e-04 9.97561451e-01 4.34216552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0271056809999 meters Centerline goodness [0,1] 0.99957798784605 Centerline is valid? [True, True] Translation: X:210.24, Y:183.22, Z:43.42 [[-3.60233726e-01 -9.32524641e-01 2.50889681e-02 2.10236896e+02] [ 9.30239779e-01 -3.61106311e-01 -6.52394461e-02 1.83224903e+02] [ 6.98971758e-02 -1.62692592e-04 9.97554188e-01 4.34238660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05710568099994 meters Centerline goodness [0,1] 0.9997481689786154 Centerline is valid? [True, True] Translation: X:210.24, Y:183.25, Z:43.43 [[-3.66155083e-01 -9.30233486e-01 2.44155092e-02 2.10239293e+02] [ 9.28070241e-01 -3.66967780e-01 -6.34056427e-02 1.83252998e+02] [ 6.79417572e-02 -5.56990874e-04 9.97689134e-01 4.34295497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0871056809999 meters Centerline goodness [0,1] 0.9997481689786154 Centerline is valid? [True, True] Translation: X:210.23, Y:183.28, Z:43.43 [[-3.66559902e-01 -9.30073271e-01 2.44448300e-02 2.10229722e+02] [ 9.27910424e-01 -3.67373656e-01 -6.33943371e-02 1.83276868e+02] [ 6.79417650e-02 -5.55209404e-04 9.97689134e-01 4.34311864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11710568099994 meters Centerline goodness [0,1] 0.9997064066268219 Centerline is valid? [True, True] Translation: X:210.23, Y:183.30, Z:43.44 [[-3.71245144e-01 -9.28238046e-01 2.34770595e-02 2.10230037e+02] [ 9.26244488e-01 -3.71985808e-01 -6.08087730e-02 1.83304830e+02] [ 6.51781496e-02 -8.29464756e-04 9.97873299e-01 4.34367312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1471056809999 meters Centerline goodness [0,1] 0.9997050396089668 Centerline is valid? [True, True] Translation: X:210.23, Y:183.33, Z:43.44 [[-3.75291488e-01 -9.26612443e-01 2.33597729e-02 2.10226603e+02] [ 9.24640359e-01 -3.76016241e-01 -6.04317233e-02 1.83332336e+02] [ 6.47804408e-02 -1.08012257e-03 9.97898957e-01 4.34400323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17710568099994 meters Centerline goodness [0,1] 0.999916593686142 Centerline is valid? [True, True] Translation: X:210.23, Y:183.36, Z:43.44 [[-3.84689667e-01 -9.22748117e-01 2.34472368e-02 2.10234345e+02] [ 9.20758412e-01 -3.85399739e-01 -6.05886853e-02 1.83362933e+02] [ 6.49446543e-02 -1.71860066e-03 9.97887388e-01 4.34420579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2071056809999 meters Centerline goodness [0,1] 0.9997894470880532 Centerline is valid? [True, True] Translation: X:210.23, Y:183.39, Z:43.45 [[-3.90328997e-01 -9.20395169e-01 2.27157833e-02 2.10230334e+02] [ 9.18527171e-01 -3.90984181e-01 -5.86447485e-02 1.83389891e+02] [ 6.28578552e-02 -2.02568175e-03 9.98020434e-01 4.34461695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23710568099995 meters Centerline goodness [0,1] 0.9994746795545283 Centerline is valid? [True, True] Translation: X:210.23, Y:183.42, Z:43.45 [[-3.95845107e-01 -9.18047681e-01 2.22510131e-02 2.10230376e+02] [ 9.16254830e-01 -3.96463138e-01 -5.73939643e-02 1.83417806e+02] [ 6.15121023e-02 -2.33152168e-03 9.98103615e-01 4.34498313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2671056809999 meters Centerline goodness [0,1] 0.999011753821569 Centerline is valid? [True, True] Translation: X:210.22, Y:183.44, Z:43.45 [[-4.03683413e-01 -9.14651255e-01 2.12787019e-02 2.10223205e+02] [ 9.13010857e-01 -4.04234803e-01 -5.48215186e-02 1.83443599e+02] [ 5.87441627e-02 -2.70285186e-03 9.98269412e-01 4.34544988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29710568099995 meters Centerline goodness [0,1] 0.9986225895316805 Centerline is valid? [True, True] Translation: X:210.22, Y:183.47, Z:43.46 [[-4.08638360e-01 -9.12471087e-01 2.02782078e-02 2.10219766e+02] [ 9.10981378e-01 -4.09131218e-01 -5.21974658e-02 1.83470476e+02] [ 5.59251263e-02 -2.85681715e-03 9.98430878e-01 4.34597893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3271056809999 meters Centerline goodness [0,1] 0.9987692179318689 Centerline is valid? [True, True] Translation: X:210.21, Y:183.50, Z:43.46 [[-4.10330256e-01 -9.11709734e-01 2.03578308e-02 2.10210958e+02] [ 9.10211151e-01 -4.10824401e-01 -5.23351811e-02 1.83495879e+02] [ 5.60779877e-02 -2.94478364e-03 9.98422049e-01 4.34612288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3571056809999 meters Centerline goodness [0,1] 0.9986436858359069 Centerline is valid? [True, True] Translation: X:210.20, Y:183.52, Z:43.46 [[-4.11213886e-01 -9.11282324e-01 2.16255924e-02 2.10200274e+02] [ 9.09594782e-01 -4.11770000e-01 -5.55229656e-02 1.83519914e+02] [ 5.95018673e-02 -3.16128847e-03 9.98223188e-01 4.34600329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3871056809999 meters Centerline goodness [0,1] 0.9992423604680528 Centerline is valid? [True, True] Translation: X:210.19, Y:183.54, Z:43.46 [[-4.09857994e-01 -9.11883795e-01 2.20083925e-02 2.10186596e+02] [ 9.10141467e-01 -4.10436784e-01 -5.64283309e-02 1.83544216e+02] [ 6.04891344e-02 -3.09685188e-03 9.98164052e-01 4.34611506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4171056809999 meters Centerline goodness [0,1] 0.9993511658085311 Centerline is valid? [True, True] Translation: X:210.16, Y:183.56, Z:43.46 [[-4.02537488e-01 -9.15133451e-01 2.22336924e-02 2.10164829e+02] [ 9.13363991e-01 -4.03142575e-01 -5.69410563e-02 1.83563301e+02] [ 6.10720134e-02 -2.61345578e-03 9.98129941e-01 4.34640659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4471056809999 meters Centerline goodness [0,1] 0.9995161765324583 Centerline is valid? [True, True] Translation: X:210.15, Y:183.58, Z:43.47 [[-3.96787003e-01 -9.17641933e-01 2.22116537e-02 2.10146257e+02] [ 9.15884321e-01 -3.97402126e-01 -5.68107411e-02 1.83584748e+02] [ 6.09588767e-02 -2.19845832e-03 9.98137857e-01 4.34665536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4771056809999 meters Centerline goodness [0,1] 0.9993720696584059 Centerline is valid? [True, True] Translation: X:210.12, Y:183.60, Z:43.46 [[-3.83183595e-01 -9.23379867e-01 2.32368963e-02 2.10119838e+02] [ 9.21471076e-01 -3.83885198e-01 -5.93566345e-02 1.83602233e+02] [ 6.37290219e-02 -1.33236078e-03 9.97966350e-01 4.34646361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5071056809999 meters Centerline goodness [0,1] 0.9994529425379258 Centerline is valid? [True, True] Translation: X:210.10, Y:183.62, Z:43.46 [[-3.76835712e-01 -9.25962875e-01 2.42404814e-02 2.10100442e+02] [ 9.23896195e-01 -3.77613470e-01 -6.18376020e-02 1.83624550e+02] [ 6.64128560e-02 -9.06928244e-04 9.97791817e-01 4.34628302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5371056809999 meters Centerline goodness [0,1] 0.9994733848714006 Centerline is valid? [True, True] Translation: X:210.08, Y:183.64, Z:43.46 [[-3.66660399e-01 -9.29995047e-01 2.58720669e-02 2.10075195e+02] [ 9.27655933e-01 -3.67572011e-01 -6.59187913e-02 1.83644083e+02] [ 7.08139971e-02 -1.69433936e-04 9.97489523e-01 4.34595925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56710568099993 meters Centerline goodness [0,1] 0.9995579598795967 Centerline is valid? [True, True] Translation: X:210.06, Y:183.67, Z:43.46 [[-3.62880791e-01 -9.31478144e-01 2.58069649e-02 2.10058830e+02] [ 9.29160292e-01 -3.63797259e-01 -6.56711916e-02 1.83665263e+02] [ 7.05597827e-02 1.47993152e-04 9.97507541e-01 4.34610680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.5971056809999 meters Centerline goodness [0,1] 0.9995810202157746 Centerline is valid? [True, True] Translation: X:210.04, Y:183.69, Z:43.46 [[-3.58274308e-01 -9.33272985e-01 2.53190788e-02 2.10041546e+02] [ 9.31052694e-01 -3.59167458e-01 -6.43398589e-02 1.83687032e+02] [ 6.91404413e-02 5.22078076e-04 9.97606800e-01 4.34638515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62710568099993 meters Centerline goodness [0,1] 0.9995169792301069 Centerline is valid? [True, True] Translation: X:210.03, Y:183.71, Z:43.47 [[-3.59006614e-01 -9.32990175e-01 2.53689459e-02 2.10031990e+02] [ 9.30766389e-01 -3.59901491e-01 -6.43804821e-02 1.83711682e+02] [ 6.91966787e-02 4.99543199e-04 9.97602912e-01 4.34650728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.6571056809999 meters Centerline goodness [0,1] 0.999350798936148 Centerline is valid? [True, True] Translation: X:210.02, Y:183.74, Z:43.46 [[-3.61692261e-01 -9.31942671e-01 2.57209251e-02 2.10024535e+02] [ 9.29660372e-01 -3.62605495e-01 -6.51831857e-02 1.83736664e+02] [ 7.00735410e-02 3.35471045e-04 9.97541772e-01 4.34647970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68710568099993 meters Centerline goodness [0,1] 0.9994787866152403 Centerline is valid? [True, True] Translation: X:210.02, Y:183.76, Z:43.47 [[-3.63998332e-01 -9.31040973e-01 2.58441713e-02 2.10016104e+02] [ 9.28740748e-01 -3.64914605e-01 -6.54060674e-02 1.83761494e+02] [ 7.03266442e-02 1.94835574e-04 9.97523997e-01 4.34660019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7171056809999 meters Centerline goodness [0,1] 0.999062089664228 Centerline is valid? [True, True] Translation: X:210.01, Y:183.79, Z:43.47 [[-3.69092911e-01 -9.29023142e-01 2.61996886e-02 2.10010358e+02] [ 9.26660556e-01 -3.70021587e-01 -6.62135849e-02 1.83786307e+02] [ 7.12084031e-02 -1.60746774e-04 9.97461447e-01 4.34668949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74710568099994 meters Centerline goodness [0,1] 0.9994944388270981 Centerline is valid? [True, True] Translation: X:210.00, Y:183.81, Z:43.47 [[-3.71918507e-01 -9.27898200e-01 2.61066192e-02 2.10002891e+02] [ 9.25556216e-01 -3.72833495e-01 -6.58853270e-02 1.83811340e+02] [ 7.08682984e-02 -3.40828802e-04 9.97485623e-01 4.34692993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7771056809999 meters Centerline goodness [0,1] 0.999452861952862 Centerline is valid? [True, True] Translation: X:210.00, Y:183.84, Z:43.47 [[-3.75146047e-01 -9.26619225e-01 2.53427664e-02 2.09997616e+02] [ 9.24415365e-01 -3.76000701e-01 -6.38725704e-02 1.83835787e+02] [ 6.87144496e-02 -5.34299694e-04 9.97636226e-01 4.34744608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80710568099994 meters Centerline goodness [0,1] 0.9990202413958433 Centerline is valid? [True, True] Translation: X:209.99, Y:183.86, Z:43.48 [[-3.76713643e-01 -9.26001698e-01 2.46512828e-02 2.09989957e+02] [ 9.23920988e-01 -3.77518871e-01 -6.20444154e-02 1.83859427e+02] [ 6.67595585e-02 -5.97140160e-04 9.97768914e-01 4.34771929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8371056809999 meters Centerline goodness [0,1] 0.999076542069805 Centerline is valid? [True, True] Translation: X:209.98, Y:183.89, Z:43.48 [[-3.79679569e-01 -9.24788818e-01 2.46792837e-02 2.09982953e+02] [ 9.22706495e-01 -3.80480006e-01 -6.20297524e-02 1.83885424e+02] [ 6.67543953e-02 -7.79694347e-04 9.97769133e-01 4.34803991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86710568099994 meters Centerline goodness [0,1] 0.9992873760767957 Centerline is valid? [True, True] Translation: X:209.98, Y:183.91, Z:43.48 [[-3.83239074e-01 -9.23301987e-01 2.53229633e-02 2.09978939e+02] [ 9.21111680e-01 -3.84073386e-01 -6.35681239e-02 1.83913030e+02] [ 6.84184514e-02 -1.03651163e-03 9.97656174e-01 4.34785217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8971056809999 meters Centerline goodness [0,1] 0.9994783842430313 Centerline is valid? [True, True] Translation: X:209.97, Y:183.94, Z:43.48 [[-3.85739664e-01 -9.22250191e-01 2.56806936e-02 2.09972305e+02] [ 9.20000687e-01 -3.86591673e-01 -6.43864491e-02 1.83939670e+02] [ 6.93083572e-02 -1.21015147e-03 9.97594550e-01 4.34788020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92710568099994 meters Centerline goodness [0,1] 0.9993945720250522 Centerline is valid? [True, True] Translation: X:209.97, Y:183.97, Z:43.48 [[-3.93000181e-01 -9.19161878e-01 2.63115771e-02 2.09971574e+02] [ 9.16799147e-01 -3.93876003e-01 -6.58864140e-02 1.83967389e+02] [ 7.09237788e-02 -1.77094117e-03 9.97480166e-01 4.34797084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9571056809999 meters Centerline goodness [0,1] 0.9995421721848792 Centerline is valid? [True, True] Translation: X:209.96, Y:183.99, Z:43.48 [[-3.96512115e-01 -9.17650691e-01 2.63695429e-02 2.09963553e+02] [ 9.15280079e-01 -3.97382881e-01 -6.59486445e-02 1.83993457e+02] [ 7.09966241e-02 -2.01391916e-03 9.97474523e-01 4.34825426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98710568099995 meters Centerline goodness [0,1] 0.9998104145601617 Centerline is valid? [True, True] Translation: X:209.96, Y:184.02, Z:43.49 [[-3.99351392e-01 -9.16413355e-01 2.65523725e-02 2.09955761e+02] [ 9.14012688e-01 -4.00226988e-01 -6.63261908e-02 1.84019682e+02] [ 7.14091831e-02 -2.21825122e-03 9.97444639e-01 4.34853812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0171056809999 meters Centerline goodness [0,1] 0.9997687958467326 Centerline is valid? [True, True] Translation: X:209.95, Y:184.05, Z:43.49 [[-4.01819814e-01 -9.15318814e-01 2.70611596e-02 2.09949978e+02] [ 9.12828717e-01 -4.02722712e-01 -6.75140865e-02 1.84046499e+02] [ 7.26950571e-02 -2.42629415e-03 9.97351263e-01 4.34853807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04710568099995 meters Centerline goodness [0,1] 0.9995788232321106 Centerline is valid? [True, True] Translation: X:209.94, Y:184.07, Z:43.49 [[-4.02801843e-01 -9.14872269e-01 2.75573296e-02 2.09939593e+02] [ 9.12295056e-01 -4.03735537e-01 -6.86683808e-02 1.84071774e+02] [ 7.39486706e-02 -2.51933476e-03 9.97258867e-01 4.34859386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0771056809999 meters Centerline goodness [0,1] 0.9995149828135215 Centerline is valid? [True, True] Translation: X:209.93, Y:184.10, Z:43.49 [[-4.02256231e-01 -9.15104417e-01 2.78178165e-02 2.09930123e+02] [ 9.12485125e-01 -4.03209408e-01 -6.92320072e-02 1.84096976e+02] [ 7.45709209e-02 -2.46566247e-03 9.97212665e-01 4.34867917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1071056809999 meters Centerline goodness [0,1] 0.9994760118211733 Centerline is valid? [True, True] Translation: X:209.92, Y:184.12, Z:43.49 [[-3.99267119e-01 -9.16397486e-01 2.83092935e-02 2.09919759e+02] [ 9.13694476e-01 -4.00263259e-01 -7.03685128e-02 1.84121417e+02] [ 7.58166983e-02 -2.22978824e-03 9.97119279e-01 4.34876510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1371056809999 meters Centerline goodness [0,1] 0.9998947855729978 Centerline is valid? [True, True] Translation: X:209.91, Y:184.14, Z:43.49 [[-3.96806040e-01 -9.17469976e-01 2.81746387e-02 2.09905130e+02] [ 9.14801660e-01 -3.97800093e-01 -6.99500536e-02 1.84144572e+02] [ 7.53849479e-02 -1.98239749e-03 9.97152536e-01 4.34913992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1671056809999 meters Centerline goodness [0,1] 0.9995156161152412 Centerline is valid? [True, True] Translation: X:209.89, Y:184.16, Z:43.50 [[-3.89189464e-01 -9.20753610e-01 2.72827912e-02 2.09886441e+02] [ 9.18265418e-01 -3.90142481e-01 -6.76569734e-02 1.84164150e+02] [ 7.29395783e-02 -1.27853760e-03 9.97335542e-01 4.34976510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1971056809999 meters Centerline goodness [0,1] 0.9995810728723739 Centerline is valid? [True, True] Translation: X:209.87, Y:184.19, Z:43.50 [[-3.83757958e-01 -9.23045881e-01 2.67606279e-02 2.09871670e+02] [ 9.20663318e-01 -3.84689047e-01 -6.62826710e-02 1.84187865e+02] [ 7.14764669e-02 -7.98973973e-04 9.97441966e-01 4.35012147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2271056809999 meters Centerline goodness [0,1] 0.9996867887494518 Centerline is valid? [True, True] Translation: X:209.86, Y:184.21, Z:43.51 [[-3.77802066e-01 -9.25514450e-01 2.62412059e-02 2.09856236e+02] [ 9.23234366e-01 -3.78712174e-01 -6.49260762e-02 1.84211100e+02] [ 7.00278858e-02 -3.02422676e-04 9.97544988e-01 4.35052941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2571056809999 meters Centerline goodness [0,1] 0.9999368939186773 Centerline is valid? [True, True] Translation: X:209.84, Y:184.23, Z:43.51 [[-3.64030179e-01 -9.31039969e-01 2.54284392e-02 2.09835365e+02] [ 9.28916638e-01 -3.64916464e-01 -6.28478672e-02 1.84231317e+02] [ 6.77931325e-02 7.42379878e-04 9.97699123e-01 4.35101407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.2871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:184.25, Z:43.51 [[-3.53516389e-01 -9.35098021e-01 2.48566524e-02 2.09817654e+02] [ 9.33083912e-01 -3.54385997e-01 -6.13594231e-02 1.84251725e+02] [ 6.61859247e-02 1.50178079e-03 9.97806178e-01 4.35134442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31710568099993 meters Centerline goodness [0,1] 0.9997701773812757 Centerline is valid? [True, True] Translation: X:209.81, Y:184.28, Z:43.52 [[-3.50810965e-01 -9.36142786e-01 2.38401257e-02 2.09806411e+02] [ 9.34297525e-01 -3.51616187e-01 -5.87723684e-02 1.84276012e+02] [ 6.34019028e-02 1.65577923e-03 9.97986702e-01 4.35159296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3471056809999 meters Centerline goodness [0,1] 0.9998111901315375 Centerline is valid? [True, True] Translation: X:209.80, Y:184.30, Z:43.52 [[-3.48153512e-01 -9.37167991e-01 2.24786471e-02 2.09797754e+02] [ 9.35533691e-01 -3.48873992e-01 -5.53502464e-02 1.84300357e+02] [ 5.97146946e-02 1.75914904e-03 9.98213935e-01 4.35214482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37710568099993 meters Centerline goodness [0,1] 0.9997916840263311 Centerline is valid? [True, True] Translation: X:209.79, Y:184.33, Z:43.52 [[-3.47700590e-01 -9.37334245e-01 2.25568861e-02 2.09790557e+02] [ 9.35692114e-01 -3.48426789e-01 -5.54890975e-02 1.84325315e+02] [ 5.98712547e-02 1.81270854e-03 9.98204462e-01 4.35223505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:184.36, Z:43.52 [[-3.50336525e-01 -9.36329040e-01 2.34999699e-02 2.09791393e+02] [ 9.34547885e-01 -3.51119552e-01 -5.77521587e-02 1.84355458e+02] [ 6.23263222e-02 1.72915657e-03 9.98054327e-01 4.35209193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:184.39, Z:43.52 [[-3.56223824e-01 -9.34100157e-01 2.36956595e-02 2.09794058e+02] [ 9.32288593e-01 -3.57008424e-01 -5.81632622e-02 1.84385979e+02] [ 6.27898624e-02 1.37205332e-03 9.98025827e-01 4.35206630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:184.41, Z:43.52 [[-3.60535746e-01 -9.32442359e-01 2.37744164e-02 2.09790641e+02] [ 9.30619622e-01 -3.61317052e-01 -5.82847001e-02 1.84414237e+02] [ 6.29372253e-02 1.11122060e-03 9.98016869e-01 4.35223682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:184.44, Z:43.53 [[-3.68423522e-01 -9.29361326e-01 2.34869041e-02 2.09795799e+02] [ 9.27580116e-01 -3.69170924e-01 -5.75148376e-02 1.84444724e+02] [ 6.21227478e-02 5.96166142e-04 9.98068339e-01 4.35256588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:184.47, Z:43.53 [[-3.72025802e-01 -9.27929247e-01 2.33262940e-02 2.09792628e+02] [ 9.26173913e-01 -3.72756179e-01 -5.70501073e-02 1.84471933e+02] [ 6.16334833e-02 3.80093062e-04 9.98098777e-01 4.35284462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55710568099994 meters Centerline goodness [0,1] 0.9999578787751148 Centerline is valid? [True, True] Translation: X:209.79, Y:184.50, Z:43.53 [[-3.74904064e-01 -9.26773833e-01 2.31776794e-02 2.09788312e+02] [ 9.25043133e-01 -3.75619775e-01 -5.66125951e-02 1.84498742e+02] [ 6.11730665e-02 2.16061228e-04 9.98127151e-01 4.35307960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:184.53, Z:43.53 [[-3.79043285e-01 -9.25087918e-01 2.32063121e-02 2.09786803e+02] [ 9.23354294e-01 -3.79753004e-01 -5.66083321e-02 1.84526462e+02] [ 6.11803508e-02 -2.93602101e-05 9.98126727e-01 4.35305897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:184.55, Z:43.53 [[-3.80011711e-01 -9.24681086e-01 2.35794168e-02 2.09779803e+02] [ 9.22895276e-01 -3.80742544e-01 -5.74406128e-02 1.84551002e+02] [ 6.20919354e-02 -6.67731409e-05 9.98070432e-01 4.35303021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:184.58, Z:43.53 [[-3.81273683e-01 -9.24125143e-01 2.49619552e-02 2.09775471e+02] [ 9.22128186e-01 -3.82089915e-01 -6.07198864e-02 1.84578113e+02] [ 6.56504850e-02 -1.32772306e-04 9.97842671e-01 4.35266087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67710568099994 meters Centerline goodness [0,1] 0.99997891229624 Centerline is valid? [True, True] Translation: X:209.77, Y:184.60, Z:43.53 [[-3.82269176e-01 -9.23695978e-01 2.56128471e-02 2.09768045e+02] [ 9.21598218e-01 -3.83126231e-01 -6.22174809e-02 1.84603288e+02] [ 6.72829904e-02 -1.79070947e-04 9.97733916e-01 4.35268816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:184.63, Z:43.53 [[-3.84353789e-01 -9.22813285e-01 2.62260622e-02 2.09764888e+02] [ 9.20617730e-01 -3.85247383e-01 -6.36195670e-02 1.84629544e+02] [ 6.88125035e-02 -3.08243784e-04 9.97629563e-01 4.35266492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:184.66, Z:43.53 [[-3.88631059e-01 -9.21024335e-01 2.60782366e-02 2.09762368e+02] [ 9.18855413e-01 -3.89504593e-01 -6.31735856e-02 1.84656893e+02] [ 6.83420026e-02 -5.89088643e-04 9.97661778e-01 4.35299759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7671056809999 meters Centerline goodness [0,1] 0.9999789229634314 Centerline is valid? [True, True] Translation: X:209.76, Y:184.68, Z:43.53 [[-3.91054413e-01 -9.19994950e-01 2.61866137e-02 2.09757327e+02] [ 9.17811565e-01 -3.91929518e-01 -6.33497056e-02 1.84682650e+02] [ 6.85447161e-02 -7.38805056e-04 9.97647772e-01 4.35316213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:184.71, Z:43.54 [[-3.95936529e-01 -9.17905653e-01 2.61434085e-02 2.09755728e+02] [ 9.15730416e-01 -3.96797267e-01 -6.31643522e-02 1.84710674e+02] [ 6.83525489e-02 -1.06876004e-03 9.97660657e-01 4.35357273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8271056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:184.74, Z:43.54 [[-3.98642563e-01 -9.16746163e-01 2.57017405e-02 2.09751801e+02] [ 9.14646430e-01 -3.99468386e-01 -6.20235218e-02 1.84737005e+02] [ 6.71268584e-02 -1.21721054e-03 9.97743706e-01 4.35383523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.75, Y:184.76, Z:43.55 [[-4.04105203e-01 -9.14407748e-01 2.36105069e-02 2.09746753e+02] [ 9.12635932e-01 -4.04791753e-01 -5.69147885e-02 1.84763763e+02] [ 6.16006621e-02 -1.45176514e-03 9.98099820e-01 4.35468279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:184.79, Z:43.55 [[-4.05684990e-01 -9.13721502e-01 2.30804125e-02 2.09739088e+02] [ 9.12031310e-01 -4.06338263e-01 -5.55707241e-02 1.84788465e+02] [ 6.01546202e-02 -1.49414979e-03 9.98187953e-01 4.35505582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.73, Y:184.81, Z:43.55 [[-4.06957159e-01 -9.13138916e-01 2.37316322e-02 2.09729583e+02] [ 9.11354234e-01 -4.07645372e-01 -5.70851268e-02 1.84811480e+02] [ 6.18007409e-02 -1.60327757e-03 9.98087220e-01 4.35501775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.72, Y:184.83, Z:43.55 [[-4.06474319e-01 -9.13334997e-01 2.44501610e-02 2.09716348e+02] [ 9.11446165e-01 -4.07205922e-01 -5.87300993e-02 1.84834818e+02] [ 6.35965055e-02 -1.58727161e-03 9.97974431e-01 4.35496785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:184.86, Z:43.55 [[-4.06909059e-01 -9.13140644e-01 2.44781800e-02 2.09706123e+02] [ 9.11252162e-01 -4.07641563e-01 -5.87184190e-02 1.84858481e+02] [ 6.35964985e-02 -1.58726211e-03 9.97974432e-01 4.35513154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.69, Y:184.88, Z:43.55 [[-4.04643684e-01 -9.14111785e-01 2.57513917e-02 2.09693677e+02] [ 9.12029187e-01 -4.05459577e-01 -6.16870594e-02 1.84882245e+02] [ 6.68300164e-02 -1.47525811e-03 9.97763285e-01 4.35495867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:184.91, Z:43.55 [[-4.03812623e-01 -9.14469354e-01 2.60991792e-02 2.09681102e+02] [ 9.12334883e-01 -4.04652704e-01 -6.24599869e-02 1.84905199e+02] [ 6.76788472e-02 -1.41093948e-03 9.97706161e-01 4.35509900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.67, Y:184.93, Z:43.55 [[-4.02757406e-01 -9.14915819e-01 2.67491203e-02 2.09666250e+02] [ 9.12680400e-01 -4.03642491e-01 -6.39314322e-02 1.84927467e+02] [ 6.92889602e-02 -1.33546003e-03 9.97595738e-01 4.35524012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.0971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:184.95, Z:43.55 [[-4.03272779e-01 -9.14693450e-01 2.65886871e-02 2.09653156e+02] [ 9.12490066e-01 -4.04146161e-01 -6.34646406e-02 1.84949975e+02] [ 6.87964068e-02 -1.33164916e-03 9.97629832e-01 4.35547026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12710568099993 meters Centerline goodness [0,1] 0.999978998655914 Centerline is valid? [True, True] Translation: X:209.64, Y:184.97, Z:43.56 [[-4.04958041e-01 -9.13966674e-01 2.59596396e-02 2.09642705e+02] [ 9.11870350e-01 -4.05786879e-01 -6.18827462e-02 1.84972491e+02] [ 6.70928489e-02 -1.38809007e-03 9.97745771e-01 4.35586120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.63, Y:185.00, Z:43.56 [[-4.05585610e-01 -9.13696212e-01 2.56816213e-02 2.09632451e+02] [ 9.11648386e-01 -4.06395494e-01 -6.11549113e-02 1.84996184e+02] [ 6.63139060e-02 -1.39094334e-03 9.97797841e-01 4.35611862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.62, Y:185.02, Z:43.57 [[-4.07049128e-01 -9.13079529e-01 2.44291008e-02 2.09619843e+02] [ 9.11230200e-01 -4.07779160e-01 -5.81006012e-02 1.85019042e+02] [ 6.30121478e-02 -1.38926466e-03 9.98011793e-01 4.35662754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:185.04, Z:43.57 [[-4.07942378e-01 -9.12693617e-01 2.39453193e-02 2.09608841e+02] [ 9.10920764e-01 -4.08642179e-01 -5.68764556e-02 1.85041180e+02] [ 6.16958454e-02 -1.39002801e-03 9.98094029e-01 4.35698130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.59, Y:185.06, Z:43.57 [[-4.06264592e-01 -9.13430899e-01 2.43531046e-02 2.09592714e+02] [ 9.11603461e-01 -4.06991875e-01 -5.77645455e-02 1.85064001e+02] [ 6.26754364e-02 -1.26731506e-03 9.98033158e-01 4.35700305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:185.09, Z:43.57 [[-4.03952457e-01 -9.14428103e-01 2.53704035e-02 2.09578017e+02] [ 9.12451308e-01 -4.04746793e-01 -6.01052700e-02 1.85087906e+02] [ 6.52305375e-02 -1.13041357e-03 9.97869580e-01 4.35693266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.56, Y:185.11, Z:43.57 [[-3.98367628e-01 -9.16825004e-01 2.71135540e-02 2.09558265e+02] [ 9.14577582e-01 -3.99288532e-01 -6.41600762e-02 1.85109195e+02] [ 6.96496933e-02 -7.61848686e-04 9.97571220e-01 4.35660331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3371056809999 meters Centerline goodness [0,1] 0.9999577595674579 Centerline is valid? [True, True] Translation: X:209.54, Y:185.13, Z:43.57 [[-3.92876422e-01 -9.19174695e-01 2.76766640e-02 2.09538173e+02] [ 9.16844087e-01 -3.93849940e-01 -6.54151780e-02 1.85129970e+02] [ 7.10284287e-02 -3.24895318e-04 9.97474239e-01 4.35681974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36710568099994 meters Centerline goodness [0,1] 0.9999581195686316 Centerline is valid? [True, True] Translation: X:209.52, Y:185.15, Z:43.57 [[-3.90656630e-01 -9.20125725e-01 2.74963215e-02 2.09523493e+02] [ 9.17833293e-01 -3.91623079e-01 -6.49107957e-02 1.85150847e+02] [ 7.04942870e-02 -1.20793352e-04 9.97512176e-01 4.35709307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:185.17, Z:43.58 [[-3.86254126e-01 -9.22008968e-01 2.65934860e-02 2.09505058e+02] [ 9.19874886e-01 -3.87168442e-01 -6.26960181e-02 1.85171673e+02] [ 6.81024495e-02 2.46084211e-04 9.97678303e-01 4.35754017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:185.19, Z:43.58 [[-3.85137431e-01 -9.22484635e-01 2.62917655e-02 2.09492269e+02] [ 9.20405190e-01 -3.86033639e-01 -6.19056973e-02 1.85194415e+02] [ 6.72565605e-02 3.56876200e-04 9.97735650e-01 4.35787070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:185.22, Z:43.58 [[-3.83127170e-01 -9.23325448e-01 2.61474360e-02 2.09478140e+02] [ 9.21276102e-01 -3.84018013e-01 -6.14858448e-02 1.85216109e+02] [ 6.68125316e-02 5.32110182e-04 9.97765405e-01 4.35819552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48710568099995 meters Centerline goodness [0,1] 0.9999791757772641 Centerline is valid? [True, True] Translation: X:209.47, Y:185.24, Z:43.58 [[-3.82729446e-01 -9.23490655e-01 2.61377267e-02 2.09466089e+02] [ 9.21448757e-01 -3.83620461e-01 -6.13802045e-02 1.85239756e+02] [ 6.67110120e-02 5.92564122e-04 9.97772163e-01 4.35838425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5171056809999 meters Centerline goodness [0,1] 0.9998738196883347 Centerline is valid? [True, True] Translation: X:209.45, Y:185.26, Z:43.59 [[-3.81012499e-01 -9.24209572e-01 2.58097525e-02 2.09454200e+02] [ 9.22225242e-01 -3.81884961e-01 -6.05349479e-02 1.85262613e+02] [ 6.58033346e-02 7.37833508e-04 9.97832339e-01 4.35868538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54710568099995 meters Centerline goodness [0,1] 0.9997923501806554 Centerline is valid? [True, True] Translation: X:209.44, Y:185.28, Z:43.59 [[-3.80503452e-01 -9.24413752e-01 2.60065007e-02 2.09442443e+02] [ 9.22403931e-01 -3.81390309e-01 -6.09296288e-02 1.85284785e+02] [ 6.62428141e-02 8.04564402e-04 9.97803208e-01 4.35872066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5771056809999 meters Centerline goodness [0,1] 0.9999791701383103 Centerline is valid? [True, True] Translation: X:209.43, Y:185.31, Z:43.59 [[-3.77470881e-01 -9.25628961e-01 2.69585056e-02 2.09430781e+02] [ 9.23478366e-01 -3.78430763e-01 -6.30703144e-02 1.85309269e+02] [ 6.85816375e-02 1.08838958e-03 9.97644914e-01 4.35861111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6071056809999 meters Centerline goodness [0,1] 0.9999578858707097 Centerline is valid? [True, True] Translation: X:209.42, Y:185.33, Z:43.58 [[-3.72707411e-01 -9.27519442e-01 2.82288896e-02 2.09417588e+02] [ 9.25172205e-01 -3.73771772e-01 -6.59625137e-02 1.85333108e+02] [ 7.17326760e-02 1.53186627e-03 9.97422717e-01 4.35847971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6371056809999 meters Centerline goodness [0,1] 0.9997903871549249 Centerline is valid? [True, True] Translation: X:209.41, Y:185.36, Z:43.58 [[-3.70934461e-01 -9.28221029e-01 2.85192481e-02 2.09405855e+02] [ 9.25832853e-01 -3.72025250e-01 -6.65638204e-02 1.85357105e+02] [ 7.23958183e-02 1.71324196e-03 9.97374509e-01 4.35848752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6671056809999 meters Centerline goodness [0,1] 0.9999578938503968 Centerline is valid? [True, True] Translation: X:209.40, Y:185.38, Z:43.58 [[-3.68088352e-01 -9.29337223e-01 2.90394759e-02 2.09396861e+02] [ 9.26869338e-01 -3.69226703e-01 -6.77116803e-02 1.85382213e+02] [ 7.36491348e-02 1.99191901e-03 9.97282225e-01 4.35842887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6971056809999 meters Centerline goodness [0,1] 0.999874843554443 Centerline is valid? [True, True] Translation: X:209.39, Y:185.41, Z:43.58 [[-3.67319887e-01 -9.29627933e-01 2.94619699e-02 2.09388061e+02] [ 9.27094951e-01 -3.68493483e-01 -6.86112581e-02 1.85406430e+02] [ 7.46394859e-02 2.11176395e-03 9.97208347e-01 4.35842501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7271056809999 meters Centerline goodness [0,1] 0.9998946680991805 Centerline is valid? [True, True] Translation: X:209.39, Y:185.44, Z:43.58 [[-3.69136428e-01 -9.28905511e-01 2.95440132e-02 2.09385699e+02] [ 9.26361986e-01 -3.70311424e-01 -6.87235049e-02 1.85435011e+02] [ 7.47781281e-02 2.00010170e-03 9.97198191e-01 4.35848717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:185.46, Z:43.59 [[-3.70682325e-01 -9.28293163e-01 2.94349756e-02 2.09381726e+02] [ 9.25772355e-01 -3.71844321e-01 -6.83911434e-02 1.85462418e+02] [ 7.44322593e-02 1.89869861e-03 9.97224265e-01 4.35878403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.7871056809999 meters Centerline goodness [0,1] 0.9998736709127276 Centerline is valid? [True, True] Translation: X:209.37, Y:185.49, Z:43.59 [[-3.71943941e-01 -9.27779154e-01 2.97245111e-02 2.09374448e+02] [ 9.25212917e-01 -3.73125236e-01 -6.89827292e-02 1.85487373e+02] [ 7.50917033e-02 1.84379349e-03 9.97174928e-01 4.35893073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81710568099993 meters Centerline goodness [0,1] 0.9997898585748208 Centerline is valid? [True, True] Translation: X:209.37, Y:185.51, Z:43.59 [[-3.73304436e-01 -9.27245738e-01 2.93110945e-02 2.09367257e+02] [ 9.24755102e-01 -3.74449331e-01 -6.79389467e-02 1.85513589e+02] [ 7.39716185e-02 1.74367406e-03 9.97258823e-01 4.35908754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:185.54, Z:43.59 [[-3.75339224e-01 -9.26425111e-01 2.92742498e-02 2.09363492e+02] [ 9.23944041e-01 -3.76475664e-01 -6.77752370e-02 1.85540688e+02] [ 7.38097241e-02 1.60906382e-03 9.97271044e-01 4.35933399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87710568099993 meters Centerline goodness [0,1] 0.999728397125188 Centerline is valid? [True, True] Translation: X:209.36, Y:185.57, Z:43.59 [[-3.77511171e-01 -9.25534791e-01 2.95070478e-02 2.09357087e+02] [ 9.23017417e-01 -3.78659700e-01 -6.82325433e-02 1.85567440e+02] [ 7.43247226e-02 1.47697171e-03 9.97232999e-01 4.35940030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9071056809999 meters Centerline goodness [0,1] 0.9999368075156928 Centerline is valid? [True, True] Translation: X:209.36, Y:185.60, Z:43.60 [[-3.83466087e-01 -9.23074248e-01 2.97941662e-02 2.09357133e+02] [ 9.20505936e-01 -3.84620409e-01 -6.88183404e-02 1.85596754e+02] [ 7.49838822e-02 1.03620715e-03 9.97184208e-01 4.35958537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93710568099993 meters Centerline goodness [0,1] 0.9997497758408574 Centerline is valid? [True, True] Translation: X:209.36, Y:185.63, Z:43.60 [[-3.91417005e-01 -9.19769284e-01 2.85865866e-02 2.09358372e+02] [ 9.17401228e-01 -3.92459296e-01 -6.59597451e-02 1.85625224e+02] [ 7.18868192e-02 4.07603775e-04 9.97412713e-01 4.36014010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.9671056809999 meters Centerline goodness [0,1] 0.9998329749253607 Centerline is valid? [True, True] Translation: X:209.35, Y:185.65, Z:43.61 [[-3.96027988e-01 -9.17802907e-01 2.82781884e-02 2.09353775e+02] [ 9.15484844e-01 -3.97036294e-01 -6.51895817e-02 1.85651543e+02] [ 7.10586547e-02 7.13539838e-05 9.97472136e-01 4.36050271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99710568099994 meters Centerline goodness [0,1] 0.9999157078433851 Centerline is valid? [True, True] Translation: X:209.35, Y:185.68, Z:43.61 [[-4.01053509e-01 -9.15629580e-01 2.79025874e-02 2.09348760e+02] [ 9.13372980e-01 -4.02022876e-01 -6.42448889e-02 1.85677842e+02] [ 7.00419992e-02 -2.80168733e-04 9.97544004e-01 4.36075504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0271056809999 meters Centerline goodness [0,1] 0.999792043587664 Centerline is valid? [True, True] Translation: X:209.35, Y:185.71, Z:43.61 [[-4.09282545e-01 -9.11997135e-01 2.73683011e-02 2.09349934e+02] [ 9.09823375e-01 -4.10195671e-01 -6.29359724e-02 1.85706533e+02] [ 6.86237851e-02 -8.58274824e-04 9.97642240e-01 4.36094445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05710568099994 meters Centerline goodness [0,1] 0.9999371859296482 Centerline is valid? [True, True] Translation: X:209.35, Y:185.73, Z:43.61 [[-4.16882321e-01 -9.08555729e-01 2.71222641e-02 2.09348345e+02] [ 9.06418566e-01 -4.17761374e-01 -6.22962118e-02 1.85734682e+02] [ 6.79302145e-02 -1.38606564e-03 9.97689112e-01 4.36114289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0871056809999 meters Centerline goodness [0,1] 0.9998332082395129 Centerline is valid? [True, True] Translation: X:209.34, Y:185.76, Z:43.61 [[-4.20583119e-01 -9.06837382e-01 2.74918623e-02 2.09338539e+02] [ 9.04642958e-01 -4.21477425e-01 -6.30705856e-02 1.85760440e+02] [ 6.87819641e-02 -1.65610405e-03 9.97630342e-01 4.36123831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11710568099994 meters Centerline goodness [0,1] 0.9999790470603026 Centerline is valid? [True, True] Translation: X:209.33, Y:185.79, Z:43.61 [[-4.29066537e-01 -9.02828857e-01 2.83189498e-02 2.09334258e+02] [ 9.00496730e-01 -4.29993686e-01 -6.48927567e-02 1.85787273e+02] [ 7.07640229e-02 -2.34218870e-03 9.97490334e-01 4.36117797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1471056809999 meters Centerline goodness [0,1] 0.9999580967545937 Centerline is valid? [True, True] Translation: X:209.33, Y:185.81, Z:43.61 [[-4.33967947e-01 -9.00494487e-01 2.79553113e-02 2.09325592e+02] [ 8.98222258e-01 -4.34859305e-01 -6.39856182e-02 1.85813228e+02] [ 6.97753237e-02 -2.65762453e-03 9.97559192e-01 4.36144192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17710568099994 meters Centerline goodness [0,1] 0.9998316604591461 Centerline is valid? [True, True] Translation: X:209.32, Y:185.84, Z:43.62 [[-4.42648298e-01 -8.96297347e-01 2.67123740e-02 2.09318333e+02] [ 8.94219525e-01 -4.43442390e-01 -6.10760863e-02 1.85838870e+02] [ 6.65877331e-02 -3.14849926e-03 9.97775606e-01 4.36205562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2071056809999 meters Centerline goodness [0,1] 0.9999369151508779 Centerline is valid? [True, True] Translation: X:209.31, Y:185.86, Z:43.62 [[-4.47310643e-01 -8.93995597e-01 2.61736837e-02 2.09308782e+02] [ 8.92001339e-01 -4.48062907e-01 -5.97765970e-02 1.85863782e+02] [ 6.51674713e-02 -3.39174710e-03 9.97868577e-01 4.36238947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23710568099995 meters Centerline goodness [0,1] 0.9998949160379142 Centerline is valid? [True, True] Translation: X:209.29, Y:185.89, Z:43.63 [[-4.52720228e-01 -8.91307731e-01 2.47976667e-02 2.09294897e+02] [ 8.89517737e-01 -4.53384943e-01 -5.65711049e-02 1.85886487e+02] [ 6.16651519e-02 -3.55291915e-03 9.98090570e-01 4.36283560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2671056809999 meters Centerline goodness [0,1] 0.9997923156801661 Centerline is valid? [True, True] Translation: X:209.29, Y:185.91, Z:43.63 [[-4.53436649e-01 -8.90935822e-01 2.50712150e-02 2.09285002e+02] [ 8.89109936e-01 -4.54114875e-01 -5.71244403e-02 1.85910491e+02] [ 6.22794218e-02 -3.61124841e-03 9.98052219e-01 4.36300455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29710568099995 meters Centerline goodness [0,1] 0.9999161232149971 Centerline is valid? [True, True] Translation: X:209.26, Y:185.93, Z:43.63 [[-4.51570684e-01 -8.91835330e-01 2.67144650e-02 2.09262695e+02] [ 8.89768645e-01 -4.52345210e-01 -6.07911928e-02 1.85930741e+02] [ 6.62998938e-02 -3.68182718e-03 9.97792949e-01 4.36276533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3271056809999 meters Centerline goodness [0,1] 0.9999583567576571 Centerline is valid? [True, True] Translation: X:209.25, Y:185.95, Z:43.63 [[-4.48957500e-01 -8.93145661e-01 2.69813223e-02 2.09246561e+02] [ 8.91044395e-01 -4.49753966e-01 -6.13290735e-02 1.85952230e+02] [ 6.69107526e-02 -3.49259151e-03 9.97752852e-01 4.36286292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3571056809999 meters Centerline goodness [0,1] 0.9999789260726629 Centerline is valid? [True, True] Translation: X:209.22, Y:185.97, Z:43.63 [[-4.39962198e-01 -8.97628860e-01 2.63760121e-02 2.09216547e+02] [ 8.95633104e-01 -4.40743698e-01 -5.98860167e-02 1.85967602e+02] [ 6.53804780e-02 -2.72435393e-03 9.97856689e-01 4.36311661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:185.98, Z:43.63 [[-4.26880984e-01 -9.03931418e-01 2.60886291e-02 2.09181792e+02] [ 9.01994842e-01 -4.27673964e-01 -5.91632076e-02 1.85981664e+02] [ 6.46369095e-02 -1.72383941e-03 9.97907360e-01 4.36341969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.16, Y:186.00, Z:43.64 [[-4.20002720e-01 -9.07151677e-01 2.59528248e-02 2.09160922e+02] [ 9.05245724e-01 -4.20802094e-01 -5.87858616e-02 1.86001299e+02] [ 6.42486960e-02 -1.19653812e-03 9.97933201e-01 4.36366666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4471056809999 meters Centerline goodness [0,1] 0.9998115696250236 Centerline is valid? [True, True] Translation: X:209.13, Y:186.02, Z:43.64 [[-4.07084588e-01 -9.13012576e-01 2.62711844e-02 2.09129216e+02] [ 9.11075894e-01 -4.07931328e-01 -5.94369124e-02 1.86016862e+02] [ 6.49834877e-02 -2.60808155e-04 9.97886305e-01 4.36373881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4771056809999 meters Centerline goodness [0,1] 0.9999375299335735 Centerline is valid? [True, True] Translation: X:209.11, Y:186.04, Z:43.64 [[-4.02867496e-01 -9.14866621e-01 2.67740055e-02 2.09111235e+02] [ 9.12863609e-01 -4.03756192e-01 -6.05059438e-02 1.86037754e+02] [ 6.61650388e-02 6.51372293e-05 9.97808691e-01 4.36374424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:186.06, Z:43.64 [[-3.98859079e-01 -9.16625462e-01 2.66307700e-02 2.09091659e+02] [ 9.14652580e-01 -3.99746941e-01 -6.01085815e-02 1.86056697e+02] [ 6.57426251e-02 3.83049040e-04 9.97836540e-01 4.36381474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5371056809999 meters Centerline goodness [0,1] 0.999937147765603 Centerline is valid? [True, True] Translation: X:209.08, Y:186.08, Z:43.64 [[-3.98529965e-01 -9.16769382e-01 2.66038902e-02 2.09078293e+02] [ 9.14804730e-01 -3.99416718e-01 -5.99882614e-02 1.86079853e+02] [ 6.56214398e-02 4.30244919e-04 9.97844498e-01 4.36402284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.07, Y:186.10, Z:43.64 [[-3.99282630e-01 -9.16435061e-01 2.68358136e-02 2.09067318e+02] [ 9.14440198e-01 -4.00183224e-01 -6.04360070e-02 1.86102243e+02] [ 6.61249181e-02 4.08698879e-04 9.97811269e-01 4.36406111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.5971056809999 meters Centerline goodness [0,1] 0.999852473181732 Centerline is valid? [True, True] Translation: X:209.06, Y:186.13, Z:43.64 [[-4.00848655e-01 -9.15709157e-01 2.82328902e-02 2.09059348e+02] [ 9.13503784e-01 -4.01841550e-01 -6.35154018e-02 1.86127817e+02] [ 6.95067833e-02 3.30788609e-04 9.97581424e-01 4.36377556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:186.15, Z:43.64 [[-4.00137740e-01 -9.16012396e-01 2.84794371e-02 2.09046934e+02] [ 9.13774822e-01 -4.01149739e-01 -6.39879816e-02 1.86150451e+02] [ 7.00383032e-02 4.19786222e-04 9.97544214e-01 4.36385766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:186.17, Z:43.64 [[-3.99686110e-01 -9.16229902e-01 2.78169069e-02 2.09034269e+02] [ 9.14101370e-01 -4.00652639e-01 -6.24191356e-02 1.86172498e+02] [ 6.83351956e-02 4.79411239e-04 9.97662303e-01 4.36416993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68710568099993 meters Centerline goodness [0,1] 0.9999157486783073 Centerline is valid? [True, True] Translation: X:209.02, Y:186.20, Z:43.64 [[-3.97889678e-01 -9.16994808e-01 2.83606522e-02 2.09022845e+02] [ 9.14789681e-01 -3.98898601e-01 -6.35589953e-02 1.86196934e+02] [ 6.95962932e-02 6.54563812e-04 9.97575024e-01 4.36432040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7171056809999 meters Centerline goodness [0,1] 0.9999789087381098 Centerline is valid? [True, True] Translation: X:209.01, Y:186.22, Z:43.64 [[-3.99121652e-01 -9.16444171e-01 2.88442041e-02 2.09013741e+02] [ 9.14167087e-01 -4.00162120e-01 -6.45663607e-02 1.86222139e+02] [ 7.07138228e-02 5.98589495e-04 9.97496465e-01 4.36433304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74710568099994 meters Centerline goodness [0,1] 0.9999580492920818 Centerline is valid? [True, True] Translation: X:209.01, Y:186.25, Z:43.65 [[-4.06004526e-01 -9.13442131e-01 2.79963962e-02 2.09011613e+02] [ 9.11295079e-01 -4.06968627e-01 -6.25924619e-02 1.86249676e+02] [ 6.85682468e-02 1.00155249e-04 9.97646423e-01 4.36468843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:186.28, Z:43.65 [[-4.11872988e-01 -9.10844474e-01 2.68884052e-02 2.09007097e+02] [ 9.08861998e-01 -4.12749627e-01 -6.00634264e-02 1.86276135e+02] [ 6.58066192e-02 -3.00653302e-04 9.97832350e-01 4.36522070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:186.31, Z:43.66 [[-4.26751084e-01 -9.04018884e-01 2.51668371e-02 2.09010915e+02] [ 9.02274054e-01 -4.27490677e-01 -5.61538274e-02 1.86307386e+02] [ 6.15227086e-02 -1.25632255e-03 9.98104893e-01 4.36582788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:186.33, Z:43.66 [[-4.34550659e-01 -9.00293961e-01 2.52291326e-02 2.09005950e+02] [ 8.98537954e-01 -4.35278838e-01 -5.62305772e-02 1.86334659e+02] [ 6.16057566e-02 -1.76570121e-03 9.98099000e-01 4.36599748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86710568099994 meters Centerline goodness [0,1] 0.9999581659973227 Centerline is valid? [True, True] Translation: X:209.01, Y:186.36, Z:43.66 [[-4.47674527e-01 -8.93848442e-01 2.49495646e-02 2.09009210e+02] [ 8.92124715e-01 -4.48361639e-01 -5.55457735e-02 1.86364822e+02] [ 6.08359307e-02 -2.60830466e-03 9.98144371e-01 4.36604225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8971056809999 meters Centerline goodness [0,1] 0.9999581659973227 Centerline is valid? [True, True] Translation: X:209.00, Y:186.39, Z:43.66 [[-4.48083380e-01 -8.93642867e-01 2.49742211e-02 2.08998339e+02] [ 8.91919436e-01 -4.48771233e-01 -5.55346851e-02 1.86388201e+02] [ 6.08358871e-02 -2.60917623e-03 9.98144372e-01 4.36620603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:186.41, Z:43.66 [[-4.52691429e-01 -8.91316435e-01 2.50096526e-02 2.08993004e+02] [ 8.89588728e-01 -4.53372499e-01 -5.55452334e-02 1.86414999e+02] [ 6.08470681e-02 -2.89654611e-03 9.98142898e-01 4.36627002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9571056809999 meters Centerline goodness [0,1] 0.9998322112460413 Centerline is valid? [True, True] Translation: X:208.99, Y:186.44, Z:43.66 [[-4.57977885e-01 -8.88592448e-01 2.56849819e-02 2.08988101e+02] [ 8.86770073e-01 -4.58685574e-01 -5.69770275e-02 1.86442234e+02] [ 6.24106870e-02 -3.31754526e-03 9.98045039e-01 4.36620224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98710568099995 meters Centerline goodness [0,1] 0.9998950219404145 Centerline is valid? [True, True] Translation: X:208.98, Y:186.47, Z:43.66 [[-4.59209547e-01 -8.87937074e-01 2.63504215e-02 2.08977527e+02] [ 8.86022335e-01 -4.59951909e-01 -5.83837670e-02 1.86466257e+02] [ 6.39610379e-02 -3.46332127e-03 9.97946387e-01 4.36624569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0171056809999 meters Centerline goodness [0,1] 0.9998109998109999 Centerline is valid? [True, True] Translation: X:208.96, Y:186.49, Z:43.66 [[-4.59323939e-01 -8.87857853e-01 2.70175992e-02 2.08963504e+02] [ 8.85849289e-01 -4.60104302e-01 -5.97918771e-02 1.86487538e+02] [ 6.55176013e-02 -3.53031950e-03 9.97845169e-01 4.36631902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04710568099995 meters Centerline goodness [0,1] 0.9999161987765022 Centerline is valid? [True, True] Translation: X:208.95, Y:186.51, Z:43.66 [[-4.58528483e-01 -8.88268167e-01 2.70424230e-02 2.08948866e+02] [ 8.86261501e-01 -4.59312339e-01 -5.97722975e-02 1.86510571e+02] [ 6.55147477e-02 -3.44064248e-03 9.97845669e-01 4.36643480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0771056809999 meters Centerline goodness [0,1] 0.9998943319666934 Centerline is valid? [True, True] Translation: X:208.93, Y:186.53, Z:43.67 [[-4.58615953e-01 -8.88242368e-01 2.63989475e-02 2.08934755e+02] [ 8.86334010e-01 -4.59363015e-01 -5.82893000e-02 1.86532396e+02] [ 6.39017259e-02 -3.33411783e-03 9.97950627e-01 4.36680806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1071056809999 meters Centerline goodness [0,1] 0.9999788833516344 Centerline is valid? [True, True] Translation: X:208.92, Y:186.56, Z:43.67 [[-4.58714066e-01 -8.88207311e-01 2.58684767e-02 2.08921388e+02] [ 8.86379145e-01 -4.59431465e-01 -5.70503256e-02 1.86555212e+02] [ 6.25573084e-02 -3.24050856e-03 9.98036113e-01 4.36728445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1371056809999 meters Centerline goodness [0,1] 0.9998116287831219 Centerline is valid? [True, True] Translation: X:208.90, Y:186.57, Z:43.68 [[-4.55366637e-01 -8.89960584e-01 2.47262198e-02 2.08902900e+02] [ 8.88296750e-01 -4.56028619e-01 -5.44681855e-02 1.86574932e+02] [ 5.97504020e-02 -2.83877377e-03 9.98209312e-01 4.36800016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1671056809999 meters Centerline goodness [0,1] 0.9995377180079849 Centerline is valid? [True, True] Translation: X:208.88, Y:186.60, Z:43.68 [[-4.51439647e-01 -8.91971820e-01 2.42593896e-02 2.08884663e+02] [ 8.90376672e-01 -4.52084102e-01 -5.33792675e-02 1.86595264e+02] [ 5.85800867e-02 -2.49752312e-03 9.98279588e-01 4.36842352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1971056809999 meters Centerline goodness [0,1] 0.9995180015926904 Centerline is valid? [True, True] Translation: X:208.85, Y:186.61, Z:43.69 [[-4.37207329e-01 -8.99043643e-01 2.38805274e-02 2.08853455e+02] [ 8.97511627e-01 -4.37856412e-01 -5.24846801e-02 1.86609109e+02] [ 5.76422600e-02 -1.51363576e-03 9.98336155e-01 4.36866079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2271056809999 meters Centerline goodness [0,1] 0.9997480103315765 Centerline is valid? [True, True] Translation: X:208.82, Y:186.62, Z:43.68 [[-4.18759733e-01 -9.07757506e-01 2.48313706e-02 2.08817042e+02] [ 9.06119552e-01 -4.19495179e-01 -5.45082773e-02 1.86620668e+02] [ 5.98969381e-02 -3.25681216e-04 9.98204513e-01 4.36848898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:186.64, Z:43.68 [[-4.10943961e-01 -9.11315049e-01 2.50986421e-02 2.08794010e+02] [ 9.09652058e-01 -4.11709648e-01 -5.50299762e-02 1.86639338e+02] [ 6.04829985e-02 2.16795024e-04 9.98169204e-01 4.36837802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.2871056809999 meters Centerline goodness [0,1] 0.9999578716771286 Centerline is valid? [True, True] Translation: X:208.77, Y:186.66, Z:43.68 [[-3.98729277e-01 -9.16689135e-01 2.63816792e-02 2.08765433e+02] [ 9.14867592e-01 -3.99599571e-01 -5.77708489e-02 1.86655607e+02] [ 6.35000172e-02 1.10081453e-03 9.97981230e-01 4.36801077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:186.68, Z:43.68 [[-3.94691052e-01 -9.18413094e-01 2.71359929e-02 2.08752513e+02] [ 9.16494040e-01 -3.95620159e-01 -5.93579390e-02 1.86678934e+02] [ 6.52506542e-02 1.44192839e-03 9.97867863e-01 4.36803472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:186.70, Z:43.68 [[-3.90697263e-01 -9.20096285e-01 2.79011479e-02 2.08733058e+02] [ 9.18076705e-01 -3.91688122e-01 -6.09555478e-02 1.86698597e+02] [ 6.70135213e-02 1.80022820e-03 9.97750443e-01 4.36782363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:186.72, Z:43.68 [[-3.90535607e-01 -9.20165594e-01 2.78786524e-02 2.08722368e+02] [ 9.18154361e-01 -3.91525090e-01 -6.08331491e-02 1.86722088e+02] [ 6.68917626e-02 1.83939547e-03 9.97758542e-01 4.36796472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4071056809999 meters Centerline goodness [0,1] 0.9999154441297087 Centerline is valid? [True, True] Translation: X:208.71, Y:186.75, Z:43.68 [[-3.91122600e-01 -9.19923888e-01 2.76251917e-02 2.08714289e+02] [ 9.17952976e-01 -3.92092808e-01 -6.02126504e-02 1.86747549e+02] [ 6.62226944e-02 1.80809858e-03 9.97803230e-01 4.36815371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:186.78, Z:43.69 [[-3.94226399e-01 -9.18615091e-01 2.70529285e-02 2.08714108e+02] [ 9.16726307e-01 -3.95150371e-01 -5.88987475e-02 1.86777263e+02] [ 6.47952530e-02 1.58069010e-03 9.97897328e-01 4.36853449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.4671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:186.81, Z:43.69 [[-4.00146047e-01 -9.16077570e-01 2.61729931e-02 2.08713570e+02] [ 9.14308124e-01 -4.00999445e-01 -5.69218684e-02 1.86805524e+02] [ 6.26402026e-02 1.15311959e-03 9.98035508e-01 4.36901375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:186.83, Z:43.69 [[-4.04370400e-01 -9.14231118e-01 2.58077815e-02 2.08710242e+02] [ 9.12510868e-01 -4.05192163e-01 -5.60644833e-02 1.86834047e+02] [ 6.17130061e-02 8.79063598e-04 9.98093549e-01 4.36922192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5271056809999 meters Centerline goodness [0,1] 0.9999789438221174 Centerline is valid? [True, True] Translation: X:208.71, Y:186.87, Z:43.69 [[-4.12977782e-01 -9.10366846e-01 2.61066459e-02 2.08713322e+02] [ 9.08602589e-01 -4.13802005e-01 -5.66501204e-02 1.86865886e+02] [ 6.23753739e-02 3.25325004e-04 9.98052707e-01 4.36922992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:186.89, Z:43.69 [[-4.16565082e-01 -9.08714697e-01 2.66670694e-02 2.08708541e+02] [ 9.06874357e-01 -4.17417763e-01 -5.78040806e-02 1.86891793e+02] [ 6.36587260e-02 1.04519845e-04 9.97971721e-01 4.36932315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:186.92, Z:43.70 [[-4.21492242e-01 -9.06451654e-01 2.62619127e-02 2.08708315e+02] [ 9.04666925e-01 -4.22309550e-01 -5.68541866e-02 1.86920609e+02] [ 6.26262280e-02 -2.05314800e-04 9.98037030e-01 4.36953357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:186.95, Z:43.70 [[-4.23789853e-01 -9.05382490e-01 2.61669228e-02 2.08702177e+02] [ 9.03612864e-01 -4.24596792e-01 -5.65805239e-02 1.86946636e+02] [ 6.23374071e-02 -3.33483854e-04 9.98055077e-01 4.36979142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6471056809999 meters Centerline goodness [0,1] 0.99997906635964 Centerline is valid? [True, True] Translation: X:208.70, Y:186.98, Z:43.70 [[-4.28096655e-01 -9.03323514e-01 2.72008070e-02 2.08700137e+02] [ 9.01411647e-01 -4.28959479e-01 -5.87435795e-02 1.86975937e+02] [ 6.47325006e-02 -6.28805676e-04 9.97902454e-01 4.36980549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67710568099994 meters Centerline goodness [0,1] 0.9998945570341002 Centerline is valid? [True, True] Translation: X:208.69, Y:187.00, Z:43.70 [[-4.30227305e-01 -9.02301207e-01 2.75135813e-02 2.08693433e+02] [ 9.00347166e-01 -4.31105494e-01 -5.93551454e-02 1.87001575e+02] [ 6.54174754e-02 -7.64429296e-04 9.97857690e-01 4.36994043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7071056809999 meters Centerline goodness [0,1] 0.9998736496304251 Centerline is valid? [True, True] Translation: X:208.69, Y:187.03, Z:43.70 [[-4.32262121e-01 -9.01345281e-01 2.69470436e-02 2.08687309e+02] [ 8.99473371e-01 -4.33100383e-01 -5.80664529e-02 1.87028037e+02] [ 6.40086982e-02 -8.61779982e-04 9.97948969e-01 4.37028268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:187.05, Z:43.71 [[-4.32395141e-01 -9.01280802e-01 2.69695739e-02 2.08677302e+02] [ 8.99410174e-01 -4.33234588e-01 -5.80442169e-02 1.87051918e+02] [ 6.39982906e-02 -8.41328254e-04 9.97949654e-01 4.37052378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7671056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:187.08, Z:43.71 [[-4.29401506e-01 -9.02701354e-01 2.72875816e-02 2.08666919e+02] [ 9.00793965e-01 -4.30267241e-01 -5.86543656e-02 1.87075685e+02] [ 6.46883277e-02 -6.05784195e-04 9.97905333e-01 4.37073143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79710568099995 meters Centerline goodness [0,1] 0.9999789336198361 Centerline is valid? [True, True] Translation: X:208.65, Y:187.10, Z:43.71 [[-4.26757383e-01 -9.03936810e-01 2.78635775e-02 2.08653684e+02] [ 9.01955345e-01 -4.27665857e-01 -5.98203220e-02 1.87098565e+02] [ 6.59900918e-02 -3.97061422e-04 9.97820199e-01 4.37084047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8271056809999 meters Centerline goodness [0,1] 0.9999578477037536 Centerline is valid? [True, True] Translation: X:208.64, Y:187.12, Z:43.71 [[-4.19845933e-01 -9.07139109e-01 2.87754931e-02 2.08637085e+02] [ 9.05038329e-01 -4.20830866e-01 -6.17009411e-02 1.87119674e+02] [ 6.80809524e-02 1.38034985e-04 9.97679791e-01 4.37086793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8571056809999 meters Centerline goodness [0,1] 0.9999369456471479 Centerline is valid? [True, True] Translation: X:208.62, Y:187.14, Z:43.71 [[-4.11527888e-01 -9.10958562e-01 2.82718248e-02 2.08617639e+02] [ 9.08944441e-01 -4.12497139e-01 -6.05484395e-02 1.87139114e+02] [ 6.68191662e-02 7.80146577e-04 9.97764797e-01 4.37124671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.60, Y:187.16, Z:43.71 [[-4.08240356e-01 -9.12443887e-01 2.80350581e-02 2.08601930e+02] [ 9.10471432e-01 -4.09200522e-01 -5.99725338e-02 1.87160569e+02] [ 6.61935322e-02 1.04191091e-03 9.97806259e-01 4.37144366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9171056809999 meters Centerline goodness [0,1] 0.9998746081504702 Centerline is valid? [True, True] Translation: X:208.59, Y:187.18, Z:43.72 [[-4.05308127e-01 -9.13742100e-01 2.82965805e-02 2.08588488e+02] [ 9.11740348e-01 -4.06292632e-01 -6.04634962e-02 1.87183321e+02] [ 6.67447342e-02 1.29278778e-03 9.97769246e-01 4.37152955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9471056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:187.21, Z:43.71 [[-4.02481040e-01 -9.14950611e-01 2.95701310e-02 2.08579219e+02] [ 9.12772743e-01 -4.03562701e-01 -6.31115457e-02 1.87209389e+02] [ 6.96773492e-02 1.58960899e-03 9.97568314e-01 4.37136880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:187.23, Z:43.72 [[-4.02758776e-01 -9.14825917e-01 2.96464221e-02 2.08569790e+02] [ 9.12641223e-01 -4.03845246e-01 -6.32061382e-02 1.87232966e+02] [ 6.97951800e-02 1.59972006e-03 9.97560060e-01 4.37155553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:187.26, Z:43.72 [[-4.04262058e-01 -9.14188813e-01 2.88271284e-02 2.08561376e+02] [ 9.12126664e-01 -4.05285864e-01 -6.13866298e-02 1.87257225e+02] [ 6.78021978e-02 1.47770716e-03 9.97697689e-01 4.37188501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:187.28, Z:43.72 [[-4.05286462e-01 -9.13734875e-01 2.88350773e-02 2.08555670e+02] [ 9.11675028e-01 -4.06308422e-01 -6.13360338e-02 1.87283256e+02] [ 6.77608079e-02 1.42955579e-03 9.97700571e-01 4.37214471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:187.31, Z:43.72 [[-4.05796968e-01 -9.13512978e-01 2.86855137e-02 2.08552585e+02] [ 9.11478755e-01 -4.06807126e-01 -6.09462182e-02 1.87310336e+02] [ 6.73446327e-02 1.41444575e-03 9.97728771e-01 4.37245727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.0971056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:187.34, Z:43.73 [[-4.05750692e-01 -9.13542815e-01 2.83883813e-02 2.08546566e+02] [ 9.11555423e-01 -4.06740050e-01 -6.02432004e-02 1.87336343e+02] [ 6.65814346e-02 1.43386262e-03 9.97779964e-01 4.37268226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:187.36, Z:43.73 [[-4.05728510e-01 -9.13550303e-01 2.84643757e-02 2.08537454e+02] [ 9.11557215e-01 -4.06723107e-01 -6.03304033e-02 1.87360042e+02] [ 6.66919775e-02 1.46914243e-03 9.97772530e-01 4.37285969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.1571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:187.39, Z:43.73 [[-4.05998955e-01 -9.13443770e-01 2.80237149e-02 2.08532639e+02] [ 9.11516582e-01 -4.06962346e-01 -5.93225892e-02 1.87386819e+02] [ 6.55924462e-02 1.45917159e-03 9.97845430e-01 4.37318083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18710568099993 meters Centerline goodness [0,1] 0.9999791718736982 Centerline is valid? [True, True] Translation: X:208.52, Y:187.41, Z:43.73 [[-4.07013564e-01 -9.12967229e-01 2.88235687e-02 2.08524448e+02] [ 9.10932336e-01 -4.08030302e-01 -6.09389290e-02 1.87411082e+02] [ 6.73961345e-02 1.45335005e-03 9.97725237e-01 4.37315941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2171056809999 meters Centerline goodness [0,1] 0.9997473471450228 Centerline is valid? [True, True] Translation: X:208.52, Y:187.44, Z:43.73 [[-4.10249836e-01 -9.11475291e-01 3.01308062e-02 2.08519892e+02] [ 9.09253193e-01 -4.11352784e-01 -6.36201015e-02 1.87439751e+02] [ 7.03825416e-02 1.29639550e-03 9.97519231e-01 4.37295008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24710568099994 meters Centerline goodness [0,1] 0.9996628526876963 Centerline is valid? [True, True] Translation: X:208.51, Y:187.47, Z:43.73 [[-4.13327281e-01 -9.10064736e-01 3.07039883e-02 2.08512033e+02] [ 9.07758105e-01 -4.14464665e-01 -6.47631349e-02 1.87466271e+02] [ 7.16643635e-02 1.10342371e-03 9.97428194e-01 4.37304652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2771056809999 meters Centerline goodness [0,1] 0.9998532679327548 Centerline is valid? [True, True] Translation: X:208.51, Y:187.50, Z:43.73 [[-4.21918067e-01 -9.06078122e-01 3.17424365e-02 2.08512339e+02] [ 9.03606568e-01 -4.23110176e-01 -6.68801126e-02 1.87496336e+02] [ 7.40291547e-02 4.64746299e-04 9.97255969e-01 4.37305111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30710568099994 meters Centerline goodness [0,1] 0.9994311717861206 Centerline is valid? [True, True] Translation: X:208.51, Y:187.52, Z:43.73 [[-4.26645627e-01 -9.03864517e-01 3.16613864e-02 2.08507251e+02] [ 9.01404746e-01 -4.27818797e-01 -6.66375406e-02 1.87523332e+02] [ 7.37766447e-02 1.09108677e-04 9.97274784e-01 4.37329394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3371056809999 meters Centerline goodness [0,1] 0.9995383485468471 Centerline is valid? [True, True] Translation: X:208.51, Y:187.55, Z:43.74 [[-4.35774681e-01 -8.99540363e-01 3.04559195e-02 2.08505857e+02] [ 8.97258992e-01 -4.36837276e-01 -6.40273008e-02 1.87551741e+02] [ 7.08994223e-02 -5.74628896e-04 9.97483304e-01 4.37403789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36710568099994 meters Centerline goodness [0,1] 0.9995397874654841 Centerline is valid? [True, True] Translation: X:208.50, Y:187.58, Z:43.74 [[-4.40299658e-01 -8.97350398e-01 2.99745574e-02 2.08498973e+02] [ 8.95140630e-01 -4.41317895e-01 -6.29425728e-02 1.87577167e+02] [ 6.97098513e-02 -8.82149104e-04 9.97566919e-01 4.37447600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3971056809999 meters Centerline goodness [0,1] 0.999663398830311 Centerline is valid? [True, True] Translation: X:208.50, Y:187.60, Z:43.75 [[-4.49860312e-01 -8.92600183e-01 2.98431439e-02 2.08497068e+02] [ 8.90403958e-01 -4.50846308e-01 -6.25971137e-02 1.87604190e+02] [ 6.93288664e-02 -1.58750367e-03 9.97592596e-01 4.37465850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42710568099994 meters Centerline goodness [0,1] 0.9994317225122075 Centerline is valid? [True, True] Translation: X:208.49, Y:187.63, Z:43.75 [[-4.55763149e-01 -8.89587697e-01 3.02271659e-02 2.08490775e+02] [ 8.87333264e-01 -4.56759859e-01 -6.33254303e-02 1.87630545e+02] [ 7.01400797e-02 -2.03982778e-03 9.97535066e-01 4.37464846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4571056809999 meters Centerline goodness [0,1] 0.9998107892191902 Centerline is valid? [True, True] Translation: X:208.49, Y:187.66, Z:43.74 [[-4.66003444e-01 -8.84229008e-01 3.13025751e-02 2.08489152e+02] [ 8.81804459e-01 -4.67044462e-01 -6.55008874e-02 1.87657770e+02] [ 7.25374791e-02 -2.92088877e-03 9.97361410e-01 4.37444907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48710568099995 meters Centerline goodness [0,1] 0.9998528082090965 Centerline is valid? [True, True] Translation: X:208.48, Y:187.68, Z:43.74 [[-4.72663121e-01 -8.80676008e-01 3.16123917e-02 2.08482661e+02] [ 8.78201044e-01 -4.73706399e-01 -6.60694701e-02 1.87682692e+02] [ 7.31607894e-02 -3.46656653e-03 9.97314134e-01 4.37449042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5171056809999 meters Centerline goodness [0,1] 0.9999579230833965 Centerline is valid? [True, True] Translation: X:208.47, Y:187.71, Z:43.75 [[-4.75168579e-01 -8.79327774e-01 3.15830280e-02 2.08472083e+02] [ 8.76860033e-01 -4.76203164e-01 -6.59320095e-02 1.87706989e+02] [ 7.30157850e-02 -3.63492431e-03 9.97324161e-01 4.37468268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54710568099995 meters Centerline goodness [0,1] 0.9998736868697501 Centerline is valid? [True, True] Translation: X:208.46, Y:187.73, Z:43.75 [[-4.76646616e-01 -8.78517791e-01 3.18511413e-02 2.08461239e+02] [ 8.76011613e-01 -4.77694868e-01 -6.64173766e-02 1.87729427e+02] [ 7.35639737e-02 -3.75564816e-03 9.97283429e-01 4.37481309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5771056809999 meters Centerline goodness [0,1] 0.9999579672985582 Centerline is valid? [True, True] Translation: X:208.44, Y:187.75, Z:43.75 [[-4.76648142e-01 -8.78500250e-01 3.23088246e-02 2.08444019e+02] [ 8.75927478e-01 -4.77726984e-01 -6.72902842e-02 1.87749271e+02] [ 7.45493288e-02 -3.77360171e-03 9.97210187e-01 4.37487113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6071056809999 meters Centerline goodness [0,1] 0.9998312485497922 Centerline is valid? [True, True] Translation: X:208.43, Y:187.77, Z:43.75 [[-4.75420320e-01 -8.79160552e-01 3.24382950e-02 2.08428073e+02] [ 8.76574465e-01 -4.76511719e-01 -6.74817721e-02 1.87771380e+02] [ 7.47845397e-02 -3.64762459e-03 9.97193044e-01 4.37496294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6371056809999 meters Centerline goodness [0,1] 0.9999580167093497 Centerline is valid? [True, True] Translation: X:208.40, Y:187.79, Z:43.75 [[-4.70990935e-01 -8.81524797e-01 3.28872550e-02 2.08403039e+02] [ 8.78877090e-01 -4.72126272e-01 -6.83508838e-02 1.87788269e+02] [ 7.57799360e-02 -3.28879167e-03 9.97119143e-01 4.37489259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6671056809999 meters Centerline goodness [0,1] 0.9999372844151772 Centerline is valid? [True, True] Translation: X:208.38, Y:187.81, Z:43.75 [[-4.67763910e-01 -8.83274727e-01 3.19793715e-02 2.08382137e+02] [ 8.80780835e-01 -4.68846898e-01 -6.63905685e-02 1.87806314e+02] [ 7.36345405e-02 -2.88829439e-03 9.97281110e-01 4.37519085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6971056809999 meters Centerline goodness [0,1] 0.9998324221286579 Centerline is valid? [True, True] Translation: X:208.37, Y:187.83, Z:43.76 [[-4.67670814e-01 -8.83365838e-01 3.08026789e-02 2.08366967e+02] [ 8.81057348e-01 -4.68676126e-01 -6.38798726e-02 1.87827236e+02] [ 7.08657774e-02 -2.73582539e-03 9.97482109e-01 4.37575364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7271056809999 meters Centerline goodness [0,1] 0.9998738409133918 Centerline is valid? [True, True] Translation: X:208.35, Y:187.85, Z:43.77 [[-4.70156893e-01 -8.82108526e-01 2.89317234e-02 2.08347470e+02] [ 8.80073186e-01 -4.71038351e-01 -5.99504696e-02 1.87846158e+02] [ 6.65107716e-02 -2.72409246e-03 9.97781989e-01 4.37668418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7571056809999 meters Centerline goodness [0,1] 0.9999789420485176 Centerline is valid? [True, True] Translation: X:208.33, Y:187.87, Z:43.77 [[-4.72500996e-01 -8.80882640e-01 2.80817113e-02 2.08334726e+02] [ 8.78967036e-01 -4.73326557e-01 -5.81284739e-02 1.87868276e+02] [ 6.44961833e-02 -2.78286324e-03 9.97914073e-01 4.37707540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.7871056809999 meters Centerline goodness [0,1] 0.9999789420485176 Centerline is valid? [True, True] Translation: X:208.32, Y:187.89, Z:43.77 [[-4.72901482e-01 -8.80666896e-01 2.81070563e-02 2.08323486e+02] [ 8.78751637e-01 -4.73727840e-01 -5.81162163e-02 1.87890574e+02] [ 6.44961229e-02 -2.78412314e-03 9.97914074e-01 4.37723390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81710568099993 meters Centerline goodness [0,1] 0.999894836470712 Centerline is valid? [True, True] Translation: X:208.31, Y:187.91, Z:43.77 [[-4.77338086e-01 -8.78269124e-01 2.81371221e-02 2.08308051e+02] [ 8.76349968e-01 -4.78156728e-01 -5.81109019e-02 1.87912515e+02] [ 6.44909651e-02 -3.08058060e-03 9.97913536e-01 4.37719883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8471056809999 meters Centerline goodness [0,1] 0.9997063388849268 Centerline is valid? [True, True] Translation: X:208.30, Y:187.94, Z:43.77 [[-4.79541563e-01 -8.77056522e-01 2.84911634e-02 2.08298820e+02] [ 8.75090716e-01 -4.80376170e-01 -5.87790202e-02 1.87936551e+02] [ 6.52389990e-02 -3.25463059e-03 9.97864360e-01 4.37710297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87710568099993 meters Centerline goodness [0,1] 0.9997259580926683 Centerline is valid? [True, True] Translation: X:208.27, Y:187.95, Z:43.77 [[-4.81370630e-01 -8.76032981e-01 2.91295893e-02 2.08272828e+02] [ 8.73979842e-01 -4.82238905e-01 -6.00406027e-02 1.87954171e+02] [ 6.66449694e-02 -3.44310892e-03 9.97770812e-01 4.37709891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9071056809999 meters Centerline goodness [0,1] 0.9997270341207349 Centerline is valid? [True, True] Translation: X:208.26, Y:187.98, Z:43.77 [[-4.81278171e-01 -8.76056852e-01 2.99284905e-02 2.08255842e+02] [ 8.73893947e-01 -4.82195108e-01 -6.16218142e-02 1.87975053e+02] [ 6.84155843e-02 -3.50290736e-03 9.97650759e-01 4.37712231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93710568099993 meters Centerline goodness [0,1] 0.9997906635963995 Centerline is valid? [True, True] Translation: X:208.23, Y:187.99, Z:43.77 [[-4.79605494e-01 -8.76946114e-01 3.07259519e-02 2.08229315e+02] [ 8.74673160e-01 -4.80576463e-01 -6.31911892e-02 1.87992584e+02] [ 7.01814371e-02 -3.43167604e-03 9.97528340e-01 4.37722520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.9671056809999 meters Centerline goodness [0,1] 0.9995188385180226 Centerline is valid? [True, True] Translation: X:208.21, Y:188.01, Z:43.78 [[-4.78253271e-01 -8.77696160e-01 3.03851961e-02 2.08210195e+02] [ 8.75479304e-01 -4.79206491e-01 -6.24269824e-02 1.88013314e+02] [ 6.93527059e-02 -3.25429818e-03 9.97586894e-01 4.37757676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99710568099994 meters Centerline goodness [0,1] 0.999291031549096 Centerline is valid? [True, True] Translation: X:208.19, Y:188.03, Z:43.78 [[-4.75125796e-01 -8.79413469e-01 2.97897568e-02 2.08185909e+02] [ 8.77290282e-01 -4.76049840e-01 -6.11417362e-02 1.88031684e+02] [ 6.79502753e-02 -2.91575197e-03 9.97684448e-01 4.37807058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0271056809999 meters Centerline goodness [0,1] 0.9997262235700446 Centerline is valid? [True, True] Translation: X:208.17, Y:188.05, Z:43.78 [[-4.73493450e-01 -8.80298969e-01 2.96256352e-02 2.08166715e+02] [ 8.78205055e-01 -4.74411421e-01 -6.07427763e-02 1.88052269e+02] [ 6.75265430e-02 -2.74392414e-03 9.97713705e-01 4.37834765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05710568099994 meters Centerline goodness [0,1] 0.9997088186356073 Centerline is valid? [True, True] Translation: X:208.14, Y:188.07, Z:43.78 [[-4.69096991e-01 -8.82606076e-01 3.08954287e-02 2.08138845e+02] [ 8.80338272e-01 -4.70106730e-01 -6.32786724e-02 1.88068266e+02] [ 7.03742897e-02 -2.48540650e-03 9.97517560e-01 4.37811400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0871056809999 meters Centerline goodness [0,1] 0.9993278722957362 Centerline is valid? [True, True] Translation: X:208.11, Y:188.08, Z:43.78 [[-4.64155883e-01 -8.85188986e-01 3.16192274e-02 2.08109390e+02] [ 8.82824507e-01 -4.65226823e-01 -6.46907456e-02 1.88083981e+02] [ 7.19736482e-02 -2.11236125e-03 9.97404297e-01 4.37801647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11710568099994 meters Centerline goodness [0,1] 0.9991017150974535 Centerline is valid? [True, True] Translation: X:208.09, Y:188.10, Z:43.78 [[-4.62482204e-01 -8.86079523e-01 3.11975914e-02 2.08090706e+02] [ 8.83784553e-01 -4.63529294e-01 -6.37609373e-02 1.88104408e+02] [ 7.09582584e-02 -1.91634949e-03 9.97477445e-01 4.37835341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1471056809999 meters Centerline goodness [0,1] 0.9994350873522335 Centerline is valid? [True, True] Translation: X:208.07, Y:188.12, Z:43.79 [[-4.60899436e-01 -8.86934573e-01 3.03112559e-02 2.08071444e+02] [ 8.84774443e-01 -4.61891930e-01 -6.18872426e-02 1.88124663e+02] [ 6.88904596e-02 -1.70517067e-03 9.97622773e-01 4.37889854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17710568099994 meters Centerline goodness [0,1] 0.9988842809927794 Centerline is valid? [True, True] Translation: X:208.04, Y:188.14, Z:43.79 [[-4.56230178e-01 -8.89385522e-01 2.91104510e-02 2.08041640e+02] [ 8.87402149e-01 -4.57156225e-01 -5.93768721e-02 1.88140076e+02] [ 6.61169542e-02 -1.25684408e-03 9.97811089e-01 4.37935584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2071056809999 meters Centerline goodness [0,1] 0.9984986237384269 Centerline is valid? [True, True] Translation: X:208.02, Y:188.16, Z:43.79 [[-4.51595916e-01 -8.91760797e-01 2.87020747e-02 2.08016510e+02] [ 8.89841352e-01 -4.52506266e-01 -5.84845894e-02 1.88157146e+02] [ 6.51421328e-02 -8.71108772e-04 9.97875615e-01 4.37932721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23710568099995 meters Centerline goodness [0,1] 0.9985308932169241 Centerline is valid? [True, True] Translation: X:208.00, Y:188.18, Z:43.79 [[-4.50814622e-01 -8.92150659e-01 2.88683036e-02 2.07999421e+02] [ 8.90213858e-01 -4.51737287e-01 -5.87597661e-02 1.88178365e+02] [ 6.54634532e-02 -7.90797806e-04 9.97854654e-01 4.37935508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2671056809999 meters Centerline goodness [0,1] 0.9989034394044832 Centerline is valid? [True, True] Translation: X:207.98, Y:188.20, Z:43.79 [[-4.50367203e-01 -8.92353039e-01 2.95877730e-02 2.07984911e+02] [ 8.90323418e-01 -4.51337448e-01 -6.01557900e-02 1.88199087e+02] [ 6.70342720e-02 -7.49507699e-04 9.97750392e-01 4.37940571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2971056809999 meters Centerline goodness [0,1] 0.9982048953559587 Centerline is valid? [True, True] Translation: X:207.96, Y:188.22, Z:43.79 [[-4.48877422e-01 -8.93023608e-01 3.19044881e-02 2.07961577e+02] [ 8.90669535e-01 -4.50009316e-01 -6.48027396e-02 1.88217471e+02] [ 7.22276932e-02 -6.72131064e-04 9.97387943e-01 4.37885090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3271056809999 meters Centerline goodness [0,1] 0.9978793297018587 Centerline is valid? [True, True] Translation: X:207.94, Y:188.24, Z:43.78 [[-4.48025081e-01 -8.93391673e-01 3.35387036e-02 2.07941351e+02] [ 8.90796825e-01 -4.49278251e-01 -6.80446222e-02 1.88236423e+02] [ 7.58587089e-02 -6.09526736e-04 9.97118391e-01 4.37847769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3571056809999 meters Centerline goodness [0,1] 0.9980448630352976 Centerline is valid? [True, True] Translation: X:207.93, Y:188.26, Z:43.79 [[-4.49371274e-01 -8.92727487e-01 3.32128272e-02 2.07927597e+02] [ 8.90186330e-01 -4.50596456e-01 -6.73136718e-02 1.88258866e+02] [ 7.50583474e-02 -6.83225629e-04 9.97178910e-01 4.37878978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3871056809999 meters Centerline goodness [0,1] 0.9980486371933948 Centerline is valid? [True, True] Translation: X:207.91, Y:188.28, Z:43.80 [[-4.51944754e-01 -8.91490918e-01 3.14624042e-02 2.07913465e+02] [ 8.89212457e-01 -4.53037838e-01 -6.37018385e-02 1.88280017e+02] [ 7.10432701e-02 -8.12949982e-04 9.97472903e-01 4.37955128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4171056809999 meters Centerline goodness [0,1] 0.998375664500886 Centerline is valid? [True, True] Translation: X:207.90, Y:188.30, Z:43.80 [[-4.53321866e-01 -8.90800413e-01 3.12075212e-02 2.07899820e+02] [ 8.88561008e-01 -4.54393919e-01 -6.31308249e-02 1.88302833e+02] [ 7.04174727e-02 -8.88796888e-04 9.97517213e-01 4.37986555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4471056809999 meters Centerline goodness [0,1] 0.997865686150205 Centerline is valid? [True, True] Translation: X:207.89, Y:188.33, Z:43.80 [[-4.54890460e-01 -8.89994127e-01 3.13866622e-02 2.07887001e+02] [ 8.87731780e-01 -4.55970915e-01 -6.34256302e-02 1.88325622e+02] [ 7.07598435e-02 -9.88776597e-04 9.97492891e-01 4.37992916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4771056809999 meters Centerline goodness [0,1] 0.997837633573363 Centerline is valid? [True, True] Translation: X:207.88, Y:188.35, Z:43.80 [[-4.59202141e-01 -8.87759888e-01 3.18712321e-02 2.07875668e+02] [ 8.85426604e-01 -4.60304931e-01 -6.43358382e-02 1.88348206e+02] [ 7.17852618e-02 -1.32351779e-03 9.97419232e-01 4.38002928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5071056809999 meters Centerline goodness [0,1] 0.9974567543140593 Centerline is valid? [True, True] Translation: X:207.86, Y:188.37, Z:43.80 [[-4.62464748e-01 -8.86049694e-01 3.22846131e-02 2.07863765e+02] [ 8.83656434e-01 -4.63587587e-01 -6.50988145e-02 1.88371828e+02] [ 7.26475306e-02 -1.57740080e-03 9.97356430e-01 4.38015001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5371056809999 meters Centerline goodness [0,1] 0.9970353049251519 Centerline is valid? [True, True] Translation: X:207.85, Y:188.39, Z:43.80 [[-4.68933116e-01 -8.82639052e-01 3.24042775e-02 2.07853903e+02] [ 8.80224733e-01 -4.70046760e-01 -6.52722183e-02 1.88394889e+02] [ 7.28433345e-02 -2.08525816e-03 9.97341216e-01 4.38032157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56710568099993 meters Centerline goodness [0,1] 0.9972680466533571 Centerline is valid? [True, True] Translation: X:207.84, Y:188.42, Z:43.81 [[-4.73041429e-01 -8.80443043e-01 3.24322934e-02 2.07836883e+02] [ 8.78024470e-01 -4.74145882e-01 -6.52588138e-02 1.88416264e+02] [ 7.28343069e-02 -2.39377535e-03 9.97341182e-01 4.38079543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.5971056809999 meters Centerline goodness [0,1] 0.9967880990617868 Centerline is valid? [True, True] Translation: X:207.83, Y:188.44, Z:43.81 [[-4.83229871e-01 -8.74863008e-01 3.32206199e-02 2.07827979e+02] [ 8.72317173e-01 -4.84359271e-01 -6.67745915e-02 1.88440381e+02] [ 7.45093351e-02 -3.28856001e-03 9.97214894e-01 4.38085825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62710568099993 meters Centerline goodness [0,1] 0.9968726888536714 Centerline is valid? [True, True] Translation: X:207.82, Y:188.47, Z:43.81 [[-4.88754018e-01 -8.71759051e-01 3.39951075e-02 2.07817122e+02] [ 8.69090246e-01 -4.89919945e-01 -6.82685275e-02 1.88465376e+02] [ 7.61685879e-02 -3.82170079e-03 9.97087629e-01 4.38093200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.6571056809999 meters Centerline goodness [0,1] 0.9966896493558521 Centerline is valid? [True, True] Translation: X:207.81, Y:188.49, Z:43.81 [[-4.97492604e-01 -8.66795097e-01 3.41667800e-02 2.07805629e+02] [ 8.64092964e-01 -4.98643480e-01 -6.85421656e-02 1.88489568e+02] [ 7.64490552e-02 -4.57594620e-03 9.97062988e-01 4.38100412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68710568099993 meters Centerline goodness [0,1] 0.9962479711641828 Centerline is valid? [True, True] Translation: X:207.79, Y:188.51, Z:43.81 [[-5.02239217e-01 -8.64021409e-01 3.49681735e-02 2.07787250e+02] [ 8.61190216e-01 -5.03429446e-01 -7.00728546e-02 1.88510967e+02] [ 7.81484548e-02 -5.07908678e-03 9.96928795e-01 4.38095825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7171056809999 meters Centerline goodness [0,1] 0.9957096814700096 Centerline is valid? [True, True] Translation: X:207.77, Y:188.53, Z:43.81 [[-5.03284765e-01 -8.63410507e-01 3.50248598e-02 2.07769880e+02] [ 8.60574346e-01 -5.04475784e-01 -7.01140424e-02 1.88532142e+02] [ 7.82063945e-02 -5.14583357e-03 9.96923909e-01 4.38112883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74710568099994 meters Centerline goodness [0,1] 0.9957596725876545 Centerline is valid? [True, True] Translation: X:207.74, Y:188.55, Z:43.82 [[-5.03374697e-01 -8.63374282e-01 3.46231826e-02 2.07743360e+02] [ 8.60608233e-01 -5.04538680e-01 -6.92400896e-02 1.88549102e+02] [ 7.72488475e-02 -5.05671310e-03 9.96999020e-01 4.38155842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7771056809999 meters Centerline goodness [0,1] 0.9938505103442447 Centerline is valid? [True, True] Translation: X:207.73, Y:188.57, Z:43.81 [[-5.03186508e-01 -8.63479823e-01 3.47265630e-02 2.07731142e+02] [ 8.60702944e-01 -5.04358401e-01 -6.93761198e-02 1.88571061e+02] [ 7.74195134e-02 -5.01987250e-03 9.96985968e-01 4.38145496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80710568099994 meters Centerline goodness [0,1] 0.995214407153202 Centerline is valid? [True, True] Translation: X:207.71, Y:188.59, Z:43.82 [[-5.02566982e-01 -8.63811283e-01 3.54471009e-02 2.07707152e+02] [ 8.60923931e-01 -5.03790316e-01 -7.07481696e-02 1.88589674e+02] [ 7.89709733e-02 -5.03843665e-03 9.96864183e-01 4.38166386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8371056809999 meters Centerline goodness [0,1] 0.9952064195966634 Centerline is valid? [True, True] Translation: X:207.68, Y:188.61, Z:43.82 [[-4.99766166e-01 -8.65436681e-01 3.53995898e-02 2.07678539e+02] [ 8.62566836e-01 -5.00995901e-01 -7.05801657e-02 1.88605150e+02] [ 7.88177137e-02 -4.73906664e-03 9.96877781e-01 4.38191345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86710568099994 meters Centerline goodness [0,1] 0.9938578286480935 Centerline is valid? [True, True] Translation: X:207.65, Y:188.62, Z:43.82 [[-4.93553466e-01 -8.69061574e-01 3.37187883e-02 2.07648449e+02] [ 8.66471549e-01 -4.94688315e-01 -6.71604505e-02 1.88618773e+02] [ 7.50468574e-02 -3.93090246e-03 9.97172261e-01 4.38227826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8971056809999 meters Centerline goodness [0,1] 0.9932717622967947 Centerline is valid? [True, True] Translation: X:207.63, Y:188.64, Z:43.82 [[-4.90281905e-01 -8.70936481e-01 3.30650803e-02 2.07627660e+02] [ 8.68455234e-01 -4.91382857e-01 -6.57905314e-02 1.88637028e+02] [ 7.35469875e-02 -3.54036507e-03 9.97285469e-01 4.38242258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92710568099994 meters Centerline goodness [0,1] 0.9923551896501029 Centerline is valid? [True, True] Translation: X:207.59, Y:188.65, Z:43.82 [[-4.84644059e-01 -8.74084335e-01 3.31166293e-02 2.07592486e+02] [ 8.71607596e-01 -4.85764710e-01 -6.58243487e-02 1.88649970e+02] [ 7.36229219e-02 -3.03667387e-03 9.97281527e-01 4.38246030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9571056809999 meters Centerline goodness [0,1] 0.9922899812002282 Centerline is valid? [True, True] Translation: X:207.56, Y:188.67, Z:43.82 [[-4.80413836e-01 -8.76374629e-01 3.42060698e-02 2.07563405e+02] [ 8.73743059e-01 -4.81622248e-01 -6.79196358e-02 1.88665048e+02] [ 7.59974498e-02 -2.74221672e-03 9.97104241e-01 4.38223096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98710568099995 meters Centerline goodness [0,1] 0.9921897963468402 Centerline is valid? [True, True] Translation: X:207.54, Y:188.68, Z:43.82 [[-4.77972371e-01 -8.77684967e-01 3.48067753e-02 2.07542637e+02] [ 8.74969007e-01 -4.79231284e-01 -6.90406569e-02 1.88683322e+02] [ 7.72764423e-02 -2.54467679e-03 9.97006457e-01 4.38226251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0171056809999 meters Centerline goodness [0,1] 0.9916913199471266 Centerline is valid? [True, True] Translation: X:207.52, Y:188.70, Z:43.82 [[-4.75491923e-01 -8.79024817e-01 3.49685960e-02 2.07520534e+02] [ 8.76292774e-01 -4.76770454e-01 -6.92885888e-02 1.88702718e+02] [ 7.75783825e-02 -2.30343633e-03 9.96983595e-01 4.38232648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0471056809999 meters Centerline goodness [0,1] 0.9928336690342415 Centerline is valid? [True, True] Translation: X:207.49, Y:188.72, Z:43.82 [[-4.70128459e-01 -8.81899594e-01 3.51046793e-02 2.07493448e+02] [ 8.79159582e-01 -4.71433819e-01 -6.94880062e-02 1.88718249e+02] [ 7.78309775e-02 -1.80567412e-03 9.96964933e-01 4.38243632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0771056809999 meters Centerline goodness [0,1] 0.9932257043368155 Centerline is valid? [True, True] Translation: X:207.47, Y:188.74, Z:43.83 [[-4.67725825e-01 -8.83158743e-01 3.55413355e-02 2.07474109e+02] [ 8.80359360e-01 -4.69071561e-01 -7.02799227e-02 1.88737963e+02] [ 7.87397580e-02 -1.58258746e-03 9.96893949e-01 4.38261409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1071056809999 meters Centerline goodness [0,1] 0.9951395521596095 Centerline is valid? [True, True] Translation: X:207.45, Y:188.75, Z:43.83 [[-4.62941033e-01 -8.85645112e-01 3.63088919e-02 2.07445652e+02] [ 8.82736863e-01 -4.64361290e-01 -7.17232425e-02 1.88753674e+02] [ 8.03817830e-02 -1.15243469e-03 9.96763483e-01 4.38295457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1371056809999 meters Centerline goodness [0,1] 0.9962946494738403 Centerline is valid? [True, True] Translation: X:207.42, Y:188.77, Z:43.84 [[-4.58239058e-01 -8.88111490e-01 3.57063891e-02 2.07417961e+02] [ 8.85311863e-01 -4.59627588e-01 -7.04654851e-02 1.88769288e+02] [ 7.89928485e-02 -6.78747662e-04 9.96874952e-01 4.38351297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1671056809999 meters Centerline goodness [0,1] 0.996680780442137 Centerline is valid? [True, True] Translation: X:207.40, Y:188.79, Z:43.84 [[-4.56488114e-01 -8.89052154e-01 3.47112142e-02 2.07399543e+02] [ 8.86414381e-01 -4.57805684e-01 -6.84361040e-02 1.88789428e+02] [ 7.67342568e-02 -4.71748629e-04 9.97051469e-01 4.38399726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1971056809999 meters Centerline goodness [0,1] 0.9976066927883088 Centerline is valid? [True, True] Translation: X:207.38, Y:188.81, Z:43.85 [[-4.55182911e-01 -8.89765891e-01 3.35436596e-02 2.07376779e+02] [ 8.87309429e-01 -4.56417093e-01 -6.60712910e-02 1.88807303e+02] [ 7.40978807e-02 -3.10917075e-04 9.97250925e-01 4.38463886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2271056809999 meters Centerline goodness [0,1] 0.9977103606182026 Centerline is valid? [True, True] Translation: X:207.36, Y:188.83, Z:43.85 [[-4.54757554e-01 -8.89967431e-01 3.39637947e-02 2.07360121e+02] [ 8.87454753e-01 -4.56024023e-01 -6.68292698e-02 1.88829078e+02] [ 7.49641799e-02 -2.49784171e-04 9.97186196e-01 4.38471305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2571056809999 meters Centerline goodness [0,1] 0.9980915621314463 Centerline is valid? [True, True] Translation: X:207.34, Y:188.85, Z:43.84 [[-4.53494672e-01 -8.90527773e-01 3.60952536e-02 2.07340667e+02] [ 8.87696832e-01 -4.54928859e-01 -7.09511597e-02 1.88849178e+02] [ 7.96047508e-02 -1.34330620e-04 9.96826497e-01 4.38414886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.2871056809999 meters Centerline goodness [0,1] 0.9983767967365071 Centerline is valid? [True, True] Translation: X:207.32, Y:188.87, Z:43.84 [[-4.53069428e-01 -8.90720971e-01 3.66639448e-02 2.07323963e+02] [ 8.87805300e-01 -4.54550487e-01 -7.20111399e-02 1.88870572e+02] [ 8.08074465e-02 -7.56014928e-05 9.96729728e-01 4.38432828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31710568099993 meters Centerline goodness [0,1] 0.9987669810504456 Centerline is valid? [True, True] Translation: X:207.30, Y:188.89, Z:43.85 [[-4.49905429e-01 -8.92329559e-01 3.65111509e-02 2.07301577e+02] [ 8.89449318e-01 -4.51384425e-01 -7.16380600e-02 1.88889171e+02] [ 8.04053233e-02 2.44466195e-04 9.96762221e-01 4.38482703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3471056809999 meters Centerline goodness [0,1] 0.9991771329579905 Centerline is valid? [True, True] Translation: X:207.29, Y:188.91, Z:43.85 [[-4.49493429e-01 -8.92552884e-01 3.61248601e-02 2.07285577e+02] [ 8.89739930e-01 -4.50942623e-01 -7.08068301e-02 1.88911003e+02] [ 7.94890796e-02 3.14525674e-04 9.96835687e-01 4.38522949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37710568099993 meters Centerline goodness [0,1] 0.9992824839102452 Centerline is valid? [True, True] Translation: X:207.27, Y:188.93, Z:43.85 [[-4.49857994e-01 -8.92414442e-01 3.49892799e-02 2.07267532e+02] [ 8.89780641e-01 -4.51216541e-01 -6.85130867e-02 1.88931730e+02] [ 7.69298099e-02 3.11624145e-04 9.97036462e-01 4.38544415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4071056809999 meters Centerline goodness [0,1] 0.998557313980939 Centerline is valid? [True, True] Translation: X:207.25, Y:188.95, Z:43.86 [[-4.52203002e-01 -8.91254689e-01 3.43150770e-02 2.07253248e+02] [ 8.88722915e-01 -4.53503098e-01 -6.71306184e-02 1.88954919e+02] [ 7.53924722e-02 1.39928100e-04 9.97153928e-01 4.38596233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43710568099993 meters Centerline goodness [0,1] 0.9989485213581599 Centerline is valid? [True, True] Translation: X:207.24, Y:188.98, Z:43.86 [[-4.53999608e-01 -8.90337241e-01 3.44086266e-02 2.07241123e+02] [ 8.87794115e-01 -4.55301655e-01 -6.72459107e-02 1.88978829e+02] [ 7.55378433e-02 1.81591388e-05 9.97142936e-01 4.38598940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.4671056809999 meters Centerline goodness [0,1] 0.9987111431504904 Centerline is valid? [True, True] Translation: X:207.23, Y:189.00, Z:43.86 [[-4.59087717e-01 -8.87697022e-01 3.51064713e-02 2.07230117e+02] [ 8.85046955e-01 -4.60427888e-01 -6.85423022e-02 1.89001942e+02] [ 7.70087960e-02 -3.96053513e-04 9.97030335e-01 4.38590687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49710568099994 meters Centerline goodness [0,1] 0.9984162945692101 Centerline is valid? [True, True] Translation: X:207.22, Y:189.03, Z:43.86 [[-4.61745171e-01 -8.86312116e-01 3.52452714e-02 2.07217144e+02] [ 8.83641557e-01 -4.63087971e-01 -6.87541208e-02 1.89025192e+02] [ 7.72592716e-02 -6.02696811e-04 9.97010853e-01 4.38616141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5271056809999 meters Centerline goodness [0,1] 0.9984309392265194 Centerline is valid? [True, True] Translation: X:207.20, Y:189.05, Z:43.86 [[-4.67561406e-01 -8.83213403e-01 3.63375273e-02 2.07204522e+02] [ 8.80370894e-01 -4.68969971e-01 -7.08114115e-02 1.89048709e+02] [ 7.95827969e-02 -1.11818179e-03 9.96827632e-01 4.38610974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55710568099994 meters Centerline goodness [0,1] 0.9986153914868909 Centerline is valid? [True, True] Translation: X:207.19, Y:189.07, Z:43.86 [[-4.70064441e-01 -8.81874403e-01 3.65644334e-02 2.07192581e+02] [ 8.78997543e-01 -4.71482543e-01 -7.11865977e-02 1.89072516e+02] [ 8.00171304e-02 -1.32224119e-03 9.96792612e-01 4.38621055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5871056809999 meters Centerline goodness [0,1] 0.9982319897947766 Centerline is valid? [True, True] Translation: X:207.18, Y:189.10, Z:43.86 [[-4.74439444e-01 -8.79542621e-01 3.62214365e-02 2.07181074e+02] [ 8.76717621e-01 -4.75817175e-01 -7.04572813e-02 1.89095325e+02] [ 7.92049634e-02 -1.67174178e-03 9.96856950e-01 4.38640278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61710568099994 meters Centerline goodness [0,1] 0.9980190887808392 Centerline is valid? [True, True] Translation: X:207.17, Y:189.12, Z:43.87 [[-4.75832369e-01 -8.78813255e-01 3.56485662e-02 2.07167063e+02] [ 8.76080124e-01 -4.77162717e-01 -6.92773967e-02 1.89117840e+02] [ 7.78920612e-02 -1.73342745e-03 9.96960291e-01 4.38670211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6471056809999 meters Centerline goodness [0,1] 0.9982700128063987 Centerline is valid? [True, True] Translation: X:207.15, Y:189.14, Z:43.87 [[-4.76374760e-01 -8.78541247e-01 3.51050560e-02 2.07153410e+02] [ 8.75895320e-01 -4.77663399e-01 -6.81547261e-02 1.89140035e+02] [ 7.66451384e-02 -1.71883699e-03 9.97056953e-01 4.38701648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67710568099994 meters Centerline goodness [0,1] 0.998150153401913 Centerline is valid? [True, True] Translation: X:207.14, Y:189.16, Z:43.87 [[-4.76871369e-01 -8.78277798e-01 3.49543614e-02 2.07139382e+02] [ 8.75658969e-01 -4.78147619e-01 -6.77954570e-02 1.89162409e+02] [ 7.62565894e-02 -1.72161231e-03 9.97086741e-01 4.38727177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7071056809999 meters Centerline goodness [0,1] 0.998150153401913 Centerline is valid? [True, True] Translation: X:207.13, Y:189.19, Z:43.87 [[-4.77224114e-01 -8.78085090e-01 3.49816972e-02 2.07127413e+02] [ 8.75466777e-01 -4.78501422e-01 -6.77813503e-02 1.89185033e+02] [ 7.62565850e-02 -1.72158115e-03 9.97086741e-01 4.38743547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73710568099995 meters Centerline goodness [0,1] 0.998127467569092 Centerline is valid? [True, True] Translation: X:207.11, Y:189.21, Z:43.87 [[-4.79679918e-01 -8.76704984e-01 3.59937109e-02 2.07114137e+02] [ 8.73934129e-01 -4.81024435e-01 -6.96751753e-02 1.89206931e+02] [ 7.83984279e-02 -1.96564996e-03 9.96920169e-01 4.38748022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7671056809999 meters Centerline goodness [0,1] 0.9981182978530458 Centerline is valid? [True, True] Translation: X:207.10, Y:189.23, Z:43.88 [[-4.81483716e-01 -8.75694797e-01 3.64973014e-02 2.07099715e+02] [ 8.72847277e-01 -4.82860301e-01 -7.05943362e-02 1.89229291e+02] [ 7.94421908e-02 -2.13345322e-03 9.96837192e-01 4.38767989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7971056809999 meters Centerline goodness [0,1] 0.9982951445717403 Centerline is valid? [True, True] Translation: X:207.09, Y:189.25, Z:43.88 [[-4.85165941e-01 -8.73623500e-01 3.73629519e-02 2.07087940e+02] [ 8.70638595e-01 -4.86596071e-01 -7.21990418e-02 1.89253745e+02] [ 8.12554452e-02 -2.49888814e-03 9.96690177e-01 4.38757502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8271056809999 meters Centerline goodness [0,1] 0.9984187730595595 Centerline is valid? [True, True] Translation: X:207.07, Y:189.28, Z:43.88 [[-4.86556703e-01 -8.72819753e-01 3.80559137e-02 2.07073552e+02] [ 8.69726031e-01 -4.88035509e-01 -7.34709039e-02 1.89277133e+02] [ 8.26994934e-02 -2.64954205e-03 9.96571008e-01 4.38764687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8571056809999 meters Centerline goodness [0,1] 0.9984591325146037 Centerline is valid? [True, True] Translation: X:207.06, Y:189.30, Z:43.88 [[-4.86430564e-01 -8.72883846e-01 3.81981435e-02 2.07059834e+02] [ 8.69772840e-01 -4.87921053e-01 -7.36766821e-02 1.89297870e+02] [ 8.29488640e-02 -2.61488230e-03 9.96550374e-01 4.38781867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8871056809999 meters Centerline goodness [0,1] 0.9983973625165987 Centerline is valid? [True, True] Translation: X:207.04, Y:189.32, Z:43.88 [[-4.82056931e-01 -8.75308632e-01 3.81564460e-02 2.07039377e+02] [ 8.72218082e-01 -4.83559850e-01 -7.35220342e-02 1.89316017e+02] [ 8.28053965e-02 -2.16106408e-03 9.96563393e-01 4.38820713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9171056809999 meters Centerline goodness [0,1] 0.9988171444475369 Centerline is valid? [True, True] Translation: X:207.02, Y:189.34, Z:43.89 [[-4.77744989e-01 -8.77656514e-01 3.84547588e-02 2.07019890e+02] [ 8.74530535e-01 -4.79286996e-01 -7.40291688e-02 1.89336185e+02] [ 8.34030481e-02 -1.73720360e-03 9.96514382e-01 4.38857103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9471056809999 meters Centerline goodness [0,1] 0.998781173823364 Centerline is valid? [True, True] Translation: X:206.99, Y:189.35, Z:43.89 [[-4.66909207e-01 -8.83493148e-01 3.78899688e-02 2.06991799e+02] [ 8.80482433e-01 -4.68443608e-01 -7.28784737e-02 1.89350739e+02] [ 8.21369458e-02 -6.66178515e-04 9.96620830e-01 4.38912946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9771056809999 meters Centerline goodness [0,1] 0.9989865183369473 Centerline is valid? [True, True] Translation: X:206.97, Y:189.37, Z:43.90 [[-4.61589126e-01 -8.86299460e-01 3.75332568e-02 2.06971378e+02] [ 8.83359676e-01 -4.63112564e-01 -7.21279146e-02 1.89370066e+02] [ 8.13090546e-02 -1.38095533e-04 9.96688928e-01 4.38951187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0071056809999 meters Centerline goodness [0,1] 0.9990816831100332 Centerline is valid? [True, True] Translation: X:206.95, Y:189.38, Z:43.90 [[-4.52831286e-01 -8.90857008e-01 3.62990021e-02 2.06945158e+02] [ 8.88126679e-01 -4.54283317e-01 -6.96969839e-02 1.89384730e+02] [ 7.85800777e-02 6.77137343e-04 9.96907575e-01 4.38998785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0371056809999 meters Centerline goodness [0,1] 0.9994563932876389 Centerline is valid? [True, True] Translation: X:206.93, Y:189.41, Z:43.90 [[-4.49701801e-01 -8.92469551e-01 3.55863936e-02 2.06927867e+02] [ 8.89855490e-01 -4.51106599e-01 -6.82645038e-02 1.89405513e+02] [ 7.69772480e-02 9.68077431e-04 9.97032380e-01 4.39042748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06710568099993 meters Centerline goodness [0,1] 0.9990743597655045 Centerline is valid? [True, True] Translation: X:206.91, Y:189.43, Z:43.91 [[-4.45360105e-01 -8.94711858e-01 3.38388589e-02 2.06907533e+02] [ 8.92358872e-01 -4.46641885e-01 -6.48588434e-02 1.89426084e+02] [ 7.31438280e-02 1.31086463e-03 9.97320541e-01 4.39119620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.0971056809999 meters Centerline goodness [0,1] 0.999168389288854 Centerline is valid? [True, True] Translation: X:206.89, Y:189.45, Z:43.92 [[-4.45254867e-01 -8.94844282e-01 3.16514487e-02 2.06889248e+02] [ 8.92789570e-01 -4.46376640e-01 -6.06191283e-02 1.89445458e+02] [ 6.83731477e-02 1.26712132e-03 9.97659013e-01 4.39186429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12710568099993 meters Centerline goodness [0,1] 0.9991163968094761 Centerline is valid? [True, True] Translation: X:206.88, Y:189.47, Z:43.92 [[-4.46439098e-01 -8.94272614e-01 3.11227250e-02 2.06875808e+02] [ 8.92288432e-01 -4.47521048e-01 -5.95505357e-02 1.89468406e+02] [ 6.71824877e-02 1.18476009e-03 9.97740001e-01 4.39217301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.1571056809999 meters Centerline goodness [0,1] 0.9987595123929484 Centerline is valid? [True, True] Translation: X:206.86, Y:189.49, Z:43.92 [[-4.52021690e-01 -8.91439212e-01 3.18201735e-02 2.06863146e+02] [ 8.89361727e-01 -4.53139588e-01 -6.08295438e-02 1.89493881e+02] [ 6.86448209e-02 8.03371326e-04 9.97640839e-01 4.39218363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18710568099993 meters Centerline goodness [0,1] 0.9990517731841456 Centerline is valid? [True, True] Translation: X:206.85, Y:189.52, Z:43.92 [[-4.55978661e-01 -8.89404033e-01 3.23098524e-02 2.06851406e+02] [ 8.87260208e-01 -4.57121636e-01 -6.17181733e-02 1.89519229e+02] [ 6.96619249e-02 5.25076370e-04 9.97570519e-01 4.39213157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2171056809999 meters Centerline goodness [0,1] 0.9987060289466118 Centerline is valid? [True, True] Translation: X:206.84, Y:189.54, Z:43.92 [[-4.63100940e-01 -8.85702364e-01 3.26931459e-02 2.06840715e+02] [ 8.83501577e-01 -4.64253511e-01 -6.23990546e-02 1.89544212e+02] [ 7.04448979e-02 -1.26148308e-05 9.97515672e-01 4.39216214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24710568099994 meters Centerline goodness [0,1] 0.9981321391795781 Centerline is valid? [True, True] Translation: X:206.83, Y:189.57, Z:43.92 [[-4.71430013e-01 -8.81274639e-01 3.32979358e-02 2.06829542e+02] [ 8.78984513e-01 -4.72604028e-01 -6.34953474e-02 1.89569152e+02] [ 7.16935780e-02 -6.65242614e-04 9.97426483e-01 4.39198309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2771056809999 meters Centerline goodness [0,1] 0.9982770997846375 Centerline is valid? [True, True] Translation: X:206.82, Y:189.59, Z:43.92 [[-4.75344829e-01 -8.79171288e-01 3.32436381e-02 2.06817867e+02] [ 8.76887303e-01 -4.76504912e-01 -6.33381976e-02 1.89593525e+02] [ 7.15258816e-02 -9.56560556e-04 9.97438285e-01 4.39204997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30710568099994 meters Centerline goodness [0,1] 0.9978044249282216 Centerline is valid? [True, True] Translation: X:206.80, Y:189.62, Z:43.92 [[-4.82149433e-01 -8.75429655e-01 3.39829835e-02 2.06804570e+02] [ 8.73037467e-01 -4.83343150e-01 -6.46914256e-02 1.89617283e+02] [ 7.30582347e-02 -1.52251636e-03 9.97326514e-01 4.39200057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3371056809999 meters Centerline goodness [0,1] 0.9979819334999039 Centerline is valid? [True, True] Translation: X:206.79, Y:189.64, Z:43.92 [[-4.85818006e-01 -8.73365775e-01 3.48294246e-02 2.06794062e+02] [ 8.70851814e-01 -4.87061388e-01 -6.62444068e-02 1.89641056e+02] [ 7.48196655e-02 -1.85145803e-03 9.97195362e-01 4.39192515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36710568099994 meters Centerline goodness [0,1] 0.9982014388489209 Centerline is valid? [True, True] Translation: X:206.77, Y:189.66, Z:43.92 [[-4.92433141e-01 -8.69581417e-01 3.65754117e-02 2.06774637e+02] [ 8.66803364e-01 -4.93783160e-01 -6.94990560e-02 1.89662247e+02] [ 7.84954100e-02 -2.51994851e-03 9.96911290e-01 4.39180358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3971056809999 meters Centerline goodness [0,1] 0.997512255798639 Centerline is valid? [True, True] Translation: X:206.76, Y:189.69, Z:43.92 [[-4.96231135e-01 -8.67396804e-01 3.71139578e-02 2.06760881e+02] [ 8.64534826e-01 -4.97608775e-01 -7.04630499e-02 1.89686656e+02] [ 7.95876553e-02 -2.87965010e-03 9.96823712e-01 4.39170392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42710568099994 meters Centerline goodness [0,1] 0.9972581948150505 Centerline is valid? [True, True] Translation: X:206.75, Y:189.71, Z:43.92 [[-5.00352729e-01 -8.65014359e-01 3.73805439e-02 2.06747151e+02] [ 8.62109081e-01 -5.01736552e-01 -7.09109598e-02 1.89710914e+02] [ 8.00941836e-02 -3.25438592e-03 9.96781988e-01 4.39177633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4571056809999 meters Centerline goodness [0,1] 0.996475228000986 Centerline is valid? [True, True] Translation: X:206.73, Y:189.73, Z:43.92 [[-5.07024544e-01 -8.61112650e-01 3.75648087e-02 2.06731261e+02] [ 8.58172728e-01 -5.08399527e-01 -7.12003574e-02 1.89731834e+02] [ 8.04094594e-02 -3.86323440e-03 9.96754430e-01 4.39208207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48710568099995 meters Centerline goodness [0,1] 0.9967923214640939 Centerline is valid? [True, True] Translation: X:206.72, Y:189.75, Z:43.93 [[-5.10084030e-01 -8.59315150e-01 3.73062318e-02 2.06715904e+02] [ 8.56416156e-01 -5.11430140e-01 -7.06440430e-02 1.89753137e+02] [ 7.97850278e-02 -4.08473852e-03 9.96803724e-01 4.39256737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5171056809999 meters Centerline goodness [0,1] 0.99598252397931 Centerline is valid? [True, True] Translation: X:206.70, Y:189.77, Z:43.94 [[-5.15581275e-01 -8.56135635e-01 3.47523199e-02 2.06696382e+02] [ 8.53617637e-01 -5.16733824e-01 -6.57501617e-02 1.89772578e+02] [ 7.42487556e-02 -4.23435904e-03 9.97230762e-01 4.39359723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5471056809999 meters Centerline goodness [0,1] 0.9965543644716692 Centerline is valid? [True, True] Translation: X:206.67, Y:189.79, Z:43.95 [[-5.07998894e-01 -8.60746609e-01 3.24406893e-02 2.06671387e+02] [ 8.58565502e-01 -5.09022963e-01 -6.13261878e-02 1.89787346e+02] [ 6.92993640e-02 -3.30117882e-03 9.97590447e-01 4.39497008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5771056809999 meters Centerline goodness [0,1] 0.9965194523938433 Centerline is valid? [True, True] Translation: X:206.65, Y:189.80, Z:43.96 [[-5.02650300e-01 -8.63931101e-01 3.10761887e-02 2.06645942e+02] [ 8.61938976e-01 -5.03602680e-01 -5.86987312e-02 1.89804098e+02] [ 6.63617114e-02 -2.71915658e-03 9.97791927e-01 4.39566510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6071056809999 meters Centerline goodness [0,1] 0.9969307600270509 Centerline is valid? [True, True] Translation: X:206.62, Y:189.82, Z:43.96 [[-4.95149471e-01 -8.68312272e-01 2.93393942e-02 2.06624060e+02] [ 8.66547235e-01 -4.96013936e-01 -5.53720514e-02 1.89821230e+02] [ 6.26329802e-02 -1.99347104e-03 9.98034637e-01 4.39591658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6371056809999 meters Centerline goodness [0,1] 0.996876220226474 Centerline is valid? [True, True] Translation: X:206.61, Y:189.84, Z:43.96 [[-4.93540231e-01 -8.69241430e-01 2.89374557e-02 2.06607357e+02] [ 8.67529195e-01 -4.94384472e-01 -5.45627137e-02 1.89844488e+02] [ 6.17344001e-02 -1.82480668e-03 9.98090945e-01 4.39587886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6671056809999 meters Centerline goodness [0,1] 0.9971142597166255 Centerline is valid? [True, True] Translation: X:206.59, Y:189.87, Z:43.96 [[-4.92308905e-01 -8.69904196e-01 2.99772048e-02 2.06593661e+02] [ 8.68070553e-01 -4.93217508e-01 -5.64801254e-02 1.89868323e+02] [ 6.39175803e-02 -1.78333990e-03 9.97953587e-01 4.39562512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6971056809999 meters Centerline goodness [0,1] 0.9979442608446746 Centerline is valid? [True, True] Translation: X:206.58, Y:189.89, Z:43.96 [[-4.93230316e-01 -8.69348713e-01 3.09300803e-02 2.06582773e+02] [ 8.67398925e-01 -4.94195557e-01 -5.82224656e-02 1.89891733e+02] [ 6.59011338e-02 -1.88836674e-03 9.97824371e-01 4.39564421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7271056809999 meters Centerline goodness [0,1] 0.9976058500533479 Centerline is valid? [True, True] Translation: X:206.57, Y:189.92, Z:43.96 [[-4.96294333e-01 -8.67531049e-01 3.28909468e-02 2.06573269e+02] [ 8.65326086e-01 -4.97378004e-01 -6.18537538e-02 1.89917317e+02] [ 7.00192853e-02 -2.23627329e-03 9.97543131e-01 4.39553145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7571056809999 meters Centerline goodness [0,1] 0.9975865469455546 Centerline is valid? [True, True] Translation: X:206.57, Y:189.94, Z:43.95 [[-5.00604544e-01 -8.65004654e-01 3.40887053e-02 2.06567223e+02] [ 8.62634146e-01 -5.01756799e-01 -6.40503337e-02 1.89943065e+02] [ 7.25080763e-02 -2.65780690e-03 9.97364284e-01 4.39534248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.7871056809999 meters Centerline goodness [0,1] 0.9971795269885628 Centerline is valid? [True, True] Translation: X:206.56, Y:189.97, Z:43.95 [[-5.02771821e-01 -8.63726008e-01 3.46103837e-02 2.06558651e+02] [ 8.61282852e-01 -5.03953562e-01 -6.49819641e-02 1.89967507e+02] [ 7.35686386e-02 -2.86177048e-03 9.97286050e-01 4.39524294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81710568099993 meters Centerline goodness [0,1] 0.9970497691123653 Centerline is valid? [True, True] Translation: X:206.55, Y:189.99, Z:43.95 [[-5.06103972e-01 -8.61787801e-01 3.43591979e-02 2.06551658e+02] [ 8.59379686e-01 -5.07259519e-01 -6.44541355e-02 1.89994636e+02] [ 7.29748180e-02 -3.09289731e-03 9.97328988e-01 4.39515477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8471056809999 meters Centerline goodness [0,1] 0.9973011874775098 Centerline is valid? [True, True] Translation: X:206.54, Y:190.02, Z:43.95 [[-5.07703463e-01 -8.60833398e-01 3.46850845e-02 2.06539956e+02] [ 8.58381177e-01 -5.08876615e-01 -6.50103489e-02 1.90018772e+02] [ 7.36135079e-02 -3.23295563e-03 9.97281605e-01 4.39532357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87710568099993 meters Centerline goodness [0,1] 0.9969542885166353 Centerline is valid? [True, True] Translation: X:206.52, Y:190.04, Z:43.96 [[-5.08432459e-01 -8.60382774e-01 3.51840329e-02 2.06523322e+02] [ 8.57862550e-01 -5.09637595e-01 -6.58890456e-02 1.90040720e+02] [ 7.46209058e-02 -3.31706528e-03 9.97206457e-01 4.39569209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9071056809999 meters Centerline goodness [0,1] 0.9976160244616621 Centerline is valid? [True, True] Translation: X:206.51, Y:190.06, Z:43.96 [[-5.07826546e-01 -8.60753216e-01 3.48726280e-02 2.06506920e+02] [ 8.58282469e-01 -5.09012404e-01 -6.52501057e-02 1.90063771e+02] [ 7.39148386e-02 -3.20517058e-03 9.97259406e-01 4.39608135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93710568099993 meters Centerline goodness [0,1] 0.997198952200638 Centerline is valid? [True, True] Translation: X:206.50, Y:190.09, Z:43.96 [[-5.07429183e-01 -8.61003555e-01 3.44746598e-02 2.06496973e+02] [ 8.58593057e-01 -5.08589441e-01 -6.44572943e-02 1.90089371e+02] [ 7.30314075e-02 -3.10780867e-03 9.97324799e-01 4.39624402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.9671056809999 meters Centerline goodness [0,1] 0.9971017493013146 Centerline is valid? [True, True] Translation: X:206.48, Y:190.11, Z:43.97 [[-5.08454035e-01 -8.60418188e-01 3.39858193e-02 2.06483656e+02] [ 8.58077973e-01 -5.09579044e-01 -6.34932259e-02 1.90112871e+02] [ 7.19491877e-02 -3.12090393e-03 9.97403416e-01 4.39664316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99710568099994 meters Centerline goodness [0,1] 0.9972156444351922 Centerline is valid? [True, True] Translation: X:206.47, Y:190.14, Z:43.97 [[-5.10336334e-01 -8.59286032e-01 3.44142726e-02 2.06467847e+02] [ 8.56887803e-01 -5.11484764e-01 -6.42388517e-02 1.90136143e+02] [ 7.28019241e-02 -3.29424965e-03 9.97340979e-01 4.39694795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0271056809999 meters Centerline goodness [0,1] 0.9968703544323605 Centerline is valid? [True, True] Translation: X:206.46, Y:190.16, Z:43.97 [[-5.10874382e-01 -8.58950678e-01 3.48008523e-02 2.06459110e+02] [ 8.56501361e-01 -5.12047356e-01 -6.49070479e-02 1.90160988e+02] [ 7.35716372e-02 -3.35237059e-03 9.97284300e-01 4.39694407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05710568099994 meters Centerline goodness [0,1] 0.9974183117323389 Centerline is valid? [True, True] Translation: X:206.44, Y:190.18, Z:43.97 [[-5.10926522e-01 -8.58917880e-01 3.48448592e-02 2.06444726e+02] [ 8.56466791e-01 -5.12102515e-01 -6.49280357e-02 1.90182731e+02] [ 7.36119908e-02 -3.32999071e-03 9.97281398e-01 4.39711858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0871056809999 meters Centerline goodness [0,1] 0.9973156111545478 Centerline is valid? [True, True] Translation: X:206.43, Y:190.20, Z:43.97 [[-5.10663160e-01 -8.59060183e-01 3.51957219e-02 2.06430661e+02] [ 8.56564502e-01 -5.11863892e-01 -6.55180109e-02 1.90204898e+02] [ 7.42993337e-02 -3.31022848e-03 9.97230491e-01 4.39722620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11710568099994 meters Centerline goodness [0,1] 0.996836187736959 Centerline is valid? [True, True] Translation: X:206.42, Y:190.23, Z:43.97 [[-5.10675892e-01 -8.59042776e-01 3.54350392e-02 2.06417275e+02] [ 8.56517757e-01 -5.11893155e-01 -6.58993861e-02 1.90227129e+02] [ 7.47493456e-02 -3.30248751e-03 9.97196886e-01 4.39745159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1471056809999 meters Centerline goodness [0,1] 0.996859296482412 Centerline is valid? [True, True] Translation: X:206.40, Y:190.25, Z:43.97 [[-5.10595534e-01 -8.59054515e-01 3.62979535e-02 2.06404501e+02] [ 8.56409983e-01 -5.11873164e-01 -6.74374080e-02 1.90248644e+02] [ 7.65123581e-02 -3.34730957e-03 9.97063014e-01 4.39743205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17710568099994 meters Centerline goodness [0,1] 0.9968965335858188 Centerline is valid? [True, True] Translation: X:206.39, Y:190.27, Z:43.97 [[-5.10778837e-01 -8.58914671e-01 3.70211848e-02 2.06391549e+02] [ 8.56168594e-01 -5.12107437e-01 -6.87118069e-02 1.90271455e+02] [ 7.79764031e-02 -3.40016105e-03 9.96949407e-01 4.39736996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2071056809999 meters Centerline goodness [0,1] 0.997236114767044 Centerline is valid? [True, True] Translation: X:206.38, Y:190.30, Z:43.97 [[-5.11151906e-01 -8.58630650e-01 3.84335349e-02 2.06380051e+02] [ 8.55675160e-01 -5.12582539e-01 -7.12682338e-02 1.90295238e+02] [ 8.08934488e-02 -3.54227239e-03 9.96716460e-01 4.39702174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23710568099995 meters Centerline goodness [0,1] 0.9971894617950671 Centerline is valid? [True, True] Translation: X:206.37, Y:190.32, Z:43.97 [[-5.11788747e-01 -8.58200499e-01 3.95497487e-02 2.06367543e+02] [ 8.55073630e-01 -5.13301370e-01 -7.32856825e-02 1.90319163e+02] [ 8.31947494e-02 -3.68884046e-03 9.96526480e-01 4.39694915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2671056809999 meters Centerline goodness [0,1] 0.9974252535337081 Centerline is valid? [True, True] Translation: X:206.35, Y:190.34, Z:43.97 [[-5.11280225e-01 -8.58474161e-01 4.01826687e-02 2.06354324e+02] [ 8.55252258e-01 -5.12843676e-01 -7.43971698e-02 1.90340960e+02] [ 8.44754754e-02 -3.67148358e-03 9.96418795e-01 4.39690166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2971056809999 meters Centerline goodness [0,1] 0.9975904876643444 Centerline is valid? [True, True] Translation: X:206.34, Y:190.36, Z:43.97 [[-5.11278268e-01 -8.58470367e-01 4.02884890e-02 2.06338975e+02] [ 8.55236485e-01 -5.12850171e-01 -7.45335910e-02 1.90362064e+02] [ 8.46468376e-02 -3.65121957e-03 9.96404326e-01 4.39719502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3271056809999 meters Centerline goodness [0,1] 0.9972862600447899 Centerline is valid? [True, True] Translation: X:206.33, Y:190.39, Z:43.97 [[-5.11784255e-01 -8.58174381e-01 4.01697311e-02 2.06326130e+02] [ 8.54964569e-01 -5.13345288e-01 -7.42442040e-02 1.90385583e+02] [ 8.43354160e-02 -3.65331786e-03 9.96430726e-01 4.39734512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3571056809999 meters Centerline goodness [0,1] 0.9978123929258585 Centerline is valid? [True, True] Translation: X:206.31, Y:190.41, Z:43.98 [[-5.10290492e-01 -8.59062564e-01 4.01886133e-02 2.06310495e+02] [ 8.55857909e-01 -5.11858802e-01 -7.42145950e-02 1.90407919e+02] [ 8.43258757e-02 -3.47525960e-03 9.96432170e-01 4.39760848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3871056809999 meters Centerline goodness [0,1] 0.9978150419880485 Centerline is valid? [True, True] Translation: X:206.30, Y:190.43, Z:43.98 [[-5.08274821e-01 -8.60309215e-01 3.90481935e-02 2.06296629e+02] [ 8.57292897e-01 -5.09762859e-01 -7.20466258e-02 1.90429491e+02] [ 8.18876948e-02 -3.14374688e-03 9.96636605e-01 4.39828476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4171056809999 meters Centerline goodness [0,1] 0.9982427612253462 Centerline is valid? [True, True] Translation: X:206.28, Y:190.45, Z:43.99 [[-5.06913263e-01 -8.61155998e-01 3.80695580e-02 2.06283500e+02] [ 8.58296510e-01 -5.08332507e-01 -7.01795065e-02 1.90451686e+02] [ 7.97874969e-02 -2.89995382e-03 9.96807677e-01 4.39874835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4471056809999 meters Centerline goodness [0,1] 0.9975481795892541 Centerline is valid? [True, True] Translation: X:206.27, Y:190.47, Z:43.99 [[-5.03795438e-01 -8.63043394e-01 3.66913737e-02 2.06267116e+02] [ 8.60396906e-01 -5.05123708e-01 -6.75810885e-02 1.90472674e+02] [ 7.68590947e-02 -2.47789962e-03 9.97038886e-01 4.39934131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4771056809999 meters Centerline goodness [0,1] 0.9976312672720095 Centerline is valid? [True, True] Translation: X:206.25, Y:190.50, Z:44.00 [[-5.02717046e-01 -8.63697350e-01 3.60896109e-02 2.06254428e+02] [ 8.61143146e-01 -5.04005510e-01 -6.64148244e-02 1.90495641e+02] [ 7.55516706e-02 -2.30954319e-03 9.97139213e-01 4.39959526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5071056809999 meters Centerline goodness [0,1] 0.9976282085068255 Centerline is valid? [True, True] Translation: X:206.24, Y:190.52, Z:44.01 [[-5.00237860e-01 -8.65201703e-01 3.44687843e-02 2.06235804e+02] [ 8.62879267e-01 -5.01420141e-01 -6.33814853e-02 1.90516943e+02] [ 7.21211117e-02 -1.96341927e-03 9.97393949e-01 4.40057039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5371056809999 meters Centerline goodness [0,1] 0.9977282933143143 Centerline is valid? [True, True] Translation: X:206.22, Y:190.54, Z:44.01 [[-4.98951907e-01 -8.65958637e-01 3.40974091e-02 2.06224414e+02] [ 8.63691148e-01 -5.00112348e-01 -6.26517410e-02 1.90541088e+02] [ 7.13063516e-02 -1.81057531e-03 9.97452819e-01 4.40091474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56710568099993 meters Centerline goodness [0,1] 0.9981190059873893 Centerline is valid? [True, True] Translation: X:206.20, Y:190.56, Z:44.01 [[-4.94874014e-01 -8.68252931e-01 3.51647300e-02 2.06204966e+02] [ 8.65849773e-01 -4.96119516e-01 -6.45724070e-02 1.90562637e+02] [ 7.35110904e-02 -1.50783278e-03 9.97293260e-01 4.40105003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.5971056809999 meters Centerline goodness [0,1] 0.9981190059873893 Centerline is valid? [True, True] Translation: X:206.19, Y:190.59, Z:44.01 [[-4.95200925e-01 -8.68065670e-01 3.51857480e-02 2.06192165e+02] [ 8.65662853e-01 -4.96447085e-01 -6.45609528e-02 1.90585701e+02] [ 7.35110087e-02 -1.51164857e-03 9.97293260e-01 4.40121877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62710568099993 meters Centerline goodness [0,1] 0.9978876772370818 Centerline is valid? [True, True] Translation: X:206.18, Y:190.61, Z:44.01 [[-4.92734363e-01 -8.69440549e-01 3.58605478e-02 2.06178957e+02] [ 8.66952516e-01 -4.94035861e-01 -6.57411815e-02 1.90607788e+02] [ 7.48744456e-02 -1.30354707e-03 9.97192117e-01 4.40102584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.6571056809999 meters Centerline goodness [0,1] 0.9982289656630805 Centerline is valid? [True, True] Translation: X:206.16, Y:190.63, Z:44.01 [[-4.87596874e-01 -8.72263946e-01 3.74819496e-02 2.06163476e+02] [ 8.69557683e-01 -4.89034581e-01 -6.86630559e-02 1.90631136e+02] [ 7.82222776e-02 -8.87174165e-04 9.96935549e-01 4.40066730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68710568099993 meters Centerline goodness [0,1] 0.9983884603191377 Centerline is valid? [True, True] Translation: X:206.15, Y:190.66, Z:44.00 [[-4.84185357e-01 -8.74044809e-01 4.01274527e-02 2.06149356e+02] [ 8.70953541e-01 -4.85844930e-01 -7.34481660e-02 1.90655169e+02] [ 8.36927077e-02 -6.13379440e-04 9.96491422e-01 4.40038111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7171056809999 meters Centerline goodness [0,1] 0.9986825116597718 Centerline is valid? [True, True] Translation: X:206.13, Y:190.68, Z:44.00 [[-4.82039961e-01 -8.75193195e-01 4.09187943e-02 2.06134608e+02] [ 8.71987912e-01 -4.83773415e-01 -7.48355759e-02 1.90678812e+02] [ 8.52910117e-02 -3.93044069e-04 9.96356005e-01 4.40039459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74710568099994 meters Centerline goodness [0,1] 0.9989766196961348 Centerline is valid? [True, True] Translation: X:206.12, Y:190.70, Z:44.00 [[-4.80055851e-01 -8.76264631e-01 4.13119444e-02 2.06122746e+02] [ 8.73006723e-01 -4.81830121e-01 -7.54916909e-02 1.90702709e+02] [ 8.60560378e-02 -1.74622697e-04 9.96290283e-01 4.40014586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7771056809999 meters Centerline goodness [0,1] 0.9989306486528782 Centerline is valid? [True, True] Translation: X:206.11, Y:190.73, Z:44.00 [[-4.79719174e-01 -8.76452147e-01 4.12449729e-02 2.06110324e+02] [ 8.73211134e-01 -4.81488964e-01 -7.53040041e-02 1.90726158e+02] [ 8.58593553e-02 -1.09205107e-04 9.96307261e-01 4.40019230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80710568099994 meters Centerline goodness [0,1] 0.9990587004837234 Centerline is valid? [True, True] Translation: X:206.09, Y:190.75, Z:44.00 [[-4.74839270e-01 -8.79088668e-01 4.16026599e-02 2.06093368e+02] [ 8.75806932e-01 -4.76658109e-01 -7.58898156e-02 1.90747189e+02] [ 8.65441221e-02 4.00433293e-04 9.96247938e-01 4.40044391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8371056809999 meters Centerline goodness [0,1] 0.9991873328789388 Centerline is valid? [True, True] Translation: X:206.08, Y:190.77, Z:44.01 [[-4.74149599e-01 -8.79464134e-01 4.15330666e-02 2.06079969e+02] [ 8.76200382e-01 -4.75964903e-01 -7.56987601e-02 1.90770381e+02] [ 8.63426265e-02 4.98752106e-04 9.96265377e-01 4.40064972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86710568099994 meters Centerline goodness [0,1] 0.9993181579775516 Centerline is valid? [True, True] Translation: X:206.07, Y:190.79, Z:44.01 [[-4.74094272e-01 -8.79532456e-01 4.07096973e-02 2.06066171e+02] [ 8.76402577e-01 -4.75838604e-01 -7.41360049e-02 1.90794132e+02] [ 8.45762680e-02 5.30628277e-04 9.96416867e-01 4.40094835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8971056809999 meters Centerline goodness [0,1] 0.9990840094216173 Centerline is valid? [True, True] Translation: X:206.05, Y:190.82, Z:44.01 [[-4.74532601e-01 -8.79311242e-01 4.03800733e-02 2.06052547e+02] [ 8.76236040e-01 -4.76247283e-01 -7.34774026e-02 1.90817362e+02] [ 8.38404063e-02 5.15052570e-04 9.96479062e-01 4.40109494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92710568099994 meters Centerline goodness [0,1] 0.9993190865283889 Centerline is valid? [True, True] Translation: X:206.04, Y:190.84, Z:44.01 [[-4.74721897e-01 -8.79229540e-01 3.99316598e-02 2.06036936e+02] [ 8.76227313e-01 -4.76398091e-01 -7.25985932e-02 1.90839047e+02] [ 8.28541942e-02 5.25069071e-04 9.96561542e-01 4.40111046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9571056809999 meters Centerline goodness [0,1] 0.9995535010768504 Centerline is valid? [True, True] Translation: X:206.03, Y:190.86, Z:44.02 [[-4.79552164e-01 -8.76620709e-01 3.95708853e-02 2.06026563e+02] [ 8.73668593e-01 -4.81182006e-01 -7.18823152e-02 1.90864437e+02] [ 8.20543241e-02 1.00519818e-04 9.96627853e-01 4.40152880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98710568099995 meters Centerline goodness [0,1] 0.9992104639839987 Centerline is valid? [True, True] Translation: X:206.01, Y:190.89, Z:44.02 [[-4.81567032e-01 -8.75502173e-01 3.98640000e-02 2.06014263e+02] [ 8.72507060e-01 -4.83214177e-01 -7.23566792e-02 1.90887337e+02] [ 8.26112799e-02 -6.29697699e-05 9.96581844e-01 4.40168114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0171056809999 meters Centerline goodness [0,1] 0.9990785108735717 Centerline is valid? [True, True] Translation: X:206.00, Y:190.91, Z:44.01 [[-4.82378627e-01 -8.75010576e-01 4.08332186e-02 2.06000617e+02] [ 8.71871791e-01 -4.84103788e-01 -7.40479751e-02 1.90909745e+02] [ 8.45602772e-02 -1.17829143e-04 9.96418359e-01 4.40140535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0471056809999 meters Centerline goodness [0,1] 0.9991848540625822 Centerline is valid? [True, True] Translation: X:205.99, Y:190.93, Z:44.01 [[-4.82995291e-01 -8.74663186e-01 4.09860921e-02 2.05986310e+02] [ 8.71505209e-01 -4.84731152e-01 -7.42588841e-02 1.90931137e+02] [ 8.48187478e-02 -1.47098618e-04 9.96396386e-01 4.40139736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0771056809999 meters Centerline goodness [0,1] 0.9992572944297082 Centerline is valid? [True, True] Translation: X:205.97, Y:190.95, Z:44.01 [[-4.84669629e-01 -8.73673183e-01 4.23145404e-02 2.05970513e+02] [ 8.70308974e-01 -4.86513187e-01 -7.65977151e-02 1.90953189e+02] [ 8.75079514e-02 -2.97861883e-04 9.96163777e-01 4.40142854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1071056809999 meters Centerline goodness [0,1] 0.999011725740538 Centerline is valid? [True, True] Translation: X:205.95, Y:190.98, Z:44.02 [[-4.85398379e-01 -8.73227658e-01 4.31493988e-02 2.05954696e+02] [ 8.69733245e-01 -4.87312355e-01 -7.80432636e-02 1.90975191e+02] [ 8.91767715e-02 -3.53607022e-04 9.96015752e-01 4.40154834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1371056809999 meters Centerline goodness [0,1] 0.9991448194767364 Centerline is valid? [True, True] Translation: X:205.94, Y:191.00, Z:44.02 [[-4.86577247e-01 -8.72558517e-01 4.34075778e-02 2.05939934e+02] [ 8.69025465e-01 -4.88509402e-01 -7.84430108e-02 1.90997230e+02] [ 8.96511270e-02 -4.46293797e-04 9.95973130e-01 4.40164971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1671056809999 meters Centerline goodness [0,1] 0.9992976200124267 Centerline is valid? [True, True] Translation: X:205.92, Y:191.02, Z:44.02 [[-4.87190590e-01 -8.72200620e-01 4.37196443e-02 2.05922314e+02] [ 8.68621684e-01 -4.89148084e-01 -7.89336565e-02 1.91016101e+02] [ 9.02313644e-02 -4.79903641e-04 9.95920715e-01 4.40152931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1971056809999 meters Centerline goodness [0,1] 0.9992413157752127 Centerline is valid? [True, True] Translation: X:205.90, Y:191.04, Z:44.02 [[-4.87135003e-01 -8.72219931e-01 4.39531621e-02 2.05904746e+02] [ 8.68609281e-01 -4.89113684e-01 -7.92825420e-02 1.91036797e+02] [ 9.06499064e-02 -4.43176851e-04 9.95882723e-01 4.40176008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2271056809999 meters Centerline goodness [0,1] 0.9991839399379794 Centerline is valid? [True, True] Translation: X:205.89, Y:191.06, Z:44.02 [[-4.91006094e-01 -8.70065519e-01 4.35776192e-02 2.05892682e+02] [ 8.66514024e-01 -4.92935442e-01 -7.85372278e-02 1.91058502e+02] [ 8.98134869e-02 -8.01639254e-04 9.95958280e-01 4.40174675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2571056809999 meters Centerline goodness [0,1] 0.9991288961480876 Centerline is valid? [True, True] Translation: X:205.88, Y:191.08, Z:44.02 [[-4.95091421e-01 -8.67784943e-01 4.28226314e-02 2.05883066e+02] [ 8.64353466e-01 -4.96938575e-01 -7.71047224e-02 1.91082963e+02] [ 8.81905345e-02 -1.15999667e-03 9.96102949e-01 4.40231146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.2871056809999 meters Centerline goodness [0,1] 0.9988880451290952 Centerline is valid? [True, True] Translation: X:205.87, Y:191.11, Z:44.03 [[-4.99918594e-01 -8.65043266e-01 4.22083872e-02 2.05872048e+02] [ 8.61705600e-01 -5.01694751e-01 -7.59330966e-02 1.91106781e+02] [ 8.68611402e-02 -1.58916327e-03 9.96219161e-01 4.40316879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31710568099993 meters Centerline goodness [0,1] 0.9990419882848853 Centerline is valid? [True, True] Translation: X:205.85, Y:191.13, Z:44.03 [[-4.94999592e-01 -8.67877338e-01 4.20039288e-02 2.05852475e+02] [ 8.64587266e-01 -4.96777420e-01 -7.55053296e-02 1.91127444e+02] [ 8.63959679e-02 -1.05904544e-03 9.96260315e-01 4.40316692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3471056809999 meters Centerline goodness [0,1] 0.9987912419988462 Centerline is valid? [True, True] Translation: X:205.83, Y:191.15, Z:44.03 [[-4.89203098e-01 -8.71184956e-01 4.14379118e-02 2.05832015e+02] [ 8.67999690e-01 -4.90954758e-01 -7.44309265e-02 1.91147130e+02] [ 8.51872434e-02 -4.43745241e-04 9.96364861e-01 4.40339707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37710568099993 meters Centerline goodness [0,1] 0.999221898013061 Centerline is valid? [True, True] Translation: X:205.81, Y:191.16, Z:44.04 [[-4.79138894e-01 -8.76876124e-01 3.89125087e-02 2.05808183e+02] [ 8.74090523e-01 -4.80716092e-01 -6.98412203e-02 1.91164753e+02] [ 7.99479677e-02 5.49410021e-04 9.96798887e-01 4.40426911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4071056809999 meters Centerline goodness [0,1] 0.9990818285523497 Centerline is valid? [True, True] Translation: X:205.79, Y:191.19, Z:44.05 [[-4.75901898e-01 -8.78683664e-01 3.78470963e-02 2.05792489e+02] [ 8.76058517e-01 -4.77403697e-01 -6.78762511e-02 1.91185864e+02] [ 7.77100967e-02 8.53834375e-04 9.96975633e-01 4.40504126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43710568099993 meters Centerline goodness [0,1] 0.9994708110516934 Centerline is valid? [True, True] Translation: X:205.77, Y:191.20, Z:44.06 [[-4.67346490e-01 -8.83304117e-01 3.68930319e-02 2.05770900e+02] [ 8.80828044e-01 -4.68797695e-01 -6.61111027e-02 1.91202822e+02] [ 7.56915775e-02 1.59962537e-03 9.97129995e-01 4.40599540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.4671056809999 meters Centerline goodness [0,1] 0.9993033883192154 Centerline is valid? [True, True] Translation: X:205.76, Y:191.22, Z:44.06 [[-4.64263858e-01 -8.84920885e-01 3.70688280e-02 2.05755625e+02] [ 8.82430621e-01 -4.65737506e-01 -6.63684798e-02 1.91224227e+02] [ 7.59951974e-02 1.89818244e-03 9.97106377e-01 4.40614995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49710568099994 meters Centerline goodness [0,1] 0.9995847176079734 Centerline is valid? [True, True] Translation: X:205.74, Y:191.25, Z:44.06 [[-4.57094080e-01 -8.88650078e-01 3.69599907e-02 2.05744226e+02] [ 8.86190610e-01 -4.58578925e-01 -6.61178683e-02 1.91248483e+02] [ 7.57047216e-02 2.53151049e-03 9.97127066e-01 4.40620285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5271056809999 meters Centerline goodness [0,1] 0.999613601236476 Centerline is valid? [True, True] Translation: X:205.73, Y:191.27, Z:44.06 [[-4.54963648e-01 -8.89771024e-01 3.62712492e-02 2.05731626e+02] [ 8.87409842e-01 -4.56399263e-01 -6.48342875e-02 1.91272712e+02] [ 7.42418418e-02 2.69021955e-03 9.97236638e-01 4.40641484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55710568099994 meters Centerline goodness [0,1] 0.9998354315806797 Centerline is valid? [True, True] Translation: X:205.72, Y:191.29, Z:44.07 [[-4.46665654e-01 -8.93995178e-01 3.55304902e-02 2.05716719e+02] [ 8.91746030e-01 -4.48064151e-01 -6.34628633e-02 1.91293981e+02] [ 7.26554326e-02 3.33749229e-03 9.97351517e-01 4.40682714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5871056809999 meters Centerline goodness [0,1] 0.9998078190204261 Centerline is valid? [True, True] Translation: X:205.70, Y:191.32, Z:44.07 [[-4.43937051e-01 -8.95340508e-01 3.58506522e-02 2.05701556e+02] [ 8.93057861e-01 -4.45367671e-01 -6.39944829e-02 1.91316433e+02] [ 7.32635743e-02 3.60718472e-03 9.97306090e-01 4.40713970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61710568099994 meters Centerline goodness [0,1] 0.9998076288886446 Centerline is valid? [True, True] Translation: X:205.69, Y:191.34, Z:44.07 [[-4.42495988e-01 -8.96055116e-01 3.58124337e-02 2.05686996e+02] [ 8.93783167e-01 -4.43927046e-01 -6.38782283e-02 1.91339536e+02] [ 7.31365211e-02 3.74269069e-03 9.97314916e-01 4.40726276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6471056809999 meters Centerline goodness [0,1] 0.9997253652641986 Centerline is valid? [True, True] Translation: X:205.67, Y:191.36, Z:44.07 [[-4.40204391e-01 -8.97160263e-01 3.63807155e-02 2.05673390e+02] [ 8.94821879e-01 -4.41687026e-01 -6.48565808e-02 1.91363451e+02] [ 7.42556372e-02 4.00410859e-03 9.97231201e-01 4.40718239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67710568099994 meters Centerline goodness [0,1] 0.9998634103698847 Centerline is valid? [True, True] Translation: X:205.66, Y:191.39, Z:44.07 [[-4.46348107e-01 -8.94109787e-01 3.66204335e-02 2.05664273e+02] [ 8.91733114e-01 -4.47833899e-01 -6.52445635e-02 1.91388015e+02] [ 7.47356742e-02 3.53386578e-03 9.97197117e-01 4.40723402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7071056809999 meters Centerline goodness [0,1] 0.9996988199216932 Centerline is valid? [True, True] Translation: X:205.65, Y:191.41, Z:44.07 [[-4.49516473e-01 -8.92498518e-01 3.71663341e-02 2.05651676e+02] [ 8.90049187e-01 -4.51037962e-01 -6.61604229e-02 1.91412327e+02] [ 7.58115069e-02 3.33966550e-03 9.97116574e-01 4.40737193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73710568099995 meters Centerline goodness [0,1] 0.9995915255160395 Centerline is valid? [True, True] Translation: X:205.65, Y:191.44, Z:44.07 [[-4.59780951e-01 -8.87211543e-01 3.81726959e-02 2.05649148e+02] [ 8.84613291e-01 -4.61355802e-01 -6.78980853e-02 1.91442534e+02] [ 7.78511598e-02 2.54982794e-03 9.96961732e-01 4.40728921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7671056809999 meters Centerline goodness [0,1] 0.9996205345042555 Centerline is valid? [True, True] Translation: X:205.64, Y:191.47, Z:44.07 [[-4.65929637e-01 -8.83977816e-01 3.86367010e-02 2.05638444e+02] [ 8.81309085e-01 -4.67524323e-01 -6.86680697e-02 1.91466979e+02] [ 7.87646477e-02 2.05638678e-03 9.96891118e-01 4.40700736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7971056809999 meters Centerline goodness [0,1] 0.9992997010262074 Centerline is valid? [True, True] Translation: X:205.64, Y:191.50, Z:44.07 [[-4.75435420e-01 -8.78906870e-01 3.85210991e-02 2.05635247e+02] [ 8.76241719e-01 -4.76991820e-01 -6.84050648e-02 1.91496598e+02] [ 7.84959305e-02 1.23160337e-03 9.96913673e-01 4.40742815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8271056809999 meters Centerline goodness [0,1] 0.9992998141814559 Centerline is valid? [True, True] Translation: X:205.62, Y:191.52, Z:44.08 [[-4.81528910e-01 -8.75600450e-01 3.81282036e-02 2.05623525e+02] [ 8.72983161e-01 -4.83035558e-01 -6.76538978e-02 1.91520459e+02] [ 7.76550615e-02 7.07972070e-04 9.96980035e-01 4.40793804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8571056809999 meters Centerline goodness [0,1] 0.9992961368743063 Centerline is valid? [True, True] Translation: X:205.61, Y:191.54, Z:44.08 [[-4.82047956e-01 -8.75319222e-01 3.80266687e-02 2.05609950e+02] [ 8.72718897e-01 -4.83545024e-01 -6.74235606e-02 1.91543403e+02] [ 7.74047450e-02 6.85202790e-04 9.96999517e-01 4.40824621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8871056809999 meters Centerline goodness [0,1] 0.9995943863064817 Centerline is valid? [True, True] Translation: X:205.60, Y:191.57, Z:44.08 [[-4.83820618e-01 -8.74331305e-01 3.82410623e-02 2.05597501e+02] [ 8.71702982e-01 -4.85329226e-01 -6.77455002e-02 1.91567710e+02] [ 7.77915168e-02 5.58178303e-04 9.96969492e-01 4.40849328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9171056809999 meters Centerline goodness [0,1] 0.9995137237951156 Centerline is valid? [True, True] Translation: X:205.59, Y:191.59, Z:44.09 [[-4.87566234e-01 -8.72217040e-01 3.89435833e-02 2.05587476e+02] [ 8.69489202e-01 -4.89118974e-01 -6.89286284e-02 1.91591309e+02] [ 7.91687697e-02 2.53753437e-04 9.96861195e-01 4.40856066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9471056809999 meters Centerline goodness [0,1] 0.999328678839957 Centerline is valid? [True, True] Translation: X:205.58, Y:191.62, Z:44.09 [[-4.92250678e-01 -8.69532133e-01 4.00392261e-02 2.05577622e+02] [ 8.66644669e-01 -4.93876347e-01 -7.08037575e-02 1.91616225e+02] [ 8.13405690e-02 -1.53415866e-04 9.96686354e-01 4.40861065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9771056809999 meters Centerline goodness [0,1] 0.9988696003229713 Centerline is valid? [True, True] Translation: X:205.57, Y:191.64, Z:44.09 [[-4.96240947e-01 -8.67226929e-01 4.07722478e-02 2.05566661e+02] [ 8.64229656e-01 -4.97912835e-01 -7.20410321e-02 1.91641135e+02] [ 8.27769485e-02 -5.13124348e-04 9.96567967e-01 4.40871947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0071056809999 meters Centerline goodness [0,1] 0.9989518101432526 Centerline is valid? [True, True] Translation: X:205.55, Y:191.67, Z:44.09 [[-4.98099416e-01 -8.66154333e-01 4.09101786e-02 2.05554848e+02] [ 8.63138162e-01 -4.99776181e-01 -7.22238408e-02 1.91665079e+02] [ 8.30029255e-02 -6.63516571e-04 9.96549083e-01 4.40875355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0371056809999 meters Centerline goodness [0,1] 0.9988495598897718 Centerline is valid? [True, True] Translation: X:205.54, Y:191.69, Z:44.09 [[-5.00140809e-01 -8.64970035e-01 4.10610520e-02 2.05544532e+02] [ 8.61932718e-01 -5.01822823e-01 -7.24282000e-02 1.91689519e+02] [ 8.32535957e-02 -8.32434474e-04 9.96528046e-01 4.40854378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06710568099993 meters Centerline goodness [0,1] 0.9988785046728972 Centerline is valid? [True, True] Translation: X:205.53, Y:191.71, Z:44.09 [[-5.01108666e-01 -8.64412234e-01 4.10072577e-02 2.05531415e+02] [ 8.61386354e-01 -5.02782950e-01 -7.22693132e-02 1.91712145e+02] [ 8.30882285e-02 -8.91686931e-04 9.96541796e-01 4.40866350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.0971056809999 meters Centerline goodness [0,1] 0.998930509879415 Centerline is valid? [True, True] Translation: X:205.52, Y:191.73, Z:44.09 [[-5.01354118e-01 -8.64263947e-01 4.11324395e-02 2.05517417e+02] [ 8.61224478e-01 -5.03037815e-01 -7.24248237e-02 1.91733719e+02] [ 8.32853366e-02 -8.86219863e-04 9.96525347e-01 4.40898239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12710568099993 meters Centerline goodness [0,1] 0.9988416884411282 Centerline is valid? [True, True] Translation: X:205.50, Y:191.75, Z:44.09 [[-4.99953537e-01 -8.65089706e-01 4.08198619e-02 2.05498270e+02] [ 8.62104296e-01 -5.01616680e-01 -7.18114818e-02 1.91753793e+02] [ 8.25992973e-02 -7.11426004e-04 9.96582586e-01 4.40938001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.1571056809999 meters Centerline goodness [0,1] 0.999138789460936 Centerline is valid? [True, True] Translation: X:205.49, Y:191.78, Z:44.10 [[-5.01626568e-01 -8.64167424e-01 3.98177112e-02 2.05486887e+02] [ 8.61328773e-01 -5.03203739e-01 -6.99910127e-02 1.91777309e+02] [ 8.05203742e-02 -8.13211126e-04 9.96752631e-01 4.40999638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18710568099993 meters Centerline goodness [0,1] 0.9987346883833625 Centerline is valid? [True, True] Translation: X:205.47, Y:191.80, Z:44.11 [[-5.01953068e-01 -8.64021815e-01 3.88512643e-02 2.05472261e+02] [ 8.61323458e-01 -5.03453754e-01 -6.82364829e-02 1.91798962e+02] [ 7.85176247e-02 -7.88006617e-04 9.96912414e-01 4.41095859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2171056809999 meters Centerline goodness [0,1] 0.9987064783874097 Centerline is valid? [True, True] Translation: X:205.46, Y:191.82, Z:44.11 [[-5.02153809e-01 -8.63918036e-01 3.85639651e-02 2.05459511e+02] [ 8.61263625e-01 -5.03631845e-01 -6.76752036e-02 1.91822650e+02] [ 7.78878699e-02 -7.69620899e-04 9.96961828e-01 4.41130020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24710568099994 meters Centerline goodness [0,1] 0.9987373737373737 Centerline is valid? [True, True] Translation: X:205.45, Y:191.85, Z:44.11 [[-5.02344126e-01 -8.63804995e-01 3.86174712e-02 2.05447604e+02] [ 8.61147317e-01 -5.03825717e-01 -6.77122268e-02 1.91846503e+02] [ 7.79466349e-02 -7.59507727e-04 9.96957243e-01 4.41129946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2771056809999 meters Centerline goodness [0,1] 0.99892530897367 Centerline is valid? [True, True] Translation: X:205.43, Y:191.87, Z:44.11 [[-4.99012672e-01 -8.65730371e-01 3.86946759e-02 2.05432832e+02] [ 8.63072206e-01 -5.00510478e-01 -6.77910727e-02 1.91869315e+02] [ 7.80558812e-02 -4.32305077e-04 9.96948892e-01 4.41139716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30710568099994 meters Centerline goodness [0,1] 0.9991669577835702 Centerline is valid? [True, True] Translation: X:205.42, Y:191.89, Z:44.12 [[-4.97229661e-01 -8.66762794e-01 3.85346963e-02 2.05418595e+02] [ 8.64134164e-01 -4.98720564e-01 -6.74532868e-02 1.91890045e+02] [ 7.76840448e-02 -2.40627406e-04 9.96977999e-01 4.41178503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3371056809999 meters Centerline goodness [0,1] 0.9990305119435543 Centerline is valid? [True, True] Translation: X:205.40, Y:191.91, Z:44.12 [[-4.93670380e-01 -8.68811516e-01 3.81589497e-02 2.05402150e+02] [ 8.66244855e-01 -4.95142946e-01 -6.67331513e-02 1.91911163e+02] [ 7.68726652e-02 1.10813700e-04 9.97040912e-01 4.41247269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36710568099994 meters Centerline goodness [0,1] 0.9993747621377698 Centerline is valid? [True, True] Translation: X:205.38, Y:191.93, Z:44.13 [[-4.81084248e-01 -8.75916728e-01 3.64394317e-02 2.05377443e+02] [ 8.73600126e-01 -4.82460821e-01 -6.36739780e-02 1.91927590e+02] [ 7.33537005e-02 1.20094429e-03 9.97305265e-01 4.41333746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3971056809999 meters Centerline goodness [0,1] 0.9994838779778883 Centerline is valid? [True, True] Translation: X:205.36, Y:191.95, Z:44.14 [[-4.71092064e-01 -8.81436148e-01 3.38021358e-02 2.05355657e+02] [ 8.79459980e-01 -4.72299289e-01 -5.90213897e-02 1.91945519e+02] [ 6.79883111e-02 1.92311743e-03 9.97684264e-01 4.41370923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42710568099994 meters Centerline goodness [0,1] 0.9994863754325259 Centerline is valid? [True, True] Translation: X:205.34, Y:191.97, Z:44.14 [[-4.68684438e-01 -8.82735107e-01 3.33710548e-02 2.05340433e+02] [ 8.80815443e-01 -4.69866253e-01 -5.82225066e-02 1.91968778e+02] [ 6.70749831e-02 2.10575764e-03 9.97745715e-01 4.41405841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4571056809999 meters Centerline goodness [0,1] 0.9995653827348291 Centerline is valid? [True, True] Translation: X:205.33, Y:191.99, Z:44.14 [[-4.67582039e-01 -8.83347338e-01 3.26269438e-02 2.05328365e+02] [ 8.81516582e-01 -4.68713985e-01 -5.68833456e-02 1.91993913e+02] [ 6.55404568e-02 2.16356123e-03 9.97847567e-01 4.41441175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48710568099995 meters Centerline goodness [0,1] 0.9995912583792033 Centerline is valid? [True, True] Translation: X:205.31, Y:192.01, Z:44.15 [[-4.66235531e-01 -8.84066650e-01 3.24127748e-02 2.05312172e+02] [ 8.82264362e-01 -4.67355334e-01 -5.64675798e-02 1.92014809e+02] [ 6.50693873e-02 2.26944402e-03 9.97878161e-01 4.41473312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5171056809999 meters Centerline goodness [0,1] 0.9995912583792033 Centerline is valid? [True, True] Translation: X:205.30, Y:192.04, Z:44.15 [[-4.66551055e-01 -8.83899641e-01 3.24274187e-02 2.05298854e+02] [ 8.82097534e-01 -4.67671149e-01 -5.64591692e-02 1.92037579e+02] [ 6.50696075e-02 2.26306106e-03 9.97878161e-01 4.41490173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5471056809999 meters Centerline goodness [0,1] 0.9995897267580208 Centerline is valid? [True, True] Translation: X:205.28, Y:192.06, Z:44.15 [[-4.65437342e-01 -8.84466638e-01 3.29673541e-02 2.05280369e+02] [ 8.82608554e-01 -4.66597243e-01 -5.73511395e-02 1.92057936e+02] [ 6.61076461e-02 2.40390684e-03 9.97809601e-01 4.41523387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5771056809999 meters Centerline goodness [0,1] 0.9994274028629857 Centerline is valid? [True, True] Translation: X:205.27, Y:192.08, Z:44.15 [[-4.70381825e-01 -8.81855392e-01 3.27415040e-02 2.05271485e+02] [ 8.80019238e-01 -4.71515534e-01 -5.69143369e-02 1.92083969e+02] [ 6.56283426e-02 2.04168376e-03 9.97842048e-01 4.41511906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6071056809999 meters Centerline goodness [0,1] 0.9994550408719346 Centerline is valid? [True, True] Translation: X:205.26, Y:192.11, Z:44.15 [[-4.72898232e-01 -8.80500362e-01 3.29602029e-02 2.05259514e+02] [ 8.78639416e-01 -4.74041716e-01 -5.72470871e-02 1.92106865e+02] [ 6.60305920e-02 1.88808710e-03 9.97815813e-01 4.41496157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6371056809999 meters Centerline goodness [0,1] 0.9997283568304675 Centerline is valid? [True, True] Translation: X:205.26, Y:192.14, Z:44.15 [[-4.84374815e-01 -8.74155413e-01 3.51191195e-02 2.05255732e+02] [ 8.72029236e-01 -4.85645025e-01 -6.09419427e-02 1.92135898e+02] [ 7.03281548e-02 1.10615670e-03 9.97523297e-01 4.41493053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6671056809999 meters Centerline goodness [0,1] 0.9990464254577158 Centerline is valid? [True, True] Translation: X:205.24, Y:192.16, Z:44.15 [[-4.88710301e-01 -8.71661283e-01 3.69979709e-02 2.05243631e+02] [ 8.69298123e-01 -4.90108097e-01 -6.41469130e-02 1.92158909e+02] [ 7.40473856e-02 8.13009470e-04 9.97254393e-01 4.41475506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6971056809999 meters Centerline goodness [0,1] 0.9992354948805461 Centerline is valid? [True, True] Translation: X:205.24, Y:192.19, Z:44.14 [[-4.96869465e-01 -8.66922963e-01 3.95640009e-02 2.05236169e+02] [ 8.64209913e-01 -4.98442129e-01 -6.85322541e-02 1.92185554e+02] [ 7.91325496e-02 1.40017368e-04 9.96864093e-01 4.41434938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7271056809999 meters Centerline goodness [0,1] 0.9991831400098024 Centerline is valid? [True, True] Translation: X:205.23, Y:192.21, Z:44.14 [[-5.00874346e-01 -8.64586370e-01 4.01907792e-02 2.05225866e+02] [ 8.61783777e-01 -5.02484196e-01 -6.95582750e-02 1.92210170e+02] [ 8.03343679e-02 -2.04193979e-04 9.96767951e-01 4.41427347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7571056809999 meters Centerline goodness [0,1] 0.9991063449508489 Centerline is valid? [True, True] Translation: X:205.21, Y:192.23, Z:44.14 [[-5.03898834e-01 -8.62804295e-01 4.06781728e-02 2.05214993e+02] [ 8.59932113e-01 -5.05537864e-01 -7.03436461e-02 1.92234500e+02] [ 8.12571566e-02 -4.65614182e-04 9.96693061e-01 4.41426597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.7871056809999 meters Centerline goodness [0,1] 0.9989990802358925 Centerline is valid? [True, True] Translation: X:205.20, Y:192.26, Z:44.14 [[-5.06976174e-01 -8.60932141e-01 4.20833371e-02 2.05204450e+02] [ 8.57856553e-01 -5.08719243e-01 -7.27108314e-02 1.92260643e+02] [ 8.40076952e-02 -7.61192531e-04 9.96464815e-01 4.41398592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81710568099993 meters Centerline goodness [0,1] 0.9990259213160886 Centerline is valid? [True, True] Translation: X:205.19, Y:192.28, Z:44.14 [[-5.06329719e-01 -8.61268176e-01 4.29807434e-02 2.05189795e+02] [ 8.58065822e-01 -5.08150223e-01 -7.42050926e-02 1.92283944e+02] [ 8.57511591e-02 -6.91936703e-04 9.96316345e-01 4.41403092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8471056809999 meters Centerline goodness [0,1] 0.999297316288749 Centerline is valid? [True, True] Translation: X:205.18, Y:192.31, Z:44.14 [[-5.04824416e-01 -8.62119119e-01 4.36226295e-02 2.05175947e+02] [ 8.58828208e-01 -5.06705384e-01 -7.52579820e-02 1.92306275e+02] [ 8.69851664e-02 -5.27722056e-04 9.96209467e-01 4.41398225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87710568099993 meters Centerline goodness [0,1] 0.9988932080768815 Centerline is valid? [True, True] Translation: X:205.16, Y:192.33, Z:44.14 [[-5.04370636e-01 -8.62359392e-01 4.41196095e-02 2.05162135e+02] [ 8.58998585e-01 -5.06296418e-01 -7.60616081e-02 1.92328877e+02] [ 8.79300424e-02 -4.64559548e-04 9.96126544e-01 4.41417344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9071056809999 meters Centerline goodness [0,1] 0.9991130939582885 Centerline is valid? [True, True] Translation: X:205.15, Y:192.35, Z:44.15 [[-5.04209961e-01 -8.62477713e-01 4.36406797e-02 2.05148668e+02] [ 8.59195454e-01 -5.06094880e-01 -7.51740884e-02 1.92351329e+02] [ 8.69223005e-02 -4.07650601e-04 9.96215011e-01 4.41471109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93710568099993 meters Centerline goodness [0,1] 0.999111996125074 Centerline is valid? [True, True] Translation: X:205.13, Y:192.37, Z:44.15 [[-5.03910398e-01 -8.62691515e-01 4.28679367e-02 2.05134662e+02] [ 8.59530547e-01 -5.05730400e-01 -7.37834786e-02 1.92374089e+02] [ 8.53319998e-02 -3.33960987e-04 9.96352517e-01 4.41511933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.9671056809999 meters Centerline goodness [0,1] 0.998949890950214 Centerline is valid? [True, True] Translation: X:205.12, Y:192.40, Z:44.16 [[-5.02974579e-01 -8.63363596e-01 4.02476612e-02 2.05120248e+02] [ 8.60583992e-01 -5.04582271e-01 -6.92237295e-02 1.92396650e+02] [ 8.00735043e-02 -1.81283261e-04 9.96788945e-01 4.41628063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99710568099994 meters Centerline goodness [0,1] 0.999191178452994 Centerline is valid? [True, True] Translation: X:205.11, Y:192.42, Z:44.17 [[-5.02249662e-01 -8.63836970e-01 3.91275646e-02 2.05106359e+02] [ 8.61215600e-01 -5.03771460e-01 -6.72458641e-02 1.92418801e+02] [ 7.78008138e-02 -7.69434524e-05 9.96968920e-01 4.41670500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0271056809999 meters Centerline goodness [0,1] 0.9988176492717794 Centerline is valid? [True, True] Translation: X:205.09, Y:192.44, Z:44.17 [[-5.01444064e-01 -8.64362972e-01 3.78219999e-02 2.05093225e+02] [ 8.61919128e-01 -5.02868425e-01 -6.49520201e-02 1.92441287e+02] [ 7.51616106e-02 2.97002407e-05 9.97171365e-01 4.41702344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05710568099994 meters Centerline goodness [0,1] 0.9988475248586208 Centerline is valid? [True, True] Translation: X:205.08, Y:192.47, Z:44.17 [[-5.03634466e-01 -8.63043087e-01 3.88452743e-02 2.05082984e+02] [ 8.60465750e-01 -5.05130291e-01 -6.66489464e-02 1.92465233e+02] [ 7.71428371e-02 -1.41678383e-04 9.97020041e-01 4.41694280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0871056809999 meters Centerline goodness [0,1] 0.9988998604701084 Centerline is valid? [True, True] Translation: X:205.07, Y:192.49, Z:44.17 [[-5.06300997e-01 -8.61467127e-01 3.91623551e-02 2.05071741e+02] [ 8.58847299e-01 -5.07813217e-01 -6.71346000e-02 1.92489794e+02] [ 7.77214125e-02 -3.55832090e-04 9.96975053e-01 4.41714853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11710568099994 meters Centerline goodness [0,1] 0.9985289791115034 Centerline is valid? [True, True] Translation: X:205.07, Y:192.52, Z:44.17 [[-5.12594549e-01 -8.57651469e-01 4.09973837e-02 2.05065019e+02] [ 8.54772639e-01 -5.14230545e-01 -7.02188171e-02 1.92516995e+02] [ 8.13053786e-02 -9.50341030e-04 9.96688784e-01 4.41691408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1471056809999 meters Centerline goodness [0,1] 0.9983486922708145 Centerline is valid? [True, True] Translation: X:205.05, Y:192.54, Z:44.17 [[-5.16209534e-01 -8.55427737e-01 4.20844860e-02 2.05053425e+02] [ 8.52391417e-01 -5.17920535e-01 -7.20221637e-02 1.92542674e+02] [ 8.34061760e-02 -1.30607286e-03 9.96514779e-01 4.41689702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17710568099994 meters Centerline goodness [0,1] 0.9984367548089661 Centerline is valid? [True, True] Translation: X:205.05, Y:192.57, Z:44.16 [[-5.22001113e-01 -8.51816994e-01 4.38479890e-02 2.05047191e+02] [ 8.48512860e-01 -5.23835919e-01 -7.49790374e-02 1.92569914e+02] [ 8.68375699e-02 -1.93355844e-03 9.96220607e-01 4.41636571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2071056809999 meters Centerline goodness [0,1] 0.9981000633312223 Centerline is valid? [True, True] Translation: X:205.04, Y:192.59, Z:44.16 [[-5.23538653e-01 -8.50831121e-01 4.46506604e-02 2.05036091e+02] [ 8.47406707e-01 -5.25435041e-01 -7.62882034e-02 1.92594442e+02] [ 8.83693992e-02 -2.10255416e-03 9.96085553e-01 4.41635652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23710568099995 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:205.02, Y:192.62, Z:44.17 [[-5.23104771e-01 -8.51046671e-01 4.56175760e-02 2.05022048e+02] [ 8.47478717e-01 -5.25085946e-01 -7.78753705e-02 1.92617669e+02] [ 9.02287228e-02 -2.07705303e-03 9.95918904e-01 4.41658328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2671056809999 meters Centerline goodness [0,1] 0.9982272787405742 Centerline is valid? [True, True] Translation: X:205.01, Y:192.64, Z:44.17 [[-5.19895290e-01 -8.53013289e-01 4.55764772e-02 2.05005478e+02] [ 8.49465014e-01 -5.21886416e-01 -7.77416100e-02 1.92639758e+02] [ 9.01003708e-02 -1.70187401e-03 9.95931236e-01 4.41687256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2971056809999 meters Centerline goodness [0,1] 0.998329754235266 Centerline is valid? [True, True] Translation: X:204.99, Y:192.66, Z:44.17 [[-5.17412250e-01 -8.54528775e-01 4.54437633e-02 2.04989916e+02] [ 8.51012278e-01 -5.19402158e-01 -7.74564414e-02 1.92662584e+02] [ 8.97923467e-02 -1.40371106e-03 9.95959519e-01 4.41717570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3271056809999 meters Centerline goodness [0,1] 0.9990447634462812 Centerline is valid? [True, True] Translation: X:204.97, Y:192.68, Z:44.18 [[-5.13091116e-01 -8.57199097e-01 4.41272604e-02 2.04974251e+02] [ 8.53898568e-01 -5.14984400e-01 -7.51551986e-02 1.92683526e+02] [ 8.71478190e-02 -8.81260272e-04 9.96195002e-01 4.41775351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3571056809999 meters Centerline goodness [0,1] 0.9986848680922696 Centerline is valid? [True, True] Translation: X:204.96, Y:192.71, Z:44.18 [[-5.12951294e-01 -8.57327578e-01 4.32480517e-02 2.04960766e+02] [ 8.54163164e-01 -5.14770596e-01 -7.35970311e-02 1.92707055e+02] [ 8.53595898e-02 -8.10799646e-04 9.96349880e-01 4.41816010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3871056809999 meters Centerline goodness [0,1] 0.9989195741541056 Centerline is valid? [True, True] Translation: X:204.95, Y:192.73, Z:44.18 [[-5.09912437e-01 -8.59146699e-01 4.30842972e-02 2.04946042e+02] [ 8.56017742e-01 -5.11729151e-01 -7.32591349e-02 1.92730670e+02] [ 8.49878347e-02 -4.74821170e-04 9.96381876e-01 4.41839987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4171056809999 meters Centerline goodness [0,1] 0.999237724739775 Centerline is valid? [True, True] Translation: X:204.93, Y:192.75, Z:44.18 [[-5.08015572e-01 -8.60285435e-01 4.27685408e-02 2.04931875e+02] [ 8.57211134e-01 -5.09812618e-01 -7.26647500e-02 1.92752804e+02] [ 8.43163678e-02 -2.53155212e-04 9.96439003e-01 4.41843328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4471056809999 meters Centerline goodness [0,1] 0.9993153750954525 Centerline is valid? [True, True] Translation: X:204.91, Y:192.77, Z:44.19 [[-5.01591673e-01 -8.64081688e-01 4.20550811e-02 2.04911729e+02] [ 8.61127656e-01 -5.03351439e-01 -7.13897018e-02 1.92771133e+02] [ 8.28550196e-02 4.06313440e-04 9.96561529e-01 4.41864595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.4771056809999 meters Centerline goodness [0,1] 0.9993396550357907 Centerline is valid? [True, True] Translation: X:204.90, Y:192.79, Z:44.19 [[-4.98449808e-01 -8.65943583e-01 4.11035303e-02 2.04895254e+02] [ 8.63133086e-01 -5.00141161e-01 -6.97143892e-02 1.92792580e+02] [ 8.09262954e-02 7.28692992e-04 9.96719822e-01 4.41896665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5071056809999 meters Centerline goodness [0,1] 0.999497540593431 Centerline is valid? [True, True] Translation: X:204.88, Y:192.81, Z:44.20 [[-4.96288342e-01 -8.67270234e-01 3.92456765e-02 2.04879786e+02] [ 8.64716836e-01 -4.97836799e-01 -6.65080045e-02 1.92813715e+02] [ 7.72183545e-02 9.29249965e-04 9.97013772e-01 4.41964198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5371056809999 meters Centerline goodness [0,1] 0.9994712212146049 Centerline is valid? [True, True] Translation: X:204.87, Y:192.84, Z:44.20 [[-4.96354899e-01 -8.67230289e-01 3.92866373e-02 2.04865272e+02] [ 8.64675896e-01 -4.97906335e-01 -6.65197499e-02 1.92835577e+02] [ 7.72490075e-02 9.52804534e-04 9.97011376e-01 4.42003917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56710568099993 meters Centerline goodness [0,1] 0.999707843085177 Centerline is valid? [True, True] Translation: X:204.85, Y:192.86, Z:44.20 [[-4.95916699e-01 -8.67401214e-01 4.10092822e-02 2.04847654e+02] [ 8.64623269e-01 -4.97608302e-01 -6.93727662e-02 1.92856251e+02] [ 8.05805809e-02 1.05446638e-03 9.96747540e-01 4.41973961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.5971056809999 meters Centerline goodness [0,1] 0.9994678161837098 Centerline is valid? [True, True] Translation: X:204.83, Y:192.88, Z:44.19 [[-4.94968370e-01 -8.67871921e-01 4.24810583e-02 2.04830451e+02] [ 8.64897284e-01 -4.96786559e-01 -7.18039236e-02 1.92879022e+02] [ 8.34206280e-02 1.20108089e-03 9.96513701e-01 4.41946278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62710568099993 meters Centerline goodness [0,1] 0.9995169211776388 Centerline is valid? [True, True] Translation: X:204.81, Y:192.90, Z:44.19 [[-4.94509974e-01 -8.67998231e-01 4.51548148e-02 2.04810004e+02] [ 8.64642573e-01 -4.96565506e-01 -7.62621754e-02 1.92898629e+02] [ 8.86177568e-02 1.33036890e-03 9.96064819e-01 4.41857586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.6571056809999 meters Centerline goodness [0,1] 0.99949152995959 Centerline is valid? [True, True] Translation: X:204.80, Y:192.92, Z:44.19 [[-4.97581455e-01 -8.66203114e-01 4.58787552e-02 2.04796530e+02] [ 8.62736851e-01 -4.99690950e-01 -7.74214497e-02 1.92921821e+02] [ 8.99878996e-02 1.05781510e-03 9.95942297e-01 4.41863694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68710568099993 meters Centerline goodness [0,1] 0.9992435090373653 Centerline is valid? [True, True] Translation: X:204.78, Y:192.94, Z:44.19 [[-5.00989261e-01 -8.64111393e-01 4.81794576e-02 2.04777231e+02] [ 8.60284312e-01 -5.03300051e-01 -8.12401478e-02 1.92941036e+02] [ 9.44492608e-02 7.47589930e-04 9.95529396e-01 4.41860144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7171056809999 meters Centerline goodness [0,1] 0.9990428266695838 Centerline is valid? [True, True] Translation: X:204.76, Y:192.96, Z:44.19 [[-5.06025072e-01 -8.61107550e-01 4.93195131e-02 2.04759915e+02] [ 8.57087883e-01 -5.08422797e-01 -8.31060782e-02 1.92961617e+02] [ 9.66384362e-02 2.17397901e-04 9.95319529e-01 4.41886095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74710568099994 meters Centerline goodness [0,1] 0.9993156684550532 Centerline is valid? [True, True] Translation: X:204.75, Y:192.99, Z:44.19 [[-5.11617248e-01 -8.57828707e-01 4.87616876e-02 2.04750051e+02] [ 8.53890935e-01 -5.13935575e-01 -8.21005184e-02 1.92986664e+02] [ 9.54885475e-02 -3.66878202e-04 9.95430461e-01 4.41921337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7771056809999 meters Centerline goodness [0,1] 0.9992352025347573 Centerline is valid? [True, True] Translation: X:204.74, Y:193.01, Z:44.20 [[-5.19714911e-01 -8.53100486e-01 4.59996909e-02 2.04742601e+02] [ 8.49583681e-01 -5.21745397e-01 -7.73906267e-02 1.93012677e+02] [ 9.00221083e-02 -1.14047595e-03 9.95939114e-01 4.41952158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80710568099994 meters Centerline goodness [0,1] 0.9992114208021754 Centerline is valid? [True, True] Translation: X:204.73, Y:193.04, Z:44.20 [[-5.23760438e-01 -8.50711730e-01 4.43233112e-02 2.04730216e+02] [ 8.47443543e-01 -5.25630484e-01 -7.45119862e-02 1.93036699e+02] [ 8.66859043e-02 -1.46492668e-03 9.96234615e-01 4.42018805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8371056809999 meters Centerline goodness [0,1] 0.9988636363636364 Centerline is valid? [True, True] Translation: X:204.72, Y:193.06, Z:44.21 [[-5.31650471e-01 -8.45896589e-01 4.25057392e-02 2.04722760e+02] [ 8.42880608e-01 -5.33342680e-01 -7.13993452e-02 1.93062829e+02] [ 8.30665874e-02 -2.13223226e-03 9.96541718e-01 4.42133240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86710568099994 meters Centerline goodness [0,1] 0.9987521362884193 Centerline is valid? [True, True] Translation: X:204.71, Y:193.09, Z:44.22 [[-5.34038550e-01 -8.44407389e-01 4.21780602e-02 2.04711050e+02] [ 8.41438068e-01 -5.35696562e-01 -7.07896272e-02 1.93085660e+02] [ 8.23699261e-02 -2.31416438e-03 9.96599137e-01 4.42181352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8971056809999 meters Centerline goodness [0,1] 0.9986490867826651 Centerline is valid? [True, True] Translation: X:204.70, Y:193.11, Z:44.23 [[-5.37204692e-01 -8.42449791e-01 4.11031401e-02 2.04696888e+02] [ 8.39629004e-01 -5.38768979e-01 -6.89283975e-02 1.93108690e+02] [ 8.02138109e-02 -2.51726995e-03 9.96774502e-01 4.42270327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92710568099994 meters Centerline goodness [0,1] 0.9986757114672576 Centerline is valid? [True, True] Translation: X:204.69, Y:193.13, Z:44.22 [[-5.37791962e-01 -8.42054256e-01 4.15263132e-02 2.04685253e+02] [ 8.39177955e-01 -5.39386686e-01 -6.95870959e-02 1.93132421e+02] [ 8.09948507e-02 -2.57541427e-03 9.96711193e-01 4.42237598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9571056809999 meters Centerline goodness [0,1] 0.9985982316152685 Centerline is valid? [True, True] Translation: X:204.67, Y:193.15, Z:44.22 [[-5.37841939e-01 -8.42010605e-01 4.17634973e-02 2.04674166e+02] [ 8.39104999e-01 -5.39454844e-01 -6.99376244e-02 1.93154875e+02] [ 8.14177423e-02 -2.57142808e-03 9.96676747e-01 4.42205509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98710568099995 meters Centerline goodness [0,1] 0.9990577973995208 Centerline is valid? [True, True] Translation: X:204.66, Y:193.18, Z:44.22 [[-5.34580794e-01 -8.44035812e-01 4.27425163e-02 2.04656762e+02] [ 8.41003116e-01 -5.36281935e-01 -7.15223373e-02 1.93175931e+02] [ 8.32894533e-02 -2.28787849e-03 9.96522771e-01 4.42173108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0171056809999 meters Centerline goodness [0,1] 0.9988973159055456 Centerline is valid? [True, True] Translation: X:204.64, Y:193.20, Z:44.22 [[-5.32766757e-01 -8.45163141e-01 4.31143545e-02 2.04641048e+02] [ 8.42085982e-01 -5.34504312e-01 -7.20856384e-02 1.93197395e+02] [ 8.39689330e-02 -2.09883831e-03 9.96466163e-01 4.42180464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0471056809999 meters Centerline goodness [0,1] 0.9990797379959941 Centerline is valid? [True, True] Translation: X:204.62, Y:193.22, Z:44.22 [[-5.29958646e-01 -8.46901932e-01 4.35998972e-02 2.04623852e+02] [ 8.43765812e-01 -5.31746020e-01 -7.28383408e-02 1.93218522e+02] [ 8.48710033e-02 -1.81320579e-03 9.96390298e-01 4.42226804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0771056809999 meters Centerline goodness [0,1] 0.9990461915792342 Centerline is valid? [True, True] Translation: X:204.60, Y:193.24, Z:44.23 [[-5.22841248e-01 -8.51276885e-01 4.43248872e-02 2.04601659e+02] [ 8.48056053e-01 -5.24715606e-01 -7.39896208e-02 1.93235965e+02] [ 8.62436140e-02 -1.09483679e-03 9.96273477e-01 4.42259918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1071056809999 meters Centerline goodness [0,1] 0.999044212021082 Centerline is valid? [True, True] Translation: X:204.58, Y:193.26, Z:44.23 [[-5.19176030e-01 -8.53522704e-01 4.42181492e-02 2.04583782e+02] [ 8.50330423e-01 -5.21055195e-01 -7.37540129e-02 1.93257250e+02] [ 8.59908209e-02 -6.91278033e-04 9.96295689e-01 4.42271875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1371056809999 meters Centerline goodness [0,1] 0.9988804543716892 Centerline is valid? [True, True] Translation: X:204.57, Y:193.28, Z:44.23 [[-5.16291865e-01 -8.55264977e-01 4.43230160e-02 2.04568918e+02] [ 8.52068910e-01 -5.18190776e-01 -7.38707775e-02 1.93277023e+02] [ 8.61468669e-02 -3.72617466e-04 9.96282379e-01 4.42292131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1671056809999 meters Centerline goodness [0,1] 0.9990982621051481 Centerline is valid? [True, True] Translation: X:204.56, Y:193.30, Z:44.23 [[-5.16091767e-01 -8.55382056e-01 4.43939870e-02 2.04555104e+02] [ 8.52181904e-01 -5.17997525e-01 -7.39227086e-02 1.93299512e+02] [ 8.62281339e-02 -3.19148979e-04 9.96275367e-01 4.42303456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1971056809999 meters Centerline goodness [0,1] 0.9989864402136693 Centerline is valid? [True, True] Translation: X:204.54, Y:193.32, Z:44.23 [[-5.12121618e-01 -8.57768451e-01 4.43253130e-02 2.04539005e+02] [ 8.54592615e-01 -5.14036256e-01 -7.37440877e-02 1.93318857e+02] [ 8.60401698e-02 1.14143635e-04 9.96291662e-01 4.42297200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2271056809999 meters Centerline goodness [0,1] 0.9989604420856815 Centerline is valid? [True, True] Translation: X:204.53, Y:193.34, Z:44.23 [[-5.12404741e-01 -8.57621881e-01 4.38872565e-02 2.04526744e+02] [ 8.54513574e-01 -5.14280755e-01 -7.29510578e-02 1.93342160e+02] [ 8.51347948e-02 1.21788541e-04 9.96369435e-01 4.42334534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2571056809999 meters Centerline goodness [0,1] 0.9992310438579628 Centerline is valid? [True, True] Translation: X:204.51, Y:193.36, Z:44.24 [[-5.10358248e-01 -8.58880999e-01 4.31032404e-02 2.04511603e+02] [ 8.55892530e-01 -5.12175071e-01 -7.15868297e-02 1.93361860e+02] [ 8.35609730e-02 3.56812531e-04 9.96502602e-01 4.42411394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.2871056809999 meters Centerline goodness [0,1] 0.9994513784117405 Centerline is valid? [True, True] Translation: X:204.50, Y:193.38, Z:44.25 [[-5.10086470e-01 -8.59095800e-01 4.20261675e-02 2.04497719e+02] [ 8.56260586e-01 -5.11814650e-01 -6.97393209e-02 1.93384058e+02] [ 8.14223660e-02 4.12266781e-04 9.96679602e-01 4.42474123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31710568099993 meters Centerline goodness [0,1] 0.9990189399100695 Centerline is valid? [True, True] Translation: X:204.48, Y:193.41, Z:44.25 [[-5.09534901e-01 -8.59501029e-01 4.04000804e-02 2.04483287e+02] [ 8.56886339e-01 -5.11133787e-01 -6.69929361e-02 1.93407062e+02] [ 7.82303436e-02 4.83037937e-04 9.96935193e-01 4.42525900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.3471056809999 meters Centerline goodness [0,1] 0.9988816148390617 Centerline is valid? [True, True] Translation: X:204.47, Y:193.43, Z:44.26 [[-5.09070765e-01 -8.59773140e-01 4.04611299e-02 2.04470782e+02] [ 8.57155200e-01 -5.10675870e-01 -6.70456490e-02 1.93431002e+02] [ 7.83065709e-02 5.50488033e-04 9.96929174e-01 4.42553718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37710568099993 meters Centerline goodness [0,1] 0.999291553133515 Centerline is valid? [True, True] Translation: X:204.46, Y:193.45, Z:44.26 [[-5.09211989e-01 -8.59699598e-01 4.02461446e-02 2.04457399e+02] [ 8.57113417e-01 -5.10799651e-01 -6.66356219e-02 1.93454322e+02] [ 7.78443340e-02 5.63852929e-04 9.96965366e-01 4.42563089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4071056809999 meters Centerline goodness [0,1] 0.999291553133515 Centerline is valid? [True, True] Translation: X:204.44, Y:193.48, Z:44.26 [[-5.09529472e-01 -8.59510313e-01 4.02708247e-02 2.04443591e+02] [ 8.56924721e-01 -5.11118092e-01 -6.66207045e-02 1.93476776e+02] [ 7.78443297e-02 5.63852897e-04 9.96965367e-01 4.42579984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43710568099993 meters Centerline goodness [0,1] 0.9993754921393467 Centerline is valid? [True, True] Translation: X:204.43, Y:193.50, Z:44.26 [[-5.10718662e-01 -8.58749071e-01 4.14304394e-02 2.04431904e+02] [ 8.56014050e-01 -5.12396130e-01 -6.84846820e-02 1.93500846e+02] [ 8.00399538e-02 4.88633028e-04 9.96791536e-01 4.42565526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.4671056809999 meters Centerline goodness [0,1] 0.9992417266966365 Centerline is valid? [True, True] Translation: X:204.42, Y:193.52, Z:44.26 [[-5.11202145e-01 -8.58449400e-01 4.16772776e-02 2.04418662e+02] [ 8.55683993e-01 -5.12898052e-01 -6.88512332e-02 1.93524118e+02] [ 8.04814943e-02 4.65681245e-04 9.96755994e-01 4.42577832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49710568099994 meters Centerline goodness [0,1] 0.9992425062222703 Centerline is valid? [True, True] Translation: X:204.40, Y:193.55, Z:44.26 [[-5.10800517e-01 -8.58656018e-01 4.23399908e-02 2.04404404e+02] [ 8.55807169e-01 -5.12552003e-01 -6.98894428e-02 1.93547677e+02] [ 8.17124377e-02 5.35304142e-04 9.96655804e-01 4.42606074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5271056809999 meters Centerline goodness [0,1] 0.9991078428722052 Centerline is valid? [True, True] Translation: X:204.39, Y:193.57, Z:44.26 [[-5.09625223e-01 -8.59326469e-01 4.28969969e-02 2.04389016e+02] [ 8.56408876e-01 -5.11426983e-01 -7.07550515e-02 1.93569257e+02] [ 8.27403703e-02 6.78810008e-04 9.96570906e-01 4.42598827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55710568099994 meters Centerline goodness [0,1] 0.9989772574350693 Centerline is valid? [True, True] Translation: X:204.37, Y:193.59, Z:44.26 [[-5.08240000e-01 -8.60107993e-01 4.36616797e-02 2.04374146e+02] [ 8.57092882e-01 -5.10111281e-01 -7.19602116e-02 1.93593147e+02] [ 8.41658686e-02 8.49056953e-04 9.96451397e-01 4.42587583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5871056809999 meters Centerline goodness [0,1] 0.9992945326278659 Centerline is valid? [True, True] Translation: X:204.35, Y:193.61, Z:44.26 [[-5.00551594e-01 -8.64518493e-01 4.53417802e-02 2.04351827e+02] [ 8.61288877e-01 -5.02598224e-01 -7.46759364e-02 1.93610130e+02] [ 8.73474262e-02 1.67321195e-03 9.96176504e-01 4.42559419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61710568099994 meters Centerline goodness [0,1] 0.9995109227257907 Centerline is valid? [True, True] Translation: X:204.33, Y:193.63, Z:44.26 [[-4.97106675e-01 -8.66462407e-01 4.61286381e-02 2.04332585e+02] [ 8.63131783e-01 -4.99238027e-01 -7.59270481e-02 1.93630197e+02] [ 8.88171031e-02 2.07125124e-03 9.96045798e-01 4.42575659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6471056809999 meters Centerline goodness [0,1] 0.9991568984742583 Centerline is valid? [True, True] Translation: X:204.32, Y:193.65, Z:44.26 [[-4.96605398e-01 -8.66767978e-01 4.57859213e-02 2.04317693e+02] [ 8.63492069e-01 -4.98707052e-01 -7.53174847e-02 1.93652776e+02] [ 8.81165458e-02 2.13271039e-03 9.96107889e-01 4.42583889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67710568099994 meters Centerline goodness [0,1] 0.9995121290147716 Centerline is valid? [True, True] Translation: X:204.31, Y:193.68, Z:44.26 [[-4.97234093e-01 -8.66447201e-01 4.50278213e-02 2.04305610e+02] [ 8.63282926e-01 -4.99264418e-01 -7.40110148e-02 1.93675556e+02] [ 8.66074257e-02 2.07094954e-03 9.96240365e-01 4.42637397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7071056809999 meters Centerline goodness [0,1] 0.9991037723038484 Centerline is valid? [True, True] Translation: X:204.30, Y:193.70, Z:44.27 [[-4.98569653e-01 -8.65703842e-01 4.45551330e-02 2.04295607e+02] [ 8.62607986e-01 -5.00552745e-01 -7.31738418e-02 1.93700250e+02] [ 8.56490701e-02 1.95135668e-03 9.96323456e-01 4.42688247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73710568099995 meters Centerline goodness [0,1] 0.9995110688578025 Centerline is valid? [True, True] Translation: X:204.28, Y:193.72, Z:44.27 [[-4.97665834e-01 -8.66252532e-01 4.39916800e-02 2.04281152e+02] [ 8.63241599e-01 -4.99602196e-01 -7.21913258e-02 1.93722395e+02] [ 8.45142587e-02 2.04829177e-03 9.96420165e-01 4.42730910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7671056809999 meters Centerline goodness [0,1] 0.9995121554597934 Centerline is valid? [True, True] Translation: X:204.27, Y:193.74, Z:44.28 [[-4.98134562e-01 -8.66066599e-01 4.23155255e-02 2.04267321e+02] [ 8.63284784e-01 -4.99924774e-01 -6.93873241e-02 1.93744880e+02] [ 8.12486234e-02 1.96612494e-03 9.96691926e-01 4.42809373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7971056809999 meters Centerline goodness [0,1] 0.9991285877675508 Centerline is valid? [True, True] Translation: X:204.25, Y:193.77, Z:44.29 [[-4.97452852e-01 -8.66494707e-01 4.15642073e-02 2.04253647e+02] [ 8.63816706e-01 -4.99182148e-01 -6.81019926e-02 1.93767748e+02] [ 7.97581264e-02 2.02632621e-03 9.96812187e-01 4.42852030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8271056809999 meters Centerline goodness [0,1] 0.9989185389461162 Centerline is valid? [True, True] Translation: X:204.24, Y:193.79, Z:44.29 [[-4.97346210e-01 -8.66630422e-01 3.99807461e-02 2.04240547e+02] [ 8.64157250e-01 -4.98946622e-01 -6.54562199e-02 1.93791088e+02] [ 7.66746096e-02 1.99524872e-03 9.97054173e-01 4.42870888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8571056809999 meters Centerline goodness [0,1] 0.9992963844988093 Centerline is valid? [True, True] Translation: X:204.23, Y:193.81, Z:44.29 [[-4.98234127e-01 -8.66129005e-01 3.97907222e-02 2.04227663e+02] [ 8.63681738e-01 -4.99816768e-01 -6.50926547e-02 1.93813416e+02] [ 7.62667064e-02 1.93513814e-03 9.97085575e-01 4.42877654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8871056809999 meters Centerline goodness [0,1] 0.9994853737811484 Centerline is valid? [True, True] Translation: X:204.22, Y:193.84, Z:44.29 [[-4.99383590e-01 -8.65459127e-01 3.99566067e-02 2.04215298e+02] [ 8.62993422e-01 -5.00976059e-01 -6.53095913e-02 1.93836850e+02] [ 7.65400852e-02 1.86775061e-03 9.97064756e-01 4.42904352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9171056809999 meters Centerline goodness [0,1] 0.9994584642044839 Centerline is valid? [True, True] Translation: X:204.20, Y:193.86, Z:44.29 [[-4.99508764e-01 -8.65353174e-01 4.06801959e-02 2.04200518e+02] [ 8.62801054e-01 -5.01158885e-01 -6.64387921e-02 1.93858506e+02] [ 7.78802612e-02 1.91215697e-03 9.96960886e-01 4.42906289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9471056809999 meters Centerline goodness [0,1] 0.9992653660925639 Centerline is valid? [True, True] Translation: X:204.19, Y:193.88, Z:44.29 [[-4.99166885e-01 -8.65474380e-01 4.22672274e-02 2.04186016e+02] [ 8.62724113e-01 -5.00949050e-01 -6.89721236e-02 1.93880810e+02] [ 8.08673333e-02 2.03635623e-03 9.96722794e-01 4.42900127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.9771056809999 meters Centerline goodness [0,1] 0.9993793010389961 Centerline is valid? [True, True] Translation: X:204.17, Y:193.90, Z:44.29 [[-4.99000822e-01 -8.65552615e-01 4.26245350e-02 2.04169622e+02] [ 8.62760531e-01 -5.00813619e-01 -6.94980947e-02 1.93902849e+02] [ 8.15012053e-02 2.09516006e-03 9.96671041e-01 4.42889414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0071056809999 meters Centerline goodness [0,1] 0.9990737713849842 Centerline is valid? [True, True] Translation: X:204.15, Y:193.92, Z:44.29 [[-4.97623699e-01 -8.66265640e-01 4.42096694e-02 2.04152484e+02] [ 8.63269085e-01 -4.99578271e-01 -7.20280342e-02 1.93923482e+02] [ 8.44816013e-02 2.32198410e-03 9.96422334e-01 4.42876830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0371056809999 meters Centerline goodness [0,1] 0.9994799649660608 Centerline is valid? [True, True] Translation: X:204.14, Y:193.95, Z:44.29 [[-4.98852359e-01 -8.65570228e-01 4.39830053e-02 2.04138148e+02] [ 8.62605699e-01 -5.00782654e-01 -7.16110467e-02 1.93945246e+02] [ 8.40103161e-02 2.21665147e-03 9.96462419e-01 4.42891594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06710568099993 meters Centerline goodness [0,1] 0.9993180578286961 Centerline is valid? [True, True] Translation: X:204.12, Y:193.97, Z:44.29 [[-4.99585071e-01 -8.65139422e-01 4.41422335e-02 2.04123808e+02] [ 8.62156829e-01 -5.01526685e-01 -7.18093706e-02 1.93965417e+02] [ 8.42636254e-02 2.18263857e-03 9.96441106e-01 4.42881616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.0971056809999 meters Centerline goodness [0,1] 0.999290780141844 Centerline is valid? [True, True] Translation: X:204.11, Y:193.99, Z:44.29 [[-5.01304625e-01 -8.64117393e-01 4.46632346e-02 2.04112804e+02] [ 8.61065371e-01 -5.03286060e-01 -7.25917997e-02 1.93989662e+02] [ 8.52062200e-02 2.06735977e-03 9.96361193e-01 4.42890965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12710568099993 meters Centerline goodness [0,1] 0.9993749490447591 Centerline is valid? [True, True] Translation: X:204.10, Y:194.01, Z:44.30 [[-5.01048401e-01 -8.64321477e-01 4.35761844e-02 2.04099812e+02] [ 8.61422227e-01 -5.02935437e-01 -7.07650510e-02 1.94011602e+02] [ 8.30797608e-02 2.08077815e-03 9.96540729e-01 4.42954400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.1571056809999 meters Centerline goodness [0,1] 0.99934761335218 Centerline is valid? [True, True] Translation: X:204.09, Y:194.03, Z:44.31 [[-5.00069204e-01 -8.64982436e-01 4.16674555e-02 2.04085595e+02] [ 8.62338465e-01 -5.01797658e-01 -6.76127405e-02 1.94034417e+02] [ 7.93924646e-02 2.12040026e-03 9.96841181e-01 4.43052791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18710568099993 meters Centerline goodness [0,1] 0.9991311194982215 Centerline is valid? [True, True] Translation: X:204.07, Y:194.06, Z:44.31 [[-4.99810695e-01 -8.65177448e-01 4.07093781e-02 2.04072442e+02] [ 8.62657539e-01 -5.01461348e-01 -6.60188353e-02 1.94058162e+02] [ 7.75321871e-02 2.12133195e-03 9.96987593e-01 4.43096212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2171056809999 meters Centerline goodness [0,1] 0.9994840881937657 Centerline is valid? [True, True] Translation: X:204.06, Y:194.08, Z:44.31 [[-4.99632012e-01 -8.65319427e-01 3.98765848e-02 2.04058286e+02] [ 8.62906053e-01 -5.01216295e-01 -6.46171043e-02 1.94080386e+02] [ 7.59012297e-02 2.12497250e-03 9.97113077e-01 4.43114484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24710568099994 meters Centerline goodness [0,1] 0.999676427762498 Centerline is valid? [True, True] Translation: X:204.05, Y:194.10, Z:44.31 [[-4.98648113e-01 -8.65941826e-01 3.86628151e-02 2.04046960e+02] [ 8.63678767e-01 -5.00139999e-01 -6.26016705e-02 1.94104901e+02] [ 7.35462252e-02 2.17604762e-03 9.97289435e-01 4.43135823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2771056809999 meters Centerline goodness [0,1] 0.9995435996563574 Centerline is valid? [True, True] Translation: X:204.04, Y:194.13, Z:44.32 [[-4.98811379e-01 -8.65898494e-01 3.75100709e-02 2.04035783e+02] [ 8.63771752e-01 -5.00215222e-01 -6.06884811e-02 1.94129591e+02] [ 7.13131729e-02 2.12803474e-03 9.97451705e-01 4.43166319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30710568099994 meters Centerline goodness [0,1] 0.999543428049632 Centerline is valid? [True, True] Translation: X:204.02, Y:194.15, Z:44.32 [[-5.00096795e-01 -8.65191755e-01 3.66936416e-02 2.04022175e+02] [ 8.63158037e-01 -5.01437138e-01 -5.93211604e-02 1.94152229e+02] [ 6.97237335e-02 2.00608945e-03 9.97564322e-01 4.43198921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3371056809999 meters Centerline goodness [0,1] 0.9995961771436264 Centerline is valid? [True, True] Translation: X:204.01, Y:194.18, Z:44.32 [[-4.99383222e-01 -8.65630690e-01 3.60542173e-02 2.04009320e+02] [ 8.63671285e-01 -5.00678838e-01 -5.82461425e-02 1.94175062e+02] [ 6.84712322e-02 2.05184583e-03 9.97650981e-01 4.43248646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36710568099994 meters Centerline goodness [0,1] 0.9996524342967141 Centerline is valid? [True, True] Translation: X:203.99, Y:194.20, Z:44.33 [[-4.98339635e-01 -8.66230014e-01 3.60994544e-02 2.03993966e+02] [ 8.64270558e-01 -4.99640764e-01 -5.82709979e-02 1.94197460e+02] [ 6.85128463e-02 2.16094780e-03 9.97647894e-01 4.43276002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3971056809999 meters Centerline goodness [0,1] 0.9998124581379773 Centerline is valid? [True, True] Translation: X:203.97, Y:194.22, Z:44.33 [[-4.92864303e-01 -8.69373987e-01 3.56882372e-02 2.03974940e+02] [ 8.67470104e-01 -4.94147927e-01 -5.75625249e-02 1.94217329e+02] [ 6.76786302e-02 2.58796511e-03 9.97703817e-01 4.43285186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42710568099994 meters Centerline goodness [0,1] 0.9996496901104823 Centerline is valid? [True, True] Translation: X:203.96, Y:194.24, Z:44.33 [[-4.87889539e-01 -8.72177637e-01 3.56365975e-02 2.03956307e+02] [ 8.70289649e-01 -4.89180145e-01 -5.74344230e-02 1.94237543e+02] [ 6.75257353e-02 2.99250779e-03 9.97713045e-01 4.43307236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4571056809999 meters Centerline goodness [0,1] 0.9997828388392735 Centerline is valid? [True, True] Translation: X:203.93, Y:194.25, Z:44.33 [[-4.81690803e-01 -8.75610386e-01 3.57829757e-02 2.03929507e+02] [ 8.73719207e-01 -4.83005333e-01 -5.76246030e-02 1.94251768e+02] [ 6.77400690e-02 3.50703180e-03 9.97696840e-01 4.43321383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48710568099995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:194.27, Z:44.33 [[-4.82866902e-01 -8.74967429e-01 3.56588463e-02 2.03914944e+02] [ 8.73090760e-01 -4.84169652e-01 -5.73783235e-02 1.94273204e+02] [ 6.74690954e-02 3.42731592e-03 9.97715478e-01 4.43330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5171056809999 meters Centerline goodness [0,1] 0.9998913574881851 Centerline is valid? [True, True] Translation: X:203.91, Y:194.30, Z:44.33 [[-4.84835209e-01 -8.73873336e-01 3.57800601e-02 2.03905278e+02] [ 8.71984101e-01 -4.86142411e-01 -5.75263662e-02 1.94300058e+02] [ 6.76649622e-02 3.30883576e-03 9.97702613e-01 4.43342617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5471056809999 meters Centerline goodness [0,1] 0.9996741344195519 Centerline is valid? [True, True] Translation: X:203.89, Y:194.33, Z:44.34 [[-4.88192504e-01 -8.72020752e-01 3.53254558e-02 2.03893343e+02] [ 8.70177203e-01 -4.89459511e-01 -5.67540474e-02 1.94325223e+02] [ 6.67810874e-02 3.03250582e-03 9.97763043e-01 4.43358978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5771056809999 meters Centerline goodness [0,1] 0.9997296128055375 Centerline is valid? [True, True] Translation: X:203.88, Y:194.35, Z:44.34 [[-4.94953064e-01 -8.68227065e-01 3.46875766e-02 2.03883579e+02] [ 8.66442959e-01 -4.96160812e-01 -5.56870496e-02 1.94349659e+02] [ 6.55596198e-02 2.49233073e-03 9.97845541e-01 4.43381388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6071056809999 meters Centerline goodness [0,1] 0.9994597514856834 Centerline is valid? [True, True] Translation: X:203.87, Y:194.37, Z:44.34 [[-4.97330590e-01 -8.66858690e-01 3.49040913e-02 2.03870588e+02] [ 8.65051931e-01 -4.98548385e-01 -5.59880741e-02 1.94374048e+02] [ 6.59351269e-02 2.34926967e-03 9.97821146e-01 4.43384452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6371056809999 meters Centerline goodness [0,1] 0.9994340232858991 Centerline is valid? [True, True] Translation: X:203.86, Y:194.40, Z:44.34 [[-5.02549836e-01 -8.63814177e-01 3.56192399e-02 2.03861152e+02] [ 8.61927747e-01 -5.03806540e-01 -5.70922844e-02 1.94400423e+02] [ 6.72623307e-02 2.00949297e-03 9.97733301e-01 4.43370498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6671056809999 meters Centerline goodness [0,1] 0.9991130701212138 Centerline is valid? [True, True] Translation: X:203.85, Y:194.42, Z:44.34 [[-5.08369455e-01 -8.60376421e-01 3.62341070e-02 2.03849537e+02] [ 8.58418597e-01 -5.09656595e-01 -5.80316064e-02 1.94423965e+02] [ 6.83959775e-02 1.60253519e-03 9.97656966e-01 4.43383210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6971056809999 meters Centerline goodness [0,1] 0.9993265086206896 Centerline is valid? [True, True] Translation: X:203.84, Y:194.45, Z:44.34 [[-5.11139116e-01 -8.58709399e-01 3.68099325e-02 2.03835553e+02] [ 8.56687836e-01 -5.12460861e-01 -5.89051566e-02 1.94447593e+02] [ 6.94460613e-02 1.42589172e-03 9.97584689e-01 4.43409627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7271056809999 meters Centerline goodness [0,1] 0.9993245798886907 Centerline is valid? [True, True] Translation: X:203.82, Y:194.47, Z:44.34 [[-5.14297876e-01 -8.56818956e-01 3.68642235e-02 2.03821073e+02] [ 8.54789535e-01 -5.15615992e-01 -5.89491306e-02 1.94471015e+02] [ 6.95165158e-02 1.19373979e-03 9.97580087e-01 4.43414292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7571056809999 meters Centerline goodness [0,1] 0.9991633831705079 Centerline is valid? [True, True] Translation: X:203.81, Y:194.49, Z:44.34 [[-5.15823590e-01 -8.55906708e-01 3.67386809e-02 2.03806746e+02] [ 8.53891710e-01 -5.17129115e-01 -5.87062743e-02 1.94492573e+02] [ 6.92457355e-02 1.08877388e-03 9.97599039e-01 4.43420356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.7871056809999 meters Centerline goodness [0,1] 0.9987667229684442 Centerline is valid? [True, True] Translation: X:203.80, Y:194.52, Z:44.35 [[-5.21559974e-01 -8.52506227e-01 3.47609961e-02 2.03798206e+02] [ 8.50697127e-01 -5.22716703e-01 -5.55125794e-02 1.94519187e+02] [ 6.54949729e-02 6.17940095e-04 9.97852708e-01 4.43478642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81710568099993 meters Centerline goodness [0,1] 0.9990561712914273 Centerline is valid? [True, True] Translation: X:203.79, Y:194.54, Z:44.35 [[-5.25025806e-01 -8.50402709e-01 3.41047824e-02 2.03785673e+02] [ 8.48659409e-01 -5.26132205e-01 -5.44252762e-02 1.94542903e+02] [ 6.42270267e-02 3.68670023e-04 9.97935245e-01 4.43532204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.8471056809999 meters Centerline goodness [0,1] 0.9987844408427877 Centerline is valid? [True, True] Translation: X:203.77, Y:194.57, Z:44.36 [[-5.28564134e-01 -8.48218311e-01 3.38475019e-02 2.03773745e+02] [ 8.46499574e-01 -5.29646751e-01 -5.39702647e-02 1.94567194e+02] [ 6.37057862e-02 1.25149759e-04 9.97968716e-01 4.43558611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87710568099993 meters Centerline goodness [0,1] 0.9980087185834993 Centerline is valid? [True, True] Translation: X:203.76, Y:194.59, Z:44.35 [[-5.33430672e-01 -8.45123623e-01 3.48967085e-02 2.03763787e+02] [ 8.43293052e-01 -5.34570865e-01 -5.55951288e-02 1.94592601e+02] [ 6.56395204e-02 -2.27995050e-04 9.97843375e-01 4.43529780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9071056809999 meters Centerline goodness [0,1] 0.9979822980280326 Centerline is valid? [True, True] Translation: X:203.75, Y:194.62, Z:44.35 [[-5.36432149e-01 -8.43211208e-01 3.51483636e-02 2.03751860e+02] [ 8.41353099e-01 -5.37582239e-01 -5.59490653e-02 1.94616842e+02] [ 6.60720150e-02 -4.40692700e-04 9.97814760e-01 4.43530611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93710568099993 meters Centerline goodness [0,1] 0.9980955957298429 Centerline is valid? [True, True] Translation: X:203.74, Y:194.64, Z:44.35 [[-5.39804975e-01 -8.41059885e-01 3.50550953e-02 2.03740818e+02] [ 8.39210156e-01 -5.40941597e-01 -5.57539506e-02 1.94642043e+02] [ 6.58551705e-02 -6.77667896e-04 9.97828962e-01 4.43530608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.9671056809999 meters Centerline goodness [0,1] 0.9975390541408089 Centerline is valid? [True, True] Translation: X:203.73, Y:194.66, Z:44.35 [[-5.40223488e-01 -8.40782990e-01 3.52497755e-02 2.03727505e+02] [ 8.38915001e-01 -5.41371855e-01 -5.60190613e-02 1.94664056e+02] [ 6.61831102e-02 -6.91247243e-04 9.97807255e-01 4.43548375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99710568099994 meters Centerline goodness [0,1] 0.9977979483323487 Centerline is valid? [True, True] Translation: X:203.71, Y:194.69, Z:44.36 [[-5.41732723e-01 -8.39813307e-01 3.52032184e-02 2.03713075e+02] [ 8.37951416e-01 -5.42874753e-01 -5.58965691e-02 1.94687098e+02] [ 6.60536210e-02 -7.82413868e-04 9.97815768e-01 4.43577072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0271056809999 meters Centerline goodness [0,1] 0.9977752164473155 Centerline is valid? [True, True] Translation: X:203.70, Y:194.71, Z:44.36 [[-5.43574447e-01 -8.38646187e-01 3.46322668e-02 2.03701434e+02] [ 8.36844853e-01 -5.44675859e-01 -5.49445321e-02 1.94710940e+02] [ 6.49423820e-02 -8.84609492e-04 9.97888623e-01 4.43595535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05710568099994 meters Centerline goodness [0,1] 0.9975691847419597 Centerline is valid? [True, True] Translation: X:203.69, Y:194.73, Z:44.36 [[-5.43126341e-01 -8.38932303e-01 3.47328181e-02 2.03686224e+02] [ 8.37123906e-01 -5.44235154e-01 -5.50605420e-02 1.94733651e+02] [ 6.50948879e-02 -8.29158350e-04 9.97878734e-01 4.43603067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0871056809999 meters Centerline goodness [0,1] 0.9978918918918919 Centerline is valid? [True, True] Translation: X:203.67, Y:194.75, Z:44.37 [[-5.39332047e-01 -8.41387882e-01 3.44583044e-02 2.03665755e+02] [ 8.39615795e-01 -5.40431472e-01 -5.45815178e-02 1.94753783e+02] [ 6.45465798e-02 -5.05825099e-04 9.97914567e-01 4.43654902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11710568099994 meters Centerline goodness [0,1] 0.9983751286356497 Centerline is valid? [True, True] Translation: X:203.65, Y:194.77, Z:44.37 [[-5.35405919e-01 -8.43887509e-01 3.45597165e-02 2.03646080e+02] [ 8.42112562e-01 -5.36520118e-01 -5.47046170e-02 1.94772928e+02] [ 6.47065261e-02 -1.86004292e-04 9.97904320e-01 4.43704249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1471056809999 meters Centerline goodness [0,1] 0.9982368578093637 Centerline is valid? [True, True] Translation: X:203.63, Y:194.79, Z:44.37 [[-5.32215103e-01 -8.45892909e-01 3.48176639e-02 2.03627620e+02] [ 8.44098678e-01 -5.33352771e-01 -5.50658107e-02 1.94791887e+02] [ 6.51498764e-02 8.26879586e-05 9.97875487e-01 4.43732812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17710568099994 meters Centerline goodness [0,1] 0.9987808512367586 Centerline is valid? [True, True] Translation: X:203.61, Y:194.81, Z:44.37 [[-5.24930399e-01 -8.50430326e-01 3.48760139e-02 2.03606810e+02] [ 8.48643126e-01 -5.26087268e-01 -5.51092724e-02 1.94809594e+02] [ 6.52144233e-02 6.68757091e-04 9.97871050e-01 4.43729440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2071056809999 meters Centerline goodness [0,1] 0.9992093352963629 Centerline is valid? [True, True] Translation: X:203.59, Y:194.83, Z:44.37 [[-5.20211594e-01 -8.53317566e-01 3.50575294e-02 2.03589944e+02] [ 8.51521248e-01 -5.21390459e-01 -5.53493758e-02 1.94830771e+02] [ 6.55092559e-02 1.05884417e-03 9.97851400e-01 4.43710155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23710568099995 meters Centerline goodness [0,1] 0.9992676774526025 Centerline is valid? [True, True] Translation: X:203.58, Y:194.85, Z:44.37 [[-5.19198088e-01 -8.53922136e-01 3.53600230e-02 2.03575641e+02] [ 8.52098992e-01 -5.20399483e-01 -5.57824869e-02 1.94852174e+02] [ 6.60352380e-02 1.16807938e-03 9.97816608e-01 4.43711592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2671056809999 meters Centerline goodness [0,1] 0.9994281980068617 Centerline is valid? [True, True] Translation: X:203.56, Y:194.88, Z:44.37 [[-5.20148828e-01 -8.53342641e-01 3.53770180e-02 2.03563832e+02] [ 8.51519445e-01 -5.21349292e-01 -5.57633431e-02 1.94876968e+02] [ 6.60290217e-02 1.11898117e-03 9.97817076e-01 4.43731212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2971056809999 meters Centerline goodness [0,1] 0.999160346695558 Centerline is valid? [True, True] Translation: X:203.55, Y:194.90, Z:44.38 [[-5.21372986e-01 -8.52614542e-01 3.49092090e-02 2.03550731e+02] [ 8.50840546e-01 -5.22539347e-01 -5.49817717e-02 1.94898741e+02] [ 6.51196934e-02 1.03616005e-03 9.97876922e-01 4.43763184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3271056809999 meters Centerline goodness [0,1] 0.999160346695558 Centerline is valid? [True, True] Translation: X:203.54, Y:194.92, Z:44.38 [[-5.21676984e-01 -8.52427708e-01 3.49303189e-02 2.03536410e+02] [ 8.50654192e-01 -5.22844074e-01 -5.49683573e-02 1.94920882e+02] [ 6.51196611e-02 1.03789529e-03 9.97876923e-01 4.43780090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3571056809999 meters Centerline goodness [0,1] 0.9993539008237764 Centerline is valid? [True, True] Translation: X:203.53, Y:194.95, Z:44.38 [[-5.25948306e-01 -8.49868333e-01 3.31993376e-02 2.03526343e+02] [ 8.48263696e-01 -5.26994611e-01 -5.22051870e-02 1.94946821e+02] [ 6.18634072e-02 7.04563150e-04 9.98084376e-01 4.43836088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3871056809999 meters Centerline goodness [0,1] 0.999352925316797 Centerline is valid? [True, True] Translation: X:203.51, Y:194.97, Z:44.39 [[-5.28863778e-01 -8.48079333e-01 3.26274378e-02 2.03514671e+02] [ 8.46528342e-01 -5.29869031e-01 -5.12696365e-02 1.94970240e+02] [ 6.07689879e-02 5.05397180e-04 9.98151729e-01 4.43866888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4171056809999 meters Centerline goodness [0,1] 0.9992740959806425 Centerline is valid? [True, True] Translation: X:203.51, Y:195.00, Z:44.39 [[-5.36833218e-01 -8.43110733e-01 3.12151982e-02 2.03506418e+02] [ 8.41684343e-01 -5.37739984e-01 -4.90222039e-02 1.94996447e+02] [ 5.81168064e-02 -4.34039189e-05 9.98309789e-01 4.43917135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4471056809999 meters Centerline goodness [0,1] 0.999141699970496 Centerline is valid? [True, True] Translation: X:203.50, Y:195.02, Z:44.39 [[-5.42190746e-01 -8.39667185e-01 3.14358634e-02 2.03495385e+02] [ 8.38217018e-01 -5.43101152e-01 -4.93291916e-02 1.95021783e+02] [ 5.84929570e-02 -3.95755514e-04 9.98287743e-01 4.43935995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.4771056809999 meters Centerline goodness [0,1] 0.9983886994118752 Centerline is valid? [True, True] Translation: X:203.49, Y:195.05, Z:44.39 [[-5.53147616e-01 -8.32460979e-01 3.21936907e-02 2.03488186e+02] [ 8.30930042e-01 -5.54082439e-01 -5.04768945e-02 1.95050430e+02] [ 5.98580036e-02 -1.17046908e-03 9.98206216e-01 4.43905411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5071056809999 meters Centerline goodness [0,1] 0.9974250999114878 Centerline is valid? [True, True] Translation: X:203.48, Y:195.08, Z:44.39 [[-5.59240584e-01 -8.28364434e-01 3.25934770e-02 2.03477459e+02] [ 8.26790576e-01 -5.60187268e-01 -5.10643483e-02 1.95076230e+02] [ 6.05583408e-02 -1.60927636e-03 9.98163362e-01 4.43902510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5371056809999 meters Centerline goodness [0,1] 0.9962206903893753 Centerline is valid? [True, True] Translation: X:203.47, Y:195.10, Z:44.39 [[-5.70366055e-01 -8.20689257e-01 3.39368233e-02 2.03472193e+02] [ 8.18971884e-01 -5.71369284e-01 -5.31243252e-02 1.95104709e+02] [ 6.29890214e-02 -2.50700766e-03 9.98011071e-01 4.43853256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56710568099993 meters Centerline goodness [0,1] 0.9962649996026596 Centerline is valid? [True, True] Translation: X:203.46, Y:195.13, Z:44.38 [[-5.74835558e-01 -8.17512703e-01 3.51719024e-02 2.03461300e+02] [ 8.15664203e-01 -5.75903058e-01 -5.50234209e-02 1.95130494e+02] [ 6.52379516e-02 -2.94095713e-03 9.97865402e-01 4.43848896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.5971056809999 meters Centerline goodness [0,1] 0.9968119022316685 Centerline is valid? [True, True] Translation: X:203.45, Y:195.15, Z:44.39 [[-5.75336257e-01 -8.17043496e-01 3.77904321e-02 2.03445377e+02] [ 8.14911561e-01 -5.76567212e-01 -5.90711171e-02 1.95153560e+02] [ 7.00523962e-02 -3.18989540e-03 9.97538213e-01 4.43851128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62710568099993 meters Centerline goodness [0,1] 0.9964759810285896 Centerline is valid? [True, True] Translation: X:203.43, Y:195.18, Z:44.38 [[-5.74716805e-01 -8.17408288e-01 3.92973816e-02 2.03432000e+02] [ 8.15107097e-01 -5.76049626e-01 -6.13779239e-02 1.95176254e+02] [ 7.28080657e-02 -3.24334974e-03 9.97340697e-01 4.43842795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.6571056809999 meters Centerline goodness [0,1] 0.9970290201071675 Centerline is valid? [True, True] Translation: X:203.41, Y:195.20, Z:44.38 [[-5.70800624e-01 -8.20047475e-01 4.13374812e-02 2.03410335e+02] [ 8.17512063e-01 -5.72287498e-01 -6.45061684e-02 1.95195126e+02] [ 7.65550442e-02 -3.02627161e-03 9.97060764e-01 4.43811005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68710568099993 meters Centerline goodness [0,1] 0.9978109983982915 Centerline is valid? [True, True] Translation: X:203.39, Y:195.22, Z:44.38 [[-5.68677574e-01 -8.21491273e-01 4.19273868e-02 2.03393254e+02] [ 8.18890663e-01 -5.70213994e-01 -6.53764694e-02 1.95217575e+02] [ 7.76137817e-02 -2.84418640e-03 9.96979444e-01 4.43811848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7171056809999 meters Centerline goodness [0,1] 0.9978840230346859 Centerline is valid? [True, True] Translation: X:203.38, Y:195.24, Z:44.38 [[-5.66942211e-01 -8.22639843e-01 4.28977684e-02 2.03375019e+02] [ 8.19924374e-01 -5.68556311e-01 -6.68411669e-02 1.95238803e+02] [ 7.93760040e-02 -2.72215300e-03 9.96841030e-01 4.43821747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74710568099994 meters Centerline goodness [0,1] 0.9979087350528179 Centerline is valid? [True, True] Translation: X:203.36, Y:195.26, Z:44.38 [[-5.67145019e-01 -8.22495879e-01 4.29774050e-02 2.03361462e+02] [ 8.19773817e-01 -5.68764569e-01 -6.69160223e-02 1.95260930e+02] [ 7.94821778e-02 -2.71933738e-03 9.96832578e-01 4.43843478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7771056809999 meters Centerline goodness [0,1] 0.9979685119349924 Centerline is valid? [True, True] Translation: X:203.35, Y:195.28, Z:44.39 [[-5.68636992e-01 -8.21518465e-01 4.19450000e-02 2.03349620e+02] [ 8.18926624e-01 -5.70175223e-01 -6.52640792e-02 1.95284120e+02] [ 7.75316459e-02 -2.76169249e-03 9.96986067e-01 4.43865975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80710568099994 meters Centerline goodness [0,1] 0.9978621058257616 Centerline is valid? [True, True] Translation: X:203.33, Y:195.31, Z:44.39 [[-5.69963632e-01 -8.20621218e-01 4.15002920e-02 2.03334775e+02] [ 8.18085933e-01 -5.71465531e-01 -6.45178582e-02 1.95306959e+02] [ 7.66607098e-02 -2.82202777e-03 9.97053244e-01 4.43895295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8371056809999 meters Centerline goodness [0,1] 0.9974394537501333 Centerline is valid? [True, True] Translation: X:203.32, Y:195.33, Z:44.39 [[-5.73576250e-01 -8.18128836e-01 4.09327833e-02 2.03323274e+02] [ 8.15659785e-01 -5.75026684e-01 -6.35879539e-02 1.95331995e+02] [ 7.55605814e-02 -3.08531487e-03 9.97136440e-01 4.43921591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86710568099994 meters Centerline goodness [0,1] 0.9973922993001783 Centerline is valid? [True, True] Translation: X:203.31, Y:195.36, Z:44.40 [[-5.77711218e-01 -8.15252495e-01 4.01636437e-02 2.03312316e+02] [ 8.12872204e-01 -5.79095865e-01 -6.23438716e-02 1.95356001e+02] [ 7.40845968e-02 -3.36884441e-03 9.97246270e-01 4.43986950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8971056809999 meters Centerline goodness [0,1] 0.9972787663740896 Centerline is valid? [True, True] Translation: X:203.30, Y:195.38, Z:44.40 [[-5.79573290e-01 -8.13956337e-01 3.96217455e-02 2.03297302e+02] [ 8.11640459e-01 -5.80915759e-01 -6.14544247e-02 1.95379136e+02] [ 7.30381148e-02 -3.45873147e-03 9.97323153e-01 4.44030772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92710568099994 meters Centerline goodness [0,1] 0.9966727887353936 Centerline is valid? [True, True] Translation: X:203.28, Y:195.40, Z:44.41 [[-5.80352324e-01 -8.13427753e-01 3.90700821e-02 2.03283461e+02] [ 8.11178066e-01 -5.81655732e-01 -6.05537396e-02 1.95401885e+02] [ 7.19814295e-02 -3.44970984e-03 9.97400007e-01 4.44064617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9571056809999 meters Centerline goodness [0,1] 0.9969106210716949 Centerline is valid? [True, True] Translation: X:203.27, Y:195.42, Z:44.41 [[-5.77442844e-01 -8.15556870e-01 3.77723972e-02 2.03267725e+02] [ 8.13462087e-01 -5.78668886e-01 -5.84957499e-02 1.95422209e+02] [ 6.95643218e-02 -3.05153908e-03 9.97572801e-01 4.44101243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98710568099995 meters Centerline goodness [0,1] 0.9971525135056019 Centerline is valid? [True, True] Translation: X:203.25, Y:195.44, Z:44.41 [[-5.76052369e-01 -8.16545446e-01 3.76457542e-02 2.03252822e+02] [ 8.14469986e-01 -5.77273894e-01 -5.82536972e-02 1.95444880e+02] [ 6.92987023e-02 -2.89584332e-03 9.97591752e-01 4.44106282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0171056809999 meters Centerline goodness [0,1] 0.9976273626402922 Centerline is valid? [True, True] Translation: X:203.24, Y:195.47, Z:44.41 [[-5.72075396e-01 -8.19277147e-01 3.89191179e-02 2.03235873e+02] [ 8.17068576e-01 -5.73391725e-01 -6.01736889e-02 1.95465461e+02] [ 7.16148283e-02 -2.62429865e-03 9.97428909e-01 4.44073873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0471056809999 meters Centerline goodness [0,1] 0.9978436227138407 Centerline is valid? [True, True] Translation: X:203.22, Y:195.49, Z:44.41 [[-5.68823416e-01 -8.21437423e-01 4.09936804e-02 2.03215543e+02] [ 8.18996460e-01 -5.70293406e-01 -6.33263811e-02 1.95485197e+02] [ 7.53970849e-02 -2.44784926e-03 9.97150584e-01 4.44075632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0771056809999 meters Centerline goodness [0,1] 0.9981570020566789 Centerline is valid? [True, True] Translation: X:203.20, Y:195.51, Z:44.41 [[-5.67540492e-01 -8.22306100e-01 4.13578046e-02 2.03199974e+02] [ 8.19827486e-01 -5.69040656e-01 -6.38406197e-02 1.95507240e+02] [ 7.60308032e-02 -2.32587169e-03 9.97102757e-01 4.44103226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1071056809999 meters Centerline goodness [0,1] 0.9985566514313207 Centerline is valid? [True, True] Translation: X:203.18, Y:195.53, Z:44.41 [[-5.65011456e-01 -8.24093839e-01 4.03905762e-02 2.03182968e+02] [ 8.21737854e-01 -5.66449732e-01 -6.23024822e-02 1.95528638e+02] [ 7.42223228e-02 -2.01115081e-03 9.97239691e-01 4.44135518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1371056809999 meters Centerline goodness [0,1] 0.9980540079439127 Centerline is valid? [True, True] Translation: X:203.17, Y:195.55, Z:44.41 [[-5.63845289e-01 -8.24875387e-01 4.07318844e-02 2.03167476e+02] [ 8.22485060e-01 -5.65311417e-01 -6.27799889e-02 1.95551205e+02] [ 7.48118669e-02 -1.89683457e-03 9.97195862e-01 4.44148209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1671056809999 meters Centerline goodness [0,1] 0.9984257431026202 Centerline is valid? [True, True] Translation: X:203.15, Y:195.57, Z:44.41 [[-5.62058500e-01 -8.26105134e-01 4.05037030e-02 2.03151461e+02] [ 8.23748258e-01 -5.63513468e-01 -6.23809222e-02 1.95574218e+02] [ 7.43575822e-02 -1.69687281e-03 9.97230199e-01 4.44146966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1971056809999 meters Centerline goodness [0,1] 0.9984313934012177 Centerline is valid? [True, True] Translation: X:203.14, Y:195.60, Z:44.41 [[-5.62375562e-01 -8.25847123e-01 4.13552467e-02 2.03139443e+02] [ 8.23392962e-01 -5.63891392e-01 -6.36437692e-02 1.95597888e+02] [ 7.58798912e-02 -1.74008144e-03 9.97115447e-01 4.44148946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2271056809999 meters Centerline goodness [0,1] 0.9981123045836435 Centerline is valid? [True, True] Translation: X:203.12, Y:195.62, Z:44.42 [[-5.63418884e-01 -8.25124720e-01 4.15735197e-02 2.03124300e+02] [ 8.22646759e-01 -5.64947695e-01 -6.39250518e-02 1.95620003e+02] [ 7.62330046e-02 -1.81626012e-03 9.97088376e-01 4.44184837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2571056809999 meters Centerline goodness [0,1] 0.9983525097653655 Centerline is valid? [True, True] Translation: X:203.11, Y:195.64, Z:44.42 [[-5.67368947e-01 -8.22398064e-01 4.18796199e-02 2.03110375e+02] [ 8.19879947e-01 -5.68908352e-01 -6.43440767e-02 1.95644045e+02] [ 7.67421096e-02 -2.17057051e-03 9.97048613e-01 4.44235891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.2871056809999 meters Centerline goodness [0,1] 0.998432268693203 Centerline is valid? [True, True] Translation: X:203.10, Y:195.67, Z:44.42 [[-5.69089009e-01 -8.21168252e-01 4.26661615e-02 2.03097779e+02] [ 8.18554933e-01 -5.70681318e-01 -6.55030852e-02 1.95668288e+02] [ 7.81378353e-02 -2.35248886e-03 9.96939790e-01 4.44221404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31710568099993 meters Centerline goodness [0,1] 0.9980451207270038 Centerline is valid? [True, True] Translation: X:203.09, Y:195.69, Z:44.42 [[-5.74805302e-01 -8.17095437e-01 4.42030704e-02 2.03089957e+02] [ 8.14282520e-01 -5.76494712e-01 -6.78072583e-02 1.95694295e+02] [ 8.08878377e-02 -2.98218396e-03 9.96718749e-01 4.44167111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.3471056809999 meters Centerline goodness [0,1] 0.9976008436593725 Centerline is valid? [True, True] Translation: X:203.07, Y:195.72, Z:44.42 [[-5.78102002e-01 -8.14704674e-01 4.53251595e-02 2.03073671e+02] [ 8.11744571e-01 -5.79866327e-01 -6.94679403e-02 1.95716184e+02] [ 8.28783894e-02 -3.36710318e-03 9.96553980e-01 4.44184551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37710568099993 meters Centerline goodness [0,1] 0.9977326056579399 Centerline is valid? [True, True] Translation: X:203.06, Y:195.74, Z:44.42 [[-5.81482521e-01 -8.12247778e-01 4.61695175e-02 2.03064535e+02] [ 8.09172945e-01 -5.83300466e-01 -7.07086363e-02 1.95742340e+02] [ 8.43636338e-02 -3.75671159e-03 9.96427952e-01 4.44172338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4071056809999 meters Centerline goodness [0,1] 0.9973331925118158 Centerline is valid? [True, True] Translation: X:203.05, Y:195.76, Z:44.42 [[-5.85499045e-01 -8.09280697e-01 4.74933921e-02 2.03051665e+02] [ 8.06020686e-01 -5.87406527e-01 -7.26926772e-02 1.95764814e+02] [ 8.67267090e-02 -4.28083657e-03 9.96222943e-01 4.44170971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43710568099993 meters Centerline goodness [0,1] 0.9969850043638094 Centerline is valid? [True, True] Translation: X:203.04, Y:195.79, Z:44.42 [[-5.86013755e-01 -8.08901244e-01 4.76094136e-02 2.03036607e+02] [ 8.05628412e-01 -5.87928680e-01 -7.28198366e-02 1.95786464e+02] [ 8.68949961e-02 -4.31792958e-03 9.96208118e-01 4.44164132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.4671056809999 meters Centerline goodness [0,1] 0.9978451142621512 Centerline is valid? [True, True] Translation: X:203.01, Y:195.80, Z:44.42 [[-5.83419637e-01 -8.10815217e-01 4.69063962e-02 2.03010221e+02] [ 8.07649569e-01 -5.85288956e-01 -7.16869003e-02 1.95800774e+02] [ 8.55786254e-02 -3.93961476e-03 9.96323631e-01 4.44195832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49710568099994 meters Centerline goodness [0,1] 0.9978543650261499 Centerline is valid? [True, True] Translation: X:202.99, Y:195.82, Z:44.42 [[-5.82242074e-01 -8.11662528e-01 4.68839793e-02 2.02990585e+02] [ 8.08507798e-01 -5.84114429e-01 -7.15924137e-02 1.95818409e+02] [ 8.54944884e-02 -3.77805257e-03 9.96331480e-01 4.44213730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5271056809999 meters Centerline goodness [0,1] 0.9979631217838765 Centerline is valid? [True, True] Translation: X:202.98, Y:195.84, Z:44.42 [[-5.83617658e-01 -8.10658481e-01 4.71514179e-02 2.02976931e+02] [ 8.07469494e-01 -5.85506207e-01 -7.19409305e-02 1.95840314e+02] [ 8.59269733e-02 -3.91266587e-03 9.96293755e-01 4.44220314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55710568099994 meters Centerline goodness [0,1] 0.9977666559035626 Centerline is valid? [True, True] Translation: X:202.96, Y:195.86, Z:44.43 [[-5.86136634e-01 -8.08849561e-01 4.69705670e-02 2.02962936e+02] [ 8.05683944e-01 -5.88001131e-01 -7.16104222e-02 1.95862278e+02] [ 8.55408051e-02 -4.13006008e-03 9.96326108e-01 4.44279884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5871056809999 meters Centerline goodness [0,1] 0.9969177990404975 Centerline is valid? [True, True] Translation: X:202.95, Y:195.89, Z:44.43 [[-5.90152434e-01 -8.05966275e-01 4.62435691e-02 2.02952239e+02] [ 8.02893247e-01 -5.91944725e-01 -7.04547839e-02 1.95885505e+02] [ 8.41578165e-02 -4.45041285e-03 9.96442500e-01 4.44332197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61710568099994 meters Centerline goodness [0,1] 0.9974490480921565 Centerline is valid? [True, True] Translation: X:202.94, Y:195.91, Z:44.43 [[-5.90382055e-01 -8.05822527e-01 4.58157637e-02 2.02938967e+02] [ 8.02810552e-01 -5.92140808e-01 -6.97458408e-02 1.95906685e+02] [ 8.33321530e-02 -4.39531423e-03 9.96512134e-01 4.44348043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6471056809999 meters Centerline goodness [0,1] 0.9970457109093839 Centerline is valid? [True, True] Translation: X:202.92, Y:195.93, Z:44.44 [[-5.89288564e-01 -8.06685020e-01 4.47019701e-02 2.02922725e+02] [ 8.03824198e-01 -5.90967112e-01 -6.80039077e-02 1.95928664e+02] [ 8.12751278e-02 -4.14139981e-03 9.96683100e-01 4.44374169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67710568099994 meters Centerline goodness [0,1] 0.9976342814129792 Centerline is valid? [True, True] Translation: X:202.90, Y:195.95, Z:44.44 [[-5.86398890e-01 -8.08809762e-01 4.43070116e-02 2.02904442e+02] [ 8.06009378e-01 -5.88058204e-01 -6.73530307e-02 1.95948125e+02] [ 8.05308904e-02 -3.78387560e-03 9.96744931e-01 4.44398327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7071056809999 meters Centerline goodness [0,1] 0.9978794223439094 Centerline is valid? [True, True] Translation: X:202.88, Y:195.97, Z:44.45 [[-5.82079506e-01 -8.12003328e-01 4.28257465e-02 2.02884704e+02] [ 8.09399881e-01 -5.83644026e-01 -6.50498494e-02 1.95965668e+02] [ 7.78156853e-02 -3.20103007e-03 9.96962623e-01 4.44455331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73710568099995 meters Centerline goodness [0,1] 0.997902492806626 Centerline is valid? [True, True] Translation: X:202.87, Y:195.99, Z:44.45 [[-5.80761422e-01 -8.12973463e-01 4.23121650e-02 2.02869865e+02] [ 8.10438920e-01 -5.82292997e-01 -6.42154455e-02 1.95985483e+02] [ 7.68435304e-02 -3.00242814e-03 9.97038644e-01 4.44519699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7671056809999 meters Centerline goodness [0,1] 0.9973729823421081 Centerline is valid? [True, True] Translation: X:202.85, Y:196.00, Z:44.46 [[-5.75871552e-01 -8.16517546e-01 4.08785135e-02 2.02851403e+02] [ 8.14164752e-01 -5.77315567e-01 -6.19878412e-02 1.96002300e+02] [ 7.42139622e-02 -2.41518951e-03 9.97239417e-01 4.44615897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7971056809999 meters Centerline goodness [0,1] 0.9982890198528014 Centerline is valid? [True, True] Translation: X:202.83, Y:196.02, Z:44.47 [[-5.72622380e-01 -8.18815178e-01 4.05624603e-02 2.02830683e+02] [ 8.16508101e-01 -5.74053488e-01 -6.14582313e-02 1.96020781e+02] [ 7.36079545e-02 -2.07278126e-03 9.97285101e-01 4.44663067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8271056809999 meters Centerline goodness [0,1] 0.9981811765344626 Centerline is valid? [True, True] Translation: X:202.82, Y:196.04, Z:44.47 [[-5.70916888e-01 -8.20008637e-01 4.04937403e-02 2.02815035e+02] [ 8.17715741e-01 -5.72348028e-01 -6.13082481e-02 1.96042583e+02] [ 7.34498054e-02 -1.88954536e-03 9.97297125e-01 4.44668549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8571056809999 meters Centerline goodness [0,1] 0.9983728813559322 Centerline is valid? [True, True] Translation: X:202.80, Y:196.06, Z:44.46 [[-5.65977570e-01 -8.23387498e-01 4.12603816e-02 2.02796095e+02] [ 8.21019396e-01 -5.67477681e-01 -6.24198146e-02 1.96062934e+02] [ 7.48100406e-02 -1.45264139e-03 9.97196745e-01 4.44644007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8871056809999 meters Centerline goodness [0,1] 0.9987718005404078 Centerline is valid? [True, True] Translation: X:202.78, Y:196.08, Z:44.46 [[-5.61285345e-01 -8.26495295e-01 4.31774178e-02 2.02777620e+02] [ 8.23914868e-01 -5.62942631e-01 -6.52677983e-02 1.96081836e+02] [ 7.82499374e-02 -1.05934216e-03 9.96933210e-01 4.44631618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9171056809999 meters Centerline goodness [0,1] 0.998576629348808 Centerline is valid? [True, True] Translation: X:202.76, Y:196.10, Z:44.46 [[-5.57203180e-01 -8.29204701e-01 4.40928487e-02 2.02761353e+02] [ 8.26526287e-01 -5.58944650e-01 -6.65971079e-02 1.96101541e+02] [ 7.98680969e-02 -6.64221765e-04 9.96805220e-01 4.44604425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9471056809999 meters Centerline goodness [0,1] 0.9987110928287399 Centerline is valid? [True, True] Translation: X:202.74, Y:196.12, Z:44.47 [[-5.55765286e-01 -8.30173157e-01 4.40167726e-02 2.02744590e+02] [ 8.27510784e-01 -5.57505409e-01 -6.64350883e-02 1.96121701e+02] [ 7.96922158e-02 -4.97961883e-04 9.96819393e-01 4.44655741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.9771056809999 meters Centerline goodness [0,1] 0.9984412174911805 Centerline is valid? [True, True] Translation: X:202.73, Y:196.14, Z:44.47 [[-5.54826413e-01 -8.30774112e-01 4.45199504e-02 2.02728703e+02] [ 8.28056889e-01 -5.56609582e-01 -6.71383738e-02 1.96141989e+02] [ 8.05570538e-02 -3.85091484e-04 9.96749925e-01 4.44680490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0071056809999 meters Centerline goodness [0,1] 0.9987898457053275 Centerline is valid? [True, True] Translation: X:202.71, Y:196.16, Z:44.47 [[-5.53908535e-01 -8.31303975e-01 4.60329873e-02 2.02713261e+02] [ 8.28405380e-01 -5.55817973e-01 -6.93607032e-02 1.96163898e+02] [ 8.32457900e-02 -2.85511167e-04 9.96529005e-01 4.44656618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0371056809999 meters Centerline goodness [0,1] 0.998718962086729 Centerline is valid? [True, True] Translation: X:202.70, Y:196.19, Z:44.47 [[-5.56427742e-01 -8.29596508e-01 4.64521525e-02 2.02699782e+02] [ 8.26643425e-01 -5.58363115e-01 -6.99376828e-02 1.96186657e+02] [ 8.39572260e-02 -5.15900453e-04 9.96469226e-01 4.44668351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06710568099993 meters Centerline goodness [0,1] 0.9987934958457868 Centerline is valid? [True, True] Translation: X:202.69, Y:196.21, Z:44.46 [[-5.57361435e-01 -8.28939987e-01 4.69758379e-02 2.02686948e+02] [ 8.25922391e-01 -5.59337243e-01 -7.06686171e-02 1.96209995e+02] [ 8.48553781e-02 -5.89565480e-04 9.96393104e-01 4.44634787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.0971056809999 meters Centerline goodness [0,1] 0.9983567046450482 Centerline is valid? [True, True] Translation: X:202.67, Y:196.23, Z:44.47 [[-5.60965075e-01 -8.26542208e-01 4.63267056e-02 2.02672385e+02] [ 8.23604086e-01 -5.62874012e-01 -6.96358771e-02 1.96231481e+02] [ 8.36330902e-02 -9.08431002e-04 9.96496202e-01 4.44718019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12710568099993 meters Centerline goodness [0,1] 0.9984429632867133 Centerline is valid? [True, True] Translation: X:202.66, Y:196.25, Z:44.47 [[-5.63430142e-01 -8.24906989e-01 4.55514527e-02 2.02659555e+02] [ 8.22066018e-01 -5.65267416e-01 -6.84120718e-02 1.96253384e+02] [ 8.21823481e-02 -1.09912203e-03 9.96616703e-01 4.44731932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.1571056809999 meters Centerline goodness [0,1] 0.9985330870368359 Centerline is valid? [True, True] Translation: X:202.65, Y:196.28, Z:44.47 [[-5.69860838e-01 -8.20481705e-01 4.54796337e-02 2.02649435e+02] [ 8.17640323e-01 -5.71670243e-01 -6.82454093e-02 1.96279137e+02] [ 8.19934630e-02 -1.70440375e-03 9.96631410e-01 4.44739223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18710568099993 meters Centerline goodness [0,1] 0.9984531466254173 Centerline is valid? [True, True] Translation: X:202.64, Y:196.30, Z:44.48 [[-5.72773957e-01 -8.18421430e-01 4.60038837e-02 2.02637625e+02] [ 8.15511803e-01 -5.74614995e-01 -6.89790326e-02 1.96303674e+02] [ 8.28884399e-02 -1.99268331e-03 9.96556840e-01 4.44759725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2171056809999 meters Centerline goodness [0,1] 0.9984531466254173 Centerline is valid? [True, True] Translation: X:202.62, Y:196.32, Z:44.48 [[-5.73096461e-01 -8.18194214e-01 4.60290720e-02 2.02623235e+02] [ 8.15285204e-01 -5.74938473e-01 -6.89622222e-02 1.96324758e+02] [ 8.28883756e-02 -1.99518414e-03 9.96556841e-01 4.44776081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24710568099994 meters Centerline goodness [0,1] 0.9983734106866918 Centerline is valid? [True, True] Translation: X:202.61, Y:196.35, Z:44.48 [[-5.75204817e-01 -8.16683375e-01 4.65583919e-02 2.02612604e+02] [ 8.13706995e-01 -5.77081802e-01 -6.96959104e-02 1.96348547e+02] [ 8.37874920e-02 -2.20453422e-03 9.96481207e-01 4.44784185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2771056809999 meters Centerline goodness [0,1] 0.9984580008115785 Centerline is valid? [True, True] Translation: X:202.60, Y:196.37, Z:44.48 [[-5.75043271e-01 -8.16833671e-01 4.59128617e-02 2.02597526e+02] [ 8.13944412e-01 -5.76869359e-01 -6.86748552e-02 1.96370248e+02] [ 8.25816571e-02 -2.12049614e-03 9.96582045e-01 4.44817230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30710568099994 meters Centerline goodness [0,1] 0.9984577504802619 Centerline is valid? [True, True] Translation: X:202.58, Y:196.39, Z:44.48 [[-5.71750528e-01 -8.19182587e-01 4.51799015e-02 2.02580788e+02] [ 8.16396594e-01 -5.73530227e-01 -6.75254113e-02 1.96389712e+02] [ 8.12276802e-02 -1.72297182e-03 9.96694083e-01 4.44841916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3371056809999 meters Centerline goodness [0,1] 0.9984029450775519 Centerline is valid? [True, True] Translation: X:202.57, Y:196.41, Z:44.48 [[-5.69671610e-01 -8.20650619e-01 4.47975373e-02 2.02565124e+02] [ 8.17920302e-01 -5.71428382e-01 -6.69027901e-02 1.96411060e+02] [ 8.05024004e-02 -1.47180495e-03 9.96753328e-01 4.44847303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36710568099994 meters Centerline goodness [0,1] 0.9983775013520823 Centerline is valid? [True, True] Translation: X:202.55, Y:196.43, Z:44.49 [[-5.68877744e-01 -8.21154431e-01 4.56455155e-02 2.02550717e+02] [ 8.18325519e-01 -5.70704344e-01 -6.81167871e-02 1.96432799e+02] [ 8.19844956e-02 -1.39723402e-03 9.96632626e-01 4.44864312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3971056809999 meters Centerline goodness [0,1] 0.998651927743327 Centerline is valid? [True, True] Translation: X:202.54, Y:196.46, Z:44.49 [[-5.72707368e-01 -8.18490724e-01 4.55983062e-02 2.02538022e+02] [ 8.15663679e-01 -5.74517089e-01 -6.79917506e-02 1.96456255e+02] [ 8.18476232e-02 -1.74649436e-03 9.96643325e-01 4.44902182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42710568099994 meters Centerline goodness [0,1] 0.9984944617700828 Centerline is valid? [True, True] Translation: X:202.53, Y:196.48, Z:44.49 [[-5.75823025e-01 -8.16277592e-01 4.60297235e-02 2.02527138e+02] [ 8.13394192e-01 -5.77656205e-01 -6.85798641e-02 1.96480606e+02] [ 8.25695618e-02 -2.04955514e-03 9.96583196e-01 4.44905576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4571056809999 meters Centerline goodness [0,1] 0.9982215036378335 Centerline is valid? [True, True] Translation: X:202.52, Y:196.50, Z:44.49 [[-5.78550579e-01 -8.14323283e-01 4.64415590e-02 2.02516252e+02] [ 8.11386154e-01 -5.80406938e-01 -6.91396773e-02 1.96504342e+02] [ 8.32570521e-02 -2.31876235e-03 9.96525407e-01 4.44911654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48710568099995 meters Centerline goodness [0,1] 0.9982044754120327 Centerline is valid? [True, True] Translation: X:202.51, Y:196.53, Z:44.49 [[-5.83257387e-01 -8.10875489e-01 4.78723464e-02 2.02509002e+02] [ 8.07746399e-01 -5.85211655e-01 -7.12255179e-02 1.96530681e+02] [ 8.57704818e-02 -2.87409404e-03 9.96310777e-01 4.44871862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5171056809999 meters Centerline goodness [0,1] 0.9979164997195288 Centerline is valid? [True, True] Translation: X:202.49, Y:196.55, Z:44.49 [[-5.84355577e-01 -8.10047416e-01 4.84947801e-02 2.02494565e+02] [ 8.06837642e-01 -5.86356670e-01 -7.21032250e-02 1.96553418e+02] [ 8.68422688e-02 -3.00650762e-03 9.96217537e-01 4.44878073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5471056809999 meters Centerline goodness [0,1] 0.9982866168714695 Centerline is valid? [True, True] Translation: X:202.48, Y:196.57, Z:44.49 [[-5.83071982e-01 -8.10981429e-01 4.83341013e-02 2.02477719e+02] [ 8.07800814e-01 -5.85065068e-01 -7.18102497e-02 1.96574493e+02] [ 8.65153732e-02 -2.82621828e-03 9.96246507e-01 4.44930081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5771056809999 meters Centerline goodness [0,1] 0.9981447623144762 Centerline is valid? [True, True] Translation: X:202.46, Y:196.60, Z:44.50 [[-5.81423910e-01 -8.12182817e-01 4.80136400e-02 2.02460516e+02] [ 8.09053015e-01 -5.83397223e-01 -7.12804206e-02 1.96595396e+02] [ 8.59037570e-02 -2.59856066e-03 9.96300051e-01 4.44986675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6071056809999 meters Centerline goodness [0,1] 0.9983069067454985 Centerline is valid? [True, True] Translation: X:202.44, Y:196.61, Z:44.51 [[-5.74962374e-01 -8.16787400e-01 4.77138520e-02 2.02438501e+02] [ 8.13716896e-01 -5.76935735e-01 -7.07811386e-02 1.96611964e+02] [ 8.53409685e-02 -1.87092391e-03 9.96350048e-01 4.45068545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6371056809999 meters Centerline goodness [0,1] 0.9985157999838087 Centerline is valid? [True, True] Translation: X:202.41, Y:196.63, Z:44.51 [[-5.67819724e-01 -8.21759083e-01 4.78828825e-02 2.02414628e+02] [ 8.18688979e-01 -5.69834010e-01 -7.09757392e-02 1.96628535e+02] [ 8.56102533e-02 -1.10023645e-03 9.96328096e-01 4.45090081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6671056809999 meters Centerline goodness [0,1] 0.9990681612629155 Centerline is valid? [True, True] Translation: X:202.38, Y:196.64, Z:44.51 [[-5.52747356e-01 -8.32048447e-01 4.65375354e-02 2.02382816e+02] [ 8.29188392e-01 -5.54702754e-01 -6.89308801e-02 1.96639753e+02] [ 8.31683307e-02 4.87022380e-04 9.96535394e-01 4.45098301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6971056809999 meters Centerline goodness [0,1] 0.9991679378726945 Centerline is valid? [True, True] Translation: X:202.35, Y:196.65, Z:44.52 [[-5.42518731e-01 -8.38832186e-01 4.50997768e-02 2.02354715e+02] [ 8.36173160e-01 -5.44388029e-01 -6.67541823e-02 1.96651631e+02] [ 8.05473353e-02 1.49582863e-03 9.96749662e-01 4.45163852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7271056809999 meters Centerline goodness [0,1] 0.9991921555518414 Centerline is valid? [True, True] Translation: X:202.34, Y:196.67, Z:44.52 [[-5.39880675e-01 -8.40516762e-01 4.53919527e-02 2.02336196e+02] [ 8.37832444e-01 -5.41782614e-01 -6.71445737e-02 1.96671625e+02] [ 8.10287105e-02 1.78079292e-03 9.96710177e-01 4.45207780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7571056809999 meters Centerline goodness [0,1] 0.9983677604547757 Centerline is valid? [True, True] Translation: X:202.31, Y:196.69, Z:44.52 [[-5.35298016e-01 -8.43355957e-01 4.69762065e-02 2.02313024e+02] [ 8.40496007e-01 -5.37350322e-01 -6.94340878e-02 1.96688575e+02] [ 8.38003313e-02 2.31538455e-03 9.96479876e-01 4.45193783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.7871056809999 meters Centerline goodness [0,1] 0.9979916317991632 Centerline is valid? [True, True] Translation: X:202.30, Y:196.71, Z:44.52 [[-5.37836410e-01 -8.41773007e-01 4.63702478e-02 2.02300184e+02] [ 8.38984880e-01 -5.39827679e-01 -6.84868487e-02 1.96711740e+02] [ 8.26823238e-02 2.06921586e-03 9.96573806e-01 4.45168779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81710568099993 meters Centerline goodness [0,1] 0.9987222222222222 Centerline is valid? [True, True] Translation: X:202.29, Y:196.74, Z:44.52 [[-5.44444294e-01 -8.37534929e-01 4.59962305e-02 2.02292505e+02] [ 8.34780725e-01 -5.46381892e-01 -6.78820202e-02 1.96739218e+02] [ 8.19850704e-02 1.43878810e-03 9.96632519e-01 4.45197196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.8471056809999 meters Centerline goodness [0,1] 0.9990282636459548 Centerline is valid? [True, True] Translation: X:202.28, Y:196.76, Z:44.52 [[-5.47168063e-01 -8.35780706e-01 4.55820342e-02 2.02279486e+02] [ 8.33073918e-01 -5.49062101e-01 -6.72209541e-02 1.96762731e+02] [ 8.12093439e-02 1.19204456e-03 9.96696354e-01 4.45212741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87710568099993 meters Centerline goodness [0,1] 0.9989785495403473 Centerline is valid? [True, True] Translation: X:202.27, Y:196.79, Z:44.52 [[-5.53796677e-01 -8.31289237e-01 4.76177011e-02 2.02269645e+02] [ 8.28322791e-01 -5.55839783e-01 -7.01675869e-02 1.96788114e+02] [ 8.47973724e-02 5.84250623e-04 9.96398045e-01 4.45188368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9071056809999 meters Centerline goodness [0,1] 0.998873007146784 Centerline is valid? [True, True] Translation: X:202.26, Y:196.81, Z:44.52 [[-5.57726629e-01 -8.28629537e-01 4.81050666e-02 2.02258937e+02] [ 8.25596793e-01 -5.59797325e-01 -7.08300150e-02 1.96810609e+02] [ 8.56209301e-02 2.11603218e-04 9.96327763e-01 4.45199539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93710568099993 meters Centerline goodness [0,1] 0.9987665826115557 Centerline is valid? [True, True] Translation: X:202.25, Y:196.83, Z:44.53 [[-5.62807644e-01 -8.25188579e-01 4.80766442e-02 2.02248395e+02] [ 8.22151061e-01 -5.64857262e-01 -7.07382960e-02 1.96834101e+02] [ 8.55288756e-02 -2.85789712e-04 9.96335651e-01 4.45267861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.9671056809999 meters Centerline goodness [0,1] 0.9987399676774317 Centerline is valid? [True, True] Translation: X:202.24, Y:196.86, Z:44.53 [[-5.66562990e-01 -8.22592403e-01 4.84573668e-02 2.02235873e+02] [ 8.19502131e-01 -5.68631089e-01 -7.12386247e-02 1.96857190e+02] [ 8.61547167e-02 -6.50252816e-04 9.96281558e-01 4.45255239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99710568099994 meters Centerline goodness [0,1] 0.9987691802740625 Centerline is valid? [True, True] Translation: X:202.22, Y:196.88, Z:44.53 [[-5.68319666e-01 -8.21351882e-01 4.89269172e-02 2.02221119e+02] [ 8.18201709e-01 -5.70421268e-01 -7.18716866e-02 1.96879066e+02] [ 8.69408992e-02 -8.14005580e-04 9.96213139e-01 4.45274161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0271056809999 meters Centerline goodness [0,1] 0.9985254362251167 Centerline is valid? [True, True] Translation: X:202.21, Y:196.90, Z:44.53 [[-5.71283178e-01 -8.19256616e-01 4.95391500e-02 2.02208439e+02] [ 8.16024171e-01 -5.73425980e-01 -7.27131251e-02 1.96900472e+02] [ 8.79777444e-02 -1.11464132e-03 9.96121817e-01 4.45260366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05710568099994 meters Centerline goodness [0,1] 0.9985522290209791 Centerline is valid? [True, True] Translation: X:202.20, Y:196.92, Z:44.53 [[-5.74815787e-01 -8.16693118e-01 5.09819779e-02 2.02195142e+02] [ 8.13264765e-01 -5.77070231e-01 -7.47687790e-02 1.96924000e+02] [ 9.04833290e-02 -1.51642826e-03 9.95896816e-01 4.45280025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0871056809999 meters Centerline goodness [0,1] 0.9983593557737005 Centerline is valid? [True, True] Translation: X:202.18, Y:196.95, Z:44.53 [[-5.79154593e-01 -8.13654404e-01 5.04625521e-02 2.02183731e+02] [ 8.10289020e-01 -5.81345633e-01 -7.39524101e-02 1.96948456e+02] [ 8.95078885e-02 -1.94062608e-03 9.95984223e-01 4.45305152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11710568099994 meters Centerline goodness [0,1] 0.9983602525211117 Centerline is valid? [True, True] Translation: X:202.17, Y:196.97, Z:44.54 [[-5.81358084e-01 -8.12118540e-01 4.98623550e-02 2.02169990e+02] [ 8.08831988e-01 -5.83488630e-01 -7.30194065e-02 1.96971580e+02] [ 8.83945311e-02 -2.12015453e-03 9.96083286e-01 4.45355287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1471056809999 meters Centerline goodness [0,1] 0.9979532243539011 Centerline is valid? [True, True] Translation: X:202.16, Y:197.00, Z:44.54 [[-5.85928101e-01 -8.08833738e-01 4.97618752e-02 2.02157610e+02] [ 8.05553276e-01 -5.88031737e-01 -7.28189305e-02 1.96995756e+02] [ 8.81599697e-02 -2.58081611e-03 9.96102986e-01 4.45396197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17710568099994 meters Centerline goodness [0,1] 0.9983877138328687 Centerline is valid? [True, True] Translation: X:202.14, Y:197.02, Z:44.54 [[-5.86432799e-01 -8.08446636e-01 5.01059825e-02 2.02143036e+02] [ 8.05124090e-01 -5.88563632e-01 -7.32669816e-02 1.97017584e+02] [ 8.87230038e-02 -2.62462750e-03 9.96052880e-01 4.45398072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2071056809999 meters Centerline goodness [0,1] 0.9985500109433136 Centerline is valid? [True, True] Translation: X:202.12, Y:197.04, Z:44.54 [[-5.84651916e-01 -8.09729306e-01 5.02054574e-02 2.02122855e+02] [ 8.06403404e-01 -5.86798676e-01 -7.33543681e-02 1.97035975e+02] [ 8.88576776e-02 -2.40092011e-03 9.96041439e-01 4.45406729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23710568099995 meters Centerline goodness [0,1] 0.9983761318911183 Centerline is valid? [True, True] Translation: X:202.10, Y:197.05, Z:44.55 [[-5.81832199e-01 -8.11756139e-01 5.02320893e-02 2.02100538e+02] [ 8.08439137e-01 -5.83992914e-01 -7.33378317e-02 1.97052654e+02] [ 8.88676193e-02 -2.06072487e-03 9.96041314e-01 4.45457738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2671056809999 meters Centerline goodness [0,1] 0.998681552962298 Centerline is valid? [True, True] Translation: X:202.07, Y:197.06, Z:44.55 [[-5.71175789e-01 -8.19327278e-01 4.96087718e-02 2.02066774e+02] [ 8.16125091e-01 -5.73325465e-01 -7.23722793e-02 1.97059860e+02] [ 8.77385547e-02 -8.50330296e-04 9.96143174e-01 4.45499373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2971056809999 meters Centerline goodness [0,1] 0.9988761203675086 Centerline is valid? [True, True] Translation: X:202.05, Y:197.08, Z:44.56 [[-5.71754171e-01 -8.19068600e-01 4.71571436e-02 2.02048223e+02] [ 8.16178951e-01 -5.73695007e-01 -6.87456031e-02 1.97079571e+02] [ 8.33611827e-02 -8.16917332e-04 9.96519064e-01 4.45596660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3271056809999 meters Centerline goodness [0,1] 0.9988702160711764 Centerline is valid? [True, True] Translation: X:202.03, Y:197.10, Z:44.56 [[-5.71491695e-01 -8.19289389e-01 4.64988065e-02 2.02031849e+02] [ 8.16484862e-01 -5.73379753e-01 -6.77357276e-02 1.97098982e+02] [ 8.21566371e-02 -7.44834203e-04 9.96619151e-01 4.45646501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3571056809999 meters Centerline goodness [0,1] 0.9985607450261041 Centerline is valid? [True, True] Translation: X:202.02, Y:197.12, Z:44.57 [[-5.72605437e-01 -8.18605369e-01 4.48136522e-02 2.02017017e+02] [ 8.16002781e-01 -5.74355846e-01 -6.52290148e-02 1.97120502e+02] [ 7.91358048e-02 -7.82423672e-04 9.96863537e-01 4.45685120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3871056809999 meters Centerline goodness [0,1] 0.9987589552659785 Centerline is valid? [True, True] Translation: X:202.00, Y:197.14, Z:44.57 [[-5.72658096e-01 -8.18577667e-01 4.46464818e-02 2.02002297e+02] [ 8.15998318e-01 -5.74395364e-01 -6.49362011e-02 1.97142158e+02] [ 7.88000561e-02 -7.54787223e-04 9.96890155e-01 4.45721591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4171056809999 meters Centerline goodness [0,1] 0.9988761835192314 Centerline is valid? [True, True] Translation: X:201.99, Y:197.16, Z:44.57 [[-5.72477565e-01 -8.18743217e-01 4.39201683e-02 2.01989187e+02] [ 8.16251949e-01 -5.74159446e-01 -6.38254342e-02 1.97163382e+02] [ 7.74738208e-02 -6.88706206e-04 9.96994149e-01 4.45744406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4471056809999 meters Centerline goodness [0,1] 0.9989013775035916 Centerline is valid? [True, True] Translation: X:201.97, Y:197.18, Z:44.58 [[-5.65824468e-01 -8.23339275e-01 4.42166129e-02 2.01968717e+02] [ 8.20832504e-01 -5.67549501e-01 -6.41994016e-02 1.97180208e+02] [ 7.79530054e-02 -3.11591569e-05 9.96957034e-01 4.45800051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.4771056809999 meters Centerline goodness [0,1] 0.9989585092608231 Centerline is valid? [True, True] Translation: X:201.95, Y:197.20, Z:44.58 [[-5.61931949e-01 -8.26005778e-01 4.41241300e-02 2.01951826e+02] [ 8.23521784e-01 -5.63661530e-01 -6.40121129e-02 1.97199948e+02] [ 7.77454497e-02 3.66730887e-04 9.96973174e-01 4.45819344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5071056809999 meters Centerline goodness [0,1] 0.9994063100757662 Centerline is valid? [True, True] Translation: X:201.93, Y:197.22, Z:44.58 [[-5.52807809e-01 -8.32165319e-01 4.36395098e-02 2.01931443e+02] [ 8.29758489e-01 -5.54526231e-01 -6.32574882e-02 1.97216502e+02] [ 7.68399407e-02 1.24102024e-03 9.97042669e-01 4.45835232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5371056809999 meters Centerline goodness [0,1] 0.9991844310703639 Centerline is valid? [True, True] Translation: X:201.92, Y:197.24, Z:44.59 [[-5.47301179e-01 -8.35786282e-01 4.38487234e-02 2.01915145e+02] [ 8.33371409e-01 -5.49052018e-01 -6.35135990e-02 1.97238247e+02] [ 7.71590249e-02 1.78120480e-03 9.97017208e-01 4.45867417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56710568099993 meters Centerline goodness [0,1] 0.9993504109356907 Centerline is valid? [True, True] Translation: X:201.90, Y:197.26, Z:44.59 [[-5.43308155e-01 -8.38385416e-01 4.38878530e-02 2.01897266e+02] [ 8.35977290e-01 -5.45073561e-01 -6.35356921e-02 1.97259829e+02] [ 7.71895059e-02 2.16978874e-03 9.97014078e-01 4.45884474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.5971056809999 meters Centerline goodness [0,1] 0.999347850742883 Centerline is valid? [True, True] Translation: X:201.88, Y:197.28, Z:44.59 [[-5.36673184e-01 -8.42621069e-01 4.44030031e-02 2.01876675e+02] [ 8.40173903e-01 -5.38499496e-01 -6.42347680e-02 1.97277112e+02] [ 7.80365637e-02 2.83316691e-03 9.96946472e-01 4.45889878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62710568099993 meters Centerline goodness [0,1] 0.9996305033681039 Centerline is valid? [True, True] Translation: X:201.86, Y:197.30, Z:44.59 [[-5.34974898e-01 -8.43716170e-01 4.41008313e-02 2.01860312e+02] [ 8.41309872e-01 -5.36781174e-01 -6.37469320e-02 1.97296560e+02] [ 7.74568133e-02 2.99945632e-03 9.96991196e-01 4.45916069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.6571056809999 meters Centerline goodness [0,1] 0.9994335882186349 Centerline is valid? [True, True] Translation: X:201.84, Y:197.32, Z:44.60 [[-5.33784616e-01 -8.44523819e-01 4.30523391e-02 2.01842558e+02] [ 8.42236985e-01 -5.35509205e-01 -6.21832208e-02 1.97315646e+02] [ 7.55701350e-02 3.06782565e-03 9.97135770e-01 4.45959588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68710568099993 meters Centerline goodness [0,1] 0.99940330738194 Centerline is valid? [True, True] Translation: X:201.83, Y:197.34, Z:44.60 [[-5.35842995e-01 -8.43187034e-01 4.36796293e-02 2.01827801e+02] [ 8.40832412e-01 -5.37612252e-01 -6.30390493e-02 1.97338138e+02] [ 7.66364129e-02 2.94821505e-03 9.97054747e-01 4.45985736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7171056809999 meters Centerline goodness [0,1] 0.999342406221409 Centerline is valid? [True, True] Translation: X:201.81, Y:197.36, Z:44.60 [[-5.37775033e-01 -8.41927450e-01 4.42287550e-02 2.01813174e+02] [ 8.39512706e-01 -5.39583322e-01 -6.37828668e-02 1.97360449e+02] [ 7.75656449e-02 2.82976847e-03 9.96983231e-01 4.45985489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74710568099994 meters Centerline goodness [0,1] 0.9991422199348087 Centerline is valid? [True, True] Translation: X:201.80, Y:197.38, Z:44.60 [[-5.40314470e-01 -8.40238671e-01 4.53789564e-02 2.01797867e+02] [ 8.37694587e-01 -5.42210092e-01 -6.53910922e-02 1.97382923e+02] [ 7.95490525e-02 2.68195286e-03 9.96827345e-01 4.45968140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7771056809999 meters Centerline goodness [0,1] 0.9993704933043379 Centerline is valid? [True, True] Translation: X:201.78, Y:197.41, Z:44.59 [[-5.45204669e-01 -8.37034691e-01 4.60954991e-02 2.01783103e+02] [ 8.34402116e-01 -5.47145089e-01 -6.63728827e-02 1.97405356e+02] [ 8.07773313e-02 2.27537647e-03 9.96729575e-01 4.45948953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80710568099994 meters Centerline goodness [0,1] 0.9996263616244647 Centerline is valid? [True, True] Translation: X:201.77, Y:197.43, Z:44.60 [[-5.47078356e-01 -8.35800238e-01 4.62950770e-02 2.01765492e+02] [ 8.33144509e-01 -5.49029530e-01 -6.66093232e-02 1.97426244e+02] [ 8.10894525e-02 2.12997011e-03 9.96704552e-01 4.45972596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8371056809999 meters Centerline goodness [0,1] 0.9988240355657536 Centerline is valid? [True, True] Translation: X:201.76, Y:197.45, Z:44.61 [[-5.60838584e-01 -8.26662529e-01 4.57071797e-02 2.01758883e+02] [ 8.24046951e-01 -5.62697438e-01 -6.57131314e-02 1.97452471e+02] [ 8.00418963e-02 8.10402567e-04 9.96791171e-01 4.46052026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86710568099994 meters Centerline goodness [0,1] 0.9988542621448213 Centerline is valid? [True, True] Translation: X:201.75, Y:197.48, Z:44.61 [[-5.65872787e-01 -8.23245663e-01 4.53273314e-02 2.01747106e+02] [ 8.20666549e-01 -5.67685172e-01 -6.51149796e-02 1.97476602e+02] [ 7.93372785e-02 3.51829635e-04 9.96847768e-01 4.46122391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8971056809999 meters Centerline goodness [0,1] 0.9988245412844037 Centerline is valid? [True, True] Translation: X:201.73, Y:197.50, Z:44.62 [[-5.65168188e-01 -8.23801509e-01 4.39999192e-02 2.01731181e+02] [ 8.21376677e-01 -5.66878186e-01 -6.31623074e-02 1.97496131e+02] [ 7.69757985e-02 4.43180576e-04 9.97032863e-01 4.46223006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92710568099994 meters Centerline goodness [0,1] 0.9988301423802323 Centerline is valid? [True, True] Translation: X:201.72, Y:197.52, Z:44.62 [[-5.63646957e-01 -8.24957784e-01 4.17942864e-02 2.01716103e+02] [ 8.22776097e-01 -5.65194042e-01 -5.99599003e-02 1.97517205e+02] [ 7.30862681e-02 5.91124537e-04 9.97325447e-01 4.46238286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9571056809999 meters Centerline goodness [0,1] 0.9992303964883277 Centerline is valid? [True, True] Translation: X:201.70, Y:197.54, Z:44.63 [[-5.62709519e-01 -8.25626418e-01 4.12191068e-02 2.01700733e+02] [ 8.23509754e-01 -5.64216743e-01 -5.90859707e-02 1.97538752e+02] [ 7.20394485e-02 6.96098285e-04 9.97401541e-01 4.46251203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98710568099995 meters Centerline goodness [0,1] 0.9992040253574779 Centerline is valid? [True, True] Translation: X:201.69, Y:197.56, Z:44.62 [[-5.60501116e-01 -8.27056709e-01 4.26110198e-02 2.01685652e+02] [ 8.24802447e-01 -5.62117709e-01 -6.10295325e-02 1.97561014e+02] [ 7.44272932e-02 9.38552359e-04 9.97226001e-01 4.46217381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0171056809999 meters Centerline goodness [0,1] 0.999202006383949 Centerline is valid? [True, True] Translation: X:201.67, Y:197.58, Z:44.62 [[-5.58155891e-01 -8.28561774e-01 4.41292326e-02 2.01668000e+02] [ 8.26152300e-01 -5.59896356e-01 -6.31541552e-02 1.97582033e+02] [ 7.70349153e-02 1.20760336e-03 9.97027664e-01 4.46213980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0471056809999 meters Centerline goodness [0,1] 0.9993151857558638 Centerline is valid? [True, True] Translation: X:201.65, Y:197.60, Z:44.62 [[-5.53478451e-01 -8.31612391e-01 4.56337208e-02 2.01649686e+02] [ 8.29050000e-01 -5.55353841e-01 -6.52549486e-02 1.97600131e+02] [ 7.96096860e-02 1.71542839e-03 9.96824636e-01 4.46219575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0771056809999 meters Centerline goodness [0,1] 0.9992590903909723 Centerline is valid? [True, True] Translation: X:201.63, Y:197.62, Z:44.62 [[-5.52866003e-01 -8.32007556e-01 4.58542235e-02 2.01634272e+02] [ 8.29425986e-01 -5.54761343e-01 -6.55163036e-02 1.97621681e+02] [ 7.99482102e-02 1.81094762e-03 9.96797374e-01 4.46231966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1071056809999 meters Centerline goodness [0,1] 0.9993200747917729 Centerline is valid? [True, True] Translation: X:201.62, Y:197.65, Z:44.62 [[-5.52628038e-01 -8.32122760e-01 4.66257799e-02 2.01621888e+02] [ 8.29457899e-01 -5.54588274e-01 -6.65690674e-02 1.97647567e+02] [ 8.12517469e-02 1.88618836e-03 9.96691826e-01 4.46215234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1371056809999 meters Centerline goodness [0,1] 0.9993200747917729 Centerline is valid? [True, True] Translation: X:201.61, Y:197.67, Z:44.62 [[-5.52929167e-01 -8.31921459e-01 4.66478599e-02 2.01606594e+02] [ 8.29257186e-01 -5.54890204e-01 -6.65535926e-02 1.97669032e+02] [ 8.12518023e-02 1.88365054e-03 9.96691826e-01 4.46232117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1671056809999 meters Centerline goodness [0,1] 0.9991544532130778 Centerline is valid? [True, True] Translation: X:201.59, Y:197.69, Z:44.62 [[-5.54484773e-01 -8.30857787e-01 4.71378189e-02 2.01593411e+02] [ 8.28137407e-01 -5.56481978e-01 -6.72030061e-02 1.97691723e+02] [ 8.20674877e-02 1.77354752e-03 9.96625196e-01 4.46240701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1971056809999 meters Centerline goodness [0,1] 0.9990406591236138 Centerline is valid? [True, True] Translation: X:201.58, Y:197.71, Z:44.63 [[-5.53243022e-01 -8.31622524e-01 4.82300377e-02 2.01578268e+02] [ 8.28780924e-01 -5.55337875e-01 -6.87169811e-02 1.97714919e+02] [ 8.39305559e-02 1.95494499e-03 9.96469688e-01 4.46286842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2271056809999 meters Centerline goodness [0,1] 0.9991822232248604 Centerline is valid? [True, True] Translation: X:201.56, Y:197.73, Z:44.63 [[-5.51426746e-01 -8.32823217e-01 4.83118416e-02 2.01561603e+02] [ 8.29980680e-01 -5.53534812e-01 -6.87843213e-02 1.97734473e+02] [ 8.40274659e-02 2.16838072e-03 9.96461080e-01 4.46320971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2571056809999 meters Centerline goodness [0,1] 0.9994937705655708 Centerline is valid? [True, True] Translation: X:201.54, Y:197.75, Z:44.64 [[-5.46819530e-01 -8.35917055e-01 4.72343011e-02 2.01541755e+02] [ 8.33215862e-01 -5.48849576e-01 -6.71972453e-02 1.97751889e+02] [ 8.20958495e-02 2.61160282e-03 9.96621017e-01 4.46384862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.2871056809999 meters Centerline goodness [0,1] 0.9992670894996476 Centerline is valid? [True, True] Translation: X:201.53, Y:197.78, Z:44.64 [[-5.44582579e-01 -8.37430895e-01 4.62526942e-02 2.01529288e+02] [ 8.34850470e-01 -5.46536013e-01 -6.57501256e-02 1.97775783e+02] [ 8.03399496e-02 2.80771063e-03 9.96763567e-01 4.46444424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31710568099993 meters Centerline goodness [0,1] 0.999521800281294 Centerline is valid? [True, True] Translation: X:201.51, Y:197.80, Z:44.65 [[-5.43139222e-01 -8.38424025e-01 4.52210100e-02 2.01513221e+02] [ 8.35964723e-01 -5.45010701e-01 -6.42364253e-02 1.97798218e+02] [ 7.85032965e-02 2.91384704e-03 9.96909596e-01 4.46473840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.3471056809999 meters Centerline goodness [0,1] 0.9992774566473989 Centerline is valid? [True, True] Translation: X:201.50, Y:197.82, Z:44.65 [[-5.41082888e-01 -8.39854385e-01 4.32888076e-02 2.01499338e+02] [ 8.37608658e-01 -5.42803424e-01 -6.14506155e-02 1.97819421e+02] [ 7.51068818e-02 3.00920353e-03 9.97170949e-01 4.46483169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37710568099993 meters Centerline goodness [0,1] 0.9992759878588733 Centerline is valid? [True, True] Translation: X:201.49, Y:197.84, Z:44.65 [[-5.39003678e-01 -8.41225047e-01 4.26081575e-02 2.01486399e+02] [ 8.39057114e-01 -5.40675823e-01 -6.04385095e-02 1.97843756e+02] [ 7.38795886e-02 3.17409869e-03 9.97262118e-01 4.46489318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4071056809999 meters Centerline goodness [0,1] 0.9991388171236492 Centerline is valid? [True, True] Translation: X:201.47, Y:197.86, Z:44.65 [[-5.38265911e-01 -8.41663452e-01 4.32717445e-02 2.01469648e+02] [ 8.39432033e-01 -5.39992305e-01 -6.13365555e-02 1.97864364e+02] [ 7.49911461e-02 3.30831158e-03 9.97178712e-01 4.46473868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43710568099993 meters Centerline goodness [0,1] 0.9993894146707002 Centerline is valid? [True, True] Translation: X:201.46, Y:197.89, Z:44.65 [[-5.37184677e-01 -8.42244952e-01 4.53438478e-02 2.01456800e+02] [ 8.39799458e-01 -5.39083177e-01 -6.42354887e-02 1.97888910e+02] [ 7.85461217e-02 3.57341862e-03 9.96904076e-01 4.46457897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.4671056809999 meters Centerline goodness [0,1] 0.9985253199777406 Centerline is valid? [True, True] Translation: X:201.44, Y:197.91, Z:44.64 [[-5.37339874e-01 -8.42052116e-01 4.70541523e-02 2.01437717e+02] [ 8.39421754e-01 -5.39383435e-01 -6.66080147e-02 1.97908088e+02] [ 8.14676501e-02 3.70713691e-03 9.96669092e-01 4.46438085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49710568099994 meters Centerline goodness [0,1] 0.9984316800627328 Centerline is valid? [True, True] Translation: X:201.42, Y:197.92, Z:44.64 [[-5.37601094e-01 -8.41734647e-01 4.96774449e-02 2.01416914e+02] [ 8.38805375e-01 -5.39877425e-01 -7.02702513e-02 1.97924757e+02] [ 8.59686362e-02 3.89234378e-03 9.96290240e-01 4.46407747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5271056809999 meters Centerline goodness [0,1] 0.9982782466341132 Centerline is valid? [True, True] Translation: X:201.40, Y:197.95, Z:44.64 [[-5.37693530e-01 -8.41638395e-01 5.03038737e-02 2.01400033e+02] [ 8.38638057e-01 -5.40027045e-01 -7.11125899e-02 1.97945064e+02] [ 8.70165384e-02 3.94996343e-03 9.96199036e-01 4.46429856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55710568099994 meters Centerline goodness [0,1] 0.9976837951445483 Centerline is valid? [True, True] Translation: X:201.37, Y:197.96, Z:44.64 [[-5.37218570e-01 -8.41956195e-01 5.00596995e-02 2.01373608e+02] [ 8.38990150e-01 -5.39531019e-01 -7.07234574e-02 1.97957789e+02] [ 8.65548138e-02 4.00564017e-03 9.96239037e-01 4.46406952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5871056809999 meters Centerline goodness [0,1] 0.9984618014014698 Centerline is valid? [True, True] Translation: X:201.37, Y:197.99, Z:44.65 [[-5.51685095e-01 -8.32587176e-01 4.94181182e-02 2.01366277e+02] [ 8.29662532e-01 -5.53888343e-01 -6.97695183e-02 1.97985054e+02] [ 8.54613258e-02 2.50955776e-03 9.96338328e-01 4.46467305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61710568099994 meters Centerline goodness [0,1] 0.999056199056199 Centerline is valid? [True, True] Translation: X:201.35, Y:198.01, Z:44.65 [[-5.58087588e-01 -8.28293954e-01 4.96726279e-02 2.01352907e+02] [ 8.25325491e-01 -5.60290627e-01 -7.00874312e-02 1.98008805e+02] [ 8.58841034e-02 1.88116059e-03 9.96303358e-01 4.46492934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6471056809999 meters Centerline goodness [0,1] 0.9989390376784998 Centerline is valid? [True, True] Translation: X:201.34, Y:198.03, Z:44.65 [[-5.64025324e-01 -8.24273893e-01 4.94771076e-02 2.01340665e+02] [ 8.21316910e-01 -5.66189808e-01 -6.97684419e-02 1.98032810e+02] [ 8.55217392e-02 1.28521714e-03 9.96335476e-01 4.46527316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67710568099994 meters Centerline goodness [0,1] 0.9987701635968425 Centerline is valid? [True, True] Translation: X:201.33, Y:198.06, Z:44.65 [[-5.76481399e-01 -8.15620014e-01 4.93273637e-02 2.01333489e+02] [ 8.12653173e-01 -5.78587929e-01 -6.95041616e-02 1.98059351e+02] [ 8.52292025e-02 1.81823118e-05 9.96361372e-01 4.46534005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7071056809999 meters Centerline goodness [0,1] 0.9988325407898858 Centerline is valid? [True, True] Translation: X:201.32, Y:198.08, Z:44.66 [[-5.82222931e-01 -8.11562637e-01 4.88113215e-02 2.01321706e+02] [ 8.08647754e-01 -5.84265174e-01 -6.87242032e-02 1.98083866e+02] [ 8.42927508e-02 -5.41641538e-04 9.96440886e-01 4.46570202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73710568099995 meters Centerline goodness [0,1] 0.998335777953289 Centerline is valid? [True, True] Translation: X:201.32, Y:198.11, Z:44.66 [[-5.92571863e-01 -8.04048449e-01 4.86279552e-02 2.01316562e+02] [ 8.01134052e-01 -5.94561674e-01 -6.84152471e-02 1.98110772e+02] [ 8.39214918e-02 -1.58343959e-03 9.96471111e-01 4.46636703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7671056809999 meters Centerline goodness [0,1] 0.9983986065067146 Centerline is valid? [True, True] Translation: X:201.30, Y:198.14, Z:44.67 [[-5.96159422e-01 -8.01447803e-01 4.77007542e-02 2.01304581e+02] [ 7.98638993e-01 -5.98061752e-01 -6.70663866e-02 1.98135179e+02] [ 8.22782049e-02 -1.88657602e-03 9.96607615e-01 4.46680863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7971056809999 meters Centerline goodness [0,1] 0.9982932766290814 Centerline is valid? [True, True] Translation: X:201.29, Y:198.16, Z:44.67 [[-5.97161662e-01 -8.00723463e-01 4.73274205e-02 2.01290810e+02] [ 7.97960481e-01 -5.99031028e-01 -6.64898317e-02 1.98157232e+02] [ 8.15905617e-02 -1.93976715e-03 9.96664044e-01 4.46692228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8271056809999 meters Centerline goodness [0,1] 0.9981355224711285 Centerline is valid? [True, True] Translation: X:201.28, Y:198.18, Z:44.67 [[-5.96955400e-01 -8.00893771e-01 4.70469798e-02 2.01278406e+02] [ 7.98168574e-01 -5.98803528e-01 -6.60398499e-02 1.98178965e+02] [ 8.10628019e-02 -1.87142419e-03 9.96707239e-01 4.46656837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8571056809999 meters Centerline goodness [0,1] 0.9981487110054986 Centerline is valid? [True, True] Translation: X:201.27, Y:198.20, Z:44.66 [[-5.97501392e-01 -8.00469693e-01 4.73324121e-02 2.01267858e+02] [ 7.97714469e-01 -5.99370196e-01 -6.63851923e-02 1.98202080e+02] [ 8.15089716e-02 -1.90749478e-03 9.96670783e-01 4.46637888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8871056809999 meters Centerline goodness [0,1] 0.9984468173623631 Centerline is valid? [True, True] Translation: X:201.25, Y:198.22, Z:44.67 [[-5.96159790e-01 -8.01466610e-01 4.73790740e-02 2.01249482e+02] [ 7.98712748e-01 -5.98036975e-01 -6.64057477e-02 1.98221248e+02] [ 8.15564276e-02 -1.74616625e-03 9.96667196e-01 4.46686313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9171056809999 meters Centerline goodness [0,1] 0.9984509418826588 Centerline is valid? [True, True] Translation: X:201.23, Y:198.24, Z:44.67 [[-5.95342874e-01 -8.02093288e-01 4.70448698e-02 2.01231759e+02] [ 7.99384086e-01 -5.97196562e-01 -6.58889073e-02 1.98241683e+02] [ 8.09440849e-02 -1.61957113e-03 9.96717328e-01 4.46749274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9471056809999 meters Centerline goodness [0,1] 0.9982797846956328 Centerline is valid? [True, True] Translation: X:201.22, Y:198.26, Z:44.68 [[-5.94733285e-01 -8.02538703e-01 4.71587652e-02 2.01216385e+02] [ 7.99821837e-01 -5.96598090e-01 -6.59980910e-02 1.98262405e+02] [ 8.11008516e-02 -1.53265124e-03 9.96704722e-01 4.46762219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.9771056809999 meters Centerline goodness [0,1] 0.998342175066313 Centerline is valid? [True, True] Translation: X:201.20, Y:198.28, Z:44.67 [[-5.93317541e-01 -8.03565005e-01 4.75139672e-02 2.01199791e+02] [ 8.00814805e-01 -5.95215428e-01 -6.64397675e-02 1.98282936e+02] [ 8.16697185e-02 -1.36999113e-03 9.96658507e-01 4.46737336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0071056809999 meters Centerline goodness [0,1] 0.9984453513228394 Centerline is valid? [True, True] Translation: X:201.18, Y:198.30, Z:44.67 [[-5.90975574e-01 -8.05164540e-01 4.95775653e-02 2.01180060e+02] [ 8.02180479e-01 -5.93050342e-01 -6.92659443e-02 1.98302495e+02] [ 8.51724742e-02 -1.16432606e-03 9.96365542e-01 4.46723715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0371056809999 meters Centerline goodness [0,1] 0.9983276193661678 Centerline is valid? [True, True] Translation: X:201.16, Y:198.32, Z:44.67 [[-5.89588767e-01 -8.06070324e-01 5.13392495e-02 2.01162079e+02] [ 8.02878445e-01 -5.91818856e-01 -7.16703867e-02 1.98322195e+02] [ 8.81549077e-02 -1.03687814e-03 9.96106238e-01 4.46719565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06710568099993 meters Centerline goodness [0,1] 0.9984638158813507 Centerline is valid? [True, True] Translation: X:201.14, Y:198.34, Z:44.67 [[-5.87948087e-01 -8.07158954e-01 5.30232973e-02 2.01143334e+02] [ 8.03763719e-01 -5.90333525e-01 -7.39608905e-02 1.98340631e+02] [ 9.09996251e-02 -8.66961432e-04 9.95850549e-01 4.46690243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.0971056809999 meters Centerline goodness [0,1] 0.9986883964949489 Centerline is valid? [True, True] Translation: X:201.13, Y:198.36, Z:44.67 [[-5.89999132e-01 -8.05689351e-01 5.25898644e-02 2.01130323e+02] [ 8.02348982e-01 -5.92337376e-01 -7.32976460e-02 1.98363330e+02] [ 9.02060751e-02 -1.05012336e-03 9.95922568e-01 4.46715563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12710568099993 meters Centerline goodness [0,1] 0.9985825458588105 Centerline is valid? [True, True] Translation: X:201.12, Y:198.39, Z:44.68 [[-5.93400649e-01 -8.03323042e-01 5.04753394e-02 2.01117923e+02] [ 8.00242654e-01 -5.95542061e-01 -7.02947278e-02 1.98385422e+02] [ 8.65295623e-02 -1.32041748e-03 9.96248408e-01 4.46796086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.1571056809999 meters Centerline goodness [0,1] 0.998612575614629 Centerline is valid? [True, True] Translation: X:201.10, Y:198.41, Z:44.69 [[-5.95313437e-01 -8.02004642e-01 4.88923790e-02 2.01103441e+02] [ 7.99114752e-01 -5.97316080e-01 -6.80375880e-02 1.98406616e+02] [ 8.37706657e-02 -1.43306907e-03 9.96484030e-01 4.46850784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18710568099993 meters Centerline goodness [0,1] 0.9982308712958867 Centerline is valid? [True, True] Translation: X:201.09, Y:198.43, Z:44.69 [[-5.96684088e-01 -8.01111015e-01 4.67893293e-02 2.01088420e+02] [ 7.98466093e-01 -5.98514000e-01 -6.50606719e-02 1.98427990e+02] [ 8.01248895e-02 -1.46097470e-03 9.96783762e-01 4.46913398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2171056809999 meters Centerline goodness [0,1] 0.9980780479652377 Centerline is valid? [True, True] Translation: X:201.07, Y:198.45, Z:44.70 [[-5.94907511e-01 -8.02455237e-01 4.63750535e-02 2.01069843e+02] [ 7.99864811e-01 -5.96711030e-01 -6.44378110e-02 1.98447409e+02] [ 7.93809649e-02 -1.24076440e-03 9.96843580e-01 4.46957153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24710568099994 meters Centerline goodness [0,1] 0.9987628981921444 Centerline is valid? [True, True] Translation: X:201.05, Y:198.46, Z:44.70 [[-5.90345749e-01 -8.05900174e-01 4.49088537e-02 2.01046809e+02] [ 8.03484356e-01 -5.92050992e-01 -6.23579356e-02 1.98461986e+02] [ 7.68426026e-02 -7.29180809e-04 9.97042969e-01 4.47020249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2771056809999 meters Centerline goodness [0,1] 0.9983360595634272 Centerline is valid? [True, True] Translation: X:201.03, Y:198.48, Z:44.71 [[-5.88964691e-01 -8.06923472e-01 4.46665845e-02 2.01027596e+02] [ 8.04539456e-01 -5.90655725e-01 -6.19845011e-02 1.98480721e+02] [ 7.63993226e-02 -5.70652941e-04 9.97077137e-01 4.47090951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30710568099994 meters Centerline goodness [0,1] 0.9985401041964848 Centerline is valid? [True, True] Translation: X:201.00, Y:198.49, Z:44.71 [[-5.82700720e-01 -8.11343558e-01 4.67065492e-02 2.01000806e+02] [ 8.08754622e-01 -5.84569610e-01 -6.47636621e-02 1.98494758e+02] [ 7.98488093e-02 3.63050356e-05 9.96806986e-01 4.47105108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3371056809999 meters Centerline goodness [0,1] 0.9987482219061167 Centerline is valid? [True, True] Translation: X:200.99, Y:198.52, Z:44.71 [[-5.86361381e-01 -8.08649648e-01 4.76033317e-02 2.00988990e+02] [ 8.05955466e-01 -5.88290448e-01 -6.59555502e-02 1.98519718e+02] [ 8.13395179e-02 -3.07622107e-04 9.96686404e-01 4.47109141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36710568099994 meters Centerline goodness [0,1] 0.9986599378439255 Centerline is valid? [True, True] Translation: X:200.97, Y:198.54, Z:44.71 [[-5.83735917e-01 -8.10403453e-01 4.99862255e-02 2.00972336e+02] [ 8.07443389e-01 -5.85872207e-01 -6.92021095e-02 1.98541075e+02] [ 8.53671687e-02 -3.47095986e-05 9.96349560e-01 4.47068109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3971056809999 meters Centerline goodness [0,1] 0.9986317379778228 Centerline is valid? [True, True] Translation: X:200.95, Y:198.56, Z:44.70 [[-5.78316582e-01 -8.14248227e-01 5.04951090e-02 2.00953301e+02] [ 8.11246598e-01 -5.80516583e-01 -6.98530887e-02 1.98561037e+02] [ 8.61910018e-02 5.66785945e-04 9.96278470e-01 4.47047572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42710568099994 meters Centerline goodness [0,1] 0.9990040690891501 Centerline is valid? [True, True] Translation: X:200.94, Y:198.58, Z:44.71 [[-5.76580463e-01 -8.15516562e-01 4.98769148e-02 2.00936845e+02] [ 8.12597267e-01 -5.78733215e-01 -6.89459806e-02 1.98581534e+02] [ 8.50920163e-02 7.76939170e-04 9.96372794e-01 4.47095638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4571056809999 meters Centerline goodness [0,1] 0.9991075027350723 Centerline is valid? [True, True] Translation: X:200.91, Y:198.60, Z:44.72 [[-5.66175833e-01 -8.22804217e-01 4.93775944e-02 2.00910886e+02] [ 8.19974600e-01 -5.68321842e-01 -6.82051233e-02 1.98596143e+02] [ 8.41818284e-02 1.87228068e-03 9.96448651e-01 4.47214473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48710568099995 meters Centerline goodness [0,1] 0.9990485526467535 Centerline is valid? [True, True] Translation: X:200.89, Y:198.61, Z:44.73 [[-5.61367821e-01 -8.26147657e-01 4.84377670e-02 2.00890633e+02] [ 8.23440842e-01 -5.63448774e-01 -6.68629779e-02 1.98613573e+02] [ 8.25308930e-02 2.35091137e-03 9.96585734e-01 4.47255626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5171056809999 meters Centerline goodness [0,1] 0.9989361090344471 Centerline is valid? [True, True] Translation: X:200.87, Y:198.63, Z:44.74 [[-5.57274942e-01 -8.29020603e-01 4.65776741e-02 2.00874477e+02] [ 8.26530915e-01 -5.59211598e-01 -6.42575652e-02 1.98633540e+02] [ 7.93176210e-02 2.68875673e-03 9.96845768e-01 4.47361714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5471056809999 meters Centerline goodness [0,1] 0.9985689753863767 Centerline is valid? [True, True] Translation: X:200.86, Y:198.65, Z:44.74 [[-5.55936461e-01 -8.29980338e-01 4.54674530e-02 2.00858087e+02] [ 8.27615064e-01 -5.57785695e-01 -6.26771384e-02 1.98653561e+02] [ 7.73818874e-02 2.78504252e-03 9.96997636e-01 4.47384054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5771056809999 meters Centerline goodness [0,1] 0.9982077833409194 Centerline is valid? [True, True] Translation: X:200.84, Y:198.68, Z:44.74 [[-5.54684750e-01 -8.30868012e-01 4.45328418e-02 2.00844426e+02] [ 8.28605466e-01 -5.56462113e-01 -6.13424706e-02 1.98678161e+02] [ 7.57483358e-02 2.87442317e-03 9.97122825e-01 4.47405452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6071056809999 meters Centerline goodness [0,1] 0.9982613156994642 Centerline is valid? [True, True] Translation: X:200.83, Y:198.70, Z:44.74 [[-5.53082443e-01 -8.31944481e-01 4.43642935e-02 2.00829193e+02] [ 8.29705461e-01 -5.54850598e-01 -6.10709493e-02 1.98700928e+02] [ 7.54231941e-02 3.03202677e-03 9.97147005e-01 4.47399277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6371056809999 meters Centerline goodness [0,1] 0.9980624020515743 Centerline is valid? [True, True] Translation: X:200.81, Y:198.72, Z:44.74 [[-5.51913756e-01 -8.32646624e-01 4.57253166e-02 2.00809860e+02] [ 8.30273025e-01 -5.53795158e-01 -6.29096803e-02 1.98720330e+02] [ 7.77039918e-02 3.24377891e-03 9.96971197e-01 4.47360640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6671056809999 meters Centerline goodness [0,1] 0.9981967541574834 Centerline is valid? [True, True] Translation: X:200.79, Y:198.74, Z:44.74 [[-5.48707954e-01 -8.34687056e-01 4.70860949e-02 2.00787876e+02] [ 8.32181153e-01 -5.50712349e-01 -6.47335901e-02 1.98736592e+02] [ 7.99631836e-02 3.66432495e-03 9.96791082e-01 4.47366202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6971056809999 meters Centerline goodness [0,1] 0.9979836386680493 Centerline is valid? [True, True] Translation: X:200.77, Y:198.76, Z:44.74 [[-5.45831501e-01 -8.36531394e-01 4.77828248e-02 2.00769775e+02] [ 8.33961801e-01 -5.47904245e-01 -6.56403323e-02 1.98755647e+02] [ 8.10906113e-02 4.02048944e-03 9.96698625e-01 4.47397192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7271056809999 meters Centerline goodness [0,1] 0.9984101289240909 Centerline is valid? [True, True] Translation: X:200.75, Y:198.78, Z:44.74 [[-5.49502787e-01 -8.34095019e-01 4.82927132e-02 2.00754114e+02] [ 8.31465079e-01 -5.51608196e-01 -6.62889156e-02 1.98776817e+02] [ 8.19299108e-02 3.72776078e-03 9.96631122e-01 4.47404914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7571056809999 meters Centerline goodness [0,1] 0.998879084873394 Centerline is valid? [True, True] Translation: X:200.75, Y:198.80, Z:44.74 [[-5.57862695e-01 -8.28478652e-01 4.91155379e-02 2.00745830e+02] [ 8.25740617e-01 -5.60012739e-01 -6.73659101e-02 1.98803050e+02] [ 8.33165453e-02 2.97576640e-03 9.96518689e-01 4.47431797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.7871056809999 meters Centerline goodness [0,1] 0.9991659476560253 Centerline is valid? [True, True] Translation: X:200.74, Y:198.83, Z:44.74 [[-5.65038855e-01 -8.23465451e-01 5.13395025e-02 2.00735058e+02] [ 8.20457256e-01 -5.67361490e-01 -7.03621356e-02 1.98829283e+02] [ 8.70688444e-02 2.36452684e-03 9.96199491e-01 4.47434540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81710568099993 meters Centerline goodness [0,1] 0.9989390072548964 Centerline is valid? [True, True] Translation: X:200.72, Y:198.85, Z:44.74 [[-5.70974660e-01 -8.19334624e-01 5.17562686e-02 2.00722633e+02] [ 8.16264822e-01 -5.73312848e-01 -7.08810243e-02 1.98852933e+02] [ 8.77478111e-02 1.77555265e-03 9.96141139e-01 4.47414184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.8471056809999 meters Centerline goodness [0,1] 0.9991146904272332 Centerline is valid? [True, True] Translation: X:200.71, Y:198.88, Z:44.74 [[-5.78738427e-01 -8.13852587e-01 5.20172943e-02 2.00713318e+02] [ 8.10734068e-01 -5.81070577e-01 -7.11846594e-02 1.98879834e+02] [ 8.81595385e-02 9.74894832e-04 9.96105891e-01 4.47432091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87710568099993 meters Centerline goodness [0,1] 0.9987709018150636 Centerline is valid? [True, True] Translation: X:200.70, Y:198.90, Z:44.74 [[-5.81399544e-01 -8.11930675e-01 5.23750781e-02 2.00698674e+02] [ 8.08766045e-01 -5.83753425e-01 -7.16199891e-02 1.98900544e+02] [ 8.87245973e-02 7.19355686e-04 9.96055936e-01 4.47444714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9071056809999 meters Centerline goodness [0,1] 0.9985397279885468 Centerline is valid? [True, True] Translation: X:200.68, Y:198.92, Z:44.75 [[-5.84265412e-01 -8.09866368e-01 5.24441958e-02 2.00682745e+02] [ 8.06690374e-01 -5.86614244e-01 -7.16545191e-02 1.98921714e+02] [ 8.87950974e-02 4.40970747e-04 9.96049816e-01 4.47464161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93710568099993 meters Centerline goodness [0,1] 0.9987983176447026 Centerline is valid? [True, True] Translation: X:200.67, Y:198.94, Z:44.75 [[-5.86177464e-01 -8.08528494e-01 5.17460630e-02 2.00667301e+02] [ 8.05436148e-01 -5.88456968e-01 -7.06470707e-02 1.98942983e+02] [ 8.75705010e-02 2.66428919e-04 9.96158289e-01 4.47516922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.9671056809999 meters Centerline goodness [0,1] 0.9987610211490808 Centerline is valid? [True, True] Translation: X:200.65, Y:198.96, Z:44.76 [[-5.87070772e-01 -8.07941468e-01 5.07788554e-02 2.00649056e+02] [ 8.04966006e-01 -5.89262710e-01 -6.92761628e-02 1.98962282e+02] [ 8.58931706e-02 2.05242057e-04 9.96304332e-01 4.47607091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99710568099994 meters Centerline goodness [0,1] 0.9985624335125499 Centerline is valid? [True, True] Translation: X:200.64, Y:198.98, Z:44.77 [[-5.88869715e-01 -8.06662682e-01 5.02769879e-02 2.00635444e+02] [ 8.03745611e-01 -5.91012110e-01 -6.85396121e-02 1.98983919e+02] [ 8.50026560e-02 4.90064929e-05 9.96380723e-01 4.47671803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0271056809999 meters Centerline goodness [0,1] 0.9985624335125499 Centerline is valid? [True, True] Translation: X:200.62, Y:199.00, Z:44.77 [[-5.89191503e-01 -8.06425966e-01 5.03044059e-02 2.00620158e+02] [ 8.03509752e-01 -5.91335064e-01 -6.85194849e-02 1.99004314e+02] [ 8.50026510e-02 4.89824126e-05 9.96380724e-01 4.47688170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05710568099994 meters Centerline goodness [0,1] 0.9985639611695101 Centerline is valid? [True, True] Translation: X:200.60, Y:199.02, Z:44.77 [[-5.87083858e-01 -8.08043100e-01 4.89784871e-02 2.00603846e+02] [ 8.05288935e-01 -5.89123293e-01 -6.66594105e-02 1.99023818e+02] [ 8.27180444e-02 3.07169820e-04 9.96572943e-01 4.47740486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0871056809999 meters Centerline goodness [0,1] 0.998793692736307 Centerline is valid? [True, True] Translation: X:200.59, Y:199.04, Z:44.77 [[-5.83094654e-01 -8.10905818e-01 4.93191435e-02 2.00586743e+02] [ 8.08127684e-01 -5.85176208e-01 -6.70704972e-02 1.99044515e+02] [ 8.32482459e-02 7.47716869e-04 9.96528560e-01 4.47747133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11710568099994 meters Centerline goodness [0,1] 0.9987186058431573 Centerline is valid? [True, True] Translation: X:200.57, Y:199.07, Z:44.77 [[-5.80938166e-01 -8.12424130e-01 4.97783142e-02 2.00570604e+02] [ 8.09603750e-01 -5.83066057e-01 -6.76442289e-02 1.99065978e+02] [ 8.39798492e-02 1.00359556e-03 9.96466948e-01 4.47705598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1471056809999 meters Centerline goodness [0,1] 0.9987740555951532 Centerline is valid? [True, True] Translation: X:200.55, Y:199.09, Z:44.77 [[-5.74295938e-01 -8.17015717e-01 5.16671396e-02 2.00552929e+02] [ 8.13999834e-01 -5.76612694e-01 -7.01574700e-02 1.99086746e+02] [ 8.71116842e-02 1.76589305e-03 9.96196987e-01 4.47671956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17710568099994 meters Centerline goodness [0,1] 0.9991733181299886 Centerline is valid? [True, True] Translation: X:200.54, Y:199.11, Z:44.77 [[-5.72154833e-01 -8.18511942e-01 5.17402042e-02 2.00535946e+02] [ 8.15498239e-01 -5.74485938e-01 -7.02034841e-02 1.99106290e+02] [ 8.71864099e-02 2.02678269e-03 9.96189953e-01 4.47689064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2071056809999 meters Centerline goodness [0,1] 0.9994000857020425 Centerline is valid? [True, True] Translation: X:200.52, Y:199.13, Z:44.78 [[-5.68506154e-01 -8.21051943e-01 5.17151835e-02 2.00518586e+02] [ 8.18056366e-01 -5.70848252e-01 -7.01145862e-02 1.99126016e+02] [ 8.70892393e-02 2.44536134e-03 9.96197513e-01 4.47755766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2371056809999 meters Centerline goodness [0,1] 0.9991644336877287 Centerline is valid? [True, True] Translation: X:200.49, Y:199.14, Z:44.78 [[-5.59619052e-01 -8.27180570e-01 5.09786411e-02 2.00491964e+02] [ 8.24299379e-01 -5.61926087e-01 -6.90623342e-02 1.99138527e+02] [ 8.57732493e-02 3.37306424e-03 9.96308974e-01 4.47810415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2671056809999 meters Centerline goodness [0,1] 0.9991763494631564 Centerline is valid? [True, True] Translation: X:200.47, Y:199.15, Z:44.78 [[-5.45888930e-01 -8.36263778e-01 5.16543302e-02 2.00466379e+02] [ 8.33349293e-01 -5.48305701e-01 -6.99272035e-02 1.99153259e+02] [ 8.67999511e-02 4.87361325e-03 9.96213841e-01 4.47843996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2971056809999 meters Centerline goodness [0,1] 0.9980721891034197 Centerline is valid? [True, True] Translation: X:200.44, Y:199.17, Z:44.78 [[-5.39990170e-01 -8.40056736e-01 5.21085128e-02 2.00439849e+02] [ 8.37111254e-01 -5.42470174e-01 -7.05043128e-02 1.99166880e+02] [ 8.74949368e-02 5.54898665e-03 9.96149509e-01 4.47823053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3271056809999 meters Centerline goodness [0,1] 0.9981323372465315 Centerline is valid? [True, True] Translation: X:200.43, Y:199.19, Z:44.78 [[-5.44414181e-01 -8.37281164e-01 5.07291923e-02 2.00427144e+02] [ 8.34481176e-01 -5.46749839e-01 -6.85986908e-02 1.99190561e+02] [ 8.51725695e-02 4.98645596e-03 9.96353737e-01 4.47837544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3571056809999 meters Centerline goodness [0,1] 0.9987842486063337 Centerline is valid? [True, True] Translation: X:200.41, Y:199.21, Z:44.79 [[-5.49297281e-01 -8.34097157e-01 5.05413656e-02 2.00414375e+02] [ 8.31308788e-01 -5.51599189e-01 -6.82937292e-02 1.99214066e+02] [ 8.48421816e-02 4.50192163e-03 9.96384232e-01 4.47899834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3871056809999 meters Centerline goodness [0,1] 0.9991184249191889 Centerline is valid? [True, True] Translation: X:200.41, Y:199.24, Z:44.79 [[-5.62570462e-01 -8.25282415e-01 4.92281572e-02 2.00408667e+02] [ 8.22607047e-01 -5.64711713e-01 -6.64704987e-02 1.99241431e+02] [ 8.26566507e-02 3.10108986e-03 9.96573259e-01 4.47924250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4171056809999 meters Centerline goodness [0,1] 0.9990070963408579 Centerline is valid? [True, True] Translation: X:200.40, Y:199.26, Z:44.79 [[-5.67725711e-01 -8.21737761e-01 4.93413578e-02 2.00396462e+02] [ 8.19040845e-01 -5.69859808e-01 -6.65724676e-02 1.99264792e+02] [ 8.28227671e-02 2.61768584e-03 9.96560855e-01 4.47894753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4471056809999 meters Centerline goodness [0,1] 0.9991889464994351 Centerline is valid? [True, True] Translation: X:200.39, Y:199.29, Z:44.79 [[-5.74153949e-01 -8.17272134e-01 4.91274026e-02 2.00387875e+02] [ 8.14586387e-01 -5.76248466e-01 -6.62323402e-02 1.99291333e+02] [ 8.24394364e-02 1.99095366e-03 9.96594088e-01 4.47880494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.4771056809999 meters Centerline goodness [0,1] 0.9985024766731944 Centerline is valid? [True, True] Translation: X:200.38, Y:199.32, Z:44.79 [[-5.84683816e-01 -8.09782081e-01 4.89675132e-02 2.00381951e+02] [ 8.07091410e-01 -5.86729984e-01 -6.59649992e-02 1.99319320e+02] [ 8.21479825e-02 9.52591871e-04 9.96619688e-01 4.47918990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5071056809999 meters Centerline goodness [0,1] 0.9985918326292497 Centerline is valid? [True, True] Translation: X:200.37, Y:199.34, Z:44.80 [[-5.91288188e-01 -8.04999442e-01 4.85198579e-02 2.00370840e+02] [ 8.02345715e-01 -5.93275485e-01 -6.53112029e-02 1.99343729e+02] [ 8.13611242e-02 3.11957273e-04 9.96684639e-01 4.47995237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5371056809999 meters Centerline goodness [0,1] 0.9989050569082265 Centerline is valid? [True, True] Translation: X:200.36, Y:199.37, Z:44.80 [[-5.93911478e-01 -8.03098303e-01 4.79819905e-02 2.00357934e+02] [ 8.00500849e-01 -5.95846548e-01 -6.45389880e-02 1.99366105e+02] [ 8.04210552e-02 7.91783803e-05 9.96760978e-01 4.48027202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56710568099993 meters Centerline goodness [0,1] 0.9987057808455565 Centerline is valid? [True, True] Translation: X:200.34, Y:199.39, Z:44.80 [[-5.96566587e-01 -8.01092498e-01 4.85707375e-02 2.00344297e+02] [ 7.98428633e-01 -5.98540544e-01 -6.52758423e-02 1.99387656e+02] [ 8.13635432e-02 -1.61118903e-04 9.96684478e-01 4.48010997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.5971056809999 meters Centerline goodness [0,1] 0.9985113935646399 Centerline is valid? [True, True] Translation: X:200.33, Y:199.41, Z:44.80 [[-5.98506038e-01 -7.99586326e-01 4.95199891e-02 2.00331243e+02] [ 7.96816656e-01 -6.00551073e-01 -6.64953052e-02 1.99411379e+02] [ 8.29080195e-02 -3.39489533e-04 9.96557146e-01 4.47990968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62710568099993 meters Centerline goodness [0,1] 0.9989438529386578 Centerline is valid? [True, True] Translation: X:200.32, Y:199.44, Z:44.79 [[-5.99265959e-01 -7.98841674e-01 5.22713245e-02 2.00317274e+02] [ 7.95756977e-01 -6.01541180e-01 -7.01358882e-02 1.99435520e+02] [ 8.74708245e-02 -4.34779129e-04 9.96166987e-01 4.47916539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.6571056809999 meters Centerline goodness [0,1] 0.9984004570122822 Centerline is valid? [True, True] Translation: X:200.30, Y:199.46, Z:44.79 [[-5.98545014e-01 -7.99292566e-01 5.36214619e-02 2.00300631e+02] [ 7.96052844e-01 -6.00941990e-01 -7.18929321e-02 1.99455636e+02] [ 8.96868742e-02 -3.45638827e-04 9.95969952e-01 4.47905985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68710568099993 meters Centerline goodness [0,1] 0.9984808965576543 Centerline is valid? [True, True] Translation: X:200.28, Y:199.47, Z:44.79 [[-5.93347615e-01 -8.03124228e-01 5.41302346e-02 2.00279547e+02] [ 7.99843611e-01 -5.95811550e-01 -7.25175474e-02 1.99472769e+02] [ 9.04920182e-02 2.67608517e-04 9.95897145e-01 4.47915907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7171056809999 meters Centerline goodness [0,1] 0.9986444002192034 Centerline is valid? [True, True] Translation: X:200.25, Y:199.48, Z:44.80 [[-5.82824863e-01 -8.10855756e-01 5.31800922e-02 2.00250829e+02] [ 8.07726117e-01 -5.85244220e-01 -7.11879410e-02 1.99484844e+02] [ 8.88464933e-02 1.46484742e-03 9.96044253e-01 4.47966528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74710568099994 meters Centerline goodness [0,1] 0.9982830869514608 Centerline is valid? [True, True] Translation: X:200.23, Y:199.50, Z:44.80 [[-5.75714294e-01 -8.15988497e-01 5.21135763e-02 2.00225114e+02] [ 8.13008634e-01 -5.78063811e-01 -6.97079048e-02 1.99496820e+02] [ 8.70058210e-02 2.23695028e-03 9.96205292e-01 4.48005262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7771056809999 meters Centerline goodness [0,1] 0.9974454590833015 Centerline is valid? [True, True] Translation: X:200.20, Y:199.51, Z:44.80 [[-5.68069553e-01 -8.21389500e-01 5.11495006e-02 2.00198785e+02] [ 8.18545123e-01 -5.70359619e-01 -6.83650902e-02 1.99510611e+02] [ 8.53279770e-02 3.03204805e-03 9.96348304e-01 4.48044928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80710568099994 meters Centerline goodness [0,1] 0.9955490051584377 Centerline is valid? [True, True] Translation: X:200.18, Y:199.53, Z:44.81 [[-5.65556184e-01 -8.23272638e-01 4.86658651e-02 2.00179716e+02] [ 8.20708763e-01 -5.67637259e-01 -6.50005301e-02 1.99527554e+02] [ 8.11377161e-02 3.17905011e-03 9.96697830e-01 4.48109162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8371056809999 meters Centerline goodness [0,1] 0.994991603570692 Centerline is valid? [True, True] Translation: X:200.16, Y:199.55, Z:44.81 [[-5.64346426e-01 -8.24136306e-01 4.80880586e-02 2.00164890e+02] [ 8.21639812e-01 -5.66381964e-01 -6.41832613e-02 1.99550254e+02] [ 8.01319649e-02 3.28946937e-03 9.96778836e-01 4.48144375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86710568099994 meters Centerline goodness [0,1] 0.9935061118946874 Centerline is valid? [True, True] Translation: X:200.15, Y:199.57, Z:44.81 [[-5.62150062e-01 -8.25614212e-01 4.84611183e-02 2.00149636e+02] [ 8.23087972e-01 -5.64223844e-01 -6.46346925e-02 1.99572917e+02] [ 8.07062392e-02 3.55336717e-03 9.96731597e-01 4.48136968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8971056809999 meters Centerline goodness [0,1] 0.9929283188685311 Centerline is valid? [True, True] Translation: X:200.14, Y:199.60, Z:44.82 [[-5.59738778e-01 -8.27229865e-01 4.88185407e-02 2.00137837e+02] [ 8.24676176e-01 -5.61850510e-01 -6.50631198e-02 1.99596684e+02] [ 8.12508778e-02 3.84113630e-03 9.96686280e-01 4.48165963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92710568099994 meters Centerline goodness [0,1] 0.9922401470287932 Centerline is valid? [True, True] Translation: X:200.12, Y:199.62, Z:44.82 [[-5.58353090e-01 -8.28206637e-01 4.81206095e-02 2.00121680e+02] [ 8.25733134e-01 -5.60408900e-01 -6.40832026e-02 1.99616566e+02] [ 8.00413515e-02 3.95372749e-03 9.96783703e-01 4.48184528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9571056809999 meters Centerline goodness [0,1] 0.9886791360240894 Centerline is valid? [True, True] Translation: X:200.10, Y:199.64, Z:44.82 [[-5.50101781e-01 -8.33841017e-01 4.57950830e-02 2.00104198e+02] [ 8.31623474e-01 -5.51985842e-01 -6.09428226e-02 1.99636189e+02] [ 7.60948626e-02 4.55951076e-03 9.97090158e-01 4.48211616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9871056809999 meters Centerline goodness [0,1] 0.9877159866414985 Centerline is valid? [True, True] Translation: X:200.09, Y:199.66, Z:44.82 [[-5.46601412e-01 -8.36176278e-01 4.51234784e-02 2.00088342e+02] [ 8.34033852e-01 -5.48439508e-01 -6.00136613e-02 1.99657462e+02] [ 7.49294983e-02 4.83095652e-03 9.97177132e-01 4.48238264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0171056809999 meters Centerline goodness [0,1] 0.9849769878715953 Centerline is valid? [True, True] Translation: X:200.07, Y:199.68, Z:44.83 [[-5.40288576e-01 -8.40296117e-01 4.46171476e-02 2.00073223e+02] [ 8.38218340e-01 -5.42101189e-01 -5.92985282e-02 1.99679437e+02] [ 7.40153318e-02 5.36059407e-03 9.97242696e-01 4.48250817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0471056809999 meters Centerline goodness [0,1] 0.9813915857605178 Centerline is valid? [True, True] Translation: X:200.06, Y:199.70, Z:44.83 [[-5.36570615e-01 -8.42725262e-01 4.36589850e-02 2.00055892e+02] [ 8.40745984e-01 -5.38314873e-01 -5.79938578e-02 1.99699804e+02] [ 7.23751700e-02 5.58831636e-03 9.97361823e-01 4.48260203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0771056809999 meters Centerline goodness [0,1] 0.9606351401976888 Centerline is valid? [True, True] Translation: X:200.03, Y:199.72, Z:44.83 [[-5.30343030e-01 -8.46693492e-01 4.29697739e-02 2.00034422e+02] [ 8.44791193e-01 -5.32046587e-01 -5.70461934e-02 1.99715441e+02] [ 7.11625623e-02 6.04643553e-03 9.97446405e-01 4.48275423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1071056809999 meters Centerline goodness [0,1] 0.9705839858988066 Centerline is valid? [True, True] Translation: X:200.02, Y:199.74, Z:44.83 [[-5.28115846e-01 -8.48096883e-01 4.27238842e-02 2.00020263e+02] [ 8.46223244e-01 -5.29804699e-01 -5.66851213e-02 1.99738182e+02] [ 7.07097892e-02 6.21763311e-03 9.97477552e-01 4.48293443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1371056809999 meters Centerline goodness [0,1] 0.9611785901086767 Centerline is valid? [True, True] Translation: X:200.00, Y:199.76, Z:44.83 [[-5.22400710e-01 -8.51666801e-01 4.19661511e-02 1.99997526e+02] [ 8.49872931e-01 -5.24042089e-01 -5.56407157e-02 1.99755200e+02] [ 6.93793799e-02 6.59914644e-03 9.97568520e-01 4.48300224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1671056809999 meters Centerline goodness [0,1] 0.9535191391779856 Centerline is valid? [True, True] Translation: X:199.97, Y:199.77, Z:44.83 [[-5.17530576e-01 -8.54627113e-01 4.21260191e-02 1.99973511e+02] [ 8.52831763e-01 -5.19194486e-01 -5.58128024e-02 1.99770926e+02] [ 6.95707310e-02 7.04157539e-03 9.97552169e-01 4.48308973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1971056809999 meters Centerline goodness [0,1] 0.948164338246153 Centerline is valid? [True, False] Translation: X:201.40, Y:199.97, Z:45.42 [[ 0.77704776 0.38994141 -0.49410776 201.39500222] [ -0.59403574 0.71387149 -0.37082212 199.97105817] [ 0.20813054 0.58166416 0.78635137 45.42105037] [ 0. 0. 0. 1. ]] SLAMing on 381.2271056809999 meters Centerline goodness [0,1] 0.8813911392029437 Centerline is valid? [False, False] Translation: X:201.38, Y:200.00, Z:45.38 [[ 0.77326829 0.41573301 -0.47877158 201.37834253] [ -0.59616316 0.73386176 -0.32563233 200.00418561] [ 0.21597604 0.53722713 0.81531673 45.38397152] [ 0. 0. 0. 1. ]] SLAMing on 381.2571056809999 meters Centerline goodness [0,1] 0.964268840066147 Centerline is valid? [False, True] Translation: X:201.40, Y:200.01, Z:45.38 [[ 0.77768085 0.41746953 -0.47003371 201.40392882] [ -0.58243389 0.75985832 -0.2887665 200.00779059] [ 0.23660781 0.49833174 0.83407567 45.37511699] [ 0. 0. 0. 1. ]] SLAMing on 381.2871056809999 meters Centerline goodness [0,1] 0.9729244533388269 Centerline is valid? [True, True] Translation: X:201.55, Y:200.00, Z:45.02 [[ 7.68882008e-01 5.92301880e-01 -2.40829693e-01 2.01554511e+02] [-5.73512304e-01 8.05388923e-01 1.49774230e-01 1.99999310e+02] [ 2.82673125e-01 2.29600811e-02 9.58941468e-01 4.50150466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31710568099993 meters Centerline goodness [0,1] 0.979957529743724 Centerline is valid? [True, True] Translation: X:201.57, Y:199.98, Z:45.02 [[ 7.75210460e-01 5.84161044e-01 -2.40425907e-01 2.01571885e+02] [-5.65082473e-01 8.11390659e-01 1.49422211e-01 1.99977497e+02] [ 2.82365970e-01 2.00268055e-02 9.59097694e-01 4.50223960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.3471056809999 meters Centerline goodness [0,1] 0.9854847518036274 Centerline is valid? [True, True] Translation: X:201.59, Y:199.95, Z:45.03 [[ 7.83394461e-01 5.74430527e-01 -2.37324016e-01 2.01585653e+02] [-5.55435646e-01 8.18390219e-01 1.47406557e-01 1.99949046e+02] [ 2.78898479e-01 1.63407378e-02 9.60181555e-01 4.50314870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37710568099993 meters Centerline goodness [0,1] 0.9863834422657952 Centerline is valid? [True, True] Translation: X:201.61, Y:199.93, Z:45.04 [[ 7.85936509e-01 5.71456120e-01 -2.36096816e-01 2.01605690e+02] [-5.52551991e-01 8.20490641e-01 1.46565359e-01 1.99931842e+02] [ 2.77470900e-01 1.52646992e-02 9.60612767e-01 4.50393868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4071056809999 meters Centerline goodness [0,1] 0.9845939964818703 Centerline is valid? [True, True] Translation: X:201.63, Y:199.91, Z:45.05 [[ 7.89506558e-01 5.67310975e-01 -2.34174408e-01 2.01625372e+02] [-5.48558199e-01 8.23389068e-01 1.45307764e-01 1.99914907e+02] [ 2.75251337e-01 1.37368592e-02 9.61274155e-01 4.50482902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43710568099993 meters Centerline goodness [0,1] 0.9888616304317176 Centerline is valid? [True, True] Translation: X:201.65, Y:199.90, Z:45.06 [[ 7.90764296e-01 5.65674656e-01 -2.33888887e-01 2.01645300e+02] [-5.46909735e-01 8.24523123e-01 1.45090873e-01 1.99895312e+02] [ 2.74921025e-01 1.31834267e-02 9.61376423e-01 4.50567144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.4671056809999 meters Centerline goodness [0,1] 0.9923692168555521 Centerline is valid? [True, True] Translation: X:201.67, Y:199.87, Z:45.06 [[ 7.89423968e-01 5.67230227e-01 -2.34647967e-01 2.01665151e+02] [-5.48434285e-01 8.23442790e-01 1.45470983e-01 1.99874898e+02] [ 2.75734715e-01 1.38507090e-02 9.61133979e-01 4.50644544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49710568099994 meters Centerline goodness [0,1] 0.9887811478182433 Centerline is valid? [True, True] Translation: X:201.69, Y:199.86, Z:45.07 [[ 7.88357763e-01 5.68580960e-01 -2.34963250e-01 2.01689593e+02] [-5.49819430e-01 8.22500825e-01 1.45571245e-01 1.99864409e+02] [ 2.76026505e-01 1.44251383e-02 9.61041770e-01 4.50715137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5271056809999 meters Centerline goodness [0,1] 0.9888357705286839 Centerline is valid? [True, True] Translation: X:201.71, Y:199.85, Z:45.08 [[ 7.86193283e-01 5.71612203e-01 -2.34860833e-01 2.01712321e+02] [-5.53010322e-01 8.20377217e-01 1.45467541e-01 1.99849096e+02] [ 2.75825498e-01 1.55148610e-02 9.61082506e-01 4.50797007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55710568099994 meters Centerline goodness [0,1] 0.9856360384529399 Centerline is valid? [True, True] Translation: X:201.74, Y:199.84, Z:45.08 [[ 7.82765664e-01 5.75452338e-01 -2.36923032e-01 2.01737579e+02] [-5.56702054e-01 8.17657207e-01 1.46695313e-01 1.99837460e+02] [ 2.78137985e-01 1.70674848e-02 9.60389485e-01 4.50826005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5871056809999 meters Centerline goodness [0,1] 0.9860243249274715 Centerline is valid? [True, True] Translation: X:201.76, Y:199.82, Z:45.09 [[ 7.80896339e-01 5.77447671e-01 -2.38233278e-01 2.01761438e+02] [-5.58586836e-01 8.16231121e-01 1.47470349e-01 1.99821906e+02] [ 2.79609826e-01 1.79149173e-02 9.59946562e-01 4.50875914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61710568099994 meters Centerline goodness [0,1] 0.983761043331931 Centerline is valid? [True, True] Translation: X:201.79, Y:199.81, Z:45.09 [[ 7.76184831e-01 5.83518663e-01 -2.38836927e-01 2.01788007e+02] [-5.64864426e-01 8.11847819e-01 1.47754182e-01 1.99811624e+02] [ 2.80116561e-01 2.02259292e-02 9.59752897e-01 4.50942395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6471056809999 meters Centerline goodness [0,1] 0.9819520036095992 Centerline is valid? [True, True] Translation: X:201.81, Y:199.80, Z:45.10 [[ 7.73227361e-01 5.87685610e-01 -2.38212241e-01 2.01813296e+02] [-5.69335922e-01 8.08797981e-01 1.47317461e-01 1.99801171e+02] [ 2.79241931e-01 2.17128945e-02 9.59975257e-01 4.51036591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67710568099994 meters Centerline goodness [0,1] 0.9771577232053518 Centerline is valid? [True, True] Translation: X:201.84, Y:199.80, Z:45.11 [[ 7.66437370e-01 5.97144653e-01 -2.36626335e-01 2.01842474e+02] [-5.79500694e-01 8.01742716e-01 1.46244873e-01 1.99797788e+02] [ 2.77042784e-01 2.50375895e-02 9.60531319e-01 4.51146185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7071056809999 meters Centerline goodness [0,1] 0.976368410422137 Centerline is valid? [True, True] Translation: X:201.87, Y:199.79, Z:45.12 [[ 7.63387600e-01 6.01641998e-01 -2.35087808e-01 2.01867685e+02] [-5.84447850e-01 7.98325620e-01 1.45247770e-01 1.99787230e+02] [ 2.75063779e-01 2.65162173e-02 9.61060252e-01 4.51244726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7371056809999 meters Centerline goodness [0,1] 0.9552130920025443 Centerline is valid? [True, True] Translation: X:201.90, Y:199.79, Z:45.14 [[ 7.66776582e-01 5.99211707e-01 -2.30215122e-01 2.01896047e+02] [-5.82651663e-01 8.00195636e-01 1.42140718e-01 1.99786841e+02] [ 2.69389518e-01 2.51450502e-02 9.62702973e-01 4.51379010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7671056809999 meters Centerline goodness [0,1] 0.9767083902070688 Centerline is valid? [True, True] Translation: X:201.91, Y:199.76, Z:45.15 [[ 7.69138204e-01 5.96272435e-01 -2.29968707e-01 2.01912640e+02] [-5.79637210e-01 8.02419272e-01 1.41929616e-01 1.99761914e+02] [ 2.69160040e-01 2.41349296e-02 9.62793009e-01 4.51460849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7971056809999 meters Centerline goodness [0,1] 0.9777199074074074 Centerline is valid? [True, True] Translation: X:201.94, Y:199.75, Z:45.15 [[ 7.70542442e-01 5.94605091e-01 -2.29584691e-01 2.01935153e+02] [-5.77967115e-01 8.03672998e-01 1.41646482e-01 1.99746194e+02] [ 2.68734736e-01 2.35477747e-02 9.62926344e-01 4.51529434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8271056809999 meters Centerline goodness [0,1] 0.9766976784627424 Centerline is valid? [True, True] Translation: X:201.96, Y:199.73, Z:45.16 [[ 7.69731880e-01 5.96089020e-01 -2.28452869e-01 2.01959650e+02] [-5.79707042e-01 8.02559016e-01 1.40850175e-01 1.99732394e+02] [ 2.67306153e-01 2.40188668e-02 9.63312262e-01 4.51597848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8571056809999 meters Centerline goodness [0,1] 0.9709013896544721 Centerline is valid? [True, True] Translation: X:201.99, Y:199.72, Z:45.17 [[ 7.69196684e-01 5.96832554e-01 -2.28314176e-01 2.01985266e+02] [-5.80526828e-01 8.01996714e-01 1.40676485e-01 1.99723989e+02] [ 2.67067524e-01 2.43346181e-02 9.63370523e-01 4.51688556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8871056809999 meters Centerline goodness [0,1] 0.9685755210617089 Centerline is valid? [True, True] Translation: X:202.01, Y:199.71, Z:45.17 [[ 7.62415770e-01 6.05241400e-01 -2.28921475e-01 2.02011633e+02] [-5.89224454e-01 7.95570844e-01 1.41002040e-01 1.99712708e+02] [ 2.67463523e-01 2.73839519e-02 9.63178791e-01 4.51724728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9171056809999 meters Centerline goodness [0,1] 0.9459380564556149 Centerline is valid? [True, False] Translation: X:202.01, Y:199.72, Z:45.19 [[ 7.68200001e-01 5.91125253e-01 -2.45844856e-01 2.02005257e+02] [-5.83068019e-01 8.04576480e-01 1.12642678e-01 1.99723322e+02] [ 2.64386920e-01 5.68121678e-02 9.62741883e-01 4.51919435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9471056809999 meters Centerline goodness [0,1] 0.9459380564556149 Centerline is valid? [False, False] Translation: X:202.00, Y:199.73, Z:45.21 [[ 7.72375745e-01 5.79279958e-01 -2.60519556e-01 2.01998096e+02] [-5.78182519e-01 8.11019121e-01 8.91793668e-02 1.99734157e+02] [ 2.62946161e-01 8.17478730e-02 9.61341043e-01 4.52068608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.9771056809999 meters Centerline goodness [0,1] 0.9710085868141464 Centerline is valid? [False, True] Translation: X:202.06, Y:199.72, Z:45.24 [[ 7.88458743e-01 5.52376363e-01 -2.70579313e-01 2.02059818e+02] [-5.52693657e-01 8.29296512e-01 8.24440162e-02 1.99721245e+02] [ 2.69930606e-01 8.45437646e-02 9.59160998e-01 4.52387544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0071056809999 meters Centerline goodness [0,1] 0.9456869009584664 Centerline is valid? [True, False] Translation: X:202.08, Y:199.72, Z:45.26 [[ 7.94973434e-01 5.35040252e-01 -2.85918113e-01 2.02075687e+02] [-5.41978290e-01 8.38140106e-01 6.14873650e-02 1.99723845e+02] [ 2.72537653e-01 1.06080588e-01 9.56279319e-01 4.52589821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0371056809999 meters Centerline goodness [0,1] 0.8790867685880885 Centerline is valid? [False, False] Translation: X:202.06, Y:199.74, Z:45.26 [[ 7.96329884e-01 5.27864891e-01 -2.95325874e-01 2.02058615e+02] [-5.38654015e-01 8.40997418e-01 5.07463876e-02 1.99736760e+02] [ 2.75155533e-01 1.18667603e-01 9.54047919e-01 4.52616108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06710568099993 meters Centerline goodness [0,1] 0.9220244651863876 Centerline is valid? [False, False] Translation: X:202.08, Y:199.74, Z:45.28 [[ 8.03448741e-01 5.12163790e-01 -3.03575975e-01 2.02077967e+02] [-5.25662022e-01 8.49645466e-01 4.22139875e-02 1.99739590e+02] [ 2.79552426e-01 1.25661585e-01 9.51871634e-01 4.52753971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.0971056809999 meters Centerline goodness [0,1] 0.9597671185262426 Centerline is valid? [False, True] Translation: X:202.14, Y:199.73, Z:45.31 [[ 8.16480759e-01 4.84140571e-01 -3.14590334e-01 2.02142285e+02] [-4.98098007e-01 8.66185229e-01 4.02681564e-02 1.99730041e+02] [ 2.91988949e-01 1.23818644e-01 9.48373026e-01 4.53070541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12710568099993 meters Centerline goodness [0,1] 0.968236582694414 Centerline is valid? [True, True] Translation: X:202.18, Y:199.70, Z:45.25 [[ 8.16530249e-01 5.05278032e-01 -2.79235497e-01 2.02184320e+02] [-4.90056937e-01 8.62332070e-01 1.27387594e-01 1.99702403e+02] [ 3.05159877e-01 3.28254681e-02 9.51735225e-01 4.52472775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.1571056809999 meters Centerline goodness [0,1] 0.9445837295755165 Centerline is valid? [True, False] Translation: X:202.18, Y:199.71, Z:45.27 [[ 8.20662623e-01 4.88996084e-01 -2.95627619e-01 2.02176480e+02] [-4.83426912e-01 8.69988396e-01 9.70495287e-02 1.99711200e+02] [ 3.04649438e-01 6.32694260e-02 9.50360826e-01 4.52683534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18710568099993 meters Centerline goodness [0,1] 0.976571461344345 Centerline is valid? [False, True] Translation: X:202.19, Y:199.72, Z:45.30 [[ 8.29053634e-01 4.64639218e-01 -3.11095594e-01 2.02185625e+02] [-4.68798464e-01 8.80818707e-01 6.62299464e-02 1.99715845e+02] [ 3.04791849e-01 9.09329588e-02 9.48068102e-01 4.52964785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2171056809999 meters Centerline goodness [0,1] 0.9818963047837296 Centerline is valid? [True, True] Translation: X:202.22, Y:199.69, Z:45.26 [[ 8.29101240e-01 4.80793126e-01 -2.85357852e-01 2.02222809e+02] [-4.64985993e-01 8.76368153e-01 1.25566265e-01 1.99693244e+02] [ 3.10449930e-01 2.85802576e-02 9.50159992e-01 4.52588161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24710568099994 meters Centerline goodness [0,1] 0.9912057459563398 Centerline is valid? [True, True] Translation: X:202.24, Y:199.67, Z:45.27 [[ 8.37142462e-01 4.66964045e-01 -2.84845709e-01 2.02241854e+02] [-4.50464443e-01 8.83965033e-01 1.25250174e-01 1.99669648e+02] [ 3.10280975e-01 2.34606251e-02 9.50355363e-01 4.52656784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2771056809999 meters Centerline goodness [0,1] 0.9960350936392779 Centerline is valid? [True, True] Translation: X:202.26, Y:199.65, Z:45.27 [[ 8.41842074e-01 4.58285077e-01 -2.85090706e-01 2.02264595e+02] [-4.41286060e-01 8.88573187e-01 1.25316816e-01 1.99650311e+02] [ 3.10754784e-01 2.03095858e-02 9.50273111e-01 4.52718700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30710568099994 meters Centerline goodness [0,1] 0.9976181802897414 Centerline is valid? [True, True] Translation: X:202.29, Y:199.63, Z:45.28 [[ 8.44846310e-01 4.53465869e-01 -2.83907411e-01 2.02287522e+02] [-4.36361026e-01 8.91081780e-01 1.24749016e-01 1.99634953e+02] [ 3.09554142e-01 1.84923829e-02 9.50701985e-01 4.52815457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3371056809999 meters Centerline goodness [0,1] 0.9971824699416967 Centerline is valid? [True, True] Translation: X:202.31, Y:199.62, Z:45.30 [[ 8.48880354e-01 4.48180726e-01 -2.80243077e-01 2.02309677e+02] [-4.31271916e-01 8.93792317e-01 1.23044013e-01 1.99623068e+02] [ 3.05625064e-01 1.64113234e-02 9.52010498e-01 4.52972327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36710568099994 meters Centerline goodness [0,1] 0.9980706316584179 Centerline is valid? [True, True] Translation: X:202.33, Y:199.61, Z:45.31 [[ 8.49848237e-01 4.46892136e-01 -2.79366056e-01 2.02334484e+02] [-4.30035562e-01 8.94446026e-01 1.22620232e-01 1.99612334e+02] [ 3.04675876e-01 1.59287507e-02 9.52322889e-01 4.53071822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3971056809999 meters Centerline goodness [0,1] 0.9974231857266896 Centerline is valid? [True, True] Translation: X:202.36, Y:199.60, Z:45.31 [[ 8.49907564e-01 4.46978600e-01 -2.79047065e-01 2.02360886e+02] [-4.30196226e-01 8.94401024e-01 1.22384702e-01 1.99603199e+02] [ 3.04283323e-01 1.60293105e-02 9.52446702e-01 4.53143970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42710568099994 meters Centerline goodness [0,1] 0.9974517964834791 Centerline is valid? [True, True] Translation: X:202.39, Y:199.60, Z:45.32 [[ 8.47956855e-01 4.50450254e-01 -2.79398892e-01 2.02390121e+02] [-4.33837881e-01 8.92632210e-01 1.22443581e-01 1.99596073e+02] [ 3.04555192e-01 1.73869496e-02 9.52335985e-01 4.53176330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4571056809999 meters Centerline goodness [0,1] 0.9970238095238095 Centerline is valid? [True, True] Translation: X:202.42, Y:199.59, Z:45.33 [[ 8.49393029e-01 4.48520432e-01 -2.78138284e-01 2.02416623e+02] [-4.31987785e-01 8.93616654e-01 1.21802414e-01 1.99588979e+02] [ 3.03179874e-01 1.66942198e-02 9.52787105e-01 4.53252331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4871056809999 meters Centerline goodness [0,1] 0.9947329461336978 Centerline is valid? [True, True] Translation: X:202.44, Y:199.58, Z:45.34 [[ 8.50388093e-01 4.46277758e-01 -2.78704598e-01 2.02443444e+02] [-4.29587038e-01 8.94751251e-01 1.21963831e-01 1.99584675e+02] [ 3.03801033e-01 1.60112932e-02 9.52600950e-01 4.53357383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5171056809999 meters Centerline goodness [0,1] 0.9989505630087642 Centerline is valid? [True, True] Translation: X:202.46, Y:199.56, Z:45.34 [[ 8.53502086e-01 4.39102638e-01 -2.80576304e-01 2.02463741e+02] [-4.21824167e-01 8.98333811e-01 1.22722194e-01 1.99560177e+02] [ 3.05938819e-01 1.36102168e-02 9.51953886e-01 4.53420464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5471056809999 meters Centerline goodness [0,1] 0.9994356977597201 Centerline is valid? [True, True] Translation: X:202.49, Y:199.54, Z:45.34 [[ 8.56831616e-01 4.31822711e-01 -2.81724561e-01 2.02487257e+02] [-4.14044728e-01 9.01889689e-01 1.23133878e-01 1.99541077e+02] [ 3.07256482e-01 1.11415694e-02 9.51561517e-01 4.53446347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5771056809999 meters Centerline goodness [0,1] 0.9994100460725924 Centerline is valid? [True, True] Translation: X:202.51, Y:199.53, Z:45.35 [[ 8.58195550e-01 4.28740517e-01 -2.82279945e-01 2.02511464e+02] [-4.10759714e-01 9.03370647e-01 1.23279889e-01 1.99525416e+02] [ 3.07858500e-01 1.01509774e-02 9.51378001e-01 4.53518923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6071056809999 meters Centerline goodness [0,1] 0.9991263175694719 Centerline is valid? [True, True] Translation: X:202.53, Y:199.51, Z:45.36 [[ 8.60460127e-01 4.24628187e-01 -2.81601265e-01 2.02534291e+02] [-4.06550734e-01 9.05325612e-01 1.22890347e-01 1.99509672e+02] [ 3.07123543e-01 8.74295771e-03 9.51629492e-01 4.53599996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6371056809999 meters Centerline goodness [0,1] 0.9993812403318801 Centerline is valid? [True, True] Translation: X:202.56, Y:199.50, Z:45.37 [[ 8.60166719e-01 4.24566196e-01 -2.82589387e-01 2.02558452e+02] [-4.06380172e-01 9.05353872e-01 1.23245781e-01 1.99499379e+02] [ 3.08169388e-01 8.82680460e-03 9.51290553e-01 4.53674678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6671056809999 meters Centerline goodness [0,1] 0.9993259752295897 Centerline is valid? [True, True] Translation: X:202.58, Y:199.49, Z:45.38 [[ 8.59178969e-01 4.26209347e-01 -2.83120278e-01 2.02582880e+02] [-4.08056327e-01 9.04574857e-01 1.23427558e-01 1.99489920e+02] [ 3.08709464e-01 9.48265854e-03 9.51109114e-01 4.53776570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6971056809999 meters Centerline goodness [0,1] 0.9991000112498594 Centerline is valid? [True, True] Translation: X:202.61, Y:199.48, Z:45.39 [[ 8.58053545e-01 4.28631759e-01 -2.82876173e-01 2.02608530e+02] [-4.10655782e-01 9.03419493e-01 1.23268200e-01 1.99482464e+02] [ 3.08392514e-01 1.03940203e-02 9.51202408e-01 4.53876719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7271056809999 meters Centerline goodness [0,1] 0.9994373171280666 Centerline is valid? [True, True] Translation: X:202.63, Y:199.47, Z:45.40 [[ 8.56624772e-01 4.32259919e-01 -2.81683090e-01 2.02634308e+02] [-4.14639258e-01 9.01673473e-01 1.22716073e-01 1.99473769e+02] [ 3.07031410e-01 1.16752391e-02 9.51627765e-01 4.53982021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7571056809999 meters Centerline goodness [0,1] 0.9989057853094664 Centerline is valid? [True, True] Translation: X:202.66, Y:199.46, Z:45.41 [[ 8.56084487e-01 4.33347941e-01 -2.81653887e-01 2.02659725e+02] [-4.15812031e-01 9.01145012e-01 1.22629610e-01 1.99463772e+02] [ 3.06952284e-01 1.21337684e-02 9.51647554e-01 4.54073105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.7871056809999 meters Centerline goodness [0,1] 0.9988500266457241 Centerline is valid? [True, True] Translation: X:202.68, Y:199.45, Z:45.42 [[ 8.55607598e-01 4.35533641e-01 -2.79725018e-01 2.02683934e+02] [-4.18385909e-01 9.00079866e-01 1.21694152e-01 1.99453956e+02] [ 3.04776753e-01 1.29105647e-02 9.52336310e-01 4.54159468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81710568099993 meters Centerline goodness [0,1] 0.9983498811355055 Centerline is valid? [True, True] Translation: X:202.71, Y:199.44, Z:45.42 [[ 8.54578564e-01 4.38682404e-01 -2.77944647e-01 2.02710131e+02] [-4.21932832e-01 8.98533447e-01 1.20873198e-01 1.99442833e+02] [ 3.02767507e-01 1.39783282e-02 9.52961932e-01 4.54230574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.8471056809999 meters Centerline goodness [0,1] 0.9974593779663856 Centerline is valid? [True, True] Translation: X:202.74, Y:199.43, Z:45.43 [[ 8.54040610e-01 4.39647686e-01 -2.78072918e-01 2.02735039e+02] [-4.22958752e-01 8.98054763e-01 1.20845095e-01 1.99431563e+02] [ 3.02853975e-01 1.44067556e-02 9.52928075e-01 4.54304589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87710568099993 meters Centerline goodness [0,1] 0.9991370190969322 Centerline is valid? [True, True] Translation: X:202.76, Y:199.41, Z:45.44 [[ 8.52304933e-01 4.42422367e-01 -2.78995970e-01 2.02758428e+02] [-4.25794171e-01 8.96672244e-01 1.21153666e-01 1.99414083e+02] [ 3.03769034e-01 1.55349903e-02 9.52619041e-01 4.54372438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9071056809999 meters Centerline goodness [0,1] 0.9994152698112156 Centerline is valid? [True, True] Translation: X:202.78, Y:199.41, Z:45.45 [[ 8.50209747e-01 4.45841626e-01 -2.79943976e-01 2.02784742e+02] [-4.29307757e-01 8.94952203e-01 1.21471826e-01 1.99408035e+02] [ 3.04693675e-01 1.69055903e-02 9.52300355e-01 4.54462159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93710568099993 meters Centerline goodness [0,1] 0.9993509974886424 Centerline is valid? [True, True] Translation: X:202.81, Y:199.40, Z:45.46 [[ 8.45056790e-01 4.54963070e-01 -2.80869412e-01 2.02812877e+02] [-4.38814319e-01 8.90279175e-01 1.21839992e-01 1.99403395e+02] [ 3.05484885e-01 2.02878073e-02 9.51980772e-01 4.54551233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.9671056809999 meters Centerline goodness [0,1] 0.9987574482505436 Centerline is valid? [True, True] Translation: X:202.84, Y:199.40, Z:45.46 [[ 8.43598806e-01 4.57793053e-01 -2.80653835e-01 2.02839222e+02] [-4.41834085e-01 8.88802828e-01 1.21705279e-01 1.99396633e+02] [ 3.05161753e-01 2.13320023e-02 9.52061579e-01 4.54627482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99710568099994 meters Centerline goodness [0,1] 0.9970357405002541 Centerline is valid? [True, True] Translation: X:202.87, Y:199.39, Z:45.47 [[ 8.42905776e-01 4.59297922e-01 -2.80277134e-01 2.02865065e+02] [-4.43479534e-01 8.88012460e-01 1.21489814e-01 1.99390292e+02] [ 3.04689606e-01 2.18927064e-02 9.52200060e-01 4.54715780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0271056809999 meters Centerline goodness [0,1] 0.9980189053036735 Centerline is valid? [True, True] Translation: X:202.89, Y:199.37, Z:45.48 [[ 8.41795628e-01 4.61164313e-01 -2.80548743e-01 2.02889089e+02] [-4.45425681e-01 8.87026311e-01 1.21574198e-01 1.99374905e+02] [ 3.04919798e-01 2.26229868e-02 9.52109299e-01 4.54780889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05710568099994 meters Centerline goodness [0,1] 0.9976248374144658 Centerline is valid? [True, True] Translation: X:202.91, Y:199.36, Z:45.49 [[ 8.42066023e-01 4.60834142e-01 -2.80279695e-01 2.02913851e+02] [-4.45134036e-01 8.87199640e-01 1.21377461e-01 1.99364439e+02] [ 3.04598922e-01 2.25541963e-02 9.52213634e-01 4.54853392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0871056809999 meters Centerline goodness [0,1] 0.9963236325877698 Centerline is valid? [True, True] Translation: X:202.94, Y:199.35, Z:45.50 [[ 8.42457097e-01 4.61353404e-01 -2.78242838e-01 2.02937268e+02] [-4.45921576e-01 8.86928819e-01 1.20462519e-01 1.99351142e+02] [ 3.02357385e-01 2.25899813e-02 9.52926915e-01 4.54959501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11710568099994 meters Centerline goodness [0,1] 0.9985700266367588 Centerline is valid? [True, True] Translation: X:202.96, Y:199.33, Z:45.50 [[ 8.42198901e-01 4.61939897e-01 -2.78051332e-01 2.02959914e+02] [-4.46591274e-01 8.86616229e-01 1.20282573e-01 1.99334282e+02] [ 3.02088143e-01 2.28734482e-02 9.53005540e-01 4.55043061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1471056809999 meters Centerline goodness [0,1] 0.9920134983127109 Centerline is valid? [True, True] Translation: X:202.99, Y:199.34, Z:45.52 [[ 8.39165643e-01 4.68454740e-01 -2.76317174e-01 2.02988473e+02] [-4.53672425e-01 8.83129810e-01 1.19428092e-01 1.99336811e+02] [ 2.99970589e-01 2.51375314e-02 9.53617193e-01 4.55162114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17710568099994 meters Centerline goodness [0,1] 0.9952653383310318 Centerline is valid? [True, True] Translation: X:203.01, Y:199.32, Z:45.52 [[ 8.37165380e-01 4.73202157e-01 -2.74287889e-01 2.03011896e+02] [-4.58893063e-01 8.80550790e-01 1.18521993e-01 1.99320712e+02] [ 2.97609280e-01 2.66463004e-02 9.54315823e-01 4.55249952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2071056809999 meters Centerline goodness [0,1] 0.9917834430750183 Centerline is valid? [True, True] Translation: X:203.04, Y:199.31, Z:45.54 [[ 8.37100933e-01 4.75040090e-01 -2.71291248e-01 2.03035765e+02] [-4.61166856e-01 8.79548063e-01 1.17133840e-01 1.99311085e+02] [ 2.94256961e-01 2.70576853e-02 9.55343249e-01 4.55350220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2371056809999 meters Centerline goodness [0,1] 0.9860310857528317 Centerline is valid? [True, True] Translation: X:203.06, Y:199.30, Z:45.54 [[ 8.36487230e-01 4.76084506e-01 -2.71353381e-01 2.03061563e+02] [-4.62273987e-01 8.78970076e-01 1.17108354e-01 1.99304397e+02] [ 2.94264975e-01 2.74799664e-02 9.55328727e-01 4.55440352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2671056809999 meters Centerline goodness [0,1] 0.9929372197309417 Centerline is valid? [True, True] Translation: X:203.08, Y:199.29, Z:45.55 [[ 8.35826153e-01 4.76091777e-01 -2.73370190e-01 2.03084979e+02] [-4.62081478e-01 8.78958268e-01 1.17953681e-01 1.99287823e+02] [ 2.96437766e-01 2.77305305e-02 9.54649500e-01 4.55481580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2971056809999 meters Centerline goodness [0,1] 0.9919233133977978 Centerline is valid? [True, True] Translation: X:203.11, Y:199.28, Z:45.55 [[ 8.36092382e-01 4.74770508e-01 -2.74849945e-01 2.03111274e+02] [-4.60574454e-01 8.79678861e-01 1.18474784e-01 1.99276850e+02] [ 2.98028020e-01 2.75329992e-02 9.54159962e-01 4.55513925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3271056809999 meters Centerline goodness [0,1] 0.9927918866817534 Centerline is valid? [True, True] Translation: X:203.14, Y:199.26, Z:45.56 [[ 8.36710103e-01 4.73332809e-01 -2.75449189e-01 2.03136876e+02] [-4.59015912e-01 8.80465618e-01 1.18678927e-01 1.99263621e+02] [ 2.98698170e-01 2.71357032e-02 9.53961769e-01 4.55577405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3571056809999 meters Centerline goodness [0,1] 0.9936289714142007 Centerline is valid? [True, True] Translation: X:203.16, Y:199.25, Z:45.56 [[ 8.38226839e-01 4.69912121e-01 -2.76691823e-01 2.03162264e+02] [-4.55313894e-01 8.82326306e-01 1.19119890e-01 1.99252734e+02] [ 3.00108354e-01 2.61321419e-02 9.53547108e-01 4.55634164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3871056809999 meters Centerline goodness [0,1] 0.9940972416494153 Centerline is valid? [True, True] Translation: X:203.19, Y:199.24, Z:45.57 [[ 8.39416081e-01 4.67292514e-01 -2.77521801e-01 2.03187270e+02] [-4.52477904e-01 8.83740407e-01 1.19443041e-01 1.99242489e+02] [ 3.01072068e-01 2.53100739e-02 9.53265446e-01 4.55718165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4171056809999 meters Centerline goodness [0,1] 0.997122905027933 Centerline is valid? [True, True] Translation: X:203.21, Y:199.23, Z:45.58 [[ 8.43837412e-01 4.59297998e-01 -2.77459494e-01 2.03211411e+02] [-4.44079685e-01 8.87997944e-01 1.19385445e-01 1.99229780e+02] [ 3.01216956e-01 2.24722198e-02 9.53290797e-01 4.55813102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4471056809999 meters Centerline goodness [0,1] 0.998010925899986 Centerline is valid? [True, True] Translation: X:203.24, Y:199.22, Z:45.59 [[ 8.46449184e-01 4.55041664e-01 -2.76515573e-01 2.03235961e+02] [-4.39719292e-01 8.90224584e-01 1.18941727e-01 1.99217445e+02] [ 3.00284402e-01 2.09111049e-02 9.53620471e-01 4.55893741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.4771056809999 meters Centerline goodness [0,1] 0.9980497046695642 Centerline is valid? [True, True] Translation: X:203.26, Y:199.20, Z:45.59 [[ 8.51587946e-01 4.46511726e-01 -2.74636575e-01 2.03260010e+02] [-4.30996876e-01 8.94599762e-01 1.18037953e-01 1.99203266e+02] [ 2.98395145e-01 1.78478078e-02 9.54275533e-01 4.55933263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5071056809999 meters Centerline goodness [0,1] 0.999415969074172 Centerline is valid? [True, True] Translation: X:203.28, Y:199.19, Z:45.60 [[ 8.54262704e-01 4.41812111e-01 -2.73929355e-01 2.03283692e+02] [-4.26151560e-01 8.96961621e-01 1.17705980e-01 1.99185715e+02] [ 2.97708046e-01 1.61835934e-02 9.54519780e-01 4.55987511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5371056809999 meters Centerline goodness [0,1] 0.999276330438655 Centerline is valid? [True, True] Translation: X:203.31, Y:199.17, Z:45.61 [[ 8.59769665e-01 4.32655154e-01 -2.71303595e-01 2.03307078e+02] [-4.16880590e-01 9.01466468e-01 1.16485110e-01 1.99174004e+02] [ 2.94968977e-01 1.29508386e-02 9.55419059e-01 4.56091148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56710568099993 meters Centerline goodness [0,1] 0.9993883451957295 Centerline is valid? [True, True] Translation: X:203.33, Y:199.16, Z:45.62 [[ 8.63054624e-01 4.27309532e-01 -2.69338596e-01 2.03330755e+02] [-4.11531542e-01 9.04037359e-01 1.15577867e-01 1.99161820e+02] [ 2.92879678e-01 1.10913149e-02 9.56084974e-01 4.56216817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.5971056809999 meters Centerline goodness [0,1] 0.9988073776175288 Centerline is valid? [True, True] Translation: X:203.35, Y:199.15, Z:45.63 [[ 8.63614883e-01 4.27163906e-01 -2.67769173e-01 2.03353569e+02] [-4.11592901e-01 9.04106612e-01 1.14815148e-01 1.99152836e+02] [ 2.91136767e-01 1.10558203e-02 9.56617558e-01 4.56345363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62710568099993 meters Centerline goodness [0,1] 0.9987250907679942 Centerline is valid? [True, True] Translation: X:203.38, Y:199.14, Z:45.64 [[ 8.65083646e-01 4.27155462e-01 -2.62999044e-01 2.03378481e+02] [-4.12153378e-01 9.04112862e-01 1.12736535e-01 1.99140041e+02] [ 2.85936845e-01 1.08694118e-02 9.58186817e-01 4.56436320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.6571056809999 meters Centerline goodness [0,1] 0.9983475171445096 Centerline is valid? [True, True] Translation: X:203.40, Y:199.13, Z:45.65 [[ 8.64604721e-01 4.28466473e-01 -2.62440769e-01 2.03403912e+02] [-4.13613342e-01 9.03486304e-01 1.12412192e-01 1.99129574e+02] [ 2.85276496e-01 1.13568914e-02 9.58377975e-01 4.56498638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68710568099993 meters Centerline goodness [0,1] 0.9983227012758469 Centerline is valid? [True, True] Translation: X:203.43, Y:199.11, Z:45.65 [[ 8.64326201e-01 4.29674539e-01 -2.61380965e-01 2.03430075e+02] [-4.15004621e-01 9.02907661e-01 1.11932655e-01 1.99114436e+02] [ 2.84097488e-01 1.17279816e-02 9.58723668e-01 4.56516571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7171056809999 meters Centerline goodness [0,1] 0.9991216271856386 Centerline is valid? [True, True] Translation: X:203.45, Y:199.10, Z:45.66 [[ 8.65143518e-01 4.28263872e-01 -2.60991857e-01 2.03453355e+02] [-4.13599505e-01 9.03582791e-01 1.11685224e-01 1.99095780e+02] [ 2.83658497e-01 1.13223553e-02 9.58858520e-01 4.56559787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74710568099994 meters Centerline goodness [0,1] 0.9992345334754914 Centerline is valid? [True, True] Translation: X:203.48, Y:199.08, Z:45.67 [[ 8.66471864e-01 4.25848434e-01 -2.60537178e-01 2.03476889e+02] [-4.11156662e-01 9.04732435e-01 1.11397581e-01 1.99083213e+02] [ 2.83154921e-01 1.05987269e-02 9.59015619e-01 4.56652148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7771056809999 meters Centerline goodness [0,1] 0.9990976703489008 Centerline is valid? [True, True] Translation: X:203.50, Y:199.07, Z:45.67 [[ 8.67359136e-01 4.24010215e-01 -2.60582937e-01 2.03501523e+02] [-4.09259329e-01 9.05601227e-01 1.11324839e-01 1.99070234e+02] [ 2.83187096e-01 1.00873817e-02 9.59011633e-01 4.56735889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80710568099994 meters Centerline goodness [0,1] 0.9989086841459089 Centerline is valid? [True, True] Translation: X:203.53, Y:199.06, Z:45.68 [[ 8.68301553e-01 4.22182493e-01 -2.60411896e-01 2.03525873e+02] [-4.07398014e-01 9.06460335e-01 1.11159884e-01 1.99058053e+02] [ 2.82982811e-01 9.57098935e-03 9.59077226e-01 4.56813472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8371056809999 meters Centerline goodness [0,1] 0.9989086841459089 Centerline is valid? [True, True] Translation: X:203.55, Y:199.05, Z:45.69 [[ 8.68439547e-01 4.21878536e-01 -2.60444339e-01 2.03549768e+02] [-4.07103480e-01 9.06601975e-01 1.11083819e-01 1.99048049e+02] [ 2.82983231e-01 9.55821498e-03 9.59077229e-01 4.56899661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86710568099994 meters Centerline goodness [0,1] 0.999293113292189 Centerline is valid? [True, True] Translation: X:203.58, Y:199.04, Z:45.70 [[ 8.68330153e-01 4.21645044e-01 -2.61186146e-01 2.03575411e+02] [-4.06805420e-01 9.06710020e-01 1.11293708e-01 1.99035814e+02] [ 2.83746536e-01 9.61225696e-03 9.58851140e-01 4.56967157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8971056809999 meters Centerline goodness [0,1] 0.9991055941023417 Centerline is valid? [True, True] Translation: X:203.60, Y:199.02, Z:45.70 [[ 8.67701288e-01 4.22667853e-01 -2.61622554e-01 2.03600772e+02] [-4.07851630e-01 9.06228873e-01 1.11383471e-01 1.99022472e+02] [ 2.84168125e-01 1.00556039e-02 9.58721733e-01 4.56985504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92710568099994 meters Centerline goodness [0,1] 0.9990819495072228 Centerline is valid? [True, True] Translation: X:203.63, Y:199.01, Z:45.71 [[ 8.67745233e-01 4.22987703e-01 -2.60959026e-01 2.03625218e+02] [-4.08276691e-01 9.06078244e-01 1.11051161e-01 1.99012315e+02] [ 2.83422571e-01 1.01793721e-02 9.58941096e-01 4.57064393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9571056809999 meters Centerline goodness [0,1] 0.99886357486877 Centerline is valid? [True, True] Translation: X:203.65, Y:199.00, Z:45.72 [[ 8.68339245e-01 4.22992405e-01 -2.58967915e-01 2.03649712e+02] [-4.08516348e-01 9.06076714e-01 1.10178863e-01 1.99002114e+02] [ 2.81249620e-01 1.01199966e-02 9.59581282e-01 4.57178653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9871056809999 meters Centerline goodness [0,1] 0.9991909385113269 Centerline is valid? [True, True] Translation: X:203.67, Y:198.99, Z:45.73 [[ 8.68391477e-01 4.24032677e-01 -2.57084680e-01 2.03674486e+02] [-4.09839778e-01 9.05586522e-01 1.09290474e-01 1.98991520e+02] [ 2.79155153e-01 1.04566124e-02 9.60189075e-01 4.57292980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0171056809999 meters Centerline goodness [0,1] 0.9991903271078484 Centerline is valid? [True, True] Translation: X:203.70, Y:198.98, Z:45.74 [[ 8.68509028e-01 4.24280426e-01 -2.56277560e-01 2.03699312e+02] [-4.10211399e-01 9.05469101e-01 1.08868340e-01 1.98979668e+02] [ 2.78242118e-01 1.05748404e-02 9.60452756e-01 4.57366112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0471056809999 meters Centerline goodness [0,1] 0.9993574985276008 Centerline is valid? [True, True] Translation: X:203.72, Y:198.97, Z:45.74 [[ 8.68589954e-01 4.24342105e-01 -2.55900897e-01 2.03723622e+02] [-4.10344295e-01 9.05439147e-01 1.08616350e-01 1.98966807e+02] [ 2.77793181e-01 1.06644027e-02 9.60581709e-01 4.57427971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0771056809999 meters Centerline goodness [0,1] 0.9992504350153929 Centerline is valid? [True, True] Translation: X:203.75, Y:198.95, Z:45.75 [[ 8.69418897e-01 4.22980865e-01 -2.55338930e-01 2.03748253e+02] [-4.08999710e-01 9.06080718e-01 1.08337294e-01 1.98954163e+02] [ 2.77182283e-01 1.02430581e-02 9.60762750e-01 4.57502937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1071056809999 meters Centerline goodness [0,1] 0.9991965935566803 Centerline is valid? [True, True] Translation: X:203.77, Y:198.94, Z:45.76 [[ 8.70836296e-01 4.20993219e-01 -2.53788997e-01 2.03771455e+02] [-4.07125024e-01 9.07012724e-01 1.07597090e-01 1.98937988e+02] [ 2.75487494e-01 9.62440005e-03 9.61256475e-01 4.57559675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1371056809999 meters Centerline goodness [0,1] 0.9993330843514913 Centerline is valid? [True, True] Translation: X:203.79, Y:198.93, Z:45.77 [[ 8.71381305e-01 4.20202057e-01 -2.53228853e-01 2.03794642e+02] [-4.06392478e-01 9.07381378e-01 1.07257579e-01 1.98926230e+02] [ 2.74845001e-01 9.44805135e-03 9.61442125e-01 4.57656297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1671056809999 meters Centerline goodness [0,1] 0.9995719178082192 Centerline is valid? [True, True] Translation: X:203.82, Y:198.92, Z:45.77 [[ 8.69765138e-01 4.22456460e-01 -2.55027730e-01 2.03820987e+02] [-4.08571430e-01 9.06324281e-01 1.07915171e-01 1.98915605e+02] [ 2.76727285e-01 1.03361910e-02 9.60892904e-01 4.57706785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1971056809999 meters Centerline goodness [0,1] 0.9996247956476295 Centerline is valid? [True, True] Translation: X:203.85, Y:198.91, Z:45.78 [[ 8.68902726e-01 4.23775078e-01 -2.55778684e-01 2.03846580e+02] [-4.09889619e-01 9.05702129e-01 1.08139515e-01 1.98905137e+02] [ 2.77486130e-01 1.08783076e-02 9.60668054e-01 4.57771189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2271056809999 meters Centerline goodness [0,1] 0.999517089660353 Centerline is valid? [True, True] Translation: X:203.87, Y:198.90, Z:45.78 [[ 8.68189399e-01 4.25120558e-01 -2.55968118e-01 2.03873000e+02] [-4.11298320e-01 9.05064876e-01 1.08126139e-01 1.98896348e+02] [ 2.77634398e-01 1.14052896e-02 9.60619103e-01 4.57846071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2571056809999 meters Centerline goodness [0,1] 0.9994079655543595 Centerline is valid? [True, True] Translation: X:203.90, Y:198.89, Z:45.79 [[ 8.66088176e-01 4.28273347e-01 -2.57823994e-01 2.03899714e+02] [-4.14411600e-01 9.03561320e-01 1.08811609e-01 1.98890900e+02] [ 2.79560900e-01 1.26048055e-02 9.60045219e-01 4.57902069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.2871056809999 meters Centerline goodness [0,1] 0.9996510160801052 Centerline is valid? [True, True] Translation: X:203.93, Y:198.88, Z:45.80 [[ 8.65503688e-01 4.29036965e-01 -2.58516247e-01 2.03925326e+02] [-4.15149870e-01 9.03194185e-01 1.09045170e-01 1.98884806e+02] [ 2.80274780e-01 1.29439895e-02 9.59832538e-01 4.57982845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31710568099993 meters Centerline goodness [0,1] 0.9998386706461241 Centerline is valid? [True, True] Translation: X:203.95, Y:198.87, Z:45.80 [[ 8.67383052e-01 4.25082635e-01 -2.58749675e-01 2.03948795e+02] [-4.11015784e-01 9.05078486e-01 1.09082352e-01 1.98866153e+02] [ 2.80557778e-01 1.17340171e-02 9.59765412e-01 4.58029646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.3471056809999 meters Centerline goodness [0,1] 0.9994628565289789 Centerline is valid? [True, True] Translation: X:203.97, Y:198.85, Z:45.81 [[ 8.70010043e-01 4.18675583e-01 -2.60371431e-01 2.03972638e+02] [-4.04155583e-01 9.08083460e-01 1.09739214e-01 1.98853486e+02] [ 2.82384119e-01 9.75634956e-03 9.59251804e-01 4.58104508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37710568099993 meters Centerline goodness [0,1] 0.9991175762761719 Centerline is valid? [True, True] Translation: X:204.00, Y:198.84, Z:45.82 [[ 8.71639665e-01 4.14533998e-01 -2.61545139e-01 2.03996543e+02] [-3.99706740e-01 9.09994286e-01 1.10204001e-01 1.98839367e+02] [ 2.83687887e-01 8.48317626e-03 9.58879147e-01 4.58182839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4071056809999 meters Centerline goodness [0,1] 0.998938231624771 Centerline is valid? [True, True] Translation: X:204.02, Y:198.83, Z:45.82 [[ 8.73569102e-01 4.08575623e-01 -2.64467359e-01 2.04020489e+02] [-3.93149263e-01 9.12700233e-01 1.11408898e-01 1.98825323e+02] [ 2.86898380e-01 6.65177645e-03 9.57937928e-01 4.58246971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43710568099993 meters Centerline goodness [0,1] 0.9986505437514883 Centerline is valid? [True, True] Translation: X:204.04, Y:198.81, Z:45.83 [[ 8.76597149e-01 4.01754746e-01 -2.64897270e-01 2.04043281e+02] [-3.85977962e-01 9.15736523e-01 1.11568960e-01 1.98805612e+02] [ 2.87399464e-01 4.44347616e-03 9.57800503e-01 4.58317237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.4671056809999 meters Centerline goodness [0,1] 0.9983870967741936 Centerline is valid? [True, True] Translation: X:204.07, Y:198.79, Z:45.84 [[ 8.77886683e-01 3.99112706e-01 -2.64620519e-01 2.04066447e+02] [-3.83278263e-01 9.16894579e-01 1.11364734e-01 1.98792877e+02] [ 2.87076200e-01 3.65767636e-03 9.57900766e-01 4.58414136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49710568099994 meters Centerline goodness [0,1] 0.9983142811989675 Centerline is valid? [True, True] Translation: X:204.09, Y:198.78, Z:45.85 [[ 8.80698450e-01 3.94372753e-01 -2.62374487e-01 2.04087919e+02] [-3.78612546e-01 9.18948128e-01 1.10394196e-01 1.98777277e+02] [ 2.84645007e-01 2.11427529e-03 9.58630664e-01 4.58532437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5271056809999 meters Centerline goodness [0,1] 0.9982663514578408 Centerline is valid? [True, True] Translation: X:204.11, Y:198.77, Z:45.86 [[ 8.81519303e-01 3.92847321e-01 -2.61905901e-01 2.04111296e+02] [-3.77105541e-01 9.19602128e-01 1.10106031e-01 1.98766455e+02] [ 2.84104084e-01 1.70557449e-03 9.58791928e-01 4.58635566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55710568099994 meters Centerline goodness [0,1] 0.9983061006436817 Centerline is valid? [True, True] Translation: X:204.14, Y:198.75, Z:45.87 [[ 8.82070307e-01 3.92345885e-01 -2.60800076e-01 2.04135896e+02] [-3.76749570e-01 9.19816296e-01 1.09534207e-01 1.98752679e+02] [ 2.82863456e-01 1.63944495e-03 9.59158786e-01 4.58700004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5871056809999 meters Centerline goodness [0,1] 0.9983638488507987 Centerline is valid? [True, True] Translation: X:204.16, Y:198.74, Z:45.88 [[ 8.83438727e-01 3.88819487e-01 -2.61448697e-01 2.04160026e+02] [-3.73020508e-01 9.21313760e-01 1.09711700e-01 1.98737620e+02] [ 2.83534329e-01 6.02161043e-04 9.58961898e-01 4.58773059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61710568099994 meters Centerline goodness [0,1] 0.9983108108108109 Centerline is valid? [True, True] Translation: X:204.18, Y:198.73, Z:45.89 [[ 8.84714470e-01 3.85789333e-01 -2.61623579e-01 2.04181956e+02] [-3.69869189e-01 9.22586861e-01 1.09682570e-01 1.98725564e+02] [ 2.83684842e-01 -2.71255876e-04 9.58917534e-01 4.58905253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6471056809999 meters Centerline goodness [0,1] 0.9978183518167415 Centerline is valid? [True, True] Translation: X:204.20, Y:198.71, Z:45.90 [[ 8.88130884e-01 3.76479197e-01 -2.63603770e-01 2.04204752e+02] [-3.59916715e-01 9.26419370e-01 1.10485788e-01 1.98709597e+02] [ 2.85803240e-01 -3.25043704e-03 9.58282809e-01 4.58977060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67710568099994 meters Centerline goodness [0,1] 0.9976634907448272 Centerline is valid? [True, True] Translation: X:204.23, Y:198.69, Z:45.91 [[ 8.89525009e-01 3.71892950e-01 -2.65407030e-01 2.04227801e+02] [-3.54933769e-01 9.28264011e-01 1.11121314e-01 1.98694315e+02] [ 2.87693027e-01 -4.64327058e-03 9.57711419e-01 4.59051344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7071056809999 meters Centerline goodness [0,1] 0.9968927351634524 Centerline is valid? [True, True] Translation: X:204.25, Y:198.67, Z:45.91 [[ 8.91891769e-01 3.63326760e-01 -2.69300462e-01 2.04249558e+02] [-3.45481645e-01 9.31631651e-01 1.12716010e-01 1.98673197e+02] [ 2.91841576e-01 -7.49211450e-03 9.56437328e-01 4.59069448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7371056809999 meters Centerline goodness [0,1] 0.9963008631319359 Centerline is valid? [True, True] Translation: X:204.27, Y:198.66, Z:45.91 [[ 8.92964733e-01 3.59494673e-01 -2.70882936e-01 2.04273431e+02] [-3.41274174e-01 9.33106020e-01 1.13336199e-01 1.98658040e+02] [ 2.93506258e-01 -8.75987834e-03 9.55917016e-01 4.59129001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7671056809999 meters Centerline goodness [0,1] 0.9961288006973286 Centerline is valid? [True, True] Translation: X:204.30, Y:198.65, Z:45.91 [[ 8.92848016e-01 3.56571902e-01 -2.75097980e-01 2.04300144e+02] [-3.37638324e-01 9.34215894e-01 1.15069659e-01 1.98648139e+02] [ 2.98031512e-01 -9.85609635e-03 9.54505147e-01 4.59149937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7971056809999 meters Centerline goodness [0,1] 0.9967776861208497 Centerline is valid? [True, True] Translation: X:204.32, Y:198.64, Z:45.93 [[ 8.92432816e-01 3.56760333e-01 -2.76198720e-01 2.04322145e+02] [-3.37716892e-01 9.34145382e-01 1.15411035e-01 1.98635007e+02] [ 2.99183838e-01 -9.71962150e-03 9.54145985e-01 4.59255991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8271056809999 meters Centerline goodness [0,1] 0.9968719300966858 Centerline is valid? [True, True] Translation: X:204.35, Y:198.63, Z:45.94 [[ 8.91813848e-01 3.57939374e-01 -2.76672125e-01 2.04348894e+02] [-3.38900170e-01 9.33698595e-01 1.15557813e-01 1.98632746e+02] [ 2.99691065e-01 -9.29182779e-03 9.53991052e-01 4.59392962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8571056809999 meters Centerline goodness [0,1] 0.9977619320251913 Centerline is valid? [True, True] Translation: X:204.38, Y:198.63, Z:45.95 [[ 8.88943687e-01 3.64059669e-01 -2.77920273e-01 2.04377061e+02] [-3.45167058e-01 9.31348046e-01 1.15976371e-01 1.98630822e+02] [ 3.01062823e-01 -7.16754035e-03 9.53577371e-01 4.59504322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8871056809999 meters Centerline goodness [0,1] 0.997355320472931 Centerline is valid? [True, True] Translation: X:204.40, Y:198.62, Z:45.96 [[ 8.87629039e-01 3.67075909e-01 -2.78154573e-01 2.04403511e+02] [-3.48324517e-01 9.30171252e-01 1.15980485e-01 1.98623134e+02] [ 3.01305030e-01 -6.05958922e-03 9.53508553e-01 4.59580709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9171056809999 meters Centerline goodness [0,1] 0.9976197326776699 Centerline is valid? [True, True] Translation: X:204.43, Y:198.62, Z:45.97 [[ 8.84289225e-01 3.73542323e-01 -2.80176194e-01 2.04431436e+02] [-3.54859283e-01 9.27605397e-01 1.16718108e-01 1.98618226e+02] [ 3.03492103e-01 -3.78944215e-03 9.52826418e-01 4.59655816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9471056809999 meters Centerline goodness [0,1] 0.9986448451996247 Centerline is valid? [True, True] Translation: X:204.46, Y:198.61, Z:45.97 [[ 8.82963055e-01 3.76285149e-01 -2.80687958e-01 2.04457252e+02] [-3.57675386e-01 9.26499590e-01 1.16905212e-01 1.98610075e+02] [ 3.04046973e-01 -2.82780975e-03 9.52652844e-01 4.59739554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.9771056809999 meters Centerline goodness [0,1] 0.9980967279363838 Centerline is valid? [True, True] Translation: X:204.48, Y:198.60, Z:45.98 [[ 8.81288890e-01 3.79705588e-01 -2.81342422e-01 2.04483580e+02] [-3.61209049e-01 9.25106075e-01 1.17075925e-01 1.98601220e+02] [ 3.04725967e-01 -1.55428323e-03 9.52438801e-01 4.59825054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0071056809999 meters Centerline goodness [0,1] 0.998928496759356 Centerline is valid? [True, True] Translation: X:204.51, Y:198.59, Z:45.99 [[ 8.80322606e-01 3.80985834e-01 -2.82633870e-01 2.04509567e+02] [-3.62411778e-01 9.24580314e-01 1.17511469e-01 1.98591488e+02] [ 3.06087917e-01 -1.01815929e-03 9.52002705e-01 4.59906695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0371056809999 meters Centerline goodness [0,1] 0.9987248217352834 Centerline is valid? [True, True] Translation: X:204.53, Y:198.58, Z:46.00 [[ 8.78678127e-01 3.82193946e-01 -2.86098822e-01 2.04534729e+02] [-3.63246609e-01 9.24081996e-01 1.18845977e-01 1.98582849e+02] [ 3.09800984e-01 -5.02933846e-04 9.50801292e-01 4.59975074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06710568099993 meters Centerline goodness [0,1] 0.998295841854124 Centerline is valid? [True, True] Translation: X:204.56, Y:198.57, Z:46.00 [[ 8.77780869e-01 3.82451976e-01 -2.88498237e-01 2.04559043e+02] [-3.63202830e-01 9.23975293e-01 1.19805518e-01 1.98572691e+02] [ 3.12385100e-01 -3.79616096e-04 9.49955475e-01 4.60037450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.0971056809999 meters Centerline goodness [0,1] 0.999003566184183 Centerline is valid? [True, True] Translation: X:204.58, Y:198.56, Z:46.01 [[ 8.77735991e-01 3.82377554e-01 -2.88733330e-01 2.04583505e+02] [-3.63117798e-01 9.24006113e-01 1.19825573e-01 1.98562030e+02] [ 3.12609971e-01 -3.31007130e-04 9.49881517e-01 4.60113511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12710568099993 meters Centerline goodness [0,1] 0.9981717986889185 Centerline is valid? [True, True] Translation: X:204.61, Y:198.55, Z:46.02 [[ 8.78161136e-01 3.81191603e-01 -2.89008618e-01 2.04606793e+02] [-3.61870492e-01 9.24495837e-01 1.19821506e-01 1.98550940e+02] [ 3.12862216e-01 -6.38898651e-04 9.49798308e-01 4.60188042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.1571056809999 meters Centerline goodness [0,1] 0.9984230445752733 Centerline is valid? [True, True] Translation: X:204.63, Y:198.54, Z:46.03 [[ 8.78468604e-01 3.79213005e-01 -2.90672339e-01 2.04630544e+02] [-3.59574357e-01 9.25308491e-01 1.20459450e-01 1.98540865e+02] [ 3.14641374e-01 -1.30152566e-03 9.49209730e-01 4.60277708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18710568099993 meters Centerline goodness [0,1] 0.9983926218708827 Centerline is valid? [True, True] Translation: X:204.66, Y:198.53, Z:46.04 [[ 8.79343642e-01 3.77020345e-01 -2.90878700e-01 2.04655002e+02] [-3.57275914e-01 9.26202880e-01 1.20424856e-01 1.98530938e+02] [ 3.14815311e-01 -1.97087760e-03 9.49150903e-01 4.60383205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2171056809999 meters Centerline goodness [0,1] 0.9982333087227085 Centerline is valid? [True, True] Translation: X:204.68, Y:198.51, Z:46.05 [[ 8.82868645e-01 3.68215168e-01 -2.91479923e-01 2.04676669e+02] [-3.47952250e-01 9.29727021e-01 1.20569057e-01 1.98511899e+02] [ 3.15392116e-01 -5.02554541e-03 9.48948132e-01 4.60472219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24710568099994 meters Centerline goodness [0,1] 0.997498815228266 Centerline is valid? [True, True] Translation: X:204.70, Y:198.50, Z:46.05 [[ 8.84540565e-01 3.63903907e-01 -2.91825179e-01 2.04699270e+02] [-3.43396867e-01 9.31414013e-01 1.20608985e-01 1.98496557e+02] [ 3.15700142e-01 -6.47168803e-03 9.48836940e-01 4.60533700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2771056809999 meters Centerline goodness [0,1] 0.9983277155025999 Centerline is valid? [True, True] Translation: X:204.72, Y:198.48, Z:46.06 [[ 8.87339028e-01 3.56150126e-01 -2.92893389e-01 2.04722196e+02] [-3.35091033e-01 9.34383204e-01 1.21004247e-01 1.98475428e+02] [ 3.16770342e-01 -9.22584289e-03 9.48457397e-01 4.60574830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30710568099994 meters Centerline goodness [0,1] 0.9969025742471173 Centerline is valid? [True, True] Translation: X:204.75, Y:198.46, Z:46.06 [[ 8.88309180e-01 3.51555152e-01 -2.95492428e-01 2.04746000e+02] [-3.29887614e-01 9.36103786e-01 1.21999446e-01 1.98459694e+02] [ 3.19501115e-01 -1.08939358e-02 9.47523277e-01 4.60629768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3371056809999 meters Centerline goodness [0,1] 0.9974744844823995 Centerline is valid? [True, True] Translation: X:204.77, Y:198.45, Z:46.07 [[ 8.88194072e-01 3.51047996e-01 -2.96439868e-01 2.04769739e+02] [-3.29219725e-01 9.36291843e-01 1.22359949e-01 1.98447645e+02] [ 3.20508445e-01 -1.10855294e-02 9.47180789e-01 4.60710314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36710568099994 meters Centerline goodness [0,1] 0.9969226757073935 Centerline is valid? [True, True] Translation: X:204.80, Y:198.44, Z:46.08 [[ 8.87202974e-01 3.51219640e-01 -2.99191657e-01 2.04796126e+02] [-3.28994190e-01 9.36227327e-01 1.23455317e-01 1.98439171e+02] [ 3.23471337e-01 -1.10976074e-02 9.46172890e-01 4.60795933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3971056809999 meters Centerline goodness [0,1] 0.9973697231698743 Centerline is valid? [True, True] Translation: X:204.82, Y:198.43, Z:46.09 [[ 8.87070618e-01 3.51924565e-01 -2.98755450e-01 2.04820202e+02] [-3.29840919e-01 9.35966996e-01 1.23169603e-01 1.98428815e+02] [ 3.22971650e-01 -1.07183637e-02 9.46347944e-01 4.60884485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42710568099994 meters Centerline goodness [0,1] 0.9973143512724238 Centerline is valid? [True, True] Translation: X:204.85, Y:198.42, Z:46.10 [[ 8.86231109e-01 3.53449936e-01 -2.99445429e-01 2.04846812e+02] [-3.31359181e-01 9.35398385e-01 1.23413757e-01 1.98419807e+02] [ 3.23721355e-01 -1.01491188e-02 9.46098029e-01 4.60965121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4571056809999 meters Centerline goodness [0,1] 0.997551126742217 Centerline is valid? [True, True] Translation: X:204.87, Y:198.41, Z:46.10 [[ 8.85561737e-01 3.53823779e-01 -3.00980302e-01 2.04872278e+02] [-3.31554473e-01 9.35258973e-01 1.23944686e-01 1.98409397e+02] [ 3.25349106e-01 -9.96930548e-03 9.45541418e-01 4.61030311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4871056809999 meters Centerline goodness [0,1] 0.9973977985375628 Centerline is valid? [True, True] Translation: X:204.90, Y:198.40, Z:46.10 [[ 8.83430768e-01 3.55148171e-01 -3.05646618e-01 2.04898198e+02] [-3.32279400e-01 9.34761491e-01 1.25743212e-01 1.98395858e+02] [ 3.30364160e-01 -9.52534763e-03 9.43805483e-01 4.61037652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5171056809999 meters Centerline goodness [0,1] 0.9982076059850374 Centerline is valid? [True, True] Translation: X:204.92, Y:198.39, Z:46.11 [[ 8.82934541e-01 3.55496355e-01 -3.06673993e-01 2.04922836e+02] [-3.32504108e-01 9.34630526e-01 1.26122153e-01 1.98386698e+02] [ 3.31462842e-01 -9.38724300e-03 9.43421573e-01 4.61114670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5471056809999 meters Centerline goodness [0,1] 0.9980492626212708 Centerline is valid? [True, True] Translation: X:204.95, Y:198.38, Z:46.12 [[ 8.82044090e-01 3.57802884e-01 -3.06553941e-01 2.04948462e+02] [-3.35007691e-01 9.33759403e-01 1.25949295e-01 1.98378266e+02] [ 3.31312646e-01 -8.39490298e-03 9.43483681e-01 4.61221257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5771056809999 meters Centerline goodness [0,1] 0.9983327254728286 Centerline is valid? [True, True] Translation: X:204.97, Y:198.37, Z:46.13 [[ 8.80497292e-01 3.60432565e-01 -3.07917010e-01 2.04974898e+02] [-3.37622104e-01 9.32756437e-01 1.26399147e-01 1.98372444e+02] [ 3.32769942e-01 -7.33451758e-03 9.42979517e-01 4.61319125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6071056809999 meters Centerline goodness [0,1] 0.9987816505985804 Centerline is valid? [True, True] Translation: X:205.01, Y:198.38, Z:46.14 [[ 8.74805041e-01 3.71953012e-01 -3.10430502e-01 2.05007066e+02] [-3.49493787e-01 9.28247059e-01 1.27324352e-01 1.98378690e+02] [ 3.35514877e-01 -2.89045317e-03 9.42030473e-01 4.61407485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6371056809999 meters Centerline goodness [0,1] 0.9990443830961988 Centerline is valid? [True, True] Translation: X:205.03, Y:198.37, Z:46.15 [[ 8.74192817e-01 3.74482292e-01 -3.09111520e-01 2.05032962e+02] [-3.52385530e-01 9.27232170e-01 1.26747551e-01 1.98370578e+02] [ 3.34082859e-01 -1.87537196e-03 9.42541843e-01 4.61512391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6671056809999 meters Centerline goodness [0,1] 0.9990991468390652 Centerline is valid? [True, True] Translation: X:205.06, Y:198.37, Z:46.16 [[ 8.71874786e-01 3.82403728e-01 -3.05944026e-01 2.05060476e+02] [-3.61280722e-01 9.23994495e-01 1.25341187e-01 1.98369157e+02] [ 3.30621533e-01 1.24985823e-03 9.43762597e-01 4.61624794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6971056809999 meters Centerline goodness [0,1] 0.9990134385665529 Centerline is valid? [True, True] Translation: X:205.09, Y:198.36, Z:46.17 [[ 8.71898074e-01 3.82999836e-01 -3.05130914e-01 2.05085307e+02] [-3.62064997e-01 9.23747066e-01 1.24901149e-01 1.98359719e+02] [ 3.29700906e-01 1.57615225e-03 9.44084121e-01 4.61734821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7271056809999 meters Centerline goodness [0,1] 0.999226687288339 Centerline is valid? [True, True] Translation: X:205.11, Y:198.35, Z:46.19 [[ 8.71858084e-01 3.84706458e-01 -3.03091443e-01 2.05109628e+02] [-3.64194696e-01 9.23036088e-01 1.23962109e-01 1.98350303e+02] [ 3.27453364e-01 2.30692935e-03 9.44864526e-01 4.61857148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7571056809999 meters Centerline goodness [0,1] 0.999226687288339 Centerline is valid? [True, True] Translation: X:205.13, Y:198.34, Z:46.19 [[ 8.71984713e-01 3.84389455e-01 -3.03129356e-01 2.05133661e+02] [-3.63891335e-01 9.23168178e-01 1.23869335e-01 1.98340671e+02] [ 3.27453441e-01 2.29397896e-03 9.44864531e-01 4.61943261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.7871056809999 meters Centerline goodness [0,1] 0.9992817620770377 Centerline is valid? [True, True] Translation: X:205.16, Y:198.33, Z:46.20 [[ 8.71074929e-01 3.86583014e-01 -3.02955511e-01 2.05158487e+02] [-3.66279095e-01 9.22248949e-01 1.23679025e-01 1.98331073e+02] [ 3.27212612e-01 3.23257256e-03 9.44945214e-01 4.62011418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81710568099993 meters Centerline goodness [0,1] 0.9993645245849552 Centerline is valid? [True, True] Translation: X:205.18, Y:198.32, Z:46.21 [[ 8.69981594e-01 3.89286224e-01 -3.02635526e-01 2.05184777e+02] [-3.69198103e-01 9.21106895e-01 1.23510521e-01 1.98323291e+02] [ 3.26840614e-01 4.28058172e-03 9.45069780e-01 4.62087639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.8471056809999 meters Centerline goodness [0,1] 0.9995493346058003 Centerline is valid? [True, True] Translation: X:205.21, Y:198.32, Z:46.21 [[ 8.67183459e-01 3.95588780e-01 -3.02493579e-01 2.05214055e+02] [-3.75904288e-01 9.18403408e-01 1.23414529e-01 1.98321372e+02] [ 3.26632537e-01 6.68559540e-03 9.45127763e-01 4.62136783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87710568099993 meters Centerline goodness [0,1] 0.9996819085487078 Centerline is valid? [True, True] Translation: X:205.24, Y:198.31, Z:46.22 [[ 8.67195869e-01 3.95878772e-01 -3.02078337e-01 2.05237532e+02] [-3.76283882e-01 9.18277362e-01 1.23195483e-01 1.98310903e+02] [ 3.26162175e-01 6.83259522e-03 9.45289136e-01 4.62244748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9071056809999 meters Centerline goodness [0,1] 0.9998406966864911 Centerline is valid? [True, True] Translation: X:205.26, Y:198.31, Z:46.23 [[ 8.65756849e-01 3.98045410e-01 -3.03356110e-01 2.05263292e+02] [-3.78449147e-01 9.17332582e-01 1.23600880e-01 1.98305534e+02] [ 3.27477207e-01 7.79655276e-03 9.44826911e-01 4.62345243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93710568099993 meters Centerline goodness [0,1] 0.9996006177112732 Centerline is valid? [True, True] Translation: X:205.29, Y:198.30, Z:46.24 [[ 8.63936042e-01 3.99763047e-01 -3.06274420e-01 2.05290247e+02] [-3.79901864e-01 9.16578257e-01 1.24735211e-01 1.98298468e+02] [ 3.30589002e-01 8.59097855e-03 9.43735719e-01 4.62410802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.9671056809999 meters Centerline goodness [0,1] 0.9997325631151048 Centerline is valid? [True, True] Translation: X:205.32, Y:198.29, Z:46.24 [[ 8.62038612e-01 4.00605467e-01 -3.10491048e-01 2.05318818e+02] [-3.80245256e-01 9.16205584e-01 1.26415477e-01 1.98287806e+02] [ 3.35116363e-01 9.08772588e-03 9.42132919e-01 4.62424461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99710568099994 meters Centerline goodness [0,1] 0.99962611830685 Centerline is valid? [True, True] Translation: X:205.34, Y:198.28, Z:46.25 [[ 8.62848929e-01 3.97786006e-01 -3.11862179e-01 2.05344531e+02] [-3.77097258e-01 9.17442222e-01 1.26875635e-01 1.98275486e+02] [ 3.36584883e-01 8.12786734e-03 9.41618051e-01 4.62465340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0271056809999 meters Centerline goodness [0,1] 0.9994668230652342 Centerline is valid? [True, True] Translation: X:205.37, Y:198.26, Z:46.25 [[ 8.65287121e-01 3.93322214e-01 -3.10766528e-01 2.05368079e+02] [-3.72538530e-01 9.19377991e-01 1.26329547e-01 1.98261445e+02] [ 3.35400124e-01 6.46117526e-03 9.42053613e-01 4.62544672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05710568099994 meters Centerline goodness [0,1] 0.9996261083217605 Centerline is valid? [True, True] Translation: X:205.39, Y:198.25, Z:46.27 [[ 8.68887050e-01 3.86403684e-01 -3.09398589e-01 2.05389237e+02] [-3.65402433e-01 9.22321830e-01 1.25711988e-01 1.98245161e+02] [ 3.33940648e-01 3.82547884e-03 9.42586340e-01 4.62700368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0871056809999 meters Centerline goodness [0,1] 0.9991745220216222 Centerline is valid? [True, True] Translation: X:205.41, Y:198.23, Z:46.28 [[ 8.71312245e-01 3.81480134e-01 -3.08687348e-01 2.05412418e+02] [-3.60311619e-01 9.24374819e-01 1.25326498e-01 1.98231903e+02] [ 3.33152381e-01 2.02512553e-03 9.42870823e-01 4.62782582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11710568099994 meters Centerline goodness [0,1] 0.9994674477433099 Centerline is valid? [True, True] Translation: X:205.44, Y:198.22, Z:46.29 [[ 8.73943361e-01 3.76223234e-01 -3.07699657e-01 2.05436413e+02] [-3.54891612e-01 9.26529047e-01 1.24883421e-01 1.98219107e+02] [ 3.32076715e-01 5.89906902e-05 9.43252380e-01 4.62860939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1471056809999 meters Centerline goodness [0,1] 0.999309923826207 Centerline is valid? [True, True] Translation: X:205.46, Y:198.21, Z:46.29 [[ 8.75195772e-01 3.73346843e-01 -3.07643455e-01 2.05461417e+02] [-3.51887573e-01 9.27691366e-01 1.24755221e-01 1.98209709e+02] [ 3.31975145e-01 -9.29333351e-04 9.43287676e-01 4.62949543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17710568099994 meters Centerline goodness [0,1] 0.9994659973833872 Centerline is valid? [True, True] Translation: X:205.48, Y:198.20, Z:46.31 [[ 8.79253289e-01 3.67573140e-01 -3.02991155e-01 2.05484350e+02] [-3.46482532e-01 9.29989935e-01 1.22754126e-01 1.98198166e+02] [ 3.26899844e-01 -2.95082607e-03 9.45054382e-01 4.63095947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2071056809999 meters Centerline goodness [0,1] 0.9990685543964233 Centerline is valid? [True, True] Translation: X:205.51, Y:198.19, Z:46.32 [[ 8.81224229e-01 3.63784278e-01 -3.01835811e-01 2.05507075e+02] [-3.42677316e-01 9.31473574e-01 1.22185263e-01 1.98185755e+02] [ 3.25601160e-01 -4.24032853e-03 9.45497702e-01 4.63198090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2371056809999 meters Centerline goodness [0,1] 0.9991255498436589 Centerline is valid? [True, True] Translation: X:205.53, Y:198.17, Z:46.33 [[ 8.83652138e-01 3.58059231e-01 -3.01583300e-01 2.05530522e+02] [-3.36676179e-01 9.33677546e-01 1.22046674e-01 1.98170620e+02] [ 3.25281494e-01 -6.31089119e-03 9.45596173e-01 4.63286372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2671056809999 meters Centerline goodness [0,1] 0.9990463070891173 Centerline is valid? [True, True] Translation: X:205.56, Y:198.16, Z:46.34 [[ 8.83071956e-01 3.59026966e-01 -3.02131691e-01 2.05556218e+02] [-3.37629919e-01 9.33308320e-01 1.22235908e-01 1.98159646e+02] [ 3.25868008e-01 -5.93440442e-03 9.45396649e-01 4.63351879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2971056809999 meters Centerline goodness [0,1] 0.9989634551495017 Centerline is valid? [True, True] Translation: X:205.58, Y:198.15, Z:46.35 [[ 8.82038086e-01 3.62365896e-01 -3.01164029e-01 2.05582915e+02] [-3.41333565e-01 9.32024643e-01 1.21743425e-01 1.98152553e+02] [ 3.24807962e-01 -4.58494567e-03 9.45768876e-01 4.63452866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3271056809999 meters Centerline goodness [0,1] 0.9991485285509021 Centerline is valid? [True, True] Translation: X:205.61, Y:198.15, Z:46.36 [[ 8.79832989e-01 3.68187450e-01 -3.00552679e-01 2.05609826e+02] [-3.47604513e-01 9.29748635e-01 1.21402551e-01 1.98148101e+02] [ 3.24137338e-01 -2.34050175e-03 9.46007140e-01 4.63563495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3571056809999 meters Centerline goodness [0,1] 0.9993051472553317 Centerline is valid? [True, True] Translation: X:205.64, Y:198.14, Z:46.36 [[ 8.78526330e-01 3.71126206e-01 -3.00760412e-01 2.05635120e+02] [-3.50715050e-01 9.28581709e-01 1.21387655e-01 1.98140513e+02] [ 3.24330757e-01 -1.16104788e-03 9.45943028e-01 4.63637799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3871056809999 meters Centerline goodness [0,1] 0.9991186132849016 Centerline is valid? [True, True] Translation: X:205.66, Y:198.13, Z:46.37 [[ 8.76253955e-01 3.74656328e-01 -3.03004361e-01 2.05661647e+02] [-3.54148626e-01 9.27163741e-01 1.22254440e-01 1.98132991e+02] [ 3.26738056e-01 1.82641948e-04 9.45114919e-01 4.63717302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4171056809999 meters Centerline goodness [0,1] 0.9993069993069993 Centerline is valid? [True, True] Translation: X:205.69, Y:198.12, Z:46.37 [[ 8.73334171e-01 3.78182387e-01 -3.07026885e-01 2.05688142e+02] [-3.57357466e-01 9.25729687e-01 1.23774750e-01 1.98122159e+02] [ 3.31033333e-01 1.62163094e-03 9.43617668e-01 4.63727958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4471056809999 meters Centerline goodness [0,1] 0.9992532935089872 Centerline is valid? [True, True] Translation: X:205.71, Y:198.11, Z:46.38 [[ 8.71859580e-01 3.80543844e-01 -3.08297349e-01 2.05714034e+02] [-3.59698790e-01 9.24759310e-01 1.24245723e-01 1.98110539e+02] [ 3.32381788e-01 2.56935944e-03 9.43141424e-01 4.63789137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.4771056809999 meters Centerline goodness [0,1] 0.999362871326555 Centerline is valid? [True, True] Translation: X:205.74, Y:198.10, Z:46.39 [[ 8.70585774e-01 3.83747292e-01 -3.07926008e-01 2.05738960e+02] [-3.63183388e-01 9.23429978e-01 1.23995575e-01 1.98102127e+02] [ 3.31931073e-01 3.88482731e-03 9.43295644e-01 4.63868850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5071056809999 meters Centerline goodness [0,1] 0.9994425272099814 Centerline is valid? [True, True] Translation: X:205.76, Y:198.10, Z:46.40 [[ 8.67347358e-01 3.93107642e-01 -3.05245710e-01 2.05764544e+02] [-3.73482456e-01 9.19462488e-01 1.22880379e-01 1.98098349e+02] [ 3.28967196e-01 7.42394548e-03 9.44312167e-01 4.64023550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5371056809999 meters Centerline goodness [0,1] 0.9998939104604286 Centerline is valid? [True, True] Translation: X:205.79, Y:198.10, Z:46.42 [[ 8.62892459e-01 4.05660214e-01 -3.01423945e-01 2.05791594e+02] [-3.87283674e-01 9.13944439e-01 1.21313307e-01 1.98098529e+02] [ 3.24696720e-01 1.20562345e-02 9.45741343e-01 4.64172292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56710568099993 meters Centerline goodness [0,1] 0.9996817735819036 Centerline is valid? [True, True] Translation: X:205.82, Y:198.10, Z:46.43 [[ 8.60486507e-01 4.12472412e-01 -2.99047623e-01 2.05817748e+02] [-3.94798556e-01 9.10854304e-01 1.20326791e-01 1.98095414e+02] [ 3.22020296e-01 1.45239896e-02 9.46621351e-01 4.64288821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.5971056809999 meters Centerline goodness [0,1] 0.99922798424023 Centerline is valid? [True, True] Translation: X:205.85, Y:198.09, Z:46.44 [[ 8.57694142e-01 4.19729548e-01 -2.96964416e-01 2.05845273e+02] [-4.02741749e-01 9.07487075e-01 1.19441586e-01 1.98092980e+02] [ 3.19624533e-01 1.71556196e-02 9.47388961e-01 4.64406728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62710568099993 meters Centerline goodness [0,1] 0.9976102891818597 Centerline is valid? [True, True] Translation: X:205.87, Y:198.10, Z:46.45 [[ 8.52813156e-01 4.31680622e-01 -2.93873378e-01 2.05874663e+02] [-4.15746694e-01 9.01772385e-01 1.18157738e-01 1.98095296e+02] [ 3.16013303e-01 2.14104118e-02 9.48513145e-01 4.64524764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.6571056809999 meters Centerline goodness [0,1] 0.9975684875992867 Centerline is valid? [True, True] Translation: X:205.90, Y:198.09, Z:46.46 [[ 8.50260792e-01 4.38088499e-01 -2.91779117e-01 2.05902004e+02] [-4.22778046e-01 8.98619708e-01 1.17223477e-01 1.98091498e+02] [ 3.13552722e-01 2.36872787e-02 9.49275304e-01 4.64620984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68710568099993 meters Centerline goodness [0,1] 0.996411612346212 Centerline is valid? [True, True] Translation: X:205.93, Y:198.09, Z:46.47 [[ 8.51232044e-01 4.36734379e-01 -2.90976098e-01 2.05928463e+02] [-4.21463486e-01 8.99291154e-01 1.16807323e-01 1.98085681e+02] [ 3.12686004e-01 2.32056642e-02 9.49573041e-01 4.64705747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7171056809999 meters Centerline goodness [0,1] 0.9986218823465831 Centerline is valid? [True, True] Translation: X:205.95, Y:198.07, Z:46.48 [[ 8.54446744e-01 4.30254641e-01 -2.91207324e-01 2.05951753e+02] [-4.14620085e-01 9.02465041e-01 1.16820521e-01 1.98068360e+02] [ 3.13067001e-01 2.09234916e-02 9.49500532e-01 4.64782715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74710568099994 meters Centerline goodness [0,1] 0.9992411512819123 Centerline is valid? [True, True] Translation: X:205.98, Y:198.06, Z:46.49 [[ 8.56277044e-01 4.25975052e-01 -2.92121343e-01 2.05976969e+02] [-4.10029446e-01 9.04524475e-01 1.17095375e-01 1.98057820e+02] [ 3.14110613e-01 1.95122713e-02 9.49185859e-01 4.64857425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7771056809999 meters Centerline goodness [0,1] 0.9998380042118905 Centerline is valid? [True, True] Translation: X:206.00, Y:198.04, Z:46.49 [[ 8.61107427e-01 4.15079834e-01 -2.93603015e-01 2.06001032e+02] [-3.98362802e-01 9.09650457e-01 1.17656804e-01 1.98042189e+02] [ 3.15913084e-01 1.56453719e-02 9.48659130e-01 4.64934450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80710568099994 meters Centerline goodness [0,1] 0.9995100440960314 Centerline is valid? [True, True] Translation: X:206.03, Y:198.03, Z:46.50 [[ 8.65612727e-01 4.04919266e-01 -2.94542009e-01 2.06025645e+02] [-3.87534687e-01 9.14273503e-01 1.17986559e-01 1.98031979e+02] [ 3.17066985e-01 1.20145784e-02 9.48327041e-01 4.65011310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8371056809999 meters Centerline goodness [0,1] 0.9991271140207311 Centerline is valid? [True, True] Translation: X:206.05, Y:198.02, Z:46.51 [[ 8.68738594e-01 3.98529262e-01 -2.94053877e-01 2.06049435e+02] [-3.80856596e-01 9.17104441e-01 1.17761184e-01 1.98017410e+02] [ 3.16609394e-01 9.68867339e-03 9.48506521e-01 4.65097606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86710568099994 meters Centerline goodness [0,1] 0.9987248358565305 Centerline is valid? [True, True] Translation: X:206.07, Y:198.00, Z:46.52 [[ 8.75020516e-01 3.84720559e-01 -2.93818291e-01 2.06070271e+02] [-3.66343478e-01 9.23020852e-01 1.17579607e-01 1.97995932e+02] [ 3.16435701e-01 4.75384635e-03 9.48602049e-01 4.65205722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8971056809999 meters Centerline goodness [0,1] 0.9981857077093883 Centerline is valid? [True, True] Translation: X:206.09, Y:197.98, Z:46.53 [[ 8.77437066e-01 3.78455064e-01 -2.94747280e-01 2.06094024e+02] [-3.59629148e-01 9.25616165e-01 1.17905008e-01 1.97982312e+02] [ 3.17444594e-01 2.54548926e-03 9.48273405e-01 4.65294596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92710568099994 meters Centerline goodness [0,1] 0.9988949680618818 Centerline is valid? [True, True] Translation: X:206.12, Y:197.97, Z:46.54 [[ 8.80889251e-01 3.69196947e-01 -2.96188694e-01 2.06117191e+02] [-3.49702230e-01 9.29350910e-01 1.18385961e-01 1.97965751e+02] [ 3.18970968e-01 -7.07073906e-04 9.47764223e-01 4.65372374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9571056809999 meters Centerline goodness [0,1] 0.9985231727619355 Centerline is valid? [True, True] Translation: X:206.14, Y:197.95, Z:46.55 [[ 8.82574341e-01 3.65499899e-01 -2.95757259e-01 2.06141274e+02] [-3.45892802e-01 9.30809339e-01 1.18119189e-01 1.97953000e+02] [ 3.18466170e-01 -1.94865823e-03 9.47932224e-01 4.65459776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9871056809999 meters Centerline goodness [0,1] 0.9984900369401677 Centerline is valid? [True, True] Translation: X:206.16, Y:197.94, Z:46.56 [[ 8.84169459e-01 3.63368788e-01 -2.93611124e-01 2.06164115e+02] [-3.43969390e-01 9.31641744e-01 1.17169615e-01 1.97943029e+02] [ 3.16116161e-01 -2.60455606e-03 9.48716917e-01 4.65600582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0171056809999 meters Centerline goodness [0,1] 0.9989224137931034 Centerline is valid? [True, True] Translation: X:206.19, Y:197.94, Z:46.57 [[ 8.84012760e-01 3.65942996e-01 -2.90873106e-01 2.06189366e+02] [-3.47064751e-01 9.30635857e-01 1.16029996e-01 1.97937078e+02] [ 3.13157307e-01 -1.62019504e-03 9.49699887e-01 4.65736657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0471056809999 meters Centerline goodness [0,1] 0.9991648481909534 Centerline is valid? [True, True] Translation: X:206.21, Y:197.93, Z:46.59 [[ 8.84150640e-01 3.66778533e-01 -2.89397917e-01 2.06212507e+02] [-3.48169800e-01 9.30307476e-01 1.15350725e-01 1.97929286e+02] [ 3.11537215e-01 -1.22780248e-03 9.50233159e-01 4.65853223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0771056809999 meters Centerline goodness [0,1] 0.9987907776643199 Centerline is valid? [True, True] Translation: X:206.24, Y:197.92, Z:46.60 [[ 8.83796158e-01 3.69396375e-01 -2.87142247e-01 2.06236646e+02] [-3.51233136e-01 9.29271893e-01 1.14407313e-01 1.97922724e+02] [ 3.09094866e-01 -2.58872109e-04 9.51031175e-01 4.65963350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1071056809999 meters Centerline goodness [0,1] 0.9986593017643589 Centerline is valid? [True, True] Translation: X:206.26, Y:197.91, Z:46.60 [[ 8.83361080e-01 3.70457855e-01 -2.87113532e-01 2.06262101e+02] [-3.52367005e-01 9.28849263e-01 1.14352697e-01 1.97912974e+02] [ 3.09048047e-01 1.54613243e-04 9.51046414e-01 4.66027425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1371056809999 meters Centerline goodness [0,1] 0.9992717661020606 Centerline is valid? [True, True] Translation: X:206.29, Y:197.90, Z:46.61 [[ 8.82495867e-01 3.71488317e-01 -2.88439726e-01 2.06287332e+02] [-3.53315621e-01 9.28437417e-01 1.14769482e-01 1.97903050e+02] [ 3.10433756e-01 6.26667212e-04 9.50594809e-01 4.66077692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1671056809999 meters Centerline goodness [0,1] 0.9995126177840356 Centerline is valid? [True, True] Translation: X:206.31, Y:197.89, Z:46.62 [[ 8.81884947e-01 3.71897200e-01 -2.89778213e-01 2.06312179e+02] [-3.53611053e-01 9.28273495e-01 1.15184812e-01 1.97894569e+02] [ 3.11830344e-01 8.89027418e-04 9.50137383e-01 4.66177080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1971056809999 meters Centerline goodness [0,1] 0.9991303638883605 Centerline is valid? [True, True] Translation: X:206.34, Y:197.89, Z:46.63 [[ 8.81541017e-01 3.72714099e-01 -2.89775149e-01 2.06335886e+02] [-3.54509833e-01 9.27945327e-01 1.15066279e-01 1.97886463e+02] [ 3.11782320e-01 1.29249534e-03 9.50152680e-01 4.66276031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2271056809999 meters Centerline goodness [0,1] 0.9991558193998148 Centerline is valid? [True, True] Translation: X:206.36, Y:197.88, Z:46.64 [[ 8.81390008e-01 3.73714208e-01 -2.88945227e-01 2.06361245e+02] [-3.55684789e-01 9.27542367e-01 1.14688660e-01 1.97877393e+02] [ 3.10869721e-01 1.68798274e-03 9.50451034e-01 4.66374733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2571056809999 meters Centerline goodness [0,1] 0.9994044073853484 Centerline is valid? [True, True] Translation: X:206.39, Y:197.87, Z:46.64 [[ 8.79277386e-01 3.77987317e-01 -2.89822131e-01 2.06387379e+02] [-3.60104549e-01 9.25804869e-01 1.14935018e-01 1.97868354e+02] [ 3.11762719e-01 3.30650514e-03 9.50154237e-01 4.66445896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.2871056809999 meters Centerline goodness [0,1] 0.9994311563778205 Centerline is valid? [True, True] Translation: X:206.41, Y:197.86, Z:46.65 [[ 8.76774201e-01 3.82853120e-01 -2.91016304e-01 2.06413391e+02] [-3.65112871e-01 9.23794841e-01 1.15306911e-01 1.97860476e+02] [ 3.12984971e-01 5.15567315e-03 9.49744085e-01 4.66513855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31710568099993 meters Centerline goodness [0,1] 0.9992936126280327 Centerline is valid? [True, True] Translation: X:206.44, Y:197.85, Z:46.66 [[ 8.76278387e-01 3.83286656e-01 -2.91937540e-01 2.06437674e+02] [-3.65466495e-01 9.23613862e-01 1.15635959e-01 1.97851389e+02] [ 3.13959279e-01 5.36409824e-03 9.49421296e-01 4.66599407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.3471056809999 meters Centerline goodness [0,1] 0.9996201432602562 Centerline is valid? [True, True] Translation: X:206.46, Y:197.84, Z:46.67 [[ 8.74992855e-01 3.83908060e-01 -2.94961192e-01 2.06464187e+02] [-3.65760417e-01 9.23353702e-01 1.16778674e-01 1.97840371e+02] [ 3.17185783e-01 5.70462250e-03 9.48346264e-01 4.66651921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37710568099993 meters Centerline goodness [0,1] 0.9995108961469485 Centerline is valid? [True, True] Translation: X:206.49, Y:197.83, Z:46.67 [[ 8.74569998e-01 3.84076459e-01 -2.95994244e-01 2.06488844e+02] [-3.65840930e-01 9.23282539e-01 1.17088716e-01 1.97828028e+02] [ 3.18257336e-01 5.88453146e-03 9.47986097e-01 4.66724228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4071056809999 meters Centerline goodness [0,1] 0.9994292702812883 Centerline is valid? [True, True] Translation: X:206.51, Y:197.82, Z:46.68 [[ 8.73586827e-01 3.85857112e-01 -2.96581093e-01 2.06514756e+02] [-3.67681695e-01 9.22534608e-01 1.17218039e-01 1.97820854e+02] [ 3.18835736e-01 6.64730458e-03 9.47786678e-01 4.66797087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43710568099993 meters Centerline goodness [0,1] 0.9994558119286026 Centerline is valid? [True, True] Translation: X:206.54, Y:197.81, Z:46.69 [[ 8.74232454e-01 3.85711652e-01 -2.94862914e-01 2.06537655e+02] [-3.67755637e-01 9.22595861e-01 1.16501801e-01 1.97809509e+02] [ 3.16975406e-01 6.58784320e-03 9.48410877e-01 4.66915235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.4671056809999 meters Centerline goodness [0,1] 0.9995925684485006 Centerline is valid? [True, True] Translation: X:206.56, Y:197.80, Z:46.70 [[ 8.75240267e-01 3.84477920e-01 -2.93481182e-01 2.06562371e+02] [-3.66666018e-01 9.23113199e-01 1.15836317e-01 1.97798551e+02] [ 3.15452859e-01 6.22496724e-03 9.48920831e-01 4.67020676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49710568099994 meters Centerline goodness [0,1] 0.9993796693367856 Centerline is valid? [True, True] Translation: X:206.59, Y:197.79, Z:46.71 [[ 8.77373502e-01 3.81206627e-01 -2.91371319e-01 2.06585826e+02] [-3.63513884e-01 9.24475760e-01 1.14900934e-01 1.97786336e+02] [ 3.13166719e-01 5.10648545e-03 9.49684437e-01 4.67138859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5271056809999 meters Centerline goodness [0,1] 0.9997032961104817 Centerline is valid? [True, True] Translation: X:206.61, Y:197.78, Z:46.72 [[ 8.77865825e-01 3.80006302e-01 -2.91456350e-01 2.06610271e+02] [-3.62272935e-01 9.24971540e-01 1.14830182e-01 1.97776457e+02] [ 3.13225022e-01 4.78125505e-03 9.49666902e-01 4.67233073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55710568099994 meters Centerline goodness [0,1] 0.9993823845327605 Centerline is valid? [True, True] Translation: X:206.63, Y:197.76, Z:46.73 [[ 8.78466788e-01 3.77856151e-01 -2.92439450e-01 2.06634053e+02] [-3.59902256e-01 9.25855309e-01 1.15162113e-01 1.97763574e+02] [ 3.14271330e-01 4.08352597e-03 9.49324421e-01 4.67291173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5871056809999 meters Centerline goodness [0,1] 0.9993303870362931 Centerline is valid? [True, True] Translation: X:206.66, Y:197.75, Z:46.74 [[ 8.78399170e-01 3.77039911e-01 -2.93693385e-01 2.06658417e+02] [-3.58895502e-01 9.26189031e-01 1.15619625e-01 1.97750941e+02] [ 3.15608804e-01 3.84505179e-03 9.48881604e-01 4.67361858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61710568099994 meters Centerline goodness [0,1] 0.9994115286879764 Centerline is valid? [True, True] Translation: X:206.68, Y:197.74, Z:46.74 [[ 8.78278139e-01 3.76386684e-01 -2.94890785e-01 2.06682113e+02] [-3.58093577e-01 9.26455108e-01 1.15973801e-01 1.97739098e+02] [ 3.16854069e-01 3.74124172e-03 9.48466922e-01 4.67434568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6471056809999 meters Centerline goodness [0,1] 0.9994115286879764 Centerline is valid? [True, True] Translation: X:206.71, Y:197.73, Z:46.75 [[ 8.78398768e-01 3.76091344e-01 -2.94908302e-01 2.06706283e+02] [-3.57796995e-01 9.26575264e-01 1.15929244e-01 1.97729783e+02] [ 3.16854723e-01 3.68519924e-03 9.48466923e-01 4.67520407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67710568099994 meters Centerline goodness [0,1] 0.9992775919732442 Centerline is valid? [True, True] Translation: X:206.73, Y:197.72, Z:46.76 [[ 8.78309210e-01 3.75638021e-01 -2.95751602e-01 2.06730380e+02] [-3.57249739e-01 9.26759294e-01 1.16145747e-01 1.97720589e+02] [ 3.17719304e-01 3.64530319e-03 9.48177808e-01 4.67605967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7071056809999 meters Centerline goodness [0,1] 0.9994929276754737 Centerline is valid? [True, True] Translation: X:206.75, Y:197.71, Z:46.77 [[ 8.78003401e-01 3.75245877e-01 -2.97154100e-01 2.06754171e+02] [-3.56683228e-01 9.26918321e-01 1.16616901e-01 1.97707747e+02] [ 3.19197591e-01 3.59984803e-03 9.47681349e-01 4.67680832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7371056809999 meters Centerline goodness [0,1] 0.9995212001915199 Centerline is valid? [True, True] Translation: X:206.78, Y:197.70, Z:46.78 [[ 8.77434090e-01 3.75544007e-01 -2.98456221e-01 2.06779880e+02] [-3.56871245e-01 9.26796595e-01 1.17008486e-01 1.97696825e+02] [ 3.20550045e-01 3.84320888e-03 9.47223785e-01 4.67754236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7671056809999 meters Centerline goodness [0,1] 0.9995468116869268 Centerline is valid? [True, True] Translation: X:206.81, Y:197.69, Z:46.78 [[ 8.75212750e-01 3.77735766e-01 -3.02189233e-01 2.06806313e+02] [-3.58743304e-01 9.25900931e-01 1.18366838e-01 1.97688627e+02] [ 3.24508681e-01 4.81219840e-03 9.45870477e-01 4.67798456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7971056809999 meters Centerline goodness [0,1] 0.9995207922900804 Centerline is valid? [True, True] Translation: X:206.83, Y:197.68, Z:46.79 [[ 8.73827991e-01 3.79603479e-01 -3.03851675e-01 2.06832437e+02] [-3.60518575e-01 9.25132480e-01 1.18980043e-01 1.97681456e+02] [ 3.26268292e-01 5.57608133e-03 9.45260763e-01 4.67886653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8271056809999 meters Centerline goodness [0,1] 0.9997586937287182 Centerline is valid? [True, True] Translation: X:206.86, Y:197.68, Z:46.79 [[ 8.71628201e-01 3.84765031e-01 -3.03677708e-01 2.06861600e+02] [-3.66019100e-01 9.22983774e-01 1.18873760e-01 1.97680281e+02] [ 3.26028063e-01 7.53811961e-03 9.45330037e-01 4.67943793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8571056809999 meters Centerline goodness [0,1] 0.9995982967783401 Centerline is valid? [True, True] Translation: X:206.88, Y:197.67, Z:46.81 [[ 8.74273503e-01 3.82221047e-01 -2.99253929e-01 2.06883435e+02] [-3.63895535e-01 9.24048000e-01 1.17112480e-01 1.97666458e+02] [ 3.21287849e-01 6.50883075e-03 9.46959214e-01 4.68096624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8871056809999 meters Centerline goodness [0,1] 0.9996259484877632 Centerline is valid? [True, True] Translation: X:206.91, Y:197.66, Z:46.82 [[ 8.75999935e-01 3.79694391e-01 -2.97416010e-01 2.06907114e+02] [-3.61467371e-01 9.25095192e-01 1.16362470e-01 1.97655687e+02] [ 3.19320298e-01 5.57266725e-03 9.47630462e-01 4.68222749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9171056809999 meters Centerline goodness [0,1] 0.9994377359500923 Centerline is valid? [True, True] Translation: X:206.93, Y:197.64, Z:46.83 [[ 8.78047767e-01 3.75789656e-01 -2.96334699e-01 2.06930539e+02] [-3.57515758e-01 9.26695317e-01 1.15837266e-01 1.97644339e+02] [ 3.18142425e-01 4.23367184e-03 9.48033477e-01 4.68331062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9471056809999 meters Centerline goodness [0,1] 0.9994109772423025 Centerline is valid? [True, True] Translation: X:206.96, Y:197.63, Z:46.84 [[ 8.78419169e-01 3.74899604e-01 -2.96361351e-01 2.06955363e+02] [-3.56585696e-01 9.27057008e-01 1.15809952e-01 1.97633945e+02] [ 3.18160973e-01 3.94853650e-03 9.48028483e-01 4.68412960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.9771056809999 meters Centerline goodness [0,1] 0.9994142081158803 Centerline is valid? [True, True] Translation: X:206.98, Y:197.62, Z:46.85 [[ 8.79266268e-01 3.72657352e-01 -2.96677145e-01 2.06979375e+02] [-3.54217653e-01 9.27963316e-01 1.15818554e-01 1.97621110e+02] [ 3.18466143e-01 3.25293460e-03 9.47928655e-01 4.68481642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0071056809999 meters Centerline goodness [0,1] 0.9993591284146439 Centerline is valid? [True, True] Translation: X:207.00, Y:197.61, Z:46.86 [[ 8.79198109e-01 3.71884824e-01 -2.97846207e-01 2.07004198e+02] [-3.53265263e-01 9.28273957e-01 1.16237321e-01 1.97610938e+02] [ 3.19709773e-01 3.02308631e-03 9.47510698e-01 4.68561795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0371056809999 meters Centerline goodness [0,1] 0.9992305038872821 Centerline is valid? [True, True] Translation: X:207.03, Y:197.60, Z:46.86 [[ 8.79409255e-01 3.69650105e-01 -2.99996936e-01 2.07027175e+02] [-3.50666344e-01 9.29168076e-01 1.16960689e-01 1.97599427e+02] [ 3.21982107e-01 2.34251688e-03 9.46742856e-01 4.68635337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06710568099993 meters Centerline goodness [0,1] 0.999151508723551 Centerline is valid? [True, True] Translation: X:207.05, Y:197.59, Z:46.87 [[ 8.79640184e-01 3.67882130e-01 -3.01489443e-01 2.07051190e+02] [-3.48630357e-01 9.29870720e-01 1.17461988e-01 1.97588629e+02] [ 3.23558372e-01 1.78408783e-03 9.46206530e-01 4.68722837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.0971056809999 meters Centerline goodness [0,1] 0.9993627190653213 Centerline is valid? [True, True] Translation: X:207.08, Y:197.58, Z:46.88 [[ 8.78694032e-01 3.67528357e-01 -3.04663264e-01 2.07076866e+02] [-3.47877254e-01 9.30010596e-01 1.18582067e-01 1.97575746e+02] [ 3.26922337e-01 1.78806523e-03 9.45049517e-01 4.68760557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12710568099993 meters Centerline goodness [0,1] 0.9995502645502645 Centerline is valid? [True, True] Translation: X:207.10, Y:197.56, Z:46.88 [[ 8.76592552e-01 3.69857715e-01 -3.07881095e-01 2.07102951e+02] [-3.49952304e-01 9.29084228e-01 1.19732545e-01 1.97564162e+02] [ 3.30331475e-01 2.78704166e-03 9.43860874e-01 4.68783285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.1571056809999 meters Centerline goodness [0,1] 0.999259807549963 Centerline is valid? [True, True] Translation: X:207.13, Y:197.56, Z:46.89 [[ 8.75152394e-01 3.72151016e-01 -3.09211753e-01 2.07129224e+02] [-3.52227445e-01 9.28164712e-01 1.20191903e-01 1.97555770e+02] [ 3.31728977e-01 3.72663449e-03 9.43367372e-01 4.68868814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18710568099993 meters Centerline goodness [0,1] 0.999605512308016 Centerline is valid? [True, True] Translation: X:207.16, Y:197.55, Z:46.90 [[ 8.73284020e-01 3.76800458e-01 -3.08863133e-01 2.07155039e+02] [-3.57239219e-01 9.26277642e-01 1.19957788e-01 1.97549274e+02] [ 3.31293164e-01 5.58080522e-03 9.43511364e-01 4.68965571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2171056809999 meters Centerline goodness [0,1] 0.9996039708522547 Centerline is valid? [True, True] Translation: X:207.18, Y:197.54, Z:46.91 [[ 8.71898081e-01 3.79852835e-01 -3.09039738e-01 2.07179501e+02] [-3.60467067e-01 9.25022087e-01 1.19990131e-01 1.97540078e+02] [ 3.31447175e-01 6.77948327e-03 9.43449420e-01 4.69077550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24710568099994 meters Centerline goodness [0,1] 0.9985763998734578 Centerline is valid? [True, True] Translation: X:207.21, Y:197.54, Z:46.91 [[ 8.69490333e-01 3.85110056e-01 -3.09316675e-01 2.07208524e+02] [-3.66023265e-01 9.22828456e-01 1.20060864e-01 1.97537189e+02] [ 3.31682875e-01 8.82533800e-03 9.43349661e-01 4.69145634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2771056809999 meters Centerline goodness [0,1] 0.998708316857783 Centerline is valid? [True, True] Translation: X:207.23, Y:197.53, Z:46.92 [[ 8.69339669e-01 3.85695894e-01 -3.09010061e-01 2.07232602e+02] [-3.66693129e-01 9.22581436e-01 1.19915151e-01 1.97525709e+02] [ 3.31337727e-01 9.06486844e-03 9.43468674e-01 4.69241833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30710568099994 meters Centerline goodness [0,1] 0.999312205703402 Centerline is valid? [True, True] Translation: X:207.26, Y:197.51, Z:46.93 [[ 8.70978911e-01 3.82074077e-01 -3.08893407e-01 2.07256919e+02] [-3.62901030e-01 9.24098921e-01 1.19766550e-01 1.97512718e+02] [ 3.31207759e-01 7.78359642e-03 9.43525748e-01 4.69345980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3371056809999 meters Centerline goodness [0,1] 0.9994703109274856 Centerline is valid? [True, True] Translation: X:207.28, Y:197.50, Z:46.94 [[ 8.72207879e-01 3.79541354e-01 -3.08547851e-01 2.07281026e+02] [-3.60291497e-01 9.25149004e-01 1.19538098e-01 1.97502973e+02] [ 3.30822389e-01 6.90509572e-03 9.43667774e-01 4.69435651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36710568099994 meters Centerline goodness [0,1] 0.9994176658990445 Centerline is valid? [True, True] Translation: X:207.31, Y:197.49, Z:46.95 [[ 8.74755800e-01 3.72815057e-01 -3.09533881e-01 2.07305375e+02] [-3.53048586e-01 9.27895101e-01 1.19863992e-01 1.97488532e+02] [ 3.31902072e-01 4.42877679e-03 9.43303451e-01 4.69505542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3971056809999 meters Centerline goodness [0,1] 0.9994192339167393 Centerline is valid? [True, True] Translation: X:207.33, Y:197.47, Z:46.96 [[ 8.77126698e-01 3.66489485e-01 -3.10377534e-01 2.07329945e+02] [-3.46255754e-01 9.30419778e-01 1.20108239e-01 1.97474402e+02] [ 3.32799803e-01 2.11986417e-03 9.42995121e-01 4.69550491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42710568099994 meters Centerline goodness [0,1] 0.999658460972598 Centerline is valid? [True, True] Translation: X:207.35, Y:197.46, Z:46.96 [[ 8.78142079e-01 3.63287228e-01 -3.11269784e-01 2.07354842e+02] [-3.42752652e-01 9.31676708e-01 1.20412339e-01 1.97463800e+02] [ 3.33747072e-01 9.49402001e-04 9.42662183e-01 4.69628280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4571056809999 meters Centerline goodness [0,1] 0.9993592310772927 Centerline is valid? [True, True] Translation: X:207.38, Y:197.46, Z:46.98 [[ 8.78688278e-01 3.61412499e-01 -3.11910110e-01 2.07380343e+02] [-3.40716697e-01 9.32405964e-01 1.20545633e-01 1.97458605e+02] [ 3.34393545e-01 3.50947681e-04 9.42433464e-01 4.69756393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4871056809999 meters Centerline goodness [0,1] 0.9995189866652414 Centerline is valid? [True, True] Translation: X:207.40, Y:197.45, Z:46.99 [[ 8.79793331e-01 3.59046280e-01 -3.11527630e-01 2.07404455e+02] [-3.38295513e-01 9.33319651e-01 1.20293704e-01 1.97449645e+02] [ 3.33945866e-01 -4.45199350e-04 9.42592149e-01 4.69869960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5171056809999 meters Centerline goodness [0,1] 0.9994918155557933 Centerline is valid? [True, True] Translation: X:207.43, Y:197.44, Z:46.99 [[ 8.81013219e-01 3.55740415e-01 -3.11872515e-01 2.07430264e+02] [-3.34781072e-01 9.34583454e-01 1.20313763e-01 1.97441142e+02] [ 3.34271360e-01 -1.58900019e-03 9.42475534e-01 4.69942613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5471056809999 meters Centerline goodness [0,1] 0.9992229575842019 Centerline is valid? [True, True] Translation: X:207.46, Y:197.43, Z:47.00 [[ 8.81728324e-01 3.54374780e-01 -3.11405969e-01 2.07455792e+02] [-3.33411945e-01 9.35101204e-01 1.20092522e-01 1.97432077e+02] [ 3.33753857e-01 -2.06250867e-03 9.42658002e-01 4.70008107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5771056809999 meters Centerline goodness [0,1] 0.999174126172208 Centerline is valid? [True, True] Translation: X:207.48, Y:197.42, Z:47.01 [[ 8.85440241e-01 3.47116202e-01 -3.09040324e-01 2.07478203e+02] [-3.26088421e-01 9.37810575e-01 1.19070011e-01 1.97415907e+02] [ 3.31152414e-01 -4.65490791e-03 9.43565796e-01 4.70088529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6071056809999 meters Centerline goodness [0,1] 0.9992321542046176 Centerline is valid? [True, True] Translation: X:207.50, Y:197.40, Z:47.02 [[ 8.87823757e-01 3.41477212e-01 -3.08483858e-01 2.07502102e+02] [-3.20209711e-01 9.39866110e-01 1.18816818e-01 1.97403144e+02] [ 3.30506760e-01 -6.70886684e-03 9.43779780e-01 4.70191458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6371056809999 meters Centerline goodness [0,1] 0.9992553191489362 Centerline is valid? [True, True] Translation: X:207.53, Y:197.40, Z:47.03 [[ 8.87980299e-01 3.41351771e-01 -3.08171960e-01 2.07527018e+02] [-3.20155870e-01 9.39912098e-01 1.18597923e-01 1.97395178e+02] [ 3.30138164e-01 -6.64955718e-03 9.43909199e-01 4.70288940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6671056809999 meters Centerline goodness [0,1] 0.9990460543749007 Centerline is valid? [True, True] Translation: X:207.55, Y:197.38, Z:47.04 [[ 8.89289460e-01 3.38454013e-01 -3.07592487e-01 2.07550748e+02] [-3.17210042e-01 9.40952236e-01 1.18265286e-01 1.97382806e+02] [ 3.29457199e-01 -7.60064619e-03 9.44139918e-01 4.70381218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6971056809999 meters Centerline goodness [0,1] 0.9990196078431373 Centerline is valid? [True, True] Translation: X:207.57, Y:197.37, Z:47.05 [[ 8.89924621e-01 3.37493125e-01 -3.06810298e-01 2.07574584e+02] [-3.16324179e-01 9.41295016e-01 1.17909735e-01 1.97373703e+02] [ 3.28592729e-01 -7.87926099e-03 9.44438847e-01 4.70496665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7271056809999 meters Centerline goodness [0,1] 0.9991517336443644 Centerline is valid? [True, True] Translation: X:207.60, Y:197.36, Z:47.06 [[ 8.90366928e-01 3.38204488e-01 -3.04736701e-01 2.07597895e+02] [-3.17407347e-01 9.41043136e-01 1.17005952e-01 1.97363738e+02] [ 3.26342319e-01 -7.45256189e-03 9.45222276e-01 4.70614180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7571056809999 meters Centerline goodness [0,1] 0.9991777406434843 Centerline is valid? [True, True] Translation: X:207.62, Y:197.36, Z:47.07 [[ 8.90356378e-01 3.38812886e-01 -3.04091022e-01 2.07624358e+02] [-3.18153634e-01 9.40826409e-01 1.16721609e-01 1.97358304e+02] [ 3.25643649e-01 -7.17616576e-03 9.45465344e-01 4.70736474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.7871056809999 meters Centerline goodness [0,1] 0.9993909382199507 Centerline is valid? [True, True] Translation: X:207.65, Y:197.35, Z:47.08 [[ 8.90114296e-01 3.39434710e-01 -3.04106262e-01 2.07648584e+02] [-3.18841305e-01 9.40604642e-01 1.16632457e-01 1.97347961e+02] [ 3.25632866e-01 -6.85457989e-03 9.45471444e-01 4.70821614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81710568099993 meters Centerline goodness [0,1] 0.9995239102835379 Centerline is valid? [True, True] Translation: X:207.67, Y:197.34, Z:47.09 [[ 8.90119343e-01 3.39191306e-01 -3.04362964e-01 2.07673447e+02] [-3.18560945e-01 9.40692013e-01 1.16693874e-01 1.97337899e+02] [ 3.25893357e-01 -6.91332108e-03 9.45381259e-01 4.70910736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.8471056809999 meters Centerline goodness [0,1] 0.9990780739648087 Centerline is valid? [True, True] Translation: X:207.70, Y:197.33, Z:47.10 [[ 8.89504064e-01 3.40309306e-01 -3.04913260e-01 2.07698473e+02] [-3.19678245e-01 9.40291218e-01 1.16868494e-01 1.97327013e+02] [ 3.26478697e-01 -6.48086465e-03 9.45182341e-01 4.70961400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87710568099993 meters Centerline goodness [0,1] 0.9990488771466315 Centerline is valid? [True, True] Translation: X:207.73, Y:197.32, Z:47.10 [[ 8.87826203e-01 3.44068559e-01 -3.05583802e-01 2.07726375e+02] [-3.23573245e-01 9.38930819e-01 1.17086600e-01 1.97323772e+02] [ 3.27207867e-01 -5.07380921e-03 9.44938764e-01 4.71044720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9071056809999 meters Centerline goodness [0,1] 0.9992572156196944 Centerline is valid? [True, True] Translation: X:207.75, Y:197.32, Z:47.11 [[ 8.86894309e-01 3.46770732e-01 -3.05235226e-01 2.07753040e+02] [-3.26514236e-01 9.37941518e-01 1.16851026e-01 1.97317946e+02] [ 3.26813308e-01 -3.97086375e-03 9.45080576e-01 4.71122328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93710568099993 meters Centerline goodness [0,1] 0.9993118962551277 Centerline is valid? [True, True] Translation: X:207.78, Y:197.31, Z:47.12 [[ 8.86717244e-01 3.48606431e-01 -3.03654550e-01 2.07778176e+02] [-3.28704551e-01 9.37263821e-01 1.16145805e-01 1.97308858e+02] [ 3.25093598e-01 -3.17585546e-03 9.45676512e-01 4.71228116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.9671056809999 meters Centerline goodness [0,1] 0.9992854307264788 Centerline is valid? [True, True] Translation: X:207.80, Y:197.30, Z:47.13 [[ 8.86752770e-01 3.49134007e-01 -3.02943840e-01 2.07803233e+02] [-3.29392286e-01 9.37068395e-01 1.15773677e-01 1.97299377e+02] [ 3.24299626e-01 -2.87526510e-03 9.45950044e-01 4.71336239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99710568099994 meters Centerline goodness [0,1] 0.9992573929187111 Centerline is valid? [True, True] Translation: X:207.83, Y:197.29, Z:47.14 [[ 8.86020163e-01 3.51043464e-01 -3.02880765e-01 2.07827870e+02] [-3.31452480e-01 9.36356859e-01 1.15650708e-01 1.97291580e+02] [ 3.24202907e-01 -2.07827885e-03 9.45985283e-01 4.71438193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0271056809999 meters Centerline goodness [0,1] 0.9995220266071856 Centerline is valid? [True, True] Translation: X:207.85, Y:197.28, Z:47.15 [[ 8.85583809e-01 3.51694269e-01 -3.03401481e-01 2.07852909e+02] [-3.32084245e-01 9.36113178e-01 1.15810935e-01 1.97283871e+02] [ 3.24748167e-01 -1.80543740e-03 9.45798799e-01 4.71522870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05710568099994 meters Centerline goodness [0,1] 0.9994949763436287 Centerline is valid? [True, True] Translation: X:207.88, Y:197.27, Z:47.16 [[ 8.86104243e-01 3.51494164e-01 -3.02111111e-01 2.07877465e+02] [-3.32083443e-01 9.36188426e-01 1.15203377e-01 1.97273381e+02] [ 3.23326240e-01 -1.75610324e-03 9.46285928e-01 4.71630378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0871056809999 meters Centerline goodness [0,1] 0.9993111305407625 Centerline is valid? [True, True] Translation: X:207.90, Y:197.26, Z:47.17 [[ 8.86247977e-01 3.51436527e-01 -3.01756344e-01 2.07901667e+02] [-3.32104083e-01 9.36210214e-01 1.14966578e-01 1.97263738e+02] [ 3.22910826e-01 -1.67438283e-03 9.46427913e-01 4.71705871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11710568099994 meters Centerline goodness [0,1] 0.9995493107104985 Centerline is valid? [True, True] Translation: X:207.93, Y:197.25, Z:47.18 [[ 8.86637720e-01 3.51482753e-01 -3.00555199e-01 2.07926686e+02] [-3.32337858e-01 9.36193038e-01 1.14429648e-01 1.97251615e+02] [ 3.21597733e-01 -1.57177083e-03 9.46875086e-01 4.71785427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1471056809999 meters Centerline goodness [0,1] 0.9992880873279545 Centerline is valid? [True, True] Translation: X:207.95, Y:197.24, Z:47.19 [[ 8.88211069e-01 3.48312419e-01 -2.99598992e-01 2.07949637e+02] [-3.29150665e-01 9.37374863e-01 1.13965813e-01 1.97240211e+02] [ 3.20532272e-01 -2.61248894e-03 9.47233993e-01 4.71901338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17710568099994 meters Centerline goodness [0,1] 0.9992620509711936 Centerline is valid? [True, True] Translation: X:207.97, Y:197.23, Z:47.20 [[ 8.88408127e-01 3.47168920e-01 -3.00341041e-01 2.07974762e+02] [-3.27858505e-01 9.37797827e-01 1.14210493e-01 1.97231120e+02] [ 3.21309509e-01 -2.99616500e-03 9.46969494e-01 4.71999099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2071056809999 meters Centerline goodness [0,1] 0.9993346640053227 Centerline is valid? [True, True] Translation: X:208.00, Y:197.23, Z:47.21 [[ 8.86547705e-01 3.50087607e-01 -3.02443110e-01 2.08002622e+02] [-3.30697184e-01 9.36715125e-01 1.14909302e-01 1.97227238e+02] [ 3.23531358e-01 -1.85549281e-03 9.46215629e-01 4.72065741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2371056809999 meters Centerline goodness [0,1] 0.999438757783895 Centerline is valid? [True, True] Translation: X:208.03, Y:197.22, Z:47.21 [[ 8.85631772e-01 3.52777361e-01 -3.02000825e-01 2.08030790e+02] [-3.33635669e-01 9.35706982e-01 1.14628463e-01 1.97223209e+02] [ 3.23022607e-01 -7.60361143e-04 9.46390943e-01 4.72146601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2671056809999 meters Centerline goodness [0,1] 0.9991972599807343 Centerline is valid? [True, True] Translation: X:208.05, Y:197.21, Z:47.23 [[ 8.88226811e-01 3.49758230e-01 -2.97862911e-01 2.08052546e+02] [-3.31020229e-01 9.36838394e-01 1.12957654e-01 1.97212391e+02] [ 3.18557281e-01 -1.73336795e-03 9.47902028e-01 4.72291310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2971056809999 meters Centerline goodness [0,1] 0.9990930431071277 Centerline is valid? [True, True] Translation: X:208.08, Y:197.20, Z:47.24 [[ 8.89420235e-01 3.47535929e-01 -2.96901372e-01 2.08076676e+02] [-3.28819567e-01 9.37663421e-01 1.12538892e-01 1.97202471e+02] [ 3.17504864e-01 -2.46738700e-03 9.48253433e-01 4.72403669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3271056809999 meters Centerline goodness [0,1] 0.9992771471407154 Centerline is valid? [True, True] Translation: X:208.10, Y:197.19, Z:47.25 [[ 8.89503941e-01 3.47178975e-01 -2.97068171e-01 2.08102118e+02] [-3.28454765e-01 9.37795562e-01 1.12503114e-01 1.97193488e+02] [ 3.17647929e-01 -2.49850665e-03 9.48205437e-01 4.72480945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3571056809999 meters Centerline goodness [0,1] 0.9990913221263062 Centerline is valid? [True, True] Translation: X:208.13, Y:197.19, Z:47.26 [[ 8.90036574e-01 3.46281791e-01 -2.96519508e-01 2.08126546e+02] [-3.27617532e-01 9.38126654e-01 1.12183485e-01 1.97185038e+02] [ 3.17019952e-01 -2.70241573e-03 9.48415018e-01 4.72574035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3871056809999 meters Centerline goodness [0,1] 0.9991171985768171 Centerline is valid? [True, True] Translation: X:208.15, Y:197.18, Z:47.27 [[ 8.90302950e-01 3.45914745e-01 -2.96148016e-01 2.08151579e+02] [-3.27294685e-01 9.38261824e-01 1.11995265e-01 1.97175717e+02] [ 3.16605191e-01 -2.78204305e-03 9.48553327e-01 4.72665400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4171056809999 meters Centerline goodness [0,1] 0.9991428494897275 Centerline is valid? [True, True] Translation: X:208.18, Y:197.17, Z:47.27 [[ 8.90015706e-01 3.47037062e-01 -2.95698022e-01 2.08176857e+02] [-3.28572000e-01 9.37848668e-01 1.11715340e-01 1.97165830e+02] [ 3.16089360e-01 -2.27031679e-03 9.48726706e-01 4.72748663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4471056809999 meters Centerline goodness [0,1] 0.9991407550614897 Centerline is valid? [True, True] Translation: X:208.20, Y:197.16, Z:47.28 [[ 8.89250637e-01 3.49200904e-01 -2.95452253e-01 2.08202402e+02] [-3.30915364e-01 9.37046825e-01 1.11526991e-01 1.97157735e+02] [ 3.15797921e-01 -1.40575788e-03 9.48825430e-01 4.72847948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.4771056809999 meters Centerline goodness [0,1] 0.9994615695248351 Centerline is valid? [True, True] Translation: X:208.23, Y:197.15, Z:47.29 [[ 8.88109062e-01 3.51970956e-01 -2.95598952e-01 2.08227526e+02] [-3.33847757e-01 9.36010865e-01 1.11486932e-01 1.97150907e+02] [ 3.15923992e-01 -3.27507998e-04 9.48784445e-01 4.72936404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5071056809999 meters Centerline goodness [0,1] 0.9990851115356671 Centerline is valid? [True, True] Translation: X:208.25, Y:197.14, Z:47.30 [[ 8.87046956e-01 3.54487045e-01 -2.95781392e-01 2.08253387e+02] [-3.36514503e-01 9.35060679e-01 1.11442884e-01 1.97142805e+02] [ 3.16078608e-01 6.79656821e-04 9.48732761e-01 4.73016094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5371056809999 meters Centerline goodness [0,1] 0.9993806382119295 Centerline is valid? [True, True] Translation: X:208.28, Y:197.14, Z:47.31 [[ 8.83817563e-01 3.62638553e-01 -2.95566906e-01 2.08279773e+02] [-3.45172186e-01 9.31922536e-01 1.11249936e-01 1.97138803e+02] [ 3.15788977e-01 3.69682771e-03 9.48822247e-01 4.73107688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56710568099993 meters Centerline goodness [0,1] 0.9993806382119295 Centerline is valid? [True, True] Translation: X:208.30, Y:197.13, Z:47.32 [[ 8.83931104e-01 3.62352203e-01 -2.95578559e-01 2.08304082e+02] [-3.44880607e-01 9.32034178e-01 1.11218967e-01 1.97129845e+02] [ 3.15789757e-01 3.62940820e-03 9.48822247e-01 4.73193451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.5971056809999 meters Centerline goodness [0,1] 0.9995165838592722 Centerline is valid? [True, True] Translation: X:208.33, Y:197.12, Z:47.33 [[ 8.82400651e-01 3.65976613e-01 -2.95686000e-01 2.08329950e+02] [-3.48726555e-01 9.30610423e-01 1.11148688e-01 1.97123213e+02] [ 3.15846294e-01 5.03588595e-03 9.48797006e-01 4.73285376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62710568099993 meters Centerline goodness [0,1] 0.9994871656454966 Centerline is valid? [True, True] Translation: X:208.36, Y:197.11, Z:47.34 [[ 8.79616359e-01 3.72552557e-01 -2.95769596e-01 2.08356339e+02] [-3.55664458e-01 9.27981358e-01 1.11145812e-01 1.97114946e+02] [ 3.15876328e-01 7.42905926e-03 9.48771287e-01 4.73376526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.6571056809999 meters Centerline goodness [0,1] 0.9994593571756819 Centerline is valid? [True, True] Translation: X:208.38, Y:197.11, Z:47.35 [[ 8.78822547e-01 3.74740110e-01 -2.95365505e-01 2.08382209e+02] [-3.58026264e-01 9.27093431e-01 1.10972812e-01 1.97107436e+02] [ 3.15417383e-01 8.22319884e-03 9.48917411e-01 4.73476218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68710568099993 meters Centerline goodness [0,1] 0.9994052285814702 Centerline is valid? [True, True] Translation: X:208.41, Y:197.10, Z:47.36 [[ 8.77433661e-01 3.78757762e-01 -2.94368355e-01 2.08408542e+02] [-3.62410182e-01 9.25444766e-01 1.10502690e-01 1.97101801e+02] [ 3.14275405e-01 9.72330941e-03 9.49282059e-01 4.73600272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7171056809999 meters Centerline goodness [0,1] 0.9997557931296467 Centerline is valid? [True, True] Translation: X:208.43, Y:197.09, Z:47.37 [[ 8.77410383e-01 3.79614231e-01 -2.93332671e-01 2.08433951e+02] [-3.63459377e-01 9.25089997e-01 1.10026263e-01 1.97092373e+02] [ 3.13126655e-01 1.00763244e-02 9.49657920e-01 4.73695398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74710568099994 meters Centerline goodness [0,1] 0.9996199370181345 Centerline is valid? [True, True] Translation: X:208.46, Y:197.08, Z:47.38 [[ 8.77866182e-01 3.78683705e-01 -2.93171652e-01 2.08459576e+02] [-3.62528321e-01 9.25473918e-01 1.09869214e-01 1.97082114e+02] [ 3.12928399e-01 9.83255920e-03 9.49725823e-01 4.73753379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7771056809999 meters Centerline goodness [0,1] 0.9994299983714239 Centerline is valid? [True, True] Translation: X:208.48, Y:197.07, Z:47.38 [[ 8.79369390e-01 3.72810575e-01 -2.96178580e-01 2.08484762e+02] [-3.56001659e-01 9.27874145e-01 1.10961206e-01 1.97068445e+02] [ 3.16183958e-01 7.86417774e-03 9.48665304e-01 4.73825504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80710568099994 meters Centerline goodness [0,1] 0.9992967270760076 Centerline is valid? [True, True] Translation: X:208.51, Y:197.05, Z:47.39 [[ 8.81502074e-01 3.67532087e-01 -2.96435926e-01 2.08509330e+02] [-3.50415860e-01 9.29991394e-01 1.11016810e-01 1.97054112e+02] [ 3.16485099e-01 6.01430151e-03 9.48578415e-01 4.73908266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8371056809999 meters Centerline goodness [0,1] 0.99935469993547 Centerline is valid? [True, True] Translation: X:208.53, Y:197.04, Z:47.40 [[ 8.84652654e-01 3.59377559e-01 -2.97047895e-01 2.08532430e+02] [-3.41770522e-01 9.33186798e-01 1.11154443e-01 1.97037054e+02] [ 3.17147586e-01 3.18914060e-03 9.48370834e-01 4.73986744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86710568099994 meters Centerline goodness [0,1] 0.9995168822803157 Centerline is valid? [True, True] Translation: X:208.56, Y:197.03, Z:47.41 [[ 8.85389761e-01 3.56975810e-01 -2.97746943e-01 2.08557438e+02] [-3.39161145e-01 9.34110639e-01 1.11386858e-01 1.97025655e+02] [ 3.17891001e-01 2.36341043e-03 9.48124320e-01 4.74057473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8971056809999 meters Centerline goodness [0,1] 0.9993826663445795 Centerline is valid? [True, True] Translation: X:208.58, Y:197.01, Z:47.41 [[ 8.85947112e-01 3.53166508e-01 -3.00617917e-01 2.08582710e+02] [-3.34818247e-01 9.35559827e-01 1.12359033e-01 1.97013840e+02] [ 3.20927494e-01 1.10820320e-03 9.47103118e-01 4.74110394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92710568099994 meters Centerline goodness [0,1] 0.9993294171293688 Centerline is valid? [True, True] Translation: X:208.61, Y:197.00, Z:47.42 [[ 8.85944419e-01 3.52003710e-01 -3.01986547e-01 2.08607440e+02] [-3.33456332e-01 9.35998261e-01 1.12756956e-01 1.97003422e+02] [ 3.22349750e-01 8.02930201e-04 9.46620301e-01 4.74189633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9571056809999 meters Centerline goodness [0,1] 0.9991681425428004 Centerline is valid? [True, True] Translation: X:208.63, Y:196.99, Z:47.43 [[ 8.85081780e-01 3.52222382e-01 -3.04252588e-01 2.08633172e+02] [-3.33413510e-01 9.35915879e-01 1.13564516e-01 1.96993857e+02] [ 3.24754792e-01 9.28039464e-04 9.45797792e-01 4.74278393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9871056809999 meters Centerline goodness [0,1] 0.9994374949776337 Centerline is valid? [True, True] Translation: X:208.66, Y:196.99, Z:47.43 [[ 8.82479126e-01 3.57350158e-01 -3.05829129e-01 2.08659421e+02] [-3.38674404e-01 9.33965888e-01 1.14049847e-01 1.96986077e+02] [ 3.26389705e-01 2.92988901e-03 9.45230753e-01 4.74330149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0171056809999 meters Centerline goodness [0,1] 0.9995972505638492 Centerline is valid? [True, True] Translation: X:208.69, Y:196.98, Z:47.44 [[ 8.81035779e-01 3.61225366e-01 -3.05437705e-01 2.08685671e+02] [-3.42837323e-01 9.32468188e-01 1.13866800e-01 1.96978972e+02] [ 3.25942519e-01 4.39472052e-03 9.45379374e-01 4.74410713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0471056809999 meters Centerline goodness [0,1] 0.9994384576302912 Centerline is valid? [True, True] Translation: X:208.71, Y:196.97, Z:47.45 [[ 8.77830822e-01 3.68611883e-01 -3.05840362e-01 2.08712804e+02] [-3.50620271e-01 9.29555678e-01 1.13980991e-01 1.96973831e+02] [ 3.26310393e-01 7.17780315e-03 9.45235424e-01 4.74516380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0771056809999 meters Centerline goodness [0,1] 0.9996250970730793 Centerline is valid? [True, True] Translation: X:208.74, Y:196.97, Z:47.46 [[ 8.75751204e-01 3.73054060e-01 -3.06415564e-01 2.08740246e+02] [-3.55263922e-01 9.27767199e-01 1.14173420e-01 1.96967141e+02] [ 3.26875167e-01 8.87088485e-03 9.45025890e-01 4.74603656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1071056809999 meters Centerline goodness [0,1] 0.9996528148702062 Centerline is valid? [True, True] Translation: X:208.77, Y:196.96, Z:47.47 [[ 8.71327820e-01 3.83160157e-01 -3.06555255e-01 2.08768903e+02] [-3.65965512e-01 9.23594852e-01 1.14200674e-01 1.96964178e+02] [ 3.26890003e-01 1.26824262e-02 9.44977292e-01 4.74685739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1371056809999 meters Centerline goodness [0,1] 0.9997601087506996 Centerline is valid? [True, True] Translation: X:208.80, Y:196.96, Z:47.48 [[ 8.69344255e-01 3.88962464e-01 -3.04875006e-01 2.08795764e+02] [-3.72336461e-01 9.21133732e-01 1.13482189e-01 1.96959584e+02] [ 3.24970964e-01 1.48609916e-02 9.45607225e-01 4.74793023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1671056809999 meters Centerline goodness [0,1] 0.9993128237657257 Centerline is valid? [True, True] Translation: X:208.82, Y:196.96, Z:47.49 [[ 8.66403779e-01 3.98578733e-01 -3.00798080e-01 2.08822133e+02] [-3.82975389e-01 9.16952990e-01 1.11924374e-01 1.96957602e+02] [ 3.20428374e-01 1.82265609e-02 9.47097381e-01 4.74910025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1971056809999 meters Centerline goodness [0,1] 0.9992560907569277 Centerline is valid? [True, True] Translation: X:208.85, Y:196.95, Z:47.50 [[ 8.64408690e-01 4.03595367e-01 -2.99847289e-01 2.08848126e+02] [-3.88394582e-01 9.14717980e-01 1.11537733e-01 1.96949499e+02] [ 3.19291818e-01 2.00448768e-02 9.47444425e-01 4.75012241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2271056809999 meters Centerline goodness [0,1] 0.9988571732312762 Centerline is valid? [True, True] Translation: X:208.87, Y:196.94, Z:47.51 [[ 8.62580213e-01 4.07954879e-01 -2.99212621e-01 2.08874547e+02] [-3.93103514e-01 9.12744299e-01 1.11209136e-01 1.96941856e+02] [ 3.18472924e-01 2.16947326e-02 9.47683668e-01 4.75108768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2571056809999 meters Centerline goodness [0,1] 0.9992854118145247 Centerline is valid? [True, True] Translation: X:208.90, Y:196.93, Z:47.52 [[ 8.59937088e-01 4.13572098e-01 -2.99109216e-01 2.08899323e+02] [-3.99071919e-01 9.10160225e-01 1.11130410e-01 1.96931425e+02] [ 3.18197749e-01 2.38009279e-02 9.47725545e-01 4.75212987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.2871056809999 meters Centerline goodness [0,1] 0.998969099415823 Centerline is valid? [True, True] Translation: X:208.93, Y:196.92, Z:47.53 [[ 8.58227609e-01 4.17101351e-01 -2.99118428e-01 2.08925931e+02] [-4.02836875e-01 9.08510693e-01 1.11044010e-01 1.96924589e+02] [ 3.18068897e-01 2.51948978e-02 9.47732765e-01 4.75314029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31710568099993 meters Centerline goodness [0,1] 0.9989169198256506 Centerline is valid? [True, True] Translation: X:208.95, Y:196.92, Z:47.54 [[ 8.57560708e-01 4.18046748e-01 -2.99710775e-01 2.08951330e+02] [-4.03812995e-01 9.08062082e-01 1.11167981e-01 1.96916892e+02] [ 3.18629403e-01 2.56938131e-02 9.47531071e-01 4.75400623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.3471056809999 meters Centerline goodness [0,1] 0.998076973736203 Centerline is valid? [True, True] Translation: X:208.98, Y:196.91, Z:47.55 [[ 8.56787091e-01 4.18700304e-01 -3.01008198e-01 2.08978574e+02] [-4.04396728e-01 9.07749096e-01 1.11601366e-01 1.96914273e+02] [ 3.19967446e-01 2.61081213e-02 9.47068741e-01 4.75469515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37710568099993 meters Centerline goodness [0,1] 0.9981348184731782 Centerline is valid? [True, True] Translation: X:209.00, Y:196.91, Z:47.56 [[ 8.56353748e-01 4.19212103e-01 -3.01528558e-01 2.09004258e+02] [-4.04904039e-01 9.07504626e-01 1.11750049e-01 1.96905189e+02] [ 3.20485534e-01 2.63925579e-02 9.46885661e-01 4.75556618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4071056809999 meters Centerline goodness [0,1] 0.9986796588238401 Centerline is valid? [True, True] Translation: X:209.03, Y:196.89, Z:47.56 [[ 8.56597141e-01 4.18040578e-01 -3.02462252e-01 2.09028136e+02] [-4.03605555e-01 9.08052250e-01 1.11998513e-01 1.96892009e+02] [ 3.21471451e-01 2.61378390e-02 9.46558461e-01 4.75643834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43710568099993 meters Centerline goodness [0,1] 0.998845235283311 Centerline is valid? [True, True] Translation: X:209.05, Y:196.88, Z:47.57 [[ 8.56525990e-01 4.18010466e-01 -3.02705267e-01 2.09052551e+02] [-4.03583114e-01 9.08063078e-01 1.11991589e-01 1.96879423e+02] [ 3.21689133e-01 2.62430277e-02 9.46481593e-01 4.75719076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.4671056809999 meters Centerline goodness [0,1] 0.9994711792702274 Centerline is valid? [True, True] Translation: X:209.08, Y:196.87, Z:47.58 [[ 8.55637290e-01 4.19921213e-01 -3.02573964e-01 2.09077490e+02] [-4.05633680e-01 9.07159373e-01 1.11907058e-01 1.96868010e+02] [ 3.21474955e-01 2.69823390e-02 9.46533574e-01 4.75819193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49710568099994 meters Centerline goodness [0,1] 0.999312878247311 Centerline is valid? [True, True] Translation: X:209.10, Y:196.86, Z:47.59 [[ 8.54691647e-01 4.21778094e-01 -3.02663885e-01 2.09104220e+02] [-4.07609291e-01 9.06274867e-01 1.11895180e-01 1.96862857e+02] [ 3.21491608e-01 2.77327363e-02 9.46506229e-01 4.75916593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5271056809999 meters Centerline goodness [0,1] 0.9980380563319716 Centerline is valid? [True, True] Translation: X:209.13, Y:196.87, Z:47.60 [[ 8.51149656e-01 4.29595423e-01 -3.01648861e-01 2.09134232e+02] [-4.16026019e-01 9.02500881e-01 1.11420426e-01 1.96869237e+02] [ 3.20104068e-01 3.06583172e-02 9.46886188e-01 4.76010289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55710568099994 meters Centerline goodness [0,1] 0.9981125970664366 Centerline is valid? [True, True] Translation: X:209.16, Y:196.86, Z:47.61 [[ 8.53373116e-01 4.27829303e-01 -2.97853005e-01 2.09160536e+02] [-4.14509450e-01 9.03374546e-01 1.09983384e-01 1.96861660e+02] [ 3.16126938e-01 2.96060222e-02 9.48254840e-01 4.76111332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5871056809999 meters Centerline goodness [0,1] 0.9949538561174376 Centerline is valid? [True, True] Translation: X:209.19, Y:196.86, Z:47.62 [[ 8.55910005e-01 4.23769194e-01 -2.96374313e-01 2.09187054e+02] [-4.10378311e-01 9.05336173e-01 1.09343747e-01 1.96859663e+02] [ 3.14654898e-01 2.80371833e-02 9.48791975e-01 4.76227300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61710568099994 meters Centerline goodness [0,1] 0.9988110678772157 Centerline is valid? [True, True] Translation: X:209.21, Y:196.84, Z:47.64 [[ 8.62457229e-01 4.11484925e-01 -2.94699314e-01 2.09207664e+02] [-3.97560857e-01 9.11115620e-01 1.08690811e-01 1.96843030e+02] [ 3.13229778e-01 2.34197364e-02 9.49388552e-01 4.76384632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6471056809999 meters Centerline goodness [0,1] 0.9992163432956818 Centerline is valid? [True, True] Translation: X:209.23, Y:196.83, Z:47.65 [[ 8.65877461e-01 4.03992518e-01 -2.95036046e-01 2.09231785e+02] [-3.89627569e-01 9.14526473e-01 1.08773564e-01 1.96830007e+02] [ 3.13761981e-01 2.07696001e-02 9.49274483e-01 4.76487773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67710568099994 meters Centerline goodness [0,1] 0.9999729678587841 Centerline is valid? [True, True] Translation: X:209.25, Y:196.81, Z:47.65 [[ 8.69634671e-01 3.94500967e-01 -2.96824065e-01 2.09254792e+02] [-3.79452112e-01 9.18727998e-01 1.09338745e-01 1.96809647e+02] [ 3.15834819e-01 1.75457543e-02 9.48651945e-01 4.76542937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:196.80, Z:47.66 [[ 8.71555442e-01 3.89614058e-01 -2.97644079e-01 2.09282095e+02] [-3.74236003e-01 9.20840691e-01 1.09543766e-01 1.96803881e+02] [ 3.16762571e-01 1.59156649e-02 9.48371323e-01 4.76597504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.31, Y:196.79, Z:47.67 [[ 8.72780753e-01 3.87058143e-01 -2.97388217e-01 2.09307853e+02] [-3.71573003e-01 9.21933253e-01 1.09419289e-01 1.96793868e+02] [ 3.16523713e-01 1.50023836e-02 9.48465955e-01 4.76683106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7671056809999 meters Centerline goodness [0,1] 0.9998916957734275 Centerline is valid? [True, True] Translation: X:209.33, Y:196.79, Z:47.68 [[ 8.73564355e-01 3.84606891e-01 -2.98266418e-01 2.09332826e+02] [-3.68919301e-01 9.22970517e-01 1.09653882e-01 1.96785751e+02] [ 3.17464749e-01 1.42465156e-02 9.48163050e-01 4.76766547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7971056809999 meters Centerline goodness [0,1] 0.9999729890335476 Centerline is valid? [True, True] Translation: X:209.36, Y:196.77, Z:47.69 [[ 8.74380716e-01 3.82703524e-01 -2.98322602e-01 2.09357447e+02] [-3.66913948e-01 9.23771224e-01 1.09639775e-01 1.96773883e+02] [ 3.17541364e-01 1.35918191e-02 9.48147006e-01 4.76870114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8271056809999 meters Centerline goodness [0,1] 0.9998649196271782 Centerline is valid? [True, True] Translation: X:209.38, Y:196.76, Z:47.70 [[ 8.73330805e-01 3.83953321e-01 -2.99788511e-01 2.09383330e+02] [-3.68106823e-01 9.23243146e-01 1.10088422e-01 1.96764681e+02] [ 3.19046503e-01 1.42105865e-02 9.47632517e-01 4.76960744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8571056809999 meters Centerline goodness [0,1] 0.999973013088652 Centerline is valid? [True, True] Translation: X:209.41, Y:196.76, Z:47.70 [[ 8.72220600e-01 3.86395385e-01 -2.99883028e-01 2.09409400e+02] [-3.70710888e-01 9.22207949e-01 1.10026975e-01 1.96757425e+02] [ 3.19068428e-01 1.52021094e-02 9.47609748e-01 4.77039135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8871056809999 meters Centerline goodness [0,1] 0.9998652254777757 Centerline is valid? [True, True] Translation: X:209.44, Y:196.75, Z:47.71 [[ 8.69297920e-01 3.92023447e-01 -3.01062690e-01 2.09435430e+02] [-3.76548831e-01 9.19791275e-01 1.10430925e-01 1.96748929e+02] [ 3.20206347e-01 1.73674307e-02 9.47188613e-01 4.77121729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9171056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:196.74, Z:47.72 [[ 8.67199718e-01 3.95752385e-01 -3.02232856e-01 2.09461604e+02] [-3.80405896e-01 9.18162443e-01 1.10765889e-01 1.96743700e+02] [ 3.21334722e-01 1.89150133e-02 9.46776752e-01 4.77199818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9471056809999 meters Centerline goodness [0,1] 0.9994307400379506 Centerline is valid? [True, True] Translation: X:209.49, Y:196.74, Z:47.73 [[ 8.62477772e-01 4.05085366e-01 -3.03377553e-01 2.09490480e+02] [-3.90192319e-01 9.14001410e-01 1.11136744e-01 1.96743497e+02] [ 3.22307380e-01 2.25226198e-02 9.46367098e-01 4.77282115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.9771056809999 meters Centerline goodness [0,1] 0.9991045748087046 Centerline is valid? [True, True] Translation: X:209.52, Y:196.74, Z:47.74 [[ 8.58594006e-01 4.13591953e-01 -3.02915878e-01 2.09517834e+02] [-3.99268447e-01 9.10099358e-01 1.10922793e-01 1.96738849e+02] [ 3.21560321e-01 2.57071076e-02 9.46540070e-01 4.77370489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0071056809999 meters Centerline goodness [0,1] 0.9994295028524858 Centerline is valid? [True, True] Translation: X:209.54, Y:196.73, Z:47.75 [[ 8.56515907e-01 4.18368675e-01 -3.02238570e-01 2.09542589e+02] [-4.04411175e-01 9.07861701e-01 1.10628810e-01 1.96728565e+02] [ 3.20674451e-01 2.74733199e-02 9.46790955e-01 4.77477431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0371056809999 meters Centerline goodness [0,1] 0.9941531600130534 Centerline is valid? [True, True] Translation: X:209.57, Y:196.73, Z:47.76 [[ 8.53833181e-01 4.25331547e-01 -3.00103272e-01 2.09568472e+02] [-4.12015689e-01 9.04542409e-01 1.09754735e-01 1.96728687e+02] [ 3.18138288e-01 2.99350218e-02 9.47571593e-01 4.77618934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06710568099993 meters Centerline goodness [0,1] 0.9971176854470307 Centerline is valid? [True, True] Translation: X:209.59, Y:196.72, Z:47.77 [[ 8.52591240e-01 4.28315764e-01 -2.99389017e-01 2.09591952e+02] [-4.15258296e-01 9.03096656e-01 1.09439383e-01 1.96715621e+02] [ 3.17251833e-01 3.10167139e-02 9.47833972e-01 4.77725721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.0971056809999 meters Centerline goodness [0,1] 0.9955989024423375 Centerline is valid? [True, True] Translation: X:209.62, Y:196.71, Z:47.78 [[ 8.51622814e-01 4.30824137e-01 -2.98545049e-01 2.09618431e+02] [-4.18002377e-01 9.01872275e-01 1.09089011e-01 1.96708239e+02] [ 3.16247681e-01 3.18898495e-02 9.48140518e-01 4.77832106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12710568099993 meters Centerline goodness [0,1] 0.9898449591354639 Centerline is valid? [True, True] Translation: X:209.65, Y:196.70, Z:47.79 [[ 8.48567020e-01 4.35663540e-01 -3.00218740e-01 2.09645201e+02] [-4.23001184e-01 8.99469437e-01 1.09657328e-01 1.96701242e+02] [ 3.17811281e-01 3.39412909e-02 9.47546294e-01 4.77907518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.1571056809999 meters Centerline goodness [0,1] 0.9837314606436919 Centerline is valid? [True, True] Translation: X:209.67, Y:196.70, Z:47.80 [[ 8.46573597e-01 4.38561425e-01 -3.01623973e-01 2.09672891e+02] [-4.25970420e-01 8.98009562e-01 1.10127330e-01 1.96696046e+02] [ 3.19158810e-01 3.52520002e-02 9.47045379e-01 4.77960686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18710568099993 meters Centerline goodness [0,1] 0.9791954864784225 Centerline is valid? [True, True] Translation: X:209.70, Y:196.69, Z:47.80 [[ 8.46493023e-01 4.38873038e-01 -3.01396779e-01 2.09698899e+02] [-4.26336321e-01 8.97852047e-01 1.09995650e-01 1.96688071e+02] [ 3.18883840e-01 3.53858438e-02 9.47133010e-01 4.78046473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2171056809999 meters Centerline goodness [0,1] 0.9869126971224191 Centerline is valid? [True, True] Translation: X:209.72, Y:196.68, Z:47.82 [[ 8.48026829e-01 4.35812939e-01 -3.01525420e-01 2.09722333e+02] [-4.23112667e-01 8.99381828e-01 1.09945437e-01 1.96675229e+02] [ 3.19102127e-01 3.43425438e-02 9.47097895e-01 4.78162709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24710568099994 meters Centerline goodness [0,1] 0.9944802207911684 Centerline is valid? [True, True] Translation: X:209.75, Y:196.66, Z:47.83 [[ 8.50001419e-01 4.31898561e-01 -3.01597781e-01 2.09745931e+02] [-4.18988300e-01 9.01319277e-01 1.09874315e-01 1.96659541e+02] [ 3.19290452e-01 3.29726177e-02 9.47083108e-01 4.78259273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2771056809999 meters Centerline goodness [0,1] 0.996925980854793 Centerline is valid? [True, True] Translation: X:209.77, Y:196.65, Z:47.83 [[ 8.52712360e-01 4.24378448e-01 -3.04605589e-01 2.09771184e+02] [-4.10778183e-01 9.04968396e-01 1.10876000e-01 1.96645833e+02] [ 3.22711816e-01 3.05799951e-02 9.46003144e-01 4.78305466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30710568099994 meters Centerline goodness [0,1] 0.9981535991436982 Centerline is valid? [True, True] Translation: X:209.80, Y:196.63, Z:47.84 [[ 8.55574080e-01 4.17983350e-01 -3.05422517e-01 2.09796140e+02] [-4.03927319e-01 9.08014451e-01 1.11141700e-01 1.96632320e+02] [ 3.23783439e-01 2.82785403e-02 9.45708522e-01 4.78375673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3371056809999 meters Centerline goodness [0,1] 0.9995444191343964 Centerline is valid? [True, True] Translation: X:209.82, Y:196.62, Z:47.85 [[ 8.60653994e-01 4.06459293e-01 -3.06701069e-01 2.09818619e+02] [-3.91590161e-01 9.13351417e-01 1.11563145e-01 1.96615152e+02] [ 3.25471733e-01 2.40838547e-02 9.45245005e-01 4.78465149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36710568099994 meters Centerline goodness [0,1] 0.9999195753578897 Centerline is valid? [True, True] Translation: X:209.84, Y:196.60, Z:47.86 [[ 8.62987711e-01 4.01405737e-01 -3.06799031e-01 2.09843053e+02] [-3.86246954e-01 9.15629694e-01 1.11514815e-01 1.96604585e+02] [ 3.25676989e-01 2.22642762e-02 9.45218917e-01 4.78577055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3971056809999 meters Centerline goodness [0,1] 0.9998664494243971 Centerline is valid? [True, True] Translation: X:209.87, Y:196.59, Z:47.87 [[ 8.68152594e-01 3.90690853e-01 -3.06058380e-01 2.09865297e+02] [-3.74972430e-01 9.20341636e-01 1.11206793e-01 1.96590875e+02] [ 3.25125746e-01 1.82189889e-02 9.45495276e-01 4.78712472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42710568099994 meters Centerline goodness [0,1] 0.9998930852912089 Centerline is valid? [True, True] Translation: X:209.89, Y:196.58, Z:47.88 [[ 8.72128803e-01 3.81973907e-01 -3.05756904e-01 2.09889216e+02] [-3.65779718e-01 9.24051641e-01 1.11057470e-01 1.96578662e+02] [ 3.24956225e-01 1.49832556e-02 9.45610360e-01 4.78824235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4571056809999 meters Centerline goodness [0,1] 0.9998930852912089 Centerline is valid? [True, True] Translation: X:209.91, Y:196.57, Z:47.89 [[ 8.72247340e-01 3.81679438e-01 -3.05786500e-01 2.09913644e+02] [-3.65496237e-01 9.24173601e-01 1.10975925e-01 1.96569994e+02] [ 3.24957040e-01 1.49653598e-02 9.45610364e-01 4.78910396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4871056809999 meters Centerline goodness [0,1] 0.9998660163995927 Centerline is valid? [True, True] Translation: X:209.94, Y:196.56, Z:47.90 [[ 8.73798568e-01 3.78506758e-01 -3.05300994e-01 2.09938484e+02] [-3.62225371e-01 9.25494655e-01 1.10690668e-01 1.96558285e+02] [ 3.24451604e-01 1.38664187e-02 9.45800655e-01 4.78998488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5171056809999 meters Centerline goodness [0,1] 0.9998394262163464 Centerline is valid? [True, True] Translation: X:209.96, Y:196.54, Z:47.91 [[ 8.77621558e-01 3.72259885e-01 -3.01998311e-01 2.09961527e+02] [-3.55985570e-01 9.28058048e-01 1.09464757e-01 1.96541947e+02] [ 3.21021300e-01 1.14384103e-02 9.47002897e-01 4.79084251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5471056809999 meters Centerline goodness [0,1] 0.9997863533182 Centerline is valid? [True, True] Translation: X:209.99, Y:196.53, Z:47.92 [[ 8.79146359e-01 3.69680415e-01 -3.00729233e-01 2.09985804e+02] [-3.53429985e-01 9.29099222e-01 1.08912262e-01 1.96531175e+02] [ 3.19670026e-01 1.05369097e-02 9.47470341e-01 4.79175104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5771056809999 meters Centerline goodness [0,1] 0.9998934157584801 Centerline is valid? [True, True] Translation: X:210.01, Y:196.52, Z:47.93 [[ 8.80246668e-01 3.67605958e-01 -3.00052768e-01 2.10009899e+02] [-3.51340078e-01 9.29929612e-01 1.08586675e-01 1.96520827e+02] [ 3.18945063e-01 9.83750413e-03 9.47722148e-01 4.79276783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6071056809999 meters Centerline goodness [0,1] 0.999679914643905 Centerline is valid? [True, True] Translation: X:210.04, Y:196.51, Z:47.94 [[ 8.79126570e-01 3.68846495e-01 -3.01809105e-01 2.10035812e+02] [-3.52468092e-01 9.29432269e-01 1.09187462e-01 1.96513996e+02] [ 3.20784534e-01 1.03884803e-02 9.47095223e-01 4.79367601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6371056809999 meters Centerline goodness [0,1] 0.9997069245730424 Centerline is valid? [True, True] Translation: X:210.06, Y:196.51, Z:47.95 [[ 8.77452517e-01 3.72129493e-01 -3.02649501e-01 2.10062323e+02] [-3.55864314e-01 9.28107415e-01 1.09440472e-01 1.96506362e+02] [ 3.21617274e-01 1.16733391e-02 9.46797794e-01 4.79468710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6671056809999 meters Centerline goodness [0,1] 0.999840552750465 Centerline is valid? [True, True] Translation: X:210.09, Y:196.50, Z:47.96 [[ 8.74078003e-01 3.81274446e-01 -3.01027310e-01 2.10088939e+02] [-3.65717804e-01 9.24340800e-01 1.08832779e-01 1.96503224e+02] [ 3.19746981e-01 1.49627087e-02 9.47384814e-01 4.79589898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6971056809999 meters Centerline goodness [0,1] 0.9998939385904438 Centerline is valid? [True, True] Translation: X:210.12, Y:196.50, Z:47.97 [[ 8.71788294e-01 3.87144866e-01 -3.00173322e-01 2.10115690e+02] [-3.72028656e-01 9.21860314e-01 1.08481525e-01 1.96500507e+02] [ 3.18715938e-01 1.71001540e-02 9.47696014e-01 4.79688649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7271056809999 meters Centerline goodness [0,1] 0.9994692848613507 Centerline is valid? [True, True] Translation: X:210.15, Y:196.50, Z:47.98 [[ 8.65292166e-01 4.02232001e-01 -2.99130212e-01 2.10145664e+02] [-3.88102872e-01 9.15259050e-01 1.08060315e-01 1.96501950e+02] [ 3.17246951e-01 2.25895505e-02 9.48073881e-01 4.79771648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7571056809999 meters Centerline goodness [0,1] 0.9990427823127442 Centerline is valid? [True, True] Translation: X:210.17, Y:196.49, Z:47.99 [[ 8.63029039e-01 4.07092009e-01 -2.99093586e-01 2.10171321e+02] [-3.93261249e-01 9.13060935e-01 1.08006103e-01 1.96493901e+02] [ 3.17059090e-01 2.44095143e-02 9.48091614e-01 4.79867341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.7871056809999 meters Centerline goodness [0,1] 0.999253213847549 Centerline is valid? [True, True] Translation: X:210.20, Y:196.48, Z:48.00 [[ 8.58506228e-01 4.15341552e-01 -3.00763115e-01 2.10196473e+02] [-4.01859867e-01 9.09244497e-01 1.08549952e-01 1.96484177e+02] [ 3.18552513e-01 2.76738155e-02 9.47501164e-01 4.79971039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81710568099993 meters Centerline goodness [0,1] 0.9933773065933186 Centerline is valid? [True, True] Translation: X:210.23, Y:196.49, Z:48.01 [[ 8.56442116e-01 4.19007996e-01 -3.01561271e-01 2.10225568e+02] [-4.05687119e-01 9.07514068e-01 1.08794198e-01 1.96486451e+02] [ 3.19256735e-01 2.91635904e-02 9.47219416e-01 4.80054801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.8471056809999 meters Centerline goodness [0,1] 0.9922048105929149 Centerline is valid? [True, True] Translation: X:210.25, Y:196.48, Z:48.01 [[ 8.52827175e-01 4.25085523e-01 -3.03295412e-01 2.10253046e+02] [-4.11988819e-01 9.04599128e-01 1.09387519e-01 1.96478309e+02] [ 3.20859817e-01 3.16656697e-02 9.46597202e-01 4.80121436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87710568099993 meters Centerline goodness [0,1] 0.9944474248927039 Centerline is valid? [True, True] Translation: X:210.28, Y:196.47, Z:48.02 [[ 8.50813770e-01 4.29535569e-01 -3.02679904e-01 2.10278877e+02] [-4.16792884e-01 9.02433775e-01 1.09073249e-01 1.96468332e+02] [ 3.19999408e-01 3.33538076e-02 9.46830451e-01 4.80206489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9071056809999 meters Centerline goodness [0,1] 0.994188382120571 Centerline is valid? [True, True] Translation: X:210.30, Y:196.46, Z:48.03 [[ 8.51648500e-01 4.27790363e-01 -3.02803960e-01 2.10303788e+02] [-4.14964635e-01 9.03282416e-01 1.09019393e-01 1.96460158e+02] [ 3.20154938e-01 3.28067317e-02 9.46796987e-01 4.80291673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93710568099993 meters Centerline goodness [0,1] 0.996285011759675 Centerline is valid? [True, True] Translation: X:210.33, Y:196.45, Z:48.04 [[ 8.52148288e-01 4.26214406e-01 -3.03619129e-01 2.10329134e+02] [-4.13243080e-01 9.04042933e-01 1.09254441e-01 1.96448083e+02] [ 3.21050544e-01 3.23675193e-02 9.46508791e-01 4.80369750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.9671056809999 meters Centerline goodness [0,1] 0.9986850579647918 Centerline is valid? [True, True] Translation: X:210.36, Y:196.44, Z:48.04 [[ 8.52438334e-01 4.23730939e-01 -3.06269452e-01 2.10355218e+02] [-4.10409820e-01 9.05228624e-01 1.10113207e-01 1.96438451e+02] [ 3.23902247e-01 3.18312720e-02 9.45554919e-01 4.80445542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99710568099994 meters Centerline goodness [0,1] 0.9992748757889083 Centerline is valid? [True, True] Translation: X:210.38, Y:196.43, Z:48.05 [[ 8.54585595e-01 4.19576287e-01 -3.06005228e-01 2.10379534e+02] [-4.06055085e-01 9.07213630e-01 1.09921324e-01 1.96426526e+02] [ 3.23732495e-01 3.03177988e-02 9.45662785e-01 4.80542669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0271056809999 meters Centerline goodness [0,1] 0.9996504624650463 Centerline is valid? [True, True] Translation: X:210.40, Y:196.42, Z:48.07 [[ 8.57192530e-01 4.13928138e-01 -3.06405716e-01 2.10404670e+02] [-4.00053510e-01 9.09869335e-01 1.09977189e-01 1.96419053e+02] [ 3.24311818e-01 2.83070574e-02 9.45526602e-01 4.80650321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05710568099994 meters Centerline goodness [0,1] 0.9999190960330088 Centerline is valid? [True, True] Translation: X:210.43, Y:196.41, Z:48.08 [[ 8.60282916e-01 4.07784203e-01 -3.05982596e-01 2.10429723e+02] [-3.93583900e-01 9.12708740e-01 1.09792848e-01 1.96409908e+02] [ 3.24044779e-01 2.59769118e-02 9.45685033e-01 4.80765038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0871056809999 meters Centerline goodness [0,1] 0.9998380829015544 Centerline is valid? [True, True] Translation: X:210.45, Y:196.40, Z:48.09 [[ 8.63256442e-01 4.02532986e-01 -3.04557894e-01 2.10454066e+02] [-3.88164229e-01 9.15092998e-01 1.09239808e-01 1.96398080e+02] [ 3.22671422e-01 2.39165127e-02 9.46208832e-01 4.80872004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11710568099994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.48, Y:196.38, Z:48.10 [[ 8.68041674e-01 3.92688182e-01 -3.03808566e-01 2.10477026e+02] [-3.77820478e-01 9.19449103e-01 1.08926739e-01 1.96382218e+02] [ 3.22110757e-01 2.02321487e-02 9.46485774e-01 4.80967816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1471056809999 meters Centerline goodness [0,1] 0.9997853328682212 Centerline is valid? [True, True] Translation: X:210.50, Y:196.37, Z:48.10 [[ 8.70597055e-01 3.86759922e-01 -3.04101186e-01 2.10501557e+02] [-3.71522549e-01 9.22003103e-01 1.09001256e-01 1.96369090e+02] [ 3.22539554e-01 1.80842754e-02 9.46383218e-01 4.81049078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17710568099994 meters Centerline goodness [0,1] 0.9999732111762972 Centerline is valid? [True, True] Translation: X:210.53, Y:196.35, Z:48.11 [[ 8.74190546e-01 3.77813514e-01 -3.05037437e-01 2.10525179e+02] [-3.61984013e-01 9.25761455e-01 1.09239661e-01 1.96353245e+02] [ 3.23664121e-01 1.49223969e-02 9.46054364e-01 4.81144054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2071056809999 meters Centerline goodness [0,1] 0.9998127140410958 Centerline is valid? [True, True] Translation: X:210.55, Y:196.34, Z:48.13 [[ 8.75271121e-01 3.75070951e-01 -3.05323182e-01 2.10550458e+02] [-3.59080485e-01 9.26890209e-01 1.09250839e-01 1.96342951e+02] [ 3.23977884e-01 1.40114917e-02 9.45960892e-01 4.81250853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2371056809999 meters Centerline goodness [0,1] 0.9996780684104628 Centerline is valid? [True, True] Translation: X:210.57, Y:196.33, Z:48.14 [[ 8.77738466e-01 3.70073066e-01 -3.04337167e-01 2.10574321e+02] [-3.53926480e-01 9.28922434e-01 1.08807898e-01 1.96334205e+02] [ 3.22972494e-01 1.22081051e-02 9.46329610e-01 4.81373938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2671056809999 meters Centerline goodness [0,1] 0.9997593840230992 Centerline is valid? [True, True] Translation: X:210.60, Y:196.32, Z:48.15 [[ 8.79658538e-01 3.65619876e-01 -3.04175875e-01 2.10598375e+02] [-3.49241526e-01 9.30703982e-01 1.08721918e-01 1.96320275e+02] [ 3.22848592e-01 1.05926836e-02 9.46391347e-01 4.81479550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2971056809999 meters Centerline goodness [0,1] 0.999600819650318 Centerline is valid? [True, True] Translation: X:210.62, Y:196.31, Z:48.16 [[ 8.80303124e-01 3.63666183e-01 -3.04652781e-01 2.10622896e+02] [-3.47135497e-01 9.31476375e-01 1.08851776e-01 1.96309390e+02] [ 3.23362578e-01 9.93323612e-03 9.46223005e-01 4.81558506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3271056809999 meters Centerline goodness [0,1] 0.9995738901169139 Centerline is valid? [True, True] Translation: X:210.65, Y:196.30, Z:48.16 [[ 8.81094539e-01 3.61257821e-01 -3.05229751e-01 2.10647967e+02] [-3.44534559e-01 9.32421540e-01 1.09022975e-01 1.96298014e+02] [ 3.23988197e-01 9.10265023e-03 9.46017331e-01 4.81620101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3571056809999 meters Centerline goodness [0,1] 0.9995212511303793 Centerline is valid? [True, True] Translation: X:210.67, Y:196.29, Z:48.17 [[ 8.80234374e-01 3.62230987e-01 -3.06555312e-01 2.10674838e+02] [-3.45428748e-01 9.32039505e-01 1.09459309e-01 1.96290317e+02] [ 3.25371215e-01 9.54317157e-03 9.45538207e-01 4.81698404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3871056809999 meters Centerline goodness [0,1] 0.9995478362635317 Centerline is valid? [True, True] Translation: X:210.70, Y:196.28, Z:48.18 [[ 8.79441278e-01 3.65231146e-01 -3.05269142e-01 2.10700162e+02] [-3.48781219e-01 9.30855391e-01 1.08903180e-01 1.96282802e+02] [ 3.23936260e-01 1.06981920e-02 9.46018419e-01 4.81824508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4171056809999 meters Centerline goodness [0,1] 0.9998129092609915 Centerline is valid? [True, True] Translation: X:210.73, Y:196.28, Z:48.19 [[ 8.78818409e-01 3.68199656e-01 -3.03491710e-01 2.10726544e+02] [-3.52150424e-01 9.29671692e-01 1.08169421e-01 1.96277652e+02] [ 3.21975595e-01 1.18134559e-02 9.46674262e-01 4.81948885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4471056809999 meters Centerline goodness [0,1] 0.9999196313759109 Centerline is valid? [True, True] Translation: X:210.75, Y:196.27, Z:48.21 [[ 8.77368324e-01 3.73308386e-01 -3.01439336e-01 2.10753034e+02] [-3.57802249e-01 9.27606560e-01 1.07348127e-01 1.96272875e+02] [ 3.19691061e-01 1.36718262e-02 9.47423193e-01 4.82067879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.4771056809999 meters Centerline goodness [0,1] 0.9998658150394504 Centerline is valid? [True, True] Translation: X:210.78, Y:196.27, Z:48.22 [[ 8.76956397e-01 3.73771657e-01 -3.02063282e-01 2.10777844e+02] [-3.58255381e-01 9.27415755e-01 1.07485340e-01 1.96265459e+02] [ 3.20313221e-01 1.39558396e-02 9.47208887e-01 4.82158868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5071056809999 meters Centerline goodness [0,1] 0.9999192397771017 Centerline is valid? [True, True] Translation: X:210.80, Y:196.26, Z:48.23 [[ 8.75039877e-01 3.77017260e-01 -3.03583925e-01 2.10804726e+02] [-3.61542970e-01 9.26080452e-01 1.07989245e-01 1.96257644e+02] [ 3.21856947e-01 1.52637383e-02 9.46665265e-01 4.82254903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5371056809999 meters Centerline goodness [0,1] 0.9999191592562652 Centerline is valid? [True, True] Translation: X:210.83, Y:196.25, Z:48.23 [[ 8.72523621e-01 3.81051512e-01 -3.05781420e-01 2.10831725e+02] [-3.65617121e-01 9.24398072e-01 1.08684527e-01 1.96248041e+02] [ 3.24078158e-01 1.69691056e-02 9.45878109e-01 4.82327815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56710568099993 meters Centerline goodness [0,1] 0.999973032011003 Centerline is valid? [True, True] Translation: X:210.86, Y:196.24, Z:48.25 [[ 8.70754823e-01 3.85265476e-01 -3.05543044e-01 2.10858040e+02] [-3.70135891e-01 9.22618225e-01 1.08512820e-01 1.96244693e+02] [ 3.23705824e-01 1.86043853e-02 9.45974850e-01 4.82451732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.5971056809999 meters Centerline goodness [0,1] 0.9999188838416613 Centerline is valid? [True, True] Translation: X:210.88, Y:196.24, Z:48.26 [[ 8.69097906e-01 3.88557173e-01 -3.06091739e-01 2.10884023e+02] [-3.73585216e-01 9.21209402e-01 1.08661515e-01 1.96235934e+02] [ 3.24195799e-01 1.99138530e-02 9.45780378e-01 4.82550676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.91, Y:196.23, Z:48.26 [[ 8.65852874e-01 3.94104389e-01 -3.08189117e-01 2.10912150e+02] [-3.79294011e-01 9.18796416e-01 1.09312395e-01 1.96229603e+02] [ 3.26243550e-01 2.22458353e-02 9.45023951e-01 4.82567745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.6571056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.94, Y:196.21, Z:48.26 [[ 8.63919008e-01 3.97599298e-01 -3.09125779e-01 2.10936053e+02] [-3.82931819e-01 9.17253096e-01 1.09590049e-01 1.96214967e+02] [ 3.27119504e-01 2.36971702e-02 9.44685807e-01 4.82644748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68710568099993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.96, Y:196.21, Z:48.27 [[ 8.60959486e-01 4.03611237e-01 -3.09591234e-01 2.10963367e+02] [-3.89307616e-01 9.14557682e-01 1.09653211e-01 1.96211635e+02] [ 3.27396309e-01 2.61192527e-02 9.44526041e-01 4.82737115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7171056809999 meters Centerline goodness [0,1] 0.9998647478900671 Centerline is valid? [True, True] Translation: X:210.99, Y:196.21, Z:48.28 [[ 8.59358582e-01 4.06999293e-01 -3.09603623e-01 2.10990269e+02] [-3.92940381e-01 9.13014223e-01 1.09557680e-01 1.96205961e+02] [ 3.27262409e-01 2.75064329e-02 9.44533065e-01 4.82839471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74710568099994 meters Centerline goodness [0,1] 0.9999456698902531 Centerline is valid? [True, True] Translation: X:211.02, Y:196.20, Z:48.29 [[ 8.56928063e-01 4.11573313e-01 -3.10292930e-01 2.11017762e+02] [-3.97754224e-01 9.10903404e-01 1.09756851e-01 1.96204711e+02] [ 3.27819877e-01 2.93665983e-02 9.44283713e-01 4.82935263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7771056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.04, Y:196.20, Z:48.30 [[ 8.57740954e-01 4.09328706e-01 -3.11015218e-01 2.11042959e+02] [-3.95336436e-01 9.11936218e-01 1.09915587e-01 1.96196154e+02] [ 3.28617646e-01 2.86765475e-02 9.44027594e-01 4.83008580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80710568099994 meters Centerline goodness [0,1] 0.999865254534185 Centerline is valid? [True, True] Translation: X:211.06, Y:196.18, Z:48.31 [[ 8.61496051e-01 4.00959587e-01 -3.11538061e-01 2.11064594e+02] [-3.86405377e-01 9.15738974e-01 1.10059150e-01 1.96175168e+02] [ 3.29416816e-01 2.55644586e-02 9.43838450e-01 4.83103540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.09, Y:196.17, Z:48.32 [[ 8.64779382e-01 3.94046970e-01 -3.11261314e-01 2.11089356e+02] [-3.79118582e-01 9.18802626e-01 1.09867358e-01 1.96165843e+02] [ 3.29280612e-01 2.29939222e-02 9.43952095e-01 4.83182724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86710568099994 meters Centerline goodness [0,1] 0.9999196184556026 Centerline is valid? [True, True] Translation: X:211.11, Y:196.15, Z:48.33 [[ 8.67296435e-01 3.89067397e-01 -3.10521261e-01 2.11114078e+02] [-3.73916427e-01 9.20967989e-01 1.09564908e-01 1.96152304e+02] [ 3.28608275e-01 2.10837464e-02 9.44230945e-01 4.83266278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8971056809999 meters Centerline goodness [0,1] 0.9998401151171157 Centerline is valid? [True, True] Translation: X:211.14, Y:196.14, Z:48.33 [[ 8.70932927e-01 3.80064871e-01 -3.11490820e-01 2.11138101e+02] [-3.64294178e-01 9.24787762e-01 1.09805955e-01 1.96136322e+02] [ 3.29796284e-01 1.78406704e-02 9.43883532e-01 4.83347027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92710568099994 meters Centerline goodness [0,1] 0.9998938231624771 Centerline is valid? [True, True] Translation: X:211.16, Y:196.13, Z:48.35 [[ 8.73241729e-01 3.74943896e-01 -3.11232963e-01 2.11161517e+02] [-3.58916935e-01 9.26909758e-01 1.09621777e-01 1.96125024e+02] [ 3.29586887e-01 1.59804709e-02 9.43989994e-01 4.83451775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9571056809999 meters Centerline goodness [0,1] 0.9996817988969029 Centerline is valid? [True, True] Translation: X:211.18, Y:196.11, Z:48.36 [[ 8.76518783e-01 3.67626695e-01 -3.10749796e-01 2.11184778e+02] [-3.51214509e-01 9.29879324e-01 1.09420343e-01 1.96111821e+02] [ 3.29185649e-01 1.32308508e-02 9.44172523e-01 4.83585480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9871056809999 meters Centerline goodness [0,1] 0.9994693130257117 Centerline is valid? [True, True] Translation: X:211.21, Y:196.10, Z:48.37 [[ 8.77163685e-01 3.65673804e-01 -3.11233898e-01 2.11209928e+02] [-3.49104523e-01 9.30658321e-01 1.09549630e-01 1.96102033e+02] [ 3.29711847e-01 1.25602039e-02 9.43998061e-01 4.83670925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0171056809999 meters Centerline goodness [0,1] 0.999656575262852 Centerline is valid? [True, True] Translation: X:211.24, Y:196.09, Z:48.37 [[ 8.78872509e-01 3.61967875e-01 -3.10744864e-01 2.11235683e+02] [-3.45262165e-01 9.32122700e-01 1.09276299e-01 1.96091604e+02] [ 3.29206852e-01 1.12485097e-02 9.44190828e-01 4.83719636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0471056809999 meters Centerline goodness [0,1] 0.999470535288823 Centerline is valid? [True, True] Translation: X:211.26, Y:196.08, Z:48.38 [[ 8.79880937e-01 3.60033695e-01 -3.10137509e-01 2.11260916e+02] [-3.43294256e-01 9.32879680e-01 1.09016310e-01 1.96081075e+02] [ 3.28570525e-01 1.05470524e-02 9.44420547e-01 4.83821575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0771056809999 meters Centerline goodness [0,1] 0.9996027437167297 Centerline is valid? [True, True] Translation: X:211.29, Y:196.07, Z:48.39 [[ 8.80563823e-01 3.58999290e-01 -3.09397581e-01 2.11286453e+02] [-3.42311569e-01 9.33281823e-01 1.08663837e-01 1.96071737e+02] [ 3.27765379e-01 1.02249278e-02 9.44703820e-01 4.83928592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1071056809999 meters Centerline goodness [0,1] 0.9997084548104956 Centerline is valid? [True, True] Translation: X:211.31, Y:196.07, Z:48.40 [[ 8.80574055e-01 3.59992762e-01 -3.08211852e-01 2.11312031e+02] [-3.43512894e-01 9.32894861e-01 1.08194592e-01 1.96065147e+02] [ 3.26478523e-01 1.06013951e-02 9.45145166e-01 4.84031507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1371056809999 meters Centerline goodness [0,1] 0.9995216073991389 Centerline is valid? [True, True] Translation: X:211.34, Y:196.06, Z:48.41 [[ 8.79633873e-01 3.62279255e-01 -3.08217442e-01 2.11338338e+02] [-3.45947158e-01 9.31998837e-01 1.08160673e-01 1.96060429e+02] [ 3.26442666e-01 1.14851561e-02 9.45147225e-01 4.84113949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1671056809999 meters Centerline goodness [0,1] 0.9996019108280255 Centerline is valid? [True, True] Translation: X:211.36, Y:196.05, Z:48.42 [[ 8.79038334e-01 3.63797056e-01 -3.08128724e-01 2.11364037e+02] [-3.47578600e-01 9.31399852e-01 1.08089925e-01 1.96051066e+02] [ 3.26313844e-01 1.20837630e-02 9.45184245e-01 4.84206684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1971056809999 meters Centerline goodness [0,1] 0.9997058666238836 Centerline is valid? [True, True] Translation: X:211.39, Y:196.05, Z:48.43 [[ 8.75848503e-01 3.70928524e-01 -3.08709297e-01 2.11390699e+02] [-3.55108361e-01 9.28542518e-01 1.08198165e-01 1.96046941e+02] [ 3.26783494e-01 1.48600513e-02 9.44982395e-01 4.84320716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2271056809999 meters Centerline goodness [0,1] 0.9996505188450991 Centerline is valid? [True, True] Translation: X:211.42, Y:196.04, Z:48.44 [[ 8.73778228e-01 3.75705909e-01 -3.08798768e-01 2.11418258e+02] [-3.60175674e-01 9.26588801e-01 1.08197406e-01 1.96043138e+02] [ 3.26779885e-01 1.66812664e-02 9.44953249e-01 4.84423287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2571056809999 meters Centerline goodness [0,1] 0.9997841978905344 Centerline is valid? [True, True] Translation: X:211.44, Y:196.04, Z:48.45 [[ 8.72519533e-01 3.79351309e-01 -3.07899738e-01 2.11444007e+02] [-3.64164742e-01 9.25076072e-01 1.07788230e-01 1.96038272e+02] [ 3.25720286e-01 1.80788928e-02 9.45293314e-01 4.84528236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.2871056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.47, Y:196.03, Z:48.46 [[ 8.71169911e-01 3.82348085e-01 -3.08014492e-01 2.11468997e+02] [-3.67345648e-01 9.23817865e-01 1.07785563e-01 1.96027841e+02] [ 3.25760894e-01 1.92482434e-02 9.45256232e-01 4.84644318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31710568099993 meters Centerline goodness [0,1] 0.999810780126507 Centerline is valid? [True, True] Translation: X:211.49, Y:196.02, Z:48.47 [[ 8.71242210e-01 3.81659308e-01 -3.08663546e-01 2.11494556e+02] [-3.66578413e-01 9.24105420e-01 1.07932567e-01 1.96017267e+02] [ 3.26431124e-01 1.91139849e-02 9.45027712e-01 4.84731760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.3471056809999 meters Centerline goodness [0,1] 0.9996218056080826 Centerline is valid? [True, True] Translation: X:211.52, Y:196.01, Z:48.48 [[ 8.68604123e-01 3.85902470e-01 -3.10815316e-01 2.11522842e+02] [-3.70904860e-01 9.22301257e-01 1.08581659e-01 1.96012442e+02] [ 3.28567287e-01 2.09684340e-02 9.44247776e-01 4.84781562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37710568099993 meters Centerline goodness [0,1] 0.9996218056080826 Centerline is valid? [True, True] Translation: X:211.55, Y:196.00, Z:48.49 [[ 8.68728667e-01 3.85613019e-01 -3.10826482e-01 2.11547390e+02] [-3.70608905e-01 9.22423983e-01 1.08549686e-01 1.96004040e+02] [ 3.28571974e-01 2.08948384e-02 9.44247777e-01 4.84867441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4071056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:195.99, Z:48.49 [[ 8.67506670e-01 3.88095772e-01 -3.11149240e-01 2.11573782e+02] [-3.73254507e-01 9.21357063e-01 1.08546003e-01 1.95994736e+02] [ 3.28805795e-01 2.19734745e-02 9.44141894e-01 4.84944572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43710568099993 meters Centerline goodness [0,1] 0.9998919707240662 Centerline is valid? [True, True] Translation: X:211.60, Y:195.99, Z:48.50 [[ 8.66263172e-01 3.91058298e-01 -3.10904366e-01 2.11599982e+02] [-3.76450992e-01 9.20074698e-01 1.08384504e-01 1.95988988e+02] [ 3.28439901e-01 2.31507530e-02 9.44241110e-01 4.85021141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.4671056809999 meters Centerline goodness [0,1] 0.9997839822865475 Centerline is valid? [True, True] Translation: X:211.63, Y:195.98, Z:48.51 [[ 8.64273621e-01 3.97049756e-01 -3.08840735e-01 2.11626103e+02] [-3.83018137e-01 9.17449138e-01 1.07629860e-01 1.95982091e+02] [ 3.26080076e-01 2.52699538e-02 9.45004346e-01 4.85133053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49710568099994 meters Centerline goodness [0,1] 0.9994040847283168 Centerline is valid? [True, True] Translation: X:211.65, Y:195.98, Z:48.53 [[ 8.61201545e-01 4.05334088e-01 -3.06653186e-01 2.11651753e+02] [-3.92037706e-01 9.13731584e-01 1.06775606e-01 1.95976863e+02] [ 3.23478494e-01 2.82642950e-02 9.45813297e-01 4.85279629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5271056809999 meters Centerline goodness [0,1] 0.9976650738488271 Centerline is valid? [True, True] Translation: X:211.68, Y:195.97, Z:48.54 [[ 8.59664773e-01 4.08676506e-01 -3.06528940e-01 2.11678181e+02] [-3.95626660e-01 9.12199291e-01 1.06639576e-01 1.95974441e+02] [ 3.23196571e-01 2.95967334e-02 9.45868918e-01 4.85381875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55710568099994 meters Centerline goodness [0,1] 0.9946235099247834 Centerline is valid? [True, True] Translation: X:211.71, Y:195.97, Z:48.54 [[ 8.56255495e-01 4.14334315e-01 -3.08469776e-01 2.11705711e+02] [-4.01480150e-01 9.09562614e-01 1.07282531e-01 1.95970254e+02] [ 3.25023409e-01 3.19832354e-02 9.45164989e-01 4.85443837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5871056809999 meters Centerline goodness [0,1] 0.9977909291733712 Centerline is valid? [True, True] Translation: X:211.73, Y:195.96, Z:48.55 [[ 8.54931323e-01 4.16144391e-01 -3.09703535e-01 2.11730337e+02] [-4.03317541e-01 9.08704434e-01 1.07662491e-01 1.95955063e+02] [ 3.26232117e-01 3.28648320e-02 9.44718216e-01 4.85519744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61710568099994 meters Centerline goodness [0,1] 0.9954424610710216 Centerline is valid? [True, True] Translation: X:211.76, Y:195.95, Z:48.56 [[ 8.53901633e-01 4.17439979e-01 -3.10798752e-01 2.11757763e+02] [-4.04638079e-01 9.08083600e-01 1.07945360e-01 1.95947890e+02] [ 3.27291958e-01 3.35862909e-02 9.44326181e-01 4.85572887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6471056809999 meters Centerline goodness [0,1] 0.9964696936780361 Centerline is valid? [True, True] Translation: X:211.78, Y:195.94, Z:48.57 [[ 8.54312864e-01 4.16245177e-01 -3.11270755e-01 2.11783202e+02] [-4.03344084e-01 9.08645027e-01 1.08063705e-01 1.95937439e+02] [ 3.27815620e-01 3.32290036e-02 9.44157165e-01 4.85665582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67710568099994 meters Centerline goodness [0,1] 0.9974505017629509 Centerline is valid? [True, True] Translation: X:211.81, Y:195.93, Z:48.58 [[ 8.56644123e-01 4.11437837e-01 -3.11255126e-01 2.11807866e+02] [-3.98264834e-01 9.10894259e-01 1.07966523e-01 1.95929191e+02] [ 3.27942020e-01 3.14730837e-02 9.44173436e-01 4.85766512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7071056809999 meters Centerline goodness [0,1] 0.9998120754919595 Centerline is valid? [True, True] Translation: X:211.83, Y:195.91, Z:48.58 [[ 8.61763014e-01 3.99534340e-01 -3.12628885e-01 2.11830901e+02] [-3.85498158e-01 9.16317772e-01 1.08410846e-01 1.95908783e+02] [ 3.29781259e-01 2.70934021e-02 9.43668516e-01 4.85831357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7371056809999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.86, Y:195.90, Z:48.59 [[ 8.64016107e-01 3.93701610e-01 -3.13807599e-01 2.11855928e+02] [-3.79201443e-01 9.18898003e-01 1.08778336e-01 1.95895960e+02] [ 3.31183382e-01 2.50100601e-02 9.43234894e-01 4.85890214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7671056809999 meters Centerline goodness [0,1] 0.9999733205271863 Centerline is valid? [True, True] Translation: X:211.88, Y:195.87, Z:48.60 [[ 8.68528035e-01 3.82076041e-01 -3.15716567e-01 2.11878242e+02] [-3.66664067e-01 9.23898136e-01 1.09406107e-01 1.95873400e+02] [ 3.33491400e-01 2.07396490e-02 9.42524988e-01 4.85965116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7971056809999 meters Centerline goodness [0,1] 0.9999203187250996 Centerline is valid? [True, True] Translation: X:211.90, Y:195.86, Z:48.60 [[ 8.70827704e-01 3.76522220e-01 -3.16053994e-01 2.11903357e+02] [-3.60755651e-01 9.26218357e-01 1.09429960e-01 1.95862962e+02] [ 3.33937823e-01 1.87236235e-02 9.42409124e-01 4.86042304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8271056809999 meters Centerline goodness [0,1] 0.9998669150918286 Centerline is valid? [True, True] Translation: X:211.93, Y:195.85, Z:48.62 [[ 8.75023786e-01 3.66771670e-01 -3.15930238e-01 2.11925610e+02] [-3.50412352e-01 9.30189753e-01 1.09353590e-01 1.95849875e+02] [ 3.33982869e-01 1.50188657e-02 9.42459483e-01 4.86158598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8571056809999 meters Centerline goodness [0,1] 0.9994949092165776 Centerline is valid? [True, True] Translation: X:211.95, Y:195.84, Z:48.63 [[ 8.76697123e-01 3.63728234e-01 -3.14807762e-01 2.11948201e+02] [-3.47311237e-01 9.31402264e-01 1.08925328e-01 1.95836370e+02] [ 3.32831879e-01 1.38417520e-02 9.42884588e-01 4.86303217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8871056809999 meters Centerline goodness [0,1] 0.9997327917913639 Centerline is valid? [True, True] Translation: X:211.98, Y:195.83, Z:48.64 [[ 8.78273787e-01 3.61601930e-01 -3.12856515e-01 2.11975568e+02] [-3.45294114e-01 9.32241438e-01 1.08156719e-01 1.95834432e+02] [ 3.30767486e-01 1.30363021e-02 9.43622236e-01 4.86397070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9171056809999 meters Centerline goodness [0,1] 0.9998118178396688 Centerline is valid? [True, True] Translation: X:212.00, Y:195.83, Z:48.65 [[ 8.78638128e-01 3.61348627e-01 -3.12125311e-01 2.12001442e+02] [-3.45114688e-01 9.32340998e-01 1.07870831e-01 1.95826971e+02] [ 3.29986200e-01 1.29396041e-02 9.43897068e-01 4.86492242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9471056809999 meters Centerline goodness [0,1] 0.9997048881257713 Centerline is valid? [True, True] Translation: X:212.03, Y:195.81, Z:48.66 [[ 8.81634636e-01 3.55347187e-01 -3.10561982e-01 2.12026211e+02] [-3.38951156e-01 9.34672851e-01 1.07232343e-01 1.95814465e+02] [ 3.28378565e-01 1.07255947e-02 9.44485299e-01 4.86557005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.9771056809999 meters Centerline goodness [0,1] 0.9996778869383154 Centerline is valid? [True, True] Translation: X:212.05, Y:195.80, Z:48.66 [[ 8.82744856e-01 3.51758130e-01 -3.11492757e-01 2.12049699e+02] [-3.35054608e-01 9.36043219e-01 1.07524427e-01 1.95802466e+02] [ 3.29393274e-01 9.45044891e-03 9.44145519e-01 4.86644026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0071056809999 meters Centerline goodness [0,1] 0.9996248559714891 Centerline is valid? [True, True] Translation: X:212.07, Y:195.79, Z:48.67 [[ 8.82913030e-01 3.50673737e-01 -3.12237908e-01 2.12074457e+02] [-3.33836175e-01 9.36453392e-01 1.07742529e-01 1.95792808e+02] [ 3.30178723e-01 9.10902628e-03 9.43874481e-01 4.86719990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0371056809999 meters Centerline goodness [0,1] 0.9997069714163936 Centerline is valid? [True, True] Translation: X:212.10, Y:195.78, Z:48.68 [[ 8.82188396e-01 3.51870844e-01 -3.12938563e-01 2.12099540e+02] [-3.35066883e-01 9.35998418e-01 1.07875605e-01 1.95782875e+02] [ 3.30868280e-01 9.68874192e-03 9.43627209e-01 4.86774683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06710568099993 meters Centerline goodness [0,1] 0.9996783186789621 Centerline is valid? [True, True] Translation: X:212.12, Y:195.77, Z:48.69 [[ 8.81841815e-01 3.52541185e-01 -3.13160863e-01 2.12123010e+02] [-3.35775731e-01 9.35742757e-01 1.07889537e-01 1.95769955e+02] [ 3.31073515e-01 1.00103126e-02 9.43551865e-01 4.86876729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.0971056809999 meters Centerline goodness [0,1] 0.9996513810673102 Centerline is valid? [True, True] Translation: X:212.15, Y:195.76, Z:48.70 [[ 8.80804596e-01 3.55965038e-01 -3.12205310e-01 2.12148892e+02] [-3.39546583e-01 9.34430285e-01 1.07462367e-01 1.95763553e+02] [ 3.29986943e-01 1.13549000e-02 9.43917202e-01 4.86977202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12710568099993 meters Centerline goodness [0,1] 0.9996511846306582 Centerline is valid? [True, True] Translation: X:212.17, Y:195.76, Z:48.71 [[ 8.80283543e-01 3.58731133e-01 -3.10504201e-01 2.12174233e+02] [-3.42670387e-01 9.33359354e-01 1.06851873e-01 1.95756065e+02] [ 3.28143094e-01 1.23406492e-02 9.44547414e-01 4.87081900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.1571056809999 meters Centerline goodness [0,1] 0.9997586613750938 Centerline is valid? [True, True] Translation: X:212.20, Y:195.75, Z:48.72 [[ 8.78812920e-01 3.64035292e-01 -3.08490125e-01 2.12201529e+02] [-3.48515073e-01 9.31276116e-01 1.06122762e-01 1.95753285e+02] [ 3.25921916e-01 1.42514037e-02 9.45289269e-01 4.87170399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18710568099993 meters Centerline goodness [0,1] 0.999892614566834 Centerline is valid? [True, True] Translation: X:212.23, Y:195.74, Z:48.73 [[ 8.78637134e-01 3.64826499e-01 -3.08055859e-01 2.12225173e+02] [-3.49412760e-01 9.30961602e-01 1.05930254e-01 1.95740058e+02] [ 3.25434339e-01 1.45643932e-02 9.45452468e-01 4.87277673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2171056809999 meters Centerline goodness [0,1] 0.9998924817891031 Centerline is valid? [True, True] Translation: X:212.25, Y:195.74, Z:48.73 [[ 8.78477370e-01 3.64048985e-01 -3.09428257e-01 2.12253797e+02] [-3.48483840e-01 9.31267710e-01 1.06298945e-01 1.95738619e+02] [ 3.26858567e-01 1.44495298e-02 9.44962797e-01 4.87334074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24710568099994 meters Centerline goodness [0,1] 0.9995675909410302 Centerline is valid? [True, True] Translation: X:212.28, Y:195.72, Z:48.74 [[ 8.80328081e-01 3.59656897e-01 -3.09304681e-01 2.12277801e+02] [-3.43853970e-01 9.32996171e-01 1.06219545e-01 1.95724863e+02] [ 3.26782675e-01 1.28475939e-02 9.45012181e-01 4.87427344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2771056809999 meters Centerline goodness [0,1] 0.9992736859095066 Centerline is valid? [True, True] Translation: X:212.30, Y:195.71, Z:48.75 [[ 8.82652830e-01 3.54131447e-01 -3.09054850e-01 2.12302398e+02] [-3.38035424e-01 9.35133086e-01 1.06104496e-01 1.95709918e+02] [ 3.26582354e-01 1.08180533e-02 9.45106838e-01 4.87494355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30710568099994 meters Centerline goodness [0,1] 0.9994937248527805 Centerline is valid? [True, True] Translation: X:212.32, Y:195.69, Z:48.76 [[ 8.86931932e-01 3.43068699e-01 -3.09282420e-01 2.12324659e+02] [-3.26302680e-01 9.39285925e-01 1.06153250e-01 1.95689286e+02] [ 3.26922481e-01 6.76897576e-03 9.45026916e-01 4.87556645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3371056809999 meters Centerline goodness [0,1] 0.9992835535742716 Centerline is valid? [True, True] Translation: X:212.35, Y:195.67, Z:48.76 [[ 8.88804376e-01 3.37863785e-01 -3.09636632e-01 2.12348835e+02] [-3.20762465e-01 9.41182307e-01 1.06241739e-01 1.95674880e+02] [ 3.27319756e-01 4.89168696e-03 9.44900973e-01 4.87647142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36710568099994 meters Centerline goodness [0,1] 0.9992081716683823 Centerline is valid? [True, True] Translation: X:212.37, Y:195.66, Z:48.77 [[ 8.90405761e-01 3.33150020e-01 -3.10142942e-01 2.12373392e+02] [-3.15745876e-01 9.42868205e-01 1.06320699e-01 1.95660695e+02] [ 3.27844661e-01 3.25779195e-03 9.44726026e-01 4.87725144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3971056809999 meters Centerline goodness [0,1] 0.9990499063102056 Centerline is valid? [True, True] Translation: X:212.40, Y:195.65, Z:48.78 [[ 8.89806550e-01 3.34561340e-01 -3.10343379e-01 2.12398120e+02] [-3.17252119e-01 9.42365988e-01 1.06289408e-01 1.95652284e+02] [ 3.28017371e-01 3.88008307e-03 9.44663723e-01 4.87802112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42710568099994 meters Centerline goodness [0,1] 0.9991814100871402 Centerline is valid? [True, True] Translation: X:212.42, Y:195.64, Z:48.79 [[ 8.89047067e-01 3.35902405e-01 -3.11070549e-01 2.12424176e+02] [-3.18612165e-01 9.41886278e-01 1.06473129e-01 1.95644203e+02] [ 3.28757662e-01 4.45123804e-03 9.44403826e-01 4.87887273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4571056809999 meters Centerline goodness [0,1] 0.999184231993895 Centerline is valid? [True, True] Translation: X:212.45, Y:195.64, Z:48.80 [[ 8.87574582e-01 3.39116685e-01 -3.11787164e-01 2.12449421e+02] [-3.21972476e-01 9.40726703e-01 1.06616114e-01 1.95635766e+02] [ 3.29461814e-01 5.75713269e-03 9.44151348e-01 4.87986713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4871056809999 meters Centerline goodness [0,1] 0.9995250659630607 Centerline is valid? [True, True] Translation: X:212.47, Y:195.63, Z:48.81 [[ 8.86990578e-01 3.40218938e-01 -3.12247962e-01 2.12474923e+02] [-3.23125241e-01 9.40325281e-01 1.06669789e-01 1.95628003e+02] [ 3.29905735e-01 6.28010038e-03 9.43992991e-01 4.88073912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5171056809999 meters Centerline goodness [0,1] 0.9995001578448911 Centerline is valid? [True, True] Translation: X:212.50, Y:195.62, Z:48.81 [[ 8.84147837e-01 3.45966536e-01 -3.13990060e-01 2.12502472e+02] [-3.29040465e-01 9.38208251e-01 1.07227098e-01 1.95623785e+02] [ 3.31685053e-01 8.51082880e-03 9.43351786e-01 4.88137781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5471056809999 meters Centerline goodness [0,1] 0.9995544139232544 Centerline is valid? [True, True] Translation: X:212.53, Y:195.61, Z:48.82 [[ 8.83327706e-01 3.47860820e-01 -3.14205369e-01 2.12527459e+02] [-3.31039078e-01 9.37500426e-01 1.07266397e-01 1.95612315e+02] [ 3.31881444e-01 9.26287554e-03 9.43275626e-01 4.88234709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5771056809999 meters Centerline goodness [0,1] 0.9997379660928124 Centerline is valid? [True, True] Translation: X:212.55, Y:195.61, Z:48.83 [[ 8.80773396e-01 3.54055856e-01 -3.14456158e-01 2.12554026e+02] [-3.37624513e-01 9.35151011e-01 1.07248663e-01 1.95608278e+02] [ 3.32036011e-01 1.17063385e-02 9.43194067e-01 4.88320872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6071056809999 meters Centerline goodness [0,1] 0.999657651489216 Centerline is valid? [True, True] Translation: X:212.58, Y:195.61, Z:48.84 [[ 8.79430522e-01 3.57868886e-01 -3.13897781e-01 2.12581231e+02] [-3.41746828e-01 9.33679102e-01 1.07016078e-01 1.95605289e+02] [ 3.31377523e-01 1.31603656e-02 9.43406456e-01 4.88425539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6371056809999 meters Centerline goodness [0,1] 0.9997090947557719 Centerline is valid? [True, True] Translation: X:212.61, Y:195.60, Z:48.86 [[ 8.77518988e-01 3.64201393e-01 -3.11957962e-01 2.12608418e+02] [-3.48677171e-01 9.31191790e-01 1.06330060e-01 1.95602978e+02] [ 3.29218249e-01 1.54659733e-02 9.44127189e-01 4.88566433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6671056809999 meters Centerline goodness [0,1] 0.9995216963834932 Centerline is valid? [True, True] Translation: X:212.64, Y:195.60, Z:48.87 [[ 8.76170019e-01 3.69252963e-01 -3.09803725e-01 2.12635036e+02] [-3.54281138e-01 9.29167645e-01 1.05510011e-01 1.95597726e+02] [ 3.26819482e-01 1.73129076e-02 9.44928193e-01 4.88682843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6971056809999 meters Centerline goodness [0,1] 0.9993054071382774 Centerline is valid? [True, True] Translation: X:212.66, Y:195.59, Z:48.88 [[ 8.75252944e-01 3.72181193e-01 -3.08890664e-01 2.12662229e+02] [-3.57507377e-01 9.27976968e-01 1.05105770e-01 1.95594968e+02] [ 3.25761813e-01 1.84365562e-02 9.45272095e-01 4.88774234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7271056809999 meters Centerline goodness [0,1] 0.9993537790462855 Centerline is valid? [True, True] Translation: X:212.69, Y:195.59, Z:48.89 [[ 8.73005352e-01 3.79056176e-01 -3.06884459e-01 2.12690891e+02] [-3.64995425e-01 9.25138147e-01 1.04392282e-01 1.95594316e+02] [ 3.23481059e-01 2.08764029e-02 9.46004324e-01 4.88885321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7571056809999 meters Centerline goodness [0,1] 0.9990272373540856 Centerline is valid? [True, True] Translation: X:212.72, Y:195.59, Z:48.90 [[ 8.71804053e-01 3.81913146e-01 -3.06757301e-01 2.12718044e+02] [-3.68066198e-01 9.23935976e-01 1.04257313e-01 1.95589431e+02] [ 3.23241345e-01 2.20150458e-02 9.46060448e-01 4.88984378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.7871056809999 meters Centerline goodness [0,1] 0.998698587425101 Centerline is valid? [True, True] Translation: X:212.75, Y:195.59, Z:48.91 [[ 8.70502415e-01 3.84613795e-01 -3.07079426e-01 2.12745817e+02] [-3.70931586e-01 9.22787604e-01 1.04272700e-01 1.95585061e+02] [ 3.23473806e-01 2.31358216e-02 9.45954243e-01 4.89072708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81710568099993 meters Centerline goodness [0,1] 0.998643699986437 Centerline is valid? [True, True] Translation: X:212.77, Y:195.58, Z:48.91 [[ 8.69610810e-01 3.85049251e-01 -3.09053578e-01 2.12773100e+02] [-3.71247352e-01 9.22595314e-01 1.04848888e-01 1.95580162e+02] [ 3.25503369e-01 2.35575957e-02 9.45247373e-01 4.89133337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.8471056809999 meters Centerline goodness [0,1] 0.9989108236895847 Centerline is valid? [True, True] Translation: X:212.80, Y:195.57, Z:48.92 [[ 8.70147326e-01 3.83292618e-01 -3.09726331e-01 2.12798873e+02] [-3.69335660e-01 9.23340701e-01 1.05038658e-01 1.95570201e+02] [ 3.26243470e-01 2.29938712e-02 9.45006074e-01 4.89206313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87710568099993 meters Centerline goodness [0,1] 0.9990225625152724 Centerline is valid? [True, True] Translation: X:212.83, Y:195.56, Z:48.93 [[ 8.70825331e-01 3.81062165e-01 -3.10571844e-01 2.12825894e+02] [-3.66919673e-01 9.24280267e-01 1.05242296e-01 1.95559551e+02] [ 3.27159284e-01 2.23072619e-02 9.44705874e-01 4.89257411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9071056809999 meters Centerline goodness [0,1] 0.9995938701467483 Centerline is valid? [True, True] Translation: X:212.85, Y:195.55, Z:48.93 [[ 8.72470577e-01 3.76649597e-01 -3.11336109e-01 2.12851254e+02] [-3.62196235e-01 9.26122320e-01 1.05410325e-01 1.95547636e+02] [ 3.28038076e-01 2.07973591e-02 9.44435541e-01 4.89319537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93710568099993 meters Centerline goodness [0,1] 0.9996486486486487 Centerline is valid? [True, True] Translation: X:212.88, Y:195.53, Z:48.94 [[ 8.73291116e-01 3.73759647e-01 -3.12516163e-01 2.12875700e+02] [-3.59027946e-01 9.27313604e-01 1.05775295e-01 1.95532871e+02] [ 3.29335027e-01 1.98294104e-02 9.44004891e-01 4.89400043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.9671056809999 meters Centerline goodness [0,1] 0.9998922733026312 Centerline is valid? [True, True] Translation: X:212.90, Y:195.52, Z:48.94 [[ 8.75238141e-01 3.67636394e-01 -3.14327342e-01 2.12902473e+02] [-3.52380748e-01 9.29800598e-01 1.06295136e-01 1.95523233e+02] [ 3.31339711e-01 1.77293472e-02 9.43344935e-01 4.89441958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99710568099994 meters Centerline goodness [0,1] 0.9998926549123796 Centerline is valid? [True, True] Translation: X:212.93, Y:195.51, Z:48.95 [[ 8.76481148e-01 3.64843461e-01 -3.14117887e-01 2.12927699e+02] [-3.49447369e-01 9.30919177e-01 1.06188616e-01 1.95512231e+02] [ 3.31160587e-01 1.66953490e-02 9.43426696e-01 4.89536049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0271056809999 meters Centerline goodness [0,1] 0.9997050068384778 Centerline is valid? [True, True] Translation: X:212.95, Y:195.50, Z:48.97 [[ 8.78612037e-01 3.61563592e-01 -3.11949766e-01 2.12950606e+02] [-3.46213149e-01 9.32219878e-01 1.05368657e-01 1.95499499e+02] [ 3.28903244e-01 1.54229401e-02 9.44237676e-01 4.89671672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05710568099994 meters Centerline goodness [0,1] 0.9997855170379903 Centerline is valid? [True, True] Translation: X:212.98, Y:195.49, Z:48.98 [[ 8.79726611e-01 3.59715640e-01 -3.10943320e-01 2.12975358e+02] [-3.44364116e-01 9.32946074e-01 1.04999897e-01 1.95489692e+02] [ 3.27863454e-01 1.47065175e-02 9.44610647e-01 4.89785986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0871056809999 meters Centerline goodness [0,1] 0.999571871989725 Centerline is valid? [True, True] Translation: X:213.00, Y:195.48, Z:48.99 [[ 8.81928232e-01 3.55106380e-01 -3.10003311e-01 2.12999429e+02] [-3.39583782e-01 9.34735815e-01 1.04650904e-01 1.95477227e+02] [ 3.26933402e-01 1.29775098e-02 9.44958272e-01 4.89902816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11710568099994 meters Centerline goodness [0,1] 0.9997340213314893 Centerline is valid? [True, True] Translation: X:213.03, Y:195.47, Z:49.00 [[ 8.83570793e-01 3.50493817e-01 -3.10574852e-01 2.13025069e+02] [-3.34667999e-01 9.36495854e-01 1.04751356e-01 1.95466493e+02] [ 3.27566764e-01 1.13842260e-02 9.44759448e-01 4.89951695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1471056809999 meters Centerline goodness [0,1] 0.9996539608177172 Centerline is valid? [True, True] Translation: X:213.05, Y:195.45, Z:49.01 [[ 8.84897361e-01 3.48136114e-01 -3.09447744e-01 2.13049634e+02] [-3.32300249e-01 9.37385141e-01 1.04334278e-01 1.95454520e+02] [ 3.26394248e-01 1.05044351e-02 9.45175355e-01 4.90057610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1771056809999 meters Centerline goodness [0,1] 0.9996534996534997 Centerline is valid? [True, True] Translation: X:213.07, Y:195.44, Z:49.02 [[ 8.86081134e-01 3.45708272e-01 -3.08781499e-01 2.13074213e+02] [-3.29830458e-01 9.38292141e-01 1.04017915e-01 1.95443875e+02] [ 3.25687107e-01 9.67723099e-03 9.45428083e-01 4.90169770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2071056809999 meters Centerline goodness [0,1] 0.9995732195252067 Centerline is valid? [True, True] Translation: X:213.10, Y:195.44, Z:49.03 [[ 8.87822012e-01 3.43697946e-01 -3.06012740e-01 2.13098622e+02] [-3.28017090e-01 9.39037923e-01 1.03017323e-01 1.95437074e+02] [ 3.22764410e-01 8.91636181e-03 9.46437338e-01 4.90285531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2371056809999 meters Centerline goodness [0,1] 0.9993599658648461 Centerline is valid? [True, True] Translation: X:213.12, Y:195.43, Z:49.04 [[ 8.88349076e-01 3.42789841e-01 -3.05501300e-01 2.13124113e+02] [-3.27127873e-01 9.39372556e-01 1.02793752e-01 1.95426196e+02] [ 3.22216191e-01 8.62125600e-03 9.46626854e-01 4.90371452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2671056809999 meters Centerline goodness [0,1] 0.9993599658648461 Centerline is valid? [True, True] Translation: X:213.15, Y:195.42, Z:49.05 [[ 8.88463387e-01 3.42465323e-01 -3.05532832e-01 2.13148711e+02] [-3.26816949e-01 9.39491033e-01 1.02699951e-01 1.95418105e+02] [ 3.22216528e-01 8.60816216e-03 9.46626858e-01 4.90457585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2971056809999 meters Centerline goodness [0,1] 0.999256051226187 Centerline is valid? [True, True] Translation: X:213.17, Y:195.40, Z:49.05 [[ 8.90245906e-01 3.36940973e-01 -3.06484923e-01 2.13173124e+02] [-3.20913849e-01 9.41501603e-01 1.02903027e-01 1.95403046e+02] [ 3.23228292e-01 6.74625798e-03 9.46296972e-01 4.90530532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3271056809999 meters Centerline goodness [0,1] 0.9991497502391328 Centerline is valid? [True, True] Translation: X:213.20, Y:195.39, Z:49.06 [[ 8.90620130e-01 3.34709155e-01 -3.07840163e-01 2.13197592e+02] [-3.18417197e-01 9.42302411e-01 1.03327900e-01 1.95392438e+02] [ 3.24663322e-01 5.99569408e-03 9.45810647e-01 4.90616215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3571056809999 meters Centerline goodness [0,1] 0.9994161203853605 Centerline is valid? [True, True] Translation: X:213.22, Y:195.38, Z:49.07 [[ 8.90077937e-01 3.35812135e-01 -3.08206873e-01 2.13223289e+02] [-3.19557292e-01 9.41906946e-01 1.03413939e-01 1.95384823e+02] [ 3.25029850e-01 6.44328820e-03 9.45681807e-01 4.90692407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3871056809999 meters Centerline goodness [0,1] 0.9993086209647397 Centerline is valid? [True, True] Translation: X:213.25, Y:195.38, Z:49.08 [[ 8.88195969e-01 3.40369559e-01 -3.08636493e-01 2.13250234e+02] [-3.24347345e-01 9.40256356e-01 1.03521902e-01 1.95377174e+02] [ 3.25433128e-01 8.15769144e-03 9.45529868e-01 4.90773863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4171056809999 meters Centerline goodness [0,1] 0.9992830018323287 Centerline is valid? [True, True] Translation: X:213.28, Y:195.37, Z:49.09 [[ 8.87489371e-01 3.42623706e-01 -3.08174647e-01 2.13276947e+02] [-3.26790341e-01 9.39429689e-01 1.03343761e-01 1.95372277e+02] [ 3.24916435e-01 8.99200891e-03 9.45699981e-01 4.90853110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4471056809999 meters Centerline goodness [0,1] 0.9995486525952476 Centerline is valid? [True, True] Translation: X:213.30, Y:195.36, Z:49.10 [[ 8.86244515e-01 3.45925118e-01 -3.08068942e-01 2.13301293e+02] [-3.30308787e-01 9.38206309e-01 1.03271615e-01 1.95360814e+02] [ 3.24756470e-01 1.02339763e-02 9.45742301e-01 4.90966147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.4771056809999 meters Centerline goodness [0,1] 0.9994967553966362 Centerline is valid? [True, True] Translation: X:213.33, Y:195.35, Z:49.11 [[ 8.85811562e-01 3.46313380e-01 -3.08876868e-01 2.13326341e+02] [-3.30649998e-01 9.38060716e-01 1.03502038e-01 1.95351203e+02] [ 3.25589397e-01 1.04468337e-02 9.45453546e-01 4.91071749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5071056809999 meters Centerline goodness [0,1] 0.9993627698271513 Centerline is valid? [True, True] Translation: X:213.35, Y:195.35, Z:49.12 [[ 8.82282079e-01 3.53277476e-01 -3.11084165e-01 2.13354252e+02] [-3.37838533e-01 9.35425219e-01 1.04138303e-01 1.95346350e+02] [ 3.27785690e-01 1.32168594e-02 9.44659651e-01 4.91160650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5371056809999 meters Centerline goodness [0,1] 0.999283020872059 Centerline is valid? [True, True] Translation: X:213.38, Y:195.34, Z:49.12 [[ 8.80603898e-01 3.57133104e-01 -3.11436542e-01 2.13381289e+02] [-3.41904377e-01 9.33937737e-01 1.04219486e-01 1.95339734e+02] [ 3.28082568e-01 1.47054314e-02 9.44534583e-01 4.91232962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56710568099993 meters Centerline goodness [0,1] 0.9994131298850268 Centerline is valid? [True, True] Translation: X:213.41, Y:195.34, Z:49.13 [[ 8.76456911e-01 3.67436951e-01 -3.11148470e-01 2.13408777e+02] [-3.52874965e-01 9.29863039e-01 1.04086444e-01 1.95338306e+02] [ 3.27570667e-01 1.85692220e-02 9.44644188e-01 4.91323568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.5971056809999 meters Centerline goodness [0,1] 0.9982266168686353 Centerline is valid? [True, True] Translation: X:213.44, Y:195.34, Z:49.14 [[ 8.71976074e-01 3.78905490e-01 -3.09981218e-01 2.13439121e+02] [-3.65165821e-01 9.25154157e-01 1.03651862e-01 1.95344197e+02] [ 3.26054672e-01 2.28126021e-02 9.45075625e-01 4.91418539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62710568099993 meters Centerline goodness [0,1] 0.9983277591973244 Centerline is valid? [True, True] Translation: X:213.46, Y:195.33, Z:49.15 [[ 8.69915568e-01 3.84060012e-01 -3.09426584e-01 2.13463793e+02] [-3.70697630e-01 9.22976846e-01 1.03426341e-01 1.95332922e+02] [ 3.25315495e-01 2.47315174e-02 9.45282064e-01 4.91530106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.6571056809999 meters Centerline goodness [0,1] 0.9963165592329777 Centerline is valid? [True, True] Translation: X:213.49, Y:195.33, Z:49.17 [[ 8.67183325e-01 3.91676660e-01 -3.07542640e-01 2.13491227e+02] [-3.78950077e-01 9.19693951e-01 1.02761255e-01 1.95333942e+02] [ 3.23094291e-01 2.74304608e-02 9.45969159e-01 4.91653171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68710568099993 meters Centerline goodness [0,1] 0.9962159366237443 Centerline is valid? [True, True] Translation: X:213.52, Y:195.33, Z:49.17 [[ 8.66882055e-01 3.93358533e-01 -3.06242662e-01 2.13517681e+02] [-3.80851788e-01 9.18960053e-01 1.02295341e-01 1.95325685e+02] [ 3.21663518e-01 2.79550699e-02 9.46441279e-01 4.91748869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7171056809999 meters Centerline goodness [0,1] 0.9968717697622546 Centerline is valid? [True, True] Translation: X:213.54, Y:195.31, Z:49.18 [[ 8.67350455e-01 3.92853639e-01 -3.05563752e-01 2.13543724e+02] [-3.80401924e-01 9.19181219e-01 1.01981680e-01 1.95314085e+02] [ 3.20932336e-01 2.77831822e-02 9.46694529e-01 4.91823365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74710568099994 meters Centerline goodness [0,1] 0.9970447890684307 Centerline is valid? [True, True] Translation: X:213.57, Y:195.30, Z:49.19 [[ 8.68192769e-01 3.91313589e-01 -3.05147489e-01 2.13569374e+02] [-3.78822640e-01 9.19854604e-01 1.01788578e-01 1.95303317e+02] [ 3.20522577e-01 2.72246702e-02 9.46849563e-01 4.91917821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7771056809999 meters Centerline goodness [0,1] 0.9986841045196981 Centerline is valid? [True, True] Translation: X:213.59, Y:195.29, Z:49.20 [[ 8.70058017e-01 3.86751687e-01 -3.05650422e-01 2.13594009e+02] [-3.73963216e-01 9.21827524e-01 1.01909414e-01 1.95289511e+02] [ 3.21170610e-01 2.56349129e-02 9.46674332e-01 4.92005941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80710568099994 meters Centerline goodness [0,1] 0.9997585513078471 Centerline is valid? [True, True] Translation: X:213.62, Y:195.27, Z:49.21 [[ 8.71644401e-01 3.81812570e-01 -3.07335646e-01 2.13618714e+02] [-3.68618054e-01 9.23926648e-01 1.02373237e-01 1.95272309e+02] [ 3.23042982e-01 2.40564092e-02 9.46078496e-01 4.92069484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8371056809999 meters Centerline goodness [0,1] 0.9998395679028851 Centerline is valid? [True, True] Translation: X:213.64, Y:195.26, Z:49.22 [[ 8.71921248e-01 3.80295062e-01 -3.08429899e-01 2.13644379e+02] [-3.66945463e-01 9.24562057e-01 1.02645167e-01 1.95261114e+02] [ 3.24198032e-01 2.36784496e-02 9.45692850e-01 4.92154502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86710568099994 meters Centerline goodness [0,1] 0.9997600575861794 Centerline is valid? [True, True] Translation: X:213.67, Y:195.25, Z:49.22 [[ 8.72279686e-01 3.78410162e-01 -3.09731979e-01 2.13669372e+02] [-3.64863977e-01 9.25347767e-01 1.02984406e-01 1.95248770e+02] [ 3.25580141e-01 2.31788365e-02 9.45230297e-01 4.92223609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8971056809999 meters Centerline goodness [0,1] 0.999680689710226 Centerline is valid? [True, True] Translation: X:213.70, Y:195.24, Z:49.23 [[ 8.72726827e-01 3.76887116e-01 -3.10328838e-01 2.13695160e+02] [-3.63206166e-01 9.25981221e-01 1.03150667e-01 1.95237254e+02] [ 3.26234833e-01 2.26909931e-02 9.45016377e-01 4.92306207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9271056809999 meters Centerline goodness [0,1] 0.9996826656088854 Centerline is valid? [True, True] Translation: X:213.72, Y:195.22, Z:49.24 [[ 8.74105374e-01 3.73723855e-01 -3.10274517e-01 2.13720721e+02] [-3.59888014e-01 9.27288506e-01 1.03037105e-01 1.95223072e+02] [ 3.26221417e-01 2.15987926e-02 9.45046602e-01 4.92374317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9571056809999 meters Centerline goodness [0,1] 0.9997098467463269 Centerline is valid? [True, True] Translation: X:213.75, Y:195.21, Z:49.24 [[ 8.74926974e-01 3.71621857e-01 -3.10483472e-01 2.13746176e+02] [-3.57671136e-01 9.28148422e-01 1.03013906e-01 1.95213310e+02] [ 3.26456964e-01 2.09213316e-02 9.44980502e-01 4.92445492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9871056809999 meters Centerline goodness [0,1] 0.9995545190115563 Centerline is valid? [True, True] Translation: X:213.77, Y:195.19, Z:49.25 [[ 8.77799387e-01 3.65147144e-01 -3.10057735e-01 2.13768403e+02] [-3.50855441e-01 9.30765699e-01 1.02838091e-01 1.95193649e+02] [ 3.26142140e-01 1.85142302e-02 9.45139422e-01 4.92542872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0171056809999 meters Centerline goodness [0,1] 0.9996597393079621 Centerline is valid? [True, True] Translation: X:213.79, Y:195.18, Z:49.26 [[ 8.79532160e-01 3.61189745e-01 -3.09782420e-01 2.13792907e+02] [-3.46703876e-01 9.32335913e-01 1.02694537e-01 1.95183640e+02] [ 3.25913489e-01 1.70796176e-02 9.45245304e-01 4.92628253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0471056809999 meters Centerline goodness [0,1] 0.9995572455464111 Centerline is valid? [True, True] Translation: X:213.82, Y:195.17, Z:49.27 [[ 8.83285354e-01 3.53926898e-01 -3.07478023e-01 2.13816977e+02] [-3.39244460e-01 9.35163616e-01 1.01893117e-01 1.95169171e+02] [ 3.23604974e-01 1.43095178e-02 9.46084065e-01 4.92729002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0771056809999 meters Centerline goodness [0,1] 0.9993487208878237 Centerline is valid? [True, True] Translation: X:213.84, Y:195.15, Z:49.28 [[ 8.87447373e-01 3.46188988e-01 -3.04286616e-01 2.13840575e+02] [-3.31398351e-01 9.38095267e-01 1.00759130e-01 1.95153796e+02] [ 3.20331535e-01 1.14216577e-02 9.47236641e-01 4.92821503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1071056809999 meters Centerline goodness [0,1] 0.999456212129059 Centerline is valid? [True, True] Translation: X:213.86, Y:195.14, Z:49.29 [[ 8.88956326e-01 3.43175305e-01 -3.03294181e-01 2.13864796e+02] [-3.28344748e-01 9.39213881e-01 1.00334499e-01 1.95144419e+02] [ 3.19290427e-01 1.03920641e-02 9.47599931e-01 4.92910542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1371056809999 meters Centerline goodness [0,1] 0.9993254112396865 Centerline is valid? [True, True] Translation: X:213.89, Y:195.13, Z:49.30 [[ 8.92334788e-01 3.36172129e-01 -3.01209108e-01 2.13889638e+02] [-3.21177150e-01 9.41767675e-01 9.95936027e-02 1.95131734e+02] [ 3.17149594e-01 7.87064635e-03 9.48342864e-01 4.93022535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1671056809999 meters Centerline goodness [0,1] 0.9993545888731121 Centerline is valid? [True, True] Translation: X:213.91, Y:195.12, Z:49.31 [[ 8.94139225e-01 3.32257313e-01 -3.00200142e-01 2.13913625e+02] [-3.17161942e-01 9.43166438e-01 9.92238495e-02 1.95122837e+02] [ 3.16106548e-01 6.49212398e-03 9.48701482e-01 4.93123111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1971056809999 meters Centerline goodness [0,1] 0.9993551049889078 Centerline is valid? [True, True] Translation: X:213.94, Y:195.11, Z:49.32 [[ 8.97812359e-01 3.25093066e-01 -2.97064750e-01 2.13937748e+02] [-3.09947429e-01 9.45673767e-01 9.81515044e-02 1.95111793e+02] [ 3.12834715e-01 3.95282177e-03 9.49799356e-01 4.93214113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2271056809999 meters Centerline goodness [0,1] 0.9993307421040438 Centerline is valid? [True, True] Translation: X:213.96, Y:195.10, Z:49.33 [[ 8.99136835e-01 3.21860919e-01 -2.96577982e-01 2.13963659e+02] [-3.06610770e-01 9.46782607e-01 9.79414687e-02 1.95101406e+02] [ 3.12318406e-01 2.87122124e-03 9.49973141e-01 4.93295893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2571056809999 meters Centerline goodness [0,1] 0.999280002057137 Centerline is valid? [True, True] Translation: X:213.99, Y:195.09, Z:49.34 [[ 9.00774680e-01 3.16823479e-01 -2.97031747e-01 2.13989712e+02] [-3.01291819e-01 9.48483725e-01 9.79890932e-02 1.95091999e+02] [ 3.12775023e-01 1.22714125e-03 9.49826447e-01 4.93363290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.2871056809999 meters Centerline goodness [0,1] 0.9992524809898182 Centerline is valid? [True, True] Translation: X:214.02, Y:195.09, Z:49.34 [[ 9.01002717e-01 3.15345060e-01 -2.97912063e-01 2.14015284e+02] [-2.99673973e-01 9.48976724e-01 9.81768178e-02 1.95085760e+02] [ 3.13671188e-01 8.18911765e-04 9.49531314e-01 4.93439615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31710568099993 meters Centerline goodness [0,1] 0.999327991729129 Centerline is valid? [True, True] Translation: X:214.04, Y:195.08, Z:49.35 [[ 9.00500633e-01 3.14729125e-01 -3.00073639e-01 2.14042427e+02] [-2.98829805e-01 9.49181252e-01 9.87709425e-02 1.95083824e+02] [ 3.15910364e-01 7.27650649e-04 9.48788761e-01 4.93492285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.3471056809999 meters Centerline goodness [0,1] 0.9992677824267783 Centerline is valid? [True, True] Translation: X:214.07, Y:195.08, Z:49.35 [[ 8.99634891e-01 3.15591244e-01 -3.01760219e-01 2.14071296e+02] [-2.99572570e-01 9.48894610e-01 9.92738342e-02 1.95081924e+02] [ 3.17668598e-01 1.08887939e-03 9.48201179e-01 4.93546494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37710568099993 meters Centerline goodness [0,1] 0.9990801818611863 Centerline is valid? [True, True] Translation: X:214.10, Y:195.08, Z:49.36 [[ 8.99178340e-01 3.16755282e-01 -3.01901315e-01 2.14097884e+02] [-3.00819822e-01 9.48505939e-01 9.92165199e-02 1.95078382e+02] [ 3.17782547e-01 1.60455417e-03 9.48162264e-01 4.93629768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4071056809999 meters Centerline goodness [0,1] 0.9993424340461349 Centerline is valid? [True, True] Translation: X:214.12, Y:195.08, Z:49.37 [[ 8.98103006e-01 3.19067686e-01 -3.02666158e-01 2.14124930e+02] [-3.03217486e-01 9.47728500e-01 9.93470975e-02 1.95076140e+02] [ 3.18543792e-01 2.54974447e-03 9.47904716e-01 4.93701466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43710568099993 meters Centerline goodness [0,1] 0.999228477173566 Centerline is valid? [True, True] Translation: X:214.15, Y:195.08, Z:49.38 [[ 8.95871518e-01 3.23887858e-01 -3.04156009e-01 2.14153489e+02] [-3.08159749e-01 9.46085604e-01 9.97977908e-02 1.95077885e+02] [ 3.20080914e-01 4.32264104e-03 9.47380348e-01 4.93770640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.4671056809999 meters Centerline goodness [0,1] 0.99944314806958 Centerline is valid? [True, True] Translation: X:214.18, Y:195.07, Z:49.39 [[ 8.94545859e-01 3.27811552e-01 -3.03854066e-01 2.14178213e+02] [-3.12353858e-01 9.44725486e-01 9.96434820e-02 1.95071613e+02] [ 3.19722964e-01 5.77432556e-03 9.47493474e-01 4.93901068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49710568099994 meters Centerline goodness [0,1] 0.9993367468760778 Centerline is valid? [True, True] Translation: X:214.21, Y:195.07, Z:49.40 [[ 8.92760962e-01 3.32372279e-01 -3.04148867e-01 2.14206428e+02] [-3.17159720e-01 9.43118692e-01 9.96837260e-02 1.95067369e+02] [ 3.19980588e-01 7.47003027e-03 9.47394649e-01 4.93992863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5271056809999 meters Centerline goodness [0,1] 0.9996021009072099 Centerline is valid? [True, True] Translation: X:214.23, Y:195.06, Z:49.41 [[ 8.90686312e-01 3.39976496e-01 -3.01817620e-01 2.14234568e+02] [-3.25455096e-01 9.40378586e-01 9.88286142e-02 1.95059672e+02] [ 3.17422233e-01 1.02027888e-02 9.48229418e-01 4.94053747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55710568099994 meters Centerline goodness [0,1] 0.9994441944789985 Centerline is valid? [True, True] Translation: X:214.26, Y:195.05, Z:49.41 [[ 8.89640100e-01 3.43608909e-01 -3.00787983e-01 2.14261082e+02] [-3.29418628e-01 9.39041932e-01 9.84053705e-02 1.95051924e+02] [ 3.16265491e-01 1.15398009e-02 9.48600534e-01 4.94144781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5871056809999 meters Centerline goodness [0,1] 0.9995513801657254 Centerline is valid? [True, True] Translation: X:214.29, Y:195.05, Z:49.43 [[ 8.88687242e-01 3.47817513e-01 -2.98760711e-01 2.14285880e+02] [-3.34063598e-01 9.37472491e-01 9.77079382e-02 1.95045426e+02] [ 3.14064480e-01 1.29732799e-02 9.49313013e-01 4.94260189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61710568099994 meters Centerline goodness [0,1] 0.9995797877928354 Centerline is valid? [True, True] Translation: X:214.31, Y:195.04, Z:49.44 [[ 8.87324997e-01 3.52828436e-01 -2.96928349e-01 2.14310575e+02] [-3.39527010e-01 9.35572974e-01 9.70804767e-02 1.95037220e+02] [ 3.12050891e-01 1.46732609e-02 9.49952071e-01 4.94401562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6471056809999 meters Centerline goodness [0,1] 0.9995288204806031 Centerline is valid? [True, True] Translation: X:214.34, Y:195.03, Z:49.45 [[ 8.87395866e-01 3.54262148e-01 -2.95003233e-01 2.14335036e+02] [-3.41223984e-01 9.35024181e-01 9.64156279e-02 1.95032082e+02] [ 3.09991564e-01 1.51033487e-02 9.50619335e-01 4.94527889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6771056809999 meters Centerline goodness [0,1] 0.9990839614740369 Centerline is valid? [True, True] Translation: X:214.36, Y:195.02, Z:49.47 [[ 8.87067198e-01 3.57330842e-01 -2.92278046e-01 2.14359937e+02] [-3.44708959e-01 9.33840058e-01 9.54907320e-02 1.95024433e+02] [ 3.07062731e-01 1.60441649e-02 9.51554026e-01 4.94650197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7071056809999 meters Centerline goodness [0,1] 0.9993195854705328 Centerline is valid? [True, True] Translation: X:214.39, Y:195.02, Z:49.47 [[ 8.86136187e-01 3.59224523e-01 -2.92780463e-01 2.14387110e+02] [-3.46679784e-01 9.33100028e-01 9.55900908e-02 1.95015176e+02] [ 3.07531763e-01 1.67952289e-02 9.51389581e-01 4.94727357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7371056809999 meters Centerline goodness [0,1] 0.9998178411574893 Centerline is valid? [True, True] Translation: X:214.41, Y:195.00, Z:49.48 [[ 8.83430765e-01 3.63699421e-01 -2.95419725e-01 2.14413684e+02] [-3.51192941e-01 9.31330388e-01 9.63702549e-02 1.95001279e+02] [ 3.10183173e-01 1.86128741e-02 9.50494587e-01 4.94757187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7671056809999 meters Centerline goodness [0,1] 0.9982033589376383 Centerline is valid? [True, True] Translation: X:214.44, Y:195.00, Z:49.48 [[ 8.82377154e-01 3.65623330e-01 -2.96192739e-01 2.14441230e+02] [-3.53185785e-01 9.30559960e-01 9.65295895e-02 1.94999092e+02] [ 3.10918573e-01 1.94355606e-02 9.50237812e-01 4.94834280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7971056809999 meters Centerline goodness [0,1] 0.9993001010965082 Centerline is valid? [True, True] Translation: X:214.47, Y:194.98, Z:49.49 [[ 8.80866887e-01 3.67429598e-01 -2.98444330e-01 2.14466378e+02] [-3.54913010e-01 9.29830202e-01 9.72242270e-02 1.94982892e+02] [ 3.13225610e-01 2.02801732e-02 9.49462180e-01 4.94905778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8271056809999 meters Centerline goodness [0,1] 0.9986239842147623 Centerline is valid? [True, True] Translation: X:214.49, Y:194.98, Z:49.50 [[ 8.80547215e-01 3.67251978e-01 -2.99604051e-01 2.14491858e+02] [-3.54655055e-01 9.29898010e-01 9.75165827e-02 1.94977074e+02] [ 3.14414368e-01 2.03881357e-02 9.49066873e-01 4.94985174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8571056809999 meters Centerline goodness [0,1] 0.999172720457072 Centerline is valid? [True, True] Translation: X:214.52, Y:194.97, Z:49.51 [[ 8.80859795e-01 3.65920507e-01 -3.00313509e-01 2.14517113e+02] [-3.53204683e-01 9.30430876e-01 9.76976817e-02 1.94966879e+02] [ 3.15170547e-01 2.00141778e-02 9.48823988e-01 4.95068695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8871056809999 meters Centerline goodness [0,1] 0.9992755498059508 Centerline is valid? [True, True] Translation: X:214.54, Y:194.95, Z:49.52 [[ 8.81421353e-01 3.64709943e-01 -3.00138395e-01 2.14540415e+02] [-3.51973013e-01 9.30913550e-01 9.75446604e-02 1.94951823e+02] [ 3.14978406e-01 1.96626687e-02 9.48895138e-01 4.95159013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9171056809999 meters Centerline goodness [0,1] 0.999485027164817 Centerline is valid? [True, True] Translation: X:214.57, Y:194.94, Z:49.52 [[ 8.81993045e-01 3.61964163e-01 -3.01778417e-01 2.14565975e+02] [-3.48963831e-01 9.32000487e-01 9.79762058e-02 1.94939987e+02] [ 3.16721507e-01 1.88954203e-02 9.48330349e-01 4.95208261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9471056809999 meters Centerline goodness [0,1] 0.9996928432476707 Centerline is valid? [True, True] Translation: X:214.59, Y:194.93, Z:49.53 [[ 8.83454136e-01 3.57633221e-01 -3.02666929e-01 2.14591346e+02] [-3.44317904e-01 9.33699524e-01 9.82363424e-02 1.94930112e+02] [ 3.17732547e-01 1.74263395e-02 9.48020227e-01 4.95276774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.9771056809999 meters Centerline goodness [0,1] 0.9996166526105957 Centerline is valid? [True, True] Translation: X:214.61, Y:194.91, Z:49.54 [[ 8.86151828e-01 3.51366690e-01 -3.02119822e-01 2.14613788e+02] [-3.37755727e-01 9.36114960e-01 9.80298482e-02 1.94912500e+02] [ 3.17263308e-01 1.51733708e-02 9.48216095e-01 4.95394758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0071056809999 meters Centerline goodness [0,1] 0.999566757562629 Centerline is valid? [True, True] Translation: X:214.64, Y:194.90, Z:49.55 [[ 8.87397400e-01 3.47895308e-01 -3.02480924e-01 2.14638058e+02] [-3.34086916e-01 9.37428204e-01 9.80525074e-02 1.94900166e+02] [ 3.17666157e-01 1.40433791e-02 9.48098622e-01 4.95503821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0371056809999 meters Centerline goodness [0,1] 0.9995676060636891 Centerline is valid? [True, True] Translation: X:214.66, Y:194.89, Z:49.56 [[ 8.88976401e-01 3.44875469e-01 -3.01300299e-01 2.14661811e+02] [-3.31038264e-01 9.38558470e-01 9.75790209e-02 1.94889199e+02] [ 3.16440559e-01 1.29964812e-02 9.48523307e-01 4.95599226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06710568099993 meters Centerline goodness [0,1] 0.999449766150614 Centerline is valid? [True, True] Translation: X:214.68, Y:194.87, Z:49.57 [[ 8.91623679e-01 3.39741035e-01 -2.99304600e-01 2.14684192e+02] [-3.25819048e-01 9.40453271e-01 9.68999124e-02 1.94873698e+02] [ 3.14402866e-01 1.11208832e-02 9.49224506e-01 4.95726184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.0971056809999 meters Centerline goodness [0,1] 0.999451015621101 Centerline is valid? [True, True] Translation: X:214.71, Y:194.86, Z:49.58 [[ 8.93249494e-01 3.35131731e-01 -2.99653240e-01 2.14708614e+02] [-3.20933068e-01 9.42123017e-01 9.69854929e-02 1.94858827e+02] [ 3.14813131e-01 9.53639105e-03 9.49105763e-01 4.95812003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12710568099993 meters Centerline goodness [0,1] 0.9994271053877002 Centerline is valid? [True, True] Translation: X:214.73, Y:194.84, Z:49.59 [[ 8.94033857e-01 3.33070800e-01 -2.99611923e-01 2.14733406e+02] [-3.18792827e-01 9.42859845e-01 9.68836684e-02 1.94844945e+02] [ 3.14761173e-01 8.89685229e-03 9.49129206e-01 4.95896967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.1571056809999 meters Centerline goodness [0,1] 0.9995565300943605 Centerline is valid? [True, True] Translation: X:214.76, Y:194.83, Z:49.60 [[ 8.95421976e-01 3.29919439e-01 -2.98952586e-01 2.14757465e+02] [-3.15565203e-01 9.43976358e-01 9.65776310e-02 1.94832611e+02] [ 3.14067011e-01 7.86130033e-03 9.49368270e-01 4.95985444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18710568099993 meters Centerline goodness [0,1] 0.9995565300943605 Centerline is valid? [True, True] Translation: X:214.78, Y:194.82, Z:49.61 [[ 8.95527167e-01 3.29608117e-01 -2.98980905e-01 2.14782189e+02] [-3.15266274e-01 9.44085207e-01 9.64898880e-02 1.94824823e+02] [ 3.14067300e-01 7.84927997e-03 9.49368274e-01 4.96071584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2171056809999 meters Centerline goodness [0,1] 0.9994327430572683 Centerline is valid? [True, True] Translation: X:214.81, Y:194.81, Z:49.62 [[ 8.96229099e-01 3.28138037e-01 -2.98494273e-01 2.14806626e+02] [-3.13800736e-01 9.44600564e-01 9.62230333e-02 1.94812314e+02] [ 3.13532296e-01 7.42984005e-03 9.49548470e-01 4.96173855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24710568099994 meters Centerline goodness [0,1] 0.9994869915720044 Centerline is valid? [True, True] Translation: X:214.83, Y:194.80, Z:49.63 [[ 8.97338340e-01 3.26125523e-01 -2.97365175e-01 2.14830507e+02] [-3.11824094e-01 9.45302036e-01 9.57590475e-02 1.94799889e+02] [ 3.12329375e-01 6.79736143e-03 9.49949555e-01 4.96298503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2771056809999 meters Centerline goodness [0,1] 0.9994390927935618 Centerline is valid? [True, True] Translation: X:214.86, Y:194.79, Z:49.64 [[ 8.97779723e-01 3.24901705e-01 -2.97372580e-01 2.14855239e+02] [-3.10565411e-01 9.45725684e-01 9.56663806e-02 1.94791364e+02] [ 3.12315057e-01 6.46630115e-03 9.49956574e-01 4.96395806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30710568099994 meters Centerline goodness [0,1] 0.9992938884830777 Centerline is valid? [True, True] Translation: X:214.88, Y:194.78, Z:49.65 [[ 8.97730040e-01 3.24198550e-01 -2.98288578e-01 2.14880425e+02] [-3.09745970e-01 9.45968220e-01 9.59247702e-02 1.94781000e+02] [ 3.13270187e-01 6.27913709e-03 9.49643282e-01 4.96468802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3371056809999 meters Centerline goodness [0,1] 0.9992215058995256 Centerline is valid? [True, True] Translation: X:214.91, Y:194.77, Z:49.65 [[ 8.96430477e-01 3.24674594e-01 -3.01660088e-01 2.14906610e+02] [-3.09948566e-01 9.45802505e-01 9.68994730e-02 1.94767709e+02] [ 3.16771664e-01 6.63547096e-03 9.48478615e-01 4.96516122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36710568099994 meters Centerline goodness [0,1] 0.9993691770186336 Centerline is valid? [True, True] Translation: X:214.93, Y:194.76, Z:49.66 [[ 8.95181310e-01 3.26542218e-01 -3.03348977e-01 2.14933284e+02] [-3.11785144e-01 9.45153319e-01 9.73407858e-02 1.94760909e+02] [ 3.18497169e-01 7.44205231e-03 9.47894598e-01 4.96589288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3971056809999 meters Centerline goodness [0,1] 0.9996101839444512 Centerline is valid? [True, True] Translation: X:214.96, Y:194.76, Z:49.67 [[ 8.91292201e-01 3.34974034e-01 -3.05598771e-01 2.14962709e+02] [-3.20505820e-01 9.42167363e-01 9.79626445e-02 1.94759315e+02] [ 3.20740131e-01 1.06328438e-02 9.47107550e-01 4.96669738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4271056809999 meters Centerline goodness [0,1] 0.9996565765588972 Centerline is valid? [True, True] Translation: X:214.99, Y:194.75, Z:49.68 [[ 8.89086288e-01 3.40946289e-01 -3.05419711e-01 2.14989037e+02] [-3.26847925e-01 9.39995505e-01 9.78717793e-02 1.94752602e+02] [ 3.20462175e-01 1.28093419e-02 9.47174701e-01 4.96776443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4571056809999 meters Centerline goodness [0,1] 0.9996309599960636 Centerline is valid? [True, True] Translation: X:215.02, Y:194.75, Z:49.69 [[ 8.84394865e-01 3.53940840e-01 -3.04255821e-01 2.15017859e+02] [-3.40715119e-01 9.35104179e-01 9.74339844e-02 1.94754799e+02] [ 3.18996756e-01 1.74944428e-02 9.47594330e-01 4.96888112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4871056809999 meters Centerline goodness [0,1] 0.9997043242577307 Centerline is valid? [True, True] Translation: X:215.05, Y:194.75, Z:49.70 [[ 8.82148167e-01 3.59422704e-01 -3.04351657e-01 2.15045355e+02] [-3.46535492e-01 9.32969555e-01 9.73702297e-02 1.94751110e+02] [ 3.18947902e-01 1.95736818e-02 9.47570107e-01 4.96994159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5171056809999 meters Centerline goodness [0,1] 0.9997278170930866 Centerline is valid? [True, True] Translation: X:215.07, Y:194.75, Z:49.71 [[ 8.79993457e-01 3.66743991e-01 -3.01844930e-01 2.15071265e+02] [-3.54517005e-01 9.30059124e-01 9.64765234e-02 1.94749168e+02] [ 3.16115816e-01 2.21104512e-02 9.48462924e-01 4.97117951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5471056809999 meters Centerline goodness [0,1] 0.9992888496530077 Centerline is valid? [True, True] Translation: X:215.10, Y:194.74, Z:49.72 [[ 8.80328036e-01 3.68665788e-01 -2.98509775e-01 2.15095845e+02] [-3.56826840e-01 9.29288465e-01 9.53811060e-02 1.94739558e+02] [ 3.12565441e-01 2.25496380e-02 9.49628537e-01 4.97220942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5771056809999 meters Centerline goodness [0,1] 0.999314917667784 Centerline is valid? [True, True] Translation: X:215.12, Y:194.73, Z:49.73 [[ 8.80599243e-01 3.68026634e-01 -2.98498525e-01 2.15120569e+02] [-3.56162413e-01 9.29546605e-01 9.53490721e-02 1.94727542e+02] [ 3.12559289e-01 2.23496343e-02 9.49635290e-01 4.97310141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6071056809999 meters Centerline goodness [0,1] 0.9994176453460157 Centerline is valid? [True, True] Translation: X:215.14, Y:194.71, Z:49.74 [[ 8.81759243e-01 3.65827524e-01 -2.97776528e-01 2.15143764e+02] [-3.53932187e-01 9.30431782e-01 9.50195036e-02 1.94711244e+02] [ 3.11821495e-01 2.16083721e-02 9.49894959e-01 4.97401205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6371056809999 meters Centerline goodness [0,1] 0.9989884149425564 Centerline is valid? [True, True] Translation: X:215.17, Y:194.70, Z:49.75 [[ 8.82385094e-01 3.65418415e-01 -2.96421875e-01 2.15167210e+02] [-3.53618447e-01 9.30597781e-01 9.45609011e-02 1.94699473e+02] [ 3.10403833e-01 2.13811135e-02 9.50364303e-01 4.97498517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6671056809999 meters Centerline goodness [0,1] 0.9986637715049274 Centerline is valid? [True, True] Translation: X:215.19, Y:194.68, Z:49.76 [[ 8.83195678e-01 3.63535126e-01 -2.96323484e-01 2.15189876e+02] [-3.51651592e-01 9.31349481e-01 9.44949880e-02 1.94680041e+02] [ 3.10332970e-01 2.07450601e-02 9.50401541e-01 4.97579589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6971056809999 meters Centerline goodness [0,1] 0.9990081942050204 Centerline is valid? [True, True] Translation: X:215.21, Y:194.66, Z:49.76 [[ 8.83641006e-01 3.61102386e-01 -2.97965835e-01 2.15213412e+02] [-3.48959945e-01 9.32310833e-01 9.49919303e-02 1.94659003e+02] [ 3.12098589e-01 2.00393765e-02 9.49838352e-01 4.97638373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7271056809999 meters Centerline goodness [0,1] 0.9880518144407033 Centerline is valid? [True, True] Translation: X:215.24, Y:194.65, Z:49.77 [[ 8.83888940e-01 3.60092022e-01 -2.98452807e-01 2.15240417e+02] [-3.47866299e-01 9.32707576e-01 9.51084440e-02 1.94653431e+02] [ 3.12616986e-01 1.97563717e-02 9.49673789e-01 4.97714655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7571056809999 meters Centerline goodness [0,1] 0.988285924698518 Centerline is valid? [True, True] Translation: X:215.26, Y:194.63, Z:49.78 [[ 8.83929431e-01 3.58482172e-01 -3.00265372e-01 2.15263334e+02] [-3.46047569e-01 9.33334730e-01 9.55895470e-02 1.94633284e+02] [ 3.14515249e-01 1.94116883e-02 9.49053921e-01 4.97773957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.7871056809999 meters Centerline goodness [0,1] 0.9897397052747555 Centerline is valid? [True, True] Translation: X:215.29, Y:194.62, Z:49.78 [[ 8.83876671e-01 3.57055418e-01 -3.02114975e-01 2.15288271e+02] [-3.44394612e-01 9.33888638e-01 9.61476142e-02 1.94619550e+02] [ 3.16471769e-01 1.90641366e-02 9.48410343e-01 4.97841183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81710568099993 meters Centerline goodness [0,1] 0.9912131711846366 Centerline is valid? [True, True] Translation: X:215.31, Y:194.60, Z:49.79 [[ 8.83762641e-01 3.55027661e-01 -3.04826107e-01 2.15311269e+02] [-3.42053704e-01 9.34670248e-01 9.69060941e-02 1.94600816e+02] [ 3.19316237e-01 1.86249132e-02 9.47465173e-01 4.97880693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.8471056809999 meters Centerline goodness [0,1] 0.9905218554861731 Centerline is valid? [True, True] Translation: X:215.34, Y:194.58, Z:49.80 [[ 8.84415983e-01 3.53492053e-01 -3.04715831e-01 2.15335003e+02] [-3.40452145e-01 9.35262389e-01 9.68328519e-02 1.94583027e+02] [ 3.19218899e-01 1.81006364e-02 9.47508133e-01 4.97965436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87710568099993 meters Centerline goodness [0,1] 0.9991780882777618 Centerline is valid? [True, True] Translation: X:215.36, Y:194.56, Z:49.81 [[ 8.84923134e-01 3.51988733e-01 -3.04983571e-01 2.15356659e+02] [-3.38871318e-01 9.35837433e-01 9.68221447e-02 1.94564318e+02] [ 3.19495346e-01 1.76700291e-02 9.47423081e-01 4.98075663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9071056809999 meters Centerline goodness [0,1] 0.9950741082816554 Centerline is valid? [True, True] Translation: X:215.38, Y:194.55, Z:49.82 [[ 8.86218812e-01 3.49219780e-01 -3.04403945e-01 2.15381230e+02] [-3.36031195e-01 9.36891243e-01 9.65289315e-02 1.94554404e+02] [ 3.18903203e-01 1.67434664e-02 9.47639385e-01 4.98162554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93710568099993 meters Centerline goodness [0,1] 0.9994577947427778 Centerline is valid? [True, True] Translation: X:215.40, Y:194.54, Z:49.83 [[ 8.87308802e-01 3.47257309e-01 -3.03472323e-01 2.15403861e+02] [-3.34051587e-01 9.37633054e-01 9.61966389e-02 1.94536423e+02] [ 3.17950667e-01 1.60192866e-02 9.47971917e-01 4.98271898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.9671056809999 meters Centerline goodness [0,1] 0.999935379644588 Centerline is valid? [True, True] Translation: X:215.42, Y:194.52, Z:49.84 [[ 8.90908589e-01 3.39614208e-01 -3.01569356e-01 2.15424544e+02] [-3.26182184e-01 9.40470956e-01 9.54964068e-02 1.94515167e+02] [ 3.16049157e-01 1.32879820e-02 9.48649756e-01 4.98404055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99710568099994 meters Centerline goodness [0,1] 0.9999572311442807 Centerline is valid? [True, True] Translation: X:215.45, Y:194.49, Z:49.85 [[ 8.93238072e-01 3.34551894e-01 -3.00334442e-01 2.15445872e+02] [-3.20983635e-01 9.42306753e-01 9.50130984e-02 1.94494091e+02] [ 3.14793985e-01 1.15331241e-02 9.49089950e-01 4.98520295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0271056809999 meters Centerline goodness [0,1] 0.999511832749655 Centerline is valid? [True, True] Translation: X:215.47, Y:194.47, Z:49.86 [[ 8.97212164e-01 3.25525285e-01 -2.98401780e-01 2.15467660e+02] [-3.11680942e-01 9.45496021e-01 9.42988007e-02 1.94471585e+02] [ 3.12834339e-01 8.40011672e-03 9.49770559e-01 4.98634514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05710568099994 meters Centerline goodness [0,1] 0.9994483695075637 Centerline is valid? [True, True] Translation: X:215.49, Y:194.46, Z:49.87 [[ 8.98913496e-01 3.20813453e-01 -2.98384408e-01 2.15491792e+02] [-3.06751254e-01 9.47117558e-01 9.41912879e-02 1.94456545e+02] [ 3.12822944e-01 6.85997137e-03 9.49786685e-01 4.98729577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0871056809999 meters Centerline goodness [0,1] 0.9989234146753356 Centerline is valid? [True, True] Translation: X:215.51, Y:194.44, Z:49.88 [[ 9.01542496e-01 3.13126075e-01 -2.98618801e-01 2.15513466e+02] [-2.98647329e-01 9.49702074e-01 9.42111612e-02 1.94435506e+02] [ 3.13098866e-01 4.24634202e-03 9.49711045e-01 4.98794868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11710568099994 meters Centerline goodness [0,1] 0.9983985840111256 Centerline is valid? [True, True] Translation: X:215.54, Y:194.42, Z:49.89 [[ 9.02877556e-01 3.08406714e-01 -2.99495272e-01 2.15536481e+02] [-2.93600759e-01 9.51250880e-01 9.44476409e-02 1.94418365e+02] [ 3.14023428e-01 2.65738403e-03 9.49411515e-01 4.98875684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1471056809999 meters Centerline goodness [0,1] 0.9984676098912633 Centerline is valid? [True, True] Translation: X:215.56, Y:194.41, Z:49.90 [[ 9.02828979e-01 3.07977776e-01 -3.00082530e-01 2.15561744e+02] [-2.93125770e-01 9.51389932e-01 9.45223843e-02 1.94409406e+02] [ 3.14606291e-01 2.62437484e-03 9.49218623e-01 4.98964961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1771056809999 meters Centerline goodness [0,1] 0.9987039201104855 Centerline is valid? [True, True] Translation: X:215.59, Y:194.41, Z:49.91 [[ 9.01398858e-01 3.13218457e-01 -2.98955342e-01 2.15588109e+02] [-2.98801700e-01 9.49670166e-01 9.40431854e-02 1.94405435e+02] [ 3.13365031e-01 4.55794459e-03 9.49621810e-01 4.99077080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2071056809999 meters Centerline goodness [0,1] 0.998813307904217 Centerline is valid? [True, True] Translation: X:215.62, Y:194.40, Z:49.92 [[ 9.00296188e-01 3.17953042e-01 -2.97275354e-01 2.15615012e+02] [-3.03987657e-01 9.48085707e-01 9.34076930e-02 1.94402325e+02] [ 3.11541775e-01 6.27344853e-03 9.50211748e-01 4.99188649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2371056809999 meters Centerline goodness [0,1] 0.9996392419837447 Centerline is valid? [True, True] Translation: X:215.64, Y:194.41, Z:49.93 [[ 8.97362396e-01 3.28274307e-01 -2.94918141e-01 2.15642905e+02] [-3.15109379e-01 9.44530861e-01 9.25609626e-02 1.94406176e+02] [ 3.08944671e-01 9.87074486e-03 9.51028789e-01 4.99313506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2671056809999 meters Centerline goodness [0,1] 0.9994714475993149 Centerline is valid? [True, True] Translation: X:215.67, Y:194.40, Z:49.94 [[ 8.95331501e-01 3.33137965e-01 -2.95635924e-01 2.15671945e+02] [-3.20176467e-01 9.42806578e-01 9.27512050e-02 1.94403302e+02] [ 3.09626441e-01 1.16125901e-02 9.50787366e-01 4.99394724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2971056809999 meters Centerline goodness [0,1] 0.9994466907852735 Centerline is valid? [True, True] Translation: X:215.70, Y:194.41, Z:49.94 [[ 8.91031928e-01 3.41101727e-01 -2.99519138e-01 2.15702995e+02] [-3.28253718e-01 9.39912044e-01 9.38874183e-02 1.94405520e+02] [ 3.13546806e-01 1.46615832e-02 9.49459551e-01 4.99428145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3271056809999 meters Centerline goodness [0,1] 0.999552486894259 Centerline is valid? [True, True] Translation: X:215.73, Y:194.40, Z:49.95 [[ 8.89620822e-01 3.43436631e-01 -3.01041648e-01 2.15731073e+02] [-3.30593550e-01 9.39046343e-01 9.43391271e-02 1.94399763e+02] [ 3.15091571e-01 1.55963756e-02 9.48933114e-01 4.99509473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3571056809999 meters Centerline goodness [0,1] 0.998639455782313 Centerline is valid? [True, True] Translation: X:215.76, Y:194.40, Z:49.96 [[ 8.88790986e-01 3.46543369e-01 -2.99930452e-01 2.15758129e+02] [-3.33994775e-01 9.37885117e-01 9.39095144e-02 1.94400171e+02] [ 3.13844027e-01 1.67092740e-02 9.49327513e-01 4.99642472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3871056809999 meters Centerline goodness [0,1] 0.9961501443695862 Centerline is valid? [True, True] Translation: X:215.78, Y:194.40, Z:49.97 [[ 8.88439017e-01 3.47957059e-01 -2.99335929e-01 2.15784274e+02] [-3.35544259e-01 9.37352802e-01 9.37004533e-02 1.94396514e+02] [ 3.13187106e-01 1.71933138e-02 9.49535795e-01 4.99741366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4171056809999 meters Centerline goodness [0,1] 0.9822394480173773 Centerline is valid? [True, True] Translation: X:215.81, Y:194.39, Z:49.98 [[ 8.86038584e-01 3.52099906e-01 -3.01597886e-01 2.15813928e+02] [-3.39741041e-01 9.35772591e-01 9.43699268e-02 1.94393560e+02] [ 3.15454677e-01 1.88497834e-02 9.48753410e-01 4.99798157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4471056809999 meters Centerline goodness [0,1] 0.973021735438954 Centerline is valid? [True, True] Translation: X:215.84, Y:194.39, Z:49.99 [[ 8.84508638e-01 3.54340055e-01 -3.03459379e-01 2.15841535e+02] [-3.41985832e-01 9.34905344e-01 9.48561517e-02 1.94386831e+02] [ 3.17317129e-01 1.98777224e-02 9.48111131e-01 4.99862511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.4771056809999 meters Centerline goodness [0,1] 0.9475219900751816 Centerline is valid? [True, False] Translation: X:215.82, Y:194.40, Z:50.00 [[ 8.85133584e-01 3.42094350e-01 -3.15452049e-01 2.15822004e+02] [-3.44910797e-01 9.37368943e-01 4.87442991e-02 1.94402009e+02] [ 3.12370103e-01 6.56576014e-02 9.47688767e-01 4.99966911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5071056809999 meters Centerline goodness [0,1] 0.9883154198148345 Centerline is valid? [False, True] Translation: X:215.81, Y:194.41, Z:50.00 [[ 8.85536215e-01 3.37572632e-01 -3.19171318e-01 2.15813582e+02] [-3.46191055e-01 9.37645043e-01 3.12013905e-02 1.94408535e+02] [ 3.09802140e-01 8.28642940e-02 9.47183268e-01 5.00002054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5371056809999 meters Centerline goodness [0,1] 0.9801389842141386 Centerline is valid? [True, True] Translation: X:215.85, Y:194.39, Z:49.98 [[ 8.84027447e-01 3.57642410e-01 -3.00977374e-01 2.15845638e+02] [-3.46034031e-01 9.33601051e-01 9.30028340e-02 1.94388522e+02] [ 3.14254551e-01 2.19313562e-02 9.49085398e-01 4.99796949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56710568099993 meters Centerline goodness [0,1] 0.9865669428141619 Centerline is valid? [True, True] Translation: X:215.87, Y:194.38, Z:49.98 [[ 8.83472666e-01 3.56447142e-01 -3.04009018e-01 2.15872151e+02] [-3.44571951e-01 9.34059657e-01 9.38228575e-02 1.94375523e+02] [ 3.17405448e-01 2.18630502e-02 9.48037862e-01 4.99829050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.5971056809999 meters Centerline goodness [0,1] 0.9969277378336284 Centerline is valid? [True, True] Translation: X:215.90, Y:194.36, Z:49.99 [[ 8.83979716e-01 3.54682051e-01 -3.04598925e-01 2.15896766e+02] [-3.42696992e-01 9.34742332e-01 9.38911299e-02 1.94360170e+02] [ 3.18023008e-01 2.13872813e-02 9.47841733e-01 4.99904866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62710568099993 meters Centerline goodness [0,1] 0.993936577018148 Centerline is valid? [True, True] Translation: X:215.92, Y:194.35, Z:50.00 [[ 8.84852325e-01 3.52602177e-01 -3.04479995e-01 2.15921966e+02] [-3.40518647e-01 9.35545146e-01 9.38207400e-02 1.94350879e+02] [ 3.17936178e-01 2.06636158e-02 9.47886914e-01 4.99989079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.6571056809999 meters Centerline goodness [0,1] 0.9938284651477364 Centerline is valid? [True, True] Translation: X:215.95, Y:194.34, Z:50.01 [[ 8.85475028e-01 3.51659669e-01 -3.03758870e-01 2.15947320e+02] [-3.39591752e-01 9.35907675e-01 9.35642370e-02 1.94341635e+02] [ 3.17193027e-01 2.03052115e-02 9.48143598e-01 5.00092801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68710568099993 meters Centerline goodness [0,1] 0.9946928374365562 Centerline is valid? [True, True] Translation: X:215.97, Y:194.33, Z:50.02 [[ 8.86193725e-01 3.49714569e-01 -3.03908543e-01 2.15970989e+02] [-3.37560639e-01 9.36648556e-01 9.35002542e-02 1.94331271e+02] [ 3.17353899e-01 1.97282236e-02 9.48101946e-01 5.00194605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7171056809999 meters Centerline goodness [0,1] 0.9981532191301026 Centerline is valid? [True, True] Translation: X:215.99, Y:194.32, Z:50.03 [[ 8.87930961e-01 3.45387301e-01 -3.03786473e-01 2.15994301e+02] [-3.33010484e-01 9.38283541e-01 9.34238463e-02 1.94316635e+02] [ 3.17305257e-01 1.82101546e-02 9.48148598e-01 5.00302232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74710568099994 meters Centerline goodness [0,1] 0.9992559523809523 Centerline is valid? [True, True] Translation: X:216.02, Y:194.30, Z:50.04 [[ 8.88907835e-01 3.42726766e-01 -3.03942797e-01 2.16019714e+02] [-3.30195802e-01 9.39275854e-01 9.34430461e-02 1.94304858e+02] [ 3.17511563e-01 1.72983796e-02 9.48096605e-01 5.00392461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7771056809999 meters Centerline goodness [0,1] 0.9996620765396638 Centerline is valid? [True, True] Translation: X:216.04, Y:194.29, Z:50.05 [[ 8.90780013e-01 3.37228327e-01 -3.04611267e-01 2.16043307e+02] [-3.24362498e-01 9.41295720e-01 9.35485784e-02 1.94285622e+02] [ 3.18276513e-01 1.54732677e-02 9.47871637e-01 5.00470842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80710568099994 meters Centerline goodness [0,1] 0.9994948750868183 Centerline is valid? [True, True] Translation: X:216.07, Y:194.28, Z:50.06 [[ 8.91764078e-01 3.34968317e-01 -3.04225337e-01 2.16067752e+02] [-3.22040737e-01 9.42114048e-01 9.33321223e-02 1.94275295e+02] [ 3.17878267e-01 1.47427177e-02 9.48016909e-01 5.00564738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8371056809999 meters Centerline goodness [0,1] 0.9994287890327495 Centerline is valid? [True, True] Translation: X:216.09, Y:194.27, Z:50.07 [[ 8.92304942e-01 3.33224897e-01 -3.04553867e-01 2.16092034e+02] [-3.20183822e-01 9.42740758e-01 9.33926254e-02 1.94265051e+02] [ 3.18236092e-01 1.41785201e-02 9.47905459e-01 5.00674028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86710568099994 meters Centerline goodness [0,1] 0.9994489891069385 Centerline is valid? [True, True] Translation: X:216.12, Y:194.26, Z:50.08 [[ 8.92040008e-01 3.33673020e-01 -3.04839202e-01 2.16117761e+02] [-3.20668374e-01 9.42577973e-01 9.33732283e-02 1.94258871e+02] [ 3.18490844e-01 1.44596357e-02 9.47815647e-01 5.00762782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8971056809999 meters Centerline goodness [0,1] 0.9996411154974773 Centerline is valid? [True, True] Translation: X:216.14, Y:194.25, Z:50.08 [[ 8.90021340e-01 3.37979069e-01 -3.05993731e-01 2.16144534e+02] [-3.25133189e-01 9.41015845e-01 9.36887896e-02 1.94248865e+02] [ 3.19609799e-01 1.61036954e-02 9.47412396e-01 5.00842178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9271056809999 meters Centerline goodness [0,1] 0.9978293397399423 Centerline is valid? [True, True] Translation: X:216.17, Y:194.25, Z:50.09 [[ 8.87001065e-01 3.46160089e-01 -3.05617903e-01 2.16172052e+02] [-3.33822615e-01 9.37982194e-01 9.35514054e-02 1.94246014e+02] [ 3.19047914e-01 1.90419713e-02 9.47547272e-01 5.00919756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9571056809999 meters Centerline goodness [0,1] 0.9597093651365264 Centerline is valid? [True, True] Translation: X:216.20, Y:194.25, Z:50.10 [[ 8.83748387e-01 3.54971304e-01 -3.04933045e-01 2.16199239e+02] [-3.43208544e-01 9.34613581e-01 9.33024631e-02 1.94247211e+02] [ 3.18114262e-01 2.21997251e-02 9.47792429e-01 5.01036897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9871056809999 meters Centerline goodness [0,1] 0.9157455638843011 Centerline is valid? [True, False] Translation: X:216.18, Y:194.26, Z:50.11 [[ 8.84368425e-01 3.43896901e-01 -3.15638100e-01 2.16179129e+02] [-3.46378837e-01 9.36754741e-01 5.01224214e-02 1.94262340e+02] [ 3.12912432e-01 6.50036712e-02 9.47554923e-01 5.01131432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0171056809999 meters Centerline goodness [0,1] 0.9112850343733474 Centerline is valid? [False, False] Translation: X:216.16, Y:194.27, Z:50.11 [[ 8.84809055e-01 3.39406188e-01 -3.19243443e-01 2.16161703e+02] [-3.49718408e-01 9.36484019e-01 2.63574950e-02 1.94268563e+02] [ 3.07912280e-01 8.83239583e-02 9.47306131e-01 5.01129258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0471056809999 meters Centerline goodness [0,1] 0.9399631519874632 Centerline is valid? [False, False] Translation: X:216.16, Y:194.27, Z:50.11 [[ 8.85921022e-01 3.35143208e-01 -3.20660214e-01 2.16162484e+02] [-3.46483799e-01 9.37777212e-01 2.28665176e-02 1.94267966e+02] [ 3.08371399e-01 9.08456404e-02 9.46918238e-01 5.01127476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0771056809999 meters Centerline goodness [0,1] 0.9399631519874632 Centerline is valid? [False, False] Translation: X:216.16, Y:194.27, Z:50.11 [[ 8.85932055e-01 3.35094661e-01 -3.20680468e-01 2.16162546e+02] [-3.46435694e-01 9.37795076e-01 2.28627480e-02 1.94267980e+02] [ 3.08393748e-01 9.08403191e-02 9.46911470e-01 5.01127712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1071056809999 meters Centerline goodness [0,1] 0.961478319668667 Centerline is valid? [False, True] Translation: X:216.16, Y:194.27, Z:50.11 [[ 8.88211413e-01 3.26476892e-01 -3.23254272e-01 2.16162780e+02] [-3.39855411e-01 9.40343429e-01 1.58913443e-02 1.94266870e+02] [ 3.09158188e-01 9.57448402e-02 9.46178704e-01 5.01128516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1371056809999 meters Centerline goodness [0,1] 0.9911228813559322 Centerline is valid? [True, True] Translation: X:216.19, Y:194.24, Z:50.09 [[ 8.87278995e-01 3.47118075e-01 -3.03718665e-01 2.16192497e+02] [-3.36730677e-01 9.37503563e-01 8.77469132e-02 1.94236588e+02] [ 3.15195870e-01 2.44153988e-02 9.48712523e-01 5.00924405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1671056809999 meters Centerline goodness [0,1] 0.997024563180552 Centerline is valid? [True, True] Translation: X:216.22, Y:194.22, Z:50.10 [[ 8.90138457e-01 3.40458767e-01 -3.02888356e-01 2.16216683e+02] [-3.29764586e-01 9.40001673e-01 8.74766909e-02 1.94221954e+02] [ 3.14497767e-01 2.20154867e-02 9.49002883e-01 5.01009301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1971056809999 meters Centerline goodness [0,1] 0.9909230027461585 Centerline is valid? [True, True] Translation: X:216.24, Y:194.22, Z:50.11 [[ 8.92164050e-01 3.35918461e-01 -3.01996845e-01 2.16243498e+02] [-3.25043235e-01 9.41670787e-01 8.71953242e-02 1.94215541e+02] [ 3.13672126e-01 2.03694979e-02 9.49312847e-01 5.01096765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2271056809999 meters Centerline goodness [0,1] 0.9987367357251137 Centerline is valid? [True, True] Translation: X:216.26, Y:194.19, Z:50.12 [[ 8.95593847e-01 3.26471700e-01 -3.02205046e-01 2.16264745e+02] [-3.15067620e-01 9.45052362e-01 8.72263037e-02 1.94188892e+02] [ 3.14076512e-01 1.70956836e-02 9.49243742e-01 5.01192324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2571056809999 meters Centerline goodness [0,1] 0.9984469768515604 Centerline is valid? [True, True] Translation: X:216.29, Y:194.17, Z:50.13 [[ 8.98727981e-01 3.18571544e-01 -3.01330695e-01 2.16287780e+02] [-3.06833632e-01 9.47789751e-01 8.68775555e-02 1.94170359e+02] [ 3.13274861e-01 1.43791015e-02 9.49553633e-01 5.01293017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.2871056809999 meters Centerline goodness [0,1] 0.9983347386172007 Centerline is valid? [True, True] Translation: X:216.31, Y:194.16, Z:50.14 [[ 8.99396641e-01 3.16117249e-01 -3.01919801e-01 2.16313277e+02] [-3.04205002e-01 9.48623021e-01 8.70268946e-02 1.94158750e+02] [ 3.13918777e-01 1.35738173e-02 9.49352808e-01 5.01372920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31710568099993 meters Centerline goodness [0,1] 0.9982000677621549 Centerline is valid? [True, True] Translation: X:216.34, Y:194.15, Z:50.14 [[ 8.99050337e-01 3.15588482e-01 -3.03500248e-01 2.16338695e+02] [-3.03531533e-01 9.48800081e-01 8.74472114e-02 1.94148905e+02] [ 3.15558393e-01 1.35024507e-02 9.48810089e-01 5.01433385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.3471056809999 meters Centerline goodness [0,1] 0.9982301630778306 Centerline is valid? [True, True] Translation: X:216.36, Y:194.15, Z:50.15 [[ 8.98827111e-01 3.16357006e-01 -3.03361286e-01 2.16364810e+02] [-3.04396791e-01 9.48538447e-01 8.72777643e-02 1.94145122e+02] [ 3.15360775e-01 1.38945813e-02 9.48870129e-01 5.01509858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37710568099993 meters Centerline goodness [0,1] 0.9986107895346145 Centerline is valid? [True, True] Translation: X:216.39, Y:194.14, Z:50.16 [[ 8.97326321e-01 3.20150126e-01 -3.03824571e-01 2.16391839e+02] [-3.08379732e-01 9.47243253e-01 8.73622432e-02 1.94139320e+02] [ 3.15764808e-01 1.53008995e-02 9.48714113e-01 5.01619248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4071056809999 meters Centerline goodness [0,1] 0.9987769647639331 Centerline is valid? [True, True] Translation: X:216.42, Y:194.14, Z:50.17 [[ 8.95744820e-01 3.23698975e-01 -3.04729701e-01 2.16419409e+02] [-3.12071301e-01 9.46013601e-01 8.75772223e-02 1.94135402e+02] [ 3.16627099e-01 1.66505511e-02 9.48403943e-01 5.01709366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43710568099993 meters Centerline goodness [0,1] 0.9987117756377767 Centerline is valid? [True, True] Translation: X:216.45, Y:194.13, Z:50.18 [[ 8.92130292e-01 3.31160488e-01 -3.07304855e-01 2.16448823e+02] [-3.19768828e-01 9.43372948e-01 8.82914390e-02 1.94131977e+02] [ 3.19141723e-01 1.94990461e-02 9.47506384e-01 5.01777023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.4671056809999 meters Centerline goodness [0,1] 0.9977390385631273 Centerline is valid? [True, True] Translation: X:216.48, Y:194.13, Z:50.18 [[ 8.90771358e-01 3.34059213e-01 -3.08108471e-01 2.16476119e+02] [-3.22806051e-01 9.42325011e-01 8.84297892e-02 1.94126460e+02] [ 3.19879104e-01 2.06885554e-02 9.47232465e-01 5.01844673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49710568099994 meters Centerline goodness [0,1] 0.9971275292527352 Centerline is valid? [True, True] Translation: X:216.50, Y:194.12, Z:50.20 [[ 8.89914777e-01 3.38127578e-01 -3.06139562e-01 2.16501591e+02] [-3.27262904e-01 9.40842503e-01 8.78315201e-02 1.94117339e+02] [ 3.17727371e-01 2.20255542e-02 9.47926259e-01 5.01965934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5271056809999 meters Centerline goodness [0,1] 0.9924815205913411 Centerline is valid? [True, True] Translation: X:216.53, Y:194.11, Z:50.21 [[ 8.88991571e-01 3.41082467e-01 -3.05543346e-01 2.16527419e+02] [-3.30453518e-01 9.39749419e-01 8.75871083e-02 1.94109898e+02] [ 3.17008609e-01 2.31036727e-02 9.48141214e-01 5.02065573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55710568099994 meters Centerline goodness [0,1] 0.9944685398202275 Centerline is valid? [True, True] Translation: X:216.55, Y:194.10, Z:50.22 [[ 8.88355005e-01 3.42062584e-01 -3.06298178e-01 2.16553400e+02] [-3.31446041e-01 9.39382155e-01 8.77763570e-02 1.94099871e+02] [ 3.17756050e-01 2.35447523e-02 9.47880128e-01 5.02152207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5871056809999 meters Centerline goodness [0,1] 0.9951854041726497 Centerline is valid? [True, True] Translation: X:216.58, Y:194.09, Z:50.22 [[ 8.87978341e-01 3.42405831e-01 -3.07006046e-01 2.16578566e+02] [-3.31799519e-01 9.39249490e-01 8.78605353e-02 1.94088048e+02] [ 3.18439232e-01 2.38462060e-02 9.47643295e-01 5.02244507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61710568099994 meters Centerline goodness [0,1] 0.9856946240146808 Centerline is valid? [True, True] Translation: X:216.60, Y:194.08, Z:50.23 [[ 8.88322600e-01 3.42363640e-01 -3.06055707e-01 2.16603879e+02] [-3.31860262e-01 9.39264387e-01 8.74710164e-02 1.94084672e+02] [ 3.17414122e-01 2.38652463e-02 9.47986669e-01 5.02328354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6471056809999 meters Centerline goodness [0,1] 0.9944916953337695 Centerline is valid? [True, True] Translation: X:216.63, Y:194.07, Z:50.24 [[ 8.89346464e-01 3.41134677e-01 -3.04450323e-01 2.16626748e+02] [-3.30692269e-01 9.39724408e-01 8.69520581e-02 1.94067018e+02] [ 3.15761762e-01 2.33488627e-02 9.48551180e-01 5.02441922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6771056809999 meters Centerline goodness [0,1] 0.9940590304843365 Centerline is valid? [True, True] Translation: X:216.65, Y:194.06, Z:50.25 [[ 8.89739565e-01 3.40546041e-01 -3.03960361e-01 2.16652450e+02] [-3.30143205e-01 9.39941208e-01 8.66948097e-02 1.94058905e+02] [ 3.15228443e-01 2.32146452e-02 9.48731843e-01 5.02532465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7071056809999 meters Centerline goodness [0,1] 0.9975553729110029 Centerline is valid? [True, True] Translation: X:216.68, Y:194.04, Z:50.26 [[ 8.90244787e-01 3.39035351e-01 -3.04169773e-01 2.16676462e+02] [-3.28570681e-01 9.40497067e-01 8.66404859e-02 1.94044651e+02] [ 3.15444967e-01 2.28100285e-02 9.48669687e-01 5.02623732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7371056809999 meters Centerline goodness [0,1] 0.9979486320725096 Centerline is valid? [True, True] Translation: X:216.70, Y:194.04, Z:50.27 [[ 8.90757724e-01 3.37881259e-01 -3.03952188e-01 2.16701508e+02] [-3.27378088e-01 9.40921735e-01 8.65440712e-02 1.94035622e+02] [ 3.15236839e-01 2.24174862e-02 9.48748223e-01 5.02713627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7671056809999 meters Centerline goodness [0,1] 0.9979512052348797 Centerline is valid? [True, True] Translation: X:216.73, Y:194.02, Z:50.28 [[ 8.92424651e-01 3.35224501e-01 -3.01997974e-01 2.16726038e+02] [-3.24729788e-01 9.41895546e-01 8.59263921e-02 1.94020785e+02] [ 3.13255178e-01 2.13849075e-02 9.49428185e-01 5.02816530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7971056809999 meters Centerline goodness [0,1] 0.9975915221579962 Centerline is valid? [True, True] Translation: X:216.75, Y:194.00, Z:50.29 [[ 8.93973802e-01 3.31366663e-01 -3.01673625e-01 2.16750546e+02] [-3.20714339e-01 9.43287796e-01 8.57347475e-02 1.94004327e+02] [ 3.12974686e-01 2.01064391e-02 9.49548618e-01 5.02892635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8271056809999 meters Centerline goodness [0,1] 0.998002985011877 Centerline is valid? [True, True] Translation: X:216.78, Y:193.99, Z:50.30 [[ 8.94590725e-01 3.29115101e-01 -3.02308924e-01 2.16776042e+02] [-3.18301831e-01 9.44090693e-01 8.58877678e-02 1.93991777e+02] [ 3.13674003e-01 1.93910835e-02 9.49332716e-01 5.02980214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8571056809999 meters Centerline goodness [0,1] 0.9979179810725552 Centerline is valid? [True, True] Translation: X:216.80, Y:193.97, Z:50.30 [[ 8.95816394e-01 3.24534401e-01 -3.03628737e-01 2.16801352e+02] [-3.13405265e-01 9.45703018e-01 8.61564970e-02 1.93973333e+02] [ 3.15103360e-01 1.79784422e-02 9.48887058e-01 5.03038434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8871056809999 meters Centerline goodness [0,1] 0.9977864912724513 Centerline is valid? [True, True] Translation: X:216.83, Y:193.96, Z:50.31 [[ 8.97298072e-01 3.18687923e-01 -3.05440955e-01 2.16826093e+02] [-3.07105977e-01 9.47723571e-01 8.66368941e-02 1.93956115e+02] [ 3.17083724e-01 1.60636247e-02 9.48261500e-01 5.03092643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9171056809999 meters Centerline goodness [0,1] 0.997614913069858 Centerline is valid? [True, True] Translation: X:216.85, Y:193.94, Z:50.32 [[ 8.97926853e-01 3.15797824e-01 -3.06592727e-01 2.16851268e+02] [-3.03972265e-01 9.48705829e-01 8.69374088e-02 1.93944142e+02] [ 3.18320952e-01 1.51322517e-02 9.47862219e-01 5.03176519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9471056809999 meters Centerline goodness [0,1] 0.9978751604148697 Centerline is valid? [True, True] Translation: X:216.88, Y:193.93, Z:50.33 [[ 9.00368551e-01 3.09946276e-01 -3.05401013e-01 2.16875209e+02] [-2.97897887e-01 9.50664674e-01 8.65651545e-02 1.93926619e+02] [ 3.17164502e-01 1.30377740e-02 9.48280916e-01 5.03286813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.9771056809999 meters Centerline goodness [0,1] 0.9977861645828502 Centerline is valid? [True, True] Translation: X:216.90, Y:193.91, Z:50.34 [[ 9.01497319e-01 3.07029501e-01 -3.05017164e-01 2.16899404e+02] [-2.94882107e-01 9.51623179e-01 8.63589444e-02 1.93914851e+02] [ 3.16776147e-01 1.20917472e-02 9.48423251e-01 5.03368835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0071056809999 meters Centerline goodness [0,1] 0.9982158599555014 Centerline is valid? [True, True] Translation: X:216.92, Y:193.90, Z:50.35 [[ 9.02867455e-01 3.01548174e-01 -3.06429532e-01 2.16924171e+02] [-2.88992809e-01 9.53395712e-01 8.67166230e-02 1.93897210e+02] [ 3.18297841e-01 1.02623144e-02 9.47935214e-01 5.03451692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0371056809999 meters Centerline goodness [0,1] 0.9977677631301858 Centerline is valid? [True, True] Translation: X:216.95, Y:193.88, Z:50.35 [[ 9.03751063e-01 2.98451143e-01 -3.06856531e-01 2.16949139e+02] [-2.85719327e-01 9.54379759e-01 8.67395092e-02 1.93884101e+02] [ 3.18745168e-01 9.28391776e-03 9.47794981e-01 5.03543040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06710568099993 meters Centerline goodness [0,1] 0.9980023131111345 Centerline is valid? [True, True] Translation: X:216.97, Y:193.87, Z:50.37 [[ 9.05027979e-01 2.95484380e-01 -3.05962968e-01 2.16972737e+02] [-2.82700937e-01 9.55311298e-01 8.63742081e-02 1.93874223e+02] [ 3.17812110e-01 8.32494272e-03 9.48117165e-01 5.03650437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.0971056809999 meters Centerline goodness [0,1] 0.9980957164082281 Centerline is valid? [True, True] Translation: X:217.00, Y:193.87, Z:50.37 [[ 9.05414049e-01 2.95343847e-01 -3.04954770e-01 2.16998169e+02] [-2.82652766e-01 9.55355075e-01 8.60470464e-02 1.93866772e+02] [ 3.16753553e-01 8.28810464e-03 9.48471662e-01 5.03748836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12710568099993 meters Centerline goodness [0,1] 0.9987627136416064 Centerline is valid? [True, True] Translation: X:217.02, Y:193.86, Z:50.38 [[ 9.04815770e-01 2.96600557e-01 -3.05510281e-01 2.17024685e+02] [-2.83972724e-01 9.54960448e-01 8.60815606e-02 1.93860004e+02] [ 3.17282073e-01 8.86863294e-03 9.48289741e-01 5.03830518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.1571056809999 meters Centerline goodness [0,1] 0.9980025651268897 Centerline is valid? [True, True] Translation: X:217.05, Y:193.85, Z:50.39 [[ 9.04643526e-01 2.96768462e-01 -3.05857109e-01 2.17051309e+02] [-2.84156262e-01 9.54906620e-01 8.60730240e-02 1.93853627e+02] [ 3.17608737e-01 9.04580899e-03 9.48178709e-01 5.03907288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18710568099993 meters Centerline goodness [0,1] 0.9983570992269941 Centerline is valid? [True, True] Translation: X:217.08, Y:193.84, Z:50.40 [[ 9.05455010e-01 2.95371661e-01 -3.04806180e-01 2.17075955e+02] [-2.82805975e-01 9.55343457e-01 8.56718092e-02 1.93842205e+02] [ 3.16499614e-01 8.62903994e-03 9.48553390e-01 5.04017813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2171056809999 meters Centerline goodness [0,1] 0.9984207534059085 Centerline is valid? [True, True] Translation: X:217.10, Y:193.83, Z:50.41 [[ 9.07090386e-01 2.92249404e-01 -3.02947713e-01 2.17100969e+02] [-2.79707218e-01 9.56311939e-01 8.50373348e-02 1.93830702e+02] [ 3.14564625e-01 7.60011309e-03 9.49205634e-01 5.04121572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24710568099994 meters Centerline goodness [0,1] 0.9982510851700451 Centerline is valid? [True, True] Translation: X:217.13, Y:193.82, Z:50.42 [[ 9.07934496e-01 2.89932040e-01 -3.02645608e-01 2.17127148e+02] [-2.77326752e-01 9.57022354e-01 8.48415363e-02 1.93821590e+02] [ 3.14236892e-01 6.90116609e-03 9.49319519e-01 5.04217425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2771056809999 meters Centerline goodness [0,1] 0.9981059011701322 Centerline is valid? [True, True] Translation: X:217.15, Y:193.81, Z:50.43 [[ 9.09852254e-01 2.84325950e-01 -3.02204616e-01 2.17151243e+02] [-2.71490141e-01 9.58714336e-01 8.46163345e-02 1.93809948e+02] [ 3.13786518e-01 5.05721134e-03 9.49480092e-01 5.04295368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30710568099994 meters Centerline goodness [0,1] 0.9975943435695758 Centerline is valid? [True, True] Translation: X:217.18, Y:193.80, Z:50.44 [[ 9.10851902e-01 2.81558923e-01 -3.01783674e-01 2.17176304e+02] [-2.68624517e-01 9.59535024e-01 8.44594924e-02 1.93800336e+02] [ 3.13352328e-01 4.13640437e-03 9.49627932e-01 5.04383059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3371056809999 meters Centerline goodness [0,1] 0.9972551466001248 Centerline is valid? [True, True] Translation: X:217.20, Y:193.79, Z:50.45 [[ 9.13365060e-01 2.75491727e-01 -2.99780879e-01 2.17200356e+02] [-2.62425956e-01 9.61301203e-01 8.38606821e-02 1.93788615e+02] [ 3.11282644e-01 2.07486696e-03 9.50315111e-01 5.04497754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36710568099994 meters Centerline goodness [0,1] 0.9972790254725077 Centerline is valid? [True, True] Translation: X:217.23, Y:193.78, Z:50.46 [[ 9.14797075e-01 2.71601856e-01 -2.98962781e-01 2.17225494e+02] [-2.58440422e-01 9.62409322e-01 8.35275075e-02 1.93778812e+02] [ 3.10410794e-01 8.53347738e-04 9.50602131e-01 5.04595328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3971056809999 meters Centerline goodness [0,1] 0.9969233345193496 Centerline is valid? [True, True] Translation: X:217.25, Y:193.77, Z:50.47 [[ 9.17572043e-01 2.64418038e-01 -2.96891641e-01 2.17248757e+02] [-2.51108765e-01 9.64407048e-01 8.28458408e-02 1.93766536e+02] [ 3.08230326e-01 -1.46493425e-03 9.51310633e-01 5.04704507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4271056809999 meters Centerline goodness [0,1] 0.9967771154129715 Centerline is valid? [True, True] Translation: X:217.27, Y:193.76, Z:50.48 [[ 9.19278551e-01 2.60775464e-01 -2.94827243e-01 2.17273282e+02] [-2.47484097e-01 9.65395897e-01 8.22337206e-02 1.93756848e+02] [ 3.06069547e-01 -2.63064161e-03 9.52005521e-01 5.04805069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4571056809999 meters Centerline goodness [0,1] 0.9963078610911853 Centerline is valid? [True, True] Translation: X:217.30, Y:193.75, Z:50.49 [[ 9.21907239e-01 2.55052821e-01 -2.91607788e-01 2.17296739e+02] [-2.41788860e-01 9.66916907e-01 8.13009311e-02 1.93747324e+02] [ 3.02696532e-01 -4.44440226e-03 9.53076627e-01 5.04927500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4871056809999 meters Centerline goodness [0,1] 0.9959415413731468 Centerline is valid? [True, True] Translation: X:217.32, Y:193.74, Z:50.50 [[ 9.22437188e-01 2.52722342e-01 -2.91960704e-01 2.17323031e+02] [-2.39322413e-01 9.67524974e-01 8.13646609e-02 1.93742642e+02] [ 3.03041940e-01 -5.18104870e-03 9.52963136e-01 5.05021286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5171056809999 meters Centerline goodness [0,1] 0.9959434593509535 Centerline is valid? [True, True] Translation: X:217.35, Y:193.74, Z:50.51 [[ 9.22248288e-01 2.52947770e-01 -2.92361969e-01 2.17350330e+02] [-2.39531507e-01 9.67466592e-01 8.14435417e-02 1.93740309e+02] [ 3.03451400e-01 -5.08126386e-03 9.52833369e-01 5.05098083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5471056809999 meters Centerline goodness [0,1] 0.9958857287534814 Centerline is valid? [True, True] Translation: X:217.38, Y:193.74, Z:50.52 [[ 9.21937360e-01 2.54694772e-01 -2.91825423e-01 2.17377699e+02] [-2.41451220e-01 9.67011578e-01 8.11783052e-02 1.93737869e+02] [ 3.02874253e-01 -4.37970802e-03 9.53020464e-01 5.05168048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5771056809999 meters Centerline goodness [0,1] 0.9958361959486186 Centerline is valid? [True, True] Translation: X:217.41, Y:193.74, Z:50.52 [[ 9.21030929e-01 2.56517568e-01 -2.93088323e-01 2.17406237e+02] [-2.43257095e-01 9.66532241e-01 8.14948592e-02 1.93736062e+02] [ 3.04184177e-01 -3.76347192e-03 9.52605807e-01 5.05238013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6071056809999 meters Centerline goodness [0,1] 0.99634944612286 Centerline is valid? [True, True] Translation: X:217.43, Y:193.74, Z:50.53 [[ 9.19683008e-01 2.59585201e-01 -2.94616171e-01 2.17434461e+02] [-2.46367912e-01 9.65716535e-01 8.18194684e-02 1.93738294e+02] [ 3.05754831e-01 -2.66400390e-03 9.52106552e-01 5.05322675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6371056809999 meters Centerline goodness [0,1] 0.9964480079764031 Centerline is valid? [True, True] Translation: X:217.46, Y:193.74, Z:50.54 [[ 9.18436346e-01 2.62577890e-01 -2.95850521e-01 2.17463041e+02] [-2.49414810e-01 9.64909435e-01 8.21098983e-02 1.93737316e+02] [ 3.07029203e-01 -1.62321333e-03 9.51698709e-01 5.05406049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6671056809999 meters Centerline goodness [0,1] 0.9971409350824083 Centerline is valid? [True, True] Translation: X:217.49, Y:193.74, Z:50.55 [[ 9.15407567e-01 2.69248015e-01 -2.99223149e-01 2.17492607e+02] [-2.56154543e-01 9.63070605e-01 8.29449263e-02 1.93742615e+02] [ 3.10505775e-01 7.18955777e-04 9.50571221e-01 5.05460215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6971056809999 meters Centerline goodness [0,1] 0.9968366443122865 Centerline is valid? [True, True] Translation: X:217.52, Y:193.75, Z:50.55 [[ 9.12076718e-01 2.78191717e-01 -3.01206622e-01 2.17522043e+02] [-2.65434669e-01 9.60517603e-01 8.33688809e-02 1.93745803e+02] [ 3.12506795e-01 3.91186492e-03 9.49907469e-01 5.05505175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7271056809999 meters Centerline goodness [0,1] 0.9972640218878249 Centerline is valid? [True, True] Translation: X:217.55, Y:193.74, Z:50.56 [[ 9.10909598e-01 2.82042277e-01 -3.01157529e-01 2.17548994e+02] [-2.69513359e-01 9.59387393e-01 8.32969356e-02 1.93743746e+02] [ 3.12419994e-01 5.28999916e-03 9.49929346e-01 5.05591579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7571056809999 meters Centerline goodness [0,1] 0.9973067940328655 Centerline is valid? [True, True] Translation: X:217.58, Y:193.75, Z:50.57 [[ 9.08800567e-01 2.88880857e-01 -3.01047137e-01 2.17578080e+02] [-2.76738287e-01 9.57334304e-01 8.32283021e-02 1.93745222e+02] [ 3.12245815e-01 7.67334100e-03 9.49970353e-01 5.05693399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.7871056809999 meters Centerline goodness [0,1] 0.9975087615589241 Centerline is valid? [True, True] Translation: X:217.61, Y:193.75, Z:50.58 [[ 9.06956995e-01 2.93814875e-01 -3.01830795e-01 2.17606705e+02] [-2.81881886e-01 9.55815886e-01 8.34181835e-02 1.93747000e+02] [ 3.13004172e-01 9.42392889e-03 9.49704995e-01 5.05772399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81710568099993 meters Centerline goodness [0,1] 0.9972780790412086 Centerline is valid? [True, True] Translation: X:217.63, Y:193.74, Z:50.59 [[ 9.06688377e-01 2.94614140e-01 -3.01858735e-01 2.17632070e+02] [-2.82734262e-01 9.55566677e-01 8.33886266e-02 1.93737268e+02] [ 3.13013617e-01 9.73830833e-03 9.49698711e-01 5.05866636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.8471056809999 meters Centerline goodness [0,1] 0.9972262195249119 Centerline is valid? [True, True] Translation: X:217.66, Y:193.73, Z:50.60 [[ 9.06353367e-01 2.95929764e-01 -3.01577767e-01 2.17658454e+02] [-2.84180749e-01 9.55154204e-01 8.31970448e-02 1.93732326e+02] [ 3.12673753e-01 1.02966740e-02 9.49804771e-01 5.05953227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87710568099993 meters Centerline goodness [0,1] 0.9976546157584466 Centerline is valid? [True, True] Translation: X:217.68, Y:193.72, Z:50.61 [[ 9.07506416e-01 2.94548388e-01 -2.99455093e-01 2.17683335e+02] [-2.82907276e-01 9.55586476e-01 8.25709390e-02 1.93720901e+02] [ 3.10476374e-01 9.78436782e-03 9.50530740e-01 5.06064114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9071056809999 meters Centerline goodness [0,1] 0.9975740955595401 Centerline is valid? [True, True] Translation: X:217.71, Y:193.71, Z:50.62 [[ 9.08011944e-01 2.93857991e-01 -2.98599717e-01 2.17707857e+02] [-2.82284887e-01 9.55800565e-01 8.22223977e-02 1.93712290e+02] [ 3.09563487e-01 9.63126825e-03 9.50829998e-01 5.06151252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93710568099993 meters Centerline goodness [0,1] 0.9972500367361504 Centerline is valid? [True, True] Translation: X:217.73, Y:193.70, Z:50.63 [[ 9.09409549e-01 2.90227229e-01 -2.97896673e-01 2.17731914e+02] [-2.78539032e-01 9.56920610e-01 8.19692289e-02 1.93698740e+02] [ 3.08853168e-01 8.43225161e-03 9.51072351e-01 5.06251572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.9671056809999 meters Centerline goodness [0,1] 0.997690773590847 Centerline is valid? [True, True] Translation: X:217.76, Y:193.68, Z:50.63 [[ 9.11530595e-01 2.83550848e-01 -2.97843736e-01 2.17755073e+02] [-2.71529255e-01 9.58937172e-01 8.19229093e-02 1.93682375e+02] [ 3.08842741e-01 6.19804949e-03 9.51092922e-01 5.06339571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99710568099994 meters Centerline goodness [0,1] 0.997690773590847 Centerline is valid? [True, True] Translation: X:217.78, Y:193.68, Z:50.64 [[ 9.11635921e-01 2.83204369e-01 -2.97851025e-01 2.17780246e+02] [-2.71173415e-01 9.59040123e-01 8.18964006e-02 1.93675683e+02] [ 3.08844502e-01 6.10957918e-03 9.51092922e-01 5.06424103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0271056809999 meters Centerline goodness [0,1] 0.99799595014926 Centerline is valid? [True, True] Translation: X:217.80, Y:193.66, Z:50.65 [[ 9.12853940e-01 2.79116603e-01 -2.97979206e-01 2.17804569e+02] [-2.66903159e-01 9.60244948e-01 8.18067393e-02 1.93663371e+02] [ 3.08966646e-01 4.85398710e-03 9.51060487e-01 5.06512864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05710568099994 meters Centerline goodness [0,1] 0.9975985338417139 Centerline is valid? [True, True] Translation: X:217.83, Y:193.64, Z:50.66 [[ 9.16370438e-01 2.69156462e-01 -2.96344428e-01 2.17826313e+02] [-2.56582541e-01 9.63095268e-01 8.13197651e-02 1.93641695e+02] [ 3.07295657e-01 1.51777774e-03 9.51612881e-01 5.06620562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0871056809999 meters Centerline goodness [0,1] 0.9979820062221475 Centerline is valid? [True, True] Translation: X:217.85, Y:193.63, Z:50.67 [[ 9.17582798e-01 2.65654929e-01 -2.95752038e-01 2.17850712e+02] [-2.52964608e-01 9.64068109e-01 8.11269911e-02 1.93630340e+02] [ 3.06676893e-01 3.74066639e-04 9.51813608e-01 5.06722550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11710568099994 meters Centerline goodness [0,1] 0.9978105386075026 Centerline is valid? [True, True] Translation: X:217.88, Y:193.62, Z:50.68 [[ 9.17818339e-01 2.64524561e-01 -2.96034209e-01 2.17875033e+02] [-2.51789317e-01 9.64378942e-01 8.10888159e-02 1.93621067e+02] [ 3.06939140e-01 1.13448976e-04 9.51729138e-01 5.06810826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1471056809999 meters Centerline goodness [0,1] 0.9979231350172023 Centerline is valid? [True, True] Translation: X:217.90, Y:193.61, Z:50.69 [[ 9.17987525e-01 2.61841631e-01 -2.97889014e-01 2.17900109e+02] [-2.48821858e-01 9.65110575e-01 8.15430033e-02 1.93610165e+02] [ 3.08847191e-01 -7.34161688e-04 9.51111389e-01 5.06881781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1771056809999 meters Centerline goodness [0,1] 0.9979072930836036 Centerline is valid? [True, True] Translation: X:217.92, Y:193.60, Z:50.70 [[ 9.18265893e-01 2.59362780e-01 -2.99196754e-01 2.17924929e+02] [-2.46136512e-01 9.65778876e-01 8.17800679e-02 1.93598910e+02] [ 3.10168611e-01 -1.45260167e-03 9.50680452e-01 5.06953349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2071056809999 meters Centerline goodness [0,1] 0.9979409601848934 Centerline is valid? [True, True] Translation: X:217.95, Y:193.59, Z:50.70 [[ 9.19276870e-01 2.56041797e-01 -2.98952561e-01 2.17950338e+02] [-2.42678590e-01 9.66662393e-01 8.16757030e-02 1.93588190e+02] [ 3.09898592e-01 -2.53319841e-03 9.50766241e-01 5.07044224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2371056809999 meters Centerline goodness [0,1] 0.9978445118761118 Centerline is valid? [True, True] Translation: X:217.97, Y:193.57, Z:50.71 [[ 9.20741202e-01 2.49824293e-01 -2.99705624e-01 2.17974684e+02] [-2.36104214e-01 9.68280572e-01 8.17773481e-02 1.93571710e+02] [ 3.10629101e-01 -4.53401304e-03 9.50520386e-01 5.07125583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2671056809999 meters Centerline goodness [0,1] 0.9976038671500604 Centerline is valid? [True, True] Translation: X:218.00, Y:193.56, Z:50.72 [[ 9.21287706e-01 2.47271079e-01 -3.00143261e-01 2.18000348e+02] [-2.33411383e-01 9.68931855e-01 8.17935649e-02 1.93561139e+02] [ 3.11043550e-01 -5.29855207e-03 9.50380890e-01 5.07213536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2971056809999 meters Centerline goodness [0,1] 0.9976197497577621 Centerline is valid? [True, True] Translation: X:218.03, Y:193.55, Z:50.73 [[ 9.22554435e-01 2.42846620e-01 -2.99864692e-01 2.18026219e+02] [-2.28818621e-01 9.70041695e-01 8.16158563e-02 1.93554495e+02] [ 3.10701389e-01 -6.68044481e-03 9.50484097e-01 5.07317243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3271056809999 meters Centerline goodness [0,1] 0.9975883401488937 Centerline is valid? [True, True] Translation: X:218.05, Y:193.55, Z:50.74 [[ 9.22467278e-01 2.43573079e-01 -2.99543445e-01 2.18052013e+02] [-2.29649419e-01 9.69861986e-01 8.14178910e-02 1.93548508e+02] [ 3.10347007e-01 -6.31536220e-03 9.50602363e-01 5.07417246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3571056809999 meters Centerline goodness [0,1] 0.9977676691095948 Centerline is valid? [True, True] Translation: X:218.08, Y:193.55, Z:50.75 [[ 9.22004173e-01 2.47443815e-01 -2.97791643e-01 2.18079819e+02] [-2.33896442e-01 9.68889648e-01 8.09030596e-02 1.93548122e+02] [ 3.08546202e-01 -4.94055281e-03 9.51196527e-01 5.07529160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3871056809999 meters Centerline goodness [0,1] 0.99799595014926 Centerline is valid? [True, True] Translation: X:218.11, Y:193.55, Z:50.76 [[ 9.20838812e-01 2.51692257e-01 -2.97837018e-01 2.18106846e+02] [-2.38392735e-01 9.67801324e-01 8.08053258e-02 1.93545611e+02] [ 3.08585136e-01 -3.40649885e-03 9.51190627e-01 5.07617103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4171056809999 meters Centerline goodness [0,1] 0.9977642658643098 Centerline is valid? [True, True] Translation: X:218.14, Y:193.55, Z:50.77 [[ 9.19556393e-01 2.57946039e-01 -2.96445411e-01 2.18135682e+02] [-2.45102591e-01 9.66158499e-01 8.03895187e-02 1.93547558e+02] [ 3.07149411e-01 -1.26315764e-03 9.51660467e-01 5.07703462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4471056809999 meters Centerline goodness [0,1] 0.9975609756097561 Centerline is valid? [True, True] Translation: X:218.16, Y:193.55, Z:50.78 [[ 9.18017198e-01 2.64743997e-01 -2.95220326e-01 2.18164084e+02] [-2.52384450e-01 9.64318093e-01 7.99543900e-02 1.93550823e+02] [ 3.05853747e-01 1.10951460e-03 9.52077862e-01 5.07799704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.4771056809999 meters Centerline goodness [0,1] 0.9978462696554031 Centerline is valid? [True, True] Translation: X:218.19, Y:193.55, Z:50.79 [[ 9.17008226e-01 2.69620955e-01 -2.93939541e-01 2.18192187e+02] [-2.57653176e-01 9.62962335e-01 7.94882562e-02 1.93549913e+02] [ 3.04484406e-01 2.84307168e-03 9.52513078e-01 5.07897911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5071056809999 meters Centerline goodness [0,1] 0.9979904125934144 Centerline is valid? [True, True] Translation: X:218.22, Y:193.56, Z:50.80 [[ 9.13928639e-01 2.80115748e-01 -2.93716889e-01 2.18222225e+02] [-2.68727985e-01 9.59944646e-01 7.93192747e-02 1.93555662e+02] [ 3.04170533e-01 6.43779105e-03 9.52595844e-01 5.07991681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5371056809999 meters Centerline goodness [0,1] 0.9980214691643865 Centerline is valid? [True, True] Translation: X:218.25, Y:193.55, Z:50.81 [[ 9.12007117e-01 2.84974063e-01 -2.95013224e-01 2.18251598e+02] [-2.73738334e-01 9.58500844e-01 7.96458250e-02 1.93552028e+02] [ 3.05467418e-01 8.11886909e-03 9.52167916e-01 5.08059105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56710568099993 meters Centerline goodness [0,1] 0.9980231751172426 Centerline is valid? [True, True] Translation: X:218.28, Y:193.55, Z:50.81 [[ 9.09082567e-01 2.90899012e-01 -2.98239250e-01 2.18280891e+02] [-2.79726365e-01 9.56698923e-01 8.05005047e-02 1.93548371e+02] [ 3.08742687e-01 1.02437757e-02 9.51090437e-01 5.08092223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.5971056809999 meters Centerline goodness [0,1] 0.9982560460571933 Centerline is valid? [True, True] Translation: X:218.31, Y:193.54, Z:50.82 [[ 9.08833969e-01 2.91586997e-01 -2.98325059e-01 2.18306967e+02] [-2.80451637e-01 9.56486629e-01 8.04997408e-02 1.93541175e+02] [ 3.08816607e-01 1.05048522e-02 9.51063589e-01 5.08173038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62710568099993 meters Centerline goodness [0,1] 0.9981655201167396 Centerline is valid? [True, True] Translation: X:218.33, Y:193.53, Z:50.83 [[ 9.09369298e-01 2.90780444e-01 -2.97479768e-01 2.18332741e+02] [-2.79679902e-01 9.56735027e-01 8.02324143e-02 1.93529950e+02] [ 3.07939331e-01 1.02382181e-02 9.51350907e-01 5.08251099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.6571056809999 meters Centerline goodness [0,1] 0.9986087103166238 Centerline is valid? [True, True] Translation: X:218.36, Y:193.51, Z:50.83 [[ 9.10133048e-01 2.87575853e-01 -2.98258216e-01 2.18357794e+02] [-2.76284078e-01 9.57712801e-01 8.03324255e-02 1.93514776e+02] [ 3.08747378e-01 9.29080091e-03 9.51098700e-01 5.08311698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68710568099993 meters Centerline goodness [0,1] 0.9986438556227832 Centerline is valid? [True, True] Translation: X:218.38, Y:193.51, Z:50.84 [[ 9.09903727e-01 2.86677899e-01 -2.99818261e-01 2.18384342e+02] [-2.75228487e-01 9.57984083e-01 8.07203589e-02 1.93505041e+02] [ 3.10361865e-01 9.07077111e-03 9.50575212e-01 5.08387869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7171056809999 meters Centerline goodness [0,1] 0.9984215510891298 Centerline is valid? [True, True] Translation: X:218.41, Y:193.49, Z:50.85 [[ 9.10833153e-01 2.81571099e-01 -3.01828897e-01 2.18408777e+02] [-2.69727454e-01 9.59511087e-01 8.11515541e-02 1.93491334e+02] [ 3.12458105e-01 7.49601399e-03 9.49901964e-01 5.08452646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74710568099994 meters Centerline goodness [0,1] 0.9985367892976589 Centerline is valid? [True, True] Translation: X:218.43, Y:193.48, Z:50.85 [[ 9.11071750e-01 2.79801858e-01 -3.02752681e-01 2.18434394e+02] [-2.67802272e-01 9.60032588e-01 8.13595336e-02 1.93479982e+02] [ 3.13416988e-01 6.95348321e-03 9.49590143e-01 5.08527062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7771056809999 meters Centerline goodness [0,1] 0.9983600698021572 Centerline is valid? [True, True] Translation: X:218.46, Y:193.46, Z:50.86 [[ 9.12416818e-01 2.74915917e-01 -3.03177816e-01 2.18458166e+02] [-2.62654378e-01 9.61453159e-01 8.13664582e-02 1.93460739e+02] [ 3.13860204e-01 5.39085595e-03 9.49453901e-01 5.08603383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80710568099994 meters Centerline goodness [0,1] 0.9983590002524615 Centerline is valid? [True, True] Translation: X:218.48, Y:193.45, Z:50.87 [[ 9.12994356e-01 2.72397068e-01 -3.03712269e-01 2.18482970e+02] [-2.59966199e-01 9.62174093e-01 8.14775409e-02 1.93447808e+02] [ 3.14418320e-01 4.56638934e-03 9.49273547e-01 5.08690611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8371056809999 meters Centerline goodness [0,1] 0.9982945214132312 Centerline is valid? [True, True] Translation: X:218.51, Y:193.43, Z:50.88 [[ 9.14274964e-01 2.66949184e-01 -3.04695625e-01 2.18507108e+02] [-2.54177710e-01 9.63706497e-01 8.16301409e-02 1.93431751e+02] [ 3.15428253e-01 2.81444199e-03 9.48945255e-01 5.08786047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86710568099994 meters Centerline goodness [0,1] 0.9980288128840145 Centerline is valid? [True, True] Translation: X:218.53, Y:193.42, Z:50.89 [[ 9.15122363e-01 2.64321400e-01 -3.04442538e-01 2.18532242e+02] [-2.51467312e-01 9.64432535e-01 8.14498433e-02 1.93422047e+02] [ 3.15143225e-01 2.02077360e-03 9.49041972e-01 5.08879652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8971056809999 meters Centerline goodness [0,1] 0.9985740946549518 Centerline is valid? [True, True] Translation: X:218.56, Y:193.41, Z:50.90 [[ 9.16281542e-01 2.59858702e-01 -3.04797624e-01 2.18556061e+02] [-2.46769573e-01 9.65646467e-01 8.14351243e-02 1.93409547e+02] [ 3.15488374e-01 5.97278210e-04 9.48929254e-01 5.08975173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9271056809999 meters Centerline goodness [0,1] 0.9986953411051723 Centerline is valid? [True, True] Translation: X:218.58, Y:193.40, Z:50.91 [[ 9.16951715e-01 2.57149684e-01 -3.05079648e-01 2.18580865e+02] [-2.43903368e-01 9.66371540e-01 8.14689702e-02 1.93398481e+02] [ 3.15770010e-01 -2.93158134e-04 9.48835715e-01 5.09055616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9571056809999 meters Centerline goodness [0,1] 0.9983821150169142 Centerline is valid? [True, True] Translation: X:218.61, Y:193.38, Z:50.91 [[ 9.17537156e-01 2.53192316e-01 -3.06625535e-01 2.18605301e+02] [-2.39634144e-01 9.67414745e-01 8.17568848e-02 1.93383288e+02] [ 3.17334279e-01 -1.53703186e-03 9.48312498e-01 5.09107206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9871056809999 meters Centerline goodness [0,1] 0.9985065836523495 Centerline is valid? [True, True] Translation: X:218.63, Y:193.37, Z:50.92 [[ 9.17990709e-01 2.50002277e-01 -3.07882964e-01 2.18631297e+02] [-2.36168737e-01 9.68241733e-01 8.20504345e-02 1.93373493e+02] [ 3.18617930e-01 -2.60920572e-03 9.47879637e-01 5.09191600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0171056809999 meters Centerline goodness [0,1] 0.9980178601235186 Centerline is valid? [True, True] Translation: X:218.66, Y:193.36, Z:50.93 [[ 9.19356110e-01 2.45655720e-01 -3.07307029e-01 2.18655131e+02] [-2.31675438e-01 9.69348903e-01 8.17875016e-02 1.93362811e+02] [ 3.17979299e-01 -3.99634901e-03 9.48089234e-01 5.09285186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0471056809999 meters Centerline goodness [0,1] 0.9984208199103026 Centerline is valid? [True, True] Translation: X:218.68, Y:193.36, Z:50.94 [[ 9.20059552e-01 2.43735627e-01 -3.06730117e-01 2.18680830e+02] [-2.29725450e-01 9.69830852e-01 8.15741095e-02 1.93355490e+02] [ 3.17358848e-01 -4.58932455e-03 9.48294416e-01 5.09405347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0771056809999 meters Centerline goodness [0,1] 0.9985548527625351 Centerline is valid? [True, True] Translation: X:218.71, Y:193.35, Z:50.95 [[ 9.20900240e-01 2.44286916e-01 -3.03754259e-01 2.18706079e+02] [-2.30620850e-01 9.69693730e-01 8.06727617e-02 1.93350394e+02] [ 3.14255900e-01 -4.23950031e-03 9.49328845e-01 5.09537353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1071056809999 meters Centerline goodness [0,1] 0.9981189650127492 Centerline is valid? [True, True] Translation: X:218.73, Y:193.35, Z:50.97 [[ 9.21178734e-01 2.47630909e-01 -3.00181068e-01 2.18731435e+02] [-2.34501597e-01 9.68849959e-01 7.96163211e-02 1.93348178e+02] [ 3.10545877e-01 -2.94792211e-03 9.50553822e-01 5.09657110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1371056809999 meters Centerline goodness [0,1] 0.9982938349181248 Centerline is valid? [True, True] Translation: X:218.76, Y:193.34, Z:50.98 [[ 9.20875992e-01 2.49927450e-01 -2.99205077e-01 2.18758500e+02] [-2.37016353e-01 9.68262231e-01 7.93189794e-02 1.93344242e+02] [ 3.09532965e-01 -2.12644783e-03 9.50886335e-01 5.09750432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1671056809999 meters Centerline goodness [0,1] 0.9983107051241945 Centerline is valid? [True, True] Translation: X:218.79, Y:193.34, Z:50.99 [[ 9.20318774e-01 2.55160809e-01 -2.96489992e-01 2.18785518e+02] [-2.42787681e-01 9.66898597e-01 7.84936038e-02 1.93344603e+02] [ 3.06704248e-01 -2.55019891e-04 9.51804832e-01 5.09860874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1971056809999 meters Centerline goodness [0,1] 0.9985933825999328 Centerline is valid? [True, True] Translation: X:218.81, Y:193.34, Z:51.00 [[ 9.20514655e-01 2.57121310e-01 -2.94179201e-01 2.18811727e+02] [-2.45054117e-01 9.66379038e-01 7.78462203e-02 1.93341484e+02] [ 3.04304536e-01 4.31237733e-04 9.52574702e-01 5.09963885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2271056809999 meters Centerline goodness [0,1] 0.9982044429597461 Centerline is valid? [True, True] Translation: X:218.84, Y:193.34, Z:51.01 [[ 9.19561743e-01 2.61590135e-01 -2.93218013e-01 2.18838553e+02] [-2.49865040e-01 9.65176916e-01 7.74660062e-02 1.93341490e+02] [ 3.03271601e-01 2.03015480e-03 9.52901996e-01 5.10056131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2571056809999 meters Centerline goodness [0,1] 0.9985323716873532 Centerline is valid? [True, True] Translation: X:218.87, Y:193.34, Z:51.01 [[ 9.17699785e-01 2.67463822e-01 -2.93751949e-01 2.18867699e+02] [-2.55999952e-01 9.63559539e-01 7.75695825e-02 1.93343473e+02] [ 3.03794550e-01 4.01489577e-03 9.52729107e-01 5.10126541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.2871056809999 meters Centerline goodness [0,1] 0.998425758784266 Centerline is valid? [True, True] Translation: X:218.90, Y:193.34, Z:51.02 [[ 9.16677787e-01 2.70312866e-01 -2.94334486e-01 2.18895599e+02] [-2.58980144e-01 9.62759140e-01 7.76152259e-02 1.93340918e+02] [ 3.04353611e-01 5.07863384e-03 9.52545583e-01 5.10200488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31710568099993 meters Centerline goodness [0,1] 0.9987642167438159 Centerline is valid? [True, True] Translation: X:218.93, Y:193.34, Z:51.03 [[ 9.13736263e-01 2.76712745e-01 -2.97516551e-01 2.18925533e+02] [-2.65493731e-01 9.60924167e-01 7.83442626e-02 1.93339683e+02] [ 3.07569700e-01 7.40278528e-03 9.51496757e-01 5.10257230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.3471056809999 meters Centerline goodness [0,1] 0.9987690124976528 Centerline is valid? [True, True] Translation: X:218.95, Y:193.34, Z:51.03 [[ 9.12085654e-01 2.80224782e-01 -2.99288875e-01 2.18953758e+02] [-2.69058098e-01 9.59895361e-01 7.87948998e-02 1.93335849e+02] [ 3.09366286e-01 8.65839772e-03 9.50903535e-01 5.10320316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37710568099993 meters Centerline goodness [0,1] 0.9989261349279879 Centerline is valid? [True, True] Translation: X:218.98, Y:193.33, Z:51.04 [[ 9.09402731e-01 2.85447786e-01 -3.02499973e-01 2.18982236e+02] [-2.74352298e-01 9.58334901e-01 7.95300779e-02 1.93332189e+02] [ 3.12597967e-01 1.06666929e-02 9.49825633e-01 5.10380899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4071056809999 meters Centerline goodness [0,1] 0.9989513862673546 Centerline is valid? [True, True] Translation: X:219.01, Y:193.33, Z:51.05 [[ 9.08730900e-01 2.87020596e-01 -3.03030243e-01 2.19009156e+02] [-2.75978393e-01 9.57858306e-01 7.96454110e-02 1.93328409e+02] [ 3.13119909e-01 1.12535535e-02 9.49646924e-01 5.10459513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43710568099993 meters Centerline goodness [0,1] 0.9990721801657424 Centerline is valid? [True, True] Translation: X:219.04, Y:193.32, Z:51.05 [[ 9.07753553e-01 2.88568757e-01 -3.04485731e-01 2.19035107e+02] [-2.77516362e-01 9.57385335e-01 7.99874331e-02 1.93323246e+02] [ 3.14592047e-01 1.18908958e-02 9.49152491e-01 5.10531242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.4671056809999 meters Centerline goodness [0,1] 0.9989968232737001 Centerline is valid? [True, True] Translation: X:219.06, Y:193.32, Z:51.06 [[ 9.07480413e-01 2.88727024e-01 -3.05149154e-01 2.19062076e+02] [-2.77657010e-01 9.57335706e-01 8.00932620e-02 1.93315089e+02] [ 3.15255270e-01 1.20437354e-02 9.48930484e-01 5.10601236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49710568099994 meters Centerline goodness [0,1] 0.9986956430269497 Centerline is valid? [True, True] Translation: X:219.09, Y:193.30, Z:51.06 [[ 9.07862154e-01 2.84936166e-01 -3.07567375e-01 2.19087387e+02] [-2.73510740e-01 9.58484186e-01 8.06222039e-02 1.93298225e+02] [ 3.17770647e-01 1.09291326e-02 9.48104620e-01 5.10645935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5271056809999 meters Centerline goodness [0,1] 0.9988073567258804 Centerline is valid? [True, True] Translation: X:219.11, Y:193.29, Z:51.07 [[ 9.08407900e-01 2.81732068e-01 -3.08904724e-01 2.19113787e+02] [-2.70036497e-01 9.59442143e-01 8.09386488e-02 1.93286245e+02] [ 3.19179223e-01 9.89024180e-03 9.47642763e-01 5.10710431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55710568099994 meters Centerline goodness [0,1] 0.9988272005696455 Centerline is valid? [True, True] Translation: X:219.14, Y:193.27, Z:51.08 [[ 9.10756281e-01 2.73048869e-01 -3.09785913e-01 2.19137496e+02] [-2.60828987e-01 9.61974946e-01 8.10706086e-02 1.93267589e+02] [ 3.20142525e-01 6.96557984e-03 9.47343784e-01 5.10786016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5871056809999 meters Centerline goodness [0,1] 0.9982103379303084 Centerline is valid? [True, True] Translation: X:219.16, Y:193.25, Z:51.09 [[ 9.12230214e-01 2.68028106e-01 -3.09833780e-01 2.19161746e+02] [-2.55529569e-01 9.63396926e-01 8.10617213e-02 1.93253833e+02] [ 3.20219730e-01 5.22474077e-03 9.47328890e-01 5.10877782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61710568099994 meters Centerline goodness [0,1] 0.9986310025273799 Centerline is valid? [True, True] Translation: X:219.18, Y:193.24, Z:51.10 [[ 9.13627284e-01 2.61718495e-01 -3.11108688e-01 2.19184013e+02] [-2.48768617e-01 9.65139410e-01 8.13639675e-02 1.93235939e+02] [ 3.21557711e-01 3.05773756e-03 9.46885045e-01 5.10962322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6471056809999 meters Centerline goodness [0,1] 0.9982490515696002 Centerline is valid? [True, True] Translation: X:219.21, Y:193.22, Z:51.11 [[ 9.14666401e-01 2.59605406e-01 -3.09823188e-01 2.19206836e+02] [-2.46659874e-01 9.65711938e-01 8.09898712e-02 1.93222101e+02] [ 3.20225360e-01 2.34223459e-03 9.47338500e-01 5.11066042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6771056809999 meters Centerline goodness [0,1] 0.9982540650834052 Centerline is valid? [True, True] Translation: X:219.23, Y:193.21, Z:51.12 [[ 9.15033003e-01 2.58784724e-01 -3.09427002e-01 2.19230466e+02] [-2.45841181e-01 9.65932754e-01 8.08457131e-02 1.93212883e+02] [ 3.19807311e-01 2.09340382e-03 9.47480291e-01 5.11183671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7071056809999 meters Centerline goodness [0,1] 0.9979746518280334 Centerline is valid? [True, True] Translation: X:219.26, Y:193.21, Z:51.13 [[ 9.14473117e-01 2.60342935e-01 -3.09774877e-01 2.19255922e+02] [-2.47499779e-01 9.65512233e-01 8.08083406e-02 1.93206533e+02] [ 3.20129313e-01 2.77215828e-03 9.47369800e-01 5.11264862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7371056809999 meters Centerline goodness [0,1] 0.9981917197586156 Centerline is valid? [True, True] Translation: X:219.28, Y:193.20, Z:51.14 [[ 9.14533724e-01 2.60320533e-01 -3.09614741e-01 2.19280715e+02] [-2.47504554e-01 9.65518171e-01 8.07227159e-02 1.93196591e+02] [ 3.19952439e-01 2.80741255e-03 9.47429446e-01 5.11366124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7671056809999 meters Centerline goodness [0,1] 0.9981574539363484 Centerline is valid? [True, True] Translation: X:219.30, Y:193.18, Z:51.15 [[ 9.15767314e-01 2.58194388e-01 -3.07743211e-01 2.19304836e+02] [-2.45462756e-01 9.66090526e-01 8.01069937e-02 1.93184733e+02] [ 3.17990977e-01 2.18013028e-03 9.48091233e-01 5.11468517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7971056809999 meters Centerline goodness [0,1] 0.9983594144371529 Centerline is valid? [True, True] Translation: X:219.33, Y:193.17, Z:51.16 [[ 9.16736668e-01 2.55919517e-01 -3.06755738e-01 2.19329194e+02] [-2.43184506e-01 9.66696931e-01 7.97392024e-02 1.93174155e+02] [ 3.16946649e-01 1.49839188e-03 9.48442184e-01 5.11576636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8271056809999 meters Centerline goodness [0,1] 0.9984333549182212 Centerline is valid? [True, True] Translation: X:219.35, Y:193.16, Z:51.17 [[ 9.17702225e-01 2.51602381e-01 -3.07439211e-01 2.19353225e+02] [-2.38610832e-01 9.67830681e-01 7.98037833e-02 1.93161067e+02] [ 3.17627923e-01 1.22216447e-04 9.48215423e-01 5.11655237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8571056809999 meters Centerline goodness [0,1] 0.9986386009006178 Centerline is valid? [True, True] Translation: X:219.38, Y:193.15, Z:51.17 [[ 9.17975684e-01 2.48843466e-01 -3.08864975e-01 2.19379058e+02] [-2.35590234e-01 9.68543392e-01 8.01307706e-02 1.93149942e+02] [ 3.19089149e-01 -7.92527220e-04 9.47724373e-01 5.11732553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8871056809999 meters Centerline goodness [0,1] 0.9986386009006178 Centerline is valid? [True, True] Translation: X:219.40, Y:193.14, Z:51.18 [[ 9.18064070e-01 2.48484237e-01 -3.08891481e-01 2.19404365e+02] [-2.35245635e-01 9.68635605e-01 8.00284743e-02 1.93143640e+02] [ 3.19089101e-01 -8.05894320e-04 9.47724378e-01 5.11817301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9171056809999 meters Centerline goodness [0,1] 0.9988232574754671 Centerline is valid? [True, True] Translation: X:219.43, Y:193.14, Z:51.19 [[ 9.18145231e-01 2.48349457e-01 -3.08758616e-01 2.19429966e+02] [-2.35156781e-01 9.68670233e-01 7.98703196e-02 1.93136983e+02] [ 3.18921031e-01 -7.25870955e-04 9.47781013e-01 5.11915013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9471056809999 meters Centerline goodness [0,1] 0.9983388005719572 Centerline is valid? [True, True] Translation: X:219.46, Y:193.13, Z:51.20 [[ 9.18253643e-01 2.48982412e-01 -3.07925325e-01 2.19455668e+02] [-2.35939634e-01 9.68507933e-01 7.95290646e-02 1.93131083e+02] [ 3.18029458e-01 -3.76064838e-04 9.48080757e-01 5.12010743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.9771056809999 meters Centerline goodness [0,1] 0.9984879667352682 Centerline is valid? [True, True] Translation: X:219.48, Y:193.13, Z:51.21 [[ 9.18119508e-01 2.51578683e-01 -3.06210279e-01 2.19480340e+02] [-2.38838330e-01 9.67836687e-01 7.90468202e-02 1.93126903e+02] [ 3.16248037e-01 5.60324080e-04 9.48676375e-01 5.12131580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0071056809999 meters Centerline goodness [0,1] 0.9984862182789143 Centerline is valid? [True, True] Translation: X:219.51, Y:193.12, Z:51.23 [[ 9.17878281e-01 2.54102674e-01 -3.04846344e-01 2.19505210e+02] [-2.41627283e-01 9.67176142e-01 7.86547356e-02 1.93123388e+02] [ 3.14826489e-01 1.46372027e-03 9.49148112e-01 5.12253342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0371056809999 meters Centerline goodness [0,1] 0.9986558857502887 Centerline is valid? [True, True] Translation: X:219.53, Y:193.12, Z:51.24 [[ 9.17487241e-01 2.56553699e-01 -3.03969344e-01 2.19531573e+02] [-2.44325110e-01 9.66526929e-01 7.83002905e-02 1.93119564e+02] [ 3.13882786e-01 2.42782593e-03 9.49458636e-01 5.12351524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06710568099993 meters Centerline goodness [0,1] 0.9984405863395364 Centerline is valid? [True, True] Translation: X:219.56, Y:193.12, Z:51.25 [[ 9.16406723e-01 2.62300841e-01 -3.02319346e-01 2.19558720e+02] [-2.50525304e-01 9.64976071e-01 7.78347868e-02 1.93119429e+02] [ 3.12147065e-01 4.41032432e-03 9.50023557e-01 5.12461937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.0971056809999 meters Centerline goodness [0,1] 0.9984262542753426 Centerline is valid? [True, True] Translation: X:219.59, Y:193.12, Z:51.26 [[ 9.15498472e-01 2.65918834e-01 -3.01910120e-01 2.19585349e+02] [-2.54402015e-01 9.63978319e-01 7.76235461e-02 1.93116216e+02] [ 3.11676373e-01 5.74230521e-03 9.50170966e-01 5.12558998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12710568099993 meters Centerline goodness [0,1] 0.9986662220740247 Centerline is valid? [True, True] Translation: X:219.61, Y:193.12, Z:51.27 [[ 9.13214103e-01 2.73697969e-01 -3.01876505e-01 2.19613521e+02] [-2.62609357e-01 9.61778726e-01 7.75758163e-02 1.93118748e+02] [ 3.11570743e-01 8.43226521e-03 9.50185544e-01 5.12654600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.1571056809999 meters Centerline goodness [0,1] 0.9987197246358561 Centerline is valid? [True, True] Translation: X:219.64, Y:193.12, Z:51.27 [[ 9.12353382e-01 2.76867079e-01 -3.01589002e-01 2.19641308e+02] [-2.65980684e-01 9.60860848e-01 7.74642292e-02 1.93115428e+02] [ 3.11232359e-01 9.54209761e-03 9.50285940e-01 5.12738414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18710568099993 meters Centerline goodness [0,1] 0.9987434028650415 Centerline is valid? [True, True] Translation: X:219.67, Y:193.11, Z:51.28 [[ 9.09996342e-01 2.82910726e-01 -3.03097640e-01 2.19670585e+02] [-2.72273966e-01 9.59073916e-01 7.77438761e-02 1.93112094e+02] [ 3.12687617e-01 1.17789537e-02 9.49782981e-01 5.12811607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2171056809999 meters Centerline goodness [0,1] 0.9987409241616654 Centerline is valid? [True, True] Translation: X:219.70, Y:193.10, Z:51.29 [[ 9.08569084e-01 2.85489944e-01 -3.04955260e-01 2.19698524e+02] [-2.74865149e-01 9.58296707e-01 7.82085102e-02 1.93104450e+02] [ 3.14565365e-01 1.27637386e-02 9.49149998e-01 5.12880893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24710568099994 meters Centerline goodness [0,1] 0.9989474792127144 Centerline is valid? [True, True] Translation: X:219.73, Y:193.10, Z:51.29 [[ 9.06558870e-01 2.87885342e-01 -3.08663320e-01 2.19727363e+02] [-2.77136537e-01 9.57565532e-01 7.91428497e-02 1.93096285e+02] [ 3.18349423e-01 1.37942313e-02 9.47873074e-01 5.12925129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2771056809999 meters Centerline goodness [0,1] 0.9992424561255839 Centerline is valid? [True, True] Translation: X:219.75, Y:193.08, Z:51.30 [[ 9.07313340e-01 2.86089574e-01 -3.08115657e-01 2.19752403e+02] [-2.75285316e-01 9.58112543e-01 7.89832301e-02 1.93083426e+02] [ 3.17805754e-01 1.31571776e-02 9.48064550e-01 5.13016105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30710568099994 meters Centerline goodness [0,1] 0.9991149696561025 Centerline is valid? [True, True] Translation: X:219.78, Y:193.07, Z:51.31 [[ 9.08120697e-01 2.83815395e-01 -3.07840253e-01 2.19778126e+02] [-2.72941699e-01 9.58797941e-01 7.87993457e-02 1.93072274e+02] [ 3.17521068e-01 1.24631248e-02 9.48169311e-01 5.13106252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3371056809999 meters Centerline goodness [0,1] 0.9991268372798903 Centerline is valid? [True, True] Translation: X:219.80, Y:193.06, Z:51.32 [[ 9.09465556e-01 2.78772120e-01 -3.08477727e-01 2.19802433e+02] [-2.67604849e-01 9.60296212e-01 7.88595614e-02 1.93058132e+02] [ 3.18213840e-01 1.08300807e-02 9.47957099e-01 5.13190265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36710568099994 meters Centerline goodness [0,1] 0.9993079729899761 Centerline is valid? [True, True] Translation: X:219.83, Y:193.05, Z:51.33 [[ 9.10518771e-01 2.75612596e-01 -3.08209773e-01 2.19826906e+02] [-2.64297813e-01 9.61219425e-01 7.87647374e-02 1.93045209e+02] [ 3.17965775e-01 9.74239707e-03 9.48052136e-01 5.13293293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3971056809999 meters Centerline goodness [0,1] 0.9994146055905166 Centerline is valid? [True, True] Translation: X:219.85, Y:193.03, Z:51.34 [[ 9.12318234e-01 2.70622470e-01 -3.07309158e-01 2.19851411e+02] [-2.59109667e-01 9.62652260e-01 7.85035444e-02 1.93030000e+02] [ 3.17076679e-01 8.00655860e-03 9.48366108e-01 5.13398407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4271056809999 meters Centerline goodness [0,1] 0.9996671797645297 Centerline is valid? [True, True] Translation: X:219.88, Y:193.02, Z:51.35 [[ 9.13265053e-01 2.68039568e-01 -3.06760058e-01 2.19876403e+02] [-2.56433864e-01 9.63381621e-01 7.83423608e-02 1.93018516e+02] [ 3.16525855e-01 7.11632676e-03 9.48557189e-01 5.13503699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4571056809999 meters Centerline goodness [0,1] 0.9997074679259476 Centerline is valid? [True, True] Translation: X:219.90, Y:193.00, Z:51.36 [[ 9.14816152e-01 2.62255687e-01 -3.07137366e-01 2.19899154e+02] [-2.50338689e-01 9.64984256e-01 7.83321591e-02 1.93001305e+02] [ 3.16925777e-01 5.22884115e-03 9.48435929e-01 5.13585823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4871056809999 meters Centerline goodness [0,1] 0.9998322182840125 Centerline is valid? [True, True] Translation: X:219.92, Y:192.99, Z:51.37 [[ 9.15485619e-01 2.59177324e-01 -3.07755091e-01 2.19924612e+02] [-2.47055334e-01 9.65820564e-01 7.84493416e-02 1.92988685e+02] [ 3.17568486e-01 4.21329259e-03 9.48225978e-01 5.13672362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5171056809999 meters Centerline goodness [0,1] 0.999852111634589 Centerline is valid? [True, True] Translation: X:219.95, Y:192.97, Z:51.37 [[ 9.16219878e-01 2.54083365e-01 -3.09810876e-01 2.19949456e+02] [-2.41549214e-01 9.67178878e-01 7.88606029e-02 1.92974888e+02] [ 3.19679703e-01 2.58092159e-03 9.47522151e-01 5.13744380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5471056809999 meters Centerline goodness [0,1] 0.999830977583402 Centerline is valid? [True, True] Translation: X:219.98, Y:192.96, Z:51.38 [[ 9.15696664e-01 2.52285830e-01 -3.12812212e-01 2.19976310e+02] [-2.39439479e-01 9.67650488e-01 7.95064061e-02 1.92963718e+02] [ 3.22751229e-01 2.09584221e-03 9.46481511e-01 5.13795459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5771056809999 meters Centerline goodness [0,1] 0.9998321971683272 Centerline is valid? [True, True] Translation: X:220.00, Y:192.96, Z:51.39 [[ 9.15284999e-01 2.52694687e-01 -3.13685775e-01 2.20002691e+02] [-2.39836580e-01 9.67543184e-01 7.96153358e-02 1.92957242e+02] [ 3.23622906e-01 2.36260088e-03 9.46183192e-01 5.13852572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6071056809999 meters Centerline goodness [0,1] 0.9998108289894064 Centerline is valid? [True, True] Translation: X:220.03, Y:192.95, Z:51.40 [[ 9.15083612e-01 2.52946183e-01 -3.14070392e-01 2.20028150e+02] [-2.40085301e-01 9.67477120e-01 7.96685108e-02 1.92949989e+02] [ 3.24007764e-01 2.50033591e-03 9.46051118e-01 5.13956127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6371056809999 meters Centerline goodness [0,1] 0.9996413653432344 Centerline is valid? [True, True] Translation: X:220.05, Y:192.95, Z:51.41 [[ 9.14827998e-01 2.54690491e-01 -3.13404673e-01 2.20053627e+02] [-2.42022722e-01 9.67017250e-01 7.93891657e-02 1.92945350e+02] [ 3.23287391e-01 3.22362061e-03 9.46295340e-01 5.14066857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6671056809999 meters Centerline goodness [0,1] 0.9997691452076644 Centerline is valid? [True, True] Translation: X:220.08, Y:192.94, Z:51.42 [[ 9.14653913e-01 2.58462202e-01 -3.10814268e-01 2.20079515e+02] [-2.46262335e-01 9.66010212e-01 7.86074561e-02 1.92942949e+02] [ 3.20566813e-01 4.64322990e-03 9.47214526e-01 5.14205794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6971056809999 meters Centerline goodness [0,1] 0.9997254313895284 Centerline is valid? [True, True] Translation: X:220.11, Y:192.94, Z:51.43 [[ 9.14694458e-01 2.60248452e-01 -3.09200247e-01 2.20105591e+02] [-2.48314105e-01 9.65526858e-01 7.80896342e-02 1.92936872e+02] [ 3.18863850e-01 5.35062704e-03 9.47785427e-01 5.14319686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7271056809999 meters Centerline goodness [0,1] 0.9997465520518724 Centerline is valid? [True, True] Translation: X:220.13, Y:192.93, Z:51.44 [[ 9.14255637e-01 2.61383992e-01 -3.09540046e-01 2.20132023e+02] [-2.49524059e-01 9.65217058e-01 7.80626311e-02 1.92931339e+02] [ 3.19177654e-01 5.86848811e-03 9.47676731e-01 5.14408204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7571056809999 meters Centerline goodness [0,1] 0.9998308739588178 Centerline is valid? [True, True] Translation: X:220.16, Y:192.92, Z:51.45 [[ 9.14962798e-01 2.58820715e-01 -3.09604451e-01 2.20158371e+02] [-2.46850064e-01 9.65911980e-01 7.79685319e-02 1.92923114e+02] [ 3.19230520e-01 5.08757252e-03 9.47663438e-01 5.14505984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.7871056809999 meters Centerline goodness [0,1] 0.9996823110809895 Centerline is valid? [True, True] Translation: X:220.18, Y:192.91, Z:51.46 [[ 9.15681883e-01 2.57402608e-01 -3.08659339e-01 2.20184941e+02] [-2.45462535e-01 9.66292907e-01 7.76283599e-02 1.92914302e+02] [ 3.18237072e-01 4.68142101e-03 9.47999605e-01 5.14593436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81710568099993 meters Centerline goodness [0,1] 0.9997458650119655 Centerline is valid? [True, True] Translation: X:220.21, Y:192.90, Z:51.47 [[ 9.17321056e-01 2.53598636e-01 -3.06936171e-01 2.20209137e+02] [-2.41620830e-01 9.67303408e-01 7.70940440e-02 1.92902113e+02] [ 3.16451348e-01 3.44218233e-03 9.48602496e-01 5.14708113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.8471056809999 meters Centerline goodness [0,1] 0.9994954485252381 Centerline is valid? [True, True] Translation: X:220.24, Y:192.90, Z:51.48 [[ 9.17904372e-01 2.51956755e-01 -3.06544219e-01 2.20235102e+02] [-2.39957974e-01 9.67733892e-01 7.68848855e-02 1.92895222e+02] [ 3.16024896e-01 2.98475722e-03 9.48746202e-01 5.14779316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87710568099993 meters Centerline goodness [0,1] 0.9997460263709285 Centerline is valid? [True, True] Translation: X:220.26, Y:192.89, Z:51.49 [[ 9.18758957e-01 2.50972695e-01 -3.04786296e-01 2.20260728e+02] [-2.39074872e-01 9.67990485e-01 7.64043583e-02 1.92888689e+02] [ 3.14205642e-01 2.66955602e-03 9.49351193e-01 5.14914143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9071056809999 meters Centerline goodness [0,1] 0.9997042045214452 Centerline is valid? [True, True] Translation: X:220.29, Y:192.88, Z:51.50 [[ 9.19217743e-01 2.50307870e-01 -3.03948532e-01 2.20286264e+02] [-2.38461537e-01 9.68163074e-01 7.61338154e-02 1.92882817e+02] [ 3.13328639e-01 2.49648011e-03 9.49641475e-01 5.15015661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93710568099993 meters Centerline goodness [0,1] 0.9997279879477737 Centerline is valid? [True, True] Translation: X:220.31, Y:192.88, Z:51.51 [[ 9.19513731e-01 2.48487591e-01 -3.04546246e-01 2.20311620e+02] [-2.36538651e-01 9.68632991e-01 7.61550720e-02 1.92875723e+02] [ 3.13917132e-01 2.01132384e-03 9.49448255e-01 5.15105004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.9671056809999 meters Centerline goodness [0,1] 0.9997490432273041 Centerline is valid? [True, True] Translation: X:220.34, Y:192.87, Z:51.52 [[ 9.19936446e-01 2.46194879e-01 -3.05131147e-01 2.20337522e+02] [-2.34089880e-01 9.69219509e-01 7.62592335e-02 1.92867248e+02] [ 3.14513693e-01 1.27446551e-03 9.49252081e-01 5.15184572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99710568099994 meters Centerline goodness [0,1] 0.9997904749931904 Centerline is valid? [True, True] Translation: X:220.36, Y:192.86, Z:51.52 [[ 9.20609391e-01 2.42977740e-01 -3.05679843e-01 2.20363022e+02] [-2.30696040e-01 9.70031818e-01 7.62732593e-02 1.92856298e+02] [ 3.15051878e-01 3.01250489e-04 9.49074403e-01 5.15248936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0271056809999 meters Centerline goodness [0,1] 0.9996211244185312 Centerline is valid? [True, True] Translation: X:220.39, Y:192.85, Z:51.53 [[ 9.21164928e-01 2.41400115e-01 -3.05255891e-01 2.20388476e+02] [-2.29110867e-01 9.70425666e-01 7.60410296e-02 1.92848453e+02] [ 3.14584465e-01 -1.08887813e-04 9.49229478e-01 5.15330523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05710568099994 meters Centerline goodness [0,1] 0.999557419545196 Centerline is valid? [True, True] Translation: X:220.41, Y:192.84, Z:51.54 [[ 9.21197084e-01 2.41717961e-01 -3.04907132e-01 2.20413294e+02] [-2.29516055e-01 9.70346542e-01 7.58285523e-02 1.92842883e+02] [ 3.14194704e-01 1.28040950e-04 9.49358558e-01 5.15422339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0871056809999 meters Centerline goodness [0,1] 0.999620781190747 Centerline is valid? [True, True] Translation: X:220.44, Y:192.84, Z:51.55 [[ 9.20957623e-01 2.42364083e-01 -3.05117530e-01 2.20439383e+02] [-2.30198023e-01 9.70185285e-01 7.58246898e-02 1.92837591e+02] [ 3.14397719e-01 4.06126121e-04 9.49291267e-01 5.15512999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11710568099994 meters Centerline goodness [0,1] 0.9996639079107675 Centerline is valid? [True, True] Translation: X:220.47, Y:192.83, Z:51.56 [[ 9.20544471e-01 2.43530769e-01 -3.05435168e-01 2.20465453e+02] [-2.31441763e-01 9.69892725e-01 7.57813381e-02 1.92831487e+02] [ 3.14694435e-01 9.30362085e-04 9.49192576e-01 5.15580286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1471056809999 meters Centerline goodness [0,1] 0.9997887844545359 Centerline is valid? [True, True] Translation: X:220.49, Y:192.83, Z:51.57 [[ 9.20388658e-01 2.43528378e-01 -3.05906273e-01 2.20491573e+02] [-2.31442197e-01 9.69893195e-01 7.57740028e-02 1.92825031e+02] [ 3.15149533e-01 1.05808741e-03 9.49041439e-01 5.15671477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1771056809999 meters Centerline goodness [0,1] 0.9997058452746145 Centerline is valid? [True, True] Translation: X:220.52, Y:192.82, Z:51.58 [[ 9.20514635e-01 2.42540748e-01 -3.06311595e-01 2.20517858e+02] [-2.30410444e-01 9.70140847e-01 7.57480321e-02 1.92818196e+02] [ 3.15537374e-01 8.50218431e-04 9.48912769e-01 5.15755503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2071056809999 meters Centerline goodness [0,1] 0.9996853696906135 Centerline is valid? [True, True] Translation: X:220.54, Y:192.81, Z:51.58 [[ 9.20401780e-01 2.42140783e-01 -3.06966454e-01 2.20543321e+02] [-2.29978946e-01 9.70240755e-01 7.57796982e-02 1.92812272e+02] [ 3.16180719e-01 8.48052291e-04 9.48698600e-01 5.15837635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2371056809999 meters Centerline goodness [0,1] 0.9996840176107519 Centerline is valid? [True, True] Translation: X:220.57, Y:192.81, Z:51.59 [[ 9.19834727e-01 2.43340908e-01 -3.07716228e-01 2.20570368e+02] [-2.31213301e-01 9.69939877e-01 7.58751875e-02 1.92807178e+02] [ 3.16929777e-01 1.35545237e-03 9.48448037e-01 5.15935030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2671056809999 meters Centerline goodness [0,1] 0.9997261370578694 Centerline is valid? [True, True] Translation: X:220.60, Y:192.80, Z:51.60 [[ 9.19959303e-01 2.44211947e-01 -3.06651930e-01 2.20595007e+02] [-2.32255513e-01 9.69720271e-01 7.54981588e-02 1.92803397e+02] [ 3.15804145e-01 1.76636762e-03 9.48822756e-01 5.16035942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2971056809999 meters Centerline goodness [0,1] 0.9997481266922738 Centerline is valid? [True, True] Translation: X:220.62, Y:192.81, Z:51.61 [[ 9.19504858e-01 2.48411272e-01 -3.04635283e-01 2.20621675e+02] [-2.36858460e-01 9.68649225e-01 7.49449682e-02 1.92805154e+02] [ 3.13701906e-01 3.24318152e-03 9.49515980e-01 5.16147154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3271056809999 meters Centerline goodness [0,1] 0.9996652509571731 Centerline is valid? [True, True] Translation: X:220.65, Y:192.81, Z:51.63 [[ 9.18168307e-01 2.54651610e-01 -3.03511973e-01 2.20649400e+02] [-2.43537361e-01 9.67017707e-01 7.46076977e-02 1.92808293e+02] [ 3.12500422e-01 5.41408130e-03 9.49902192e-01 5.16264840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3571056809999 meters Centerline goodness [0,1] 0.9995807743098497 Centerline is valid? [True, True] Translation: X:220.68, Y:192.81, Z:51.64 [[ 9.17646783e-01 2.57385860e-01 -3.02781937e-01 2.20676739e+02] [-2.46507362e-01 9.66287243e-01 7.43174611e-02 1.92805469e+02] [ 3.11702587e-01 6.44079757e-03 9.50157889e-01 5.16358190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3871056809999 meters Centerline goodness [0,1] 0.9995627459554001 Centerline is valid? [True, True] Translation: X:220.70, Y:192.81, Z:51.64 [[ 9.15610523e-01 2.63607630e-01 -3.03592470e-01 2.20704675e+02] [-2.53038120e-01 9.64590815e-01 7.44061050e-02 1.92805880e+02] [ 3.12456525e-01 8.69345525e-03 9.49892280e-01 5.16432691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4171056809999 meters Centerline goodness [0,1] 0.9996016270390405 Centerline is valid? [True, True] Translation: X:220.74, Y:192.81, Z:51.65 [[ 9.12314446e-01 2.71579542e-01 -3.06474966e-01 2.20735189e+02] [-2.61252789e-01 9.62346394e-01 7.50759516e-02 1.92805623e+02] [ 3.15324171e-01 1.15745644e-02 9.48913429e-01 5.16473906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4471056809999 meters Centerline goodness [0,1] 0.9998529627995882 Centerline is valid? [True, True] Translation: X:220.76, Y:192.80, Z:51.66 [[ 9.11031983e-01 2.74726467e-01 -3.07483487e-01 2.20763753e+02] [-2.64506970e-01 9.61438324e-01 7.53154111e-02 1.92801925e+02] [ 3.16317546e-01 1.27167772e-02 9.48568128e-01 5.16555802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.4771056809999 meters Centerline goodness [0,1] 0.9996479529499472 Centerline is valid? [True, True] Translation: X:220.79, Y:192.80, Z:51.66 [[ 9.10347842e-01 2.76775010e-01 -3.07672554e-01 2.20791091e+02] [-2.66661999e-01 9.60840550e-01 7.53446395e-02 1.92798832e+02] [ 3.16477780e-01 1.34547485e-02 9.48504499e-01 5.16626491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5071056809999 meters Centerline goodness [0,1] 0.9996872589287575 Centerline is valid? [True, True] Translation: X:220.82, Y:192.79, Z:51.67 [[ 9.10590444e-01 2.76204557e-01 -3.07467210e-01 2.20816044e+02] [-2.66093962e-01 9.61006728e-01 7.52334493e-02 1.92791606e+02] [ 3.16257879e-01 1.33083080e-02 9.48579909e-01 5.16722992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5371056809999 meters Centerline goodness [0,1] 0.9996647248648423 Centerline is valid? [True, True] Translation: X:220.84, Y:192.78, Z:51.68 [[ 9.11247447e-01 2.74860379e-01 -3.06724408e-01 2.20842054e+02] [-2.64766276e-01 9.61397181e-01 7.49285014e-02 1.92781829e+02] [ 3.15478857e-01 1.29318734e-02 9.48844485e-01 5.16815135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56710568099993 meters Centerline goodness [0,1] 0.9997496766656931 Centerline is valid? [True, True] Translation: X:220.87, Y:192.77, Z:51.69 [[ 9.13287821e-01 2.69591409e-01 -3.05329049e-01 2.20866103e+02] [-2.59339078e-01 9.62910116e-01 7.44805436e-02 1.92767268e+02] [ 3.14083745e-01 1.11615808e-02 9.49329669e-01 5.16915490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.5971056809999 meters Centerline goodness [0,1] 0.9997906723603784 Centerline is valid? [True, True] Translation: X:220.89, Y:192.76, Z:51.70 [[ 9.14443321e-01 2.65663461e-01 -3.05313507e-01 2.20891397e+02] [-2.55207542e-01 9.64015642e-01 7.44510109e-02 1.92755032e+02] [ 3.14105910e-01 9.83708025e-03 9.49336984e-01 5.17018513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62710568099993 meters Centerline goodness [0,1] 0.9997057525378844 Centerline is valid? [True, True] Translation: X:220.92, Y:192.73, Z:51.71 [[ 9.17101310e-01 2.55648751e-01 -3.05890346e-01 2.20915419e+02] [-2.44641096e-01 9.66747786e-01 7.44946504e-02 1.92733755e+02] [ 3.14763279e-01 6.51420822e-03 9.49147851e-01 5.17101540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.6571056809999 meters Centerline goodness [0,1] 0.9999369376944421 Centerline is valid? [True, True] Translation: X:220.94, Y:192.72, Z:51.72 [[ 9.18727069e-01 2.47456812e-01 -3.07742911e-01 2.20939488e+02] [-2.35867956e-01 9.68891698e-01 7.49345421e-02 1.92715204e+02] [ 3.16712614e-01 3.74229928e-03 9.48514162e-01 5.17173507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68710568099993 meters Centerline goodness [0,1] 0.9998538133823407 Centerline is valid? [True, True] Translation: X:220.96, Y:192.71, Z:51.72 [[ 9.18645843e-01 2.45420286e-01 -3.09610560e-01 2.20964924e+02] [-2.33585579e-01 9.69411833e-01 7.53556611e-02 1.92707797e+02] [ 3.18633948e-01 3.09539705e-03 9.47872790e-01 5.17223481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7171056809999 meters Centerline goodness [0,1] 0.9998954521693675 Centerline is valid? [True, True] Translation: X:220.99, Y:192.70, Z:51.73 [[ 9.18136154e-01 2.44407296e-01 -3.11915176e-01 2.20990739e+02] [-2.32354508e-01 9.69668540e-01 7.58571337e-02 1.92699571e+02] [ 3.20994370e-01 2.82772042e-03 9.47076881e-01 5.17309007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74710568099994 meters Centerline goodness [0,1] 0.9996245854798006 Centerline is valid? [True, True] Translation: X:221.02, Y:192.69, Z:51.74 [[ 9.18344137e-01 2.44994475e-01 -3.10840398e-01 2.21016661e+02] [-2.33097283e-01 9.69519403e-01 7.54836680e-02 1.92694681e+02] [ 3.19858879e-01 3.13606843e-03 9.47460006e-01 5.17402777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7771056809999 meters Centerline goodness [0,1] 0.9997907380668383 Centerline is valid? [True, True] Translation: X:221.04, Y:192.69, Z:51.75 [[ 9.18637535e-01 2.46593627e-01 -3.08701577e-01 2.21041764e+02] [-2.34993334e-01 9.69111552e-01 7.48393806e-02 1.92691959e+02] [ 3.17621178e-01 3.79254868e-03 9.48210105e-01 5.17526528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80710568099994 meters Centerline goodness [0,1] 0.9997907380668383 Centerline is valid? [True, True] Translation: X:221.07, Y:192.69, Z:51.76 [[ 9.18727020e-01 2.46224247e-01 -3.08730113e-01 2.21067192e+02] [-2.34643271e-01 9.69205466e-01 7.47214872e-02 1.92686074e+02] [ 3.17621155e-01 3.79279423e-03 9.48210112e-01 5.17611305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8371056809999 meters Centerline goodness [0,1] 0.9996646194478798 Centerline is valid? [True, True] Translation: X:221.09, Y:192.68, Z:51.77 [[ 9.18322666e-01 2.47228292e-01 -3.09130478e-01 2.21093590e+02] [-2.35713052e-01 9.68947845e-01 7.46955850e-02 1.92682584e+02] [ 3.17998172e-01 4.27143960e-03 9.48081704e-01 5.17684552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86710568099994 meters Centerline goodness [0,1] 0.9996630372975591 Centerline is valid? [True, True] Translation: X:221.12, Y:192.68, Z:51.77 [[ 9.17730952e-01 2.46116554e-01 -3.11763598e-01 2.21122114e+02] [-2.34357565e-01 9.69232046e-01 7.52713287e-02 1.92678256e+02] [ 3.20696790e-01 3.98532937e-03 9.47173525e-01 5.17745635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8971056809999 meters Centerline goodness [0,1] 0.9997488120905114 Centerline is valid? [True, True] Translation: X:221.15, Y:192.67, Z:51.78 [[ 9.18170054e-01 2.43928798e-01 -3.12189836e-01 2.21148069e+02] [-2.32050453e-01 9.69787403e-01 7.52660579e-02 1.92670612e+02] [ 3.21117329e-01 3.33675227e-03 9.47033541e-01 5.17838084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9271056809999 meters Centerline goodness [0,1] 0.9997905846875523 Centerline is valid? [True, True] Translation: X:221.17, Y:192.66, Z:51.79 [[ 9.19592996e-01 2.39047309e-01 -3.11777335e-01 2.21172944e+02] [-2.26964105e-01 9.71006366e-01 7.50595216e-02 1.92658197e+02] [ 3.20680554e-01 1.73805340e-03 9.47185812e-01 5.17932916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9571056809999 meters Centerline goodness [0,1] 0.9998316002189197 Centerline is valid? [True, True] Translation: X:221.20, Y:192.65, Z:51.80 [[ 9.20453012e-01 2.36048797e-01 -3.11524025e-01 2.21198062e+02] [-2.23854375e-01 9.71740873e-01 7.48925568e-02 1.92648468e+02] [ 3.20398926e-01 8.00936359e-04 9.47282369e-01 5.18031593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9871056809999 meters Centerline goodness [0,1] 0.9997499531162093 Centerline is valid? [True, True] Translation: X:221.22, Y:192.64, Z:51.81 [[ 9.21588818e-01 2.31701043e-01 -3.11430051e-01 2.21221880e+02] [-2.19307576e-01 9.72786853e-01 7.47658072e-02 1.92638788e+02] [ 3.20278375e-01 -6.04362459e-04 9.47323280e-01 5.18130901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0171056809999 meters Centerline goodness [0,1] 0.9997473950110515 Centerline is valid? [True, True] Translation: X:221.25, Y:192.63, Z:51.82 [[ 9.21965611e-01 2.29550062e-01 -3.11907328e-01 2.21247772e+02] [-2.17016119e-01 9.73295990e-01 7.48259299e-02 1.92632215e+02] [ 3.20754449e-01 -1.29801633e-03 9.47161496e-01 5.18224892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0471056809999 meters Centerline goodness [0,1] 0.9999169435215947 Centerline is valid? [True, True] Translation: X:221.27, Y:192.62, Z:51.83 [[ 9.22937903e-01 2.25356334e-01 -3.12089972e-01 2.21272856e+02] [-2.12608099e-01 9.74272796e-01 7.47684149e-02 1.92623704e+02] [ 3.20910306e-01 -2.65374824e-03 9.47105872e-01 5.18309567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0771056809999 meters Centerline goodness [0,1] 0.9997894116160553 Centerline is valid? [True, True] Translation: X:221.30, Y:192.61, Z:51.84 [[ 9.24576621e-01 2.21230323e-01 -3.10185778e-01 2.21298067e+02] [-2.08427913e-01 9.75213294e-01 7.42754143e-02 1.92614177e+02] [ 3.18929268e-01 -4.02193733e-03 9.47769986e-01 5.18393634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1071056809999 meters Centerline goodness [0,1] 0.9997682161068735 Centerline is valid? [True, True] Translation: X:221.32, Y:192.61, Z:51.85 [[ 9.24982945e-01 2.19210414e-01 -3.10408354e-01 2.21324822e+02] [-2.06297058e-01 9.75666455e-01 7.42730880e-02 1.92609035e+02] [ 3.19136453e-01 -4.66500926e-03 9.47697294e-01 5.18496318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1371056809999 meters Centerline goodness [0,1] 0.9996014097507762 Centerline is valid? [True, True] Translation: X:221.35, Y:192.60, Z:51.86 [[ 9.25605210e-01 2.17357921e-01 -3.09855657e-01 2.21350613e+02] [-2.04426753e-01 9.76078207e-01 7.40340287e-02 1.92600484e+02] [ 3.18535237e-01 -5.18349688e-03 9.47896848e-01 5.18564207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1671056809999 meters Centerline goodness [0,1] 0.9996420977283732 Centerline is valid? [True, True] Translation: X:221.38, Y:192.60, Z:51.87 [[ 9.26104785e-01 2.14542326e-01 -3.10324858e-01 2.21377287e+02] [-2.01429915e-01 9.76695504e-01 7.41072364e-02 1.92600984e+02] [ 3.18992033e-01 -6.12235649e-03 9.47737622e-01 5.18687925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1971056809999 meters Centerline goodness [0,1] 0.9997072232213811 Centerline is valid? [True, True] Translation: X:221.40, Y:192.60, Z:51.88 [[ 9.26298403e-01 2.12648373e-01 -3.11049736e-01 2.21403464e+02] [-1.99381941e-01 9.77105461e-01 7.42412262e-02 1.92596497e+02] [ 3.19715672e-01 -6.75182924e-03 9.47489473e-01 5.18764656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2271056809999 meters Centerline goodness [0,1] 0.9995576898774169 Centerline is valid? [True, True] Translation: X:221.43, Y:192.59, Z:51.88 [[ 9.26958798e-01 2.09514565e-01 -3.11208986e-01 2.21430890e+02] [-1.96075222e-01 9.77774434e-01 7.42405721e-02 1.92592912e+02] [ 3.19846671e-01 -7.79758041e-03 9.47437230e-01 5.18837825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2571056809999 meters Centerline goodness [0,1] 0.9995783348443001 Centerline is valid? [True, True] Translation: X:221.46, Y:192.59, Z:51.89 [[ 9.28261603e-01 2.05914953e-01 -3.09724762e-01 2.21457431e+02] [-1.92425814e-01 9.78528959e-01 7.38470177e-02 1.92587169e+02] [ 3.18280854e-01 -8.95031150e-03 9.47954213e-01 5.18944124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.2871056809999 meters Centerline goodness [0,1] 0.9994943749209961 Centerline is valid? [True, True] Translation: X:221.48, Y:192.58, Z:51.90 [[ 9.28845849e-01 2.03638166e-01 -3.09478411e-01 2.21483349e+02] [-1.90082315e-01 9.78998983e-01 7.36865245e-02 1.92581869e+02] [ 3.17984438e-01 -9.61704954e-03 9.48047156e-01 5.19031469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31710568099993 meters Centerline goodness [0,1] 0.9991841857546282 Centerline is valid? [True, True] Translation: X:221.51, Y:192.58, Z:51.91 [[ 9.30531671e-01 1.99181940e-01 -3.07306630e-01 2.21508676e+02] [-1.85597240e-01 9.79900589e-01 7.31334376e-02 1.92575540e+02] [ 3.15696808e-01 -1.10177176e-02 9.48796151e-01 5.19137410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.3471056809999 meters Centerline goodness [0,1] 0.9993258758347553 Centerline is valid? [True, True] Translation: X:221.54, Y:192.58, Z:51.93 [[ 9.30698464e-01 1.98459680e-01 -3.07268813e-01 2.21536805e+02] [-1.84849920e-01 9.80044705e-01 7.30950270e-02 1.92581279e+02] [ 3.15643589e-01 -1.12308138e-02 9.48811358e-01 5.19251707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37710568099993 meters Centerline goodness [0,1] 0.998952616364322 Centerline is valid? [True, True] Translation: X:221.56, Y:192.58, Z:51.93 [[ 9.30381603e-01 1.99162552e-01 -3.07773214e-01 2.21564507e+02] [-1.85563573e-01 9.79905271e-01 7.31561393e-02 1.92581999e+02] [ 3.16158558e-01 -1.09516289e-02 9.48643151e-01 5.19313736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4071056809999 meters Centerline goodness [0,1] 0.9988743199016072 Centerline is valid? [True, True] Translation: X:221.59, Y:192.58, Z:51.94 [[ 9.29928976e-01 2.00035273e-01 -3.08574124e-01 2.21592913e+02] [-1.86423462e-01 9.79730886e-01 7.33054201e-02 1.92580382e+02] [ 3.16983269e-01 -1.06433777e-02 9.48371407e-01 5.19389207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43710568099993 meters Centerline goodness [0,1] 0.9988657130253954 Centerline is valid? [True, True] Translation: X:221.62, Y:192.58, Z:51.94 [[ 9.28830769e-01 2.02942090e-01 -3.09980500e-01 2.21622367e+02] [-1.89393983e-01 9.79143745e-01 7.35353318e-02 1.92584249e+02] [ 3.18438881e-01 -9.59343739e-03 9.47894849e-01 5.19435525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.4671056809999 meters Centerline goodness [0,1] 0.9986545011142413 Centerline is valid? [True, True] Translation: X:221.65, Y:192.59, Z:51.95 [[ 9.28240515e-01 2.04489980e-01 -3.10730421e-01 2.21651688e+02] [-1.90971796e-01 9.78826860e-01 7.36732709e-02 1.92585857e+02] [ 3.19216728e-01 -9.04576821e-03 9.47638568e-01 5.19510476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49710568099994 meters Centerline goodness [0,1] 0.9983163920281163 Centerline is valid? [True, True] Translation: X:221.68, Y:192.59, Z:51.96 [[ 9.26940505e-01 2.07143991e-01 -3.12846075e-01 2.21682121e+02] [-1.93618951e-01 9.78277090e-01 7.40650878e-02 1.92593199e+02] [ 3.21392286e-01 -8.08100094e-03 9.46911662e-01 5.19571664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5271056809999 meters Centerline goodness [0,1] 0.9980460953421434 Centerline is valid? [True, True] Translation: X:221.71, Y:192.60, Z:51.96 [[ 9.26422136e-01 2.07612022e-01 -3.14068900e-01 2.21710270e+02] [-1.94040870e-01 9.78179829e-01 7.42452851e-02 1.92596359e+02] [ 3.22630077e-01 -7.84027300e-03 9.46492664e-01 5.19624546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55710568099994 meters Centerline goodness [0,1] 0.9979116567523099 Centerline is valid? [True, True] Translation: X:221.74, Y:192.59, Z:51.97 [[ 9.26289140e-01 2.07483947e-01 -3.14545452e-01 2.21737745e+02] [-1.93882980e-01 9.78207024e-01 7.42994545e-02 1.92593643e+02] [ 3.23106514e-01 -7.83776841e-03 9.46330148e-01 5.19698802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5871056809999 meters Centerline goodness [0,1] 0.9977070974799108 Centerline is valid? [True, True] Translation: X:221.76, Y:192.59, Z:51.98 [[ 9.25970452e-01 2.07677336e-01 -3.15355110e-01 2.21764895e+02] [-1.94057736e-01 9.78167370e-01 7.43652559e-02 1.92592318e+02] [ 3.23914057e-01 -7.66293083e-03 9.46055476e-01 5.19764658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61710568099994 meters Centerline goodness [0,1] 0.9977814521023881 Centerline is valid? [True, True] Translation: X:221.79, Y:192.60, Z:51.99 [[ 9.24879436e-01 2.11524929e-01 -3.15998788e-01 2.21794245e+02] [-1.98108449e-01 9.77352922e-01 7.43929334e-02 1.92599326e+02] [ 3.24578299e-01 -6.20246450e-03 9.45838494e-01 5.19858549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6471056809999 meters Centerline goodness [0,1] 0.9978768577494692 Centerline is valid? [True, True] Translation: X:221.82, Y:192.60, Z:52.00 [[ 9.24482573e-01 2.14607849e-01 -3.15080058e-01 2.21822383e+02] [-2.01482439e-01 9.76687536e-01 7.40694514e-02 1.92600835e+02] [ 3.23630651e-01 -4.99281841e-03 9.46170319e-01 5.19964629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6771056809999 meters Centerline goodness [0,1] 0.9975084795444077 Centerline is valid? [True, True] Translation: X:221.85, Y:192.61, Z:52.01 [[ 9.23880378e-01 2.22098614e-01 -3.11636410e-01 2.21851231e+02] [-2.09715678e-01 9.75021647e-01 7.31581928e-02 1.92609142e+02] [ 3.20100579e-01 -2.23437766e-03 9.47380930e-01 5.20081717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7071056809999 meters Centerline goodness [0,1] 0.9975209366276405 Centerline is valid? [True, True] Translation: X:221.88, Y:192.62, Z:52.02 [[ 9.22524144e-01 2.31139819e-01 -3.09068905e-01 2.21880123e+02] [-2.19467527e-01 9.72920108e-01 7.25290877e-02 1.92618918e+02] [ 3.17463713e-01 9.20753757e-04 9.48269974e-01 5.20189404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7371056809999 meters Centerline goodness [0,1] 0.9970952260671887 Centerline is valid? [True, True] Translation: X:221.91, Y:192.62, Z:52.03 [[ 9.22019152e-01 2.35422927e-01 -3.07338134e-01 2.21907877e+02] [-2.24128465e-01 9.71890010e-01 7.20849491e-02 1.92619780e+02] [ 3.15669311e-01 2.41952030e-03 9.48866182e-01 5.20307691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7671056809999 meters Centerline goodness [0,1] 0.997690094706117 Centerline is valid? [True, True] Translation: X:221.94, Y:192.63, Z:52.04 [[ 9.21163526e-01 2.43114455e-01 -3.03896563e-01 2.21935807e+02] [-2.32519327e-01 9.69984197e-01 7.11717695e-02 1.92626291e+02] [ 3.12077749e-01 5.10098608e-03 9.50042872e-01 5.20410907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7971056809999 meters Centerline goodness [0,1] 0.9978382235654619 Centerline is valid? [True, True] Translation: X:221.96, Y:192.62, Z:52.05 [[ 9.20833629e-01 2.45308345e-01 -3.03132387e-01 2.21962433e+02] [-2.34902198e-01 9.69427233e-01 7.09351658e-02 1.92619762e+02] [ 3.11265779e-01 5.88697786e-03 9.50304666e-01 5.20510246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8271056809999 meters Centerline goodness [0,1] 0.9972847087327944 Centerline is valid? [True, True] Translation: X:221.99, Y:192.62, Z:52.06 [[ 9.19764357e-01 2.49548515e-01 -3.02917590e-01 2.21989786e+02] [-2.39417047e-01 9.68333813e-01 7.07750207e-02 1.92617714e+02] [ 3.10987147e-01 7.42729376e-03 9.50385096e-01 5.20608012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8571056809999 meters Centerline goodness [0,1] 0.9978165022044929 Centerline is valid? [True, True] Translation: X:222.02, Y:192.61, Z:52.07 [[ 9.19089992e-01 2.51668991e-01 -3.03210002e-01 2.22016151e+02] [-2.41666067e-01 9.67778071e-01 7.07327161e-02 1.92613851e+02] [ 3.11241222e-01 8.26583706e-03 9.50294995e-01 5.20702123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8871056809999 meters Centerline goodness [0,1] 0.9972246567338592 Centerline is valid? [True, True] Translation: X:222.04, Y:192.61, Z:52.08 [[ 9.17005598e-01 2.58108790e-01 -3.04106209e-01 2.22044926e+02] [-2.48402273e-01 9.66058553e-01 7.09026276e-02 1.92608644e+02] [ 3.12084995e-01 1.05225670e-02 9.49995911e-01 5.20769325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9171056809999 meters Centerline goodness [0,1] 0.9981567592476226 Centerline is valid? [True, True] Translation: X:222.07, Y:192.60, Z:52.09 [[ 9.15706264e-01 2.62215972e-01 -3.04507507e-01 2.22072563e+02] [-2.52708807e-01 9.64935177e-01 7.09814270e-02 1.92603944e+02] [ 3.12442469e-01 1.19535915e-02 9.49861472e-01 5.20860427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9471056809999 meters Centerline goodness [0,1] 0.9980252515703452 Centerline is valid? [True, True] Translation: X:222.10, Y:192.60, Z:52.09 [[ 9.13916301e-01 2.67699296e-01 -3.05113229e-01 2.22100830e+02] [-2.58455401e-01 9.63402636e-01 7.11067261e-02 1.92596813e+02] [ 3.12982110e-01 1.38725660e-02 9.49657702e-01 5.20925197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.9771056809999 meters Centerline goodness [0,1] 0.9983867250518552 Centerline is valid? [True, True] Translation: X:222.13, Y:192.59, Z:52.10 [[ 9.13793220e-01 2.68147386e-01 -3.05088399e-01 2.22126901e+02] [-2.58935670e-01 9.63275523e-01 7.10815417e-02 1.92589057e+02] [ 3.12944517e-01 1.40444383e-02 9.49667565e-01 5.21008456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0071056809999 meters Centerline goodness [0,1] 0.9984824853517683 Centerline is valid? [True, True] Translation: X:222.15, Y:192.57, Z:52.11 [[ 9.14547066e-01 2.66918296e-01 -3.03905064e-01 2.22151252e+02] [-2.57748967e-01 9.63622112e-01 7.06957958e-02 1.92573876e+02] [ 3.11719641e-01 1.36765837e-02 9.50075690e-01 5.21103313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0371056809999 meters Centerline goodness [0,1] 0.9981796878269239 Centerline is valid? [True, True] Translation: X:222.18, Y:192.56, Z:52.12 [[ 9.15080391e-01 2.64811823e-01 -3.04142361e-01 2.22176508e+02] [-2.55551240e-01 9.64211358e-01 7.06400744e-02 1.92563871e+02] [ 3.11963846e-01 1.30826108e-02 9.50003897e-01 5.21168243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06710568099993 meters Centerline goodness [0,1] 0.9986621514277353 Centerline is valid? [True, True] Translation: X:222.20, Y:192.55, Z:52.13 [[ 9.15854464e-01 2.61546061e-01 -3.04637914e-01 2.22201825e+02] [-2.52092272e-01 9.65115994e-01 7.07149488e-02 1.92550254e+02] [ 3.12506139e-01 1.20322622e-02 9.49839533e-01 5.21257102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.0971056809999 meters Centerline goodness [0,1] 0.9985658463584969 Centerline is valid? [True, True] Translation: X:222.22, Y:192.53, Z:52.13 [[ 9.18229202e-01 2.52374846e-01 -3.05224622e-01 2.22224199e+02] [-2.42422475e-01 9.67587443e-01 7.07522743e-02 1.92527118e+02] [ 3.13187606e-01 9.02650395e-03 9.49648380e-01 5.21342552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12710568099993 meters Centerline goodness [0,1] 0.9981996692415583 Centerline is valid? [True, True] Translation: X:222.25, Y:192.50, Z:52.15 [[ 9.20955622e-01 2.44407813e-01 -3.03488984e-01 2.22246917e+02] [-2.34155163e-01 9.69652108e-01 7.03288688e-02 1.92502894e+02] [ 3.11467658e-01 6.29374526e-03 9.50235911e-01 5.21452377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.1571056809999 meters Centerline goodness [0,1] 0.9980830401718944 Centerline is valid? [True, True] Translation: X:222.27, Y:192.49, Z:52.16 [[ 9.22108549e-01 2.41605237e-01 -3.02229605e-01 2.22272133e+02] [-2.31321530e-01 9.70359528e-01 6.99480923e-02 1.92491934e+02] [ 3.10171202e-01 5.41248056e-03 9.50665309e-01 5.21550273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18710568099993 meters Centerline goodness [0,1] 0.9985252912549771 Centerline is valid? [True, True] Translation: X:222.30, Y:192.48, Z:52.16 [[ 9.22715372e-01 2.39971976e-01 -3.01678293e-01 2.22296473e+02] [-2.29676539e-01 9.70767127e-01 6.97127831e-02 1.92480656e+02] [ 3.09588484e-01 4.96336947e-03 9.50857684e-01 5.21635247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2171056809999 meters Centerline goodness [0,1] 0.9982718651211802 Centerline is valid? [True, True] Translation: X:222.32, Y:192.47, Z:52.17 [[ 9.23095121e-01 2.39169089e-01 -3.01153688e-01 2.22321806e+02] [-2.28880913e-01 9.70966443e-01 6.95535407e-02 1.92472079e+02] [ 3.09045182e-01 4.72379695e-03 9.51035626e-01 5.21707374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24710568099994 meters Centerline goodness [0,1] 0.9983548815725645 Centerline is valid? [True, True] Translation: X:222.35, Y:192.46, Z:52.18 [[ 9.23761183e-01 2.36958102e-01 -3.00858995e-01 2.22347588e+02] [-2.26588210e-01 9.71511564e-01 6.94482914e-02 1.92457168e+02] [ 3.08744328e-01 4.01746535e-03 9.51136583e-01 5.21778100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2771056809999 meters Centerline goodness [0,1] 0.9982944855031268 Centerline is valid? [True, True] Translation: X:222.37, Y:192.45, Z:52.19 [[ 9.24095540e-01 2.35380787e-01 -3.01070287e-01 2.22373766e+02] [-2.24933542e-01 9.71896732e-01 6.94380538e-02 1.92447608e+02] [ 3.08953612e-01 3.55341029e-03 9.51070470e-01 5.21862870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30710568099994 meters Centerline goodness [0,1] 0.9982277733237689 Centerline is valid? [True, True] Translation: X:222.40, Y:192.44, Z:52.19 [[ 9.23580451e-01 2.34064468e-01 -3.03665895e-01 2.22398619e+02] [-2.23398887e-01 9.72215626e-01 6.99264834e-02 1.92437042e+02] [ 3.11596033e-01 3.25588982e-03 9.50209088e-01 5.21911628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3371056809999 meters Centerline goodness [0,1] 0.9989135658023943 Centerline is valid? [True, True] Translation: X:222.43, Y:192.43, Z:52.20 [[ 9.22478562e-01 2.34833615e-01 -3.06409002e-01 2.22425384e+02] [-2.24039347e-01 9.72028775e-01 7.04729158e-02 1.92431243e+02] [ 3.14387776e-01 3.63791889e-03 9.49287676e-01 5.21973222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36710568099994 meters Centerline goodness [0,1] 0.999156776356009 Centerline is valid? [True, True] Translation: X:222.45, Y:192.42, Z:52.21 [[ 9.21429462e-01 2.38581400e-01 -3.06670282e-01 2.22452132e+02] [-2.27983352e-01 9.71109830e-01 7.04931856e-02 1.92424454e+02] [ 3.14628888e-01 4.96122092e-03 9.49201796e-01 5.22051488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3971056809999 meters Centerline goodness [0,1] 0.9995777294512594 Centerline is valid? [True, True] Translation: X:222.48, Y:192.42, Z:52.22 [[ 9.20902513e-01 2.41136407e-01 -3.06254462e-01 2.22478111e+02] [-2.30741195e-01 9.70473076e-01 7.02887556e-02 1.92420347e+02] [ 3.14160888e-01 5.93642878e-03 9.49351197e-01 5.22155382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4271056809999 meters Centerline goodness [0,1] 0.9994102531698892 Centerline is valid? [True, True] Translation: X:222.50, Y:192.41, Z:52.23 [[ 9.20192549e-01 2.45365240e-01 -3.05027165e-01 2.22504064e+02] [-2.35300254e-01 9.69402411e-01 6.99482429e-02 1.92412593e+02] [ 3.12856937e-01 7.40711766e-03 9.49771379e-01 5.22260252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4571056809999 meters Centerline goodness [0,1] 0.9993903592675902 Centerline is valid? [True, True] Translation: X:222.53, Y:192.41, Z:52.23 [[ 9.19769389e-01 2.47283766e-01 -3.04754015e-01 2.22530569e+02] [-2.37376495e-01 9.68908694e-01 6.97735082e-02 1.92408479e+02] [ 3.12532671e-01 8.16590314e-03 9.49871911e-01 5.22346011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4871056809999 meters Centerline goodness [0,1] 0.9995988429786965 Centerline is valid? [True, True] Translation: X:222.56, Y:192.40, Z:52.24 [[ 9.18696266e-01 2.51818038e-01 -3.04277581e-01 2.22557444e+02] [-2.42197056e-01 9.67725674e-01 6.96247483e-02 1.92402925e+02] [ 3.11989995e-01 9.73113804e-03 9.50035551e-01 5.22448928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5171056809999 meters Centerline goodness [0,1] 0.9997266725537194 Centerline is valid? [True, True] Translation: X:222.58, Y:192.40, Z:52.25 [[ 9.18042739e-01 2.53887096e-01 -3.04530575e-01 2.22584403e+02] [-2.44368782e-01 9.67177201e-01 6.96574549e-02 1.92398631e+02] [ 3.12220158e-01 1.04692451e-02 9.49952087e-01 5.22535927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5471056809999 meters Centerline goodness [0,1] 0.9998529504442998 Centerline is valid? [True, True] Translation: X:222.61, Y:192.40, Z:52.26 [[ 9.17599348e-01 2.55928431e-01 -3.04157976e-01 2.22610966e+02] [-2.46580111e-01 9.66630103e-01 6.94585654e-02 1.92396981e+02] [ 3.11784677e-01 1.12641729e-02 9.50086014e-01 5.22623909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5771056809999 meters Centerline goodness [0,1] 0.9998536881048429 Centerline is valid? [True, True] Translation: X:222.64, Y:192.39, Z:52.27 [[ 9.17082551e-01 2.59003803e-01 -3.03111572e-01 2.22638271e+02] [-2.49897044e-01 9.65797938e-01 6.91795459e-02 1.92394750e+02] [ 3.10662297e-01 1.23033314e-02 9.50440722e-01 5.22718443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6071056809999 meters Centerline goodness [0,1] 0.9997049090487532 Centerline is valid? [True, True] Translation: X:222.66, Y:192.39, Z:52.28 [[ 9.17495036e-01 2.58894106e-01 -3.01954800e-01 2.22663423e+02] [-2.49859694e-01 9.65828174e-01 6.88917449e-02 1.92389141e+02] [ 3.09472120e-01 1.22384999e-02 9.50829757e-01 5.22814444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6371056809999 meters Centerline goodness [0,1] 0.9996633634202277 Centerline is valid? [True, True] Translation: X:222.69, Y:192.38, Z:52.29 [[ 9.18273471e-01 2.57629707e-01 -3.00667202e-01 2.22689552e+02] [-2.48647195e-01 9.66170671e-01 6.84748564e-02 1.92383194e+02] [ 3.08136989e-01 1.18814124e-02 9.51267800e-01 5.22922946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6671056809999 meters Centerline goodness [0,1] 0.9996229971724788 Centerline is valid? [True, True] Translation: X:222.72, Y:192.38, Z:52.30 [[ 9.19729613e-01 2.53393905e-01 -2.99814889e-01 2.22716054e+02] [-2.44278782e-01 9.67305776e-01 6.81719273e-02 1.92376150e+02] [ 3.07287025e-01 1.05386755e-02 9.51558522e-01 5.23011362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6971056809999 meters Centerline goodness [0,1] 0.9996229971724788 Centerline is valid? [True, True] Translation: X:222.74, Y:192.37, Z:52.31 [[ 9.19823168e-01 2.53049559e-01 -2.99818712e-01 2.22741549e+02] [-2.43922100e-01 9.67396966e-01 6.81551085e-02 1.92370599e+02] [ 3.07290333e-01 1.04417623e-02 9.51558522e-01 5.23095990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7271056809999 meters Centerline goodness [0,1] 0.9994956287827841 Centerline is valid? [True, True] Translation: X:222.77, Y:192.36, Z:52.32 [[ 9.21366319e-01 2.49551559e-01 -2.98006922e-01 2.22766766e+02] [-2.40396402e-01 9.68316513e-01 6.76217437e-02 1.92363629e+02] [ 3.05440135e-01 9.33539477e-03 9.52165518e-01 5.23199069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7571056809999 meters Centerline goodness [0,1] 0.9992205767731879 Centerline is valid? [True, True] Translation: X:222.79, Y:192.35, Z:52.33 [[ 9.24526410e-01 2.39582312e-01 -2.96397087e-01 2.22791602e+02] [-2.30038470e-01 9.70857288e-01 6.72192599e-02 1.92346857e+02] [ 3.03863818e-01 6.03675125e-03 9.52696351e-01 5.23307907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.7871056809999 meters Centerline goodness [0,1] 0.9997073700932235 Centerline is valid? [True, True] Translation: X:222.82, Y:192.34, Z:52.34 [[ 9.25665378e-01 2.33963877e-01 -2.97328963e-01 2.22816432e+02] [-2.24085157e-01 9.72236061e-01 6.74009222e-02 1.92336615e+02] [ 3.04843321e-01 4.23630716e-03 9.52393093e-01 5.23385744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81710568099993 meters Centerline goodness [0,1] 0.9994947687514473 Centerline is valid? [True, True] Translation: X:222.84, Y:192.32, Z:52.35 [[ 9.26988556e-01 2.28198261e-01 -2.97687371e-01 2.22841908e+02] [-2.18021275e-01 9.73611739e-01 6.74307403e-02 1.92323781e+02] [ 3.05219497e-01 2.39465547e-03 9.52279016e-01 5.23461500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.8471056809999 meters Centerline goodness [0,1] 0.9991849359443249 Centerline is valid? [True, True] Translation: X:222.87, Y:192.31, Z:52.35 [[ 9.28900984e-01 2.18882255e-01 -2.98719801e-01 2.22866332e+02] [-2.08195533e-01 9.75751116e-01 6.75601991e-02 1.92306326e+02] [ 3.06263908e-01 -5.64607220e-04 9.51946479e-01 5.23506730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87710568099993 meters Centerline goodness [0,1] 0.9990760184796305 Centerline is valid? [True, True] Translation: X:222.89, Y:192.29, Z:52.36 [[ 9.30238623e-01 2.11745927e-01 -2.99699460e-01 2.22891634e+02] [-2.00637131e-01 9.77320479e-01 6.77452741e-02 1.92293504e+02] [ 3.07247206e-01 -2.88843057e-03 9.51625352e-01 5.23586855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9071056809999 meters Centerline goodness [0,1] 0.999747171480943 Centerline is valid? [True, True] Translation: X:222.92, Y:192.29, Z:52.37 [[ 9.30455010e-01 2.09111330e-01 -3.00875265e-01 2.22917703e+02] [-1.97811090e-01 9.77884950e-01 6.79102100e-02 1.92285407e+02] [ 3.08422188e-01 -3.67093095e-03 9.51242492e-01 5.23677735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93710568099993 meters Centerline goodness [0,1] 0.9997700236248458 Centerline is valid? [True, True] Translation: X:222.94, Y:192.27, Z:52.37 [[ 9.31311987e-01 2.03448361e-01 -3.02103868e-01 2.22942700e+02] [-1.91794753e-01 9.79070404e-01 6.80875641e-02 1.92274061e+02] [ 3.09633259e-01 -5.46882804e-03 9.50840332e-01 5.23734720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.9671056809999 meters Centerline goodness [0,1] 0.9997483063112192 Centerline is valid? [True, True] Translation: X:222.97, Y:192.26, Z:52.38 [[ 9.32145596e-01 1.99903903e-01 -3.01899019e-01 2.22968491e+02] [-1.88098977e-01 9.79793291e-01 6.79991266e-02 1.92264717e+02] [ 3.09391924e-01 -6.59818980e-03 9.50911721e-01 5.23811100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99710568099994 meters Centerline goodness [0,1] 0.9996024439236693 Centerline is valid? [True, True] Translation: X:222.99, Y:192.25, Z:52.39 [[ 9.32978056e-01 1.93621106e-01 -3.03418546e-01 2.22994521e+02] [-1.81386441e-01 9.81038019e-01 6.82888265e-02 1.92252743e+02] [ 3.10887288e-01 -8.67596621e-03 9.50407187e-01 5.23869437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0271056809999 meters Centerline goodness [0,1] 0.9993279569892473 Centerline is valid? [True, True] Translation: X:223.02, Y:192.25, Z:52.40 [[ 9.34148521e-01 1.87716636e-01 -3.03527602e-01 2.23022317e+02] [-1.75177977e-01 9.82165836e-01 6.82857769e-02 1.92246468e+02] [ 3.10932817e-01 -1.06177061e-02 9.50372584e-01 5.23954375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05710568099994 meters Centerline goodness [0,1] 0.9996043068080055 Centerline is valid? [True, True] Translation: X:223.05, Y:192.24, Z:52.41 [[ 9.34532177e-01 1.86312202e-01 -3.03211763e-01 2.23048424e+02] [-1.73732800e-01 9.82428353e-01 6.82015046e-02 1.92242019e+02] [ 3.10590605e-01 -1.10586721e-02 9.50479448e-01 5.24057293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0871056809999 meters Centerline goodness [0,1] 0.9993673688872019 Centerline is valid? [True, True] Translation: X:223.07, Y:192.25, Z:52.42 [[ 9.34870594e-01 1.87481376e-01 -3.01442708e-01 2.23074978e+02] [-1.75123629e-01 9.82211336e-01 6.77687717e-02 1.92245174e+02] [ 3.08785828e-01 -1.05652909e-02 9.51072914e-01 5.24170839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11710568099994 meters Centerline goodness [0,1] 0.9991839296924042 Centerline is valid? [True, True] Translation: X:223.10, Y:192.25, Z:52.43 [[ 9.34490618e-01 1.89023899e-01 -3.01657505e-01 2.23103007e+02] [-1.76737588e-01 9.81921288e-01 6.77820768e-02 1.92246225e+02] [ 3.09016358e-01 -1.00274949e-02 9.51003859e-01 5.24259523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1471056809999 meters Centerline goodness [0,1] 0.9991590455166615 Centerline is valid? [True, True] Translation: X:223.13, Y:192.25, Z:52.44 [[ 9.34110196e-01 1.93332726e-01 -3.00100981e-01 2.23131933e+02] [-1.81424683e-01 9.81096836e-01 6.73355982e-02 1.92253673e+02] [ 3.07446298e-01 -8.45314348e-03 9.51527886e-01 5.24364024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1771056809999 meters Centerline goodness [0,1] 0.9994310039618983 Centerline is valid? [True, True] Translation: X:223.16, Y:192.26, Z:52.45 [[ 9.34295499e-01 1.94689362e-01 -2.98643555e-01 2.23160326e+02] [-1.82974186e-01 9.80832788e-01 6.69887253e-02 1.92258980e+02] [ 3.05961382e-01 -7.94320324e-03 9.52010787e-01 5.24466898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2071056809999 meters Centerline goodness [0,1] 0.9989497563434717 Centerline is valid? [True, True] Translation: X:223.19, Y:192.26, Z:52.46 [[ 9.34336431e-01 1.96121012e-01 -2.97576850e-01 2.23188085e+02] [-1.84597460e-01 9.80552281e-01 6.66408483e-02 1.92261499e+02] [ 3.04859330e-01 -7.33304179e-03 9.52369159e-01 5.24550525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2371056809999 meters Centerline goodness [0,1] 0.9980999310964024 Centerline is valid? [True, True] Translation: X:223.21, Y:192.25, Z:52.46 [[ 9.34679946e-01 1.96044245e-01 -2.96546882e-01 2.23211594e+02] [-1.84610981e-01 9.80567944e-01 6.63723746e-02 1.92253600e+02] [ 3.03796288e-01 -7.29111687e-03 9.52709113e-01 5.24648158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2671056809999 meters Centerline goodness [0,1] 0.9980209570235193 Centerline is valid? [True, True] Translation: X:223.24, Y:192.26, Z:52.48 [[ 9.35749150e-01 1.94178767e-01 -2.94394522e-01 2.23239414e+02] [-1.82841575e-01 9.80935290e-01 6.58400708e-02 1.92257943e+02] [ 3.01566719e-01 -7.78223226e-03 9.53413316e-01 5.24767712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2971056809999 meters Centerline goodness [0,1] 0.9977949514889327 Centerline is valid? [True, True] Translation: X:223.27, Y:192.26, Z:52.49 [[ 9.36743206e-01 1.90651344e-01 -2.93537446e-01 2.23267788e+02] [-1.79243676e-01 9.81618465e-01 6.55506943e-02 1.92260059e+02] [ 3.00639105e-01 -8.78943666e-03 9.53697475e-01 5.24866338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3271056809999 meters Centerline goodness [0,1] 0.9970954959440675 Centerline is valid? [True, True] Translation: X:223.29, Y:192.25, Z:52.49 [[ 9.37126879e-01 1.89415241e-01 -2.93112742e-01 2.23293595e+02] [-1.78016210e-01 9.81855264e-01 6.53488357e-02 1.92252964e+02] [ 3.00172354e-01 -9.06133110e-03 9.53841942e-01 5.24948458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3571056809999 meters Centerline goodness [0,1] 0.9973466488383754 Centerline is valid? [True, True] Translation: X:223.32, Y:192.25, Z:52.50 [[ 9.37021566e-01 1.88535516e-01 -2.94015209e-01 2.23321322e+02] [-1.77033105e-01 9.82021977e-01 6.55142399e-02 1.92249454e+02] [ 3.01081158e-01 -9.33783034e-03 9.53552799e-01 5.25008780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3871056809999 meters Centerline goodness [0,1] 0.9971829801547258 Centerline is valid? [True, True] Translation: X:223.35, Y:192.25, Z:52.51 [[ 9.36535872e-01 1.88954507e-01 -2.95290968e-01 2.23349609e+02] [-1.77401613e-01 9.81943285e-01 6.56966779e-02 1.92247996e+02] [ 3.02372666e-01 -9.14220156e-03 9.53145944e-01 5.25066704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4171056809999 meters Centerline goodness [0,1] 0.997313294991814 Centerline is valid? [True, True] Translation: X:223.38, Y:192.25, Z:52.51 [[ 9.34941287e-01 1.92021053e-01 -2.98349971e-01 2.23379060e+02] [-1.80406966e-01 9.81357106e-01 6.62688281e-02 1.92250702e+02] [ 3.05512874e-01 -8.13305020e-03 9.52153211e-01 5.25129797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4471056809999 meters Centerline goodness [0,1] 0.9970708602530278 Centerline is valid? [True, True] Translation: X:223.41, Y:192.25, Z:52.52 [[ 9.34298374e-01 1.94570073e-01 -2.98712295e-01 2.23406246e+02] [-1.83063570e-01 9.80861616e-01 6.63190684e-02 1.92250047e+02] [ 3.05899131e-01 -7.27845860e-03 9.52036105e-01 5.25220319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.4771056809999 meters Centerline goodness [0,1] 0.9968765721952038 Centerline is valid? [True, True] Translation: X:223.44, Y:192.25, Z:52.53 [[ 9.32979562e-01 1.98712047e-01 -3.00104413e-01 2.23435707e+02] [-1.87315633e-01 9.80040078e-01 6.65905333e-02 1.92251156e+02] [ 3.07346693e-01 -5.91335878e-03 9.51579236e-01 5.25285507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5071056809999 meters Centerline goodness [0,1] 0.997226832496481 Centerline is valid? [True, True] Translation: X:223.46, Y:192.25, Z:52.54 [[ 9.32196199e-01 1.99819685e-01 -3.01798509e-01 2.23463599e+02] [-1.88379036e-01 9.79817355e-01 6.68677067e-02 1.92247579e+02] [ 3.09068901e-01 -5.48130978e-03 9.51023853e-01 5.25360147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5371056809999 meters Centerline goodness [0,1] 0.9968194182883449 Centerline is valid? [True, True] Translation: X:223.49, Y:192.25, Z:52.54 [[ 9.31330130e-01 2.01098084e-01 -3.03617770e-01 2.23492159e+02] [-1.89615946e-01 9.79558445e-01 6.71643271e-02 1.92247067e+02] [ 3.10917968e-01 -4.98139094e-03 9.50423697e-01 5.25420666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56710568099993 meters Centerline goodness [0,1] 0.9968511490178087 Centerline is valid? [True, True] Translation: X:223.52, Y:192.25, Z:52.55 [[ 9.29741212e-01 2.04095208e-01 -3.06474184e-01 2.23520798e+02] [-1.92583125e-01 9.78943227e-01 6.76897248e-02 1.92248070e+02] [ 3.13835975e-01 -3.91217051e-03 9.49469155e-01 5.25478497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.5971056809999 meters Centerline goodness [0,1] 0.9965096719932717 Centerline is valid? [True, True] Translation: X:223.55, Y:192.25, Z:52.56 [[ 9.28672395e-01 2.06771390e-01 -3.07917481e-01 2.23548560e+02] [-1.95303720e-01 9.78384736e-01 6.79688550e-02 1.92248648e+02] [ 3.15315778e-01 -2.98336988e-03 9.48982118e-01 5.25569127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62710568099993 meters Centerline goodness [0,1] 0.9971711160471062 Centerline is valid? [True, True] Translation: X:223.58, Y:192.26, Z:52.57 [[ 9.26411059e-01 2.16659506e-01 -3.07930524e-01 2.23578701e+02] [-2.05756783e-01 9.76247111e-01 6.78654952e-02 1.92257988e+02] [ 3.15319989e-01 4.87448611e-04 9.48985283e-01 5.25662455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.6571056809999 meters Centerline goodness [0,1] 0.9973559962228518 Centerline is valid? [True, True] Translation: X:223.61, Y:192.26, Z:52.58 [[ 9.25416332e-01 2.22122738e-01 -3.07027853e-01 2.23606905e+02] [-2.11613472e-01 9.75015632e-01 6.75592739e-02 1.92259119e+02] [ 3.14363407e-01 2.45077434e-03 9.49299553e-01 5.25753191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68710568099993 meters Centerline goodness [0,1] 0.9978269045927536 Centerline is valid? [True, True] Translation: X:223.64, Y:192.26, Z:52.58 [[ 9.23947484e-01 2.30353847e-01 -3.05381978e-01 2.23635066e+02] [-2.20431956e-01 9.73092345e-01 6.70897961e-02 1.92263966e+02] [ 3.12619258e-01 5.32849837e-03 9.49863573e-01 5.25831380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7171056809999 meters Centerline goodness [0,1] 0.9978276762402088 Centerline is valid? [True, True] Translation: X:223.66, Y:192.26, Z:52.59 [[ 9.23525944e-01 2.32653067e-01 -3.04913727e-01 2.23662781e+02] [-2.22897029e-01 9.72540434e-01 6.69478744e-02 1.92261854e+02] [ 3.12116557e-01 6.13626474e-03 9.50024000e-01 5.25916632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74710568099994 meters Centerline goodness [0,1] 0.9982087065194751 Centerline is valid? [True, True] Translation: X:223.69, Y:192.26, Z:52.60 [[ 9.22728367e-01 2.34087103e-01 -3.06228001e-01 2.23690012e+02] [-2.24356363e-01 9.72192128e-01 6.71318692e-02 1.92258688e+02] [ 3.13427157e-01 6.75972059e-03 9.49588186e-01 5.25990744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7771056809999 meters Centerline goodness [0,1] 0.9983284580025074 Centerline is valid? [True, True] Translation: X:223.72, Y:192.25, Z:52.61 [[ 9.22626558e-01 2.32908879e-01 -3.07430787e-01 2.23717264e+02] [-2.23049095e-01 9.72477326e-01 6.73569021e-02 1.92252113e+02] [ 3.14657490e-01 6.42689191e-03 9.49183522e-01 5.26074267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80710568099994 meters Centerline goodness [0,1] 0.9984646447650696 Centerline is valid? [True, True] Translation: X:223.74, Y:192.24, Z:52.62 [[ 9.23587099e-01 2.29528110e-01 -3.07089103e-01 2.23742178e+02] [-2.19540559e-01 9.73287236e-01 6.71855552e-02 1.92238836e+02] [ 3.14306878e-01 5.36680143e-03 9.49306264e-01 5.26181361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8371056809999 meters Centerline goodness [0,1] 0.9986348266229811 Centerline is valid? [True, True] Translation: X:223.77, Y:192.23, Z:52.63 [[ 9.24295234e-01 2.26941124e-01 -3.06881160e-01 2.23766726e+02] [-2.16862952e-01 9.73897662e-01 6.70358442e-02 1.92229790e+02] [ 3.14084034e-01 4.59024279e-03 9.49384090e-01 5.26270345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86710568099994 meters Centerline goodness [0,1] 0.9986139403994372 Centerline is valid? [True, True] Translation: X:223.79, Y:192.22, Z:52.64 [[ 9.25258964e-01 2.21929864e-01 -3.07640999e-01 2.23791715e+02] [-2.11550573e-01 9.75058143e-01 6.71414328e-02 1.92216495e+02] [ 3.14868551e-01 2.95841711e-03 9.49130678e-01 5.26360858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8971056809999 meters Centerline goodness [0,1] 0.9983822169930247 Centerline is valid? [True, True] Translation: X:223.82, Y:192.21, Z:52.64 [[ 9.25810344e-01 2.19165340e-01 -3.07963896e-01 2.23816943e+02] [-2.08651206e-01 9.75685401e-01 6.71019493e-02 1.92206835e+02] [ 3.15182299e-01 2.13335947e-03 9.49028749e-01 5.26444264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9271056809999 meters Centerline goodness [0,1] 0.9982635256705301 Centerline is valid? [True, True] Translation: X:223.84, Y:192.19, Z:52.65 [[ 9.27317119e-01 2.12380055e-01 -3.08184479e-01 2.23841066e+02] [-2.01498549e-01 9.77187134e-01 6.71091634e-02 1.92193559e+02] [ 3.15406555e-01 -1.32750734e-04 9.48956631e-01 5.26549265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9571056809999 meters Centerline goodness [0,1] 0.9981671630600046 Centerline is valid? [True, True] Translation: X:223.87, Y:192.18, Z:52.66 [[ 9.27992341e-01 2.08762074e-01 -3.08623737e-01 2.23866324e+02] [-1.97690412e-01 9.77965659e-01 6.70944860e-02 1.92184543e+02] [ 3.15830200e-01 -1.25121532e-03 9.48814902e-01 5.26639849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9871056809999 meters Centerline goodness [0,1] 0.9981162878312194 Centerline is valid? [True, True] Translation: X:223.89, Y:192.17, Z:52.67 [[ 9.29666338e-01 2.01705658e-01 -3.08278004e-01 2.23890461e+02] [-1.90321774e-01 9.79439860e-01 6.68968099e-02 1.92168106e+02] [ 3.15433230e-01 -3.51969554e-03 9.48941246e-01 5.26703295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0171056809999 meters Centerline goodness [0,1] 0.9978810892460035 Centerline is valid? [True, True] Translation: X:223.92, Y:192.15, Z:52.68 [[ 9.32167638e-01 1.92109317e-01 -3.06850949e-01 2.23915110e+02] [-1.80344687e-01 9.81350803e-01 6.65311659e-02 1.92151428e+02] [ 3.13909682e-01 -6.67926121e-03 9.49429354e-01 5.26816646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0471056809999 meters Centerline goodness [0,1] 0.9976535165825146 Centerline is valid? [True, True] Translation: X:223.94, Y:192.14, Z:52.69 [[ 9.33373968e-01 1.86732726e-01 -3.06502733e-01 2.23940541e+02] [-1.74718043e-01 9.82374308e-01 6.64403835e-02 1.92140453e+02] [ 3.13507004e-01 -8.46216660e-03 9.49548182e-01 5.26914902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0771056809999 meters Centerline goodness [0,1] 0.9971238427140847 Centerline is valid? [True, True] Translation: X:223.97, Y:192.12, Z:52.70 [[ 9.35502239e-01 1.76080432e-01 -3.06318857e-01 2.23966146e+02] [-1.63530858e-01 9.84302582e-01 6.63783484e-02 1.92124764e+02] [ 3.13198371e-01 -1.20045080e-02 9.49611854e-01 5.27013265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1071056809999 meters Centerline goodness [0,1] 0.9967842323651452 Centerline is valid? [True, True] Translation: X:223.99, Y:192.11, Z:52.71 [[ 9.36505698e-01 1.72082347e-01 -3.05523719e-01 2.23990654e+02] [-1.59396534e-01 9.84992881e-01 6.61949421e-02 1.92113084e+02] [ 3.12329669e-01 -1.32925188e-02 9.49880775e-01 5.27105299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1371056809999 meters Centerline goodness [0,1] 0.9970781131758177 Centerline is valid? [True, True] Translation: X:224.02, Y:192.11, Z:52.72 [[ 9.37242301e-01 1.68857236e-01 -3.05064098e-01 2.24018148e+02] [-1.56054041e-01 9.85536578e-01 6.60665543e-02 1.92110355e+02] [ 3.11807643e-01 -1.43138841e-02 9.50037424e-01 5.27200315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1671056809999 meters Centerline goodness [0,1] 0.9967640940513963 Centerline is valid? [True, True] Translation: X:224.04, Y:192.11, Z:52.73 [[ 9.37703254e-01 1.66739905e-01 -3.04812092e-01 2.24044812e+02] [-1.53857163e-01 9.85887101e-01 6.59893745e-02 1.92106217e+02] [ 3.11513372e-01 -1.49809274e-02 9.50123671e-01 5.27292390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1971056809999 meters Centerline goodness [0,1] 0.9968267977976716 Centerline is valid? [True, True] Translation: X:224.07, Y:192.11, Z:52.74 [[ 9.37760711e-01 1.69179040e-01 -3.03287490e-01 2.24071362e+02] [-1.56565736e-01 9.85485142e-01 6.56216815e-02 1.92105785e+02] [ 3.09987129e-01 -1.40530056e-02 9.50636888e-01 5.27390996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2271056809999 meters Centerline goodness [0,1] 0.9964179479659809 Centerline is valid? [True, True] Translation: X:224.10, Y:192.10, Z:52.75 [[ 9.37823296e-01 1.71458913e-01 -3.01810049e-01 2.24098609e+02] [-1.59104265e-01 9.85103193e-01 6.52497711e-02 1.92104360e+02] [ 3.08501698e-01 -1.31734895e-02 9.51132568e-01 5.27492548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2571056809999 meters Centerline goodness [0,1] 0.9958607205258341 Centerline is valid? [True, True] Translation: X:224.13, Y:192.11, Z:52.76 [[ 9.37318461e-01 1.76565347e-01 -3.00430993e-01 2.24127094e+02] [-1.64591860e-01 9.84222850e-01 6.49222641e-02 1.92106416e+02] [ 3.07154071e-01 -1.14043407e-02 9.51591466e-01 5.27599924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.2871056809999 meters Centerline goodness [0,1] 0.9963122826132507 Centerline is valid? [True, True] Translation: X:224.16, Y:192.10, Z:52.77 [[ 9.36789320e-01 1.78316840e-01 -3.01046298e-01 2.24155273e+02] [-1.66385527e-01 9.83913418e-01 6.50403172e-02 1.92104073e+02] [ 3.07801276e-01 -1.08393276e-02 9.51388923e-01 5.27685914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31710568099993 meters Centerline goodness [0,1] 0.9961144249348903 Centerline is valid? [True, True] Translation: X:224.18, Y:192.11, Z:52.78 [[ 9.36314387e-01 1.81419195e-01 -3.00669993e-01 2.24184026e+02] [-1.69704578e-01 9.83357920e-01 6.48656852e-02 1.92105031e+02] [ 3.07434100e-01 -9.70960004e-03 9.51519836e-01 5.27775568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.3471056809999 meters Centerline goodness [0,1] 0.995822074412804 Centerline is valid? [True, True] Translation: X:224.21, Y:192.10, Z:52.78 [[ 9.36108767e-01 1.82805505e-01 -3.00470503e-01 2.24210667e+02] [-1.71192127e-01 9.83106074e-01 6.47742494e-02 1.92101264e+02] [ 3.07235466e-01 -9.19755832e-03 9.51589078e-01 5.27844081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37710568099993 meters Centerline goodness [0,1] 0.9960535382430937 Centerline is valid? [True, True] Translation: X:224.24, Y:192.10, Z:52.79 [[ 9.34829646e-01 1.85072734e-01 -3.03053816e-01 2.24240302e+02] [-1.73380385e-01 9.82688105e-01 6.52941815e-02 1.92099229e+02] [ 3.09891553e-01 -8.49534942e-03 9.50733956e-01 5.27888065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4071056809999 meters Centerline goodness [0,1] 0.9958968100328255 Centerline is valid? [True, True] Translation: X:224.27, Y:192.10, Z:52.80 [[ 9.33487213e-01 1.89219025e-01 -3.04627287e-01 2.24269024e+02] [-1.77646738e-01 9.81909498e-01 6.55391060e-02 1.92101204e+02] [ 3.11517673e-01 -7.06387355e-03 9.50214103e-01 5.27952061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43710568099993 meters Centerline goodness [0,1] 0.9953906430053008 Centerline is valid? [True, True] Translation: X:224.30, Y:192.10, Z:52.80 [[ 9.32529305e-01 1.92404220e-01 -3.05564578e-01 2.24297917e+02] [-1.80934713e-01 9.81297476e-01 6.57106704e-02 1.92102851e+02] [ 3.12492759e-01 -5.98988666e-03 9.49901256e-01 5.28024449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.4671056809999 meters Centerline goodness [0,1] 0.9952262306065618 Centerline is valid? [True, True] Translation: X:224.33, Y:192.11, Z:52.81 [[ 9.29760081e-01 2.02561448e-01 -3.07433005e-01 2.24328085e+02] [-1.91521497e-01 9.79266388e-01 6.60064947e-02 1.92110206e+02] [ 3.14429179e-01 -2.49017456e-03 9.49277668e-01 5.28065964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49710568099994 meters Centerline goodness [0,1] 0.9956100546632617 Centerline is valid? [True, True] Translation: X:224.36, Y:192.11, Z:52.81 [[ 9.28107353e-01 2.08904589e-01 -3.08181138e-01 2.24356750e+02] [-1.98162395e-01 9.77935980e-01 6.61277930e-02 1.92114054e+02] [ 3.15195823e-01 -3.03778684e-04 9.49026607e-01 5.28147659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5271056809999 meters Centerline goodness [0,1] 0.9960171116683877 Centerline is valid? [True, True] Translation: X:224.39, Y:192.13, Z:52.82 [[ 9.24654911e-01 2.23196797e-01 -3.08539277e-01 2.24387775e+02] [-2.13235435e-01 9.74762211e-01 6.61005341e-02 1.92128203e+02] [ 3.15505855e-01 4.67132362e-03 9.48912132e-01 5.28221397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55710568099994 meters Centerline goodness [0,1] 0.9964568745020755 Centerline is valid? [True, True] Translation: X:224.42, Y:192.13, Z:52.83 [[ 9.22862806e-01 2.30082296e-01 -3.08846852e-01 2.24416735e+02] [-2.20485695e-01 9.73145545e-01 6.61347670e-02 1.92132414e+02] [ 3.15769377e-01 7.06299589e-03 9.48809683e-01 5.28308246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5871056809999 meters Centerline goodness [0,1] 0.9979962455970134 Centerline is valid? [True, True] Translation: X:224.45, Y:192.14, Z:52.84 [[ 9.20612884e-01 2.41360024e-01 -3.06948297e-01 2.24445703e+02] [-2.32498673e-01 9.70374706e-01 6.57061428e-02 1.92142225e+02] [ 3.13713700e-01 1.08751502e-02 9.49455342e-01 5.28422416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61710568099994 meters Centerline goodness [0,1] 0.9979962455970134 Centerline is valid? [True, True] Translation: X:224.47, Y:192.14, Z:52.85 [[ 9.20697008e-01 2.41032950e-01 -3.06952988e-01 2.24471226e+02] [-2.32161221e-01 9.70456980e-01 6.56842206e-02 1.92137011e+02] [ 3.13716732e-01 1.07873152e-02 9.49455342e-01 5.28506946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6471056809999 meters Centerline goodness [0,1] 0.9976352849270528 Centerline is valid? [True, True] Translation: X:224.50, Y:192.14, Z:52.86 [[ 9.20140715e-01 2.44667892e-01 -3.05742845e-01 2.24498718e+02] [-2.36099922e-01 9.69531547e-01 6.53100780e-02 1.92135525e+02] [ 3.12406613e-01 1.20913999e-02 9.49871521e-01 5.28610107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6771056809999 meters Centerline goodness [0,1] 0.9976787862162105 Centerline is valid? [True, True] Translation: X:224.52, Y:192.13, Z:52.87 [[ 9.19828530e-01 2.47192832e-01 -3.04649273e-01 2.24524859e+02] [-2.38828606e-01 9.68880170e-01 6.50546988e-02 1.92130991e+02] [ 3.11249694e-01 1.29197932e-02 9.50240342e-01 5.28716657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7071056809999 meters Centerline goodness [0,1] 0.9978263141394085 Centerline is valid? [True, True] Translation: X:224.55, Y:192.12, Z:52.88 [[ 9.20867752e-01 2.44509956e-01 -3.03673287e-01 2.24549208e+02] [-2.36067544e-01 9.69572529e-01 6.48168571e-02 1.92119167e+02] [ 3.10281644e-01 1.19996536e-02 9.50568940e-01 5.28810283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7371056809999 meters Centerline goodness [0,1] 0.9975534652212427 Centerline is valid? [True, True] Translation: X:224.57, Y:192.10, Z:52.89 [[ 9.21523148e-01 2.42853171e-01 -3.03013901e-01 2.24574276e+02] [-2.34376919e-01 9.69995307e-01 6.46263413e-02 1.92104655e+02] [ 3.09616774e-01 1.14647951e-02 9.50792307e-01 5.28910124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7671056809999 meters Centerline goodness [0,1] 0.9970274486655142 Centerline is valid? [True, True] Translation: X:224.60, Y:192.09, Z:52.90 [[ 9.22502729e-01 2.39425695e-01 -3.02760718e-01 2.24598298e+02] [-2.30816044e-01 9.70858938e-01 6.44738390e-02 1.92089872e+02] [ 3.09374643e-01 1.04047388e-02 9.50883311e-01 5.28987436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7971056809999 meters Centerline goodness [0,1] 0.9969487345608059 Centerline is valid? [True, True] Translation: X:224.62, Y:192.08, Z:52.91 [[ 9.23074822e-01 2.37735359e-01 -3.02348760e-01 2.24623341e+02] [-2.29073334e-01 9.71279904e-01 6.43486995e-02 1.92080290e+02] [ 3.08963236e-01 9.86137428e-03 9.51022856e-01 5.29072172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8271056809999 meters Centerline goodness [0,1] 0.9973563290740858 Centerline is valid? [True, True] Translation: X:224.65, Y:192.07, Z:52.92 [[ 9.24022574e-01 2.34271403e-01 -3.02157564e-01 2.24647862e+02] [-2.25451931e-01 9.72132002e-01 6.42712829e-02 1.92066030e+02] [ 3.08793961e-01 8.73388991e-03 9.51088854e-01 5.29156752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8571056809999 meters Centerline goodness [0,1] 0.9979160965752415 Centerline is valid? [True, True] Translation: X:224.67, Y:192.05, Z:52.92 [[ 9.24194179e-01 2.31534998e-01 -3.03737820e-01 2.24673465e+02] [-2.22486824e-01 9.72794542e-01 6.45785738e-02 1.92050026e+02] [ 3.10426694e-01 7.89452078e-03 9.50564540e-01 5.29227345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8871056809999 meters Centerline goodness [0,1] 0.99802968055672 Centerline is valid? [True, True] Translation: X:224.70, Y:192.04, Z:52.93 [[ 9.24037886e-01 2.30614207e-01 -3.04911582e-01 2.24700052e+02] [-2.21475985e-01 9.73014704e-01 6.47361874e-02 1.92041585e+02] [ 3.11612537e-01 7.71190316e-03 9.50177959e-01 5.29298126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9171056809999 meters Centerline goodness [0,1] 0.9980127601715302 Centerline is valid? [True, True] Translation: X:224.73, Y:192.04, Z:52.94 [[ 9.23902022e-01 2.30004221e-01 -3.05782787e-01 2.24726213e+02] [-2.20812352e-01 9.73159719e-01 6.48233486e-02 1.92035473e+02] [ 3.12485135e-01 7.63019361e-03 9.49892005e-01 5.29363596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9471056809999 meters Centerline goodness [0,1] 0.9987047985126073 Centerline is valid? [True, True] Translation: X:224.75, Y:192.02, Z:52.94 [[ 9.24091390e-01 2.27666683e-01 -3.06957627e-01 2.24750817e+02] [-2.18289091e-01 9.73714632e-01 6.50360461e-02 1.92019038e+02] [ 3.13695674e-01 6.90625129e-03 9.49498461e-01 5.29434869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.9771056809999 meters Centerline goodness [0,1] 0.9987884611367577 Centerline is valid? [True, True] Translation: X:224.78, Y:192.01, Z:52.95 [[ 9.24782053e-01 2.25485848e-01 -3.06487008e-01 2.24776636e+02] [-2.16055260e-01 9.74226315e-01 6.48321785e-02 1.92013235e+02] [ 3.13206447e-01 6.26249484e-03 9.49664416e-01 5.29507659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0071056809999 meters Centerline goodness [0,1] 0.9983485241240907 Centerline is valid? [True, True] Translation: X:224.80, Y:192.00, Z:52.96 [[ 9.25664965e-01 2.20058357e-01 -3.07764021e-01 2.24801449e+02] [-2.10267257e-01 9.75476402e-01 6.50651138e-02 1.91997219e+02] [ 3.14534662e-01 4.48420032e-03 9.49235397e-01 5.29586532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0371056809999 meters Centerline goodness [0,1] 0.9986758864204797 Centerline is valid? [True, True] Translation: X:224.83, Y:191.99, Z:52.97 [[ 9.26290168e-01 2.16948184e-01 -3.08090912e-01 2.24827756e+02] [-2.06977375e-01 9.76176988e-01 6.51064880e-02 1.91986866e+02] [ 3.14875993e-01 3.46034848e-03 9.49126512e-01 5.29677925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06710568099993 meters Centerline goodness [0,1] 0.9986917623227549 Centerline is valid? [True, True] Translation: X:224.85, Y:191.97, Z:52.98 [[ 9.27415461e-01 2.11726578e-01 -3.08338156e-01 2.24852370e+02] [-2.01475323e-01 9.77327388e-01 6.51066182e-02 1.91970604e+02] [ 3.15132126e-01 1.74164521e-03 9.49046210e-01 5.29773066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.0971056809999 meters Centerline goodness [0,1] 0.9987408448930768 Centerline is valid? [True, True] Translation: X:224.88, Y:191.96, Z:52.98 [[ 9.28188203e-01 2.08242654e-01 -3.08385564e-01 2.24877298e+02] [-1.97837790e-01 9.78076962e-01 6.50051162e-02 1.91956805e+02] [ 3.15161654e-01 6.73336474e-04 9.49037765e-01 5.29835330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12710568099993 meters Centerline goodness [0,1] 0.9987737843551797 Centerline is valid? [True, True] Translation: X:224.90, Y:191.95, Z:52.99 [[ 9.29002885e-01 2.06508048e-01 -3.07096182e-01 2.24902667e+02] [-1.96141074e-01 9.78444879e-01 6.46088095e-02 1.91948635e+02] [ 3.13818926e-01 2.12404486e-04 9.49482826e-01 5.29927838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.1571056809999 meters Centerline goodness [0,1] 0.9987546437014522 Centerline is valid? [True, True] Translation: X:224.93, Y:191.94, Z:53.00 [[ 9.30316605e-01 2.03835392e-01 -3.04896945e-01 2.24926918e+02] [-1.93520378e-01 9.79005016e-01 6.40237624e-02 1.91940501e+02] [ 3.11545947e-01 -5.58597196e-04 9.50230925e-01 5.30044503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18710568099993 meters Centerline goodness [0,1] 0.9986299926230372 Centerline is valid? [True, True] Translation: X:224.95, Y:191.93, Z:53.01 [[ 9.31149662e-01 2.01141621e-01 -3.04141998e-01 2.24952226e+02] [-1.90779176e-01 9.79561270e-01 6.37418571e-02 1.91933265e+02] [ 3.10746862e-01 -1.32924883e-03 9.50491778e-01 5.30139645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2171056809999 meters Centerline goodness [0,1] 0.9984246345152076 Centerline is valid? [True, True] Translation: X:224.98, Y:191.92, Z:53.02 [[ 9.32697797e-01 1.94508847e-01 -3.03712244e-01 2.24977054e+02] [-1.83872932e-01 9.80894837e-01 6.35300205e-02 1.91920872e+02] [ 3.10266923e-01 -3.40984943e-03 9.50643366e-01 5.30222380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24710568099994 meters Centerline goodness [0,1] 0.9982271000422119 Centerline is valid? [True, True] Translation: X:225.00, Y:191.91, Z:53.03 [[ 9.33877898e-01 1.89847674e-01 -3.03034540e-01 2.25003572e+02] [-1.79033353e-01 9.81801288e-01 6.33505334e-02 1.91910602e+02] [ 3.09546653e-01 -4.90837308e-03 9.50871588e-01 5.30300340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2771056809999 meters Centerline goodness [0,1] 0.9987764487479696 Centerline is valid? [True, True] Translation: X:225.03, Y:191.89, Z:53.04 [[ 9.35952526e-01 1.80184439e-01 -3.02533364e-01 2.25028956e+02] [-1.68947730e-01 9.83600429e-01 6.31415862e-02 1.91894008e+02] [ 3.08949078e-01 -7.98520188e-03 9.51045059e-01 5.30376982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30710568099994 meters Centerline goodness [0,1] 0.9982263513513514 Centerline is valid? [True, True] Translation: X:225.06, Y:191.88, Z:53.05 [[ 9.36714367e-01 1.75598082e-01 -3.02872098e-01 2.25056253e+02] [-1.64107909e-01 9.84416200e-01 6.31928814e-02 1.91884747e+02] [ 3.09248748e-01 -9.48997329e-03 9.50933832e-01 5.30457574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3371056809999 meters Centerline goodness [0,1] 0.9982064483457124 Centerline is valid? [True, True] Translation: X:225.08, Y:191.87, Z:53.06 [[ 9.38280083e-01 1.67044207e-01 -3.02864192e-01 2.25083107e+02] [-1.55124878e-01 9.85872743e-01 6.31759978e-02 1.91874687e+02] [ 3.09138736e-01 -1.22950096e-02 9.50937471e-01 5.30556022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36710568099994 meters Centerline goodness [0,1] 0.9981325275924294 Centerline is valid? [True, True] Translation: X:225.11, Y:191.87, Z:53.06 [[ 9.39247867e-01 1.60294310e-01 -3.03511415e-01 2.25110334e+02] [-1.47982600e-01 9.86962178e-01 6.32993647e-02 1.91867550e+02] [ 3.09700815e-01 -1.45393848e-02 9.50722889e-01 5.30645829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3971056809999 meters Centerline goodness [0,1] 0.9976157319491918 Centerline is valid? [True, True] Translation: X:225.14, Y:191.86, Z:53.07 [[ 9.39794063e-01 1.57348482e-01 -3.03362116e-01 2.25136921e+02] [-1.44905860e-01 9.87421760e-01 6.32499827e-02 1.91860821e+02] [ 3.09498643e-01 -1.54830101e-02 9.50773825e-01 5.30728070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4271056809999 meters Centerline goodness [0,1] 0.9977290409403453 Centerline is valid? [True, True] Translation: X:225.17, Y:191.85, Z:53.08 [[ 9.40737982e-01 1.53169131e-01 -3.02574398e-01 2.25165206e+02] [-1.40590090e-01 9.88057387e-01 6.30636780e-02 1.91854812e+02] [ 3.08620278e-01 -1.67874354e-02 9.51037174e-01 5.30804752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4571056809999 meters Centerline goodness [0,1] 0.9971698312459079 Centerline is valid? [True, True] Translation: X:225.19, Y:191.85, Z:53.09 [[ 9.41313516e-01 1.51151978e-01 -3.01797854e-01 2.25193376e+02] [-1.38544201e-01 9.88357691e-01 6.28854414e-02 1.91849492e+02] [ 3.07789489e-01 -1.73825732e-02 9.51295683e-01 5.30889681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4871056809999 meters Centerline goodness [0,1] 0.9970293900768987 Centerline is valid? [True, True] Translation: X:225.22, Y:191.85, Z:53.10 [[ 9.41883354e-01 1.50866193e-01 -3.00158522e-01 2.25220920e+02] [-1.38390388e-01 9.88401811e-01 6.25296762e-02 1.91854779e+02] [ 3.06110841e-01 -1.73566069e-02 9.51837644e-01 5.31008302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5171056809999 meters Centerline goodness [0,1] 0.9968373779755002 Centerline is valid? [True, True] Translation: X:225.25, Y:191.86, Z:53.11 [[ 9.41832738e-01 1.52783207e-01 -2.99346597e-01 2.25248271e+02] [-1.40509427e-01 9.88120965e-01 6.22419339e-02 1.91855791e+02] [ 3.05300170e-01 -1.65604721e-02 9.52112156e-01 5.31102771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5471056809999 meters Centerline goodness [0,1] 0.9969308387639269 Centerline is valid? [True, True] Translation: X:225.28, Y:191.87, Z:53.12 [[ 9.41170138e-01 1.59110089e-01 -2.98132105e-01 2.25278552e+02] [-1.47257095e-01 9.87155628e-01 6.19605825e-02 1.91865091e+02] [ 3.04161339e-01 -1.44133821e-02 9.52511488e-01 5.31192453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5771056809999 meters Centerline goodness [0,1] 0.9967522943468968 Centerline is valid? [True, True] Translation: X:225.31, Y:191.87, Z:53.13 [[ 9.40769802e-01 1.63233789e-01 -2.97164787e-01 2.25306544e+02] [-1.51665895e-01 9.86501557e-01 6.17424875e-02 1.91867377e+02] [ 3.03231985e-01 -1.30157044e-02 9.52827872e-01 5.31290957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6071056809999 meters Centerline goodness [0,1] 0.9956199530857535 Centerline is valid? [True, True] Translation: X:225.34, Y:191.88, Z:53.14 [[ 9.39617567e-01 1.71466420e-01 -2.96172407e-01 2.25337362e+02] [-1.60382915e-01 9.85136122e-01 6.15153848e-02 1.91880909e+02] [ 3.02317959e-01 -1.02999422e-02 9.53151490e-01 5.31391869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6371056809999 meters Centerline goodness [0,1] 0.9951957370033148 Centerline is valid? [True, True] Translation: X:225.37, Y:191.89, Z:53.14 [[ 9.37841628e-01 1.78349783e-01 -2.97732156e-01 2.25368513e+02] [-1.67488866e-01 9.83933711e-01 6.18217828e-02 1.91891878e+02] [ 3.03974606e-01 -8.11222019e-03 9.52645595e-01 5.31446892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6671056809999 meters Centerline goodness [0,1] 0.9950327670409483 Centerline is valid? [True, True] Translation: X:225.40, Y:191.89, Z:53.15 [[ 9.36824065e-01 1.80812098e-01 -2.99445580e-01 2.25397544e+02] [-1.69951126e-01 9.83490276e-01 6.21569898e-02 1.91893271e+02] [ 3.05740552e-01 -7.33905037e-03 9.52086579e-01 5.31513833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6971056809999 meters Centerline goodness [0,1] 0.9949481071254941 Centerline is valid? [True, True] Translation: X:225.43, Y:191.90, Z:53.16 [[ 9.35932999e-01 1.81739028e-01 -3.01662638e-01 2.25427862e+02] [-1.70790294e-01 9.83321935e-01 6.25191795e-02 1.91901254e+02] [ 3.07993663e-01 -6.99271268e-03 9.51362710e-01 5.31582797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7271056809999 meters Centerline goodness [0,1] 0.9943928766432861 Centerline is valid? [True, True] Translation: X:225.45, Y:191.90, Z:53.17 [[ 9.35437562e-01 1.81926556e-01 -3.03082983e-01 2.25453451e+02] [-1.70916183e-01 9.83288228e-01 6.27050181e-02 1.91896666e+02] [ 3.09425638e-01 -6.85484272e-03 9.50898936e-01 5.31668924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7571056809999 meters Centerline goodness [0,1] 0.9942064753618338 Centerline is valid? [True, True] Translation: X:225.48, Y:191.90, Z:53.17 [[ 9.35204890e-01 1.81675461e-01 -3.03950390e-01 2.25481447e+02] [-1.70599810e-01 9.83334199e-01 6.28455089e-02 1.91895703e+02] [ 3.10302300e-01 -6.91954832e-03 9.50612751e-01 5.31729298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.7871056809999 meters Centerline goodness [0,1] 0.9951660228400143 Centerline is valid? [True, True] Translation: X:225.51, Y:191.89, Z:53.18 [[ 9.35233616e-01 1.81164587e-01 -3.04166854e-01 2.25508183e+02] [-1.70083158e-01 9.83428035e-01 6.27775419e-02 1.91894060e+02] [ 3.10499279e-01 -6.97800842e-03 9.50548002e-01 5.31809026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81710568099993 meters Centerline goodness [0,1] 0.9944767625007875 Centerline is valid? [True, True] Translation: X:225.53, Y:191.89, Z:53.19 [[ 9.34711563e-01 1.82290173e-01 -3.05097667e-01 2.25534926e+02] [-1.71238255e-01 9.83223315e-01 6.28440427e-02 1.91891549e+02] [ 3.11434991e-01 -6.49666132e-03 9.50245252e-01 5.31874561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.8471056809999 meters Centerline goodness [0,1] 0.9946565852834333 Centerline is valid? [True, True] Translation: X:225.56, Y:191.89, Z:53.20 [[ 9.34704829e-01 1.82369929e-01 -3.05070634e-01 2.25561208e+02] [-1.71337218e-01 9.83208974e-01 6.27986570e-02 1.91889799e+02] [ 3.11400772e-01 -6.42825430e-03 9.50256932e-01 5.31973338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87710568099993 meters Centerline goodness [0,1] 0.9949632738719832 Centerline is valid? [True, True] Translation: X:225.59, Y:191.89, Z:53.21 [[ 9.33398869e-01 1.84502972e-01 -3.07774601e-01 2.25589719e+02] [-1.73420384e-01 9.82815723e-01 6.32346904e-02 1.91894409e+02] [ 3.14152705e-01 -5.64879905e-03 9.49355660e-01 5.32058516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9071056809999 meters Centerline goodness [0,1] 0.9952574810089394 Centerline is valid? [True, True] Translation: X:225.62, Y:191.89, Z:53.21 [[ 9.32900495e-01 1.85526646e-01 -3.08668967e-01 2.25616093e+02] [-1.74468440e-01 9.82625433e-01 6.33089435e-02 1.91892079e+02] [ 3.15051473e-01 -5.20795156e-03 9.49060297e-01 5.32133652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93710568099993 meters Centerline goodness [0,1] 0.9953338798158774 Centerline is valid? [True, True] Translation: X:225.64, Y:191.89, Z:53.22 [[ 9.32981619e-01 1.85267326e-01 -3.08579513e-01 2.25643092e+02] [-1.74215452e-01 9.82674126e-01 6.32498035e-02 1.91889020e+02] [ 3.14951225e-01 -5.25158480e-03 9.49093329e-01 5.32206552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.9671056809999 meters Centerline goodness [0,1] 0.9949313002680965 Centerline is valid? [True, True] Translation: X:225.67, Y:191.88, Z:53.23 [[ 9.33368460e-01 1.84085611e-01 -3.08116546e-01 2.25668963e+02] [-1.73045762e-01 9.82894746e-01 6.30323962e-02 1.91883222e+02] [ 3.14449491e-01 -5.51418813e-03 9.49258190e-01 5.32295527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99710568099994 meters Centerline goodness [0,1] 0.9947448862089903 Centerline is valid? [True, True] Translation: X:225.69, Y:191.88, Z:53.24 [[ 9.34920950e-01 1.79823454e-01 -3.05918850e-01 2.25693520e+02] [-1.68735328e-01 9.83675013e-01 6.25448421e-02 1.91876632e+02] [ 3.12171758e-01 -6.85516587e-03 9.50000947e-01 5.32417743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0271056809999 meters Centerline goodness [0,1] 0.9945959480042564 Centerline is valid? [True, True] Translation: X:225.72, Y:191.87, Z:53.26 [[ 9.36595768e-01 1.75453999e-01 -3.03322044e-01 2.25718466e+02] [-1.64347768e-01 9.84453507e-01 6.19766379e-02 1.91874517e+02] [ 3.09480499e-01 -8.19675571e-03 9.50870461e-01 5.32572208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05710568099994 meters Centerline goodness [0,1] 0.9945333361367507 Centerline is valid? [True, True] Translation: X:225.74, Y:191.87, Z:53.27 [[ 9.36924240e-01 1.74207991e-01 -3.03025649e-01 2.25743909e+02] [-1.63094367e-01 9.84672264e-01 6.18122944e-02 1.91868742e+02] [ 3.09149147e-01 -8.49166061e-03 9.50975655e-01 5.32658540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0871056809999 meters Centerline goodness [0,1] 0.9941535226077813 Centerline is valid? [True, True] Translation: X:225.77, Y:191.86, Z:53.27 [[ 9.36843514e-01 1.74489097e-01 -3.03113486e-01 2.25770106e+02] [-1.63400941e-01 9.84623744e-01 6.17755292e-02 1.91862898e+02] [ 3.09231891e-01 -8.34497498e-03 9.50950051e-01 5.32721895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1171056809999 meters Centerline goodness [0,1] 0.9946402194555813 Centerline is valid? [True, True] Translation: X:225.80, Y:191.86, Z:53.28 [[ 9.36797006e-01 1.74799770e-01 -3.03078225e-01 2.25797344e+02] [-1.63747854e-01 9.84569981e-01 6.17137952e-02 1.91859149e+02] [ 3.09189279e-01 -8.18488980e-03 9.50965298e-01 5.32804526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1471056809999 meters Centerline goodness [0,1] 0.9946751415402101 Centerline is valid? [True, True] Translation: X:225.82, Y:191.85, Z:53.29 [[ 9.36483159e-01 1.76107285e-01 -3.03291143e-01 2.25823583e+02] [-1.65140117e-01 9.84341243e-01 6.16527238e-02 1.91854005e+02] [ 3.09399475e-01 -7.65120263e-03 9.50901375e-01 5.32891319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1771056809999 meters Centerline goodness [0,1] 0.9946917195037179 Centerline is valid? [True, True] Translation: X:225.85, Y:191.85, Z:53.30 [[ 9.36076306e-01 1.76742662e-01 -3.04176233e-01 2.25850889e+02] [-1.65754306e-01 9.84229079e-01 6.17950586e-02 1.91849369e+02] [ 3.10300917e-01 -7.42636965e-03 9.50609378e-01 5.32979217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2071056809999 meters Centerline goodness [0,1] 0.9948427460263781 Centerline is valid? [True, True] Translation: X:225.88, Y:191.85, Z:53.31 [[ 9.34668033e-01 1.82316878e-01 -3.05215045e-01 2.25879702e+02] [-1.71574132e-01 9.83224492e-01 6.19024649e-02 1.91853041e+02] [ 3.11380772e-01 -5.49124870e-03 9.50269362e-01 5.33082592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2371056809999 meters Centerline goodness [0,1] 0.995656826335998 Centerline is valid? [True, True] Translation: X:225.91, Y:191.85, Z:53.32 [[ 9.33662883e-01 1.86525475e-01 -3.05748046e-01 2.25906746e+02] [-1.75996925e-01 9.82442015e-01 6.19093648e-02 1.91850639e+02] [ 3.11927400e-01 -3.99175999e-03 9.50097554e-01 5.33166646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2671056809999 meters Centerline goodness [0,1] 0.9961800818553889 Centerline is valid? [True, True] Translation: X:225.94, Y:191.85, Z:53.32 [[ 9.32108000e-01 1.95304764e-01 -3.05009386e-01 2.25935140e+02] [-1.85320639e-01 9.80742148e-01 6.16530653e-02 1.91852382e+02] [ 3.11176698e-01 -9.42781127e-04 9.50351605e-01 5.33241253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2971056809999 meters Centerline goodness [0,1] 0.9961107588247727 Centerline is valid? [True, True] Translation: X:225.96, Y:191.85, Z:53.33 [[ 9.31214756e-01 2.01696319e-01 -3.03574824e-01 2.25961695e+02] [-1.92174070e-01 9.79447248e-01 6.12553247e-02 1.91851782e+02] [ 3.09690500e-01 1.29734736e-03 9.50836532e-01 5.33328106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3271056809999 meters Centerline goodness [0,1] 0.9970481572067134 Centerline is valid? [True, True] Translation: X:225.99, Y:191.85, Z:53.34 [[ 9.30669090e-01 2.03372909e-01 -3.04129091e-01 2.25988664e+02] [-1.93944069e-01 9.79099329e-01 6.12388924e-02 1.91848324e+02] [ 3.10226921e-01 1.99088918e-03 9.50660451e-01 5.33401665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3571056809999 meters Centerline goodness [0,1] 0.9975901067540429 Centerline is valid? [True, True] Translation: X:226.02, Y:191.84, Z:53.34 [[ 9.28400514e-01 2.04881891e-01 -3.09993380e-01 2.26017521e+02] [-1.95172905e-01 9.78783272e-01 6.23766321e-02 1.91844333e+02] [ 3.16196177e-01 2.59181102e-03 9.48690287e-01 5.33440589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3871056809999 meters Centerline goodness [0,1] 0.9972967265047519 Centerline is valid? [True, True] Translation: X:226.05, Y:191.84, Z:53.35 [[ 9.27711601e-01 2.05458453e-01 -3.11669713e-01 2.26045580e+02] [-1.95711012e-01 9.78661479e-01 6.26011963e-02 1.91839445e+02] [ 3.17881087e-01 2.92133898e-03 9.48126089e-01 5.33505651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4171056809999 meters Centerline goodness [0,1] 0.997664436308547 Centerline is valid? [True, True] Translation: X:226.07, Y:191.83, Z:53.36 [[ 9.27391351e-01 2.07401617e-01 -3.11335593e-01 2.26071513e+02] [-1.97819319e-01 9.78248893e-01 6.24229180e-02 1.91834723e+02] [ 3.17510313e-01 3.69772067e-03 9.48247609e-01 5.33585798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4471056809999 meters Centerline goodness [0,1] 0.9979367117923237 Centerline is valid? [True, True] Translation: X:226.10, Y:191.83, Z:53.37 [[ 9.27390610e-01 2.08966348e-01 -3.10289738e-01 2.26097650e+02] [-1.99555315e-01 9.77913465e-01 6.21524884e-02 1.91829527e+02] [ 3.16424291e-01 4.28033237e-03 9.48608110e-01 5.33699769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.4771056809999 meters Centerline goodness [0,1] 0.9972445416684195 Centerline is valid? [True, True] Translation: X:226.12, Y:191.82, Z:53.38 [[ 9.27173413e-01 2.11979613e-01 -3.08891739e-01 2.26123503e+02] [-2.02853462e-01 9.77259208e-01 6.17649802e-02 1.91823681e+02] [ 3.14960213e-01 5.39291129e-03 9.49089554e-01 5.33822876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5071056809999 meters Centerline goodness [0,1] 0.9972445416684195 Centerline is valid? [True, True] Translation: X:226.15, Y:191.82, Z:53.39 [[ 9.27252569e-01 2.11602339e-01 -3.08912809e-01 2.26149058e+02] [-2.02490960e-01 9.77341049e-01 6.16594322e-02 1.91818815e+02] [ 3.14960448e-01 5.37818434e-03 9.49089559e-01 5.33907605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5371056809999 meters Centerline goodness [0,1] 0.9973938081926901 Centerline is valid? [True, True] Translation: X:226.17, Y:191.81, Z:53.40 [[ 9.27269439e-01 2.12390000e-01 -3.08321060e-01 2.26174345e+02] [-2.03397490e-01 9.77168001e-01 6.14179119e-02 1.91811441e+02] [ 3.14326024e-01 5.76077690e-03 9.49297616e-01 5.34016144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56710568099993 meters Centerline goodness [0,1] 0.9968155552743684 Centerline is valid? [True, True] Translation: X:226.20, Y:191.80, Z:53.41 [[ 9.28023123e-01 2.11247670e-01 -3.06834655e-01 2.26199881e+02] [-2.02295648e-01 9.77417730e-01 6.10823396e-02 1.91802941e+02] [ 3.12809134e-01 5.38549199e-03 9.49800738e-01 5.34116785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.5971056809999 meters Centerline goodness [0,1] 0.9972115425239765 Centerline is valid? [True, True] Translation: X:226.22, Y:191.79, Z:53.42 [[ 9.28877243e-01 2.08305428e-01 -3.06261190e-01 2.26224722e+02] [-1.99267477e-01 9.78053488e-01 6.08592482e-02 1.91789333e+02] [ 3.12217137e-01 4.49712405e-03 9.50000124e-01 5.34212843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62710568099993 meters Centerline goodness [0,1] 0.9963444948091826 Centerline is valid? [True, True] Translation: X:226.25, Y:191.78, Z:53.43 [[ 9.28856029e-01 2.06633110e-01 -3.07456071e-01 2.26250666e+02] [-1.97469271e-01 9.78410061e-01 6.09888476e-02 1.91779744e+02] [ 3.13420428e-01 4.06326724e-03 9.49605774e-01 5.34277776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.6571056809999 meters Centerline goodness [0,1] 0.9964311357013135 Centerline is valid? [True, True] Translation: X:226.28, Y:191.77, Z:53.43 [[ 9.29210811e-01 2.03684199e-01 -3.08350476e-01 2.26276715e+02] [-1.94326974e-01 9.79031610e-01 6.11075584e-02 1.91768452e+02] [ 3.14331507e-01 3.13901099e-03 9.49308090e-01 5.34340440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68710568099993 meters Centerline goodness [0,1] 0.9959755583649389 Centerline is valid? [True, True] Translation: X:226.30, Y:191.75, Z:53.44 [[ 9.30334953e-01 1.98897900e-01 -3.08085217e-01 2.26300815e+02] [-1.89336084e-01 9.80018865e-01 6.09497509e-02 1.91751193e+02] [ 3.14052102e-01 1.62796502e-03 9.49404354e-01 5.34398464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7171056809999 meters Centerline goodness [0,1] 0.9954705586311021 Centerline is valid? [True, True] Translation: X:226.33, Y:191.74, Z:53.45 [[ 9.30818636e-01 1.96001291e-01 -3.08480406e-01 2.26325806e+02] [-1.86272298e-01 9.80603393e-01 6.09886539e-02 1.91740265e+02] [ 3.14450788e-01 6.91978533e-04 9.49273524e-01 5.34495568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74710568099994 meters Centerline goodness [0,1] 0.9961292494109727 Centerline is valid? [True, True] Translation: X:226.35, Y:191.73, Z:53.46 [[ 9.30983353e-01 1.95515562e-01 -3.08291519e-01 2.26351259e+02] [-1.85811791e-01 9.80700384e-01 6.08336608e-02 1.91733292e+02] [ 3.14235539e-01 6.49073862e-04 9.49344829e-01 5.34584129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7771056809999 meters Centerline goodness [0,1] 0.9957158680069382 Centerline is valid? [True, True] Translation: X:226.38, Y:191.72, Z:53.47 [[ 9.31034335e-01 1.95741502e-01 -3.07994044e-01 2.26375152e+02] [-1.86107362e-01 9.80655164e-01 6.06588707e-02 1.91723817e+02] [ 3.13909409e-01 8.44467660e-04 9.49452563e-01 5.34665222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80710568099994 meters Centerline goodness [0,1] 0.9954085930918282 Centerline is valid? [True, True] Translation: X:226.40, Y:191.72, Z:53.48 [[ 9.31381295e-01 1.95055815e-01 -3.07379426e-01 2.26400288e+02] [-1.85450951e-01 9.80791898e-01 6.04582287e-02 1.91716732e+02] [ 3.13267980e-01 6.94143699e-04 9.49664515e-01 5.34756394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8371056809999 meters Centerline goodness [0,1] 0.9954906546979371 Centerline is valid? [True, True] Translation: X:226.43, Y:191.71, Z:53.48 [[ 9.32002217e-01 1.92280799e-01 -3.07245769e-01 2.26425484e+02] [-1.82575257e-01 9.81339941e-01 6.03174585e-02 1.91706618e+02] [ 3.13110434e-01 -1.20529925e-04 9.49716717e-01 5.34842053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8671056809999 meters Centerline goodness [0,1] 0.9953292657269093 Centerline is valid? [True, True] Translation: X:226.45, Y:191.70, Z:53.49 [[ 9.32716440e-01 1.90112265e-01 -3.06426777e-01 2.26450751e+02] [-1.80382869e-01 9.81762087e-01 6.00435342e-02 1.91697533e+02] [ 3.12253204e-01 -7.29450435e-04 9.49998634e-01 5.34918104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8971056809999 meters Centerline goodness [0,1] 0.9951936194773848 Centerline is valid? [True, True] Translation: X:226.48, Y:191.69, Z:53.50 [[ 9.33639204e-01 1.86668391e-01 -3.05733134e-01 2.26475629e+02] [-1.76840730e-01 9.82421401e-01 5.97958853e-02 1.91685982e+02] [ 3.11520775e-01 -1.76171215e-03 9.50237709e-01 5.35013808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9271056809999 meters Centerline goodness [0,1] 0.9953580622019665 Centerline is valid? [True, True] Translation: X:226.50, Y:191.68, Z:53.51 [[ 9.33697383e-01 1.84166869e-01 -3.07069635e-01 2.26501990e+02] [-1.74130806e-01 9.82891629e-01 6.00208986e-02 1.91681285e+02] [ 3.12870035e-01 -2.57107289e-03 9.49792467e-01 5.35112666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9571056809999 meters Centerline goodness [0,1] 0.9951675529669959 Centerline is valid? [True, True] Translation: X:226.53, Y:191.68, Z:53.52 [[ 9.33729308e-01 1.83383745e-01 -3.07441022e-01 2.26527646e+02] [-1.73318170e-01 9.83037636e-01 5.99818082e-02 1.91675446e+02] [ 3.13225784e-01 -2.72165688e-03 9.49674787e-01 5.35193347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9871056809999 meters Centerline goodness [0,1] 0.9958073036769947 Centerline is valid? [True, True] Translation: X:226.55, Y:191.67, Z:53.53 [[ 9.33592702e-01 1.84810615e-01 -3.07001144e-01 2.26553057e+02] [-1.74891268e-01 9.82771890e-01 5.97700245e-02 1.91667070e+02] [ 3.12758230e-01 -2.10903935e-03 9.49830428e-01 5.35267281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0171056809999 meters Centerline goodness [0,1] 0.995871405817755 Centerline is valid? [True, True] Translation: X:226.58, Y:191.66, Z:53.54 [[ 9.33377424e-01 1.86771197e-01 -3.06468767e-01 2.26579740e+02] [-1.77003191e-01 9.82402431e-01 5.96266152e-02 1.91663924e+02] [ 3.12212196e-01 -1.40818680e-03 9.50011348e-01 5.35368479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0471056809999 meters Centerline goodness [0,1] 0.9962821396495185 Centerline is valid? [True, True] Translation: X:226.61, Y:191.67, Z:53.55 [[ 9.31814862e-01 1.94781776e-01 -3.06237036e-01 2.26606975e+02] [-1.85482839e-01 9.80845637e-01 5.94806858e-02 1.91666056e+02] [ 3.11957014e-01 1.37672782e-03 9.50095219e-01 5.35465912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0771056809999 meters Centerline goodness [0,1] 0.9960745829244357 Centerline is valid? [True, True] Translation: X:226.63, Y:191.67, Z:53.56 [[ 9.30741425e-01 2.00056529e-01 -3.06100939e-01 2.26634930e+02] [-1.91082682e-01 9.79778917e-01 5.93353330e-02 1.91665650e+02] [ 3.11781668e-01 3.26473615e-03 9.50148164e-01 5.35561305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1071056809999 meters Centerline goodness [0,1] 0.9967355138426769 Centerline is valid? [True, True] Translation: X:226.66, Y:191.67, Z:53.57 [[ 9.29288667e-01 2.10644567e-01 -3.03399800e-01 2.26662614e+02] [-2.02414857e-01 9.77538662e-01 5.87059570e-02 1.91671067e+02] [ 3.08951126e-01 6.85784666e-03 9.51053191e-01 5.35683871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1371056809999 meters Centerline goodness [0,1] 0.9966160466233577 Centerline is valid? [True, True] Translation: X:226.69, Y:191.67, Z:53.58 [[ 9.28723594e-01 2.15087097e-01 -3.02009978e-01 2.26689885e+02] [-2.07173133e-01 9.76559372e-01 5.84045080e-02 1.91668236e+02] [ 3.07492730e-01 8.32670864e-03 9.51513997e-01 5.35790698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1671056809999 meters Centerline goodness [0,1] 0.9970595648155927 Centerline is valid? [True, True] Translation: X:226.72, Y:191.67, Z:53.59 [[ 9.27005270e-01 2.22423529e-01 -3.01975170e-01 2.26718119e+02] [-2.14897286e-01 9.74890539e-01 5.83745955e-02 1.91667620e+02] [ 3.07376620e-01 1.07800867e-02 9.51526880e-01 5.35890410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1971056809999 meters Centerline goodness [0,1] 0.99728592467915 Centerline is valid? [True, True] Translation: X:226.75, Y:191.66, Z:53.60 [[ 9.25577872e-01 2.26968405e-01 -3.02970206e-01 2.26747093e+02] [-2.19634407e-01 9.73823797e-01 5.85486177e-02 1.91663738e+02] [ 3.08328282e-01 1.23513764e-02 9.51199829e-01 5.35954506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2271056809999 meters Centerline goodness [0,1] 0.9976055953456134 Centerline is valid? [True, True] Translation: X:226.77, Y:191.66, Z:53.60 [[ 9.25307033e-01 2.28489104e-01 -3.02654297e-01 2.26773182e+02] [-2.21254683e-01 9.73461543e-01 5.84721290e-02 1.91661008e+02] [ 3.07982563e-01 1.28590083e-02 9.51305097e-01 5.36033054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2571056809999 meters Centerline goodness [0,1] 0.9973390775468829 Centerline is valid? [True, True] Translation: X:226.80, Y:191.65, Z:53.61 [[ 9.25098758e-01 2.29482949e-01 -3.02539029e-01 2.26799136e+02] [-2.22320724e-01 9.73222741e-01 5.84037000e-02 1.91650789e+02] [ 3.07840516e-01 1.32315056e-02 9.51345964e-01 5.36113406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.2871056809999 meters Centerline goodness [0,1] 0.9974869596435284 Centerline is valid? [True, True] Translation: X:226.82, Y:191.64, Z:53.62 [[ 9.25265673e-01 2.28226178e-01 -3.02978955e-01 2.26824139e+02] [-2.21012401e-01 9.73522083e-01 5.83804126e-02 1.91642712e+02] [ 3.08280641e-01 1.29447145e-02 9.51207380e-01 5.36195997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31710568099993 meters Centerline goodness [0,1] 0.9970231183363243 Centerline is valid? [True, True] Translation: X:226.85, Y:191.63, Z:53.63 [[ 9.26742761e-01 2.21367292e-01 -3.03552924e-01 2.26849466e+02] [-2.13779709e-01 9.75131550e-01 5.84525182e-02 1.91625546e+02] [ 3.08943509e-01 1.07230078e-02 9.51019940e-01 5.36283535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.3471056809999 meters Centerline goodness [0,1] 0.9973653148975634 Centerline is valid? [True, True] Translation: X:226.88, Y:191.61, Z:53.64 [[ 9.27386404e-01 2.17529039e-01 -3.04360927e-01 2.26875061e+02] [-2.09727324e-01 9.76007021e-01 5.85213134e-02 1.91614911e+02] [ 3.09788487e-01 9.56093219e-03 9.50757425e-01 5.36370728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37710568099993 meters Centerline goodness [0,1] 0.9975792531469709 Centerline is valid? [True, True] Translation: X:226.90, Y:191.60, Z:53.65 [[ 9.29367076e-01 2.09564696e-01 -3.03907020e-01 2.26900542e+02] [-2.01381205e-01 9.77770272e-01 5.84029566e-02 1.91597038e+02] [ 3.09390448e-01 6.92337687e-03 9.50909889e-01 5.36456807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4071056809999 meters Centerline goodness [0,1] 0.9974903273031476 Centerline is valid? [True, True] Translation: X:226.93, Y:191.59, Z:53.65 [[ 9.30361676e-01 2.06085632e-01 -3.03242252e-01 2.26926031e+02] [-1.97787059e-01 9.78516518e-01 5.81867966e-02 1.91588045e+02] [ 3.08719016e-01 5.84262783e-03 9.51135339e-01 5.36549076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43710568099993 meters Centerline goodness [0,1] 0.9972018850458638 Centerline is valid? [True, True] Translation: X:226.95, Y:191.57, Z:53.67 [[ 9.32577936e-01 2.00385917e-01 -3.00239699e-01 2.26949847e+02] [-1.91999028e-01 9.79708811e-01 5.75066894e-02 1.91573729e+02] [ 3.05671009e-01 4.01626062e-03 9.52128722e-01 5.36678048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.4671056809999 meters Centerline goodness [0,1] 0.9968982761167261 Centerline is valid? [True, True] Translation: X:226.97, Y:191.56, Z:53.68 [[ 9.33368153e-01 1.94813029e-01 -3.01449457e-01 2.26974308e+02] [-1.86107882e-01 9.80837673e-01 5.76308476e-02 1.91561156e+02] [ 3.06900224e-01 2.31132228e-03 9.51738888e-01 5.36756821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49710568099994 meters Centerline goodness [0,1] 0.9971540002108148 Centerline is valid? [True, True] Translation: X:227.00, Y:191.55, Z:53.68 [[ 9.33571576e-01 1.91681427e-01 -3.02823946e-01 2.27000778e+02] [-1.82746350e-01 9.81456300e-01 5.78558791e-02 1.91552121e+02] [ 3.08298367e-01 1.32736668e-03 9.51288786e-01 5.36829481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5271056809999 meters Centerline goodness [0,1] 0.9969426004648922 Centerline is valid? [True, True] Translation: X:227.03, Y:191.54, Z:53.69 [[ 9.33647544e-01 1.88824521e-01 -3.04380623e-01 2.27026479e+02] [-1.79681409e-01 9.82010720e-01 5.80477075e-02 1.91543952e+02] [ 3.09865865e-01 4.95439548e-04 9.50780153e-01 5.36897795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55710568099994 meters Centerline goodness [0,1] 0.9973225956065269 Centerline is valid? [True, True] Translation: X:227.05, Y:191.54, Z:53.70 [[ 9.33734102e-01 1.85469212e-01 -3.06172825e-01 2.27051886e+02] [-1.76079131e-01 9.82649950e-01 5.82684742e-02 1.91535593e+02] [ 3.11667719e-01 -4.96616578e-04 9.50191026e-01 5.36977013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5871056809999 meters Centerline goodness [0,1] 0.9970424130553341 Centerline is valid? [True, True] Translation: X:227.08, Y:191.53, Z:53.70 [[ 9.33098036e-01 1.83984194e-01 -3.08994939e-01 2.27077648e+02] [-1.74377878e-01 9.82928815e-01 5.86796349e-02 1.91527813e+02] [ 3.14516155e-01 -8.71970268e-04 9.49251720e-01 5.37037898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6171056809999 meters Centerline goodness [0,1] 0.9972697105893225 Centerline is valid? [True, True] Translation: X:227.10, Y:191.52, Z:53.71 [[ 9.32972791e-01 1.83743555e-01 -3.09515877e-01 2.27103016e+02] [-1.74110901e-01 9.82973809e-01 5.87186950e-02 1.91522262e+02] [ 3.15035182e-01 -8.92856436e-04 9.49079573e-01 5.37130369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6471056809999 meters Centerline goodness [0,1] 0.9969209501068241 Centerline is valid? [True, True] Translation: X:227.13, Y:191.52, Z:53.72 [[ 9.32683293e-01 1.84956247e-01 -3.09666048e-01 2.27128520e+02] [-1.75419656e-01 9.82746691e-01 5.86249504e-02 1.91518752e+02] [ 3.15166334e-01 -3.57000233e-04 9.49036382e-01 5.37221133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6771056809999 meters Centerline goodness [0,1] 0.9971262559520063 Centerline is valid? [True, True] Translation: X:227.15, Y:191.52, Z:53.74 [[ 9.32746100e-01 1.88823233e-01 -3.07132707e-01 2.27153909e+02] [-1.79667765e-01 9.82010587e-01 5.80921747e-02 1.91518381e+02] [ 3.12576723e-01 9.96597654e-04 9.49891993e-01 5.37364933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7071056809999 meters Centerline goodness [0,1] 0.9973903421783336 Centerline is valid? [True, True] Translation: X:227.18, Y:191.52, Z:53.75 [[ 9.31837255e-01 1.95354719e-01 -3.05803635e-01 2.27180080e+02] [-1.86662666e-01 9.80727106e-01 5.77182216e-02 1.91518962e+02] [ 3.11185441e-01 3.29813257e-03 9.50343487e-01 5.37498109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7371056809999 meters Centerline goodness [0,1] 0.997563025210084 Centerline is valid? [True, True] Translation: X:227.21, Y:191.52, Z:53.76 [[ 9.31208856e-01 1.98502503e-01 -3.05690729e-01 2.27206659e+02] [-1.90017265e-01 9.80090239e-01 5.75895947e-02 1.91517251e+02] [ 3.11036179e-01 4.45857577e-03 9.50387614e-01 5.37602020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7671056809999 meters Centerline goodness [0,1] 0.9974774547518446 Centerline is valid? [True, True] Translation: X:227.24, Y:191.52, Z:53.77 [[ 9.29783582e-01 2.05254192e-01 -3.05570298e-01 2.27235670e+02] [-1.97165537e-01 9.78684915e-01 5.74594530e-02 1.91518726e+02] [ 3.10850835e-01 6.82307599e-03 9.50434219e-01 5.37700537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7971056809999 meters Centerline goodness [0,1] 0.9977099878146141 Centerline is valid? [True, True] Translation: X:227.26, Y:191.52, Z:53.78 [[ 9.29239044e-01 2.07914282e-01 -3.05428305e-01 2.27262605e+02] [-1.99978394e-01 9.78116543e-01 5.74166405e-02 1.91515033e+02] [ 3.10682217e-01 7.72527774e-03 9.50482446e-01 5.37794489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8271056809999 meters Centerline goodness [0,1] 0.9980009162467203 Centerline is valid? [True, True] Translation: X:227.29, Y:191.51, Z:53.79 [[ 9.28574976e-01 2.11863832e-01 -3.04733047e-01 2.27288904e+02] [-2.04207150e-01 9.77256494e-01 5.71767887e-02 1.91510182e+02] [ 3.09916043e-01 9.13573178e-03 9.50720035e-01 5.37884961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8571056809999 meters Centerline goodness [0,1] 0.9979193812786348 Centerline is valid? [True, True] Translation: X:227.31, Y:191.50, Z:53.80 [[ 9.28021134e-01 2.13320384e-01 -3.05403320e-01 2.27314893e+02] [-2.05716533e-01 9.76934364e-01 5.72709002e-02 1.91501169e+02] [ 3.10576049e-01 9.67790647e-03 9.50499267e-01 5.37975427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8871056809999 meters Centerline goodness [0,1] 0.997476659096644 Centerline is valid? [True, True] Translation: X:227.34, Y:191.50, Z:53.81 [[ 9.27884909e-01 2.13997649e-01 -3.05343418e-01 2.27341361e+02] [-2.06469194e-01 9.76782806e-01 5.71473757e-02 1.91497089e+02] [ 3.10483604e-01 1.00178218e-02 9.50525946e-01 5.38069211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9171056809999 meters Centerline goodness [0,1] 0.9983681325578476 Centerline is valid? [True, True] Translation: X:227.37, Y:191.49, Z:53.81 [[ 9.26219273e-01 2.16543060e-01 -3.08588660e-01 2.27369458e+02] [-2.09025719e-01 9.76209811e-01 5.76424611e-02 1.91492286e+02] [ 3.13729352e-01 1.11134082e-02 9.49447411e-01 5.38122382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9471056809999 meters Centerline goodness [0,1] 0.9985453472192942 Centerline is valid? [True, True] Translation: X:227.40, Y:191.48, Z:53.82 [[ 9.25096784e-01 2.18296852e-01 -3.10712768e-01 2.27396700e+02] [-2.10779108e-01 9.75810777e-01 5.80128892e-02 1.91484912e+02] [ 3.15860898e-01 1.18242228e-02 9.48731828e-01 5.38186216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.9771056809999 meters Centerline goodness [0,1] 0.9982092822381865 Centerline is valid? [True, True] Translation: X:227.42, Y:191.47, Z:53.83 [[ 9.24558222e-01 2.21105971e-01 -3.10329251e-01 2.27422480e+02] [-2.13796007e-01 9.75164794e-01 5.78350332e-02 1.91472801e+02] [ 3.15409831e-01 1.28752993e-02 9.48868202e-01 5.38277981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0071056809999 meters Centerline goodness [0,1] 0.9985543683218102 Centerline is valid? [True, True] Translation: X:227.45, Y:191.47, Z:53.84 [[ 9.24909101e-01 2.21501936e-01 -3.08998458e-01 2.27448249e+02] [-2.14284615e-01 9.75073635e-01 5.75630942e-02 1.91468971e+02] [ 3.14046587e-01 1.29729860e-02 9.49318936e-01 5.38385767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0371056809999 meters Centerline goodness [0,1] 0.998693526635199 Centerline is valid? [True, True] Translation: X:227.47, Y:191.46, Z:53.85 [[ 9.24710435e-01 2.21868272e-01 -3.09330054e-01 2.27472760e+02] [-2.14668678e-01 9.74987908e-01 5.75841749e-02 1.91456515e+02] [ 3.14369164e-01 1.31547862e-02 9.49209661e-01 5.38501160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06710568099993 meters Centerline goodness [0,1] 0.9983457922398811 Centerline is valid? [True, True] Translation: X:227.50, Y:191.45, Z:53.86 [[ 9.24364516e-01 2.21216165e-01 -3.10827362e-01 2.27499002e+02] [-2.13947301e-01 9.75136576e-01 5.77512868e-02 1.91447877e+02] [ 3.15874648e-01 1.31174349e-02 9.48710251e-01 5.38563230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.0971056809999 meters Centerline goodness [0,1] 0.9987993427981632 Centerline is valid? [True, True] Translation: X:227.52, Y:191.43, Z:53.86 [[ 9.23746672e-01 2.17587017e-01 -3.15195139e-01 2.27524940e+02] [-2.09948272e-01 9.75964725e-01 5.84343914e-02 1.91428357e+02] [ 3.20333902e-01 1.21961000e-02 9.47226185e-01 5.38605095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12710568099993 meters Centerline goodness [0,1] 0.9986081528501234 Centerline is valid? [True, True] Translation: X:227.55, Y:191.41, Z:53.87 [[ 9.24473758e-01 2.11717776e-01 -3.17054970e-01 2.27550740e+02] [-2.03689294e-01 9.77276119e-01 5.86690659e-02 1.91411581e+02] [ 3.22271534e-01 1.03426911e-02 9.46590771e-01 5.38674738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.1571056809999 meters Centerline goodness [0,1] 0.9985856922719692 Centerline is valid? [True, True] Translation: X:227.58, Y:191.40, Z:53.88 [[ 9.25159705e-01 2.08430750e-01 -3.17232001e-01 2.27576713e+02] [-2.00212802e-01 9.77993614e-01 5.86798487e-02 1.91400557e+02] [ 3.22481556e-01 9.22567636e-03 9.46530788e-01 5.38773029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18710568099993 meters Centerline goodness [0,1] 0.9987112313022902 Centerline is valid? [True, True] Translation: X:227.60, Y:191.39, Z:53.89 [[ 9.25880598e-01 2.05429510e-01 -3.17086477e-01 2.27601956e+02] [-1.97082519e-01 9.78636887e-01 5.85518996e-02 1.91391712e+02] [ 3.22340811e-01 8.28013365e-03 9.46587471e-01 5.38862855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2171056809999 meters Centerline goodness [0,1] 0.9987645531451546 Centerline is valid? [True, True] Translation: X:227.63, Y:191.38, Z:53.90 [[ 9.27158723e-01 2.00152447e-01 -3.16726539e-01 2.27626441e+02] [-1.91538454e-01 9.79743362e-01 5.84462655e-02 1.91379636e+02] [ 3.22008887e-01 6.47634675e-03 9.46714494e-01 5.38964542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24710568099994 meters Centerline goodness [0,1] 0.9988604469580264 Centerline is valid? [True, True] Translation: X:227.65, Y:191.37, Z:53.91 [[ 9.27738720e-01 1.96713256e-01 -3.17182539e-01 2.27652478e+02] [-1.87889968e-01 9.80446596e-01 5.84964236e-02 1.91370578e+02] [ 3.22487563e-01 5.32602000e-03 9.46558717e-01 5.39068904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2771056809999 meters Centerline goodness [0,1] 0.9988460166593232 Centerline is valid? [True, True] Translation: X:227.68, Y:191.36, Z:53.91 [[ 9.28694899e-01 1.92277621e-01 -3.17104242e-01 2.27678088e+02] [-1.83243343e-01 9.81332845e-01 5.83757152e-02 1.91359817e+02] [ 3.22409152e-01 3.89401238e-03 9.46592402e-01 5.39142167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30710568099994 meters Centerline goodness [0,1] 0.9991662845470841 Centerline is valid? [True, True] Translation: X:227.70, Y:191.35, Z:53.92 [[ 9.29629595e-01 1.87648537e-01 -3.17138522e-01 2.27702539e+02] [-1.78368976e-01 9.82233437e-01 5.83265264e-02 1.91347388e+02] [ 3.22448947e-01 2.34560811e-03 9.46583950e-01 5.39223034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3371056809999 meters Centerline goodness [0,1] 0.9989241187266629 Centerline is valid? [True, True] Translation: X:227.73, Y:191.34, Z:53.93 [[ 9.29225942e-01 1.85861420e-01 -3.19366061e-01 2.27729457e+02] [-1.76359248e-01 9.82574351e-01 5.86946384e-02 1.91340009e+02] [ 3.24709969e-01 1.78257765e-03 9.45811957e-01 5.39301168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3671056809999 meters Centerline goodness [0,1] 0.9990945843510486 Centerline is valid? [True, True] Translation: X:227.76, Y:191.34, Z:53.94 [[ 9.28218870e-01 1.85578947e-01 -3.22444078e-01 2.27756294e+02] [-1.75908148e-01 9.82627685e-01 5.91536646e-02 1.91336944e+02] [ 3.27820152e-01 1.81299297e-03 9.44738409e-01 5.39359090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3971056809999 meters Centerline goodness [0,1] 0.9992841502442311 Centerline is valid? [True, True] Translation: X:227.78, Y:191.34, Z:53.94 [[ 9.28101134e-01 1.86621244e-01 -3.22181311e-01 2.27781452e+02] [-1.77047384e-01 9.82429387e-01 5.90484777e-02 1.91335058e+02] [ 3.27540088e-01 2.23839934e-03 9.44834631e-01 5.39448574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4271056809999 meters Centerline goodness [0,1] 0.9992841502442311 Centerline is valid? [True, True] Translation: X:227.81, Y:191.33, Z:53.95 [[ 9.28164252e-01 1.86289962e-01 -3.22191203e-01 2.27807166e+02] [-1.76715465e-01 9.82492391e-01 5.89944529e-02 1.91330619e+02] [ 3.27540480e-01 2.17962595e-03 9.44834633e-01 5.39533259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4571056809999 meters Centerline goodness [0,1] 0.9993038415290172 Centerline is valid? [True, True] Translation: X:227.83, Y:191.33, Z:53.96 [[ 9.28180604e-01 1.87366161e-01 -3.21519342e-01 2.27832023e+02] [-1.77934887e-01 9.82286506e-01 5.87570907e-02 1.91328470e+02] [ 3.26833202e-01 2.67231573e-03 9.45078260e-01 5.39627413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4871056809999 meters Centerline goodness [0,1] 0.9990319865319865 Centerline is valid? [True, True] Translation: X:227.86, Y:191.32, Z:53.98 [[ 9.28790502e-01 1.88120654e-01 -3.19309917e-01 2.27857783e+02] [-1.78883459e-01 9.82141433e-01 5.83001968e-02 1.91321224e+02] [ 3.24574971e-01 2.97059358e-03 9.45855308e-01 5.39755430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5171056809999 meters Centerline goodness [0,1] 0.9991603518125906 Centerline is valid? [True, True] Translation: X:227.88, Y:191.31, Z:53.99 [[ 9.30684002e-01 1.85262866e-01 -3.15444067e-01 2.27883076e+02] [-1.76127917e-01 9.82686861e-01 5.74933937e-02 1.91313225e+02] [ 3.20634131e-01 2.05032451e-03 9.47200903e-01 5.39860128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5471056809999 meters Centerline goodness [0,1] 0.9990337149459091 Centerline is valid? [True, True] Translation: X:227.91, Y:191.31, Z:54.00 [[ 9.31399601e-01 1.83536690e-01 -3.14339096e-01 2.27909225e+02] [-1.74407824e-01 9.83011620e-01 5.71844894e-02 1.91308436e+02] [ 3.19494436e-01 1.56158727e-03 9.47586865e-01 5.39966307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5771056809999 meters Centerline goodness [0,1] 0.9980283994378841 Centerline is valid? [True, True] Translation: X:227.94, Y:191.30, Z:54.00 [[ 9.32616432e-01 1.81075035e-01 -3.12151280e-01 2.27935937e+02] [-1.71974304e-01 9.83468948e-01 5.66892192e-02 1.91303254e+02] [ 3.17256094e-01 8.12701703e-04 9.48339554e-01 5.40048377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6071056809999 meters Centerline goodness [0,1] 0.9980826362697794 Centerline is valid? [True, True] Translation: X:227.96, Y:191.30, Z:54.01 [[ 9.33007627e-01 1.79472359e-01 -3.11907744e-01 2.27962711e+02] [-1.70336109e-01 9.83762942e-01 5.65339186e-02 1.91297943e+02] [ 3.16989556e-01 3.82574194e-04 9.48428951e-01 5.40127351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6371056809999 meters Centerline goodness [0,1] 0.9973697943847197 Centerline is valid? [True, True] Translation: X:227.99, Y:191.29, Z:54.02 [[ 9.33163603e-01 1.76913188e-01 -3.12901603e-01 2.27990440e+02] [-1.67619917e-01 9.84226396e-01 5.65859154e-02 1.91291281e+02] [ 3.17976812e-01 -3.55376053e-04 9.48098424e-01 5.40151821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6671056809999 meters Centerline goodness [0,1] 0.997809259529721 Centerline is valid? [True, True] Translation: X:228.02, Y:191.29, Z:54.02 [[ 9.32922676e-01 1.75287995e-01 -3.14530443e-01 2.28017595e+02] [-1.65826193e-01 9.84516835e-01 5.68179213e-02 1.91286883e+02] [ 3.19620015e-01 -8.49341174e-04 9.47545421e-01 5.40221885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6971056809999 meters Centerline goodness [0,1] 0.9969600371551014 Centerline is valid? [True, True] Translation: X:228.05, Y:191.29, Z:54.03 [[ 9.31477202e-01 1.75427464e-01 -3.18709001e-01 2.28046574e+02] [-1.65750519e-01 9.84492110e-01 5.74634669e-02 1.91287630e+02] [ 3.23847167e-01 -6.99726964e-04 9.46109150e-01 5.40274781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7271056809999 meters Centerline goodness [0,1] 0.9969959876478374 Centerline is valid? [True, True] Translation: X:228.07, Y:191.29, Z:54.04 [[ 9.31436849e-01 1.78278783e-01 -3.17241346e-01 2.28073473e+02] [-1.68890614e-01 9.83979936e-01 5.70915611e-02 1.91290518e+02] [ 3.22337333e-01 4.01901846e-04 9.46624784e-01 5.40364964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7571056809999 meters Centerline goodness [0,1] 0.996833518569002 Centerline is valid? [True, True] Translation: X:228.10, Y:191.29, Z:54.05 [[ 9.31362401e-01 1.80078052e-01 -3.16442685e-01 2.28099467e+02] [-1.70853847e-01 9.83651747e-01 5.69052229e-02 1.91290138e+02] [ 3.21516782e-01 1.06606507e-03 9.46903280e-01 5.40464035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.7871056809999 meters Centerline goodness [0,1] 0.9966782961121441 Centerline is valid? [True, True] Translation: X:228.13, Y:191.29, Z:54.06 [[ 9.30963855e-01 1.83991638e-01 -3.15362297e-01 2.28127857e+02] [-1.75091897e-01 9.82924537e-01 5.65878316e-02 1.91294094e+02] [ 3.20389028e-01 2.53615702e-03 9.47282660e-01 5.40566865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81710568099993 meters Centerline goodness [0,1] 0.9964769419011856 Centerline is valid? [True, True] Translation: X:228.16, Y:191.29, Z:54.07 [[ 9.30604136e-01 1.86430704e-01 -3.14991325e-01 2.28155566e+02] [-1.77724571e-01 9.82461940e-01 5.64137762e-02 1.91293495e+02] [ 3.19984248e-01 3.48280455e-03 9.47416461e-01 5.40658407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.8471056809999 meters Centerline goodness [0,1] 0.996768129105849 Centerline is valid? [True, True] Translation: X:228.18, Y:191.29, Z:54.07 [[ 9.29831457e-01 1.89331229e-01 -3.15542624e-01 2.28183362e+02] [-1.80793967e-01 9.81902480e-01 5.64008927e-02 1.91293068e+02] [ 3.20510536e-01 4.60487860e-03 9.47233758e-01 5.40733342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87710568099993 meters Centerline goodness [0,1] 0.9969171646360776 Centerline is valid? [True, True] Translation: X:228.21, Y:191.30, Z:54.08 [[ 9.28393304e-01 1.95388291e-01 -3.16084305e-01 2.28212404e+02] [-1.87198517e-01 9.80702259e-01 5.63896660e-02 1.91296035e+02] [ 3.21002473e-01 6.81872480e-03 9.47053809e-01 5.40793800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9071056809999 meters Centerline goodness [0,1] 0.9965365966289541 Centerline is valid? [True, True] Translation: X:228.24, Y:191.29, Z:54.09 [[ 9.28257919e-01 1.98811524e-01 -3.14342510e-01 2.28239056e+02] [-1.90913202e-01 9.80005245e-01 5.60523770e-02 1.91293224e+02] [ 3.19201167e-01 7.98107242e-03 9.47653374e-01 5.40903744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93710568099993 meters Centerline goodness [0,1] 0.9969341368009303 Centerline is valid? [True, True] Translation: X:228.27, Y:191.29, Z:54.10 [[ 9.28510245e-01 1.98289234e-01 -3.13926911e-01 2.28265329e+02] [-1.90421126e-01 9.80111658e-01 5.58653081e-02 1.91289397e+02] [ 3.18760914e-01 7.90680498e-03 9.47802174e-01 5.41003528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.9671056809999 meters Centerline goodness [0,1] 0.9966666666666667 Centerline is valid? [True, True] Translation: X:228.29, Y:191.28, Z:54.11 [[ 9.29462497e-01 1.96447091e-01 -3.12262722e-01 2.28291581e+02] [-1.88605616e-01 9.80486766e-01 5.54402607e-02 1.91284513e+02] [ 3.17060545e-01 7.36485997e-03 9.48376702e-01 5.41099958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99710568099994 meters Centerline goodness [0,1] 0.9965784527002767 Centerline is valid? [True, True] Translation: X:228.32, Y:191.27, Z:54.12 [[ 9.31667698e-01 1.88227123e-01 -3.10750462e-01 2.28317544e+02] [-1.80053415e-01 9.82114510e-01 5.50623073e-02 1.91269957e+02] [ 3.15556758e-01 4.65190899e-03 9.48895301e-01 5.41200521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0271056809999 meters Centerline goodness [0,1] 0.9968387110371135 Centerline is valid? [True, True] Translation: X:228.34, Y:191.25, Z:54.13 [[ 9.34530601e-01 1.74144510e-01 -3.10364699e-01 2.28340694e+02] [-1.65238729e-01 9.84720103e-01 5.49770989e-02 1.91250760e+02] [ 3.15196318e-01 -9.35127887e-05 9.49026487e-01 5.41284917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05710568099994 meters Centerline goodness [0,1] 0.9967204896288095 Centerline is valid? [True, True] Translation: X:228.37, Y:191.24, Z:54.14 [[ 9.35862079e-01 1.65885349e-01 -3.10876534e-01 2.28366448e+02] [-1.56523728e-01 9.86141004e-01 5.50113049e-02 1.91238729e+02] [ 3.15693666e-01 -2.82344035e-03 9.48856964e-01 5.41368982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0871056809999 meters Centerline goodness [0,1] 0.9967007037106642 Centerline is valid? [True, True] Translation: X:228.39, Y:191.22, Z:54.15 [[ 9.37840444e-01 1.52594962e-01 -3.11721157e-01 2.28392391e+02] [-1.42500255e-01 9.88262504e-01 5.50536142e-02 1.91223023e+02] [ 3.16463235e-01 -7.21116162e-03 9.48577366e-01 5.41468690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1171056809999 meters Centerline goodness [0,1] 0.9968947379539069 Centerline is valid? [True, True] Translation: X:228.42, Y:191.22, Z:54.16 [[ 9.38622664e-01 1.48373154e-01 -3.11404724e-01 2.28418554e+02] [-1.38076750e-01 9.88893925e-01 5.49874251e-02 1.91217928e+02] [ 3.16104897e-01 -8.61469118e-03 9.48685133e-01 5.41569755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1471056809999 meters Centerline goodness [0,1] 0.9962860958103822 Centerline is valid? [True, True] Translation: X:228.44, Y:191.21, Z:54.17 [[ 9.39419355e-01 1.43825332e-01 -3.11135901e-01 2.28444612e+02] [-1.33317540e-01 9.89551601e-01 5.49004810e-02 1.91209857e+02] [ 3.15781109e-01 -1.00947016e-02 9.48778366e-01 5.41654516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1771056809999 meters Centerline goodness [0,1] 0.99630443045994 Centerline is valid? [True, True] Translation: X:228.47, Y:191.21, Z:54.18 [[ 9.40256096e-01 1.41184139e-01 -3.09815288e-01 2.28471808e+02] [-1.30639699e-01 9.89923383e-01 5.46348363e-02 1.91211497e+02] [ 3.14406970e-01 -1.08965620e-02 9.49225749e-01 5.41767196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2071056809999 meters Centerline goodness [0,1] 0.9961114985523786 Centerline is valid? [True, True] Translation: X:228.50, Y:191.21, Z:54.19 [[ 9.40518899e-01 1.39784788e-01 -3.09652084e-01 2.28499014e+02] [-1.29214555e-01 9.90118081e-01 5.44957244e-02 1.91209920e+02] [ 3.14209801e-01 -1.12427023e-02 9.49286997e-01 5.41854962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2371056809999 meters Centerline goodness [0,1] 0.9957325446287103 Centerline is valid? [True, True] Translation: X:228.53, Y:191.21, Z:54.19 [[ 9.40362500e-01 1.39944350e-01 -3.10054750e-01 2.28527850e+02] [-1.29390505e-01 9.90097254e-01 5.44566346e-02 1.91214832e+02] [ 3.14605254e-01 -1.10908366e-02 9.49157799e-01 5.41932524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2671056809999 meters Centerline goodness [0,1] 0.9958245032417802 Centerline is valid? [True, True] Translation: X:228.56, Y:191.21, Z:54.20 [[ 9.40052800e-01 1.41283583e-01 -3.10386345e-01 2.28555253e+02] [-1.30813449e-01 9.89913035e-01 5.44061030e-02 1.91214989e+02] [ 3.14942178e-01 -1.05419011e-02 9.49052313e-01 5.42009460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2971056809999 meters Centerline goodness [0,1] 0.9954703686616617 Centerline is valid? [True, True] Translation: X:228.58, Y:191.22, Z:54.21 [[ 9.39477719e-01 1.43816193e-01 -3.10963853e-01 2.28583924e+02] [-1.33454083e-01 9.89557161e-01 5.44668005e-02 1.91219735e+02] [ 3.15549715e-01 -9.67094973e-03 9.48859763e-01 5.42080078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3271056809999 meters Centerline goodness [0,1] 0.9954847110215054 Centerline is valid? [True, True] Translation: X:228.61, Y:191.22, Z:54.22 [[ 9.39305437e-01 1.45123215e-01 -3.10877064e-01 2.28611722e+02] [-1.34872315e-01 9.89371581e-01 5.43445896e-02 1.91223349e+02] [ 3.15459594e-01 -9.11745931e-03 9.48895208e-01 5.42173153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3571056809999 meters Centerline goodness [0,1] 0.9952684029813248 Centerline is valid? [True, True] Translation: X:228.64, Y:191.23, Z:54.22 [[ 9.38236908e-01 1.47700594e-01 -3.12883426e-01 2.28641717e+02] [-1.37487388e-01 9.88998131e-01 5.45886029e-02 1.91232243e+02] [ 3.17503892e-01 -8.19951685e-03 9.48221518e-01 5.42230131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3871056809999 meters Centerline goodness [0,1] 0.995364686957626 Centerline is valid? [True, True] Translation: X:228.67, Y:191.23, Z:54.23 [[ 9.37943689e-01 1.48653702e-01 -3.13310887e-01 2.28669824e+02] [-1.38499175e-01 9.88858730e-01 5.45563026e-02 1.91233952e+02] [ 3.17930203e-01 -7.77744015e-03 9.48082221e-01 5.42304756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4171056809999 meters Centerline goodness [0,1] 0.9952213544407722 Centerline is valid? [True, True] Translation: X:228.70, Y:191.24, Z:54.23 [[ 9.36828111e-01 1.50267031e-01 -3.15868502e-01 2.28698637e+02] [-1.40066054e-01 9.88619351e-01 5.48933447e-02 1.91238064e+02] [ 3.20522373e-01 -7.18317390e-03 9.47213709e-01 5.42340859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4471056809999 meters Centerline goodness [0,1] 0.995108065366368 Centerline is valid? [True, True] Translation: X:228.73, Y:191.25, Z:54.25 [[ 9.37104029e-01 1.50851662e-01 -3.14769462e-01 2.28727241e+02] [-1.40769839e-01 9.88532236e-01 5.46614225e-02 1.91245519e+02] [ 3.19405526e-01 -6.91339271e-03 9.47592906e-01 5.42455707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.4771056809999 meters Centerline goodness [0,1] 0.9943878087230689 Centerline is valid? [True, True] Translation: X:228.75, Y:191.25, Z:54.26 [[ 9.37274820e-01 1.51231197e-01 -3.14078075e-01 2.28754645e+02] [-1.41252101e-01 9.88476017e-01 5.44335155e-02 1.91246393e+02] [ 3.18690690e-01 -6.65497552e-03 9.47835405e-01 5.42556223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5071056809999 meters Centerline goodness [0,1] 0.9947548750052875 Centerline is valid? [True, True] Translation: X:228.78, Y:191.25, Z:54.27 [[ 9.37545180e-01 1.53716236e-01 -3.12058256e-01 2.28782512e+02] [-1.44038978e-01 9.88098841e-01 5.39764125e-02 1.91253000e+02] [ 3.16641452e-01 -5.65677312e-03 9.48528435e-01 5.42677462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5371056809999 meters Centerline goodness [0,1] 0.9941425248466906 Centerline is valid? [True, True] Translation: X:228.81, Y:191.25, Z:54.28 [[ 9.37645722e-01 1.55376287e-01 -3.10932002e-01 2.28809580e+02] [-1.45895652e-01 9.87842889e-01 5.36738785e-02 1.91254440e+02] [ 3.15491615e-01 -4.96345557e-03 9.48915383e-01 5.42775786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56710568099993 meters Centerline goodness [0,1] 0.9938867030503025 Centerline is valid? [True, True] Translation: X:228.84, Y:191.26, Z:54.29 [[ 9.37241531e-01 1.60558794e-01 -3.09514437e-01 2.28838669e+02] [-1.51477065e-01 9.87021433e-01 5.33234424e-02 1.91264674e+02] [ 3.14058931e-01 -3.09260636e-03 9.49398454e-01 5.42888097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.5971056809999 meters Centerline goodness [0,1] 0.994061079995773 Centerline is valid? [True, True] Translation: X:228.87, Y:191.27, Z:54.30 [[ 9.37132820e-01 1.62922429e-01 -3.08607128e-01 2.28865467e+02] [-1.54055759e-01 9.86636471e-01 5.30593805e-02 1.91265868e+02] [ 3.13127611e-01 -2.18098165e-03 9.49708557e-01 5.42976842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62710568099993 meters Centerline goodness [0,1] 0.9938465428950751 Centerline is valid? [True, True] Translation: X:228.89, Y:191.27, Z:54.31 [[ 9.36912129e-01 1.66906558e-01 -3.07144694e-01 2.28893858e+02] [-1.58347368e-01 9.85972390e-01 5.27689005e-02 1.91273785e+02] [ 3.11643663e-01 -8.04269073e-04 9.50198706e-01 5.43084549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.6571056809999 meters Centerline goodness [0,1] 0.9943850942126514 Centerline is valid? [True, True] Translation: X:228.92, Y:191.28, Z:54.32 [[ 9.36229799e-01 1.71651347e-01 -3.06609815e-01 2.28920765e+02] [-1.63406278e-01 9.85157363e-01 5.25676652e-02 1.91283348e+02] [ 3.11082228e-01 8.86553992e-04 9.50382587e-01 5.43195805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68710568099993 meters Centerline goodness [0,1] 0.9944787473921565 Centerline is valid? [True, True] Translation: X:228.95, Y:191.29, Z:54.33 [[ 9.36341765e-01 1.73918118e-01 -3.04986209e-01 2.28947361e+02] [-1.65897121e-01 9.84758673e-01 5.22350567e-02 1.91285919e+02] [ 3.09422437e-01 1.68646891e-03 9.50923189e-01 5.43301302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7171056809999 meters Centerline goodness [0,1] 0.9953769559032717 Centerline is valid? [True, True] Translation: X:228.97, Y:191.30, Z:54.34 [[ 9.35168467e-01 1.81469646e-01 -3.04185314e-01 2.28974839e+02] [-1.73918986e-01 9.83387171e-01 5.19793998e-02 1.91295483e+02] [ 3.08564619e-01 4.29410582e-03 9.51193690e-01 5.43410944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74710568099994 meters Centerline goodness [0,1] 0.995971126405909 Centerline is valid? [True, True] Translation: X:229.00, Y:191.30, Z:54.35 [[ 9.34688407e-01 1.84267470e-01 -3.03978751e-01 2.29002438e+02] [-1.76883254e-01 9.82862108e-01 5.19075315e-02 1.91295624e+02] [ 3.08334066e-01 5.25138294e-03 9.51263647e-01 5.43492373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7771056809999 meters Centerline goodness [0,1] 0.9962615638068686 Centerline is valid? [True, True] Translation: X:229.03, Y:191.30, Z:54.36 [[ 9.33546150e-01 1.87962143e-01 -3.05224212e-01 2.29030922e+02] [-1.80743008e-01 9.82154031e-01 5.20136877e-02 1.91297389e+02] [ 3.09553795e-01 6.60996436e-03 9.50858957e-01 5.43559731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80710568099994 meters Centerline goodness [0,1] 0.9964303818857723 Centerline is valid? [True, True] Translation: X:229.06, Y:191.30, Z:54.36 [[ 9.33414880e-01 1.89069184e-01 -3.04941807e-01 2.29058083e+02] [-1.81956143e-01 9.81938238e-01 5.18580600e-02 1.91295951e+02] [ 3.09238782e-01 7.08095025e-03 9.50958062e-01 5.43644206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8371056809999 meters Centerline goodness [0,1] 0.9976930981691589 Centerline is valid? [True, True] Translation: X:229.09, Y:191.30, Z:54.37 [[ 9.31958803e-01 1.92127498e-01 -3.07473275e-01 2.29085642e+02] [-1.85091044e-01 9.81335042e-01 5.21808552e-02 1.91296730e+02] [ 3.11759676e-01 8.28014223e-03 9.50124909e-01 5.43708432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8671056809999 meters Centerline goodness [0,1] 0.9980716253443526 Centerline is valid? [True, True] Translation: X:229.11, Y:191.29, Z:54.38 [[ 9.31377037e-01 1.92981324e-01 -3.08698921e-01 2.29113859e+02] [-1.85945973e-01 9.81164362e-01 5.23506481e-02 1.91294842e+02] [ 3.12987077e-01 8.64312961e-03 9.49718056e-01 5.43751846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8971056809999 meters Centerline goodness [0,1] 0.9974782499054343 Centerline is valid? [True, True] Translation: X:229.14, Y:191.28, Z:54.38 [[ 9.31496619e-01 1.92396701e-01 -3.08703025e-01 2.29140270e+02] [-1.85342465e-01 9.81280538e-01 5.23132503e-02 1.91284262e+02] [ 3.12989167e-01 8.48616387e-03 9.49718783e-01 5.43842839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9271056809999 meters Centerline goodness [0,1] 0.9970952421338309 Centerline is valid? [True, True] Translation: X:229.16, Y:191.27, Z:54.39 [[ 9.33018962e-01 1.87486752e-01 -3.07122670e-01 2.29164387e+02] [-1.80265925e-01 9.82243178e-01 5.19859263e-02 1.91272579e+02] [ 3.11415820e-01 6.85989713e-03 9.50248983e-01 5.43942194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9571056809999 meters Centerline goodness [0,1] 0.9969939669126149 Centerline is valid? [True, True] Translation: X:229.19, Y:191.26, Z:54.40 [[ 9.33766123e-01 1.84221330e-01 -3.06827849e-01 2.29190928e+02] [-1.76855381e-01 9.82867649e-01 5.18975792e-02 1.91264039e+02] [ 3.11131808e-01 5.80395489e-03 9.50349047e-01 5.44041992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9871056809999 meters Centerline goodness [0,1] 0.9965982109109235 Centerline is valid? [True, True] Translation: X:229.21, Y:191.25, Z:54.41 [[ 9.35945842e-01 1.74348976e-01 -3.05953944e-01 2.29214687e+02] [-1.66528357e-01 9.84680584e-01 5.16957816e-02 1.91248780e+02] [ 3.10280015e-01 2.56555585e-03 9.50641747e-01 5.44141380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0171056809999 meters Centerline goodness [0,1] 0.9966758536534052 Centerline is valid? [True, True] Translation: X:229.24, Y:191.24, Z:54.42 [[ 9.37587627e-01 1.67654474e-01 -3.04666078e-01 2.29239640e+02] [-1.59567998e-01 9.85845743e-01 5.14414642e-02 1.91236531e+02] [ 3.08978148e-01 3.84075619e-04 9.51069060e-01 5.44246080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0471056809999 meters Centerline goodness [0,1] 0.9961659995786812 Centerline is valid? [True, True] Translation: X:229.26, Y:191.22, Z:54.44 [[ 9.40728556e-01 1.51925753e-01 -3.03229863e-01 2.29262930e+02] [-1.43151370e-01 9.88380923e-01 5.10963372e-02 1.91215694e+02] [ 3.07469462e-01 -4.66001329e-03 9.51546538e-01 5.44354840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0771056809999 meters Centerline goodness [0,1] 0.9956241412112884 Centerline is valid? [True, True] Translation: X:229.29, Y:191.20, Z:54.44 [[ 9.42190155e-01 1.43921291e-01 -3.02596056e-01 2.29289261e+02] [-1.34815331e-01 9.89563318e-01 5.08848426e-02 1.91203898e+02] [ 3.06761369e-01 -7.14861029e-03 9.51759612e-01 5.44449373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1071056809999 meters Centerline goodness [0,1] 0.9967846339348042 Centerline is valid? [True, True] Translation: X:229.31, Y:191.19, Z:54.45 [[ 9.43928308e-01 1.32019279e-01 -3.02605783e-01 2.29314517e+02] [-1.22320369e-01 9.91186066e-01 5.08715021e-02 1.91186655e+02] [ 3.06654655e-01 -1.10041998e-02 9.51757233e-01 5.44540458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1371056809999 meters Centerline goodness [0,1] 0.9963449217519168 Centerline is valid? [True, True] Translation: X:229.34, Y:191.17, Z:54.46 [[ 9.44222626e-01 1.23810145e-01 -3.05146982e-01 2.29340779e+02] [-1.13530250e-01 9.92210294e-01 5.12797780e-02 1.91174652e+02] [ 3.09118934e-01 -1.37761133e-02 9.50923606e-01 5.44617650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1671056809999 meters Centerline goodness [0,1] 0.9964897441319518 Centerline is valid? [True, True] Translation: X:229.37, Y:191.17, Z:54.47 [[ 9.44326559e-01 1.21100974e-01 -3.05911597e-01 2.29368948e+02] [-1.10635101e-01 9.92531569e-01 5.13902582e-02 1.91172300e+02] [ 3.09850327e-01 -1.46846253e-02 9.50671939e-01 5.44707401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1971056809999 meters Centerline goodness [0,1] 0.9964697177888172 Centerline is valid? [True, True] Translation: X:229.40, Y:191.17, Z:54.48 [[ 9.43872905e-01 1.19375371e-01 -3.07982889e-01 2.29396932e+02] [-1.08677823e-01 9.92730554e-01 5.17221139e-02 1.91172226e+02] [ 3.11918371e-01 -1.53481920e-02 9.49984928e-01 5.44799875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2271056809999 meters Centerline goodness [0,1] 0.9963180837106945 Centerline is valid? [True, True] Translation: X:229.42, Y:191.17, Z:54.49 [[ 9.43827953e-01 1.19614718e-01 -3.08027782e-01 2.29423894e+02] [-1.08960218e-01 9.92704579e-01 5.16264457e-02 1.91170872e+02] [ 3.11955872e-01 -1.51637085e-02 9.49975576e-01 5.44883205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2571056809999 meters Centerline goodness [0,1] 0.9955645751825428 Centerline is valid? [True, True] Translation: X:229.45, Y:191.17, Z:54.50 [[ 9.43479167e-01 1.22200093e-01 -3.08081481e-01 2.29450702e+02] [-1.11687744e-01 9.92402843e-01 5.15988831e-02 1.91172398e+02] [ 3.12046326e-01 -1.42735459e-02 9.49959661e-01 5.44972694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.2871056809999 meters Centerline goodness [0,1] 0.9953851690340608 Centerline is valid? [True, True] Translation: X:229.48, Y:191.17, Z:54.51 [[ 9.43762100e-01 1.22479940e-01 -3.07102203e-01 2.29477941e+02] [-1.12063202e-01 9.92370926e-01 5.13982935e-02 1.91173917e+02] [ 3.11054558e-01 -1.40929053e-02 9.50287563e-01 5.45072807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31710568099993 meters Centerline goodness [0,1] 0.9953851690340608 Centerline is valid? [True, True] Translation: X:229.50, Y:191.17, Z:54.52 [[ 9.43803017e-01 1.22123226e-01 -3.07118516e-01 2.29503686e+02] [-1.11719823e-01 9.92414694e-01 5.13006442e-02 1.91169838e+02] [ 3.11053928e-01 -1.41064764e-02 9.50287567e-01 5.45157618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.3471056809999 meters Centerline goodness [0,1] 0.9944526160958185 Centerline is valid? [True, True] Translation: X:229.53, Y:191.17, Z:54.52 [[ 9.43124678e-01 1.23606204e-01 -3.08605490e-01 2.29530333e+02] [-1.13212985e-01 9.92238551e-01 5.14342127e-02 1.91171676e+02] [ 3.12567852e-01 -1.35707265e-02 9.49798491e-01 5.45246576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37710568099993 meters Centerline goodness [0,1] 0.9942601236281065 Centerline is valid? [True, True] Translation: X:229.56, Y:191.17, Z:54.53 [[ 9.42464161e-01 1.23902260e-01 -3.10498850e-01 2.29558313e+02] [-1.13404257e-01 9.92202247e-01 5.17124378e-02 1.91171995e+02] [ 3.14484945e-01 -1.35252280e-02 9.49166101e-01 5.45323252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4071056809999 meters Centerline goodness [0,1] 0.9947928695907784 Centerline is valid? [True, True] Translation: X:229.59, Y:191.18, Z:54.54 [[ 9.41040956e-01 1.25054894e-01 -3.14329752e-01 2.29586384e+02] [-1.14381790e-01 9.92061781e-01 5.22515976e-02 1.91177111e+02] [ 3.18368852e-01 -1.32172935e-02 9.47874769e-01 5.45389778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43710568099993 meters Centerline goodness [0,1] 0.995045102274171 Centerline is valid? [True, True] Translation: X:229.61, Y:191.19, Z:54.55 [[ 9.40654098e-01 1.26382413e-01 -3.14956115e-01 2.29614763e+02] [-1.15750182e-01 9.91899569e-01 5.23176952e-02 1.91187776e+02] [ 3.19016871e-01 -1.27566268e-02 9.47663181e-01 5.45504875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.4671056809999 meters Centerline goodness [0,1] 0.9952045430644653 Centerline is valid? [True, True] Translation: X:229.64, Y:191.18, Z:54.56 [[ 9.40593844e-01 1.27865408e-01 -3.14537212e-01 2.29641270e+02] [-1.17379901e-01 9.91717460e-01 5.21386489e-02 1.91182793e+02] [ 3.18598774e-01 -1.21209453e-02 9.47812167e-01 5.45581171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49710568099994 meters Centerline goodness [0,1] 0.9951827593492499 Centerline is valid? [True, True] Translation: X:229.67, Y:191.19, Z:54.57 [[ 9.40322915e-01 1.29563110e-01 -3.14652531e-01 2.29668738e+02] [-1.19181960e-01 9.91504623e-01 5.20984006e-02 1.91187692e+02] [ 3.18729470e-01 -1.14884144e-02 9.47776103e-01 5.45693059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5271056809999 meters Centerline goodness [0,1] 0.9956985619702273 Centerline is valid? [True, True] Translation: X:229.70, Y:191.20, Z:54.58 [[ 9.39350995e-01 1.35095325e-01 -3.15228426e-01 2.29697443e+02] [-1.25013245e-01 9.90786867e-01 5.20871705e-02 1.91195543e+02] [ 3.19360918e-01 -9.52040687e-03 9.47585334e-01 5.45802124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55710568099994 meters Centerline goodness [0,1] 0.9956964749066515 Centerline is valid? [True, True] Translation: X:229.73, Y:191.20, Z:54.59 [[ 9.38901235e-01 1.38015737e-01 -3.15303232e-01 2.29725252e+02] [-1.28095113e-01 9.90393477e-01 5.20807416e-02 1.91197542e+02] [ 3.19462226e-01 -8.50986959e-03 9.47560799e-01 5.45901787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5871056809999 meters Centerline goodness [0,1] 0.9960832468824762 Centerline is valid? [True, True] Translation: X:229.75, Y:191.20, Z:54.60 [[ 9.39232675e-01 1.42346368e-01 -3.12377166e-01 2.29751342e+02] [-1.32883190e-01 9.89793176e-01 5.14929746e-02 1.91202568e+02] [ 3.16518625e-01 -6.85420988e-03 9.48561532e-01 5.46032953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6171056809999 meters Centerline goodness [0,1] 0.9968288196866874 Centerline is valid? [True, True] Translation: X:229.78, Y:191.21, Z:54.62 [[ 9.39740861e-01 1.43054781e-01 -3.10519635e-01 2.29777862e+02] [-1.33758045e-01 9.89693221e-01 5.11479622e-02 1.91205144e+02] [ 3.14636138e-01 -6.53133057e-03 9.49189887e-01 5.46171619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6471056809999 meters Centerline goodness [0,1] 0.9965879652056698 Centerline is valid? [True, True] Translation: X:229.80, Y:191.20, Z:54.63 [[ 9.39993173e-01 1.42538275e-01 -3.09993024e-01 2.29802705e+02] [-1.33281757e-01 9.89767411e-01 5.09553341e-02 1.91201181e+02] [ 3.14084078e-01 -6.58125135e-03 9.49372361e-01 5.46253439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6771056809999 meters Centerline goodness [0,1] 0.996594034271208 Centerline is valid? [True, True] Translation: X:229.83, Y:191.20, Z:54.64 [[ 9.40111628e-01 1.42957816e-01 -3.09440122e-01 2.29830079e+02] [-1.33775131e-01 9.89708266e-01 5.08110453e-02 1.91198600e+02] [ 3.13519283e-01 -6.37266163e-03 9.49560450e-01 5.46350558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7071056809999 meters Centerline goodness [0,1] 0.9967141524633257 Centerline is valid? [True, True] Translation: X:229.86, Y:191.20, Z:54.64 [[ 9.40283884e-01 1.42903735e-01 -3.08941321e-01 2.29856460e+02] [-1.33782751e-01 9.89716721e-01 5.06259595e-02 1.91195777e+02] [ 3.12999030e-01 -6.27175397e-03 9.49732737e-01 5.46447560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7371056809999 meters Centerline goodness [0,1] 0.9963968140250327 Centerline is valid? [True, True] Translation: X:229.88, Y:191.20, Z:54.66 [[ 9.39950257e-01 1.43848620e-01 -3.09517511e-01 2.29883437e+02] [-1.34781770e-01 9.89582442e-01 5.06010435e-02 1.91197366e+02] [ 3.13571984e-01 -5.84514585e-03 9.49546442e-01 5.46562849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7671056809999 meters Centerline goodness [0,1] 0.996748104820829 Centerline is valid? [True, True] Translation: X:229.91, Y:191.19, Z:54.66 [[ 9.39619745e-01 1.44798455e-01 -3.10077639e-01 2.29909845e+02] [-1.35782274e-01 9.89446262e-01 5.05892132e-02 1.91194820e+02] [ 3.14130401e-01 -5.43157657e-03 9.49364308e-01 5.46647898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7971056809999 meters Centerline goodness [0,1] 0.9967424643046008 Centerline is valid? [True, True] Translation: X:229.94, Y:191.19, Z:54.67 [[ 9.39115410e-01 1.46877910e-01 -3.10626990e-01 2.29938227e+02] [-1.37951248e-01 9.89143422e-01 5.06432998e-02 1.91192518e+02] [ 3.14693026e-01 -4.70852225e-03 9.49181821e-01 5.46716238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8271056809999 meters Centerline goodness [0,1] 0.9974306160151191 Centerline is valid? [True, True] Translation: X:229.97, Y:191.19, Z:54.68 [[ 9.38852427e-01 1.47884905e-01 -3.10944005e-01 2.29966020e+02] [-1.39011522e-01 9.88995149e-01 5.06398230e-02 1.91190183e+02] [ 3.15010978e-01 -4.31852141e-03 9.49078202e-01 5.46796669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8571056809999 meters Centerline goodness [0,1] 0.9975820819546959 Centerline is valid? [True, True] Translation: X:229.99, Y:191.19, Z:54.69 [[ 9.37942220e-01 1.50854361e-01 -3.12261675e-01 2.29994802e+02] [-1.42097367e-01 9.88550717e-01 5.07525209e-02 1.91190768e+02] [ 3.16342742e-01 -3.23137044e-03 9.48639461e-01 5.46857459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8871056809999 meters Centerline goodness [0,1] 0.9979388015299617 Centerline is valid? [True, True] Translation: X:230.02, Y:191.19, Z:54.69 [[ 9.36809061e-01 1.54462119e-01 -3.13895265e-01 2.30023881e+02] [-1.45843116e-01 9.87996855e-01 5.09116825e-02 1.91190903e+02] [ 3.17991461e-01 -1.91506204e-03 9.48091643e-01 5.46902796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9171056809999 meters Centerline goodness [0,1] 0.9981075506602309 Centerline is valid? [True, True] Translation: X:230.05, Y:191.19, Z:54.70 [[ 9.36218651e-01 1.55104177e-01 -3.15336854e-01 2.30052271e+02] [-1.46474630e-01 9.87896831e-01 5.10395274e-02 1.91188352e+02] [ 3.19436723e-01 -1.59530830e-03 9.47606266e-01 5.46969103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9471056809999 meters Centerline goodness [0,1] 0.997972814373813 Centerline is valid? [True, True] Translation: X:230.08, Y:191.19, Z:54.70 [[ 9.35376616e-01 1.55266356e-01 -3.17746667e-01 2.30081045e+02] [-1.46545963e-01 9.87871591e-01 5.13225041e-02 1.91187084e+02] [ 3.21861564e-01 -1.44137897e-03 9.46785644e-01 5.47029417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.9771056809999 meters Centerline goodness [0,1] 0.998317179678347 Centerline is valid? [True, True] Translation: X:230.11, Y:191.18, Z:54.71 [[ 9.35657539e-01 1.53965079e-01 -3.17552710e-01 2.30106600e+02] [-1.45217740e-01 9.88074686e-01 5.11881120e-02 1.91183315e+02] [ 3.21646976e-01 -1.78025606e-03 9.46857990e-01 5.47112318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0071056809999 meters Centerline goodness [0,1] 0.9976432120259884 Centerline is valid? [True, True] Translation: X:230.13, Y:191.18, Z:54.72 [[ 9.37815401e-01 1.46875725e-01 -3.14531071e-01 2.30131580e+02] [-1.37928082e-01 9.89146388e-01 5.06484586e-02 1.91175969e+02] [ 3.18556302e-01 -4.11623720e-03 9.47895004e-01 5.47233726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0371056809999 meters Centerline goodness [0,1] 0.9968174633687897 Centerline is valid? [True, True] Translation: X:230.16, Y:191.17, Z:54.74 [[ 9.41188894e-01 1.35376711e-01 -3.09574889e-01 2.30156720e+02] [-1.26142743e-01 9.90763685e-01 4.97526810e-02 1.91167372e+02] [ 3.13450912e-01 -7.77604525e-03 9.49572566e-01 5.47393406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06710568099993 meters Centerline goodness [0,1] 0.997266891247696 Centerline is valid? [True, True] Translation: X:230.18, Y:191.16, Z:54.75 [[ 9.42698483e-01 1.29054274e-01 -3.07676070e-01 2.30183012e+02] [-1.19613478e-01 9.91589123e-01 4.94330633e-02 1.91159303e+02] [ 3.11467793e-01 -9.79826896e-03 9.50206192e-01 5.47489106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.0971056809999 meters Centerline goodness [0,1] 0.995769737681221 Centerline is valid? [True, True] Translation: X:230.21, Y:191.14, Z:54.76 [[ 9.44619044e-01 1.17950726e-01 -3.06239266e-01 2.30209166e+02] [-1.08041914e-01 9.92929548e-01 4.91717212e-02 1.91144017e+02] [ 3.09873856e-01 -1.33618679e-02 9.50683782e-01 5.47552354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12710568099993 meters Centerline goodness [0,1] 0.9963122574558865 Centerline is valid? [True, True] Translation: X:230.24, Y:191.14, Z:54.77 [[ 9.45325909e-01 1.14470764e-01 -3.05377421e-01 2.30237228e+02] [-1.04449365e-01 9.93321706e-01 4.90134603e-02 1.91141642e+02] [ 3.08948629e-01 -1.44372163e-02 9.50969143e-01 5.47652627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.1571056809999 meters Centerline goodness [0,1] 0.9964187862705758 Centerline is valid? [True, True] Translation: X:230.26, Y:191.14, Z:54.78 [[ 9.46315243e-01 1.12279625e-01 -3.03118371e-01 2.30263761e+02] [-1.02306379e-01 9.93563199e-01 4.86371636e-02 1.91141351e+02] [ 3.06628221e-01 -1.50151465e-02 9.51710922e-01 5.47785653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18710568099993 meters Centerline goodness [0,1] 0.9962408451617085 Centerline is valid? [True, True] Translation: X:230.29, Y:191.14, Z:54.79 [[ 9.46038538e-01 1.14001474e-01 -3.03339330e-01 2.30290306e+02] [-1.04105903e-01 9.93375528e-01 4.86520426e-02 1.91140754e+02] [ 3.06876272e-01 -1.44472924e-02 9.51639758e-01 5.47877385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2171056809999 meters Centerline goodness [0,1] 0.9968502910765488 Centerline is valid? [True, True] Translation: X:230.32, Y:191.14, Z:54.80 [[ 9.45448082e-01 1.17219321e-01 -3.03953213e-01 2.30319078e+02] [-1.07455039e-01 9.93015680e-01 4.87162602e-02 1.91142807e+02] [ 3.07540794e-01 -1.33973905e-02 9.51440576e-01 5.47976044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24710568099994 meters Centerline goodness [0,1] 0.9978878146502917 Centerline is valid? [True, True] Translation: X:230.35, Y:191.15, Z:54.81 [[ 9.44528045e-01 1.24397013e-01 -3.03960778e-01 2.30348682e+02] [-1.14998197e-01 9.92171024e-01 4.87039476e-02 1.91153882e+02] [ 3.07639702e-01 -1.10473030e-02 9.51438790e-01 5.48084145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2771056809999 meters Centerline goodness [0,1] 0.9987650237071342 Centerline is valid? [True, True] Translation: X:230.38, Y:191.17, Z:54.82 [[ 9.43528293e-01 1.32334845e-01 -3.03713433e-01 2.30379318e+02] [-1.23357484e-01 9.91169177e-01 4.86476441e-02 1.91165036e+02] [ 3.07469172e-01 -8.43510356e-03 9.51520655e-01 5.48188596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30710568099994 meters Centerline goodness [0,1] 0.998712370126987 Centerline is valid? [True, True] Translation: X:230.41, Y:191.17, Z:54.83 [[ 9.42569323e-01 1.36369371e-01 -3.04904027e-01 2.30408234e+02] [-1.27527903e-01 9.90632327e-01 4.88285395e-02 1.91168962e+02] [ 3.08706503e-01 -7.14051208e-03 9.51130542e-01 5.48270828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3371056809999 meters Centerline goodness [0,1] 0.9990303084972036 Centerline is valid? [True, True] Translation: X:230.44, Y:191.18, Z:54.83 [[ 9.39775291e-01 1.48350395e-01 -3.07919735e-01 2.30441271e+02] [-1.39982904e-01 9.88929839e-01 4.92195071e-02 1.91183962e+02] [ 3.11812747e-01 -3.15177789e-03 9.50138346e-01 5.48311032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3671056809999 meters Centerline goodness [0,1] 0.9994542849996589 Centerline is valid? [True, True] Translation: X:230.47, Y:191.19, Z:54.84 [[ 9.38321012e-01 1.55394364e-01 -3.08879053e-01 2.30469914e+02] [-1.47361050e-01 9.87852220e-01 4.93225363e-02 1.91190312e+02] [ 3.12791303e-01 -7.63630593e-04 9.49821572e-01 5.48379744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3971056809999 meters Centerline goodness [0,1] 0.9993312733477839 Centerline is valid? [True, True] Translation: X:230.50, Y:191.21, Z:54.85 [[ 9.36623176e-01 1.66126775e-01 -3.08445977e-01 2.30498811e+02] [-1.58693903e-01 9.86100287e-01 4.92185829e-02 1.91205473e+02] [ 3.12335191e-01 2.84923039e-03 9.49967689e-01 5.48464477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4271056809999 meters Centerline goodness [0,1] 0.9992583493638029 Centerline is valid? [True, True] Translation: X:230.53, Y:191.21, Z:54.86 [[ 9.36432203e-01 1.68104755e-01 -3.07953764e-01 2.30526300e+02] [-1.60811776e-01 9.85762784e-01 4.91050542e-02 1.91206985e+02] [ 3.11824153e-01 3.53903763e-03 9.50133239e-01 5.48550213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4571056809999 meters Centerline goodness [0,1] 0.9994166783331 Centerline is valid? [True, True] Translation: X:230.55, Y:191.21, Z:54.86 [[ 9.36553891e-01 1.66630630e-01 -3.08384569e-01 2.30553222e+02] [-1.59270345e-01 9.86014349e-01 4.90781048e-02 1.91207776e+02] [ 3.12249526e-01 3.15222679e-03 9.49994893e-01 5.48636099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4871056809999 meters Centerline goodness [0,1] 0.9992081606036611 Centerline is valid? [True, True] Translation: X:230.58, Y:191.20, Z:54.87 [[ 9.37020149e-01 1.62886380e-01 -3.08968069e-01 2.30579508e+02] [-1.55335538e-01 9.86642759e-01 4.90605333e-02 1.91204425e+02] [ 3.12832400e-01 2.02301285e-03 9.49806189e-01 5.48729499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5171056809999 meters Centerline goodness [0,1] 0.9991087344028521 Centerline is valid? [True, True] Translation: X:230.60, Y:191.20, Z:54.89 [[ 9.39709158e-01 1.52217045e-01 -3.06229766e-01 2.30603738e+02] [-1.44260384e-01 9.88345974e-01 4.85919423e-02 1.91197988e+02] [ 3.10057478e-01 -1.48546957e-03 9.50716653e-01 5.48860266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5471056809999 meters Centerline goodness [0,1] 0.9989933985673487 Centerline is valid? [True, True] Translation: X:230.63, Y:191.19, Z:54.90 [[ 9.41258962e-01 1.45896058e-01 -3.04542126e-01 2.30629238e+02] [-1.37717042e-01 9.89293684e-01 4.82910177e-02 1.91190141e+02] [ 3.08327071e-01 -3.51371250e-03 9.51273920e-01 5.48954853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5771056809999 meters Centerline goodness [0,1] 0.9987966021708353 Centerline is valid? [True, True] Translation: X:230.66, Y:191.18, Z:54.90 [[ 9.43547632e-01 1.36114243e-01 -3.01978110e-01 2.30656371e+02] [-1.27597402e-01 9.90671037e-01 4.78518533e-02 1.91179861e+02] [ 3.05674286e-01 -6.61888066e-03 9.52113135e-01 5.49039887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6071056809999 meters Centerline goodness [0,1] 0.9986332681386526 Centerline is valid? [True, True] Translation: X:230.68, Y:191.18, Z:54.91 [[ 9.44086850e-01 1.32401835e-01 -3.01943327e-01 2.30683337e+02] [-1.23705723e-01 9.91165374e-01 4.78340379e-02 1.91175034e+02] [ 3.05609085e-01 -7.80736867e-03 9.52125061e-01 5.49122985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6371056809999 meters Centerline goodness [0,1] 0.9987231929633745 Centerline is valid? [True, True] Translation: X:230.71, Y:191.17, Z:54.92 [[ 9.44457463e-01 1.28514379e-01 -3.02463477e-01 2.30711827e+02] [-1.19622655e-01 9.91666933e-01 4.78237934e-02 1.91172477e+02] [ 3.06089073e-01 -8.98605453e-03 9.51960467e-01 5.49207154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6671056809999 meters Centerline goodness [0,1] 0.9985564521854368 Centerline is valid? [True, True] Translation: X:230.74, Y:191.17, Z:54.93 [[ 9.44862622e-01 1.27103962e-01 -3.01793321e-01 2.30737722e+02] [-1.18186876e-01 9.91844795e-01 4.77049689e-02 1.91168662e+02] [ 3.05395625e-01 -9.40663211e-03 9.52179094e-01 5.49310684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6971056809999 meters Centerline goodness [0,1] 0.9988063977082836 Centerline is valid? [True, True] Translation: X:230.76, Y:191.17, Z:54.94 [[ 9.46138354e-01 1.22926069e-01 -2.99518607e-01 2.30764203e+02] [-1.13953295e-01 9.92358859e-01 4.73132249e-02 1.91166636e+02] [ 3.03045972e-01 -1.06337246e-02 9.52916609e-01 5.49448086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7271056809999 meters Centerline goodness [0,1] 0.9983324995831249 Centerline is valid? [True, True] Translation: X:230.79, Y:191.16, Z:54.96 [[ 9.47086277e-01 1.18051316e-01 -2.98481944e-01 2.30792293e+02] [-1.08912416e-01 9.92933426e-01 4.71306320e-02 1.91164076e+02] [ 3.01936533e-01 -1.21283852e-02 9.53250876e-01 5.49557325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7571056809999 meters Centerline goodness [0,1] 0.9980560155518756 Centerline is valid? [True, True] Translation: X:230.82, Y:191.17, Z:54.96 [[ 9.47370155e-01 1.16430042e-01 -2.98217764e-01 2.30820363e+02] [-1.07231698e-01 9.93118640e-01 4.70821529e-02 1.91168804e+02] [ 3.01647397e-01 -1.26258292e-02 9.53335951e-01 5.49641214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.7871056809999 meters Centerline goodness [0,1] 0.9975486626862774 Centerline is valid? [True, True] Translation: X:230.85, Y:191.17, Z:54.97 [[ 9.47402995e-01 1.17326796e-01 -2.97761629e-01 2.30847053e+02] [-1.08211501e-01 9.93017385e-01 4.69759940e-02 1.91169985e+02] [ 3.01194017e-01 -1.22839648e-02 9.53483754e-01 5.49744771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81710568099993 meters Centerline goodness [0,1] 0.9979686238038131 Centerline is valid? [True, True] Translation: X:230.88, Y:191.18, Z:54.98 [[ 9.47081134e-01 1.20600875e-01 -2.97477316e-01 2.30876803e+02] [-1.11671697e-01 9.92637943e-01 4.68971798e-02 1.91180161e+02] [ 3.00943113e-01 -1.11956375e-02 9.53576374e-01 5.49814324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.8471056809999 meters Centerline goodness [0,1] 0.9981553899505644 Centerline is valid? [True, True] Translation: X:230.91, Y:191.18, Z:54.99 [[ 9.46442517e-01 1.25045124e-01 -2.97674786e-01 2.30905059e+02] [-1.16326496e-01 9.92103031e-01 4.69012016e-02 1.91184982e+02] [ 3.01188824e-01 -9.76182663e-03 9.53514551e-01 5.49898202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87710568099993 meters Centerline goodness [0,1] 0.9981152937628788 Centerline is valid? [True, True] Translation: X:230.94, Y:191.21, Z:55.00 [[ 9.44563996e-01 1.37797801e-01 -2.98011114e-01 2.30937432e+02] [-1.29683294e-01 9.90444065e-01 4.69339676e-02 1.91206907e+02] [ 3.01630737e-01 -5.68507304e-03 9.53407876e-01 5.49991974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9071056809999 meters Centerline goodness [0,1] 0.9985383116217048 Centerline is valid? [True, True] Translation: X:230.97, Y:191.23, Z:55.01 [[ 9.42789088e-01 1.50236541e-01 -2.97620089e-01 2.30968425e+02] [-1.42753179e-01 9.88648639e-01 4.68550776e-02 1.91227808e+02] [ 3.01281041e-01 -1.68824216e-03 9.53533893e-01 5.50094197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93710568099993 meters Centerline goodness [0,1] 0.9988066516201002 Centerline is valid? [True, True] Translation: X:231.00, Y:191.24, Z:55.02 [[ 9.42293596e-01 1.55192137e-01 -2.96644871e-01 2.30996199e+02] [-1.48001924e-01 9.87884301e-01 4.66908826e-02 1.91235613e+02] [ 3.00296869e-01 -9.25080701e-05 9.53845785e-01 5.50185202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.9671056809999 meters Centerline goodness [0,1] 0.9991006004814432 Centerline is valid? [True, True] Translation: X:231.02, Y:191.25, Z:55.03 [[ 9.42055933e-01 1.60419281e-01 -2.94612071e-01 2.31024843e+02] [-1.53612310e-01 9.87047546e-01 4.62644634e-02 1.91247363e+02] [ 2.98217834e-01 1.67232854e-03 9.54496373e-01 5.50278740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99710568099994 meters Centerline goodness [0,1] 0.998784676354029 Centerline is valid? [True, True] Translation: X:231.05, Y:191.24, Z:55.04 [[ 9.43753369e-01 1.53515478e-01 -2.92852483e-01 2.31049556e+02] [-1.46480414e-01 9.88146136e-01 4.59423875e-02 1.91238602e+02] [ 2.96433917e-01 -4.61130160e-04 9.55053255e-01 5.50376027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0271056809999 meters Centerline goodness [0,1] 0.9985785733087654 Centerline is valid? [True, True] Translation: X:231.08, Y:191.23, Z:55.05 [[ 9.45223733e-01 1.49075430e-01 -2.90393889e-01 2.31075214e+02] [-1.41987692e-01 9.88824312e-01 4.54530010e-02 1.91229540e+02] [ 2.93924464e-01 -1.73089728e-03 9.55827084e-01 5.50484565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05710568099994 meters Centerline goodness [0,1] 0.9986878018055847 Centerline is valid? [True, True] Translation: X:231.10, Y:191.22, Z:55.06 [[ 9.45372279e-01 1.49848389e-01 -2.89511165e-01 2.31100921e+02] [-1.42868263e-01 9.88708009e-01 4.52231513e-02 1.91224465e+02] [ 2.93018624e-01 -1.39075644e-03 9.56105722e-01 5.50566231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0871056809999 meters Centerline goodness [0,1] 0.9986929813096327 Centerline is valid? [True, True] Translation: X:231.13, Y:191.22, Z:55.06 [[ 9.44587882e-01 1.48789391e-01 -2.92601180e-01 2.31129493e+02] [-1.41620793e-01 9.88867464e-01 4.56584055e-02 1.91218415e+02] [ 2.96137273e-01 -1.68996542e-03 9.55143895e-01 5.50589705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1171056809999 meters Centerline goodness [0,1] 0.9987639060568603 Centerline is valid? [True, True] Translation: X:231.16, Y:191.22, Z:55.06 [[ 9.43750985e-01 1.49631290e-01 -2.94863623e-01 2.31158324e+02] [-1.42415851e-01 9.88740947e-01 4.59245664e-02 1.91216243e+02] [ 2.98415490e-01 -1.34810107e-03 9.54435109e-01 5.50628985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1471056809999 meters Centerline goodness [0,1] 0.9988466276966631 Centerline is valid? [True, True] Translation: X:231.19, Y:191.21, Z:55.07 [[ 9.42708223e-01 1.49597021e-01 -2.98197817e-01 2.31185831e+02] [-1.42242439e-01 9.88746230e-01 4.63463258e-02 1.91211543e+02] [ 3.01775239e-01 -1.27467764e-03 9.53378246e-01 5.50674841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1771056809999 meters Centerline goodness [0,1] 0.9986320109439124 Centerline is valid? [True, True] Translation: X:231.21, Y:191.21, Z:55.07 [[ 9.42844185e-01 1.47605767e-01 -2.98759736e-01 2.31212893e+02] [-1.40135332e-01 9.89044485e-01 4.64014565e-02 1.91205546e+02] [ 3.02335792e-01 -1.88254876e-03 9.53199625e-01 5.50727351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2071056809999 meters Centerline goodness [0,1] 0.9982727486849337 Centerline is valid? [True, True] Translation: X:231.24, Y:191.20, Z:55.08 [[ 9.42924548e-01 1.46824030e-01 -2.98891287e-01 2.31239543e+02] [-1.39342715e-01 9.89160560e-01 4.63140740e-02 1.91200201e+02] [ 3.02451492e-01 -2.02235384e-03 9.53162633e-01 5.50796255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2371056809999 meters Centerline goodness [0,1] 0.9982727486849337 Centerline is valid? [True, True] Translation: X:231.27, Y:191.20, Z:55.09 [[ 9.42973427e-01 1.46476676e-01 -2.98907510e-01 2.31265204e+02] [-1.39011589e-01 9.89212057e-01 4.62091409e-02 1.91196414e+02] [ 3.02451474e-01 -2.02238381e-03 9.53162639e-01 5.50881023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2671056809999 meters Centerline goodness [0,1] 0.9983775579630502 Centerline is valid? [True, True] Translation: X:231.29, Y:191.19, Z:55.09 [[ 9.43238146e-01 1.45252702e-01 -2.98669472e-01 2.31291144e+02] [-1.37774411e-01 9.89391916e-01 4.60635283e-02 1.91188626e+02] [ 3.02192013e-01 -2.29986654e-03 9.53244301e-01 5.50946263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2971056809999 meters Centerline goodness [0,1] 0.9984070195597107 Centerline is valid? [True, True] Translation: X:231.32, Y:191.18, Z:55.10 [[ 9.43178078e-01 1.43722991e-01 -2.99597754e-01 2.31317243e+02] [-1.36131783e-01 9.89614092e-01 4.61745237e-02 1.91182657e+02] [ 3.03122500e-01 -2.76602201e-03 9.52947585e-01 5.51018663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3271056809999 meters Centerline goodness [0,1] 0.9984088478493361 Centerline is valid? [True, True] Translation: X:231.34, Y:191.17, Z:55.11 [[ 9.44226304e-01 1.39103298e-01 -2.98474387e-01 2.31343314e+02] [-1.31377715e-01 9.90269283e-01 4.58981725e-02 1.91172649e+02] [ 3.01954604e-01 -4.12537896e-03 9.53313379e-01 5.51095994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3571056809999 meters Centerline goodness [0,1] 0.9980985662161468 Centerline is valid? [True, True] Translation: X:231.37, Y:191.16, Z:55.12 [[ 9.44620512e-01 1.36958953e-01 -2.98218599e-01 2.31368787e+02] [-1.29158445e-01 9.90565313e-01 4.58089190e-02 1.91164817e+02] [ 3.01678942e-01 -4.75459399e-03 9.53397719e-01 5.51184815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3871056809999 meters Centerline goodness [0,1] 0.9979847564914094 Centerline is valid? [True, True] Translation: X:231.40, Y:191.15, Z:55.13 [[ 9.46030535e-01 1.32240759e-01 -2.95869242e-01 2.31395463e+02] [-1.24356276e-01 9.91198515e-01 4.53984653e-02 1.91154855e+02] [ 2.99268680e-01 -6.15513730e-03 9.54149030e-01 5.51265735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4171056809999 meters Centerline goodness [0,1] 0.9978611554914188 Centerline is valid? [True, True] Translation: X:231.42, Y:191.15, Z:55.13 [[ 9.46314758e-01 1.31084450e-01 -2.95474610e-01 2.31422786e+02] [-1.23172103e-01 9.91349942e-01 4.53202501e-02 1.91148762e+02] [ 2.98859518e-01 -6.49299236e-03 9.54275028e-01 5.51344715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4471056809999 meters Centerline goodness [0,1] 0.9982712354216121 Centerline is valid? [True, True] Translation: X:231.45, Y:191.14, Z:55.14 [[ 9.46601565e-01 1.31154551e-01 -2.94523278e-01 2.31448370e+02] [-1.23327085e-01 9.91341591e-01 4.50808162e-02 1.91144604e+02] [ 2.97885730e-01 -6.35087365e-03 9.54580410e-01 5.51421403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.4771056809999 meters Centerline goodness [0,1] 0.99786533614526 Centerline is valid? [True, True] Translation: X:231.48, Y:191.14, Z:55.15 [[ 9.46661203e-01 1.32132679e-01 -2.93893727e-01 2.31475611e+02] [-1.24407842e-01 9.91214152e-01 4.49131881e-02 1.91142289e+02] [ 2.97246121e-01 -5.95488829e-03 9.54782322e-01 5.51510960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5071056809999 meters Centerline goodness [0,1] 0.9972488969634051 Centerline is valid? [True, True] Translation: X:231.50, Y:191.14, Z:55.16 [[ 9.47253615e-01 1.36354775e-01 -2.90030970e-01 2.31502040e+02] [-1.29057940e-01 9.90649985e-01 4.42340905e-02 1.91143765e+02] [ 2.93350705e-01 -4.47010272e-03 9.55994447e-01 5.51624822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5371056809999 meters Centerline goodness [0,1] 0.9981780322748568 Centerline is valid? [True, True] Translation: X:231.53, Y:191.14, Z:55.17 [[ 9.47306466e-01 1.39582355e-01 -2.88317923e-01 2.31528844e+02] [-1.32546661e-01 9.90204776e-01 4.38849056e-02 1.91144681e+02] [ 2.91619343e-01 -3.35687675e-03 9.56528562e-01 5.51731456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56710568099993 meters Centerline goodness [0,1] 0.9984528242513243 Centerline is valid? [True, True] Translation: X:231.56, Y:191.15, Z:55.18 [[ 9.46511122e-01 1.47279811e-01 -2.87098160e-01 2.31555617e+02] [-1.40679107e-01 9.89094472e-01 4.36063674e-02 1.91149980e+02] [ 2.90389541e-01 -8.85198996e-04 9.56908110e-01 5.51840603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.5971056809999 meters Centerline goodness [0,1] 0.9985610381455706 Centerline is valid? [True, True] Translation: X:231.58, Y:191.15, Z:55.19 [[ 9.45718642e-01 1.54692762e-01 -2.85808326e-01 2.31584371e+02] [-1.48492791e-01 9.87961611e-01 4.33791052e-02 1.91151664e+02] [ 2.89078088e-01 1.41604751e-03 9.57304473e-01 5.51886662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62710568099993 meters Centerline goodness [0,1] 0.9987637760067335 Centerline is valid? [True, True] Translation: X:231.61, Y:191.15, Z:55.20 [[ 9.45416966e-01 1.57778804e-01 -2.85118590e-01 2.31611130e+02] [-1.51756121e-01 9.87471597e-01 4.32426246e-02 1.91149948e+02] [ 2.88369279e-01 2.38618035e-03 9.57516300e-01 5.51973062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.6571056809999 meters Centerline goodness [0,1] 0.9988791867587645 Centerline is valid? [True, True] Translation: X:231.64, Y:191.15, Z:55.20 [[ 9.44929544e-01 1.60559979e-01 -2.85181783e-01 2.31638795e+02] [-1.54666719e-01 9.87020689e-01 4.32246003e-02 1.91146480e+02] [ 2.88420461e-01 3.26392882e-03 9.57498295e-01 5.52040297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68710568099993 meters Centerline goodness [0,1] 0.9988181531673496 Centerline is valid? [True, True] Translation: X:231.67, Y:191.14, Z:55.21 [[ 9.44651561e-01 1.62570118e-01 -2.84963832e-01 2.31665881e+02] [-1.56801689e-01 9.86689030e-01 4.31043900e-02 1.91144773e+02] [ 2.88178173e-01 3.96418081e-03 9.57568601e-01 5.52122493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7171056809999 meters Centerline goodness [0,1] 0.999313458847139 Centerline is valid? [True, True] Translation: X:231.69, Y:191.15, Z:55.22 [[ 9.43720586e-01 1.68827191e-01 -2.84409627e-01 2.31694162e+02] [-1.63386853e-01 9.85627668e-01 4.29282703e-02 1.91146611e+02] [ 2.87569457e-01 5.95650161e-03 9.57741263e-01 5.52198929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74710568099994 meters Centerline goodness [0,1] 0.9987095414921914 Centerline is valid? [True, True] Translation: X:231.72, Y:191.14, Z:55.22 [[ 9.43452588e-01 1.68829654e-01 -2.85295919e-01 2.31722656e+02] [-1.63359073e-01 9.85627033e-01 4.30483931e-02 1.91137492e+02] [ 2.88463216e-01 5.99155914e-03 9.57472232e-01 5.52222427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7771056809999 meters Centerline goodness [0,1] 0.9989983129481231 Centerline is valid? [True, True] Translation: X:231.75, Y:191.13, Z:55.23 [[ 9.43484594e-01 1.67362808e-01 -2.86053338e-01 2.31748876e+02] [-1.61825824e-01 9.85879138e-01 4.30665481e-02 1.91133040e+02] [ 2.89221756e-01 5.65819236e-03 9.57245402e-01 5.52302088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80710568099994 meters Centerline goodness [0,1] 0.9987128634847251 Centerline is valid? [True, True] Translation: X:231.78, Y:191.13, Z:55.24 [[ 9.43620687e-01 1.63996725e-01 -2.87550123e-01 2.31776279e+02] [-1.58256841e-01 9.86449765e-01 4.32623798e-02 1.91125941e+02] [ 2.90748640e-01 4.68349756e-03 9.56788008e-01 5.52365037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8371056809999 meters Centerline goodness [0,1] 0.9986652359391767 Centerline is valid? [True, True] Translation: X:231.80, Y:191.11, Z:55.24 [[ 9.45032537e-01 1.55208941e-01 -2.87791051e-01 2.31803381e+02] [-1.49087930e-01 9.87879489e-01 4.32076825e-02 1.91112529e+02] [ 2.91009096e-01 2.07350629e-03 9.56718039e-01 5.52404834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8671056809999 meters Centerline goodness [0,1] 0.9978825743713076 Centerline is valid? [True, True] Translation: X:231.83, Y:191.10, Z:55.25 [[ 9.47120218e-01 1.43194422e-01 -2.87156144e-01 2.31828281e+02] [-1.36566113e-01 9.89693289e-01 4.30916523e-02 1.91099451e+02] [ 2.90366993e-01 -1.59717692e-03 9.56914029e-01 5.52482626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8971056809999 meters Centerline goodness [0,1] 0.997755096713566 Centerline is valid? [True, True] Translation: X:231.85, Y:191.09, Z:55.26 [[ 9.48063155e-01 1.37384090e-01 -2.86883019e-01 2.31853575e+02] [-1.30541172e-01 9.90512480e-01 4.29421707e-02 1.91090979e+02] [ 2.90060781e-01 -3.26184417e-03 9.57002666e-01 5.52580101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9271056809999 meters Centerline goodness [0,1] 0.9973496167337924 Centerline is valid? [True, True] Translation: X:231.88, Y:191.08, Z:55.27 [[ 9.49665760e-01 1.27111604e-01 -2.86317279e-01 2.31880498e+02] [-1.19849165e-01 9.91868071e-01 4.28241454e-02 1.91077031e+02] [ 2.89432413e-01 -6.35373764e-03 9.57177365e-01 5.52653214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9571056809999 meters Centerline goodness [0,1] 0.9970171707215854 Centerline is valid? [True, True] Translation: X:231.91, Y:191.07, Z:55.27 [[ 9.49936915e-01 1.23303499e-01 -2.87082052e-01 2.31905991e+02] [-1.15834286e-01 9.92340479e-01 4.29277580e-02 1.91069387e+02] [ 2.90176284e-01 -7.52471747e-03 9.56943626e-01 5.52722687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9871056809999 meters Centerline goodness [0,1] 0.9963617463617463 Centerline is valid? [True, True] Translation: X:231.93, Y:191.06, Z:55.28 [[ 9.50558278e-01 1.17892425e-01 -2.87298341e-01 2.31933108e+02] [-1.10181871e-01 9.92984276e-01 4.29206599e-02 1.91060407e+02] [ 2.90342755e-01 -9.14351990e-03 9.56879031e-01 5.52796830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0171056809999 meters Centerline goodness [0,1] 0.9963607060230315 Centerline is valid? [True, True] Translation: X:231.96, Y:191.06, Z:55.28 [[ 9.50357534e-01 1.17416942e-01 -2.88155896e-01 2.31960283e+02] [-1.09641870e-01 9.93039120e-01 4.30344800e-02 1.91055783e+02] [ 2.91203054e-01 -9.30419087e-03 9.56616022e-01 5.52844268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0471056809999 meters Centerline goodness [0,1] 0.9962022682343149 Centerline is valid? [True, True] Translation: X:231.99, Y:191.05, Z:55.29 [[ 9.50117338e-01 1.18371759e-01 -2.88557048e-01 2.31987938e+02] [-1.10648626e-01 9.92929293e-01 4.29918766e-02 1.91052566e+02] [ 2.91605770e-01 -8.91888658e-03 9.56497009e-01 5.52917934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0771056809999 meters Centerline goodness [0,1] 0.996170079724871 Centerline is valid? [True, True] Translation: X:232.02, Y:191.05, Z:55.30 [[ 9.49595132e-01 1.22552653e-01 -2.88530644e-01 2.32016287e+02] [-1.15047452e-01 9.92433377e-01 4.28961143e-02 1.91052940e+02] [ 2.91604474e-01 -7.53922597e-03 9.56509274e-01 5.52984956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1071056809999 meters Centerline goodness [0,1] 0.997174476100777 Centerline is valid? [True, True] Translation: X:232.04, Y:191.05, Z:55.31 [[ 9.49215256e-01 1.26550868e-01 -2.88054291e-01 2.32043970e+02] [-1.19258763e-01 9.91940283e-01 4.27998007e-02 1.91052379e+02] [ 2.91149007e-01 -6.27322530e-03 9.56657150e-01 5.53069059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1371056809999 meters Centerline goodness [0,1] 0.9972466960352423 Centerline is valid? [True, True] Translation: X:232.07, Y:191.05, Z:55.31 [[ 9.48882868e-01 1.30605374e-01 -2.87338719e-01 2.32072008e+02] [-1.23538562e-01 9.91421858e-01 4.26722791e-02 1.91052268e+02] [ 2.90447116e-01 -4.99358244e-03 9.56878016e-01 5.53141908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1671056809999 meters Centerline goodness [0,1] 0.9970598272648518 Centerline is valid? [True, True] Translation: X:232.10, Y:191.06, Z:55.32 [[ 9.47874899e-01 1.41719752e-01 -2.85392166e-01 2.32100220e+02] [-1.35270053e-01 9.89905708e-01 4.22930445e-02 1.91057081e+02] [ 2.88505094e-01 -1.48350199e-03 9.57477211e-01 5.53244274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1971056809999 meters Centerline goodness [0,1] 0.9975485673616785 Centerline is valid? [True, True] Translation: X:232.13, Y:191.06, Z:55.34 [[ 9.47302058e-01 1.49686570e-01 -2.83218541e-01 2.32125827e+02] [-1.43710161e-01 9.88732970e-01 4.18867909e-02 1.91061139e+02] [ 2.86297399e-01 1.02193896e-03 9.58140259e-01 5.53361960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2271056809999 meters Centerline goodness [0,1] 0.9988533639102958 Centerline is valid? [True, True] Translation: X:232.16, Y:191.07, Z:55.35 [[ 9.45697635e-01 1.63665159e-01 -2.80837495e-01 2.32155385e+02] [-1.58409552e-01 9.86501914e-01 4.14775575e-02 1.91070360e+02] [ 2.83835157e-01 5.26211382e-03 9.58858652e-01 5.53458982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2571056809999 meters Centerline goodness [0,1] 0.9983118518717008 Centerline is valid? [True, True] Translation: X:232.19, Y:191.07, Z:55.35 [[ 9.44444610e-01 1.71303394e-01 -2.80498710e-01 2.32185003e+02] [-1.66395687e-01 9.85189268e-01 4.14075161e-02 1.91072503e+02] [ 2.83437567e-01 7.56667033e-03 9.58960839e-01 5.53519111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.2871056809999 meters Centerline goodness [0,1] 0.998550685740358 Centerline is valid? [True, True] Translation: X:232.21, Y:191.07, Z:55.36 [[ 9.43873200e-01 1.73455001e-01 -2.81099173e-01 2.32213683e+02] [-1.68622346e-01 9.84807305e-01 4.14858541e-02 1.91071709e+02] [ 2.84024448e-01 8.24221609e-03 9.58781612e-01 5.53578717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31710568099993 meters Centerline goodness [0,1] 0.996806397938919 Centerline is valid? [True, True] Translation: X:232.24, Y:191.06, Z:55.36 [[ 9.44781734e-01 1.69161220e-01 -2.80663424e-01 2.32241745e+02] [-1.64185083e-01 9.85563306e-01 4.13307282e-02 1.91063025e+02] [ 2.83603128e-01 7.03223046e-03 9.58915958e-01 5.53610481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.3471056809999 meters Centerline goodness [0,1] 0.9964466458490363 Centerline is valid? [True, True] Translation: X:232.27, Y:191.06, Z:55.37 [[ 9.45625657e-01 1.66161461e-01 -2.79611312e-01 2.32268772e+02] [-1.61100250e-01 9.86079527e-01 4.11567241e-02 1.91058374e+02] [ 2.82557652e-01 6.12659793e-03 9.59230753e-01 5.53691933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37710568099993 meters Centerline goodness [0,1] 0.992478162406988 Centerline is valid? [True, True] Translation: X:232.30, Y:191.06, Z:55.38 [[ 9.47195225e-01 1.64278122e-01 -2.75379564e-01 2.32296193e+02] [-1.59317234e-01 9.86398399e-01 4.04501807e-02 1.91058582e+02] [ 2.78279041e-01 5.55849257e-03 9.60484190e-01 5.53792492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4071056809999 meters Centerline goodness [0,1] 0.9907607521071969 Centerline is valid? [True, True] Translation: X:232.32, Y:191.06, Z:55.39 [[ 9.47417414e-01 1.65433313e-01 -2.73919811e-01 2.32323988e+02] [-1.60597185e-01 9.86203026e-01 4.01514010e-02 1.91058716e+02] [ 2.76782925e-01 5.95061400e-03 9.60914045e-01 5.53878666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43710568099993 meters Centerline goodness [0,1] 0.9870858761987794 Centerline is valid? [True, True] Translation: X:232.35, Y:191.06, Z:55.40 [[ 9.48465589e-01 1.66261540e-01 -2.69759389e-01 2.32353068e+02] [-1.61630872e-01 9.86062317e-01 3.94533774e-02 1.91063362e+02] [ 2.72559147e-01 6.18127439e-03 9.62119173e-01 5.53973807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.4671056809999 meters Centerline goodness [0,1] 0.9841049130268826 Centerline is valid? [True, True] Translation: X:232.38, Y:191.06, Z:55.41 [[ 9.50257972e-01 1.61338870e-01 -2.66419885e-01 2.32378319e+02] [-1.56641791e-01 9.86887715e-01 3.89356760e-02 1.91059513e+02] [ 2.69208349e-01 4.73355136e-03 9.63070329e-01 5.54088914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49710568099994 meters Centerline goodness [0,1] 0.9780354039965248 Centerline is valid? [True, True] Translation: X:232.41, Y:191.04, Z:55.42 [[ 9.54679964e-01 1.44217228e-01 -2.60360436e-01 2.32405062e+02] [-1.39119867e-01 9.89546051e-01 3.80036191e-02 1.91043318e+02] [ 2.63119418e-01 -5.99845196e-05 9.64763271e-01 5.54168078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5271056809999 meters Centerline goodness [0,1] 0.9753500189199417 Centerline is valid? [True, True] Translation: X:232.43, Y:191.03, Z:55.42 [[ 9.56303656e-01 1.36360421e-01 -2.58629375e-01 2.32433198e+02] [-1.31052252e-01 9.90656858e-01 3.77398660e-02 1.91034063e+02] [ 2.61359188e-01 -2.19680972e-03 9.65239115e-01 5.54239503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55710568099994 meters Centerline goodness [0,1] 0.9696227075646998 Centerline is valid? [True, True] Translation: X:232.46, Y:191.02, Z:55.43 [[ 9.58729189e-01 1.24204459e-01 -2.55756904e-01 2.32461516e+02] [-1.18593112e-01 9.92241741e-01 3.73095334e-02 1.91021101e+02] [ 2.58406686e-01 -5.43873154e-03 9.66020913e-01 5.54297055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5871056809999 meters Centerline goodness [0,1] 0.9663084363245567 Centerline is valid? [True, True] Translation: X:232.49, Y:191.02, Z:55.44 [[ 9.60062953e-01 1.19449891e-01 -2.53003655e-01 2.32489104e+02] [-1.13801178e-01 9.92818068e-01 3.68995284e-02 1.91015120e+02] [ 2.55594244e-01 -6.63375629e-03 9.66761385e-01 5.54379770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6171056809999 meters Centerline goodness [0,1] 0.9649624790800626 Centerline is valid? [True, True] Translation: X:232.52, Y:191.01, Z:55.44 [[ 9.60760933e-01 1.16868387e-01 -2.51555581e-01 2.32518356e+02] [-1.11200888e-01 9.93120823e-01 3.66796054e-02 1.91012915e+02] [ 2.54111772e-01 -7.26712797e-03 9.67147557e-01 5.54436490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8580.00 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%| | 0/13921 [00:00